diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml index 5c50bb1e..6c396ea9 100644 --- a/.github/workflows/ccpp.yml +++ b/.github/workflows/ccpp.yml @@ -58,15 +58,15 @@ jobs: sketch-names: single_full_control_example.ino - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2 - platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json - sketch-names: bldc_driver_3pwm_standalone.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone + platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json + sketch-names: bldc_driver_3pwm_standalone.ino,stepper_driver_2pwm_standalone.ino,stepper_driver_4pwm_standalone.ino - arduino-boards-fqbn: esp32:esp32:esp32s3 # esp32s3 - platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json + platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 - platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json + platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples diff --git a/.github/workflows/teensy.yml b/.github/workflows/teensy.yml new file mode 100644 index 00000000..9fc88b9a --- /dev/null +++ b/.github/workflows/teensy.yml @@ -0,0 +1,41 @@ +name: PlatformIO - Teensy build + +on: [push] + +jobs: + build: + + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: actions/cache@v3 + with: + path: | + ~/.cache/pip + ~/.platformio/.cache + key: ${{ runner.os }}-pio + - uses: actions/setup-python@v4 + with: + python-version: '3.9' + - name: Install PlatformIO Core + run: pip install --upgrade platformio + + - name: PIO Run Teensy 4 + run: pio ci --lib="." --board=teensy41 --board=teensy40 + env: + PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino + + - name: PIO Run Teensy 4 + run: pio ci --lib="." --board=teensy41 --board=teensy40 + env: + PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino + + - name: PIO Run Teensy 3 + run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36 + env: + PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino + + - name: PIO Run Teensy 3 + run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36 + env: + PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino diff --git a/README.md b/README.md index 747b0f34..75475bec 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,8 @@ # SimpleFOClibrary - **Simple** Field Oriented Control (FOC) **library**
### A Cross-Platform FOC implementation for BLDC and Stepper motors
based on the Arduino IDE and PlatformIO -![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg) +![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg) [![PlatformIO - Teensy build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml) + ![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/arduino-foc) ![GitHub Release Date](https://img.shields.io/github/release-date/simplefoc/arduino-foc?color=blue) ![GitHub commits since tagged version](https://img.shields.io/github/commits-since/simplefoc/arduino-foc/latest/dev) @@ -24,20 +25,20 @@ Therefore this is an attempt to: - *Medium-power* BLDC driver (<30Amps): [Arduino SimpleFOCPowerShield ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield). - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller) -> NEW RELEASE 📢 : SimpleFOClibrary v2.3.1 -> - Support for Arduino UNO R4 Minima (Renesas R7FA4M1 MCU - note UNO R4 WiFi is not yet supported) -> - Support setting PWM polarity on ESP32 (thanks to [@mcells](https://github.com/mcells)) -> - Expose I2C errors in MagneticSensorI2C (thanks to [@padok](https://github.com/padok)) -> - Improved default trig functions (sine, cosine) - faster, smaller -> - Overridable trig functions - plug in your own optimized versions -> - Bugfix: microseconds overflow in velocity mode [#287](https://github.com/simplefoc/Arduino-FOC/issues/287) -> - Bugfix: KV initialization ([5fc3128](https://github.com/simplefoc/Arduino-FOC/commit/5fc3128d282b65c141ca486327c6235089999627)) -> - And more bugfixes - see the [complete list of 2.3.1 fixes here](https://github.com/simplefoc/Arduino-FOC/issues?q=is%3Aissue+milestone%3A2.3.1_Release) -> - Change: simplify initFOC() API ([d57d32d](https://github.com/simplefoc/Arduino-FOC/commit/d57d32dd8715dbed4e476469bc3de0c052f1d531). [5231e5e](https://github.com/simplefoc/Arduino-FOC/commit/5231e5e1d044b0cc33ede67664b6ef2f9d0a8cdf), [10c5b87](https://github.com/simplefoc/Arduino-FOC/commit/10c5b872672cab72df16ddd738bbf09bcce95d28)) -> - Change: check for linked driver in currentsense and exit gracefully ([5ef4d9d](https://github.com/simplefoc/Arduino-FOC/commit/5ef4d9d5a92e03da0dd5af7f624243ab30f1b688)) -> - Compatibility with newest versions of Arduino framework for STM32, Renesas, ESP32, Atmel SAM, Atmel AVR, nRF52 and RP2040 - -## Arduino *SimpleFOClibrary* v2.3.1 +> NEW RELEASE 📢 : SimpleFOClibrary v2.3.2 +> - Improved [space vector modulation code](https://github.com/simplefoc/Arduino-FOC/pull/309) thanks to [@Candas1](https://github.com/Candas1) +> - Bugfix for stepper motor initialization +> - Bugfix for current sensing when only 2 phase currents available - please re-check your current sense PID tuning +> - Bugfix for teensy3.2 - [#321](https://github.com/simplefoc/Arduino-FOC/pull/321) +> - Added teensy3/4 compile to the github CI using platformio +> - Fix compile issues with recent versions of ESP32 framework +> - Add ADC calibration on STM32 MCUs +> - Bugfix for crash when using ADC2 on ESP32s - [thanks to @mcells](https://github.com/simplefoc/Arduino-FOC/pull/346) +> - Bugfix for renesas PWM on UNO R4 WiFi - [thanks to @facchinm](https://github.com/simplefoc/Arduino-FOC/pull/322) +> - And more bugfixes - see the complete list of 2.3.2 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/9?closed=1) + + +## Arduino *SimpleFOClibrary* v2.3.2

diff --git a/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino b/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino index 51ac990e..ab8e3bba 100644 --- a/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino +++ b/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino @@ -96,6 +96,7 @@ void setup() { void loop() { // main FOC algorithm function + motor.loopFOC(); // Motion control function motor.move(); diff --git a/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino b/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino index a5b72f82..2b4cf6f1 100644 --- a/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino +++ b/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino @@ -29,7 +29,7 @@ // Motor instance BLDCMotor motor = BLDCMotor(11); -BLDCDriver6PWM driver = BLDCDriver6PWM(INH_A,INH_A, INH_B,INH_B, INH_C,INL_C, EN_GATE); +BLDCDriver6PWM driver = BLDCDriver6PWM(INH_A,INL_A, INH_B,INL_B, INH_C,INL_C, EN_GATE); // encoder instance Encoder encoder = Encoder(2, 3, 8192); diff --git a/keywords.txt b/keywords.txt index 1f200e52..d8fd3e73 100644 --- a/keywords.txt +++ b/keywords.txt @@ -133,6 +133,7 @@ sensor_direction KEYWORD2 sensor_offset KEYWORD2 zero_electric_angle KEYWORD2 verbose KEYWORD2 +verboseMode KEYWORD1 decimal_places KEYWORD2 phase_resistance KEYWORD2 phase_inductance KEYWORD2 diff --git a/library.properties b/library.properties index 69043875..7242d57c 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=Simple FOC -version=2.3.1 +version=2.3.2 author=Simplefoc maintainer=Simplefoc sentence=A library demistifying FOC for BLDC motors diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp index b72728bc..8dc2f5cd 100644 --- a/src/BLDCMotor.cpp +++ b/src/BLDCMotor.cpp @@ -422,7 +422,7 @@ void BLDCMotor::move(float new_target) { shaft_angle_sp = target; // calculate velocity set point shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle ); - shaft_angle_sp = _constrain(shaft_angle_sp,-velocity_limit, velocity_limit); + shaft_velocity_sp = _constrain(shaft_velocity_sp,-velocity_limit, velocity_limit); // calculate the torque command - sensor precision: this calculation is ok, but based on bad value from previous calculation current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control // if torque controlled through voltage @@ -545,6 +545,7 @@ void BLDCMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) { break; case FOCModulationType::SinePWM : + case FOCModulationType::SpaceVectorPWM : // Sinusoidal PWM modulation // Inverse Park + Clarke transformation _sincos(angle_el, &_sa, &_ca); @@ -553,107 +554,34 @@ void BLDCMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) { Ualpha = _ca * Ud - _sa * Uq; // -sin(angle) * Uq; Ubeta = _sa * Ud + _ca * Uq; // cos(angle) * Uq; - // center = modulation_centered ? (driver->voltage_limit)/2 : Uq; - center = driver->voltage_limit/2; // Clarke transform - Ua = Ualpha + center; - Ub = -0.5f * Ualpha + _SQRT3_2 * Ubeta + center; - Uc = -0.5f * Ualpha - _SQRT3_2 * Ubeta + center; + Ua = Ualpha; + Ub = -0.5f * Ualpha + _SQRT3_2 * Ubeta; + Uc = -0.5f * Ualpha - _SQRT3_2 * Ubeta; + + center = driver->voltage_limit/2; + if (foc_modulation == FOCModulationType::SpaceVectorPWM){ + // discussed here: https://community.simplefoc.com/t/embedded-world-2023-stm32-cordic-co-processor/3107/165?u=candas1 + // a bit more info here: https://microchipdeveloper.com/mct5001:which-zsm-is-best + // Midpoint Clamp + float Umin = min(Ua, min(Ub, Uc)); + float Umax = max(Ua, max(Ub, Uc)); + center -= (Umax+Umin) / 2; + } if (!modulation_centered) { float Umin = min(Ua, min(Ub, Uc)); Ua -= Umin; Ub -= Umin; Uc -= Umin; + }else{ + Ua += center; + Ub += center; + Uc += center; } break; - case FOCModulationType::SpaceVectorPWM : - // Nice video explaining the SpaceVectorModulation (SVPWM) algorithm - // https://www.youtube.com/watch?v=QMSWUMEAejg - - // the algorithm goes - // 1) Ualpha, Ubeta - // 2) Uout = sqrt(Ualpha^2 + Ubeta^2) - // 3) angle_el = atan2(Ubeta, Ualpha) - // - // equivalent to 2) because the magnitude does not change is: - // Uout = sqrt(Ud^2 + Uq^2) - // equivalent to 3) is - // angle_el = angle_el + atan2(Uq,Ud) - - float Uout; - // a bit of optitmisation - if(Ud){ // only if Ud and Uq set - // _sqrt is an approx of sqrt (3-4% error) - Uout = _sqrt(Ud*Ud + Uq*Uq) / driver->voltage_limit; - // angle normalisation in between 0 and 2pi - // only necessary if using _sin and _cos - approximation functions - angle_el = _normalizeAngle(angle_el + atan2(Uq, Ud)); - }else{// only Uq available - no need for atan2 and sqrt - Uout = Uq / driver->voltage_limit; - // angle normalisation in between 0 and 2pi - // only necessary if using _sin and _cos - approximation functions - angle_el = _normalizeAngle(angle_el + _PI_2); - } - // find the sector we are in currently - sector = floor(angle_el / _PI_3) + 1; - // calculate the duty cycles - float T1 = _SQRT3*_sin(sector*_PI_3 - angle_el) * Uout; - float T2 = _SQRT3*_sin(angle_el - (sector-1.0f)*_PI_3) * Uout; - // two versions possible - float T0 = 0; // pulled to 0 - better for low power supply voltage - if (modulation_centered) { - T0 = 1 - T1 - T2; // modulation_centered around driver->voltage_limit/2 - } - - // calculate the duty cycles(times) - float Ta,Tb,Tc; - switch(sector){ - case 1: - Ta = T1 + T2 + T0/2; - Tb = T2 + T0/2; - Tc = T0/2; - break; - case 2: - Ta = T1 + T0/2; - Tb = T1 + T2 + T0/2; - Tc = T0/2; - break; - case 3: - Ta = T0/2; - Tb = T1 + T2 + T0/2; - Tc = T2 + T0/2; - break; - case 4: - Ta = T0/2; - Tb = T1+ T0/2; - Tc = T1 + T2 + T0/2; - break; - case 5: - Ta = T2 + T0/2; - Tb = T0/2; - Tc = T1 + T2 + T0/2; - break; - case 6: - Ta = T1 + T2 + T0/2; - Tb = T0/2; - Tc = T1 + T0/2; - break; - default: - // possible error state - Ta = 0; - Tb = 0; - Tc = 0; - } - - // calculate the phase voltages and center - Ua = Ta*driver->voltage_limit; - Ub = Tb*driver->voltage_limit; - Uc = Tc*driver->voltage_limit; - break; - } // set the voltages in driver diff --git a/src/StepperMotor.cpp b/src/StepperMotor.cpp index 491a20ee..7831f0bf 100644 --- a/src/StepperMotor.cpp +++ b/src/StepperMotor.cpp @@ -134,7 +134,7 @@ int StepperMotor::alignSensor() { SIMPLEFOC_DEBUG("MOT: Align sensor."); // if unknown natural direction - if(!_isset(sensor_direction)){ + if(sensor_direction == Direction::UNKNOWN){ // check if sensor needs zero search if(sensor->needsSearch()) exit_flag = absoluteZeroSearch(); // stop init if not found index @@ -311,7 +311,7 @@ void StepperMotor::move(float new_target) { shaft_angle_sp = target; // calculate velocity set point shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle ); - shaft_angle_sp = _constrain(shaft_angle_sp, -velocity_limit, velocity_limit); + shaft_velocity_sp = _constrain(shaft_velocity_sp, -velocity_limit, velocity_limit); // calculate the torque command current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control // if torque controlled through voltage @@ -440,4 +440,4 @@ float StepperMotor::angleOpenloop(float target_angle){ open_loop_timestamp = now_us; return Uq; -} \ No newline at end of file +} diff --git a/src/common/base_classes/CurrentSense.cpp b/src/common/base_classes/CurrentSense.cpp index 609162c2..217e8a67 100644 --- a/src/common/base_classes/CurrentSense.cpp +++ b/src/common/base_classes/CurrentSense.cpp @@ -16,12 +16,12 @@ float CurrentSense::getDCCurrent(float motor_electrical_angle){ // if only two measured currents i_alpha = current.a; i_beta = _1_SQRT3 * current.a + _2_SQRT3 * current.b; - }if(!current.a){ + }else if(!current.a){ // if only two measured currents float a = -current.c - current.b; i_alpha = a; i_beta = _1_SQRT3 * a + _2_SQRT3 * current.b; - }if(!current.b){ + }else if(!current.b){ // if only two measured currents float b = -current.a - current.c; i_alpha = current.a; @@ -62,12 +62,12 @@ DQCurrent_s CurrentSense::getFOCCurrents(float angle_el){ // if only two measured currents i_alpha = current.a; i_beta = _1_SQRT3 * current.a + _2_SQRT3 * current.b; - }if(!current.a){ + }else if(!current.a){ // if only two measured currents float a = -current.c - current.b; i_alpha = a; i_beta = _1_SQRT3 * a + _2_SQRT3 * current.b; - }if(!current.b){ + }else if(!current.b){ // if only two measured currents float b = -current.a - current.c; i_alpha = current.a; diff --git a/src/common/base_classes/Sensor.cpp b/src/common/base_classes/Sensor.cpp index a80fa438..b0a8f4db 100644 --- a/src/common/base_classes/Sensor.cpp +++ b/src/common/base_classes/Sensor.cpp @@ -6,6 +6,8 @@ void Sensor::update() { float val = getSensorAngle(); + if (val<0) // sensor angles are strictly non-negative. Negative values are used to signal errors. + return; // TODO signal error, e.g. via a flag and counter angle_prev_ts = _micros(); float d_angle = val - angle_prev; // if overflow happened track it as full rotation diff --git a/src/common/foc_utils.cpp b/src/common/foc_utils.cpp index 4cb09863..233bd246 100644 --- a/src/common/foc_utils.cpp +++ b/src/common/foc_utils.cpp @@ -44,6 +44,33 @@ __attribute__((weak)) void _sincos(float a, float* s, float* c){ *c = _cos(a); } +// fast_atan2 based on https://math.stackexchange.com/a/1105038/81278 +// Via Odrive project +// https://github.com/odriverobotics/ODrive/blob/master/Firmware/MotorControl/utils.cpp +// This function is MIT licenced, copyright Oskar Weigl/Odrive Robotics +// The origin for Odrive atan2 is public domain. Thanks to Odrive for making +// it easy to borrow. +__attribute__((weak)) float _atan2(float y, float x) { + // a := min (|x|, |y|) / max (|x|, |y|) + float abs_y = fabsf(y); + float abs_x = fabsf(x); + // inject FLT_MIN in denominator to avoid division by zero + float a = min(abs_x, abs_y) / (max(abs_x, abs_y)); + // s := a * a + float s = a * a; + // r := ((-0.0464964749 * s + 0.15931422) * s - 0.327622764) * s * a + a + float r = + ((-0.0464964749f * s + 0.15931422f) * s - 0.327622764f) * s * a + a; + // if |y| > |x| then r := 1.57079637 - r + if (abs_y > abs_x) r = 1.57079637f - r; + // if x < 0 then r := 3.14159274 - r + if (x < 0.0f) r = 3.14159274f - r; + // if y < 0 then r := -r + if (y < 0.0f) r = -r; + + return r; + } + // normalizing radian angle to [0,2PI] __attribute__((weak)) float _normalizeAngle(float angle){ @@ -60,14 +87,10 @@ float _electricalAngle(float shaft_angle, int pole_pairs) { // https://reprap.org/forum/read.php?147,219210 // https://en.wikipedia.org/wiki/Fast_inverse_square_root __attribute__((weak)) float _sqrtApprox(float number) {//low in fat - // float x; - // const float f = 1.5F; // better precision - - // x = number * 0.5F; - float y = number; - long i = * ( long * ) &y; - i = 0x5f375a86 - ( i >> 1 ); - y = * ( float * ) &i; - // y = y * ( f - ( x * y * y ) ); // better precision - return number * y; + union { + float f; + uint32_t i; + } y = { .f = number }; + y.i = 0x5f375a86 - ( y.i >> 1 ); + return number * y.f; } diff --git a/src/common/foc_utils.h b/src/common/foc_utils.h index 0efe3b59..abdeebf8 100644 --- a/src/common/foc_utils.h +++ b/src/common/foc_utils.h @@ -79,6 +79,11 @@ float _cos(float a); */ void _sincos(float a, float* s, float* c); +/** + * Function approximating atan2 + * + */ +float _atan2(float y, float x); /** * normalizing radian angle to [0,2PI] diff --git a/src/communication/Commander.cpp b/src/communication/Commander.cpp index ee6be9f9..d2822b04 100644 --- a/src/communication/Commander.cpp +++ b/src/communication/Commander.cpp @@ -11,10 +11,10 @@ Commander::Commander(char eol, bool echo){ } -void Commander::add(char id, CommandCallback onCommand, char* label ){ +void Commander::add(char id, CommandCallback onCommand, const char* label ){ call_list[call_count] = onCommand; call_ids[call_count] = id; - call_label[call_count] = label; + call_label[call_count] = (char*)label; call_count++; } diff --git a/src/communication/Commander.h b/src/communication/Commander.h index 91e3dc45..4ec2b281 100644 --- a/src/communication/Commander.h +++ b/src/communication/Commander.h @@ -91,7 +91,7 @@ class Commander * @param onCommand - function pointer void function(char*) * @param label - string label to be displayed when scan command sent */ - void add(char id , CommandCallback onCommand, char* label = nullptr); + void add(char id , CommandCallback onCommand, const char* label = nullptr); // printing variables VerboseMode verbose = VerboseMode::user_friendly; //!< flag signaling that the commands should output user understanable text diff --git a/src/communication/StepDirListener.h b/src/communication/StepDirListener.h index f9691fd3..3627b5e7 100644 --- a/src/communication/StepDirListener.h +++ b/src/communication/StepDirListener.h @@ -5,11 +5,6 @@ #include "../common/foc_utils.h" -#if !defined(TARGET_RP2040) && !defined(_SAMD21_) && !defined(_SAMD51_) && !defined(_SAME51_) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_UNOR4_MINIMA) && !defined(NRF52_SERIES) && !defined(ARDUINO_ARCH_MEGAAVR) -#define PinStatus int -#endif - - /** * Step/Dir listenner class for easier interraction with this communication interface. */ @@ -53,7 +48,7 @@ class StepDirListener int pin_step; //!< step pin int pin_dir; //!< direction pin long count; //!< current counter value - should be set to 0 for homing - PinStatus polarity = RISING; //!< polarity of the step pin + decltype(RISING) polarity = RISING; //!< polarity of the step pin private: float* attached_variable = nullptr; //!< pointer to the attached variable diff --git a/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp index 807c387d..57ffdfb5 100644 --- a/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp +++ b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp @@ -6,7 +6,8 @@ #include "freertos/task.h" #include "rom/ets_sys.h" #include "esp_attr.h" -#include "esp_intr.h" +//#include "esp_intr.h" deprecated +#include "esp_intr_alloc.h" #include "soc/rtc_io_reg.h" #include "soc/rtc_cntl_reg.h" #include "soc/sens_reg.h" @@ -153,9 +154,8 @@ bool IRAM_ATTR __adcStart(uint8_t pin){ } if(channel > 9){ - channel -= 10; CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M); - SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << channel), SENS_SAR2_EN_PAD_S); + SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S); SET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M); } else { CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M); @@ -224,9 +224,8 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin) __analogInit(); if(channel > 9){ - channel -= 10; CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M); - SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << channel), SENS_SAR2_EN_PAD_S); + SET_PERI_REG_BITS(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S); SET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_SAR_M); } else { CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M); @@ -256,4 +255,4 @@ uint16_t IRAM_ATTR adcRead(uint8_t pin) } -#endif \ No newline at end of file +#endif diff --git a/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp b/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp index 3df9dff6..2057463c 100644 --- a/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp +++ b/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp @@ -121,6 +121,8 @@ void _driverSyncLowSide(void* driver_params, void* cs_params){ mcpwm_isr_register(mcpwm_unit, mcpwm1_isr_handler, NULL, ESP_INTR_FLAG_IRAM, NULL); //Set ISR Handler } +static void IRAM_ATTR mcpwm0_isr_handler(void*) __attribute__ ((unused)); + // Read currents when interrupt is triggered static void IRAM_ATTR mcpwm0_isr_handler(void*){ // // high side @@ -139,6 +141,7 @@ static void IRAM_ATTR mcpwm0_isr_handler(void*){ // MCPWM0.int_clr.timer0_tez_int_clr = mcpwm_intr_status_0; } +static void IRAM_ATTR mcpwm1_isr_handler(void*) __attribute__ ((unused)); // Read currents when interrupt is triggered static void IRAM_ATTR mcpwm1_isr_handler(void*){ diff --git a/src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp b/src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp index 3e10bbca..8456759c 100644 --- a/src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp +++ b/src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp @@ -110,6 +110,9 @@ void* _configureADCLowSide(const void* driver_params, const int pinA,const int p MX_ADC1_Init(&hadc1); MX_ADC2_Init(&hadc2); + HAL_ADCEx_Calibration_Start(&hadc1,ADC_SINGLE_ENDED); + HAL_ADCEx_Calibration_Start(&hadc2,ADC_SINGLE_ENDED); + MX_DMA1_Init(&hadc1, &hdma_adc1, DMA1_Channel1, DMA_REQUEST_ADC1); MX_DMA1_Init(&hadc2, &hdma_adc2, DMA1_Channel2, DMA_REQUEST_ADC2); diff --git a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp index 8daa7eef..51b494f4 100644 --- a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp +++ b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp @@ -66,6 +66,10 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){ } // set the trigger output event LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE); + + // Start the adc calibration + HAL_ADCEx_Calibration_Start(cs_params->adc_handle); + // start the adc HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle); diff --git a/src/drivers/hardware_specific/renesas/renesas.cpp b/src/drivers/hardware_specific/renesas/renesas.cpp index f90a4c56..2c9c9b22 100644 --- a/src/drivers/hardware_specific/renesas/renesas.cpp +++ b/src/drivers/hardware_specific/renesas/renesas.cpp @@ -144,7 +144,7 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool uint8_t timer_channel = GET_CHANNEL(pinCfgs[0]); // check its not used if (channel_used[timer_channel]) { - SIMPLEFOC_DEBUG("DRV: channel in use"); + SIMPLEFOC_DEBUG("DRV: channel in use: ", timer_channel); return false; } @@ -207,6 +207,10 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool t->timer_cfg.cycle_end_irq = FSP_INVALID_VECTOR; t->ext_cfg.p_pwm_cfg = &(t->pwm_cfg); + t->ext_cfg.capture_a_ipl = BSP_IRQ_DISABLED; + t->ext_cfg.capture_a_irq = FSP_INVALID_VECTOR; + t->ext_cfg.capture_b_ipl = BSP_IRQ_DISABLED; + t->ext_cfg.capture_b_irq = FSP_INVALID_VECTOR; t->pwm_cfg.trough_ipl = BSP_IRQ_DISABLED; t->pwm_cfg.trough_irq = FSP_INVALID_VECTOR; t->pwm_cfg.poeg_link = GPT_POEG_LINK_POEG0; @@ -258,26 +262,17 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool t->ext_cfg.gtior_setting.gtior_b.gtiob = 0x03 | (active_high ? 0x00 : 0x10); t->ext_cfg.gtior_setting.gtior_b.obdflt = active_high ? 0x00 : 0x01; } - - // lets stop the timer in case its running - if (GPT_OPEN == t->ctrl.open) { - if (R_GPT_Stop(&(t->ctrl)) != FSP_SUCCESS) { - SIMPLEFOC_DEBUG("DRV: timer stop failed"); - return false; - } - } - memset(&(t->ctrl), 0, sizeof(gpt_instance_ctrl_t)); err = R_GPT_Open(&(t->ctrl),&(t->timer_cfg)); if ((err != FSP_ERR_ALREADY_OPEN) && (err != FSP_SUCCESS)) { SIMPLEFOC_DEBUG("DRV: open failed"); return false; } - #if defined(SIMPLEFOC_RESENSAS_DEBUG) if (err == FSP_ERR_ALREADY_OPEN) { SimpleFOCDebug::println("DRV: timer already open"); + return false; } - #endif + err = R_GPT_PeriodSet(&(t->ctrl), t->timer_cfg.period_counts); if (err != FSP_SUCCESS) { SIMPLEFOC_DEBUG("DRV: period set failed"); diff --git a/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp b/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp index 3a7b5de5..fe145273 100644 --- a/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp +++ b/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp @@ -3,7 +3,6 @@ // if defined // - Teensy 3.0 MK20DX128 // - Teensy 3.1/3.2 MK20DX256 -// - Teensy 3.5 MK20DX128 // - Teensy LC MKL26Z64 // - Teensy 3.5 MK64FX512 // - Teensy 3.6 MK66FX1M0 @@ -14,7 +13,7 @@ #pragma message("SimpleFOC: compiling for Teensy 3.x") #pragma message("") -// pin definition from https://github.com/PaulStoffregen/cores/blob/286511f3ec849a6c9e0ec8b73ad6a2fada52e44c/teensy3/pins_teensy.c +// pin definition from https://github.com/PaulStoffregen/cores/blob/286511f3ec849a6c9e0ec8b73ad6a2fada52e44c/teensy3/pins_teensy.c#L627 #if defined(__MK20DX128__) #define FTM0_CH0_PIN 22 #define FTM0_CH1_PIN 23 @@ -116,7 +115,7 @@ int _findTimer( const int Ah, const int Al, const int Bh, const int Bl, const i } } - #ifdef FTM3_SC // if the board has FTM3 timer +#ifdef FTM3_CH0_PIN // if the board has FTM3 timer if((Ah == FTM3_CH0_PIN && Al == FTM3_CH1_PIN) || (Ah == FTM3_CH2_PIN && Al == FTM3_CH3_PIN) || (Ah == FTM3_CH4_PIN && Al == FTM3_CH5_PIN) ){ @@ -134,7 +133,7 @@ int _findTimer( const int Ah, const int Al, const int Bh, const int Bl, const i } } } - #endif +#endif #ifdef SIMPLEFOC_TEENSY_DEBUG SIMPLEFOC_DEBUG("TEENSY-DRV: ERR: Pins not on timers FTM0 or FTM3!"); diff --git a/src/sensors/HallSensor.cpp b/src/sensors/HallSensor.cpp index 38767d59..d9e5ec83 100644 --- a/src/sensors/HallSensor.cpp +++ b/src/sensors/HallSensor.cpp @@ -53,7 +53,6 @@ void HallSensor::updateState() { hall_state = new_hall_state; int8_t new_electric_sector = ELECTRIC_SECTORS[hall_state]; - static Direction old_direction; if (new_electric_sector - electric_sector > 3) { //underflow direction = Direction::CCW; diff --git a/src/sensors/HallSensor.h b/src/sensors/HallSensor.h index ad50c7d5..78e1b416 100644 --- a/src/sensors/HallSensor.h +++ b/src/sensors/HallSensor.h @@ -62,6 +62,7 @@ class HallSensor: public Sensor{ // whether last step was CW (+1) or CCW (-1). Direction direction; + Direction old_direction; void attachSectorCallback(void (*onSectorChange)(int a) = nullptr);