Merge branch 'dev' into FEAT_refactor_hardware_specific

Author: askuric

.github/workflows/ccpp.yml

@@ -4,11 +4,62 @@ jobs:
   build:
     name: Test compiling 
     runs-on: ubuntu-latest
+   
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          - arduino:avr:uno                          # arudino uno
+          - arduino:sam:arduino_due_x                # arduino due
+          - arduino:samd:nano_33_iot                 # samd21
+          - adafruit:samd:adafruit_metro_m4          # samd51
+          - esp32:esp32:esp32doit-devkit-v1          # esm32
+          - STM32:stm32:GenF1:pnum=BLUEPILL_F103C8   # stm32 bluepill
+          - STM32:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
+          - arduino:mbed_rp2040:pico                 # rpi pico
+          
+        include:
+          - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
+            sketch-names: '**.ino'
+            required-libraries: PciManager
+            sketches-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol, nano33IoT_velocity_control, smartstepper_control
+
+          - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
+            sketch-names: single_full_control_example.ino
+            
+          - arduino-boards-fqbn: arduino:samd:nano_33_iot  # samd21 
+            sketch-names: nano33IoT_velocity_control.ino, smartstepper_control.ino
+            
+          - arduino-boards-fqbn: arduino:mbed_rp2040:pico # raspberry pi pico - one example
+            sketch-names: open_loop_position_example.ino
+            
+          - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4 # samd51 - one full example
+            platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
+            sketch-names: single_full_control_example.ino
+          
+          - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
+            platform-url: https://dl.espressif.com/dl/package_esp32_index.json
+            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino
+
+          - arduino-boards-fqbn: STM32:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples
+            platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
+            sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, magnetic_sensor_spi_alt_example.ino
+            
+          - arduino-boards-fqbn: STM32:stm32:Nucleo_64:pnum=NUCLEO_F411RE # one full example
+            platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
+            sketch-names: single_full_control_example.ino
+            
+        
+
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
     steps:
     - name: Checkout
       uses: actions/checkout@master
     - name: Compile all examples
-      uses: ArminJo/arduino-test-compile@v1.0.0
+      uses: ArminJo/arduino-test-compile@master
       with:
-        libraries:  PciManager 
-        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol, nano33IoT_velocity_control, smartstepper_control
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          required-libraries: ${{ matrix.required-libraries }}
+          platform-url: ${{ matrix.platform-url }}
+          sketch-names: ${{ matrix.sketch-names }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}

examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -89,7 +89,7 @@ void setup() {
   command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
-  Serial.println(F(("Set the target angle using serial terminal:"));
+  Serial.println(F("Set the target angle using serial terminal:"));
   _delay(1000);
 }
 

examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -91,9 +91,6 @@ void setup() {
   _delay(1000);
 }
 
-// angle set point variable
-float target_angle = 0;
-
 void loop() {
 
   // main FOC algorithm function

examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino

@@ -0,0 +1,164 @@
+/**
+ * Comprehensive BLDC motor control example using encoder and the DRV8302 board
+ *
+ * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
+ * - configure PID controller constants
+ * - change motion control loops
+ * - monitor motor variabels
+ * - set target values
+ * - check all the configuration values
+ *
+ * check the https://docs.simplefoc.com for full list of motor commands
+ *
+ */
+#include <SimpleFOC.h>
+
+// DRV8302 pins connections
+// don't forget to connect the common ground pin
+#define INH_A 21
+#define INH_B 19
+#define INH_C 18
+
+#define EN_GATE 5
+#define M_PWM 25
+#define M_OC 26
+#define OC_ADJ 12
+#define OC_GAIN 14
+
+#define IOUTA 34
+#define IOUTB 35
+#define IOUTC 32
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(7);
+BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE);
+
+// DRV8302 board has 0.005Ohm shunt resistors and the gain of 12.22 V/V
+LowsideCurrentSense cs = LowsideCurrentSense(0.005f, 12.22f, IOUTA, IOUTB, IOUTC);
+
+// encoder instance
+Encoder encoder = Encoder(22, 23, 500);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+
+// commander interface
+Commander command = Commander(Serial);
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // DRV8302 specific code
+  // M_OC  - enable overcurrent protection
+  pinMode(M_OC,OUTPUT);
+  digitalWrite(M_OC,LOW);
+  // M_PWM  - enable 3pwm mode
+  pinMode(M_PWM,OUTPUT);
+  digitalWrite(M_PWM,HIGH);
+  // OD_ADJ - set the maximum overcurrent limit possible
+  // Better option would be to use voltage divisor to set exact value
+  pinMode(OC_ADJ,OUTPUT);
+  digitalWrite(OC_ADJ,HIGH);
+  pinMode(OC_GAIN,OUTPUT);
+  digitalWrite(OC_GAIN,LOW);
+
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.pwm_frequency = 15000;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+  motor.voltage_sensor_align = 0.5;
+  
+  // control loop type and torque mode 
+  motor.torque_controller = TorqueControlType::voltage;
+  motor.controller = MotionControlType::torque;
+  motor.motion_downsample = 0.0;
+  
+  // velocity loop PID
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 5.0;
+  // Low pass filtering time constant 
+  motor.LPF_velocity.Tf = 0.02;
+  // angle loop PID
+  motor.P_angle.P = 20.0;
+  // Low pass filtering time constant 
+  motor.LPF_angle.Tf = 0.0;
+  // current q loop PID 
+  motor.PID_current_q.P = 3.0;
+  motor.PID_current_q.I = 100.0;
+  // Low pass filtering time constant 
+  motor.LPF_current_q.Tf = 0.02;
+  // current d loop PID
+  motor.PID_current_d.P = 3.0;
+  motor.PID_current_d.I = 100.0;
+  // Low pass filtering time constant 
+  motor.LPF_current_d.Tf = 0.02;
+
+  // Limits 
+  motor.velocity_limit = 100.0; // 100 rad/s velocity limit
+  motor.voltage_limit = 12.0;   // 12 Volt limit 
+  motor.current_limit = 2.0;    // 2 Amp current limit
+
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q
+  motor.monitor_downsample = 1000;
+
+  // initialise motor
+  motor.init();
+
+  cs.init();
+  cs.driverSync(&driver);
+  // driver 8302 has inverted gains on all channels
+  cs.gain_a *=-1;
+  cs.gain_b *=-1;
+  cs.gain_c *=-1;
+  motor.linkCurrentSense(&cs);
+  
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 0;
+
+  // define the motor id
+  command.add('M', onMotor, "motor");
+
+  Serial.println(F("Full control example: "));
+  Serial.println(F("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "));
+  Serial.println(F("Initial motion control loop is voltage loop."));
+  Serial.println(F("Initial target voltage 2V."));
+
+  _delay(1000);
+}
+
+
+void loop() {
+  // iterative setting FOC phase voltage
+  motor.loopFOC();
+
+  // iterative function setting the outter loop target
+  motor.move();
+
+  // monitoring the state variables
+  motor.monitor();
+
+  // user communication
+  command.run();
+}

examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino

@@ -85,9 +85,6 @@ void setup() {
   _delay(1000);
 }
 
-// angle set point variable
-float target_angle = 0;
-
 void loop() {
   // main FOC algorithm function
   // the faster you run this function the better

examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -88,9 +88,6 @@ void setup() {
   _delay(1000);
 }
 
-// angle set point variable
-float target_angle = 0;
-
 void loop() {
 
   // main FOC algorithm function

examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino

@@ -6,7 +6,6 @@
 #include "Arduino.h"
 #include <Wire.h>
 #include <SimpleFOC.h>
-#include <Math.h>
 
 // this is for an AS5048B absolute magnetic encoder on I2C address 0x41
 MagneticSensorI2C sensor = MagneticSensorI2C(0x41, 14, 0xFE, 8);