Merge pull request simplefoc#73 from sDessens/B-G431B-ESC1-current-sense-rebase-2

B g431 b esc1 current sense rebase 2

Author: askuric

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1_position_control.ino

@@ -0,0 +1,117 @@
+/** 
+ * B-G431B-ESC1 position motion control example with encoder
+ *
+ */
+#include <SimpleFOC.h>
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver6PWM driver = BLDCDriver6PWM(PHASE_UH, PHASE_UL, PHASE_VH, PHASE_VL, PHASE_WH, PHASE_WL);
+InlineCurrentSense currentSense = InlineCurrentSense(0.003, -64.0/7.0, OP1_OUT, OP2_OUT, OP3_OUT);
+
+
+// encoder instance
+Encoder encoder = Encoder(HALL2, HALL3, 2048, HALL1);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+void doIndex(){encoder.handleIndex();}
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+void setup() {
+  
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB); 
+
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+  
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // current sensing
+  currentSense.init();
+  motor.linkCurrentSense(&currentSense);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration 
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+ 
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 4;
+
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+// angle set point variable
+float target_angle = 0;
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_angle);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+  
+  // user communication
+  command.run();
+}

examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h

@@ -0,0 +1 @@
+-DHAL_OPAMP_MODULE_ENABLED

src/current_sense/hardware_specific/generic_mcu.cpp

@@ -26,7 +26,6 @@ __attribute__((weak))  void _configureADCLowSide(const int pinA,const int pinB,c
   if( _isset(pinC) ) pinMode(pinC, INPUT);
 }
 
-
 // sync driver and the adc
 __attribute__((weak)) void _driverSyncLowSide(){ }
 __attribute__((weak)) void _startADC3PinConversionLowSide(){ }

src/current_sense/hardware_specific/stm32_mcu.cpp

@@ -1,7 +1,7 @@
 
 #include "../hardware_api.h"
 
-#if defined(_STM32_DEF_)
+#if defined(_STM32_DEF_) and !defined(STM32G4xx)
 
 #define _ADC_VOLTAGE 3.3f
 #define _ADC_RESOLUTION 1024.0f