FEAT updated to the version 1.4.1. - recolved memory issues + support for esp32

Author: askuric

arduino_foc_minimal_encoder/BLDCMotor.cpp

@@ -60,26 +60,24 @@ BLDCMotor::BLDCMotor(int phA, int phB, int phC, int pp, int en)
 
 // init hardware pins   
 void BLDCMotor::init() {
-  if(monitor_port) monitor_port->println("MONITOR: Initialize the motor pins.");
+  if(monitor_port) monitor_port->println("MOT: Init pins.");
   // PWM pins
   pinMode(pwmA, OUTPUT);
   pinMode(pwmB, OUTPUT);
   pinMode(pwmC, OUTPUT);
   if(hasEnable()) pinMode(enable_pin, OUTPUT);
 
-  if(monitor_port) monitor_port->println("MONITOR: Set high frequency PWM.");
+  if(monitor_port) monitor_port->println("MOT: PWM config.");
   // Increase PWM frequency to 32 kHz
   // make silent
-  _setPwmFrequency(pwmA);
-  _setPwmFrequency(pwmB);
-  _setPwmFrequency(pwmC);
+  _setPwmFrequency(pwmA, pwmB, pwmC);
 
   // sanity check for the voltage limit configuration
   if(PI_velocity.voltage_limit > voltage_power_supply) PI_velocity.voltage_limit =  voltage_power_supply;
 
   _delay(500);
   // enable motor
-  if(monitor_port) monitor_port->println("MONITOR: Enabling motor.");
+  if(monitor_port) monitor_port->println("MOT: Enable.");
   enable();
   _delay(500);
 
@@ -92,17 +90,13 @@ void BLDCMotor::disable()
   // disable the driver - if enable_pin pin available
   if (hasEnable()) digitalWrite(enable_pin, LOW);
   // set zero to PWM
-  setPwm(pwmA, 0);
-  setPwm(pwmB, 0);
-  setPwm(pwmC, 0);
+  setPwm(0, 0, 0);
 }
 // enable motor driver
 void BLDCMotor::enable()
 {
   // set zero to PWM
-  setPwm(pwmA, 0);
-  setPwm(pwmB, 0);
-  setPwm(pwmC, 0);
+  setPwm(0, 0, 0);
   // enable_pin the driver - if enable_pin pin available
   if (hasEnable()) digitalWrite(enable_pin, HIGH);
 
@@ -115,7 +109,7 @@ void BLDCMotor::linkSensor(Sensor* _sensor) {
 
 // Encoder alignment to electrical 0 angle
 int BLDCMotor::alignSensor() {
-  if(monitor_port) monitor_port->println("MONITOR: Align the sensor's and motor electrical 0 angle.");
+  if(monitor_port) monitor_port->println("MOT: Align sensor.");
   // align the electrical phases of the motor and sensor
   // set angle -90 degrees 
   setPhaseVoltage(voltage_sensor_align, _3PI_2);
@@ -131,9 +125,9 @@ int BLDCMotor::alignSensor() {
   int exit_flag = absoluteZeroAlign();
   _delay(500);
   if(monitor_port){
-    if(exit_flag< 0 ) monitor_port->println("MONITOR: Error: Absolute zero not found!");
-    if(exit_flag> 0 ) monitor_port->println("MONITOR: Success: Absolute zero found!");
-    else  monitor_port->println("MONITOR: Absolute zero not available!");
+    if(exit_flag< 0 ) monitor_port->println("MOT: Error: Not found!");
+    if(exit_flag> 0 ) monitor_port->println("MOT: Success!");
+    else  monitor_port->println("MOT: Not available!");
   }
   return exit_flag;
 }
@@ -142,12 +136,13 @@ int BLDCMotor::alignSensor() {
 // Encoder alignment the absolute zero angle 
 // - to the index
 int BLDCMotor::absoluteZeroAlign() {
-  // if no absolute zero return
+
+  if(monitor_port) monitor_port->println("MOT: Absolute zero align.");
+    // if no absolute zero return
   if(!sensor->hasAbsoluteZero()) return 0;
 
-  if(monitor_port) monitor_port->println("MONITOR: Aligning the absolute zero.");
 
-  if(monitor_port && sensor->needsAbsoluteZeroSearch()) monitor_port->println("MONITOR: Searching for absolute zero.");
+  if(monitor_port && sensor->needsAbsoluteZeroSearch()) monitor_port->println("MOT: Searching...");
   // search the absolute zero with small velocity
   while(sensor->needsAbsoluteZeroSearch() && shaft_angle < _2PI){
     loopFOC();   
@@ -204,7 +199,7 @@ int  BLDCMotor::initFOC() {
   int exit_flag = alignSensor();
   _delay(500);
 
-  if(monitor_port) monitor_port->println("MONITOR: FOC init finished - motor ready.");
+  if(monitor_port) monitor_port->println("MOT: Motor ready.");
 
   return exit_flag;
 }
@@ -348,28 +343,21 @@ void BLDCMotor::setPhaseVoltage(float Uq, float angle_el) {
   }
 
   // set the voltages in hardware
-  setPwm(pwmA, Ua);
-  setPwm(pwmB, Ub);
-  setPwm(pwmC, Uc);
+  setPwm(Ua, Ub, Uc);
 }
 
 
 
 
 // Set voltage to the pwm pin
-// - function a bit optimized to get better performance
-void BLDCMotor::setPwm(int pinPwm, float U) {
-  // max value
-  float U_max = voltage_power_supply;
-      
-  // sets the voltage [0,12V(U_max)] to pwm [0,255]
-  // - U_max you can set in header file - default 12V
-  int U_pwm = 255.0 * U / U_max;
-
-  // limit the values between 0 and 255
-  U_pwm = (U_pwm < 0) ? 0 : (U_pwm >= 255) ? 255 : U_pwm;
-
-  analogWrite(pinPwm, U_pwm);
+void BLDCMotor::setPwm(float Ua, float Ub, float Uc) {      
+  // calculate duty cycle
+  // limited in [0,1]
+  float dc_a = (Ua < 0) ? 0 : (Ua >= voltage_power_supply) ? 1 : Ua / voltage_power_supply;  
+  float dc_b = (Ub < 0) ? 0 : (Ub >= voltage_power_supply) ? 1 : Ub / voltage_power_supply;  
+  float dc_c = (Uc < 0) ? 0 : (Uc >= voltage_power_supply) ? 1 : Uc / voltage_power_supply;  
+  // hardware specific writing
+  _writeDutyCycle(dc_a, dc_b, dc_c, pwmA, pwmB, pwmC );
 }
 
 /**
@@ -434,7 +422,7 @@ float BLDCMotor::positionP(float ek) {
 // function implementing the monitor_port setter
 void BLDCMotor::useMonitoring(Print &print){
   monitor_port = &print; //operate on the address of print
-  if(monitor_port ) monitor_port->println("MONITOR: Serial monitor enabled!");
+  if(monitor_port ) monitor_port->println("MOT: Monitor enabled!");
 }
 // utility function intended to be used with serial plotter to monitor motor variables
 // significantly slowing the execution down!!!!
@@ -478,51 +466,63 @@ int BLDCMotor::command(String user_command) {
   // parse command values
   float value = user_command.substring(1).toFloat();
 
+  // a bit of optimisation of variable memory for Arduino UNO (atmega328)
+  switch(cmd){
+    case 'P':      // velocity P gain change
+    case 'I':      // velocity I gain change
+    case 'L':      // velocity voltage limit change
+    case 'R':      // velocity voltage ramp change
+      if(monitor_port) monitor_port->print(" PI velocity| ");
+      break;
+    case 'F':      // velocity Tf low pass filter change
+      if(monitor_port) monitor_port->print(" LPF velocity| ");
+      break;
+    case 'K':      // angle loop gain P change
+    case 'N':      // angle loop gain velocity_limit change
+      if(monitor_port) monitor_port->print(" P angle| ");
+      break;
+  }
+
   // apply the the command
   switch(cmd){
     case 'P':      // velocity P gain change
-      if(monitor_port) monitor_port->print("PI velocity P: ");
+      if(monitor_port) monitor_port->print("P: ");
       if(!GET) PI_velocity.P = value;
       if(monitor_port) monitor_port->println(PI_velocity.P);
       break;
     case 'I':      // velocity I gain change
-      if(monitor_port) monitor_port->print("PI velocity I: ");
+      if(monitor_port) monitor_port->print("I: ");
       if(!GET) PI_velocity.I = value;
       if(monitor_port) monitor_port->println(PI_velocity.I);
       break;
     case 'L':      // velocity voltage limit change
-      if(monitor_port) monitor_port->print("PI velocity voltage limit: ");
+      if(monitor_port) monitor_port->print("volt_limit: ");
       if(!GET)PI_velocity.voltage_limit = value;
       if(monitor_port) monitor_port->println(PI_velocity.voltage_limit);
       break;
     case 'R':      // velocity voltage ramp change
-      if(monitor_port) monitor_port->print("PI velocity voltage ramp: ");
+      if(monitor_port) monitor_port->print("volt_ramp: ");
       if(!GET) PI_velocity.voltage_ramp = value;
       if(monitor_port) monitor_port->println(PI_velocity.voltage_ramp);
       break;
     case 'F':      // velocity Tf low pass filter change
-      if(monitor_port) monitor_port->print("LPF velocity time constant: ");
+      if(monitor_port) monitor_port->print("Tf: ");
       if(!GET) LPF_velocity.Tf = value;
       if(monitor_port) monitor_port->println(LPF_velocity.Tf);
       break;
     case 'K':      // angle loop gain P change
-      if(monitor_port) monitor_port->print("P angle P value: ");
+      if(monitor_port) monitor_port->print(" P: ");
       if(!GET) P_angle.P = value;
       if(monitor_port) monitor_port->println(P_angle.P);
       break;
     case 'N':      // angle loop gain velocity_limit change
-      if(monitor_port) monitor_port->print("P angle velocity limit: ");
-      if(!GET) P_angle.velocity_limit = value;
-      if(monitor_port) monitor_port->println(P_angle.velocity_limit);
-      break;
-    case 'T':      // angle loop gain velocity_limit change
-      if(monitor_port) monitor_port->print("P angle velocity limit: ");
+      if(monitor_port) monitor_port->print("vel_limit: ");
       if(!GET) P_angle.velocity_limit = value;
       if(monitor_port) monitor_port->println(P_angle.velocity_limit);
       break;
     case 'C':
       // change control type
-      if(monitor_port) monitor_port->print("Contoller type: ");
+      if(monitor_port) monitor_port->print("Control: ");
 
       if(GET){ // if get commang
         switch(controller){
@@ -584,6 +584,4 @@ int BLDCMotor::command(String user_command) {
   }
   // return 0 if error and 1 if ok
   return errorFlag;
-}
-
-
+}

arduino_foc_minimal_encoder/BLDCMotor.h

@@ -245,8 +245,15 @@ class BLDCMotor
 
     /** Electrical angle calculation  */
     float electricAngle(float shaftAngle);
-    /** Set phase voltaget to pwm output */
-    void setPwm(int pinPwm, float U);
+
+    /** 
+     * Set phase voltages to the harware 
+     * 
+     * @param Ua phase A voltage
+     * @param Ub phase B voltage
+     * @param Uc phase C voltage
+    */
+    void setPwm(float Ua, float Ub, float Uc);
 
     // Utility functions 
     /** normalizing radian angle to [0,2PI]  */