diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md new file mode 100644 index 00000000..3d352a1b --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -0,0 +1,29 @@ +--- +name: Bug report +about: Create a report to help us improve +title: "[BUG]" +labels: possible bug +assignees: '' + +--- + +This is a simplified template, feel free to change it if it does not fit your case. + +**Describe the bug** +A clear and concise description of what the bug is. + +**Describe the hardware setup** +For us it is very important to know what is the hardware setup you're using in order to be able to help more directly +- Which motor +- Which driver +- Which microcontroller +- Which position sensor +- Current sensing used? + +**IDE you are using** +- Arduino IDE +- Platformio +- Something else + +**Tried the Getting started guide? - if applicable** +Have you tried the getting started guide and at which step are you blocked in diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md new file mode 100644 index 00000000..df558478 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature_request.md @@ -0,0 +1,20 @@ +--- +name: Feature request +about: Suggest an idea for this project +title: "[FEATURE]" +labels: enhancement +assignees: '' + +--- + +**Is your feature request related to a problem? Please describe.** +Description of what the problem is. Ex. I'm always frustrated when [...] + +**Describe the solution you'd like** +Description of what you want to happen. + +**Describe alternatives you've considered** +Description of any alternative solutions or features you've considered. + +**Additional context** +Add any other context or screenshots about the feature request here. diff --git a/.github/workflows/arduino.yml b/.github/workflows/arduino.yml new file mode 100644 index 00000000..cadd8ccc --- /dev/null +++ b/.github/workflows/arduino.yml @@ -0,0 +1,53 @@ +name: AVR +on: [push, pull_request] +jobs: + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - uses: arduino/arduino-lint-action@v1 + with: + library-manager: update + project-type: library + 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:avr:mega # arduino mega2650 + - arduino:avr:leonardo # arduino leonardo + + include: + - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples + sketch-names: '**.ino' + required-libraries: PciManager + sketches-exclude: teensy4_current_control_low_side, full_control_serial, angle_control, 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,esp32_current_control_low_side, stm32_spi_alt_example, esp32_spi_alt_example, B_G431B_ESC1, odrive_example_spi, odrive_example_encoder, single_full_control_example, double_full_control_example, stm32_current_control_low_side, open_loop_velocity_6pwm + + - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example + sketch-names: single_full_control_example.ino + + - arduino-boards-fqbn: arduino:avr:leonardo # arduino leonardo - one full example + sketch-names: open_loop_position_example.ino + + - arduino-boards-fqbn: arduino:avr:mega # arduino mega2660 - one full example + 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@master + with: + 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 }} + build-properties: ${{ toJson(matrix.build-properties) }} diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml deleted file mode 100644 index ae273238..00000000 --- a/.github/workflows/ccpp.yml +++ /dev/null @@ -1,14 +0,0 @@ -name: Library Compile -on: push -jobs: - build: - name: Test compiling - runs-on: ubuntu-latest - steps: - - name: Checkout - uses: actions/checkout@master - - name: Compile all examples - uses: ArminJo/arduino-test-compile@v1.0.0 - with: - libraries: PciManager - examples-exclude: bluepill_position_control, esp32_position_control diff --git a/.github/workflows/esp32.yml b/.github/workflows/esp32.yml new file mode 100644 index 00000000..db551b41 --- /dev/null +++ b/.github/workflows/esp32.yml @@ -0,0 +1,55 @@ +name: ESP32 +on: [push, pull_request] +jobs: + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - uses: arduino/arduino-lint-action@v1 + with: + library-manager: update + project-type: library + build: + name: Test compiling + runs-on: ubuntu-latest + + strategy: + matrix: + arduino-boards-fqbn: + - esp32:esp32:esp32doit-devkit-v1 # esp32 + - esp32:esp32:esp32s2 # esp32s2 + - esp32:esp32:esp32s3 # esp32s3 + - esp32:esp32:esp32c3 # esp32c3 + + include: + + - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2 + 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://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:esp32c3 # esp32c3 + platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json + sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone.ino + + - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 + 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 + + # 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@master + with: + 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 }} + build-properties: ${{ toJson(matrix.build-properties) }} diff --git a/.github/workflows/rpi.yml b/.github/workflows/rpi.yml new file mode 100644 index 00000000..d6d72b95 --- /dev/null +++ b/.github/workflows/rpi.yml @@ -0,0 +1,39 @@ +name: RP2040 +on: [push, pull_request] +jobs: + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - uses: arduino/arduino-lint-action@v1 + with: + library-manager: update + project-type: library + build: + name: Test compiling + runs-on: ubuntu-latest + + strategy: + matrix: + arduino-boards-fqbn: + - arduino:mbed_rp2040:pico # rpi pico + + include: + + - arduino-boards-fqbn: arduino:mbed_rp2040:pico # raspberry pi pico - one example + sketch-names: open_loop_position_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@master + with: + 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 }} + build-properties: ${{ toJson(matrix.build-properties) }} diff --git a/.github/workflows/samd.yml b/.github/workflows/samd.yml new file mode 100644 index 00000000..c4329869 --- /dev/null +++ b/.github/workflows/samd.yml @@ -0,0 +1,44 @@ +name: SAMD +on: [push, pull_request] +jobs: + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - uses: arduino/arduino-lint-action@v1 + with: + library-manager: update + project-type: library + build: + name: Test compiling + runs-on: ubuntu-latest + + strategy: + matrix: + arduino-boards-fqbn: + - arduino:samd:nano_33_iot # samd21 + - adafruit:samd:adafruit_metro_m4 # samd51 + + include: + + - arduino-boards-fqbn: arduino:samd:nano_33_iot # samd21 + sketch-names: nano33IoT_velocity_control.ino, smartstepper_control.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 + + # 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@master + with: + 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 }} + build-properties: ${{ toJson(matrix.build-properties) }} diff --git a/.github/workflows/stm32.yml b/.github/workflows/stm32.yml new file mode 100644 index 00000000..52b5cc94 --- /dev/null +++ b/.github/workflows/stm32.yml @@ -0,0 +1,68 @@ +name: STM32 +on: [push, pull_request] +jobs: + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - uses: arduino/arduino-lint-action@v1 + with: + library-manager: update + project-type: library + build: + name: Test compiling + runs-on: ubuntu-latest + + strategy: + matrix: + arduino-boards-fqbn: + - STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8 # stm32 bluepill + - STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo + - STMicroelectronics:stm32:Nucleo_144:pnum=NUCLEO_F746ZG # stm32 nucleo f746zg + - STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX # stm32f405 - odrive + - STMicroelectronics:stm32:GenL4:pnum=GENERIC_L475RGTX # stm32l475 + - STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1 # B-G431-ESC1 + + include: + - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples + platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json + sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, stm32_spi_alt_example.ino + + - arduino-boards-fqbn: STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1 # B-G431-ESC1 + platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json + sketch-names: B_G431B_ESC1.ino + build-properties: + B_G431B_ESC1: + -DHAL_OPAMP_MODULE_ENABLED + + - arduino-boards-fqbn: STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX # stm32f405 - odrive + platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json + sketch-names: odrive_example_encoder.ino, odrive_example_spi.ino, stm32_current_control_low_side.ino + + - arduino-boards-fqbn: STMicroelectronics:stm32:GenL4:pnum=GENERIC_L475RGTX # stm32l475 + platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json + sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.ino + + - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # nucleo one full example + platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json + sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.ino + + - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_144:pnum=NUCLEO_F746ZG # nucleo f7 one full example + platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json + sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.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@master + with: + 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 }} + build-properties: ${{ toJson(matrix.build-properties) }} diff --git a/.github/workflows/teensy.yml b/.github/workflows/teensy.yml new file mode 100644 index 00000000..6ad953fe --- /dev/null +++ b/.github/workflows/teensy.yml @@ -0,0 +1,46 @@ +name: Teensy + +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 4 + run: pio ci --lib="." --board=teensy41 --board=teensy40 + env: + PLATFORMIO_CI_SRC: examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.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/CITATION.cff b/CITATION.cff new file mode 100644 index 00000000..ec37686e --- /dev/null +++ b/CITATION.cff @@ -0,0 +1,48 @@ +cff-version: 1.0.0 +message: "If you use this software, please cite it as below." +authors: +- family-names: "Skuric" + given-names: "Antun" + orcid: "https://orcid.org/0000-0002-3323-4482" +- family-names: "Bank" + given-names: "Hasan Sinan" + orcid: "https://orcid.org/0000-0002-0626-2664" +- family-names: "Unger" + given-names: "Richard" +- family-names: "Williams" + given-names: "Owen" +- family-names: "González-Reyes" + given-names: "David" + orcid: "https://orcid.org/0000-0002-1535-3007" +title: "SimpleFOC: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors" +version: 2.2.2 +doi: 10.21105/joss.04232 +date-released: 2022-06-26 +url: "https://github.com/simplefoc/Arduino-FOC" + +preferred-citation: + type: article + authors: + - family-names: "Skuric" + given-names: "Antun" + orcid: "https://orcid.org/0000-0002-3323-4482" + - family-names: "Bank" + given-names: "Hasan Sinan" + orcid: "https://orcid.org/0000-0002-0626-2664" + - family-names: "Unger" + given-names: "Richard" + - family-names: "Williams" + given-names: "Owen" + - family-names: "González-Reyes" + given-names: "David" + orcid: "https://orcid.org/0000-0002-1535-3007" + doi: "10.21105/joss.04232" + journal: "Journal of Open Source Software" + url: "https://doi.org/10.21105/joss.04232" + month: 6 + start: 4232 # First page number + end: 4232 # Last page number + title: "SimpleFOC: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors" + volume: 7 + issue: 74 + year: 2022 diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md new file mode 100644 index 00000000..88763e95 --- /dev/null +++ b/CODE_OF_CONDUCT.md @@ -0,0 +1,128 @@ +# Contributor Covenant Code of Conduct + +## Our Pledge + +We as members, contributors, and leaders pledge to make participation in our +community a harassment-free experience for everyone, regardless of age, body +size, visible or invisible disability, ethnicity, sex characteristics, gender +identity and expression, level of experience, education, socio-economic status, +nationality, personal appearance, race, religion, or sexual identity +and orientation. + +We pledge to act and interact in ways that contribute to an open, welcoming, +diverse, inclusive, and healthy community. + +## Our Standards + +Examples of behavior that contributes to a positive environment for our +community include: + +* Demonstrating empathy and kindness toward other people +* Being respectful of differing opinions, viewpoints, and experiences +* Giving and gracefully accepting constructive feedback +* Accepting responsibility and apologizing to those affected by our mistakes, + and learning from the experience +* Focusing on what is best not just for us as individuals, but for the + overall community + +Examples of unacceptable behavior include: + +* The use of sexualized language or imagery, and sexual attention or + advances of any kind +* Trolling, insulting or derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or email + address, without their explicit permission +* Other conduct which could reasonably be considered inappropriate in a + professional setting + +## Enforcement Responsibilities + +Community leaders are responsible for clarifying and enforcing our standards of +acceptable behavior and will take appropriate and fair corrective action in +response to any behavior that they deem inappropriate, threatening, offensive, +or harmful. + +Community leaders have the right and responsibility to remove, edit, or reject +comments, commits, code, wiki edits, issues, and other contributions that are +not aligned to this Code of Conduct, and will communicate reasons for moderation +decisions when appropriate. + +## Scope + +This Code of Conduct applies within all community spaces, and also applies when +an individual is officially representing the community in public spaces. +Examples of representing our community include using an official e-mail address, +posting via an official social media account, or acting as an appointed +representative at an online or offline event. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be +reported to the community leaders responsible for enforcement at +info@simplefoc.com. +All complaints will be reviewed and investigated promptly and fairly. + +All community leaders are obligated to respect the privacy and security of the +reporter of any incident. + +## Enforcement Guidelines + +Community leaders will follow these Community Impact Guidelines in determining +the consequences for any action they deem in violation of this Code of Conduct: + +### 1. Correction + +**Community Impact**: Use of inappropriate language or other behavior deemed +unprofessional or unwelcome in the community. + +**Consequence**: A private, written warning from community leaders, providing +clarity around the nature of the violation and an explanation of why the +behavior was inappropriate. A public apology may be requested. + +### 2. Warning + +**Community Impact**: A violation through a single incident or series +of actions. + +**Consequence**: A warning with consequences for continued behavior. No +interaction with the people involved, including unsolicited interaction with +those enforcing the Code of Conduct, for a specified period of time. This +includes avoiding interactions in community spaces as well as external channels +like social media. Violating these terms may lead to a temporary or +permanent ban. + +### 3. Temporary Ban + +**Community Impact**: A serious violation of community standards, including +sustained inappropriate behavior. + +**Consequence**: A temporary ban from any sort of interaction or public +communication with the community for a specified period of time. No public or +private interaction with the people involved, including unsolicited interaction +with those enforcing the Code of Conduct, is allowed during this period. +Violating these terms may lead to a permanent ban. + +### 4. Permanent Ban + +**Community Impact**: Demonstrating a pattern of violation of community +standards, including sustained inappropriate behavior, harassment of an +individual, or aggression toward or disparagement of classes of individuals. + +**Consequence**: A permanent ban from any sort of public interaction within +the community. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], +version 2.0, available at +https://www.contributor-covenant.org/version/2/0/code_of_conduct.html. + +Community Impact Guidelines were inspired by [Mozilla's code of conduct +enforcement ladder](https://github.com/mozilla/diversity). + +[homepage]: https://www.contributor-covenant.org + +For answers to common questions about this code of conduct, see the FAQ at +https://www.contributor-covenant.org/faq. Translations are available at +https://www.contributor-covenant.org/translations. diff --git a/README.md b/README.md index 3403b94c..4fbb7517 100644 --- a/README.md +++ b/README.md @@ -1,44 +1,55 @@ -# Arduino Simple Field Oriented Control (FOC) library - - -![Library Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Compile/badge.svg) +# SimpleFOClibrary - **Simple** Field Oriented Control (FOC) **library**
+### A Cross-Platform FOC implementation for BLDC and Stepper motors
based on the Arduino IDE and PlatformIO + +[![AVR build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino.yml) +[![STM32 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/stm32.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/stm32.yml) +[![ESP32 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/esp32.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/esp32.yml) +[![RP2040 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml) +[![SAMD build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml) +[![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) +![GitHub commit activity (branch)](https://img.shields.io/github/commit-activity/m/simplefoc/arduino-foc/dev) + +[![arduino-library-badge](https://ardubadge.simplefoc.com?lib=Simple%20FOC)](https://www.ardu-badge.com/badge/Simple%20FOC.svg) +[![PlatformIO Registry](https://badges.registry.platformio.org/packages/askuric/library/Simple%20FOC.svg)](https://registry.platformio.org/libraries/askuric/Simple%20FOC) [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) -[![arduino-library-badge](https://www.ardu-badge.com/badge/Simple%20FOC.svg?)](https://www.ardu-badge.com/badge/Simple%20FOC.svg) - -Proper low-cost and low-power FOC supporting boards are very hard to find today and even may not exist. Even harder to find is a stable and simple FOC algorithm code for BLDC and Stepper motors capable of running on Arduino devices. -Therefore this is an attempt to: -- Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase) -- Develop a modular BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase). -- ***New 📢:** Develop a modular Stepper motor board for FOC control:* Arduino StepperFOCShield - -

NEW RELEASE 📢: SimpleFOClibrary v1.6.0

- -## Arduino *SimpleFOCShield* - -

- - - -

- -### Features -- **Plug & play**: In combination with Arduino SimpleFOClibrary -- **Low-cost**: Price of €15 - [Check the pricing](https://www.simplefoc.com/simplefoc_shield_product) -- **Max power 100W** - max current 5A, power-supply 12-24V - - Designed for Gimbal motors with the internal resistance >10 Ω. -- **Stackable**: running 2 motors in the same time -- **Encoder/Hall sensor interface**: Integrated 3.3kΩ pullups (configurable) -- **I2C interface**: Integrated 4.7kΩ pullups (configurable) -- **Configurable pinout**: Hardware configuration - soldering connections -- **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards... -- **Open Source**: Fully available fabrication files - [how to make it yourself](https://www.simplefoc.com/arduino_simplefoc_shield_fabrication), - -##### If you are interested in this board, order your version on this link: [Simple FOC Shop](https://www.simplefoc.com/simplefoc_shield_product) - -

+[![status](https://joss.theoj.org/papers/4382445f249e064e9f0a7f6c1bb06b1d/status.svg)](https://joss.theoj.org/papers/4382445f249e064e9f0a7f6c1bb06b1d) -## Arduino *SimpleFOClibrary* +We live in very exciting times 😃! BLDC motors are entering the hobby community more and more and many great projects have already emerged leveraging their far superior dynamics and power capabilities. BLDC motors have numerous advantages over regular DC motors but they have one big disadvantage, the complexity of control. Even though it has become relatively easy to design and manufacture PCBs and create our own hardware solutions for driving BLDC motors the proper low-cost solutions are yet to come. One of the reasons for this is the apparent complexity of writing the BLDC driving algorithms, Field oriented control (FOC) being an example of one of the most efficient ones. +The solutions that can be found on-line are almost exclusively very specific for certain hardware configuration and the microcontroller architecture used. +Additionally, most of the efforts at this moment are still channeled towards the high-power applications of the BLDC motors and proper low-cost and low-power FOC supporting boards are very hard to find today and even may not exist.
+Therefore this is an attempt to: +- 🎯 Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase) + - Support as many motor + sensor + driver + mcu combinations out there +- 🎯 Develop modular and easy to use FOC supporting BLDC driver boards + - For official driver boards see [SimpleFOCBoards](https://docs.simplefoc.com/boards) + - Many many more boards developed by the community members, see [SimpleFOCCommunity](https://community.simplefoc.com/) + +> NEXT RELEASE 📢 : SimpleFOClibrary v2.3.4 +> - ESP32 MCUs extended support [#414](https://github.com/simplefoc/Arduino-FOC/pull/414) +> - Transition to the arduino-esp32 version v3.x (ESP-IDF v5.x) [#387](https://github.com/espressif/arduino-esp32/releases) +> - New support for MCPWM driver +> - New support for LEDC drivers - center-aligned PWM and 6PWM available +> - Rewritten and simplified the fast ADC driver code (`adcRead`) - for low-side and inline current sensing. +> - Stepper motors current sensing support [#421](https://github.com/simplefoc/Arduino-FOC/pull/421) +> - Support for current sensing (low-side and inline) - [see in docs](https://docs.simplefoc.com/current_sense) +> - Support for true FOC control - `foc_current` torque control - [see in docs](https://docs.simplefoc.com/motion_control) +> - New current sense alignment procedure [#422](https://github.com/simplefoc/Arduino-FOC/pull/422) - [see in docs](https://docs.simplefoc.com/current_sense_align) +> - Support for steppers +> - Much more robust and reliable +> - More verbose and informative +> - Support for HallSensors without interrupts [#424](https://docs.simplefoc.com/https://github.com/simplefoc/Arduino-FOC/pull/424) - [see in docs](hall_sensors) +> - Docs +> - A short guide to debugging of common issues +> - A short guide to the units in the library - [see in docs](https://docs.simplefoc.com/library_units) +> - See the complete list of bugfixes and new features of v2.3.4 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/11) + + +## Arduino *SimpleFOClibrary* v2.3.4

@@ -46,72 +57,82 @@ Therefore this is an attempt to:

-This video demonstrates the Simple FOC library basic usage, electronic connections and shows its capabilities. - +This video demonstrates the *Simple**FOC**library* basic usage, electronic connections and shows its capabilities. ### Features -- **Arduino compatible**: - - Arduino library code - - Arduino Library Manager integration +- **Easy install**: + - Arduino IDE: Arduino Library Manager integration + - PlatformIO - **Open-Source**: Full code and documentation available on github +- **Goal**: + - Support as many [sensor](https://docs.simplefoc.com/position_sensors) + [motor](https://docs.simplefoc.com/motors) + [driver](https://docs.simplefoc.com/drivers) + [current sense](https://docs.simplefoc.com/current_sense) combination as possible. + - Provide the up-to-date and in-depth documentation with API references and the examples - **Easy to setup and configure**: - - Easy hardware configuration - - Easy [tuning the control loops](https://docs.simplefoc.com/motion_control) -- **Modular**: - - Supports as many [sensors, BLDC motors and driver boards](https://docs.simplefoc.com/supported_hardware) as possible - - Supports multiple [MCU architectures](https://docs.simplefoc.com/microcontrollers): - - Arduino: UNO, MEGA, any board with ATMega328 chips - - STM32 boards: [Nucleo](https://www.st.com/en/evaluation-tools/stm32-nucleo-boards.html), [Bluepill](https://stm32-base.org/boards/STM32F103C8T6-Blue-Pill.html) ... - - ESP32 - - Teensy boards -- **Plug & play**: Arduino SimpleFOCShield + - Easy hardware configuration + - Each hardware component is a C++ object (easy to understand) + - Easy [tuning the control loops](https://docs.simplefoc.com/motion_control) + - [*Simple**FOC**Studio*](https://docs.simplefoc.com/studio) configuration GUI tool + - Built-in communication and monitoring +- **Cross-platform**: + - Seamless code transfer from one microcontroller family to another + - Supports multiple [MCU architectures](https://docs.simplefoc.com/microcontrollers): + - Arduino: UNO R4, UNO, MEGA, DUE, Leonardo, Nano, Nano33 .... + - STM32 + - ESP32 + - Teensy + - many more ...

+ +## Documentation +Full API code documentation as well as example projects and step by step guides can be found on our [docs website](https://docs.simplefoc.com/). + +![image](https://user-images.githubusercontent.com/36178713/168475410-105e4e3d-082a-4015-98ff-d380c7992dfd.png) + + ## Getting Started Depending on if you want to use this library as the plug and play Arduino library or you want to get insight in the algorithm and make changes there are two ways to install this code. - Full library installation [Docs](https://docs.simplefoc.com/library_download) -- Minimal code installation [Docs](https://docs.simplefoc.com/minimal_download) +- PlatformIO [Docs](https://docs.simplefoc.com/library_platformio) -### Arduino SimpleFOC library installation to Arduino IDE +### Arduino *SimpleFOClibrary* installation to Arduino IDE #### Arduino Library Manager The simplest way to get hold of the library is directly by using Arduino IDE and its integrated Library Manager. - Open Arduino IDE and start Arduino Library Manager by clicking: `Tools > Manage Libraries...`. - Search for `Simple FOC` library and install the latest version. - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`. -### Using Github website -- Go to the [github repository](https://github.com/askuric/Arduino-FOC) +#### Using Github website +- Go to the [github repository](https://github.com/simplefoc/Arduino-FOC) - Click first on `Clone or Download > Download ZIP`. - Unzip it and place it in `Arduino Libraries` folder. Windows: `Documents > Arduino > libraries`. - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`. -### Using terminal +#### Using terminal - Open terminal and run ```sh -cd *arduino libraries folder* -git clone https://github.com/askuric/Arduino-FOC.git +cd #Arduino libraries folder +git clone https://github.com/simplefoc/Arduino-FOC.git ``` - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`. -### SimpleFOC library minimal sketch example +## Community and contributing -For those willing to experiment and to modify the code I suggest using the [minimal version](https://github.com/askuric/Arduino-FOC/tree/minimal) of the code. - > This code is completely independent and you can run it as any other Arduino Sketch without the need for any libraries. +For all the questions regarding the potential implementation, applications, supported hardware and similar please visit our [community forum](https://community.simplefoc.com) or our [discord server](https://discord.gg/kWBwuzY32n). -#### Github website download -- Go to [minimal branch](https://github.com/askuric/Arduino-FOC/tree/minimal) -- Download the code by clicking on the `Clone or Download > Download ZIP`. -- Unzip it and open the sketch in Arduino IDE. +It is always helpful to hear the stories/problems/suggestions of people implementing the code and you might find a lot of answered questions there already! -#### Using terminal -- Open the terminal: - ```sh - cd *to you desired directory* - git clone -b minimal https://github.com/askuric/Arduino-FOC.git - ``` -- Then you just open it with the Arduino IDE and run it. +### Github Issues & Pull requests + +Please do not hesitate to leave an issue if you have problems/advices/suggestions regarding the code! + +Pull requests are welcome, but let's first discuss them in [community forum](https://community.simplefoc.com)! + +If you'd like to contribute to this project but you are not very familiar with github, don't worry, let us know either by posting at the community forum , by posting a github issue or at our discord server. + +If you are familiar, we accept pull requests to the dev branch! ## Arduino code example This is a simple Arduino code example implementing the velocity control program of a BLDC motor with encoder. @@ -121,8 +142,10 @@ NOTE: This program uses all the default control parameters. ```cpp #include -// BLDCMotor( pin_pwmA, pin_pwmB, pin_pwmC, pole_pairs, enable (optional)) -BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8); +// BLDCMotor( pole_pairs ) +BLDCMotor motor = BLDCMotor(11); +// BLDCDriver( pin_pwmA, pin_pwmB, pin_pwmC, enable (optional) ) +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8); // Encoder(pin_A, pin_B, CPR) Encoder encoder = Encoder(2, 3, 2048); // channel A and B callbacks @@ -138,13 +161,15 @@ void setup() { // link the motor to the sensor motor.linkSensor(&encoder); - // use monitoring with the BLDCMotor - Serial.begin(115200); - // monitoring port - motor.useMonitoring(Serial); + // power supply voltage [V] + driver.voltage_power_supply = 12; + // initialise driver hardware + driver.init(); + // link driver + motor.linkDriver(&driver); // set control loop type to be used - motor.controller = ControlType::velocity; + motor.controller = MotionControlType::velocity; // initialize motor motor.init(); @@ -159,39 +184,52 @@ void loop() { // velocity control loop function // setting the target velocity or 2rad/s motor.move(2); - - // monitoring function outputting motor variables to the serial terminal - motor.monitor(); } ``` You can find more details in the [SimpleFOC documentation](https://docs.simplefoc.com/). ## Example projects -Here are some of the SimpleFOC application examples. -### Arduino Field Oriented Controlled Reaction Wheel Inverted Pendulum -This is a very cool open-source project of one of the simplest setups of the Reaction wheel inverted pendulum. Check out all the components and projects notes in the [github repository](https://github.com/askuric/Arduino-FOC-reaction-wheel-inverted-pendulum). -

+Here are some of the *Simple**FOC**library* and *Simple**FOC**Shield* application examples. +

- + + + + + + + + + +

-**The main benefits of using the BLDC motor in this project are:** -- High torque to weight ratio - - The lighter the better -- Lots of torque for low angular velocities - - No need to spin the motor to very high PRM to achieve high torques -- No gearboxes and backlash - - Very smooth operation = very stable pendulum +## Citing the *SimpleFOC* -## Documentation -Find out more information about the Arduino SimpleFOC project in [docs website](https://docs.simplefoc.com/) +We are very happy that *Simple**FOC**library* has been used as a component of several research project and has made its way to several scientific papers. We are hoping that this trend is going to continue as the project matures and becomes more robust! +A short resume paper about *Simple**FOC*** has been published in the Journal of Open Source Software: +

+ SimpleFOC: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors.
+ A. Skuric, HS. Bank, R. Unger, O. Williams, D. González-Reyes
+Journal of Open Source Software, 7(74), 4232, https://doi.org/10.21105/joss.04232 +

+If you are interested in citing *Simple**FOC**library* or some other component of *Simple**FOC**project* in your research, we suggest you to cite our paper: + +```bib +@article{simplefoc2022, + doi = {10.21105/joss.04232}, + url = {https://doi.org/10.21105/joss.04232}, + year = {2022}, + publisher = {The Open Journal}, + volume = {7}, + number = {74}, + pages = {4232}, + author = {Antun Skuric and Hasan Sinan Bank and Richard Unger and Owen Williams and David González-Reyes}, + title = {SimpleFOC: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors}, + journal = {Journal of Open Source Software} +} -## Arduino FOC repo structure -Branch | Description | Status ------------- | ------------- | ------------ -[master](https://github.com/askuric/Arduino-FOC) | Stable and tested library version | ![Library Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Compile/badge.svg) -[dev](https://github.com/askuric/Arduino-FOC/tree/dev) | Development library version | ![Library Dev Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Dev%20Compile/badge.svg?branch=dev) -[minimal](https://github.com/askuric/Arduino-FOC/tree/minimal) | Minimal Arduino example with integrated library | ![MinimalBuild](https://github.com/askuric/Arduino-FOC/workflows/MinimalBuild/badge.svg?branch=minimal) +``` 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 new file mode 100644 index 00000000..f1eeefd2 --- /dev/null +++ b/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino @@ -0,0 +1,114 @@ +/** + * B-G431B-ESC1 position motion control example with encoder + * + */ +#include + +// Motor instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL); +// Gain calculation shown at https://community.simplefoc.com/t/b-g431b-esc1-current-control/521/21 +LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT); + + +// encoder instance +Encoder encoder = Encoder(A_HALL2, A_HALL3, 2048, A_HALL1); + +// Interrupt routine intialisation +// channel A and B callbacks +void doA(){encoder.handleA();} +void doB(){encoder.handleB();} +void doIndex(){encoder.handleIndex();} + +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.motion(&motor, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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); + // link current sense and the driver + currentSense.linkDriver(&driver); + + // current sensing + currentSense.init(); + // no need for aligning + currentSense.skip_align = true; + motor.linkCurrentSense(¤tSense); + + // 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; + + // 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); +} + +void loop() { + // main FOC algorithm function + motor.loopFOC(); + + // Motion control function + motor.move(); + + // function intended to be used with serial plotter to monitor motor variables + // significantly slowing the execution down!!!! + // motor.monitor(); + + // user communication + command.run(); +} diff --git a/examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h b/examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h new file mode 100644 index 00000000..6f547ecd --- /dev/null +++ b/examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h @@ -0,0 +1 @@ +-DHAL_OPAMP_MODULE_ENABLED \ No newline at end of file diff --git a/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino index e112713e..b29e45d8 100644 --- a/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino +++ b/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino @@ -1,14 +1,18 @@ /** - * + * * STM32 Bluepill position motion control example with encoder - * + * * The same example can be ran with any STM32 board - just make sure that put right pin numbers. - * + * */ #include -// motor instance -BLDCMotor motor = BLDCMotor(PB6, PB7, PB8, 11, PB5); +// Motor instance +BLDCMotor motor = BLDCMotor(11); +// BLDCDriver3PWM(IN1, IN2, IN3, enable(optional)) +BLDCDriver3PWM driver = BLDCDriver3PWM(PB6, PB7, PB8, PB5); +// BLDCDriver6PWM(IN1_H, IN1_L, IN2_H, IN2_L, IN3_H, IN3_L, enable(optional)) +//BLDCDriver6PWM driver = BLDCDriver6PWM(PA8, PB13, PA9, PB14, PA10, PB15, PB12); // encoder instance Encoder encoder = Encoder(PA8, PA9, 8192, PA10); @@ -19,39 +23,57 @@ void doA(){encoder.handleA();} void doB(){encoder.handleB();} void doI(){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() { - + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize encoder sensor hardware encoder.init(); - encoder.enableInterrupts(doA, doB, doI); - + encoder.enableInterrupts(doA, doB, doI); // link the motor to the sensor motor.linkSensor(&encoder); + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // 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 = ControlType::velocity; + motor.controller = MotionControlType::velocity; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; 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; + motor.LPF_velocity.Tf = 0.01f; // angle P controller motor.P_angle.P = 20; @@ -59,30 +81,27 @@ void setup() { 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("Motor ready."); - Serial.println("Set the target angle using serial terminal:"); + 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 + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -94,33 +113,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_angle = received_chars.toFloat(); - Serial.print("Target angle: "); - Serial.println(target_angle); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } \ No newline at end of file diff --git a/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino index d6cfc8d0..caef7ffe 100644 --- a/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino +++ b/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino @@ -1,9 +1,9 @@ /** - * + * * STM32 Bluepill position motion control example with magnetic sensor - * + * * The same example can be ran with any STM32 board - just make sure that put right pin numbers. - * + * */ #include @@ -17,72 +17,90 @@ MagneticSensorSPI sensor = MagneticSensorSPI(PA4, 14, 0x3FFF); // make sure to use the pull-ups!! // SDA PB7 // SCL PB6 -//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4); // Motor instance -BLDCMotor motor = BLDCMotor(PA3, PA2, PA1, 11, PA0); +BLDCMotor motor = BLDCMotor(11); +// BLDCDriver3PWM(IN1, IN2, IN3, enable(optional)) +BLDCDriver3PWM driver = BLDCDriver3PWM(PB6, PB7, PB8, PB5); +// BLDCDriver6PWM(IN1_H, IN1_L, IN2_H, IN2_L, IN3_H, IN3_L, enable(optional)) +//BLDCDriver6PWM driver = BLDCDriver6PWM(PA8, PB13, PA9, PB14, PA10, PB15, PB12); + + +// 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() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialise magnetic sensor hardware sensor.init(); // link the motor to the sensor motor.linkSensor(&sensor); - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; - + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // choose FOC modulation (optional) motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // set motion control loop to be used - motor.controller = ControlType::angle; + motor.controller = MotionControlType::angle; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; // maximal voltage to be set to the motor motor.voltage_limit = 6; - + // velocity low pass filtering time constant // the lower the less filtered - motor.LPF_velocity.Tf = 0.01; + motor.LPF_velocity.Tf = 0.01f; - // angle P controller + // angle P controller motor.P_angle.P = 20; // maximal velocity of the position control motor.velocity_limit = 40; - // use monitoring with serial - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); - + // initialize motor motor.init(); // align sensor and start FOC motor.initFOC(); + // add target command T + command.add('T', doTarget, "target angle"); - Serial.println("Motor ready."); - Serial.println("Set the target angle using serial terminal:"); + 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 + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -95,35 +113,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_angle = received_chars.toFloat(); - Serial.print("Target angle: "); - Serial.println(target_angle); - - // reset the command buffer - received_chars = ""; - } - } -} - + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/DRV8305_driver/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino b/examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino similarity index 62% rename from examples/hardware_specific_examples/DRV8305_driver/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino rename to examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino index 14a73e02..3d90db16 100644 --- a/examples/hardware_specific_examples/DRV8305_driver/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino +++ b/examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino @@ -1,15 +1,15 @@ /** * 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 all the configuration values + * * check the https://docs.simplefoc.com for full list of motor commands - * + * */ #include @@ -18,13 +18,15 @@ #define INH_A 9 #define INH_B 10 #define INH_C 11 + #define EN_GATE 7 -#define M_PWM A1 +#define M_PWM A1 #define M_OC A2 #define OC_ADJ A3 -// motor instance -BLDCMotor motor = BLDCMotor(INH_A, INH_B, INH_C, 11, EN_GATE); +// Motor instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE); // encoder instance Encoder encoder = Encoder(2, 3, 8192); @@ -34,11 +36,22 @@ Encoder encoder = Encoder(2, 3, 8192); void doA(){encoder.handleA();} void doB(){encoder.handleB();} + +// commander interface +Commander command = Commander(Serial); +void onMotor(char* cmd){ command.motor(&motor, cmd); } + void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize encoder sensor hardware encoder.init(); - encoder.enableInterrupts(doA, doB); + encoder.enableInterrupts(doA, doB); // link the motor to the sensor motor.linkSensor(&encoder); @@ -54,32 +67,35 @@ void setup() { pinMode(OC_ADJ,OUTPUT); digitalWrite(OC_ADJ,HIGH); - // choose FOC modulation - motor.foc_modulation = FOCModulationType::SpaceVectorPWM; + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + + + // choose FOC modulation + motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // set control loop type to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; - // contoller configuration based on the controll type - motor.PID_velocity.P = 0.2; + // contoller configuration based on the controll type + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; // default voltage_power_supply motor.voltage_limit = 12; // velocity low pass filtering time constant - motor.LPF_velocity.Tf = 0.01; + motor.LPF_velocity.Tf = 0.01f; // angle loop controller motor.P_angle.P = 20; // angle loop velocity limit motor.velocity_limit = 50; - // use monitoring with serial for motor init - // monitoring port - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -91,12 +107,14 @@ void setup() { // set the inital target value motor.target = 2; + // define the motor id + command.add('A', 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.")); - Serial.println("Full control example: "); - Serial.println("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "); - Serial.println("Initial motion control loop is voltage loop."); - Serial.println("Initial target voltage 2V."); - _delay(1000); } @@ -111,33 +129,5 @@ void loop() { motor.move(); // user communication - motor.command(serialReceiveUserCommand()); -} - -// utility function enabling serial communication the user -String serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - String command = ""; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - - // end of user input - if (inChar == '\n') { - - // execute the user command - command = received_chars; - - // reset the command buffer - received_chars = ""; - } - } - return command; -} - + command.run(); +} \ No newline at end of file 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 new file mode 100644 index 00000000..af56e067 --- /dev/null +++ b/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino @@ -0,0 +1,132 @@ +/** + * 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 + +// DRV8302 pins connections +// don't forget to connect the common ground pin +#define INH_A 3 +#define INH_B 5 +#define INH_C 9 +#define INL_A 11 +#define INL_B 6 +#define INL_C 10 + +#define EN_GATE 7 +#define M_PWM A1 +#define M_OC A2 +#define OC_ADJ A3 + +// Motor instance +BLDCMotor motor = BLDCMotor(11); +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); + +// 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() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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 - disable 3pwm mode + pinMode(M_PWM,OUTPUT); + digitalWrite(M_PWM, LOW); + // 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); + + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + + // choose FOC modulation + motor.foc_modulation = FOCModulationType::SpaceVectorPWM; + + // set control loop type to be used + motor.controller = MotionControlType::torque; + + // contoller configuration based on the controll type + motor.PID_velocity.P = 0.2f; + motor.PID_velocity.I = 20; + // default voltage_power_supply + motor.voltage_limit = 12; + + // velocity low pass filtering time constant + motor.LPF_velocity.Tf = 0.01f; + + // angle loop controller + motor.P_angle.P = 20; + // angle loop velocity limit + motor.velocity_limit = 50; + + // comment out if not needed + motor.useMonitoring(Serial); + + // initialise motor + motor.init(); + // align encoder and start FOC + motor.initFOC(); + + // set the inital target value + motor.target = 2; + + // define the motor id + command.add('M', onMotor, "motor"); + + 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 + // velocity, position or voltage + // if tatget not set in parameter uses motor.target variable + motor.move(); + + // user communication + command.run(); +} diff --git a/examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino b/examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino new file mode 100644 index 00000000..7d7fe14f --- /dev/null +++ b/examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino @@ -0,0 +1,169 @@ +/** + * 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 + +// 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() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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); + // link current sense and the driver + cs.linkDriver(&driver); + + // align voltage + 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 + + // 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(); + // 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(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/DRV8302_driver/stm32_current_control_low_side/stm32_current_control_low_side.ino b/examples/hardware_specific_examples/DRV8302_driver/stm32_current_control_low_side/stm32_current_control_low_side.ino new file mode 100644 index 00000000..e1b4c392 --- /dev/null +++ b/examples/hardware_specific_examples/DRV8302_driver/stm32_current_control_low_side/stm32_current_control_low_side.ino @@ -0,0 +1,169 @@ +/** + * 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 + +// DRV8302 pins connections +// don't forget to connect the common ground pin +#define INH_A PA8 +#define INH_B PA9 +#define INH_C PA10 + +#define EN_GATE PB7 +#define M_PWM PB4 +#define M_OC PB3 +#define OC_ADJ PB6 +#define OC_GAIN PB5 + +#define IOUTA PA0 +#define IOUTB PA1 +#define IOUTC PA2 + +// 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(PB14, PB15, 2048); + +// 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() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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 = 19; + driver.pwm_frequency = 15000; // suggested under 18khz + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // link current sense and the driver + cs.linkDriver(&driver); + + // align voltage + 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 + + // 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 = 0; + + // initialise motor + motor.init(); + + cs.init(); + // 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(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino b/examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino new file mode 100644 index 00000000..c9b4516f --- /dev/null +++ b/examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino @@ -0,0 +1,170 @@ +/** + * 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 + +// DRV8302 pins connections +// don't forget to connect the common ground pin +#define EN_GATE 11 +#define M_PWM 22 +#define GAIN 20 +#define M_OC 23 +#define OC_ADJ 19 + +#define INH_A 2 +#define INL_A 3 +#define INH_B 8 +#define INL_B 7 +#define INH_C 6 +#define INL_C 9 + +#define IOUTA 14 +#define IOUTB 15 +#define IOUTC 16 + +// 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); + +// encoder instance +Encoder encoder = Encoder(10, 11, 2048); + +// 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() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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 6pwm mode + pinMode(M_PWM, OUTPUT); + digitalWrite(M_PWM,LOW); // high for 3pwm + // 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); + + + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 19; + driver.pwm_frequency = 20000; // suggested not higher than 22khz + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // link current sense and the driver + cs.linkDriver(&driver); + + // align voltage + 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 + + // 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 = 0; + + // initialise motor + motor.init(); + + cs.init(); + // 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(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino b/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino index 422b577a..7f6b33ce 100644 --- a/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino +++ b/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino @@ -1,11 +1,12 @@ -/** +/** * ESP32 position motion control example with encoder * */ #include -// motor instance -BLDCMotor motor = BLDCMotor(25, 26, 27, 7); +// Motor instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7); // encoder instance Encoder encoder = Encoder(4, 2, 1024); @@ -15,70 +16,83 @@ Encoder encoder = Encoder(4, 2, 1024); void doA(){encoder.handleA();} void doB(){encoder.handleB();} +// 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() { - + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize encoder sensor hardware encoder.init(); - encoder.enableInterrupts(doA, doB); + encoder.enableInterrupts(doA, doB); // link the motor to the sensor motor.linkSensor(&encoder); + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // 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 = ControlType::velocity; + motor.controller = MotionControlType::velocity; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; 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; + motor.LPF_velocity.Tf = 0.01f; // 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("Motor ready."); - Serial.println("Set the target angle using serial terminal:"); + 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 + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -90,33 +104,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_angle = received_chars.toFloat(); - Serial.print("Target angle: "); - Serial.println(target_angle); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } \ No newline at end of file diff --git a/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino b/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino index dc9855fa..9ba9604a 100644 --- a/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino +++ b/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino @@ -7,81 +7,97 @@ // MISO 12 // MOSI 9 // SCK 14 -MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); +// magnetic sensor instance - SPI +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 15); // I2C Magnetic sensor instance (AS5600 example) // make sure to use the pull-ups!! // SDA 21 // SCL 22 -//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +// magnetic sensor instance - I2C +//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); // Analog output Magnetic sensor instance (AS5600) // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); // Motor instance -BLDCMotor motor = BLDCMotor(25, 26, 27, 7); +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7); + + +// 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() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialise magnetic sensor hardware sensor.init(); // link the motor to the sensor motor.linkSensor(&sensor); - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; - + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // choose FOC modulation (optional) motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // set motion control loop to be used - motor.controller = ControlType::angle; + motor.controller = MotionControlType::angle; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; // maximal voltage to be set to the motor motor.voltage_limit = 6; - + // velocity low pass filtering time constant // the lower the less filtered - motor.LPF_velocity.Tf = 0.01; + motor.LPF_velocity.Tf = 0.01f; - // angle P controller + // angle P controller motor.P_angle.P = 20; // maximal velocity of the position control motor.velocity_limit = 40; - // use monitoring with serial - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); - + // initialize motor motor.init(); // align sensor and start FOC motor.initFOC(); + // add target command T + command.add('T', doTarget, "target angle"); - Serial.println("Motor ready."); - Serial.println("Set the target angle using serial terminal:"); + 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 + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -94,35 +110,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_angle = received_chars.toFloat(); - Serial.print("Target angle: "); - Serial.println(target_angle); - - // reset the command buffer - received_chars = ""; - } - } -} - + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino b/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino index b8bf6137..d9107654 100644 --- a/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino +++ b/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino @@ -1,15 +1,15 @@ /** - * + * * HMBGC position motion control example with encoder - * + * * - Motor is connected the MOT1 connector (MOT1 9,10,11; MOT2 3,5,6) * - Encoder is connected to A0 and A1 - * - * This board doesn't have any interrupt pins so we need to run all the encoder channels with the software interrupt library + * + * This board doesn't have any interrupt pins so we need to run all the encoder channels with the software interrupt library * - For this example we use: PciManager library : https://github.com/prampec/arduino-pcimanager - * + * * See docs.simplefoc.com for more info. - * + * */ #include // software interrupt library @@ -17,8 +17,9 @@ #include -// motor instance -BLDCMotor motor = BLDCMotor(9, 10, 11, 11); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11); // encoder instance Encoder encoder = Encoder(A0, A1, 2048); @@ -32,8 +33,18 @@ void doB(){encoder.handleB();} PciListenerImp listenerA(encoder.pinA, doA); PciListenerImp listenerB(encoder.pinB, doB); + +// 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() { + // use monitoring with serial + Serial.begin(115200); + // initialise encoder hardware encoder.init(); // interrupt initialization @@ -42,61 +53,63 @@ void setup() { // link the motor to the sensor motor.linkSensor(&encoder); + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // 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 = ControlType::angle; + motor.controller = MotionControlType::angle; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; 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; + motor.LPF_velocity.Tf = 0.01f; // 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("Motor ready."); - Serial.println("Set the target angle using serial terminal:"); + 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 + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -108,33 +121,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_angle = received_chars.toFloat(); - Serial.print("Target angle: "); - Serial.println(target_angle); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } \ No newline at end of file diff --git a/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino b/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino index 2a7e4987..9c9655f9 100644 --- a/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino +++ b/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino @@ -23,8 +23,9 @@ #include -// motor instance -BLDCMotor motor = BLDCMotor(9, 10, 11, 11); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11); // encoder instance Encoder encoder = Encoder(A0, A1, 8192); @@ -38,6 +39,13 @@ void doB(){encoder.handleB();} PciListenerImp listenerA(encoder.pinA, doA); PciListenerImp listenerB(encoder.pinB, doB); + +// voltage set point variable +float target_voltage = 2; +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); } + void setup() { // initialize encoder sensor hardware @@ -48,15 +56,18 @@ void setup() { // link the motor to the sensor motor.linkSensor(&encoder); - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); // choose FOC modulation (optional) motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // set motion control loop to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; // use monitoring with serial for motor init // comment out if not needed @@ -71,15 +82,15 @@ void setup() { motor.init(); // align sensor and start FOC motor.initFOC(); + + // add target command T + command.add('T', doTarget, "target voltage"); - Serial.println("Motor ready."); - Serial.println("Set the target voltage using serial terminal:"); + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target voltage using serial terminal:")); _delay(1000); } -// target voltage to be set to the motor -float target_voltage = 2; - void loop() { // main FOC algorithm function @@ -94,33 +105,6 @@ void loop() { // You can also use motor.move() and set the motor.target in the code motor.move(target_voltage); - // communicate with the user - serialReceiveUserCommand(); -} - - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_voltage = received_chars.toFloat(); - Serial.print("Target voltage: "); - Serial.println(target_voltage); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } \ No newline at end of file diff --git a/examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino b/examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino new file mode 100644 index 00000000..504ab9c8 --- /dev/null +++ b/examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino @@ -0,0 +1,138 @@ +/* + Odrive robotics' hardware is one of the best BLDC motor foc supporting hardware out there. + + This is an example code that can be directly uploaded to the Odrive using the SWD programmer. + This code uses an encoder with 500 cpr and a BLDC motor with 7 pole pairs connected to the M0 interface of the Odrive. + + This is a short template code and the idea is that you are able to adapt to your needs not to be a complete solution. :D +*/ +#include + +// Odrive M0 motor pinout +#define M0_INH_A PA8 +#define M0_INH_B PA9 +#define M0_INH_C PA10 +#define M0_INL_A PB13 +#define M0_INL_B PB14 +#define M0_INL_C PB15 +// M0 currnets +#define M0_IB PC0 +#define M0_IC PC1 +// Odrive M0 encoder pinout +#define M0_ENC_A PB4 +#define M0_ENC_B PB5 +#define M0_ENC_Z PC9 + + +// Odrive M1 motor pinout +#define M1_INH_A PC6 +#define M1_INH_B PC7 +#define M1_INH_C PC8 +#define M1_INL_A PA7 +#define M1_INL_B PB0 +#define M1_INL_C PB1 +// M0 currnets +#define M1_IB PC2 +#define M1_IC PC3 +// Odrive M1 encoder pinout +#define M1_ENC_A PB6 +#define M1_ENC_B PB7 +#define M1_ENC_Z PC15 + +// M1 & M2 common enable pin +#define EN_GATE PB12 + +// SPI pinout +#define SPI3_SCL PC10 +#define SPI3_MISO PC11 +#define SPI3_MOSO PC12 + +// Motor instance +BLDCMotor motor = BLDCMotor(7); +BLDCDriver6PWM driver = BLDCDriver6PWM(M0_INH_A,M0_INL_A, M0_INH_B,M0_INL_B, M0_INH_C,M0_INL_C, EN_GATE); + +// instantiate the commander +Commander command = Commander(Serial); +void doMotor(char* cmd) { command.motor(&motor, cmd); } + +// low side current sensing define +// 0.0005 Ohm resistor +// gain of 10x +// current sensing on B and C phases, phase A not connected +LowsideCurrentSense current_sense = LowsideCurrentSense(0.0005f, 10.0f, _NC, M0_IB, M0_IC); + +Encoder encoder = Encoder(M0_ENC_A, M0_ENC_B, 500,M0_ENC_Z); +// Interrupt routine intialisation +// channel A and B callbacks +void doA(){encoder.handleA();} +void doB(){encoder.handleB();} +void doI(){encoder.handleIndex();} + +void setup(){ + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // pwm frequency to be used [Hz] + driver.pwm_frequency = 20000; + // power supply voltage [V] + driver.voltage_power_supply = 20; + // Max DC voltage allowed - default voltage_power_supply + driver.voltage_limit = 20; + // driver init + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + + // initialize encoder sensor hardware + encoder.init(); + encoder.enableInterrupts(doA, doB, doI); + // link the motor to the sensor + motor.linkSensor(&encoder); + + // control loop type and torque mode + motor.torque_controller = TorqueControlType::voltage; + motor.controller = MotionControlType::torque; + + // max voltage allowed for motion control + motor.voltage_limit = 8.0; + // alignment voltage limit + motor.voltage_sensor_align = 0.5; + + // comment out if not needed + motor.useMonitoring(Serial); + motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; + motor.monitor_downsample = 1000; + + // add target command T + command.add('M', doMotor, "motor M0"); + + // initialise motor + motor.init(); + + // link the driver + current_sense.linkDriver(&driver); + // init the current sense + current_sense.init(); + current_sense.skip_align = true; + motor.linkCurrentSense(¤t_sense); + + // init FOC + motor.initFOC(); + delay(1000); +} + +void loop(){ + + // foc loop + motor.loopFOC(); + // motion control + motor.move(); + // monitoring + motor.monitor(); + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino b/examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino new file mode 100644 index 00000000..7abcde54 --- /dev/null +++ b/examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino @@ -0,0 +1,136 @@ +/* + Odrive robotics' hardware is one of the best BLDC motor foc supporting hardware out there. + + This is an example code that can be directly uploaded to the Odrive using the SWD programmer. + This code uses an magnetic spi sensor AS5047 and a BLDC motor with 11 pole pairs connected to the M0 interface of the Odrive. + + This is a short template code and the idea is that you are able to adapt to your needs not to be a complete solution. :D +*/ +#include + +// Odrive M0 motor pinout +#define M0_INH_A PA8 +#define M0_INH_B PA9 +#define M0_INH_C PA10 +#define M0_INL_A PB13 +#define M0_INL_B PB14 +#define M0_INL_C PB15 +// M0 currnets +#define M0_IB PC0 +#define M0_IC PC1 +// Odrive M0 encoder pinout +#define M0_ENC_A PB4 +#define M0_ENC_B PB5 +#define M0_ENC_Z PC9 + + +// Odrive M1 motor pinout +#define M1_INH_A PC6 +#define M1_INH_B PC7 +#define M1_INH_C PC8 +#define M1_INL_A PA7 +#define M1_INL_B PB0 +#define M1_INL_C PB1 +// M0 currnets +#define M1_IB PC2 +#define M1_IC PC3 +// Odrive M1 encoder pinout +#define M1_ENC_A PB6 +#define M1_ENC_B PB7 +#define M1_ENC_Z PC15 + +// M1 & M2 common enable pin +#define EN_GATE PB12 + +// SPI pinout +#define SPI3_SCL PC10 +#define SPI3_MISO PC11 +#define SPI3_MOSO PC12 + +// Motor instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver6PWM driver = BLDCDriver6PWM(M0_INH_A,M0_INL_A, M0_INH_B,M0_INL_B, M0_INH_C,M0_INL_C, EN_GATE); + +// instantiate the commander +Commander command = Commander(Serial); +void doMotor(char* cmd) { command.motor(&motor, cmd); } + +// low side current sensing define +// 0.0005 Ohm resistor +// gain of 10x +// current sensing on B and C phases, phase A not connected +LowsideCurrentSense current_sense = LowsideCurrentSense(0.0005f, 10.0f, _NC, M0_IB, M0_IC); + +// MagneticSensorSPI(int cs, float _cpr, int _angle_register) +// config - SPI config +// cs - SPI chip select pin +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, M0_ENC_A); +SPIClass SPI_3(SPI3_MOSO, SPI3_MISO, SPI3_SCL); + +void setup(){ + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // pwm frequency to be used [Hz] + driver.pwm_frequency = 20000; + // power supply voltage [V] + driver.voltage_power_supply = 20; + // Max DC voltage allowed - default voltage_power_supply + driver.voltage_limit = 20; + // driver init + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + + // initialise magnetic sensor hardware + sensor.init(&SPI_3); + // link the motor to the sensor + motor.linkSensor(&sensor); + + // control loop type and torque mode + motor.torque_controller = TorqueControlType::voltage; + motor.controller = MotionControlType::torque; + + // max voltage allowed for motion control + motor.voltage_limit = 8.0; + // alignment voltage limit + motor.voltage_sensor_align = 0.5; + + // comment out if not needed + motor.useMonitoring(Serial); + motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; + motor.monitor_downsample = 1000; + + // add target command T + command.add('M', doMotor, "motor M0"); + + // initialise motor + motor.init(); + + // link the driver + current_sense.linkDriver(&driver); + // init the current sense + current_sense.init(); + current_sense.skip_align = true; + motor.linkCurrentSense(¤t_sense); + + // init FOC + motor.initFOC(); + delay(1000); +} + +void loop(){ + + // foc loop + motor.loopFOC(); + // motion control + motor.move(); + // monitoring + motor.monitor(); + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/SAMD_examples/README.md b/examples/hardware_specific_examples/SAMD_examples/README.md new file mode 100644 index 00000000..d1a52584 --- /dev/null +++ b/examples/hardware_specific_examples/SAMD_examples/README.md @@ -0,0 +1,62 @@ + +# SAMD Support + +SimpleFOC supports many SAMD21 MCUs, really any SAMD21 supported by Arduino core should work. + +## Pin assignments + +The SAMD chips have some very powerful PWM features, but do not have flexible pin assignments. + +You should be able to use *most* (but not all!), pin combinations for attaching your motor's PWM pins. Please ignore the board descriptions and pinout diagrammes regarding PWM-pins on SAMD boards. They are pretty much all incorrect to varying degrees of awfulness. + +On SAMD we use TCC and TC timer peripherals (built into the SAMD chip) to control the PWM. Depending on the chip there are various timer units, whose PWM outputs are attached to various different pins, and it is all very complicated. Luckily SimpleFOC sets it all up automatically *if* there is a compatible configuration for those pins. + +Not all timers are created equal. The TCC timers are pretty awesome for PWM motor control, while the TC timers are just ok for the job. So to get best performance, you want to use just TCC timer pins if you can. + +By enabling + +``` + #define SIMPLEFOC_SAMD_DEBUG +``` + +in drivers/hardware_specific/samd_mcu.cpp
+you will see a table of pin assignments printed on the serial console, as well as the timers SimpleFOC was able to find and configure on the pins you specified. You can use this to optimize your choice of pins if you want. + +You can configure up to 12 pins for PWM motor control, i.e. 6x 2-PWM motors, 4x 3-PWM motors, 3x 4-PWM motors or 2x 6-PWM motors. + +## PWM control modes + +All modes (3-PWM, 6-PWM, Stepper 2-PWM and Stepper 4-PWM) are supported. + +For 2-, 3- amd 4- PWM, any valid pin-combinations can be used. If you stick to TCC timers rather than using TC timers, then you'll get getter PWM waveforms. If you use pins which are all on the same TCC unit, you'll get the best result, with the PWM signals all perfectly aligned as well. + +For 6-PWM, the situation is much more complicated:
+TC timers cannot be used for 6-PWM, only TCC timers. + +For Hardware Dead-Time insertion, you must use H and L pins for one phase from the same TCC unit, and on the same channel, but using complementary WOs (Waveform Outputs, i.e. PWM output pins). Check the table to find pins on the same channel (like TCC0-0) but complementary WOs (like TCC0-0[0] and TCC0-0[4] or TCC1-0[0] and TCC1-0[2]). + +For Software Dead-Time insertion, you must use the same TCC and different channels for the H and L pins of the same phase. + +Note: in all of the above note that you *cannot* set the timers or WOs used - they are fixed, and determined by the pins you selected. SimpleFOC will find the best combination of timers given the pins, trying to use TCC timers before TC, and trying to keep things on the same timers as much as possible. If you configure multiple motors, it will take into account the pins already assigned to other motors. +So it is matter of choosing the right pins, nothing else. + +Note also: Unfortunately you can't set the PWM frequency. It is currently fixed at 24KHz. This is a tradeoff between limiting PWM resolution vs +increasing frequency, and also due to keeping the pin assignemts flexible, which would not be possible if we ran the timers at different rates. + +## Status + +Currently, SAMD21 is supported, and SAMD51 is unsupported. SAMD51 support is in progress. + +Boards tested: + + * Arduino Nano 33 IoT + * Arduino MKR1000 + * Arduino MKR1010 Wifi + * Seeduino XIAO + * Feather M0 Basic + +Environments tested: + + * Arduino IDE + * Arduino Pro IDE + * Sloeber diff --git a/examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino b/examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino new file mode 100644 index 00000000..650050ef --- /dev/null +++ b/examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino @@ -0,0 +1,69 @@ + +// show the infos for SAMD pin assignment on serial console +// set this #define SIMPLEFOC_SAMD_DEBUG in drivers/hardware_specific/samd21_mcu.h + + +#include "Arduino.h" +#include +#include + +// this is for an AS5048B absolute magnetic encoder on I2C address 0x41 +MagneticSensorI2C sensor = MagneticSensorI2C(0x41, 14, 0xFE, 8); + +// small BLDC gimbal motor, 7 pole-pairs +BLDCMotor motor = BLDCMotor(7); +// 3-PWM driving on pins 6, 5 and 8 - these are all on the same timer unit (TCC0), but different channels +BLDCDriver3PWM driver = BLDCDriver3PWM(6,5,8); + +// velocity set point variable +float target_velocity = 2.0f; +// instantiate the commander +Commander command = Commander(SerialUSB); +void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); } + + +void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + delay(1000); + Serial.println("Initializing..."); + + sensor.init(); + Wire.setClock(400000); + motor.linkSensor(&sensor); + driver.voltage_power_supply = 9; + driver.init(); + motor.linkDriver(&driver); + motor.controller = MotionControlType::velocity; + motor.PID_velocity.P = 0.2f; + motor.PID_velocity.I = 20; + motor.PID_velocity.D = 0.001f; + motor.PID_velocity.output_ramp = 1000; + motor.LPF_velocity.Tf = 0.01f; + motor.voltage_limit = 9; + //motor.P_angle.P = 20; + motor.init(); + motor.initFOC(); + + // add target command T + command.add('T', doTarget, "target velocity"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target velocity using serial terminal:")); + delay(100); +} + + + +void loop() { +// Serial.print("Sensor: "); +// Serial.println(sensor.getAngle()); + motor.loopFOC(); + motor.move(target_velocity); + // user communication + command.run(); +} diff --git a/examples/hardware_specific_examples/SimpleFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino new file mode 100644 index 00000000..bc387437 --- /dev/null +++ b/examples/hardware_specific_examples/SimpleFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino @@ -0,0 +1,105 @@ + +#include + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(7); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8, 4, 7); + +// encoder instance +Encoder encoder = Encoder(10, 11, 500); +// channel A and B callbacks +void doA(){encoder.handleA();} +void doB(){encoder.handleB();} + +// inline current sensor instance +InlineCurrentSense current_sense = InlineCurrentSense(0.001f, 50.0f, A0, A1); + +// commander communication instance +Commander command = Commander(Serial); +// void doMotor(char* cmd){ command.motor(&motor, cmd); } +void doTarget(char* cmd){ command.scalar(&motor.target, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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 = 20; + driver.init(); + // link driver + motor.linkDriver(&driver); + // link current sense and the driver + current_sense.linkDriver(&driver); + + motor.voltage_sensor_align = 1; + // set control loop type to be used + motor.torque_controller = TorqueControlType::foc_current; + motor.controller = MotionControlType::torque; + + // contoller configuration based on the controll type + motor.PID_velocity.P = 0.05f; + motor.PID_velocity.I = 1; + motor.PID_velocity.D = 0; + // default voltage_power_supply + motor.voltage_limit = 12; + + // velocity low pass filtering time constant + motor.LPF_velocity.Tf = 0.01f; + + // angle loop controller + motor.P_angle.P = 20; + // angle loop velocity limit + motor.velocity_limit = 20; + + // comment out if not needed + motor.useMonitoring(Serial); + motor.monitor_downsample = 0; // disable intially + motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle + + // current sense init and linking + current_sense.init(); + motor.linkCurrentSense(¤t_sense); + + // initialise motor + motor.init(); + // align encoder and start FOC + motor.initFOC(); + + // set the inital target value + motor.target = 0; + + // subscribe motor to the commander + // command.add('M', doMotor, "motor"); + command.add('T', doTarget, "target"); + + // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) + Serial.println("Motor ready."); + + _delay(1000); +} + + +void loop() { + // iterative setting FOC phase voltage + motor.loopFOC(); + + // iterative function setting the outter loop target + motor.move(); + + // motor monitoring + motor.monitor(); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/SimpleFOCMini/angle_control/angle_control.ino b/examples/hardware_specific_examples/SimpleFOCMini/angle_control/angle_control.ino new file mode 100644 index 00000000..8eb122a0 --- /dev/null +++ b/examples/hardware_specific_examples/SimpleFOCMini/angle_control/angle_control.ino @@ -0,0 +1,128 @@ +/** + * + * SimpleFOCMini motor control example + * + * For Arduino UNO, the most convenient way to use the board is to stack it to the pins: + * - 12 - GND + * - 11 - IN1 + * - 10 - IN2 + * - 9 - IN3 + * - 8 - EN + * + * For other boards with UNO headers but more PWM channles such as esp32, nucleo-64, samd51 metro etc, the best way to most convenient pinout is: + * - GND - GND + * - 13 - IN1 + * - 12 - IN2 + * - 11 - IN3 + * - 9 - EN + * + * For the boards without arduino uno headers, the choice of pinout is a lot less constrained. + * + */ +#include + + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(11, 10, 9, 8); + +// encoder instance +Encoder encoder = Encoder(2, 3, 500); +// Interrupt routine intialisation +// channel A and B callbacks +void doA(){encoder.handleA();} +void doB(){encoder.handleB();} + +// instantiate the commander +Commander command = Commander(Serial); +void doMotor(char* cmd) { command.motor(&motor, cmd); } + +void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // if SimpleFOCMini is stacked in arduino headers + // on pins 12,11,10,9,8 + // pin 12 is used as ground + pinMode(12,OUTPUT); + pinMode(12,LOW); + + // 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); + + // aligning voltage [V] + motor.voltage_sensor_align = 3; + + // set motion control loop to be used + motor.controller = MotionControlType::angle; + + // contoller configuration + // default parameters in defaults.h + + // velocity PI controller parameters + motor.PID_velocity.P = 0.2f; + motor.PID_velocity.I = 20; + motor.PID_velocity.D = 0; + // 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 = 0.01f; + + // angle P controller + motor.P_angle.P = 20; + // maximal velocity of the position control + motor.velocity_limit = 4; + + // comment out if not needed + motor.useMonitoring(Serial); + + // initialize motor + motor.init(); + // align encoder and start FOC + motor.initFOC(); + + // add target command M + command.add('M', doMotor, "motor"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target angle using serial terminal:")); + _delay(1000); +} + +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(); + + // function intended to be used with serial plotter to monitor motor variables + // significantly slowing the execution down!!!! + // motor.monitor(); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/SimpleFOCMini/open_loop/open_loop.ino b/examples/hardware_specific_examples/SimpleFOCMini/open_loop/open_loop.ino new file mode 100644 index 00000000..c458718b --- /dev/null +++ b/examples/hardware_specific_examples/SimpleFOCMini/open_loop/open_loop.ino @@ -0,0 +1,93 @@ +/** + * + * SimpleFOCMini motor control example + * + * For Arduino UNO or the other boards with the UNO headers + * the most convenient way to use the board is to stack it to the pins: + * - 12 - ENABLE + * - 11 - IN1 + * - 10 - IN2 + * - 9 - IN3 + * + */ +#include + + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +// BLDCDriver3PWM driver = BLDCDriver3PWM(11, 10, 9, 8); // mini v1.0 +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 12); // mini v1.1 + +// instantiate the commander +Commander command = Commander(Serial); +void doMotor(char* cmd) { command.motor(&motor, cmd); } + +void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // if SimpleFOCMini is stacked in arduino headers + // on pins 12,11,10,9,8 + // pin 12 is used as ground + pinMode(12,OUTPUT); + pinMode(12,LOW); + + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + + // aligning voltage [V] + motor.voltage_sensor_align = 3; + + // set motion control loop to be used + motor.controller = MotionControlType::velocity_openloop; + + // default voltage_power_supply + motor.voltage_limit = 2; // Volts + + // comment out if not needed + motor.useMonitoring(Serial); + + // initialize motor + motor.init(); + // align encoder and start FOC + motor.initFOC(); + + // add target command M + command.add('M', doMotor, "motor"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target velocity using serial terminal:")); + + motor.target = 1; //initial target velocity 1 rad/s + Serial.println("Target velocity: 1 rad/s"); + Serial.println("Voltage limit 2V"); + _delay(1000); +} + +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(); + + // function intended to be used with serial plotter to monitor motor variables + // significantly slowing the execution down!!!! + // motor.monitor(); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino new file mode 100644 index 00000000..fb5e1563 --- /dev/null +++ b/examples/hardware_specific_examples/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino @@ -0,0 +1,121 @@ + +#include + +// BLDC motor & driver instance +BLDCMotor motor1 = BLDCMotor(11); +BLDCDriver3PWM driver1 = BLDCDriver3PWM(9, 5, 6, 8); + +// BLDC motor & driver instance +BLDCMotor motor2 = BLDCMotor(11); +BLDCDriver3PWM driver2 = BLDCDriver3PWM(3, 10, 11, 7); + +// encoder instance +Encoder encoder1 = Encoder(2, A3, 500); +// channel A and B callbacks +void doA1(){encoder1.handleA();} +void doB1(){encoder1.handleB();} + +// encoder instance +Encoder encoder2 = Encoder(A1, A2, 500); +// channel A and B callbacks +void doA2(){encoder2.handleA();} +void doB2(){encoder2.handleB();} + +// commander communication instance +Commander command = Commander(Serial); +void doMotor1(char* cmd){ command.motor(&motor1, cmd); } +void doMotor2(char* cmd){ command.motor(&motor2, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // initialize encoder sensor hardware + encoder1.init(); + encoder1.enableInterrupts(doA1, doB1); + // initialize encoder sensor hardware + encoder2.init(); + encoder2.enableInterrupts(doA2, doB2); + // link the motor to the sensor + motor1.linkSensor(&encoder1); + motor2.linkSensor(&encoder2); + + + // driver config + // power supply voltage [V] + driver1.voltage_power_supply = 12; + driver1.init(); + // link driver + motor1.linkDriver(&driver1); + // power supply voltage [V] + driver2.voltage_power_supply = 12; + driver2.init(); + // link driver + motor2.linkDriver(&driver2); + + // set control loop type to be used + motor1.controller = MotionControlType::torque; + motor2.controller = MotionControlType::torque; + + // contoller configuration based on the controll type + motor1.PID_velocity.P = 0.05f; + motor1.PID_velocity.I = 1; + motor1.PID_velocity.D = 0; + // default voltage_power_supply + motor1.voltage_limit = 12; + // contoller configuration based on the controll type + motor2.PID_velocity.P = 0.05f; + motor2.PID_velocity.I = 1; + motor2.PID_velocity.D = 0; + // default voltage_power_supply + motor2.voltage_limit = 12; + + // angle loop velocity limit + motor1.velocity_limit = 20; + motor2.velocity_limit = 20; + + // comment out if not needed + motor1.useMonitoring(Serial); + motor2.useMonitoring(Serial); + + // initialise motor + motor1.init(); + // align encoder and start FOC + motor1.initFOC(); + + // initialise motor + motor2.init(); + // align encoder and start FOC + motor2.initFOC(); + + // set the inital target value + motor1.target = 2; + motor2.target = 2; + + // subscribe motor to the commander + command.add('A', doMotor1, "motor 1"); + command.add('B', doMotor2, "motor 2"); + + // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) + Serial.println(F("Double motor sketch ready.")); + + _delay(1000); +} + + +void loop() { + // iterative setting FOC phase voltage + motor1.loopFOC(); + motor2.loopFOC(); + + // iterative function setting the outter loop target + motor1.move(); + motor2.move(); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino new file mode 100644 index 00000000..3faa38b2 --- /dev/null +++ b/examples/hardware_specific_examples/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino @@ -0,0 +1,92 @@ + +#include + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); + +// encoder instance +Encoder encoder = Encoder(2, 3, 500); +// channel A and B callbacks +void doA(){encoder.handleA();} +void doB(){encoder.handleB();} + +// commander communication instance +Commander command = Commander(Serial); +void doMotor(char* cmd){ command.motor(&motor, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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 driver + motor.linkDriver(&driver); + + // set control loop type to be used + motor.controller = MotionControlType::torque; + + // contoller configuration based on the controll type + motor.PID_velocity.P = 0.05f; + motor.PID_velocity.I = 1; + motor.PID_velocity.D = 0; + // default voltage_power_supply + motor.voltage_limit = 12; + + // velocity low pass filtering time constant + motor.LPF_velocity.Tf = 0.01f; + + // angle loop controller + motor.P_angle.P = 20; + // angle loop velocity limit + motor.velocity_limit = 20; + + // comment out if not needed + motor.useMonitoring(Serial); + motor.monitor_downsample = 0; // disable intially + motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle + + // initialise motor + motor.init(); + // align encoder and start FOC + motor.initFOC(); + + // set the inital target value + motor.target = 2; + + // subscribe motor to the commander + command.add('M', doMotor, "motor"); + + // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) + Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V.")); + + _delay(1000); +} + + +void loop() { + // iterative setting FOC phase voltage + motor.loopFOC(); + + // iterative function setting the outter loop target + motor.move(); + + // motor monitoring + motor.monitor(); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino new file mode 100644 index 00000000..8eb3a86d --- /dev/null +++ b/examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino @@ -0,0 +1,147 @@ + +#include + +// BLDC motor & driver instance +BLDCMotor motor1 = BLDCMotor(11); +BLDCDriver3PWM driver1 = BLDCDriver3PWM(5, 10, 6, 8); + +// BLDC motor & driver instance +BLDCMotor motor2 = BLDCMotor(11); +BLDCDriver3PWM driver2 = BLDCDriver3PWM(3, 9, 11, 7); + +// encoder instance +Encoder encoder1 = Encoder(12, 2, 500); +// channel A and B callbacks +void doA1(){encoder1.handleA();} +void doB1(){encoder1.handleB();} + +// encoder instance +Encoder encoder2 = Encoder(A5, A4, 500); +// channel A and B callbacks +void doA2(){encoder2.handleA();} +void doB2(){encoder2.handleB();} + + +// inline current sensor instance +// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor) +InlineCurrentSense current_sense1 = InlineCurrentSense(0.01f, 50.0f, A0, A2); + +// inline current sensor instance +// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor) +InlineCurrentSense current_sense2 = InlineCurrentSense(0.01f, 50.0f, A1, A3); + +// commander communication instance +Commander command = Commander(Serial); +// void doMotor1(char* cmd){ command.motor(&motor1, cmd); } +// void doMotor2(char* cmd){ command.motor(&motor2, cmd); } +void doTarget1(char* cmd){ command.scalar(&motor1.target, cmd); } +void doTarget2(char* cmd){ command.scalar(&motor2.target, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // initialize encoder sensor hardware + encoder1.init(); + encoder1.enableInterrupts(doA1, doB1); + // initialize encoder sensor hardware + encoder2.init(); + encoder2.enableInterrupts(doA2, doB2); + // link the motor to the sensor + motor1.linkSensor(&encoder1); + motor2.linkSensor(&encoder2); + + + // driver config + // power supply voltage [V] + driver1.voltage_power_supply = 12; + driver1.init(); + // link driver + motor1.linkDriver(&driver1); + // link current sense and the driver + current_sense1.linkDriver(&driver1); + + // power supply voltage [V] + driver2.voltage_power_supply = 12; + driver2.init(); + // link driver + motor2.linkDriver(&driver2); + // link current sense and the driver + current_sense2.linkDriver(&driver2); + + // set control loop type to be used + motor1.controller = MotionControlType::torque; + motor2.controller = MotionControlType::torque; + + // contoller configuration based on the controll type + motor1.PID_velocity.P = 0.05f; + motor1.PID_velocity.I = 1; + motor1.PID_velocity.D = 0; + // default voltage_power_supply + motor1.voltage_limit = 12; + // contoller configuration based on the controll type + motor2.PID_velocity.P = 0.05f; + motor2.PID_velocity.I = 1; + motor2.PID_velocity.D = 0; + // default voltage_power_supply + motor2.voltage_limit = 12; + + // angle loop velocity limit + motor1.velocity_limit = 20; + motor2.velocity_limit = 20; + + // comment out if not needed + motor1.useMonitoring(Serial); + motor2.useMonitoring(Serial); + + + // current sense init and linking + current_sense1.init(); + motor1.linkCurrentSense(¤t_sense1); + // current sense init and linking + current_sense2.init(); + motor2.linkCurrentSense(¤t_sense2); + + // initialise motor + motor1.init(); + // align encoder and start FOC + motor1.initFOC(); + + // initialise motor + motor2.init(); + // align encoder and start FOC + motor2.initFOC(); + + // set the inital target value + motor1.target = 2; + motor2.target = 2; + + // subscribe motor to the commander + // command.add('A', doMotor1, "motor 1"); + // command.add('B', doMotor2, "motor 2"); + command.add('A', doTarget1, "target 1"); + command.add('B', doTarget2, "target 2"); + + // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) + Serial.println("Motors ready."); + + _delay(1000); +} + + +void loop() { + // iterative setting FOC phase voltage + motor1.loopFOC(); + motor2.loopFOC(); + + // iterative function setting the outter loop target + motor1.move(); + motor2.move(); + + // user communication + command.run(); +} diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino new file mode 100644 index 00000000..b65a9cb0 --- /dev/null +++ b/examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino @@ -0,0 +1,104 @@ + +#include + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(5, 10, 6, 8); + +// encoder instance +Encoder encoder = Encoder(2, 3, 500); +// channel A and B callbacks +void doA(){encoder.handleA();} +void doB(){encoder.handleB();} + +// inline current sensor instance +// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor) +InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2); + +// commander communication instance +Commander command = Commander(Serial); +void doMotion(char* cmd){ command.motion(&motor, cmd); } +// void doMotor(char* cmd){ command.motor(&motor, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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 driver + motor.linkDriver(&driver); + // link current sense and the driver + current_sense.linkDriver(&driver); + + // set control loop type to be used + motor.controller = MotionControlType::torque; + + // contoller configuration based on the controll type + motor.PID_velocity.P = 0.05f; + motor.PID_velocity.I = 1; + motor.PID_velocity.D = 0; + // default voltage_power_supply + motor.voltage_limit = 12; + + // velocity low pass filtering time constant + motor.LPF_velocity.Tf = 0.01f; + + // angle loop controller + motor.P_angle.P = 20; + // angle loop velocity limit + motor.velocity_limit = 20; + + // comment out if not needed + motor.useMonitoring(Serial); + motor.monitor_downsample = 0; // disable intially + motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle + + // current sense init and linking + current_sense.init(); + motor.linkCurrentSense(¤t_sense); + + // initialise motor + motor.init(); + // align encoder and start FOC + motor.initFOC(); + + // set the inital target value + motor.target = 2; + + // subscribe motor to the commander + command.add('T', doMotion, "motion control"); + // command.add('M', doMotor, "motor"); + + // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) + Serial.println("Motor ready."); + + _delay(1000); +} + + +void loop() { + // iterative setting FOC phase voltage + motor.loopFOC(); + + // iterative function setting the outter loop target + motor.move(); + + // motor monitoring + motor.monitor(); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v3/single_full_control_example/single_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v3/single_full_control_example/single_full_control_example.ino new file mode 100644 index 00000000..6359f201 --- /dev/null +++ b/examples/hardware_specific_examples/SimpleFOCShield/version_v3/single_full_control_example/single_full_control_example.ino @@ -0,0 +1,104 @@ + +#include + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(6, 10, 5, 8); + +// encoder instance +Encoder encoder = Encoder(2, 3, 500); +// channel A and B callbacks +void doA(){encoder.handleA();} +void doB(){encoder.handleB();} + +// inline current sensor instance +// ACS712-05B has the resolution of 0.185mV per Amp +InlineCurrentSense current_sense = InlineCurrentSense(185.0f, A0, A2); + +// commander communication instance +Commander command = Commander(Serial); +void doMotion(char* cmd){ command.motion(&motor, cmd); } +// void doMotor(char* cmd){ command.motor(&motor, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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 driver + motor.linkDriver(&driver); + // link current sense and the driver + current_sense.linkDriver(&driver); + + // set control loop type to be used + motor.controller = MotionControlType::torque; + + // controller configuration based on the control type + motor.PID_velocity.P = 0.05f; + motor.PID_velocity.I = 1; + motor.PID_velocity.D = 0; + // default voltage_power_supply + motor.voltage_limit = 12; + + // velocity low pass filtering time constant + motor.LPF_velocity.Tf = 0.01f; + + // angle loop controller + motor.P_angle.P = 20; + // angle loop velocity limit + motor.velocity_limit = 20; + + // comment out if not needed + motor.useMonitoring(Serial); + motor.monitor_downsample = 0; // disable intially + motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle + + // current sense init and linking + current_sense.init(); + motor.linkCurrentSense(¤t_sense); + + // initialise motor + motor.init(); + // align encoder and start FOC + motor.initFOC(); + + // set the inital target value + motor.target = 2; + + // subscribe motor to the commander + command.add('T', doMotion, "motion control"); + // command.add('M', doMotor, "motor"); + + // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) + Serial.println("Motor ready."); + + _delay(1000); +} + + +void loop() { + // iterative setting FOC phase voltage + motor.loopFOC(); + + // iterative function setting the outter loop target + motor.move(); + + // motor monitoring + motor.monitor(); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/Smart_Stepper/smartstepper_control/smartstepper_control.ino b/examples/hardware_specific_examples/Smart_Stepper/smartstepper_control/smartstepper_control.ino new file mode 100644 index 00000000..18047108 --- /dev/null +++ b/examples/hardware_specific_examples/Smart_Stepper/smartstepper_control/smartstepper_control.ino @@ -0,0 +1,65 @@ +/** + * Smart Stepper support with SimpleFOClibrary + */ +#include + +// magnetic sensor instance - SPI +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, A2); + +// Stepper motor & driver instance +StepperMotor motor = StepperMotor(50); +int in1[2] = {5, 6}; +int in2[2] = {A4, 7}; +StepperDriver2PWM driver = StepperDriver2PWM(4, in1, 9, in2); + +// instantiate the commander +Commander command = Commander(SerialUSB); +void doMotor(char* cmd) { command.motor(&motor, cmd); } + +void setup() { + + // use monitoring with SerialUSB + SerialUSB.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&SerialUSB); + + // initialise magnetic sensor hardware + sensor.init(); + // link the motor to the sensor + motor.linkSensor(&sensor); + + // power supply voltage + driver.voltage_power_supply = 12; + driver.init(); + motor.linkDriver(&driver); + + // set motion control loop to be used + motor.controller = MotionControlType::torque; + + // comment out if not needed + motor.useMonitoring(SerialUSB); + + // initialize motor + motor.init(); + // align sensor and start FOC + motor.initFOC(); + + // add target command M + command.add('M', doMotor, "my motor"); + + SerialUSB.println(F("Motor ready.")); + SerialUSB.println(F("Set the target voltage using Serial terminal:")); + _delay(1000); +} + +void loop() { + // main FOC algorithm function + motor.loopFOC(); + + // Motion control function + motor.move(); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino b/examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino new file mode 100644 index 00000000..7f59551d --- /dev/null +++ b/examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino @@ -0,0 +1,41 @@ +// 6pwm standalone example code for Teensy 3.x boards +#include + + +// BLDC driver instance +// using FTM0 timer +BLDCDriver6PWM driver = BLDCDriver6PWM(22,23, 9,10, 6,20, 8); +// using FTM3 timer - available on Teensy3.5 and Teensy3.6 +// BLDCDriver6PWM driver = BLDCDriver6PWM(2,14, 7,8, 35,36, 8); + +void setup() { + Serial.begin(115200); + // Enable debugging + // Driver init will show debugging output + SimpleFOCDebug::enable(&Serial); + + // pwm frequency to be used [Hz] + driver.pwm_frequency = 30000; + // dead zone percentage of the duty cycle - default 0.02 - 2% + driver.dead_zone=0.02; + // power supply voltage [V] + driver.voltage_power_supply = 12; + // Max DC voltage allowed - default voltage_power_supply + driver.voltage_limit = 12; + + // driver init + driver.init(); + + // enable driver + driver.enable(); + + _delay(1000); +} + +void loop() { + // setting pwm + // phase A: 3V + // phase B: 6V + // phase C: 5V + driver.setPwm(3,6,5); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino b/examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino new file mode 100644 index 00000000..9143dde7 --- /dev/null +++ b/examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino @@ -0,0 +1,70 @@ +// 6pwm openloop velocity example +#include + + +// BLDC motor & driver instance +// BLDCMotor motor = BLDCMotor(pole pair number); +BLDCMotor motor = BLDCMotor(11); +// using FTM0 timer +// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L) +BLDCDriver6PWM driver = BLDCDriver6PWM(22,23, 9,10, 6,20, 8); +// using FTM3 timer - available on Teensy3.5 and Teensy3.6 +// BLDCDriver6PWM driver = BLDCDriver6PWM(2,14, 7,8, 35,36, 8); + +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&motor.target, cmd); } +void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + // limit the maximal dc voltage the driver can set + // as a protection measure for the low-resistance motors + // this value is fixed on startup + driver.voltage_limit = 6; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + + // limiting motor movements + // limit the voltage to be set to the motor + // start very low for high resistance motors + // currnet = resistance*voltage, so try to be well under 1Amp + motor.voltage_limit = 3; // [V] + + // open loop control config + motor.controller = MotionControlType::velocity_openloop; + + // init motor hardware + motor.init(); + + //initial motor target + motor.target=0; + + // add target command T + command.add('T', doTarget, "target velocity"); + command.add('L', doLimit, "voltage limit"); + + Serial.println("Motor ready!"); + Serial.println("Set target velocity [rad/s]"); + _delay(1000); +} + +void loop() { + + // open loop velocity movement + // using motor.voltage_limit + motor.move(); + + // user communication + command.run(); +} diff --git a/examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino b/examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino new file mode 100644 index 00000000..f3df3db1 --- /dev/null +++ b/examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino @@ -0,0 +1,57 @@ +// 6pwm standalone example code for Teensy 4.x boards +// +// Teensy4.x 6pwm driver generates a 6pwm signal using FlexTimers and it doesn't support the QuadTimers +// - Each high-low pair of the 6pwm has to be A and B channels of the same FlexTimer and to the same submodule +// +// List of available teensy 4.1 pins with their respective submodules and channels +// FlexPWM(timer number)_(submodule)_(channel) +// FlexPWM4_2_A pin 2 +// FlexPWM4_2_B pin 3 +// FlexPWM1_3_B pin 7 +// FlexPWM1_3_A pin 8 +// FlexPWM2_2_A pin 6 +// FlexPWM2_2_B pin 9 +// FlexPWM3_1_B pin 28 +// FlexPWM3_1_A pin 29 +// FlexPWM2_3_A pin 36 +// FlexPWM2_3_B pin 37 +#include + + +// BLDC driver instance +// make sure to provide channel A for high side and channel B for low side +// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L) +// Example configuration +BLDCDriver6PWM driver = BLDCDriver6PWM(2,3, 6,9, 8,7); + +void setup() { + Serial.begin(115200); + // Enable debugging + // Driver init will show debugging output + SimpleFOCDebug::enable(&Serial); + + // pwm frequency to be used [Hz] + driver.pwm_frequency = 30000; + // dead zone percentage of the duty cycle - default 0.02 - 2% + driver.dead_zone=0.02; + // power supply voltage [V] + driver.voltage_power_supply = 12; + // Max DC voltage allowed - default voltage_power_supply + driver.voltage_limit = 12; + + // driver init + driver.init(); + + // enable driver + driver.enable(); + + _delay(1000); +} + +void loop() { + // setting pwm + // phase A: 3V + // phase B: 6V + // phase C: 5V + driver.setPwm(3,6,5); +} \ No newline at end of file diff --git a/examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino b/examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino new file mode 100644 index 00000000..5ff53311 --- /dev/null +++ b/examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino @@ -0,0 +1,85 @@ +// 6pwm openloop velocity example +// +// Teensy4.x 6pwm driver generates a 6pwm signal using FlexTimers and it doesn't support the QuadTimers +// - Each high-low pair of the 6pwm has to be A and B channels of the same FlexTimer and to the same submodule +// +// List of available teensy 4.1 pins with their respective submodules and channels +// FlexPWM(timer number)_(submodule)_(channel) +// FlexPWM4_2_A pin 2 +// FlexPWM4_2_B pin 3 +// FlexPWM1_3_B pin 7 +// FlexPWM1_3_A pin 8 +// FlexPWM2_2_A pin 6 +// FlexPWM2_2_B pin 9 +// FlexPWM3_1_B pin 28 +// FlexPWM3_1_A pin 29 +// FlexPWM2_3_A pin 36 +// FlexPWM2_3_B pin 37 +#include + + +// BLDC motor & driver instance +// BLDCMotor motor = BLDCMotor(pole pair number); +BLDCMotor motor = BLDCMotor(11); +// make sure to provide channel A for high side and channel B for low side +// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L) +// Example configuration +BLDCDriver6PWM driver = BLDCDriver6PWM(2,3, 6,9, 8,7); + +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&motor.target, cmd); } +void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + // limit the maximal dc voltage the driver can set + // as a protection measure for the low-resistance motors + // this value is fixed on startup + driver.voltage_limit = 6; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + + // limiting motor movements + // limit the voltage to be set to the motor + // start very low for high resistance motors + // currnet = resistance*voltage, so try to be well under 1Amp + motor.voltage_limit = 3; // [V] + + // open loop control config + motor.controller = MotionControlType::velocity_openloop; + + // init motor hardware + motor.init(); + + //initial motor target + motor.target=0; + + // add target command T + command.add('T', doTarget, "target velocity"); + command.add('L', doLimit, "voltage limit"); + + Serial.println("Motor ready!"); + Serial.println("Set target velocity [rad/s]"); + _delay(1000); +} + +void loop() { + + // open loop velocity movement + // using motor.voltage_limit + motor.move(); + + // user communication + command.run(); +} diff --git a/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino b/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino index 7043be25..c1ff7bbc 100644 --- a/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino +++ b/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino @@ -1,66 +1,81 @@ -// Open loop motor control example +// Open loop motor control example #include -// motor instance -// BLDCMotor( phA, phB, phC, pp, (en optional)) -BLDCMotor motor = BLDCMotor(9, 5, 6, 1, 8); -// StepperMotor(ph1A,ph1B,ph2A,ph2B,pp,( en1, en2 optional)) -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); + +// BLDC motor & driver instance +// BLDCMotor motor = BLDCMotor(pole pair number); +BLDCMotor motor = BLDCMotor(11); +// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional)); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); + +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + +//target variable +float target_position = 0; + +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_position, cmd); } +void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); } +void doVelocity(char* cmd) { command.scalar(&motor.velocity_limit, cmd); } void setup() { - - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + // limit the maximal dc voltage the driver can set + // as a protection measure for the low-resistance motors + // this value is fixed on startup + driver.voltage_limit = 6; + if(!driver.init()){ + Serial.println("Driver init failed!"); + return; + } + // link the motor and the driver + motor.linkDriver(&driver); // limiting motor movements - motor.voltage_limit = 3; // rad/s - motor.velocity_limit = 20; // rad/s + // limit the voltage to be set to the motor + // start very low for high resistance motors + // currnet = resistance*voltage, so try to be well under 1Amp + motor.voltage_limit = 3; // [V] + // limit/set the velocity of the transition in between + // target angles + motor.velocity_limit = 5; // [rad/s] cca 50rpm // open loop control config - motor.controller = ControlType::angle_openloop; + motor.controller = MotionControlType::angle_openloop; // init motor hardware - motor.init(); - + if(!motor.init()){ + Serial.println("Motor init failed!"); + return; + } + + // add target command T + command.add('T', doTarget, "target angle"); + command.add('L', doLimit, "voltage limit"); + command.add('V', doLimit, "movement velocity"); - Serial.begin(115200); Serial.println("Motor ready!"); + Serial.println("Set target position [rad]"); _delay(1000); } -float target_position = 0; // rad/s - void loop() { - // open loop angle movements + // open loop angle movements // using motor.voltage_limit and motor.velocity_limit + // angles can be positive or negative, negative angles correspond to opposite motor direction motor.move(target_position); - - // receive the used commands from serial - serialReceiveUserCommand(); -} - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_position = received_chars.toFloat(); - Serial.print("Target position: "); - Serial.println(target_position); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } \ No newline at end of file diff --git a/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino b/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino index 63340d73..b1bc2760 100644 --- a/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino +++ b/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino @@ -1,68 +1,79 @@ -// Open loop motor control example - #include +// Open loop motor control example +#include -// motor instance -// BLDCMotor( phA, phB, phC, pp, (en optional)) -BLDCMotor motor = BLDCMotor(3, 10, 6, 11, 7); -// StepperMotor(ph1A,ph1B,ph2A,ph2B,pp,( en1, en2 optional)) -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); +// BLDC motor & driver instance +// BLDCMotor motor = BLDCMotor(pole pair number); +BLDCMotor motor = BLDCMotor(11); +// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional)); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); + +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + + +//target variable +float target_velocity = 0; + +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); } +void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); } void setup() { - - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; - // limiting motor movements - motor.voltage_limit = 3; // rad/s - motor.velocity_limit = 20; // rad/s + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + // limit the maximal dc voltage the driver can set + // as a protection measure for the low-resistance motors + // this value is fixed on startup + driver.voltage_limit = 6; + if(!driver.init()){ + Serial.println("Driver init failed!"); + return; + } + // link the motor and the driver + motor.linkDriver(&driver); + // limiting motor movements + // limit the voltage to be set to the motor + // start very low for high resistance motors + // current = voltage / resistance, so try to be well under 1Amp + motor.voltage_limit = 3; // [V] + // open loop control config - motor.controller = ControlType::velocity_openloop; + motor.controller = MotionControlType::velocity_openloop; // init motor hardware - motor.init(); - + if(!motor.init()){ + Serial.println("Motor init failed!"); + return; + } + + // add target command T + command.add('T', doTarget, "target velocity"); + command.add('L', doLimit, "voltage limit"); - Serial.begin(115200); Serial.println("Motor ready!"); + Serial.println("Set target velocity [rad/s]"); _delay(1000); } -float target_velocity = 0; // rad/s - void loop() { - // open loop velocity movement + + // open loop velocity movement // using motor.voltage_limit and motor.velocity_limit + // to turn the motor "backwards", just set a negative target_velocity motor.move(target_velocity); - // receive the used commands from serial - serialReceiveUserCommand(); + // user communication + command.run(); } - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_velocity = received_chars.toFloat(); - Serial.print("Target velocity "); - Serial.println(target_velocity); - - // reset the command buffer - received_chars = ""; - } - } -} \ No newline at end of file diff --git a/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino index 6e38917c..03e6ea75 100644 --- a/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino +++ b/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino @@ -1,75 +1,83 @@ /** - * + * * Position/angle motion control example * Steps: - * 1) Configure the motor and encoder + * 1) Configure the motor and encoder * 2) Run the code * 3) Set the target angle (in radians) from serial terminal - * - * + * + * * NOTE : * > Arduino UNO example code for running velocity motion control using an encoder with index significantly * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager. - * - * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins + * + * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins * > you can supply doIndex directly to the encoder.enableInterrupts(doA,doB,doIndex) and avoid using PciManger - * + * * > If you don't want to use index pin initialize the encoder class without index pin number: * > For example: * > - Encoder encoder = Encoder(2, 3, 8192); * > and initialize interrupts like this: * > - encoder.enableInterrupts(doA,doB) - * + * * Check the docs.simplefoc.com for more info about the possible encoder configuration. - * + * */ #include -// software interrupt library -#include -#include -// BLDC motor instance -BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8); -// Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // encoder instance -Encoder encoder = Encoder(2, 3, 8192, A0); +Encoder encoder = Encoder(2, 3, 8192); // Interrupt routine intialisation // channel A and B callbacks void doA(){encoder.handleA();} void doB(){encoder.handleB();} -void doIndex(){encoder.handleIndex();} -// If no available hadware interrupt pins use the software interrupt -PciListenerImp listenerIndex(encoder.index_pin, doIndex); +// 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() { - + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize encoder sensor hardware encoder.init(); - encoder.enableInterrupts(doA, doB); - // software interrupts - PciManager.registerListener(&listenerIndex); + encoder.enableInterrupts(doA, doB); // link the motor to the sensor motor.linkSensor(&encoder); + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // 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 = ControlType::angle; + motor.controller = MotionControlType::angle; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; motor.PID_velocity.D = 0; // default voltage_power_supply @@ -77,40 +85,36 @@ void setup() { // 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; + motor.LPF_velocity.Tf = 0.01f; // 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("Motor ready."); - Serial.println("Set the target angle using serial terminal:"); + 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 + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -122,33 +126,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_angle = received_chars.toFloat(); - Serial.print("Target angle: "); - Serial.println(target_angle); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } \ No newline at end of file diff --git a/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino index 526b6af2..4bd7163f 100644 --- a/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino +++ b/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino @@ -1,28 +1,32 @@ /** - * + * * Position/angle motion control example * Steps: - * 1) Configure the motor and hall sensor + * 1) Configure the motor and hall sensor * 2) Run the code * 3) Set the target angle (in radians) from serial terminal - * - * + * + * * NOTE : * > This is for Arduino UNO example code for running angle motion control specifically * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager. - * - * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins + * + * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins * > you can supply doIndex directly to the sensr.enableInterrupts(doA,doB,doC) and avoid using PciManger - * - * + * + * */ #include // software interrupt library #include #include -// motor instance -BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // hall sensor instance HallSensor sensor = HallSensor(2, 3, 4, 11); @@ -35,32 +39,43 @@ void doC(){sensor.handleC();} // If no available hadware interrupt pins use the software interrupt PciListenerImp listenC(sensor.pinC, doC); +// 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 sensor hardware sensor.init(); - sensor.enableInterrupts(doA, doB); //, doC); + sensor.enableInterrupts(doA, doB); //, doC); // software interrupts PciManager.registerListener(&listenC); // link the motor to the sensor motor.linkSensor(&sensor); + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + + // 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 = ControlType::angle; + motor.controller = MotionControlType::angle; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 2; motor.PID_velocity.D = 0; // default voltage_power_supply @@ -68,9 +83,9 @@ void setup() { // 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; + motor.LPF_velocity.Tf = 0.01f; // angle P controller motor.P_angle.P = 20; @@ -78,30 +93,29 @@ void setup() { motor.velocity_limit = 4; - // use monitoring with serial + // use monitoring with serial Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); - + // initialize motor motor.init(); // align sensor and start FOC motor.initFOC(); + // add target command T + command.add('T', doTarget, "target angle"); - Serial.println("Motor ready."); - Serial.println("Set the target angle using serial terminal:"); + 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 + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -113,33 +127,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_angle = received_chars.toFloat(); - Serial.print("Target angle: "); - Serial.println(target_angle); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } \ No newline at end of file diff --git a/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino index bb110f65..f0f9b27c 100644 --- a/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino +++ b/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino @@ -1,88 +1,103 @@ /** - * + * * Position/angle motion control example * Steps: - * 1) Configure the motor and magnetic sensor + * 1) Configure the motor and magnetic sensor * 2) Run the code * 3) Set the target angle (in radians) from serial terminal - * + * */ #include // magnetic sensor instance - SPI -MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10); // magnetic sensor instance - MagneticSensorI2C -//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); // magnetic sensor instance - analog output // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); -// BLDC motor instance -BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8); -// Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + +// 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() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialise magnetic sensor hardware sensor.init(); // link the motor to the sensor motor.linkSensor(&sensor); - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; - + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // choose FOC modulation (optional) motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // set motion control loop to be used - motor.controller = ControlType::angle; + motor.controller = MotionControlType::angle; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; motor.PID_velocity.D = 0; // maximal voltage to be set to the motor motor.voltage_limit = 6; - + // velocity low pass filtering time constant // the lower the less filtered - motor.LPF_velocity.Tf = 0.01; + motor.LPF_velocity.Tf = 0.01f; - // angle P controller + // angle P controller motor.P_angle.P = 20; // maximal velocity of the position control motor.velocity_limit = 20; - - // use monitoring with serial - Serial.begin(115200); + // comment out if not needed motor.useMonitoring(Serial); - + // initialize motor motor.init(); // align sensor and start FOC motor.initFOC(); + // add target command T + command.add('T', doTarget, "target angle"); - Serial.println("Motor ready."); - Serial.println("Set the target angle using serial terminal:"); + 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 + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -95,35 +110,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_angle = received_chars.toFloat(); - Serial.print("Target angle: "); - Serial.println(target_angle); - - // reset the command buffer - received_chars = ""; - } - } -} - + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/motion_control/torque_control/encoder/current_control/current_control.ino b/examples/motion_control/torque_control/encoder/current_control/current_control.ino new file mode 100644 index 00000000..82aec86a --- /dev/null +++ b/examples/motion_control/torque_control/encoder/current_control/current_control.ino @@ -0,0 +1,111 @@ +/** + * + * Torque control example using current control loop. + * + */ +#include + + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); + +// encoder instance +Encoder encoder = Encoder(2, 3, 500); +// channel A and B callbacks +void doA(){encoder.handleA();} +void doB(){encoder.handleB();} + +// current sensor +InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2); + +// current set point variable +float target_current = 0; +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_current, cmd); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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 driver + motor.linkDriver(&driver); + // link current sense and the driver + current_sense.linkDriver(&driver); + + // current sense init hardware + current_sense.init(); + // link the current sense to the motor + motor.linkCurrentSense(¤t_sense); + + // set torque mode: + // TorqueControlType::dc_current + // TorqueControlType::voltage + // TorqueControlType::foc_current + motor.torque_controller = TorqueControlType::foc_current; + // set motion control loop to be used + motor.controller = MotionControlType::torque; + + // foc currnet control parameters (Arduino UNO/Mega) + motor.PID_current_q.P = 5; + motor.PID_current_q.I= 300; + motor.PID_current_d.P= 5; + motor.PID_current_d.I = 300; + motor.LPF_current_q.Tf = 0.01f; + motor.LPF_current_d.Tf = 0.01f; + // foc currnet control parameters (stm/esp/due/teensy) + // motor.PID_current_q.P = 5; + // motor.PID_current_q.I= 1000; + // motor.PID_current_d.P= 5; + // motor.PID_current_d.I = 1000; + // motor.LPF_current_q.Tf = 0.002f; // 1ms default + // motor.LPF_current_d.Tf = 0.002f; // 1ms default + + // comment out if not needed + motor.useMonitoring(Serial); + + // initialize motor + motor.init(); + // align sensor and start FOC + motor.initFOC(); + + // add target command T + command.add('T', doTarget, "target current"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target current using serial terminal:")); + _delay(1000); +} + +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 torque (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_current); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino similarity index 57% rename from examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino rename to examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino index df8ce490..219637c9 100644 --- a/examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino +++ b/examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino @@ -9,10 +9,13 @@ */ #include -// BLDC motor instance -BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 7); -// Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // encoder instance Encoder encoder = Encoder(2, 3, 8192); @@ -22,28 +25,42 @@ Encoder encoder = Encoder(2, 3, 8192); void doA(){encoder.handleA();} void doB(){encoder.handleB();} +// voltage set point variable +float target_voltage = 2; +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); } + void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize encoder sensor hardware encoder.init(); encoder.enableInterrupts(doA, doB); // link the motor to the sensor motor.linkSensor(&encoder); - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link driver + motor.linkDriver(&driver); + + // aligning voltage motor.voltage_sensor_align = 5; - // choose FOC modulation (optional) motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // set motion control loop to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; - // use monitoring with serial - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -52,14 +69,14 @@ void setup() { // align sensor and start FOC motor.initFOC(); - Serial.println("Motor ready."); - Serial.println("Set the target voltage using serial terminal:"); + // add target command T + command.add('T', doTarget, "target voltage"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target voltage using serial terminal:")); _delay(1000); } -// target voltage to be set to the motor -float target_voltage = 2; - void loop() { // main FOC algorithm function @@ -73,34 +90,7 @@ void loop() { // 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_voltage); - - // communicate with the user - serialReceiveUserCommand(); -} - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_voltage = received_chars.toFloat(); - Serial.print("Target voltage: "); - Serial.println(target_voltage); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } \ No newline at end of file diff --git a/examples/motion_control/torque_voltage_control/hall_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino similarity index 60% rename from examples/motion_control/torque_voltage_control/hall_sensor/voltage_control/voltage_control.ino rename to examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino index 9219bd13..c72c9224 100644 --- a/examples/motion_control/torque_voltage_control/hall_sensor/voltage_control/voltage_control.ino +++ b/examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino @@ -9,8 +9,13 @@ */ #include -// motor instance -BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 7); + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // hall sensor instance HallSensor sensor = HallSensor(2, 3, 4, 11); @@ -21,17 +26,34 @@ void doA(){sensor.handleA();} void doB(){sensor.handleB();} void doC(){sensor.handleC();} + +// voltage set point variable +float target_voltage = 2; +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); } + void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize encoder sensor hardware sensor.init(); sensor.enableInterrupts(doA, doB, doC); // link the motor to the sensor motor.linkSensor(&sensor); - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link driver + motor.linkDriver(&driver); + // aligning voltage motor.voltage_sensor_align = 3; @@ -39,10 +61,8 @@ void setup() { motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // set motion control loop to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; - // use monitoring with serial - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -51,13 +71,14 @@ void setup() { // align sensor and start FOC motor.initFOC(); - Serial.println("Motor ready."); - Serial.println("Set the target voltage using serial terminal:"); + // add target command T + command.add('T', doTarget, "target voltage"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target voltage using serial terminal:")); _delay(1000); } -// target voltage to be set to the motor -float target_voltage = 2; void loop() { @@ -72,34 +93,7 @@ void loop() { // 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_voltage); - - // communicate with the user - serialReceiveUserCommand(); -} - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_voltage = received_chars.toFloat(); - Serial.print("Target voltage: "); - Serial.println(target_voltage); - - // reset the command buffer - received_chars = ""; - } - } -} + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino similarity index 55% rename from examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino rename to examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino index d9a2d2be..dbb56080 100644 --- a/examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino +++ b/examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino @@ -9,38 +9,50 @@ #include // magnetic sensor instance - SPI -MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10); // magnetic sensor instance - I2C -//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +// MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); // magnetic sensor instance - analog output // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); -// BDLC Motor instance -BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8); -// Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + +// voltage set point variable +float target_voltage = 2; +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); } void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialise magnetic sensor hardware sensor.init(); // link the motor to the sensor motor.linkSensor(&sensor); // power supply voltage - // default 12V - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + motor.linkDriver(&driver); + // aligning voltage motor.voltage_sensor_align = 5; - // choose FOC modulation (optional) motor.foc_modulation = FOCModulationType::SpaceVectorPWM; - // set motion control loop to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; - // use monitoring with serial - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -49,14 +61,14 @@ void setup() { // align sensor and start FOC motor.initFOC(); - Serial.println("Motor ready."); - Serial.println("Set the target voltage using serial terminal:"); + // add target command T + command.add('T', doTarget, "target voltage"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target voltage using serial terminal:")); _delay(1000); } -// target voltage to be set to the motor -float target_voltage = 2; - void loop() { // main FOC algorithm function @@ -71,33 +83,6 @@ void loop() { // You can also use motor.move() and set the motor.target in the code motor.move(target_voltage); - // communicate with the user - serialReceiveUserCommand(); -} - - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_voltage = received_chars.toFloat(); - Serial.print("Target voltage: "); - Serial.println(target_voltage); - - // reset the command buffer - received_chars = ""; - } - } -} + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino index 18523ac6..f0f1e3e8 100644 --- a/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino +++ b/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino @@ -1,38 +1,40 @@ /** - * + * * Velocity motion control example * Steps: - * 1) Configure the motor and encoder + * 1) Configure the motor and encoder * 2) Run the code * 3) Set the target velocity (in radians per second) from serial terminal - * - * - * + * + * + * * NOTE : * > Arduino UNO example code for running velocity motion control using an encoder with index significantly * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager. - * - * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins + * + * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins * > you can supply doIndex directly to the encoder.enableInterrupts(doA,doB,doIndex) and avoid using PciManger - * + * * > If you don't want to use index pin initialize the encoder class without index pin number: * > For example: * > - Encoder encoder = Encoder(2, 3, 8192); * > and initialize interrupts like this: * > - encoder.enableInterrupts(doA,doB) - * + * * Check the docs.simplefoc.com for more info about the possible encoder configuration. - * + * */ #include // software interrupt library #include #include -// BLDC motor instance -BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8); -// Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // encoder instance Encoder encoder = Encoder(2, 3, 8192, A0); @@ -46,31 +48,43 @@ void doIndex(){encoder.handleIndex();} PciListenerImp listenerIndex(encoder.index_pin, doIndex); +// velocity set point variable +float target_velocity = 0; +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); } + + void setup() { // initialize encoder sensor hardware encoder.init(); - encoder.enableInterrupts(doA, doB); + encoder.enableInterrupts(doA, doB); // software interrupts PciManager.registerListener(&listenerIndex); // link the motor to the sensor motor.linkSensor(&encoder); + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // 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 = ControlType::velocity; + motor.controller = MotionControlType::velocity; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; motor.PID_velocity.D = 0; // default voltage_power_supply @@ -78,11 +92,11 @@ void setup() { // 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; + motor.LPF_velocity.Tf = 0.01f; - // use monitoring with serial + // use monitoring with serial Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -92,19 +106,20 @@ void setup() { // align sensor and start FOC motor.initFOC(); - Serial.println("Motor ready."); - Serial.println("Set the target velocity using serial terminal:"); + // add target command T + command.add('T', doTarget, "target velocity"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target velocity using serial terminal:")); _delay(1000); } -// velocity set point variable -float target_velocity = 0; void loop() { // main FOC algorithm function // the faster you run this function the better // Arduino UNO loop ~1kHz - // Bluepill loop ~10kHz + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -116,34 +131,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_velocity = received_chars.toFloat(); - Serial.print("Target velocity: "); - Serial.println(target_velocity); - - // reset the command buffer - received_chars = ""; - } - } -} + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino b/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control/velocity_control.ino similarity index 65% rename from examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino rename to examples/motion_control/velocity_motion_control/hall_sensor/velocity_control/velocity_control.ino index 586ef9ab..4fb47f02 100644 --- a/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino +++ b/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control/velocity_control.ino @@ -1,28 +1,32 @@ /** - * + * * Velocity motion control example * Steps: - * 1) Configure the motor and sensor + * 1) Configure the motor and sensor * 2) Run the code * 3) Set the target velocity (in radians per second) from serial terminal - * - * - * + * + * + * * NOTE : - * > Specifically for Arduino UNO example code for running velocity motion control using a hall sensor + * > Specifically for Arduino UNO example code for running velocity motion control using a hall sensor * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager. - * - * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins + * + * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins * > you can supply doC directly to the sensor.enableInterrupts(doA,doB,doC) and avoid using PciManger - * + * */ #include // software interrupt library #include #include -// motor instance -BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // hall sensor instance HallSensor sensor = HallSensor(2, 3, 4, 11); @@ -35,30 +39,46 @@ void doC(){sensor.handleC();} // If no available hadware interrupt pins use the software interrupt PciListenerImp listenerIndex(sensor.pinC, doC); +// velocity set point variable +float target_velocity = 0; +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); } void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize sensor sensor hardware sensor.init(); - sensor.enableInterrupts(doA, doB); //, doC); + sensor.enableInterrupts(doA, doB); //, doC); // software interrupts PciManager.registerListener(&listenerIndex); // link the motor to the sensor motor.linkSensor(&sensor); + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); + // aligning voltage [V] motor.voltage_sensor_align = 3; // set motion control loop to be used - motor.controller = ControlType::velocity; + motor.controller = MotionControlType::velocity; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 2; motor.PID_velocity.D = 0; // default voltage_power_supply @@ -66,12 +86,10 @@ void setup() { // 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; + motor.LPF_velocity.Tf = 0.01f; - // use monitoring with serial - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -80,19 +98,20 @@ void setup() { // align sensor and start FOC motor.initFOC(); - Serial.println("Motor ready."); - Serial.println("Set the target velocity using serial terminal:"); + // add target command T + command.add('T', doTarget, "target voltage"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target velocity using serial terminal:")); _delay(1000); } -// velocity set point variable -float target_velocity = 0; void loop() { // main FOC algorithm function // the faster you run this function the better // Arduino UNO loop ~1kHz - // Bluepill loop ~10kHz + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -104,34 +123,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} - -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_velocity = received_chars.toFloat(); - Serial.print("Target velocity: "); - Serial.println(target_velocity); - - // reset the command buffer - received_chars = ""; - } - } -} + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino index 3caf282a..40299b8f 100644 --- a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino +++ b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino @@ -1,48 +1,64 @@ /** - * + * * Velocity motion control example * Steps: - * 1) Configure the motor and magnetic sensor + * 1) Configure the motor and magnetic sensor * 2) Run the code * 3) Set the target velocity (in radians per second) from serial terminal - * - * + * + * * By using the serial terminal set the velocity value you want to motor to obtain * */ #include -// magnetic sensor instance -MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); -// magnetic sensor instance -//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); -// magnetic sensor instance - analog output +// magnetic sensor instance - SPI +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10); +// magnetic sensor instance - MagneticSensorI2C +//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); -// BLDC motor instance -BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8); -// Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + +// velocity set point variable +float target_velocity = 0; +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); } void setup() { - + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialise magnetic sensor hardware sensor.init(); // link the motor to the sensor motor.linkSensor(&sensor); - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link the motor and the driver + motor.linkDriver(&driver); // set motion control loop to be used - motor.controller = ControlType::velocity; + motor.controller = MotionControlType::velocity; - // contoller configuration + // contoller configuration // default parameters in defaults.h // velocity PI controller parameters - motor.PID_velocity.P = 0.2; + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; motor.PID_velocity.D = 0; // default voltage_power_supply @@ -50,14 +66,12 @@ void setup() { // 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 - // default 5ms - try different values to see what is the best. + // default 5ms - try different values to see what is the best. // the lower the less filtered - motor.LPF_velocity.Tf = 0.01; + motor.LPF_velocity.Tf = 0.01f; - // use monitoring with serial - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -66,19 +80,19 @@ void setup() { // align sensor and start FOC motor.initFOC(); - Serial.println("Motor ready."); - Serial.println("Set the target velocity using serial terminal:"); + // add target command T + command.add('T', doTarget, "target velocity"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target velocity using serial terminal:")); _delay(1000); } -// velocity set point variable -float target_velocity = 0; - void loop() { // main FOC algorithm function // the faster you run this function the better // Arduino UNO loop ~1kHz - // Bluepill loop ~10kHz + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -90,34 +104,7 @@ void loop() { // function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor(); - - // user communication - serialReceiveUserCommand(); -} -// utility function enabling serial communication with the user to set the target values -// this function can be implemented in serialEvent function as well -void serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - // end of user input - if (inChar == '\n') { - - // change the motor target - target_velocity = received_chars.toFloat(); - Serial.print("Target velocity: "); - Serial.println(target_velocity); - - // reset the command buffer - received_chars = ""; - } - } + // user communication + command.run(); } - diff --git a/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino index 0c4825be..d6ddc6b4 100644 --- a/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino +++ b/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino @@ -1,47 +1,23 @@ /** * Comprehensive BLDC motor control example using encoder - * + * * 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 - * - * To check the config value just enter the command letter. - * For example: - to read velocity PI controller P gain run: P - * - to set velocity PI controller P gain to 1.2 run: P1.2 - * - * To change the target value just enter a number in the terminal: - * For example: - to change the target value to -0.1453 enter: -0.1453 - * - to get the current target value enter: V3 - * - * List of commands: - * - P: velocity PID controller P gain - * - I: velocity PID controller I gain - * - D: velocity PID controller D gain - * - R: velocity PID controller voltage ramp - * - F: velocity Low pass filter time constant - * - K: angle P controller P gain - * - N: angle P controller velocity limit - * - L: system voltage limit - * - C: control loop - * - 0: voltage - * - 1: velocity - * - 2: angle - * - V: get motor variables - * - 0: currently set voltage - * - 1: current velocity - * - 2: current angle - * - 3: current target value + * - check all the configuration values * + * See more info in docs.simplefoc.com/commander_interface */ #include -// BLDC motor instance -BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8); -// Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // encoder instance Encoder encoder = Encoder(2, 3, 8192); @@ -51,41 +27,53 @@ Encoder encoder = Encoder(2, 3, 8192); void doA(){encoder.handleA();} void doB(){encoder.handleB();} + +// commander interface +Commander command = Commander(Serial); +void onMotor(char* cmd){ command.motor(&motor, cmd); } + void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize encoder sensor hardware encoder.init(); - encoder.enableInterrupts(doA, doB); + encoder.enableInterrupts(doA, doB); // link the motor to the sensor motor.linkSensor(&encoder); - // choose FOC modulation - motor.foc_modulation = FOCModulationType::SpaceVectorPWM; - + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link driver + motor.linkDriver(&driver); + + // choose FOC modulation + motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // set control loop type to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; - // contoller configuration based on the controll type - motor.PID_velocity.P = 0.2; + // contoller configuration based on the controll type + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; motor.PID_velocity.D = 0; // default voltage_power_supply motor.voltage_limit = 12; // velocity low pass filtering time constant - motor.LPF_velocity.Tf = 0.01; + motor.LPF_velocity.Tf = 0.01f; // angle loop controller motor.P_angle.P = 20; // angle loop velocity limit motor.velocity_limit = 50; - // use monitoring with serial for motor init - // monitoring port - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -97,10 +85,12 @@ void setup() { // set the inital target value motor.target = 2; + // define the motor id + command.add('A', onMotor, "motor"); // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) - Serial.println("Motor commands sketch | Initial motion control > torque/voltage : target 2V."); - + Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V.")); + _delay(1000); } @@ -115,33 +105,5 @@ void loop() { motor.move(); // user communication - motor.command(serialReceiveUserCommand()); -} - -// utility function enabling serial communication the user -String serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - String command = ""; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - - // end of user input - if (inChar == '\n') { - - // execute the user command - command = received_chars; - - // reset the command buffer - received_chars = ""; - } - } - return command; -} - + command.run(); +} \ No newline at end of file diff --git a/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino index fed37293..ff6fe7f3 100644 --- a/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino +++ b/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino @@ -1,48 +1,26 @@ /** * Comprehensive BLDC motor control example using Hall sensor - * + * * 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 - * - * To check the config value just enter the command letter. - * For example: - to read velocity PI controller P gain run: P - * - to set velocity PI controller P gain to 1.2 run: P1.2 - * - * To change the target value just enter a number in the terminal: - * For example: - to change the target value to -0.1453 enter: -0.1453 - * - to get the current target value enter: V3 - * - * List of commands: - * - P: velocity PID controller P gain - * - I: velocity PID controller I gain - * - D: velocity PID controller D gain - * - R: velocity PID controller voltage ramp - * - F: velocity Low pass filter time constant - * - K: angle P controller P gain - * - N: angle P controller velocity limit - * - L: system voltage limit - * - C: control loop - * - 0: voltage - * - 1: velocity - * - 2: angle - * - V: get motor variables - * - 0: currently set voltage - * - 1: current velocity - * - 2: current angle - * - 3: current target value + * - check all the configuration values * + * See more info in docs.simplefoc.com/commander_interface */ #include // software interrupt library #include #include -// motor instance -BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 7); +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // hall sensor instance HallSensor sensor = HallSensor(2, 3, 4, 11); @@ -55,44 +33,55 @@ void doC(){sensor.handleC();} // If no available hadware interrupt pins use the software interrupt PciListenerImp listenC(sensor.pinC, doC); + +// commander interface +Commander command = Commander(Serial); +void onMotor(char* cmd){ command.motor(&motor, cmd); } + + void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialize encoder sensor hardware sensor.init(); - sensor.enableInterrupts(doA, doB); //, doC); + sensor.enableInterrupts(doA, doB); //, doC); // software interrupts PciManager.registerListener(&listenC); - // link the motor to the sensor motor.linkSensor(&sensor); - // choose FOC modulation - motor.foc_modulation = FOCModulationType::SpaceVectorPWM; - + // driver config // power supply voltage [V] - motor.voltage_power_supply = 12; + driver.voltage_power_supply = 12; + driver.init(); + // link driver + motor.linkDriver(&driver); - // set control loop type to be used - motor.controller = ControlType::voltage; - // contoller configuration based on the controll type - motor.PID_velocity.P = 0.2; + // choose FOC modulation + motor.foc_modulation = FOCModulationType::SpaceVectorPWM; + // set control loop type to be used + motor.controller = MotionControlType::torque; + // contoller configuration based on the controll type + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; motor.PID_velocity.D = 0; // default voltage_power_supply motor.voltage_limit = 12; // velocity low pass filtering time constant - motor.LPF_velocity.Tf = 0.01; + motor.LPF_velocity.Tf = 0.01f; // angle loop controller motor.P_angle.P = 20; // angle loop velocity limit motor.velocity_limit = 50; - // use monitoring with serial for motor init - // monitoring port - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -104,10 +93,12 @@ void setup() { // set the inital target value motor.target = 2; + // define the motor id + command.add('A', onMotor, "motor"); // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) - Serial.println("Motor commands sketch | Initial motion control > torque/voltage : target 2V."); - + Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V.")); + _delay(1000); } @@ -122,33 +113,5 @@ void loop() { motor.move(); // user communication - motor.command(serialReceiveUserCommand()); -} - -// utility function enabling serial communication the user -String serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - String command = ""; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - - // end of user input - if (inChar == '\n') { - - // execute the user command - command = received_chars; - - // reset the command buffer - received_chars = ""; - } - } - return command; + command.run(); } - diff --git a/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino index 73434cfb..e863d8c9 100644 --- a/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino +++ b/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino @@ -1,89 +1,77 @@ /** * Comprehensive BLDC motor control example using magnetic sensor - * + * * 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 - * - * To check the config value just enter the command letter. - * For example: - to read velocity PI controller P gain run: P - * - to set velocity PI controller P gain to 1.2 run: P1.2 - * - * To change the target value just enter a number in the terminal: - * For example: - to change the target value to -0.1453 enter: -0.1453 - * - to get the current target value enter: V3 - * - * List of commands: - * - P: velocity PID controller P gain - * - I: velocity PID controller I gain - * - D: velocity PID controller D gain - * - R: velocity PID controller voltage ramp - * - F: velocity Low pass filter time constant - * - K: angle P controller P gain - * - N: angle P controller velocity limit - * - L: system voltage limit - * - C: control loop - * - 0: voltage - * - 1: velocity - * - 2: angle - * - V: get motor variables - * - 0: currently set voltage - * - 1: current velocity - * - 2: current angle - * - 3: current target value - * + * - check all the configuration values + * + * See more info in docs.simplefoc.com/commander_interface */ #include -// SPI magnetic sensor instance -// MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); -// I2C magnetic sensor instance -MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +// magnetic sensor instance - SPI +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10); +// magnetic sensor instance - MagneticSensorI2C +//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); // magnetic sensor instance - analog output // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); -// BLDC motor instance -BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8); -// Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + +// commander interface +Commander command = Commander(Serial); +void onMotor(char* cmd){ command.motor(&motor, cmd); } void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialise magnetic sensor hardware sensor.init(); // link the motor to the sensor motor.linkSensor(&sensor); + // driver config + // power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link driver + motor.linkDriver(&driver); + // choose FOC modulation motor.foc_modulation = FOCModulationType::SpaceVectorPWM; - // power supply voltage [V] - motor.voltage_power_supply = 12; - // set control loop type to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; - // contoller configuration based on the control type - motor.PID_velocity.P = 0.2; + // contoller configuration based on the control type + motor.PID_velocity.P = 0.2f; motor.PID_velocity.I = 20; motor.PID_velocity.D = 0; // default voltage_power_supply motor.voltage_limit = 12; // velocity low pass filtering time constant - motor.LPF_velocity.Tf = 0.01; + motor.LPF_velocity.Tf = 0.01f; // angle loop controller motor.P_angle.P = 20; // angle loop velocity limit motor.velocity_limit = 50; - // use monitoring with serial for motor init - // monitoring port - Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial); @@ -95,10 +83,12 @@ void setup() { // set the inital target value motor.target = 2; + // define the motor id + command.add('A', onMotor, "motor"); // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) - Serial.println("Motor commands sketch | Initial motion control > torque/voltage : target 2V."); - + Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V.")); + _delay(1000); } @@ -111,35 +101,7 @@ void loop() { // velocity, position or voltage // if tatget not set in parameter uses motor.target variable motor.move(); - - // user communication - motor.command(serialReceiveUserCommand()); -} -// utility function enabling serial communication the user -String serialReceiveUserCommand() { - - // a string to hold incoming data - static String received_chars; - - String command = ""; - - while (Serial.available()) { - // get the new byte: - char inChar = (char)Serial.read(); - // add it to the string buffer: - received_chars += inChar; - - // end of user input - if (inChar == '\n') { - - // execute the user command - command = received_chars; - - // reset the command buffer - received_chars = ""; - } - } - return command; + // user communication + command.run(); } - diff --git a/examples/osc_control_examples/README.md b/examples/osc_control_examples/README.md new file mode 100644 index 00000000..bd6f7766 --- /dev/null +++ b/examples/osc_control_examples/README.md @@ -0,0 +1,28 @@ + +# OSC control examples + +OSC - opensoundcontrol.org is a simple message exchange protocol. Widely used in the Audio world it is being hailed as the successor to MIDI. But MIDI itself, and now OSC, has always been about sending and receiving fairly simple control messages, at medium speed, and that makes it well suited for the same kind of task in robotics or other control applications. + +As a protocol it is simple, making implementation quite easy, and while binary, simple enough to be fairly "human readable", which aids in debugging and reduces errors. + +The main advantage of using it is that there is a bunch of ready made software, and also libraries to use in your own programs, neaning you don't have to re-invent these things from scratch. + +## TouchOSC + +The first example shows how to set up control of a motor from TouchOSC. It's a super-fast way to set up a customizable GUI for your motor-project, that runs on your phone... + +## purr-Data + +The second example, "simplefoc\_osc\_esp32\_fullcontrol.ino" allows setting the variables and tuning the motor parameters, in the same way as the serial control but via OSC. The file "osc\_fullcontrol.pd" contains a sample GUI to go with that sketch, allowing the control and tuning of 2 BLDC motors. + +Here a screenshot of what it looks like in purr-Data: + +![Screenshot from pD](osc_fullcontrol_screenshot.png?raw=true "pD controlling 2 BLDC motors") + + +## Links to software used in examples + +- OSC - opensoundcontrol.org +- pD - https://puredata.info +- TouchOSC - https://hexler.net/products/touchosc + diff --git a/examples/osc_control_examples/osc_esp32_3pwm/layout1.touchosc b/examples/osc_control_examples/osc_esp32_3pwm/layout1.touchosc new file mode 100644 index 00000000..ba4d2afc Binary files /dev/null and b/examples/osc_control_examples/osc_esp32_3pwm/layout1.touchosc differ diff --git a/examples/osc_control_examples/osc_esp32_3pwm/osc_esp32_3pwm.ino b/examples/osc_control_examples/osc_esp32_3pwm/osc_esp32_3pwm.ino new file mode 100644 index 00000000..14d4867c --- /dev/null +++ b/examples/osc_control_examples/osc_esp32_3pwm/osc_esp32_3pwm.ino @@ -0,0 +1,187 @@ +/** + * Arduino SimpleFOC + OSC control example + * + * Simple example to show how you can control SimpleFOC via OSC. + * + * It's a nice way to work, easier than changing speeds via Seerial text input. It could also be the basis for + * a functional UI, for example in a lab, art-gallery or similar situation. + * + * For this example we used an ESP32 to run the code, a AS5048B I2C absolute encoder + * and a generic L298 driver board to drive a Emax 4114 gimbal motor. But there is no reason the OSC part will + * not work with any other setup. + * + * You will need: + * + * - a working SimpleFOC setup - motor, driver, encoder + * - a MCU with WiFi and UDP support, for example an ESP32, or an Arduino with Ethernet Shield + * - a device to run an OSC UI + * - a configured OSC UI + * - a WiFi network + * + * To do the OSC UI I used TouchOSC from https://hexler.net/products/touchosc + * There is an example UI file that works with this sketch, see "layout1.touchosc" + * You can open the UI file in 'TouchOSC Editor' (free program) and transfer it to the TouchOSC app on your device. + * + * Alternatively, there are other OSC UIs which may work, e.g. http://opensoundcontrol.org/implementations + * + * Using: + * + * Change the values below to match the WiFi ssid/password of your network. + * Load and run the code on your ESP32. Take a note of the IP address of your ESP32. + * Load and run the UI in TouchOSC. + * Configure TouchOSC to connect to your ESP32. + * The first command you send will cause the ESP32 to start sending responses to your TouchOSC device. + * After this you will see motor position and speed in the UI. + * Have fun controlling your SimpleFOC motors from your smartphone! + * + */ + + +#include "Arduino.h" +#include + +#include +#include + +#include +#include +#include +#include + + +const char ssid[] = "myssid"; // your network SSID (name) +const char pass[] = "mypassword"; // your network password +WiFiUDP Udp; +IPAddress outIp(192,168,1,17); // remote IP (not needed for receive) +const unsigned int outPort = 8000; // remote port (not needed for receive) +const unsigned int inPort = 8000; // local port to listen for UDP packets (here's where we send the packets) + + +OSCErrorCode error; + +MagneticSensorI2C sensor = MagneticSensorI2C(0x40, 14, 0xFE, 8); +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27); + +// commander interface +Commander command = Commander(Serial); + +void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + WiFi.begin(ssid, pass); + + Serial.print("Connecting WiFi "); + Serial.println(ssid); + while (WiFi.status() != WL_CONNECTED) { + delay(500); + Serial.print("."); + } + Udp.begin(inPort); + Serial.println(); + Serial.print("WiFi connected. Local OSC address: "); + Serial.print(WiFi.localIP()); + Serial.print(":"); + Serial.println(inPort); + + delay(2000); + Serial.println("Initializing motor."); + + sensor.init(); + motor.linkSensor(&sensor); + driver.voltage_power_supply = 9; + driver.init(); + motor.linkDriver(&driver); + motor.controller = MotionControlType::velocity; + motor.PID_velocity.P = 0.2f; + motor.PID_velocity.I = 20; + motor.PID_velocity.D = 0.001f; + motor.PID_velocity.output_ramp = 1000; + motor.LPF_velocity.Tf = 0.01f; + motor.voltage_limit = 8; + //motor.P_angle.P = 20; + motor.init(); + motor.initFOC(); + + Serial.println("All initialization complete."); +} + +// velocity set point variable +float target_velocity = 2.0f; +// angle set point variable +float target_angle = 1.0f; + + +void motorControl(OSCMessage &msg){ + if (msg.isInt(0)) + target_velocity = radians(msg.getInt(0)); + else if (msg.isFloat(0)) + target_velocity = radians(msg.getFloat(0)); + else if (msg.isDouble(0)) + target_velocity = radians(msg.getDouble(0)); + Serial.print("Velocity set to "); + Serial.println(target_velocity); +} + +void cmdControl(OSCMessage &msg){ + char cmdStr[16]; + if (msg.isString(0)) { + msg.getString(0,cmdStr,16); + command.motor(&motor,cmdStr); + } +} + +long lastSend = 0; +OSCMessage bundleIN; + +void loop() { + OSCBundle bundleOUT; + + // FOC algorithm function + motor.move(target_velocity); + motor.loopFOC(); + + + int size = Udp.parsePacket(); + if (size > 0) { + while (size--) { + bundleIN.fill(Udp.read()); + } + if (!bundleIN.hasError()) { + bundleIN.dispatch("/mot1/S", motorControl); + bundleIN.dispatch("/mot1/C", cmdControl); + IPAddress ip = Udp.remoteIP(); + if (!( ip==outIp )) { + Serial.print("New connection from "); + Serial.println(ip); + outIp = ip; + } + } + else { + error = bundleIN.getError(); + Serial.print("error: "); + Serial.println(error); + } + bundleIN.empty(); + } + else { // don't receive and send in the same loop... + long now = millis(); + if (now - lastSend > 100) { + int ang = (int)degrees(motor.shaftAngle()) % 360; + if (ang<0) ang = 360-abs(ang); + //BOSCBundle's add' returns the OSCMessage so the message's 'add' can be composed together + bundleOUT.add("/mot1/A").add((int)ang); + bundleOUT.add("/mot1/V").add((int)degrees(motor.shaftVelocity())); + Udp.beginPacket(outIp, outPort); + bundleOUT.send(Udp); + Udp.endPacket(); + bundleOUT.empty(); // empty the bundle to free room for a new one + lastSend = now; + } + } + +} diff --git a/examples/osc_control_examples/osc_esp32_fullcontrol/osc_esp32_fullcontrol.ino b/examples/osc_control_examples/osc_esp32_fullcontrol/osc_esp32_fullcontrol.ino new file mode 100644 index 00000000..940b59c2 --- /dev/null +++ b/examples/osc_control_examples/osc_esp32_fullcontrol/osc_esp32_fullcontrol.ino @@ -0,0 +1,356 @@ +/** + * + * Control 2 motors on ESP32 using OSC + * + * In this example, all the commands available on the serial command interface are also available via OSC. + * Also, the example is for 2 motors. If you have only 1 motor, comment out the lines for the second motor. + * + * + * + * + */ + + +#include "Arduino.h" +#include +#include +#include "ssid.h" // create this file, which defines the constants MYSSID and MYPASS +#include +#include +#include + +#include +#include +#include + + +const char ssid[] = MYSSID; // your network SSID (name) +const char pass[] = MYPASS; // your network password +WiFiUDP Udp; +IPAddress outIp(192,168,1,13); // remote IP (not needed for receive) +const unsigned int outPort = 8000; // remote port (not needed for receive) +const unsigned int inPort = 8000; // local port to listen for UDP packets (here's where we send the packets) +#define POWER_SUPPLY 7.4f + + + +MagneticSensorI2C sensor2 = MagneticSensorI2C(0x40, 14, 0xFE, 8); +MagneticSensorI2C sensor1 = MagneticSensorI2C(0x41, 14, 0xFE, 8); +BLDCMotor motor1 = BLDCMotor(7); +BLDCMotor motor2 = BLDCMotor(7); +BLDCDriver3PWM driver1 = BLDCDriver3PWM(25, 26, 27); +BLDCDriver3PWM driver2 = BLDCDriver3PWM(0, 4, 16); + +String m1Prefix("/M1"); +String m2Prefix("/M2"); + + +// we store seperate set-points for each motor, of course +float set_point1 = 0.0f; +float set_point2 = 0.0f; + + +OSCErrorCode error; +OSCBundle bundleOUT; // outgoing message, gets re-used + + + +void setupOTA(const char* hostname) { + ArduinoOTA + .setPort(8266) + .onStart([]() { + String type; + if (ArduinoOTA.getCommand() == U_FLASH) + type = "sketch"; + else // U_SPIFFS + type = "filesystem"; + + // NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end() + Serial.println("Start updating " + type); + }) + .onEnd([]() { + Serial.println("\nEnd"); + }) + .onProgress([](unsigned int progress, unsigned int total) { + Serial.printf("Progress: %u%%\n", (progress / (total / 100))); + }) + .onError([](ota_error_t error) { + Serial.printf("Error[%u]: ", error); + if (error == OTA_AUTH_ERROR) Serial.println("Auth Failed"); + else if (error == OTA_BEGIN_ERROR) Serial.println("Begin Failed"); + else if (error == OTA_CONNECT_ERROR) Serial.println("Connect Failed"); + else if (error == OTA_RECEIVE_ERROR) Serial.println("Receive Failed"); + else if (error == OTA_END_ERROR) Serial.println("End Failed"); + }) + .setHostname(hostname) + .setMdnsEnabled(true); + ArduinoOTA.begin(); +} + + +void setup() { + // set pins low - motor initialization can take some time, + // and you don't want current flowing through the other motor while it happens... + pinMode(0,OUTPUT); + pinMode(4,OUTPUT); + pinMode(16,OUTPUT); + pinMode(25,OUTPUT); + pinMode(26,OUTPUT); + pinMode(27,OUTPUT); + digitalWrite(0, 0); + digitalWrite(4, 0); + digitalWrite(16, 0); + digitalWrite(25, 0); + digitalWrite(26, 0); + digitalWrite(27, 0); + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + delay(200); + + WiFi.begin(ssid, pass); + + Serial.print("Connecting WiFi "); + Serial.println(ssid); + while (WiFi.status() != WL_CONNECTED) { + delay(500); + Serial.print("."); + } + Udp.begin(inPort); + Serial.println(); + Serial.print("WiFi connected. Local OSC address: "); + Serial.print(WiFi.localIP()); + Serial.print(":"); + Serial.println(inPort); + + setupOTA("smallrobot1"); + + Serial.println("Initializing motors."); + + Wire.setClock(400000); + + sensor1.init(); + motor1.linkSensor(&sensor1); + driver1.voltage_power_supply = POWER_SUPPLY; + driver1.init(); + motor1.linkDriver(&driver1); + motor1.foc_modulation = FOCModulationType::SpaceVectorPWM; + motor1.controller = MotionControlType::velocity; + motor1.PID_velocity.P = 0.2f; + motor1.PID_velocity.I = 20; + motor1.PID_velocity.D = 0.001f; + motor1.PID_velocity.output_ramp = 1000; + motor1.LPF_velocity.Tf = 0.01f; + motor1.voltage_limit = POWER_SUPPLY; + motor1.P_angle.P = 20; + motor1.init(); + motor1.initFOC(); + + sensor2.init(); + motor2.linkSensor(&sensor2); + driver2.voltage_power_supply = POWER_SUPPLY; + driver2.init(); + motor2.linkDriver(&driver2); + motor2.foc_modulation = FOCModulationType::SpaceVectorPWM; + motor2.controller = MotionControlType::velocity; + motor2.PID_velocity.P = 0.2f; + motor2.PID_velocity.I = 20; + motor2.PID_velocity.D = 0.001f; + motor2.PID_velocity.output_ramp = 1000; + motor2.LPF_velocity.Tf = 0.01f; + motor2.voltage_limit = POWER_SUPPLY; + motor2.P_angle.P = 20; + motor2.init(); + motor2.initFOC(); + + sendMotorParams(motor1, m1Prefix); + sendMotorParams(motor2, m2Prefix); + Serial.println("All initialization complete."); + _delay(1000); +} + + + + +template +void sendMessage(String& addr, T datum) { + bundleOUT.add(addr.c_str()).add(datum); + Udp.beginPacket(outIp, outPort); + bundleOUT.send(Udp); + Udp.endPacket(); + bundleOUT.empty(); // empty the bundle to free room for a new one +} + + + + +float getNumber(OSCMessage &msg, int index) { + if (msg.getType(index)=='i') + return msg.getInt(index); + if (msg.getType(index)=='f') + return msg.getFloat(index); + if (msg.getType(index)=='d') + return msg.getDouble(index); + return 0; +} + + + +void motorCmd(OSCMessage &msg, int offset, BLDCMotor& motor, float* set_point, String& prefix){ + Serial.print("Command for "); + Serial.println(prefix); + if (msg.fullMatch("/P", offset)) { + motor.PID_velocity.P = getNumber(msg,0); + sendMessage(prefix+"/P", motor.PID_velocity.P); + } + else if (msg.fullMatch("/I", offset)) { + motor.PID_velocity.I = getNumber(msg,0); + sendMessage(prefix+"/I", motor.PID_velocity.I); + } + else if (msg.fullMatch("/D", offset)) { + motor.PID_velocity.D = getNumber(msg,0); + sendMessage(prefix+"/D", motor.PID_velocity.D); + } + else if (msg.fullMatch("/R", offset)) { + motor.PID_velocity.output_ramp = getNumber(msg,0); + sendMessage(prefix+"/R", motor.PID_velocity.output_ramp); + } + else if (msg.fullMatch("/F", offset)) { + motor.LPF_velocity.Tf = getNumber(msg,0); + sendMessage(prefix+"/F", motor.LPF_velocity.Tf); + } + else if (msg.fullMatch("/K", offset)) { + motor.P_angle.P = getNumber(msg,0); + sendMessage(prefix+"/K", motor.P_angle.P); + } + else if (msg.fullMatch("/N", offset)) { + motor.velocity_limit = getNumber(msg,0); + sendMessage(prefix+"/N", motor.velocity_limit); + } + else if (msg.fullMatch("/L", offset)) { + motor.voltage_limit = getNumber(msg,0); + sendMessage(prefix+"/L", motor.voltage_limit); + } + else if (msg.fullMatch("/C", offset)) { + motor.controller = (MotionControlType)msg.getInt(0); + sendMessage(prefix+"/C", motor.controller); + } + else if (msg.fullMatch("/t", offset)) { + *set_point = getNumber(msg,0); + sendMessage(prefix+"/3", *set_point); // TODO is the set-point the same as motor.target? + Serial.print("Setting set-point to "); + Serial.println(*set_point); + } + else if (msg.fullMatch("/o", offset)) { + motor.disable(); + } + else if (msg.fullMatch("/e", offset)) { + motor.enable(); + } + else if (msg.fullMatch("/params", offset)) { + sendMotorParams(motor, prefix); + } + else if (msg.fullMatch("/reinit", offset)) { + motor.disable(); + motor.init(); + motor.initFOC(); + } + +} + + + + + + +void sendMotorMonitoring() { + //Serial.println("Sending monitoring..."); + bundleOUT.add("/M1/0").add(motor1.voltage.q); + bundleOUT.add("/M1/1").add(motor1.shaft_velocity); + bundleOUT.add("/M1/2").add(motor1.shaft_angle); + bundleOUT.add("/M1/3").add(motor1.target); + bundleOUT.add("/M2/0").add(motor2.voltage.q); + bundleOUT.add("/M2/1").add(motor2.shaft_velocity); + bundleOUT.add("/M2/2").add(motor2.shaft_angle); + bundleOUT.add("/M2/3").add(motor2.target); + // TODO pack it into one message bundleOUT.add("/M2/i").add(motor2.voltage_q).add(motor2.shaft_velocity).add(motor2.shaft_angle).add(motor2.target); + Udp.beginPacket(outIp, outPort); + bundleOUT.send(Udp); + Udp.endPacket(); + bundleOUT.empty(); // empty the bundle to free room for a new one +} + + + +void sendMotorParams(BLDCMotor& motor, String& prefix) { + bundleOUT.add((prefix+"/P").c_str()).add(motor.PID_velocity.P); + bundleOUT.add((prefix+"/I").c_str()).add(motor.PID_velocity.I); + bundleOUT.add((prefix+"/D").c_str()).add(motor.PID_velocity.D); + bundleOUT.add((prefix+"/R").c_str()).add(motor.PID_velocity.output_ramp); + bundleOUT.add((prefix+"/F").c_str()).add(motor.LPF_velocity.Tf); + bundleOUT.add((prefix+"/K").c_str()).add(motor.P_angle.P); + bundleOUT.add((prefix+"/N").c_str()).add(motor.velocity_limit); + bundleOUT.add((prefix+"/L").c_str()).add(motor.voltage_limit); + bundleOUT.add((prefix+"/C").c_str()).add(motor.controller); + Udp.beginPacket(outIp, outPort); + bundleOUT.send(Udp); + Udp.endPacket(); + bundleOUT.empty(); // empty the bundle to free room for a new one +} + + + + + +long lastSend = 0; +OSCMessage bundleIN; +int size; + + +void loop() { + + // FOC algorithm function + motor1.loopFOC(); + motor1.move(set_point1); + motor2.loopFOC(); + motor2.move(set_point2); + + + int size = Udp.parsePacket(); + if (size > 0) { + while (size--) { + bundleIN.fill(Udp.read()); + } + if (!bundleIN.hasError()) { + bundleIN.route("/M1", [](OSCMessage& msg, int offset){ motorCmd(msg, offset, motor1, &set_point1, m1Prefix); }, 0); + bundleIN.route("/M2", [](OSCMessage& msg, int offset){ motorCmd(msg, offset, motor2, &set_point2, m2Prefix); }, 0); + IPAddress ip = Udp.remoteIP(); + if (!( ip==outIp )) { + Serial.print("New connection from "); 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-//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); -MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8); +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); +MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4); /** - * This measures how closely sensor and electrical angle agree and how much your motor is affected by 'cogging'. + * This measures how closely sensor and electrical angle agree and how much your motor is affected by 'cogging'. * It can be used to investigate how much non linearity there is between what we set (electrical angle) and what we read (sensor angle) * This non linearity could be down to magnet placement, coil winding differences or simply that the magnetic field when travelling through a pole pair is not linear * An alignment error of ~10 degrees and cogging of ~4 degrees is normal for small gimbal. @@ -19,6 +21,7 @@ void testAlignmentAndCogging(int direction) { motor.move(0); _delay(200); + sensor.update(); float initialAngle = sensor.getAngle(); const int shaft_rotation = 720; // 720 deg test - useful to see repeating cog pattern @@ -26,18 +29,20 @@ void testAlignmentAndCogging(int direction) { float stDevSum = 0; - float mean = 0.0; - float prev_mean = 0.0; - + float mean = 0.0f; + float prev_mean = 0.0f; + for (int i = 0; i < sample_count; i++) { - float electricAngle = (float) direction * i * motor.pole_pairs * shaft_rotation / sample_count; + float shaftAngle = (float) direction * i * shaft_rotation / sample_count; + float electricAngle = (float) shaftAngle * motor.pole_pairs; // move and wait - motor.move(electricAngle * PI / 180); + motor.move(shaftAngle * PI / 180); _delay(5); - // measure + // measure + sensor.update(); float sensorAngle = (sensor.getAngle() - initialAngle) * 180 / PI; float sensorElectricAngle = sensorAngle * motor.pole_pairs; float electricAngleError = electricAngle - sensorElectricAngle; @@ -57,32 +62,39 @@ void testAlignmentAndCogging(int direction) { } Serial.println(); - Serial.println("ALIGNMENT AND COGGING REPORT"); + Serial.println(F("ALIGNMENT AND COGGING REPORT")); Serial.println(); - Serial.print("Direction: "); + Serial.print(F("Direction: ")); Serial.println(direction); - Serial.print("Mean error (alignment): "); + Serial.print(F("Mean error (alignment): ")); Serial.print(mean); Serial.println(" deg (electrical)"); - Serial.print("Standard Deviation (cogging): "); + Serial.print(F("Standard Deviation (cogging): ")); Serial.print(sqrt(stDevSum/sample_count)); - Serial.println(" deg (electrical)"); + Serial.println(F(" deg (electrical)")); Serial.println(); - Serial.println("Plotting 3rd column of data (electricAngleError) will likely show sinusoidal cogging pattern with a frequency of 4xpole_pairs per rotation"); + Serial.println(F("Plotting 3rd column of data (electricAngleError) will likely show sinusoidal cogging pattern with a frequency of 4xpole_pairs per rotation")); Serial.println(); } void setup() { + // use monitoring with serial Serial.begin(115200); - while (!Serial) ; + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // driver config + driver.voltage_power_supply = 12; + driver.init(); + motor.linkDriver(&driver); - motor.voltage_power_supply = 9; motor.voltage_sensor_align = 3; motor.foc_modulation = FOCModulationType::SpaceVectorPWM; - - motor.controller = ControlType::angle_openloop; + + motor.controller = MotionControlType::angle_openloop; motor.voltage_limit=motor.voltage_sensor_align; sensor.init(); @@ -95,12 +107,12 @@ void setup() { testAlignmentAndCogging(1); motor.move(0); - Serial.println("Press any key to test in CCW direction"); + Serial.println(F("Press any key to test in CCW direction")); while (!Serial.available()) { } testAlignmentAndCogging(-1); - Serial.println("Complete"); + Serial.println(F("Complete")); motor.voltage_limit = 0; motor.move(0); diff --git a/examples/utils/calibration/find_kv_rating/encoder/find_kv_rating/find_kv_rating.ino b/examples/utils/calibration/find_kv_rating/encoder/find_kv_rating/find_kv_rating.ino new file mode 100644 index 00000000..c39657b1 --- /dev/null +++ b/examples/utils/calibration/find_kv_rating/encoder/find_kv_rating/find_kv_rating.ino @@ -0,0 +1,106 @@ +/** + * + * Find KV rating for motor with encoder + * + * Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode. + * + * This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating. + * - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases) + * - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage + * + */ +#include + + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + +// encoder instance +Encoder sensor = Encoder(2, 3, 8192); + +// Interrupt routine intialisation +// channel A and B callbacks +void doA(){sensor.handleA();} +void doB(){sensor.handleB();} + + +// voltage set point variable +float target_voltage = 1; + +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); } +void calcKV(char* cmd) { + // calculate the KV + Serial.println(motor.shaft_velocity/motor.target/_SQRT3*30.0f/_PI); + +} + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // initialize encoder sensor hardware + sensor.init(); + sensor.enableInterrupts(doA, doB); + // link the motor to the sensor + motor.linkSensor(&sensor); + + // driver config + // IMPORTANT! + // make sure to set the correct power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link driver + motor.linkDriver(&driver); + + // aligning voltage + motor.voltage_sensor_align = 3; + + // set motion control loop to be used + motor.controller = MotionControlType::torque; + + // comment out if not needed + motor.useMonitoring(Serial); + + // initialize motor + motor.init(); + // align sensor and start FOC + motor.initFOC(); + + // add target command T + command.add('T', doTarget, "target voltage"); + command.add('K', calcKV, "calculate KV rating"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target voltage : - commnad T")); + Serial.println(F("Calculate the motor KV : - command K")); + _delay(1000); +} + + +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_voltage); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/utils/calibration/find_kv_rating/hall_sensor/find_kv_rating/find_kv_rating.ino b/examples/utils/calibration/find_kv_rating/hall_sensor/find_kv_rating/find_kv_rating.ino new file mode 100644 index 00000000..4eadd376 --- /dev/null +++ b/examples/utils/calibration/find_kv_rating/hall_sensor/find_kv_rating/find_kv_rating.ino @@ -0,0 +1,103 @@ +/** + * + * Find KV rating for motor with Hall sensors + * + * Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode. + * + * This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating. + * - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases) + * - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage + */ +#include + + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); + +// hall sensor instance +HallSensor sensor = HallSensor(2, 3, 4, 11); + +// Interrupt routine intialisation +// channel A and B callbacks +void doA(){sensor.handleA();} +void doB(){sensor.handleB();} +void doC(){sensor.handleC();} + + +// voltage set point variable +float target_voltage = 1; + +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); } +void calcKV(char* cmd) { + // calculate the KV + Serial.println(motor.shaft_velocity/motor.target/_SQRT3*30.0f/_PI); + +} + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // initialize encoder sensor hardware + sensor.init(); + sensor.enableInterrupts(doA, doB, doC); + // link the motor to the sensor + motor.linkSensor(&sensor); + + // driver config + // IMPORTANT! + // make sure to set the correct power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link driver + motor.linkDriver(&driver); + + // aligning voltage + motor.voltage_sensor_align = 3; + + // set motion control loop to be used + motor.controller = MotionControlType::torque; + + // comment out if not needed + motor.useMonitoring(Serial); + + // initialize motor + motor.init(); + // align sensor and start FOC + motor.initFOC(); + + // add target command T + command.add('T', doTarget, "target voltage"); + command.add('K', calcKV, "calculate KV rating"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target voltage : - commnad T")); + Serial.println(F("Calculate the motor KV : - command K")); + _delay(1000); +} + + +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_voltage); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/utils/calibration/find_kv_rating/magnetic_sensor/find_kv_rating/find_kv_rating.ino b/examples/utils/calibration/find_kv_rating/magnetic_sensor/find_kv_rating/find_kv_rating.ino new file mode 100644 index 00000000..1df631af --- /dev/null +++ b/examples/utils/calibration/find_kv_rating/magnetic_sensor/find_kv_rating/find_kv_rating.ino @@ -0,0 +1,100 @@ +/** + * Find KV rating for motor with magnetic sensors + * + * Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode. + * + * This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating. + * - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases) + * - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage + */ +#include + +// magnetic sensor instance - SPI +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10); +// magnetic sensor instance - I2C +// MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); +// magnetic sensor instance - analog output +// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + +// voltage set point variable +float target_voltage = 1; + +// instantiate the commander +Commander command = Commander(Serial); +void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); } +void calcKV(char* cmd) { + // calculate the KV + Serial.println(motor.shaft_velocity/motor.target/_SQRT3*30.0f/_PI); + +} + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // initialize encoder sensor hardware + sensor.init(); + // link the motor to the sensor + motor.linkSensor(&sensor); + + // driver config + // IMPORTANT! + // make sure to set the correct power supply voltage [V] + driver.voltage_power_supply = 12; + driver.init(); + // link driver + motor.linkDriver(&driver); + + // aligning voltage + motor.voltage_sensor_align = 3; + + // set motion control loop to be used + motor.controller = MotionControlType::torque; + + // comment out if not needed + motor.useMonitoring(Serial); + + // initialize motor + motor.init(); + // align sensor and start FOC + motor.initFOC(); + + // add target command T + command.add('T', doTarget, "target voltage"); + command.add('K', calcKV, "calculate KV rating"); + + Serial.println(F("Motor ready.")); + Serial.println(F("Set the target voltage : - commnad T")); + Serial.println(F("Calculate the motor KV : - command K")); + _delay(1000); +} + + +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_voltage); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/utils/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino b/examples/utils/calibration/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino similarity index 67% rename from examples/utils/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino rename to examples/utils/calibration/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino index 0442036d..ad8e69ce 100644 --- a/examples/utils/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino +++ b/examples/utils/calibration/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino @@ -1,25 +1,28 @@ /** * Utility arduino sketch which finds pole pair number of the motor - * + * * To run it just set the correct pin numbers for the BLDC driver and encoder A and B channel as well as the encoder PPR value. - * + * * The program will rotate your motor a specific amount and check how much it moved, and by doing a simple calculation calculate your pole pair number. - * The pole pair number will be outputted to the serial terminal. - * - * If the pole pair number is well estimated your motor will start to spin in voltage mode with 2V target. - * + * The pole pair number will be outputted to the serial terminal. + * + * If the pole pair number is well estimated your motor will start to spin in voltage mode with 2V target. + * * If the code calculates negative pole pair number please invert your encoder A and B channel pins or motor connector. - * - * Try running this code several times to avoid statistical errors. - * > But in general if your motor spins, you have a good pole pairs number. + * + * Try running this code several times to avoid statistical errors. + * > But in general if your motor spins, you have a good pole pairs number. */ #include -// BLDCMotor( phA, phB, phC, pp, (en optional)) +// BLDC motor instance // its important to put pole pairs number as 1!!! -BLDCMotor motor = BLDCMotor(9, 5, 6, 1, 8); -// StepperMotor(ph1A,ph1B,ph2A,ph2B,pp,( en1, en2 optional)) -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 1, 8); +BLDCMotor motor = BLDCMotor(1); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor instance +// its important to put pole pairs number as 1!!! +//StepperMotor motor = StepperMotor(1); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // Encoder(int encA, int encB , int cpr, int index) Encoder encoder = Encoder(2, 3, 2048); @@ -28,7 +31,13 @@ void doA(){encoder.handleA();} void doB(){encoder.handleB();} void setup() { - + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialise encoder hardware encoder.init(); // hardware interrupt enable @@ -37,39 +46,42 @@ void setup() { motor.linkSensor(&encoder); // power supply voltage - motor.voltage_power_supply = 12; + // default 12V + driver.voltage_power_supply = 12; + driver.init(); + motor.linkDriver(&driver); + // initialize motor motor.init(); - - // monitoring port - Serial.begin(115200); - // pole pairs calculation routine Serial.println("Pole pairs (PP) estimator"); Serial.println("-\n"); float pp_search_voltage = 4; // maximum power_supply_voltage/2 - float pp_search_angle = 6*M_PI; // search electrical angle to turn - + float pp_search_angle = 6*_PI; // search electrical angle to turn + // move motor to the electrical angle 0 - motor.controller = ControlType::angle_openloop; + motor.controller = MotionControlType::angle_openloop; motor.voltage_limit=pp_search_voltage; motor.move(0); _delay(1000); - // read the encoder angle + // read the encoder angle + encoder.update(); float angle_begin = encoder.getAngle(); _delay(50); - + // move the motor slowly to the electrical angle pp_search_angle float motor_angle = 0; while(motor_angle <= pp_search_angle){ - motor_angle += 0.01; + motor_angle += 0.01f; motor.move(motor_angle); + _delay(1); } _delay(1000); // read the encoder value for 180 + encoder.update(); float angle_end = encoder.getAngle(); _delay(50); // turn off the motor @@ -79,41 +91,41 @@ void setup() { // calculate the pole pair number int pp = round((pp_search_angle)/(angle_end-angle_begin)); - Serial.print("Estimated PP : "); + Serial.print(F("Estimated PP : ")); Serial.println(pp); - Serial.println("PP = Electrical angle / Encoder angle "); - Serial.print(pp_search_angle*180/M_PI); + Serial.println(F("PP = Electrical angle / Encoder angle ")); + Serial.print(pp_search_angle*180/_PI); Serial.print("/"); - Serial.print((angle_end-angle_begin)*180/M_PI); + Serial.print((angle_end-angle_begin)*180/_PI); Serial.print(" = "); Serial.println((pp_search_angle)/(angle_end-angle_begin)); Serial.println(); - + // a bit of monitoring the result if(pp <= 0 ){ - Serial.println("PP number cannot be negative"); - Serial.println(" - Try changing the search_voltage value or motor/encoder configuration."); + Serial.println(F("PP number cannot be negative")); + Serial.println(F(" - Try changing the search_voltage value or motor/encoder configuration.")); return; }else if(pp > 30){ - Serial.println("PP number very high, possible error."); + Serial.println(F("PP number very high, possible error.")); }else{ - Serial.println("If PP is estimated well your motor should turn now!"); - Serial.println(" - If it is not moving try to relaunch the program!"); - Serial.println(" - You can also try to adjust the target voltage using serial terminal!"); + Serial.println(F("If PP is estimated well your motor should turn now!")); + Serial.println(F(" - If it is not moving try to relaunch the program!")); + Serial.println(F(" - You can also try to adjust the target voltage using serial terminal!")); } - + // set FOC loop to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; // set the pole pair number to the motor motor.pole_pairs = pp; //align encoder and start FOC motor.initFOC(); _delay(1000); - Serial.println("\n Motor ready."); - Serial.println("Set the target voltage using serial terminal:"); + Serial.println(F("\n Motor ready.")); + Serial.println(F("Set the target voltage using serial terminal:")); } // uq voltage @@ -124,7 +136,7 @@ void loop() { // main FOC algorithm function // the faster you run this function the better // Arduino UNO loop ~1kHz - // Bluepill loop ~10kHz + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -132,7 +144,7 @@ void loop() { // 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_voltage); - + // communicate with the user serialReceiveUserCommand(); } @@ -141,10 +153,10 @@ void loop() { // utility function enabling serial communication with the user to set the target values // this function can be implemented in serialEvent function as well void serialReceiveUserCommand() { - + // a string to hold incoming data static String received_chars; - + while (Serial.available()) { // get the new byte: char inChar = (char)Serial.read(); @@ -152,13 +164,13 @@ void serialReceiveUserCommand() { received_chars += inChar; // end of user input if (inChar == '\n') { - + // change the motor target target_voltage = received_chars.toFloat(); Serial.print("Target voltage: "); Serial.println(target_voltage); - - // reset the command buffer + + // reset the command buffer received_chars = ""; } } diff --git a/examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino b/examples/utils/calibration/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino similarity index 65% rename from examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino rename to examples/utils/calibration/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino index f8355506..b44bc0bb 100644 --- a/examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino +++ b/examples/utils/calibration/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino @@ -1,74 +1,86 @@ /** * Utility arduino sketch which finds pole pair number of the motor - * + * * To run it just set the correct pin numbers for the BLDC driver and sensor CPR value and chip select pin. - * + * * The program will rotate your motor a specific amount and check how much it moved, and by doing a simple calculation calculate your pole pair number. - * The pole pair number will be outputted to the serial terminal. - * - * If the pole pair number is well estimated your motor will start to spin in voltage mode with 2V target. - * + * The pole pair number will be outputted to the serial terminal. + * + * If the pole pair number is well estimated your motor will start to spin in voltage mode with 2V target. + * * If the code calculates negative pole pair number please invert your motor connector. - * - * Try running this code several times to avoid statistical errors. - * > But in general if your motor spins, you have a good pole pairs number. + * + * Try running this code several times to avoid statistical errors. + * > But in general if your motor spins, you have a good pole pairs number. */ #include -// BLDCMotor( phA, phB, phC, pp, (en optional)) +// BLDC motor instance // its important to put pole pairs number as 1!!! -BLDCMotor motor = BLDCMotor(9, 5, 6, 1, 8); -// StepperMotor(ph1A,ph1B,ph2A,ph2B,pp,( en1, en2 optional)) -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 1, 8); +BLDCMotor motor = BLDCMotor(1); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); +// Stepper motor instance +// its important to put pole pairs number as 1!!! +//StepperMotor motor = StepperMotor(1); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); // magnetic sensor instance - SPI MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); // magnetic sensor instance - I2C -//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4); // magnetic sensor instance - analog output // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + // initialise magnetic sensor hardware sensor.init(); // link the motor to the sensor motor.linkSensor(&sensor); // power supply voltage - motor.voltage_power_supply = 12; + // default 12V + driver.voltage_power_supply = 12; + driver.init(); + motor.linkDriver(&driver); // initialize motor hardware motor.init(); - // monitoring port - Serial.begin(115200); - // pole pairs calculation routine Serial.println("Pole pairs (PP) estimator"); Serial.println("-\n"); float pp_search_voltage = 4; // maximum power_supply_voltage/2 - float pp_search_angle = 6*M_PI; // search electrical angle to turn - + float pp_search_angle = 6*_PI; // search electrical angle to turn + // move motor to the electrical angle 0 - motor.controller = ControlType::angle_openloop; + motor.controller = MotionControlType::angle_openloop; motor.voltage_limit=pp_search_voltage; motor.move(0); _delay(1000); - // read the sensor angle + // read the sensor angle + sensor.update(); float angle_begin = sensor.getAngle(); _delay(50); - + // move the motor slowly to the electrical angle pp_search_angle float motor_angle = 0; while(motor_angle <= pp_search_angle){ - motor_angle += 0.01; - sensor.getAngle(); // keep track of the overflow + motor_angle += 0.01f; + sensor.update(); // keep track of the overflow motor.move(motor_angle); + _delay(1); } _delay(1000); // read the sensor value for 180 + sensor.update(); float angle_end = sensor.getAngle(); _delay(50); // turn off the motor @@ -78,41 +90,41 @@ void setup() { // calculate the pole pair number int pp = round((pp_search_angle)/(angle_end-angle_begin)); - Serial.print("Estimated PP : "); + Serial.print(F("Estimated PP : ")); Serial.println(pp); - Serial.println("PP = Electrical angle / Encoder angle "); - Serial.print(pp_search_angle*180/M_PI); - Serial.print("/"); - Serial.print((angle_end-angle_begin)*180/M_PI); - Serial.print(" = "); + Serial.println(F("PP = Electrical angle / Encoder angle ")); + Serial.print(pp_search_angle*180/_PI); + Serial.print(F("/")); + Serial.print((angle_end-angle_begin)*180/_PI); + Serial.print(F(" = ")); Serial.println((pp_search_angle)/(angle_end-angle_begin)); Serial.println(); - + // a bit of monitoring the result if(pp <= 0 ){ - Serial.println("PP number cannot be negative"); - Serial.println(" - Try changing the search_voltage value or motor/sensor configuration."); + Serial.println(F("PP number cannot be negative")); + Serial.println(F(" - Try changing the search_voltage value or motor/sensor configuration.")); return; }else if(pp > 30){ - Serial.println("PP number very high, possible error."); + Serial.println(F("PP number very high, possible error.")); }else{ - Serial.println("If PP is estimated well your motor should turn now!"); - Serial.println(" - If it is not moving try to relaunch the program!"); - Serial.println(" - You can also try to adjust the target voltage using serial terminal!"); + Serial.println(F("If PP is estimated well your motor should turn now!")); + Serial.println(F(" - If it is not moving try to relaunch the program!")); + Serial.println(F(" - You can also try to adjust the target voltage using serial terminal!")); } - + // set motion control loop to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; // set the pole pair number to the motor motor.pole_pairs = pp; //align sensor and start FOC motor.initFOC(); _delay(1000); - Serial.println("\n Motor ready."); - Serial.println("Set the target voltage using serial terminal:"); + Serial.println(F("\n Motor ready.")); + Serial.println(F("Set the target voltage using serial terminal:")); } // uq voltage @@ -123,7 +135,7 @@ void loop() { // main FOC algorithm function // the faster you run this function the better // Arduino UNO loop ~1kHz - // Bluepill loop ~10kHz + // Bluepill loop ~10kHz motor.loopFOC(); // Motion control function @@ -131,7 +143,7 @@ void loop() { // 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_voltage); - + // communicate with the user serialReceiveUserCommand(); } @@ -140,10 +152,10 @@ void loop() { // utility function enabling serial communication with the user to set the target values // this function can be implemented in serialEvent function as well void serialReceiveUserCommand() { - + // a string to hold incoming data static String received_chars; - + while (Serial.available()) { // get the new byte: char inChar = (char)Serial.read(); @@ -151,14 +163,14 @@ void serialReceiveUserCommand() { received_chars += inChar; // end of user input if (inChar == '\n') { - + // change the motor target target_voltage = received_chars.toFloat(); Serial.print("Target voltage: "); Serial.println(target_voltage); - - // reset the command buffer + + // reset the command buffer received_chars = ""; } } -} \ No newline at end of file +} diff --git a/examples/utils/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino b/examples/utils/calibration/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino similarity index 54% rename from examples/utils/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino rename to examples/utils/calibration/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino index 86d69f6b..407469fc 100644 --- a/examples/utils/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino +++ b/examples/utils/calibration/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino @@ -2,8 +2,9 @@ * Simple example intended to help users find the zero offset and natural direction of the sensor. * * These values can further be used to avoid motor and sensor alignment procedure. - * - * motor.initFOC(zero_offset, sensor_direction); + * To use these values add them to the code:"); + * motor.sensor_direction=Direction::CW; // or Direction::CCW + * motor.zero_electric_angle=1.2345; // use the real value! * * This will only work for abosolute value sensors - magnetic sensors. * Bypassing the alignment procedure is not possible for the encoders and for the current implementation of the Hall sensors. @@ -15,45 +16,63 @@ // magnetic sensor instance - SPI //MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); // magnetic sensor instance - I2C -//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4); // magnetic sensor instance - analog output MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); // BLDC motor instance -BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8); +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); // Stepper motor instance -//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8); +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); void setup() { + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // power supply voltage + driver.voltage_power_supply = 12; + driver.init(); + motor.linkDriver(&driver); + // initialise magnetic sensor hardware sensor.init(); // link the motor to the sensor motor.linkSensor(&sensor); - // power supply voltage - // default 12V - motor.voltage_power_supply = 12; // aligning voltage motor.voltage_sensor_align = 7; // set motion control loop to be used - motor.controller = ControlType::voltage; + motor.controller = MotionControlType::torque; + + // force direction search - because default is CW + motor.sensor_direction = Direction::UNKNOWN; // initialize motor motor.init(); - // align sensor and start FOC motor.initFOC(); - Serial.begin(115200); Serial.println("Sensor zero offset is:"); Serial.println(motor.zero_electric_angle, 4); Serial.println("Sensor natural direction is: "); - Serial.println(sensor.natural_direction == 1 ? "Direction::CW" : "Direction::CCW"); + Serial.println(motor.sensor_direction == Direction::CW ? "Direction::CW" : "Direction::CCW"); + + Serial.println("To use these values add them to the code:"); + Serial.print(" motor.sensor_direction="); + Serial.print(motor.sensor_direction == Direction::CW ? "Direction::CW" : "Direction::CCW"); + Serial.println(";"); + Serial.print(" motor.zero_electric_angle="); + Serial.print(motor.zero_electric_angle, 4); + Serial.println(";"); - Serial.println("To use these values provide them to the: motor.initFOC(offset, direction)"); _delay(1000); Serial.println("If motor is not moving the alignment procedure was not successfull!!"); } diff --git a/examples/utils/communication_test/commander/commander_extend_example/commander_extend_example.ino b/examples/utils/communication_test/commander/commander_extend_example/commander_extend_example.ino new file mode 100644 index 00000000..60bbcf1f --- /dev/null +++ b/examples/utils/communication_test/commander/commander_extend_example/commander_extend_example.ino @@ -0,0 +1,53 @@ +/** + * Simple example of custom commands that have nothing to do with the simple foc library + */ + +#include + +// instantiate the commander +Commander command = Commander(Serial); + +// led control function +void doLed(char* cmd){ + if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); + else digitalWrite(LED_BUILTIN, LOW); +}; +// get analog input +void doAnalog(char* cmd){ + if (cmd[0] == '0') Serial.println(analogRead(A0)); + else if (cmd[0] == '1') Serial.println(analogRead(A1)); + else if (cmd[0] == '2') Serial.println(analogRead(A2)); + else if (cmd[0] == '3') Serial.println(analogRead(A3)); + else if (cmd[0] == '4') Serial.println(analogRead(A4)); +}; + +void setup() { + // define pins + pinMode(LED_BUILTIN, OUTPUT); + pinMode(A0, INPUT); + pinMode(A1, INPUT); + pinMode(A2, INPUT); + pinMode(A3, INPUT); + pinMode(A4, INPUT); + + // Serial port to be used + Serial.begin(115200); + + // add new commands + command.add('L', doLed, "led on/off"); + command.add('A', doAnalog, "analog read A0-A4"); + + Serial.println(F("Commander listening")); + Serial.println(F(" - Send ? to see the node list...")); + Serial.println(F(" - Send L0 to turn the led off and L1 to turn it off")); + Serial.println(F(" - Send A0-A4 to read the analog pins")); + _delay(1000); +} + + +void loop() { + + // user communication + command.run(); + _delay(10); +} \ No newline at end of file diff --git a/examples/utils/communication_test/commander/commander_no_serial/commander_no_serial.ino b/examples/utils/communication_test/commander/commander_no_serial/commander_no_serial.ino new file mode 100644 index 00000000..1381515e --- /dev/null +++ b/examples/utils/communication_test/commander/commander_no_serial/commander_no_serial.ino @@ -0,0 +1,51 @@ +/** + * Simple example of how to use the commander without serial - using just strings + */ + +#include + +// instantiate the commander +Commander command = Commander(); + +// led control function +void doLed(char* cmd){ + if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); + else digitalWrite(LED_BUILTIN, LOW); +}; +// get analog input +void doAnalog(char* cmd){ + if (cmd[0] == '0') Serial.println(analogRead(A0)); + else if (cmd[0] == '1') Serial.println(analogRead(A1)); +}; + +void setup() { + // define pins + pinMode(LED_BUILTIN, OUTPUT); + pinMode(A0, INPUT); + pinMode(A1, INPUT); + + // Serial port to be used + Serial.begin(115200); + + // add new commands + command.add('L', doLed, "led control"); + command.add('A', doAnalog, "analog read A0-A1"); + + Serial.println(F("Commander running")); + _delay(1000); +} + + +void loop() { + // user communication + command.run("?"); + _delay(2000); + command.run("L0"); + _delay(1000); + command.run("A0"); + _delay(1000); + command.run("A1"); + _delay(1000); + command.run("L1"); + _delay(1000); +} \ No newline at end of file diff --git a/examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino b/examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino new file mode 100644 index 00000000..074538ad --- /dev/null +++ b/examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino @@ -0,0 +1,84 @@ +/** + * A simple example to show how to use the commander with the control loops outside of the scope of the SimpleFOC library +*/ +#include + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(5, 10, 6, 8); + +// encoder instance +Encoder encoder = Encoder(2, 3, 500); +// channel A and B callbacks +void doA() { encoder.handleA(); } +void doB() { encoder.handleB(); } + +// target voltage to be set to the motor +float target_velocity = 0; + +// PID controllers and low pass filters +PIDController PIDv{0.05, 1, 0, 100000000, 12}; +LowPassFilter LPFv{0.01}; + +//add communication +Commander command = Commander(Serial); +void doController(char* cmd) { command.pid(&PIDv, cmd); } +void doFilter(char* cmd) { command.lpf(&LPFv, cmd); } +void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); } + + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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.init(); + // link driver + motor.linkDriver(&driver); + + // set motion control loop to be used ( doing nothing ) + motor.torque_controller = TorqueControlType::voltage; + motor.controller = MotionControlType::torque; + + // use monitoring with serial + motor.useMonitoring(Serial); + // initialize motor + motor.init(); + // align sensor and start FOC + motor.initFOC(); + + // subscribe the new commands + command.add('C', doController, "tune velocity pid"); + command.add('F', doFilter, "tune velocity LPF"); + command.add('T', doTarget, "motor target"); + + _delay(1000); + Serial.println(F("Commander listening")); + Serial.println(F(" - Send ? to see the node list...")); +} + + + +void loop() { + // looping foc + motor.loopFOC(); + + // calculate voltage + float target_voltage = PIDv(target_velocity - LPFv(motor.shaft_velocity)); + // set the voltage + motor.move(target_voltage); + + // user communication + command.run(); +} \ No newline at end of file diff --git a/examples/utils/communication_test/step_dir/step_dir_listener_simple/step_dir_listener_simple.ino b/examples/utils/communication_test/step_dir/step_dir_listener_simple/step_dir_listener_simple.ino new file mode 100644 index 00000000..a0bebc35 --- /dev/null +++ b/examples/utils/communication_test/step_dir/step_dir_listener_simple/step_dir_listener_simple.ino @@ -0,0 +1,36 @@ +/** + * A simple example of reading step/dir communication + * - this example uses hadware interrupts +*/ + +#include + +// angle +float received_angle = 0; + +// StepDirListener( step_pin, dir_pin, counter_to_value) +StepDirListener step_dir = StepDirListener(2, 3, 360.0/200.0); // receive the angle in degrees +void onStep() { step_dir.handle(); } + +void setup() { + + Serial.begin(115200); + + // init step and dir pins + step_dir.init(); + // enable interrupts + step_dir.enableInterrupt(onStep); + // attach the variable to be updated on each step (optional) + // the same can be done asynchronously by caling step_dir.getValue(); + step_dir.attach(&received_angle); + + Serial.println(F("Step/Dir listenning.")); + _delay(1000); +} + +void loop() { + Serial.print(received_angle); + Serial.print("\t"); + Serial.println(step_dir.getValue()); + _delay(500); +} \ No newline at end of file diff --git a/examples/utils/communication_test/step_dir/step_dir_listener_software_interrupt/step_dir_listener_software_interrupt.ino b/examples/utils/communication_test/step_dir/step_dir_listener_software_interrupt/step_dir_listener_software_interrupt.ino new file mode 100644 index 00000000..b6f0ea5f --- /dev/null +++ b/examples/utils/communication_test/step_dir/step_dir_listener_software_interrupt/step_dir_listener_software_interrupt.ino @@ -0,0 +1,44 @@ +/** + * A simple example of reading step/dir communication + * - this example uses software interrupts - this code is intended primarily + * for Arduino UNO/Mega and similar boards with very limited number of interrupt pins +*/ + +#include +// software interrupt library +#include +#include + + +// angle +float received_angle = 0; + +// StepDirListener( step_pin, dir_pin, counter_to_value) +StepDirListener step_dir = StepDirListener(4, 5, 2.0f*_PI/200.0); // receive the angle in radians +void onStep() { step_dir.handle(); } + +// If no available hadware interrupt pins use the software interrupt +PciListenerImp listenStep(step_dir.pin_step, onStep); + +void setup() { + + Serial.begin(115200); + + // init step and dir pins + step_dir.init(); + // enable software interrupts + PciManager.registerListener(&listenStep); + // attach the variable to be updated on each step (optional) + // the same can be done asynchronously by caling step_dir.getValue(); + step_dir.attach(&received_angle); + + Serial.println(F("Step/Dir listenning.")); + _delay(1000); +} + +void loop() { + Serial.print(received_angle); + Serial.print("\t"); + Serial.println(step_dir.getValue()); + _delay(500); +} \ No newline at end of file diff --git a/examples/utils/communication_test/step_dir/step_dir_motor_example/step_dir_motor_example.ino b/examples/utils/communication_test/step_dir/step_dir_motor_example/step_dir_motor_example.ino new file mode 100644 index 00000000..4cd87970 --- /dev/null +++ b/examples/utils/communication_test/step_dir/step_dir_motor_example/step_dir_motor_example.ino @@ -0,0 +1,102 @@ +/** + * A position control example using step/dir interface to update the motor position + */ + +#include + +// BLDC motor & driver instance +BLDCMotor motor = BLDCMotor(11); +BLDCDriver3PWM driver = BLDCDriver3PWM(10, 5, 6, 8); + +// Stepper motor & driver instance +//StepperMotor motor = StepperMotor(50); +//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); + +// encoder instance +Encoder encoder = Encoder(2, 3, 500); +// channel A and B callbacks +void doA() { encoder.handleA(); } +void doB() { encoder.handleB(); } + +// StepDirListener( step_pin, dir_pin, counter_to_value) +StepDirListener step_dir = StepDirListener(A4, A5, 2.0f*_PI/200.0); +void onStep() { step_dir.handle(); } + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // 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); + + // 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::angle; + + // contoller configuration + // default parameters in defaults.h + // velocity PI controller parameters + motor.PID_velocity.P = 0.2f; + motor.PID_velocity.I = 20; + motor.PID_velocity.D = 0; + // default voltage_power_supply + motor.voltage_limit = 12; + // 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 = 0.01f; + + // angle P controller + motor.P_angle.P = 10; + // maximal velocity of the position control + motor.velocity_limit = 100; + + // comment out if not needed + motor.useMonitoring(Serial); + + // initialize motor + motor.init(); + // align encoder and start FOC + motor.initFOC(); + + // init step and dir pins + step_dir.init(); + // enable interrupts + step_dir.enableInterrupt(onStep); + // attach the variable to be updated on each step (optional) + // the same can be done asynchronously by caling motor.move(step_dir.getValue()); + step_dir.attach(&motor.target); + + Serial.println(F("Motor ready.")); + Serial.println(F("Listening to step/dir commands!")); + _delay(1000); +} + +void loop() { + + // main FOC algorithm function + motor.loopFOC(); + + // Motion control function + motor.move(); +} \ No newline at end of file diff --git a/examples/utils/current_sense_test/generic_current_sense/generic_current_sense.ino b/examples/utils/current_sense_test/generic_current_sense/generic_current_sense.ino new file mode 100644 index 00000000..2448a51c --- /dev/null +++ b/examples/utils/current_sense_test/generic_current_sense/generic_current_sense.ino @@ -0,0 +1,66 @@ +/** + * An example code for the generic current sensing implementation +*/ +#include + + +// user defined function for reading the phase currents +// returning the value per phase in amps +PhaseCurrent_s readCurrentSense(){ + PhaseCurrent_s c; + // dummy example only reading analog pins + c.a = analogRead(A0); + c.b = analogRead(A1); + c.c = analogRead(A2); // if no 3rd current sense set it to 0 + return(c); +} + +// user defined function for intialising the current sense +// it is optional and if provided it will be called in current_sense.init() +void initCurrentSense(){ + pinMode(A0,INPUT); + pinMode(A1,INPUT); + pinMode(A2,INPUT); +} + + +// GenericCurrentSense class constructor +// it receives the user defined callback for reading the current sense +// and optionally the user defined callback for current sense initialisation +GenericCurrentSense current_sense = GenericCurrentSense(readCurrentSense, initCurrentSense); + + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + + // if callbacks are not provided in the constructor + // they can be assigned directly: + //current_sense.readCallback = readCurrentSense; + //current_sense.initCallback = initCurrentSense; + + // initialise the current sensing + current_sense.init(); + + + Serial.println("Current sense ready."); +} + +void loop() { + + PhaseCurrent_s currents = current_sense.getPhaseCurrents(); + float current_magnitude = current_sense.getDCCurrent(); + + Serial.print(currents.a); // milli Amps + Serial.print("\t"); + Serial.print(currents.b); // milli Amps + Serial.print("\t"); + Serial.print(currents.c); // milli Amps + Serial.print("\t"); + Serial.println(current_magnitude); // milli Amps +} \ No newline at end of file diff --git a/examples/utils/current_sense_test/inline_current_sense_test/inline_current_sense_test.ino b/examples/utils/current_sense_test/inline_current_sense_test/inline_current_sense_test.ino new file mode 100644 index 00000000..1198cdcd --- /dev/null +++ b/examples/utils/current_sense_test/inline_current_sense_test/inline_current_sense_test.ino @@ -0,0 +1,45 @@ +/** + * Testing example code for the Inline current sensing class +*/ +#include + +// current sensor +// shunt resistor value +// gain value +// pins phase A,B, (C optional) +InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2); + + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // initialise the current sensing + if(!current_sense.init()){ + Serial.println("Current sense init failed."); + return; + } + + // for SimpleFOCShield v2.01/v2.0.2 + current_sense.gain_b *= -1; + + Serial.println("Current sense ready."); +} + +void loop() { + + PhaseCurrent_s currents = current_sense.getPhaseCurrents(); + float current_magnitude = current_sense.getDCCurrent(); + + Serial.print(currents.a*1000); // milli Amps + Serial.print("\t"); + Serial.print(currents.b*1000); // milli Amps + Serial.print("\t"); + Serial.print(currents.c*1000); // milli Amps + Serial.print("\t"); + Serial.println(current_magnitude*1000); // milli Amps +} diff --git a/examples/utils/driver_standalone_test/bldc_driver_3pwm_standalone/bldc_driver_3pwm_standalone.ino b/examples/utils/driver_standalone_test/bldc_driver_3pwm_standalone/bldc_driver_3pwm_standalone.ino new file mode 100644 index 00000000..eef793d7 --- /dev/null +++ b/examples/utils/driver_standalone_test/bldc_driver_3pwm_standalone/bldc_driver_3pwm_standalone.ino @@ -0,0 +1,43 @@ +// BLDC driver standalone example +#include + + +// BLDC driver instance +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // pwm frequency to be used [Hz] + // for atmega328 fixed to 32kHz + // esp32/stm32/teensy configurable + driver.pwm_frequency = 50000; + // power supply voltage [V] + driver.voltage_power_supply = 12; + // Max DC voltage allowed - default voltage_power_supply + driver.voltage_limit = 12; + + // driver init + if (!driver.init()){ + Serial.println("Driver init failed!"); + return; + } + + // enable driver + driver.enable(); + Serial.println("Driver ready!"); + _delay(1000); +} + +void loop() { + // setting pwm + // phase A: 3V + // phase B: 6V + // phase C: 5V + driver.setPwm(3,6,5); +} \ No newline at end of file diff --git a/examples/utils/driver_standalone_test/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino b/examples/utils/driver_standalone_test/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino new file mode 100644 index 00000000..56a1afbe --- /dev/null +++ b/examples/utils/driver_standalone_test/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino @@ -0,0 +1,44 @@ +// BLDC driver standalone example +#include + +// BLDC driver instance +BLDCDriver6PWM driver = BLDCDriver6PWM(5, 6, 9,10, 3, 11, 8); + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // pwm frequency to be used [Hz] + // for atmega328 fixed to 32kHz + // esp32/stm32/teensy configurable + driver.pwm_frequency = 50000; + // power supply voltage [V] + driver.voltage_power_supply = 12; + // Max DC voltage allowed - default voltage_power_supply + driver.voltage_limit = 12; + // daad_zone [0,1] - default 0.02f - 2% + driver.dead_zone = 0.05f; + + // driver init + if (!driver.init()){ + Serial.println("Driver init failed!"); + return; + } + + // enable driver + driver.enable(); + Serial.println("Driver ready!"); + _delay(1000); +} + +void loop() { + // setting pwm + // phase A: 3V + // phase B: 6V + // phase C: 5V + driver.setPwm(3,6,5); +} \ No newline at end of file diff --git a/examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino b/examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino new file mode 100644 index 00000000..59343a14 --- /dev/null +++ b/examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino @@ -0,0 +1,48 @@ +// Stepper driver standalone example +#include + + +// Stepper driver instance +// StepperDriver2PWM(pwm1, in1, pwm2, in2, (en1, en2 optional)) +int in1[] = {4,5}; +int in2[] = {9,8}; +StepperDriver2PWM driver = StepperDriver2PWM(3, in1, 10 , in2, 11, 12); + +// StepperDriver2PWM(pwm1, dir1, pwm2, dir2,(en1, en2 optional)) +// StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 6, 11, 12); + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // pwm frequency to be used [Hz] + // for atmega328 fixed to 32kHz + // esp32/stm32/teensy configurable + driver.pwm_frequency = 30000; + // power supply voltage [V] + driver.voltage_power_supply = 12; + // Max DC voltage allowed - default voltage_power_supply + driver.voltage_limit = 12; + + // driver init + if (!driver.init()){ + Serial.println("Driver init failed!"); + return; + } + + // enable driver + driver.enable(); + Serial.println("Driver ready!"); + _delay(1000); +} + +void loop() { + // setting pwm + // phase A: 3V + // phase B: 6V + driver.setPwm(3,6); +} \ No newline at end of file diff --git a/examples/utils/driver_standalone_test/stepper_driver_4pwm_standalone/stepper_driver_4pwm_standalone.ino b/examples/utils/driver_standalone_test/stepper_driver_4pwm_standalone/stepper_driver_4pwm_standalone.ino new file mode 100644 index 00000000..a58d7940 --- /dev/null +++ b/examples/utils/driver_standalone_test/stepper_driver_4pwm_standalone/stepper_driver_4pwm_standalone.ino @@ -0,0 +1,43 @@ +// Stepper driver standalone example +#include + + +// Stepper driver instance +// StepperDriver4PWM(ph1A, ph1B, ph2A, ph2B, (en1, en2 optional)) +StepperDriver4PWM driver = StepperDriver4PWM(5, 6, 9,10, 7, 8); + +void setup() { + + // use monitoring with serial + Serial.begin(115200); + // enable more verbose output for debugging + // comment out if not needed + SimpleFOCDebug::enable(&Serial); + + // pwm frequency to be used [Hz] + // for atmega328 fixed to 32kHz + // esp32/stm32/teensy configurable + driver.pwm_frequency = 30000; + // power supply voltage [V] + driver.voltage_power_supply = 12; + // Max DC voltage allowed - default voltage_power_supply + driver.voltage_limit = 12; + + // driver init + if (!driver.init()){ + Serial.println("Driver init failed!"); + return; + } + + // enable driver + driver.enable(); + Serial.println("Driver ready!"); + _delay(1000); +} + +void loop() { + // setting pwm + // phase A: 3V + // phase B: 6V + driver.setPwm(3,6); +} \ No newline at end of file diff --git a/examples/utils/sensor_test/encoder/encoder_example/encoder_example.ino b/examples/utils/sensor_test/encoder/encoder_example/encoder_example.ino index 0fa87522..f105f5b0 100644 --- a/examples/utils/sensor_test/encoder/encoder_example/encoder_example.ino +++ b/examples/utils/sensor_test/encoder/encoder_example/encoder_example.ino @@ -21,7 +21,7 @@ void setup() { encoder.quadrature = Quadrature::ON; // check if you need internal pullups - encoder.pullup = Pullup::EXTERN; + encoder.pullup = Pullup::USE_EXTERN; // initialise encoder hardware encoder.init(); @@ -33,6 +33,10 @@ void setup() { } void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // not doing much for the encoder though + encoder.update(); // display the angle and the angular velocity to the terminal Serial.print(encoder.getAngle()); Serial.print("\t"); diff --git a/examples/utils/sensor_test/encoder/encoder_software_interrupts_example/encoder_software_interrupts_example.ino b/examples/utils/sensor_test/encoder/encoder_software_interrupts_example/encoder_software_interrupts_example.ino index 7c38bb59..ebf2dd41 100644 --- a/examples/utils/sensor_test/encoder/encoder_software_interrupts_example/encoder_software_interrupts_example.ino +++ b/examples/utils/sensor_test/encoder/encoder_software_interrupts_example/encoder_software_interrupts_example.ino @@ -32,7 +32,7 @@ void setup() { encoder.quadrature = Quadrature::ON; // check if you need internal pullups - encoder.pullup = Pullup::EXTERN; + encoder.pullup = Pullup::USE_EXTERN; // initialise encoder hardware encoder.init(); @@ -46,6 +46,10 @@ void setup() { } void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // not doing much for the encoder though + encoder.update(); // display the angle and the angular velocity to the terminal Serial.print(encoder.getAngle()); Serial.print("\t"); diff --git a/examples/utils/sensor_test/generic_sensor/generic_sensor.ino b/examples/utils/sensor_test/generic_sensor/generic_sensor.ino new file mode 100644 index 00000000..4a470e59 --- /dev/null +++ b/examples/utils/sensor_test/generic_sensor/generic_sensor.ino @@ -0,0 +1,51 @@ +/** + * Generic sensor example code + * + * This is a code intended to demonstrate how to implement the generic sensor class + * + */ + +#include + +// sensor reading function example +// for the magnetic sensor with analog communication +// returning an angle in radians in between 0 and 2PI +float readSensor(){ + return analogRead(A0)*_2PI/1024.0; +} + +// sensor intialising function +void initSensor(){ + pinMode(A0,INPUT); +} + +// generic sensor class contructor +// - read sensor callback +// - init sensor callback (optional) +GenericSensor sensor = GenericSensor(readSensor, initSensor); + +void setup() { + // monitoring port + Serial.begin(115200); + + // if callbacks are not provided in the constructor + // they can be assigned directly: + //sensor.readCallback = readSensor; + //sensor.initCallback = initSensor; + + sensor.init(); + + Serial.println("Sensor ready"); + _delay(1000); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + sensor.update(); + + // display the angle and the angular velocity to the terminal + Serial.print(sensor.getAngle()); + Serial.print("\t"); + Serial.println(sensor.getVelocity()); +} \ No newline at end of file diff --git a/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino b/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino new file mode 100644 index 00000000..cc8dfdb8 --- /dev/null +++ b/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino @@ -0,0 +1,39 @@ +/** + * Hall sensor example code + * + * This is a code intended to test the hall sensors connections and to demonstrate the hall sensor setup. + * + */ + +#include + +// Hall sensor instance +// HallSensor(int hallA, int hallB , int cpr, int index) +// - hallA, hallB, hallC - HallSensor A, B and C pins +// - pp - pole pairs +HallSensor sensor = HallSensor(2, 3, 4, 14); + +void setup() { + // monitoring port + Serial.begin(115200); + + // check if you need internal pullups + sensor.pullup = Pullup::USE_EXTERN; + + // initialise encoder hardware + sensor.init(); + + Serial.println("Sensor ready"); + _delay(1000); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + sensor.update(); + // display the angle and the angular velocity to the terminal + Serial.print(sensor.getAngle()); + Serial.print("\t"); + Serial.println(sensor.getVelocity()); + delay(100); +} diff --git a/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensors_example.ino b/examples/utils/sensor_test/hall_sensors/hall_sensor_hardware_interrupts_example/hall_sensor_hardware_interrupts_example.ino similarity index 81% rename from examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensors_example.ino rename to examples/utils/sensor_test/hall_sensors/hall_sensor_hardware_interrupts_example/hall_sensor_hardware_interrupts_example.ino index 965aec7a..c4777baa 100644 --- a/examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensors_example.ino +++ b/examples/utils/sensor_test/hall_sensors/hall_sensor_hardware_interrupts_example/hall_sensor_hardware_interrupts_example.ino @@ -11,7 +11,7 @@ // HallSensor(int hallA, int hallB , int cpr, int index) // - hallA, hallB, hallC - HallSensor A, B and C pins // - pp - pole pairs -HallSensor sensor = HallSensor(2, 3, 4, 11); +HallSensor sensor = HallSensor(2, 3, 4, 14); // Interrupt routine intialisation // channel A and B callbacks @@ -25,7 +25,7 @@ void setup() { Serial.begin(115200); // check if you need internal pullups - sensor.pullup = Pullup::EXTERN; + sensor.pullup = Pullup::USE_EXTERN; // initialise encoder hardware sensor.init(); @@ -37,8 +37,12 @@ void setup() { } void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + sensor.update(); // display the angle and the angular velocity to the terminal Serial.print(sensor.getAngle()); Serial.print("\t"); Serial.println(sensor.getVelocity()); + delay(100); } diff --git a/examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensors_software_interrupt_example.ino b/examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensor_software_interrupts_example.ino similarity index 90% rename from examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensors_software_interrupt_example.ino rename to examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensor_software_interrupts_example.ino index cac8dc00..238eb2c4 100644 --- a/examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensors_software_interrupt_example.ino +++ b/examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensor_software_interrupts_example.ino @@ -34,7 +34,7 @@ void setup() { Serial.begin(115200); // check if you need internal pullups - sensor.pullup = Pullup::EXTERN; + sensor.pullup = Pullup::USE_EXTERN; // initialise encoder hardware sensor.init(); @@ -49,6 +49,9 @@ void setup() { } void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + sensor.update(); // display the angle and the angular velocity to the terminal Serial.print(sensor.getAngle()); Serial.print("\t"); diff --git a/examples/utils/sensor_test/linear_hall_sensors/find_raw_centers/find_raw_centers.ino b/examples/utils/sensor_test/linear_hall_sensors/find_raw_centers/find_raw_centers.ino new file mode 100644 index 00000000..5fda5f59 --- /dev/null +++ b/examples/utils/sensor_test/linear_hall_sensors/find_raw_centers/find_raw_centers.ino @@ -0,0 +1,62 @@ +/** + * An example to find the center offsets for both ADC channels used in the LinearHall sensor constructor + * Spin your motor through at least one full revolution to average out all of the variations in magnet strength. + */ + +//Change these defines to match the analog input pins that your hall sensors are connected to +#define LINEAR_HALL_CHANNEL_A 39 +#define LINEAR_HALL_CHANNEL_B 33 + + +//program variables +int minA, maxA, minB, maxB, centerA, centerB; +unsigned long timestamp; + +void setup() { + // monitoring port + Serial.begin(115200); + + // initialise magnetic sensor hardware + pinMode(LINEAR_HALL_CHANNEL_A, INPUT); + pinMode(LINEAR_HALL_CHANNEL_B, INPUT); + + minA = analogRead(LINEAR_HALL_CHANNEL_A); + maxA = minA; + centerA = (minA + maxA) / 2; + minB = analogRead(LINEAR_HALL_CHANNEL_B); + maxB = minB; + centerB = (minB + maxB) / 2; + + Serial.println("Sensor ready"); + delay(1000); + timestamp = millis(); +} + +void loop() { + //read sensors and update variables + int tempA = analogRead(LINEAR_HALL_CHANNEL_A); + if (tempA < minA) minA = tempA; + if (tempA > maxA) maxA = tempA; + centerA = (minA + maxA) / 2; + int tempB = analogRead(LINEAR_HALL_CHANNEL_B); + if (tempB < minB) minB = tempB; + if (tempB > maxB) maxB = tempB; + centerB = (minB + maxB) / 2; + + if (millis() > timestamp + 100) { + timestamp = millis(); + // display the center counts, and max and min count + Serial.print("A:"); + Serial.print(centerA); + Serial.print("\t, B:"); + Serial.print(centerB); + Serial.print("\t, min A:"); + Serial.print(minA); + Serial.print("\t, max A:"); + Serial.print(maxA); + Serial.print("\t, min B:"); + Serial.print(minB); + Serial.print("\t, max B:"); + Serial.println(maxB); + } +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog/find_raw_min_max/find_raw_min_max.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog/find_raw_min_max/find_raw_min_max.ino new file mode 100644 index 00000000..34e68a1b --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog/find_raw_min_max/find_raw_min_max.ino @@ -0,0 +1,56 @@ +#include + +/** + * An example to find out the raw max and min count to be provided to the constructor + * Spin your motor/sensor/magnet to see what is the maximum output of the sensor and what is the minimum value + * And replace values 14 and 1020 with new values. Once when you replace them make sure there is no jump in the angle reading sensor.getAngle(). + * If there is a jump that means you can still find better values. + */ + +/** + * Magnetic sensor reading analog voltage on pin A1. This voltage is proportional to rotation position. + * Tested on AS5600 magnetic sensor running in 'analog mode'. Note AS5600 works better in 'i2C mode' (less noise) but only supports one sensor per i2c bus. + * + * MagneticSensorAnalog(uint8_t _pinAnalog, int _min, int _max) + * - pinAnalog - the pin that is reading the pwm from magnetic sensor + * - min_raw_count - the smallest expected reading. Whilst you might expect it to be 0 it is often ~15. Getting this wrong results in a small click once per revolution + * - max_raw_count - the largest value read. whilst you might expect it to be 2^10 = 1023 it is often ~ 1020. Note ESP32 will be closer to 4096 with its 12bit ADC + */ +MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020); + +void setup() { + // monitoring port + Serial.begin(115200); + + // initialise magnetic sensor hardware + sensor.init(); + + Serial.println("Sensor ready"); + _delay(1000); +} + +int max_count = 0; +int min_count = 100000; + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); + + // keep track of min and max + if(sensor.raw_count > max_count) max_count = sensor.raw_count; + else if(sensor.raw_count < min_count) min_count = sensor.raw_count; + + // display the raw count, and max and min raw count + Serial.print("angle:"); + Serial.print(sensor.getAngle()); + Serial.print("\t, raw:"); + Serial.print(sensor.raw_count); + Serial.print("\t, min:"); + Serial.print(min_count); + Serial.print("\t, max:"); + Serial.println(max_count); + delay(100); +} \ No newline at end of file diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/magnetic_sensor_analog_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog/magnetic_sensor_analog_example/magnetic_sensor_analog_example.ino similarity index 83% rename from examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/magnetic_sensor_analog_example.ino rename to examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog/magnetic_sensor_analog_example/magnetic_sensor_analog_example.ino index ef34127c..2496151b 100644 --- a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/magnetic_sensor_analog_example.ino +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog/magnetic_sensor_analog_example/magnetic_sensor_analog_example.ino @@ -1,6 +1,7 @@ #include + /** * Magnetic sensor reading analog voltage on pin A1. This voltage is proportional to rotation position. * Tested on AS5600 magnetic sensor running in 'analog mode'. Note AS5600 works better in 'i2C mode' (less noise) but only supports one sensor per i2c bus. @@ -24,8 +25,13 @@ void setup() { } void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); // display the angle and the angular velocity to the terminal Serial.print(sensor.getAngle()); Serial.print("\t"); Serial.println(sensor.getVelocity()); -} +} \ No newline at end of file diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino new file mode 100644 index 00000000..0516ede1 --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino @@ -0,0 +1,40 @@ +#include + +/** Annoyingly some i2c sensors (e.g. AS5600) have a fixed chip address. This means only one of these devices can be addressed on a single bus + * This example shows how a second i2c bus can be used to communicate with a second sensor. + */ + +MagneticSensorI2C sensor0 = MagneticSensorI2C(AS5600_I2C); +MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C); + + +void setup() { + + Serial.begin(115200); + _delay(750); + + Wire.setClock(400000); + Wire1.setClock(400000); + + // Normally SimpleFOC will call begin for i2c but with esp32 begin() is the only way to set pins! + // It seems safe to call begin multiple times + Wire1.begin(19, 23, (uint32_t)400000); + + sensor0.init(); + sensor1.init(&Wire1); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor0.update(); + sensor1.update(); + + _delay(200); + Serial.print(sensor0.getAngle()); + Serial.print(" - "); + Serial.print(sensor1.getAngle()); + Serial.println(); +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/stm32_i2c_dual_bus_example/stm32_i2c_dual_bus_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/stm32_i2c_dual_bus_example/stm32_i2c_dual_bus_example.ino new file mode 100644 index 00000000..08fb145d --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/stm32_i2c_dual_bus_example/stm32_i2c_dual_bus_example.ino @@ -0,0 +1,39 @@ +#include + +/** Annoyingly some i2c sensors (e.g. AS5600) have a fixed chip address. This means only one of these devices can be addressed on a single bus + * This example shows how a second i2c bus can be used to communicate with a second sensor. + */ + +MagneticSensorI2C sensor0 = MagneticSensorI2C(AS5600_I2C); +MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C); + +// example of stm32 defining 2nd bus +TwoWire Wire1(PB11, PB10); + + +void setup() { + + Serial.begin(115200); + _delay(750); + + Wire.setClock(400000); + Wire1.setClock(400000); + + sensor0.init(); + sensor1.init(&Wire1); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor0.update(); + sensor1.update(); + + _delay(200); + Serial.print(sensor0.getAngle()); + Serial.print(" - "); + Serial.print(sensor1.getAngle()); + Serial.println(); +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino similarity index 67% rename from examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino rename to examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino index ad67eb03..4e060c0a 100644 --- a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino @@ -9,15 +9,19 @@ // make sure to read the chip address and the chip angle register msb value from the datasheet // also in most cases you will need external pull-ups on SDA and SCL lines!!!!! // -// For AS5058B use MagneticSensorI2C(0x40, 14, 0xFE, 8) +// For AS5058B +// MagneticSensorI2C sensor = MagneticSensorI2C(0x40, 14, 0xFE, 8); + // Example of AS5600 configuration -MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4); +MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); void setup() { // monitoring port Serial.begin(115200); + // configure i2C + Wire.setClock(400000); // initialise magnetic sensor hardware sensor.init(); @@ -26,6 +30,12 @@ void setup() { } void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); + // display the angle and the angular velocity to the terminal Serial.print(sensor.getAngle()); Serial.print("\t"); diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/find_raw_min_max/find_raw_min_max.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/find_raw_min_max/find_raw_min_max.ino new file mode 100644 index 00000000..ac9bf044 --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/find_raw_min_max/find_raw_min_max.ino @@ -0,0 +1,49 @@ +#include + + +/** + * An example to find out the raw max and min count to be provided to the constructor + * SPin your motor/sensor/magnet to see what is the maximum output of the sensor and what is the minimum value + * And replace values 4 and 904 with new values. Once when you replace them make sure there is no jump in the angle reading sensor.getAngle(). + * If there is a jump that means you can still find better values. + */ +MagneticSensorPWM sensor = MagneticSensorPWM(2, 4, 904); +void doPWM(){sensor.handlePWM();} + +void setup() { + // monitoring port + Serial.begin(115200); + + // initialise magnetic sensor hardware + sensor.init(); + // comment out to use sensor in blocking (non-interrupt) way + sensor.enableInterrupt(doPWM); + + Serial.println("Sensor ready"); + _delay(1000); +} + +int max_pulse= 0; +int min_pulse = 10000; + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); + + // keep track of min and max + if(sensor.pulse_length_us > max_pulse) max_pulse = sensor.pulse_length_us; + else if(sensor.pulse_length_us < min_pulse) min_pulse = sensor.pulse_length_us; + + // display the raw count, and max and min raw count + Serial.print("angle:"); + Serial.print(sensor.getAngle()); + Serial.print("\t, raw:"); + Serial.print(sensor.pulse_length_us); + Serial.print("\t, min:"); + Serial.print(min_pulse); + Serial.print("\t, max:"); + Serial.println(max_pulse); +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/magnetic_sensor_pwm_example/magnetic_sensor_pwm_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/magnetic_sensor_pwm_example/magnetic_sensor_pwm_example.ino new file mode 100644 index 00000000..6ae0a3e9 --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/magnetic_sensor_pwm_example/magnetic_sensor_pwm_example.ino @@ -0,0 +1,38 @@ +#include + + +/** + * Magnetic sensor reading pwm signal on pin 2. The pwm duty cycle is proportional to the sensor angle. + * + * MagneticSensorPWM(uint8_t MagneticSensorPWM, int _min, int _max) + * - pinPWM - the pin that is reading the pwm from magnetic sensor + * - min_raw_count - the smallest expected reading. Whilst you might expect it to be 0 it is often ~5. Getting this wrong results in a small click once per revolution + * - max_raw_count - the largest value read. whilst you might expect it to be 1kHz = 1000 it is often ~910. depending on the exact frequency and saturation + */ +MagneticSensorPWM sensor = MagneticSensorPWM(2, 4, 904); +void doPWM(){sensor.handlePWM();} + +void setup() { + // monitoring port + Serial.begin(115200); + + // initialise magnetic sensor hardware + sensor.init(); + // comment out to use sensor in blocking (non-interrupt) way + sensor.enableInterrupt(doPWM); + + Serial.println("Sensor ready"); + _delay(1000); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); + // display the angle and the angular velocity to the terminal + Serial.print(sensor.getAngle()); + Serial.print("\t"); + Serial.println(sensor.getVelocity()); +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/magnetic_sensor_pwm_software_interrupt/magnetic_sensor_pwm_software_interrupt.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/magnetic_sensor_pwm_software_interrupt/magnetic_sensor_pwm_software_interrupt.ino new file mode 100644 index 00000000..10dc8a6b --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm/magnetic_sensor_pwm_software_interrupt/magnetic_sensor_pwm_software_interrupt.ino @@ -0,0 +1,44 @@ +#include + +// software interrupt library +#include +#include + +/** + * Magnetic sensor reading analog voltage on pin which does not have hardware interrupt support. Such as A0. + * + * MagneticSensorPWM(uint8_t MagneticSensorPWM, int _min, int _max) + * - pinPWM - the pin that is reading the pwm from magnetic sensor + * - min_raw_count - the smallest expected reading. Whilst you might expect it to be 0 it is often ~5. Getting this wrong results in a small click once per revolution + * - max_raw_count - the largest value read. whilst you might expect it to be 1kHz = 1000 it is often ~910. depending on the exact frequency and saturation + */ +MagneticSensorPWM sensor = MagneticSensorPWM(A0, 4, 904); +void doPWM(){sensor.handlePWM();} + +// encoder interrupt init +PciListenerImp listenerPWM(sensor.pinPWM, doPWM); + +void setup() { + // monitoring port + Serial.begin(115200); + + // initialise magnetic sensor hardware + sensor.init(); + // comment out to use sensor in blocking (non-interrupt) way + PciManager.registerListener(&listenerPWM); + + Serial.println("Sensor ready"); + _delay(1000); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); + // display the angle and the angular velocity to the terminal + Serial.print(sensor.getAngle()); + Serial.print("\t"); + Serial.println(sensor.getVelocity()); +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_alternative_examples/esp32_spi_alt_example/esp32_spi_alt_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_alternative_examples/esp32_spi_alt_example/esp32_spi_alt_example.ino new file mode 100644 index 00000000..cbb72af4 --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_alternative_examples/esp32_spi_alt_example/esp32_spi_alt_example.ino @@ -0,0 +1,41 @@ +#include + +// alternative pinout +#define HSPI_MISO 12 +#define HSPI_MOSI 13 +#define HSPI_SCLK 14 +#define HSPI_SS 15 + +// MagneticSensorSPI(int cs, float _cpr, int _angle_register) +// config - SPI config +// cs - SPI chip select pin +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, HSPI_SS); + +// for esp 32, it has 2 spi interfaces VSPI (default) and HPSI as the second one +// to enable it instatiate the object +SPIClass SPI_2(HSPI); + +void setup() { + // monitoring port + Serial.begin(115200); + + // start the newly defined spi communication + SPI_2.begin(HSPI_SCLK, HSPI_MISO, HSPI_MOSI, HSPI_SS); //SCLK, MISO, MOSI, SS + // initialise magnetic sensor hardware + sensor.init(&SPI_2); + + Serial.println("Sensor ready"); + _delay(1000); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); + // display the angle and the angular velocity to the terminal + Serial.print(sensor.getAngle()); + Serial.print("\t"); + Serial.println(sensor.getVelocity()); +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_alternative_examples/stm32_spi_alt_example/stm32_spi_alt_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_alternative_examples/stm32_spi_alt_example/stm32_spi_alt_example.ino new file mode 100644 index 00000000..713a19b1 --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_alternative_examples/stm32_spi_alt_example/stm32_spi_alt_example.ino @@ -0,0 +1,32 @@ +#include + +// MagneticSensorSPI(int cs, float _cpr, int _angle_register) +// config - SPI config +// cs - SPI chip select pin +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, PA15); + +// these are valid pins (mosi, miso, sclk) for 2nd SPI bus on storm32 board (stm32f107rc) +SPIClass SPI_2(PB15, PB14, PB13); + +void setup() { + // monitoring port + Serial.begin(115200); + + // initialise magnetic sensor hardware + sensor.init(&SPI_2); + + Serial.println("Sensor ready"); + _delay(1000); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); + // display the angle and the angular velocity to the terminal + Serial.print(sensor.getAngle()); + Serial.print("\t"); + Serial.println(sensor.getVelocity()); +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_example/magnetic_sensor_spi_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_example/magnetic_sensor_spi_example.ino new file mode 100644 index 00000000..048620ac --- /dev/null +++ b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_example/magnetic_sensor_spi_example.ino @@ -0,0 +1,32 @@ +#include + +// MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs) +// config - SPI config +// cs - SPI chip select pin +// magnetic sensor instance - SPI +MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10); +// alternative constructor (chipselsect, bit_resolution, angle_read_register, ) +// MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); + +void setup() { + // monitoring port + Serial.begin(115200); + + // initialise magnetic sensor hardware + sensor.init(); + + Serial.println("Sensor ready"); + _delay(1000); +} + +void loop() { + // iterative function updating the sensor internal variables + // it is usually called in motor.loopFOC() + // this function reads the sensor hardware and + // has to be called before getAngle nad getVelocity + sensor.update(); + // display the angle and the angular velocity to the terminal + Serial.print(sensor.getAngle()); + Serial.print("\t"); + Serial.println(sensor.getVelocity()); +} diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi_example/magnetic_sensor_spi_example.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi_example/magnetic_sensor_spi_example.ino deleted file mode 100644 index 828162dc..00000000 --- a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi_example/magnetic_sensor_spi_example.ino +++ /dev/null @@ -1,25 +0,0 @@ -#include - -// MagneticSensorSPI(int cs, float _cpr, int _angle_register) -// cs - SPI chip select pin -// bit_resolution - sensor resolution -// angle_register - (optional) angle read register - default 0x3FFF -MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF); - -void setup() { - // monitoring port - Serial.begin(115200); - - // initialise magnetic sensor hardware - sensor.init(); - - Serial.println("Sensor ready"); - _delay(1000); -} - -void loop() { - // display the angle and the angular velocity to the terminal - Serial.print(sensor.getAngle()); - Serial.print("\t"); - Serial.println(sensor.getVelocity()); -} diff --git a/keywords.txt b/keywords.txt index ebc4bc12..d8fd3e73 100644 --- a/keywords.txt +++ b/keywords.txt @@ -8,12 +8,30 @@ HallSensors KEYWORD1 MagneticSensorSPI KEYWORD1 MagneticSensorI2C KEYWORD1 MagneticSensorAnalog KEYWORD1 +MagneticSensorPWM KEYWORD1 +BLDCDriver3PWM KEYWORD1 +BLDCDriver6PWM KEYWORD1 +BLDCDriver KEYWORD1 +StepperDriver4PWM KEYWORD1 +StepperDriver2PWM KEYWORD1 +StepperDriver KEYWORD1 +PIDController KEYWORD1 +LowPassFilter KEYWORD1 +InlineCurrentSense KEYWORD1 +LowsideCurrentSense KEYWORD1 +CurrentSense KEYWORD1 +Commander KEYWORD1 +StepDirListener KEYWORD1 +GenericCurrentSense KEYWORD1 +GenericSensor KEYWORD1 +SimpleFOCDebug KEYWORD1 initFOC KEYWORD2 loopFOC KEYWORD2 disable KEYWORD2 _delay KEYWORD3 +_sqrt KEYWORD3 _micros KEYWORD3 _sin KEYWORD3 _cos KEYWORD3 @@ -21,22 +39,37 @@ _setPwmFrequency KEYWORD3 _writeDutyCycle KEYWORD3 _round KEYWORD3 _sign KEYWORD3 +_constrain KEYWORD3 monitor KEYWORD3 command KEYWORD3 PID_velocity KEYWORD2 +PID_current_q KEYWORD2 +PID_current_d KEYWORD2 LPF_velocity KEYWORD2 +LPF_current_q KEYWORD2 +LPF_current_d KEYWORD2 P_angle KEYWORD2 +LPF_angle KEYWORD2 +lpf_a KEYWORD2 +lpf_b KEYWORD2 +lpf_c KEYWORD2 -ControlType KEYWORD1 +MotionControlType KEYWORD1 +TorqueControlType KEYWORD1 FOCModulationType KEYWORD2 Quadrature KEYWORD1 Pullup KEYWORD1 Direction KEYWORD1 MagneticSensorI2CConfig_s KEYWORD1 MagneticSensorSPIConfig_s KEYWORD1 +DQVoltage_s KEYWORD1 +DQCurrent_s KEYWORD1 +PhaseCurrent_s KEYWORD1 +linkDriver KEYWORD2 linkSensor KEYWORD2 +linkCurrentSense KEYWORD2 handleA KEYWORD2 handleB KEYWORD2 handleIndex KEYWORD2 @@ -46,25 +79,66 @@ ISR KEYWORD2 getVelocity KEYWORD2 setPhaseVoltage KEYWORD2 getAngle KEYWORD2 -initRelativeZero KEYWORD2 -initAbsoluteZero KEYWORD2 -hasAbsoluteZero KEYWORD2 -needsAbsoluteZeroSearch KEYWORD2 +getMechanicalAngle KEYWORD2 +getSensorAngle KEYWORD2 +update KEYWORD2 +needsSearch KEYWORD2 useMonitoring KEYWORD2 angleOpenloop KEYWORD2 velocityOpenloop KEYWORD2 +getPhaseCurrents KEYWORD2 +getFOCCurrents KEYWORD2 +getDCCurrent KEYWORD2 +setPwm KEYWORD2 +driverAlign KEYWORD2 +linkDriver KEYWORD2 +add KEYWORD2 +run KEYWORD2 +attach KEYWORD2 +enableInterrupt KEYWORD2 +getValue KEYWORD2 +handle KEYWORD2 +scalar KEYWORD2 +pid KEYWORD2 +lpf KEYWORD2 +motor KEYWORD2 +handlePWM KEYWORD2 +enableInterrupt KEYWORD2 +readCallback KEYWORD2 +initCallback KEYWORD2 -voltage_q KEYWORD2 + + +current KEYWORD2 +current_measured KEYWORD2 shaft_angle_sp KEYWORD2 +electrical_angle KEYWORD2 shaft_velocity_sp KEYWORD2 shaft_angle KEYWORD2 shaft_velocity KEYWORD2 +torque_controller KEYWORD2 controller KEYWORD2 -driver KEYWORD2 pullup KEYWORD2 quadrature KEYWORD2 foc_modulation KEYWORD2 target KEYWORD2 +motion KEYWORD2 +pwm_frequency KEYWORD2 +dead_zone KEYWORD2 +gain_a KEYWORD2 +gain_b KEYWORD2 +gain_c KEYWORD2 +skip_align KEYWORD2 +sensor_direction KEYWORD2 +sensor_offset KEYWORD2 +zero_electric_angle KEYWORD2 +verbose KEYWORD2 +verboseMode KEYWORD1 +decimal_places KEYWORD2 +phase_resistance KEYWORD2 +phase_inductance KEYWORD2 +modulation_centered KEYWORD2 + voltage KEYWORD2 @@ -72,6 +146,9 @@ velocity KEYWORD2 velocity_openloop KEYWORD2 angle KEYWORD2 angle_openloop KEYWORD2 +torque KEYWORD2 +dc_current KEYWORD2 +foc_current KEYWORD2 ON KEYWORD2 @@ -85,23 +162,34 @@ I KEYWORD2 D KEYWORD2 Tf KEYWORD2 voltage_limit KEYWORD2 +current_limit KEYWORD2 output_ramp KEYWORD2 +limit KEYWORD2 velocity_limit KEYWORD2 voltage_power_supply KEYWORD2 voltage_sensor_align KEYWORD2 velocity_index_search KEYWORD2 +monitor_downsample KEYWORD2 +monitor_start_char KEYWORD2 +monitor_end_char KEYWORD2 +monitor_separator KEYWORD2 +monitor_decimals KEYWORD2 +monitor_variables KEYWORD2 +motion_downsample KEYWORD2 pinA KEYWORD2 pinB KEYWORD2 pinC KEYWORD2 index_pin KEYWORD2 -INTERN KEYWORD2 -EXTERN KEYWORD2 +USE_INTERN KEYWORD2 +USE_EXTERN KEYWORD2 DISABLE KEYWORD2 ENABLE KEYWORD2 SpaceVectorPWM KEYWORD2 SinePWM KEYWORD2 +Trapezoid_120 KEYWORD2 +Trapezoid_150 KEYWORD2 pwmA KEYWORD2 pwmB KEYWORD2 @@ -119,24 +207,46 @@ enable_pin KEYWORD2 enable_pin1 KEYWORD2 enable_pin2 KEYWORD2 pole_pairs KEYWORD2 +dc_a KEYWORD2 +dc_b KEYWORD2 +dc_c KEYWORD2 DEF_POWER_SUPPLY LITERAL1 DEF_PID_VEL_P LITERAL1 DEF_PID_VEL_I LITERAL1 -DEF_PID_VEL_U_RAMP LITERAL1 +DEF_PID_VEL_D LITERAL1 +DEF_PID_VEL_RAMP LITERAL1 DEF_P_ANGLE_P LITERAL1 -DEF_VEL_LIM LITERAL1 +DEF_PID_VEL_LIMIT LITERAL1 DEF_INDEX_SEARCH_TARGET_VELOCITY LITERAL1 DEF_VOLTAGE_SENSOR_ALIGN LITERAL1 DEF_VEL_FILTER_Tf LITERAL1 +DEF_CURRENT_LIM LITERAL1 +DEF_CURR_FILTER_Tf LITERAL1 +DEF_PID_CURR_LIMIT LITERAL1 +DEF_PID_CURR_RAMP LITERAL1 +DEF_PID_CURR_D LITERAL1 +DEF_PID_CURR_I LITERAL1 +DEF_PID_CURR_P LITERAL1 _2_SQRT3 LITERAL1 _1_SQRT3 LITERAL1 _SQRT3_2 LITERAL1 _SQRT2 LITERAL1 _120_D2R LITERAL1 _PI_2 LITERAL1 +_PI_6 LITERAL1 _2PI LITERAL1 _3PI_2 LITERAL1 _PI_3 LITERAL1 _SQRT3 LITERAL1 -_PI LITERAL1 \ No newline at end of file +_PI LITERAL1 +_HIGH_Z LITERAL1 +_NC LITERAL1 + +_MON_TARGET LITERAL1 +_MON_VOLT_Q LITERAL1 +_MON_VOLT_D LITERAL1 +_MON_CURR_Q LITERAL1 +_MON_CURR_D LITERAL1 +_MON_VEL LITERAL1 +_MON_ANGLE LITERAL1 \ No newline at end of file diff --git a/library.json b/library.json new file mode 100644 index 00000000..25e2a353 --- /dev/null +++ b/library.json @@ -0,0 +1,5 @@ +{ + "build": { + "libArchive": false + } +} diff --git a/library.properties b/library.properties index 2481a306..5daa49d9 100644 --- a/library.properties +++ b/library.properties @@ -1,7 +1,7 @@ name=Simple FOC -version=1.6.0 -author=Antun Skuric -maintainer=Antun Skuric +version=2.3.4 +author=Simplefoc +maintainer=Simplefoc sentence=A library demistifying FOC for BLDC motors paragraph=Simple library intended for hobby comunity to run the BLDC and Stepper motor using FOC algorithm. It is intended to support as many BLDC/Stepper motor+sensor+driver combinations as possible and in the same time maintain simplicity of usage. Library supports Arudino devices such as Arduino UNO, MEGA, NANO and similar, stm32 boards such as Nucleo and Bluepill, ESP32 and Teensy boards. category=Device Control diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp index 989b74a9..501a8bc9 100644 --- a/src/BLDCMotor.cpp +++ b/src/BLDCMotor.cpp @@ -1,336 +1,611 @@ #include "BLDCMotor.h" - -// BLDCMotor( int phA, int phB, int phC, int pp, int cpr, int en) -// - phA, phB, phC - motor A,B,C phase pwm pins +#include "./communication/SimpleFOCDebug.h" + + +// see https://www.youtube.com/watch?v=InzXA7mWBWE Slide 5 +// each is 60 degrees with values for 3 phases of 1=positive -1=negative 0=high-z +int trap_120_map[6][3] = { + {_HIGH_IMPEDANCE,1,-1}, + {-1,1,_HIGH_IMPEDANCE}, + {-1,_HIGH_IMPEDANCE,1}, + {_HIGH_IMPEDANCE,-1,1}, + {1,-1,_HIGH_IMPEDANCE}, + {1,_HIGH_IMPEDANCE,-1} +}; + +// see https://www.youtube.com/watch?v=InzXA7mWBWE Slide 8 +// each is 30 degrees with values for 3 phases of 1=positive -1=negative 0=high-z +int trap_150_map[12][3] = { + {_HIGH_IMPEDANCE,1,-1}, + {-1,1,-1}, + {-1,1,_HIGH_IMPEDANCE}, + {-1,1,1}, + {-1,_HIGH_IMPEDANCE,1}, + {-1,-1,1}, + {_HIGH_IMPEDANCE,-1,1}, + {1,-1,1}, + {1,-1,_HIGH_IMPEDANCE}, + {1,-1,-1}, + {1,_HIGH_IMPEDANCE,-1}, + {1,1,-1} +}; + +// BLDCMotor( int pp , float R) // - pp - pole pair number -// - cpr - counts per rotation number (cpm=ppm*4) -// - enable pin - (optional input) -BLDCMotor::BLDCMotor(int phA, int phB, int phC, int pp, int en) +// - R - motor phase resistance +// - KV - motor kv rating (rmp/v) +// - L - motor phase inductance +BLDCMotor::BLDCMotor(int pp, float _R, float _KV, float _inductance) : FOCMotor() { - // Pin initialization - pwmA = phA; - pwmB = phB; - pwmC = phC; + // save pole pairs number pole_pairs = pp; - - // enable_pin pin - enable_pin = en; - + // save phase resistance number + phase_resistance = _R; + // save back emf constant KV = 1/KV + // 1/sqrt(2) - rms value + KV_rating = NOT_SET; + if (_isset(_KV)) + KV_rating = _KV; + // save phase inductance + phase_inductance = _inductance; + + // torque control type is voltage by default + torque_controller = TorqueControlType::voltage; } -// init hardware pins -void BLDCMotor::init(long pwm_frequency) { - if(monitor_port) monitor_port->println("MOT: Init pins."); - // PWM pins - pinMode(pwmA, OUTPUT); - pinMode(pwmB, OUTPUT); - pinMode(pwmC, OUTPUT); - if(enable_pin != NOT_SET) pinMode(enable_pin, OUTPUT); +/** + Link the driver which controls the motor +*/ +void BLDCMotor::linkDriver(BLDCDriver* _driver) { + driver = _driver; +} - if(monitor_port) monitor_port->println("MOT: PWM config."); - // Increase PWM frequency to 32 kHz - // make silent - _setPwmFrequency(pwm_frequency, pwmA, pwmB, pwmC); +// init hardware pins +int BLDCMotor::init() { + if (!driver || !driver->initialized) { + motor_status = FOCMotorStatus::motor_init_failed; + SIMPLEFOC_DEBUG("MOT: Init not possible, driver not initialized"); + return 0; + } + motor_status = FOCMotorStatus::motor_initializing; + SIMPLEFOC_DEBUG("MOT: Init"); // sanity check for the voltage limit configuration - if(voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply; + if(voltage_limit > driver->voltage_limit) voltage_limit = driver->voltage_limit; // constrain voltage for sensor alignment if(voltage_sensor_align > voltage_limit) voltage_sensor_align = voltage_limit; + // update the controller limits - PID_velocity.limit = voltage_limit; + if(current_sense){ + // current control loop controls voltage + PID_current_q.limit = voltage_limit; + PID_current_d.limit = voltage_limit; + } + if(_isset(phase_resistance) || torque_controller != TorqueControlType::voltage){ + // velocity control loop controls current + PID_velocity.limit = current_limit; + }else{ + // velocity control loop controls the voltage + PID_velocity.limit = voltage_limit; + } P_angle.limit = velocity_limit; + // if using open loop control, set a CW as the default direction if not already set + if ((controller==MotionControlType::angle_openloop + ||controller==MotionControlType::velocity_openloop) + && (sensor_direction == Direction::UNKNOWN)) { + sensor_direction = Direction::CW; + } + _delay(500); // enable motor - if(monitor_port) monitor_port->println("MOT: Enable."); + SIMPLEFOC_DEBUG("MOT: Enable driver."); enable(); _delay(500); + motor_status = FOCMotorStatus::motor_uncalibrated; + return 1; } // disable motor driver void BLDCMotor::disable() { - // disable the driver - if enable_pin pin available - if (enable_pin != NOT_SET) digitalWrite(enable_pin, LOW); + // disable the current sense + if(current_sense) current_sense->disable(); // set zero to PWM - setPwm(0, 0, 0); + driver->setPwm(0, 0, 0); + // disable the driver + driver->disable(); + // motor status update + enabled = 0; } // enable motor driver void BLDCMotor::enable() { + // enable the driver + driver->enable(); // set zero to PWM - setPwm(0, 0, 0); - // enable_pin the driver - if enable_pin pin available - if (enable_pin != NOT_SET) digitalWrite(enable_pin, HIGH); - + driver->setPwm(0, 0, 0); + // enable the current sense + if(current_sense) current_sense->enable(); + // reset the pids + PID_velocity.reset(); + P_angle.reset(); + PID_current_q.reset(); + PID_current_d.reset(); + // motor status update + enabled = 1; } /** FOC functions */ // FOC initialization function -int BLDCMotor::initFOC( float zero_electric_offset, Direction sensor_direction ) { +int BLDCMotor::initFOC() { int exit_flag = 1; + + motor_status = FOCMotorStatus::motor_calibrating; + // align motor if necessary // alignment necessary for encoders! - if(zero_electric_offset != NOT_SET){ - // abosolute zero offset provided - no need to align - zero_electric_angle = zero_electric_offset; - // set the sensor direction - default CW - sensor->natural_direction = sensor_direction; - }else{ - // sensor and motor alignment - _delay(500); - exit_flag = alignSensor(); - _delay(500); + // sensor and motor alignment - can be skipped + // by setting motor.sensor_direction and motor.zero_electric_angle + if(sensor){ + exit_flag *= alignSensor(); + // added the shaft_angle update + sensor->update(); + shaft_angle = shaftAngle(); + + // aligning the current sensor - can be skipped + // checks if driver phases are the same as current sense phases + // and checks the direction of measuremnt. + if(exit_flag){ + if(current_sense){ + if (!current_sense->initialized) { + motor_status = FOCMotorStatus::motor_calib_failed; + SIMPLEFOC_DEBUG("MOT: Init FOC error, current sense not initialized"); + exit_flag = 0; + }else{ + exit_flag *= alignCurrentSense(); + } + } + else { SIMPLEFOC_DEBUG("MOT: No current sense."); } } - if(monitor_port) monitor_port->println("MOT: Motor ready."); + + } else { + SIMPLEFOC_DEBUG("MOT: No sensor."); + if ((controller == MotionControlType::angle_openloop || controller == MotionControlType::velocity_openloop)){ + exit_flag = 1; + SIMPLEFOC_DEBUG("MOT: Openloop only!"); + }else{ + exit_flag = 0; // no FOC without sensor + } + } + + if(exit_flag){ + SIMPLEFOC_DEBUG("MOT: Ready."); + motor_status = FOCMotorStatus::motor_ready; + }else{ + SIMPLEFOC_DEBUG("MOT: Init FOC failed."); + motor_status = FOCMotorStatus::motor_calib_failed; + disable(); + } return exit_flag; } + +// Calibarthe the motor and current sense phases +int BLDCMotor::alignCurrentSense() { + int exit_flag = 1; // success + + SIMPLEFOC_DEBUG("MOT: Align current sense."); + + // align current sense and the driver + exit_flag = current_sense->driverAlign(voltage_sensor_align, modulation_centered); + if(!exit_flag){ + // error in current sense - phase either not measured or bad connection + SIMPLEFOC_DEBUG("MOT: Align error!"); + exit_flag = 0; + }else{ + // output the alignment status flag + SIMPLEFOC_DEBUG("MOT: Success: ", exit_flag); + } + + return exit_flag > 0; +} + // Encoder alignment to electrical 0 angle int BLDCMotor::alignSensor() { - if(monitor_port) monitor_port->println("MOT: Align sensor."); - // align the electrical phases of the motor and sensor - // set angle -90 degrees - - float start_angle = shaftAngle(); - for (int i = 0; i <=5; i++ ) { - float angle = _3PI_2 + _2PI * i / 6.0; - setPhaseVoltage(voltage_sensor_align, angle); - _delay(200); - } - float mid_angle = shaftAngle(); - for (int i = 5; i >=0; i-- ) { - float angle = _3PI_2 + _2PI * i / 6.0; - setPhaseVoltage(voltage_sensor_align, angle); + int exit_flag = 1; //success + SIMPLEFOC_DEBUG("MOT: Align sensor."); + + // check if sensor needs zero search + if(sensor->needsSearch()) exit_flag = absoluteZeroSearch(); + // stop init if not found index + if(!exit_flag) return exit_flag; + + // v2.3.3 fix for R_AVR_7_PCREL against symbol" bug for AVR boards + // TODO figure out why this works + float voltage_align = voltage_sensor_align; + + // if unknown natural direction + if(sensor_direction==Direction::UNKNOWN){ + + // find natural direction + // move one electrical revolution forward + for (int i = 0; i <=500; i++ ) { + float angle = _3PI_2 + _2PI * i / 500.0f; + setPhaseVoltage(voltage_align, 0, angle); + sensor->update(); + _delay(2); + } + // take and angle in the middle + sensor->update(); + float mid_angle = sensor->getAngle(); + // move one electrical revolution backwards + for (int i = 500; i >=0; i-- ) { + float angle = _3PI_2 + _2PI * i / 500.0f ; + setPhaseVoltage(voltage_align, 0, angle); + sensor->update(); + _delay(2); + } + sensor->update(); + float end_angle = sensor->getAngle(); + // setPhaseVoltage(0, 0, 0); _delay(200); - } - if (mid_angle < start_angle) { - if(monitor_port) monitor_port->println("MOT: natural_direction==CCW"); - sensor->natural_direction = Direction::CCW; - } else if (mid_angle == start_angle) { - if(monitor_port) monitor_port->println("MOT: Sensor failed to notice movement"); - } - - // let the motor stabilize for 2 sec - _delay(2000); - // set sensor to zero - sensor->initRelativeZero(); - _delay(500); - setPhaseVoltage(0,0); - _delay(200); + // determine the direction the sensor moved + float moved = fabs(mid_angle - end_angle); + if (moved 0.5f); // 0.5f is arbitrary number it can be lower or higher! + if( pp_check_result==false ) { + SIMPLEFOC_DEBUG("MOT: PP check: fail - estimated pp: ", _2PI/moved); + } else { + SIMPLEFOC_DEBUG("MOT: PP check: OK!"); + } - // find the index if available - int exit_flag = absoluteZeroAlign(); - _delay(500); - if(monitor_port){ - 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!"); - } + } else { SIMPLEFOC_DEBUG("MOT: Skip dir calib."); } + + // zero electric angle not known + if(!_isset(zero_electric_angle)){ + // align the electrical phases of the motor and sensor + // set angle -90(270 = 3PI/2) degrees + setPhaseVoltage(voltage_align, 0, _3PI_2); + _delay(700); + // read the sensor + sensor->update(); + // get the current zero electric angle + zero_electric_angle = 0; + zero_electric_angle = electricalAngle(); + //zero_electric_angle = _normalizeAngle(_electricalAngle(sensor_direction*sensor->getAngle(), pole_pairs)); + _delay(20); + if(monitor_port){ + SIMPLEFOC_DEBUG("MOT: Zero elec. angle: ", zero_electric_angle); + } + // stop everything + setPhaseVoltage(0, 0, 0); + _delay(200); + } else { SIMPLEFOC_DEBUG("MOT: Skip offset calib."); } return exit_flag; } - -// Encoder alignment the absolute zero angle +// Encoder alignment the absolute zero angle // - to the index -int BLDCMotor::absoluteZeroAlign() { - - if(monitor_port) monitor_port->println("MOT: Absolute zero align."); - // if no absolute zero return - if(!sensor->hasAbsoluteZero()) return 0; - - - if(monitor_port && sensor->needsAbsoluteZeroSearch()) monitor_port->println("MOT: Searching..."); +int BLDCMotor::absoluteZeroSearch() { + // sensor precision: this is all ok, as the search happens near the 0-angle, where the precision + // of float is sufficient. + SIMPLEFOC_DEBUG("MOT: Index search..."); // search the absolute zero with small velocity - while(sensor->needsAbsoluteZeroSearch() && shaft_angle < _2PI){ - loopFOC(); - voltage_q = PID_velocity(velocity_index_search - shaftVelocity()); + float limit_vel = velocity_limit; + float limit_volt = voltage_limit; + velocity_limit = velocity_index_search; + voltage_limit = voltage_sensor_align; + shaft_angle = 0; + while(sensor->needsSearch() && shaft_angle < _2PI){ + angleOpenloop(1.5f*_2PI); + // call important for some sensors not to loose count + // not needed for the search + sensor->update(); } - voltage_q = 0; // disable motor - setPhaseVoltage(0,0); - - // align absolute zero if it has been found - if(!sensor->needsAbsoluteZeroSearch()){ - // align the sensor with the absolute zero - float zero_offset = sensor->initAbsoluteZero(); - // remember zero electric angle - zero_electric_angle = _normalizeAngle(_electricalAngle(zero_offset, pole_pairs)); + setPhaseVoltage(0, 0, 0); + // reinit the limits + velocity_limit = limit_vel; + voltage_limit = limit_volt; + // check if the zero found + if(monitor_port){ + if(sensor->needsSearch()) { SIMPLEFOC_DEBUG("MOT: Error: Not found!"); } + else { SIMPLEFOC_DEBUG("MOT: Success!"); } } - // return bool if zero found - return !sensor->needsAbsoluteZeroSearch() ? 1 : -1; + return !sensor->needsSearch(); } // Iterative function looping FOC algorithm, setting Uq on the Motor // The faster it can be run the better void BLDCMotor::loopFOC() { - // shaft angle - shaft_angle = shaftAngle(); - // set the phase voltage - FOC heart function :) - setPhaseVoltage(voltage_q, _electricalAngle(shaft_angle,pole_pairs)); + // update sensor - do this even in open-loop mode, as user may be switching between modes and we could lose track + // of full rotations otherwise. + if (sensor) sensor->update(); + + // if open-loop do nothing + if( controller==MotionControlType::angle_openloop || controller==MotionControlType::velocity_openloop ) return; + + // if disabled do nothing + if(!enabled) return; + + // Needs the update() to be called first + // This function will not have numerical issues because it uses Sensor::getMechanicalAngle() + // which is in range 0-2PI + electrical_angle = electricalAngle(); + switch (torque_controller) { + case TorqueControlType::voltage: + // no need to do anything really + break; + case TorqueControlType::dc_current: + if(!current_sense) return; + // read overall current magnitude + current.q = current_sense->getDCCurrent(electrical_angle); + // filter the value values + current.q = LPF_current_q(current.q); + // calculate the phase voltage + voltage.q = PID_current_q(current_sp - current.q); + // d voltage - lag compensation + if(_isset(phase_inductance)) voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + else voltage.d = 0; + break; + case TorqueControlType::foc_current: + if(!current_sense) return; + // read dq currents + current = current_sense->getFOCCurrents(electrical_angle); + // filter values + current.q = LPF_current_q(current.q); + current.d = LPF_current_d(current.d); + // calculate the phase voltages + voltage.q = PID_current_q(current_sp - current.q); + voltage.d = PID_current_d(-current.d); + // d voltage - lag compensation - TODO verify + // if(_isset(phase_inductance)) voltage.d = _constrain( voltage.d - current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + break; + default: + // no torque control selected + SIMPLEFOC_DEBUG("MOT: no torque control selected!"); + break; + } + + // set the phase voltage - FOC heart function :) + setPhaseVoltage(voltage.q, voltage.d, electrical_angle); } // Iterative function running outer loop of the FOC algorithm // Behavior of this function is determined by the motor.controller variable -// It runs either angle, velocity or voltage loop +// It runs either angle, velocity or torque loop // - needs to be called iteratively it is asynchronous function // - if target is not set it uses motor.target value void BLDCMotor::move(float new_target) { + // set internal target variable - if( new_target != NOT_SET ) target = new_target; - // get angular velocity - shaft_velocity = shaftVelocity(); - // choose control loop + if(_isset(new_target)) target = new_target; + + // downsampling (optional) + if(motion_cnt++ < motion_downsample) return; + motion_cnt = 0; + + // shaft angle/velocity need the update() to be called first + // get shaft angle + // TODO sensor precision: the shaft_angle actually stores the complete position, including full rotations, as a float + // For this reason it is NOT precise when the angles become large. + // Additionally, the way LPF works on angle is a precision issue, and the angle-LPF is a problem + // when switching to a 2-component representation. + if( controller!=MotionControlType::angle_openloop && controller!=MotionControlType::velocity_openloop ) + shaft_angle = shaftAngle(); // read value even if motor is disabled to keep the monitoring updated but not in openloop mode + // get angular velocity TODO the velocity reading probably also shouldn't happen in open loop modes? + shaft_velocity = shaftVelocity(); // read value even if motor is disabled to keep the monitoring updated + + // if disabled do nothing + if(!enabled) return; + + // calculate the back-emf voltage if KV_rating available U_bemf = vel*(1/KV) + if (_isset(KV_rating)) voltage_bemf = shaft_velocity/(KV_rating*_SQRT3)/_RPM_TO_RADS; + // estimate the motor current if phase reistance available and current_sense not available + if(!current_sense && _isset(phase_resistance)) current.q = (voltage.q - voltage_bemf)/phase_resistance; + + // upgrade the current based voltage limit switch (controller) { - case ControlType::voltage: - voltage_q = target; + case MotionControlType::torque: + if(torque_controller == TorqueControlType::voltage){ // if voltage torque control + if(!_isset(phase_resistance)) voltage.q = target; + else voltage.q = target*phase_resistance + voltage_bemf; + voltage.q = _constrain(voltage.q, -voltage_limit, voltage_limit); + // set d-component (lag compensation if known inductance) + if(!_isset(phase_inductance)) voltage.d = 0; + else voltage.d = _constrain( -target*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + }else{ + current_sp = target; // if current/foc_current torque control + } break; - case ControlType::angle: + case MotionControlType::angle: + // TODO sensor precision: this calculation is not numerically precise. The target value cannot express precise positions when + // the angles are large. This results in not being able to command small changes at high position values. + // to solve this, the delta-angle has to be calculated in a numerically precise way. // angle set point - // include angle loop shaft_angle_sp = target; - shaft_velocity_sp = P_angle( shaft_angle_sp - shaft_angle ); - voltage_q = PID_velocity(shaft_velocity_sp - shaft_velocity); + // calculate velocity set point + shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle ); + 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 + if(torque_controller == TorqueControlType::voltage){ + // use voltage if phase-resistance not provided + if(!_isset(phase_resistance)) voltage.q = current_sp; + else voltage.q = _constrain( current_sp*phase_resistance + voltage_bemf , -voltage_limit, voltage_limit); + // set d-component (lag compensation if known inductance) + if(!_isset(phase_inductance)) voltage.d = 0; + else voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + } break; - case ControlType::velocity: - // velocity set point - // include velocity loop + case MotionControlType::velocity: + // velocity set point - sensor precision: this calculation is numerically precise. shaft_velocity_sp = target; - voltage_q = PID_velocity(shaft_velocity_sp - shaft_velocity); + // calculate the torque command + current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if current/foc_current torque control + // if torque controlled through voltage control + if(torque_controller == TorqueControlType::voltage){ + // use voltage if phase-resistance not provided + if(!_isset(phase_resistance)) voltage.q = current_sp; + else voltage.q = _constrain( current_sp*phase_resistance + voltage_bemf , -voltage_limit, voltage_limit); + // set d-component (lag compensation if known inductance) + if(!_isset(phase_inductance)) voltage.d = 0; + else voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + } break; - case ControlType::velocity_openloop: - // velocity control in open loop - // loopFOC should not be called + case MotionControlType::velocity_openloop: + // velocity control in open loop - sensor precision: this calculation is numerically precise. shaft_velocity_sp = target; - velocityOpenloop(shaft_velocity_sp); + voltage.q = velocityOpenloop(shaft_velocity_sp); // returns the voltage that is set to the motor + voltage.d = 0; break; - case ControlType::angle_openloop: - // angle control in open loop - // loopFOC should not be called + case MotionControlType::angle_openloop: + // angle control in open loop - + // TODO sensor precision: this calculation NOT numerically precise, and subject + // to the same problems in small set-point changes at high angles + // as the closed loop version. shaft_angle_sp = target; - angleOpenloop(shaft_angle_sp); + voltage.q = angleOpenloop(shaft_angle_sp); // returns the voltage that is set to the motor + voltage.d = 0; break; } } -// Method using FOC to set Uq to the motor at the optimal angle +// Method using FOC to set Uq and Ud to the motor at the optimal angle // Function implementing Space Vector PWM and Sine PWM algorithms -// +// // Function using sine approximation -// regular sin + cos ~300us (no memory usaage) +// regular sin + cos ~300us (no memory usage) // approx _sin + _cos ~110us (400Byte ~ 20% of memory) -void BLDCMotor::setPhaseVoltage(float Uq, float angle_el) { +void BLDCMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) { + + float center; + int sector; + float _ca,_sa; + switch (foc_modulation) { + case FOCModulationType::Trapezoid_120 : + // see https://www.youtube.com/watch?v=InzXA7mWBWE Slide 5 + // determine the sector + sector = 6 * (_normalizeAngle(angle_el + _PI_6 ) / _2PI); // adding PI/6 to align with other modes + // centering the voltages around either + // modulation_centered == true > driver.voltage_limit/2 + // modulation_centered == false > or Adaptable centering, all phases drawn to 0 when Uq=0 + center = modulation_centered ? (driver->voltage_limit)/2 : Uq; + + if(trap_120_map[sector][0] == _HIGH_IMPEDANCE){ + Ua= center; + Ub = trap_120_map[sector][1] * Uq + center; + Uc = trap_120_map[sector][2] * Uq + center; + driver->setPhaseState(PhaseState::PHASE_OFF, PhaseState::PHASE_ON, PhaseState::PHASE_ON); // disable phase if possible + }else if(trap_120_map[sector][1] == _HIGH_IMPEDANCE){ + Ua = trap_120_map[sector][0] * Uq + center; + Ub = center; + Uc = trap_120_map[sector][2] * Uq + center; + driver->setPhaseState(PhaseState::PHASE_ON, PhaseState::PHASE_OFF, PhaseState::PHASE_ON);// disable phase if possible + }else{ + Ua = trap_120_map[sector][0] * Uq + center; + Ub = trap_120_map[sector][1] * Uq + center; + Uc = center; + driver->setPhaseState(PhaseState::PHASE_ON, PhaseState::PHASE_ON, PhaseState::PHASE_OFF);// disable phase if possible + } + + break; + + case FOCModulationType::Trapezoid_150 : + // see https://www.youtube.com/watch?v=InzXA7mWBWE Slide 8 + // determine the sector + sector = 12 * (_normalizeAngle(angle_el + _PI_6 ) / _2PI); // adding PI/6 to align with other modes + // centering the voltages around either + // modulation_centered == true > driver.voltage_limit/2 + // modulation_centered == false > or Adaptable centering, all phases drawn to 0 when Uq=0 + center = modulation_centered ? (driver->voltage_limit)/2 : Uq; + + if(trap_150_map[sector][0] == _HIGH_IMPEDANCE){ + Ua= center; + Ub = trap_150_map[sector][1] * Uq + center; + Uc = trap_150_map[sector][2] * Uq + center; + driver->setPhaseState(PhaseState::PHASE_OFF, PhaseState::PHASE_ON, PhaseState::PHASE_ON); // disable phase if possible + }else if(trap_150_map[sector][1] == _HIGH_IMPEDANCE){ + Ua = trap_150_map[sector][0] * Uq + center; + Ub = center; + Uc = trap_150_map[sector][2] * Uq + center; + driver->setPhaseState(PhaseState::PHASE_ON, PhaseState::PHASE_OFF, PhaseState::PHASE_ON); // disable phase if possible + }else if(trap_150_map[sector][2] == _HIGH_IMPEDANCE){ + Ua = trap_150_map[sector][0] * Uq + center; + Ub = trap_150_map[sector][1] * Uq + center; + Uc = center; + driver->setPhaseState(PhaseState::PHASE_ON, PhaseState::PHASE_ON, PhaseState::PHASE_OFF); // disable phase if possible + }else{ + Ua = trap_150_map[sector][0] * Uq + center; + Ub = trap_150_map[sector][1] * Uq + center; + Uc = trap_150_map[sector][2] * Uq + center; + driver->setPhaseState(PhaseState::PHASE_ON, PhaseState::PHASE_ON, PhaseState::PHASE_ON); // enable all phases + } + + break; + case FOCModulationType::SinePWM : - // Sinusoidal PWM modulation + case FOCModulationType::SpaceVectorPWM : + // Sinusoidal PWM modulation // Inverse Park + Clarke transformation + _sincos(angle_el, &_sa, &_ca); - // angle normalization in between 0 and 2pi - // only necessary if using _sin and _cos - approximation functions - angle_el = _normalizeAngle(angle_el + zero_electric_angle); // Inverse park transform - Ualpha = -_sin(angle_el) * Uq; // -sin(angle) * Uq; - Ubeta = _cos(angle_el) * Uq; // cos(angle) * Uq; + Ualpha = _ca * Ud - _sa * Uq; // -sin(angle) * Uq; + Ubeta = _sa * Ud + _ca * Uq; // cos(angle) * Uq; // Clarke transform - Ua = Ualpha + voltage_power_supply/2; - Ub = -0.5 * Ualpha + _SQRT3_2 * Ubeta + voltage_power_supply/2; - Uc = -0.5 * Ualpha - _SQRT3_2 * Ubeta + voltage_power_supply/2; - break; - - case FOCModulationType::SpaceVectorPWM : - // Nice video explaining the SpaceVectorModulation (SVPWM) algorithm - // https://www.youtube.com/watch?v=QMSWUMEAejg - - // if negative voltages change inverse the phase - // angle + 180degrees - if(Uq < 0) angle_el += _PI; - Uq = abs(Uq); - - // angle normalisation in between 0 and 2pi - // only necessary if using _sin and _cos - approximation functions - angle_el = _normalizeAngle(angle_el + zero_electric_angle + _PI_2); - - // find the sector we are in currently - int sector = floor(angle_el / _PI_3) + 1; - // calculate the duty cycles - float T1 = _SQRT3*_sin(sector*_PI_3 - angle_el) * Uq/voltage_power_supply; - float T2 = _SQRT3*_sin(angle_el - (sector-1.0)*_PI_3) * Uq/voltage_power_supply; - // two versions possible - // centered around voltage_power_supply/2 - float T0 = 1 - T1 - T2; - // pulled to 0 - better for low power supply voltage - //float T0 = 0; - - // 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; + 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; } - // calculate the phase voltages and center - Ua = Ta*voltage_power_supply; - Ub = Tb*voltage_power_supply; - Uc = Tc*voltage_power_supply; break; - } - - // set the voltages in hardware - setPwm(Ua, Ub, Uc); -} - + } -// Set voltage to the pwm pin -void BLDCMotor::setPwm(float Ua, float Ub, float Uc) { - // calculate duty cycle - // limited in [0,1] - float dc_a = constrain(Ua / voltage_power_supply, 0 , 1 ); - float dc_b = constrain(Ub / voltage_power_supply, 0 , 1 ); - float dc_c = constrain(Uc / voltage_power_supply, 0 , 1 ); - // hardware specific writing - _writeDutyCycle(dc_a, dc_b, dc_c, pwmA, pwmB, pwmC ); + // set the voltages in driver + driver->setPwm(Ua, Ub, Uc); } @@ -338,41 +613,72 @@ void BLDCMotor::setPwm(float Ua, float Ub, float Uc) { // Function (iterative) generating open loop movement for target velocity // - target_velocity - rad/s // it uses voltage_limit variable -void BLDCMotor::velocityOpenloop(float target_velocity){ +float BLDCMotor::velocityOpenloop(float target_velocity){ // get current timestamp unsigned long now_us = _micros(); // calculate the sample time from last call - float Ts = (now_us - open_loop_timestamp) * 1e-6; + float Ts = (now_us - open_loop_timestamp) * 1e-6f; + // quick fix for strange cases (micros overflow + timestamp not defined) + if(Ts <= 0 || Ts > 0.5f) Ts = 1e-3f; // calculate the necessary angle to achieve target velocity - shaft_angle += target_velocity*Ts; - + shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); + // for display purposes + shaft_velocity = target_velocity; + + // use voltage limit or current limit + float Uq = voltage_limit; + if(_isset(phase_resistance)){ + Uq = _constrain(current_limit*phase_resistance + fabs(voltage_bemf),-voltage_limit, voltage_limit); + // recalculate the current + current.q = (Uq - fabs(voltage_bemf))/phase_resistance; + } // set the maximal allowed voltage (voltage_limit) with the necessary angle - setPhaseVoltage(voltage_limit, _electricalAngle(shaft_angle, pole_pairs)); + setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs)); // save timestamp for next call open_loop_timestamp = now_us; + + return Uq; } // Function (iterative) generating open loop movement towards the target angle // - target_angle - rad // it uses voltage_limit and velocity_limit variables -void BLDCMotor::angleOpenloop(float target_angle){ +float BLDCMotor::angleOpenloop(float target_angle){ // get current timestamp unsigned long now_us = _micros(); // calculate the sample time from last call - float Ts = (now_us - open_loop_timestamp) * 1e-6; - + float Ts = (now_us - open_loop_timestamp) * 1e-6f; + // quick fix for strange cases (micros overflow + timestamp not defined) + if(Ts <= 0 || Ts > 0.5f) Ts = 1e-3f; + // calculate the necessary angle to move from current position towards target angle // with maximal velocity (velocity_limit) - if(abs( target_angle - shaft_angle ) > abs(velocity_limit*Ts)) - shaft_angle += _sign(target_angle - shaft_angle) * abs( velocity_limit )*Ts; - else + // TODO sensor precision: this calculation is not numerically precise. The angle can grow to the point + // where small position changes are no longer captured by the precision of floats + // when the total position is large. + if(abs( target_angle - shaft_angle ) > abs(velocity_limit*Ts)){ + shaft_angle += _sign(target_angle - shaft_angle) * abs( velocity_limit )*Ts; + shaft_velocity = velocity_limit; + }else{ shaft_angle = target_angle; - + shaft_velocity = 0; + } + + // use voltage limit or current limit + float Uq = voltage_limit; + if(_isset(phase_resistance)){ + Uq = _constrain(current_limit*phase_resistance + fabs(voltage_bemf),-voltage_limit, voltage_limit); + // recalculate the current + current.q = (Uq - fabs(voltage_bemf))/phase_resistance; + } // set the maximal allowed voltage (voltage_limit) with the necessary angle - setPhaseVoltage(voltage_limit, _electricalAngle(shaft_angle, pole_pairs)); + // sensor precision: this calculation is OK due to the normalisation + setPhaseVoltage(Uq, 0, _electricalAngle(_normalizeAngle(shaft_angle), pole_pairs)); // save timestamp for next call open_loop_timestamp = now_us; -} \ No newline at end of file + + return Uq; +} diff --git a/src/BLDCMotor.h b/src/BLDCMotor.h index a4fbb678..c261e405 100644 --- a/src/BLDCMotor.h +++ b/src/BLDCMotor.h @@ -1,16 +1,13 @@ -/** - * @file BLDCMotor.h - * - */ - #ifndef BLDCMotor_h #define BLDCMotor_h #include "Arduino.h" -#include "common/FOCMotor.h" +#include "common/base_classes/FOCMotor.h" +#include "common/base_classes/Sensor.h" +#include "common/base_classes/FOCDriver.h" +#include "common/base_classes/BLDCDriver.h" #include "common/foc_utils.h" -#include "common/hardware_utils.h" -#include "common/Sensor.h" +#include "common/time_utils.h" #include "common/defaults.h" /** @@ -20,18 +17,30 @@ class BLDCMotor: public FOCMotor { public: /** - BLDCMotor class constructor - @param phA A phase pwm pin - @param phB B phase pwm pin - @param phC C phase pwm pin - @param pp pole pair number - @param cpr counts per rotation number (cpm=ppm*4) - @param en enable pin (optional input) + BLDCMotor class constructor + @param pp pole pairs number + @param R motor phase resistance - [Ohm] + @param KV motor KV rating (1/K_bemf) - rpm/V + @param L motor phase inductance - [H] + */ + BLDCMotor(int pp, float R = NOT_SET, float KV = NOT_SET, float L = NOT_SET); + + /** + * Function linking a motor and a foc driver + * + * @param driver BLDCDriver class implementing all the hardware specific functions necessary PWM setting + */ + virtual void linkDriver(BLDCDriver* driver); + + /** + * BLDCDriver link: + * - 3PWM + * - 6PWM */ - BLDCMotor(int phA,int phB,int phC,int pp, int en = NOT_SET); + BLDCDriver* driver; /** Motor hardware init function */ - void init(long pwm_frequency = NOT_SET) override; + int init() override; /** Motor disable function */ void disable() override; /** Motor enable function */ @@ -41,7 +50,7 @@ class BLDCMotor: public FOCMotor * Function initializing FOC algorithm * and aligning sensor's and motors' zero position */ - int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override; + int initFOC() override; /** * Function running FOC algorithm in real-time * it calculates the gets motor angle and sets the appropriate voltages @@ -59,36 +68,29 @@ class BLDCMotor: public FOCMotor * This function doesn't need to be run upon each loop execution - depends of the use case */ void move(float target = NOT_SET) override; - - // hardware variables - int pwmA; //!< phase A pwm pin number - int pwmB; //!< phase B pwm pin number - int pwmC; //!< phase C pwm pin number - int enable_pin; //!< enable pin number - - - private: - // FOC methods - /** + + float Ua, Ub, Uc;//!< Current phase voltages Ua,Ub and Uc set to motor + + /** * Method using FOC to set Uq to the motor at the optimal angle * Heart of the FOC algorithm * * @param Uq Current voltage in q axis to set to the motor + * @param Ud Current voltage in d axis to set to the motor * @param angle_el current electrical angle of the motor */ - void setPhaseVoltage(float Uq, float angle_el); + void setPhaseVoltage(float Uq, float Ud, float angle_el) override; + + private: + // FOC methods + /** Sensor alignment to electrical 0 angle of the motor */ int alignSensor(); + /** Current sense and motor phase alignment */ + int alignCurrentSense(); /** Motor and sensor alignment to the sensors absolute 0 angle */ - int absoluteZeroAlign(); - /** - * 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); + int absoluteZeroSearch(); + // Open loop motion control /** @@ -97,14 +99,14 @@ class BLDCMotor: public FOCMotor * * @param target_velocity - rad/s */ - void velocityOpenloop(float target_velocity); + float velocityOpenloop(float target_velocity); /** * Function (iterative) generating open loop movement towards the target angle * it uses voltage_limit and velocity_limit variables * * @param target_angle - rad */ - void angleOpenloop(float target_angle); + float angleOpenloop(float target_angle); // open loop variables long open_loop_timestamp; }; diff --git a/src/HallSensor.cpp b/src/HallSensor.cpp deleted file mode 100644 index 7072a97a..00000000 --- a/src/HallSensor.cpp +++ /dev/null @@ -1,186 +0,0 @@ -#include "HallSensor.h" - - -/* - HallSensor(int hallA, int hallB , int cpr, int index) - - hallA, hallB, hallC - HallSensor A, B and C pins - - pp - pole pairs -*/ - -HallSensor::HallSensor(int _hallA, int _hallB, int _hallC, int _pp){ - - // HallSensor measurement structure init - // hardware pins - pinA = _hallA; - pinB = _hallB; - pinC = _hallC; - // counter setup - pulse_counter = 0; - pulse_timestamp = 0; - - cpr = _pp * 6; // hall has 6 segments per electrical revolution - A_active = 0; - B_active = 0; - C_active = 0; - - // velocity calculation variables - - prev_pulse_counter = 0; - prev_timestamp_us = _micros(); - - // extern pullup as default - pullup = Pullup::EXTERN; -} - -// HallSensor interrupt callback functions -// A channel -void HallSensor::handleA() { - A_active= digitalRead(pinA); - updateState(); -} -// B channel -void HallSensor::handleB() { - B_active = digitalRead(pinB); - updateState(); -} - -// C channel -void HallSensor::handleC() { - C_active = digitalRead(pinC); - updateState(); -} - -void HallSensor::updateState() { - int newState = C_active + (B_active << 1) + (A_active << 2); - Direction direction = decodeDirection(state, newState); - state = newState; - - pulse_counter += direction; - pulse_timestamp = _micros(); -} - -// determines whether the hallsensr state transition means that it has moved one step CW (+1), CCW (-1) or state transition is invalid (0) -// states are 3bits, one for each hall sensor -Direction HallSensor::decodeDirection(int oldState, int newState) -{ - // here are expected state transitions (oldState > newState). - // CW state transitions are: ( 6 > 2 > 3 > 1 > 5 > 4 > 6 ) - // CCW state transitions are: ( 6 > 4 > 5 > 1 > 3 > 2 > 6 ) - // invalid state transitions are oldState == newState or if newState or oldState == 0 | 7 as hallsensors can't be all on or all off - - int rawDirection; - - if ( - (oldState == 6 && newState == 2) || \ - (oldState == 2 && newState == 3) || \ - (oldState == 3 && newState == 1) || \ - (oldState == 1 && newState == 5) || \ - (oldState == 5 && newState == 4) || \ - (oldState == 4 && newState == 6) - ) { - rawDirection = Direction::CW; - } else if( - (oldState == 6 && newState == 4) || \ - (oldState == 4 && newState == 5) || \ - (oldState == 5 && newState == 1) || \ - (oldState == 1 && newState == 3) || \ - (oldState == 3 && newState == 2) || \ - (oldState == 2 && newState == 6) - ) { - rawDirection = Direction::CCW; - } else { - rawDirection = Direction::UNKNOWN; - } - - direction = static_cast(rawDirection * natural_direction); - return direction; // * goofy; -} - -/* - Shaft angle calculation -*/ -float HallSensor::getAngle(){ - - long dN = pulse_counter - prev_pulse_counter; - - if (dN != 0) - { - - // time from last impulse - float Th = (pulse_timestamp - prev_timestamp_us) * 1e-6; - if (Th <= 0 || Th > 0.5) - Th = 1e-3; - // save variables for next pass - prev_timestamp_us = pulse_timestamp; - prev_pulse_counter = pulse_counter; - velocity = (float) _2PI * dN / (cpr * Th); - } - angle = (float) _2PI * pulse_counter / cpr; - - return angle; -} -/* - Shaft velocity calculation - function using mixed time and frequency measurement technique -*/ -float HallSensor::getVelocity(){ - // this is calculated during the last call to getAngle(); - return velocity; -} - -// getter for index pin -// return -1 if no index -int HallSensor::needsAbsoluteZeroSearch(){ - return 0; -} -// getter for index pin -int HallSensor::hasAbsoluteZero(){ - return 0; -} -// initialize counter to zero -float HallSensor::initRelativeZero(){ - - pulse_counter = 0; - pulse_timestamp = _micros(); - velocity = 0; - return 0.0; -} -// initialize index to zero -float HallSensor::initAbsoluteZero(){ - return 0.0; -} - -// HallSensor initialisation of the hardware pins -// and calculation variables -void HallSensor::init(){ - - // HallSensor - check if pullup needed for your HallSensor - if(pullup == Pullup::INTERN){ - pinMode(pinA, INPUT_PULLUP); - pinMode(pinB, INPUT_PULLUP); - pinMode(pinC, INPUT_PULLUP); - }else{ - pinMode(pinA, INPUT); - pinMode(pinB, INPUT); - pinMode(pinC, INPUT); - } - - // counter setup - pulse_counter = 0; - pulse_timestamp = _micros(); - prev_pulse_counter = 0; - prev_timestamp_us = _micros(); - -} - -// function enabling hardware interrupts for the callback provided -// if callback is not provided then the interrupt is not enabled -void HallSensor::enableInterrupts(void (*doA)(), void(*doB)(), void(*doC)()){ - // attach interrupt if functions provided - - // A, B and C callback - if(doA != nullptr) attachInterrupt(digitalPinToInterrupt(pinA), doA, CHANGE); - if(doB != nullptr) attachInterrupt(digitalPinToInterrupt(pinB), doB, CHANGE); - if(doC != nullptr) attachInterrupt(digitalPinToInterrupt(pinC), doC, CHANGE); -} - diff --git a/src/MagneticSensorAnalog.cpp b/src/MagneticSensorAnalog.cpp deleted file mode 100644 index ed112a94..00000000 --- a/src/MagneticSensorAnalog.cpp +++ /dev/null @@ -1,109 +0,0 @@ -#include "MagneticSensorAnalog.h" - -/** MagneticSensorAnalog(uint8_t _pinAnalog, int _min, int _max) - * @param _pinAnalog the pin that is reading the pwm from magnetic sensor - * @param _min_raw_count the smallest expected reading. Whilst you might expect it to be 0 it is often ~15. Getting this wrong results in a small click once per revolution - * @param _max_raw_count the largest value read. whilst you might expect it to be 2^10 = 1023 it is often ~ 1020. Note: For ESP32 (with 12bit ADC the value will be nearer 4096) - */ -MagneticSensorAnalog::MagneticSensorAnalog(uint8_t _pinAnalog, int _min_raw_count, int _max_raw_count){ - - pinAnalog = _pinAnalog; - - cpr = _max_raw_count - _min_raw_count; - min_raw_count = _min_raw_count; - max_raw_count = _max_raw_count; - - if(pullup == Pullup::INTERN){ - pinMode(pinAnalog, INPUT_PULLUP); - }else{ - pinMode(pinAnalog, INPUT); - } - -} - - -void MagneticSensorAnalog::init(){ - - // velocity calculation init - angle_prev = 0; - velocity_calc_timestamp = _micros(); - - // full rotations tracking number - full_rotation_offset = 0; - raw_count_prev = getRawCount(); - zero_offset = 0; -} - -// Shaft angle calculation -// angle is in radians [rad] -float MagneticSensorAnalog::getAngle(){ - // raw data from the sensor - raw_count = getRawCount(); - - int delta = raw_count - raw_count_prev; - // if overflow happened track it as full rotation - if(abs(delta) > (0.8*cpr) ) full_rotation_offset += delta > 0 ? -_2PI : _2PI; - - float angle = natural_direction * (full_rotation_offset + ( (float) (raw_count - zero_offset) / (float)cpr) * _2PI); - - // calculate velocity here - long now = _micros(); - float Ts = ( now - velocity_calc_timestamp)*1e-6; - // quick fix for strange cases (micros overflow) - if(Ts <= 0 || Ts > 0.5) Ts = 1e-3; - velocity = (angle - angle_prev)/Ts; - - // save variables for future pass - raw_count_prev = raw_count; - angle_prev = angle; - velocity_calc_timestamp = now; - - return angle; -} - -// Shaft velocity calculation -float MagneticSensorAnalog::getVelocity(){ - // TODO: Refactor?: to avoid angle being called twice, velocity is pre-calculted during getAngle - return velocity; -} - -// set current angle as zero angle -// return the angle [rad] difference -float MagneticSensorAnalog::initRelativeZero(){ - - float angle_offset = -getAngle(); - zero_offset = natural_direction * getRawCount(); - - // angle tracking variables - full_rotation_offset = 0; - return angle_offset; -} -// set absolute zero angle as zero angle -// return the angle [rad] difference -float MagneticSensorAnalog::initAbsoluteZero(){ - float rotation = -(int)zero_offset; - // init absolute zero - zero_offset = 0; - - // angle tracking variables - full_rotation_offset = 0; - // return offset in radians - return rotation / (float)cpr * _2PI; -} -// returns 0 if it has no absolute 0 measurement -// 0 - incremental encoder without index -// 1 - encoder with index & magnetic sensors -int MagneticSensorAnalog::hasAbsoluteZero(){ - return 1; -} -// returns 0 if it does need search for absolute zero -// 0 - magnetic sensor -// 1 - ecoder with index -int MagneticSensorAnalog::needsAbsoluteZeroSearch(){ - return 0; -} - -// function reading the raw counter of the magnetic sensor -int MagneticSensorAnalog::getRawCount(){ - return analogRead(pinAnalog); -} diff --git a/src/MagneticSensorI2C.cpp b/src/MagneticSensorI2C.cpp deleted file mode 100644 index a02b762b..00000000 --- a/src/MagneticSensorI2C.cpp +++ /dev/null @@ -1,207 +0,0 @@ -#include "MagneticSensorI2C.h" - -/** Typical configuration for the 12bit AMS AS5600 magnetic sensor over I2C interface */ -MagneticSensorI2CConfig_s AS5600_I2C = { - .chip_address = 0x36, - .clock_speed = 1000000, - .bit_resolution = 12, - .angle_register = 0x0E, - .data_start_bit = 11 -}; - -/** Typical configuration for the 12bit AMS AS5048 magnetic sensor over I2C interface */ -MagneticSensorI2CConfig_s AS5048_I2C = { - .chip_address = 0x40, // highly configurable. if A1 and A2 are held low, this is probable value - .clock_speed = 1000000, - .bit_resolution = 14, - .angle_register = 0xFE, - .data_start_bit = 15 -}; - - -// MagneticSensorI2C(uint8_t _chip_address, float _cpr, uint8_t _angle_register_msb) -// @param _chip_address I2C chip address -// @param _bit_resolution bit resolution of the sensor -// @param _angle_register_msb angle read register -// @param _bits_used_msb number of used bits in msb -MagneticSensorI2C::MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution, uint8_t _angle_register_msb, int _bits_used_msb){ - // chip I2C address - chip_address = _chip_address; - // angle read register of the magnetic sensor - angle_register_msb = _angle_register_msb; - // register maximum value (counts per revolution) - cpr = pow(2, _bit_resolution); - - // depending on the sensor architecture there are different combinations of - // LSB and MSB register used bits - // AS5600 uses 0..7 LSB and 8..11 MSB - // AS5048 uses 0..5 LSB and 6..13 MSB - // used bits in LSB - lsb_used = _bit_resolution - _bits_used_msb; - // extraction masks - lsb_mask = (uint8_t)( (2 << lsb_used) - 1 ); - msb_mask = (uint8_t)( (2 << _bits_used_msb) - 1 ); - clock_speed = 400000; - sda_pin = SDA; - scl_pin = SCL; - -} - -MagneticSensorI2C::MagneticSensorI2C(MagneticSensorI2CConfig_s config){ - chip_address = config.chip_address; - - // angle read register of the magnetic sensor - angle_register_msb = config.angle_register; - // register maximum value (counts per revolution) - cpr = pow(2, config.bit_resolution); - - int bits_used_msb = config.data_start_bit - 7; - lsb_used = config.bit_resolution - bits_used_msb; - // extraction masks - lsb_mask = (uint8_t)( (2 << lsb_used) - 1 ); - msb_mask = (uint8_t)( (2 << bits_used_msb) - 1 ); - clock_speed = 400000; - sda_pin = SDA; - scl_pin = SCL; - -} - -void MagneticSensorI2C::init(){ - -#if defined(_STM32_DEF_) // if stm chips - // I2C communication begin - Wire.begin(); - Wire.setClock(clock_speed); - Wire.setSCL(scl_pin); - Wire.setSDA(sda_pin); -#elif defined(ESP_H) // if esp32 - //I2C communication begin - Wire.begin(sda_pin, scl_pin, clock_speed); -#else - // I2C communication begin - Wire.begin(); - Wire.setClock(clock_speed); -#endif - - // velocity calculation init - angle_prev = 0; - velocity_calc_timestamp = _micros(); - - // full rotations tracking number - full_rotation_offset = 0; - angle_data_prev = getRawCount(); - zero_offset = 0; -} - -// Shaft angle calculation -// angle is in radians [rad] -float MagneticSensorI2C::getAngle(){ - // raw data from the sensor - float angle_data = getRawCount(); - - // tracking the number of rotations - // in order to expand angle range form [0,2PI] - // to basically infinity - float d_angle = angle_data - angle_data_prev; - // if overflow happened track it as full rotation - if(abs(d_angle) > (0.8*cpr) ) full_rotation_offset += d_angle > 0 ? -_2PI : _2PI; - // save the current angle value for the next steps - // in order to know if overflow happened - angle_data_prev = angle_data; - - // zero offset adding - angle_data -= (int)zero_offset; - // return the full angle - // (number of full rotations)*2PI + current sensor angle - return natural_direction * (full_rotation_offset + ( angle_data / (float)cpr) * _2PI); -} - -// Shaft velocity calculation -float MagneticSensorI2C::getVelocity(){ - // calculate sample time - unsigned long now_us = _micros(); - float Ts = (now_us - velocity_calc_timestamp)*1e-6; - // quick fix for strange cases (micros overflow) - if(Ts <= 0 || Ts > 0.5) Ts = 1e-3; - - // current angle - float angle_c = getAngle(); - // velocity calculation - float vel = (angle_c - angle_prev)/Ts; - - // save variables for future pass - angle_prev = angle_c; - velocity_calc_timestamp = now_us; - return vel; -} - -// set current angle as zero angle -// return the angle [rad] difference -float MagneticSensorI2C::initRelativeZero(){ - float angle_offset = -getAngle(); - zero_offset = natural_direction * getRawCount(); - - // angle tracking variables - full_rotation_offset = 0; - return angle_offset; -} -// set absolute zero angle as zero angle -// return the angle [rad] difference -float MagneticSensorI2C::initAbsoluteZero(){ - float rotation = -(int)zero_offset; - // init absolute zero - zero_offset = 0; - - // angle tracking variables - full_rotation_offset = 0; - // return offset in radians - return rotation / (float)cpr * _2PI; -} -// returns 0 if it has no absolute 0 measurement -// 0 - incremental encoder without index -// 1 - encoder with index & magnetic sensors -int MagneticSensorI2C::hasAbsoluteZero(){ - return 1; -} -// returns 0 if it does need search for absolute zero -// 0 - magnetic sensor -// 1 - ecoder with index -int MagneticSensorI2C::needsAbsoluteZeroSearch(){ - return 0; -} - - -// function reading the raw counter of the magnetic sensor -int MagneticSensorI2C::getRawCount(){ - return (int)MagneticSensorI2C::read(angle_register_msb); -} - -// I2C functions -/* -* Read a register from the sensor -* Takes the address of the register as a uint8_t -* Returns the value of the register -*/ -int MagneticSensorI2C::read(uint8_t angle_reg_msb) { - // read the angle register first MSB then LSB - byte readArray[2]; - uint16_t readValue = 0; - // notify the device that is aboout to be read - Wire.beginTransmission(chip_address); - Wire.write(angle_reg_msb); - Wire.endTransmission(false); - - // read the data msb and lsb - Wire.requestFrom(chip_address, (uint8_t)2); - for (byte i=0; i < 2; i++) { - readArray[i] = Wire.read(); - } - - // depending on the sensor architecture there are different combinations of - // LSB and MSB register used bits - // AS5600 uses 0..7 LSB and 8..11 MSB - // AS5048 uses 0..5 LSB and 6..13 MSB - readValue = ( readArray[1] & lsb_mask ); - readValue += ( ( readArray[0] & msb_mask ) << lsb_used ); - return readValue; -} diff --git a/src/SimpleFOC.h b/src/SimpleFOC.h index 5925e78d..4e6815e5 100644 --- a/src/SimpleFOC.h +++ b/src/SimpleFOC.h @@ -20,21 +20,33 @@ * - Plug & play: Arduino SimpleFOC shield * * @section dependencies Supported Hardware - * - * This library supports any arduino device and it is especially optimized for Arduino UNO boards and - * other Atmega328 boards. But it supports Arrduinio MEGA boards and similar. - * - * From the version 1.3.0 it will support the STM32 boards such as Bluepill and Nucelo devices.
- * The programming is done the same way as for the Arduino UNO but stm32 devices require STM32Duino package.
- * You can download it directly from library manager. + * - Motors + * - BLDC motors + * - Stepper motors + * - Drivers + * - BLDC drivers + * - Gimbal drivers + * - Stepper drivers + * - Position sensors + * - Encoders + * - Magnetic sensors + * - Hall sensors + * - Open-loop control + * - Microcontrollers + * - Arduino + * - STM32 + * - ESP32 + * - Teensy * * @section example_code Example code * @code #include -// initialize the motor -BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8); -// initialize the encoder +// BLDCMotor( pole_pairs ) +BLDCMotor motor = BLDCMotor(11); +// BLDCDriver( pin_pwmA, pin_pwmB, pin_pwmC, enable (optional) ) +BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8); +// Encoder(pin_A, pin_B, CPR) Encoder encoder = Encoder(2, 3, 2048); // channel A and B callbacks void doA(){encoder.handleA();} @@ -46,20 +58,21 @@ void setup() { encoder.init(); // hardware interrupt enable encoder.enableInterrupts(doA, doB); - - // set control loop type to be used - motor.controller = ControlType::velocity; - - // use monitoring with the BLDCMotor - Serial.begin(115200); - // monitoring port - motor.useMonitoring(Serial); - // link the motor to the sensor motor.linkSensor(&encoder); + + // power supply voltage [V] + driver.voltage_power_supply = 12; + // initialise driver hardware + driver.init(); + // link driver + motor.linkDriver(&driver); + // set control loop type to be used + motor.controller = MotionControlType::velocity; // initialize motor motor.init(); + // align encoder and start FOC motor.initFOC(); } @@ -71,9 +84,6 @@ void loop() { // velocity control loop function // setting the target velocity or 2rad/s motor.move(2); - - // monitoring function outputting motor variables to the serial terminal - motor.monitor(); } * @endcode * @@ -88,10 +98,22 @@ void loop() { #include "BLDCMotor.h" #include "StepperMotor.h" -#include "Encoder.h" -#include "MagneticSensorSPI.h" -#include "MagneticSensorI2C.h" -#include "MagneticSensorAnalog.h" -#include "HallSensor.h" +#include "sensors/Encoder.h" +#include "sensors/MagneticSensorSPI.h" +#include "sensors/MagneticSensorI2C.h" +#include "sensors/MagneticSensorAnalog.h" +#include "sensors/MagneticSensorPWM.h" +#include "sensors/HallSensor.h" +#include "sensors/GenericSensor.h" +#include "drivers/BLDCDriver3PWM.h" +#include "drivers/BLDCDriver6PWM.h" +#include "drivers/StepperDriver4PWM.h" +#include "drivers/StepperDriver2PWM.h" +#include "current_sense/InlineCurrentSense.h" +#include "current_sense/LowsideCurrentSense.h" +#include "current_sense/GenericCurrentSense.h" +#include "communication/Commander.h" +#include "communication/StepDirListener.h" +#include "communication/SimpleFOCDebug.h" #endif diff --git a/src/StepperMotor.cpp b/src/StepperMotor.cpp index 22ceb256..1d8f3147 100644 --- a/src/StepperMotor.cpp +++ b/src/StepperMotor.cpp @@ -1,77 +1,98 @@ #include "StepperMotor.h" +#include "./communication/SimpleFOCDebug.h" -// StepperMotor( int phA, int phB, int phC, int pp, int cpr, int en) -// - ph1A, ph1B - motor phase 1 pwm pins -// - ph2A, ph2B - motor phase 2 pwm pins + +// StepperMotor(int pp) // - pp - pole pair number -// - enable pin - (optional input) -StepperMotor::StepperMotor(int ph1A, int ph1B, int ph2A, int ph2B, int pp, int en1, int en2) +// - R - motor phase resistance +// - KV - motor kv rating (rmp/v) +// - L - motor phase inductance [H] +StepperMotor::StepperMotor(int pp, float _R, float _KV, float _inductance) : FOCMotor() { - // Pin initialization - pwm1A = ph1A; - pwm1B = ph1B; - pwm2A = ph2A; - pwm2B = ph2B; + // number od pole pairs pole_pairs = pp; + // save phase resistance number + phase_resistance = _R; + // save back emf constant KV = 1/K_bemf + // usually used rms + KV_rating = _KV; + // save phase inductance + phase_inductance = _inductance; + + // torque control type is voltage by default + // current and foc_current not supported yet + torque_controller = TorqueControlType::voltage; +} - // enable_pin pin - enable_pin1 = en1; - enable_pin2 = en2; +/** + Link the driver which controls the motor +*/ +void StepperMotor::linkDriver(StepperDriver* _driver) { + driver = _driver; } -// init hardware pins -void StepperMotor::init(long pwm_frequency) { - if(monitor_port) monitor_port->println("MOT: Init pins."); - // PWM pins - pinMode(pwm1A, OUTPUT); - pinMode(pwm1B, OUTPUT); - pinMode(pwm2A, OUTPUT); - pinMode(pwm2B, OUTPUT); - if ( enable_pin1 != NOT_SET ) pinMode(enable_pin1, OUTPUT); - if ( enable_pin2 != NOT_SET ) pinMode(enable_pin2, OUTPUT); - - if(monitor_port) monitor_port->println("MOT: PWM config."); - // Increase PWM frequency - // make silent - _setPwmFrequency(pwm_frequency, pwm1A, pwm1B, pwm2A, pwm2B); - +// init hardware pins +int StepperMotor::init() { + if (!driver || !driver->initialized) { + motor_status = FOCMotorStatus::motor_init_failed; + SIMPLEFOC_DEBUG("MOT: Init not possible, driver not initialized"); + return 0; + } + motor_status = FOCMotorStatus::motor_initializing; + SIMPLEFOC_DEBUG("MOT: Init"); + // sanity check for the voltage limit configuration - if(voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply; + if(voltage_limit > driver->voltage_limit) voltage_limit = driver->voltage_limit; // constrain voltage for sensor alignment if(voltage_sensor_align > voltage_limit) voltage_sensor_align = voltage_limit; - + // update the controller limits - PID_velocity.limit = voltage_limit; + if(_isset(phase_resistance)){ + // velocity control loop controls current + PID_velocity.limit = current_limit; + }else{ + PID_velocity.limit = voltage_limit; + } P_angle.limit = velocity_limit; + // if using open loop control, set a CW as the default direction if not already set + if ((controller==MotionControlType::angle_openloop + ||controller==MotionControlType::velocity_openloop) + && (sensor_direction == Direction::UNKNOWN)) { + sensor_direction = Direction::CW; + } + _delay(500); // enable motor - if(monitor_port) monitor_port->println("MOT: Enable."); + SIMPLEFOC_DEBUG("MOT: Enable driver."); enable(); _delay(500); - + + motor_status = FOCMotorStatus::motor_uncalibrated; + return 1; } // disable motor driver void StepperMotor::disable() { - // disable the driver - if enable_pin pin available - if ( enable_pin1 != NOT_SET ) digitalWrite(enable_pin1, LOW); - if ( enable_pin2 != NOT_SET ) digitalWrite(enable_pin2, LOW); // set zero to PWM - setPwm(0, 0); + driver->setPwm(0, 0); + // disable driver + driver->disable(); + // motor status update + enabled = 0; } // enable motor driver void StepperMotor::enable() { + // disable enable + driver->enable(); // set zero to PWM - setPwm(0, 0); - // enable_pin the driver - if enable_pin pin available - if ( enable_pin1 != NOT_SET ) digitalWrite(enable_pin1, HIGH); - if ( enable_pin2 != NOT_SET ) digitalWrite(enable_pin2, HIGH); - + driver->setPwm(0, 0); + // motor status update + enabled = 1; } @@ -79,107 +100,248 @@ void StepperMotor::enable() FOC functions */ // FOC initialization function -int StepperMotor::initFOC( float zero_electric_offset, Direction sensor_direction ) { +int StepperMotor::initFOC() { int exit_flag = 1; + + motor_status = FOCMotorStatus::motor_calibrating; + // align motor if necessary // alignment necessary for encoders! - if(zero_electric_offset != NOT_SET){ - // abosolute zero offset provided - no need to align - zero_electric_angle = zero_electric_offset; - // set the sensor direction - default CW - sensor->natural_direction = sensor_direction; - }else{ - // sensor and motor alignment - _delay(500); - exit_flag = alignSensor(); - _delay(500); + // sensor and motor alignment - can be skipped + // by setting motor.sensor_direction and motor.zero_electric_angle + if(sensor){ + exit_flag *= alignSensor(); + // added the shaft_angle update + sensor->update(); + shaft_angle = shaftAngle(); + + // aligning the current sensor - can be skipped + // checks if driver phases are the same as current sense phases + // and checks the direction of measuremnt. + if(exit_flag){ + if(current_sense){ + if (!current_sense->initialized) { + motor_status = FOCMotorStatus::motor_calib_failed; + SIMPLEFOC_DEBUG("MOT: Init FOC error, current sense not initialized"); + exit_flag = 0; + }else{ + exit_flag *= alignCurrentSense(); + } + } + else { SIMPLEFOC_DEBUG("MOT: No current sense."); } } - if(monitor_port) monitor_port->println("MOT: Motor ready."); + + } else { + SIMPLEFOC_DEBUG("MOT: No sensor."); + if ((controller == MotionControlType::angle_openloop || controller == MotionControlType::velocity_openloop)){ + exit_flag = 1; + SIMPLEFOC_DEBUG("MOT: Openloop only!"); + }else{ + exit_flag = 0; // no FOC without sensor + } + } + + if(exit_flag){ + SIMPLEFOC_DEBUG("MOT: Ready."); + motor_status = FOCMotorStatus::motor_ready; + }else{ + SIMPLEFOC_DEBUG("MOT: Init FOC failed."); + motor_status = FOCMotorStatus::motor_calib_failed; + disable(); + } return exit_flag; } + +// Calibrate the motor and current sense phases +int StepperMotor::alignCurrentSense() { + int exit_flag = 1; // success + + SIMPLEFOC_DEBUG("MOT: Align current sense."); + + // align current sense and the driver + exit_flag = current_sense->driverAlign(voltage_sensor_align, modulation_centered); + if(!exit_flag){ + // error in current sense - phase either not measured or bad connection + SIMPLEFOC_DEBUG("MOT: Align error!"); + exit_flag = 0; + }else{ + // output the alignment status flag + SIMPLEFOC_DEBUG("MOT: Success: ", exit_flag); + } + + return exit_flag > 0; +} + // Encoder alignment to electrical 0 angle int StepperMotor::alignSensor() { - if(monitor_port) monitor_port->println("MOT: Align sensor."); - // align the electrical phases of the motor and sensor - // set angle -90 degrees - - float start_angle = shaftAngle(); - for (int i = 0; i <=5; i++ ) { - float angle = _3PI_2 + _2PI * i / 6.0; - setPhaseVoltage(voltage_sensor_align, angle); - _delay(200); - } - float mid_angle = shaftAngle(); - for (int i = 5; i >=0; i-- ) { - float angle = _3PI_2 + _2PI * i / 6.0; - setPhaseVoltage(voltage_sensor_align, angle); + int exit_flag = 1; //success + SIMPLEFOC_DEBUG("MOT: Align sensor."); + + // v2.3.3 fix for R_AVR_7_PCREL against symbol" bug for AVR boards + // TODO figure out why this works + float voltage_align = voltage_sensor_align; + + // if unknown natural direction + if(sensor_direction == Direction::UNKNOWN){ + // check if sensor needs zero search + if(sensor->needsSearch()) exit_flag = absoluteZeroSearch(); + // stop init if not found index + if(!exit_flag) return exit_flag; + + // find natural direction + // move one electrical revolution forward + for (int i = 0; i <=500; i++ ) { + float angle = _3PI_2 + _2PI * i / 500.0f; + setPhaseVoltage(voltage_align, 0, angle); + sensor->update(); + _delay(2); + } + // take and angle in the middle + sensor->update(); + float mid_angle = sensor->getAngle(); + // move one electrical revolution backwards + for (int i = 500; i >=0; i-- ) { + float angle = _3PI_2 + _2PI * i / 500.0f ; + setPhaseVoltage(voltage_align, 0, angle); + sensor->update(); + _delay(2); + } + sensor->update(); + float end_angle = sensor->getAngle(); + setPhaseVoltage(0, 0, 0); _delay(200); - } - if (mid_angle < start_angle) { - if(monitor_port) monitor_port->println("MOT: natural_direction==CCW"); - sensor->natural_direction = Direction::CCW; - } else if (mid_angle == start_angle) { - if(monitor_port) monitor_port->println("MOT: Sensor failed to notice movement"); - } - - // let the motor stabilize for 2 sec - _delay(2000); - // set sensor to zero - sensor->initRelativeZero(); - _delay(500); - setPhaseVoltage(0,0); - _delay(200); + // determine the direction the sensor moved + if (mid_angle == end_angle) { + SIMPLEFOC_DEBUG("MOT: Failed to notice movement"); + return 0; // failed calibration + } else if (mid_angle < end_angle) { + SIMPLEFOC_DEBUG("MOT: sensor_direction==CCW"); + sensor_direction = Direction::CCW; + } else{ + SIMPLEFOC_DEBUG("MOT: sensor_direction==CW"); + sensor_direction = Direction::CW; + } + // check pole pair number + float moved = fabs(mid_angle - end_angle); + pp_check_result = !(fabs(moved*pole_pairs - _2PI) > 0.5f); // 0.5f is arbitrary number it can be lower or higher! + if( pp_check_result==false ) { + SIMPLEFOC_DEBUG("MOT: PP check: fail - estimated pp: ", _2PI/moved); + } else { + SIMPLEFOC_DEBUG("MOT: PP check: OK!"); + } - // find the index if available - int exit_flag = absoluteZeroAlign(); - _delay(500); - if(monitor_port){ - 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!"); + } else { + SIMPLEFOC_DEBUG("MOT: Skip dir calib."); } + + // zero electric angle not known + if(!_isset(zero_electric_angle)){ + // align the electrical phases of the motor and sensor + // set angle -90(270 = 3PI/2) degrees + setPhaseVoltage(voltage_align, 0, _3PI_2); + _delay(700); + // read the sensor + sensor->update(); + // get the current zero electric angle + zero_electric_angle = 0; + zero_electric_angle = electricalAngle(); + _delay(20); + if(monitor_port){ + SIMPLEFOC_DEBUG("MOT: Zero elec. angle: ", zero_electric_angle); + } + // stop everything + setPhaseVoltage(0, 0, 0); + _delay(200); + } else { SIMPLEFOC_DEBUG("MOT: Skip offset calib."); } return exit_flag; } - -// Encoder alignment the absolute zero angle +// Encoder alignment the absolute zero angle // - to the index -int StepperMotor::absoluteZeroAlign() { +int StepperMotor::absoluteZeroSearch() { - if(monitor_port) monitor_port->println("MOT: Absolute zero align."); - // if no absolute zero return - if(!sensor->hasAbsoluteZero()) return 0; - - - if(monitor_port && sensor->needsAbsoluteZeroSearch()) monitor_port->println("MOT: Searching..."); + SIMPLEFOC_DEBUG("MOT: Index search..."); // search the absolute zero with small velocity - while(sensor->needsAbsoluteZeroSearch() && shaft_angle < _2PI){ - loopFOC(); - voltage_q = PID_velocity(velocity_index_search - shaftVelocity()); + float limit_vel = velocity_limit; + float limit_volt = voltage_limit; + velocity_limit = velocity_index_search; + voltage_limit = voltage_sensor_align; + shaft_angle = 0; + while(sensor->needsSearch() && shaft_angle < _2PI){ + angleOpenloop(1.5f*_2PI); + // call important for some sensors not to loose count + // not needed for the search + sensor->update(); } - voltage_q = 0; // disable motor - setPhaseVoltage(0,0); - - // align absolute zero if it has been found - if(!sensor->needsAbsoluteZeroSearch()){ - // align the sensor with the absolute zero - float zero_offset = sensor->initAbsoluteZero(); - // remember zero electric angle - zero_electric_angle = _normalizeAngle(_electricalAngle(zero_offset, pole_pairs)); + setPhaseVoltage(0, 0, 0); + // reinit the limits + velocity_limit = limit_vel; + voltage_limit = limit_volt; + // check if the zero found + if(monitor_port){ + if(sensor->needsSearch()) SIMPLEFOC_DEBUG("MOT: Error: Not found!"); + else { SIMPLEFOC_DEBUG("MOT: Success!"); } } - // return bool if zero found - return !sensor->needsAbsoluteZeroSearch() ? 1 : -1; + return !sensor->needsSearch(); } + // Iterative function looping FOC algorithm, setting Uq on the Motor // The faster it can be run the better void StepperMotor::loopFOC() { - // shaft angle - shaft_angle = shaftAngle(); - // set the phase voltage - FOC heart function :) - setPhaseVoltage(voltage_q, _electricalAngle(shaft_angle,pole_pairs)); + + // update sensor - do this even in open-loop mode, as user may be switching between modes and we could lose track + // of full rotations otherwise. + if (sensor) sensor->update(); + + // if open-loop do nothing + if( controller==MotionControlType::angle_openloop || controller==MotionControlType::velocity_openloop ) return; + + // if disabled do nothing + if(!enabled) return; + + // Needs the update() to be called first + // This function will not have numerical issues because it uses Sensor::getMechanicalAngle() + // which is in range 0-2PI + electrical_angle = electricalAngle(); + switch (torque_controller) { + case TorqueControlType::voltage: + // no need to do anything really + break; + case TorqueControlType::dc_current: + if(!current_sense) return; + // read overall current magnitude + current.q = current_sense->getDCCurrent(electrical_angle); + // filter the value values + current.q = LPF_current_q(current.q); + // calculate the phase voltage + voltage.q = PID_current_q(current_sp - current.q); + // d voltage - lag compensation + if(_isset(phase_inductance)) voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + else voltage.d = 0; + break; + case TorqueControlType::foc_current: + if(!current_sense) return; + // read dq currents + current = current_sense->getFOCCurrents(electrical_angle); + // filter values + current.q = LPF_current_q(current.q); + current.d = LPF_current_d(current.d); + // calculate the phase voltages + voltage.q = PID_current_q(current_sp - current.q); + voltage.d = PID_current_d(-current.d); + // d voltage - lag compensation - TODO verify + // if(_isset(phase_inductance)) voltage.d = _constrain( voltage.d - current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + break; + default: + // no torque control selected + SIMPLEFOC_DEBUG("MOT: no torque control selected!"); + break; + } + // set the phase voltage - FOC heart function :) + setPhaseVoltage(voltage.q, voltage.d, electrical_angle); } // Iterative function running outer loop of the FOC algorithm @@ -188,122 +350,190 @@ void StepperMotor::loopFOC() { // - needs to be called iteratively it is asynchronous function // - if target is not set it uses motor.target value void StepperMotor::move(float new_target) { + // set internal target variable - if( new_target != NOT_SET ) target = new_target; - // get angular velocity - shaft_velocity = shaftVelocity(); - // choose control loop + if(_isset(new_target) ) target = new_target; + + // downsampling (optional) + if(motion_cnt++ < motion_downsample) return; + motion_cnt = 0; + + // shaft angle/velocity need the update() to be called first + // get shaft angle + // TODO sensor precision: the shaft_angle actually stores the complete position, including full rotations, as a float + // For this reason it is NOT precise when the angles become large. + // Additionally, the way LPF works on angle is a precision issue, and the angle-LPF is a problem + // when switching to a 2-component representation. + if( controller!=MotionControlType::angle_openloop && controller!=MotionControlType::velocity_openloop ) + shaft_angle = shaftAngle(); // read value even if motor is disabled to keep the monitoring updated but not in openloop mode + // get angular velocity + shaft_velocity = shaftVelocity(); // read value even if motor is disabled to keep the monitoring updated + + // if disabled do nothing + if(!enabled) return; + + + // calculate the back-emf voltage if KV_rating available U_bemf = vel*(1/KV) + if (_isset(KV_rating)) voltage_bemf = shaft_velocity/(KV_rating*_SQRT3)/_RPM_TO_RADS; + // estimate the motor current if phase reistance available and current_sense not available + if(!current_sense && _isset(phase_resistance)) current.q = (voltage.q - voltage_bemf)/phase_resistance; + + // upgrade the current based voltage limit switch (controller) { - case ControlType::voltage: - voltage_q = target; + case MotionControlType::torque: + if(torque_controller == TorqueControlType::voltage){ // if voltage torque control + if(!_isset(phase_resistance)) voltage.q = target; + else voltage.q = target*phase_resistance + voltage_bemf; + voltage.q = _constrain(voltage.q, -voltage_limit, voltage_limit); + // set d-component (lag compensation if known inductance) + if(!_isset(phase_inductance)) voltage.d = 0; + else voltage.d = _constrain( -target*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + }else{ + current_sp = target; // if current/foc_current torque control + } break; - case ControlType::angle: + case MotionControlType::angle: + // TODO sensor precision: this calculation is not numerically precise. The target value cannot express precise positions when + // the angles are large. This results in not being able to command small changes at high position values. + // to solve this, the delta-angle has to be calculated in a numerically precise way. // angle set point - // include angle loop shaft_angle_sp = target; - shaft_velocity_sp = P_angle( shaft_angle_sp - shaft_angle ); - voltage_q = PID_velocity(shaft_velocity_sp - shaft_velocity); + // calculate velocity set point + shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle ); + 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 + if(torque_controller == TorqueControlType::voltage){ + // use voltage if phase-resistance not provided + if(!_isset(phase_resistance)) voltage.q = current_sp; + else voltage.q = _constrain( current_sp*phase_resistance + voltage_bemf , -voltage_limit, voltage_limit); + // set d-component (lag compensation if known inductance) + if(!_isset(phase_inductance)) voltage.d = 0; + else voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + } break; - case ControlType::velocity: - // velocity set point - // include velocity loop + case MotionControlType::velocity: + // velocity set point - sensor precision: this calculation is numerically precise. shaft_velocity_sp = target; - voltage_q = PID_velocity(shaft_velocity_sp - shaft_velocity); + // calculate the torque command + current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if current/foc_current torque control + // if torque controlled through voltage control + if(torque_controller == TorqueControlType::voltage){ + // use voltage if phase-resistance not provided + if(!_isset(phase_resistance)) voltage.q = current_sp; + else voltage.q = _constrain( current_sp*phase_resistance + voltage_bemf , -voltage_limit, voltage_limit); + // set d-component (lag compensation if known inductance) + if(!_isset(phase_inductance)) voltage.d = 0; + else voltage.d = _constrain( -current_sp*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit); + } break; - case ControlType::velocity_openloop: - // velocity control in open loop - // loopFOC should not be called + case MotionControlType::velocity_openloop: + // velocity control in open loop - sensor precision: this calculation is numerically precise. shaft_velocity_sp = target; - velocityOpenloop(shaft_velocity_sp); + voltage.q = velocityOpenloop(shaft_velocity_sp); // returns the voltage that is set to the motor + voltage.d = 0; break; - case ControlType::angle_openloop: - // angle control in open loop - // loopFOC should not be called + case MotionControlType::angle_openloop: + // angle control in open loop - + // TODO sensor precision: this calculation NOT numerically precise, and subject + // to the same problems in small set-point changes at high angles + // as the closed loop version. shaft_angle_sp = target; - angleOpenloop(shaft_angle_sp); + voltage.q = angleOpenloop(shaft_angle_sp); // returns the voltage that is set to the motor + voltage.d = 0; break; } } -// Method using FOC to set Uq to the motor at the optimal angle -// Function implementingSine PWM algorithms +// Method using FOC to set Uq and Ud to the motor at the optimal angle +// Function implementing Sine PWM algorithms // - space vector not implemented yet -// +// // Function using sine approximation // regular sin + cos ~300us (no memory usaage) // approx _sin + _cos ~110us (400Byte ~ 20% of memory) -void StepperMotor::setPhaseVoltage(float Uq, float angle_el) { - // Sinusoidal PWM modulation +void StepperMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) { + // Sinusoidal PWM modulation // Inverse Park transformation + float _sa, _ca; + _sincos(angle_el, &_sa, &_ca); - // angle normalization in between 0 and 2pi - // only necessary if using _sin and _cos - approximation functions - angle_el = _normalizeAngle(angle_el + zero_electric_angle); // Inverse park transform - Ualpha = -_sin(angle_el) * Uq; // -sin(angle) * Uq; - Ubeta = _cos(angle_el) * Uq; // cos(angle) * Uq; - // set the voltages in hardware - setPwm(Ualpha,Ubeta); -} + Ualpha = _ca * Ud - _sa * Uq; // -sin(angle) * Uq; + Ubeta = _sa * Ud + _ca * Uq; // cos(angle) * Uq; - - -// Set voltage to the pwm pin -void StepperMotor::setPwm(float Ualpha, float Ubeta) { - float duty_cycle1A(0.0),duty_cycle1B(0.0),duty_cycle2A(0.0),duty_cycle2B(0.0); - // hardware specific writing - if( Ualpha > 0 ) - duty_cycle1B = constrain(abs(Ualpha)/voltage_power_supply,0,1); - else - duty_cycle1A = constrain(abs(Ualpha)/voltage_power_supply,0,1); - - if( Ubeta > 0 ) - duty_cycle2B = constrain(abs(Ubeta)/voltage_power_supply,0,1); - else - duty_cycle2A = constrain(abs(Ubeta)/voltage_power_supply,0,1); - // write to hardware - _writeDutyCycle(duty_cycle1A, duty_cycle1B, duty_cycle2A, duty_cycle2B, pwm1A, pwm1B, pwm2A, pwm2B); + // set the voltages in hardware + driver->setPwm(Ualpha, Ubeta); } // Function (iterative) generating open loop movement for target velocity // - target_velocity - rad/s // it uses voltage_limit variable -void StepperMotor::velocityOpenloop(float target_velocity){ +float StepperMotor::velocityOpenloop(float target_velocity){ // get current timestamp unsigned long now_us = _micros(); // calculate the sample time from last call - float Ts = (now_us - open_loop_timestamp) * 1e-6; + float Ts = (now_us - open_loop_timestamp) * 1e-6f; + // quick fix for strange cases (micros overflow + timestamp not defined) + if(Ts <= 0 || Ts > 0.5f) Ts = 1e-3f; // calculate the necessary angle to achieve target velocity - shaft_angle += target_velocity*Ts; + shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); + // for display purposes + shaft_velocity = target_velocity; + + // use voltage limit or current limit + float Uq = voltage_limit; + if(_isset(phase_resistance)){ + Uq = _constrain(current_limit*phase_resistance + fabs(voltage_bemf),-voltage_limit, voltage_limit); + // recalculate the current + current.q = (Uq - fabs(voltage_bemf))/phase_resistance; + } // set the maximal allowed voltage (voltage_limit) with the necessary angle - setPhaseVoltage(voltage_limit, _electricalAngle(shaft_angle,pole_pairs)); + setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs)); // save timestamp for next call open_loop_timestamp = now_us; + + return Uq; } // Function (iterative) generating open loop movement towards the target angle // - target_angle - rad // it uses voltage_limit and velocity_limit variables -void StepperMotor::angleOpenloop(float target_angle){ +float StepperMotor::angleOpenloop(float target_angle){ // get current timestamp unsigned long now_us = _micros(); // calculate the sample time from last call - float Ts = (now_us - open_loop_timestamp) * 1e-6; - + float Ts = (now_us - open_loop_timestamp) * 1e-6f; + // quick fix for strange cases (micros overflow + timestamp not defined) + if(Ts <= 0 || Ts > 0.5f) Ts = 1e-3f; + // calculate the necessary angle to move from current position towards target angle // with maximal velocity (velocity_limit) - if(abs( target_angle - shaft_angle ) > abs(velocity_limit*Ts)) - shaft_angle += _sign(target_angle - shaft_angle) * abs( velocity_limit )*Ts; - else + if(abs( target_angle - shaft_angle ) > abs(velocity_limit*Ts)){ + shaft_angle += _sign(target_angle - shaft_angle) * abs( velocity_limit )*Ts; + shaft_velocity = velocity_limit; + }else{ shaft_angle = target_angle; - + shaft_velocity = 0; + } + + // use voltage limit or current limit + float Uq = voltage_limit; + if(_isset(phase_resistance)){ + Uq = _constrain(current_limit*phase_resistance + fabs(voltage_bemf),-voltage_limit, voltage_limit); + // recalculate the current + current.q = (Uq - fabs(voltage_bemf))/phase_resistance; + } // set the maximal allowed voltage (voltage_limit) with the necessary angle - setPhaseVoltage(voltage_limit, _electricalAngle(shaft_angle,pole_pairs)); + setPhaseVoltage(Uq, 0, _electricalAngle((shaft_angle), pole_pairs)); // save timestamp for next call open_loop_timestamp = now_us; -} \ No newline at end of file + + return Uq; +} diff --git a/src/StepperMotor.h b/src/StepperMotor.h index bf14e096..7e7810d8 100644 --- a/src/StepperMotor.h +++ b/src/StepperMotor.h @@ -7,10 +7,11 @@ #define StepperMotor_h #include "Arduino.h" -#include "common/FOCMotor.h" +#include "common/base_classes/FOCMotor.h" +#include "common/base_classes/StepperDriver.h" +#include "common/base_classes/Sensor.h" #include "common/foc_utils.h" -#include "common/hardware_utils.h" -#include "common/Sensor.h" +#include "common/time_utils.h" #include "common/defaults.h" /** @@ -21,18 +22,28 @@ class StepperMotor: public FOCMotor public: /** StepperMotor class constructor - @param ph1A 1A phase pwm pin - @param ph1B 1B phase pwm pin - @param ph2A 2A phase pwm pin - @param ph2B 2B phase pwm pin - @param pp pole pair number - cpr counts per rotation number (cpm=ppm*4) - @param en1 enable pin phase 1 (optional input) - @param en2 enable pin phase 2 (optional input) + @param pp pole pair number + @param R motor phase resistance - [Ohm] + @param KV motor KV rating (1/K_bemf) - rpm/V + @param L motor phase inductance - [H] */ - StepperMotor(int ph1A,int ph1B,int ph2A,int ph2B,int pp, int en1 = NOT_SET, int en2 = NOT_SET); - + StepperMotor(int pp, float R = NOT_SET, float KV = NOT_SET, float L = NOT_SET); + + /** + * Function linking a motor and a foc driver + * + * @param driver StepperDriver class implementing all the hardware specific functions necessary PWM setting + */ + void linkDriver(StepperDriver* driver); + + /** + * StepperDriver link: + * - 4PWM - L298N for example + */ + StepperDriver* driver; + /** Motor hardware init function */ - void init(long pwm_frequency = NOT_SET) override; + int init() override; /** Motor disable function */ void disable() override; /** Motor enable function */ @@ -43,12 +54,8 @@ class StepperMotor: public FOCMotor * and aligning sensor's and motors' zero position * * - If zero_electric_offset parameter is set the alignment procedure is skipped - * - * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position. - * @param sensor_direction sensor natural direction - default is CW - * */ - int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override; + int initFOC() override; /** * Function running FOC algorithm in real-time * it calculates the gets motor angle and sets the appropriate voltages @@ -57,7 +64,7 @@ class StepperMotor: public FOCMotor */ void loopFOC() override; /** - * Function executing the control loops set by the controller parameter of the BLDCMotor. + * Function executing the control loops set by the controller parameter of the StepperMotor. * * @param target Either voltage, angle or velocity based on the motor.controller * If it is not set the motor will use the target set in its variable motor.target @@ -65,39 +72,25 @@ class StepperMotor: public FOCMotor * This function doesn't need to be run upon each loop execution - depends of the use case */ void move(float target = NOT_SET) override; - - // hardware variables - int pwm1A; //!< phase 1A pwm pin number - int pwm1B; //!< phase 1B pwm pin number - int pwm2A; //!< phase 2A pwm pin number - int pwm2B; //!< phase 2B pwm pin number - int enable_pin1; //!< enable pin number phase 1 - int enable_pin2; //!< enable pin number phase 2 - - private: - - // FOC methods - /** + + /** * Method using FOC to set Uq to the motor at the optimal angle * Heart of the FOC algorithm * * @param Uq Current voltage in q axis to set to the motor + * @param Ud Current voltage in d axis to set to the motor * @param angle_el current electrical angle of the motor */ - void setPhaseVoltage(float Uq, float angle_el); + void setPhaseVoltage(float Uq, float Ud, float angle_el) override; + private: + /** Sensor alignment to electrical 0 angle of the motor */ int alignSensor(); /** Motor and sensor alignment to the sensors absolute 0 angle */ - int absoluteZeroAlign(); - /** - * Set phase voltages to the harware - * - * @param Ua phase A voltage - * @param Ub phase B voltage - * @param Uc phase C voltage - */ - void setPwm(float Ualpha, float Ubeta); + int absoluteZeroSearch(); + /** Current sense and motor phase alignment */ + int alignCurrentSense(); // Open loop motion control /** @@ -106,14 +99,14 @@ class StepperMotor: public FOCMotor * * @param target_velocity - rad/s */ - void velocityOpenloop(float target_velocity); + float velocityOpenloop(float target_velocity); /** * Function (iterative) generating open loop movement towards the target angle * it uses voltage_limit and velocity_limit variables * * @param target_angle - rad */ - void angleOpenloop(float target_angle); + float angleOpenloop(float target_angle); // open loop variables long open_loop_timestamp; }; diff --git a/src/common/FOCMotor.cpp b/src/common/FOCMotor.cpp deleted file mode 100644 index adecbeec..00000000 --- a/src/common/FOCMotor.cpp +++ /dev/null @@ -1,245 +0,0 @@ -#include "FOCMotor.h" - -/** - * Default constructor - setting all variabels to default values - */ -FOCMotor::FOCMotor() -{ - // Power supply voltage - voltage_power_supply = DEF_POWER_SUPPLY; - - // maximum angular velocity to be used for positioning - velocity_limit = DEF_VEL_LIM; - // maximum voltage to be set to the motor - voltage_limit = voltage_power_supply; - - // index search velocity - velocity_index_search = DEF_INDEX_SEARCH_TARGET_VELOCITY; - // sensor and motor align voltage - voltage_sensor_align = DEF_VOLTAGE_SENSOR_ALIGN; - - // electric angle of comthe zero angle - zero_electric_angle = 0; - - // default modulation is SinePWM - foc_modulation = FOCModulationType::SinePWM; - - // default target value - target = 0; - - //monitor_port - monitor_port = nullptr; - //sensor - sensor = nullptr; -} - - -/** - Sensor communication methods -*/ -void FOCMotor::linkSensor(Sensor* _sensor) { - sensor = _sensor; -} -// shaft angle calculation -float FOCMotor::shaftAngle() { - // if no sensor linked return 0 - if(!sensor) return shaft_angle; - return sensor->getAngle(); -} -// shaft velocity calculation -float FOCMotor::shaftVelocity() { - // if no sensor linked return 0 - if(!sensor) return 0; - return LPF_velocity(sensor->getVelocity()); -} - - - - -/** - * Monitoring functions - */ -// function implementing the monitor_port setter -void FOCMotor::useMonitoring(Print &print){ - monitor_port = &print; //operate on the address of print - 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!!!! -void FOCMotor::monitor() { - if(!monitor_port) return; - switch (controller) { - case ControlType::velocity_openloop: - case ControlType::velocity: - monitor_port->print(voltage_q); - monitor_port->print("\t"); - monitor_port->print(shaft_velocity_sp); - monitor_port->print("\t"); - monitor_port->println(shaft_velocity); - break; - case ControlType::angle_openloop: - case ControlType::angle: - monitor_port->print(voltage_q); - monitor_port->print("\t"); - monitor_port->print(shaft_angle_sp); - monitor_port->print("\t"); - monitor_port->println(shaft_angle); - break; - case ControlType::voltage: - monitor_port->print(voltage_q); - monitor_port->print("\t"); - monitor_port->print(shaft_angle); - monitor_port->print("\t"); - monitor_port->println(shaft_velocity); - break; - } -} - -int FOCMotor::command(String user_command) { - // error flag - int errorFlag = 1; - // if empty string - if(user_command.length() < 1) return errorFlag; - - // parse command letter - char cmd = user_command.charAt(0); - // check if get command - char GET = user_command.charAt(1) == '\n'; - // 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 'D': // velocity D gain change - case 'R': // velocity voltage ramp change - if(monitor_port) monitor_port->print(" PID 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 - if(monitor_port) monitor_port->print(" P angle| "); - break; - case 'L': // velocity voltage limit change - case 'N': // angle loop gain velocity_limit change - if(monitor_port) monitor_port->print(" Limits| "); - break; - } - - // apply the the command - switch(cmd){ - case 'P': // velocity P gain change - if(monitor_port) monitor_port->print("P: "); - if(!GET) PID_velocity.P = value; - if(monitor_port) monitor_port->println(PID_velocity.P); - break; - case 'I': // velocity I gain change - if(monitor_port) monitor_port->print("I: "); - if(!GET) PID_velocity.I = value; - if(monitor_port) monitor_port->println(PID_velocity.I); - break; - case 'D': // velocity D gain change - if(monitor_port) monitor_port->print("D: "); - if(!GET) PID_velocity.D = value; - if(monitor_port) monitor_port->println(PID_velocity.D); - break; - case 'R': // velocity voltage ramp change - if(monitor_port) monitor_port->print("volt_ramp: "); - if(!GET) PID_velocity.output_ramp = value; - if(monitor_port) monitor_port->println(PID_velocity.output_ramp); - break; - case 'L': // velocity voltage limit change - if(monitor_port) monitor_port->print("volt_limit: "); - if(!GET) { - voltage_limit = value; - PID_velocity.limit = value; - } - if(monitor_port) monitor_port->println(voltage_limit); - break; - case 'F': // velocity Tf low pass filter change - 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: "); - 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("vel_limit: "); - if(!GET){ - velocity_limit = value; - P_angle.limit = value; - } - if(monitor_port) monitor_port->println(velocity_limit); - break; - case 'C': - // change control type - if(monitor_port) monitor_port->print("Control: "); - - if(GET){ // if get command - switch(controller){ - case ControlType::voltage: - if(monitor_port) monitor_port->println("voltage"); - break; - case ControlType::velocity: - if(monitor_port) monitor_port->println("velocity"); - break; - case ControlType::angle: - if(monitor_port) monitor_port->println("angle"); - break; - default: - if(monitor_port) monitor_port->println("open loop"); - } - }else{ // if set command - switch((int)value){ - case 0: - if(monitor_port) monitor_port->println("voltage"); - controller = ControlType::voltage; - break; - case 1: - if(monitor_port) monitor_port->println("velocity"); - controller = ControlType::velocity; - break; - case 2: - if(monitor_port) monitor_port->println("angle"); - controller = ControlType::angle; - break; - default: // not valid command - errorFlag = 0; - } - } - break; - case 'V': // get current values of the state variables - switch((int)value){ - case 0: // get voltage - if(monitor_port) monitor_port->print("Uq: "); - if(monitor_port) monitor_port->println(voltage_q); - break; - case 1: // get velocity - if(monitor_port) monitor_port->print("Velocity: "); - if(monitor_port) monitor_port->println(shaft_velocity); - break; - case 2: // get angle - if(monitor_port) monitor_port->print("Angle: "); - if(monitor_port) monitor_port->println(shaft_angle); - break; - case 3: // get angle - if(monitor_port) monitor_port->print("Target: "); - if(monitor_port) monitor_port->println(target); - break; - default: // not valid command - errorFlag = 0; - } - break; - default: // target change - if(monitor_port) monitor_port->print("Target : "); - target = user_command.toFloat(); - if(monitor_port) monitor_port->println(target); - } - // return 0 if error and 1 if ok - return errorFlag; -} \ No newline at end of file diff --git a/src/common/FOCMotor.h b/src/common/FOCMotor.h deleted file mode 100644 index 40f7f6d4..00000000 --- a/src/common/FOCMotor.h +++ /dev/null @@ -1,195 +0,0 @@ -#ifndef FOCMOTOR_H -#define FOCMOTOR_H - -#include "Arduino.h" -#include "hardware_utils.h" -#include "foc_utils.h" -#include "defaults.h" - -#include "Sensor.h" -#include "pid.h" -#include "lowpass_filter.h" - - -/** - * Motiron control type - */ -enum ControlType{ - voltage,//!< Torque control using voltage - velocity,//!< Velocity motion control - angle,//!< Position/angle motion control - velocity_openloop, - angle_openloop -}; - -/** - * FOC modulation type - */ -enum FOCModulationType{ - SinePWM, //!< Sinusoidal PWM modulation - SpaceVectorPWM //!< Space vector modulation method -}; - -/** - Generic motor class -*/ -class FOCMotor -{ - public: - /** - * Default constructor - setting all variabels to default values - */ - FOCMotor(); - - /** Motor hardware init function */ - virtual void init(long pwm_frequency)=0; - /** Motor disable function */ - virtual void disable()=0; - /** Motor enable function */ - virtual void enable()=0; - - /** - * Function linking a motor and a sensor - * - * @param sensor Sensor class wrapper for the FOC algorihtm to read the motor angle and velocity - */ - void linkSensor(Sensor* sensor); - - /** - * Function initializing FOC algorithm - * and aligning sensor's and motors' zero position - * - * - If zero_electric_offset parameter is set the alignment procedure is skipped - * - * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position. - * @param sensor_direction sensor natural direction - default is CW - * - */ - virtual int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW)=0; - /** - * Function running FOC algorithm in real-time - * it calculates the gets motor angle and sets the appropriate voltages - * to the phase pwm signals - * - the faster you can run it the better Arduino UNO ~1ms, Bluepill ~ 100us - */ - virtual void loopFOC()=0; - /** - * Function executing the control loops set by the controller parameter of the BLDCMotor. - * - * @param target Either voltage, angle or velocity based on the motor.controller - * If it is not set the motor will use the target set in its variable motor.target - * - * This function doesn't need to be run upon each loop execution - depends of the use case - */ - virtual void move(float target = NOT_SET)=0; - - // State calculation methods - /** Shaft angle calculation in radians [rad] */ - float shaftAngle(); - /** - * Shaft angle calculation function in radian per second [rad/s] - * It implements low pass filtering - */ - float shaftVelocity(); - - // state variables - float target; //!< current target value - depends of the controller - float shaft_angle;//!< current motor angle - float shaft_velocity;//!< current motor velocity - float shaft_velocity_sp;//!< current target velocity - float shaft_angle_sp;//!< current target angle - float voltage_q;//!< current voltage u_q set - float Ua,Ub,Uc;//!< Current phase voltages Ua,Ub and Uc set to motor - float Ualpha,Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform - - // motor configuration parameters - float voltage_power_supply;//!< Power supply voltage - float voltage_sensor_align;//!< sensor and motor align voltage parameter - float velocity_index_search;//!< target velocity for index search - int pole_pairs;//!< Motor pole pairs number - - // limiting variables - float voltage_limit; //!< Voltage limitting variable - global limit - float velocity_limit; //!< Velocity limitting variable - global limit - - float zero_electric_angle;//! 0 ? 1 : -1 + if(motor_electrical_angle) { + float ct; + float st; + _sincos(motor_electrical_angle, &st, &ct); + sign = (ABcurrent.beta*ct - ABcurrent.alpha*st) > 0 ? 1 : -1; + } + // return current magnitude + return sign*_sqrt(ABcurrent.alpha*ABcurrent.alpha + ABcurrent.beta*ABcurrent.beta); +} + +// function used with the foc algorithm +// calculating DQ currents from phase currents +// - function calculating park and clarke transform of the phase currents +// - using getPhaseCurrents and getABCurrents internally +DQCurrent_s CurrentSense::getFOCCurrents(float angle_el){ + // read current phase currents + PhaseCurrent_s current = getPhaseCurrents(); + + // calculate clarke transform + ABCurrent_s ABcurrent = getABCurrents(current); + + // calculate park transform + DQCurrent_s return_current = getDQCurrents(ABcurrent,angle_el); + + return return_current; +} + +// function used with the foc algorithm +// calculating Alpha Beta currents from phase currents +// - function calculating Clarke transform of the phase currents +ABCurrent_s CurrentSense::getABCurrents(PhaseCurrent_s current){ + + // check if driver is an instance of StepperDriver + // if so there is no need to Clarke transform + if (driver_type == DriverType::Stepper){ + ABCurrent_s return_ABcurrent; + return_ABcurrent.alpha = current.a; + return_ABcurrent.beta = current.b; + return return_ABcurrent; + } + + // otherwise it's a BLDC motor and + // calculate clarke transform + float i_alpha, i_beta; + if(!current.c){ + // if only two measured currents + i_alpha = current.a; + i_beta = _1_SQRT3 * current.a + _2_SQRT3 * current.b; + }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; + }else if(!current.b){ + // if only two measured currents + float b = -current.a - current.c; + i_alpha = current.a; + i_beta = _1_SQRT3 * current.a + _2_SQRT3 * b; + } else { + // signal filtering using identity a + b + c = 0. Assumes measurement error is normally distributed. + float mid = (1.f/3) * (current.a + current.b + current.c); + float a = current.a - mid; + float b = current.b - mid; + i_alpha = a; + i_beta = _1_SQRT3 * a + _2_SQRT3 * b; + } + + ABCurrent_s return_ABcurrent; + return_ABcurrent.alpha = i_alpha; + return_ABcurrent.beta = i_beta; + return return_ABcurrent; +} + +// function used with the foc algorithm +// calculating D and Q currents from Alpha Beta currents and electrical angle +// - function calculating Clarke transform of the phase currents +DQCurrent_s CurrentSense::getDQCurrents(ABCurrent_s current, float angle_el){ + // calculate park transform + float ct; + float st; + _sincos(angle_el, &st, &ct); + DQCurrent_s return_current; + return_current.d = current.alpha * ct + current.beta * st; + return_current.q = current.beta * ct - current.alpha * st; + return return_current; +} + +/** + Driver linking to the current sense +*/ +void CurrentSense::linkDriver(FOCDriver* _driver) { + driver = _driver; + // save the driver type for easier access + driver_type = driver->type(); +} + + +void CurrentSense::enable(){ + // nothing is done here, but you can override this function +}; + +void CurrentSense::disable(){ + // nothing is done here, but you can override this function +}; + + +// Function aligning the current sense with motor driver +// if all pins are connected well none of this is really necessary! - can be avoided +// returns flag +// 0 - fail +// 1 - success and nothing changed +// 2 - success but pins reconfigured +// 3 - success but gains inverted +// 4 - success but pins reconfigured and gains inverted +// IMPORTANT, this function can be overriden in the child class +int CurrentSense::driverAlign(float voltage, bool modulation_centered){ + + int exit_flag = 1; + if(skip_align) return exit_flag; + + if (!initialized) return 0; + + // check if stepper or BLDC + if(driver_type == DriverType::Stepper) + return alignStepperDriver(voltage, (StepperDriver*)driver, modulation_centered); + else + return alignBLDCDriver(voltage, (BLDCDriver*)driver, modulation_centered); +} + + + +// Helper function to read and average phase currents +PhaseCurrent_s CurrentSense::readAverageCurrents(int N) { + PhaseCurrent_s c = getPhaseCurrents(); + for (int i = 0; i < N; i++) { + PhaseCurrent_s c1 = getPhaseCurrents(); + c.a = c.a * 0.6f + 0.4f * c1.a; + c.b = c.b * 0.6f + 0.4f * c1.b; + c.c = c.c * 0.6f + 0.4f * c1.c; + _delay(3); + } + return c; +}; + + + +// Function aligning the current sense with motor driver +// if all pins are connected well none of this is really necessary! - can be avoided +// returns flag +// 0 - fail +// 1 - success and nothing changed +// 2 - success but pins reconfigured +// 3 - success but gains inverted +// 4 - success but pins reconfigured and gains inverted +int CurrentSense::alignBLDCDriver(float voltage, BLDCDriver* bldc_driver, bool modulation_centered){ + + bool phases_switched = 0; + bool phases_inverted = 0; + + float zero = 0; + if(modulation_centered) zero = driver->voltage_limit/2.0; + + // set phase A active and phases B and C down + // 300 ms of ramping + for(int i=0; i < 100; i++){ + bldc_driver->setPwm(voltage/100.0*((float)i)+zero , zero, zero); + _delay(3); + } + _delay(500); + PhaseCurrent_s c_a = readAverageCurrents(); + bldc_driver->setPwm(zero, zero, zero); + // check if currents are to low (lower than 100mA) + // TODO calculate the 100mA threshold from the ADC resolution + // if yes throw an error and return 0 + // either the current sense is not connected or the current is + // too low for calibration purposes (one should raise the motor.voltage_sensor_align) + if((fabs(c_a.a) < 0.1f) && (fabs(c_a.b) < 0.1f) && (fabs(c_a.c) < 0.1f)){ + SIMPLEFOC_DEBUG("CS: Err too low current, rise voltage!"); + return 0; // measurement current too low + } + + + // now we have to determine + // 1) which pin correspond to which phase of the bldc driver + // 2) if the currents measured have good polarity + // + // > when we apply a voltage to a phase A of the driver what we expect to measure is the current I on the phase A + // and -I/2 on the phase B and I/2 on the phase C + + // find the highest magnitude in c_a + // and make sure it's around 2 (1.5 at least) times higher than the other two + float ca[3] = {fabs(c_a.a), fabs(c_a.b), fabs(c_a.c)}; + uint8_t max_i = -1; // max index + float max_c = 0; // max current + float max_c_ratio = 0; // max current ratio + for(int i = 0; i < 3; i++){ + if(!ca[i]) continue; // current not measured + if(ca[i] > max_c){ + max_c = ca[i]; + max_i = i; + for(int j = 0; j < 3; j++){ + if(i == j) continue; + if(!ca[j]) continue; // current not measured + float ratio = max_c / ca[j]; + if(ratio > max_c_ratio) max_c_ratio = ratio; + } + } + } + + // check the current magnitude ratios + // 1) if there is one current that is approximately 2 times higher than the other two + // this is the A current + // 2) if the max current is not at least 1.5 times higher than the other two + // we have two cases: + // - either we only measure two currents and the third one is not measured - then phase A is not measured + // - or the current sense is not connected properly + + if(max_c_ratio >=1.5f){ + switch (max_i){ + case 1: // phase B is the max current + SIMPLEFOC_DEBUG("CS: Switch A-B"); + // switch phase A and B + _swap(pinA, pinB); + _swap(offset_ia, offset_ib); + _swap(gain_a, gain_b); + _swap(c_a.b, c_a.b); + phases_switched = true; // signal that pins have been switched + break; + case 2: // phase C is the max current + SIMPLEFOC_DEBUG("CS: Switch A-C"); + // switch phase A and C + _swap(pinA, pinC); + _swap(offset_ia, offset_ic); + _swap(gain_a, gain_c); + _swap(c_a.a, c_a.c); + phases_switched = true;// signal that pins have been switched + break; + } + // check if the current is negative and invert the gain if so + if( _sign(c_a.a) < 0 ){ + SIMPLEFOC_DEBUG("CS: Inv A"); + gain_a *= -1; + phases_inverted = true; // signal that pins have been inverted + } + }else if(_isset(pinA) && _isset(pinB) && _isset(pinC)){ + // if all three currents are measured and none of them is significantly higher + // we have a problem with the current sense + SIMPLEFOC_DEBUG("CS: Err A - all currents same magnitude!"); + return 0; + }else{ //phase A is not measured so put the _NC to the phase A + if(_isset(pinA) && !_isset(pinB)){ + SIMPLEFOC_DEBUG("CS: Switch A-(B)NC"); + _swap(pinA, pinB); + _swap(offset_ia, offset_ib); + _swap(gain_a, gain_b); + _swap(c_a.b, c_a.b); + phases_switched = true; // signal that pins have been switched + }else if(_isset(pinA) && !_isset(pinC)){ + SIMPLEFOC_DEBUG("CS: Switch A-(C)NC"); + _swap(pinA, pinC); + _swap(offset_ia, offset_ic); + _swap(gain_a, gain_c); + _swap(c_a.b, c_a.c); + phases_switched = true; // signal that pins have been switched + } + } + // at this point the current sensing on phase A can be either: + // - aligned with the driver phase A + // - or the phase A is not measured and the _NC is connected to the phase A + // + // In either case A is done, now we have to check the phase B and C + + + // set phase B active and phases A and C down + // 300 ms of ramping + for(int i=0; i < 100; i++){ + bldc_driver->setPwm(zero, voltage/100.0*((float)i)+zero, zero); + _delay(3); + } + _delay(500); + PhaseCurrent_s c_b = readAverageCurrents(); + bldc_driver->setPwm(zero, zero, zero); + + // check the phase B + // find the highest magnitude in c_b + // and make sure it's around 2 (1.5 at least) times higher than the other two + float cb[3] = {fabs(c_b.a), fabs(c_b.b), fabs(c_b.c)}; + max_i = -1; // max index + max_c = 0; // max current + max_c_ratio = 0; // max current ratio + for(int i = 0; i < 3; i++){ + if(!cb[i]) continue; // current not measured + if(cb[i] > max_c){ + max_c = cb[i]; + max_i = i; + for(int j = 0; j < 3; j++){ + if(i == j) continue; + if(!cb[j]) continue; // current not measured + float ratio = max_c / cb[j]; + if(ratio > max_c_ratio) max_c_ratio = ratio; + } + } + } + if(max_c_ratio >= 1.5f){ + switch (max_i){ + case 0: // phase A is the max current + // this is an error as phase A is already aligned + SIMPLEFOC_DEBUG("CS: Err align B"); + return 0; + case 2: // phase C is the max current + SIMPLEFOC_DEBUG("CS: Switch B-C"); + _swap(pinB, pinC); + _swap(offset_ib, offset_ic); + _swap(gain_b, gain_c); + _swap(c_b.b, c_b.c); + phases_switched = true; // signal that pins have been switched + break; + } + // check if the current is negative and invert the gain if so + if( _sign(c_b.b) < 0 ){ + SIMPLEFOC_DEBUG("CS: Inv B"); + gain_b *= -1; + phases_inverted = true; // signal that pins have been inverted + } + }else if(_isset(pinB) && _isset(pinC)){ + // if all three currents are measured and none of them is significantly higher + // we have a problem with the current sense + SIMPLEFOC_DEBUG("CS: Err B - all currents same magnitude!"); + return 0; + }else{ //phase B is not measured so put the _NC to the phase B + if(_isset(pinB) && !_isset(pinC)){ + SIMPLEFOC_DEBUG("CS: Switch B-(C)NC"); + _swap(pinB, pinC); + _swap(offset_ib, offset_ic); + _swap(gain_b, gain_c); + _swap(c_b.b, c_b.c); + phases_switched = true; // signal that pins have been switched + } + } + // at this point the current sensing on phase A and B can be either: + // - aligned with the driver phase A and B + // - or the phase A and B are not measured and the _NC is connected to the phase A and B + // + // In either case A and B is done, now we have to check the phase C + // phase C is also aligned if it is measured (not _NC) + // we have to check if the current is negative and invert the gain if so + if(_isset(pinC)){ + if( _sign(c_b.c) > 0 ){ // the expected current is -I/2 (if the phase A and B are aligned and C has correct polarity) + SIMPLEFOC_DEBUG("CS: Inv C"); + gain_c *= -1; + phases_inverted = true; // signal that pins have been inverted + } + } + + // construct the return flag + // if the phases have been switched return 2 + // if the gains have been inverted return 3 + // if both return 4 + uint8_t exit_flag = 1; + if(phases_switched) exit_flag += 1; + if(phases_inverted) exit_flag += 2; + return exit_flag; +} + + +// Function aligning the current sense with motor driver +// if all pins are connected well none of this is really necessary! - can be avoided +// returns flag +// 0 - fail +// 1 - success and nothing changed +// 2 - success but pins reconfigured +// 3 - success but gains inverted +// 4 - success but pins reconfigured and gains inverted +int CurrentSense::alignStepperDriver(float voltage, StepperDriver* stepper_driver, bool modulation_centered){ + + _UNUSED(modulation_centered); + + bool phases_switched = 0; + bool phases_inverted = 0; + + if(!_isset(pinA) || !_isset(pinB)){ + SIMPLEFOC_DEBUG("CS: Pins A & B not specified!"); + return 0; + } + + // set phase A active and phases B down + // ramp 300ms + for(int i=0; i < 100; i++){ + stepper_driver->setPwm(voltage/100.0*((float)i), 0); + _delay(3); + } + _delay(500); + PhaseCurrent_s c = readAverageCurrents(); + // disable the phases + stepper_driver->setPwm(0, 0); + if (fabs(c.a) < 0.1f && fabs(c.b) < 0.1f ){ + SIMPLEFOC_DEBUG("CS: Err too low current!"); + return 0; // measurement current too low + } + // align phase A + // 1) only one phase can be measured so we first measure which ADC pin corresponds + // to the phase A by comparing the magnitude + if (fabs(c.a) < fabs(c.b)){ + SIMPLEFOC_DEBUG("CS: Switch A-B"); + // switch phase A and B + _swap(pinA, pinB); + _swap(offset_ia, offset_ib); + _swap(gain_a, gain_b); + phases_switched = true; // signal that pins have been switched + } + // 2) check if measured current a is positive and invert if not + if (c.a < 0){ + SIMPLEFOC_DEBUG("CS: Inv A"); + gain_a *= -1; + phases_inverted = true; // signal that pins have been inverted + } + + // at this point the driver's phase A is aligned with the ADC pinA + // and the pin B should be the phase B + + // set phase B active and phases A down + // ramp 300ms + for(int i=0; i < 100; i++){ + stepper_driver->setPwm(0, voltage/100.0*((float)i)); + _delay(3); + } + _delay(500); + c = readAverageCurrents(); + stepper_driver->setPwm(0, 0); + + // phase B should be aligned + // 1) we just need to verify that it has been measured + if (fabs(c.b) < 0.1f ){ + SIMPLEFOC_DEBUG("CS: Err too low current on B!"); + return 0; // measurement current too low + } + // 2) check if measured current a is positive and invert if not + if (c.b < 0){ + SIMPLEFOC_DEBUG("CS: Inv B"); + gain_b *= -1; + phases_inverted = true; // signal that pins have been inverted + } + + // construct the return flag + // if success and nothing changed return 1 + // if the phases have been switched return 2 + // if the gains have been inverted return 3 + // if both return 4 + uint8_t exit_flag = 1; + if(phases_switched) exit_flag += 1; + if(phases_inverted) exit_flag += 2; + return exit_flag; +} + + diff --git a/src/common/base_classes/CurrentSense.h b/src/common/base_classes/CurrentSense.h new file mode 100644 index 00000000..d3f7f8ed --- /dev/null +++ b/src/common/base_classes/CurrentSense.h @@ -0,0 +1,145 @@ +#ifndef CURRENTSENSE_H +#define CURRENTSENSE_H + +#include "FOCDriver.h" +#include "../foc_utils.h" +#include "../time_utils.h" +#include "StepperDriver.h" +#include "BLDCDriver.h" + +/** + * Current sensing abstract class defintion + * Each current sensing implementation needs to extend this interface + */ +class CurrentSense{ + public: + + /** + * Function intialising the CurrentSense class + * - All the necessary intialisations of adc and sync should be implemented here + * + * @returns - 0 - for failure & 1 - for success + */ + virtual int init() = 0; + + /** + * Linking the current sense with the motor driver + * Only necessary if synchronisation in between the two is required + */ + void linkDriver(FOCDriver *driver); + + // variables + bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC() + + FOCDriver* driver = nullptr; //!< driver link + bool initialized = false; // true if current sense was successfully initialized + void* params = 0; //!< pointer to hardware specific parameters of current sensing + DriverType driver_type = DriverType::Unknown; //!< driver type (BLDC or Stepper) + + + // ADC measurement gain for each phase + // support for different gains for different phases of more commonly - inverted phase currents + // this should be automated later + float gain_a; //!< phase A gain + float gain_b; //!< phase B gain + float gain_c; //!< phase C gain + + float offset_ia; //!< zero current A voltage value (center of the adc reading) + float offset_ib; //!< zero current B voltage value (center of the adc reading) + float offset_ic; //!< zero current C voltage value (center of the adc reading) + + // hardware variables + int pinA; //!< pin A analog pin for current measurement + int pinB; //!< pin B analog pin for current measurement + int pinC; //!< pin C analog pin for current measurement + + /** + * Function intended to verify if: + * - phase current are oriented properly + * - if their order is the same as driver phases + * + * This function corrects the alignment errors if possible ans if no such thing is needed it can be left empty (return 1) + * @returns - + 0 - failure + 1 - success and nothing changed + 2 - success but pins reconfigured + 3 - success but gains inverted + 4 - success but pins reconfigured and gains inverted + * + * IMPORTANT: Default implementation provided in the CurrentSense class, but can be overriden in the child classes + */ + virtual int driverAlign(float align_voltage, bool modulation_centered = false); + + /** + * Function rading the phase currents a, b and c + * This function will be used with the foc control throught the function + * CurrentSense::getFOCCurrents(electrical_angle) + * - it returns current c equal to 0 if only two phase measurements available + * + * @return PhaseCurrent_s current values + */ + virtual PhaseCurrent_s getPhaseCurrents() = 0; + /** + * Function reading the magnitude of the current set to the motor + * It returns the absolute or signed magnitude if possible + * It can receive the motor electrical angle to help with calculation + * This function is used with the current control (not foc) + * + * @param angle_el - electrical angle of the motor (optional) + */ + virtual float getDCCurrent(float angle_el = 0); + + /** + * Function used for FOC control, it reads the DQ currents of the motor + * It uses the function getPhaseCurrents internally + * + * @param angle_el - motor electrical angle + */ + DQCurrent_s getFOCCurrents(float angle_el); + + /** + * Function used for Clarke transform in FOC control + * It reads the phase currents of the motor + * It returns the alpha and beta currents + * + * @param current - phase current + */ + ABCurrent_s getABCurrents(PhaseCurrent_s current); + + /** + * Function used for Park transform in FOC control + * It reads the Alpha Beta currents and electrical angle of the motor + * It returns the D and Q currents + * + * @param current - phase current + */ + DQCurrent_s getDQCurrents(ABCurrent_s current,float angle_el); + + /** + * enable the current sense. default implementation does nothing, but you can + * override it to do something useful. + */ + virtual void enable(); + + /** + * disable the current sense. default implementation does nothing, but you can + * override it to do something useful. + */ + virtual void disable(); + + /** + * Function used to align the current sense with the BLDC motor driver + */ + int alignBLDCDriver(float align_voltage, BLDCDriver* driver, bool modulation_centered); + /** + * Function used to align the current sense with the Stepper motor driver + */ + int alignStepperDriver(float align_voltage, StepperDriver* driver, bool modulation_centered); + /** + * Function used to read the average current values over N samples + */ + PhaseCurrent_s readAverageCurrents(int N=100); + +}; + +#endif \ No newline at end of file diff --git a/src/common/base_classes/FOCDriver.h b/src/common/base_classes/FOCDriver.h new file mode 100644 index 00000000..944251a4 --- /dev/null +++ b/src/common/base_classes/FOCDriver.h @@ -0,0 +1,47 @@ +#ifndef FOCDRIVER_H +#define FOCDRIVER_H + +#include "Arduino.h" + + +enum PhaseState : uint8_t { + PHASE_OFF = 0, // both sides of the phase are off + PHASE_ON = 1, // both sides of the phase are driven with PWM, dead time is applied in 6-PWM mode + PHASE_HI = 2, // only the high side of the phase is driven with PWM (6-PWM mode only) + PHASE_LO = 3, // only the low side of the phase is driven with PWM (6-PWM mode only) +}; + + +enum DriverType{ + Unknown=0, + BLDC=1, + Stepper=2 +}; + +/** + * FOC driver class + */ +class FOCDriver{ + public: + + /** Initialise hardware */ + virtual int init() = 0; + /** Enable hardware */ + virtual void enable() = 0; + /** Disable hardware */ + virtual void disable() = 0; + + long pwm_frequency; //!< pwm frequency value in hertz + float voltage_power_supply; //!< power supply voltage + float voltage_limit; //!< limiting voltage set to the motor + + bool initialized = false; //!< true if driver was successfully initialized + void* params = 0; //!< pointer to hardware specific parameters of driver + + bool enable_active_high = true; //!< enable pin should be set to high to enable the driver (default is HIGH) + + /** get the driver type*/ + virtual DriverType type() = 0; +}; + +#endif diff --git a/src/common/base_classes/FOCMotor.cpp b/src/common/base_classes/FOCMotor.cpp new file mode 100644 index 00000000..5d8f8127 --- /dev/null +++ b/src/common/base_classes/FOCMotor.cpp @@ -0,0 +1,159 @@ +#include "FOCMotor.h" +#include "../../communication/SimpleFOCDebug.h" + +/** + * Default constructor - setting all variabels to default values + */ +FOCMotor::FOCMotor() +{ + // maximum angular velocity to be used for positioning + velocity_limit = DEF_VEL_LIM; + // maximum voltage to be set to the motor + voltage_limit = DEF_POWER_SUPPLY; + // not set on the begining + current_limit = DEF_CURRENT_LIM; + + // index search velocity + velocity_index_search = DEF_INDEX_SEARCH_TARGET_VELOCITY; + // sensor and motor align voltage + voltage_sensor_align = DEF_VOLTAGE_SENSOR_ALIGN; + + // default modulation is SinePWM + foc_modulation = FOCModulationType::SinePWM; + + // default target value + target = 0; + voltage.d = 0; + voltage.q = 0; + // current target values + current_sp = 0; + current.q = 0; + current.d = 0; + + // voltage bemf + voltage_bemf = 0; + + // Initialize phase voltages U alpha and U beta used for inverse Park and Clarke transform + Ualpha = 0; + Ubeta = 0; + + //monitor_port + monitor_port = nullptr; + //sensor + sensor_offset = 0.0f; + sensor = nullptr; + //current sensor + current_sense = nullptr; +} + + +/** + Sensor linking method +*/ +void FOCMotor::linkSensor(Sensor* _sensor) { + sensor = _sensor; +} + +/** + CurrentSense linking method +*/ +void FOCMotor::linkCurrentSense(CurrentSense* _current_sense) { + current_sense = _current_sense; +} + +// shaft angle calculation +float FOCMotor::shaftAngle() { + // if no sensor linked return previous value ( for open loop ) + if(!sensor) return shaft_angle; + return sensor_direction*LPF_angle(sensor->getAngle()) - sensor_offset; +} +// shaft velocity calculation +float FOCMotor::shaftVelocity() { + // if no sensor linked return previous value ( for open loop ) + if(!sensor) return shaft_velocity; + return sensor_direction*LPF_velocity(sensor->getVelocity()); +} + +float FOCMotor::electricalAngle(){ + // if no sensor linked return previous value ( for open loop ) + if(!sensor) return electrical_angle; + return _normalizeAngle( (float)(sensor_direction * pole_pairs) * sensor->getMechanicalAngle() - zero_electric_angle ); +} + +/** + * Monitoring functions + */ +// function implementing the monitor_port setter +void FOCMotor::useMonitoring(Print &print){ + monitor_port = &print; //operate on the address of print + #ifndef SIMPLEFOC_DISABLE_DEBUG + SimpleFOCDebug::enable(&print); + SIMPLEFOC_DEBUG("MOT: Monitor enabled!"); + #endif +} + +// utility function intended to be used with serial plotter to monitor motor variables +// significantly slowing the execution down!!!! +void FOCMotor::monitor() { + if( !monitor_downsample || monitor_cnt++ < (monitor_downsample-1) ) return; + monitor_cnt = 0; + if(!monitor_port) return; + bool printed = 0; + + if(monitor_variables & _MON_TARGET){ + if(!printed && monitor_start_char) monitor_port->print(monitor_start_char); + monitor_port->print(target,monitor_decimals); + printed= true; + } + if(monitor_variables & _MON_VOLT_Q) { + if(!printed && monitor_start_char) monitor_port->print(monitor_start_char); + else if(printed) monitor_port->print(monitor_separator); + monitor_port->print(voltage.q,monitor_decimals); + printed= true; + } + if(monitor_variables & _MON_VOLT_D) { + if(!printed && monitor_start_char) monitor_port->print(monitor_start_char); + else if(printed) monitor_port->print(monitor_separator); + monitor_port->print(voltage.d,monitor_decimals); + printed= true; + } + // read currents if possible - even in voltage mode (if current_sense available) + if(monitor_variables & _MON_CURR_Q || monitor_variables & _MON_CURR_D) { + DQCurrent_s c = current; + if( current_sense && torque_controller != TorqueControlType::foc_current ){ + c = current_sense->getFOCCurrents(electrical_angle); + c.q = LPF_current_q(c.q); + c.d = LPF_current_d(c.d); + } + if(monitor_variables & _MON_CURR_Q) { + if(!printed && monitor_start_char) monitor_port->print(monitor_start_char); + else if(printed) monitor_port->print(monitor_separator); + monitor_port->print(c.q*1000, monitor_decimals); // mAmps + printed= true; + } + if(monitor_variables & _MON_CURR_D) { + if(!printed && monitor_start_char) monitor_port->print(monitor_start_char); + else if(printed) monitor_port->print(monitor_separator); + monitor_port->print(c.d*1000, monitor_decimals); // mAmps + printed= true; + } + } + + if(monitor_variables & _MON_VEL) { + if(!printed && monitor_start_char) monitor_port->print(monitor_start_char); + else if(printed) monitor_port->print(monitor_separator); + monitor_port->print(shaft_velocity,monitor_decimals); + printed= true; + } + if(monitor_variables & _MON_ANGLE) { + if(!printed && monitor_start_char) monitor_port->print(monitor_start_char); + else if(printed) monitor_port->print(monitor_separator); + monitor_port->print(shaft_angle,monitor_decimals); + printed= true; + } + if(printed){ + if(monitor_end_char) monitor_port->println(monitor_end_char); + else monitor_port->println(""); + } +} + diff --git a/src/common/base_classes/FOCMotor.h b/src/common/base_classes/FOCMotor.h new file mode 100644 index 00000000..8ae0e8af --- /dev/null +++ b/src/common/base_classes/FOCMotor.h @@ -0,0 +1,254 @@ +#ifndef FOCMOTOR_H +#define FOCMOTOR_H + +#include "Arduino.h" +#include "Sensor.h" +#include "CurrentSense.h" + +#include "../time_utils.h" +#include "../foc_utils.h" +#include "../defaults.h" +#include "../pid.h" +#include "../lowpass_filter.h" + + +// monitoring bitmap +#define _MON_TARGET 0b1000000 // monitor target value +#define _MON_VOLT_Q 0b0100000 // monitor voltage q value +#define _MON_VOLT_D 0b0010000 // monitor voltage d value +#define _MON_CURR_Q 0b0001000 // monitor current q value - if measured +#define _MON_CURR_D 0b0000100 // monitor current d value - if measured +#define _MON_VEL 0b0000010 // monitor velocity value +#define _MON_ANGLE 0b0000001 // monitor angle value + +/** + * Motiron control type + */ +enum MotionControlType : uint8_t { + torque = 0x00, //!< Torque control + velocity = 0x01, //!< Velocity motion control + angle = 0x02, //!< Position/angle motion control + velocity_openloop = 0x03, + angle_openloop = 0x04 +}; + +/** + * Motiron control type + */ +enum TorqueControlType : uint8_t { + voltage = 0x00, //!< Torque control using voltage + dc_current = 0x01, //!< Torque control using DC current (one current magnitude) + foc_current = 0x02, //!< torque control using dq currents +}; + +/** + * FOC modulation type + */ +enum FOCModulationType : uint8_t { + SinePWM = 0x00, //!< Sinusoidal PWM modulation + SpaceVectorPWM = 0x01, //!< Space vector modulation method + Trapezoid_120 = 0x02, + Trapezoid_150 = 0x03, +}; + + + +enum FOCMotorStatus : uint8_t { + motor_uninitialized = 0x00, //!< Motor is not yet initialized + motor_initializing = 0x01, //!< Motor intiialization is in progress + motor_uncalibrated = 0x02, //!< Motor is initialized, but not calibrated (open loop possible) + motor_calibrating = 0x03, //!< Motor calibration in progress + motor_ready = 0x04, //!< Motor is initialized and calibrated (closed loop possible) + motor_error = 0x08, //!< Motor is in error state (recoverable, e.g. overcurrent protection active) + motor_calib_failed = 0x0E, //!< Motor calibration failed (possibly recoverable) + motor_init_failed = 0x0F, //!< Motor initialization failed (not recoverable) +}; + + + +/** + Generic motor class +*/ +class FOCMotor +{ + public: + /** + * Default constructor - setting all variabels to default values + */ + FOCMotor(); + + /** Motor hardware init function */ + virtual int init()=0; + /** Motor disable function */ + virtual void disable()=0; + /** Motor enable function */ + virtual void enable()=0; + + /** + * Function linking a motor and a sensor + * + * @param sensor Sensor class wrapper for the FOC algorihtm to read the motor angle and velocity + */ + void linkSensor(Sensor* sensor); + + /** + * Function linking a motor and current sensing + * + * @param current_sense CurrentSense class wrapper for the FOC algorihtm to read the motor current measurements + */ + void linkCurrentSense(CurrentSense* current_sense); + + + /** + * Function initializing FOC algorithm + * and aligning sensor's and motors' zero position + * + * - If zero_electric_offset parameter is set the alignment procedure is skipped + */ + virtual int initFOC()=0; + /** + * Function running FOC algorithm in real-time + * it calculates the gets motor angle and sets the appropriate voltages + * to the phase pwm signals + * - the faster you can run it the better Arduino UNO ~1ms, Bluepill ~ 100us + */ + virtual void loopFOC()=0; + /** + * Function executing the control loops set by the controller parameter of the BLDCMotor. + * + * @param target Either voltage, angle or velocity based on the motor.controller + * If it is not set the motor will use the target set in its variable motor.target + * + * This function doesn't need to be run upon each loop execution - depends of the use case + */ + virtual void move(float target = NOT_SET)=0; + + /** + * Method using FOC to set Uq to the motor at the optimal angle + * Heart of the FOC algorithm + * + * @param Uq Current voltage in q axis to set to the motor + * @param Ud Current voltage in d axis to set to the motor + * @param angle_el current electrical angle of the motor + */ + virtual void setPhaseVoltage(float Uq, float Ud, float angle_el)=0; + + // State calculation methods + /** Shaft angle calculation in radians [rad] */ + float shaftAngle(); + /** + * Shaft angle calculation function in radian per second [rad/s] + * It implements low pass filtering + */ + float shaftVelocity(); + + + + /** + * Electrical angle calculation + */ + float electricalAngle(); + + // state variables + float target; //!< current target value - depends of the controller + float feed_forward_velocity = 0.0f; //!< current feed forward velocity + float shaft_angle;//!< current motor angle + float electrical_angle;//!< current electrical angle + float shaft_velocity;//!< current motor velocity + float current_sp;//!< target current ( q current ) + float shaft_velocity_sp;//!< current target velocity + float shaft_angle_sp;//!< current target angle + DQVoltage_s voltage;//!< current d and q voltage set to the motor + DQCurrent_s current;//!< current d and q current measured + float voltage_bemf; //!< estimated backemf voltage (if provided KV constant) + float Ualpha, Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform + + + // motor configuration parameters + float voltage_sensor_align;//!< sensor and motor align voltage parameter + float velocity_index_search;//!< target velocity for index search + + // motor physical parameters + float phase_resistance; //!< motor phase resistance + int pole_pairs;//!< motor pole pairs number + float KV_rating; //!< motor KV rating + float phase_inductance; //!< motor phase inductance + + // limiting variables + float voltage_limit; //!< Voltage limiting variable - global limit + float current_limit; //!< Current limiting variable - global limit + float velocity_limit; //!< Velocity limiting variable - global limit + + // motor status vairables + int8_t enabled = 0;//!< enabled or disabled motor flag + FOCMotorStatus motor_status = FOCMotorStatus::motor_uninitialized; //!< motor status + + // pwm modulation related variables + FOCModulationType foc_modulation;//!< parameter determining modulation algorithm + int8_t modulation_centered = 1;//!< flag (1) centered modulation around driver limit /2 or (0) pulled to 0 + + + // configuration structures + TorqueControlType torque_controller; //!< parameter determining the torque control type + MotionControlType controller; //!< parameter determining the control loop to be used + + // controllers and low pass filters + PIDController PID_current_q{DEF_PID_CURR_P,DEF_PID_CURR_I,DEF_PID_CURR_D,DEF_PID_CURR_RAMP, DEF_POWER_SUPPLY};//!< parameter determining the q current PID config + PIDController PID_current_d{DEF_PID_CURR_P,DEF_PID_CURR_I,DEF_PID_CURR_D,DEF_PID_CURR_RAMP, DEF_POWER_SUPPLY};//!< parameter determining the d current PID config + LowPassFilter LPF_current_q{DEF_CURR_FILTER_Tf};//!< parameter determining the current Low pass filter configuration + LowPassFilter LPF_current_d{DEF_CURR_FILTER_Tf};//!< parameter determining the current Low pass filter configuration + PIDController PID_velocity{DEF_PID_VEL_P,DEF_PID_VEL_I,DEF_PID_VEL_D,DEF_PID_VEL_RAMP,DEF_PID_VEL_LIMIT};//!< parameter determining the velocity PID configuration + PIDController P_angle{DEF_P_ANGLE_P,0,0,0,DEF_VEL_LIM}; //!< parameter determining the position PID configuration + LowPassFilter LPF_velocity{DEF_VEL_FILTER_Tf};//!< parameter determining the velocity Low pass filter configuration + LowPassFilter LPF_angle{0.0};//!< parameter determining the angle low pass filter configuration + unsigned int motion_downsample = DEF_MOTION_DOWNSMAPLE; //!< parameter defining the ratio of downsampling for move commad + unsigned int motion_cnt = 0; //!< counting variable for downsampling for move commad + + // sensor related variabels + float sensor_offset; //!< user defined sensor zero offset + float zero_electric_angle = NOT_SET;//!< absolute zero electric angle - if available + Direction sensor_direction = Direction::UNKNOWN; //!< default is CW. if sensor_direction == Direction::CCW then direction will be flipped compared to CW. Set to UNKNOWN to set by calibration + bool pp_check_result = false; //!< the result of the PP check, if run during loopFOC + + /** + * Function providing BLDCMotor class with the + * Serial interface and enabling monitoring mode + * + * @param serial Monitoring Serial class reference + */ + void useMonitoring(Print &serial); + + /** + * Utility function intended to be used with serial plotter to monitor motor variables + * significantly slowing the execution down!!!! + */ + void monitor(); + unsigned int monitor_downsample = DEF_MON_DOWNSMAPLE; //!< show monitor outputs each monitor_downsample calls + char monitor_start_char = '\0'; //!< monitor starting character + char monitor_end_char = '\0'; //!< monitor outputs ending character + char monitor_separator = '\t'; //!< monitor outputs separation character + unsigned int monitor_decimals = 4; //!< monitor outputs decimal places + // initial monitoring will display target, voltage, velocity and angle + uint8_t monitor_variables = _MON_TARGET | _MON_VOLT_Q | _MON_VEL | _MON_ANGLE; //!< Bit array holding the map of variables the user wants to monitor + + /** + * Sensor link: + * - Encoder + * - MagneticSensor* + * - HallSensor + */ + Sensor* sensor; + /** + * CurrentSense link + */ + CurrentSense* current_sense; + + // monitoring functions + Print* monitor_port; //!< Serial terminal variable if provided + private: + // monitor counting variable + unsigned int monitor_cnt = 0 ; //!< counting variable +}; + + +#endif diff --git a/src/common/base_classes/Sensor.cpp b/src/common/base_classes/Sensor.cpp new file mode 100644 index 00000000..db17e92e --- /dev/null +++ b/src/common/base_classes/Sensor.cpp @@ -0,0 +1,80 @@ +#include "Sensor.h" +#include "../foc_utils.h" +#include "../time_utils.h" + + + +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 + if(abs(d_angle) > (0.8f*_2PI) ) full_rotations += ( d_angle > 0 ) ? -1 : 1; + angle_prev = val; +} + + + /** get current angular velocity (rad/s) */ +float Sensor::getVelocity() { + // calculate sample time + float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6f; + if (Ts < 0.0f) { // handle micros() overflow - we need to reset vel_angle_prev_ts + vel_angle_prev = angle_prev; + vel_full_rotations = full_rotations; + vel_angle_prev_ts = angle_prev_ts; + return velocity; + } + if (Ts < min_elapsed_time) return velocity; // don't update velocity if deltaT is too small + + velocity = ( (float)(full_rotations - vel_full_rotations)*_2PI + (angle_prev - vel_angle_prev) ) / Ts; + vel_angle_prev = angle_prev; + vel_full_rotations = full_rotations; + vel_angle_prev_ts = angle_prev_ts; + return velocity; +} + + + +void Sensor::init() { + // initialize all the internal variables of Sensor to ensure a "smooth" startup (without a 'jump' from zero) + getSensorAngle(); // call once + delayMicroseconds(1); + vel_angle_prev = getSensorAngle(); // call again + vel_angle_prev_ts = _micros(); + delay(1); + getSensorAngle(); // call once + delayMicroseconds(1); + angle_prev = getSensorAngle(); // call again + angle_prev_ts = _micros(); +} + + +float Sensor::getMechanicalAngle() { + return angle_prev; +} + + + +float Sensor::getAngle(){ + return (float)full_rotations * _2PI + angle_prev; +} + + + +double Sensor::getPreciseAngle() { + return (double)full_rotations * (double)_2PI + (double)angle_prev; +} + + + +int32_t Sensor::getFullRotations() { + return full_rotations; +} + + + +int Sensor::needsSearch() { + return 0; // default false +} diff --git a/src/common/base_classes/Sensor.h b/src/common/base_classes/Sensor.h new file mode 100644 index 00000000..c77eb911 --- /dev/null +++ b/src/common/base_classes/Sensor.h @@ -0,0 +1,139 @@ +#ifndef SENSOR_H +#define SENSOR_H + +#include + +/** + * Direction structure + */ +enum Direction : int8_t { + CW = 1, // clockwise + CCW = -1, // counter clockwise + UNKNOWN = 0 // not yet known or invalid state +}; + + +/** + * Pullup configuration structure + */ +enum Pullup : uint8_t { + USE_INTERN = 0x00, //!< Use internal pullups + USE_EXTERN = 0x01 //!< Use external pullups +}; + +/** + * Sensor abstract class defintion + * + * This class is purposefully kept simple, as a base for all kinds of sensors. Currently we have + * Encoders, Magnetic Encoders and Hall Sensor implementations. This base class extracts the + * most basic common features so that a FOC driver can obtain the data it needs for operation. + * + * To implement your own sensors, create a sub-class of this class, and implement the getSensorAngle() + * method. getSensorAngle() returns a float value, in radians, representing the current shaft angle in the + * range 0 to 2*PI (one full turn). + * + * To function correctly, the sensor class update() method has to be called sufficiently quickly. Normally, + * the BLDCMotor's loopFOC() function calls it once per iteration, so you must ensure to call loopFOC() quickly + * enough, both for correct motor and sensor operation. + * + * The Sensor base class provides an implementation of getVelocity(), and takes care of counting full + * revolutions in a precise way, but if you wish you can additionally override these methods to provide more + * optimal implementations for your hardware. + * + */ +class Sensor{ + friend class SmoothingSensor; + public: + /** + * Get mechanical shaft angle in the range 0 to 2PI. This value will be as precise as possible with + * the hardware. Base implementation uses the values returned by update() so that + * the same values are returned until update() is called again. + */ + virtual float getMechanicalAngle(); + + /** + * Get current position (in rad) including full rotations and shaft angle. + * Base implementation uses the values returned by update() so that the same + * values are returned until update() is called again. + * Note that this value has limited precision as the number of rotations increases, + * because the limited precision of float can't capture the large angle of the full + * rotations and the small angle of the shaft angle at the same time. + */ + virtual float getAngle(); + + /** + * On architectures supporting it, this will return a double precision position value, + * which should have improved precision for large position values. + * Base implementation uses the values returned by update() so that the same + * values are returned until update() is called again. + */ + virtual double getPreciseAngle(); + + /** + * Get current angular velocity (rad/s) + * Can be overridden in subclasses. Base implementation uses the values + * returned by update() so that it only makes sense to call this if update() + * has been called in the meantime. + */ + virtual float getVelocity(); + + /** + * Get the number of full rotations + * Base implementation uses the values returned by update() so that the same + * values are returned until update() is called again. + */ + virtual int32_t getFullRotations(); + + /** + * Updates the sensor values by reading the hardware sensor. + * Some implementations may work with interrupts, and not need this. + * The base implementation calls getSensorAngle(), and updates internal + * fields for angle, timestamp and full rotations. + * This method must be called frequently enough to guarantee that full + * rotations are not "missed" due to infrequent polling. + * Override in subclasses if alternative behaviours are required for your + * sensor hardware. + */ + virtual void update(); + + /** + * returns 0 if it does need search for absolute zero + * 0 - magnetic sensor (& encoder with index which is found) + * 1 - ecoder with index (with index not found yet) + */ + virtual int needsSearch(); + + /** + * Minimum time between updates to velocity. If time elapsed is lower than this, the velocity is not updated. + */ + float min_elapsed_time = 0.000100; // default is 100 microseconds, or 10kHz + + protected: + /** + * Get current shaft angle from the sensor hardware, and + * return it as a float in radians, in the range 0 to 2PI. + * + * This method is pure virtual and must be implemented in subclasses. + * Calling this method directly does not update the base-class internal fields. + * Use update() when calling from outside code. + */ + virtual float getSensorAngle()=0; + /** + * Call Sensor::init() from your sensor subclass's init method if you want smoother startup + * The base class init() method calls getSensorAngle() several times to initialize the internal fields + * to current values, ensuring there is no discontinuity ("jump from zero") during the first calls + * to sensor.getAngle() and sensor.getVelocity() + */ + virtual void init(); + + // velocity calculation variables + float velocity=0.0f; + float angle_prev=0.0f; // result of last call to getSensorAngle(), used for full rotations and velocity + long angle_prev_ts=0; // timestamp of last call to getAngle, used for velocity + float vel_angle_prev=0.0f; // angle at last call to getVelocity, used for velocity + long vel_angle_prev_ts=0; // last velocity calculation timestamp + int32_t full_rotations=0; // full rotation tracking + int32_t vel_full_rotations=0; // previous full rotation value for velocity calculation +}; + +#endif diff --git a/src/common/base_classes/StepperDriver.h b/src/common/base_classes/StepperDriver.h new file mode 100644 index 00000000..9864b235 --- /dev/null +++ b/src/common/base_classes/StepperDriver.h @@ -0,0 +1,30 @@ +#ifndef STEPPERDRIVER_H +#define STEPPERDRIVER_H + +#include "Arduino.h" +#include "FOCDriver.h" + +class StepperDriver: public FOCDriver{ + public: + + /** + * Set phase voltages to the hardware + * + * @param Ua phase A voltage + * @param Ub phase B voltage + */ + virtual void setPwm(float Ua, float Ub) = 0; + + /** + * Set phase state, enable/disable + * + * @param sc - phase A state : active / disabled ( high impedance ) + * @param sb - phase B state : active / disabled ( high impedance ) + */ + virtual void setPhaseState(PhaseState sa, PhaseState sb) = 0; + + /** driver type getter function */ + virtual DriverType type() override { return DriverType::Stepper; } ; +}; + +#endif \ No newline at end of file diff --git a/src/common/defaults.h b/src/common/defaults.h index 7448af04..ac57daa1 100644 --- a/src/common/defaults.h +++ b/src/common/defaults.h @@ -1,18 +1,49 @@ // default configuration values // change this file to optimal values for your application -#define DEF_POWER_SUPPLY 12.0 //!< default power supply voltage +#define DEF_POWER_SUPPLY 12.0f //!< default power supply voltage // velocity PI controller params -#define DEF_PID_VEL_P 0.5 //!< default PID controller P value -#define DEF_PID_VEL_I 10.0 //!< default PID controller I value -#define DEF_PID_VEL_D 0.0 //!< default PID controller D value -#define DEF_PID_VEL_U_RAMP 1000.0 //!< default PID controller voltage ramp value +#define DEF_PID_VEL_P 0.5f //!< default PID controller P value +#define DEF_PID_VEL_I 10.0f //!< default PID controller I value +#define DEF_PID_VEL_D 0.0f //!< default PID controller D value +#define DEF_PID_VEL_RAMP 1000.0f //!< default PID controller voltage ramp value +#define DEF_PID_VEL_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit + +// current sensing PID values +#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__) +// for 16Mhz controllers like Arduino uno and mega +#define DEF_PID_CURR_P 2 //!< default PID controller P value +#define DEF_PID_CURR_I 100 //!< default PID controller I value +#define DEF_PID_CURR_D 0.0f //!< default PID controller D value +#define DEF_PID_CURR_RAMP 1000.0f //!< default PID controller voltage ramp value +#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit +#define DEF_CURR_FILTER_Tf 0.01f //!< default velocity filter time constant +#else +// for stm32, due, teensy, esp32 and similar +#define DEF_PID_CURR_P 3 //!< default PID controller P value +#define DEF_PID_CURR_I 300.0f //!< default PID controller I value +#define DEF_PID_CURR_D 0.0f //!< default PID controller D value +#define DEF_PID_CURR_RAMP 0 //!< default PID controller voltage ramp value +#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit +#define DEF_CURR_FILTER_Tf 0.005f //!< default currnet filter time constant +#endif +// default current limit values +#define DEF_CURRENT_LIM 2.0f //!< 2Amps current limit by default + +// default monitor downsample +#define DEF_MON_DOWNSMAPLE 100 //!< default monitor downsample +#define DEF_MOTION_DOWNSMAPLE 0 //!< default motion downsample - disable + // angle P params -#define DEF_P_ANGLE_P 20.0 //!< default P controller P value -#define DEF_VEL_LIM 20.0 //!< angle velocity limit default -// index search -#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0 //!< default index search velocity +#define DEF_P_ANGLE_P 20.0f //!< default P controller P value +#define DEF_VEL_LIM 20.0f //!< angle velocity limit default + +// index search +#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0f //!< default index search velocity // align voltage -#define DEF_VOLTAGE_SENSOR_ALIGN 6.0 //!< default voltage for sensor and motor zero alignemt +#define DEF_VOLTAGE_SENSOR_ALIGN 3.0f //!< default voltage for sensor and motor zero alignemt // low pass filter velocity -#define DEF_VEL_FILTER_Tf 0.005 //!< default velocity filter time constant \ No newline at end of file +#define DEF_VEL_FILTER_Tf 0.005f //!< default velocity filter time constant + +// current sense default parameters +#define DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf 0.0f //!< default currnet sense per phase low pass filter time constant diff --git a/src/common/foc_utils.cpp b/src/common/foc_utils.cpp index dfc867a0..7ae372f7 100644 --- a/src/common/foc_utils.cpp +++ b/src/common/foc_utils.cpp @@ -1,33 +1,31 @@ #include "foc_utils.h" -// int array instead of float array -// 2x storage save (int 2Byte float 4 Byte ) -// sin*10000 -int sine_array[200] = {0,79,158,237,316,395,473,552,631,710,789,867,946,1024,1103,1181,1260,1338,1416,1494,1572,1650,1728,1806,1883,1961,2038,2115,2192,2269,2346,2423,2499,2575,2652,2728,2804,2879,2955,3030,3105,3180,3255,3329,3404,3478,3552,3625,3699,3772,3845,3918,3990,4063,4135,4206,4278,4349,4420,4491,4561,4631,4701,4770,4840,4909,4977,5046,5113,5181,5249,5316,5382,5449,5515,5580,5646,5711,5775,5839,5903,5967,6030,6093,6155,6217,6279,6340,6401,6461,6521,6581,6640,6699,6758,6815,6873,6930,6987,7043,7099,7154,7209,7264,7318,7371,7424,7477,7529,7581,7632,7683,7733,7783,7832,7881,7930,7977,8025,8072,8118,8164,8209,8254,8298,8342,8385,8428,8470,8512,8553,8594,8634,8673,8712,8751,8789,8826,8863,8899,8935,8970,9005,9039,9072,9105,9138,9169,9201,9231,9261,9291,9320,9348,9376,9403,9429,9455,9481,9506,9530,9554,9577,9599,9621,9642,9663,9683,9702,9721,9739,9757,9774,9790,9806,9821,9836,9850,9863,9876,9888,9899,9910,9920,9930,9939,9947,9955,9962,9969,9975,9980,9985,9989,9992,9995,9997,9999,10000,10000}; // function approximating the sine calculation by using fixed size array -// ~40us (float array) -// ~50us (int array) -// precision +-0.005 -// it has to receive an angle in between 0 and 2PI -float _sin(float a){ - if(a < _PI_2){ - //return sine_array[(int)(199.0*( a / (_PI/2.0)))]; - //return sine_array[(int)(126.6873* a)]; // float array optimized - return 0.0001*sine_array[_round(126.6873* a)]; // int array optimized - }else if(a < _PI){ - // return sine_array[(int)(199.0*(1.0 - (a-_PI/2.0) / (_PI/2.0)))]; - //return sine_array[398 - (int)(126.6873*a)]; // float array optimized - return 0.0001*sine_array[398 - _round(126.6873*a)]; // int array optimized - }else if(a < _3PI_2){ - // return -sine_array[(int)(199.0*((a - _PI) / (_PI/2.0)))]; - //return -sine_array[-398 + (int)(126.6873*a)]; // float array optimized - return -0.0001*sine_array[-398 + _round(126.6873*a)]; // int array optimized - } else { - // return -sine_array[(int)(199.0*(1.0 - (a - 3*_PI/2) / (_PI/2.0)))]; - //return -sine_array[796 - (int)(126.6873*a)]; // float array optimized - return -0.0001*sine_array[796 - _round(126.6873*a)]; // int array optimized +// uses a 65 element lookup table and interpolation +// thanks to @dekutree for his work on optimizing this +__attribute__((weak)) float _sin(float a){ + // 16bit integer array for sine lookup. interpolation is used for better precision + // 16 bit precision on sine value, 8 bit fractional value for interpolation, 6bit LUT size + // resulting precision compared to stdlib sine is 0.00006480 (RMS difference in range -PI,PI for 3217 steps) + static uint16_t sine_array[65] = {0,804,1608,2411,3212,4011,4808,5602,6393,7180,7962,8740,9512,10279,11039,11793,12540,13279,14010,14733,15447,16151,16846,17531,18205,18868,19520,20160,20788,21403,22006,22595,23170,23732,24279,24812,25330,25833,26320,26791,27246,27684,28106,28511,28899,29269,29622,29957,30274,30572,30853,31114,31357,31581,31786,31972,32138,32286,32413,32522,32610,32679,32729,32758,32768}; + int32_t t1, t2; + unsigned int i = (unsigned int)(a * (64*4*256.0f/_2PI)); + int frac = i & 0xff; + i = (i >> 8) & 0xff; + if (i < 64) { + t1 = (int32_t)sine_array[i]; t2 = (int32_t)sine_array[i+1]; + } + else if(i < 128) { + t1 = (int32_t)sine_array[128 - i]; t2 = (int32_t)sine_array[127 - i]; + } + else if(i < 192) { + t1 = -(int32_t)sine_array[-128 + i]; t2 = -(int32_t)sine_array[-127 + i]; } + else { + t1 = -(int32_t)sine_array[256 - i]; t2 = -(int32_t)sine_array[255 - i]; + } + return (1.0f/32768.0f) * (t1 + (((t2 - t1) * frac) >> 8)); } // function approximating cosine calculation by using fixed size array @@ -35,15 +33,48 @@ float _sin(float a){ // ~56us (int array) // precision +-0.005 // it has to receive an angle in between 0 and 2PI -float _cos(float a){ +__attribute__((weak)) float _cos(float a){ float a_sin = a + _PI_2; a_sin = a_sin > _2PI ? a_sin - _2PI : a_sin; return _sin(a_sin); } +__attribute__((weak)) void _sincos(float a, float* s, float* c){ + *s = _sin(a); + *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] -float _normalizeAngle(float angle){ +__attribute__((weak)) float _normalizeAngle(float angle){ float a = fmod(angle, _2PI); return a >= 0 ? a : (a + _2PI); } @@ -51,4 +82,16 @@ float _normalizeAngle(float angle){ // Electrical angle calculation float _electricalAngle(float shaft_angle, int pole_pairs) { return (shaft_angle * pole_pairs); -} \ No newline at end of file +} + +// square root approximation function using +// 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 + 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 5ab34f42..2094ab26 100644 --- a/src/common/foc_utils.h +++ b/src/common/foc_utils.h @@ -5,51 +5,115 @@ // sign function #define _sign(a) ( ( (a) < 0 ) ? -1 : ( (a) > 0 ) ) -#define _round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) +#ifndef _round +#define _round(x) ((x)>=0?(long)((x)+0.5f):(long)((x)-0.5f)) +#endif +#define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) +#define _sqrt(a) (_sqrtApprox(a)) +#define _isset(a) ( (a) != (NOT_SET) ) +#define _UNUSED(v) (void) (v) +#define _powtwo(x) (1 << (x)) + +#define _swap(a, b) { auto temp = a; a = b; b = temp; } // utility defines -#define _2_SQRT3 1.15470053838 -#define _SQRT3 1.73205080757 -#define _1_SQRT3 0.57735026919 -#define _SQRT3_2 0.86602540378 -#define _SQRT2 1.41421356237 -#define _120_D2R 2.09439510239 -#define _PI 3.14159265359 -#define _PI_2 1.57079632679 -#define _PI_3 1.0471975512 -#define _2PI 6.28318530718 -#define _3PI_2 4.71238898038 +#define _2_SQRT3 1.15470053838f +#define _SQRT3 1.73205080757f +#define _1_SQRT3 0.57735026919f +#define _SQRT3_2 0.86602540378f +#define _SQRT2 1.41421356237f +#define _120_D2R 2.09439510239f +#define _PI 3.14159265359f +#define _PI_2 1.57079632679f +#define _PI_3 1.0471975512f +#define _2PI 6.28318530718f +#define _3PI_2 4.71238898038f +#define _PI_6 0.52359877559f +#define _RPM_TO_RADS 0.10471975512f + +#define NOT_SET -12345.0f +#define _HIGH_IMPEDANCE 0 +#define _HIGH_Z _HIGH_IMPEDANCE +#define _ACTIVE 1 +#define _NC ((int) NOT_SET) + +#define MIN_ANGLE_DETECT_MOVEMENT (_2PI/101.0f) +// dq current structure +struct DQCurrent_s +{ + float d; + float q; +}; +// phase current structure +struct PhaseCurrent_s +{ + float a; + float b; + float c; +}; +// dq voltage structs +struct DQVoltage_s +{ + float d; + float q; +}; +// alpha beta current structure +struct ABCurrent_s +{ + float alpha; + float beta; +}; -#define NOT_SET -12345.0 /** * Function approximating the sine calculation by using fixed size array * - execution time ~40us (Arduino UNO) - * + * * @param a angle in between 0 and 2PI */ float _sin(float a); /** * Function approximating cosine calculation by using fixed size array * - execution time ~50us (Arduino UNO) - * + * * @param a angle in between 0 and 2PI */ float _cos(float a); +/** + * Function returning both sine and cosine of the angle in one call. + * Internally it uses the _sin and _cos functions, but you may wish to + * provide your own implementation which is more optimized. + */ +void _sincos(float a, float* s, float* c); + +/** + * Function approximating atan2 + * + */ +float _atan2(float y, float x); -/** - * normalizing radian angle to [0,2PI] +/** + * normalizing radian angle to [0,2PI] * @param angle - angle to be normalized - */ + */ float _normalizeAngle(float angle); - -/** - * Electrical angle calculation + +/** + * Electrical angle calculation * * @param shaft_angle - shaft angle of the motor * @param pole_pairs - number of pole pairs */ float _electricalAngle(float shaft_angle, int pole_pairs); + +/** + * Function approximating square root function + * - using fast inverse square root + * + * @param value - number + */ +float _sqrtApprox(float value); + #endif \ No newline at end of file diff --git a/src/common/hardware_utils.cpp b/src/common/hardware_utils.cpp deleted file mode 100644 index 43e2af6b..00000000 --- a/src/common/hardware_utils.cpp +++ /dev/null @@ -1,284 +0,0 @@ -#include "hardware_utils.h" - -#if defined(ESP_H) // if ESP32 board -// empty motor slot -#define _EMPTY_SLOT -20 - -// structure containing motor slot configuration -// this library supports up to 4 motors -typedef struct { - int pinA; - mcpwm_dev_t* mcpwm_num; - mcpwm_unit_t mcpwm_unit; - mcpwm_operator_t mcpwm_operator; - mcpwm_io_signals_t mcpwm_a; - mcpwm_io_signals_t mcpwm_b; - mcpwm_io_signals_t mcpwm_c; -} bldc_motor_slots_t; -typedef struct { - int pin1A; - mcpwm_dev_t* mcpwm_num; - mcpwm_unit_t mcpwm_unit; - mcpwm_operator_t mcpwm_operator1; - mcpwm_operator_t mcpwm_operator2; - mcpwm_io_signals_t mcpwm_1a; - mcpwm_io_signals_t mcpwm_1b; - mcpwm_io_signals_t mcpwm_2a; - mcpwm_io_signals_t mcpwm_2b; -} stepper_motor_slots_t; - -// define bldc motor slots array -bldc_motor_slots_t esp32_bldc_motor_slots[4] = { - {_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM0A, MCPWM1A, MCPWM2A}, // 1st motor will be MCPWM0 channel A - {_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_B, MCPWM0B, MCPWM1B, MCPWM2B}, // 2nd motor will be MCPWM0 channel B - {_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_1, MCPWM_OPR_A, MCPWM0A, MCPWM1A, MCPWM2A}, // 3rd motor will be MCPWM1 channel A - {_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_1, MCPWM_OPR_B, MCPWM0B, MCPWM1B, MCPWM2B} // 4th motor will be MCPWM1 channel B - }; - -// define stepper motor slots array -stepper_motor_slots_t esp32_stepper_motor_slots[2] = { - {_EMPTY_SLOT, &MCPWM1, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM0B, MCPWM1B}, // 1st motor will be on MCPWM1 - {_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM_OPR_B, MCPWM0A, MCPWM1A, MCPWM0B, MCPWM1B}, // 1st motor will be on MCPWM0 - }; - -// configuring high frequency pwm timer -// https://hackaday.io/project/169905-esp-32-bldc-robot-actuator-controller -void _configureTimerFrequency(long pwm_frequency, mcpwm_dev_t* mcpwm_num, mcpwm_unit_t mcpwm_unit){ - - mcpwm_config_t pwm_config; - pwm_config.frequency = pwm_frequency; //frequency - pwm_config.cmpr_a = 0; //duty cycle of PWMxA = 50.0% - pwm_config.cmpr_b = 0; //duty cycle of PWMxB = 50.0% - pwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // Up-down counter (triangle wave) - pwm_config.duty_mode = MCPWM_DUTY_MODE_0; // Active HIGH - mcpwm_init(mcpwm_unit, MCPWM_TIMER_0, &pwm_config); //Configure PWM0A & PWM0B with above settings - mcpwm_init(mcpwm_unit, MCPWM_TIMER_1, &pwm_config); //Configure PWM0A & PWM0B with above settings - mcpwm_init(mcpwm_unit, MCPWM_TIMER_2, &pwm_config); //Configure PWM0A & PWM0B with above settings - - _delay(100); - - mcpwm_stop(mcpwm_unit, MCPWM_TIMER_0); - mcpwm_stop(mcpwm_unit, MCPWM_TIMER_1); - mcpwm_stop(mcpwm_unit, MCPWM_TIMER_2); - mcpwm_num->clk_cfg.prescale = 0; - - mcpwm_num->timer[0].period.prescale = 4; - mcpwm_num->timer[1].period.prescale = 4; - mcpwm_num->timer[2].period.prescale = 4; - _delay(1); - mcpwm_num->timer[0].period.period = 2048; - mcpwm_num->timer[1].period.period = 2048; - mcpwm_num->timer[2].period.period = 2048; - _delay(1); - mcpwm_num->timer[0].period.upmethod = 0; - mcpwm_num->timer[1].period.upmethod = 0; - mcpwm_num->timer[2].period.upmethod = 0; - _delay(1); - mcpwm_start(mcpwm_unit, MCPWM_TIMER_0); - mcpwm_start(mcpwm_unit, MCPWM_TIMER_1); - mcpwm_start(mcpwm_unit, MCPWM_TIMER_2); - - mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_0, MCPWM_SELECT_SYNC_INT0, 0); - mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_1, MCPWM_SELECT_SYNC_INT0, 0); - mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_2, MCPWM_SELECT_SYNC_INT0, 0); - _delay(1); - mcpwm_num->timer[0].sync.out_sel = 1; - _delay(1); - mcpwm_num->timer[0].sync.out_sel = 0; -} - -#elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) // if arduino uno and other ATmega328p chips -// set pwm frequency to 32KHz -void _pinHighFrequency(const int pin){ - // High PWM frequency - // https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-atmega328 - if (pin == 5 || pin == 6 ) { - TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode - TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 - } - if (pin == 9 || pin == 10 ) - TCCR1B = ((TCCR1B & 0b11111000) | 0x01); // set prescaler to 1 - if (pin == 3 || pin == 11) - TCCR2B = ((TCCR2B & 0b11111000) | 0x01);// set prescaler to 1 - -} -#elif defined(_STM32_DEF_) // if stm chips -// configure High PWM frequency -void _setHighFrequency(const long freq, const int pin){ - analogWrite(pin, 0); - analogWriteFrequency(freq); - analogWriteResolution(12); // resolution 12 bit 0 - 4096 -} -#elif defined(__arm__) && defined(CORE_TEENSY) //if teensy 3x / 4x / LC boards -// configure High PWM frequency -void _setHighFrequency(const long freq, const int pin){ - analogWrite(pin, 0); - analogWriteFrequency(pin, freq); -} -#endif - - -// function setting the high pwm frequency to the supplied pins -// - hardware speciffic -// supports Arudino/ATmega328, STM32 and ESP32 -void _setPwmFrequency(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) { -#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) // if arduino uno and other ATmega328p chips - // High PWM frequency - // - always max 32kHz - _pinHighFrequency(pinA); - _pinHighFrequency(pinB); - _pinHighFrequency(pinC); - if(pinD != NOT_SET) _pinHighFrequency(pinD); // stepper motor - -#elif defined(_STM32_DEF_) || (defined(__arm__) && defined(CORE_TEENSY)) //if stm32 or teensy 3x / 4x / LC boards - if(pwm_frequency == NOT_SET) pwm_frequency = 50000; // default frequency 50khz - else pwm_frequency = constrain(pwm_frequency, 0, 50000); // constrain to 50kHz max - _setHighFrequency(pwm_frequency, pinA); - _setHighFrequency(pwm_frequency, pinB); - _setHighFrequency(pwm_frequency, pinC); - if(pinD != NOT_SET) _setHighFrequency(pwm_frequency, pinD); // stepper motor - -#elif defined(ESP_H) // if esp32 boards - if(pwm_frequency == NOT_SET) pwm_frequency = 40000; // default frequency 20khz - centered pwm has twice lower frequency - else pwm_frequency = constrain(2*pwm_frequency, 0, 60000); // constrain to 30kHz max - centered pwm has twice lower frequency - - if(pinD == NOT_SET){ - bldc_motor_slots_t m_slot = {}; - - // determine which motor are we connecting - // and set the appropriate configuration parameters - for(int i = 0; i < 4; i++){ - if(esp32_bldc_motor_slots[i].pinA == _EMPTY_SLOT){ // put the new motor in the first empty slot - esp32_bldc_motor_slots[i].pinA = pinA; - m_slot = esp32_bldc_motor_slots[i]; - break; - } - } - - // configure pins - mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_a, pinA); - mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_b, pinB); - mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_c, pinC); - - // configure the timer - _configureTimerFrequency(pwm_frequency, m_slot.mcpwm_num, m_slot.mcpwm_unit); - - }else{ - stepper_motor_slots_t m_slot = {}; - // determine which motor are we connecting - // and set the appropriate configuration parameters - for(int i = 0; i < 2; i++){ - if(esp32_stepper_motor_slots[i].pin1A == _EMPTY_SLOT){ // put the new motor in the first empty slot - esp32_stepper_motor_slots[i].pin1A = pinA; - m_slot = esp32_stepper_motor_slots[i]; - break; - } - } - - // configure pins - mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_1a, pinA); - mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_1b, pinB); - mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_2a, pinC); - mcpwm_gpio_init(m_slot.mcpwm_unit, m_slot.mcpwm_2b, pinD); - - // configure the timer - _configureTimerFrequency(pwm_frequency, m_slot.mcpwm_num, m_slot.mcpwm_unit); - } -#endif -} - -// function setting the pwm duty cycle to the hardware -//- hardware speciffic -// -// Arduino and STM32 devices use analogWrite() -// ESP32 uses MCPWM -void _writeDutyCycle(float dc_a, float dc_b, float dc_c, int pinA, int pinB, int pinC){ -#if defined(ESP_H) // if ESP32 boards - // determine which motor slot is the motor connected to - for(int i = 0; i < 4; i++){ - if(esp32_bldc_motor_slots[i].pinA == pinA){ // if motor slot found - // se the PWM on the slot timers - // transform duty cycle from [0,1] to [0,2047] - esp32_bldc_motor_slots[i].mcpwm_num->channel[0].cmpr_value[esp32_bldc_motor_slots[i].mcpwm_operator].cmpr_val = dc_a*2047; - esp32_bldc_motor_slots[i].mcpwm_num->channel[1].cmpr_value[esp32_bldc_motor_slots[i].mcpwm_operator].cmpr_val = dc_b*2047; - esp32_bldc_motor_slots[i].mcpwm_num->channel[2].cmpr_value[esp32_bldc_motor_slots[i].mcpwm_operator].cmpr_val = dc_c*2047; - break; - } - } -#elif defined(_STM32_DEF_) // STM32 devices - // transform duty cycle from [0,1] to [0,4095] - analogWrite(pinA, 4095.0*dc_a); - analogWrite(pinB, 4095.0*dc_b); - analogWrite(pinC, 4095.0*dc_c); -#else // Arduino & Teensy - // transform duty cycle from [0,1] to [0,255] - analogWrite(pinA, 255*dc_a); - analogWrite(pinB, 255*dc_b); - analogWrite(pinC, 255*dc_c); -#endif -} - -// function setting the pwm duty cycle to the hardware -//- hardware speciffic -// -// Arduino and STM32 devices use analogWrite() -// ESP32 uses MCPWM -void _writeDutyCycle(float dc_1a, float dc_1b, float dc_2a, float dc_2b, int pin1A, int pin1B, int pin2A, int pin2B){ -#if defined(ESP_H) // if ESP32 boards - // determine which motor slot is the motor connected to - for(int i = 0; i < 2; i++){ - if(esp32_stepper_motor_slots[i].pin1A == pin1A){ // if motor slot found - // se the PWM on the slot timers - // transform duty cycle from [0,1] to [0,2047] - esp32_stepper_motor_slots[i].mcpwm_num->channel[0].cmpr_value[esp32_stepper_motor_slots[i].mcpwm_operator1].cmpr_val = dc_1a*2047; - esp32_stepper_motor_slots[i].mcpwm_num->channel[1].cmpr_value[esp32_stepper_motor_slots[i].mcpwm_operator1].cmpr_val = dc_1b*2047; - esp32_stepper_motor_slots[i].mcpwm_num->channel[0].cmpr_value[esp32_stepper_motor_slots[i].mcpwm_operator2].cmpr_val = dc_2a*2047; - esp32_stepper_motor_slots[i].mcpwm_num->channel[1].cmpr_value[esp32_stepper_motor_slots[i].mcpwm_operator2].cmpr_val = dc_2b*2047; - break; - } - } -#elif defined(_STM32_DEF_) // STM32 devices - // transform duty cycle from [0,1] to [0,4095] - analogWrite(pin1A, 4095.0*dc_1a); - analogWrite(pin1B, 4095.0*dc_1b); - analogWrite(pin2A, 4095.0*dc_2a); - analogWrite(pin2B, 4095.0*dc_2b); -#else // Arduino & Teensy - // transform duty cycle from [0,1] to [0,255] - analogWrite(pin1A, 255*dc_1a); - analogWrite(pin1B, 255*dc_1b); - analogWrite(pin2A, 255*dc_2a); - analogWrite(pin2B, 255*dc_2b); -#endif -} - - -// function buffering delay() -// arduino uno function doesn't work well with interrupts -void _delay(unsigned long ms){ -#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) - // if arduino uno and other atmega328p chips - // use while instad of delay, - // due to wrong measurement based on changed timer0 - unsigned long t = _micros() + ms*1000; - while( _micros() < t ){}; -#else - // regular micros - delay(ms); -#endif -} - - -// function buffering _micros() -// arduino function doesn't work well with interrupts -unsigned long _micros(){ -#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) -// if arduino uno and other atmega328p chips - //return the value based on the prescaler - if((TCCR0B & 0b00000111) == 0x01) return (micros()/32); - else return (micros()); -#else - // regular micros - return micros(); -#endif -} diff --git a/src/common/hardware_utils.h b/src/common/hardware_utils.h deleted file mode 100644 index f99c260a..00000000 --- a/src/common/hardware_utils.h +++ /dev/null @@ -1,72 +0,0 @@ -#ifndef HARDWARE_UTILS_H -#define HARDWARE_UTILS_H - -#include "Arduino.h" -#include "foc_utils.h" - - -#if defined(ESP_H) // if esp32 boards - -#include "driver/mcpwm.h" -#include "soc/mcpwm_reg.h" -#include "soc/mcpwm_struct.h" - -#endif - -/** - * High PWM frequency setting function - * - hardware specific - * - * @param pwm_frequency - frequency in hertz - if applicable - * @param pinA pinA bldc motor or pin1A stepper motor - * @param pinB pinB bldc motor or pin1B stepper motor - * @param pinC pinC bldc motor or pin2A stepper motor - * @param pinD pin2B stepper motor - */ -void _setPwmFrequency(long pwm_frequency, const int pinA, const int pinB, const int pinC, const int pinD = NOT_SET); - -/** - * Function setting the duty cycle to the pwm pin (ex. analogWrite()) - * hardware specific - * - * @param dc_a duty cycle phase A [0, 1] - * @param dc_b duty cycle phase B [0, 1] - * @param dc_c duty cycle phase C [0, 1] - * @param pinA phase A hardware pin number - * @param pinB phase B hardware pin number - * @param pinC phase C hardware pin number - */ -void _writeDutyCycle(float dc_a, float dc_b, float dc_c, int pinA, int pinB, int pinC); - -/** - * Function setting the duty cycle to the pwm pin (ex. analogWrite()) - * hardware specific - * - * @param dc_1a duty cycle phase 1A [0, 1] - * @param dc_1b duty cycle phase 1B [0, 1] - * @param dc_2a duty cycle phase 2A [0, 1] - * @param dc_2b duty cycle phase 2B [0, 1] - * @param pin1A phase 1A hardware pin number - * @param pin1B phase 1B hardware pin number - * @param pin2A phase 2A hardware pin number - * @param pin2B phase 2B hardware pin number - */ -void _writeDutyCycle(float dc_1a, float dc_1b, float dc_2a, float dc_2b, int pin1A, int pin1B, int pin2A, int pin2B); - -/** - * Function implementing delay() function in milliseconds - * - blocking function - * - hardware specific - - * @param ms number of milliseconds to wait - */ -void _delay(unsigned long ms); - -/** - * Function implementing timestamp getting function in microseconds - * hardware specific - */ -unsigned long _micros(); - - -#endif \ No newline at end of file diff --git a/src/common/lowpass_filter.cpp b/src/common/lowpass_filter.cpp index 9bf4ab7a..ffb15cfc 100644 --- a/src/common/lowpass_filter.cpp +++ b/src/common/lowpass_filter.cpp @@ -13,13 +13,16 @@ float LowPassFilter::operator() (float x) unsigned long timestamp = _micros(); float dt = (timestamp - timestamp_prev)*1e-6f; - if (dt < 0.0f || dt > 0.5f) - dt = 1e-3f; + if (dt < 0.0f ) dt = 1e-3f; + else if(dt > 0.3f) { + y_prev = x; + timestamp_prev = timestamp; + return x; + } float alpha = Tf/(Tf + dt); float y = alpha*y_prev + (1.0f - alpha)*x; - y_prev = y; timestamp_prev = timestamp; return y; -} \ No newline at end of file +} diff --git a/src/common/lowpass_filter.h b/src/common/lowpass_filter.h index 5a7619cf..1f24e80d 100644 --- a/src/common/lowpass_filter.h +++ b/src/common/lowpass_filter.h @@ -2,10 +2,9 @@ #define LOWPASS_FILTER_H -#include "hardware_utils.h" +#include "time_utils.h" #include "foc_utils.h" - /** * Low pass filter class */ diff --git a/src/common/pid.cpp b/src/common/pid.cpp index 277e17ce..da1bee13 100644 --- a/src/common/pid.cpp +++ b/src/common/pid.cpp @@ -6,31 +6,31 @@ PIDController::PIDController(float P, float I, float D, float ramp, float limit) , D(D) , output_ramp(ramp) // output derivative limit [volts/second] , limit(limit) // output supply limit [volts] - , integral_prev(0.0) - , error_prev(0.0) - , output_prev(0.0) + , error_prev(0.0f) + , output_prev(0.0f) + , integral_prev(0.0f) { - timestamp_prev = _micros()*1e-6; + timestamp_prev = _micros(); } // PID controller function float PIDController::operator() (float error){ // calculate the time from the last call unsigned long timestamp_now = _micros(); - float Ts = (timestamp_now - timestamp_prev) * 1e-6; + float Ts = (timestamp_now - timestamp_prev) * 1e-6f; // quick fix for strange cases (micros overflow) - if(Ts <= 0 || Ts > 0.5) Ts = 1e-3; + if(Ts <= 0 || Ts > 0.5f) Ts = 1e-3f; // u(s) = (P + I/s + Ds)e(s) // Discrete implementations - // proportional part + // proportional part // u_p = P *e(k) - float proportional = P * error_prev; + float proportional = P * error; // Tustin transform of the integral part // u_ik = u_ik_1 + I*Ts/2*(ek + ek_1) - float integral = integral_prev + I*Ts*0.5*(error + error_prev); - // antiwindup - limit the output voltage_q - integral = constrain(integral, -limit, limit); + float integral = integral_prev + I*Ts*0.5f*(error + error_prev); + // antiwindup - limit the output + integral = _constrain(integral, -limit, limit); // Discrete derivation // u_dk = D(ek - ek_1)/Ts float derivative = D*(error - error_prev)/Ts; @@ -38,19 +38,27 @@ float PIDController::operator() (float error){ // sum all the components float output = proportional + integral + derivative; // antiwindup - limit the output variable - output = constrain(output, -limit, limit); - - // limit the acceleration by ramping the output - float output_rate = (output - output_prev)/Ts; - if (output_rate > output_ramp) - output = output_prev + output_ramp*Ts; - else if (output_rate < -output_ramp) - output = output_prev - output_ramp*Ts; + output = _constrain(output, -limit, limit); + // if output ramp defined + if(output_ramp > 0){ + // limit the acceleration by ramping the output + float output_rate = (output - output_prev)/Ts; + if (output_rate > output_ramp) + output = output_prev + output_ramp*Ts; + else if (output_rate < -output_ramp) + output = output_prev - output_ramp*Ts; + } // saving for the next pass integral_prev = integral; output_prev = output; error_prev = error; timestamp_prev = timestamp_now; return output; -} \ No newline at end of file +} + +void PIDController::reset(){ + integral_prev = 0.0f; + output_prev = 0.0f; + error_prev = 0.0f; +} diff --git a/src/common/pid.h b/src/common/pid.h index 7ee337c4..acd68d6f 100644 --- a/src/common/pid.h +++ b/src/common/pid.h @@ -2,7 +2,7 @@ #define PID_H -#include "hardware_utils.h" +#include "time_utils.h" #include "foc_utils.h" /** @@ -23,6 +23,7 @@ class PIDController ~PIDController() = default; float operator() (float error); + void reset(); float P; //!< Proportional gain float I; //!< Integral gain @@ -31,10 +32,10 @@ class PIDController float limit; //!< Maximum output value protected: - float integral_prev; //!< last integral component value float error_prev; //!< last tracking error value - float timestamp_prev; //!< Last execution timestamp float output_prev; //!< last pid output value + float integral_prev; //!< last integral component value + unsigned long timestamp_prev; //!< Last execution timestamp }; #endif // PID_H \ No newline at end of file diff --git a/src/common/time_utils.cpp b/src/common/time_utils.cpp new file mode 100644 index 00000000..2acb47a3 --- /dev/null +++ b/src/common/time_utils.cpp @@ -0,0 +1,31 @@ +#include "time_utils.h" + +// function buffering delay() +// arduino uno function doesn't work well with interrupts +void _delay(unsigned long ms){ +#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega32U4__) + // if arduino uno and other atmega328p chips + // use while instad of delay, + // due to wrong measurement based on changed timer0 + unsigned long t = _micros() + ms*1000; + while( _micros() < t ){}; +#else + // regular micros + delay(ms); +#endif +} + + +// function buffering _micros() +// arduino function doesn't work well with interrupts +unsigned long _micros(){ +#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega32U4__) +// if arduino uno and other atmega328p chips + //return the value based on the prescaler + if((TCCR0B & 0b00000111) == 0x01) return (micros()/32); + else return (micros()); +#else + // regular micros + return micros(); +#endif +} diff --git a/src/common/time_utils.h b/src/common/time_utils.h new file mode 100644 index 00000000..143d4853 --- /dev/null +++ b/src/common/time_utils.h @@ -0,0 +1,22 @@ +#ifndef TIME_UTILS_H +#define TIME_UTILS_H + +#include "foc_utils.h" + +/** + * Function implementing delay() function in milliseconds + * - blocking function + * - hardware specific + + * @param ms number of milliseconds to wait + */ +void _delay(unsigned long ms); + +/** + * Function implementing timestamp getting function in microseconds + * hardware specific + */ +unsigned long _micros(); + + +#endif \ No newline at end of file diff --git a/src/communication/Commander.cpp b/src/communication/Commander.cpp new file mode 100644 index 00000000..d2822b04 --- /dev/null +++ b/src/communication/Commander.cpp @@ -0,0 +1,685 @@ +#include "Commander.h" + +Commander::Commander(Stream& serial, char eol, bool echo){ + com_port = &serial; + this->eol = eol; + this->echo = echo; +} +Commander::Commander(char eol, bool echo){ + this->eol = eol; + this->echo = echo; +} + + +void Commander::add(char id, CommandCallback onCommand, const char* label ){ + call_list[call_count] = onCommand; + call_ids[call_count] = id; + call_label[call_count] = (char*)label; + call_count++; +} + + +void Commander::run(){ + if(!com_port) return; + run(*com_port, eol); +} + +void Commander::run(Stream& serial, char eol){ + Stream* tmp = com_port; // save the serial instance + char eol_tmp = this->eol; + this->eol = eol; + com_port = &serial; + + // a string to hold incoming data + while (serial.available()) { + // get the new byte: + int ch = serial.read(); + received_chars[rec_cnt++] = (char)ch; + // end of user input + if(echo) + print((char)ch); + if (isSentinel(ch)) { + // execute the user command + run(received_chars); + + // reset the command buffer + received_chars[0] = 0; + rec_cnt=0; + } + if (rec_cnt>=MAX_COMMAND_LENGTH) { // prevent buffer overrun if message is too long + received_chars[0] = 0; + rec_cnt=0; + } + } + + com_port = tmp; // reset the instance to the internal value + this->eol = eol_tmp; +} + +void Commander::run(char* user_input){ + // execute the user command + char id = user_input[0]; + switch(id){ + case CMD_SCAN: + for(int i=0; i < call_count; i++){ + printMachineReadable(CMD_SCAN); + print(call_ids[i]); + print(":"); + if(call_label[i]) println(call_label[i]); + else println(""); + } + break; + case CMD_VERBOSE: + if(!isSentinel(user_input[1])) verbose = (VerboseMode)atoi(&user_input[1]); + printVerbose(F("Verb:")); + printMachineReadable(CMD_VERBOSE); + switch (verbose){ + case VerboseMode::nothing: + println(F("off!")); + break; + case VerboseMode::on_request: + case VerboseMode::user_friendly: + println(F("on!")); + break; + case VerboseMode::machine_readable: + printlnMachineReadable(F("machine")); + break; + } + break; + case CMD_DECIMAL: + if(!isSentinel(user_input[1])) decimal_places = atoi(&user_input[1]); + printVerbose(F("Decimal:")); + printMachineReadable(CMD_DECIMAL); + println(decimal_places); + break; + default: + for(int i=0; i < call_count; i++){ + if(id == call_ids[i]){ + printMachineReadable(user_input[0]); + call_list[i](&user_input[1]); + break; + } + } + break; + } +} + +void Commander::motor(FOCMotor* motor, char* user_command) { + + // if target setting + if(isDigit(user_command[0]) || user_command[0] == '-' || user_command[0] == '+' || isSentinel(user_command[0])){ + target(motor, user_command); + return; + } + + // parse command letter + char cmd = user_command[0]; + char sub_cmd = user_command[1]; + // check if there is a subcommand or not + int value_index = (sub_cmd >= 'A' && sub_cmd <= 'Z') || (sub_cmd == '#') ? 2 : 1; + // check if get command + bool GET = isSentinel(user_command[value_index]); + // parse command values + float value = atof(&user_command[value_index]); + printMachineReadable(cmd); + if (sub_cmd >= 'A' && sub_cmd <= 'Z') { + printMachineReadable(sub_cmd); + } + + // a bit of optimisation of variable memory for Arduino UNO (atmega328) + switch(cmd){ + case CMD_C_Q_PID: // + printVerbose(F("PID curr q| ")); + if(sub_cmd == SCMD_LPF_TF) lpf(&motor->LPF_current_q, &user_command[1]); + else pid(&motor->PID_current_q,&user_command[1]); + break; + case CMD_C_D_PID: // + printVerbose(F("PID curr d| ")); + if(sub_cmd == SCMD_LPF_TF) lpf(&motor->LPF_current_d, &user_command[1]); + else pid(&motor->PID_current_d, &user_command[1]); + break; + case CMD_V_PID: // + printVerbose(F("PID vel| ")); + if(sub_cmd == SCMD_LPF_TF) lpf(&motor->LPF_velocity, &user_command[1]); + else pid(&motor->PID_velocity, &user_command[1]); + break; + case CMD_A_PID: // + printVerbose(F("PID angle| ")); + if(sub_cmd == SCMD_LPF_TF) lpf(&motor->LPF_angle, &user_command[1]); + else pid(&motor->P_angle, &user_command[1]); + break; + case CMD_LIMITS: // + printVerbose(F("Limits| ")); + switch (sub_cmd){ + case SCMD_LIM_VOLT: // voltage limit change + printVerbose(F("volt: ")); + if(!GET) { + motor->voltage_limit = value; + motor->PID_current_d.limit = value; + motor->PID_current_q.limit = value; + // change velocity pid limit if in voltage mode and no phase resistance set + if( !_isset(motor->phase_resistance) && motor->torque_controller==TorqueControlType::voltage) motor->PID_velocity.limit = value; + } + println(motor->voltage_limit); + break; + case SCMD_LIM_CURR: // current limit + printVerbose(F("curr: ")); + if(!GET){ + motor->current_limit = value; + // if phase resistance specified or the current control is on set the current limit to the velocity PID + if(_isset(motor->phase_resistance) || motor->torque_controller != TorqueControlType::voltage ) motor->PID_velocity.limit = value; + } + println(motor->current_limit); + break; + case SCMD_LIM_VEL: // velocity limit + printVerbose(F("vel: ")); + if(!GET){ + motor->velocity_limit = value; + motor->P_angle.limit = value; + } + println(motor->velocity_limit); + break; + default: + printError(); + break; + } + break; + case CMD_MOTION_TYPE: + case CMD_TORQUE_TYPE: + case CMD_STATUS: + motion(motor, &user_command[0]); + break; + case CMD_PWMMOD: + // PWM modulation change + printVerbose(F("PWM Mod | ")); + switch (sub_cmd){ + case SCMD_PWMMOD_TYPE: // zero offset + printVerbose(F("type: ")); + if(!GET) motor->foc_modulation = (FOCModulationType)value; + switch(motor->foc_modulation){ + case FOCModulationType::SinePWM: + println(F("SinePWM")); + break; + case FOCModulationType::SpaceVectorPWM: + println(F("SVPWM")); + break; + case FOCModulationType::Trapezoid_120: + println(F("Trap 120")); + break; + case FOCModulationType::Trapezoid_150: + println(F("Trap 150")); + break; + } + break; + case SCMD_PWMMOD_CENTER: // centered modulation + printVerbose(F("center: ")); + if(!GET) motor->modulation_centered = value; + println(motor->modulation_centered); + break; + default: + printError(); + break; + } + break; + case CMD_RESIST: + printVerbose(F("R phase: ")); + if(!GET){ + motor->phase_resistance = value; + if(motor->torque_controller==TorqueControlType::voltage) + motor->PID_velocity.limit= motor->current_limit; + } + if(_isset(motor->phase_resistance)) println(motor->phase_resistance); + else println(0); + break; + case CMD_INDUCTANCE: + printVerbose(F("L phase: ")); + if(!GET){ + motor->phase_inductance = value; + } + if(_isset(motor->phase_inductance)) println(motor->phase_inductance); + else println(0); + break; + case CMD_KV_RATING: + printVerbose(F("Motor KV: ")); + if(!GET){ + motor->KV_rating = value; + } + if(_isset(motor->KV_rating)) println(motor->KV_rating); + else println(0); + break; + case CMD_SENSOR: + // Sensor zero offset + printVerbose(F("Sensor | ")); + switch (sub_cmd){ + case SCMD_SENS_MECH_OFFSET: // zero offset + printVerbose(F("offset: ")); + if(!GET) motor->sensor_offset = value; + println(motor->sensor_offset); + break; + case SCMD_SENS_ELEC_OFFSET: // electrical zero offset - not suggested to touch + printVerbose(F("el. offset: ")); + if(!GET) motor->zero_electric_angle = value; + println(motor->zero_electric_angle); + break; + default: + printError(); + break; + } + break; + case CMD_MONITOR: // get current values of the state variables + printVerbose(F("Monitor | ")); + switch (sub_cmd){ + case SCMD_GET: // get command + switch((uint8_t)value){ + case 0: // get target + printVerbose(F("target: ")); + println(motor->target); + break; + case 1: // get voltage q + printVerbose(F("Vq: ")); + println(motor->voltage.q); + break; + case 2: // get voltage d + printVerbose(F("Vd: ")); + println(motor->voltage.d); + break; + case 3: // get current q + printVerbose(F("Cq: ")); + println(motor->current.q); + break; + case 4: // get current d + printVerbose(F("Cd: ")); + println(motor->current.d); + break; + case 5: // get velocity + printVerbose(F("vel: ")); + println(motor->shaft_velocity); + break; + case 6: // get angle + printVerbose(F("angle: ")); + println(motor->shaft_angle); + break; + case 7: // get all states + printVerbose(F("all: ")); + print(motor->target); + print(";"); + print(motor->voltage.q); + print(";"); + print(motor->voltage.d); + print(";"); + print(motor->current.q); + print(";"); + print(motor->current.d); + print(";"); + print(motor->shaft_velocity); + print(";"); + println(motor->shaft_angle); + break; + default: + printError(); + break; + } + break; + case SCMD_DOWNSAMPLE: + printVerbose(F("downsample: ")); + if(!GET) motor->monitor_downsample = value; + println((int)motor->monitor_downsample); + break; + case SCMD_CLEAR: + motor->monitor_variables = (uint8_t) 0; + println(F("clear")); + break; + case CMD_DECIMAL: + printVerbose(F("decimal: ")); + motor->monitor_decimals = value; + println((int)motor->monitor_decimals); + break; + case SCMD_SET: + if(!GET){ + // set the variables + motor->monitor_variables = (uint8_t) 0; + for(int i = 0; i < 7; i++){ + if(isSentinel(user_command[value_index+i])) break; + motor->monitor_variables |= (user_command[value_index+i] - '0') << (6-i); + } + } + // print the variables + for(int i = 0; i < 7; i++){ + print( (motor->monitor_variables & (1 << (6-i))) >> (6-i)); + } + println(""); + break; + default: + printError(); + break; + } + break; + default: // unknown cmd + printVerbose(F("unknown cmd ")); + printError(); + } +} + +void Commander::motion(FOCMotor* motor, char* user_cmd, char* separator){ + char cmd = user_cmd[0]; + char sub_cmd = user_cmd[1]; + bool GET = isSentinel(user_cmd[1]); + float value = atof(&user_cmd[(sub_cmd >= 'A' && sub_cmd <= 'Z') ? 2 : 1]); + + switch(cmd){ + case CMD_MOTION_TYPE: + printVerbose(F("Motion:")); + switch(sub_cmd){ + case SCMD_DOWNSAMPLE: + printVerbose(F(" downsample: ")); + if(!GET) motor->motion_downsample = value; + println((int)motor->motion_downsample); + break; + default: + // change control type + if(!GET && value >= 0 && (int)value < 5) // if set command + motor->controller = (MotionControlType)value; + switch(motor->controller){ + case MotionControlType::torque: + println(F("torque")); + break; + case MotionControlType::velocity: + println(F("vel")); + break; + case MotionControlType::angle: + println(F("angle")); + break; + case MotionControlType::velocity_openloop: + println(F("vel open")); + break; + case MotionControlType::angle_openloop: + println(F("angle open")); + break; + } + break; + } + break; + case CMD_TORQUE_TYPE: + // change control type + printVerbose(F("Torque: ")); + if(!GET && (int8_t)value >= 0 && (int8_t)value < 3)// if set command + motor->torque_controller = (TorqueControlType)value; + switch(motor->torque_controller){ + case TorqueControlType::voltage: + println(F("volt")); + // change the velocity control limits if necessary + if( !_isset(motor->phase_resistance) ) motor->PID_velocity.limit = motor->voltage_limit; + break; + case TorqueControlType::dc_current: + println(F("dc curr")); + // change the velocity control limits if necessary + motor->PID_velocity.limit = motor->current_limit; + break; + case TorqueControlType::foc_current: + println(F("foc curr")); + // change the velocity control limits if necessary + motor->PID_velocity.limit = motor->current_limit; + break; + } + break; + case CMD_STATUS: + // enable/disable + printVerbose(F("Status: ")); + if(!GET) (bool)value ? motor->enable() : motor->disable(); + println(motor->enabled); + break; + default: + target(motor, user_cmd, separator); + break; + } +} + +void Commander::pid(PIDController* pid, char* user_cmd){ + char cmd = user_cmd[0]; + bool GET = isSentinel(user_cmd[1]); + float value = atof(&user_cmd[1]); + + switch (cmd){ + case SCMD_PID_P: // P gain change + printVerbose("P: "); + if(!GET) pid->P = value; + println(pid->P); + break; + case SCMD_PID_I: // I gain change + printVerbose("I: "); + if(!GET) pid->I = value; + println(pid->I); + break; + case SCMD_PID_D: // D gain change + printVerbose("D: "); + if(!GET) pid->D = value; + println(pid->D); + break; + case SCMD_PID_RAMP: // ramp change + printVerbose("ramp: "); + if(!GET) pid->output_ramp = value; + println(pid->output_ramp); + break; + case SCMD_PID_LIM: // limit change + printVerbose("limit: "); + if(!GET) pid->limit = value; + println(pid->limit); + break; + default: + printError(); + break; + } +} + +void Commander::lpf(LowPassFilter* lpf, char* user_cmd){ + char cmd = user_cmd[0]; + bool GET = isSentinel(user_cmd[1]); + float value = atof(&user_cmd[1]); + + switch (cmd){ + case SCMD_LPF_TF: // Tf value change + printVerbose(F("Tf: ")); + if(!GET) lpf->Tf = value; + println(lpf->Tf); + break; + default: + printError(); + break; + } +} + +void Commander::scalar(float* value, char* user_cmd){ + bool GET = isSentinel(user_cmd[0]); + if(!GET) *value = atof(user_cmd); + println(*value); +} + + +void Commander::target(FOCMotor* motor, char* user_cmd, char* separator){ + // if no values sent + if(isSentinel(user_cmd[0])) { + printlnMachineReadable(motor->target); + return; + }; + + float pos, vel, torque; + char* next_value; + switch(motor->controller){ + case MotionControlType::torque: // setting torque target + torque = atof(strtok (user_cmd, separator)); + motor->target = torque; + break; + case MotionControlType::velocity: // setting velocity target + torque limit + // set the target + vel= atof(strtok (user_cmd, separator)); + motor->target = vel; + + // allow for setting only the target velocity without chaning the torque limit + next_value = strtok (NULL, separator); + if (next_value){ + torque = atof(next_value); + motor->PID_velocity.limit = torque; + // torque command can be voltage or current + if(!_isset(motor->phase_resistance) && motor->torque_controller == TorqueControlType::voltage) motor->voltage_limit = torque; + else motor->current_limit = torque; + } + break; + case MotionControlType::angle: // setting angle target + torque, velocity limit + // setting the target position + pos= atof(strtok (user_cmd, separator)); + motor->target = pos; + + // allow for setting only the target position without chaning the velocity/torque limits + next_value = strtok (NULL, separator); + if( next_value ){ + vel = atof(next_value); + motor->velocity_limit = vel; + motor->P_angle.limit = vel; + + // allow for setting only the target position and velocity limit without the torque limit + next_value = strtok (NULL, separator); + if( next_value ){ + torque= atof(next_value); + motor->PID_velocity.limit = torque; + // torque command can be voltage or current + if(!_isset(motor->phase_resistance) && motor->torque_controller == TorqueControlType::voltage) motor->voltage_limit = torque; + else motor->current_limit = torque; + } + } + break; + case MotionControlType::velocity_openloop: // setting velocity target + torque limit + // set the target + vel= atof(strtok (user_cmd, separator)); + motor->target = vel; + // allow for setting only the target velocity without chaning the torque limit + next_value = strtok (NULL, separator); + if (next_value ){ + torque = atof(next_value); + // torque command can be voltage or current + if(!_isset(motor->phase_resistance)) motor->voltage_limit = torque; + else motor->current_limit = torque; + } + break; + case MotionControlType::angle_openloop: // setting angle target + torque, velocity limit + // set the target + pos= atof(strtok (user_cmd, separator)); + motor->target = pos; + + // allow for setting only the target position without chaning the velocity/torque limits + next_value = strtok (NULL, separator); + if( next_value ){ + vel = atof(next_value); + motor->velocity_limit = vel; + // allow for setting only the target velocity without chaning the torque limit + next_value = strtok (NULL, separator); + if (next_value ){ + torque = atof(next_value); + // torque command can be voltage or current + if(!_isset(motor->phase_resistance)) motor->voltage_limit = torque; + else motor->current_limit = torque; + } + } + break; + } + printVerbose(F("Target: ")); + println(motor->target); +} + + +bool Commander::isSentinel(char ch) +{ + if(ch == eol) + return true; + else if (ch == '\r') + { + printVerbose(F("Warn: \\r detected! \n")); + return true; // lets still consider it to end the line... + } + return false; +} + +void Commander::print(const int number){ + if( !com_port || verbose == VerboseMode::nothing ) return; + com_port->print(number); +} +void Commander::print(const float number){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->print((float)number,(int)decimal_places); +} +void Commander::print(const char* message){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->print(message); +} +void Commander::print(const __FlashStringHelper *message){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->print(message); +} +void Commander::print(const char message){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->print(message); +} + +void Commander::println(const int number){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->println(number); +} +void Commander::println(const float number){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->println((float)number, (int)decimal_places); +} +void Commander::println(const char* message){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->println(message); +} +void Commander::println(const __FlashStringHelper *message){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->println(message); +} +void Commander::println(const char message){ + if(!com_port || verbose == VerboseMode::nothing ) return; + com_port->println(message); +} + + +void Commander::printVerbose(const char* message){ + if(verbose == VerboseMode::user_friendly) print(message); +} +void Commander::printVerbose(const __FlashStringHelper *message){ + if(verbose == VerboseMode::user_friendly) print(message); +} + +void Commander::printMachineReadable(const int number){ + if(verbose == VerboseMode::machine_readable) print(number); +} +void Commander::printMachineReadable(const float number){ + if(verbose == VerboseMode::machine_readable) print(number); +} +void Commander::printMachineReadable(const char* message){ + if(verbose == VerboseMode::machine_readable) print(message); +} +void Commander::printMachineReadable(const __FlashStringHelper *message){ + if(verbose == VerboseMode::machine_readable) print(message); +} +void Commander::printMachineReadable(const char message){ + if(verbose == VerboseMode::machine_readable) print(message); +} + +void Commander::printlnMachineReadable(const int number){ + if(verbose == VerboseMode::machine_readable) println(number); +} +void Commander::printlnMachineReadable(const float number){ + if(verbose == VerboseMode::machine_readable) println(number); +} +void Commander::printlnMachineReadable(const char* message){ + if(verbose == VerboseMode::machine_readable) println(message); +} +void Commander::printlnMachineReadable(const __FlashStringHelper *message){ + if(verbose == VerboseMode::machine_readable) println(message); +} +void Commander::printlnMachineReadable(const char message){ + if(verbose == VerboseMode::machine_readable) println(message); +} + +void Commander::printError(){ + println(F("err")); +} diff --git a/src/communication/Commander.h b/src/communication/Commander.h new file mode 100644 index 00000000..4ec2b281 --- /dev/null +++ b/src/communication/Commander.h @@ -0,0 +1,301 @@ +#ifndef COMMANDS_H +#define COMMANDS_H + +#include "Arduino.h" +#include "../common/base_classes/FOCMotor.h" +#include "../common/pid.h" +#include "../common/lowpass_filter.h" +#include "commands.h" + + +#define MAX_COMMAND_LENGTH 20 + + +// Commander verbose display to the user type +enum VerboseMode : uint8_t { + nothing = 0x00, // display nothing - good for monitoring + on_request = 0x01, // display only on user request + user_friendly = 0x02, // display textual messages to the user + machine_readable = 0x03 // display machine readable commands, matching commands to set each settings +}; + + +// callback function pointer definiton +typedef void (* CommandCallback)(char*); //!< command callback function pointer + +/** + * Commander class implementing string communication protocol based on IDvalue (ex AB5.321 - command id `A`, sub-command id `B`,value `5.321`) + * + * - This class can be used in combination with HardwareSerial instance which it would read and write + * or it can be used to parse strings that have been received from the user outside this library + * - Commander class implements command protocol for few standard components of the SimpleFOC library + * - FOCMotor + * - PIDController + * - LowPassFilter + * - Commander also provides a very simple command > callback interface that enables user to + * attach a callback function to certain command id - see function add() + */ +class Commander +{ + public: + /** + * Default constructor receiving a serial interface that it uses to output the values to + * Also if the function run() is used it uses this serial instance to read the serial for user commands + * + * @param serial - Serial com port instance + * @param eol - the end of line sentinel character + * @param echo - echo last typed character (for command line feedback) + */ + Commander(Stream &serial, char eol = '\n', bool echo = false); + Commander(char eol = '\n', bool echo = false); + + /** + * Function reading the serial port and firing callbacks that have been added to the commander + * once the user has requested them - when he sends the command + * + * - It has default commands (the letters can be changed in the commands.h file) + * '@' - Verbose mode + * '#' - Number of decimal places + * '?' - Scan command - displays all the labels of attached nodes + */ + void run(); + /** + * Function reading the string of user input and firing callbacks that have been added to the commander + * once the user has requested them - when he sends the command + * + * - It has default commands (the letters can be changed in the commands.h file) + * '@' - Verbose mode + * '#' - Number of decimal places + * '?' - Scan command - displays all the labels of attached nodes + * + * @param reader - temporary stream to read user input + * @param eol - temporary end of line sentinel + */ + void run(Stream &reader, char eol = '\n'); + /** + * Function reading the string of user input and firing callbacks that have been added to the commander + * once the user has requested them - when he sends the command + * + * - It has default commands (the letters can be changed in the commands.h file) + * '@' - Verbose mode + * '#' - Number of decimal places + * '?' - Scan command - displays all the labels of attached nodes + * + * @param user_input - string of user inputs + */ + void run(char* user_input); + + /** + * Function adding a callback to the coomander withe the command id + * @param id - char command letter + * @param onCommand - function pointer void function(char*) + * @param label - string label to be displayed when scan command sent + */ + 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 + uint8_t decimal_places = 3; //!< number of decimal places to be used when displaying numbers + + // monitoring functions + Stream* com_port = nullptr; //!< Serial terminal variable if provided + char eol = '\n'; //!< end of line sentinel character + bool echo = false; //!< echo last typed character (for command line feedback) + + /** + * + * FOC motor (StepperMotor and BLDCMotor) command interface + * @param motor - FOCMotor (BLDCMotor or StepperMotor) instance + * @param user_cmd - the string command + * + * - It has several paramters (the letters can be changed in the commands.h file) + * 'Q' - Q current PID controller & LPF (see function pid and lpf for commands) + * 'D' - D current PID controller & LPF (see function pid and lpf for commands) + * 'V' - Velocity PID controller & LPF (see function pid and lpf for commands) + * 'A' - Angle PID controller & LPF (see function pid and lpf for commands) + * 'L' - Limits + * sub-commands: + * 'C' - Current + * 'U' - Voltage + * 'V' - Velocity + * 'C' - Motion control type config + * sub-commands: + * 'D' - downsample motiron loop + * '0' - torque + * '1' - velocity + * '2' - angle + * 'T' - Torque control type + * sub-commands: + * '0' - voltage + * '1' - current + * '2' - foc_current + * 'E' - Motor status (enable/disable) + * sub-commands: + * '0' - enable + * '1' - disable + * 'R' - Motor resistance + * 'S' - Sensor offsets + * sub-commands: + * 'M' - sensor offset + * 'E' - sensor electrical zero + * 'M' - Monitoring control + * sub-commands: + * 'D' - downsample monitoring + * 'C' - clear monitor + * 'S' - set monitoring variables + * 'G' - get variable value + * '' - Target setting interface + * Depends of the motion control mode: + * - torque : torque (ex. M2.5) + * - velocity (open and closed loop) : velocity torque (ex.M10 2.5 or M10 to only chanage the target witout limits) + * - angle (open and closed loop) : angle velocity torque (ex.M3.5 10 2.5 or M3.5 to only chanage the target witout limits) + * + * - Each of them can be get by sening the command letter -(ex. 'R' - to get the phase resistance) + * - Each of them can be set by sending 'IdSubidValue' - (ex. SM1.5 for setting sensor zero offset to 1.5f) + * + */ + void motor(FOCMotor* motor, char* user_cmd); + + /** + * Low pass fileter command interface + * @param lpf - LowPassFilter instance + * @param user_cmd - the string command + * + * - It only has one property - filtering time constant Tf + * - It can be get by sending 'F' + * - It can be set by sending 'Fvalue' - (ex. F0.01 for settin Tf=0.01) + */ + void lpf(LowPassFilter* lpf, char* user_cmd); + /** + * PID controller command interface + * @param pid - PIDController instance + * @param user_cmd - the string command + * + * - It has several paramters (the letters can be changed in the commands.h file) + * - P gain - 'P' + * - I gain - 'I' + * - D gain - 'D' + * - output ramp - 'R' + * - output limit - 'L' + * - Each of them can be get by sening the command letter -(ex. 'D' - to get the D gain) + * - Each of them can be set by sending 'IDvalue' - (ex. I1.5 for setting I=1.5) + */ + void pid(PIDController* pid, char* user_cmd); + /** + * Float variable scalar command interface + * @param value - float variable pointer + * @param user_cmd - the string command + * + * - It only has one property - one float value + * - It can be get by sending an empty string '\n' + * - It can be set by sending 'value' - (ex. 0.01f for settin *value=0.01) + */ + void scalar(float* value, char* user_cmd); + /** + * Target setting interface, enables setting the target and limiting variables at once. + * The values are sent separated by a separator specified as the third argument. The default separator is the space. + * + * @param motor - FOCMotor (BLDCMotor or StepperMotor) instance + * @param user_cmd - the string command + * @param separator - the string separator in between target and limit values, default is space - " " + * + * Example: P2.34 70 2 + * `P` is the user defined command, `2.34` is the target angle `70` is the target + * velocity and `2` is the desired max current. + * + * It depends of the motion control mode: + * - torque : torque (ex. P2.5) + * - velocity : velocity torque (ex.P10 2.5 or P10 to only chanage the target witout limits) + * - angle : angle velocity torque (ex.P3.5 10 2.5 or P3.5 to only chanage the target witout limits) + */ + void target(FOCMotor* motor, char* user_cmd, char* separator = (char *)" "); + + /** + * FOC motor (StepperMotor and BLDCMotor) motion control interfaces + * @param motor - FOCMotor (BLDCMotor or StepperMotor) instance + * @param user_cmd - the string command + * @param separator - the string separator in between target and limit values, default is space - " " + * + * Commands: + * 'C' - Motion control type config + * sub-commands: + * 'D' - downsample motiron loop + * '0' - torque + * '1' - velocity + * '2' - angle + * 'T' - Torque control type + * sub-commands: + * '0' - voltage + * '1' - current + * '2' - foc_current + * 'E' - Motor status (enable/disable) + * sub-commands: + * '0' - enable + * '1' - disable + * '' - Target setting interface + * Depends of the motion control mode: + * - torque : torque (ex. M2.5) + * - velocity (open and closed loop) : velocity torque (ex.M10 2.5 or M10 to only chanage the target witout limits) + * - angle (open and closed loop) : angle velocity torque (ex.M3.5 10 2.5 or M3.5 to only chanage the target witout limits) + */ + void motion(FOCMotor* motor, char* user_cmd, char* separator = (char *)" "); + + bool isSentinel(char ch); + private: + // Subscribed command callback variables + CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number + char call_ids[20]; //!< added callback commands + char* call_label[20]; //!< added callback labels + int call_count = 0;//!< number callbacks that are subscribed + + // helping variable for serial communication reading + char received_chars[MAX_COMMAND_LENGTH] = {0}; //!< so far received user message - waiting for newline + int rec_cnt = 0; //!< number of characters receives + + // serial printing functions + /** + * print the string message only if verbose mode on + * @param message - message to be printed + */ + void printVerbose(const char* message); + /** + * Print the string message only if verbose mode on + * - Function handling the case for strings defined by F macro + * @param message - message to be printed + */ + void printVerbose(const __FlashStringHelper *message); + /** + * print the numbers to the serial with desired decimal point number + * @param message - number to be printed + * @param newline - if needs lewline (1) otherwise (0) + */ + + void print(const float number); + void print(const int number); + void print(const char* message); + void print(const __FlashStringHelper *message); + void print(const char message); + void println(const float number); + void println(const int number); + void println(const char* message); + void println(const __FlashStringHelper *message); + void println(const char message); + + void printMachineReadable(const float number); + void printMachineReadable(const int number); + void printMachineReadable(const char* message); + void printMachineReadable(const __FlashStringHelper *message); + void printMachineReadable(const char message); + + void printlnMachineReadable(const float number); + void printlnMachineReadable(const int number); + void printlnMachineReadable(const char* message); + void printlnMachineReadable(const __FlashStringHelper *message); + void printlnMachineReadable(const char message); + + + void printError(); +}; + + +#endif diff --git a/src/communication/SimpleFOCDebug.cpp b/src/communication/SimpleFOCDebug.cpp new file mode 100644 index 00000000..4d50b87c --- /dev/null +++ b/src/communication/SimpleFOCDebug.cpp @@ -0,0 +1,125 @@ + +#include "SimpleFOCDebug.h" + +#ifndef SIMPLEFOC_DISABLE_DEBUG + + +Print* SimpleFOCDebug::_debugPrint = NULL; + + +void SimpleFOCDebug::enable(Print* debugPrint) { + _debugPrint = debugPrint; +} + + +void SimpleFOCDebug::println(int val) { + if (_debugPrint != NULL) { + _debugPrint->println(val); + } +} + +void SimpleFOCDebug::println(float val) { + if (_debugPrint != NULL) { + _debugPrint->println(val); + } +} + + + +void SimpleFOCDebug::println(const char* str) { + if (_debugPrint != NULL) { + _debugPrint->println(str); + } +} + +void SimpleFOCDebug::println(const __FlashStringHelper* str) { + if (_debugPrint != NULL) { + _debugPrint->println(str); + } +} + + +void SimpleFOCDebug::println(const char* str, float val) { + if (_debugPrint != NULL) { + _debugPrint->print(str); + _debugPrint->println(val); + } +} + +void SimpleFOCDebug::println(const __FlashStringHelper* str, float val) { + if (_debugPrint != NULL) { + _debugPrint->print(str); + _debugPrint->println(val); + } +} + +void SimpleFOCDebug::println(const char* str, int val) { + if (_debugPrint != NULL) { + _debugPrint->print(str); + _debugPrint->println(val); + } +} +void SimpleFOCDebug::println(const char* str, char val) { + if (_debugPrint != NULL) { + _debugPrint->print(str); + _debugPrint->println(val); + } +} + +void SimpleFOCDebug::println(const __FlashStringHelper* str, int val) { + if (_debugPrint != NULL) { + _debugPrint->print(str); + _debugPrint->println(val); + } +} + + +void SimpleFOCDebug::print(const char* str) { + if (_debugPrint != NULL) { + _debugPrint->print(str); + } +} + + +void SimpleFOCDebug::print(const __FlashStringHelper* str) { + if (_debugPrint != NULL) { + _debugPrint->print(str); + } +} + +void SimpleFOCDebug::print(const StringSumHelper str) { + if (_debugPrint != NULL) { + _debugPrint->print(str.c_str()); + } +} + + +void SimpleFOCDebug::println(const StringSumHelper str) { + if (_debugPrint != NULL) { + _debugPrint->println(str.c_str()); + } +} + + + +void SimpleFOCDebug::print(int val) { + if (_debugPrint != NULL) { + _debugPrint->print(val); + } +} + + +void SimpleFOCDebug::print(float val) { + if (_debugPrint != NULL) { + _debugPrint->print(val); + } +} + + +void SimpleFOCDebug::println() { + if (_debugPrint != NULL) { + _debugPrint->println(); + } +} + +#endif \ No newline at end of file diff --git a/src/communication/SimpleFOCDebug.h b/src/communication/SimpleFOCDebug.h new file mode 100644 index 00000000..d0ff611f --- /dev/null +++ b/src/communication/SimpleFOCDebug.h @@ -0,0 +1,79 @@ + +#ifndef __SIMPLEFOCDEBUG_H__ +#define __SIMPLEFOCDEBUG_H__ + +#include "Arduino.h" + + +/** + * SimpleFOCDebug class + * + * This class is used to print debug messages to a chosen output. + * Currently, Print instances are supported as targets, e.g. serial port. + * + * Activate debug output globally by calling enable(), optionally passing + * in a Print instance. If none is provided "Serial" is used by default. + * + * To produce debug output, use the macro SIMPLEFOC_DEBUG: + * SIMPLEFOC_DEBUG("Debug message!"); + * SIMPLEFOC_DEBUG("a float value:", 123.456f); + * SIMPLEFOC_DEBUG("an integer value: ", 123); + * + * Keep debugging output short and simple. Some of our MCUs have limited + * RAM and limited serial output capabilities. + * + * By default, the SIMPLEFOC_DEBUG macro uses the flash string helper to + * help preserve memory on Arduino boards. + * + * You can also disable debug output completely. In this case all debug output + * and the SimpleFOCDebug class is removed from the compiled code. + * Add -DSIMPLEFOC_DISABLE_DEBUG to your compiler flags to disable debug in + * this way. + * + **/ + +// #define SIMPLEFOC_DISABLE_DEBUG + +#ifndef SIMPLEFOC_DISABLE_DEBUG + +class SimpleFOCDebug { +public: + static void enable(Print* debugPrint = &Serial); + + static void println(const __FlashStringHelper* msg); + static void println(const StringSumHelper msg); + static void println(const char* msg); + static void println(const __FlashStringHelper* msg, float val); + static void println(const char* msg, float val); + static void println(const __FlashStringHelper* msg, int val); + static void println(const char* msg, int val); + static void println(const char* msg, char val); + static void println(); + static void println(int val); + static void println(float val); + + static void print(const char* msg); + static void print(const __FlashStringHelper* msg); + static void print(const StringSumHelper msg); + static void print(int val); + static void print(float val); + +protected: + static Print* _debugPrint; +}; + + +#define SIMPLEFOC_DEBUG(msg, ...) \ + SimpleFOCDebug::println(F(msg), ##__VA_ARGS__) + +#else //ifndef SIMPLEFOC_DISABLE_DEBUG + + + +#define SIMPLEFOC_DEBUG(msg, ...) + + + +#endif //ifndef SIMPLEFOC_DISABLE_DEBUG +#endif + diff --git a/src/communication/StepDirListener.cpp b/src/communication/StepDirListener.cpp new file mode 100644 index 00000000..ee4f69e9 --- /dev/null +++ b/src/communication/StepDirListener.cpp @@ -0,0 +1,40 @@ +#include "StepDirListener.h" + +StepDirListener::StepDirListener(int _pinStep, int _pinDir, float _counter_to_value){ + pin_step = _pinStep; + pin_dir = _pinDir; + counter_to_value = _counter_to_value; +} + +void StepDirListener::init(){ + pinMode(pin_dir, INPUT); + pinMode(pin_step, INPUT_PULLUP); + count = 0; +} + +void StepDirListener::enableInterrupt(void (*doA)()){ + attachInterrupt(digitalPinToInterrupt(pin_step), doA, polarity); +} + +void StepDirListener::attach(float* variable){ + attached_variable = variable; +} + +void StepDirListener::handle(){ + // read step status + //bool step = digitalRead(pin_step); + // update counter only on rising edge + //if(step && step != step_active){ + if(digitalRead(pin_dir)) + count++; + else + count--; + //} + //step_active = step; + // if attached variable update it + if(attached_variable) *attached_variable = getValue(); +} +// calculate the position from counter +float StepDirListener::getValue(){ + return (float) count * counter_to_value; +} \ No newline at end of file diff --git a/src/communication/StepDirListener.h b/src/communication/StepDirListener.h new file mode 100644 index 00000000..3627b5e7 --- /dev/null +++ b/src/communication/StepDirListener.h @@ -0,0 +1,60 @@ +#ifndef STEPDIR_H +#define STEPDIR_H + +#include "Arduino.h" +#include "../common/foc_utils.h" + + +/** + * Step/Dir listenner class for easier interraction with this communication interface. + */ +class StepDirListener +{ + public: + + /** + * Constructor for step/direction interface + * @param step - pin + * @param direction - pin + * @param counter_to_value - step counter to value + */ + StepDirListener(int pinStep, int pinDir, float counter_to_value = 1); + /** + * Start listenning for step commands + * + * @param handleStep - on step received handler + */ + void enableInterrupt(void (*handleStep)()); + + /** + * Initialise dir and step commands + */ + void init(); + /** + * step handler + */ + void handle(); + /** + * Get so far received valued + */ + float getValue(); + /** + * Attach the value to be updated on each step receive + * - no need to call getValue function + */ + void attach(float* variable); + + // variables + int pin_step; //!< step pin + int pin_dir; //!< direction pin + long count; //!< current counter value - should be set to 0 for homing + decltype(RISING) polarity = RISING; //!< polarity of the step pin + + private: + float* attached_variable = nullptr; //!< pointer to the attached variable + float counter_to_value; //!< step counter to value + //bool step_active = 0; //!< current step pin status (HIGH/LOW) - debouncing variable + +}; + +#endif \ No newline at end of file diff --git a/src/communication/commands.h b/src/communication/commands.h new file mode 100644 index 00000000..323a8e7e --- /dev/null +++ b/src/communication/commands.h @@ -0,0 +1,52 @@ +#ifndef COMMANDS_h +#define COMMANDS_h + +// see docs.simplefoc.com for in depth explanation of the commands + +// list of commands + #define CMD_C_D_PID 'D' //!< current d PID & LPF + #define CMD_C_Q_PID 'Q' //!< current d PID & LPF + #define CMD_V_PID 'V' //!< velocity PID & LPF + #define CMD_A_PID 'A' //!< angle PID & LPF + #define CMD_STATUS 'E' //!< motor status enable/disable + #define CMD_LIMITS 'L' //!< limits current/voltage/velocity + #define CMD_MOTION_TYPE 'C' //!< motion control type + #define CMD_TORQUE_TYPE 'T' //!< torque control type + #define CMD_SENSOR 'S' //!< sensor offsets + #define CMD_MONITOR 'M' //!< monitoring + #define CMD_RESIST 'R' //!< motor phase resistance + #define CMD_INDUCTANCE 'I' //!< motor phase inductance + #define CMD_KV_RATING 'K' //!< motor kv rating + #define CMD_PWMMOD 'W' //!< pwm modulation + + // commander configuration + #define CMD_SCAN '?' //!< command scaning the network - only for commander + #define CMD_VERBOSE '@' //!< command setting output mode - only for commander + #define CMD_DECIMAL '#' //!< command setting decimal places - only for commander + + // subcomands + //pid - lpf + #define SCMD_PID_P 'P' //!< PID gain P + #define SCMD_PID_I 'I' //!< PID gain I + #define SCMD_PID_D 'D' //!< PID gain D + #define SCMD_PID_RAMP 'R' //!< PID ramp + #define SCMD_PID_LIM 'L' //!< PID limit + #define SCMD_LPF_TF 'F' //!< LPF time constant + // limits + #define SCMD_LIM_CURR 'C' //!< Limit current + #define SCMD_LIM_VOLT 'U' //!< Limit voltage + #define SCMD_LIM_VEL 'V' //!< Limit velocity + //sensor + #define SCMD_SENS_MECH_OFFSET 'M' //!< Sensor offset + #define SCMD_SENS_ELEC_OFFSET 'E' //!< Sensor electrical zero offset + // monitoring + #define SCMD_DOWNSAMPLE 'D' //!< Monitoring downsample value + #define SCMD_CLEAR 'C' //!< Clear all monitored variables + #define SCMD_GET 'G' //!< Get variable only one value + #define SCMD_SET 'S' //!< Set variables to be monitored + + #define SCMD_PWMMOD_TYPE 'T' //!<< Pwm modulation type + #define SCMD_PWMMOD_CENTER 'C' //!<< Pwm modulation center flag + + +#endif \ No newline at end of file diff --git a/src/current_sense/GenericCurrentSense.cpp b/src/current_sense/GenericCurrentSense.cpp new file mode 100644 index 00000000..54c4f12e --- /dev/null +++ b/src/current_sense/GenericCurrentSense.cpp @@ -0,0 +1,63 @@ +#include "GenericCurrentSense.h" + +// GenericCurrentSense constructor +GenericCurrentSense::GenericCurrentSense(PhaseCurrent_s (*readCallback)(), void (*initCallback)()){ + // if function provided add it to the + if(readCallback != nullptr) this->readCallback = readCallback; + if(initCallback != nullptr) this->initCallback = initCallback; +} + +// Inline sensor init function +int GenericCurrentSense::init(){ + // configure ADC variables + if(initCallback != nullptr) initCallback(); + // calibrate zero offsets + calibrateOffsets(); + // set the initialized flag + initialized = (params!=SIMPLEFOC_CURRENT_SENSE_INIT_FAILED); + // return success + return 1; +} +// Function finding zero offsets of the ADC +void GenericCurrentSense::calibrateOffsets(){ + const int calibration_rounds = 1000; + + // find adc offset = zero current voltage + offset_ia = 0; + offset_ib = 0; + offset_ic = 0; + // read the adc voltage 1000 times ( arbitrary number ) + for (int i = 0; i < calibration_rounds; i++) { + PhaseCurrent_s current = readCallback(); + offset_ia += current.a; + offset_ib += current.b; + offset_ic += current.c; + _delay(1); + } + // calculate the mean offsets + offset_ia = offset_ia / calibration_rounds; + offset_ib = offset_ib / calibration_rounds; + offset_ic = offset_ic / calibration_rounds; +} + +// read all three phase currents (if possible 2 or 3) +PhaseCurrent_s GenericCurrentSense::getPhaseCurrents(){ + PhaseCurrent_s current = readCallback(); + current.a = (current.a - offset_ia); // amps + current.b = (current.b - offset_ib); // amps + current.c = (current.c - offset_ic); // amps + return current; +} + +// Function aligning the current sense with motor driver +// if all pins are connected well none of this is really necessary! - can be avoided +// returns flag +// 0 - fail +// 1 - success and nothing changed +int GenericCurrentSense::driverAlign(float voltage, bool modulation_centered){ + _UNUSED(voltage) ; // remove unused parameter warning + int exit_flag = 1; + if(skip_align) return exit_flag; + if (!initialized) return 0; + return exit_flag; +} diff --git a/src/current_sense/GenericCurrentSense.h b/src/current_sense/GenericCurrentSense.h new file mode 100644 index 00000000..02bf8fa9 --- /dev/null +++ b/src/current_sense/GenericCurrentSense.h @@ -0,0 +1,40 @@ +#ifndef GENERIC_CS_LIB_H +#define GENERIC_CS_LIB_H + +#include "Arduino.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/defaults.h" +#include "../common/base_classes/CurrentSense.h" +#include "../common/lowpass_filter.h" +#include "hardware_api.h" + + +class GenericCurrentSense: public CurrentSense{ + public: + /** + GenericCurrentSense class constructor + */ + GenericCurrentSense(PhaseCurrent_s (*readCallback)() = nullptr, void (*initCallback)() = nullptr); + + // CurrentSense interface implementing functions + int init() override; + PhaseCurrent_s getPhaseCurrents() override; + int driverAlign(float align_voltage, bool modulation_centered) override; + + + PhaseCurrent_s (*readCallback)() = nullptr; //!< function pointer to sensor reading + void (*initCallback)() = nullptr; //!< function pointer to sensor initialisation + + private: + /** + * Function finding zero offsets of the ADC + */ + void calibrateOffsets(); + float offset_ia; //!< zero current A voltage value (center of the adc reading) + float offset_ib; //!< zero current B voltage value (center of the adc reading) + float offset_ic; //!< zero current C voltage value (center of the adc reading) + +}; + +#endif \ No newline at end of file diff --git a/src/current_sense/InlineCurrentSense.cpp b/src/current_sense/InlineCurrentSense.cpp new file mode 100644 index 00000000..35c97765 --- /dev/null +++ b/src/current_sense/InlineCurrentSense.cpp @@ -0,0 +1,88 @@ +#include "InlineCurrentSense.h" +#include "communication/SimpleFOCDebug.h" +// InlineCurrentSensor constructor +// - shunt_resistor - shunt resistor value +// - gain - current-sense op-amp gain +// - phA - A phase adc pin +// - phB - B phase adc pin +// - phC - C phase adc pin (optional) +InlineCurrentSense::InlineCurrentSense(float _shunt_resistor, float _gain, int _pinA, int _pinB, int _pinC){ + pinA = _pinA; + pinB = _pinB; + pinC = _pinC; + + shunt_resistor = _shunt_resistor; + amp_gain = _gain; + volts_to_amps_ratio = 1.0f /_shunt_resistor / _gain; // volts to amps + // gains for each phase + gain_a = volts_to_amps_ratio; + gain_b = volts_to_amps_ratio; + gain_c = volts_to_amps_ratio; +}; + + +InlineCurrentSense::InlineCurrentSense(float _mVpA, int _pinA, int _pinB, int _pinC){ + pinA = _pinA; + pinB = _pinB; + pinC = _pinC; + + volts_to_amps_ratio = 1000.0f / _mVpA; // mV to amps + // gains for each phase + gain_a = volts_to_amps_ratio; + gain_b = volts_to_amps_ratio; + gain_c = volts_to_amps_ratio; +}; + + + +// Inline sensor init function +int InlineCurrentSense::init(){ + // if no linked driver its fine in this case + // at least for init() + void* drv_params = driver ? driver->params : nullptr; + // configure ADC variables + params = _configureADCInline(drv_params,pinA,pinB,pinC); + // if init failed return fail + if (params == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; + // set the center pwm (0 voltage vector) + if(driver_type==DriverType::BLDC) + static_cast(driver)->setPwm(driver->voltage_limit/2, driver->voltage_limit/2, driver->voltage_limit/2); + // calibrate zero offsets + calibrateOffsets(); + // set zero voltage to all phases + if(driver_type==DriverType::BLDC) + static_cast(driver)->setPwm(0,0,0); + // set the initialized flag + initialized = (params!=SIMPLEFOC_CURRENT_SENSE_INIT_FAILED); + // return success + return 1; +} +// Function finding zero offsets of the ADC +void InlineCurrentSense::calibrateOffsets(){ + const int calibration_rounds = 1000; + + // find adc offset = zero current voltage + offset_ia = 0; + offset_ib = 0; + offset_ic = 0; + // read the adc voltage 1000 times ( arbitrary number ) + for (int i = 0; i < calibration_rounds; i++) { + if(_isset(pinA)) offset_ia += _readADCVoltageInline(pinA, params); + if(_isset(pinB)) offset_ib += _readADCVoltageInline(pinB, params); + if(_isset(pinC)) offset_ic += _readADCVoltageInline(pinC, params); + _delay(1); + } + // calculate the mean offsets + if(_isset(pinA)) offset_ia = offset_ia / calibration_rounds; + if(_isset(pinB)) offset_ib = offset_ib / calibration_rounds; + if(_isset(pinC)) offset_ic = offset_ic / calibration_rounds; +} + +// read all three phase currents (if possible 2 or 3) +PhaseCurrent_s InlineCurrentSense::getPhaseCurrents(){ + PhaseCurrent_s current; + current.a = (!_isset(pinA)) ? 0 : (_readADCVoltageInline(pinA, params) - offset_ia)*gain_a;// amps + current.b = (!_isset(pinB)) ? 0 : (_readADCVoltageInline(pinB, params) - offset_ib)*gain_b;// amps + current.c = (!_isset(pinC)) ? 0 : (_readADCVoltageInline(pinC, params) - offset_ic)*gain_c; // amps + return current; +} diff --git a/src/current_sense/InlineCurrentSense.h b/src/current_sense/InlineCurrentSense.h new file mode 100644 index 00000000..94be0f75 --- /dev/null +++ b/src/current_sense/InlineCurrentSense.h @@ -0,0 +1,54 @@ +#ifndef INLINE_CS_LIB_H +#define INLINE_CS_LIB_H + +#include "Arduino.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/defaults.h" +#include "../common/base_classes/CurrentSense.h" +#include "../common/base_classes/StepperDriver.h" +#include "../common/base_classes/BLDCDriver.h" +#include "../common/lowpass_filter.h" +#include "hardware_api.h" + + + +class InlineCurrentSense: public CurrentSense{ + public: + /** + InlineCurrentSense class constructor + @param shunt_resistor shunt resistor value + @param gain current-sense op-amp gain + @param phA A phase adc pin + @param phB B phase adc pin + @param phC C phase adc pin (optional) + */ + InlineCurrentSense(float shunt_resistor, float gain, int pinA, int pinB, int pinC = NOT_SET); + /** + InlineCurrentSense class constructor + @param mVpA mV per Amp ratio + @param phA A phase adc pin + @param phB B phase adc pin + @param phC C phase adc pin (optional) + */ + InlineCurrentSense(float mVpA, int pinA, int pinB, int pinC = NOT_SET); + + // CurrentSense interface implementing functions + int init() override; + PhaseCurrent_s getPhaseCurrents() override; + + private: + + // gain variables + float shunt_resistor; //!< Shunt resistor value + float amp_gain; //!< amp gain value + float volts_to_amps_ratio; //!< Volts to amps ratio + + /** + * Function finding zero offsets of the ADC + */ + void calibrateOffsets(); + +}; + +#endif \ No newline at end of file diff --git a/src/current_sense/LowsideCurrentSense.cpp b/src/current_sense/LowsideCurrentSense.cpp new file mode 100644 index 00000000..a0026ae3 --- /dev/null +++ b/src/current_sense/LowsideCurrentSense.cpp @@ -0,0 +1,95 @@ +#include "LowsideCurrentSense.h" +#include "communication/SimpleFOCDebug.h" +// LowsideCurrentSensor constructor +// - shunt_resistor - shunt resistor value +// - gain - current-sense op-amp gain +// - phA - A phase adc pin +// - phB - B phase adc pin +// - phC - C phase adc pin (optional) +LowsideCurrentSense::LowsideCurrentSense(float _shunt_resistor, float _gain, int _pinA, int _pinB, int _pinC){ + pinA = _pinA; + pinB = _pinB; + pinC = _pinC; + + shunt_resistor = _shunt_resistor; + amp_gain = _gain; + volts_to_amps_ratio = 1.0f /_shunt_resistor / _gain; // volts to amps + // gains for each phase + gain_a = volts_to_amps_ratio; + gain_b = volts_to_amps_ratio; + gain_c = volts_to_amps_ratio; +} + + +LowsideCurrentSense::LowsideCurrentSense(float _mVpA, int _pinA, int _pinB, int _pinC){ + pinA = _pinA; + pinB = _pinB; + pinC = _pinC; + + volts_to_amps_ratio = 1000.0f / _mVpA; // mV to amps + // gains for each phase + gain_a = volts_to_amps_ratio; + gain_b = volts_to_amps_ratio; + gain_c = volts_to_amps_ratio; +} + + +// Lowside sensor init function +int LowsideCurrentSense::init(){ + + if (driver==nullptr) { + SIMPLEFOC_DEBUG("CUR: Driver not linked!"); + return 0; + } + + // configure ADC variables + params = _configureADCLowSide(driver->params,pinA,pinB,pinC); + // if init failed return fail + if (params == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; + // sync the driver + void* r = _driverSyncLowSide(driver->params, params); + if(r == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; + // set the center pwm (0 voltage vector) + if(driver_type==DriverType::BLDC) + static_cast(driver)->setPwm(driver->voltage_limit/2, driver->voltage_limit/2, driver->voltage_limit/2); + // calibrate zero offsets + calibrateOffsets(); + // set zero voltage to all phases + if(driver_type==DriverType::BLDC) + static_cast(driver)->setPwm(0,0,0); + // set the initialized flag + initialized = (params!=SIMPLEFOC_CURRENT_SENSE_INIT_FAILED); + // return success + return 1; +} +// Function finding zero offsets of the ADC +void LowsideCurrentSense::calibrateOffsets(){ + const int calibration_rounds = 2000; + + // find adc offset = zero current voltage + offset_ia = 0; + offset_ib = 0; + offset_ic = 0; + // read the adc voltage 1000 times ( arbitrary number ) + for (int i = 0; i < calibration_rounds; i++) { + _startADC3PinConversionLowSide(); + if(_isset(pinA)) offset_ia += (_readADCVoltageLowSide(pinA, params)); + if(_isset(pinB)) offset_ib += (_readADCVoltageLowSide(pinB, params)); + if(_isset(pinC)) offset_ic += (_readADCVoltageLowSide(pinC, params)); + _delay(1); + } + // calculate the mean offsets + if(_isset(pinA)) offset_ia = offset_ia / calibration_rounds; + if(_isset(pinB)) offset_ib = offset_ib / calibration_rounds; + if(_isset(pinC)) offset_ic = offset_ic / calibration_rounds; +} + +// read all three phase currents (if possible 2 or 3) +PhaseCurrent_s LowsideCurrentSense::getPhaseCurrents(){ + PhaseCurrent_s current; + _startADC3PinConversionLowSide(); + current.a = (!_isset(pinA)) ? 0 : (_readADCVoltageLowSide(pinA, params) - offset_ia)*gain_a;// amps + current.b = (!_isset(pinB)) ? 0 : (_readADCVoltageLowSide(pinB, params) - offset_ib)*gain_b;// amps + current.c = (!_isset(pinC)) ? 0 : (_readADCVoltageLowSide(pinC, params) - offset_ic)*gain_c; // amps + return current; +} diff --git a/src/current_sense/LowsideCurrentSense.h b/src/current_sense/LowsideCurrentSense.h new file mode 100644 index 00000000..6651bcd2 --- /dev/null +++ b/src/current_sense/LowsideCurrentSense.h @@ -0,0 +1,54 @@ +#ifndef LOWSIDE_CS_LIB_H +#define LOWSIDE_CS_LIB_H + +#include "Arduino.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/defaults.h" +#include "../common/base_classes/CurrentSense.h" +#include "../common/base_classes/FOCMotor.h" +#include "../common/base_classes/StepperDriver.h" +#include "../common/base_classes/BLDCDriver.h" +#include "../common/lowpass_filter.h" +#include "hardware_api.h" + + +class LowsideCurrentSense: public CurrentSense{ + public: + /** + LowsideCurrentSense class constructor + @param shunt_resistor shunt resistor value + @param gain current-sense op-amp gain + @param phA A phase adc pin + @param phB B phase adc pin + @param phC C phase adc pin (optional) + */ + LowsideCurrentSense(float shunt_resistor, float gain, int pinA, int pinB, int pinC = _NC); + /** + LowsideCurrentSense class constructor + @param mVpA mV per Amp ratio + @param phA A phase adc pin + @param phB B phase adc pin + @param phC C phase adc pin (optional) + */ + LowsideCurrentSense(float mVpA, int pinA, int pinB, int pinC = _NC); + + // CurrentSense interface implementing functions + int init() override; + PhaseCurrent_s getPhaseCurrents() override; + + private: + + // gain variables + float shunt_resistor; //!< Shunt resistor value + float amp_gain; //!< amp gain value + float volts_to_amps_ratio; //!< Volts to amps ratio + + /** + * Function finding zero offsets of the ADC + */ + void calibrateOffsets(); + +}; + +#endif diff --git a/src/current_sense/hardware_api.h b/src/current_sense/hardware_api.h new file mode 100644 index 00000000..d1f5f160 --- /dev/null +++ b/src/current_sense/hardware_api.h @@ -0,0 +1,68 @@ +#ifndef HARDWARE_UTILS_CURRENT_H +#define HARDWARE_UTILS_CURRENT_H + +#include "../common/foc_utils.h" +#include "../common/time_utils.h" + +// flag returned if current sense init fails +#define SIMPLEFOC_CURRENT_SENSE_INIT_FAILED ((void*)-1) + +// generic implementation of the hardware specific structure +// containing all the necessary current sense parameters +// will be returned as a void pointer from the _configureADCx functions +// will be provided to the _readADCVoltageX() as a void pointer +typedef struct GenericCurrentSenseParams { + int pins[3]; + float adc_voltage_conv; +} GenericCurrentSenseParams; + + +/** + * function reading an ADC value and returning the read voltage + * + * @param pinA - the arduino pin to be read (it has to be ADC pin) + * @param cs_params -current sense parameter structure - hardware specific + */ +float _readADCVoltageInline(const int pinA, const void* cs_params); + +/** + * function reading an ADC value and returning the read voltage + * + * @param driver_params - driver parameter structure - hardware specific + * @param pinA - adc pin A + * @param pinB - adc pin B + * @param pinC - adc pin C + */ +void* _configureADCInline(const void *driver_params, const int pinA,const int pinB,const int pinC = NOT_SET); + +/** + * function reading an ADC value and returning the read voltage + * + * @param driver_params - driver parameter structure - hardware specific + * @param pinA - adc pin A + * @param pinB - adc pin B + * @param pinC - adc pin C + */ +void* _configureADCLowSide(const void *driver_params, const int pinA,const int pinB,const int pinC = NOT_SET); + +void _startADC3PinConversionLowSide(); + +/** + * function reading an ADC value and returning the read voltage + * + * @param pinA - the arduino pin to be read (it has to be ADC pin) + * @param cs_params -current sense parameter structure - hardware specific + */ +float _readADCVoltageLowSide(const int pinA, const void* cs_params); + +/** + * function syncing the Driver with the ADC for the LowSide Sensing + * @param driver_params - driver parameter structure - hardware specific + * @param cs_params - current sense parameter structure - hardware specific + * + * @return void* - returns the pointer to the current sense parameter structure (unchanged) + * - returns SIMPLEFOC_CURRENT_SENSE_INIT_FAILED if the init fails + */ +void* _driverSyncLowSide(void* driver_params, void* cs_params); + +#endif diff --git a/src/current_sense/hardware_specific/atmega_mcu.cpp b/src/current_sense/hardware_specific/atmega_mcu.cpp new file mode 100644 index 00000000..50ae5965 --- /dev/null +++ b/src/current_sense/hardware_specific/atmega_mcu.cpp @@ -0,0 +1,40 @@ +#include "../hardware_api.h" + +#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) + +#define _ADC_VOLTAGE 5.0f +#define _ADC_RESOLUTION 1024.0f + +#ifndef cbi + #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) +#endif +#ifndef sbi + #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) +#endif + +// function reading an ADC value and returning the read voltage +void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){ + _UNUSED(driver_params); + + if( _isset(pinA) ) pinMode(pinA, INPUT); + if( _isset(pinB) ) pinMode(pinB, INPUT); + if( _isset(pinC) ) pinMode(pinC, INPUT); + + + GenericCurrentSenseParams* params = new GenericCurrentSenseParams { + .pins = { pinA, pinB, pinC }, + .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION) + }; + + // set hight frequency adc - ADPS2,ADPS1,ADPS0 | 001 (16mhz/2) | 010 ( 16mhz/4 ) | 011 (16mhz/8) | 100(16mhz/16) | 101 (16mhz/32) | 110 (16mhz/64) | 111 (16mhz/128 default) + // set divisor to 8 - adc frequency 16mhz/8 = 2 mhz + // arduino takes 25 conversions per sample so - 2mhz/25 = 80k samples per second - 12.5us per sample + cbi(ADCSRA, ADPS2); + sbi(ADCSRA, ADPS1); + sbi(ADCSRA, ADPS0); + + return params; +} + + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/due_mcu.cpp b/src/current_sense/hardware_specific/due_mcu.cpp new file mode 100644 index 00000000..ce58cd9c --- /dev/null +++ b/src/current_sense/hardware_specific/due_mcu.cpp @@ -0,0 +1,27 @@ +#include "../hardware_api.h" + +#if defined(__arm__) && defined(__SAM3X8E__) + +#define _ADC_VOLTAGE 3.3f +#define _ADC_RESOLUTION 1024.0f + + +// function reading an ADC value and returning the read voltage +void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){ + _UNUSED(driver_params); + + if( _isset(pinA) ) pinMode(pinA, INPUT); + if( _isset(pinB) ) pinMode(pinB, INPUT); + if( _isset(pinC) ) pinMode(pinC, INPUT); + + GenericCurrentSenseParams* params = new GenericCurrentSenseParams { + .pins = { pinA, pinB, pinC }, + .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION) + }; + + return params; +} + + + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp new file mode 100644 index 00000000..caf29c19 --- /dev/null +++ b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp @@ -0,0 +1,176 @@ + +#include "esp32_mcu.h" +#include "esp32_adc_driver.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) +#define SIMPLEFOC_ADC_ATTEN ADC_11db +#define SIMPLEFOC_ADC_RES 12 + + +#if CONFIG_IDF_TARGET_ESP32 // if esp32 variant + +#include "soc/sens_reg.h" + +// configure the ADCs in RTC mode +// saves about 3us per call +// going from 12us to 9us +void __configFastADCs(){ + + // configure both ADCs in RTC mode + SET_PERI_REG_MASK(SENS_SAR_READ_CTRL_REG, SENS_SAR1_DATA_INV); + SET_PERI_REG_MASK(SENS_SAR_READ_CTRL2_REG, SENS_SAR2_DATA_INV); + + SET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_FORCE_M); //SAR ADC1 controller (in RTC) is started by SW + SET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_SAR1_EN_PAD_FORCE_M); //SAR ADC1 pad enable bitmap is controlled by SW + SET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_FORCE_M); //SAR ADC2 controller (in RTC) is started by SW + SET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD_FORCE_M); //SAR ADC2 pad enable bitmap is controlled by SW + + CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_WAIT2_REG, SENS_FORCE_XPD_SAR_M); //force XPD_SAR=0, use XPD_FSM + SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT2_REG, SENS_FORCE_XPD_AMP, 0x2, SENS_FORCE_XPD_AMP_S); //force XPD_AMP=0 + + CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_CTRL_REG, 0xfff << SENS_AMP_RST_FB_FSM_S); //clear FSM + SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT1_REG, SENS_SAR_AMP_WAIT1, 0x1, SENS_SAR_AMP_WAIT1_S); + SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT1_REG, SENS_SAR_AMP_WAIT2, 0x1, SENS_SAR_AMP_WAIT2_S); + SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT2_REG, SENS_SAR_AMP_WAIT3, 0x1, SENS_SAR_AMP_WAIT3_S); + while (GET_PERI_REG_BITS2(SENS_SAR_SLAVE_ADDR1_REG, 0x7, SENS_MEAS_STATUS_S) != 0); //wait det_fsm== +} + + +uint16_t IRAM_ATTR adcRead(uint8_t pin) +{ + int8_t channel = digitalPinToAnalogChannel(pin); + if(channel < 0){ + SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Not ADC pin: "+String(pin)); + return false;//not adc pin + } + + // start teh ADC conversion + if(channel > 9){ + 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 - 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); + SET_PERI_REG_BITS(SENS_SAR_MEAS_START1_REG, SENS_SAR1_EN_PAD, (1 << channel), SENS_SAR1_EN_PAD_S); + SET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_SAR_M); + } + + uint16_t value = 0; + + if(channel > 7){ + //wait for conversion + while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DONE_SAR) == 0); + // read the value + value = GET_PERI_REG_BITS2(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S); + } else { + //wait for conversion + while (GET_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DONE_SAR) == 0); + // read the value + value = GET_PERI_REG_BITS2(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S); + } + + // return value + return value; +} + +#elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 // if esp32 s2 or s3 variants + +#include "soc/sens_reg.h" + + +// configure the ADCs in RTC mode +// no real gain - see if we do something with it later +// void __configFastADCs(){ + +// SET_PERI_REG_MASK(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_DATA_INV); +// SET_PERI_REG_MASK(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_DATA_INV); + +// SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_FORCE_M); //SAR ADC1 controller (in RTC) is started by SW +// SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_SAR1_EN_PAD_FORCE_M); //SAR ADC1 pad enable bitmap is controlled by SW +// SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_FORCE_M); //SAR ADC2 controller (in RTC) is started by SW +// SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_SAR2_EN_PAD_FORCE_M); //SAR ADC2 pad enable bitmap is controlled by SW + +// CLEAR_PERI_REG_MASK(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_SAR_M); //force XPD_SAR=0, use XPD_FSM +// SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_AMP, 0x2, SENS_FORCE_XPD_AMP_S); //force XPD_AMP=0 + +// CLEAR_PERI_REG_MASK(SENS_SAR_AMP_CTRL3_REG, 0xfff << SENS_AMP_RST_FB_FSM_S); //clear FSM +// SET_PERI_REG_BITS(SENS_SAR_AMP_CTRL1_REG, SENS_SAR_AMP_WAIT1, 0x1, SENS_SAR_AMP_WAIT1_S); +// SET_PERI_REG_BITS(SENS_SAR_AMP_CTRL1_REG, SENS_SAR_AMP_WAIT2, 0x1, SENS_SAR_AMP_WAIT2_S); +// SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_SAR_AMP_WAIT3, 0x1, SENS_SAR_AMP_WAIT3_S); +// while (GET_PERI_REG_BITS2(SENS_SAR_SLAVE_ADDR1_REG, 0x7, SENS_SARADC_MEAS_STATUS_S) != 0); //wait det_fsm== +// } + +uint16_t IRAM_ATTR adcRead(uint8_t pin) +{ + int8_t channel = digitalPinToAnalogChannel(pin); + if(channel < 0){ + SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Not ADC pin: "+String(pin)); + return false;//not adc pin + } + + // start the ADC conversion + if(channel > 9){ + CLEAR_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M); + SET_PERI_REG_BITS(SENS_SAR_MEAS2_CTRL2_REG, SENS_SAR2_EN_PAD, (1 << (channel - 10)), SENS_SAR2_EN_PAD_S); + SET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_SAR_M); + } else { + CLEAR_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M); + SET_PERI_REG_BITS(SENS_SAR_MEAS1_CTRL2_REG, SENS_SAR1_EN_PAD, (1 << channel), SENS_SAR1_EN_PAD_S); + SET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_SAR_M); + } + + uint16_t value = 0; + + if(channel > 9){ + //wait for conversion + while (GET_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DONE_SAR) == 0); + // read the value + value = GET_PERI_REG_BITS2(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_DATA_SAR, SENS_MEAS2_DATA_SAR_S); + } else { + //wait for conversion + while (GET_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DONE_SAR) == 0); + // read teh value + value = GET_PERI_REG_BITS2(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_DATA_SAR, SENS_MEAS1_DATA_SAR_S); + } + + return value; +} + +#else // if others just use analogRead + +#pragma message("SimpleFOC: Using analogRead for ADC reading, no fast ADC configuration available!") + +uint16_t IRAM_ATTR adcRead(uint8_t pin){ + return analogRead(pin); +} + +#endif + + +// configure the ADC for the pin +bool IRAM_ATTR adcInit(uint8_t pin){ + static bool initialized = false; + + int8_t channel = digitalPinToAnalogChannel(pin); + if(channel < 0){ + SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Not ADC pin: "+String(pin)); + return false;//not adc pin + } + + if(! initialized){ + analogSetAttenuation(SIMPLEFOC_ADC_ATTEN); + analogReadResolution(SIMPLEFOC_ADC_RES); + } + pinMode(pin, ANALOG); + analogSetPinAttenuation(pin, SIMPLEFOC_ADC_ATTEN); + analogRead(pin); + +#if CONFIG_IDF_TARGET_ESP32 // if esp32 variant + __configFastADCs(); +#endif + + initialized = true; + return true; +} + +#endif diff --git a/src/current_sense/hardware_specific/esp32/esp32_adc_driver.h b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.h new file mode 100644 index 00000000..cad441fc --- /dev/null +++ b/src/current_sense/hardware_specific/esp32/esp32_adc_driver.h @@ -0,0 +1,24 @@ +#ifndef SIMPLEFOC_ESP32_HAL_ADC_DRIVER_H_ +#define SIMPLEFOC_ESP32_HAL_ADC_DRIVER_H_ + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) + +/** + * Get ADC value for pin + * @param pin - pin number + * @return ADC value (0 - 4095) + * */ +uint16_t adcRead(uint8_t pin); + +/** + * Initialize ADC pin + * @param pin - pin number + * + * @return true if success + * false if pin is not an ADC pin + */ +bool adcInit(uint8_t pin); + + +#endif /* SIMPLEFOC_ESP32_HAL_ADC_DRIVER_H_ */ +#endif /* ESP32 */ \ No newline at end of file diff --git a/src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp b/src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp new file mode 100644 index 00000000..33d547db --- /dev/null +++ b/src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp @@ -0,0 +1,158 @@ +#include "esp32_mcu.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC) + +// check the version of the ESP-IDF +#include "esp_idf_version.h" + +#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0) +#error SimpleFOC: ESP-IDF version 4 or lower detected. Please update to ESP-IDF 5.x and Arduino-esp32 3.0 (or higher) +#endif + +#include "../../../drivers/hardware_specific/esp32/esp32_driver_mcpwm.h" +#include "../../../drivers/hardware_specific/esp32/mcpwm_private.h" + +#include "driver/mcpwm_prelude.h" +#include "soc/mcpwm_reg.h" +#include "soc/mcpwm_struct.h" + + + +// adding a debug toggle pin to measure the time of the interrupt with oscilloscope + +// #define SIMPLEFOC_ESP32_INTERRUPT_DEBUG + +#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG +#include "driver/gpio.h" + +#ifdef CONFIG_IDF_TARGET_ESP32S3 +#define DEBUGPIN 16 +#define GPIO_NUM GPIO_NUM_16 +#else +#define DEBUGPIN 19 +#define GPIO_NUM GPIO_NUM_19 +#endif + +#endif + + + +/** + * Low side adc reading implementation +*/ + + +// function reading an ADC value and returning the read voltage +float _readADCVoltageLowSide(const int pin, const void* cs_params){ + ESP32CurrentSenseParams* p = (ESP32CurrentSenseParams*)cs_params; + int no_channel = 0; + for(int i=0; i < 3; i++){ + if(!_isset(p->pins[i])) continue; + if(pin == p->pins[i]) // found in the buffer + return p->adc_buffer[no_channel] * p->adc_voltage_conv; + else no_channel++; + } + SIMPLEFOC_DEBUG("ERROR: ADC pin not found in the buffer!"); + // not found + return 0; +} + + +// function configuring low-side current sensing +void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){ + // check if driver timer is already running + // fail if it is + // the easiest way that I've found to check if timer is running + // is to start it and stop it + ESP32MCPWMDriverParams *p = (ESP32MCPWMDriverParams*)driver_params; + mcpwm_timer_t* t = (mcpwm_timer_t*) p->timers[0]; + + // check if low side callback is already set + // if it is, return error + if(t->on_full != nullptr){ + SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Low side callback is already set. Cannot set it again for timer: "+String(t->timer_id)+", group: "+String(t->group->group_id)); + return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + } + + + ESP32CurrentSenseParams* params = new ESP32CurrentSenseParams{}; + int no_adc_channels = 0; + + // initialize the ADC pins + // fail if the pin is not an ADC pin + int adc_pins[3] = {pinA, pinB, pinC}; + for (int i = 0; i < 3; i++){ + if(_isset(adc_pins[i])){ + if(!adcInit(adc_pins[i])){ + SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Failed to initialise ADC pin: "+String(adc_pins[i]) + String(", maybe not an ADC pin?")); + return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + } + params->pins[no_adc_channels++] = adc_pins[i]; + } + } + + t->user_data = params; + params->adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION); + params->no_adc_channels = no_adc_channels; + return params; +} + + + +void* _driverSyncLowSide(void* driver_params, void* cs_params){ +#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG + pinMode(DEBUGPIN, OUTPUT); +#endif + ESP32MCPWMDriverParams *p = (ESP32MCPWMDriverParams*)driver_params; + mcpwm_timer_t* t = (mcpwm_timer_t*) p->timers[0]; + + // check if low side callback is already set + // if it is, return error + if(t->on_full != nullptr){ + SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Low side callback is already set. Cannot set it again for timer: "+String(t->timer_id)+", group: "+String(t->group->group_id)); + return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + } + + // set the callback for the low side current sensing + // mcpwm_timer_event_callbacks_t can be used to set the callback + // for three timer events + // - on_full - low-side + // - on_empty - high-side + // - on_sync - sync event (not used with simplefoc) + auto cbs = mcpwm_timer_event_callbacks_t{ + .on_full = [](mcpwm_timer_handle_t tim, const mcpwm_timer_event_data_t* edata, void* user_data){ + ESP32CurrentSenseParams *p = (ESP32CurrentSenseParams*)user_data; +#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG // debugging toggle pin to measure the time of the interrupt with oscilloscope + gpio_set_level(GPIO_NUM,1); //cca 250ns for on+off +#endif + + // sample the phase currents one at a time + // ESP's adc read takes around 10us which is very long + // increment buffer index + p->buffer_index = (p->buffer_index + 1) % p->no_adc_channels; + // so we are sampling one phase per call + p->adc_buffer[p->buffer_index] = adcRead(p->pins[p->buffer_index]); + +#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG // debugging toggle pin to measure the time of the interrupt with oscilloscope + gpio_set_level(GPIO_NUM,0); //cca 250ns for on+off +#endif + return true; + }, + }; + SIMPLEFOC_ESP32_CS_DEBUG("Timer "+String(t->timer_id)+" enable interrupt callback."); + // set the timer state to init (so that we can call the `mcpwm_timer_register_event_callbacks` ) + // this is a hack, as this function is not supposed to be called when the timer is running + // the timer does not really go to the init state! + t->fsm = MCPWM_TIMER_FSM_INIT; + // set the callback + CHECK_CS_ERR(mcpwm_timer_register_event_callbacks(t, &cbs, cs_params), "Failed to set low side callback"); + // set the timer state to enabled again + t->fsm = MCPWM_TIMER_FSM_ENABLE; + SIMPLEFOC_ESP32_CS_DEBUG("Timer "+String(t->timer_id)+" enable interrupts."); + CHECK_CS_ERR(esp_intr_enable(t->intr), "Failed to enable low-side interrupts!"); + + return cs_params; +} + + +#endif diff --git a/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp b/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp new file mode 100644 index 00000000..e5ed3fbf --- /dev/null +++ b/src/current_sense/hardware_specific/esp32/esp32_mcu.cpp @@ -0,0 +1,38 @@ +#include "esp32_mcu.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) + +/** + * Inline adc reading implementation +*/ +// function reading an ADC value and returning the read voltage +float _readADCVoltageInline(const int pinA, const void* cs_params){ + uint32_t raw_adc = adcRead(pinA); + return raw_adc * ((ESP32CurrentSenseParams*)cs_params)->adc_voltage_conv; +} + +// function reading an ADC value and returning the read voltage +void* _configureADCInline(const void* driver_params, const int pinA, const int pinB, const int pinC){ + + ESP32CurrentSenseParams* params = new ESP32CurrentSenseParams { + .pins = { pinA, pinB, pinC }, + .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION) + }; + + // initialize the ADC pins + // fail if the pin is not an ADC pin + for (int i = 0; i < 3; i++){ + if(_isset(params->pins[i])){ + pinMode(params->pins[i], ANALOG); + if(!adcInit(params->pins[i])) { + SIMPLEFOC_ESP32_CS_DEBUG("ERROR: Failed to initialise ADC pin: "+String(params->pins[i]) + String(", maybe not an ADC pin?")); + return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + } + } + } + + return params; +} + + +#endif diff --git a/src/current_sense/hardware_specific/esp32/esp32_mcu.h b/src/current_sense/hardware_specific/esp32/esp32_mcu.h new file mode 100644 index 00000000..9207fb6a --- /dev/null +++ b/src/current_sense/hardware_specific/esp32/esp32_mcu.h @@ -0,0 +1,37 @@ +#ifndef ESP32_MCU_CURRENT_SENSING_H +#define ESP32_MCU_CURRENT_SENSING_H + +#include "../../hardware_api.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) + + +#include "../../../drivers/hardware_api.h" +#include "esp32_adc_driver.h" + + +// esp32 current sense parameters +typedef struct ESP32CurrentSenseParams { + int pins[3]; + float adc_voltage_conv; + int adc_buffer[3] = {}; + int buffer_index = 0; + int no_adc_channels = 0; +} ESP32CurrentSenseParams; + +// macros for debugging wuing the simplefoc debug system +#define SIMPLEFOC_ESP32_CS_DEBUG(str)\ + SimpleFOCDebug::println( "ESP32-CS: "+ String(str));\ + +#define CHECK_CS_ERR(func_call, message) \ + if ((func_call) != ESP_OK) { \ + SIMPLEFOC_ESP32_CS_DEBUG("ERROR - " + String(message)); \ + return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; \ + } + + +#define _ADC_VOLTAGE 3.3f +#define _ADC_RESOLUTION 4095.0f + +#endif // ESP_H && ARDUINO_ARCH_ESP32 +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/generic_mcu.cpp b/src/current_sense/hardware_specific/generic_mcu.cpp new file mode 100644 index 00000000..ff8c467c --- /dev/null +++ b/src/current_sense/hardware_specific/generic_mcu.cpp @@ -0,0 +1,47 @@ +#include "../hardware_api.h" +#include "../../communication/SimpleFOCDebug.h" + +// function reading an ADC value and returning the read voltage +__attribute__((weak)) float _readADCVoltageInline(const int pinA, const void* cs_params){ + uint32_t raw_adc = analogRead(pinA); + return raw_adc * ((GenericCurrentSenseParams*)cs_params)->adc_voltage_conv; +} + +// function reading an ADC value and returning the read voltage +__attribute__((weak)) void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){ + _UNUSED(driver_params); + + if( _isset(pinA) ) pinMode(pinA, INPUT); + if( _isset(pinB) ) pinMode(pinB, INPUT); + if( _isset(pinC) ) pinMode(pinC, INPUT); + + GenericCurrentSenseParams* params = new GenericCurrentSenseParams { + .pins = { pinA, pinB, pinC }, + .adc_voltage_conv = (5.0f)/(1024.0f) + }; + + return params; +} + +// function reading an ADC value and returning the read voltage +__attribute__((weak)) float _readADCVoltageLowSide(const int pinA, const void* cs_params){ + SIMPLEFOC_DEBUG("ERR: Low-side cs not supported!"); + return 0.0; +} + +// Configure low side for generic mcu +// cannot do much but +__attribute__((weak)) void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){ + SIMPLEFOC_DEBUG("ERR: Low-side cs not supported!"); + return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; +} + +// sync driver and the adc +__attribute__((weak)) void* _driverSyncLowSide(void* driver_params, void* cs_params){ + _UNUSED(driver_params); + return cs_params; +} + +// function starting the ADC conversion for the high side current sensing +// only necessary for certain types of MCUs +__attribute__((weak)) void _startADC3PinConversionLowSide(){ } diff --git a/src/current_sense/hardware_specific/rp2040/rp2040_mcu.cpp b/src/current_sense/hardware_specific/rp2040/rp2040_mcu.cpp new file mode 100644 index 00000000..d2ed881b --- /dev/null +++ b/src/current_sense/hardware_specific/rp2040/rp2040_mcu.cpp @@ -0,0 +1,265 @@ + +#if defined(TARGET_RP2040) + + +#include "../../hardware_api.h" +#include "./rp2040_mcu.h" +#include "../../../drivers/hardware_specific/rp2040/rp2040_mcu.h" +#include "communication/SimpleFOCDebug.h" + +#include "hardware/dma.h" +#include "hardware/irq.h" +#include "hardware/pwm.h" +#include "hardware/adc.h" + + +/* Singleton instance of the ADC engine */ +RP2040ADCEngine engine; + +alignas(32) const uint32_t trigger_value = ADC_CS_START_ONCE_BITS; // start once + +/* Hardware API implementation */ + +float _readADCVoltageInline(const int pinA, const void* cs_params) { + // not super-happy with this. Here we have to return 1 phase current at a time, when actually we want to + // return readings from the same ADC conversion run. The ADC on RP2040 is anyway in round robin mode :-( + // like this we either have to block interrupts, or of course have the chance of reading across + // new ADC conversions, which probably won't improve the accuracy. + _UNUSED(cs_params); + + if (pinA>=26 && pinA<=29 && engine.channelsEnabled[pinA-26]) { + return engine.lastResults.raw[pinA-26]*engine.adc_conv; + } + + // otherwise return NaN + return NAN; +}; + + +void* _configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC) { + _UNUSED(driver_params); + + if( _isset(pinA) ) + engine.addPin(pinA); + if( _isset(pinB) ) + engine.addPin(pinB); + if( _isset(pinC) ) + engine.addPin(pinC); + engine.init(); // TODO this has to happen later if we want to support more than one motor... + engine.start(); + return &engine; +}; + + +// not supported at the moment +// void* _configureADCLowSide(const void *driver_params, const int pinA, const int pinB, const int pinC) { +// if( _isset(pinA) ) +// engine.addPin(pinA); +// if( _isset(pinB) ) +// engine.addPin(pinB); +// if( _isset(pinC) ) +// engine.addPin(pinC); +// engine.setPWMTrigger(((RP2040DriverParams*)driver_params)->slice[0]); +// engine.init(); +// engine.start(); +// return &engine; +// }; + + +// void _startADC3PinConversionLowSide() { +// // what is this for? +// }; + + +// float _readADCVoltageLowSide(const int pinA, const void* cs_params) { +// // not super-happy with this. Here we have to return 1 phase current at a time, when actually we want to +// // return readings from the same ADC conversion run. The ADC on RP2040 is anyway in round robin mode :-( +// // like this we have block interrupts 3x instead of just once, and of course have the chance of reading across +// // new ADC conversions, which probably won't improve the accuracy. + +// if (pinA>=26 && pinA<=29 && engine.channelsEnabled[pinA-26]) { +// return engine.lastResults[pinA-26]*engine.adc_conv; +// } + +// // otherwise return NaN +// return NAN; +// }; + + +// void* _driverSyncLowSide(void* driver_params, void* cs_params) { +// // nothing to do +// }; + + + +volatile int rp2040_intcount = 0; + +void _adcConversionFinishedHandler() { + // conversion of all channels finished. copy results. + volatile uint8_t* from = engine.samples; + if (engine.channelsEnabled[0]) + engine.lastResults.raw[0] = (*from++); + if (engine.channelsEnabled[1]) + engine.lastResults.raw[1] = (*from++); + if (engine.channelsEnabled[2]) + engine.lastResults.raw[2] = (*from++); + if (engine.channelsEnabled[3]) + engine.lastResults.raw[3] = (*from++); + //dma_channel_acknowledge_irq0(engine.readDMAChannel); + dma_hw->ints0 = 1u << engine.readDMAChannel; + //dma_start_channel_mask( (1u << engine.readDMAChannel) ); + dma_channel_set_write_addr(engine.readDMAChannel, engine.samples, true); + // if (engine.triggerPWMSlice>=0) + // dma_channel_set_trans_count(engine.triggerDMAChannel, 1, true); + rp2040_intcount++; +}; + + + +/* ADC engine implementation */ + + +RP2040ADCEngine::RP2040ADCEngine() { + channelsEnabled[0] = false; + channelsEnabled[1] = false; + channelsEnabled[2] = false; + channelsEnabled[3] = false; + initialized = false; +}; + + + +void RP2040ADCEngine::addPin(int pin) { + if (pin>=26 && pin<=29) + channelsEnabled[pin-26] = true; + else + SIMPLEFOC_DEBUG("RP2040-CUR: ERR: Not an ADC pin: ", pin); +}; + + + +// void RP2040ADCEngine::setPWMTrigger(uint slice){ +// triggerPWMSlice = slice; +// }; + + + + +bool RP2040ADCEngine::init() { + if (initialized) + return true; + + adc_init(); + int enableMask = 0x00; + int channelCount = 0; + for (int i = 3; i>=0; i--) { + if (channelsEnabled[i]){ + adc_gpio_init(i+26); + enableMask |= (0x01<=500000) { + samples_per_second = 0; + adc_set_clkdiv(0); + } + else + adc_set_clkdiv(48000000/samples_per_second); + SIMPLEFOC_DEBUG("RP2040-CUR: ADC init"); + + readDMAChannel = dma_claim_unused_channel(true); + dma_channel_config cc1 = dma_channel_get_default_config(readDMAChannel); + channel_config_set_transfer_data_size(&cc1, DMA_SIZE_8); + channel_config_set_read_increment(&cc1, false); + channel_config_set_write_increment(&cc1, true); + channel_config_set_dreq(&cc1, DREQ_ADC); + channel_config_set_irq_quiet(&cc1, false); + dma_channel_configure(readDMAChannel, + &cc1, + samples, // dest + &adc_hw->fifo, // source + channelCount, // count + false // defer start + ); + dma_channel_set_irq0_enabled(readDMAChannel, true); + irq_add_shared_handler(DMA_IRQ_0, _adcConversionFinishedHandler, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY); + + SIMPLEFOC_DEBUG("RP2040-CUR: DMA init"); + + // if (triggerPWMSlice>=0) { // if we have a trigger + // triggerDMAChannel = dma_claim_unused_channel(true); + // dma_channel_config cc3 = dma_channel_get_default_config(triggerDMAChannel); + // channel_config_set_transfer_data_size(&cc3, DMA_SIZE_32); + // channel_config_set_read_increment(&cc3, false); + // channel_config_set_write_increment(&cc3, false); + // channel_config_set_irq_quiet(&cc3, true); + // channel_config_set_dreq(&cc3, DREQ_PWM_WRAP0+triggerPWMSlice); //pwm_get_dreq(triggerPWMSlice)); + // pwm_set_irq_enabled(triggerPWMSlice, true); + // dma_channel_configure(triggerDMAChannel, + // &cc3, + // hw_set_alias_untyped(&adc_hw->cs), // dest + // &trigger_value, // source + // 1, // count + // true // defer start + // ); + // SIMPLEFOC_DEBUG("RP2040-CUR: PWM trigger init slice ", triggerPWMSlice); + // } + + initialized = true; + return initialized; +}; + + + + +void RP2040ADCEngine::start() { + SIMPLEFOC_DEBUG("RP2040-CUR: ADC engine starting"); + irq_set_enabled(DMA_IRQ_0, true); + dma_start_channel_mask( (1u << readDMAChannel) ); + for (int i=0;i<4;i++) { + if (channelsEnabled[i]) { + adc_select_input(i); // set input to first enabled channel + break; + } + } + // if (triggerPWMSlice>=0) { + // dma_start_channel_mask( (1u << triggerDMAChannel) ); + // //hw_set_bits(&adc_hw->cs, trigger_value); + // } + // else + adc_run(true); + SIMPLEFOC_DEBUG("RP2040-CUR: ADC engine started"); +}; + + + + +void RP2040ADCEngine::stop() { + adc_run(false); + irq_set_enabled(DMA_IRQ_0, false); + dma_channel_abort(readDMAChannel); + // if (triggerPWMSlice>=0) + // dma_channel_abort(triggerDMAChannel); + adc_fifo_drain(); + SIMPLEFOC_DEBUG("RP2040-CUR: ADC engine stopped"); +}; + + + +ADCResults RP2040ADCEngine::getLastResults() { + ADCResults r; + r.value = lastResults.value; + return r; +}; + + + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/rp2040/rp2040_mcu.h b/src/current_sense/hardware_specific/rp2040/rp2040_mcu.h new file mode 100644 index 00000000..ae28bb26 --- /dev/null +++ b/src/current_sense/hardware_specific/rp2040/rp2040_mcu.h @@ -0,0 +1,93 @@ + + +#pragma once + +/* + * RP2040 ADC features are very weak :-( + * - only 4 inputs + * - only 9 bit effective resolution + * - read only 1 input at a time + * - 2 microseconds conversion time! + * - no triggers from PWM / events, only DMA + * + * So to read 3 phases takes 6 microseconds. :-( + * + * The RP2040 ADC engine takes over the control of the MCU's ADC. Parallel ADC access is not permitted, as this would + * cause conflicts with the engine's DMA based access and cause crashes. + * To use the other ADC channels, use them via this engine. Use addPin() to add them to the conversion, and getLastResult() + * to retrieve their value at any time. + * + * For motor current sensing, the engine supports inline sensing only. + * + * Inline sensing is supported by offering a user-selectable fixed ADC sampling rate, which can be set between 500kHz and 1Hz. + * After starting the engine it will continuously sample and provide new values at the configured rate. + * + * The default sampling rate is 20kHz, which is suitable for 2 channels assuming you a 5kHz main loop speed (a new measurement is used per + * main loop iteration). + * + * Low-side sensing is currently not supported. + * + * The SimpleFOC PWM driver for RP2040 syncs all the slices, so the PWM trigger is applied to the first used slice. For current + * sensing to work correctly, all PWM slices have to be set to the same PWM frequency. + * In theory, two motors could be sensed using 2 shunts on each motor. + * + * Note that if using other ADC channels along with the motor current sensing, those channels will be subject to the same conversion schedule as the motor's ADC channels, i.e. convert at the same fixed rate in case + * of inline sensing. + * + * Solution to trigger ADC conversion from PWM via DMA: + * use the PWM wrap as a DREQ to a DMA channel, and have the DMA channel write to the ADC's CS register to trigger an ADC sample. + * Unfortunately, I could not get this to work, so no low side sensing for the moment. + * + * Solution for ADC conversion: + * ADC converts all channels in round-robin mode, and writes to FIFO. FIFO is emptied by a DMA which triggers after N conversions, + * where N is the number of ADC channels used. So this DMA copies all the values from one round-robin conversion. + * + * + */ + + +#define SIMPLEFOC_RP2040_ADC_RESOLUTION 256 +#ifndef SIMPLEFOC_RP2040_ADC_VDDA +#define SIMPLEFOC_RP2040_ADC_VDDA 3.3f +#endif + + +union ADCResults { + uint32_t value; + uint8_t raw[4]; + struct { + uint8_t ch0; + uint8_t ch1; + uint8_t ch2; + uint8_t ch3; + }; +}; + + +class RP2040ADCEngine { + +public: + RP2040ADCEngine(); + void addPin(int pin); + //void setPWMTrigger(uint slice); + + bool init(); + void start(); + void stop(); + + ADCResults getLastResults(); // TODO find a better API and representation for this + + int samples_per_second = 20000; // 20kHz default (assuming 2 shunts and 5kHz loop speed), set to 0 to convert in tight loop + float adc_conv = (SIMPLEFOC_RP2040_ADC_VDDA / SIMPLEFOC_RP2040_ADC_RESOLUTION); // conversion from raw ADC to float + + //int triggerPWMSlice = -1; + bool initialized; + uint readDMAChannel; + //uint copyDMAChannel; + //uint triggerDMAChannel; + + bool channelsEnabled[4]; + volatile uint8_t samples[4]; + volatile ADCResults lastResults; + //alignas(32) volatile uint8_t nextResults[4]; +}; \ No newline at end of file diff --git a/src/current_sense/hardware_specific/samd/samd21_mcu.cpp b/src/current_sense/hardware_specific/samd/samd21_mcu.cpp new file mode 100644 index 00000000..046f3db4 --- /dev/null +++ b/src/current_sense/hardware_specific/samd/samd21_mcu.cpp @@ -0,0 +1,319 @@ +#ifdef _SAMD21_ + +#include "samd21_mcu.h" +#include "../../hardware_api.h" + + +static bool freeRunning = false; +static int _pinA, _pinB, _pinC; +static uint16_t a = 0xFFFF, b = 0xFFFF, c = 0xFFFF; // updated by adcStopWithDMA when configured in freerunning mode +static SAMDCurrentSenseADCDMA instance; + +// function configuring low-side current sensing +void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC) +{ + _UNUSED(driver_params); + + _pinA = pinA; + _pinB = pinB; + _pinC = pinC; + freeRunning = true; + instance.init(pinA, pinB, pinC); + + GenericCurrentSenseParams* params = new GenericCurrentSenseParams { + .pins = { pinA, pinB, pinC } + }; + + return params; +} +void _startADC3PinConversionLowSide() +{ + instance.startADCScan(); +} +/** + * function reading an ADC value and returning the read voltage + * + * @param pinA - the arduino pin to be read (it has to be ADC pin) + */ +float _readADCVoltageLowSide(const int pinA, const void* cs_params) +{ + _UNUSED(cs_params); + + instance.readResults(a, b, c); + + if(pinA == _pinA) + return instance.toVolts(a); + if(pinA == _pinB) + return instance.toVolts(b); + if(pinA == _pinC) + return instance.toVolts(c); + + return NAN; +} + +/** + * function syncing the Driver with the ADC for the LowSide Sensing + */ +void* _driverSyncLowSide(void* driver_params, void* cs_params) +{ + _UNUSED(driver_params); + + SIMPLEFOC_SAMD_DEBUG_SERIAL.println(F("TODO! _driverSyncLowSide() is not implemented")); + instance.startADCScan(); + //TODO: hook with PWM interrupts + + return cs_params; +} + + + + + + + + + + + // Credit: significant portions of this code were pulled from Paul Gould's git https://github.com/gouldpa/FOC-Arduino-Brushless + +static void adcStopWithDMA(void); +static void adcStartWithDMA(void); + +/** + * @brief ADC sync wait + * @retval void + */ +static __inline__ void ADCsync() __attribute__((always_inline, unused)); +static void ADCsync() { + while (ADC->STATUS.bit.SYNCBUSY == 1); //Just wait till the ADC is free +} + +// ADC DMA sequential free running (6) with Interrupts ///////////////// + +SAMDCurrentSenseADCDMA * SAMDCurrentSenseADCDMA::getHardwareAPIInstance() +{ + + return &instance; +} + +SAMDCurrentSenseADCDMA::SAMDCurrentSenseADCDMA() +{ +} + +void SAMDCurrentSenseADCDMA::init(int pinA, int pinB, int pinC, int pinAREF, float voltageAREF, uint32_t adcBits, uint32_t channelDMA) +{ + this->pinA = pinA; + this->pinB = pinB; + this->pinC = pinC; + this->pinAREF = pinAREF; + this->channelDMA = channelDMA; + this->voltageAREF = voltageAREF; + this->maxCountsADC = 1 << adcBits; + countsToVolts = ( voltageAREF / maxCountsADC ); + + initPins(); + initADC(); + initDMA(); + startADCScan(); //so we have something to read next time we call readResults() +} + + +void SAMDCurrentSenseADCDMA::startADCScan(){ + adcToDMATransfer(adcBuffer + oneBeforeFirstAIN, BufferSize); + adcStartWithDMA(); +} + +bool SAMDCurrentSenseADCDMA::readResults(uint16_t & a, uint16_t & b, uint16_t & c){ + if(ADC->CTRLA.bit.ENABLE) + return false; + uint32_t ainA = g_APinDescription[pinA].ulADCChannelNumber; + uint32_t ainB = g_APinDescription[pinB].ulADCChannelNumber; + a = adcBuffer[ainA]; + b = adcBuffer[ainB]; + if(_isset(pinC)) + { + uint32_t ainC = g_APinDescription[pinC].ulADCChannelNumber; + c = adcBuffer[ainC]; + } + return true; +} + + +float SAMDCurrentSenseADCDMA::toVolts(uint16_t counts) { + return counts * countsToVolts; +} + +void SAMDCurrentSenseADCDMA::initPins(){ + + if (pinAREF>=0) + pinMode(pinAREF, INPUT); + pinMode(pinA, INPUT); + pinMode(pinB, INPUT); + + uint32_t ainA = g_APinDescription[pinA].ulADCChannelNumber; + uint32_t ainB = g_APinDescription[pinB].ulADCChannelNumber; + firstAIN = min(ainA, ainB); + lastAIN = max(ainA, ainB); + if( _isset(pinC) ) + { + uint32_t ainC = g_APinDescription[pinC].ulADCChannelNumber; + pinMode(pinC, INPUT); + firstAIN = min(firstAIN, ainC); + lastAIN = max(lastAIN, ainC); + } + + oneBeforeFirstAIN = firstAIN - 1; //hack to discard noisy first readout + BufferSize = lastAIN - oneBeforeFirstAIN + 1; + +} + +void SAMDCurrentSenseADCDMA::initADC(){ + + analogRead(pinA); // do some pin init pinPeripheral() + analogRead(pinB); // do some pin init pinPeripheral() + analogRead(pinC); // do some pin init pinPeripheral() + + ADC->CTRLA.bit.ENABLE = 0x00; // Disable ADC + ADCsync(); + //ADC->REFCTRL.bit.REFSEL = ADC_REFCTRL_REFSEL_INTVCC0_Val; // 2.2297 V Supply VDDANA + ADC->INPUTCTRL.bit.GAIN = ADC_INPUTCTRL_GAIN_1X_Val; // Gain select as 1X + // ADC->INPUTCTRL.bit.GAIN = ADC_INPUTCTRL_GAIN_DIV2_Val; // default + if (pinAREF>=0) + ADC->REFCTRL.bit.REFSEL = ADC_REFCTRL_REFSEL_AREFA; + else + ADC->REFCTRL.bit.REFSEL = ADC_REFCTRL_REFSEL_INTVCC0; + ADCsync(); // ref 31.6.16 + + /* + Bits 19:16 – INPUTSCAN[3:0]: Number of Input Channels Included in Scan + This register gives the number of input sources included in the pin scan. The number of input sources included is + INPUTSCAN + 1. The input channels included are in the range from MUXPOS + INPUTOFFSET to MUXPOS + + INPUTOFFSET + INPUTSCAN. + The range of the scan mode must not exceed the number of input channels available on the device. + Bits 4:0 – MUXPOS[4:0]: Positive Mux Input Selection + These bits define the Mux selection for the positive ADC input. Table 32-14 shows the possible input selections. If + the internal bandgap voltage or temperature sensor input channel is selected, then the Sampling Time Length bit + group in the SamplingControl register must be written. + Table 32-14. Positive Mux Input Selection + MUXPOS[4:0] Group configuration Description + 0x00 PIN0 ADC AIN0 pin + 0x01 PIN1 ADC AIN1 pin + 0x02 PIN2 ADC AIN2 pin + 0x03 PIN3 ADC AIN3 pin + 0x04 PIN4 ADC AIN4 pin + 0x05 PIN5 ADC AIN5 pin + 0x06 PIN6 ADC AIN6 pin + 0x07 PIN7 ADC AIN7 pin + 0x08 PIN8 ADC AIN8 pin + 0x09 PIN9 ADC AIN9 pin + 0x0A PIN10 ADC AIN10 pin + 0x0B PIN11 ADC AIN11 pin + 0x0C PIN12 ADC AIN12 pin + 0x0D PIN13 ADC AIN13 pin + 0x0E PIN14 ADC AIN14 pin + 0x0F PIN15 ADC AIN15 pin + 0x10 PIN16 ADC AIN16 pin + 0x11 PIN17 ADC AIN17 pin + 0x12 PIN18 ADC AIN18 pin + 0x13 PIN19 ADC AIN19 pin + 0x14-0x17 Reserved + 0x18 TEMP Temperature reference + 0x19 BANDGAP Bandgap voltage + 0x1A SCALEDCOREVCC 1/4 scaled core supply + 0x1B SCALEDIOVCC 1/4 scaled I/O supply + 0x1C DAC DAC output + 0x1D-0x1F Reserved + */ + ADC->INPUTCTRL.bit.MUXPOS = oneBeforeFirstAIN; + ADCsync(); + ADC->INPUTCTRL.bit.INPUTSCAN = lastAIN; // so the adc will scan from oneBeforeFirstAIN to lastAIN (inclusive) + ADCsync(); + ADC->INPUTCTRL.bit.INPUTOFFSET = 0; //input scan cursor + ADCsync(); + ADC->AVGCTRL.reg = 0x00 ; //no averaging + ADC->SAMPCTRL.reg = 0x05; ; //sample length in 1/2 CLK_ADC cycles, see GCLK_ADC and ADC_CTRLB_PRESCALER_DIV16 + // according to the specsheet: f_GCLK_ADC ADC input clock frequency 48 MHz, so same as fCPU + ADCsync(); + ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV16 | ADC_CTRLB_FREERUN | ADC_CTRLB_RESSEL_12BIT; + ADCsync(); +} + +volatile dmacdescriptor wrb[12] __attribute__ ((aligned (16))); + +void SAMDCurrentSenseADCDMA::initDMA() { + // probably on by default + PM->AHBMASK.reg |= PM_AHBMASK_DMAC ; + PM->APBBMASK.reg |= PM_APBBMASK_DMAC ; + NVIC_EnableIRQ( DMAC_IRQn ) ; + DMAC->BASEADDR.reg = (uint32_t)descriptor_section; + DMAC->WRBADDR.reg = (uint32_t)wrb; + DMAC->CTRL.reg = DMAC_CTRL_DMAENABLE | DMAC_CTRL_LVLEN(0xf); +} + + +void SAMDCurrentSenseADCDMA::adcToDMATransfer(void *rxdata, uint32_t hwords) { + + DMAC->CHID.reg = DMAC_CHID_ID(channelDMA); + DMAC->CHCTRLA.reg &= ~DMAC_CHCTRLA_ENABLE; + DMAC->CHCTRLA.reg = DMAC_CHCTRLA_SWRST; + DMAC->SWTRIGCTRL.reg &= (uint32_t)(~(1 << channelDMA)); + + DMAC->CHCTRLB.reg = DMAC_CHCTRLB_LVL(0) + | DMAC_CHCTRLB_TRIGSRC(ADC_DMAC_ID_RESRDY) + | DMAC_CHCTRLB_TRIGACT_BEAT; + DMAC->CHINTENSET.reg = DMAC_CHINTENSET_MASK ; // enable all 3 interrupts + descriptor.descaddr = 0; + descriptor.srcaddr = (uint32_t) &ADC->RESULT.reg; + descriptor.btcnt = hwords; + descriptor.dstaddr = (uint32_t)rxdata + hwords*2; // end address + descriptor.btctrl = DMAC_BTCTRL_BEATSIZE_HWORD | DMAC_BTCTRL_DSTINC | DMAC_BTCTRL_VALID; + memcpy(&descriptor_section[channelDMA],&descriptor, sizeof(dmacdescriptor)); + + // start channel + DMAC->CHID.reg = DMAC_CHID_ID(channelDMA); + DMAC->CHCTRLA.reg |= DMAC_CHCTRLA_ENABLE; +} + + +int iii = 0; + +void adcStopWithDMA(void){ + ADCsync(); + ADC->CTRLA.bit.ENABLE = 0x00; + // ADCsync(); + // if(iii++ % 1000 == 0) + // { + // SIMPLEFOC_SAMD_DEBUG_SERIAL.print(a); + // SIMPLEFOC_SAMD_DEBUG_SERIAL.print(" :: "); + // SIMPLEFOC_SAMD_DEBUG_SERIAL.print(b); + // SIMPLEFOC_SAMD_DEBUG_SERIAL.print(" :: "); + // SIMPLEFOC_SAMD_DEBUG_SERIAL.print(c); + // SIMPLEFOC_SAMD_DEBUG_SERIAL.println("yo!"); + // } + + +} + +void adcStartWithDMA(void){ + ADCsync(); + ADC->INPUTCTRL.bit.INPUTOFFSET = 0; + ADCsync(); + ADC->SWTRIG.bit.FLUSH = 1; + ADCsync(); + ADC->CTRLA.bit.ENABLE = 0x01; + ADCsync(); +} + +void DMAC_Handler() { + uint8_t active_channel; + active_channel = DMAC->INTPEND.reg & DMAC_INTPEND_ID_Msk; // get channel number + DMAC->CHID.reg = DMAC_CHID_ID(active_channel); + adcStopWithDMA(); + DMAC->CHINTFLAG.reg = DMAC_CHINTENCLR_TCMPL; // clear + DMAC->CHINTFLAG.reg = DMAC_CHINTENCLR_TERR; + DMAC->CHINTFLAG.reg = DMAC_CHINTENCLR_SUSP; + +} + + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/samd/samd21_mcu.h b/src/current_sense/hardware_specific/samd/samd21_mcu.h new file mode 100644 index 00000000..e7d74426 --- /dev/null +++ b/src/current_sense/hardware_specific/samd/samd21_mcu.h @@ -0,0 +1,69 @@ +#ifdef _SAMD21_ + +#ifndef CURRENT_SENSE_SAMD21_H +#define CURRENT_SENSE_SAMD21_H + +#define SIMPLEFOC_SAMD_DEBUG +#if !defined(SIMPLEFOC_SAMD_DEBUG_SERIAL) +#define SIMPLEFOC_SAMD_DEBUG_SERIAL Serial +#endif + +#include + typedef struct { + uint16_t btctrl; + uint16_t btcnt; + uint32_t srcaddr; + uint32_t dstaddr; + uint32_t descaddr; + } dmacdescriptor ; + + +// AREF pin is 42 + +class SAMDCurrentSenseADCDMA +{ + +public: + static SAMDCurrentSenseADCDMA * getHardwareAPIInstance(); + SAMDCurrentSenseADCDMA(); + void init(int pinA, int pinB, int pinC, int pinAREF = 42, float voltageAREF = 3.3, uint32_t adcBits = 12, uint32_t channelDMA = 3); + void startADCScan(); + bool readResults(uint16_t & a, uint16_t & b, uint16_t & c); + float toVolts(uint16_t counts); +private: + + void adcToDMATransfer(void *rxdata, uint32_t hwords); + + void initPins(); + void initADC(); + void initDMA(); + + uint32_t oneBeforeFirstAIN; // hack to discard first noisy readout + uint32_t firstAIN; + uint32_t lastAIN; + uint32_t BufferSize = 0; + + uint16_t adcBuffer[20]; + + + uint32_t pinA; + uint32_t pinB; + uint32_t pinC; + uint32_t pinAREF; + uint32_t channelDMA; // DMA channel + bool freeRunning; + + float voltageAREF; + float maxCountsADC; + float countsToVolts; + + dmacdescriptor descriptor_section[12] __attribute__ ((aligned (16))); + dmacdescriptor descriptor __attribute__ ((aligned (16))); + +}; + +#endif + + + +#endif diff --git a/src/current_sense/hardware_specific/samd/samd_mcu.cpp b/src/current_sense/hardware_specific/samd/samd_mcu.cpp new file mode 100644 index 00000000..2ec47c0d --- /dev/null +++ b/src/current_sense/hardware_specific/samd/samd_mcu.cpp @@ -0,0 +1,23 @@ +#include "../../hardware_api.h" + +#if defined(_SAMD21_)|| defined(_SAMD51_) || defined(_SAME51_) + +#define _ADC_VOLTAGE 3.3f +#define _ADC_RESOLUTION 1024.0f + +// function reading an ADC value and returning the read voltage +void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){ + _UNUSED(driver_params); + + if( _isset(pinA) ) pinMode(pinA, INPUT); + if( _isset(pinB) ) pinMode(pinB, INPUT); + if( _isset(pinC) ) pinMode(pinC, INPUT); + + GenericCurrentSenseParams* params = new GenericCurrentSenseParams { + .pins = { pinA, pinB, pinC }, + .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION) + }; + + return params; +} +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.cpp b/src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.cpp new file mode 100644 index 00000000..dc505d6f --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.cpp @@ -0,0 +1,377 @@ +#include "../../../hardware_api.h" +#if defined(ARDUINO_B_G431B_ESC1) + +#include "communication/SimpleFOCDebug.h" + +#include "stm32g4xx_hal.h" +#include "stm32g4xx_ll_pwr.h" +#include "stm32g4xx_hal_adc.h" +#include "b_g431_hal.h" + +// From STM32 cube IDE +/** + ****************************************************************************** + * @attention + * + *

© Copyright (c) 2020 STMicroelectronics. + * All rights reserved.

+ * + * This software component is licensed by ST under BSD 3-Clause license, + * the "License"; You may not use this file except in compliance with the + * License. You may obtain a copy of the License at: + * opensource.org/licenses/BSD-3-Clause + * + ****************************************************************************** + */ + + +/** + * @brief GPIO Initialization Function + * @param None + * @retval None + */ +void MX_GPIO_Init(void) +{ + /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOF_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + + __HAL_RCC_ADC12_CLK_ENABLE(); +} + +/** + * Enable DMA controller clock + */ +void MX_DMA_Init(void) +{ + /* DMA controller clock enable */ + __HAL_RCC_DMAMUX1_CLK_ENABLE(); + __HAL_RCC_DMA1_CLK_ENABLE(); + __HAL_RCC_DMA2_CLK_ENABLE(); + + /* DMA interrupt init */ + /* DMA1_Channel1_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn); + /* DMA1_Channel2_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn); + + // Enable external clock for ADC + RCC_PeriphCLKInitTypeDef PeriphClkInit; + PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12; + PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_PLL; + HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit); +} + + +/** + * @brief ADC1 Initialization Function + * @param None + * @retval None + */ +void MX_ADC1_Init(ADC_HandleTypeDef* hadc1) +{ + /* USER CODE BEGIN ADC1_Init 0 */ + + /* USER CODE END ADC1_Init 0 */ + + ADC_MultiModeTypeDef multimode = {0}; + ADC_ChannelConfTypeDef sConfig = {0}; + + /* USER CODE BEGIN ADC1_Init 1 */ + + /* USER CODE END ADC1_Init 1 */ + /** Common config + */ + hadc1->Instance = ADC1; + hadc1->Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV16; + hadc1->Init.Resolution = ADC_RESOLUTION_12B; + hadc1->Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc1->Init.GainCompensation = 0; + hadc1->Init.ScanConvMode = ADC_SCAN_ENABLE; + hadc1->Init.EOCSelection = ADC_EOC_SINGLE_CONV; + hadc1->Init.LowPowerAutoWait = DISABLE; + hadc1->Init.ContinuousConvMode = DISABLE; + hadc1->Init.NbrOfConversion = 5; + hadc1->Init.DiscontinuousConvMode = DISABLE; + hadc1->Init.ExternalTrigConv = ADC_EXTERNALTRIG_T1_TRGO; + hadc1->Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING; + hadc1->Init.DMAContinuousRequests = ENABLE; + hadc1->Init.Overrun = ADC_OVR_DATA_PRESERVED; + + if (HAL_ADC_Init(hadc1) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADC_Init failed!"); + } + + /** Configure the ADC multi-mode + */ + multimode.Mode = ADC_MODE_INDEPENDENT; + if (HAL_ADCEx_MultiModeConfigChannel(hadc1, &multimode) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADCEx_MultiModeConfigChannel failed!"); + } + /** Configure Regular Channel + */ + sConfig.Channel = ADC_CHANNEL_12; // ADC1_IN12 = PB1 = OP3_OUT + sConfig.Rank = ADC_REGULAR_RANK_1; + sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5; + sConfig.SingleDiff = ADC_SINGLE_ENDED; + sConfig.OffsetNumber = ADC_OFFSET_NONE; + sConfig.Offset = 0; + if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!"); + } + /** Configure Regular Channel + */ + sConfig.Channel = ADC_CHANNEL_3; // ADC1_IN3 = PA2 = OP1_OUT + sConfig.Rank = ADC_REGULAR_RANK_2; + if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!"); + } + + //****************************************************************** + // Temp, Poti .... + /* Configure Regular Channel (PB12, Potentiometer) + */ + sConfig.Channel = ADC_CHANNEL_11; + sConfig.Rank = ADC_REGULAR_RANK_3; + sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5; + sConfig.SingleDiff = ADC_SINGLE_ENDED; + sConfig.OffsetNumber = ADC_OFFSET_NONE; + sConfig.Offset = 0; + if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!"); + } + + /** Configure Regular Channel (PB14, Temperature) + */ + sConfig.Channel = ADC_CHANNEL_5; + sConfig.Rank = ADC_REGULAR_RANK_4; + sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5; + sConfig.SingleDiff = ADC_SINGLE_ENDED; + sConfig.OffsetNumber = ADC_OFFSET_NONE; + sConfig.Offset = 0; + if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!"); + } + + /** Configure Regular Channel (PB14, Temperature) + */ + sConfig.Channel = ADC_CHANNEL_1; + sConfig.Rank = ADC_REGULAR_RANK_5; + sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5; + sConfig.SingleDiff = ADC_SINGLE_ENDED; + sConfig.OffsetNumber = ADC_OFFSET_NONE; + sConfig.Offset = 0; + if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!"); + } + /* USER CODE BEGIN ADC1_Init 2 */ + + /* USER CODE END ADC1_Init 2 */ + +} + +/** + * @brief ADC2 Initialization Function + * @param None + * @retval None + */ +void MX_ADC2_Init(ADC_HandleTypeDef* hadc2) +{ + /* USER CODE BEGIN ADC2_Init 0 */ + + /* USER CODE END ADC2_Init 0 */ + + ADC_ChannelConfTypeDef sConfig = {0}; + + /* USER CODE BEGIN ADC2_Init 1 */ + + /* USER CODE END ADC2_Init 1 */ + /** Common config + */ + hadc2->Instance = ADC2; + hadc2->Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV16; + hadc2->Init.Resolution = ADC_RESOLUTION_12B; + hadc2->Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc2->Init.GainCompensation = 0; + hadc2->Init.ScanConvMode = ADC_SCAN_ENABLE; + hadc2->Init.EOCSelection = ADC_EOC_SINGLE_CONV; + hadc2->Init.LowPowerAutoWait = DISABLE; + hadc2->Init.ContinuousConvMode = DISABLE; + hadc2->Init.NbrOfConversion = 1; + hadc2->Init.DiscontinuousConvMode = DISABLE; + hadc2->Init.ExternalTrigConv = ADC_EXTERNALTRIG_T1_TRGO; + hadc2->Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING; + hadc2->Init.DMAContinuousRequests = ENABLE; + hadc2->Init.Overrun = ADC_OVR_DATA_PRESERVED; + + if (HAL_ADC_Init(hadc2) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADC_Init failed!"); + } + /** Configure Regular Channel + */ + sConfig.Channel = ADC_CHANNEL_3; // ADC2_IN3 = PA6 + sConfig.Rank = ADC_REGULAR_RANK_1; + sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5; + sConfig.SingleDiff = ADC_SINGLE_ENDED; + sConfig.OffsetNumber = ADC_OFFSET_NONE; + sConfig.Offset = 0; + if (HAL_ADC_ConfigChannel(hadc2, &sConfig) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!"); + } + /* USER CODE BEGIN ADC2_Init 2 */ + + /* USER CODE END ADC2_Init 2 */ + +} + +/** +* @brief OPAMP MSP Initialization +* This function configures the hardware resources used in this example +* @param hopamp-> OPAMP handle pointer +* @retval None +*/ +void HAL_OPAMP_MspInit(OPAMP_HandleTypeDef* hopamp) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(hopamp->Instance==OPAMP1) + { + /* USER CODE BEGIN OPAMP1_MspInit 0 */ + + /* USER CODE END OPAMP1_MspInit 0 */ + + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**OPAMP1 GPIO Configuration + PA1 ------> OPAMP1_VINP + PA2 ------> OPAMP1_VOUT + PA3 ------> OPAMP1_VINM + */ + GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3; + GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* USER CODE BEGIN OPAMP1_MspInit 1 */ + + /* USER CODE END OPAMP1_MspInit 1 */ + } + else if(hopamp->Instance==OPAMP2) + { + /* USER CODE BEGIN OPAMP2_MspInit 0 */ + + /* USER CODE END OPAMP2_MspInit 0 */ + + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**OPAMP2 GPIO Configuration + PA5 ------> OPAMP2_VINM + PA6 ------> OPAMP2_VOUT + PA7 ------> OPAMP2_VINP + */ + GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* USER CODE BEGIN OPAMP2_MspInit 1 */ + + /* USER CODE END OPAMP2_MspInit 1 */ + } + else if(hopamp->Instance==OPAMP3) + { + /* USER CODE BEGIN OPAMP3_MspInit 0 */ + + /* USER CODE END OPAMP3_MspInit 0 */ + + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**OPAMP3 GPIO Configuration + PB0 ------> OPAMP3_VINP + PB1 ------> OPAMP3_VOUT + PB2 ------> OPAMP3_VINM + */ + GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2; + GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* USER CODE BEGIN OPAMP3_MspInit 1 */ + + /* USER CODE END OPAMP3_MspInit 1 */ + } + +} + +/** +* @brief OPAMP MSP De-Initialization +* This function freeze the hardware resources used in this example +* @param hopamp-> OPAMP handle pointer +* @retval None +*/ +void HAL_OPAMP_MspDeInit(OPAMP_HandleTypeDef* hopamp) +{ + if(hopamp->Instance==OPAMP1) + { + /* USER CODE BEGIN OPAMP1_MspDeInit 0 */ + + /* USER CODE END OPAMP1_MspDeInit 0 */ + + /**OPAMP1 GPIO Configuration + PA1 ------> OPAMP1_VINP + PA2 ------> OPAMP1_VOUT + PA3 ------> OPAMP1_VINM + */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3); + + /* USER CODE BEGIN OPAMP1_MspDeInit 1 */ + + /* USER CODE END OPAMP1_MspDeInit 1 */ + } + else if(hopamp->Instance==OPAMP2) + { + /* USER CODE BEGIN OPAMP2_MspDeInit 0 */ + + /* USER CODE END OPAMP2_MspDeInit 0 */ + + /**OPAMP2 GPIO Configuration + PA5 ------> OPAMP2_VINM + PA6 ------> OPAMP2_VOUT + PA7 ------> OPAMP2_VINP + */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7); + + /* USER CODE BEGIN OPAMP2_MspDeInit 1 */ + + /* USER CODE END OPAMP2_MspDeInit 1 */ + } + else if(hopamp->Instance==OPAMP3) + { + /* USER CODE BEGIN OPAMP3_MspDeInit 0 */ + + /* USER CODE END OPAMP3_MspDeInit 0 */ + + /**OPAMP3 GPIO Configuration + PB0 ------> OPAMP3_VINP + PB1 ------> OPAMP3_VOUT + PB2 ------> OPAMP3_VINM + */ + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2); + + /* USER CODE BEGIN OPAMP3_MspDeInit 1 */ + + /* USER CODE END OPAMP3_MspDeInit 1 */ + } + +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.h b/src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.h new file mode 100644 index 00000000..2d6a1f0a --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.h @@ -0,0 +1,18 @@ +#ifndef B_G431_ESC1_HAL +#define B_G431_ESC1_HAL + +#if defined(ARDUINO_B_G431B_ESC1) + +#include +#include + +void MX_GPIO_Init(void); +void MX_DMA_Init(void); +void MX_ADC1_Init(ADC_HandleTypeDef* hadc1); +void MX_ADC2_Init(ADC_HandleTypeDef* hadc2); +void MX_OPAMP1_Init(OPAMP_HandleTypeDef* hopamp); +void MX_OPAMP2_Init(OPAMP_HandleTypeDef* hopamp); +void MX_OPAMP3_Init(OPAMP_HandleTypeDef* hopamp); +#endif + +#endif \ No newline at end of file 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 new file mode 100644 index 00000000..46cb20be --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp @@ -0,0 +1,178 @@ +#include "../../../hardware_api.h" + +#if defined(ARDUINO_B_G431B_ESC1) + +#include "b_g431_hal.h" +#include "Arduino.h" +#include "../stm32_mcu.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "communication/SimpleFOCDebug.h" + +#define _ADC_VOLTAGE 3.3f +#define _ADC_RESOLUTION 4096.0f +#define ADC_BUF_LEN_1 5 +#define ADC_BUF_LEN_2 1 + +static ADC_HandleTypeDef hadc1; +static ADC_HandleTypeDef hadc2; +static OPAMP_HandleTypeDef hopamp1; +static OPAMP_HandleTypeDef hopamp2; +static OPAMP_HandleTypeDef hopamp3; + +static DMA_HandleTypeDef hdma_adc1; +static DMA_HandleTypeDef hdma_adc2; + +volatile uint16_t adcBuffer1[ADC_BUF_LEN_1] = {0}; // Buffer for store the results of the ADC conversion +volatile uint16_t adcBuffer2[ADC_BUF_LEN_2] = {0}; // Buffer for store the results of the ADC conversion + +// function reading an ADC value and returning the read voltage +// As DMA is being used just return the DMA result +float _readADCVoltageLowSide(const int pin, const void* cs_params){ + uint32_t raw_adc = 0; + if(pin == PA2) // = ADC1_IN3 = phase U (OP1_OUT) on B-G431B-ESC1 + raw_adc = adcBuffer1[1]; + else if(pin == PA6) // = ADC2_IN3 = phase V (OP2_OUT) on B-G431B-ESC1 + raw_adc = adcBuffer2[0]; +#ifdef PB1 + else if(pin == PB1) // = ADC1_IN12 = phase W (OP3_OUT) on B-G431B-ESC1 + raw_adc = adcBuffer1[0]; +#endif + + else if (pin == A_POTENTIOMETER) + raw_adc = adcBuffer1[2]; + else if (pin == A_TEMPERATURE) + raw_adc = adcBuffer1[3]; + else if (pin == A_VBUS) + raw_adc = adcBuffer1[4]; + + return raw_adc * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; +} + +void _configureOPAMP(OPAMP_HandleTypeDef *hopamp, OPAMP_TypeDef *OPAMPx_Def){ + // could this be replaced with LL_OPAMP calls?? + hopamp->Instance = OPAMPx_Def; + hopamp->Init.PowerMode = OPAMP_POWERMODE_HIGHSPEED; + hopamp->Init.Mode = OPAMP_PGA_MODE; + hopamp->Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0; + hopamp->Init.InternalOutput = DISABLE; + hopamp->Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE; + hopamp->Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS; + hopamp->Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15; + hopamp->Init.UserTrimming = OPAMP_TRIMMING_FACTORY; + if (HAL_OPAMP_Init(hopamp) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_OPAMP_Init failed!"); + } +} +void _configureOPAMPs(OPAMP_HandleTypeDef *OPAMPA, OPAMP_HandleTypeDef *OPAMPB, OPAMP_HandleTypeDef *OPAMPC){ + // Configure the opamps + _configureOPAMP(OPAMPA, OPAMP1); + _configureOPAMP(OPAMPB, OPAMP2); + _configureOPAMP(OPAMPC, OPAMP3); +} + +void MX_DMA1_Init(ADC_HandleTypeDef *hadc, DMA_HandleTypeDef *hdma_adc, DMA_Channel_TypeDef* channel, uint32_t request) { + hdma_adc->Instance = channel; + hdma_adc->Init.Request = request; + hdma_adc->Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_adc->Init.PeriphInc = DMA_PINC_DISABLE; + hdma_adc->Init.MemInc = DMA_MINC_ENABLE; + hdma_adc->Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD; + hdma_adc->Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD; + hdma_adc->Init.Mode = DMA_CIRCULAR; + hdma_adc->Init.Priority = DMA_PRIORITY_LOW; + HAL_DMA_DeInit(hdma_adc); + if (HAL_DMA_Init(hdma_adc) != HAL_OK) + { + SIMPLEFOC_DEBUG("HAL_DMA_Init failed!"); + } + __HAL_LINKDMA(hadc, DMA_Handle, *hdma_adc); +} + +void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){ + _UNUSED(driver_params); + _UNUSED(pinA); + _UNUSED(pinB); + _UNUSED(pinC); + + SIMPLEFOC_DEBUG("B-G431B does not implement inline current sense. Use low-side current sense instead."); + return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; +} + + +void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){ + _UNUSED(driver_params); + + HAL_Init(); + MX_GPIO_Init(); + MX_DMA_Init(); + _configureOPAMPs(&hopamp1, &hopamp3, &hopamp2); + 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); + + if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adcBuffer1, ADC_BUF_LEN_1) != HAL_OK) + { + SIMPLEFOC_DEBUG("DMA read init failed"); + } + if (HAL_ADC_Start_DMA(&hadc2, (uint32_t*)adcBuffer2, ADC_BUF_LEN_2) != HAL_OK) + { + SIMPLEFOC_DEBUG("DMA read init failed"); + } + + HAL_OPAMP_Start(&hopamp1); + HAL_OPAMP_Start(&hopamp2); + HAL_OPAMP_Start(&hopamp3); + + Stm32CurrentSenseParams* params = new Stm32CurrentSenseParams { + .pins = { pinA, pinB, pinC }, + .adc_voltage_conv = (_ADC_VOLTAGE) / (_ADC_RESOLUTION), + .timer_handle = (HardwareTimer *)(HardwareTimer_Handle[get_timer_index(TIM1)]->__this) + }; + + return params; +} + +extern "C" { +void DMA1_Channel1_IRQHandler(void) { + HAL_DMA_IRQHandler(&hdma_adc1); +} + +void DMA1_Channel2_IRQHandler(void) { + HAL_DMA_IRQHandler(&hdma_adc2); +} +} + +void* _driverSyncLowSide(void* _driver_params, void* _cs_params){ + STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params; + Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params; + + // stop all the timers for the driver + _stopTimers(driver_params->timers, 6); + + // if timer has repetition counter - it will downsample using it + // and it does not need the software downsample + if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){ + // adjust the initial timer state such that the trigger for DMA transfer aligns with the pwm peaks instead of throughs. + // only necessary for the timers that have repetition counters + cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR; + cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR; + } + // set the trigger output event + LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE); + + // restart all the timers of the driver + _startTimers(driver_params->timers, 6); + + // return the cs parameters + // successfully initialized + // TODO verify if success in future + return _cs_params; +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32_mcu.cpp new file mode 100644 index 00000000..94253d74 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32_mcu.cpp @@ -0,0 +1,33 @@ + +#include "../../hardware_api.h" + +#if defined(_STM32_DEF_) and !defined(ARDUINO_B_G431B_ESC1) + +#include "stm32_mcu.h" + +#define _ADC_VOLTAGE 3.3f +#define _ADC_RESOLUTION 1024.0f + +// function reading an ADC value and returning the read voltage +void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){ + _UNUSED(driver_params); + + if( _isset(pinA) ) pinMode(pinA, INPUT); + if( _isset(pinB) ) pinMode(pinB, INPUT); + if( _isset(pinC) ) pinMode(pinC, INPUT); + + Stm32CurrentSenseParams* params = new Stm32CurrentSenseParams { + .pins = { pinA, pinB, pinC }, + .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION) + }; + + return params; +} + +// function reading an ADC value and returning the read voltage +__attribute__((weak)) float _readADCVoltageInline(const int pinA, const void* cs_params){ + uint32_t raw_adc = analogRead(pinA); + return raw_adc * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32_mcu.h b/src/current_sense/hardware_specific/stm32/stm32_mcu.h new file mode 100644 index 00000000..6e238170 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32_mcu.h @@ -0,0 +1,21 @@ + +#ifndef STM32_CURRENTSENSE_MCU_DEF +#define STM32_CURRENTSENSE_MCU_DEF +#include "../../hardware_api.h" +#include "../../../common/foc_utils.h" + +#if defined(_STM32_DEF_) + +// generic implementation of the hardware specific structure +// containing all the necessary current sense parameters +// will be returned as a void pointer from the _configureADCx functions +// will be provided to the _readADCVoltageX() as a void pointer +typedef struct Stm32CurrentSenseParams { + int pins[3] = {(int)NOT_SET}; + float adc_voltage_conv; + ADC_HandleTypeDef* adc_handle = NP; + HardwareTimer* timer_handle = NP; +} Stm32CurrentSenseParams; + +#endif +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp new file mode 100644 index 00000000..d3bea81e --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp @@ -0,0 +1,157 @@ +#include "stm32f1_hal.h" + +#if defined(STM32F1xx) + +#include "../../../../communication/SimpleFOCDebug.h" +#define _TRGO_NOT_AVAILABLE 12345 + +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h#L215 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM1) + return ADC_EXTERNALTRIGINJECCONV_T1_TRGO; +#ifdef TIM2 // if defined timer 2 + else if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIGINJECCONV_T2_TRGO; +#endif +#ifdef TIM4 // if defined timer 4 + else if(timer->getHandle()->Instance == TIM4) + return ADC_EXTERNALTRIGINJECCONV_T4_TRGO; +#endif +#ifdef TIM5 // if defined timer 5 + else if(timer->getHandle()->Instance == TIM5) + return ADC_EXTERNALTRIGINJECCONV_T5_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h#L215 +uint32_t _timerToRegularTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM3) + return ADC_EXTERNALTRIGCONV_T3_TRGO; +#ifdef TIM8 // if defined timer 8 + else if(timer->getHandle()->Instance == TIM8) + return ADC_EXTERNALTRIGCONV_T8_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + +ADC_HandleTypeDef hadc; + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params) +{ + ADC_InjectionConfTypeDef sConfigInjected; + + /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) + */ + hadc.Instance = (ADC_TypeDef *)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + if(hadc.Instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE(); +#ifdef ADC2 // if defined ADC2 + else if(hadc.Instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE(); +#endif +#ifdef ADC3 // if defined ADC3 + else if(hadc.Instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE(); +#endif + else{ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Pin does not belong to any ADC!"); +#endif + return -1; // error not a valid ADC instance + } + + hadc.Init.ScanConvMode = ADC_SCAN_ENABLE; + hadc.Init.ContinuousConvMode = ENABLE; + hadc.Init.DiscontinuousConvMode = DISABLE; + hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START; + hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc.Init.NbrOfConversion = 1; + HAL_ADC_Init(&hadc); + /**Configure for the selected ADC regular channel to be converted. + */ + + /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time + */ + sConfigInjected.InjectedNbrOfConversion = _isset(cs_params->pins[2]) ? 3 : 2; + sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_1CYCLE_5; + sConfigInjected.AutoInjectedConv = DISABLE; + sConfigInjected.InjectedDiscontinuousConvMode = DISABLE; + sConfigInjected.InjectedOffset = 0; + + // automating TRGO flag finding - hardware specific + uint8_t tim_num = 0; + while(driver_params->timers[tim_num] != NP && tim_num < 6){ + uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers[tim_num++]); + if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels + + // if the code comes here, it has found the timer available + // timer does have trgo flag for injected channels + sConfigInjected.ExternalTrigInjecConv = trigger_flag; + + // this will be the timer with which the ADC will sync + cs_params->timer_handle = driver_params->timers[tim_num-1]; + // done + break; + } + if( cs_params->timer_handle == NP ){ + // not possible to use these timers for low-side current sense + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot sync any timer to injected channels!"); + #endif + return -1; + } + // display which timer is being used + #ifdef SIMPLEFOC_STM32_DEBUG + // it would be better to use the getTimerNumber from driver + SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->getHandle()->Instance) + 1); + #endif + + // first channel + sConfigInjected.InjectedRank = ADC_REGULAR_RANK_1; + sConfigInjected.InjectedChannel = STM_PIN_CHANNEL(pinmap_function(analogInputToPinName(cs_params->pins[0]), PinMap_ADC)); + HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected); + // second channel + sConfigInjected.InjectedRank = ADC_REGULAR_RANK_2; + sConfigInjected.InjectedChannel = STM_PIN_CHANNEL(pinmap_function(analogInputToPinName(cs_params->pins[1]), PinMap_ADC)); + HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected); + + // third channel - if exists + if(_isset(cs_params->pins[2])){ + sConfigInjected.InjectedRank = ADC_REGULAR_RANK_3; + sConfigInjected.InjectedChannel = STM_PIN_CHANNEL(pinmap_function(analogInputToPinName(cs_params->pins[2]), PinMap_ADC)); + HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected); + } + + cs_params->adc_handle = &hadc; + + return 0; +} + +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC) +{ + uint8_t cnt = 0; + if(_isset(pinA)){ + pinmap_pinout(analogInputToPinName(pinA), PinMap_ADC); + cs_params->pins[cnt++] = pinA; + } + if(_isset(pinB)){ + pinmap_pinout(analogInputToPinName(pinB), PinMap_ADC); + cs_params->pins[cnt++] = pinB; + } + if(_isset(pinC)){ + pinmap_pinout(analogInputToPinName(pinC), PinMap_ADC); + cs_params->pins[cnt] = pinC; + } + +} + +extern "C" { + void ADC1_2_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.h b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.h new file mode 100644 index 00000000..b0f4f83b --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.h @@ -0,0 +1,17 @@ +#ifndef STM32F1_LOWSIDE_HAL +#define STM32F1_LOWSIDE_HAL + +#include "Arduino.h" + +#if defined(STM32F1xx) +#include "stm32f1xx_hal.h" +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../stm32_mcu.h" + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params); +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC); + +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp new file mode 100644 index 00000000..49f2f3d5 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp @@ -0,0 +1,141 @@ +#include "../../../hardware_api.h" + +#if defined(STM32F1xx) +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_api.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../../../hardware_api.h" +#include "../stm32_mcu.h" +#include "stm32f1_hal.h" +#include "Arduino.h" + +#define _ADC_VOLTAGE_F1 3.3f +#define _ADC_RESOLUTION_F1 4096.0f + +// array of values of 4 injected channels per adc instance (3) +uint32_t adc_val[3][4]={0}; +// does adc interrupt need a downsample - per adc (3) +bool needs_downsample[3] = {1}; +// downsampling variable - per adc (3) +uint8_t tim_downsample[3] = {0}; + +#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT +uint8_t use_adc_interrupt = 1; +#else +uint8_t use_adc_interrupt = 0; +#endif + +int _adcToIndex(ADC_HandleTypeDef *AdcHandle){ + if(AdcHandle->Instance == ADC1) return 0; +#ifdef ADC2 // if ADC2 exists + else if(AdcHandle->Instance == ADC2) return 1; +#endif +#ifdef ADC3 // if ADC3 exists + else if(AdcHandle->Instance == ADC3) return 2; +#endif + return 0; +} + +void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){ + + Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams { + .pins={(int)NOT_SET,(int)NOT_SET,(int)NOT_SET}, + .adc_voltage_conv = (_ADC_VOLTAGE_F1) / (_ADC_RESOLUTION_F1) + }; + _adc_gpio_init(cs_params, pinA,pinB,pinC); + if(_adc_init(cs_params, (STM32DriverParams*)driver_params) != 0) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + return cs_params; +} + + +void* _driverSyncLowSide(void* _driver_params, void* _cs_params){ + STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params; + Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params; + + // if compatible timer has not been found + if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + + // stop all the timers for the driver + _stopTimers(driver_params->timers, 6); + + // if timer has repetition counter - it will downsample using it + // and it does not need the software downsample + if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){ + // adjust the initial timer state such that the trigger + // - for DMA transfer aligns with the pwm peaks instead of throughs. + // - for interrupt based ADC transfer + // - only necessary for the timers that have repetition counters + cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR; + cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR; + // remember that this timer has repetition counter - no need to downasmple + needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0; + }else{ + if(!use_adc_interrupt){ + // If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing + use_adc_interrupt = 1; + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used"); + #endif + } + } + // 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 + if(use_adc_interrupt){ + HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC1_2_IRQn); + + HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle); + }else{ + HAL_ADCEx_InjectedStart(cs_params->adc_handle); + } + + + // restart all the timers of the driver + _startTimers(driver_params->timers, 6); + + // return the cs parameters + // successfully initialized + // TODO verify if success in future + return _cs_params; +} + + +// function reading an ADC value and returning the read voltage +float _readADCVoltageLowSide(const int pin, const void* cs_params){ + for(int i=0; i < 3; i++){ + if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer + if (use_adc_interrupt){ + return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + }else{ + // an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3 + uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3;; + return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + } + } + } + return 0; +} + +extern "C" { + void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){ + // calculate the instance + int adc_index = _adcToIndex(AdcHandle); + + // if the timer han't repetition counter - downsample two times + if( needs_downsample[adc_index] && tim_downsample[adc_index]++ > 0) { + tim_downsample[adc_index] = 0; + return; + } + + adc_val[adc_index][0]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1); + adc_val[adc_index][1]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_2); + adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3); + } +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp new file mode 100644 index 00000000..bd0df4b6 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp @@ -0,0 +1,166 @@ +#include "stm32f4_hal.h" + +#if defined(STM32F4xx) + +//#define SIMPLEFOC_STM32_DEBUG + +#include "../../../../communication/SimpleFOCDebug.h" +#define _TRGO_NOT_AVAILABLE 12345 + +ADC_HandleTypeDef hadc; + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params) +{ + ADC_InjectionConfTypeDef sConfigInjected; + + // check if all pins belong to the same ADC + ADC_TypeDef* adc_pin1 = (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + ADC_TypeDef* adc_pin2 = (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[1]), PinMap_ADC); + ADC_TypeDef* adc_pin3 = _isset(cs_params->pins[2]) ? (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[2]), PinMap_ADC) : nullptr; + if ( (adc_pin1 != adc_pin2) || ( (adc_pin3) && (adc_pin1 != adc_pin3) )){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Analog pins dont belong to the same ADC!"); +#endif + return -1; + } + + + /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) + */ + hadc.Instance = (ADC_TypeDef *)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + + if(hadc.Instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE(); +#ifdef ADC2 // if defined ADC2 + else if(hadc.Instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE(); +#endif +#ifdef ADC3 // if defined ADC3 + else if(hadc.Instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE(); +#endif + else{ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Pin does not belong to any ADC!"); +#endif + return -1; // error not a valid ADC instance + } + +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: Using ADC: ", _adcToIndex(&hadc)+1); +#endif + + hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; + hadc.Init.Resolution = ADC_RESOLUTION_12B; + hadc.Init.ScanConvMode = ENABLE; + hadc.Init.ContinuousConvMode = ENABLE; + hadc.Init.DiscontinuousConvMode = DISABLE; + hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START; // for now + hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc.Init.NbrOfConversion = 1; + hadc.Init.DMAContinuousRequests = DISABLE; + hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV; + if ( HAL_ADC_Init(&hadc) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init ADC!"); +#endif + return -1; + } + + /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time + */ + sConfigInjected.InjectedNbrOfConversion = _isset(cs_params->pins[2]) ? 3 : 2; + sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES; + sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING; + sConfigInjected.AutoInjectedConv = DISABLE; + sConfigInjected.InjectedDiscontinuousConvMode = DISABLE; + sConfigInjected.InjectedOffset = 0; + + // automating TRGO flag finding - hardware specific + uint8_t tim_num = 0; + while(driver_params->timers[tim_num] != NP && tim_num < 6){ + uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers[tim_num++]); + if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels + + // if the code comes here, it has found the timer available + // timer does have trgo flag for injected channels + sConfigInjected.ExternalTrigInjecConv = trigger_flag; + + // this will be the timer with which the ADC will sync + cs_params->timer_handle = driver_params->timers[tim_num-1]; + // done + break; + } + if( cs_params->timer_handle == NP ){ + // not possible to use these timers for low-side current sense + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot sync any timer to injected channels!"); + #endif + return -1; + } + // display which timer is being used + #ifdef SIMPLEFOC_STM32_DEBUG + // it would be better to use the getTimerNumber from driver + SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->getHandle()->Instance) + 1); + #endif + + + // first channel + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[0])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[0])) ); +#endif + return -1; + } + + // second channel + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[1])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[1]))) ; +#endif + return -1; + } + + // third channel - if exists + if(_isset(cs_params->pins[2])){ + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_3; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[2])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[2]))) ; +#endif + return -1; + } + } + + cs_params->adc_handle = &hadc; + return 0; +} + +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC) +{ + uint8_t cnt = 0; + if(_isset(pinA)){ + pinmap_pinout(analogInputToPinName(pinA), PinMap_ADC); + cs_params->pins[cnt++] = pinA; + } + if(_isset(pinB)){ + pinmap_pinout(analogInputToPinName(pinB), PinMap_ADC); + cs_params->pins[cnt++] = pinB; + } + if(_isset(pinC)){ + pinmap_pinout(analogInputToPinName(pinC), PinMap_ADC); + cs_params->pins[cnt] = pinC; + } +} + +extern "C" { + void ADC_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.h b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.h new file mode 100644 index 00000000..71071a56 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.h @@ -0,0 +1,18 @@ +#ifndef STM32F4_LOWSIDE_HAL +#define STM32F4_LOWSIDE_HAL + +#include "Arduino.h" + +#if defined(STM32F4xx) +#include "stm32f4xx_hal.h" +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../stm32_mcu.h" +#include "stm32f4_utils.h" + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params); +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC); + +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp new file mode 100644 index 00000000..6b597d4e --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp @@ -0,0 +1,130 @@ +#include "../../../hardware_api.h" + +#if defined(STM32F4xx) +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_api.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../../../hardware_api.h" +#include "../stm32_mcu.h" +#include "stm32f4_hal.h" +#include "stm32f4_utils.h" +#include "Arduino.h" + + +#define _ADC_VOLTAGE_F4 3.3f +#define _ADC_RESOLUTION_F4 4096.0f + + +// array of values of 4 injected channels per adc instance (3) +uint32_t adc_val[3][4]={0}; +// does adc interrupt need a downsample - per adc (3) +bool needs_downsample[3] = {1}; +// downsampling variable - per adc (3) +uint8_t tim_downsample[3] = {0}; + +#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT +uint8_t use_adc_interrupt = 1; +#else +uint8_t use_adc_interrupt = 0; +#endif + +void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){ + + Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams { + .pins={(int)NOT_SET,(int)NOT_SET,(int)NOT_SET}, + .adc_voltage_conv = (_ADC_VOLTAGE_F4) / (_ADC_RESOLUTION_F4) + }; + _adc_gpio_init(cs_params, pinA,pinB,pinC); + if(_adc_init(cs_params, (STM32DriverParams*)driver_params) != 0) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + return cs_params; +} + + +void* _driverSyncLowSide(void* _driver_params, void* _cs_params){ + STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params; + Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params; + + // if compatible timer has not been found + if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + + // stop all the timers for the driver + _stopTimers(driver_params->timers, 6); + + // if timer has repetition counter - it will downsample using it + // and it does not need the software downsample + if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){ + // adjust the initial timer state such that the trigger + // - for DMA transfer aligns with the pwm peaks instead of throughs. + // - for interrupt based ADC transfer + // - only necessary for the timers that have repetition counters + cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR; + cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR; + // remember that this timer has repetition counter - no need to downasmple + needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0; + }else{ + if(!use_adc_interrupt){ + // If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing + use_adc_interrupt = 1; + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used"); + #endif + } + } + // set the trigger output event + LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE); + + // start the adc + if (use_adc_interrupt){ + // enable interrupt + HAL_NVIC_SetPriority(ADC_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC_IRQn); + + HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle); + }else{ + HAL_ADCEx_InjectedStart(cs_params->adc_handle); + } + + // restart all the timers of the driver + _startTimers(driver_params->timers, 6); + + // return the cs parameters + // successfully initialized + // TODO verify if success in future + return _cs_params; +} + + +// function reading an ADC value and returning the read voltage +float _readADCVoltageLowSide(const int pin, const void* cs_params){ + for(int i=0; i < 3; i++){ + if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer + if (use_adc_interrupt){ + return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + }else{ + // an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3 + uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3; + return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + } + } + } + return 0; +} + +extern "C" { + void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){ + // calculate the instance + int adc_index = _adcToIndex(AdcHandle); + + // if the timer han't repetition counter - downsample two times + if( needs_downsample[adc_index] && tim_downsample[adc_index]++ > 0) { + tim_downsample[adc_index] = 0; + return; + } + + adc_val[adc_index][0]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1); + adc_val[adc_index][1]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_2); + adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3); + } +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.cpp b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.cpp new file mode 100644 index 00000000..20793d8c --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.cpp @@ -0,0 +1,193 @@ +#include "stm32f4_utils.h" + +#if defined(STM32F4xx) + +/* Exported Functions */ +/** + * @brief Return ADC HAL channel linked to a PinName + * @param pin: PinName + * @retval Valid HAL channel + */ +uint32_t _getADCChannel(PinName pin) +{ + uint32_t function = pinmap_function(pin, PinMap_ADC); + uint32_t channel = 0; + switch (STM_PIN_CHANNEL(function)) { +#ifdef ADC_CHANNEL_0 + case 0: + channel = ADC_CHANNEL_0; + break; +#endif + case 1: + channel = ADC_CHANNEL_1; + break; + case 2: + channel = ADC_CHANNEL_2; + break; + case 3: + channel = ADC_CHANNEL_3; + break; + case 4: + channel = ADC_CHANNEL_4; + break; + case 5: + channel = ADC_CHANNEL_5; + break; + case 6: + channel = ADC_CHANNEL_6; + break; + case 7: + channel = ADC_CHANNEL_7; + break; + case 8: + channel = ADC_CHANNEL_8; + break; + case 9: + channel = ADC_CHANNEL_9; + break; + case 10: + channel = ADC_CHANNEL_10; + break; + case 11: + channel = ADC_CHANNEL_11; + break; + case 12: + channel = ADC_CHANNEL_12; + break; + case 13: + channel = ADC_CHANNEL_13; + break; + case 14: + channel = ADC_CHANNEL_14; + break; + case 15: + channel = ADC_CHANNEL_15; + break; +#ifdef ADC_CHANNEL_16 + case 16: + channel = ADC_CHANNEL_16; + break; +#endif + case 17: + channel = ADC_CHANNEL_17; + break; +#ifdef ADC_CHANNEL_18 + case 18: + channel = ADC_CHANNEL_18; + break; +#endif +#ifdef ADC_CHANNEL_19 + case 19: + channel = ADC_CHANNEL_19; + break; +#endif +#ifdef ADC_CHANNEL_20 + case 20: + channel = ADC_CHANNEL_20; + break; + case 21: + channel = ADC_CHANNEL_21; + break; + case 22: + channel = ADC_CHANNEL_22; + break; + case 23: + channel = ADC_CHANNEL_23; + break; +#ifdef ADC_CHANNEL_24 + case 24: + channel = ADC_CHANNEL_24; + break; + case 25: + channel = ADC_CHANNEL_25; + break; + case 26: + channel = ADC_CHANNEL_26; + break; +#ifdef ADC_CHANNEL_27 + case 27: + channel = ADC_CHANNEL_27; + break; + case 28: + channel = ADC_CHANNEL_28; + break; + case 29: + channel = ADC_CHANNEL_29; + break; + case 30: + channel = ADC_CHANNEL_30; + break; + case 31: + channel = ADC_CHANNEL_31; + break; +#endif +#endif +#endif + default: + _Error_Handler("ADC: Unknown adc channel", (int)(STM_PIN_CHANNEL(function))); + break; + } + return channel; +} + + +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM1) + return ADC_EXTERNALTRIGINJECCONV_T1_TRGO; +#ifdef TIM2 // if defined timer 2 + else if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIGINJECCONV_T2_TRGO; +#endif +#ifdef TIM4 // if defined timer 4 + else if(timer->getHandle()->Instance == TIM4) + return ADC_EXTERNALTRIGINJECCONV_T4_TRGO; +#endif +#ifdef TIM5 // if defined timer 5 + else if(timer->getHandle()->Instance == TIM5) + return ADC_EXTERNALTRIGINJECCONV_T5_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331 +uint32_t _timerToRegularTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIGCONV_T2_TRGO; +#ifdef TIM3 // if defined timer 3 + else if(timer->getHandle()->Instance == TIM3) + return ADC_EXTERNALTRIGCONV_T3_TRGO; +#endif +#ifdef TIM8 // if defined timer 8 + else if(timer->getHandle()->Instance == TIM8) + return ADC_EXTERNALTRIGCONV_T8_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + + +int _adcToIndex(ADC_TypeDef *AdcHandle){ + if(AdcHandle == ADC1) return 0; +#ifdef ADC2 // if ADC2 exists + else if(AdcHandle == ADC2) return 1; +#endif +#ifdef ADC3 // if ADC3 exists + else if(AdcHandle == ADC3) return 2; +#endif +#ifdef ADC4 // if ADC4 exists + else if(AdcHandle == ADC4) return 3; +#endif +#ifdef ADC5 // if ADC5 exists + else if(AdcHandle == ADC5) return 4; +#endif + return 0; +} +int _adcToIndex(ADC_HandleTypeDef *AdcHandle){ + return _adcToIndex(AdcHandle->Instance); +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.h b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.h new file mode 100644 index 00000000..b4549bad --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.h @@ -0,0 +1,34 @@ + +#ifndef STM32F4_UTILS_HAL +#define STM32F4_UTILS_HAL + +#include "Arduino.h" + +#if defined(STM32F4xx) + +#define _TRGO_NOT_AVAILABLE 12345 + + +/* Exported Functions */ +/** + * @brief Return ADC HAL channel linked to a PinName + * @param pin: PinName + * @retval Valid HAL channel + */ +uint32_t _getADCChannel(PinName pin); + +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer); + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331 +uint32_t _timerToRegularTRGO(HardwareTimer* timer); + +// function returning index of the ADC instance +int _adcToIndex(ADC_HandleTypeDef *AdcHandle); +int _adcToIndex(ADC_TypeDef *AdcHandle); + +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_hal.cpp new file mode 100644 index 00000000..d4cffec6 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_hal.cpp @@ -0,0 +1,185 @@ +#include "stm32f7_hal.h" + +#if defined(STM32F7xx) + +//#define SIMPLEFOC_STM32_DEBUG + +#include "../../../../communication/SimpleFOCDebug.h" +#define _TRGO_NOT_AVAILABLE 12345 + +ADC_HandleTypeDef hadc; + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params) +{ + ADC_InjectionConfTypeDef sConfigInjected; + + // check if all pins belong to the same ADC + ADC_TypeDef* adc_pin1 = (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + ADC_TypeDef* adc_pin2 = (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[1]), PinMap_ADC); + ADC_TypeDef* adc_pin3 = _isset(cs_params->pins[2]) ? (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[2]), PinMap_ADC) : nullptr; + if ( (adc_pin1 != adc_pin2) || ( (adc_pin3) && (adc_pin1 != adc_pin3) )){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Analog pins dont belong to the same ADC!"); +#endif + return -1; + } + + + /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) + */ + hadc.Instance = (ADC_TypeDef *)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + + if(hadc.Instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE(); +#ifdef ADC2 // if defined ADC2 + else if(hadc.Instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE(); +#endif +#ifdef ADC3 // if defined ADC3 + else if(hadc.Instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE(); +#endif + else{ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Pin does not belong to any ADC!"); +#endif + return -1; // error not a valid ADC instance + } + +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: Using ADC: ", _adcToIndex(&hadc)+1); +#endif + + hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2; + hadc.Init.Resolution = ADC_RESOLUTION_12B; + hadc.Init.ScanConvMode = ENABLE; + hadc.Init.ContinuousConvMode = DISABLE; + hadc.Init.DiscontinuousConvMode = DISABLE; + hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START; // for now + hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc.Init.NbrOfConversion = 1; + hadc.Init.DMAContinuousRequests = DISABLE; + hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV; + if ( HAL_ADC_Init(&hadc) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init ADC!"); +#endif + return -1; + } + + /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time + */ + sConfigInjected.InjectedNbrOfConversion = _isset(cs_params->pins[2]) ? 3 : 2; + sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES; + sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISINGFALLING; + sConfigInjected.AutoInjectedConv = DISABLE; + sConfigInjected.InjectedDiscontinuousConvMode = DISABLE; + sConfigInjected.InjectedOffset = 0; + + // automating TRGO flag finding - hardware specific + uint8_t tim_num = 0; + for (size_t i=0; i<6; i++) { + HardwareTimer *timer_to_check = driver_params->timers[tim_num++]; + TIM_TypeDef *instance_to_check = timer_to_check->getHandle()->Instance; + + // bool TRGO_already_configured = instance_to_check->CR2 & LL_TIM_TRGO_UPDATE; + // if(TRGO_already_configured) continue; + + uint32_t trigger_flag = _timerToInjectedTRGO(timer_to_check); + if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels + + // if the code comes here, it has found the timer available + // timer does have trgo flag for injected channels + sConfigInjected.ExternalTrigInjecConv = trigger_flag; + + // this will be the timer with which the ADC will sync + cs_params->timer_handle = timer_to_check; + if (!IS_TIM_REPETITION_COUNTER_INSTANCE(instance_to_check)) { + // workaround for errata 2.2.1 in ES0290 Rev 7 + // https://www.st.com/resource/en/errata_sheet/es0290-stm32f74xxx-and-stm32f75xxx-device-limitations-stmicroelectronics.pdf + __HAL_RCC_DAC_CLK_ENABLE(); + } + // done + break; + } + if( cs_params->timer_handle == NP ){ + // not possible to use these timers for low-side current sense + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot sync any timer to injected channels!"); + #endif + return -1; + } + // display which timer is being used + #ifdef SIMPLEFOC_STM32_DEBUG + // it would be better to use the getTimerNumber from driver + SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->getHandle()->Instance) + 1); + #endif + + + // first channel + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[0])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[0])) ); +#endif + return -1; + } + + // second channel + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[1])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[1]))) ; +#endif + return -1; + } + + // third channel - if exists + if(_isset(cs_params->pins[2])){ + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_3; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[2])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[2]))) ; +#endif + return -1; + } + } + + #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT + // enable interrupt + HAL_NVIC_SetPriority(ADC_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC_IRQn); + #endif + + cs_params->adc_handle = &hadc; + return 0; +} + +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC) +{ + uint8_t cnt = 0; + if(_isset(pinA)){ + pinmap_pinout(analogInputToPinName(pinA), PinMap_ADC); + cs_params->pins[cnt++] = pinA; + } + if(_isset(pinB)){ + pinmap_pinout(analogInputToPinName(pinB), PinMap_ADC); + cs_params->pins[cnt++] = pinB; + } + if(_isset(pinC)){ + pinmap_pinout(analogInputToPinName(pinC), PinMap_ADC); + cs_params->pins[cnt] = pinC; + } +} + +#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT +extern "C" { + void ADC_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +} +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_hal.h b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_hal.h new file mode 100644 index 00000000..0a3614b5 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_hal.h @@ -0,0 +1,15 @@ +#pragma once + +#include "Arduino.h" + +#if defined(STM32F7xx) +#include "stm32f7xx_hal.h" +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../stm32_mcu.h" +#include "stm32f7_utils.h" + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params); +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC); + +#endif diff --git a/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_mcu.cpp new file mode 100644 index 00000000..f5ca70f3 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_mcu.cpp @@ -0,0 +1,116 @@ +#include "../../../hardware_api.h" + +#if defined(STM32F7xx) +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_api.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../../../hardware_api.h" +#include "../stm32_mcu.h" +#include "stm32f7_hal.h" +#include "stm32f7_utils.h" +#include "Arduino.h" + + +#define _ADC_VOLTAGE 3.3f +#define _ADC_RESOLUTION 4096.0f + + +// array of values of 4 injected channels per adc instance (3) +uint32_t adc_val[3][4]={0}; +// does adc interrupt need a downsample - per adc (3) +bool needs_downsample[3] = {1}; +// downsampling variable - per adc (3) +uint8_t tim_downsample[3] = {1}; + +void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){ + + Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams { + .pins={(int)NOT_SET,(int)NOT_SET,(int)NOT_SET}, + .adc_voltage_conv = (_ADC_VOLTAGE) / (_ADC_RESOLUTION) + }; + _adc_gpio_init(cs_params, pinA,pinB,pinC); + if(_adc_init(cs_params, (STM32DriverParams*)driver_params) != 0) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + return cs_params; +} + + +void* _driverSyncLowSide(void* _driver_params, void* _cs_params){ + STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params; + Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params; + + // if compatible timer has not been found + if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + + // stop all the timers for the driver + _stopTimers(driver_params->timers, 6); + + // if timer has repetition counter - it will downsample using it + // and it does not need the software downsample + if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){ + // adjust the initial timer state such that the trigger + // - for DMA transfer aligns with the pwm peaks instead of throughs. + // - for interrupt based ADC transfer + // - only necessary for the timers that have repetition counters + + cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR; + cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR; + // remember that this timer has repetition counter - no need to downasmple + needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0; + } + // set the trigger output event + LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE); + + // start the adc + #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT + HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle); + #else + HAL_ADCEx_InjectedStart(cs_params->adc_handle); + #endif + + // restart all the timers of the driver + _startTimers(driver_params->timers, 6); + + // return the cs parameters + // successfully initialized + // TODO verify if success in future + return _cs_params; +} + + +// function reading an ADC value and returning the read voltage +float _readADCVoltageLowSide(const int pin, const void* cs_params){ + for(int i=0; i < 3; i++){ + if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer + #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT + return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + #else + // an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3 + uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3; + return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + #endif + } + } + return 0; +} + +#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT +extern "C" { + void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){ + + // calculate the instance + int adc_index = _adcToIndex(AdcHandle); + + // if the timer han't repetition counter - downsample two times + if( needs_downsample[adc_index] && tim_downsample[adc_index]++ > 0) { + tim_downsample[adc_index] = 0; + return; + } + + adc_val[adc_index][0]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1); + adc_val[adc_index][1]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_2); + adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3); + } +} +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_utils.cpp b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_utils.cpp new file mode 100644 index 00000000..d5f8c6b2 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_utils.cpp @@ -0,0 +1,255 @@ +#include "stm32f7_utils.h" + +#if defined(STM32F7xx) + +/* Exported Functions */ + + +PinName analog_to_pin(uint32_t pin) { + PinName pin_name = analogInputToPinName(pin); + if (pin_name == NC) { + return (PinName) pin; + } + return pin_name; +} + + +/** + * @brief Return ADC HAL channel linked to a PinName + * @param pin: PinName + * @retval Valid HAL channel + */ +uint32_t _getADCChannel(PinName pin) +{ + uint32_t function = pinmap_function(pin, PinMap_ADC); + uint32_t channel = 0; + switch (STM_PIN_CHANNEL(function)) { +#ifdef ADC_CHANNEL_0 + case 0: + channel = ADC_CHANNEL_0; + break; +#endif + case 1: + channel = ADC_CHANNEL_1; + break; + case 2: + channel = ADC_CHANNEL_2; + break; + case 3: + channel = ADC_CHANNEL_3; + break; + case 4: + channel = ADC_CHANNEL_4; + break; + case 5: + channel = ADC_CHANNEL_5; + break; + case 6: + channel = ADC_CHANNEL_6; + break; + case 7: + channel = ADC_CHANNEL_7; + break; + case 8: + channel = ADC_CHANNEL_8; + break; + case 9: + channel = ADC_CHANNEL_9; + break; + case 10: + channel = ADC_CHANNEL_10; + break; + case 11: + channel = ADC_CHANNEL_11; + break; + case 12: + channel = ADC_CHANNEL_12; + break; + case 13: + channel = ADC_CHANNEL_13; + break; + case 14: + channel = ADC_CHANNEL_14; + break; + case 15: + channel = ADC_CHANNEL_15; + break; +#ifdef ADC_CHANNEL_16 + case 16: + channel = ADC_CHANNEL_16; + break; +#endif + case 17: + channel = ADC_CHANNEL_17; + break; +#ifdef ADC_CHANNEL_18 + case 18: + channel = ADC_CHANNEL_18; + break; +#endif +#ifdef ADC_CHANNEL_19 + case 19: + channel = ADC_CHANNEL_19; + break; +#endif +#ifdef ADC_CHANNEL_20 + case 20: + channel = ADC_CHANNEL_20; + break; + case 21: + channel = ADC_CHANNEL_21; + break; + case 22: + channel = ADC_CHANNEL_22; + break; + case 23: + channel = ADC_CHANNEL_23; + break; +#ifdef ADC_CHANNEL_24 + case 24: + channel = ADC_CHANNEL_24; + break; + case 25: + channel = ADC_CHANNEL_25; + break; + case 26: + channel = ADC_CHANNEL_26; + break; +#ifdef ADC_CHANNEL_27 + case 27: + channel = ADC_CHANNEL_27; + break; + case 28: + channel = ADC_CHANNEL_28; + break; + case 29: + channel = ADC_CHANNEL_29; + break; + case 30: + channel = ADC_CHANNEL_30; + break; + case 31: + channel = ADC_CHANNEL_31; + break; +#endif +#endif +#endif + default: + _Error_Handler("ADC: Unknown adc channel", (int)(STM_PIN_CHANNEL(function))); + break; + } + return channel; +} +/* +TIM1 +TIM2 +TIM3 +TIM4 +TIM5 +TIM6 +TIM7 +TIM12 +TIM13 +TIM14 + +ADC_EXTERNALTRIGINJECCONV_T1_TRGO +ADC_EXTERNALTRIGINJECCONV_T2_TRGO +ADC_EXTERNALTRIGINJECCONV_T4_TRGO + +ADC_EXTERNALTRIGINJECCONV_T1_TRGO2 +ADC_EXTERNALTRIGINJECCONV_T8_TRGO2 +ADC_EXTERNALTRIGINJECCONV_T5_TRGO +ADC_EXTERNALTRIGINJECCONV_T6_TRGO +*/ +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer){ + + if(timer->getHandle()->Instance == TIM1) + return ADC_EXTERNALTRIGINJECCONV_T1_TRGO; +#ifdef TIM2 // if defined timer 2 + else if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIGINJECCONV_T2_TRGO; +#endif +#ifdef TIM4 // if defined timer 4 + else if(timer->getHandle()->Instance == TIM4) + return ADC_EXTERNALTRIGINJECCONV_T4_TRGO; +#endif +#ifdef TIM5 // if defined timer 5 + else if(timer->getHandle()->Instance == TIM5) + return ADC_EXTERNALTRIGINJECCONV_T5_TRGO; +#endif +#ifdef TIM6 // if defined timer 6 + else if(timer->getHandle()->Instance == TIM6) + return ADC_EXTERNALTRIGINJECCONV_T6_TRGO; +#endif +#ifdef TIM8 // if defined timer 8 + else if(timer->getHandle()->Instance == TIM8) + return ADC_EXTERNALTRIGINJECCONV_T8_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} +/* + +ADC_EXTERNALTRIGCONV_T5_TRGO +ADC_EXTERNALTRIGCONV_T8_TRGO +ADC_EXTERNALTRIGCONV_T8_TRGO2 +ADC_EXTERNALTRIGCONV_T1_TRGO +ADC_EXTERNALTRIGCONV_T1_TRGO2 +ADC_EXTERNALTRIGCONV_T2_TRGO +ADC_EXTERNALTRIGCONV_T4_TRGO +ADC_EXTERNALTRIGCONV_T6_TRGO +*/ + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331 +uint32_t _timerToRegularTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM1) + return ADC_EXTERNALTRIGCONV_T1_TRGO; +#ifdef TIM2 // if defined timer 2 + else if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIGCONV_T2_TRGO; +#endif +#ifdef TIM4 // if defined timer 4 + else if(timer->getHandle()->Instance == TIM4) + return ADC_EXTERNALTRIGCONV_T4_TRGO; +#endif +#ifdef TIM5 // if defined timer 5 + else if(timer->getHandle()->Instance == TIM5) + return ADC_EXTERNALTRIGCONV_T5_TRGO; +#endif +#ifdef TIM6 // if defined timer 6 + else if(timer->getHandle()->Instance == TIM6) + return ADC_EXTERNALTRIGCONV_T6_TRGO; +#endif +#ifdef TIM8 // if defined timer 8 + else if(timer->getHandle()->Instance == TIM8) + return ADC_EXTERNALTRIGCONV_T8_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + + +int _adcToIndex(ADC_TypeDef *AdcHandle){ + if(AdcHandle == ADC1) return 0; +#ifdef ADC2 // if ADC2 exists + else if(AdcHandle == ADC2) return 1; +#endif +#ifdef ADC3 // if ADC3 exists + else if(AdcHandle == ADC3) return 2; +#endif +#ifdef ADC4 // if ADC4 exists + else if(AdcHandle == ADC4) return 3; +#endif +#ifdef ADC5 // if ADC5 exists + else if(AdcHandle == ADC5) return 4; +#endif + return 0; +} +int _adcToIndex(ADC_HandleTypeDef *AdcHandle){ + return _adcToIndex(AdcHandle->Instance); +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_utils.h b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_utils.h new file mode 100644 index 00000000..017ff464 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_utils.h @@ -0,0 +1,30 @@ +#pragma once + +#include "Arduino.h" + +#if defined(STM32F7xx) + +#define _TRGO_NOT_AVAILABLE 12345 + + +/* Exported Functions */ +/** + * @brief Return ADC HAL channel linked to a PinName + * @param pin: PinName + * @retval Valid HAL channel + */ +uint32_t _getADCChannel(PinName pin); + +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer); + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331 +uint32_t _timerToRegularTRGO(HardwareTimer* timer); + +// function returning index of the ADC instance +int _adcToIndex(ADC_HandleTypeDef *AdcHandle); +int _adcToIndex(ADC_TypeDef *AdcHandle); + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.cpp new file mode 100644 index 00000000..fd1090ae --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.cpp @@ -0,0 +1,231 @@ +#include "stm32g4_hal.h" + +#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1) + +#include "../../../../communication/SimpleFOCDebug.h" + +#define SIMPLEFOC_STM32_DEBUG + +ADC_HandleTypeDef hadc; + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params) +{ + ADC_InjectionConfTypeDef sConfigInjected; + + // check if all pins belong to the same ADC + ADC_TypeDef* adc_pin1 = (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + ADC_TypeDef* adc_pin2 = (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[1]), PinMap_ADC); + ADC_TypeDef* adc_pin3 = _isset(cs_params->pins[2]) ? (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[2]), PinMap_ADC) : nullptr; + if ( (adc_pin1 != adc_pin2) || ( (adc_pin3) && (adc_pin1 != adc_pin3) )){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Analog pins dont belong to the same ADC!"); +#endif + return -1; + } + + + /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) + */ + hadc.Instance = (ADC_TypeDef *)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + + if(hadc.Instance == ADC1) { +#ifdef __HAL_RCC_ADC1_CLK_ENABLE + __HAL_RCC_ADC1_CLK_ENABLE(); +#endif +#ifdef __HAL_RCC_ADC12_CLK_ENABLE + __HAL_RCC_ADC12_CLK_ENABLE(); +#endif + } +#ifdef ADC2 + else if (hadc.Instance == ADC2) { +#ifdef __HAL_RCC_ADC2_CLK_ENABLE + __HAL_RCC_ADC2_CLK_ENABLE(); +#endif +#ifdef __HAL_RCC_ADC12_CLK_ENABLE + __HAL_RCC_ADC12_CLK_ENABLE(); +#endif + } +#endif +#ifdef ADC3 + else if (hadc.Instance == ADC3) { +#ifdef __HAL_RCC_ADC3_CLK_ENABLE + __HAL_RCC_ADC3_CLK_ENABLE(); +#endif +#ifdef __HAL_RCC_ADC34_CLK_ENABLE + __HAL_RCC_ADC34_CLK_ENABLE(); +#endif +#if defined(ADC345_COMMON) + __HAL_RCC_ADC345_CLK_ENABLE(); +#endif + } +#endif +#ifdef ADC4 + else if (hadc.Instance == ADC4) { +#ifdef __HAL_RCC_ADC4_CLK_ENABLE + __HAL_RCC_ADC4_CLK_ENABLE(); +#endif +#ifdef __HAL_RCC_ADC34_CLK_ENABLE + __HAL_RCC_ADC34_CLK_ENABLE(); +#endif +#if defined(ADC345_COMMON) + __HAL_RCC_ADC345_CLK_ENABLE(); +#endif + } +#endif +#ifdef ADC5 + else if (hadc.Instance == ADC5) { +#if defined(ADC345_COMMON) + __HAL_RCC_ADC345_CLK_ENABLE(); +#endif + } +#endif + else{ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Pin does not belong to any ADC!"); +#endif + return -1; // error not a valid ADC instance + } + +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: Using ADC: ", _adcToIndex(&hadc)+1); +#endif + + hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; + hadc.Init.Resolution = ADC_RESOLUTION_12B; + hadc.Init.ScanConvMode = ADC_SCAN_ENABLE; + hadc.Init.ContinuousConvMode = DISABLE; + hadc.Init.LowPowerAutoWait = DISABLE; + hadc.Init.GainCompensation = 0; + hadc.Init.DiscontinuousConvMode = DISABLE; + hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START; // for now + hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc.Init.NbrOfConversion = 1; + hadc.Init.DMAContinuousRequests = DISABLE; + hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV; + hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED; + if ( HAL_ADC_Init(&hadc) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init ADC!"); +#endif + return -1; + } + + /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time + */ + sConfigInjected.InjectedNbrOfConversion = _isset(cs_params->pins[2]) ? 3 : 2; + sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_2CYCLES_5; + sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONV_EDGE_RISING; + sConfigInjected.AutoInjectedConv = DISABLE; + sConfigInjected.InjectedSingleDiff = ADC_SINGLE_ENDED; + sConfigInjected.InjectedDiscontinuousConvMode = DISABLE; + sConfigInjected.InjectedOffsetNumber = ADC_OFFSET_NONE; + sConfigInjected.InjectedOffset = 0; + sConfigInjected.InjecOversamplingMode = DISABLE; + sConfigInjected.QueueInjectedContext = DISABLE; + + // automating TRGO flag finding - hardware specific + uint8_t tim_num = 0; + while(driver_params->timers[tim_num] != NP && tim_num < 6){ + uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers[tim_num++]); + if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels + + // if the code comes here, it has found the timer available + // timer does have trgo flag for injected channels + sConfigInjected.ExternalTrigInjecConv = trigger_flag; + + // this will be the timer with which the ADC will sync + cs_params->timer_handle = driver_params->timers[tim_num-1]; + // done + break; + } + if( cs_params->timer_handle == NP ){ + // not possible to use these timers for low-side current sense +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot sync any timer to injected channels!"); +#endif + return -1; + } + + + // first channel + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[0])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[0])) ); +#endif + return -1; + } + + // second channel + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[1])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[1]))) ; +#endif + return -1; + } + + // third channel - if exists + if(_isset(cs_params->pins[2])){ + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_3; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[2])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[2]))) ; +#endif + return -1; + } + } + + cs_params->adc_handle = &hadc; + return 0; +} + +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC) +{ + uint8_t cnt = 0; + if(_isset(pinA)){ + pinmap_pinout(analogInputToPinName(pinA), PinMap_ADC); + cs_params->pins[cnt++] = pinA; + } + if(_isset(pinB)){ + pinmap_pinout(analogInputToPinName(pinB), PinMap_ADC); + cs_params->pins[cnt++] = pinB; + } + if(_isset(pinC)){ + pinmap_pinout(analogInputToPinName(pinC), PinMap_ADC); + cs_params->pins[cnt] = pinC; + } +} + +extern "C" { + void ADC1_2_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +#ifdef ADC3 + void ADC3_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +#endif + +#ifdef ADC4 + void ADC4_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +#endif + +#ifdef ADC5 + void ADC5_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +#endif +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.h b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.h new file mode 100644 index 00000000..2298b17c --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.h @@ -0,0 +1,19 @@ +#ifndef STM32G4_LOWSIDE_HAL +#define STM32G4_LOWSIDE_HAL + +#include "Arduino.h" + +#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1) + +#include "stm32g4xx_hal.h" +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../stm32_mcu.h" +#include "stm32g4_utils.h" + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params); +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC); + +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp new file mode 100644 index 00000000..9c73f6d7 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp @@ -0,0 +1,167 @@ +#include "../../../hardware_api.h" + +#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1) + +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_api.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../../../hardware_api.h" +#include "../stm32_mcu.h" +#include "stm32g4_hal.h" +#include "stm32g4_utils.h" +#include "Arduino.h" + +// #define SIMPLEFOC_STM32_ADC_INTERRUPT + +#define _ADC_VOLTAGE_G4 3.3f +#define _ADC_RESOLUTION_G4 4096.0f + + +// array of values of 4 injected channels per adc instance (5) +uint32_t adc_val[5][4]={0}; +// does adc interrupt need a downsample - per adc (5) +bool needs_downsample[5] = {1}; +// downsampling variable - per adc (5) +uint8_t tim_downsample[5] = {0}; + +#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT +uint8_t use_adc_interrupt = 1; +#else +uint8_t use_adc_interrupt = 0; +#endif + +void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){ + + Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams { + .pins={(int)NOT_SET, (int)NOT_SET, (int)NOT_SET}, + .adc_voltage_conv = (_ADC_VOLTAGE_G4) / (_ADC_RESOLUTION_G4) + }; + _adc_gpio_init(cs_params, pinA,pinB,pinC); + if(_adc_init(cs_params, (STM32DriverParams*)driver_params) != 0) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + return cs_params; +} + + +void* _driverSyncLowSide(void* _driver_params, void* _cs_params){ + STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params; + Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params; + + // if compatible timer has not been found + if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + + // stop all the timers for the driver + _stopTimers(driver_params->timers, 6); + + // if timer has repetition counter - it will downsample using it + // and it does not need the software downsample + if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){ + // adjust the initial timer state such that the trigger + // - for DMA transfer aligns with the pwm peaks instead of throughs. + // - for interrupt based ADC transfer + // - only necessary for the timers that have repetition counters + cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR; + cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR; + // remember that this timer has repetition counter - no need to downasmple + needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0; + }else{ + if(!use_adc_interrupt){ + // If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing + use_adc_interrupt = 1; + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used"); + #endif + } + } + + // 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,ADC_SINGLE_ENDED); + + // start the adc + if (use_adc_interrupt){ + // enable interrupt + if(cs_params->adc_handle->Instance == ADC1) { + // enable interrupt + HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC1_2_IRQn); + } + #ifdef ADC2 + else if (cs_params->adc_handle->Instance == ADC2) { + // enable interrupt + HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC1_2_IRQn); + } + #endif + #ifdef ADC3 + else if (cs_params->adc_handle->Instance == ADC3) { + // enable interrupt + HAL_NVIC_SetPriority(ADC3_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC3_IRQn); + } + #endif + #ifdef ADC4 + else if (cs_params->adc_handle->Instance == ADC4) { + // enable interrupt + HAL_NVIC_SetPriority(ADC4_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC4_IRQn); + } + #endif + #ifdef ADC5 + else if (cs_params->adc_handle->Instance == ADC5) { + // enable interrupt + HAL_NVIC_SetPriority(ADC5_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC5_IRQn); + } + #endif + + HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle); + }else{ + HAL_ADCEx_InjectedStart(cs_params->adc_handle); + } + + // restart all the timers of the driver + _startTimers(driver_params->timers, 6); + + // return the cs parameters + // successfully initialized + // TODO verify if success in future + return _cs_params; +} + + +// function reading an ADC value and returning the read voltage +float _readADCVoltageLowSide(const int pin, const void* cs_params){ + for(int i=0; i < 3; i++){ + if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer + if (use_adc_interrupt){ + return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + }else{ + // an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3 + uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3; + return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + } + } + } + return 0; +} + +extern "C" { + void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){ + // calculate the instance + int adc_index = _adcToIndex(AdcHandle); + + // if the timer han't repetition counter - downsample two times + if( needs_downsample[adc_index] && tim_downsample[adc_index]++ > 0) { + tim_downsample[adc_index] = 0; + return; + } + + adc_val[adc_index][0]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1); + adc_val[adc_index][1]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_2); + adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3); + } +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_utils.cpp b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_utils.cpp new file mode 100644 index 00000000..89a9bc34 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_utils.cpp @@ -0,0 +1,237 @@ +#include "stm32g4_utils.h" + +#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1) + +/* Exported Functions */ +/** + * @brief Return ADC HAL channel linked to a PinName + * @param pin: PinName + * @retval Valid HAL channel + */ +uint32_t _getADCChannel(PinName pin) +{ + uint32_t function = pinmap_function(pin, PinMap_ADC); + uint32_t channel = 0; + switch (STM_PIN_CHANNEL(function)) { +#ifdef ADC_CHANNEL_0 + case 0: + channel = ADC_CHANNEL_0; + break; +#endif + case 1: + channel = ADC_CHANNEL_1; + break; + case 2: + channel = ADC_CHANNEL_2; + break; + case 3: + channel = ADC_CHANNEL_3; + break; + case 4: + channel = ADC_CHANNEL_4; + break; + case 5: + channel = ADC_CHANNEL_5; + break; + case 6: + channel = ADC_CHANNEL_6; + break; + case 7: + channel = ADC_CHANNEL_7; + break; + case 8: + channel = ADC_CHANNEL_8; + break; + case 9: + channel = ADC_CHANNEL_9; + break; + case 10: + channel = ADC_CHANNEL_10; + break; + case 11: + channel = ADC_CHANNEL_11; + break; + case 12: + channel = ADC_CHANNEL_12; + break; + case 13: + channel = ADC_CHANNEL_13; + break; + case 14: + channel = ADC_CHANNEL_14; + break; + case 15: + channel = ADC_CHANNEL_15; + break; +#ifdef ADC_CHANNEL_16 + case 16: + channel = ADC_CHANNEL_16; + break; +#endif + case 17: + channel = ADC_CHANNEL_17; + break; +#ifdef ADC_CHANNEL_18 + case 18: + channel = ADC_CHANNEL_18; + break; +#endif +#ifdef ADC_CHANNEL_19 + case 19: + channel = ADC_CHANNEL_19; + break; +#endif +#ifdef ADC_CHANNEL_20 + case 20: + channel = ADC_CHANNEL_20; + break; + case 21: + channel = ADC_CHANNEL_21; + break; + case 22: + channel = ADC_CHANNEL_22; + break; + case 23: + channel = ADC_CHANNEL_23; + break; +#ifdef ADC_CHANNEL_24 + case 24: + channel = ADC_CHANNEL_24; + break; + case 25: + channel = ADC_CHANNEL_25; + break; + case 26: + channel = ADC_CHANNEL_26; + break; +#ifdef ADC_CHANNEL_27 + case 27: + channel = ADC_CHANNEL_27; + break; + case 28: + channel = ADC_CHANNEL_28; + break; + case 29: + channel = ADC_CHANNEL_29; + break; + case 30: + channel = ADC_CHANNEL_30; + break; + case 31: + channel = ADC_CHANNEL_31; + break; +#endif +#endif +#endif + default: + _Error_Handler("ADC: Unknown adc channel", (int)(STM_PIN_CHANNEL(function))); + break; + } + return channel; +} + + +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc_ex.h#L217 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM1) + return ADC_EXTERNALTRIGINJEC_T1_TRGO; +#ifdef TIM2 // if defined timer 2 + else if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIGINJEC_T2_TRGO; +#endif +#ifdef TIM3 // if defined timer 3 + else if(timer->getHandle()->Instance == TIM3) + return ADC_EXTERNALTRIGINJEC_T3_TRGO; +#endif +#ifdef TIM4 // if defined timer 4 + else if(timer->getHandle()->Instance == TIM4) + return ADC_EXTERNALTRIGINJEC_T4_TRGO; +#endif +#ifdef TIM6 // if defined timer 6 + else if(timer->getHandle()->Instance == TIM6) + return ADC_EXTERNALTRIGINJEC_T6_TRGO; +#endif +#ifdef TIM7 // if defined timer 7 + else if(timer->getHandle()->Instance == TIM7) + return ADC_EXTERNALTRIGINJEC_T7_TRGO; +#endif +#ifdef TIM8 // if defined timer 8 + else if(timer->getHandle()->Instance == TIM8) + return ADC_EXTERNALTRIGINJEC_T8_TRGO; +#endif +#ifdef TIM15 // if defined timer 15 + else if(timer->getHandle()->Instance == TIM15) + return ADC_EXTERNALTRIGINJEC_T15_TRGO; +#endif +#ifdef TIM20 // if defined timer 15 + else if(timer->getHandle()->Instance == TIM20) + return ADC_EXTERNALTRIGINJEC_T20_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc.h#L519 +uint32_t _timerToRegularTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM1) + return ADC_EXTERNALTRIG_T1_TRGO; +#ifdef TIM2 // if defined timer 2 + else if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIG_T2_TRGO; +#endif +#ifdef TIM3 // if defined timer 3 + else if(timer->getHandle()->Instance == TIM3) + return ADC_EXTERNALTRIG_T3_TRGO; +#endif +#ifdef TIM4 // if defined timer 4 + else if(timer->getHandle()->Instance == TIM4) + return ADC_EXTERNALTRIG_T4_TRGO; +#endif +#ifdef TIM6 // if defined timer 6 + else if(timer->getHandle()->Instance == TIM6) + return ADC_EXTERNALTRIG_T6_TRGO; +#endif +#ifdef TIM7 // if defined timer 7 + else if(timer->getHandle()->Instance == TIM7) + return ADC_EXTERNALTRIG_T7_TRGO; +#endif +#ifdef TIM8 // if defined timer 8 + else if(timer->getHandle()->Instance == TIM8) + return ADC_EXTERNALTRIG_T7_TRGO; +#endif +#ifdef TIM15 // if defined timer 15 + else if(timer->getHandle()->Instance == TIM15) + return ADC_EXTERNALTRIG_T15_TRGO; +#endif +#ifdef TIM20 // if defined timer 15 + else if(timer->getHandle()->Instance == TIM20) + return ADC_EXTERNALTRIG_T20_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + + +int _adcToIndex(ADC_TypeDef *AdcHandle){ + if(AdcHandle == ADC1) return 0; +#ifdef ADC2 // if ADC2 exists + else if(AdcHandle == ADC2) return 1; +#endif +#ifdef ADC3 // if ADC3 exists + else if(AdcHandle == ADC3) return 2; +#endif +#ifdef ADC4 // if ADC4 exists + else if(AdcHandle == ADC4) return 3; +#endif +#ifdef ADC5 // if ADC5 exists + else if(AdcHandle == ADC5) return 4; +#endif + return 0; +} +int _adcToIndex(ADC_HandleTypeDef *AdcHandle){ + return _adcToIndex(AdcHandle->Instance); +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_utils.h b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_utils.h new file mode 100644 index 00000000..fa857bd0 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_utils.h @@ -0,0 +1,34 @@ + +#ifndef STM32G4_UTILS_HAL +#define STM32G4_UTILS_HAL + +#include "Arduino.h" + +#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1) + +#define _TRGO_NOT_AVAILABLE 12345 + + +/* Exported Functions */ +/** + * @brief Return ADC HAL channel linked to a PinName + * @param pin: PinName + * @retval Valid HAL channel + */ +uint32_t _getADCChannel(PinName pin); + +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc_ex.h#L217 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer); + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc.h#L519 +uint32_t _timerToRegularTRGO(HardwareTimer* timer); + +// function returning index of the ADC instance +int _adcToIndex(ADC_HandleTypeDef *AdcHandle); +int _adcToIndex(ADC_TypeDef *AdcHandle); + +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.cpp new file mode 100644 index 00000000..67a0473b --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.cpp @@ -0,0 +1,230 @@ +#include "stm32l4_hal.h" + +#if defined(STM32L4xx) + +#include "../../../../communication/SimpleFOCDebug.h" + +#define SIMPLEFOC_STM32_DEBUG + +ADC_HandleTypeDef hadc; + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params) +{ + ADC_InjectionConfTypeDef sConfigInjected; + + // check if all pins belong to the same ADC + ADC_TypeDef* adc_pin1 = (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + ADC_TypeDef* adc_pin2 = (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[1]), PinMap_ADC); + ADC_TypeDef* adc_pin3 = _isset(cs_params->pins[2]) ? (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[2]), PinMap_ADC) : nullptr; + if ( (adc_pin1 != adc_pin2) || ( (adc_pin3) && (adc_pin1 != adc_pin3) )){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Analog pins dont belong to the same ADC!"); +#endif + return -1; + } + + + /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) + */ + hadc.Instance = (ADC_TypeDef *)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC); + + if(hadc.Instance == ADC1) { +#ifdef __HAL_RCC_ADC1_CLK_ENABLE + __HAL_RCC_ADC1_CLK_ENABLE(); +#endif +#ifdef __HAL_RCC_ADC12_CLK_ENABLE + __HAL_RCC_ADC12_CLK_ENABLE(); +#endif + } +#ifdef ADC2 + else if (hadc.Instance == ADC2) { +#ifdef __HAL_RCC_ADC2_CLK_ENABLE + __HAL_RCC_ADC2_CLK_ENABLE(); +#endif +#ifdef __HAL_RCC_ADC12_CLK_ENABLE + __HAL_RCC_ADC12_CLK_ENABLE(); +#endif + } +#endif +#ifdef ADC3 + else if (hadc.Instance == ADC3) { +#ifdef __HAL_RCC_ADC3_CLK_ENABLE + __HAL_RCC_ADC3_CLK_ENABLE(); +#endif +#ifdef __HAL_RCC_ADC34_CLK_ENABLE + __HAL_RCC_ADC34_CLK_ENABLE(); +#endif +#if defined(ADC345_COMMON) + __HAL_RCC_ADC345_CLK_ENABLE(); +#endif + } +#endif +#ifdef ADC4 + else if (hadc.Instance == ADC4) { +#ifdef __HAL_RCC_ADC4_CLK_ENABLE + __HAL_RCC_ADC4_CLK_ENABLE(); +#endif +#ifdef __HAL_RCC_ADC34_CLK_ENABLE + __HAL_RCC_ADC34_CLK_ENABLE(); +#endif +#if defined(ADC345_COMMON) + __HAL_RCC_ADC345_CLK_ENABLE(); +#endif + } +#endif +#ifdef ADC5 + else if (hadc.Instance == ADC5) { +#if defined(ADC345_COMMON) + __HAL_RCC_ADC345_CLK_ENABLE(); +#endif + } +#endif + else{ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: Pin does not belong to any ADC!"); +#endif + return -1; // error not a valid ADC instance + } + +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: Using ADC: ", _adcToIndex(&hadc)+1); +#endif + + hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; + hadc.Init.Resolution = ADC_RESOLUTION_12B; + hadc.Init.ScanConvMode = ADC_SCAN_ENABLE; + hadc.Init.ContinuousConvMode = DISABLE; + hadc.Init.LowPowerAutoWait = DISABLE; + hadc.Init.DiscontinuousConvMode = DISABLE; + hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START; // for now + hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc.Init.NbrOfConversion = 1; + hadc.Init.DMAContinuousRequests = DISABLE; + hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV; + hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED; + if ( HAL_ADC_Init(&hadc) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init ADC!"); +#endif + return -1; + } + + /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time + */ + sConfigInjected.InjectedNbrOfConversion = _isset(cs_params->pins[2]) ? 3 : 2; + sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_2CYCLES_5; + sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONV_EDGE_RISING; + sConfigInjected.AutoInjectedConv = DISABLE; + sConfigInjected.InjectedSingleDiff = ADC_SINGLE_ENDED; + sConfigInjected.InjectedDiscontinuousConvMode = DISABLE; + sConfigInjected.InjectedOffsetNumber = ADC_OFFSET_NONE; + sConfigInjected.InjectedOffset = 0; + sConfigInjected.InjecOversamplingMode = DISABLE; + sConfigInjected.QueueInjectedContext = DISABLE; + + // automating TRGO flag finding - hardware specific + uint8_t tim_num = 0; + while(driver_params->timers[tim_num] != NP && tim_num < 6){ + uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers[tim_num++]); + if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels + + // if the code comes here, it has found the timer available + // timer does have trgo flag for injected channels + sConfigInjected.ExternalTrigInjecConv = trigger_flag; + + // this will be the timer with which the ADC will sync + cs_params->timer_handle = driver_params->timers[tim_num-1]; + // done + break; + } + if( cs_params->timer_handle == NP ){ + // not possible to use these timers for low-side current sense +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot sync any timer to injected channels!"); +#endif + return -1; + } + + + // first channel + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[0])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[0])) ); +#endif + return -1; + } + + // second channel + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[1])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[1]))) ; +#endif + return -1; + } + + // third channel - if exists + if(_isset(cs_params->pins[2])){ + sConfigInjected.InjectedRank = ADC_INJECTED_RANK_3; + sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[2])); + if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){ +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[2]))) ; +#endif + return -1; + } + } + + cs_params->adc_handle = &hadc; + return 0; +} + +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC) +{ + uint8_t cnt = 0; + if(_isset(pinA)){ + pinmap_pinout(analogInputToPinName(pinA), PinMap_ADC); + cs_params->pins[cnt++] = pinA; + } + if(_isset(pinB)){ + pinmap_pinout(analogInputToPinName(pinB), PinMap_ADC); + cs_params->pins[cnt++] = pinB; + } + if(_isset(pinC)){ + pinmap_pinout(analogInputToPinName(pinC), PinMap_ADC); + cs_params->pins[cnt] = pinC; + } +} + +extern "C" { + void ADC1_2_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +#ifdef ADC3 + void ADC3_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +#endif + +#ifdef ADC4 + void ADC4_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +#endif + +#ifdef ADC5 + void ADC5_IRQHandler(void) + { + HAL_ADC_IRQHandler(&hadc); + } +#endif +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.h b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.h new file mode 100644 index 00000000..0317b74b --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.h @@ -0,0 +1,19 @@ +#ifndef STM32L4_LOWSIDE_HAL +#define STM32L4_LOWSIDE_HAL + +#include "Arduino.h" + +#if defined(STM32L4xx) + +#include "stm32l4xx_hal.h" +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../stm32_mcu.h" +#include "stm32l4_utils.h" + +int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params); +void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC); + +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_mcu.cpp new file mode 100644 index 00000000..5de6432a --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_mcu.cpp @@ -0,0 +1,163 @@ +#include "../../../hardware_api.h" + +#if defined(STM32L4xx) + +#include "../../../../common/foc_utils.h" +#include "../../../../drivers/hardware_api.h" +#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h" +#include "../../../hardware_api.h" +#include "../stm32_mcu.h" +#include "stm32l4_hal.h" +#include "stm32l4_utils.h" +#include "Arduino.h" + + +#define _ADC_VOLTAGE_L4 3.3f +#define _ADC_RESOLUTION_L4 4096.0f + + +// array of values of 4 injected channels per adc instance (5) +uint32_t adc_val[5][4]={0}; +// does adc interrupt need a downsample - per adc (5) +bool needs_downsample[5] = {1}; +// downsampling variable - per adc (5) +uint8_t tim_downsample[5] = {0}; + +#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT +uint8_t use_adc_interrupt = 1; +#else +uint8_t use_adc_interrupt = 0; +#endif + +void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){ + + Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams { + .pins={(int)NOT_SET, (int)NOT_SET, (int)NOT_SET}, + .adc_voltage_conv = (_ADC_VOLTAGE_L4) / (_ADC_RESOLUTION_L4) + }; + _adc_gpio_init(cs_params, pinA,pinB,pinC); + if(_adc_init(cs_params, (STM32DriverParams*)driver_params) != 0) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + return cs_params; +} + + +void* _driverSyncLowSide(void* _driver_params, void* _cs_params){ + STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params; + Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params; + + // if compatible timer has not been found + if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + + // stop all the timers for the driver + _stopTimers(driver_params->timers, 6); + + // if timer has repetition counter - it will downsample using it + // and it does not need the software downsample + if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){ + // adjust the initial timer state such that the trigger + // - for DMA transfer aligns with the pwm peaks instead of throughs. + // - for interrupt based ADC transfer + // - only necessary for the timers that have repetition counters + cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR; + cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR; + // remember that this timer has repetition counter - no need to downasmple + needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0; + }else{ + if(!use_adc_interrupt){ + // If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing + use_adc_interrupt = 1; + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used"); + #endif + } + } + + // 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,ADC_SINGLE_ENDED); + + // start the adc + if (use_adc_interrupt){ + if(cs_params->adc_handle->Instance == ADC1) { + // enable interrupt + HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC1_2_IRQn); + } + #ifdef ADC2 + else if (cs_params->adc_handle->Instance == ADC2) { + // enable interrupt + HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC1_2_IRQn); + } + #endif + #ifdef ADC3 + else if (cs_params->adc_handle->Instance == ADC3) { + // enable interrupt + HAL_NVIC_SetPriority(ADC3_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC3_IRQn); + } + #endif + #ifdef ADC4 + else if (cs_params->adc_handle->Instance == ADC4) { + // enable interrupt + HAL_NVIC_SetPriority(ADC4_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC4_IRQn); + } + #endif + #ifdef ADC5 + else if (cs_params->adc_handle->Instance == ADC5) { + // enable interrupt + HAL_NVIC_SetPriority(ADC5_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(ADC5_IRQn); + } + #endif + HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle); + }else{ + HAL_ADCEx_InjectedStart(cs_params->adc_handle); + } + + // restart all the timers of the driver + _startTimers(driver_params->timers, 6); + // return the cs parameters + // successfully initialized + // TODO verify if success in future + return _cs_params; +} + + +// function reading an ADC value and returning the read voltage +float _readADCVoltageLowSide(const int pin, const void* cs_params){ + for(int i=0; i < 3; i++){ + if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer + if (use_adc_interrupt){ + return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + }else{ + // an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3 + uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3; + return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv; + } + } + } + return 0; +} + +extern "C" { + void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){ + // calculate the instance + int adc_index = _adcToIndex(AdcHandle); + + // if the timer han't repetition counter - downsample two times + if( needs_downsample[adc_index] && tim_downsample[adc_index]++ > 0) { + tim_downsample[adc_index] = 0; + return; + } + + adc_val[adc_index][0]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1); + adc_val[adc_index][1]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_2); + adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3); + } +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_utils.cpp b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_utils.cpp new file mode 100644 index 00000000..376d9d68 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_utils.cpp @@ -0,0 +1,221 @@ +#include "stm32l4_utils.h" + +#if defined(STM32L4xx) + +/* Exported Functions */ +/** + * @brief Return ADC HAL channel linked to a PinName + * @param pin: PinName + * @retval Valid HAL channel + */ +uint32_t _getADCChannel(PinName pin) +{ + uint32_t function = pinmap_function(pin, PinMap_ADC); + uint32_t channel = 0; + switch (STM_PIN_CHANNEL(function)) { +#ifdef ADC_CHANNEL_0 + case 0: + channel = ADC_CHANNEL_0; + break; +#endif + case 1: + channel = ADC_CHANNEL_1; + break; + case 2: + channel = ADC_CHANNEL_2; + break; + case 3: + channel = ADC_CHANNEL_3; + break; + case 4: + channel = ADC_CHANNEL_4; + break; + case 5: + channel = ADC_CHANNEL_5; + break; + case 6: + channel = ADC_CHANNEL_6; + break; + case 7: + channel = ADC_CHANNEL_7; + break; + case 8: + channel = ADC_CHANNEL_8; + break; + case 9: + channel = ADC_CHANNEL_9; + break; + case 10: + channel = ADC_CHANNEL_10; + break; + case 11: + channel = ADC_CHANNEL_11; + break; + case 12: + channel = ADC_CHANNEL_12; + break; + case 13: + channel = ADC_CHANNEL_13; + break; + case 14: + channel = ADC_CHANNEL_14; + break; + case 15: + channel = ADC_CHANNEL_15; + break; +#ifdef ADC_CHANNEL_16 + case 16: + channel = ADC_CHANNEL_16; + break; +#endif + case 17: + channel = ADC_CHANNEL_17; + break; +#ifdef ADC_CHANNEL_18 + case 18: + channel = ADC_CHANNEL_18; + break; +#endif +#ifdef ADC_CHANNEL_19 + case 19: + channel = ADC_CHANNEL_19; + break; +#endif +#ifdef ADC_CHANNEL_20 + case 20: + channel = ADC_CHANNEL_20; + break; + case 21: + channel = ADC_CHANNEL_21; + break; + case 22: + channel = ADC_CHANNEL_22; + break; + case 23: + channel = ADC_CHANNEL_23; + break; +#ifdef ADC_CHANNEL_24 + case 24: + channel = ADC_CHANNEL_24; + break; + case 25: + channel = ADC_CHANNEL_25; + break; + case 26: + channel = ADC_CHANNEL_26; + break; +#ifdef ADC_CHANNEL_27 + case 27: + channel = ADC_CHANNEL_27; + break; + case 28: + channel = ADC_CHANNEL_28; + break; + case 29: + channel = ADC_CHANNEL_29; + break; + case 30: + channel = ADC_CHANNEL_30; + break; + case 31: + channel = ADC_CHANNEL_31; + break; +#endif +#endif +#endif + default: + _Error_Handler("ADC: Unknown adc channel", (int)(STM_PIN_CHANNEL(function))); + break; + } + return channel; +} + + +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_adc_ex.h#L210 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM1) + return ADC_EXTERNALTRIGINJEC_T1_TRGO; +#ifdef TIM2 // if defined timer 2 + else if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIGINJEC_T2_TRGO; +#endif +#ifdef TIM3 // if defined timer 3 + else if(timer->getHandle()->Instance == TIM3) + return ADC_EXTERNALTRIGINJEC_T3_TRGO; +#endif +#ifdef TIM4 // if defined timer 4 + else if(timer->getHandle()->Instance == TIM4) + return ADC_EXTERNALTRIGINJEC_T4_TRGO; +#endif +#ifdef TIM6 // if defined timer 6 + else if(timer->getHandle()->Instance == TIM6) + return ADC_EXTERNALTRIGINJEC_T6_TRGO; +#endif +#ifdef TIM8 // if defined timer 8 + else if(timer->getHandle()->Instance == TIM8) + return ADC_EXTERNALTRIGINJEC_T8_TRGO; +#endif +#ifdef TIM15 // if defined timer 15 + else if(timer->getHandle()->Instance == TIM15) + return ADC_EXTERNALTRIGINJEC_T15_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc.h#L519 +uint32_t _timerToRegularTRGO(HardwareTimer* timer){ + if(timer->getHandle()->Instance == TIM1) + return ADC_EXTERNALTRIG_T1_TRGO; +#ifdef TIM2 // if defined timer 2 + else if(timer->getHandle()->Instance == TIM2) + return ADC_EXTERNALTRIG_T2_TRGO; +#endif +#ifdef TIM3 // if defined timer 3 + else if(timer->getHandle()->Instance == TIM3) + return ADC_EXTERNALTRIG_T3_TRGO; +#endif +#ifdef TIM4 // if defined timer 4 + else if(timer->getHandle()->Instance == TIM4) + return ADC_EXTERNALTRIG_T4_TRGO; +#endif +#ifdef TIM6 // if defined timer 6 + else if(timer->getHandle()->Instance == TIM6) + return ADC_EXTERNALTRIG_T6_TRGO; +#endif +#ifdef TIM8 // if defined timer 8 + else if(timer->getHandle()->Instance == TIM8) + return ADC_EXTERNALTRIG_T8_TRGO; +#endif +#ifdef TIM15 // if defined timer 15 + else if(timer->getHandle()->Instance == TIM15) + return ADC_EXTERNALTRIG_T15_TRGO; +#endif + else + return _TRGO_NOT_AVAILABLE; +} + + +int _adcToIndex(ADC_TypeDef *AdcHandle){ + if(AdcHandle == ADC1) return 0; +#ifdef ADC2 // if ADC2 exists + else if(AdcHandle == ADC2) return 1; +#endif +#ifdef ADC3 // if ADC3 exists + else if(AdcHandle == ADC3) return 2; +#endif +#ifdef ADC4 // if ADC4 exists + else if(AdcHandle == ADC4) return 3; +#endif +#ifdef ADC5 // if ADC5 exists + else if(AdcHandle == ADC5) return 4; +#endif + return 0; +} +int _adcToIndex(ADC_HandleTypeDef *AdcHandle){ + return _adcToIndex(AdcHandle->Instance); +} + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_utils.h b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_utils.h new file mode 100644 index 00000000..ceef9be7 --- /dev/null +++ b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_utils.h @@ -0,0 +1,34 @@ + +#ifndef STM32L4_UTILS_HAL +#define STM32L4_UTILS_HAL + +#include "Arduino.h" + +#if defined(STM32L4xx) + +#define _TRGO_NOT_AVAILABLE 12345 + + +/* Exported Functions */ +/** + * @brief Return ADC HAL channel linked to a PinName + * @param pin: PinName + * @retval Valid HAL channel + */ +uint32_t _getADCChannel(PinName pin); + +// timer to injected TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc_ex.h#L217 +uint32_t _timerToInjectedTRGO(HardwareTimer* timer); + +// timer to regular TRGO +// https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc.h#L519 +uint32_t _timerToRegularTRGO(HardwareTimer* timer); + +// function returning index of the ADC instance +int _adcToIndex(ADC_HandleTypeDef *AdcHandle); +int _adcToIndex(ADC_TypeDef *AdcHandle); + +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/teensy/teensy4_mcu.cpp b/src/current_sense/hardware_specific/teensy/teensy4_mcu.cpp new file mode 100644 index 00000000..3a542b53 --- /dev/null +++ b/src/current_sense/hardware_specific/teensy/teensy4_mcu.cpp @@ -0,0 +1,249 @@ +#include "teensy4_mcu.h" +#include "../../../drivers/hardware_specific/teensy/teensy4_mcu.h" +// #include "../../../common/lowpass_filter.h" +#include "../../../common/foc_utils.h" +#include "../../../communication/SimpleFOCDebug.h" + +// if defined +// - Teensy 4.0 +// - Teensy 4.1 +#if defined(__arm__) && defined(CORE_TEENSY) && ( defined(__IMXRT1062__) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY_MICROMOD) ) + +// #define SIMPLEFOC_TEENSY4_ADC_INTERRUPT_DEBUG + + +volatile uint32_t val0, val1, val2; + +// #define _BANDWIDTH_CS 10000.0f // [Hz] bandwidth for the current sense +// LowPassFilter lp1 = LowPassFilter(1.0/_BANDWIDTH_CS); +// LowPassFilter lp2 = LowPassFilter(1.0/_BANDWIDTH_CS); +// LowPassFilter lp3 = LowPassFilter(1.0/_BANDWIDTH_CS); + +void read_currents(uint32_t *a, uint32_t*b, uint32_t *c=nullptr){ + *a = val0; + *b = val1; + *c = val2; +} + +// interrupt service routine for the ADC_ETC0 +// reading the ADC values and clearing the interrupt +void adcetc0_isr() { +#ifdef SIMPLEFOC_TEENSY4_ADC_INTERRUPT_DEBUG + digitalWrite(30,HIGH); +#endif + // page 3509 , section 66.5.1.3.3 + ADC_ETC_DONE0_1_IRQ |= 1; // clear Done0 for trg0 at 1st bit + // val0 = lp1(ADC_ETC_TRIG0_RESULT_1_0 & 4095); + val0 = (ADC_ETC_TRIG0_RESULT_1_0 & 4095); + // val1 = lp2((ADC_ETC_TRIG0_RESULT_1_0 >> 16) & 4095); + val1 = (ADC_ETC_TRIG0_RESULT_1_0 >> 16) & 4095; +#ifdef SIMPLEFOC_TEENSY4_ADC_INTERRUPT_DEBUG + digitalWrite(30,LOW); +#endif +} + + +void adcetc1_isr() { +#ifdef SIMPLEFOC_TEENSY4_ADC_INTERRUPT_DEBUG + digitalWrite(30,HIGH); +#endif + // page 3509 , section 66.5.1.3.3 + ADC_ETC_DONE0_1_IRQ |= 1 << 16; // clear Done1 for trg0 at 16th bit + val2 = ADC_ETC_TRIG0_RESULT_3_2 & 4095; +// val2 = lp3( ADC_ETC_TRIG0_RESULT_3_2 & 4095); +#ifdef SIMPLEFOC_TEENSY4_ADC_INTERRUPT_DEBUG + digitalWrite(30,LOW); +#endif +} + +// function initializing the ADC2 +// and the ADC_ETC trigger for the low side current sensing +void adc1_init(int pin1, int pin2, int pin3=NOT_SET) { + //Tried many configurations, but this seems to be best: + ADC1_CFG = ADC_CFG_OVWREN //Allow overwriting of the next converted Data onto the existing + | ADC_CFG_ADICLK(0) // input clock select - IPG clock + | ADC_CFG_MODE(2) // 12-bit conversion 0 8-bit conversion 1 10-bit conversion 2 12-bit conversion + | ADC_CFG_ADIV(2) // Input clock / 2 (0 for /1, 1 for /2 and 2 for / 4) (1 is faster and maybe with some filtering could provide better results but 2 for now) + | ADC_CFG_ADSTS(0) // Sample period (ADC clocks) = 3 if ADLSMP=0b + | ADC_CFG_ADHSC // High speed operation + | ADC_CFG_ADTRG; // Hardware trigger selected + + + //Calibration of ADC1 + ADC1_GC |= ADC_GC_CAL; // begin cal ADC1 + while (ADC1_GC & ADC_GC_CAL) ; + + ADC1_HC0 = 16; // ADC_ETC channel + // use the second interrupt if necessary (for more than 2 channels) + if(_isset(pin3)) { + ADC1_HC1 = 16; + } +} + +// function initializing the ADC2 +// and the ADC_ETC trigger for the low side current sensing +void adc2_init(){ + + // configuring ADC2 + //Tried many configurations, but this seems to be best: + ADC1_CFG = ADC_CFG_OVWREN //Allow overwriting of the next converted Data onto the existing + | ADC_CFG_ADICLK(0) // input clock select - IPG clock + | ADC_CFG_MODE(2) // 12-bit conversion 0 8-bit conversion 1 10-bit conversion 2 12-bit conversion + | ADC_CFG_ADIV(2) // Input clock / 2 (0 for /1, 1 for /2 and 2 for / 4) + | ADC_CFG_ADSTS(0) // Sample period (ADC clocks) = 3 if ADLSMP=0b + | ADC_CFG_ADHSC // High speed operation + | ADC_CFG_ADTRG; // Hardware trigger selected + + //Calibration of ADC2 + ADC2_GC |= ADC_GC_CAL; // begin cal ADC2 + while (ADC2_GC & ADC_GC_CAL) ; + + ADC2_HC0 = 16; // ADC_ETC channel + // use the second interrupt if necessary (for more than 2 channels) + // ADC2_HC1 = 16; +} + +// function initializing the ADC_ETC trigger for the low side current sensing +// it uses only the ADC1 +// if the pin3 is not set it uses only 2 channels +void adc_etc_init(int pin1, int pin2, int pin3=NOT_SET) { + ADC_ETC_CTRL &= ~(1 << 31); // SOFTRST + ADC_ETC_CTRL = 0x40000001; // start with trigger 0 + ADC_ETC_TRIG0_CTRL = ADC_ETC_TRIG_CTRL_TRIG_CHAIN( _isset(pin3) ? 2 : 1) ; // 2 if 3 channels, 1 if 2 channels + + // ADC1 7 8, chain channel, HWTS, IE, B2B + // pg 3516, section 66.5.1.8 + ADC_ETC_TRIG0_CHAIN_1_0 = + ADC_ETC_TRIG_CHAIN_IE1(0) | // no interrupt on first or set 2 if interrupt when Done1 + ADC_ETC_TRIG_CHAIN_B2B1 | // Enable B2B, back to back ADC trigger + ADC_ETC_TRIG_CHAIN_HWTS1(1) | + ADC_ETC_TRIG_CHAIN_CSEL1(pin_to_channel[pin1]) | // ADC channel 8 + ADC_ETC_TRIG_CHAIN_IE0(1) | // interrupt when Done0 + ADC_ETC_TRIG_CHAIN_B2B1 | // Enable B2B, back to back ADC trigger + ADC_ETC_TRIG_CHAIN_HWTS0(1) | + ADC_ETC_TRIG_CHAIN_CSEL0(pin_to_channel[pin2]); // ADC channel 7 + + attachInterruptVector(IRQ_ADC_ETC0, adcetc0_isr); + NVIC_ENABLE_IRQ(IRQ_ADC_ETC0); + // use the second interrupt if necessary (for more than 2 channels) + if(_isset(pin3)) { + ADC_ETC_TRIG0_CHAIN_3_2 = + ADC_ETC_TRIG_CHAIN_IE0(2) | // interrupt when Done1 + ADC_ETC_TRIG_CHAIN_B2B0 | // Enable B2B, back to back ADC trigger + ADC_ETC_TRIG_CHAIN_HWTS0(1) | + ADC_ETC_TRIG_CHAIN_CSEL0(pin_to_channel[pin3]); + + attachInterruptVector(IRQ_ADC_ETC1, adcetc1_isr); + NVIC_ENABLE_IRQ(IRQ_ADC_ETC1); + } +} + + + +// function reading an ADC value and returning the read voltage +float _readADCVoltageLowSide(const int pinA, const void* cs_params){ + + if(!_isset(pinA)) return 0.0; // if the pin is not set return 0 + GenericCurrentSenseParams* params = (GenericCurrentSenseParams*) cs_params; + float adc_voltage_conv = params->adc_voltage_conv; + if (pinA == params->pins[0]) { + return val0 * adc_voltage_conv; + } else if (pinA == params->pins[1]) { + return val1 * adc_voltage_conv; + }else if (pinA == params->pins[2]) { + return val2 * adc_voltage_conv; + } + return 0.0; +} + +// Configure low side for generic mcu +// cannot do much but +void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){ + Teensy4DriverParams* par = (Teensy4DriverParams*) ((TeensyDriverParams*)driver_params)->additional_params; + if(par == nullptr){ + SIMPLEFOC_DEBUG("TEENSY-CS: Low side current sense failed, driver not supported!"); + return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; + } + + SIMPLEFOC_DEBUG("TEENSY-CS: Configuring low side current sense!"); + +#ifdef SIMPLEFOC_TEENSY4_ADC_INTERRUPT_DEBUG + pinMode(30,OUTPUT); +#endif + + if( _isset(pinA) ) pinMode(pinA, INPUT); + if( _isset(pinB) ) pinMode(pinB, INPUT); + if( _isset(pinC) ) pinMode(pinC, INPUT); + + // check if either of the pins are not set + // and dont use it if it isn't + int pin_count = 0; + int pins[3] = {NOT_SET, NOT_SET, NOT_SET}; + if(_isset(pinA)) pins[pin_count++] = pinA; + if(_isset(pinB)) pins[pin_count++] = pinB; + if(_isset(pinC)) pins[pin_count++] = pinC; + + + adc1_init(pins[0], pins[1], pins[2]); + adc_etc_init(pins[0], pins[1], pins[2]); + + xbar_init(); + + GenericCurrentSenseParams* params = new GenericCurrentSenseParams { + .pins = {pins[0], pins[1], pins[2] }, + .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION) + }; + return params; +} + +// sync driver and the adc +void* _driverSyncLowSide(void* driver_params, void* cs_params){ + Teensy4DriverParams* par = (Teensy4DriverParams*) ((TeensyDriverParams*)driver_params)->additional_params; + IMXRT_FLEXPWM_t* flexpwm = par->flextimers[0]; + int submodule = par->submodules[0]; + + SIMPLEFOC_DEBUG("TEENSY-CS: Syncing low side current sense!"); + char buff[50]; + sprintf(buff, "TEENSY-CS: Syncing to FlexPWM: %d, Submodule: %d", flexpwm_to_index(flexpwm), submodule); + SIMPLEFOC_DEBUG(buff); + + // find the xbar trigger for the flexpwm + int xbar_trig_pwm = flexpwm_submodule_to_trig(flexpwm, submodule); + if(xbar_trig_pwm<0) return; + + // allow theFlexPWM to trigger the ADC_ETC + xbar_connect((uint32_t)xbar_trig_pwm, XBARA1_OUT_ADC_ETC_TRIG00); //FlexPWM to adc_etc + + // setup the ADC_ETC trigger to be triggered by the FlexPWM channel 1 (val1) + //This val1 interrupt on match is in the center of the PWM + flexpwm->SM[submodule].TCTRL = FLEXPWM_SMTCTRL_OUT_TRIG_EN(1<<1); + + + // if needed the interrupt can be moved to some other point in the PWM cycle by using an addional val register example: VAL4 + // setup the ADC_ETC trigger to be triggered by the FlexPWM channel 4 (val4) + // flexpwm->SM[submodule].TCTRL = FLEXPWM_SMTCTRL_OUT_TRIG_EN(1<<4); + // setup this val4 for interrupt on match for ADC sync + // this code assumes that the val4 is not used for anything else! + // reading two ADC takes about 2.5us. So put the interrupt 2.5us befor the center + // flexpwm->SM[submodule].VAL4 = int(flexpwm->SM[submodule].VAL1*(1.0f - 2.5e-6*par->pwm_frequency)) ; // 2.5us before center + + +#ifdef SIMPLEFOC_TEENSY4_ADC_INTERRUPT_DEBUG + // pin 4 observes out trigger line for 'scope + xbar_connect (xbar_trig_pwm, XBARA1_OUT_IOMUX_XBAR_INOUT08) ; + IOMUXC_GPR_GPR6 |= IOMUXC_GPR_GPR6_IOMUXC_XBAR_DIR_SEL_8 ; // select output mode for INOUT8 + // Select alt 3 for EMC_06 (XBAR), rather than original 5 (GPIO) + CORE_PIN4_CONFIG = 3 ; // shorthand for IOMUXC_SW_MUX_CTL_PAD_GPIO_EMC_06 = 3 ; + // turn up drive & speed as very short pulse + IOMUXC_SW_PAD_CTL_PAD_GPIO_EMC_06 = IOMUXC_PAD_DSE(7) | IOMUXC_PAD_SPEED(3) | IOMUXC_PAD_SRE ; +#endif + + + // return the cs parameters + // successfully initialized + // TODO verify if success in future + return cs_params; +} + + +#endif diff --git a/src/current_sense/hardware_specific/teensy/teensy4_mcu.h b/src/current_sense/hardware_specific/teensy/teensy4_mcu.h new file mode 100644 index 00000000..2cf77dfb --- /dev/null +++ b/src/current_sense/hardware_specific/teensy/teensy4_mcu.h @@ -0,0 +1,77 @@ + +#ifndef TEENSY4_CURRENTSENSE_MCU_DEF +#define TEENSY4_CURRENTSENSE_MCU_DEF + +#include "../../hardware_api.h" +#include "../../../common/foc_utils.h" + +// if defined +// - Teensy 4.0 +// - Teensy 4.1 +#if defined(__arm__) && defined(CORE_TEENSY) && ( defined(__IMXRT1062__) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY_MICROMOD) ) + +#define _ADC_VOLTAGE 3.3f +#define _ADC_RESOLUTION 4026.0f + +// generic implementation of the hardware specific structure +// containing all the necessary current sense parameters +// will be returned as a void pointer from the _configureADCx functions +// will be provided to the _readADCVoltageX() as a void pointer +typedef struct Teensy4CurrentSenseParams { + int pins[3] = {(int)NOT_SET}; + float adc_voltage_conv; +} Teensy4CurrentSenseParams; + + + +const uint8_t pin_to_channel[] = { // pg 482 + 7, // 0/A0 AD_B1_02 + 8, // 1/A1 AD_B1_03 + 12, // 2/A2 AD_B1_07 + 11, // 3/A3 AD_B1_06 + 6, // 4/A4 AD_B1_01 + 5, // 5/A5 AD_B1_00 + 15, // 6/A6 AD_B1_10 + 0, // 7/A7 AD_B1_11 + 13, // 8/A8 AD_B1_08 + 14, // 9/A9 AD_B1_09 + 1, // 24/A10 AD_B0_12 + 2, // 25/A11 AD_B0_13 + 128+3, // 26/A12 AD_B1_14 - only on ADC2, 3 + 128+4, // 27/A13 AD_B1_15 - only on ADC2, 4 + 7, // 14/A0 AD_B1_02 + 8, // 15/A1 AD_B1_03 + 12, // 16/A2 AD_B1_07 + 11, // 17/A3 AD_B1_06 + 6, // 18/A4 AD_B1_01 + 5, // 19/A5 AD_B1_00 + 15, // 20/A6 AD_B1_10 + 0, // 21/A7 AD_B1_11 + 13, // 22/A8 AD_B1_08 + 14, // 23/A9 AD_B1_09 + 1, // 24/A10 AD_B0_12 + 2, // 25/A11 AD_B0_13 + 128+3, // 26/A12 AD_B1_14 - only on ADC2, 3 + 128+4, // 27/A13 AD_B1_15 - only on ADC2, 4 +#ifdef ARDUINO_TEENSY41 + 255, // 28 + 255, // 29 + 255, // 30 + 255, // 31 + 255, // 32 + 255, // 33 + 255, // 34 + 255, // 35 + 255, // 36 + 255, // 37 + 128+1, // 38/A14 AD_B1_12 - only on ADC2, 1 + 128+2, // 39/A15 AD_B1_13 - only on ADC2, 2 + 9, // 40/A16 AD_B1_04 + 10, // 41/A17 AD_B1_05 +#endif +}; + + +#endif + +#endif \ No newline at end of file diff --git a/src/current_sense/hardware_specific/teensy/teensy_mcu.cpp b/src/current_sense/hardware_specific/teensy/teensy_mcu.cpp new file mode 100644 index 00000000..7669edc8 --- /dev/null +++ b/src/current_sense/hardware_specific/teensy/teensy_mcu.cpp @@ -0,0 +1,24 @@ +#include "../../hardware_api.h" + +#if defined(__arm__) && defined(CORE_TEENSY) + +#define _ADC_VOLTAGE 3.3f +#define _ADC_RESOLUTION 1024.0f + +// function reading an ADC value and returning the read voltage +void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){ + _UNUSED(driver_params); + + if( _isset(pinA) ) pinMode(pinA, INPUT); + if( _isset(pinB) ) pinMode(pinB, INPUT); + if( _isset(pinC) ) pinMode(pinC, INPUT); + + GenericCurrentSenseParams* params = new GenericCurrentSenseParams { + .pins = { pinA, pinB, pinC }, + .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION) + }; + + return params; +} + +#endif \ No newline at end of file diff --git a/src/drivers/BLDCDriver3PWM.cpp b/src/drivers/BLDCDriver3PWM.cpp new file mode 100644 index 00000000..637c8db5 --- /dev/null +++ b/src/drivers/BLDCDriver3PWM.cpp @@ -0,0 +1,92 @@ +#include "BLDCDriver3PWM.h" + +BLDCDriver3PWM::BLDCDriver3PWM(int phA, int phB, int phC, int en1, int en2, int en3){ + // Pin initialization + pwmA = phA; + pwmB = phB; + pwmC = phC; + + // enable_pin pin + enableA_pin = en1; + enableB_pin = en2; + enableC_pin = en3; + + // default power-supply value + voltage_power_supply = DEF_POWER_SUPPLY; + voltage_limit = NOT_SET; + pwm_frequency = NOT_SET; + +} + +// enable motor driver +void BLDCDriver3PWM::enable(){ + // enable_pin the driver - if enable_pin pin available + if ( _isset(enableA_pin) ) digitalWrite(enableA_pin, enable_active_high); + if ( _isset(enableB_pin) ) digitalWrite(enableB_pin, enable_active_high); + if ( _isset(enableC_pin) ) digitalWrite(enableC_pin, enable_active_high); + // set zero to PWM + setPwm(0,0,0); +} + +// disable motor driver +void BLDCDriver3PWM::disable() +{ + // set zero to PWM + setPwm(0, 0, 0); + // disable the driver - if enable_pin pin available + if ( _isset(enableA_pin) ) digitalWrite(enableA_pin, !enable_active_high); + if ( _isset(enableB_pin) ) digitalWrite(enableB_pin, !enable_active_high); + if ( _isset(enableC_pin) ) digitalWrite(enableC_pin, !enable_active_high); + +} + +// init hardware pins +int BLDCDriver3PWM::init() { + // PWM pins + pinMode(pwmA, OUTPUT); + pinMode(pwmB, OUTPUT); + pinMode(pwmC, OUTPUT); + if( _isset(enableA_pin)) pinMode(enableA_pin, OUTPUT); + if( _isset(enableB_pin)) pinMode(enableB_pin, OUTPUT); + if( _isset(enableC_pin)) pinMode(enableC_pin, OUTPUT); + + + // sanity check for the voltage limit configuration + if(!_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply; + + // Set the pwm frequency to the pins + // hardware specific function - depending on driver and mcu + params = _configure3PWM(pwm_frequency, pwmA, pwmB, pwmC); + initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED); + return params!=SIMPLEFOC_DRIVER_INIT_FAILED; +} + + + +// Set voltage to the pwm pin +void BLDCDriver3PWM::setPhaseState(PhaseState sa, PhaseState sb, PhaseState sc) { + // disable if needed + if( _isset(enableA_pin) && _isset(enableB_pin) && _isset(enableC_pin) ){ + digitalWrite(enableA_pin, sa == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high); + digitalWrite(enableB_pin, sb == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high); + digitalWrite(enableC_pin, sc == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high); + } +} + +// Set voltage to the pwm pin +void BLDCDriver3PWM::setPwm(float Ua, float Ub, float Uc) { + + // limit the voltage in driver + Ua = _constrain(Ua, 0.0f, voltage_limit); + Ub = _constrain(Ub, 0.0f, voltage_limit); + Uc = _constrain(Uc, 0.0f, voltage_limit); + // calculate duty cycle + // limited in [0,1] + dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); + dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); + dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); + + // hardware specific writing + // hardware specific function - depending on driver and mcu + _writeDutyCycle3PWM(dc_a, dc_b, dc_c, params); +} diff --git a/src/drivers/BLDCDriver3PWM.h b/src/drivers/BLDCDriver3PWM.h new file mode 100644 index 00000000..75ee478c --- /dev/null +++ b/src/drivers/BLDCDriver3PWM.h @@ -0,0 +1,64 @@ +#ifndef BLDCDriver3PWM_h +#define BLDCDriver3PWM_h + +#include "../common/base_classes/BLDCDriver.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/defaults.h" +#include "hardware_api.h" + +/** + 3 pwm bldc driver class +*/ +class BLDCDriver3PWM: public BLDCDriver +{ + public: + /** + BLDCDriver class constructor + @param phA A phase pwm pin + @param phB B phase pwm pin + @param phC C phase pwm pin + @param en1 enable pin (optional input) + @param en2 enable pin (optional input) + @param en3 enable pin (optional input) + */ + BLDCDriver3PWM(int phA,int phB,int phC, int en1 = NOT_SET, int en2 = NOT_SET, int en3 = NOT_SET); + + /** Motor hardware init function */ + int init() override; + /** Motor disable function */ + void disable() override; + /** Motor enable function */ + void enable() override; + + // hardware variables + int pwmA; //!< phase A pwm pin number + int pwmB; //!< phase B pwm pin number + int pwmC; //!< phase C pwm pin number + int enableA_pin; //!< enable pin number + int enableB_pin; //!< enable pin number + int enableC_pin; //!< enable pin number + + /** + * Set phase voltages to the hardware + * + * @param Ua - phase A voltage + * @param Ub - phase B voltage + * @param Uc - phase C voltage + */ + void setPwm(float Ua, float Ub, float Uc) override; + + /** + * Set phase voltages to the hardware + * > Only possible is the driver has separate enable pins for all phases! + * + * @param sc - phase A state : active / disabled ( high impedance ) + * @param sb - phase B state : active / disabled ( high impedance ) + * @param sa - phase C state : active / disabled ( high impedance ) + */ + virtual void setPhaseState(PhaseState sa, PhaseState sb, PhaseState sc) override; + private: +}; + + +#endif diff --git a/src/drivers/BLDCDriver6PWM.cpp b/src/drivers/BLDCDriver6PWM.cpp new file mode 100644 index 00000000..4981858f --- /dev/null +++ b/src/drivers/BLDCDriver6PWM.cpp @@ -0,0 +1,103 @@ +#include "BLDCDriver6PWM.h" + +BLDCDriver6PWM::BLDCDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int en){ + // Pin initialization + pwmA_h = phA_h; + pwmB_h = phB_h; + pwmC_h = phC_h; + pwmA_l = phA_l; + pwmB_l = phB_l; + pwmC_l = phC_l; + + // enable_pin pin + enable_pin = en; + + // default power-supply value + voltage_power_supply = DEF_POWER_SUPPLY; + voltage_limit = NOT_SET; + pwm_frequency = NOT_SET; + + // dead zone initial - 2% + dead_zone = 0.02f; + +} + +// enable motor driver +void BLDCDriver6PWM::enable(){ + // enable_pin the driver - if enable_pin pin available + if ( _isset(enable_pin) ) digitalWrite(enable_pin, enable_active_high); + // set phase state enabled + setPhaseState(PhaseState::PHASE_ON, PhaseState::PHASE_ON, PhaseState::PHASE_ON); + // set zero to PWM + setPwm(0, 0, 0); +} + +// disable motor driver +void BLDCDriver6PWM::disable() +{ + // set phase state to disabled + setPhaseState(PhaseState::PHASE_OFF, PhaseState::PHASE_OFF, PhaseState::PHASE_OFF); + // set zero to PWM + setPwm(0, 0, 0); + // disable the driver - if enable_pin pin available + if ( _isset(enable_pin) ) digitalWrite(enable_pin, !enable_active_high); + +} + +// init hardware pins +int BLDCDriver6PWM::init() { + + // PWM pins + pinMode(pwmA_h, OUTPUT); + pinMode(pwmB_h, OUTPUT); + pinMode(pwmC_h, OUTPUT); + pinMode(pwmA_l, OUTPUT); + pinMode(pwmB_l, OUTPUT); + pinMode(pwmC_l, OUTPUT); + if(_isset(enable_pin)) pinMode(enable_pin, OUTPUT); + + + // sanity check for the voltage limit configuration + if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply; + + // set phase state to disabled + phase_state[0] = PhaseState::PHASE_OFF; + phase_state[1] = PhaseState::PHASE_OFF; + phase_state[2] = PhaseState::PHASE_OFF; + + // set zero to PWM + dc_a = dc_b = dc_c = 0; + + // configure 6pwm + // hardware specific function - depending on driver and mcu + params = _configure6PWM(pwm_frequency, dead_zone, pwmA_h,pwmA_l, pwmB_h,pwmB_l, pwmC_h,pwmC_l); + initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED); + return params!=SIMPLEFOC_DRIVER_INIT_FAILED; +} + + +// Set voltage to the pwm pin +void BLDCDriver6PWM::setPwm(float Ua, float Ub, float Uc) { + // limit the voltage in driver + Ua = _constrain(Ua, 0, voltage_limit); + Ub = _constrain(Ub, 0, voltage_limit); + Uc = _constrain(Uc, 0, voltage_limit); + // calculate duty cycle + // limited in [0,1] + dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); + dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); + dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); + // hardware specific writing + // hardware specific function - depending on driver and mcu + _writeDutyCycle6PWM(dc_a, dc_b, dc_c, phase_state, params); +} + + +// Set the phase state +// actually changing the state is only done on the next call to setPwm, and depends +// on the hardware capabilities of the driver and MCU. +void BLDCDriver6PWM::setPhaseState(PhaseState sa, PhaseState sb, PhaseState sc) { + phase_state[0] = sa; + phase_state[1] = sb; + phase_state[2] = sc; +} diff --git a/src/drivers/BLDCDriver6PWM.h b/src/drivers/BLDCDriver6PWM.h new file mode 100644 index 00000000..7ba7631c --- /dev/null +++ b/src/drivers/BLDCDriver6PWM.h @@ -0,0 +1,69 @@ +#ifndef BLDCDriver6PWM_h +#define BLDCDriver6PWM_h + +#include "../common/base_classes/BLDCDriver.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/defaults.h" +#include "hardware_api.h" + +/** + 6 pwm bldc driver class +*/ +class BLDCDriver6PWM: public BLDCDriver +{ + public: + /** + BLDCDriver class constructor + @param phA_h A phase pwm pin + @param phA_l A phase pwm pin + @param phB_h B phase pwm pin + @param phB_l A phase pwm pin + @param phC_h C phase pwm pin + @param phC_l A phase pwm pin + @param en enable pin (optional input) + */ + BLDCDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int en = NOT_SET); + + /** Motor hardware init function */ + int init() override; + /** Motor disable function */ + void disable() override; + /** Motor enable function */ + void enable() override; + + // hardware variables + int pwmA_h,pwmA_l; //!< phase A pwm pin number + int pwmB_h,pwmB_l; //!< phase B pwm pin number + int pwmC_h,pwmC_l; //!< phase C pwm pin number + int enable_pin; //!< enable pin number + + float dead_zone; //!< a percentage of dead-time(zone) (both high and low side in low) for each pwm cycle [0,1] + + PhaseState phase_state[3]; //!< phase state (active / disabled) + + + /** + * 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) override; + + /** + * Set phase voltages to the harware + * + * @param sc - phase A state : active / disabled ( high impedance ) + * @param sb - phase B state : active / disabled ( high impedance ) + * @param sa - phase C state : active / disabled ( high impedance ) + */ + virtual void setPhaseState(PhaseState sa, PhaseState sb, PhaseState sc) override; + + private: + +}; + + +#endif diff --git a/src/drivers/StepperDriver2PWM.cpp b/src/drivers/StepperDriver2PWM.cpp new file mode 100644 index 00000000..e8ccc6c6 --- /dev/null +++ b/src/drivers/StepperDriver2PWM.cpp @@ -0,0 +1,115 @@ +#include "StepperDriver2PWM.h" + +StepperDriver2PWM::StepperDriver2PWM(int _pwm1, int* _in1, int _pwm2, int* _in2, int en1, int en2){ + // Pin initialization + pwm1 = _pwm1; // phase 1 pwm pin number + dir1a = _in1[0]; // phase 1 INA pin number + dir1b = _in1[1]; // phase 1 INB pin number + pwm2 = _pwm2; // phase 2 pwm pin number + dir2a = _in2[0]; // phase 2 INA pin number + dir2b = _in2[1]; // phase 2 INB pin number + + // enable_pin pin + enable_pin1 = en1; + enable_pin2 = en2; + + // default power-supply value + voltage_power_supply = DEF_POWER_SUPPLY; + voltage_limit = NOT_SET; + pwm_frequency = NOT_SET; + +} + +StepperDriver2PWM::StepperDriver2PWM(int _pwm1, int _dir1, int _pwm2, int _dir2, int en1, int en2){ + // Pin initialization + pwm1 = _pwm1; // phase 1 pwm pin number + dir1a = _dir1; // phase 1 direction pin + pwm2 = _pwm2; // phase 2 pwm pin number + dir2a = _dir2; // phase 2 direction pin + // these pins are not used + dir1b = NOT_SET; + dir2b = NOT_SET; + + // enable_pin pin + enable_pin1 = en1; + enable_pin2 = en2; + + // default power-supply value + voltage_power_supply = DEF_POWER_SUPPLY; + voltage_limit = NOT_SET; + pwm_frequency = NOT_SET; + +} + +// enable motor driver +void StepperDriver2PWM::enable(){ + // enable_pin the driver - if enable_pin pin available + if ( _isset(enable_pin1) ) digitalWrite(enable_pin1, enable_active_high); + if ( _isset(enable_pin2) ) digitalWrite(enable_pin2, enable_active_high); + // set zero to PWM + setPwm(0,0); +} + +// disable motor driver +void StepperDriver2PWM::disable() +{ + // set zero to PWM + setPwm(0, 0); + // disable the driver - if enable_pin pin available + if ( _isset(enable_pin1) ) digitalWrite(enable_pin1, !enable_active_high); + if ( _isset(enable_pin2) ) digitalWrite(enable_pin2, !enable_active_high); + +} + +// init hardware pins +int StepperDriver2PWM::init() { + // PWM pins + pinMode(pwm1, OUTPUT); + pinMode(pwm2, OUTPUT); + pinMode(dir1a, OUTPUT); + pinMode(dir2a, OUTPUT); + if( _isset(dir1b) ) pinMode(dir1b, OUTPUT); + if( _isset(dir2b) ) pinMode(dir2b, OUTPUT); + + if( _isset(enable_pin1) ) pinMode(enable_pin1, OUTPUT); + if( _isset(enable_pin2) ) pinMode(enable_pin2, OUTPUT); + + // sanity check for the voltage limit configuration + if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply; + + // Set the pwm frequency to the pins + // hardware specific function - depending on driver and mcu + params = _configure2PWM(pwm_frequency, pwm1, pwm2); + initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED); + return params!=SIMPLEFOC_DRIVER_INIT_FAILED; +} + +// Set voltage to the pwm pin +void StepperDriver2PWM::setPhaseState(PhaseState sa, PhaseState sb) { + // disable if needed + if( _isset(enable_pin1) && _isset(enable_pin2)){ + digitalWrite(enable_pin1, sa == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high); + digitalWrite(enable_pin2, sb == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high); + } +} + +// Set voltage to the pwm pin +void StepperDriver2PWM::setPwm(float Ua, float Ub) { + float duty_cycle1(0.0f),duty_cycle2(0.0f); + // limit the voltage in driver + Ua = _constrain(Ua, -voltage_limit, voltage_limit); + Ub = _constrain(Ub, -voltage_limit, voltage_limit); + // hardware specific writing + duty_cycle1 = _constrain(abs(Ua)/voltage_power_supply,0.0f,1.0f); + duty_cycle2 = _constrain(abs(Ub)/voltage_power_supply,0.0f,1.0f); + + // phase 1 direction + digitalWrite(dir1a, Ua >= 0 ? LOW : HIGH); + if( _isset(dir1b) ) digitalWrite(dir1b, Ua >= 0 ? HIGH : LOW ); + // phase 2 direction + digitalWrite(dir2a, Ub >= 0 ? LOW : HIGH); + if( _isset(dir2b) ) digitalWrite(dir2b, Ub >= 0 ? HIGH : LOW ); + + // write to hardware + _writeDutyCycle2PWM(duty_cycle1, duty_cycle2, params); +} \ No newline at end of file diff --git a/src/drivers/StepperDriver2PWM.h b/src/drivers/StepperDriver2PWM.h new file mode 100644 index 00000000..1bd00db9 --- /dev/null +++ b/src/drivers/StepperDriver2PWM.h @@ -0,0 +1,77 @@ +#ifndef STEPPER_DRIVER_2PWM_h +#define STEPPER_DRIVER_2PWM_h + +#include "../common/base_classes/StepperDriver.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/defaults.h" +#include "hardware_api.h" + +/** + 2 pwm stepper driver class +*/ +class StepperDriver2PWM: public StepperDriver +{ + public: + /** + StepperMotor class constructor + @param pwm1 PWM1 phase pwm pin + @param in1 IN1A phase dir pin + @param pwm2 PWM2 phase pwm pin + @param in2 IN2A phase dir + @param en1 enable pin phase 1 (optional input) + @param en2 enable pin phase 2 (optional input) + */ + StepperDriver2PWM(int pwm1, int* in1, int pwm2, int* in2, int en1 = NOT_SET, int en2 = NOT_SET); + + /** + StepperMotor class constructor + @param pwm1 PWM1 phase pwm pin + @param dir1 DIR1 phase dir pin + @param pwm2 PWM2 phase pwm pin + @param dir2 DIR2 phase dir pin + @param en1 enable pin phase 1 (optional input) + @param en2 enable pin phase 2 (optional input) + */ + StepperDriver2PWM(int pwm1, int dir1, int pwm2, int dir2, int en1 = NOT_SET, int en2 = NOT_SET); + + /** Motor hardware init function */ + int init() override; + /** Motor disable function */ + void disable() override; + /** Motor enable function */ + void enable() override; + + // hardware variables + int pwm1; //!< phase 1 pwm pin number + int dir1a; //!< phase 1 INA pin number + int dir1b; //!< phase 1 INB pin number + int pwm2; //!< phase 2 pwm pin number + int dir2a; //!< phase 2 INA pin number + int dir2b; //!< phase 2 INB pin number + int enable_pin1; //!< enable pin number phase 1 + int enable_pin2; //!< enable pin number phase 2 + + /** + * Set phase voltages to the harware + * + * @param Ua phase A voltage + * @param Ub phase B voltage + */ + void setPwm(float Ua, float Ub) override; + + /** + * Set phase voltages to the hardware + * > Only possible is the driver has separate enable pins for both phases! + * + * @param sa phase A state : active / disabled ( high impedance ) + * @param sb phase B state : active / disabled ( high impedance ) + */ + virtual void setPhaseState(PhaseState sa, PhaseState sb) override; + + private: + +}; + + +#endif diff --git a/src/drivers/StepperDriver4PWM.cpp b/src/drivers/StepperDriver4PWM.cpp new file mode 100644 index 00000000..52f1c1d1 --- /dev/null +++ b/src/drivers/StepperDriver4PWM.cpp @@ -0,0 +1,90 @@ +#include "StepperDriver4PWM.h" + +StepperDriver4PWM::StepperDriver4PWM(int ph1A,int ph1B,int ph2A,int ph2B,int en1, int en2){ + // Pin initialization + pwm1A = ph1A; + pwm1B = ph1B; + pwm2A = ph2A; + pwm2B = ph2B; + + // enable_pin pin + enable_pin1 = en1; + enable_pin2 = en2; + + // default power-supply value + voltage_power_supply = DEF_POWER_SUPPLY; + voltage_limit = NOT_SET; + pwm_frequency = NOT_SET; + +} + +// enable motor driver +void StepperDriver4PWM::enable(){ + // enable_pin the driver - if enable_pin pin available + if ( _isset(enable_pin1) ) digitalWrite(enable_pin1, enable_active_high); + if ( _isset(enable_pin2) ) digitalWrite(enable_pin2, enable_active_high); + // set zero to PWM + setPwm(0,0); +} + +// disable motor driver +void StepperDriver4PWM::disable() +{ + // set zero to PWM + setPwm(0, 0); + // disable the driver - if enable_pin pin available + if ( _isset(enable_pin1) ) digitalWrite(enable_pin1, !enable_active_high); + if ( _isset(enable_pin2) ) digitalWrite(enable_pin2, !enable_active_high); + +} + +// init hardware pins +int StepperDriver4PWM::init() { + + // PWM pins + pinMode(pwm1A, OUTPUT); + pinMode(pwm1B, OUTPUT); + pinMode(pwm2A, OUTPUT); + pinMode(pwm2B, OUTPUT); + if( _isset(enable_pin1) ) pinMode(enable_pin1, OUTPUT); + if( _isset(enable_pin2) ) pinMode(enable_pin2, OUTPUT); + + // sanity check for the voltage limit configuration + if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply; + + // Set the pwm frequency to the pins + // hardware specific function - depending on driver and mcu + params = _configure4PWM(pwm_frequency, pwm1A, pwm1B, pwm2A, pwm2B); + initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED); + return params!=SIMPLEFOC_DRIVER_INIT_FAILED; +} + +// Set voltage to the pwm pin +void StepperDriver4PWM::setPhaseState(PhaseState sa, PhaseState sb) { + // disable if needed + if( _isset(enable_pin1) && _isset(enable_pin2)){ + digitalWrite(enable_pin1, sa == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high); + digitalWrite(enable_pin2, sb == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high); + } +} + + +// Set voltage to the pwm pin +void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) { + float duty_cycle1A(0.0f),duty_cycle1B(0.0f),duty_cycle2A(0.0f),duty_cycle2B(0.0f); + // limit the voltage in driver + Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit); + Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit); + // hardware specific writing + if( Ualpha > 0 ) + duty_cycle1B = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f); + else + duty_cycle1A = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f); + + if( Ubeta > 0 ) + duty_cycle2B = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f); + else + duty_cycle2A = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f); + // write to hardware + _writeDutyCycle4PWM(duty_cycle1A, duty_cycle1B, duty_cycle2A, duty_cycle2B, params); +} \ No newline at end of file diff --git a/src/drivers/StepperDriver4PWM.h b/src/drivers/StepperDriver4PWM.h new file mode 100644 index 00000000..33e7d0cf --- /dev/null +++ b/src/drivers/StepperDriver4PWM.h @@ -0,0 +1,65 @@ +#ifndef STEPPER_DRIVER_4PWM_h +#define STEPPER_DRIVER_4PWM_h + +#include "../common/base_classes/StepperDriver.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/defaults.h" +#include "hardware_api.h" + +/** + 4 pwm stepper driver class +*/ +class StepperDriver4PWM: public StepperDriver +{ + public: + /** + StepperMotor class constructor + @param ph1A 1A phase pwm pin + @param ph1B 1B phase pwm pin + @param ph2A 2A phase pwm pin + @param ph2B 2B phase pwm pin + @param en1 enable pin phase 1 (optional input) + @param en2 enable pin phase 2 (optional input) + */ + StepperDriver4PWM(int ph1A,int ph1B,int ph2A,int ph2B, int en1 = NOT_SET, int en2 = NOT_SET); + + /** Motor hardware init function */ + int init() override; + /** Motor disable function */ + void disable() override; + /** Motor enable function */ + void enable() override; + + // hardware variables + int pwm1A; //!< phase 1A pwm pin number + int pwm1B; //!< phase 1B pwm pin number + int pwm2A; //!< phase 2A pwm pin number + int pwm2B; //!< phase 2B pwm pin number + int enable_pin1; //!< enable pin number phase 1 + int enable_pin2; //!< enable pin number phase 2 + + /** + * Set phase voltages to the harware + * + * @param Ua phase A voltage + * @param Ub phase B voltage + */ + void setPwm(float Ua, float Ub) override; + + + /** + * Set phase voltages to the hardware. + * > Only possible is the driver has separate enable pins for both phases! + * + * @param sa phase A state : active / disabled ( high impedance ) + * @param sb phase B state : active / disabled ( high impedance ) + */ + virtual void setPhaseState(PhaseState sa, PhaseState sb) override; + + private: + +}; + + +#endif diff --git a/src/drivers/hardware_api.h b/src/drivers/hardware_api.h new file mode 100644 index 00000000..7809233d --- /dev/null +++ b/src/drivers/hardware_api.h @@ -0,0 +1,177 @@ +#ifndef HARDWARE_UTILS_DRIVER_H +#define HARDWARE_UTILS_DRIVER_H + +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../communication/SimpleFOCDebug.h" +#include "../common/base_classes/BLDCDriver.h" + + +// these defines determine the polarity of the PWM output. Normally, the polarity is active-high, +// i.e. a high-level PWM output is expected to switch on the MOSFET. But should your driver design +// require inverted polarity, you can change the defines below, or set them via your build environment +// or board definition files. + +// used for 1-PWM, 2-PWM, 3-PWM, and 4-PWM modes +#ifndef SIMPLEFOC_PWM_ACTIVE_HIGH +#define SIMPLEFOC_PWM_ACTIVE_HIGH true +#endif +// used for 6-PWM mode, high-side +#ifndef SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH +#define SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH true +#endif +// used for 6-PWM mode, low-side +#ifndef SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH +#define SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH true +#endif + +// flag returned if driver init fails +#define SIMPLEFOC_DRIVER_INIT_FAILED ((void*)-1) + +// generic implementation of the hardware specific structure +// containing all the necessary driver parameters +// will be returned as a void pointer from the _configurexPWM functions +// will be provided to the _writeDutyCyclexPWM() as a void pointer +typedef struct GenericDriverParams { + int pins[6]; + long pwm_frequency; + float dead_zone; +} GenericDriverParams; + + +/** + * Configuring PWM frequency, resolution and alignment + * - Stepper driver - 2PWM setting + * - hardware specific + * + * @param pwm_frequency - frequency in hertz - if applicable + * @param pinA pinA pwm pin + * + * @return -1 if failed, or pointer to internal driver parameters struct if successful + */ +void* _configure1PWM(long pwm_frequency, const int pinA); + +/** + * Configuring PWM frequency, resolution and alignment + * - Stepper driver - 2PWM setting + * - hardware specific + * + * @param pwm_frequency - frequency in hertz - if applicable + * @param pinA pinA bldc driver + * @param pinB pinB bldc driver + * + * @return -1 if failed, or pointer to internal driver parameters struct if successful + */ +void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB); + +/** + * Configuring PWM frequency, resolution and alignment + * - BLDC driver - 3PWM setting + * - hardware specific + * + * @param pwm_frequency - frequency in hertz - if applicable + * @param pinA pinA bldc driver + * @param pinB pinB bldc driver + * @param pinC pinC bldc driver + * + * @return -1 if failed, or pointer to internal driver parameters struct if successful + */ +void* _configure3PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC); + +/** + * Configuring PWM frequency, resolution and alignment + * - Stepper driver - 4PWM setting + * - hardware specific + * + * @param pwm_frequency - frequency in hertz - if applicable + * @param pin1A pin1A stepper driver + * @param pin1B pin1B stepper driver + * @param pin2A pin2A stepper driver + * @param pin2B pin2B stepper driver + * + * @return -1 if failed, or pointer to internal driver parameters struct if successful + */ +void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const int pin2A, const int pin2B); + +/** + * Configuring PWM frequency, resolution and alignment + * - BLDC driver - 6PWM setting + * - hardware specific + * + * @param pwm_frequency - frequency in hertz - if applicable + * @param dead_zone duty cycle protection zone [0, 1] - both low and high side low - if applicable + * @param pinA_h pinA high-side bldc driver + * @param pinA_l pinA low-side bldc driver + * @param pinB_h pinA high-side bldc driver + * @param pinB_l pinA low-side bldc driver + * @param pinC_h pinA high-side bldc driver + * @param pinC_l pinA low-side bldc driver + * + * @return -1 if failed, or pointer to internal driver parameters struct if successful + */ +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l); + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - Stepper driver - 2PWM setting + * - hardware specific + * + * @param dc_a duty cycle phase A [0, 1] + * @param dc_b duty cycle phase B [0, 1] + * @param params the driver parameters + */ +void _writeDutyCycle1PWM(float dc_a, void* params); + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - Stepper driver - 2PWM setting + * - hardware specific + * + * @param dc_a duty cycle phase A [0, 1] + * @param dc_b duty cycle phase B [0, 1] + * @param params the driver parameters + */ +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params); + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - BLDC driver - 3PWM setting + * - hardware specific + * + * @param dc_a duty cycle phase A [0, 1] + * @param dc_b duty cycle phase B [0, 1] + * @param dc_c duty cycle phase C [0, 1] + * @param params the driver parameters + */ +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params); + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - Stepper driver - 4PWM setting + * - hardware specific + * + * @param dc_1a duty cycle phase 1A [0, 1] + * @param dc_1b duty cycle phase 1B [0, 1] + * @param dc_2a duty cycle phase 2A [0, 1] + * @param dc_2b duty cycle phase 2B [0, 1] + * @param params the driver parameters + */ +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params); + + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - BLDC driver - 6PWM setting + * - hardware specific + * + * @param dc_a duty cycle phase A [0, 1] + * @param dc_b duty cycle phase B [0, 1] + * @param dc_c duty cycle phase C [0, 1] + * @param phase_state pointer to PhaseState[3] array + * @param params the driver parameters + * + */ +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params); + + +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp b/src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp new file mode 100644 index 00000000..532b3ce3 --- /dev/null +++ b/src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp @@ -0,0 +1,282 @@ +#include "../../hardware_api.h" + +#if defined(__AVR_ATmega2560__) || defined(AVR_ATmega1280) + + +#pragma message("") +#pragma message("SimpleFOC: compiling for Arduino/ATmega2560 or Arduino/ATmega1280") +#pragma message("") + + +#define _PWM_FREQUENCY 32000 +#define _PWM_FREQUENCY_MAX 32000 +#define _PWM_FREQUENCY_MIN 4000 + +// set pwm frequency to 32KHz +void _pinHighFrequency(const int pin, const long frequency){ + bool high_fq = false; + // set 32kHz frequency if requested freq is higher than the middle of the range (14kHz) + // else set the 4kHz + if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN)) high_fq=true; + // High PWM frequency + // https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-ATmega2560 + // https://forum.arduino.cc/index.php?topic=72092.0 + if (pin == 13 || pin == 4 ) { + TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode + if(high_fq) TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR0B = ((TCCR0B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + } + else if (pin == 12 || pin == 11 ) + if(high_fq) TCCR1B = ((TCCR1B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR1B = ((TCCR1B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + else if (pin == 10 || pin == 9 ) + if(high_fq) TCCR2B = ((TCCR2B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR2B = ((TCCR2B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + else if (pin == 5 || pin == 3 || pin == 2) + if(high_fq) TCCR3B = ((TCCR3B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR3B = ((TCCR3B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + else if (pin == 8 || pin == 7 || pin == 6) + if(high_fq) TCCR4B = ((TCCR4B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR4B = ((TCCR4B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + else if (pin == 44 || pin == 45 || pin == 46) + if(high_fq) TCCR5B = ((TCCR5B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR5B = ((TCCR5B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + +} + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware specific +// supports Arduino/ATmega2560 +void* _configure1PWM(long pwm_frequency,const int pinA) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pinA, pwm_frequency); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + return params; +} + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware specific +// supports Arduino/ATmega2560 +void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pinA, pwm_frequency); + _pinHighFrequency(pinB, pwm_frequency); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + return params; +} + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware specific +// supports Arduino/ATmega2560 +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pinA, pwm_frequency); + _pinHighFrequency(pinB, pwm_frequency); + _pinHighFrequency(pinC, pwm_frequency); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB, pinC }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + // _syncAllTimers(); + return params; +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware specific +void _writeDutyCycle1PWM(float dc_a, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware specific +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); +} + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +// - hardware specific +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_c); +} + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware specific +void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const int pin2A, const int pin2B) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pin1A,pwm_frequency); + _pinHighFrequency(pin1B,pwm_frequency); + _pinHighFrequency(pin2A,pwm_frequency); + _pinHighFrequency(pin2B,pwm_frequency); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pin1A, pin1B, pin2A, pin2B }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + return params; +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware specific +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params) { + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_1a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_1b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_2a); + analogWrite(((GenericDriverParams*)params)->pins[3], 255.0f*dc_2b); +} + + +// function configuring pair of high-low side pwm channels, 32khz frequency and center aligned pwm +// supports Arduino/ATmega2560 +// https://ww1.microchip.com/downloads/en/devicedoc/atmel-2549-8-bit-avr-microcontroller-atmega640-1280-1281-2560-2561_datasheet.pdf +// https://docs.arduino.cc/hacking/hardware/PinMapping2560 +int _configureComplementaryPair(const int pinH,const int pinL, long frequency) { + bool high_fq = false; + // set 32kHz frequency if requested freq is higher than the middle of the range (14kHz) + // else set the 4kHz + if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN)) high_fq=true; + + // configure pin pairs + if( (pinH == 4 && pinL == 13 ) || (pinH == 13 && pinL == 4 ) ){ + // configure the pwm phase-corrected mode + TCCR0A = ((TCCR0A & 0b11111100) | 0x01); + // configure complementary pwm on low side + if(pinH == 13 ) TCCR0A = 0b10110000 | (TCCR0A & 0b00001111) ; + else TCCR0A = 0b11100000 | (TCCR0A & 0b00001111) ; + // set frequency + if(high_fq) TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR0B = ((TCCR0B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + }else if( (pinH == 11 && pinL == 12 ) || (pinH == 12 && pinL == 11 ) ){ + // set frequency + if(high_fq) TCCR1B = ((TCCR1B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR1B = ((TCCR1B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + // configure complementary pwm on low side + if(pinH == 11 ) TCCR1A = 0b10110000 | (TCCR1A & 0b00001111) ; + else TCCR1A = 0b11100000 | (TCCR1A & 0b00001111) ; + }else if((pinH == 10 && pinL == 9 ) || (pinH == 9 && pinL == 10 ) ){ + // set frequency + if(high_fq) TCCR2B = ((TCCR2B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR2B = ((TCCR2B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + // configure complementary pwm on low side + if(pinH == 10 ) TCCR2A = 0b10110000 | (TCCR2A & 0b00001111) ; + else TCCR2A = 0b11100000 | (TCCR2A & 0b00001111) ; + }else if((pinH == 5 && pinL == 2 ) || (pinH == 2 && pinL == 5 ) ){ + // set frequency + if(high_fq) TCCR3B = ((TCCR3B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR3B = ((TCCR3B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + // configure complementary pwm on low side + if(pinH == 5 ) TCCR3A = 0b10110000 | (TCCR3A & 0b00001111) ; + else TCCR3A = 0b11100000 | (TCCR3A & 0b00001111) ; + }else if((pinH == 6 && pinL == 7 ) || (pinH == 7 && pinL == 6 ) ){ + // set frequency + if(high_fq) TCCR4B = ((TCCR4B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR4B = ((TCCR4B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + // configure complementary pwm on low side + if(pinH == 6 ) TCCR4A = 0b10110000 | (TCCR4A & 0b00001111) ; + else TCCR4A = 0b11100000 | (TCCR4A & 0b00001111) ; + }else if((pinH == 46 && pinL == 45 ) || (pinH == 45 && pinL == 46 ) ){ + // set frequency + if(high_fq) TCCR5B = ((TCCR5B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR5B = ((TCCR5B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + // configure complementary pwm on low side + if(pinH == 46 ) TCCR5A = 0b10110000 | (TCCR5A & 0b00001111) ; + else TCCR5A = 0b11100000 | (TCCR5A & 0b00001111) ; + }else{ + return -1; + } + return 0; +} + +// Configuring PWM frequency, resolution and alignment +// - BLDC driver - setting +// - hardware specific +// supports Arduino/ATmega2560 +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max + // High PWM frequency + // - always max 32kHz + int ret_flag = 0; + ret_flag += _configureComplementaryPair(pinA_h, pinA_l, pwm_frequency); + ret_flag += _configureComplementaryPair(pinB_h, pinB_l, pwm_frequency); + ret_flag += _configureComplementaryPair(pinC_h, pinC_l, pwm_frequency); + if (ret_flag!=0) return SIMPLEFOC_DRIVER_INIT_FAILED; + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l }, + .pwm_frequency = pwm_frequency, + .dead_zone = dead_zone + }; + // _syncAllTimers(); + return params; +} + +// function setting the +void _setPwmPair(int pinH, int pinL, float val, int dead_time, PhaseState ps) +{ + int pwm_h = _constrain(val-dead_time/2,0,255); + int pwm_l = _constrain(val+dead_time/2,0,255); + // determine the phase state and set the pwm accordingly + // deactivate phases if needed + if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_LO)){ + digitalWrite(pinH, LOW); + }else{ + analogWrite(pinH, pwm_h); + } + if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_HI)){ + digitalWrite(pinL, LOW); + }else{ + if(pwm_l == 255 || pwm_l == 0) + digitalWrite(pinL, pwm_l ? LOW : HIGH); + else + analogWrite(pinL, pwm_l); + } + +} + +// Function setting the duty cycle to the pwm pin (ex. analogWrite()) +// - BLDC driver - 6PWM setting +// - hardware specific +// supports Arduino/ATmega328 +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[0]); + _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[1]); + _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[2]); +} + +#endif diff --git a/src/drivers/hardware_specific/atmega/atmega328_mcu.cpp b/src/drivers/hardware_specific/atmega/atmega328_mcu.cpp new file mode 100644 index 00000000..9df9b8a7 --- /dev/null +++ b/src/drivers/hardware_specific/atmega/atmega328_mcu.cpp @@ -0,0 +1,259 @@ +#include "../../hardware_api.h" + +#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) + +#pragma message("") +#pragma message("SimpleFOC: compiling for Arduino/ATmega328 ATmega168 ATmega328PB") +#pragma message("") + +#define _PWM_FREQUENCY 32000 +#define _PWM_FREQUENCY_MAX 32000 +#define _PWM_FREQUENCY_MIN 4000 + +// set pwm frequency to 32KHz +void _pinHighFrequency(const int pin, const long frequency){ + bool high_fq = false; + // set 32kHz frequency if requested freq is higher than the middle of the range (14kHz) + // else set the 4kHz + if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN)) high_fq=true; + // High PWM frequency + // https://www.arxterra.com/9-atmega328p-timers/ + if (pin == 5 || pin == 6 ) { + TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode + if(high_fq) TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR0B = ((TCCR0B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + }else if (pin == 9 || pin == 10 ){ + if(high_fq) TCCR1B = ((TCCR1B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR1B = ((TCCR1B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + }else if (pin == 3 || pin == 11){ + if(high_fq) TCCR2B = ((TCCR2B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR2B = ((TCCR2B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + } +} + +void _syncAllTimers(){ + GTCCR = (1<pins[0], 255.0f*dc_a); +} + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware specific +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); +} + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +// - hardware specific +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_c); +} + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware specific +// supports Arduino/ATmega328 +void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const int pin2A, const int pin2B) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pin1A,pwm_frequency); + _pinHighFrequency(pin1B,pwm_frequency); + _pinHighFrequency(pin2A,pwm_frequency); + _pinHighFrequency(pin2B,pwm_frequency); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pin1A, pin1B, pin2A, pin2B }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + return params; +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware specific +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_1a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_1b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_2a); + analogWrite(((GenericDriverParams*)params)->pins[3], 255.0f*dc_2b); +} + + +// function configuring pair of high-low side pwm channels, 32khz frequency and center aligned pwm +int _configureComplementaryPair(const int pinH, const int pinL, long frequency) { + bool high_fq = false; + // set 32kHz frequency if requested freq is higher than the middle of the range (14kHz) + // else set the 4kHz + if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN)) high_fq=true; + + // configure pins + if( (pinH == 5 && pinL == 6 ) || (pinH == 6 && pinL == 5 ) ){ + // configure the pwm phase-corrected mode + TCCR0A = ((TCCR0A & 0b11111100) | 0x01); + // configure complementary pwm on low side + if(pinH == 6 ) TCCR0A = 0b10110000 | (TCCR0A & 0b00001111) ; + else TCCR0A = 0b11100000 | (TCCR0A & 0b00001111) ; + // set frequency + if(high_fq) TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR0B = ((TCCR0B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + }else if( (pinH == 9 && pinL == 10 ) || (pinH == 10 && pinL == 9 ) ){ + // set frequency + if(high_fq) TCCR1B = ((TCCR1B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR1B = ((TCCR1B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + // configure complementary pwm on low side + if(pinH == 9 ) TCCR1A = 0b10110000 | (TCCR1A & 0b00001111) ; + else TCCR1A = 0b11100000 | (TCCR1A & 0b00001111) ; + }else if((pinH == 3 && pinL == 11 ) || (pinH == 11 && pinL == 3 ) ){ + // set frequency + if(high_fq) TCCR2B = ((TCCR2B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz + else TCCR2B = ((TCCR2B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz + // configure complementary pwm on low side + if(pinH == 11 ) TCCR2A = 0b10110000 | (TCCR2A & 0b00001111) ; + else TCCR2A = 0b11100000 | (TCCR2A & 0b00001111) ; + }else{ + return -1; + } + return 0; +} + +// Configuring PWM frequency, resolution and alignment +// - BLDC driver - setting +// - hardware specific +// supports Arduino/ATmega328 +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max + // High PWM frequency + // - always max 32kHz + int ret_flag = 0; + ret_flag += _configureComplementaryPair(pinA_h, pinA_l, pwm_frequency); + ret_flag += _configureComplementaryPair(pinB_h, pinB_l, pwm_frequency); + ret_flag += _configureComplementaryPair(pinC_h, pinC_l, pwm_frequency); + if (ret_flag!=0) return SIMPLEFOC_DRIVER_INIT_FAILED; + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l }, + .pwm_frequency = pwm_frequency, + .dead_zone = dead_zone + }; + _syncAllTimers(); + return params; +} + +// function setting the +void _setPwmPair(int pinH, int pinL, float val, int dead_time, PhaseState ps) +{ + int pwm_h = _constrain(val-dead_time/2,0,255); + int pwm_l = _constrain(val+dead_time/2,0,255); + // determine the phase state and set the pwm accordingly + // deactivate phases if needed + if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_LO)){ + digitalWrite(pinH, LOW); + }else{ + analogWrite(pinH, pwm_h); + } + if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_HI)){ + digitalWrite(pinL, LOW); + }else{ + if(pwm_l == 255 || pwm_l == 0) + digitalWrite(pinL, pwm_l ? LOW : HIGH); + else + analogWrite(pinL, pwm_l); + } + + +} + +// Function setting the duty cycle to the pwm pin (ex. analogWrite()) +// - BLDC driver - 6PWM setting +// - hardware specific +// supports Arduino/ATmega328 +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[0]); + _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[1]); + _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[2]); +} + +#endif diff --git a/src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp b/src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp new file mode 100644 index 00000000..4cf454ae --- /dev/null +++ b/src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp @@ -0,0 +1,226 @@ + +#include "../../hardware_api.h" + +#if defined(__AVR_ATmega32U4__) + +#pragma message("") +#pragma message("SimpleFOC: compiling for Arduino/ATmega32U4") +#pragma message("") + +// set pwm frequency to 32KHz +void _pinHighFrequency(const int pin){ + // High PWM frequency + // reference： http://r6500.blogspot.com/2014/12/fast-pwm-on-arduino-leonardo.html + if (pin == 3 || pin == 11 ) { + TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode + TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 + } + else if (pin == 9 || pin == 10 ) + TCCR1B = ((TCCR1B & 0b11111000) | 0x01); // set prescaler to 1 + else if (pin == 5 ) + TCCR3B = ((TCCR3B & 0b11111000) | 0x01); // set prescaler to 1 + else if ( pin == 6 || pin == 13 ) { // a bit more complicated 10 bit timer + // PLL Configuration + PLLFRQ= ((PLLFRQ & 0b11001111) | 0x20); // Use 96MHz / 1.5 = 64MHz + TCCR4B = ((TCCR4B & 0b11110000) | 0xB); // configure prescaler to get 64M/2/1024 = 31.25 kHz + TCCR4D = ((TCCR4D & 0b11111100) | 0x01); // configure the pwm phase-corrected mode + + if (pin == 6) TCCR4A = 0x82; // activate channel A - pin 13 + else if (pin == 13) TCCR4C |= 0x09; // Activate channel D - pin 6 + } + +} + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware speciffic +void* _configure1PWM(long pwm_frequency,const int pinA) { + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pinA); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + return params; +} + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware speciffic +void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) { + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pinA); + _pinHighFrequency(pinB); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + return params; +} + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware speciffic +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pinA); + _pinHighFrequency(pinB); + _pinHighFrequency(pinC); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB, pinC }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + return params; +} + + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware speciffic +void _writeDutyCycle1PWM(float dc_a, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); +} + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware speciffic +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); +} + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +// - hardware speciffic +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, int pinA, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_c); +} + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware speciffic +void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const int pin2A, const int pin2B) { + // High PWM frequency + // - always max 32kHz + _pinHighFrequency(pin1A); + _pinHighFrequency(pin1B); + _pinHighFrequency(pin2A); + _pinHighFrequency(pin2B); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pin1A, pin1B, pin2A, pin2B }, + .pwm_frequency = pwm_frequency, + .dead_zone = 0.0f + }; + return params; +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware speciffic +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_1a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_1b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_2a); + analogWrite(((GenericDriverParams*)params)->pins[3], 255.0f*dc_2b); +} + + + + +// function configuring pair of high-low side pwm channels, 32khz frequency and center aligned pwm +int _configureComplementaryPair(int pinH, int pinL) { + if( (pinH == 3 && pinL == 11 ) || (pinH == 11 && pinL == 3 ) ){ + // configure the pwm phase-corrected mode + TCCR0A = ((TCCR0A & 0b11111100) | 0x01); + // configure complementary pwm on low side + if(pinH == 11 ) TCCR0A = 0b10110000 | (TCCR0A & 0b00001111) ; + else TCCR0A = 0b11100000 | (TCCR0A & 0b00001111) ; + // set prescaler to 1 - 32kHz freq + TCCR0B = ((TCCR0B & 0b11110000) | 0x01); + }else if( (pinH == 9 && pinL == 10 ) || (pinH == 10 && pinL == 9 ) ){ + // set prescaler to 1 - 32kHz freq + TCCR1B = ((TCCR1B & 0b11111000) | 0x01); + // configure complementary pwm on low side + if(pinH == 9 ) TCCR1A = 0b10110000 | (TCCR1A & 0b00001111) ; + else TCCR1A = 0b11100000 | (TCCR1A & 0b00001111) ; + }else if((pinH == 6 && pinL == 13 ) || (pinH == 13 && pinL == 6 ) ){ + // PLL Configuration + PLLFRQ= ((PLLFRQ & 0b11001111) | 0x20); // Use 96MHz / 1.5 = 64MHz + TCCR4B = ((TCCR4B & 0b11110000) | 0xB); // configure prescaler to get 64M/2/1024 = 31.25 kHz + TCCR4D = ((TCCR4D & 0b11111100) | 0x01); // configure the pwm phase-corrected mode + + // configure complementary pwm on low side + if(pinH == 13 ){ + TCCR4A = 0x82; // activate channel A - pin 13 + TCCR4C |= 0x0d; // Activate complementary channel D - pin 6 + }else { + TCCR4C |= 0x09; // Activate channel D - pin 6 + TCCR4A = 0xc2; // activate complementary channel A - pin 13 + } + }else{ + return -1; + } + return 0; +} + + +// Configuring PWM frequency, resolution and alignment +// - BLDC driver - 6PWM setting +// - hardware specific +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) { + // High PWM frequency + // - always max 32kHz + int ret_flag = 0; + ret_flag += _configureComplementaryPair(pinA_h, pinA_l); + ret_flag += _configureComplementaryPair(pinB_h, pinB_l); + ret_flag += _configureComplementaryPair(pinC_h, pinC_l); + if (ret_flag!=0) return SIMPLEFOC_DRIVER_INIT_FAILED; + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l }, + .pwm_frequency = pwm_frequency, + .dead_zone = dead_zone + }; + return params; +} + +// function setting the +void _setPwmPair(int pinH, int pinL, float val, int dead_time) +{ + int pwm_h = _constrain(val-dead_time/2,0,255); + int pwm_l = _constrain(val+dead_time/2,0,255); + + analogWrite(pinH, pwm_h); + if(pwm_l == 255 || pwm_l == 0) + digitalWrite(pinL, pwm_l ? LOW : HIGH); + else + analogWrite(pinL, pwm_l); +} + +// Function setting the duty cycle to the pwm pin (ex. analogWrite()) +// - BLDC driver - 6PWM setting +// - hardware specific +// supports Arudino/ATmega328 +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0, ((GenericDriverParams*)params)->dead_zone*255.0); + _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0, ((GenericDriverParams*)params)->dead_zone*255.0); + _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0); + + _UNUSED(phase_state); +} + +#endif diff --git a/src/drivers/hardware_specific/due_mcu.cpp b/src/drivers/hardware_specific/due_mcu.cpp new file mode 100644 index 00000000..4397114b --- /dev/null +++ b/src/drivers/hardware_specific/due_mcu.cpp @@ -0,0 +1,449 @@ +#include "../hardware_api.h" + +#if defined(__arm__) && defined(__SAM3X8E__) + + +#pragma message("") +#pragma message("SimpleFOC: compiling for Arduino/Due") +#pragma message("") + + +#define _PWM_FREQUENCY 25000 // 25khz +#define _PWM_FREQUENCY_MAX 50000 // 50khz + +#define _PWM_RES_MIN 255 // 50khz + +// pwm frequency and max duty cycle +static unsigned long _pwm_frequency; +static int _max_pwm_value = 1023; + +// array mapping the timer values to the interrupt handlers +static IRQn_Type irq_type[] = {TC0_IRQn, TC0_IRQn, TC1_IRQn, TC1_IRQn, TC2_IRQn, TC2_IRQn, TC3_IRQn, TC3_IRQn, TC4_IRQn, TC4_IRQn, TC5_IRQn, TC5_IRQn, TC6_IRQn, TC6_IRQn, TC7_IRQn, TC7_IRQn, TC8_IRQn, TC8_IRQn}; +// current counter values +static volatile uint32_t pwm_counter_vals[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; + + +// variables copied from wiring_analog.cpp for arduino due +static uint8_t PWMEnabled = 0; +static uint8_t TCChanEnabled[] = {0, 0, 0, 0, 0, 0, 0, 0, 0}; +static const uint32_t channelToChNo[] = { 0, 0, 1, 1, 2, 2, 0, 0, 1, 1, 2, 2, 0, 0, 1, 1, 2, 2 }; +static const uint32_t channelToAB[] = { 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0 }; +static Tc *channelToTC[] = { + TC0, TC0, TC0, TC0, TC0, TC0, + TC1, TC1, TC1, TC1, TC1, TC1, + TC2, TC2, TC2, TC2, TC2, TC2 }; +static const uint32_t channelToId[] = { 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 6, 6, 7, 7, 8, 8 }; + + +// function setting the CMR register +static void TC_SetCMR_ChannelA(Tc *tc, uint32_t chan, uint32_t v){ tc->TC_CHANNEL[chan].TC_CMR = (tc->TC_CHANNEL[chan].TC_CMR & 0xFFF0FFFF) | v;} +static void TC_SetCMR_ChannelB(Tc *tc, uint32_t chan, uint32_t v){ tc->TC_CHANNEL[chan].TC_CMR = (tc->TC_CHANNEL[chan].TC_CMR & 0xF0FFFFFF) | v; } + + +// function which starts and syncs the timers +// if the pin is the true PWM pin this function does not do anything +void syncTimers(uint32_t ulPin1,uint32_t ulPin2, uint32_t ulPin3 = -1, uint32_t ulPin4 = -1){ + uint32_t chNo1,chNo2,chNo3,chNo4; + Tc *chTC1 = nullptr,*chTC2 = nullptr,*chTC3 = nullptr,*chTC4 = nullptr; + + // configure timer channel for the first pin if it is a timer pin + uint32_t attr = g_APinDescription[ulPin1].ulPinAttribute; + if ((attr & PIN_ATTR_TIMER) == PIN_ATTR_TIMER) { + ETCChannel channel1 = g_APinDescription[ulPin1].ulTCChannel; + chNo1 = channelToChNo[channel1]; + chTC1 = channelToTC[channel1]; + TCChanEnabled[channelToId[channel1]] = 1; + } + + // configure timer channel for the first pin if it is a timer pin + attr = g_APinDescription[ulPin2].ulPinAttribute; + if ((attr & PIN_ATTR_TIMER) == PIN_ATTR_TIMER) { + ETCChannel channel2 = g_APinDescription[ulPin2].ulTCChannel; + chNo2 = channelToChNo[channel2]; + chTC2 = channelToTC[channel2]; + TCChanEnabled[channelToId[channel2]] = 1; + } + if(ulPin3 > 0 ){ + // configure timer channel for the first pin if it is a timer pin + attr = g_APinDescription[ulPin3].ulPinAttribute; + if ((attr & PIN_ATTR_TIMER) == PIN_ATTR_TIMER) { + ETCChannel channel3 = g_APinDescription[ulPin3].ulTCChannel; + chNo3 = channelToChNo[channel3]; + chTC3 = channelToTC[channel3]; + TCChanEnabled[channelToId[channel3]] = 1; + } + } + if(ulPin4 > 0 ){ + // configure timer channel for the first pin if it is a timer pin + attr = g_APinDescription[ulPin4].ulPinAttribute; + if ((attr & PIN_ATTR_TIMER) == PIN_ATTR_TIMER) { + ETCChannel channel4 = g_APinDescription[ulPin4].ulTCChannel; + chNo4 = channelToChNo[channel4]; + chTC4 = channelToTC[channel4]; + TCChanEnabled[channelToId[channel4]] = 1; + } + } + // start timers and make them synced + if(chTC1){ + TC_Start(chTC1, chNo1); + chTC1->TC_BCR = TC_BCR_SYNC; + } + if(chTC2){ + TC_Start(chTC2, chNo2); + chTC2->TC_BCR = TC_BCR_SYNC; + } + if(chTC3 && ulPin3){ + TC_Start(chTC3, chNo3); + chTC3->TC_BCR = TC_BCR_SYNC; + } + if(chTC4 && ulPin4){ + TC_Start(chTC4, chNo4); + chTC4->TC_BCR = TC_BCR_SYNC; + } +} + +// function configuring the pwm frequency for given pin +// possible to supply the pwm pin and the timer pin +void initPWM(uint32_t ulPin, uint32_t pwm_freq){ + // check which pin type + uint32_t attr = g_APinDescription[ulPin].ulPinAttribute; + if ((attr & PIN_ATTR_PWM) == PIN_ATTR_PWM) { // if pwm pin + + if (!PWMEnabled) { + // PWM Startup code + pmc_enable_periph_clk(PWM_INTERFACE_ID); + // this function does not work too well - I'll rewrite it + // PWMC_ConfigureClocks(PWM_FREQUENCY * _max_pwm_value, 0, VARIANT_MCK); + + // finding the divisors an prescalers form FindClockConfiguration function + uint32_t divisors[11] = {1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024}; + uint8_t divisor = 0; + uint32_t prescaler; + + /* Find prescaler and divisor values */ + prescaler = (VARIANT_MCK / divisors[divisor]) / (pwm_freq*_max_pwm_value); + while ((prescaler > 255) && (divisor < 11)) { + divisor++; + prescaler = (VARIANT_MCK / divisors[divisor]) / (pwm_freq*_max_pwm_value); + } + // update the divisor*prescaler value + prescaler = prescaler | (divisor << 8); + + // now calculate the real resolution timer period necessary (pwm resolution) + // pwm_res = bus_freq / (pwm_freq * (prescaler)) + _max_pwm_value = (double)VARIANT_MCK / (double)pwm_freq / (double)(prescaler); + // set the prescaler value + PWM->PWM_CLK = prescaler; + + PWMEnabled = 1; + } + + uint32_t chan = g_APinDescription[ulPin].ulPWMChannel; + if ((g_pinStatus[ulPin] & 0xF) != PIN_STATUS_PWM) { + // Setup PWM for this pin + PIO_Configure(g_APinDescription[ulPin].pPort, + g_APinDescription[ulPin].ulPinType, + g_APinDescription[ulPin].ulPin, + g_APinDescription[ulPin].ulPinConfiguration); + // PWM_CMR_CALG - center align + // PWMC_ConfigureChannel(PWM_INTERFACE, chan, PWM_CMR_CPRE_CLKA, PWM_CMR_CALG, 0); + PWMC_ConfigureChannel(PWM_INTERFACE, chan, PWM_CMR_CPRE_CLKA, 0, 0); + PWMC_SetPeriod(PWM_INTERFACE, chan, _max_pwm_value); + PWMC_SetDutyCycle(PWM_INTERFACE, chan, 0); + PWMC_EnableChannel(PWM_INTERFACE, chan); + g_pinStatus[ulPin] = (g_pinStatus[ulPin] & 0xF0) | PIN_STATUS_PWM; + } + return; + } + + if ((attr & PIN_ATTR_TIMER) == PIN_ATTR_TIMER) { // if timer pin + // We use MCLK/2 as clock. + const uint32_t TC = VARIANT_MCK / 2 / pwm_freq ; + // Setup Timer for this pin + ETCChannel channel = g_APinDescription[ulPin].ulTCChannel; + uint32_t chNo = channelToChNo[channel]; + uint32_t chA = channelToAB[channel]; + Tc *chTC = channelToTC[channel]; + uint32_t interfaceID = channelToId[channel]; + + if (!TCChanEnabled[interfaceID]) { + pmc_enable_periph_clk(TC_INTERFACE_ID + interfaceID); + TC_Configure(chTC, chNo, + TC_CMR_TCCLKS_TIMER_CLOCK1 | + TC_CMR_WAVE | // Waveform mode + TC_CMR_WAVSEL_UP_RC | // Counter running up and reset when equals to RC + TC_CMR_EEVT_XC0 | // Set external events from XC0 (this setup TIOB as output) + TC_CMR_ACPA_CLEAR | TC_CMR_ACPC_CLEAR | + TC_CMR_BCPB_CLEAR | TC_CMR_BCPC_CLEAR); + TC_SetRC(chTC, chNo, TC); + } + + // disable the counter on start + if (chA){ + TC_SetCMR_ChannelA(chTC, chNo, TC_CMR_ACPA_CLEAR | TC_CMR_ACPC_SET); + }else{ + TC_SetCMR_ChannelB(chTC, chNo, TC_CMR_BCPB_CLEAR | TC_CMR_BCPC_SET); + } + // configure input-ouput structure + if ((g_pinStatus[ulPin] & 0xF) != PIN_STATUS_PWM) { + PIO_Configure(g_APinDescription[ulPin].pPort, + g_APinDescription[ulPin].ulPinType, + g_APinDescription[ulPin].ulPin, + g_APinDescription[ulPin].ulPinConfiguration); + g_pinStatus[ulPin] = (g_pinStatus[ulPin] & 0xF0) | PIN_STATUS_PWM; + } + // enable interrupts + chTC->TC_CHANNEL[chNo].TC_IER = TC_IER_CPAS // interrupt on RA compare match + | TC_IER_CPBS // interrupt on RB compare match + | TC_IER_CPCS; // interrupt on RC compare match + chTC->TC_CHANNEL[chNo].TC_IDR = ~TC_IER_CPAS // interrupt on RA compare match + & ~TC_IER_CPBS // interrupt on RB compare match + & ~ TC_IER_CPCS; // interrupt on RC compare match + // enable interrupts for this timer + NVIC_EnableIRQ(irq_type[channel]); + return; + } +} + +// pwm setting function +// it sets the duty cycle for pwm pin or timer pin +void setPwm(uint32_t ulPin, uint32_t ulValue) { + // check pin type + uint32_t attr = g_APinDescription[ulPin].ulPinAttribute; + if ((attr & PIN_ATTR_PWM) == PIN_ATTR_PWM) { // if pwm + uint32_t chan = g_APinDescription[ulPin].ulPWMChannel; + PWMC_SetDutyCycle(PWM_INTERFACE, chan, ulValue); + return; + } + + if ((attr & PIN_ATTR_TIMER) == PIN_ATTR_TIMER) { // if timer pin + // get the timer variables + ETCChannel channel = g_APinDescription[ulPin].ulTCChannel; + Tc *chTC = channelToTC[channel]; + uint32_t chNo = channelToChNo[channel]; + if(!ulValue) { + // if the value 0 disable counter + if (channelToAB[channel]) + TC_SetCMR_ChannelA(chTC, chNo, TC_CMR_ACPA_CLEAR | TC_CMR_ACPC_CLEAR); + else + TC_SetCMR_ChannelB(chTC, chNo, TC_CMR_BCPB_CLEAR | TC_CMR_BCPC_CLEAR); + }else{ + // if the value not zero + // calculate clock + const uint32_t TC = VARIANT_MCK / 2 / _pwm_frequency; + // Map value to Timer ranges 0..max_duty_cycle => 0..TC + // Setup Timer for this pin + ulValue = ulValue * TC ; + pwm_counter_vals[channel] = ulValue / _max_pwm_value; + // enable counter + if (channelToAB[channel]) + TC_SetCMR_ChannelA(chTC, chNo, TC_CMR_ACPA_CLEAR | TC_CMR_ACPC_SET); + else + TC_SetCMR_ChannelB(chTC, chNo, TC_CMR_BCPB_CLEAR | TC_CMR_BCPC_SET); + } + + return; + } +} + +// interrupt handlers for seamless pwm duty-cycle setting +void TC0_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC0, 0); + // update the counters + if(pwm_counter_vals[0]) TC_SetRA(TC0, 0, pwm_counter_vals[0]); + if(pwm_counter_vals[1]) TC_SetRB(TC0, 0, pwm_counter_vals[1]); +} + +void TC1_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC0, 1); + // update the counters + if(pwm_counter_vals[2]) TC_SetRA(TC0, 1, pwm_counter_vals[2]); + if(pwm_counter_vals[3]) TC_SetRB(TC0, 1, pwm_counter_vals[3]); +} + +void TC2_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC0, 2); + // update the counters + if(pwm_counter_vals[4]) TC_SetRA(TC0, 2, pwm_counter_vals[4]); + if(pwm_counter_vals[5]) TC_SetRB(TC0, 2, pwm_counter_vals[5]); +} +void TC3_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC1, 0); + // update the counters + if(pwm_counter_vals[6]) TC_SetRA(TC1, 0, pwm_counter_vals[6]); + if(pwm_counter_vals[7]) TC_SetRB(TC1, 0, pwm_counter_vals[7]); +} + +void TC4_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC1, 1); + // update the counters + if(pwm_counter_vals[8]) TC_SetRA(TC1, 1, pwm_counter_vals[8]); + if(pwm_counter_vals[9]) TC_SetRB(TC1, 1, pwm_counter_vals[9]); +} + +void TC5_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC1, 2); + // update the counters + if(pwm_counter_vals[10]) TC_SetRA(TC1, 2, pwm_counter_vals[10]); + if(pwm_counter_vals[11]) TC_SetRB(TC1, 2, pwm_counter_vals[11]); +} +void TC6_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC2, 0); + // update the counters + if(pwm_counter_vals[12]) TC_SetRA(TC2, 0, pwm_counter_vals[12]); + if(pwm_counter_vals[13]) TC_SetRB(TC2, 0, pwm_counter_vals[13]); +} + +void TC7_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC2, 1); + // update the counters + if(pwm_counter_vals[14]) TC_SetRA(TC2, 1, pwm_counter_vals[14]); + if(pwm_counter_vals[15]) TC_SetRB(TC2, 1, pwm_counter_vals[15]); +} + +void TC8_Handler() +{ + // read/clear interrupt status + TC_GetStatus(TC2, 2); + // update the counters + if(pwm_counter_vals[16]) TC_SetRA(TC2, 2, pwm_counter_vals[16]); + if(pwm_counter_vals[17]) TC_SetRB(TC2, 2, pwm_counter_vals[17]); +} + + + + + +// implementation of the hardware_api.cpp +// --------------------------------------------------------------------------------------------------------------------------------- + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware specific +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 50khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + // save the pwm frequency + _pwm_frequency = pwm_frequency; + // cinfigure pwm pins + initPWM(pinA, _pwm_frequency); + initPWM(pinB, _pwm_frequency); + initPWM(pinC, _pwm_frequency); + // sync the timers if possible + syncTimers(pinA, pinB, pinC); + + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB, pinC }, + .pwm_frequency = pwm_frequency + }; + return params; +} + + + + +// Configuring PWM frequency, resolution and alignment +//- Stepper driver - 2PWM setting +// - hardware specific +void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) { + if(!pwm_frequency || !_isset(pwm_frequency)) pwm_frequency = _PWM_FREQUENCY; // default frequency 50khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + // save the pwm frequency + _pwm_frequency = pwm_frequency; + // cinfigure pwm pins + initPWM(pinA, _pwm_frequency); + initPWM(pinB, _pwm_frequency); + // sync the timers if possible + syncTimers(pinA, pinB); + + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB }, + .pwm_frequency = pwm_frequency + }; + return params; +} + + + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware speciffic +void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) { + if(!pwm_frequency || !_isset(pwm_frequency)) pwm_frequency = _PWM_FREQUENCY; // default frequency 50khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + // save the pwm frequency + _pwm_frequency = pwm_frequency; + // cinfigure pwm pins + initPWM(pinA, _pwm_frequency); + initPWM(pinB, _pwm_frequency); + initPWM(pinC, _pwm_frequency); + initPWM(pinD, _pwm_frequency); + // sync the timers if possible + syncTimers(pinA, pinB, pinC, pinD); + + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB, pinC, pinD }, + .pwm_frequency = pwm_frequency + }; + return params; +} + + + + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +// - hardware speciffic +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* param){ + // transform duty cycle from [0,1] to [0,_max_pwm_value] + GenericDriverParams* p = (GenericDriverParams*)param; + setPwm(p->pins[0], _max_pwm_value*dc_a); + setPwm(p->pins[1], _max_pwm_value*dc_b); + setPwm(p->pins[2], _max_pwm_value*dc_c); +} + + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware speciffic +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* param){ + // transform duty cycle from [0,1] to [0,_max_pwm_value] + GenericDriverParams* p = (GenericDriverParams*)param; + setPwm(p->pins[0], _max_pwm_value*dc_1a); + setPwm(p->pins[1], _max_pwm_value*dc_1b); + setPwm(p->pins[2], _max_pwm_value*dc_2a); + setPwm(p->pins[3], _max_pwm_value*dc_2b); +} + + + +// Function setting the duty cycle to the pwm pin (ex. analogWrite()) +// - Stepper driver - 2PWM setting +// - hardware specific +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* param){ + // transform duty cycle from [0,1] to [0,_max_pwm_value] + GenericDriverParams* p = (GenericDriverParams*)param; + setPwm(p->pins[0], _max_pwm_value*dc_a); + setPwm(p->pins[1], _max_pwm_value*dc_b); +} + + +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp new file mode 100644 index 00000000..a481c6ff --- /dev/null +++ b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp @@ -0,0 +1,508 @@ + +/* +* MCPWM in espressif v5.x has +* - 2x groups (units) +* each one has +* - 3 timers +* - 3 operators (that can be associated with any timer) +* which control a 2xPWM signals +* - 1x comparator + 1x generator per PWM signal + + +* Independent mode: +* ------------------ +* 6 PWM independent signals per unit +* unit(0/1) > timer(0-2) > operator(0-2) > comparator(0-1) > generator(0-1) > pwm(A/B) +* +* -------------------------------------- Table View ----------------------------- +* +* group | timer | operator | comparator | generator | pwm +* -------------------------------------------------------------------------------- +* 0-1 | 0-2 | 0 | 0 | 0 | A +* 0-1 | 0-2 | 0 | 1 | 1 | B +* 0-1 | 0-2 | 1 | 0 | 0 | A +* 0-1 | 0-2 | 1 | 1 | 1 | B +* 0-1 | 0-2 | 2 | 0 | 0 | A +* 0-1 | 0-2 | 2 | 1 | 1 | B +* +* ------------------------------------- Example 3PWM ------------------------------ +* ┌─ comparator 0 - generator 0 -> pwm A +* ┌─ operator 0 -| +* | └─ comparator 1 - generator 1 -> pmw B +* unit - timer 0-2 -| +* 0-1 └─ operator 1 - comparator 0 - generator 0 - pwm C +* +* ------------------------------------- Example 2PWM ------------------------------ +* ┌─ comparator 0 - generator 0 -> pwm A +* unit - timer 0-2 - operator 0 -| +* 0-1 └─ comparator 1 - generator 1 -> pmw B +* +* -------------------------------------- Example 4PWM ----------------------------- +* ┌─ comparator 0 - generator 0 -> pwm A +* ┌─ operator 0 -| +* | └─ comparator 1 - generator 1 -> pmw B +* unit - timer 0-2 -| +* 0-1 | ┌─ comparator 0 - generator 0 -> pwm C +* └─ operator 1 -| +* └─ comparator 0 - generator 0 -> pwm D + + +* Complementary mode +* ------------------ +* - : 3 pairs of complementary PWM signals per unit +* unit(0/1) > timer(0) > operator(0-2) > comparator(0-1) > generator(0-1) > pwm(high/low pair) +* +* -------------------------------------- Table View ----------------------------- +* +* group | timer | operator | comparator | generator | pwm +* ------------------------------------------------------------------------ +* 0-1 | 0 | 0 | 0 | 0 | A +* 0-1 | 0 | 0 | 1 | 1 | B +* 0-1 | 0 | 1 | 0 | 0 | A +* 0-1 | 0 | 1 | 1 | 1 | B +* 0-1 | 0 | 2 | 0 | 0 | A +* 0-1 | 0 | 2 | 1 | 1 | B +* +* -------------------------------------- Example 6PWM ----------------------------- +* +* ┌─ comparator 0 - generator 0 -> pwm A_h +* ┌─ operator 0 -| +* | └─ comparator 1 - generator 1 -> pmw A_l +* | +* unit | ┌─ comparator 0 - generator 0 -> pwm B_h +* (group) - timer 0 -|- operator 1 -| +* 0-1 | └─ comparator 1 - generator 1 -> pmw B_l +* | +* | ┌─ comparator 0 - generator 0 -> pwm C_h +* └─ operator 2 -| +* └─ comparator 1 - generator 1 -> pmw C_l +* + + +* More info +* ---------- +* - timers can be associated with any operator, and multiple operators can be associated with the same timer +* - comparators can be associated with any operator +* - two comparators per operator for independent mode +* - one comparator per operator for complementary mode +* - generators can be associated with any comparator +* - one generator per PWM signal for independent mode +* - two generators per pair of PWM signals for complementary mode (not used in simplefoc) +* - dead-time can be set for each generator pair in complementary mode +* +* Docs +* ------- +* More info here: https:*www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf#mcpwm +* and here: // https://docs.espressif.com/projects/esp-idf/en/v5.1.4/esp32/migration-guides/release-5.x/5.0/peripherals.html +*/ + +#include "../../hardware_api.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC) + +#include "esp32_driver_mcpwm.h" + +// MCPWM driver hardware timer pointers +mcpwm_timer_handle_t timers[2][3] = {NULL}; +// MCPWM timer periods configured (directly related to the pwm frequency) +uint32_t pwm_periods[2][3]; +// how many pins from the groups 6 pins is used +uint8_t group_pins_used[2] = {0}; +// last operator in the group +mcpwm_oper_handle_t last_operator[2]; + + + +// checking if group has pins available +bool _hasAvailablePins(int group, int no_pins){ + if(group_pins_used[group] + no_pins > 6){ + return false; + } + return true; +} + +// returns the index of the last timer in the group +// -1 if no timer instantiated yet +uint8_t _findLastTimer(int group){ + int i = 0; + for(; i<3; i++){ + if(timers[group][i] == NULL){ + return i-1; + } + } + // return the last index + return i; +} +// returns the index of the next timer to instantiate +// -1 if no timers available +uint8_t _findNextTimer(int group){ + int i = 0; + for(; i<3; i++){ + if(timers[group][i] == NULL){ + return i; + } + } + return -1; +} + +/* + * find the best group for the pins + * if 6pwm + * - Only option is an an empty group + * if 3pwm + * - Best is an empty group (we can set a pwm frequency) + * - Second best is a group with 4pwms (2 operators) available (we can set the pwm frequency -> new timer+new operator) + * - Third best option is any group which has 3pwms available (but uses previously defined pwm_frequency) + * if 1pwm + * - Best option is an empty group (we can set the pwm frequency) + * - Second best is a group with 2pwms (one operator) available (we can set the pwm frequency -> new timer+new operator) + * - Third best is a group with 1pwm available (but uses previously defined pwm_frequency ) + * if 2pwm + * - Best option is an empty group (we can set the pwm frequency) + * - Second best is a group with 2pwms available (we can set the pwm frequency -> new timer+new operator) + * - Third best is one pin per group (but uses previously defined pwm_frequency ) + * if 4pwm + * - best option is an empty group (we can set the pwm frequency) + * - second best is a group with 4pwms available (we can set the pwm frequency -> new timer + new operators) + * - third best is 2pwms per group (we can set the pwm frequency -> new timers + new operators) + * + * PROBLEM: Skipping/loosing channels happens in some cases when the group has already used some odd number of pwm channels (for example 3pwm or 1pwm) + * For example if the group has already used 3pwms, there is one generator that has one pwm channel left. + * If we use this channel we have to use the same timer it has been used with before, so we cannot change the pwm frequency. + * Current implementation does use the remaining channel only if there isn't other options that would allow changing the pwm frequency. + * In this example where we have 3pwms already configured, if we try to configure 2pws after, we will skip the remaining channel + * and use a new timer and operator to allow changing the pwm frequency. In such cases we loose (cannot be used) the remaining channel. + * TODO: use the pwm_frequency to avoid skipping pwm channels ! + * + * returns + * - 1 if solution found in one group + * - 2 if solution requires using both groups + * - 0 if no solution possible +*/ +int _findBestGroup(int no_pins, long pwm_freq, int* group, int* timer){ + // an empty group is always the best option + for(int i=0; i<2; i++){ + if(!group_pins_used[i]){ + *group = i; + *timer=0; // use the first timer in an empty group + return 1; + } + } + + // if 3 or 1pwm + // check if there is available space in one of the groups + // otherwise fail + if(no_pins == 3 || no_pins==1){ + // second best option is if there is a group with + // pair number of pwms available as we can then + // set the pwm frequency + for(int i=0; i<2; i++){ + if(_hasAvailablePins(i, no_pins+1)) { + *group=i; + *timer = _findNextTimer(i); + return 1; + } + } + // third best option is any group that has enough pins + for(int i=0; i<2; i++){ + if(_hasAvailablePins(i, no_pins)) { + *group=i; + *timer = _findLastTimer(i); + return 1; + } + } + } + + // if 2 or 4 pwm + // check if there is available space in one of the groups + // if not check if they can be separated in two groups + if(no_pins == 2 || no_pins==4){ + // second best option is any group that has enough pins + for(int i=0; i<2; i++){ + if(_hasAvailablePins(i, no_pins)) { + *group=i; + *timer = _findNextTimer(i); + return 1; + } + } + // third best option is half pwms per group + int half_no_pins = (int)no_pins/2; + if(_hasAvailablePins(0,half_no_pins) && _hasAvailablePins(1 ,half_no_pins)){ + return 2; + } + } + + // otherwise fail + return 0; +} + + +// configuring center aligned pwm +// More info here: https://docs.espressif.com/projects/esp-idf/en/v5.1.4/esp32/api-reference/peripherals/mcpwm.html#symmetric-dual-edge-active-low +int _configureCenterAlign(mcpwm_gen_handle_t gena, mcpwm_cmpr_handle_t cmpa, bool inverted = false){ + if(inverted) + return mcpwm_generator_set_actions_on_compare_event(gena, + MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_HIGH), + MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_LOW), + MCPWM_GEN_COMPARE_EVENT_ACTION_END()); + else + return mcpwm_generator_set_actions_on_compare_event(gena, + MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, cmpa, MCPWM_GEN_ACTION_LOW), + MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, cmpa, MCPWM_GEN_ACTION_HIGH), + MCPWM_GEN_COMPARE_EVENT_ACTION_END()); +} + + + +// Helper function calculating the pwm period from the pwm frequency +// - pwm_frequency - pwm frequency in hertz +// returns pwm period in ticks (uint32_t) +uint32_t _calcPWMPeriod(long pwm_frequency) { + return (uint32_t)(1 * _PWM_TIMEBASE_RESOLUTION_HZ / pwm_frequency); +} +/* + Helper function calculating the pwm frequency from the pwm period + - pwm_period - pwm period in ticks + returns pwm frequency in hertz (long) +*/ +long _calcPWMFreq(long pwm_period) { + return (uint32_t)(1 * _PWM_TIMEBASE_RESOLUTION_HZ / pwm_period / 2); +} + +void* _configure6PWMPinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no, float dead_zone, int* pins){ + ESP32MCPWMDriverParams* params = new ESP32MCPWMDriverParams{ + .pwm_frequency = pwm_frequency, + .group_id = mcpwm_group + }; + + mcpwm_timer_config_t pwm_config; + pwm_config.group_id = mcpwm_group; + pwm_config.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT; + pwm_config.resolution_hz = _PWM_TIMEBASE_RESOLUTION_HZ; + pwm_config.count_mode = MCPWM_TIMER_COUNT_MODE_UP_DOWN; + pwm_config.intr_priority = 0; + pwm_config.period_ticks = _calcPWMPeriod(pwm_frequency); + + CHECK_ERR(mcpwm_new_timer(&pwm_config, &timers[mcpwm_group][timer_no]), "Could not initialize the timer in group: " + String(mcpwm_group)); + pwm_periods[mcpwm_group][timer_no] = pwm_config.period_ticks / 2; + params->timers[0] = timers[mcpwm_group][timer_no]; + params->mcpwm_period = pwm_periods[mcpwm_group][timer_no]; + + uint8_t no_operators = 3; // use 3 comparators one per pair of pwms + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_operators) + " operators."); + mcpwm_operator_config_t operator_config = { .group_id = mcpwm_group }; + operator_config.intr_priority = 0; + operator_config.flags.update_gen_action_on_tep = true; + operator_config.flags.update_gen_action_on_tez = true; + for (int i = 0; i < no_operators; i++) { + CHECK_ERR(mcpwm_new_operator(&operator_config, ¶ms->oper[i]),"Could not create operator "+String(i)); + CHECK_ERR(mcpwm_operator_connect_timer(params->oper[i], params->timers[0]),"Could not connect timer to operator: " + String(i)); + } + +#if SIMPLEFOC_ESP32_HW_DEADTIME == true // hardware dead-time (hardware 6pwm) + + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 6PWM with hardware dead-time"); + + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_operators) + " comparators."); + // Create and configure comparators + mcpwm_comparator_config_t comparator_config = {0}; + comparator_config.flags.update_cmp_on_tez = true; + for (int i = 0; i < no_operators; i++) { + CHECK_ERR(mcpwm_new_comparator(params->oper[i], &comparator_config, ¶ms->comparator[i]),"Could not create comparator: " + String(i)); + CHECK_ERR(mcpwm_comparator_set_compare_value(params->comparator[i], (0)), "Could not set duty on comparator: " + String(i)); + } + +#else // software dead-time (software 6pwm) +// software dead-time (software 6pwm) + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 6PWM with software dead-time"); + + int no_pins = 6; + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_pins) + " comparators."); + // Create and configure comparators + mcpwm_comparator_config_t comparator_config = {0}; + comparator_config.flags.update_cmp_on_tez = true; + for (int i = 0; i < no_pins; i++) { + int oper_index = (int)floor(i / 2); + CHECK_ERR(mcpwm_new_comparator(params->oper[oper_index], &comparator_config, ¶ms->comparator[i]),"Could not create comparator: " + String(i)); + CHECK_ERR(mcpwm_comparator_set_compare_value(params->comparator[i], (0)), "Could not set duty on comparator: " + String(i)); + } +#endif + + int no_generators = 6; // one per pwm + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_generators) + " generators."); + // Create and configure generators + mcpwm_generator_config_t generator_config = {}; + for (int i = 0; i < no_generators; i++) { + generator_config.gen_gpio_num = pins[i]; + int oper_index = (int)floor(i / 2); + CHECK_ERR(mcpwm_new_generator(params->oper[oper_index], &generator_config, ¶ms->generator[i]),"Could not create generator " + String(i) +String(" on pin: ")+String(pins[i])); + } + + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring Center-Aligned 6 pwm."); + +#if SIMPLEFOC_ESP32_HW_DEADTIME == true // hardware dead-time (hardware 6pwm) + for (int i = 0; i < no_operators; i++) { + CHECK_ERR(_configureCenterAlign(params->generator[2*i],params->comparator[i]), "Failed to configure high-side center align pwm: " + String(2*i)); + CHECK_ERR(_configureCenterAlign(params->generator[2*i+1],params->comparator[i]), "Failed to configure low-side center align pwm: " + String(2*i+1)); + + } + // only available for 6pwm + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring dead-time."); + uint32_t dead_time = (int)pwm_periods[mcpwm_group][timer_no] * dead_zone; + mcpwm_dead_time_config_t dt_config_high; + dt_config_high.posedge_delay_ticks = dead_time; + dt_config_high.negedge_delay_ticks = 0; + dt_config_high.flags.invert_output = !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH; + mcpwm_dead_time_config_t dt_config_low; + dt_config_low.posedge_delay_ticks = 0; + dt_config_low.negedge_delay_ticks = dead_time; + dt_config_low.flags.invert_output = SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH; + for (int i = 0; i < no_operators; i++) { + CHECK_ERR(mcpwm_generator_set_dead_time(params->generator[2*i], params->generator[2*i], &dt_config_high),"Could not set dead time for generator: " + String(i)); + CHECK_ERR(mcpwm_generator_set_dead_time(params->generator[2*i+1], params->generator[2*i+1], &dt_config_low),"Could not set dead time for generator: " + String(i+1)); + } +#else // software dead-time (software 6pwm) + for (int i = 0; i < 3; i++) { + CHECK_ERR(_configureCenterAlign(params->generator[2*i],params->comparator[2*i], !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH), "Failed to configure high-side center align pwm: " + String(2*i)); + CHECK_ERR(_configureCenterAlign(params->generator[2*i+1],params->comparator[2*i+1], SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH) , "Failed to configure low-side center align pwm: " + String(2*i+1)); + } +#endif + + SIMPLEFOC_ESP32_DRV_DEBUG("Enabling timer: "+String(timer_no)); + // Enable and start timer + CHECK_ERR(mcpwm_timer_enable(params->timers[0]), "Failed to enable timer!"); + CHECK_ERR(mcpwm_timer_start_stop(params->timers[0], MCPWM_TIMER_START_NO_STOP), "Failed to start the timer!"); + + _delay(1); + SIMPLEFOC_ESP32_DRV_DEBUG("MCPWM configured!"); + params->dead_zone = dead_zone; + // save the configuration variables for later + group_pins_used[mcpwm_group] = 6; + return params; +} + + +/* + function configuring the pins for the mcpwm + - pwm_frequency - pwm frequency + - mcpwm_group - mcpwm group + - timer_no - timer number + - no_pins - number of pins + - pins - array of pins + - dead_zone - dead zone + + returns the driver parameters +*/ +void* _configurePinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no, int no_pins, int* pins){ + + ESP32MCPWMDriverParams* params = new ESP32MCPWMDriverParams{ + .pwm_frequency = pwm_frequency, + .group_id = mcpwm_group + }; + + bool shared_timer = false; + // check if timer is configured + if (timers[mcpwm_group][timer_no] == NULL){ + mcpwm_timer_config_t pwm_config; + pwm_config.group_id = mcpwm_group; + pwm_config.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT; + pwm_config.resolution_hz = _PWM_TIMEBASE_RESOLUTION_HZ; + pwm_config.count_mode = MCPWM_TIMER_COUNT_MODE_UP_DOWN; + pwm_config.intr_priority = 0; + pwm_config.period_ticks = _calcPWMPeriod(pwm_frequency); + // initialise the timer + CHECK_ERR(mcpwm_new_timer(&pwm_config, &timers[mcpwm_group][timer_no]), "Could not initialize the timer in group: " + String(mcpwm_group)); + // save variables for later + pwm_periods[mcpwm_group][timer_no] = pwm_config.period_ticks / 2; + params->timers[0] = timers[mcpwm_group][timer_no]; + // if the numer of used channels it not pair skip one channel + // the skipped channel cannot be used with the new timer + // TODO avoid loosing channels like this + if(group_pins_used[mcpwm_group] %2) group_pins_used[mcpwm_group]++; + }else{ + // we will use an already instantiated timer + params->timers[0] = timers[mcpwm_group][timer_no]; + SIMPLEFOC_ESP32_DRV_DEBUG("Using previously configured timer: " + String(timer_no)); + // but we cannot change its configuration without affecting the other drivers + // so let's first verify that the configuration is the same + if(_calcPWMPeriod(pwm_frequency)/2 != pwm_periods[mcpwm_group][timer_no]){ + SIMPLEFOC_ESP32_DRV_DEBUG("ERR: Timer: "+String(timer_no)+" is confgured for freq: "+String(_calcPWMFreq(pwm_periods[mcpwm_group][timer_no]))+", not for freq:" +String(pwm_frequency)); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + CHECK_ERR(mcpwm_timer_start_stop( params->timers[0], MCPWM_TIMER_STOP_EMPTY), "Failed to stop the timer!"); + + shared_timer = true; + } + + uint8_t no_operators = ceil(no_pins / 2.0); + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_operators) + " operators."); + mcpwm_operator_config_t operator_config = { .group_id = mcpwm_group }; + operator_config.intr_priority = 0; + operator_config.flags.update_gen_action_on_tep = true; + operator_config.flags.update_gen_action_on_tez = true; + for (int i = 0; i < no_operators; i++) { + if (shared_timer && i == 0) { // first operator already configured + params->oper[0] = last_operator[mcpwm_group]; + continue; + } + CHECK_ERR(mcpwm_new_operator(&operator_config, ¶ms->oper[i]),"Could not create operator "+String(i)); + CHECK_ERR(mcpwm_operator_connect_timer(params->oper[i], params->timers[0]),"Could not connect timer to operator: " + String(i)); + } + // save the last operator in this group + last_operator[mcpwm_group] = params->oper[no_operators - 1]; + + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_pins) + " comparators."); + // Create and configure comparators + mcpwm_comparator_config_t comparator_config = {0}; + comparator_config.flags.update_cmp_on_tez = true; + for (int i = 0; i < no_pins; i++) { + int oper_index = shared_timer ? (int)floor((i + 1) / 2) : (int)floor(i / 2); + CHECK_ERR(mcpwm_new_comparator(params->oper[oper_index], &comparator_config, ¶ms->comparator[i]),"Could not create comparator: " + String(i)); + CHECK_ERR(mcpwm_comparator_set_compare_value(params->comparator[i], (0)), "Could not set duty on comparator: " + String(i)); + } + + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_pins) + " generators."); + // Create and configure generators; + mcpwm_generator_config_t generator_config = {}; + for (int i = 0; i < no_pins; i++) { + generator_config.gen_gpio_num = pins[i]; + int oper_index = shared_timer ? (int)floor((i + 1) / 2) : (int)floor(i / 2); + CHECK_ERR(mcpwm_new_generator(params->oper[oper_index], &generator_config, ¶ms->generator[i]), "Could not create generator " + String(i) +String(" on pin: ")+String(pins[i])); + } + + + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring center-aligned pwm."); + for (int i = 0; i < no_pins; i++) { + CHECK_ERR(_configureCenterAlign(params->generator[i],params->comparator[i], !SIMPLEFOC_PWM_ACTIVE_HIGH), "Failed to configure center align pwm: " + String(i)); + } + + SIMPLEFOC_ESP32_DRV_DEBUG("Enabling timer: "+String(timer_no)); + // Enable and start timer if not shared + if (!shared_timer) CHECK_ERR(mcpwm_timer_enable(params->timers[0]), "Failed to enable timer!"); + // start the timer + CHECK_ERR(mcpwm_timer_start_stop(params->timers[0], MCPWM_TIMER_START_NO_STOP), "Failed to start the timer!"); + + _delay(1); + SIMPLEFOC_ESP32_DRV_DEBUG("MCPWM configured!"); + // save the configuration variables for later + params->mcpwm_period = pwm_periods[mcpwm_group][timer_no]; + group_pins_used[mcpwm_group] += no_pins; + return params; +} + +// function setting the duty cycle to the MCPWM pin +void _setDutyCycle(mcpwm_cmpr_handle_t cmpr, uint32_t mcpwm_period, float duty_cycle){ + float duty = _constrain(duty_cycle, 0.0, 1.0); + mcpwm_comparator_set_compare_value(cmpr, (uint32_t)(mcpwm_period*duty)); +} + +// function setting the duty cycle to the MCPWM pin +void _forcePhaseState(mcpwm_gen_handle_t generator_high, mcpwm_gen_handle_t generator_low, PhaseState phase_state){ + // phase state is forced in hardware pwm mode + // esp-idf docs: https://docs.espressif.com/projects/esp-idf/en/v5.1.4/esp32/api-reference/peripherals/mcpwm.html#generator-force-actions + // github issue: https://github.com/espressif/esp-idf/issues/12237 + mcpwm_generator_set_force_level(generator_high, (phase_state == PHASE_ON || phase_state == PHASE_HI) ? -1 : 0, true); + mcpwm_generator_set_force_level(generator_low, (phase_state == PHASE_ON || phase_state == PHASE_LO) ? -1 : 1, true); +} + +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h new file mode 100644 index 00000000..5726e906 --- /dev/null +++ b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.h @@ -0,0 +1,158 @@ +#ifndef ESP32_DRIVER_MCPWM_H +#define ESP32_DRIVER_MCPWM_H + +#include "../../hardware_api.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC) + +#include "driver/mcpwm_prelude.h" +#include "soc/mcpwm_reg.h" +#include "soc/mcpwm_struct.h" +#include "esp_idf_version.h" + +// version check - this mcpwm driver is specific for ESP-IDF 5.x and arduino-esp32 3.x +#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0) +#error SimpleFOC: ESP-IDF version 4 or lower detected. Please update to ESP-IDF 5.x and Arduino-esp32 3.0 (or higher) +#endif + +#ifndef SIMPLEFOC_ESP32_HW_DEADTIME + #define SIMPLEFOC_ESP32_HW_DEADTIME true // TODO: Change to false when sw-deadtime & phase_state is approved ready for general use. +#endif + +//!< ESP32 MCPWM driver parameters +typedef struct ESP32MCPWMDriverParams { + long pwm_frequency; //!< frequency of the pwm signal + int group_id; //!< group of the mcpwm + mcpwm_timer_handle_t timers[2]; //!< timers of the mcpwm + mcpwm_oper_handle_t oper[3]; //!< operators of the mcpwm + mcpwm_cmpr_handle_t comparator[6]; //!< comparators of the mcpwm + mcpwm_gen_handle_t generator[6]; //!< generators of the mcpwm + uint32_t mcpwm_period; //!< period of the pwm signal + float dead_zone; //!< dead zone of the pwm signal +} ESP32MCPWMDriverParams; + + +#define SIMPLEFOC_ESP32_DEBUG(tag, str)\ + SimpleFOCDebug::println( "ESP32-"+String(tag)+ ": "+ String(str)); + +#define SIMPLEFOC_ESP32_DRV_DEBUG(str)\ + SIMPLEFOC_ESP32_DEBUG("DRV", str);\ + +// macro for checking the error of the mcpwm functions +// if the function returns an error the function will return SIMPLEFOC_DRIVER_INIT_FAILED +#define CHECK_ERR(func_call, message) \ + if ((func_call) != ESP_OK) { \ + SIMPLEFOC_ESP32_DRV_DEBUG("ERROR - " + String(message)); \ + return SIMPLEFOC_DRIVER_INIT_FAILED; \ + } + + +// ABI bus frequency - would be better to take it from somewhere +// but I did nto find a good exposed variable +#define _MCPWM_FREQ 160e6f +#define _PWM_TIMEBASE_RESOLUTION_HZ (_MCPWM_FREQ) /*!< Resolution of MCPWM */ +// pwm frequency settings +#define _PWM_FREQUENCY 25000 // 25khz +#define _PWM_FREQUENCY_MAX 50000 // 50kHz + + +// low-level configuration API + +/** + * checking if group has pins available + * @param group - group of the mcpwm + * @param no_pins - number of pins + * @returns true if pins are available, false otherwise + */ +bool _hasAvailablePins(int group, int no_pins); +/** + * function finding the last timer in the group + * @param group - group of the mcpwm + * @returns index of the last timer in the group + * -1 if no timer instantiated yet + */ +uint8_t _findLastTimer(int group); + +/** + * function finding the next timer in the group + * @param group - group of the mcpwm + * @returns index of the next timer in the group + * -1 if all timers are used + */ +uint8_t _findNextTimer(int group); + + +/** + * function finding the best group and timer for the pwm signals + * + * @param no_pins - number of pins + * @param pwm_freq - frequency of the pwm signal + * @param group - pointer to the group + * @param timer - pointer to the timer + * @returns + * 1 if solution found in one group + * 2 if solution requires using both groups + * 0 if no solution possible + */ +int _findBestGroup(int no_pins, long pwm_freq, int* group, int* timer); + + +/** + * function configuring the center alignement and inversion of a pwm signal + * @param gena - mcpwm generator handle + * @param cmpa - mcpwm comparator handle + * @param inverted - true if the signal is inverted, false otherwise + */ +int _configureCenterAlign(mcpwm_gen_handle_t gena, mcpwm_cmpr_handle_t cmpa, bool inverted); + +/** + * function calculating the pwm period + * @param pwm_frequency - frequency of the pwm signal + * @return uint32_t - period of the pwm signal + */ +uint32_t _calcPWMPeriod(long pwm_frequency); +/** + * function calculating the pwm frequency + * @param pwm_period - period of the pwm signal + * @return long - frequency of the pwm signal + */ +long _calcPWMFreq(long pwm_period); + +/** + * function configuring the MCPWM for 6pwm + * @param pwm_frequency - frequency of the pwm signal + * @param mcpwm_group - group of the mcpwm + * @param timer_no - timer number + * @param dead_zone - dead zone of the pwm signal + * @param pins - array of pins + * @return ESP32MCPWMDriverParams* - pointer to the driver parameters if successful, -1 if failed + */ +void* _configure6PWMPinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no, float dead_zone, int* pins); +/** + * function configuring the MCPWM for pwm generation + * @param pwm_frequency - frequency of the pwm signal + * @param mcpwm_group - group of the mcpwm + * @param timer_no - timer number + * @param no_pins - number of pins + * @param pins - array of pins + * @return ESP32MCPWMDriverParams* - pointer to the driver parameters if successful, -1 if failed + */ +void* _configurePinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no, int no_pins, int* pins); +/** + * function setting the duty cycle to the MCPWM channel + * @param cmpr - mcpwm channel handle + * @param mcpwm_period - period of the pwm signal + * @param duty_cycle - duty cycle of the pwm signal + */ +void _setDutyCycle(mcpwm_cmpr_handle_t cmpr, uint32_t mcpwm_period, float duty_cycle); + +/** + * function setting the phase state + * @param generator_high - mcpwm generator handle for the high side + * @param generator_low - mcpwm generator handle for the low side + * @param phase_state - phase state + */ +void _forcePhaseState(mcpwm_gen_handle_t generator_high, mcpwm_gen_handle_t generator_low, PhaseState phase_state); + +#endif +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp b/src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp new file mode 100644 index 00000000..c5ba1c78 --- /dev/null +++ b/src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp @@ -0,0 +1,405 @@ +#include "../../hardware_api.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && ( !defined(SOC_MCPWM_SUPPORTED) || defined(SIMPLEFOC_ESP32_USELEDC) ) + +#pragma message("") +#pragma message("SimpleFOC: compiling for ESP32 LEDC driver") +#pragma message("") + +#include "driver/ledc.h" +#include "esp_idf_version.h" + + +// version check - this ledc driver is specific for ESP-IDF 5.x and arduino-esp32 3.x +#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0) +#error SimpleFOC: ESP-IDF version 4 or lower detected. Please update to ESP-IDF 5.x and Arduino-esp32 3.0 (or higher) +#endif + +#define _PWM_FREQUENCY 25000 // 25khz +#define _PWM_FREQUENCY_MAX 38000 // 38khz max to be able to have 10 bit pwm resolution +#define _PWM_RES_BIT 10 // 10 bir resolution +#define _PWM_RES 1023 // 2^10-1 = 1024-1 + + +// figure out how many ledc channels are available +// esp32 - 2x8=16 +// esp32s2 - 8 +// esp32c3 - 6 +#include "soc/soc_caps.h" +#ifdef SOC_LEDC_SUPPORT_HS_MODE +#define LEDC_CHANNELS (SOC_LEDC_CHANNEL_NUM<<1) +#else +#define LEDC_CHANNELS (SOC_LEDC_CHANNEL_NUM) +#endif + +#define LEDC_CHANNELS_GROUP0 (LEDC_CHANNELS < 8 ? LEDC_CHANNELS : 8) +#define LEDC_CHANNELS_GROUP1 (LEDC_CHANNELS < 8 ? 0 : LEDC_CHANNELS - 8) + + +// currently used ledc channels +// support for multiple motors +// esp32 has 16 channels +// esp32s2 has 8 channels +// esp32c3 has 6 channels +// channels from 0-7 are in group 0 and 8-15 in group 1 +// - only esp32 as of mid 2024 has the second group, all the s versions don't +int group_channels_used[2] = {0}; + + +typedef struct ESP32LEDCDriverParams { + ledc_channel_t channels[6]; + ledc_mode_t groups[6]; + long pwm_frequency; + float dead_zone; +} ESP32LEDCDriverParams; + + +/* + Function to attach a channel to a pin with advanced settings + - freq - pwm frequency + - resolution - pwm resolution + - channel - ledc channel + - inverted - output inverted + - group - ledc group + + This function is a workaround for the ledcAttachPin function that is not available in the ESP32 Arduino core, in which the + PWM signals are synchronized in pairs, while the simplefoc requires a bit more flexible configuration. + This function sets also allows configuring a channel as inverted, which is not possible with the ledcAttachPin function. + + Function returns true if the channel was successfully attached, false otherwise. +*/ +bool _ledcAttachChannelAdvanced(uint8_t pin, int _channel, int _group, uint32_t freq, uint8_t resolution, bool inverted) { + + + ledc_channel_t channel = static_cast(_channel); + ledc_mode_t group = static_cast(_group); + + ledc_timer_bit_t res = static_cast(resolution); + ledc_timer_config_t ledc_timer; + memset(&ledc_timer, 0, sizeof(ledc_timer)); + ledc_timer.speed_mode = group; + ledc_timer.timer_num = LEDC_TIMER_0; + ledc_timer.duty_resolution = res; + ledc_timer.freq_hz = freq; + ledc_timer.clk_cfg = LEDC_AUTO_CLK; + if (ledc_timer_config(&ledc_timer) != ESP_OK) { + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure the timer:", LEDC_TIMER_0); + return false; + } + + // if active high is false invert + int pin_high_level = SIMPLEFOC_PWM_ACTIVE_HIGH ? 0 : 1; + if (inverted) pin_high_level = !pin_high_level; + + uint32_t duty = ledc_get_duty(group, channel); + ledc_channel_config_t ledc_channel; + ledc_channel.speed_mode = group; + ledc_channel.channel = channel; + ledc_channel.timer_sel = LEDC_TIMER_0; + ledc_channel.intr_type = LEDC_INTR_DISABLE; + ledc_channel.gpio_num = pin; + ledc_channel.duty = duty; + ledc_channel.hpoint = 0; + ledc_channel.flags.output_invert = pin_high_level; // 0 is active high, 1 is active low + if (ledc_channel_config(&ledc_channel)!= ESP_OK) { + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to attach channel:", _channel); + return false; + } + + return true; +} + + +// returns the number of available channels in the group +int _availableGroupChannels(int group){ + if(group == 0) return LEDC_CHANNELS_GROUP0 - group_channels_used[0]; + else if(group == 1) return LEDC_CHANNELS_GROUP1 - group_channels_used[1]; + return 0; +} + +// returns the number of the group that has enough channels available +// returns -1 if no group has enough channels +// +// NOT IMPLEMENTED BUT COULD BE USEFUL +// returns 2 if no group has enough channels but combined they do +int _findGroupWithChannelsAvailable(int no_channels){ + if(no_channels <= _availableGroupChannels(0)) return 0; + if(no_channels <= _availableGroupChannels(1)) return 1; + return -1; +} + + +void* _configure1PWM(long pwm_frequency, const int pinA) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + SIMPLEFOC_DEBUG("EP32-DRV: Configuring 1PWM"); + // check if enough channels available + int group = _findGroupWithChannelsAvailable(1); + if (group < 0){ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Not enough channels available!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + SIMPLEFOC_DEBUG("EP32-DRV: 1PWM setup in group: ", (group)); + + // configure the channel + group_channels_used[group] += 1; + if(!_ledcAttachChannelAdvanced(pinA, group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, false)){ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pinA); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + + + ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams { + .channels = { static_cast(group_channels_used[group]) }, + .groups = { (ledc_mode_t)group }, + .pwm_frequency = pwm_frequency + }; + SIMPLEFOC_DEBUG("EP32-DRV: 1PWM setup successful in group: ", (group)); + return params; +} + + + + + + + + +void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + SIMPLEFOC_DEBUG("EP32-DRV: Configuring 2PWM"); + + // check if enough channels available + int group = _findGroupWithChannelsAvailable(2); + if (group < 0) { + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Not enough channels available!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + SIMPLEFOC_DEBUG("EP32-DRV: 2PWM setup in group: ", (group)); + + ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams { + .channels = { static_cast(0)}, + .groups = { (ledc_mode_t)0 }, + .pwm_frequency = pwm_frequency + }; + + int pins[2] = {pinA, pinB}; + for(int i = 0; i < 2; i++){ + group_channels_used[group]++; + if(!_ledcAttachChannelAdvanced(pins[i], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, false)){ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pins[i]); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + + params->channels[i] = static_cast(group_channels_used[group]); + params->groups[i] = (ledc_mode_t)group; + } + SIMPLEFOC_DEBUG("EP32-DRV: 2PWM setup successful in group: ", (group)); + return params; +} + + + +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + SIMPLEFOC_DEBUG("EP32-DRV: Configuring 3PWM"); + + // check if enough channels available + int group = _findGroupWithChannelsAvailable(3); + if (group < 0) { + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Not enough channels available!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + SIMPLEFOC_DEBUG("EP32-DRV: 3PWM setup in group: ", (group)); + + ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams { + .channels = { static_cast(0)}, + .groups = { (ledc_mode_t)0 }, + .pwm_frequency = pwm_frequency + }; + + int pins[3] = {pinA, pinB, pinC}; + for(int i = 0; i < 3; i++){ + group_channels_used[group]++; + if(!_ledcAttachChannelAdvanced(pins[i], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, false)){ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pins[i]); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + + params->channels[i] = static_cast(group_channels_used[group]); + params->groups[i] = (ledc_mode_t)group; + } + SIMPLEFOC_DEBUG("EP32-DRV: 3PWM setup successful in group: ", (group)); + return params; +} + + + +void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + + ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams { + .channels = { static_cast(0)}, + .groups = { (ledc_mode_t)0 }, + .pwm_frequency = pwm_frequency + }; + + SIMPLEFOC_DEBUG("EP32-DRV: Configuring 4PWM"); + // check if enough channels available + int group = _findGroupWithChannelsAvailable(4); + if (group < 0){ + // not enough channels available on any individual group + // check if their combined number is enough (two channels per group) + if(_availableGroupChannels(0) >=2 && _availableGroupChannels(1) >=2){ + group = 2; + SIMPLEFOC_DEBUG("EP32-DRV: WARNING: Not enough available ledc channels for 4pwm in a single group! Using two groups!"); + SIMPLEFOC_DEBUG("EP32-DRV: 4PWM setup in groups: 0 and 1!"); + params->groups[2] = (ledc_mode_t)1; + params->groups[3] = (ledc_mode_t)1; + }else{ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Not enough available ledc channels for 4pwm!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + }else{ + SIMPLEFOC_DEBUG("EP32-DRV: 4PWM setup in group: ", (group)); + params->groups[0] = (ledc_mode_t)group; + params->groups[1] = (ledc_mode_t)group; + params->groups[2] = (ledc_mode_t)group; + params->groups[3] = (ledc_mode_t)group; + } + + + + int pins[4] = {pinA, pinB, pinC, pinD}; + for(int i = 0; i < 4; i++){ + group_channels_used[params->groups[i]]++; + if(!_ledcAttachChannelAdvanced(pins[i], group_channels_used[params->groups[i]], params->groups[i], pwm_frequency, _PWM_RES_BIT, false)){ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pins[i]); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + params->channels[i] = static_cast(group_channels_used[params->groups[i]]); + } + SIMPLEFOC_DEBUG("EP32-DRV: 4PWM setup successful!"); + return params; +} + + +void _writeDutyCycle(float dc, void* params, int index){ + ledc_set_duty_with_hpoint(((ESP32LEDCDriverParams*)params)->groups[index],((ESP32LEDCDriverParams*)params)->channels[index], _PWM_RES*dc, _PWM_RES/2.0*(1.0-dc)); + ledc_update_duty(((ESP32LEDCDriverParams*)params)->groups[index],((ESP32LEDCDriverParams*)params)->channels[index]); +} + +void _writeDutyCycle1PWM(float dc_a, void* params){ + _writeDutyCycle(dc_a, params, 0); +} + + + +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + _writeDutyCycle(dc_a, params, 0); + _writeDutyCycle(dc_b, params, 1); +} + + + +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + _writeDutyCycle(dc_a, params, 0); + _writeDutyCycle(dc_b, params, 1); + _writeDutyCycle(dc_c, params, 2); +} + + + +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + _writeDutyCycle(dc_1a, params, 0); + _writeDutyCycle(dc_1b, params, 1); + _writeDutyCycle(dc_2a, params, 2); + _writeDutyCycle(dc_2b, params, 3); +} + + +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){ + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + SIMPLEFOC_DEBUG("EP32-DRV: Configuring 6PWM"); + SIMPLEFOC_DEBUG("EP32-DRV: WARNING - 6PWM on LEDC is poorly supported and not tested, consider using MCPWM driver instead!"); + // check if enough channels available + int group = _findGroupWithChannelsAvailable(6); + if (group < 0){ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Not enough channels available!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + SIMPLEFOC_DEBUG("EP32-DRV: 6PWM setup in group: ", (group)); + ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams { + .channels = { static_cast(0)}, + .groups = { (ledc_mode_t)group }, + .pwm_frequency = pwm_frequency, + .dead_zone = dead_zone + }; + + int high_side_invert = SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH ? false : true; + int low_side_invert = SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH ? true : false; + + int pin_pairs[6][2] = { + {pinA_h, pinA_l}, + {pinB_h, pinB_l}, + {pinC_h, pinC_l} + }; + + for(int i = 0; i < 3; i++){ + group_channels_used[group]++; + if(!_ledcAttachChannelAdvanced(pin_pairs[i][0], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, high_side_invert)){ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pin_pairs[i][0]); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + + params->channels[2*i] = static_cast(group_channels_used[group]); + params->groups[2*i] = (ledc_mode_t)group; + + group_channels_used[group]++; + if(!_ledcAttachChannelAdvanced(pin_pairs[i][1], group_channels_used[group], group, pwm_frequency, _PWM_RES_BIT, low_side_invert)){ + SIMPLEFOC_DEBUG("EP32-DRV: ERROR - Failed to configure pin:", pin_pairs[i][0]); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + + params->channels[2*i+1] = static_cast(group_channels_used[group]); + params->groups[2*i+1] = (ledc_mode_t)group; + } + + SIMPLEFOC_DEBUG("EP32-DRV: 6PWM setup successful in group: ", (group)); + return params; +} + +void _setPwmPairDutyCycle( void* params, int ind_h, int ind_l, float val, float dead_time, PhaseState ps){ + float pwm_h = _constrain(val - dead_time/2.0, 0, 1.0); + float pwm_l = _constrain(val + dead_time/2.0, 0, 1.0); + + // determine the phase state and set the pwm accordingly + // deactivate phases if needed + if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_LO)){ + _writeDutyCycle(0, params, ind_h); + }else{ + _writeDutyCycle(pwm_h, params, ind_h); + } + if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_HI)){ + _writeDutyCycle(0, params, ind_l); + }else{ + _writeDutyCycle(pwm_l, params, ind_l); + } +} + +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + _setPwmPairDutyCycle(params, 0, 1, dc_a, ((ESP32LEDCDriverParams*)params)->dead_zone, phase_state[0]); + _setPwmPairDutyCycle(params, 2, 3, dc_b, ((ESP32LEDCDriverParams*)params)->dead_zone, phase_state[1]); + _setPwmPairDutyCycle(params, 4, 5, dc_c, ((ESP32LEDCDriverParams*)params)->dead_zone, phase_state[2]); +} + +#endif diff --git a/src/drivers/hardware_specific/esp32/esp32_mcpwm_mcu.cpp b/src/drivers/hardware_specific/esp32/esp32_mcpwm_mcu.cpp new file mode 100644 index 00000000..e2c621c5 --- /dev/null +++ b/src/drivers/hardware_specific/esp32/esp32_mcpwm_mcu.cpp @@ -0,0 +1,226 @@ +#include "esp32_driver_mcpwm.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC) + +#pragma message("") +#pragma message("SimpleFOC: compiling for ESP32 MCPWM driver") +#pragma message("") + +// function setting the high pwm frequency to the supplied pins +// - DC motor - 1PWM setting +// - hardware specific +void* _configure1PWM(long pwm_frequency, const int pinA) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25hz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 40kHz max + + int group, timer; + if(!_findBestGroup(1, pwm_frequency, &group, &timer)) { + SIMPLEFOC_ESP32_DRV_DEBUG("Not enough pins available for 1PWM!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 1PWM in group: "+String(group)+" on timer: "+String(timer)); + // configure the timer + int pins[1] = {pinA}; + return _configurePinsMCPWM(pwm_frequency, group, timer, 1, pins); +} + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware specific +void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25hz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 40kHz max + + int group, timer; + int ret = _findBestGroup(2, pwm_frequency, &group, &timer); + if(!ret) { + SIMPLEFOC_ESP32_DRV_DEBUG("Not enough pins available for 2PWM!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + if(ret == 1){ + // configure the 2pwm on only one group + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 2PWM in group: "+String(group)+" on timer: "+String(timer)); + // configure the timer + int pins[2] = {pinA, pinB}; + return _configurePinsMCPWM(pwm_frequency, group, timer, 2, pins); + }else{ + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 2PWM as two 1PWM drivers"); + ESP32MCPWMDriverParams* params[2]; + + // the code is a bit huge for what it does + // it just instantiates two 2PMW drivers and combines the returned params + int pins[2][1] = {{pinA}, {pinB}}; + for(int i =0; i<2; i++){ + int timer = _findLastTimer(i); //find last created timer in group i + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 1PWM in group: "+String(i)+" on timer: "+String(timer)); + void* p = _configurePinsMCPWM(pwm_frequency, i, timer, 1, pins[i]); + if(p == SIMPLEFOC_DRIVER_INIT_FAILED){ + SIMPLEFOC_ESP32_DRV_DEBUG("Error configuring 1PWM"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + }else{ + params[i] = (ESP32MCPWMDriverParams*)p; + } + } + // combine the driver parameters + ESP32MCPWMDriverParams* ret_params = new ESP32MCPWMDriverParams{ + .pwm_frequency = params[0]->pwm_frequency, + .group_id = 2, // both groups + }; + for(int i =0; i<2; i++){ + ret_params->timers[i] = params[i]->timers[0]; + ret_params->oper[i] = params[i]->oper[0]; + ret_params->comparator[i] = params[i]->comparator[0]; + ret_params->generator[i] = params[i]->generator[0]; + } + ret_params->mcpwm_period = params[0]->mcpwm_period; + return ret_params; + } +} + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware specific +void* _configure3PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25hz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 40kHz max + + int group, timer; + if(!_findBestGroup(3, pwm_frequency, &group, &timer)) { + SIMPLEFOC_ESP32_DRV_DEBUG("Not enough pins available for 3PWM!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 3PWM in group: "+String(group)+" on timer: "+String(timer)); + // configure the timer + int pins[3] = {pinA, pinB, pinC}; + return _configurePinsMCPWM(pwm_frequency, group, timer, 3, pins); +} + + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware specific +void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD){ + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25hz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 40kHz max + + int group, timer; + int ret = _findBestGroup(4, pwm_frequency, &group, &timer); + if(!ret) { + SIMPLEFOC_ESP32_DRV_DEBUG("Not enough pins available for 4PWM!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + if(ret == 1){ + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 4PWM in group: "+String(group)+" on timer: "+String(timer)); + // configure the timer + int pins[4] = {pinA, pinB, pinC, pinD}; + return _configurePinsMCPWM(pwm_frequency, group, timer, 4, pins); + }else{ + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 4PWM as two 2PWM drivers"); + ESP32MCPWMDriverParams* params[2]; + + // the code is a bit huge for what it does + // it just instantiates two 2PMW drivers and combines the returned params + int pins[2][2] = {{pinA, pinB},{pinC, pinD}}; + for(int i =0; i<2; i++){ + int timer = _findNextTimer(i); //find next available timer in group i + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 2PWM in group: "+String(i)+" on timer: "+String(timer)); + void* p = _configurePinsMCPWM(pwm_frequency, i, timer, 2, pins[i]); + if(p == SIMPLEFOC_DRIVER_INIT_FAILED){ + SIMPLEFOC_ESP32_DRV_DEBUG("Error configuring 2PWM"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + }else{ + params[i] = (ESP32MCPWMDriverParams*)p; + } + } + // combine the driver parameters + ESP32MCPWMDriverParams* ret_params = new ESP32MCPWMDriverParams{ + .pwm_frequency = params[0]->pwm_frequency, + .group_id = 2, // both groups + .timers = {params[0]->timers[0], params[1]->timers[0]}, + .oper = {params[0]->oper[0], params[1]->oper[0]} + }; + for(int i =0; i<4; i++){ + ret_params->comparator[i] = params[(int)floor(i/2)]->comparator[i%2]; + ret_params->generator[i] = params[(int)floor(i/2)]->generator[i%2]; + } + ret_params->mcpwm_period = params[0]->mcpwm_period; + return ret_params; + } +} + + +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){ + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25hz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 40kHz max + + int group, timer; + if(!_findBestGroup(6, pwm_frequency, &group, &timer)) { + SIMPLEFOC_ESP32_DRV_DEBUG("Not enough pins available for 6PWM!"); + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 6PWM in group: "+String(group)+" on timer: "+String(timer)); + // configure the timer + int pins[6] = {pinA_h,pinA_l, pinB_h, pinB_l, pinC_h, pinC_l}; + return _configure6PWMPinsMCPWM(pwm_frequency, group, timer, dead_zone, pins); +} + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[0], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_a); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[1], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_b); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[2], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_c); +} + +// function setting the pwm duty cycle to the hardware +// - DCMotor -1PWM setting +// - hardware specific +void _writeDutyCycle1PWM(float dc_a, void* params){ + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[0], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_a); +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware specific +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[0], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_a); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[1], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_b); +} + + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware specific +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + // se the PWM on the slot timers + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[0], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_1a); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[1], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_1b); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[2], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_2a); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[3], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_2b); +} + +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ +#if SIMPLEFOC_ESP32_HW_DEADTIME == true + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[0], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_a); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[1], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_b); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[2], ((ESP32MCPWMDriverParams*)params)->mcpwm_period, dc_c); + + // set the phase state + _forcePhaseState(((ESP32MCPWMDriverParams*)params)->generator[0], ((ESP32MCPWMDriverParams*)params)->generator[1], phase_state[0]); + _forcePhaseState(((ESP32MCPWMDriverParams*)params)->generator[2], ((ESP32MCPWMDriverParams*)params)->generator[3], phase_state[1]); + _forcePhaseState(((ESP32MCPWMDriverParams*)params)->generator[4], ((ESP32MCPWMDriverParams*)params)->generator[5], phase_state[2]); +#else + uint32_t period = ((ESP32MCPWMDriverParams*)params)->mcpwm_period; + float dead_zone = (float)((ESP32MCPWMDriverParams*)params)->dead_zone /2.0f; + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[0], period, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_HI) ? dc_a-dead_zone : 0.0f); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[1], period, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_LO) ? dc_a+dead_zone : 1.0f); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[2], period, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_HI) ? dc_b-dead_zone : 0.0f); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[3], period, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_LO) ? dc_b+dead_zone : 1.0f); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[4], period, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_HI) ? dc_c-dead_zone : 0.0f); + _setDutyCycle(((ESP32MCPWMDriverParams*)params)->comparator[5], period, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_LO) ? dc_c+dead_zone : 1.0f); +#endif +} +#endif diff --git a/src/drivers/hardware_specific/esp32/mcpwm_private.h b/src/drivers/hardware_specific/esp32/mcpwm_private.h new file mode 100644 index 00000000..dbf48970 --- /dev/null +++ b/src/drivers/hardware_specific/esp32/mcpwm_private.h @@ -0,0 +1,82 @@ +/* + * This is a private declaration of different MCPWM structures and types. + * It has been copied from: https://github.com/espressif/esp-idf/blob/v5.1.4/components/driver/mcpwm/mcpwm_private.h + * + * extracted by askuric 16.06.2024 + * + * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD + * + * SPDX-License-Identifier: Apache-2.0 + */ + +#ifndef MCPWM_PRIVATE_H +#define MCPWM_PRIVATE_H + + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC) + +#include "freertos/FreeRTOS.h" +#include "esp_intr_alloc.h" +#include "esp_heap_caps.h" +#include "esp_pm.h" +#include "soc/soc_caps.h" +#include "hal/mcpwm_hal.h" +#include "hal/mcpwm_types.h" +#include "driver/mcpwm_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct mcpwm_group_t mcpwm_group_t; +typedef struct mcpwm_timer_t mcpwm_timer_t; +typedef struct mcpwm_cap_timer_t mcpwm_cap_timer_t; +typedef struct mcpwm_oper_t mcpwm_oper_t; +typedef struct mcpwm_gpio_fault_t mcpwm_gpio_fault_t; +typedef struct mcpwm_gpio_sync_src_t mcpwm_gpio_sync_src_t; +typedef struct mcpwm_timer_sync_src_t mcpwm_timer_sync_src_t; + +struct mcpwm_group_t { + int group_id; // group ID, index from 0 + int intr_priority; // MCPWM interrupt priority + mcpwm_hal_context_t hal; // HAL instance is at group level + portMUX_TYPE spinlock; // group level spinlock + uint32_t prescale; // group prescale + uint32_t resolution_hz; // MCPWM group clock resolution: clock_src_hz / clock_prescale = resolution_hz + esp_pm_lock_handle_t pm_lock; // power management lock + soc_module_clk_t clk_src; // peripheral source clock + mcpwm_cap_timer_t *cap_timer; // mcpwm capture timers + mcpwm_timer_t *timers[SOC_MCPWM_TIMERS_PER_GROUP]; // mcpwm timer array + mcpwm_oper_t *operators[SOC_MCPWM_OPERATORS_PER_GROUP]; // mcpwm operator array + mcpwm_gpio_fault_t *gpio_faults[SOC_MCPWM_GPIO_FAULTS_PER_GROUP]; // mcpwm fault detectors array + mcpwm_gpio_sync_src_t *gpio_sync_srcs[SOC_MCPWM_GPIO_SYNCHROS_PER_GROUP]; // mcpwm gpio sync array +}; + +typedef enum { + MCPWM_TIMER_FSM_INIT, + MCPWM_TIMER_FSM_ENABLE, +} mcpwm_timer_fsm_t; + +struct mcpwm_timer_t { + int timer_id; // timer ID, index from 0 + mcpwm_group_t *group; // which group the timer belongs to + mcpwm_timer_fsm_t fsm; // driver FSM + portMUX_TYPE spinlock; // spin lock + intr_handle_t intr; // interrupt handle + uint32_t resolution_hz; // resolution of the timer + uint32_t peak_ticks; // peak ticks that the timer could reach to + mcpwm_timer_sync_src_t *sync_src; // timer sync_src + mcpwm_timer_count_mode_t count_mode; // count mode + mcpwm_timer_event_cb_t on_full; // callback function when MCPWM timer counts to peak value + mcpwm_timer_event_cb_t on_empty; // callback function when MCPWM timer counts to zero + mcpwm_timer_event_cb_t on_stop; // callback function when MCPWM timer stops + void *user_data; // user data which would be passed to the timer callbacks +}; + +#ifdef __cplusplus +} +#endif + +#endif + +#endif /* MCPWM_PRIVATE_H */ \ No newline at end of file diff --git a/src/drivers/hardware_specific/esp8266_mcu.cpp b/src/drivers/hardware_specific/esp8266_mcu.cpp new file mode 100644 index 00000000..23d94110 --- /dev/null +++ b/src/drivers/hardware_specific/esp8266_mcu.cpp @@ -0,0 +1,121 @@ +#include "../hardware_api.h" + +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP8266) + + +#pragma message("") +#pragma message("SimpleFOC: compiling for ESP8266") +#pragma message("") + + +#define _PWM_FREQUENCY 25000 // 25khz +#define _PWM_FREQUENCY_MAX 50000 // 50khz + +// configure High PWM frequency +void _setHighFrequency(const long freq, const int pin){ + analogWrite(pin, 0); + analogWriteFreq(freq); +} + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware speciffic +void* _configure1PWM(long pwm_frequency, const int pinA) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + _setHighFrequency(pwm_frequency, pinA); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA }, + .pwm_frequency = pwm_frequency + }; + return params; +} + + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware speciffic +void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + _setHighFrequency(pwm_frequency, pinA); + _setHighFrequency(pwm_frequency, pinB); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB }, + .pwm_frequency = pwm_frequency + }; + return params; +} + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware speciffic +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + _setHighFrequency(pwm_frequency, pinA); + _setHighFrequency(pwm_frequency, pinB); + _setHighFrequency(pwm_frequency, pinC); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB, pinC }, + .pwm_frequency = pwm_frequency + }; + return params; +} + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware speciffic +void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + _setHighFrequency(pwm_frequency, pinA); + _setHighFrequency(pwm_frequency, pinB); + _setHighFrequency(pwm_frequency, pinC); + _setHighFrequency(pwm_frequency, pinD); + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB, pinC, pinD }, + .pwm_frequency = pwm_frequency + }; + return params; +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware speciffic +void _writeDutyCycle1PWM(float dc_a, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); +} +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware speciffic +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); +} +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +// - hardware speciffic +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_c); +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware speciffic +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_1a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_1b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_2a); + analogWrite(((GenericDriverParams*)params)->pins[3], 255.0f*dc_2b); +} + +#endif diff --git a/src/drivers/hardware_specific/generic_mcu.cpp b/src/drivers/hardware_specific/generic_mcu.cpp new file mode 100644 index 00000000..b6bc2f06 --- /dev/null +++ b/src/drivers/hardware_specific/generic_mcu.cpp @@ -0,0 +1,125 @@ + +#include "../hardware_api.h" + +// if the mcu doen't have defiend analogWrite +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && !defined(analogWrite) + __attribute__((weak)) void analogWrite(uint8_t pin, int value){ }; +#endif + +// function setting the high pwm frequency to the supplied pin +// - Stepper motor - 1PWM setting +// - hardware speciffic +// in generic case dont do anything +__attribute__((weak)) void* _configure1PWM(long pwm_frequency, const int pinA) { + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA }, + .pwm_frequency = pwm_frequency + }; + return params; +} + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware speciffic +// in generic case dont do anything +__attribute__((weak)) void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) { + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB }, + .pwm_frequency = pwm_frequency + }; + return params; +} + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware speciffic +// in generic case dont do anything +__attribute__((weak)) void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA, pinB, pinC }, + .pwm_frequency = pwm_frequency + }; + return params; +} + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware speciffic +// in generic case dont do anything +__attribute__((weak)) void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const int pin2A, const int pin2B) { + GenericDriverParams* params = new GenericDriverParams { + .pins = { pin1A, pin1B, pin2A, pin2B }, + .pwm_frequency = pwm_frequency + }; + return params; +} + +// Configuring PWM frequency, resolution and alignment +// - BLDC driver - 6PWM setting +// - hardware specific +__attribute__((weak)) void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){ + _UNUSED(pwm_frequency); + _UNUSED(dead_zone); + _UNUSED(pinA_h); + _UNUSED(pinA_l); + _UNUSED(pinB_h); + _UNUSED(pinB_l); + _UNUSED(pinC_h); + _UNUSED(pinC_l); + + return SIMPLEFOC_DRIVER_INIT_FAILED; +} + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 1PWM setting +// - hardware speciffic +__attribute__((weak)) void _writeDutyCycle1PWM(float dc_a, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); +} + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware speciffic +__attribute__((weak)) void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); +} + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +// - hardware speciffic +__attribute__((weak)) void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_c); +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware speciffic +__attribute__((weak)) void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + // transform duty cycle from [0,1] to [0,255] + + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_1a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_1b); + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_2a); + analogWrite(((GenericDriverParams*)params)->pins[3], 255.0f*dc_2b); +} + + +// Function setting the duty cycle to the pwm pin (ex. analogWrite()) +// - BLDC driver - 6PWM setting +// - hardware specific +__attribute__((weak)) void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + _UNUSED(dc_a); + _UNUSED(dc_b); + _UNUSED(dc_c); + _UNUSED(phase_state); + _UNUSED(params); +} \ No newline at end of file diff --git a/src/drivers/hardware_specific/nrf52_mcu.cpp b/src/drivers/hardware_specific/nrf52_mcu.cpp new file mode 100644 index 00000000..a20b828a --- /dev/null +++ b/src/drivers/hardware_specific/nrf52_mcu.cpp @@ -0,0 +1,397 @@ + +#include "../hardware_api.h" + +#if defined(NRF52_SERIES) + +#pragma message("") +#pragma message("SimpleFOC: compiling for NRF52") +#pragma message("") + + +#define PWM_CLK (16000000) +#define PWM_FREQ (40000) +#define PWM_RESOLUTION (PWM_CLK/PWM_FREQ) +#define PWM_MAX_FREQ (62500) +#define DEAD_ZONE (250) // in ns +#define DEAD_TIME (DEAD_ZONE / (PWM_RESOLUTION * 0.25 * 62.5)) // 62.5ns resolution of PWM + +#ifdef NRF_PWM3 +#define PWM_COUNT 4 +#else +#define PWM_COUNT 3 +#endif + +// empty motor slot +#define _EMPTY_SLOT (-0xAA) +#define _TAKEN_SLOT (-0x55) + +int pwm_range; + + +static NRF_PWM_Type* pwms[PWM_COUNT] = { + NRF_PWM0, + NRF_PWM1, + NRF_PWM2, + #ifdef NRF_PWM3 + NRF_PWM3 + #endif +}; + +typedef struct { + int pinA; + NRF_PWM_Type* mcpwm; + uint16_t mcpwm_channel_sequence[4]; +} bldc_3pwm_motor_slots_t; + +typedef struct { + int pin1A; + NRF_PWM_Type* mcpwm; + uint16_t mcpwm_channel_sequence[4]; +} stepper_motor_slots_t; + +typedef struct { + int pinAH; + NRF_PWM_Type* mcpwm1; + NRF_PWM_Type* mcpwm2; + uint16_t mcpwm_channel_sequence[8]; +} bldc_6pwm_motor_slots_t; + +// define bldc motor slots array +bldc_3pwm_motor_slots_t nrf52_bldc_3pwm_motor_slots[4] = { + {_EMPTY_SLOT, pwms[0], {0,0,0,0}},// 1st motor will be PWM0 + {_EMPTY_SLOT, pwms[1], {0,0,0,0}},// 2nd motor will be PWM1 + {_EMPTY_SLOT, pwms[2], {0,0,0,0}},// 3rd motor will be PWM2 + {_EMPTY_SLOT, pwms[3], {0,0,0,0}} // 4th motor will be PWM3 + }; + +// define stepper motor slots array +stepper_motor_slots_t nrf52_stepper_motor_slots[4] = { + {_EMPTY_SLOT, pwms[0], {0,0,0,0}},// 1st motor will be on PWM0 + {_EMPTY_SLOT, pwms[1], {0,0,0,0}},// 1st motor will be on PWM1 + {_EMPTY_SLOT, pwms[2], {0,0,0,0}},// 1st motor will be on PWM2 + {_EMPTY_SLOT, pwms[3], {0,0,0,0}} // 1st motor will be on PWM3 + }; + +// define BLDC motor slots array +bldc_6pwm_motor_slots_t nrf52_bldc_6pwm_motor_slots[2] = { + {_EMPTY_SLOT, pwms[0], pwms[1], {0,0,0,0,0,0,0,0}},// 1st motor will be on PWM0 & PWM1 + {_EMPTY_SLOT, pwms[2], pwms[3], {0,0,0,0,0,0,0,0}} // 2nd motor will be on PWM1 & PWM2 + }; + + + +typedef struct NRF52DriverParams { + union { + bldc_3pwm_motor_slots_t* slot3pwm; + bldc_6pwm_motor_slots_t* slot6pwm; + stepper_motor_slots_t* slotstep; + } slot; + long pwm_frequency; + float dead_time; +} NRF52DriverParams; + + + + +// configuring high frequency pwm timer +void _configureHwPwm(NRF_PWM_Type* mcpwm1, NRF_PWM_Type* mcpwm2){ + + mcpwm1->ENABLE = (PWM_ENABLE_ENABLE_Enabled << PWM_ENABLE_ENABLE_Pos); + mcpwm1->PRESCALER = (PWM_PRESCALER_PRESCALER_DIV_1 << PWM_PRESCALER_PRESCALER_Pos); + mcpwm1->MODE = (PWM_MODE_UPDOWN_UpAndDown << PWM_MODE_UPDOWN_Pos); + mcpwm1->COUNTERTOP = pwm_range; //pwm freq. + mcpwm1->LOOP = (PWM_LOOP_CNT_Disabled << PWM_LOOP_CNT_Pos); + mcpwm1->DECODER = ((uint32_t)PWM_DECODER_LOAD_Individual << PWM_DECODER_LOAD_Pos) | ((uint32_t)PWM_DECODER_MODE_RefreshCount << PWM_DECODER_MODE_Pos); + mcpwm1->SEQ[0].REFRESH = 0; + mcpwm1->SEQ[0].ENDDELAY = 0; + + if(mcpwm1 != mcpwm2){ + mcpwm2->ENABLE = (PWM_ENABLE_ENABLE_Enabled << PWM_ENABLE_ENABLE_Pos); + mcpwm2->PRESCALER = (PWM_PRESCALER_PRESCALER_DIV_1 << PWM_PRESCALER_PRESCALER_Pos); + mcpwm2->MODE = (PWM_MODE_UPDOWN_UpAndDown << PWM_MODE_UPDOWN_Pos); + mcpwm2->COUNTERTOP = pwm_range; //pwm freq. + mcpwm2->LOOP = (PWM_LOOP_CNT_Disabled << PWM_LOOP_CNT_Pos); + mcpwm2->DECODER = ((uint32_t)PWM_DECODER_LOAD_Individual << PWM_DECODER_LOAD_Pos) | ((uint32_t)PWM_DECODER_MODE_RefreshCount << PWM_DECODER_MODE_Pos); + mcpwm2->SEQ[0].REFRESH = 0; + mcpwm2->SEQ[0].ENDDELAY = 0; + }else{ + mcpwm1->MODE = (PWM_MODE_UPDOWN_Up << PWM_MODE_UPDOWN_Pos); + } +} + + + +// can we support it using the generic driver on this MCU? Commented out to fall back to generic driver for 2-pwm +// void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) { +// return SIMPLEFOC_DRIVER_INIT_FAILED; // not supported +// } + + + + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware speciffic +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + + if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz for a resolution of 800 + else pwm_frequency = _constrain(pwm_frequency, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max for a resolution of 256 + + pwm_range = (PWM_CLK / pwm_frequency); + + int pA = digitalPinToPinName(pinA); //g_ADigitalPinMap[pinA]; + int pB = digitalPinToPinName(pinB); //g_ADigitalPinMap[pinB]; + int pC = digitalPinToPinName(pinC); //g_ADigitalPinMap[pinC]; + + // determine which motor are we connecting + // and set the appropriate configuration parameters + int slot_num; + for(slot_num = 0; slot_num < 4; slot_num++){ + if(nrf52_bldc_3pwm_motor_slots[slot_num].pinA == _EMPTY_SLOT){ // put the new motor in the first empty slot + nrf52_bldc_3pwm_motor_slots[slot_num].pinA = pinA; + break; + } + } + // if no slots available + if(slot_num >= 4) return SIMPLEFOC_DRIVER_INIT_FAILED; + + // disable all the slots with the same MCPWM + if(slot_num < 2){ + // slot 0 of the stepper + nrf52_stepper_motor_slots[slot_num].pin1A = _TAKEN_SLOT; + // slot 0 of the 6pwm bldc + nrf52_bldc_6pwm_motor_slots[0].pinAH = _TAKEN_SLOT; + //NRF_PPI->CHEN &= ~1UL; + }else{ + // slot 1 of the stepper + nrf52_stepper_motor_slots[slot_num].pin1A = _TAKEN_SLOT; + // slot 0 of the 6pwm bldc + nrf52_bldc_6pwm_motor_slots[1].pinAH = _TAKEN_SLOT; + //NRF_PPI->CHEN &= ~2UL; + } + + // configure pwm outputs + + nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->PSEL.OUT[0] = pA; + nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->PSEL.OUT[1] = pB; + nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->PSEL.OUT[2] = pC; + + nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->SEQ[0].PTR = (uint32_t)&nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm_channel_sequence[0]; + nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm->SEQ[0].CNT = 4; + + // configure the pwm + _configureHwPwm(nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm, nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm); + + NRF52DriverParams* params = new NRF52DriverParams(); + params->slot.slot3pwm = &(nrf52_bldc_3pwm_motor_slots[slot_num]); + params->pwm_frequency = pwm_frequency; + return params; +} + + + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware speciffic +void* _configure4PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC, const int pinD) { + + if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz for a resolution of 800 + else pwm_frequency = _constrain(pwm_frequency, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max for a resolution of 256 + + pwm_range = (PWM_CLK / pwm_frequency); + + int pA = digitalPinToPinName(pinA); //g_ADigitalPinMap[pinA]; + int pB = digitalPinToPinName(pinB); //g_ADigitalPinMap[pinB]; + int pC = digitalPinToPinName(pinC); //g_ADigitalPinMap[pinC]; + int pD = digitalPinToPinName(pinD); //g_ADigitalPinMap[pinD]; + + // determine which motor are we connecting + // and set the appropriate configuration parameters + int slot_num; + for(slot_num = 0; slot_num < 4; slot_num++){ + if(nrf52_stepper_motor_slots[slot_num].pin1A == _EMPTY_SLOT){ // put the new motor in the first empty slot + nrf52_stepper_motor_slots[slot_num].pin1A = pinA; + break; + } + } + // if no slots available + if (slot_num >= 4) return SIMPLEFOC_DRIVER_INIT_FAILED; + + // disable all the slots with the same MCPWM + if (slot_num < 2){ + // slots 0 and 1 of the 3pwm bldc + nrf52_bldc_3pwm_motor_slots[slot_num].pinA = _TAKEN_SLOT; + // slot 0 of the 6pwm bldc + nrf52_bldc_6pwm_motor_slots[0].pinAH = _TAKEN_SLOT; + //NRF_PPI->CHEN &= ~1UL; + }else{ + // slots 2 and 3 of the 3pwm bldc + nrf52_bldc_3pwm_motor_slots[slot_num].pinA = _TAKEN_SLOT; + // slot 1 of the 6pwm bldc + nrf52_bldc_6pwm_motor_slots[1].pinAH = _TAKEN_SLOT; + //NRF_PPI->CHEN &= ~2UL; + } + + // configure pwm outputs + + nrf52_stepper_motor_slots[slot_num].mcpwm->PSEL.OUT[0] = pA; + nrf52_stepper_motor_slots[slot_num].mcpwm->PSEL.OUT[1] = pB; + nrf52_stepper_motor_slots[slot_num].mcpwm->PSEL.OUT[2] = pC; + nrf52_stepper_motor_slots[slot_num].mcpwm->PSEL.OUT[3] = pD; + + nrf52_stepper_motor_slots[slot_num].mcpwm->SEQ[0].PTR = (uint32_t)&nrf52_stepper_motor_slots[slot_num].mcpwm_channel_sequence[0]; + nrf52_stepper_motor_slots[slot_num].mcpwm->SEQ[0].CNT = 4; + + // configure the pwm + _configureHwPwm(nrf52_stepper_motor_slots[slot_num].mcpwm, nrf52_stepper_motor_slots[slot_num].mcpwm); + + NRF52DriverParams* params = new NRF52DriverParams(); + params->slot.slotstep = &(nrf52_stepper_motor_slots[slot_num]); + params->pwm_frequency = pwm_frequency; + return params; +} + + + + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +// - hardware speciffic +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + // transform duty cycle from [0,1] to [0,range] + bldc_3pwm_motor_slots_t* p = ((NRF52DriverParams*)params)->slot.slot3pwm; + p->mcpwm_channel_sequence[0] = (int)(dc_a * pwm_range) | 0x8000; + p->mcpwm_channel_sequence[1] = (int)(dc_b * pwm_range) | 0x8000; + p->mcpwm_channel_sequence[2] = (int)(dc_c * pwm_range) | 0x8000; + + p->mcpwm->TASKS_SEQSTART[0] = 1; +} + + + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware speciffic +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + + stepper_motor_slots_t* p = ((NRF52DriverParams*)params)->slot.slotstep; + p->mcpwm_channel_sequence[0] = (int)(dc_1a * pwm_range) | 0x8000; + p->mcpwm_channel_sequence[1] = (int)(dc_1b * pwm_range) | 0x8000; + p->mcpwm_channel_sequence[2] = (int)(dc_2a * pwm_range) | 0x8000; + p->mcpwm_channel_sequence[3] = (int)(dc_2b * pwm_range) | 0x8000; + + p->mcpwm->TASKS_SEQSTART[0] = 1; +} + +/* Configuring PWM frequency, resolution and alignment +// - BLDC driver - 6PWM setting +// - hardware specific +*/ +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){ + + if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz - centered pwm has twice lower frequency for a resolution of 400 + else pwm_frequency = _constrain(pwm_frequency*2, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max => 31.25kHz for a resolution of 256 + + pwm_range = (PWM_CLK / pwm_frequency); + pwm_range /= 2; // scale the frequency (centered PWM) + + float dead_time; + if (dead_zone != NOT_SET){ + dead_time = dead_zone/2; + }else{ + dead_time = DEAD_TIME/2; + } + + int pA_l = digitalPinToPinName(pinA_l); //g_ADigitalPinMap[pinA_l]; + int pA_h = digitalPinToPinName(pinA_h); //g_ADigitalPinMap[pinA_h]; + int pB_l = digitalPinToPinName(pinB_l); //g_ADigitalPinMap[pinB_l]; + int pB_h = digitalPinToPinName(pinB_h); //g_ADigitalPinMap[pinB_h]; + int pC_l = digitalPinToPinName(pinC_l); //g_ADigitalPinMap[pinC_l]; + int pC_h = digitalPinToPinName(pinC_h); //g_ADigitalPinMap[pinC_h]; + + + // determine which motor are we connecting + // and set the appropriate configuration parameters + int slot_num; + for(slot_num = 0; slot_num < 2; slot_num++){ + if(nrf52_bldc_6pwm_motor_slots[slot_num].pinAH == _EMPTY_SLOT){ // put the new motor in the first empty slot + nrf52_bldc_6pwm_motor_slots[slot_num].pinAH = pinA_h; + break; + } + } + // if no slots available + if(slot_num >= 2) return SIMPLEFOC_DRIVER_INIT_FAILED; + + // disable all the slots with the same MCPWM + if( slot_num == 0 ){ + // slots 0 and 1 of the 3pwm bldc + nrf52_bldc_3pwm_motor_slots[0].pinA = _TAKEN_SLOT; + nrf52_bldc_3pwm_motor_slots[1].pinA = _TAKEN_SLOT; + // slot 0 and 1 of the stepper + nrf52_stepper_motor_slots[0].pin1A = _TAKEN_SLOT; + nrf52_stepper_motor_slots[1].pin1A = _TAKEN_SLOT; + }else{ + // slots 2 and 3 of the 3pwm bldc + nrf52_bldc_3pwm_motor_slots[2].pinA = _TAKEN_SLOT; + nrf52_bldc_3pwm_motor_slots[3].pinA = _TAKEN_SLOT; + // slot 1 of the stepper + nrf52_stepper_motor_slots[2].pin1A = _TAKEN_SLOT; + nrf52_stepper_motor_slots[3].pin1A = _TAKEN_SLOT; + } + + // Configure pwm outputs + + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->PSEL.OUT[0] = pA_h; + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->PSEL.OUT[1] = pA_l; + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->PSEL.OUT[2] = pB_h; + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->PSEL.OUT[3] = pB_l; + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->SEQ[0].PTR = (uint32_t)&nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm_channel_sequence[0]; + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->SEQ[0].CNT = 4; + + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->PSEL.OUT[0] = pC_h; + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->PSEL.OUT[1] = pC_l; + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->SEQ[0].PTR = (uint32_t)&nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm_channel_sequence[4]; + nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->SEQ[0].CNT = 4; + + // Initializing the PPI peripheral for sync the pwm slots + + NRF_PPI->CH[slot_num].EEP = (uint32_t)&NRF_EGU0->EVENTS_TRIGGERED[0]; + NRF_PPI->CH[slot_num].TEP = (uint32_t)&nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1->TASKS_SEQSTART[0]; + NRF_PPI->FORK[slot_num].TEP = (uint32_t)&nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2->TASKS_SEQSTART[0]; + NRF_PPI->CHEN = 1UL << slot_num; + + // configure the pwm type + _configureHwPwm(nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1, nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2); + + NRF52DriverParams* params = new NRF52DriverParams(); + params->slot.slot6pwm = &(nrf52_bldc_6pwm_motor_slots[slot_num]); + params->pwm_frequency = pwm_frequency; + params->dead_time = dead_time; + return params; +} + + + + +/* Function setting the duty cycle to the pwm pin +// - BLDC driver - 6PWM setting +// - hardware specific +*/ +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + bldc_6pwm_motor_slots_t* p = ((NRF52DriverParams*)params)->slot.slot6pwm; + float dead_time = ((NRF52DriverParams*)params)->dead_time; + p->mcpwm_channel_sequence[0] = (int)(_constrain(dc_a-dead_time,0,1)*pwm_range) | 0x8000; + p->mcpwm_channel_sequence[1] = (int)(_constrain(dc_a+dead_time,0,1)*pwm_range); + p->mcpwm_channel_sequence[2] = (int)(_constrain(dc_b-dead_time,0,1)*pwm_range) | 0x8000; + p->mcpwm_channel_sequence[3] = (int)(_constrain(dc_b+dead_time,0,1)*pwm_range); + p->mcpwm_channel_sequence[4] = (int)(_constrain(dc_c-dead_time,0,1)*pwm_range) | 0x8000; + p->mcpwm_channel_sequence[5] = (int)(_constrain(dc_c+dead_time,0,1)*pwm_range); + NRF_EGU0->TASKS_TRIGGER[0] = 1; + + _UNUSED(phase_state); +} + + +#endif diff --git a/src/drivers/hardware_specific/portenta_h7_mcu.cpp b/src/drivers/hardware_specific/portenta_h7_mcu.cpp new file mode 100644 index 00000000..ad16646a --- /dev/null +++ b/src/drivers/hardware_specific/portenta_h7_mcu.cpp @@ -0,0 +1,545 @@ + +#include "../hardware_api.h" + +#if defined(TARGET_PORTENTA_H7) + + +#pragma message("") +#pragma message("SimpleFOC: compiling for Arduino/Portenta_H7") +#pragma message("") + + +#include "pwmout_api.h" +#include "pinDefinitions.h" +#include "platform/mbed_critical.h" +#include "platform/mbed_power_mgmt.h" +#include "platform/mbed_assert.h" +#include "PeripheralPins.h" +#include "pwmout_device.h" + +// default pwm parameters +#define _PWM_FREQUENCY 25000 // 25khz +#define _PWM_FREQUENCY_MAX 50000 // 50khz + + +// // 6pwm parameters +// #define _HARDWARE_6PWM 1 +// #define _SOFTWARE_6PWM 0 +// #define _ERROR_6PWM -1 + + + +typedef struct PortentaDriverParams { + pwmout_t pins[4]; + long pwm_frequency; +// float dead_zone; +} PortentaDriverParams; + + + +/* Convert STM32 Cube HAL channel to LL channel */ +uint32_t _TIM_ChannelConvert_HAL2LL(uint32_t channel, pwmout_t *obj) +{ +#if !defined(PWMOUT_INVERTED_NOT_SUPPORTED) + if (obj->inverted) { + switch (channel) { + case TIM_CHANNEL_1 : + return LL_TIM_CHANNEL_CH1N; + case TIM_CHANNEL_2 : + return LL_TIM_CHANNEL_CH2N; + case TIM_CHANNEL_3 : + return LL_TIM_CHANNEL_CH3N; +#if defined(LL_TIM_CHANNEL_CH4N) + case TIM_CHANNEL_4 : + return LL_TIM_CHANNEL_CH4N; +#endif + default : /* Optional */ + return 0; + } + } else +#endif + { + switch (channel) { + case TIM_CHANNEL_1 : + return LL_TIM_CHANNEL_CH1; + case TIM_CHANNEL_2 : + return LL_TIM_CHANNEL_CH2; + case TIM_CHANNEL_3 : + return LL_TIM_CHANNEL_CH3; + case TIM_CHANNEL_4 : + return LL_TIM_CHANNEL_CH4; + default : /* Optional */ + return 0; + } + } +} + + + +// int _pwm_init(pwmout_t *obj, uint32_t pin, long frequency){ +// return _pwm_init(obj, digitalPinToPinName(pin), frequency); +// } + +int _pwm_init(pwmout_t *obj, uint32_t pin, long frequency){ + int peripheral = (int)pinmap_peripheral(digitalPinToPinName(pin), PinMap_PWM); + int function = (int)pinmap_find_function(digitalPinToPinName(pin), PinMap_PWM); + + const PinMap static_pinmap = {digitalPinToPinName(pin), peripheral, function}; + + pwmout_init_direct(obj, &static_pinmap); + + TIM_HandleTypeDef TimHandle; + TimHandle.Instance = (TIM_TypeDef *)(obj->pwm); + RCC_ClkInitTypeDef RCC_ClkInitStruct; + uint32_t PclkFreq = 0; + uint32_t APBxCLKDivider = RCC_HCLK_DIV1; + uint8_t i = 0; + + + __HAL_TIM_DISABLE(&TimHandle); + + // Get clock configuration + // Note: PclkFreq contains here the Latency (not used after) + HAL_RCC_GetClockConfig(&RCC_ClkInitStruct, &PclkFreq); + + /* Parse the pwm / apb mapping table to find the right entry */ + while (pwm_apb_map_table[i].pwm != obj->pwm) i++; + // sanity check + if (pwm_apb_map_table[i].pwm == 0) return -1; + + + if (pwm_apb_map_table[i].pwmoutApb == PWMOUT_ON_APB1) { + PclkFreq = HAL_RCC_GetPCLK1Freq(); + APBxCLKDivider = RCC_ClkInitStruct.APB1CLKDivider; + } else { +#if !defined(PWMOUT_APB2_NOT_SUPPORTED) + PclkFreq = HAL_RCC_GetPCLK2Freq(); + APBxCLKDivider = RCC_ClkInitStruct.APB2CLKDivider; +#endif + } + + long period_us = 500000.0/((float)frequency); + /* By default use, 1us as SW pre-scaler */ + obj->prescaler = 1; + // TIMxCLK = PCLKx when the APB prescaler = 1 else TIMxCLK = 2 * PCLKx + if (APBxCLKDivider == RCC_HCLK_DIV1) { + TimHandle.Init.Prescaler = (((PclkFreq) / 1000000)) - 1; // 1 us tick + } else { + TimHandle.Init.Prescaler = (((PclkFreq * 2) / 1000000)) - 1; // 1 us tick + } + TimHandle.Init.Period = (period_us - 1); + + /* In case period or pre-scalers are out of range, loop-in to get valid values */ + while ((TimHandle.Init.Period > 0xFFFF) || (TimHandle.Init.Prescaler > 0xFFFF)) { + obj->prescaler = obj->prescaler * 2; + if (APBxCLKDivider == RCC_HCLK_DIV1) { + TimHandle.Init.Prescaler = (((PclkFreq) / 1000000) * obj->prescaler) - 1; + } else { + TimHandle.Init.Prescaler = (((PclkFreq * 2) / 1000000) * obj->prescaler) - 1; + } + TimHandle.Init.Period = (period_us - 1) / obj->prescaler; + /* Period decreases and prescaler increases over loops, so check for + * possible out of range cases */ + if ((TimHandle.Init.Period < 0xFFFF) && (TimHandle.Init.Prescaler > 0xFFFF)) { + break; + } + } + + TimHandle.Init.ClockDivision = 0; + TimHandle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3; // center aligned + + if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) { + return -1; + } + + TIM_OC_InitTypeDef sConfig; + // Configure channels + sConfig.OCMode = TIM_OCMODE_PWM1; + sConfig.Pulse = obj->pulse / obj->prescaler; + sConfig.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfig.OCFastMode = TIM_OCFAST_DISABLE; +#if defined(TIM_OCIDLESTATE_RESET) + sConfig.OCIdleState = TIM_OCIDLESTATE_RESET; +#endif +#if defined(TIM_OCNIDLESTATE_RESET) + sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH; + sConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET; +#endif + + int channel = 0; + switch (obj->channel) { + case 1: + channel = TIM_CHANNEL_1; + break; + case 2: + channel = TIM_CHANNEL_2; + break; + case 3: + channel = TIM_CHANNEL_3; + break; + case 4: + channel = TIM_CHANNEL_4; + break; + default: + return -1; + } + + if (LL_TIM_CC_IsEnabledChannel(TimHandle.Instance, _TIM_ChannelConvert_HAL2LL(channel, obj)) == 0) { + // If channel is not enabled, proceed to channel configuration + if (HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, channel) != HAL_OK) { + return -1; + } + } + + // Save for future use + obj->period = period_us; +#if !defined(PWMOUT_INVERTED_NOT_SUPPORTED) + if (obj->inverted) { + HAL_TIMEx_PWMN_Start(&TimHandle, channel); + } else +#endif + { + HAL_TIM_PWM_Start(&TimHandle, channel); + } + + return 0; +} + +// setting pwm to hardware pin - instead analogWrite() +void _pwm_write(pwmout_t *obj, float value){ + TIM_HandleTypeDef TimHandle; + int channel = 0; + + TimHandle.Instance = (TIM_TypeDef *)(obj->pwm); + + if (value < (float)0.0) { + value = 0.0; + } else if (value > (float)1.0) { + value = 1.0; + } + + obj->pulse = (uint32_t)((float)obj->period * value + 0.5); + + switch (obj->channel) { + case 1: + channel = TIM_CHANNEL_1; + break; + case 2: + channel = TIM_CHANNEL_2; + break; + case 3: + channel = TIM_CHANNEL_3; + break; + case 4: + channel = TIM_CHANNEL_4; + break; + default: + return; + } + + // If channel already enabled, only update compare value to avoid glitch + __HAL_TIM_SET_COMPARE(&TimHandle, channel, obj->pulse / obj->prescaler); +} + +// init low side pin +// HardwareTimer* _initPinPWMLow(uint32_t PWM_freq, int ulPin) +// { +// PinName pin = digitalPinToPinName(ulPin); +// TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(pin, PinMap_PWM); +// uint32_t index = get_timer_index(Instance); + +// if (HardwareTimer_Handle[index] == NULL) { +// HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef *)pinmap_peripheral(pin, PinMap_PWM)); +// HardwareTimer_Handle[index]->handle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3; +// HAL_TIM_Base_Init(&(HardwareTimer_Handle[index]->handle)); +// TIM_OC_InitTypeDef sConfigOC = TIM_OC_InitTypeDef(); +// sConfigOC.OCMode = TIM_OCMODE_PWM2; +// sConfigOC.Pulse = 100; +// sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW; +// sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; +// sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; +// sConfigOC.OCIdleState = TIM_OCIDLESTATE_SET; +// sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; +// uint32_t channel = STM_PIN_CHANNEL(pinmap_function(pin, PinMap_PWM)); +// HAL_TIM_PWM_ConfigChannel(&(HardwareTimer_Handle[index]->handle), &sConfigOC, channel); +// } +// HardwareTimer *HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); +// uint32_t channel = STM_PIN_CHANNEL(pinmap_function(pin, PinMap_PWM)); +// HT->setMode(channel, TIMER_OUTPUT_COMPARE_PWM2, pin); +// HT->setOverflow(PWM_freq, HERTZ_FORMAT); +// HT->pause(); +// HT->refresh(); +// return HT; +// } + + +// align the timers to end the init +void _alignPWMTimers(pwmout_t *t1, pwmout_t *t2){ + TIM_HandleTypeDef TimHandle1, TimHandle2; + TimHandle1.Instance = (TIM_TypeDef *)(t1->pwm); + TimHandle2.Instance = (TIM_TypeDef *)(t2->pwm); + __HAL_TIM_DISABLE(&TimHandle1); + __HAL_TIM_DISABLE(&TimHandle2); + __HAL_TIM_ENABLE(&TimHandle1); + __HAL_TIM_ENABLE(&TimHandle2); +} + +// align the timers to end the init +void _alignPWMTimers(pwmout_t *t1, pwmout_t *t2, pwmout_t *t3){ + TIM_HandleTypeDef TimHandle1, TimHandle2, TimHandle3; + TimHandle1.Instance = (TIM_TypeDef *)(t1->pwm); + TimHandle2.Instance = (TIM_TypeDef *)(t2->pwm); + TimHandle3.Instance = (TIM_TypeDef *)(t3->pwm); + __HAL_TIM_DISABLE(&TimHandle1); + __HAL_TIM_DISABLE(&TimHandle2); + __HAL_TIM_DISABLE(&TimHandle3); + __HAL_TIM_ENABLE(&TimHandle1); + __HAL_TIM_ENABLE(&TimHandle2); + __HAL_TIM_ENABLE(&TimHandle3); +} + +// align the timers to end the init +void _alignPWMTimers(pwmout_t *t1, pwmout_t *t2, pwmout_t *t3, pwmout_t *t4){ + TIM_HandleTypeDef TimHandle1, TimHandle2, TimHandle3, TimHandle4; + TimHandle1.Instance = (TIM_TypeDef *)(t1->pwm); + TimHandle2.Instance = (TIM_TypeDef *)(t2->pwm); + TimHandle3.Instance = (TIM_TypeDef *)(t3->pwm); + TimHandle4.Instance = (TIM_TypeDef *)(t4->pwm); + __HAL_TIM_DISABLE(&TimHandle1); + __HAL_TIM_DISABLE(&TimHandle2); + __HAL_TIM_DISABLE(&TimHandle3); + __HAL_TIM_DISABLE(&TimHandle4); + __HAL_TIM_ENABLE(&TimHandle1); + __HAL_TIM_ENABLE(&TimHandle2); + __HAL_TIM_ENABLE(&TimHandle3); + __HAL_TIM_ENABLE(&TimHandle4); +} + +// // configure hardware 6pwm interface only one timer with inverted channels +// HardwareTimer* _initHardware6PWMInterface(uint32_t PWM_freq, float dead_zone, int pinA_h, int pinA_l, int pinB_h, int pinB_l, int pinC_h, int pinC_l) +// { +// PinName uhPinName = digitalPinToPinName(pinA_h); +// PinName ulPinName = digitalPinToPinName(pinA_l); +// PinName vhPinName = digitalPinToPinName(pinB_h); +// PinName vlPinName = digitalPinToPinName(pinB_l); +// PinName whPinName = digitalPinToPinName(pinC_h); +// PinName wlPinName = digitalPinToPinName(pinC_l); + +// TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(uhPinName, PinMap_PWM); + +// uint32_t index = get_timer_index(Instance); + +// if (HardwareTimer_Handle[index] == NULL) { +// HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef *)pinmap_peripheral(uhPinName, PinMap_PWM)); +// HardwareTimer_Handle[index]->handle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3; +// HAL_TIM_Base_Init(&(HardwareTimer_Handle[index]->handle)); +// ((HardwareTimer *)HardwareTimer_Handle[index]->__this)->setOverflow(PWM_freq, HERTZ_FORMAT); +// } +// HardwareTimer *HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); + +// HT->setMode(STM_PIN_CHANNEL(pinmap_function(uhPinName, PinMap_PWM)), TIMER_OUTPUT_COMPARE_PWM1, uhPinName); +// HT->setMode(STM_PIN_CHANNEL(pinmap_function(ulPinName, PinMap_PWM)), TIMER_OUTPUT_COMPARE_PWM1, ulPinName); +// HT->setMode(STM_PIN_CHANNEL(pinmap_function(vhPinName, PinMap_PWM)), TIMER_OUTPUT_COMPARE_PWM1, vhPinName); +// HT->setMode(STM_PIN_CHANNEL(pinmap_function(vlPinName, PinMap_PWM)), TIMER_OUTPUT_COMPARE_PWM1, vlPinName); +// HT->setMode(STM_PIN_CHANNEL(pinmap_function(whPinName, PinMap_PWM)), TIMER_OUTPUT_COMPARE_PWM1, whPinName); +// HT->setMode(STM_PIN_CHANNEL(pinmap_function(wlPinName, PinMap_PWM)), TIMER_OUTPUT_COMPARE_PWM1, wlPinName); + +// // dead time is set in nanoseconds +// uint32_t dead_time_ns = (float)(1e9f/PWM_freq)*dead_zone; +// uint32_t dead_time = __LL_TIM_CALC_DEADTIME(SystemCoreClock, LL_TIM_GetClockDivision(HT->getHandle()->Instance), dead_time_ns); +// LL_TIM_OC_SetDeadTime(HT->getHandle()->Instance, dead_time); // deadtime is non linear! +// LL_TIM_CC_EnableChannel(HT->getHandle()->Instance, LL_TIM_CHANNEL_CH1 | LL_TIM_CHANNEL_CH1N | LL_TIM_CHANNEL_CH2 | LL_TIM_CHANNEL_CH2N | LL_TIM_CHANNEL_CH3 | LL_TIM_CHANNEL_CH3N); + +// HT->pause(); +// HT->refresh(); +// HT->resume(); +// return HT; +// } + + +// // returns 0 if each pair of pwm channels has same channel +// // returns 1 all the channels belong to the same timer - hardware inverted channels +// // returns -1 if neither - avoid configuring - error!!! +// int _interfaceType(const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){ +// PinName nameAH = digitalPinToPinName(pinA_h); +// PinName nameAL = digitalPinToPinName(pinA_l); +// PinName nameBH = digitalPinToPinName(pinB_h); +// PinName nameBL = digitalPinToPinName(pinB_l); +// PinName nameCH = digitalPinToPinName(pinC_h); +// PinName nameCL = digitalPinToPinName(pinC_l); +// int tim1 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameAH, PinMap_PWM)); +// int tim2 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameAL, PinMap_PWM)); +// int tim3 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameBH, PinMap_PWM)); +// int tim4 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameBL, PinMap_PWM)); +// int tim5 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameCH, PinMap_PWM)); +// int tim6 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameCL, PinMap_PWM)); +// if(tim1 == tim2 && tim2==tim3 && tim3==tim4 && tim4==tim5 && tim5==tim6) +// return _HARDWARE_6PWM; // hardware 6pwm interface - only on timer +// else if(tim1 == tim2 && tim3==tim4 && tim5==tim6) +// return _SOFTWARE_6PWM; // software 6pwm interface - each pair of high-low side same timer +// else +// return _ERROR_6PWM; // might be error avoid configuration +// } + + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware speciffic +void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) { + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + PortentaDriverParams* params = new PortentaDriverParams(); + params->pwm_frequency = pwm_frequency; + + core_util_critical_section_enter(); + _pwm_init(&(params->pins[0]), pinA, (long)pwm_frequency); + _pwm_init(&(params->pins[1]), pinB, (long)pwm_frequency); + // allign the timers + _alignPWMTimers(&(params->pins[0]), &(params->pins[1])); + core_util_critical_section_exit(); + return params; +} + + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware speciffic +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + PortentaDriverParams* params = new PortentaDriverParams(); + params->pwm_frequency = pwm_frequency; + + core_util_critical_section_enter(); + _pwm_init(&(params->pins[0]), pinA, (long)pwm_frequency); + _pwm_init(&(params->pins[1]), pinB, (long)pwm_frequency); + _pwm_init(&(params->pins[2]), pinC, (long)pwm_frequency); + // allign the timers + _alignPWMTimers(&(params->pins[0]), &(params->pins[1]), &(params->pins[2])); + core_util_critical_section_exit(); + + return params; +} + + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware speciffic +void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) { + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + PortentaDriverParams* params = new PortentaDriverParams(); + params->pwm_frequency = pwm_frequency; + + core_util_critical_section_enter(); + _pwm_init(&(params->pins[0]), pinA, (long)pwm_frequency); + _pwm_init(&(params->pins[1]), pinB, (long)pwm_frequency); + _pwm_init(&(params->pins[2]), pinC, (long)pwm_frequency); + _pwm_init(&(params->pins[3]), pinD, (long)pwm_frequency); + // allign the timers + _alignPWMTimers(&(params->pins[0]), &(params->pins[1]), &(params->pins[2]), &(params->pins[3])); + core_util_critical_section_exit(); + + return params; +} + + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +//- hardware speciffic +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + core_util_critical_section_enter(); + _pwm_write(&(((PortentaDriverParams*)params)->pins[0]), (float)dc_a); + _pwm_write(&(((PortentaDriverParams*)params)->pins[1]), (float)dc_b); + core_util_critical_section_exit(); +} + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +//- hardware speciffic +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + core_util_critical_section_enter(); + _pwm_write(&(((PortentaDriverParams*)params)->pins[0]), (float)dc_a); + _pwm_write(&(((PortentaDriverParams*)params)->pins[1]), (float)dc_b); + _pwm_write(&(((PortentaDriverParams*)params)->pins[2]), (float)dc_c); + core_util_critical_section_exit(); +} + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +//- hardware speciffic +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + core_util_critical_section_enter(); + _pwm_write(&(((PortentaDriverParams*)params)->pins[0]), (float)dc_1a); + _pwm_write(&(((PortentaDriverParams*)params)->pins[1]), (float)dc_1b); + _pwm_write(&(((PortentaDriverParams*)params)->pins[2]), (float)dc_2a); + _pwm_write(&(((PortentaDriverParams*)params)->pins[3]), (float)dc_2b); + core_util_critical_section_exit(); +} + + +// 6-PWM currently not supported, defer to generic, which also doesn't support it ;-) + +// Configuring PWM frequency, resolution and alignment +// - BLDC driver - 6PWM setting +// - hardware specific +//void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){ + // if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + // else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to |%0kHz max + // // center-aligned frequency is uses two periods + // pwm_frequency *=2; + + // // find configuration + // int config = _interfaceType(pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l); + // // configure accordingly + // switch(config){ + // case _ERROR_6PWM: + // return -1; // fail + // break; + // case _HARDWARE_6PWM: + // _initHardware6PWMInterface(pwm_frequency, dead_zone, pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l); + // break; + // case _SOFTWARE_6PWM: + // HardwareTimer* HT1 = _initPinPWMHigh(pwm_frequency, pinA_h); + // _initPinPWMLow(pwm_frequency, pinA_l); + // HardwareTimer* HT2 = _initPinPWMHigh(pwm_frequency,pinB_h); + // _initPinPWMLow(pwm_frequency, pinB_l); + // HardwareTimer* HT3 = _initPinPWMHigh(pwm_frequency,pinC_h); + // _initPinPWMLow(pwm_frequency, pinC_l); + // _alignPWMTimers(HT1, HT2, HT3); + // break; + // } +// return -1; // success +// } + +// Function setting the duty cycle to the pwm pin (ex. analogWrite()) +// - BLDC driver - 6PWM setting +// - hardware specific +//void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, void* params){ + // // find configuration + // int config = _interfaceType(pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l); + // // set pwm accordingly + // switch(config){ + // case _HARDWARE_6PWM: + // _setPwm(pinA_h, _PWM_RANGE*dc_a, _PWM_RESOLUTION); + // _setPwm(pinB_h, _PWM_RANGE*dc_b, _PWM_RESOLUTION); + // _setPwm(pinC_h, _PWM_RANGE*dc_c, _PWM_RESOLUTION); + // break; + // case _SOFTWARE_6PWM: + // _setPwm(pinA_l, _constrain(dc_a + dead_zone/2, 0, 1)*_PWM_RANGE, _PWM_RESOLUTION); + // _setPwm(pinA_h, _constrain(dc_a - dead_zone/2, 0, 1)*_PWM_RANGE, _PWM_RESOLUTION); + // _setPwm(pinB_l, _constrain(dc_b + dead_zone/2, 0, 1)*_PWM_RANGE, _PWM_RESOLUTION); + // _setPwm(pinB_h, _constrain(dc_b - dead_zone/2, 0, 1)*_PWM_RANGE, _PWM_RESOLUTION); + // _setPwm(pinC_l, _constrain(dc_c + dead_zone/2, 0, 1)*_PWM_RANGE, _PWM_RESOLUTION); + // _setPwm(pinC_h, _constrain(dc_c - dead_zone/2, 0, 1)*_PWM_RANGE, _PWM_RESOLUTION); + // break; + // } +//} +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/renesas/renesas.cpp b/src/drivers/hardware_specific/renesas/renesas.cpp new file mode 100644 index 00000000..2c9c9b22 --- /dev/null +++ b/src/drivers/hardware_specific/renesas/renesas.cpp @@ -0,0 +1,604 @@ + +#include "./renesas.h" + +#if defined(ARDUINO_UNOR4_WIFI) || defined(ARDUINO_UNOR4_MINIMA) + + +#pragma message("") +#pragma message("SimpleFOC: compiling for Arduino/Renesas (UNO R4)") +#pragma message("") + + + +#include "communication/SimpleFOCDebug.h" +#include "FspTimer.h" + +#define GPT_OPEN (0x00475054ULL) + +/* + We use the GPT timers, there are 2 channels (32 bit) + 6 channels (16 bit) + Each channel has 2 outputs (GTIOCAx and GTIOCBx) which can be complimentary. + + So each timer channel can handle one half-bridge, using either a single (3-PWM) or + two complimentary PWM signals (6-PWM). + + For 1-PWM through 4-PWM, we need as many channels as PWM signals, and we can use + either output A or B of the timer (we can set the polarity) - but not both. + + For 6-PWM we need 3 channels, and use both outputs A and B of each channel, then + we can do hardware dead-time. + Or we can use seperate channels for high and low side, with software dead-time. + Each phase can be either hardware (1 channel) or software (2 channels) dead-time + individually, they don't all have to be one or the other. + + Selected channels can be started together, so we can keep the phases in sync for + low-side current sensing and software 6-PWM. + + The event system should permit low side current sensing without needing interrupts, + but this will be handled by the current sense driver. + + Supported: + - arbitrary PWM frequencies between 1Hz (minimum we can set with our integer based API) + and around 48kHz (more would be possible but the range will be low) + - PWM range at 24kHz (default) is 1000 + - PWM range at 48kHz is 500 + - polarity setting is supported, in all modes + - phase state setting is supported, in 3-PWM, 6-PWM hardware dead-time and 6-PWM software dead-time + + TODOs: + - change setDutyCycle to use register access for speed + - add event system support for low-side current sensing + - perhaps add support to reserve timers used also in + Arduino Pwm.h code, for compatibility with analogWrite() + - check if there is a better way for phase-state setting + */ + + +// track which channels are used +bool channel_used[GPT_HOWMANY] = { false }; + + +struct RenesasTimerConfig { + timer_cfg_t timer_cfg; + gpt_instance_ctrl_t ctrl; + gpt_extended_cfg_t ext_cfg; + gpt_extended_pwm_cfg_t pwm_cfg; + gpt_io_pin_t duty_pin; +}; + +struct ClockDivAndRange { + timer_source_div_t clk_div; + uint32_t range; +}; + +ClockDivAndRange getClockDivAndRange(uint32_t pwm_frequency, uint8_t timer_channel) { + ClockDivAndRange result; + uint32_t max_count = (timer_channel < GTP32_HOWMANY)? 4294967295 : 65535; + uint32_t freq_hz = R_FSP_SystemClockHzGet(FSP_PRIV_CLOCK_PCLKD); + float range = (float) freq_hz / ((float) pwm_frequency * 2.0f); + if(range / 1.0 < max_count) { + result.range = (uint32_t) (range / 1.0); + result.clk_div = TIMER_SOURCE_DIV_1; + } + else if (range / 2.0 < max_count) { + result.range = (uint32_t) (range / 2.0); + result.clk_div = TIMER_SOURCE_DIV_2; + } + else if(range / 4.0 < max_count) { + result.range = (uint32_t) (range / 4.0); + result.clk_div = TIMER_SOURCE_DIV_4; + } + else if(range / 8.0 < max_count) { + result.range = (uint32_t) (range / 8.0 ); + result.clk_div = TIMER_SOURCE_DIV_8; + } + else if(range / 16.0 < max_count) { + result.range = (uint32_t) (range / 16.0 ); + result.clk_div = TIMER_SOURCE_DIV_16; + } + else if (range / 32.0 < max_count) { + result.range = (uint32_t) (range / 32.0 ); + result.clk_div = TIMER_SOURCE_DIV_32; + } + else if(range / 64.0 < max_count) { + result.range = (uint32_t) (range / 64.0 ); + result.clk_div = TIMER_SOURCE_DIV_64; + } + else if(range / 128.0 < max_count) { + result.range = (uint32_t) (range / 128.0 ); + result.clk_div = TIMER_SOURCE_DIV_128; + } + else if(range / 256.0 < max_count) { + result.range = (uint32_t) (range / 256.0 ); + result.clk_div = TIMER_SOURCE_DIV_256; + } + else if(range / 512.0 < max_count) { + result.range = (uint32_t) (range / 512.0 ); + result.clk_div = TIMER_SOURCE_DIV_512; + } + else if(range / 1024.0 < max_count) { + result.range = (uint32_t) (range / 1024.0 ); + result.clk_div = TIMER_SOURCE_DIV_1024; + } + else { + SimpleFOCDebug::println("DRV: PWM frequency too low"); + } + return result; +}; + + +bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool active_high, bool complementary = false, bool complementary_active_high = true) { + uint8_t pin = params->pins[index]; + uint8_t pin_C; + std::array pinCfgs = getPinCfgs(pin, PIN_CFG_REQ_PWM); + std::array pinCfgs_C; + if(pinCfgs[0] == 0) { + SIMPLEFOC_DEBUG("DRV: no PWM on pin ", pin); + return false; + } + if (IS_PIN_AGT_PWM(pinCfgs[0])) { + SIMPLEFOC_DEBUG("DRV: AGT timer not supported"); + return false; + } + // get the timer channel + uint8_t timer_channel = GET_CHANNEL(pinCfgs[0]); + // check its not used + if (channel_used[timer_channel]) { + SIMPLEFOC_DEBUG("DRV: channel in use: ", timer_channel); + return false; + } + + if (complementary) { + pin_C = params->pins[index+1]; + pinCfgs_C = getPinCfgs(pin_C, PIN_CFG_REQ_PWM); + if(pinCfgs_C[0] == 0) { + SIMPLEFOC_DEBUG("DRV: no PWM on pin ", pin_C); + return false; + } + if (IS_PIN_AGT_PWM(pinCfgs_C[0]) || GET_CHANNEL(pinCfgs_C[0])!=timer_channel) { + SIMPLEFOC_DEBUG("DRV: comp. channel different"); + return false; + } + } + TimerPWMChannel_t pwm_output = IS_PWM_ON_A(pinCfgs[0]) ? CHANNEL_A : CHANNEL_B; + if (complementary) { + TimerPWMChannel_t pwm_output_C = IS_PWM_ON_A(pinCfgs_C[0]) ? CHANNEL_A : CHANNEL_B; + if (pwm_output_C != CHANNEL_A || pwm_output != CHANNEL_B) { + SIMPLEFOC_DEBUG("DRV: output A/B mismatch"); + return false; + } + } + + // configure GPIO pin + fsp_err_t err = R_IOPORT_PinCfg(&g_ioport_ctrl, g_pin_cfg[pin].pin, (uint32_t) (IOPORT_CFG_PERIPHERAL_PIN | IOPORT_PERIPHERAL_GPT1)); + if ((err == FSP_SUCCESS) && complementary) + err = R_IOPORT_PinCfg(&g_ioport_ctrl, g_pin_cfg[pin_C].pin, (uint32_t) (IOPORT_CFG_PERIPHERAL_PIN | IOPORT_PERIPHERAL_GPT1)); + if (err != FSP_SUCCESS) { + SIMPLEFOC_DEBUG("DRV: pin config failed"); + return false; + } + + + // configure timer channel - frequency / top value + ClockDivAndRange timings = getClockDivAndRange(params->pwm_frequency, timer_channel); + #if defined(SIMPLEFOC_RENESAS_DEBUG) + SimpleFOCDebug::println("---PWM Config---"); + SimpleFOCDebug::println("DRV: pwm pin: ", pin); + if (complementary) + SimpleFOCDebug::println("DRV: compl. pin: ", pin_C); + SimpleFOCDebug::println("DRV: pwm channel: ", timer_channel); + SimpleFOCDebug::print("DRV: pwm A/B: "); SimpleFOCDebug::println(complementary?"A+B":((pwm_output==CHANNEL_A)?"A":"B")); + SimpleFOCDebug::println("DRV: pwm freq: ", (int)params->pwm_frequency); + SimpleFOCDebug::println("DRV: pwm range: ", (int)timings.range); + SimpleFOCDebug::println("DRV: pwm clkdiv: ", timings.clk_div); + #endif + + RenesasTimerConfig* t = new RenesasTimerConfig(); + // configure timer channel - count mode + t->timer_cfg.channel = timer_channel; + t->timer_cfg.mode = TIMER_MODE_TRIANGLE_WAVE_SYMMETRIC_PWM; + t->timer_cfg.source_div = timings.clk_div; + t->timer_cfg.period_counts = timings.range; + t->timer_cfg.duty_cycle_counts = 0; + t->timer_cfg.p_callback = nullptr; + t->timer_cfg.p_context = nullptr; + t->timer_cfg.p_extend = &(t->ext_cfg); + t->timer_cfg.cycle_end_ipl = BSP_IRQ_DISABLED; + 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; + t->pwm_cfg.output_disable = GPT_OUTPUT_DISABLE_NONE; + t->pwm_cfg.adc_trigger = GPT_ADC_TRIGGER_NONE; + t->pwm_cfg.dead_time_count_up = 0; + t->pwm_cfg.dead_time_count_down = 0; + t->pwm_cfg.adc_a_compare_match = 0; + t->pwm_cfg.adc_b_compare_match = 0; + t->pwm_cfg.interrupt_skip_source = GPT_INTERRUPT_SKIP_SOURCE_NONE; + t->pwm_cfg.interrupt_skip_count = GPT_INTERRUPT_SKIP_COUNT_0; + t->pwm_cfg.interrupt_skip_adc = GPT_INTERRUPT_SKIP_ADC_NONE; + t->pwm_cfg.gtioca_disable_setting = GPT_GTIOC_DISABLE_PROHIBITED; + t->pwm_cfg.gtiocb_disable_setting = GPT_GTIOC_DISABLE_PROHIBITED; + // configure dead-time if both outputs are used + if (complementary) { + uint32_t dt = params->dead_zone * timings.range; + t->pwm_cfg.dead_time_count_up = dt; + t->pwm_cfg.dead_time_count_down = dt; + } + + // configure timer channel - outputs and polarity + t->ext_cfg.gtior_setting.gtior = 0L; + if (!complementary) { + if(pwm_output == CHANNEL_A) { + t->duty_pin = GPT_IO_PIN_GTIOCA; + t->ext_cfg.gtioca.output_enabled = true; + t->ext_cfg.gtiocb.output_enabled = false; + t->ext_cfg.gtior_setting.gtior_b.gtioa = 0x03 | (active_high ? 0x00 : 0x10); + t->ext_cfg.gtior_setting.gtior_b.oadflt = active_high ? 0x00 : 0x01; + // t->ext_cfg.gtior_setting.gtior_b.oahld = 0x0; + // t->ext_cfg.gtior_setting.gtior_b.oadf = 0x0; + // t->ext_cfg.gtior_setting.gtior_b.nfaen = 0x0; + } + else { + t->duty_pin = GPT_IO_PIN_GTIOCB; + t->ext_cfg.gtiocb.output_enabled = true; + t->ext_cfg.gtioca.output_enabled = false; + 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; + } + } + else { + t->duty_pin = GPT_IO_PIN_GTIOCA_AND_GTIOCB; + t->ext_cfg.gtioca.output_enabled = true; + t->ext_cfg.gtiocb.output_enabled = true; + t->ext_cfg.gtior_setting.gtior_b.gtioa = 0x03 | (!complementary_active_high ? 0x00 : 0x10); + t->ext_cfg.gtior_setting.gtior_b.oadflt = !complementary_active_high ? 0x00 : 0x01; + 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; + } + 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 (err == FSP_ERR_ALREADY_OPEN) { + SimpleFOCDebug::println("DRV: timer already open"); + return false; + } + + err = R_GPT_PeriodSet(&(t->ctrl), t->timer_cfg.period_counts); + if (err != FSP_SUCCESS) { + SIMPLEFOC_DEBUG("DRV: period set failed"); + return false; + } + err = R_GPT_OutputEnable(&(t->ctrl), t->duty_pin); + if (err != FSP_SUCCESS) { + SIMPLEFOC_DEBUG("DRV: pin enable failed"); + return false; + } + + channel_used[timer_channel] = true; + params->timer_config[index] = t; + params->channels[index] = timer_channel; + if (complementary) { + params->timer_config[index+1] = t; + params->channels[index+1] = timer_channel; + } + + return true; +} + + +// start the timer channels for the motor, synchronously +bool startTimerChannels(RenesasHardwareDriverParams* params, int num_channels) { + uint32_t mask = 0; + for (int i = 0; i < num_channels; i++) { + // RenesasTimerConfig* t = params->timer_config[i]; + // if (R_GPT_Start(&(t->ctrl)) != FSP_SUCCESS) { + // SIMPLEFOC_DEBUG("DRV: timer start failed"); + // return false; + // } + mask |= (1 << params->channels[i]); +#if defined(SIMPLEFOC_RENESAS_DEBUG) + SimpleFOCDebug::println("DRV: starting timer: ", params->channels[i]); +#endif + } + params->timer_config[0]->ctrl.p_reg->GTSTR |= mask; + #if defined(SIMPLEFOC_RENESAS_DEBUG) + SimpleFOCDebug::println("DRV: timers started"); + #endif + return true; +} + + +// check if the given pins are on the same timer channel +bool isHardware6Pwm(const int pin1, const int pin2) { + std::array pinCfgs1 = getPinCfgs(pin1, PIN_CFG_REQ_PWM); + std::array pinCfgs2 = getPinCfgs(pin2, PIN_CFG_REQ_PWM); + if(pinCfgs1[0] == 0 || pinCfgs2[0] == 0) + return false; + if (IS_PIN_AGT_PWM(pinCfgs1[0]) || IS_PIN_AGT_PWM(pinCfgs2[0])) + return false; + uint8_t timer_channel1 = GET_CHANNEL(pinCfgs1[0]); + uint8_t timer_channel2 = GET_CHANNEL(pinCfgs2[0]); + return timer_channel1==timer_channel2; +} + + + +void* _configure1PWM(long pwm_frequency, const int pinA) { + RenesasHardwareDriverParams* params = new RenesasHardwareDriverParams; + params->pins[0] = pinA; + params->pwm_frequency = (pwm_frequency==NOT_SET)?RENESAS_DEFAULT_PWM_FREQUENCY:pwm_frequency; + bool success = true; + success = configureTimerPin(params, 0, SIMPLEFOC_PWM_ACTIVE_HIGH); + if (success) + success = startTimerChannels(params, 1); + if (!success) + return SIMPLEFOC_DRIVER_INIT_FAILED; + return params; +} + + +void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) { + RenesasHardwareDriverParams* params = new RenesasHardwareDriverParams; + params->pins[0] = pinA; params->pins[1] = pinB; + params->pwm_frequency = (pwm_frequency==NOT_SET)?RENESAS_DEFAULT_PWM_FREQUENCY:pwm_frequency; + bool success = true; + success = configureTimerPin(params, 0, SIMPLEFOC_PWM_ACTIVE_HIGH); + success &= configureTimerPin(params, 1, SIMPLEFOC_PWM_ACTIVE_HIGH); + if (!success) + success &= startTimerChannels(params, 2); + if (!success) + return SIMPLEFOC_DRIVER_INIT_FAILED; + return params; +} + + +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + RenesasHardwareDriverParams* params = new RenesasHardwareDriverParams; + params->pins[0] = pinA; params->pins[1] = pinB; params->pins[2] = pinC; + params->pwm_frequency = (pwm_frequency==NOT_SET)?RENESAS_DEFAULT_PWM_FREQUENCY:pwm_frequency; + bool success = true; + success = configureTimerPin(params, 0, SIMPLEFOC_PWM_ACTIVE_HIGH); + success &= configureTimerPin(params, 1, SIMPLEFOC_PWM_ACTIVE_HIGH); + success &= configureTimerPin(params, 2, SIMPLEFOC_PWM_ACTIVE_HIGH); + if (success) + success = startTimerChannels(params, 3); + if (!success) + return SIMPLEFOC_DRIVER_INIT_FAILED; + return params; +} + + +void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const int pin2A, const int pin2B) { + RenesasHardwareDriverParams* params = new RenesasHardwareDriverParams; + params->pins[0] = pin1A; params->pins[1] = pin1B; params->pins[2] = pin2A; params->pins[3] = pin2B; + params->pwm_frequency = (pwm_frequency==NOT_SET)?RENESAS_DEFAULT_PWM_FREQUENCY:pwm_frequency; + bool success = true; + success = configureTimerPin(params, 0, SIMPLEFOC_PWM_ACTIVE_HIGH); + success &= configureTimerPin(params, 1, SIMPLEFOC_PWM_ACTIVE_HIGH); + success &= configureTimerPin(params, 2, SIMPLEFOC_PWM_ACTIVE_HIGH); + success &= configureTimerPin(params, 3, SIMPLEFOC_PWM_ACTIVE_HIGH); + if (success) + success = startTimerChannels(params, 4); + if (!success) + return SIMPLEFOC_DRIVER_INIT_FAILED; + return params; +} + + +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){ + RenesasHardwareDriverParams* params = new RenesasHardwareDriverParams; + params->pins[0] = pinA_h; params->pins[1] = pinA_l; params->pins[2] = pinB_h; params->pins[3] = pinB_l; params->pins[4] = pinC_h; params->pins[5] = pinC_l; + params->pwm_frequency = (pwm_frequency==NOT_SET)?RENESAS_DEFAULT_PWM_FREQUENCY:pwm_frequency; + params->dead_zone = (dead_zone==NOT_SET)?RENESAS_DEFAULT_DEAD_ZONE:dead_zone; + + bool success = true; + if (isHardware6Pwm(pinA_h, pinA_l)) + success &= configureTimerPin(params, 0, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, true, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH); + else { + success &= configureTimerPin(params, 0, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH); + success &= configureTimerPin(params, 1, !SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH); // reverse polarity on low side gives desired active high/low behaviour + } + + if (isHardware6Pwm(pinB_h, pinB_l)) + success &= configureTimerPin(params, 2, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, true, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH); + else { + success &= configureTimerPin(params, 2, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH); + success &= configureTimerPin(params, 3, !SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH); + } + + if (isHardware6Pwm(pinC_h, pinC_l)) + success &= configureTimerPin(params, 4, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, true, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH); + else { + success &= configureTimerPin(params, 4, SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH); + success &= configureTimerPin(params, 5, !SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH); + } + + if (success) + success = startTimerChannels(params, 6); + if (!success) + return SIMPLEFOC_DRIVER_INIT_FAILED; + return params; +} + + + + +void _writeDutyCycle1PWM(float dc_a, void* params){ + RenesasTimerConfig* t = ((RenesasHardwareDriverParams*)params)->timer_config[0]; + uint32_t duty_cycle_counts = (uint32_t)(dc_a * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } +} + + +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + RenesasTimerConfig* t = ((RenesasHardwareDriverParams*)params)->timer_config[0]; + uint32_t duty_cycle_counts = (uint32_t)(dc_a * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } + t = ((RenesasHardwareDriverParams*)params)->timer_config[1]; + duty_cycle_counts = (uint32_t)(dc_b * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } +} + + +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + RenesasTimerConfig* t = ((RenesasHardwareDriverParams*)params)->timer_config[0]; + uint32_t duty_cycle_counts = (uint32_t)(dc_a * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } + t = ((RenesasHardwareDriverParams*)params)->timer_config[1]; + duty_cycle_counts = (uint32_t)(dc_b * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } + t = ((RenesasHardwareDriverParams*)params)->timer_config[2]; + duty_cycle_counts = (uint32_t)(dc_c * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } +} + + +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + RenesasTimerConfig* t = ((RenesasHardwareDriverParams*)params)->timer_config[0]; + uint32_t duty_cycle_counts = (uint32_t)(dc_1a * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } + t = ((RenesasHardwareDriverParams*)params)->timer_config[1]; + duty_cycle_counts = (uint32_t)(dc_1b * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } + t = ((RenesasHardwareDriverParams*)params)->timer_config[2]; + duty_cycle_counts = (uint32_t)(dc_2a * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } + t = ((RenesasHardwareDriverParams*)params)->timer_config[3]; + duty_cycle_counts = (uint32_t)(dc_2b * (float)(t->timer_cfg.period_counts)); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } +} + + + +void _setSinglePhaseState(RenesasTimerConfig* hi, RenesasTimerConfig* lo, PhaseState state) { + gpt_gtior_setting_t gtior; + gtior.gtior = hi->ctrl.p_reg->GTIOR; + bool on = (state==PHASE_ON) || (state==PHASE_HI); + + if (hi->duty_pin == GPT_IO_PIN_GTIOCA_AND_GTIOCB) { + bool ch = false; + if (gtior.gtior_b.obe != on) { + gtior.gtior_b.obe = on; + ch = true; + } // B is high side + on = (state==PHASE_ON) || (state==PHASE_LO); + if (gtior.gtior_b.oae != on) { + gtior.gtior_b.oae = on; + ch = true; + } + if (ch) + hi->ctrl.p_reg->GTIOR = gtior.gtior; + return; + } + + if (hi->duty_pin == GPT_IO_PIN_GTIOCA) { + if (gtior.gtior_b.oae != on) { + gtior.gtior_b.oae = on; + hi->ctrl.p_reg->GTIOR = gtior.gtior; + } + } + else if (hi->duty_pin == GPT_IO_PIN_GTIOCB) { + if (gtior.gtior_b.obe != on) { + gtior.gtior_b.obe = on; + hi->ctrl.p_reg->GTIOR = gtior.gtior; + } + } + + gtior.gtior = lo->ctrl.p_reg->GTIOR; + on = (state==PHASE_ON) || (state==PHASE_LO); + if (lo->duty_pin == GPT_IO_PIN_GTIOCA) { + if (gtior.gtior_b.oae != on) { + gtior.gtior_b.oae = on; + lo->ctrl.p_reg->GTIOR = gtior.gtior; + } + } + else if (lo->duty_pin == GPT_IO_PIN_GTIOCB) { + if (gtior.gtior_b.obe != on) { + gtior.gtior_b.obe = on; + lo->ctrl.p_reg->GTIOR = gtior.gtior; + } + } + +} + + +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + RenesasTimerConfig* t = ((RenesasHardwareDriverParams*)params)->timer_config[0]; + RenesasTimerConfig* t1 = ((RenesasHardwareDriverParams*)params)->timer_config[1]; + uint32_t dt = (uint32_t)(((RenesasHardwareDriverParams*)params)->dead_zone * (float)(t->timer_cfg.period_counts)); + uint32_t duty_cycle_counts = (uint32_t)(dc_a * (float)(t->timer_cfg.period_counts)); + bool hw_deadtime = ((RenesasHardwareDriverParams*)params)->channels[0] == ((RenesasHardwareDriverParams*)params)->channels[1]; + uint32_t dt_act = (duty_cycle_counts>0 && !hw_deadtime)?dt:0; + _setSinglePhaseState(t, t1, phase_state[0]); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts - dt_act, t->duty_pin) != FSP_SUCCESS) { + // error + } + if (!hw_deadtime) { + if (R_GPT_DutyCycleSet(&(t1->ctrl), duty_cycle_counts + dt_act, t1->duty_pin) != FSP_SUCCESS) { + // error + } + } + + t = ((RenesasHardwareDriverParams*)params)->timer_config[2]; + t1 = ((RenesasHardwareDriverParams*)params)->timer_config[3]; + duty_cycle_counts = (uint32_t)(dc_b * (float)(t->timer_cfg.period_counts)); + hw_deadtime = ((RenesasHardwareDriverParams*)params)->channels[2] == ((RenesasHardwareDriverParams*)params)->channels[3]; + dt_act = (duty_cycle_counts>0 && !hw_deadtime)?dt:0; + _setSinglePhaseState(t, t1, phase_state[1]); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts - dt_act, t->duty_pin) != FSP_SUCCESS) { + // error + } + if (!hw_deadtime) { + if (R_GPT_DutyCycleSet(&(t1->ctrl), duty_cycle_counts + dt_act, t1->duty_pin) != FSP_SUCCESS) { + // error + } + } + + t = ((RenesasHardwareDriverParams*)params)->timer_config[4]; + t1 = ((RenesasHardwareDriverParams*)params)->timer_config[5]; + duty_cycle_counts = (uint32_t)(dc_c * (float)(t->timer_cfg.period_counts)); + hw_deadtime = ((RenesasHardwareDriverParams*)params)->channels[4] == ((RenesasHardwareDriverParams*)params)->channels[5]; + dt_act = (duty_cycle_counts>0 && !hw_deadtime)?dt:0; + _setSinglePhaseState(t, t1, phase_state[2]); + if (R_GPT_DutyCycleSet(&(t->ctrl), duty_cycle_counts, t->duty_pin) != FSP_SUCCESS) { + // error + } + if (!hw_deadtime) { + if (R_GPT_DutyCycleSet(&(t1->ctrl), duty_cycle_counts + dt_act, t1->duty_pin) != FSP_SUCCESS) { + // error + } + } + +} + +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/renesas/renesas.h b/src/drivers/hardware_specific/renesas/renesas.h new file mode 100644 index 00000000..91bacdce --- /dev/null +++ b/src/drivers/hardware_specific/renesas/renesas.h @@ -0,0 +1,28 @@ +#pragma once + + +#include "../../hardware_api.h" + + +#if defined(ARDUINO_UNOR4_WIFI) || defined(ARDUINO_UNOR4_MINIMA) + +// uncomment to enable debug output from Renesas driver +// can set this as build-flag in Arduino IDE or PlatformIO +#define SIMPLEFOC_RENESAS_DEBUG + +#define RENESAS_DEFAULT_PWM_FREQUENCY 24000 +#define RENESAS_DEFAULT_DEAD_ZONE 0.05f + +struct RenesasTimerConfig; + +typedef struct RenesasHardwareDriverParams { + uint8_t pins[6]; + uint8_t channels[6]; + RenesasTimerConfig* timer_config[6]; + long pwm_frequency; + float dead_zone; +} RenesasHardwareDriverParams; + + + +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp b/src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp new file mode 100644 index 00000000..6afbf345 --- /dev/null +++ b/src/drivers/hardware_specific/rp2040/rp2040_mcu.cpp @@ -0,0 +1,249 @@ + +/** + * Support for the RP2040 MCU, as found on the Raspberry Pi Pico. + */ + +#include "./rp2040_mcu.h" + + +#if defined(TARGET_RP2040) + + +#pragma message("") +#pragma message("SimpleFOC: compiling for RP2040") +#pragma message("") + +#if !defined(SIMPLEFOC_DEBUG_RP2040) +#define SIMPLEFOC_DEBUG_RP2040 +#endif + +#include "../../hardware_api.h" +#include "hardware/pwm.h" +#include "hardware/clocks.h" +#if defined(USE_ARDUINO_PINOUT) +#include +#endif + +#define _PWM_FREQUENCY 24000 +#define _PWM_FREQUENCY_MAX 66000 +#define _PWM_FREQUENCY_MIN 1 + + + +// until I can figure out if this can be quickly read from some register, keep it here. +// it also serves as a marker for what slices are already used. +uint16_t wrapvalues[NUM_PWM_SLICES]; + + +// TODO add checks which channels are already used... + +void setupPWM(int pin_nr, long pwm_frequency, bool invert, RP2040DriverParams* params, uint8_t index) { + #if defined(USE_ARDUINO_PINOUT) + uint pin = (uint)digitalPinToPinName(pin_nr); // we could check for -DBOARD_HAS_PIN_REMAP ? + #else + uint pin = (uint)pin_nr; + #endif + gpio_set_function(pin, GPIO_FUNC_PWM); + uint slice = pwm_gpio_to_slice_num(pin); + uint chan = pwm_gpio_to_channel(pin); + params->pins[index] = pin; + params->slice[index] = slice; + params->chan[index] = chan; + uint32_t sysclock_hz = frequency_count_khz(CLOCKS_FC0_SRC_VALUE_CLK_SYS) * 1000; + uint32_t factor = 4096 * 2 * pwm_frequency; + uint32_t div = sysclock_hz / factor; + if (sysclock_hz % factor !=0) div+=1; + if (div < 16) div = 16; + uint32_t wrapvalue = (sysclock_hz * 8) / div / pwm_frequency - 1; +#ifdef SIMPLEFOC_DEBUG_RP2040 + SimpleFOCDebug::print("Configuring pin "); + SimpleFOCDebug::print((int)pin); + SimpleFOCDebug::print(" slice "); + SimpleFOCDebug::print((int)slice); + SimpleFOCDebug::print(" channel "); + SimpleFOCDebug::print((int)chan); + SimpleFOCDebug::print(" frequency "); + SimpleFOCDebug::print((int)pwm_frequency); + SimpleFOCDebug::print(" divisor "); + SimpleFOCDebug::print((int)(div>>4)); + SimpleFOCDebug::print("."); + SimpleFOCDebug::print((int)(div&0xF)); + SimpleFOCDebug::print(" top value "); + SimpleFOCDebug::println((int)wrapvalue); +#endif + if (wrapvalue < 999) + SimpleFOCDebug::println("Warning: PWM resolution is low."); + pwm_set_clkdiv_int_frac(slice, div>>4, div&0xF); + pwm_set_phase_correct(slice, true); + pwm_set_wrap(slice, wrapvalue); + wrapvalues[slice] = wrapvalue; + if (invert) { + if (chan==0) + hw_write_masked(&pwm_hw->slice[slice].csr, 0x1 << PWM_CH0_CSR_A_INV_LSB, PWM_CH0_CSR_A_INV_BITS); + else + hw_write_masked(&pwm_hw->slice[slice].csr, 0x1 << PWM_CH0_CSR_B_INV_LSB, PWM_CH0_CSR_B_INV_BITS); + } + pwm_set_chan_level(slice, chan, 0); // switch off initially +} + + +void syncSlices() { + for (uint i=0;ipwm_frequency = pwm_frequency; + setupPWM(pinA, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 0); + syncSlices(); + return params; +} + + + +void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) { + RP2040DriverParams* params = new RP2040DriverParams(); + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); + params->pwm_frequency = pwm_frequency; + setupPWM(pinA, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 0); + setupPWM(pinB, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 1); + syncSlices(); + return params; +} + + + +void* _configure3PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC) { + RP2040DriverParams* params = new RP2040DriverParams(); + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); + params->pwm_frequency = pwm_frequency; + setupPWM(pinA, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 0); + setupPWM(pinB, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 1); + setupPWM(pinC, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 2); + syncSlices(); + return params; +} + + + + +void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const int pin2A, const int pin2B) { + RP2040DriverParams* params = new RP2040DriverParams(); + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); + params->pwm_frequency = pwm_frequency; + setupPWM(pin1A, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 0); + setupPWM(pin1B, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 1); + setupPWM(pin2A, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 2); + setupPWM(pin2B, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 3); + syncSlices(); + return params; +} + + +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) { + // non-PIO solution... + RP2040DriverParams* params = new RP2040DriverParams(); + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; + else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); + params->pwm_frequency = pwm_frequency; + params->dead_zone = dead_zone; + setupPWM(pinA_h, pwm_frequency, !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 0); + setupPWM(pinB_h, pwm_frequency, !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 2); + setupPWM(pinC_h, pwm_frequency, !SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH, params, 4); + setupPWM(pinA_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 1); + setupPWM(pinB_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 3); + setupPWM(pinC_l, pwm_frequency, SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH, params, 5); + syncSlices(); + return params; +} + + + + + +void writeDutyCycle(float val, uint slice, uint chan) { + pwm_set_chan_level(slice, chan, (wrapvalues[slice]+1) * val); +} + + + + +void _writeDutyCycle1PWM(float dc_a, void* params) { + writeDutyCycle(dc_a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]); +} + + + + +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params) { + writeDutyCycle(dc_a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]); + writeDutyCycle(dc_b, ((RP2040DriverParams*)params)->slice[1], ((RP2040DriverParams*)params)->chan[1]); +} + + + +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params) { + writeDutyCycle(dc_a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]); + writeDutyCycle(dc_b, ((RP2040DriverParams*)params)->slice[1], ((RP2040DriverParams*)params)->chan[1]); + writeDutyCycle(dc_c, ((RP2040DriverParams*)params)->slice[2], ((RP2040DriverParams*)params)->chan[2]); +} + + + +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params) { + writeDutyCycle(dc_1a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]); + writeDutyCycle(dc_1b, ((RP2040DriverParams*)params)->slice[1], ((RP2040DriverParams*)params)->chan[1]); + writeDutyCycle(dc_2a, ((RP2040DriverParams*)params)->slice[2], ((RP2040DriverParams*)params)->chan[2]); + writeDutyCycle(dc_2b, ((RP2040DriverParams*)params)->slice[3], ((RP2040DriverParams*)params)->chan[3]); +} + +inline float swDti(float val, float dt) { + float ret = dt+val; + if (ret>1.0) ret = 1.0f; + return ret; +} + +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params) { + if (phase_state[0]==PhaseState::PHASE_ON || phase_state[0]==PhaseState::PHASE_HI) + writeDutyCycle(dc_a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]); + else + writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]); + if (phase_state[0]==PhaseState::PHASE_ON || phase_state[0]==PhaseState::PHASE_LO) + writeDutyCycle(swDti(dc_a, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[1], ((RP2040DriverParams*)params)->chan[1]); + else + writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[1], ((RP2040DriverParams*)params)->chan[1]); + + if (phase_state[1]==PhaseState::PHASE_ON || phase_state[1]==PhaseState::PHASE_HI) + writeDutyCycle(dc_b, ((RP2040DriverParams*)params)->slice[2], ((RP2040DriverParams*)params)->chan[2]); + else + writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[2], ((RP2040DriverParams*)params)->chan[2]); + if (phase_state[1]==PhaseState::PHASE_ON || phase_state[1]==PhaseState::PHASE_LO) + writeDutyCycle(swDti(dc_b, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[3], ((RP2040DriverParams*)params)->chan[3]); + else + writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[3], ((RP2040DriverParams*)params)->chan[3]); + + if (phase_state[2]==PhaseState::PHASE_ON || phase_state[2]==PhaseState::PHASE_HI) + writeDutyCycle(dc_c, ((RP2040DriverParams*)params)->slice[4], ((RP2040DriverParams*)params)->chan[4]); + else + writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[4], ((RP2040DriverParams*)params)->chan[4]); + if (phase_state[2]==PhaseState::PHASE_ON || phase_state[2]==PhaseState::PHASE_LO) + writeDutyCycle(swDti(dc_c, ((RP2040DriverParams*)params)->dead_zone), ((RP2040DriverParams*)params)->slice[5], ((RP2040DriverParams*)params)->chan[5]); + else + writeDutyCycle(0.0f, ((RP2040DriverParams*)params)->slice[5], ((RP2040DriverParams*)params)->chan[5]); + + _UNUSED(phase_state); +} + +#endif diff --git a/src/drivers/hardware_specific/rp2040/rp2040_mcu.h b/src/drivers/hardware_specific/rp2040/rp2040_mcu.h new file mode 100644 index 00000000..bbfb3873 --- /dev/null +++ b/src/drivers/hardware_specific/rp2040/rp2040_mcu.h @@ -0,0 +1,22 @@ + + +#pragma once + +#include "Arduino.h" + +#if defined(TARGET_RP2040) + + + +typedef struct RP2040DriverParams { + int pins[6]; + uint slice[6]; + uint chan[6]; + long pwm_frequency; + float dead_zone; +} RP2040DriverParams; + + + + +#endif diff --git a/src/drivers/hardware_specific/samd/samd21_mcu.cpp b/src/drivers/hardware_specific/samd/samd21_mcu.cpp new file mode 100644 index 00000000..d59a3098 --- /dev/null +++ b/src/drivers/hardware_specific/samd/samd21_mcu.cpp @@ -0,0 +1,353 @@ + + + +#include "./samd_mcu.h" + + +#ifdef _SAMD21_ + + +#pragma message("") +#pragma message("SimpleFOC: compiling for SAMD21") +#pragma message("") + + +#ifndef TCC3_CH0 +#define TCC3_CH0 NOT_ON_TIMER +#endif +#ifndef TCC3_CH1 +#define TCC3_CH1 NOT_ON_TIMER +#endif +#ifndef TCC3_CH2 +#define TCC3_CH2 NOT_ON_TIMER +#endif +#ifndef TCC3_CH3 +#define TCC3_CH3 NOT_ON_TIMER +#endif +#ifndef TCC3_CH4 +#define TCC3_CH4 NOT_ON_TIMER +#endif +#ifndef TCC3_CH5 +#define TCC3_CH5 NOT_ON_TIMER +#endif +#ifndef TCC3_CH6 +#define TCC3_CH6 NOT_ON_TIMER +#endif +#ifndef TCC3_CH7 +#define TCC3_CH7 NOT_ON_TIMER +#endif +#ifndef TC6_CH0 +#define TC6_CH0 NOT_ON_TIMER +#endif +#ifndef TC6_CH1 +#define TC6_CH1 NOT_ON_TIMER +#endif +#ifndef TC7_CH0 +#define TC7_CH0 NOT_ON_TIMER +#endif +#ifndef TC7_CH1 +#define TC7_CH1 NOT_ON_TIMER +#endif + + + +#define NUM_WO_ASSOCIATIONS 48 + +/* + * For SAM D21 A/B/C/D Variant Devices and SAM DA1 A/B Variant Devices + * Good for SAMD2xE, SAMD2xG and SAMD2xJ devices. Other SAMD21s currently not supported in arduino anyway? + * + * Note: only the pins which have timers associated are listed in this table. + * You can use the values from g_APinDescription.ulPort and g_APinDescription.ulPin to find the correct row in the table. + * + * See Microchip Technology datasheet DS40001882F-page 30 + */ +struct wo_association WO_associations[] = { + + { PORTA, 0, TCC2_CH0, 0, NOT_ON_TIMER, 0}, + { PORTA, 1, TCC2_CH1, 1, NOT_ON_TIMER, 0}, + { PORTA, 2, NOT_ON_TIMER, 0, TCC3_CH0, 0}, + { PORTA, 3, NOT_ON_TIMER, 0, TCC3_CH1, 1}, + // PB04, PB05, PB06, PB07 - no timers + { PORTB, 8, TC4_CH0, 0, TCC3_CH6, 6}, + { PORTB, 9, TC4_CH1, 1, TCC3_CH7, 7}, + { PORTA, 4, TCC0_CH0, 0, TCC3_CH2, 2}, + { PORTA, 5, TCC0_CH1, 1, TCC3_CH3, 3}, + { PORTA, 6, TCC1_CH0, 0, TCC3_CH4, 4}, + { PORTA, 7, TCC1_CH1, 1, TCC3_CH5, 5}, + { PORTA, 8, TCC0_CH0, 0, TCC1_CH2, 2}, + { PORTA, 9, TCC0_CH1, 1, TCC1_CH3, 3}, + { PORTA, 10, TCC1_CH0, 0, TCC0_CH2, 2}, + { PORTA, 11, TCC1_CH1, 1, TCC0_CH3, 3}, + { PORTB, 10, TC5_CH0, 0, TCC0_CH4, 4}, + { PORTB, 11, TC5_CH1, 1, TCC0_CH5, 5}, + { PORTB, 12, TC4_CH0, 0, TCC0_CH6, 6}, + { PORTB, 13, TC4_CH1, 1, TCC0_CH7, 7}, + { PORTB, 14, TC5_CH0, 0, NOT_ON_TIMER, 0}, + { PORTB, 15, TC5_CH1, 1, NOT_ON_TIMER, 0}, + { PORTA, 12, TCC2_CH0, 0, TCC0_CH6, 6}, + { PORTA, 13, TCC2_CH1, 1, TCC0_CH7, 7}, + { PORTA, 14, TC3_CH0, 0, TCC0_CH4, 4}, + { PORTA, 15, TC3_CH1, 1, TCC0_CH5, 5}, + { PORTA, 16, TCC2_CH0, 0, TCC0_CH6, 6}, + { PORTA, 17, TCC2_CH1, 1, TCC0_CH7, 7}, + { PORTA, 18, TC3_CH0, 0, TCC0_CH2, 2}, + { PORTA, 19, TC3_CH1, 1, TCC0_CH3, 3}, + { PORTB, 16, TC6_CH0, 0, TCC0_CH4, 4}, + { PORTB, 17, TC6_CH1, 1, TCC0_CH5, 5}, + { PORTA, 20, TC7_CH0, 0, TCC0_CH6, 6}, + { PORTA, 21, TC7_CH1, 1, TCC0_CH7, 7}, + { PORTA, 22, TC4_CH0, 0, TCC0_CH4, 4}, + { PORTA, 23, TC4_CH1, 1, TCC0_CH5, 5}, + { PORTA, 24, TC5_CH0, 0, TCC1_CH2, 2}, + { PORTA, 25, TC5_CH1, 1, TCC1_CH3, 3}, + { PORTB, 22, TC7_CH0, 0, TCC3_CH0, 0}, + { PORTB, 23, TC7_CH1, 1, TCC3_CH1, 1}, + { PORTA, 27, NOT_ON_TIMER, 0, TCC3_CH6, 6}, + { PORTA, 28, NOT_ON_TIMER, 0, TCC3_CH7, 7}, + { PORTA, 30, TCC1_CH0, 0, TCC3_CH4, 4}, + { PORTA, 31, TCC1_CH1, 1, TCC3_CH5, 5}, + { PORTB, 30, TCC0_CH0, 0, TCC1_CH2, 2}, + { PORTB, 31, TCC0_CH1, 1, TCC1_CH3, 3}, + { PORTB, 0, TC7_CH0, 0, NOT_ON_TIMER, 0}, + { PORTB, 1, TC7_CH1, 1, NOT_ON_TIMER, 0}, + { PORTB, 2, TC6_CH0, 0, TCC3_CH2, 2}, + { PORTB, 3, TC6_CH1, 1, TCC3_CH3, 3} +}; +wo_association ASSOCIATION_NOT_FOUND = { NOT_A_PORT, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}; + + + +struct wo_association& getWOAssociation(EPortType port, uint32_t pin) { + for (int i=0;i>pin_position)&0x01)==0x1?PIO_TIMER_ALT:PIO_TIMER; +} + + + + + +void syncTCC(Tcc* TCCx) { + while (TCCx->SYNCBUSY.reg & TCC_SYNCBUSY_MASK); // Wait for synchronization of registers between the clock domains +} + + + +/** + * Configure Clock 4 - we want all simplefoc PWMs to use the same clock. This ensures that + * any compatible pin combination can be used without having to worry about configuring different + * clocks. + */ +void configureSAMDClock() { + + // TODO investigate using the FDPLL96M clock to get 96MHz timer clocks... this + // would enable 48KHz PWM clocks, and setting the frequency between 24Khz with resolution 2000, to 48KHz with resolution 1000 + + if (!SAMDClockConfigured) { + SAMDClockConfigured = true; // mark clock as configured + for (int i=0;iSTATUS.bit.SYNCBUSY); // Wait for synchronization + + REG_GCLK_GENCTRL = GCLK_GENCTRL_IDC | // Set the duty cycle to 50/50 HIGH/LOW + GCLK_GENCTRL_GENEN | // Enable GCLK4 + GCLK_GENCTRL_SRC_DFLL48M | // Set the 48MHz clock source + // GCLK_GENCTRL_SRC_FDPLL | // Set the 96MHz clock source + GCLK_GENCTRL_ID(4); // Select GCLK4 + while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization + +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Configured clock..."); +#endif + } +} + + + + +/** + * Configure a TCC unit + * pwm_frequency is fixed at 24kHz for now. We could go slower, but going + * faster won't be possible without sacrificing resolution. + */ +void configureTCC(tccConfiguration& tccConfig, long pwm_frequency, bool negate, float hw6pwm) { + + long pwm_resolution = (24000000) / pwm_frequency; + if (pwm_resolution>SIMPLEFOC_SAMD_MAX_PWM_RESOLUTION) + pwm_resolution = SIMPLEFOC_SAMD_MAX_PWM_RESOLUTION; + if (pwm_resolution>1) { + case 0: GCLK_CLKCTRL_ID_ofthistcc = GCLK_CLKCTRL_ID(GCM_TCC0_TCC1); break; //GCLK_CLKCTRL_ID_TCC0_TCC1; + case 1: GCLK_CLKCTRL_ID_ofthistcc = GCLK_CLKCTRL_ID(GCM_TCC2_TC3); break; //GCLK_CLKCTRL_ID_TCC2_TC3; + case 2: GCLK_CLKCTRL_ID_ofthistcc = GCLK_CLKCTRL_ID(GCM_TC4_TC5); break; //GCLK_CLKCTRL_ID_TC4_TC5; + case 3: GCLK_CLKCTRL_ID_ofthistcc = GCLK_CLKCTRL_ID(GCM_TC6_TC7); break; + default: return; + } + + // Feed GCLK4 to TCC + REG_GCLK_CLKCTRL = (uint16_t) GCLK_CLKCTRL_CLKEN | // Enable GCLK4 + GCLK_CLKCTRL_GEN_GCLK4 | // Select GCLK4 + GCLK_CLKCTRL_ID_ofthistcc; // Feed GCLK4 to tcc + while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization + + tccConfigured[tccConfig.tcc.tccn] = true; + + if (tccConfig.tcc.tccn>=TCC_INST_NUM) { + Tc* tc = (Tc*)GetTC(tccConfig.tcc.chaninfo); + // disable + tc->COUNT8.CTRLA.bit.ENABLE = 0; + while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // unfortunately we need the 8-bit counter mode to use the PER register... + tc->COUNT8.CTRLA.reg |= TC_CTRLA_MODE_COUNT8 | TC_CTRLA_WAVEGEN_NPWM ; + while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // meaning prescaler of 8, since TC-Unit has no up/down mode, and has resolution of 250 rather than 1000... + tc->COUNT8.CTRLA.bit.PRESCALER = TC_CTRLA_PRESCALER_DIV8_Val ; + while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // period is 250, period cannot be higher than 256! + tc->COUNT8.PER.reg = SIMPLEFOC_SAMD_PWM_TC_RESOLUTION-1; + while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // initial duty cycle is 0 + tc->COUNT8.CC[tccConfig.tcc.chan].reg = 0; + while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // enable + tc->COUNT8.CTRLA.bit.ENABLE = 1; + while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Initialized TC ", tccConfig.tcc.tccn); +#endif + } + else { + Tcc* tcc = (Tcc*)GetTC(tccConfig.tcc.chaninfo); + + uint8_t invenMask = ~(1<DRVCTRL.vec.INVEN = (tcc->DRVCTRL.vec.INVEN&invenMask)|invenVal; + syncTCC(tcc); // wait for sync + + tcc->WAVE.reg |= TCC_WAVE_POL(0xF)|TCC_WAVEB_WAVEGENB_DSBOTH; // Set wave form configuration + while ( tcc->SYNCBUSY.bit.WAVE == 1 ); // wait for sync + + if (hw6pwm>0.0) { + tcc->WEXCTRL.vec.DTIEN |= (1<WEXCTRL.bit.DTLS = hw6pwm*(pwm_resolution-1); + tcc->WEXCTRL.bit.DTHS = hw6pwm*(pwm_resolution-1); + syncTCC(tcc); // wait for sync + } + + tcc->PER.reg = pwm_resolution - 1; // Set counter Top using the PER register + while ( tcc->SYNCBUSY.bit.PER == 1 ); // wait for sync + + // set all channels to 0% + uint8_t chanCount = (tccConfig.tcc.tccn==1||tccConfig.tcc.tccn==2)?2:4; + for (int i=0;iCC[i].reg = 0; // start off at 0% duty cycle + uint32_t chanbit = 0x1<<(TCC_SYNCBUSY_CC0_Pos+i); + while ( (tcc->SYNCBUSY.reg & chanbit) > 0 ); + } + + // Enable TC + tcc->CTRLA.reg |= TCC_CTRLA_ENABLE | TCC_CTRLA_PRESCALER_DIV1; //48Mhz/1=48Mhz/2(up/down)=24MHz/1024=24KHz + while ( tcc->SYNCBUSY.bit.ENABLE == 1 ); // wait for sync + +#if defined(SIMPLEFOC_SAMD_DEBUG) && !defined(SIMPLEFOC_DISABLE_DEBUG) + SimpleFOCDebug::print("SAMD: Initialized TCC "); + SimpleFOCDebug::print(tccConfig.tcc.tccn); + SimpleFOCDebug::print("-"); + SimpleFOCDebug::print(tccConfig.tcc.chan); + SimpleFOCDebug::print("["); + SimpleFOCDebug::print(tccConfig.wo); + SimpleFOCDebug::print("] pwm res "); + SimpleFOCDebug::print((int)pwm_resolution); + SimpleFOCDebug::println(); +#endif + } + } + else if (tccConfig.tcc.tccnCTRLA.bit.ENABLE = 0; + while ( tcc->SYNCBUSY.bit.ENABLE == 1 ); + + uint8_t invenMask = ~(1<DRVCTRL.vec.INVEN = (tcc->DRVCTRL.vec.INVEN&invenMask)|invenVal; + syncTCC(tcc); // wait for sync + + if (hw6pwm>0.0) { + tcc->WEXCTRL.vec.DTIEN |= (1<WEXCTRL.bit.DTLS = hw6pwm*(pwm_resolution-1); + tcc->WEXCTRL.bit.DTHS = hw6pwm*(pwm_resolution-1); + syncTCC(tcc); // wait for sync + } + + tcc->CTRLA.bit.ENABLE = 1; + while ( tcc->SYNCBUSY.bit.ENABLE == 1 ); + +#if defined(SIMPLEFOC_SAMD_DEBUG) && !defined(SIMPLEFOC_DISABLE_DEBUG) + SimpleFOCDebug::print("SAMD: (Re-)Initialized TCC "); + SimpleFOCDebug::print(tccConfig.tcc.tccn); + SimpleFOCDebug::print("-"); + SimpleFOCDebug::print(tccConfig.tcc.chan); + SimpleFOCDebug::print("["); + SimpleFOCDebug::print(tccConfig.wo); + SimpleFOCDebug::print("] pwm res "); + SimpleFOCDebug::print((int)pwm_resolution); + SimpleFOCDebug::println(); +#endif + } + + +} + + + + + +void writeSAMDDutyCycle(tccConfiguration* info, float dc) { + uint8_t tccn = GetTCNumber(info->tcc.chaninfo); + uint8_t chan = GetTCChannelNumber(info->tcc.chaninfo); + if (tccntcc.chaninfo); + // set via CC +// tcc->CC[chan].reg = (uint32_t)((SIMPLEFOC_SAMD_PWM_RESOLUTION-1) * dc); +// uint32_t chanbit = 0x1<<(TCC_SYNCBUSY_CC0_Pos+chan); +// while ( (tcc->SYNCBUSY.reg & chanbit) > 0 ); + // set via CCB + //while ( (tcc->SYNCBUSY.vec.CC & (0x1< 0 ); + tcc->CCB[chan].reg = (uint32_t)((info->pwm_res-1) * dc); +// while ( (tcc->SYNCBUSY.vec.CCB & (0x1< 0 ); +// tcc->STATUS.vec.CCBV |= (0x1<SYNCBUSY.bit.STATUS > 0 ); +// tcc->CTRLBSET.reg |= TCC_CTRLBSET_CMD(TCC_CTRLBSET_CMD_UPDATE_Val); +// while ( tcc->SYNCBUSY.bit.CTRLB > 0 ); + } + else { + Tc* tc = (Tc*)GetTC(info->tcc.chaninfo); + tc->COUNT8.CC[chan].reg = (uint8_t)((SIMPLEFOC_SAMD_PWM_TC_RESOLUTION-1) * dc); + while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + } +} + + + + +#endif diff --git a/src/drivers/hardware_specific/samd/samd51_mcu.cpp b/src/drivers/hardware_specific/samd/samd51_mcu.cpp new file mode 100644 index 00000000..71bf0b81 --- /dev/null +++ b/src/drivers/hardware_specific/samd/samd51_mcu.cpp @@ -0,0 +1,351 @@ + + +#include "./samd_mcu.h" + + +#if defined(_SAMD51_)||defined(_SAME51_) + + +#pragma message("") +#pragma message("SimpleFOC: compiling for SAMD51/SAME51") +#pragma message("") + + + +// expected frequency on DPLL, since we don't configure it ourselves. Typically this is the CPU frequency. +// for custom boards or overclockers you can override it using this define. +#ifndef SIMPLEFOC_SAMD51_DPLL_FREQ +#define SIMPLEFOC_SAMD51_DPLL_FREQ 120000000 +#endif + + +#ifndef TCC3_CH0 +#define TCC3_CH0 NOT_ON_TIMER +#define TCC3_CH1 NOT_ON_TIMER +#endif + +#ifndef TCC4_CH0 +#define TCC4_CH0 NOT_ON_TIMER +#define TCC4_CH1 NOT_ON_TIMER +#endif + + +#ifndef TC4_CH0 +#define TC4_CH0 NOT_ON_TIMER +#define TC4_CH1 NOT_ON_TIMER +#endif + +#ifndef TC5_CH0 +#define TC5_CH0 NOT_ON_TIMER +#define TC5_CH1 NOT_ON_TIMER +#endif + +#ifndef TC6_CH0 +#define TC6_CH0 NOT_ON_TIMER +#define TC6_CH1 NOT_ON_TIMER +#endif + +#ifndef TC7_CH0 +#define TC7_CH0 NOT_ON_TIMER +#define TC7_CH1 NOT_ON_TIMER +#endif + + + +// TCC# Channels WO_NUM Counter size Fault Dithering Output matrix DTI SWAP Pattern generation +// 0 6 8 24-bit Yes Yes Yes Yes Yes Yes +// 1 4 8 24-bit Yes Yes Yes Yes Yes Yes +// 2 3 3 16-bit Yes - Yes - - - +// 3 2 2 16-bit Yes - - - - - +// 4 2 2 16-bit Yes - - - - - + + +#define NUM_WO_ASSOCIATIONS 72 + +struct wo_association WO_associations[] = { + + { PORTB, 9, TC4_CH1, 1, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, + { PORTA, 4, TC0_CH0, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, + { PORTA, 5, TC0_CH1, 1, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, + { PORTA, 6, TC1_CH0, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, + { PORTA, 7, TC1_CH1, 1, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, + { PORTC, 4, NOT_ON_TIMER, 0, TCC0_CH0, 0, NOT_ON_TIMER, 0}, + // PC05, PC06, PC07 -> no timers + { PORTA, 8, TC0_CH0, 0, TCC0_CH0, 0, TCC1_CH0, 4}, + { PORTA, 9, TC0_CH1, 1, TCC0_CH1, 1, TCC1_CH1, 5}, + { PORTA, 10, TC1_CH0, 0, TCC0_CH2, 2, TCC1_CH2, 6}, + { PORTA, 11, TC1_CH1, 1, TCC0_CH3, 3, TCC1_CH3, 7}, + { PORTB, 10, TC5_CH0, 0, TCC0_CH4, 4, TCC1_CH0, 0}, + { PORTB, 11, TC5_CH1, 1, TCC0_CH5, 5, TCC1_CH1, 1}, + { PORTB, 12, TC4_CH0, 0, TCC3_CH0, 0, TCC0_CH0, 0}, + { PORTB, 13, TC4_CH1, 1, TCC3_CH1, 1, TCC0_CH1, 1}, + { PORTB, 14, TC5_CH0, 0, TCC4_CH0, 0, TCC0_CH2, 2}, + { PORTB, 15, TC5_CH1, 1, TCC4_CH1, 1, TCC0_CH3, 3}, + { PORTD, 8, NOT_ON_TIMER, 0, TCC0_CH1, 1, NOT_ON_TIMER, 0}, + { PORTD, 9, NOT_ON_TIMER, 0, TCC0_CH2, 2, NOT_ON_TIMER, 0}, + { PORTD, 10, NOT_ON_TIMER, 0, TCC0_CH3, 3, NOT_ON_TIMER, 0}, + { PORTD, 11, NOT_ON_TIMER, 0, TCC0_CH4, 4, NOT_ON_TIMER, 0}, + { PORTD, 12, NOT_ON_TIMER, 0, TCC0_CH5, 5, NOT_ON_TIMER, 0}, + { PORTC, 10, NOT_ON_TIMER, 0, TCC0_CH0, 0, TCC1_CH0, 4}, + { PORTC, 11, NOT_ON_TIMER, 0, TCC0_CH1, 1, TCC1_CH1, 5}, + { PORTC, 12, NOT_ON_TIMER, 0, TCC0_CH2, 2, TCC1_CH2, 6}, + { PORTC, 13, NOT_ON_TIMER, 0, TCC0_CH3, 3, TCC1_CH3, 7}, + { PORTC, 14, NOT_ON_TIMER, 0, TCC0_CH4, 4, TCC1_CH0, 0}, + { PORTC, 15, NOT_ON_TIMER, 0, TCC0_CH5, 5, TCC1_CH1, 1}, + { PORTA, 12, TC2_CH0, 0, TCC0_CH0, 6, TCC1_CH2, 2}, + { PORTA, 13, TC2_CH1, 1, TCC0_CH1, 7, TCC1_CH3, 3}, + { PORTA, 14, TC3_CH0, 0, TCC2_CH0, 0, TCC1_CH2, 2}, + { PORTA, 15, TC3_CH1, 1, TCC2_CH1, 1, TCC1_CH3, 3}, + { PORTA, 16, TC2_CH0, 0, TCC1_CH0, 0, TCC0_CH4, 4}, + { PORTA, 17, TC2_CH1, 1, TCC1_CH1, 1, TCC0_CH5, 5}, + { PORTA, 18, TC3_CH0, 0, TCC1_CH2, 2, TCC0_CH0, 6}, + { PORTA, 19, TC3_CH1, 1, TCC1_CH3, 3, TCC0_CH1, 7}, + { PORTC, 16, NOT_ON_TIMER, 0, TCC0_CH0, 0, NOT_ON_TIMER, 0}, // PDEC0 + { PORTC, 17, NOT_ON_TIMER, 0, TCC0_CH1, 1, NOT_ON_TIMER, 0}, // PDEC1 + { PORTC, 18, NOT_ON_TIMER, 0, TCC0_CH2, 2, NOT_ON_TIMER, 0}, // PDEC2 + { PORTC, 19, NOT_ON_TIMER, 0, TCC0_CH3, 3, NOT_ON_TIMER, 0}, + { PORTC, 20, NOT_ON_TIMER, 0, TCC0_CH4, 4, NOT_ON_TIMER, 0}, + { PORTC, 21, NOT_ON_TIMER, 0, TCC0_CH5, 5, NOT_ON_TIMER, 0}, + { PORTC, 22, NOT_ON_TIMER, 0, TCC0_CH0, 6, NOT_ON_TIMER, 0}, + { PORTC, 23, NOT_ON_TIMER, 0, TCC0_CH1, 7, NOT_ON_TIMER, 0}, + { PORTD, 20, NOT_ON_TIMER, 0, TCC1_CH0, 0, NOT_ON_TIMER, 0}, + { PORTD, 21, NOT_ON_TIMER, 0, TCC1_CH1, 1, NOT_ON_TIMER, 0}, + { PORTB, 16, TC6_CH0, 0, TCC3_CH0, 0, TCC0_CH4, 4}, + { PORTB, 17, TC6_CH1, 1, TCC3_CH1, 1, TCC0_CH5, 5}, + { PORTB, 18, NOT_ON_TIMER, 0, TCC1_CH0, 0, NOT_ON_TIMER, 0}, // PDEC0 + { PORTB, 19, NOT_ON_TIMER, 0, TCC1_CH1, 1, NOT_ON_TIMER, 0}, // PDEC1 + { PORTB, 20, NOT_ON_TIMER, 0, TCC1_CH2, 2, NOT_ON_TIMER, 0}, // PDEC2 + { PORTB, 21, NOT_ON_TIMER, 0, TCC1_CH3, 3, NOT_ON_TIMER, 0}, + { PORTA, 20, TC7_CH0, 0, TCC1_CH0, 4, TCC0_CH0, 0}, + { PORTA, 21, TC7_CH1, 1, TCC1_CH1, 5, TCC0_CH1, 1}, + { PORTA, 22, TC4_CH0, 0, TCC1_CH2, 6, TCC0_CH2, 2}, + { PORTA, 23, TC4_CH1, 1, TCC1_CH3, 7, TCC0_CH3, 3}, + { PORTA, 24, TC5_CH0, 0, TCC2_CH2, 2, NOT_ON_TIMER, 0}, // PDEC0 + { PORTA, 25, TC5_CH1, 1, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, // PDEC1 + { PORTB, 22, TC7_CH0, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, // PDEC2 + { PORTB, 23, TC7_CH1, 1, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, // PDEC0 + { PORTB, 24, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, // PDEC1 + { PORTB, 25, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, // PDEC2 + { PORTB, 26, NOT_ON_TIMER, 0, TCC1_CH2, 2, NOT_ON_TIMER, 0}, + { PORTB, 27, NOT_ON_TIMER, 0, TCC1_CH3, 3, NOT_ON_TIMER, 0}, + { PORTB, 28, NOT_ON_TIMER, 0, TCC1_CH0, 4, NOT_ON_TIMER, 0}, + { PORTB, 29, NOT_ON_TIMER, 0, TCC1_CH1, 5, NOT_ON_TIMER, 0}, + // PC24-PC28, PA27, RESET -> no TC/TCC peripherals + { PORTA, 30, TC6_CH0, 0, TCC2_CH0, 0, NOT_ON_TIMER, 0}, + { PORTA, 31, TC6_CH1, 1, TCC2_CH1, 1, NOT_ON_TIMER, 0}, + { PORTB, 30, TC0_CH0, 0, TCC4_CH0, 0, TCC0_CH0, 6}, + { PORTB, 31, TC0_CH1, 1, TCC4_CH1, 1, TCC0_CH1, 7}, + // PC30, PC31 -> no TC/TCC peripherals + { PORTB, 0, TC7_CH0, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, + { PORTB, 1, TC7_CH1, 1, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}, + { PORTB, 2, TC6_CH0, 0, TCC2_CH2, 2, NOT_ON_TIMER, 0}, + +}; + +wo_association ASSOCIATION_NOT_FOUND = { NOT_A_PORT, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0}; + +#ifndef TCC3_CC_NUM +uint8_t TCC_CHANNEL_COUNT[] = { TCC0_CC_NUM, TCC1_CC_NUM, TCC2_CC_NUM }; +#else +uint8_t TCC_CHANNEL_COUNT[] = { TCC0_CC_NUM, TCC1_CC_NUM, TCC2_CC_NUM, TCC3_CC_NUM, TCC4_CC_NUM }; +#endif + + +struct wo_association& getWOAssociation(EPortType port, uint32_t pin) { + for (int i=0;i>pin_position)&0x01)==0x1?PIO_TCC_PDEC:PIO_TIMER_ALT; +} + + + +void syncTCC(Tcc* TCCx) { + while (TCCx->SYNCBUSY.reg & TCC_SYNCBUSY_MASK); +} + + + + +void writeSAMDDutyCycle(tccConfiguration* info, float dc) { + uint8_t tccn = GetTCNumber(info->tcc.chaninfo); + uint8_t chan = GetTCChannelNumber(info->tcc.chaninfo); + if (tccntcc.chaninfo); + // set via CCBUF +// while ( (tcc->SYNCBUSY.vec.CC & (0x1< 0 ); + tcc->CCBUF[chan].reg = (uint32_t)((info->pwm_res-1) * dc); // TODO pwm frequency! + } + else { + // we don't support the TC channels on SAMD51, isn't worth it. + } +} + + +#define DPLL_CLOCK_NUM 2 // use GCLK2 +#define PWM_CLOCK_NUM 3 // use GCLK3 + + +/** + * Configure Clock 4 - we want all simplefoc PWMs to use the same clock. This ensures that + * any compatible pin combination can be used without having to worry about configuring different + * clocks. + */ +void configureSAMDClock() { + if (!SAMDClockConfigured) { + SAMDClockConfigured = true; // mark clock as configured + for (int i=0;iGENCTRL[DPLL_CLOCK_NUM].reg = GCLK_GENCTRL_GENEN | GCLK_GENCTRL_DIV(1) + // | GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL_Val); + // while (GCLK->SYNCBUSY.vec.GENCTRL&(0x1<PCHCTRL[1].reg = GCLK_PCHCTRL_GEN(DPLL_CLOCK_NUM)|GCLK_PCHCTRL_CHEN; + // while (GCLK->SYNCBUSY.vec.GENCTRL&(0x1<Dpll[0].DPLLCTRLA.bit.ENABLE = 0; + // while (OSCCTRL->Dpll[0].DPLLSYNCBUSY.reg!=0x0); + + // OSCCTRL->Dpll[0].DPLLCTRLB.bit.REFCLK = OSCCTRL_DPLLCTRLB_REFCLK_GCLK_Val; + // while (OSCCTRL->Dpll[0].DPLLSYNCBUSY.reg!=0x0); + // OSCCTRL->Dpll[0].DPLLRATIO.reg = 3; + // while (OSCCTRL->Dpll[0].DPLLSYNCBUSY.reg!=0x0); + + // OSCCTRL->Dpll[0].DPLLCTRLA.bit.ENABLE = 1; + // while (OSCCTRL->Dpll[0].DPLLSYNCBUSY.reg!=0x0); + + GCLK->GENCTRL[PWM_CLOCK_NUM].bit.GENEN = 0; + while (GCLK->SYNCBUSY.vec.GENCTRL&(0x1<GENCTRL[PWM_CLOCK_NUM].reg = GCLK_GENCTRL_GENEN | GCLK_GENCTRL_DIV(1) | GCLK_GENCTRL_IDC + //| GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL_Val); + | GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DPLL0_Val); + while (GCLK->SYNCBUSY.vec.GENCTRL&(0x1<PCHCTRL[GCLK_CLKCTRL_ID_ofthistcc].reg = GCLK_PCHCTRL_GEN(PWM_CLOCK_NUM)|GCLK_PCHCTRL_CHEN; + while (GCLK->SYNCBUSY.vec.GENCTRL&(0x1<CTRLA.bit.ENABLE = 0; //switch off tcc + while ( tcc->SYNCBUSY.bit.ENABLE == 1 ); // wait for sync + + uint8_t invenMask = ~(1<DRVCTRL.vec.INVEN = (tcc->DRVCTRL.vec.INVEN&invenMask)|invenVal; + syncTCC(tcc); // wait for sync + + // work out pwm resolution for desired frequency and constrain to max/min values + long pwm_resolution = (SIMPLEFOC_SAMD51_DPLL_FREQ/2) / pwm_frequency; + if (pwm_resolution>SIMPLEFOC_SAMD_MAX_PWM_RESOLUTION) + pwm_resolution = SIMPLEFOC_SAMD_MAX_PWM_RESOLUTION; + if (pwm_resolution0.0) { + tcc->WEXCTRL.vec.DTIEN |= (1<WEXCTRL.bit.DTLS = hw6pwm*(pwm_resolution-1); + tcc->WEXCTRL.bit.DTHS = hw6pwm*(pwm_resolution-1); + syncTCC(tcc); // wait for sync + } + + if (!tccConfigured[tccConfig.tcc.tccn]) { + tcc->WAVE.reg |= TCC_WAVE_POL(0xF)|TCC_WAVE_WAVEGEN_DSTOP; // Set wave form configuration - TODO check this... why set like this? + while ( tcc->SYNCBUSY.bit.WAVE == 1 ); // wait for sync + + tcc->PER.reg = pwm_resolution - 1; // Set counter Top using the PER register + while ( tcc->SYNCBUSY.bit.PER == 1 ); // wait for sync + + // set all channels to 0% + for (int i=0;iCC[i].reg = 0; // start off at 0% duty cycle + uint32_t chanbit = 0x1<<(TCC_SYNCBUSY_CC0_Pos+i); + while ( (tcc->SYNCBUSY.reg & chanbit) > 0 ); + } + } + + // Enable TCC + tcc->CTRLA.reg |= TCC_CTRLA_ENABLE | TCC_CTRLA_PRESCALER_DIV1; //48Mhz/1=48Mhz/2(up/down)=24MHz/1024=24KHz + while ( tcc->SYNCBUSY.bit.ENABLE == 1 ); // wait for sync + +#if defined(SIMPLEFOC_SAMD_DEBUG) && !defined(SIMPLEFOC_DISABLE_DEBUG) + SimpleFOCDebug::print("SAMD: (Re-)Initialized TCC "); + SimpleFOCDebug::print(tccConfig.tcc.tccn); + SimpleFOCDebug::print("-"); + SimpleFOCDebug::print(tccConfig.tcc.chan); + SimpleFOCDebug::print("["); + SimpleFOCDebug::print(tccConfig.wo); + SimpleFOCDebug::print("] pwm res "); + SimpleFOCDebug::print((int)pwm_resolution); + SimpleFOCDebug::println(); +#endif + } + else if (tccConfig.tcc.tccn>=TCC_INST_NUM) { + //Tc* tc = (Tc*)GetTC(tccConfig.tcc.chaninfo); + + // disable + // tc->COUNT8.CTRLA.bit.ENABLE = 0; + // while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // // unfortunately we need the 8-bit counter mode to use the PER register... + // tc->COUNT8.CTRLA.reg |= TC_CTRLA_MODE_COUNT8 | TC_CTRLA_WAVEGEN_NPWM ; + // while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // // meaning prescaler of 8, since TC-Unit has no up/down mode, and has resolution of 250 rather than 1000... + // tc->COUNT8.CTRLA.bit.PRESCALER = TC_CTRLA_PRESCALER_DIV8_Val ; + // while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // // period is 250, period cannot be higher than 256! + // tc->COUNT8.PER.reg = SIMPLEFOC_SAMD_PWM_TC_RESOLUTION-1; + // while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // // initial duty cycle is 0 + // tc->COUNT8.CC[tccConfig.tcc.chan].reg = 0; + // while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + // // enable + // tc->COUNT8.CTRLA.bit.ENABLE = 1; + // while ( tc->COUNT8.STATUS.bit.SYNCBUSY == 1 ); + + #ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Not initialized: TC ", tccConfig.tcc.tccn); + SIMPLEFOC_DEBUG("SAMD: TC units not supported on SAMD51"); + #endif + } + + // set as configured + tccConfigured[tccConfig.tcc.tccn] = true; + + +} + + + + + +#endif diff --git a/src/drivers/hardware_specific/samd/samd_mcu.cpp b/src/drivers/hardware_specific/samd/samd_mcu.cpp new file mode 100644 index 00000000..f6978914 --- /dev/null +++ b/src/drivers/hardware_specific/samd/samd_mcu.cpp @@ -0,0 +1,914 @@ + + + +#include "./samd_mcu.h" + +#if defined(_SAMD21_)||defined(_SAMD51_)||defined(_SAME51_) + + + +/** + * Global state + */ +tccConfiguration tccPinConfigurations[SIMPLEFOC_SAMD_MAX_TCC_PINCONFIGURATIONS]; +uint8_t numTccPinConfigurations = 0; +bool SAMDClockConfigured = false; +bool tccConfigured[TCC_INST_NUM+TC_INST_NUM]; + + + + + +/** + * Attach the TCC to the pin + */ +bool attachTCC(tccConfiguration& tccConfig) { + if (numTccPinConfigurations>=SIMPLEFOC_SAMD_MAX_TCC_PINCONFIGURATIONS) + return false; + pinMode(tccConfig.pin, OUTPUT); + + pinPeripheral(tccConfig.pin, tccConfig.peripheral); + tccPinConfigurations[numTccPinConfigurations++] = tccConfig; + return true; +} + + + + + +int getPermutationNumber(int pins) { + int num = 1; + for (int i=0;i=TCC_INST_NUM) + return false; + + if (pinAh.tcc.chan==pinBh.tcc.chan || pinAh.tcc.chan==pinBl.tcc.chan || pinAh.tcc.chan==pinCh.tcc.chan || pinAh.tcc.chan==pinCl.tcc.chan) + return false; + if (pinBh.tcc.chan==pinCh.tcc.chan || pinBh.tcc.chan==pinCl.tcc.chan) + return false; + if (pinAl.tcc.chan==pinBh.tcc.chan || pinAl.tcc.chan==pinBl.tcc.chan || pinAl.tcc.chan==pinCh.tcc.chan || pinAl.tcc.chan==pinCl.tcc.chan) + return false; + if (pinBl.tcc.chan==pinCh.tcc.chan || pinBl.tcc.chan==pinCl.tcc.chan) + return false; + + if (pinAh.tcc.chan!=pinAl.tcc.chan || pinBh.tcc.chan!=pinBl.tcc.chan || pinCh.tcc.chan!=pinCl.tcc.chan) + return false; + if (pinAh.wo==pinAl.wo || pinBh.wo==pinBl.wo || pinCh.wo!=pinCl.wo) + return false; + + return true; +} + + + + +bool checkPeripheralPermutationCompatible(tccConfiguration pins[], uint8_t num) { + for (int i=0;i=TCC_INST_NUM || pinAl.tcc.tccn>=TCC_INST_NUM || pinBh.tcc.tccn>=TCC_INST_NUM + || pinBl.tcc.tccn>=TCC_INST_NUM || pinCh.tcc.tccn>=TCC_INST_NUM || pinCl.tcc.tccn>=TCC_INST_NUM) + return false; + + // check we're not in use + if (inUse(pinAh) || inUse(pinAl) || inUse(pinBh) || inUse(pinBl) || inUse(pinCh) || inUse(pinCl)) + return false; + + // check pins are all different tccs/channels + if (pinAh.tcc.chaninfo==pinBh.tcc.chaninfo || pinAh.tcc.chaninfo==pinBl.tcc.chaninfo || pinAh.tcc.chaninfo==pinCh.tcc.chaninfo || pinAh.tcc.chaninfo==pinCl.tcc.chaninfo) + return false; + if (pinAl.tcc.chaninfo==pinBh.tcc.chaninfo || pinAl.tcc.chaninfo==pinBl.tcc.chaninfo || pinAl.tcc.chaninfo==pinCh.tcc.chaninfo || pinAl.tcc.chaninfo==pinCl.tcc.chaninfo) + return false; + if (pinBh.tcc.chaninfo==pinCh.tcc.chaninfo || pinBh.tcc.chaninfo==pinCl.tcc.chaninfo) + return false; + if (pinBl.tcc.chaninfo==pinCh.tcc.chaninfo || pinBl.tcc.chaninfo==pinCl.tcc.chaninfo) + return false; + + // check H/L pins are on same timer + if (pinAh.tcc.tccn!=pinAl.tcc.tccn || pinBh.tcc.tccn!=pinBl.tcc.tccn || pinCh.tcc.tccn!=pinCl.tcc.tccn) + return false; + + // check H/L pins aren't on both the same timer and wo + if (pinAh.wo==pinAl.wo || pinBh.wo==pinBl.wo || pinCh.wo==pinCl.wo) + return false; + + return true; +} + + + + + +int checkHardware6PWM(const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) { + for (int i=0;i<64;i++) { + tccConfiguration pinAh = getTCCChannelNr(pinA_h, getPeripheralOfPermutation(i, 0)); + tccConfiguration pinAl = getTCCChannelNr(pinA_l, getPeripheralOfPermutation(i, 1)); + tccConfiguration pinBh = getTCCChannelNr(pinB_h, getPeripheralOfPermutation(i, 2)); + tccConfiguration pinBl = getTCCChannelNr(pinB_l, getPeripheralOfPermutation(i, 3)); + tccConfiguration pinCh = getTCCChannelNr(pinC_h, getPeripheralOfPermutation(i, 4)); + tccConfiguration pinCl = getTCCChannelNr(pinC_l, getPeripheralOfPermutation(i, 5)); + if (checkPeripheralPermutationSameTCC6(pinAh, pinAl, pinBh, pinBl, pinCh, pinCl)) + return i; + } + return -1; +} + + + + +int checkSoftware6PWM(const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) { + for (int i=0;i<64;i++) { + tccConfiguration pinAh = getTCCChannelNr(pinA_h, getPeripheralOfPermutation(i, 0)); + tccConfiguration pinAl = getTCCChannelNr(pinA_l, getPeripheralOfPermutation(i, 1)); + tccConfiguration pinBh = getTCCChannelNr(pinB_h, getPeripheralOfPermutation(i, 2)); + tccConfiguration pinBl = getTCCChannelNr(pinB_l, getPeripheralOfPermutation(i, 3)); + tccConfiguration pinCh = getTCCChannelNr(pinC_h, getPeripheralOfPermutation(i, 4)); + tccConfiguration pinCl = getTCCChannelNr(pinC_l, getPeripheralOfPermutation(i, 5)); + if (checkPeripheralPermutationCompatible6(pinAh, pinAl, pinBh, pinBl, pinCh, pinCl)) + return i; + } + return -1; +} + + + +int scorePermutation(tccConfiguration pins[], uint8_t num) { + uint32_t usedtccs = 0; + for (int i=0;i>1; + } + for (int i=0;i>1; + } + return score; +} + + + + + + + + +int checkPermutations(uint8_t num, int pins[], bool (*checkFunc)(tccConfiguration[], uint8_t) ) { + tccConfiguration tccConfs[num]; + int best = -1; + int bestscore = 1000000; + for (int i=0;i<(0x1<pwm_res = tccConfs[0].pwm_res; + getTccPinConfiguration(pinB)->pwm_res = tccConfs[1].pwm_res; +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Configured TCCs..."); +#endif + + SAMDHardwareDriverParams* params = new SAMDHardwareDriverParams { + .tccPinConfigurations = { getTccPinConfiguration(pinA), getTccPinConfiguration(pinB) }, + .pwm_frequency = (uint32_t)pwm_frequency + }; // Someone with a stepper-setup who can test it? + return params; +} + + + + + + + + + + + + +/** + * Configuring PWM frequency, resolution and alignment + * - BLDC driver - 3PWM setting + * - hardware specific + * + * SAMD21 will support up to 2 BLDC motors in 3-PWM: + * one on TCC0 using 3 of the channels 0,1,2 or 3 + * one on TCC3 using 3 of the channels 0,1,2 or 3 + * i.e. 8 different pins can be used, but only 4 different signals (WO[x]) on those 8 pins + * WO[0] and WO[4] are the same + * WO[1] and WO[5] are the same + * WO[2] and WO[6] are the same + * WO[3] and WO[7] are the same + * + * If you're on the Arduino Nano33 IoT, please see the Nano33 IoT pinout diagram to see which TCC0/WO[x] + * signal is on which pin of the Nano. You can drive one motor on TCC0. For other boards, consult their documentation. + * + * Note: + * That's if we want to keep the signals strictly in sync. + * + * If we can accept out-of-sync PWMs on the different phases, we could drive up to 4 BLDCs in 3-PWM mode, + * using all the TCC channels. (TCC0 & TCC3 - 4 channels each, TCC1 & TCC2 - 2 channels each) + * + * All channels will use the same resolution, prescaler and clock, but they will have different start-times leading + * to misaligned signals. + * + * + * @param pwm_frequency - frequency in hertz - if applicable + * @param pinA pinA bldc driver + * @param pinB pinB bldc driver + * @param pinC pinC bldc driver + */ +void* _configure3PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC) { +#ifdef SIMPLEFOC_SAMD_DEBUG + printAllPinInfos(); +#endif + int pins[3] = { pinA, pinB, pinC }; + int compatibility = checkPermutations(3, pins, checkPeripheralPermutationCompatible); + if (compatibility<0) { + // no result! +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Bad pin combination!"); +#endif + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + + tccConfiguration tccConfs[3] = { getTCCChannelNr(pinA, getPeripheralOfPermutation(compatibility, 0)), + getTCCChannelNr(pinB, getPeripheralOfPermutation(compatibility, 1)), + getTCCChannelNr(pinC, getPeripheralOfPermutation(compatibility, 2)) }; + + +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Found configuration: score=", scorePermutation(tccConfs, 3)); + printTCCConfiguration(tccConfs[0]); + printTCCConfiguration(tccConfs[1]); + printTCCConfiguration(tccConfs[2]); +#endif + + // attach pins to timer peripherals + attachTCC(tccConfs[0]); // in theory this can fail, but there is no way to signal it... + attachTCC(tccConfs[1]); + attachTCC(tccConfs[2]); +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Attached pins..."); +#endif + + // set up clock - Note: if we did this right it should be possible to get all TCC units synchronized? + // e.g. attach all the timers, start them, and then start the clock... but this would require API-changes in SimpleFOC... + configureSAMDClock(); + + if (pwm_frequency==NOT_SET) { + // use default frequency + pwm_frequency = SIMPLEFOC_SAMD_DEFAULT_PWM_FREQUENCY_HZ; + } + + // configure the TCC (waveform, top-value, pre-scaler = frequency) + configureTCC(tccConfs[0], pwm_frequency); + configureTCC(tccConfs[1], pwm_frequency); + configureTCC(tccConfs[2], pwm_frequency); + getTccPinConfiguration(pinA)->pwm_res = tccConfs[0].pwm_res; + getTccPinConfiguration(pinB)->pwm_res = tccConfs[1].pwm_res; + getTccPinConfiguration(pinC)->pwm_res = tccConfs[2].pwm_res; +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Configured TCCs..."); +#endif + + return new SAMDHardwareDriverParams { + .tccPinConfigurations = { getTccPinConfiguration(pinA), getTccPinConfiguration(pinB), getTccPinConfiguration(pinC) }, + .pwm_frequency = (uint32_t)pwm_frequency + }; + +} + + + + + + + + +/** + * Configuring PWM frequency, resolution and alignment + * - Stepper driver - 4PWM setting + * - hardware specific + * + * @param pwm_frequency - frequency in hertz - if applicable + * @param pin1A pin1A stepper driver + * @param pin1B pin1B stepper driver + * @param pin2A pin2A stepper driver + * @param pin2B pin2B stepper driver + */ +void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const int pin2A, const int pin2B) { +#ifdef SIMPLEFOC_SAMD_DEBUG + printAllPinInfos(); +#endif + int pins[4] = { pin1A, pin1B, pin2A, pin2B }; + int compatibility = checkPermutations(4, pins, checkPeripheralPermutationCompatible); + if (compatibility<0) { + // no result! +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Bad pin combination!"); +#endif + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + + tccConfiguration tccConfs[4] = { getTCCChannelNr(pin1A, getPeripheralOfPermutation(compatibility, 0)), + getTCCChannelNr(pin1B, getPeripheralOfPermutation(compatibility, 1)), + getTCCChannelNr(pin2A, getPeripheralOfPermutation(compatibility, 2)), + getTCCChannelNr(pin2B, getPeripheralOfPermutation(compatibility, 3)) }; + + +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Found configuration: score=", scorePermutation(tccConfs, 4)); + printTCCConfiguration(tccConfs[0]); + printTCCConfiguration(tccConfs[1]); + printTCCConfiguration(tccConfs[2]); + printTCCConfiguration(tccConfs[3]); +#endif + + // attach pins to timer peripherals + attachTCC(tccConfs[0]); // in theory this can fail, but there is no way to signal it... + attachTCC(tccConfs[1]); + attachTCC(tccConfs[2]); + attachTCC(tccConfs[3]); +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Attached pins..."); +#endif + + // set up clock - Note: if we did this right it should be possible to get all TCC units synchronized? + // e.g. attach all the timers, start them, and then start the clock... but this would require API-changes in SimpleFOC... + configureSAMDClock(); + + if (pwm_frequency==NOT_SET) { + // use default frequency + pwm_frequency = SIMPLEFOC_SAMD_DEFAULT_PWM_FREQUENCY_HZ; + } + + // configure the TCC (waveform, top-value, pre-scaler = frequency) + configureTCC(tccConfs[0], pwm_frequency); + configureTCC(tccConfs[1], pwm_frequency); + configureTCC(tccConfs[2], pwm_frequency); + configureTCC(tccConfs[3], pwm_frequency); + getTccPinConfiguration(pin1A)->pwm_res = tccConfs[0].pwm_res; + getTccPinConfiguration(pin2A)->pwm_res = tccConfs[1].pwm_res; + getTccPinConfiguration(pin1B)->pwm_res = tccConfs[2].pwm_res; + getTccPinConfiguration(pin2B)->pwm_res = tccConfs[3].pwm_res; +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Configured TCCs..."); +#endif + + return new SAMDHardwareDriverParams { + .tccPinConfigurations = { getTccPinConfiguration(pin1A), getTccPinConfiguration(pin1B), getTccPinConfiguration(pin2A), getTccPinConfiguration(pin2B) }, + .pwm_frequency = (uint32_t)pwm_frequency + }; +} + + + + + + + + + +/** + * Configuring PWM frequency, resolution and alignment + * - BLDC driver - 6PWM setting + * - hardware specific + * + * SAMD21 will support up to 2 BLDC motors in 6-PWM: + * one on TCC0 using 3 of the channels 0,1,2 or 3 + * one on TCC3 using 3 of the channels 0,1,2 or 3 + * i.e. 6 out of 8 pins must be used, in the following high/low side pairs: + * WO[0] & WO[4] (high side & low side) + * WO[1] & WO[5] + * WO[2] & WO[6] + * WO[3] & WO[7] + * + * If you're on the Arduino Nano33 IoT, please see the Nano33 IoT pinout diagram to see which TCC0/WO[x] + * signal is on which pin of the Nano. You can drive 1 BLDC on TCC0. For other boards, consult their documentation. + * + * + * @param pwm_frequency - frequency in hertz - if applicable + * @param dead_zone duty cycle protection zone [0, 1] - both low and high side low - if applicable + * @param pinA_h pinA high-side bldc driver + * @param pinA_l pinA low-side bldc driver + * @param pinB_h pinA high-side bldc driver + * @param pinB_l pinA low-side bldc driver + * @param pinC_h pinA high-side bldc driver + * @param pinC_l pinA low-side bldc driver + * + * @return 0 if config good, -1 if failed + */ +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) { + // we want to use a TCC channel with 1 non-inverted and 1 inverted output for each phase, with dead-time insertion +#ifdef SIMPLEFOC_SAMD_DEBUG + printAllPinInfos(); +#endif + int compatibility = checkHardware6PWM(pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l); + if (compatibility<0) { + compatibility = checkSoftware6PWM(pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l); + if (compatibility<0) { + // no result! +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Bad pin combination!"); +#endif + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + } + + tccConfiguration pinAh = getTCCChannelNr(pinA_h, getPeripheralOfPermutation(compatibility, 0)); + tccConfiguration pinAl = getTCCChannelNr(pinA_l, getPeripheralOfPermutation(compatibility, 1)); + tccConfiguration pinBh = getTCCChannelNr(pinB_h, getPeripheralOfPermutation(compatibility, 2)); + tccConfiguration pinBl = getTCCChannelNr(pinB_l, getPeripheralOfPermutation(compatibility, 3)); + tccConfiguration pinCh = getTCCChannelNr(pinC_h, getPeripheralOfPermutation(compatibility, 4)); + tccConfiguration pinCl = getTCCChannelNr(pinC_l, getPeripheralOfPermutation(compatibility, 5)); + +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Found configuration: "); + printTCCConfiguration(pinAh); + printTCCConfiguration(pinAl); + printTCCConfiguration(pinBh); + printTCCConfiguration(pinBl); + printTCCConfiguration(pinCh); + printTCCConfiguration(pinCl); +#endif + + // attach pins to timer peripherals + bool allAttached = true; + allAttached |= attachTCC(pinAh); // in theory this can fail, but there is no way to signal it... + allAttached |= attachTCC(pinAl); + allAttached |= attachTCC(pinBh); + allAttached |= attachTCC(pinBl); + allAttached |= attachTCC(pinCh); + allAttached |= attachTCC(pinCl); + if (!allAttached) + return SIMPLEFOC_DRIVER_INIT_FAILED; +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Attached pins..."); +#endif + // set up clock - if we did this right it should be possible to get all TCC units synchronized? + // e.g. attach all the timers, start them, and then start the clock... but this would require API changes in SimpleFOC driver API + configureSAMDClock(); + + if (pwm_frequency==NOT_SET) { + // use default frequency + pwm_frequency = SIMPLEFOC_SAMD_DEFAULT_PWM_FREQUENCY_HZ; + } + + // configure the TCC(s) + configureTCC(pinAh, pwm_frequency, false, (pinAh.tcc.chaninfo==pinAl.tcc.chaninfo)?dead_zone:-1); + if ((pinAh.tcc.chaninfo!=pinAl.tcc.chaninfo)) + configureTCC(pinAl, pwm_frequency, true, -1.0); + configureTCC(pinBh, pwm_frequency, false, (pinBh.tcc.chaninfo==pinBl.tcc.chaninfo)?dead_zone:-1); + if ((pinBh.tcc.chaninfo!=pinBl.tcc.chaninfo)) + configureTCC(pinBl, pwm_frequency, true, -1.0); + configureTCC(pinCh, pwm_frequency, false, (pinCh.tcc.chaninfo==pinCl.tcc.chaninfo)?dead_zone:-1); + if ((pinCh.tcc.chaninfo!=pinCl.tcc.chaninfo)) + configureTCC(pinCl, pwm_frequency, true, -1.0); + getTccPinConfiguration(pinA_h)->pwm_res = pinAh.pwm_res; + getTccPinConfiguration(pinA_l)->pwm_res = pinAh.pwm_res; // use the high phase resolution, in case we didn't set it + getTccPinConfiguration(pinB_h)->pwm_res = pinBh.pwm_res; + getTccPinConfiguration(pinB_l)->pwm_res = pinBh.pwm_res; + getTccPinConfiguration(pinC_h)->pwm_res = pinCh.pwm_res; + getTccPinConfiguration(pinC_l)->pwm_res = pinCh.pwm_res; +#ifdef SIMPLEFOC_SAMD_DEBUG + SIMPLEFOC_DEBUG("SAMD: Configured TCCs..."); +#endif + + return new SAMDHardwareDriverParams { + .tccPinConfigurations = { getTccPinConfiguration(pinA_h), getTccPinConfiguration(pinA_l), getTccPinConfiguration(pinB_h), getTccPinConfiguration(pinB_l), getTccPinConfiguration(pinC_h), getTccPinConfiguration(pinC_l) }, + .pwm_frequency = (uint32_t)pwm_frequency, + .dead_zone = dead_zone, + }; +} + + + + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - Stepper driver - 2PWM setting + * - hardware specific + * + * @param dc_a duty cycle phase A [0, 1] + * @param dc_b duty cycle phase B [0, 1] + * @param pinA phase A hardware pin number + * @param pinB phase B hardware pin number + */ +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params) { + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[0], dc_a); + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[1], dc_b); + return; +} + + + + + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - BLDC driver - 3PWM setting + * - hardware specific + * + * @param dc_a duty cycle phase A [0, 1] + * @param dc_b duty cycle phase B [0, 1] + * @param dc_c duty cycle phase C [0, 1] + * @param pinA phase A hardware pin number + * @param pinB phase B hardware pin number + * @param pinC phase C hardware pin number + */ +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params) { + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[0], dc_a); + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[1], dc_b); + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[2], dc_c); + return; +} + + + + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - Stepper driver - 4PWM setting + * - hardware specific + * + * @param dc_1a duty cycle phase 1A [0, 1] + * @param dc_1b duty cycle phase 1B [0, 1] + * @param dc_2a duty cycle phase 2A [0, 1] + * @param dc_2b duty cycle phase 2B [0, 1] + * @param pin1A phase 1A hardware pin number + * @param pin1B phase 1B hardware pin number + * @param pin2A phase 2A hardware pin number + * @param pin2B phase 2B hardware pin number + */ +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[0], dc_1a); + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[1], dc_1b); + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[2], dc_2a); + writeSAMDDutyCycle(((SAMDHardwareDriverParams*)params)->tccPinConfigurations[3], dc_2b); + return; +} + + + + +/** + * Function setting the duty cycle to the pwm pin (ex. analogWrite()) + * - BLDC driver - 6PWM setting + * - hardware specific + * + * Note: dead-time must be setup in advance, so parameter "dead_zone" is ignored + * the low side pins are automatically driven by the SAMD DTI module, so it is enough to set the high-side + * duty cycle. + * No sanity checks are perfomed to ensure the pinA, pinB, pinC are the same pins you used in configure method... + * so use appropriately. + * + * @param dc_a duty cycle phase A [0, 1] + * @param dc_b duty cycle phase B [0, 1] + * @param dc_c duty cycle phase C [0, 1] + * @param dead_zone duty cycle protection zone [0, 1] - both low and high side low + * @param pinA_h phase A high-side hardware pin number + * @param pinA_l phase A low-side hardware pin number + * @param pinB_h phase B high-side hardware pin number + * @param pinB_l phase B low-side hardware pin number + * @param pinC_h phase C high-side hardware pin number + * @param pinC_l phase C low-side hardware pin number + * + */ +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + SAMDHardwareDriverParams* p = (SAMDHardwareDriverParams*)params; + tccConfiguration* tcc1 = p->tccPinConfigurations[0]; + tccConfiguration* tcc2 = p->tccPinConfigurations[1]; + uint32_t pwm_res =p->tccPinConfigurations[0]->pwm_res; + if (tcc1->tcc.chaninfo!=tcc2->tcc.chaninfo) { + // low-side on a different pin of same TCC - do dead-time in software... + float ls = dc_a+(p->dead_zone * (pwm_res-1)); // TODO resolution!!! + if (ls>1.0) ls = 1.0f; // no off-time is better than too-short dead-time + writeSAMDDutyCycle(tcc1, dc_a); + writeSAMDDutyCycle(tcc2, ls); + } + else + writeSAMDDutyCycle(tcc1, dc_a); // dead-time is done is hardware, no need to set low side pin explicitly + + tcc1 = p->tccPinConfigurations[2]; + tcc2 = p->tccPinConfigurations[3]; + if (tcc1->tcc.chaninfo!=tcc2->tcc.chaninfo) { + float ls = dc_b+(p->dead_zone * (pwm_res-1)); + if (ls>1.0) ls = 1.0f; // no off-time is better than too-short dead-time + writeSAMDDutyCycle(tcc1, dc_b); + writeSAMDDutyCycle(tcc2, ls); + } + else + writeSAMDDutyCycle(tcc1, dc_b); + + tcc1 = p->tccPinConfigurations[4]; + tcc2 = p->tccPinConfigurations[5]; + if (tcc1->tcc.chaninfo!=tcc2->tcc.chaninfo) { + float ls = dc_c+(p->dead_zone * (pwm_res-1)); + if (ls>1.0) ls = 1.0f; // no off-time is better than too-short dead-time + writeSAMDDutyCycle(tcc1, dc_c); + writeSAMDDutyCycle(tcc2, ls); + } + else + writeSAMDDutyCycle(tcc1, dc_c); + return; + + _UNUSED(phase_state); +} + + + + +#ifdef SIMPLEFOC_SAMD_DEBUG + +/** + * Prints a table of pin assignments for your SAMD MCU. Very useful since the + * board pinout descriptions and variant.cpp are usually quite wrong, and this + * saves you hours of cross-referencing with the datasheet. + */ +void printAllPinInfos() { + SimpleFOCDebug::println(); + for (uint8_t pin=0;pin=TCC_INST_NUM) + SimpleFOCDebug::print(": TC Peripheral"); + else + SimpleFOCDebug::print(": TCC Peripheral"); + switch (info.peripheral) { + case PIO_TIMER: + SimpleFOCDebug::print(" E "); break; + case PIO_TIMER_ALT: + SimpleFOCDebug::print(" F "); break; +#if defined(_SAMD51_)||defined(_SAME51_) + case PIO_TCC_PDEC: + SimpleFOCDebug::print(" G "); break; +#endif + default: + SimpleFOCDebug::print(" ? "); break; + } + if (info.tcc.tccn>=0) { + SimpleFOCDebug::print(info.tcc.tccn); + SimpleFOCDebug::print("-"); + SimpleFOCDebug::print(info.tcc.chan); + SimpleFOCDebug::print("["); + SimpleFOCDebug::print(info.wo); + SimpleFOCDebug::println("]"); + } + else + SimpleFOCDebug::println(" None"); +} + + + +#endif + +#endif diff --git a/src/drivers/hardware_specific/samd/samd_mcu.h b/src/drivers/hardware_specific/samd/samd_mcu.h new file mode 100644 index 00000000..74004d65 --- /dev/null +++ b/src/drivers/hardware_specific/samd/samd_mcu.h @@ -0,0 +1,127 @@ + +#ifndef SAMD_MCU_H +#define SAMD_MCU_H + + +// uncomment to enable debug output from SAMD driver +// can set this as build-flag in Arduino IDE or PlatformIO +// #define SIMPLEFOC_SAMD_DEBUG + +#include "../../hardware_api.h" + + +#if defined(__SAME51J19A__) || defined(__ATSAME51J19A__) +#ifndef _SAME51_ +#define _SAME51_ +#endif +#endif + + +#if defined(_SAMD21_)||defined(_SAMD51_)||defined(_SAME51_) + + +#include "Arduino.h" +#include "variant.h" +#include "wiring_private.h" + + +#ifndef SIMPLEFOC_SAMD_PWM_RESOLUTION +#define SIMPLEFOC_SAMD_PWM_RESOLUTION 1000 +#endif + +#define SIMPLEFOC_SAMD_DEFAULT_PWM_FREQUENCY_HZ 24000 +// arbitrary maximum. On SAMD51 with 120MHz clock this means 2kHz minimum pwm frequency +#define SIMPLEFOC_SAMD_MAX_PWM_RESOLUTION 30000 +// lets not go too low - 400 with clock speed of 120MHz on SAMD51 means 150kHz maximum PWM frequency... +// 400 with 48MHz clock on SAMD21 means 60kHz maximum PWM frequency... +#define SIMPLEFOC_SAMD_MIN_PWM_RESOLUTION 400 +// this is the most we can support on the TC units +#define SIMPLEFOC_SAMD_PWM_TC_RESOLUTION 250 + +#ifndef SIMPLEFOC_SAMD_MAX_TCC_PINCONFIGURATIONS +#define SIMPLEFOC_SAMD_MAX_TCC_PINCONFIGURATIONS 24 +#endif + + + +struct tccConfiguration { + uint8_t pin; + EPioType peripheral; // 1=true, 0=false + uint8_t wo; + union tccChanInfo { + struct { + int8_t chan; + int8_t tccn; + }; + uint16_t chaninfo; + } tcc; + uint16_t pwm_res; +}; + + + + + + +struct wo_association { + EPortType port; + uint32_t pin; + ETCChannel tccE; + uint8_t woE; + ETCChannel tccF; + uint8_t woF; +#if defined(_SAMD51_)||defined(_SAME51_) + ETCChannel tccG; + uint8_t woG; +#endif +}; + + + +typedef struct SAMDHardwareDriverParams { + tccConfiguration* tccPinConfigurations[6]; + uint32_t pwm_frequency; + float dead_zone; +} SAMDHardwareDriverParams; + + + + +#if defined(_SAMD21_) +#define NUM_PIO_TIMER_PERIPHERALS 2 +#elif defined(_SAMD51_)||defined(_SAME51_) +#define NUM_PIO_TIMER_PERIPHERALS 3 +#endif + + + +/** + * Global state + */ +extern struct wo_association WO_associations[]; +extern uint8_t TCC_CHANNEL_COUNT[]; +extern tccConfiguration tccPinConfigurations[SIMPLEFOC_SAMD_MAX_TCC_PINCONFIGURATIONS]; +extern uint8_t numTccPinConfigurations; +extern bool SAMDClockConfigured; +extern bool tccConfigured[TCC_INST_NUM+TC_INST_NUM]; + + + +struct wo_association& getWOAssociation(EPortType port, uint32_t pin); +void writeSAMDDutyCycle(tccConfiguration* info, float dc); +void configureSAMDClock(); +void configureTCC(tccConfiguration& tccConfig, long pwm_frequency, bool negate=false, float hw6pwm=-1); +__inline__ void syncTCC(Tcc* TCCx) __attribute__((always_inline, unused)); +EPioType getPeripheralOfPermutation(int permutation, int pin_position); + +#ifdef SIMPLEFOC_SAMD_DEBUG +void printTCCConfiguration(tccConfiguration& info); +void printAllPinInfos(); +#endif + + + +#endif + + +#endif diff --git a/src/drivers/hardware_specific/stm32/stm32_mcu.cpp b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp new file mode 100644 index 00000000..4009281e --- /dev/null +++ b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp @@ -0,0 +1,1190 @@ + +#include "../../hardware_api.h" +#include "stm32_mcu.h" + +#if defined(_STM32_DEF_) + +#define SIMPLEFOC_STM32_DEBUG +#pragma message("") +#pragma message("SimpleFOC: compiling for STM32") +#pragma message("") + + +#ifdef SIMPLEFOC_STM32_DEBUG +void printTimerCombination(int numPins, PinMap* timers[], int score); +int getTimerNumber(int timerIndex); +#endif + + + + +#ifndef SIMPLEFOC_STM32_MAX_PINTIMERSUSED +#define SIMPLEFOC_STM32_MAX_PINTIMERSUSED 12 +#endif +int numTimerPinsUsed; +PinMap* timerPinsUsed[SIMPLEFOC_STM32_MAX_PINTIMERSUSED]; + + + +bool _getPwmState(void* params) { + // assume timers are synchronized and that there's at least one timer + HardwareTimer* pHT = ((STM32DriverParams*)params)->timers[0]; + TIM_HandleTypeDef* htim = pHT->getHandle(); + + bool dir = __HAL_TIM_IS_TIM_COUNTING_DOWN(htim); + + return dir; +} + + +// setting pwm to hardware pin - instead analogWrite() +void _setPwm(HardwareTimer *HT, uint32_t channel, uint32_t value, int resolution) +{ + // TODO - remove commented code + // PinName pin = digitalPinToPinName(ulPin); + // TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(pin, PinMap_PWM); + // uint32_t index = get_timer_index(Instance); + // HardwareTimer *HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); + + HT->setCaptureCompare(channel, value, (TimerCompareFormat_t)resolution); +} + + + + +int getLLChannel(PinMap* timer) { +#if defined(TIM_CCER_CC1NE) + if (STM_PIN_INVERTED(timer->function)) { + switch (STM_PIN_CHANNEL(timer->function)) { + case 1: return LL_TIM_CHANNEL_CH1N; + case 2: return LL_TIM_CHANNEL_CH2N; + case 3: return LL_TIM_CHANNEL_CH3N; +#if defined(LL_TIM_CHANNEL_CH4N) + case 4: return LL_TIM_CHANNEL_CH4N; +#endif + default: return -1; + } + } else +#endif + { + switch (STM_PIN_CHANNEL(timer->function)) { + case 1: return LL_TIM_CHANNEL_CH1; + case 2: return LL_TIM_CHANNEL_CH2; + case 3: return LL_TIM_CHANNEL_CH3; + case 4: return LL_TIM_CHANNEL_CH4; + default: return -1; + } + } + return -1; +} + + + + + +// init pin pwm +HardwareTimer* _initPinPWM(uint32_t PWM_freq, PinMap* timer) { + // sanity check + if (timer==NP) + return NP; + uint32_t index = get_timer_index((TIM_TypeDef*)timer->peripheral); + bool init = false; + if (HardwareTimer_Handle[index] == NULL) { + HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef*)timer->peripheral); + HardwareTimer_Handle[index]->handle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3; + HardwareTimer_Handle[index]->handle.Init.RepetitionCounter = 1; + HAL_TIM_Base_Init(&(HardwareTimer_Handle[index]->handle)); + init = true; + } + HardwareTimer *HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); + uint32_t channel = STM_PIN_CHANNEL(timer->function); + HT->pause(); + if (init) + HT->setOverflow(PWM_freq, HERTZ_FORMAT); + HT->setMode(channel, TIMER_OUTPUT_COMPARE_PWM1, timer->pin); + #if SIMPLEFOC_PWM_ACTIVE_HIGH==false + LL_TIM_OC_SetPolarity(HT->getHandle()->Instance, getLLChannel(timer), LL_TIM_OCPOLARITY_LOW); + #endif +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-DRV: Configuring high timer ", (int)getTimerNumber(get_timer_index(HardwareTimer_Handle[index]->handle.Instance))); + SIMPLEFOC_DEBUG("STM32-DRV: Configuring high channel ", (int)channel); +#endif + return HT; +} + + + + + + + +// init high side pin +HardwareTimer* _initPinPWMHigh(uint32_t PWM_freq, PinMap* timer) { + HardwareTimer* HT = _initPinPWM(PWM_freq, timer); + #if SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH==false && SIMPLEFOC_PWM_ACTIVE_HIGH==true + LL_TIM_OC_SetPolarity(HT->getHandle()->Instance, getLLChannel(timer), LL_TIM_OCPOLARITY_LOW); + #endif + return HT; +} + +// init low side pin +HardwareTimer* _initPinPWMLow(uint32_t PWM_freq, PinMap* timer) +{ + uint32_t index = get_timer_index((TIM_TypeDef*)timer->peripheral); + + bool init = false; + if (HardwareTimer_Handle[index] == NULL) { + HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef*)timer->peripheral); + HardwareTimer_Handle[index]->handle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3; + HardwareTimer_Handle[index]->handle.Init.RepetitionCounter = 1; + HAL_TIM_Base_Init(&(HardwareTimer_Handle[index]->handle)); + init = true; + } + HardwareTimer *HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); + uint32_t channel = STM_PIN_CHANNEL(timer->function); + +#ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-DRV: Configuring low timer ", (int)getTimerNumber(get_timer_index(HardwareTimer_Handle[index]->handle.Instance))); + SIMPLEFOC_DEBUG("STM32-DRV: Configuring low channel ", (int)channel); +#endif + + HT->pause(); + if (init) + HT->setOverflow(PWM_freq, HERTZ_FORMAT); + // sets internal fields of HT, but we can't set polarity here + HT->setMode(channel, TIMER_OUTPUT_COMPARE_PWM2, timer->pin); + #if SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH==false + LL_TIM_OC_SetPolarity(HT->getHandle()->Instance, getLLChannel(timer), LL_TIM_OCPOLARITY_LOW); + #endif + return HT; +} + + + +// align the timers to end the init +void _alignPWMTimers(HardwareTimer *HT1, HardwareTimer *HT2, HardwareTimer *HT3) +{ + HT1->pause(); + HT1->refresh(); + HT2->pause(); + HT2->refresh(); + HT3->pause(); + HT3->refresh(); + HT1->resume(); + HT2->resume(); + HT3->resume(); +} + + + + +// align the timers to end the init +void _alignPWMTimers(HardwareTimer *HT1, HardwareTimer *HT2, HardwareTimer *HT3, HardwareTimer *HT4) +{ + HT1->pause(); + HT1->refresh(); + HT2->pause(); + HT2->refresh(); + HT3->pause(); + HT3->refresh(); + HT4->pause(); + HT4->refresh(); + HT1->resume(); + HT2->resume(); + HT3->resume(); + HT4->resume(); +} + + +// align the timers to end the init +void _stopTimers(HardwareTimer **timers_to_stop, int timer_num) +{ + // TODO - stop each timer only once + // stop timers + for (int i=0; i < timer_num; i++) { + if(timers_to_stop[i] == NP) return; + timers_to_stop[i]->pause(); + timers_to_stop[i]->refresh(); + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-DRV: Stopping timer ", getTimerNumber(get_timer_index(timers_to_stop[i]->getHandle()->Instance))); + #endif + } +} + + +#if defined(STM32G4xx) +// function finds the appropriate timer source trigger for the master/slave timer combination +// returns -1 if no trigger source is found +// currently supports the master timers to be from TIM1 to TIM4 and TIM8 +int _getInternalSourceTrigger(HardwareTimer* master, HardwareTimer* slave) { // put master and slave in temp variables to avoid arrows + TIM_TypeDef *TIM_master = master->getHandle()->Instance; + #if defined(TIM1) && defined(LL_TIM_TS_ITR0) + if (TIM_master == TIM1) return LL_TIM_TS_ITR0;// return TIM_TS_ITR0; + #endif + #if defined(TIM2) && defined(LL_TIM_TS_ITR1) + else if (TIM_master == TIM2) return LL_TIM_TS_ITR1;//return TIM_TS_ITR1; + #endif + #if defined(TIM3) && defined(LL_TIM_TS_ITR2) + else if (TIM_master == TIM3) return LL_TIM_TS_ITR2;//return TIM_TS_ITR2; + #endif + #if defined(TIM4) && defined(LL_TIM_TS_ITR3) + else if (TIM_master == TIM4) return LL_TIM_TS_ITR3;//return TIM_TS_ITR3; + #endif + #if defined(TIM5) && defined(LL_TIM_TS_ITR4) + else if (TIM_master == TIM5) return LL_TIM_TS_ITR4;//return TIM_TS_ITR4; + #endif + #if defined(TIM8) && defined(LL_TIM_TS_ITR5) + else if (TIM_master == TIM8) return LL_TIM_TS_ITR5;//return TIM_TS_ITR5; + #endif + return -1; +} +#elif defined(STM32F4xx) || defined(STM32F1xx) || defined(STM32L4xx) || defined(STM32F7xx) + +// function finds the appropriate timer source trigger for the master/slave timer combination +// returns -1 if no trigger source is found +// currently supports the master timers to be from TIM1 to TIM4 and TIM8 +int _getInternalSourceTrigger(HardwareTimer* master, HardwareTimer* slave) { + // put master and slave in temp variables to avoid arrows + TIM_TypeDef *TIM_master = master->getHandle()->Instance; + TIM_TypeDef *TIM_slave = slave->getHandle()->Instance; + #if defined(TIM1) && defined(LL_TIM_TS_ITR0) + if (TIM_master == TIM1){ + #if defined(TIM2) + if(TIM_slave == TIM2) return LL_TIM_TS_ITR0; + #endif + #if defined(TIM3) + else if(TIM_slave == TIM3) return LL_TIM_TS_ITR0; + #endif + #if defined(TIM4) + else if(TIM_slave == TIM4) return LL_TIM_TS_ITR0; + #endif + #if defined(TIM8) + else if(TIM_slave == TIM8) return LL_TIM_TS_ITR0; + #endif + } + #endif + #if defined(TIM2) && defined(LL_TIM_TS_ITR1) + else if (TIM_master == TIM2){ + #if defined(TIM1) + if(TIM_slave == TIM1) return LL_TIM_TS_ITR1; + #endif + #if defined(TIM3) + else if(TIM_slave == TIM3) return LL_TIM_TS_ITR1; + #endif + #if defined(TIM4) + else if(TIM_slave == TIM4) return LL_TIM_TS_ITR1; + #endif + #if defined(TIM8) + else if(TIM_slave == TIM8) return LL_TIM_TS_ITR1; + #endif + #if defined(TIM5) + else if(TIM_slave == TIM5) return LL_TIM_TS_ITR0; + #endif + } + #endif + #if defined(TIM3) && defined(LL_TIM_TS_ITR2) + else if (TIM_master == TIM3){ + #if defined(TIM1) + if(TIM_slave == TIM1) return LL_TIM_TS_ITR2; + #endif + #if defined(TIM2) + else if(TIM_slave == TIM2) return LL_TIM_TS_ITR2; + #endif + #if defined(TIM4) + else if(TIM_slave == TIM4) return LL_TIM_TS_ITR2; + #endif + #if defined(TIM5) + else if(TIM_slave == TIM5) return LL_TIM_TS_ITR1; + #endif + } + #endif + #if defined(TIM4) && defined(LL_TIM_TS_ITR3) + else if (TIM_master == TIM4){ + #if defined(TIM1) + if(TIM_slave == TIM1) return LL_TIM_TS_ITR3; + #endif + #if defined(TIM2) + else if(TIM_slave == TIM2) return LL_TIM_TS_ITR3; + #endif + #if defined(TIM3) + else if(TIM_slave == TIM3) return LL_TIM_TS_ITR3; + #endif + #if defined(TIM8) + else if(TIM_slave == TIM8) return LL_TIM_TS_ITR2; + #endif + #if defined(TIM5) + else if(TIM_slave == TIM5) return LL_TIM_TS_ITR1; + #endif + } + #endif + #if defined(TIM5) + else if (TIM_master == TIM5){ + #if !defined(STM32L4xx) // only difference between F4,F1 and L4 + #if defined(TIM1) + if(TIM_slave == TIM1) return LL_TIM_TS_ITR0; + #endif + #if defined(TIM3) + else if(TIM_slave == TIM3) return LL_TIM_TS_ITR2; + #endif + #endif + #if defined(TIM8) + if(TIM_slave == TIM8) return LL_TIM_TS_ITR3; + #endif + } + #endif + #if defined(TIM8) + else if (TIM_master == TIM8){ + #if defined(TIM2) + if(TIM_slave==TIM2) return LL_TIM_TS_ITR1; + #endif + #if defined(TIM4) + else if(TIM_slave == TIM4) return LL_TIM_TS_ITR3; + #endif + #if defined(TIM5) + else if(TIM_slave == TIM5) return LL_TIM_TS_ITR3; + #endif + } + #endif + return -1; // combination not supported +} +#else +// Alignment not supported for this architecture +int _getInternalSourceTrigger(HardwareTimer* master, HardwareTimer* slave) { + return -1; +} +#endif + +void syncTimerFrequency(long pwm_frequency, HardwareTimer *timers[], uint8_t num_timers) { + uint32_t max_frequency = 0; + uint32_t min_frequency = UINT32_MAX; + for (size_t i=0; igetTimerClkFreq(); + if (freq > max_frequency) { + max_frequency = freq; + } else if (freq < min_frequency) { + min_frequency = freq; + } + } + if (max_frequency==min_frequency) return; + uint32_t overflow_value = min_frequency/pwm_frequency; + for (size_t i=0; igetTimerClkFreq()/min_frequency; + #ifdef SIMPLEFOC_DEBUG + SIMPLEFOC_DEBUG("STM32-DRV: Setting prescale to ", (float)prescale_factor); + SIMPLEFOC_DEBUG("STM32-DRV: Setting Overflow to ", (float)overflow_value); + #endif + timers[i]->setPrescaleFactor(prescale_factor); + timers[i]->setOverflow(overflow_value,TICK_FORMAT); + timers[i]->refresh(); + } +} + +void _alignTimersNew() { + int numTimers = 0; + HardwareTimer *timers[numTimerPinsUsed]; + + // find the timers used + for (int i=0; iperipheral); + HardwareTimer *timer = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); + bool found = false; + for (int j=0; j 1){ + // find the master timer + int16_t master_index = -1; + int triggerEvent = -1; + for (int i=0; igetHandle()->Instance)) { + // check if timer already configured in TRGO update mode (used for ADC triggering) + // in that case we should not change its TRGO configuration + if(timers[i]->getHandle()->Instance->CR2 & LL_TIM_TRGO_UPDATE) continue; + // check if the timer has the supported internal trigger for other timers + for (int slave_i=0; slave_igetHandle()->Instance))); + #endif + // make the master timer generate ITRGx event + // if it was already configured in slave mode + LL_TIM_SetSlaveMode(timers[master_index]->getHandle()->Instance, LL_TIM_SLAVEMODE_DISABLED ); + // Configure the master timer to send a trigger signal on enable + LL_TIM_SetTriggerOutput(timers[master_index]->getHandle()->Instance, LL_TIM_TRGO_ENABLE); + // configure other timers to get the input trigger from the master timer + for (int slave_index=0; slave_index < numTimers; slave_index++) { + if (slave_index == master_index) + continue; + // Configure the slave timer to be triggered by the master enable signal + LL_TIM_SetTriggerInput(timers[slave_index]->getHandle()->Instance, _getInternalSourceTrigger(timers[master_index], timers[slave_index])); + LL_TIM_SetSlaveMode(timers[slave_index]->getHandle()->Instance, LL_TIM_SLAVEMODE_TRIGGER); + } + } + } + + // enable timer clock + for (int i=0; ipause(); + // timers[i]->refresh(); + #ifdef SIMPLEFOC_STM32_DEBUG + SIMPLEFOC_DEBUG("STM32-DRV: Restarting timer ", getTimerNumber(get_timer_index(timers[i]->getHandle()->Instance))); + #endif + } + + for (int i=0; iresume(); + } + +} + + + +// align the timers to end the init +void _startTimers(HardwareTimer **timers_to_start, int timer_num) +{ + // // TODO - start each timer only once + // // start timers + // for (int i=0; i < timer_num; i++) { + // if(timers_to_start[i] == NP) return; + // timers_to_start[i]->resume(); + // #ifdef SIMPLEFOC_STM32_DEBUG + // SIMPLEFOC_DEBUG("STM32-DRV: Starting timer ", getTimerNumber(get_timer_index(timers_to_start[i]->getHandle()->Instance))); + // #endif + // } + _alignTimersNew(); +} + + +// configure hardware 6pwm for a complementary pair of channels +STM32DriverParams* _initHardware6PWMPair(long PWM_freq, float dead_zone, PinMap* pinH, PinMap* pinL, STM32DriverParams* params, int paramsPos) { + // sanity check + if (pinH==NP || pinL==NP) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + +#if defined(STM32L0xx) // L0 boards dont have hardware 6pwm interface + return SIMPLEFOC_DRIVER_INIT_FAILED; // return nothing +#endif + + uint32_t channel1 = STM_PIN_CHANNEL(pinH->function); + uint32_t channel2 = STM_PIN_CHANNEL(pinL->function); + + // more sanity check + if (channel1!=channel2 || pinH->peripheral!=pinL->peripheral) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + + uint32_t index = get_timer_index((TIM_TypeDef*)pinH->peripheral); + + if (HardwareTimer_Handle[index] == NULL) { + HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef*)pinH->peripheral); + HardwareTimer_Handle[index]->handle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3; + HardwareTimer_Handle[index]->handle.Init.RepetitionCounter = 1; + // HardwareTimer_Handle[index]->handle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; + HAL_TIM_Base_Init(&(HardwareTimer_Handle[index]->handle)); + ((HardwareTimer *)HardwareTimer_Handle[index]->__this)->setOverflow((uint32_t)PWM_freq, HERTZ_FORMAT); + } + HardwareTimer *HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); + + HT->setMode(channel1, TIMER_OUTPUT_COMPARE_PWM1, pinH->pin); + HT->setMode(channel2, TIMER_OUTPUT_COMPARE_PWM1, pinL->pin); + + // dead time is set in nanoseconds + uint32_t dead_time_ns = (float)(1e9f/PWM_freq)*dead_zone; + uint32_t dead_time = __LL_TIM_CALC_DEADTIME(SystemCoreClock, LL_TIM_GetClockDivision(HT->getHandle()->Instance), dead_time_ns); + if (dead_time>255) dead_time = 255; + if (dead_time==0 && dead_zone>0) { + dead_time = 255; // LL_TIM_CALC_DEADTIME returns 0 if dead_time_ns is too large + SIMPLEFOC_DEBUG("STM32-DRV: WARN: dead time too large, setting to max"); + } + LL_TIM_OC_SetDeadTime(HT->getHandle()->Instance, dead_time); // deadtime is non linear! + #if SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH==false + LL_TIM_OC_SetPolarity(HT->getHandle()->Instance, getLLChannel(pinH), LL_TIM_OCPOLARITY_LOW); + #endif + #if SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH==false + LL_TIM_OC_SetPolarity(HT->getHandle()->Instance, getLLChannel(pinL), LL_TIM_OCPOLARITY_LOW); + #endif + LL_TIM_CC_EnableChannel(HT->getHandle()->Instance, getLLChannel(pinH) | getLLChannel(pinL)); + HT->pause(); + + // make sure timer output goes to LOW when timer channels are temporarily disabled + LL_TIM_SetOffStates(HT->getHandle()->Instance, LL_TIM_OSSI_DISABLE, LL_TIM_OSSR_ENABLE); + + params->timers[paramsPos] = HT; + params->timers[paramsPos+1] = HT; + params->channels[paramsPos] = channel1; + params->channels[paramsPos+1] = channel2; + return params; +} + + + + +STM32DriverParams* _initHardware6PWMInterface(long PWM_freq, float dead_zone, PinMap* pinA_h, PinMap* pinA_l, PinMap* pinB_h, PinMap* pinB_l, PinMap* pinC_h, PinMap* pinC_l) { + STM32DriverParams* params = new STM32DriverParams { + .timers = { NP, NP, NP, NP, NP, NP }, + .channels = { 0, 0, 0, 0, 0, 0 }, + .pwm_frequency = PWM_freq, + .dead_zone = dead_zone, + .interface_type = _HARDWARE_6PWM + }; + + if (_initHardware6PWMPair(PWM_freq, dead_zone, pinA_h, pinA_l, params, 0) == SIMPLEFOC_DRIVER_INIT_FAILED) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + if(_initHardware6PWMPair(PWM_freq, dead_zone, pinB_h, pinB_l, params, 2) == SIMPLEFOC_DRIVER_INIT_FAILED) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + if (_initHardware6PWMPair(PWM_freq, dead_zone, pinC_h, pinC_l, params, 4) == SIMPLEFOC_DRIVER_INIT_FAILED) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + + return params; +} + + + + + + +/* + timer combination scoring function + assigns a score, and also checks the combination is valid + returns <0 if combination is invalid, >=0 if combination is valid. lower (but positive) score is better + for 6 pwm, hardware 6-pwm is preferred over software 6-pwm + hardware 6-pwm is possible if each low channel is the inverted counterpart of its high channel + inverted channels are not allowed except when using hardware 6-pwm (in theory they could be but lets not complicate things) +*/ +int scoreCombination(int numPins, PinMap* pinTimers[]) { + // check already used - TODO move this to outer loop also... + for (int i=0; iperipheral == timerPinsUsed[i]->peripheral + && STM_PIN_CHANNEL(pinTimers[i]->function) == STM_PIN_CHANNEL(timerPinsUsed[i]->function)) + return -2; // bad combination - timer channel already used + } + + // TODO LPTIM and HRTIM should be ignored for now + + // check for inverted channels + if (numPins < 6) { + for (int i=0; ifunction)) + return -3; // bad combination - inverted channel used in non-hardware 6pwm + } + } + // check for duplicated channels + for (int i=0; iperipheral == pinTimers[j]->peripheral + && STM_PIN_CHANNEL(pinTimers[i]->function) == STM_PIN_CHANNEL(pinTimers[j]->function) + && STM_PIN_INVERTED(pinTimers[i]->function) == STM_PIN_INVERTED(pinTimers[j]->function)) + return -4; // bad combination - duplicated channel + } + } + int score = 0; + for (int i=0; iperipheral == pinTimers[j]->peripheral) + found = true; + } + if (!found) score++; + } + if (numPins==6) { + // check for inverted channels - best: 1 timer, 3 channels, 3 matching inverted channels + // >1 timer, 3 channels, 3 matching inverted channels + // 1 timer, 6 channels (no inverted channels) + // >1 timer, 6 channels (no inverted channels) + // check for inverted high-side channels - TODO is this a configuration we should allow? what if all 3 high side channels are inverted and the low-side non-inverted? + if (STM_PIN_INVERTED(pinTimers[0]->function) || STM_PIN_INVERTED(pinTimers[2]->function) || STM_PIN_INVERTED(pinTimers[4]->function)) + return -5; // bad combination - inverted channel used on high-side channel + if (pinTimers[0]->peripheral == pinTimers[1]->peripheral + && pinTimers[2]->peripheral == pinTimers[3]->peripheral + && pinTimers[4]->peripheral == pinTimers[5]->peripheral + && STM_PIN_CHANNEL(pinTimers[0]->function) == STM_PIN_CHANNEL(pinTimers[1]->function) + && STM_PIN_CHANNEL(pinTimers[2]->function) == STM_PIN_CHANNEL(pinTimers[3]->function) + && STM_PIN_CHANNEL(pinTimers[4]->function) == STM_PIN_CHANNEL(pinTimers[5]->function) + && STM_PIN_INVERTED(pinTimers[1]->function) && STM_PIN_INVERTED(pinTimers[3]->function) && STM_PIN_INVERTED(pinTimers[5]->function)) { + // hardware 6pwm, score <10 + + // TODO F37xxx doesn't support dead-time insertion, it has no TIM1/TIM8 + // F301, F302 --> 6 channels, but only 1-3 have dead-time insertion + // TIM2/TIM3/TIM4/TIM5 don't do dead-time insertion + // TIM15/TIM16/TIM17 do dead-time insertion only on channel 1 + + // TODO check these defines + #if defined(STM32F4xx_HAL_TIM_H) || defined(STM32F3xx_HAL_TIM_H) || defined(STM32F2xx_HAL_TIM_H) || defined(STM32F1xx_HAL_TIM_H) || defined(STM32F100_HAL_TIM_H) || defined(STM32FG0x1_HAL_TIM_H) || defined(STM32G0x0_HAL_TIM_H) + if (STM_PIN_CHANNEL(pinTimers[0]->function)>3 || STM_PIN_CHANNEL(pinTimers[2]->function)>3 || STM_PIN_CHANNEL(pinTimers[4]->function)>3 ) + return -8; // channel 4 does not have dead-time insertion + #endif + #ifdef STM32G4xx_HAL_TIM_H + if (STM_PIN_CHANNEL(pinTimers[0]->function)>4 || STM_PIN_CHANNEL(pinTimers[2]->function)>4 || STM_PIN_CHANNEL(pinTimers[4]->function)>4 ) + return -8; // channels 5 & 6 do not have dead-time insertion + #endif + } + else { + // check for inverted low-side channels + if (STM_PIN_INVERTED(pinTimers[1]->function) || STM_PIN_INVERTED(pinTimers[3]->function) || STM_PIN_INVERTED(pinTimers[5]->function)) + return -6; // bad combination - inverted channel used on low-side channel in software 6-pwm + if (pinTimers[0]->peripheral != pinTimers[1]->peripheral + || pinTimers[2]->peripheral != pinTimers[3]->peripheral + || pinTimers[4]->peripheral != pinTimers[5]->peripheral) + return -7; // bad combination - non-matching timers for H/L side in software 6-pwm + score += 10; // software 6pwm, score >10 + } + } + return score; +} + + + + +int findIndexOfFirstPinMapEntry(int pin) { + PinName pinName = digitalPinToPinName(pin); + int i = 0; + while (PinMap_TIM[i].pin!=NC) { + if (pinName == PinMap_TIM[i].pin) + return i; + i++; + } + return -1; +} + + +int findIndexOfLastPinMapEntry(int pin) { + PinName pinName = digitalPinToPinName(pin); + int i = 0; + while (PinMap_TIM[i].pin!=NC) { + if ( pinName == (PinMap_TIM[i].pin & ~ALTX_MASK) + && pinName != (PinMap_TIM[i+1].pin & ~ALTX_MASK)) + return i; + i++; + } + return -1; +} + + + + + + +#define NOT_FOUND 1000 + +int findBestTimerCombination(int numPins, int index, int pins[], PinMap* pinTimers[]) { + PinMap* searchArray[numPins]; + for (int j=0;j=0 && score= 0) { + #ifdef SIMPLEFOC_STM32_DEBUG + SimpleFOCDebug::print("STM32-DRV: best: "); + printTimerCombination(numPins, pinTimers, bestScore); + #endif + } + return bestScore; +}; + + + +void* _configure1PWM(long pwm_frequency, const int pinA) { + if (numTimerPinsUsed+1 > SIMPLEFOC_STM32_MAX_PINTIMERSUSED) { + SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many pins used"); + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + } + + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + // center-aligned frequency is uses two periods + pwm_frequency *=2; + + int pins[1] = { pinA }; + PinMap* pinTimers[1] = { NP }; + if (findBestTimerCombination(1, pins, pinTimers)<0) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + + HardwareTimer* HT1 = _initPinPWM(pwm_frequency, pinTimers[0]);\ + // align the timers + _alignTimersNew(); + + uint32_t channel1 = STM_PIN_CHANNEL(pinTimers[0]->function); + + STM32DriverParams* params = new STM32DriverParams { + .timers = { HT1 }, + .channels = { channel1 }, + .pwm_frequency = pwm_frequency + }; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[0]; + return params; +} + + + + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware speciffic +void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) { + if (numTimerPinsUsed+2 > SIMPLEFOC_STM32_MAX_PINTIMERSUSED) { + SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many pins used"); + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + } + + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + // center-aligned frequency is uses two periods + pwm_frequency *=2; + + int pins[2] = { pinA, pinB }; + PinMap* pinTimers[2] = { NP, NP }; + if (findBestTimerCombination(2, pins, pinTimers)<0) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + + HardwareTimer* HT1 = _initPinPWM(pwm_frequency, pinTimers[0]); + HardwareTimer* HT2 = _initPinPWM(pwm_frequency, pinTimers[1]); + HardwareTimer *timers[2] = {HT1, HT2}; + syncTimerFrequency(pwm_frequency, timers, 2); + // allign the timers + _alignPWMTimers(HT1, HT2, HT2); + + uint32_t channel1 = STM_PIN_CHANNEL(pinTimers[0]->function); + uint32_t channel2 = STM_PIN_CHANNEL(pinTimers[1]->function); + + STM32DriverParams* params = new STM32DriverParams { + .timers = { HT1, HT2 }, + .channels = { channel1, channel2 }, + .pwm_frequency = pwm_frequency + }; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[0]; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[1]; + return params; +} + + + + +TIM_MasterConfigTypeDef sMasterConfig; +TIM_SlaveConfigTypeDef sSlaveConfig; + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware speciffic +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + if (numTimerPinsUsed+3 > SIMPLEFOC_STM32_MAX_PINTIMERSUSED) { + SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many pins used"); + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + } + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + // center-aligned frequency is uses two periods + pwm_frequency *=2; + + int pins[3] = { pinA, pinB, pinC }; + PinMap* pinTimers[3] = { NP, NP, NP }; + if (findBestTimerCombination(3, pins, pinTimers)<0) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + + HardwareTimer* HT1 = _initPinPWM(pwm_frequency, pinTimers[0]); + HardwareTimer* HT2 = _initPinPWM(pwm_frequency, pinTimers[1]); + HardwareTimer* HT3 = _initPinPWM(pwm_frequency, pinTimers[2]); + + HardwareTimer *timers[3] = {HT1, HT2, HT3}; + syncTimerFrequency(pwm_frequency, timers, 3); + + uint32_t channel1 = STM_PIN_CHANNEL(pinTimers[0]->function); + uint32_t channel2 = STM_PIN_CHANNEL(pinTimers[1]->function); + uint32_t channel3 = STM_PIN_CHANNEL(pinTimers[2]->function); + + STM32DriverParams* params = new STM32DriverParams { + .timers = { HT1, HT2, HT3 }, + .channels = { channel1, channel2, channel3 }, + .pwm_frequency = pwm_frequency + }; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[0]; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[1]; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[2]; + + _alignTimersNew(); + + return params; +} + + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware speciffic +void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) { + if (numTimerPinsUsed+4 > SIMPLEFOC_STM32_MAX_PINTIMERSUSED) { + SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many pins used"); + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + } + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + // center-aligned frequency is uses two periods + pwm_frequency *=2; + + int pins[4] = { pinA, pinB, pinC, pinD }; + PinMap* pinTimers[4] = { NP, NP, NP, NP }; + if (findBestTimerCombination(4, pins, pinTimers)<0) + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + + HardwareTimer* HT1 = _initPinPWM(pwm_frequency, pinTimers[0]); + HardwareTimer* HT2 = _initPinPWM(pwm_frequency, pinTimers[1]); + HardwareTimer* HT3 = _initPinPWM(pwm_frequency, pinTimers[2]); + HardwareTimer* HT4 = _initPinPWM(pwm_frequency, pinTimers[3]); + HardwareTimer *timers[4] = {HT1, HT2, HT3, HT4}; + syncTimerFrequency(pwm_frequency, timers, 4); + // allign the timers + _alignPWMTimers(HT1, HT2, HT3, HT4); + + uint32_t channel1 = STM_PIN_CHANNEL(pinTimers[0]->function); + uint32_t channel2 = STM_PIN_CHANNEL(pinTimers[1]->function); + uint32_t channel3 = STM_PIN_CHANNEL(pinTimers[2]->function); + uint32_t channel4 = STM_PIN_CHANNEL(pinTimers[3]->function); + + STM32DriverParams* params = new STM32DriverParams { + .timers = { HT1, HT2, HT3, HT4 }, + .channels = { channel1, channel2, channel3, channel4 }, + .pwm_frequency = pwm_frequency + }; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[0]; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[1]; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[2]; + timerPinsUsed[numTimerPinsUsed++] = pinTimers[3]; + return params; +} + + + +// function setting the pwm duty cycle to the hardware +// - DC motor - 1PWM setting +// - hardware speciffic +void _writeDutyCycle1PWM(float dc_a, void* params){ + // transform duty cycle from [0,1] to [0,255] + _setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], _PWM_RANGE*dc_a, _PWM_RESOLUTION); +} + + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +//- hardware speciffic +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ + // transform duty cycle from [0,1] to [0,4095] + _setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], _PWM_RANGE*dc_a, _PWM_RESOLUTION); + _setPwm(((STM32DriverParams*)params)->timers[1], ((STM32DriverParams*)params)->channels[1], _PWM_RANGE*dc_b, _PWM_RESOLUTION); +} + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +//- hardware speciffic +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + // transform duty cycle from [0,1] to [0,4095] + _setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], _PWM_RANGE*dc_a, _PWM_RESOLUTION); + _setPwm(((STM32DriverParams*)params)->timers[1], ((STM32DriverParams*)params)->channels[1], _PWM_RANGE*dc_b, _PWM_RESOLUTION); + _setPwm(((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], _PWM_RANGE*dc_c, _PWM_RESOLUTION); +} + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +//- hardware speciffic +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + // transform duty cycle from [0,1] to [0,4095] + _setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], _PWM_RANGE*dc_1a, _PWM_RESOLUTION); + _setPwm(((STM32DriverParams*)params)->timers[1], ((STM32DriverParams*)params)->channels[1], _PWM_RANGE*dc_1b, _PWM_RESOLUTION); + _setPwm(((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], _PWM_RANGE*dc_2a, _PWM_RESOLUTION); + _setPwm(((STM32DriverParams*)params)->timers[3], ((STM32DriverParams*)params)->channels[3], _PWM_RANGE*dc_2b, _PWM_RESOLUTION); +} + + + + +// Configuring PWM frequency, resolution and alignment +// - BLDC driver - 6PWM setting +// - hardware specific +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){ + if (numTimerPinsUsed+6 > SIMPLEFOC_STM32_MAX_PINTIMERSUSED) { + SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many pins used"); + return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + } + if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to |%0kHz max + // center-aligned frequency is uses two periods + pwm_frequency *=2; + + // find configuration + int pins[6] = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l }; + PinMap* pinTimers[6] = { NP, NP, NP, NP, NP, NP }; + int score = findBestTimerCombination(6, pins, pinTimers); + + STM32DriverParams* params; + // configure accordingly + if (score<0) + params = (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED; + else if (score<10) // hardware pwm + params = _initHardware6PWMInterface(pwm_frequency, dead_zone, pinTimers[0], pinTimers[1], pinTimers[2], pinTimers[3], pinTimers[4], pinTimers[5]); + else { // software pwm + HardwareTimer* HT1 = _initPinPWMHigh(pwm_frequency, pinTimers[0]); + HardwareTimer* HT2 = _initPinPWMLow(pwm_frequency, pinTimers[1]); + HardwareTimer* HT3 = _initPinPWMHigh(pwm_frequency, pinTimers[2]); + HardwareTimer* HT4 = _initPinPWMLow(pwm_frequency, pinTimers[3]); + HardwareTimer* HT5 = _initPinPWMHigh(pwm_frequency, pinTimers[4]); + HardwareTimer* HT6 = _initPinPWMLow(pwm_frequency, pinTimers[5]); + HardwareTimer *timers[6] = {HT1, HT2, HT3, HT4, HT5, HT6}; + syncTimerFrequency(pwm_frequency, timers, 6); + uint32_t channel1 = STM_PIN_CHANNEL(pinTimers[0]->function); + uint32_t channel2 = STM_PIN_CHANNEL(pinTimers[1]->function); + uint32_t channel3 = STM_PIN_CHANNEL(pinTimers[2]->function); + uint32_t channel4 = STM_PIN_CHANNEL(pinTimers[3]->function); + uint32_t channel5 = STM_PIN_CHANNEL(pinTimers[4]->function); + uint32_t channel6 = STM_PIN_CHANNEL(pinTimers[5]->function); + params = new STM32DriverParams { + .timers = { HT1, HT2, HT3, HT4, HT5, HT6 }, + .channels = { channel1, channel2, channel3, channel4, channel5, channel6 }, + .pwm_frequency = pwm_frequency, + .dead_zone = dead_zone, + .interface_type = _SOFTWARE_6PWM + }; + } + if (score>=0) { + for (int i=0; i<6; i++) + timerPinsUsed[numTimerPinsUsed++] = pinTimers[i]; + _alignTimersNew(); + } + return params; // success +} + + + +void _setSinglePhaseState(PhaseState state, HardwareTimer *HT, int channel1,int channel2) { + _UNUSED(channel2); + switch (state) { + case PhaseState::PHASE_OFF: + // Due to a weird quirk in the arduino timer API, pauseChannel only disables the complementary channel (e.g. CC1NE). + // To actually make the phase floating, we must also set pwm to 0. + HT->pauseChannel(channel1); + break; + default: + HT->resumeChannel(channel1); + break; + } +} + + +// Function setting the duty cycle to the pwm pin (ex. analogWrite()) +// - BLDC driver - 6PWM setting +// - hardware specific +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState* phase_state, void* params){ + switch(((STM32DriverParams*)params)->interface_type){ + case _HARDWARE_6PWM: + // phase a + _setSinglePhaseState(phase_state[0], ((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], ((STM32DriverParams*)params)->channels[1]); + if(phase_state[0] == PhaseState::PHASE_OFF) dc_a = 0.0f; + _setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], _PWM_RANGE*dc_a, _PWM_RESOLUTION); + // phase b + _setSinglePhaseState(phase_state[1], ((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], ((STM32DriverParams*)params)->channels[3]); + if(phase_state[1] == PhaseState::PHASE_OFF) dc_b = 0.0f; + _setPwm(((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], _PWM_RANGE*dc_b, _PWM_RESOLUTION); + // phase c + _setSinglePhaseState(phase_state[2], ((STM32DriverParams*)params)->timers[4], ((STM32DriverParams*)params)->channels[4], ((STM32DriverParams*)params)->channels[5]); + if(phase_state[2] == PhaseState::PHASE_OFF) dc_c = 0.0f; + _setPwm(((STM32DriverParams*)params)->timers[4], ((STM32DriverParams*)params)->channels[4], _PWM_RANGE*dc_c, _PWM_RESOLUTION); + break; + case _SOFTWARE_6PWM: + float dead_zone = ((STM32DriverParams*)params)->dead_zone / 2.0f; + if (phase_state[0] == PhaseState::PHASE_ON || phase_state[0] == PhaseState::PHASE_HI) + _setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], _constrain(dc_a - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION); + else + _setPwm(((STM32DriverParams*)params)->timers[0], ((STM32DriverParams*)params)->channels[0], 0.0f, _PWM_RESOLUTION); + if (phase_state[0] == PhaseState::PHASE_ON || phase_state[0] == PhaseState::PHASE_LO) + _setPwm(((STM32DriverParams*)params)->timers[1], ((STM32DriverParams*)params)->channels[1], _constrain(dc_a + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION); + else + _setPwm(((STM32DriverParams*)params)->timers[1], ((STM32DriverParams*)params)->channels[1], 0.0f, _PWM_RESOLUTION); + + if (phase_state[1] == PhaseState::PHASE_ON || phase_state[1] == PhaseState::PHASE_HI) + _setPwm(((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], _constrain(dc_b - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION); + else + _setPwm(((STM32DriverParams*)params)->timers[2], ((STM32DriverParams*)params)->channels[2], 0.0f, _PWM_RESOLUTION); + if (phase_state[1] == PhaseState::PHASE_ON || phase_state[1] == PhaseState::PHASE_LO) + _setPwm(((STM32DriverParams*)params)->timers[3], ((STM32DriverParams*)params)->channels[3], _constrain(dc_b + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION); + else + _setPwm(((STM32DriverParams*)params)->timers[3], ((STM32DriverParams*)params)->channels[3], 0.0f, _PWM_RESOLUTION); + + if (phase_state[2] == PhaseState::PHASE_ON || phase_state[2] == PhaseState::PHASE_HI) + _setPwm(((STM32DriverParams*)params)->timers[4], ((STM32DriverParams*)params)->channels[4], _constrain(dc_c - dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION); + else + _setPwm(((STM32DriverParams*)params)->timers[4], ((STM32DriverParams*)params)->channels[4], 0.0f, _PWM_RESOLUTION); + if (phase_state[2] == PhaseState::PHASE_ON || phase_state[2] == PhaseState::PHASE_LO) + _setPwm(((STM32DriverParams*)params)->timers[5], ((STM32DriverParams*)params)->channels[5], _constrain(dc_c + dead_zone, 0.0f, 1.0f)*_PWM_RANGE, _PWM_RESOLUTION); + else + _setPwm(((STM32DriverParams*)params)->timers[5], ((STM32DriverParams*)params)->channels[5], 0.0f, _PWM_RESOLUTION); + break; + } + _UNUSED(phase_state); +} + + + +#ifdef SIMPLEFOC_STM32_DEBUG + +int getTimerNumber(int timerIndex) { + #if defined(TIM1_BASE) + if (timerIndex==TIMER1_INDEX) return 1; + #endif + #if defined(TIM2_BASE) + if (timerIndex==TIMER2_INDEX) return 2; + #endif + #if defined(TIM3_BASE) + if (timerIndex==TIMER3_INDEX) return 3; + #endif + #if defined(TIM4_BASE) + if (timerIndex==TIMER4_INDEX) return 4; + #endif + #if defined(TIM5_BASE) + if (timerIndex==TIMER5_INDEX) return 5; + #endif + #if defined(TIM6_BASE) + if (timerIndex==TIMER6_INDEX) return 6; + #endif + #if defined(TIM7_BASE) + if (timerIndex==TIMER7_INDEX) return 7; + #endif + #if defined(TIM8_BASE) + if (timerIndex==TIMER8_INDEX) return 8; + #endif + #if defined(TIM9_BASE) + if (timerIndex==TIMER9_INDEX) return 9; + #endif + #if defined(TIM10_BASE) + if (timerIndex==TIMER10_INDEX) return 10; + #endif + #if defined(TIM11_BASE) + if (timerIndex==TIMER11_INDEX) return 11; + #endif + #if defined(TIM12_BASE) + if (timerIndex==TIMER12_INDEX) return 12; + #endif + #if defined(TIM13_BASE) + if (timerIndex==TIMER13_INDEX) return 13; + #endif + #if defined(TIM14_BASE) + if (timerIndex==TIMER14_INDEX) return 14; + #endif + #if defined(TIM15_BASE) + if (timerIndex==TIMER15_INDEX) return 15; + #endif + #if defined(TIM16_BASE) + if (timerIndex==TIMER16_INDEX) return 16; + #endif + #if defined(TIM17_BASE) + if (timerIndex==TIMER17_INDEX) return 17; + #endif + #if defined(TIM18_BASE) + if (timerIndex==TIMER18_INDEX) return 18; + #endif + #if defined(TIM19_BASE) + if (timerIndex==TIMER19_INDEX) return 19; + #endif + #if defined(TIM20_BASE) + if (timerIndex==TIMER20_INDEX) return 20; + #endif + #if defined(TIM21_BASE) + if (timerIndex==TIMER21_INDEX) return 21; + #endif + #if defined(TIM22_BASE) + if (timerIndex==TIMER22_INDEX) return 22; + #endif + return -1; +} + + +void printTimerCombination(int numPins, PinMap* timers[], int score) { + for (int i=0; iperipheral))); + SimpleFOCDebug::print("-CH"); + SimpleFOCDebug::print(STM_PIN_CHANNEL(timers[i]->function)); + if (STM_PIN_INVERTED(timers[i]->function)) + SimpleFOCDebug::print("N"); + } + SimpleFOCDebug::print(" "); + } + SimpleFOCDebug::println("score: ", score); +} + +#endif + +#endif diff --git a/src/drivers/hardware_specific/stm32/stm32_mcu.h b/src/drivers/hardware_specific/stm32/stm32_mcu.h new file mode 100644 index 00000000..411c43b2 --- /dev/null +++ b/src/drivers/hardware_specific/stm32/stm32_mcu.h @@ -0,0 +1,35 @@ +#ifndef STM32_DRIVER_MCU_DEF +#define STM32_DRIVER_MCU_DEF +#include "../../hardware_api.h" + +#if defined(_STM32_DEF_) + +// default pwm parameters +#define _PWM_RESOLUTION 12 // 12bit +#define _PWM_RANGE 4095.0f // 2^12 -1 = 4095 +#define _PWM_FREQUENCY 25000 // 25khz +#define _PWM_FREQUENCY_MAX 50000 // 50khz + +// 6pwm parameters +#define _HARDWARE_6PWM 1 +#define _SOFTWARE_6PWM 0 +#define _ERROR_6PWM -1 + + +typedef struct STM32DriverParams { + HardwareTimer* timers[6] = {NULL}; + uint32_t channels[6]; + long pwm_frequency; + float dead_zone; + uint8_t interface_type; +} STM32DriverParams; + +// timer synchornisation functions +void _stopTimers(HardwareTimer **timers_to_stop, int timer_num=6); +void _startTimers(HardwareTimer **timers_to_start, int timer_num=6); + +// timer query functions +bool _getPwmState(void* params); + +#endif +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp b/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp new file mode 100644 index 00000000..fe145273 --- /dev/null +++ b/src/drivers/hardware_specific/teensy/teensy3_mcu.cpp @@ -0,0 +1,227 @@ +#include "teensy_mcu.h" + +// if defined +// - Teensy 3.0 MK20DX128 +// - Teensy 3.1/3.2 MK20DX256 +// - Teensy LC MKL26Z64 +// - Teensy 3.5 MK64FX512 +// - Teensy 3.6 MK66FX1M0 +#if defined(__arm__) && defined(CORE_TEENSY) && (defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MKL26Z64__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)) + + +#pragma message("") +#pragma message("SimpleFOC: compiling for Teensy 3.x") +#pragma message("") + +// 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 +#define FTM0_CH2_PIN 9 +#define FTM0_CH3_PIN 10 +#define FTM0_CH4_PIN 6 +#define FTM0_CH5_PIN 20 +#define FTM0_CH6_PIN 21 +#define FTM0_CH7_PIN 5 +#define FTM1_CH0_PIN 3 +#define FTM1_CH1_PIN 4 +#elif defined(__MK20DX256__) +#define FTM0_CH0_PIN 22 +#define FTM0_CH1_PIN 23 +#define FTM0_CH2_PIN 9 +#define FTM0_CH3_PIN 10 +#define FTM0_CH4_PIN 6 +#define FTM0_CH5_PIN 20 +#define FTM0_CH6_PIN 21 +#define FTM0_CH7_PIN 5 +#define FTM1_CH0_PIN 3 +#define FTM1_CH1_PIN 4 +#define FTM2_CH0_PIN 32 +#define FTM2_CH1_PIN 25 +#elif defined(__MKL26Z64__) +#define FTM0_CH0_PIN 22 +#define FTM0_CH1_PIN 23 +#define FTM0_CH2_PIN 9 +#define FTM0_CH3_PIN 10 +#define FTM0_CH4_PIN 6 +#define FTM0_CH5_PIN 20 +#define FTM1_CH0_PIN 16 +#define FTM1_CH1_PIN 17 +#define FTM2_CH0_PIN 3 +#define FTM2_CH1_PIN 4 +#elif defined(__MK64FX512__) +#define FTM0_CH0_PIN 22 +#define FTM0_CH1_PIN 23 +#define FTM0_CH2_PIN 9 +#define FTM0_CH3_PIN 10 +#define FTM0_CH4_PIN 6 +#define FTM0_CH5_PIN 20 +#define FTM0_CH6_PIN 21 +#define FTM0_CH7_PIN 5 +#define FTM1_CH0_PIN 3 +#define FTM1_CH1_PIN 4 +#define FTM2_CH0_PIN 29 +#define FTM2_CH1_PIN 30 +#define FTM3_CH0_PIN 2 +#define FTM3_CH1_PIN 14 +#define FTM3_CH2_PIN 7 +#define FTM3_CH3_PIN 8 +#define FTM3_CH4_PIN 35 +#define FTM3_CH5_PIN 36 +#define FTM3_CH6_PIN 37 +#define FTM3_CH7_PIN 38 +#elif defined(__MK66FX1M0__) +#define FTM0_CH0_PIN 22 +#define FTM0_CH1_PIN 23 +#define FTM0_CH2_PIN 9 +#define FTM0_CH3_PIN 10 +#define FTM0_CH4_PIN 6 +#define FTM0_CH5_PIN 20 +#define FTM0_CH6_PIN 21 +#define FTM0_CH7_PIN 5 +#define FTM1_CH0_PIN 3 +#define FTM1_CH1_PIN 4 +#define FTM2_CH0_PIN 29 +#define FTM2_CH1_PIN 30 +#define FTM3_CH0_PIN 2 +#define FTM3_CH1_PIN 14 +#define FTM3_CH2_PIN 7 +#define FTM3_CH3_PIN 8 +#define FTM3_CH4_PIN 35 +#define FTM3_CH5_PIN 36 +#define FTM3_CH6_PIN 37 +#define FTM3_CH7_PIN 38 +#define TPM1_CH0_PIN 16 +#define TPM1_CH1_PIN 17 +#endif + +int _findTimer( const int Ah, const int Al, const int Bh, const int Bl, const int Ch, const int Cl){ + + if((Ah == FTM0_CH0_PIN && Al == FTM0_CH1_PIN) || + (Ah == FTM0_CH2_PIN && Al == FTM0_CH3_PIN) || + (Ah == FTM0_CH4_PIN && Al == FTM0_CH5_PIN) ){ + if((Bh == FTM0_CH0_PIN && Bl == FTM0_CH1_PIN) || + (Bh == FTM0_CH2_PIN && Bl == FTM0_CH3_PIN) || + (Bh == FTM0_CH4_PIN && Bl == FTM0_CH5_PIN) ){ + if((Ch == FTM0_CH0_PIN && Cl == FTM0_CH1_PIN) || + (Ch == FTM0_CH2_PIN && Cl == FTM0_CH3_PIN) || + (Ch == FTM0_CH4_PIN && Cl == FTM0_CH5_PIN) ){ +#ifdef SIMPLEFOC_TEENSY_DEBUG + SIMPLEFOC_DEBUG("TEENSY-DRV: Using timer FTM0."); +#endif + // timer FTM0 + return 0; + } + } + } + +#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) ){ + if((Bh == FTM3_CH0_PIN && Bl == FTM3_CH1_PIN) || + (Bh == FTM3_CH2_PIN && Bl == FTM3_CH3_PIN) || + (Bh == FTM3_CH4_PIN && Bl == FTM3_CH5_PIN) ){ + if((Ch == FTM3_CH0_PIN && Cl == FTM3_CH1_PIN) || + (Ch == FTM3_CH2_PIN && Cl == FTM3_CH3_PIN) || + (Ch == FTM3_CH4_PIN && Cl == FTM3_CH5_PIN) ){ + // timer FTM3 +#ifdef SIMPLEFOC_TEENSY_DEBUG + SIMPLEFOC_DEBUG("TEENSY-DRV: Using timer FTM3."); +#endif + return 3; + } + } + } +#endif + +#ifdef SIMPLEFOC_TEENSY_DEBUG + SIMPLEFOC_DEBUG("TEENSY-DRV: ERR: Pins not on timers FTM0 or FTM3!"); +#endif + return -1; + +} + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 6PWM setting +// - hardware specific +void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + unsigned long pwm_freq = 2*pwm_frequency; // center-aligned pwm has 4 times lower freq + _setHighFrequency(pwm_freq, pinA_h); + _setHighFrequency(pwm_freq, pinA_l); + _setHighFrequency(pwm_freq, pinB_h); + _setHighFrequency(pwm_freq, pinB_l); + _setHighFrequency(pwm_freq, pinC_h); + _setHighFrequency(pwm_freq, pinC_l); + + GenericDriverParams* params = new GenericDriverParams { + .pins = { pinA_h,pinA_l, pinB_h,pinB_l, pinC_h, pinC_l }, + .pwm_frequency = pwm_frequency + }; + + + int timer = _findTimer(pinA_h,pinA_l,pinB_h,pinB_l,pinC_h,pinC_l); + if(timer<0) return SIMPLEFOC_DRIVER_INIT_FAILED; + + // find the best combination of prescalers and counter value + double dead_time = dead_zone/pwm_freq; + int prescaler = 1; // initial prescaler (1,4 or 16) + double count = 1; // inital count (1 - 63) + for (; prescaler<=16; prescaler*=4){ + count = dead_time*((double)F_CPU)/((double)prescaler); + if(count < 64) break; // found the solution + } + count = _constrain(count, 1, 63); + + // configure the timer + if(timer==0){ + // Configure FTM0 + // // inverting and deadtime insertion for FTM1 + FTM0_COMBINE = 0x00121212; // 0x2 - complemetary mode, 0x1 - dead timer insertion enabled + + // Deadtime config + FTM0_DEADTIME = (int)count; // set counter - 1-63 + FTM0_DEADTIME |= ((prescaler>1) << 7) | ((prescaler>4) << 6); // set prescaler (0b01 - 1, 0b10 - 4, 0b11 - 16) + + // configure center aligned PWM + FTM0_SC = 0x00000028; // 0x2 - center-alignment, 0x8 - fixed clock freq + }else if(timer==3){ + // Configure FTM3 + // inverting and deadtime insertion for FTM1 + FTM3_COMBINE = 0x00121212; // 0x2 - complemetary mode, 0x1 - dead timer insertion enabled + + // Deadtime config + FTM3_DEADTIME = (int)count; // set counter - 1-63 + FTM3_DEADTIME |= ((prescaler>1) << 7) | ((prescaler>4) << 6); // set prescaler (0b01 - 1, 0b10 - 4, 0b11 - 16) + + // configure center aligned PWM + FTM3_SC = 0x00000028; // 0x2 - center-alignment, 0x8 - fixed clock freq + } + + return params; +} + + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 6PWM setting +// - hardware specific +void _writeDutyCycle6PWM(float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void* params){ + _UNUSED(phase_state); + // transform duty cycle from [0,1] to [0,255] + // phase A + analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_a); + + // phase B + analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_b); + analogWrite(((GenericDriverParams*)params)->pins[3], 255.0f*dc_b); + + // phase C + analogWrite(((GenericDriverParams*)params)->pins[4], 255.0f*dc_c); + analogWrite(((GenericDriverParams*)params)->pins[5], 255.0f*dc_c); +} +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp b/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp new file mode 100644 index 00000000..47108447 --- /dev/null +++ b/src/drivers/hardware_specific/teensy/teensy4_mcu.cpp @@ -0,0 +1,666 @@ +#include "teensy4_mcu.h" +#include "../../../communication/SimpleFOCDebug.h" + +// if defined +// - Teensy 4.0 +// - Teensy 4.1 +#if defined(__arm__) && defined(CORE_TEENSY) && ( defined(__IMXRT1062__) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY_MICROMOD) ) + +#pragma message("") +#pragma message("SimpleFOC: compiling for Teensy 4.x") +#pragma message("") + +// #define SIMPLEFOC_TEENSY4_FORCE_CENTER_ALIGNED_3PWM + + +// function finding the TRIG event given the flexpwm timer and the submodule +// returning -1 if the submodule is not valid or no trigger is available +// allowing flexpwm1-4 and submodule 0-3 +// +// the flags are defined in the imxrt.h file +// https://github.com/PaulStoffregen/cores/blob/dd6aa8419ee173a0a6593eab669fbff54ed85f48/teensy4/imxrt.h#L9662-L9693 +int flexpwm_submodule_to_trig(IMXRT_FLEXPWM_t* flexpwm, int submodule){ + if(submodule <0 && submodule > 3) return -1; + if(flexpwm == &IMXRT_FLEXPWM1){ + return XBARA1_IN_FLEXPWM1_PWM1_OUT_TRIG0 + submodule; + }else if(flexpwm == &IMXRT_FLEXPWM2){ + return XBARA1_IN_FLEXPWM2_PWM1_OUT_TRIG0 + submodule; + }else if(flexpwm == &IMXRT_FLEXPWM3){ + return XBARA1_IN_FLEXPWM3_PWM1_OUT_TRIG0 + submodule; + }else if(flexpwm == &IMXRT_FLEXPWM4){ + return XBARA1_IN_FLEXPWM4_PWM1_OUT_TRIG0 + submodule; + } + return -1; +} + +// function finding the EXT_SYNC event given the flexpwm timer and the submodule +// returning -1 if the submodule is not valid or no trigger is available +// allowing flexpwm1-4 and submodule 0-3 +// +// the flags are defined in the imxrt.h file +// https://github.com/PaulStoffregen/cores/blob/dd6aa8419ee173a0a6593eab669fbff54ed85f48/teensy4/imxrt.h#L9757 +int flexpwm_submodule_to_ext_sync(IMXRT_FLEXPWM_t* flexpwm, int submodule){ + if(submodule < 0 && submodule > 3) return -1; + if(flexpwm == &IMXRT_FLEXPWM1){ + return XBARA1_OUT_FLEXPWM1_PWM0_EXT_SYNC + submodule; + }else if(flexpwm == &IMXRT_FLEXPWM2){ + return XBARA1_OUT_FLEXPWM2_PWM0_EXT_SYNC + submodule; + }else if(flexpwm == &IMXRT_FLEXPWM3){ + return XBARA1_OUT_FLEXPWM3_EXT_SYNC0 + submodule; // TODO verify why they are not called PWM0_EXT_SYNC but EXT_SYNC0 + }else if(flexpwm == &IMXRT_FLEXPWM4){ + return XBARA1_OUT_FLEXPWM4_EXT_SYNC0 + submodule; // TODO verify why they are not called PWM0_EXT_SYNC but EXT_SYNC0 + } + return -1; +} + +// function finding the flexpwm instance given the submodule +int flexpwm_to_index(IMXRT_FLEXPWM_t* flexpwm){ + if(flexpwm == &IMXRT_FLEXPWM1) return 1; + if(flexpwm == &IMXRT_FLEXPWM2) return 2; + if(flexpwm == &IMXRT_FLEXPWM3) return 3; + if(flexpwm == &IMXRT_FLEXPWM4) return 4; + return -1; +} + +// The i.MXRT1062 uses one config register per two XBAR outputs, so a helper +// function to make code more readable. +void xbar_connect(unsigned int input, unsigned int output) +{ + if (input >= 88) return; + if (output >= 132) return; + volatile uint16_t *xbar = &XBARA1_SEL0 + (output / 2); + uint16_t val = *xbar; + if (!(output & 1)) { + val = (val & 0xFF00) | input; + } else { + val = (val & 0x00FF) | (input << 8); + } + *xbar = val; +} + +void xbar_init() { + CCM_CCGR2 |= CCM_CCGR2_XBAR1(CCM_CCGR_ON); //turn clock on for xbara1 +} + +// function which finds the flexpwm instance for a pin +// if it does not belong to the flexpwm timer it returns a null-pointer +IMXRT_FLEXPWM_t* get_flexpwm(uint8_t pin){ + + const struct pwm_pin_info_struct *info; + info = pwm_pin_info + pin; + if (pin >= CORE_NUM_DIGITAL || info->type == 2) { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: ERR: Pin: %d not Flextimer pin!", pin); + SIMPLEFOC_DEBUG(s); +#endif + return nullptr; + } + // FlexPWM pin + IMXRT_FLEXPWM_t *flexpwm; + switch ((info->module >> 4) & 3) { + case 0: flexpwm = &IMXRT_FLEXPWM1; break; + case 1: flexpwm = &IMXRT_FLEXPWM2; break; + case 2: flexpwm = &IMXRT_FLEXPWM3; break; + default: flexpwm = &IMXRT_FLEXPWM4; + } + if(flexpwm != nullptr){ +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: Pin: %d on Flextimer %d.", pin, ((info->module >> 4) & 3) + 1); + SIMPLEFOC_DEBUG(s); +#endif + return flexpwm; + } + return nullptr; +} + + +// function which finds the timer submodule for a pin +// if it does not belong to the submodule it returns a -1 +int get_submodule(uint8_t pin){ + + const struct pwm_pin_info_struct *info; + if (pin >= CORE_NUM_DIGITAL){ +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: ERR: Pin: %d not Flextimer pin!", pin); + SIMPLEFOC_DEBUG(s); +#endif + return -1; + } + + info = pwm_pin_info + pin; + int sm1 = info->module&0x3; + + if (sm1 >= 0 && sm1 < 4) { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: Pin %d on submodule %d.", pin, sm1); + SIMPLEFOC_DEBUG(s); +#endif + return sm1; + } else { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[50]; + sprintf (s, "TEENSY-DRV: ERR: Pin: %d not in submodule!", pin); + SIMPLEFOC_DEBUG(s); +#endif + return -1; + } +} + +// function which finds the flexpwm instance for a pair of pins +// if they do not belong to the same timer it returns a nullpointer +IMXRT_FLEXPWM_t* get_flexpwm(uint8_t pin, uint8_t pin1){ + + const struct pwm_pin_info_struct *info; + if (pin >= CORE_NUM_DIGITAL || pin1 >= CORE_NUM_DIGITAL) { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: ERR: Pins: %d, %d not Flextimer pins!", pin, pin1); + SIMPLEFOC_DEBUG(s); +#endif + return nullptr; + } + info = pwm_pin_info + pin; + // FlexPWM pin + IMXRT_FLEXPWM_t *flexpwm1,*flexpwm2; + switch ((info->module >> 4) & 3) { + case 0: flexpwm1 = &IMXRT_FLEXPWM1; break; + case 1: flexpwm1 = &IMXRT_FLEXPWM2; break; + case 2: flexpwm1 = &IMXRT_FLEXPWM3; break; + default: flexpwm1 = &IMXRT_FLEXPWM4; + } + + info = pwm_pin_info + pin1; + switch ((info->module >> 4) & 3) { + case 0: flexpwm2 = &IMXRT_FLEXPWM1; break; + case 1: flexpwm2 = &IMXRT_FLEXPWM2; break; + case 2: flexpwm2 = &IMXRT_FLEXPWM3; break; + default: flexpwm2 = &IMXRT_FLEXPWM4; + } + if(flexpwm1 == flexpwm2){ + char s[60]; + sprintf (s, "TEENSY-DRV: Pins: %d, %d on Flextimer %d.", pin, pin1, ((info->module >> 4) & 3) + 1); + SIMPLEFOC_DEBUG(s); + return flexpwm1; + } else { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: ERR: Pins: %d, %d not in same Flextimer!", pin, pin1); + SIMPLEFOC_DEBUG(s); +#endif + return nullptr; + } +} + + +// function which finds the timer submodule for a pair of pins +// if they do not belong to the same submodule it returns a -1 +int get_submodule(uint8_t pin, uint8_t pin1){ + + const struct pwm_pin_info_struct *info; + if (pin >= CORE_NUM_DIGITAL || pin1 >= CORE_NUM_DIGITAL){ +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: ERR: Pins: %d, %d not Flextimer pins!", pin, pin1); + SIMPLEFOC_DEBUG(s); +#endif + return -1; + } + + info = pwm_pin_info + pin; + int sm1 = info->module&0x3; + info = pwm_pin_info + pin1; + int sm2 = info->module&0x3; + + if (sm1 == sm2) { + char s[60]; + sprintf (s, "TEENSY-DRV: Pins: %d, %d on submodule %d.", pin, pin1, sm1); + SIMPLEFOC_DEBUG(s); + return sm1; + } else { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[50]; + sprintf (s, "TEENSY-DRV: ERR: Pins: %d, %d not in same submodule!", pin, pin1); + SIMPLEFOC_DEBUG(s); +#endif + return -1; + } +} + + +// function which finds the channel for flexpwm timer pin +// 0 - X +// 1 - A +// 2 - B +int get_channel(uint8_t pin){ + const struct pwm_pin_info_struct *info; + info = pwm_pin_info + pin; + if (pin >= CORE_NUM_DIGITAL || info->type == 2){ +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[90]; + sprintf (s, "TEENSY-DRV: ERR: Pin: %d not Flextimer pin!", pin); + SIMPLEFOC_DEBUG(s); +#endif + return -1; + } +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: Pin: %d on channel %s.", pin, info->channel==0 ? "X" : info->channel==1 ? "A" : "B"); + SIMPLEFOC_DEBUG(s); +#endif + return info->channel; +} + +// function which finds the timer submodule for a pair of pins +// if they do not belong to the same submodule it returns a -1 +int get_inverted_channel(uint8_t pin, uint8_t pin1){ + + if (pin >= CORE_NUM_DIGITAL || pin1 >= CORE_NUM_DIGITAL){ +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: ERR: Pins: %d, %d not Flextimer pins!", pin, pin1); + SIMPLEFOC_DEBUG(s); +#endif + return -1; + } + + int ch1 = get_channel(pin); + int ch2 = get_channel(pin1); + + if (ch1 != 1) { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: ERR: Pin: %d on channel %s - only A supported", pin1, ch1==2 ? "B" : "X"); + SIMPLEFOC_DEBUG(s); +#endif + return -1; + } else if (ch2 != 2) { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: ERR: Inverted pin: %d on channel %s - only B supported", pin1, ch2==1 ? "A" : "X"); + SIMPLEFOC_DEBUG(s); +#endif + return -1; + } else { +#ifdef SIMPLEFOC_TEENSY_DEBUG + char s[60]; + sprintf (s, "TEENSY-DRV: Pin: %d on channel B inverted.", pin1); + SIMPLEFOC_DEBUG(s); +#endif +return ch2; + } +} + +// Helper to set up A/B pair on a FlexPWM submodule. +// can configure sync, prescale and B inversion. +// sets the desired frequency of the PWM +// sets the center-aligned pwm +void setup_pwm_pair (IMXRT_FLEXPWM_t * flexpwm, int submodule, bool ext_sync, const long frequency, float dead_zone ) +{ + int submodule_mask = 1 << submodule ; + flexpwm->MCTRL &= ~ FLEXPWM_MCTRL_RUN (submodule_mask) ; // stop it if its already running + flexpwm->MCTRL |= FLEXPWM_MCTRL_CLDOK (submodule_mask) ; // clear load OK + + + // calculate the counter and prescaler for the desired pwm frequency + uint32_t newdiv = (uint32_t)((float)F_BUS_ACTUAL / frequency + 0.5f); + uint32_t prescale = 0; + //printf(" div=%lu\n", newdiv); + while (newdiv > 65535 && prescale < 7) { + newdiv = newdiv >> 1; + prescale = prescale + 1; + } + if (newdiv > 65535) { + newdiv = 65535; + } else if (newdiv < 2) { + newdiv = 2; + } + + // the halfcycle of the PWM + int half_cycle = int(newdiv/2.0f); + int dead_time = int(dead_zone*half_cycle); //default dead-time - 2% + int mid_pwm = int((half_cycle)/2.0f); + + // if the timer should be externally synced with the master timer + int sel = ext_sync ? 3 : 0; + + // setup the timer + // https://github.com/PaulStoffregen/cores/blob/master/teensy4/imxrt.h + flexpwm->SM[submodule].CTRL2 = FLEXPWM_SMCTRL2_WAITEN | FLEXPWM_SMCTRL2_DBGEN | + FLEXPWM_SMCTRL2_FRCEN | FLEXPWM_SMCTRL2_INIT_SEL(sel) | FLEXPWM_SMCTRL2_FORCE_SEL(6); + flexpwm->SM[submodule].CTRL = FLEXPWM_SMCTRL_FULL | FLEXPWM_SMCTRL_HALF | FLEXPWM_SMCTRL_PRSC(prescale) ; + // https://github.com/PaulStoffregen/cores/blob/70ba01accd728abe75ebfc8dcd8b3d3a8f3e3f25/teensy4/imxrt.h#L4948 + flexpwm->SM[submodule].OCTRL = 0; //FLEXPWM_SMOCTRL_POLA | FLEXPWM_SMOCTRL_POLB;//channel_to_invert==2 ? 0 : FLEXPWM_SMOCTRL_POLA | FLEXPWM_SMOCTRL_POLB ; + if (!ext_sync) flexpwm->SM[submodule].TCTRL = FLEXPWM_SMTCTRL_OUT_TRIG_EN (0b000010) ; // sync trig out on VAL1 match if master timer + flexpwm->SM[submodule].DTCNT0 = dead_time ; // should try this out (deadtime control) + flexpwm->SM[submodule].DTCNT1 = dead_time ; // should try this out (deadtime control) + flexpwm->SM[submodule].INIT = -half_cycle; // count from -HALFCYCLE to +HALFCYCLE + flexpwm->SM[submodule].VAL0 = 0; + flexpwm->SM[submodule].VAL1 = half_cycle ; + flexpwm->SM[submodule].VAL2 = -mid_pwm ; + flexpwm->SM[submodule].VAL3 = +mid_pwm ; + + flexpwm->MCTRL |= FLEXPWM_MCTRL_LDOK (submodule_mask) ; // loading reenabled + flexpwm->MCTRL |= FLEXPWM_MCTRL_RUN (submodule_mask) ; // start it running +} + + +// Helper to set up a FlexPWM submodule. +// can configure sync, prescale +// sets the desired frequency of the PWM +// sets the center-aligned pwm +void setup_pwm_timer_submodule (IMXRT_FLEXPWM_t * flexpwm, int submodule, bool ext_sync, const long frequency) +{ + int submodule_mask = 1 << submodule ; + flexpwm->MCTRL &= ~ FLEXPWM_MCTRL_RUN (submodule_mask) ; // stop it if its already running + flexpwm->MCTRL |= FLEXPWM_MCTRL_CLDOK (submodule_mask) ; // clear load OK + + // calculate the counter and prescaler for the desired pwm frequency + uint32_t newdiv = (uint32_t)((float)F_BUS_ACTUAL / frequency + 0.5f); + uint32_t prescale = 0; + //printf(" div=%lu\n", newdiv); + while (newdiv > 65535 && prescale < 7) { + newdiv = newdiv >> 1; + prescale = prescale + 1; + } + if (newdiv > 65535) { + newdiv = 65535; + } else if (newdiv < 2) { + newdiv = 2; + } + + // the halfcycle of the PWM + int half_cycle = int(newdiv/2.0f); + + // if the timer should be externally synced with the master timer + int sel = ext_sync ? 3 : 0; + + // setup the timer + // https://github.com/PaulStoffregen/cores/blob/master/teensy4/imxrt.h + flexpwm->SM[submodule].CTRL2 = FLEXPWM_SMCTRL2_INDEP | FLEXPWM_SMCTRL2_WAITEN | FLEXPWM_SMCTRL2_DBGEN | + FLEXPWM_SMCTRL2_FRCEN | FLEXPWM_SMCTRL2_INIT_SEL(sel) | FLEXPWM_SMCTRL2_FORCE_SEL(6); + flexpwm->SM[submodule].CTRL = FLEXPWM_SMCTRL_FULL | FLEXPWM_SMCTRL_HALF | FLEXPWM_SMCTRL_PRSC(prescale) ; + // https://github.com/PaulStoffregen/cores/blob/70ba01accd728abe75ebfc8dcd8b3d3a8f3e3f25/teensy4/imxrt.h#L4948 + flexpwm->SM[submodule].OCTRL = 0; //FLEXPWM_SMOCTRL_POLA | FLEXPWM_SMOCTRL_POLB;//channel_to_invert==2 ? 0 : FLEXPWM_SMOCTRL_POLA | FLEXPWM_SMOCTRL_POLB ; + if (!ext_sync) flexpwm->SM[submodule].TCTRL = FLEXPWM_SMTCTRL_OUT_TRIG_EN (0b000010) ; // sync trig out on VAL1 match if master timer + flexpwm->SM[submodule].DTCNT0 = 0 ; + flexpwm->SM[submodule].DTCNT1 = 0 ; + flexpwm->SM[submodule].INIT = -half_cycle; // count from -HALFCYCLE to +HALFCYCLE + flexpwm->SM[submodule].VAL0 = 0; + flexpwm->SM[submodule].VAL1 = half_cycle; + flexpwm->SM[submodule].VAL2 = 0 ; + flexpwm->SM[submodule].VAL3 = 0 ; + flexpwm->SM[submodule].VAL2 = 0 ; + flexpwm->SM[submodule].VAL3 = 0 ; + + flexpwm->MCTRL |= FLEXPWM_MCTRL_LDOK (submodule_mask) ; // loading reenabled + flexpwm->MCTRL |= FLEXPWM_MCTRL_RUN (submodule_mask) ; // start it running +} + + +// staring the PWM on A and B channels of the submodule +void startup_pwm_pair (IMXRT_FLEXPWM_t * flexpwm, int submodule, int channel) +{ + int submodule_mask = 1 << submodule ; + + if(channel==1) flexpwm->OUTEN |= FLEXPWM_OUTEN_PWMA_EN (submodule_mask); // enable A output + else if(channel==2) flexpwm->OUTEN |= FLEXPWM_OUTEN_PWMB_EN (submodule_mask); // enable B output +} + + + +// staring the PWM on A and B channels of the submodule +void startup_pwm_pair (IMXRT_FLEXPWM_t * flexpwm, int submodule) +{ + int submodule_mask = 1 << submodule ; + + flexpwm->OUTEN |= FLEXPWM_OUTEN_PWMA_EN (submodule_mask); // enable A output + flexpwm->OUTEN |= FLEXPWM_OUTEN_PWMB_EN (submodule_mask); // enable B output +} + + + +// PWM setting on the high and low pair of the PWM channels +void write_pwm_pair(IMXRT_FLEXPWM_t * flexpwm, int submodule, float duty){ + int half_cycle = int(flexpwm->SM[submodule].VAL1); + int mid_pwm = int((half_cycle)/2.0f); + int count_pwm = int(mid_pwm*(duty*2-1)) + mid_pwm; + + flexpwm->SM[submodule].VAL2 = -count_pwm; // A on + flexpwm->SM[submodule].VAL3 = count_pwm ; // A off + flexpwm->MCTRL |= FLEXPWM_MCTRL_LDOK (1<additional_params; + _UNUSED(phase_state); + write_pwm_pair (p->flextimers[0], p->submodules[0], dc_a); + write_pwm_pair (p->flextimers[1], p->submodules[1], dc_b); + write_pwm_pair (p->flextimers[2], p->submodules[2], dc_c); +} + +void write_pwm_on_pin(IMXRT_FLEXPWM_t *p, unsigned int submodule, uint8_t channel, float duty) +{ + uint16_t mask = 1 << submodule; + uint32_t half_cycle = p->SM[submodule].VAL1; + int mid_pwm = int((half_cycle)/2.0f); + int cval = int(mid_pwm*(duty*2-1)) + mid_pwm; + + //printf("flexpwmWrite, p=%08lX, sm=%d, ch=%c, cval=%ld\n", + //(uint32_t)p, submodule, channel == 0 ? 'X' : (channel == 1 ? 'A' : 'B'), cval); + p->MCTRL |= FLEXPWM_MCTRL_CLDOK(mask); + switch (channel) { + case 0: // X + p->SM[submodule].VAL0 = half_cycle - cval; + p->OUTEN |= FLEXPWM_OUTEN_PWMX_EN(mask); + //printf(" write channel X\n"); + break; + case 1: // A + p->SM[submodule].VAL2 = -cval; + p->SM[submodule].VAL3 = cval; + p->OUTEN |= FLEXPWM_OUTEN_PWMA_EN(mask); + //printf(" write channel A\n"); + break; + case 2: // B + p->SM[submodule].VAL4 = -cval; + p->SM[submodule].VAL5 = cval; + p->OUTEN |= FLEXPWM_OUTEN_PWMB_EN(mask); + //printf(" write channel B\n"); + } + p->MCTRL |= FLEXPWM_MCTRL_LDOK(mask); +} + +#ifdef SIMPLEFOC_TEENSY4_FORCE_CENTER_ALIGNED_3PWM + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware speciffic +// in generic case dont do anything + void* _configureCenterAligned3PMW(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + IMXRT_FLEXPWM_t *flexpwmA,*flexpwmB,*flexpwmC; + int submoduleA,submoduleB,submoduleC; + flexpwmA = get_flexpwm(pinA); + submoduleA = get_submodule(pinA); + flexpwmB = get_flexpwm(pinB); + submoduleB = get_submodule(pinB); + flexpwmC = get_flexpwm(pinC); + submoduleC = get_submodule(pinC); + int channelA = get_channel(pinA); + int channelB = get_channel(pinB); + int channelC = get_channel(pinC); + + + // if pins belong to the flextimers and they only use submodules A and B + // we can configure the center-aligned pwm + if((flexpwmA != nullptr) && (flexpwmB != nullptr) && (flexpwmC != nullptr) && (channelA > 0) && (channelB > 0) && (channelC > 0) ){ + #ifdef SIMPLEFOC_TEENSY_DEBUG + SIMPLEFOC_DEBUG("TEENSY-DRV: All pins on Flexpwm A or B channels - Configuring center-aligned pwm!"); + #endif + + // Configure FlexPWM units + setup_pwm_timer_submodule (flexpwmA, submoduleA, true, pwm_frequency) ; // others externally synced + setup_pwm_timer_submodule (flexpwmB, submoduleB, true, pwm_frequency) ; // others externally synced + setup_pwm_timer_submodule (flexpwmC, submoduleC, false, pwm_frequency) ; // this is the master, internally synced + delayMicroseconds (100) ; + + + #ifdef SIMPLEFOC_TEENSY_DEBUG + char buff[100]; + sprintf(buff, "TEENSY-CS: Syncing to Master FlexPWM: %d, Submodule: %d", flexpwm_to_index(flexpwmC), submoduleC); + SIMPLEFOC_DEBUG(buff); + sprintf(buff, "TEENSY-CS: Slave timers FlexPWM: %d, Submodule: %d and FlexPWM: %d, Submodule: %d", flexpwm_to_index(flexpwmA), submoduleA, flexpwm_to_index(flexpwmB), submoduleB); + SIMPLEFOC_DEBUG(buff); + #endif + + // // turn on XBAR1 clock for all but stop mode + xbar_init() ; + + // // Connect trigger to synchronize all timers + xbar_connect (flexpwm_submodule_to_trig(flexpwmC, submoduleC), flexpwm_submodule_to_ext_sync(flexpwmA, submoduleA)) ; + xbar_connect (flexpwm_submodule_to_trig(flexpwmC, submoduleC), flexpwm_submodule_to_ext_sync(flexpwmB, submoduleB)) ; + + TeensyDriverParams* params = new TeensyDriverParams { + .pins = { pinA, pinB, pinC }, + .pwm_frequency = pwm_frequency, + .additional_params = new Teensy4DriverParams { + .flextimers = { flexpwmA, flexpwmB, flexpwmC}, + .submodules = { submoduleA, submoduleB, submoduleC}, + .channels = {channelA, channelB, channelC}, + } + }; + + startup_pwm_pair (flexpwmA, submoduleA, channelA) ; + startup_pwm_pair (flexpwmB, submoduleB, channelB) ; + startup_pwm_pair (flexpwmC, submoduleC, channelC) ; + + // // config the pins 2/3/6/9/8/7 as their FLEXPWM alternates. + *portConfigRegister(pinA) = pwm_pin_info[pinA].muxval ; + *portConfigRegister(pinB) = pwm_pin_info[pinB].muxval ; + *portConfigRegister(pinC) = pwm_pin_info[pinC].muxval ; + + return params; + }else{ + #ifdef SIMPLEFOC_TEENSY_DEBUG + SIMPLEFOC_DEBUG("TEENSY-DRV: Not all pins on Flexpwm A and B channels - cannot configure center-aligned pwm!"); + #endif + return SIMPLEFOC_DRIVER_INIT_FAILED; + } + +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 6PWM setting +// - hardware specific +void _writeCenterAligned3PMW(float dc_a, float dc_b, float dc_c, void* params){ + Teensy4DriverParams* p = (Teensy4DriverParams*)((TeensyDriverParams*)params)->additional_params; + write_pwm_on_pin (p->flextimers[0], p->submodules[0], p->channels[0], dc_a); + write_pwm_on_pin (p->flextimers[1], p->submodules[1], p->channels[1], dc_b); + write_pwm_on_pin (p->flextimers[2], p->submodules[2], p->channels[2], dc_c); +} + +#endif + +#endif diff --git a/src/drivers/hardware_specific/teensy/teensy4_mcu.h b/src/drivers/hardware_specific/teensy/teensy4_mcu.h new file mode 100644 index 00000000..aed64826 --- /dev/null +++ b/src/drivers/hardware_specific/teensy/teensy4_mcu.h @@ -0,0 +1,125 @@ +#ifndef TEENSY4_MCU_DRIVER_H +#define TEENSY4_MCU_DRIVER_H + +#include "teensy_mcu.h" + +// if defined +// - Teensy 4.0 +// - Teensy 4.1 +#if defined(__arm__) && defined(CORE_TEENSY) && ( defined(__IMXRT1062__) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY_MICROMOD) ) + +// teensy 4 driver configuration parameters +typedef struct Teensy4DriverParams { + IMXRT_FLEXPWM_t* flextimers[3] = {NULL}; + int submodules[3]; + int channels[6]; + float dead_zone; +} Teensy4DriverParams; + + +// pin definition from https://github.com/PaulStoffregen/cores/blob/master/teensy4/pwm.c +struct pwm_pin_info_struct { + uint8_t type; // 0=no pwm, 1=flexpwm, 2=quad + uint8_t module; // 0-3, 0-3 + uint8_t channel; // 0=X, 1=A, 2=B + uint8_t muxval; // +}; +#define M(a, b) ((((a) - 1) << 4) | (b)) +#if defined(__IMXRT1062__) +const struct pwm_pin_info_struct pwm_pin_info[] = { + {1, M(1, 1), 0, 4}, // FlexPWM1_1_X 0 // AD_B0_03 + {1, M(1, 0), 0, 4}, // FlexPWM1_0_X 1 // AD_B0_02 + {1, M(4, 2), 1, 1}, // FlexPWM4_2_A 2 // EMC_04 + {1, M(4, 2), 2, 1}, // FlexPWM4_2_B 3 // EMC_05 + {1, M(2, 0), 1, 1}, // FlexPWM2_0_A 4 // EMC_06 + {1, M(2, 1), 1, 1}, // FlexPWM2_1_A 5 // EMC_08 + {1, M(2, 2), 1, 2}, // FlexPWM2_2_A 6 // B0_10 + {1, M(1, 3), 2, 6}, // FlexPWM1_3_B 7 // B1_01 + {1, M(1, 3), 1, 6}, // FlexPWM1_3_A 8 // B1_00 + {1, M(2, 2), 2, 2}, // FlexPWM2_2_B 9 // B0_11 + {2, M(1, 0), 0, 1}, // QuadTimer1_0 10 // B0_00 + {2, M(1, 2), 0, 1}, // QuadTimer1_2 11 // B0_02 + {2, M(1, 1), 0, 1}, // QuadTimer1_1 12 // B0_01 + {2, M(2, 0), 0, 1}, // QuadTimer2_0 13 // B0_03 + {2, M(3, 2), 0, 1}, // QuadTimer3_2 14 // AD_B1_02 + {2, M(3, 3), 0, 1}, // QuadTimer3_3 15 // AD_B1_03 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {2, M(3, 1), 0, 1}, // QuadTimer3_1 18 // AD_B1_01 + {2, M(3, 0), 0, 1}, // QuadTimer3_0 19 // AD_B1_00 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(4, 0), 1, 1}, // FlexPWM4_0_A 22 // AD_B1_08 + {1, M(4, 1), 1, 1}, // FlexPWM4_1_A 23 // AD_B1_09 + {1, M(1, 2), 0, 4}, // FlexPWM1_2_X 24 // AD_B0_12 + {1, M(1, 3), 0, 4}, // FlexPWM1_3_X 25 // AD_B0_13 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(3, 1), 2, 1}, // FlexPWM3_1_B 28 // EMC_32 + {1, M(3, 1), 1, 1}, // FlexPWM3_1_A 29 // EMC_31 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(2, 0), 2, 1}, // FlexPWM2_0_B 33 // EMC_07 +#ifdef ARDUINO_TEENSY40 + {1, M(1, 1), 2, 1}, // FlexPWM1_1_B 34 // SD_B0_03 + {1, M(1, 1), 1, 1}, // FlexPWM1_1_A 35 // SD_B0_02 + {1, M(1, 0), 2, 1}, // FlexPWM1_0_B 36 // SD_B0_01 + {1, M(1, 0), 1, 1}, // FlexPWM1_0_A 37 // SD_B0_00 + {1, M(1, 2), 2, 1}, // FlexPWM1_2_B 38 // SD_B0_05 + {1, M(1, 2), 1, 1}, // FlexPWM1_2_A 39 // SD_B0_04 +#endif +#ifdef ARDUINO_TEENSY41 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(2, 3), 1, 6}, // FlexPWM2_3_A 36 // B1_00 + {1, M(2, 3), 2, 6}, // FlexPWM2_3_B 37 // B1_01 + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {0, M(1, 0), 0, 0}, + {1, M(1, 1), 2, 1}, // FlexPWM1_1_B 42 // SD_B0_03 + {1, M(1, 1), 1, 1}, // FlexPWM1_1_A 43 // SD_B0_02 + {1, M(1, 0), 2, 1}, // FlexPWM1_0_B 44 // SD_B0_01 + {1, M(1, 0), 1, 1}, // FlexPWM1_0_A 45 // SD_B0_00 + {1, M(1, 2), 2, 1}, // FlexPWM1_2_B 46 // SD_B0_05 + {1, M(1, 2), 1, 1}, // FlexPWM1_2_A 47 // SD_B0_04 + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_0_B + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_2_A + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_2_B + {1, M(3, 3), 2, 1}, // FlexPWM3_3_B 51 // EMC_22 + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_1_B + {0, M(1, 0), 0, 0}, // duplicate FlexPWM1_1_A + {1, M(3, 0), 1, 1}, // FlexPWM3_0_A 54 // EMC_29 +#endif +#ifdef ARDUINO_TEENSY_MICROMOD + {1, M(1, 1), 2, 1}, // FlexPWM1_1_B 34 // SD_B0_03 + {1, M(1, 1), 1, 1}, // FlexPWM1_1_A 35 // SD_B0_02 + {1, M(1, 0), 2, 1}, // FlexPWM1_0_B 36 // SD_B0_01 + {1, M(1, 0), 1, 1}, // FlexPWM1_0_A 37 // SD_B0_00 + {1, M(1, 2), 1, 1}, // FlexPWM1_2_A 38 // SD_B0_04 + {1, M(1, 2), 2, 1}, // FlexPWM1_2_B 39 // SD_B0_05 + {2, M(2, 1), 0, 1}, // QuadTimer2_1 40 // B0_04 + {2, M(2, 2), 0, 1}, // QuadTimer2_2 41 // B0_05 + {0, M(1, 0), 0, 0}, // duplicate QuadTimer3_0 + {0, M(1, 0), 0, 0}, // duplicate QuadTimer3_1 + {0, M(1, 0), 0, 0}, // duplicate QuadTimer3_2 + {2, M(4, 0), 0, 1}, // QuadTimer4_0 45 // B0_09 +#endif +}; + +// function finding the flexpwm instance given the submodule +int flexpwm_to_index(IMXRT_FLEXPWM_t* flexpwm); +// find the trigger TRG0 for the given timer and submodule +int flexpwm_submodule_to_trig(IMXRT_FLEXPWM_t* flexpwm, int submodule); +// find the external trigger for the given timer and submodule +int flexpwm_submodule_to_ext_sync(IMXRT_FLEXPWM_t* flexpwm, int submodule); +// function to connecting the triggers +void xbar_connect(unsigned int input, unsigned int output); +// function to initialize the xbar +void xbar_init(); + +#endif + +#endif +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/teensy/teensy_mcu.cpp b/src/drivers/hardware_specific/teensy/teensy_mcu.cpp new file mode 100644 index 00000000..196f07fd --- /dev/null +++ b/src/drivers/hardware_specific/teensy/teensy_mcu.cpp @@ -0,0 +1,151 @@ +#include "teensy_mcu.h" + +#if defined(__arm__) && defined(CORE_TEENSY) + +#include "../../../communication/SimpleFOCDebug.h" + +// configure High PWM frequency +void _setHighFrequency(const long freq, const int pin){ + analogWrite(pin, 0); + analogWriteFrequency(pin, freq); +} + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware specific +void* _configure1PWM(long pwm_frequency, const int pinA) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + _setHighFrequency(pwm_frequency, pinA); + TeensyDriverParams* params = new TeensyDriverParams { + .pins = { pinA }, + .pwm_frequency = pwm_frequency, + .additional_params = nullptr + }; + return params; +} + + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 2PWM setting +// - hardware specific +void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + _setHighFrequency(pwm_frequency, pinA); + _setHighFrequency(pwm_frequency, pinB); + TeensyDriverParams* params = new TeensyDriverParams { + .pins = { pinA, pinB }, + .pwm_frequency = pwm_frequency, + .additional_params = nullptr + }; + return params; +} + +// inital weak implementation of the center aligned 3pwm configuration +// teensy 4 and 3 have center aligned pwm +__attribute__((weak)) void* _configureCenterAligned3PMW(long pwm_frequency, const int pinA, const int pinB, const int pinC) { + return SIMPLEFOC_DRIVER_INIT_FAILED; +} + +// function setting the high pwm frequency to the supplied pins +// - BLDC motor - 3PWM setting +// - hardware specific +void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + + // try configuring center aligned pwm + void* p = _configureCenterAligned3PMW(pwm_frequency, pinA, pinB, pinC); + if(p != SIMPLEFOC_DRIVER_INIT_FAILED){ + return p; // if center aligned pwm is available return the params + }else{ // if center aligned pwm is not available use fast pwm + SIMPLEFOC_DEBUG("TEENSY-DRV: Configuring 3PWM with fast pwm. Please consider using center aligned pwm for better performance!"); + _setHighFrequency(pwm_frequency, pinA); + _setHighFrequency(pwm_frequency, pinB); + _setHighFrequency(pwm_frequency, pinC); + TeensyDriverParams* params = new TeensyDriverParams { + .pins = { pinA, pinB, pinC }, + .pwm_frequency = pwm_frequency, + .additional_params = nullptr + }; + return params; + } +} + +// function setting the high pwm frequency to the supplied pins +// - Stepper motor - 4PWM setting +// - hardware specific +void* _configure4PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC, const int pinD) { + if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz + else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max + _setHighFrequency(pwm_frequency, pinA); + _setHighFrequency(pwm_frequency, pinB); + _setHighFrequency(pwm_frequency, pinC); + _setHighFrequency(pwm_frequency, pinD); + TeensyDriverParams* params = new TeensyDriverParams { + .pins = { pinA, pinB, pinC, pinD }, + .pwm_frequency = pwm_frequency, + .additional_params = nullptr + }; + return params; +} + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware specific +void _writeDutyCycle1PWM(float dc_a, void* params) { + // transform duty cycle from [0,1] to [0,255] + analogWrite(((TeensyDriverParams*)params)->pins[0], 255.0f*dc_a); +} + + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 2PWM setting +// - hardware specific +void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params) { + // transform duty cycle from [0,1] to [0,255] + analogWrite(((TeensyDriverParams*)params)->pins[0], 255.0f*dc_a); + analogWrite(((TeensyDriverParams*)params)->pins[1], 255.0f*dc_b); +} + +// inital weak implementation of the center aligned 3pwm configuration +// teensy 4 and 3 have center aligned pwm implementation of this function +__attribute__((weak)) void _writeCenterAligned3PMW(float dc_a, float dc_b, float dc_c, void* params){ + _UNUSED(dc_a); + _UNUSED(dc_b); + _UNUSED(dc_c); + _UNUSED(params); +} + + +// function setting the pwm duty cycle to the hardware +// - BLDC motor - 3PWM setting +// - hardware specific +void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){ + + TeensyDriverParams* p = (TeensyDriverParams*)params; + if(p->additional_params != nullptr){ + _writeCenterAligned3PMW(dc_a, dc_b, dc_c, p); + }else{ + // transform duty cycle from [0,1] to [0,255] + analogWrite(p->pins[0], 255.0f*dc_a); + analogWrite(p->pins[1], 255.0f*dc_b); + analogWrite(p->pins[2], 255.0f*dc_c); + } +} + +// function setting the pwm duty cycle to the hardware +// - Stepper motor - 4PWM setting +// - hardware specific +void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, void* params){ + // transform duty cycle from [0,1] to [0,255] + analogWrite(((TeensyDriverParams*)params)->pins[0], 255.0f*dc_1a); + analogWrite(((TeensyDriverParams*)params)->pins[1], 255.0f*dc_1b); + analogWrite(((TeensyDriverParams*)params)->pins[2], 255.0f*dc_2a); + analogWrite(((TeensyDriverParams*)params)->pins[3], 255.0f*dc_2b); +} + +#endif \ No newline at end of file diff --git a/src/drivers/hardware_specific/teensy/teensy_mcu.h b/src/drivers/hardware_specific/teensy/teensy_mcu.h new file mode 100644 index 00000000..266f4b69 --- /dev/null +++ b/src/drivers/hardware_specific/teensy/teensy_mcu.h @@ -0,0 +1,27 @@ +#ifndef TEENSY_MCU_DRIVER_H +#define TEENSY_MCU_DRIVER_H + +#include "../../hardware_api.h" + +#if defined(__arm__) && defined(CORE_TEENSY) + +#define _PWM_FREQUENCY 25000 // 25khz +#define _PWM_FREQUENCY_MAX 50000 // 50khz + +// debugging output +#define SIMPLEFOC_TEENSY_DEBUG + +typedef struct TeensyDriverParams { + int pins[6] = {(int)NOT_SET}; + long pwm_frequency; + void* additional_params; +} TeensyDriverParams; + +// configure High PWM frequency +void _setHighFrequency(const long freq, const int pin); + +void* _configureCenterAligned3PMW(long pwm_frequency, const int pinA, const int pinB, const int pinC); +void _writeCenterAligned3PMW(float dc_a, float dc_b, float dc_c, void* params); + +#endif +#endif \ No newline at end of file diff --git a/src/Encoder.cpp b/src/sensors/Encoder.cpp similarity index 71% rename from src/Encoder.cpp rename to src/sensors/Encoder.cpp index 1965c015..fa4b8e73 100644 --- a/src/Encoder.cpp +++ b/src/sensors/Encoder.cpp @@ -24,7 +24,6 @@ Encoder::Encoder(int _encA, int _encB , float _ppr, int _index){ I_active = 0; // index pin index_pin = _index; // its 0 if not used - index_pulse_counter = 0; // velocity calculation variables prev_Th = 0; @@ -33,7 +32,7 @@ Encoder::Encoder(int _encA, int _encB , float _ppr, int _index){ prev_timestamp_us = _micros(); // extern pullup as default - pullup = Pullup::EXTERN; + pullup = Pullup::USE_EXTERN; // enable quadrature encoder by default quadrature = Quadrature::ON; } @@ -41,7 +40,7 @@ Encoder::Encoder(int _encA, int _encB , float _ppr, int _index){ // Encoder interrupt callback functions // A channel void Encoder::handleA() { - int A = digitalRead(pinA); + bool A = digitalRead(pinA); switch (quadrature){ case Quadrature::ON: // CPR = 4xPPR @@ -62,7 +61,7 @@ void Encoder::handleA() { } // B channel void Encoder::handleB() { - int B = digitalRead(pinB); + bool B = digitalRead(pinB); switch (quadrature){ case Quadrature::ON: // // CPR = 4xPPR @@ -85,45 +84,62 @@ void Encoder::handleB() { // Index channel void Encoder::handleIndex() { if(hasIndex()){ - int I = digitalRead(index_pin); + bool I = digitalRead(index_pin); if(I && !I_active){ + index_found = true; // align encoder on each index - if(index_pulse_counter){ - long tmp = pulse_counter; - // corrent the counter value - pulse_counter = round((double)pulse_counter/(double)cpr)*cpr; - // preserve relative speed - prev_pulse_counter += pulse_counter - tmp; - } else { - // initial offset - index_pulse_counter = pulse_counter; - } + long tmp = pulse_counter; + // corrent the counter value + pulse_counter = round((double)pulse_counter/(double)cpr)*cpr; + // preserve relative speed + prev_pulse_counter += pulse_counter - tmp; } I_active = I; } } + +// Sensor update function. Safely copy volatile interrupt variables into Sensor base class state variables. +void Encoder::update() { + // Copy volatile variables in minimal-duration blocking section to ensure no interrupts are missed + noInterrupts(); + angle_prev_ts = pulse_timestamp; + long copy_pulse_counter = pulse_counter; + interrupts(); + // TODO: numerical precision issue here if the pulse_counter overflows the angle will be lost + full_rotations = copy_pulse_counter / (int)cpr; + angle_prev = _2PI * ((copy_pulse_counter) % ((int)cpr)) / ((float)cpr); +} + /* Shaft angle calculation */ -float Encoder::getAngle(){ - return natural_direction * _2PI * (pulse_counter) / ((float)cpr); +float Encoder::getSensorAngle(){ + return _2PI * (pulse_counter) / ((float)cpr); } + + + /* Shaft velocity calculation function using mixed time and frequency measurement technique */ float Encoder::getVelocity(){ + // Copy volatile variables in minimal-duration blocking section to ensure no interrupts are missed + noInterrupts(); + long copy_pulse_counter = pulse_counter; + long copy_pulse_timestamp = pulse_timestamp; + interrupts(); // timestamp long timestamp_us = _micros(); // sampling time calculation - float Ts = (timestamp_us - prev_timestamp_us) * 1e-6; + float Ts = (timestamp_us - prev_timestamp_us) * 1e-6f; // quick fix for strange cases (micros overflow) - if(Ts <= 0 || Ts > 0.5) Ts = 1e-3; + if(Ts <= 0 || Ts > 0.5f) Ts = 1e-3f; // time from last impulse - float Th = (timestamp_us - pulse_timestamp) * 1e-6; - long dN = pulse_counter - prev_pulse_counter; + float Th = (timestamp_us - copy_pulse_timestamp) * 1e-6f; + long dN = copy_pulse_counter - prev_pulse_counter; // Pulse per second calculation (Eq.3.) // dN - impulses received @@ -134,8 +150,8 @@ float Encoder::getVelocity(){ float dt = Ts + prev_Th - Th; pulse_per_second = (dN != 0 && dt > Ts/2) ? dN / dt : pulse_per_second; - // if more than 0.05 passed in between impulses - if ( Th > 0.1) pulse_per_second = 0; + // if more than 0.05f passed in between impulses + if ( Th > 0.1f) pulse_per_second = 0; // velocity calculation float velocity = pulse_per_second / ((float)cpr) * (_2PI); @@ -144,32 +160,16 @@ float Encoder::getVelocity(){ prev_timestamp_us = timestamp_us; // save velocity calculation variables prev_Th = Th; - prev_pulse_counter = pulse_counter; - return natural_direction * (velocity); + prev_pulse_counter = copy_pulse_counter; + return velocity; } // getter for index pin // return -1 if no index -int Encoder::needsAbsoluteZeroSearch(){ - return index_pulse_counter == 0; -} -// getter for index pin -int Encoder::hasAbsoluteZero(){ - return hasIndex(); -} -// initialize counter to zero -float Encoder::initRelativeZero(){ - long angle_offset = -pulse_counter; - pulse_counter = 0; - pulse_timestamp = _micros(); - return _2PI * (angle_offset) / ((float)cpr); -} -// initialize index to zero -float Encoder::initAbsoluteZero(){ - pulse_counter -= index_pulse_counter; - prev_pulse_counter = pulse_counter; - return (index_pulse_counter) / ((float)cpr) * (_2PI); +int Encoder::needsSearch(){ + return hasIndex() && !index_found; } + // private function used to determine if encoder has index int Encoder::hasIndex(){ return index_pin != 0; @@ -181,7 +181,7 @@ int Encoder::hasIndex(){ void Encoder::init(){ // Encoder - check if pullup needed for your encoder - if(pullup == Pullup::INTERN){ + if(pullup == Pullup::USE_INTERN){ pinMode(pinA, INPUT_PULLUP); pinMode(pinB, INPUT_PULLUP); if(hasIndex()) pinMode(index_pin,INPUT_PULLUP); @@ -204,6 +204,7 @@ void Encoder::init(){ // change it if the mode is quadrature if(quadrature == Quadrature::ON) cpr = 4*cpr; + // we don't call Sensor::init() here because init is handled in Encoder class. } // function enabling hardware interrupts of the for the callback provided diff --git a/src/Encoder.h b/src/sensors/Encoder.h similarity index 75% rename from src/Encoder.h rename to src/sensors/Encoder.h index d1a55f0e..af6a5ab6 100644 --- a/src/Encoder.h +++ b/src/sensors/Encoder.h @@ -2,17 +2,17 @@ #define ENCODER_LIB_H #include "Arduino.h" -#include "common/foc_utils.h" -#include "common/hardware_utils.h" -#include "common/Sensor.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/base_classes/Sensor.h" /** * Quadrature mode configuration structure */ -enum Quadrature{ - ON, //!< Enable quadrature mode CPR = 4xPPR - OFF //!< Disable quadrature mode / CPR = PPR +enum Quadrature : uint8_t { + ON = 0x00, //!< Enable quadrature mode CPR = 4xPPR + OFF = 0x01 //!< Disable quadrature mode / CPR = PPR }; class Encoder: public Sensor{ @@ -27,7 +27,7 @@ class Encoder: public Sensor{ Encoder(int encA, int encB , float ppr, int index = 0); /** encoder initialise pins */ - void init(); + void init() override; /** * function enabling hardware interrupts for the encoder channels with provided callback functions * if callback is not provided then the interrupt is not enabled @@ -60,31 +60,17 @@ class Encoder: public Sensor{ // Abstract functions of the Sensor class implementation /** get current angle (rad) */ - float getAngle() override; + float getSensorAngle() override; /** get current angular velocity (rad/s) */ float getVelocity() override; - /** - * set current angle as zero angle - * return the angle [rad] difference - */ - float initRelativeZero() override; - /** - * set index angle as zero angle - * return the angle [rad] difference - */ - float initAbsoluteZero() override; - /** - * returns 0 if it has no index - * 0 - encoder without index - * 1 - encoder with index - */ - int hasAbsoluteZero() override; + virtual void update() override; + /** * returns 0 if it does need search for absolute zero * 0 - encoder without index * 1 - ecoder with index */ - int needsAbsoluteZeroSearch() override; + int needsSearch() override; private: int hasIndex(); //!< function returning 1 if encoder has index pin and 0 if not. @@ -94,7 +80,7 @@ class Encoder: public Sensor{ volatile int A_active; //!< current active states of A channel volatile int B_active; //!< current active states of B channel volatile int I_active; //!< current active states of Index channel - volatile long index_pulse_counter; //!< impulse counter number upon first index interrupt + volatile bool index_found = false; //!< flag stating that the index has been found // velocity calculation variables float prev_Th, pulse_per_second; diff --git a/src/sensors/GenericSensor.cpp b/src/sensors/GenericSensor.cpp new file mode 100644 index 00000000..3d4025f3 --- /dev/null +++ b/src/sensors/GenericSensor.cpp @@ -0,0 +1,26 @@ +#include "GenericSensor.h" + + +/* + GenericSensor( float (*readCallback)() ) + - readCallback - pointer to the function which reads the sensor angle. +*/ + +GenericSensor::GenericSensor(float (*readCallback)(), void (*initCallback)()){ + // if function provided add it to the + if(readCallback != nullptr) this->readCallback = readCallback; + if(initCallback != nullptr) this->initCallback = initCallback; +} + +void GenericSensor::init(){ + // if init callback specified run it + if(initCallback != nullptr) this->initCallback(); + this->Sensor::init(); // call base class init +} + +/* + Shaft angle calculation +*/ +float GenericSensor::getSensorAngle(){ + return this->readCallback(); +} \ No newline at end of file diff --git a/src/sensors/GenericSensor.h b/src/sensors/GenericSensor.h new file mode 100644 index 00000000..ba0dfe5c --- /dev/null +++ b/src/sensors/GenericSensor.h @@ -0,0 +1,31 @@ +#ifndef GENERIC_SENSOR_LIB_H +#define GENERIC_SENSOR_LIB_H + +#include "Arduino.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +#include "../common/base_classes/Sensor.h" + + +class GenericSensor: public Sensor{ + public: + /** + GenericSensor class constructor + * @param readCallback pointer to the function reading the sensor angle + * @param initCallback pointer to the function initialising the sensor + */ + GenericSensor(float (*readCallback)() = nullptr, void (*initCallback)() = nullptr); + + float (*readCallback)() = nullptr; //!< function pointer to sensor reading + void (*initCallback)() = nullptr; //!< function pointer to sensor initialisation + + void init() override; + + // Abstract functions of the Sensor class implementation + /** get current angle (rad) */ + float getSensorAngle() override; + +}; + + +#endif diff --git a/src/sensors/HallSensor.cpp b/src/sensors/HallSensor.cpp new file mode 100644 index 00000000..64c5e48c --- /dev/null +++ b/src/sensors/HallSensor.cpp @@ -0,0 +1,181 @@ +#include "HallSensor.h" + + +/* + HallSensor(int hallA, int hallB , int cpr, int index) + - hallA, hallB, hallC - HallSensor A, B and C pins + - pp - pole pairs +*/ +HallSensor::HallSensor(int _hallA, int _hallB, int _hallC, int _pp){ + + // hardware pins + pinA = _hallA; + pinB = _hallB; + pinC = _hallC; + + // hall has 6 segments per electrical revolution + cpr = _pp * 6; + + // extern pullup as default + pullup = Pullup::USE_EXTERN; +} + +// HallSensor interrupt callback functions +// A channel +void HallSensor::handleA() { + A_active= digitalRead(pinA); + updateState(); +} +// B channel +void HallSensor::handleB() { + B_active = digitalRead(pinB); + updateState(); +} + +// C channel +void HallSensor::handleC() { + C_active = digitalRead(pinC); + updateState(); +} + +/** + * Updates the state and sector following an interrupt + */ +void HallSensor::updateState() { + int8_t new_hall_state = C_active + (B_active << 1) + (A_active << 2); + + // glitch avoidance #1 - sometimes we get an interrupt but pins haven't changed + if (new_hall_state == hall_state) return; + + long new_pulse_timestamp = _micros(); + hall_state = new_hall_state; + + int8_t new_electric_sector = ELECTRIC_SECTORS[hall_state]; + int8_t electric_sector_dif = new_electric_sector - electric_sector; + if (electric_sector_dif > 3) { + //underflow + direction = Direction::CCW; + electric_rotations += direction; + } else if (electric_sector_dif < (-3)) { + //overflow + direction = Direction::CW; + electric_rotations += direction; + } else { + direction = (new_electric_sector > electric_sector)? Direction::CW : Direction::CCW; + } + electric_sector = new_electric_sector; + + // glitch avoidance #2 changes in direction can cause velocity spikes. Possible improvements needed in this area + if (direction == old_direction) { + // not oscilating or just changed direction + pulse_diff = new_pulse_timestamp - pulse_timestamp; + } else { + pulse_diff = 0; + } + + pulse_timestamp = new_pulse_timestamp; + total_interrupts++; + old_direction = direction; + if (onSectorChange != nullptr) onSectorChange(electric_sector); +} + +/** + * Optionally set a function callback to be fired when sector changes + * void onSectorChange(int sector) { + * ... // for debug or call driver directly? + * } + * sensor.attachSectorCallback(onSectorChange); + */ +void HallSensor::attachSectorCallback(void (*_onSectorChange)(int sector)) { + onSectorChange = _onSectorChange; +} + + + +// Sensor update function. Safely copy volatile interrupt variables into Sensor base class state variables. +void HallSensor::update() { + // Copy volatile variables in minimal-duration blocking section to ensure no interrupts are missed + if (use_interrupt){ + noInterrupts(); + }else{ + A_active = digitalRead(pinA); + B_active = digitalRead(pinB); + C_active = digitalRead(pinC); + updateState(); + } + + angle_prev_ts = pulse_timestamp; + long last_electric_rotations = electric_rotations; + int8_t last_electric_sector = electric_sector; + if (use_interrupt) interrupts(); + angle_prev = ((float)((last_electric_rotations * 6 + last_electric_sector) % cpr) / (float)cpr) * _2PI ; + full_rotations = (int32_t)((last_electric_rotations * 6 + last_electric_sector) / cpr); +} + + + +/* + Shaft angle calculation + TODO: numerical precision issue here if the electrical rotation overflows the angle will be lost +*/ +float HallSensor::getSensorAngle() { + return ((float)(electric_rotations * 6 + electric_sector) / (float)cpr) * _2PI ; +} + +/* + Shaft velocity calculation + function using mixed time and frequency measurement technique +*/ +float HallSensor::getVelocity(){ + noInterrupts(); + long last_pulse_timestamp = pulse_timestamp; + long last_pulse_diff = pulse_diff; + interrupts(); + if (last_pulse_diff == 0 || ((long)(_micros() - last_pulse_timestamp) > last_pulse_diff*2) ) { // last velocity isn't accurate if too old + return 0; + } else { + return direction * (_2PI / (float)cpr) / (last_pulse_diff / 1000000.0f); + } + +} + +// HallSensor initialisation of the hardware pins +// and calculation variables +void HallSensor::init(){ + // initialise the electrical rotations to 0 + electric_rotations = 0; + + // HallSensor - check if pullup needed for your HallSensor + if(pullup == Pullup::USE_INTERN){ + pinMode(pinA, INPUT_PULLUP); + pinMode(pinB, INPUT_PULLUP); + pinMode(pinC, INPUT_PULLUP); + }else{ + pinMode(pinA, INPUT); + pinMode(pinB, INPUT); + pinMode(pinC, INPUT); + } + + // init hall_state + A_active = digitalRead(pinA); + B_active = digitalRead(pinB); + C_active = digitalRead(pinC); + updateState(); + + pulse_timestamp = _micros(); + + // we don't call Sensor::init() here because init is handled in HallSensor class. +} + +// function enabling hardware interrupts for the callback provided +// if callback is not provided then the interrupt is not enabled +void HallSensor::enableInterrupts(void (*doA)(), void(*doB)(), void(*doC)()){ + // attach interrupt if functions provided + + // A, B and C callback + if(doA != nullptr) attachInterrupt(digitalPinToInterrupt(pinA), doA, CHANGE); + if(doB != nullptr) attachInterrupt(digitalPinToInterrupt(pinB), doB, CHANGE); + if(doC != nullptr) attachInterrupt(digitalPinToInterrupt(pinC), doC, CHANGE); + + use_interrupt = true; +} diff --git a/src/HallSensor.h b/src/sensors/HallSensor.h similarity index 62% rename from src/HallSensor.h rename to src/sensors/HallSensor.h index 9b467b0a..94053e0f 100644 --- a/src/HallSensor.h +++ b/src/sensors/HallSensor.h @@ -2,10 +2,12 @@ #define HALL_SENSOR_LIB_H #include "Arduino.h" -#include "common/foc_utils.h" -#include "common/hardware_utils.h" -#include "common/Sensor.h" +#include "../common/base_classes/Sensor.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" +// seq 1 > 5 > 4 > 6 > 2 > 3 > 1 000 001 010 011 100 101 110 111 +const int8_t ELECTRIC_SECTORS[8] = { -1, 0, 4, 5, 2, 1, 3 , -1 }; class HallSensor: public Sensor{ public: @@ -45,62 +47,52 @@ class HallSensor: public Sensor{ int pinA; //!< HallSensor hardware pin A int pinB; //!< HallSensor hardware pin B int pinC; //!< HallSensor hardware pin C + int use_interrupt; //!< True if interrupts have been attached // HallSensor configuration Pullup pullup; //!< Configuration parameter internal or external pullups - float cpr;//!< HallSensor cpr number + int cpr;//!< HallSensor cpr number // Abstract functions of the Sensor class implementation + /** Interrupt-safe update */ + void update() override; /** get current angle (rad) */ - float getAngle() override; + float getSensorAngle() override; /** get current angular velocity (rad/s) */ float getVelocity() override; - /** - * set current angle as zero angle - * return the angle [rad] difference - */ - float initRelativeZero() override; - /** - * set index angle as zero angle - * return the angle [rad] difference - */ - float initAbsoluteZero() override; - /** - * returns 0 if it has no index - * 0 - HallSensor without index - * 1 - HallSensor with index - */ - int hasAbsoluteZero() override; - /** - * returns 0 if it does need search for absolute zero - * 0 - HallSensor without index - * 1 - ecoder with index - */ - int needsAbsoluteZeroSearch() override; - // whether last step was CW (+1) or CCW (-1) direction + // whether last step was CW (+1) or CCW (-1). Direction direction; + Direction old_direction; + + void attachSectorCallback(void (*onSectorChange)(int a) = nullptr); // the current 3bit state of the hall sensors - int state; + volatile int8_t hall_state; + // the current sector of the sensor. Each sector is 60deg electrical + volatile int8_t electric_sector; + // the number of electric rotations + volatile long electric_rotations; + // this is sometimes useful to identify interrupt issues (e.g. weak or no pullup resulting in 1000s of interrupts) + volatile long total_interrupts; - volatile float angle; // rad/s - volatile float velocity; // rad/s + // variable used to filter outliers - rad/s + float velocity_max = 1000.0f; private: Direction decodeDirection(int oldState, int newState); void updateState(); - volatile long pulse_counter;//!< current pulse counter - volatile long pulse_timestamp;//!< last impulse timestamp in us + volatile unsigned long pulse_timestamp;//!< last impulse timestamp in us volatile int A_active; //!< current active states of A channel volatile int B_active; //!< current active states of B channel volatile int C_active; //!< current active states of C channel - // velocity calculation variables - // float prev_Th, pulse_per_second; - volatile long prev_pulse_counter, prev_timestamp_us; + // function pointer for on sector change call back + void (*onSectorChange)(int sector) = nullptr; + + volatile long pulse_diff; }; diff --git a/src/sensors/MagneticSensorAnalog.cpp b/src/sensors/MagneticSensorAnalog.cpp new file mode 100644 index 00000000..d4adad60 --- /dev/null +++ b/src/sensors/MagneticSensorAnalog.cpp @@ -0,0 +1,42 @@ +#include "MagneticSensorAnalog.h" + +/** MagneticSensorAnalog(uint8_t _pinAnalog, int _min, int _max) + * @param _pinAnalog the pin that is reading the pwm from magnetic sensor + * @param _min_raw_count the smallest expected reading. Whilst you might expect it to be 0 it is often ~15. Getting this wrong results in a small click once per revolution + * @param _max_raw_count the largest value read. whilst you might expect it to be 2^10 = 1023 it is often ~ 1020. Note: For ESP32 (with 12bit ADC the value will be nearer 4096) + */ +MagneticSensorAnalog::MagneticSensorAnalog(uint8_t _pinAnalog, int _min_raw_count, int _max_raw_count){ + + pinAnalog = _pinAnalog; + + cpr = _max_raw_count - _min_raw_count; + min_raw_count = _min_raw_count; + max_raw_count = _max_raw_count; + + if(pullup == Pullup::USE_INTERN){ + pinMode(pinAnalog, INPUT_PULLUP); + }else{ + pinMode(pinAnalog, INPUT); + } + +} + + +void MagneticSensorAnalog::init(){ + raw_count = getRawCount(); + + this->Sensor::init(); // call base class init +} + +// Shaft angle calculation +// angle is in radians [rad] +float MagneticSensorAnalog::getSensorAngle(){ + // raw data from the sensor + raw_count = getRawCount(); + return ( (float) (raw_count) / (float)cpr) * _2PI; +} + +// function reading the raw counter of the magnetic sensor +int MagneticSensorAnalog::getRawCount(){ + return analogRead(pinAnalog); +} diff --git a/src/MagneticSensorAnalog.h b/src/sensors/MagneticSensorAnalog.h similarity index 52% rename from src/MagneticSensorAnalog.h rename to src/sensors/MagneticSensorAnalog.h index cfe1b905..6f787b95 100644 --- a/src/MagneticSensorAnalog.h +++ b/src/sensors/MagneticSensorAnalog.h @@ -2,9 +2,9 @@ #define MAGNETICSENSORANALOG_LIB_H #include "Arduino.h" -#include "common/foc_utils.h" -#include "common/hardware_utils.h" -#include "common/Sensor.h" +#include "../common/base_classes/Sensor.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" /** * This sensor has been tested with AS5600 running in 'analog mode'. This is where output pin of AS6000 is connected to an analog pin on your microcontroller. @@ -26,55 +26,25 @@ class MagneticSensorAnalog: public Sensor{ // Encoder configuration Pullup pullup; - + // implementation of abstract functions of the Sensor class /** get current angle (rad) */ - float getAngle() override; - /** get current angular velocity (rad/s) **/ - float getVelocity() override; - /** - * set current angle as zero angle - * return the angle [rad] difference - */ - float initRelativeZero() override; - /** - * set absolute zero angle as zero angle - * return the angle [rad] difference - */ - float initAbsoluteZero() override; - /** returns 1 because it is the absolute sensor */ - int hasAbsoluteZero() override; - /** returns 0 maning it doesn't need search for absolute zero */ - int needsAbsoluteZeroSearch() override; + float getSensorAngle() override; /** raw count (typically in range of 0-1023), useful for debugging resolution issues */ int raw_count; + + private: int min_raw_count; int max_raw_count; int cpr; - - private: - // float cpr; //!< Maximum range of the magnetic sensor - - int read(); - int zero_offset; //!< user defined zero offset /** * Function getting current angle register value * it uses angle_register variable */ int getRawCount(); - // total angle tracking variables - float full_rotation_offset; //!begin(); + + this->Sensor::init(); // call base class init +} + +// Shaft angle calculation +// angle is in radians [rad] +float MagneticSensorI2C::getSensorAngle(){ + // (number of full rotations)*2PI + current sensor angle + return ( getRawCount() / (float)cpr) * _2PI ; +} + + + +// function reading the raw counter of the magnetic sensor +int MagneticSensorI2C::getRawCount(){ + return (int)MagneticSensorI2C::read(angle_register_msb); +} + +// I2C functions +/* +* Read a register from the sensor +* Takes the address of the register as a uint8_t +* Returns the value of the register +*/ +int MagneticSensorI2C::read(uint8_t angle_reg_msb) { + // read the angle register first MSB then LSB + byte readArray[2]; + uint16_t readValue = 0; + // notify the device that is aboout to be read + wire->beginTransmission(chip_address); + wire->write(angle_reg_msb); + currWireError = wire->endTransmission(false); + + // read the data msb and lsb + wire->requestFrom(chip_address, (uint8_t)2); + for (byte i=0; i < 2; i++) { + readArray[i] = wire->read(); + } + + // depending on the sensor architecture there are different combinations of + // LSB and MSB register used bits + // AS5600 uses 0..7 LSB and 8..11 MSB + // AS5048 uses 0..5 LSB and 6..13 MSB + // MT6701 uses 0..5 LSB and 6..13 MSB + readValue = ( readArray[1] & lsb_mask ); + readValue += ( ( readArray[0] & msb_mask ) << lsb_used ); + return readValue; +} + +/* +* Checks whether other devices have locked the bus. Can clear SDA locks. +* This should be called before sensor.init() on devices that suffer i2c slaves locking sda +* e.g some stm32 boards with AS5600 chips +* Takes the sda_pin and scl_pin +* Returns 0 for OK, 1 for other master and 2 for unfixable sda locked LOW +*/ +int MagneticSensorI2C::checkBus(byte sda_pin, byte scl_pin) { + + pinMode(scl_pin, INPUT_PULLUP); + pinMode(sda_pin, INPUT_PULLUP); + delay(250); + + if (digitalRead(scl_pin) == LOW) { + // Someone else has claimed master!"); + return 1; + } + + if(digitalRead(sda_pin) == LOW) { + // slave is communicating and awaiting clocks, we are blocked + pinMode(scl_pin, OUTPUT); + for (byte i = 0; i < 16; i++) { + // toggle clock for 2 bytes of data + digitalWrite(scl_pin, LOW); + delayMicroseconds(20); + digitalWrite(scl_pin, HIGH); + delayMicroseconds(20); + } + pinMode(sda_pin, INPUT); + delayMicroseconds(20); + if (digitalRead(sda_pin) == LOW) { + // SDA still blocked + return 2; + } + _delay(1000); + } + // SDA is clear (HIGH) + pinMode(sda_pin, INPUT); + pinMode(scl_pin, INPUT); + + return 0; +} diff --git a/src/MagneticSensorI2C.h b/src/sensors/MagneticSensorI2C.h similarity index 55% rename from src/MagneticSensorI2C.h rename to src/sensors/MagneticSensorI2C.h index 88d74d35..f8b189fa 100644 --- a/src/MagneticSensorI2C.h +++ b/src/sensors/MagneticSensorI2C.h @@ -3,13 +3,12 @@ #include "Arduino.h" #include -#include "common/foc_utils.h" -#include "common/hardware_utils.h" -#include "common/Sensor.h" +#include "../common/base_classes/Sensor.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" struct MagneticSensorI2CConfig_s { int chip_address; - long clock_speed; int bit_resolution; int angle_register; int data_start_bit; @@ -17,6 +16,12 @@ struct MagneticSensorI2CConfig_s { // some predefined structures extern MagneticSensorI2CConfig_s AS5600_I2C,AS5048_I2C; +#if defined(TARGET_RP2040) +#define SDA I2C_SDA +#define SCL I2C_SCL +#endif + + class MagneticSensorI2C: public Sensor{ public: /** @@ -35,39 +40,19 @@ class MagneticSensorI2C: public Sensor{ MagneticSensorI2C(MagneticSensorI2CConfig_s config); static MagneticSensorI2C AS5600(); - + /** sensor initialise pins */ - void init(); + void init(TwoWire* _wire = &Wire); // implementation of abstract functions of the Sensor class /** get current angle (rad) */ - float getAngle() override; - /** get current angular velocity (rad/s) **/ - float getVelocity() override; - /** - * set current angle as zero angle - * return the angle [rad] difference - */ - float initRelativeZero() override; - /** - * set absolute zero angle as zero angle - * return the angle [rad] difference - */ - float initAbsoluteZero() override; - /** returns 1 because it is the absolute sensor */ - int hasAbsoluteZero() override; - /** returns 0 maning it doesn't need search for absolute zero */ - - int needsAbsoluteZeroSearch() override; + float getSensorAngle() override; - /* the speed of the i2c clock signal */ - long clock_speed; + /** experimental function to check and fix SDA locked LOW issues */ + int checkBus(byte sda_pin , byte scl_pin ); - /* the pin used for i2c data */ - int sda_pin; - - /* the pin used for i2c clock */ - int scl_pin; + /** current error code from Wire endTransmission() call **/ + uint8_t currWireError = 0; private: float cpr; //!< Maximum range of the magnetic sensor @@ -83,20 +68,15 @@ class MagneticSensorI2C: public Sensor{ /** Read one I2C register value */ int read(uint8_t angle_register_msb); - word zero_offset; //!< user defined zero offset /** * Function getting current angle register value * it uses angle_register variable */ int getRawCount(); + + /* the two wire instance for this sensor */ + TwoWire* wire; - // total angle tracking variables - float full_rotation_offset; //!Sensor::init(); // call base class init +} + +// Sensor update function. Safely copy volatile interrupt variables into Sensor base class state variables. +void MagneticSensorPWM::update() { + if (is_interrupt_based) + noInterrupts(); + Sensor::update(); + angle_prev_ts = pulse_timestamp; // Timestamp of actual sample, before the time-consuming PWM communication + if (is_interrupt_based) + interrupts(); +} + +// get current angle (rad) +float MagneticSensorPWM::getSensorAngle(){ + // raw data from sensor + raw_count = getRawCount(); + if (raw_count > max_raw_count) raw_count = max_raw_count; + if (raw_count < min_raw_count) raw_count = min_raw_count; + return( (float) (raw_count - min_raw_count) / (float)cpr) * _2PI; +} + + +// read the raw counter of the magnetic sensor +int MagneticSensorPWM::getRawCount(){ + if (!is_interrupt_based){ // if it's not interrupt based read the value in a blocking way + pulse_timestamp = _micros(); // ideally this should be done right at the rising edge of the pulse + pulse_length_us = pulseIn(pinPWM, HIGH, timeout_us); // 1200us timeout, should this be configurable? + } + return pulse_length_us; +} + + +void MagneticSensorPWM::handlePWM() { + // unsigned long now_us = ticks(); + unsigned long now_us = _micros(); + + // if falling edge, calculate the pulse length + if (!digitalRead(pinPWM)) { + pulse_length_us = now_us - last_call_us; + pulse_timestamp = last_call_us; // angle was sampled at the rising edge of the pulse, so use that timestamp + } + + // save the currrent timestamp for the next call + last_call_us = now_us; + is_interrupt_based = true; // set the flag to true +} + +// function enabling hardware interrupts of the for the callback provided +// if callback is not provided then the interrupt is not enabled +void MagneticSensorPWM::enableInterrupt(void (*doPWM)()){ + // declare it's interrupt based + is_interrupt_based = true; + + // enable interrupts on pwm input pin + attachInterrupt(digitalPinToInterrupt(pinPWM), doPWM, CHANGE); +} \ No newline at end of file diff --git a/src/sensors/MagneticSensorPWM.h b/src/sensors/MagneticSensorPWM.h new file mode 100644 index 00000000..a5fd7e6e --- /dev/null +++ b/src/sensors/MagneticSensorPWM.h @@ -0,0 +1,75 @@ +#ifndef MAGNETICSENSORPWM_LIB_H +#define MAGNETICSENSORPWM_LIB_H + +#include "Arduino.h" +#include "../common/base_classes/Sensor.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" + +// This sensor has been tested with AS5048a running in PWM mode. + +class MagneticSensorPWM: public Sensor{ + public: + /** MagneticSensorPWM(uint8_t _pinPWM, int _min, int _max) + * @param _pinPWM the pin that is reading the pwm from magnetic sensor + * @param _min_raw_count the smallest expected reading + * @param _max_raw_count the largest expected reading + */ + MagneticSensorPWM(uint8_t _pinPWM,int _min = 0, int _max = 0); + /** MagneticSensorPWM(uint8_t _pinPWM, int freqHz, int _total_pwm_clocks, int _min_pwm_clocks, int _max_pwm_clocks) + * + * Constructor that computes the min and max raw counts based on the PWM frequency and the number of PWM clocks in one period + * + * @param _pinPWM the pin that is reading the pwm from magnetic sensor + * @param freqHz the frequency of the PWM signal, in Hz, e.g. 115, 230, 460 or 920 for the AS5600, depending on the PWM frequency setting + * @param _total_pwm_clocks the total number of PWM clocks in one period, e.g. 4351 for the AS5600 + * @param _min_pwm_clocks the 0 value returned by the sensor, in PWM clocks, e.g. 128 for the AS5600 + * @param _max_pwm_clocks the largest value returned by the sensor, in PWM clocks, e.g. 4223 for the AS5600 + */ + MagneticSensorPWM(uint8_t _pinPWM, int freqHz, int _total_pwm_clocks, int _min_pwm_clocks, int _max_pwm_clocks); + + // initialize the sensor hardware + void init(); + + int pinPWM; + + // Interrupt-safe update + void update() override; + + // get current angle (rad) + float getSensorAngle() override; + + // pwm handler + void handlePWM(); + void enableInterrupt(void (*doPWM)()); + unsigned long pulse_length_us; + + unsigned int timeout_us = 1200; + + private: + // raw count (typically in range of 0-1023) + int raw_count; + int min_raw_count; + int max_raw_count; + int cpr; + + // flag saying if the readings are interrupt based or not + bool is_interrupt_based; + + int read(); + + /** + * Function getting current angle register value + * it uses angle_register variable + */ + int getRawCount(); + + // time tracking variables + unsigned long last_call_us; + // unsigned long pulse_length_us; + unsigned long pulse_timestamp; + + +}; + +#endif diff --git a/src/MagneticSensorSPI.cpp b/src/sensors/MagneticSensorSPI.cpp similarity index 51% rename from src/MagneticSensorSPI.cpp rename to src/sensors/MagneticSensorSPI.cpp index 1f63bc11..52febc38 100644 --- a/src/MagneticSensorSPI.cpp +++ b/src/sensors/MagneticSensorSPI.cpp @@ -1,3 +1,4 @@ + #include "MagneticSensorSPI.h" /** Typical configuration for the 14bit AMS AS5147 magnetic sensor over SPI interface */ @@ -5,11 +6,14 @@ MagneticSensorSPIConfig_s AS5147_SPI = { .spi_mode = SPI_MODE1, .clock_speed = 1000000, .bit_resolution = 14, - .angle_register = 0xCFFF, - .data_start_bit = 13, + .angle_register = 0x3FFF, + .data_start_bit = 13, .command_rw_bit = 14, .command_parity_bit = 15 }; +// AS5048 and AS5047 are the same as AS5147 +MagneticSensorSPIConfig_s AS5048_SPI = AS5147_SPI; +MagneticSensorSPIConfig_s AS5047_SPI = AS5147_SPI; /** Typical configuration for the 14bit MonolithicPower MA730 magnetic sensor over SPI interface */ MagneticSensorSPIConfig_s MA730_SPI = { @@ -17,151 +21,67 @@ MagneticSensorSPIConfig_s MA730_SPI = { .clock_speed = 1000000, .bit_resolution = 14, .angle_register = 0x0000, - .data_start_bit = 15, + .data_start_bit = 15, .command_rw_bit = 0, // not required .command_parity_bit = 0 // parity not implemented }; // MagneticSensorSPI(int cs, float _bit_resolution, int _angle_register) -// cs - SPI chip select pin +// cs - SPI chip select pin // _bit_resolution sensor resolution bit number // _angle_register - (optional) angle read register - default 0x3FFF -MagneticSensorSPI::MagneticSensorSPI(int cs, float _bit_resolution, int _angle_register){ - - chip_select_pin = cs; +MagneticSensorSPI::MagneticSensorSPI(int cs, int _bit_resolution, int _angle_register){ + + chip_select_pin = cs; // angle read register of the magnetic sensor - angle_register = _angle_register ? _angle_register : DEF_ANGLE_REGISTAR; + angle_register = _angle_register ? _angle_register : DEF_ANGLE_REGISTER; // register maximum value (counts per revolution) - cpr = pow(2,_bit_resolution); + cpr = _powtwo(_bit_resolution); spi_mode = SPI_MODE1; clock_speed = 1000000; bit_resolution = _bit_resolution; - + command_parity_bit = 15; // for backwards compatibilty command_rw_bit = 14; // for backwards compatibilty data_start_bit = 13; // for backwards compatibilty - } MagneticSensorSPI::MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs){ - chip_select_pin = cs; + chip_select_pin = cs; // angle read register of the magnetic sensor - angle_register = config.angle_register ? config.angle_register : DEF_ANGLE_REGISTAR; + angle_register = config.angle_register ? config.angle_register : DEF_ANGLE_REGISTER; // register maximum value (counts per revolution) - cpr = pow(2, config.bit_resolution); + cpr = _powtwo(config.bit_resolution); spi_mode = config.spi_mode; clock_speed = config.clock_speed; bit_resolution = config.bit_resolution; - + command_parity_bit = config.command_parity_bit; // for backwards compatibilty command_rw_bit = config.command_rw_bit; // for backwards compatibilty data_start_bit = config.data_start_bit; // for backwards compatibilty } -void MagneticSensorSPI::init(){ +void MagneticSensorSPI::init(SPIClass* _spi){ + spi = _spi; // 1MHz clock (AMS should be able to accept up to 10MHz) settings = SPISettings(clock_speed, MSBFIRST, spi_mode); - //setup pins pinMode(chip_select_pin, OUTPUT); - //SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices - SPI.begin(); -#ifndef ESP_H // if not ESP32 board - SPI.setBitOrder(MSBFIRST); // Set the SPI_1 bit order - SPI.setDataMode(spi_mode) ; - SPI.setClockDivider(SPI_CLOCK_DIV8); -#endif - + spi->begin(); + // do any architectures need to set the clock divider for SPI? Why was this in the code? + //spi->setClockDivider(SPI_CLOCK_DIV8); digitalWrite(chip_select_pin, HIGH); - // velocity calculation init - angle_prev = 0; - velocity_calc_timestamp = _micros(); - - // full rotations tracking number - full_rotation_offset = 0; - angle_data_prev = getRawCount(); - zero_offset = 0; + + this->Sensor::init(); // call base class init } // Shaft angle calculation // angle is in radians [rad] -float MagneticSensorSPI::getAngle(){ - // raw data from the sensor - float angle_data = getRawCount(); - - // tracking the number of rotations - // in order to expand angle range form [0,2PI] - // to basically infinity - float d_angle = angle_data - angle_data_prev; - // if overflow happened track it as full rotation - if(abs(d_angle) > (0.8*cpr) ) full_rotation_offset += d_angle > 0 ? -_2PI : _2PI; - // save the current angle value for the next steps - // in order to know if overflow happened - angle_data_prev = angle_data; - - // zero offset adding - angle_data -= (int)zero_offset; - // return the full angle - // (number of full rotations)*2PI + current sensor angle - return natural_direction * (full_rotation_offset + ( angle_data / (float)cpr) * _2PI); -} - -// Shaft velocity calculation -float MagneticSensorSPI::getVelocity(){ - // calculate sample time - unsigned long now_us = _micros(); - float Ts = (now_us - velocity_calc_timestamp)*1e-6; - // quick fix for strange cases (micros overflow) - if(Ts <= 0 || Ts > 0.5) Ts = 1e-3; - - // current angle - float angle_c = getAngle(); - // velocity calculation - float vel = (angle_c - angle_prev)/Ts; - - // save variables for future pass - angle_prev = angle_c; - velocity_calc_timestamp = now_us; - return vel; -} - -// set current angle as zero angle -// return the angle [rad] difference -float MagneticSensorSPI::initRelativeZero(){ - float angle_offset = -getAngle(); - zero_offset = natural_direction * getRawCount(); - - // angle tracking variables - full_rotation_offset = 0; - return angle_offset; -} -// set absolute zero angle as zero angle -// return the angle [rad] difference -float MagneticSensorSPI::initAbsoluteZero(){ - float rotation = -(int)zero_offset; - // init absolute zero - zero_offset = 0; - - // angle tracking variables - full_rotation_offset = 0; - // return offset in radians - return rotation / (float)cpr * _2PI; -} -// returns 0 if it has no absolute 0 measurement -// 0 - incremental encoder without index -// 1 - encoder with index & magnetic sensors -int MagneticSensorSPI::hasAbsoluteZero(){ - return 1; +float MagneticSensorSPI::getSensorAngle(){ + return (getRawCount() / (float)cpr) * _2PI; } -// returns 0 if it does need search for absolute zero -// 0 - magnetic sensor -// 1 - ecoder with index -int MagneticSensorSPI::needsAbsoluteZeroSearch(){ - return 0; -} - // function reading the raw counter of the magnetic sensor int MagneticSensorSPI::getRawCount(){ @@ -201,39 +121,31 @@ word MagneticSensorSPI::read(word angle_register){ command |= ((word)spiCalcEvenParity(command) << command_parity_bit); } -#if !defined(_STM32_DEF_) // if not stm chips //SPI - begin transaction - SPI.beginTransaction(settings); -#endif + spi->beginTransaction(settings); //Send the command digitalWrite(chip_select_pin, LOW); - digitalWrite(chip_select_pin, LOW); - SPI.transfer16(command); - digitalWrite(chip_select_pin,HIGH); + spi->transfer16(command); digitalWrite(chip_select_pin,HIGH); -#if defined( ESP_H ) // if ESP32 board - delayMicroseconds(50); +#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) // if ESP32 board + delayMicroseconds(50); // why do we need to delay 50us on ESP32? In my experience no extra delays are needed, on any of the architectures I've tested... #else - delayMicroseconds(10); + delayMicroseconds(1); // delay 1us, the minimum time possible in plain arduino. 350ns is the required time for AMS sensors, 80ns for MA730, MA702 #endif - + //Now read the response digitalWrite(chip_select_pin, LOW); - digitalWrite(chip_select_pin, LOW); - word register_value = SPI.transfer16(0x00); + word register_value = spi->transfer16(0x00); digitalWrite(chip_select_pin, HIGH); - digitalWrite(chip_select_pin,HIGH); -#if !defined(_STM32_DEF_) // if not stm chips //SPI - end transaction - SPI.endTransaction(); -#endif - + spi->endTransaction(); + register_value = register_value >> (1 + data_start_bit - bit_resolution); //this should shift data to the rightmost bits of the word - const static word data_mask = ~(0 >> (16 - bit_resolution)); + const static word data_mask = 0xFFFF >> (16 - bit_resolution); return register_value & data_mask; // Return the data, stripping the non data (e.g parity) bits } @@ -243,5 +155,7 @@ word MagneticSensorSPI::read(word angle_register){ * SPI has an internal SPI-device counter, for each init()-call the close() function must be called exactly 1 time */ void MagneticSensorSPI::close(){ - SPI.end(); + spi->end(); } + + diff --git a/src/MagneticSensorSPI.h b/src/sensors/MagneticSensorSPI.h similarity index 61% rename from src/MagneticSensorSPI.h rename to src/sensors/MagneticSensorSPI.h index 8e884cf4..03ebde44 100644 --- a/src/MagneticSensorSPI.h +++ b/src/sensors/MagneticSensorSPI.h @@ -1,13 +1,14 @@ #ifndef MAGNETICSENSORSPI_LIB_H #define MAGNETICSENSORSPI_LIB_H + #include "Arduino.h" #include -#include "common/foc_utils.h" -#include "common/hardware_utils.h" -#include "common/Sensor.h" +#include "../common/base_classes/Sensor.h" +#include "../common/foc_utils.h" +#include "../common/time_utils.h" -#define DEF_ANGLE_REGISTAR 0x3FFF +#define DEF_ANGLE_REGISTER 0x3FFF struct MagneticSensorSPIConfig_s { int spi_mode; @@ -19,7 +20,7 @@ struct MagneticSensorSPIConfig_s { int command_parity_bit; }; // typical configuration structures -extern MagneticSensorSPIConfig_s AS5147_SPI, MA730_SPI; +extern MagneticSensorSPIConfig_s AS5147_SPI,AS5048_SPI,AS5047_SPI, MA730_SPI; class MagneticSensorSPI: public Sensor{ public: @@ -29,7 +30,7 @@ class MagneticSensorSPI: public Sensor{ * @param bit_resolution sensor resolution bit number * @param angle_register (optional) angle read register - default 0x3FFF */ - MagneticSensorSPI(int cs, float bit_resolution, int angle_register = 0); + MagneticSensorSPI(int cs, int bit_resolution, int angle_register = 0); /** * MagneticSensorSPI class constructor * @param config SPI config @@ -38,28 +39,11 @@ class MagneticSensorSPI: public Sensor{ MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs); /** sensor initialise pins */ - void init(); + void init(SPIClass* _spi = &SPI); // implementation of abstract functions of the Sensor class /** get current angle (rad) */ - float getAngle() override; - /** get current angular velocity (rad/s) **/ - float getVelocity() override; - /** - * set current angle as zero angle - * return the angle [rad] difference - */ - float initRelativeZero() override; - /** - * set absolute zero angle as zero angle - * return the angle [rad] difference - */ - float initAbsoluteZero() override; - /** returns 1 because it is the absolute sensor */ - int hasAbsoluteZero() override; - /** returns 0 maning it doesn't need search for absolute zero */ - - int needsAbsoluteZeroSearch() override; + float getSensorAngle() override; // returns the spi mode (phase/polarity of read/writes) i.e one of SPI_MODE0 | SPI_MODE1 | SPI_MODE2 | SPI_MODE3 int spi_mode; @@ -82,27 +66,18 @@ class MagneticSensorSPI: public Sensor{ /** Calculate parity value */ byte spiCalcEvenParity(word value); - - word zero_offset; //!< user defined zero offset /** * Function getting current angle register value * it uses angle_register variable */ int getRawCount(); - - // total angle tracking variables - float full_rotation_offset; //!