Merge branch 'dev' of github.com:askuric/Arduino-FOC into dev

Author: askuric

.github/workflows/ccpp.yml

@@ -16,6 +16,7 @@ jobs:
           - adafruit:samd:adafruit_metro_m4          # samd51
           - esp32:esp32:esp32doit-devkit-v1          # esp32
           - esp32:esp32:esp32s2                      # esp32s2
+          - esp32:esp32:esp32s3                      # esp32s3
           - STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8   # stm32 bluepill
           - STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
           - STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX  # stm32f405 - odrive
@@ -51,6 +52,10 @@ jobs:
             platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
             sketch-names: bldc_driver_3pwm_standalone.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone 
 
+          - arduino-boards-fqbn: esp32:esp32:esp32s3 # esp32s3
+            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
+            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino
+            
           - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
             platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
             sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino

src/BLDCMotor.cpp

@@ -345,7 +345,7 @@ void BLDCMotor::move(float new_target) {
   //                        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 
+  // 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

src/communication/StepDirListener.cpp

@@ -13,7 +13,7 @@ void StepDirListener::init(){
 }
 
 void StepDirListener::enableInterrupt(void (*doA)()){
-    attachInterrupt(digitalPinToInterrupt(pin_step), doA, CHANGE);
+    attachInterrupt(digitalPinToInterrupt(pin_step), doA, polarity);
 }
 
 void StepDirListener::attach(float* variable){
@@ -22,15 +22,15 @@ void StepDirListener::attach(float* variable){
 
 void StepDirListener::handle(){ 
   // read step status
-  bool step = digitalRead(pin_step);
+  //bool step = digitalRead(pin_step);
   // update counter only on rising edge 
-  if(step && step != step_active){
-     if(digitalRead(pin_dir)) 
+  //if(step && step != step_active){
+    if(digitalRead(pin_dir)) 
         count++;
-     else 
+    else 
         count--;
-   }
-   step_active = step;
+   //}
+   //step_active = step;
    // if attached variable update it
    if(attached_variable) *attached_variable = getValue();
 }

src/communication/StepDirListener.h

@@ -4,6 +4,12 @@
 #include "Arduino.h"
 #include "../common/foc_utils.h"
 
+
+#if defined(_STM32_DEF_) || defined(ESP_H) || defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_SAM_DUE)
+#define PinStatus int
+#endif
+
+
 /**
  * Step/Dir listenner class for easier interraction with this communication interface.
  */
@@ -47,11 +53,13 @@ class StepDirListener
     int pin_step; //!< step pin
     int pin_dir; //!< direction pin
     long count; //!< current counter value - should be set to 0 for homing
+    PinStatus polarity = RISING; //!< polarity of the step pin
 
   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
+    //bool step_active = 0; //!< current step pin status (HIGH/LOW) - debouncing variable
+
 };
 
 #endif

src/drivers/hardware_api.h

@@ -19,6 +19,17 @@ typedef struct GenericDriverParams {
   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
@@ -80,6 +91,17 @@ void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const
  */
 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

src/drivers/hardware_specific/atmega2560_mcu.cpp

@@ -25,6 +25,21 @@ void _pinHighFrequency(const int pin){
 }
 
 
+// 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
+  };
+  return params;
+}
+
+
 // function setting the high pwm frequency to the supplied pins
 // - Stepper motor - 2PWM setting
 // - hardware speciffic
@@ -56,6 +71,14 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   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

src/drivers/hardware_specific/atmega328_mcu.cpp

@@ -17,6 +17,20 @@ void _pinHighFrequency(const int pin){
 
 }
 
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+// supports Arudino/ATmega328
+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
+  };
+  return params;
+}
 // function setting the high pwm frequency to the supplied pins
 // - Stepper motor - 2PWM setting
 // - hardware speciffic
@@ -50,6 +64,18 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   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

src/drivers/hardware_specific/atmega32u4_mcu.cpp

@@ -28,6 +28,20 @@ void _pinHighFrequency(const int pin){
 }
 
 
+// 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
+  };
+  return params;
+}
+
 // function setting the high pwm frequency to the supplied pins
 // - Stepper motor - 2PWM setting
 // - hardware speciffic
@@ -59,6 +73,17 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   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

src/drivers/hardware_specific/esp32_ledc_mcu.cpp

@@ -53,6 +53,33 @@ void _setHighFrequency(const long freq, const int pin, const int channel){
 
 
 
+
+
+
+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
+
+  // check if enough channels available
+  if ( channel_index + 1 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+
+  int ch1 = channel_index++;
+  _setHighFrequency(pwm_frequency, pinA, ch1);
+
+  ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
+    .channels = { ch1 },
+    .pwm_frequency = pwm_frequency
+  };
+  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
@@ -123,6 +150,12 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
 
 
 
+void _writeDutyCycle1PWM(float dc_a, void* params){
+  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
+}
+
+
+
 void _writeDutyCycle2PWM(float dc_a,  float dc_b, void* params){
   ledcWrite(((ESP32LEDCDriverParams*)params)->channels[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
   ledcWrite(((ESP32LEDCDriverParams*)params)->channels[1], _constrain(_PWM_RES*dc_b, 0, _PWM_RES));

src/drivers/hardware_specific/esp8266_mcu.cpp

@@ -12,6 +12,22 @@ void _setHighFrequency(const long freq, const int pin){
 }
 
 
+// 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
@@ -60,6 +76,13 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
   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

src/drivers/hardware_specific/generic_mcu.cpp

@@ -5,6 +5,18 @@
   __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
@@ -59,6 +71,15 @@ __attribute__((weak)) void* _configure6PWM(long pwm_frequency, float dead_zone,
 }
 
 
+// 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