Dev

README.md

@@ -16,16 +16,24 @@ Therefore this is an attempt to:
    - ***NEW*** 📢: *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
-##### <b> Next release will be:</b> <i>Simple<b>FOC</b>library v2.1.1
+##### <b> Release notes be:</b> <i>Simple<b>FOC</b>library</i> v2.1.1
 > - bugfixes commander
 > - bugfix `voltage_limit` when provided `phase_resistance`
 > - bugfix `hall_sensor` examples 
 > - added examples fot the PowerShield
 > - added initial support for `MagneticSensorPWM`
+> - SAMD51 support 
+> - **initial support for Raspberry pi Pico**
 > - added examples to find the raw max and min of the analog and pwm sensor
 > - extension of the `Commander` interface
+>   - added pwm centering option `WC`
+>   - added pwm modulation cmd `WT`
 > - improved esp32 implementation to avoid the need for mcpwm.h changes by @tschundler 
 > - issue #62: motor.shaft_angle setting in the motor.initFOC() 
+> - issue #76: esp32 division by zero  
+> - issue #46: commander end of line character - by @maxlem
+> - [community fix](https://community.simplefoc.com/t/as5600-dead-spot-around-0/208) AS5600 register value
+> - renamed `Pullup::EXTERN` and `Pullup::INTERN` to `Pullup::USE_EXTERN` and `Pullup::USE_INTERN`
 
 ## Arduino *SimpleFOClibrary* v2.1
 

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

@@ -17,7 +17,7 @@ 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(11);

examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino

@@ -23,9 +23,11 @@ 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(0.01, 50.0, 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(0.01, 50.0, A1, A3);
 
 // commander communication instance

examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino

@@ -12,6 +12,7 @@ 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(0.01, 50.0, A0, A2);
 
 // commander communication instance

examples/utils/calibration/alignment_and_cogging_test/alignment_and_cogging_test.ino

@@ -5,7 +5,7 @@ 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, 0x0E, 4);
+MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4);
 
 
 /**

examples/utils/calibration/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino

@@ -27,7 +27,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 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);
 

examples/utils/calibration/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino

@@ -15,7 +15,7 @@
 // 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);
 

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();

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();

examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino

@@ -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();

examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensors_software_interrupt_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();

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/find_raw_min_max/find_raw_min_max.ino

@@ -16,6 +16,7 @@ void setup() {
 
   // initialise magnetic sensor hardware
   sensor.init();
+   // comment out to use sensor in blocking (non-interrupt) way
   sensor.enableInterrupt(doPWM);
 
   Serial.println("Sensor ready");

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/magnetic_sensor_pwm/magnetic_sensor_pwm.ino

@@ -18,6 +18,7 @@ void setup() {
 
   // initialise magnetic sensor hardware
   sensor.init();
+  // comment out to use sensor in blocking (non-interrupt) way
   sensor.enableInterrupt(doPWM);
 
   Serial.println("Sensor ready");

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/magnetic_sensor_pwm_software_interrupt/magnetic_sensor_pwm_software_interrupt.ino

@@ -24,6 +24,7 @@ void setup() {
 
   // initialise magnetic sensor hardware
   sensor.init();
+  // comment out to use sensor in blocking (non-interrupt) way
   PciManager.registerListener(&listenerPWM);
 
   Serial.println("Sensor ready");

keywords.txt

@@ -164,8 +164,8 @@ pinB	KEYWORD2
 pinC	KEYWORD2
 index_pin	KEYWORD2
 
-INTERN	KEYWORD2
-EXTERN	KEYWORD2
+USE_INTERN	KEYWORD2
+USE_EXTERN	KEYWORD2
 DISABLE	KEYWORD2
 ENABLE	KEYWORD2
 SpaceVectorPWM	KEYWORD2

src/SimpleFOC.h

@@ -109,6 +109,7 @@ void loop() {
 #include "drivers/StepperDriver4PWM.h"
 #include "drivers/StepperDriver2PWM.h"
 #include "current_sense/InlineCurrentSense.h"
+#include "current_sense/LowsideCurrentSense.h"
 #include "communication/Commander.h"
 #include "communication/StepDirListener.h"
 

src/common/base_classes/Sensor.h

@@ -15,8 +15,8 @@ enum Direction{
  *  Pullup configuration structure
  */
 enum Pullup{
-    INTERN, //!< Use internal pullups
-    EXTERN //!< Use external pullups
+    USE_INTERN, //!< Use internal pullups
+    USE_EXTERN //!< Use external pullups
 };
 
 /**
@@ -43,4 +43,4 @@ class Sensor{
         long velocity_calc_timestamp=0; //!< last velocity calculation timestamp
 };
 
-#endif
+#endif

src/common/foc_utils.h

@@ -9,6 +9,7 @@
 #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)
 
 // utility defines
 #define _2_SQRT3 1.15470053838

src/communication/Commander.cpp

@@ -1,11 +1,14 @@
 #include "Commander.h"
 
 
-Commander::Commander(Stream& serial){
+Commander::Commander(Stream& serial, char eol, bool echo){
   com_port = &serial;
+  this->eol = eol;
+  this->echo = echo;
 }
-Commander::Commander(){
-  // do nothing
+Commander::Commander(char eol, bool echo){
+  this->eol = eol;
+  this->echo = echo;
 }
 
 
@@ -19,43 +22,39 @@ void Commander::add(char id, CommandCallback onCommand, char* label ){
 
 void Commander::run(){
   if(!com_port) return;
-  // a string to hold incoming data
-  while (com_port->available()) {
-    // get the new byte:
-    received_chars[rec_cnt] = (char)com_port->read();
-    // end of user input
-    if (received_chars[rec_cnt++] == '\n') {
-      // execute the user command
-      run(received_chars);
-
-      // reset the command buffer
-      received_chars[0] = 0;
-      rec_cnt=0;
-    }
-  }
+  run(*com_port, eol);
 }
 
-void Commander::run(Stream& serial){
+void Commander::run(Stream& serial, char eol){
   Stream* tmp = com_port; // save the serial instance
-  // use the new serial instance to output if not available the one linked in constructor
-  if(!tmp) com_port = &serial;
+  char eol_tmp = this->eol;
+  this->eol = eol;
+  com_port = &serial;
 
   // a string to hold incoming data
   while (serial.available()) {
     // get the new byte:
-    received_chars[rec_cnt] = (char)serial.read();
+    int ch = serial.read();
+    received_chars[rec_cnt++] = (char)ch;
     // end of user input
-    if (received_chars[rec_cnt++] == '\n') {
+    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){
@@ -71,7 +70,7 @@ void Commander::run(char* user_input){
       }
       break;
     case CMD_VERBOSE:
-      if(user_input[1] != '\n') verbose = (VerboseMode)atoi(&user_input[1]);
+      if(!isSentinel(user_input[1])) verbose = (VerboseMode)atoi(&user_input[1]);
       printVerbose(F("Verb:"));
       switch (verbose){
       case VerboseMode::nothing:
@@ -84,7 +83,7 @@ void Commander::run(char* user_input){
       }
       break;
     case CMD_DECIMAL:
-      if(user_input[1] != '\n') decimal_places = atoi(&user_input[1]);
+      if(!isSentinel(user_input[1])) decimal_places = atoi(&user_input[1]);
       printVerbose(F("Decimal:"));
       println(decimal_places);
       break;
@@ -100,14 +99,25 @@ void Commander::run(char* user_input){
 }
 
 void Commander::motor(FOCMotor* motor, char* user_command) {
+
+  // if target setting
+  if(isDigit(user_command[0]) || user_command[0] == '-' || user_command[0] == '+'){
+    printVerbose(F("Target: "));
+    motor->target = atof(user_command);
+    println(motor->target);
+    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') ?  2 :  1;
   // check if get command
-  bool GET = user_command[value_index] == '\n';
+  bool GET = isSentinel(user_command[value_index]);
   // parse command values
-  float  value  = atof(&user_command[value_index]);
+  float value = atof(&user_command[value_index]);
+
 
   // a bit of optimisation of variable memory for Arduino UNO (atmega328)
   switch(cmd){
@@ -149,10 +159,8 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
           printVerbose(F("curr: "));
           if(!GET){
             motor->current_limit = value;
-            // if phase resistance is set, change the voltage limit as well.
-            if(_isset(motor->phase_resistance)) motor->voltage_limit = value*motor->phase_resistance;
             // 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;
+            if(_isset(motor->phase_resistance) || motor->torque_controller != TorqueControlType::voltage ) motor->PID_velocity.limit = value;
           }
           println(motor->current_limit);
           break;
@@ -179,7 +187,7 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
           break;
         default:
           // change control type
-          if(!GET && value >= 0 && (int)value < 5)// if set command
+          if(!GET && value >= 0 && (int)value < 5) // if set command
             motor->controller = (MotionControlType)value;
           switch(motor->controller){
             case MotionControlType::torque:
@@ -354,7 +362,7 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
         case SCMD_SET:
           if(!GET) motor->monitor_variables = (uint8_t) 0;
           for(int i = 0; i < 7; i++){
-            if(user_command[value_index+i] == '\n') break;
+            if(isSentinel(user_command[value_index+i])) break;
             if(!GET) motor->monitor_variables |=  (user_command[value_index+i] - '0') << (6-i);
             print( (user_command[value_index+i] - '0') );
           }
@@ -365,16 +373,15 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
           break;
        }
       break;
-    default:  // target change
-      printVerbose(F("Target: "));
-      motor->target = atof(user_command);
-      println(motor->target);
+    default:  // unknown cmd
+      printVerbose(F("unknown cmd "));
+      printError();
   }
 }
 
 void Commander::pid(PIDController* pid, char* user_cmd){
   char cmd = user_cmd[0];
-  bool GET  = user_cmd[1] == '\n';
+  bool GET  = isSentinel(user_cmd[1]);
   float value = atof(&user_cmd[1]);
 
   switch (cmd){
@@ -411,7 +418,7 @@ void Commander::pid(PIDController* pid, char* user_cmd){
 
 void Commander::lpf(LowPassFilter* lpf, char* user_cmd){
   char cmd = user_cmd[0];
-  bool GET  = user_cmd[1] == '\n';
+  bool GET  = isSentinel(user_cmd[1]);
   float value = atof(&user_cmd[1]);
 
   switch (cmd){
@@ -427,11 +434,21 @@ void Commander::lpf(LowPassFilter* lpf, char* user_cmd){
 }
 
 void Commander::scalar(float* value,  char* user_cmd){
-  bool GET  = user_cmd[0] == '\n';
+  bool GET  = isSentinel(user_cmd[0]);
   if(!GET) *value = atof(user_cmd);
   println(*value);
 }
 
+bool Commander::isSentinel(char ch)
+{
+  if(ch == eol)
+    return true;
+  else if (ch == '\r')
+  {
+      printVerbose(F("Warn: \\r detected! \n"));
+  }
+  return false;
+}
 
 void Commander::print(const int number){
   if( !com_port || verbose == VerboseMode::nothing ) return;