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YanKE01YanKE01
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Merge branch 'contrib/github_pr_382' into 'master'
AS5048A encoder support (GitHub PR) Closes AEGHB-725 See merge request ae_group/esp-iot-solution!1049
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‎components/motor/esp_simplefoc/CHANGELOG.md‎

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# ChangeLog
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## v0.2.0 - 2024-7-5
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### Enhancements:
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* FOC:
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* Support for as5048a encoder added
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## v0.1.2 - 2023-12-11
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### Bug Fix:
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* FOC:

‎components/motor/esp_simplefoc/CMakeLists.txt‎

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"port/esp/esp_app_fmath.cpp"
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"port/esp/esp_app_print.cpp"
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"port/angle_sensor/as5600.cpp"
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"port/angle_sensor/mt6701.cpp")
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"port/angle_sensor/mt6701.cpp"
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"port/angle_sensor/as5048a.cpp")
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set(INC_FILES "port/esp/include/" "port/angle_sensor")
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set(IGNORE_FILES "port/esp/esp_hal_adc.cpp" "port/esp/esp_hal_mcpwm.cpp"
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"port/esp/esp_hal_bldc_3pwm.cpp" "port/angle_sensor/mt6701.cpp")
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"port/esp/esp_hal_bldc_3pwm.cpp" "port/angle_sensor/mt6701.cpp" "port/angle_sensor/as5048a.cpp")
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idf_component_register(
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SRCS

‎components/motor/esp_simplefoc/idf_component.yml‎

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version: 0.1.1
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version: 0.2.0
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targets:
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- esp32
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- esp32s2

‎components/motor/esp_simplefoc/port/angle_sensor/as5048a.cpp‎

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/*
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* SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "as5048a.h"
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#include "esp_log.h"
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#include "esp_check.h"
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#define AS5048A_REG_ANGLE 0x3FFF
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#define PI 3.14159265358979f
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static const char *TAG = "AS5048a";
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AS5048a::AS5048a(spi_host_device_t spi_host, gpio_num_t sclk_io, gpio_num_t miso_io, gpio_num_t mosi_io, gpio_num_t cs_io)
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{
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_spi_host = spi_host;
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_sclk_io = sclk_io;
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_miso_io = miso_io;
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_mosi_io = mosi_io;
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_cs_io = cs_io;
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is_installed = false;
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}
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AS5048a::~AS5048a()
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{
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if (is_installed) {
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deinit();
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}
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}
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void AS5048a::deinit()
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{
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esp_err_t ret;
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ret = spi_bus_remove_device(spi_device);
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ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI remove device fail");
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ret = spi_bus_free(_spi_host);
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ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI free fail");
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is_installed = false;
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}
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void AS5048a::init()
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{
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esp_err_t ret;
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/*!< Configuration for the spi bus */
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spi_bus_config_t buscfg = {
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.mosi_io_num = _mosi_io,
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.miso_io_num = _miso_io,
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.sclk_io_num = _sclk_io,
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.quadwp_io_num = -1,
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.quadhd_io_num = -1,
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.max_transfer_sz = 1000,
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};
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ret = spi_bus_initialize(_spi_host, &buscfg, SPI_DMA_CH_AUTO);
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ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI bus init fail");
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spi_device_interface_config_t devcfg = {
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.command_bits = 0,
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.address_bits = 0,
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.dummy_bits = 0,
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.mode = 1,
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.cs_ena_pretrans = 1,
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.clock_speed_hz = 4 * 1000 * 1000,
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.spics_io_num = _cs_io,
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.queue_size = 1,
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};
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ret = spi_bus_add_device(_spi_host, &devcfg, &spi_device);
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ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI bus add device fail");
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is_installed = true;
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}
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uint8_t AS5048a::calculateParity(uint16_t value)
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{
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uint8_t count = 0;
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for (int i = 0; i < 16; i++) {
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if (value & 0x1) {
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count++;
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}
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value >>= 1;
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}
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return count & 0x1;
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}
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uint16_t AS5048a::readRegister(uint16_t reg_address)
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{
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uint16_t command = 1 << 14; // PAR=0 R/W=R (Read command)
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command |= reg_address; // Command to read angle
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command |= ((uint16_t)calculateParity(command) << 15); // Adding parity bit
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uint8_t cmd_high = (command >> 8) & 0xFF;
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uint8_t cmd_low = command & 0xFF;
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uint8_t tx_buffer[2] = {cmd_high, cmd_low};
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spi_transaction_t t = {};
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t.length = 16; // 16 bits
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t.tx_buffer = tx_buffer;
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t.rx_buffer = NULL;
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spi_device_transmit(spi_device, &t);
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uint8_t rx_buffer[2] = {};
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t.length = 16; // 16 bits
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t.tx_buffer = NULL;
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t.rxlength = 16; // 16 bits
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t.rx_buffer = rx_buffer;
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spi_device_transmit(spi_device, &t);
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uint16_t reg_value = (rx_buffer[0] << 8) | rx_buffer[1];
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return reg_value & 0x3FFF; // Masking to get 14 bits angle value
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}
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uint16_t AS5048a::readRawPosition()
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{
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return readRegister(AS5048A_REG_ANGLE);
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}
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float AS5048a::getSensorAngle()
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{
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uint16_t raw_angle = readRawPosition();
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float angle = (((int)raw_angle & 0b0011111111111111) * 360.0f / 16383.0f) * (PI / 180.0f);
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return angle;
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}

‎components/motor/esp_simplefoc/port/angle_sensor/as5048a.h‎

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/*
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* SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include "common/base_classes/Sensor.h"
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#include "driver/spi_master.h"
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#include "driver/gpio.h"
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class AS5048a : public Sensor {
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public:
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/**
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* @brief Construct a new AS5048a object
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*
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* @param spi_host
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* @param sclk_io
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* @param miso_io
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* @param mosi_io
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* @param cs_io
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*/
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AS5048a(spi_host_device_t spi_host, gpio_num_t sclk_io, gpio_num_t miso_io, gpio_num_t mosi_io, gpio_num_t cs_io);
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/**
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* @brief Destroy the AS5048a object
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*
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*/
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~AS5048a();
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/**
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* @brief Init spi for AS5048a
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*
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*/
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void init();
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/**
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* @brief Deinit spi for AS5048a
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*
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*/
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void deinit();
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/**
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* @brief Get the output of AS5048a
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*
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* @return float
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*/
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float getSensorAngle();
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private:
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uint16_t readRegister(uint16_t reg_address);
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uint16_t readRawPosition();
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static uint8_t calculateParity(uint16_t value);
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private:
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spi_host_device_t _spi_host;
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gpio_num_t _sclk_io;
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gpio_num_t _miso_io;
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gpio_num_t _mosi_io;
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gpio_num_t _cs_io;
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spi_device_handle_t spi_device;
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bool is_installed;
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};

‎components/motor/esp_simplefoc/port/esp/include/esp_simplefoc.h‎

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#include "current_sense/LowsideCurrentSense.h"
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#include "../../angle_sensor/as5600.h"
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#include "../../angle_sensor/mt6701.h"
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#include "../../angle_sensor/as5048a.h"

‎components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp‎

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mt6701.deinit();
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}
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TEST_CASE("test as5048a", "[sensor][as5048a]")
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{
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#if CONFIG_IDF_TARGET_ESP32C3
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AS5048a as5048a = AS5048a(SPI2_HOST, GPIO_NUM_2, GPIO_NUM_1, (gpio_num_t) -1, GPIO_NUM_3);
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#else
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AS5048a as5048a = AS5048a(SPI2_HOST, GPIO_NUM_2, GPIO_NUM_1, (gpio_num_t) -1, GPIO_NUM_42);
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#endif
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as5048a.init();
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for (int i = 0; i < 10; ++i) {
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ESP_LOGI(TAG, "angle:%.2f", as5048a.getSensorAngle());
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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}
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as5048a.deinit();
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}
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TEST_CASE("test esp_simplefoc openloop control", "[single motor][openloop][14pp][ledc][drv8313][c3]")
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{
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BLDCMotor motor = BLDCMotor(14);

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