Merge branch 'dev' of github.com:runger1101001/Arduino-FOC into dev

Author: runger1101001

.github/workflows/arduino.yml

@@ -25,7 +25,7 @@ jobs:
           - 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
+            sketches-exclude: measure_inductance_and_resistance, 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

.github/workflows/esp32.yml

@@ -33,7 +33,7 @@ jobs:
 
           - 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
+            sketch-names: esp32_position_control.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

examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

@@ -38,7 +38,7 @@ void setup() {
   // 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
+  // currnet = voltage/resistance, so try to be well under 1Amp
   motor.voltage_limit = 3;   // [V]
 
   // open loop control config

examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

@@ -53,7 +53,7 @@ void setup() {
   // 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
+  // currnet = voltage/resistance, so try to be well under 1Amp
   motor.voltage_limit = 3;   // [V]
 
   // open loop control config

examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

@@ -46,7 +46,7 @@ void setup() {
   // 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
+  // currnet = voltage/resistance, so try to be well under 1Amp
   motor.voltage_limit = 3;   // [V]
   // limit/set the velocity of the transition in between 
   // target angles
@@ -78,4 +78,4 @@ void loop() {
 
   // user communication
   command.run();
-}
+}

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

@@ -1,4 +1,5 @@
 #include <SimpleFOC.h>
+#include <Wire.h>
 
 /** 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.  
@@ -7,6 +8,8 @@
 MagneticSensorI2C sensor0 = MagneticSensorI2C(AS5600_I2C);
 MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
 
+// example of esp32 defining 2nd bus, if not already defined
+//TwoWire Wire1(1);
 
 void setup() {
 

src/common/base_classes/CurrentSense.h

@@ -34,7 +34,7 @@ class CurrentSense{
     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)
+    DriverType driver_type = DriverType::UnknownDriver; //!< driver type (BLDC or Stepper)
 
 
     // ADC measurement gain for each phase

src/common/base_classes/FOCDriver.h

@@ -13,7 +13,7 @@ enum PhaseState : uint8_t {
 
 
 enum DriverType{
-    Unknown=0,
+    UnknownDriver=0,
     BLDC=1,
     Stepper=2
 };

src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp

@@ -132,7 +132,7 @@ void* _configureADCLowSide(const void* driver_params, const int pinA,const int p
   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)
+    .timer_handle = ((STM32DriverParams*)driver_params)->timers_handle[0],
   };
 
   return params;
@@ -153,21 +153,21 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params;
 
   // stop all the timers for the driver
-  _stopTimers(driver_params->timers, 6);
+  stm32_pause(driver_params);
 
   // 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) ){
+  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->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;
+    cs_params->timer_handle->Instance->CR1 |= TIM_CR1_DIR;
+    cs_params->timer_handle->Instance->CNT =  cs_params->timer_handle->Instance->ARR;
   }
   // set the trigger output event
-  LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
+  LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);
 
   // restart all the timers of the driver
-  _startTimers(driver_params->timers, 6);
+  stm32_resume(driver_params);
 
   // return the cs parameters 
   // successfully initialized

src/current_sense/hardware_specific/stm32/stm32_mcu.h

@@ -14,7 +14,7 @@ typedef struct Stm32CurrentSenseParams {
   int pins[3] = {(int)NOT_SET};
   float adc_voltage_conv;
   ADC_HandleTypeDef* adc_handle = NP;
-  HardwareTimer* timer_handle = NP;
+  TIM_HandleTypeDef* timer_handle = NP;
 } Stm32CurrentSenseParams;
 
 #endif