Merge pull request #34 from simplefoc/dev

1.0.6 Release PR

Author: runger1101001

.github/workflows/ccpp.yml

@@ -46,11 +46,11 @@ jobs:
           #   required-libraries: Simple FOC
           #   sketch-names: '**.ino'
           - arduino-boards-fqbn: esp32:esp32:esp32 # esp32 
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
             required-libraries: Simple FOC
             sketches-exclude: calibrated smoothing
           - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
             required-libraries: Simple FOC
             sketches-exclude: calibrated smoothing
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8

README.md

@@ -10,17 +10,14 @@ The intent is to keep the core of SimpleFOC clean, and thus easy to maintain, un
 
 ## New Release
 
-v1.0.5 - Released July 2023, for Simple FOC 2.3.1
+v1.0.6 - Released December 2023, for Simple FOC 2.3.2 or later
 
-What's changed since 1.0.4?
-- Added smoothing sensor by [@dekutree64](https://github.com/dekutree64)
-- Added TMD6200 SPI driver by [@YaseenTwati](https://github.com/YaseenTwati)
-- Added HybridStepperMotor by [@VIPQualityPost](https://github.com/VIPQualityPost)
-- New Settings abstraction to load and save SimpleFOC settings and calibration
-- New Settings driver: SAMDNVMSettingsStorage
-- SimpleFOCRegisters abstraction, mapping SimpleFOC parameters to virtual "Registers"
-- Updated I2CCommander to use the new registers abstraction
-- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=is%3Aissue+milestone%3A1.0.5+)
+What's changed since 1.0.5?
+- Added STSPIN32G4 driver
+- Added STM32G4 CORDIC code, for greatly accellerated trig functions on supported MCUs
+- Added STM32FlashSettingsStorage driver, supporting STM32G4 MCUs
+- Improvements in the MT6835 sensor driver
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=is%3Aissue+milestone%3A1.0.6+)
 
 ## What is included
 
@@ -30,12 +27,14 @@ What is here? See the sections below. Each driver or function should come with i
 
  - [TMC6200 driver](src/drivers/tmc6200/) - SPI driver for Trinamics TMC6200 motor driver IC.
  - [DRV8316 driver](src/drivers/drv8316/) - SPI driver for TI's DRV8316 motor driver IC.
+ - [STSPIN32G4 driver](src/drivers/stspin32g4/) - I2C and BLDCDriver for the STSPIN32G4 integrated gate driver MCU.
 
 ### Encoders
 
  - [AS5048A SPI driver](src/encoders/as5048a/) - SPI driver for the AMS AS5048A absolute position magnetic rotary encoder IC.
  - [AS5047 SPI driver](src/encoders/as5047/) - SPI driver for the AMS AS5047P and AS5047D absolute position magnetic rotary encoder ICs.
  - [AS5047U SPI driver](src/encoders/as5047u/) - SPI driver for the AMS AS5047U absolute position magnetic rotary encoder ICs.
+ - [AS5600 I2C driver](src/encoders/as5600/) - I2C driver for the AMS AS5600 and AS5600L absolute position magnetic rotary encoder ICs.
  - [MA730 SPI driver](src/encoders/ma730/) - SPI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
  - [MA730 SSI driver](src/encoders/ma730/) - SSI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
  - [AS5145 SSI driver](src/encoders/as5145/) - SSI driver for the AMS AS5145 and AS5045 absolute position magnetic rotary encoder ICs.
@@ -63,11 +62,19 @@ Load and store SimpleFOC motor settings, based on register abstraction.
 
  - [SAMD NVM storage driver](src/settings/samd/) - Store settings to the NVM flash memory in your SAMD MCU
  - [CAT24 I2C EEPROM storage driver](src/settings/i2c/) - Store settings to CAT24 I2C EEPROMs
+ - [STM32 flash storage driver](src/settings/stm32/) - Store settings directly to STM32 on-board flash, currently supporting STM32G4 MCUs.
+
+### Motor classes
+
+Drive different kinds of motors, or use alternate algorithms to SimpleFOC's default BLDCMotor and StepperMotor classes.
+
+ - [HybridStepperMotor](motors/HybridStepperMotor/) - Drive stepper motors with 3 phases.
+
 
 ### Utilities
 
  - [STM32 PWM Input driver](src/utilities/stm32pwm/) - PWM Input driver for STM32 MCUs. Accurately measure PWM inputs with zero MCU overhead.
-
+ - [STM32 CORDIC trig driver](src/utilities/stm32math/) - CORDIC driver to accellerate sine and cosine calculations in SimpleFOC, on STM32 MCUs which have a CORDIC unit.
 
 ## How to use
 
@@ -95,6 +102,16 @@ Find out more information about the Arduino SimpleFOC project on the [docs websi
 
 ## Release History
 
+What's changed since 1.0.4?
+- Added smoothing sensor by [@dekutree64](https://github.com/dekutree64)
+- Added TMD6200 SPI driver by [@YaseenTwati](https://github.com/YaseenTwati)
+- Added HybridStepperMotor by [@VIPQualityPost](https://github.com/VIPQualityPost)
+- New Settings abstraction to load and save SimpleFOC settings and calibration
+- New Settings driver: SAMDNVMSettingsStorage
+- SimpleFOCRegisters abstraction, mapping SimpleFOC parameters to virtual "Registers"
+- Updated I2CCommander to use the new registers abstraction
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=is%3Aissue+milestone%3A1.0.5+)
+
 What's changed since 1.0.3?
 - New Comms/Input: STM32SpeedDirCommander
 - New Utility: STM32PWMInput

library.properties

@@ -1,5 +1,5 @@
 name=SimpleFOCDrivers
-version=1.0.5
+version=1.0.6
 author=Simplefoc <[email protected]>
 maintainer=Simplefoc <[email protected]>
 sentence=A library of supporting drivers for SimpleFOC. Motor drivers chips, encoder chips, current sensing and supporting code.

src/drivers/stspin32g4/README.md

@@ -0,0 +1,42 @@
+
+# SimpleFOC STSPIN32G4 Driver
+
+This driver initializes the PWM stage of the STSPIN32G4, and provides access to its configuration via I2C.
+
+:warning: in development!
+
+## Setup
+
+Since there are currently no standard boards for Arduino based on the STSPIN32G4 you will need a custom board definition, associated linker script and project setup to compile for your board. These topics are out of scope for this driver, but you can find a working example for the [FunQi STSPIN32G4 board](TODO link) [here](TODO link);
+
+Once you can compile for your board, and flash it with a "blinky" test sketch, then you're ready to try SimpleFOC and more complex code.
+
+## Usage
+
+Basic usage, as you can see it is very simple. Since the pins are all pre-defined due to internal connections, setup
+is easier than with the standard drivers. Here is an example for open loop mode:
+
+```c++
+#include <Arduino.h>
+#include "SimpleFOC.h"
+#include "SimpleFOCDrivers.h"
+#include "drivers/stspin32g4/STSPIN32G4.h"
+
+
+STSPIN32G4 driver = STSPIN32G4();
+BLDCMotor motor = BLDCMotor(7);
+
+void setup() {
+    driver.voltage_power_supply = 12.0f;
+    driver.init();
+    motor.voltage_limit = driver.voltage_limit / 2.0f;
+    motor.controller = MotionControlType::velocity_openloop;
+    motor.linkDriver(&driver);
+    motor.init();
+}
+
+void loop(){
+    motor.move(5.0f); // 5 rad/s open loop
+    delayMicroseconds(100); // STM32G4 is very fast, add a delay in open loop if we do nothing else
+}
+```

src/drivers/stspin32g4/STSPIN32G4.cpp

@@ -0,0 +1,182 @@
+
+#include "./STSPIN32G4.h"
+
+#ifdef ARDUINO_GENERIC_G431VBTX
+
+
+STSPIN32G4::STSPIN32G4() : BLDCDriver6PWM(STSPIN32G4_PIN_INUH, STSPIN32G4_PIN_INUL, STSPIN32G4_PIN_INVH, 
+                                          STSPIN32G4_PIN_INVL, STSPIN32G4_PIN_INWH, STSPIN32G4_PIN_INWL),
+                           _wire(STSPIN32G4_PIN_SDA, STSPIN32G4_PIN_SCL) {
+
+};
+
+
+
+STSPIN32G4::~STSPIN32G4(){
+    _wire.end();
+};
+
+
+
+int STSPIN32G4::init(){
+    // init pins
+    pinMode(STSPIN32G4_PIN_WAKE, OUTPUT);
+    digitalWrite(STSPIN32G4_PIN_WAKE, LOW);
+    pinMode(STSPIN32G4_PIN_READY, INPUT_PULLUP);
+    pinMode(STSPIN32G4_PIN_FAULT, INPUT_PULLUP);
+
+    int result = this->BLDCDriver6PWM::init();
+    if(result == 0) return result;
+    setPwm(0,0,0); // set the phases to off
+
+    // init I2C
+    _wire.begin();
+
+    delayMicroseconds(50);  // give driver a moment to wake up
+    clearFaults();          // clear the faults
+
+    // TODO init fault monitor
+
+    return isReady() ? 1 : 0;
+};
+
+
+
+void STSPIN32G4::wake() {
+    digitalWrite(STSPIN32G4_PIN_WAKE, HIGH);
+    delayMicroseconds(50); // 50ms high pulse to wake up
+    digitalWrite(STSPIN32G4_PIN_WAKE, LOW);
+};
+
+
+
+void STSPIN32G4::sleep() {
+    digitalWrite(STSPIN32G4_PIN_WAKE, LOW);
+    writeRegister(STSPIN32G4_REG_STBY, 0x01);
+};
+
+
+
+bool STSPIN32G4::isReady(){
+    return digitalRead(STSPIN32G4_PIN_READY)==HIGH;
+};
+
+
+
+bool STSPIN32G4::isFault(){
+    return digitalRead(STSPIN32G4_PIN_FAULT)==LOW;
+};
+
+
+
+STSPIN32G4Status STSPIN32G4::status(){
+    STSPIN32G4Status result;
+    result.reg = readRegister(STSPIN32G4_REG_STATUS);
+    return result;
+};
+
+
+
+void STSPIN32G4::lock(){
+    writeRegister(STSPIN32G4_REG_LOCK, 0x00);
+};
+
+
+
+void STSPIN32G4::unlock(){
+    writeRegister(STSPIN32G4_REG_LOCK, 0xF0);
+};
+
+
+
+STSPIN32G4NFault STSPIN32G4::getNFaultRegister(){
+    STSPIN32G4NFault result;
+    result.reg = readRegister(STSPIN32G4_REG_NFAULT);
+    return result;
+};
+
+
+
+STSPIN32G4Ready STSPIN32G4::getReadyRegister(){
+    STSPIN32G4Ready result;
+    result.reg = readRegister(STSPIN32G4_REG_READY);
+    return result;
+};
+
+
+
+STSPIN32G4Logic STSPIN32G4::getLogicRegister(){
+    STSPIN32G4Logic result;
+    result.reg = readRegister(STSPIN32G4_REG_LOGIC);
+    return result;
+};
+
+
+
+STSPIN32G4PowMng STSPIN32G4::getPowMngRegister(){
+    STSPIN32G4PowMng result;
+    result.reg = readRegister(STSPIN32G4_REG_POWMNG);
+    return result;
+};
+
+
+
+void STSPIN32G4::setNFaultRegister(STSPIN32G4NFault value){
+    writeRegister(STSPIN32G4_REG_NFAULT, value.reg);
+};
+
+
+
+void STSPIN32G4::setReadyRegister(STSPIN32G4Ready value){
+    writeRegister(STSPIN32G4_REG_READY, value.reg);
+};
+
+
+
+void STSPIN32G4::setLogicRegister(STSPIN32G4Logic value){
+    writeRegister(STSPIN32G4_REG_LOGIC, value.reg);
+};
+
+
+
+void STSPIN32G4::setPowMngRegister(STSPIN32G4PowMng value){
+    writeRegister(STSPIN32G4_REG_POWMNG, value.reg);
+};  
+
+
+
+void STSPIN32G4::resetRegisters(){
+    // write 0xFF to reset register
+    writeRegister(STSPIN32G4_REG_RESET, 0xFF);
+};
+
+
+
+void STSPIN32G4::clearFaults(){
+    // write 0xFF to clear faults
+    writeRegister(STSPIN32G4_REG_CLEAR, 0xFF);
+};
+
+
+
+uint8_t STSPIN32G4::readRegister(uint8_t reg){
+    uint8_t result = 0;
+    _wire.beginTransmission(STSPIN32G4_I2C_ADDR);
+    _wire.write(reg);
+    _wire.endTransmission(false);
+    _wire.requestFrom(STSPIN32G4_I2C_ADDR, 1);
+    result = _wire.read();
+    return result;
+};
+
+
+
+void STSPIN32G4::writeRegister(uint8_t reg, uint8_t val){
+    _wire.beginTransmission(STSPIN32G4_I2C_ADDR);
+    _wire.write(reg);
+    _wire.write(val);
+    _wire.endTransmission();
+};
+
+
+#endif