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Richard Unger
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Merge branch 'dev' of github.com:simplefoc/Arduino-FOC-drivers into dev
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‎README.md‎

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- [STM32 Hardware Encoder](src/encoders/stm32hwencoder/) - Hardware timer based encoder driver for ABI type quadrature encoders.
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- [SC60228 SPI driver](src/encoders/sc60228/) - SPI driver for SemiMent SC60288 magnetic encoder IC.
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- [MA330 SPI driver](src/encoders/ma330/) - SPI driver for the MPS MagAlpha MA330 absolute position magnetic rotary encoder IC.
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- [MT6816 SPI driver](src/encoders/mt6816/) - SPI driver for the MagnTek MT6816 absolute position magnetic rotary encoder IC.
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### Communications
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‎examples/encoders/mt6816/mt6816_spi/mt6816_spi.ino‎

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/**
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* Comprehensive BLDC motor control example using magnetic sensor MT6816
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*
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* Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
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* - configure PID controller constants
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* - change motion control loops
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* - monitor motor variabels
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* - set target values
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* - check all the configuration values
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*
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* See more info in docs.simplefoc.com/commander_interface
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*/
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#include <SimpleFOC.h>
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#include <SimpleFOCDrivers.h>
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#include <encoders/mt6816/MagneticSensorMT6816.h>
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// magnetic sensor instance - MT6816 SPI mode
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MagneticSensorMT6816 sensor = MagneticSensorMT6816(5);
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// BLDC motor & driver instance
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BLDCMotor motor = BLDCMotor(7);
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BLDCDriver3PWM driver = BLDCDriver3PWM(32, 25, 26, 33);
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// Inline Current Sense instance
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InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, 35, 34);
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// commander interface
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Commander command = Commander(Serial);
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void onMotor(char* cmd){ command.motor(&motor, cmd); }
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void setup() {
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// initialise magnetic sensor hardware
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sensor.init();
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// link the motor to the sensor
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motor.linkSensor(&sensor);
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// driver config
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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driver.init();
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// link driver
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motor.linkDriver(&driver);
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// choose FOC modulation
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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// set control loop type to be used
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motor.controller = MotionControlType::torque;
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// contoller configuration based on the control type
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motor.PID_velocity.P = 0.2f;
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motor.PID_velocity.I = 20;
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motor.PID_velocity.D = 0;
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// default voltage_power_supply
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motor.voltage_limit = 12;
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// velocity low pass filtering time constant
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motor.LPF_velocity.Tf = 0.01f;
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// angle loop velocity limit
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motor.velocity_limit = 50;
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// use monitoring with serial for motor init
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// monitoring port
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Serial.begin(115200);
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// comment out if not needed
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motor.useMonitoring(Serial);
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current_sense.linkDriver(&driver);
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current_sense.init();
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current_sense.gain_b *= -1;
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current_sense.skip_align = true;
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motor.linkCurrentSense(&current_sense);
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// initialise motor
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motor.init();
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// align encoder and start FOC
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motor.initFOC();
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// set the inital target value
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motor.target = 2;
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// define the motor id
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command.add('A', onMotor, "motor");
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// Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
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Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
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_delay(1000);
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}
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void loop() {
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// iterative setting FOC phase voltage
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motor.loopFOC();
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// iterative function setting the outter loop target
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// velocity, position or voltage
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// if tatget not set in parameter uses motor.target variable
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motor.move();
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// user communication
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command.run();
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}

‎src/encoders/mt6816/MT6816.cpp‎

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#include "MT6816.h"
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MT6816::MT6816(SPISettings settings, int nCS) : settings(settings), nCS(nCS) {
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};
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MT6816::~MT6816() {
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};
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void MT6816::init(SPIClass* _spi) {
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spi = _spi;
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if (nCS >= 0) {
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pinMode(nCS, OUTPUT);
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digitalWrite(nCS, HIGH);
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spi->begin();
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}
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};
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uint16_t MT6816::readRawAngle() {
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uint16_t angle_data = 0;
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angle_data = spi_transfer16(MT6816_READ_REG_03) << 8;
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angle_data |= spi_transfer16(MT6816_READ_REG_04);
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if ((angle_data & MT6816_NO_MAGNET_WARNING_BIT) == MT6816_NO_MAGNET_WARNING_BIT) {
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this->no_magnetic_reading = true;
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} else {
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this->no_magnetic_reading = false;
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}
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if (!this->parityCheck(angle_data)) {
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return 0;
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}
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return (angle_data >> 2);
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}
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bool MT6816::parityCheck(uint16_t data) {
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data ^= data >> 8;
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data ^= data >> 4;
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data ^= data >> 2;
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data ^= data >> 1;
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return (~data) & 1;
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}
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uint16_t MT6816::spi_transfer16(uint16_t outdata) {
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if (nCS>=0)
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digitalWrite(nCS, 0);
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spi->beginTransaction(settings);
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uint16_t result = spi->transfer16(outdata);
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spi->endTransaction();
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if (nCS>=0)
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digitalWrite(nCS, 1);
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return result;
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}

‎src/encoders/mt6816/MT6816.h‎

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#ifndef MT6816_H
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#define MT6816_H
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#include "Arduino.h"
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#include "SPI.h"
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#define _2PI 6.28318530718f
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#define MT6816_CPR 16384.0f
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#define MT6816_READ_REG_03 0x8300
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#define MT6816_READ_REG_04 0x8400
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#define MT6816_NO_MAGNET_WARNING_BIT 0x0002
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#define MT6816_BITORDER MSBFIRST
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static SPISettings MT6816SPISettings(1000000, MT6816_BITORDER, SPI_MODE3);
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class MT6816 {
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public:
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MT6816(SPISettings settings = MT6816SPISettings, int nCS = -1);
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virtual ~MT6816();
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virtual void init(SPIClass* _spi = &SPI);
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uint16_t readRawAngle();
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bool isNoMagneticReading() {
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return no_magnetic_reading;
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}
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private:
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bool parityCheck(uint16_t data);
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uint16_t spi_transfer16(uint16_t outdata);
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SPIClass* spi;
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SPISettings settings;
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bool no_magnetic_reading = false;
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int nCS = -1;
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};
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#endif /* MT6816_H */

‎src/encoders/mt6816/MagneticSensorMT6816.cpp‎

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#include "common/foc_utils.h"
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#include "common/time_utils.h"
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#include "MagneticSensorMT6816.h"
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MagneticSensorMT6816::MagneticSensorMT6816(int nCS, SPISettings settings) : MT6816(settings, nCS) {
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}
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MagneticSensorMT6816::~MagneticSensorMT6816(){
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}
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void MagneticSensorMT6816::init(SPIClass* _spi) {
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this->MT6816::init(_spi);
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this->Sensor::init();
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}
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float MagneticSensorMT6816::getSensorAngle() {
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uint16_t raw_angle_data = readRawAngle();
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if (this->MT6816::isNoMagneticReading()) {
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return 0;
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}
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return static_cast<float>(raw_angle_data) / MT6816_CPR * _2PI;
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}

‎src/encoders/mt6816/MagneticSensorMT6816.h‎

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#ifndef MAGNETICSENSOR_MT6816_H
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#define MAGNETICSENSOR_MT6816_H
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#include "common/base_classes/Sensor.h"
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#include "MT6816.h"
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class MagneticSensorMT6816 : public Sensor, public MT6816 {
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public:
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MagneticSensorMT6816(int nCS = -1, SPISettings settings = MT6816SPISettings);
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virtual ~MagneticSensorMT6816();
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virtual float getSensorAngle() override;
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virtual void init(SPIClass* _spi = &SPI);
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};
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#endif /* MAGNETICSENSOR_MT6816_H */

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