Merge pull request #30 from simplefoc/dev

PR for v1.0.5 Release

Author: runger1101001

.github/workflows/ccpp.yml

@@ -26,40 +26,41 @@ jobs:
           - arduino:mbed_rp2040:pico                 # rpi pico          
         include:
           - arduino-boards-fqbn: arduino:avr:uno
-            sketches-exclude: calibrated mt6816_spi
+            sketches-exclude: calibrated mt6816_spi smoothing
             required-libraries: Simple FOC
           - arduino-boards-fqbn: arduino:sam:arduino_due_x
             required-libraries: Simple FOC
-            sketches-exclude: calibrated
+            sketches-exclude: calibrated smoothing
           - arduino-boards-fqbn: arduino:samd:nano_33_iot
             required-libraries: Simple FOC 
-            sketches-exclude: calibrated
+            sketches-exclude: calibrated smoothing
           - arduino-boards-fqbn: arduino:mbed_rp2040:pico
             required-libraries: Simple FOC
-            sketches-exclude: calibrated
+            sketches-exclude: calibrated smoothing
           - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4
             platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
             required-libraries: Simple FOC
-            sketches-exclude: calibrated
+            sketches-exclude: calibrated smoothing
           # - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1
           #   platform-url: https://dl.espressif.com/dl/package_esp32_index.json
           #   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
             required-libraries: Simple FOC
-            sketches-exclude: calibrated
+            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
             required-libraries: Simple FOC
-            sketches-exclude: calibrated
+            sketches-exclude: calibrated smoothing
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8
             platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
             required-libraries: Simple FOC
-            sketches-exclude: calibrated mt6816_spi
+            sketches-exclude: calibrated mt6816_spi smoothing
           - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE
-            platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
+            platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
             required-libraries: Simple FOC
+            sketches-exclude: smoothing
       # Do not cancel all jobs / architectures if one job fails
       fail-fast: false
     steps:

README.md

@@ -10,21 +10,25 @@ The intent is to keep the core of SimpleFOC clean, and thus easy to maintain, un
 
 ## New Release
 
-v1.0.4 - Released June 2023, for Simple FOC 2.3.0
-
-What's changed since 1.0.3?
-- New Comms/Input: STM32SpeedDirCommander
-- New Utility: STM32PWMInput
-- Fixed MT6835 driver bugs
-- Improved AS5047 driver, fixed bugs
-- Improved AS5047U driver, fixed bugs
+v1.0.5 - Released July 2023, for Simple FOC 2.3.1
+
+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 is included
 
 What is here? See the sections below. Each driver or function should come with its own more detailed README.
 
 ### Motor/Gate driver ICs
 
+ - [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.
 
 ### Encoders
@@ -43,11 +47,22 @@ What is here? See the sections below. Each driver or function should come with i
  - [MT6701 SSI driver](src/encoders/mt6701/) - SSI driver for the MagnTek MT6701 absolute position magnetic rotary encoder IC.
  - [MT6835 SPI driver](src/encoders/mt6835/) - SPI driver for the MagnTek MT6835 21 bit magnetic rotary encoder IC.
  - [STM32 PWM sensor driver](src/encoders/stm32pwmsensor/) - STM32 native timer-based driver for PWM angle sensors.
+ - [SmoothingSensor](src/encoders/smoothing/) - A SimpleFOC Sensor wrapper implementation which adds angle extrapolation.
 
 ### Communications
 
- - [I2CCommander I2C driver](src/comms/i2c/) - I2C communications protocol and drivers for both controller and target devices. 
+ - [I2CCommander I2C driver](src/comms/i2c/) - I2C communications protocol and drivers for both controller and target devices, based on register abstraction
  - [STM32 SpeedDir Input](src/comms/stm32speeddir/) - Control target velocity with PWM speed and direction inputs
+ - [SerialBinaryCommander](src/comms/serial/) - Serial communications with binary protocol, based on register abstraction
+ - [Telemetry](src/comms/telemetry/) - Telemetry abstraction, based on registers
+ - [SerialASCIITelemetry](src/comms/serial/) - Serial communications with ascii protocol, based on register abstraction
+
+### Settings
+
+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
 
 ### Utilities
 
@@ -80,6 +95,13 @@ Find out more information about the Arduino SimpleFOC project on the [docs websi
 
 ## Release History
 
+What's changed since 1.0.3?
+- New Comms/Input: STM32SpeedDirCommander
+- New Utility: STM32PWMInput
+- Fixed MT6835 driver bugs
+- Improved AS5047 driver, fixed bugs
+- Improved AS5047U driver, fixed bugs
+
 What's changed since 1.0.2?
 - New Sensor: MT6835
 - Fixed bugs

examples/encoders/smoothing/smoothing.ino

@@ -0,0 +1,141 @@
+/**
+ *
+ * Hall sensor velocity motion control example, modified to demonstrate usage of SmoothingSensor
+ * Steps:
+ * 1) Configure the motor and sensor
+ * 2) Run the code
+ * 3) Set the target velocity (in radians per second) from serial terminal
+ * 4) Try with and without smoothing to see the difference (send E1 and E0 commands from serial terminal)
+ *
+ *
+ *
+ * NOTE :
+ * > Specifically for Arduino UNO example code for running velocity motion control using a hall sensor
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ *
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins
+ * > you can supply doC directly to the sensor.enableInterrupts(doA,doB,doC) and avoid using PciManger
+ *
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+#include <SimpleFOCDrivers.h>
+#include <encoders/smoothing/SmoothingSensor.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+// wrapper instance
+SmoothingSensor smooth(sensor, motor);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(sensor.pinC, doC);
+
+// velocity set point variable
+float target_velocity = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+
+void enableSmoothing(char* cmd) {
+  float enable;
+  command.scalar(&enable, cmd);
+  motor.linkSensor(enable == 0 ? (Sensor*)&sensor : (Sensor*)&smooth);
+}
+
+void setup() {
+
+  // initialize sensor sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); //, doC);
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
+  // set SmoothingSensor phase correction for hall sensors
+  smooth.phase_correction = -_PI_6;
+  // link the SmoothingSensor to the motor
+  motor.linkSensor(&smooth);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 2;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+
+  // add smoothing enable/disable command E (send E0 to use hall sensor alone, or E1 to use smoothing)
+  command.add('E', enableSmoothing, "enable smoothing");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+  _delay(1000);
+}
+
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_velocity);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

library.properties

@@ -1,5 +1,5 @@
 name=SimpleFOCDrivers
-version=1.0.4
+version=1.0.5
 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/comms/README.md

@@ -0,0 +1,5 @@
+
+# SimpleFOC communications support code
+
+This folder contains classes to support you communicating between MCUs running SimpleFOC, and other systems.
+