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askuricaskuric
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added odrive examples
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‎.github/workflows/ccpp.yml

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- arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
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sketch-names: '**.ino'
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required-libraries: PciManager
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sketches-exclude: 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
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sketches-exclude: 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
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- arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
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sketch-names: single_full_control_example.ino
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- arduino-boards-fqbn: STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX # stm32f405 - odrive
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platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
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sketch-names: odrive_example.ino
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sketch-names: odrive_example_encoder.ino odrive_example_spi.ino
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- arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # nucleo one full example
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platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json

‎examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino

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/*
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Odrive robotics' hardware is one of the best BLDC motor foc supporting hardware out there.
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This is an example code that can be directly uploaded to the Odrive using the SWD programmer.
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This code uses an encoder with 500 cpr and a BLDC motor with 7 pole pairs connected to the M0 interface of the Odrive.
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This is a short template code and the idea is that you are able to adapt to your needs not to be a complete solution. :D
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*/
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#include <SimpleFOC.h>
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// Odrive M0 motor pinout
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#define M0_INH_A PA8
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#define M0_INH_B PA9
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#define M0_INH_C PA10
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#define M0_INL_A PB13
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#define M0_INL_B PB14
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#define M0_INL_C PB15
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// M0 currnets
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#define M0_IB PC0
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#define M0_IC PC1
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// Odrive M0 encoder pinout
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#define M0_ENC_A PB4
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#define M0_ENC_B PB5
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// Odrive M1 motor pinout
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#define M1_INH_A PC6
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#define M1_INH_B PC7
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#define M1_INH_C PC8
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#define M1_INL_A PA7
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#define M1_INL_B PB0
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#define M1_INL_C PB1
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// M0 currnets
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#define M1_IB PC2
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#define M1_IC PC3
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// Odrive M1 encoder pinout
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#define M1_ENC_A PB6
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#define M1_ENC_B PB7
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// M1 & M2 common enable pin
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#define EN_GATE PB12
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// SPI pinout
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#define SPI3_SCL PC10
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#define SPI3_MISO PC11
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#define SPI3_MOSO PC12
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// Motor instance
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BLDCMotor motor = BLDCMotor(7);
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BLDCDriver6PWM driver = BLDCDriver6PWM(M0_INH_A,M0_INL_A, M0_INH_B,M0_INL_B, M0_INH_C,M0_INL_C, EN_GATE);
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// instantiate the commander
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Commander command = Commander(Serial);
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void doMotor(char* cmd) { command.motor(&motor, cmd); }
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// low side current sensing define
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// 0.0005 Ohm resistor
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// gain of 10x
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// current sensing on B and C phases, phase A not connected
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LowsideCurrentSense current_sense = LowsideCurrentSense(0.0005f, 10.0f, _NC, M0_IB, M0_IC);
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Encoder encoder = Encoder(M0_ENC_A, M0_ENC_B, 500);
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// Interrupt routine intialisation
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// channel A and B callbacks
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void doA(){encoder.handleA();}
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void doB(){encoder.handleB();}
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void setup(){
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// pwm frequency to be used [Hz]
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driver.pwm_frequency = 20000;
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// power supply voltage [V]
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driver.voltage_power_supply = 20;
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// Max DC voltage allowed - default voltage_power_supply
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driver.voltage_limit = 20;
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// driver init
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driver.init();
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// link the motor and the driver
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motor.linkDriver(&driver);
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// initialize encoder sensor hardware
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encoder.init();
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encoder.enableInterrupts(doA, doB);
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// link the motor to the sensor
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motor.linkSensor(&encoder);
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// control loop type and torque mode
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motor.torque_controller = TorqueControlType::voltage;
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motor.controller = MotionControlType::torque;
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// max voltage allowed for motion control
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motor.voltage_limit = 8.0;
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// alignment voltage limit
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motor.voltage_sensor_align = 0.5;
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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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motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D;
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motor.monitor_downsample = 1000;
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// add target command T
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command.add('M', doMotor, "motor M0");
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// initialise motor
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motor.init();
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// link the driver
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current_sense.linkDriver(&driver);
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// init the current sense
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current_sense.init();
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current_sense.skip_align = true;
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motor.linkCurrentSense(&current_sense);
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// init FOC
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motor.initFOC();
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delay(1000);
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}
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void loop(){
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// foc loop
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motor.loopFOC();
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// motion control
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motor.move();
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// monitoring
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motor.monitor();
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// user communication
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command.run();
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}

‎examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino

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/*
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Odrive robotics' hardware is one of the best BLDC motor foc supporting hardware out there.
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This is an example code that can be directly uploaded to the Odrive using the SWD programmer.
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This code uses an magnetic spi sensor AS5047 and a BLDC motor with 11 pole pairs connected to the M0 interface of the Odrive.
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This is a short template code and the idea is that you are able to adapt to your needs not to be a complete solution. :D
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*/
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#include <SimpleFOC.h>
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// Odrive M0 motor pinout
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#define M0_INH_A PA8
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#define M0_INH_B PA9
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#define M0_INH_C PA10
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#define M0_INL_A PB13
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#define M0_INL_B PB14
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#define M0_INL_C PB15
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// M0 currnets
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#define M0_IB PC0
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#define M0_IC PC1
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// Odrive M0 encoder pinout
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#define M0_ENC_A PB4
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#define M0_ENC_B PB5
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// Odrive M1 motor pinout
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#define M1_INH_A PC6
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#define M1_INH_B PC7
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#define M1_INH_C PC8
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#define M1_INL_A PA7
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#define M1_INL_B PB0
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#define M1_INL_C PB1
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// M0 currnets
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#define M1_IB PC2
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#define M1_IC PC3
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// Odrive M1 encoder pinout
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#define M1_ENC_A PB6
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#define M1_ENC_B PB7
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// M1 & M2 common enable pin
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#define EN_GATE PB12
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// SPI pinout
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#define SPI3_SCL PC10
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#define SPI3_MISO PC11
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#define SPI3_MOSO PC12
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// Motor instance
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BLDCMotor motor = BLDCMotor(11);
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BLDCDriver6PWM driver = BLDCDriver6PWM(M0_INH_A,M0_INL_A, M0_INH_B,M0_INL_B, M0_INH_C,M0_INL_C, EN_GATE);
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// instantiate the commander
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Commander command = Commander(Serial);
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void doMotor(char* cmd) { command.motor(&motor, cmd); }
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// low side current sensing define
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// 0.0005 Ohm resistor
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// gain of 10x
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// current sensing on B and C phases, phase A not connected
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LowsideCurrentSense current_sense = LowsideCurrentSense(0.0005f, 10.0f, _NC, M0_IB, M0_IC);
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// MagneticSensorSPI(int cs, float _cpr, int _angle_register)
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// config - SPI config
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// cs - SPI chip select pin
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MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, M0_ENC_A);
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SPIClass SPI_3(SPI3_MOSO, SPI3_MISO, SPI3_SCL);
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void setup(){
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// pwm frequency to be used [Hz]
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driver.pwm_frequency = 20000;
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// power supply voltage [V]
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driver.voltage_power_supply = 20;
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// Max DC voltage allowed - default voltage_power_supply
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driver.voltage_limit = 20;
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// driver init
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driver.init();
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// link the motor and the driver
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motor.linkDriver(&driver);
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// initialise magnetic sensor hardware
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sensor.init(&SPI_3);
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// link the motor to the sensor
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motor.linkSensor(&sensor);
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// control loop type and torque mode
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motor.torque_controller = TorqueControlType::voltage;
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motor.controller = MotionControlType::torque;
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// max voltage allowed for motion control
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motor.voltage_limit = 8.0;
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// alignment voltage limit
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motor.voltage_sensor_align = 0.5;
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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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motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D;
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motor.monitor_downsample = 1000;
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// add target command T
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command.add('M', doMotor, "motor M0");
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// initialise motor
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motor.init();
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// link the driver
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current_sense.linkDriver(&driver);
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// init the current sense
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current_sense.init();
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current_sense.skip_align = true;
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motor.linkCurrentSense(&current_sense);
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// init FOC
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motor.initFOC();
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delay(1000);
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}
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void loop(){
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// foc loop
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motor.loopFOC();
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// motion control
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motor.move();
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// monitoring
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motor.monitor();
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// user communication
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command.run();
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}

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