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

Author: Richard Unger

README.md

@@ -24,25 +24,31 @@ Therefore this is an attempt to:
    - *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
-<h3>NEWS 📢: SimpleFOClibrary has been published in the Journal of Open Source Software</h3>
-<p>
-  <b>SimpleFOC</b>: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors.<br>
-  A. Skuric, HS. Bank, R. Unger, O. Williams, D. González-Reyes<br>
-Journal of Open Source Software, 7(74), 4232, https://doi.org/10.21105/joss.04232
-</p>
-
-> FUTURE RELEASE : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2.3
+> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2.3
 > - stm32 low-side current sensing 
 >    - g4 supported
->    - thoroughly tested f1/f4/g4
+>    - thoroughly tested f1/f4/g4 - [#187](https://github.com/simplefoc/Arduino-FOC/issues/187)
+>    - bg431b: added support for VBAT and TEMPERATURE readings [#222](https://github.com/simplefoc/Arduino-FOC/pull/222)
 > - bugfixing
 >    - leonardo
->    - mega2560
->    - inline current sense without driver #188
-> - `initFOC` fails if current sense not initialised
->    - driver and cs have to be well initialised for `initFOC` to start
->    - `cs.init()` and `driver.init()` return `1` if well initialised and `0` if failed 
-## Arduino *SimpleFOClibrary* v2.2.2
+>    - mega2560 [#190](https://github.com/simplefoc/Arduino-FOC/issues/190)
+>    - inline current sense without driver [#188](https://github.com/simplefoc/Arduino-FOC/issues/188)
+>    - bg431b support current sense fix [#210](https://github.com/simplefoc/Arduino-FOC/pull/210)
+>    - StepperDriver4PWM wrong init  [#182](https://github.com/simplefoc/Arduino-FOC/issues/182)
+>    - open loop back-emf vlotage issue [#219](https://github.com/simplefoc/Arduino-FOC/issues/219)
+>    - SAMD51 compile issue [#217](https://github.com/simplefoc/Arduino-FOC/issues/217)
+>    - ESP32-S3 compile issue [#198](https://github.com/simplefoc/Arduino-FOC/issues/198)
+>    - ESP32 compile issue [#208](https://github.com/simplefoc/Arduino-FOC/issues/208), [#207](https://github.com/simplefoc/Arduino-FOC/issues/207)
+>    - magnetic sensor direction finding more robust [#173](https://github.com/simplefoc/Arduino-FOC/issues/173), [#164](https://github.com/simplefoc/Arduino-FOC/pull/164)
+>    - `StepDirListener` improved timing [#169](https://github.com/simplefoc/Arduino-FOC/issues/169), [#209](https://github.com/simplefoc/Arduino-FOC/pull/209)
+> - API changes
+>    - `setPhaseVoltage` is now public function 
+>    - `getVelocity` can now be called as many times as necessary (it recalculates the velocity if the time between calls is longer then `minDeltaT` - default 0.1ms)
+>    - BG431 board can be used only with `LowsideCurrentSense` class!
+>    - `initFOC` fails if current sense not initialised
+>       - driver and curent sense have to be well initialised for `initFOC` to start
+>       - `cs.init()` and `driver.init()` return `1` if well initialised and `0` if failed 
+## Arduino *SimpleFOClibrary* v2.2.3
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">

src/BLDCMotor.cpp

@@ -185,7 +185,7 @@ int BLDCMotor::alignSensor() {
     for (int i = 0; i <=500; i++ ) {
       float angle = _3PI_2 + _2PI * i / 500.0f;
       setPhaseVoltage(voltage_sensor_align, 0,  angle);
-	  sensor->update();
+	    sensor->update();
       _delay(2);
     }
     // take and angle in the middle
@@ -195,7 +195,7 @@ int BLDCMotor::alignSensor() {
     for (int i = 500; i >=0; i-- ) {
       float angle = _3PI_2 + _2PI * i / 500.0f ;
       setPhaseVoltage(voltage_sensor_align, 0,  angle);
-	  sensor->update();
+	    sensor->update();
       _delay(2);
     }
     sensor->update();
@@ -638,9 +638,11 @@ float BLDCMotor::velocityOpenloop(float target_velocity){
 
   // use voltage limit or current limit
   float Uq = voltage_limit;
-  if(_isset(phase_resistance)) 
-    Uq = _constrain(current_limit*phase_resistance + voltage_bemf,-voltage_limit, voltage_limit);
-
+  if(_isset(phase_resistance)){
+    Uq = _constrain(current_limit*phase_resistance + fabs(voltage_bemf),-voltage_limit, voltage_limit);
+    // recalculate the current  
+    current.q = (Uq - fabs(voltage_bemf))/phase_resistance;
+  }
   // set the maximal allowed voltage (voltage_limit) with the necessary angle
   setPhaseVoltage(Uq,  0, _electricalAngle(shaft_angle, pole_pairs));
 
@@ -676,8 +678,11 @@ float BLDCMotor::angleOpenloop(float target_angle){
 
   // use voltage limit or current limit
   float Uq = voltage_limit;
-  if(_isset(phase_resistance)) 
-    Uq = _constrain(current_limit*phase_resistance + voltage_bemf,-voltage_limit, voltage_limit);
+  if(_isset(phase_resistance)){
+    Uq = _constrain(current_limit*phase_resistance + fabs(voltage_bemf),-voltage_limit, voltage_limit);
+    // recalculate the current  
+    current.q = (Uq - fabs(voltage_bemf))/phase_resistance;
+  }
   // set the maximal allowed voltage (voltage_limit) with the necessary angle
   // sensor precision: this calculation is OK due to the normalisation
   setPhaseVoltage(Uq,  0, _electricalAngle(_normalizeAngle(shaft_angle), pole_pairs));

src/BLDCMotor.h

@@ -78,7 +78,7 @@ class BLDCMotor: public FOCMotor
     * @param Ud Current voltage in d axis to set to the motor
     * @param angle_el current electrical angle of the motor
     */
-    void setPhaseVoltage(float Uq, float Ud, float angle_el);
+    void setPhaseVoltage(float Uq, float Ud, float angle_el) override;
 
   private:
     // FOC methods 

src/StepperMotor.cpp

@@ -141,6 +141,7 @@ int StepperMotor::alignSensor() {
     for (int i = 0; i <=500; i++ ) {
       float angle = _3PI_2 + _2PI * i / 500.0f;
       setPhaseVoltage(voltage_sensor_align, 0,  angle);
+	    sensor->update();
       _delay(2);
     }
     // take and angle in the middle
@@ -150,6 +151,7 @@ int StepperMotor::alignSensor() {
     for (int i = 500; i >=0; i-- ) {
       float angle = _3PI_2 + _2PI * i / 500.0f ;
       setPhaseVoltage(voltage_sensor_align, 0,  angle);
+	    sensor->update();
       _delay(2);
     }
     sensor->update();
@@ -377,8 +379,11 @@ float StepperMotor::velocityOpenloop(float target_velocity){
 
   // use voltage limit or current limit
   float Uq = voltage_limit;
-  if(_isset(phase_resistance)) 
-    Uq = _constrain(current_limit*phase_resistance + voltage_bemf,-voltage_limit, voltage_limit);
+  if(_isset(phase_resistance)){
+    Uq = _constrain(current_limit*phase_resistance + fabs(voltage_bemf),-voltage_limit, voltage_limit);
+    // recalculate the current  
+    current.q = (Uq - fabs(voltage_bemf))/phase_resistance;
+  }
 
   // set the maximal allowed voltage (voltage_limit) with the necessary angle
   setPhaseVoltage(Uq,  0, _electricalAngle(shaft_angle, pole_pairs));
@@ -412,8 +417,11 @@ float StepperMotor::angleOpenloop(float target_angle){
 
   // use voltage limit or current limit
   float Uq = voltage_limit;
-  if(_isset(phase_resistance)) 
-    Uq = _constrain(current_limit*phase_resistance + voltage_bemf,-voltage_limit, voltage_limit);
+  if(_isset(phase_resistance)){
+    Uq = _constrain(current_limit*phase_resistance + fabs(voltage_bemf),-voltage_limit, voltage_limit);
+    // recalculate the current  
+    current.q = (Uq - fabs(voltage_bemf))/phase_resistance;
+  }
   // set the maximal allowed voltage (voltage_limit) with the necessary angle
   setPhaseVoltage(Uq,  0, _electricalAngle((shaft_angle), pole_pairs));
 

src/StepperMotor.h

@@ -78,19 +78,18 @@ class StepperMotor: public FOCMotor
 
     float	Ualpha,Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
 
-  private:
-  
-    // FOC methods 
-    /**
+  /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm
     * 
     * @param Uq Current voltage in q axis to set to the motor
     * @param Ud Current voltage in d axis to set to the motor
     * @param angle_el current electrical angle of the motor
     */
-    void setPhaseVoltage(float Uq, float Ud , float angle_el);
+    void setPhaseVoltage(float Uq, float Ud, float angle_el) override;
 
+  private:
+  
     /** Sensor alignment to electrical 0 angle of the motor */
     int alignSensor();
     /** Motor and sensor alignment to the sensors absolute 0 angle  */

src/common/base_classes/FOCMotor.h

@@ -127,6 +127,16 @@ class FOCMotor
      */
     virtual void move(float target = NOT_SET)=0;
 
+    /**
+    * Method using FOC to set Uq to the motor at the optimal angle
+    * Heart of the FOC algorithm
+    * 
+    * @param Uq Current voltage in q axis to set to the motor
+    * @param Ud Current voltage in d axis to set to the motor
+    * @param angle_el current electrical angle of the motor
+    */
+    virtual void setPhaseVoltage(float Uq, float Ud, float angle_el)=0;
+    
     // State calculation methods 
     /** Shaft angle calculation in radians [rad] */
     float shaftAngle();
@@ -137,6 +147,7 @@ class FOCMotor
     float shaftVelocity();
 
 
+
     /** 
      * Electrical angle calculation  
      */

src/common/foc_utils.h

@@ -5,7 +5,9 @@
 
 // sign function
 #define _sign(a) ( ( (a) < 0 )  ?  -1   : ( (a) > 0 ) )
+#ifndef _round
 #define _round(x) ((x)>=0?(long)((x)+0.5f):(long)((x)-0.5f))
+#endif
 #define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
 #define _sqrt(a) (_sqrtApprox(a))
 #define _isset(a) ( (a) != (NOT_SET) )

src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp

@@ -1,6 +1,6 @@
 #include "esp32_adc_driver.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) 
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(CONFIG_IDF_TARGET_ESP32S2) && !defined(CONFIG_IDF_TARGET_ESP32S3)
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"

src/current_sense/hardware_specific/esp32/esp32_mcu.cpp

@@ -68,7 +68,6 @@ int adc_read_index[2]={0};
 
 // function reading an ADC value and returning the read voltage
 float _readADCVoltageLowSide(const int pin, const void* cs_params){
-
   mcpwm_unit_t unit = ((ESP32MCPWMCurrentSenseParams*)cs_params)->mcpwm_unit;
   int buffer_index = ((ESP32MCPWMCurrentSenseParams*)cs_params)->buffer_index;
   float adc_voltage_conv = ((ESP32MCPWMCurrentSenseParams*)cs_params)->adc_voltage_conv;