current sense hardware restructuring + added bg431-esc to compile check + bugfixes

Author: askuric

.github/workflows/ccpp.yml

@@ -17,13 +17,14 @@ jobs:
           - STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8   # stm32 bluepill
           - STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
           - STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX  # stm32f405 - odrive
+          - STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1      # B-G431-ESC1
           - arduino:mbed_rp2040:pico                 # rpi pico
 
         include:
           - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
             sketch-names: '**.ino'
             required-libraries: PciManager
-            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_position_control, odrive_example
+            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_position_control, Odrive_example
 
           - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
             sketch-names: single_full_control_example.ino
@@ -50,9 +51,13 @@ jobs:
             platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
             sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, stm32_spi_alt_example.ino
 
+          - arduino-boards-fqbn: STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1      # B-G431-ESC1
+            platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
+            sketch-names: B_G431B_ESC1_position_control.ino
+
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX  # stm32f405 - odrive
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
-            sketch-names: odrive_example.ino
+            sketch-names: Odrive_example.ino
 
           - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # nucleo one full example
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 

README.md

@@ -18,7 +18,6 @@ Therefore this is an attempt to:
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
 
->
 > NEXT RELEASE 📢: <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2.2 
 > - GenericCurrentSense bugfix and testing
 > - Odrive example code see `examples/hardware_specific/odrive_example`

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

@@ -6,24 +6,22 @@
 
 // Motor instance
 BLDCMotor motor = BLDCMotor(11);
-BLDCDriver6PWM driver = BLDCDriver6PWM(PHASE_UH, PHASE_UL, PHASE_VH, PHASE_VL, PHASE_WH, PHASE_WL);
-LowsideCurrentSense currentSense = LowsideCurrentSense(0.003, -64.0/7.0, OP1_OUT, OP2_OUT, OP3_OUT);
+BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
+LowsideCurrentSense currentSense = LowsideCurrentSense(0.003, -64.0/7.0, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
 
 
 // encoder instance
-Encoder encoder = Encoder(HALL2, HALL3, 2048, HALL1);
+Encoder encoder = Encoder(A_HALL2, A_HALL3, 2048, A_HALL1);
 
 // Interrupt routine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 void doIndex(){encoder.handleIndex();}
 
-// angle set point variable
-float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+void doTarget(char* cmd) { command.motion(&motor, cmd); }
 
 void setup() {
 
@@ -96,14 +94,11 @@ void setup() {
   _delay(1000);
 }
 
-// angle set point variable
-float target_angle = 0;
-
 void loop() {
   // main FOC algorithm function
 
   // Motion control function
-  motor.move(target_angle);
+  motor.move();
 
   // function intended to be used with serial plotter to monitor motor variables
   // significantly slowing the execution down!!!!

examples/hardware_specific_examples/odrive_example/odrive_example.ino

@@ -31,8 +31,8 @@
 #define M1_INL_B PB0
 #define M1_INL_C PB1
 // M0 currnets
-#define M0_IB PC2
-#define M0_IC PC3
+#define M1_IB PC2
+#define M1_IC PC3
 // Odrive M1 encoder pinout
 #define M1_ENC_A PB6
 #define M1_ENC_B PB7
@@ -78,7 +78,6 @@ void setup(){
   // control loop type and torque mode 
   motor.torque_controller = TorqueControlType::voltage;
   motor.controller = MotionControlType::torque;
-  motor.voltage_sensor_align = 0.5;
 
   // max voltage  allowed for motion control 
   motor.voltage_limit = 8.0;

src/current_sense/hardware_specific/esp32_adc_driver.cpp renamed to src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp

@@ -1,5 +1,5 @@
-#include "../hardware_api.h"
-#include "../../drivers/hardware_api.h"
+#include "../../hardware_api.h"
+#include "../../../drivers/hardware_api.h"
 
 #if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && !defined(SOC_MCPWM_SUPPORTED) 
 

src/current_sense/hardware_specific/esp32_adc_driver.h renamed to src/current_sense/hardware_specific/esp32/esp32_adc_driver.h

@@ -1,6 +1,6 @@
-#include "../hardware_api.h"
-#include "../../drivers/hardware_api.h"
-#include "../../drivers/hardware_specific/esp32_driver_mcpwm.h"
+#include "../../hardware_api.h"
+#include "../../../drivers/hardware_api.h"
+#include "../../../drivers/hardware_specific/esp32_driver_mcpwm.h"
 
 #if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) 
 

src/current_sense/hardware_specific/esp32_ledc_mcu.cpp renamed to src/current_sense/hardware_specific/esp32/esp32_ledc_mcu.cpp

@@ -1,7 +1,7 @@
 #ifdef _SAMD21_
 
 #include "samd21_mcu.h"
-#include "../hardware_api.h"
+#include "../../hardware_api.h"
 
 
 static bool freeRunning = false;