Merge branch 'dev'

Author: askuric

.github/workflows/ccpp.yml

@@ -10,6 +10,8 @@ jobs:
         arduino-boards-fqbn:
           - arduino:avr:uno                          # arudino uno
           - arduino:sam:arduino_due_x                # arduino due
+          - arduino:avr:mega                         # arduino mega2650
+          - arduino:avr:leonardo                     # arduino leonardo
           - arduino:samd:nano_33_iot                 # samd21
           - adafruit:samd:adafruit_metro_m4          # samd51
           - esp32:esp32:esp32doit-devkit-v1          # esp32
@@ -29,6 +31,12 @@ jobs:
           - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
             sketch-names: single_full_control_example.ino
 
+          - arduino-boards-fqbn: arduino:avr:leonardo # arduino leonardo - one full example
+            sketch-names: open_loop_position_example.ino
+            
+          - arduino-boards-fqbn: arduino:avr:mega # arduino mega2660 - one full example
+            sketch-names: single_full_control_example.ino
+            
           - arduino-boards-fqbn: arduino:samd:nano_33_iot  # samd21 
             sketch-names: nano33IoT_velocity_control.ino, smartstepper_control.ino
 
@@ -54,6 +62,9 @@ jobs:
           - 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.ino
+            build-properties: 
+              B_G431B_ESC1:
+                -DHAL_OPAMP_MODULE_ENABLED
 
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX  # stm32f405 - odrive
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
@@ -63,7 +74,6 @@ jobs:
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
             sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, sdouble_full_control_example.ino
 
-        
 
       # Do not cancel all jobs / architectures if one job fails
       fail-fast: false
@@ -78,3 +88,4 @@ jobs:
           platform-url: ${{ matrix.platform-url }}
           sketch-names: ${{ matrix.sketch-names }}
           sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}

examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino

@@ -77,7 +77,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget, "target voltage");
+  command.add('T', doTarget, "target velocity");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target velocity using serial terminal:"));
@@ -103,4 +103,4 @@ void loop() {
 
   // user communication
   command.run();
-}
+}

examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino

@@ -11,7 +11,7 @@
 // HallSensor(int hallA, int hallB , int cpr, int index)
 //  - hallA, hallB, hallC    - HallSensor A, B and C pins
 //  - pp                     - pole pairs
-HallSensor sensor = HallSensor(2, 3, 4, 11);
+HallSensor sensor = HallSensor(2, 3, 4, 14);
 
 // Interrupt routine intialisation
 // channel A and B callbacks
@@ -44,4 +44,5 @@ void loop() {
   Serial.print(sensor.getAngle());
   Serial.print("\t");
   Serial.println(sensor.getVelocity());
+  delay(100);
 }

src/BLDCMotor.h

@@ -70,10 +70,7 @@ class BLDCMotor: public FOCMotor
     float Ua, Ub, Uc;//!< Current phase voltages Ua,Ub and Uc set to motor
     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
     * 
@@ -82,6 +79,10 @@ class BLDCMotor: public FOCMotor
     * @param angle_el current electrical angle of the motor
     */
     void setPhaseVoltage(float Uq, float Ud, float angle_el);
+
+  private:
+    // FOC methods 
+
     /** Sensor alignment to electrical 0 angle of the motor */
     int alignSensor();
     /** Current sense and motor phase alignment */

src/common/base_classes/Sensor.cpp

@@ -2,7 +2,7 @@
 #include "../foc_utils.h"
 #include "../time_utils.h"
 
-// TODO add an init method to make the startup smoother by initializing internal variables to current values rather than 0
+
 
 void Sensor::update() {
     float val = getSensorAngle();
@@ -18,17 +18,17 @@ void Sensor::update() {
 float Sensor::getVelocity() {
     // calculate sample time
     float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6;
-    // quick fix for strange cases (micros overflow)
-    if(Ts <= 0) Ts = 1e-3f;
-    // velocity calculation
-    float vel = ( (float)(full_rotations - vel_full_rotations)*_2PI + (angle_prev - vel_angle_prev) ) / Ts;    
-    // save variables for future pass
+    if (Ts<minDeltaT) return velocity; // don't update velocity if deltaT is too small
+
+    velocity = ( (float)(full_rotations - vel_full_rotations)*_2PI + (angle_prev - vel_angle_prev) ) / Ts;
     vel_angle_prev = angle_prev;
     vel_full_rotations = full_rotations;
     vel_angle_prev_ts = angle_prev_ts;
-    return vel;
+    return velocity;
 }
 
+
+
 void Sensor::init() {
     // initialize all the internal variables of Sensor to ensure a "smooth" startup (without a 'jump' from zero)
     getSensorAngle(); // call once

src/common/base_classes/Sensor.h

@@ -101,6 +101,12 @@ class Sensor{
          * 1 - ecoder with index (with index not found yet)
          */
         virtual int needsSearch();
+
+        /**
+         * Minimum time between updates to velocity. If time elapsed is lower than this, the velocity is not updated.
+         */
+        float minDeltaT = 0.000100; // default is 100 microseconds, or 10kHz
+
     protected:
         /** 
          * Get current shaft angle from the sensor hardware, and 
@@ -120,9 +126,10 @@ class Sensor{
         virtual void init();
 
         // velocity calculation variables
-        float angle_prev=0; // result of last call to getSensorAngle(), used for full rotations and velocity
+        float velocity=0.0f;
+        float angle_prev=0.0f; // result of last call to getSensorAngle(), used for full rotations and velocity
         long angle_prev_ts=0; // timestamp of last call to getAngle, used for velocity
-        float vel_angle_prev=0; // angle at last call to getVelocity, used for velocity
+        float vel_angle_prev=0.0f; // angle at last call to getVelocity, used for velocity
         long vel_angle_prev_ts=0; // last velocity calculation timestamp
         int32_t full_rotations=0; // full rotation tracking
         int32_t vel_full_rotations=0; // previous full rotation value for velocity calculation

src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp

@@ -33,7 +33,7 @@ uint32_t _timerToRegularTRGO(HardwareTimer* timer){
     return ADC_EXTERNALTRIGCONV_T3_TRGO;
 #ifdef TIM8 // if defined timer 8
   else if(timer->getHandle()->Instance == TIM8) 
-    return ADC_EXTERNALTRIGINJECCONV_T8_TRGO;
+    return ADC_EXTERNALTRIGCONV_T8_TRGO;
 #endif
   else
     return _TRGO_NOT_AVAILABLE;

src/drivers/hardware_specific/atmega2560_mcu.cpp

@@ -86,7 +86,7 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2A);
   _pinHighFrequency(pin2B);
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin2A, pin2A, pin2B },
+    .pins = { pin1A, pin1B, pin2A, pin2B },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -146,8 +146,8 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
   ret_flag += _configureComplementaryPair(pinC_h, pinC_l);
   if (ret_flag!=0) return SIMPLEFOC_DRIVER_INIT_FAILED;
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pinA_h,, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l },
-    .pwm_frequency = pwm_frequency
+    .pins = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l },
+    .pwm_frequency = pwm_frequency,
     .dead_zone = dead_zone
   };
   return params;

src/drivers/hardware_specific/atmega328_mcu.cpp

@@ -81,7 +81,7 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2A);
   _pinHighFrequency(pin2B);
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin2A, pin2A, pin2B },
+    .pins = { pin1A, pin1B, pin2A, pin2B },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -170,4 +170,4 @@ void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, void* params){
   _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0);
 }
 
-#endif
+#endif

src/drivers/hardware_specific/atmega32u4_mcu.cpp

@@ -89,7 +89,7 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2A);
   _pinHighFrequency(pin2B);
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin2A, pin2A, pin2B },
+    .pins = { pin1A, pin1B, pin2A, pin2B },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -158,8 +158,8 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
   ret_flag += _configureComplementaryPair(pinC_h, pinC_l);
   if (ret_flag!=0) return SIMPLEFOC_DRIVER_INIT_FAILED;
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pinA_h,, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l },
-    .pwm_frequency = pwm_frequency
+    .pins = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l },
+    .pwm_frequency = pwm_frequency,
     .dead_zone = dead_zone
   };
   return params;