intermediate commit for reaftoring of current sense

Author: askuric

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

@@ -40,6 +40,8 @@ void setup() {
   driver.init();
   // link the motor and the driver
   motor.linkDriver(&driver);
+  // link current sense and the driver
+  currentSense.linkDriver(&driver);
 
   // current sensing
   currentSense.init();

examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino

@@ -79,6 +79,10 @@ void setup() {
   driver.init();
   // link the motor and the driver
   motor.linkDriver(&driver);
+  // link current sense and the driver
+  cs.linkDriver(&driver);
+
+  // align voltage
   motor.voltage_sensor_align = 0.5;
 
   // control loop type and torque mode 
@@ -124,7 +128,6 @@ void setup() {
   motor.init();
 
   cs.init();
-  cs.driverSync(&driver);
   // driver 8302 has inverted gains on all channels
   cs.gain_a *=-1;
   cs.gain_b *=-1;

examples/hardware_specific_examples/SimpleFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino

@@ -33,6 +33,8 @@ void setup() {
   driver.init();
   // link driver
   motor.linkDriver(&driver);
+  // link current sense and the driver
+  current_sense.linkDriver(&driver);
 
   motor.voltage_sensor_align = 1;
   // set control loop type to be used

examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino

@@ -56,11 +56,16 @@ void setup() {
   driver1.init();
   // link driver
   motor1.linkDriver(&driver1);
+  // link current sense and the driver
+  current_sense1.linkDriver(&driver1);
+  
   // power supply voltage [V]
   driver2.voltage_power_supply = 12;
   driver2.init();
   // link driver
   motor2.linkDriver(&driver2);
+  // link current sense and the driver
+  current_sense2.linkDriver(&driver2);
 
   // set control loop type to be used
   motor1.controller = MotionControlType::torque;

examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino

@@ -34,6 +34,8 @@ void setup() {
   driver.init();
   // link driver
   motor.linkDriver(&driver);
+  // link current sense and the driver
+  current_sense.linkDriver(&driver);
 
   // set control loop type to be used
   motor.controller = MotionControlType::torque;

examples/motion_control/torque_control/encoder/current_control/current_control.ino

@@ -39,6 +39,8 @@ void setup() {
   driver.init();
   // link driver
   motor.linkDriver(&driver);
+  // link current sense and the driver
+  current_sense.linkDriver(&driver);
 
   // current sense init hardware
   current_sense.init();

keywords.txt

@@ -91,7 +91,7 @@ getFOCCurrents	KEYWORD2
 getDCCurrent	KEYWORD2
 setPwm	KEYWORD2
 driverAlign	KEYWORD2
-driverSync	KEYWORD2
+linkDriver	KEYWORD2
 add	KEYWORD2
 run	KEYWORD2
 attach	KEYWORD2

src/BLDCMotor.cpp

@@ -143,7 +143,7 @@ int BLDCMotor::alignCurrentSense() {
   if(monitor_port) monitor_port->println(F("MOT: Align current sense."));
 
   // align current sense and the driver
-  exit_flag = current_sense->driverAlign(driver, voltage_sensor_align);
+  exit_flag = current_sense->driverAlign(voltage_sensor_align);
   if(!exit_flag){
     // error in current sense - phase either not measured or bad connection
     if(monitor_port) monitor_port->println(F("MOT: Align error!"));

src/common/base_classes/CurrentSense.cpp

@@ -64,4 +64,11 @@ DQCurrent_s CurrentSense::getFOCCurrents(float angle_el){
     return_current.d = i_alpha * ct + i_beta * st;
     return_current.q = i_beta * ct - i_alpha * st;
     return return_current;
+}
+
+/**
+	Driver linking to the current sense
+*/
+void CurrentSense::linkDriver(BLDCDriver* _driver) {
+  driver = _driver;
 }

src/common/base_classes/CurrentSense.h

@@ -13,19 +13,24 @@ class CurrentSense{
 
     /**
      *  Function intialising the CurrentSense class
-     *   All the necessary intialisations of adc and sync should be implemented here
+     *   - All the necessary intialisations of adc and sync should be implemented here
+     *   
+     * @returns -  0 - for failure &  1 - for success 
      */
-    virtual void init() = 0;
+    virtual int init() = 0;
 
     /**
-     * Function intended to implement all that is needed to sync and current sensing with the driver.
-     * If no such thing is needed it can be left empty (return 1)
-     * @returns -  0 - for failure &  1 - for success 
+     * Linking the current sense with the motor driver
+     * Only necessary if synchronisation in between the two is required
      */
-    virtual int driverSync(BLDCDriver *driver) = 0;
+    void linkDriver(BLDCDriver *driver);
 
-    // calibration variables
+    // variables
     bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
+    
+    BLDCDriver* driver; //!< driver link
+    void* params = 0; //!< pointer to hardware specific parameters of current sensing
+    
     /**
      * Function intended to verify if:
      *   - phase current are oriented properly 
@@ -34,7 +39,7 @@ class CurrentSense{
      * This function corrects the alignment errors if possible ans if no such thing is needed it can be left empty (return 1)
      * @returns -  0 - for failure &  positive number (with status) - for success 
      */
-    virtual int driverAlign(BLDCDriver *driver, float voltage) = 0;
+    virtual int driverAlign(float align_voltage) = 0;
 
     /**
      *  Function rading the phase currents a, b and c
@@ -62,6 +67,8 @@ class CurrentSense{
      * @param angle_el - motor electrical angle
      */
     DQCurrent_s getFOCCurrents(float angle_el);
+
+
 };
 
 #endif