issue #102 : update exxmple esp32 and added the sample code for second spi HSPI

Author: askuric

.github/workflows/ccpp.yml

@@ -38,15 +38,15 @@ jobs:
 
           - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
             platform-url: https://dl.espressif.com/dl/package_esp32_index.json
-            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino
+            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino
 
           - arduino-boards-fqbn: STM32:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
-            sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, magnetic_sensor_spi_alt_example.ino
+            sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, stm32_spi_alt_example.ino
 
           - arduino-boards-fqbn: STM32:stm32:Nucleo_64:pnum=NUCLEO_F411RE # one full example
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
-            sketch-names: single_full_control_example.ino
+            sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino
 
 
 

examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -8,7 +8,7 @@
 // MOSI 9
 // SCK 14
 // magnetic sensor instance - SPI
-MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 15);
 
 // I2C Magnetic sensor instance (AS5600 example)
 // make sure to use the pull-ups!!

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi/magnetic_sensor_spi_alternative_examples/esp32_spi_alt_example/esp32_spi_alt_example.ino

@@ -0,0 +1,41 @@
+#include <SimpleFOC.h>
+
+// alternative pinout
+#define HSPI_MISO 12
+#define HSPI_MOSI 13
+#define HSPI_SCLK 14
+#define HSPI_SS 15
+
+// MagneticSensorSPI(int cs, float _cpr, int _angle_register)
+// config           - SPI config
+//  cs              - SPI chip select pin 
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, HSPI_SS);
+
+// for esp 32, it has 2 spi interfaces VSPI (default) and HPSI as the second one
+// to enable it instatiate the object
+SPIClass SPI_2(HSPI)
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // start the newly defined spi communication
+  SPI_2.begin(HSPI_SCLK, HSPI_MISO, HSPI_MOSI, HSPI_SS); //SCLK, MISO, MOSI, SS 
+  // initialise magnetic sensor hardware
+  sensor.init(&SPI_2);
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  // this function reads the sensor hardware and 
+  // has to be called before getAngle nad getVelocity
+  sensor.update();
+  // display the angle and the angular velocity to the terminal
+  Serial.print(sensor.getAngle());
+  Serial.print("\t");
+  Serial.println(sensor.getVelocity());
+}