Merge pull request #442 from runger1101001/dev

ESP32 C6 fix & STM32 new HAL only driver

Author: runger1101001

.github/workflows/arduino.yml

@@ -25,7 +25,7 @@ jobs:
           - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
             sketch-names: '**.ino'
             required-libraries: PciManager
-            sketches-exclude: teensy4_current_control_low_side, full_control_serial, angle_control, 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, odrive_example_spi, odrive_example_encoder, single_full_control_example, double_full_control_example, stm32_current_control_low_side, open_loop_velocity_6pwm
+            sketches-exclude: measure_inductance_and_resistance, teensy4_current_control_low_side, full_control_serial, angle_control, 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, odrive_example_spi, odrive_example_encoder, single_full_control_example, double_full_control_example, stm32_current_control_low_side, open_loop_velocity_6pwm
 
           - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
             sketch-names: single_full_control_example.ino

.github/workflows/esp32.yml

@@ -33,7 +33,7 @@ jobs:
 
           - arduino-boards-fqbn: esp32:esp32:esp32c3 # esp32c3
             platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
-            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone.ino
+            sketch-names: esp32_position_control.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone.ino
 
           - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
             platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json

README.md

@@ -29,27 +29,13 @@ Therefore this is an attempt to:
    - For official driver boards see [<span class="simple">Simple<span class="foc">FOC</span>Boards</span>](https://docs.simplefoc.com/boards)
    - Many many more boards developed by the community members, see [<span class="simple">Simple<span class="foc">FOC</span>Community</span>](https://community.simplefoc.com/)
 
-> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.4
-> - ESP32 MCUs extended support [#414](https://github.com/simplefoc/Arduino-FOC/pull/414)
->   - Transition to the arduino-esp32 version v3.x (ESP-IDF v5.x) [#387](https://github.com/espressif/arduino-esp32/releases)
->   - New support for MCPWM driver
->   - New support for LEDC drivers - center-aligned PWM and 6PWM available 
->   - Rewritten and simplified the fast ADC driver code (`adcRead`) - for low-side and inline current sensing.
-> - Stepper motors current sensing support [#421](https://github.com/simplefoc/Arduino-FOC/pull/421)
->   - Support for current sensing (low-side and inline) - [see in docs](https://docs.simplefoc.com/current_sense)
->   - Support for true FOC control - `foc_current` torque control - [see in docs](https://docs.simplefoc.com/motion_control)
-> - New current sense alignment procedure  [#422](https://github.com/simplefoc/Arduino-FOC/pull/422) - [see in docs](https://docs.simplefoc.com/current_sense_align)
->   - Support for steppers
->   - Much more robust and reliable
->   - More verbose and informative 
-> - Support for HallSensors without interrupts [#424](https://docs.simplefoc.com/https://github.com/simplefoc/Arduino-FOC/pull/424) - [see in docs](hall_sensors) 
-> - Docs
->   - A short guide to debugging of common issues
->   - A short guide to the units in the library - [see in docs](https://docs.simplefoc.com/library_units)
-> - See the complete list of bugfixes and new features of v2.3.4 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/11) 
-
-
-## Arduino *SimpleFOClibrary* v2.3.4
+> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.5
+> - Motor characterization code thanks to @mcells
+> - Bugfix for ESP32 C6 thanks to @kondor1622
+> - See the complete list of bugfixes and new features of v2.3.5 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/12) 
+
+
+## Arduino *SimpleFOClibrary* v2.3.5
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino

@@ -1,4 +1,5 @@
 #include <SimpleFOC.h>
+#include <Wire.h>
 
 /** Annoyingly some i2c sensors (e.g. AS5600) have a fixed chip address.  This means only one of these devices can be addressed on a single bus
  * This example shows how a second i2c bus can be used to communicate with a second sensor.  
@@ -7,6 +8,8 @@
 MagneticSensorI2C sensor0 = MagneticSensorI2C(AS5600_I2C);
 MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
 
+// example of esp32 defining 2nd bus, if not already defined
+//TwoWire Wire1(1);
 
 void setup() {
 

library.properties

@@ -1,5 +1,5 @@
 name=Simple FOC
-version=2.3.4
+version=2.3.5
 author=Simplefoc <[email protected]>
 maintainer=Simplefoc <[email protected]>
 sentence=A library demistifying FOC for BLDC motors

src/BLDCMotor.cpp

@@ -290,9 +290,7 @@ int BLDCMotor::alignSensor() {
     zero_electric_angle = electricalAngle();
     //zero_electric_angle =  _normalizeAngle(_electricalAngle(sensor_direction*sensor->getAngle(), pole_pairs));
     _delay(20);
-    if(monitor_port){
-      SIMPLEFOC_DEBUG("MOT: Zero elec. angle: ", zero_electric_angle);
-    }
+    SIMPLEFOC_DEBUG("MOT: Zero elec. angle: ", zero_electric_angle);
     // stop everything
     setPhaseVoltage(0, 0, 0);
     _delay(200);

src/common/base_classes/CurrentSense.h

@@ -34,7 +34,7 @@ class CurrentSense{
     FOCDriver* driver = nullptr; //!< driver link
     bool initialized = false; // true if current sense was successfully initialized   
     void* params = 0; //!< pointer to hardware specific parameters of current sensing
-    DriverType driver_type = DriverType::Unknown; //!< driver type (BLDC or Stepper)
+    DriverType driver_type = DriverType::UnknownDriver; //!< driver type (BLDC or Stepper)
 
 
     // ADC measurement gain for each phase

src/common/base_classes/FOCDriver.h

@@ -13,7 +13,7 @@ enum PhaseState : uint8_t {
 
 
 enum DriverType{
-    Unknown=0,
+    UnknownDriver=0,
     BLDC=1,
     Stepper=2
 };

src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp

@@ -132,7 +132,7 @@ void* _configureADCLowSide(const void* driver_params, const int pinA,const int p
   Stm32CurrentSenseParams* params = new Stm32CurrentSenseParams {
     .pins = { pinA, pinB, pinC },
     .adc_voltage_conv = (_ADC_VOLTAGE) / (_ADC_RESOLUTION),
-    .timer_handle = (HardwareTimer *)(HardwareTimer_Handle[get_timer_index(TIM1)]->__this)
+    .timer_handle = ((STM32DriverParams*)driver_params)->timers_handle[0],
   };
 
   return params;
@@ -153,21 +153,21 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params;
 
   // stop all the timers for the driver
-  _stopTimers(driver_params->timers, 6);
+  stm32_pause(driver_params);
 
   // if timer has repetition counter - it will downsample using it
   // and it does not need the software downsample
-  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){
+  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->Instance) ){
     // adjust the initial timer state such that the trigger for DMA transfer aligns with the pwm peaks instead of throughs.
     // only necessary for the timers that have repetition counters
-    cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
-    cs_params->timer_handle->getHandle()->Instance->CNT =  cs_params->timer_handle->getHandle()->Instance->ARR;
+    cs_params->timer_handle->Instance->CR1 |= TIM_CR1_DIR;
+    cs_params->timer_handle->Instance->CNT =  cs_params->timer_handle->Instance->ARR;
   }
   // set the trigger output event
-  LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
+  LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);
 
   // restart all the timers of the driver
-  _startTimers(driver_params->timers, 6);
+  stm32_resume(driver_params);
 
   // return the cs parameters 
   // successfully initialized

src/current_sense/hardware_specific/stm32/stm32_mcu.h

@@ -14,7 +14,7 @@ typedef struct Stm32CurrentSenseParams {
   int pins[3] = {(int)NOT_SET};
   float adc_voltage_conv;
   ADC_HandleTypeDef* adc_handle = NP;
-  HardwareTimer* timer_handle = NP;
+  TIM_HandleTypeDef* timer_handle = NP;
 } Stm32CurrentSenseParams;
 
 #endif