refactored the back-emf support using KV rating of the motor - rpm/V

Author: askuric

examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino

@@ -21,6 +21,7 @@
 // Odrive M0 encoder pinout
 #define M0_ENC_A PB4
 #define M0_ENC_B PB5
+#define M0_ENC_Z PC9
 
 
 // Odrive M1 motor pinout
@@ -36,6 +37,7 @@
 // Odrive M1 encoder pinout
 #define M1_ENC_A PB6
 #define M1_ENC_B PB7
+#define M1_ENC_Z PC15
 
 // M1 & M2 common enable pin
 #define EN_GATE PB12
@@ -59,11 +61,12 @@ void doMotor(char* cmd) { command.motor(&motor, cmd); }
 // current sensing on B and C phases, phase A not connected
 LowsideCurrentSense current_sense = LowsideCurrentSense(0.0005f, 10.0f, _NC, M0_IB, M0_IC);
 
-Encoder encoder = Encoder(M0_ENC_A, M0_ENC_B, 500);
+Encoder encoder = Encoder(M0_ENC_A, M0_ENC_B, 500,M0_ENC_Z);
 // Interrupt routine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
+void doI(){encoder.handleIndex();}
 
 void setup(){
 
@@ -80,7 +83,7 @@ void setup(){
 
   // initialize encoder sensor hardware
   encoder.init();
-  encoder.enableInterrupts(doA, doB); 
+  encoder.enableInterrupts(doA, doB, doI); 
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 

examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino

@@ -21,6 +21,7 @@
 // Odrive M0 encoder pinout
 #define M0_ENC_A PB4
 #define M0_ENC_B PB5
+#define M0_ENC_Z PC9
 
 
 // Odrive M1 motor pinout
@@ -36,6 +37,7 @@
 // Odrive M1 encoder pinout
 #define M1_ENC_A PB6
 #define M1_ENC_B PB7
+#define M1_ENC_Z PC15
 
 // M1 & M2 common enable pin
 #define EN_GATE PB12

src/BLDCMotor.cpp

@@ -4,7 +4,7 @@
 // BLDCMotor( int pp , float R)
 // - pp            - pole pair number
 // - R             - motor phase resistance
-// - KV            - motor kv rating
+// - KV            - motor kv rating (rmp/v)
 BLDCMotor::BLDCMotor(int pp, float _R, float _KV)
 : FOCMotor()
 {
@@ -13,7 +13,7 @@ BLDCMotor::BLDCMotor(int pp, float _R, float _KV)
   // save phase resistance number
   phase_resistance = _R;
   // save back emf constant KV = 1/KV
-  K_bemf = _isset(_KV) ? 1.0/_KV : NOT_SET;
+  K_bemf = _isset(_KV) ? 1.0f/_KV/_RPM_TO_RADS : NOT_SET;
 
   // torque control type is voltage by default
   torque_controller = TorqueControlType::voltage;

src/StepperMotor.cpp

@@ -5,7 +5,7 @@
 // StepperMotor(int pp)
 // - pp            - pole pair number
 // - R             - motor phase resistance
-// - KV            - motor kv rating
+// - KV            - motor kv rating (rmp/v)
 StepperMotor::StepperMotor(int pp, float _R, float _KV)
 : FOCMotor()
 {
@@ -14,7 +14,7 @@ StepperMotor::StepperMotor(int pp, float _R, float _KV)
   // save phase resistance number
   phase_resistance = _R;
   // save back emf constant KV = 1/KV
-  K_bemf = _isset(_KV) ? 1.0/_KV : NOT_SET;
+  K_bemf = _isset(_KV) ? 1.0f/_KV/_RPM_TO_RADS : NOT_SET;
 
   // torque control type is voltage by default
   // current and foc_current not supported yet

src/StepperMotor.h

@@ -24,7 +24,7 @@ class StepperMotor: public FOCMotor
       StepperMotor class constructor
       @param pp  pole pair number 
       @param R  motor phase resistance
-      @param KV  motor KV rating (1/K_bemf)
+      @param KV  motor KV rating (1/K_bemf) - rpm/V
     */
     StepperMotor(int pp,  float R = NOT_SET, float KV = NOT_SET);
 

src/common/foc_utils.h

@@ -24,6 +24,7 @@
 #define _2PI 6.28318530718f
 #define _3PI_2 4.71238898038f
 #define _PI_6 0.52359877559f
+#define _RPM_TO_RADS 0.10471975512f
 
 #define NOT_SET -12345.0
 #define _HIGH_IMPEDANCE 0

src/communication/Commander.cpp

@@ -224,9 +224,9 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
     case CMD_KV_RATING:
       printVerbose(F("Motor KV: "));
       if(!GET){
-        motor->K_bemf = 1.0f/value;
+        motor->K_bemf = 1.0f/value/_RPM_TO_RADS;
       }
-      if(_isset(motor->K_bemf)) println(1.0f/motor->K_bemf);
+      if(_isset(motor->K_bemf)) println(1.0f/motor->K_bemf/_RPM_TO_RADS);
       else println(0);
       break;
     case CMD_SENSOR: