VER 1.4.0 - added magnetic sensor I2C interface

askuric · askuric · commit 6a5edacd7fa8 · 2020-07-29T23:27:10.000+02:00
diff --git a/README.md b/README.md
@@ -10,9 +10,13 @@ Therefore this is an attempt to:
 - Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase)
 - Develop a modular BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
 
-> ***UPDATE:*** 📢 Arduino *SimpleFOClibrary* now supports high performance DRV8302 driver boards (60V, 15A, 30$). [YouTube link](https://www.youtube.com/watch?v=RI4nNMF608I).
+> ***NEWS:*** 📢 Arduino *SimpleFOClibrary* now supports magnetic sensors using I2C communication! Check out the library [docs](https://docs.simplefoc.com/sensors)  to see how to use them with your project. You can also find full configuration in the library examples. <br>
+> ***BEWARE:*** 📢 The `MagneticSensor` class has been renamed and divided to `MagneticSensorSPI` and `MagneticSensorI2C` classes.
+
+> ***NEWS:*** 📢 Arduino *SimpleFOClibrary* now supports high performance DRV8302 driver boards (60V, 15A, 30$). [YouTube link](https://www.youtube.com/watch?v=RI4nNMF608I).
 > You can find the board by clicking on [Aliexpress link](https://bit.ly/2BZZ5fG) and the  Arduino code example in the examples folder!
 
+
 ## Arduino *SimpleFOCShield*
 
 <p align="">
@@ -27,7 +31,7 @@ Therefore this is an attempt to:
 - **Max power 120W** - max current 5A, power-supply 12-24V
    - Designed for Gimbal motors with the internal resistance >10 Ωs. 
 - **Stackable**: running 2 motors in the same time
-- **Encoder interface**: Integrated 3kΩ pullups (configurable)
+- **Encoder interface**: Integrated 3.3kΩ pullups (configurable)
 - **Configurable pinout**: Hardware configuration - soldering connections
 - **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
 - **Open Source**: Fully available fabrication files - [how to make it yourself](https://docs.simplefoc.com/arduino_simplefoc_shield_fabrication)
diff --git a/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino
@@ -7,21 +7,27 @@
  */
 #include <SimpleFOC.h>
 
-// Magnetic sensor instance 
+// SPI Magnetic sensor instance (AS5047U example)
 // MISO PA7
 // MOSI PA6
 // SCK PA5
-MagneticSensor AS5x4x = MagneticSensor(PA4, 16384, 0x3FFF);
+MagneticSensorSPI sensor = MagneticSensorSPI(PA4, 14, 0x3FFF);
+
+// I2C Magnetic sensor instance (AS5600 example)
+// make sure to use the pull-ups!!
+// SDA PB7
+// SCL PB6
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
 // Motor instance
-BLDCMotor motor = BLDCMotor(PB6, PB7, PB8, 11, PA5);
+BLDCMotor motor = BLDCMotor(PA3, PA2, PA1, 11, PA0);
 
 void setup() {
 
   // initialise magnetic sensor hardware
-  AS5x4x.init();
+  sensor.init();
   // link the motor to the sensor
-  motor.linkSensor(&AS5x4x);
+  motor.linkSensor(&sensor);
 
   // power supply voltage
   // default 12V
diff --git a/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino
@@ -9,18 +9,20 @@
  */
 #include <SimpleFOC.h>
 
-// Magnetic sensor instance
-MagneticSensor AS5x4x = MagneticSensor(10, 16384, 0x3FFF);
+// magnetic sensor instance
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
+// magnetic sensor instance
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
 // Motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
 
 void setup() {
 
   // initialise magnetic sensor hardware
-  AS5x4x.init();
+  sensor.init();
   // link the motor to the sensor
-  motor.linkSensor(&AS5x4x);
+  motor.linkSensor(&sensor);
 
   // power supply voltage
   // default 12V
diff --git a/examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino
@@ -8,18 +8,20 @@
  */
 #include <SimpleFOC.h>
 
-// Magnetic sensor instance
-MagneticSensor AS5x4x = MagneticSensor(10, 16384, 0x3FFF);
+// magnetic sensor instance
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
+// magnetic sensor instance
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
 // Motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
 
 void setup() {
 
   // initialise magnetic sensor hardware
-  AS5x4x.init();
+  sensor.init();
   // link the motor to the sensor
-  motor.linkSensor(&AS5x4x);
+  motor.linkSensor(&sensor);
 
   // power supply voltage
   // default 12V
diff --git a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino
@@ -12,18 +12,20 @@
  */
 #include <SimpleFOC.h>
 
-// Magnetic sensor instance
-MagneticSensor AS5x4x = MagneticSensor(10, 16384, 0x3FFF);
+// magnetic sensor instance
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
+// magnetic sensor instance
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
 // Motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
 
 void setup() {
  
   // initialise magnetic sensor hardware
-  AS5x4x.init();
+  sensor.init();
   // link the motor to the sensor
-  motor.linkSensor(&AS5x4x);
+  motor.linkSensor(&sensor);
 
   // power supply voltage
   // default 12V
diff --git a/examples/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino b/examples/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino
@@ -94,10 +94,8 @@ void setup() {
   motor.target = 2;
 
 
-  Serial.println("Full control example: ");
-  Serial.println("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n ");
-  Serial.println("Initial motion control loop is voltage loop.");
-  Serial.println("Initial target voltage 2V.");
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  Serial.println("Motor commands sketch | Initial motion control > torque/voltage : target 2V.");
   
   _delay(1000);
 }
diff --git a/examples/motor_full_control_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino b/examples/motor_full_control_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino
@@ -37,18 +37,20 @@
  */
 #include <SimpleFOC.h>
 
-// magnetic sensor instance
-MagneticSensor AS5x4x = MagneticSensor(10, 16384, 0x3FFF);
+// SPI magnetic sensor instance
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
+// I2C magnetic sensor instance
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
 // motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
 
 void setup() {
 
   // initialise magnetic sensor hardware
-  AS5x4x.init();
+  sensor.init();
   // link the motor to the sensor
-  motor.linkSensor(&AS5x4x);
+  motor.linkSensor(&sensor);
 
   // choose FOC modulation
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
@@ -88,10 +90,8 @@ void setup() {
   motor.target = 2;
 
 
-  Serial.println("Full control example: ");
-  Serial.println("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n ");
-  Serial.println("Initial motion control loop is voltage loop.");
-  Serial.println("Initial target voltage 2V.");
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  Serial.println("Motor commands sketch | Initial motion control > torque/voltage : target 2V.");
   
   _delay(1000);
 }
diff --git a/examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino b/examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino
@@ -20,14 +20,16 @@
 BLDCMotor motor = BLDCMotor(9, 5, 6, 0, 8);
 
 // magnetic sensor instance
-MagneticSensor AS5x4x = MagneticSensor(10, 16384, 0x3FFF);
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
+// magnetic sensor instance
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
 void setup() {
 
   // initialise magnetic sensor hardware
-  AS5x4x.init();
+  sensor.init();
   // link the motor to the sensor
-  motor.linkSensor(&AS5x4x);
+  motor.linkSensor(&sensor);
 
   // power supply voltage
   motor.voltage_power_supply = 12;
@@ -51,7 +53,7 @@ void setup() {
   motor.setPhaseVoltage(pp_search_voltage, 0);
   _delay(1000);
   // read the sensor angle 
-  float angle_begin = AS5x4x.getAngle();
+  float angle_begin = sensor.getAngle();
   _delay(50);
   
   // move the motor slowly to the electrical angle pp_search_angle
@@ -62,7 +64,7 @@ void setup() {
   }
   _delay(1000);
   // read the sensor value for 180
-  float angle_end = AS5x4x.getAngle();
+  float angle_end = sensor.getAngle();
   _delay(50);
   // turn off the motor
   motor.setPhaseVoltage(0,0);
diff --git a/examples/utils/sensor_test/magnetic_sensor_example/magnetic_sensor_example.ino b/examples/utils/sensor_test/magnetic_sensor_example/magnetic_sensor_example.ino
diff --git a/examples/utils/sensor_test/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino b/examples/utils/sensor_test/magnetic_sensor_i2c_example/magnetic_sensor_i2c_example.ino
@@ -0,0 +1,33 @@
+#include <SimpleFOC.h>
+
+// MagneticSensorI2C(uint8_t _chip_address, float _cpr, uint8_t _angle_register_msb)
+//  chip_address  I2C chip address
+//  bit_resolution  resolution of the sensor
+//  angle_register_msb  angle read register msb
+//  bits_used_msb  number of used bits in msb register
+// 
+// make sure to read the chip address and the chip angle register msb value from the datasheet
+// also in most cases you will need external pull-ups on SDA and SCL lines!!!!!
+//
+// For AS5058B use MagneticSensorI2C(0x40, 14, 0xFE, 8)
+// Example of AS5600 configuration 
+MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+void loop() {
+  // display the angle and the angular velocity to the terminal
+  Serial.print(sensor.getAngle());
+  Serial.print("\t");
+  Serial.println(sensor.getVelocity());
+}
diff --git a/examples/utils/sensor_test/magnetic_sensor_spi_example/magnetic_sensor_spi_example.ino b/examples/utils/sensor_test/magnetic_sensor_spi_example/magnetic_sensor_spi_example.ino
@@ -0,0 +1,25 @@
+#include <SimpleFOC.h>
+
+// MagneticSensorSPI(int cs, float _cpr, int _angle_register)
+//  cs              - SPI chip select pin 
+//  bit_resolution  - sensor resolution
+//  angle_register   - (optional) angle read register - default 0x3FFF
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+void loop() {
+  // display the angle and the angular velocity to the terminal
+  Serial.print(sensor.getAngle());
+  Serial.print("\t");
+  Serial.println(sensor.getVelocity());
+}
diff --git a/keywords.txt b/keywords.txt
@@ -2,7 +2,8 @@ ArduinoFOC	KEYWORD1
 SimpleFOC	KEYWORD1
 BLDCMotor	KEYWORD1
 Encoder	KEYWORD1
-MagneticSensor	KEYWORD1
+MagneticSensorSPI	KEYWORD1
+MagneticSensorI2C	KEYWORD1
 
 initFOC	KEYWORD2
 loopFOC	KEYWORD2
@@ -12,7 +13,7 @@ _delay	KEYWORD3
 _micros	KEYWORD3
 _sin	KEYWORD3
 _cos	KEYWORD3
-setPwmFrequency	KEYWORD3
+_setPwmFrequency	KEYWORD3
 monitor	KEYWORD3
 command	KEYWORD3
 
diff --git a/library.properties b/library.properties
@@ -1,9 +1,13 @@
 name=Simple FOC
+<<<<<<< HEAD
 version=1.3.1
+=======
+version=1.4.0
+>>>>>>> dev
 author=Antun Skuric <antun.skuric@outlook.com>
 maintainer=Antun Skuric <antun.skuric@outlook.com>
 sentence=A library demistifying FOC for BLDC motors
-paragraph=Simple library intended for hobby comunity to run the gimbal motor using FOC algorithm. It is interded both for plug&play and simple enough to be easy to extend. Library supports Arudino devices such as Arduino UNO, MEGA and similar, but also stm32 boards Nucleo and Bluepill.
+paragraph=Simple library intended for hobby comunity to run the BLDC motor using FOC algorithm. It is interded both for plug&play and simple enough to be easy to extend. Library supports Arudino devices such as Arduino UNO, MEGA and similar, but also stm32 boards Nucleo and Bluepill.
 category=Device Control
 url=http://askuric.github.io/Arduino-FOC
 architectures=*
diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
@@ -70,9 +70,9 @@ void BLDCMotor::init() {
   if(monitor_port) monitor_port->println("MONITOR: Set high frequency PWM.");
   // Increase PWM frequency to 32 kHz
   // make silent
-  setPwmFrequency(pwmA);
-  setPwmFrequency(pwmB);
-  setPwmFrequency(pwmC);
+  _setPwmFrequency(pwmA);
+  _setPwmFrequency(pwmB);
+  _setPwmFrequency(pwmC);
 
   // sanity check for the voltage limit configuration
   if(PI_velocity.voltage_limit > voltage_power_supply) PI_velocity.voltage_limit =  voltage_power_supply;
diff --git a/src/FOCutils.cpp b/src/FOCutils.cpp
@@ -1,7 +1,7 @@
 #include "FOCutils.h"
 
 
-void setPwmFrequency(int pin) {
+void _setPwmFrequency(int pin) {
 #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) // if arduino uno and other atmega328p chips
 //  High PWM frequency
 //  https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-atmega328
diff --git a/src/FOCutils.h b/src/FOCutils.h
@@ -26,7 +26,7 @@
  * 
  * @param pin pin number to configure
  */
-void setPwmFrequency(int pin);
+void _setPwmFrequency(int pin);
 
 /** 
  * Function implementing delay() function in milliseconds 
diff --git a/src/MagneticSensorI2C.cpp b/src/MagneticSensorI2C.cpp
diff --git a/src/MagneticSensorI2C.h b/src/MagneticSensorI2C.h
diff --git a/src/MagneticSensorSPI.cpp b/src/MagneticSensorSPI.cpp
diff --git a/src/MagneticSensorSPI.h b/src/MagneticSensorSPI.h
diff --git a/src/SimpleFOC.h b/src/SimpleFOC.h
