FEAT restrucutred hardware specific funcitons to separate files

askuric · askuric · commit 6c02b3417aa8 · 2020-11-12T14:56:53.000+01:00
diff --git a/library.properties b/library.properties
@@ -1,7 +1,7 @@
 name=Simple FOC
-version=1.6.1
-author=Antun Skuric <info@simplefoc.com>
-maintainer=Antun Skuric <info@simplefoc.com>
+version=1.7.0
+author=Simplefoc <info@simplefoc.com>
+maintainer=Simplefoc <info@simplefoc.com>
 sentence=A library demistifying FOC for BLDC motors
 paragraph=Simple library intended for hobby comunity to run the BLDC and Stepper motor using FOC algorithm. It is intended to support as many BLDC/Stepper motor+sensor+driver combinations as possible and in the same time maintain simplicity of usage. Library supports Arudino devices such as Arduino UNO, MEGA, NANO and similar, stm32 boards such as Nucleo and Bluepill, ESP32 and Teensy boards.
 category=Device Control
diff --git a/src/BLDCMotor.h b/src/BLDCMotor.h
@@ -7,10 +7,10 @@
 #define BLDCMotor_h
 
 #include "Arduino.h"
-#include "common/FOCMotor.h"
+#include "common/interfaces/FOCMotor.h"
+#include "common/interfaces/Sensor.h"
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
-#include "common/Sensor.h"
 #include "common/defaults.h"
 
 /**
diff --git a/src/Encoder.h b/src/Encoder.h
@@ -4,7 +4,7 @@
 #include "Arduino.h"
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
-#include "common/Sensor.h"
+#include "common/interfaces/Sensor.h"
 
 
 /**
diff --git a/src/HallSensor.h b/src/HallSensor.h
@@ -2,9 +2,9 @@
 #define HALL_SENSOR_LIB_H
 
 #include "Arduino.h"
+#include "common/interfaces/Sensor.h"
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
-#include "common/Sensor.h"
 
 
 class HallSensor: public Sensor{
diff --git a/src/MagneticSensorAnalog.h b/src/MagneticSensorAnalog.h
@@ -2,9 +2,9 @@
 #define MAGNETICSENSORANALOG_LIB_H
 
 #include "Arduino.h"
+#include "common/interfaces/Sensor.h"
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
-#include "common/Sensor.h"
 
 /**
  * This sensor has been tested with AS5600 running in 'analog mode'.  This is where output pin of AS6000 is connected to an analog pin on your microcontroller.
diff --git a/src/MagneticSensorI2C.h b/src/MagneticSensorI2C.h
@@ -3,9 +3,9 @@
 
 #include "Arduino.h"
 #include <Wire.h>
+#include "common/interfaces/Sensor.h"
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
-#include "common/Sensor.h"
 
 struct MagneticSensorI2CConfig_s  {
   int chip_address;
diff --git a/src/MagneticSensorSPI.h b/src/MagneticSensorSPI.h
@@ -3,9 +3,9 @@
 
 #include "Arduino.h"
 #include <SPI.h>
+#include "common/interfaces/Sensor.h"
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
-#include "common/Sensor.h"
 
 #define DEF_ANGLE_REGISTAR 0x3FFF
 
diff --git a/src/StepperMotor.cpp b/src/StepperMotor.cpp
@@ -179,7 +179,7 @@ void StepperMotor::loopFOC() {
   // shaft angle 
   shaft_angle = shaftAngle();
   // set the phase voltage - FOC heart function :) 
-  setPhaseVoltage(voltage_q, _electricalAngle(shaft_angle,pole_pairs));
+  setPhaseVoltage(voltage_q, _electricalAngle(shaft_angle, pole_pairs));
 }
 
 // Iterative function running outer loop of the FOC algorithm
@@ -241,10 +241,24 @@ void StepperMotor::setPhaseVoltage(float Uq, float angle_el) {
   // only necessary if using _sin and _cos - approximation functions
   angle_el = _normalizeAngle(angle_el + zero_electric_angle);
   // Inverse park transform
-  Ualpha =  -_sin(angle_el) * Uq;  // -sin(angle) * Uq;
-  Ubeta =  _cos(angle_el) * Uq;    //  cos(angle) * Uq;
+  Ualpha =  -(_sin(angle_el)) * Uq;  // -sin(angle) * Uq;
+  Ubeta =  (_cos(angle_el)) * Uq;    //  cos(angle) * Uq;
+  // if (angle_el < _PI_2) {
+  //   Ualpha = 0;
+  //   Ubeta =  Uq;
+  // }else if (angle_el < _PI) {
+  //   Ualpha =- Uq;
+  //   Ubeta =  0;
+  // }else if (angle_el < _3PI_2) {
+  //   Ualpha = 0;
+  //   Ubeta =  -Uq;
+  // }else{
+  //   Ualpha = Uq;
+  //   Ubeta =  0;
+  // }
+
   // set the voltages in hardware
-  setPwm(Ualpha,Ubeta);
+  setPwm(Ualpha, Ubeta);
 }
 
 
diff --git a/src/StepperMotor.h b/src/StepperMotor.h
@@ -7,10 +7,10 @@
 #define StepperMotor_h
 
 #include "Arduino.h"
-#include "common/FOCMotor.h"
+#include "common/interfaces/FOCMotor.h"
+#include "common/interfaces/Sensor.h"
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
-#include "common/Sensor.h"
 #include "common/defaults.h"
 
 /**
diff --git a/src/common/hardware_utils.h b/src/common/hardware_utils.h
@@ -1,18 +1,8 @@
 #ifndef HARDWARE_UTILS_H
 #define HARDWARE_UTILS_H
 
-#include "Arduino.h"
 #include "foc_utils.h"
 
-
-#if defined(ESP_H) // if esp32 boards
-
-#include "driver/mcpwm.h"
-#include "soc/mcpwm_reg.h"
-#include "soc/mcpwm_struct.h"
-
-#endif
-
 /** 
  * High PWM frequency setting function
  * - hardware specific
diff --git a/src/common/hardware_utils/arduino_specific.cpp b/src/common/hardware_utils/arduino_specific.cpp
@@ -0,0 +1,93 @@
+#include "../hardware_utils.h"
+
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
+
+// set pwm frequency to 32KHz
+void _pinHighFrequency(const 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
+   if (pin == 5 || pin == 6  ) {
+      TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode
+      TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1
+  }
+  if (pin == 9 || pin == 10 )
+      TCCR1B = ((TCCR1B & 0b11111000) | 0x01);     // set prescaler to 1
+  if (pin == 3 || pin == 11) 
+      TCCR2B = ((TCCR2B & 0b11111000) | 0x01);// set prescaler to 1
+  
+#endif
+}
+
+
+// function setting the high pwm frequency to the supplied pins
+// - hardware speciffic
+// supports Arudino/ATmega328, STM32 and ESP32 
+void _setPwmFrequency(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) {
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) // if arduino uno and other ATmega328p chips
+   //  High PWM frequency
+   // - always max 32kHz
+  _pinHighFrequency(pinA);
+  _pinHighFrequency(pinB);
+  _pinHighFrequency(pinC);
+  if(pinD != NOT_SET) _pinHighFrequency(pinD); // stepper motor
+#endif
+}
+
+// function setting the pwm duty cycle to the hardware
+//- hardware speciffic
+//
+// Arduino and STM32 devices use analogWrite()
+// ESP32 uses MCPWM
+void _writeDutyCycle(float dc_a,  float dc_b, float dc_c, int pinA, int pinB, int pinC){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pinA, 255.0*dc_a);
+  analogWrite(pinB, 255.0*dc_b);
+  analogWrite(pinC, 255.0*dc_c);
+}
+
+// function setting the pwm duty cycle to the hardware
+//- hardware speciffic
+//
+// Arduino and STM32 devices use analogWrite()
+// ESP32 uses MCPWM
+void _writeDutyCycle(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, int pin1A, int pin1B, int pin2A, int pin2B){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pin1A, 255.0*dc_1a);
+  analogWrite(pin1B, 255.0*dc_1b);
+  analogWrite(pin2A, 255.0*dc_2a);
+  analogWrite(pin2B, 255.0*dc_2b);
+}
+
+
+// function buffering delay() 
+// arduino uno function doesn't work well with interrupts
+void _delay(unsigned long ms){
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
+  // if arduino uno and other atmega328p chips
+  // use while instad of delay, 
+  // due to wrong measurement based on changed timer0
+  unsigned long t = _micros() + ms*1000;
+  while( _micros() < t ){}; 
+#else
+  // regular micros
+  delay(ms);
+#endif
+}
+
+
+// function buffering _micros() 
+// arduino function doesn't work well with interrupts
+unsigned long _micros(){
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
+// if arduino uno and other atmega328p chips
+    //return the value based on the prescaler
+    if((TCCR0B & 0b00000111) == 0x01) return (micros()/32);
+    else return (micros());
+#else
+  // regular micros
+  return micros();
+#endif
+}
+
+#endif
diff --git a/src/common/hardware_utils/arm_specific.cpp b/src/common/hardware_utils/arm_specific.cpp
@@ -0,0 +1,66 @@
+#include "../hardware_utils.h" 
+
+#if defined(__arm__) && defined(CORE_TEENSY)
+
+//  configure High PWM frequency
+void _setHighFrequency(const long freq, const int pin){
+  analogWrite(pin, 0);
+  analogWriteFrequency(pin, freq); 
+}
+
+
+// function setting the high pwm frequency to the supplied pins
+// - hardware speciffic
+// supports Arudino/ATmega328, STM32 and ESP32 
+void _setPwmFrequency(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) {
+  if(pwm_frequency == NOT_SET) pwm_frequency = 50000; // default frequency 50khz
+  else pwm_frequency = constrain(pwm_frequency, 0, 50000); // constrain to 50kHz max
+  _setHighFrequency(pwm_frequency, pinA);
+  _setHighFrequency(pwm_frequency, pinB);
+  _setHighFrequency(pwm_frequency, pinC);
+  if(pinD != NOT_SET) _setHighFrequency(pwm_frequency, pinD); // stepper motor
+}
+
+// function setting the pwm duty cycle to the hardware
+//- hardware speciffic
+//
+// Arduino and STM32 devices use analogWrite()
+// ESP32 uses MCPWM
+void _writeDutyCycle(float dc_a,  float dc_b, float dc_c, int pinA, int pinB, int pinC){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pinA, 255.0*dc_a);
+  analogWrite(pinB, 255.0*dc_b);
+  analogWrite(pinC, 255.0*dc_c);
+}
+
+// function setting the pwm duty cycle to the hardware
+//- hardware speciffic
+//
+// Arduino and STM32 devices use analogWrite()
+// ESP32 uses MCPWM
+void _writeDutyCycle(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, int pin1A, int pin1B, int pin2A, int pin2B){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pin1A, 255.0*dc_1a);
+  analogWrite(pin1B, 255.0*dc_1b);
+  analogWrite(pin2A, 255.0*dc_2a);
+  analogWrite(pin2B, 255.0*dc_2b);
+}
+
+
+// function buffering delay() 
+// arduino uno function doesn't work well with interrupts
+void _delay(unsigned long ms){
+  // regular micros
+  delay(ms);
+}
+
+
+// function buffering _micros() 
+// arduino function doesn't work well with interrupts
+unsigned long _micros(){
+  // regular micros
+  return micros();
+}
+
+
+#endif
diff --git a/src/common/hardware_utils/esp32_specific.cpp b/src/common/hardware_utils/esp32_specific.cpp
diff --git a/src/common/hardware_utils/stm32_specific.cpp b/src/common/hardware_utils/stm32_specific.cpp
diff --git a/src/common/interfaces/FOCMotor.cpp b/src/common/interfaces/FOCMotor.cpp
diff --git a/src/common/interfaces/FOCMotor.h b/src/common/interfaces/FOCMotor.h
diff --git a/src/common/interfaces/Sensor.h b/src/common/interfaces/Sensor.h

-Original file line number
+Diff line change
@@ @@ -1,7 +1,7 @@ @@
 name=Simple FOC
 -version=1.6.1
 -author=Antun Skuric <[email protected]>
 -maintainer=Antun Skuric <[email protected]>
 +version=1.7.0
 +author=Simplefoc <[email protected]>
 +maintainer=Simplefoc <[email protected]>
 sentence=A library demistifying FOC for BLDC motors
 paragraph=Simple library intended for hobby comunity to run the BLDC and Stepper motor using FOC algorithm. It is intended to support as many BLDC/Stepper motor+sensor+driver combinations as possible and in the same time maintain simplicity of usage. Library supports Arudino devices such as Arduino UNO, MEGA, NANO and similar, stm32 boards such as Nucleo and Bluepill, ESP32 and Teensy boards.
 category=Device Control