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askuricaskuric
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FEAT added stepper with 2pwm and esp32 refactoring
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12 files changed

+390
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12 files changed

+390
-29
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‎examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino‎

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// Stepper driver standalone example
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#include <SimpleFOC.h>
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// Stepper driver instance
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// StepperDriver2PWM(pwm1, in1a, in1b, pwm2, in2a, in2b, (en1, en2 optional))
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StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 10 , 9 , 8 , 11, 12);
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void setup() {
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// pwm frequency to be used [Hz]
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// for atmega328 fixed to 32kHz
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// esp32/stm32/teensy configurable
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driver.pwm_frequency = 30000;
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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// Max DC voltage allowed - default voltage_power_supply
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driver.voltage_limit = 12;
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// driver init
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driver.init();
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// enable driver
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driver.enable();
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_delay(1000);
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}
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void loop() {
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// setting pwm
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// phase A: 3V
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// phase B: 6V
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driver.setPwm(3,6);
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}

‎examples/utils/driver_standalone_test/stepper_driver_4pwm_standalone/stepper_driver_4pwm_standalone.ino‎

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@@ -3,14 +3,15 @@
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// Stepper driver instance
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// StepperDriver4PWM(ph1A, ph1B, ph2A, ph2B, (en1, en2 optional))
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StepperDriver4PWM driver = StepperDriver4PWM(5, 6, 9,10, 7, 8);
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void setup() {
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// pwm frequency to be used [Hz]
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// for atmega328 fixed to 32kHz
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// esp32/stm32/teensy configurable
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driver.pwm_frequency = 50000;
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driver.pwm_frequency = 30000;
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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// Max DC voltage allowed - default voltage_power_supply

‎keywords.txt‎

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@@ -12,6 +12,7 @@ BLDCDriver3PWM KEYWORD1
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BLDCDriver6PWM KEYWORD1
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BLDCDriver KEYWORD1
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StepperDriver4PWM KEYWORD1
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StepperDriver2PWM KEYWORD1
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StepperDriver KEYWORD1
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initFOC KEYWORD2

‎src/SimpleFOC.h‎

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@@ -106,5 +106,6 @@ void loop() {
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#include "drivers/BLDCDriver3PWM.h"
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#include "drivers/BLDCDriver6PWM.h"
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#include "drivers/StepperDriver4PWM.h"
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#include "drivers/StepperDriver2PWM.h"
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#endif

‎src/StepperMotor.cpp‎

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@@ -246,7 +246,7 @@ void StepperMotor::velocityOpenloop(float target_velocity){
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// calculate the necessary angle to achieve target velocity
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shaft_angle += target_velocity*Ts;
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// set the maximal allowed voltage (voltage_limit) with the necessary angle
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setPhaseVoltage(voltage_limit, 0, _electricalAngle(shaft_angle,pole_pairs));
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‎src/drivers/StepperDriver2PWM.cpp‎

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#include "StepperDriver2PWM.h"
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StepperDriver2PWM::StepperDriver2PWM(int ph1PWM, int ph1INA, int ph1INB, int ph2PWM, int ph2INA, int ph2INB, int en1, int en2){
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// Pin initialization
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pwm1 = ph1PWM; //!< phase 1 pwm pin number
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ina1 = ph1INA; //!< phase 1 INA pin number
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inb1 = ph1INB; //!< phase 1 INB pin number
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pwm2 = ph2PWM; //!< phase 2 pwm pin number
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ina2 = ph2INA; //!< phase 2 INA pin number
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inb2 = ph2INB; //!< phase 2 INB pin number
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// enable_pin pin
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enable_pin1 = en1;
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enable_pin2 = en2;
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// default power-supply value
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voltage_power_supply = DEF_POWER_SUPPLY;
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voltage_limit = NOT_SET;
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}
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// enable motor driver
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void StepperDriver2PWM::enable(){
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// enable_pin the driver - if enable_pin pin available
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if ( enable_pin1 != NOT_SET ) digitalWrite(enable_pin1, HIGH);
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if ( enable_pin2 != NOT_SET ) digitalWrite(enable_pin2, HIGH);
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// set zero to PWM
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setPwm(0,0);
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}
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// disable motor driver
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void StepperDriver2PWM::disable()
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{
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// set zero to PWM
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setPwm(0, 0);
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// disable the driver - if enable_pin pin available
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if ( enable_pin1 != NOT_SET ) digitalWrite(enable_pin1, LOW);
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if ( enable_pin2 != NOT_SET ) digitalWrite(enable_pin2, LOW);
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}
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// init hardware pins
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int StepperDriver2PWM::init() {
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// PWM pins
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pinMode(pwm1, OUTPUT);
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pinMode(pwm2, OUTPUT);
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pinMode(ina1, OUTPUT);
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pinMode(ina2, OUTPUT);
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pinMode(inb1, OUTPUT);
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pinMode(inb2, OUTPUT);
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if(enable_pin1 != NOT_SET) pinMode(enable_pin1, OUTPUT);
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if(enable_pin2 != NOT_SET) pinMode(enable_pin2, OUTPUT);
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// sanity check for the voltage limit configuration
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if(voltage_limit == NOT_SET || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply;
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// Set the pwm frequency to the pins
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// hardware specific function - depending on driver and mcu
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_configure2PWM(pwm_frequency, pwm1, pwm2);
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return 0;
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}
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// Set voltage to the pwm pin
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void StepperDriver2PWM::setPwm(float Ualpha, float Ubeta) {
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float duty_cycle1(0.0),duty_cycle2(0.0);
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// limit the voltage in driver
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Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
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Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit);
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// hardware specific writing
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duty_cycle1 = _constrain(abs(Ualpha)/voltage_power_supply,0.0,1.0);
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duty_cycle2 = _constrain(abs(Ubeta)/voltage_power_supply,0.0,1.0);
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// set direction
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if( Ualpha > 0 ){
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digitalWrite(inb1, LOW);
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digitalWrite(ina1, HIGH);
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}
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else{
81+
digitalWrite(ina1, LOW);
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digitalWrite(inb1, HIGH);
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}
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if( Ubeta > 0 ){
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digitalWrite(ina2, LOW);
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digitalWrite(inb2, HIGH);
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}
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else{
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digitalWrite(inb2, LOW);
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digitalWrite(ina2, HIGH);
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}
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// write to hardware
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_writeDutyCycle2PWM(duty_cycle1, duty_cycle2, pwm1, pwm2);
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}

‎src/drivers/StepperDriver2PWM.h‎

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#ifndef STEPPER_DRIVER_2PWM_h
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#define STEPPER_DRIVER_2PWM_h
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#include "../common/base_classes/StepperDriver.h"
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#include "../common/foc_utils.h"
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#include "../common/time_utils.h"
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#include "../common/defaults.h"
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#include "hardware_api.h"
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/**
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2 pwm stepper driver class
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*/
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class StepperDriver2PWM: public StepperDriver
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{
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public:
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/**
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StepperMotor class constructor
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@param ph1PWM PWM1 phase pwm pin
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@param ph1INA IN1A phase dir pin
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@param ph1INB IN1B phase dir pin
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@param ph2PWM PWM2 phase pwm pin
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@param ph2INA IN2A phase dir pin
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@param ph2INB IN2B phase dir pin
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@param en1 enable pin phase 1 (optional input)
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@param en2 enable pin phase 2 (optional input)
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*/
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StepperDriver2PWM(int ph1PWM,int ph1INA,int ph1INB,int ph2PWM,int ph2INA,int ph2INB, int en1 = NOT_SET, int en2 = NOT_SET);
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/** Motor hardware init function */
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int init() override;
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/** Motor disable function */
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void disable() override;
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/** Motor enable function */
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void enable() override;
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// hardware variables
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int pwm1; //!< phase 1 pwm pin number
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int ina1; //!< phase 1 INA pin number
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int inb1; //!< phase 1 INB pin number
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int pwm2; //!< phase 2 pwm pin number
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int ina2; //!< phase 2 INA pin number
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int inb2; //!< phase 2 INB pin number
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int enable_pin1; //!< enable pin number phase 1
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int enable_pin2; //!< enable pin number phase 2
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/**
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* Set phase voltages to the harware
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*
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* @param Ua phase A voltage
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* @param Ub phase B voltage
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*/
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void setPwm(float Ua, float Ub) override;
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private:
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};
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#endif

‎src/drivers/hardware_api.h‎

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@@ -4,6 +4,17 @@
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#include "../common/foc_utils.h"
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#include "../common/time_utils.h"
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/**
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* Configuring PWM frequency, resolution and alignment
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* - Stepper driver - 2PWM setting
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* - hardware specific
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*
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* @param pwm_frequency - frequency in hertz - if applicable
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* @param pinA pinA bldc driver
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* @param pinB pinB bldc driver
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*/
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void _configure2PWM(long pwm_frequency, const int pinA, const int pinB);
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718
/**
819
* Configuring PWM frequency, resolution and alignment
920
* - BLDC driver - 3PWM setting
@@ -47,6 +58,18 @@ void _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const
4758
*/
4859
int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l);
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61+
/**
62+
* Function setting the duty cycle to the pwm pin (ex. analogWrite())
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* - Stepper driver - 2PWM setting
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* - hardware specific
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*
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* @param dc_a duty cycle phase A [0, 1]
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* @param dc_b duty cycle phase B [0, 1]
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* @param pinA phase A hardware pin number
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* @param pinB phase B hardware pin number
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*/
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void _writeDutyCycle2PWM(float dc_a, float dc_b, int pinA, int pinB);
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5073
/**
5174
* Function setting the duty cycle to the pwm pin (ex. analogWrite())
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* - BLDC driver - 3PWM setting

‎src/drivers/hardware_specific/atmega328_mcu.cpp‎

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@@ -17,6 +17,18 @@ void _pinHighFrequency(const int pin){
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}
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// function setting the high pwm frequency to the supplied pins
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// - Stepper motor - 2PWM setting
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// - hardware speciffic
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// supports Arudino/ATmega328
25+
void _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {
26+
// High PWM frequency
27+
// - always max 32kHz
28+
_pinHighFrequency(pinA);
29+
_pinHighFrequency(pinB);
30+
}
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2032
// function setting the high pwm frequency to the supplied pins
2133
// - BLDC motor - 3PWM setting
2234
// - hardware speciffic
@@ -29,6 +41,14 @@ void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int
2941
_pinHighFrequency(pinC);
3042
}
3143

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// function setting the pwm duty cycle to the hardware
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// - Stepper motor - 2PWM setting
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// - hardware speciffic
47+
void _writeDutyCycle2PWM(float dc_a, float dc_b, int pinA, int pinB){
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// transform duty cycle from [0,1] to [0,255]
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analogWrite(pinA, 255.0*dc_a);
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analogWrite(pinB, 255.0*dc_b);
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}
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// function setting the pwm duty cycle to the hardware
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// - BLDC motor - 3PWM setting

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