MERGE dev v2.0

Author: askuric

.github/workflows/ccpp.yml

@@ -11,4 +11,4 @@ jobs:
       uses: ArminJo/[email protected]
       with:
         libraries:  PciManager 
-        examples-exclude: bluepill_position_control, esp32_position_control
+        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example 

README.md

@@ -1,7 +1,7 @@
 # Arduino Simple Field Oriented Control (FOC) library 
 
 
-![Library Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Compile/badge.svg)
+![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 [![arduino-library-badge](https://www.ardu-badge.com/badge/Simple%20FOC.svg?)](https://www.ardu-badge.com/badge/Simple%20FOC.svg)
 
@@ -11,7 +11,39 @@ Therefore this is an attempt to:
 - Develop a modular BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
 - ***New 📢:** Develop a modular Stepper motor board for FOC control:* <b>Arduino <span class="simple">Stepper<span class="foc">FOC</span>Shield</span></b>
 
-<blockquote class="info"><p> <b>NEW RELEASE 📢:</b> <i>Simple<b>FOC</b>library v1.6.0</i><br></p><ul><li><strong>Stepper motor FOC support 🎨🎉 🎊 <a href="https://docs.simplefoc.com/motors">See in docs!</a></strong><ul><li>No losing steps</li><li>Backdrivable</li><li>Better dynamics than open-loop, Smoother than open-loop</li><li>short demo <a href="https://youtu.be/w_yIY0eXM5E">youtube video</a></li></ul></li><li>Teensy support by <em>Christopher Parrott</em> <br></li><li>Pull requests by <a href="https://github.com/cousinitt">@cousinitt</a><ul><li>refactoring and c++11 improvements</li><li>pid + low pass filter refactoring</li></ul></li><li>Extended configurability of the sensor classes by <a href="https://github.com/owennewo">@owennewo</a> <b><a href="https://docs.simplefoc.com/magnetic_sensor">See in docs!</a></b></li><li>configurable pwm frequency <b><a href="https://docs.simplefoc.com/motor_initialization#step-33-pwm-frequency-configuration-optional">See in docs!</a></b><ul><li>stm32,teensy,eps32 - not for Arduino</li><li>stm32 added 12bit pwm resolution by <em>Jürgen Frisch</em></li></ul></li><li>Huge refactoring done in the library 😄</li></ul></blockquote>
+<blockquote class="info"><p> <b>NEW RELEASE 📢:</b> <i>Simple<b>FOC</b>library v2.0</i><br></p><ul>
+<li><strong>6PWM support </strong>
+  <ul>
+    <li>Arduino UNO (atmega328)</li>
+    <li>stm32 boards</li>
+    <li>esp32 boards</li>
+  </ul>
+</li>
+<li>BLDC driver code separated 
+  <ul>
+    <li> BLDC: 6pwm and 3pwm</li>
+    <li> Stepper: 4pwm</li>
+    <li> Hardware specific code in separate files</li>
+    <li> PWM config</li>
+  </ul>
+</li>
+<li>I2C and SPI sensors multiple busses support by <a href="https://github.com/owennewo">@owennewo</a>
+</li>
+<li>Initial implementation of Block commutation by <a href="https://github.com/owennewo">@owennewo</a>
+  <ul>
+    <li> FOCModulationType::Trapezoid_120</li>
+    <li> FOCModulationType::Trapezoid_150 </li>
+  </ul>
+</li>
+<li>Added support for separate setting of <i>U<sub>d</sub></i> and <i>U<sub>q</sub></i> setting. 
+  <ul>
+    <li> Preparations for current control</li>
+    <li> Working only for SinePWM modulation at the moment </li>
+  </ul></li>
+<li>A lot of refactoring </li>
+</ul>
+<i>The library version v2.0 will be released once when it is properly tested and documented!</i>
+</blockquote>
 
 ## Arduino *SimpleFOCShield*
 
@@ -33,7 +65,7 @@ Therefore this is an attempt to:
 - **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
 - **Open Source**: Fully available fabrication files - [how to make it yourself](https://www.simplefoc.com/arduino_simplefoc_shield_fabrication), 
 
-##### If you are interested in this board, order your version on this link: [Simple FOC Shop](https://www.simplefoc.com/simplefoc_shield_product)
+##### If you are interested in this board, order your version on this link: [Shop](https://www.simplefoc.com/simplefoc_shield_product)
 
 <p align=""><img src="https://docs.simplefoc.com/extras/Images/shield_to_v13.jpg" height="180px">   <img src="https://docs.simplefoc.com/extras/Images/shield_bo_v13.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
 
@@ -46,7 +78,7 @@ Therefore this is an attempt to:
 </a>
 </p>
 
-This video demonstrates the Simple FOC library basic usage, electronic connections and shows its capabilities.
+This video demonstrates the *Simple**FOC**library* basic usage, electronic connections and shows its capabilities.
 
 
 ### Features
@@ -72,46 +104,37 @@ This video demonstrates the Simple FOC library basic usage, electronic connectio
 Depending on if you want to use this library as the plug and play Arduino library or you want to get insight in the algorithm and make changes there are two ways to install this code.
 
 - Full library installation [Docs](https://docs.simplefoc.com/library_download)
-- Minimal code installation [Docs](https://docs.simplefoc.com/minimal_download)
+- Minimal project builder [Docs](https://docs.simplefoc.com/minimal_download)
 
-### Arduino SimpleFOC library installation to Arduino IDE
+### Arduino *SimpleFOClibrary* installation to Arduino IDE
 #### Arduino Library Manager 
 The simplest way to get hold of the library is directly by using Arduino IDE and its integrated Library Manager. 
 - Open Arduino IDE and start Arduino Library Manager by clicking: `Tools > Manage Libraries...`.
 - Search for `Simple FOC` library and install the latest version.
 - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`.
 
-### Using Github website 
-- Go to the [github repository](https://github.com/askuric/Arduino-FOC)
+#### Using Github website 
+- Go to the [github repository](https://github.com/simplefoc/Arduino-FOC)
 - Click first on `Clone or Download > Download ZIP`. 
 - Unzip it and place it in `Arduino Libraries` folder. Windows: `Documents > Arduino > libraries`.  
 - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`.
 
-### Using terminal
+#### Using terminal
 - Open terminal and run
 ```sh  
-cd *arduino libraries folder*
-git clone https://github.com/askuric/Arduino-FOC.git
+cd #Arduino libraries folder
+git clone https://github.com/simplefoc/Arduino-FOC.git
 ```
 - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`.
 
-###  SimpleFOC library minimal sketch example
+###  *SimpleFOClibrary* minimal project builder
 
-For those willing to experiment and to modify the code I suggest using the [minimal version](https://github.com/askuric/Arduino-FOC/tree/minimal) of the code. 
+For those willing to experiment and to modify the code I suggest using the minimal project builder [minimal branch](https://github.com/simplefoc/Arduino-FOC/tree/minimal). 
  > This code is completely independent and you can run it as any other Arduino Sketch without the need for any libraries. 
 
-#### Github website download
-- Go to [minimal branch](https://github.com/askuric/Arduino-FOC/tree/minimal) 
-- Download the code by clicking on the `Clone or Download > Download ZIP`.
-- Unzip it and open the sketch in Arduino IDE. 
-
-#### Using terminal
-- Open the terminal:
-  ```sh
-  cd *to you desired directory*
-  git clone -b minimal https://github.com/askuric/Arduino-FOC.git
-  ```
-- Then you just open it with the Arduino IDE and run it.
+All you need to do is:
+- Go to [minimal branch](https://github.com/simplefoc/Arduino-FOC/tree/minimal) 
+- Follow the tutorial in the README file and choose only the library files that are necessary for your application.
 
 ## Arduino code example
 This is a simple Arduino code example implementing the velocity control program of a BLDC motor with encoder. 
@@ -121,8 +144,10 @@ NOTE: This program uses all the default control parameters.
 ```cpp
 #include <SimpleFOC.h>
 
-//  BLDCMotor( pin_pwmA, pin_pwmB, pin_pwmC, pole_pairs, enable (optional))
-BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
+//  BLDCMotor( pole_pairs )
+BLDCMotor motor = BLDCMotor(11);
+//  BLDCDriver( pin_pwmA, pin_pwmB, pin_pwmC, enable (optional) )
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8);
 //  Encoder(pin_A, pin_B, CPR)
 Encoder encoder = Encoder(2, 3, 2048);
 // channel A and B callbacks
@@ -138,10 +163,12 @@ void setup() {
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
-  // use monitoring with the BLDCMotor
-  Serial.begin(115200);
-  // monitoring port
-  motor.useMonitoring(Serial);
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  // initialise driver hardware
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
 
   // set control loop type to be used
   motor.controller = ControlType::velocity;
@@ -159,31 +186,27 @@ void loop() {
   // velocity control loop function
   // setting the target velocity or 2rad/s
   motor.move(2);
-
-  // monitoring function outputting motor variables to the serial terminal 
-  motor.monitor();
 }
 ```
 You can find more details in the [SimpleFOC documentation](https://docs.simplefoc.com/).
 
 ## Example projects
-Here are some of the SimpleFOC application examples. 
-### Arduino Field Oriented Controlled Reaction Wheel Inverted Pendulum
-This is a very cool open-source project of one of the simplest setups of the Reaction wheel inverted pendulum. Check out all the components and projects notes in the [github repository](https://github.com/askuric/Arduino-FOC-reaction-wheel-inverted-pendulum).  
-<p align="">
+Here are some of the *Simple**FOC**library* and *Simple**FOC**Shield* application examples. 
+<p align="center">
 <a href="https://youtu.be/Ih-izQyXJCI">
-<img src="https://docs.simplefoc.com/extras/Images/youtube_pendulum.png"  height="320px">
+<img src="https://docs.simplefoc.com/extras/Images/youtube_pendulum.png"  height="200px" >
+</a>
+<a href="https://youtu.be/xTlv1rPEqv4">
+<img src="https://docs.simplefoc.com/extras/Images/youtube_haptic.png"  height="200px" >
+</a>
+<a href="https://youtu.be/RI4nNMF608I">
+<img src="https://docs.simplefoc.com/extras/Images/youtube_drv8302.png"  height="200px" >
+</a>
+<a href="https://youtu.be/zcb86TRxTxc">
+<img src="https://docs.simplefoc.com/extras/Images/youtube_stepper.png"  height="200px" >
 </a>
 </p>
 
-**The main benefits of using the BLDC motor in this project are:**
-- High torque to weight ratio
-  - The lighter the better
-- Lots of torque for low angular velocities
-  - No need to spin the motor to very high PRM to achieve high torques
-- No gearboxes and backlash
-  - Very smooth operation = very stable pendulum
-
 
 ## Documentation
 Find out more information about the Arduino SimpleFOC project in [docs website](https://docs.simplefoc.com/) 
@@ -192,6 +215,6 @@ Find out more information about the Arduino SimpleFOC project in [docs website](
 ## Arduino FOC repo structure
 Branch  | Description | Status
 ------------ | ------------- | ------------ 
-[master](https://github.com/askuric/Arduino-FOC) | Stable and tested library version | ![Library Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Compile/badge.svg)
-[dev](https://github.com/askuric/Arduino-FOC/tree/dev) | Development library version | ![Library Dev Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Dev%20Compile/badge.svg?branch=dev)
-[minimal](https://github.com/askuric/Arduino-FOC/tree/minimal) | Minimal Arduino example with integrated library | ![MinimalBuild](https://github.com/askuric/Arduino-FOC/workflows/MinimalBuild/badge.svg?branch=minimal)
+[master](https://github.com/simplefoc/Arduino-FOC) | Stable and tested library version | ![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg)
+[dev](https://github.com/simplefoc/Arduino-FOC/tree/dev) | Development library version | ![Library Dev Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Dev%20Compile/badge.svg?branch=dev)
+[minimal](https://github.com/simplefoc/Arduino-FOC/tree/minimal) | Minimal Arduino example with integrated library | ![MinimalBuild](https://github.com/simplefoc/Arduino-FOC/workflows/MinimalBuild/badge.svg?branch=minimal)

examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -7,8 +7,12 @@
  */
 #include <SimpleFOC.h>
 
-// motor instance
-BLDCMotor motor = BLDCMotor(PB6, PB7, PB8, 11, PB5);
+// Motor instance
+BLDCMotor motor = BLDCMotor(11);
+// BLDCDriver3PWM(IN1, IN2, IN3, enable(optional))
+BLDCDriver3PWM driver = BLDCDriver3PWM(PB6, PB7, PB8, PB5);
+// BLDCDriver6PWM(IN1_H, IN1_L, IN2_H, IN2_L, IN3_H, IN3_L, enable(optional))
+//BLDCDriver6PWM driver = BLDCDriver6PWM(PA8, PB13, PA9, PB14, PA10, PB15, PB12);
 
 // encoder instance
 Encoder encoder = Encoder(PA8, PA9, 8192, PA10);
@@ -24,12 +28,16 @@ void setup() {
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB, doI); 
-
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
+  // driver config
   // power supply voltage [V]
-  motor.voltage_power_supply = 12;
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
   // aligning voltage [V]
   motor.voltage_sensor_align = 3;
   // index search velocity [rad/s]

examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -20,7 +20,11 @@ MagneticSensorSPI sensor = MagneticSensorSPI(PA4, 14, 0x3FFF);
 //MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
 // Motor instance
-BLDCMotor motor = BLDCMotor(PA3, PA2, PA1, 11, PA0);
+BLDCMotor motor = BLDCMotor(11);
+// BLDCDriver3PWM(IN1, IN2, IN3, enable(optional))
+BLDCDriver3PWM driver = BLDCDriver3PWM(PB6, PB7, PB8, PB5);
+// BLDCDriver6PWM(IN1_H, IN1_L, IN2_H, IN2_L, IN3_H, IN3_L, enable(optional))
+//BLDCDriver6PWM driver = BLDCDriver6PWM(PA8, PB13, PA9, PB14, PA10, PB15, PB12);
 
 void setup() {
 
@@ -29,9 +33,12 @@ void setup() {
   // link the motor to the sensor
   motor.linkSensor(&sensor);
 
-  // power supply voltage
-  // default 12V
-  motor.voltage_power_supply = 12;
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
 
   // choose FOC modulation (optional)
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

examples/hardware_specific_examples/DRV8305_driver/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino renamed to examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino

@@ -18,13 +18,15 @@
 #define INH_A 9
 #define INH_B 10
 #define INH_C 11
+
 #define EN_GATE 7
 #define M_PWM A1 
 #define M_OC A2
 #define OC_ADJ A3
 
-// motor instance
-BLDCMotor motor = BLDCMotor(INH_A, INH_B, INH_C, 11, EN_GATE);
+// Motor instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE);
 
 // encoder instance
 Encoder encoder = Encoder(2, 3, 8192);
@@ -54,11 +56,17 @@ void setup() {
   pinMode(OC_ADJ,OUTPUT);
   digitalWrite(OC_ADJ,HIGH);
 
-  // choose FOC modulation
-  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
+  // driver config
   // power supply voltage [V]
-  motor.voltage_power_supply = 12;
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+
+  // choose FOC modulation
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
   // set control loop type to be used
   motor.controller = ControlType::voltage;