Merge branch 'dev' into runger1101001-dev

Author: askuric

.github/workflows/ccpp.yml

@@ -21,7 +21,7 @@ jobs:
           - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
             sketch-names: '**.ino'
             required-libraries: PciManager
-            sketches-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol, nano33IoT_velocity_control, smartstepper_control
+            sketches-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol, nano33IoT_velocity_control, smartstepper_control,esp32_current_control_low_side, stm32_spi_alt_example, esp32_spi_alt_example, B_G431B_ESC1_position_control
 
           - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
             sketch-names: single_full_control_example.ino
@@ -38,15 +38,15 @@ jobs:
 
           - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
             platform-url: https://dl.espressif.com/dl/package_esp32_index.json
-            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino
+            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino
 
           - arduino-boards-fqbn: STM32:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
-            sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, magnetic_sensor_spi_alt_example.ino
+            sketch-names: bluepill_position_control.ino, stm32_i2c_dual_bus_example.ino, stm32_spi_alt_example.ino
 
           - arduino-boards-fqbn: STM32:stm32:Nucleo_64:pnum=NUCLEO_F411RE # one full example
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/master/STM32/package_stm_index.json 
-            sketch-names: single_full_control_example.ino
+            sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino
 
 
 

README.md

@@ -16,24 +16,32 @@ Therefore this is an attempt to:
    - ***NEW*** 📢: *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
-##### <b> Release notes be:</b> <i>Simple<b>FOC</b>library</i> v2.1.1
-> - bugfixes commander
-> - bugfix `voltage_limit` when provided `phase_resistance`
-> - bugfix `hall_sensor` examples 
-> - added examples fot the PowerShield
-> - added initial support for `MagneticSensorPWM`
-> - SAMD51 support 
-> - **initial support for Raspberry pi Pico**
-> - added examples to find the raw max and min of the analog and pwm sensor
-> - extension of the `Commander` interface
->   - added pwm centering option `WC`
->   - added pwm modulation cmd `WT`
-> - improved esp32 implementation to avoid the need for mcpwm.h changes by @tschundler 
-> - issue #62: motor.shaft_angle setting in the motor.initFOC() 
-> - issue #76: esp32 division by zero  
-> - issue #46: commander end of line character - by @maxlem
-> - [community fix](https://community.simplefoc.com/t/as5600-dead-spot-around-0/208) AS5600 register value
-> - renamed `Pullup::EXTERN` and `Pullup::INTERN` to `Pullup::USE_EXTERN` and `Pullup::USE_INTERN`
+
+<blockquote class="info">
+   <p class="heading">NEW RELEASE 📢: <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2 - <a href="https://github.com/simplefoc/Arduino-FOC/releases/tag/v2.2">see release</a></p>
+   <ul>
+   <li>Sensor floating point error bugfix (initial solution) #83, #37</li>
+   <li>Sensor class restructuring - <b>slight API change</b> - <a href="https://docs.simplefoc.com/sensors">docs</a></li>
+   <li>Restructured the generic code and simplified adding new mcus: <b>IMPORTANT: an additional compiler flag needed for PlatformIO</b> see <a href="https://github.com/simplefoc/Arduino-FOC/issues/99">issue</a> and <a href="https://docs.simplefoc.com/library_platformio">PlatformIO docs</a></li>
+   <li>Removed initial jump #110, #111</li>
+   <li>Double to float transformation of the code - performance increase by <a href="https://github.com/sDessens">@sDessens</a> (#100), <a href="https://github.com/KaSroka">@KaSroka</a> (#100)  </li>
+   <li> <a href="https://docs.simplefoc.com/docs_chinese"><b>Docs webiste translated to Chinese!</b></a> 🎉: Awesome work 😃 by <a href="https://github.com/MINQING1101">@MINQING1101</a>, <a href="https://github.com/Deng-ge-open-source">@Deng-ge-open-source</a> and <a href="https://github.com/mingggggggg">@mingggggggg</a></li>
+   <li>New MCU support - <a href="https://docs.simplefoc.com/microcontrollers">docs</a>
+      <ul>
+         <li>Support for arduino leonardo #108 </li>
+         <li>Initial support for portenta h7 board in collaboration with <img src="https://docs.simplefoc.com/extras/Images/arduino.png" height="15px"><a href="https://www.arduino.cc/">Arduino</a></li>
+         <li>Initial support for esp8266</li>
+      </ul>
+   </li>
+   <li>Low side current sensing initial support - <a href="https://docs.simplefoc.com/current_sense">docs</a>
+      <ul>
+         <li>Initial support for stm32 B_G431B_ESC1 by <a href="https://github.com/sDessens">@sDessens</a>: PR #73</li>
+         <li>Initial support for samd21 by <a href="https://github.com/maxlem">@maxlem</a>: PR #79</li>
+         <li>Initial support for esp32 by <a href="https://github.com/maxlem">@byDagor</a></li>
+      </ul> 
+   </li>
+   </ul>
+</blockquote>
 
 ## Arduino *SimpleFOClibrary* v2.1
 

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

@@ -0,0 +1,112 @@
+/** 
+ * B-G431B-ESC1 position motion control example with encoder
+ *
+ */
+#include <SimpleFOC.h>
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver6PWM driver = BLDCDriver6PWM(PHASE_UH, PHASE_UL, PHASE_VH, PHASE_VL, PHASE_WH, PHASE_WL);
+LowsideCurrentSense currentSense = LowsideCurrentSense(0.003, -64.0/7.0, OP1_OUT, OP2_OUT, OP3_OUT);
+
+
+// encoder instance
+Encoder encoder = Encoder(HALL2, HALL3, 2048, HALL1);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+void doIndex(){encoder.handleIndex();}
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+void setup() {
+  
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB); 
+
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+  
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // current sensing
+  currentSense.init();
+  // no need for aligning
+  currentSense.skip_align = true;
+  motor.linkCurrentSense(&currentSense);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration 
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+ 
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 4;
+
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+// angle set point variable
+float target_angle = 0;
+
+void loop() {
+  // main FOC algorithm function
+
+  // Motion control function
+  motor.move(target_angle);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+  
+  // user communication
+  command.run();
+}

examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h

@@ -0,0 +1 @@
+-DHAL_OPAMP_MODULE_ENABLED

examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -8,7 +8,7 @@
 // MOSI 9
 // SCK 14
 // magnetic sensor instance - SPI
-MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 15);
 
 // I2C Magnetic sensor instance (AS5600 example)
 // make sure to use the pull-ups!!

examples/hardware_specific_examples/SimpleFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino

@@ -16,7 +16,8 @@ InlineCurrentSense current_sense = InlineCurrentSense(0.001, 50.0, A0, A1);
 
 // commander communication instance
 Commander command = Commander(Serial);
-void doMotor(char* cmd){ command.motor(&motor, cmd); }
+// void doMotor(char* cmd){ command.motor(&motor, cmd); }
+void doTarget(char* cmd){ command.scalar(&motor.target, cmd); }
 
 void setup() {
 
@@ -74,10 +75,11 @@ void setup() {
   motor.target = 0;
 
   // subscribe motor to the commander
-  command.add('M', doMotor, "motor");
+  // command.add('M', doMotor, "motor");
+  command.add('T', doTarget, "target");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
-  Serial.println(F("Motor commands sketch | Initial motion control > torque/current : target 0Amps."));
+  Serial.println("Motor ready.");
 
   _delay(1000);
 }

examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino

@@ -32,8 +32,10 @@ InlineCurrentSense current_sense2 = InlineCurrentSense(0.01, 50.0, A1, A3);
 
 // commander communication instance
 Commander command = Commander(Serial);
-void doMotor1(char* cmd){ command.motor(&motor1, cmd); }
-void doMotor2(char* cmd){ command.motor(&motor2, cmd); }
+// void doMotor1(char* cmd){ command.motor(&motor1, cmd); }
+// void doMotor2(char* cmd){ command.motor(&motor2, cmd); }
+void doTarget1(char* cmd){ command.scalar(&motor1.target, cmd); }
+void doTarget2(char* cmd){ command.scalar(&motor2.target, cmd); }
 
 void setup() {
 
@@ -111,11 +113,13 @@ void setup() {
   motor2.target = 2;
 
   // subscribe motor to the commander
-  command.add('A', doMotor1, "motor 1");
-  command.add('B', doMotor2, "motor 2");
+  // command.add('A', doMotor1, "motor 1");
+  // command.add('B', doMotor2, "motor 2");
+  command.add('A', doTarget1, "target 1");
+  command.add('B', doTarget2, "target 2");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
-  Serial.println(F("Double motor sketch ready."));
+  Serial.println("Motors ready.");
 
   _delay(1000);
 }

examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino

@@ -17,7 +17,8 @@ InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, A0, A2);
 
 // commander communication instance
 Commander command = Commander(Serial);
-void doMotor(char* cmd){ command.motor(&motor, cmd); }
+void doTarget(char* cmd){ command.scalar(&motor.target, cmd); }
+// void doMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
@@ -73,10 +74,11 @@ void setup() {
   motor.target = 2;
 
   // subscribe motor to the commander
-  command.add('M', doMotor, "motor");
-
+  command.add('T', doTarget, "target");
+  // command.add('M', doMotor, "motor");
+  
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
-  Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
+  Serial.println("Motor ready.");
 
   _delay(1000);
 }

examples/utils/calibration/alignment_and_cogging_test/alignment_and_cogging_test.ino

@@ -21,6 +21,7 @@ void testAlignmentAndCogging(int direction) {
   motor.move(0);
   _delay(200);
 
+  sensor.update();
   float initialAngle = sensor.getAngle();
 
   const int shaft_rotation = 720; // 720 deg test - useful to see repeating cog pattern
@@ -40,6 +41,7 @@ void testAlignmentAndCogging(int direction) {
     _delay(5);
 
     // measure
+    sensor.update();
     float sensorAngle = (sensor.getAngle() - initialAngle) * 180 / PI;
     float sensorElectricAngle = sensorAngle * motor.pole_pairs;
     float electricAngleError = electricAngle - sensorElectricAngle;

examples/utils/calibration/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino

@@ -64,6 +64,7 @@ void setup() {
   motor.move(0);
   _delay(1000);
   // read the encoder angle
+  encoder.update(); 
   float angle_begin = encoder.getAngle();
   _delay(50);
 
@@ -75,6 +76,7 @@ void setup() {
   }
   _delay(1000);
   // read the encoder value for 180
+  encoder.update(); 
   float angle_end = encoder.getAngle();
   _delay(50);
   // turn off the motor