FEAT 1.6.0 final checks and compile tests

Author: askuric

src/Encoder.h

@@ -5,7 +5,6 @@
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
 #include "common/Sensor.h"
-#include "common/sensor_utils.h"
 
 
 /**

src/HallSensor.h

@@ -5,7 +5,6 @@
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
 #include "common/Sensor.h"
-#include "common/sensor_utils.h"
 
 
 class HallSensor: public Sensor{

src/MagneticSensorAnalog.h

@@ -5,7 +5,6 @@
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
 #include "common/Sensor.h"
-#include "common/sensor_utils.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.

src/MagneticSensorI2C.cpp

@@ -1,5 +1,24 @@
 #include "MagneticSensorI2C.h"
 
+/** Typical configuration for the 12bit AMS AS5600 magnetic sensor over I2C interface */
+MagneticSensorI2CConfig_s AS5600_I2C = {
+  .chip_address = 0x36,
+  .clock_speed = 1000000,
+  .bit_resolution = 12,
+  .angle_register = 0x0E,
+  .data_start_bit = 11
+};
+
+/** Typical configuration for the 12bit AMS AS5048 magnetic sensor over I2C interface */
+MagneticSensorI2CConfig_s AS5048_I2C = {
+  .chip_address = 0x40,  // highly configurable.  if A1 and A2 are held low, this is probable value
+  .clock_speed = 1000000,
+  .bit_resolution = 14,
+  .angle_register = 0xFE,
+  .data_start_bit = 15
+};
+
+
 // MagneticSensorI2C(uint8_t _chip_address, float _cpr, uint8_t _angle_register_msb)
 //  @param _chip_address  I2C chip address
 //  @param _bit_resolution  bit resolution of the sensor  

src/MagneticSensorI2C.h

@@ -6,8 +6,16 @@
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
 #include "common/Sensor.h"
-#include "common/sensor_utils.h"
 
+struct MagneticSensorI2CConfig_s  {
+  int chip_address;
+  long clock_speed;
+  int bit_resolution;
+  int angle_register;
+  int data_start_bit; 
+};
+// some predefined structures
+extern MagneticSensorI2CConfig_s AS5600_I2C,AS5048_I2C;
 
 class MagneticSensorI2C: public Sensor{
  public:

src/MagneticSensorSPI.cpp

@@ -1,5 +1,28 @@
 #include "MagneticSensorSPI.h"
 
+/** Typical configuration for the 14bit AMS AS5147 magnetic sensor over SPI interface */
+MagneticSensorSPIConfig_s AS5147_SPI = {
+  .spi_mode = SPI_MODE1,
+  .clock_speed = 1000000,
+  .bit_resolution = 14,
+  .angle_register = 0xCFFF,
+  .data_start_bit = 13, 
+  .command_rw_bit = 14,
+  .command_parity_bit = 15
+};
+
+/** Typical configuration for the 14bit MonolithicPower MA730 magnetic sensor over SPI interface */
+MagneticSensorSPIConfig_s MA730_SPI = {
+  .spi_mode = SPI_MODE0,
+  .clock_speed = 1000000,
+  .bit_resolution = 14,
+  .angle_register = 0x0000,
+  .data_start_bit = 15, 
+  .command_rw_bit = 0,  // not required
+  .command_parity_bit = 0 // parity not implemented
+};
+
+
 // MagneticSensorSPI(int cs, float _bit_resolution, int _angle_register)
 //  cs              - SPI chip select pin 
 //  _bit_resolution   sensor resolution bit number

src/MagneticSensorSPI.h

@@ -6,10 +6,21 @@
 #include "common/foc_utils.h"
 #include "common/hardware_utils.h"
 #include "common/Sensor.h"
-#include "common/sensor_utils.h"
 
 #define DEF_ANGLE_REGISTAR 0x3FFF
 
+struct MagneticSensorSPIConfig_s  {
+  int spi_mode;
+  long clock_speed;
+  int bit_resolution;
+  int angle_register;
+  int data_start_bit;
+  int command_rw_bit;
+  int command_parity_bit;
+};
+// typical configuration structures
+extern MagneticSensorSPIConfig_s AS5147_SPI, MA730_SPI;
+
 class MagneticSensorSPI: public Sensor{
  public:
     /**

src/SimpleFOC.h

@@ -87,7 +87,7 @@ void loop() {
 #define SIMPLEFOC_H
 
 #include "BLDCMotor.h"
-#include "SepperMotor.h"
+#include "StepperMotor.h"
 #include "Encoder.h"
 #include "MagneticSensorSPI.h"
 #include "MagneticSensorI2C.h"

src/common/hardware_utils.cpp

@@ -59,7 +59,7 @@ void _setPwmFrequency(const int pinA, const int pinB, const int pinC, const int
     analogWrite(pinD, 0);
     analogWriteFrequency(50000);  // set 50kHz
     analogWriteResolution(12); // resolution 12 bit 0 - 4096
-
+  }
 #elif defined(__arm__) && defined(CORE_TEENSY) //if teensy 3x / 4x / LC boards
   analogWrite(pinA, 0);
   analogWriteFrequency(pinA, 50000);  // set 50kHz
@@ -70,7 +70,7 @@ void _setPwmFrequency(const int pinA, const int pinB, const int pinC, const int
   if(pinD) {
     analogWrite(pinD, 0);
     analogWriteFrequency(50000);  // set 50kHz
-
+  }
 #elif defined(ESP_H) // if esp32 boards
 
   motor_slots_t m_slot = {};