Merge pull request #393 from simplefoc/dev

v2.3.3

Author: askuric

README.md

@@ -25,20 +25,20 @@ Therefore this is an attempt to:
    - *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)
 
-> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.2
-> - Improved [space vector modulation code](https://github.com/simplefoc/Arduino-FOC/pull/309) thanks to [@Candas1](https://github.com/Candas1)
-> - Bugfix for stepper motor initialization
-> - Bugfix for current sensing when only 2 phase currents available - please re-check your current sense PID tuning
-> - Bugfix for teensy3.2 - [#321](https://github.com/simplefoc/Arduino-FOC/pull/321)
-> - Added teensy3/4 compile to the github CI using platformio
-> - Fix compile issues with recent versions of ESP32 framework
-> - Add ADC calibration on STM32 MCUs
-> - Bugfix for crash when using ADC2 on ESP32s - [thanks to @mcells](https://github.com/simplefoc/Arduino-FOC/pull/346)
-> - Bugfix for renesas PWM on UNO R4 WiFi - [thanks to @facchinm](https://github.com/simplefoc/Arduino-FOC/pull/322)
-> - And more bugfixes - see the complete list of 2.3.2 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/9?closed=1)
-
-
-## Arduino *SimpleFOClibrary* v2.3.2
+> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.3
+> - Teensy4 
+>   - support for low-side current sensing [#392](https://github.com/simplefoc/Arduino-FOC/pull/392)
+>   - support for center aligned 6pwm and 3pwm (optional) [#392](https://github.com/simplefoc/Arduino-FOC/pull/392)
+> - stm32 
+>   - support for center aligned pwm (even across multiple timers and motors/drivers) [#374](https://github.com/simplefoc/Arduino-FOC/pull/374), [#388](https://github.com/simplefoc/Arduino-FOC/pull/388)
+>   - support for DMA based low-side current sensing: [#383](https://github.com/simplefoc/Arduino-FOC/pull/383),[#378](https://github.com/simplefoc/Arduino-FOC/pull/378),
+> - KV rating calculation fix [#347](https://github.com/simplefoc/Arduino-FOC/pull/347)
+> - Much more performant Space Vector PWM calculation  [#340](https://github.com/simplefoc/Arduino-FOC/pull/340)
+> - And much more:
+>   - See the complete list of bugfixes and new features of v2.3.3 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/10?closed=1)
+
+
+## Arduino *SimpleFOClibrary* v2.3.3
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">

examples/utils/calibration/find_kv_rating/encoder/find_kv_rating/find_kv_rating.ino

@@ -36,7 +36,7 @@ Commander command = Commander(Serial);
 void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
 void calcKV(char* cmd) { 
   // calculate the KV
-  Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
+  Serial.println(motor.shaft_velocity/motor.target/_SQRT3*30.0f/_PI);
 
 }
 

examples/utils/calibration/find_kv_rating/hall_sensor/find_kv_rating/find_kv_rating.ino

@@ -33,7 +33,7 @@ Commander command = Commander(Serial);
 void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
 void calcKV(char* cmd) { 
   // calculate the KV
-  Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
+  Serial.println(motor.shaft_velocity/motor.target/_SQRT3*30.0f/_PI);
 
 }
 

examples/utils/calibration/find_kv_rating/magnetic_sensor/find_kv_rating/find_kv_rating.ino

@@ -31,7 +31,7 @@ Commander command = Commander(Serial);
 void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
 void calcKV(char* cmd) { 
   // calculate the KV
-  Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
+  Serial.println(motor.shaft_velocity/motor.target/_SQRT3*30.0f/_PI);
 
 }
 

library.json

@@ -0,0 +1,5 @@
+{
+    "build": {
+      "libArchive": false
+    }
+}

library.properties

@@ -1,5 +1,5 @@
 name=Simple FOC
-version=2.3.2
+version=2.3.3
 author=Simplefoc <[email protected]>
 maintainer=Simplefoc <[email protected]>
 sentence=A library demistifying FOC for BLDC motors

src/BLDCMotor.cpp

@@ -46,7 +46,7 @@ BLDCMotor::BLDCMotor(int pp, float _R, float _KV, float _inductance)
   // 1/sqrt(2) - rms value
   KV_rating = NOT_SET;
   if (_isset(_KV))
-    KV_rating = _KV*_SQRT2;
+    KV_rating = _KV;
   // save phase inductance
   phase_inductance = _inductance;
 
@@ -111,6 +111,8 @@ void BLDCMotor::init() {
 // disable motor driver
 void BLDCMotor::disable()
 {
+  // disable the current sense
+  if(current_sense) current_sense->disable();
   // set zero to PWM
   driver->setPwm(0, 0, 0);
   // disable the driver
@@ -125,6 +127,13 @@ void BLDCMotor::enable()
   driver->enable();
   // set zero to PWM
   driver->setPwm(0, 0, 0);
+  // enable the current sense
+  if(current_sense) current_sense->enable();
+  // reset the pids
+  PID_velocity.reset();
+  P_angle.reset();
+  PID_current_q.reset();
+  PID_current_d.reset();
   // motor status update
   enabled = 1;
 }
@@ -142,32 +151,36 @@ int  BLDCMotor::initFOC() {
   // alignment necessary for encoders!
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
-  _delay(500);
   if(sensor){
     exit_flag *= alignSensor();
     // added the shaft_angle update
     sensor->update();
     shaft_angle = shaftAngle();
-  }else {
-    exit_flag = 0; // no FOC without sensor
-    SIMPLEFOC_DEBUG("MOT: No sensor.");
-  }
 
-  // aligning the current sensor - can be skipped
-  // checks if driver phases are the same as current sense phases
-  // and checks the direction of measuremnt.
-  _delay(500);
-  if(exit_flag){
-    if(current_sense){ 
-      if (!current_sense->initialized) {
-        motor_status = FOCMotorStatus::motor_calib_failed;
-        SIMPLEFOC_DEBUG("MOT: Init FOC error, current sense not initialized");
-        exit_flag = 0;
-      }else{
-        exit_flag *= alignCurrentSense();
+    // aligning the current sensor - can be skipped
+    // checks if driver phases are the same as current sense phases
+    // and checks the direction of measuremnt.
+    if(exit_flag){
+      if(current_sense){ 
+        if (!current_sense->initialized) {
+          motor_status = FOCMotorStatus::motor_calib_failed;
+          SIMPLEFOC_DEBUG("MOT: Init FOC error, current sense not initialized");
+          exit_flag = 0;
+        }else{
+          exit_flag *= alignCurrentSense();
+        }
       }
+      else { SIMPLEFOC_DEBUG("MOT: No current sense."); }
+    }
+
+  } else {
+    SIMPLEFOC_DEBUG("MOT: No sensor.");
+    if ((controller == MotionControlType::angle_openloop || controller == MotionControlType::velocity_openloop)){
+      exit_flag = 1;    
+      SIMPLEFOC_DEBUG("MOT: Openloop only!");
+    }else{
+      exit_flag = 0; // no FOC without sensor
     }
-    else { SIMPLEFOC_DEBUG("MOT: No current sense."); }
   }
 
   if(exit_flag){
@@ -212,14 +225,18 @@ int BLDCMotor::alignSensor() {
   // stop init if not found index
   if(!exit_flag) return exit_flag;
 
+  // v2.3.3 fix for R_AVR_7_PCREL against symbol" bug for AVR boards
+  // TODO figure out why this works
+  float voltage_align = voltage_sensor_align;
+
   // if unknown natural direction
   if(sensor_direction==Direction::UNKNOWN){
 
     // find natural direction
     // move one electrical revolution forward
     for (int i = 0; i <=500; i++ ) {
       float angle = _3PI_2 + _2PI * i / 500.0f;
-      setPhaseVoltage(voltage_sensor_align, 0,  angle);
+      setPhaseVoltage(voltage_align, 0,  angle);
 	    sensor->update();
       _delay(2);
     }
@@ -229,13 +246,13 @@ int BLDCMotor::alignSensor() {
     // move one electrical revolution backwards
     for (int i = 500; i >=0; i-- ) {
       float angle = _3PI_2 + _2PI * i / 500.0f ;
-      setPhaseVoltage(voltage_sensor_align, 0,  angle);
+      setPhaseVoltage(voltage_align, 0,  angle);
 	    sensor->update();
       _delay(2);
     }
     sensor->update();
     float end_angle = sensor->getAngle();
-    setPhaseVoltage(0, 0, 0);
+    // setPhaseVoltage(0, 0, 0);
     _delay(200);
     // determine the direction the sensor moved
     float moved =  fabs(mid_angle - end_angle);
@@ -250,7 +267,8 @@ int BLDCMotor::alignSensor() {
       sensor_direction = Direction::CW;
     }
     // check pole pair number
-    if( fabs(moved*pole_pairs - _2PI) > 0.5f ) { // 0.5f is arbitrary number it can be lower or higher!
+    pp_check_result = !(fabs(moved*pole_pairs - _2PI) > 0.5f); // 0.5f is arbitrary number it can be lower or higher!
+    if( pp_check_result==false ) {
       SIMPLEFOC_DEBUG("MOT: PP check: fail - estimated pp: ", _2PI/moved);
     } else {
       SIMPLEFOC_DEBUG("MOT: PP check: OK!");
@@ -262,7 +280,7 @@ int BLDCMotor::alignSensor() {
   if(!_isset(zero_electric_angle)){
     // align the electrical phases of the motor and sensor
     // set angle -90(270 = 3PI/2) degrees
-    setPhaseVoltage(voltage_sensor_align, 0,  _3PI_2);
+    setPhaseVoltage(voltage_align, 0,  _3PI_2);
     _delay(700);
     // read the sensor
     sensor->update();
@@ -396,7 +414,7 @@ void BLDCMotor::move(float new_target) {
   if(_isset(new_target)) target = new_target;
 
   // calculate the back-emf voltage if KV_rating available U_bemf = vel*(1/KV)
-  if (_isset(KV_rating)) voltage_bemf = shaft_velocity/KV_rating/_RPM_TO_RADS;
+  if (_isset(KV_rating)) voltage_bemf = shaft_velocity/(KV_rating*_SQRT3)/_RPM_TO_RADS;
   // estimate the motor current if phase reistance available and current_sense not available
   if(!current_sense && _isset(phase_resistance)) current.q = (voltage.q - voltage_bemf)/phase_resistance;
 

src/BLDCMotor.h

@@ -69,8 +69,7 @@ class BLDCMotor: public FOCMotor
     void move(float target = NOT_SET) override;
 
     float Ua, Ub, Uc;//!< Current phase voltages Ua,Ub and Uc set to motor
-    float	Ualpha, Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
-
+    
   /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm

src/StepperMotor.cpp

@@ -16,7 +16,7 @@ StepperMotor::StepperMotor(int pp, float _R, float _KV, float _inductance)
   phase_resistance = _R;
   // save back emf constant KV = 1/K_bemf
   // usually used rms
-  KV_rating = _KV*_SQRT2;
+  KV_rating = _KV;
   // save phase inductance
   phase_inductance = _inductance;
 
@@ -114,7 +114,15 @@ int  StepperMotor::initFOC() {
     // added the shaft_angle update
     sensor->update();
     shaft_angle = sensor->getAngle();
-  } else { SIMPLEFOC_DEBUG("MOT: No sensor."); }
+  } else {
+    SIMPLEFOC_DEBUG("MOT: No sensor.");
+    if ((controller == MotionControlType::angle_openloop || controller == MotionControlType::velocity_openloop)){
+      exit_flag = 1;    
+      SIMPLEFOC_DEBUG("MOT: Openloop only!");
+    }else{
+      exit_flag = 0; // no FOC without sensor
+    }
+  }
 
   if(exit_flag){
     SIMPLEFOC_DEBUG("MOT: Ready.");
@@ -133,6 +141,10 @@ int StepperMotor::alignSensor() {
   int exit_flag = 1; //success
   SIMPLEFOC_DEBUG("MOT: Align sensor.");
 
+  // v2.3.3 fix for R_AVR_7_PCREL against symbol" bug for AVR boards
+  // TODO figure out why this works
+  float voltage_align = voltage_sensor_align;
+
   // if unknown natural direction
   if(sensor_direction == Direction::UNKNOWN){
     // check if sensor needs zero search
@@ -144,7 +156,7 @@ int StepperMotor::alignSensor() {
     // move one electrical revolution forward
     for (int i = 0; i <=500; i++ ) {
       float angle = _3PI_2 + _2PI * i / 500.0f;
-      setPhaseVoltage(voltage_sensor_align, 0,  angle);
+      setPhaseVoltage(voltage_align, 0,  angle);
 	    sensor->update();
       _delay(2);
     }
@@ -154,7 +166,7 @@ int StepperMotor::alignSensor() {
     // move one electrical revolution backwards
     for (int i = 500; i >=0; i-- ) {
       float angle = _3PI_2 + _2PI * i / 500.0f ;
-      setPhaseVoltage(voltage_sensor_align, 0,  angle);
+      setPhaseVoltage(voltage_align, 0,  angle);
 	    sensor->update();
       _delay(2);
     }
@@ -175,7 +187,8 @@ int StepperMotor::alignSensor() {
     }
     // check pole pair number
     float moved =  fabs(mid_angle - end_angle);
-    if( fabs(moved*pole_pairs - _2PI) > 0.5f ) { // 0.5f is arbitrary number it can be lower or higher!
+    pp_check_result = !(fabs(moved*pole_pairs - _2PI) > 0.5f);  // 0.5f is arbitrary number it can be lower or higher!
+    if( pp_check_result==false ) {
       SIMPLEFOC_DEBUG("MOT: PP check: fail - estimated pp: ", _2PI/moved);
     } else {
       SIMPLEFOC_DEBUG("MOT: PP check: OK!");
@@ -189,7 +202,7 @@ int StepperMotor::alignSensor() {
   if(!_isset(zero_electric_angle)){
     // align the electrical phases of the motor and sensor
     // set angle -90(270 = 3PI/2) degrees
-    setPhaseVoltage(voltage_sensor_align, 0,  _3PI_2);
+    setPhaseVoltage(voltage_align, 0,  _3PI_2);
     _delay(700);
     // read the sensor
     sensor->update();
@@ -292,7 +305,7 @@ void StepperMotor::move(float new_target) {
   if(_isset(new_target) ) target = new_target;
 
   // calculate the back-emf voltage if KV_rating available U_bemf = vel*(1/KV)
-  if (_isset(KV_rating)) voltage_bemf = shaft_velocity/KV_rating/_RPM_TO_RADS;
+  if (_isset(KV_rating)) voltage_bemf = shaft_velocity/(KV_rating*_SQRT3)/_RPM_TO_RADS;
   // estimate the motor current if phase reistance available and current_sense not available
   if(!current_sense && _isset(phase_resistance)) current.q = (voltage.q - voltage_bemf)/phase_resistance;
 

src/StepperMotor.h

@@ -73,8 +73,6 @@ class StepperMotor: public FOCMotor
      */
     void move(float target = NOT_SET) override;
 
-    float	Ualpha,Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
-
   /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm