merge dev -v 2.1

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, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, simplefoc_osc_esp32_3pwm
+        examples-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

README.md

@@ -11,16 +11,48 @@ Additionally, most of the efforts at this moment are still channeled towards the
 Therefore this is an attempt to: 
 - 🎯 Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase)
   - <i>Support as many <b>motor + sensor + driver + mcu</b> combinations out there</i>
-- 🎯 Develop a modular low-power BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
-
-> <b> RELEASE 📢:</b> <i>Simple<b>FOC</b>library v2.0.2
-> - Arduino MEGA 2560 support
-> - OSC example project by [@runger1101001](https://github.com/runger1101001) 
-> - floating point bug - open loop velocity by [@ATILIUS-REGULUS](https://github.com/ATILIUS-REGULUS) 
-
-
-## Arduino *SimpleFOCShield* v2.0.2
-
+- 🎯 Develop a modular FOC supporting BLDC driver boards:
+   - *Low-power* gimbal driver (<5Amps) :  [*Arduino Simple**FOC**Shield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
+   - ***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> NEW RELEASE 📢:</b> <i>Simple<b>FOC</b>library v2.1
+> - **Initial current sensing support**🎉
+>   - Inline current sensors 
+>   - adaptive zero finding and shunt direction
+> - **Implemented real torque control** 
+>   - using voltage
+>   - using current magnitude (one current)
+>   - using FOC currents ( d-q currents ) - real foc control
+> - SVPWM full implementation  d+q axis
+> - **Simplified sensor implementation**📢
+>    - For new sensor implementation only one function necessary `getAngle()`
+> - Upgrade of the HallSensor implementation by [@owennewo](https://github.com/owennewo)
+> - Support for Arduino DUE - everything except the 6PWM mode
+> - Support for ATMega328pb
+> - bugfix for the Teensy boards ( setting 3pwm )
+> - extended support for 2PWM stepper drivers - by [@zjor](https://github.com/zjor)
+> - included F macro for shrinking string memory usage - moved to programming memory
+> - disable phase support for 3pwm driver
+>    - not yet for 6pwm
+> - rewritten `initFOC()`
+>    - can be skipped and outputs much more info
+>    - align sensor: direction + zero offset + pole pair check
+>    - align current sense
+> - sensor offset supported (`motor.sensor_offset`)
+> - **refactored motor commands interface**
+>   - much more flexible and easy to extend
+>   - very easy to add new commands and function callbacks
+>   - implemented motor+pid+lpf commands of-the-shelf
+> - Added **step/dir interface**
+>   - integrated as an optional communication channel
+>
+> BEWARE 📢 slight API changes included
+>   - `ControlType` renamed into `MotionControlType`
+>   - `ControlType::voltage` does not exist any more now - `MotionControlType::torque`
+
+
+## Arduino *SimpleFOCShield* v2.0.3
 <p align="">
 <a href="https://youtu.be/G5pbo0C6ujE">
 <img src="https://docs.simplefoc.com/extras/Images/foc_shield_video.jpg"  height="320px">
@@ -46,7 +78,7 @@ Therefore this is an attempt to:
 <p align=""><img src="https://simplefoc.com/assets/img/v2.jpg" height="180px">   <img src="https://simplefoc.com/assets/img/v1.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
 
 
-## Arduino *SimpleFOClibrary* v2.0.2
+## Arduino *SimpleFOClibrary* v2.1
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">
@@ -147,7 +179,7 @@ void setup() {
   motor.linkDriver(&driver);
 
   // set control loop type to be used
-  motor.controller = ControlType::velocity;
+  motor.controller = MotionControlType::velocity;
   // initialize motor
   motor.init();
 

examples/.gitignore

@@ -23,6 +23,14 @@ void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 void doI(){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
@@ -44,7 +52,7 @@ void setup() {
   motor.velocity_index_search = 3;
 
   // set motion control loop to be used
-  motor.controller = ControlType::velocity;
+  motor.controller = MotionControlType::velocity;
 
   // contoller configuration 
   // default parameters in defaults.h
@@ -77,15 +85,14 @@ void setup() {
   // align encoder and start FOC
   motor.initFOC();
 
+  // add target command T
+  command.add('T', doTarget, "target angle");
 
-  Serial.println("Motor ready.");
-  Serial.println("Set the target angle using serial terminal:");
+  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
   // the faster you run this function the better
@@ -104,31 +111,5 @@ void loop() {
   // motor.monitor();
 
   // user communication
-  serialReceiveUserCommand();
-}
-
-// utility function enabling serial communication with the user to set the target values
-// this function can be implemented in serialEvent function as well
-void serialReceiveUserCommand() {
-  
-  // a string to hold incoming data
-  static String received_chars;
-  
-  while (Serial.available()) {
-    // get the new byte:
-    char inChar = (char)Serial.read();
-    // add it to the string buffer:
-    received_chars += inChar;
-    // end of user input
-    if (inChar == '\n') {
-      
-      // change the motor target
-      target_angle = received_chars.toFloat();
-      Serial.print("Target angle: ");
-      Serial.println(target_angle);
-      
-      // reset the command buffer 
-      received_chars = "";
-    }
-  }
+  command.run();
 }

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

@@ -26,6 +26,14 @@ 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);
 
+
+// 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() {
 
   // initialise magnetic sensor hardware
@@ -44,7 +52,7 @@ void setup() {
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
   // set motion control loop to be used
-  motor.controller = ControlType::angle;
+  motor.controller = MotionControlType::angle;
 
   // contoller configuration 
   // default parameters in defaults.h
@@ -75,9 +83,11 @@ void setup() {
   // align sensor and start FOC
   motor.initFOC();
 
+  // add target command T
+  command.add('T', doTarget, "target angle");
 
-  Serial.println("Motor ready.");
-  Serial.println("Set the target angle using serial terminal:");
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
   _delay(1000);
 }
 
@@ -104,33 +114,5 @@ void loop() {
   // motor.monitor();
 
   // user communication
-  serialReceiveUserCommand();
-}
-
-// utility function enabling serial communication with the user to set the target values
-// this function can be implemented in serialEvent function as well
-void serialReceiveUserCommand() {
-  
-  // a string to hold incoming data
-  static String received_chars;
-  
-  while (Serial.available()) {
-    // get the new byte:
-    char inChar = (char)Serial.read();
-    // add it to the string buffer:
-    received_chars += inChar;
-    // end of user input
-    if (inChar == '\n') {
-      
-      // change the motor target
-      target_angle = received_chars.toFloat();
-      Serial.print("Target angle: ");
-      Serial.println(target_angle);
-      
-      // reset the command buffer 
-      received_chars = "";
-    }
-  }
-}
-
-
+  command.run();
+}

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

@@ -36,6 +36,11 @@ Encoder encoder = Encoder(2, 3, 8192);
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
+
+// commander interface
+Commander command = Commander(Serial);
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
+
 void setup() {
 
   // initialize encoder sensor hardware
@@ -69,7 +74,7 @@ void setup() {
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
   // set control loop type to be used
-  motor.controller = ControlType::voltage;
+  motor.controller = MotionControlType::torque;
 
   // contoller configuration based on the controll type 
   motor.PID_velocity.P = 0.2;
@@ -99,11 +104,13 @@ void setup() {
   // set the inital target value
   motor.target = 2;
 
+  // define the motor id
+  command.add('A', onMotor, "motor");
 
-  Serial.println("Full control example: ");
-  Serial.println("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n ");
-  Serial.println("Initial motion control loop is voltage loop.");
-  Serial.println("Initial target voltage 2V.");
+  Serial.println(F("Full control example: "));
+  Serial.println(F("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "));
+  Serial.println(F("Initial motion control loop is voltage loop."));
+  Serial.println(F("Initial target voltage 2V."));
 
   _delay(1000);
 }
@@ -119,33 +126,5 @@ void loop() {
   motor.move();
 
   // user communication
-  motor.command(serialReceiveUserCommand());
-}
-
-// utility function enabling serial communication the user
-String serialReceiveUserCommand() {
-  
-  // a string to hold incoming data
-  static String received_chars;
-  
-  String command = "";
-
-  while (Serial.available()) {
-    // get the new byte:
-    char inChar = (char)Serial.read();
-    // add it to the string buffer:
-    received_chars += inChar;
-
-    // end of user input
-    if (inChar == '\n') {
-      
-      // execute the user command
-      command = received_chars;
-
-      // reset the command buffer 
-      received_chars = "";
-    }
-  }
-  return command;
-}
-
+  command.run();
+}

examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino

@@ -39,6 +39,11 @@ Encoder encoder = Encoder(2, 3, 8192);
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
+
+// commander interface
+Commander command = Commander(Serial);
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
+
 void setup() {
 
   // initialize encoder sensor hardware
@@ -70,7 +75,7 @@ void setup() {
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
   // set control loop type to be used
-  motor.controller = ControlType::voltage;
+  motor.controller = MotionControlType::torque;
 
   // contoller configuration based on the controll type 
   motor.PID_velocity.P = 0.2;
@@ -100,11 +105,13 @@ void setup() {
   // set the inital target value
   motor.target = 2;
 
+  // define the motor id
+  command.add('A', onMotor, "motor");
 
-  Serial.println("Full control example: ");
-  Serial.println("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n ");
-  Serial.println("Initial motion control loop is voltage loop.");
-  Serial.println("Initial target voltage 2V.");
+  Serial.println(F("Full control example: "));
+  Serial.println(F("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "));
+  Serial.println(F("Initial motion control loop is voltage loop."));
+  Serial.println(F("Initial target voltage 2V."));
 
   _delay(1000);
 }
@@ -120,33 +127,5 @@ void loop() {
   motor.move();
 
   // user communication
-  motor.command(serialReceiveUserCommand());
+  command.run();
 }
-
-// utility function enabling serial communication the user
-String serialReceiveUserCommand() {
-  
-  // a string to hold incoming data
-  static String received_chars;
-  
-  String command = "";
-
-  while (Serial.available()) {
-    // get the new byte:
-    char inChar = (char)Serial.read();
-    // add it to the string buffer:
-    received_chars += inChar;
-
-    // end of user input
-    if (inChar == '\n') {
-      
-      // execute the user command
-      command = received_chars;
-
-      // reset the command buffer 
-      received_chars = "";
-    }
-  }
-  return command;
-}
-