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askuricaskuric
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added teesny low-side example, and complted the readme with f7
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‎README.md

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@@ -19,19 +19,18 @@ Additionally, most of the efforts at this moment are still channeled towards the
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Therefore this is an attempt to:
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- 🎯 Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase)
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- <i>Support as many <b>motor + sensor + driver + mcu</b> combinations out there</i>
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- 🎯 Develop a modular FOC supporting BLDC driver boards:
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- ***NEW*** 📢: *Minimalistic* BLDC driver (<3Amps) : [<span class="simple">Simple<b>FOC</b>Mini</span> ](https://github.com/simplefoc/SimpleFOCMini).
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- *Low-power* gimbal driver (<5Amps) : [*Arduino Simple**FOC**Shield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
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- *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
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- See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
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- 🎯 Develop modular and easy to use FOC supporting BLDC driver boards
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- For official driver boards see [<span class="simple">Simple<span class="foc">FOC</span>Boards</span>](boards)
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- Many many more boards developed by the community members, see [<span class="simple">Simple<span class="foc">FOC</span>Community</span>](https://community.simplefoc.com/)
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> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.3
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> - Teensy4
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> - support for low-side current sensing [#392](https://github.com/simplefoc/Arduino-FOC/pull/392)
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> - support for center aligned 6pwm and 3pwm (optional) [#392](https://github.com/simplefoc/Arduino-FOC/pull/392)
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> - stm32
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> - 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)
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> - 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),
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> - 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)
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> - support for f7 architecture [#388](https://github.com/simplefoc/Arduino-FOC/pull/388),[#394](https://github.com/simplefoc/Arduino-FOC/pull/394)
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> - KV rating calculation fix [#347](https://github.com/simplefoc/Arduino-FOC/pull/347)
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> - Much more performant Space Vector PWM calculation [#340](https://github.com/simplefoc/Arduino-FOC/pull/340)
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> - And much more:

‎examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino

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/**
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* Comprehensive BLDC motor control example using encoder and the DRV8302 board
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*
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* Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
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* - configure PID controller constants
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* - change motion control loops
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* - monitor motor variabels
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* - set target values
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* - check all the configuration values
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*
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* check the https://docs.simplefoc.com for full list of motor commands
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*
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*/
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#include <SimpleFOC.h>
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// DRV8302 pins connections
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// don't forget to connect the common ground pin
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#define EN_GATE 11
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#define M_PWM 22
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#define GAIN 20
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#define M_OC 23
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#define OC_ADJ 19
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#define INH_A 2
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#define INL_A 3
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#define INH_B 8
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#define INL_B 7
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#define INH_C 6
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#define INL_C 9
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#define IOUTA 14
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#define IOUTB 15
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#define IOUTC 16
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// Motor instance
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BLDCMotor motor = BLDCMotor(7);
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BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE);
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// DRV8302 board has 0.005Ohm shunt resistors and the gain of 12.22 V/V
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LowsideCurrentSense cs = LowsideCurrentSense(0.005f, 12.22f, IOUTA, IOUTB);
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// encoder instance
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Encoder encoder = Encoder(10, 11, 2048);
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// Interrupt routine intialisation
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// channel A and B callbacks
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void doA(){encoder.handleA();}
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void doB(){encoder.handleB();}
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// commander interface
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Commander command = Commander(Serial);
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void onMotor(char* cmd){ command.motor(&motor, cmd); }
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void setup() {
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// initialize encoder sensor hardware
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encoder.init();
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encoder.enableInterrupts(doA, doB);
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// link the motor to the sensor
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motor.linkSensor(&encoder);
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// DRV8302 specific code
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// M_OC - enable overcurrent protection
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pinMode(M_OC,OUTPUT);
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digitalWrite(M_OC,LOW);
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// M_PWM - enable 6pwm mode
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pinMode(M_PWM, OUTPUT);
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digitalWrite(M_PWM,LOW); // high for 3pwm
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// OD_ADJ - set the maximum overcurrent limit possible
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// Better option would be to use voltage divisor to set exact value
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pinMode(OC_ADJ,OUTPUT);
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digitalWrite(OC_ADJ,HIGH);
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pinMode(OC_GAIN,OUTPUT);
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digitalWrite(OC_GAIN,LOW);
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// driver config
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// power supply voltage [V]
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driver.voltage_power_supply = 19;
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driver.pwm_frequency = 20000; // suggested not higher than 22khz
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driver.init();
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// link the motor and the driver
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motor.linkDriver(&driver);
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// link current sense and the driver
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cs.linkDriver(&driver);
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// align voltage
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motor.voltage_sensor_align = 0.5;
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// control loop type and torque mode
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motor.torque_controller = TorqueControlType::voltage;
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motor.controller = MotionControlType::torque;
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motor.motion_downsample = 0.0;
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// velocity loop PID
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motor.PID_velocity.P = 0.2;
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motor.PID_velocity.I = 5.0;
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// Low pass filtering time constant
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motor.LPF_velocity.Tf = 0.02;
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// angle loop PID
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motor.P_angle.P = 20.0;
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// Low pass filtering time constant
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motor.LPF_angle.Tf = 0.0;
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// current q loop PID
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motor.PID_current_q.P = 3.0;
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motor.PID_current_q.I = 100.0;
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// Low pass filtering time constant
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motor.LPF_current_q.Tf = 0.02;
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// current d loop PID
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motor.PID_current_d.P = 3.0;
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motor.PID_current_d.I = 100.0;
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// Low pass filtering time constant
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motor.LPF_current_d.Tf = 0.02;
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// Limits
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motor.velocity_limit = 100.0; // 100 rad/s velocity limit
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motor.voltage_limit = 12.0; // 12 Volt limit
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motor.current_limit = 2.0; // 2 Amp current limit
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// use monitoring with serial for motor init
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// monitoring port
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Serial.begin(115200);
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// comment out if not needed
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motor.useMonitoring(Serial);
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motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q
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motor.monitor_downsample = 0;
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// initialise motor
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motor.init();
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cs.init();
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// driver 8302 has inverted gains on all channels
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cs.gain_a *=-1;
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cs.gain_b *=-1;
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cs.gain_c *=-1;
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motor.linkCurrentSense(&cs);
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// align encoder and start FOC
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motor.initFOC();
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// set the inital target value
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motor.target = 0;
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// define the motor id
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command.add('M', onMotor, "motor");
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Serial.println(F("Full control example: "));
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Serial.println(F("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "));
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Serial.println(F("Initial motion control loop is voltage loop."));
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Serial.println(F("Initial target voltage 2V."));
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_delay(1000);
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}
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void loop() {
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// iterative setting FOC phase voltage
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motor.loopFOC();
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// iterative function setting the outter loop target
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motor.move();
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// monitoring the state variables
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motor.monitor();
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// user communication
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command.run();
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}

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