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teensy 4 6pwm added
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‎.github/workflows/ccpp.yml

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- arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
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sketch-names: '**.ino'
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required-libraries: PciManager
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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, odrive_example_spi, odrive_example_encoder, single_full_control_example, double_full_control_example, stm32_current_control_low_side
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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, odrive_example_spi, odrive_example_encoder, single_full_control_example, double_full_control_example, stm32_current_control_low_side, open_loop_velocity_6pwm
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- arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
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sketch-names: single_full_control_example.ino

‎README.md

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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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> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.2.3
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> - stm32 low-side current sensing
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> - g4 supported
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> - thoroughly tested f1/f4/g4 - [#187](https://github.com/simplefoc/Arduino-FOC/issues/187)
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> - bg431b: added support for VBAT and TEMPERATURE readings [#222](https://github.com/simplefoc/Arduino-FOC/pull/222)
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> - bugfixing
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> - leonardo
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> - mega2560 [#190](https://github.com/simplefoc/Arduino-FOC/issues/190)
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> - inline current sense without driver [#188](https://github.com/simplefoc/Arduino-FOC/issues/188)
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> - bg431b support current sense fix [#210](https://github.com/simplefoc/Arduino-FOC/pull/210)
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> - StepperDriver4PWM wrong init [#182](https://github.com/simplefoc/Arduino-FOC/issues/182)
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> - open loop back-emf vlotage issue [#219](https://github.com/simplefoc/Arduino-FOC/issues/219)
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> - SAMD51 compile issue [#217](https://github.com/simplefoc/Arduino-FOC/issues/217)
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> - ESP32-S3 compile issue [#198](https://github.com/simplefoc/Arduino-FOC/issues/198)
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> - ESP32 compile issue [#208](https://github.com/simplefoc/Arduino-FOC/issues/208), [#207](https://github.com/simplefoc/Arduino-FOC/issues/207)
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> - magnetic sensor direction finding more robust [#173](https://github.com/simplefoc/Arduino-FOC/issues/173), [#164](https://github.com/simplefoc/Arduino-FOC/pull/164)
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> - `StepDirListener` improved timing [#169](https://github.com/simplefoc/Arduino-FOC/issues/169), [#209](https://github.com/simplefoc/Arduino-FOC/pull/209)
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> - API changes
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> - `setPhaseVoltage` is now public function
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> - `getVelocity` can now be called as many times as necessary (it recalculates the velocity if the time between calls is longer then `min_elapsed_time` - default 0.1ms)
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> - BG431 board can be used only with `LowsideCurrentSense` class!
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> - `initFOC` fails if current sense not initialised
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> - driver and curent sense have to be well initialised for `initFOC` to start
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> - `cs.init()` and `driver.init()` return `1` if well initialised and `0` if failed
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> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.0
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> - Teensy 3.x inital support for 6pwm
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> - Teensy 4.x inital support for 6pwm
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## Arduino *SimpleFOClibrary* v2.2.3
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<p align="">

‎examples/hardware_specific_examples/Teensy/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino renamed to ‎examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino

File renamed without changes.

‎examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

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// 6pwm openloop velocity example
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#include <SimpleFOC.h>
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// BLDC motor & driver instance
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// BLDCMotor motor = BLDCMotor(pole pair number);
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BLDCMotor motor = BLDCMotor(11);
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// using FTM0 timer
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// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L)
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BLDCDriver6PWM driver = BLDCDriver6PWM(22,23, 9,10, 6,20, 8);
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// using FTM3 timer - available on Teensy3.5 and Teensy3.6
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// BLDCDriver6PWM driver = BLDCDriver6PWM(2,14, 7,8, 35,36, 8);
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// instantiate the commander
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Commander command = Commander(Serial);
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void doTarget(char* cmd) { command.scalar(&motor.target, cmd); }
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void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
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void setup() {
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// driver config
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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// limit the maximal dc voltage the driver can set
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// as a protection measure for the low-resistance motors
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// this value is fixed on startup
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driver.voltage_limit = 6;
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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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// limiting motor movements
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// limit the voltage to be set to the motor
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// start very low for high resistance motors
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// currnet = resistance*voltage, so try to be well under 1Amp
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motor.voltage_limit = 3; // [V]
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// open loop control config
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motor.controller = MotionControlType::velocity_openloop;
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// init motor hardware
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motor.init();
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//initial motor target
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motor.target=0;
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// add target command T
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command.add('T', doTarget, "target velocity");
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command.add('L', doLimit, "voltage limit");
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Serial.begin(115200);
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Serial.println("Motor ready!");
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Serial.println("Set target velocity [rad/s]");
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_delay(1000);
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}
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void loop() {
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// open loop velocity movement
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// using motor.voltage_limit
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motor.move();
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// user communication
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command.run();
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}

‎examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino

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// 6pwm standalone example code for Teensy 4.x boards
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//
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// Teensy4.x 6pwm driver generates a 6pwm signal using FlexTimers and it doesn't support the QuadTimers
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// - Each high-low pair of the 6pwm has to be A and B channels of the same FlexTimer and to the same submodule
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//
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// List of available teensy 4.1 pins with their respective submodules and channels
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// FlexPWM(timer number)_(submodule)_(channel)
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// FlexPWM4_2_A pin 2
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// FlexPWM4_2_B pin 3
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// FlexPWM1_3_B pin 7
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// FlexPWM1_3_A pin 8
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// FlexPWM2_2_A pin 6
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// FlexPWM2_2_B pin 9
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// FlexPWM3_1_B pin 28
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// FlexPWM3_1_A pin 29
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// FlexPWM2_3_A pin 36
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// FlexPWM2_3_B pin 37
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#include <SimpleFOC.h>
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// BLDC driver instance
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// make sure to provide channel A for high side and channel B for low side
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// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L)
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// Example configuration
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BLDCDriver6PWM driver = BLDCDriver6PWM(2,3, 6,9, 8,7);
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void setup() {
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// pwm frequency to be used [Hz]
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driver.pwm_frequency = 30000;
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// dead zone percentage of the duty cycle - default 0.02 - 2%
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driver.dead_zone=0.02;
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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// Max DC voltage allowed - default voltage_power_supply
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driver.voltage_limit = 12;
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// driver init
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driver.init();
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// enable driver
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driver.enable();
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_delay(1000);
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}
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void loop() {
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// setting pwm
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// phase A: 3V
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// phase B: 6V
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// phase C: 5V
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driver.setPwm(3,6,5);
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}

‎examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

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// 6pwm openloop velocity example
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//
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// Teensy4.x 6pwm driver generates a 6pwm signal using FlexTimers and it doesn't support the QuadTimers
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// - Each high-low pair of the 6pwm has to be A and B channels of the same FlexTimer and to the same submodule
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//
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// List of available teensy 4.1 pins with their respective submodules and channels
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// FlexPWM(timer number)_(submodule)_(channel)
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// FlexPWM4_2_A pin 2
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// FlexPWM4_2_B pin 3
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// FlexPWM1_3_B pin 7
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// FlexPWM1_3_A pin 8
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// FlexPWM2_2_A pin 6
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// FlexPWM2_2_B pin 9
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// FlexPWM3_1_B pin 28
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// FlexPWM3_1_A pin 29
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// FlexPWM2_3_A pin 36
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// FlexPWM2_3_B pin 37
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#include <SimpleFOC.h>
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// BLDC motor & driver instance
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// BLDCMotor motor = BLDCMotor(pole pair number);
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BLDCMotor motor = BLDCMotor(11);
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// make sure to provide channel A for high side and channel B for low side
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// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L)
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// Example configuration
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BLDCDriver6PWM driver = BLDCDriver6PWM(2,3, 6,9, 8,7);
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// instantiate the commander
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Commander command = Commander(Serial);
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void doTarget(char* cmd) { command.scalar(&motor.target, cmd); }
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void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
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void setup() {
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// driver config
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// power supply voltage [V]
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driver.voltage_power_supply = 12;
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// limit the maximal dc voltage the driver can set
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// as a protection measure for the low-resistance motors
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// this value is fixed on startup
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driver.voltage_limit = 6;
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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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// limiting motor movements
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// limit the voltage to be set to the motor
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// start very low for high resistance motors
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// currnet = resistance*voltage, so try to be well under 1Amp
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motor.voltage_limit = 3; // [V]
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// open loop control config
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motor.controller = MotionControlType::velocity_openloop;
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// init motor hardware
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motor.init();
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//initial motor target
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motor.target=0;
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// add target command T
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command.add('T', doTarget, "target velocity");
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command.add('L', doLimit, "voltage limit");
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Serial.begin(115200);
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Serial.println("Motor ready!");
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Serial.println("Set target velocity [rad/s]");
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_delay(1000);
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}
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void loop() {
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// open loop velocity movement
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// using motor.voltage_limit
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motor.move();
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// user communication
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command.run();
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}

‎src/current_sense/hardware_specific/esp32/esp32_mcu.cpp

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#include "../../hardware_api.h"
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#include "../../../drivers/hardware_api.h"
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#include "../../../drivers/hardware_specific/esp32_driver_mcpwm.h"
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#include "../../../drivers/hardware_specific/esp32/esp32_driver_mcpwm.h"
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#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED)
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‎src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp

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#include "b_g431_hal.h"
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#include "Arduino.h"
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#include "../stm32_mcu.h"
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#include "../../../../drivers/hardware_specific/stm32_mcu.h"
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#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
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#include "communication/SimpleFOCDebug.h"
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#define _ADC_VOLTAGE 3.3f

‎src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.h

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#if defined(STM32F1xx)
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#include "stm32f1xx_hal.h"
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#include "../../../../common/foc_utils.h"
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#include "../../../../drivers/hardware_specific/stm32_mcu.h"
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#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
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#include "../stm32_mcu.h"
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int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);

‎src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp

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#if defined(STM32F1xx)
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#include "../../../../common/foc_utils.h"
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#include "../../../../drivers/hardware_api.h"
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#include "../../../../drivers/hardware_specific/stm32_mcu.h"
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#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
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#include "../../../hardware_api.h"
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#include "../stm32_mcu.h"
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#include "stm32f1_hal.h"

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