Merge remote-tracking branch 'simplefoc/dev' into dev

Author: runger1101001

README.md

@@ -13,7 +13,8 @@
 ![GitHub commits since tagged version](https://img.shields.io/github/commits-since/simplefoc/arduino-foc/latest/dev)
 ![GitHub commit activity (branch)](https://img.shields.io/github/commit-activity/m/simplefoc/arduino-foc/dev)
 
-[![arduino-library-badge](https://www.ardu-badge.com/badge/Simple%20FOC.svg?)](https://www.ardu-badge.com/badge/Simple%20FOC.svg)
+[![arduino-library-badge](https://ardubadge.simplefoc.com?lib=Simple%20FOC)](https://www.ardu-badge.com/badge/Simple%20FOC.svg)
+[![PlatformIO Registry](https://badges.registry.platformio.org/packages/askuric/library/Simple%20FOC.svg)](https://registry.platformio.org/libraries/askuric/Simple%20FOC)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 [![status](https://joss.theoj.org/papers/4382445f249e064e9f0a7f6c1bb06b1d/status.svg)](https://joss.theoj.org/papers/4382445f249e064e9f0a7f6c1bb06b1d)
 
@@ -28,21 +29,27 @@ Therefore this is an attempt to:
    - For official driver boards see [<span class="simple">Simple<span class="foc">FOC</span>Boards</span>](https://docs.simplefoc.com/boards)
    - 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/)
 
-> 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)
->   - support for f7 architecture [#388](https://github.com/simplefoc/Arduino-FOC/pull/388),[#394](https://github.com/simplefoc/Arduino-FOC/pull/394)
-> - 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
+> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.4
+> - ESP32 MCUs extended support [#414](https://github.com/simplefoc/Arduino-FOC/pull/414)
+>   - Transition to the arduino-esp32 version v3.x (ESP-IDF v5.x) [#387](https://github.com/espressif/arduino-esp32/releases)
+>   - New support for MCPWM driver
+>   - New support for LEDC drivers - center-aligned PWM and 6PWM available 
+>   - Rewritten and simplified the fast ADC driver code (`adcRead`) - for low-side and inline current sensing.
+> - Stepper motors current sensing support [#421](https://github.com/simplefoc/Arduino-FOC/pull/421)
+>   - Support for current sensing (low-side and inline) - [see in docs](https://docs.simplefoc.com/current_sense)
+>   - Support for true FOC control - `foc_current` torque control - [see in docs](https://docs.simplefoc.com/motion_control)
+> - New current sense alignment procedure  [#422](https://github.com/simplefoc/Arduino-FOC/pull/422) - [see in docs](https://docs.simplefoc.com/current_sense_align)
+>   - Support for steppers
+>   - Much more robust and reliable
+>   - More verbose and informative 
+> - Support for HallSensors without interrupts [#424](https://docs.simplefoc.com/https://github.com/simplefoc/Arduino-FOC/pull/424) - [see in docs](hall_sensors) 
+> - Docs
+>   - A short guide to debugging of common issues
+>   - A short guide to the units in the library - [see in docs](https://docs.simplefoc.com/library_units)
+> - See the complete list of bugfixes and new features of v2.3.4 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/11) 
+
+
+## Arduino *SimpleFOClibrary* v2.3.4
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">

examples/hardware_specific_examples/SimpleFOCMini/open_loop/open_loop.ino

@@ -0,0 +1,93 @@
+/**
+ *
+ * SimpleFOCMini motor control example
+ * 
+ * For Arduino UNO or the other boards with the UNO headers
+ * the most convenient way to use the board is to stack it to the pins:
+ * - 12 - ENABLE
+ * - 11 - IN1
+ * - 10 - IN2
+ * -  9 - IN3
+ *
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+// BLDCDriver3PWM driver = BLDCDriver3PWM(11, 10, 9, 8); // mini v1.0
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 12); // mini v1.1
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doMotor(char* cmd) { command.motor(&motor, cmd); }
+
+void setup() {
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
+  // if SimpleFOCMini is stacked in arduino headers
+  // on pins 12,11,10,9,8 
+  // pin 12 is used as ground
+  pinMode(12,OUTPUT);
+  pinMode(12,LOW);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity_openloop;
+
+  // default voltage_power_supply
+  motor.voltage_limit = 2; // Volts
+
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // add target command M
+  command.add('M', doMotor, "motor");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+  
+  motor.target = 1; //initial target velocity 1 rad/s
+  Serial.println("Target velocity: 1 rad/s");
+  Serial.println("Voltage limit 2V");
+  _delay(1000);
+}
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move();
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

examples/hardware_specific_examples/SimpleFOCShield/version_v3/single_full_control_example/single_full_control_example.ino

@@ -13,7 +13,7 @@ void doB(){encoder.handleB();}
 
 // inline current sensor instance
 // ACS712-05B has the resolution of 0.185mV per Amp
-InlineCurrentSense current_sense = InlineCurrentSense(1.0f, 0.185f, A0, A2);
+InlineCurrentSense current_sense = InlineCurrentSense(185.0f, A0, A2);
 
 // commander communication instance
 Commander command = Commander(Serial);

examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

@@ -36,7 +36,10 @@ void setup() {
   // as a protection measure for the low-resistance motors
   // this value is fixed on startup
   driver.voltage_limit = 6;
-  driver.init();
+  if(!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
   // link the motor and the driver
   motor.linkDriver(&driver);
 
@@ -52,7 +55,10 @@ void setup() {
   motor.controller = MotionControlType::angle_openloop;
 
   // init motor hardware
-  motor.init();
+  if(!motor.init()){
+    Serial.println("Motor init failed!");
+    return;
+  }
 
   // add target command T
   command.add('T', doTarget, "target angle");

examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino

@@ -36,7 +36,10 @@ void setup() {
   // as a protection measure for the low-resistance motors
   // this value is fixed on startup
   driver.voltage_limit = 6;
-  driver.init();
+  if(!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
   // link the motor and the driver
   motor.linkDriver(&driver);
 
@@ -50,7 +53,10 @@ void setup() {
   motor.controller = MotionControlType::velocity_openloop;
 
   // init motor hardware
-  motor.init();
+  if(!motor.init()){
+    Serial.println("Motor init failed!");
+    return;
+  }
 
   // add target command T
   command.add('T', doTarget, "target velocity");

examples/utils/current_sense_test/inline_current_sense_test/inline_current_sense_test.ino

@@ -19,7 +19,10 @@ void setup() {
   SimpleFOCDebug::enable(&Serial);
 
   // initialise the current sensing
-  current_sense.init();
+  if(!current_sense.init()){
+    Serial.println("Current sense init failed.");
+    return;
+  }
 
   // for SimpleFOCShield v2.01/v2.0.2
   current_sense.gain_b *= -1;

examples/utils/driver_standalone_test/bldc_driver_3pwm_standalone/bldc_driver_3pwm_standalone.ino

@@ -23,11 +23,14 @@ void setup() {
   driver.voltage_limit = 12;
 
   // driver init
-  driver.init();
+  if (!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
 
   // enable driver
   driver.enable();
-
+  Serial.println("Driver ready!");
   _delay(1000);
 }
 

examples/utils/driver_standalone_test/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino

@@ -24,11 +24,14 @@ void setup() {
   driver.dead_zone = 0.05f;
 
   // driver init
-  driver.init();
+  if (!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
 
   // enable driver
   driver.enable();
-
+  Serial.println("Driver ready!");
   _delay(1000);
 }
 

examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino

@@ -29,11 +29,14 @@ void setup() {
   driver.voltage_limit = 12;
 
   // driver init
-  driver.init();
+  if (!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
 
   // enable driver
   driver.enable();
-
+  Serial.println("Driver ready!");
   _delay(1000);
 }
 

examples/utils/driver_standalone_test/stepper_driver_4pwm_standalone/stepper_driver_4pwm_standalone.ino

@@ -24,11 +24,14 @@ void setup() {
   driver.voltage_limit = 12;
 
   // driver init
-  driver.init();
+  if (!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
 
   // enable driver
   driver.enable();
-
+  Serial.println("Driver ready!");
   _delay(1000);
 }
 

examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino

@@ -13,13 +13,6 @@
 //  - pp                     - pole pairs
 HallSensor sensor = HallSensor(2, 3, 4, 14);
 
-// Interrupt routine intialisation
-// channel A and B callbacks
-void doA(){sensor.handleA();}
-void doB(){sensor.handleB();}
-void doC(){sensor.handleC();}
-
-
 void setup() {
   // monitoring port
   Serial.begin(115200);
@@ -29,8 +22,6 @@ void setup() {
 
   // initialise encoder hardware
   sensor.init();
-  // hardware interrupt enable
-  sensor.enableInterrupts(doA, doB, doC);
 
   Serial.println("Sensor ready");
   _delay(1000);

examples/utils/sensor_test/hall_sensors/hall_sensor_hardware_interrupts_example/hall_sensor_hardware_interrupts_example.ino

@@ -0,0 +1,48 @@
+/**
+ *  Hall sensor example code 
+ * 
+ * This is a code intended to test the hall sensors connections and to demonstrate the hall sensor setup.
+ * 
+ */
+
+#include <SimpleFOC.h>
+
+// Hall sensor instance
+// HallSensor(int hallA, int hallB , int cpr, int index)
+//  - hallA, hallB, hallC    - HallSensor A, B and C pins
+//  - pp                     - pole pairs
+HallSensor sensor = HallSensor(2, 3, 4, 14);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // check if you need internal pullups
+  sensor.pullup = Pullup::USE_EXTERN;
+  
+  // initialise encoder hardware
+  sensor.init();
+  // hardware interrupt enable
+  sensor.enableInterrupts(doA, doB, doC);
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  sensor.update();
+  // display the angle and the angular velocity to the terminal
+  Serial.print(sensor.getAngle());
+  Serial.print("\t");
+  Serial.println(sensor.getVelocity());
+  delay(100);
+}

library.properties

@@ -1,5 +1,5 @@
 name=Simple FOC
-version=2.3.3
+version=2.3.4
 author=Simplefoc <[email protected]>
 maintainer=Simplefoc <[email protected]>
 sentence=A library demistifying FOC for BLDC motors

src/BLDCMotor.cpp

@@ -63,11 +63,11 @@ void BLDCMotor::linkDriver(BLDCDriver* _driver) {
 }
 
 // init hardware pins
-void BLDCMotor::init() {
+int BLDCMotor::init() {
   if (!driver || !driver->initialized) {
     motor_status = FOCMotorStatus::motor_init_failed;
     SIMPLEFOC_DEBUG("MOT: Init not possible, driver not initialized");
-    return;
+    return 0;
   }
   motor_status = FOCMotorStatus::motor_initializing;
   SIMPLEFOC_DEBUG("MOT: Init");
@@ -105,6 +105,7 @@ void BLDCMotor::init() {
   enable();
   _delay(500);
   motor_status = FOCMotorStatus::motor_uncalibrated;
+  return 1;
 }
 
 
@@ -202,7 +203,7 @@ int BLDCMotor::alignCurrentSense() {
   SIMPLEFOC_DEBUG("MOT: Align current sense.");
 
   // align current sense and the driver
-  exit_flag = current_sense->driverAlign(voltage_sensor_align);
+  exit_flag = current_sense->driverAlign(voltage_sensor_align, modulation_centered);
   if(!exit_flag){
     // error in current sense - phase either not measured or bad connection
     SIMPLEFOC_DEBUG("MOT: Align error!");