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

Author: Richard Unger

.github/workflows/teensy.yml

@@ -0,0 +1,41 @@
+name: PlatformIO - Teensy build
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest        
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/cache@v3
+        with:
+          path: |
+            ~/.cache/pip
+            ~/.platformio/.cache
+          key: ${{ runner.os }}-pio
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.9'
+      - name: Install PlatformIO Core
+        run: pip install --upgrade platformio
+
+      - name: PIO Run Teensy 4
+        run: pio ci --lib="." --board=teensy41 --board=teensy40
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino
+      
+      - name: PIO Run Teensy 4
+        run: pio ci --lib="." --board=teensy41 --board=teensy40
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino
+      
+      - name: PIO Run Teensy 3
+        run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino
+          
+      - name: PIO Run Teensy 3
+        run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

README.md

@@ -1,7 +1,8 @@
 # SimpleFOClibrary - **Simple** Field Oriented Control (FOC) **library** <br> 
 ### A Cross-Platform FOC implementation for BLDC and Stepper motors<br> based on the Arduino IDE and PlatformIO 
 
-![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg)
+![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg) [![PlatformIO - Teensy build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml) 
+
 ![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/arduino-foc)
 ![GitHub Release Date](https://img.shields.io/github/release-date/simplefoc/arduino-foc?color=blue)
 ![GitHub commits since tagged version](https://img.shields.io/github/commits-since/simplefoc/arduino-foc/latest/dev)
@@ -26,6 +27,8 @@ Therefore this is an attempt to:
 
 > 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 teensy3.2 - [#321](https://github.com/simplefoc/Arduino-FOC/pull/321)
+> - Added teensy3/4 compile to the github CI using platformio
 > - And more bugfixes - see the [complete list of 2.3.2 fixes here](https://github.com/simplefoc/Arduino-FOC/issues?q=is%3Aissue+milestone%3A2.3.2_Release)
 
 ## Arduino *SimpleFOClibrary* v2.3.2

keywords.txt

@@ -133,6 +133,7 @@ sensor_direction	KEYWORD2
 sensor_offset	KEYWORD2
 zero_electric_angle	KEYWORD2
 verbose	KEYWORD2
+verboseMode	KEYWORD1
 decimal_places	KEYWORD2
 phase_resistance	KEYWORD2
 phase_inductance	KEYWORD2

src/BLDCMotor.cpp

@@ -422,7 +422,7 @@ void BLDCMotor::move(float new_target) {
       shaft_angle_sp = target;
       // calculate velocity set point
       shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
-      shaft_angle_sp = _constrain(shaft_angle_sp,-velocity_limit, velocity_limit);
+      shaft_velocity_sp = _constrain(shaft_velocity_sp,-velocity_limit, velocity_limit);
       // calculate the torque command - sensor precision: this calculation is ok, but based on bad value from previous calculation
       current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
       // if torque controlled through voltage
@@ -561,6 +561,8 @@ void BLDCMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) {
 
       center = driver->voltage_limit/2;
       if (foc_modulation == FOCModulationType::SpaceVectorPWM){
+        // discussed here: https://community.simplefoc.com/t/embedded-world-2023-stm32-cordic-co-processor/3107/165?u=candas1
+        // a bit more info here: https://microchipdeveloper.com/mct5001:which-zsm-is-best
         // Midpoint Clamp
         float Umin = min(Ua, min(Ub, Uc));
         float Umax = max(Ua, max(Ub, Uc));

src/StepperMotor.cpp

@@ -311,7 +311,7 @@ void StepperMotor::move(float new_target) {
       shaft_angle_sp = target;
       // calculate velocity set point
       shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
-      shaft_angle_sp = _constrain(shaft_angle_sp, -velocity_limit, velocity_limit);
+      shaft_velocity_sp = _constrain(shaft_velocity_sp, -velocity_limit, velocity_limit);
       // calculate the torque command
       current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
       // if torque controlled through voltage
@@ -440,4 +440,4 @@ float StepperMotor::angleOpenloop(float target_angle){
   open_loop_timestamp = now_us;
 
   return Uq;
-}
+}

src/drivers/hardware_specific/renesas/renesas.cpp

@@ -207,6 +207,10 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool
   t->timer_cfg.cycle_end_irq = FSP_INVALID_VECTOR;
 
   t->ext_cfg.p_pwm_cfg = &(t->pwm_cfg);
+  t->ext_cfg.capture_a_ipl = BSP_IRQ_DISABLED;
+  t->ext_cfg.capture_a_irq = FSP_INVALID_VECTOR;
+  t->ext_cfg.capture_b_ipl = BSP_IRQ_DISABLED;
+  t->ext_cfg.capture_b_irq = FSP_INVALID_VECTOR;
   t->pwm_cfg.trough_ipl = BSP_IRQ_DISABLED;
   t->pwm_cfg.trough_irq = FSP_INVALID_VECTOR;
   t->pwm_cfg.poeg_link = GPT_POEG_LINK_POEG0;

src/drivers/hardware_specific/teensy/teensy3_mcu.cpp

@@ -3,7 +3,6 @@
 // if defined 
 // - Teensy 3.0 MK20DX128
 // - Teensy 3.1/3.2 MK20DX256
-// - Teensy 3.5 MK20DX128
 // - Teensy LC MKL26Z64
 // - Teensy 3.5 MK64FX512
 // - Teensy 3.6 MK66FX1M0
@@ -14,7 +13,7 @@
 #pragma message("SimpleFOC: compiling for Teensy 3.x")
 #pragma message("")
 
-// pin definition from https://github.com/PaulStoffregen/cores/blob/286511f3ec849a6c9e0ec8b73ad6a2fada52e44c/teensy3/pins_teensy.c
+// pin definition from https://github.com/PaulStoffregen/cores/blob/286511f3ec849a6c9e0ec8b73ad6a2fada52e44c/teensy3/pins_teensy.c#L627
 #if defined(__MK20DX128__)
 #define FTM0_CH0_PIN 22
 #define FTM0_CH1_PIN 23
@@ -116,7 +115,7 @@ int _findTimer( const int Ah, const int Al,  const int Bh, const int Bl, const i
       }
   }
 
-  #ifdef FTM3_SC // if the board has FTM3 timer
+#ifdef FTM3_CH0_PIN // if the board has FTM3 timer
     if((Ah == FTM3_CH0_PIN && Al == FTM3_CH1_PIN) || 
       (Ah == FTM3_CH2_PIN && Al == FTM3_CH3_PIN) ||
       (Ah == FTM3_CH4_PIN && Al == FTM3_CH5_PIN) ){
@@ -134,7 +133,7 @@ int _findTimer( const int Ah, const int Al,  const int Bh, const int Bl, const i
           }
         }
     }
-  #endif
+#endif
 
 #ifdef SIMPLEFOC_TEENSY_DEBUG
   SIMPLEFOC_DEBUG("TEENSY-DRV: ERR: Pins not on timers FTM0 or FTM3!");