final v2.3.3

.github/workflows/ccpp.yml

@@ -26,7 +26,8 @@ jobs:
           - esp32:esp32:esp32s2                      # esp32s2
           - esp32:esp32:esp32s3                      # esp32s3
           - STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8   # stm32 bluepill
-          - STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
+          - STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo 
+          - STMicroelectronics:stm32:Nucleo_144:pnum=NUCLEO_F746ZG # stm32 nucleo f746zg
           - STMicroelectronics:stm32:GenF4:pnum=GENERIC_F405RGTX  # stm32f405 - odrive
           - STMicroelectronics:stm32:GenL4:pnum=GENERIC_L475RGTX  # stm32l475
           - STMicroelectronics:stm32:Disco:pnum=B_G431B_ESC1      # B-G431-ESC1
@@ -92,6 +93,10 @@ jobs:
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
             sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.ino
 
+          - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_144:pnum=NUCLEO_F746ZG # nucleo f7 one full example
+            platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
+            sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.ino
+
 
       # Do not cancel all jobs / architectures if one job fails
       fail-fast: false

.github/workflows/teensy.yml

@@ -29,6 +29,11 @@ jobs:
         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 4
+        run: pio ci --lib="." --board=teensy41 --board=teensy40
+        env:
+          PLATFORMIO_CI_SRC: examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino
 
       - name: PIO Run Teensy 3
         run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36

README.md

@@ -19,19 +19,18 @@ 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 FOC supporting BLDC driver boards:
-   - ***NEW*** 📢: *Minimalistic* BLDC driver (<3Amps) :   [<span class="simple">Simple<b>FOC</b>Mini</span> ](https://github.com/simplefoc/SimpleFOCMini).
-   - *Low-power* gimbal driver (<5Amps) :  [*Arduino Simple**FOC**Shield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
-   - *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)
+- 🎯 Develop modular and easy to use FOC supporting BLDC driver boards
+   - 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 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:

examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino

@@ -0,0 +1,168 @@
+/**
+ * Comprehensive BLDC motor control example using encoder and the DRV8302 board
+ *
+ * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
+ * - configure PID controller constants
+ * - change motion control loops
+ * - monitor motor variabels
+ * - set target values
+ * - check all the configuration values
+ *
+ * check the https://docs.simplefoc.com for full list of motor commands
+ *
+ */
+#include <SimpleFOC.h>
+
+// DRV8302 pins connections
+// don't forget to connect the common ground pin
+#define EN_GATE 11
+#define M_PWM 22
+#define GAIN 20
+#define M_OC 23
+#define OC_ADJ 19
+
+#define INH_A 2
+#define INL_A 3
+#define INH_B 8
+#define INL_B 7
+#define INH_C 6
+#define INL_C 9
+
+#define IOUTA 14
+#define IOUTB 15
+#define IOUTC 16
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(7);
+BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE);
+
+// DRV8302 board has 0.005Ohm shunt resistors and the gain of 12.22 V/V
+LowsideCurrentSense cs = LowsideCurrentSense(0.005f, 12.22f, IOUTA, IOUTB);
+
+// encoder instance
+Encoder encoder = Encoder(10, 11, 2048);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+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
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // DRV8302 specific code
+  // M_OC  - enable overcurrent protection
+  pinMode(M_OC,OUTPUT);
+  digitalWrite(M_OC,LOW);
+  // M_PWM  - enable 6pwm mode
+  pinMode(M_PWM, OUTPUT);
+  digitalWrite(M_PWM,LOW); // high for 3pwm
+  // OD_ADJ - set the maximum overcurrent limit possible
+  // Better option would be to use voltage divisor to set exact value
+  pinMode(OC_ADJ,OUTPUT);
+  digitalWrite(OC_ADJ,HIGH);
+
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 19;
+  driver.pwm_frequency = 20000; // suggested not higher than 22khz
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+  // link current sense and the driver
+  cs.linkDriver(&driver);
+
+  // align voltage
+  motor.voltage_sensor_align = 0.5;
+
+  // control loop type and torque mode 
+  motor.torque_controller = TorqueControlType::voltage;
+  motor.controller = MotionControlType::torque;
+  motor.motion_downsample = 0.0;
+
+  // velocity loop PID
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 5.0;
+  // Low pass filtering time constant 
+  motor.LPF_velocity.Tf = 0.02;
+  // angle loop PID
+  motor.P_angle.P = 20.0;
+  // Low pass filtering time constant 
+  motor.LPF_angle.Tf = 0.0;
+  // current q loop PID 
+  motor.PID_current_q.P = 3.0;
+  motor.PID_current_q.I = 100.0;
+  // Low pass filtering time constant 
+  motor.LPF_current_q.Tf = 0.02;
+  // current d loop PID
+  motor.PID_current_d.P = 3.0;
+  motor.PID_current_d.I = 100.0;
+  // Low pass filtering time constant 
+  motor.LPF_current_d.Tf = 0.02;
+
+  // Limits 
+  motor.velocity_limit = 100.0; // 100 rad/s velocity limit
+  motor.voltage_limit = 12.0;   // 12 Volt limit 
+  motor.current_limit = 2.0;    // 2 Amp current limit
+
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q
+  motor.monitor_downsample = 0;
+
+  // initialise motor
+  motor.init();
+
+  cs.init();
+  // driver 8302 has inverted gains on all channels
+  cs.gain_a *=-1;
+  cs.gain_b *=-1;
+  cs.gain_c *=-1;
+  motor.linkCurrentSense(&cs);
+
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 0;
+
+  // define the motor id
+  command.add('M', onMotor, "motor");
+
+  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);
+}
+
+
+void loop() {
+  // iterative setting FOC phase voltage
+  motor.loopFOC();
+
+  // iterative function setting the outter loop target
+  motor.move();
+
+  // monitoring the state variables
+  motor.monitor();
+
+  // user communication
+  command.run();
+}