Merge branch 'dev' of https://github.com/simplefoc/Arduino-FOC.git into dev

runger1101001 · runger1101001 · commit d8011fc36dcd · 2021-05-11T00:43:49.000+02:00
diff --git a/README.md b/README.md
@@ -20,36 +20,12 @@ Therefore this is an attempt to:
 > - bugfixes commander
 > - bugfix `voltage_limit` when provided `phase_resistance`
 > - bugfix `hall_sensor` examples 
-> - added examples fot the powershield
+> - added examples fot the PowerShield
 > - added initial support for `MagneticSensorPWM`
+> - added examples to find the raw max and min of the analog and pwm sensor
 > - extension of the `Commander` interface
-
-
-## Arduino *SimpleFOCShield* v2.0.3
-<p align="">
-<a href="https://youtu.be/G5pbo0C6ujE">
-<img src="https://docs.simplefoc.com/extras/Images/foc_shield_video.jpg"  height="320px">
-</a>
-</p>
-
-### Features
-- **Plug & play**: In combination with Arduino *Simple**FOC**library* - [github](https://github.com/simplefoc/Arduino-FOC)
-- **Low-cost**: Price of €15 - [Check the pricing](https://www.simplefoc.com/shop) 
-- **In-line current sensing**: Up to 3Amps/5Amps bidirectional
-   - configurable: 3.3Amps - 3.3V adc, 5Amps - 5V adc
-- **Integrated 8V regulator**: 
-   - Enable/disable by soldering pads
-- **Max power 120W** - max current 5A, power-supply 12-24V
-   - Designed for Gimbal motors with the internal resistance >10 Ωs. 
-- **Stackable**: running 2 motors in the same time
-- **Encoder/Hall sensors interface**: Integrated 3.3kΩ pullups (configurable)
-- **I2C interface**: Integrated 4.7kΩ pullups (configurable)
-- **Configurable pinout**: Hardware configuration - soldering connections
-- **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
-- **Open Source**: Fully available fabrication files - [how to make it yourself](https://docs.simplefoc.com/arduino_simplefoc_shield_fabrication)
-
-<p align=""><img src="https://simplefoc.com/assets/img/v2.jpg" height="180px">   <img src="https://simplefoc.com/assets/img/v1.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
-
+> - improved esp32 implementation to avoid the need for mcpwm.h changes by @tschundler 
+> - issue #62: motor.shaft_angle setting in the motor.initFOC() 
 
 ## Arduino *SimpleFOClibrary* v2.1
 
@@ -81,6 +57,33 @@ This video demonstrates the *Simple**FOC**library* basic usage, electronic conne
 
 <p align=""> <img src="https://docs.simplefoc.com/extras/Images/uno_l6234.jpg"  height="170px">  <img src="https://docs.simplefoc.com/extras/Images/hmbgc_v22.jpg" height="170px">  <img src="https://docs.simplefoc.com/extras/Images/foc_shield_v13.jpg"  height="170px"></p>
 
+## Arduino *SimpleFOCShield* v2.0.3
+<p align="">
+<a href="https://youtu.be/G5pbo0C6ujE">
+<img src="https://docs.simplefoc.com/extras/Images/foc_shield_video.jpg"  height="320px">
+</a>
+</p>
+
+### Features
+- **Plug & play**: In combination with Arduino *Simple**FOC**library* - [github](https://github.com/simplefoc/Arduino-FOC)
+- **Low-cost**: Price of €15 - [Check the pricing](https://www.simplefoc.com/shop) 
+- **In-line current sensing**: Up to 3Amps/5Amps bidirectional
+   - configurable: 3.3Amps - 3.3V adc, 5Amps - 5V adc
+- **Integrated 8V regulator**: 
+   - Enable/disable by soldering pads
+- **Max power 120W** - max current 5A, power-supply 12-24V
+   - Designed for Gimbal motors with the internal resistance >10 Ωs. 
+- **Stackable**: running 2 motors in the same time
+- **Encoder/Hall sensors interface**: Integrated 3.3kΩ pullups (configurable)
+- **I2C interface**: Integrated 4.7kΩ pullups (configurable)
+- **Configurable pinout**: Hardware configuration - soldering connections
+- **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
+- **Open Source**: Fully available fabrication files - [how to make it yourself](https://docs.simplefoc.com/arduino_simplefoc_shield_fabrication)
+
+<p align=""><img src="https://simplefoc.com/assets/img/v2.jpg" height="180px">   <img src="https://simplefoc.com/assets/img/v1.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
+
+
+
 ## Getting Started
 Depending on if you want to use this library as the plug and play Arduino library or you want to get insight in the algorithm and make changes there are two ways to install this code.
 
diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/find_raw_min_max/find_raw_min_max.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/find_raw_min_max/find_raw_min_max.ino
@@ -0,0 +1,51 @@
+#include <SimpleFOC.h>
+
+/**
+ * An example to find out the raw max and min count to be provided to the constructor
+ * Spin your motor/sensor/magnet to see what is the maximum output of the sensor and what is the minimum value 
+ * And replace values 14 and 1020 with new values. Once when you replace them make sure there is no jump in the angle reading sensor.getAngle(). 
+ * If there is a jump that means you can still find better values. 
+ */
+
+/**
+ * Magnetic sensor reading analog voltage on pin A1.  This voltage is proportional to rotation position.
+ * Tested on AS5600 magnetic sensor running in 'analog mode'.  Note AS5600 works better in 'i2C mode' (less noise) but only supports one sensor per i2c bus. 
+ * 
+ * MagneticSensorAnalog(uint8_t _pinAnalog, int _min, int _max)
+ * - pinAnalog      - the pin that is reading the pwm from magnetic sensor
+ * - min_raw_count  - the smallest expected reading.  Whilst you might expect it to be 0 it is often ~15.  Getting this wrong results in a small click once per revolution
+ * - max_raw_count  - the largest value read.  whilst you might expect it to be 2^10 = 1023 it is often ~ 1020. Note ESP32 will be closer to 4096 with its 12bit ADC
+ */
+MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+int max_count = 0;
+int min_count = 100000; 
+
+void loop() {
+
+  // keep track of min and max
+  if(sensor.raw_count > max_count) max_count = sensor.raw_count;
+  else if(sensor.raw_count < min_count) min_count = sensor.raw_count;
+
+  // display the raw count, and max and min raw count
+  Serial.print("angle:");
+  Serial.print(sensor.getAngle());
+  Serial.print("\t, raw:");
+  Serial.print(sensor.raw_count);
+  Serial.print("\t, min:");
+  Serial.print(min_count);
+  Serial.print("\t, max:");
+  Serial.println(max_count);
+  delay(100);
+}
diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/magnetic_sensor_analog/magnetic_sensor_analog.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/magnetic_sensor_analog/magnetic_sensor_analog.ino
@@ -1,6 +1,7 @@
 #include <SimpleFOC.h>
 
 
+
 /**
  * Magnetic sensor reading analog voltage on pin A1.  This voltage is proportional to rotation position.
  * Tested on AS5600 magnetic sensor running in 'analog mode'.  Note AS5600 works better in 'i2C mode' (less noise) but only supports one sensor per i2c bus. 
@@ -28,4 +29,4 @@ void loop() {
   Serial.print(sensor.getAngle());
   Serial.print("\t");
   Serial.println(sensor.getVelocity());
-}
+}
diff --git a/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/find_raw_min_max/find_raw_min_max.ino b/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/find_raw_min_max/find_raw_min_max.ino
@@ -22,9 +22,22 @@ void setup() {
   _delay(1000);
 }
 
+int max_pulse= 0;
+int min_pulse = 10000;
+
 void loop() {
-  // display the angle and the angular velocity to the terminal
+
+  // keep track of min and max
+  if(sensor.pulse_length_us > max_pulse) max_pulse = sensor.pulse_length_us;
+  else if(sensor.pulse_length_us < min_pulse) min_pulse = sensor.pulse_length_us;
+
+  // display the raw count, and max and min raw count
+  Serial.print("angle:");
+  Serial.print(sensor.getAngle());
+  Serial.print("\t, raw:");
   Serial.print(sensor.pulse_length_us);
-  Serial.print("\t");
-  Serial.println(sensor.getAngle());
+  Serial.print("\t, min:");
+  Serial.print(min_pulse);
+  Serial.print("\t, max:");
+  Serial.println(max_pulse);
 }
diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
@@ -98,8 +98,11 @@ int  BLDCMotor::initFOC( float zero_electric_offset, Direction _sensor_direction
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);
-  if(sensor) exit_flag *= alignSensor();
-  else if(monitor_port) monitor_port->println(F("MOT: No sensor."));
+  if(sensor){
+    exit_flag *= alignSensor();
+    // added the shaft_angle update
+    shaft_angle = sensor->getAngle();
+  }else if(monitor_port) monitor_port->println(F("MOT: No sensor."));
 
   // aligning the current sensor - can be skipped
   // checks if driver phases are the same as current sense phases
@@ -244,14 +247,13 @@ int BLDCMotor::absoluteZeroSearch() {
 // Iterative function looping FOC algorithm, setting Uq on the Motor
 // The faster it can be run the better
 void BLDCMotor::loopFOC() {
-  
+  // if open-loop do nothing
+  if( controller==MotionControlType::angle_openloop || controller==MotionControlType::velocity_openloop ) return;
   // shaft angle
   shaft_angle = shaftAngle(); // read value even if motor is disabled to keep the monitoring updated
 
   // if disabled do nothing
   if(!enabled) return;
-  // if open-loop do nothing
-  if( controller==MotionControlType::angle_openloop || controller==MotionControlType::velocity_openloop ) return;
 
   // electrical angle - need shaftAngle to be called first
   electrical_angle = electricalAngle();
diff --git a/src/StepperMotor.cpp b/src/StepperMotor.cpp
@@ -96,8 +96,11 @@ int  StepperMotor::initFOC( float zero_electric_offset, Direction _sensor_direct
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);
-  if(sensor) exit_flag = alignSensor();
-  else if(monitor_port) monitor_port->println(F("MOT: No sensor."));
+  if(sensor){
+    exit_flag *= alignSensor();
+    // added the shaft_angle update
+    shaft_angle = sensor->getAngle();
+  }else if(monitor_port) monitor_port->println(F("MOT: No sensor."));
   
   if(exit_flag){
     if(monitor_port) monitor_port->println(F("MOT: Ready."));
@@ -213,13 +216,14 @@ int StepperMotor::absoluteZeroSearch() {
 // Iterative function looping FOC algorithm, setting Uq on the Motor
 // The faster it can be run the better
 void StepperMotor::loopFOC() {
-  // if disabled do nothing
-  if(!enabled) return; 
   // if open-loop do nothing
   if( controller==MotionControlType::angle_openloop || controller==MotionControlType::velocity_openloop ) return;
-
   // shaft angle 
   shaft_angle = shaftAngle();
+  
+  // if disabled do nothing
+  if(!enabled) return; 
+
   electrical_angle = electricalAngle();
 
   // set the phase voltage - FOC heart function :) 
@@ -232,15 +236,15 @@ void StepperMotor::loopFOC() {
 // - needs to be called iteratively it is asynchronous function
 // - if target is not set it uses motor.target value
 void StepperMotor::move(float new_target) {
+  // get angular velocity
+  shaft_velocity = shaftVelocity();
   // if disabled do nothing
   if(!enabled) return; 
   // downsampling (optional)
   if(motion_cnt++ < motion_downsample) return;
   motion_cnt = 0;
   // set internal target variable
   if(_isset(new_target) ) target = new_target;
-  // get angular velocity
-  shaft_velocity = shaftVelocity();
   // choose control loop
   switch (controller) {
     case MotionControlType::torque:
diff --git a/src/drivers/hardware_specific/esp32_mcu.cpp b/src/drivers/hardware_specific/esp32_mcu.cpp
@@ -154,10 +154,12 @@ void _configureTimerFrequency(long pwm_frequency, mcpwm_dev_t* mcpwm_num,  mcpwm
   mcpwm_start(mcpwm_unit, MCPWM_TIMER_1);
   mcpwm_start(mcpwm_unit, MCPWM_TIMER_2);
   _delay(1); 
-
-  mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_0, MCPWM_SELECT_SYNC_INT0, 0);
-  mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_1, MCPWM_SELECT_SYNC_INT0, 0);
-  mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_2, MCPWM_SELECT_SYNC_INT0, 0);
+  // Cast here because MCPWM_SELECT_SYNC_INT0 (1) is not defined
+  // in the default Espressif MCPWM headers. The correct const may be used
+  // when https://github.com/espressif/esp-idf/issues/5429 is resolved.
+  mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_0, (mcpwm_sync_signal_t)1, 0);
+  mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_1, (mcpwm_sync_signal_t)1, 0);
+  mcpwm_sync_enable(mcpwm_unit, MCPWM_TIMER_2, (mcpwm_sync_signal_t)1, 0);
   _delay(1);
   mcpwm_num->timer[0].sync.out_sel = 1;
   _delay(1);
@@ -428,4 +430,4 @@ void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, float dead_zone, i
     }
   }
 }
-#endif
+#endif
diff --git a/src/sensors/MagneticSensorAnalog.h b/src/sensors/MagneticSensorAnalog.h
@@ -33,10 +33,10 @@ class MagneticSensorAnalog: public Sensor{
     /** get current angular velocity (rad/s) **/
     float getVelocity() override;
  
-
-  private:
     /** raw count (typically in range of 0-1023), useful for debugging resolution issues */
     int raw_count;
+
+  private:
     int min_raw_count;
     int max_raw_count;
     int cpr;
