fw: DRV8316 SPI init
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fw/src/main.cpp
253
fw/src/main.cpp
@ -11,6 +11,10 @@
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#include "SimpleFOCDrivers.h"
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#include "encoders/esp32hwencoder/ESP32HWEncoder.h"
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#include "motors/HybridStepperMotor/HybridStepperMotor.h"
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#include "drivers/drv8316/drv8316.h"
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#include <cmath>
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// #include "encoders/sc60228/MagneticSensorSC60228.h"
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@ -49,8 +53,6 @@
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#define SPI_CLK 15
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#define SPI_DRV_SC 16
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#define MOTOR
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#define SSIF_USBSERIAL
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#define FW_NO_WATCHDOG
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@ -65,16 +67,17 @@
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// };
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#endif
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const float voltage_factor = 19.31;
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const int voltage_lpf = 50;
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const float anglefactor = 10000.0;
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// BLDC motor & driver instance
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// BLDCMotor motor = BLDCMotor(pole pair number);
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ESP32HWEncoder encoder = ESP32HWEncoder(ENC_A, ENC_B, 2048); // The Index pin can be omitted
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ESP32HWEncoder encoder =
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ESP32HWEncoder(ENC_A, ENC_B, 2048 / 2); // The Index pin can be omitted
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#ifdef MOTOR
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BLDCMotor motor = BLDCMotor(11); // 24N22P
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BLDCDriver3PWM driver = BLDCDriver3PWM(INHA,INHB,INHC);
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// HybridStepperMotor motor = HybridStepperMotor(50, 3.7, 10, 4.5 / 1000);
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DRV8316Driver3PWM driver = DRV8316Driver3PWM(INHA, INHB, INHC, SPI_DRV_SC);
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// BLDCDriver3PWM driver = BLDCDriver3PWM(INHA,INHB,INHC);
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#endif
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// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
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@ -87,50 +90,103 @@ USBCDC usbserial;
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// #define SSYNCIF Serial
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void read_i2c(uint8_t addr, uint8_t reg, uint8_t *buf, uint8_t len) {
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Wire.beginTransmission(addr);
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Wire.write(reg); // MAN:0x2E
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int error = Wire.endTransmission();
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if (error != 0) {
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// Serial.println("read error!");
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return;
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}
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delayMicroseconds(50);
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int ret = Wire.requestFrom(addr, len);
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// Serial.print("0x");
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// Serial.print(reg, HEX);
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// Serial.print(": ");
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Wire.readBytes(buf, ret);
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// for (int i = 0; i < ret; ++i) {
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// Serial.print("0x");
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// Serial.print(Wire.read(), HEX);
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// Serial.print(" ");
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// }
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// Serial.println();
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Wire.beginTransmission(addr);
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Wire.write(reg); // MAN:0x2E
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int error = Wire.endTransmission();
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if (error != 0) {
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// Serial.println("read error!");
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return;
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}
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delayMicroseconds(50);
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int ret = Wire.requestFrom(addr, len);
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// Serial.print("0x");
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// Serial.print(reg, HEX);
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// Serial.print(": ");
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Wire.readBytes(buf, ret);
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// for (int i = 0; i < ret; ++i) {
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// Serial.print("0x");
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// Serial.print(Wire.read(), HEX);
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// Serial.print(" ");
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// }
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// Serial.println();
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return;
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}
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void write_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val) {
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Wire.beginTransmission(addr);
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uint8_t data[] = {reg_lsb, val};
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Wire.write(data, sizeof data);
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int error = Wire.endTransmission();
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if (error != 0) {
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// Serial.println("write error!");
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return;
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}
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Wire.beginTransmission(addr);
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uint8_t data[] = {reg_lsb, val};
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Wire.write(data, sizeof data);
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int error = Wire.endTransmission();
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if (error != 0) {
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// Serial.println("write error!");
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return;
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}
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}
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void write_dual_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val1, uint8_t
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val2) {
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Wire.beginTransmission(addr);
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uint8_t data[] = {reg_lsb, val1, val2};
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Wire.write(data, sizeof data);
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int error = Wire.endTransmission();
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if (error != 0) {
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// Serial.println("write error!");
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return;
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}
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void write_dual_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val1, uint8_t val2) {
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Wire.beginTransmission(addr);
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uint8_t data[] = {reg_lsb, val1, val2};
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Wire.write(data, sizeof data);
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int error = Wire.endTransmission();
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if (error != 0) {
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// Serial.println("write error!");
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return;
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}
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}
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void status() {
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DRV8316Status status = driver.getStatus();
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SSYNCIF.println("DRV8316 Status:");
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SSYNCIF.print("Fault: ");
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SSYNCIF.println(status.isFault());
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SSYNCIF.print("Buck Error: ");
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SSYNCIF.print(status.isBuckError());
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SSYNCIF.print(" Undervoltage: ");
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SSYNCIF.print(status.isBuckUnderVoltage());
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SSYNCIF.print(" OverCurrent: ");
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SSYNCIF.println(status.isBuckOverCurrent());
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SSYNCIF.print("Charge Pump UnderVoltage: ");
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SSYNCIF.println(status.isChargePumpUnderVoltage());
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SSYNCIF.print("OTP Error: ");
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SSYNCIF.println(status.isOneTimeProgrammingError());
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SSYNCIF.print("OverCurrent: ");
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SSYNCIF.print(status.isOverCurrent());
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SSYNCIF.print(" Ah: ");
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SSYNCIF.print(status.isOverCurrent_Ah());
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SSYNCIF.print(" Al: ");
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SSYNCIF.print(status.isOverCurrent_Al());
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SSYNCIF.print(" Bh: ");
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SSYNCIF.print(status.isOverCurrent_Bh());
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SSYNCIF.print(" Bl: ");
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SSYNCIF.print(status.isOverCurrent_Bl());
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SSYNCIF.print(" Ch: ");
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SSYNCIF.print(status.isOverCurrent_Ch());
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SSYNCIF.print(" Cl: ");
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SSYNCIF.println(status.isOverCurrent_Cl());
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SSYNCIF.print("OverTemperature: ");
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SSYNCIF.print(status.isOverTemperature());
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SSYNCIF.print(" Shutdown: ");
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SSYNCIF.print(status.isOverTemperatureShutdown());
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SSYNCIF.print(" Warning: ");
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SSYNCIF.println(status.isOverTemperatureWarning());
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SSYNCIF.print("OverVoltage: ");
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SSYNCIF.println(status.isOverVoltage());
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SSYNCIF.print("PowerOnReset: ");
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SSYNCIF.println(status.isPowerOnReset());
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SSYNCIF.print("SPI Error: ");
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SSYNCIF.print(status.isSPIError());
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SSYNCIF.print(" Address: ");
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SSYNCIF.print(status.isSPIAddressError());
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SSYNCIF.print(" Clock: ");
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SSYNCIF.print(status.isSPIClockFramingError());
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SSYNCIF.print(" Parity: ");
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SSYNCIF.println(status.isSPIParityError());
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DRV8316_PWMMode val = driver.getPWMMode();
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SSYNCIF.print("PWM Mode: ");
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SSYNCIF.println(val);
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SSYNCIF.print("Recirculation: ");
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SSYNCIF.println(driver.getRecirculationMode());
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}
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// Preferences prefs;
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SemaphoreHandle_t mutex;
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@ -147,9 +203,9 @@ void foc_task(void *parameter) {
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#endif
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#ifdef MOTOR
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// motors.target = s_foc.vt[i] / anglefactor;
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// motors.loopFOC();
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// motors.move();
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// motors.target = s_foc.vt[i] / anglefactor;
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// motors.loopFOC();
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// motors.move();
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#else
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// sensors.update();
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#endif
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@ -177,17 +233,38 @@ void setup() {
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// SSYNCIF.print(__cplusplus);
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// Wire.setTimeOut(10);
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// SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_CS1);
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Wire.begin(I2C_SDA, I2C_SCL, 400000);
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// write_i2c(0x36,0x07, 0b00000011);
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write_i2c(0x36,0x09, 0b1000);
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encoder.init();
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pinMode(DRVOFF, OUTPUT);
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digitalWrite(DRVOFF, 0); // enable
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pinMode(INLA, OUTPUT);
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digitalWrite(INLA, 1); // enable
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pinMode(INLB, OUTPUT);
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digitalWrite(INLB, 1); // enable
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pinMode(INLC, OUTPUT);
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digitalWrite(INLC, 1); // enable
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// write_i2c(0x36,0x07, 0b00000011);
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write_i2c(0x36, 0x09, 0xFF);
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encoder.init();
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#ifdef MOTOR
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driver.voltage_power_supply = 15;
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SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_DRV_SC);
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driver.init(&SPI);
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driver.setSlew(DRV8316_Slew::Slew_200Vus);
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status();
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motor.linkDriver(&driver);
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// motor.linkSensor(&encoder);
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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motor.voltage_sensor_align = 5;
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motor.voltage_limit = 6;
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motor.controller = MotionControlType::velocity_openloop;
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motor.init();
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// motor.initFOC();
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// sensor.init(&SPI);
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#ifdef MOTOR
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// motors[i].linkSensor(&sensors[i]);
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#endif
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@ -207,30 +284,30 @@ void setup() {
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// s_exchange.vcc_voltage_mV = GET_VCC;
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// drivers[0].voltage_power_supply = s_exchange.vcc_voltage_mV / 1000.0f;
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// for (int i = 1; i < NUM_MOTORS; i += 1)
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// drivers[i].voltage_power_supply = drivers[0].voltage_power_supply;
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// drivers[i].voltage_power_supply = drivers[0].voltage_power_supply;
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// s_foc = s_exchange;
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// for (int i = 0; i < NUM_MOTORS; i += 1) {
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#ifdef MOTOR
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// drivers[i].init();
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// link driver
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// motors[i].linkDriver(&drivers[i]);
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// motors[i].voltage_sensor_align = 5;
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// drivers[i].init();
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// link driver
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// motors[i].linkDriver(&drivers[i]);
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// motors[i].voltage_sensor_align = 5;
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// set control loop type to be used
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// motors[i].torque_controller = TorqueControlType::voltage;
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// motors[i].controller = MotionControlType::velocity;
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// set control loop type to be used
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// motors[i].torque_controller = TorqueControlType::voltage;
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// motors[i].controller = MotionControlType::velocity;
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// contoller configuration based on the control type
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// motors[i].PID_velocity.P = 0.35;
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// motors[i].PID_velocity.I = 8;
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// motors[i].PID_velocity.D = 0;
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// contoller configuration based on the control type
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// motors[i].PID_velocity.P = 0.35;
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// motors[i].PID_velocity.I = 8;
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// motors[i].PID_velocity.D = 0;
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// default voltage_power_supply
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// motors[i].voltage_limit = 3.4 * 3;
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// default voltage_power_supply
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// motors[i].voltage_limit = 3.4 * 3;
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// velocity low pass filtering time constant
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// motors[i].LPF_velocity.Tf = 0.01;
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// velocity low pass filtering time constant
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// motors[i].LPF_velocity.Tf = 0.01;
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#endif
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// }
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#ifdef MOTOR
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@ -260,15 +337,18 @@ void setup() {
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// // if (prefs.isKey(pref_zero_key.c_str()) &&
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// // prefs.isKey(pref_dir_key.c_str())) {
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// // motors[i].zero_electric_angle =
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// // prefs.getFloat(pref_zero_key.c_str()); motors[i].sensor_direction =
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// // prefs.getFloat(pref_zero_key.c_str()); motors[i].sensor_direction
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// =
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// // (Direction)prefs.getInt(pref_dir_key.c_str());
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// // }
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// motors[i].initFOC();
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// // if (!prefs.isKey(pref_zero_key.c_str()) ||
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// // !prefs.isKey(pref_dir_key.c_str())) {
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// // prefs.clear();
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// // prefs.putFloat(pref_zero_key.c_str(), motors[i].zero_electric_angle);
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// // prefs.putInt(pref_dir_key.c_str(), (int)motors[i].sensor_direction);
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// // prefs.putFloat(pref_zero_key.c_str(),
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// motors[i].zero_electric_angle);
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// // prefs.putInt(pref_dir_key.c_str(),
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// (int)motors[i].sensor_direction);
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// // }
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// }
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#endif
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@ -280,10 +360,9 @@ void setup() {
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#endif
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// xTaskCreatePinnedToCore(&comm_task, // Function name of the task
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// "Comm", // Name of the task (e.g. for debugging)
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// 4096, // Stack size (bytes)
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// NULL, // Parameter to pass
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// 1, // Task priority
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// "Comm", // Name of the task (e.g. for
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// debugging) 4096, // Stack size (bytes) NULL,
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// // Parameter to pass 1, // Task priority
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// &taskCommHandle, // Assign task handle
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// 1 // Run on the non-Arduino (1) core
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// );
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@ -299,13 +378,25 @@ void setup() {
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// esp_task_wdt_add(NULL); // add current thread to WDT watch
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}
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int i = 0;
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void loop() {
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#ifdef MOTOR
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// motor.loopFOC();
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encoder.update(); // optional: Update manually if not using loopfoc()
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// Access the sensor value
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SSYNCIF.println(encoder.getAngle());
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delay(10);
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motor.move(3);
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#endif
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// delay(100);
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// static int i = 0;
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// if (i++ % 100 == 0)
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// status();
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}
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// int i = 0;
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// void loop() {
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// //encoder.update(); // optional: Update manually if not using loopfoc()
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// //
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// // Access the sensor value
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// SSYNCIF.println(encoder.getAngle());
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// delay(10);
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// }
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// esp_task_wdt_reset();
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