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fw: DRV8316 SPI init

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This commit is contained in:
Nils Schulte 2024-06-24 18:58:00 +02:00
parent 56938730b5
commit 4c3b8334dd
3 changed files with 172 additions and 81 deletions
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247
fw/src/main.cpp
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@ -11,6 +11,10 @@
#include "SimpleFOCDrivers.h" #include "SimpleFOCDrivers.h"
#include "encoders/esp32hwencoder/ESP32HWEncoder.h" #include "encoders/esp32hwencoder/ESP32HWEncoder.h"
#include "motors/HybridStepperMotor/HybridStepperMotor.h"
#include "drivers/drv8316/drv8316.h"
#include <cmath> #include <cmath>
// #include "encoders/sc60228/MagneticSensorSC60228.h" // #include "encoders/sc60228/MagneticSensorSC60228.h"
@ -49,8 +53,6 @@
#define SPI_CLK 15 #define SPI_CLK 15
#define SPI_DRV_SC 16 #define SPI_DRV_SC 16
#define MOTOR #define MOTOR
#define SSIF_USBSERIAL #define SSIF_USBSERIAL
#define FW_NO_WATCHDOG #define FW_NO_WATCHDOG
@ -65,16 +67,17 @@
// }; // };
#endif #endif
const float voltage_factor = 19.31;
const int voltage_lpf = 50; const int voltage_lpf = 50;
const float anglefactor = 10000.0;
// BLDC motor & driver instance // BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number); // BLDCMotor motor = BLDCMotor(pole pair number);
ESP32HWEncoder encoder = ESP32HWEncoder(ENC_A, ENC_B, 2048); // The Index pin can be omitted ESP32HWEncoder encoder =
ESP32HWEncoder(ENC_A, ENC_B, 2048 / 2); // The Index pin can be omitted
#ifdef MOTOR #ifdef MOTOR
BLDCMotor motor = BLDCMotor(11); // 24N22P BLDCMotor motor = BLDCMotor(11); // 24N22P
BLDCDriver3PWM driver = BLDCDriver3PWM(INHA,INHB,INHC); // HybridStepperMotor motor = HybridStepperMotor(50, 3.7, 10, 4.5 / 1000);
DRV8316Driver3PWM driver = DRV8316Driver3PWM(INHA, INHB, INHC, SPI_DRV_SC);
// BLDCDriver3PWM driver = BLDCDriver3PWM(INHA,INHB,INHC);
#endif #endif
// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional)); // BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
@ -87,50 +90,103 @@ USBCDC usbserial;
// #define SSYNCIF Serial // #define SSYNCIF Serial
void read_i2c(uint8_t addr, uint8_t reg, uint8_t *buf, uint8_t len) { void read_i2c(uint8_t addr, uint8_t reg, uint8_t *buf, uint8_t len) {
Wire.beginTransmission(addr); Wire.beginTransmission(addr);
Wire.write(reg); // MAN:0x2E Wire.write(reg); // MAN:0x2E
int error = Wire.endTransmission(); int error = Wire.endTransmission();
if (error != 0) { if (error != 0) {
// Serial.println("read error!"); // Serial.println("read error!");
return;
}
delayMicroseconds(50);
int ret = Wire.requestFrom(addr, len);
// Serial.print("0x");
// Serial.print(reg, HEX);
// Serial.print(": ");
Wire.readBytes(buf, ret);
// for (int i = 0; i < ret; ++i) {
// Serial.print("0x");
// Serial.print(Wire.read(), HEX);
// Serial.print(" ");
// }
// Serial.println();
return; return;
}
delayMicroseconds(50);
int ret = Wire.requestFrom(addr, len);
// Serial.print("0x");
// Serial.print(reg, HEX);
// Serial.print(": ");
Wire.readBytes(buf, ret);
// for (int i = 0; i < ret; ++i) {
// Serial.print("0x");
// Serial.print(Wire.read(), HEX);
// Serial.print(" ");
// }
// Serial.println();
return;
} }
void write_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val) { void write_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val) {
Wire.beginTransmission(addr); Wire.beginTransmission(addr);
uint8_t data[] = {reg_lsb, val}; uint8_t data[] = {reg_lsb, val};
Wire.write(data, sizeof data); Wire.write(data, sizeof data);
int error = Wire.endTransmission(); int error = Wire.endTransmission();
if (error != 0) { if (error != 0) {
// Serial.println("write error!"); // Serial.println("write error!");
return; return;
} }
} }
void write_dual_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val1, uint8_t void write_dual_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val1, uint8_t val2) {
val2) { Wire.beginTransmission(addr);
Wire.beginTransmission(addr); uint8_t data[] = {reg_lsb, val1, val2};
uint8_t data[] = {reg_lsb, val1, val2}; Wire.write(data, sizeof data);
Wire.write(data, sizeof data); int error = Wire.endTransmission();
int error = Wire.endTransmission(); if (error != 0) {
if (error != 0) { // Serial.println("write error!");
// Serial.println("write error!"); return;
return; }
}
} }
void status() {
DRV8316Status status = driver.getStatus();
SSYNCIF.println("DRV8316 Status:");
SSYNCIF.print("Fault: ");
SSYNCIF.println(status.isFault());
SSYNCIF.print("Buck Error: ");
SSYNCIF.print(status.isBuckError());
SSYNCIF.print(" Undervoltage: ");
SSYNCIF.print(status.isBuckUnderVoltage());
SSYNCIF.print(" OverCurrent: ");
SSYNCIF.println(status.isBuckOverCurrent());
SSYNCIF.print("Charge Pump UnderVoltage: ");
SSYNCIF.println(status.isChargePumpUnderVoltage());
SSYNCIF.print("OTP Error: ");
SSYNCIF.println(status.isOneTimeProgrammingError());
SSYNCIF.print("OverCurrent: ");
SSYNCIF.print(status.isOverCurrent());
SSYNCIF.print(" Ah: ");
SSYNCIF.print(status.isOverCurrent_Ah());
SSYNCIF.print(" Al: ");
SSYNCIF.print(status.isOverCurrent_Al());
SSYNCIF.print(" Bh: ");
SSYNCIF.print(status.isOverCurrent_Bh());
SSYNCIF.print(" Bl: ");
SSYNCIF.print(status.isOverCurrent_Bl());
SSYNCIF.print(" Ch: ");
SSYNCIF.print(status.isOverCurrent_Ch());
SSYNCIF.print(" Cl: ");
SSYNCIF.println(status.isOverCurrent_Cl());
SSYNCIF.print("OverTemperature: ");
SSYNCIF.print(status.isOverTemperature());
SSYNCIF.print(" Shutdown: ");
SSYNCIF.print(status.isOverTemperatureShutdown());
SSYNCIF.print(" Warning: ");
SSYNCIF.println(status.isOverTemperatureWarning());
SSYNCIF.print("OverVoltage: ");
SSYNCIF.println(status.isOverVoltage());
SSYNCIF.print("PowerOnReset: ");
SSYNCIF.println(status.isPowerOnReset());
SSYNCIF.print("SPI Error: ");
SSYNCIF.print(status.isSPIError());
SSYNCIF.print(" Address: ");
SSYNCIF.print(status.isSPIAddressError());
SSYNCIF.print(" Clock: ");
SSYNCIF.print(status.isSPIClockFramingError());
SSYNCIF.print(" Parity: ");
SSYNCIF.println(status.isSPIParityError());
DRV8316_PWMMode val = driver.getPWMMode();
SSYNCIF.print("PWM Mode: ");
SSYNCIF.println(val);
SSYNCIF.print("Recirculation: ");
SSYNCIF.println(driver.getRecirculationMode());
}
// Preferences prefs; // Preferences prefs;
SemaphoreHandle_t mutex; SemaphoreHandle_t mutex;
@ -147,9 +203,9 @@ void foc_task(void *parameter) {
#endif #endif
#ifdef MOTOR #ifdef MOTOR
// motors.target = s_foc.vt[i] / anglefactor; // motors.target = s_foc.vt[i] / anglefactor;
// motors.loopFOC(); // motors.loopFOC();
// motors.move(); // motors.move();
#else #else
// sensors.update(); // sensors.update();
#endif #endif
@ -177,17 +233,38 @@ void setup() {
// SSYNCIF.print(__cplusplus); // SSYNCIF.print(__cplusplus);
// Wire.setTimeOut(10); // Wire.setTimeOut(10);
// SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_CS1);
Wire.begin(I2C_SDA, I2C_SCL, 400000); Wire.begin(I2C_SDA, I2C_SCL, 400000);
pinMode(DRVOFF, OUTPUT);
digitalWrite(DRVOFF, 0); // enable
pinMode(INLA, OUTPUT);
digitalWrite(INLA, 1); // enable
pinMode(INLB, OUTPUT);
digitalWrite(INLB, 1); // enable
pinMode(INLC, OUTPUT);
digitalWrite(INLC, 1); // enable
// write_i2c(0x36,0x07, 0b00000011); // write_i2c(0x36,0x07, 0b00000011);
write_i2c(0x36,0x09, 0b1000); write_i2c(0x36, 0x09, 0xFF);
encoder.init(); encoder.init();
#ifdef MOTOR
driver.voltage_power_supply = 15;
SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_DRV_SC);
driver.init(&SPI);
driver.setSlew(DRV8316_Slew::Slew_200Vus);
status();
motor.linkDriver(&driver);
// motor.linkSensor(&encoder);
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
motor.voltage_sensor_align = 5;
motor.voltage_limit = 6;
motor.controller = MotionControlType::velocity_openloop;
motor.init();
// motor.initFOC();
// sensor.init(&SPI); // sensor.init(&SPI);
#ifdef MOTOR
// motors[i].linkSensor(&sensors[i]); // motors[i].linkSensor(&sensors[i]);
#endif #endif
@ -207,30 +284,30 @@ void setup() {
// s_exchange.vcc_voltage_mV = GET_VCC; // s_exchange.vcc_voltage_mV = GET_VCC;
// drivers[0].voltage_power_supply = s_exchange.vcc_voltage_mV / 1000.0f; // drivers[0].voltage_power_supply = s_exchange.vcc_voltage_mV / 1000.0f;
// for (int i = 1; i < NUM_MOTORS; i += 1) // for (int i = 1; i < NUM_MOTORS; i += 1)
// drivers[i].voltage_power_supply = drivers[0].voltage_power_supply; // drivers[i].voltage_power_supply = drivers[0].voltage_power_supply;
// s_foc = s_exchange; // s_foc = s_exchange;
// for (int i = 0; i < NUM_MOTORS; i += 1) { // for (int i = 0; i < NUM_MOTORS; i += 1) {
#ifdef MOTOR #ifdef MOTOR
// drivers[i].init(); // drivers[i].init();
// link driver // link driver
// motors[i].linkDriver(&drivers[i]); // motors[i].linkDriver(&drivers[i]);
// motors[i].voltage_sensor_align = 5; // motors[i].voltage_sensor_align = 5;
// set control loop type to be used // set control loop type to be used
// motors[i].torque_controller = TorqueControlType::voltage; // motors[i].torque_controller = TorqueControlType::voltage;
// motors[i].controller = MotionControlType::velocity; // motors[i].controller = MotionControlType::velocity;
// contoller configuration based on the control type // contoller configuration based on the control type
// motors[i].PID_velocity.P = 0.35; // motors[i].PID_velocity.P = 0.35;
// motors[i].PID_velocity.I = 8; // motors[i].PID_velocity.I = 8;
// motors[i].PID_velocity.D = 0; // motors[i].PID_velocity.D = 0;
// default voltage_power_supply // default voltage_power_supply
// motors[i].voltage_limit = 3.4 * 3; // motors[i].voltage_limit = 3.4 * 3;
// velocity low pass filtering time constant // velocity low pass filtering time constant
// motors[i].LPF_velocity.Tf = 0.01; // motors[i].LPF_velocity.Tf = 0.01;
#endif #endif
// } // }
#ifdef MOTOR #ifdef MOTOR
@ -260,15 +337,18 @@ void setup() {
// // if (prefs.isKey(pref_zero_key.c_str()) && // // if (prefs.isKey(pref_zero_key.c_str()) &&
// // prefs.isKey(pref_dir_key.c_str())) { // // prefs.isKey(pref_dir_key.c_str())) {
// // motors[i].zero_electric_angle = // // motors[i].zero_electric_angle =
// // prefs.getFloat(pref_zero_key.c_str()); motors[i].sensor_direction = // // prefs.getFloat(pref_zero_key.c_str()); motors[i].sensor_direction
// =
// // (Direction)prefs.getInt(pref_dir_key.c_str()); // // (Direction)prefs.getInt(pref_dir_key.c_str());
// // } // // }
// motors[i].initFOC(); // motors[i].initFOC();
// // if (!prefs.isKey(pref_zero_key.c_str()) || // // if (!prefs.isKey(pref_zero_key.c_str()) ||
// // !prefs.isKey(pref_dir_key.c_str())) { // // !prefs.isKey(pref_dir_key.c_str())) {
// // prefs.clear(); // // prefs.clear();
// // prefs.putFloat(pref_zero_key.c_str(), motors[i].zero_electric_angle); // // prefs.putFloat(pref_zero_key.c_str(),
// // prefs.putInt(pref_dir_key.c_str(), (int)motors[i].sensor_direction); // motors[i].zero_electric_angle);
// // prefs.putInt(pref_dir_key.c_str(),
// (int)motors[i].sensor_direction);
// // } // // }
// } // }
#endif #endif
@ -280,10 +360,9 @@ void setup() {
#endif #endif
// xTaskCreatePinnedToCore(&comm_task, // Function name of the task // xTaskCreatePinnedToCore(&comm_task, // Function name of the task
// "Comm", // Name of the task (e.g. for debugging) // "Comm", // Name of the task (e.g. for
// 4096, // Stack size (bytes) // debugging) 4096, // Stack size (bytes) NULL,
// NULL, // Parameter to pass // // Parameter to pass 1, // Task priority
// 1, // Task priority
// &taskCommHandle, // Assign task handle // &taskCommHandle, // Assign task handle
// 1 // Run on the non-Arduino (1) core // 1 // Run on the non-Arduino (1) core
// ); // );
@ -299,13 +378,25 @@ void setup() {
// esp_task_wdt_add(NULL); // add current thread to WDT watch // esp_task_wdt_add(NULL); // add current thread to WDT watch
} }
int i = 0;
void loop() { void loop() {
#ifdef MOTOR
// motor.loopFOC();
encoder.update(); // optional: Update manually if not using loopfoc() motor.move(3);
#endif
// Access the sensor value // delay(100);
SSYNCIF.println(encoder.getAngle()); // static int i = 0;
delay(10); // if (i++ % 100 == 0)
// status();
} }
// int i = 0;
// void loop() {
// //encoder.update(); // optional: Update manually if not using loopfoc()
// //
// // Access the sensor value
// SSYNCIF.println(encoder.getAngle());
// delay(10);
// }
// esp_task_wdt_reset(); // esp_task_wdt_reset();