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working openloop with swapped motor pins

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This commit is contained in:
Nils Schulte 2025-05-15 00:45:51 +02:00
parent 1a7ea09816
commit 6bf5371d97
2 changed files with 111 additions and 41 deletions
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10
fw/platformio.ini
View File

@ -9,8 +9,9 @@
; https://docs.platformio.org/page/projectconf.html ; https://docs.platformio.org/page/projectconf.html
[env:nilsdriverv1] [env:nilsdriverv1]
# platform = espressif32 platform = espressif32
platform = https://github.com/cziter15/platform-espressif32.git#68ad40f6df654fe4b8d0a50982b810df5b49b677 # platform = https://github.com/cziter15/platform-espressif32.git#68ad40f6df654fe4b8d0a50982b810df5b49b677
# platform = https://github.com/cziter15/platform-espressif32.git
#platform = https://github.com/tasmota/platform-espressif32/releases/download/2023.10.10/platform-espressif32.zip #platform = https://github.com/tasmota/platform-espressif32/releases/download/2023.10.10/platform-espressif32.zip
# board = adafruit_feather_esp32s3 # board = adafruit_feather_esp32s3
board = lolin_s3_mini board = lolin_s3_mini
@ -19,12 +20,13 @@ upload_protocol = esptool
upload_port = /dev/ttyACM* upload_port = /dev/ttyACM*
# board_build.mcu = esp32s3 # board_build.mcu = esp32s3
lib_archive = false lib_archive = false
;platform_packages = espressif/toolchain-xtensa-esp32@8.4.0+2021r2-patch5 # ;platform_packages = espressif/toolchain-xtensa-esp32@8.4.0+2021r2-patch5
monitor_speed = 115200 monitor_speed = 115200
lib_deps = lib_deps =
https://github.com/simplefoc/Arduino-FOC.git#dev https://github.com/simplefoc/Arduino-FOC.git#dev
https://github.com/simplefoc/Arduino-FOC-drivers.git#dev https://github.com/simplefoc/Arduino-FOC-drivers.git#dev
https://github.com/handmade0octopus/ESP32-TWAI-CAN # https://github.com/handmade0octopus/ESP32-TWAI-CAN
https://github.com/tdk-invn-oss/motion.arduino.ICM42670P
; https://github.com/simplefoc/Arduino-FOC-dcmotor.git ; https://github.com/simplefoc/Arduino-FOC-dcmotor.git
; https://github.com/eric-wieser/packet-io.git ; https://github.com/eric-wieser/packet-io.git
; https://git.nilsschulte.de/nils/simplesync.git ; https://git.nilsschulte.de/nils/simplesync.git

142
fw/src/main.cpp
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@ -9,15 +9,17 @@
// #include <INA3221.h> // #include <INA3221.h>
#include "SimpleFOCDrivers.h" #include "SimpleFOCDrivers.h"
#include "comms/streams/BinaryIO.h" // #include "comms/streams/BinaryIO.h"
#include "encoders/esp32hwencoder/ESP32HWEncoder.h" // #include "encoders/as5600/MagneticSensorAS5600.h"
#include "encoders/as5600/MagneticSensorAS5600.h" // #include "encoders/calibrated/CalibratedSensor.h"
#include "encoders/calibrated/CalibratedSensor.h" // #include "encoders/esp32hwencoder/ESP32HWEncoder.h"
#include "DRV8323S.hpp" #include "DRV8323S.hpp"
#include "esp32-hal-adc.h" #include "esp32-hal-adc.h"
#include "esp32-hal-gpio.h" #include "esp32-hal-gpio.h"
#include "motors/HybridStepperMotor/HybridStepperMotor.h" // #include "motors/HybridStepperMotor/HybridStepperMotor.h"
#include "HybridStepperMotor.h"
#include <cmath> #include <cmath>
// #include "encoders/sc60228/MagneticSensorSC60228.h" // #include "encoders/sc60228/MagneticSensorSC60228.h"
@ -30,10 +32,12 @@
#define ENC_A 11 #define ENC_A 11
#define ENC_B 8 #define ENC_B 8
#define I2C_SDA 18 // #define I2C_SDA 18
#define I2C_SCL 0 // #define I2C_SCL 0
#define DRVEN 15 #define SPI_ACC_nCS 0
#define DRV_nFAULT 15
#define DRVEN 16
#define TERMISTOR_PCB 3 #define TERMISTOR_PCB 3
#define TERMISTOR_EXT 9 #define TERMISTOR_EXT 9
#define TEMP(v0, b, rt, r1, vdd) \ #define TEMP(v0, b, rt, r1, vdd) \
@ -49,8 +53,8 @@
#define SOC 10 #define SOC 10
#define INHA 14 #define INHA 14
#define INHB 13 #define INHB 12
#define INHC 12 #define INHC 13
#define INLABC 46 #define INLABC 46
#define CAN_TX 6 #define CAN_TX 6
@ -61,7 +65,7 @@
#define SPI_CLK 47 #define SPI_CLK 47
#define SPI_DRV_SC 21 #define SPI_DRV_SC 21
#define LED_PIN 16 #define LED_PIN 38
#define VSENSE_PIN 5 #define VSENSE_PIN 5
#define CAL_PIN 17 #define CAL_PIN 17
#define vdrive_read (analogRead(VSENSE_PIN) * 20.08f / 845) #define vdrive_read (analogRead(VSENSE_PIN) * 20.08f / 845)
@ -85,15 +89,20 @@ const int voltage_lpf = 50;
// BLDC motor & driver instance // BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number); // BLDCMotor motor = BLDCMotor(pole pair number);
// #include "ICM42670P.h"
// ICM42670 IMU(SPI, 0, 100000);
// ESP32HWEncoder encoder = // ESP32HWEncoder encoder =
// ESP32HWEncoder(ENC_A, ENC_B, 2048 / 4); // The Index pin can be omitted // ESP32HWEncoder(ENC_A, ENC_B, 4096 / 4); // The Index pin can be omitted
Encoder encoder = Encoder(ENC_A, ENC_B, 4096 / 4);
// CalibratedSensor encoder_calibrated = CalibratedSensor(encoder); // CalibratedSensor encoder_calibrated = CalibratedSensor(encoder);
MagneticSensorAS5600 encoder = MagneticSensorAS5600(0x36); // MagneticSensorAS5600 encoder = MagneticSensorAS5600(0x36);
#ifdef MOTOR #ifdef MOTOR
struct drv8323s_foc_driver drv8323s; struct drv8323s_foc_driver drv8323s;
// BLDCMotor motor = BLDCMotor(100); // 24N22P // BLDCMotor motor = BLDCMotor(100); // 24N22P
HybridStepperMotor motor = HybridStepperMotor(50);//, 3.7, 10, 4.5 / 1000); HybridStepperMotor motor = HybridStepperMotor(50); //, 3.7, 10, 4.5 / 1000);
// HybridStepperMotor motor = HybridStepperMotor(50); //, 3.7, 10, 4.5 / 1000);
// DRV8316Driver3PWM driver = DRV8316Driver3PWM(INHA, INHB, INHC, SPI_DRV_SC); // DRV8316Driver3PWM driver = DRV8316Driver3PWM(INHA, INHB, INHC, SPI_DRV_SC);
// BLDCDriver3PWM driver = BLDCDriver3PWM(INHA,INHB,INHC); // BLDCDriver3PWM driver = BLDCDriver3PWM(INHA,INHB,INHC);
#endif #endif
@ -172,11 +181,17 @@ void comm_task(void *parameter) {
} }
} }
void doA1(){encoder.handleA();}
void doB1(){encoder.handleB();}
void setup() { void setup() {
pinMode(LED_PIN, OUTPUT); pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, 1); // enable for (int i = 0; i < 1; i++) {
delay(1000); digitalWrite(LED_PIN, 0); // enable
digitalWrite(LED_PIN, 0); // enable delay(1000);
digitalWrite(LED_PIN, 1); // enable
delay(1000);
}
mutex = xSemaphoreCreateMutex(); mutex = xSemaphoreCreateMutex();
#ifdef SSIF_USBSERIAL #ifdef SSIF_USBSERIAL
SSYNCIF.begin(); SSYNCIF.begin();
@ -191,7 +206,7 @@ void setup() {
// SSYNCIF.print(__cplusplus); // SSYNCIF.print(__cplusplus);
// Wire.setTimeOut(10); // Wire.setTimeOut(10);
Wire.begin(I2C_SDA, I2C_SCL, 1000000); // Wire.begin(I2C_SDA, I2C_SCL, 1000000);
pinMode(SPI_DRV_SC, OUTPUT); pinMode(SPI_DRV_SC, OUTPUT);
@ -207,44 +222,66 @@ void setup() {
digitalWrite(CAL_PIN, 0); // enable digitalWrite(CAL_PIN, 0); // enable
// write_i2c(0x36,0x07, 0b00000011); // write_i2c(0x36,0x07, 0b00000011);
write_i2c(0x36, 0x09, 0xFF); // write_i2c(0x36, 0x09, 0xFF);
encoder.init(&Wire); // encoder.init(&Wire);
encoder.pullup = Pullup::USE_INTERN;
encoder.init(); encoder.init();
#ifdef MOTOR encoder.enableInterrupts(doA1,doB1);
SimpleFOCDebug::enable(&SSYNCIF);
// driver.voltage_power_supply = 15;
pinMode(SPI_MISO, INPUT_PULLUP); pinMode(SPI_MISO, INPUT_PULLUP);
SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_DRV_SC); SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_DRV_SC);
#ifdef MOTOR
SimpleFOCDebug::enable(&SSYNCIF);
drv8323s_init(&drv8323s, INHA, INHB, INHC, SPI_DRV_SC, DRVEN, &SPI); drv8323s_init(&drv8323s, INHA, INHB, INHC, SPI_DRV_SC, DRVEN, &SPI);
digitalWrite(INLABC, 1); // enable digitalWrite(INLABC, 1); // enable
// driver.init(&SPI); // driver.init(&SPI);
// status(); // status();
motor.linkDriver(drv8323s.focdriver); motor.linkDriver(drv8323s.focdriver);
motor.linkSensor(&encoder); motor.linkSensor(&encoder);
motor.foc_modulation = FOCModulationType::SpaceVectorPWM; // motor.foc_modulation = FOCModulationType::SinePWM;
motor.voltage_sensor_align = 4; motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
motor.voltage_limit = 7;
// motor.controller = MotionControlType::velocity_openloop; motor.voltage_sensor_align = 6;
motor.controller = MotionControlType::torque; motor.voltage_limit = 3;
motor.torque_controller = TorqueControlType::voltage; motor.controller = MotionControlType::velocity_openloop;
drv8323s.focdriver->voltage_power_supply = 12; // motor.controller = MotionControlType::torque;
// motor.torque_controller = TorqueControlType::voltage;
drv8323s.focdriver->voltage_power_supply = vdrive_read;
motor.init(); motor.init();
// // set voltage to run calibration // // set voltage to run calibration
// encoder_calibrated.voltage_calibration = 3; // encoder_calibrated.voltage_calibration = 3;
// // Running calibration // // Running calibration
// encoder_calibrated.calibrate(motor); // encoder_calibrated.calibrate(motor);
// //Serial.println("Calibrating Sensor Done."); // //Serial.println("Calibrating Sensor Done.");
// // Linking sensor to motor object // // Linking sensor to motor object
// motor.linkSensor(&encoder_calibrated); // motor.linkSensor(&encoder_calibrated);
motor.initFOC(); motor.initFOC();
motor.move(1);
// sensor.init(&SPI); // sensor.init(&SPI);
// motors[i].linkSensor(&sensors[i]); // motors[i].linkSensor(&sensors[i]);
#endif #endif
// delay(5000);
// SSYNCIF.println("IMU.begin()");
// int ret = IMU.begin();
// if (ret != 0) {
// SSYNCIF.print("ICM42670 initialization failed: ");
// SSYNCIF.println(ret);
// while (1) {
// SSYNCIF.print("ICM42670 initialization failed: ");
// SSYNCIF.println(ret);
// delay(100);
// }
// }
// Accel ODR = 100 Hz and Full Scale Range = 16G
// IMU.startAccel(100, 16);
// Gyro ODR = 100 Hz and Full Scale Range = 2000 dps
// IMU.startGyro(100, 2000);
// Wait IMU to start
// delay(100);
// ina.getCurrent(INA3221_CH1) * 1000; ina.getVoltage(INA3221_CH1); // ina.getCurrent(INA3221_CH1) * 1000; ina.getVoltage(INA3221_CH1);
// ina.getCurrent(INA3221_CH2) * 1000; ina.getVoltage(INA3221_CH2); // ina.getCurrent(INA3221_CH2) * 1000; ina.getVoltage(INA3221_CH2);
// ina.getCurrent(INA3221_CH3) * 1000; ina.getVoltage(INA3221_CH3); // ina.getCurrent(INA3221_CH3) * 1000; ina.getVoltage(INA3221_CH3);
@ -314,7 +351,7 @@ 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.get(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());
// // } // // }
@ -323,6 +360,7 @@ void setup() {
// // !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(), // // prefs.putFloat(pref_zero_key.c_str(),
// 7/
// motors[i].zero_electric_angle); // motors[i].zero_electric_angle);
// // prefs.putInt(pref_dir_key.c_str(), // // prefs.putInt(pref_dir_key.c_str(),
// (int)motors[i].sensor_direction); // (int)motors[i].sensor_direction);
@ -357,17 +395,47 @@ void setup() {
void loop() { void loop() {
#ifdef MOTOR #ifdef MOTOR
// drv8323s.focdriver->voltage_power_supply = vdrive_read;
// digitalWrite(LED_PIN, 0); // enable
motor.loopFOC(); motor.loopFOC();
// motor.move(3); // motor.move(3);
motor.move(3); // digitalWrite(LED_PIN, 1); // enable
motor.move();
#else #else
encoder.update(); // optional: Update manually if not using loopfoc() encoder.update(); // optional: Update manually if not using loopfoc()
#endif
static float angle = 0; static float angle = 0;
static float old_angle = 0; static float old_angle = 0;
angle = encoder.getAngle(); angle = encoder.getAngle();
// SSYNCIF.print(angle * 180.0 / 3.1415); SSYNCIF.print(angle * 180.0 / 3.1415);
SSYNCIF.println();
// inv_imu_sensor_event_t imu_event;
// // Get last event
// IMU.getDataFromRegisters(imu_event);
// // Format data for Serial Plotter
// SSYNCIF.print(imu_event.accel[0]);
// SSYNCIF.print(", ");
// SSYNCIF.print(imu_event.accel[1]);
// SSYNCIF.print(", ");
// SSYNCIF.print(imu_event.accel[2]);
// SSYNCIF.print(", ");
// SSYNCIF.print(imu_event.gyro[0]);
// SSYNCIF.print(", ");
// SSYNCIF.print(imu_event.gyro[1]);
// SSYNCIF.print(", ");
// SSYNCIF.print(imu_event.gyro[2]);
// SSYNCIF.print(", ");
// SSYNCIF.print(imu_event.temperature / 128 + 25);
// SSYNCIF.println();
// // Run @ ODR 100Hz
// delay(100);
// // SSYNCIF.print("V: ");
// // SSYNCIF.println(vdrive_read);
#endif
#ifdef MOTOR #ifdef MOTOR
// SSYNCIF.print(" "); // SSYNCIF.print(" ");
// uint16_t result = 0; // uint16_t result = 0;
@ -410,8 +478,8 @@ void loop() {
// SSYNCIF.print(" "); // SSYNCIF.print(" ");
// SSYNCIF.print(analogRead(SOC)); // SSYNCIF.print(analogRead(SOC));
// SSYNCIF.print(" "); // SSYNCIF.print(" ");
static float t = temp_pcb; // static float t = temp_pcb;
t = t * 0.95 + 0.05 * temp_pcb; // t = t * 0.95 + 0.05 * temp_pcb;
// SSYNCIF.print(t); // SSYNCIF.print(t);
// SSYNCIF.print(" "); // SSYNCIF.print(" ");
// SSYNCIF.println(vdrive_read); // SSYNCIF.println(vdrive_read);