working openloop with swapped motor pins
This commit is contained in:
parent
1a7ea09816
commit
6bf5371d97
@ -9,8 +9,9 @@
|
||||
; https://docs.platformio.org/page/projectconf.html
|
||||
|
||||
[env:nilsdriverv1]
|
||||
# platform = espressif32
|
||||
platform = https://github.com/cziter15/platform-espressif32.git#68ad40f6df654fe4b8d0a50982b810df5b49b677
|
||||
platform = espressif32
|
||||
# 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
|
||||
# board = adafruit_feather_esp32s3
|
||||
board = lolin_s3_mini
|
||||
@ -19,12 +20,13 @@ upload_protocol = esptool
|
||||
upload_port = /dev/ttyACM*
|
||||
# board_build.mcu = esp32s3
|
||||
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
|
||||
lib_deps =
|
||||
https://github.com/simplefoc/Arduino-FOC.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/eric-wieser/packet-io.git
|
||||
; https://git.nilsschulte.de/nils/simplesync.git
|
||||
|
||||
134
fw/src/main.cpp
134
fw/src/main.cpp
@ -9,15 +9,17 @@
|
||||
// #include <INA3221.h>
|
||||
|
||||
#include "SimpleFOCDrivers.h"
|
||||
#include "comms/streams/BinaryIO.h"
|
||||
#include "encoders/esp32hwencoder/ESP32HWEncoder.h"
|
||||
#include "encoders/as5600/MagneticSensorAS5600.h"
|
||||
#include "encoders/calibrated/CalibratedSensor.h"
|
||||
// #include "comms/streams/BinaryIO.h"
|
||||
// #include "encoders/as5600/MagneticSensorAS5600.h"
|
||||
// #include "encoders/calibrated/CalibratedSensor.h"
|
||||
// #include "encoders/esp32hwencoder/ESP32HWEncoder.h"
|
||||
|
||||
#include "DRV8323S.hpp"
|
||||
|
||||
#include "esp32-hal-adc.h"
|
||||
#include "esp32-hal-gpio.h"
|
||||
#include "motors/HybridStepperMotor/HybridStepperMotor.h"
|
||||
// #include "motors/HybridStepperMotor/HybridStepperMotor.h"
|
||||
#include "HybridStepperMotor.h"
|
||||
#include <cmath>
|
||||
|
||||
// #include "encoders/sc60228/MagneticSensorSC60228.h"
|
||||
@ -30,10 +32,12 @@
|
||||
#define ENC_A 11
|
||||
#define ENC_B 8
|
||||
|
||||
#define I2C_SDA 18
|
||||
#define I2C_SCL 0
|
||||
// #define I2C_SDA 18
|
||||
// #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_EXT 9
|
||||
#define TEMP(v0, b, rt, r1, vdd) \
|
||||
@ -49,8 +53,8 @@
|
||||
#define SOC 10
|
||||
|
||||
#define INHA 14
|
||||
#define INHB 13
|
||||
#define INHC 12
|
||||
#define INHB 12
|
||||
#define INHC 13
|
||||
#define INLABC 46
|
||||
|
||||
#define CAN_TX 6
|
||||
@ -61,7 +65,7 @@
|
||||
#define SPI_CLK 47
|
||||
#define SPI_DRV_SC 21
|
||||
|
||||
#define LED_PIN 16
|
||||
#define LED_PIN 38
|
||||
#define VSENSE_PIN 5
|
||||
#define CAL_PIN 17
|
||||
#define vdrive_read (analogRead(VSENSE_PIN) * 20.08f / 845)
|
||||
@ -85,15 +89,20 @@ const int voltage_lpf = 50;
|
||||
// BLDC motor & driver instance
|
||||
// BLDCMotor motor = BLDCMotor(pole pair number);
|
||||
|
||||
// #include "ICM42670P.h"
|
||||
// ICM42670 IMU(SPI, 0, 100000);
|
||||
|
||||
// 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);
|
||||
MagneticSensorAS5600 encoder = MagneticSensorAS5600(0x36);
|
||||
// MagneticSensorAS5600 encoder = MagneticSensorAS5600(0x36);
|
||||
|
||||
#ifdef MOTOR
|
||||
struct drv8323s_foc_driver drv8323s;
|
||||
// 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);
|
||||
// BLDCDriver3PWM driver = BLDCDriver3PWM(INHA,INHB,INHC);
|
||||
#endif
|
||||
@ -172,11 +181,17 @@ void comm_task(void *parameter) {
|
||||
}
|
||||
}
|
||||
|
||||
void doA1(){encoder.handleA();}
|
||||
void doB1(){encoder.handleB();}
|
||||
|
||||
void setup() {
|
||||
pinMode(LED_PIN, OUTPUT);
|
||||
for (int i = 0; i < 1; i++) {
|
||||
digitalWrite(LED_PIN, 0); // enable
|
||||
delay(1000);
|
||||
digitalWrite(LED_PIN, 1); // enable
|
||||
delay(1000);
|
||||
digitalWrite(LED_PIN, 0); // enable
|
||||
}
|
||||
mutex = xSemaphoreCreateMutex();
|
||||
#ifdef SSIF_USBSERIAL
|
||||
SSYNCIF.begin();
|
||||
@ -191,7 +206,7 @@ void setup() {
|
||||
// SSYNCIF.print(__cplusplus);
|
||||
|
||||
// Wire.setTimeOut(10);
|
||||
Wire.begin(I2C_SDA, I2C_SCL, 1000000);
|
||||
// Wire.begin(I2C_SDA, I2C_SCL, 1000000);
|
||||
|
||||
pinMode(SPI_DRV_SC, OUTPUT);
|
||||
|
||||
@ -207,28 +222,31 @@ void setup() {
|
||||
digitalWrite(CAL_PIN, 0); // enable
|
||||
|
||||
// write_i2c(0x36,0x07, 0b00000011);
|
||||
write_i2c(0x36, 0x09, 0xFF);
|
||||
encoder.init(&Wire);
|
||||
// write_i2c(0x36, 0x09, 0xFF);
|
||||
// encoder.init(&Wire);
|
||||
|
||||
encoder.pullup = Pullup::USE_INTERN;
|
||||
encoder.init();
|
||||
#ifdef MOTOR
|
||||
SimpleFOCDebug::enable(&SSYNCIF);
|
||||
// driver.voltage_power_supply = 15;
|
||||
encoder.enableInterrupts(doA1,doB1);
|
||||
pinMode(SPI_MISO, INPUT_PULLUP);
|
||||
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);
|
||||
digitalWrite(INLABC, 1); // enable
|
||||
// driver.init(&SPI);
|
||||
// status();
|
||||
motor.linkDriver(drv8323s.focdriver);
|
||||
motor.linkSensor(&encoder);
|
||||
// motor.foc_modulation = FOCModulationType::SinePWM;
|
||||
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
|
||||
motor.voltage_sensor_align = 4;
|
||||
motor.voltage_limit = 7;
|
||||
// motor.controller = MotionControlType::velocity_openloop;
|
||||
motor.controller = MotionControlType::torque;
|
||||
motor.torque_controller = TorqueControlType::voltage;
|
||||
drv8323s.focdriver->voltage_power_supply = 12;
|
||||
|
||||
motor.voltage_sensor_align = 6;
|
||||
motor.voltage_limit = 3;
|
||||
motor.controller = MotionControlType::velocity_openloop;
|
||||
// motor.controller = MotionControlType::torque;
|
||||
// motor.torque_controller = TorqueControlType::voltage;
|
||||
drv8323s.focdriver->voltage_power_supply = vdrive_read;
|
||||
motor.init();
|
||||
|
||||
// // set voltage to run calibration
|
||||
@ -241,10 +259,29 @@ void setup() {
|
||||
// motor.linkSensor(&encoder_calibrated);
|
||||
motor.initFOC();
|
||||
|
||||
motor.move(1);
|
||||
// sensor.init(&SPI);
|
||||
// motors[i].linkSensor(&sensors[i]);
|
||||
#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_CH2) * 1000; ina.getVoltage(INA3221_CH2);
|
||||
// ina.getCurrent(INA3221_CH3) * 1000; ina.getVoltage(INA3221_CH3);
|
||||
@ -314,7 +351,7 @@ void setup() {
|
||||
// // if (prefs.isKey(pref_zero_key.c_str()) &&
|
||||
// // prefs.isKey(pref_dir_key.c_str())) {
|
||||
// // 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());
|
||||
// // }
|
||||
@ -323,6 +360,7 @@ void setup() {
|
||||
// // !prefs.isKey(pref_dir_key.c_str())) {
|
||||
// // prefs.clear();
|
||||
// // prefs.putFloat(pref_zero_key.c_str(),
|
||||
// 7/
|
||||
// motors[i].zero_electric_angle);
|
||||
// // prefs.putInt(pref_dir_key.c_str(),
|
||||
// (int)motors[i].sensor_direction);
|
||||
@ -357,17 +395,47 @@ void setup() {
|
||||
|
||||
void loop() {
|
||||
#ifdef MOTOR
|
||||
// drv8323s.focdriver->voltage_power_supply = vdrive_read;
|
||||
// digitalWrite(LED_PIN, 0); // enable
|
||||
motor.loopFOC();
|
||||
|
||||
// motor.move(3);
|
||||
motor.move(3);
|
||||
// digitalWrite(LED_PIN, 1); // enable
|
||||
motor.move();
|
||||
#else
|
||||
encoder.update(); // optional: Update manually if not using loopfoc()
|
||||
#endif
|
||||
static float angle = 0;
|
||||
static float old_angle = 0;
|
||||
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
|
||||
// SSYNCIF.print(" ");
|
||||
// uint16_t result = 0;
|
||||
@ -410,8 +478,8 @@ void loop() {
|
||||
// SSYNCIF.print(" ");
|
||||
// SSYNCIF.print(analogRead(SOC));
|
||||
// SSYNCIF.print(" ");
|
||||
static float t = temp_pcb;
|
||||
t = t * 0.95 + 0.05 * temp_pcb;
|
||||
// static float t = temp_pcb;
|
||||
// t = t * 0.95 + 0.05 * temp_pcb;
|
||||
// SSYNCIF.print(t);
|
||||
// SSYNCIF.print(" ");
|
||||
// SSYNCIF.println(vdrive_read);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user