working openloop with swapped motor pins
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@ -9,8 +9,9 @@
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; https://docs.platformio.org/page/projectconf.html
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[env:nilsdriverv1]
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# platform = espressif32
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platform = https://github.com/cziter15/platform-espressif32.git#68ad40f6df654fe4b8d0a50982b810df5b49b677
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platform = espressif32
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# platform = https://github.com/cziter15/platform-espressif32.git#68ad40f6df654fe4b8d0a50982b810df5b49b677
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# platform = https://github.com/cziter15/platform-espressif32.git
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#platform = https://github.com/tasmota/platform-espressif32/releases/download/2023.10.10/platform-espressif32.zip
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# board = adafruit_feather_esp32s3
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board = lolin_s3_mini
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@ -19,12 +20,13 @@ upload_protocol = esptool
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upload_port = /dev/ttyACM*
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# board_build.mcu = esp32s3
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lib_archive = false
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;platform_packages = espressif/toolchain-xtensa-esp32@8.4.0+2021r2-patch5
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# ;platform_packages = espressif/toolchain-xtensa-esp32@8.4.0+2021r2-patch5
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monitor_speed = 115200
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lib_deps =
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https://github.com/simplefoc/Arduino-FOC.git#dev
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https://github.com/simplefoc/Arduino-FOC-drivers.git#dev
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https://github.com/handmade0octopus/ESP32-TWAI-CAN
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# https://github.com/handmade0octopus/ESP32-TWAI-CAN
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https://github.com/tdk-invn-oss/motion.arduino.ICM42670P
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; https://github.com/simplefoc/Arduino-FOC-dcmotor.git
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; https://github.com/eric-wieser/packet-io.git
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; https://git.nilsschulte.de/nils/simplesync.git
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138
fw/src/main.cpp
138
fw/src/main.cpp
@ -9,15 +9,17 @@
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// #include <INA3221.h>
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#include "SimpleFOCDrivers.h"
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#include "comms/streams/BinaryIO.h"
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#include "encoders/esp32hwencoder/ESP32HWEncoder.h"
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#include "encoders/as5600/MagneticSensorAS5600.h"
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#include "encoders/calibrated/CalibratedSensor.h"
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// #include "comms/streams/BinaryIO.h"
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// #include "encoders/as5600/MagneticSensorAS5600.h"
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// #include "encoders/calibrated/CalibratedSensor.h"
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// #include "encoders/esp32hwencoder/ESP32HWEncoder.h"
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#include "DRV8323S.hpp"
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#include "esp32-hal-adc.h"
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#include "esp32-hal-gpio.h"
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#include "motors/HybridStepperMotor/HybridStepperMotor.h"
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// #include "motors/HybridStepperMotor/HybridStepperMotor.h"
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#include "HybridStepperMotor.h"
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#include <cmath>
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// #include "encoders/sc60228/MagneticSensorSC60228.h"
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@ -30,10 +32,12 @@
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#define ENC_A 11
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#define ENC_B 8
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#define I2C_SDA 18
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#define I2C_SCL 0
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// #define I2C_SDA 18
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// #define I2C_SCL 0
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#define DRVEN 15
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#define SPI_ACC_nCS 0
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#define DRV_nFAULT 15
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#define DRVEN 16
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#define TERMISTOR_PCB 3
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#define TERMISTOR_EXT 9
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#define TEMP(v0, b, rt, r1, vdd) \
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@ -49,8 +53,8 @@
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#define SOC 10
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#define INHA 14
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#define INHB 13
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#define INHC 12
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#define INHB 12
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#define INHC 13
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#define INLABC 46
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#define CAN_TX 6
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@ -61,7 +65,7 @@
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#define SPI_CLK 47
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#define SPI_DRV_SC 21
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#define LED_PIN 16
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#define LED_PIN 38
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#define VSENSE_PIN 5
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#define CAL_PIN 17
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#define vdrive_read (analogRead(VSENSE_PIN) * 20.08f / 845)
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@ -85,15 +89,20 @@ const int voltage_lpf = 50;
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// BLDC motor & driver instance
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// BLDCMotor motor = BLDCMotor(pole pair number);
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// #include "ICM42670P.h"
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// ICM42670 IMU(SPI, 0, 100000);
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// ESP32HWEncoder encoder =
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// ESP32HWEncoder(ENC_A, ENC_B, 2048 / 4); // The Index pin can be omitted
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// ESP32HWEncoder(ENC_A, ENC_B, 4096 / 4); // The Index pin can be omitted
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Encoder encoder = Encoder(ENC_A, ENC_B, 4096 / 4);
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// CalibratedSensor encoder_calibrated = CalibratedSensor(encoder);
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MagneticSensorAS5600 encoder = MagneticSensorAS5600(0x36);
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// MagneticSensorAS5600 encoder = MagneticSensorAS5600(0x36);
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#ifdef MOTOR
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struct drv8323s_foc_driver drv8323s;
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// BLDCMotor motor = BLDCMotor(100); // 24N22P
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HybridStepperMotor motor = HybridStepperMotor(50);//, 3.7, 10, 4.5 / 1000);
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HybridStepperMotor motor = HybridStepperMotor(50); //, 3.7, 10, 4.5 / 1000);
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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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@ -172,11 +181,17 @@ void comm_task(void *parameter) {
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}
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}
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void doA1(){encoder.handleA();}
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void doB1(){encoder.handleB();}
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void setup() {
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pinMode(LED_PIN, OUTPUT);
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digitalWrite(LED_PIN, 1); // enable
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delay(1000);
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digitalWrite(LED_PIN, 0); // enable
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for (int i = 0; i < 1; i++) {
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digitalWrite(LED_PIN, 0); // enable
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delay(1000);
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digitalWrite(LED_PIN, 1); // enable
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delay(1000);
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}
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mutex = xSemaphoreCreateMutex();
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#ifdef SSIF_USBSERIAL
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SSYNCIF.begin();
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@ -191,7 +206,7 @@ void setup() {
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// SSYNCIF.print(__cplusplus);
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// Wire.setTimeOut(10);
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Wire.begin(I2C_SDA, I2C_SCL, 1000000);
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// Wire.begin(I2C_SDA, I2C_SCL, 1000000);
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pinMode(SPI_DRV_SC, OUTPUT);
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@ -207,28 +222,31 @@ void setup() {
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digitalWrite(CAL_PIN, 0); // 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(&Wire);
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// write_i2c(0x36, 0x09, 0xFF);
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// encoder.init(&Wire);
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encoder.pullup = Pullup::USE_INTERN;
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encoder.init();
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#ifdef MOTOR
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SimpleFOCDebug::enable(&SSYNCIF);
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// driver.voltage_power_supply = 15;
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encoder.enableInterrupts(doA1,doB1);
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pinMode(SPI_MISO, INPUT_PULLUP);
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SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_DRV_SC);
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#ifdef MOTOR
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SimpleFOCDebug::enable(&SSYNCIF);
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drv8323s_init(&drv8323s, INHA, INHB, INHC, SPI_DRV_SC, DRVEN, &SPI);
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digitalWrite(INLABC, 1); // enable
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// driver.init(&SPI);
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// status();
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motor.linkDriver(drv8323s.focdriver);
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motor.linkSensor(&encoder);
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// motor.foc_modulation = FOCModulationType::SinePWM;
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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motor.voltage_sensor_align = 4;
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motor.voltage_limit = 7;
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// motor.controller = MotionControlType::velocity_openloop;
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motor.controller = MotionControlType::torque;
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motor.torque_controller = TorqueControlType::voltage;
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drv8323s.focdriver->voltage_power_supply = 12;
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motor.voltage_sensor_align = 6;
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motor.voltage_limit = 3;
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motor.controller = MotionControlType::velocity_openloop;
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// motor.controller = MotionControlType::torque;
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// motor.torque_controller = TorqueControlType::voltage;
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drv8323s.focdriver->voltage_power_supply = vdrive_read;
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motor.init();
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// // set voltage to run calibration
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@ -241,10 +259,29 @@ void setup() {
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// motor.linkSensor(&encoder_calibrated);
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motor.initFOC();
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motor.move(1);
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// sensor.init(&SPI);
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// motors[i].linkSensor(&sensors[i]);
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#endif
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// delay(5000);
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// SSYNCIF.println("IMU.begin()");
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// int ret = IMU.begin();
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// if (ret != 0) {
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// SSYNCIF.print("ICM42670 initialization failed: ");
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// SSYNCIF.println(ret);
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// while (1) {
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// SSYNCIF.print("ICM42670 initialization failed: ");
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// SSYNCIF.println(ret);
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// delay(100);
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// }
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// }
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// Accel ODR = 100 Hz and Full Scale Range = 16G
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// IMU.startAccel(100, 16);
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// Gyro ODR = 100 Hz and Full Scale Range = 2000 dps
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// IMU.startGyro(100, 2000);
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// Wait IMU to start
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// delay(100);
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// ina.getCurrent(INA3221_CH1) * 1000; ina.getVoltage(INA3221_CH1);
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// ina.getCurrent(INA3221_CH2) * 1000; ina.getVoltage(INA3221_CH2);
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// ina.getCurrent(INA3221_CH3) * 1000; ina.getVoltage(INA3221_CH3);
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@ -314,7 +351,7 @@ 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.get(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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@ -323,6 +360,7 @@ void setup() {
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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(),
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// 7/
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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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@ -357,17 +395,47 @@ void setup() {
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void loop() {
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#ifdef MOTOR
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// drv8323s.focdriver->voltage_power_supply = vdrive_read;
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// digitalWrite(LED_PIN, 0); // enable
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motor.loopFOC();
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// motor.move(3);
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motor.move(3);
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// digitalWrite(LED_PIN, 1); // enable
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motor.move();
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#else
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encoder.update(); // optional: Update manually if not using loopfoc()
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#endif
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static float angle = 0;
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static float old_angle = 0;
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angle = encoder.getAngle();
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// SSYNCIF.print(angle * 180.0 / 3.1415);
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SSYNCIF.print(angle * 180.0 / 3.1415);
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SSYNCIF.println();
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// inv_imu_sensor_event_t imu_event;
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// // Get last event
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// IMU.getDataFromRegisters(imu_event);
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// // Format data for Serial Plotter
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// SSYNCIF.print(imu_event.accel[0]);
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// SSYNCIF.print(", ");
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// SSYNCIF.print(imu_event.accel[1]);
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// SSYNCIF.print(", ");
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// SSYNCIF.print(imu_event.accel[2]);
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// SSYNCIF.print(", ");
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// SSYNCIF.print(imu_event.gyro[0]);
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// SSYNCIF.print(", ");
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// SSYNCIF.print(imu_event.gyro[1]);
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// SSYNCIF.print(", ");
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// SSYNCIF.print(imu_event.gyro[2]);
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// SSYNCIF.print(", ");
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// SSYNCIF.print(imu_event.temperature / 128 + 25);
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// SSYNCIF.println();
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// // Run @ ODR 100Hz
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// delay(100);
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// // SSYNCIF.print("V: ");
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// // SSYNCIF.println(vdrive_read);
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#endif
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#ifdef MOTOR
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// SSYNCIF.print(" ");
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// uint16_t result = 0;
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@ -410,8 +478,8 @@ void loop() {
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// SSYNCIF.print(" ");
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// SSYNCIF.print(analogRead(SOC));
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// SSYNCIF.print(" ");
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static float t = temp_pcb;
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t = t * 0.95 + 0.05 * temp_pcb;
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// static float t = temp_pcb;
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// t = t * 0.95 + 0.05 * temp_pcb;
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// SSYNCIF.print(t);
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// SSYNCIF.print(" ");
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// SSYNCIF.println(vdrive_read);
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