try to fix submodule

2023-11-09 19:02:15 -05:00
parent c1d45aa443
commit deea94b076
366 changed files with 40228 additions and 2 deletions
--- a/firmware/lib/Arduino-FOC/examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino
+++ b/firmware/lib/Arduino-FOC/examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino
@@ -0,0 +1,134 @@
+/*
+    Odrive robotics' hardware is one of the best  BLDC motor foc supporting hardware out there.
+
+    This is an example code that can be directly uploaded to the Odrive using the SWD programmer. 
+    This code uses an encoder with 500 cpr and a BLDC motor with 7 pole pairs connected to the M0 interface of the Odrive. 
+
+    This is a short template code and the idea is that you are able to adapt to your needs not to be a complete solution. :D 
+*/
+#include <SimpleFOC.h>
+
+// Odrive M0 motor pinout
+#define M0_INH_A PA8
+#define M0_INH_B PA9
+#define M0_INH_C PA10
+#define M0_INL_A PB13
+#define M0_INL_B PB14
+#define M0_INL_C PB15
+// M0 currnets
+#define M0_IB PC0
+#define M0_IC PC1
+// Odrive M0 encoder pinout
+#define M0_ENC_A PB4
+#define M0_ENC_B PB5
+#define M0_ENC_Z PC9
+
+
+// Odrive M1 motor pinout
+#define M1_INH_A PC6
+#define M1_INH_B PC7
+#define M1_INH_C PC8
+#define M1_INL_A PA7
+#define M1_INL_B PB0
+#define M1_INL_C PB1
+// M0 currnets
+#define M1_IB PC2
+#define M1_IC PC3
+// Odrive M1 encoder pinout
+#define M1_ENC_A PB6
+#define M1_ENC_B PB7
+#define M1_ENC_Z PC15
+
+// M1 & M2 common enable pin
+#define EN_GATE PB12
+
+// SPI pinout
+#define SPI3_SCL  PC10
+#define SPI3_MISO PC11
+#define SPI3_MOSO PC12
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(7);
+BLDCDriver6PWM driver = BLDCDriver6PWM(M0_INH_A,M0_INL_A, M0_INH_B,M0_INL_B, M0_INH_C,M0_INL_C, EN_GATE);
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doMotor(char* cmd) { command.motor(&motor, cmd); }
+
+// low side current sensing define
+// 0.0005 Ohm resistor
+// gain of 10x
+// current sensing on B and C phases, phase A not connected
+LowsideCurrentSense current_sense = LowsideCurrentSense(0.0005f, 10.0f, _NC, M0_IB, M0_IC);
+
+Encoder encoder = Encoder(M0_ENC_A, M0_ENC_B, 500,M0_ENC_Z);
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+void doI(){encoder.handleIndex();}
+
+void setup(){
+
+  // pwm frequency to be used [Hz]
+  driver.pwm_frequency = 20000;
+  // power supply voltage [V]
+  driver.voltage_power_supply = 20;
+  // Max DC voltage allowed - default voltage_power_supply
+  driver.voltage_limit = 20;
+  // driver init
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB, doI); 
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+  
+  // control loop type and torque mode 
+  motor.torque_controller = TorqueControlType::voltage;
+  motor.controller = MotionControlType::torque;
+
+  // max voltage  allowed for motion control 
+  motor.voltage_limit = 8.0;
+  // alignment voltage limit
+  motor.voltage_sensor_align = 0.5;
+  
+
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D;
+  motor.monitor_downsample = 1000;
+
+  // add target command T
+  command.add('M', doMotor, "motor M0");
+
+  // initialise motor
+  motor.init();
+
+  // link the driver
+  current_sense.linkDriver(&driver);
+  // init the current sense
+  current_sense.init();  
+  current_sense.skip_align = true;
+  motor.linkCurrentSense(&current_sense);
+  
+  // init FOC  
+  motor.initFOC();  
+  delay(1000);
+}
+
+void loop(){
+
+  // foc loop
+  motor.loopFOC();
+  // motion control
+  motor.move();
+  // monitoring 
+  motor.monitor();
+  // user communication
+  command.run();
+}
--- a/firmware/lib/Arduino-FOC/examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino
+++ b/firmware/lib/Arduino-FOC/examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino
@@ -0,0 +1,132 @@
+/*
+    Odrive robotics' hardware is one of the best  BLDC motor foc supporting hardware out there.
+
+    This is an example code that can be directly uploaded to the Odrive using the SWD programmer. 
+    This code uses an magnetic spi sensor AS5047 and a BLDC motor with 11 pole pairs connected to the M0 interface of the Odrive. 
+
+    This is a short template code and the idea is that you are able to adapt to your needs not to be a complete solution. :D 
+*/
+#include <SimpleFOC.h>
+
+// Odrive M0 motor pinout
+#define M0_INH_A PA8
+#define M0_INH_B PA9
+#define M0_INH_C PA10
+#define M0_INL_A PB13
+#define M0_INL_B PB14
+#define M0_INL_C PB15
+// M0 currnets
+#define M0_IB PC0
+#define M0_IC PC1
+// Odrive M0 encoder pinout
+#define M0_ENC_A PB4
+#define M0_ENC_B PB5
+#define M0_ENC_Z PC9
+
+
+// Odrive M1 motor pinout
+#define M1_INH_A PC6
+#define M1_INH_B PC7
+#define M1_INH_C PC8
+#define M1_INL_A PA7
+#define M1_INL_B PB0
+#define M1_INL_C PB1
+// M0 currnets
+#define M1_IB PC2
+#define M1_IC PC3
+// Odrive M1 encoder pinout
+#define M1_ENC_A PB6
+#define M1_ENC_B PB7
+#define M1_ENC_Z PC15
+
+// M1 & M2 common enable pin
+#define EN_GATE PB12
+
+// SPI pinout
+#define SPI3_SCL  PC10
+#define SPI3_MISO PC11
+#define SPI3_MOSO PC12
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver6PWM driver = BLDCDriver6PWM(M0_INH_A,M0_INL_A, M0_INH_B,M0_INL_B, M0_INH_C,M0_INL_C, EN_GATE);
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doMotor(char* cmd) { command.motor(&motor, cmd); }
+
+// low side current sensing define
+// 0.0005 Ohm resistor
+// gain of 10x
+// current sensing on B and C phases, phase A not connected
+LowsideCurrentSense current_sense = LowsideCurrentSense(0.0005f, 10.0f, _NC, M0_IB, M0_IC);
+
+// MagneticSensorSPI(int cs, float _cpr, int _angle_register)
+// config           - SPI config
+//  cs              - SPI chip select pin 
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, M0_ENC_A);
+SPIClass SPI_3(SPI3_MOSO, SPI3_MISO, SPI3_SCL);
+
+void setup(){
+
+  // pwm frequency to be used [Hz]
+  driver.pwm_frequency = 20000;
+  // power supply voltage [V]
+  driver.voltage_power_supply = 20;
+  // Max DC voltage allowed - default voltage_power_supply
+  driver.voltage_limit = 20;
+  // driver init
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // initialise magnetic sensor hardware
+  sensor.init(&SPI_3);
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+  
+  // control loop type and torque mode 
+  motor.torque_controller = TorqueControlType::voltage;
+  motor.controller = MotionControlType::torque;
+
+  // max voltage  allowed for motion control 
+  motor.voltage_limit = 8.0;
+  // alignment voltage limit
+  motor.voltage_sensor_align = 0.5;
+  
+
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D;
+  motor.monitor_downsample = 1000;
+
+  // add target command T
+  command.add('M', doMotor, "motor M0");
+
+  // initialise motor
+  motor.init();
+
+  // link the driver
+  current_sense.linkDriver(&driver);
+  // init the current sense
+  current_sense.init();  
+  current_sense.skip_align = true;
+  motor.linkCurrentSense(&current_sense);
+  
+  // init FOC  
+  motor.initFOC();  
+  delay(1000);
+}
+
+void loop(){
+
+  // foc loop
+  motor.loopFOC();
+  // motion control
+  motor.move();
+  // monitoring 
+  motor.monitor();
+  // user communication
+  command.run();
+}