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/src/drivers/BLDCDriver3PWM.cpp
+++ b/firmware/lib/Arduino-FOC/src/drivers/BLDCDriver3PWM.cpp
@@ -0,0 +1,92 @@
+#include "BLDCDriver3PWM.h"
+
+BLDCDriver3PWM::BLDCDriver3PWM(int phA, int phB, int phC, int en1, int en2, int en3){
+  // Pin initialization
+  pwmA = phA;
+  pwmB = phB;
+  pwmC = phC;
+
+  // enable_pin pin
+  enableA_pin = en1;
+  enableB_pin = en2;
+  enableC_pin = en3;
+
+  // default power-supply value
+  voltage_power_supply = DEF_POWER_SUPPLY;
+  voltage_limit = NOT_SET;
+  pwm_frequency = NOT_SET;
+
+}
+
+// enable motor driver
+void  BLDCDriver3PWM::enable(){
+    // enable_pin the driver - if enable_pin pin available
+    if ( _isset(enableA_pin) ) digitalWrite(enableA_pin, enable_active_high);
+    if ( _isset(enableB_pin) ) digitalWrite(enableB_pin, enable_active_high);
+    if ( _isset(enableC_pin) ) digitalWrite(enableC_pin, enable_active_high);
+    // set zero to PWM
+    setPwm(0,0,0);
+}
+
+// disable motor driver
+void BLDCDriver3PWM::disable()
+{
+  // set zero to PWM
+  setPwm(0, 0, 0);
+  // disable the driver - if enable_pin pin available
+  if ( _isset(enableA_pin) ) digitalWrite(enableA_pin, !enable_active_high);
+  if ( _isset(enableB_pin) ) digitalWrite(enableB_pin, !enable_active_high);
+  if ( _isset(enableC_pin) ) digitalWrite(enableC_pin, !enable_active_high);
+
+}
+
+// init hardware pins
+int BLDCDriver3PWM::init() {
+  // PWM pins
+  pinMode(pwmA, OUTPUT);
+  pinMode(pwmB, OUTPUT);
+  pinMode(pwmC, OUTPUT);
+  if( _isset(enableA_pin)) pinMode(enableA_pin, OUTPUT);
+  if( _isset(enableB_pin)) pinMode(enableB_pin, OUTPUT);
+  if( _isset(enableC_pin)) pinMode(enableC_pin, OUTPUT);
+
+
+  // sanity check for the voltage limit configuration
+  if(!_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit =  voltage_power_supply;
+
+  // Set the pwm frequency to the pins
+  // hardware specific function - depending on driver and mcu
+  params = _configure3PWM(pwm_frequency, pwmA, pwmB, pwmC);
+  initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED);
+  return params!=SIMPLEFOC_DRIVER_INIT_FAILED;
+}
+
+
+
+// Set voltage to the pwm pin
+void BLDCDriver3PWM::setPhaseState(PhaseState sa, PhaseState sb, PhaseState sc) {
+  // disable if needed
+  if( _isset(enableA_pin) &&  _isset(enableB_pin)  && _isset(enableC_pin) ){
+    digitalWrite(enableA_pin, sa == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high);
+    digitalWrite(enableB_pin, sb == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high);
+    digitalWrite(enableC_pin, sc == PhaseState::PHASE_ON ? enable_active_high:!enable_active_high);
+  }
+}
+
+// Set voltage to the pwm pin
+void BLDCDriver3PWM::setPwm(float Ua, float Ub, float Uc) {
+
+  // limit the voltage in driver
+  Ua = _constrain(Ua, 0.0f, voltage_limit);
+  Ub = _constrain(Ub, 0.0f, voltage_limit);
+  Uc = _constrain(Uc, 0.0f, voltage_limit);
+  // calculate duty cycle
+  // limited in [0,1]
+  dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f );
+  dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f );
+  dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f );
+
+  // hardware specific writing
+  // hardware specific function - depending on driver and mcu
+  _writeDutyCycle3PWM(dc_a, dc_b, dc_c, params);
+}