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/StepperDriver2PWM.cpp
+++ b/firmware/lib/Arduino-FOC/src/drivers/StepperDriver2PWM.cpp
@@ -0,0 +1,107 @@
+#include "StepperDriver2PWM.h"
+
+StepperDriver2PWM::StepperDriver2PWM(int _pwm1, int* _in1, int _pwm2, int* _in2, int en1, int en2){
+  // Pin initialization
+  pwm1 = _pwm1; // phase 1 pwm pin number
+  dir1a = _in1[0]; // phase 1 INA pin number
+  dir1b = _in1[1]; // phase 1 INB pin number
+  pwm2 = _pwm2; // phase 2 pwm pin number
+  dir2a = _in2[0]; // phase 2 INA pin number
+  dir2b = _in2[1]; // phase 2 INB pin number
+
+  // enable_pin pin
+  enable_pin1 = en1;
+  enable_pin2 = en2;
+
+  // default power-supply value
+  voltage_power_supply = DEF_POWER_SUPPLY;
+  voltage_limit = NOT_SET;
+  pwm_frequency = NOT_SET;
+
+}
+
+StepperDriver2PWM::StepperDriver2PWM(int _pwm1, int _dir1, int _pwm2, int _dir2, int en1, int en2){
+  // Pin initialization
+  pwm1 = _pwm1; // phase 1 pwm pin number
+  dir1a = _dir1; // phase 1 direction pin
+  pwm2 = _pwm2; // phase 2 pwm pin number
+  dir2a = _dir2; // phase 2 direction pin
+  // these pins are not used
+  dir1b = NOT_SET;
+  dir2b = NOT_SET;
+
+  // enable_pin pin
+  enable_pin1 = en1;
+  enable_pin2 = en2;
+
+  // default power-supply value
+  voltage_power_supply = DEF_POWER_SUPPLY;
+  voltage_limit = NOT_SET;
+  pwm_frequency = NOT_SET;
+
+}
+
+// enable motor driver
+void  StepperDriver2PWM::enable(){
+    // enable_pin the driver - if enable_pin pin available
+    if ( _isset(enable_pin1) ) digitalWrite(enable_pin1, HIGH);
+    if ( _isset(enable_pin2) ) digitalWrite(enable_pin2, HIGH);
+    // set zero to PWM
+    setPwm(0,0);
+}
+
+// disable motor driver
+void StepperDriver2PWM::disable()
+{
+  // set zero to PWM
+  setPwm(0, 0);
+  // disable the driver - if enable_pin pin available
+  if ( _isset(enable_pin1) ) digitalWrite(enable_pin1, LOW);
+  if ( _isset(enable_pin2) ) digitalWrite(enable_pin2, LOW);
+
+}
+
+// init hardware pins
+int StepperDriver2PWM::init() {
+  // PWM pins
+  pinMode(pwm1, OUTPUT);
+  pinMode(pwm2, OUTPUT);
+  pinMode(dir1a, OUTPUT);
+  pinMode(dir2a, OUTPUT);
+  if( _isset(dir1b) ) pinMode(dir1b, OUTPUT);
+  if( _isset(dir2b) ) pinMode(dir2b, OUTPUT);
+
+  if( _isset(enable_pin1) ) pinMode(enable_pin1, OUTPUT);
+  if( _isset(enable_pin2) ) pinMode(enable_pin2, 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 = _configure2PWM(pwm_frequency, pwm1, pwm2);
+  initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED);
+  return params!=SIMPLEFOC_DRIVER_INIT_FAILED;
+}
+
+
+// Set voltage to the pwm pin
+void StepperDriver2PWM::setPwm(float Ua, float Ub) {
+  float duty_cycle1(0.0f),duty_cycle2(0.0f);
+  // limit the voltage in driver
+  Ua = _constrain(Ua, -voltage_limit, voltage_limit);
+  Ub = _constrain(Ub, -voltage_limit, voltage_limit);
+  // hardware specific writing
+  duty_cycle1 = _constrain(abs(Ua)/voltage_power_supply,0.0f,1.0f);
+  duty_cycle2 = _constrain(abs(Ub)/voltage_power_supply,0.0f,1.0f);
+
+  // phase 1 direction
+  digitalWrite(dir1a, Ua >= 0 ? LOW : HIGH);
+  if( _isset(dir1b) ) digitalWrite(dir1b, Ua >= 0 ? HIGH : LOW );
+  // phase 2 direction
+  digitalWrite(dir2a, Ub >= 0 ? LOW : HIGH);
+  if( _isset(dir2b) ) digitalWrite(dir2b, Ub >= 0 ? HIGH : LOW );
+
+  // write to hardware
+  _writeDutyCycle2PWM(duty_cycle1, duty_cycle2, params);
+}