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/StepperDriver4PWM.cpp
+++ b/firmware/lib/Arduino-FOC/src/drivers/StepperDriver4PWM.cpp
@@ -0,0 +1,81 @@
+#include "StepperDriver4PWM.h"
+
+StepperDriver4PWM::StepperDriver4PWM(int ph1A,int ph1B,int ph2A,int ph2B,int en1, int en2){
+  // Pin initialization
+  pwm1A = ph1A;
+  pwm1B = ph1B;
+  pwm2A = ph2A;
+  pwm2B = ph2B;
+
+  // 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  StepperDriver4PWM::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 StepperDriver4PWM::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 StepperDriver4PWM::init() {
+
+  // PWM pins
+  pinMode(pwm1A, OUTPUT);
+  pinMode(pwm1B, OUTPUT);
+  pinMode(pwm2A, OUTPUT);
+  pinMode(pwm2B, 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 = _configure4PWM(pwm_frequency, pwm1A, pwm1B, pwm2A, pwm2B);
+  initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED);  
+  return params!=SIMPLEFOC_DRIVER_INIT_FAILED;
+}
+
+
+// Set voltage to the pwm pin
+void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) {
+  float duty_cycle1A(0.0f),duty_cycle1B(0.0f),duty_cycle2A(0.0f),duty_cycle2B(0.0f);
+  // limit the voltage in driver
+  Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
+  Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit);
+  // hardware specific writing
+  if( Ualpha > 0 )
+    duty_cycle1B = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
+  else
+    duty_cycle1A = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
+
+  if( Ubeta > 0 )
+    duty_cycle2B = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
+  else
+    duty_cycle2A = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
+  // write to hardware
+  _writeDutyCycle4PWM(duty_cycle1A, duty_cycle1B, duty_cycle2A, duty_cycle2B, params);
+}