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-drivers/examples/drivers/drv8316/drv8316_3pwm/drv8316_3pwm.ino
+++ b/firmware/lib/Arduino-FOC-drivers/examples/drivers/drv8316/drv8316_3pwm/drv8316_3pwm.ino
@@ -0,0 +1,123 @@
+
+
+
+#include "Arduino.h"
+#include <Wire.h>
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "drivers/drv8316/drv8316.h"
+
+
+
+
+BLDCMotor motor = BLDCMotor(11);
+DRV8316Driver3PWM driver = DRV8316Driver3PWM(2,3,4,7,false); // use the right pins for your setup!
+#define ENABLE_A 0
+#define ENABLE_B 1
+#define ENABLE_C 6
+
+
+void printDRV8316Status() {
+	DRV8316Status status = driver.getStatus();
+	Serial.println("DRV8316 Status:");
+	Serial.print("Fault: ");
+	Serial.println(status.isFault());
+	Serial.print("Buck Error: ");
+	Serial.print(status.isBuckError());
+	Serial.print("  Undervoltage: ");
+	Serial.print(status.isBuckUnderVoltage());
+	Serial.print("  OverCurrent: ");
+	Serial.println(status.isBuckOverCurrent());
+	Serial.print("Charge Pump UnderVoltage: ");
+	Serial.println(status.isChargePumpUnderVoltage());
+	Serial.print("OTP Error: ");
+	Serial.println(status.isOneTimeProgrammingError());
+	Serial.print("OverCurrent: ");
+	Serial.print(status.isOverCurrent());
+	Serial.print("  Ah: ");
+	Serial.print(status.isOverCurrent_Ah());
+	Serial.print("  Al: ");
+	Serial.print(status.isOverCurrent_Al());
+	Serial.print("  Bh: ");
+	Serial.print(status.isOverCurrent_Bh());
+	Serial.print("  Bl: ");
+	Serial.print(status.isOverCurrent_Bl());
+	Serial.print("  Ch: ");
+	Serial.print(status.isOverCurrent_Ch());
+	Serial.print("  Cl: ");
+	Serial.println(status.isOverCurrent_Cl());
+	Serial.print("OverTemperature: ");
+	Serial.print(status.isOverTemperature());
+	Serial.print("  Shutdown: ");
+	Serial.print(status.isOverTemperatureShutdown());
+	Serial.print("  Warning: ");
+	Serial.println(status.isOverTemperatureWarning());
+	Serial.print("OverVoltage: ");
+	Serial.println(status.isOverVoltage());
+	Serial.print("PowerOnReset: ");
+	Serial.println(status.isPowerOnReset());
+	Serial.print("SPI Error: ");
+	Serial.print(status.isSPIError());
+	Serial.print("  Address: ");
+	Serial.print(status.isSPIAddressError());
+	Serial.print("  Clock: ");
+	Serial.print(status.isSPIClockFramingError());
+	Serial.print("  Parity: ");
+	Serial.println(status.isSPIParityError());
+	if (status.isFault())
+		driver.clearFault();
+	delayMicroseconds(1); // ensure 400ns delay
+	DRV8316_PWMMode val = driver.getPWMMode();
+	Serial.print("PWM Mode: ");
+	Serial.println(val);
+	delayMicroseconds(1); // ensure 400ns delay
+	bool lock = driver.isRegistersLocked();
+	Serial.print("Lock: ");
+	Serial.println(lock);
+}
+
+
+
+
+
+void setup() {
+
+	Serial.begin(115200);
+	while (!Serial);
+	delay(1);
+	Serial.println("Initializing...");
+
+	pinMode(ENABLE_A, OUTPUT);
+	digitalWrite(ENABLE_A, 1); // enable
+	pinMode(ENABLE_B, OUTPUT);
+	digitalWrite(ENABLE_B, 1); // enable
+	pinMode(ENABLE_C, OUTPUT);
+	digitalWrite(ENABLE_C, 1); // enable
+
+	driver.voltage_power_supply = 12;
+	driver.init();
+	motor.linkDriver(&driver);
+	motor.controller = MotionControlType::velocity_openloop;
+	motor.voltage_limit = 3;
+	motor.velocity_limit = 20;
+	motor.init();
+	Serial.println("Init complete...");
+
+	delay(100);
+	printDRV8316Status();
+}
+
+
+// velocity set point variable
+float target_velocity = 7.0;
+
+
+void loop() {
+	//delay(100);
+	//driver.setPwm(7.4/4, 7.4/2, 7.4/4*3);
+	motor.move(target_velocity);
+}
+
+
+
+
--- a/firmware/lib/Arduino-FOC-drivers/examples/drivers/drv8316/drv8316_6pwm/drv8316_6pwm.ino
+++ b/firmware/lib/Arduino-FOC-drivers/examples/drivers/drv8316/drv8316_6pwm/drv8316_6pwm.ino
@@ -0,0 +1,111 @@
+
+
+
+#include "Arduino.h"
+#include <Wire.h>
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "drivers/drv8316/drv8316.h"
+
+
+
+
+BLDCMotor motor = BLDCMotor(11);
+DRV8316Driver6PWM driver = DRV8316Driver6PWM(0,1,2,3,4,6,7,false); // use the right pins for your setup!
+
+
+
+void printDRV8316Status() {
+	DRV8316Status status = driver.getStatus();
+	Serial.println("DRV8316 Status:");
+	Serial.print("Fault: ");
+	Serial.println(status.isFault());
+	Serial.print("Buck Error: ");
+	Serial.print(status.isBuckError());
+	Serial.print("  Undervoltage: ");
+	Serial.print(status.isBuckUnderVoltage());
+	Serial.print("  OverCurrent: ");
+	Serial.println(status.isBuckOverCurrent());
+	Serial.print("Charge Pump UnderVoltage: ");
+	Serial.println(status.isChargePumpUnderVoltage());
+	Serial.print("OTP Error: ");
+	Serial.println(status.isOneTimeProgrammingError());
+	Serial.print("OverCurrent: ");
+	Serial.print(status.isOverCurrent());
+	Serial.print("  Ah: ");
+	Serial.print(status.isOverCurrent_Ah());
+	Serial.print("  Al: ");
+	Serial.print(status.isOverCurrent_Al());
+	Serial.print("  Bh: ");
+	Serial.print(status.isOverCurrent_Bh());
+	Serial.print("  Bl: ");
+	Serial.print(status.isOverCurrent_Bl());
+	Serial.print("  Ch: ");
+	Serial.print(status.isOverCurrent_Ch());
+	Serial.print("  Cl: ");
+	Serial.println(status.isOverCurrent_Cl());
+	Serial.print("OverTemperature: ");
+	Serial.print(status.isOverTemperature());
+	Serial.print("  Shutdown: ");
+	Serial.print(status.isOverTemperatureShutdown());
+	Serial.print("  Warning: ");
+	Serial.println(status.isOverTemperatureWarning());
+	Serial.print("OverVoltage: ");
+	Serial.println(status.isOverVoltage());
+	Serial.print("PowerOnReset: ");
+	Serial.println(status.isPowerOnReset());
+	Serial.print("SPI Error: ");
+	Serial.print(status.isSPIError());
+	Serial.print("  Address: ");
+	Serial.print(status.isSPIAddressError());
+	Serial.print("  Clock: ");
+	Serial.print(status.isSPIClockFramingError());
+	Serial.print("  Parity: ");
+	Serial.println(status.isSPIParityError());
+	if (status.isFault())
+		driver.clearFault();
+	delayMicroseconds(1); // ensure 400ns delay
+	DRV8316_PWMMode val = driver.getPWMMode();
+	Serial.print("PWM Mode: ");
+	Serial.println(val);
+	delayMicroseconds(1); // ensure 400ns delay
+	bool lock = driver.isRegistersLocked();
+	Serial.print("Lock: ");
+	Serial.println(lock);
+}
+
+
+
+
+
+void setup() {
+	Serial.begin(115200);
+	while (!Serial);
+	delay(1);
+	Serial.println("Initializing...");
+
+	driver.voltage_power_supply = 12;
+	driver.init();
+	motor.linkDriver(&driver);
+	motor.controller = MotionControlType::velocity_openloop;
+	motor.voltage_limit = 3;
+	motor.velocity_limit = 20;
+	motor.init();
+	Serial.println("Init complete...");
+
+	delay(100);
+	printDRV8316Status();
+}
+
+
+// velocity set point variable
+float target_velocity = 7.0;
+
+
+void loop() {
+	motor.move(target_velocity);
+}
+
+
+
+
--- a/firmware/lib/Arduino-FOC-drivers/examples/encoders/calibrated/calibrated.ino
+++ b/firmware/lib/Arduino-FOC-drivers/examples/encoders/calibrated/calibrated.ino
@@ -0,0 +1,86 @@
+/**
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead hte current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "encoders/calibrated/CalibratedSensor.h"
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5048_SPI, PB6);
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(PB4,PC7,PB10,PA9);
+// instantiate the calibrated sensor object
+CalibratedSensor sensor_calibrated = CalibratedSensor(sensor);
+
+// voltage set point variable
+float target_voltage = 2;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() {
+
+  SPI.setMISO(PB14);
+  SPI.setMOSI(PB15);
+  SPI.setSCLK(PB13);
+
+  sensor.init();
+  // Link motor to sensor
+  motor.linkSensor(&sensor);
+  // power supply voltage
+  driver.voltage_power_supply = 20;
+  driver.init();
+  motor.linkDriver(&driver);
+  // aligning voltage 
+  motor.voltage_sensor_align = 8;
+  motor.voltage_limit = 20;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_variables =  _MON_VEL; 
+  motor.monitor_downsample = 10; // default 10
+
+  // initialize motor
+  motor.init();
+
+  // set voltage to run calibration
+  sensor_calibrated.voltage_calibration = 6;
+  // Running calibration
+  sensor_calibrated.calibrate(motor); 
+
+  //Serial.println("Calibrating Sensor Done.");
+  // Linking sensor to motor object
+  motor.linkSensor(&sensor_calibrated);
+
+  // calibrated init FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+  
+  Serial.println(F("Motor ready."));
+
+  Serial.println(F("Set the target voltage using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+
+  motor.loopFOC();
+  motor.move(target_voltage);
+  command.run();
+  motor.monitor();
+ 
+}
--- a/firmware/lib/Arduino-FOC-drivers/examples/encoders/mt6816/mt6816_spi/mt6816_spi.ino
+++ b/firmware/lib/Arduino-FOC-drivers/examples/encoders/mt6816/mt6816_spi/mt6816_spi.ino
@@ -0,0 +1,106 @@
+/**
+ * Comprehensive BLDC motor control example using magnetic sensor MT6816
+ *
+ * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
+ * - configure PID controller constants
+ * - change motion control loops
+ * - monitor motor variabels
+ * - set target values
+ * - check all the configuration values
+ *
+ * See more info in docs.simplefoc.com/commander_interface
+ */
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include <encoders/mt6816/MagneticSensorMT6816.h>
+
+// magnetic sensor instance - MT6816 SPI mode
+MagneticSensorMT6816 sensor = MagneticSensorMT6816(5);
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(7);
+BLDCDriver3PWM driver = BLDCDriver3PWM(32, 25, 26, 33);
+
+// Inline Current Sense instance
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, 35, 34);
+
+// commander interface
+Commander command = Commander(Serial);
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+  // choose FOC modulation
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set control loop type to be used
+  motor.controller = MotionControlType::torque;
+
+  // contoller configuration based on the control type
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 12;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // angle loop velocity limit
+  motor.velocity_limit = 50;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  current_sense.linkDriver(&driver);
+  current_sense.init();
+  current_sense.gain_b *= -1;
+  current_sense.skip_align = true;
+  motor.linkCurrentSense(&current_sense);
+
+  // initialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 2;
+
+  // define the motor id
+  command.add('A', onMotor, "motor");
+
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
+
+  _delay(1000);
+}
+
+
+void loop() {
+  // iterative setting FOC phase voltage
+  motor.loopFOC();
+
+  // iterative function setting the outter loop target
+  // velocity, position or voltage
+  // if tatget not set in parameter uses motor.target variable
+  motor.move();
+
+  // user communication
+  command.run();
+}
--- a/firmware/lib/Arduino-FOC-drivers/examples/encoders/smoothing/smoothing.ino
+++ b/firmware/lib/Arduino-FOC-drivers/examples/encoders/smoothing/smoothing.ino
@@ -0,0 +1,141 @@
+/**
+ *
+ * Hall sensor velocity motion control example, modified to demonstrate usage of SmoothingSensor
+ * Steps:
+ * 1) Configure the motor and sensor
+ * 2) Run the code
+ * 3) Set the target velocity (in radians per second) from serial terminal
+ * 4) Try with and without smoothing to see the difference (send E1 and E0 commands from serial terminal)
+ *
+ *
+ *
+ * NOTE :
+ * > Specifically for Arduino UNO example code for running velocity motion control using a hall sensor
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ *
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins
+ * > you can supply doC directly to the sensor.enableInterrupts(doA,doB,doC) and avoid using PciManger
+ *
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+#include <SimpleFOCDrivers.h>
+#include <encoders/smoothing/SmoothingSensor.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+// wrapper instance
+SmoothingSensor smooth(sensor, motor);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(sensor.pinC, doC);
+
+// velocity set point variable
+float target_velocity = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+
+void enableSmoothing(char* cmd) {
+  float enable;
+  command.scalar(&enable, cmd);
+  motor.linkSensor(enable == 0 ? (Sensor*)&sensor : (Sensor*)&smooth);
+}
+
+void setup() {
+
+  // initialize sensor sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); //, doC);
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
+  // set SmoothingSensor phase correction for hall sensors
+  smooth.phase_correction = -_PI_6;
+  // link the SmoothingSensor to the motor
+  motor.linkSensor(&smooth);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 2;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+
+  // add smoothing enable/disable command E (send E0 to use hall sensor alone, or E1 to use smoothing)
+  command.add('E', enableSmoothing, "enable smoothing");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+  _delay(1000);
+}
+
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_velocity);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}