Merge pull request #22 from simplefoc/dev

1.0.4 release PR

README.md

@@ -10,17 +10,14 @@ The intent is to keep the core of SimpleFOC clean, and thus easy to maintain, un
 
 ## New Release
 
-v1.0.3 - Released March 2023, for Simple FOC 2.3.0
-
-What's changed since 1.0.2?
-- New Sensor: MT6835
-- Fixed bugs
-
-What's changed since 1.0.1?
-- Calibrated sensor by @MarethyuPrefect
-- New Sensors: MT6701, MA330, MT6816
-- Fixed bugs
+v1.0.4 - Released June 2023, for Simple FOC 2.3.0
 
+What's changed since 1.0.3?
+- New Comms/Input: STM32SpeedDirCommander
+- New Utility: STM32PWMInput
+- Fixed MT6835 driver bugs
+- Improved AS5047 driver, fixed bugs
+- Improved AS5047U driver, fixed bugs
 
 ## What is included
 
@@ -45,10 +42,16 @@ What is here? See the sections below. Each driver or function should come with i
  - [MT6816 SPI driver](src/encoders/mt6816/) - SPI driver for the MagnTek MT6816 absolute position magnetic rotary encoder IC.
  - [MT6701 SSI driver](src/encoders/mt6701/) - SSI driver for the MagnTek MT6701 absolute position magnetic rotary encoder IC.
  - [MT6835 SPI driver](src/encoders/mt6835/) - SPI driver for the MagnTek MT6835 21 bit magnetic rotary encoder IC.
+ - [STM32 PWM sensor driver](src/encoders/stm32pwmsensor/) - STM32 native timer-based driver for PWM angle sensors.
 
 ### Communications
 
  - [I2CCommander I2C driver](src/comms/i2c/) - I2C communications protocol and drivers for both controller and target devices. 
+ - [STM32 SpeedDir Input](src/comms/stm32speeddir/) - Control target velocity with PWM speed and direction inputs
+
+### Utilities
+
+ - [STM32 PWM Input driver](src/utilities/stm32pwm/) - PWM Input driver for STM32 MCUs. Accurately measure PWM inputs with zero MCU overhead.
 
 
 ## How to use
@@ -74,3 +77,14 @@ If you do so, please be sure to adhere to and include the [LICENSE](https://gith
 ## Further Documentation
 
 Find out more information about the Arduino SimpleFOC project on the [docs website](https://docs.simplefoc.com/) 
+
+## Release History
+
+What's changed since 1.0.2?
+- New Sensor: MT6835
+- Fixed bugs
+
+What's changed since 1.0.1?
+- Calibrated sensor by @MarethyuPrefect
+- New Sensors: MT6701, MA330, MT6816
+- Fixed bugs

keywords.txt

@@ -4,6 +4,8 @@ AS5048A     KEYWORD1
 AS5047      KEYWORD1
 AS5145      KEYWORD1
 MA730       KEYWORD1
+MT6835      KEYWORD1
+SC60228     KEYWORD1
 TLE5012B    KEYWORD1
 I2CCommander    KEYWORD1
-
+STM32HWEncoder  KEYWORD1

library.properties

@@ -1,5 +1,5 @@
 name=SimpleFOCDrivers
-version=1.0.3
+version=1.0.4
 author=Simplefoc <info@simplefoc.com>
 maintainer=Simplefoc <info@simplefoc.com>
 sentence=A library of supporting drivers for SimpleFOC. Motor drivers chips, encoder chips, current sensing and supporting code.

src/comms/stm32speeddir/README.md

@@ -0,0 +1,58 @@
+
+# STM32SpeedDirInput
+
+Control SimpleFOC using PWM speed and direction inputs.
+
+Based on STM32 timer PWM-Input capabilities, which means this can only be used on STM32 MCUs. It can cover a wide range of PWM frequencies, and runs without MCU overhead in the timer hardware.
+
+
+
+## Setup
+
+The PWM speed input should be connected to either channel 1 or channel 2 of a general purpose or advanced control timer on your STM32 MCU. Suitable timers are:
+- Advanced control timers: TIM1, TIM8
+- General purpose timers (32 bit): TIM2, TIM5
+- General purpose timers (16 bit): TIM3, TIM4, TIM9, TIM12
+If in doubt, check in STM32CubeIDE and see if the PWM-Input mode can be enabled (under "Combined Channels") for the timer.
+
+The optional direction input can be connected to any GPIO pin. By default a high level direction input is associated with a positive velocity value, while a low level direction input results in a negative velocity value. To reverse this, set the option `dir_positive_high = false`
+
+The direction input is optional - if not provided, you can control the direction from software using the `direction` field.
+
+The velocity values returned are in the range `min_speed` to `max_speed`, while the input PWM duty cycle should lie within the range `min_pwm` to `max_pwm`. Actual input values smaller than `min_pwm` will be treated as `min_pwm`, values larger than `max_pwm` will be treated as `max_pwm`. The behaviour for 100% or 0% duty cycles is undefined, and they should be avoided.
+
+## Usage
+
+Use it like this:
+
+```c++
+#include "comms/stm32speeddir/STM32SpeedDirInput.h"
+
+// some example pins - the speed pin has to be on channel 1 or 2 of a timer
+#define PIN_SPEED PC6
+#define PIN_DIRECTION PB8
+
+STM32SpeedDirInput speed_dir = STM32SpeedDirInput(PIN_SPEED, PIN_DIRECTION);
+
+float target = 0.0f;
+
+void setup(){
+    ...
+
+    speed_dir.min_speed = 10.0f;    // 10rad/s min speed
+    speed_dir.max_speed = 100.0f;   // 100rad/s max speed
+    speed_dir.min_pwm = 5.0f;       // 5% min duty cycle
+    speed_dir.max_pwm = 95.0f;      // 95% max duty cycle
+    speed_dir.init();
+
+    ...
+}
+
+
+void loop(){
+    target = speed_dir.getTargetVelocity();
+    motor.move(target);
+    motor.loopFOC();
+}
+
+```

src/comms/stm32speeddir/STM32SpeedDirInput.cpp

@@ -0,0 +1,29 @@
+
+#include "./STM32SpeedDirInput.h"
+
+#if defined(_STM32_DEF_)
+
+STM32SpeedDirInput::STM32SpeedDirInput(int pin_speed, int pin_dir) : STM32PWMInput(pin_speed) {
+    _pin_speed = pin_speed;
+    _pin_dir = pin_dir;
+};
+
+STM32SpeedDirInput::~STM32SpeedDirInput(){};
+
+int STM32SpeedDirInput::init(){
+    pinMode(_pin_dir, INPUT);
+    return STM32PWMInput::initialize();
+};
+
+
+float STM32SpeedDirInput::getTargetVelocity(){
+    if (_pin_dir != NOT_SET)
+        direction = digitalRead(_pin_dir);
+    float speed = getDutyCyclePercent();
+    speed = constrain(speed, min_pwm, max_pwm);
+    speed = (speed - min_pwm)/(max_pwm - min_pwm) * (max_speed - min_speed) + min_speed;
+    return (direction == dir_positive_high) ? speed : -speed;
+};
+
+
+#endif

src/comms/stm32speeddir/STM32SpeedDirInput.h

@@ -0,0 +1,31 @@
+
+#pragma once
+
+#include "Arduino.h"
+
+#if defined(_STM32_DEF_)
+
+#include "common/foc_utils.h"
+#include "utilities/stm32pwm/STM32PWMInput.h"
+
+class STM32SpeedDirInput : public STM32PWMInput {
+    public:
+        STM32SpeedDirInput(int pin_speed, int pin_dir = NOT_SET);
+        ~STM32SpeedDirInput();
+
+        int init();
+        float getTargetVelocity();
+
+        float min_speed = 0;            // min speed in rad/s
+        float max_speed = 100;          // max speed in rad/s
+        float min_pwm = 5.0;            // min duty cycle in %
+        float max_pwm = 95.0;           // max duty cycle in %
+        bool dir_positive_high = true;  // true if the direction pin is high when the motor is spinning in the positive direction
+        bool direction = true;          // direction of rotation, default positive
+    protected:
+        int _pin_speed;
+        int _pin_dir;
+};
+
+
+#endif

src/encoders/as5047/AS5047.cpp

@@ -85,21 +85,29 @@ AS5047Settings1 AS5047::readSettings1(){
 
 void AS5047::writeSettings1(AS5047Settings1 settings){
 	uint16_t command = AS5047_SETTINGS1_REG;  // set r=0, result is 0x0018
-	/*uint16_t cmdresult =*/ spi_transfer16(command);
-	/*cmdresult =*/ spi_transfer16(settings.reg);
+	spi_transfer16(command);
+	spi_transfer16(calcParity(settings.reg));
 }
 
 
 AS5047Settings2 AS5047::readSettings2(){
 	uint16_t command = AS5047_SETTINGS2_REG | AS5047_RW; // set r=1, result is 0x4019
-	/*uint16_t cmdresult =*/ spi_transfer16(command);
+	spi_transfer16(command);
 	AS5047Settings2 result = {
 			.reg = nop()
 	};
 	return result;
 }
 
 
+void AS5047::writeSettings2(AS5047Settings2 settings){
+	uint16_t command = AS5047_SETTINGS2_REG | AS5047_PARITY; // set r=0, result is 0x8019
+	spi_transfer16(command);
+	spi_transfer16(calcParity(settings.reg));
+}
+
+
+
 AS5047Diagnostics AS5047::readDiagnostics(){
 	uint16_t command = AS5047_DIAGNOSTICS_REG | AS5047_PARITY | AS5047_RW; // set r=1, result is 0xFFFC
 	/*uint16_t cmdresult =*/ spi_transfer16(command);
@@ -112,21 +120,96 @@ AS5047Diagnostics AS5047::readDiagnostics(){
 
 void AS5047::enablePWM(bool enable){
 	AS5047Settings1 settings = readSettings1();
+	if (settings.pwmon == enable) return; // no change
 	settings.pwmon = enable;
 	writeSettings1(settings);
 }
 
 void AS5047::enableABI(bool enable){
 	AS5047Settings1 settings = readSettings1();
-	settings.uvw_abi = enable?0:1;
+	uint8_t val = enable?0:1;
+	if (settings.uvw_abi == val) return; // no change
+	settings.uvw_abi = val;
 	writeSettings1(settings);
 }
 
 
+void AS5047::enableDEAC(bool enable){
+	AS5047Settings1 settings = readSettings1();
+	uint8_t val = enable?0:1;
+	if (settings.daecdis == val) return; // no change
+	settings.daecdis = enable?0:1;
+	writeSettings1(settings);
+}
+
+
+void AS5047::useCorrectedAngle(bool useCorrected){
+	AS5047Settings1 settings = readSettings1();
+	uint8_t val = useCorrected?0:1;
+	if (settings.dataselect == val) return; // no change
+	settings.dataselect = val;
+	writeSettings1(settings);
+}
+
+
+
+void AS5047::setHysteresis(uint8_t hyst){
+	if (hyst>3) hyst = 3;
+	uint8_t val = 3-hyst;
+	AS5047Settings2 settings = readSettings2();
+	if (settings.hys == val) return; // no change
+	settings.hys = val;
+	writeSettings2(settings);
+}
+
+
+
+
+void AS5047::setABIResolution(AS5047ABIRes res){
+	AS5047Settings1 settings = readSettings1();
+	uint8_t val = (res>>3)&0x01;
+	if (settings.abibin!=val || settings.uvw_abi!=0) {
+		settings.abibin = val;
+		settings.uvw_abi = 0;
+		writeSettings1(settings);
+	}
+	AS5047Settings2 settings2 = readSettings2();
+	val = (res&0x07);
+	if (settings2.abires!=val) {
+		settings2.abires = val;
+		writeSettings2(settings2);
+	}
+} 
+
+
 
 uint16_t AS5047::setZero(uint16_t value){
-	// TODO implement me!
-	return 0;
+	uint16_t command = AS5047_ZPOSL_REG | AS5047_PARITY | AS5047_RW;
+	spi_transfer16(command);
+	AS5047ZPosL posL = {
+			.reg = nop()
+	};
+	command = AS5047_ZPOSM_REG | AS5047_PARITY;
+	spi_transfer16(command);
+	spi_transfer16(calcParity((value>>6)&0x00FF));
+	command = AS5047_ZPOSL_REG;
+	posL.zposl = value&0x003F;
+	spi_transfer16(command);
+	spi_transfer16(calcParity(posL.reg));
+
+	return getZero();
+}
+
+
+uint16_t AS5047::getZero() {
+	uint16_t command = AS5047_ZPOSM_REG | AS5047_RW;
+	spi_transfer16(command);
+	command = AS5047_ZPOSL_REG | AS5047_PARITY | AS5047_RW;
+	uint16_t result = spi_transfer16(command);
+	AS5047ZPosL posL = {
+			.reg = nop()
+	};
+	return ((result&0x00FF)<<6) | posL.zposl;
 }
 
 
@@ -135,6 +218,17 @@ uint16_t AS5047::nop(){
 	return result&AS5047_RESULT_MASK;
 }
 
+
+uint16_t AS5047::calcParity(uint16_t data){
+	data = data & 0x7FFF;
+	int sum = 0;
+	for (int i=0;i<15;i++)
+		if ((data>>i)&0x0001)
+			sum++;
+	return (sum&0x01)==0x01?(data|0x8000):data;
+}
+
+
 uint16_t AS5047::spi_transfer16(uint16_t outdata) {
 	if (nCS>=0)
 		digitalWrite(nCS, 0);