merge

README.md

@@ -16,67 +16,24 @@ Therefore this is an attempt to:
    - ***NEW*** 📢: *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
-##### <b> NEW RELEASE 📢:</b> <i>Simple<b>FOC</b>library v2.1
-> - **Initial current sensing support**🎉
->   - Inline current sensors 
->   - adaptive zero finding and shunt direction
-> - **Implemented real torque control** 
->   - using voltage
->   - using current magnitude (one current)
->   - using FOC currents ( d-q currents ) - real foc control
-> - SVPWM full implementation  d+q axis
-> - **Simplified sensor implementation**📢
->    - For new sensor implementation only one function necessary `getAngle()`
-> - Upgrade of the HallSensor implementation by [@owennewo](https://github.com/owennewo)
-> - Support for Arduino DUE - everything except the 6PWM mode
-> - Support for ATMega328pb
-> - bugfix for the Teensy boards ( setting 3pwm )
-> - extended support for 2PWM stepper drivers - by [@zjor](https://github.com/zjor)
-> - included F macro for shrinking string memory usage - moved to programming memory
-> - disable phase support for 3pwm driver
->    - not yet for 6pwm
-> - rewritten `initFOC()`
->    - can be skipped and outputs much more info
->    - align sensor: direction + zero offset + pole pair check
->    - align current sense
-> - sensor offset supported (`motor.sensor_offset`)
-> - **refactored motor commands interface**
->   - much more flexible and easy to extend
->   - very easy to add new commands and function callbacks
->   - implemented motor+pid+lpf commands of-the-shelf
-> - Added **step/dir interface**
->   - integrated as an optional communication channel
->
-> BEWARE 📢 slight API changes included
->   - `ControlType` renamed into `MotionControlType`
->   - `ControlType::voltage` does not exist any more now - `MotionControlType::torque`
-
-
-## Arduino *SimpleFOCShield* v2.0.3
-<p align="">
-<a href="https://youtu.be/G5pbo0C6ujE">
-<img src="https://docs.simplefoc.com/extras/Images/foc_shield_video.jpg"  height="320px">
-</a>
-</p>
-
-### Features
-- **Plug & play**: In combination with Arduino *Simple**FOC**library* - [github](https://github.com/simplefoc/Arduino-FOC)
-- **Low-cost**: Price of €15 - [Check the pricing](https://www.simplefoc.com/shop) 
-- **In-line current sensing**: Up to 3Amps/5Amps bidirectional
-   - configurable: 3.3Amps - 3.3V adc, 5Amps - 5V adc
-- **Integrated 8V regulator**: 
-   - Enable/disable by soldering pads
-- **Max power 120W** - max current 5A, power-supply 12-24V
-   - Designed for Gimbal motors with the internal resistance >10 Ωs. 
-- **Stackable**: running 2 motors in the same time
-- **Encoder/Hall sensors interface**: Integrated 3.3kΩ pullups (configurable)
-- **I2C interface**: Integrated 4.7kΩ pullups (configurable)
-- **Configurable pinout**: Hardware configuration - soldering connections
-- **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
-- **Open Source**: Fully available fabrication files - [how to make it yourself](https://docs.simplefoc.com/arduino_simplefoc_shield_fabrication)
-
-<p align=""><img src="https://simplefoc.com/assets/img/v2.jpg" height="180px">   <img src="https://simplefoc.com/assets/img/v1.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
-
+##### <b> Release notes be:</b> <i>Simple<b>FOC</b>library</i> v2.1.1
+> - bugfixes commander
+> - bugfix `voltage_limit` when provided `phase_resistance`
+> - bugfix `hall_sensor` examples 
+> - added examples fot the PowerShield
+> - added initial support for `MagneticSensorPWM`
+> - SAMD51 support 
+> - **initial support for Raspberry pi Pico**
+> - added examples to find the raw max and min of the analog and pwm sensor
+> - extension of the `Commander` interface
+>   - added pwm centering option `WC`
+>   - added pwm modulation cmd `WT`
+> - improved esp32 implementation to avoid the need for mcpwm.h changes by @tschundler 
+> - issue #62: motor.shaft_angle setting in the motor.initFOC() 
+> - issue #76: esp32 division by zero  
+> - issue #46: commander end of line character - by @maxlem
+> - [community fix](https://community.simplefoc.com/t/as5600-dead-spot-around-0/208) AS5600 register value
+> - renamed `Pullup::EXTERN` and `Pullup::INTERN` to `Pullup::USE_EXTERN` and `Pullup::USE_INTERN`
 
 ## Arduino *SimpleFOClibrary* v2.1
 
@@ -108,6 +65,33 @@ This video demonstrates the *Simple**FOC**library* basic usage, electronic conne
 
 <p align=""> <img src="https://docs.simplefoc.com/extras/Images/uno_l6234.jpg"  height="170px">  <img src="https://docs.simplefoc.com/extras/Images/hmbgc_v22.jpg" height="170px">  <img src="https://docs.simplefoc.com/extras/Images/foc_shield_v13.jpg"  height="170px"></p>
 
+## Arduino *SimpleFOCShield* v2.0.3
+<p align="">
+<a href="https://youtu.be/G5pbo0C6ujE">
+<img src="https://docs.simplefoc.com/extras/Images/foc_shield_video.jpg"  height="320px">
+</a>
+</p>
+
+### Features
+- **Plug & play**: In combination with Arduino *Simple**FOC**library* - [github](https://github.com/simplefoc/Arduino-FOC)
+- **Low-cost**: Price of €15 - [Check the pricing](https://www.simplefoc.com/shop) 
+- **In-line current sensing**: Up to 3Amps/5Amps bidirectional
+   - configurable: 3.3Amps - 3.3V adc, 5Amps - 5V adc
+- **Integrated 8V regulator**: 
+   - Enable/disable by soldering pads
+- **Max power 120W** - max current 5A, power-supply 12-24V
+   - Designed for Gimbal motors with the internal resistance >10 Ωs. 
+- **Stackable**: running 2 motors in the same time
+- **Encoder/Hall sensors interface**: Integrated 3.3kΩ pullups (configurable)
+- **I2C interface**: Integrated 4.7kΩ pullups (configurable)
+- **Configurable pinout**: Hardware configuration - soldering connections
+- **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
+- **Open Source**: Fully available fabrication files - [how to make it yourself](https://docs.simplefoc.com/arduino_simplefoc_shield_fabrication)
+
+<p align=""><img src="https://simplefoc.com/assets/img/v2.jpg" height="180px">   <img src="https://simplefoc.com/assets/img/v1.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
+
+
+
 ## Getting Started
 Depending on if you want to use this library as the plug and play Arduino library or you want to get insight in the algorithm and make changes there are two ways to install this code.
 

examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -17,7 +17,7 @@ MagneticSensorSPI sensor = MagneticSensorSPI(PA4, 14, 0x3FFF);
 // make sure to use the pull-ups!!
 // SDA PB7
 // SCL PB6
-//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4);
 
 // Motor instance
 BLDCMotor motor = BLDCMotor(11);

examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino

@@ -23,9 +23,11 @@ void doB2(){encoder2.handleB();}
 
 
 // inline current sensor instance
+// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
 InlineCurrentSense current_sense1 = InlineCurrentSense(0.01, 50.0, A0, A2);
 
 // inline current sensor instance
+// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
 InlineCurrentSense current_sense2 = InlineCurrentSense(0.01, 50.0, A1, A3);
 
 // commander communication instance

examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino

@@ -12,6 +12,7 @@ void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
 // inline current sensor instance
+// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
 InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, A0, A2);
 
 // commander communication instance

examples/utils/calibration/alignment_and_cogging_test/alignment_and_cogging_test.ino

@@ -5,7 +5,7 @@ BLDCMotor motor = BLDCMotor(11);
 BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8);
 //StepperMotor motor = StepperMotor(50);
 //StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
-MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4);
 
 
 /**

examples/utils/calibration/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino

@@ -27,7 +27,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
 // magnetic sensor instance - SPI
 MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
 // magnetic sensor instance - I2C
-//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4);
 // magnetic sensor instance - analog output
 // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 

examples/utils/calibration/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino

@@ -15,7 +15,7 @@
 // magnetic sensor instance - SPI
 //MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
 // magnetic sensor instance - I2C
-//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0X0C, 4);
 // magnetic sensor instance - analog output
 MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 

examples/utils/sensor_test/encoder/encoder_example/encoder_example.ino

@@ -21,7 +21,7 @@ void setup() {
   encoder.quadrature = Quadrature::ON;
 
   // check if you need internal pullups
-  encoder.pullup = Pullup::EXTERN;
+  encoder.pullup = Pullup::USE_EXTERN;
 
   // initialise encoder hardware
   encoder.init();

examples/utils/sensor_test/encoder/encoder_software_interrupts_example/encoder_software_interrupts_example.ino

@@ -32,7 +32,7 @@ void setup() {
   encoder.quadrature = Quadrature::ON;
 
   // check if you need internal pullups
-  encoder.pullup = Pullup::EXTERN;
+  encoder.pullup = Pullup::USE_EXTERN;
 
   // initialise encoder hardware
   encoder.init();

examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino

@@ -25,7 +25,7 @@ void setup() {
   Serial.begin(115200);
 
   // check if you need internal pullups
-  sensor.pullup = Pullup::EXTERN;
+  sensor.pullup = Pullup::USE_EXTERN;
 
   // initialise encoder hardware
   sensor.init();

examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensors_software_interrupt_example.ino

@@ -34,7 +34,7 @@ void setup() {
   Serial.begin(115200);
 
   // check if you need internal pullups
-  sensor.pullup = Pullup::EXTERN;
+  sensor.pullup = Pullup::USE_EXTERN;
 
   // initialise encoder hardware
   sensor.init();

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/find_raw_min_max/find_raw_min_max.ino

@@ -0,0 +1,51 @@
+#include <SimpleFOC.h>
+
+/**
+ * An example to find out the raw max and min count to be provided to the constructor
+ * Spin your motor/sensor/magnet to see what is the maximum output of the sensor and what is the minimum value 
+ * And replace values 14 and 1020 with new values. Once when you replace them make sure there is no jump in the angle reading sensor.getAngle(). 
+ * If there is a jump that means you can still find better values. 
+ */
+
+/**
+ * Magnetic sensor reading analog voltage on pin A1.  This voltage is proportional to rotation position.
+ * Tested on AS5600 magnetic sensor running in 'analog mode'.  Note AS5600 works better in 'i2C mode' (less noise) but only supports one sensor per i2c bus. 
+ * 
+ * MagneticSensorAnalog(uint8_t _pinAnalog, int _min, int _max)
+ * - pinAnalog      - the pin that is reading the pwm from magnetic sensor
+ * - min_raw_count  - the smallest expected reading.  Whilst you might expect it to be 0 it is often ~15.  Getting this wrong results in a small click once per revolution
+ * - max_raw_count  - the largest value read.  whilst you might expect it to be 2^10 = 1023 it is often ~ 1020. Note ESP32 will be closer to 4096 with its 12bit ADC
+ */
+MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+int max_count = 0;
+int min_count = 100000; 
+
+void loop() {
+
+  // keep track of min and max
+  if(sensor.raw_count > max_count) max_count = sensor.raw_count;
+  else if(sensor.raw_count < min_count) min_count = sensor.raw_count;
+
+  // display the raw count, and max and min raw count
+  Serial.print("angle:");
+  Serial.print(sensor.getAngle());
+  Serial.print("\t, raw:");
+  Serial.print(sensor.raw_count);
+  Serial.print("\t, min:");
+  Serial.print(min_count);
+  Serial.print("\t, max:");
+  Serial.println(max_count);
+  delay(100);
+}

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/magnetic_sensor_analog_example.ino → examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/magnetic_sensor_analog/magnetic_sensor_analog.ino

@@ -1,6 +1,7 @@
 #include <SimpleFOC.h>
 
 
+
 /**
  * Magnetic sensor reading analog voltage on pin A1.  This voltage is proportional to rotation position.
  * Tested on AS5600 magnetic sensor running in 'analog mode'.  Note AS5600 works better in 'i2C mode' (less noise) but only supports one sensor per i2c bus. 
@@ -28,4 +29,4 @@ void loop() {
   Serial.print(sensor.getAngle());
   Serial.print("\t");
   Serial.println(sensor.getVelocity());
-}
+}

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/find_raw_min_max/find_raw_min_max.ino

@@ -0,0 +1,44 @@
+#include <SimpleFOC.h>
+
+
+/**
+ * An example to find out the raw max and min count to be provided to the constructor
+ * SPin your motor/sensor/magnet to see what is the maximum output of the sensor and what is the minimum value 
+ * And replace values 4 and 904 with new values. Once when you replace them make sure there is no jump in the angle reading sensor.getAngle(). 
+ * If there is a jump that means you can still find better values. 
+ */
+MagneticSensorPWM sensor = MagneticSensorPWM(2, 4, 904);
+void doPWM(){sensor.handlePWM();}
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+   // comment out to use sensor in blocking (non-interrupt) way
+  sensor.enableInterrupt(doPWM);
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+int max_pulse= 0;
+int min_pulse = 10000;
+
+void loop() {
+
+  // keep track of min and max
+  if(sensor.pulse_length_us > max_pulse) max_pulse = sensor.pulse_length_us;
+  else if(sensor.pulse_length_us < min_pulse) min_pulse = sensor.pulse_length_us;
+
+  // display the raw count, and max and min raw count
+  Serial.print("angle:");
+  Serial.print(sensor.getAngle());
+  Serial.print("\t, raw:");
+  Serial.print(sensor.pulse_length_us);
+  Serial.print("\t, min:");
+  Serial.print(min_pulse);
+  Serial.print("\t, max:");
+  Serial.println(max_pulse);
+}

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/magnetic_sensor_pwm/magnetic_sensor_pwm.ino

@@ -0,0 +1,33 @@
+#include <SimpleFOC.h>
+
+
+/**
+ * Magnetic sensor reading pwm signal on pin 2.  The pwm duty cycle is proportional to the sensor angle.
+ * 
+ * MagneticSensorPWM(uint8_t MagneticSensorPWM, int _min, int _max)
+ * - pinPWM         - the pin that is reading the pwm from magnetic sensor
+ * - min_raw_count  - the smallest expected reading.  Whilst you might expect it to be 0 it is often ~5.  Getting this wrong results in a small click once per revolution
+ * - max_raw_count  - the largest value read.  whilst you might expect it to be 1kHz = 1000 it is often ~910. depending on the exact frequency and saturation
+ */
+MagneticSensorPWM sensor = MagneticSensorPWM(2, 4, 904);
+void doPWM(){sensor.handlePWM();}
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // comment out to use sensor in blocking (non-interrupt) way
+  sensor.enableInterrupt(doPWM);
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+void loop() {
+  // display the angle and the angular velocity to the terminal
+  Serial.print(sensor.getAngle());
+  Serial.print("\t");
+  Serial.println(sensor.getVelocity());
+}

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/magnetic_sensor_pwm_software_interrupt/magnetic_sensor_pwm_software_interrupt.ino

@@ -0,0 +1,39 @@
+#include <SimpleFOC.h>
+
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+/**
+ * Magnetic sensor reading analog voltage on pin which does not have hardware interrupt support. Such as A0.
+ * 
+ * MagneticSensorPWM(uint8_t MagneticSensorPWM, int _min, int _max)
+ * - pinPWM         - the pin that is reading the pwm from magnetic sensor
+ * - min_raw_count  - the smallest expected reading.  Whilst you might expect it to be 0 it is often ~5.  Getting this wrong results in a small click once per revolution
+ * - max_raw_count  - the largest value read.  whilst you might expect it to be 1kHz = 1000 it is often ~910. depending on the exact frequency and saturation
+ */
+MagneticSensorPWM sensor = MagneticSensorPWM(A0, 4, 904);
+void doPWM(){sensor.handlePWM();}
+
+// encoder interrupt init
+PciListenerImp listenerPWM(sensor.pinPWM, doPWM);
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // comment out to use sensor in blocking (non-interrupt) way
+  PciManager.registerListener(&listenerPWM);
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+void loop() {
+  // display the angle and the angular velocity to the terminal
+  Serial.print(sensor.getAngle());
+  Serial.print("\t");
+  Serial.println(sensor.getVelocity());
+}