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Merged
merged 6 commits into from
May 4, 2021
Merged

Dev #72

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f2ae008
added an enable_active_high field (default true) to BLDCDriver6PWM
runger1101001 Apr 29, 2021
3cc6933
Merge remote-tracking branch 'simplefoc/dev' into dev
runger1101001 Apr 29, 2021
8ecc1b6
fixing SAMD21 PWM - now it's really nice...
runger1101001 Apr 30, 2021
62534c2
optimized the enable_active_high setting for enable/disable
runger1101001 May 2, 2021
c43f1e3
fix samd51 pwm glitch and enable same51 support
runger1101001 May 2, 2021
ebd4906
move the sensor calls to before the enable checks in move and loopFOC
runger1101001 May 2, 2021
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12 changes: 8 additions & 4 deletions src/BLDCMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -244,13 +244,15 @@ int BLDCMotor::absoluteZeroSearch() {
// Iterative function looping FOC algorithm, setting Uq on the Motor
// The faster it can be run the better
void BLDCMotor::loopFOC() {

// shaft angle
shaft_angle = shaftAngle(); // read value even if motor is disabled to keep the monitoring updated

// if disabled do nothing
if(!enabled) return;
// if open-loop do nothing
if( controller==MotionControlType::angle_openloop || controller==MotionControlType::velocity_openloop ) return;

// shaft angle
shaft_angle = shaftAngle();
// electrical angle - need shaftAngle to be called first
electrical_angle = electricalAngle();

Expand Down Expand Up @@ -295,15 +297,17 @@ void BLDCMotor::loopFOC() {
// - needs to be called iteratively it is asynchronous function
// - if target is not set it uses motor.target value
void BLDCMotor::move(float new_target) {

// get angular velocity
shaft_velocity = shaftVelocity(); // read value even if motor is disabled to keep the monitoring updated

// if disabled do nothing
if(!enabled) return;
// downsampling (optional)
if(motion_cnt++ < motion_downsample) return;
motion_cnt = 0;
// set internal target variable
if(_isset(new_target)) target = new_target;
// get angular velocity
shaft_velocity = shaftVelocity();

switch (controller) {
case MotionControlType::torque:
Expand Down
6 changes: 3 additions & 3 deletions src/drivers/BLDCDriver6PWM.cpp
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Expand Up @@ -24,7 +24,7 @@ BLDCDriver6PWM::BLDCDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h
// enable motor driver
void BLDCDriver6PWM::enable(){
// enable_pin the driver - if enable_pin pin available
if ( _isset(enable_pin) ) digitalWrite(enable_pin, HIGH);
if ( _isset(enable_pin) ) digitalWrite(enable_pin, enable_active_high);
// set zero to PWM
setPwm(0, 0, 0);
}
Expand All @@ -35,7 +35,7 @@ void BLDCDriver6PWM::disable()
// set zero to PWM
setPwm(0, 0, 0);
// disable the driver - if enable_pin pin available
if ( _isset(enable_pin) ) digitalWrite(enable_pin, LOW);
if ( _isset(enable_pin) ) digitalWrite(enable_pin, !enable_active_high);

}

Expand Down Expand Up @@ -82,4 +82,4 @@ void BLDCDriver6PWM::setPwm(float Ua, float Ub, float Uc) {
// Set voltage to the pwm pin
void BLDCDriver6PWM::setPhaseState(int sa, int sb, int sc) {
// TODO implement disabling
}
}
1 change: 1 addition & 0 deletions src/drivers/BLDCDriver6PWM.h
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Expand Up @@ -37,6 +37,7 @@ class BLDCDriver6PWM: public BLDCDriver
int pwmB_h,pwmB_l; //!< phase B pwm pin number
int pwmC_h,pwmC_l; //!< phase C pwm pin number
int enable_pin; //!< enable pin number
bool enable_active_high = true;

float dead_zone; //!< a percentage of dead-time(zone) (both high and low side in low) for each pwm cycle [0,1]

Expand Down
6 changes: 4 additions & 2 deletions src/drivers/hardware_specific/generic_mcu.cpp
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Expand Up @@ -12,9 +12,11 @@

#elif defined(_STM32_DEF_) // or stm32

#elif defined(_SAMD21_) // samd21 for the moment, samd51 in progress...
#elif defined(_SAMD21_) // samd21

#elif defined(_SAMD51_) // samd21 for the moment, samd51 in progress...
#elif defined(_SAMD51_) // samd51

#elif defined(__SAME51J19A__) || defined(__ATSAME51J19A__) // samd51

#else

Expand Down
19 changes: 10 additions & 9 deletions src/drivers/hardware_specific/samd21_mcu.cpp
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Expand Up @@ -310,17 +310,18 @@ void writeSAMDDutyCycle(int chaninfo, float dc) {
uint8_t chan = GetTCChannelNumber(chaninfo);
if (tccn<TCC_INST_NUM) {
Tcc* tcc = (Tcc*)GetTC(chaninfo);
// set via CC
//tcc->CC[chan].reg = (uint32_t)((SIMPLEFOC_SAMD_PWM_RESOLUTION-1) * dc);
//uint32_t chanbit = 0x1<<(TCC_SYNCBUSY_CC0_Pos+chan);
//while ( (tcc->SYNCBUSY.reg & chanbit) > 0 );
// set via CC
// tcc->CC[chan].reg = (uint32_t)((SIMPLEFOC_SAMD_PWM_RESOLUTION-1) * dc);
// uint32_t chanbit = 0x1<<(TCC_SYNCBUSY_CC0_Pos+chan);
// while ( (tcc->SYNCBUSY.reg & chanbit) > 0 );
// set via CCB
while ( (tcc->SYNCBUSY.vec.CC & (0x1<<chan)) > 0 );
tcc->CCB[chan].reg = (uint32_t)((SIMPLEFOC_SAMD_PWM_RESOLUTION-1) * dc);
while ( (tcc->SYNCBUSY.vec.CCB & (0x1<<chan)) > 0 );
tcc->STATUS.vec.CCBV |= (0x1<<chan);
while ( tcc->SYNCBUSY.bit.STATUS > 0 );
tcc->CTRLBSET.reg |= TCC_CTRLBSET_CMD(TCC_CTRLBSET_CMD_UPDATE_Val);
while ( tcc->SYNCBUSY.bit.CTRLB > 0 );
// while ( (tcc->SYNCBUSY.vec.CCB & (0x1<<chan)) > 0 );
// tcc->STATUS.vec.CCBV |= (0x1<<chan);
// while ( tcc->SYNCBUSY.bit.STATUS > 0 );
// tcc->CTRLBSET.reg |= TCC_CTRLBSET_CMD(TCC_CTRLBSET_CMD_UPDATE_Val);
// while ( tcc->SYNCBUSY.bit.CTRLB > 0 );
}
else {
Tc* tc = (Tc*)GetTC(chaninfo);
Expand Down
13 changes: 7 additions & 6 deletions src/drivers/hardware_specific/samd51_mcu.cpp
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Expand Up @@ -3,7 +3,7 @@
#include "./samd_mcu.h"


#ifdef _SAMD51_
#if defined(_SAMD51_)||defined(_SAME51_)



Expand Down Expand Up @@ -129,12 +129,13 @@ void writeSAMDDutyCycle(int chaninfo, float dc) {
uint8_t chan = GetTCChannelNumber(chaninfo);
if (tccn<TCC_INST_NUM) {
Tcc* tcc = (Tcc*)GetTC(chaninfo);
// set via CCBUF]
// set via CCBUF
while ( (tcc->SYNCBUSY.vec.CC & (0x1<<chan)) > 0 );
tcc->CCBUF[chan].reg = (uint32_t)((SIMPLEFOC_SAMD_PWM_RESOLUTION-1) * dc); // TODO pwm frequency!
tcc->STATUS.vec.CCBUFV |= (0x1<<chan);
while ( tcc->SYNCBUSY.bit.STATUS > 0 );
tcc->CTRLBSET.reg |= TCC_CTRLBSET_CMD(TCC_CTRLBSET_CMD_UPDATE_Val);
while ( tcc->SYNCBUSY.bit.CTRLB > 0 );
// tcc->STATUS.vec.CCBUFV |= (0x1<<chan);
// while ( tcc->SYNCBUSY.bit.STATUS > 0 );
// tcc->CTRLBSET.reg |= TCC_CTRLBSET_CMD(TCC_CTRLBSET_CMD_UPDATE_Val);
// while ( tcc->SYNCBUSY.bit.CTRLB > 0 );
}
else {
// Tc* tc = (Tc*)GetTC(chaninfo);
Expand Down
10 changes: 5 additions & 5 deletions src/drivers/hardware_specific/samd_mcu.cpp
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Expand Up @@ -3,7 +3,7 @@

#include "./samd_mcu.h"

#if defined(_SAMD21_)||defined(_SAMD51_)
#if defined(_SAMD21_)||defined(_SAMD51_)||defined(_SAME51_)



Expand Down Expand Up @@ -90,7 +90,7 @@ tccConfiguration getTCCChannelNr(int pin, EPioType peripheral) {
result.tcc.chaninfo = association.tccF;
result.wo = association.woF;
}
#ifdef _SAMD51_
#if defined(_SAMD51_)||defined(_SAME51_)
else if (peripheral==PIO_TCC_PDEC) {
result.tcc.chaninfo = association.tccG;
result.wo = association.woG;
Expand Down Expand Up @@ -758,7 +758,7 @@ void printAllPinInfos() {
case PORTA: Serial.print(" PA"); break;
case PORTB: Serial.print(" PB"); break;
case PORTC: Serial.print(" PC"); break;
#ifdef _SAMD51_
#if defined(_SAMD51_)||defined(_SAME51_)
case PORTD: Serial.print(" PD"); break;
#endif
}
Expand Down Expand Up @@ -803,7 +803,7 @@ void printAllPinInfos() {
else
Serial.print(" None ");

#ifdef _SAMD51_
#if defined(_SAMD51_)||defined(_SAME51_)
Serial.print(" G=");
if (association.tccG>=0) {
int tcn = GetTCNumber(association.tccG);
Expand Down Expand Up @@ -842,7 +842,7 @@ void printTCCConfiguration(tccConfiguration& info) {
Serial.print(" E "); break;
case PIO_TIMER_ALT:
Serial.print(" F "); break;
#ifdef _SAMD51_
#if defined(_SAMD51_)||defined(_SAME51_)
case PIO_TCC_PDEC:
Serial.print(" G "); break;
#endif
Expand Down
13 changes: 10 additions & 3 deletions src/drivers/hardware_specific/samd_mcu.h
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Expand Up @@ -9,7 +9,14 @@
#include "../hardware_api.h"


#if defined(_SAMD21_)||defined(_SAMD51_)
#if defined(__SAME51J19A__) || defined(__ATSAME51J19A__)
#ifndef _SAME51_
#define _SAME51_
#endif
#endif


#if defined(_SAMD21_)||defined(_SAMD51_)||defined(_SAME51_)


#include "Arduino.h"
Expand Down Expand Up @@ -53,7 +60,7 @@ struct wo_association {
uint8_t woE;
ETCChannel tccF;
uint8_t woF;
#if defined(_SAMD51_)
#if defined(_SAMD51_)||defined(_SAME51_)
ETCChannel tccG;
uint8_t woG;
#endif
Expand All @@ -63,7 +70,7 @@ struct wo_association {

#if defined(_SAMD21_)
#define NUM_PIO_TIMER_PERIPHERALS 2
#elif defined(_SAMD51_)
#elif defined(_SAMD51_)||defined(_SAME51_)
#define NUM_PIO_TIMER_PERIPHERALS 3
#endif

Expand Down