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Merge pull request #485 from silabs-szabog/feat_support_efr32
Add Silabs drivers and examples
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‎.github/workflows/arduino.yml‎

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@@ -25,7 +25,15 @@ jobs:
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- arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
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sketch-names: '**.ino'
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required-libraries: PciManager
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sketches-exclude: align_current_sense, measure_inductance_and_resistance, teensy4_current_control_low_side, full_control_serial, angle_control, bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol, nano33IoT_velocity_control, smartstepper_control,esp32_current_control_low_side, stm32_spi_alt_example, esp32_spi_alt_example, B_G431B_ESC1, odrive_example_spi, odrive_example_encoder, single_full_control_example, double_full_control_example, stm32_current_control_low_side, open_loop_velocity_6pwm
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sketches-exclude: align_current_sense, measure_inductance_and_resistance,
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teensy4_current_control_low_side, full_control_serial, angle_control,
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bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example,
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stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm,
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osc_esp32_fullcontrol, nano33IoT_velocity_control, smartstepper_control,
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esp32_current_control_low_side, stm32_spi_alt_example, esp32_spi_alt_example,
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B_G431B_ESC1, odrive_example_spi, odrive_example_encoder, single_full_control_example,
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double_full_control_example, stm32_current_control_low_side, open_loop_velocity_6pwm,
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efr32_hall_sensor_velocity_6pwm, efr32_open_loop_velocity_6pwm, efr32_torque_velocity_6pwm
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- arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
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sketch-names: single_full_control_example.ino

‎.github/workflows/silabs.yml‎

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name: SILABS
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on: [push, pull_request]
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jobs:
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lint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: arduino/arduino-lint-action@v1
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with:
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library-manager: update
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project-type: library
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build:
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name: Test compiling
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runs-on: ubuntu-latest
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strategy:
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matrix:
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arduino-boards-fqbn:
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- SiliconLabs:silabs:nano_matter # efr32 nano matter
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include:
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- arduino-boards-fqbn: SiliconLabs:silabs:nano_matter
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platform-url: https://siliconlabs.github.io/arduino/package_arduinosilabs_index.json
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sketch-names: efr32_hall_sensor_velocity_6pwm.ino, efr32_open_loop_velocity_6pwm.ino, efr32_torque_velocity_6pwm.ino
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# Do not cancel all jobs / architectures if one job fails
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fail-fast: false
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Compile all examples
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uses: ArminJo/arduino-test-compile@master
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with:
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arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
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required-libraries: ${{ matrix.required-libraries }}
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platform-url: ${{ matrix.platform-url }}
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sketch-names: ${{ matrix.sketch-names }}
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sketches-exclude: ${{ matrix.sketches-exclude }}
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build-properties: ${{ toJson(matrix.build-properties) }}
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‎examples/hardware_specific_examples/Silabs/efr32_hall_sensor_velocity_6pwm/efr32_hall_sensor_velocity_6pwm.ino‎

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/**
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* Silabs MG24 6PWM closed loop velocity control example with HALL sensor based rotor position
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*
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* HARDWARE CONFIGURATION:
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* CPU Board: Arduino Nano Matter
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* Motor Driver Board: BOOSTXL-DRV8305EVM
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* BLDC Motor: Newark DF45M024053-A2
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*/
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#include <SimpleFOC.h>
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#define HALL_SENSOR_IRQ 1
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#define ENABLE_MONITOR 0
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static bool allow_run = false;
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// BLDC motor instance
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BLDCMotor *motor;
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// BLDC driver instance
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BLDCDriver6PWM *driver;
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// Commander instance
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Commander *command;
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// Hall sensor instance
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HallSensor *sensor;
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// Interrupt routine initialization
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// channel A and B callbacks
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void doA() { sensor->handleA(); }
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void doB() { sensor->handleB(); }
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void doC() { sensor->handleC(); }
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void doMotor(char* cmd) {
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if (!command) return;
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command->motor(motor, cmd);
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}
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void setup() {
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// use monitoring with serial
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Serial.begin(115200);
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// enable more verbose output for debugging
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// comment out if not needed
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SimpleFOCDebug::enable(&Serial);
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// Commander
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command = new Commander(Serial);
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if (!command) return;
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// Driver
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driver = new BLDCDriver6PWM(6, 7, 8, 9, 10, 11, 12);
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if (!driver) return;
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// Driver config
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// power supply voltage [V]
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driver->voltage_power_supply = 24;
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// pwm frequency to be used [Hz]
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driver->pwm_frequency = 20000; // 20 kHz
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// Max DC voltage allowed - default voltage_power_supply
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driver->voltage_limit = 12;
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// dead zone percentage of the duty cycle - default 0.02 - 2%
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// Can set value to 0 because the DRV8305 will provide the
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// required dead-time.
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driver->dead_zone = 0;
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// init driver
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if (!driver->init()) {
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Serial.println("Driver init failed!");
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return;
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}
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driver->enable();
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// HallSensor(int encA, int encB, int encC, int pp)
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// - encA, encB, encC - HallSensor A, B and C pins
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// - pp - pole pairs
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sensor = new HallSensor(5, 4, 13, 8);
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if (!sensor) return;
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// initialize sensor sensor hardware
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sensor->init();
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#if HALL_SENSOR_IRQ
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sensor->enableInterrupts(doA, doB, doC);
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#else
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// Note: There is a bug when initializing HallSensor in heap, attribute
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// `use_interrupt` gets value not `false` even `enableInterrupts` has not been
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// called. So we initialize this attribute value `false` after creating a
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// `HallSensor` instance.
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sensor->use_interrupt = false;
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#endif
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// Motor
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motor = new BLDCMotor(8);
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if (!motor) return;
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// link the motor and the driver
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motor->linkDriver(driver);
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// link the motor to the sensor
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motor->linkSensor(sensor);
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// Set below the motor's max 5600 RPM limit = 586 rad/s
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motor->velocity_limit = 530.0f;
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// set motion control loop to be used
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motor->controller = MotionControlType::velocity;
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// choose FOC modulation (optional) - SinePWM or SpaceVectorPWM
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motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
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// controller configuration
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// velocity PI controller parameters
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motor->PID_velocity.P = 0.05f;
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motor->PID_velocity.I = 1;
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// velocity low pass filtering time constant
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motor->LPF_velocity.Tf = 0.01f;
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#if ENABLE_MONITOR
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motor->useMonitoring(Serial);
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motor->monitor_variables = _MON_TARGET | _MON_VEL;
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#endif
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// initialize motor
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if (!motor->init()) {
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Serial.println("Motor init failed!");
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return;
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}
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// align sensor and start FOC
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if (!motor->initFOC()) {
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Serial.println("FOC init failed!");
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return;
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}
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// add target command M
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command->add('M', doMotor, "motor");
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Serial.println("Motor ready!");
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Serial.println("Set target velocity [rad/s]");
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allow_run = true;
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_delay(1000);
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}
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void loop() {
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if (!allow_run) return;
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// main FOC algorithm function
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// the faster you run this function the better
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motor->loopFOC();
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// Motion control function
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// velocity, position or voltage (defined in motor.controller)
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// this function can be run at much lower frequency than loopFOC() function
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// You can also use motor.move() and set the motor.target in the code
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motor->move();
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#if ENABLE_MONITOR
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// function intended to be used with serial plotter to monitor motor variables
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// significantly slowing the execution down!!!!
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motor->monitor();
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#endif
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// user communication
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command->run();
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}

‎examples/hardware_specific_examples/Silabs/efr32_open_loop_velocity_6pwm/efr32_open_loop_velocity_6pwm.ino‎

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/**
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* Silabs MG24 6PWM open loop velocity control example
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*
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* HARDWARE CONFIGURATION:
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* CPU Board: Arduino Nano Matter
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* Motor Driver Board: BOOSTXL-DRV8305EVM
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* BLDC Motor: Newark DF45M024053-A2
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*/
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#include <SimpleFOC.h>
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static bool allow_run = false;
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// BLDC motor instance
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BLDCMotor *motor;
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// BLDC driver instance
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BLDCDriver6PWM *driver;
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// Commander instance
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Commander *command;
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void doMotor(char* cmd) {
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if (!command) return;
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command->motor(motor, cmd);
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}
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void setup() {
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// use monitoring with serial
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Serial.begin(115200);
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// enable more verbose output for debugging
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// comment out if not needed
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SimpleFOCDebug::enable(&Serial);
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// Commander
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command = new Commander(Serial);
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if (!command) return;
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// Driver
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driver = new BLDCDriver6PWM(6, 7, 8, 9, 10, 11, 12);
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if (!driver) return;
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// Driver config
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// power supply voltage [V]
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driver->voltage_power_supply = 24;
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// pwm frequency to be used [Hz]
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driver->pwm_frequency = 20000; // 20 kHz
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// Max DC voltage allowed - default voltage_power_supply
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driver->voltage_limit = 12;
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// dead zone percentage of the duty cycle - default 0.02 - 2%
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// Can set value to 0 because the DRV8305 will provide the
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// required dead-time.
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driver->dead_zone = 0;
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// init driver
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if (!driver->init()) {
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Serial.println("Driver init failed!");
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return;
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}
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driver->enable();
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// Motor
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motor = new BLDCMotor(8);
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if (!motor) return;
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// link the motor and the driver
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motor->linkDriver(driver);
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// default voltage_power_supply
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motor->voltage_limit = 0.8f;
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// set motion control loop to be used
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motor->controller = MotionControlType::velocity_openloop;
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// choose FOC modulation (optional) - SinePWM or SpaceVectorPWM
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motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
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// initialize motor
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if (!motor->init()) {
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Serial.println("Motor init failed!");
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return;
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}
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// add target command M
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command->add('M', doMotor, "motor");
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Serial.println("Motor ready!");
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Serial.println("Set target velocity [rad/s]");
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allow_run = true;
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_delay(1000);
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}
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void loop() {
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if (!allow_run) return;
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// open loop velocity movement
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// using motor.voltage_limit
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motor->move();
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// user communication
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command->run();
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}

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