Dev to master v2.3.5

.github/workflows/arduino.yml

@@ -25,7 +25,7 @@ jobs:
           - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
             sketch-names: '**.ino'
             required-libraries: PciManager
-            sketches-exclude: 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
+            sketches-exclude: 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
 
           - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
             sketch-names: single_full_control_example.ino

.github/workflows/arduino_mbed.yml

@@ -0,0 +1,51 @@
+name: MDED
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          library-manager: update
+          project-type: library
+  build:
+    name: Test compiling 
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          #- arduino:mbed:giga                        # arudino giga
+          - arduino:mbed:nanorp2040connect           # arduino nano rp2040 connect
+          - arduino:mbed:nano33ble                   # arduino nano 33 ble
+          - arduino:mbed:envie_m7                    # arduino portenta
+
+        include:
+          - arduino-boards-fqbn: arduino:mbed:nanorp2040connect 
+            sketch-names: open_loop_position_example.ino
+
+          - arduino-boards-fqbn: arduino:mbed:nano33ble 
+            sketch-names: open_loop_position_example.ino
+
+          - arduino-boards-fqbn: arduino:mbed:envie_m7 
+            sketch-names: open_loop_position_example.ino
+
+          # - arduino-boards-fqbn: arduino:mbed:giga 
+          #   sketch-names: single_full_control_example.ino
+
+
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
+    steps:
+    - name: Checkout
+      uses: actions/checkout@master
+    - name: Compile all examples
+      uses: ArminJo/arduino-test-compile@master
+      with:
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          required-libraries: ${{ matrix.required-libraries }}
+          platform-url: ${{ matrix.platform-url }}
+          sketch-names: ${{ matrix.sketch-names }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}

.github/workflows/esp32.yml

@@ -33,7 +33,7 @@ jobs:
 
           - arduino-boards-fqbn: esp32:esp32:esp32c3 # esp32c3
             platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
-            sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone.ino
+            sketch-names: esp32_position_control.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone.ino
 
           - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
             platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json

README.md

@@ -7,13 +7,14 @@
 [![RP2040 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml)
 [![SAMD build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml)
 [![Teensy build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml) 
+[![MBED build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino_mbed.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino_mbed.yml)
 
 ![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/arduino-foc)
 ![GitHub Release Date](https://img.shields.io/github/release-date/simplefoc/arduino-foc?color=blue)
 ![GitHub commits since tagged version](https://img.shields.io/github/commits-since/simplefoc/arduino-foc/latest/dev)
 ![GitHub commit activity (branch)](https://img.shields.io/github/commit-activity/m/simplefoc/arduino-foc/dev)
 
-[![arduino-library-badge](https://ardubadge.simplefoc.com?lib=Simple%20FOC)](https://www.ardu-badge.com/badge/Simple%20FOC.svg)
+[![arduino-library-badge](https://www.ardu-badge.com/badge/Simple%20FOC.svg)](https://www.ardu-badge.com/badge/Simple%20FOC.svg)
 [![PlatformIO Registry](https://badges.registry.platformio.org/packages/askuric/library/Simple%20FOC.svg)](https://registry.platformio.org/libraries/askuric/Simple%20FOC)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 [![status](https://joss.theoj.org/papers/4382445f249e064e9f0a7f6c1bb06b1d/status.svg)](https://joss.theoj.org/papers/4382445f249e064e9f0a7f6c1bb06b1d)
@@ -29,27 +30,30 @@ Therefore this is an attempt to:
    - For official driver boards see [<span class="simple">Simple<span class="foc">FOC</span>Boards</span>](https://docs.simplefoc.com/boards)
    - Many many more boards developed by the community members, see [<span class="simple">Simple<span class="foc">FOC</span>Community</span>](https://community.simplefoc.com/)
 
-> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.4
-> - ESP32 MCUs extended support [#414](https://github.com/simplefoc/Arduino-FOC/pull/414)
->   - Transition to the arduino-esp32 version v3.x (ESP-IDF v5.x) [#387](https://github.com/espressif/arduino-esp32/releases)
->   - New support for MCPWM driver
->   - New support for LEDC drivers - center-aligned PWM and 6PWM available 
->   - Rewritten and simplified the fast ADC driver code (`adcRead`) - for low-side and inline current sensing.
-> - Stepper motors current sensing support [#421](https://github.com/simplefoc/Arduino-FOC/pull/421)
->   - Support for current sensing (low-side and inline) - [see in docs](https://docs.simplefoc.com/current_sense)
->   - Support for true FOC control - `foc_current` torque control - [see in docs](https://docs.simplefoc.com/motion_control)
-> - New current sense alignment procedure  [#422](https://github.com/simplefoc/Arduino-FOC/pull/422) - [see in docs](https://docs.simplefoc.com/current_sense_align)
->   - Support for steppers
->   - Much more robust and reliable
->   - More verbose and informative 
-> - Support for HallSensors without interrupts [#424](https://docs.simplefoc.com/https://github.com/simplefoc/Arduino-FOC/pull/424) - [see in docs](hall_sensors) 
+> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.5 
+>
+> - ESP32 bugfix 
+>   - after the low-level API changes in the Arduino-ESP32 core [PR447](https://github.com/simplefoc/Arduino-FOC/pull/447)
+>   - Pin is not configured [PR458](https://github.com/simplefoc/Arduino-FOC/pull/458)
+>   - C6 MCPWM bugfix [PR440](https://github.com/simplefoc/Arduino-FOC/pull/440)
+> - New fuctionality
+>   - HybridStepperMotor added to the main library [PR457](https://github.com/simplefoc/Arduino-FOC/pull/457) - [see in docs](https://docs.simplefoc.com/steppermotor)
+>   - Motor characterisation (phase resistance and inductance) [PR436](https://github.com/simplefoc/Arduino-FOC/pull/436) - [see in docs](https://docs.simplefoc.com/bldcmotor#how-can-i-measure-the-phase-resistance-and-inductance)
+> - SAMD21 support for low-side current sensing [PR479](https://github.com/simplefoc/Arduino-FOC/pull/479)
+> - RP2350 support [PR435](https://github.com/simplefoc/Arduino-FOC/pull/435) [PR468](https://github.com/simplefoc/Arduino-FOC/pull/468)
+> - STM32
+>   - New driver code [PR442](https://github.com/simplefoc/Arduino-FOC/pull/442)
+>   - Low-side current sensing support for H7 family [PR460](https://github.com/simplefoc/Arduino-FOC/pull/460)
 > - Docs
->   - A short guide to debugging of common issues
->   - A short guide to the units in the library - [see in docs](https://docs.simplefoc.com/library_units)
-> - See the complete list of bugfixes and new features of v2.3.4 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/11) 
+>   - Hybrid stepper motor example [see in docs](https://docs.simplefoc.com/stepper_control_shield)
+>   - Sensorless FOC example [see in docs](https://docs.simplefoc.com/sensorless_foc_nucleo_example)
+>   - A short guide to synchronous loop - [see in docs](https://docs.simplefoc.com/real_time_loop)
+> - See the complete list of bugfixes and new features of v2.3.5 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/12) 
 
 
-## Arduino *SimpleFOClibrary* v2.3.4
+
+
+## Arduino *SimpleFOClibrary* v2.3.5
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">

examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

@@ -38,7 +38,7 @@ void setup() {
   // limiting motor movements
   // limit the voltage to be set to the motor
   // start very low for high resistance motors
-  // currnet = resistance*voltage, so try to be well under 1Amp
+  // currnet = voltage/resistance, so try to be well under 1Amp
   motor.voltage_limit = 3;   // [V]
 
   // open loop control config

examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

@@ -53,7 +53,7 @@ void setup() {
   // limiting motor movements
   // limit the voltage to be set to the motor
   // start very low for high resistance motors
-  // currnet = resistance*voltage, so try to be well under 1Amp
+  // currnet = voltage/resistance, so try to be well under 1Amp
   motor.voltage_limit = 3;   // [V]
 
   // open loop control config

examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

@@ -46,7 +46,7 @@ void setup() {
   // limiting motor movements
   // limit the voltage to be set to the motor
   // start very low for high resistance motors
-  // currnet = resistance*voltage, so try to be well under 1Amp
+  // currnet = voltage/resistance, so try to be well under 1Amp
   motor.voltage_limit = 3;   // [V]
   // limit/set the velocity of the transition in between 
   // target angles
@@ -78,4 +78,4 @@ void loop() {
 
   // user communication
   command.run();
-}
+}

examples/utils/calibration/measure_inductance_and_resistance/measure_inductance_and_resistance.ino

@@ -0,0 +1,119 @@
+/**
+ *
+ * Motor characterisation example sketch.
+ *
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// current sensor
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);
+
+// characterisation voltage set point variable
+float characteriseVolts = 0.0f;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void onMotor(char* cmd){command.motor(&motor,cmd);}
+void characterise(char* cmd) { 
+  command.scalar(&characteriseVolts, cmd); 
+  motor.characteriseMotor(characteriseVolts);
+}
+
+void setup() {
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+  // link current sense and the driver
+  current_sense.linkDriver(&driver);
+
+  // current sense init hardware
+  current_sense.init();
+  // link the current sense to the motor
+  motor.linkCurrentSense(&current_sense);
+
+  // set torque mode:
+  // TorqueControlType::dc_current
+  // TorqueControlType::voltage
+  // TorqueControlType::foc_current
+  motor.torque_controller = TorqueControlType::foc_current;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // foc current control parameters (Arduino UNO/Mega)
+  motor.PID_current_q.P = 5;
+  motor.PID_current_q.I= 300;
+  motor.PID_current_d.P= 5;
+  motor.PID_current_d.I = 300;
+  motor.LPF_current_q.Tf = 0.01f;
+  motor.LPF_current_d.Tf = 0.01f;
+  // foc current control parameters (stm/esp/due/teensy)
+  // motor.PID_current_q.P = 5;
+  // motor.PID_current_q.I= 1000;
+  // motor.PID_current_d.P= 5;
+  // motor.PID_current_d.I = 1000;
+  // motor.LPF_current_q.Tf = 0.002f; // 1ms default
+  // motor.LPF_current_d.Tf = 0.002f; // 1ms default
+
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add commands M & L
+  command.add('M',&onMotor,"Control motor");
+  command.add('L', characterise, "Characterise motor L & R with the given voltage");
+
+  motor.disable();
+
+  Serial.println(F("Motor disabled and ready."));
+  Serial.println(F("Control the motor and measure the inductance using the terminal. Type \"?\" for available commands:"));
+  _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 torque (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();
+
+  // user communication
+  command.run();
+}

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino

@@ -1,4 +1,5 @@
 #include <SimpleFOC.h>
+#include <Wire.h>
 
 /** Annoyingly some i2c sensors (e.g. AS5600) have a fixed chip address.  This means only one of these devices can be addressed on a single bus
  * This example shows how a second i2c bus can be used to communicate with a second sensor.  
@@ -7,6 +8,8 @@
 MagneticSensorI2C sensor0 = MagneticSensorI2C(AS5600_I2C);
 MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
 
+// example of esp32 defining 2nd bus, if not already defined
+//TwoWire Wire1(1);
 
 void setup() {
 

library.properties

@@ -1,5 +1,5 @@
 name=Simple FOC
-version=2.3.4
+version=2.3.5
 author=Simplefoc <[email protected]>
 maintainer=Simplefoc <[email protected]>
 sentence=A library demistifying FOC for BLDC motors

src/BLDCMotor.cpp

@@ -93,10 +93,13 @@ int BLDCMotor::init() {
   P_angle.limit = velocity_limit;
 
   // if using open loop control, set a CW as the default direction if not already set
-  if ((controller==MotionControlType::angle_openloop
-     ||controller==MotionControlType::velocity_openloop)
-     && (sensor_direction == Direction::UNKNOWN)) {
-      sensor_direction = Direction::CW;
+  // only if no sensor is used
+  if(!sensor){
+    if ((controller==MotionControlType::angle_openloop
+      ||controller==MotionControlType::velocity_openloop)
+      && (sensor_direction == Direction::UNKNOWN)) {
+        sensor_direction = Direction::CW;
+    }
   }
 
   _delay(500);
@@ -290,9 +293,7 @@ int BLDCMotor::alignSensor() {
     zero_electric_angle = electricalAngle();
     //zero_electric_angle =  _normalizeAngle(_electricalAngle(sensor_direction*sensor->getAngle(), pole_pairs));
     _delay(20);
-    if(monitor_port){
-      SIMPLEFOC_DEBUG("MOT: Zero elec. angle: ", zero_electric_angle);
-    }
+    SIMPLEFOC_DEBUG("MOT: Zero elec. angle: ", zero_electric_angle);
     // stop everything
     setPhaseVoltage(0, 0, 0);
     _delay(200);

src/BLDCMotor.h

@@ -81,6 +81,16 @@ class BLDCMotor: public FOCMotor
     */
     void setPhaseVoltage(float Uq, float Ud, float angle_el) override;
 
+    /**
+     * Measure resistance and inductance of a BLDCMotor and print results to debug.
+     * If a sensor is available, an estimate of zero electric angle will be reported too.
+     * @param voltage The voltage applied to the motor
+     * @returns 0 for success, >0 for failure
+     */
+    int characteriseMotor(float voltage){
+      return FOCMotor::characteriseMotor(voltage, 1.5f);
+    }
+
   private:
     // FOC methods