Add Silabs drivers and examples

.github/workflows/arduino.yml

@@ -25,7 +25,15 @@ jobs:
           - arduino-boards-fqbn: arduino:avr:uno # arudino uno - compiling almost all examples
             sketch-names: '**.ino'
             required-libraries: PciManager
-            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
+            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,
+              efr32_hall_sensor_velocity_6pwm, efr32_open_loop_velocity_6pwm, efr32_torque_velocity_6pwm
 
           - arduino-boards-fqbn: arduino:sam:arduino_due_x # arduino due - one full example
             sketch-names: single_full_control_example.ino

.github/workflows/silabs.yml

@@ -0,0 +1,41 @@
+name: SILABS
+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:
+          - SiliconLabs:silabs:nano_matter          # efr32 nano matter
+
+        include:
+
+          - arduino-boards-fqbn: SiliconLabs:silabs:nano_matter
+            platform-url: https://siliconlabs.github.io/arduino/package_arduinosilabs_index.json
+            sketch-names: efr32_hall_sensor_velocity_6pwm.ino, efr32_open_loop_velocity_6pwm.ino, efr32_torque_velocity_6pwm.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) }}
+

examples/hardware_specific_examples/Silabs/efr32_hall_sensor_velocity_6pwm/efr32_hall_sensor_velocity_6pwm.ino

@@ -0,0 +1,168 @@
+/** 
+ * Silabs MG24 6PWM closed loop velocity control example with HALL sensor based rotor position
+ *
+ * HARDWARE CONFIGURATION:
+ *  CPU Board: Arduino Nano Matter
+ *  Motor Driver Board: BOOSTXL-DRV8305EVM
+ *  BLDC Motor: Newark DF45M024053-A2
+ */
+
+#include <SimpleFOC.h>
+
+#define HALL_SENSOR_IRQ 1
+#define ENABLE_MONITOR  0
+
+static bool allow_run = false;
+
+// BLDC motor instance
+BLDCMotor *motor;
+
+// BLDC driver instance
+BLDCDriver6PWM *driver;
+
+// Commander instance
+Commander *command;
+
+// Hall sensor instance
+HallSensor *sensor;
+
+// Interrupt routine initialization
+// channel A and B callbacks
+void doA() { sensor->handleA(); }
+void doB() { sensor->handleB(); }
+void doC() { sensor->handleC(); }
+
+void doMotor(char* cmd) {
+  if (!command) return;
+  command->motor(motor, cmd);
+}
+
+void setup() {
+  // use monitoring with serial
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
+  // Commander
+  command = new Commander(Serial);
+  if (!command) return;
+
+  // Driver
+  driver = new BLDCDriver6PWM(6, 7, 8, 9, 10, 11, 12);
+  if (!driver) return;
+
+  // Driver config
+  // power supply voltage [V]
+  driver->voltage_power_supply = 24;
+  // pwm frequency to be used [Hz]
+  driver->pwm_frequency = 20000; // 20 kHz
+  // Max DC voltage allowed - default voltage_power_supply
+  driver->voltage_limit = 12;
+  // dead zone percentage of the duty cycle - default 0.02 - 2%
+  // Can set value to 0 because the DRV8305 will provide the 
+  // required dead-time.
+  driver->dead_zone = 0;
+
+  // init driver
+  if (!driver->init()) {
+    Serial.println("Driver init failed!");
+    return;
+  }
+  driver->enable();
+
+  // HallSensor(int encA, int encB, int encC, int pp)
+  //  - encA, encB, encC    - HallSensor A, B and C pins
+  //  - pp                  - pole pairs
+  sensor = new HallSensor(5, 4, 13, 8);
+  if (!sensor) return;
+
+  // initialize sensor sensor hardware
+  sensor->init();
+
+#if HALL_SENSOR_IRQ
+  sensor->enableInterrupts(doA, doB, doC);
+#else
+  // Note: There is a bug when initializing HallSensor in heap, attribute
+  // `use_interrupt` gets value not `false` even `enableInterrupts` has not been
+  // called. So we initialize this attribute value `false` after creating a
+  // `HallSensor` instance.
+  sensor->use_interrupt = false;
+#endif
+
+  // Motor
+  motor = new BLDCMotor(8);
+  if (!motor) return;
+
+  // link the motor and the driver
+  motor->linkDriver(driver);
+
+  // link the motor to the sensor
+  motor->linkSensor(sensor);
+
+  // Set below the motor's max 5600 RPM limit = 586 rad/s
+  motor->velocity_limit = 530.0f;
+
+  // set motion control loop to be used
+  motor->controller = MotionControlType::velocity;
+
+  // choose FOC modulation (optional) - SinePWM or SpaceVectorPWM
+  motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // controller configuration
+  // velocity PI controller parameters
+  motor->PID_velocity.P = 0.05f;
+  motor->PID_velocity.I = 1;
+
+  // velocity low pass filtering time constant
+  motor->LPF_velocity.Tf = 0.01f;
+
+#if ENABLE_MONITOR
+  motor->useMonitoring(Serial);
+  motor->monitor_variables = _MON_TARGET | _MON_VEL;
+#endif
+
+  // initialize motor
+  if (!motor->init()) {
+    Serial.println("Motor init failed!");
+    return;
+  }
+
+  // align sensor and start FOC
+  if (!motor->initFOC()) {
+    Serial.println("FOC init failed!");
+    return;
+  }
+
+  // add target command M
+  command->add('M', doMotor, "motor");
+
+  Serial.println("Motor ready!");
+  Serial.println("Set target velocity [rad/s]");
+
+  allow_run = true;
+  _delay(1000);
+}
+
+void loop() {
+  if (!allow_run) return;
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  motor->loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (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();
+
+#if ENABLE_MONITOR
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  motor->monitor();
+#endif
+
+  // user communication
+  command->run();
+}

examples/hardware_specific_examples/Silabs/efr32_open_loop_velocity_6pwm/efr32_open_loop_velocity_6pwm.ino

@@ -0,0 +1,104 @@
+/** 
+ * Silabs MG24 6PWM open loop velocity control example
+ *
+ * HARDWARE CONFIGURATION:
+ *  CPU Board: Arduino Nano Matter
+ *  Motor Driver Board: BOOSTXL-DRV8305EVM
+ *  BLDC Motor: Newark DF45M024053-A2
+ */
+
+#include <SimpleFOC.h>
+
+static bool allow_run = false;
+
+// BLDC motor instance
+BLDCMotor *motor;
+
+// BLDC driver instance
+BLDCDriver6PWM *driver;
+
+// Commander instance
+Commander *command;
+
+void doMotor(char* cmd) {
+  if (!command) return;
+  command->motor(motor, cmd);
+}
+
+void setup() {
+  // use monitoring with serial
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
+  // Commander
+  command = new Commander(Serial);
+  if (!command) return;
+
+  // Driver
+  driver = new BLDCDriver6PWM(6, 7, 8, 9, 10, 11, 12);
+  if (!driver) return;
+
+  // Driver config
+  // power supply voltage [V]
+  driver->voltage_power_supply = 24;
+  // pwm frequency to be used [Hz]
+  driver->pwm_frequency = 20000; // 20 kHz
+  // Max DC voltage allowed - default voltage_power_supply
+  driver->voltage_limit = 12;
+  // dead zone percentage of the duty cycle - default 0.02 - 2%
+  // Can set value to 0 because the DRV8305 will provide the 
+  // required dead-time.
+  driver->dead_zone = 0;
+
+  // init driver
+  if (!driver->init()) {
+    Serial.println("Driver init failed!");
+    return;
+  }
+  driver->enable();
+
+  // Motor
+  motor = new BLDCMotor(8);
+  if (!motor) return;
+
+  // link the motor and the driver
+  motor->linkDriver(driver);
+
+  // default voltage_power_supply
+  motor->voltage_limit = 0.8f;
+
+  // set motion control loop to be used
+  motor->controller = MotionControlType::velocity_openloop;
+
+  // choose FOC modulation (optional) - SinePWM or SpaceVectorPWM
+  motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // initialize motor
+  if (!motor->init()) {
+    Serial.println("Motor init failed!");
+    return;
+  }
+
+  // add target command M
+  command->add('M', doMotor, "motor");
+
+  Serial.println("Motor ready!");
+  Serial.println("Set target velocity [rad/s]");
+
+  allow_run = true;
+  _delay(1000);
+}
+
+
+void loop() {
+  if (!allow_run) return;
+
+  // open loop velocity movement
+  // using motor.voltage_limit
+  motor->move();
+
+  // user communication
+  command->run();
+}