Merge pull request #304 from runger1101001/dev

Fixes before release 2.3.1

README.md

@@ -30,8 +30,9 @@ Therefore this is an attempt to:
 > - Expose I2C errors in MagneticSensorI2C (thanks to [@padok](https://github.com/padok))
 > - Improved default trig functions (sine, cosine) - faster, smaller
 > - Overridable trig functions - plug in your own optimized versions
-> - bugfix: microseconds overflow in velocity mode
-> - bugfix: KV initialization
+> - Bugfix: microseconds overflow in velocity mode
+> - Bugfix: KV initialization
+> - Compatibility with newest versions of Arduino framework for STM32, Renesas, ESP32, Atmel SAM, Atmel AVR, nRF52 and RP2040
 
 ## Arduino *SimpleFOClibrary* v2.3.1
 

examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

@@ -62,6 +62,7 @@ void setup() {
 void loop() {
   // open  loop angle movements
   // using motor.voltage_limit and motor.velocity_limit
+  // angles can be positive or negative, negative angles correspond to opposite motor direction
   motor.move(target_position);
 
   // user communication

examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino

@@ -60,6 +60,7 @@ void loop() {
 
   // open loop velocity movement
   // using motor.voltage_limit and motor.velocity_limit
+  // to turn the motor "backwards", just set a negative target_velocity
   motor.move(target_velocity);
 
   // user communication

src/common/foc_utils.h

@@ -12,6 +12,7 @@
 #define _sqrt(a) (_sqrtApprox(a))
 #define _isset(a) ( (a) != (NOT_SET) )
 #define _UNUSED(v) (void) (v)
+#define _powtwo(x) (1 << (x))
 
 // utility defines
 #define _2_SQRT3 1.15470053838f

src/current_sense/GenericCurrentSense.cpp

@@ -62,6 +62,8 @@ int GenericCurrentSense::driverAlign(float voltage){
     int exit_flag = 1;
     if(skip_align) return exit_flag;
 
+    if (!initialized) return 0;
+
     // // set phase A active and phases B and C down
     // driver->setPwm(voltage, 0, 0);
     // _delay(200);

src/current_sense/InlineCurrentSense.cpp

@@ -1,4 +1,5 @@
 #include "InlineCurrentSense.h"
+#include "communication/SimpleFOCDebug.h"
 // InlineCurrentSensor constructor
 //  - shunt_resistor  - shunt resistor value
 //  - gain  - current-sense op-amp gain
@@ -93,6 +94,13 @@ int InlineCurrentSense::driverAlign(float voltage){
     int exit_flag = 1;
     if(skip_align) return exit_flag;
 
+    if (driver==nullptr) {
+        SIMPLEFOC_DEBUG("CUR: No driver linked!");
+        return 0;
+    }
+
+    if (!initialized) return 0;
+
     if(_isset(pinA)){
         // set phase A active and phases B and C down
         driver->setPwm(voltage, 0, 0);

src/current_sense/LowsideCurrentSense.cpp

@@ -1,4 +1,5 @@
 #include "LowsideCurrentSense.h"
+#include "communication/SimpleFOCDebug.h"
 // LowsideCurrentSensor constructor
 //  - shunt_resistor  - shunt resistor value
 //  - gain  - current-sense op-amp gain
@@ -35,6 +36,12 @@ LowsideCurrentSense::LowsideCurrentSense(float _mVpA, int _pinA, int _pinB, int
 
 // Lowside sensor init function
 int LowsideCurrentSense::init(){
+
+    if (driver==nullptr) {
+        SIMPLEFOC_DEBUG("CUR: Driver not linked!");
+        return 0;
+    }
+
     // configure ADC variables
     params = _configureADCLowSide(driver->params,pinA,pinB,pinC);
     // if init failed return fail
@@ -89,10 +96,12 @@ PhaseCurrent_s LowsideCurrentSense::getPhaseCurrents(){
 // 3 - success but gains inverted
 // 4 - success but pins reconfigured and gains inverted
 int LowsideCurrentSense::driverAlign(float voltage){
-
+        
     int exit_flag = 1;
     if(skip_align) return exit_flag;
 
+    if (!initialized) return 0;
+
     if(_isset(pinA)){
         // set phase A active and phases B and C down
         driver->setPwm(voltage, 0, 0);

src/current_sense/hardware_specific/rp2040/rp2040_mcu.cpp

@@ -25,6 +25,7 @@ float _readADCVoltageInline(const int pinA, const void* cs_params) {
     // return readings from the same ADC conversion run. The ADC on RP2040 is anyway in round robin mode :-(
     // like this we either have to block interrupts, or of course have the chance of reading across
     // new ADC conversions, which probably won't improve the accuracy.
+    _UNUSED(cs_params);
 
     if (pinA>=26 && pinA<=29 && engine.channelsEnabled[pinA-26]) {
         return engine.lastResults.raw[pinA-26]*engine.adc_conv;
@@ -36,6 +37,8 @@ float _readADCVoltageInline(const int pinA, const void* cs_params) {
 
 
 void* _configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC) {
+    _UNUSED(driver_params);
+
     if( _isset(pinA) )
         engine.addPin(pinA);
     if( _isset(pinB) )

src/drivers/hardware_specific/renesas/renesas.cpp

@@ -13,6 +13,8 @@
 #include "communication/SimpleFOCDebug.h"
 #include "FspTimer.h"
 
+#define GPT_OPEN                                         (0x00475054ULL)
+
 /*
   We use the GPT timers, there are 2 channels (32 bit) + 6 channels (16 bit)
   Each channel has 2 outputs (GTIOCAx and GTIOCBx) which can be complimentary.
@@ -202,6 +204,7 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool
   t->timer_cfg.p_context = nullptr;
   t->timer_cfg.p_extend = &(t->ext_cfg);
   t->timer_cfg.cycle_end_ipl = BSP_IRQ_DISABLED;
+  t->timer_cfg.cycle_end_irq = FSP_INVALID_VECTOR;
 
   t->ext_cfg.p_pwm_cfg = &(t->pwm_cfg);
   t->pwm_cfg.trough_ipl = BSP_IRQ_DISABLED;
@@ -256,6 +259,14 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool
     t->ext_cfg.gtior_setting.gtior_b.obdflt = active_high ? 0x00 : 0x01;
   }
 
+  // lets stop the timer in case its running
+  if (GPT_OPEN == t->ctrl.open) {
+    if (R_GPT_Stop(&(t->ctrl)) != FSP_SUCCESS) {
+      SIMPLEFOC_DEBUG("DRV: timer stop failed");
+      return false;
+    }
+  }
+
   memset(&(t->ctrl), 0, sizeof(gpt_instance_ctrl_t));
   err = R_GPT_Open(&(t->ctrl),&(t->timer_cfg));
   if ((err != FSP_ERR_ALREADY_OPEN) && (err != FSP_SUCCESS)) {
@@ -294,7 +305,7 @@ bool configureTimerPin(RenesasHardwareDriverParams* params, uint8_t index, bool
 bool startTimerChannels(RenesasHardwareDriverParams* params, int num_channels) {
   uint32_t mask = 0;
   for (int i = 0; i < num_channels; i++) {
-    RenesasTimerConfig* t = params->timer_config[i];
+    // RenesasTimerConfig* t = params->timer_config[i];
     // if (R_GPT_Start(&(t->ctrl)) != FSP_SUCCESS) {
     //   SIMPLEFOC_DEBUG("DRV: timer start failed");
     //   return false;

src/sensors/MagneticSensorI2C.cpp

@@ -28,7 +28,7 @@ MagneticSensorI2C::MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution,
   // angle read register of the magnetic sensor
   angle_register_msb = _angle_register_msb;
   // register maximum value (counts per revolution)
-  cpr = pow(2, _bit_resolution);
+  cpr = _powtwo(_bit_resolution);
 
   // depending on the sensor architecture there are different combinations of
   // LSB and MSB register used bits
@@ -48,7 +48,7 @@ MagneticSensorI2C::MagneticSensorI2C(MagneticSensorI2CConfig_s config){
   // angle read register of the magnetic sensor
   angle_register_msb = config.angle_register;
   // register maximum value (counts per revolution)
-  cpr = pow(2, config.bit_resolution);
+  cpr = _powtwo(config.bit_resolution);
 
   int bits_used_msb = config.data_start_bit - 7;
   lsb_used = config.bit_resolution - bits_used_msb;

src/sensors/MagneticSensorSPI.cpp

@@ -31,13 +31,13 @@ MagneticSensorSPIConfig_s MA730_SPI = {
 //  cs              - SPI chip select pin
 //  _bit_resolution   sensor resolution bit number
 // _angle_register  - (optional) angle read register - default 0x3FFF
-MagneticSensorSPI::MagneticSensorSPI(int cs, float _bit_resolution, int _angle_register){
+MagneticSensorSPI::MagneticSensorSPI(int cs, int _bit_resolution, int _angle_register){
 
   chip_select_pin = cs;
   // angle read register of the magnetic sensor
   angle_register = _angle_register ? _angle_register : DEF_ANGLE_REGISTER;
   // register maximum value (counts per revolution)
-  cpr = pow(2,_bit_resolution);
+  cpr = _powtwo(_bit_resolution);
   spi_mode = SPI_MODE1;
   clock_speed = 1000000;
   bit_resolution = _bit_resolution;
@@ -52,7 +52,7 @@ MagneticSensorSPI::MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs){
   // angle read register of the magnetic sensor
   angle_register = config.angle_register ? config.angle_register : DEF_ANGLE_REGISTER;
   // register maximum value (counts per revolution)
-  cpr = pow(2, config.bit_resolution);
+  cpr = _powtwo(config.bit_resolution);
   spi_mode = config.spi_mode;
   clock_speed = config.clock_speed;
   bit_resolution = config.bit_resolution;

src/sensors/MagneticSensorSPI.h

@@ -30,7 +30,7 @@ class MagneticSensorSPI: public Sensor{
      * @param bit_resolution   sensor resolution bit number
      * @param angle_register  (optional) angle read register - default 0x3FFF
      */
-    MagneticSensorSPI(int cs, float bit_resolution, int angle_register = 0);
+    MagneticSensorSPI(int cs, int bit_resolution, int angle_register = 0);
     /**
      *  MagneticSensorSPI class constructor
      * @param config   SPI config