Merge branch 'dev' of github.com:runger1101001/Arduino-FOC into dev

Author: Richard Unger

README.md

@@ -115,7 +115,9 @@ Please do not hesitate to leave an issue if you have problems/advices/suggestion
 
 Pull requests are welcome, but let's first discuss them in [community forum](https://community.simplefoc.com)!
 
-If you'd like to contribute to this porject but you are not very familiar with github, don't worry, let us know either by posting at the community forum , by posting a github issue or at our discord server.
+If you'd like to contribute to this project but you are not very familiar with github, don't worry, let us know either by posting at the community forum , by posting a github issue or at our discord server.
+
+If you are familiar, we accept pull requests to the dev branch!
 
 ## Arduino code example
 This is a simple Arduino code example implementing the velocity control program of a BLDC motor with encoder. 

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/esp32/esp32_driver_mcpwm.h

@@ -88,6 +88,7 @@ typedef struct ESP32MCPWMDriverParams {
   mcpwm_unit_t mcpwm_unit;
   mcpwm_operator_t mcpwm_operator1;
   mcpwm_operator_t mcpwm_operator2;
+  float deadtime;
 } ESP32MCPWMDriverParams;
 
 

src/drivers/hardware_specific/esp32/esp32_mcu.cpp

@@ -2,6 +2,10 @@
 
 #if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
 
+#ifndef SIMPLEFOC_ESP32_HW_DEADTIME
+  #define SIMPLEFOC_ESP32_HW_DEADTIME true // TODO: Change to false when sw-deadtime & phase_state is approved ready for general use.
+#endif
+
 // define bldc motor slots array
 bldc_3pwm_motor_slots_t esp32_bldc_3pwm_motor_slots[4] =  {
   {_EMPTY_SLOT, &MCPWM0, MCPWM_UNIT_0, MCPWM_OPR_A, MCPWM0A, MCPWM1A, MCPWM2A}, // 1st motor will be MCPWM0 channel A
@@ -41,18 +45,36 @@ void _configureTimerFrequency(long pwm_frequency, mcpwm_dev_t* mcpwm_num,  mcpwm
 
   mcpwm_config_t pwm_config;
   pwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // Up-down counter (triangle wave)
-  pwm_config.duty_mode = MCPWM_DUTY_MODE_0; // Active HIGH
+  pwm_config.duty_mode = (_isset(dead_zone) || SIMPLEFOC_PWM_ACTIVE_HIGH == true) ? MCPWM_DUTY_MODE_0 : MCPWM_DUTY_MODE_1; // Normally Active HIGH (MCPWM_DUTY_MODE_0)
   pwm_config.frequency  = 2*pwm_frequency; // set the desired freq - just a placeholder for now https://github.com/simplefoc/Arduino-FOC/issues/76
   mcpwm_init(mcpwm_unit, MCPWM_TIMER_0, &pwm_config);    //Configure PWM0A & PWM0B with above settings
   mcpwm_init(mcpwm_unit, MCPWM_TIMER_1, &pwm_config);    //Configure PWM1A & PWM1B with above settings
   mcpwm_init(mcpwm_unit, MCPWM_TIMER_2, &pwm_config);    //Configure PWM2A & PWM2B with above settings
 
   if (_isset(dead_zone)){
     // dead zone is configured
-    float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
-    mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, dead_time/2.0, dead_time/2.0);
-    mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, dead_time/2.0, dead_time/2.0);
-    mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE, dead_time/2.0, dead_time/2.0);
+
+    // When using hardware deadtime, setting the phase_state parameter is not supported.
+    #if SIMPLEFOC_ESP32_HW_DEADTIME == true
+      float dead_time = (float)(_MCPWM_FREQ / (pwm_frequency)) * dead_zone;
+      mcpwm_deadtime_type_t pwm_mode;
+      if      ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true)  && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_HIGH_COMPLIMENT_MODE;}  // Normal, noninverting driver
+      else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true)  && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_HIGH_MODE;}             // Inverted lowside driver
+      else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true)) {pwm_mode = MCPWM_ACTIVE_LOW_MODE;}              // Inverted highside driver
+      else if ((SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) && (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false)){pwm_mode = MCPWM_ACTIVE_LOW_COMPLIMENT_MODE;}   // Inverted low- & highside driver. Caution: This may short the FETs on reset of the ESP32, as both pins get pulled low!
+      mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_0, pwm_mode, dead_time/2.0, dead_time/2.0);
+      mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_1, pwm_mode, dead_time/2.0, dead_time/2.0);
+      mcpwm_deadtime_enable(mcpwm_unit, MCPWM_TIMER_2, pwm_mode, dead_time/2.0, dead_time/2.0);
+    #else // Software deadtime
+      for (int i = 0; i < 3; i++){
+        if      (SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == true) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_A, MCPWM_DUTY_MODE_0);}  // Normal, noninverted highside
+        else if (SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH == false) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_A, MCPWM_DUTY_MODE_1);} // Inverted highside driver
+        
+        if      (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == true) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_B, MCPWM_DUTY_MODE_1);}  // Normal, complementary lowside
+        else if (SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH == false) {mcpwm_set_duty_type(mcpwm_unit, (mcpwm_timer_t) i, MCPWM_GEN_B, MCPWM_DUTY_MODE_0);} // Inverted lowside driver
+      }
+    #endif
+
   }
   _delay(100);
 
@@ -369,7 +391,10 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
   ESP32MCPWMDriverParams* params = new ESP32MCPWMDriverParams {
     .pwm_frequency = pwm_frequency,
     .mcpwm_dev = m_slot.mcpwm_num,
-    .mcpwm_unit = m_slot.mcpwm_unit
+    .mcpwm_unit = m_slot.mcpwm_unit,
+    .mcpwm_operator1 = m_slot.mcpwm_operator1,
+    .mcpwm_operator2 = m_slot.mcpwm_operator2,
+    .deadtime = _isset(dead_zone) ? dead_zone : 0
   };
   return params;
 }
@@ -381,15 +406,26 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
 // - BLDC driver - 6PWM setting
 // - hardware specific
 void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, PhaseState *phase_state, void* params){
-      // se the PWM on the slot timers
+      // set the PWM on the slot timers
       // transform duty cycle from [0,1] to [0,100.0]
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0);
-      mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0);
-      _UNUSED(phase_state);
+      #if SIMPLEFOC_ESP32_HW_DEADTIME == true
+        // Hardware deadtime does deadtime insertion internally
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, dc_a*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, dc_a*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, dc_b*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, dc_b*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, dc_c*100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, dc_c*100.0f);
+        _UNUSED(phase_state);
+      #else                           
+        float deadtime = 0.5f*((ESP32MCPWMDriverParams*)params)->deadtime;
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_A, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_HI) ? _constrain(dc_a-deadtime, 0.0f, 1.0f) * 100.0f : 0);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_0, MCPWM_OPR_B, (phase_state[0] == PHASE_ON || phase_state[0] == PHASE_LO) ? _constrain(dc_a+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_A, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_HI) ? _constrain(dc_b-deadtime, 0.0f, 1.0f) * 100.0f : 0);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_1, MCPWM_OPR_B, (phase_state[1] == PHASE_ON || phase_state[1] == PHASE_LO) ? _constrain(dc_b+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_A, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_HI) ? _constrain(dc_c-deadtime, 0.0f, 1.0f) * 100.0f : 0);
+        mcpwm_set_duty(((ESP32MCPWMDriverParams*)params)->mcpwm_unit, MCPWM_TIMER_2, MCPWM_OPR_B, (phase_state[2] == PHASE_ON || phase_state[2] == PHASE_LO) ? _constrain(dc_c+deadtime, 0.0f, 1.0f) * 100.0f : 100.0f);
+      #endif
 }
 
 #endif

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;
@@ -95,7 +95,7 @@ int MagneticSensorI2C::read(uint8_t angle_reg_msb) {
   // notify the device that is aboout to be read
 	wire->beginTransmission(chip_address);
 	wire->write(angle_reg_msb);
-  wire->endTransmission(false);
+  currWireError = wire->endTransmission(false);
 
   // read the data msb and lsb
 	wire->requestFrom(chip_address, (uint8_t)2);

src/sensors/MagneticSensorI2C.h

@@ -51,6 +51,9 @@ class MagneticSensorI2C: public Sensor{
     /** experimental function to check and fix SDA locked LOW issues */
     int checkBus(byte sda_pin , byte scl_pin );
 
+    /** current error code from Wire endTransmission() call **/
+    uint8_t currWireError = 0;
+
   private:
     float cpr; //!< Maximum range of the magnetic sensor
     uint16_t lsb_used; //!< Number of bits used in LSB register