Merge branch 'dev' into feat_stepper_current_sensing

.github/workflows/esp32.yml

@@ -19,6 +19,7 @@ jobs:
           - esp32:esp32:esp32doit-devkit-v1          # esp32
           - esp32:esp32:esp32s2                      # esp32s2
           - esp32:esp32:esp32s3                      # esp32s3
+          - esp32:esp32:esp32c3                      # esp32c3
 
         include:
 
@@ -30,6 +31,10 @@ jobs:
             platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
             sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino
 
+          - 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
+
           - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32 
             platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
             sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

@@ -7,6 +7,7 @@
 // Motor instance
 BLDCMotor motor = BLDCMotor(11);
 BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
+// Gain calculation shown at https://community.simplefoc.com/t/b-g431b-esc1-current-control/521/21
 LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
 
 
@@ -25,6 +26,12 @@ void doTarget(char* cmd) { command.motion(&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);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB); 
@@ -75,9 +82,6 @@ void setup() {
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
-
-  // use monitoring with serial 
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 
@@ -107,4 +111,4 @@ void loop() {
 
   // user communication
   command.run();
-}
+}

examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -33,6 +33,12 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 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, doI);
@@ -75,8 +81,6 @@ void setup() {
   motor.velocity_limit = 4;
 
 
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -36,6 +36,12 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialise magnetic sensor hardware
   sensor.init();
   // link the motor to the sensor
@@ -72,8 +78,6 @@ void setup() {
   // maximal velocity of the position control
   motor.velocity_limit = 40;
 
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino

@@ -43,6 +43,12 @@ void onMotor(char* cmd){ 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);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -90,9 +96,6 @@ void setup() {
   // angle loop velocity limit
   motor.velocity_limit = 50;
 
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino

@@ -46,6 +46,12 @@ void onMotor(char* cmd){ 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);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -91,9 +97,6 @@ void setup() {
   // angle loop velocity limit
   motor.velocity_limit = 50;
 
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino

@@ -51,6 +51,12 @@ void onMotor(char* cmd){ 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);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -115,10 +121,6 @@ void setup() {
   motor.voltage_limit = 12.0;   // 12 Volt limit 
   motor.current_limit = 2.0;    // 2 Amp current limit
 
-
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q

examples/hardware_specific_examples/DRV8302_driver/stm32_current_control_low_side/stm32_current_control_low_side.ino

@@ -51,6 +51,12 @@ void onMotor(char* cmd){ 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);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -115,10 +121,6 @@ void setup() {
   motor.voltage_limit = 12.0;   // 12 Volt limit 
   motor.current_limit = 2.0;    // 2 Amp current limit
 
-
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q

examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino

@@ -54,6 +54,12 @@ void onMotor(char* cmd){ 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);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -116,10 +122,6 @@ void setup() {
   motor.voltage_limit = 12.0;   // 12 Volt limit 
   motor.current_limit = 2.0;    // 2 Amp current limit
 
-
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q

examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino

@@ -24,6 +24,12 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 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);
@@ -66,9 +72,6 @@ void setup() {
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
-
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -33,6 +33,12 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialise magnetic sensor hardware
   sensor.init();
   // link the motor to the sensor
@@ -69,8 +75,6 @@ void setup() {
   // maximal velocity of the position control
   motor.velocity_limit = 40;
 
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino

@@ -42,6 +42,9 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+
   // initialise encoder hardware
   encoder.init();
   // interrupt initialization
@@ -85,9 +88,6 @@ void setup() {
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
-
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino

@@ -70,6 +70,12 @@ void doI(){encoder.handleIndex();}
 
 void setup(){
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // pwm frequency to be used [Hz]
   driver.pwm_frequency = 20000;
   // power supply voltage [V]
@@ -96,8 +102,6 @@ void setup(){
   // alignment voltage limit
   motor.voltage_sensor_align = 0.5;
 
-
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D;

examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino

@@ -69,6 +69,12 @@ SPIClass SPI_3(SPI3_MOSO, SPI3_MISO, SPI3_SCL);
 
 void setup(){
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // pwm frequency to be used [Hz]
   driver.pwm_frequency = 20000;
   // power supply voltage [V]
@@ -94,8 +100,6 @@ void setup(){
   // alignment voltage limit
   motor.voltage_sensor_align = 0.5;
 
-
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D;

examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino

@@ -23,7 +23,12 @@ void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
 
 
 void setup() {
+  // use monitoring with serial 
 	Serial.begin(115200);
+	// enable more verbose output for debugging
+	// comment out if not needed
+	SimpleFOCDebug::enable(&Serial);
+
 	delay(1000);
 	Serial.println("Initializing...");
 

examples/hardware_specific_examples/SimpleFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino

@@ -21,6 +21,12 @@ void doTarget(char* cmd){ command.scalar(&motor.target, cmd); }
 
 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);
@@ -56,9 +62,6 @@ void setup() {
   // angle loop velocity limit
   motor.velocity_limit = 20;
 
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_downsample = 0; // disable intially

examples/hardware_specific_examples/SimpleFOCMini/angle_control/angle_control.ino

@@ -38,6 +38,12 @@ Commander command = Commander(Serial);
 void doMotor(char* cmd) { 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);
+
   // if SimpleFOCMini is stacked in arduino headers
   // on pins 12,11,10,9,8 
   // pin 12 is used as ground
@@ -84,9 +90,6 @@ void setup() {
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
-
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);