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

simplefoc · Jun 23, 2024 · 9281dce · 9281dce
2 parents 87ea185 + 538e59d
commit 9281dce
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Showing 30 changed files with 1,650 additions and 1,830 deletions.
diff --git a/.github/workflows/esp32.yml b/.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

diff --git a/src/communication/SimpleFOCDebug.cpp b/src/communication/SimpleFOCDebug.cpp
@@ -38,6 +38,7 @@ void SimpleFOCDebug::println(const __FlashStringHelper* str) {
     }
 }
 
+
 void SimpleFOCDebug::println(const char* str, float val) {
     if (_debugPrint != NULL) {
         _debugPrint->print(str);
@@ -86,6 +87,20 @@ void SimpleFOCDebug::print(const __FlashStringHelper* str) {
     }
 }
 
+void SimpleFOCDebug::print(const StringSumHelper str) {
+    if (_debugPrint != NULL) {
+        _debugPrint->print(str.c_str());
+    }
+}
+
+
+void SimpleFOCDebug::println(const StringSumHelper str) {
+    if (_debugPrint != NULL) {
+        _debugPrint->println(str.c_str());
+    }
+}
+
+
 
 void SimpleFOCDebug::print(int val) {
     if (_debugPrint != NULL) {

diff --git a/src/communication/SimpleFOCDebug.h b/src/communication/SimpleFOCDebug.h
@@ -33,13 +33,14 @@
  **/
 
 
-#ifndef SIMPLEFOC_DISABLE_DEBUG
+#ifndef SIMPLEFOC_DISABLE_DEBUG 
 
 class SimpleFOCDebug {
 public:
     static void enable(Print* debugPrint = &Serial);
 
     static void println(const __FlashStringHelper* msg);
+    static void println(const StringSumHelper msg);
     static void println(const char* msg);
     static void println(const __FlashStringHelper* msg, float val);
     static void println(const char* msg, float val);
@@ -52,6 +53,7 @@ class SimpleFOCDebug {
 
     static void print(const char* msg);
     static void print(const __FlashStringHelper* msg);
+    static void print(const StringSumHelper msg);
     static void print(int val);
     static void print(float val);
 

diff --git a/src/current_sense/LowsideCurrentSense.cpp b/src/current_sense/LowsideCurrentSense.cpp
@@ -47,7 +47,8 @@ int LowsideCurrentSense::init(){
     // if init failed return fail
     if (params == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; 
     // sync the driver
-    _driverSyncLowSide(driver->params, params);
+    void* r = _driverSyncLowSide(driver->params, params);
+    if(r == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; 
     // calibrate zero offsets
     calibrateOffsets();
     // set the initialized flag

diff --git a/src/current_sense/hardware_api.h b/src/current_sense/hardware_api.h
@@ -59,7 +59,10 @@ float _readADCVoltageLowSide(const int pinA, const void* cs_params);
  *  function syncing the Driver with the ADC  for the LowSide Sensing
  * @param driver_params - driver parameter structure - hardware specific
  * @param cs_params - current sense parameter structure - hardware specific
+ * 
+ * @return void* - returns the pointer to the current sense parameter structure (unchanged)
+ *        - returns SIMPLEFOC_CURRENT_SENSE_INIT_FAILED if the init fails
  */
-void _driverSyncLowSide(void* driver_params, void* cs_params);
+void* _driverSyncLowSide(void* driver_params, void* cs_params);
 
 #endif