From 6cc8af24b9d6d4aa616f88b3e1e5060ad2f8d4a9 Mon Sep 17 00:00:00 2001
From: Felipe Neves <ryukokki.felipe@gmail.com>
Date: Sun, 7 Jul 2024 13:06:13 -0300
Subject: [PATCH] arch: refactor espFoC to be a motor control solution instead
of a library
Signed-off-by: Felipe Neves <ryukokki.felipe@gmail.com>
---
CMakeLists.txt | 0
README.md | 14 +-
app/CMakeLists.txt | 41 +++
app/boards/esp32s3_devkitm.conf | 1 +
app/boards/esp32s3_devkitm.overlay | 19 ++
app/espfoc_app_core/esp_foc_app_shell.c | 60 ++++
app/espfoc_app_core/esp_foc_main.c | 54 ++++
app/espfoc_app_core/esp_foc_user.c | 32 +++
app/espfoc_motor_core/CMakeLists.txt | 19 ++
.../boards/esp32s3_devkitm_appcpu.overlay | 172 +++++++++++
app/espfoc_motor_core/esp_foc_hardware_if.c | 268 ++++++++++++++++++
.../espfoc_motor_core/esp_foc_hardware_if.h | 13 +-
app/espfoc_motor_core/esp_foc_motor.c | 160 +++++++++++
app/espfoc_motor_core/prj.conf | 13 +
app/prj.conf | 6 +
common/include/espFoC/ipc/esp_foc_ipc.h | 86 ++++++
.../include/espFoC/motor_control}/esp_foc.h | 16 +-
.../motor_control}/esp_foc_motor_interface.h | 38 ++-
.../espFoC/motor_control}/esp_foc_pid.h | 0
.../espFoC/motor_control}/esp_foc_svm.h | 0
common/ipc/esp_foc_ipc.c | 167 +++++++++++
{src => common/motor_control}/esp_foc.c | 51 +++-
.../motor_control}/esp_foc_consts.c | 0
.../motor_control}/esp_foc_our_sin_cos.c | 0
{src => common/motor_control}/esp_foc_pid.c | 2 +-
{src => common/motor_control}/esp_foc_svm.c | 2 +-
doc/images/arch.png | Bin 0 -> 117374 bytes
examples/stubs/main.cpp | 35 ---
examples/stubs/motor_hardware_stub.c | 133 ---------
29 files changed, 1202 insertions(+), 200 deletions(-)
delete mode 100644 CMakeLists.txt
create mode 100644 app/CMakeLists.txt
create mode 100644 app/boards/esp32s3_devkitm.conf
create mode 100644 app/boards/esp32s3_devkitm.overlay
create mode 100644 app/espfoc_app_core/esp_foc_app_shell.c
create mode 100644 app/espfoc_app_core/esp_foc_main.c
create mode 100644 app/espfoc_app_core/esp_foc_user.c
create mode 100644 app/espfoc_motor_core/CMakeLists.txt
create mode 100644 app/espfoc_motor_core/boards/esp32s3_devkitm_appcpu.overlay
create mode 100644 app/espfoc_motor_core/esp_foc_hardware_if.c
rename examples/stubs/motor_hardware_stub.h => app/espfoc_motor_core/esp_foc_hardware_if.h (82%)
create mode 100644 app/espfoc_motor_core/esp_foc_motor.c
create mode 100644 app/espfoc_motor_core/prj.conf
create mode 100644 app/prj.conf
create mode 100644 common/include/espFoC/ipc/esp_foc_ipc.h
rename {include/espFoC => common/include/espFoC/motor_control}/esp_foc.h (86%)
rename {include/espFoC => common/include/espFoC/motor_control}/esp_foc_motor_interface.h (72%)
rename {include/espFoC => common/include/espFoC/motor_control}/esp_foc_pid.h (100%)
rename {include/espFoC => common/include/espFoC/motor_control}/esp_foc_svm.h (100%)
create mode 100644 common/ipc/esp_foc_ipc.c
rename {src => common/motor_control}/esp_foc.c (85%)
rename {src => common/motor_control}/esp_foc_consts.c (100%)
rename {src => common/motor_control}/esp_foc_our_sin_cos.c (100%)
rename {src => common/motor_control}/esp_foc_pid.c (98%)
rename {src => common/motor_control}/esp_foc_svm.c (98%)
create mode 100644 doc/images/arch.png
delete mode 100644 examples/stubs/main.cpp
delete mode 100644 examples/stubs/motor_hardware_stub.c
diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index e69de29..0000000
diff --git a/README.md b/README.md
index 268e95c..ae90190 100644
--- a/README.md
+++ b/README.md
@@ -3,22 +3,26 @@
[](https://opensource.org/licenses/MIT)
-espFoC is a simple implementation of voltage mode, vector controller intended to be used with permanent-magnet synchronous motors (PMSM), and general brushless motors. This component was developed to be used with Zephyr RTOS for example and is aimed to transform
-your esp32 chip into a dual axis PMSM motor controller chip
+espFoC is a simple implementation of voltage mode, vector controller intended to be used with permanent-magnet synchronous motors (PMSM), and general brushless motors for ESP32S3 Espressif SoC, other SoC from espressif might be supported but the primary requirement is to be a dual
+core variant. espFoC started as a library for motor control, but it suffered a goal change, and now it is intended to create a programmable
+BLDC (FoC based) motor control-IC, the dual core capabillity splits the controller into application side and motor control core side
+the former is intended for user to write it own application or exchange packets with external controller via CAN-Bus, the later is
+100% focused on perform motor control algorithm achieving better control bandwidth. Up two axis are supported in this new variant, refer the
+simplified architecture below:
+
## Features:
* Voltage mode control, control a PMSM like a DC motor!;
* Position and Speed closed-loop control;
* Single-precision Floating point implementation;
-* Sample inverter driver based on esp32 LEDC PWM (easy to wire!);
-* Sample rotor position driver based on as5600 encoder (very popular!);
+* Easy to wire motor using common drivers and I2C encoders out there!
* Uses openAMP to offload motor control tasks to one of the core, and leave the other for communication;
* support UART and CAN communication;
## Limitations:
-* Support for esp32 and esp32s3 only;
+* Support for esp32 and esp32s3(primary) only;
* Requires and rotor position sensor, for example, incremental encoder.
## Getting started:
diff --git a/app/CMakeLists.txt b/app/CMakeLists.txt
new file mode 100644
index 0000000..a1cef5e
--- /dev/null
+++ b/app/CMakeLists.txt
@@ -0,0 +1,41 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+set(REMOTE_ZEPHYR_DIR ${CMAKE_CURRENT_BINARY_DIR}/ipm_esp32_appcpu-prefix/src/ipm_esp32_appcpu-build/zephyr)
+
+if("${BOARD}" STREQUAL "esp32s3_devkitm/esp32s3/procpu")
+set(BOARD_REMOTE "esp32s3_devkitm/esp32s3/appcpu")
+else()
+ message(FATAL_ERROR "${BOARD} was not supported for this project yet!")
+endif()
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(espfoc)
+
+set(MOTOR_CONTROL_SRC ${APPLICATION_SOURCE_DIR}/../common)
+set(MOTOR_CONTROL_INC ${APPLICATION_SOURCE_DIR}/../common/include/espFoC)
+
+FILE(GLOB ipc ${MOTOR_CONTROL_SRC}/ipc/*.c)
+
+set_source_files_properties(${REMOTE_ZEPHYR_DIR}/esp32_appcpu_firmware.c PROPERTIES GENERATED TRUE)
+target_sources(app PRIVATE esp_foc_app_core/esp_foc_app.c
+ esp_foc_app_core/esp_foc_app_main.c
+ esp_foc_app_core/esp_foc_app_user.c
+ ${ipc}
+ ${REMOTE_ZEPHYR_DIR}/esp32_appcpu_firmware.c)
+
+target_include_directories(app PRIVATE ${MOTOR_CONTROL_INC})
+
+include(ExternalProject)
+
+ExternalProject_Add(
+ espfoc_remote
+ SOURCE_DIR ${APPLICATION_SOURCE_DIR}/espfoc_motor_core
+ INSTALL_COMMAND ""
+ CMAKE_CACHE_ARGS -DBOARD:STRING=${BOARD_REMOTE}
+ BUILD_BYPRODUCTS "${REMOTE_ZEPHYR_DIR}/${KERNEL_BIN_NAME}"
+ BUILD_ALWAYS True
+)
+
+add_dependencies(app espfoc_remote)
diff --git a/app/boards/esp32s3_devkitm.conf b/app/boards/esp32s3_devkitm.conf
new file mode 100644
index 0000000..a8ee714
--- /dev/null
+++ b/app/boards/esp32s3_devkitm.conf
@@ -0,0 +1 @@
+CONFIG_SOC_ESP32S3_PROCPU=y
diff --git a/app/boards/esp32s3_devkitm.overlay b/app/boards/esp32s3_devkitm.overlay
new file mode 100644
index 0000000..ad437c1
--- /dev/null
+++ b/app/boards/esp32s3_devkitm.overlay
@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2023 Felipe Neves <ryukokki.felipe@gmail.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+ chosen {
+ /*
+ * shared memory reserved for the inter-processor communication
+ */
+ zephyr,ipc_shm = &shm0;
+ zephyr,ipc = &ipm0;
+ };
+};
+
+&ipm0 {
+ status = "okay";
+};
diff --git a/app/espfoc_app_core/esp_foc_app_shell.c b/app/espfoc_app_core/esp_foc_app_shell.c
new file mode 100644
index 0000000..e0e3d10
--- /dev/null
+++ b/app/espfoc_app_core/esp_foc_app_shell.c
@@ -0,0 +1,60 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include <stdlib.h>
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/shell/shell.h>
+#include <espFoC/ipc/esp_foc_ipc.h>
+
+static int set_pid_gains_vel(const struct shell *shell, size_t argc, char **argv)
+{
+ struct motor_command command;
+
+ if (argc != 5) {
+ return -EINVAL;
+ }
+
+ // pid_control_law_tune(&motor_pid_1,
+ // (strtof(argv[1], NULL)),
+ // (strtof(argv[2], NULL)),
+ // (strtof(argv[3], NULL)),
+ // (strtof(argv[4], NULL)));
+
+ return 0;
+
+}
+
+SHELL_STATIC_SUBCMD_SET_CREATE(
+ esp_foc,
+ SHELL_CMD(set_position, NULL, "sets position in degrees", motor_gen_ramp),
+ SHELL_CMD(set_speed, NULL, "sets speed in degrees per second", motor_set_ref),
+ SHELL_CMD(enable, NULL, "enable motor driver", motor_change_control),
+ SHELL_CMD(disable, NULL, "disable motor driver", motor_set_power),
+ SHELL_CMD(set_gains_pid_vel, NULL, "set pids velocity", motor_set_gains_pid),
+ SHELL_CMD(set_gains_pid_pos, NULL, "set pids speed", motor_set_gains_adrc),
+
+ SHELL_SUBCMD_SET_END
+ );
+
+SHELL_CMD_REGISTER(esp_foc, &esp_foc, "espFoC Basic shell commands", NULL);
diff --git a/app/espfoc_app_core/esp_foc_main.c b/app/espfoc_app_core/esp_foc_main.c
new file mode 100644
index 0000000..11d353f
--- /dev/null
+++ b/app/espfoc_app_core/esp_foc_main.c
@@ -0,0 +1,54 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <stdio.h>
+#include <zephyr/kernel.h>
+#include <espFoC/ipc/esp_foc_ipc.h>
+
+static void esp_foc_motor_on_state (const struct motor_state *cmd);
+ESP_FOC_DEFINE_IPC_CALLBACK(state_callback, NULL, esp_foc_motor_on_state);
+
+static void esp_foc_motor_on_state (const struct motor_state *cmd)
+{
+ printk("espFoC Motor core sent state \n");
+}
+
+int esp_foc_early_init(void)
+{
+ esp_foc_ipc_init();
+ esp_foc_ipc_register_callback(&state_callback);
+ return 0;
+}
+SYS_INIT(esp_foc_early_init, POST_KERNEL, CONFIG_APPLICATION_INIT_PRIORITY);
+
+int main (void)
+{
+ printk("espFoC is running in the %s\n", CONFIG_BOARD);
+}
+
+__weak void esp_foc_user_entry(void)
+{
+ printk("Weak user entry of the espFoC \n");
+}
+K_THREAD_DEFINE(foc_tid, 4096, esp_foc_user_entry, NULL, NULL, NULL, 1, 0, 0);
\ No newline at end of file
diff --git a/app/espfoc_app_core/esp_foc_user.c b/app/espfoc_app_core/esp_foc_user.c
new file mode 100644
index 0000000..5547526
--- /dev/null
+++ b/app/espfoc_app_core/esp_foc_user.c
@@ -0,0 +1,32 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <stdio.h>
+#include <zephyr/kernel.h>
+#include <espFoC/ipc/esp_foc_ipc.h>
+
+void esp_foc_user_entry(void)
+{
+
+}
diff --git a/app/espfoc_motor_core/CMakeLists.txt b/app/espfoc_motor_core/CMakeLists.txt
new file mode 100644
index 0000000..dceaa4b
--- /dev/null
+++ b/app/espfoc_motor_core/CMakeLists.txt
@@ -0,0 +1,19 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(espfoc_remote)
+
+set(MOTOR_CONTROL_SRC ${APPLICATION_SOURCE_DIR}/../../common)
+set(MOTOR_CONTROL_INC ${APPLICATION_SOURCE_DIR}/../../common/include/espFoC)
+
+FILE(GLOB ipc ${MOTOR_CONTROL_SRC}/ipc/*.c)
+FILE(GLOB motor_control ${MOTOR_CONTROL_SRC}/motor_control/*.c)
+
+target_sources(app PRIVATE esp_foc_motor.c
+ esp_foc_hardware_if.c
+ ${ipc}
+ ${motor_control})
+
+target_include_directories(app PRIVATE ${MOTOR_CONTROL_INC})
diff --git a/app/espfoc_motor_core/boards/esp32s3_devkitm_appcpu.overlay b/app/espfoc_motor_core/boards/esp32s3_devkitm_appcpu.overlay
new file mode 100644
index 0000000..e82605e
--- /dev/null
+++ b/app/espfoc_motor_core/boards/esp32s3_devkitm_appcpu.overlay
@@ -0,0 +1,172 @@
+/*
+ * Copyright (c) 2023 Felipe Neves <ryukokki.felipe@gmail.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+ #include <zephyr/dt-bindings/i2c/i2c.h>
+ #include <zephyr/dt-bindings/pwm/pwm.h>
+ #include <dt-bindings/pinctrl/esp32s3-pinctrl.h>
+
+/ {
+ chosen {
+ /*
+ * shared memory reserved for the inter-processor communication
+ */
+ zephyr,ipc_shm = &shm0;
+ zephyr,ipc = &ipm0;
+ };
+
+ aliases {
+ motor-pwm-0 = &ledc0;
+ motor-pwm-1 = &ledc1;
+ angle-0 = &i2c0;
+ angle-0 = &i2c1;
+ };
+
+ gpio_enable {
+ compatible = "gpio-keys";
+ inverter_enable_0: button {
+ label = "inverter_enable";
+ gpios = <&gpio0 9 GPIO_ACTIVE_HIGH>;
+ };
+
+ inverter_enable_1: button {
+ label = "inverter_enable";
+ gpios = <&gpio0 10 GPIO_ACTIVE_HIGH>;
+ };
+
+ };
+};
+
+&pinctrl {
+ ledc0_default: ledc0_default {
+ group1 {
+ pinmux = <LEDC_CH0_GPIO2>;
+ output-enable;
+ };
+ group2 {
+ pinmux = <LEDC_CH1_GPIO3>;
+ output-enable;
+ };
+ group3 {
+ pinmux = <LEDC_CH2_GPIO4>;
+ output-enable;
+ };
+
+ };
+
+ i2c0_default: i2c0_default {
+ group1 {
+ pinmux = <I2C0_SDA_GPIO17>,
+ <I2C0_SCL_GPIO18>;
+ bias-pull-up;
+ drive-open-drain;
+ output-high;
+ };
+ };
+
+ ledc1_default: ledc1_default {
+ group1 {
+ pinmux = <LEDC_CH0_GPIO5>;
+ output-enable;
+ };
+ group2 {
+ pinmux = <LEDC_CH1_GPIO6>;
+ output-enable;
+ };
+ group3 {
+ pinmux = <LEDC_CH2_GPIO7>;
+ output-enable;
+ };
+
+ };
+
+ i2c1_default: i2c1_default {
+ group1 {
+ pinmux = <I2C1_SDA_GPIO19>,
+ <I2C1_SCL_GPIO20>;
+ bias-pull-up;
+ drive-open-drain;
+ output-high;
+ };
+ };
+
+};
+
+&ipm0 {
+ status = "okay";
+};
+
+&ledc0 {
+ pinctrl-0 = <&ledc0_default>;
+ pinctrl-names = "default";
+ status = "okay";
+ #address-cells = <1>;
+ #size-cells = <0>;
+ channel0@0 {
+ reg = <0x0>;
+ timer = <0>;
+ };
+
+ channel1@0 {
+ reg = <0x0>;
+ timer = <0>;
+ };
+
+ channel2@0 {
+ reg = <0x0>;
+ timer = <0>;
+ };
+};
+
+&i2c0 {
+ pinctrl-0 = <&i2c0_default>;
+ pinctrl-names = "default";
+ status = "okay";
+ clock-frequency = <I2C_BITRATE_FAST>;
+
+ angle_sensor_0: as5600@36 {
+ compatible = "ams,as5600";
+ status = "okay";
+ reg = <0x36>
+ };
+};
+
+&ledc1 {
+ pinctrl-0 = <&ledc1_default>;
+ pinctrl-names = "default";
+ status = "okay";
+ #address-cells = <1>;
+ #size-cells = <0>;
+ channel0@0 {
+ reg = <0x0>;
+ timer = <0>;
+ };
+
+ channel1@0 {
+ reg = <0x0>;
+ timer = <0>;
+ };
+
+ channel2@0 {
+ reg = <0x0>;
+ timer = <0>;
+ };
+};
+
+&i2c1 {
+ pinctrl-0 = <&i2c1_default>;
+ pinctrl-names = "default";
+ status = "okay";
+ clock-frequency = <I2C_BITRATE_FAST>;
+
+ angle_sensor_0: as5600@36 {
+ compatible = "ams,as5600";
+ status = "okay";
+ reg = <0x36>
+ };
+};
+
+&timer3 {
+ status = "okay";
+};
\ No newline at end of file
diff --git a/app/espfoc_motor_core/esp_foc_hardware_if.c b/app/espfoc_motor_core/esp_foc_hardware_if.c
new file mode 100644
index 0000000..ad476ff
--- /dev/null
+++ b/app/espfoc_motor_core/esp_foc_hardware_if.c
@@ -0,0 +1,268 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <stdbool.h>
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/drivers/pwm.h>
+#include <zephyr/sys/util.h>
+#include <espFoC/motor_control/esp_foc.h>
+#include "esp_foc_hardware_if.h"
+
+#define PWM_PERIOD_NSEC 31250
+#define DC_BUS_VOLTAGE 24.0f
+
+struct z_esp_foc_motor_if {
+ struct device *pwm_device;
+ struct device *angle_sensor;
+ struct gpio_dt_spec enable_pins;
+ float accumulated_angle_deg;
+ float current_rotor_deg;
+ float prev_rotor_deg;
+ float current_rotor_speed_dps;
+ struct esp_foc_motor_interface interface;
+};
+
+static int reset(struct esp_foc_motor_interface *self)
+{
+ int ret;
+
+ ret = esp_foc_motor_enable(self);
+ if (ret < 0) {
+ return ret;
+ }
+
+ return esp_foc_motor_align_rotor(self);
+}
+
+static int enable(struct esp_foc_motor_interface *self)
+{
+ struct z_esp_foc_motor_if *if = CONTAINER_OF(self, struct z_esp_foc_motor_if, interface);
+
+ ret = esp_foc_motor_set_duty_cycles(self, 0.0f, 0.0f, 0.0f);
+ if (ret < 0) {
+ return ret;
+ }
+
+ k_msleep(100);
+
+ gpio_pin_configure_dt(&enable_pins, GPIO_OUTPUT);
+ gpio_pin_set_dt(&enable_pins, 1);
+
+ k_msleep(100);
+
+ return 0;
+}
+
+static int disable(struct esp_foc_motor_interface *self)
+{
+ struct z_esp_foc_motor_if *if = CONTAINER_OF(self, struct z_esp_foc_motor_if, interface);
+
+ gpio_pin_configure_dt(&enable_pins, GPIO_OUTPUT);
+ gpio_pin_set_dt(&enable_pins, 1);
+ esp_foc_motor_set_duty_cycles(self, 0.0f, 0.0f, 0.0f);
+ k_msleep(100);
+
+ return 0;
+}
+
+static int align_rotor(struct esp_foc_motor_interface *self)
+{
+ int ret;
+
+ ret = esp_foc_motor_set_duty_cycles(self, 0.0f, 0.0f, 0.0f);
+ if (ret < 0) {
+ return ret;
+ }
+
+ k_msleep(500);
+
+ ret = esp_foc_motor_set_duty_cycles(self, 0.2f, 0.0f, 0.0f);
+ if (ret < 0) {
+ return ret;
+ }
+
+ k_msleep(500);
+
+ return esp_foc_motor_fetch_sensors(self);
+}
+
+static int set_duty_cycles(struct esp_foc_motor_interface *self, float dc_a, float dc_b, float dc_c)
+{
+ struct z_esp_foc_motor_if *if = CONTAINER_OF(self, struct z_esp_foc_motor_if, interface);
+
+ if(dc_a > 1.0f) {
+ dc_a = 1.0f;
+ } else if (dc_a < 0.0f) {
+ dc_a = 0.0f;
+ }
+
+ if(dc_b > 1.0f) {
+ dc_b = 1.0f;
+ } else if (dc_b < 0.0f) {
+ dc_b = 0.0f;
+ }
+
+ if(dc_c > 1.0f) {
+ dc_c = 1.0f;
+ } else if (dc_c < 0.0f) {
+ dc_c = 0.0f;
+ }
+
+ dc_a *= PWM_PERIOD_NSEC - 1;
+ dc_b *= PWM_PERIOD_NSEC - 1;
+ dc_c *= PWM_PERIOD_NSEC - 1;
+
+ pwm_set(pwm_device, 1 , PWM_PERIOD_NSEC, dc_a, 0);
+ pwm_set(pwm_device, 2 , PWM_PERIOD_NSEC, dc_b, 0);
+ pwm_set(pwm_device, 3 , PWM_PERIOD_NSEC, dc_c, 0);
+
+ return 0;
+}
+
+static int get_rotor_angle(struct esp_foc_motor_interface *self, float *angle)
+{
+ struct z_esp_foc_motor_if *if = CONTAINER_OF(self, struct z_esp_foc_motor_if, interface);
+
+ if(!angle)
+ return -EINVAL;
+
+ *angle = if->current_rotor_deg;
+
+ return 0;
+}
+
+static int get_rotor_speed_dps(struct esp_foc_motor_interface *self, float *speed_dps)
+{
+ struct z_esp_foc_motor_if *if = CONTAINER_OF(self, struct z_esp_foc_motor_if, interface);
+
+ if(!speed_dps)
+ return -EINVAL;
+
+ *speed_dps = if->current_rotor_speed_dps;
+
+ return 0;
+}
+
+static int get_acumulated_angle(struct esp_foc_motor_interface *self, float *angle)
+{
+ struct z_esp_foc_motor_if *if = CONTAINER_OF(self, struct z_esp_foc_motor_if, interface);
+
+ if(!angle)
+ return -EINVAL;
+
+ *angle = if->accumulated_angle_deg;
+
+ return 0;
+}
+
+static int get_dc_bus_voltage(struct esp_foc_motor_interface *self, float *vdc)
+{
+ if(!vdc)
+ return -EINVAL;
+
+ *vdc = DC_BUS_VOLTAGE;
+
+ return 0;
+}
+
+static int fetch_sensors(struct esp_foc_motor_interface *self)
+{
+ struct z_esp_foc_motor_if *if = CONTAINER_OF(self, struct z_esp_foc_motor_if, interface);
+ struct sensor_value raw;
+ int ret;
+
+ if->prev_rotor_deg = if->current_rotor_deg;
+
+ ret = sensor_sample_fetch(if->angle_sensor);
+ if(ret) {
+ return ret;
+ }
+
+ ret = sensor_channel_get(if->angle_sensor, SENSOR_CHAN_ROTATION, &raw);
+ if(ret) {
+ return ret;
+ }
+
+ if->current_rotor_deg = sensor_value_to_float(&raw);
+ if->current_rotor_speed_dps = (if->current_rotor_deg - if->prev_rotor_deg);
+ if->accumulated_angle_deg += if->current_rotor_speed_dps;
+
+ return ret;
+}
+
+static struct z_esp_foc_motor_if z_esp_hw_if[Z_ESP_FOC_MAX] = {
+ {
+ .pwm_device = DEVICE_DT_GET(DT_NODELABEL(ledc0)),
+ .angle_sensor = DEVICE_DT_GET(DT_NODELABEL(angle_sensor_0)),
+ .enable_pins = GPIO_DT_SPEC_GET_BY_IDX(DT_NODELABEL(inverter_enable_0),gpios,0),
+ .reset = reset,
+ .enable = enable,
+ .disable = disable,
+ .set_duty_cycles = set_duty_cycles,
+ .get_rotor_angle = get_rotor_angle,
+ .get_rotor_speed_dps = get_rotor_speed_dps,
+ .align_rotor = align_rotor,
+ .get_acumulated_angle = get_acumulated_angle,
+ .get_encoder_ppr = NULL,
+ .get_dc_bus_voltage = get_dc_bus_voltage,
+ .get_currents = NULL,
+ .number_of_shunts = NULL,
+ .fetch_sensors = fetch_sensors,
+ .current_rotor_deg = 0.0f,
+ .current_rotor_speed_dps = 0.0f,
+ .accumulated_angle_deg = 0.0f,
+ },
+ {
+ .pwm_device = DEVICE_DT_GET(DT_NODELABEL(ledc1)),
+ .angle_sensor = DEVICE_DT_GET(DT_NODELABEL(angle_sensor_1)),
+ .enable_pins = GPIO_DT_SPEC_GET_BY_IDX(DT_NODELABEL(inverter_enable_1),gpios,0),
+ .reset = reset,
+ .enable = enable,
+ .disable = disable,
+ .set_duty_cycles = set_duty_cycles,
+ .get_rotor_angle = get_rotor_angle,
+ .get_rotor_speed_dps = get_rotor_speed_dps,
+ .align_rotor = align_rotor,
+ .get_acumulated_angle = get_acumulated_angle,
+ .get_encoder_ppr = NULL,
+ .get_dc_bus_voltage = get_dc_bus_voltage,
+ .get_currents = NULL,
+ .number_of_shunts = NULL,
+ .fetch_sensors = fetch_sensors,
+ .current_rotor_deg = 0.0f,
+ .current_rotor_speed_dps = 0.0f,
+ .accumulated_angle_deg = 0.0f,
+ }
+}
+
+struct esp_foc_motor_interface* z_esp_foc_get_interface(enum zephyr_esp_foc_instances instance)
+{
+ if(instance >= Z_ESP_FOC_MAX)
+ return NULL;
+
+ return &z_esp_hw_if.self[instance];
+}
diff --git a/examples/stubs/motor_hardware_stub.h b/app/espfoc_motor_core/esp_foc_hardware_if.h
similarity index 82%
rename from examples/stubs/motor_hardware_stub.h
rename to app/espfoc_motor_core/esp_foc_hardware_if.h
index cc544d8..abe7b4d 100644
--- a/examples/stubs/motor_hardware_stub.h
+++ b/app/espfoc_motor_core/esp_foc_hardware_if.h
@@ -21,13 +21,14 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
-#pragma once
+#pragma once
-#include <espFoc/esp_foc.h>
+#include <espFoC/motor_control/esp_foc.h>
-struct motor_hardware_stub {
- struct esp_foc_motor_interface self;
+enum zephyr_esp_foc_instances {
+ Z_ESP_FOC_1 = 0,
+ Z_ESP_FOC_2,
+ Z_ESP_FOC_MAX;
};
-int motor_hardware_stub_init(struct motor_hardware_stub *stub,
- struct esp_foc_motor_interface **itf);
+struct esp_foc_motor_interface* z_esp_foc_get_interface(enum zephyr_esp_foc_instances instance);
\ No newline at end of file
diff --git a/app/espfoc_motor_core/esp_foc_motor.c b/app/espfoc_motor_core/esp_foc_motor.c
new file mode 100644
index 0000000..8d58c61
--- /dev/null
+++ b/app/espfoc_motor_core/esp_foc_motor.c
@@ -0,0 +1,160 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <zephyr/kernel.h>
+#include <espFoC/motor_control/esp_foc.h>
+#include <espFoC/ipc/esp_foc_ipc.h>
+#include <zephyr/drivers/counter.h>
+
+#define ESP_FOC_INNER_CONTROL_US_PERIOD (100)
+
+static const struct device *timer_dev = DEVICE_DT_GET(DT_INST(3,espressif_esp32_timer));
+static float now_seconds = 0.0f;
+static struct counter_alarm_cfg alarm_cfg;
+static struct esp_foc_motor_control axis;
+static struct motor_state outgoing_state;
+static struct motor_state next_state;
+static struct esp_foc_pid pid_vel_1;
+static struct esp_foc_pid pid_pos_1;
+static uint32_t timestamp_us = 0;
+
+static void esp_foc_motor_on_cmd (const struct motor_command *cmd)
+{
+ float position_deg = cmd->position_mdeg * 0.001f;
+ float speed_dps = cmd->speed_mdps * 0.001f;
+ float pid_gains[3] = {
+ (float *)cmd->pid_gains[0] * 0.001f,
+ (float *)cmd->pid_gains[1] * 0.001f,
+ (float *)cmd->pid_gains[2] * 0.001f,
+ };
+
+ if(cmd->command_mask & MOTOR_CMD_SPEED_MASK) {
+ esp_foc_controller_set_speed(&axis, speed_dps);
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_POSITION_MASK) {
+ esp_foc_controller_set_position(&axis, position_deg);
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_SHUTDOWN_MASK) {
+ if(cmd->power_state)
+ esp_foc_enable_axis(&axis);
+ else
+ esp_foc_disable_axis(&axis);
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_RESET_MASK) {
+ esp_foc_motor_reset(z_esp_foc_get_interface(Z_ESP_FOC_1));
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_SPD_PID_MASK) {
+ if(cmd->command_mask & MOTOR_CMD_KP_MASK) {
+ esp_foc_pid_set_kp(&pid_vel_1, pid_gains[0]);
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_KI_MASK) {
+ esp_foc_pid_set_ki(&pid_vel_1, pid_gains[1]);
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_KD_MASK) {
+ esp_foc_pid_set_kd(&pid_vel_1, pid_gains[2]);
+ }
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_POS_PID_MASK) {
+ if(cmd->command_mask & MOTOR_CMD_KP_MASK) {
+ esp_foc_pid_set_kp(&pid_pos_1, pid_gains[0]);
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_KI_MASK) {
+ esp_foc_pid_set_ki(&pid_pos_1, pid_gains[1]);
+ }
+
+ if(cmd->command_mask & MOTOR_CMD_KD_MASK) {
+ esp_foc_pid_set_kd(&pid_pos_1, pid_gains[2]);
+ }
+ }
+}
+ESP_FOC_DEFINE_IPC_CALLBACK(cmd_callback,esp_foc_motor_on_cmd, NULL);
+
+static void esp_foc_control_work_handler(struct k_work *work)
+{
+ esp_foc_run(&axis);
+}
+
+K_WORK_DEFINE(esp_foc_work, motor_control_work_handler);
+
+static void esp_foc_timer_isr(const struct device *counter_dev,
+ uint8_t chan_id, uint32_t ticks,
+ void *user_data)
+{
+ k_work_submit(&esp_foc_work);
+ timestamp_us += counter_ticks_to_us(timer_dev, ticks);
+ counter_set_channel_alarm(timer_dev, 0, &alarm_cfg);
+}
+
+/* We don't actually need a main function*/
+static int esp_foc_early_init(void)
+{
+ float sample_time_seconds = (float)ESP_FOC_INNER_CONTROL_US_PERIOD * 0.000001f;
+
+ esp_foc_pid_init(&pid_vel_1,
+ sample_time_seconds * ESP_FOC_SPEED_CONTROL_RATIO,
+ 10000.0f);
+
+ esp_foc_pid_init(&pid_pos_1,
+ sample_time_seconds * ESP_FOC_POSITION_CONTROL_RATIO,
+ 10000.0f);
+
+ esp_foc_init_controller(&axis, z_esp_foc_get_interface(Z_ESP_FOC_1));
+ esp_foc_add_position_control(&axis, &pid_pos_1);
+ esp_foc_add_speed_control(&axis, &pid_vel_1);
+
+ counter_start(timer_dev);
+ alarm_cfg.flags = 0;
+ alarm_cfg.ticks = counter_us_to_ticks(timer_dev, CONTROL_PIPELINE_US_PERIOD);
+ alarm_cfg.callback = esp_foc_timer_isr;
+ alarm_cfg.user_data = &alarm_cfg;
+ counter_set_channel_alarm(timer_dev, 0, &alarm_cfg);
+
+ esp_foc_ipc_init();
+ esp_foc_ipc_register_callback(&cmd_callback);
+
+ return 0;
+}
+
+SYS_INIT(esp_foc_early_init, POST_KERNEL, CONFIG_APPLICATION_INIT_PRIORITY);
+
+int main(void)
+{
+ /* Report motor state each 1 milisecond asynchronously */
+ while(1) {
+ k_msleep(K_USEC(1000));
+ outgoing_state.timestamp_us = timestamp_us;
+ outgoing_state.position_mdeg = (uint32_t)(axis.current_position_degrees * 1000.0f);
+ outgoing_state.speed_mdps = (uint32_t)(axis.current_speed_dps * 1000.0f);
+ outgoing_state.power_state = (uint8_t)axis.is_enabled;
+ esp_foc_ipc_send_state(&outgoing_state);
+ }
+}
diff --git a/app/espfoc_motor_core/prj.conf b/app/espfoc_motor_core/prj.conf
new file mode 100644
index 0000000..7b505d2
--- /dev/null
+++ b/app/espfoc_motor_core/prj.conf
@@ -0,0 +1,13 @@
+CONFIG_STDOUT_CONSOLE=n
+CONFIG_PRINTK=n
+CONFIG_HEAP_MEM_POOL_SIZE=256
+
+CONFIG_IPM=y
+CONFIG_PWM=y
+CONFIG_I2C=y
+CONFIG_SENSOR=y
+CONFIG_COUNTER=y
+
+CONFIG_SENSOR=y
+CONFIG_AMS_AS5600=y
+CONFIG_FLOAT=y
\ No newline at end of file
diff --git a/app/prj.conf b/app/prj.conf
new file mode 100644
index 0000000..3393bef
--- /dev/null
+++ b/app/prj.conf
@@ -0,0 +1,6 @@
+CONFIG_PRINTK=y
+CONFIG_IPM=y
+CONFIG_TIMESLICE_SIZE=1
+CONFIG_MAIN_STACK_SIZE=8192
+CONFIG_HEAP_MEM_POOL_SIZE=2048
+CONFIG_FLOAT=y
\ No newline at end of file
diff --git a/common/include/espFoC/ipc/esp_foc_ipc.h b/common/include/espFoC/ipc/esp_foc_ipc.h
new file mode 100644
index 0000000..9db4327
--- /dev/null
+++ b/common/include/espFoC/ipc/esp_foc_ipc.h
@@ -0,0 +1,86 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2024 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stbool.h>
+#include <zephyr/kernel.h>
+
+#define MOTOR_CMD_TORQUE_MASK 0x00
+#define MOTOR_CMD_SPEED_MASK 0x02
+#define MOTOR_CMD_POSITION_MASK 0x04
+#define MOTOR_CMD_SHUTDOWN_MASK 0x08
+#define MOTOR_CMD_RESET_MASK 0x10
+#define MOTOR_CMD_KP_MASK 0x20
+#define MOTOR_CMD_KI_MASK 0x40
+#define MOTOR_CMD_KD_MASK 0x80
+#define MOTOR_CMD_POS_PID_MASK 0x100
+#define MOTOR_CMD_SPD_PID_MASK 0x200
+
+struct motor_state {
+ uint32_t timestamp_us;
+ uint32_t position_mdeg;
+ uint32_t speed_mdps;
+ uint32_t qvoltage_mvolts;
+ uint32_t dvoltage_mvolts;
+ uint32_t encoder;
+ uint8_t power_state;
+ uint8_t last_cmd_result;
+ uint8_t motor_number;
+ uint8_t direction;
+};
+
+struct motor_command {
+ uint32_t command_mask;
+ uint32_t speed_mdps;
+ uint32_t qvoltage_mvolts;
+ uint32_t dvoltage_mvolts;
+ uint32_t pid_gains[3];
+ uint8_t power_state;
+ uint8_t motor_number;
+ uint8_t direction;
+ uint8_t res3;
+};
+
+typedef void (*esp_foc_ipc_motor_state_callback_t) (const struct motor_state *state);
+typedef void (*esp_foc_ipc_motor_cmd_callback_t) (const struct motor_command *cmd);
+
+struct motor_report_callback {
+ esp_foc_ipc_motor_state_callback_t cmd_cb;
+ esp_foc_ipc_motor_cmd_callback_t state_cb
+ sys_dnode_t node;
+};
+
+#define ESP_FOC_DEFINE_IPC_CALLBACK(name,cmd_callback, state_callback) \
+struct motor_report_callback cn_##name = { \
+ .state_cb = state_callback, \
+ .cmd_cb = cmd_callback, \
+}
+
+int esp_foc_ipc_init(void);
+int esp_foc_ipc_send_command(const struct motor_command *cmd);
+int esp_foc_ipc_send_state(const struct motor_state *state);
+int esp_foc_ipc_register_callback(const struct motor_report_callback *cb);
+int esp_foc_ipc_remove_callback(const struct motor_report_callback *cb);
diff --git a/include/espFoC/esp_foc.h b/common/include/espFoC/motor_control/esp_foc.h
similarity index 86%
rename from include/espFoC/esp_foc.h
rename to common/include/espFoC/motor_control/esp_foc.h
index 0105b2a..90b22a4 100644
--- a/include/espFoC/esp_foc.h
+++ b/common/include/espFoC/motor_control/esp_foc.h
@@ -24,11 +24,12 @@
#pragma once
+#include <stdbool.h>
#include <math.h>
#include <errno.h>
-#include <espFoC/esp_foc_motor_interface.h>
-#include <espFoC/esp_foc_svm.h>
-#include <espFoC/esp_foc_pid.h>
+#include "esp_foc_motor_interface.h"
+#include "esp_foc_svm.h"
+#include "esp_foc_pid.h"
struct esp_foc_motor_control {
struct esp_foc_motor_interface *motor_hw;
@@ -42,8 +43,13 @@ struct esp_foc_motor_control {
float target_position_degrees;
float current_speed_dps;
float current_position_degrees;
+
+ bool is_enabled;
};
+extern const int ESP_FOC_SPEED_CONTROL_RATIO;
+extern const int ESP_FOC_POSITION_CONTROL_RATIO;
+
int esp_foc_init_controller(struct esp_foc_motor_control *ctl,
const struct esp_foc_motor_interface *hw);
@@ -59,4 +65,8 @@ int esp_foc_add_position_control(struct esp_foc_motor_control *ctl,
int esp_foc_add_speed_control(struct esp_foc_motor_control *ctl,
const struct esp_foc_pid *speed_pid);
+int esp_foc_enable_axis(struct esp_foc_motor_control *ctl);
+
+int esp_foc_disable_axis(struct esp_foc_motor_control *ctl);
+
int esp_foc_controller_run(struct esp_foc_motor_control *ctl);
diff --git a/include/espFoC/esp_foc_motor_interface.h b/common/include/espFoC/motor_control/esp_foc_motor_interface.h
similarity index 72%
rename from include/espFoC/esp_foc_motor_interface.h
rename to common/include/espFoC/motor_control/esp_foc_motor_interface.h
index 3322acd..a103a23 100644
--- a/include/espFoC/esp_foc_motor_interface.h
+++ b/common/include/espFoC/motor_control/esp_foc_motor_interface.h
@@ -27,6 +27,7 @@
struct esp_foc_motor_interface {
int (*reset)(struct esp_foc_motor_interface *self);
int (*enable)(struct esp_foc_motor_interface *self);
+ int (*disable)(struct esp_foc_motor_interface *self);
int (*set_duty_cycles)(struct esp_foc_motor_interface *self, float a, float b, float c);
int (*get_rotor_angle)(struct esp_foc_motor_interface *self, float *angle);
int (*get_rotor_speed_dps)(struct esp_foc_motor_interface *self, float *speed_dps);
@@ -39,7 +40,7 @@ struct esp_foc_motor_interface {
int (*fetch_sensors)(struct esp_foc_motor_interface *self);
};
-int esp_foc_motor_reset(struct esp_foc_motor_interface *self)
+static inline int esp_foc_motor_reset(struct esp_foc_motor_interface *self)
{
if(!self)
return -EINVAL;
@@ -51,7 +52,7 @@ int esp_foc_motor_reset(struct esp_foc_motor_interface *self)
}
-int esp_foc_motor_enable(struct esp_foc_motor_interface *self)
+static inline int esp_foc_motor_enable(struct esp_foc_motor_interface *self)
{
if(!self)
return -EINVAL;
@@ -62,7 +63,18 @@ int esp_foc_motor_enable(struct esp_foc_motor_interface *self)
return self->enable(self);
}
-int esp_foc_motor_set_duty_cycles(struct esp_foc_motor_interface *self, float a, float b, float c)
+static inline int esp_foc_motor_disable(struct esp_foc_motor_interface *self)
+{
+ if(!self)
+ return -EINVAL;
+
+ if(!self->disable)
+ return -ENOTSUP;
+
+ return self->disable(self);
+}
+
+static inline int esp_foc_motor_set_duty_cycles(struct esp_foc_motor_interface *self, float a, float b, float c)
{
if(!self)
return -EINVAL;
@@ -73,7 +85,7 @@ int esp_foc_motor_set_duty_cycles(struct esp_foc_motor_interface *self, float a,
return self->set_duty_cycles(Self, a, b, c);
}
-int esp_foc_motor_get_rotor_angle(struct esp_foc_motor_interface *self, float *angle)
+static inline int esp_foc_motor_get_rotor_angle(struct esp_foc_motor_interface *self, float *angle)
{
if(!self)
return -EINVAL;
@@ -84,7 +96,7 @@ int esp_foc_motor_get_rotor_angle(struct esp_foc_motor_interface *self, float *a
return self->get_rotor_angle(self, angle);
}
-int esp_foc_motor_get_rotor_speed_dps(struct esp_foc_motor_interface *self, float *speed_dps)
+static inline int esp_foc_motor_get_rotor_speed_dps(struct esp_foc_motor_interface *self, float *speed_dps)
{
if(!self)
return -EINVAL;
@@ -95,7 +107,7 @@ int esp_foc_motor_get_rotor_speed_dps(struct esp_foc_motor_interface *self, floa
return self->get_rotor_speed_dps(self, speed_dps);
}
-int esp_foc_motor_align_rotor(struct esp_foc_motor_interface *self)
+static inline int esp_foc_motor_align_rotor(struct esp_foc_motor_interface *self)
{
if(!self)
return -EINVAL;
@@ -106,7 +118,7 @@ int esp_foc_motor_align_rotor(struct esp_foc_motor_interface *self)
return self->align_rotor(self);
}
-int esp_foc_motor_get_acumulated_angle(struct esp_foc_motor_interface *self, float *angle)
+static inline int esp_foc_motor_get_acumulated_angle(struct esp_foc_motor_interface *self, float *angle)
{
if(!self)
return -EINVAL;
@@ -117,7 +129,7 @@ int esp_foc_motor_get_acumulated_angle(struct esp_foc_motor_interface *self, flo
return self->get_acumulated_angle(self, angle);
}
-int esp_foc_motor_get_encoder_ppr(struct esp_foc_motor_interface *self, float *ppr)
+static inline int esp_foc_motor_get_encoder_ppr(struct esp_foc_motor_interface *self, float *ppr)
{
if(!self)
return -EINVAL;
@@ -128,7 +140,7 @@ int esp_foc_motor_get_encoder_ppr(struct esp_foc_motor_interface *self, float *p
return self->get_encoder_ppr(self, ppr);
}
-int esp_foc_motor_get_dc_bus_voltage(struct esp_foc_motor_interface *self, float *vdc)
+static inline int esp_foc_motor_get_dc_bus_voltage(struct esp_foc_motor_interface *self, float *vdc)
{
if(!self)
return -EINVAL;
@@ -139,7 +151,7 @@ int esp_foc_motor_get_dc_bus_voltage(struct esp_foc_motor_interface *self, float
return self->get_dc_bus_voltage(self, vdc);
}
-int esp_foc_motor_get_currents(struct esp_foc_motor_interface *self, float *ia, float *ib, float *ic)
+static inline int esp_foc_motor_get_currents(struct esp_foc_motor_interface *self, float *ia, float *ib, float *ic)
{
if(!self)
return -EINVAL;
@@ -150,7 +162,7 @@ int esp_foc_motor_get_currents(struct esp_foc_motor_interface *self, float *ia,
return self->get_currents(self, ia, ib, ic);
}
-int esp_foc_motor_number_of_shunts(struct esp_foc_motor_interface *self, int *shunts)
+static inline int esp_foc_motor_number_of_shunts(struct esp_foc_motor_interface *self, int *shunts)
{
if(!self)
return -EINVAL;
@@ -161,7 +173,7 @@ int esp_foc_motor_number_of_shunts(struct esp_foc_motor_interface *self, int *sh
return self->number_of_shunts(self, shunts);
}
-int esp_foc_motor_fetch_sensors(struct esp_foc_motor_interface *self)
+static inline int esp_foc_motor_fetch_sensors(struct esp_foc_motor_interface *self)
{
if(!self)
return -EINVAL;
@@ -170,4 +182,4 @@ int esp_foc_motor_fetch_sensors(struct esp_foc_motor_interface *self)
return -ENOTSUP;
return self->fetch_sensors(self);
-}
\ No newline at end of file
+}
diff --git a/include/espFoC/esp_foc_pid.h b/common/include/espFoC/motor_control/esp_foc_pid.h
similarity index 100%
rename from include/espFoC/esp_foc_pid.h
rename to common/include/espFoC/motor_control/esp_foc_pid.h
diff --git a/include/espFoC/esp_foc_svm.h b/common/include/espFoC/motor_control/esp_foc_svm.h
similarity index 100%
rename from include/espFoC/esp_foc_svm.h
rename to common/include/espFoC/motor_control/esp_foc_svm.h
diff --git a/common/ipc/esp_foc_ipc.c b/common/ipc/esp_foc_ipc.c
new file mode 100644
index 0000000..a474cc2
--- /dev/null
+++ b/common/ipc/esp_foc_ipc.c
@@ -0,0 +1,167 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2024 Felipe Neves
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <string.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/ipm.h>
+#include <espFoc/ipc/esp_foc_ipc.h>
+
+#define LOCK_FREE_VAL 0xA5A5A5A5
+#define DIRECTION_TX 0x01
+#define DIRECTION_RX 0x81
+
+static const struct device *ipc_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_ipc));
+static uint8_t *ipc_shm = DT_REG_ADDR(DT_CHOSEN(zephyr_ipc_shm));
+const static uint32_t ipc_shm_size = DT_REG_SIZE(DT_CHOSEN(zephyr_ipc_shm));
+
+static atomic_t *shm_lock;
+static struct motor_command *tx_motor_cmd;
+static struct motor_command *rx_motor_cmd;
+static struct motor_state *tx_motor_state;
+static struct motor_state *rx_motor_state;
+
+BUILD_ASSERT(ipc_shm_size >= (2 * sizeof(motor_command)) +
+ (2 * sizeof(motor_state)), "Not enough shared memory!");
+
+#define LOCK_OFFSET 0
+#define TX_CMD_OFFSET (LOCK_OFFSET + sizeof(atomic_t))
+#define RX_CMD_OFFSET (TX_CMD_OFFSET + sizeof(struct motor_command))
+#define TX_STATE_OFFSET (RX_CMD_OFFSET + sizeof(struct motor_command))
+#define RX_STATE_OFFSET (TX_STATE_OFFSET + sizeof(struct motor_state))
+
+static sys_dlist_t ipc_callbacks;
+
+static void ipc_work_handler(struct k_work *work)
+{
+ sys_dnode_t *node;
+
+ while (!atomic_cas(shm_lock, LOCK_FREE_VAL,
+ id)) {
+ ;
+ }
+
+ SYS_DLIST_FOR_EACH_NODE(&ipc_callbacks, node) {
+ struct motor_report_callback * report = CONTAINER_OF(ipc_callbacks, struct motor_report_callback, node)
+ if(report) {
+
+ if(report->cmd_cb) {
+ report->cmd_cb(rx_motor_cmd);
+ }
+
+ if(report->state_cb) {
+ report->state_cb(rx_motor_state);
+ }
+ }
+ }
+
+ atomic_set(shm_lock, LOCK_FREE_VAL);
+}
+
+K_WORK_DEFINE(ipc_work, ipc_work_handler);
+
+static void ipc_dev_callback(const struct device *dev, void *context,
+ uint32_t id, volatile void *data)
+{
+ k_work_submit(&ipc_work);
+}
+
+int esp_foc_ipc_init(void)
+{
+ shm_lock = (atomic_t *)&ipc_shm[LOCK_OFFSET];
+ atomic_set(shm_lock, LOCK_FREE_VAL);
+
+ tx_motor_cmd = (struct motor_command *)&ipc_shm[TX_CMD_OFFSET];
+ rx_motor_cmd = (struct motor_command *)&ipc_shm[RX_CMD_OFFSET];
+ tx_motor_state = (struct motor_state *)&ipc_shm[TX_STATE_OFFSET];
+ rx_motor_state = (struct motor_state *)&ipc_shm[RX_STATE_OFFSET];
+
+ sys_dlist_init(&ipc_callbacks);
+ ipm_register_callback(ipc_dev, ipc_dev_callback, NULL);
+ ipm_set_enabled(ipc_dev, 1);
+
+ return 0;
+}
+int esp_foc_ipc_send_command(const struct motor_command *cmd)
+{
+ if(!cmd)
+ return -EINVAL;
+
+ uint32_t key = irq_lock();
+ while (!atomic_cas(shm_lock, LOCK_FREE_VAL,
+ cmd->command_mask)) {
+ ;
+ }
+
+ memcpy(rx_motor_cmd, cmd. sizeof(*rx_motor_cmd));
+ atomic_set(shm_lock, LOCK_FREE_VAL);
+ irq_unlock(key);
+
+ ipm_send(ipc_dev, -1, 0, NULL, 0);
+
+ return 0;
+}
+
+int esp_foc_ipc_send_state(const struct motor_state *state)
+{
+ if(!state)
+ return -EINVAL;
+
+ uint32_t key = irq_lock();
+ while (!atomic_cas(shm_lock, LOCK_FREE_VAL,
+ state->timestamp_us)) {
+ ;
+ }
+
+ memcpy(rx_motor_state, state. sizeof(*rx_motor_cmd));
+ atomic_set(shm_lock, LOCK_FREE_VAL);
+
+ ipm_send(ipc_dev, -1, 0, NULL, 0);
+ irq_unlock(key);
+
+ return 0;
+}
+
+int esp_foc_ipc_register_callback(const struct motor_report_callback *cb)
+{
+ if(!cb)
+ return -EINVAL;
+
+ uint32_t key = irq_lock();
+ sys_dlist_append(&ipc_callbacks, &cb->node);
+ irq_unlock(key);
+
+ return 0;
+}
+
+int esp_foc_ipc_remove_callback(const struct motor_report_callback *cb)
+{
+ if(!cb)
+ return -EINVAL;
+
+ uint32_t key = irq_lock();
+ sys_dlist_remove(&cb->node);
+ irq_unlock(key);
+
+ return 0;
+}
diff --git a/src/esp_foc.c b/common/motor_control/esp_foc.c
similarity index 85%
rename from src/esp_foc.c
rename to common/motor_control/esp_foc.c
index dc33bfb..2dc9c3c 100644
--- a/src/esp_foc.c
+++ b/common/motor_control/esp_foc.c
@@ -23,7 +23,7 @@
*/
#include <math.h>
-#include <espFoC/esp_foc.h>
+#include <motor_control/esp_foc.h>
extern const float ESP_FOC_M_PI;
extern const float ESP_FOC_2_M_PI;
@@ -78,11 +78,13 @@ int esp_foc_init_controller(struct esp_foc_motor_control *ctl,
ctl->target_position = 0.0f;
ctl->motor_hw = hw;
- if(esp_foc_motor_enable(ctl->motor_hw)) {
+ if(esp_foc_motor_disable(ctl->motor_hw)) {
return -ENODEV;
}
- return esp_foc_motor_reset(ctl->motor_hw);
+ ctl->is_enabled = false;
+
+ return 0;
}
int esp_foc_controller_set_speed(struct esp_foc_motor_control *ctl,
@@ -130,6 +132,46 @@ int esp_foc_add_speed_control(struct esp_foc_motor_control *ctl,
return 0;
}
+int esp_foc_enable_axis(struct esp_foc_motor_control *ctl)
+{
+ if(!ctl)
+ return -EINVAL;
+
+ if(ctl->is_enabled)
+ return EALREADY;
+
+ int r = esp_foc_motor_enable(ctl->hw)
+ if(r)
+ return r;
+
+ r = esp_foc_motor_reset(ctl->motor_hw);
+ if(r)
+ return r;
+
+ ctl->is_enabled = true;
+
+ return 0;
+}
+
+int esp_foc_disable_axis(struct esp_foc_motor_control *ctl)
+{
+ if(!ctl)
+ return -EINVAL;
+
+ if(!ctl->is_enabled)
+ return EALREADY;
+
+ int r = esp_foc_motor_disable(ctl->hw)
+ if(r)
+ return r;
+
+ ctl->target_speed = 0.0f;
+ ctl->target_position = 0.0f;
+ ctl->is_enabled = false;
+
+ return 0;
+}
+
int esp_foc_controller_run(struct esp_foc_motor_control *ctl)
{
float vd = 0.0f;
@@ -141,6 +183,9 @@ int esp_foc_controller_run(struct esp_foc_motor_control *ctl)
if(!ctl)
return -EINVAL;
+ if(!ctl->is_enabled)
+ return -EIO;
+
esp_foc_motor_fetch_sensors(ctl->hw);
if(ctl->pid_position) {
diff --git a/src/esp_foc_consts.c b/common/motor_control/esp_foc_consts.c
similarity index 100%
rename from src/esp_foc_consts.c
rename to common/motor_control/esp_foc_consts.c
diff --git a/src/esp_foc_our_sin_cos.c b/common/motor_control/esp_foc_our_sin_cos.c
similarity index 100%
rename from src/esp_foc_our_sin_cos.c
rename to common/motor_control/esp_foc_our_sin_cos.c
diff --git a/src/esp_foc_pid.c b/common/motor_control/esp_foc_pid.c
similarity index 98%
rename from src/esp_foc_pid.c
rename to common/motor_control/esp_foc_pid.c
index 83085e6..f179afc 100644
--- a/src/esp_foc_pid.c
+++ b/common/motor_control/esp_foc_pid.c
@@ -22,7 +22,7 @@
* SOFTWARE.
*/
-#include <espFoc/esp_foc_pid.h>
+#include <motor_control/esp_foc_pid.h>
int esp_foc_pid_init(struct esp_foc_pid *p, float sample_time_seconds, float integral_limit)
{
diff --git a/src/esp_foc_svm.c b/common/motor_control/esp_foc_svm.c
similarity index 98%
rename from src/esp_foc_svm.c
rename to common/motor_control/esp_foc_svm.c
index 47861b7..39c9766 100644
--- a/src/esp_foc_svm.c
+++ b/common/motor_control/esp_foc_svm.c
@@ -2,7 +2,7 @@
* Copyright (c) 2021 Teslabs Engineering S.L.
* SPDX-License-Identifier: Apache-2.0
*/
-#include <espFoC/esp_foc.h>
+#include <motor_control/esp_foc.h>
extern const float ESP_FOC_SQRT3;
extern const float ESP_FOC_1_SQRT3;
diff --git a/doc/images/arch.png b/doc/images/arch.png
new file mode 100644
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GIT binary patch
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HcmV?d00001
diff --git a/examples/stubs/main.cpp b/examples/stubs/main.cpp
deleted file mode 100644
index 0a7a080..0000000
--- a/examples/stubs/main.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#include <unistd.h>
-#include <signal.h>
-#include <stdio.h>
-#include <espFoC/esp_foc.h>
-
-struct motor_hardware_stub stub;
-struct esp_foc_motor_interface *hw;
-struct esp_foc_motor_control control;
-int should_stop = 0;
-
-using namespace std;
-
-int main(int argc, char **argv)
-{
- int err;
-
- err = motor_hardware_stub_init(&stub, &hw);
- if(err)
- cout << "failed to initialize the motor hardware err:" << err << endl;
-
- err = esp_foc_init_controller(&control, hw);
- if(err)
- cout << "failed to initialize esp foc controller err:" << err << endl;
-
- err = esp_foc_controller_set_speed(&control, 360.0f);
- if(err)
- cout << "failed to set the initial speed err" << err << endl;
-
- while(!should_stop) {
- err = esp_foc_controller_run(&ctl);
- if(err)
- cout << "error when running controller err:" << err << endl;
- usleep(1000);
- }
-}
diff --git a/examples/stubs/motor_hardware_stub.c b/examples/stubs/motor_hardware_stub.c
deleted file mode 100644
index 44a46bc..0000000
--- a/examples/stubs/motor_hardware_stub.c
+++ /dev/null
@@ -1,133 +0,0 @@
-/*
- * MIT License
- *
- * Copyright (c) 2021 Felipe Neves
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-#include <math.h>
-#include "motor_hardware_stub.h"
-
-static const float pole_pairs = 12.0f;
-static float erotor_angle = 0.0f;
-static const float angle_step_per_ms = 0.36f;
-
-static int normalize_angle(float *angle)
-{
- if(!angle)
- return -EINVAL;
-
- float result = fmod(*angle, (2.0 * 3.141569f));
- if(result > 3.141569f) {
- result -= 3.141569f;
- }
-
- *angle = result;
-
- return 0;
-}
-
-static int reset(struct esp_foc_motor_interface *self)
-{
- if(!self)
- return -EINVAL;
-
- return 0;
-}
-
-static int enable(struct esp_foc_motor_interface *self)
-{
- if(!self)
- return -EINVAL;
-
- return 0;
-}
-
-static int set_duty_cycles(struct esp_foc_motor_interface *self, float a, float b, float c)
-{
- if(!self)
- return -EINVAL;
-
- (void)a;
- (void)b;
- (void)c;
-
- return 0;
-}
-
-static int get_rotor_angle(struct esp_foc_motor_interface *self, float *angle)
-{
- if(!self || !angle)
- return -EINVAL;
-
- *angle = erotor_angle * pole_pairs;
-
- return normalize_angle(angle);
-}
-
-static int get_rotor_speed_dps(struct esp_foc_motor_interface *self, float *speed_dps)
-{
- if(!self || speed_dps)
- return -EINVAL;
-
-
- //360 dps -> 1 RPS -> 1 RPM;
- *speed_dps = 360.0f;
-
- return 0;
-}
-
-static int align_rotor(struct esp_foc_motor_interface *self)
-{
- if(!self)
- return -EINVAL;
-
- return 0;
-}
-
-static int fetch_sensors(struct esp_foc_motor_interface *self)
-{
- if(!self)
- return -EINVAL;
-
- erotor_angle += angle_step_per_ms;
- if(e_angle > 360.0f) {
- erotor_angle -= 360.0f;
- }
-
- return 0;
-}
-
-int motor_hardware_stub_init(struct motor_hardware_stub *stub,
- struct esp_foc_motor_interface **itf)
-{
- if(!stub)
- return -EINVAL;
-
- stub->self->reset = reset;
- stub->self->enable = enable;
- stub->self->set_duty_cycles = set_duty_cycles;
- stub->self->get_rotor_angle = get_rotor_angle;
- stub->self->get_rotor_speed_dps = get_rotor_speed_dps;
- stub->self->align_rotor = align_rotor;
- stub->self->fetch_sensors = fetch_sensors;
-
- itf = stub->self;
- return 0;
-}
\ No newline at end of file