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1.0.6 Release PR
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| name=SimpleFOCDrivers | ||
| version=1.0.5 | ||
| version=1.0.6 | ||
| author=Simplefoc <[email protected]> | ||
| maintainer=Simplefoc <[email protected]> | ||
| sentence=A library of supporting drivers for SimpleFOC. Motor drivers chips, encoder chips, current sensing and supporting code. | ||
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| # SimpleFOC STSPIN32G4 Driver | ||
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| This driver initializes the PWM stage of the STSPIN32G4, and provides access to its configuration via I2C. | ||
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| :warning: in development! | ||
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| ## Setup | ||
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| Since there are currently no standard boards for Arduino based on the STSPIN32G4 you will need a custom board definition, associated linker script and project setup to compile for your board. These topics are out of scope for this driver, but you can find a working example for the [FunQi STSPIN32G4 board](TODO link) [here](TODO link); | ||
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| Once you can compile for your board, and flash it with a "blinky" test sketch, then you're ready to try SimpleFOC and more complex code. | ||
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| ## Usage | ||
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| Basic usage, as you can see it is very simple. Since the pins are all pre-defined due to internal connections, setup | ||
| is easier than with the standard drivers. Here is an example for open loop mode: | ||
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| ```c++ | ||
| #include <Arduino.h> | ||
| #include "SimpleFOC.h" | ||
| #include "SimpleFOCDrivers.h" | ||
| #include "drivers/stspin32g4/STSPIN32G4.h" | ||
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| STSPIN32G4 driver = STSPIN32G4(); | ||
| BLDCMotor motor = BLDCMotor(7); | ||
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| void setup() { | ||
| driver.voltage_power_supply = 12.0f; | ||
| driver.init(); | ||
| motor.voltage_limit = driver.voltage_limit / 2.0f; | ||
| motor.controller = MotionControlType::velocity_openloop; | ||
| motor.linkDriver(&driver); | ||
| motor.init(); | ||
| } | ||
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| void loop(){ | ||
| motor.move(5.0f); // 5 rad/s open loop | ||
| delayMicroseconds(100); // STM32G4 is very fast, add a delay in open loop if we do nothing else | ||
| } | ||
| ``` |
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| #include "./STSPIN32G4.h" | ||
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| #ifdef ARDUINO_GENERIC_G431VBTX | ||
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| STSPIN32G4::STSPIN32G4() : BLDCDriver6PWM(STSPIN32G4_PIN_INUH, STSPIN32G4_PIN_INUL, STSPIN32G4_PIN_INVH, | ||
| STSPIN32G4_PIN_INVL, STSPIN32G4_PIN_INWH, STSPIN32G4_PIN_INWL), | ||
| _wire(STSPIN32G4_PIN_SDA, STSPIN32G4_PIN_SCL) { | ||
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| }; | ||
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| STSPIN32G4::~STSPIN32G4(){ | ||
| _wire.end(); | ||
| }; | ||
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| int STSPIN32G4::init(){ | ||
| // init pins | ||
| pinMode(STSPIN32G4_PIN_WAKE, OUTPUT); | ||
| digitalWrite(STSPIN32G4_PIN_WAKE, LOW); | ||
| pinMode(STSPIN32G4_PIN_READY, INPUT_PULLUP); | ||
| pinMode(STSPIN32G4_PIN_FAULT, INPUT_PULLUP); | ||
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| int result = this->BLDCDriver6PWM::init(); | ||
| if(result == 0) return result; | ||
| setPwm(0,0,0); // set the phases to off | ||
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| // init I2C | ||
| _wire.begin(); | ||
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| delayMicroseconds(50); // give driver a moment to wake up | ||
| clearFaults(); // clear the faults | ||
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| // TODO init fault monitor | ||
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| return isReady() ? 1 : 0; | ||
| }; | ||
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| void STSPIN32G4::wake() { | ||
| digitalWrite(STSPIN32G4_PIN_WAKE, HIGH); | ||
| delayMicroseconds(50); // 50ms high pulse to wake up | ||
| digitalWrite(STSPIN32G4_PIN_WAKE, LOW); | ||
| }; | ||
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| void STSPIN32G4::sleep() { | ||
| digitalWrite(STSPIN32G4_PIN_WAKE, LOW); | ||
| writeRegister(STSPIN32G4_REG_STBY, 0x01); | ||
| }; | ||
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| bool STSPIN32G4::isReady(){ | ||
| return digitalRead(STSPIN32G4_PIN_READY)==HIGH; | ||
| }; | ||
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| bool STSPIN32G4::isFault(){ | ||
| return digitalRead(STSPIN32G4_PIN_FAULT)==LOW; | ||
| }; | ||
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| STSPIN32G4Status STSPIN32G4::status(){ | ||
| STSPIN32G4Status result; | ||
| result.reg = readRegister(STSPIN32G4_REG_STATUS); | ||
| return result; | ||
| }; | ||
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| void STSPIN32G4::lock(){ | ||
| writeRegister(STSPIN32G4_REG_LOCK, 0x00); | ||
| }; | ||
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| void STSPIN32G4::unlock(){ | ||
| writeRegister(STSPIN32G4_REG_LOCK, 0xF0); | ||
| }; | ||
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| STSPIN32G4NFault STSPIN32G4::getNFaultRegister(){ | ||
| STSPIN32G4NFault result; | ||
| result.reg = readRegister(STSPIN32G4_REG_NFAULT); | ||
| return result; | ||
| }; | ||
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| STSPIN32G4Ready STSPIN32G4::getReadyRegister(){ | ||
| STSPIN32G4Ready result; | ||
| result.reg = readRegister(STSPIN32G4_REG_READY); | ||
| return result; | ||
| }; | ||
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| STSPIN32G4Logic STSPIN32G4::getLogicRegister(){ | ||
| STSPIN32G4Logic result; | ||
| result.reg = readRegister(STSPIN32G4_REG_LOGIC); | ||
| return result; | ||
| }; | ||
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| STSPIN32G4PowMng STSPIN32G4::getPowMngRegister(){ | ||
| STSPIN32G4PowMng result; | ||
| result.reg = readRegister(STSPIN32G4_REG_POWMNG); | ||
| return result; | ||
| }; | ||
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| void STSPIN32G4::setNFaultRegister(STSPIN32G4NFault value){ | ||
| writeRegister(STSPIN32G4_REG_NFAULT, value.reg); | ||
| }; | ||
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| void STSPIN32G4::setReadyRegister(STSPIN32G4Ready value){ | ||
| writeRegister(STSPIN32G4_REG_READY, value.reg); | ||
| }; | ||
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| void STSPIN32G4::setLogicRegister(STSPIN32G4Logic value){ | ||
| writeRegister(STSPIN32G4_REG_LOGIC, value.reg); | ||
| }; | ||
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| void STSPIN32G4::setPowMngRegister(STSPIN32G4PowMng value){ | ||
| writeRegister(STSPIN32G4_REG_POWMNG, value.reg); | ||
| }; | ||
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| void STSPIN32G4::resetRegisters(){ | ||
| // write 0xFF to reset register | ||
| writeRegister(STSPIN32G4_REG_RESET, 0xFF); | ||
| }; | ||
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| void STSPIN32G4::clearFaults(){ | ||
| // write 0xFF to clear faults | ||
| writeRegister(STSPIN32G4_REG_CLEAR, 0xFF); | ||
| }; | ||
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| uint8_t STSPIN32G4::readRegister(uint8_t reg){ | ||
| uint8_t result = 0; | ||
| _wire.beginTransmission(STSPIN32G4_I2C_ADDR); | ||
| _wire.write(reg); | ||
| _wire.endTransmission(false); | ||
| _wire.requestFrom(STSPIN32G4_I2C_ADDR, 1); | ||
| result = _wire.read(); | ||
| return result; | ||
| }; | ||
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| void STSPIN32G4::writeRegister(uint8_t reg, uint8_t val){ | ||
| _wire.beginTransmission(STSPIN32G4_I2C_ADDR); | ||
| _wire.write(reg); | ||
| _wire.write(val); | ||
| _wire.endTransmission(); | ||
| }; | ||
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| #endif |
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