Merge pull request #4 from Candas1/dev

Merge new dev changes

.github/workflows/ccpp.yml

@@ -58,15 +58,15 @@ jobs:
             sketch-names: single_full_control_example.ino
 
           - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
-            sketch-names: bldc_driver_3pwm_standalone.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone 
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            sketch-names: bldc_driver_3pwm_standalone.ino,stepper_driver_2pwm_standalone.ino,stepper_driver_4pwm_standalone.ino
 
           - arduino-boards-fqbn: esp32:esp32:esp32s3 # esp32s3
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
+            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:esp32doit-devkit-v1 # esp32 
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
+            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
 
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples

src/common/foc_utils.cpp

@@ -44,6 +44,33 @@ __attribute__((weak)) void _sincos(float a, float* s, float* c){
   *c = _cos(a);
 }
 
+// fast_atan2 based on https://math.stackexchange.com/a/1105038/81278
+// Via Odrive project
+// https://github.com/odriverobotics/ODrive/blob/master/Firmware/MotorControl/utils.cpp
+// This function is MIT licenced, copyright Oskar Weigl/Odrive Robotics
+// The origin for Odrive atan2 is public domain. Thanks to Odrive for making
+// it easy to borrow.
+__attribute__((weak)) float _atan2(float y, float x) {
+    // a := min (|x|, |y|) / max (|x|, |y|)
+    float abs_y = fabsf(y);
+    float abs_x = fabsf(x);
+    // inject FLT_MIN in denominator to avoid division by zero
+    float a = min(abs_x, abs_y) / (max(abs_x, abs_y));
+    // s := a * a
+    float s = a * a;
+    // r := ((-0.0464964749 * s + 0.15931422) * s - 0.327622764) * s * a + a
+    float r =
+        ((-0.0464964749f * s + 0.15931422f) * s - 0.327622764f) * s * a + a;
+    // if |y| > |x| then r := 1.57079637 - r
+    if (abs_y > abs_x) r = 1.57079637f - r;
+    // if x < 0 then r := 3.14159274 - r
+    if (x < 0.0f) r = 3.14159274f - r;
+    // if y < 0 then r := -r
+    if (y < 0.0f) r = -r;
+
+    return r;
+  }
+
 
 // normalizing radian angle to [0,2PI]
 __attribute__((weak)) float _normalizeAngle(float angle){
@@ -60,14 +87,10 @@ float _electricalAngle(float shaft_angle, int pole_pairs) {
 // https://reprap.org/forum/read.php?147,219210
 // https://en.wikipedia.org/wiki/Fast_inverse_square_root
 __attribute__((weak)) float _sqrtApprox(float number) {//low in fat
-  // float x;
-  // const float f = 1.5F; // better precision
-
-  // x = number * 0.5F;
-  float y = number;
-  long i = * ( long * ) &y;
-  i = 0x5f375a86 - ( i >> 1 );
-  y = * ( float * ) &i;
-  // y = y * ( f - ( x * y * y ) ); // better precision
-  return number * y;
+  union {
+    float    f;
+    uint32_t i;
+  } y = { .f = number };
+  y.i = 0x5f375a86 - ( y.i >> 1 );
+  return number * y.f;
 }

src/common/foc_utils.h

@@ -79,6 +79,11 @@ float _cos(float a);
  */
 void _sincos(float a, float* s, float* c);
 
+/**
+ * Function approximating atan2 
+ * 
+ */
+float _atan2(float y, float x);
 
 /**
  * normalizing radian angle to [0,2PI]

src/communication/StepDirListener.h

@@ -5,11 +5,6 @@
 #include "../common/foc_utils.h"
 
 
-#if !defined(TARGET_RP2040) && !defined(_SAMD21_) && !defined(_SAMD51_) && !defined(_SAME51_) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_UNOR4_MINIMA) && !defined(NRF52_SERIES) && !defined(ARDUINO_ARCH_MEGAAVR)
-#define PinStatus int
-#endif
-
-
 /**
  * Step/Dir listenner class for easier interraction with this communication interface.
  */
@@ -53,7 +48,7 @@ class StepDirListener
     int pin_step; //!< step pin
     int pin_dir; //!< direction pin
     long count; //!< current counter value - should be set to 0 for homing
-    PinStatus polarity = RISING; //!< polarity of the step pin
+    decltype(RISING) polarity = RISING; //!< polarity of the step pin
 
   private:
     float* attached_variable = nullptr; //!< pointer to the attached variable 

src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp

@@ -6,7 +6,8 @@
 #include "freertos/task.h"
 #include "rom/ets_sys.h"
 #include "esp_attr.h"
-#include "esp_intr.h"
+//#include "esp_intr.h" deprecated
+#include "esp_intr_alloc.h"
 #include "soc/rtc_io_reg.h"
 #include "soc/rtc_cntl_reg.h"
 #include "soc/sens_reg.h"

src/current_sense/hardware_specific/esp32/esp32_mcu.cpp

@@ -121,6 +121,8 @@ void _driverSyncLowSide(void* driver_params, void* cs_params){
     mcpwm_isr_register(mcpwm_unit, mcpwm1_isr_handler, NULL, ESP_INTR_FLAG_IRAM, NULL);  //Set ISR Handler
 }
 
+static void IRAM_ATTR mcpwm0_isr_handler(void*) __attribute__ ((unused));
+
 // Read currents when interrupt is triggered
 static void IRAM_ATTR mcpwm0_isr_handler(void*){
   // // high side
@@ -139,6 +141,7 @@ static void IRAM_ATTR mcpwm0_isr_handler(void*){
   // MCPWM0.int_clr.timer0_tez_int_clr = mcpwm_intr_status_0;
 }
 
+static void IRAM_ATTR mcpwm1_isr_handler(void*) __attribute__ ((unused));
 
 // Read currents when interrupt is triggered
 static void IRAM_ATTR mcpwm1_isr_handler(void*){

src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp

@@ -110,6 +110,9 @@ void* _configureADCLowSide(const void* driver_params, const int pinA,const int p
   MX_ADC1_Init(&hadc1);
   MX_ADC2_Init(&hadc2);
 
+  HAL_ADCEx_Calibration_Start(&hadc1,ADC_SINGLE_ENDED);
+  HAL_ADCEx_Calibration_Start(&hadc2,ADC_SINGLE_ENDED);
+
   MX_DMA1_Init(&hadc1, &hdma_adc1, DMA1_Channel1, DMA_REQUEST_ADC1);
   MX_DMA1_Init(&hadc2, &hdma_adc2, DMA1_Channel2, DMA_REQUEST_ADC2);
 

src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp

@@ -66,6 +66,10 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
   }
   // set the trigger output event
   LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
+
+  // Start the adc calibration
+  HAL_ADCEx_Calibration_Start(cs_params->adc_handle);
+
   // start the adc 
   HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
 

src/sensors/HallSensor.cpp

@@ -53,7 +53,6 @@ void HallSensor::updateState() {
   hall_state = new_hall_state;
 
   int8_t new_electric_sector = ELECTRIC_SECTORS[hall_state];
-  static Direction old_direction;
   if (new_electric_sector - electric_sector > 3) {
     //underflow
     direction = Direction::CCW;

src/sensors/HallSensor.h

@@ -62,6 +62,7 @@ class HallSensor: public Sensor{
 
     // whether last step was CW (+1) or CCW (-1).  
     Direction direction;
+    Direction old_direction;
 
     void attachSectorCallback(void (*onSectorChange)(int a) = nullptr);