Merge pull request #47 from simplefoc/dev

1.0.8 release PR

Author: runger1101001

.gitignore

@@ -1,2 +1,3 @@
 .project
 .DS_Store
+src/encoders/esp32hwencoder.bak/

README.md

@@ -10,20 +10,13 @@ The intent is to keep the core of SimpleFOC clean, and thus easy to maintain, un
 
 ## New Release
 
-v1.0.7 - Released 29 March 2024, for Simple FOC 2.3.2 or later
+v1.0.8 - Released July 2024, for Simple FOC 2.3.4 or later
 
 
-What's changed since 1.0.6?
-- Improvements to LinearHall driver, thanks to dekutree
-- Fix for ESP32 compiler warning, thanks to Yannik Stradmann
-- Added STM32 LPTIM encoder driver
-- Refactored communications code
-- Working telemetry abstraction
-- Working streams communications, ASCII based
-- Refactored settings storage code
-- Refactored I2CCommander
-- New utility class for simple trapezoidal motion profiles
-- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.7+)
+What's changed since 1.0.7?
+- MA735 driver thanks to [@techyrobot](https://github.com/techy-robot)
+- ESP32HWEncoder driver thanks to [@mcells](https://github.com/mcells)
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.8+)
 
 
 ## What is included
@@ -48,9 +41,12 @@ Drivers for various position sensor ICs. In many cases these hardware-specific d
  - [AS5600 I2C driver](src/encoders/as5600/) - I2C driver for the AMS AS5600 and AS5600L absolute position magnetic rotary encoder ICs.
  - [MA730 SPI driver](src/encoders/ma730/) - SPI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
  - [MA730 SSI driver](src/encoders/ma730/) - SSI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
+ - [MA735 SPI driver](src/encoders/ma735/) - SPI driver for the MPS MagAlpha MA735 absolute position magnetic rotary encoder IC.
+ - [MA735 SSI driver](src/encoders/ma735/) - SSI driver for the MPS MagAlpha MA735 absolute position magnetic rotary encoder IC. 
  - [AS5145 SSI driver](src/encoders/as5145/) - SSI driver for the AMS AS5145 and AS5045 absolute position magnetic rotary encoder ICs.
  - [TLE5012B SPI driver](src/encoders/tle5012b/) - SPI (half duplex) driver for TLE5012B absolute position magnetic rotary encoder IC.
- - [STM32 Hardware Encoder](src/encoders/stm32hwencoder/) - Hardware timer based encoder driver for ABI type quadrature encoders.
+ - [STM32 Hardware Encoder](src/encoders/stm32hwencoder/) - STM32 Hardware timer based encoder driver for ABI type quadrature encoders.
+ - [ESP32 Hardware Encoder](src/encoders/esp32hwencoder/) - ESP32 Hardware timer based encoder driver for ABI type quadrature encoders.
  - [SC60228 SPI driver](src/encoders/sc60228/) - SPI driver for SemiMent SC60288 magnetic encoder IC.
  - [MA330 SPI driver](src/encoders/ma330/) - SPI driver for the MPS MagAlpha MA330 absolute position magnetic rotary encoder IC.
  - [MT6816 SPI driver](src/encoders/mt6816/) - SPI driver for the MagnTek MT6816 absolute position magnetic rotary encoder IC.
@@ -120,6 +116,18 @@ Find out more information about the Arduino SimpleFOC project on the [docs websi
 
 ## Release History
 
+What's changed since 1.0.6?
+- Improvements to LinearHall driver, thanks to dekutree
+- Fix for ESP32 compiler warning, thanks to Yannik Stradmann
+- Added STM32 LPTIM encoder driver
+- Refactored communications code
+- Working telemetry abstraction
+- Working streams communications, ASCII based
+- Refactored settings storage code
+- Refactored I2CCommander
+- New utility class for simple trapezoidal motion profiles
+- Bugfixes [included](https://github.com/simplefoc/Arduino-FOC-drivers/issues?q=milestone%3A1.0.7+)
+
 What's changed since 1.0.5?
 - Added STSPIN32G4 driver
 - Added STM32G4 CORDIC code, for greatly accellerated trig functions on supported MCUs

library.properties

@@ -1,5 +1,5 @@
 name=SimpleFOCDrivers
-version=1.0.7
+version=1.0.8
 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.

src/comms/SimpleFOCRegisters.cpp

@@ -642,6 +642,7 @@ uint8_t SimpleFOCRegisters::sizeOfRegister(uint8_t reg){
         case SimpleFOCRegister::REG_CURD_LPF_T:
         case SimpleFOCRegister::REG_VOLTAGE_LIMIT:
         case SimpleFOCRegister::REG_CURRENT_LIMIT:
+        case SimpleFOCRegister::REG_VELOCITY_LIMIT:
         case SimpleFOCRegister::REG_DRIVER_VOLTAGE_LIMIT:
         case SimpleFOCRegister::REG_DRIVER_VOLTAGE_PSU:
         case SimpleFOCRegister::REG_VOLTAGE_SENSOR_ALIGN:

src/drivers/simplefocnano/README.md

@@ -31,6 +31,8 @@ void loop(){
 }
 ```
 
+### Additional functions
+
 There are some extra features, you can check for faults, and clear the fault state:
 
 ```c++
@@ -50,6 +52,8 @@ if (driver.isSleeping())
     driver.wake();
 ```
 
+### Bus Voltage Sense
+
 As shown in the example you can read the bus voltage:
 
 :warning: *this is a slow function. Do not call it while motor is running!*
@@ -58,8 +62,17 @@ As shown in the example you can read the bus voltage:
 float val = driver.getBusVoltage(); // get the bus voltage, in Volts
 ```
 
+### SPI port
+
 The driver's nCS pin is 10, and the constant PIN_nCS can be used:
 
 ```c++
 MagneticSensorAS5048A sensor = MagneticSensorAS5048A(PIN_nCS);
-```
+```
+
+## Examples
+
+The following examples for SimpleFOCNanoDriver can be found in our examples directory:
+
+- [SimpleFOC Nano on AVR](https://github.com/simplefoc/Arduino-FOC-drivers/blob/master/examples/drivers/simplefocnano/simplefocnano_atmega/simplefocnano_atmega.ino) (5V, 10bit ADC range, like original Nano, using AS5048A sensor on SPI)
+- [SimpleFOCNanoDriver torque-voltage mode](https://github.com/simplefoc/Arduino-FOC-drivers/blob/master/examples/drivers/simplefocnano/simplefocnano_torque_voltage/simplefocnano_torque_voltage.ino) (3.3V, 12bit ADC range, using AS5048A sensor on SPI)

src/encoders/a1334/A1334.cpp

@@ -17,9 +17,10 @@ A1334::~A1334() {
 
 void A1334::init(SPIClass* _spi) {
 	spi = _spi;
-	if (nCS>=0)
+	if (nCS>=0) {
 		pinMode(nCS, OUTPUT);
-	digitalWrite(nCS, HIGH);
+		digitalWrite(nCS, HIGH);
+	}
 	//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
 	spi->begin();
 	readRawAngle(); // read an angle
@@ -42,13 +43,13 @@ A1334Angle A1334::readRawAngle() {
 
 
 uint16_t A1334::spi_transfer16(uint16_t outdata) {
+	spi->beginTransaction(settings);
 	if (nCS>=0)
 		digitalWrite(nCS, 0);
-	spi->beginTransaction(settings);
 	uint16_t result = spi->transfer16(outdata);
-	spi->endTransaction();
 	if (nCS>=0)
 		digitalWrite(nCS, 1);
+	spi->endTransaction();
 	return result;
 };
 

src/encoders/aeat8800q24/AEAT8800Q24.cpp

@@ -78,14 +78,14 @@ void AEAT8800Q24::setConf2(AEAT8800Q24_CONF2_t value){
 uint16_t AEAT8800Q24::transfer16SPI(uint16_t outValue) {
     // delay 1us between switching the CS line to SPI
     delayMicroseconds(1);
-    if (nCS >= 0)
-        digitalWrite(nCS, LOW);    
     spi->endTransaction();
     spi->beginTransaction(spiSettings);
+    if (nCS >= 0)
+        digitalWrite(nCS, LOW);    
     uint16_t value = spi->transfer16(outValue);
-    spi->endTransaction();
     if (nCS >= 0)
         digitalWrite(nCS, HIGH);
+    spi->endTransaction();
     // delay 1us between switching the CS line to SSI
     delayMicroseconds(1);
     spi->beginTransaction(ssiSettings);

src/encoders/as5047/AS5047.cpp

@@ -17,9 +17,10 @@ AS5047::~AS5047() {
 
 void AS5047::init(SPIClass* _spi) {
 	spi = _spi;
-	if (nCS>=0)
+	if (nCS>=0) {
 		pinMode(nCS, OUTPUT);
-	digitalWrite(nCS, HIGH);
+		digitalWrite(nCS, HIGH);
+	}
 	//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
 	spi->begin();
 	readRawAngle(); // read an angle
@@ -230,13 +231,13 @@ uint16_t AS5047::calcParity(uint16_t data){
 
 
 uint16_t AS5047::spi_transfer16(uint16_t outdata) {
+	spi->beginTransaction(settings);
 	if (nCS>=0)
 		digitalWrite(nCS, 0);
-	spi->beginTransaction(settings);
 	uint16_t result = spi->transfer16(outdata);
-	spi->endTransaction();
 	if (nCS>=0)
 		digitalWrite(nCS, 1);
+	spi->endTransaction();
 	// TODO check parity
 	errorflag = ((result&AS5047_ERRFLG)>0);
 	return result;

src/encoders/as5047u/AS5047U.cpp

@@ -17,9 +17,10 @@ AS5047U::~AS5047U() {
 
 void AS5047U::init(SPIClass* _spi) {
 	spi = _spi;
-	if (nCS>=0)
+	if (nCS>=0) {
 		pinMode(nCS, OUTPUT);
-	digitalWrite(nCS, HIGH);
+		digitalWrite(nCS, HIGH);
+	}
 	//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
 	spi->begin();
 	readRawAngle(); // read an angle
@@ -291,13 +292,13 @@ uint16_t AS5047U::nop16(){
 
 
 uint16_t AS5047U::spi_transfer16(uint16_t outdata) {
+	spi->beginTransaction(settings);
 	if (nCS>=0)
 		digitalWrite(nCS, 0);
-	spi->beginTransaction(settings);
 	uint16_t result = spi->transfer16(outdata);
-	spi->endTransaction();
 	if (nCS>=0)
 		digitalWrite(nCS, 1);
+	spi->endTransaction();
 	errorflag = ((result&AS5047U_ERROR)>0);
 	warningflag = ((result&AS5047U_WARNING)>0);
 	return result;
@@ -321,26 +322,26 @@ uint16_t AS5047U::writeRegister24(uint16_t reg, uint16_t data) {
 	buff[0] = (reg>>8)&0x3F;
 	buff[1] = reg&0xFF;
 	buff[2] = calcCRC(reg);
+	spi->beginTransaction(settings);
 	if (nCS>=0)
 		digitalWrite(nCS, 0);
-	spi->beginTransaction(settings);
 	spi->transfer(buff, 3);
-	spi->endTransaction();
 	if (nCS>=0)
 		digitalWrite(nCS, 1);
+	spi->endTransaction();
 	errorflag = ((buff[0]&0x40)>0);
 	warningflag = ((buff[0]&0x80)>0);
 
 	buff[0] = (data>>8)&0x3F;
 	buff[1] = data&0xFF;
 	buff[2] = calcCRC(data);
+	spi->beginTransaction(settings);
 	if (nCS>=0)
 		digitalWrite(nCS, 0);
-	spi->beginTransaction(settings);
 	spi->transfer(buff, 3);
-	spi->endTransaction();
 	if (nCS>=0)
 		digitalWrite(nCS, 1);
+	spi->endTransaction();
 	errorflag = ((buff[0]&0x40)>0);
 	warningflag = ((buff[0]&0x80)>0);
 

src/encoders/as5048a/AS5048A.cpp

@@ -17,9 +17,10 @@ AS5048A::~AS5048A() {
 
 void AS5048A::init(SPIClass* _spi) {
 	spi = _spi;
-	if (nCS>=0)
+	if (nCS>=0) {
 		pinMode(nCS, OUTPUT);
-	digitalWrite(nCS, HIGH);
+		digitalWrite(nCS, HIGH);
+	}
 	//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
 	spi->begin();
 	readRawAngle(); // read an angle
@@ -103,13 +104,13 @@ uint16_t AS5048A::nop(){
 }
 
 uint16_t AS5048A::spi_transfer16(uint16_t outdata) {
+	spi->beginTransaction(settings);
 	if (nCS>=0)
 		digitalWrite(nCS, 0);
-	spi->beginTransaction(settings);
 	uint16_t result = spi->transfer16(outdata);
-	spi->endTransaction();
 	if (nCS>=0)
 		digitalWrite(nCS, 1);
+	spi->endTransaction();
 	// TODO check parity
 	errorflag = ((result&AS5048A_ERRFLG)>0);
 	return result;

src/encoders/as5600/AS5600.cpp

@@ -31,25 +31,25 @@ uint16_t AS5600::angle() {
         setAngleRegister();
     }
     _wire->requestFrom(_address, (uint8_t)2, (uint8_t)closeTransactions);
-    result = _wire->read()<<8;
+    result = (_wire->read()&0x0F)<<8;
     result |= _wire->read();
     return result;
 };
 
 
 uint16_t AS5600::readRawAngle() {
-    return readRegister(AS5600_REG_ANGLE_RAW, 2);
+    return readRegister(AS5600_REG_ANGLE_RAW, 2) & 0x0FFF;
 };
 
 
 uint16_t AS5600::readAngle() {
-    return readRegister(AS5600_REG_ANGLE, 2);
+    return readRegister(AS5600_REG_ANGLE, 2) & 0x0FFF;
 };
 
 
 
 uint16_t AS5600::readMagnitude() {
-    return readRegister(AS5600_REG_MAGNITUDE, 2);
+    return readRegister(AS5600_REG_MAGNITUDE, 2) & 0x0FFF;
 };
 
 
@@ -74,17 +74,17 @@ AS5600Conf AS5600::readConf() {
 
 
 uint16_t AS5600::readMang() {
-    return readRegister(AS5600_REG_MANG, 2);
+    return readRegister(AS5600_REG_MANG, 2) & 0x0FFF;
 };
 
 
 uint16_t AS5600::readMPos() {
-    return readRegister(AS5600_REG_MPOS, 2);
+    return readRegister(AS5600_REG_MPOS, 2) & 0x0FFF;
 };
 
 
 uint16_t AS5600::readZPos() {
-    return readRegister(AS5600_REG_ZPOS, 2);
+    return readRegister(AS5600_REG_ZPOS, 2) & 0x0FFF;
 };