FEAT added stepper with 2pwm and esp32 refactoring

Author: askuric

examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino

@@ -0,0 +1,34 @@
+// Stepper driver standalone example
+#include <SimpleFOC.h>
+
+
+// Stepper driver instance
+// StepperDriver2PWM(pwm1, in1a, in1b, pwm2, in2a, in2b, (en1, en2 optional))
+StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 10 , 9 , 8 , 11, 12);
+
+void setup() {
+  
+  // pwm frequency to be used [Hz]
+  // for atmega328 fixed to 32kHz
+  // esp32/stm32/teensy configurable
+  driver.pwm_frequency = 30000;
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  // Max DC voltage allowed - default voltage_power_supply
+  driver.voltage_limit = 12;
+  
+  // driver init
+  driver.init();
+
+  // enable driver
+  driver.enable();
+
+  _delay(1000);
+}
+
+void loop() {
+    // setting pwm
+    // phase A: 3V
+    // phase B: 6V
+    driver.setPwm(3,6);
+}

examples/utils/driver_standalone_test/stepper_driver_4pwm_standalone/stepper_driver_4pwm_standalone.ino

@@ -3,14 +3,15 @@
 
 
 // Stepper driver instance
+// StepperDriver4PWM(ph1A, ph1B, ph2A, ph2B, (en1, en2 optional))
 StepperDriver4PWM driver = StepperDriver4PWM(5, 6, 9,10, 7, 8);
 
 void setup() {
 
   // pwm frequency to be used [Hz]
   // for atmega328 fixed to 32kHz
   // esp32/stm32/teensy configurable
-  driver.pwm_frequency = 50000;
+  driver.pwm_frequency = 30000;
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
   // Max DC voltage allowed - default voltage_power_supply

keywords.txt

@@ -12,6 +12,7 @@ BLDCDriver3PWM	KEYWORD1
 BLDCDriver6PWM	KEYWORD1    
 BLDCDriver	KEYWORD1    
 StepperDriver4PWM	KEYWORD1    
+StepperDriver2PWM	KEYWORD1    
 StepperDriver	KEYWORD1    
 
 initFOC	KEYWORD2

src/SimpleFOC.h

@@ -106,5 +106,6 @@ void loop() {
 #include "drivers/BLDCDriver3PWM.h"
 #include "drivers/BLDCDriver6PWM.h"
 #include "drivers/StepperDriver4PWM.h"
+#include "drivers/StepperDriver2PWM.h"
 
 #endif

src/StepperMotor.cpp

@@ -246,7 +246,7 @@ void StepperMotor::velocityOpenloop(float target_velocity){
 
   // calculate the necessary angle to achieve target velocity
   shaft_angle += target_velocity*Ts; 
-
+    
   // set the maximal allowed voltage (voltage_limit) with the necessary angle
   setPhaseVoltage(voltage_limit, 0, _electricalAngle(shaft_angle,pole_pairs));
 

src/drivers/StepperDriver2PWM.cpp

@@ -0,0 +1,96 @@
+#include "StepperDriver2PWM.h"
+
+StepperDriver2PWM::StepperDriver2PWM(int ph1PWM, int ph1INA, int ph1INB, int ph2PWM, int ph2INA, int ph2INB, int en1, int en2){
+  // Pin initialization
+  pwm1 = ph1PWM; //!< phase 1 pwm pin number
+  ina1 = ph1INA; //!< phase 1 INA pin number
+  inb1 = ph1INB; //!< phase 1 INB pin number
+  pwm2 = ph2PWM; //!< phase 2 pwm pin number
+  ina2 = ph2INA; //!< phase 2 INA pin number
+  inb2 = ph2INB; //!< phase 2 INB pin number
+
+  // enable_pin pin
+  enable_pin1 = en1;
+  enable_pin2 = en2;
+
+  // default power-supply value
+  voltage_power_supply = DEF_POWER_SUPPLY;
+  voltage_limit = NOT_SET;
+
+}
+
+// enable motor driver
+void  StepperDriver2PWM::enable(){
+    // enable_pin the driver - if enable_pin pin available
+    if ( enable_pin1 != NOT_SET ) digitalWrite(enable_pin1, HIGH);
+    if ( enable_pin2 != NOT_SET ) digitalWrite(enable_pin2, HIGH);
+    // set zero to PWM
+    setPwm(0,0);
+}
+
+// disable motor driver
+void StepperDriver2PWM::disable()
+{
+  // set zero to PWM
+  setPwm(0, 0);
+  // disable the driver - if enable_pin pin available
+  if ( enable_pin1 != NOT_SET ) digitalWrite(enable_pin1, LOW);
+  if ( enable_pin2 != NOT_SET ) digitalWrite(enable_pin2, LOW);
+
+}
+
+// init hardware pins   
+int StepperDriver2PWM::init() {
+
+  // PWM pins
+  pinMode(pwm1, OUTPUT);
+  pinMode(pwm2, OUTPUT);
+  pinMode(ina1, OUTPUT);
+  pinMode(ina2, OUTPUT);
+  pinMode(inb1, OUTPUT);
+  pinMode(inb2, OUTPUT);
+
+  if(enable_pin1 != NOT_SET) pinMode(enable_pin1, OUTPUT);
+  if(enable_pin2 != NOT_SET) pinMode(enable_pin2, OUTPUT);
+
+  // sanity check for the voltage limit configuration
+  if(voltage_limit == NOT_SET || voltage_limit > voltage_power_supply) voltage_limit =  voltage_power_supply;
+
+  // Set the pwm frequency to the pins
+  // hardware specific function - depending on driver and mcu
+  _configure2PWM(pwm_frequency, pwm1, pwm2);
+  return 0;
+}
+
+
+// Set voltage to the pwm pin
+void StepperDriver2PWM::setPwm(float Ualpha, float Ubeta) {  
+  float duty_cycle1(0.0),duty_cycle2(0.0);
+  // limit the voltage in driver
+  Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
+  Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit);
+  // hardware specific writing
+  duty_cycle1 = _constrain(abs(Ualpha)/voltage_power_supply,0.0,1.0);
+  duty_cycle2 = _constrain(abs(Ubeta)/voltage_power_supply,0.0,1.0);
+  // set direction
+  if( Ualpha > 0 ){
+    digitalWrite(inb1, LOW);
+    digitalWrite(ina1, HIGH);
+  }
+  else{
+    digitalWrite(ina1, LOW);
+    digitalWrite(inb1, HIGH);
+  }
+    
+  if( Ubeta > 0 ){
+    digitalWrite(ina2, LOW);
+    digitalWrite(inb2, HIGH);
+  }
+  else{
+    digitalWrite(inb2, LOW);
+    digitalWrite(ina2, HIGH);
+  }
+
+  // write to hardware
+  _writeDutyCycle2PWM(duty_cycle1, duty_cycle2, pwm1, pwm2);
+}

src/drivers/StepperDriver2PWM.h

@@ -0,0 +1,59 @@
+#ifndef STEPPER_DRIVER_2PWM_h
+#define STEPPER_DRIVER_2PWM_h
+
+#include "../common/base_classes/StepperDriver.h"
+#include "../common/foc_utils.h"
+#include "../common/time_utils.h"
+#include "../common/defaults.h"
+#include "hardware_api.h"
+
+/**
+ 2 pwm stepper driver class
+*/
+class StepperDriver2PWM: public StepperDriver
+{
+  public:
+    /**
+      StepperMotor class constructor
+      @param ph1PWM  PWM1 phase pwm pin
+      @param ph1INA  IN1A phase dir pin
+      @param ph1INB  IN1B phase dir pin
+      @param ph2PWM  PWM2 phase pwm pin
+      @param ph2INA  IN2A phase dir pin
+      @param ph2INB  IN2B phase dir pin
+      @param en1 enable pin phase 1 (optional input)
+      @param en2 enable pin phase 2 (optional input)
+    */
+    StepperDriver2PWM(int ph1PWM,int ph1INA,int ph1INB,int ph2PWM,int ph2INA,int ph2INB, int en1 = NOT_SET, int en2 = NOT_SET);
+    
+    /**  Motor hardware init function */
+  	int init() override;
+    /** Motor disable function */
+  	void disable() override;
+    /** Motor enable function */
+    void enable() override;
+
+    // hardware variables
+    int pwm1; //!< phase 1 pwm pin number
+    int ina1; //!< phase 1 INA pin number
+    int inb1; //!< phase 1 INB pin number
+    int pwm2; //!< phase 2 pwm pin number
+    int ina2; //!< phase 2 INA pin number
+    int inb2; //!< phase 2 INB pin number
+    int enable_pin1; //!< enable pin number phase 1
+    int enable_pin2; //!< enable pin number phase 2
+
+    /** 
+     * Set phase voltages to the harware 
+     * 
+     * @param Ua phase A voltage
+     * @param Ub phase B voltage
+    */
+    void setPwm(float Ua, float Ub) override;
+
+  private:
+        
+};
+
+
+#endif

src/drivers/hardware_api.h

@@ -4,6 +4,17 @@
 #include "../common/foc_utils.h"
 #include "../common/time_utils.h"
 
+/** 
+ * Configuring PWM frequency, resolution and alignment
+ * - Stepper driver - 2PWM setting
+ * - hardware specific
+ * 
+ * @param pwm_frequency - frequency in hertz - if applicable
+ * @param pinA pinA bldc driver
+ * @param pinB pinB bldc driver
+ */
+void _configure2PWM(long pwm_frequency, const int pinA, const int pinB);
+
 /** 
  * Configuring PWM frequency, resolution and alignment
  * - BLDC driver - 3PWM setting
@@ -47,6 +58,18 @@ void _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const
  */
 int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l);
 
+/** 
+ * Function setting the duty cycle to the pwm pin (ex. analogWrite())
+ * - Stepper driver - 2PWM setting
+ * - hardware specific
+ * 
+ * @param dc_a  duty cycle phase A [0, 1]
+ * @param dc_b  duty cycle phase B [0, 1]
+ * @param pinA  phase A hardware pin number
+ * @param pinB  phase B hardware pin number
+ */ 
+void _writeDutyCycle2PWM(float dc_a,  float dc_b, int pinA, int pinB);
+
 /** 
  * Function setting the duty cycle to the pwm pin (ex. analogWrite())
  * - BLDC driver - 3PWM setting

src/drivers/hardware_specific/atmega328_mcu.cpp

@@ -17,6 +17,18 @@ void _pinHighFrequency(const int pin){
 
 }
 
+
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+// supports Arudino/ATmega328
+void _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {
+   //  High PWM frequency
+   // - always max 32kHz
+  _pinHighFrequency(pinA);
+  _pinHighFrequency(pinB);
+}
+
 // function setting the high pwm frequency to the supplied pins
 // - BLDC motor - 3PWM setting
 // - hardware speciffic
@@ -29,6 +41,14 @@ void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int
   _pinHighFrequency(pinC);
 }
 
+// function setting the pwm duty cycle to the hardware 
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+void _writeDutyCycle2PWM(float dc_a,  float dc_b, int pinA, int pinB){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pinA, 255.0*dc_a);
+  analogWrite(pinB, 255.0*dc_b);
+}
 
 // function setting the pwm duty cycle to the hardware 
 // - BLDC motor - 3PWM setting