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* update to latest motorgo api * feat: add component for tinys3 test stand * feat: update to allow kconfig to switch between motorgo-mini and tinys3 test stand hardware. Simplified main code accordingly * update readme.
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Submodule espp
updated
3 files
| +4 −0 | components/gfps_service/src/gfps_service.cpp | |
| +62 −5 | components/motorgo-mini/include/motorgo-mini.hpp | |
| +30 −29 | components/nvs/example/main/nvs_example.cpp |
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| @@ -0,0 +1,4 @@ | ||
| idf_component_register( | ||
| INCLUDE_DIRS "include" | ||
| REQUIRES base_component filters math mt6701 pid bldc_driver bldc_motor i2c | ||
| ) |
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components/tinys3_test_stand/include/tinys3_test_stand.hpp
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| #pragma once | ||
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| #pragma once | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include "base_component.hpp" | ||
| #include "bldc_driver.hpp" | ||
| #include "bldc_motor.hpp" | ||
| #include "i2c.hpp" | ||
| #include "mt6701.hpp" | ||
| #include "simple_lowpass_filter.hpp" | ||
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| namespace espp { | ||
| /// This class acts as a board support component for the TinyS3 BLDC Test Stand. | ||
| /// It provides a high-level interface to the system's functionality. | ||
| /// | ||
| /// High level overview of the system | ||
| /// - ESP32s3 module, using TinyS3 | ||
| /// - TMC6300-BOB motor driver on a breakout board | ||
| /// - One MT6701 magnetic encoder connected via I2C | ||
| class TinyS3TestStand : public BaseComponent { | ||
| public: | ||
| using Encoder = espp::Mt6701<>; | ||
| using BldcMotor = espp::BldcMotor<espp::BldcDriver, Encoder>; | ||
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| /// Constructor | ||
| /// \param verbosity The verbosity level for the logger of the MotorGo-Mini | ||
| /// and its components | ||
| explicit TinyS3TestStand(espp::Logger::Verbosity verbosity = espp::Logger::Verbosity::WARN) | ||
| : BaseComponent("TinyS3 Test Stand", verbosity) { | ||
| init(); | ||
| } | ||
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| /// Get a reference to the encoder | ||
| /// \return A reference to the encoder | ||
| Encoder &encoder() { return encoder_; } | ||
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| /// Get a reference to the motor driver | ||
| /// \return A reference to the motor driver | ||
| espp::BldcDriver &motor_driver() { return motor_driver_; } | ||
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| /// Get a reference to the motor | ||
| /// \return A reference to the motor | ||
| BldcMotor &motor() { return motor_; } | ||
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| protected: | ||
| static constexpr auto I2C_PORT = I2C_NUM_0; | ||
| static constexpr auto I2C_SDA_PIN = GPIO_NUM_8; | ||
| static constexpr auto I2C_SCL_PIN = GPIO_NUM_9; | ||
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| static constexpr uint64_t core_update_period_us = 1000; // 1 ms | ||
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| static constexpr auto MOTOR_A_H = GPIO_NUM_1; | ||
| static constexpr auto MOTOR_A_L = GPIO_NUM_2; | ||
| static constexpr auto MOTOR_B_H = GPIO_NUM_3; | ||
| static constexpr auto MOTOR_B_L = GPIO_NUM_4; | ||
| static constexpr auto MOTOR_C_H = GPIO_NUM_5; | ||
| static constexpr auto MOTOR_C_L = GPIO_NUM_21; | ||
| static constexpr auto MOTOR_ENABLE = GPIO_NUM_34; | ||
| static constexpr auto MOTOR_FAULT = GPIO_NUM_36; | ||
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| void init() { | ||
| init_encoder(); | ||
| init_motor(); | ||
| } | ||
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| void init_encoder() { | ||
| bool run_task = true; | ||
| std::error_code ec; | ||
| encoder_.initialize(run_task, ec); | ||
| if (ec) { | ||
| logger_.error("Could not initialize encoder: {}", ec.message()); | ||
| } | ||
| } | ||
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| void init_motor() { motor_.initialize(); } | ||
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| /// I2C bus for external communication | ||
| I2c i2c_{{ | ||
| .port = I2C_PORT, | ||
| .sda_io_num = I2C_SDA_PIN, | ||
| .scl_io_num = I2C_SCL_PIN, | ||
| .sda_pullup_en = GPIO_PULLUP_ENABLE, | ||
| .scl_pullup_en = GPIO_PULLUP_ENABLE, | ||
| .clk_speed = 1 * 1000 * 1000, // MT6701 supports 1 MHz I2C | ||
| }}; | ||
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| // Encoder | ||
| Encoder encoder_{ | ||
| {.write = std::bind(&espp::I2c::write, &i2c_, std::placeholders::_1, std::placeholders::_2, | ||
| std::placeholders::_3), | ||
| .read = std::bind(&espp::I2c::read, &i2c_, std::placeholders::_1, std::placeholders::_2, | ||
| std::placeholders::_3), | ||
| .update_period = std::chrono::duration<float>(core_update_period_us / 1e6f), | ||
| .auto_init = false, // we have to initialize the SPI first before we can use the encoder | ||
| .log_level = get_log_level()}}; | ||
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| // Driver | ||
| espp::BldcDriver motor_driver_{{.gpio_a_h = MOTOR_A_H, | ||
| .gpio_a_l = MOTOR_A_L, | ||
| .gpio_b_h = MOTOR_B_H, | ||
| .gpio_b_l = MOTOR_B_L, | ||
| .gpio_c_h = MOTOR_C_H, | ||
| .gpio_c_l = MOTOR_C_L, | ||
| .gpio_enable = MOTOR_ENABLE, | ||
| .gpio_fault = MOTOR_FAULT, | ||
| .power_supply_voltage = 5.0f, | ||
| .limit_voltage = 5.0f, | ||
| .log_level = get_log_level()}}; | ||
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| // Filters | ||
| espp::SimpleLowpassFilter motor_velocity_filter_{{.time_constant = 0.005f}}; | ||
| espp::SimpleLowpassFilter motor_angle_filter_{{.time_constant = 0.001f}}; | ||
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| // Motor | ||
| BldcMotor motor_{{ | ||
| .num_pole_pairs = 7, | ||
| .phase_resistance = 5.0f, | ||
| .kv_rating = 320, | ||
| .current_limit = 1.0f, | ||
| .foc_type = espp::detail::FocType::SPACE_VECTOR_PWM, | ||
| // create shared_ptr from raw pointer to ensure shared_ptr doesn't delete the object | ||
| .driver = | ||
| std::shared_ptr<espp::BldcDriver>(std::shared_ptr<espp::BldcDriver>{}, &motor_driver_), | ||
| // create shared_ptr from raw pointer to ensure shared_ptr doesn't delete the object | ||
| .sensor = std::shared_ptr<Encoder>(std::shared_ptr<Encoder>{}, &encoder_), | ||
| .velocity_pid_config = | ||
| { | ||
| .kp = 0.010f, | ||
| .ki = 1.000f, | ||
| .kd = 0.000f, | ||
| .integrator_min = -1.0f, // same scale as output_min (so same scale as current) | ||
| .integrator_max = 1.0f, // same scale as output_max (so same scale as current) | ||
| .output_min = -1.0, // velocity pid works on current (if we have phase resistance) | ||
| .output_max = 1.0, // velocity pid works on current (if we have phase resistance) | ||
| }, | ||
| .angle_pid_config = | ||
| { | ||
| .kp = 7.000f, | ||
| .ki = 0.300f, | ||
| .kd = 0.010f, | ||
| .integrator_min = -10.0f, // same scale as output_min (so same scale as velocity) | ||
| .integrator_max = 10.0f, // same scale as output_max (so same scale as velocity) | ||
| .output_min = -20.0, // angle pid works on velocity (rad/s) | ||
| .output_max = 20.0, // angle pid works on velocity (rad/s) | ||
| }, | ||
| .velocity_filter = [this](auto v) { return motor_velocity_filter_(v); }, | ||
| .angle_filter = [this](auto v) { return motor_angle_filter_(v); }, | ||
| .auto_init = false, // we have to initialize the SPI first before we can use the encoder | ||
| .log_level = get_log_level(), | ||
| }}; | ||
| }; | ||
| } // namespace espp |
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| menu "Example Configuration" | ||
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| choice EXAMPLE_HARDWARE | ||
| prompt "Hardware" | ||
| default EXAMPLE_HARDWARE_MOTORGO_MINI | ||
| help | ||
| Select the hardware to run this example on. | ||
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| config EXAMPLE_HARDWARE_MOTORGO_MINI | ||
| depends on IDF_TARGET_ESP32S3 | ||
| bool "MotorGo Mini" | ||
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| config EXAMPLE_HARDWARE_TEST_STAND | ||
| depends on IDF_TARGET_ESP32S3 | ||
| bool "BLDC Motor Test Stand (TinyS3)" | ||
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| endchoice | ||
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| endmenu |
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