feat(motor): as5048a encoder support

- 14-bit rotary position encoder AS5048A support added

components/motor/esp_simplefoc/CHANGELOG.md

@@ -1,5 +1,11 @@
 # ChangeLog
 
+
+## v0.2.0 - 2024-7-5
+### Enhancements:
+* FOC:
+    * Support for as5048a encoder added
+
 ## v0.1.2 - 2023-12-11
 ### Bug Fix:
 * FOC:

components/motor/esp_simplefoc/CMakeLists.txt

@@ -6,11 +6,12 @@ set(SRC_FILES
     "port/esp/esp_app_fmath.cpp"
     "port/esp/esp_app_print.cpp"
     "port/angle_sensor/as5600.cpp"
-    "port/angle_sensor/mt6701.cpp")
+    "port/angle_sensor/mt6701.cpp"
+    "port/angle_sensor/as5048a.cpp")
 
 set(INC_FILES "port/esp/include/" "port/angle_sensor")
 set(IGNORE_FILES "port/esp/esp_hal_adc.cpp" "port/esp/esp_hal_mcpwm.cpp"
-                 "port/esp/esp_hal_bldc_3pwm.cpp" "port/angle_sensor/mt6701.cpp")
+                 "port/esp/esp_hal_bldc_3pwm.cpp" "port/angle_sensor/mt6701.cpp" "port/angle_sensor/as5048a.cpp")
 
 idf_component_register(
   SRCS

components/motor/esp_simplefoc/idf_component.yml

@@ -1,4 +1,4 @@
-version: 0.1.1
+version: 0.2.0
 targets:
   - esp32
   - esp32s2

components/motor/esp_simplefoc/port/angle_sensor/as5048a.cpp

@@ -0,0 +1,123 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "as5048a.h"
+#include "esp_log.h"
+#include "esp_check.h"
+
+#define AS5048A_REG_ANGLE   0x3FFF
+#define PI                  3.14159265358979f
+
+static const char *TAG = "AS5048a";
+
+AS5048a::AS5048a(spi_host_device_t spi_host, gpio_num_t sclk_io, gpio_num_t miso_io, gpio_num_t mosi_io, gpio_num_t cs_io)
+{
+    _spi_host = spi_host;
+    _sclk_io = sclk_io;
+    _miso_io = miso_io;
+    _mosi_io = mosi_io;
+    _cs_io = cs_io;
+    is_installed = false;
+}
+
+AS5048a::~AS5048a()
+{
+    if (is_installed) {
+        deinit();
+    }
+}
+
+void AS5048a::deinit()
+{
+    esp_err_t ret;
+    ret = spi_bus_remove_device(spi_device);
+    ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI remove device fail");
+    ret = spi_bus_free(_spi_host);
+    ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI free fail");
+    is_installed = false;
+}
+
+void AS5048a::init()
+{
+    esp_err_t ret;
+
+    /*!< Configuration for the spi bus */
+    spi_bus_config_t buscfg = {
+        .mosi_io_num = _mosi_io,
+        .miso_io_num = _miso_io,
+        .sclk_io_num = _sclk_io,
+        .quadwp_io_num = -1,
+        .quadhd_io_num = -1,
+        .max_transfer_sz = 1000,
+    };
+    ret = spi_bus_initialize(_spi_host, &buscfg, SPI_DMA_CH_AUTO);
+    ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI bus init fail");
+
+    spi_device_interface_config_t devcfg = {
+        .command_bits = 0,
+        .address_bits = 0,
+        .dummy_bits = 0,
+        .mode = 1,
+        .cs_ena_pretrans = 1,
+        .clock_speed_hz = 4 * 1000 * 1000,
+        .spics_io_num = _cs_io,
+        .queue_size = 1,
+    };
+
+    ret = spi_bus_add_device(_spi_host, &devcfg, &spi_device);
+    ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI bus add device fail");
+
+    is_installed = true;
+}
+
+uint8_t AS5048a::calculateParity(uint16_t value)
+{
+    uint8_t count = 0;
+    for (int i = 0; i < 16; i++) {
+        if (value & 0x1) {
+            count++;
+        }
+        value >>= 1;
+    }
+    return count & 0x1;
+}
+
+uint16_t AS5048a::readRegister(uint16_t reg_address)
+{
+    uint16_t command = 1 << 14; // PAR=0 R/W=R (Read command)
+    command |= reg_address; // Command to read angle
+    command |= ((uint16_t)calculateParity(command) << 15); // Adding parity bit
+
+    uint8_t cmd_high = (command >> 8) & 0xFF;
+    uint8_t cmd_low = command & 0xFF;
+    uint8_t tx_buffer[2] = {cmd_high, cmd_low};
+    spi_transaction_t t = {};
+    t.length = 16; // 16 bits
+    t.tx_buffer = tx_buffer;
+    t.rx_buffer = NULL;
+    spi_device_transmit(spi_device, &t);
+
+    uint8_t rx_buffer[2] = {};
+    t.length = 16; // 16 bits
+    t.tx_buffer = NULL;
+    t.rxlength = 16; // 16 bits
+    t.rx_buffer = rx_buffer;
+    spi_device_transmit(spi_device, &t);
+
+    uint16_t reg_value = (rx_buffer[0] << 8) | rx_buffer[1];
+    return reg_value & 0x3FFF; // Masking to get 14 bits angle value
+}
+
+uint16_t AS5048a::readRawPosition()
+{
+    return readRegister(AS5048A_REG_ANGLE);
+}
+
+float AS5048a::getSensorAngle()
+{
+    uint16_t raw_angle = readRawPosition();
+    float angle = (((int)raw_angle & 0b0011111111111111) * 360.0f / 16383.0f) * (PI / 180.0f);
+    return angle;
+}

components/motor/esp_simplefoc/port/angle_sensor/as5048a.h

@@ -0,0 +1,61 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "common/base_classes/Sensor.h"
+#include "driver/spi_master.h"
+#include "driver/gpio.h"
+
+class AS5048a : public Sensor {
+public:
+    /**
+         * @brief Construct a new AS5048a object
+         *
+         * @param spi_host
+         * @param sclk_io
+         * @param miso_io
+         * @param mosi_io
+         * @param cs_io
+         */
+    AS5048a(spi_host_device_t spi_host, gpio_num_t sclk_io, gpio_num_t miso_io, gpio_num_t mosi_io, gpio_num_t cs_io);
+    /**
+     * @brief Destroy the AS5048a object
+     *
+     */
+    ~AS5048a();
+    /**
+     * @brief Init spi for AS5048a
+     *
+     */
+    void        init();
+    /**
+     * @brief Deinit spi for AS5048a
+     *
+     */
+    void        deinit();
+    /**
+     * @brief Get the output of AS5048a
+     *
+     * @return float
+     */
+    float       getSensorAngle();
+
+private:
+    uint16_t        readRegister(uint16_t reg_address);
+    uint16_t        readRawPosition();
+    static uint8_t  calculateParity(uint16_t value);
+
+private:
+    spi_host_device_t _spi_host;
+    gpio_num_t _sclk_io;
+    gpio_num_t _miso_io;
+    gpio_num_t _mosi_io;
+    gpio_num_t _cs_io;
+    spi_device_handle_t spi_device;
+    bool is_installed;
+
+};

components/motor/esp_simplefoc/port/esp/include/esp_simplefoc.h

@@ -15,3 +15,4 @@
 #include "current_sense/LowsideCurrentSense.h"
 #include "../../angle_sensor/as5600.h"
 #include "../../angle_sensor/mt6701.h"
+#include "../../angle_sensor/as5048a.h"

components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp

@@ -42,6 +42,21 @@ TEST_CASE("test mt6701", "[sensor][mt6701]")
     mt6701.deinit();
 }
 
+TEST_CASE("test as5048a", "[sensor][as5048a]")
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    AS5048a as5048a = AS5048a(SPI2_HOST, GPIO_NUM_2, GPIO_NUM_1, (gpio_num_t) -1, GPIO_NUM_3);
+#else
+    AS5048a as5048a = AS5048a(SPI2_HOST, GPIO_NUM_2, GPIO_NUM_1, (gpio_num_t) -1, GPIO_NUM_42);
+#endif
+    as5048a.init();
+    for (int i = 0; i < 10; ++i) {
+        ESP_LOGI(TAG, "angle:%.2f", as5048a.getSensorAngle());
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+    as5048a.deinit();
+}
+
 TEST_CASE("test esp_simplefoc openloop control", "[single motor][openloop][14pp][ledc][drv8313][c3]")
 {
     BLDCMotor motor = BLDCMotor(14);