feat(esp_simplefoc): esp_simplefoc component version update. fix #392

espressif · Oct 8, 2024 · 8f2f077 · 8f2f077
1 parent e1ee3d1
commit 8f2f077
Show file tree

Hide file tree

Showing 12 changed files with 422 additions and 73 deletions.
diff --git a/components/motor/esp_simplefoc/CHANGELOG.md b/components/motor/esp_simplefoc/CHANGELOG.md
@@ -1,5 +1,11 @@
 # ChangeLog
 
+## v1.0.0 - 2024-9-20
+### Enhancements:
+* FOC:
+    * MT6701 encoder supports I2C mode.
+    * Modify the ledc source clock of ESP32C6 and ESP32H2 to auto.
+    * Version maintenance.
 
 ## v0.2.0 - 2024-7-5
 ### Enhancements:

diff --git a/components/motor/esp_simplefoc/README.md b/components/motor/esp_simplefoc/README.md
@@ -11,8 +11,25 @@ Features:
 5. Use IQMath to greatly accelerate Foc operations.
 
 
+### Add component to your project
+
+Please use the component manager command `add-dependency` to add the `esp_simplefoc` to your project's dependency, during the `CMake` step the component will be downloaded automatically
+
+```
+idf.py add-dependency "espressif/esp_simplefoc=*"
+```
+
+Alternatively, you can create `idf_component.yml`. More is in [Espressif's documentation](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/tools/idf-component-manager.html).
+
+### User guide
+
+Please refer to：https://docs.espressif.com/projects/esp-iot-solution/zh_CN/latest/motor/foc/esp_simplefoc.html
+
+
 ### Usage Considerations
+
 1. The configTICK_RATE_HZ of Freertos must be set to 1000. If it is not set, a motor exception may occur.
 
 ### License
+
 esp_simplefoc is licensed under the Apache License, see license.txt for more information.
diff --git a/components/motor/esp_simplefoc/idf_component.yml b/components/motor/esp_simplefoc/idf_component.yml
@@ -1,4 +1,4 @@
-version: 0.2.0
+version: 1.0.0
 targets:
   - esp32
   - esp32s2

diff --git a/components/motor/esp_simplefoc/port/angle_sensor/mt6701.cpp b/components/motor/esp_simplefoc/port/angle_sensor/mt6701.cpp
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -52,6 +52,14 @@ MT6701::MT6701(spi_host_device_t spi_host, gpio_num_t sclk_io, gpio_num_t miso_i
     is_installed = false;
 }
 
+MT6701::MT6701(i2c_port_t i2c_port, gpio_num_t sclk_io, gpio_num_t miso_io)
+{
+    _i2c_port = i2c_port;
+    _sclk_io = sclk_io;
+    _miso_io = miso_io;
+    is_installed = false;
+}
+
 MT6701::~MT6701()
 {
     if (is_installed) {
@@ -63,46 +71,76 @@ void MT6701::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 dev_cfg = {
-        .command_bits = 0,
-        .address_bits = 0,
-        .dummy_bits = 0,
-        .mode = 3,
-        .clock_speed_hz = 4000000,
-        .spics_io_num = _cs_io,
-        .flags = 0,
-        .queue_size = 1,
-        .pre_cb = NULL,
-        .post_cb = NULL,
-    };
-
-    ret = spi_bus_add_device(_spi_host, &dev_cfg, &spi_device);
-    ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI bus add device fail");
-
-    is_installed = true;
+    if (_spi_host != SPI_HOST_MAX) {
+        // 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 dev_cfg = {
+            .command_bits = 0,
+            .address_bits = 0,
+            .dummy_bits = 0,
+            .mode = 3,
+            .clock_speed_hz = 4000000,
+            .spics_io_num = _cs_io,
+            .flags = 0,
+            .queue_size = 1,
+            .pre_cb = NULL,
+            .post_cb = NULL,
+        };
+
+        ret = spi_bus_add_device(_spi_host, &dev_cfg, &spi_device);
+        ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "SPI bus add device fail");
+
+        is_installed = true;
+    } else if (_i2c_port != I2C_NUM_MAX) {
+        // Configuration for the i2c bus
+        i2c_config_t i2c_config = {
+            .mode = I2C_MODE_MASTER,
+            .sda_io_num = _miso_io,
+            .scl_io_num = _sclk_io,
+            .sda_pullup_en = GPIO_PULLUP_ENABLE,
+            .scl_pullup_en = GPIO_PULLUP_ENABLE,
+        };
+        i2c_config.master.clk_speed = 400 * 1000;
+
+        ret = i2c_param_config(_i2c_port, &i2c_config);
+        ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "I2C config fail");
+
+        ret = i2c_driver_install(_i2c_port, i2c_config.mode, 0, 0, 0);
+        ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "I2C install fail");
+
+        is_installed = true;
+    } else {
+        is_installed = false;
+    }
+
 }
 
 void MT6701::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;
+
+    if (_spi_host != SPI_HOST_MAX) {
+        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;
+    } else if (_i2c_port != I2C_NUM_MAX) {
+        ret = i2c_driver_delete(_i2c_port);
+        ESP_RETURN_ON_FALSE(ret == ESP_OK,, TAG, "I2C del fail");
+        is_installed = false;
+    }
 }
 
 float MT6701::getSensorAngle()
@@ -111,29 +149,41 @@ float MT6701::getSensorAngle()
     static float angle = 0.0;
     static float previous_angle = 0.0;
 
-    spi_transaction_t spi_transaction = {
-        .flags = SPI_TRANS_USE_RXDATA,
-        .length = 24,
-        .rxlength = 24,
-        .tx_buffer = NULL,
-        .rx_buffer = NULL,
-    };
-
-    ret = spi_device_polling_transmit(spi_device, &spi_transaction);
-    ESP_RETURN_ON_FALSE(ret == ESP_OK, 0.0, TAG, "SPI transaction failed: %s", esp_err_to_name(ret));
-
-    uint32_t spi_32 = ((int32_t)spi_transaction.rx_data[0] << 16) | ((int32_t)spi_transaction.rx_data[1] << 8) | spi_transaction.rx_data[2];
-    uint32_t angle_spi = spi_32 >> 10;
-
-    uint8_t received_crc = spi_32 & 0x3F;
-    uint8_t calculated_crc = CRC6_43_18bit(spi_32 >> 6);
-
-    if (received_crc == calculated_crc) {
-        angle = (float)angle_spi * 2 * M_PI / 16384;
-        previous_angle = angle;
-        ESP_LOGD(TAG, "Angle: %f", angle);
-    } else {
-        return previous_angle;
+    if (_spi_host != SPI_HOST_MAX) {
+        spi_transaction_t spi_transaction = {
+            .flags = SPI_TRANS_USE_RXDATA,
+            .length = 24,
+            .rxlength = 24,
+            .tx_buffer = NULL,
+            .rx_buffer = NULL,
+        };
+
+        ret = spi_device_polling_transmit(spi_device, &spi_transaction);
+        ESP_RETURN_ON_FALSE(ret == ESP_OK, 0.0, TAG, "SPI transaction failed: %s", esp_err_to_name(ret));
+
+        uint32_t spi_32 = ((int32_t)spi_transaction.rx_data[0] << 16) | ((int32_t)spi_transaction.rx_data[1] << 8) | spi_transaction.rx_data[2];
+        uint32_t angle_spi = spi_32 >> 10;
+
+        uint8_t received_crc = spi_32 & 0x3F;
+        uint8_t calculated_crc = CRC6_43_18bit(spi_32 >> 6);
+
+        if (received_crc == calculated_crc) {
+            angle = (float)angle_spi * 2 * M_PI / 16384;
+            previous_angle = angle;
+            ESP_LOGD(TAG, "Angle: %f", angle);
+        } else {
+            return previous_angle;
+        }
+        return angle;
+    } else if (_i2c_port != I2C_NUM_MAX) {
+        uint8_t raw_angle_addr = 0x03;
+        uint8_t raw_angle_buffer[2] = {0};
+        if (i2c_master_write_read_device(_i2c_port, 0x06, &raw_angle_addr, 1, raw_angle_buffer, 2, 1000 / portTICK_PERIOD_MS) != ESP_OK) {
+            return -1;
+        }
+        angle = ((int)((raw_angle_buffer[0] << 6) | (raw_angle_buffer[1] >> 2))) * 0.00038349519f; /*!< Converts raw data into angle information in radians. */
+        return angle;
     }
-    return angle;
+
+    return -1;
 }
diff --git a/components/motor/esp_simplefoc/port/angle_sensor/mt6701.h b/components/motor/esp_simplefoc/port/angle_sensor/mt6701.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -8,6 +8,7 @@
 
 #include "common/base_classes/Sensor.h"
 #include "driver/spi_master.h"
+#include "driver/i2c.h"
 #include "driver/gpio.h"
 
 class MT6701 : public Sensor {
@@ -23,6 +24,15 @@ class MT6701 : public Sensor {
      */
     MT6701(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 Construct a new MT6701 object
+     *
+     * @param i2c_port
+     * @param sclk_io
+     * @param miso_io
+     */
+    MT6701(i2c_port_t i2c_port, gpio_num_t sclk_io, gpio_num_t miso_io);
+
     /**
      * @brief Destroy the mt6701 object
      *
@@ -49,11 +59,12 @@ class MT6701 : public Sensor {
     float getSensorAngle();
 
 private:
-    spi_host_device_t _spi_host;
+    spi_host_device_t _spi_host = SPI_HOST_MAX;
+    spi_device_handle_t spi_device;
+    i2c_port_t _i2c_port = I2C_NUM_MAX;
     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;
 };
diff --git a/components/motor/esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp b/components/motor/esp_simplefoc/port/esp/esp_hal_bldc_3pwm.cpp
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -355,7 +355,11 @@ int BLDCDriver3PWM::init()
                 .duty_resolution = _LEDC_DUTY_RES,
                 .timer_num = LEDC_TIMER_0,
                 .freq_hz = _LEDC_FREQUENCY, // Set output frequency at 20 kHz
+#if CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2
+                .clk_cfg = LEDC_AUTO_CLK
+#else
                 .clk_cfg = LEDC_USE_APB_CLK
+#endif
             };
             ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
 
@@ -510,7 +514,11 @@ int BLDCDriver3PWM::init(std::vector<int> _ledc_channels)
         .duty_resolution = _LEDC_DUTY_RES,
         .timer_num = LEDC_TIMER_0,
         .freq_hz = _LEDC_FREQUENCY, // Set output frequency at 20 kHz
+#if CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2
+        .clk_cfg = LEDC_AUTO_CLK
+#else
         .clk_cfg = LEDC_USE_APB_CLK
+#endif
     };
     ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
 

diff --git a/components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp b/components/motor/esp_simplefoc/test_apps/main/test_esp_simplefoc.cpp
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -16,9 +16,13 @@
 
 const char *TAG = "TEST";
 
-TEST_CASE("test as5600", "[sensor][as5600]")
+TEST_CASE("test as5600", "[sensor][as5600][i2c]")
 {
-    AS5600 as5600 = AS5600(I2C_NUM_0, GPIO_NUM_8, GPIO_NUM_2);
+#if CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2
+    AS5600 as5600 = AS5600(I2C_NUM_0, GPIO_NUM_2, GPIO_NUM_1);
+#else
+    AS5600 as5600 = AS5600(I2C_NUM_0, GPIO_NUM_12, GPIO_NUM_13);
+#endif
     as5600.init();
     for (int i = 0; i < 10; ++i) {
         ESP_LOGI(TAG, "angle:%.2f", as5600.getSensorAngle());
@@ -27,9 +31,9 @@ TEST_CASE("test as5600", "[sensor][as5600]")
     as5600.deinit();
 }
 
-TEST_CASE("test mt6701", "[sensor][mt6701]")
+TEST_CASE("test mt6701", "[sensor][mt6701][spi]")
 {
-#if CONFIG_IDF_TARGET_ESP32C3
+#if CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2
     MT6701 mt6701 = MT6701(SPI2_HOST, GPIO_NUM_2, GPIO_NUM_1, (gpio_num_t) -1, GPIO_NUM_3);
 #else
     MT6701 mt6701 = MT6701(SPI2_HOST, GPIO_NUM_2, GPIO_NUM_1, (gpio_num_t) -1, GPIO_NUM_42);
@@ -42,9 +46,26 @@ TEST_CASE("test mt6701", "[sensor][mt6701]")
     mt6701.deinit();
 }
 
-TEST_CASE("test as5048a", "[sensor][as5048a]")
+TEST_CASE("test mt6701", "[sensor][mt6701][i2c]")
+{
+#if CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2
+    MT6701 mt6701 = MT6701(I2C_NUM_0, GPIO_NUM_2, GPIO_NUM_1);
+#else
+    MT6701 mt6701 = MT6701(I2C_NUM_0, GPIO_NUM_12, GPIO_NUM_13);
+#endif
+    mt6701.init();
+
+    for (int i = 0; i < 10; ++i) {
+        ESP_LOGI(TAG, "angle:%.2f", mt6701.getSensorAngle());
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+
+    mt6701.deinit();
+}
+
+TEST_CASE("test as5048a", "[sensor][as5048a][spi]")
 {
-#if CONFIG_IDF_TARGET_ESP32C3
+#if CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32H2
     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);