AS5048A encoder support (AEGHB-725) #382

demianzenkov · 2024-07-05T11:50:48Z

Support for AS5048A (14-bit, SPI) encoder added

github-actions · 2024-07-05T11:51:26Z

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YanKE01

Hello, thank you for adding support for AS5048A to esp_simplefoc. There are also some code styles to pay attention to. You can use format.sh to standardize the code format after importing the idf environment.

In addition, for easy testing, please add TEST_CASE in test_esp_simplefoc.

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

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

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

demianzenkov · 2024-07-11T07:49:50Z

TEST_CASE added

YanKE01

Hi, there are still some issues to be resolved, mainly including that you need to add the added "as5048a.cpp" to the CMakeLists.txt of the component, so as to ensure the normal operation of the component. In addition, can you provide the TEST_CASE log when as5048a is running normally? Mainly including the changes in angles.

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

demianzenkov · 2024-07-11T11:54:56Z

In addition, can you provide the TEST_CASE log when as5048a is running normally? Mainly including the changes in angles.

There is an angle log in the test case:
ESP_LOGI(TAG, "angle:%.2f", as5048a.getSensorAngle());
Should I add debug log message with the angle to the getSensorAngle() method?

YanKE01 · 2024-07-11T12:25:39Z

There is no need to add logs to the getSensorAngle() method, I don't have AS5048A as a sensor on my side, so I hope you can provide some test logs.

demianzenkov · 2024-07-11T12:39:49Z

The log looks like this:

I (1338) AS5048a: angle:4.86
I (2341) AS5048a: angle:4.96
I (3341) AS5048a: angle:5.24
I (4341) AS5048a: angle:5.41
I (5341) AS5048a: angle:5.57
I (6341) AS5048a: angle:5.89
I (7341) AS5048a: angle:6.16
I (8341) AS5048a: angle:0.25
I (9341) AS5048a: angle:0.61
I (10341) AS5048a: angle:1.04

Should I add add it anywhere?

YanKE01 · 2024-07-11T13:25:58Z

It looks like everything is working fine, no need to add logs elsewhere.

components/motor/esp_simplefoc/CHANGELOG.md

leeebo · 2024-07-12T00:52:37Z

components/motor/esp_simplefoc/CMakeLists.txt


 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")


@demianzenkov Please run pre-commit install under this project. Then during git commit stage, it should auto-find and modify the format or spelling issues.

As you have already added commits, please run SKIP=no-commit-to-branch pre-commit run --files components/motor/esp_simplefoc to manually run pre-commit on the files you have committed

I ran pre-commit but seems it didn't change any files.

esp-iot-solution % SKIP=no-commit-to-branch pre-commit run --files components/motor/esp_simplefoc Check copyright notices..............................(no files to check)Skipped file contents sorter.................................(no files to check)Skipped trim trailing whitespace.............................(no files to check)Skipped fix end of files.....................................(no files to check)Skipped check that executables have shebangs.................(no files to check)Skipped check that scripts with shebangs are executable......(no files to check)Skipped mixed line ending....................................(no files to check)Skipped fix double quoted strings............................(no files to check)Skipped Do not use more than one slash in the branch name.......................Skipped Do not use uppercase letters in the branch name.........................Skipped astyle formatter.....................................(no files to check)Skipped Check File Permissions...............................(no files to check)Skipped Validate executable-list.txt.............................................Passed codespell............................................(no files to check)Skipped

@demianzenkov Sorry for the Incorrect command, it seems the pre-commit skipped all checks.

Please run SKIP=no-commit-to-branch pre-commit run --files components/motor/esp_simplefoc/**/*

If it works as normal, #382 (comment) will be fixed automatically

components/motor/esp_simplefoc/idf_component.yml

YanKE01 · 2024-07-12T12:01:02Z

Hello, please merge the current 5 commits into one commit so that we can do the final merge. @demianzenkov

demianzenkov · 2024-07-12T14:20:54Z

@YanKE01 commits squashed.

YanKE01 · 2024-07-15T01:15:44Z

sha=a491e4b18a206e63e9c69ebd366dd35c37c69934

leeebo · 2024-07-15T01:29:23Z

sha=6064126c792384023f5a7a84612d662e577b8143

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

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

- 14-bit rotary position encoder AS5048A support added

demianzenkov · 2024-07-15T12:00:31Z

@leeebo license announcement added, commits squashed again.

github-actions bot changed the title ~~AS5048A encoder support~~ AS5048A encoder support (AEGHB-725) Jul 5, 2024

leeebo added the motor label Jul 11, 2024

YanKE01 reviewed Jul 11, 2024

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leeebo reviewed Jul 12, 2024

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demianzenkov force-pushed the master branch from f542a8e to a491e4b Compare July 12, 2024 14:20

leeebo added the PR-Sync-Merge label Jul 15, 2024

YanKE01 approved these changes Jul 15, 2024

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leeebo approved these changes Jul 15, 2024

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leeebo added PR-Sync-Merge and removed PR-Sync-Merge labels Jul 15, 2024

leeebo reviewed Jul 15, 2024

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leeebo reviewed Jul 15, 2024

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components/motor/esp_simplefoc/port/angle_sensor/as5048a.h Outdated Show resolved Hide resolved

feat(motor): as5048a encoder support

6064126

- 14-bit rotary position encoder AS5048A support added

demianzenkov force-pushed the master branch from fb80eff to 6064126 Compare July 15, 2024 11:58

leeebo added PR-Sync-Update and removed PR-Sync-Update labels Jul 16, 2024

leeebo added the PR-Sync-Update label Jul 16, 2024

zhanzhaocheng merged commit 8624656 into espressif:master Jul 16, 2024
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AS5048A encoder support (AEGHB-725) #382

AS5048A encoder support (AEGHB-725) #382

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AS5048A encoder support (AEGHB-725) #382

AS5048A encoder support (AEGHB-725) #382

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