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#pragma once
//
// FILE: weight.h
// AUTHOR: Rob Tillaart
// VERSION: 0.3.2
// PURPOSE: Collection weight conversion functions
// URL: https://github.com/RobTillaart/weight
#include "Arduino.h"
#define WEIGHT_LIB_VERSION (F("0.3.2"))
/////////////////////////////////////////////////////////////
//
... |
//
// FILE: unit_test_001.cpp
// AUTHOR: Rob Tillaart
// DATE: 2021-01-09
// PURPOSE: unit tests for the weight conversion functions
// https://github.com/RobTillaart/weight
// https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md
//
// supported assertions
// ---------------------... |
//
// FILE: X9C10X.cpp
// AUTHOR: Rob Tillaart
// VERSION: 0.2.4
// PURPOSE: Arduino Library for X9C10X series digital potentiometer.
// DATE: 2022-01-26
// URL: https://github.com/RobTillaart/X9C10X
#include "X9C10X.h"
// minimum pulse width CLOCK = ? us (datasheet);
// digitalWrite takes enough time ... |
#pragma once
//
// FILE: X9C10X.h
// AUTHOR: Rob Tillaart
// VERSION: 0.2.4
// PURPOSE: Arduino Library for X9C10X series digital potentiometer.
// DATE: 2022-01-26
// URL: https://github.com/RobTillaart/X9C10X
#include "Arduino.h"
#define X9C10X_LIB_VERSION (F("0.2.4"))
/////////////////////////... |
//
// FILE: unit_test_001.cpp
// AUTHOR: Rob Tillaart
// DATE: 2022-02-11
// PURPOSE: unit tests for the X9C10X library
// https://github.com/RobTillaart/X9C10X
// https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md
//
// supported assertions
// https://github.com/Arduino-CI/ardu... |
//
// FILE: XMLWriter.cpp
// AUTHOR: Rob Tillaart
// VERSION: 0.4.0
// DATE: 2013-11-06
// PURPOSE: Arduino library for creating XML
// URL: https://github.com/RobTillaart/XMLWriter
#include "XMLWriter.h"
XMLWriter::XMLWriter(Print* stream, uint8_t bufferSize)
{
_bufferSize = constrain(bufferSize, 2, 2... |
#pragma once
//
// FILE: XMLWriter.h
// AUTHOR: Rob Tillaart
// VERSION: 0.4.0
// DATE: 2013-11-06
// PURPOSE: Arduino library for creating XML
// URL: https://github.com/RobTillaart/XMLWriter
#include "Arduino.h"
#define XMLWRITER_VERSION (F("0.4.0"))
// for comment()
#define NOMULTILINE ... |
//
// FILE: unit_test_001.cpp
// AUTHOR: Rob Tillaart
// DATE: 2021-01-09
// PURPOSE: unit tests for the XMLWriter library
// https://github.com/RobTillaart/XMLWriter
// https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md
//
// supported assertions
// ----------------------------... |
// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifndef CAN_H
#define CAN_H
#ifdef ARDUINO_ARCH_ESP32
#include "ESP32SJA1000.h"
#else
#include "MCP2515.h"
#endif
#endif
|
// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#include "CANController.h"
CANControllerClass::CANControllerClass() :
_onReceive(NULL),
_packetBegun(false),
_txId(-1),
_txExtended(-1),
_txRtr(false),... |
// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifndef CAN_CONTROLLER_H
#define CAN_CONTROLLER_H
#include <Arduino.h>
class CANControllerClass : public Stream {
public:
virtual int begin(long baudRate);
... |
// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifdef ARDUINO_ARCH_ESP32
#include "esp_intr.h"
#include "soc/dport_reg.h"
#include "driver/gpio.h"
#include "ESP32SJA1000.h"
#define REG_BASE ... |
// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifdef ARDUINO_ARCH_ESP32
#ifndef ESP32_SJA1000_H
#define ESP32_SJA1000_H
#include "CANController.h"
#define DEFAULT_CAN_RX_PIN GPIO_NUM_4
#define DEFAULT_CAN_T... |
// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifndef ARDUINO_ARCH_ESP32
#include "MCP2515.h"
#define REG_BFPCTRL 0x0c
#define REG_TXRTSCTRL 0x0d
#define REG_CANCTRL ... |
// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifndef ARDUINO_ARCH_ESP32
#ifndef MCP2515_H
#define MCP2515_H
#include <SPI.h>
#include "CANController.h"
#define MCP2515_DEFAULT_CLOCK_FREQUENCY 16e6
#if de... |
-DHAL_OPAMP_MODULE_ENABLED |
#include "BLDCMotor.h"
#include "./communication/SimpleFOCDebug.h"
// see https://www.youtube.com/watch?v=InzXA7mWBWE Slide 5
// each is 60 degrees with values for 3 phases of 1=positive -1=negative 0=high-z
int trap_120_map[6][3] = {
{_HIGH_IMPEDANCE,1,-1},
{-1,1,_HIGH_IMPEDANCE},
{-1,_HIGH_IMPEDANCE,1},... |
#ifndef BLDCMotor_h
#define BLDCMotor_h
#include "Arduino.h"
#include "common/base_classes/FOCMotor.h"
#include "common/base_classes/Sensor.h"
#include "common/base_classes/FOCDriver.h"
#include "common/base_classes/BLDCDriver.h"
#include "common/foc_utils.h"
#include "common/time_utils.h"
#include "common/defaults.h"... |
#include "HybridStepperMotor.h"
#include "./communication/SimpleFOCDebug.h"
// HybridStepperMotor(int pp)
// - pp - pole pair number
// - R - motor phase resistance
// - KV - motor kv rating (rmp/v)
// - L - motor phase inductance [H]
HybridStepperMotor::HybridStepperMotor... |
/**
* @file HybridStepperMotor.h
*
*/
#ifndef HybridStepperMotor_h
#define HybridStepperMotor_h
#include "Arduino.h"
#include "common/base_classes/FOCMotor.h"
#include "common/base_classes/StepperDriver.h"
#include "common/base_classes/Sensor.h"
#include "common/foc_utils.h"
#include "common/time_utils.h"
#includ... |
/*!
* @file SimpleFOC.h
*
* @mainpage Simple Field Oriented Control BLDC motor control library
*
* @section intro_sec Introduction
*
* Proper low-cost and low-power FOC supporting boards are very hard to find these days and even may not exist.<br> Even harder to find is a stable and simple FOC algorithm code cap... |
#include "StepperMotor.h"
#include "./communication/SimpleFOCDebug.h"
// StepperMotor(int pp)
// - pp - pole pair number
// - R - motor phase resistance
// - KV - motor kv rating (rmp/v)
// - L - motor phase inductance [H]
StepperMotor::StepperMotor(int pp, float _R, floa... |
/**
* @file StepperMotor.h
*
*/
#ifndef StepperMotor_h
#define StepperMotor_h
#include "Arduino.h"
#include "common/base_classes/FOCMotor.h"
#include "common/base_classes/StepperDriver.h"
#include "common/base_classes/Sensor.h"
#include "common/foc_utils.h"
#include "common/time_utils.h"
#include "common/default... |
// default configuration values
// change this file to optimal values for your application
#define DEF_POWER_SUPPLY 12.0f //!< default power supply voltage
// velocity PI controller params
#define DEF_PID_VEL_P 0.5f //!< default PID controller P value
#define DEF_PID_VEL_I 10.0f //!< default PID controller I value
#d... |
#include "foc_utils.h"
// function approximating the sine calculation by using fixed size array
// uses a 65 element lookup table and interpolation
// thanks to @dekutree for his work on optimizing this
__attribute__((weak)) float _sin(float a){
// 16bit integer array for sine lookup. interpolation is used for bett... |
#ifndef FOCUTILS_LIB_H
#define FOCUTILS_LIB_H
#include "Arduino.h"
// sign function
#define _sign(a) ( ( (a) < 0 ) ? -1 : ( (a) > 0 ) )
#ifndef _round
#define _round(x) ((x)>=0?(long)((x)+0.5f):(long)((x)-0.5f))
#endif
#define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#define _sqrt(... |
#include "lowpass_filter.h"
LowPassFilter::LowPassFilter(float time_constant)
: Tf(time_constant)
, y_prev(0.0f)
{
timestamp_prev = _micros();
}
float LowPassFilter::operator() (float x)
{
unsigned long timestamp = _micros();
float dt = (timestamp - timestamp_prev)*1e-6f;
if (dt < 0.0f ) dt ... |
#ifndef LOWPASS_FILTER_H
#define LOWPASS_FILTER_H
#include "time_utils.h"
#include "foc_utils.h"
/**
* Low pass filter class
*/
class LowPassFilter
{
public:
/**
* @param Tf - Low pass filter time constant
*/
LowPassFilter(float Tf);
~LowPassFilter() = default;
float operator() (float x... |
#include "pid.h"
PIDController::PIDController(float P, float I, float D, float ramp, float limit)
: P(P)
, I(I)
, D(D)
, output_ramp(ramp) // output derivative limit [volts/second]
, limit(limit) // output supply limit [volts]
, error_prev(0.0f)
, output_prev(0.0f)
, inte... |
#ifndef PID_H
#define PID_H
#include "time_utils.h"
#include "foc_utils.h"
/**
* PID controller class
*/
class PIDController
{
public:
/**
*
* @param P - Proportional gain
* @param I - Integral gain
* @param D - Derivative gain
* @param ramp - Maximum speed of change of the output... |
#include "time_utils.h"
// function buffering delay()
// arduino uno function doesn't work well with interrupts
void _delay(unsigned long ms){
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega32U4__)
// if arduino un... |
#ifndef TIME_UTILS_H
#define TIME_UTILS_H
#include "foc_utils.h"
/**
* Function implementing delay() function in milliseconds
* - blocking function
* - hardware specific
* @param ms number of milliseconds to wait
*/
void _delay(unsigned long ms);
/**
* Function implementing timestamp getting function in mi... |
#ifndef BLDCDRIVER_H
#define BLDCDRIVER_H
#include "Arduino.h"
#include "FOCDriver.h"
class BLDCDriver: public FOCDriver{
public:
float dc_a; //!< currently set duty cycle on phaseA
float dc_b; //!< currently set duty cycle on phaseB
float dc_c; //!< currently set duty cycle on phaseC
... |
#include "CurrentSense.h"
#include "../../communication/SimpleFOCDebug.h"
// get current magnitude
// - absolute - if no electrical_angle provided
// - signed - if angle provided
float CurrentSense::getDCCurrent(float motor_electrical_angle){
// read current phase currents
PhaseCurrent_s current = g... |
#ifndef CURRENTSENSE_H
#define CURRENTSENSE_H
#include "FOCDriver.h"
#include "../foc_utils.h"
#include "../time_utils.h"
#include "StepperDriver.h"
#include "BLDCDriver.h"
/**
* Current sensing abstract class defintion
* Each current sensing implementation needs to extend this interface
*/
class CurrentSense{
... |
#ifndef FOCDRIVER_H
#define FOCDRIVER_H
#include "Arduino.h"
enum PhaseState : uint8_t {
PHASE_OFF = 0, // both sides of the phase are off
PHASE_ON = 1, // both sides of the phase are driven with PWM, dead time is applied in 6-PWM mode
PHASE_HI = 2, // only the high side of the phase is driven with PWM (6-PW... |
#include "FOCMotor.h"
#include "../../communication/SimpleFOCDebug.h"
/**
* Default constructor - setting all variabels to default values
*/
FOCMotor::FOCMotor()
{
// maximum angular velocity to be used for positioning
velocity_limit = DEF_VEL_LIM;
// maximum voltage to be set to the motor
voltage_limit = D... |
#ifndef FOCMOTOR_H
#define FOCMOTOR_H
#include "Arduino.h"
#include "Sensor.h"
#include "CurrentSense.h"
#include "../time_utils.h"
#include "../foc_utils.h"
#include "../defaults.h"
#include "../pid.h"
#include "../lowpass_filter.h"
// monitoring bitmap
#define _MON_TARGET 0b1000000 // monitor target value
#define... |
#include "Sensor.h"
#include "../foc_utils.h"
#include "../time_utils.h"
void Sensor::update() {
float val = getSensorAngle();
if (val<0) // sensor angles are strictly non-negative. Negative values are used to signal errors.
return; // TODO signal error, e.g. via a flag and counter
angle_prev_ts ... |
#ifndef SENSOR_H
#define SENSOR_H
#include <inttypes.h>
/**
* Direction structure
*/
enum Direction : int8_t {
CW = 1, // clockwise
CCW = -1, // counter clockwise
UNKNOWN = 0 // not yet known or invalid state
};
/**
* Pullup configuration structure
*/
enum Pullup : uint8_t {
USE_IN... |
#ifndef STEPPERDRIVER_H
#define STEPPERDRIVER_H
#include "Arduino.h"
#include "FOCDriver.h"
class StepperDriver: public FOCDriver{
public:
/**
* Set phase voltages to the hardware
*
* @param Ua phase A voltage
* @param Ub phase B voltage
*/
v... |
#include "Commander.h"
Commander::Commander(Stream& serial, char eol, bool echo){
com_port = &serial;
this->eol = eol;
this->echo = echo;
}
Commander::Commander(char eol, bool echo){
this->eol = eol;
this->echo = echo;
}
void Commander::add(char id, CommandCallback onCommand, const char* label ){
call_li... |
#ifndef COMMANDS_H
#define COMMANDS_H
#include "Arduino.h"
#include "../common/base_classes/FOCMotor.h"
#include "../common/pid.h"
#include "../common/lowpass_filter.h"
#include "commands.h"
#define MAX_COMMAND_LENGTH 20
// Commander verbose display to the user type
enum VerboseMode : uint8_t {
nothing = 0... |
#ifndef COMMANDS_h
#define COMMANDS_h
// see docs.simplefoc.com for in depth explanation of the commands
// list of commands
#define CMD_C_D_PID 'D' //!< current d PID & LPF
#define CMD_C_Q_PID 'Q' //!< current d PID & LPF
#define CMD_V_PID 'V' //!< velocity PID & LPF
#define CMD_A_PID 'A' //!< angle... |
#include "SimpleFOCDebug.h"
#ifndef SIMPLEFOC_DISABLE_DEBUG
Print* SimpleFOCDebug::_debugPrint = NULL;
void SimpleFOCDebug::enable(Print* debugPrint) {
_debugPrint = debugPrint;
}
void SimpleFOCDebug::println(int val) {
if (_debugPrint != NULL) {
_debugPrint->println(val);
}
}
void SimpleFO... |
#ifndef __SIMPLEFOCDEBUG_H__
#define __SIMPLEFOCDEBUG_H__
#include "Arduino.h"
/**
* SimpleFOCDebug class
*
* This class is used to print debug messages to a chosen output.
* Currently, Print instances are supported as targets, e.g. serial port.
*
* Activate debug output globally by calling enable(), option... |
#include "StepDirListener.h"
StepDirListener::StepDirListener(int _pinStep, int _pinDir, float _counter_to_value){
pin_step = _pinStep;
pin_dir = _pinDir;
counter_to_value = _counter_to_value;
}
void StepDirListener::init(){
pinMode(pin_dir, INPUT);
pinMode(pin_step, INPUT_PULLUP);
count = 0;
... |
#ifndef STEPDIR_H
#define STEPDIR_H
#include "Arduino.h"
#include "../common/foc_utils.h"
/**
* Step/Dir listenner class for easier interraction with this communication interface.
*/
class StepDirListener
{
public:
/**
* Constructor for step/direction interface
* @param step - pin
... |
#include "GenericCurrentSense.h"
// GenericCurrentSense constructor
GenericCurrentSense::GenericCurrentSense(PhaseCurrent_s (*readCallback)(), void (*initCallback)()){
// if function provided add it to the
if(readCallback != nullptr) this->readCallback = readCallback;
if(initCallback != nullptr) this->initCallb... |
#ifndef GENERIC_CS_LIB_H
#define GENERIC_CS_LIB_H
#include "Arduino.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
#include "../common/defaults.h"
#include "../common/base_classes/CurrentSense.h"
#include "../common/lowpass_filter.h"
#include "hardware_api.h"
class GenericCurrentSense: public ... |
#ifndef HARDWARE_UTILS_CURRENT_H
#define HARDWARE_UTILS_CURRENT_H
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
// flag returned if current sense init fails
#define SIMPLEFOC_CURRENT_SENSE_INIT_FAILED ((void*)-1)
// generic implementation of the hardware specific structure
// containing all the ... |
#include "InlineCurrentSense.h"
#include "communication/SimpleFOCDebug.h"
// InlineCurrentSensor constructor
// - shunt_resistor - shunt resistor value
// - gain - current-sense op-amp gain
// - phA - A phase adc pin
// - phB - B phase adc pin
// - phC - C phase adc pin (optional)
InlineCurrentSense::Inlin... |
#ifndef INLINE_CS_LIB_H
#define INLINE_CS_LIB_H
#include "Arduino.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
#include "../common/defaults.h"
#include "../common/base_classes/CurrentSense.h"
#include "../common/base_classes/StepperDriver.h"
#include "../common/base_classes/BLDCDriver.h"
#incl... |
#include "LowsideCurrentSense.h"
#include "communication/SimpleFOCDebug.h"
// LowsideCurrentSensor constructor
// - shunt_resistor - shunt resistor value
// - gain - current-sense op-amp gain
// - phA - A phase adc pin
// - phB - B phase adc pin
// - phC - C phase adc pin (optional)
LowsideCurrentSense::Lo... |
#ifndef LOWSIDE_CS_LIB_H
#define LOWSIDE_CS_LIB_H
#include "Arduino.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
#include "../common/defaults.h"
#include "../common/base_classes/CurrentSense.h"
#include "../common/base_classes/FOCMotor.h"
#include "../common/base_classes/StepperDriver.h"
#incl... |
#include "../hardware_api.h"
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)
#define _ADC_VOLTAGE 5.0f
#define _ADC_RESOLUTION 1024.0f
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit... |
#include "../hardware_api.h"
#if defined(__arm__) && defined(__SAM3X8E__)
#define _ADC_VOLTAGE 3.3f
#define _ADC_RESOLUTION 1024.0f
// function reading an ADC value and returning the read voltage
void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){
_UNUSED(driver_p... |
#include "../hardware_api.h"
#include "../../communication/SimpleFOCDebug.h"
// function reading an ADC value and returning the read voltage
__attribute__((weak)) float _readADCVoltageInline(const int pinA, const void* cs_params){
uint32_t raw_adc = analogRead(pinA);
return raw_adc * ((GenericCurrentSenseParams*)... |
#include "esp32_mcu.h"
#include "esp32_adc_driver.h"
#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
#define SIMPLEFOC_ADC_ATTEN ADC_11db
#define SIMPLEFOC_ADC_RES 12
#if CONFIG_IDF_TARGET_ESP32 // if esp32 variant
#include "soc/sens_reg.h"
// configure the ADCs in RTC mode
// saves about 3us per call
// goin... |
#ifndef SIMPLEFOC_ESP32_HAL_ADC_DRIVER_H_
#define SIMPLEFOC_ESP32_HAL_ADC_DRIVER_H_
#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
/**
* Get ADC value for pin
* @param pin - pin number
* @return ADC value (0 - 4095)
* */
uint16_t adcRead(uint8_t pin);
/**
* Initialize ADC pin
* @param pin - pin number
*
... |
#include "esp32_mcu.h"
#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
// check the version of the ESP-IDF
#include "esp_idf_version.h"
#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0)
#error SimpleFOC: ESP-IDF version 4 or lower detected. Plea... |
#include "esp32_mcu.h"
#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
/**
* Inline adc reading implementation
*/
// function reading an ADC value and returning the read voltage
float _readADCVoltageInline(const int pinA, const void* cs_params){
uint32_t raw_adc = adcRead(pinA);
return raw_adc * ((ESP32Curre... |
#ifndef ESP32_MCU_CURRENT_SENSING_H
#define ESP32_MCU_CURRENT_SENSING_H
#include "../../hardware_api.h"
#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
#include "../../../drivers/hardware_api.h"
#include "esp32_adc_driver.h"
// esp32 current sense parameters
typedef struct ESP32CurrentSenseParams {
int pins[... |
#if defined(TARGET_RP2040) || defined(TARGET_RP2350)
#include "../../hardware_api.h"
#include "./rp2040_mcu.h"
#include "../../../drivers/hardware_specific/rp2040/rp2040_mcu.h"
#include "communication/SimpleFOCDebug.h"
#include "hardware/dma.h"
#include "hardware/irq.h"
#include "hardware/pwm.h"
#include "hardware/... |
#pragma once
/*
* RP2040 ADC features are very weak :-(
* - only 4 inputs
* - only 9 bit effective resolution
* - read only 1 input at a time
* - 2 microseconds conversion time!
* - no triggers from PWM / events, only DMA
*
* So to read 3 phases takes 6 microseconds. :-(
*
* The RP2040 ADC engine tak... |
#include "samd21_mcu.h"
#if defined(_SAMD21_)
#include "../../hardware_api.h"
#include "../../../drivers/hardware_specific/samd/samd_mcu.h"
static int _pinA = NOT_SET, _pinB = NOT_SET, _pinC = NOT_SET;
static uint16_t adc_raw[3] = {0, 0, 0};
static uint8_t current_phase = 0; // which phase we're sampling
static bo... |
#include "Arduino.h"
#if defined(_SAMD21_)
#ifndef CURRENT_SENSE_SAMD21_H
#define CURRENT_SENSE_SAMD21_H
#define SIMPLEFOC_SAMD_DEBUG
#if !defined(SIMPLEFOC_SAMD_DEBUG_SERIAL)
#define SIMPLEFOC_SAMD_DEBUG_SERIAL Serial
#endif
#include "../../hardware_api.h"
#endif
#endif
|
#include "../../hardware_api.h"
#if defined(_SAMD21_)|| defined(_SAMD51_) || defined(_SAME51_)
#define _ADC_VOLTAGE 3.3f
#define _ADC_RESOLUTION 1024.0f
// function reading an ADC value and returning the read voltage
void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){... |
#include "stm32_adc_utils.h"
#include "stm32_mcu.h"
#if defined(_STM32_DEF_)
int _adcToIndex(ADC_TypeDef *AdcHandle){
if(AdcHandle == ADC1) return 0;
#ifdef ADC2 // if ADC2 exists
else if(AdcHandle == ADC2) return 1;
#endif
#ifdef ADC3 // if ADC3 exists
else if(AdcHandle == ADC3) return 2;
#endif
#ifdef ADC4... |
#ifndef STM32_ADC_UTILS_HAL
#define STM32_ADC_UTILS_HAL
#include "Arduino.h"
#if defined(_STM32_DEF_)
#define _TRGO_NOT_AVAILABLE 12345
// for searching the best ADCs, we need to know the number of ADCs
// it might be better to use some HAL variable for example ADC_COUNT
// here I've assumed the maximum number of... |
#include "../../hardware_api.h"
#if defined(_STM32_DEF_) and !defined(ARDUINO_B_G431B_ESC1)
#include "stm32_mcu.h"
#define _ADC_VOLTAGE 3.3f
#define _ADC_RESOLUTION 1024.0f
// function reading an ADC value and returning the read voltage
void* _configureADCInline(const void* driver_params, const int pinA,const int... |
#ifndef STM32_CURRENTSENSE_MCU_DEF
#define STM32_CURRENTSENSE_MCU_DEF
#include "../../hardware_api.h"
#include "../../../common/foc_utils.h"
#include "../../../drivers/hardware_specific/stm32/stm32_mcu.h"
#include "../../../drivers/hardware_specific/stm32/stm32_timerutils.h"
#if defined(_STM32_DEF_)
// generic impl... |
#include "../../../hardware_api.h"
#if defined(ARDUINO_B_G431B_ESC1)
#include "communication/SimpleFOCDebug.h"
#include "stm32g4xx_hal.h"
#include "stm32g4xx_ll_pwr.h"
#include "stm32g4xx_hal_adc.h"
#include "b_g431_hal.h"
// From STM32 cube IDE
/**
*****************************************************************... |
#ifndef B_G431_ESC1_HAL
#define B_G431_ESC1_HAL
#if defined(ARDUINO_B_G431B_ESC1)
#include <stm32g4xx_hal_adc.h>
#include <stm32g4xx_hal_opamp.h>
void MX_GPIO_Init(void);
void MX_DMA_Init(void);
void MX_ADC1_Init(ADC_HandleTypeDef* hadc1);
void MX_ADC2_Init(ADC_HandleTypeDef* hadc2);
void MX_OPAMP1_Init(OPAMP_Handle... |
#include "../../../hardware_api.h"
#if defined(ARDUINO_B_G431B_ESC1)
#include "b_g431_hal.h"
#include "Arduino.h"
#include "../stm32_mcu.h"
#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
#include "communication/SimpleFOCDebug.h"
#define _ADC_VOLTAGE 3.3f
#define _ADC_RESOLUTION 4096.0f
#define A... |
#include "stm32f1_hal.h"
#if defined(STM32F1xx)
#include "../../../../communication/SimpleFOCDebug.h"
#include "../stm32_adc_utils.h"
#define _TRGO_NOT_AVAILABLE 12345
ADC_HandleTypeDef hadc;
/**
* Function initializing the ADC and the injected channels for the low-side current sensing
*
* @param cs_params - ... |
#ifndef STM32F1_LOWSIDE_HAL
#define STM32F1_LOWSIDE_HAL
#include "Arduino.h"
#if defined(STM32F1xx)
#include "stm32f1xx_hal.h"
#include "../stm32_mcu.h"
int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);
int _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, c... |
#include "../../../hardware_api.h"
#if defined(STM32F1xx)
#include "../../../../common/foc_utils.h"
#include "../../../../drivers/hardware_api.h"
#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
#include "../../../hardware_api.h"
#include "../stm32_adc_utils.h"
#include "../stm32_mcu.h"
#include "st... |
#include "../stm32_adc_utils.h"
#if defined(STM32F1xx)
// timer to injected TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h#L215
uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
if(timer->I... |
#include "stm32f4_hal.h"
#if defined(STM32F4xx)
//#define SIMPLEFOC_STM32_DEBUG
#include "../../../../communication/SimpleFOCDebug.h"
#define _TRGO_NOT_AVAILABLE 12345
ADC_HandleTypeDef hadc;
/**
* Function initializing the ADC and the injected channels for the low-side current sensing
*
* @param cs_params - c... |
#ifndef STM32F4_LOWSIDE_HAL
#define STM32F4_LOWSIDE_HAL
#include "Arduino.h"
#if defined(STM32F4xx)
#include "stm32f4xx_hal.h"
#include "../stm32_mcu.h"
#include "../stm32_adc_utils.h"
int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);
int _adc_gpio_init(Stm32CurrentSenseParam... |
#include "../../../hardware_api.h"
#if defined(STM32F4xx)
#include "../../../../common/foc_utils.h"
#include "../../../../drivers/hardware_api.h"
#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
#include "../../../hardware_api.h"
#include "../stm32_mcu.h"
#include "../stm32_adc_utils.h"
#include "stm... |
#include "../stm32_adc_utils.h"
#if defined(STM32F4xx)
// timer to injected TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179
uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
if(timer->In... |
#include "stm32f7_hal.h"
#if defined(STM32F7xx)
//#define SIMPLEFOC_STM32_DEBUG
#include "../../../../communication/SimpleFOCDebug.h"
#define _TRGO_NOT_AVAILABLE 12345
ADC_HandleTypeDef hadc;
/**
* Function initializing the ADC and the injected channels for the low-side current sensing
*
* @param cs_params - c... |
#ifndef STM32F7_LOWSIDE_HAL
#define STM32F7_LOWSIDE_HAL
#include "Arduino.h"
#if defined(STM32F7xx)
#include "stm32f7xx_hal.h"
#include "../stm32_mcu.h"
#include "../stm32_adc_utils.h"
int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);
int _adc_gpio_init(Stm32CurrentSensePara... |
#include "../../../hardware_api.h"
#if defined(STM32F7xx)
#include "../../../../common/foc_utils.h"
#include "../../../../drivers/hardware_api.h"
#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
#include "../../../hardware_api.h"
#include "../stm32_mcu.h"
#include "../stm32_adc_utils.h"
#include "stm... |
#include "../stm32_adc_utils.h"
#if defined(STM32F7xx)
/*
TIM1
TIM2
TIM3
TIM4
TIM5
TIM6
TIM7
TIM12
TIM13
TIM14
ADC_EXTERNALTRIGINJECCONV_T1_TRGO
ADC_EXTERNALTRIGINJECCONV_T2_TRGO
ADC_EXTERNALTRIGINJECCONV_T4_TRGO
ADC_EXTERNALTRIGINJECCONV_T1_TRGO2
ADC_EXTERNALTRIGINJECCONV_T8_TRGO2... |
#include "stm32g4_hal.h"
#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1)
#include "../../../../communication/SimpleFOCDebug.h"
#define SIMPLEFOC_STM32_DEBUG
ADC_HandleTypeDef hadc;
/**
* Function initializing the ADC and the injected channels for the low-side current sensing
*
* @param cs_params - cur... |
#ifndef STM32G4_LOWSIDE_HAL
#define STM32G4_LOWSIDE_HAL
#include "Arduino.h"
#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1)
#include "stm32g4xx_hal.h"
#include "../stm32_mcu.h"
#include "../stm32_adc_utils.h"
int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);
int _a... |
#include "../../../hardware_api.h"
#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1)
#include "../../../../common/foc_utils.h"
#include "../../../../drivers/hardware_api.h"
#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
#include "../../../hardware_api.h"
#include "../stm32_mcu.h"
#include "... |
#include "../stm32_adc_utils.h"
#if defined(STM32G4xx) && !defined(ARDUINO_B_G431B_ESC1)
// timer to injected TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc_ex.h#L217
uint32_t _timerToInjectedTRGO(TIM_Han... |
#include "stm32h7_hal.h"
#if defined(STM32H7xx)
//#define SIMPLEFOC_STM32_DEBUG
#include "../../../../communication/SimpleFOCDebug.h"
ADC_HandleTypeDef hadc;
/**
* Function initializing the ADC and the injected channels for the low-side current sensing
*
* @param cs_params - current sense parameters
* @param ... |
#pragma once
#include "Arduino.h"
#if defined(STM32H7xx)
#include "stm32h7xx_hal.h"
#include "../stm32_adc_utils.h"
#include "../stm32_mcu.h"
int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);
int _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pin... |
#include "../../../hardware_api.h"
#if defined(STM32H7xx)
#include "../../../../common/foc_utils.h"
#include "../../../../drivers/hardware_api.h"
#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
#include "../../../hardware_api.h"
#include "../stm32_mcu.h"
#include "../stm32_adc_utils.h"
#include "stm... |
#include "../stm32_adc_utils.h"
#if defined(STM32H7xx)
/* Exported Functions */
// timer to injected TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_adc_ex.h#L235
uint32_t _timerToInjectedTRGO(TIM_HandleType... |
#include "stm32l4_hal.h"
#if defined(STM32L4xx)
#include "../../../../communication/SimpleFOCDebug.h"
#define SIMPLEFOC_STM32_DEBUG
ADC_HandleTypeDef hadc;
/**
* Function initializing the ADC and the injected channels for the low-side current sensing
*
* @param cs_params - current sense parameters
* @param dr... |
#ifndef STM32L4_LOWSIDE_HAL
#define STM32L4_LOWSIDE_HAL
#include "Arduino.h"
#if defined(STM32L4xx)
#include "stm32l4xx_hal.h"
#include "../stm32_mcu.h"
#include "../stm32_adc_utils.h"
int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);
int _adc_gpio_init(Stm32CurrentSensePar... |
#include "../../../hardware_api.h"
#if defined(STM32L4xx)
#include "../../../../common/foc_utils.h"
#include "../../../../drivers/hardware_api.h"
#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
#include "../../../hardware_api.h"
#include "../stm32_mcu.h"
#include "../stm32_adc_utils.h"
#include "st... |
#include "../stm32_adc_utils.h"
#if defined(STM32L4xx)
// timer to injected TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_adc_ex.h#L210
uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
if(timer->I... |
#include "teensy4_mcu.h"
#include "../../../drivers/hardware_specific/teensy/teensy4_mcu.h"
// #include "../../../common/lowpass_filter.h"
#include "../../../common/foc_utils.h"
#include "../../../communication/SimpleFOCDebug.h"
// if defined
// - Teensy 4.0
// - Teensy 4.1
#if defined(__arm__) && defined(CORE_TEEN... |
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