NanoFOC/ESP32-S3 support (#117)

- New PlatformIO env (`nanofoc`) for the NanoFOC hardware - Huge thanks to @lgc00 for the initial NanoFOC configuration and prototyping! - Uses `HWCDC` rather than `UartStream` as the serial `Stream` interface (ESP32-S3 specific change) - Support for MAQ430 magnetic encoder sensor - Motor-specific PID tuning constants moved to separate header files --------- Co-authored-by: lgc00 <lgcasd1+1@gmail.com>
scottbez1 · May 30, 2023 · 9903ac6 · 9903ac6
1 parent 4a1d2be
commit 9903ac6
Show file tree

Hide file tree

Showing 8 changed files with 162 additions and 29 deletions.
diff --git a/README.md b/README.md
@@ -138,9 +138,17 @@ Latest auto-generated (untested and likely broken!) artifacts⚠️:
 ⚠️ For tested/stable/recommended artifacts, use a [release](https://github.com/scottbez1/smartknob/releases) instead.
 
 
-## SmartKnob Mini
-Planned for the future.
+## NanoFOC (3rd party)
+If you're looking to tinker with FOC/haptic feedback, but don't want to build a full SmartKnob View yourself, I can
+recommend the NanoFOC DevKit++, an [open-source design](https://github.com/katbinaris/nanofoc_devkit) made and
+[sold](https://store.binaris.io/products/nanofoc-devkit) by a member of the SmartKnob community! It's super compact
+and is a great testbed or core for building your own BLDC-based haptic input device.
 
+![Image of the NanoFOC PCB](https://cdn.shopify.com/s/files/1/0729/7433/6335/products/IMG_20230418_120554-01.jpg?width=416)
+
+
+The NanoFOC uses an ESP32-S3, and the SmartKnob firmware works on it out of the box; just select the `nanofoc`
+environment in PlatformIO rather than the `view` environment when uploading.
 
 # Frequently Asked Questions (FAQ)
 

diff --git a/firmware/src/interface_task.h b/firmware/src/interface_task.h
@@ -24,7 +24,11 @@ class InterfaceTask : public Task<InterfaceTask>, public Logger {
         void run();
 
     private:
+    #ifdef CONFIG_IDF_TARGET_ESP32S3
+        HWCDC stream_;
+    #else
         UartStream stream_;
+    #endif
         MotorTask& motor_task_;
         DisplayTask* display_task_;
         char buf_[64];

diff --git a/firmware/src/maq430_sensor.h b/firmware/src/maq430_sensor.h
@@ -0,0 +1,13 @@
+#pragma once
+#include <sensors/MagneticSensorSPI.h>
+
+/** Configured fro 12bit MA710 and MAQ430 magnetic sensor over SPI interface*/
+MagneticSensorSPIConfig_s MAQ430_SPI = {
+  .spi_mode = SPI_MODE3,
+  .clock_speed = 1000000,
+  .bit_resolution = 12,
+  .angle_register = 0x0000,
+  .data_start_bit = 15,
+  .command_rw_bit = 0,  // not required
+  .command_parity_bit = 17 // parity not implemented
+};
diff --git a/firmware/src/motor_task.cpp b/firmware/src/motor_task.cpp
@@ -3,12 +3,14 @@
 #include "motor_task.h"
 #if SENSOR_MT6701
 #include "mt6701_sensor.h"
-#endif
-#if SENSOR_TLV
+#elif SENSOR_TLV
 #include "tlv_sensor.h"
+#elif SENSOR_MAQ430
+#include "maq430_sensor.h"
 #endif
-#include "util.h"
 
+#include "motors/motor_config.h"
+#include "util.h"
 
 // #### 
 // Hardware-specific motor calibration constants.
@@ -41,6 +43,8 @@ MotorTask::~MotorTask() {}
     TlvSensor encoder = TlvSensor();
 #elif SENSOR_MT6701
     MT6701Sensor encoder = MT6701Sensor();
+#elif SENSOR_MAQ430
+    MagneticSensorSPI encoder = MagneticSensorSPI(MAQ430_SPI, PIN_MAQ_SS);
 #endif
 
 void MotorTask::run() {
@@ -50,26 +54,32 @@ void MotorTask::run() {
 
     #if SENSOR_TLV
     encoder.init(&Wire, false);
-    #endif
-
-    #if SENSOR_MT6701
+    #elif SENSOR_MT6701
     encoder.init();
+    #elif SENSOR_MAQ430
+    SPIClass* spi = new SPIClass(HSPI);
+    spi->begin(PIN_MAQ_SCK, PIN_MAQ_MISO, PIN_MAQ_MOSI, PIN_MAQ_SS);
+    encoder.init(spi);
     #endif
 
     motor.linkDriver(&driver);
 
     motor.controller = MotionControlType::torque;
-    motor.voltage_limit = 5;
+    motor.voltage_limit = FOC_VOLTAGE_LIMIT;
     motor.velocity_limit = 10000;
     motor.linkSensor(&encoder);
 
     // Not actually using the velocity loop built into SimpleFOC; but I'm using those PID variables
     // to run PID for torque (and SimpleFOC studio supports updating them easily over serial for tuning)
-    motor.PID_velocity.P = 4;
-    motor.PID_velocity.I = 0;
-    motor.PID_velocity.D = 0.04;
-    motor.PID_velocity.output_ramp = 10000;
-    motor.PID_velocity.limit = 10;
+    motor.PID_velocity.P = FOC_PID_P;
+    motor.PID_velocity.I = FOC_PID_I;
+    motor.PID_velocity.D = FOC_PID_D;
+    motor.PID_velocity.output_ramp = FOC_PID_OUTPUT_RAMP;
+    motor.PID_velocity.limit = FOC_PID_LIMIT;
+
+    #ifdef FOC_LPF
+    motor.LPF_angle.Tf = FOC_LPF;
+    #endif
 
     motor.init();
 
@@ -371,14 +381,16 @@ void MotorTask::calibrate() {
         log("NO, Direction=CCW");
         motor.initFOC(0, Direction::CCW);
     }
+    snprintf(buf_, sizeof(buf_), "  (start was %.1f, end was %.1f)", start_sensor, end_sensor);
+    log(buf_);
 
 
     // #### Determine pole-pairs
     // Rotate 20 electrical revolutions and measure mechanical angle traveled, to calculate pole-pairs
     uint8_t electrical_revolutions = 20;
     snprintf(buf_, sizeof(buf_), "Going to measure %d electrical revolutions...", electrical_revolutions);
     log(buf_);
-    motor.voltage_limit = 5;
+    motor.voltage_limit = FOC_VOLTAGE_LIMIT;
     motor.move(a);
     log("Going to electrical zero...");
     float destination = a + _2PI;
@@ -428,7 +440,7 @@ void MotorTask::calibrate() {
 
     // #### Determine mechanical offset to electrical zero
     // Measure mechanical angle at every electrical zero for several revolutions
-    motor.voltage_limit = 5;
+    motor.voltage_limit = FOC_VOLTAGE_LIMIT;
     motor.move(a);
     float offset_x = 0;
     float offset_y = 0;
@@ -478,7 +490,7 @@ void MotorTask::calibrate() {
     // TODO: save to non-volatile storage
     motor.pole_pairs = measured_pole_pairs;
     motor.zero_electric_angle = avg_offset_angle + _3PI_2;
-    motor.voltage_limit = 5;
+    motor.voltage_limit = FOC_VOLTAGE_LIMIT;
     motor.controller = MotionControlType::torque;
 
     log("\n\nRESULTS:\n  Update these constants at the top of " __FILE__);

diff --git a/firmware/src/motors/mad2804.h b/firmware/src/motors/mad2804.h
@@ -0,0 +1,12 @@
+#pragma once
+
+// Tuning parameters for the MAD2804 motor (orange stator).
+
+#define FOC_PID_P 1
+#define FOC_PID_I 0
+#define FOC_PID_D 0.148
+#define FOC_PID_OUTPUT_RAMP 5000
+#define FOC_PID_LIMIT 3
+
+#define FOC_VOLTAGE_LIMIT 3
+#define FOC_LPF 0.0075
diff --git a/firmware/src/motors/motor_config.h b/firmware/src/motors/motor_config.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#if MOTOR_WANZHIDA_ONCE_TOP
+#include "motors/wanzhida_once_top.h"
+#elif MOTOR_MAD2804
+#include "motors/mad2804.h"
+#else
+#error "No motor configuration specified!"
+#endif
diff --git a/firmware/src/motors/wanzhida_once_top.h b/firmware/src/motors/wanzhida_once_top.h
@@ -0,0 +1,12 @@
+#pragma once
+
+// Tuning parameters for the Wanzhida/Oncetop OT-EM3215D2450Y1R,
+// sold by SparkFun (ROB-20441).
+
+#define FOC_PID_P 4
+#define FOC_PID_I 0
+#define FOC_PID_D 0.04
+#define FOC_PID_OUTPUT_RAMP 10000
+#define FOC_PID_LIMIT 10
+
+#define FOC_VOLTAGE_LIMIT 5
diff --git a/platformio.ini b/platformio.ini
@@ -24,29 +24,29 @@ monitor_flags =
 	--eol=CRLF
 	--echo
 	--filter=esp32_exception_decoder
+upload_speed = 921600
 lib_deps =
-    askuric/Simple FOC @ 2.2.0
     infineon/TLV493D-Magnetic-Sensor @ 1.0.3
     bxparks/AceButton @ 1.9.1
+    bakercp/PacketSerial @ 1.4.0
+    nanopb/Nanopb @ 0.4.6   ; Ideally this would reference the nanopb submodule, but that would require
+                            ; everyone to check out submodules to just compile, so we use the library
+                            ; registry for the runtime. The submodule is available for manually updating
+                            ; the pre-compiled (checked in) .pb.h/c files when proto files change, but is
+                            ; otherwise not used during application firmware compilation.
 build_flags =
-  -DCORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_DEBUG
-  -DMONITOR_SPEED=921600
+    -DMONITOR_SPEED=921600
 
 [env:view]
 extends = base_config
 board = esp32doit-devkit-v1
 lib_deps =
   ${base_config.lib_deps}
+  askuric/Simple FOC @ 2.2.0
   bodmer/TFT_eSPI@2.4.25
   fastled/FastLED @ 3.5.0
   bogde/HX711 @ 0.7.5
   adafruit/Adafruit VEML7700 Library @ 1.1.1
-  bakercp/PacketSerial @ 1.4.0
-  nanopb/Nanopb @ 0.4.6   ; Ideally this would reference the nanopb submodule, but that would require
-                          ; everyone to check out submodules to just compile, so we use the library
-                          ; registry for the runtime. The submodule is available for manually updating
-                          ; the pre-compiled (checked in) .pb.h/c files when proto files change, but is
-                          ; otherwise not used during application firmware compilation.
 
 build_flags =
   ${base_config.build_flags}
@@ -58,13 +58,16 @@ build_flags =
   -DSK_LEDS=1
   ; Number of LEDs
   -DNUM_LEDS=8
-  -DSENSOR_MT6701=1
   ; Strain-gauge press input enabled: 1=enable, 0=disable
   -DSK_STRAIN=1
-  ; Invert direction of angle sensor (motor direction is detected relative to angle sensor as part of the calibration procedure)
-  -DSK_INVERT_ROTATION=1
   ; Ambient light sensor (VEML7700) enabled: 1=enable (display/LEDs match ambient brightness), 0=disable (100% brightness all the time)
   -DSK_ALS=1
+  ; Use MT6701 magnetic encoder
+  -DSENSOR_MT6701=1
+  ; Invert direction of angle sensor (motor direction is detected relative to angle sensor as part of the calibration procedure)
+  -DSK_INVERT_ROTATION=1
+
+  -DMOTOR_WANZHIDA_ONCE_TOP=1
 
   ; Pin configurations
   -DPIN_UH=26
@@ -108,6 +111,8 @@ build_flags =
   ; Reduce loop task stack size (only works on newer IDF Arduino core)
   ; -DARDUINO_LOOP_STACK_SIZE=2048
 
+  -DCORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_DEBUG
+
   ; FastLED setup
   ; Modify the default unusable pin mask to allow GPIO 7 (allowed to use on ESP32-PICO-V3-02)
   ; Unusable bits: 6, 8, 9, 10, 20
@@ -119,3 +124,61 @@ build_flags =
   ; GPIO >= 34 are input only
   ; (SOC_GPIO_VALID_GPIO_MASK & ~(0ULL | _FL_BIT(34) | _FL_BIT(35) | _FL_BIT(36) | _FL_BIT(37) | _FL_BIT(38) | _FL_BIT(39)))
   -DSOC_GPIO_VALID_OUTPUT_GPIO_MASK=0x30EFFFFFF
+
+
+[env:nanofoc]
+extends = base_config
+platform = espressif32
+board = adafruit_feather_esp32s3
+lib_deps =
+  ${base_config.lib_deps}
+  askuric/Simple FOC@^2.3.0
+  bodmer/TFT_eSPI@2.5.0
+
+build_flags =
+  ${base_config.build_flags}
+  ; Display enabled: 1=enable, 0=disable
+  -DSK_DISPLAY=0
+  ; Display orientation: 0=usb bottom, 2=usb top
+  -DSK_DISPLAY_ROTATION=0
+  ; LEDs enabled: 1=enable, 0=disable
+  -DSK_LEDS=0
+  ; Number of LEDs
+  -DNUM_LEDS=8
+  ; Strain-gauge press input enabled: 1=enable, 0=disable
+  -DSK_STRAIN=0
+  ; Ambient light sensor (VEML7700) enabled: 1=enable (display/LEDs match ambient brightness), 0=disable (100% brightness all the time)
+  -DSK_ALS=0
+
+  -DSENSOR_MAQ430=1
+  -DPIN_MAQ_SCK=6
+  -DPIN_MAQ_MISO=7
+  -DPIN_MAQ_MOSI=5
+  -DPIN_MAQ_SS=4
+  ; Invert direction of angle sensor (motor direction is detected relative to angle sensor as part of the calibration procedure)
+  -DSK_INVERT_ROTATION=1
+
+  -DMOTOR_MAD2804=1
+
+  ; Pin configurations
+  -DPIN_UH=21
+  -DPIN_UL=12
+  -DPIN_VH=14
+  -DPIN_VL=10
+  -DPIN_WH=13
+  -DPIN_WL=11
+  -DPIN_BUTTON_NEXT=-1
+  -DPIN_BUTTON_PREV=-1
+  -DPIN_LED_DATA=7
+  -DPIN_LCD_BACKLIGHT=08
+
+  -DPIO_FRAMEWORK_ARDUINO_ENABLE_CDC=1
+  -DUSBCON=1
+  -DARDUINO_USB_CDC_ON_BOOT=1
+  -DARDUINO_USB_MODE=1
+  -DCORE_DEBUG_LEVEL=2
+  -DHSPI_SPEED=100000 ; MA/MAQ Nominal SPI Speed in Mhz (HSPI)
+  -DVSPI_SPEED=400000 ; TFt Nominal SPI Speed in Mhz (VSPI)
+
+  ; Reduce loop task stack size (only works on newer IDF Arduino core)
+  ; -DARDUINO_LOOP_STACK_SIZE=2048