• Joint Control - Cycloidal Brushless Actuator

    Paul Gould • 09/04/2020 at 15:19 • 0 comments

  • Haptic Control using ESP-Now

    Paul Gould • 08/16/2020 at 16:51 • 0 comments

  • Prototype is controlling a BLDC motor

    Paul Gould • 07/29/2020 at 16:18 • 0 comments

    Boards can in from JLC PCB, components can in from LCSC and Mouser.

    Hand populated the first one, testing as I went. I have a stencil for the next few.

    A few little mistakes. 

    • Auto Power switch over between USB 5V and Battery Voltage had a high forward voltage and had to be replaced. 
    • Needed a pull down on ESP-32 IO12
    • Had to Parallel Caps for the Charge Pump because I ordered the wrong one.

    Programs via Arduino IDE using USB-TTL-3V3

    I can control a motor and a joint's position via bluetooth and display into on the I2C OLED (FET Temp, Battery Voltage, Joint Position, Motor current).

    Has two absolute magnetic encoders, for for motor position and one for joint position

    I do not recommend Bluetooth/wifi for joint control.

    CAN is also up and running.

  • 10 boards on order at JLC

    Paul Gould • 06/14/2020 at 16:30 • 0 comments

    Connectors clockwise from the top

    • BLDC motor connectors & Power In/Out
    • CAN in/out
    • qwiic
    • ESP-32 Prog
    • Encoder SPI
    • Fan or Servo CTRL
    • CAN out/in

    Connectors on the back

    • FAN or Servo
    • ESP-32 Prog
    • Pot

  • ESP-32 and DRV8305N Schematic

    Paul Gould • 03/31/2020 at 08:00 • 0 comments

    PDF in files

  • SPI in an IRQ

    Paul Gould • 02/27/2020 at 16:39 • 0 comments

    The standard SPI Transfer code does tot work well in an IRQ mainly becaise it is run out of FLASH. Uese the IRAM_ATTR to put it in RAM.

    Other digitalWrte() is slow and should not be uses in the IRQ.

    Use GPIO.out_w1ts = ((uint32_t)1 << IO_PIN_Number); to set the pin high

    Use GPIO.out_w1ts = ((uint32_t)1 << IO_PIN_Number);  to set the pin low

    This can only be used when the IO_PIN_Number is 0-31

    There is other code for 32-39 pins. 

    SPI Set-up

    #include "driver/periph_ctrl.h"
    #include "driver/spi_master.h"
    #include "soc/gpio_sig_map.h"
    #include "soc/spi_reg.h"
    #include "soc/dport_reg.h"
    #include "soc/spi_struct.h"

    static const int spiClk = 4000000; // 1 MHz
    SPIClass * hspi = NULL;

    void IRAM_ATTR SPIInit(void)
{
  hspi = new SPIClass(HSPI);
  hspi->begin(); 
  pinMode(INT_ENC_nCS, OUTPUT);
  pinMode(EXT_ENC_nCS, OUTPUT);
  pinMode(DRV_nSCS, OUTPUT);
  GPIO.out_w1ts = ((uint32_t)1 << INT_ENC_nCS);
  GPIO.out_w1ts = ((uint32_t)1 << EXT_ENC_nCS);
  GPIO.out_w1ts = ((uint32_t)1 << DRV_nSCS);
  hspi->beginTransaction(SPISettings(spiClk, MSBFIRST, SPI_MODE1));
  SPI2.mosi_dlen.usr_mosi_dbitlen = (1 * 16) - 1;
  SPI2.miso_dlen.usr_miso_dbitlen = (1 * 16) - 1;
}


    void IRAM_ATTR SPI_Read_Encoder(){ GPIO.out_w1tc = ((uint32_t)1 << INT_ENC_nCS); SPI2.data_buf[0] = 0xFFFF; SPI2.cmd.usr = 1; while(SPI2.cmd.usr); GPIO.out_w1ts = ((uint32_t)1 << INT_ENC_nCS); encoder_int = SPI2.data_buf[0] & 0xFFFF; if(!SPI2.ctrl.rd_bit_order){ encoder_int = (encoder_int >> 8) | (encoder_int << 8); } encoder_int = encoder_int & 0x3FFF ; }

  • Hi Resolution Centre Aligned Three Phase MCPWM

    Paul Gould • 02/27/2020 at 16:25 • 0 comments

    The standard Libraries for Arduino by Espressif are very limiting. Previously I had to fix the Sync Function. Now the problem is Frequency, resolution and updating the duty cycle in an interrupt. There is an argument to make on getting the interrupt sub-routine very short. All of my motor commutation code (and SPI reads) are within an 5KHz timer. It consumes 5-10% CPU time. By default the Arduino code runs out of FLASH and running FLASH code in an interrupt causes problems (more info on why is needed). 

    MCPWM Initialization code

    #define TIMER_CLK_PRESCALE 1
#define MCPWM_CLK_PRESCALE 0
#define MCPWM_PERIOD_PRESCALE 4
#define MCPWM_PERIOD_PERIOD 2048
static void IRAM_ATTR setup_mcpwm()
{
     setup_mcpwm_pins();

     mcpwm_config_t pwm_config;
     pwm_config.frequency = 4000000;  //frequency = 20000Hz
     pwm_config.cmpr_a = 0;      //duty cycle of PWMxA = 50.0%
     pwm_config.cmpr_b = 0;      //duty cycle of PWMxB = 50.0%
     pwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // Up-down counter (triangle wave)
     pwm_config.duty_mode = MCPWM_DUTY_MODE_0; // Active HIGH
     mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);    //Configure PWM0A & PWM0B with above settings
     mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config);    //Configure PWM0A & PWM0B with above settings
     mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_2, &pwm_config);    //Configure PWM0A & PWM0B with above settings
     Serial.print("clk_cfg.prescale = ");
     Serial.println( MCPWM0.clk_cfg.prescale);
     Serial.print("timer[0].period.prescale = ");
     Serial.println( MCPWM0.timer[0].period.prescale);
     Serial.print("timer[0].period.period = ");
     Serial.println( MCPWM0.timer[0].period.period);
     Serial.print("timer[0].period.upmethod = ");
     Serial.println( MCPWM0.timer[0].period.upmethod);

     mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_0);
     mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_1);
     mcpwm_stop(MCPWM_UNIT_0, MCPWM_TIMER_2);
     MCPWM0.clk_cfg.prescale = MCPWM_CLK_PRESCALE;
  
     MCPWM0.timer[0].period.prescale = MCPWM_PERIOD_PRESCALE;
     MCPWM0.timer[1].period.prescale = MCPWM_PERIOD_PRESCALE;
     MCPWM0.timer[2].period.prescale = MCPWM_PERIOD_PRESCALE;    
     delay(1);
     MCPWM0.timer[0].period.period = MCPWM_PERIOD_PERIOD;
     MCPWM0.timer[1].period.period = MCPWM_PERIOD_PERIOD;
     MCPWM0.timer[2].period.period = MCPWM_PERIOD_PERIOD;
     delay(1);
     MCPWM0.timer[0].period.upmethod =0;
     MCPWM0.timer[1].period.upmethod =0;
     MCPWM0.timer[2].period.upmethod =0;
     delay(1); 
     Serial.print("clk_cfg.prescale = ");
     Serial.println( MCPWM0.clk_cfg.prescale);
     Serial.print("timer[0].period.prescale = ");
     Serial.println( MCPWM0.timer[0].period.prescale);
     Serial.print("timer[0].period.period = ");
     Serial.println( MCPWM0.timer[0].period.period);
     mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_0);
     mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_1);
     mcpwm_start(MCPWM_UNIT_0, MCPWM_TIMER_2);
   
     mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_SELECT_SYNC_INT0, 0);
     mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_SELECT_SYNC_INT0, 0);
     mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_SELECT_SYNC_INT0, 0);
     delayMicroseconds(1000);
     MCPWM0.timer[0].sync.out_sel = 1;
     delayMicroseconds(1000);
     MCPWM0.timer[0].sync.out_sel = 0;

} // setup_mcpwm

    Some rules

    STOP MCPWM before period, etc update

    START MCPWM before SYNC

    Delay long enough for at least one period before disabling sync .

    Use IRAM_ATTR to change the code from FLASH based to RAM based for putting into the Interrupt

    void IRAM_ATTR Three_Phases(void)
{    
  if (Motor_on==0)
  {
      PWMUU = 0;
      PWMVV = 0;
      PWMWW = 0;
  }
  MCPWM0.channel[0].cmpr_value[MCPWM_OPR_A].cmpr_val = PWMUU;
  MCPWM0.channel[1].cmpr_value[MCPWM_OPR_A].cmpr_val = PWMVV;
  MCPWM0.channel[2].cmpr_value[MCPWM_OPR_A].cmpr_val = PWMWW;
}

    Because MCPWM0.timer[2].period.upmethod =0;  is instant update this code update Duty cycle right away.


    May have to check for glitches or change upmethod to start of period.

  • Motor is running and controllable over Bluetooth

    Paul Gould • 02/27/2020 at 15:58 • 0 comments

    WROOM-32D Development kit

    3x BTS7980 Half Bridge FETs

    AS5147 Absolute Magnetic Encoder

    OLED Display SSD1306

    CAN Transceiver

    QX-Motor QX4208

    3D printed Cycloidal Gearbox from this project

    https://hackaday.io/project/163766-low-cost-3d-printed-robot-tail/log/159484-tail-design-5-joints-3-actuators

    Connect via Bluetooth on TeraTerm

  • Three Phase Centre Aligned MC PWM

    Paul Gould • 02/13/2020 at 15:25 • 0 comments

    Starting point for Brushless motor control is the get the required features up and running. The ESP-32 has a MCPWM (Motor Control)  hardware block. The hardest part was getting the "centre aligned" working with the many different types of sync function. The one I needed was missing from the header file.

    mcpwm.h for the ESP32 is missing some enums

    /**
 * @brief MCPWM select sync signal input
 */
typedef enum {
    MCPWM_SELECT_SYNC_OFF          /*!< SYNC is off*/
    MCPWM_SELECT_SYNC_INT0,        /*!<Select SYNC0 as internal*/
    MCPWM_SELECT_SYNC_INT1,        /*!<Select SYNC1 as internal*/
    MCPWM_SELECT_SYNC_INT2,        /*!<Select SYNC2 as internal*/
    MCPWM_SELECT_SYNC0,            /*!<Select SYNC0 as input*/
    MCPWM_SELECT_SYNC1,            /*!<Select SYNC1 as input*/
    MCPWM_SELECT_SYNC2,            /*!<Select SYNC2 as input*/
} mcpwm_sync_signal_t;

     The online file is located at

    https://github.com/espressif/arduino-esp32/blob/04963009eedfbc1e0ea2e1378ae69e7cebda6fd6/tools/sdk/include/driver/driver/mcpwm.h

    I have issued a bug fix request.

    Arduino ino file

    #include "driver/mcpwm.h"
#include "soc/mcpwm_reg.h"
#include "soc/mcpwm_struct.h"

// MCPWM Pins
#define GPIO_PWM0A_OUT 15   //Set GPIO 15 as PWM0A
#define GPIO_PWM0B_OUT 02   //Set GPIO 02 as PWM0B
#define GPIO_PWM1A_OUT 00   //Set GPIO 00 as PWM1A
#define GPIO_PWM1B_OUT 04   //Set GPIO 04 as PWM1B
#define GPIO_PWM2A_OUT 16   //Set GPIO 16 as PWM2A
#define GPIO_PWM2B_OUT 17   //Set GPIO 17 as PWM2B

static void setup_mcpwm_pins()
{
    Serial.println("initializing mcpwm control gpio...n");
    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_PWM0A_OUT);
    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, GPIO_PWM0B_OUT);
    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, GPIO_PWM1A_OUT);
    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1B, GPIO_PWM1B_OUT);
    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM2A, GPIO_PWM2A_OUT);
    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM2B, GPIO_PWM2B_OUT);  
} // setup_pins()

static void setup_mcpwm()
{
   setup_mcpwm_pins();

   mcpwm_config_t pwm_config;
   pwm_config.frequency = 40000;  //frequency = 20000Hz
   pwm_config.cmpr_a = 50.0;      //duty cycle of PWMxA = 50.0%
   pwm_config.cmpr_b = 50.0;      //duty cycle of PWMxB = 50.0%
   pwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // Up-down counter (triangle wave)
   pwm_config.duty_mode = MCPWM_DUTY_MODE_0; // Active HIGH
   mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);    //Configure PWM0A & PWM0B with above settings
   mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config);    //Configure PWM0A & PWM0B with above settings
   mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_2, &pwm_config);    //Configure PWM0A & PWM0B with above settings

   mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_SELECT_SYNC_OUT0, 0);
   mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_SELECT_SYNC_OUT0, 0);
   mcpwm_sync_enable(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_SELECT_SYNC_OUT0, 0);
  
   MCPWM0.timer[0].sync.out_sel = 1;
   delayMicroseconds(100);
   MCPWM0.timer[0].sync.out_sel = 0;

   mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 70);
   mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B, 60);
   mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, 50);
   mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_B, 40);
   mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_A, 30);
   mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_2, MCPWM_OPR_B, 20);
} // setup_mcpwm

void setup()
{
   Serial.begin(115200);
   Serial.println( "Start ");
   setup_mcpwm();
} // setup()

void loop()
{
   Serial.println("D");
   delay(500);
} // loop()

    I will have to look at dead-time next, so I only have to set three PWM values instead of six.

    I could also save some pins and use the DRV8305 internal dead time feature. 

  • Project Notes

    Paul Gould • 02/11/2020 at 17:11 • 0 comments

    Information

    Schematic Guidelines

    https://randomnerdtutorials.com/esp32-pinout-reference-gpios/

    https://learn.adafruit.com/assets/74367

    https://learn.adafruit.com/huzzah32-esp32-breakout-board/pinouts

    https://randomnerdtutorials.com/esp32-adc-analog-read-arduino-ide/

    https://www.instructables.com/id/IOT-Made-Simple-Playing-With-the-ESP32-on-Arduino-/

    https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/rmt.html