Feat h7 current sensing

.github/workflows/arduino_mbed.yml

@@ -0,0 +1,51 @@
+name: MDED
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          library-manager: update
+          project-type: library
+  build:
+    name: Test compiling 
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        arduino-boards-fqbn:
+          #- arduino:mbed:giga                        # arudino giga
+          - arduino:mbed:nanorp2040connect           # arduino nano rp2040 connect
+          - arduino:mbed:nano33ble                   # arduino nano 33 ble
+          - arduino:mbed:envie_m7                    # arduino portenta
+
+        include:
+          - arduino-boards-fqbn: arduino:mbed:nanorp2040connect 
+            sketch-names: open_loop_position_example.ino
+
+          - arduino-boards-fqbn: arduino:mbed:nano33ble 
+            sketch-names: open_loop_position_example.ino
+
+          - arduino-boards-fqbn: arduino:mbed:envie_m7 
+            sketch-names: open_loop_position_example.ino
+
+          # - arduino-boards-fqbn: arduino:mbed:giga 
+          #   sketch-names: single_full_control_example.ino
+
+
+      # Do not cancel all jobs / architectures if one job fails
+      fail-fast: false
+    steps:
+    - name: Checkout
+      uses: actions/checkout@master
+    - name: Compile all examples
+      uses: ArminJo/arduino-test-compile@master
+      with:
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          required-libraries: ${{ matrix.required-libraries }}
+          platform-url: ${{ matrix.platform-url }}
+          sketch-names: ${{ matrix.sketch-names }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}

README.md

@@ -7,6 +7,7 @@
 [![RP2040 build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/rpi.yml)
 [![SAMD build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/samd.yml)
 [![Teensy build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml) 
+[![MBED build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino_mbed.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/arduino_mbed.yml)
 
 ![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/arduino-foc)
 ![GitHub Release Date](https://img.shields.io/github/release-date/simplefoc/arduino-foc?color=blue)

src/BLDCMotor.cpp

@@ -93,10 +93,13 @@ int BLDCMotor::init() {
   P_angle.limit = velocity_limit;
 
   // if using open loop control, set a CW as the default direction if not already set
-  if ((controller==MotionControlType::angle_openloop
-     ||controller==MotionControlType::velocity_openloop)
-     && (sensor_direction == Direction::UNKNOWN)) {
-      sensor_direction = Direction::CW;
+  // only if no sensor is used
+  if(!sensor){
+    if ((controller==MotionControlType::angle_openloop
+      ||controller==MotionControlType::velocity_openloop)
+      && (sensor_direction == Direction::UNKNOWN)) {
+        sensor_direction = Direction::CW;
+    }
   }
 
   _delay(500);

src/HybridStepperMotor.cpp

@@ -30,6 +30,7 @@ HybridStepperMotor::HybridStepperMotor(int pp, float _R, float _KV, float _induc
 void HybridStepperMotor::linkDriver(BLDCDriver *_driver)
 {
   driver = _driver;
+  SIMPLEFOC_DEBUG("MOT: BLDCDriver linked, using pin C as the mid-phase");
 }
 
 // init hardware pins
@@ -64,10 +65,13 @@ int HybridStepperMotor::init()
   P_angle.limit = velocity_limit;
 
   // if using open loop control, set a CW as the default direction if not already set
-  if ((controller==MotionControlType::angle_openloop
-     ||controller==MotionControlType::velocity_openloop)
-     && (sensor_direction == Direction::UNKNOWN)) {
-      sensor_direction = Direction::CW;
+  // only if no sensor is used
+  if(!sensor){
+    if ((controller==MotionControlType::angle_openloop
+      ||controller==MotionControlType::velocity_openloop)
+      && (sensor_direction == Direction::UNKNOWN)) {
+        sensor_direction = Direction::CW;
+    }
   }
 
   _delay(500);

src/StepperMotor.cpp

@@ -57,10 +57,13 @@ int StepperMotor::init() {
   P_angle.limit = velocity_limit;
 
   // if using open loop control, set a CW as the default direction if not already set
-  if ((controller==MotionControlType::angle_openloop
-     ||controller==MotionControlType::velocity_openloop)
-     && (sensor_direction == Direction::UNKNOWN)) {
-      sensor_direction = Direction::CW;
+  // only if no sensor is used
+  if(!sensor){
+    if ((controller==MotionControlType::angle_openloop
+      ||controller==MotionControlType::velocity_openloop)
+      && (sensor_direction == Direction::UNKNOWN)) {
+        sensor_direction = Direction::CW;
+    }
   }
 
   _delay(500);