Arduino-FOC
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simplefoc
[BUG]ESP32-S3 block in InlineCurrentSense init
Describe the bug When using SimpleFOC, the program will stay at the current_sense.init(); function location
Describe the hardware setup For us it is very important to know what is the hardware setup you're using in order to be able to help more directly
- Which microcontroller ESP32S3FN8
- Current sensing used? INA240A2PWR IDE you are using
- Arduino IDE
- Platformio
Config file [env:esp32-s3-devkitc-1] platform = https://github.com/platformio/platform-espressif32.git board = esp32-s3-devkitc-1 framework = arduino monitor_speed = 115200 lib_deps = askuric/Simple FOC @ ^2.3.1 SPI Wire lib_archive = false
CurrentCode #include <SimpleFOC.h>
#define A0 8 #define A1 9 // current sensor // shunt resistor value // gain value // pins phase A,B, (C optional) InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, 8, 9);
void setup() { Serial.begin(115200); Serial.println("Start init current sense"); // initialise the current sensing current_sense.init(); Serial.println("End init current sense");
// for SimpleFOCShield v2.01/v2.0.2 current_sense.gain_b *= -1;
Serial.println("Current sense ready."); }
void loop() {
PhaseCurrent_s currents = current_sense.getPhaseCurrents();
float current_magnitude = current_sense.getDCCurrent();
Serial.print(currents.a*1000); // milli Amps
Serial.print("\t");
Serial.print(currents.b*1000); // milli Amps
Serial.print("\t");
Serial.print(currents.c*1000); // milli Amps
Serial.print("\t");
Serial.println(current_magnitude*1000); // milli Amps
}
Out ESP-ROM:esp32s3-20210327 Build:Mar 27 2021 rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT) SPIWP:0xee mode:DIO, clock div:1 load:0x3fce3808,len:0x44c load:0x403c9700,len:0xbe4 load:0x403cc700,len:0x2a68 entry 0x403c98d4 Start init current sense
I think I have located this problem. This is a bug. Each ADC of esp32s3 has 10 channels 0~9, and the SENS_SAR_MEAS1_CTRL2_REG register shows the status of ADC1, and SENS_SAR_MEAS2_CTRL2_REG shows the status of ADC2. But when I use GPIO9, currently The judgment detects BIT16 of SENS_SAR_MEAS2_CTRL2_REG, which belongs to ADC2. When I change if(channel > 7) to if(channel > 9), my current program is normal. But I think this method may not be appropriate for ADC2
I think I have located this problem. This is a bug. Each ADC of esp32s3 has 10 channels 0~9, and the SENS_SAR_MEAS1_CTRL2_REG register shows the status of ADC1, and SENS_SAR_MEAS2_CTRL2_REG shows the status of ADC2. But when I use GPIO9, currently The judgment detects BIT16 of SENS_SAR_MEAS2_CTRL2_REG, which belongs to ADC2. When I change if(channel > 7) to if(channel > 9), my current program is normal. But I think this method may not be appropriate for ADC2
Simple FOC\src\current_sense\hardware_specific\esp32\esp32s_adc_driver.cpp :237
Thank you very much for reporting this and finding the solution! We'll look into it as soon as we can!
