Merge pull request #253 from runger1101001/dev

add constructor taking mV per Amp to current sense

Author: runger1101001

.github/workflows/ccpp.yml

@@ -77,7 +77,7 @@ jobs:
 
           - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # nucleo one full example
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
-            sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, sdouble_full_control_example.ino, stm32_current_control_low_side.ino
+            sketch-names: single_full_control_example.ino, stm32_spi_alt_example.ino, double_full_control_example.ino, stm32_current_control_low_side.ino
 
 
       # Do not cancel all jobs / architectures if one job fails

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

@@ -7,7 +7,7 @@
 // Motor instance
 BLDCMotor motor = BLDCMotor(11);
 BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
-LowsideCurrentSense currentSense = LowsideCurrentSense(0.003, -64.0/7.0, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
+LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
 
 
 // encoder instance

examples/hardware_specific_examples/SimpleFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino

@@ -12,7 +12,7 @@ void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
 // inline current sensor instance
-InlineCurrentSense current_sense = InlineCurrentSense(0.001, 50.0, A0, A1);
+InlineCurrentSense current_sense = InlineCurrentSense(0.001f, 50.0f, A0, A1);
 
 // commander communication instance
 Commander command = Commander(Serial);

examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino

@@ -24,11 +24,11 @@ void doB2(){encoder2.handleB();}
 
 // inline current sensor instance
 // check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
-InlineCurrentSense current_sense1 = InlineCurrentSense(0.01, 50.0, A0, A2);
+InlineCurrentSense current_sense1 = InlineCurrentSense(0.01f, 50.0f, A0, A2);
 
 // inline current sensor instance
 // check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
-InlineCurrentSense current_sense2 = InlineCurrentSense(0.01, 50.0, A1, A3);
+InlineCurrentSense current_sense2 = InlineCurrentSense(0.01f, 50.0f, A1, A3);
 
 // commander communication instance
 Commander command = Commander(Serial);

examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino

@@ -13,7 +13,7 @@ void doB(){encoder.handleB();}
 
 // inline current sensor instance
 // check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
-InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, A0, A2);
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);
 
 // commander communication instance
 Commander command = Commander(Serial);

examples/hardware_specific_examples/SimpleFOCShield/version_v3/single_full_control_example/single_full_control_example.ino

@@ -13,7 +13,7 @@ void doB(){encoder.handleB();}
 
 // inline current sensor instance
 // ACS712-05B has the resolution of 0.185mV per Amp
-InlineCurrentSense current_sense = InlineCurrentSense(1, 0.185, A0, A2);
+InlineCurrentSense current_sense = InlineCurrentSense(1.0f, 0.185f, A0, A2);
 
 // commander communication instance
 Commander command = Commander(Serial);

examples/motion_control/torque_control/encoder/current_control/current_control.ino

@@ -17,7 +17,7 @@ void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
 // current sensor
-InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, A0, A2);
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);
 
 // current set point variable
 float target_current = 0;

examples/utils/current_sense_test/inline_current_sense_test/inline_current_sense_test.ino

@@ -7,7 +7,7 @@
 // shunt resistor value
 // gain value
 // pins phase A,B, (C optional)
-InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, A0, A2);
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);
 
 
 void setup() {

src/current_sense/InlineCurrentSense.cpp

@@ -17,7 +17,22 @@ InlineCurrentSense::InlineCurrentSense(float _shunt_resistor, float _gain, int _
     gain_a = volts_to_amps_ratio;
     gain_b = volts_to_amps_ratio;
     gain_c = volts_to_amps_ratio;
-}
+};
+
+
+InlineCurrentSense::InlineCurrentSense(float _mVpA, int _pinA, int _pinB, int _pinC){
+    pinA = _pinA;
+    pinB = _pinB;
+    pinC = _pinC;
+
+    volts_to_amps_ratio = _mVpA / 1000.0f; // mV to amps
+    // gains for each phase
+    gain_a = volts_to_amps_ratio;
+    gain_b = volts_to_amps_ratio;
+    gain_c = volts_to_amps_ratio;
+};
+
+
 
 // Inline sensor init function
 int InlineCurrentSense::init(){

src/current_sense/InlineCurrentSense.h

@@ -21,6 +21,14 @@ class InlineCurrentSense: public CurrentSense{
       @param phC C phase adc pin (optional)
     */
     InlineCurrentSense(float shunt_resistor, float gain, int pinA, int pinB, int pinC = NOT_SET);
+    /**
+      InlineCurrentSense class constructor
+      @param mVpA mV per Amp ratio
+      @param phA A phase adc pin
+      @param phB B phase adc pin
+      @param phC C phase adc pin (optional)
+    */
+    InlineCurrentSense(float mVpA, int pinA, int pinB, int pinC = NOT_SET);
 
     // CurrentSense interface implementing functions 
     int init() override;

src/current_sense/LowsideCurrentSense.cpp

@@ -19,6 +19,20 @@ LowsideCurrentSense::LowsideCurrentSense(float _shunt_resistor, float _gain, int
     gain_c = volts_to_amps_ratio;
 }
 
+
+LowsideCurrentSense::LowsideCurrentSense(float _mVpA, int _pinA, int _pinB, int _pinC){
+    pinA = _pinA;
+    pinB = _pinB;
+    pinC = _pinC;
+
+    volts_to_amps_ratio = _mVpA / 1000.0f; // mV to amps
+    // gains for each phase
+    gain_a = volts_to_amps_ratio;
+    gain_b = volts_to_amps_ratio;
+    gain_c = volts_to_amps_ratio;
+}   
+
+
 // Lowside sensor init function
 int LowsideCurrentSense::init(){
     // configure ADC variables

src/current_sense/LowsideCurrentSense.h

@@ -22,6 +22,14 @@ class LowsideCurrentSense: public CurrentSense{
       @param phC C phase adc pin (optional)
     */
     LowsideCurrentSense(float shunt_resistor, float gain, int pinA, int pinB, int pinC = _NC);
+    /**
+      LowsideCurrentSense class constructor
+      @param mVpA mV per Amp ratio
+      @param phA A phase adc pin
+      @param phB B phase adc pin
+      @param phC C phase adc pin (optional)
+    */
+    LowsideCurrentSense(float mVpA, int pinA, int pinB, int pinC = _NC);
 
     // CurrentSense interface implementing functions
     int init() override;