Application example of ESP SIMPLEFOC Speed Control

This example demonstrates how to develop a motor speed control program using the `esp_ speed control component on an ESP32 series chip. The specific functions of the demonstration are as follows:

• Motor speed closed loop.
• Serial port instruction to control motor speed

How to use the example

Hardware requirement

1. Hardware connection:
   • for ESP32-S3 chips, the serial port is connected to the default RXD0 and TXD0. If you need to use other serial ports, you need to modify the corresponding uart_num, RXD and TXD in the initialization part of the serial port.
   • the sample motor has a pole pair of 14 and a rated voltage of 12V.
   • the example MOS predrive uses EG2133, and connects LIN with HIN, using 3PWM driver.
   • the example angle sensor uses AS5600. If you use other angle sensors, you need to manually enter the initialization and angle reading functions into GenericSensor.
   • the example hardware schematic: single bldc

   debugging parameters need to be modified for different types of motors and hardware. make sure to debug under the correct parameters and beware of anomalies.

Compile and write

1. Enter the foc_velocity_ control directory:

   cd ./esp-iot-solution/examples/motor/foc_velocity_control
   

2. Use the idf.py tool to set the compiler chip, and then compile and download it. The instructions are:

   # Set compiler chip
   idf.py idf.py set-target esp32s3
   
   # Compile and download
   idf.py -p PORT build flash
   

   Please replace PORT with the port number currently in use

Example output

The following is the speed control log:

 Usage          Type ST Offset   Length
I (66) boot:  0 nvs              WiFi data        01 02 00009000 00006000
I (74) boot:  1 phy_init         RF data          01 01 0000f000 00001000
I (81) boot:  2 factory          factory app      00 00 00010000 00100000
I (88) boot: End of partition table
I (93) esp_image: segment 0: paddr=00010020 vaddr=3c030020 size=0fc00h ( 64512) map
I (113) esp_image: segment 1: paddr=0001fc28 vaddr=3fc92f00 size=003f0h (  1008) load
I (113) esp_image: segment 2: paddr=00020020 vaddr=42000020 size=24d48h (150856) map
I (145) esp_image: segment 3: paddr=00044d70 vaddr=3fc932f0 size=025dch (  9692) load
I (148) esp_image: segment 4: paddr=00047354 vaddr=40374000 size=0ee18h ( 60952) load
I (171) boot: Loaded app from partition at offset 0x10000
I (171) boot: Disabling RNG early entropy source...
I (182) cpu_start: Multicore app
I (183) cpu_start: Pro cpu up.
I (183) cpu_start: Starting app cpu, entry point is 0x403752d4
I (0) cpu_start: App cpu up.
I (201) cpu_start: Pro cpu start user code
I (201) cpu_start: cpu freq: 240000000 Hz
I (201) cpu_start: Application information:
I (204) cpu_start: Project name:     foc_example
I (209) cpu_start: App version:      d580537b
I (214) cpu_start: Compile time:     Jul 19 2023 10:20:23
I (221) cpu_start: ELF file SHA256:  686b47738...
I (226) cpu_start: ESP-IDF:          v5.2-dev-1113-g28c643a56d
I (232) cpu_start: Min chip rev:     v0.0
I (237) cpu_start: Max chip rev:     v0.99
I (242) cpu_start: Chip rev:         v0.1
I (247) heap_init: Initializing. RAM available for dynamic allocation:
I (254) heap_init: At 3FC96AF8 len 00052C18 (331 KiB): DRAM
I (260) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (267) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (273) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (280) spi_flash: detected chip: gd
I (283) spi_flash: flash io: dio
W (287) spi_flash: Detected size(16384k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (301) sleep: Configure to isolate all GPIO pins in sleep state
I (307) sleep: Enable automatic switching of GPIO sleep configuration
I (315) app_start: Starting scheduler on CPU0
I (319) app_start: StartY�I (345) gpio: GPIO[17]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (345) gpio: GPIO[16]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (352) gpio: GPIO[15]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
MCPWM Group: 0 is idle
Auto. Current Driver uses Mcpwm GroupId:0
I (368) gpio: GPIO[17]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (377) gpio: GPIO[16]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[15]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
MOT: Monitor enabled!
MOT: Init
MOT: Enable driver.
MOT: Align sensor.
MOT: sensor_direction==CW
MOT: PP check: OK!
MOT: Zero elec. angle: 4.49
MOT: No current sense.
MOT: Ready.

T2.0
2.000