Merge branch 'EFeru:master' into master

.github/workflows/build_on_commit.yml

@@ -0,0 +1,41 @@
+name: Build
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    # Get required packages
+    - uses: actions/checkout@v2
+    - uses: fiam/arm-none-eabi-gcc@v1
+      with:
+        release: '9-2019-q4'
+
+    # Build with make
+    - name: make
+      env: 
+        VARIANT: VARIANT_ADC
+      run: make
+
+    # Build with Platformio
+    - name: PlatformIO Install
+      run: |
+        python -m pip install --upgrade pip
+        pip install --upgrade platformio
+    - name: PlatformIO Run
+      run: pio run
+
+    - name: 'Upload Build Artifact'
+      uses: actions/upload-artifact@v3
+      with:
+        path: ${{github.workspace}}/.pio/build/**
+        name: ${{github.event.repository.name}}_build_${{github.run_number}}
+        retention-days: 5
+

.travis.yml

@@ -1,55 +0,0 @@
-notifications:
-  email: true
-
-os: linux
-
-jobs:
-  fast_finish: true
-  include:
-
-    - name: make (gcc-arm-none-eabi-7)
-      script: make
-      env: VARIANT=VARIANT_ADC
-      language: c
-      addons:
-        apt:
-          packages:
-          - libc6-i386
-      install:
-      - pushd .
-      - cd ~
-      - mkdir arm-gcc-toolchain
-      - wget -O $HOME/arm-gcc-toolchain/gcc.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2?revision=bc2c96c0-14b5-4bb4-9f18-bceb4050fee7?product=GNU%20Arm%20Embedded%20Toolchain,64-bit,,Linux,7-2018-q2-update
-      - cd arm-gcc-toolchain
-      - tar -jxf gcc.tar.bz2 --strip=1
-      - popd
-      - export PATH=$HOME/arm-gcc-toolchain/bin:$PATH
-      before_script: arm-none-eabi-gcc --version
-
-    - name: make (gcc-arm-none-eabi-5)
-      script: make
-      env: VARIANT=VARIANT_ADC
-      language: c
-      addons:
-        apt:
-          packages:
-          - libc6-i386
-      install:
-      - pushd .
-      - cd ~
-      - mkdir arm-gcc-toolchain
-      - wget -O $HOME/arm-gcc-toolchain/gcc.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/5_4-2016q3/gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2?revision=111dee36-f88b-4672-8ac6-48cf41b4d375?product=GNU%20Arm%20Embedded%20Toolchain,32-bit,,Linux,5-2016-q3-update
-      - cd arm-gcc-toolchain
-      - tar -jxf gcc.tar.bz2 --strip=1
-      - popd
-      - export PATH=$HOME/arm-gcc-toolchain/bin:$PATH
-      before_script: arm-none-eabi-gcc --version
-
-    - name: platformio
-      script: platformio run
-      language: python
-      install:
-      - pip install -U platformio
-      - platformio update
-      cache:
-      - directories: "~/.platformio"

Inc/BLDC_controller.h

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1296
+ * Model version                  : 1.1297
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Tue Oct 20 17:29:57 2020
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex

Inc/rtwtypes.h

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1296
+ * Model version                  : 1.1297
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Tue Oct 20 17:29:57 2020
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex

README.md

@@ -1,5 +1,5 @@
 # hoverboard-firmware-hack-FOC
-[![Build Status](https://app.travis-ci.com/EFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://app.travis-ci.com/EFeru/hoverboard-firmware-hack-FOC)
+[![Build status](https://github.com/EFeru/hoverboard-firmware-hack-FOC/actions/workflows/build_on_commit.yml/badge.svg)](https://github.com/EFeru/hoverboard-firmware-hack-FOC/actions/workflows/build_on_commit.yml)
 [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
 [![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_SM.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url)
 
@@ -8,14 +8,13 @@ This repository implements Field Oriented Control (FOC) for stock hoverboards. C
  - smooth torque output and improved motor efficiency. Thus, lower energy consumption
  - field weakening to increase maximum speed range
 
-
 Table of Contents
 =======================
 
+* **Wiki:** please check the wiki pages for [Getting Started](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#getting-started) and for [Troubleshooting](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#troubleshooting)
 * [Hardware](#hardware)
 * [FOC Firmware](#foc-firmware)
 * [Example Variants](#example-variants)
-* [Wiki](#wiki)
 * [Projects and Links](#projects-and-links)
 * [Contributions](#contributions)
 
@@ -97,6 +96,12 @@ In all FOC control modes, the controller features maximum motor speed and maximu
  - The controller parameters are given in [this table](https://github.com/EFeru/bldc-motor-control-FOC/blob/master/02_Figures/paramTable.png)
 
 
+### FOC Webview
+
+To explore the controller without a Matlab/Simulink installation click on the link below:
+
+[https://eferu.github.io/bldc-motor-control-FOC/](https://eferu.github.io/bldc-motor-control-FOC/)
+
 ---
 ## Example Variants
 
@@ -114,11 +119,6 @@ In all FOC control modes, the controller features maximum motor speed and maximu
 Of course the firmware can be further customized for other needs or projects.
 
 
----
-## Wiki 
-Please check the wiki for [Getting Started](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#getting-started) and for [Troubleshooting](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#troubleshooting)
-
-
 ---
 ## Projects and Links
 

Src/BLDC_controller.c

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1296
+ * Model version                  : 1.1297
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Tue Oct 20 17:29:57 2020
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -1019,6 +1019,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
   int32_T rtb_Sum1_jt;
   int16_T rtb_Merge_m;
   int16_T rtb_Merge1;
+  uint16_T rtb_Divide14_e;
+  uint16_T rtb_Divide1_f;
   int16_T rtb_TmpSignalConversionAtLow_Pa[2];
   int32_T rtb_Switch1;
   int32_T rtb_Sum1;
@@ -2116,20 +2118,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
 
       /* End of Switch: '<S44>/Switch2' */
 
-      /* Switch: '<S42>/Switch2' incorporates:
+      /* Product: '<S42>/Divide14' incorporates:
-       *  Constant: '<S1>/z_ctrlTypSel'
+       *  Constant: '<S42>/r_fieldWeakHi'
-       *  Constant: '<S42>/CTRL_COMM2'
+       *  Constant: '<S42>/r_fieldWeakLo'
-       *  Constant: '<S42>/a_phaAdvMax'
+       *  Sum: '<S42>/Sum1'
-       *  Constant: '<S42>/id_fieldWeakMax'
+       *  Sum: '<S42>/Sum3'
-       *  RelationalOperator: '<S42>/Relational Operator1'
        */
-      if (rtP->z_ctrlTypSel == 2) {
+      rtb_Divide14_e = (uint16_T)(((int16_T)(DataTypeConversion2 -
-        rtb_Saturation1 = rtP->id_fieldWeakMax;
+        rtP->r_fieldWeakLo) << 15) / (int16_T)(rtP->r_fieldWeakHi -
-      } else {
+        rtP->r_fieldWeakLo));
-        rtb_Saturation1 = rtP->a_phaAdvMax;
-      }
-
-      /* End of Switch: '<S42>/Switch2' */
 
       /* Switch: '<S43>/Switch2' incorporates:
        *  Constant: '<S42>/n_fieldWeakAuthHi'
@@ -2151,25 +2148,53 @@ void BLDC_controller_step(RT_MODEL *const rtM)
 
       /* End of Switch: '<S43>/Switch2' */
 
-      /* Product: '<S42>/Divide3' incorporates:
+      /* Product: '<S42>/Divide1' incorporates:
        *  Constant: '<S42>/n_fieldWeakAuthHi'
        *  Constant: '<S42>/n_fieldWeakAuthLo'
-       *  Constant: '<S42>/r_fieldWeakHi'
-       *  Constant: '<S42>/r_fieldWeakLo'
-       *  Product: '<S42>/Divide1'
-       *  Product: '<S42>/Divide14'
-       *  Product: '<S42>/Divide2'
-       *  Sum: '<S42>/Sum1'
        *  Sum: '<S42>/Sum2'
-       *  Sum: '<S42>/Sum3'
        *  Sum: '<S42>/Sum4'
        */
-      rtDW->Divide3 = (int16_T)(((uint16_T)(((uint32_T)(uint16_T)(((int16_T)
+      rtb_Divide1_f = (uint16_T)(((int16_T)(rtb_Saturation -
-        (DataTypeConversion2 - rtP->r_fieldWeakLo) << 15) / (int16_T)
+        rtP->n_fieldWeakAuthLo) << 15) / (int16_T)(rtP->n_fieldWeakAuthHi -
-        (rtP->r_fieldWeakHi - rtP->r_fieldWeakLo)) * (uint16_T)(((int16_T)
+        rtP->n_fieldWeakAuthLo));
-        (rtb_Saturation - rtP->n_fieldWeakAuthLo) << 15) / (int16_T)
+
-        (rtP->n_fieldWeakAuthHi - rtP->n_fieldWeakAuthLo))) >> 15) *
+      /* Switch: '<S42>/Switch1' incorporates:
-        rtb_Saturation1) >> 15);
+       *  MinMax: '<S42>/MinMax1'
+       *  RelationalOperator: '<S42>/Relational Operator6'
+       */
+      if (rtb_Divide14_e < rtb_Divide1_f) {
+        /* MinMax: '<S42>/MinMax' */
+        if (!(rtb_Divide14_e > rtb_Divide1_f)) {
+          rtb_Divide14_e = rtb_Divide1_f;
+        }
+
+        /* End of MinMax: '<S42>/MinMax' */
+      } else {
+        if (rtb_Divide1_f < rtb_Divide14_e) {
+          /* MinMax: '<S42>/MinMax1' */
+          rtb_Divide14_e = rtb_Divide1_f;
+        }
+      }
+
+      /* End of Switch: '<S42>/Switch1' */
+
+      /* Switch: '<S42>/Switch2' incorporates:
+       *  Constant: '<S1>/z_ctrlTypSel'
+       *  Constant: '<S42>/CTRL_COMM2'
+       *  Constant: '<S42>/a_phaAdvMax'
+       *  Constant: '<S42>/id_fieldWeakMax'
+       *  RelationalOperator: '<S42>/Relational Operator1'
+       */
+      if (rtP->z_ctrlTypSel == 2) {
+        rtb_Saturation1 = rtP->id_fieldWeakMax;
+      } else {
+        rtb_Saturation1 = rtP->a_phaAdvMax;
+      }
+
+      /* End of Switch: '<S42>/Switch2' */
+
+      /* Product: '<S42>/Divide3' */
+      rtDW->Divide3 = (int16_T)((rtb_Saturation1 * rtb_Divide14_e) >> 15);
 
       /* End of Outputs for SubSystem: '<S6>/Field_Weakening_Enabled' */
     }

Src/BLDC_controller_data.c

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1296
+ * Model version                  : 1.1297
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Tue Oct 20 17:29:57 2020
+ * C/C++ source code generated on : Sun Mar  6 11:02:11 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex