I’m having difficulty getting current sense to init on my config
Driver: SimpleFOCShield v2.0.4
MCU: ESP32-S3-DevKit C N8R2
BLDC: [5010 260KV] - 12N14P (7 pole pair)(Rctimer 5010 260KV Multirotor Brushless Motor(4.0mm shaft)) running at 12V (supports 4-6s / 14.8->22.2V)
Sensor: AS5600
Application: I’m building a zoetrope very similar to this
Pre-simplefoc:
I’m running a low-impedance BLDC with a max of 750rpm / 78rad/s with a ~400g load. I never see > 800ma and I have a heatsink+fan on the L6234. So far it works great.
I’m trying to get inline current sensing working but am encountering problems.
- “Err too low current, rise voltage!” current sense errors
- higher voltage_sensor_align values cause pole pair check to fail
Starting out with:
motor.voltage_sensor_align = 1;
results in:
CS: Err too low current, rise voltage!MOT: PP check: OK!
MOT: Monitor enabled!
MOT: Init
MOT: Enable driver.
[ 2012][E][esp32-hal-adc.c:172] __analogChannelConfig(): Pin is not configured as analog channel
[ 2021][E][esp32-hal-adc.c:172] __analogChannelConfig(): Pin is not configured as analog channel
Current sense init success!
PWM frequency: -12345
MOT: Align sensor.
MOT: sensor_direction==CW
MOT: PP check: OK!
MOT: Zero elec. angle: 5.20
MOT: Align current sense.
CS: Err too low current, rise voltage!
MOT: Align error!
MOT: Init FOC failed.
the code says to bump it up. I tested with 1-9V)
motor.voltage_sensor_align = 9;
doesn’t help. It throws the same error. setting:
motor.voltage_sensor_align = 12;
results in:
MOT: Monitor enabled!
MOT: Init
MOT: Enable driver.
[ 2012][E][esp32-hal-adc.c:172] __analogChannelConfig(): Pin is not configured as analog channel
[ 2021][E][esp32-hal-adc.c:172] __analogChannelConfig(): Pin is not configured as analog channel
Current sense init success!
PWM frequency: -12345
MOT: Align sensor.
MOT: sensor_direction==CW
MOT: PP check: fail - estimated pp: 8.06
MOT: Zero elec. angle: 5.18
MOT: Align current sense.
CS: Err too low current, rise voltage!
MOT: Align error!
MOT: Init FOC failed.
- the same CS error
MOT: PP check: fail - estimated pp: 8.06
With motor.voltage_sensor_align = 1 I did see this once:
MOT: Align current sense.
CS: Switch A-B
CS: Switch B-(C)NC
MOT: Success: 2
MOT: Ready.
After that, I swapped my current sense pins and never saw it again. I also tried swapping them back to their original assignments but never saw success again.
I’ve also seen the following after swapping around 2 of the phases between the driver and motor (but returned to the other CS error on subsequent runs):
MOT: PP check: OK!
MOT: Zero elec. angle: 5.16
MOT: Align current sense.
CS: Err align B
MOT: Align error!
MOT: Init FOC failed.
I looked at the code but didn’t see any hints.
To be clear I almost always get the CS: Err too low current, rise voltage! error.
Full code here:
#include <Arduino.h>
#include <SimpleFOC.h>
#include <Wire.h>
#define I2C_SDA 4 // SDA on encoder (encoder yellow)
#define I2C_SCL 5 // SCL on encoder (encoder orange)
#define CURRENT_SENSE_B 6 // GPIO6 - ADC1_5
#define CURRENT_SENSE_A 7 // GPIO7 - ADC1_6
#define PWM_A 15 // 9 on simplefoc shield v2 (red)
#define PWM_B 16 // 5 on simplefoc shield v2 (orange)
#define PWM_C 17 // 6 on simplefoc shield v2 (yellow)
#define ENABLE 18 // 8 on simplefoc shield v2 (green)
BLDCMotor motor = BLDCMotor(7);
BLDCDriver3PWM driver = BLDCDriver3PWM(PWM_A, PWM_B, PWM_C, ENABLE);
MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
// Try different constructor variations with explicit float types
// Version 1: Using defines with float literals
InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, CURRENT_SENSE_A, CURRENT_SENSE_B);
float target_velocity = 0.0f;
Commander command = Commander(Serial);
void doMotor(char* cmd) { command.motor(&motor, cmd); }
void doTarget(char* cmd) {
command.scalar(&target_velocity, cmd);
// Serial.print("Target velocity set to: ");
// Serial.println(target_velocity);
}
void setup() {
Serial.begin(115200);
_delay(1000);
Serial.println("Starting...");
// Add debug prints for pin values
Serial.print("Define values - A: ");
Serial.print(CURRENT_SENSE_A);
Serial.print(", B: ");
Serial.println(CURRENT_SENSE_B);
// Print the actual pin values from current_sense object
Serial.print("Current sense pins from object: ");
Serial.print(current_sense.pinA);
Serial.print(", ");
Serial.println(current_sense.pinB);
SimpleFOCDebug::enable(&Serial);
Wire.begin(I2C_SDA, I2C_SCL);
Wire.setClock(400000);
sensor.init(&Wire);
motor.linkSensor(&sensor);
driver.voltage_power_supply = 12;
if(!driver.init()){
Serial.println("Driver init failed!");
return;
}
current_sense.linkDriver(&driver);
motor.linkDriver(&driver);
motor.controller = MotionControlType::velocity;
motor.PID_velocity.P = 0.04f;
motor.PID_velocity.I = 0.7f;
motor.PID_velocity.D = 0.0f;
motor.LPF_velocity.Tf = 0.01f;
motor.voltage_limit = 12; // [V]
motor.velocity_limit = 1000; // [rad/s]
motor.voltage_sensor_align = 3; // [V]
motor.velocity_index_search = 3;
motor.useMonitoring(Serial);
if(!motor.init()){
Serial.println("Motor init failed!");
return;
}
if (current_sense.init()) Serial.println("Current sense init success!");
else{
Serial.println("Current sense init failed!");
return;
}
motor.linkCurrentSense(¤t_sense);
// driver.pwm_frequency = 20000;
Serial.print("PWM frequency: ");
Serial.println(driver.pwm_frequency);
motor.initFOC();
command.add('T', doTarget, "target velocity");
command.add('M', doMotor,"my motor");
_delay(1000);
}
void loop() {
motor.loopFOC();
// motor.monitor();
motor.move(target_velocity); // use the target velocity here
command.run();
}
// columtarget, voltage.q, velocity, angle
PlatformIO config:
[env:esp32-s3_i2c_simplefoc]
build_src_filter = +<esp32-s3_i2c_simplefoc.cpp>
platform = espressif32
board = esp32-s3-devkitc-1
framework = arduino
board_build.mcu = esp32s3
board_build.f_cpu = 240000000L
board_build.partitions = default_8MB.csv
board_build.arduino.memory_type = qio_qspi
build_flags =
-DARDUINO_USB_MODE=1
-DARDUINO_USB_CDC_ON_BOOT=1
-DBOARD_HAS_PSRAM
upload_protocol = esptool
monitor_speed = 115200
lib_deps =
askuric/Simple FOC@^2.3.4
Wire