Code adaptation for storm32 BGC v1.31 - 3 x BLDC motors with SimpleFOClibrary

That’s not needed, you can get it working using the generic F303RE or possibly the nucleo 303RE board config… unfortunately I can’t tell you anymore because it seems ArduinoIDE does not remember this information from when I last ran these sketches.

I have the following in my sketch which may help you, but its been a long time since I ran it so YMMV:

#include "arduino.h"
#include "Wire.h"
#include "SPI.h"
#include <SimpleFOC.h>
#include "SimpleFOCDrivers.h"
#include "encoders/as5048a/MagneticSensorAS5048A.h"


#define V_PSU 8
#define V_LIMIT 8
#define V_INIT_LIMIT 8



// GMBL02V1 pins 
#define PIN_LED    PA7
#define PIN_MOSI   PC12
#define PIN_MISO   PC11
#define PIN_SCK    PC10
#define PIN_nCS1   PB8
#define PIN_nCS2   PB9
#define PIN_nCS3   PB10
#define PIN_M1_U   PC0
#define PIN_M1_V   PC1
#define PIN_M1_W   PC2
#define PIN_M1_EN  PC13
#define PIN_M1_FLT PC3
#define PIN_M1_SNS PB0
#define PIN_M2_U   PA0
#define PIN_M2_V   PA1
#define PIN_M2_W   PA2
#define PIN_M2_EN  PC14
#define PIN_M2_FLT PA3
#define PIN_M2_SNS PB11
#define PIN_M3_U   PC6
#define PIN_M3_V   PC7
#define PIN_M3_W   PC8
#define PIN_M3_EN  PC15
#define PIN_M3_FLT PC9
#define PIN_M3_SNS PB14


SPISettings myspisettings(1000000, BitOrder::MSBFIRST, SPI_MODE1);


MagneticSensorAS5048A sensor1(PIN_nCS1, false, myspisettings);
BLDCMotor motor1 = BLDCMotor(7);
BLDCDriver3PWM driver1 =  BLDCDriver3PWM(PIN_M1_U, PIN_M1_V, PIN_M1_W, PIN_M1_EN);


MagneticSensorAS5048A sensor2(PIN_nCS2, false, myspisettings);
BLDCMotor motor2 = BLDCMotor(7);
BLDCDriver3PWM driver2 =  BLDCDriver3PWM(PIN_M2_U, PIN_M2_V, PIN_M2_W, PIN_M2_EN);


MagneticSensorAS5048A sensor3(PIN_nCS3, false, myspisettings);
BLDCMotor motor3 = BLDCMotor(7);
BLDCDriver3PWM driver3 =  BLDCDriver3PWM(PIN_M3_U, PIN_M3_V, PIN_M3_W, PIN_M3_EN);

Commander command = Commander(Serial);





float target1, target2, target3;


void loadAlignment() {
	// TODO load from EEPROM/FLASH
}



void initMotors() {

	pinMode(PIN_nCS1, OUTPUT);
	digitalWrite(PIN_nCS1, 1);
	sensor1.init();
	motor1.linkSensor(&sensor1);
  delay(10);

	pinMode(PIN_nCS2, OUTPUT);
	digitalWrite(PIN_nCS2, 1);
	sensor2.init();
	motor2.linkSensor(&sensor2);
  delay(10);

	pinMode(PIN_nCS3, OUTPUT);
	digitalWrite(PIN_nCS3, 1);
	sensor3.init();
	motor3.linkSensor(&sensor3);
  delay(10);

	driver1.voltage_limit = V_LIMIT;
	driver1.voltage_power_supply = V_PSU;
	driver1.init();
	motor1.linkDriver(&driver1);

	driver2.voltage_limit = V_LIMIT;
	driver2.voltage_power_supply = V_PSU;
	driver2.init();
	motor2.linkDriver(&driver2);

	driver3.voltage_limit = V_LIMIT;
	driver3.voltage_power_supply = V_PSU;
	driver3.init();
	motor3.linkDriver(&driver3);

	motor1.voltage_limit = motor2.voltage_limit = motor3.voltage_limit = V_LIMIT;
	motor1.voltage_sensor_align = motor2.voltage_sensor_align = motor3.voltage_sensor_align = V_INIT_LIMIT;
	motor1.controller = motor2.controller = motor3.controller = MotionControlType::angle;
	motor1.PID_velocity.P = motor2.PID_velocity.P = motor3.PID_velocity.P = 0.2;
	motor1.PID_velocity.I = motor2.PID_velocity.I = motor3.PID_velocity.I = 10;
	motor1.PID_velocity.D = motor2.PID_velocity.D = motor3.PID_velocity.D = 0;
	motor1.PID_velocity.output_ramp = motor2.PID_velocity.output_ramp = motor3.PID_velocity.output_ramp = 1000;
	motor1.LPF_velocity.Tf = motor2.LPF_velocity.Tf = motor3.LPF_velocity.Tf = 0.01;
	motor1.P_angle.P = motor2.P_angle.P = motor3.P_angle.P = 20;

	motor1.init();
	motor1.initFOC();
	motor2.init();
	motor2.initFOC();
	motor3.init();
	motor3.initFOC();
	// TODO store motor initialization params and only re-init if we can't load them (and provide a command to reset them)

	motor1.sensor_offset = motor1.shaftAngle();
	motor2.sensor_offset = motor2.shaftAngle();
	motor3.sensor_offset = motor3.shaftAngle();
	target1 = target2 = target3 = 0.0;

  motor1.disable();
  motor2.disable();
  motor3.disable();

}



void doTarget1(char* cmd) { command.scalar(&target1, cmd); }
void doTarget2(char* cmd) { command.scalar(&target2, cmd); }
void doTarget3(char* cmd) { command.scalar(&target3, cmd); }
void doTargetAll(char* cmd) { doTarget1(cmd); doTarget2(cmd); doTarget3(cmd); }
void doMotor1(char* cmd) { command.motor(&motor1, cmd); }
void doMotor2(char* cmd) { command.motor(&motor2, cmd); }
void doMotor3(char* cmd) { command.motor(&motor3, cmd); }
void setMotorZeros(char* cmd) {
	motor1.sensor_offset = motor1.shaftAngle();
	motor2.sensor_offset = motor2.shaftAngle();
	motor3.sensor_offset = motor3.shaftAngle();
	target1 = target2 = target3 = 0.0;
	Serial.println("Set zero position.");
}
void startStop(char* cmd) {
	int motnum = 0;
	if (strlen(cmd)>1) motnum = cmd[0] - '0';
	if (motnum==0||motnum==1) {
		if (motor1.enabled)
			motor1.disable();
		else
			motor1.enable();
	}

	if (motnum==0||motnum==2) {
		if (motor2.enabled)
			motor2.disable();
		else
			motor2.enable();
	}

	if (motnum==0||motnum==3) {
		if (motor3.enabled)
			motor3.disable();
		else
			motor3.enable();
	}
}
void storeAlignment(char* cmd) {
	// TODO store to EEPROM/FLASH
}


void setup() {


	pinMode(PIN_LED, OUTPUT);
	digitalWrite(PIN_LED, 1); // switch on lED for initialization

	Serial.begin(115200);
	while (!Serial);

	SPI.setMOSI(PIN_MOSI);
	SPI.setMISO(PIN_MISO);
	SPI.setSCLK(PIN_SCK);

	Serial.println("Motor initialization...");
	initMotors();

	command.add('a', doTarget1, "target1 position");
	command.add('b', doTarget2, "target2 position");
	command.add('c', doTarget3, "target3 position");
	command.add('d', doTargetAll, "all motors to position");
	command.add('s', startStop, "enable/disable motors");
	command.add(' ', startStop, "enable/disable motors");

	command.add('A', doMotor1, "motor 1 commands");
	command.add('B', doMotor2, "motor 2 commands");
	command.add('C', doMotor3, "motor 3 commands");
	command.add('Z', setMotorZeros, "set zero positions");
	command.add('W', storeAlignment, "store zero positions");

	Serial.println("Motor initialization complete.");
	digitalWrite(PIN_LED,0);
}

long last;

void loop() {

	motor1.loopFOC();
	motor1.move(target1);
	motor2.loopFOC();
	motor2.move(target2);
	motor3.loopFOC();
	motor3.move(target3);

	command.run();
	// TODO report status & position on Serial
  	// read it quickly or we could lose turn count
	float a1 = motor1.shaft_angle;
	float a2 = motor2.shaft_angle;
	float a3 = motor3.shaft_angle;

	if (sensor1.isErrorFlag()) {
		Serial.println("S1ERR");
    sensor1.clearErrorFlag();    
  }
	if (sensor2.isErrorFlag()) {
		Serial.println("S2ERR");
    sensor2.clearErrorFlag();
  }
	if (sensor3.isErrorFlag()) {
		Serial.println("S3ERR");
    sensor3.clearErrorFlag();
  }

	// print once per second, to keep it readable
	long ts = millis();
	if ((ts-last)>=1000) { 
		last = ts;
		Serial.print(a1,4);
		Serial.print("\t");
		Serial.print(a2,4);
		Serial.print("\t");
		Serial.println(a3,4);
	}
}