Hello Dear Community!
Happy and creative New Year to all!
I have few Lishui FOC controllers for EScooters which I recycle and reverse-engineered quite well. They work perfectly in my ebikes projects with opensource firmware project (git:here and pedelecforum.de/wiki)
Cause I also have few 9 inch wheels motors with HAL sensors, I decided to make a simple robot for one of my art projects. Thats why I try to flash SimpleFOC library and to have fun. But “fun” didnt happen :))) Somehow it not working at all :)))))
The CPU is “Bluepill” Stm32F103c8t6 but there is no crystal, so I have changed sys.clock configuration in ArduinoIDE for internal oscilator.
Uart commands work well.
No reaction on motor att all. Unfortunately my skills are not so well to have any idea how to debug. Maybe sys.clock also affect PWM timer and so on.?
I tried few basic Samples Examples in the library no success. Nothing is getting hot, mosfets are fine. At battery start power I hear a very little quet “click” in the test motor
few pics:
Hello Runger,
I work in ArduinoIDE in linux
this is my code:
// Open loop motor control example
#include <SimpleFOC.h>
// BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number);
BLDCMotor motor = BLDCMotor(15);
// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
BLDCDriver6PWM driver = BLDCDriver6PWM(PA8, PB13, PA9, PB14, PA10, PB15);
// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
//target variable
float target_velocity = 1;
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
extern "C" void SystemClock_Config(void) {
/* Your custom clock config */
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
void setup() {
pinMode(PB2, OUTPUT); // Lishui LED
pinMode(PB5, OUTPUT); //lishui PowerON-OFF pin
Serial.setRx(PB_7); //Lishui UART
Serial.setTx(PB_6);
SimpleFOCDebug::enable(&Serial);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 42;
// limit the maximal dc voltage the driver can set
// as a protection measure for the low-resistance motors
// this value is fixed on startup
driver.voltage_limit = 21;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// limiting motor movements
// limit the voltage to be set to the motor
// start very low for high resistance motors
// currnet = resistance*voltage, so try to be well under 1Amp
motor.voltage_limit = 1; // [V]
// open loop control config
motor.controller = MotionControlType::velocity_openloop;
// init motor hardware
motor.init();
// add target command T
command.add('T', doTarget, "target velocity");
command.add('L', doLimit, "voltage limit");
Serial.begin(9600);
Serial.println("Motor ready!");
Serial.println("Set target velocity [rad/s]");
_delay(1000);
}
void loop() {
// open loop velocity movement
// using motor.voltage_limit and motor.velocity_limit
motor.move(target_velocity);
// user communication
command.run();
}
can it be also the num of pole pairs wrong? I tried to guess and put 15, is that the critical parametr for atleast test movement?
I didnt find in the examples pole pairs detection with hall sensors. There is only for encoder it seems.
cant open the motor right now to count magnets, it is in a wooden box
For open-loop it does not matter. it will affect only that the actual speed does not match the speed set in software.
For closed-loop operation it is critical to get it right. Once the motor is moving well in open-loop, there is an example sketch you can use to check the pole pairs.
I wonder if 1V is enough to move it? Maybe you can increase it slightly to check this? But be careful that you aren’t putting too many amps, or something could burn/overheat!
increased motor.voltage_limit = 1; to 6, no change.
than increased to 30 no change.
Motor is not moving :(((
What is the right way to send target uart command “T20” or “T 20” with space? No examples can find anywhere, and what number T 20 or T 200? Cant understand. Cant find docs
Thanks for any help
Hi again, not working at all …
Can problem be in clock and frequency area? So it means SimpleFOC library doesn work on custom made STM32f103 board with no crystal?
again, from EBIKE opensource firmware FOC runs super well on this controller. Starnge
here is my updated code:
The generic variants for the STM32duino cores (th eones used by SimpleFOC) initialize the STM32F103 with the HSI clock (i.e. internal clock) even if a crystal is present.
I noticed a pattern on these forums, where we - me included - put a great deal of time and effort into trying to get software working on a particular board as if the boards were much harder to make than the software, and they were the bottleneck. But in reality with the ability to order custom boards fairly cheaply, I’m not saying either is easy, but it’s not really a very good balance. These boards could easily not be available tomorrow for any of a million reasons. This happened to me even with the b-g431b-esc boards, which are made by a big company as an eval board. There was like more than a month - was it two?- where you just couldn’t get them any more. That could continue for long periods or be permanent.
If half of the effort that went into trying to get software working on boards we just happen to be able to get our hands on went into a good board, we wouldn’t have to duplicate effort getting the firmware working on so many different boards, none of which are really very well suited to the the range of challenges seen here…
Just want to keep pointing this stuff out as aside, no need to change direction or anything, but let’s not forget it.
The software supports several MCUs and sensors, but adapting it to the hardware is always a bit detective work.
I’d better like to do this with million times field-proven commercial HW than with selfmade boards. @Valentine always says his boards are for educational purpose only. They represent the bare minimum.
I’m surprised there aren’t more commercial boards in focus of this forum. I’ve sporadically seen VESC and ODrive ( and their clones) and lately hoverboard controllers as target for sFOC.
That’s the way to go IMHO.
These commercial boads will not disappear or see dramatic changes. And we can be sure they are tested for EMF.
Not to mention that the reason many people want to use them is that they come for free out of a hoverboard you found in the dumpster. Lots of people like free
They will change and go away, though, that’s the thing. Manufacturer’s change stuff all the time, enough to trip people up, although you can play catch up and patch the software. They could so something as small as change the size of the sense resistor and when someone doesn’t know that it complicates things. It’s tractable for sure. I’m just saying we seem to treat them as harder to make than they are. You talk about “selfmade” boards as if they must suck. I’m not talking about the kind of thing one person bashed out quick for their own purposes, I’m talking about something like simpleFOC itsself, which is produced in collaboration with the community, where there are actually a lot of the same people that are the people that design those commercial boards. I think you have too much faith in the commercial boards. They may work in the context for which they are made, but even then probably only just, for the same reason “selfmade” boards tend to suck - the minimal effort and skill tends to be put in to get what is needed. But if you put them in a different role it’s a gamble. No company will refine a design more than they have to. And they will always lack features. For instance the B-G431b-ESC1 board can’t handle SPI.
But whatever, sorry if I derailed the thread any. The thing is that you sort of have to talk about these things when the subject comes up or the context isn’t loaded up and ready and the discussion flops…
Did you know, that the Lishui e-bike controller supports regen braking (even the hacked FW does…)
That’s worth to look deeper into the code and try to fuse them, IMHO
I think you have a point. There are/were talented HW designers on this board.
But to me it seems that the community is good at spitting out new designs instead of focussing on one design.
I’ve seen a “@byDagor” board on AliExpress, which was designed for and by simpleFOC members. It looks quite mature, but it’s no longer mentioned here?
//edit OK,I just saw the dual Dagor board is not from here, but the original board hasn’t been discussed since Dec 2021…
I don’t think Ebics does anything more than SimpleFOC, It just applies negative torque.
The only thing that seems to be missing in SimpleFOC is to limit the regeneration not to send too much current back to the battery.
Yeah I have seen a number of simplefoc based boards offered on aliexpress, including some that the person clearly designed themselves, and honestly probably didn’t do a great job on. IDK what the story is with that board but I don’t think it’s as good as the leptonG4 or Quadvrans or lepton 3.0 type ones are shaping up to be, not by a considerable margin.
But it goes to show that there are people in faraway countries with access to low cost production that will grab a good design and start selling it for cheap on aliexpress. Thus it will become available for cheap to the community. Nobody has to take the fall by producing and selling them for a poor hourly rate to make sure people will be able to actually get them. Aliexpress type guys will probably do that imo, which is kind of nice.
