Teensy 3.2 : platformio vs. Arduino IDE : strange behavior

hardware support
3

Hi Richard,

simply perfect - you saved my day!

Again, thank you very much for your help and your clear explanation especially.

Based on ‘share and learn’ I learned something again and like to share my fully working code below. Finally my Force-Feed-Back-Flight-Yoke-Project could start.
So, here’s my initial code:
…

/* Example for Gamecontroller, intended to use for flight simulator (preparation for force feed back).

  • +++Tested and used with the following hardware+++:

  • DEVICE 1: Microcontroller

  • TEENSY 3.2 (3,3V, but 5V tolerant on inputs)

  • special USB feature: emulates HID Joystick / game controller

  • DEVICE 2: Level Shifter

  • connect Teensy 3.2 with SimpleFOCShield V2.0.3 via levelshifter,

  • (also tested without levelshifter, seems to work also…)

  • DEVICE 3: BLDC Shield

  • SimpleFOCShield V2.0.3

  • DEVICE 4: Gimbal Motor

  • iPower GM5208-24, 25.6 ohm phase resistance

  • DEVICE 5: Angle sensor

  • AS5048A, magnetic sensor, details: iPower Motor and SPI Wiring

  • pin connection:

  • | Dev 1 | DEV 2 | DEV 3 | DEV 4 | DEV 5 |

  • | Teensy | Levelshifter | SimpleFOCShield | Motor | Sensor A5048A |

  • |---------|----------------|-----------------|---------|----------------------------|

  • | | | A | phase A | |

  • | | | B | phase B | |

  • | | | C | phase C | |

  • | Vin | HV | 5V | | VDD5V, pin 11, green wire |

  • | 3V3 | LV | | | |

  • | 5 | LV1 HV1 | 5 | | |

  • | 6 | LV2 HV2 | 6 | | |

  • | 8 | LV3 HV3 | 8 | | |

  • | 9 | LV4 HV4 | 9 | | |

  • | 10 | | | | CS, pin 1, white wire |

  • | 11 | | | | MOSI, pin 4, black wire |

  • | 12 | | | | MISO, pin 3, yellow wire |

  • | 13 | | | | CLK, pin 2, red wire |

  • | GND | GND GND | GND | | GND, pin 13, purple wire |

*/

// included libraries

#include <Arduino.h>

#include <SimpleFOC.h>

#define DEBUGmode // use only for test purpose, reduces performance!

//#define UseCommander // use only for test purpose, reduces performance!

#define MotorConnected

#define Joystickmodus

// MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs)

// config - SPI config

// cs - SPI chip select pin

// magnetic sensor instance - SPI

MagneticSensorSPI sensor1 = MagneticSensorSPI(AS5147_SPI, 10); // AS50548A in this example, controlled ‘equal’ to AS5147!

MagneticSensorI2C sensor2 = MagneticSensorI2C(0x36, 12, 0x0E, 4); // AS5600 in this example

// alternative constructor (chipselect, bit_resolution, angle_read_register, )

// MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);

#ifdef DEBUGmode

unsigned long previousMillis = 0; // obvious

const long interval = 1000; // every 1000ms

const int HIDbuttons = 32; // Teensy as joystick offers 32 buttons

int buttoncounter = 1; // counter for button number

bool btnstate = false; //

int hatangle = 0; // valid values: 0, 45, 90, 135, 180, 225, 270, 315

#endif

#ifdef MotorConnected

// BLDCMotor motor = BLDCMotor(number of polpairs); // typically 11 with gimbal motor

BLDCMotor motor1 = BLDCMotor(11, 25.6); // iPower GM5208-24 has 25.6 ohm phase resistance

//BLDCMotor motor2 = BLDCMotor(11, 11.3); // in preparation, for next stage…

// BLDCDriver3PWM driver = BLDCDriver3PWM(IN_A, IN_B, IN_C, EN);

BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);

// set initial point variable

float var_target = 0.5; // initial value, don’t set to high, otherwise initial oscillation of motor might occur!

#ifdef UseCommander

// initiate the commander

Commander command = Commander(Serial);

void doTarget(char *cmd) { command.scalar(&var_target, cmd); }

#endif

#endif

#ifdef Joystickmodus

float twoPI = 2.0 * 3.14159; // full circle in [rad]

float joy_A_center = -0.632; // Joystick Axis A, depending on physical fixed magnet on shaft orientation

float joy_A_MIN = joy_A_center - 0.9; // Joystick Axis A, lower border limit

float joy_A_MAX = joy_A_center + 0.9; // Joystick Axis A, upper border limit

float joy_A_ABS; // Joystick Axis A, absolute angle in [rad], forces initial calculation

float joy_B_center = -0.512; // Joystick Axis B, depending on physical fixed magnet on shaft orientation

float joy_B_MIN = joy_B_center - 0.1; // Joystick Axis B, lower border limit

float joy_B_MAX = joy_B_center + 0.1; // Joystick Axis B, upper border limit

float joy_B_ABS; // Joystick Axis B, absolute angle in [rad], forces initial calculation

/*******************

  • HELPER FUNCTIONs *

*******************/

void fetch_absANGLE()

{

// iterative function updating the sensor internal variables

// it is usually called in motor.loopFOC()

// this function reads the sensor hardware and

// has to be called before getAngle and getVelocity

#ifndef MotorConnected

sensor1.update();

#endif

// get current sensor Angle, may vary from 0…2*Pi

float curr = sensor1.getSensorAngle();

// get full rotations, positive or negative

int fc = sensor1.getFullRotations();

// calculate absolute value

if (fc >= 0)

{

// absolute value if positive fullrotations:

joy_A_ABS = curr + (fc * twoPI);

}

else

{

// absolute value if negative fullrotations:

joy_A_ABS = -(twoPI - curr) + ((fc + 1) * twoPI);

}

}

#endif

/*******************

  •  SETUP       *

*******************/

void setup()

{

#ifdef DEBUGmode

Serial.begin(115200);

delay(500);

#endif

// initialize sensor one

sensor1.init();

// initialize sensor two

sensor2.init();

#ifdef MotorConnected

// link the motor to the sensor

motor1.linkSensor(&sensor1);

// power supply voltage, set nominal value from power supply

driver.voltage_power_supply = 24;

// OPTIONAL: Max DC voltage allowed

// if set to low oscillation might occur, if set to high overheating of motor and driver might occur

driver.voltage_limit = 24.0; // optional

// set driver PWM frequency, OPTIONAL: BLDCDriver 3PWM | Arduino-FOC

// default pwm frequency in SimpleFOC library for TEENSY 3.2 should be 50kHz.

// Mesuring with oscilloscope results in only 25kHz default.

// In any case: don’t forget to add ‘lib_archive = false’ to platformio.ini,

// otherwise the normal pwm frequency of 490Hz will be used!

// driver.pwm_frequency = 50000; // optional

// finally driver initialization

driver.init();

// link driver with motor

motor1.linkDriver(&driver);

// set voltage for sensor align, must be at least to move motor during sensor ini

motor1.voltage_sensor_align = 5.0;

// choose FOC modulation (optional)

motor1.foc_modulation = FOCModulationType::SpaceVectorPWM;

// set motion control loop to be used

motor1.controller = MotionControlType::torque;

// optional, not tested yet:

// motor1.PID_velocity.P = 1;

// motor1.PID_velocity.I = 1;

// motor1.PID_velocity.D = 1;

// initialize motor

motor1.init();

// align sensor and start FOC

motor1.initFOC();

#ifdef UseCommander

// add target command T

command.add(‘T’, doTarget, “target voltage”);

#endif

#endif

Serial.println(“Sensor ready”);

_delay(1000);

#ifdef Joystickmodus

fetch_absANGLE();

#endif

}

/*******************

  •  LOOP        *

*******************/

void loop()

{

#ifdef MotorConnected

// main FOC algorithm function

motor1.loopFOC();

// reads current angle

float w = sensor1.getAngle();

sensor2.update(); // neccessary if not loopFOC running for this motor/sensor !?

float z = sensor2.getAngle();

// Motion control function

// velocity, position or voltage (defined in motor.controller)

// this function can be run at much lower frequency than loopFOC() function

// You can also use motor.move() and set the motor.target in the code

//motor.move(w * var_target); // IF Gimbal motor rotates in other direcdtion

motor1.move(-(joy_A_center - w) * var_target);

//motor.move(w * var_target);

#ifdef UseCommander

// user communication

command.run();

#endif

#endif

#ifdef Joystickmodus

fetch_absANGLE();

if ((joy_A_ABS >= joy_A_MIN) && (joy_A_ABS <= joy_A_MAX)){

int jsv = map(joy_A_ABS, joy_A_MIN, joy_A_MAX, 0, 1023); // joystick values typically vary from 0…1023

Joystick.X(jsv);

Joystick.Y(jsv);

Joystick.Z(jsv);

Joystick.Zrotate(jsv);

Joystick.sliderLeft(jsv);

Joystick.sliderRight(jsv);

}

#endif

#ifdef DEBUGmode

unsigned long currentMillis = millis();

if (currentMillis - previousMillis >= interval)

{

btnstate = !btnstate; // toggles state

 Joystick.button(buttoncounter, btnstate);

if (btnstate == false){

if (buttoncounter < HIDbuttons){

  buttoncounter++;}

  else{buttoncounter =1;}

}

Serial.print("Absolute angle [rad]:");

Serial.print(joy_A_ABS);

Serial.print("\t\t");

Serial.print("joy_A_MIN:");

Serial.print(joy_A_MIN);

Serial.print("\t\t");

Serial.print("joy_A_center");

Serial.print(joy_A_center);

Serial.print("\t\t");

Serial.print("joy_A_MAX:");

Serial.println(joy_A_MAX);

Serial.print("Sensor2:");

Serial.println(z);



Joystick.hat(hatangle);

if (hatangle == 360){

hatangle =0;

}else{hatangle = hatangle +45;}

previousMillis = currentMillis;

}

#endif

}

IMG_20211101_190125
IMG_20211101_1901251920×1440 194 KB

Processing: VID_20211101_190252.mp4…

Best regards,

Dirk

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