Two HallSensor instances: First one not working

1

I have an app with two instances of Motor/Drive/HallSensor
I have my code structured such that I can easily enable each Motor/Drive/Sensor separately (#define USE_MOTOR1 and/or #define USE_MOTOR2) .

Each instance of Motor/Drive/HallSenssor works fine by itself, but when I run with both USE_MOTOR1 and USE_MOTOR2 defined, it seems that the last initialized sensor is the one that works??? (is the driver re-initializing or overwriting something from the previous instance?)

#include <Arduino.h>
#include <SimpleFOC.h>
#include "DRV8301.h"
#include "STM32HWEncoder.h"
#include <SimpleFOC.h>

#define CONTROL_TYPE (MotionControlType::velocity)
#define SUPPLY_V (18)
#define DRIVER_V_LIMIT (4.5)
#define MOTOR_V_LIMIT (2)
#define SENSOR_ALIGN_V (1)


#define COMMANDER
#define CLOSED_LOOP
#define MONITOR
#define HALL
//#define USE_SMOOTHSENSOR
**#define USE_MOTOR1**
**#define USE_MOTOR2**

#ifdef USE_SMOOTHSENSOR
#include "smoothsensor.h"
#endif

#define HB_IO (8)

#ifdef COMMANDER
// commander communication instance
Commander command = Commander(Serial);
#endif 

//************************************** MOTOR1 DECLARE *****************************************
#ifdef USE_MOTOR1
#ifdef CLOSED_LOOP
HallSensor sensor1 = HallSensor(12, 14, 15, 15); // PA6, PB9, PB8
#endif // CLOSED_LOOP

DRV8302 gate_driver1 = DRV8302(2, 3, 4, 5, 6, 7); // PA10, PB3, PB5, PB4, PB10, PA8, nFAULT, M_PWM, M_OC, GAIN, OC_ADJ, EN_GATE
BLDCMotor motor1 = BLDCMotor(15, 0.4, 28, 0.0004); // hub
BLDCDriver3PWM driver1 = BLDCDriver3PWM(PC0, PC1, PC2); // DRV8301/2

#ifdef HALL
void doA1(){sensor1.handleA();}
void doB1(){sensor1.handleB();}
void doC1(){sensor1.handleC();}
#endif // HALL

#ifdef COMMANDER
// void doMotor(char* cmd) { command.motor(&motor, cmd); }
void doTarget1(char* cmd) {command.scalar(&motor1.target, cmd);}
void doLimit1(char* cmd) {command.scalar(&motor1.voltage_limit, cmd);}
void doMotor1(char* cmd) { command.motor(&motor1, cmd); }
#endif // COMMANDER

#ifdef USE_SMOOTHSENSOR
SmoothingSensor smooth1 = SmoothingSensor(sensor1, motor);
#endif // USE_SMOOTHSENSOR
#endif // USE_MOTOR1

//************************************** MOTOR2 DECLARE *****************************************
#ifdef USE_MOTOR2

#ifdef CLOSED_LOOP
//HallSensor sensor2 = HallSensor(PB12, PA11, PA12, 15); // 
HallSensor sensor2 = HallSensor(PC6, PA11, PA12, 15); // OK, cannot use [PB12, PA11, PA12]
#endif // CLOSED_LOOP


DRV8301 gate_driver2 = DRV8301(PB14, PB15, PB1, PB13, PB2, PB11); // MOSI, MISO, SCLK, CS, EN_GATE, nFAULT
//DRV8301 gate_driver2 = DRV8301(3, 4, 5, 2, 6, 7); // MOSI, MISO, SCLK, CS, EN_GATE, nFAULT

BLDCMotor motor2 = BLDCMotor(15, 0.4, 28, 0.0004); // hub
BLDCDriver3PWM driver2 = BLDCDriver3PWM(PC7, PC8, PC9); // DRV8301/2

#ifdef HALL
void doA2(){sensor2.handleA();}
void doB2(){sensor2.handleB();}
void doC2(){sensor2.handleC();}
#endif // HALL

#ifdef COMMANDER
void doTarget2(char* cmd) {command.scalar(&motor2.target, cmd);}
void doLimit2(char* cmd) {command.scalar(&motor2.voltage_limit, cmd);}
void doMotor2(char* cmd) { command.motor(&motor2, cmd); }
#endif // COMMANDER

#ifdef USE_SMOOTHSENSOR
SmoothingSensor smooth2 = SmoothingSensor(sensor2, motor2);
#endif // USE_SMOOTHSENSOR
#endif // USE_MOTOR2

char msgbuf[256];



void setup() {
  Serial.begin(921600); // WARNING: low value like 115200 cause distorted FOC
  // for timer analysis
  SimpleFOCDebug::enable(&Serial);
  //delay(5000);
  Serial.printf("enter setup...\n");
  pinMode(HB_IO, OUTPUT);


//************************************** MOTOR1 SETUP *****************************************
#ifdef USE_MOTOR1
#ifdef CLOSED_LOOP
#ifdef HALL
  sensor1.pullup = Pullup::USE_INTERN;
  sensor1.enableInterrupts(doA1, doB1, doC1);
#endif // HALL
  sensor1.init();
  // link the motor to the sensor
#ifdef USE_SMOOTHSENSOR
#ifdef HALL
  smooth1.phase_correction = -_PI_6; // FOR HALL SENSOR
#endif  
  motor1.linkSensor(&smooth1);
#else
  motor1.linkSensor(&sensor1);
#endif
#endif // CLOSED_LOOP

  // driver config
  // power supply voltage [V]
  driver1.voltage_power_supply = SUPPLY_V;
  driver1.voltage_limit = DRIVER_V_LIMIT;
  driver1.init();
  gate_driver1.begin(PWM_INPUT_MODE_3PWM, SHUNT_GAIN_10); 
  _delay(100);
  // link driver
  motor1.linkDriver(&driver1);

  // link current sense and the driver
#ifdef CLOSED_LOOP
  // velocity loop PID
  motor1.PID_velocity.P = 0.7;
  motor1.PID_velocity.I = 0.7;
  motor1.PID_velocity.D = 0.0;
  motor1.PID_velocity.output_ramp = 200.0;
  motor1.PID_velocity.limit = 1000.0;
  // Low pass filtering time constant 
  motor1.LPF_velocity.Tf = 0.1;
  // angle loop PID
  motor1.P_angle.P = 7.0;
  motor1.P_angle.I = 0.0;
  motor1.P_angle.D = 0.0;
  motor1.P_angle.output_ramp = 50.0;
  motor1.P_angle.limit = 27.0;
  // Low pass filtering time constant 
  motor1.LPF_angle.Tf = 0.0;
#endif // CLOSED_LOOP
  // limts
  motor1.voltage_sensor_align = SENSOR_ALIGN_V;
  //motor.controller = MotionControlType::torque;
  motor1.controller = CONTROL_TYPE;
  // default voltage_power_supply
  motor1.velocity_limit = 27 ;
  motor1.voltage_limit = MOTOR_V_LIMIT;
  motor1.current_limit = 1000.0;
 
  // set the inital target value
  motor1.target = 0;
#ifdef MONITOR
  motor1.useMonitoring(Serial);
  motor1.monitor_downsample = 0; // disable intially
  motor1.monitor_variables = _MON_TARGET | _MON_VOLT_Q | _MON_VOLT_D | _MON_CURR_Q | _MON_CURR_D | _MON_VEL | _MON_ANGLE;  // monitor target velocity and angle
#endif
#ifdef COMMANDER
  // subscribe motor to the commander
  command.add('T', doTarget1, "target1"); 
  command.add('L', doLimit1, "voltage limit1");
  command.add('M',doMotor1,"motor1");
#endif // COMMANDER

#ifdef USE_MOTOR1
  //motor.foc_modulation = SpaceVectorPWM;
  // initialise motor
  motor1.init();
#ifdef CLOSED_LOOP
  // align encoder and start FOC
  motor1.initFOC();
#endif // CLOSED_LOOP
#endif // USE_MOTOR1


#endif // USE_MOTOR1

//************************************** MOTOR2 SETUP *****************************************
#ifdef USE_MOTOR2
#ifdef CLOSED_LOOP
#ifdef HALL
  sensor2.pullup = Pullup::USE_INTERN;
  sensor2.enableInterrupts(doA2, doB2, doC2);
#endif // HALL
  sensor2.init();
  // link the motor to the sensor
#ifdef USE_SMOOTHSENSOR
#ifdef HALL
  smooth2.phase_correction = -_PI_6; // FOR HALL SENSOR
#endif  
  motor2.linkSensor(&smooth2);
#else
  motor2.linkSensor(&sensor2);
#endif
#endif // CLOSED_LOOP

  // driver config
  // power supply voltage [V]
  driver2.voltage_power_supply = SUPPLY_V;
  driver2.voltage_limit = DRIVER_V_LIMIT;
  driver2.init();
  // configure the DRV8301
  gate_driver2.begin(PWM_INPUT_MODE_3PWM, SHUNT_GAIN_10); 
  _delay(100);
  int reg1, reg2, reg3, reg4, fault;
  gate_driver2.get_regs(&reg1, &reg2, &reg3, &reg4);
  fault = gate_driver2.is_fault();
  sprintf(msgbuf, "DRV8301: fault=%x, STATREG1=0x%.4x, STATREG2=0x%.4x, CTRLREG1=0x%.4x, CTRLREG2=0x%.4x", fault, reg1, reg2, reg3, reg4);
  Serial.println(msgbuf);
  // link driver
  motor2.linkDriver(&driver2);

  // link current sense and the driver
#ifdef CLOSED_LOOP
  // velocity loop PID
  motor2.PID_velocity.P = 0.7;
  motor2.PID_velocity.I = 0.7;
  motor2.PID_velocity.D = 0.0;
  motor2.PID_velocity.output_ramp = 200.0;
  motor2.PID_velocity.limit = 1000.0;
  // Low pass filtering time constant 
  motor2.LPF_velocity.Tf = 0.1;
  // angle loop PID
  motor2.P_angle.P = 7.0;
  motor2.P_angle.I = 0.0;
  motor2.P_angle.D = 0.0;
  motor2.P_angle.output_ramp = 50.0;
  motor2.P_angle.limit = 27.0;
  // Low pass filtering time constant 
  motor2.LPF_angle.Tf = 0.0;
#endif // CLOSED_LOOP
  // limts
  motor2.voltage_sensor_align = SENSOR_ALIGN_V;
  //motor.controller = MotionControlType::torque;
  motor2.controller = CONTROL_TYPE;
  // default voltage_power_supply
  motor2.velocity_limit = 27 ;
  motor2.voltage_limit = MOTOR_V_LIMIT;
  motor2.current_limit = 1000.0;
 
  // set the inital target value
  motor2.target = 0;
#ifdef MONITOR
  motor2.useMonitoring(Serial);
  motor2.monitor_downsample = 0; // disable intially
  motor2.monitor_variables = _MON_TARGET | _MON_VOLT_Q | _MON_VOLT_D | _MON_CURR_Q | _MON_CURR_D | _MON_VEL | _MON_ANGLE;  // monitor target velocity and angle
#endif
#ifdef COMMANDER
  // subscribe motor to the commander
  command.add('U', doTarget2, "target2"); 
  command.add('N', doLimit2, "voltage limit2");
  command.add('O',doMotor2,"motor2");
#endif // COMMANDER

#ifdef USE_MOTOR2
  //motor.foc_modulation = SpaceVectorPWM;
  // initialise motor
  motor2.init();
#ifdef CLOSED_LOOP
  // align encoder and start FOC
  motor2.initFOC();
#endif // CLOSED_LOOP
#endif // USE_MOTOR2

#endif // USE_MOTOR2






  Serial.printf("setup complete...\n");
  _delay(1000);
}

void loop() {

  digitalWrite(HB_IO, 1);
#ifdef CLOSED_LOOP  
  // iterative setting FOC phase voltage
#ifdef USE_MOTOR1
  motor1.loopFOC();
#endif // USE_MOTOR1
#ifdef USE_MOTOR2
  motor2.loopFOC();
#endif // USE_MOTOR2
#endif // CLOSED_LOOP

  // iterative function setting the outter loop target
#ifdef USE_MOTOR1
  motor1.move();
#endif // USE_MOTOR1  
#ifdef USE_MOTOR2
  motor2.move();
#endif // USE_MOTOR2

#ifdef MONITOR
  // motor monitoring
#ifdef USE_MOTOR1
  motor1.monitor();
#endif // USE_MOTOR1
#ifdef USE_MOTOR2
  motor2.monitor();
#endif // USE_MOTOR2
#endif // MONITOR

#ifdef COMMANDER
  // user communication
  command.run();
#endif // COMMANDER
  digitalWrite(HB_IO, 0);

#ifdef USE_MOTOR1
  if (gate_driver1.is_fault())
  {
      sprintf(msgbuf, "gate driver1 faulted");
  }
#endif // USE_MOTOR1  
#ifdef USE_MOTOR2
  if (gate_driver2.is_fault())
  {
      sprintf(msgbuf, "gate driver2 faulted");
  }
#endif // USE_MOTOR2  

}
2

I took the liberty to edit your post and added triple back-ticks ( ` ) around the code. It makes it much easier to read if its formatted as code…

It’s a bit hard to follow with all the #ifdefs, but it looks ok to me.

Release 2.3.2 actually contained some bug-fixes to enable 2 HallSensors to work at the same time. Before 2.3.2 it was not possible to use 2 at the same time.

So I have to ask: are you on the most recent version of SimpleFOC?

3

Is it aligning the sensor for each motor?

4

Yes, the alignment seems to work fine… When I attempt to move the motor in velocity or torque closed-loop mode, the first motor to initialize moves slightly then stops (current builds up as the PID controller attempts to move it).

Again, both work perfectly “alone”, and if I switch things around the one to initialize last works perectly, almost like the last sensor to initialize is somehow corrupting the first one.

5

I took the liberty to edit your post and added triple back-ticks ( ` ) a

Thanks, I’ll do this next time, sorry I usually “manually pre-process” before posting code but I forgot this time.

So I have to ask: are you on the most recent version of SimpleFOC?

lib_deps = askuric/Simple FOC@^2.3.2, as5600

6

I am not sure what may be going on. I would be interested to know if someone has successfully run 2x HallSensor since the 2.3.2 version of SimpleFOC.

I don’t generally use the hall sensors myself because the resolution isn’t enough for what I do, so unfortunately I can’t speak from personal experience here…

7

A few days ago, I tried 2 motors on a stm32f1 to see if current sense would work.
I felt like I wasn’t able to align the hall sensor for both motors, that’s why I asked the question.

I would try aligning the sensor for the first motor, set the zero electrical angle offset and sensor direction, then align the sensor for the second motor.

I will try again on my setup tomorrow.

8

Nevermind, I was doing something wrong.
Running 2 motors with hall sensors works for me.

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9

Hi! I currently have the exactly same problem you had, what did you do to resolve it?

10

I started using magnetic sensors so it got de-prioritized, never took steps to debug it…

11

Hmm, well since I’ve been trying to get it to work for a week, magnetic sensors seem tempting right now…

12

@sgordon777 Found what was wrong on my setup, I used conflicting pins for my different interrupts. I forgot STM32 multiplexed multiple to 16 ext interrupt lines. Here is a link to my forum post if you are interested: https://community.simplefoc.com/t/stm32f446re-hall-sensors-two-motor-one-mcu-control-problem/4640/6?u=peteh

1 Like