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[BUG]ESP32-S3 block in InlineCurrentSense init #320
Description
Describe the bug
When using SimpleFOC, the program will stay at the current_sense.init(); function location
Describe the hardware setup
For us it is very important to know what is the hardware setup you're using in order to be able to help more directly
- Which microcontroller
ESP32S3FN8 - Current sensing used?
INA240A2PWR
IDE you are using - Arduino IDE
- Platformio
Config file
[env:esp32-s3-devkitc-1]
platform = https://github.com/platformio/platform-espressif32.git
board = esp32-s3-devkitc-1
framework = arduino
monitor_speed = 115200
lib_deps =
askuric/Simple FOC @ ^2.3.1
SPI
Wire
lib_archive = false
CurrentCode
#include <SimpleFOC.h>
#define A0 8
#define A1 9
// current sensor
// shunt resistor value
// gain value
// pins phase A,B, (C optional)
InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, 8, 9);
void setup() {
Serial.begin(115200);
Serial.println("Start init current sense");
// initialise the current sensing
current_sense.init();
Serial.println("End init current sense");
// for SimpleFOCShield v2.01/v2.0.2
current_sense.gain_b *= -1;
Serial.println("Current sense ready.");
}
void loop() {
PhaseCurrent_s currents = current_sense.getPhaseCurrents();
float current_magnitude = current_sense.getDCCurrent();
Serial.print(currents.a*1000); // milli Amps
Serial.print("\t");
Serial.print(currents.b*1000); // milli Amps
Serial.print("\t");
Serial.print(currents.c*1000); // milli Amps
Serial.print("\t");
Serial.println(current_magnitude*1000); // milli Amps
}
Out
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT)
SPIWP:0xee
mode:DIO, clock div:1
load:0x3fce3808,len:0x44c
load:0x403c9700,len:0xbe4
load:0x403cc700,len:0x2a68
entry 0x403c98d4
Start init current sense
Activity
mailonghua commentedon Sep 27, 2023
I think I have located this problem. This is a bug. Each ADC of esp32s3 has 10 channels 0~9, and the SENS_SAR_MEAS1_CTRL2_REG register shows the status of ADC1, and SENS_SAR_MEAS2_CTRL2_REG shows the status of ADC2. But when I use GPIO9, currently The judgment detects BIT16 of SENS_SAR_MEAS2_CTRL2_REG, which belongs to ADC2. When I change if(channel > 7) to if(channel > 9), my current program is normal.
But I think this method may not be appropriate for ADC2
mailonghua commentedon Sep 27, 2023
Simple FOC\src\current_sense\hardware_specific\esp32\esp32s_adc_driver.cpp :237
runger1101001 commentedon Sep 27, 2023
Thank you very much for reporting this and finding the solution! We'll look into it as soon as we can!
runger1101001 commentedon Sep 27, 2023
Probably a duplicate: #295
bugfix for #295 and #320 + added #346
askuric commentedon Jul 22, 2024
The fix is in the new release v2.3.4