This release brings a new inverter driver option, the MCPWM based, is the default inverter driver, and it makes the espFoC effectively supported for ESP32P4 targets. The LEDC based driver will be kept as backward compatibility, please noticed that all examples are now moved to this new driver.
Also now the FoC Core Engine has been moved to the Inverter ISR, making it in sync to the PWM rate and simplifying the math as well lowering the jitter, as a result all the FoC operations are derived from the same sample rate base.
What is new:
- 3-PWM Inverter driver based on MCPWM with center aligned support;
- Port layer modifications to make espFoC supported on esp32p4 (still experimental);
- FoC Core Engine moved to the Inverter Interrupt Service Routine;
- AS5600 sensor has now its own thread making its API interrupt safe;
- Alignment algorithm based on Voltage D application to the motor;
- Open loop example now uses the Space Vector PWM recently corrected;
Fixes:
- Open Loop rotor sensor numerical stability fixed;
- Space Vector PWM modulation bias fixed;
- Speed estimator negative delta time fixed;
- Cleanup of the espFoC axis object removing now unused fields;
- Build errors on the os_interface when building for esp32p4;