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kimotor_action.py
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kimotor_action.py
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# Copyright 2022-2024 Stefano Cottafavi <[email protected]>
# SPDX-License-Identifier: GPL-2.0-only
import os
import shutil
import numpy as np
import math
import json
from datetime import datetime
import wx
import wx.lib.agw.persist.persistencemanager as PM
import pcbnew
if __name__ == '__main__':
import kimotor_gui
import kimotor_linalg as kla
else:
from . import kimotor_gui
from . import kimotor_linalg as kla
from . import kimotor_solver as ksolve
from . import kimotor_persist as kpers
class KiMotor(pcbnew.ActionPlugin):
def defaults(self):
self.version = ""
self.metadata_file = os.path.join(os.path.dirname(__file__), 'metadata.json')
with open(self.metadata_file, 'r') as f:
data = json.load(f)
self.version = data['versions'][0]['version']
self.name = "KiMotor"
self.category = "Modify Drawing PCB"
self.description = "KiMotor - Parametric PCB motor design"
self.show_toolbar_button = True
self.icon_file_name = os.path.join(os.path.dirname(__file__), 'kimotor_24x24.png')
def Run( self ):
# grab editor frame and board
self.frame = wx.FindWindowByName("PcbFrame")
self.board = pcbnew.GetBoard()
dlg = KiMotorDialog(self.frame, self.board)
dlg.SetIcon( wx.Icon(self.icon_file_name) )
dlg.SetTitle( self.name+" v"+self.version )
dlg.Show()
class KiMotorDialog ( kimotor_gui.KiMotorGUI ):
group = None
# updated during init (0: not valid)
SCALE = 0
KICAD_VERSION = 0
tl = 0
tr = 0
# parameters
outline = None
trmtype = None
fpoint = None
angle = None
tthick = 35e-6 # [m] copper thickness (1oz layer specs)
# fab capabilities (min)
rules = None
rules_preset_jlcpcb12 = {
"track_width": 1.0, # (5mil)
"track_space": 0.2, # (5mil)
"via_hole": 0.3,
"via_diameter": 0.5,
}
rules_preset_jlcpcb4 = {
"track_width": 1.0, # (3.5mil)
"track_space": 0.2, # (3.5mil)
"via_hole": 0.3,
"via_diameter": 0.5,
}
# terminal footprint dict
term_tht_db = { # kasim
"M2" : "MountingHole_2.2mm_M2_Pad",
"M2.5" : "MountingHole_2.7mm_M2.5_Pad",
"M3" : "MountingHole_3.2mm_M3_Pad",
"M3.5" : "MountingHole_3.7mm_M3.5_Pad",
"M4" : "MountingHole_4.3mm_M4_Pad",
"M5" : "MountingHole_5.3mm_M5_Pad",
"M6" : "MountingHole_6.4mm_M6_Pad",
}
term_smd_db = {
"1" : "TestPoint_Pad_1.0x1.0mm",
"1.5" : "TestPoint_Pad_1.5x1.5mm",
"2" : "TestPoint_Pad_2.0x2.0mm",
"2.5" : "TestPoint_Pad_2.5x2.5mm",
"3" : "TestPoint_Pad_3.0x3.0mm",
"4" : "TestPoint_Pad_4.0x4.0mm",
}
term_db = {
"THT" : term_tht_db,
"SMD" : term_smd_db
}
mhole_db = { # kasim
"M2" : "MountingHole_2.2mm_M2_Pad",
"M2.5" : "MountingHole_2.7mm_M2.5_Pad",
"M3" : "MountingHole_3.2mm_M3_Pad",
"M3.5" : "MountingHole_3.7mm_M3.5_Pad",
"M4" : "MountingHole_4.3mm_M4_Pad",
"M5" : "MountingHole_5.3mm_M5_Pad",
"M6" : "MountingHole_6.4mm_M6_Pad",
}
def __init__(self, parent, board):
kimotor_gui.KiMotorGUI.__init__(self, parent)
self.board = board
self.KICAD_VERSION = int(pcbnew.Version().split(".")[0])
if self.KICAD_VERSION < 7:
self.SCALE = pcbnew.IU_PER_MM
self.fpoint = pcbnew.wxPoint
self.fpoint_vector = pcbnew.wxPoint_Vector
self.fsize = pcbnew.wxSize
else:
self.SCALE = pcbnew.FromMM(1)
self.fpoint = pcbnew.VECTOR2I
self.fpoint_vector = pcbnew.VECTOR_VECTOR2I
self.fsize = pcbnew.VECTOR2I
# kick-off persistence
self.pf = os.path.join(
pcbnew.SETTINGS_MANAGER.GetUserSettingsPath(),
"kimotor.cfg"
)
self.init_persist(self.pf)
self.init_path()
self.init_nets()
self.on_cb_outline(None)
self.on_cb_trmtype(None)
def eda_angle(self,angle):
if self.KICAD_VERSION < 7:
return angle *180/math.pi *100
else:
return pcbnew.EDA_ANGLE(angle, pcbnew.RADIANS_T)
# init functions
def init_persist(self, configFile):
self.pm = PM.PersistenceManager.Get()
self.pm.SetPersistenceFile(configFile)
self.pm.RegisterAndRestoreAll(self)
def get_parameters(self, rules=None):
specs = self.m_cbPreset.GetStringSelection()
if specs=="DRC Rules":
self.rules = self.board.GetDesignSettings()
self.min_clear = self.rules.m_MinClearance
self.trk_w = self.rules.m_TrackMinWidth
self.vmaw = self.rules.m_ViasMinAnnularWidth
self.d_drill = self.rules.m_MinThroughDrill
self.d_via = max(self.rules.m_ViasMinSize, self.d_drill + 2*self.vmaw)
elif specs=="Current T/V":
self.rules = self.board.GetDesignSettings()
self.min_clear = self.rules.m_MinClearance
self.vmaw = self.rules.m_ViasMinAnnularWidth
self.trk_w = self.rules.GetCurrentTrackWidth()
self.d_drill = self.rules.GetCurrentViaDrill()
self.d_via = self.rules.GetCurrentViaSize()
aw = (self.d_via-self.d_drill)/2
if aw < self.vmaw:
wx.LogError(f'Via annular width is smaller than min allowed by DRC ({pcbnew.ToMM(aw)} < {pcbnew.ToMM(self.vmaw)})')
return -1
else:
wx.LogError('Invalid PCB preset!')
return -1
# helpers
self.dr = self.trk_w + self.min_clear
self.dt = self.d_via + self.min_clear
# get gui values and fix units (mm converted to nm where needed)
self.outline = self.m_cbOutline.GetStringSelection()
if self.outline=="Circle":
self.n_edges = 0
elif self.outline=="Square":
self.n_edges = 4
elif self.outline=="Hexagon":
self.n_edges = 6
elif self.outline=="Octagon":
self.n_edges = 8
else:
self.n_edges = -1
# terminals
self.trmtype = self.m_cbTP.GetStringSelection()
self.n_term = 3 #2 if (self.m_cbScheme.GetStringSelection() == "1P") else (
#3 if (self.m_cbScheme.GetStringSelection() == "3P") else 4)
self.n_layers = int(self.m_ctrlLayers.GetValue())
self.lset = self.udpate_lset(self.n_layers)
self.n_loops = int(self.m_ctrlLoops.GetValue())
self.n_phases = int(1 if (self.m_cbScheme.GetStringSelection() == "1P") else 3)
self.n_slots = int(self.m_ctrlSlots.GetValue())
self.strategy = self.m_cbStrategy.GetSelection()
# TODO: this to become a parameter (e.g. via grid size or something)
self.via_rows = 2
self.r_fill = int(self.m_ctrlRfill.GetValue() * self.SCALE) # track fillet
self.o_fill = int(self.m_ctrlFilletRadius.GetValue() * self.SCALE) # outline fillet
# various radius
self.r_in = int(self.m_ctrlDbore.GetValue() /2 * self.SCALE)
self.r_out = int(self.m_ctrlDout.GetValue() /2 * self.SCALE) # board size
self.r_coil_in = int(self.m_ctrlDin.GetValue() /2 * self.SCALE )
self.r_coil_out = int(self.m_ctrlDend.GetValue() /2 * self.SCALE )
self.w_mnt = int(self.m_ctrlWmnt.GetValue() * self.SCALE) # width of the outer no-soldermask annular zone
# TODO: place terminals based on their size
#self.rtrm = int(self.m_ctrlDterm.GetValue()/2 * self.SCALE)
self.r_term = (self.r_coil_out + (self.r_coil_out + self.w_mnt)) / 2
self.mhs = self.m_cbMountSize.GetStringSelection()
self.n_mh_out = int(self.m_mhOut.GetValue())
self.r_mh_out = int(self.m_mhOutR.GetValue() /2 * self.SCALE)
self.n_mh_in = int(self.m_mhIn.GetValue())
self.r_mh_in = int(self.m_mhInR.GetValue() /2 * self.SCALE)
# text
self.txt_size = int(0.5 * self.SCALE)
self.txt_loc = int(self.r_out - 3*self.txt_size)
# init buttons state
if self.group:
self.btn_clear.Enable(True)
return 0
def init_path(self):
self.fp_path = None
# check modified paths
settings = pcbnew.SETTINGS_MANAGER.GetUserSettingsPath()
try:
with open(settings+'/kicad_common.json', 'r') as f:
data = json.load(f)
if not (data["environment"]["vars"] is None) and "KICAD6_FOOTPRINT_DIR" in data["environment"]["vars"]:
self.fp_path = data["environment"]["vars"]["KICAD6_FOOTPRINT_DIR"]
except IOError:
# catch missing file on first Kicad run
wx.LogError("Settings file not found. This might happen, the first time you run the program. Please restart Kicad")
return
# check default paths
if self.fp_path is None:
self.fp_path = os.getenv("KICAD"+str(self.KICAD_VERSION)+"_FOOTPRINT_DIR", default=None)
# ensure only one separator
self.fp_path = os.path.normpath(self.fp_path) + os.sep
# no library found
if self.fp_path is None:
wx.LogError("Footprint library not found - Make sure the KiCad paths are properly configured.")
def init_nets(self):
# init paths
gnd = pcbnew.NETINFO_ITEM(self.board, "gnd")
coil = pcbnew.NETINFO_ITEM(self.board, "coil")
self.board.Add(gnd)
self.board.Add(coil)
def udpate_lset(self, n_layers):
lset = [pcbnew.F_Cu]
if n_layers >= 4:
lset.append(pcbnew.In1_Cu)
lset.append(pcbnew.In2_Cu)
if n_layers >= 6:
lset.append(pcbnew.In3_Cu)
lset.append(pcbnew.In4_Cu)
if n_layers >= 8:
lset.append(pcbnew.In5_Cu)
lset.append(pcbnew.In6_Cu)
if n_layers >= 10:
lset.append(pcbnew.In7_Cu)
lset.append(pcbnew.In8_Cu)
if n_layers >= 12:
lset.append(pcbnew.In9_Cu)
lset.append(pcbnew.In10_Cu)
if n_layers >= 14:
lset.append(pcbnew.In11_Cu)
lset.append(pcbnew.In12_Cu)
if n_layers >= 16:
lset.append(pcbnew.In13_Cu)
lset.append(pcbnew.In14_Cu)
if n_layers >= 18:
lset.append(pcbnew.In15_Cu)
lset.append(pcbnew.In16_Cu)
if n_layers >= 20:
lset.append(pcbnew.In17_Cu)
lset.append(pcbnew.In18_Cu)
lset.append(pcbnew.B_Cu)
return lset
# core functions
def generate(self):
# get GUI parameters
ret = self.get_parameters()
if ret<0:
return
# generate and connect coils
coils = self.do_windings(
self.r_coil_in,
self.r_coil_out,
self.dr,
self.n_slots,
self.n_phases,
self.n_loops,
self.lset,
self.strategy)
# generate phase rings
[cnx_seg, cnx_str, cri] = self.do_rings(
self.r_coil_in,
self.d_via,
self.n_slots,
self.n_phases)
self.do_junctions(
self.r_coil_in,
self.dr,
self.n_slots,
self.n_phases,
coils,
cnx_seg,
cnx_str)
# terminals
if self.trmtype != "None":
trm_lib = self.fp_path + ('MountingHole.pretty' if self.trmtype=='THT' else 'TestPoint.pretty') # kasim
trm_fp = self.term_db.get(self.trmtype).get(self.m_termSize.GetStringSelection())
self.do_terminals(
self.r_term,
self.n_term,
self.r_coil_in,
coils,
trm_lib, trm_fp)
# create outline, mounting holes and thermal zones
if self.outline != "None":
#self.do_outline( # kasim
# self.r_in,
# self.r_out,
# self.n_edges,
#self.o_fill)
self.do_mounting_holes(
self.r_mh_out,
self.n_mh_out if self.outline=="Circle" else self.n_edges if self.n_mh_out>0 else 0,
self.r_mh_in,
self.n_mh_in if self.outline=="Circle" else self.n_edges if self.n_mh_in>0 else 0,
self.n_edges,
hs=self.mhs)
self.do_thermal_zones(
self.r_out,
cri)
# draw silkscreen
self.do_silkscreen(
self.r_coil_in,
self.r_coil_out+self.trk_w,
self.n_slots)
# update board
pcbnew.Refresh()
# TODO: all stats shall be moved here
# stats (single pole only)
#self.board.Groups()[0].RunOnChildren(item: {item.Type()})
#wx.LogWarning(f'{item.Type()}')
#if p==0:
self.tl = 0 #self.stats_length(self.board)
self.tr = 0 #self.stats_rlc(self.board, self.trk_w/self.SCALE/1000, self.tthick)
# update gui stats
self.lbl_phaseLength.SetLabel( '%.2f' % self.tl )
self.lbl_phaseR.SetLabel( '%.2f' % self.tr )
self.btn_clear.Enable(True)
def coil_tracker(self, waypts, layer, n_loops, group):
""" Connnect the coil waypoints with PCB tracks on the assigned layer
Args:
waypts (numpy.matrix): set of the coil waypoints
layer (pcbnew.LAYER): layer on which the tracks are created
n_loops (int): number of coil loops
Returns:
list : list of coil start and end points
"""
net_coil = self.board.FindNet("coil")
# index of current point
ip = 0
t0 = None
# define how many sides
n_side = n_loops*4 - 1
for side in range(n_side):
# side start point
side_s = self.fpoint(
int(waypts[ip][0,0]),
int(waypts[ip][0,1]))
# even sides (0,2,4,etc.)
if not side%2:
ip += 1
t = pcbnew.PCB_ARC(self.board)
t.SetMid(
self.fpoint(
int(waypts[ip][0,0]),
int(waypts[ip][0,1])))
# 1: outer side, -1: inner side
side = -1 if not side%4 else 1
# odd sides
else:
t = pcbnew.PCB_TRACK(self.board)
ip += 1
side_e = self.fpoint(
int(waypts[ip][0,0]),
int(waypts[ip][0,1]))
t.SetNet(net_coil)
t.SetWidth( self.trk_w )
t.SetLayer( layer )
t.SetStart( side_s )
t.SetEnd( side_e )
self.board.Add(t)
# fillet
if side > 0 and self.r_fill > 0:
fa = self.fillet(self.board, t0, t, self.r_fill, side)
#group.AddItem(fa)
# add to group
group.AddItem(t)
t0 = t
coil_se = []
coil_se.append( self.fpoint( int(waypts[0][0,0]), int(waypts[0][0,1]) ) )
coil_se.append( t.GetEnd() )
return coil_se
def do_windings(self, ri, ro, dr, n_slots, n_phases, n_loops=1, lset=None, mode=0):
""" Generate the coil tracks (with fillet) on the given PCB layers
Args:
ri (int): coil inner radius
ro (int): coil outer radius
dr (int): min track spacing
n_slots (int): number of motor slots
n_loops (int): number of coil loops (per layer)
lset (list): list of the PCB layers to use
mode (int): 0: parallel coil sides, 1: radial coil sides
Returns:
list: all windings start and end points, grouped by phase
"""
net_coil = self.board.FindNet("coil")
th0 = 2*math.pi/n_slots
r_clear = self.trk_w/2 + self.min_clear + self.d_via/2
t_clear = self.d_via + self.min_clear
r_via = ri - r_clear
thv = math.atan2(t_clear, r_via)
r_via_o = ro - (n_loops-1)*self.dr - r_clear
thv_o = math.atan2(t_clear, r_via_o)
n_via = len(lset)/2
vias = range(0,1) if n_via==1 else range(int(-n_via/2), math.ceil(n_via/2))
# generate coil waypoints
if mode == 0:
# TODO: update
waypts_cw, pcu0m, pcu0mi = ksolve.parallel( ri, ro, dr, th0, n_loops, 0 )
waypts_ccw, pcu1m, pcu1mi = ksolve.parallel( ri, ro, dr, th0, n_loops, 1 )
else:
waypts_cw = ksolve.coil_planner( "radial", ri, ro, dr, n_slots, n_loops, "cw" )
waypts_ccw = ksolve.coil_planner( "radial", ri, ro, dr, n_slots, n_loops, "ccw" )
waypts_cw1 = ksolve.coil_planner( "radial", ri, ro, dr, n_slots, n_loops, "cw", 1 )
waypts_ccw1 = ksolve.coil_planner( "radial", ri, ro, dr, n_slots, n_loops, "ccw", 1 )
windings = []
for p in range(n_phases):
windings.append([])
for slot in range(n_slots):
pgroup = pcbnew.PCB_GROUP( self.board )
pgroup.SetName("slot_"+str(slot))
self.board.Add(pgroup) # kasim
# start/end points of single winding
winding_se = []
# rotation matrix
th = th0 * slot
R = np.array([
[math.cos(th), -math.sin(th)],
[math.sin(th), math.cos(th)]])
# rotate coil waypoints to the slot position (around PCB motor axis)
waypts_cw_R = np.matmul(R, waypts_cw.transpose()).transpose()
waypts_ccw_R = np.matmul(R, waypts_ccw.transpose()).transpose()
waypts_cw1_R = np.matmul(R, waypts_cw1.transpose()).transpose()
waypts_ccw1_R = np.matmul(R, waypts_ccw1.transpose()).transpose()
for i, layer in enumerate(lset):
# pick the right "template" of waypoints
if i==0 or i==len(lset)-1:
# outer layers: ...
wp = waypts_ccw_R if i%2 else waypts_cw_R
else:
# inner layers: ...
wp = waypts_ccw1_R if i%2 else waypts_cw1_R
# generate coil
coil_se = self.coil_tracker(wp, layer, n_loops, pgroup)
# connect coils across layers to create the winding
if i%2 and i<len(lset):
# on odd layers (coil CCW) stitch coils' end points
iv = math.floor(i/2)
# via index
viv = vias[iv]*2 # 1 kasim
# via coordinates
xy_v = self.fpoint(
int(r_via_o*math.cos(th + thv_o*viv)),
int(r_via_o*math.sin(th + thv_o*viv)))
# stitch
via = pcbnew.PCB_VIA(self.board)
via.SetViaType(pcbnew.VIATYPE_THROUGH)
via.SetPosition( xy_v )
via.SetDrill( self.d_drill )
via.SetWidth( self.d_via )
self.board.Add(via)
#
a = pcbnew.PCB_ARC(self.board)
a.SetNet(net_coil)
a.SetLayer(lset[i-1])
a.SetWidth(self.trk_w)
a.SetStart( coil_se[1] )
a.SetEnd(
self.fpoint(
int((r_via_o+r_clear)*math.cos(th + thv_o*vias[iv])),
int((r_via_o+r_clear)*math.sin(th + thv_o*vias[iv]))))
a.SetMid(
self.fpoint(
int((r_via_o+r_clear)*math.cos(th + thv_o*vias[iv] /2 )),
int((r_via_o+r_clear)*math.sin(th + thv_o*vias[iv] /2 ))))
self.board.Add(a)
if viv > 0:
a = pcbnew.PCB_ARC(self.board)
a.SetNet(net_coil)
a.SetLayer(lset[i])
a.SetWidth(self.trk_w)
a.SetStart( coil_se[1] )
a.SetEnd(
self.fpoint(
int((r_via_o+r_clear)*math.cos(th + thv_o*viv)),
int((r_via_o+r_clear)*math.sin(th + thv_o*viv))))
a.SetMid(
self.fpoint(
int((r_via_o+r_clear)*math.cos(th + thv_o*viv /2 )),
int((r_via_o+r_clear)*math.sin(th + thv_o*viv /2 ))))
self.board.Add(a)
t = pcbnew.PCB_TRACK(self.board)
t.SetNet(net_coil)
t.SetWidth( self.trk_w )
t.SetLayer( lset[i] )
t.SetStart( a.GetEnd() )
t.SetEnd( xy_v )
self.board.Add(t)
t = pcbnew.PCB_TRACK(self.board)
a.SetNet(net_coil)
t.SetWidth( self.trk_w )
t.SetLayer( lset[i-1] )
t.SetStart( a.GetEnd() )
t.SetEnd( xy_v )
self.board.Add(t)
# on even layers (coil CW), but first, stitch coils' start points
elif not i%2 and i>0:
iv = int(i/2)
# via index
viv = vias[iv]*2 # 1 kasim
xy_v = self.fpoint(
int(r_via*math.cos(th + thv*viv)),
int(r_via*math.sin(th + thv*viv)))
# stitch
via = pcbnew.PCB_VIA(self.board)
via.SetViaType(pcbnew.VIATYPE_THROUGH)
via.SetPosition( xy_v)
via.SetDrill( self.d_drill )
via.SetWidth( self.d_via )
self.board.Add(via)
a = pcbnew.PCB_ARC(self.board)
a.SetNet(net_coil)
a.SetLayer(lset[i-1])
a.SetWidth(self.trk_w)
a.SetStart( coil_se[0] )
a.SetEnd(
self.fpoint(
int((r_via+r_clear)*math.cos(th + thv*viv)),
int((r_via+r_clear)*math.sin(th + thv*viv))))
a.SetMid(
self.fpoint(
int((r_via+r_clear)*math.cos(th + thv*viv /2 )),
int((r_via+r_clear)*math.sin(th + thv*viv /2 ))))
self.board.Add(a)
if viv<0:
a = pcbnew.PCB_ARC(self.board)
a.SetNet(net_coil)
a.SetLayer(lset[i])
a.SetWidth(self.trk_w)
a.SetStart( coil_se[0] )
a.SetEnd(
self.fpoint(
int((r_via+r_clear)*math.cos(th + thv*viv)),
int((r_via+r_clear)*math.sin(th + thv*viv))))
a.SetMid(
self.fpoint(
int((r_via+r_clear)*math.cos(th + thv*viv /2 )),
int((r_via+r_clear)*math.sin(th + thv*viv /2 ))))
self.board.Add(a)
t = pcbnew.PCB_TRACK(self.board)
t.SetNet(net_coil)
t.SetWidth( self.trk_w )
t.SetLayer( lset[i] )
t.SetStart( a.GetEnd() )
t.SetEnd( xy_v )
self.board.Add(t)
t = pcbnew.PCB_TRACK(self.board)
t.SetNet(net_coil)
t.SetWidth( self.trk_w )
t.SetLayer( lset[i-1] )
t.SetStart( a.GetEnd() )
t.SetEnd( xy_v )
self.board.Add(t)
# append first and last only
if i==0 or i==len(lset)-1:
winding_se.append(coil_se[0])
# store coils by phase
windings[ slot % n_phases ].append(winding_se)
return windings
def do_rings(self, r_in, dr, n_slot, n_phase):
""" Create the arc segments that connect the coils of the same phase
Args:
r_in (int): radial position of the coil inner end
dr (int): clearance
n_slot (int): number of motor slots
n_phase (int): number of motor phases
"""
# rings spaced from coils
r_in -= 3*dr # kasim
# slot angular width
th0 = 2*math.pi/n_slot
# segment start/end points angular shift
th_shift_start = th0/2
th_shift_end = -th0
# number of distinct segments on each phase ring
n_rc = int(n_slot/n_phase)-1
# all segments, of all the phase rings
conns_t = []
# phase-phase connection
cnx_star = None
# create phase tracks
for p in range(n_phase):
# radial location of the ring
if(p==0):
cri = r_in - 1*(p+1)*dr # 1 kasim, important for SC
elif(p==1):
cri = r_in - 2*(p+1)*dr # 1 kasim, important for SC
else:
cri = r_in - 2.35*(p+1)*dr # 1 kasim, important for SC
thv = math.atan2(2*self.trk_w,cri)
# segments on the same phase ring
segs_t = []
for i_rc in range(n_rc):
# find directions of start, end, mid points of the arc segment
th_s = th0*( p + i_rc*n_phase ) + th_shift_start - thv
th_e = th_s + th0*n_phase + th_shift_end + 2*thv
th_m = (th_s+th_e)/2
# translate (r,th) to (x,y) coords
xy_s = self.fpoint( int(cri*math.cos(th_s)), int(cri*math.sin(th_s)) )
xy_e = self.fpoint( int(cri*math.cos(th_e)), int(cri*math.sin(th_e)) )
xy_m = self.fpoint( int(cri*math.cos(th_m)), int(cri*math.sin(th_m)) )
conn = pcbnew.PCB_ARC(self.board)
conn.SetLayer(pcbnew.F_Cu)
conn.SetWidth(self.trk_w)
conn.SetStart( xy_s )
conn.SetMid( xy_m )
conn.SetEnd( xy_e )
self.board.Add(conn)
# track ends towards the coil (towards motor internals)
segs_t.append([xy_s,xy_e])
conns_t.append(segs_t)
# star-connection on 1st phase ring
if p==0:
cri = r_in - 3*(p+1)*dr # 1 kasim, important for SC
# find directions
ths = -3*th0 + th0/2 - thv
the = -1*th0 + th0/2 - thv
thm = (ths+the)/2
# translate (r,th) to (x,y) coords
rs = self.fpoint( int(cri*math.cos(ths)), int(cri*math.sin(ths)) )
rm = self.fpoint( int(cri*math.cos(thm)), int(cri*math.sin(thm)) )
re = self.fpoint( int(cri*math.cos(the)), int(cri*math.sin(the)) )
# do track
conn = pcbnew.PCB_ARC(self.board)
conn.SetLayer(pcbnew.B_Cu)
conn.SetWidth(self.trk_w)
conn.SetStart( rs )
conn.SetMid( rm )
conn.SetEnd( re )
self.board.Add(conn)
# here append also the mid point
cnx_star = [rs,rm,re]
# return:
# - ring segments coordinates
# - star connection coordinates
# - radial location of the innermost ring + some (used for filling keep-out)
return conns_t, cnx_star, cri-2*dr
def do_junctions(self, r_in, dr, n_slot, n_phase, coils, rings, cnx_str):
""" Create the jumper segments that connect the coil terminations with the
race tracks of the phase connecting rings
Args:
r_in (int): radial position of the coil inner end
dr (int): min track spacing
n_slot (int): number of motor slots
n_phase (int): number of motor phases
coils (list): contains start and end points of each coil, by phase
rings (list): contains start and end points of each ring segment, by phase
"""
# slot angular width
th0 = 2*math.pi/n_slot
thv = math.atan2(dr,r_in)
th_shift_start = th0/2 - thv
th_shift_end = -2*th_shift_start
r_in -= dr
# number of segments on each phase ring
n_ring_seg = int(n_slot/n_phase)-1
for phase in range(n_phase):
for seg in range(n_ring_seg):
ring_seg_s = rings[phase][seg][0]
ring_seg_e = rings[phase][seg][1]
#c1s = coil_p[p][i][0]
coil_1_e = coils[phase][seg][1]
coil_2_s = coils[phase][seg+1][0]
coil_2_e = coils[phase][seg+1][1]
if seg <= n_ring_seg:
j = pcbnew.PCB_TRACK(self.board)
j.SetLayer(pcbnew.B_Cu)
j.SetWidth(self.trk_w)
j.SetStart( coil_1_e )
j.SetEnd( ring_seg_s )
self.board.Add(j)
if seg == 0:
via = pcbnew.PCB_VIA(self.board)
via.SetPosition( ring_seg_s )
via.SetDrill( self.d_drill )
via.SetWidth( self.d_via )
self.board.Add(via)
if phase==0 or seg==n_ring_seg-1:
j = pcbnew.PCB_TRACK(self.board)
j.SetLayer(pcbnew.F_Cu)
j.SetWidth(self.trk_w)
j.SetStart( coil_2_s )
j.SetEnd( ring_seg_e )
self.board.Add(j)
else:
# cross under the other phases
th_s = th0*( phase + seg*n_phase ) + th_shift_start
th_e = th_s + th0*n_phase + th_shift_end
xy_a = self.fpoint(
int(r_in*math.cos(th_e)),
int(r_in*math.sin(th_e)))
j = pcbnew.PCB_TRACK(self.board)
j.SetLayer(pcbnew.B_Cu)
j.SetWidth(self.trk_w)
j.SetStart( ring_seg_e )
j.SetEnd( xy_a )
self.board.Add(j)
via = pcbnew.PCB_VIA(self.board)
via.SetPosition( ring_seg_e )
via.SetDrill( self.d_drill )
via.SetWidth( self.d_via )
self.board.Add(via)
j = pcbnew.PCB_TRACK(self.board)
j.SetLayer(pcbnew.F_Cu)
j.SetWidth(self.trk_w)
j.SetStart( xy_a )
j.SetEnd( coil_2_s )
self.board.Add(j)
via = pcbnew.PCB_VIA(self.board)
via.SetPosition( xy_a )
via.SetDrill( self.d_drill )
via.SetWidth( self.d_via )
self.board.Add(via)
if seg > 0:
# jumper at each coil start, but the first coil, for each phase
j = pcbnew.PCB_TRACK(self.board)
j.SetLayer(pcbnew.B_Cu)
j.SetWidth(self.trk_w)
j.SetStart( coil_1_e )
j.SetEnd( ring_seg_s )
self.board.Add(j)
via = pcbnew.PCB_VIA(self.board)
via.SetPosition( ring_seg_s )
via.SetDrill( self.d_drill )
via.SetWidth( self.d_via )
self.board.Add(via)
# star-connect jumper
if seg == n_ring_seg-1:
j = pcbnew.PCB_TRACK(self.board)
j.SetLayer(pcbnew.B_Cu)
j.SetWidth(self.trk_w)
j.SetStart( coil_2_e )
j.SetEnd( cnx_str[phase] )
self.board.Add(j)
def do_terminals(self, r_term, n_term, r_coil_in, coils, lib='',fp=''):
""" Create the motor terminals, and the tracks that connect the terminals to the coils
Args:
r_term (in): radial position of the motor terminals
n_term (in): number of motor terminals
r_coil_in (in): radial position of the coil inner end
coils (list): list of coils tracks
lib (string): footprint library absolute path
fp (string): terminal footprint name
"""
net_coil = self.board.FindNet("coil")
# base angle, half (to position terminals), quarter (to locate arc track mid-point)
th0 = 2*math.pi/self.n_slots
thr = th0/4
Rcw = np.array([
[math.cos(thr), -math.sin(thr)],
[math.sin(thr), math.cos(thr)],
])
for i in range(n_term):
# radial to cartesian coords of terminal, aux corner, coil start
th = th0*i - th0/2
ax = r_coil_in*math.cos(th)
ay = r_coil_in*math.sin(th)
tp = np.matmul(Rcw, np.array([ax,ay]))
xy_t = self.fpoint(
int(r_term*math.cos(th)),
int(r_term*math.sin(th)))
xy_a = self.fpoint( int(ax), int(ay) )
xy_c = coils[i][0][0]
# terminal
if self.trmtype != "None":
m = pcbnew.FootprintLoad(lib, fp)
m.Value().SetVisible(False)
lib_name= lib.split('.')[-2].split('/')[-1]
m.SetFPIDAsString(lib_name + ":" + fp)
m.SetPosition(xy_t)
m.Rotate(xy_t, self.eda_angle(-th))
for p in m.Pads():
p.SetNet(net_coil)
# REF
dth = 0.05 #rad
m.Reference().SetPosition(
self.fpoint(
int(r_term*math.cos(th+dth)),
int(r_term*math.sin(th+dth))))
m.SetReference( "A" if i==0 else ("B" if i==1 else "C") )
self.board.Add(m)
# track, straight part
conn = pcbnew.PCB_TRACK(self.board)
conn.SetLayer(pcbnew.F_Cu)
conn.SetNet(net_coil)
conn.SetWidth(self.trk_w)
conn.SetStart(xy_t)
conn.SetEnd(xy_a)
self.board.Add(conn)
# track, arc part
conn = pcbnew.PCB_ARC(self.board)
conn.SetLayer(pcbnew.F_Cu)
conn.SetNet(net_coil)
conn.SetWidth(self.trk_w)
conn.SetStart(xy_a)
conn.SetMid( self.fpoint( int(tp[0]), int(tp[1])) )
conn.SetEnd(xy_c)