Merge branch 'dev' into 317-feature-foc_current-mode-and-current-feed-forward

Author: askuric

src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp

@@ -123,11 +123,12 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
   }
 
 
+  uint32_t ranks[4]= {ADC_INJECTED_RANK_1, ADC_INJECTED_RANK_2, ADC_INJECTED_RANK_3, ADC_INJECTED_RANK_4};
   for(int i=0; i<3; i++){
     // skip if not set
     if (!_isset(cs_params->pins[i])) continue;
 
-    sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1 + i;
+    sConfigInjected.InjectedRank = ranks[i];
     sConfigInjected.InjectedChannel = STM_PIN_CHANNEL(pinmap_function(analogInputToPinName(cs_params->pins[i]), PinMap_ADC));
     if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG

src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp

@@ -118,12 +118,13 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     SIMPLEFOC_DEBUG("STM32-CS: Using timer: ", stm32_getTimerNumber(cs_params->timer_handle->Instance));
 #endif
   }
-
+  
+  uint32_t ranks[4]= {ADC_INJECTED_RANK_1, ADC_INJECTED_RANK_2, ADC_INJECTED_RANK_3, ADC_INJECTED_RANK_4};
   for(int i=0; i<3; i++){
     // skip if not set
     if (!_isset(cs_params->pins[i])) continue;
 
-    sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1 + i;
+    sConfigInjected.InjectedRank = ranks[i];
     sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]));
     if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG

src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_hal.cpp

@@ -127,11 +127,12 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 #endif
   }
 
+  uint32_t ranks[4]= {ADC_INJECTED_RANK_1, ADC_INJECTED_RANK_2, ADC_INJECTED_RANK_3, ADC_INJECTED_RANK_4};
   for(int i=0; i<3; i++){
     // skip if not set
     if (!_isset(cs_params->pins[i])) continue;
 
-    sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1 + i;
+    sConfigInjected.InjectedRank = ranks[i];
     sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]));
     if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG

src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.cpp

@@ -173,12 +173,13 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     SIMPLEFOC_DEBUG("STM32-CS: Using timer: ", stm32_getTimerNumber(cs_params->timer_handle->Instance));
 #endif
   }
-
+  
+  uint32_t ranks[4]= {ADC_INJECTED_RANK_1, ADC_INJECTED_RANK_2, ADC_INJECTED_RANK_3, ADC_INJECTED_RANK_4};
   for(int i=0; i<3; i++){
     // skip if not set
     if (!_isset(cs_params->pins[i])) continue;
 
-    sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1 + i;
+    sConfigInjected.InjectedRank = ranks[i];
     sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]));
     if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG

src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.cpp

@@ -168,11 +168,12 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
   }
 
 
+  uint32_t ranks[4]= {ADC_INJECTED_RANK_1, ADC_INJECTED_RANK_2, ADC_INJECTED_RANK_3, ADC_INJECTED_RANK_4};
   for(int i=0; i<3; i++){
     // skip if not set
     if (!_isset(cs_params->pins[i])) continue;
 
-    sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1 + i;
+    sConfigInjected.InjectedRank = ranks[i];
     sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]));
     if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG