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askuricaskuric
committed
inital update of the cs for stm32
1 parent 1e1ace5 commit 36e078c

20 files changed

+311
-733
lines changed

‎src/current_sense/hardware_specific/stm32/stm32_adc_utils.cpp‎

Lines changed: 268 additions & 0 deletions
Original file line numberDiff line numberDiff line change
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#include "stm32_adc_utils.h"
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#if defined(_STM32_DEF_)
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// for searching the best ADCs, we need to know the number of ADCs
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// it might be better to use some HAL variable for example ADC_COUNT
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// here I've assumed the maximum number of ADCs is 5
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#define ADC_COUNT 5
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/**
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* @brief Return ADC HAL channel linked to a PinName
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* @param pin: PinName
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* @retval Valid HAL channel
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*/
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uint32_t _getADCChannel(PinName pin)
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{
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uint32_t function = pinmap_function(pin, PinMap_ADC);
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uint32_t channel = 0;
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switch (STM_PIN_CHANNEL(function)) {
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#ifdef ADC_CHANNEL_0
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case 0:
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channel = ADC_CHANNEL_0;
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break;
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#endif
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case 1:
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channel = ADC_CHANNEL_1;
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break;
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case 2:
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channel = ADC_CHANNEL_2;
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break;
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case 3:
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channel = ADC_CHANNEL_3;
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break;
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case 4:
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channel = ADC_CHANNEL_4;
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break;
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case 5:
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channel = ADC_CHANNEL_5;
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break;
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case 6:
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channel = ADC_CHANNEL_6;
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break;
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case 7:
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channel = ADC_CHANNEL_7;
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break;
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case 8:
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channel = ADC_CHANNEL_8;
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break;
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case 9:
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channel = ADC_CHANNEL_9;
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break;
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case 10:
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channel = ADC_CHANNEL_10;
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break;
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case 11:
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channel = ADC_CHANNEL_11;
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break;
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case 12:
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channel = ADC_CHANNEL_12;
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break;
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case 13:
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channel = ADC_CHANNEL_13;
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break;
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case 14:
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channel = ADC_CHANNEL_14;
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break;
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case 15:
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channel = ADC_CHANNEL_15;
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break;
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#ifdef ADC_CHANNEL_16
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case 16:
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channel = ADC_CHANNEL_16;
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break;
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#endif
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case 17:
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channel = ADC_CHANNEL_17;
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break;
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#ifdef ADC_CHANNEL_18
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case 18:
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channel = ADC_CHANNEL_18;
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break;
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#endif
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#ifdef ADC_CHANNEL_19
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case 19:
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channel = ADC_CHANNEL_19;
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break;
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#endif
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#ifdef ADC_CHANNEL_20
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case 20:
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channel = ADC_CHANNEL_20;
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break;
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case 21:
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channel = ADC_CHANNEL_21;
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break;
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case 22:
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channel = ADC_CHANNEL_22;
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break;
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case 23:
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channel = ADC_CHANNEL_23;
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break;
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#ifdef ADC_CHANNEL_24
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case 24:
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channel = ADC_CHANNEL_24;
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break;
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case 25:
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channel = ADC_CHANNEL_25;
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break;
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case 26:
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channel = ADC_CHANNEL_26;
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break;
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#ifdef ADC_CHANNEL_27
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case 27:
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channel = ADC_CHANNEL_27;
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break;
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case 28:
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channel = ADC_CHANNEL_28;
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break;
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case 29:
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channel = ADC_CHANNEL_29;
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break;
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case 30:
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channel = ADC_CHANNEL_30;
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break;
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case 31:
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channel = ADC_CHANNEL_31;
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break;
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#endif
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#endif
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#endif
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default:
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_Error_Handler("ADC: Unknown adc channel", (int)(STM_PIN_CHANNEL(function)));
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break;
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}
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return channel;
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}
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int _adcToIndex(ADC_TypeDef *AdcHandle){
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if(AdcHandle == ADC1) return 0;
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#ifdef ADC2 // if ADC2 exists
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else if(AdcHandle == ADC2) return 1;
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#endif
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#ifdef ADC3 // if ADC3 exists
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else if(AdcHandle == ADC3) return 2;
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#endif
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#ifdef ADC4 // if ADC4 exists
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else if(AdcHandle == ADC4) return 3;
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#endif
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#ifdef ADC5 // if ADC5 exists
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else if(AdcHandle == ADC5) return 4;
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#endif
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return 0;
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}
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int _adcToIndex(ADC_HandleTypeDef *AdcHandle){
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return _adcToIndex(AdcHandle->Instance);
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}
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ADC_TypeDef* _indexToADC(uint8_t index){
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switch (index) {
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case 0:
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return ADC1;
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break;
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#ifdef ADC2 // if ADC2 exists
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case 1:
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return ADC2;
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break;
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#endif
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#ifdef ADC3 // if ADC3 exists
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case 2:
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return ADC3;
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break;
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#endif
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#ifdef ADC4 // if ADC4 exists
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case 3:
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return ADC4;
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break;
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#endif
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#ifdef ADC5 // if ADC5 exists
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case 4:
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return ADC5;
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break;
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#endif
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}
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return nullptr;
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}
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// functions finding the index of the first pin entry in the PinMap_ADC
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// returns -1 if not found
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int _findIndexOfFirstPinMapADCEntry(int pin) {
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PinName pinName = digitalPinToPinName(pin);
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int i = 0;
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while ((PinMap_ADC[i].pin & ~ALTX_MASK) !=NC) {
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if (pinName == (PinMap_ADC[i].pin & ~ALTX_MASK))
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return i;
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i++;
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}
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return -1;
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}
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// functions finding the index of the last pin entry in the PinMap_ADC
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// returns -1 if not found
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int _findIndexOfLastPinMapADCEntry(int pin) {
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PinName pinName = digitalPinToPinName(pin);
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int i = 0;
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while (PinMap_ADC[i].pin!=NC) {
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if ( pinName == (PinMap_ADC[i].pin & ~ALTX_MASK)
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&& pinName != (PinMap_ADC[i+1].pin & ~ALTX_MASK))
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return i;
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i++;
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}
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return -1;
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}
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// find the best ADC combination for the given pins
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// returns the index of the best ADC
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// each pin can be connected to multiple ADCs
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// the function will try to find a single ADC that can be used for all pins
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// if not possible it will return nullptr
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ADC_TypeDef* _findBestADCForPins(int numPins, int pins[]) {
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// assuning that there is less than 8 ADCs
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uint8_t pins_at_adc[ADC_COUNT] = {0};
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// check how many pins are there and are not set
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int no_pins = 0;
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for (int i = 0; i < numPins; i++) {
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if(_isset(pins[i])) no_pins++;
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}
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// loop over all elements and count the pins connected to each ADC
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for (int i = 0; i < numPins; i++) {
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int pin = pins[i];
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if(!_isset(pin)) continue;
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int index = _findIndexOfFirstPinMapADCEntry(pin);
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int last_index = _findIndexOfLastPinMapADCEntry(pin);
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if (index == -1) {
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return nullptr;
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}
242+
for (int j = index; j <= last_index; j++) {
243+
if (PinMap_ADC[j].pin == NC) {
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break;
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}
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int adcIndex = _adcToIndex((ADC_TypeDef*)PinMap_ADC[j].peripheral);
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pins_at_adc[adcIndex]++;
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}
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}
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for (int i = 0; i < ADC_COUNT; i++) {
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if(!pins_at_adc[i]) continue;
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SimpleFOCDebug::print("STM32-CS: ADC");
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SimpleFOCDebug::print(i+1);
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SimpleFOCDebug::print(" pins: ");
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SimpleFOCDebug::println(pins_at_adc[i]);
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}
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// now take the first ADC that has all pins connected
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for (int i = 0; i < ADC_COUNT; i++) {
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if (pins_at_adc[i] == no_pins) {
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return _indexToADC(i);
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}
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}
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return nullptr;
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}
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#endif

‎src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.h‎ renamed to ‎src/current_sense/hardware_specific/stm32/stm32_adc_utils.h‎

Lines changed: 15 additions & 10 deletions
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@@ -1,13 +1,14 @@
1-
2-
#ifndef STM32F4_UTILS_HAL
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#define STM32F4_UTILS_HAL
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#ifndef STM32_ADC_UTILS_HAL
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#define STM32_ADC_UTILS_HAL
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54
#include "Arduino.h"
65

7-
#if defined(STM32F4xx)
6+
#if defined(_STM32_DEF_)
87

98
#define _TRGO_NOT_AVAILABLE 12345
109

10+
#include "../../../common/foc_utils.h"
11+
#include "../../../communication/SimpleFOCDebug.h"
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/* Exported Functions */
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/**
@@ -17,18 +18,22 @@
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*/
1819
uint32_t _getADCChannel(PinName pin);
1920

20-
// timer to injected TRGO
21-
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179
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// timer to injected TRGO - architecure specific
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uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer);
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24-
// timer to regular TRGO
25-
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331
24+
// timer to regular TRGO - architecure specific
2625
uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer);
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2827
// function returning index of the ADC instance
2928
int _adcToIndex(ADC_HandleTypeDef *AdcHandle);
3029
int _adcToIndex(ADC_TypeDef *AdcHandle);
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32-
#endif
3331

34-
#endif
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34+
// functions helping to find the best ADC channel
35+
int _findIndexOfFirstPinMapADCEntry(int pin);
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int _findIndexOfLastPinMapADCEntry(int pin);
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ADC_TypeDef* _findBestADCForPins(int num_pins, int pins[]);
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#endif
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#endif

‎src/current_sense/hardware_specific/stm32/stm32_mcu.cpp‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -30,4 +30,5 @@ __attribute__((weak)) float _readADCVoltageInline(const int pinA, const void* c
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return raw_adc * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
3131
}
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3334
#endif

‎src/current_sense/hardware_specific/stm32/stm32_mcu.h‎

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Original file line numberDiff line numberDiff line change
@@ -19,5 +19,6 @@ typedef struct Stm32CurrentSenseParams {
1919
TIM_HandleTypeDef* timer_handle = NP;
2020
} Stm32CurrentSenseParams;
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2223
#endif
2324
#endif

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

Lines changed: 1 addition & 1 deletion
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@@ -6,7 +6,7 @@
66
#if defined(STM32F4xx)
77
#include "stm32f4xx_hal.h"
88
#include "../stm32_mcu.h"
9-
#include "stm32f4_utils.h"
9+
#include "../stm32_adc_utils.h"
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1111
int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);
1212
int _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC);

‎src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,8 +6,8 @@
66
#include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
77
#include "../../../hardware_api.h"
88
#include "../stm32_mcu.h"
9+
#include "../stm32_adc_utils.h"
910
#include "stm32f4_hal.h"
10-
#include "stm32f4_utils.h"
1111
#include "Arduino.h"
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