added the current sensing + phase state for driver

Author: askuric

src/current_sense/LowsideCurrentSense.cpp

@@ -47,7 +47,8 @@ int LowsideCurrentSense::init(){
     // if init failed return fail
     if (params == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; 
     // sync the driver
-    _driverSyncLowSide(driver->params, params);
+    void* r = _driverSyncLowSide(driver->params, params);
+    if(r == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; 
     // calibrate zero offsets
     calibrateOffsets();
     // set the initialized flag

src/current_sense/hardware_api.h

@@ -59,7 +59,10 @@ float _readADCVoltageLowSide(const int pinA, const void* cs_params);
  *  function syncing the Driver with the ADC  for the LowSide Sensing
  * @param driver_params - driver parameter structure - hardware specific
  * @param cs_params - current sense parameter structure - hardware specific
+ * 
+ * @return void* - returns the pointer to the current sense parameter structure (unchanged)
+ *        - returns SIMPLEFOC_CURRENT_SENSE_INIT_FAILED if the init fails
  */
-void _driverSyncLowSide(void* driver_params, void* cs_params);
+void* _driverSyncLowSide(void* driver_params, void* cs_params);
 
 #endif

src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp

@@ -1,6 +1,6 @@
 #include "esp32_adc_driver.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(CONFIG_IDF_TARGET_ESP32S2) && !defined(CONFIG_IDF_TARGET_ESP32S3) && !defined(SIMPLEFOC_ESP32_USELEDC) && 0
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(CONFIG_IDF_TARGET_ESP32S2) && !defined(CONFIG_IDF_TARGET_ESP32S3) && !defined(SIMPLEFOC_ESP32_USELEDC)
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"

src/current_sense/hardware_specific/esp32/esp32_adc_driver.h

@@ -5,7 +5,7 @@
 
 #include "Arduino.h"
 
-#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED)  && !defined(SIMPLEFOC_ESP32_USELEDC) && 0
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED)  && !defined(SIMPLEFOC_ESP32_USELEDC)
 /*
  * Get ADC value for pin
  * */

src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp

@@ -0,0 +1,189 @@
+#include "../../hardware_api.h"
+#include "../../../drivers/hardware_api.h"
+#include "../../../drivers/hardware_specific/esp32/esp32_driver_mcpwm.h"
+#include "../../../drivers/hardware_specific/esp32/mcpwm_private.h"
+
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) && defined(SOC_MCPWM_SUPPORTED) && !defined(SIMPLEFOC_ESP32_USELEDC)
+
+// check the version of the ESP-IDF
+#include "esp_idf_version.h"
+
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0)
+#error SimpleFOC: ESP-IDF version 4 or lower detected. Please update to ESP-IDF 5.x and Arduino-esp32 3.0 (or higher)
+#endif
+
+
+#include "esp32_adc_driver.h"
+
+#include "driver/mcpwm_prelude.h"
+#include "soc/mcpwm_reg.h"
+#include "soc/mcpwm_struct.h"
+
+#include <soc/sens_reg.h>
+#include <soc/sens_struct.h>
+
+#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG
+#include "driver/gpio.h"
+#endif
+
+#define _ADC_VOLTAGE 3.3f
+#define _ADC_RESOLUTION 4095.0f
+
+
+
+#define SIMPLEFOC_ESP32_CS_DEBUG(str)\
+   SIMPLEFOC_ESP32_DEBUG("CS", str);\
+   
+#define CHECK_CS_ERR(func_call, message) \
+  if ((func_call) != ESP_OK) { \
+    SIMPLEFOC_ESP32_CS_DEBUG("ERROR - " + String(message)); \
+    return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED; \
+  }
+
+typedef struct ESP32MCPWMCurrentSenseParams {
+  int pins[3];
+  float adc_voltage_conv;
+  int adc_buffer[3] = {};
+  int buffer_index = 0;
+  int no_adc_channels = 0;
+} ESP32MCPWMCurrentSenseParams;
+
+
+/**
+ *  Inline adc reading implementation 
+*/
+// function reading an ADC value and returning the read voltage
+float _readADCVoltageInline(const int pinA, const void* cs_params){
+  uint32_t raw_adc = adcRead(pinA);
+  return raw_adc * ((ESP32MCPWMCurrentSenseParams*)cs_params)->adc_voltage_conv;
+}
+
+// function reading an ADC value and returning the read voltage
+void* _configureADCInline(const void* driver_params, const int pinA, const int pinB, const int pinC){
+
+
+  if( _isset(pinA) ) pinMode(pinA, INPUT);
+  if( _isset(pinB) ) pinMode(pinB, INPUT);
+  if( _isset(pinC) ) pinMode(pinC, INPUT);
+
+  ESP32MCPWMCurrentSenseParams* params = new ESP32MCPWMCurrentSenseParams {
+    .pins = { pinA, pinB, pinC },
+    .adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION)
+  };
+
+  return params;
+}
+
+
+/**
+ *  Low side adc reading implementation 
+*/
+
+
+// function reading an ADC value and returning the read voltage
+float _readADCVoltageLowSide(const int pin, const void* cs_params){
+  ESP32MCPWMCurrentSenseParams* p = (ESP32MCPWMCurrentSenseParams*)cs_params;
+  int no_channel = 0;
+  for(int i=0; i < 3; i++){
+    if(!_isset(p->pins[i])) continue;
+    if(pin == p->pins[i]) // found in the buffer
+      return p->adc_buffer[no_channel] * p->adc_voltage_conv;
+    else no_channel++;
+  }
+  // not found
+  return  0;
+}
+
+
+// function configuring low-side current sensing 
+void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){
+  // check if driver timer is already running 
+  // fail if it is
+  // the easiest way that I've found to check if timer is running
+  // is to start it and stop it 
+  ESP32MCPWMDriverParams *p = (ESP32MCPWMDriverParams*)driver_params;
+  mcpwm_timer_t* t = (mcpwm_timer_t*) p->timers[0];
+
+  // check if low side callback is already set
+  // if it is, return error
+  if(t->on_full != nullptr){
+    SIMPLEFOC_ESP32_CS_DEBUG("Low side callback is already set. Cannot set it again for timer: "+String(t->timer_id)+", group: "+String(t->group->group_id));
+    return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
+  }
+
+  ESP32MCPWMCurrentSenseParams* params = new ESP32MCPWMCurrentSenseParams{};
+  int no_adc_channels = 0;
+  if( _isset(pinA) ){
+    pinMode(pinA, INPUT);
+    params->pins[no_adc_channels++] = pinA;
+  }
+  if( _isset(pinB) ){
+    pinMode(pinB, INPUT);
+    params->pins[no_adc_channels++] = pinB;
+  }
+  if( _isset(pinC) ){
+    pinMode(pinC, INPUT);
+    params->pins[no_adc_channels++] = pinC;
+  }
+  
+  t->user_data = params;
+  params->adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION);
+  params->no_adc_channels = no_adc_channels;
+  return params;
+}
+
+void* _driverSyncLowSide(void* driver_params, void* cs_params){
+#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG
+  pinMode(19, OUTPUT);
+#endif
+  ESP32MCPWMDriverParams *p = (ESP32MCPWMDriverParams*)driver_params;
+  mcpwm_timer_t* t = (mcpwm_timer_t*) p->timers[0];
+
+  // check if low side callback is already set
+  // if it is, return error
+  if(t->on_full != nullptr){
+    SIMPLEFOC_ESP32_CS_DEBUG("Low side callback is already set. Cannot set it again for timer: "+String(t->timer_id)+", group: "+String(t->group->group_id));
+    return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
+  }
+
+  // set the callback for the low side current sensing
+  // mcpwm_timer_event_callbacks_t can be used to set the callback
+  // for three timer events 
+  // - on_full  - low-side
+  // - on_empty - high-side
+  // - on_sync  - sync event (not used with simplefoc)
+  auto cbs = mcpwm_timer_event_callbacks_t{
+    .on_full = [](mcpwm_timer_handle_t tim, const mcpwm_timer_event_data_t* edata, void* user_data){ 
+      ESP32MCPWMCurrentSenseParams *p = (ESP32MCPWMCurrentSenseParams*)user_data;
+#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG
+      gpio_set_level(GPIO_NUM_19,1); //cca 250ns for on+off
+#endif
+      // increment buffer index
+      p->buffer_index = (p->buffer_index + 1) % p->no_adc_channels;
+      // sample the phase currents one at a time
+      // adc read takes around 10us which is very long
+      // so we are sampling one phase per call
+      p->adc_buffer[p->buffer_index] = adcRead(p->pins[p->buffer_index]); 
+#ifdef SIMPLEFOC_ESP32_INTERRUPT_DEBUG
+      gpio_set_level(GPIO_NUM_19,0); //cca 250ns for on+off
+#endif
+      return true; 
+    },
+  };
+  SIMPLEFOC_ESP32_CS_DEBUG("Timer "+String(t->timer_id)+" enable interrupt callback.");
+  // set the timer state to init (so that we can call the `mcpwm_timer_register_event_callbacks` )
+  // this is a hack, as this function is not supposed to be called when the timer is running
+  // the timer does not really go to the init state!
+  t->fsm = MCPWM_TIMER_FSM_INIT;
+  // set the callback
+  CHECK_CS_ERR(mcpwm_timer_register_event_callbacks(t, &cbs, cs_params), "Failed to set low side callback");
+  // set the timer state to enabled again
+  t->fsm = MCPWM_TIMER_FSM_ENABLE;
+  SIMPLEFOC_ESP32_CS_DEBUG("Timer "+String(t->timer_id)+" enable interrupts.");
+  CHECK_CS_ERR(esp_intr_enable(t->intr), "Failed to enable low-side interrupts!");
+
+  return cs_params;
+}
+
+
+#endif