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askuricaskuric
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Merge pull request #392 from simplefoc/feat_teensy4_lowside
Feat teensy4 lowside
2 parents 57ec89d + d6a0b26 commit 782e719

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-73
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10 files changed

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‎src/communication/SimpleFOCDebug.cpp

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@@ -58,6 +58,12 @@ void SimpleFOCDebug::println(const char* str, int val) {
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_debugPrint->println(val);
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}
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}
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void SimpleFOCDebug::println(const char* str, char val) {
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if (_debugPrint != NULL) {
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_debugPrint->print(str);
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_debugPrint->println(val);
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}
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}
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void SimpleFOCDebug::println(const __FlashStringHelper* str, int val) {
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if (_debugPrint != NULL) {

‎src/communication/SimpleFOCDebug.h

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@@ -45,6 +45,7 @@ class SimpleFOCDebug {
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static void println(const char* msg, float val);
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static void println(const __FlashStringHelper* msg, int val);
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static void println(const char* msg, int val);
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static void println(const char* msg, char val);
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static void println();
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static void println(int val);
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static void println(float val);

‎src/current_sense/hardware_specific/teensy/teensy4_mcu.cpp

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#include "teensy4_mcu.h"
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#include "../../../drivers/hardware_specific/teensy/teensy4_mcu.h"
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// #include "../../../common/lowpass_filter.h"
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#include "../../../common/foc_utils.h"
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#include "../../../communication/SimpleFOCDebug.h"
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// if defined
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// - Teensy 4.0
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// - Teensy 4.1
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#if defined(__arm__) && defined(CORE_TEENSY) && ( defined(__IMXRT1062__) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY_MICROMOD) )
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// #define TEENSY4_ADC_INTERRUPT_DEBUG
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volatile uint32_t val0, val1, val2;
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// #define _BANDWIDTH_CS 10000.0f // [Hz] bandwidth for the current sense
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// LowPassFilter lp1 = LowPassFilter(1.0/_BANDWIDTH_CS);
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// LowPassFilter lp2 = LowPassFilter(1.0/_BANDWIDTH_CS);
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// LowPassFilter lp3 = LowPassFilter(1.0/_BANDWIDTH_CS);
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void read_currents(uint32_t *a, uint32_t*b, uint32_t *c=nullptr){
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*a = val0;
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*b = val1;
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*c = val2;
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}
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// interrupt service routine for the ADC_ETC0
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// reading the ADC values and clearing the interrupt
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void adcetc0_isr() {
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#ifdef TEENSY4_ADC_INTERRUPT_DEBUG
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digitalWrite(30,HIGH);
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#endif
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// page 3509 , section 66.5.1.3.3
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ADC_ETC_DONE0_1_IRQ |= 1; // clear Done0 for trg0 at 1st bit
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// val0 = lp1(ADC_ETC_TRIG0_RESULT_1_0 & 4095);
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val0 = (ADC_ETC_TRIG0_RESULT_1_0 & 4095);
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// val1 = lp2((ADC_ETC_TRIG0_RESULT_1_0 >> 16) & 4095);
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val1 = (ADC_ETC_TRIG0_RESULT_1_0 >> 16) & 4095;
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#ifdef TEENSY4_ADC_INTERRUPT_DEBUG
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digitalWrite(30,LOW);
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#endif
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}
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void adcetc1_isr() {
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#ifdef TEENSY4_ADC_INTERRUPT_DEBUG
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digitalWrite(30,HIGH);
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#endif
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// page 3509 , section 66.5.1.3.3
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ADC_ETC_DONE0_1_IRQ |= 1 << 16; // clear Done1 for trg0 at 16th bit
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val2 = ADC_ETC_TRIG0_RESULT_3_2 & 4095;
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// val2 = lp3( ADC_ETC_TRIG0_RESULT_3_2 & 4095);
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#ifdef TEENSY4_ADC_INTERRUPT_DEBUG
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digitalWrite(30,LOW);
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#endif
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}
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// function initializing the ADC2
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// and the ADC_ETC trigger for the low side current sensing
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void adc1_init(int pin1, int pin2, int pin3=NOT_SET) {
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//Tried many configurations, but this seems to be best:
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ADC1_CFG = ADC_CFG_OVWREN //Allow overwriting of the next converted Data onto the existing
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| ADC_CFG_ADICLK(0) // input clock select - IPG clock
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| ADC_CFG_MODE(2) // 12-bit conversion 0 8-bit conversion 1 10-bit conversion 2 12-bit conversion
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| ADC_CFG_ADIV(2) // Input clock / 2 (0 for /1, 1 for /2 and 2 for / 4) (1 is faster and maybe with some filtering could provide better results but 2 for now)
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| ADC_CFG_ADSTS(0) // Sample period (ADC clocks) = 3 if ADLSMP=0b
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| ADC_CFG_ADHSC // High speed operation
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| ADC_CFG_ADTRG; // Hardware trigger selected
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//Calibration of ADC1
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ADC1_GC |= ADC_GC_CAL; // begin cal ADC1
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while (ADC1_GC & ADC_GC_CAL) ;
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ADC1_HC0 = 16; // ADC_ETC channel
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// use the second interrupt if necessary (for more than 2 channels)
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if(_isset(pin3)) {
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ADC1_HC1 = 16;
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}
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}
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// function initializing the ADC2
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// and the ADC_ETC trigger for the low side current sensing
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void adc2_init(){
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// configuring ADC2
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//Tried many configurations, but this seems to be best:
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ADC1_CFG = ADC_CFG_OVWREN //Allow overwriting of the next converted Data onto the existing
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| ADC_CFG_ADICLK(0) // input clock select - IPG clock
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| ADC_CFG_MODE(2) // 12-bit conversion 0 8-bit conversion 1 10-bit conversion 2 12-bit conversion
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| ADC_CFG_ADIV(2) // Input clock / 2 (0 for /1, 1 for /2 and 2 for / 4)
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| ADC_CFG_ADSTS(0) // Sample period (ADC clocks) = 3 if ADLSMP=0b
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| ADC_CFG_ADHSC // High speed operation
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| ADC_CFG_ADTRG; // Hardware trigger selected
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//Calibration of ADC2
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ADC2_GC |= ADC_GC_CAL; // begin cal ADC2
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while (ADC2_GC & ADC_GC_CAL) ;
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ADC2_HC0 = 16; // ADC_ETC channel
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// use the second interrupt if necessary (for more than 2 channels)
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// ADC2_HC1 = 16;
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}
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// function initializing the ADC_ETC trigger for the low side current sensing
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// it uses only the ADC1
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// if the pin3 is not set it uses only 2 channels
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void adc_etc_init(int pin1, int pin2, int pin3=NOT_SET) {
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ADC_ETC_CTRL &= ~(1 << 31); // SOFTRST
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ADC_ETC_CTRL = 0x40000001; // start with trigger 0
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ADC_ETC_TRIG0_CTRL = ADC_ETC_TRIG_CTRL_TRIG_CHAIN( _isset(pin3) ? 2 : 1) ; // 2 if 3 channels, 1 if 2 channels
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// ADC1 7 8, chain channel, HWTS, IE, B2B
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// pg 3516, section 66.5.1.8
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ADC_ETC_TRIG0_CHAIN_1_0 =
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ADC_ETC_TRIG_CHAIN_IE1(0) | // no interrupt on first or set 2 if interrupt when Done1
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ADC_ETC_TRIG_CHAIN_B2B1 | // Enable B2B, back to back ADC trigger
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ADC_ETC_TRIG_CHAIN_HWTS1(1) |
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ADC_ETC_TRIG_CHAIN_CSEL1(pin_to_channel[pin1]) | // ADC channel 8
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ADC_ETC_TRIG_CHAIN_IE0(1) | // interrupt when Done0
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ADC_ETC_TRIG_CHAIN_B2B1 | // Enable B2B, back to back ADC trigger
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ADC_ETC_TRIG_CHAIN_HWTS0(1) |
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ADC_ETC_TRIG_CHAIN_CSEL0(pin_to_channel[pin2]); // ADC channel 7
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attachInterruptVector(IRQ_ADC_ETC0, adcetc0_isr);
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NVIC_ENABLE_IRQ(IRQ_ADC_ETC0);
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// use the second interrupt if necessary (for more than 2 channels)
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if(_isset(pin3)) {
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ADC_ETC_TRIG0_CHAIN_3_2 =
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ADC_ETC_TRIG_CHAIN_IE0(2) | // interrupt when Done1
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ADC_ETC_TRIG_CHAIN_B2B0 | // Enable B2B, back to back ADC trigger
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ADC_ETC_TRIG_CHAIN_HWTS0(1) |
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ADC_ETC_TRIG_CHAIN_CSEL0(pin_to_channel[pin3]);
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attachInterruptVector(IRQ_ADC_ETC1, adcetc1_isr);
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NVIC_ENABLE_IRQ(IRQ_ADC_ETC1);
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}
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}
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// function reading an ADC value and returning the read voltage
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float _readADCVoltageLowSide(const int pinA, const void* cs_params){
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if(!_isset(pinA)) return 0.0; // if the pin is not set return 0
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GenericCurrentSenseParams* params = (GenericCurrentSenseParams*) cs_params;
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float adc_voltage_conv = params->adc_voltage_conv;
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if (pinA == params->pins[0]) {
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return val0 * adc_voltage_conv;
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} else if (pinA == params->pins[1]) {
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return val1 * adc_voltage_conv;
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}else if (pinA == params->pins[2]) {
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return val2 * adc_voltage_conv;
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}
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return 0.0;
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}
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// Configure low side for generic mcu
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// cannot do much but
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void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){
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Teensy4DriverParams* par = (Teensy4DriverParams*) ((TeensyDriverParams*)driver_params)->additional_params;
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if(par == nullptr){
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SIMPLEFOC_DEBUG("TEENSY-CS: Low side current sense failed, driver not supported!");
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return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
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}
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SIMPLEFOC_DEBUG("TEENSY-CS: Configuring low side current sense!");
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#ifdef TEENSY4_ADC_INTERRUPT_DEBUG
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pinMode(30,OUTPUT);
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#endif
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if( _isset(pinA) ) pinMode(pinA, INPUT);
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if( _isset(pinB) ) pinMode(pinB, INPUT);
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if( _isset(pinC) ) pinMode(pinC, INPUT);
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// check if either of the pins are not set
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// and dont use it if it isn't
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int pin_count = 0;
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int pins[3] = {NOT_SET, NOT_SET, NOT_SET};
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if(_isset(pinA)) pins[pin_count++] = pinA;
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if(_isset(pinB)) pins[pin_count++] = pinB;
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if(_isset(pinC)) pins[pin_count++] = pinC;
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adc1_init(pins[0], pins[1], pins[2]);
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adc_etc_init(pins[0], pins[1], pins[2]);
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xbar_init();
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GenericCurrentSenseParams* params = new GenericCurrentSenseParams {
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.pins = {pins[0], pins[1], pins[2] },
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.adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION)
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};
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return params;
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}
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// sync driver and the adc
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void _driverSyncLowSide(void* driver_params, void* cs_params){
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Teensy4DriverParams* par = (Teensy4DriverParams*) ((TeensyDriverParams*)driver_params)->additional_params;
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IMXRT_FLEXPWM_t* flexpwm = par->flextimers[0];
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int submodule = par->submodules[0];
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SIMPLEFOC_DEBUG("TEENSY-CS: Syncing low side current sense!");
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char buff[50];
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sprintf(buff, "TEENSY-CS: Syncing to FlexPWM: %d, Submodule: %d", flexpwm_to_index(flexpwm), submodule);
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SIMPLEFOC_DEBUG(buff);
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// find the xbar trigger for the flexpwm
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int xbar_trig_pwm = flexpwm_submodule_to_trig(flexpwm, submodule);
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if(xbar_trig_pwm<0) return;
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// allow theFlexPWM to trigger the ADC_ETC
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xbar_connect((uint32_t)xbar_trig_pwm, XBARA1_OUT_ADC_ETC_TRIG00); //FlexPWM to adc_etc
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// setup the ADC_ETC trigger to be triggered by the FlexPWM channel 1 (val1)
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//This val1 interrupt on match is in the center of the PWM
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flexpwm->SM[submodule].TCTRL = FLEXPWM_SMTCTRL_OUT_TRIG_EN(1<<1);
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// if needed the interrupt can be moved to some other point in the PWM cycle by using an addional val register example: VAL4
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// setup the ADC_ETC trigger to be triggered by the FlexPWM channel 4 (val4)
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// flexpwm->SM[submodule].TCTRL = FLEXPWM_SMTCTRL_OUT_TRIG_EN(1<<4);
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// setup this val4 for interrupt on match for ADC sync
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// this code assumes that the val4 is not used for anything else!
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// reading two ADC takes about 2.5us. So put the interrupt 2.5us befor the center
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// flexpwm->SM[submodule].VAL4 = int(flexpwm->SM[submodule].VAL1*(1.0f - 2.5e-6*par->pwm_frequency)) ; // 2.5us before center
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#ifdef TEENSY4_ADC_INTERRUPT_DEBUG
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// pin 4 observes out trigger line for 'scope
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xbar_connect (xbar_trig_pwm, XBARA1_OUT_IOMUX_XBAR_INOUT08) ;
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IOMUXC_GPR_GPR6 |= IOMUXC_GPR_GPR6_IOMUXC_XBAR_DIR_SEL_8 ; // select output mode for INOUT8
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// Select alt 3 for EMC_06 (XBAR), rather than original 5 (GPIO)
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CORE_PIN4_CONFIG = 3 ; // shorthand for IOMUXC_SW_MUX_CTL_PAD_GPIO_EMC_06 = 3 ;
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// turn up drive & speed as very short pulse
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IOMUXC_SW_PAD_CTL_PAD_GPIO_EMC_06 = IOMUXC_PAD_DSE(7) | IOMUXC_PAD_SPEED(3) | IOMUXC_PAD_SRE ;
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#endif
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}
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#endif

‎src/current_sense/hardware_specific/teensy/teensy4_mcu.h

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#ifndef TEENSY4_CURRENTSENSE_MCU_DEF
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#define TEENSY4_CURRENTSENSE_MCU_DEF
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#include "../../hardware_api.h"
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#include "../../../common/foc_utils.h"
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// if defined
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// - Teensy 4.0
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// - Teensy 4.1
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#if defined(__arm__) && defined(CORE_TEENSY) && ( defined(__IMXRT1062__) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY_MICROMOD) )
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#define _ADC_VOLTAGE 3.3f
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#define _ADC_RESOLUTION 4026.0f
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// generic implementation of the hardware specific structure
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// containing all the necessary current sense parameters
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// will be returned as a void pointer from the _configureADCx functions
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// will be provided to the _readADCVoltageX() as a void pointer
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typedef struct Teensy4CurrentSenseParams {
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int pins[3] = {(int)NOT_SET};
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float adc_voltage_conv;
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} Teensy4CurrentSenseParams;
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const uint8_t pin_to_channel[] = { // pg 482
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7, // 0/A0 AD_B1_02
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8, // 1/A1 AD_B1_03
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12, // 2/A2 AD_B1_07
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11, // 3/A3 AD_B1_06
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6, // 4/A4 AD_B1_01
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5, // 5/A5 AD_B1_00
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15, // 6/A6 AD_B1_10
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0, // 7/A7 AD_B1_11
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13, // 8/A8 AD_B1_08
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14, // 9/A9 AD_B1_09
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1, // 24/A10 AD_B0_12
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2, // 25/A11 AD_B0_13
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128+3, // 26/A12 AD_B1_14 - only on ADC2, 3
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128+4, // 27/A13 AD_B1_15 - only on ADC2, 4
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7, // 14/A0 AD_B1_02
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8, // 15/A1 AD_B1_03
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12, // 16/A2 AD_B1_07
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11, // 17/A3 AD_B1_06
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6, // 18/A4 AD_B1_01
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5, // 19/A5 AD_B1_00
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15, // 20/A6 AD_B1_10
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0, // 21/A7 AD_B1_11
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13, // 22/A8 AD_B1_08
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14, // 23/A9 AD_B1_09
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1, // 24/A10 AD_B0_12
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2, // 25/A11 AD_B0_13
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128+3, // 26/A12 AD_B1_14 - only on ADC2, 3
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128+4, // 27/A13 AD_B1_15 - only on ADC2, 4
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#ifdef ARDUINO_TEENSY41
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255, // 28
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255, // 29
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255, // 30
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255, // 31
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255, // 32
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255, // 33
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255, // 34
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255, // 35
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255, // 36
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255, // 37
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128+1, // 38/A14 AD_B1_12 - only on ADC2, 1
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128+2, // 39/A15 AD_B1_13 - only on ADC2, 2
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9, // 40/A16 AD_B1_04
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10, // 41/A17 AD_B1_05
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#endif
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};
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#endif
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#endif

‎src/current_sense/hardware_specific/teensy_mcu.cpp renamed to ‎src/current_sense/hardware_specific/teensy/teensy_mcu.cpp

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#include "../hardware_api.h"
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#include "../../hardware_api.h"
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#if defined(__arm__) && defined(CORE_TEENSY)
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