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askuricaskuric
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Merge branch '317-feature-foc_current-mode-and-current-feed-forward' into feat_h7_current_sensing
2 parents 74face7 + 9bb6cfb commit 7cb5a17

26 files changed

+468
-846
lines changed

‎src/current_sense/hardware_specific/esp32/esp32_adc_driver.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -162,8 +162,8 @@ bool IRAM_ATTR adcInit(uint8_t pin){
162162
analogReadResolution(SIMPLEFOC_ADC_RES);
163163
}
164164
pinMode(pin, ANALOG);
165-
analogSetPinAttenuation(pin, SIMPLEFOC_ADC_ATTEN);
166165
analogRead(pin);
166+
analogSetPinAttenuation(pin, SIMPLEFOC_ADC_ATTEN);
167167

168168
#if CONFIG_IDF_TARGET_ESP32 // if esp32 variant
169169
__configFastADCs();

‎src/current_sense/hardware_specific/stm32/stm32_adc_utils.cpp

Lines changed: 347 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,347 @@
1+
#include "stm32_adc_utils.h"
2+
3+
#if defined(_STM32_DEF_)
4+
5+
// for searching the best ADCs, we need to know the number of ADCs
6+
// it might be better to use some HAL variable for example ADC_COUNT
7+
// here I've assumed the maximum number of ADCs is 5
8+
#define ADC_COUNT 5
9+
10+
11+
12+
int _adcToIndex(ADC_TypeDef *AdcHandle){
13+
if(AdcHandle == ADC1) return 0;
14+
#ifdef ADC2 // if ADC2 exists
15+
else if(AdcHandle == ADC2) return 1;
16+
#endif
17+
#ifdef ADC3 // if ADC3 exists
18+
else if(AdcHandle == ADC3) return 2;
19+
#endif
20+
#ifdef ADC4 // if ADC4 exists
21+
else if(AdcHandle == ADC4) return 3;
22+
#endif
23+
#ifdef ADC5 // if ADC5 exists
24+
else if(AdcHandle == ADC5) return 4;
25+
#endif
26+
return 0;
27+
}
28+
int _adcToIndex(ADC_HandleTypeDef *AdcHandle){
29+
return _adcToIndex(AdcHandle->Instance);
30+
}
31+
32+
33+
ADC_TypeDef* _indexToADC(uint8_t index){
34+
switch (index) {
35+
case 0:
36+
return ADC1;
37+
break;
38+
#ifdef ADC2 // if ADC2 exists
39+
case 1:
40+
return ADC2;
41+
break;
42+
#endif
43+
#ifdef ADC3 // if ADC3 exists
44+
case 2:
45+
return ADC3;
46+
break;
47+
#endif
48+
#ifdef ADC4 // if ADC4 exists
49+
case 3:
50+
return ADC4;
51+
break;
52+
#endif
53+
#ifdef ADC5 // if ADC5 exists
54+
case 4:
55+
return ADC5;
56+
break;
57+
#endif
58+
}
59+
return nullptr;
60+
}
61+
62+
int _findIndexOfEntry(PinName pin) {
63+
// remove the ALT if it is there
64+
PinName pinName = (PinName)(pinName & ~ALTX_MASK);
65+
int i = 0;
66+
SIMPLEFOC_DEBUG("STM32-CS: Looking for pin ");
67+
while (PinMap_ADC[i].pin !=NC) {
68+
if (pinName == PinMap_ADC[i].pin )
69+
return i;
70+
i++;
71+
SIMPLEFOC_DEBUG("STM32-CS: Looking for pin ", i);
72+
}
73+
return -1;
74+
}
75+
76+
int _findIndexOfLastEntry(PinName pin) {
77+
// remove the ALT if it is there
78+
PinName pinName = (PinName)(pin & ~ALTX_MASK);
79+
80+
int i = 0;
81+
while (PinMap_ADC[i].pin!=NC) {
82+
if ( pinName == (PinMap_ADC[i].pin & ~ALTX_MASK)
83+
&& pinName != (PinMap_ADC[i+1].pin & ~ALTX_MASK))
84+
return i;
85+
i++;
86+
}
87+
return -1;
88+
}
89+
int _findIndexOfFirstEntry(PinName pin) {
90+
// remove the ALT if it is there
91+
PinName pinName = (PinName)(pin & ~ALTX_MASK);
92+
int i = 0;
93+
while (PinMap_ADC[i].pin !=NC) {
94+
if (pinName == PinMap_ADC[i].pin )
95+
return i;
96+
i++;
97+
}
98+
return -1;
99+
}
100+
101+
// functions finding the index of the first pin entry in the PinMap_ADC
102+
// returns -1 if not found
103+
int _findIndexOfFirstPinMapADCEntry(int pin) {
104+
PinName pinName = digitalPinToPinName(pin);
105+
// remove the ALT if it is there
106+
return _findIndexOfFirstEntry(pinName);
107+
}
108+
109+
// functions finding the index of the last pin entry in the PinMap_ADC
110+
// returns -1 if not found
111+
int _findIndexOfLastPinMapADCEntry(int pin) {
112+
PinName pinName = digitalPinToPinName(pin);
113+
// remove the ALT if it is there
114+
return _findIndexOfLastEntry(pinName);
115+
}
116+
117+
// find the best ADC combination for the given pins
118+
// returns the index of the best ADC
119+
// each pin can be connected to multiple ADCs
120+
// the function will try to find a single ADC that can be used for all pins
121+
// if not possible it will return nullptr
122+
ADC_TypeDef* _findBestADCForPins(int numPins, int pins[]) {
123+
124+
// assuning that there is less than 8 ADCs
125+
uint8_t pins_at_adc[ADC_COUNT] = {0};
126+
127+
// check how many pins are there and are not set
128+
int no_pins = 0;
129+
for (int i = 0; i < numPins; i++) {
130+
if(_isset(pins[i])) no_pins++;
131+
}
132+
133+
// loop over all elements and count the pins connected to each ADC
134+
for (int i = 0; i < numPins; i++) {
135+
int pin = pins[i];
136+
if(!_isset(pin)) continue;
137+
138+
int index = _findIndexOfFirstPinMapADCEntry(pin);
139+
int last_index = _findIndexOfLastPinMapADCEntry(pin);
140+
if (index == -1) {
141+
return nullptr;
142+
}
143+
for (int j = index; j <= last_index; j++) {
144+
if (PinMap_ADC[j].pin == NC) {
145+
break;
146+
}
147+
int adcIndex = _adcToIndex((ADC_TypeDef*)PinMap_ADC[j].peripheral);
148+
pins_at_adc[adcIndex]++;
149+
}
150+
}
151+
152+
for (int i = 0; i < ADC_COUNT; i++) {
153+
if(!pins_at_adc[i]) continue;
154+
SimpleFOCDebug::print("STM32-CS: ADC");
155+
SimpleFOCDebug::print(i+1);
156+
SimpleFOCDebug::print(" pins: ");
157+
SimpleFOCDebug::println(pins_at_adc[i]);
158+
}
159+
160+
// now take the first ADC that has all pins connected
161+
for (int i = 0; i < ADC_COUNT; i++) {
162+
if (pins_at_adc[i] == no_pins) {
163+
return _indexToADC(i);
164+
}
165+
}
166+
return nullptr;
167+
}
168+
169+
170+
171+
/**
172+
* @brief Return ADC HAL channel linked to a PinName
173+
* @param pin: PinName
174+
* @retval Valid HAL channel
175+
*/
176+
uint32_t _getADCChannelFromPinMap(PinName pin)
177+
{
178+
uint32_t function = pinmap_function(pin, PinMap_ADC);
179+
uint32_t channel = 0;
180+
switch (STM_PIN_CHANNEL(function)) {
181+
#ifdef ADC_CHANNEL_0
182+
case 0:
183+
channel = ADC_CHANNEL_0;
184+
break;
185+
#endif
186+
case 1:
187+
channel = ADC_CHANNEL_1;
188+
break;
189+
case 2:
190+
channel = ADC_CHANNEL_2;
191+
break;
192+
case 3:
193+
channel = ADC_CHANNEL_3;
194+
break;
195+
case 4:
196+
channel = ADC_CHANNEL_4;
197+
break;
198+
case 5:
199+
channel = ADC_CHANNEL_5;
200+
break;
201+
case 6:
202+
channel = ADC_CHANNEL_6;
203+
break;
204+
case 7:
205+
channel = ADC_CHANNEL_7;
206+
break;
207+
case 8:
208+
channel = ADC_CHANNEL_8;
209+
break;
210+
case 9:
211+
channel = ADC_CHANNEL_9;
212+
break;
213+
case 10:
214+
channel = ADC_CHANNEL_10;
215+
break;
216+
case 11:
217+
channel = ADC_CHANNEL_11;
218+
break;
219+
case 12:
220+
channel = ADC_CHANNEL_12;
221+
break;
222+
case 13:
223+
channel = ADC_CHANNEL_13;
224+
break;
225+
case 14:
226+
channel = ADC_CHANNEL_14;
227+
break;
228+
case 15:
229+
channel = ADC_CHANNEL_15;
230+
break;
231+
#ifdef ADC_CHANNEL_16
232+
case 16:
233+
channel = ADC_CHANNEL_16;
234+
break;
235+
#endif
236+
case 17:
237+
channel = ADC_CHANNEL_17;
238+
break;
239+
#ifdef ADC_CHANNEL_18
240+
case 18:
241+
channel = ADC_CHANNEL_18;
242+
break;
243+
#endif
244+
#ifdef ADC_CHANNEL_19
245+
case 19:
246+
channel = ADC_CHANNEL_19;
247+
break;
248+
#endif
249+
#ifdef ADC_CHANNEL_20
250+
case 20:
251+
channel = ADC_CHANNEL_20;
252+
break;
253+
case 21:
254+
channel = ADC_CHANNEL_21;
255+
break;
256+
case 22:
257+
channel = ADC_CHANNEL_22;
258+
break;
259+
case 23:
260+
channel = ADC_CHANNEL_23;
261+
break;
262+
#ifdef ADC_CHANNEL_24
263+
case 24:
264+
channel = ADC_CHANNEL_24;
265+
break;
266+
case 25:
267+
channel = ADC_CHANNEL_25;
268+
break;
269+
case 26:
270+
channel = ADC_CHANNEL_26;
271+
break;
272+
#ifdef ADC_CHANNEL_27
273+
case 27:
274+
channel = ADC_CHANNEL_27;
275+
break;
276+
case 28:
277+
channel = ADC_CHANNEL_28;
278+
break;
279+
case 29:
280+
channel = ADC_CHANNEL_29;
281+
break;
282+
case 30:
283+
channel = ADC_CHANNEL_30;
284+
break;
285+
case 31:
286+
channel = ADC_CHANNEL_31;
287+
break;
288+
#endif
289+
#endif
290+
#endif
291+
default:
292+
_Error_Handler("ADC: Unknown adc channel", (int)(STM_PIN_CHANNEL(function)));
293+
break;
294+
}
295+
return channel;
296+
}
297+
298+
/**
299+
* @brief Return ADC HAL channel linked to a PinName and the ADC handle
300+
* @param pin: PinName
301+
* @param AdcHandle: ADC_HandleTypeDef a pointer to the ADC handle
302+
* @retval Valid HAL channel
303+
*/
304+
uint32_t _getADCChannel(PinName pin, ADC_TypeDef *AdcHandle )
305+
{
306+
if (AdcHandle == NP) {
307+
return _getADCChannelFromPinMap(pin);
308+
}
309+
// find the PinName that corresponds to the ADC
310+
int first_ind = _findIndexOfFirstEntry(pin);
311+
int last_ind = _findIndexOfLastEntry(pin);
312+
if (first_ind == -1 || last_ind == -1) {
313+
_Error_Handler("ADC: Pin not found in PinMap_ADC", (int)pin);
314+
}
315+
// find the channel
316+
uint32_t channel = 0;
317+
for (int i = first_ind; i <= last_ind; i++) {
318+
if (PinMap_ADC[i].peripheral == AdcHandle) {
319+
channel =_getADCChannelFromPinMap(PinMap_ADC[i].pin);
320+
SIMPLEFOC_DEBUG("STM32-CS: ADC channel: ", (int)STM_PIN_CHANNEL(pinmap_function(PinMap_ADC[i].pin, PinMap_ADC)));
321+
break;
322+
}
323+
}
324+
return channel;
325+
}
326+
327+
uint32_t _getADCInjectedRank(uint8_t ind){
328+
switch (ind) {
329+
case 0:
330+
return ADC_INJECTED_RANK_1;
331+
break;
332+
case 1:
333+
return ADC_INJECTED_RANK_2;
334+
break;
335+
case 2:
336+
return ADC_INJECTED_RANK_3;
337+
break;
338+
case 3:
339+
return ADC_INJECTED_RANK_4;
340+
break;
341+
default:
342+
return 0;
343+
break;
344+
}
345+
}
346+
347+
#endif

‎src/current_sense/hardware_specific/stm32/stm32_adc_utils.h

Lines changed: 38 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,38 @@
1+
#ifndef STM32_ADC_UTILS_HAL
2+
#define STM32_ADC_UTILS_HAL
3+
4+
#include "Arduino.h"
5+
6+
#if defined(_STM32_DEF_)
7+
8+
#define _TRGO_NOT_AVAILABLE 12345
9+
10+
#include "../../../common/foc_utils.h"
11+
#include "../../../communication/SimpleFOCDebug.h"
12+
13+
/* Exported Functions */
14+
/**
15+
* @brief Return ADC HAL channel linked to a PinName
16+
* @param pin: PinName
17+
* @param adc: ADC_TypeDef a pointer to the ADC handle
18+
* @retval Valid HAL channel
19+
*/
20+
uint32_t _getADCChannel(PinName pin, ADC_TypeDef* adc = NP);
21+
uint32_t _getADCInjectedRank(uint8_t ind);
22+
23+
// timer to injected TRGO - architecure specific
24+
uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer);
25+
26+
// timer to regular TRGO - architecure specific
27+
uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer);
28+
29+
// function returning index of the ADC instance
30+
int _adcToIndex(ADC_HandleTypeDef *AdcHandle);
31+
int _adcToIndex(ADC_TypeDef *AdcHandle);
32+
33+
// functions helping to find the best ADC channel
34+
int _findIndexOfFirstPinMapADCEntry(int pin);
35+
int _findIndexOfLastPinMapADCEntry(int pin);
36+
ADC_TypeDef* _findBestADCForPins(int num_pins, int pins[]);
37+
#endif
38+
#endif

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