fix current sense for stm32f7 MCUs

Author: runger1101001

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

@@ -77,8 +77,8 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
   // automating TRGO flag finding - hardware specific
   uint8_t tim_num = 0;
   for (size_t i=0; i<6; i++) {
-    HardwareTimer *timer_to_check = driver_params->timers[tim_num++];
-    TIM_TypeDef *instance_to_check = timer_to_check->getHandle()->Instance;
+    TIM_HandleTypeDef *timer_to_check = driver_params->timers_handle[tim_num++];
+    TIM_TypeDef *instance_to_check = timer_to_check->Instance;
 
     // bool TRGO_already_configured = instance_to_check->CR2 & LL_TIM_TRGO_UPDATE;
     // if(TRGO_already_configured) continue;
@@ -110,7 +110,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
   // display which timer is being used
   #ifdef SIMPLEFOC_STM32_DEBUG
     // it would be better to use the getTimerNumber from driver
-    SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->getHandle()->Instance) + 1);
+    SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->Instance) + 1);
   #endif
 
 

src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_mcu.cpp

@@ -42,23 +42,23 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
 
   // stop all the timers for the driver
-  _stopTimers(driver_params->timers, 6);
+  stm32_pause(driver_params);
 
   // if timer has repetition counter - it will downsample using it
   // and it does not need the software downsample
-  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){
+  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->Instance) ){
     // adjust the initial timer state such that the trigger 
     //   - for DMA transfer aligns with the pwm peaks instead of throughs.
     //   - for interrupt based ADC transfer 
     //   - only necessary for the timers that have repetition counters
 
-    cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
-    cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
+    cs_params->timer_handle->Instance->CR1 |= TIM_CR1_DIR;
+    cs_params->timer_handle->Instance->CNT = cs_params->timer_handle->Instance->ARR;
     // remember that this timer has repetition counter - no need to downasmple
     needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
   }
   // set the trigger output event
-  LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
+  LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);
 
   // start the adc
   #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT 
@@ -68,7 +68,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   #endif
 
   // restart all the timers of the driver
-  _startTimers(driver_params->timers, 6);
+  stm32_resume(driver_params);
 
   // return the cs parameters 
   // successfully initialized

src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_utils.cpp

@@ -163,28 +163,28 @@ ADC_EXTERNALTRIGINJECCONV_T6_TRGO
 */
 // timer to injected TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179
-uint32_t _timerToInjectedTRGO(HardwareTimer* timer){
+uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
 
-  if(timer->getHandle()->Instance == TIM1)  
+  if(timer->Instance == TIM1)  
     return ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
 #ifdef TIM2 // if defined timer 2
-  else if(timer->getHandle()->Instance == TIM2) 
+  else if(timer->Instance == TIM2) 
     return ADC_EXTERNALTRIGINJECCONV_T2_TRGO;
 #endif
 #ifdef TIM4 // if defined timer 4
-  else if(timer->getHandle()->Instance == TIM4) 
+  else if(timer->Instance == TIM4) 
     return ADC_EXTERNALTRIGINJECCONV_T4_TRGO;
 #endif
 #ifdef TIM5 // if defined timer 5
-  else if(timer->getHandle()->Instance == TIM5) 
+  else if(timer->Instance == TIM5) 
     return ADC_EXTERNALTRIGINJECCONV_T5_TRGO;
 #endif
 #ifdef TIM6 // if defined timer 6
-  else if(timer->getHandle()->Instance == TIM6) 
+  else if(timer->Instance == TIM6) 
     return ADC_EXTERNALTRIGINJECCONV_T6_TRGO;
 #endif
 #ifdef TIM8 // if defined timer 8
-  else if(timer->getHandle()->Instance == TIM8) 
+  else if(timer->Instance == TIM8) 
     return ADC_EXTERNALTRIGINJECCONV_T8_TRGO;
 #endif
   else
@@ -204,27 +204,27 @@ ADC_EXTERNALTRIGCONV_T6_TRGO
 
 // timer to regular TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331
-uint32_t _timerToRegularTRGO(HardwareTimer* timer){
-  if(timer->getHandle()->Instance == TIM1)  
+uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer){
+  if(timer->Instance == TIM1)  
     return ADC_EXTERNALTRIGCONV_T1_TRGO;
 #ifdef TIM2 // if defined timer 2
-  else if(timer->getHandle()->Instance == TIM2) 
+  else if(timer->Instance == TIM2) 
     return ADC_EXTERNALTRIGCONV_T2_TRGO;
 #endif
 #ifdef TIM4 // if defined timer 4
-  else if(timer->getHandle()->Instance == TIM4) 
+  else if(timer->Instance == TIM4) 
     return ADC_EXTERNALTRIGCONV_T4_TRGO;
 #endif
 #ifdef TIM5 // if defined timer 5
-  else if(timer->getHandle()->Instance == TIM5) 
+  else if(timer->Instance == TIM5) 
     return ADC_EXTERNALTRIGCONV_T5_TRGO;
 #endif
 #ifdef TIM6 // if defined timer 6
-  else if(timer->getHandle()->Instance == TIM6) 
+  else if(timer->Instance == TIM6) 
     return ADC_EXTERNALTRIGCONV_T6_TRGO;
 #endif
 #ifdef TIM8 // if defined timer 8
-  else if(timer->getHandle()->Instance == TIM8) 
+  else if(timer->Instance == TIM8) 
     return ADC_EXTERNALTRIGCONV_T8_TRGO;
 #endif
   else

src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_utils.h

@@ -17,11 +17,11 @@ uint32_t _getADCChannel(PinName pin);
 
 // timer to injected TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179
-uint32_t _timerToInjectedTRGO(HardwareTimer* timer);
+uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer);
 
 // timer to regular TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331
-uint32_t _timerToRegularTRGO(HardwareTimer* timer);
+uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer);
 
 // function returning index of the ADC instance
 int _adcToIndex(ADC_HandleTypeDef *AdcHandle);