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Merged
merged 2 commits into from
Feb 21, 2024
Merged

Use interrupt if no repetition counter #383

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5c3e845
Use interrupt if no repetition counter
Candas1 Feb 6, 2024
8382603
Same for f4,g4 and l4
Candas1 Feb 7, 2024
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9 changes: 0 additions & 9 deletions src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,12 +124,6 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected);
}

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
// enable interrupt
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
#endif

cs_params->adc_handle = &hadc;

return 0;
Expand All @@ -153,14 +147,11 @@ void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const in

}

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
extern "C" {
void ADC1_2_IRQHandler(void)
{
HAL_ADC_IRQHandler(&hadc);
}

}
#endif

#endif
38 changes: 27 additions & 11 deletions src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,12 @@ bool needs_downsample[3] = {1};
// downsampling variable - per adc (3)
uint8_t tim_downsample[3] = {0};

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
uint8_t use_adc_interrupt = 1;
#else
uint8_t use_adc_interrupt = 0;
#endif

int _adcToIndex(ADC_HandleTypeDef *AdcHandle){
if(AdcHandle->Instance == ADC1) return 0;
#ifdef ADC2 // if ADC2 exists
Expand Down Expand Up @@ -63,19 +69,31 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
// remember that this timer has repetition counter - no need to downasmple
needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
}else{
if(!use_adc_interrupt){
// If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing
use_adc_interrupt = 1;
#ifdef SIMPLEFOC_STM32_DEBUG
SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used");
#endif
}
}
// set the trigger output event
LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);

// Start the adc calibration
HAL_ADCEx_Calibration_Start(cs_params->adc_handle);

// start the adc
#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
#else
HAL_ADCEx_InjectedStart(cs_params->adc_handle);
#endif
if(use_adc_interrupt){
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);

HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
}else{
HAL_ADCEx_InjectedStart(cs_params->adc_handle);
}


// restart all the timers of the driver
_startTimers(driver_params->timers, 6);
Expand All @@ -86,19 +104,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
float _readADCVoltageLowSide(const int pin, const void* cs_params){
for(int i=0; i < 3; i++){
if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
if (use_adc_interrupt){
return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
#else
}else{
// an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3
uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3;;
return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
#endif
}
}
}
return 0;
}

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
extern "C" {
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
// calculate the instance
Expand All @@ -115,6 +132,5 @@ extern "C" {
adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);
}
}
#endif

#endif
8 changes: 0 additions & 8 deletions src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,12 +135,6 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
}
}

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
// enable interrupt
HAL_NVIC_SetPriority(ADC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC_IRQn);
#endif

cs_params->adc_handle = &hadc;
return 0;
}
Expand All @@ -162,13 +156,11 @@ void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const in
}
}

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
extern "C" {
void ADC_IRQHandler(void)
{
HAL_ADC_IRQHandler(&hadc);
}
}
#endif

#endif
36 changes: 26 additions & 10 deletions src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,12 @@ bool needs_downsample[3] = {1};
// downsampling variable - per adc (3)
uint8_t tim_downsample[3] = {0};

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
uint8_t use_adc_interrupt = 1;
#else
uint8_t use_adc_interrupt = 0;
#endif

void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){

Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams {
Expand Down Expand Up @@ -55,16 +61,28 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
// remember that this timer has repetition counter - no need to downasmple
needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
}else{
if(!use_adc_interrupt){
// If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing
use_adc_interrupt = 1;
#ifdef SIMPLEFOC_STM32_DEBUG
SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used");
#endif
}
}
// set the trigger output event
LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);

// start the adc
#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
#else
HAL_ADCEx_InjectedStart(cs_params->adc_handle);
#endif
if (use_adc_interrupt){
// enable interrupt
HAL_NVIC_SetPriority(ADC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC_IRQn);

HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
}else{
HAL_ADCEx_InjectedStart(cs_params->adc_handle);
}

// restart all the timers of the driver
_startTimers(driver_params->timers, 6);
Expand All @@ -75,19 +93,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
float _readADCVoltageLowSide(const int pin, const void* cs_params){
for(int i=0; i < 3; i++){
if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
if (use_adc_interrupt){
return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
#else
}else{
// an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3
uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3;
return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
#endif
}
}
}
return 0;
}

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
extern "C" {
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
// calculate the instance
Expand All @@ -104,6 +121,5 @@ extern "C" {
adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);
}
}
#endif

#endif
39 changes: 0 additions & 39 deletions src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,43 +180,6 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
}
}


#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
if(hadc.Instance == ADC1) {
// enable interrupt
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
}
#ifdef ADC2
else if (hadc.Instance == ADC2) {
// enable interrupt
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
}
#endif
#ifdef ADC3
else if (hadc.Instance == ADC3) {
// enable interrupt
HAL_NVIC_SetPriority(ADC3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC3_IRQn);
}
#endif
#ifdef ADC4
else if (hadc.Instance == ADC4) {
// enable interrupt
HAL_NVIC_SetPriority(ADC4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC4_IRQn);
}
#endif
#ifdef ADC5
else if (hadc.Instance == ADC5) {
// enable interrupt
HAL_NVIC_SetPriority(ADC5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC5_IRQn);
}
#endif
#endif

cs_params->adc_handle = &hadc;
return 0;
}
Expand All @@ -238,7 +201,6 @@ void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const in
}
}

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
extern "C" {
void ADC1_2_IRQHandler(void)
{
Expand All @@ -265,6 +227,5 @@ extern "C" {
}
#endif
}
#endif

#endif
68 changes: 57 additions & 11 deletions src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,11 @@ bool needs_downsample[5] = {1};
// downsampling variable - per adc (5)
uint8_t tim_downsample[5] = {0};

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
uint8_t use_adc_interrupt = 1;
#else
uint8_t use_adc_interrupt = 0;
#endif

void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){

Expand Down Expand Up @@ -58,6 +63,14 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
// remember that this timer has repetition counter - no need to downasmple
needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
}else{
if(!use_adc_interrupt){
// If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing
use_adc_interrupt = 1;
#ifdef SIMPLEFOC_STM32_DEBUG
SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used");
#endif
}
}

// set the trigger output event
Expand All @@ -66,12 +79,47 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
// Start the adc calibration
HAL_ADCEx_Calibration_Start(cs_params->adc_handle,ADC_SINGLE_ENDED);

// start the adc
#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
#else
HAL_ADCEx_InjectedStart(cs_params->adc_handle);
#endif
// start the adc
if (use_adc_interrupt){
// enable interrupt
if(cs_params->adc_handle->Instance == ADC1) {
// enable interrupt
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
}
#ifdef ADC2
else if (cs_params->adc_handle->Instance == ADC2) {
// enable interrupt
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
}
#endif
#ifdef ADC3
else if (cs_params->adc_handle->Instance == ADC3) {
// enable interrupt
HAL_NVIC_SetPriority(ADC3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC3_IRQn);
}
#endif
#ifdef ADC4
else if (cs_params->adc_handle->Instance == ADC4) {
// enable interrupt
HAL_NVIC_SetPriority(ADC4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC4_IRQn);
}
#endif
#ifdef ADC5
else if (cs_params->adc_handle->Instance == ADC5) {
// enable interrupt
HAL_NVIC_SetPriority(ADC5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC5_IRQn);
}
#endif

HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
}else{
HAL_ADCEx_InjectedStart(cs_params->adc_handle);
}

// restart all the timers of the driver
_startTimers(driver_params->timers, 6);
Expand All @@ -82,19 +130,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
float _readADCVoltageLowSide(const int pin, const void* cs_params){
for(int i=0; i < 3; i++){
if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
if (use_adc_interrupt){
return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
#else
}else{
// an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3
uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3;
return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
#endif
}
}
}
return 0;
}

#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
extern "C" {
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
// calculate the instance
Expand All @@ -111,6 +158,5 @@ extern "C" {
adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);
}
}
#endif

#endif
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