initial support for low-side current sensing with multiple motors for stm32

src/current_sense/hardware_specific/stm32/stm32_adc_utils.cpp

@@ -115,9 +115,9 @@ int _findIndexOfLastPinMapADCEntry(int pin) {
 // each pin can be connected to multiple ADCs
 // the function will try to find a single ADC that can be used for all pins
 // if not possible it will return nullptr
-ADC_TypeDef* _findBestADCForPins(int numPins, int pins[]) {
+ADC_TypeDef* _findBestADCForPins(int numPins, int pins[], ADC_HandleTypeDef adc_handles[]) {
 
-  // assuning that there is less than 8 ADCs
+  // assuning that there is at most 5 ADCs
   uint8_t pins_at_adc[ADC_COUNT] = {0};
 
   // check how many pins are there and are not set
@@ -152,11 +152,19 @@ ADC_TypeDef* _findBestADCForPins(int numPins, int pins[]) {
     SimpleFOCDebug::print(i+1);
     SimpleFOCDebug::print(" pins: ");
     SimpleFOCDebug::println(pins_at_adc[i]);
+    if (adc_handles[i].Instance != NP) {
+      SimpleFOCDebug::print("STM32-CS: ADC");
+      SimpleFOCDebug::print(i+1);
+      SimpleFOCDebug::println(" already in use!");
+    }
   }
 #endif
 
   // now take the first ADC that has all pins connected
   for (int i = 0; i < ADC_COUNT; i++) {
+    if (adc_handles[i].Instance != NP) {
+      continue; // ADC already in use
+    }
     if (pins_at_adc[i] == no_pins) {
       return _indexToADC(i);
     }

src/current_sense/hardware_specific/stm32/stm32_adc_utils.h

@@ -18,8 +18,6 @@
 #include "../../../drivers/hardware_specific/stm32/stm32_mcu.h"
 #include "stm32_mcu.h"
 
-
-
 /* Exported Functions */
 /**
   * @brief  Return ADC HAL channel linked to a PinName
@@ -43,7 +41,7 @@ int _adcToIndex(ADC_TypeDef *AdcHandle);
 // functions helping to find the best ADC channel
 int _findIndexOfFirstPinMapADCEntry(int pin);
 int _findIndexOfLastPinMapADCEntry(int pin);
-ADC_TypeDef* _findBestADCForPins(int num_pins, int pins[]);
+ADC_TypeDef* _findBestADCForPins(int num_pins, int pins[], ADC_HandleTypeDef adc_handles[]);
 
 
 // Structure to hold ADC interrupt configuration per ADC instance

src/current_sense/hardware_specific/stm32/stm32_mcu.cpp

@@ -9,7 +9,7 @@
 #define _ADC_RESOLUTION 1024.0f
 
 // 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){
+__attribute__((weak))  void* _configureADCInline(const void* driver_params, const int pinA,const int pinB,const int pinC){
   _UNUSED(driver_params);
 
   if( _isset(pinA) ) pinMode(pinA, INPUT);

src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp

@@ -4,9 +4,9 @@
 
 #include "../../../../communication/SimpleFOCDebug.h"
 #include "../stm32_adc_utils.h"
-#define _TRGO_NOT_AVAILABLE 12345
 
-ADC_HandleTypeDef hadc;
+// pointer to the ADC handles used in the project
+ADC_HandleTypeDef hadc[ADC_COUNT] = {0};
 
 /**
  * Function initializing the ADC and the injected channels for the low-side current sensing
@@ -22,14 +22,14 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 
   /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
   */
-  hadc.Instance = _findBestADCForPins(3, cs_params->pins);
+  auto adc_instance = _findBestADCForPins(3, cs_params->pins, hadc);
 
-  if(hadc.Instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE();
+  if(adc_instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE();
 #ifdef ADC2  // if defined ADC2
-  else if(hadc.Instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE();
+  else if(adc_instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE();
 #endif
 #ifdef ADC3  // if defined ADC3
-  else if(hadc.Instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE();
+  else if(adc_instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE();
 #endif
   else{
 #ifdef SIMPLEFOC_STM32_DEBUG
@@ -38,13 +38,15 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     return -1; // error not a valid ADC instance
   }
 
-  hadc.Init.ScanConvMode = ADC_SCAN_ENABLE;
-  hadc.Init.ContinuousConvMode = ENABLE;
-  hadc.Init.DiscontinuousConvMode = DISABLE;
-  hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
-  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc.Init.NbrOfConversion = 1;
-  HAL_ADC_Init(&hadc);
+  auto adc_num = _adcToIndex(adc_instance);
+  hadc[adc_num].Instance = adc_instance;
+  hadc[adc_num].Init.ScanConvMode = ADC_SCAN_ENABLE;
+  hadc[adc_num].Init.ContinuousConvMode = ENABLE;
+  hadc[adc_num].Init.DiscontinuousConvMode = DISABLE;
+  hadc[adc_num].Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc[adc_num].Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc[adc_num].Init.NbrOfConversion = 1;
+  HAL_ADC_Init(&hadc[adc_num]);
   /**Configure for the selected ADC regular channel to be converted. 
   */
 
@@ -102,15 +104,15 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     if (!_isset(cs_params->pins[i])) continue;
 
     sConfigInjected.InjectedRank = _getADCInjectedRank(channel_no++);
-    sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]), hadc.Instance);
-    if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
+    sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]), hadc[adc_num].Instance);
+    if (HAL_ADCEx_InjectedConfigChannel(&hadc[adc_num], &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG
-      SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[i]) , hadc.Instance));
+      SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[i]) , hadc[adc_num].Instance));
   #endif
       return -1;
     }
   }
-  cs_params->adc_handle = &hadc;
+  cs_params->adc_handle = &hadc[adc_num];
   return 0;
 }
 
@@ -149,8 +151,18 @@ int _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int
 extern "C" {
   void ADC1_2_IRQHandler(void)
   {
-      HAL_ADC_IRQHandler(&hadc);
+    if (hadc[0].Instance != NP)
+      HAL_ADC_IRQHandler(&hadc[0]);
+    if (hadc[1].Instance != NP)
+      HAL_ADC_IRQHandler(&hadc[1]);
   }
+#ifdef ADC3
+  void ADC3_IRQHandler(void)
+  {
+      if (hadc[2].Instance != NP)
+        HAL_ADC_IRQHandler(&hadc[2]);
+  }
+#endif
 }
 
 #endif

src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp

@@ -5,9 +5,9 @@
 //#define SIMPLEFOC_STM32_DEBUG
 
 #include "../../../../communication/SimpleFOCDebug.h"
-#define _TRGO_NOT_AVAILABLE 12345
 
-ADC_HandleTypeDef hadc;
+// pointer to the ADC handles used in the project
+ADC_HandleTypeDef hadc[ADC_COUNT] = {0};
 
 /**
  * Function initializing the ADC and the injected channels for the low-side current sensing
@@ -23,14 +23,14 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 
   /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
   */
-  hadc.Instance = _findBestADCForPins(3, cs_params->pins);
+  auto adc_instance = _findBestADCForPins(3, cs_params->pins, hadc);
 
-  if(hadc.Instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE();
+  if(adc_instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE();
 #ifdef ADC2  // if defined ADC2
-  else if(hadc.Instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE();
+  else if(adc_instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE();
 #endif
 #ifdef ADC3  // if defined ADC3
-  else if(hadc.Instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE();
+  else if(adc_instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE();
 #endif
   else{
 #ifdef SIMPLEFOC_STM32_DEBUG
@@ -39,22 +39,26 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     return -1; // error not a valid ADC instance
   }
 
+  int adc_num = _adcToIndex(adc_instance);
+
 #ifdef SIMPLEFOC_STM32_DEBUG
-    SIMPLEFOC_DEBUG("STM32-CS: Using ADC: ", _adcToIndex(&hadc)+1);
+    SIMPLEFOC_DEBUG("STM32-CS: Using ADC: ", adc_num+1);
 #endif
 
-  hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
-  hadc.Init.Resolution = ADC_RESOLUTION_12B;
-  hadc.Init.ScanConvMode = ENABLE;
-  hadc.Init.ContinuousConvMode = ENABLE;
-  hadc.Init.DiscontinuousConvMode = DISABLE;
-  hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
-  hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START; // for now
-  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc.Init.NbrOfConversion = 1;
-  hadc.Init.DMAContinuousRequests = DISABLE;
-  hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
-  if ( HAL_ADC_Init(&hadc) != HAL_OK){
+  hadc[adc_num].Instance = adc_instance;
+
+  hadc[adc_num].Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+  hadc[adc_num].Init.Resolution = ADC_RESOLUTION_12B;
+  hadc[adc_num].Init.ScanConvMode = ENABLE;
+  hadc[adc_num].Init.ContinuousConvMode = ENABLE;
+  hadc[adc_num].Init.DiscontinuousConvMode = DISABLE;
+  hadc[adc_num].Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc[adc_num].Init.ExternalTrigConv = ADC_SOFTWARE_START; // for now
+  hadc[adc_num].Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc[adc_num].Init.NbrOfConversion = 1;
+  hadc[adc_num].Init.DMAContinuousRequests = DISABLE;
+  hadc[adc_num].Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if ( HAL_ADC_Init(&hadc[adc_num]) != HAL_OK){
 #ifdef SIMPLEFOC_STM32_DEBUG
     SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init ADC!");
 #endif
@@ -115,15 +119,15 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     if (!_isset(cs_params->pins[i])) continue;
 
     sConfigInjected.InjectedRank = _getADCInjectedRank(channel_no++);
-    sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]), hadc.Instance);
-    if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
+    sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]), hadc[adc_num].Instance);
+    if (HAL_ADCEx_InjectedConfigChannel(&hadc[adc_num], &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG
-      SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[i]) , hadc.Instance));
+      SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[i]) , hadc[adc_num].Instance));
   #endif
       return -1;
     }
   }
-  cs_params->adc_handle = &hadc;
+  cs_params->adc_handle = &hadc[adc_num];
   return 0;
 }
 
@@ -160,7 +164,10 @@ int _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int
 extern "C" {
   void ADC_IRQHandler(void)
   {
-      HAL_ADC_IRQHandler(&hadc);
+    for(int adc_num=0; adc_num<ADC_COUNT; adc_num++){
+      if(hadc[adc_num].Instance == NP) continue;
+      HAL_ADC_IRQHandler(&hadc[adc_num]);
+    }
   }
 }
 

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

@@ -5,9 +5,9 @@
 //#define SIMPLEFOC_STM32_DEBUG
 
 #include "../../../../communication/SimpleFOCDebug.h"
-#define _TRGO_NOT_AVAILABLE 12345
 
-ADC_HandleTypeDef hadc;
+// pointer to the ADC handles used in the project
+ADC_HandleTypeDef hadc[ADC_COUNT] = {0};
 
 /**
  * Function initializing the ADC and the injected channels for the low-side current sensing
@@ -23,38 +23,41 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 
   /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
   */
-  hadc.Instance = _findBestADCForPins(3, cs_params->pins);
+  auto adc_instance = _findBestADCForPins(3, cs_params->pins, hadc);
 
-  if(hadc.Instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE();
+  if(adc_instance == ADC1) __HAL_RCC_ADC1_CLK_ENABLE();
 #ifdef ADC2  // if defined ADC2
-  else if(hadc.Instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE();
+  else if(adc_instance == ADC2) __HAL_RCC_ADC2_CLK_ENABLE();
 #endif
 #ifdef ADC3  // if defined ADC3
-  else if(hadc.Instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE();
+  else if(adc_instance == ADC3) __HAL_RCC_ADC3_CLK_ENABLE();
 #endif
   else{
 #ifdef SIMPLEFOC_STM32_DEBUG
     SIMPLEFOC_DEBUG("STM32-CS: ERR: Pin does not belong to any ADC!");
 #endif
     return -1; // error not a valid ADC instance
   }
+
+  int adc_num = _adcToIndex(adc_instance);
 
 #ifdef SIMPLEFOC_STM32_DEBUG
-    SIMPLEFOC_DEBUG("STM32-CS: Using ADC: ", _adcToIndex(&hadc)+1);
+    SIMPLEFOC_DEBUG("STM32-CS: Using ADC: ", adc_num+1);
 #endif
 
-  hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
-  hadc.Init.Resolution = ADC_RESOLUTION_12B;
-  hadc.Init.ScanConvMode = ENABLE;
-  hadc.Init.ContinuousConvMode = DISABLE;
-  hadc.Init.DiscontinuousConvMode = DISABLE;
-  hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
-  hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START; // for now
-  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc.Init.NbrOfConversion = 1;
-  hadc.Init.DMAContinuousRequests = DISABLE;
-  hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
-  if ( HAL_ADC_Init(&hadc) != HAL_OK){
+  hadc[adc_num].Instance = adc_instance;
+  hadc[adc_num].Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
+  hadc[adc_num].Init.Resolution = ADC_RESOLUTION_12B;
+  hadc[adc_num].Init.ScanConvMode = ENABLE;
+  hadc[adc_num].Init.ContinuousConvMode = DISABLE;
+  hadc[adc_num].Init.DiscontinuousConvMode = DISABLE;
+  hadc[adc_num].Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc[adc_num].Init.ExternalTrigConv = ADC_SOFTWARE_START; // for now
+  hadc[adc_num].Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc[adc_num].Init.NbrOfConversion = 1;
+  hadc[adc_num].Init.DMAContinuousRequests = DISABLE;
+  hadc[adc_num].Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if ( HAL_ADC_Init(&hadc[adc_num]) != HAL_OK){
 #ifdef SIMPLEFOC_STM32_DEBUG
     SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init ADC!");
 #endif
@@ -123,16 +126,16 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     if (!_isset(cs_params->pins[i])) continue;
 
     sConfigInjected.InjectedRank = _getADCInjectedRank(channel_no++);
-    sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]), hadc.Instance);
-    if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
+    sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]), hadc[adc_num].Instance);
+    if (HAL_ADCEx_InjectedConfigChannel(&hadc[adc_num], &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG
-      SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[i]) , hadc.Instance));
+      SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[i]) , hadc[adc_num].Instance));
   #endif
       return -1;
     }
   }
 
-  cs_params->adc_handle = &hadc;
+  cs_params->adc_handle = &hadc[adc_num];
   return 0;
 }
 
@@ -172,7 +175,10 @@ int _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int
 extern "C" {
   void ADC_IRQHandler(void)
   {
-      HAL_ADC_IRQHandler(&hadc);
+    for(int adc_num=0; adc_num<ADC_COUNT; adc_num++){
+      if(hadc[adc_num].Instance == NP) continue; 
+      HAL_ADC_IRQHandler(&hadc[adc_num]);
+    }
   }
 }