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get ADC trigger working

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This commit is contained in:
matei jordache
2023-11-12 15:38:01 -05:00
parent 4f26202837
commit 1c711e71dc
3 changed files with 29 additions and 30 deletions
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2
firmware/lib/Arduino-FOC/src/common/base_classes/FOCDriver.h
View File

@@ -12,7 +12,7 @@ class FOCDriver{
virtual void disable() = 0;
virtual void setPwm(float a, float b, float c);
virtual void setPwm(float a, float b, float c) = 0;
// virtual void setPwm(uint8_t a, uint8_t b);
long pwm_frequency;

24
firmware/lib/currentsense/adc.cpp
View File

@@ -23,7 +23,7 @@ void MX_ADC1_Init(void)
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T2_TRGO;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc1.Init.DMAContinuousRequests = ENABLE;
hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
@@ -65,7 +65,7 @@ void MX_ADC2_Init(void)
hadc2.Init.ContinuousConvMode = DISABLE;
hadc2.Init.NbrOfConversion = 2;
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T2_TRGO;
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc2.Init.DMAContinuousRequests = ENABLE;
hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
@@ -92,8 +92,7 @@ void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
{
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(adcHandle->Instance==ADC1)
{
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
@@ -106,6 +105,8 @@ void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
__HAL_RCC_ADC12_CLK_ENABLE();
}
if(adcHandle->Instance==ADC1)
{
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA1_Channel1;
@@ -115,8 +116,9 @@ void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_NORMAL;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_DeInit(&hdma_adc1);
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
Error_Handler();
@@ -126,18 +128,6 @@ void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
}
else if(adcHandle->Instance==ADC2)
{
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
HAL_RCC_ADC12_CLK_ENABLED++;
if(HAL_RCC_ADC12_CLK_ENABLED==1){
__HAL_RCC_ADC12_CLK_ENABLE();
}
/* ADC2 DMA Init */
/* ADC2 Init */
hdma_adc2.Instance = DMA1_Channel2;

13
firmware/lib/currentsense/utils.cpp
View File

@@ -115,12 +115,21 @@ void _driverSyncLowSide(void *_driver_params, void *_cs_params)
_stopTimers(driver_params->timers, 6);
// See RM0440 pg. 1169
// This grabs the timer handle used for ADC and sets the direction bit as upcounting (?)
// Grab the timer handle used for ADC and sets the direction bit as upcounting
cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
// This sets the value of the timer to the reload value. I think this is so that an event is immediately fired
/** Set the value of the timer to the reload value, so that overflow event is generated immediately.
* This is because we are using repetition counter to count every other event, skipping the underflow at
* valleys of PWM. We can downsample every other peak if repetition counter is increased to 3
*/
cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
// Set TIM_CR1_URS to 0b1 -> only update events are overflows/underflow
cs_params->timer_handle->getHandle()->Instance->CR1 |= 0x0004;
// Set TIM_CR2_MMS to 0b010 -> update event (overflow and underflow) mapped to tim2_trgo
cs_params->timer_handle->getHandle()->Instance->CR2 |= 0x0020;
_startTimers(driver_params->timers, 6);
}