remove OPA2 for rev 3

firmware/lib/currentsense/adc.cpp

@@ -85,17 +85,12 @@ void MX_ADC2_Init(void)
   if (HAL_ADC_Init(&hadc2) != HAL_OK)
     SIMPLEFOC_DEBUG("HAL ADC2 init failed!");
 
-  sConfig.Channel = ADC_CHANNEL_VOPAMP2;
+  sConfig.Channel = ADC_CHANNEL_VOPAMP3_ADC2;
   sConfig.Rank = ADC_REGULAR_RANK_1;
   sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
   sConfig.SingleDiff = ADC_SINGLE_ENDED;
   sConfig.OffsetNumber = ADC_OFFSET_NONE;
   sConfig.Offset = 0;
-  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
-    SIMPLEFOC_DEBUG("HAL ADC OPAMP2 init failed!");
-
-  sConfig.Channel = ADC_CHANNEL_VOPAMP3_ADC2;
-  sConfig.Rank = ADC_REGULAR_RANK_2;
   if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
     SIMPLEFOC_DEBUG("HAL ADC OPAMP3 init failed!");
 }

firmware/lib/currentsense/opamp.cpp

@@ -1,7 +1,6 @@
 #include "opamp.h"
 
 OPAMP_HandleTypeDef hopamp1;
-OPAMP_HandleTypeDef hopamp2;
 OPAMP_HandleTypeDef hopamp3;
 
 void configureOPAMPs(void)
@@ -13,19 +12,9 @@ void configureOPAMPs(void)
   hopamp1.Init.InternalOutput = ENABLE;
   hopamp1.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
   hopamp1.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
-  if(HAL_OPAMP_Init(&hopamp1) != HAL_OK)
+  if (HAL_OPAMP_Init(&hopamp1) != HAL_OK)
     SIMPLEFOC_DEBUG("OPAMP1 init failed.");
 
-  hopamp2.Instance = OPAMP2;
-  hopamp2.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
-  hopamp2.Init.Mode = OPAMP_FOLLOWER_MODE;
-  hopamp2.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO2;
-  hopamp2.Init.InternalOutput = ENABLE;
-  hopamp2.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
-  hopamp2.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
-  if(HAL_OPAMP_Init(&hopamp2) != HAL_OK)
-    SIMPLEFOC_DEBUG("OPAMP2 init failed.");
-
   hopamp3.Instance = OPAMP3;
   hopamp3.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
   hopamp3.Init.Mode = OPAMP_FOLLOWER_MODE;
@@ -33,7 +22,7 @@ void configureOPAMPs(void)
   hopamp3.Init.InternalOutput = ENABLE;
   hopamp3.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
   hopamp3.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
-  if(HAL_OPAMP_Init(&hopamp3) != HAL_OK)
+  if (HAL_OPAMP_Init(&hopamp3) != HAL_OK)
     SIMPLEFOC_DEBUG("OPAMP3 init failed.");
 }
 
@@ -42,19 +31,16 @@ void OPAMP_GPIO_Init(void)
   GPIO_InitTypeDef GPIO_InitStruct = {0};
 
   __HAL_RCC_GPIOA_CLK_ENABLE();
-  GPIO_InitStruct.Pin = GPIO_PIN_2;
+  GPIO_InitStruct.Pin = GPIO_PIN_2;         //PA2 -> ADC1_IN3
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  GPIO_InitStruct.Pin = GPIO_PIN_3;
+  GPIO_InitStruct.Pin = GPIO_PIN_3;         //PA3 -> OPAMP1_VINP1
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
   __HAL_RCC_GPIOB_CLK_ENABLE();
-  GPIO_InitStruct.Pin = GPIO_PIN_0;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Pin = GPIO_PIN_13;        //PB13 -> OPAMP3_VINP1
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 }
 
@@ -65,10 +51,6 @@ void HAL_OPAMP_MspDeInit(OPAMP_HandleTypeDef *opampHandle)
   {
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_3);
   }
-  else if (opampHandle->Instance == OPAMP2)
-  {
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0);
-  }
   else if (opampHandle->Instance == OPAMP3)
   {
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13);

firmware/src/main.cpp

@@ -65,11 +65,11 @@ STM32HWEncoder enc = STM32HWEncoder(ENC_PPR, ENC_A, ENC_B, ENC_Z);
 StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
 // StepperMotor motor = StepperMotor(POLEPAIRS, RPHASE, MOTORKV, 0.0045);
 StepperMotor motor = StepperMotor(POLEPAIRS);
+StepDirListener step_dir = StepDirListener(STEP_PIN, DIR_PIN, _2PI/200.0);
 Commander commander = Commander(SERIALPORT);
 
 uint16_t counter = 0;
-extern volatile uint16_t adc1Result[3];
-extern volatile uint16_t adc2Result[2];
+float stepCounter;
 
 DQCurrent_s foc_currents;
 float electrical_angle;
@@ -81,6 +81,7 @@ uint8_t configureCAN(void);
 uint8_t calibrateEncoder(void);
 
 void userButton(void);
+void onStep(void) {step_dir.handle();}
 
 void setup()
 {
@@ -105,6 +106,7 @@ void setup()
 	// 	SIMPLEFOC_DEBUG("CAN init failed.");
 	// 	digitalWrite(LED_FAULT, HIGH);
 	// }
+
 	ret = configureFOC();
 	if (!ret){
 		SIMPLEFOC_DEBUG("FOC init failed.");
@@ -160,16 +162,13 @@ void loop()
 	motor.move();
 	commander.run();
 
-	electrical_angle = motor.electricalAngle();
-	// phase_currents = currentsense.getPhaseCurrents();
-	// foc_currents = currentsense.getFOCCurrents(electrical_angle);
-
 	if(counter == 0xFFF){
 		digitalToggle(LED_GOOD);
-		// Serial.println(adc1Result[0]);
 		counter = 0;
 	}
-counter++;
+
+	counter++;
+
 #ifdef HAS_MONITOR
 	motor.monitor();
 #endif
@@ -191,6 +190,11 @@ uint8_t configureFOC(void)
 
 	// Encoder initialization.
 	// Ideally configuring the sensor over SPI then use STM32HWEncoder
+
+	step_dir.init();
+	step_dir.enableInterrupt(onStep);
+	step_dir.attach(&stepCounter);
+
 	enc.init();
 	if (!enc.initialized)
 		digitalWrite(LED_FAULT, HIGH);
@@ -327,4 +331,6 @@ void userButton(void)
 {
 	if(USB->DADDR != 0)
 		jump_to_bootloader();
+	else
+		digitalToggle(LED_FAULT);
 }