work on current sense

firmware/lib/currentsense/utils.cpp

@@ -0,0 +1,124 @@
+#if defined(SIMPLEFOC_STM32_CUSTOMCURRENTSENSE)
+
+#include "utils.h"
+
+#include "adc.h"
+#include "dma.h"
+#include "opamp.h"
+
+float adcResolution = 4096.0f; // 12 bit ADC
+float voltageScale = 3.3f;     // full scale voltage range of ADC
+float adcSens = adcResolution * voltageScale;
+
+volatile uint16_t adc1Result[2] = {0};
+volatile uint16_t adc2Result[2] = {0};
+
+void MX_GPIO_Init(void)
+{
+    /* GPIO Ports Clock Enable */
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+
+    __HAL_RCC_ADC12_CLK_ENABLE();
+}
+
+float _readVoltageInline(const uint8_t pin, const void *cs_params)
+{
+    uint32_t rawResult;
+    switch (pin)
+    {
+    case PA3:
+        rawResult = adc1Result[0]; // ADC1 CH13 -> Vopamp1 internal output
+        break;
+
+    case PB0:
+        rawResult = adc2Result[0]; // ADC2 CH16 -> Vopamp2 internal output
+        break;
+
+    case PA1:
+        rawResult = adc2Result[1]; // ADC2 CH18 -> Vopamp3 internal output
+        break;
+
+    case PA2:
+        rawResult = adc1Result[1]; // ADC1 CH16 -> not sure what pin should represent this?
+        break;
+
+    default:
+        return 0.0f;
+        break;
+    }
+
+    return rawResult * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+}
+
+float _readVoltageLowSide(const int pinA, const void *cs_params)
+{
+    return 0.0f;
+}
+
+void *_configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC)
+{
+    _UNUSED(driver_params);
+
+    HAL_Init();
+    MX_GPIO_Init();
+    MX_DMA_Init();
+    MX_ADC1_Init();
+    MX_ADC2_Init();
+    configureOPAMPs();
+
+    ADC_DMA_Init(&hadc1);
+    ADC_DMA_Init(&hadc2);
+
+    if (HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc1Result, 1) != HAL_OK)
+    {
+        SIMPLEFOC_DEBUG("DMA1 read init failed");
+    }
+    if (HAL_ADC_Start_DMA(&hadc2, (uint32_t *)adc2Result, 2) != HAL_OK)
+    {
+        SIMPLEFOC_DEBUG("DMA2 read init failed");
+    }
+
+    HAL_OPAMP_Start(&hopamp1);
+    HAL_OPAMP_Start(&hopamp2);
+    HAL_OPAMP_Start(&hopamp3);
+
+    Stm32CurrentSenseParams *params = new Stm32CurrentSenseParams{
+        .pins = {pinA, pinB, pinC},
+        .adc_voltage_conv = adcSens,
+        .timer_handle = (HardwareTimer *)(HardwareTimer_Handle[get_timer_index(TIM2)]->__this)};
+
+    return params;
+}
+
+void *_configureADCLowSide(const void *driver_params, const int pinA, const int pinB, const int pinC)
+{
+    _UNUSED(driver_params);
+    _UNUSED(pinA);
+    _UNUSED(pinB);
+    _UNUSED(pinC);
+
+    SIMPLEFOC_DEBUG("This board does not use lowside sensing. Use inline current sense instead.");
+    return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
+}
+
+void _driverSyncLowSide(void *_driver_params, void *_cs_params)
+{
+    STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params;
+    Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_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 (?)
+    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
+    cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
+
+    _startTimers(driver_params->timers, 6);
+}
+
+#endif