136 lines
3.9 KiB
C++
136 lines
3.9 KiB
C++
#if defined(SIMPLEFOC_STM32_CUSTOMCURRENTSENSE)
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#include "utils.h"
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#include "adc.h"
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#include "dma.h"
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#include "opamp.h"
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float adcResolution = 4096.0f; // 12 bit ADC
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float voltageScale = 3.3f; // full scale voltage range of ADC
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float adcSens = adcResolution * voltageScale;
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volatile uint16_t adc1Result[2] = {0};
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volatile uint16_t adc2Result[2] = {0};
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void MX_GPIO_Init(void)
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{
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOF_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_ADC12_CLK_ENABLE();
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}
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float _readADCVoltageInline(const int pin, const void *cs_params)
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{
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// SIMPLEFOC_DEBUG("READ ADC VOLTAGE");
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uint32_t rawResult;
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switch (pin)
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{
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case PA3:
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rawResult = adc1Result[0]; // ADC1 CH13 -> Vopamp1 internal output
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break;
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case PB0:
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rawResult = adc2Result[0]; // ADC2 CH16 -> Vopamp2 internal output
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break;
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case PA1:
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rawResult = adc2Result[1]; // ADC2 CH18 -> Vopamp3 internal output
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break;
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case PA2:
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rawResult = adc1Result[1]; // ADC1 CH16 -> not sure what pin should represent this?
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break;
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default:
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return 0.0f;
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break;
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}
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return rawResult * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
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}
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float _readVoltageLowSide(const int pinA, const void *cs_params)
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{
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return 0.0f;
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}
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void *_configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC)
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{
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SIMPLEFOC_DEBUG("Configure Utils ADCInline");
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_UNUSED(driver_params);
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HAL_Init();
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_ADC1_Init();
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MX_ADC2_Init();
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configureOPAMPs();
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ADC_DMA_Init(&hadc1);
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ADC_DMA_Init(&hadc2);
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if (HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc1Result, 2) != HAL_OK)
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{
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SIMPLEFOC_DEBUG("DMA1 read init failed");
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}
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if (HAL_ADC_Start_DMA(&hadc2, (uint32_t *)adc2Result, 2) != HAL_OK)
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{
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SIMPLEFOC_DEBUG("DMA2 read init failed");
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}
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HAL_OPAMP_Start(&hopamp1);
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HAL_OPAMP_Start(&hopamp2);
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HAL_OPAMP_Start(&hopamp3);
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Stm32CurrentSenseParams *params = new Stm32CurrentSenseParams{
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.pins = {pinA, pinB, pinC},
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.adc_voltage_conv = adcSens,
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.timer_handle = (HardwareTimer *)(HardwareTimer_Handle[get_timer_index(TIM2)]->__this)};
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return params;
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}
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void *_configureADCLowSide(const void *driver_params, const int pinA, const int pinB, const int pinC)
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{
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_UNUSED(driver_params);
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_UNUSED(pinA);
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_UNUSED(pinB);
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_UNUSED(pinC);
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SIMPLEFOC_DEBUG("This board does not use lowside sensing. Use inline current sense instead.");
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return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
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}
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void _driverSyncLowSide(void *_driver_params, void *_cs_params)
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{
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SIMPLEFOC_DEBUG("CS: Sync CS to driver");
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STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params;
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Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params;
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_stopTimers(driver_params->timers, 6);
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// See RM0440 pg. 1169
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// Grab the timer handle used for ADC and sets the direction bit as upcounting
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cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
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/** Set the value of the timer to the reload value, so that overflow event is generated immediately.
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* This is because we are using repetition counter to count every other event, skipping the underflow at
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* valleys of PWM. We can downsample every other peak if repetition counter is increased to 3
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*/
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cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
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// Set TIM_CR1_URS to 0b1 -> only update events are overflows/underflow
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cs_params->timer_handle->getHandle()->Instance->CR1 |= 0x0004;
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// Set TIM_CR2_MMS to 0b010 -> update event (overflow and underflow) mapped to tim2_trgo
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cs_params->timer_handle->getHandle()->Instance->CR2 |= 0x0020;
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_startTimers(driver_params->timers, 6);
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}
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#endif |