build flag for use adc interrupt on f1/f4/g4/l4

simplefoc · Nov 16, 2023 · 5c724d9 · 5c724d9
1 parent 716ad1d
commit 5c724d9
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Showing 8 changed files with 74 additions and 17 deletions.
diff --git a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp
@@ -124,9 +124,11 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected);
   }
 
+  #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
   // enable interrupt
   HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
+  #endif
 
   cs_params->adc_handle = &hadc;
 
@@ -151,12 +153,14 @@ void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const in
 
 }
 
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void ADC1_2_IRQHandler(void)
   {
       HAL_ADC_IRQHandler(&hadc);
   }
 
 }
+#endif
 
 #endif
diff --git a/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp
@@ -69,9 +69,13 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
 
   // Start the adc calibration
   HAL_ADCEx_Calibration_Start(cs_params->adc_handle);
-
+  
   // start the adc 
+  #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
   HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
+  #else
+  HAL_ADCEx_InjectedStart(cs_params->adc_handle);
+  #endif
 
   // restart all the timers of the driver
   _startTimers(driver_params->timers, 6);
@@ -81,13 +85,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
 // function reading an ADC value and returning the read voltage
 float _readADCVoltageLowSide(const int pin, const void* cs_params){
   for(int i=0; i < 3; i++){
-    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]) // found in the buffer
-      return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
+      #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+        return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+      #else
+        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,i+1) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+      #endif
+    }
   } 
   return 0;
 }
 
-
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
     // calculate the instance
@@ -104,5 +113,6 @@ extern "C" {
     adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);
   }
 }
+#endif
 
 #endif
diff --git a/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp
@@ -135,9 +135,11 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     }
   }
 
+  #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
   // enable interrupt
   HAL_NVIC_SetPriority(ADC_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(ADC_IRQn);
+  #endif
 
   cs_params->adc_handle = &hadc;
   return 0;
@@ -160,11 +162,13 @@ void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const in
   }
 }
 
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void ADC_IRQHandler(void)
   {
       HAL_ADC_IRQHandler(&hadc);
   }
 }
+#endif
 
 #endif
diff --git a/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp
@@ -58,8 +58,13 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
   }
   // set the trigger output event
   LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
-  // start the adc 
+
+  // start the adc
+  #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT 
   HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
+  #else
+  HAL_ADCEx_InjectedStart(cs_params->adc_handle);
+  #endif
 
   // restart all the timers of the driver
   _startTimers(driver_params->timers, 6);
@@ -69,13 +74,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
 // function reading an ADC value and returning the read voltage
 float _readADCVoltageLowSide(const int pin, const void* cs_params){
   for(int i=0; i < 3; i++){
-    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]) // found in the buffer
-      return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
+      #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+        return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+      #else
+        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,i+1) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+      #endif
+    }
   } 
   return 0;
 }
 
-
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
     // calculate the instance
@@ -92,5 +102,6 @@ extern "C" {
     adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);    
   }
 }
+#endif
 
 #endif
diff --git a/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.cpp
@@ -181,7 +181,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
   }
 
 
-
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT 
   if(hadc.Instance == ADC1) {
     // enable interrupt
     HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
@@ -214,6 +214,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     HAL_NVIC_SetPriority(ADC5_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(ADC5_IRQn);
   } 
+#endif
 #endif
 
   cs_params->adc_handle = &hadc;
@@ -237,6 +238,7 @@ void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const in
   }
 }
 
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void ADC1_2_IRQHandler(void)
   {
@@ -263,5 +265,6 @@ extern "C" {
   }
 #endif
 }
+#endif
 
 #endif
diff --git a/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp
@@ -66,7 +66,12 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
   HAL_ADCEx_Calibration_Start(cs_params->adc_handle,ADC_SINGLE_ENDED);
 
   // start the adc 
+  #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
   HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
+  #else
+  HAL_ADCEx_InjectedStart(cs_params->adc_handle);
+  #endif
+
   // restart all the timers of the driver
   _startTimers(driver_params->timers, 6);
 }
@@ -75,13 +80,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
 // function reading an ADC value and returning the read voltage
 float _readADCVoltageLowSide(const int pin, const void* cs_params){
   for(int i=0; i < 3; i++){
-    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]) // found in the buffer
-      return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
+      #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+        return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+      #else
+        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,i+1) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+      #endif
+    }
   } 
   return 0;
 }
 
-
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
     // calculate the instance
@@ -98,5 +108,6 @@ extern "C" {
     adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);  
   }
 }
+#endif
 
 #endif
diff --git a/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.cpp b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_hal.cpp
@@ -180,7 +180,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
   }
 
 
-
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT 
   if(hadc.Instance == ADC1) {
     // enable interrupt
     HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
@@ -213,6 +213,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
     HAL_NVIC_SetPriority(ADC5_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(ADC5_IRQn);
   } 
+#endif
 #endif
 
   cs_params->adc_handle = &hadc;
@@ -236,6 +237,7 @@ void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const in
   }
 }
 
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void ADC1_2_IRQHandler(void)
   {
@@ -262,5 +264,6 @@ extern "C" {
   }
 #endif
 }
+#endif
 
 #endif
diff --git a/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_mcu.cpp b/src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_mcu.cpp
@@ -65,8 +65,13 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
   // Start the adc calibration
   HAL_ADCEx_Calibration_Start(cs_params->adc_handle,ADC_SINGLE_ENDED);
 
-  // start the adc 
+  // start the adc
+  #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT 
   HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
+  #else
+  HAL_ADCEx_InjectedStart(cs_params->adc_handle);
+  #endif
+
   // restart all the timers of the driver
   _startTimers(driver_params->timers, 6);
 }
@@ -75,13 +80,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
 // function reading an ADC value and returning the read voltage
 float _readADCVoltageLowSide(const int pin, const void* cs_params){
   for(int i=0; i < 3; i++){
-    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]) // found in the buffer
-      return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
+      #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+        return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+      #else
+        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,i+1) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+      #endif
+    }
   } 
   return 0;
 }
 
-
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
     // calculate the instance
@@ -98,5 +108,6 @@ extern "C" {
     adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);  
   }
 }
+#endif
 
 #endif