Merge pull request #383 from Candas1/use_interrupt_if_no_repetition_c…

…ounter Use interrupt if no repetition counter
simplefoc · Feb 21, 2024 · 83e5247 · 83e5247
2 parents 97a3978 + 8382603
commit 83e5247
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Showing 8 changed files with 162 additions and 135 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
@@ -124,12 +124,6 @@ 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;
 
   return 0;
@@ -153,14 +147,11 @@ 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
@@ -19,6 +19,12 @@ bool needs_downsample[3] = {1};
 // downsampling variable - per adc (3)
 uint8_t tim_downsample[3] = {0};
 
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+uint8_t use_adc_interrupt = 1;
+#else
+uint8_t use_adc_interrupt = 0;
+#endif
+
 int _adcToIndex(ADC_HandleTypeDef *AdcHandle){
   if(AdcHandle->Instance == ADC1) return 0;
 #ifdef ADC2 // if ADC2 exists
@@ -63,19 +69,31 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
     cs_params->timer_handle->getHandle()->Instance->CNT =  cs_params->timer_handle->getHandle()->Instance->ARR;
     // remember that this timer has repetition counter - no need to downasmple
     needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
+  }else{
+    if(!use_adc_interrupt){
+      // If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing
+      use_adc_interrupt = 1;
+      #ifdef SIMPLEFOC_STM32_DEBUG
+      SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used");
+      #endif
+    }
   }
   // set the trigger output event
   LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
 
   // 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
+  if(use_adc_interrupt){
+    HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
+
+    HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
+  }else{
+    HAL_ADCEx_InjectedStart(cs_params->adc_handle);
+  }
+
 
   // restart all the timers of the driver
   _startTimers(driver_params->timers, 6);
@@ -86,19 +104,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
 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
-      #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+      if (use_adc_interrupt){
         return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
-      #else 
+      }else{ 
         // an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3
         uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3;;
         return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((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
@@ -115,6 +132,5 @@ 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
@@ -135,12 +135,6 @@ 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;
 }
@@ -162,13 +156,11 @@ 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
@@ -22,6 +22,12 @@ bool needs_downsample[3] = {1};
 // downsampling variable - per adc (3)
 uint8_t tim_downsample[3] = {0};
 
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+uint8_t use_adc_interrupt = 1;
+#else
+uint8_t use_adc_interrupt = 0;
+#endif
+
 void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){
 
   Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams {
@@ -55,16 +61,28 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
     cs_params->timer_handle->getHandle()->Instance->CNT =  cs_params->timer_handle->getHandle()->Instance->ARR;
     // remember that this timer has repetition counter - no need to downasmple
     needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
+  }else{
+    if(!use_adc_interrupt){
+    // If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing
+    use_adc_interrupt = 1;
+    #ifdef SIMPLEFOC_STM32_DEBUG
+    SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used");
+    #endif
+  }
   }
   // set the trigger output event
   LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
 
   // 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
+  if (use_adc_interrupt){
+    // enable interrupt
+    HAL_NVIC_SetPriority(ADC_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(ADC_IRQn);
+
+    HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
+  }else{
+    HAL_ADCEx_InjectedStart(cs_params->adc_handle);
+  }
 
   // restart all the timers of the driver
   _startTimers(driver_params->timers, 6);
@@ -75,19 +93,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
 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
-      #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+      if (use_adc_interrupt){
         return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
-      #else
+      }else{
         // an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3
         uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3;
         return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((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
@@ -104,6 +121,5 @@ 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
@@ -180,43 +180,6 @@ 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);
-    HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
-  }
-#ifdef ADC2
-  else if (hadc.Instance == ADC2) {
-    // enable interrupt
-    HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
-  }
-#endif
-#ifdef ADC3
-  else if (hadc.Instance == ADC3) {
-    // enable interrupt
-    HAL_NVIC_SetPriority(ADC3_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(ADC3_IRQn);
-  } 
-#endif
-#ifdef ADC4
-  else if (hadc.Instance == ADC4) {
-    // enable interrupt
-    HAL_NVIC_SetPriority(ADC4_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(ADC4_IRQn);
-  } 
-#endif
-#ifdef ADC5
-  else if (hadc.Instance == ADC5) {
-    // enable interrupt
-    HAL_NVIC_SetPriority(ADC5_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(ADC5_IRQn);
-  } 
-#endif
-#endif
-
   cs_params->adc_handle = &hadc;
   return 0;
 }
@@ -238,7 +201,6 @@ void _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const in
   }
 }
 
-#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
 extern "C" {
   void ADC1_2_IRQHandler(void)
   {
@@ -265,6 +227,5 @@ 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
@@ -24,6 +24,11 @@ bool needs_downsample[5] = {1};
 // downsampling variable - per adc (5)
 uint8_t tim_downsample[5] = {0};
 
+#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+uint8_t use_adc_interrupt = 1;
+#else
+uint8_t use_adc_interrupt = 0;
+#endif
 
 void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){
 
@@ -58,6 +63,14 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
     cs_params->timer_handle->getHandle()->Instance->CNT =  cs_params->timer_handle->getHandle()->Instance->ARR;
     // remember that this timer has repetition counter - no need to downasmple
     needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
+  }else{
+    if(!use_adc_interrupt){
+      // If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing
+      use_adc_interrupt = 1;
+      #ifdef SIMPLEFOC_STM32_DEBUG
+      SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used");
+      #endif
+    }
   }
 
   // set the trigger output event
@@ -66,12 +79,47 @@ 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 
-  #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
-  HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
-  #else
-  HAL_ADCEx_InjectedStart(cs_params->adc_handle);
-  #endif
+  // start the adc
+  if (use_adc_interrupt){
+    // enable interrupt
+    if(cs_params->adc_handle->Instance == ADC1) {
+      // enable interrupt
+      HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
+      HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
+    }
+    #ifdef ADC2
+      else if (cs_params->adc_handle->Instance == ADC2) {
+        // enable interrupt
+        HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
+        HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
+      }
+    #endif
+    #ifdef ADC3
+      else if (cs_params->adc_handle->Instance == ADC3) {
+        // enable interrupt
+        HAL_NVIC_SetPriority(ADC3_IRQn, 0, 0);
+        HAL_NVIC_EnableIRQ(ADC3_IRQn);
+      } 
+    #endif
+    #ifdef ADC4
+      else if (cs_params->adc_handle->Instance == ADC4) {
+        // enable interrupt
+        HAL_NVIC_SetPriority(ADC4_IRQn, 0, 0);
+        HAL_NVIC_EnableIRQ(ADC4_IRQn);
+      } 
+    #endif
+    #ifdef ADC5
+      else if (cs_params->adc_handle->Instance == ADC5) {
+        // enable interrupt
+        HAL_NVIC_SetPriority(ADC5_IRQn, 0, 0);
+        HAL_NVIC_EnableIRQ(ADC5_IRQn);
+      } 
+    #endif
+
+    HAL_ADCEx_InjectedStart_IT(cs_params->adc_handle);
+  }else{
+    HAL_ADCEx_InjectedStart(cs_params->adc_handle);
+  }
 
   // restart all the timers of the driver
   _startTimers(driver_params->timers, 6);
@@ -82,19 +130,18 @@ void _driverSyncLowSide(void* _driver_params, void* _cs_params){
 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
-      #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
+      if (use_adc_interrupt){
         return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
-      #else
+      }else{
         // an optimized way to go from i to the channel i=0 -> channel 1, i=1 -> channel 2, i=2 -> channel 3
         uint32_t channel = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3;
         return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((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
@@ -111,6 +158,5 @@ extern "C" {
     adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);  
   }
 }
-#endif
 
 #endif