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Merge remote-tracking branch 'simplefoc/dev' into nocascade
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Richard Unger committed Feb 10, 2024
2 parents bd83388 + 97a3978 commit eabbfff
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Showing 5 changed files with 190 additions and 27 deletions.
6 changes: 4 additions & 2 deletions src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,8 +88,10 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
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;
#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
}
}
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4 changes: 3 additions & 1 deletion src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,9 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
#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;
// 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
}
}
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5 changes: 4 additions & 1 deletion src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
#include "stm32g4_utils.h"
#include "Arduino.h"

// #define SIMPLEFOC_STM32_ADC_INTERRUPT

#define _ADC_VOLTAGE_G4 3.3f
#define _ADC_RESOLUTION_G4 4096.0f
Expand Down Expand Up @@ -84,7 +85,9 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
#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;
// 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
}
}
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4 changes: 3 additions & 1 deletion src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,9 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
#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;
// 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
}
}
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198 changes: 176 additions & 22 deletions src/drivers/hardware_specific/stm32/stm32_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,12 @@

#if defined(_STM32_DEF_)

#define SIMPLEFOC_STM32_DEBUG
#pragma message("")
#pragma message("SimpleFOC: compiling for STM32")
#pragma message("")


//#define SIMPLEFOC_STM32_DEBUG

#ifdef SIMPLEFOC_STM32_DEBUG
void printTimerCombination(int numPins, PinMap* timers[], int score);
int getTimerNumber(int timerIndex);
Expand Down Expand Up @@ -204,25 +203,112 @@ void _stopTimers(HardwareTimer **timers_to_stop, int timer_num)
}
}

// align the timers to end the init
void _startTimers(HardwareTimer **timers_to_start, int timer_num)
{
// TODO - sart each timer only once
// sart timers
for (int i=0; i < timer_num; i++) {
if(timers_to_start[i] == NP) return;
timers_to_start[i]->resume();
#ifdef SIMPLEFOC_STM32_DEBUG
SIMPLEFOC_DEBUG("STM32-DRV: Starting timer ", getTimerNumber(get_timer_index(timers_to_start[i]->getHandle()->Instance)));
#endif
}

#if defined(STM32G4xx)
// function finds the appropriate timer source trigger for the master/slave timer combination
// returns -1 if no trigger source is found
// currently supports the master timers to be from TIM1 to TIM4 and TIM8
int _getInternalSourceTrigger(HardwareTimer* master, HardwareTimer* slave) { // put master and slave in temp variables to avoid arrows
TIM_TypeDef *TIM_master = master->getHandle()->Instance;
#if defined(TIM1) && defined(LL_TIM_TS_ITR0)
if (TIM_master == TIM1) return LL_TIM_TS_ITR0;// return TIM_TS_ITR0;
#endif
#if defined(TIM2) && defined(LL_TIM_TS_ITR1)
else if (TIM_master == TIM2) return LL_TIM_TS_ITR1;//return TIM_TS_ITR1;
#endif
#if defined(TIM3) && defined(LL_TIM_TS_ITR2)
else if (TIM_master == TIM3) return LL_TIM_TS_ITR2;//return TIM_TS_ITR2;
#endif
#if defined(TIM4) && defined(LL_TIM_TS_ITR3)
else if (TIM_master == TIM4) return LL_TIM_TS_ITR3;//return TIM_TS_ITR3;
#endif
#if defined(TIM5) && defined(LL_TIM_TS_ITR4)
else if (TIM_master == TIM5) return LL_TIM_TS_ITR4;//return TIM_TS_ITR4;
#endif
#if defined(TIM8) && defined(LL_TIM_TS_ITR5)
else if (TIM_master == TIM8) return LL_TIM_TS_ITR5;//return TIM_TS_ITR5;
#endif
return -1;
}
#elif defined(STM32F4xx) || defined(STM32F1xx) || defined(STM32L4xx)

// function finds the appropriate timer source trigger for the master/slave timer combination
// returns -1 if no trigger source is found
// currently supports the master timers to be from TIM1 to TIM4 and TIM8
int _getInternalSourceTrigger(HardwareTimer* master, HardwareTimer* slave) {
// put master and slave in temp variables to avoid arrows
TIM_TypeDef *TIM_master = master->getHandle()->Instance;
TIM_TypeDef *TIM_slave = slave->getHandle()->Instance;
#if defined(TIM1) && defined(LL_TIM_TS_ITR0)
if (TIM_master == TIM1){
if(TIM_slave == TIM2 || TIM_slave == TIM3 || TIM_slave == TIM4) return LL_TIM_TS_ITR0;
#if defined(TIM8)
else if(TIM_slave == TIM8) return LL_TIM_TS_ITR0;
#endif
}
#endif
#if defined(TIM2) && defined(LL_TIM_TS_ITR1)
else if (TIM_master == TIM2){
if(TIM_slave == TIM1 || TIM_slave == TIM3 || TIM_slave == TIM4) return LL_TIM_TS_ITR1;
#if defined(TIM8)
else if(TIM_slave == TIM8) return LL_TIM_TS_ITR1;
#endif
#if defined(TIM5)
else if(TIM_slave == TIM5) return LL_TIM_TS_ITR0;
#endif
}
#endif
#if defined(TIM3) && defined(LL_TIM_TS_ITR2)
else if (TIM_master == TIM3){
if(TIM_slave== TIM1 || TIM_slave == TIM2 || TIM_slave == TIM4) return LL_TIM_TS_ITR2;
#if defined(TIM5)
else if(TIM_slave == TIM5) return LL_TIM_TS_ITR1;
#endif
}
#endif
#if defined(TIM4) && defined(LL_TIM_TS_ITR3)
else if (TIM_master == TIM4){
if(TIM_slave == TIM1 || TIM_slave == TIM2 || TIM_slave == TIM3) return LL_TIM_TS_ITR3;
#if defined(TIM8)
else if(TIM_slave == TIM8) return LL_TIM_TS_ITR2;
#endif
#if defined(TIM5)
else if(TIM_slave == TIM5) return LL_TIM_TS_ITR1;
#endif
}
#endif
#if defined(TIM5)
else if (TIM_master == TIM5){
#if !defined(STM32L4xx) // only difference between F4,F1 and L4
if(TIM_slave == TIM1) return LL_TIM_TS_ITR0;
else if(TIM_slave == TIM3) return LL_TIM_TS_ITR2;
#endif
#if defined(TIM8)
if(TIM_slave == TIM8) return LL_TIM_TS_ITR3;
#endif
}
#endif
#if defined(TIM8)
else if (TIM_master == TIM8){
if(TIM_slave==TIM2) return LL_TIM_TS_ITR1;
else if(TIM_slave ==TIM4 || TIM_slave ==TIM5) return LL_TIM_TS_ITR3;
}
#endif
return -1; // combination not supported
}
#else
// Alignment not supported for this architecture
int _getInternalSourceTrigger(HardwareTimer* master, HardwareTimer* slave) {
return -1;
}
#endif


void _alignTimersNew() {
int numTimers = 0;
HardwareTimer *timers[numTimerPinsUsed];

// reset timer counters
// find the timers used
for (int i=0; i<numTimerPinsUsed; i++) {
uint32_t index = get_timer_index((TIM_TypeDef*)timerPinsUsed[i]->peripheral);
HardwareTimer *timer = (HardwareTimer *)(HardwareTimer_Handle[index]->__this);
Expand All @@ -237,10 +323,66 @@ void _alignTimersNew() {
timers[numTimers++] = timer;
}

#ifdef SIMPLEFOC_STM32_DEBUG
SIMPLEFOC_DEBUG("STM32-DRV: Syncronising timers! Timer no. ", numTimers);
#endif

// see if there is more then 1 timers used for the pwm
// if yes, try to align timers
if(numTimers > 1){
// find the master timer
int16_t master_index = -1;
int triggerEvent = -1;
for (int i=0; i<numTimers; i++) {
// check if timer can be master
if(IS_TIM_MASTER_INSTANCE(timers[i]->getHandle()->Instance)) {
// check if timer already configured in TRGO update mode (used for ADC triggering)
// in that case we should not change its TRGO configuration
if(timers[i]->getHandle()->Instance->CR2 & LL_TIM_TRGO_UPDATE) continue;
// check if the timer has the supported internal trigger for other timers
for (int slave_i=0; slave_i<numTimers; slave_i++) {
if (i==slave_i) continue; // skip self
// check if it has the supported internal trigger
triggerEvent = _getInternalSourceTrigger(timers[i],timers[slave_i]);
if(triggerEvent == -1) break; // not supported keep searching
}
if(triggerEvent == -1) continue; // cannot be master, keep searching
// otherwise the master has been found, remember the index
master_index = i; // found the master timer
break;
}
}


// if no master timer found do not perform alignment
if (master_index == -1) {
#ifdef SIMPLEFOC_STM32_DEBUG
SIMPLEFOC_DEBUG("STM32-DRV: ERR: No master timer found, cannot align timers!");
#endif
}else{
#ifdef SIMPLEFOC_STM32_DEBUG
SIMPLEFOC_DEBUG("STM32-DRV: Aligning PWM to master timer: ", getTimerNumber(get_timer_index(timers[master_index]->getHandle()->Instance)));
#endif
// make the master timer generate ITRGx event
// if it was already configured in slave mode
LL_TIM_SetSlaveMode(timers[master_index]->getHandle()->Instance, LL_TIM_SLAVEMODE_DISABLED );
// Configure the master timer to send a trigger signal on enable
LL_TIM_SetTriggerOutput(timers[master_index]->getHandle()->Instance, LL_TIM_TRGO_ENABLE);
// configure other timers to get the input trigger from the master timer
for (int slave_index=0; slave_index < numTimers; slave_index++) {
if (slave_index == master_index)
continue;
// Configure the slave timer to be triggered by the master enable signal
LL_TIM_SetTriggerInput(timers[slave_index]->getHandle()->Instance, _getInternalSourceTrigger(timers[master_index], timers[slave_index]));
LL_TIM_SetSlaveMode(timers[slave_index]->getHandle()->Instance, LL_TIM_SLAVEMODE_TRIGGER);
}
}
}

// enable timer clock
for (int i=0; i<numTimers; i++) {
timers[i]->pause();
timers[i]->refresh();
//timers[i]->refresh();
#ifdef SIMPLEFOC_STM32_DEBUG
SIMPLEFOC_DEBUG("STM32-DRV: Restarting timer ", getTimerNumber(get_timer_index(timers[i]->getHandle()->Instance)));
#endif
Expand All @@ -254,6 +396,20 @@ void _alignTimersNew() {



// align the timers to end the init
void _startTimers(HardwareTimer **timers_to_start, int timer_num)
{
// // TODO - start each timer only once
// // start timers
// for (int i=0; i < timer_num; i++) {
// if(timers_to_start[i] == NP) return;
// timers_to_start[i]->resume();
// #ifdef SIMPLEFOC_STM32_DEBUG
// SIMPLEFOC_DEBUG("STM32-DRV: Starting timer ", getTimerNumber(get_timer_index(timers_to_start[i]->getHandle()->Instance)));
// #endif
// }
_alignTimersNew();
}


// configure hardware 6pwm for a complementary pair of channels
Expand Down Expand Up @@ -540,7 +696,7 @@ void* _configure1PWM(long pwm_frequency, const int pinA) {
return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED;

HardwareTimer* HT1 = _initPinPWM(pwm_frequency, pinTimers[0]);\
// allign the timers
// align the timers
_alignTimersNew();

uint32_t channel1 = STM_PIN_CHANNEL(pinTimers[0]->function);
Expand Down Expand Up @@ -598,6 +754,8 @@ void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {



TIM_MasterConfigTypeDef sMasterConfig;
TIM_SlaveConfigTypeDef sSlaveConfig;

// function setting the high pwm frequency to the supplied pins
// - BLDC motor - 3PWM setting
Expand All @@ -620,7 +778,7 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
HardwareTimer* HT1 = _initPinPWM(pwm_frequency, pinTimers[0]);
HardwareTimer* HT2 = _initPinPWM(pwm_frequency, pinTimers[1]);
HardwareTimer* HT3 = _initPinPWM(pwm_frequency, pinTimers[2]);

uint32_t channel1 = STM_PIN_CHANNEL(pinTimers[0]->function);
uint32_t channel2 = STM_PIN_CHANNEL(pinTimers[1]->function);
uint32_t channel3 = STM_PIN_CHANNEL(pinTimers[2]->function);
Expand Down Expand Up @@ -945,8 +1103,4 @@ void printTimerCombination(int numPins, PinMap* timers[], int score) {

#endif





#endif

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