Skip to content

g431-esc: use internal ADC channels, also fix some typos #487

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: dev
Choose a base branch
from
Open

g431-esc: use internal ADC channels, also fix some typos #487

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/common/base_classes/FOCMotor.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
#define _MON_ANGLE 0b0000001 // monitor angle value

/**
* Motiron control type
* Motion control type
*/
enum MotionControlType : uint8_t {
torque = 0x00, //!< Torque control
Expand Down
4 changes: 2 additions & 2 deletions src/communication/Commander.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
enum VerboseMode : uint8_t {
nothing = 0x00, // display nothing - good for monitoring
on_request = 0x01, // display only on user request
user_friendly = 0x02, // display textual messages to the user
user_friendly = 0x02, // display textual messages to the user
machine_readable = 0x03 // display machine readable commands, matching commands to set each settings
};

Expand Down Expand Up @@ -86,7 +86,7 @@ class Commander
void run(char* user_input);

/**
* Function adding a callback to the coomander withe the command id
* Function adding a callback to the commander with the command id
* @param id - char command letter
* @param onCommand - function pointer void function(char*)
* @param label - string label to be displayed when scan command sent
Expand Down
53 changes: 49 additions & 4 deletions src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,11 @@ void MX_ADC1_Init(ADC_HandleTypeDef* hadc1)
hadc1->Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc1->Init.LowPowerAutoWait = DISABLE;
hadc1->Init.ContinuousConvMode = DISABLE;
#ifdef OPAMP_USE_INTERNAL_CHANNEL
hadc1->Init.NbrOfConversion = 4;
#else
hadc1->Init.NbrOfConversion = 5;
#endif
hadc1->Init.DiscontinuousConvMode = DISABLE;
hadc1->Init.ExternalTrigConv = ADC_EXTERNALTRIG_T1_TRGO;
hadc1->Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
Expand All @@ -114,9 +118,10 @@ void MX_ADC1_Init(ADC_HandleTypeDef* hadc1)
{
SIMPLEFOC_DEBUG("HAL_ADCEx_MultiModeConfigChannel failed!");
}
#ifndef OPAMP_USE_INTERNAL_CHANNEL
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_12; // ADC1_IN12 = PB1 = OP3_OUT
sConfig.Channel = ADC_CHANNEL_12; // ADC1_IN12 = PB1 = OP3_OUT or ADC2_IN18 for internal channel
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
Expand All @@ -126,10 +131,16 @@ void MX_ADC1_Init(ADC_HandleTypeDef* hadc1)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}
#endif
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_3; // ADC1_IN3 = PA2 = OP1_OUT
#ifdef OPAMP_USE_INTERNAL_CHANNEL
sConfig.Channel = ADC_CHANNEL_13; // ADC1_IN3 = PA2 = OP1_OUT or ADC1_IN13 for internal channel
sConfig.Rank = ADC_REGULAR_RANK_1;
#else
sConfig.Channel = ADC_CHANNEL_3; // ADC1_IN3 = PA2 = OP1_OUT or ADC1_IN13 for internal channel
sConfig.Rank = ADC_REGULAR_RANK_2;
#endif
if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
Expand All @@ -140,7 +151,11 @@ void MX_ADC1_Init(ADC_HandleTypeDef* hadc1)
/* Configure Regular Channel (PB12, Potentiometer)
*/
sConfig.Channel = ADC_CHANNEL_11;
#ifdef OPAMP_USE_INTERNAL_CHANNEL
sConfig.Rank = ADC_REGULAR_RANK_2;
#else
sConfig.Rank = ADC_REGULAR_RANK_3;
#endif
sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
Expand All @@ -153,7 +168,11 @@ void MX_ADC1_Init(ADC_HandleTypeDef* hadc1)
/** Configure Regular Channel (PB14, Temperature)
*/
sConfig.Channel = ADC_CHANNEL_5;
#ifdef OPAMP_USE_INTERNAL_CHANNEL
sConfig.Rank = ADC_REGULAR_RANK_3;
#else
sConfig.Rank = ADC_REGULAR_RANK_4;
#endif
sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
Expand All @@ -163,10 +182,14 @@ void MX_ADC1_Init(ADC_HandleTypeDef* hadc1)
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}

/** Configure Regular Channel (PB14, Temperature)
/** Configure Regular Channel (PA0, VBUS)
*/
sConfig.Channel = ADC_CHANNEL_1;
#ifdef OPAMP_USE_INTERNAL_CHANNEL
sConfig.Rank = ADC_REGULAR_RANK_4;
#else
sConfig.Rank = ADC_REGULAR_RANK_5;
#endif
sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
Expand Down Expand Up @@ -208,7 +231,11 @@ void MX_ADC2_Init(ADC_HandleTypeDef* hadc2)
hadc2->Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc2->Init.LowPowerAutoWait = DISABLE;
hadc2->Init.ContinuousConvMode = DISABLE;
#ifdef OPAMP_USE_INTERNAL_CHANNEL
hadc2->Init.NbrOfConversion = 2;
#else
hadc2->Init.NbrOfConversion = 1;
#endif
hadc2->Init.DiscontinuousConvMode = DISABLE;
hadc2->Init.ExternalTrigConv = ADC_EXTERNALTRIG_T1_TRGO;
hadc2->Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
Expand All @@ -221,7 +248,11 @@ void MX_ADC2_Init(ADC_HandleTypeDef* hadc2)
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_3; // ADC2_IN3 = PA6
#ifdef OPAMP_USE_INTERNAL_CHANNEL
sConfig.Channel = ADC_CHANNEL_16; // ADC2_IN3 = PA6 = OP2_OUT or ADC2_IN16 for internal channel
#else
sConfig.Channel = ADC_CHANNEL_3; // ADC2_IN3 = PA6 = OP2_OUT or ADC2_IN16 for internal channel
#endif
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
Expand All @@ -231,6 +262,20 @@ void MX_ADC2_Init(ADC_HandleTypeDef* hadc2)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}
#ifdef OPAMP_USE_INTERNAL_CHANNEL
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_18; // ADC1_IN12 = PB1 = OP3_OUT or ADC2_IN18 for internal channel
sConfig.Rank = ADC_REGULAR_RANK_2;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(hadc2, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}
#endif
/* USER CODE BEGIN ADC2_Init 2 */

/* USER CODE END ADC2_Init 2 */
Expand Down
2 changes: 2 additions & 0 deletions src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@ void MX_ADC2_Init(ADC_HandleTypeDef* hadc2);
void MX_OPAMP1_Init(OPAMP_HandleTypeDef* hopamp);
void MX_OPAMP2_Init(OPAMP_HandleTypeDef* hopamp);
void MX_OPAMP3_Init(OPAMP_HandleTypeDef* hopamp);

#define OPAMP_USE_INTERNAL_CHANNEL
#endif

#endif
60 changes: 44 additions & 16 deletions src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,13 @@

#define _ADC_VOLTAGE 3.3f
#define _ADC_RESOLUTION 4096.0f
#ifdef OPAMP_USE_INTERNAL_CHANNEL
#define ADC_BUF_LEN_1 4
#define ADC_BUF_LEN_2 2
#else
#define ADC_BUF_LEN_1 5
#define ADC_BUF_LEN_2 1
#endif

static ADC_HandleTypeDef hadc1;
static ADC_HandleTypeDef hadc2;
Expand All @@ -39,23 +44,46 @@ Stm32AdcInterruptConfig adc_interrupt_config[5] = {
// function reading an ADC value and returning the read voltage
// As DMA is being used just return the DMA result
float _readADCVoltageLowSide(const int pin, const void* cs_params){
uint32_t raw_adc = 0;
if(pin == PA2) // = ADC1_IN3 = phase U (OP1_OUT) on B-G431B-ESC1
raw_adc = adcBuffer1[1];
else if(pin == PA6) // = ADC2_IN3 = phase V (OP2_OUT) on B-G431B-ESC1
uint32_t raw_adc;
#ifdef OPAMP_USE_INTERNAL_CHANNEL
#define ADC1_OFFSET 0
#else
#define ADC1_OFFSET 1
#endif

switch (pin)
{
case A_OP1_OUT:
case -1:
raw_adc = adcBuffer1[0+ADC1_OFFSET];
break;
case A_OP2_OUT:
case -2:
raw_adc = adcBuffer2[0];
#ifdef PB1
else if(pin == PB1) // = ADC1_IN12 = phase W (OP3_OUT) on B-G431B-ESC1
break;
#ifdef A_OP3_OUT
case A_OP3_OUT:
#endif
case -3:
#ifdef OPAMP_USE_INTERNAL_CHANNEL
raw_adc = adcBuffer2[1];
#else
raw_adc = adcBuffer1[0];
#endif

else if (pin == A_POTENTIOMETER)
raw_adc = adcBuffer1[2];
else if (pin == A_TEMPERATURE)
raw_adc = adcBuffer1[3];
else if (pin == A_VBUS)
raw_adc = adcBuffer1[4];

#endif
break;
case A_POTENTIOMETER:
raw_adc = adcBuffer1[1+ADC1_OFFSET];
break;
case A_TEMPERATURE:
raw_adc = adcBuffer1[2+ADC1_OFFSET];
break;
case A_VBUS:
raw_adc = adcBuffer1[3+ADC1_OFFSET];
break;
default:
raw_adc = 0;
break;
}
return raw_adc * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
}

Expand All @@ -65,7 +93,7 @@ void _configureOPAMP(OPAMP_HandleTypeDef *hopamp, OPAMP_TypeDef *OPAMPx_Def){
hopamp->Init.PowerMode = OPAMP_POWERMODE_HIGHSPEED;
hopamp->Init.Mode = OPAMP_PGA_MODE;
hopamp->Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
hopamp->Init.InternalOutput = DISABLE;
hopamp->Init.InternalOutput = ENABLE;
hopamp->Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp->Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
hopamp->Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
Expand Down