Merge pull request #487 from Moddingear/dev

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

Author: runger1101001

src/common/base_classes/FOCMotor.h

@@ -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

src/communication/Commander.h

@@ -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
 };
 
@@ -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

src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.cpp

@@ -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;
@@ -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;
@@ -126,10 +131,20 @@ 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;
+  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
+  sConfig.SingleDiff = ADC_SINGLE_ENDED;
+  sConfig.OffsetNumber = ADC_OFFSET_NONE;
+  sConfig.Offset = 0;
+  #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!");
@@ -140,7 +155,11 @@ 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;
@@ -153,7 +172,11 @@ 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;
@@ -163,10 +186,14 @@ 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;
@@ -208,7 +235,11 @@ 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;
@@ -221,7 +252,11 @@ 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;
@@ -231,6 +266,20 @@ 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 */
@@ -331,7 +380,7 @@ void HAL_OPAMP_MspDeInit(OPAMP_HandleTypeDef* hopamp)
     PA2     ------> OPAMP1_VOUT
     PA3     ------> OPAMP1_VINM 
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|(GPIO_PIN_2 * OPAMP_USE_INTERNAL_CHANNEL)|GPIO_PIN_3);
 
   /* USER CODE BEGIN OPAMP1_MspDeInit 1 */
 
@@ -348,7 +397,7 @@ void HAL_OPAMP_MspDeInit(OPAMP_HandleTypeDef* hopamp)
     PA6     ------> OPAMP2_VOUT
     PA7     ------> OPAMP2_VINP 
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|(GPIO_PIN_6 * OPAMP_USE_INTERNAL_CHANNEL)|GPIO_PIN_7);
 
   /* USER CODE BEGIN OPAMP2_MspDeInit 1 */
 
@@ -365,7 +414,7 @@ void HAL_OPAMP_MspDeInit(OPAMP_HandleTypeDef* hopamp)
     PB1     ------> OPAMP3_VOUT
     PB2     ------> OPAMP3_VINM 
     */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2);
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0|(GPIO_PIN_1 * OPAMP_USE_INTERNAL_CHANNEL)|GPIO_PIN_2);
 
   /* USER CODE BEGIN OPAMP3_MspDeInit 1 */
 

src/current_sense/hardware_specific/stm32/b_g431/b_g431_hal.h

@@ -13,6 +13,10 @@ 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);
+
+#ifndef OPAMP_USE_INTERNAL_CHANNEL
+    #define OPAMP_USE_INTERNAL_CHANNEL 1
+#endif
 #endif
 
 #endif

src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp

@@ -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;
@@ -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;
 }
 
@@ -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 = OPAMP_USE_INTERNAL_CHANNEL ? ENABLE : DISABLE;
   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;