Improve debug logging for B-G431B current sense

Author: sDessens

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

@@ -1,10 +1,13 @@
 #include "../../../hardware_api.h"
 #if defined(ARDUINO_B_G431B_ESC1)
 
+#include "communication/SimpleFOCDebug.h"
+
 #include "stm32g4xx_hal.h"
 #include "stm32g4xx_ll_pwr.h"
 #include "stm32g4xx_hal_adc.h"
 #include "b_g431_hal.h"
+
 // From STM32 cube IDE
 /**
   ******************************************************************************
@@ -101,15 +104,15 @@ void  MX_ADC1_Init(ADC_HandleTypeDef* hadc1)
 
   if (HAL_ADC_Init(hadc1) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("HAL_ADC_Init failed!");
   }
 
   /** Configure the ADC multi-mode 
   */
   multimode.Mode = ADC_MODE_INDEPENDENT;
   if (HAL_ADCEx_MultiModeConfigChannel(hadc1, &multimode) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("HAL_ADCEx_MultiModeConfigChannel failed!");
   }
   /** Configure Regular Channel 
   */
@@ -121,15 +124,15 @@ void  MX_ADC1_Init(ADC_HandleTypeDef* hadc1)
   sConfig.Offset = 0;
   if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
   }
   /** Configure Regular Channel 
   */
   sConfig.Channel = ADC_CHANNEL_3;  // ADC1_IN3 = PA2 = OP1_OUT
   sConfig.Rank = ADC_REGULAR_RANK_2;
   if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
   }
   /* USER CODE BEGIN ADC1_Init 2 */
 
@@ -173,7 +176,7 @@ void MX_ADC2_Init(ADC_HandleTypeDef* hadc2)
 
   if (HAL_ADC_Init(hadc2) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("HAL_ADC_Init failed!");
   }
   /** Configure Regular Channel 
   */
@@ -185,7 +188,7 @@ void MX_ADC2_Init(ADC_HandleTypeDef* hadc2)
   sConfig.Offset = 0;
   if (HAL_ADC_ConfigChannel(hadc2, &sConfig) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
   }
   /* USER CODE BEGIN ADC2_Init 2 */
 

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

@@ -6,6 +6,7 @@
 #include "Arduino.h"
 #include "../stm32_mcu.h"
 #include "../../../../drivers/hardware_specific/stm32_mcu.h"
+#include "communication/SimpleFOCDebug.h"
 
 #define _ADC_VOLTAGE 3.3f
 #define _ADC_RESOLUTION 4096.0f
@@ -21,8 +22,8 @@ static OPAMP_HandleTypeDef hopamp3;
 static DMA_HandleTypeDef hdma_adc1;
 static DMA_HandleTypeDef hdma_adc2;
 
-uint16_t adcBuffer1[ADC_BUF_LEN_1] = {0}; // Buffer for store the results of the ADC conversion
-uint16_t adcBuffer2[ADC_BUF_LEN_2] = {0}; // Buffer for store the results of the ADC conversion
+volatile uint16_t adcBuffer1[ADC_BUF_LEN_1] = {0}; // Buffer for store the results of the ADC conversion
+volatile uint16_t adcBuffer2[ADC_BUF_LEN_2] = {0}; // Buffer for store the results of the ADC conversion
 
 // function reading an ADC value and returning the read voltage
 // As DMA is being used just return the DMA result
@@ -52,7 +53,7 @@ void _configureOPAMP(OPAMP_HandleTypeDef *hopamp, OPAMP_TypeDef *OPAMPx_Def){
   hopamp->Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
   if (HAL_OPAMP_Init(hopamp) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("HAL_OPAMP_Init failed!");
   }
 }
 void _configureOPAMPs(OPAMP_HandleTypeDef *OPAMPA, OPAMP_HandleTypeDef *OPAMPB, OPAMP_HandleTypeDef *OPAMPC){
@@ -75,7 +76,7 @@ void MX_DMA1_Init(ADC_HandleTypeDef *hadc, DMA_HandleTypeDef *hdma_adc, DMA_Chan
   HAL_DMA_DeInit(hdma_adc);
   if (HAL_DMA_Init(hdma_adc) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("HAL_DMA_Init failed!");
   }
   __HAL_LINKDMA(hadc, DMA_Handle, *hdma_adc);
 }
@@ -95,11 +96,11 @@ void* _configureADCInline(const void* driver_params, const int pinA,const int pi
 
   if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adcBuffer1, ADC_BUF_LEN_1) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("DMA read init failed");
   }
   if (HAL_ADC_Start_DMA(&hadc2, (uint32_t*)adcBuffer2, ADC_BUF_LEN_2) != HAL_OK)
   {
-    Error_Handler();
+    SIMPLEFOC_DEBUG("DMA read init failed");
   }
 
   HAL_OPAMP_Start(&hopamp1);
@@ -111,6 +112,7 @@ void* _configureADCInline(const void* driver_params, const int pinA,const int pi
   // the motor pwm (usually BLDCDriver6PWM::init()) before initializing the ADC engine.
   _delay(5);
   if (adcBuffer1[0] == 0 || adcBuffer1[1] == 0 || adcBuffer2[0] == 0) {
+    SIMPLEFOC_DEBUG("Current sense init failed, no DMA?");
     return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
   }