Fix lowside sync lost

src/current_sense/hardware_specific/stm32/stm32_adc_utils.cpp

@@ -1,12 +1,8 @@
 #include "stm32_adc_utils.h"
+#include "stm32_mcu.h"
 
 #if defined(_STM32_DEF_) 
 
-// for searching the best ADCs, we need to know the number of ADCs 
-// it might be better to use some HAL variable for example ADC_COUNT
-// here I've assumed the maximum number of ADCs is 5
-#define ADC_COUNT 5
-
 
 
 int _adcToIndex(ADC_TypeDef *AdcHandle){
@@ -344,4 +340,91 @@ uint32_t _getADCInjectedRank(uint8_t ind){
   }
 }
 
+// returns 0 if no interrupt is needed, 1 if interrupt is needed
+uint32_t _initTimerInterruptDownsampling(Stm32CurrentSenseParams* cs_params, STM32DriverParams* driver_params, Stm32AdcInterruptConfig& adc_interrupt_config){
+
+  // If DIR is 0 (upcounting), the next event is high-side active (PWM rising edge)
+  // If DIR is 1 (downcounting), the next event is low-side active (PWM falling edge)
+  bool next_event_high_side = (cs_params->timer_handle->Instance->CR1 & TIM_CR1_DIR) == 0;
+
+  // if timer has repetition counter - it will downsample using it
+  // and it does not need the software downsample
+  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->Instance) ){
+    // adjust the initial timer state such that the trigger 
+    //   - only necessary for the timers that have repetition counters
+    //   - basically make sure that the next trigger event is the one that is expected (high-side first then low-side)
+
+    // set the direction and the 
+    for(int i=0; i< 6; i++){
+      if(driver_params->timers_handle[i] == NP) continue; // skip if not set
+      if(next_event_high_side){
+        // Set DIR bit to 0 (downcounting)
+        driver_params->timers_handle[i]->Instance->CR1 |= TIM_CR1_DIR;
+        // Set CNT to ARR so it starts upcounting from the top
+        driver_params->timers_handle[i]->Instance->CNT =  driver_params->timers_handle[i]->Instance->ARR;
+      }else{
+        // Set DIR bit to 0 (upcounting)
+        driver_params->timers_handle[i]->Instance->CR1 &= ~TIM_CR1_DIR;
+        // Set CNT to ARR so it starts upcounting from zero
+        driver_params->timers_handle[i]->Instance->CNT = 0;// driver_params->timers_handle[i]->Instance->ARR;
+      }
+    }
+    return 0; // no interrupt is needed, the timer will handle the downsampling
+  }else{
+    if(!adc_interrupt_config.use_adc_interrupt){
+      // If the timer has no repetition counter, it needs to use the interrupt to downsample for low side sensing
+      adc_interrupt_config.use_adc_interrupt = 1;
+      // remember that this timer does not have the repetition counter - need to downasmple
+      adc_interrupt_config.needs_downsample = 1;
+
+      if(next_event_high_side) // Next event is high-side active
+        adc_interrupt_config.tim_downsample = 0; // skip the next interrupt (and every second one)
+      else // Next event is low-side active
+        adc_interrupt_config.tim_downsample = 1; // read the next one (and every second one after)
+
+      return 1; // interrupt is needed
+    }
+  }
+  return 1; // interrupt is needed
+}
+
+// returns 0 if no downsampling is needed, 1 if downsampling is needed, 2 if error
+uint8_t _handleInjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle, Stm32AdcInterruptConfig& adc_interrupt_config, uint32_t adc_val[4]) {
+
+  // if the timer han't repetition counter - downsample two times
+  if( adc_interrupt_config.needs_downsample && adc_interrupt_config.tim_downsample++ > 0) {
+    adc_interrupt_config.tim_downsample = 0;
+    return 1;
+  }
+
+  adc_val[0]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1);
+  adc_val[1]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_2);
+  adc_val[2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);  
+  adc_val[3]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_4);  
+
+  return 0; // no downsampling needed
+}
+
+// reads the ADC injected voltage for the given pin
+// returns the voltage 
+// if the pin is not found in the current sense parameters, returns 0
+float _readADCInjectedChannelVoltage(int pin, void* cs_params, Stm32AdcInterruptConfig& adc_interrupt_config, uint32_t adc_val[4]) {
+  Stm32CurrentSenseParams* cs_p = (Stm32CurrentSenseParams*)cs_params;
+  uint8_t channel_no = 0;
+  uint8_t adc_index = (uint8_t)_adcToIndex(cs_p->adc_handle);
+  for(int i=0; i < 3; i++){
+    if( pin == cs_p->pins[i]){ // found in the buffer
+      if (adc_interrupt_config.use_adc_interrupt){
+        return adc_val[channel_no] * cs_p->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 = _getADCInjectedRank(channel_no);
+        return HAL_ADCEx_InjectedGetValue(cs_p->adc_handle, channel) * cs_p->adc_voltage_conv;
+      }
+    }
+    if(_isset(cs_p->pins[i])) channel_no++;
+  } 
+  return 0; // pin not found
+}
+
 #endif

src/current_sense/hardware_specific/stm32/stm32_adc_utils.h

@@ -7,8 +7,18 @@
 
 #define _TRGO_NOT_AVAILABLE 12345
 
+// for searching the best ADCs, we need to know the number of ADCs 
+// it might be better to use some HAL variable for example ADC_COUNT
+// here I've assumed the maximum number of ADCs is 5
+#define ADC_COUNT 5
+
+
 #include "../../../common/foc_utils.h"
 #include "../../../communication/SimpleFOCDebug.h"
+#include "../../../drivers/hardware_specific/stm32/stm32_mcu.h"
+#include "stm32_mcu.h"
+
+
 
 /* Exported Functions */
 /**
@@ -34,5 +44,22 @@ int _adcToIndex(ADC_TypeDef *AdcHandle);
 int _findIndexOfFirstPinMapADCEntry(int pin);
 int _findIndexOfLastPinMapADCEntry(int pin);
 ADC_TypeDef* _findBestADCForPins(int num_pins, int pins[]);
+
+
+// Structure to hold ADC interrupt configuration per ADC instance
+struct Stm32AdcInterruptConfig {
+  bool needs_downsample = 0;
+  uint8_t tim_downsample = 0;
+  bool use_adc_interrupt = 0;
+};
+
+// returns 0 if no interrupt is needed, 1 if interrupt is needed
+uint32_t _initTimerInterruptDownsampling(Stm32CurrentSenseParams* cs_params, STM32DriverParams* driver_params, Stm32AdcInterruptConfig& adc_interrupt_config);
+// returns 0 if no downsampling is needed, 1 if downsampling is needed, 2 if error
+uint8_t _handleInjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle, Stm32AdcInterruptConfig& adc_interrupt_config, uint32_t adc_val[4]);
+// reads the ADC injected voltage for the given pin
+// returns the voltage 
+// if the pin is not found in the current sense parameters, returns 0
+float _readADCInjectedChannelVoltage(int pin, void* cs_params, Stm32AdcInterruptConfig& adc_interrupt_config, uint32_t adc_val[4]);
 #endif
 #endif

src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp

@@ -13,19 +13,25 @@
 #define _ADC_VOLTAGE_F1 3.3f
 #define _ADC_RESOLUTION_F1 4096.0f
 
-// array of values of 4 injected channels per adc instance (3)
-uint32_t adc_val[3][4]={0};
-// does adc interrupt need a downsample - per adc (3)
-bool needs_downsample[3] = {1};
-// downsampling variable - per adc (3)
-uint8_t tim_downsample[3] = {0};
+// array of values of 4 injected channels per adc instance (5)
+uint32_t adc_val[5][4]={0};
 
 #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
-uint8_t use_adc_interrupt = 1;
+#define USE_ADC_INTERRUPT 1
 #else
-uint8_t use_adc_interrupt = 0;
+#define USE_ADC_INTERRUPT 0
 #endif
 
+// structure containing the configuration of the adc interrupt
+Stm32AdcInterruptConfig adc_interrupt_config[5] = {
+  {0, 0, USE_ADC_INTERRUPT}, // ADC1
+  {0, 0, USE_ADC_INTERRUPT}, // ADC2
+  {0, 0, USE_ADC_INTERRUPT}, // ADC3
+  {0, 0, USE_ADC_INTERRUPT}, // ADC4
+  {0, 0, USE_ADC_INTERRUPT}  // ADC5
+};
+
+
 void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){
 
   Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams {
@@ -48,34 +54,23 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   // stop all the timers for the driver
   stm32_pause(driver_params);
 
-  // if timer has repetition counter - it will downsample using it
-  // and it does not need the software downsample
-  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->Instance) ){
-    // adjust the initial timer state such that the trigger 
-    //   - for DMA transfer aligns with the pwm peaks instead of throughs.
-    //   - for interrupt based ADC transfer 
-    //   - only necessary for the timers that have repetition counters
-    cs_params->timer_handle->Instance->CR1 |= TIM_CR1_DIR;
-    cs_params->timer_handle->Instance->CNT =  cs_params->timer_handle->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
-    }
+  // get the index of the adc
+  int adc_index = _adcToIndex(cs_params->adc_handle);
+
+  bool tim_interrupt = _initTimerInterruptDownsampling(cs_params, driver_params, adc_interrupt_config[adc_index]);
+  if(tim_interrupt) {
+  // error in the timer interrupt initialization
+    SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt has to be used");
   }
+
   // set the trigger output event
   LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);
 
   // Start the adc calibration
   HAL_ADCEx_Calibration_Start(cs_params->adc_handle);
 
   // start the adc 
-  if(use_adc_interrupt){
+  if(adc_interrupt_config[adc_index].use_adc_interrupt){
     HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
 
@@ -97,37 +92,16 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
 
 // function reading an ADC value and returning the read voltage
 float _readADCVoltageLowSide(const int pin, const void* cs_params){
-  uint8_t channel_no = 0;
-  for(int i=0; i < 3; i++){
-    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
-      if (use_adc_interrupt){
-        return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][channel_no] * ((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 = _getADCInjectedRank(channel_no);
-        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
-      }
-    }
-    if(_isset(((Stm32CurrentSenseParams*)cs_params)->pins[i])) channel_no++;
-  } 
-  return 0;
+  uint8_t adc_index = (uint8_t)_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle);
+  return _readADCInjectedChannelVoltage(pin, (void*)cs_params, adc_interrupt_config[adc_index], adc_val[adc_index]); 
 }
 
 extern "C" {
   void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
-    // calculate the instance
-    int adc_index = _adcToIndex(AdcHandle);
-
-    // if the timer han't repetition counter - downsample two times
-    if( needs_downsample[adc_index] && tim_downsample[adc_index]++ > 0) {
-      tim_downsample[adc_index] = 0;
-      return;
-    }
-
-    adc_val[adc_index][0]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1);
-    adc_val[adc_index][1]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_2);
-    adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);
+    uint8_t adc_index = (uint8_t)_adcToIndex(AdcHandle);
+    _handleInjectedConvCpltCallback(AdcHandle, adc_interrupt_config[adc_index], adc_val[adc_index]);
   }
 }
 
+
 #endif

src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp

@@ -14,20 +14,24 @@
 #define _ADC_VOLTAGE_F4 3.3f
 #define _ADC_RESOLUTION_F4 4096.0f
 
-
-// array of values of 4 injected channels per adc instance (3)
-uint32_t adc_val[3][4]={0};
-// does adc interrupt need a downsample - per adc (3)
-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;
+#define USE_ADC_INTERRUPT 1
 #else
-uint8_t use_adc_interrupt = 0;
+#define USE_ADC_INTERRUPT 0
 #endif
 
+// array of values of 4 injected channels per adc instance (5)
+uint32_t adc_val[5][4]={0};
+
+// structure containing the configuration of the adc interrupt
+Stm32AdcInterruptConfig adc_interrupt_config[5] = {
+  {0, 0, USE_ADC_INTERRUPT}, // ADC1
+  {0, 0, USE_ADC_INTERRUPT}, // ADC2
+  {0, 0, USE_ADC_INTERRUPT}, // ADC3
+  {0, 0, USE_ADC_INTERRUPT}, // ADC4
+  {0, 0, USE_ADC_INTERRUPT}  // ADC5
+};
+
 void* _configureADCLowSide(const void* driver_params, const int pinA, const int pinB, const int pinC){
 
   Stm32CurrentSenseParams* cs_params= new Stm32CurrentSenseParams {
@@ -50,31 +54,20 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   // stop all the timers for the driver
   stm32_pause(driver_params);
 
-  // if timer has repetition counter - it will downsample using it
-  // and it does not need the software downsample
-  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->Instance) ){
-    // adjust the initial timer state such that the trigger 
-    //   - for DMA transfer aligns with the pwm peaks instead of throughs.
-    //   - for interrupt based ADC transfer 
-    //   - only necessary for the timers that have repetition counters
-    cs_params->timer_handle->Instance->CR1 |= TIM_CR1_DIR;
-    cs_params->timer_handle->Instance->CNT =  cs_params->timer_handle->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
+  // get the index of the adc
+  int adc_index = _adcToIndex(cs_params->adc_handle);
+
+  bool tim_interrupt = _initTimerInterruptDownsampling(cs_params, driver_params, adc_interrupt_config[adc_index]);
+  if(tim_interrupt) {
+  // error in the timer interrupt initialization
     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->Instance, LL_TIM_TRGO_UPDATE);
 
   // start the adc
-  if (use_adc_interrupt){
+  if (adc_interrupt_config[adc_index].use_adc_interrupt){
     // enable interrupt
     HAL_NVIC_SetPriority(ADC_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(ADC_IRQn);
@@ -96,36 +89,14 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
 
 // function reading an ADC value and returning the read voltage
 float _readADCVoltageLowSide(const int pin, const void* cs_params){
-  uint8_t channel_no = 0;
-  for(int i=0; i < 3; i++){
-    if( pin == ((Stm32CurrentSenseParams*)cs_params)->pins[i]){ // found in the buffer
-      if (use_adc_interrupt){
-        return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][channel_no] * ((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 = _getADCInjectedRank(channel_no);
-        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
-      }
-    }
-    if(_isset(((Stm32CurrentSenseParams*)cs_params)->pins[i])) channel_no++;
-  } 
-  return 0;
+  uint8_t adc_index = (uint8_t)_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle);
+  return _readADCInjectedChannelVoltage(pin, (void*)cs_params, adc_interrupt_config[adc_index], adc_val[adc_index]); 
 }
 
 extern "C" {
   void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *AdcHandle){
-    // calculate the instance
-    int adc_index = _adcToIndex(AdcHandle);
-
-    // if the timer han't repetition counter - downsample two times
-    if( needs_downsample[adc_index] && tim_downsample[adc_index]++ > 0) {
-      tim_downsample[adc_index] = 0;
-      return;
-    }
-
-    adc_val[adc_index][0]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1);
-    adc_val[adc_index][1]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_2);
-    adc_val[adc_index][2]=HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_3);    
+    uint8_t adc_index = (uint8_t)_adcToIndex(AdcHandle);
+    _handleInjectedConvCpltCallback(AdcHandle, adc_interrupt_config[adc_index], adc_val[adc_index]);
   }
 }