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STM32 HAL-only PWM driver #430

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STM32 HAL-only PWM driver #430

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c28ad9d
fix for MagneticSensorI2C uses incorrect bit mask calculation #402402
runger1101001 Jun 10, 2024
87ea185
Merge branch 'simplefoc:dev' into dev
runger1101001 Jun 22, 2024
9281dce
Merge branch 'dev' of https://github.com/simplefoc/Arduino-FOC into dev
runger1101001 Jun 23, 2024
4395c22
Merge remote-tracking branch 'simplefoc/dev' into dev
runger1101001 Jul 21, 2024
1d1c5dd
HAL / LL only PWM driver
runger1101001 Aug 24, 2024
5569f73
update l4 current sense to new API
runger1101001 Aug 30, 2024
3d26880
change target to include all the mbed STM32H7s
runger1101001 Aug 30, 2024
afa8e3d
fix STM32F1 current sense
runger1101001 Aug 30, 2024
8102189
fix B-G431-ESC1 current sense driver
runger1101001 Aug 30, 2024
cd79e01
now working on Portenta H7
runger1101001 Aug 30, 2024
d688fcc
fix current sense for stm32f7 MCUs
runger1101001 Aug 30, 2024
e535bba
fix for software 6-PWM low side polarity
runger1101001 Aug 31, 2024
4d8fa4a
add comments for triggers
runger1101001 Oct 3, 2024
6473a17
add ability to reserve timers so they don't get used for motors
runger1101001 Nov 7, 2024
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14 changes: 7 additions & 7 deletions src/current_sense/hardware_specific/stm32/b_g431/b_g431_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,7 +132,7 @@ void* _configureADCLowSide(const void* driver_params, const int pinA,const int p
Stm32CurrentSenseParams* params = new Stm32CurrentSenseParams {
.pins = { pinA, pinB, pinC },
.adc_voltage_conv = (_ADC_VOLTAGE) / (_ADC_RESOLUTION),
.timer_handle = (HardwareTimer *)(HardwareTimer_Handle[get_timer_index(TIM1)]->__this)
.timer_handle = ((STM32DriverParams*)driver_params)->timers_handle[0],
};

return params;
Expand All @@ -153,21 +153,21 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params;

// stop all the timers for the driver
_stopTimers(driver_params->timers, 6);
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->getHandle()->Instance) ){
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.
// only necessary for the timers that have repetition counters
cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
cs_params->timer_handle->Instance->CR1 |= TIM_CR1_DIR;
cs_params->timer_handle->Instance->CNT = cs_params->timer_handle->Instance->ARR;
}
// set the trigger output event
LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);

// restart all the timers of the driver
_startTimers(driver_params->timers, 6);
stm32_resume(driver_params);

// return the cs parameters
// successfully initialized
Expand Down
2 changes: 1 addition & 1 deletion src/current_sense/hardware_specific/stm32/stm32_mcu.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ typedef struct Stm32CurrentSenseParams {
int pins[3] = {(int)NOT_SET};
float adc_voltage_conv;
ADC_HandleTypeDef* adc_handle = NP;
HardwareTimer* timer_handle = NP;
TIM_HandleTypeDef* timer_handle = NP;
} Stm32CurrentSenseParams;

#endif
Expand Down
24 changes: 12 additions & 12 deletions src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_hal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,19 +7,19 @@

// timer to injected TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h#L215
uint32_t _timerToInjectedTRGO(HardwareTimer* timer){
if(timer->getHandle()->Instance == TIM1)
uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
if(timer->Instance == TIM1)
return ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
#ifdef TIM2 // if defined timer 2
else if(timer->getHandle()->Instance == TIM2)
else if(timer->Instance == TIM2)
return ADC_EXTERNALTRIGINJECCONV_T2_TRGO;
#endif
#ifdef TIM4 // if defined timer 4
else if(timer->getHandle()->Instance == TIM4)
else if(timer->Instance == TIM4)
return ADC_EXTERNALTRIGINJECCONV_T4_TRGO;
#endif
#ifdef TIM5 // if defined timer 5
else if(timer->getHandle()->Instance == TIM5)
else if(timer->Instance == TIM5)
return ADC_EXTERNALTRIGINJECCONV_T5_TRGO;
#endif
else
Expand All @@ -28,11 +28,11 @@ uint32_t _timerToInjectedTRGO(HardwareTimer* timer){

// timer to regular TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h#L215
uint32_t _timerToRegularTRGO(HardwareTimer* timer){
if(timer->getHandle()->Instance == TIM3)
uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer){
if(timer->Instance == TIM3)
return ADC_EXTERNALTRIGCONV_T3_TRGO;
#ifdef TIM8 // if defined timer 8
else if(timer->getHandle()->Instance == TIM8)
else if(timer->Instance == TIM8)
return ADC_EXTERNALTRIGCONV_T8_TRGO;
#endif
else
Expand Down Expand Up @@ -82,16 +82,16 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive

// automating TRGO flag finding - hardware specific
uint8_t tim_num = 0;
while(driver_params->timers[tim_num] != NP && tim_num < 6){
uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers[tim_num++]);
while(driver_params->timers_handle[tim_num] != NP && tim_num < 6){
uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers_handle[tim_num++]);
if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels

// if the code comes here, it has found the timer available
// timer does have trgo flag for injected channels
sConfigInjected.ExternalTrigInjecConv = trigger_flag;

// this will be the timer with which the ADC will sync
cs_params->timer_handle = driver_params->timers[tim_num-1];
cs_params->timer_handle = driver_params->timers_handle[tim_num-1];
// done
break;
}
Expand All @@ -105,7 +105,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
// display which timer is being used
#ifdef SIMPLEFOC_STM32_DEBUG
// it would be better to use the getTimerNumber from driver
SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->getHandle()->Instance) + 1);
SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->Instance) + 1);
#endif

// first channel
Expand Down
12 changes: 6 additions & 6 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 @@ -56,17 +56,17 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;

// stop all the timers for the driver
_stopTimers(driver_params->timers, 6);
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->getHandle()->Instance) ){
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->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
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{
Expand All @@ -79,7 +79,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
}
}
// set the trigger output event
LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);

// Start the adc calibration
HAL_ADCEx_Calibration_Start(cs_params->adc_handle);
Expand All @@ -96,7 +96,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){


// restart all the timers of the driver
_startTimers(driver_params->timers, 6);
stm32_resume(driver_params);

// return the cs parameters
// successfully initialized
Expand Down
8 changes: 4 additions & 4 deletions src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,16 +76,16 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive

// automating TRGO flag finding - hardware specific
uint8_t tim_num = 0;
while(driver_params->timers[tim_num] != NP && tim_num < 6){
uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers[tim_num++]);
while(driver_params->timers_handle[tim_num] != NP && tim_num < 6){
uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers_handle[tim_num++]);
if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels

// if the code comes here, it has found the timer available
// timer does have trgo flag for injected channels
sConfigInjected.ExternalTrigInjecConv = trigger_flag;

// this will be the timer with which the ADC will sync
cs_params->timer_handle = driver_params->timers[tim_num-1];
cs_params->timer_handle = driver_params->timers_handle[tim_num-1];
// done
break;
}
Expand All @@ -99,7 +99,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
// display which timer is being used
#ifdef SIMPLEFOC_STM32_DEBUG
// it would be better to use the getTimerNumber from driver
SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->getHandle()->Instance) + 1);
SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->Instance) + 1);
#endif


Expand Down
12 changes: 6 additions & 6 deletions 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 @@ -48,17 +48,17 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;

// stop all the timers for the driver
_stopTimers(driver_params->timers, 6);
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->getHandle()->Instance) ){
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->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
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{
Expand All @@ -71,7 +71,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
}
}
// set the trigger output event
LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);

// start the adc
if (use_adc_interrupt){
Expand All @@ -85,7 +85,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
}

// restart all the timers of the driver
_startTimers(driver_params->timers, 6);
stm32_resume(driver_params);

// return the cs parameters
// successfully initialized
Expand Down
18 changes: 9 additions & 9 deletions src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.cpp
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Expand Up @@ -133,19 +133,19 @@ uint32_t _getADCChannel(PinName pin)

// timer to injected TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179
uint32_t _timerToInjectedTRGO(HardwareTimer* timer){
if(timer->getHandle()->Instance == TIM1)
uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
if(timer->Instance == TIM1)
return ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
#ifdef TIM2 // if defined timer 2
else if(timer->getHandle()->Instance == TIM2)
else if(timer->Instance == TIM2)
return ADC_EXTERNALTRIGINJECCONV_T2_TRGO;
#endif
#ifdef TIM4 // if defined timer 4
else if(timer->getHandle()->Instance == TIM4)
else if(timer->Instance == TIM4)
return ADC_EXTERNALTRIGINJECCONV_T4_TRGO;
#endif
#ifdef TIM5 // if defined timer 5
else if(timer->getHandle()->Instance == TIM5)
else if(timer->Instance == TIM5)
return ADC_EXTERNALTRIGINJECCONV_T5_TRGO;
#endif
else
Expand All @@ -154,15 +154,15 @@ uint32_t _timerToInjectedTRGO(HardwareTimer* timer){

// timer to regular TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331
uint32_t _timerToRegularTRGO(HardwareTimer* timer){
if(timer->getHandle()->Instance == TIM2)
uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer){
if(timer->Instance == TIM2)
return ADC_EXTERNALTRIGCONV_T2_TRGO;
#ifdef TIM3 // if defined timer 3
else if(timer->getHandle()->Instance == TIM3)
else if(timer->Instance == TIM3)
return ADC_EXTERNALTRIGCONV_T3_TRGO;
#endif
#ifdef TIM8 // if defined timer 8
else if(timer->getHandle()->Instance == TIM8)
else if(timer->Instance == TIM8)
return ADC_EXTERNALTRIGCONV_T8_TRGO;
#endif
else
Expand Down
4 changes: 2 additions & 2 deletions src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.h
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Expand Up @@ -19,11 +19,11 @@ uint32_t _getADCChannel(PinName pin);

// timer to injected TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179
uint32_t _timerToInjectedTRGO(HardwareTimer* timer);
uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer);

// timer to regular TRGO
// https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331
uint32_t _timerToRegularTRGO(HardwareTimer* timer);
uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer);

// function returning index of the ADC instance
int _adcToIndex(ADC_HandleTypeDef *AdcHandle);
Expand Down
6 changes: 3 additions & 3 deletions src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_hal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,8 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
// automating TRGO flag finding - hardware specific
uint8_t tim_num = 0;
for (size_t i=0; i<6; i++) {
HardwareTimer *timer_to_check = driver_params->timers[tim_num++];
TIM_TypeDef *instance_to_check = timer_to_check->getHandle()->Instance;
TIM_HandleTypeDef *timer_to_check = driver_params->timers_handle[tim_num++];
TIM_TypeDef *instance_to_check = timer_to_check->Instance;

// bool TRGO_already_configured = instance_to_check->CR2 & LL_TIM_TRGO_UPDATE;
// if(TRGO_already_configured) continue;
Expand Down Expand Up @@ -110,7 +110,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
// display which timer is being used
#ifdef SIMPLEFOC_STM32_DEBUG
// it would be better to use the getTimerNumber from driver
SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->getHandle()->Instance) + 1);
SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->Instance) + 1);
#endif


Expand Down
12 changes: 6 additions & 6 deletions src/current_sense/hardware_specific/stm32/stm32f7/stm32f7_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,23 +42,23 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;

// stop all the timers for the driver
_stopTimers(driver_params->timers, 6);
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->getHandle()->Instance) ){
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->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
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;
}
// set the trigger output event
LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);

// start the adc
#ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
Expand All @@ -68,7 +68,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
#endif

// restart all the timers of the driver
_startTimers(driver_params->timers, 6);
stm32_resume(driver_params);

// return the cs parameters
// successfully initialized
Expand Down
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