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The board amcbldc upgrades its low level HW motor driver (#355)
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@marcoaccame
marcoaccame authored Mar 31, 2023
1 parent b845e3a commit af7c9dd
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Showing 41 changed files with 5,988 additions and 4,691 deletions.
627 changes: 192 additions & 435 deletions emBODY/eBcode/arch-arm/board/amcbldc/application/proj/amcbldc-application.uvoptx
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2,645 changes: 464 additions & 2,181 deletions emBODY/eBcode/arch-arm/board/amcbldc/application/proj/amcbldc-application.uvprojx
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11 changes: 9 additions & 2 deletions emBODY/eBcode/arch-arm/board/amcbldc/application/src/amcbldc-main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,16 @@
// --------------------------------------------------------------------------------------------------------------------
// config start

constexpr uint8_t minor =
#if defined(STM32HAL_DRIVER_V120)
1;
#else
2;
#endif

constexpr embot::app::theCANboardInfo::applicationInfo applInfo
{
embot::prot::can::versionOfAPPLICATION {1, 0, 10},
{
embot::prot::can::versionOfAPPLICATION {1, minor, 11},
embot::prot::can::versionOfCANPROTOCOL {2, 0}
};

Expand Down
224 changes: 181 additions & 43 deletions emBODY/eBcode/arch-arm/board/amcbldc/application/src/motorhal/analog.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@

#include "pwm.h"

#if !defined(HALCONFIG_DONTUSE_FLASH)
#if !defined(MOTORHALCONFIG_DONTUSE_FLASH)
#include "flash.h"
#endif

Expand Down Expand Up @@ -161,12 +161,30 @@ static uint32_t k_vref = 4096 * VREFINT_NOM / mVolt;
/* Measured VREF in mV. Equal to VCC */
static uint16_t vref_mV = VREF_NOM / mVolt;

#if defined(MOTORHAL_changes) && defined(MOTORHALCONFIG_DONTUSE_CURR_FILTERING)
//#warning removed filters as each one uses 8+(4*ANALOG_AVG_FILTER_LENGTH) = 520 bytes of RAM (or 4104 if ANALOG_AVG_FILTER_LENGTH = 1024)
#endif
/* Average filters for current measurements */
static analogAvgFilterTypeDef cinFilter;
static analogAvgFilterTypeDef cph1Filter;
static analogAvgFilterTypeDef cph2Filter;
static analogAvgFilterTypeDef cph3Filter;



#if defined(MOTORHAL_changes)

// --------------------------------------------------------------------------------------------------------------------
// add in here all the new types, variables, static function prototypes required by MOTORHAL
// --------------------------------------------------------------------------------------------------------------------

static volatile int32_t s_analog_rawCph1 = 0;
static volatile int32_t s_analog_rawCph2 = 0;
static volatile int32_t s_analog_rawCph3 = 0;
static volatile int32_t s_analog_raw_cinput = 0;

#endif // #if defined(MOTORHAL_changes)

/* Public variables ***************************************************************************************************/


Expand All @@ -185,12 +203,6 @@ static int32_t analogMovingAverage(analogAvgFilterTypeDef *filter, int32_t sampl
return filter->avg;
}

void analogMovingAverage(int16_t i1, int16_t i2, int16_t i3)
{
analogMovingAverage(&cph1Filter, i1);
analogMovingAverage(&cph2Filter, i2);
analogMovingAverage(&cph3Filter, i3);
}

/* Callback functions *************************************************************************************************/

Expand All @@ -201,9 +213,18 @@ void analogMovingAverage(int16_t i1, int16_t i2, int16_t i3)
*/
static void adc1_TransferComplete_cb(ADC_HandleTypeDef *hadc)
{
#if defined(MOTORHAL_changes)
if (0 != adc1_Buffer.vref) vref_mV = (k_vref + (adc1_Buffer.vref>>1))/adc1_Buffer.vref;
else vref_mV = VREF_NOM / mVolt;
s_analog_raw_cinput = adc1_Buffer.cin;
#if !defined(MOTORHALCONFIG_DONTUSE_RUNTIMECURR_FILTERING)
analogMovingAverage(&cinFilter, adc1_Buffer.cin);
#endif
#else
if (0 != adc1_Buffer.vref) vref_mV = (k_vref + (adc1_Buffer.vref>>1))/adc1_Buffer.vref;
else vref_mV = VREF_NOM / mVolt;
analogMovingAverage(&cinFilter, adc1_Buffer.cin);
#endif
}

/*******************************************************************************************************************//**
Expand All @@ -213,10 +234,22 @@ static void adc1_TransferComplete_cb(ADC_HandleTypeDef *hadc)
*/
static void adc2_HalfTransferComplete_cb(ADC_HandleTypeDef *hadc)
{
#if defined(MOTORHAL_changes)
s_analog_rawCph1 = adc2_Buffer[0].cph1;
s_analog_rawCph2 = adc2_Buffer[0].cph2;
s_analog_rawCph3 = adc2_Buffer[0].cph3;
pwmSetCurrents_cb(adc2_Buffer[0].cph1, adc2_Buffer[0].cph2, adc2_Buffer[0].cph3);
#if !defined(MOTORHALCONFIG_DONTUSE_RUNTIMECURR_FILTERING)
analogMovingAverage(&cph1Filter, s_analog_rawCph1);
analogMovingAverage(&cph2Filter, s_analog_rawCph2);
analogMovingAverage(&cph3Filter, s_analog_rawCph3);
#endif
#else
pwmSetCurrents_cb(adc2_Buffer[0].cph1, adc2_Buffer[0].cph2, adc2_Buffer[0].cph3);
//analogMovingAverage(&cph1Filter, adc2_Buffer[0].cph1);
//analogMovingAverage(&cph2Filter, adc2_Buffer[0].cph2);
//analogMovingAverage(&cph3Filter, adc2_Buffer[0].cph3);
analogMovingAverage(&cph1Filter, adc2_Buffer[0].cph1);
analogMovingAverage(&cph2Filter, adc2_Buffer[0].cph2);
analogMovingAverage(&cph3Filter, adc2_Buffer[0].cph3);
#endif
}

/*******************************************************************************************************************//**
Expand All @@ -226,10 +259,22 @@ static void adc2_HalfTransferComplete_cb(ADC_HandleTypeDef *hadc)
*/
static void adc2_TransferComplete_cb(ADC_HandleTypeDef *hadc)
{
#if defined(MOTORHAL_changes)
s_analog_rawCph1 = adc2_Buffer[1].cph1;
s_analog_rawCph2 = adc2_Buffer[1].cph2;
s_analog_rawCph3 = adc2_Buffer[1].cph3;
pwmSetCurrents_cb(adc2_Buffer[0].cph1, adc2_Buffer[1].cph2, adc2_Buffer[1].cph3);
#if !defined(MOTORHALCONFIG_DONTUSE_RUNTIMECURR_FILTERING)
analogMovingAverage(&cph1Filter, s_analog_rawCph1);
analogMovingAverage(&cph2Filter, s_analog_rawCph2);
analogMovingAverage(&cph3Filter, s_analog_rawCph3);
#endif
#else
pwmSetCurrents_cb(adc2_Buffer[1].cph1, adc2_Buffer[1].cph2, adc2_Buffer[1].cph3);
//analogMovingAverage(&cph1Filter, adc2_Buffer[1].cph1);
//analogMovingAverage(&cph2Filter, adc2_Buffer[1].cph2);
//analogMovingAverage(&cph3Filter, adc2_Buffer[1].cph3);
analogMovingAverage(&cph1Filter, adc2_Buffer[1].cph1);
analogMovingAverage(&cph2Filter, adc2_Buffer[1].cph2);
analogMovingAverage(&cph3Filter, adc2_Buffer[1].cph3);
#endif
}


Expand Down Expand Up @@ -305,8 +350,17 @@ uint32_t analogVph3(void)
*/
int32_t analogCin(void)
{
#if defined(MOTORHAL_changes)
#if !defined(MOTORHALCONFIG_DONTUSE_RUNTIMECURR_FILTERING)
int32_t raw = cinFilter.avg >> ANALOG_AVG_FILTER_SHIFT;
#else
int32_t raw = s_analog_raw_cinput;
#endif
return CIN_GAIN * vref_mV * raw >> 16u;
#else
int32_t raw = cinFilter.avg >> ANALOG_AVG_FILTER_SHIFT;
return CIN_GAIN * vref_mV * raw >> 16u;
#endif
}

/*******************************************************************************************************************//**
Expand All @@ -316,9 +370,18 @@ int32_t analogCin(void)
*/
int32_t analogCph1(void)
{
//int32_t raw = cph1Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
//return CIN_GAIN * vref_mV * raw >> 16u;
return cph1Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
#if defined(MOTORHAL_changes)
#if !defined(MOTORHALCONFIG_DONTUSE_RUNTIMECURR_FILTERING)
int32_t raw = cph1Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
#else
int32_t raw = s_analog_rawCph1;
#endif
return CIN_GAIN * vref_mV * raw >> 16u;
// note that the above is: return analogConvertCurrent(analog_RawCph1());
#else
int32_t raw = cph1Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
return CIN_GAIN * vref_mV * raw >> 16u;
#endif
}

/*******************************************************************************************************************//**
Expand All @@ -328,14 +391,18 @@ int32_t analogCph1(void)
*/
int32_t analogCph2(void)
{
//int32_t raw = cph2Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
//return CIN_GAIN * vref_mV * raw >> 16u;
return cph2Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
}

int16_t raw2mAmps(int16_t raw)
{
return CIN_GAIN * vref_mV * raw >> 16u;
#if defined(MOTORHAL_changes)
#if !defined(MOTORHALCONFIG_DONTUSE_RUNTIMECURR_FILTERING)
int32_t raw = cph2Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
#else
int32_t raw = s_analog_rawCph2;
#endif
return CIN_GAIN * vref_mV * raw >> 16u;
// note that the above is: return analogConvertCurrent(analog_RawCph2());
#else
int32_t raw = cph2Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
return CIN_GAIN * vref_mV * raw >> 16u;
#endif
}

/*******************************************************************************************************************//**
Expand All @@ -345,11 +412,26 @@ int16_t raw2mAmps(int16_t raw)
*/
int32_t analogCph3(void)
{
//int32_t raw = cph3Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
//return CIN_GAIN * vref_mV * raw >> 16u;
return cph3Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
#if defined(MOTORHAL_changes)
#if !defined(MOTORHALCONFIG_DONTUSE_RUNTIMECURR_FILTERING)
int32_t raw = cph3Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
#else
int32_t raw = s_analog_rawCph3;
#endif
return CIN_GAIN * vref_mV * raw >> 16u;
// note that the above is: return analogConvertCurrent(analog_RawCph3());
#else
int32_t raw = cph3Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
return CIN_GAIN * vref_mV * raw >> 16u;
#endif
}

#if defined(MOTORHAL_changes)
#warning BEWARE: read the note
// note: analogGetOffsetIin() etc will very likely treat raw values of current, not mA ...
// because they manage settings proper of the ADC w/out the conversion (CIN_GAIN * vref_mV * raw >> 16u)
#endif

/*******************************************************************************************************************//**
* @brief Read the offset value of the Iin sensor
* @param void
Expand Down Expand Up @@ -443,9 +525,6 @@ int32_t analogSetOffsetIph3(int32_t offs)
* @param
* @return
*/

#undef MainConf

HAL_StatusTypeDef analogInit(void)
{
HAL_StatusTypeDef result = HAL_ERROR;
Expand Down Expand Up @@ -493,8 +572,14 @@ HAL_StatusTypeDef analogInit(void)
__HAL_DMA_ENABLE_IT(hadc1.DMA_Handle, DMA_IT_TC);
__HAL_DMA_ENABLE_IT(hadc2.DMA_Handle, DMA_IT_TC);
/* Enable the ADC in DMA mode */
#if defined(MOTORHAL_changes)
// applied proper cast + () around sizeof() to prevent errors and warnings
if ((HAL_OK == HAL_ADC_Start_DMA(&hadc1, (uint32_t *)&adc1_Buffer, sizeof(adc1_Buffer)/(sizeof(uint16_t)))) &&
(HAL_OK == HAL_ADC_Start_DMA(&hadc2, (uint32_t *)&adc2_Buffer, sizeof(adc2_Buffer)/(sizeof(uint16_t)))))
#else
if ((HAL_OK == HAL_ADC_Start_DMA(&hadc1, (void *)&adc1_Buffer, sizeof(adc1_Buffer)/sizeof(uint16_t))) &&
(HAL_OK == HAL_ADC_Start_DMA(&hadc2, (void *)&adc2_Buffer, sizeof(adc2_Buffer)/sizeof(uint16_t))))
#endif
{
/* DMA is running now */
result = HAL_OK;
Expand All @@ -505,19 +590,10 @@ HAL_StatusTypeDef analogInit(void)
return result;
}

HAL_StatusTypeDef analogDeinit(void)
{
/* Stop any ADC operation */
HAL_ADC_Stop_DMA(&hadc1);
HAL_ADC_Stop_DMA(&hadc2);

/* uncalibrate ADCs */
MainConf.analog.cinOffs = 0;

return HAL_OK;
}

#if defined(HALCONFIG_DONTUSE_TESTS)

#if defined(MOTORHALCONFIG_DONTUSE_TESTS)
void analogTest(void) {}
#else

/*******************************************************************************************************************//**
Expand Down Expand Up @@ -685,6 +761,68 @@ void analogTest(void)
}
}

#endif // HALCONFIG_DONTUSE_TESTS
#endif // MOTORHALCONFIG_DONTUSE_TESTS



#if defined(MOTORHAL_changes)

// --------------------------------------------------------------------------------------------------------------------
// add in here all the new functions required by MOTORHAL
// --------------------------------------------------------------------------------------------------------------------



HAL_StatusTypeDef analog_Deinit(void)
{
/* Stop any ADC operation */
HAL_ADC_Stop_DMA(&hadc1);
HAL_ADC_Stop_DMA(&hadc2);

/* uncalibrate ADCs */
MainConf.analog.cinOffs = 0;

return HAL_OK;
}


//void analog_GetRawCurrentPhases(int32_t *pi1, int32_t *pi2, int32_t *pi3)
//{
// if((NULL != pi1) && (NULL != pi2) && (NULL != pi3))
// {
// *pi1 = cph1Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
// *pi2 = cph2Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
// *pi3 = cph3Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
// }
//}

int32_t analog_RawCph1(void)
{
return cph1Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
}

int32_t analog_RawCph2(void)
{
return cph2Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
}

int32_t analog_RawCph3(void)
{
return cph3Filter.avg >> ANALOG_AVG_FILTER_SHIFT;
}

//int32_t analog_raw2mAmps(int32_t raw)
//{
// return analogConvertCurrent(raw);
//}

void analog_MovingAverage(int32_t i1, int32_t i2, int32_t i3)
{
analogMovingAverage(&cph1Filter, i1);
analogMovingAverage(&cph2Filter, i2);
analogMovingAverage(&cph3Filter, i3);
}

#endif // #if defined(MOTORHAL_changes)

/* END OF FILE ********************************************************************************************************/
16 changes: 12 additions & 4 deletions emBODY/eBcode/arch-arm/board/amcbldc/application/src/motorhal/analog.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@

#if defined(USE_STM32HAL)
#include "stm32hal.h"
#define MOTORHAL_changes
#else
#include <stdarg.h>
#include "stm32g4xx.h"
Expand Down Expand Up @@ -50,7 +51,6 @@ typedef struct

extern int32_t analogConvertCurrent(int32_t raw);
extern HAL_StatusTypeDef analogInit(void);
extern HAL_StatusTypeDef analogDeinit(void);
extern uint32_t analogVcc(void);
extern uint32_t analogVph1(void);
extern uint32_t analogVph2(void);
Expand All @@ -69,11 +69,19 @@ extern int32_t analogSetOffsetIph2(int32_t offs);
extern int32_t analogGetOffsetIph3(void);
extern int32_t analogSetOffsetIph3(int32_t offs);

extern int16_t raw2mAmps(int16_t raw);
extern void analogMovingAverage(int16_t i1, int16_t i2, int16_t i3);

extern void analogTest(void);


#if defined(MOTORHAL_changes)

extern HAL_StatusTypeDef analog_Deinit(void);
extern int32_t analog_RawCph1(void);
extern int32_t analog_RawCph2(void);
extern int32_t analog_RawCph3(void);
extern void analog_MovingAverage(int32_t i1, int32_t i2, int32_t i3);

#endif // #if defined(MOTORHAL_changes)

#ifdef __cplusplus
} /* extern "C" */
#endif /* __cplusplus */
Expand Down
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