mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-21 15:34:33 +08:00
full sequence with dummy conversions working
This commit is contained in:
Oskar Weigl
+37
-19
@@ -152,11 +152,17 @@ static void start_adc_pwm(){
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__HAL_ADC_ENABLE_IT(&hadc1, ADC_IT_JEOC);
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__HAL_ADC_ENABLE_IT(&hadc2, ADC_IT_JEOC);
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__HAL_ADC_ENABLE_IT(&hadc3, ADC_IT_JEOC);
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__HAL_ADC_ENABLE_IT(&hadc2, ADC_IT_EOC);
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__HAL_ADC_ENABLE_IT(&hadc3, ADC_IT_EOC);
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//Ensure that debug halting of the core doesn't leave the motor PWM running
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__HAL_DBGMCU_FREEZE_TIM1();
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__HAL_DBGMCU_FREEZE_TIM8();
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//Turn off the regular conversion trigger for the inital phase
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hadc2.Instance->CR2 &= ~ADC_CR2_EXTEN;
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hadc3.Instance->CR2 &= ~ADC_CR2_EXTEN;
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start_pwm(&htim1);
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start_pwm(&htim8);
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sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_PERIOD_CLOCKS/2);
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@@ -229,7 +235,7 @@ static void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
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htim_a->Instance->CNT = count_offset;
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htim_b->Instance->CNT = 0;
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// Start Timer 1
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// Start Timer a
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htim_a->Instance->CR1 |= (TIM_CR1_CEN);
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// Restore timer configs
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@@ -293,16 +299,27 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
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// Check if this trigger was the CC4 channel, used for actual current measurement at SVM vector 0
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// or the update trigger, which is used for DC_CAL measurement at SVM vector 7
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uint32_t trig_src = hadc->Instance->CR2 & ADC_CR2_JEXTSEL;
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if (trig_src == ADC_EXTERNALTRIGINJECCONV_T1_CC4) {
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uint32_t inj_src = hadc->Instance->CR2 & ADC_CR2_JEXTSEL;
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uint32_t reg_edge = hadc->Instance->CR2 & ADC_CR2_EXTEN;
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if (reg_edge != ADC_EXTERNALTRIGCONVEDGE_NONE) {
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//We are measuring M1 DC_CAL here
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Motor_t* motor = &motors[0]; //TODO WRONG
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check_timing(motor->timer_handle, timing_logs[1], &timing_log_index[1]);
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//Next measurement on this motor will be M1 current measurement
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HAL_GPIO_WritePin(M1_DC_CAL_GPIO_Port, M1_DC_CAL_Pin, GPIO_PIN_RESET);
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//Next measurement on this ADC will be M0 current
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hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN | ADC_CR2_EXTEN | ADC_CR2_JEXTSEL);
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hadc->Instance->CR2 |= (ADC_EXTERNALTRIGINJECCONVEDGE_RISING | ADC_EXTERNALTRIGINJECCONV_T1_CC4);
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} else if (inj_src == ADC_EXTERNALTRIGINJECCONV_T1_CC4) {
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//We are measuring M0 current here
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Motor_t* motor = &motors[0];
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check_timing(motor->timer_handle, timing_logs[0], &timing_log_index[0]);
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//Next measurement on this motor will be M0 DC_CAL measurement
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HAL_GPIO_WritePin(M0_DC_CAL_GPIO_Port, M0_DC_CAL_Pin, GPIO_PIN_SET);
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//Next measurement on this ADC will be M1 current
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hadc->Instance->CR2 &= ~(ADC_CR2_JEXTSEL);
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hadc->Instance->CR2 |= ADC_EXTERNALTRIGINJECCONV_T8_CC4;
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hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN | ADC_CR2_EXTEN | ADC_CR2_JEXTSEL);
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hadc->Instance->CR2 |= (ADC_EXTERNALTRIGINJECCONVEDGE_RISING | ADC_EXTERNALTRIGINJECCONV_T8_CC4);
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// ADC2 and ADC3 record the phB and phC currents concurrently,
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// and their interrupts should arrive on the same clock cycle.
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@@ -326,15 +343,25 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
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osSignalSet(motor->motor_thread, M_SIGNAL_PH_CURRENT_MEAS);
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}
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} else if (trig_src == ADC_EXTERNALTRIGINJECCONV_T1_TRGO) {
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} else if (inj_src == ADC_EXTERNALTRIGINJECCONV_T8_CC4) {
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//We are measuring M1 current here
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Motor_t* motor = &motors[0]; //TODO WRONG
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check_timing(motor->timer_handle, timing_logs[1], &timing_log_index[1]);
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//Next measurement on this motor will be M1 DC_CAL measurement
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HAL_GPIO_WritePin(M1_DC_CAL_GPIO_Port, M1_DC_CAL_Pin, GPIO_PIN_SET);
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//Next measurement on this ADC will be M0 DC_CAL
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hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN | ADC_CR2_EXTEN | ADC_CR2_JEXTSEL);
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hadc->Instance->CR2 |= (ADC_EXTERNALTRIGINJECCONVEDGE_RISING | ADC_EXTERNALTRIGINJECCONV_T1_TRGO);
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} else if (inj_src == ADC_EXTERNALTRIGINJECCONV_T1_TRGO) {
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//We are measuring M0 DC_CAL here
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Motor_t* motor = &motors[0];
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check_timing(motor->timer_handle, timing_logs[0], &timing_log_index[0]);
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//Set up next measurement to be M0 current measurement
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// @TODO Add M1 to sequence
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hadc->Instance->CR2 &= ~(ADC_CR2_JEXTSEL);
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hadc->Instance->CR2 |= ADC_EXTERNALTRIGINJECCONV_T1_CC4;
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//Next measurement on this motor will be M0 current measurement
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HAL_GPIO_WritePin(M0_DC_CAL_GPIO_Port, M0_DC_CAL_Pin, GPIO_PIN_RESET);
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//Next measurement on this ADC will be M1 DC_CAL
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hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN | ADC_CR2_EXTEN | ADC_CR2_JEXTSEL);
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hadc->Instance->CR2 |= ADC_EXTERNALTRIGCONVEDGE_RISING;
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if (hadc == &hadc2) {
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motor->DC_calib.phB += (current - motor->DC_calib.phB) * calib_filter_k;
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@@ -345,15 +372,6 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
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safe_assert(0);
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}
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} else if (trig_src == ADC_EXTERNALTRIGINJECCONV_T8_CC4) {
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//We are measuring M1 current here
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Motor_t* motor = &motors[0]; //TODO WRONG
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check_timing(motor->timer_handle, timing_logs[1], &timing_log_index[1]);
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//Next measurement on this motor will be M1 DC_CAL measurement
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HAL_GPIO_WritePin(M1_DC_CAL_GPIO_Port, M1_DC_CAL_Pin, GPIO_PIN_SET);
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//Next measurement on this ADC will be M0 DC_CAL
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hadc->Instance->CR2 &= ~(ADC_CR2_JEXTSEL);
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hadc->Instance->CR2 |= ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
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} else {
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safe_assert(0);
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}
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+6
-4
@@ -33,10 +33,11 @@ ADC2.DataAlign=ADC_DATAALIGN_RIGHT
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ADC2.DiscontinuousConvMode=DISABLE
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ADC2.EOCSelection=ADC_EOC_SINGLE_CONV
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ADC2.EnableAnalogWatchDog=false
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ADC2.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_NONE
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ADC2.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T8_TRGO
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ADC2.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_RISING
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ADC2.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_CC4
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ADC2.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
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ADC2.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,InjNumberOfConversion,EnableAnalogWatchDog,Rank-1\#ChannelInjectedConversion,Channel-1\#ChannelInjectedConversion,SamplingTime-1\#ChannelInjectedConversion,InjectedOffset-1\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,ExternalTrigConvEdge,InjectedConvMode,ExternalTrigInjecConv
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ADC2.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,InjNumberOfConversion,EnableAnalogWatchDog,Rank-1\#ChannelInjectedConversion,Channel-1\#ChannelInjectedConversion,SamplingTime-1\#ChannelInjectedConversion,InjectedOffset-1\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,ExternalTrigConvEdge,InjectedConvMode,ExternalTrigInjecConv,ExternalTrigConv
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ADC2.InjNumberOfConversion=1
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ADC2.InjectedConvMode=None
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ADC2.InjectedOffset-1\#ChannelInjectedConversion=0
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@@ -57,10 +58,11 @@ ADC3.DataAlign=ADC_DATAALIGN_RIGHT
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ADC3.DiscontinuousConvMode=DISABLE
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ADC3.EOCSelection=ADC_EOC_SINGLE_CONV
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ADC3.EnableAnalogWatchDog=false
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ADC3.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_NONE
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ADC3.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T8_TRGO
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ADC3.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_RISING
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ADC3.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_CC4
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ADC3.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
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ADC3.IPParameters=Rank-7\#ChannelRegularConversion,Channel-7\#ChannelRegularConversion,SamplingTime-7\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,ExternalTrigConvEdge,InjNumberOfConversion,EnableAnalogWatchDog,Rank-8\#ChannelInjectedConversion,Channel-8\#ChannelInjectedConversion,SamplingTime-8\#ChannelInjectedConversion,InjectedOffset-8\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,InjectedConvMode,ExternalTrigInjecConv
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ADC3.IPParameters=Rank-7\#ChannelRegularConversion,Channel-7\#ChannelRegularConversion,SamplingTime-7\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,ExternalTrigConvEdge,InjNumberOfConversion,EnableAnalogWatchDog,Rank-8\#ChannelInjectedConversion,Channel-8\#ChannelInjectedConversion,SamplingTime-8\#ChannelInjectedConversion,InjectedOffset-8\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,InjectedConvMode,ExternalTrigInjecConv,ExternalTrigConv
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ADC3.InjNumberOfConversion=1
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ADC3.InjectedConvMode=None
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ADC3.InjectedOffset-8\#ChannelInjectedConversion=0
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@@ -120,7 +120,8 @@ void MX_ADC2_Init(void)
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hadc2.Init.ScanConvMode = DISABLE;
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hadc2.Init.ContinuousConvMode = DISABLE;
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hadc2.Init.DiscontinuousConvMode = DISABLE;
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hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
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hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
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hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc2.Init.NbrOfConversion = 1;
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hadc2.Init.DMAContinuousRequests = DISABLE;
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@@ -171,7 +172,8 @@ void MX_ADC3_Init(void)
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hadc3.Init.ScanConvMode = DISABLE;
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hadc3.Init.ContinuousConvMode = DISABLE;
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hadc3.Init.DiscontinuousConvMode = DISABLE;
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hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
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hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
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hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc3.Init.NbrOfConversion = 1;
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hadc3.Init.DMAContinuousRequests = DISABLE;
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+9
-2
@@ -194,14 +194,21 @@ void ADC_IRQHandler(void)
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/* USER CODE BEGIN 1 */
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void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback) {
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//Only handles injected measurements
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//@TODO Add regular measurements too (requried for M1 update trigger)
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// Injected measurements
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uint32_t JEOC = __HAL_ADC_GET_FLAG(hadc, ADC_FLAG_JEOC);
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uint32_t JEOC_IT_EN = __HAL_ADC_GET_IT_SOURCE(hadc, ADC_IT_JEOC);
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if (JEOC && JEOC_IT_EN) {
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callback(hadc);
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__HAL_ADC_CLEAR_FLAG(hadc, (ADC_FLAG_JSTRT | ADC_FLAG_JEOC));
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}
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// Regular measurements
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uint32_t EOC = __HAL_ADC_GET_FLAG(hadc, ADC_FLAG_EOC);
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uint32_t EOC_IT_EN = __HAL_ADC_GET_IT_SOURCE(hadc, ADC_IT_EOC);
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if (EOC && EOC_IT_EN) {
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callback(hadc);
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__HAL_ADC_CLEAR_FLAG(hadc, (ADC_FLAG_STRT | ADC_FLAG_EOC));
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}
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}
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/* USER CODE END 1 */
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