Merge pull request #2 from wzli/master

Added vbus voltage sampling

MotorControl/low_level.c

@@ -15,6 +15,8 @@
 #include <utils.h>
 
 // Global variables
+float vbus_voltage = 0;
+
 Motor_t motors[] = {
     {   //M0
         /* .motor_thread to be set by thread at thread start */
@@ -178,10 +180,12 @@ static void init_encoders() {
 
 static void start_adc_pwm(){
     //Enable ADC and interrupts
+    __HAL_ADC_ENABLE(&hadc1);
     __HAL_ADC_ENABLE(&hadc2);
     __HAL_ADC_ENABLE(&hadc3);
     //Warp field stabilize.
     osDelay(2);
+    __HAL_ADC_ENABLE_IT(&hadc1, ADC_IT_JEOC);
     __HAL_ADC_ENABLE_IT(&hadc2, ADC_IT_JEOC);
     __HAL_ADC_ENABLE_IT(&hadc3, ADC_IT_JEOC);
 
@@ -221,6 +225,13 @@ static float phase_current_from_adcval(uint32_t ADCValue, int motornum) {
     return current;
 }
 
+void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc) {
+    const float voltage_scale = 3.3 * 11 / (float)(1<<12);
+    //Only one conversion in sequence, so only rank1
+    uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
+    vbus_voltage = ADCValue * voltage_scale;
+}
+
 // This is the callback from the ADC that we expect after the PWM has triggered an ADC conversion.
 //@TODO: Document how the phasing is done
 void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {

MotorControl/low_level.h

@@ -23,11 +23,13 @@ enum Motor_thread_signals {
     M_SIGNAL_PH_CURRENT_MEAS = 1u << 0
 };
 
+extern float vbus_voltage;
 extern Motor_t motors[];
 extern const int num_motors;
 
 void init_motor_control();
 void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc);
+void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc);
 
 //@TODO move motor thread to high level file
 void motor_thread(void const * argument);

Src/stm32f4xx_it.c

@@ -175,6 +175,7 @@ void ADC_IRQHandler(void)
   // The HAL's ADC handling mechanism adds many clock cycles of overhead
   // So we bypass it and handle the logic ourselves.
   //@TODO add vbus meaasurement on adc1 here
+  ADC_IRQ_Dispatch(&hadc1, &vbus_sense_adc_cb);
   ADC_IRQ_Dispatch(&hadc2, &pwm_trig_adc_cb);
   ADC_IRQ_Dispatch(&hadc3, &pwm_trig_adc_cb);