h7 update for auto-search

Author: askuric

src/current_sense/hardware_specific/stm32/stm32h7/stm32h7_hal.cpp

@@ -5,7 +5,6 @@
 //#define SIMPLEFOC_STM32_DEBUG
 
 #include "../../../../communication/SimpleFOCDebug.h"
-#define _TRGO_NOT_AVAILABLE 12345
 
 ADC_HandleTypeDef hadc;
 
@@ -21,23 +20,10 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 {
   ADC_InjectionConfTypeDef sConfigInjected;
 
-  // check if all pins belong to the same ADC
-  ADC_TypeDef* adc_pin1 = _isset(cs_params->pins[0]) ? (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC) : nullptr;
-  ADC_TypeDef* adc_pin2 = _isset(cs_params->pins[1]) ? (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[1]), PinMap_ADC) : nullptr;
-  ADC_TypeDef* adc_pin3 = _isset(cs_params->pins[2]) ? (ADC_TypeDef*)pinmap_peripheral(analogInputToPinName(cs_params->pins[2]), PinMap_ADC) : nullptr;
- if ( ((adc_pin1 != adc_pin2) &&  (adc_pin1 && adc_pin2))  || 
-      ((adc_pin2 != adc_pin3) &&  (adc_pin2 && adc_pin3))  ||
-      ((adc_pin1 != adc_pin3) &&  (adc_pin1 && adc_pin3)) 
-    ){
-#ifdef SIMPLEFOC_STM32_DEBUG
-    SIMPLEFOC_DEBUG("STM32-CS: ERR: Analog pins dont belong to the same ADC!");
-#endif
-  return -1;
- }
 
   /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
   */
-  hadc.Instance = (ADC_TypeDef *)pinmap_peripheral(analogInputToPinName(cs_params->pins[0]), PinMap_ADC);
+  hadc.Instance = _findBestADCForPins(3, cs_params->pins);
 
   if(hadc.Instance == ADC1) __HAL_RCC_ADC12_CLK_ENABLE();
 #ifdef ADC2  // if defined ADC2
@@ -48,7 +34,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 #endif
   else{
 #ifdef SIMPLEFOC_STM32_DEBUG
-    SIMPLEFOC_DEBUG("STM32-CS: ERR: Pin does not belong to any ADC!");
+    SIMPLEFOC_DEBUG("STM32-CS: ERR: Cannot find a common ADC for the pins!");
 #endif
     return -1; // error not a valid ADC instance
   }
@@ -91,7 +77,12 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 
   /**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time 
     */
-  sConfigInjected.InjectedNbrOfConversion = _isset(cs_params->pins[2]) ? 3 : 2;
+  sConfigInjected.InjectedNbrOfConversion = 0;
+  for(int pin_no=0; pin_no<3; pin_no++){
+    if(_isset(cs_params->pins[pin_no])){
+      sConfigInjected.InjectedNbrOfConversion++;
+    }
+  }
   // if ADC1 or ADC2
   if(hadc.Instance == ADC1 || hadc.Instance == ADC2){
     // more info here: https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_adc.h#L658
@@ -147,21 +138,21 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 #endif
   }
 
-  uint32_t ranks[4] = {ADC_INJECTED_RANK_1, ADC_INJECTED_RANK_2, ADC_INJECTED_RANK_3, ADC_INJECTED_RANK_4};
+  uint8_t channel_no = 0;
   for(int i=0; i<3; i++){
     // skip if not set
-    if (!_isset(cs_params->pins[i])) continue;    
-    sConfigInjected.InjectedRank = ranks[i];
-    sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]));
+    if (!_isset(cs_params->pins[i])) continue;
+    
+    sConfigInjected.InjectedRank = _getADCInjectedRank(channel_no++);
+    sConfigInjected.InjectedChannel = _getADCChannel(analogInputToPinName(cs_params->pins[i]), hadc.Instance);
     if (HAL_ADCEx_InjectedConfigChannel(&hadc, &sConfigInjected) != HAL_OK){
   #ifdef SIMPLEFOC_STM32_DEBUG
-      SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[i])) );
+      SIMPLEFOC_DEBUG("STM32-CS: ERR: cannot init injected channel: ", (int)_getADCChannel(analogInputToPinName(cs_params->pins[i]) , hadc.Instance));
   #endif
       return -1;
     }
   }
 
-
   delay(1000);
   #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
   // enable interrupt

src/current_sense/hardware_specific/stm32/stm32h7/stm32h7_hal.h

@@ -4,8 +4,8 @@
 
 #if defined(STM32H7xx)
 #include "stm32h7xx_hal.h"
+#include "../stm32_adc_utils.h"
 #include "../stm32_mcu.h"
-#include "stm32h7_utils.h"
 
 int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* driver_params);
 int _adc_gpio_init(Stm32CurrentSenseParams* cs_params, const int pinA, const int pinB, const int pinC);

src/current_sense/hardware_specific/stm32/stm32h7/stm32h7_mcu.cpp

@@ -6,8 +6,8 @@
 #include "../../../../drivers/hardware_specific/stm32/stm32_mcu.h"
 #include "../../../hardware_api.h"
 #include "../stm32_mcu.h"
+#include "../stm32_adc_utils.h"
 #include "stm32h7_hal.h"
-#include "stm32h7_utils.h"
 #include "Arduino.h"
 
 
@@ -83,16 +83,18 @@ 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
       #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
-        return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+        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 = (i == 0) ? ADC_INJECTED_RANK_1 : (i == 1) ? ADC_INJECTED_RANK_2 : ADC_INJECTED_RANK_3;
+        uint32_t channel = _getADCInjectedRank(channel_no);
         return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
       #endif
     }
+    if(_isset(((Stm32CurrentSenseParams*)cs_params)->pins[i])) channel_no++;
   } 
   return 0;
 }

src/current_sense/hardware_specific/stm32/stm32h7/stm32h7_utils.cpp

@@ -1,146 +1,10 @@
-#include "stm32h7_utils.h"
+#include "../stm32_adc_utils.h"
 
 #if defined(STM32H7xx)
 
 /* Exported Functions */
 
 
-PinName analog_to_pin(uint32_t pin) {
-  PinName pin_name = analogInputToPinName(pin);
-  if (pin_name == NC) {
-    return (PinName) pin;
-  }
-  return pin_name;
-}
-
-
-/**
-  * @brief  Return ADC HAL channel linked to a PinName
-  * @param  pin: PinName
-  * @retval Valid HAL channel
-  */
-uint32_t _getADCChannel(PinName pin)
-{
-  uint32_t function = pinmap_function(pin, PinMap_ADC);
-  uint32_t channel = 0;
-  switch (STM_PIN_CHANNEL(function)) {
-#ifdef ADC_CHANNEL_0
-    case 0:
-      channel = ADC_CHANNEL_0;
-      break;
-#endif
-    case 1:
-      channel = ADC_CHANNEL_1;
-      break;
-    case 2:
-      channel = ADC_CHANNEL_2;
-      break;
-    case 3:
-      channel = ADC_CHANNEL_3;
-      break;
-    case 4:
-      channel = ADC_CHANNEL_4;
-      break;
-    case 5:
-      channel = ADC_CHANNEL_5;
-      break;
-    case 6:
-      channel = ADC_CHANNEL_6;
-      break;
-    case 7:
-      channel = ADC_CHANNEL_7;
-      break;
-    case 8:
-      channel = ADC_CHANNEL_8;
-      break;
-    case 9:
-      channel = ADC_CHANNEL_9;
-      break;
-    case 10:
-      channel = ADC_CHANNEL_10;
-      break;
-    case 11:
-      channel = ADC_CHANNEL_11;
-      break;
-    case 12:
-      channel = ADC_CHANNEL_12;
-      break;
-    case 13:
-      channel = ADC_CHANNEL_13;
-      break;
-    case 14:
-      channel = ADC_CHANNEL_14;
-      break;
-    case 15:
-      channel = ADC_CHANNEL_15;
-      break;
-#ifdef ADC_CHANNEL_16
-    case 16:
-      channel = ADC_CHANNEL_16;
-      break;
-#endif
-    case 17:
-      channel = ADC_CHANNEL_17;
-      break;
-#ifdef ADC_CHANNEL_18
-    case 18:
-      channel = ADC_CHANNEL_18;
-      break;
-#endif
-#ifdef ADC_CHANNEL_19
-    case 19:
-      channel = ADC_CHANNEL_19;
-      break;
-#endif
-#ifdef ADC_CHANNEL_20
-    case 20:
-      channel = ADC_CHANNEL_20;
-      break;
-    case 21:
-      channel = ADC_CHANNEL_21;
-      break;
-    case 22:
-      channel = ADC_CHANNEL_22;
-      break;
-    case 23:
-      channel = ADC_CHANNEL_23;
-      break;
-#ifdef ADC_CHANNEL_24
-    case 24:
-      channel = ADC_CHANNEL_24;
-      break;
-    case 25:
-      channel = ADC_CHANNEL_25;
-      break;
-    case 26:
-      channel = ADC_CHANNEL_26;
-      break;
-#ifdef ADC_CHANNEL_27
-    case 27:
-      channel = ADC_CHANNEL_27;
-      break;
-    case 28:
-      channel = ADC_CHANNEL_28;
-      break;
-    case 29:
-      channel = ADC_CHANNEL_29;
-      break;
-    case 30:
-      channel = ADC_CHANNEL_30;
-      break;
-    case 31:
-      channel = ADC_CHANNEL_31;
-      break;
-#endif
-#endif
-#endif
-    default:
-      _Error_Handler("ADC: Unknown adc channel", (int)(STM_PIN_CHANNEL(function)));
-      break;
-  }
-  return channel;
-}
-
 // timer to injected TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_adc_ex.h#L235
 uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
@@ -216,25 +80,4 @@ uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer){
     return _TRGO_NOT_AVAILABLE;
 }
 
-
-int _adcToIndex(ADC_TypeDef *AdcHandle){
-  if(AdcHandle == ADC1) return 0;
-#ifdef ADC2 // if ADC2 exists
-  else if(AdcHandle == ADC2) return 1;
-#endif
-#ifdef ADC3 // if ADC3 exists
-  else if(AdcHandle == ADC3) return 2;
-#endif
-#ifdef ADC4 // if ADC4 exists
-  else if(AdcHandle == ADC4) return 3;
-#endif
-#ifdef ADC5 // if ADC5 exists
-  else if(AdcHandle == ADC5) return 4;
-#endif
-  return 0;
-}
-int _adcToIndex(ADC_HandleTypeDef *AdcHandle){
-  return _adcToIndex(AdcHandle->Instance);
-}
-
 #endif