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The board amcbldc upgrades its low level HW motor driver #355

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merged 9 commits into from
Mar 31, 2023
Merged

The board amcbldc upgrades its low level HW motor driver #355

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9905321
added motorhal2 in ultra draft form. i made it compile but some code …
marcoaccame Feb 28, 2023
5a863aa
amcbldc has motorhal and motorhal2 carefully aligned to each other an…
marcoaccame Mar 7, 2023
16b9a05
fixed optimizations of the project
marcoaccame Mar 7, 2023
75bc436
improved debug print in case of dual bank error
marcoaccame Mar 23, 2023
4819be2
updated the .ioc file
marcoaccame Mar 30, 2023
2e722ca
mild cleanup of stm32hal.g4
marcoaccame Mar 30, 2023
c76ce40
board revision A or B is now detected by exclusion of the few boards …
marcoaccame Mar 31, 2023
22b3c45
updated otehr projects to run w/ stm32hal
marcoaccame Mar 31, 2023
71ed4c1
fixed compilation of strain2-updaterofbootloader-v6.uvoptx
marcoaccame Mar 31, 2023
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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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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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