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added support for more than 2/3 adc pins
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@askuric
askuric committed Feb 11, 2024
1 parent b34bd62 commit 81db3f5
Showing 1 changed file with 67 additions and 22 deletions.
89 changes: 67 additions & 22 deletions src/current_sense/hardware_specific/teensy/teensy4_mcu.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#include "teensy4_mcu.h"
#include "../../../drivers/hardware_specific/teensy/teensy4_mcu.h"
#include "../../../common/foc_utils.h"

// if defined
// - Teensy 4.0
Expand All @@ -12,7 +13,7 @@
//
// the flags are defined in the imxrt.h file
// https://github.com/PaulStoffregen/cores/blob/dd6aa8419ee173a0a6593eab669fbff54ed85f48/teensy4/imxrt.h#L9662
int flextim__submodule_to_trig(IMXRT_FLEXPWM_t* flexpwm, int submodule){
int flexpwm_submodule_to_trig(IMXRT_FLEXPWM_t* flexpwm, int submodule){
if(submodule <0 && submodule > 3) return -1;
if(flexpwm == &IMXRT_FLEXPWM1){
return XBARA1_IN_FLEXPWM1_PWM1_OUT_TRIG0 + submodule;
Expand All @@ -26,32 +27,45 @@ int flextim__submodule_to_trig(IMXRT_FLEXPWM_t* flexpwm, int submodule){
return -1;
}

volatile uint32_t val0, val1;
volatile uint32_t val0, val1, val2;

void read_currents(uint32_t *a, uint32_t*b){
void read_currents(uint32_t *a, uint32_t*b, uint32_t *c=nullptr){
*a = val0;
*b = val1;
*c = val2;
}

// interrupt service routine for the ADC_ETC0
// reading the ADC values and clearing the interrupt
void adcetc0_isr() {
digitalWrite(30,HIGH);
ADC_ETC_DONE0_1_IRQ |= 1; // clear
// page 3509 , section 66.5.1.3.3
ADC_ETC_DONE0_1_IRQ |= 1; // clear Done0 for trg0 at 1st bit
val0 = ADC_ETC_TRIG0_RESULT_1_0 & 4095;
val1 = (ADC_ETC_TRIG0_RESULT_1_0 >> 16) & 4095;
asm("dsb");
digitalWrite(30,LOW);
}


void adcetc1_isr() {
digitalWrite(30,HIGH);
// page 3509 , section 66.5.1.3.3
ADC_ETC_DONE0_1_IRQ |= 1 << 16; // clear Done1 for trg0 at 16th bit
val2 = ADC_ETC_TRIG0_RESULT_3_2 & 4095;
// val2 = (ADC_ETC_TRIG0_RESULT_3_2 >> 16) & 4095;
asm("dsb");
digitalWrite(30,LOW);
}

// function initializing the ADC2
// and the ADC_ETC trigger for the low side current sensing
void adc1_init() {
void adc1_init(int pin1, int pin2, int pin3=NOT_SET) {
//Tried many configurations, but this seems to be best:
ADC1_CFG = ADC_CFG_OVWREN //Allow overwriting of the next converted Data onto the existing
| ADC_CFG_ADICLK(0) // input clock select - IPG clock
| ADC_CFG_MODE(2) // 12-bit conversion 0 8-bit conversion 1 10-bit conversion 2 12-bit conversion
| ADC_CFG_ADIV(2) // Input clock / 4
| ADC_CFG_ADIV(1) // Input clock / 2 (0 for /1, 1 for /2 and 2 for / 4)
| ADC_CFG_ADSTS(0) // Sample period (ADC clocks) = 3 if ADLSMP=0b
| ADC_CFG_ADHSC // High speed operation
| ADC_CFG_ADTRG; // Hardware trigger selected
Expand All @@ -63,7 +77,9 @@ void adc1_init() {

ADC1_HC0 = 16; // ADC_ETC channel
// use the second interrupt if necessary (for more than 2 channels)
// ADC1_HC1 = 16;
if(_isset(pin3)) {
ADC1_HC1 = 16;
}
}

// function initializing the ADC2
Expand All @@ -75,7 +91,7 @@ void adc2_init(){
ADC1_CFG = ADC_CFG_OVWREN //Allow overwriting of the next converted Data onto the existing
| ADC_CFG_ADICLK(0) // input clock select - IPG clock
| ADC_CFG_MODE(2) // 12-bit conversion 0 8-bit conversion 1 10-bit conversion 2 12-bit conversion
| ADC_CFG_ADIV(2) // Input clock / 4
| ADC_CFG_ADIV(1) // Input clock / 2 (0 for /1, 1 for /2 and 2 for / 4)
| ADC_CFG_ADSTS(0) // Sample period (ADC clocks) = 3 if ADLSMP=0b
| ADC_CFG_ADHSC // High speed operation
| ADC_CFG_ADTRG; // Hardware trigger selected
Expand All @@ -89,10 +105,13 @@ void adc2_init(){
// ADC2_HC1 = 16;
}

void adc_etc_init(int pin1, int pin2) {
// function initializing the ADC_ETC trigger for the low side current sensing
// it uses only the ADC1
// if the pin3 is not set it uses only 2 channels
void adc_etc_init(int pin1, int pin2, int pin3=NOT_SET) {
ADC_ETC_CTRL &= ~(1 << 31); // SOFTRST
ADC_ETC_CTRL = 0x40000001; // start with trigger 0
ADC_ETC_TRIG0_CTRL = 0x100; // chainlength -1
ADC_ETC_TRIG0_CTRL = ADC_ETC_TRIG_CTRL_TRIG_CHAIN( _isset(pin3) ? 2 : 1) ; // 2 if 3 channels, 1 if 2 channels

// ADC1 7 8, chain channel, HWTS, IE, B2B
// pg 3516, section 66.5.1.8
Expand All @@ -109,11 +128,18 @@ void adc_etc_init(int pin1, int pin2) {
attachInterruptVector(IRQ_ADC_ETC0, adcetc0_isr);
NVIC_ENABLE_IRQ(IRQ_ADC_ETC0);
// use the second interrupt if necessary (for more than 2 channels)
// attachInterruptVector(IRQ_ADC_ETC1, adcetc1_isr);
// NVIC_ENABLE_IRQ(IRQ_ADC_ETC1);
if(_isset(pin3)) {
ADC_ETC_TRIG0_CHAIN_3_2 =
ADC_ETC_TRIG_CHAIN_IE0(2) | // interrupt when Done1
ADC_ETC_TRIG_CHAIN_B2B0 | // Enable B2B, back to back ADC trigger
ADC_ETC_TRIG_CHAIN_HWTS0(1) |
ADC_ETC_TRIG_CHAIN_CSEL0(pin_to_channel[pin3]);

attachInterruptVector(IRQ_ADC_ETC1, adcetc1_isr);
NVIC_ENABLE_IRQ(IRQ_ADC_ETC1);
}
}


void xbar_connect(unsigned int input, unsigned int output)
{
if (input >= 88) return;
Expand All @@ -135,12 +161,15 @@ void xbar_init() {
// function reading an ADC value and returning the read voltage
float _readADCVoltageLowSide(const int pinA, const void* cs_params){

if(!_isset(pinA)) return 0.0; // if the pin is not set return 0
GenericCurrentSenseParams* params = (GenericCurrentSenseParams*) cs_params;
float adc_voltage_conv = params->adc_voltage_conv;
if (pinA == params->pins[0]) {
return val0 * adc_voltage_conv;
} else if (pinA == params->pins[1]) {
return val1 * adc_voltage_conv;
}else if (pinA == params->pins[2]) {
return val2 * adc_voltage_conv;
}
return 0.0;
}
Expand All @@ -149,18 +178,33 @@ float _readADCVoltageLowSide(const int pinA, const void* cs_params){
// cannot do much but
void* _configureADCLowSide(const void* driver_params, const int pinA,const int pinB,const int pinC){
_UNUSED(driver_params);
// _UNUSED(pinC);

pinMode(30,OUTPUT);

if( _isset(pinA) ) pinMode(pinA, INPUT);
if( _isset(pinB) ) pinMode(pinB, INPUT);
if( _isset(pinC) ) pinMode(pinC, INPUT);

adc1_init();
adc_etc_init(pinA, pinB);
// check if either of the pins are not set
// and dont use it if it isn't
int pin_count = 0;
int pins[3] = {NOT_SET, NOT_SET, NOT_SET};
if(_isset(pinA)) pins[pin_count++] = pinA;
if(_isset(pinB)) pins[pin_count++] = pinB;
if(_isset(pinC)) pins[pin_count++] = pinC;


adc1_init(pins[0], pins[1], pins[2]);
SIMPLEFOC_DEBUG("pins: ",pins[0]);
SIMPLEFOC_DEBUG("pins: ",pins[1]);
SIMPLEFOC_DEBUG("pins: ",pins[2]);
adc_etc_init(pins[0], pins[1], pins[2]);

xbar_init();

GenericCurrentSenseParams* params = new GenericCurrentSenseParams {
.pins = { pinA, pinB, pinC },
.pins = {pins[0], pins[1], pins[2] },
.adc_voltage_conv = (_ADC_VOLTAGE)/(_ADC_RESOLUTION)
};
return params;
Expand All @@ -172,17 +216,18 @@ void _driverSyncLowSide(void* driver_params, void* cs_params){
IMXRT_FLEXPWM_t* flexpwm = par->flextimers[0];
int submodule = par->submodules[0];

// do xbar connect here

int xbar_trig_pwm = flextim__submodule_to_trig(flexpwm, submodule);
// find the xbar trigger for the flexpwm
int xbar_trig_pwm = flexpwm_submodule_to_trig(flexpwm, submodule);
if(xbar_trig_pwm<0) return;

// allow theFlexPWM to trigger the ADC_ETC
xbar_connect((uint32_t)xbar_trig_pwm, XBARA1_OUT_ADC_ETC_TRIG00); //FlexPWM to adc_etc

// setup the ADC_ETC trigger
// setup the ADC_ETC trigger to be triggered by the FlexPWM channel 4 (val4)
flexpwm->SM[submodule].TCTRL = FLEXPWM_SMTCTRL_OUT_TRIG_EN(1<<4);
// setup this val4 for interrupt on val5 match for ADC sync
// reading two ARC takes about 5us. So put the interrupt 2.5us befor the center
// setup this val4 for interrupt on match for ADC sync
// this code assumes that the val4 is not used for anything else!
// reading two ADC takes about 2.5us. So put the interrupt 2.5us befor the center
flexpwm->SM[submodule].VAL4 = -int(2.5e-6*par->pwm_frequency*flexpwm->SM[submodule].VAL1) ; // 2.5us before center

}
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