Merge pull request #371 from simplefoc/bugfix_injected_channel

[BUGFIX] Injected channel

Author: askuric

src/current_sense/hardware_specific/stm32/stm32f1/stm32f1_mcu.cpp

@@ -88,8 +88,10 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
     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;
-      #else
-        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,i+1) * ((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;;
+        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
       #endif
     }
   } 

src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp

@@ -78,7 +78,9 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
       #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
         return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
       #else
-        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,i+1) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+        // 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;
+        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
       #endif
     }
   } 

src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp

@@ -11,6 +11,7 @@
 #include "stm32g4_utils.h"
 #include "Arduino.h"
 
+// #define SIMPLEFOC_STM32_ADC_INTERRUPT
 
 #define _ADC_VOLTAGE_G4 3.3f
 #define _ADC_RESOLUTION_G4 4096.0f
@@ -84,7 +85,9 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
       #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
         return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
       #else
-        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,i+1) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+        // 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;
+        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle, channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
       #endif
     }
   } 

src/current_sense/hardware_specific/stm32/stm32l4/stm32l4_mcu.cpp

@@ -84,7 +84,9 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params){
       #ifdef SIMPLEFOC_STM32_ADC_INTERRUPT
         return adc_val[_adcToIndex(((Stm32CurrentSenseParams*)cs_params)->adc_handle)][i] * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
       #else
-        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,i+1) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
+        // 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;
+        return HAL_ADCEx_InjectedGetValue(((Stm32CurrentSenseParams*)cs_params)->adc_handle,channel) * ((Stm32CurrentSenseParams*)cs_params)->adc_voltage_conv;
       #endif
     }
   }