added support for more than 2/3 adc pins

Author: askuric

src/current_sense/hardware_specific/teensy/teensy4_mcu.cpp

@@ -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 
@@ -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; 
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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;
@@ -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;
 }
@@ -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;
@@ -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 
 
 }