void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc)
{
/*ADC2 injected group
conversion is finished*/
/*count the amount of samples collected*/
sampleCounter[1]--;
/*collect samples into accumulator*/
adcAccumulator[3] += HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
adcAccumulator[4] += HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_2);
adcAccumulator[5] += HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_3);
if(sampleCounter[1] == 0)
{
/*if required number of samples is collected
calculate average data
and turn off ADC */
HAL_ADCEx_InjectedStop_IT(&hadc2);
xCurr = adcAccumulator[3]/ADC2_SAMPL_NUMBER;
yCurr = adcAccumulator[4]/ADC2_SAMPL_NUMBER;
zCurr = adcAccumulator[5]/ADC2_SAMPL_NUMBER;
}
else
{
/*perform next conversion cycle otherwise*/
HAL_ADCEx_InjectedStart_IT(&hadc2);
}
}
/**
* @brief This function handles ADC1_2 interrupt request.
* @param None
* @retval None
*/
void ADC1_2_IRQHandler(void)
{
/* Clear ADC interrupt flag */
__HAL_ADC_CLEAR_FLAG(&AdcHandle, ADC_FLAG_JEOS);
/* Get conversion value of Vin and Vout synchronized with Timer A CMP4 */
VinConversion = HAL_ADCEx_InjectedGetValue(&AdcHandle, ADC_INJECTED_RANK_1);
VoutConversion = HAL_ADCEx_InjectedGetValue(&AdcHandle, ADC_INJECTED_RANK_2);
}
uint16_t getTipInstantTemperature() {
uint16_t sum;
sum = HAL_ADCEx_InjectedGetValue(&hadc1, ADC_INJECTED_RANK_1);
sum += HAL_ADCEx_InjectedGetValue(&hadc1, ADC_INJECTED_RANK_2);
sum += HAL_ADCEx_InjectedGetValue(&hadc1, ADC_INJECTED_RANK_3);
sum += HAL_ADCEx_InjectedGetValue(&hadc1, ADC_INJECTED_RANK_4);
return sum;
}
s16 Motor_CurrentValues(u8 idx)
{
s32 wAux;
s16 I;
wAux = HAL_ADCEx_InjectedGetValue(MotorParams[idx].CURR_ADC, ADC_INJECTED_RANK_1);
wAux = (s32)(MotorParams[idx].h_phase_a_offset) - wAux; // 偏置电压换算
//采样运放放大2倍
wAux = wAux * ADC_FULL_V/ADC_FULL_VALUE * 1000/R_I_SENSE / 2; // 电流值计算 mA
//Saturation of Ia
if (wAux < S16_MIN)
{
I = S16_MIN;
}
else if (wAux > S16_MAX)
{
I = S16_MAX;
}
else
{
I = wAux;
}
return I;
}
void test_adc_hist_cb(ADC_HandleTypeDef* hadc) {
//float unknown_ch_volts = read_ADC_volts(hadc, 1);
uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, 1);
float val = (float)ADCValue;
avg *= (1.0f - alpha);
avg += alpha * val;
float dval = val-avg;
var *= (1.0f - alpha);
var += alpha * (dval * dval);
if (hist_countdown) {
--hist_countdown;
} else {
int idval = (int)dval;
int pos = (idval >= 0);
if (!pos)
idval = -idval;
if (idval >= 20)
idval = 19;
if (pos)
++errhist[idval];
else
++neg_errhist[idval];
}
}
/**
* @brief 电机驱动芯片工作电流采样初值计算
* @param None
* @retval None
*/
void Motor_CurrentReadingCalibration()
{
u32 sum[2] = {0, 0};
u16 bIndex;
//获得零电压偏移值
for(bIndex=0; bIndex <16; bIndex++)
{
while(!__HAL_ADC_GET_FLAG(MotorParams[0].CURR_ADC, ADC_FLAG_JEOC)) { }
__HAL_ADC_CLEAR_FLAG(MotorParams[0].CURR_ADC, ADC_FLAG_JEOC);
sum[0] += HAL_ADCEx_InjectedGetValue(MotorParams[0].CURR_ADC, ADC_INJECTED_RANK_1);
while(!__HAL_ADC_GET_FLAG(MotorParams[1].CURR_ADC, ADC_FLAG_JEOC)) { }
__HAL_ADC_CLEAR_FLAG(MotorParams[1].CURR_ADC, ADC_FLAG_JEOC);
sum[1] += HAL_ADCEx_InjectedGetValue(MotorParams[1].CURR_ADC, ADC_INJECTED_RANK_1);
}
MotorParams[0].h_phase_a_offset = sum[0] / bIndex;
MotorParams[1].h_phase_a_offset = sum[1] / bIndex;
}
void lineSensors_ADC_IT(ADC_HandleTypeDef *hadc)
{
if (hadc == &hadc2)
{
lineSensors.right.adc_value = HAL_ADCEx_InjectedGetValue(&hadc2, ADC_INJECTED_RANK_1);
lineSensors.left.adc_value = HAL_ADCEx_InjectedGetValue(&hadc2, ADC_INJECTED_RANK_2);
lineSensors.right.average_value = (lineSensors.right.average_value + lineSensors.right.adc_value)/2;
lineSensors.left.average_value = (lineSensors.left.average_value + lineSensors.left.adc_value)/2;
lineSensors.active_ADC2 = FALSE;
}
else
{
lineSensors.left_ext.adc_value = HAL_ADCEx_InjectedGetValue(&hadc3, ADC_INJECTED_RANK_1);
lineSensors.front.adc_value = HAL_ADCEx_InjectedGetValue(&hadc3, ADC_INJECTED_RANK_2);
lineSensors.right_ext.adc_value = HAL_ADCEx_InjectedGetValue(&hadc3, ADC_INJECTED_RANK_3);
lineSensors.front.average_value = (lineSensors.front.average_value + lineSensors.front.adc_value)/2;
lineSensors.active_ADC3 = FALSE;
}
if (lineSensors.active_ADC2 == FALSE && lineSensors.active_ADC3 == FALSE )
{
HAL_GPIO_WritePin(GPIOA, TX_LINESENSORS, RESET);
lineSensors.emitter_state = FALSE;
}
}
/**
* @brief Conversion complete callback in non blocking mode
* @param AdcHandle : AdcHandle handle
* @note This example shows a simple way to report end of conversion, and
* you can add your own implementation.
* @retval None
*/
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* AdcHandle)
{
/* Get the converted value of injected channel */
uhADCxConvertedInjValue = HAL_ADCEx_InjectedGetValue(AdcHandle, ADC_INJECTED_RANK_1);
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F3xx HAL library initialization:
- Configure the Flash prefetch
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to have a system clock = 72 MHz */
SystemClock_Config();
/* Initialize STM32F3348-DISCO LEDs */
BSP_LED_Init(LED3);
BSP_LED_Init(LED4);
BSP_LED_Init(LED6);
/* Initialize User_Button on STM32F3348-DISCO */
BSP_PB_Init(BUTTON_USER, BUTTON_MODE_GPIO);
/* Initialize ADC to be triggered by the HRTIMER */
ADC_Config();
/* Initialize HRTIM and related inputs */
HRTIM_Config();
/* Initialize HRTIM outputs (it has to be done after HRTIM init) */
GPIO_HRTIM_outputs_Config();
/* Infinite loop */
while (1)
{
/* ---------------- */
/* Fault management */
/* ---------------- */
while(__HAL_HRTIM_GET_FLAG(&hhrtim, HRTIM_FLAG_FLT1) == SET)
{
/* LED3 is flashing in case of fault */
BSP_LED_On(LED3);
HAL_Delay(20);
BSP_LED_Off(LED3);
HAL_Delay(80);
/* Re-arm HRTIM TD1 output if "User" push button is pressed*/
if((BSP_PB_GetState(BUTTON_USER) == SET))
{
__HAL_HRTIM_CLEAR_IT(&hhrtim, HRTIM_IT_FLT1);
HAL_HRTIM_WaveformOutputStart(&hhrtim, HRTIM_OUTPUT_TD1);
}
}
/* ---------------- */
/* Normal operation */
/* ---------------- */
/* LED6 toggling to show MCU activity */
BSP_LED_On(LED6);
HAL_Delay(100);
BSP_LED_Off(LED6);
HAL_Delay(400);
/* -------------------------------------------------------------------- */
/* ADC monitoring (to be viewed with watch) */
/* PA4 can be connected to the RC filter or any voltage to be monitored */
/* -------------------------------------------------------------------- */
ADCReadout = HAL_ADCEx_InjectedGetValue(&AdcHandle, ADC_INJECTED_RANK_1);
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F3xx HAL library initialization:
- Configure the Flash prefetch
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to have a system clock = 72 MHz */
SystemClock_Config();
/* Initialize STM32F3348-DISCO LEDs */
BSP_LED_Init(LED3);
BSP_LED_Init(LED4);
BSP_LED_Init(LED6);
/* Initialize User_Button on STM32F3348-DISCO */
BSP_PB_Init(BUTTON_USER, BUTTON_MODE_GPIO);
/* Initialize ADC to be triggered by the HRTIMER */
ADC_Config();
/* Initialize HRTIM and related inputs */
#ifdef SNIPPET
HRTIM_Config_NoHAL();
#else
HRTIM_Config();
#endif
/* Initialize BUCK outputs (it has to be done after HRTIM init) */
GPIO_BUCK_outputs_Config();
/* Turn ON T6 MOSFET on discovery board */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_SET);
/* Infinite loop */
while (1)
{
/* ---------------- */
/* Fault management */
/* ---------------- */
#ifdef SNIPPET
/* If Fault occured */
while(HRTIM1->sCommonRegs.ISR & HRTIM_ICR_FLT1C)
{
/* LED3 is flashing in case of fault */
BSP_LED_On(LED3);
HAL_Delay(20);
BSP_LED_Off(LED3);
HAL_Delay(80);
/* Re-arm HRTIM TD1 output if "User" push button is pressed*/
if((BSP_PB_GetState(BUTTON_USER) == SET))
{
/* Clear interrupt flag */
HRTIM1->sCommonRegs.ICR = HRTIM_ICR_FLT1C;
/* Re-enable TA1 and TA2 */
HRTIM1->sCommonRegs.OENR = HRTIM_OENR_TA1OEN + HRTIM_OENR_TA2OEN;
}
}
#else
while(__HAL_HRTIM_GET_FLAG(&hhrtim, HRTIM_FLAG_FLT1) == SET)
{
/* LED3 is flashing in case of fault */
BSP_LED_On(LED3);
HAL_Delay(20);
BSP_LED_Off(LED3);
HAL_Delay(80);
/* Re-arm HRTIM TD1 output if "User" push button is pressed*/
if((BSP_PB_GetState(BUTTON_USER) == SET))
{
__HAL_HRTIM_CLEAR_IT(&hhrtim, HRTIM_IT_FLT1);
HAL_HRTIM_WaveformOutputStart(&hhrtim, HRTIM_OUTPUT_TA1 | HRTIM_OUTPUT_TA2);
}
}
#endif
/* ---------------- */
/* Normal operation */
/* ---------------- */
/* LED6 toggling to show MCU activity */
BSP_LED_On(LED6);
HAL_Delay(100);
BSP_LED_Off(LED6);
HAL_Delay(400);
/* -----------------------------------------------------------------------*/
/* Input and output voltages can be displayed real-time in a watch window */
/* -----------------------------------------------------------------------*/
Vin = (HAL_ADCEx_InjectedGetValue(&AdcHandle, ADC_INJECTED_RANK_1) * ADC_VREF)/0x1000;
/* VIN bridge conversion is 4.97 (6.8K / 6.8K + 27K) */
Vin = (497 * Vin )/100;
Vout = (HAL_ADCEx_InjectedGetValue(&AdcHandle, ADC_INJECTED_RANK_2) * ADC_VREF)/0x1000;
/* VOUT bridge conversion is 5.03 (3.3K / 3.3K + 13.3K) */
Vout = (503 * Vout)/100;
}
}
/**
* @brief Injected conversion complete callback in non blocking mode
* @param hadc: ADC handle
* @retval None
*/
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc)
{
uhADCxConvertedValue_Injected = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
}
