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Add Phoque1 current sense, lighten Phoque2 current sense code #91

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0746c42
Add Phoque1 current sense, lighten Phoque2 current sense code
Moddingear May 25, 2026
ebfc050
Phoque: fix shadowed variables and align
Moddingear May 27, 2026
67ec7c7
Phoque current sense: use DMA2, disable interrupts on DMA
Moddingear Jun 13, 2026
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22 changes: 16 additions & 6 deletions src/current_sense/phoque/Phoque_CurrentSense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,13 +54,15 @@ void Phoque_CurrentSense::DMA_Init()
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();

#ifdef DMA_USE_INTERRUPT
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* DMA1_Channel2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
HAL_NVIC_SetPriority(DMA2_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA2_Channel1_IRQn);
#endif

// Enable external clock for ADC
RCC_PeriphCLKInitTypeDef PeriphClkInit;
Expand Down Expand Up @@ -171,7 +173,6 @@ void* Phoque_CurrentSense::SyncLowSide(void* _driver_params, void* _cs_params)
SIMPLEFOC_DEBUG("STM32-CS: timer has no repetition counter, ADC interrupt not supported for this Phoque");
return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
}

// set the trigger output event
LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);

Expand Down Expand Up @@ -202,7 +203,7 @@ void* Phoque_CurrentSense::ConfigureADC(const void* driver_params, const int pin
HAL_ADCEx_Calibration_Start(&hadc2,ADC_SINGLE_ENDED);

DMA1_Init(&hadc1, &hdma_adc1, DMA1_Channel1, DMA_REQUEST_ADC1);
DMA1_Init(&hadc2, &hdma_adc2, DMA1_Channel2, DMA_REQUEST_ADC2);
DMA1_Init(&hadc2, &hdma_adc2, DMA2_Channel1, DMA_REQUEST_ADC2);

if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc1_buffer, adc1_len) != HAL_OK)
{
Expand Down Expand Up @@ -276,6 +277,7 @@ int Phoque_CurrentSense::init()
void Phoque_CurrentSense::calibrateOffsets(){
const int calibration_rounds = 2000;


// find adc offset = zero current voltage
uint32_t accA = 0, accB = 0, accC = 0;
// read the adc voltage 1000 times ( arbitrary number )
Expand All @@ -287,7 +289,11 @@ void Phoque_CurrentSense::calibrateOffsets(){
//no new data: this iteration didn't happen
i--;
//wait for interrupt (dma irq should do it)
#ifdef DMA_USE_INTERRUPT
__WFI();
#else
delayMicroseconds(100);
#endif
continue;
}
//invalidate current data
Expand All @@ -296,27 +302,31 @@ void Phoque_CurrentSense::calibrateOffsets(){
accB += currv;
accC += currw;
}

// calculate the mean offsets
offset_ia = accA * ((Stm32CurrentSenseParams*)params)->adc_voltage_conv / calibration_rounds;
offset_ib = accB * ((Stm32CurrentSenseParams*)params)->adc_voltage_conv / calibration_rounds;
offset_ic = accC * ((Stm32CurrentSenseParams*)params)->adc_voltage_conv / calibration_rounds;
SimpleFOCDebug::printf("PHOQUE-CS: Calibrated centers at %f, %f, %f\r\n", offset_ia, offset_ib, offset_ic);
}

int Phoque_CurrentSense::driverAlign(float align_voltage, bool modulation_centered)
{
_UNUSED(align_voltage);
_UNUSED(modulation_centered);
return 0;
return 1;
}

#ifdef DMA_USE_INTERRUPT
extern "C" {
void DMA1_Channel1_IRQHandler(void) {
HAL_DMA_IRQHandler(&hdma_adc1);
}

void DMA1_Channel2_IRQHandler(void) {
void DMA2_Channel1_IRQHandler(void) {
HAL_DMA_IRQHandler(&hdma_adc2);
}
}
#endif

#endif
219 changes: 219 additions & 0 deletions src/current_sense/phoque1/Phoque1_CurrentSense.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,219 @@
#if defined(ARDUINO_PHOQUE1)

#include "Phoque1_CurrentSense.hpp"
#include "communication/SimpleFOCDebug.h"
#include "current_sense/hardware_specific/stm32/stm32_adc_utils.h"

static OPAMP_HandleTypeDef hopamp1;
static OPAMP_HandleTypeDef hopamp2;
static OPAMP_HandleTypeDef hopamp3;

Phoque1_CurrentSense::Phoque1_CurrentSense(float _shunt_resistor, float _gain, bool _read_bemf)
:Phoque_CurrentSense(_shunt_resistor, _gain, _read_bemf)
{
pinA = A_CURRU_H;
pinB = A_CURRV_H;
pinC = A_CURRW_H;
}

Phoque1_CurrentSense::Phoque1_CurrentSense(float mVpA, bool _read_bemf)
:Phoque_CurrentSense(mVpA, _read_bemf)
{
pinA = A_CURRU_H;
pinB = A_CURRV_H;
pinC = A_CURRW_H;
}

Phoque1_CurrentSense::~Phoque1_CurrentSense()
{
}

void Phoque1_CurrentSense::Opamp_Init()
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_3 | GPIO_PIN_5|GPIO_PIN_7; //Opamp 1 | Opamp 2
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_2; // Opamp 3
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

OPAMP_HandleTypeDef *opamp_handles[] = {&hopamp1, &hopamp2, &hopamp3};
OPAMP_TypeDef *opamp_instances[] = {OPAMP1, OPAMP2, OPAMP3};
static_assert(sizeof(opamp_handles)/sizeof(opamp_handles[0]) == sizeof(opamp_instances)/sizeof(opamp_instances[0]));

for (size_t i = 0; i < sizeof(opamp_handles)/sizeof(opamp_handles[0]); i++)
{
auto hopamp = opamp_handles[i];
hopamp->Instance = opamp_instances[i];
hopamp->Init.PowerMode = OPAMP_POWERMODE_HIGHSPEED;
hopamp->Init.Mode = OPAMP_PGA_MODE;
hopamp->Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
hopamp->Init.InternalOutput = ENABLE;
hopamp->Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp->Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
hopamp->Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
hopamp->Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
if (HAL_OPAMP_Init(hopamp) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_OPAMP_Init failed!");
}
HAL_OPAMP_Start(hopamp);
}
}

int Phoque1_CurrentSense::ADC1_Init(ADC_HandleTypeDef* hadc1)
{
ADC_ChannelConfTypeDef sConfig = {0};
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;

hadc1->Init.NbrOfConversion += 3 + read_bemf * 2;
Phoque_CurrentSense::ADC1_Init(hadc1);

/** Configure Regular Channel (Opamp 1 / phase W current)
*/
sConfig.Channel = ADC_CHANNEL_13; // OP1_OUT is ADC1_IN13 for internal channel
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}

if(read_bemf)
{
/* Configure Regular Channel (PA0 / BEMFU / Phase U)
*/
sConfig.Channel = _getADCChannel(analogInputToPinName(A_BEMFU), ADC1);
sConfig.Rank = ADC_REGULAR_RANK_2;
sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}

/* Configure Regular Channel (PC4 / BEMFV / Phase V)
*/
sConfig.Channel = _getADCChannel(analogInputToPinName(A_BEMFV), ADC1);
sConfig.Rank = ADC_REGULAR_RANK_3;
sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}
}

//******************************************************************
// Aux analog readings
/* Configure Regular Channel (PC1, supply voltage)
*/
sConfig.Channel = _getADCChannel(analogInputToPinName(A_VBUS), ADC1);
sConfig.Rank = read_bemf ? ADC_REGULAR_RANK_4 : ADC_REGULAR_RANK_2;
sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}

/** Configure Regular Channel (PC0, Potentiometer)
*/
sConfig.Channel = _getADCChannel(analogInputToPinName(A_POTENTIOMETER), ADC1);
sConfig.Rank = read_bemf ? ADC_REGULAR_RANK_5 : ADC_REGULAR_RANK_3;
sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc1, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}
return hadc1->Init.NbrOfConversion;
}

int Phoque1_CurrentSense::ADC2_Init(ADC_HandleTypeDef* hadc2)
{
ADC_ChannelConfTypeDef sConfig = {0};
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;

hadc2->Init.NbrOfConversion += 3 + read_bemf;
Phoque_CurrentSense::ADC2_Init(hadc2);

/** Configure Regular Channel (Opamp 2 / phase U current)
*/
sConfig.Channel = ADC_CHANNEL_16; // OP2_OUT is ADC2_IN16 for internal channel
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc2, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}
/** Configure Regular Channel (Opamp 3 / phase V current)
*/
sConfig.Channel = ADC_CHANNEL_18; // OP3_OUT is ADC2_IN18 for internal channel
sConfig.Rank = ADC_REGULAR_RANK_2;
sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc2, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}

if(read_bemf)
{
/** Configure Regular Channel (PA2 / BEMFW / Phase W)
*/
sConfig.Channel = _getADCChannel(analogInputToPinName(A_BEMFW), ADC2);
sConfig.Rank = ADC_REGULAR_RANK_3;
sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc2, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}
}

/** Configure Regular Channel (PF1 / Mosfet temperature)
*/
sConfig.Channel = _getADCChannel(analogInputToPinName(A_TEMPERATURE), ADC2);
sConfig.Rank = read_bemf ? ADC_REGULAR_RANK_4 : ADC_REGULAR_RANK_3;
sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
if (HAL_ADC_ConfigChannel(hadc2, &sConfig) != HAL_OK)
{
SIMPLEFOC_DEBUG("HAL_ADC_ConfigChannel failed!");
}
return hadc2->Init.NbrOfConversion;
}

uint16_t Phoque1_CurrentSense::readRaw(const int pin)
{
switch (pin)
{
case A_CURRU_H:
case -1:
return adc2_buffer[0];
case A_CURRV_H:
case -2:
return adc2_buffer[1];
case A_CURRW_H:
case -3:
return adc1_buffer[0];

case A_BEMFU:
return adc1_buffer[1];
case A_BEMFV:
return adc1_buffer[2];
case A_BEMFW:
return adc2_buffer[2];

case A_POTENTIOMETER:
return adc1_buffer[2+read_bemf*2];
case A_TEMPERATURE:
return adc2_buffer[2+read_bemf];
case A_VBUS:
return adc1_buffer[1+read_bemf*2];
default:
return 0;
}
}

#endif
22 changes: 22 additions & 0 deletions src/current_sense/phoque1/Phoque1_CurrentSense.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
#pragma once

#if defined(ARDUINO_PHOQUE1)

#include "current_sense/phoque/Phoque_CurrentSense.hpp"

class Phoque1_CurrentSense : public Phoque_CurrentSense
{
public:
Phoque1_CurrentSense(float shunt_resistor, float gain, bool read_bemf=false);
Phoque1_CurrentSense(float mVpA, bool read_bemf=false);
~Phoque1_CurrentSense();

uint16_t readRaw(const int pin);

private:
void Opamp_Init();
int ADC1_Init(ADC_HandleTypeDef* hadc1);
int ADC2_Init(ADC_HandleTypeDef* hadc2);
};

#endif
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