Elijah Stanger-Jones / MotorShield

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Dependents:   experiment_example motor_shield_example Position_ctrl Lab3_experiment_example ... more

Files at this revision

API Documentation at this revision

Revision 7:e3a2ade56b79, committed 2020-08-26

Comitter:
elijahsj
Date:
Wed Aug 26 23:42:07 2020 +0000
Parent:
6:417655779dc5
Commit message:
Fully functional with high frequency loop

Changed in this revision

HardwareSetup.cpp Show annotated file Show diff for this revision Revisions of this file
MotorShield.cpp Show annotated file Show diff for this revision Revisions of this file
MotorShield.h Show annotated file Show diff for this revision Revisions of this file 
--- a/HardwareSetup.cpp	Wed Aug 26 19:35:02 2020 +0000
+++ b/HardwareSetup.cpp	Wed Aug 26 23:42:07 2020 +0000
@@ -22,15 +22,13 @@
 static void MX_ADC1_Init(void);
 static void MX_ADC2_Init(void); 
 
-uint16_t Current_A;
-uint16_t Current_B;
-uint16_t Current_C;
-uint16_t Current_D;
+void config_adc1_channel(int val);
+void config_adc2_channel(int val);
 
-AnalogIn currentA(PF_12); //Enable ADC pin
-AnalogIn currentB(PF_11); //Enable ADC pin
-AnalogIn currentC(PF_13); //Enable ADC pin
-AnalogIn currentD(PA_4);  //Enable ADC pin
+AnalogIn currentA(PF_12); //Enable ADC hardware pin, don't use AnalogIn reads
+AnalogIn currentB(PF_11); //Enable ADC hardware pin, don't use AnalogIn reads
+AnalogIn currentC(PF_13); //Enable ADC hardware pin, don't use AnalogIn reads
+AnalogIn currentD(PA_4);  //Enable ADC hardware pin, don't use AnalogIn reads
 
 void initHardware(int periodTicks){
     PWM_PERIOD = periodTicks;
@@ -46,7 +44,7 @@
     MX_TIM17_Init();
     MX_ADC1_Init();
     MX_ADC2_Init();
-    //HAL_TIM_Base_Start(&htim15);
+
 
     HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_1); // start pwm generation
     HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_2); // start pwm generation
@@ -62,37 +60,85 @@
 
 
 uint16_t readADC1(int channel){
-    
+    config_adc1_channel(channel);
     HAL_ADC_Start(&hadc1);
     HAL_ADC_PollForConversion(&hadc1,20);
-    Current_A = HAL_ADC_GetValue(&hadc1);
-    HAL_ADC_PollForConversion(&hadc1,20);
-    Current_B = HAL_ADC_GetValue(&hadc1);
+    uint32_t result = HAL_ADC_GetValue(&hadc1);
     HAL_ADC_Stop (&hadc1);    
-    if (channel){
+    return result;
+
+}
 
-        return Current_A;
-    }
-    else 
-        return Current_B;
+void config_adc1_channel(int val)
+{
+  ADC_ChannelConfTypeDef sConfig;
+  if (val == 0){
+      sConfig.Channel = ADC_CHANNEL_6;
+      sConfig.Rank = ADC_REGULAR_RANK_1;
+      sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+      sConfig.SingleDiff = ADC_SINGLE_ENDED;
+      sConfig.OffsetNumber = ADC_OFFSET_NONE;
+      sConfig.Offset = 0;
+      if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+      {
+        //Error_Handler();
+      }
+  }
+  else{
+      sConfig.Channel = ADC_CHANNEL_2;
+      sConfig.Rank = ADC_REGULAR_RANK_1;
+      sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+      sConfig.SingleDiff = ADC_SINGLE_ENDED;
+      sConfig.OffsetNumber = ADC_OFFSET_NONE;
+      sConfig.Offset = 0;
+      if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+      {
+        //Error_Handler();
+      }
+  }
+
 }
 
+
 uint16_t readADC2(int channel){  
     
+    config_adc2_channel(channel);
     HAL_ADC_Start(&hadc2);
     HAL_ADC_PollForConversion(&hadc2,20);
-    Current_C = HAL_ADC_GetValue(&hadc2);
-    HAL_ADC_PollForConversion(&hadc2,20);
-    Current_D = HAL_ADC_GetValue(&hadc2);
+    uint32_t result = HAL_ADC_GetValue(&hadc2);
     HAL_ADC_Stop (&hadc2);    
-    if (channel){
-
-        return Current_C;
-    }
-    else 
-        return Current_D;
+    return result;
 }
 
+void config_adc2_channel(int val)
+{
+  ADC_ChannelConfTypeDef sConfig;
+  if (val == 0){
+      sConfig.Channel = ADC_CHANNEL_18;
+      sConfig.Rank = ADC_REGULAR_RANK_1;
+      sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+      sConfig.SingleDiff = ADC_SINGLE_ENDED;
+      sConfig.OffsetNumber = ADC_OFFSET_NONE;
+      sConfig.Offset = 0;
+      if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
+      {
+        //Error_Handler();
+      }
+  }
+  else{
+      sConfig.Channel = ADC_CHANNEL_2;
+      sConfig.Rank = ADC_REGULAR_RANK_1;
+      sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+      sConfig.SingleDiff = ADC_SINGLE_ENDED;
+      sConfig.OffsetNumber = ADC_OFFSET_NONE;
+      sConfig.Offset = 0;
+      if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
+      {
+        //Error_Handler();
+      }
+  }
+
+}
 
 static void MX_ADC1_Init(void)
 {
@@ -103,11 +149,11 @@
   hadc1.Instance = ADC1;
   hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
   hadc1.Init.Resolution = ADC_RESOLUTION_16B;
-  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
   hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
   hadc1.Init.LowPowerAutoWait = DISABLE;
   hadc1.Init.ContinuousConvMode = ENABLE;
-  hadc1.Init.NbrOfConversion = 2;
+  hadc1.Init.NbrOfConversion = 1;
   hadc1.Init.DiscontinuousConvMode = DISABLE;
   hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
   hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
@@ -119,13 +165,6 @@
   {
     //Error_Handler();
   }
-  /** Configure the ADC multi-mode 
-  */
-  multimode.Mode = ADC_MODE_INDEPENDENT;
-  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
-  {
-    //Error_Handler();
-  }
   /** Configure Regular Channel 
   */
   sConfig.Channel = ADC_CHANNEL_2;
@@ -138,17 +177,6 @@
   {
     //Error_Handler();
   }
-
-  sConfig.Channel = ADC_CHANNEL_6;
-  sConfig.Rank = ADC_REGULAR_RANK_2;
-  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
-  sConfig.SingleDiff = ADC_SINGLE_ENDED;
-  sConfig.OffsetNumber = ADC_OFFSET_NONE;
-  sConfig.Offset = 0;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    //Error_Handler();
-  }
 }
 
 /**
@@ -158,18 +186,17 @@
   */
 static void MX_ADC2_Init(void)
 {
-  ADC_MultiModeTypeDef multimode = {0};
   ADC_ChannelConfTypeDef sConfig = {0};
   /** Common config 
   */
   hadc2.Instance = ADC2;
   hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
   hadc2.Init.Resolution = ADC_RESOLUTION_16B;
-  hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
+  hadc2.Init.ScanConvMode = ADC_SCAN_DISABLE;
   hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
   hadc2.Init.LowPowerAutoWait = DISABLE;
   hadc2.Init.ContinuousConvMode = ENABLE;
-  hadc2.Init.NbrOfConversion = 2;
+  hadc2.Init.NbrOfConversion = 1;
   hadc2.Init.DiscontinuousConvMode = DISABLE;
   hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
   hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
@@ -181,13 +208,7 @@
   {
     //Error_Handler();
   }
-  /** Configure the ADC multi-mode 
-  */
-  multimode.Mode = ADC_MODE_INDEPENDENT;
-  if (HAL_ADCEx_MultiModeConfigChannel(&hadc2, &multimode) != HAL_OK)
-  {
-    //Error_Handler();
-  }
+
   /** Configure Regular Channel 
   */
   sConfig.Channel = ADC_CHANNEL_2;
@@ -201,17 +222,6 @@
     //Error_Handler();
   }
 
-  sConfig.Channel = ADC_CHANNEL_18;
-  sConfig.Rank = ADC_REGULAR_RANK_2;
-  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
-  sConfig.SingleDiff = ADC_SINGLE_ENDED;
-  sConfig.OffsetNumber = ADC_OFFSET_NONE;
-  sConfig.Offset = 0;
-  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
-  {
-    //Error_Handler();
-  }
-
 }
 
 

--- a/MotorShield.cpp	Wed Aug 26 19:35:02 2020 +0000
+++ b/MotorShield.cpp	Wed Aug 26 23:42:07 2020 +0000
@@ -77,6 +77,19 @@
     }
 }
 
+uint32_t MotorShield::readCurrentA() {
+    return readADC1(0);
+}
+uint32_t MotorShield::readCurrentB() {
+    return readADC1(1);
+}
+uint32_t MotorShield::readCurrentC() {
+    return readADC2(1);
+}
+uint32_t MotorShield::readCurrentD() {
+    return readADC2(0);
+}
+
 void MotorShield::changePeriod(int periodTicks){
     periodTickVal = periodTicks; 
     init();

--- a/MotorShield.h	Wed Aug 26 19:35:02 2020 +0000
+++ b/MotorShield.h	Wed Aug 26 23:42:07 2020 +0000
@@ -14,6 +14,10 @@
     void motorBWrite(float duty_cycle, int direction);
     void motorCWrite(float duty_cycle, int direction);
     void motorDWrite(float duty_cycle, int direction);
+    uint32_t readCurrentA();
+    uint32_t readCurrentB();
+    uint32_t readCurrentC();
+    uint32_t readCurrentD();
     void changePeriod(int periodTicks); 
     
     private: