Merge pull request #140 from Northeastern-Electric-Racing/Current_Sen…

…sor_DMAs_118

Current Sensor DMAs - 118

Core/Inc/stm32f4xx_it.h

@@ -53,11 +53,13 @@ void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void SysTick_Handler(void);
-void CAN1_RX0_IRQHandler(void);
 void DMA1_Stream4_IRQHandler(void);
+void CAN1_RX0_IRQHandler(void);
 void UART4_IRQHandler(void);
 void DMA2_Stream0_IRQHandler(void);
+void DMA2_Stream2_IRQHandler(void);
 void CAN2_RX0_IRQHandler(void);
+void CAN2_RX1_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Src/compute.c

@@ -17,6 +17,8 @@
 uint8_t fan_speed;
 bool is_charging_enabled;
 enum { CHARGE_ENABLED, CHARGE_DISABLED };
+uint32_t channel_1_buf[2];
+uint32_t raw_high_current_buf;
 
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim8;
@@ -61,7 +63,14 @@ uint8_t compute_init(acc_data_t *bmsdata)
 	// HAL_TIM_PWM_Start(&htim8, fan_channels[FAN6]);
 	bmsdata->is_charger_connected = false;
 
-	HAL_ADC_Start(&hadc2);
+	//DMA for first ADC channel -- raw_low_current and ref_5V
+	assert(!HAL_ADC_Start_DMA(&hadc1, channel_1_buf,
+				  sizeof(channel_1_buf) / sizeof(uint32_t)));
+
+	//DMA for second ADC channel -- raw_high_current
+	assert(!HAL_ADC_Start_DMA(&hadc2, &raw_high_current_buf,
+				  sizeof(raw_high_current_buf) /
+					  sizeof(uint32_t)));
 
 	return 0;
 }
@@ -196,20 +205,19 @@ int16_t compute_get_pack_current()
 		1 / 0.0041; // Calibrated with  current = 5A, 10A, 20A
 	static const float LOWCHANNEL_GAIN = 1 / 0.0267;
 	*/
-	// Change ADC channel to read the high current sensor
-	change_adc1_channel(VOUT_CHANNEL);
-	HAL_ADC_Start(&hadc1);
-	HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
-	int raw_low_current = HAL_ADC_GetValue(&hadc1);
 
-	HAL_ADC_Start(&hadc2);
-	HAL_ADC_PollForConversion(&hadc2, HAL_MAX_DELAY);
-	int raw_high_current = HAL_ADC_GetValue(&hadc2);
+	uint32_t raw_high_current;
+	uint32_t raw_low_current;
+	uint32_t ref_5V;
+
+	memcpy(&raw_high_current, &raw_high_current_buf,
+	       sizeof(raw_high_current_buf));
+
+	memcpy(&raw_low_current, &channel_1_buf[0],
+	       sizeof(channel_1_buf[0])); //From the rank of ADC_CHANNEL_15
 
-	change_adc1_channel(REF_CHANNEL);
-	HAL_ADC_Start(&hadc1);
-	HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
-	int ref_5V = HAL_ADC_GetValue(&hadc1);
+	memcpy(&ref_5V, &channel_1_buf[1],
+	       sizeof(channel_1_buf[1])); //From the rank of ADC_CHANNEL_9
 
 	int16_t ref_voltage_raw =
 		(int16_t)(1000.0f * ((float)ref_5V * CURRENT_ADC_RESOLUTION));
@@ -245,7 +253,6 @@ int16_t compute_get_pack_current()
 		return -low_current;
 	}
 
-	// printf("\rHigh Current: %d\n", -high_current);
 	return -high_current;
 }
 

Core/Src/main.c

@@ -52,6 +52,7 @@
 ADC_HandleTypeDef hadc1;
 ADC_HandleTypeDef hadc2;
 DMA_HandleTypeDef hdma_adc1;
+DMA_HandleTypeDef hdma_adc2;
 
 CAN_HandleTypeDef hcan1;
 CAN_HandleTypeDef hcan2;
@@ -438,13 +439,13 @@ static void MX_ADC1_Init(void)
   hadc1.Instance = ADC1;
   hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
   hadc1.Init.Resolution = ADC_RESOLUTION_12B;
-  hadc1.Init.ScanConvMode = DISABLE;
+  hadc1.Init.ScanConvMode = ENABLE;
   hadc1.Init.ContinuousConvMode = DISABLE;
   hadc1.Init.DiscontinuousConvMode = DISABLE;
   hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
   hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc1.Init.NbrOfConversion = 1;
+  hadc1.Init.NbrOfConversion = 2;
   hadc1.Init.DMAContinuousRequests = ENABLE;
   hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
   if (HAL_ADC_Init(&hadc1) != HAL_OK)
@@ -461,6 +462,15 @@ static void MX_ADC1_Init(void)
   {
     Error_Handler();
   }
+
+  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+  */
+  sConfig.Channel = ADC_CHANNEL_9;
+  sConfig.Rank = 2;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
   /* USER CODE BEGIN ADC1_Init 2 */
 
   /* USER CODE END ADC1_Init 2 */
@@ -1065,6 +1075,9 @@ static void MX_DMA_Init(void)
   /* DMA2_Stream0_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
+  /* DMA2_Stream2_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
 
 }
 

Core/Src/stm32f4xx_hal_msp.c

@@ -26,6 +26,8 @@
 /* USER CODE END Includes */
 extern DMA_HandleTypeDef hdma_adc1;
 
+extern DMA_HandleTypeDef hdma_adc2;
+
 extern DMA_HandleTypeDef hdma_uart4_tx;
 
 /* Private typedef -----------------------------------------------------------*/
@@ -126,7 +128,7 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
     hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
     hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
     hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
-    hdma_adc1.Init.Mode = DMA_NORMAL;
+    hdma_adc1.Init.Mode = DMA_CIRCULAR;
     hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
     hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
@@ -157,6 +159,25 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(I_SenseB0_GPIO_Port, &GPIO_InitStruct);
 
+    /* ADC2 DMA Init */
+    /* ADC2 Init */
+    hdma_adc2.Instance = DMA2_Stream2;
+    hdma_adc2.Init.Channel = DMA_CHANNEL_1;
+    hdma_adc2.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_adc2.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_adc2.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_adc2.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+    hdma_adc2.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
+    hdma_adc2.Init.Mode = DMA_CIRCULAR;
+    hdma_adc2.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_adc2.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_adc2) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(hadc,DMA_Handle,hdma_adc2);
+
   /* USER CODE BEGIN ADC2_MspInit 1 */
 
   /* USER CODE END ADC2_MspInit 1 */
@@ -207,6 +228,8 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
     */
     HAL_GPIO_DeInit(I_SenseB0_GPIO_Port, I_SenseB0_Pin);
 
+    /* ADC2 DMA DeInit */
+    HAL_DMA_DeInit(hadc->DMA_Handle);
   /* USER CODE BEGIN ADC2_MspDeInit 1 */
 
   /* USER CODE END ADC2_MspDeInit 1 */
@@ -282,6 +305,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
     /* CAN2 interrupt Init */
     HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+    HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspInit 1 */
 
   /* USER CODE END CAN2_MspInit 1 */
@@ -340,6 +365,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
 
     /* CAN2 interrupt DeInit */
     HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
+    HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */
 
   /* USER CODE END CAN2_MspDeInit 1 */

Core/Src/stm32f4xx_it.c

@@ -59,6 +59,7 @@
 
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_adc1;
+extern DMA_HandleTypeDef hdma_adc2;
 extern CAN_HandleTypeDef hcan1;
 extern CAN_HandleTypeDef hcan2;
 extern DMA_HandleTypeDef hdma_uart4_tx;
@@ -201,20 +202,6 @@ void DMA1_Stream4_IRQHandler(void)
   /* USER CODE END DMA1_Stream4_IRQn 1 */
 }
 
-/**
-  * @brief This function handles UART4 global interrupt.
-  */
-void UART4_IRQHandler(void)
-{
-  /* USER CODE BEGIN UART4_IRQn 0 */
-
-  /* USER CODE END UART4_IRQn 0 */
-  HAL_UART_IRQHandler(&huart4);
-  /* USER CODE BEGIN UART4_IRQn 1 */
-
-  /* USER CODE END UART4_IRQn 1 */
-}
-
 /**
   * @brief This function handles CAN1 RX0 interrupts.
   */
@@ -229,6 +216,20 @@ void CAN1_RX0_IRQHandler(void)
   /* USER CODE END CAN1_RX0_IRQn 1 */
 }
 
+/**
+  * @brief This function handles UART4 global interrupt.
+  */
+void UART4_IRQHandler(void)
+{
+  /* USER CODE BEGIN UART4_IRQn 0 */
+
+  /* USER CODE END UART4_IRQn 0 */
+  HAL_UART_IRQHandler(&huart4);
+  /* USER CODE BEGIN UART4_IRQn 1 */
+
+  /* USER CODE END UART4_IRQn 1 */
+}
+
 /**
   * @brief This function handles DMA2 stream0 global interrupt.
   */
@@ -243,6 +244,20 @@ void DMA2_Stream0_IRQHandler(void)
   /* USER CODE END DMA2_Stream0_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA2 stream2 global interrupt.
+  */
+void DMA2_Stream2_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream2_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_adc2);
+  /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream2_IRQn 1 */
+}
+
 /**
   * @brief This function handles CAN2 RX0 interrupts.
   */
@@ -257,6 +272,20 @@ void CAN2_RX0_IRQHandler(void)
   /* USER CODE END CAN2_RX0_IRQn 1 */
 }
 
+/**
+  * @brief This function handles CAN2 RX1 interrupt.
+  */
+void CAN2_RX1_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN2_RX1_IRQn 0 */
+
+  /* USER CODE END CAN2_RX1_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_RX1_IRQn 1 */
+
+  /* USER CODE END CAN2_RX1_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Fri Nov 08 16:32:06 EST 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Sun Nov 24 16:29:33 EST 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------

shepherd2.ioc

@@ -1,10 +1,14 @@
 #MicroXplorer Configuration settings - do not modify
 ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_15
+ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_9
 ADC1.DMAContinuousRequests=ENABLE
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,master,DMAContinuousRequests
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,master,DMAContinuousRequests,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,NbrOfConversion
+ADC1.NbrOfConversion=2
 ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
+ADC1.Rank-1\#ChannelRegularConversion=2
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
+ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
 ADC1.master=1
 ADC2.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_8
 ADC2.IPParameters=Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,NbrOfConversionFlag
@@ -49,14 +53,25 @@ Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.ADC1.0.Instance=DMA2_Stream0
 Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_WORD
 Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
-Dma.ADC1.0.Mode=DMA_NORMAL
+Dma.ADC1.0.Mode=DMA_CIRCULAR
 Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_WORD
 Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
 Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
 Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.ADC2.2.Direction=DMA_PERIPH_TO_MEMORY
+Dma.ADC2.2.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.ADC2.2.Instance=DMA2_Stream2
+Dma.ADC2.2.MemDataAlignment=DMA_MDATAALIGN_WORD
+Dma.ADC2.2.MemInc=DMA_MINC_ENABLE
+Dma.ADC2.2.Mode=DMA_CIRCULAR
+Dma.ADC2.2.PeriphDataAlignment=DMA_PDATAALIGN_WORD
+Dma.ADC2.2.PeriphInc=DMA_PINC_DISABLE
+Dma.ADC2.2.Priority=DMA_PRIORITY_LOW
+Dma.ADC2.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 Dma.Request0=ADC1
 Dma.Request1=UART4_TX
-Dma.RequestsNb=2
+Dma.Request2=ADC2
+Dma.RequestsNb=3
 Dma.UART4_TX.1.Direction=DMA_MEMORY_TO_PERIPH
 Dma.UART4_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.UART4_TX.1.Instance=DMA1_Stream4
@@ -170,6 +185,7 @@ NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false