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Add stm32 brake functionnality using comparator and DAC #92

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69 changes: 69 additions & 0 deletions src/brake/phoque/phoque_brake.cpp
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#if defined(ARDUINO_PHOQUE)
#include "stm32g4xx_hal.h"
#if !defined(HAL_DAC_MODULE_ENABLED)
#pragma message("DAC module missing for brake")
#endif
#if !defined(HAL_COMP_MODULE_ENABLED)
#pragma message("COMP module missing for brake")
#endif
#if defined(HAL_DAC_MODULE_ENABLED) && defined(HAL_COMP_MODULE_ENABLED)

#include "phoque_brake.hpp"
#include "pins_arduino.h"

phoque_brake::phoque_brake()
:stm32_brake(digitalPinToPinName(A_VBUS), digitalPinToPinName(BRAKE_RESISTOR), BRAKE_AF)
{

}

void phoque_brake::init(float threshold)
{
#ifdef DAC1
if (BRAKE_DAC == DAC1)
{
__HAL_RCC_DAC1_CLK_ENABLE();
}
#endif
#ifdef DAC2
if (BRAKE_DAC == DAC2)
{
__HAL_RCC_DAC2_CLK_ENABLE();
}
#endif
#ifdef DAC3
if (BRAKE_DAC == DAC3)
{
__HAL_RCC_DAC3_CLK_ENABLE();
}
#endif
#ifdef DAC4
if (BRAKE_DAC == DAC4)
{
__HAL_RCC_DAC4_CLK_ENABLE();
}
#endif

hdac.Instance = BRAKE_DAC;
dac_channel = BRAKE_DAC_CHAN;
hcomp.Instance = BRAKE_COMP;
hcomp.Init = {
.InputPlus = BRAKE_COMP_PLUS,
.InputMinus = BRAKE_COMP_MINUS,
.Hysteresis = COMP_HYSTERESIS_10MV,
.OutputPol = COMP_OUTPUTPOL_NONINVERTED,
.BlankingSrce = COMP_BLANKINGSRC_NONE,
.TriggerMode = COMP_TRIGGERMODE_NONE,
};
start_brake(threshold / VBUS_MUL_FACTOR / 3.3f);
}

HAL_StatusTypeDef phoque_brake::set_threshold(float trigger_voltage)
{
return set_raw_threshold(trigger_voltage / VBUS_MUL_FACTOR / 3.3f);
}

#endif
#endif
17 changes: 17 additions & 0 deletions src/brake/phoque/phoque_brake.hpp
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#pragma once

#if defined(ARDUINO_PHOQUE)
#include "stm32g4xx_hal.h"
#if defined(HAL_DAC_MODULE_ENABLED) && defined(HAL_COMP_MODULE_ENABLED)
#include "brake/stm32/stm32_brake.hpp"

class phoque_brake : public stm32_brake
{
public:
phoque_brake();
void init(float threshold);
HAL_StatusTypeDef set_threshold(float trigger_voltage);
};

#endif
#endif
286 changes: 286 additions & 0 deletions src/brake/stm32/stm32_brake.cpp
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#include "stm32_brake.hpp"

#if defined(HAL_DAC_MODULE_ENABLED) && defined(HAL_COMP_MODULE_ENABLED)
#if !defined(HAL_DAC_MODULE_ONLY)
#warning("HAL_DAC_MODULE_ONLY must be defined for brake to work correctly")
#endif

#include "stm32g4xx_hal_comp.h"
#include "stm32g4xx_hal_dac.h"
#include "Arduino.h" //for pin_function

DAC_TypeDef* stm32_brake::get_dac(uint8_t index)
{
switch (index)
{
#ifdef DAC1
case 1:
return DAC1;
#endif
#ifdef DAC2
case 2:
return DAC2;
#endif
#ifdef DAC3
case 3:
return DAC3;
#endif
#ifdef DAC4
case 4:
return DAC4;
#endif
default:
return nullptr;
}
}

uint32_t stm32_brake::get_dac_channel(uint8_t index)
{
switch (index)
{
#ifdef DAC_CHANNEL_1
case 1:
return DAC_CHANNEL_1;
#endif
#ifdef DAC_CHANNEL_2
case 2:
return DAC_CHANNEL_2;
#endif
default:
return 0;
}
}

uint32_t stm32_brake::get_comp_minus_dac(uint8_t dac, uint8_t channel)
{
switch (dac)
{
#ifdef DAC1
case 1:
switch (channel)
{
#ifdef COMP_INPUT_MINUS_DAC1_CH1
case 1:
return COMP_INPUT_MINUS_DAC1_CH1;
#endif
#ifdef COMP_INPUT_MINUS_DAC1_CH2
case 2:
return COMP_INPUT_MINUS_DAC1_CH2;
#endif
default:
return 0;
}
#endif
#ifdef DAC2
case 2:
switch (channel)
{
#ifdef COMP_INPUT_MINUS_DAC2_CH1
case 1:
return COMP_INPUT_MINUS_DAC2_CH1;
#endif
#ifdef COMP_INPUT_MINUS_DAC2_CH2
case 2:
return COMP_INPUT_MINUS_DAC2_CH2;
#endif
default:
return 0;
}
#endif
#ifdef DAC3
case 3:
switch (channel)
{
#ifdef COMP_INPUT_MINUS_DAC3_CH1
case 1:
return COMP_INPUT_MINUS_DAC3_CH1;
#endif
#ifdef COMP_INPUT_MINUS_DAC3_CH2
case 2:
return COMP_INPUT_MINUS_DAC3_CH2;
#endif
default:
return 0;
}
#endif
#ifdef DAC4
case 4:
switch (channel)
{
#ifdef COMP_INPUT_MINUS_DAC4_CH1
case 1:
return COMP_INPUT_MINUS_DAC4_CH1;
#endif
#ifdef COMP_INPUT_MINUS_DAC4_CH2
case 2:
return COMP_INPUT_MINUS_DAC4_CH2;
#endif
default:
return 0;
}
#endif

default:
return 0;
}
}

COMP_TypeDef* stm32_brake::get_comp_from_plus_io(PinName pin)
{
switch (pin)
{
#ifdef COMP1
case PA_1:
case PB_1:
return COMP1;
#endif
#ifdef COMP2
case PA_7:
case PA_3:
return COMP2;
#endif
#ifdef COMP3
case PA_0:
case PC_1:
return COMP3;
#endif
#ifdef COMP4
case PB_0:
case PE_7:
return COMP4;
#endif
#ifdef COMP5
case PB_13:
case PD_12:
return COMP5;
#endif
#ifdef COMP6
case PB_11:
case PD_11:
return COMP6;
#endif
#ifdef COMP7
case PB_14:
case PD_14:
return COMP7;
#endif

default:
return nullptr;
}
}

uint32_t stm32_brake::get_comp_plus_io(PinName pin)
{
switch (pin)
{
#ifdef COMP1
case PA_1:
#endif
#ifdef COMP2
case PA_7:
#endif
#ifdef COMP3
case PA_0:
#endif
#ifdef COMP4
case PB_0:
#endif
#ifdef COMP5
case PB_13:
#endif
#ifdef COMP6
case PB_11:
#endif
#ifdef COMP7
case PB_14:
#endif
return COMP_INPUT_PLUS_IO1;
#ifdef COMP1
case PB_1:
#endif
#ifdef COMP2
case PA_3:
#endif
#ifdef COMP3
case PC_1:
#endif
#ifdef COMP4
case PE_7:
#endif
#ifdef COMP5
case PD_12:
#endif
#ifdef COMP6
case PD_11:
#endif
#ifdef COMP7
case PD_14:
#endif
return COMP_INPUT_PLUS_IO2;
default:
return 0;
}
}

DAC_ChannelConfTypeDef stm32_brake::get_dac_config()
{
DAC_ChannelConfTypeDef dac_channel_config = {
.DAC_HighFrequency = DAC_HIGH_FREQUENCY_INTERFACE_MODE_DISABLE,
.DAC_DMADoubleDataMode = DISABLE,
.DAC_SignedFormat = DISABLE,
.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE,
.DAC_Trigger = DAC_TRIGGER_NONE,
.DAC_Trigger2 = DAC_TRIGGER_NONE,
.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE,
.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_INTERNAL,
.DAC_UserTrimming = DAC_TRIMMING_FACTORY,
.DAC_TrimmingValue = 0
};
return dac_channel_config;
}

void stm32_brake::configure_brake(COMP_TypeDef *comparator, bool brake_polarity, uint8_t dac_number, uint8_t _dac_channel, uint32_t hysteresis)
{
hdac.Instance = get_dac(dac_number);

uint32_t dac_channel = get_dac_channel(_dac_channel);

hcomp.Instance = comparator;
hcomp.Init = {
.InputPlus = get_comp_plus_io(vbus_pin),
.InputMinus = get_comp_minus_dac(dac_number, _dac_channel),
.Hysteresis = hysteresis,
.OutputPol = brake_polarity ? COMP_OUTPUTPOL_NONINVERTED : COMP_OUTPUTPOL_INVERTED,
.BlankingSrce = COMP_BLANKINGSRC_NONE,
.TriggerMode = COMP_TRIGGERMODE_NONE
};
}

stm32_brake::stm32_brake(PinName _vbus_pin, PinName _brake_pin, uint8_t _brake_af_num)
:vbus_pin(_vbus_pin), brake_pin(_brake_pin), brake_af_num(_brake_af_num)
{

}

void stm32_brake::start_brake(float trigger_voltage_over_vref)
{
volatile HAL_StatusTypeDef status;
status = HAL_DAC_Init(&hdac);
DAC_ChannelConfTypeDef dac_channel_config = get_dac_config();
status = HAL_DAC_ConfigChannel(&hdac, &dac_channel_config, dac_channel);
status = set_raw_threshold(trigger_voltage_over_vref);
status = HAL_DAC_Start(&hdac, dac_channel);
status = HAL_COMP_Init(&hcomp);
status = HAL_COMP_Start(&hcomp);
pin_function(vbus_pin, STM_PIN_DATA(STM_MODE_ANALOG, GPIO_NOPULL, 0));
pin_function(brake_pin, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, brake_af_num));
}

HAL_StatusTypeDef stm32_brake::set_raw_threshold(float trigger_voltage_over_vref)
{
return HAL_DAC_SetValue(&hdac, dac_channel, DAC_ALIGN_12B_R, trigger_voltage_over_vref * ((1<<12) -1));
}


#endif
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