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do analogRead without need for noInterrupt - first test

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This commit is contained in:
Harald Barth
2022-10-02 00:43:46 +02:00
parent 052f5807f0
commit c47e9b79ca
6 changed files with 97 additions and 10 deletions
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49
MotorDriver.cpp
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@@ -223,9 +223,13 @@ int MotorDriver::getCurrentRaw() {
#ifdef ARDUINO_ARCH_ESP32
current = local_adc1_get_raw(pinToADC1Channel(currentPin))-senseOffset;
#else
noInterrupts();
current = analogRead(currentPin)-senseOffset;
interrupts();
// noInterrupts();
//current = analogRead(currentPin)-senseOffset;
current = sampleCurrent-senseOffset;
DIAG(F("%d %d"), current, sampleCurrentTimestamp);
if ((millis() - sampleCurrentTimestamp) > 3)
DIAG(F("Current sample old %d"), millis() - sampleCurrentTimestamp);
//interrupts();
#endif
if (current<0) current=0-current;
if ((faultPin != UNUSED_PIN) && isLOW(fastFaultPin) && powerMode==POWERMODE::ON)
@@ -233,6 +237,42 @@ int MotorDriver::getCurrentRaw() {
return current;
}
/*
* This should only be called in interrupt context
* Copies current value from HW to cached value in
* Motordriver.
*/
#pragma GCC push_options
#pragma GCC optimize ("-O3")
bool MotorDriver::sampleCurrentFromHW() {
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
const byte mask = 7;
#else
const byte mask = 31;
#endif
byte low, high;
//if (!bit_is_set(ADCSRA, ADIF))
if (bit_is_set(ADCSRA, ADSC))
return false;
// if ((ADMUX & mask) != (currentPin - A0))
// return false;
low = ADCL; //must read low before high
high = ADCH;
bitSet(ADCSRA, ADIF);
sampleCurrent = (high << 8) | low;
sampleCurrentTimestamp = millis();
return true;
}
void MotorDriver::startCurrentFromHW() {
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
const byte mask = 7;
#else
const byte mask = 31;
#endif
ADMUX=(1<<REFS0)|((currentPin-A0) & mask); //select AVCC as reference and set MUX
bitSet(ADCSRA,ADSC); // start conversion
}
#pragma GCC pop_options
void MotorDriver::setDCSignal(byte speedcode) {
if (brakePin == UNUSED_PIN)
@@ -296,7 +336,8 @@ int MotorDriver::getCurrentRawInInterrupt() {
#ifdef ARDUINO_ARCH_ESP32 //On ESP we do all in loop() instead of in interrupt
return getCurrentRaw();
#else
return analogRead(currentPin)-senseOffset;
//return analogRead(currentPin)-senseOffset;
return getCurrentRaw();
#endif
}