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make the Adc class functions the normal code path

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This commit is contained in:
Harald Barth
2022-10-04 21:55:13 +02:00
parent 367d2dfe20
commit ee568fcd11
9 changed files with 100 additions and 85 deletions
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46
MotorDriver.cpp
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@@ -30,24 +30,6 @@
#if defined(ARDUINO_ARCH_ESP32)
#include "ESP32-fixes.h"
#include <driver/adc.h>
#include <soc/sens_reg.h>
#include <soc/sens_struct.h>
#undef ADC_INPUT_MAX_VALUE
#define ADC_INPUT_MAX_VALUE 4095 // 12 bit ADC
#define pinToADC1Channel(X) (adc1_channel_t)(((X) > 35) ? (X)-36 : (X)-28)
int IRAM_ATTR local_adc1_get_raw(int channel) {
uint16_t adc_value;
SENS.sar_meas_start1.sar1_en_pad = (1 << channel); // only one channel is selected
while (SENS.sar_slave_addr1.meas_status != 0);
SENS.sar_meas_start1.meas1_start_sar = 0;
SENS.sar_meas_start1.meas1_start_sar = 1;
while (SENS.sar_meas_start1.meas1_done_sar == 0);
adc_value = SENS.sar_meas_start1.meas1_data_sar;
return adc_value;
}
#endif
bool MotorDriver::commonFaultPin=false;
@@ -110,18 +92,7 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
currentPin=current_pin;
if (currentPin!=UNUSED_PIN) {
#ifdef ARDUINO_ARCH_ESP32
pinMode(currentPin, ANALOG);
adc1_config_width(ADC_WIDTH_BIT_12);
adc1_config_channel_atten(pinToADC1Channel(currentPin),ADC_ATTEN_DB_11);
senseOffset = adc1_get_raw(pinToADC1Channel(currentPin));
#else
pinMode(currentPin, INPUT);
Adc::reg(currentPin);
// run analogRead as Adc::read() does not have any values before
// the waveform has been started.
senseOffset=analogRead(currentPin); // value of sensor at zero current
#endif
senseOffset = Adc::init(currentPin);
}
faultPin=fault_pin;
@@ -223,20 +194,7 @@ int MotorDriver::getCurrentRaw(bool fromISR) {
(void)fromISR;
if (currentPin==UNUSED_PIN) return 0;
int current;
#ifdef ARDUINO_ARCH_ESP32
current = local_adc1_get_raw(pinToADC1Channel(currentPin))-senseOffset;
#else
#ifdef ANALOG_READ_INTERRUPT
current = Adc::read(currentPin)-senseOffset;
//current = sampleCurrent-senseOffset;
//if ((millis() - sampleCurrentTimestamp) > 3)
// DIAG(F("Current sample old %d"), millis() - sampleCurrentTimestamp);
#else
if (!fromISR) noInterrupts();
current = analogRead(currentPin)-senseOffset;
if (!fromISR) interrupts();
#endif //ANALOG_READ_INTERRUPT
#endif //ARDUINO_ARCH_ESP32
current = Adc::read(currentPin, fromISR)-senseOffset;
if (current<0) current=0-current;
if ((faultPin != UNUSED_PIN) && isLOW(fastFaultPin) && powerMode==POWERMODE::ON)
return (current == 0 ? -1 : -current);