Modifying enums to follow ADC DMA indices

Northeastern-Electric-Racing · Mar 13, 2024 · 51263a7 · 51263a7
1 parent 1b543ff
commit 51263a7
Show file tree

Hide file tree

Showing 2 changed files with 29 additions and 12 deletions.
diff --git a/CM7/Core/Inc/gatedriver.h b/CM7/Core/Inc/gatedriver.h
@@ -9,38 +9,56 @@
 
 #define MAX_ADC_BUF 7
 
+/*
+ * Note that these phases readings should ALWAYS be mapped to the corresponding indices
+ * Ensure the ADC DMA is mapped the same across boards
+ */
 enum {
-    PHASE_U,
-    PHASE_V,
-    PHASE_W,
-    NUM_PHASES
+    GATEDRV_PHASE_U,
+    GATEDRV_PHASE_V,
+    GATEDRV_PHASE_W,
+    GATEDRV_NUM_PHASES
 };
 
+enum {
+    GATEDRV_DC_CURRENT = GATEDRV_NUM_PHASES, /* Keep index rolling from phase enum */
+    GATEDRV_IGBT_TEMP,
+    SIZE_OF_ADC_DMA
+};
+
+/* Definition of gatedriver struct */
 typedef struct {
 	TIM_HandleTypeDef* tim;
     osMutexId_t* tim_mutex;
     TIM_OC_InitTypeDef* pwm_cfg;
-	uint32_t pulses[NUM_PHASES];
+	uint32_t pulses[GATEDRV_NUM_PHASES];
 
     ADC_HandleTypeDef *hdma_adc;
 	SPI_HandleTypeDef *adc_spi;
-    uint32_t intern_adc_buffer[MAX_ADC_BUF];
+    uint32_t intern_adc_buffer[SIZE_OF_ADC_DMA];
 
     osMutexId_t* tim_mutex_mutex;
     osMutexAttr_t tim_mutex_attr;
     osMutexId_t* ext_adc_mutex;
     osMutexAttr_t ext_adc_mutex_attr;
 } gatedriver_t;
 
+/* initialize a new gatedriver */
 gatedriver_t* gatedrv_init(TIM_HandleTypeDef* tim, ADC_HandleTypeDef *hdma_adc, SPI_HandleTypeDef *adc_spi);
 
+/* read the dc voltage (V) */
 int16_t gatedrv_read_dc_voltage(gatedriver_t* drv);
 
+/* read the dc current (A) */
 int16_t gatedrv_read_dc_current(gatedriver_t* drv);
 
 /* Note: This has to atomically write to ALL PWM registers */
 int16_t gatedrv_write_pwm(gatedriver_t* drv, float duty_cycles[]);
 
+/* read the internal IGBT temp */
 int16_t gatedrv_read_igbt_temp(gatedriver_t* drv);
 
+/* read the currents of each phase */
+void gatedrv_get_phase_currents(gatedriver_t* drv, int16_t current_buf[GATEDRV_NUM_PHASES]);
+
 #endif /* GATEDRIVER_H */
diff --git a/CM7/Core/Src/gatedriver.c b/CM7/Core/Src/gatedriver.c
@@ -68,12 +68,11 @@ gatedriver_t* gatedrv_init(TIM_HandleTypeDef* tim, ADC_HandleTypeDef *hdma_adc,
 	return gatedriver;
 }
 
-void gatedrv_get_phase_currents(gatedriver_t* drv, int16_t current_buf[])
+void gatedrv_get_phase_currents(gatedriver_t* drv, int16_t current_buf[GATEDRV_NUM_PHASES])
 {
-	//TODO: Ensure the ADC DMA is mapped the same across boards
-	current_buf[PHASE_U] = drv->intern_adc_buffer[0];
-	current_buf[PHASE_V] = drv->intern_adc_buffer[1];
-	current_buf[PHASE_W] = drv->intern_adc_buffer[2];
+	current_buf[GATEDRV_PHASE_U] = drv->intern_adc_buffer[GATEDRV_PHASE_U];
+	current_buf[GATEDRV_PHASE_V] = drv->intern_adc_buffer[GATEDRV_PHASE_V];
+	current_buf[GATEDRV_PHASE_W] = drv->intern_adc_buffer[GATEDRV_PHASE_W];
 }
 
 int16_t gatedrv_read_dc_voltage(gatedriver_t* drv)
@@ -87,7 +86,7 @@ int16_t gatedrv_read_dc_current(gatedriver_t* drv)
 }
 
 /* Note: This has to atomically write to ALL PWM registers */
-int16_t gatedrv_write_pwm(gatedriver_t* drv, float duty_cycles[])
+int16_t gatedrv_write_pwm(gatedriver_t* drv, float duty_cycles[GATEDRV_NUM_PHASES])
 {
 	/* Acquiring mutex lock */
 	osStatus_t mut_stat = osMutexAcquire(drv->tim_mutex, osWaitForever);