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Improve Phoque-series current sense code #102

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b722d0f
Phoque: add comments and debug temperature LUT, allow any stm32g4, ad…
Moddingear Jul 28, 2026
b0d0b27
Update Phoque1 to use external opamp path by default, update to new b…
Moddingear Sep 28, 2026
16ae74d
Remove Phoque reliance on SimpleFOCDebug::printf
Moddingear Oct 2, 2026
a390f34
Phoque: make temperature LUT printout use SimpleFOCDebug
Moddingear Oct 2, 2026
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54 changes: 42 additions & 12 deletions src/current_sense/phoque/Phoque_CurrentSense.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#if defined(ARDUINO_PHOQUE)
#if defined(STM32G4xx)

#include "Phoque_CurrentSense.hpp"
#include <communication/SimpleFOCDebug.h>
Expand Down Expand Up @@ -103,15 +103,15 @@ int Phoque_CurrentSense::ADC1_Init(ADC_HandleTypeDef* hadc1)

if (HAL_ADC_Init(hadc1) != HAL_OK)
{
SIMPLEFOC_DEBUG(PHOQUE_CS_DEBUG "HAL_ADC_Init failed!");
SimpleFOCDebug::println(PHOQUE_CS_DEBUG "HAL_ADC_Init failed!");
}

/** Configure the ADC multi-mode
*/
multimode.Mode = ADC_MODE_INDEPENDENT;
if (HAL_ADCEx_MultiModeConfigChannel(hadc1, &multimode) != HAL_OK)
{
SIMPLEFOC_DEBUG(PHOQUE_CS_DEBUG "HAL_ADCEx_MultiModeConfigChannel 1 failed!");
SimpleFOCDebug::println(PHOQUE_CS_DEBUG "HAL_ADCEx_MultiModeConfigChannel 1 failed!");
}

return 0;
Expand All @@ -137,7 +137,7 @@ int Phoque_CurrentSense::ADC2_Init(ADC_HandleTypeDef* hadc2)

if (HAL_ADC_Init(hadc2) != HAL_OK)
{
SIMPLEFOC_DEBUG(PHOQUE_CS_DEBUG "HAL_ADC_Init failed!");
SimpleFOCDebug::println(PHOQUE_CS_DEBUG "HAL_ADC_Init failed!");
}

return 0;
Expand All @@ -157,7 +157,7 @@ void Phoque_CurrentSense::DMA_Init(ADC_HandleTypeDef *hadc, DMA_HandleTypeDef *h
HAL_DMA_DeInit(hdma_adc);
if (HAL_DMA_Init(hdma_adc) != HAL_OK)
{
SIMPLEFOC_DEBUG(PHOQUE_CS_DEBUG "HAL_DMA_Init failed!");
SimpleFOCDebug::println(PHOQUE_CS_DEBUG "HAL_DMA_Init failed!");
}
__HAL_LINKDMA(hadc, DMA_Handle, *hdma_adc);
}
Expand All @@ -177,7 +177,7 @@ void* Phoque_CurrentSense::SyncLowSide(void* _driver_params, void* _cs_params)
bool tim_interrupt = _initTimerInterruptDownsampling(cs_params, driver_params, adc_int_config);
if(tim_interrupt) {
// error in the timer interrupt initialization
SIMPLEFOC_DEBUG(PHOQUE_CS_DEBUG "timer has no repetition counter, ADC interrupt not supported for this Phoque");
SimpleFOCDebug::println(PHOQUE_CS_DEBUG "timer has no repetition counter, ADC interrupt not supported for this Phoque");
return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
}
uint32_t adc_ccr = ADC12_COMMON->CCR;
Expand Down Expand Up @@ -274,11 +274,11 @@ void* Phoque_CurrentSense::ConfigureADC(const void* driver_params, const int pin

if (HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc1_buffer, adc1_len) != HAL_OK)
{
SIMPLEFOC_DEBUG(PHOQUE_CS_DEBUG "ADC1 DMA read init failed");
SimpleFOCDebug::println(PHOQUE_CS_DEBUG "ADC1 DMA read init failed");
}
if (HAL_ADC_Start_DMA(&hadc2, (uint32_t*)adc2_buffer, adc2_len) != HAL_OK)
{
SIMPLEFOC_DEBUG(PHOQUE_CS_DEBUG "ADC2 DMA read init failed");
SimpleFOCDebug::println(PHOQUE_CS_DEBUG "ADC2 DMA read init failed");
}

Stm32CurrentSenseParams* params = new Stm32CurrentSenseParams {
Expand Down Expand Up @@ -307,7 +307,7 @@ PhaseCurrent_s Phoque_CurrentSense::getPhaseCurrents(){
int Phoque_CurrentSense::init()
{
if (driver==nullptr) {
SIMPLEFOC_DEBUG(PHOQUE_CS_DEBUG "Driver not linked!");
SimpleFOCDebug::println(PHOQUE_CS_DEBUG "Driver not linked!");
return 0;
}
if (initialized)
Expand Down Expand Up @@ -376,7 +376,19 @@ void Phoque_CurrentSense::calibrateOffsets(){
offset_ia = accA * ((Stm32CurrentSenseParams*)params)->adc_voltage_conv / calibration_rounds;
offset_ib = accB * ((Stm32CurrentSenseParams*)params)->adc_voltage_conv / calibration_rounds;
offset_ic = accC * ((Stm32CurrentSenseParams*)params)->adc_voltage_conv / calibration_rounds;
SimpleFOCDebug::printf(PHOQUE_CS_DEBUG "Calibrated centers at %f, %f, %f (gains %f %f %f)\r\n", offset_ia, offset_ib, offset_ic, gain_a, gain_b, gain_c);
SimpleFOCDebug::print(PHOQUE_CS_DEBUG "Calibrated centers at ");
SimpleFOCDebug::print(offset_ia);
SimpleFOCDebug::print(", ");
SimpleFOCDebug::print(offset_ib);
SimpleFOCDebug::print(", ");
SimpleFOCDebug::print(offset_ic);
SimpleFOCDebug::print(" (gains ");
SimpleFOCDebug::print(gain_a);
SimpleFOCDebug::print(", ");
SimpleFOCDebug::print(gain_b);
SimpleFOCDebug::print(", ");
SimpleFOCDebug::print(gain_c);
SimpleFOCDebug::println(")");
}

int Phoque_CurrentSense::driverAlign(float align_voltage, bool modulation_centered)
Expand All @@ -393,16 +405,21 @@ int Phoque_CurrentSense::driverAlign(float align_voltage, bool modulation_center
#if defined(NTC_B_CONSTANT) && defined(NTC_T0)
#include <array>

//size of the look up table, in powers of two (7 is 128 values, 6 is 64 values...)
#ifndef TEMP_LUT_SIZE
#define TEMP_LUT_SIZE 7
#endif
#ifndef TEMP_STEP
#define TEMP_STEP 1 //get every n degrees
#define TEMP_STEP 1 //get every n degrees. Can only be greater than 1 since temperature return type is int
#endif
#ifndef TEMP_INDEX_ZERO
#define TEMP_INDEX_ZERO 20 //start at 20C
#endif
#ifndef NTC_DIVIDER_BALANCE
#pragma message("NTC divider balance not set, assuming 1")
#endif

//compute the ideal ADC reading for each temperature
uint16_t temperature_to_adc_reading(float temp_C)
{
//R0 : resistance at T0
Expand All @@ -418,7 +435,7 @@ uint16_t temperature_to_adc_reading(float temp_C)
#else
float R_over_R1 = R_over_R0;
#endif
float adc_reading = R_over_R1/(1+R_over_R1) *adc_resolution;
float adc_reading = R_over_R1/(1+R_over_R1) * adc_resolution;
return adc_reading;
}

Expand All @@ -430,8 +447,11 @@ std::array<T, N> fill_temperature_lut() {
return a;
}

//bake the ADC readings into a look up table at compile time
const auto temperature_lut = fill_temperature_lut<uint16_t, 1<<TEMP_LUT_SIZE>();

//perform binary search to find the temperature corresponding to the adc value
//Does not perform interpolation, made to fast first and foremost
int Phoque_CurrentSense::get_temperature(uint16_t adc_value)
{
uint8_t index = 0;
Expand All @@ -450,6 +470,16 @@ int Phoque_CurrentSense::read_temperature() const
{
return get_temperature(readRaw(A_TEMPERATURE));
}

void Phoque_CurrentSense::print_temperature_LUT()
{
for (size_t i = 0; i < temperature_lut.size(); i++)
{
SimpleFOCDebug::print((int)(i*TEMP_STEP+TEMP_INDEX_ZERO));
SimpleFOCDebug::print("degC: ");
SimpleFOCDebug::println(temperature_lut[i]);
}
}
#endif

#ifdef DMA_USE_INTERRUPT
Expand Down
4 changes: 3 additions & 1 deletion src/current_sense/phoque/Phoque_CurrentSense.hpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#pragma once

#if defined(ARDUINO_PHOQUE)
#if defined(STM32G4xx)

#include "common/base_classes/CurrentSense.h"

Expand All @@ -24,6 +24,8 @@ class Phoque_CurrentSense : public CurrentSense
#if defined(NTC_B_CONSTANT) && defined(NTC_T0)
static int get_temperature(uint16_t adc_value);
int read_temperature() const;
//Print the expected ADC values for each temperature in the look up table (for debug purposes)
static void print_temperature_LUT();
#endif

protected:
Expand Down
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