HAL / LL only PWM driver

src/current_sense/hardware_specific/stm32/stm32_mcu.h

@@ -14,7 +14,7 @@ typedef struct Stm32CurrentSenseParams {
   int pins[3] = {(int)NOT_SET};
   float adc_voltage_conv;
   ADC_HandleTypeDef* adc_handle = NP;
-  HardwareTimer* timer_handle = NP;
+  TIM_HandleTypeDef* timer_handle = NP;
 } Stm32CurrentSenseParams;
 
 #endif

src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_hal.cpp

@@ -76,16 +76,16 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 
   // automating TRGO flag finding - hardware specific
   uint8_t tim_num = 0;
-  while(driver_params->timers[tim_num] != NP && tim_num < 6){
-    uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers[tim_num++]);
+  while(driver_params->timers_handle[tim_num] != NP && tim_num < 6){
+    uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers_handle[tim_num++]);
     if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels
 
     // if the code comes here, it has found the timer available
     // timer does have trgo flag for injected channels  
     sConfigInjected.ExternalTrigInjecConv = trigger_flag;
 
     // this will be the timer with which the ADC will sync
-    cs_params->timer_handle = driver_params->timers[tim_num-1];
+    cs_params->timer_handle = driver_params->timers_handle[tim_num-1];
     // done
     break;
   }
@@ -99,7 +99,7 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
   // display which timer is being used
   #ifdef SIMPLEFOC_STM32_DEBUG
     // it would be better to use the getTimerNumber from driver
-    SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->getHandle()->Instance) + 1);
+    SIMPLEFOC_DEBUG("STM32-CS: injected trigger for timer index: ", get_timer_index(cs_params->timer_handle->Instance) + 1);
   #endif
 
 

src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_mcu.cpp

@@ -48,17 +48,17 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
 
   // stop all the timers for the driver
-  _stopTimers(driver_params->timers, 6);
+  stm32_pause(driver_params);
 
   // if timer has repetition counter - it will downsample using it
   // and it does not need the software downsample
-  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){
+  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->Instance) ){
     // adjust the initial timer state such that the trigger 
     //   - for DMA transfer aligns with the pwm peaks instead of throughs.
     //   - for interrupt based ADC transfer 
     //   - only necessary for the timers that have repetition counters
-    cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
-    cs_params->timer_handle->getHandle()->Instance->CNT =  cs_params->timer_handle->getHandle()->Instance->ARR;
+    cs_params->timer_handle->Instance->CR1 |= TIM_CR1_DIR;
+    cs_params->timer_handle->Instance->CNT =  cs_params->timer_handle->Instance->ARR;
     // remember that this timer has repetition counter - no need to downasmple
     needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
   }else{
@@ -71,7 +71,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   }
   }
   // set the trigger output event
-  LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
+  LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);
 
   // start the adc
   if (use_adc_interrupt){
@@ -85,7 +85,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   }
 
   // restart all the timers of the driver
-  _startTimers(driver_params->timers, 6);
+  stm32_resume(driver_params);
 
   // return the cs parameters 
   // successfully initialized

src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.cpp

@@ -133,19 +133,19 @@ uint32_t _getADCChannel(PinName pin)
 
 // timer to injected TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179
-uint32_t _timerToInjectedTRGO(HardwareTimer* timer){
-  if(timer->getHandle()->Instance == TIM1)  
+uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
+  if(timer->Instance == TIM1)  
     return ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
 #ifdef TIM2 // if defined timer 2
-  else if(timer->getHandle()->Instance == TIM2) 
+  else if(timer->Instance == TIM2) 
     return ADC_EXTERNALTRIGINJECCONV_T2_TRGO;
 #endif
 #ifdef TIM4 // if defined timer 4
-  else if(timer->getHandle()->Instance == TIM4) 
+  else if(timer->Instance == TIM4) 
     return ADC_EXTERNALTRIGINJECCONV_T4_TRGO;
 #endif
 #ifdef TIM5 // if defined timer 5
-  else if(timer->getHandle()->Instance == TIM5) 
+  else if(timer->Instance == TIM5) 
     return ADC_EXTERNALTRIGINJECCONV_T5_TRGO;
 #endif
   else
@@ -154,15 +154,15 @@ uint32_t _timerToInjectedTRGO(HardwareTimer* timer){
 
 // timer to regular TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331
-uint32_t _timerToRegularTRGO(HardwareTimer* timer){
-  if(timer->getHandle()->Instance == TIM2)  
+uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer){
+  if(timer->Instance == TIM2)  
     return ADC_EXTERNALTRIGCONV_T2_TRGO;
 #ifdef TIM3 // if defined timer 3
-  else if(timer->getHandle()->Instance == TIM3) 
+  else if(timer->Instance == TIM3) 
     return ADC_EXTERNALTRIGCONV_T3_TRGO;
 #endif
 #ifdef TIM8 // if defined timer 8
-  else if(timer->getHandle()->Instance == TIM8) 
+  else if(timer->Instance == TIM8) 
     return ADC_EXTERNALTRIGCONV_T8_TRGO;
 #endif
   else

src/current_sense/hardware_specific/stm32/stm32f4/stm32f4_utils.h

@@ -19,11 +19,11 @@ uint32_t _getADCChannel(PinName pin);
 
 // timer to injected TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h#L179
-uint32_t _timerToInjectedTRGO(HardwareTimer* timer);
+uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer);
 
 // timer to regular TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/e156c32db24d69cb4818208ccc28894e2f427cfa/system/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h#L331
-uint32_t _timerToRegularTRGO(HardwareTimer* timer);
+uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer);
 
 // function returning index of the ADC instance
 int _adcToIndex(ADC_HandleTypeDef *AdcHandle);

src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_hal.cpp

@@ -126,16 +126,16 @@ int _adc_init(Stm32CurrentSenseParams* cs_params, const STM32DriverParams* drive
 
   // automating TRGO flag finding - hardware specific
   uint8_t tim_num = 0;
-  while(driver_params->timers[tim_num] != NP && tim_num < 6){
-    uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers[tim_num++]);
+  while(driver_params->timers_handle[tim_num] != NP && tim_num < 6){
+    uint32_t trigger_flag = _timerToInjectedTRGO(driver_params->timers_handle[tim_num++]);
     if(trigger_flag == _TRGO_NOT_AVAILABLE) continue; // timer does not have valid trgo for injected channels
 
     // if the code comes here, it has found the timer available
     // timer does have trgo flag for injected channels  
     sConfigInjected.ExternalTrigInjecConv = trigger_flag;
 
     // this will be the timer with which the ADC will sync
-    cs_params->timer_handle = driver_params->timers[tim_num-1];
+    cs_params->timer_handle = driver_params->timers_handle[tim_num-1];
     // done
     break;
   }

src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_mcu.cpp

@@ -50,17 +50,17 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   if (cs_params->timer_handle == NULL) return SIMPLEFOC_CURRENT_SENSE_INIT_FAILED;
 
   // stop all the timers for the driver
-  _stopTimers(driver_params->timers, 6);
+  stm32_pause(driver_params);
 
   // if timer has repetition counter - it will downsample using it
   // and it does not need the software downsample
-  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->getHandle()->Instance) ){
+  if( IS_TIM_REPETITION_COUNTER_INSTANCE(cs_params->timer_handle->Instance) ){
     // adjust the initial timer state such that the trigger 
     //   - for DMA transfer aligns with the pwm peaks instead of throughs.
     //   - for interrupt based ADC transfer 
     //   - only necessary for the timers that have repetition counters
-    cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
-    cs_params->timer_handle->getHandle()->Instance->CNT =  cs_params->timer_handle->getHandle()->Instance->ARR;
+    cs_params->timer_handle->Instance->CR1 |= TIM_CR1_DIR;
+    cs_params->timer_handle->Instance->CNT =  cs_params->timer_handle->Instance->ARR;
     // remember that this timer has repetition counter - no need to downasmple
     needs_downsample[_adcToIndex(cs_params->adc_handle)] = 0;
   }else{
@@ -74,7 +74,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   }
 
   // set the trigger output event
-  LL_TIM_SetTriggerOutput(cs_params->timer_handle->getHandle()->Instance, LL_TIM_TRGO_UPDATE);
+  LL_TIM_SetTriggerOutput(cs_params->timer_handle->Instance, LL_TIM_TRGO_UPDATE);
 
   // Start the adc calibration
   HAL_ADCEx_Calibration_Start(cs_params->adc_handle,ADC_SINGLE_ENDED);
@@ -122,7 +122,7 @@ void* _driverSyncLowSide(void* _driver_params, void* _cs_params){
   }
 
   // restart all the timers of the driver
-  _startTimers(driver_params->timers, 6);
+  stm32_resume(driver_params);
 
   // return the cs parameters 
   // successfully initialized

src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_utils.cpp

@@ -133,39 +133,39 @@ uint32_t _getADCChannel(PinName pin)
 
 // timer to injected TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc_ex.h#L217
-uint32_t _timerToInjectedTRGO(HardwareTimer* timer){
-  if(timer->getHandle()->Instance == TIM1)  
+uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer){
+  if(timer->Instance == TIM1)  
     return ADC_EXTERNALTRIGINJEC_T1_TRGO;
 #ifdef TIM2 // if defined timer 2
-  else if(timer->getHandle()->Instance == TIM2) 
+  else if(timer->Instance == TIM2) 
     return ADC_EXTERNALTRIGINJEC_T2_TRGO;
 #endif
 #ifdef TIM3 // if defined timer 3
-  else if(timer->getHandle()->Instance == TIM3) 
+  else if(timer->Instance == TIM3) 
     return ADC_EXTERNALTRIGINJEC_T3_TRGO;
 #endif
 #ifdef TIM4 // if defined timer 4
-  else if(timer->getHandle()->Instance == TIM4) 
+  else if(timer->Instance == TIM4) 
     return ADC_EXTERNALTRIGINJEC_T4_TRGO;
 #endif
 #ifdef TIM6 // if defined timer 6
-  else if(timer->getHandle()->Instance == TIM6) 
+  else if(timer->Instance == TIM6) 
     return ADC_EXTERNALTRIGINJEC_T6_TRGO;
 #endif
 #ifdef TIM7 // if defined timer 7
-  else if(timer->getHandle()->Instance == TIM7) 
+  else if(timer->Instance == TIM7) 
     return ADC_EXTERNALTRIGINJEC_T7_TRGO;
 #endif
 #ifdef TIM8 // if defined timer 8
-  else if(timer->getHandle()->Instance == TIM8) 
+  else if(timer->Instance == TIM8) 
     return ADC_EXTERNALTRIGINJEC_T8_TRGO;
 #endif
 #ifdef TIM15 // if defined timer 15
-  else if(timer->getHandle()->Instance == TIM15) 
+  else if(timer->Instance == TIM15) 
     return ADC_EXTERNALTRIGINJEC_T15_TRGO;
 #endif
 #ifdef TIM20 // if defined timer 15
-  else if(timer->getHandle()->Instance == TIM20) 
+  else if(timer->Instance == TIM20) 
     return ADC_EXTERNALTRIGINJEC_T20_TRGO;
 #endif
   else
@@ -174,39 +174,39 @@ uint32_t _timerToInjectedTRGO(HardwareTimer* timer){
 
 // timer to regular TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc.h#L519
-uint32_t _timerToRegularTRGO(HardwareTimer* timer){
-  if(timer->getHandle()->Instance == TIM1)  
+uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer){
+  if(timer->Instance == TIM1)  
     return ADC_EXTERNALTRIG_T1_TRGO;
 #ifdef TIM2 // if defined timer 2
-  else if(timer->getHandle()->Instance == TIM2) 
+  else if(timer->Instance == TIM2) 
     return ADC_EXTERNALTRIG_T2_TRGO;
 #endif
 #ifdef TIM3 // if defined timer 3
-  else if(timer->getHandle()->Instance == TIM3) 
+  else if(timer->Instance == TIM3) 
     return ADC_EXTERNALTRIG_T3_TRGO;
 #endif
 #ifdef TIM4 // if defined timer 4
-  else if(timer->getHandle()->Instance == TIM4) 
+  else if(timer->Instance == TIM4) 
     return ADC_EXTERNALTRIG_T4_TRGO;
 #endif
 #ifdef TIM6 // if defined timer 6
-  else if(timer->getHandle()->Instance == TIM6) 
+  else if(timer->Instance == TIM6) 
     return ADC_EXTERNALTRIG_T6_TRGO;
 #endif
 #ifdef TIM7 // if defined timer 7
-  else if(timer->getHandle()->Instance == TIM7) 
+  else if(timer->Instance == TIM7) 
     return ADC_EXTERNALTRIG_T7_TRGO;
 #endif
 #ifdef TIM8 // if defined timer 8
-  else if(timer->getHandle()->Instance == TIM8) 
+  else if(timer->Instance == TIM8) 
     return ADC_EXTERNALTRIG_T7_TRGO;
 #endif
 #ifdef TIM15 // if defined timer 15
-  else if(timer->getHandle()->Instance == TIM15) 
+  else if(timer->Instance == TIM15) 
     return ADC_EXTERNALTRIG_T15_TRGO;
 #endif
 #ifdef TIM20 // if defined timer 15
-  else if(timer->getHandle()->Instance == TIM20) 
+  else if(timer->Instance == TIM20) 
     return ADC_EXTERNALTRIG_T20_TRGO;
 #endif
   else

src/current_sense/hardware_specific/stm32/stm32g4/stm32g4_utils.h

@@ -19,11 +19,11 @@ uint32_t _getADCChannel(PinName pin);
 
 // timer to injected TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc_ex.h#L217
-uint32_t _timerToInjectedTRGO(HardwareTimer* timer);
+uint32_t _timerToInjectedTRGO(TIM_HandleTypeDef* timer);
 
 // timer to regular TRGO
 // https://github.com/stm32duino/Arduino_Core_STM32/blob/6588dee03382e73ed42c4a5e473900ab3b79d6e4/system/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc.h#L519
-uint32_t _timerToRegularTRGO(HardwareTimer* timer);
+uint32_t _timerToRegularTRGO(TIM_HandleTypeDef* timer);
 
 // function returning index of the ADC instance
 int _adcToIndex(ADC_HandleTypeDef *AdcHandle);

src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp

@@ -54,6 +54,16 @@ typedef struct ESP32LEDCDriverParams {
 } ESP32LEDCDriverParams;
 
 
+
+int esp32_gpio_nr(int pin) {
+  #if defined(BOARD_HAS_PIN_REMAP) && !defined(BOARD_USES_HW_GPIO_NUMBERS)
+    return digitalPinToGPIONumber(pin);
+  #else
+    return pin;
+  #endif
+}
+
+
 /*
   Function to attach a channel to a pin with advanced settings
   - freq - pwm frequency
@@ -96,7 +106,7 @@ bool _ledcAttachChannelAdvanced(uint8_t pin, int _channel, int _group, uint32_t
   ledc_channel.channel =  channel;
   ledc_channel.timer_sel = LEDC_TIMER_0; 
   ledc_channel.intr_type = LEDC_INTR_DISABLE;
-  ledc_channel.gpio_num = pin;
+  ledc_channel.gpio_num = esp32_gpio_nr(pin);
   ledc_channel.duty = duty;
   ledc_channel.hpoint = 0;
   ledc_channel.flags.output_invert = pin_high_level; // 0 is active high, 1 is active low

src/drivers/hardware_specific/esp32/esp32_mcpwm_mcu.cpp

@@ -6,6 +6,16 @@
 #pragma message("SimpleFOC: compiling for ESP32 MCPWM driver")
 #pragma message("")
 
+
+int esp32_gpio_nr(int pin) {
+  #if defined(BOARD_HAS_PIN_REMAP) && !defined(BOARD_USES_HW_GPIO_NUMBERS)
+    return digitalPinToGPIONumber(pin);
+  #else
+    return pin;
+  #endif
+}
+
+
 // function setting the high pwm frequency to the supplied pins
 // - DC motor  - 1PWM setting
 // - hardware specific
@@ -20,7 +30,7 @@ void* _configure1PWM(long pwm_frequency, const int pinA) {
   }
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 1PWM in group: "+String(group)+" on timer: "+String(timer));
   // configure the timer
-  int pins[1] = {pinA};
+  int pins[1] = { esp32_gpio_nr(pinA) };
   return _configurePinsMCPWM(pwm_frequency, group, timer, 1, pins);
 }
 
@@ -42,7 +52,7 @@ void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {
     // configure the 2pwm on only one group
     SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 2PWM in group: "+String(group)+" on timer: "+String(timer));
     // configure the timer
-    int pins[2] = {pinA,  pinB};
+    int pins[2] = { esp32_gpio_nr(pinA),  esp32_gpio_nr(pinB) };
     return _configurePinsMCPWM(pwm_frequency, group, timer, 2, pins);
   }else{
     SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 2PWM as two 1PWM drivers");
@@ -92,7 +102,7 @@ void* _configure3PWM(long pwm_frequency, const int pinA, const int pinB, const i
   }
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 3PWM in group: "+String(group)+" on timer: "+String(timer));
   // configure the timer
-  int pins[3] = {pinA,  pinB, pinC};
+  int pins[3] = { esp32_gpio_nr(pinA),  esp32_gpio_nr(pinB),  esp32_gpio_nr(pinC) };
   return _configurePinsMCPWM(pwm_frequency, group, timer, 3, pins);
 }
 
@@ -122,7 +132,7 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
 
     // the code is a bit huge for what it does
     // it just instantiates two 2PMW drivers and combines the returned params
-    int pins[2][2] = {{pinA,  pinB},{pinC, pinD}};
+    int pins[2][2] = {{ esp32_gpio_nr(pinA),  esp32_gpio_nr(pinB) },{ esp32_gpio_nr(pinC), esp32_gpio_nr(pinD) }};
     for(int i =0; i<2; i++){
       int timer = _findNextTimer(i); //find next available timer in group i
       SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 2PWM in group: "+String(i)+" on timer: "+String(timer));
@@ -162,7 +172,7 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
   }
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring 6PWM in group: "+String(group)+" on timer: "+String(timer));
   // configure the timer
-  int pins[6] = {pinA_h,pinA_l,  pinB_h, pinB_l, pinC_h, pinC_l};
+  int pins[6] = { esp32_gpio_nr(pinA_h),  esp32_gpio_nr(pinA_l),  esp32_gpio_nr(pinB_h),  esp32_gpio_nr(pinB_l),  esp32_gpio_nr(pinC_h),  esp32_gpio_nr(pinC_l) };
   return _configure6PWMPinsMCPWM(pwm_frequency, group, timer, dead_zone, pins);
 }