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Posted to commits@nuttx.apache.org by da...@apache.org on 2021/04/10 15:19:27 UTC
[incubator-nuttx] 02/02: nucleo-f446re: add FOC example based on
IHM08M1 expansion board
This is an automated email from the ASF dual-hosted git repository.
davids5 pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit 2b309349fe7c5981b05d8fa8ffb25221250f9688
Author: raiden00pl <ra...@railab.me>
AuthorDate: Mon Mar 15 13:45:51 2021 +0100
nucleo-f446re: add FOC example based on IHM08M1 expansion board
---
boards/arm/stm32/nucleo-f446re/README.txt | 64 +++++++
.../nucleo-f446re/configs/ihm08m1_b16/defconfig | 92 ++++++++++
.../nucleo-f446re/configs/ihm08m1_f32/defconfig | 92 ++++++++++
boards/arm/stm32/nucleo-f446re/include/board.h | 40 ++++-
boards/arm/stm32/nucleo-f446re/src/Make.defs | 6 +
boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h | 12 ++
boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c | 10 ++
.../stm32/nucleo-f446re/src/stm32_foc_ihm08m1.c | 188 +++++++++++++++++++++
8 files changed, 503 insertions(+), 1 deletion(-)
diff --git a/boards/arm/stm32/nucleo-f446re/README.txt b/boards/arm/stm32/nucleo-f446re/README.txt
index 1caa01b..8fd031d 100644
--- a/boards/arm/stm32/nucleo-f446re/README.txt
+++ b/boards/arm/stm32/nucleo-f446re/README.txt
@@ -573,3 +573,67 @@ Configurations
CLK D3
Framebuffer application can be started from terminal by typing "fb".
+
+ ihm08m1_f32 and ihm08m1_b16:
+ ----------------------------
+
+ These examples are dedicated for the X-NUCLEO-IHM08M1 expansion board with
+ L6398 gate drivers and discrete transistors.
+
+ WARNING: L6398 gate drivers require channel 2 negative polarisation and
+ negative sign for the deadtime. Make sure that your gate drivers logic
+ is compatible with this configuration.
+
+ X-NUCLEO-IHM08M1 must be configured to work with FOC and 3-shunt
+ resistors. See ST documentation for details.
+
+ Pin configuration for the X-NUCLEO-IHM08M1 (TIM1 configuration):
+
+ Board Function Chip Function Chip Pin Number
+ ------------- ---------------- -----------------
+ Phase U high TIM1_CH1 PA8
+ Phase U low TIM1_CH1N PA7
+ Phase V high TIM1_CH2 PA9
+ Phase V low TIM1_CH2N PB0
+ Phase W high TIM1_CH3 PA10
+ Phase W low TIM1_CH3N PB1
+ Current U ADC1_IN0 PA0
+ Current V ADC1_IN11 PC1
+ Current W ADC1_IN10 PC0
+ Temperature ADC1_IN12 PC2
+ VBUS ADC1_IN1 PA1
+ BEMF1 (NU) PC3
+ BEMF2 (NU) PC4
+ BEMF3 (NU) PC5
+ LED GPIO_PB2 PB2
+ +3V3 (CN7_16)
+ GND (CN7_20)
+ GPIO_BEMF (NU) PC9
+ ENCO_A/HALL_H1 TIM2_CH1 PA15
+ ENCO_B/HALL_H2 TIM2_CH2 PB3
+ ENCO_Z/HALL_H3 TIM2_CH3 PB10
+ DAC (NU) PA5
+ GPIO3 (NU) PB13
+ CPOUT (NU) PA12
+ BKIN1 (NU) PA6
+ BKIN2 (NU) PA11
+ BKIN3 (NU) PB14
+ POT/DAC DAC1_CH1/ADC1_IN4 PA4
+ CURR_REF (NU) PB4
+ DEBUG0 GPIO PB12
+ DEBUG1 GPIO PB9
+ DEBUG2 GPIO PC6
+ DEBUG3 GPIO PB5
+ DEBUG4 GPIO PC8
+
+ Current shunt resistance = 0.01
+ Current sense gain = -5.18 (inverted current)
+ Vbus sense gain = 9.31k/(9.31k+169k) = 0.0522
+ Vbus min = 10V
+ Vbus max = 48V
+ Iout max = 15A RMS
+
+ IPHASE_RATIO = 1/(R_shunt*gain) = -19.3
+ VBUS_RATIO = 1/VBUS_gain = 19.152
+
+ For now only 3-shunt resistors configuration is supported.
diff --git a/boards/arm/stm32/nucleo-f446re/configs/ihm08m1_b16/defconfig b/boards/arm/stm32/nucleo-f446re/configs/ihm08m1_b16/defconfig
new file mode 100644
index 0000000..a42cad7
--- /dev/null
+++ b/boards/arm/stm32/nucleo-f446re/configs/ihm08m1_b16/defconfig
@@ -0,0 +1,92 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ADC=y
+CONFIG_ADC_FIFOSIZE=3
+CONFIG_ANALOG=y
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-f446re"
+CONFIG_ARCH_BOARD_NUCLEO_F446RE=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F446R=y
+CONFIG_ARCH_INTERRUPTSTACK=1024
+CONFIG_ARCH_IRQBUTTONS=y
+CONFIG_ARMV7M_LIBM=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BOARD_STM32_COMMON=y
+CONFIG_BOARD_STM32_IHM08M1=y
+CONFIG_BOARD_STM32_IHM08M1_POT=y
+CONFIG_BOARD_STM32_IHM08M1_VBUS=y
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEFAULT_TASK_STACKSIZE=1024
+CONFIG_EXAMPLES_FOC=y
+CONFIG_EXAMPLES_FOC_ADC_MAX=4095
+CONFIG_EXAMPLES_FOC_ADC_VREF=3300
+CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE=2048
+CONFIG_EXAMPLES_FOC_FIXED16_INST=1
+CONFIG_EXAMPLES_FOC_HAVE_BUTTON=y
+CONFIG_EXAMPLES_FOC_IPHASE_ADC=-1555
+CONFIG_EXAMPLES_FOC_RAMP_ACC=200000
+CONFIG_EXAMPLES_FOC_RAMP_DEC=200000
+CONFIG_EXAMPLES_FOC_RAMP_THR=10000
+CONFIG_EXAMPLES_FOC_VBUS_ADC=y
+CONFIG_EXAMPLES_FOC_VBUS_SCALE=19152
+CONFIG_EXAMPLES_FOC_VEL_ADC=y
+CONFIG_INDUSTRY_FOC=y
+CONFIG_INDUSTRY_FOC_FIXED16=y
+CONFIG_INPUT=y
+CONFIG_INPUT_BUTTONS=y
+CONFIG_INPUT_BUTTONS_LOWER=y
+CONFIG_INTELHEX_BINARY=y
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBM=y
+CONFIG_MAX_TASKS=8
+CONFIG_MOTOR=y
+CONFIG_MOTOR_FOC=y
+CONFIG_MOTOR_FOC_TRACE=y
+CONFIG_MQ_MAXMSGSIZE=5
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=16386
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=10
+CONFIG_START_YEAR=2014
+CONFIG_STM32_ADC1_ANIOC_TRIGGER=1
+CONFIG_STM32_ADC1_DMA=y
+CONFIG_STM32_ADC1_DMA_CFG=1
+CONFIG_STM32_ADC1_INJECTED_CHAN=3
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FOC=y
+CONFIG_STM32_FOC_FOC0=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_TIM1_CH1MODE=0
+CONFIG_STM32_TIM1_CH1NPOL=1
+CONFIG_STM32_TIM1_CH2MODE=0
+CONFIG_STM32_TIM1_CH2NPOL=1
+CONFIG_STM32_TIM1_CH3MODE=0
+CONFIG_STM32_TIM1_CH3NPOL=1
+CONFIG_STM32_TIM1_MODE=2
+CONFIG_STM32_TIM2=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXDMA=y
+CONFIG_USER_ENTRYPOINT="nsh_main"
diff --git a/boards/arm/stm32/nucleo-f446re/configs/ihm08m1_f32/defconfig b/boards/arm/stm32/nucleo-f446re/configs/ihm08m1_f32/defconfig
new file mode 100644
index 0000000..fddb077
--- /dev/null
+++ b/boards/arm/stm32/nucleo-f446re/configs/ihm08m1_f32/defconfig
@@ -0,0 +1,92 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ADC=y
+CONFIG_ADC_FIFOSIZE=3
+CONFIG_ANALOG=y
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-f446re"
+CONFIG_ARCH_BOARD_NUCLEO_F446RE=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F446R=y
+CONFIG_ARCH_INTERRUPTSTACK=1024
+CONFIG_ARCH_IRQBUTTONS=y
+CONFIG_ARMV7M_LIBM=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BOARD_STM32_COMMON=y
+CONFIG_BOARD_STM32_IHM08M1=y
+CONFIG_BOARD_STM32_IHM08M1_POT=y
+CONFIG_BOARD_STM32_IHM08M1_VBUS=y
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEFAULT_TASK_STACKSIZE=1024
+CONFIG_EXAMPLES_FOC=y
+CONFIG_EXAMPLES_FOC_ADC_MAX=4095
+CONFIG_EXAMPLES_FOC_ADC_VREF=3300
+CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE=2048
+CONFIG_EXAMPLES_FOC_FLOAT_INST=1
+CONFIG_EXAMPLES_FOC_HAVE_BUTTON=y
+CONFIG_EXAMPLES_FOC_IPHASE_ADC=-1555
+CONFIG_EXAMPLES_FOC_RAMP_ACC=200000
+CONFIG_EXAMPLES_FOC_RAMP_DEC=200000
+CONFIG_EXAMPLES_FOC_RAMP_THR=10000
+CONFIG_EXAMPLES_FOC_VBUS_ADC=y
+CONFIG_EXAMPLES_FOC_VBUS_SCALE=19152
+CONFIG_EXAMPLES_FOC_VEL_ADC=y
+CONFIG_INDUSTRY_FOC=y
+CONFIG_INDUSTRY_FOC_FLOAT=y
+CONFIG_INPUT=y
+CONFIG_INPUT_BUTTONS=y
+CONFIG_INPUT_BUTTONS_LOWER=y
+CONFIG_INTELHEX_BINARY=y
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBM=y
+CONFIG_MAX_TASKS=8
+CONFIG_MOTOR=y
+CONFIG_MOTOR_FOC=y
+CONFIG_MOTOR_FOC_TRACE=y
+CONFIG_MQ_MAXMSGSIZE=5
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=16386
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=10
+CONFIG_START_YEAR=2014
+CONFIG_STM32_ADC1_ANIOC_TRIGGER=1
+CONFIG_STM32_ADC1_DMA=y
+CONFIG_STM32_ADC1_DMA_CFG=1
+CONFIG_STM32_ADC1_INJECTED_CHAN=3
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FOC=y
+CONFIG_STM32_FOC_FOC0=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_TIM1_CH1MODE=0
+CONFIG_STM32_TIM1_CH1NPOL=1
+CONFIG_STM32_TIM1_CH2MODE=0
+CONFIG_STM32_TIM1_CH2NPOL=1
+CONFIG_STM32_TIM1_CH3MODE=0
+CONFIG_STM32_TIM1_CH3NPOL=1
+CONFIG_STM32_TIM1_MODE=2
+CONFIG_STM32_TIM2=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXDMA=y
+CONFIG_USER_ENTRYPOINT="nsh_main"
diff --git a/boards/arm/stm32/nucleo-f446re/include/board.h b/boards/arm/stm32/nucleo-f446re/include/board.h
index 5b83293..f7d9a69 100644
--- a/boards/arm/stm32/nucleo-f446re/include/board.h
+++ b/boards/arm/stm32/nucleo-f446re/include/board.h
@@ -218,6 +218,10 @@
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX
+/* ADC 1 */
+
+#define ADC1_DMA_CHAN DMAMAP_ADC1_1
+
/* Alternate function pin selections ****************************************/
/* USART1:
@@ -227,7 +231,7 @@
* PB6 CN5 pin 3, CN10 pin 17
*/
-#if 1
+#if !defined(CONFIG_BOARD_STM32_IHM08M1)
# define GPIO_USART1_RX GPIO_USART1_RX_1 /* PA10 */
# define GPIO_USART1_TX GPIO_USART1_TX_1 /* PA9 */
#else
@@ -376,4 +380,38 @@
#define GPIO_TIM2_CH1IN (GPIO_TIM2_CH1IN_1 | GPIO_PULLUP)
#define GPIO_TIM2_CH2IN (GPIO_TIM2_CH2IN_1 | GPIO_PULLUP)
+#ifdef CONFIG_BOARD_STM32_IHM08M1
+
+/* Configuration specific to the X-NUCLEO-IHM08M1 expansion board with
+ * the L6398 gate drivers.
+ */
+
+/* TIM1 configuration *******************************************************/
+
+#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 /* TIM1 CH1 - PA8 - U high */
+#define GPIO_TIM1_CH1NOUT GPIO_TIM1_CH1N_1 /* TIM1 CH1N - PA7 - U low */
+#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1 /* TIM1 CH2 - PA9 - V high */
+#define GPIO_TIM1_CH2NOUT GPIO_TIM1_CH2N_1 /* TIM1 CH2N - PB0 - V low */
+#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1 /* TIM1 CH3 - PA10 - W high */
+#define GPIO_TIM1_CH3NOUT GPIO_TIM1_CH3N_1 /* TIM1 CH3N - PB1 - W low */
+#define GPIO_TIM1_CH4OUT 0 /* not used as output */
+
+/* Board LED */
+
+# define GPIO_FOC_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
+ GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
+
+/* Debug pin */
+
+# define GPIO_FOC_DEBUG0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
+ GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
+# define GPIO_FOC_DEBUG1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
+ GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+# define GPIO_FOC_DEBUG2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
+ GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+# define GPIO_FOC_DEBUG3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
+ GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+
+#endif /* CONFIG_BOARD_STM32_IHM08M1 */
+
#endif /* __BOARDS_ARM_STM32_NUCLEO_F446RE_INCLUDE_BOARD_H */
diff --git a/boards/arm/stm32/nucleo-f446re/src/Make.defs b/boards/arm/stm32/nucleo-f446re/src/Make.defs
index 854e77a..71457a5 100644
--- a/boards/arm/stm32/nucleo-f446re/src/Make.defs
+++ b/boards/arm/stm32/nucleo-f446re/src/Make.defs
@@ -36,12 +36,14 @@ ifeq ($(CONFIG_LCD_ILI9225),y)
CSRCS += stm32_ili9225.c
endif
+ifeq ($(CONFIG_STM32_FOC),n)
ifeq ($(CONFIG_ADC),y)
CSRCS += stm32_adc.c
ifeq ($(CONFIG_INPUT_AJOYSTICK),y)
CSRCS += stm32_ajoystick.c
endif
endif
+endif
ifeq ($(CONFIG_CAN),y)
CSRCS += stm32_can.c
@@ -51,6 +53,10 @@ ifeq ($(CONFIG_LIB_BOARDCTL),y)
CSRCS += stm32_appinit.c
endif
+ifeq ($(CONFIG_BOARD_STM32_IHM08M1),y)
+CSRCS += stm32_foc_ihm08m1.c
+endif
+
DEPPATH += --dep-path board
VPATH += :board
CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board)
diff --git a/boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h b/boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h
index 4e56e8c..cd15cae 100644
--- a/boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h
+++ b/boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h
@@ -318,4 +318,16 @@ int stm32_can_setup(void);
int board_ajoy_initialize(void);
#endif
+/****************************************************************************
+ * Name: stm32_foc_setup
+ *
+ * Description:
+ * Initialize FOC peripheral for the board.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_STM32_FOC
+int stm32_foc_setup(void);
+#endif
+
#endif /* __BOARDS_ARM_STM32_NUCLEO_F401RE_SRC_NUCLEO_F446RE_H */
diff --git a/boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c b/boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c
index 9fbf6a4..e0684fc 100644
--- a/boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c
+++ b/boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c
@@ -116,6 +116,16 @@ int stm32_bringup(void)
syslog(LOG_INFO, "[boot] Initialized SDIO\n");
#endif
+#ifdef CONFIG_STM32_FOC
+ /* Initialize and register the FOC device */
+
+ ret = stm32_foc_setup();
+ if (ret < 0)
+ {
+ syslog(LOG_ERR, "ERROR: stm32_foc_setup failed: %d\n", ret);
+ }
+#endif
+
#ifdef CONFIG_ADC
/* Initialize ADC and register the ADC driver. */
diff --git a/boards/arm/stm32/nucleo-f446re/src/stm32_foc_ihm08m1.c b/boards/arm/stm32/nucleo-f446re/src/stm32_foc_ihm08m1.c
new file mode 100644
index 0000000..678efd3
--- /dev/null
+++ b/boards/arm/stm32/nucleo-f446re/src/stm32_foc_ihm08m1.c
@@ -0,0 +1,188 @@
+/****************************************************************************
+ * boards/arm/stm32/nucleo-f446re/src/stm32_foc_ihm08m1.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "stm32_ihm08m1.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define CURRENT_SAMPLE_TIME ADC_SMPR_15
+#define VBUS_SAMPLE_TIME ADC_SMPR_15
+#define POT_SAMPLE_TIME ADC_SMPR_15
+
+/* ADC1 channels used in this example */
+
+#define ADC1_INJECTED (CONFIG_MOTOR_FOC_SHUNTS)
+
+#ifdef CONFIG_BOARD_STM32_IHM08M1_VBUS
+# define IHM08M1_VBUS 1
+#else
+# define IHM08M1_VBUS 0
+#endif
+
+#ifdef CONFIG_BOARD_STM32_IHM08M1_POT
+# define IHM08M1_POT 1
+#else
+# define IHM08M1_POT 0
+#endif
+
+#define ADC1_REGULAR (IHM08M1_VBUS + IHM08M1_POT)
+#define ADC1_NCHANNELS (ADC1_INJECTED + ADC1_REGULAR)
+
+/* Check ADC1 configuration */
+
+#if ADC1_INJECTED != CONFIG_STM32_ADC1_INJECTED_CHAN
+# error
+#endif
+
+#if CONFIG_STM32_ADC1_RESOLUTION != 0
+# error
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* FOC ADC configration:
+ * - Current Phase V -> ADC1 INJ1 -> ADC1_IN0 (PA0)
+ * - Current Phase U -> ADC1 INJ2 -> ADC1_IN11 (PC1)
+ * - Current Phase W -> ADC1 INJ3 -> ADC1_IN10 (PC0)
+ * optional:
+ * - VBUS -> ADC1 REG -> ADC1_IN1 (PA1)
+ * - POT -> ADC1 REG -> ADC1_IN4 (PA4)
+ *
+ * TIM1 PWM configuration:
+ * - Phase U high -> TIM1_CH1 (PA8)
+ * - Phase U low -> TIM1_CH1N (PA7)
+ * - Phase V high -> TIM1_CH2 (PA9)
+ * - Phase V low -> TIM1_CH2N (PB0)
+ * - Phase W high -> TIM1_CH3 (PA10)
+ * - Phase W low -> TIM1_CH3N (PB1)
+ *
+ */
+
+static uint8_t g_adc1_chan[] =
+{
+#ifdef CONFIG_BOARD_STM32_IHM08M1_VBUS
+ 1, /* ADC1 REG1 - VBUS */
+#endif
+#ifdef CONFIG_BOARD_STM32_IHM08M1_POT
+ 4, /* ADC1 REG - POT */
+#endif
+ 0, /* ADC1 INJ1 - PHASE 1 */
+#if CONFIG_MOTOR_FOC_SHUNTS > 1
+ 11, /* ADC1 INJ2 - PHASE 2 */
+#endif
+#if CONFIG_MOTOR_FOC_SHUNTS > 2
+ 10, /* ADC1 INJ3 - PHASE 3 */
+#endif
+};
+
+static uint32_t g_adc1_pins[] =
+{
+#ifdef CONFIG_BOARD_STM32_IHM08M1_VBUS
+ GPIO_ADC1_IN1,
+#endif
+#ifdef CONFIG_BOARD_STM32_IHM08M1_POT
+ GPIO_ADC1_IN4,
+#endif
+ GPIO_ADC1_IN0,
+#if CONFIG_MOTOR_FOC_SHUNTS > 1
+ GPIO_ADC1_IN11,
+#endif
+#if CONFIG_MOTOR_FOC_SHUNTS > 2
+ GPIO_ADC1_IN10
+#endif
+};
+
+/* ADC1 sample time configuration */
+
+static adc_channel_t g_adc1_stime[] =
+{
+#ifdef CONFIG_BOARD_STM32_IHM08M1_VBUS
+ {
+ .channel = 1,
+ .sample_time = VBUS_SAMPLE_TIME
+ },
+#endif
+#ifdef CONFIG_BOARD_STM32_IHM08M1_POT
+ {
+ .channel = 4,
+ .sample_time = POT_SAMPLE_TIME
+ },
+#endif
+ {
+ .channel = 0,
+ .sample_time = CURRENT_SAMPLE_TIME
+ },
+#if CONFIG_MOTOR_FOC_SHUNTS > 1
+ {
+ .channel = 11,
+ .sample_time = CURRENT_SAMPLE_TIME
+ },
+#endif
+#if CONFIG_MOTOR_FOC_SHUNTS > 2
+ {
+ .channel = 10,
+ .sample_time = CURRENT_SAMPLE_TIME
+ },
+#endif
+};
+
+/* Board specific ADC configuration for FOC */
+
+static struct stm32_foc_adc_s g_adc_cfg =
+{
+ .chan = g_adc1_chan,
+ .pins = g_adc1_pins,
+ .stime = g_adc1_stime,
+ .nchan = ADC1_NCHANNELS,
+ .regch = ADC1_REGULAR,
+ .intf = 1
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_foc_setup
+ *
+ * Description:
+ * Initialize FOC driver.
+ *
+ * This function should be call by board_app_initialize().
+ *
+ * Returned Value:
+ * 0 on success, a negated errno value on failure
+ *
+ ****************************************************************************/
+
+int stm32_foc_setup(void)
+{
+ return board_ihm08m1_initialize(&g_adc_cfg);
+}