How to differentiate Motor 1 from Motor 2 in __weak void *HALL_TIMx_CC_IRQHandler(void *pHandleVoid)?

[Christophe65]

Hi everyone,

 

I'm working on a dual motor setup using an STM32F303 with the STM32 Motor Control SDK (MCSDK). I'm using FOC with Hall sensors and 3-shunt current sensing. The project is configured with MC Workbench and controlled via ST Motor Pilot.

 

I’m trying to track the position of Motor 1 using the following code inside the Hall sensor interrupt handler:

rotation_count_M1 -= pHandle->Direction * SenseMoteurM1;

 

This works fine when only one motor is connected. However, when both motors are active, the function __weak void *HALL_TIMx_CC_IRQHandler(void *pHandleVoid) is called for both motors, and the position count becomes incorrect — which makes sense, since I can't tell which motor triggered the interrupt.

I tried something like:

if (pHandle == "HALL_M1") { ... }

But of course, that doesn’t work because pHandle is a pointer, not a string.

My question is:
What is the proper way to identify whether pHandle corresponds to Motor 1 or Motor 2 inside this interrupt handler? Is there a recommended way to compare it with the actual motor handles (e.g., HALL_M1, HALL_M2) or retrieve the motor index?

Thanks in advance for your help!

[STuser2]

Does MCSDK supported the code generation for 2 motors, or you are implementing on your own? Probably if you are implementing on your own better to look at the code MCSDK is generating for 2 motors, i think it is supporting some series of micro and boards for dual motor configuration.

Generate Code with Dual Motor on MC WorkBench - STMicroelectronics Community

 

[Christophe65]

Yes, the MCSDK does support code generation for dual motor setups, and I’m using it successfully on my STM32F303 board. The configuration was done using MC Workbench, and I control the motors via ST Motor Pilot.

Both motors are running correctly — the firmware builds and executes without issue, and I can start/stop each motor independently.

However, I’m having trouble managing the position tracking for each motor. Specifically, in the __weak void *HALL_TIMx_CC_IRQHandler(void *pHandleVoid) function, I can't reliably determine whether the interrupt was triggered by Motor 1 or Motor 2. This causes incorrect updates to my position counters.

If anyone has experience with identifying the motor source from pHandleVoid or has a recommended approach for separating the logic per motor, I’d really appreciate your help!

[Christophe65]

I managed to get it working with the following code:

if (pHandle->H1Pin == 8){
 rotation_count_M1 -= pHandle->Direction * SenseMoteurM1;
}

It does the job, but I don’t find it very clean.
I would have preferred to use something like a symbolic name (e.g. M1) instead of hardcoding the GPIO pin number.
If anyone knows a better way to identify the motor or Hall sensor instance without relying on the pin number, I’d really appreciate your input!

[GMA]

Hello @Christophe65,

You can add a motor indicator to the input parameter of the HALL_TIMx_xx_IRQHandler() functions.