adc_arch.c

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/*
 * Copyright (C) 2013 AggieAir, A Remote Sensing Unmanned Aerial System for Scientific Applications
 * Utah State University, http://aggieair.usu.edu/
 *
 * Michal Podhradsky (michal.podhradsky@aggiemail.usu.edu)
 * Calvin Coopmans (c.r.coopmans@ieee.org)
 *
 * Copyright (C) 2015 Gautier Hattenberger, Alexandre Bustico
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
#include "mcu_periph/adc.h"
#include "mcu_periph/gpio.h"
#include "hal.h"
#include "std.h"
#include "mcu_periph/ram_arch.h"
 
 
// Macros to automatically enable the correct ADC
// FIXME we can't use NB_ADC1_CHANNELS it is not a macro
//#if NB_ADC1_CHANNELS != 0
#ifndef USE_AD1
#define USE_AD1 1
#endif
 
 
/* Set the default sample rate */
#if !defined(ADC_SAMPLE_RATE)
#if defined(STM32H7XX)
#define ADC_SAMPLE_RATE ADC_SMPR_SMP_384P5
#elif defined(STM32F3XX)
#define ADC_SAMPLE_RATE ADC_SMPR_SMP_601P5
#else
#define ADC_SAMPLE_RATE ADC_SAMPLE_480
#endif
#endif
 
// Create channel map
static const uint8_t adc_channel_map[ADC_NUM_CHANNELS] = {
#ifdef AD1_1_CHANNEL
  AD1_1_CHANNEL,
#endif
#ifdef AD1_2_CHANNEL
  AD1_2_CHANNEL,
#endif
#ifdef AD1_3_CHANNEL
  AD1_3_CHANNEL,
#endif
#ifdef AD1_4_CHANNEL
  AD1_4_CHANNEL,
#endif
#ifdef AD1_5_CHANNEL
  AD1_5_CHANNEL,
#endif
#ifdef AD1_6_CHANNEL
  AD1_6_CHANNEL,
#endif
#ifdef AD1_7_CHANNEL
  AD1_7_CHANNEL,
#endif
#ifdef AD1_8_CHANNEL
  AD1_8_CHANNEL,
#endif
#ifdef AD1_9_CHANNEL
  AD1_9_CHANNEL,
#endif
#ifdef AD1_10_CHANNEL
  AD1_10_CHANNEL,
#endif
#ifdef AD1_11_CHANNEL
  AD1_11_CHANNEL,
#endif
#ifdef AD1_12_CHANNEL
  AD1_12_CHANNEL,
#endif
#ifdef AD1_13_CHANNEL
  AD1_13_CHANNEL,
#endif
#ifdef AD1_14_CHANNEL
  AD1_14_CHANNEL,
#endif
#ifdef AD1_15_CHANNEL
  AD1_15_CHANNEL,
#endif
#ifdef AD1_16_CHANNEL
  AD1_16_CHANNEL,
#endif
};
 
uint8_t adc_error_flag = 0;
ADCDriver *adcp_err = NULL;
 
// adc_samples buffer
// FIXME compute size to have to correct number of samples ?
#ifndef ADC_BUF_DEPTH
#define ADC_BUF_DEPTH (MAX_AV_NB_SAMPLE/2)
#endif
static IN_DMA_SECTION(adcsample_t adc_samples[ADC_NUM_CHANNELS * MAX_AV_NB_SAMPLE]);
 
#if USE_AD1
static ADCConversionGroup adc1_group;
static struct adc_buf *adc1_buffers[ADC_NUM_CHANNELS];
static uint32_t adc1_sum_tmp[ADC_NUM_CHANNELS];
static uint8_t adc1_samples_tmp[ADC_NUM_CHANNELS];
#endif
#if USE_AD2
#error ADC2_not implemented in ChibiOS
#endif
#if USE_AD3
#error ADC3_not implemented in ChibiOS
#endif
 
#if USE_ADC_WATCHDOG
// watchdog structure with adc bank and callback
static struct {
  ADCDriver *adc;
  adc_channels_num_t channel;
  adcsample_t vmin;
  adc_watchdog_callback cb;
} adc_watchdog;
#endif
 
static void adc_configure(ADCConversionGroup *cfg, uint8_t num_channels, const uint8_t channels[], uint32_t sample_rate,
                          adccallback_t end_cb, adcerrorcallback_t error_cb)
{
  // Set the general configuration
  cfg->circular = true;
  cfg->num_channels = num_channels;
  cfg->end_cb = end_cb;
  cfg->error_cb = error_cb;
 
  // Set to 16bits by default else try 12bit
#if defined(ADC_CFGR_RES_16BITS)
  cfg->cfgr = ADC_CFGR_CONT | ADC_CFGR_RES_16BITS;
#elif defined(ADC_CFGR_RES_12BITS)
  cfg->cfgr = ADC_CFGR_CONT | ADC_CFGR_RES_12BITS;
#else
  cfg->sqr1 = ADC_SQR1_NUM_CH(num_channels);
  cfg->cr2 = ADC_CR2_SWSTART;
 
#if defined(ADC_CR2_TSVREFE)
  cfg->cr2 |= ADC_CR2_TSVREFE;
#endif
#endif
 
  // Go through all the channels
  for (uint8_t i = 0; i < num_channels; i++) {
    uint8_t chan = channels[i];
 
#if defined(STM32H7XX) || defined(STM32F3XX) || defined(STM32G4XX) || defined(STM32L4XX)
    cfg->pcsel |= (1 << chan);
    cfg->smpr[chan / 10] |= sample_rate << (3 * (chan % 10));
 
    if (i < 4) {
      cfg->sqr[0] |= chan << (6 * (i + 1));
    } else if (i < 9) {
      cfg->sqr[1] |= chan << (6 * (i - 4));
    } else {
      cfg->sqr[2] |= chan << (6 * (i - 9));
    }
#else
    if (chan < 10) {
      cfg->smpr2 |= sample_rate << (3 * chan);
    } else {
      cfg->smpr1 |= sample_rate << (3 * (chan - 10));
    }
 
    if (i < 6) {
      cfg->sqr3 |= chan << (5 * i);
    } else if (i < 12) {
      cfg->sqr2 |= chan << (5 * (i - 6));
    } else {
      cfg->sqr3 |= chan << (5 * (i - 12));
    }
#endif
  }
}
 
void adc1callback(ADCDriver *adcp)
{
  if (adcp->state != ADC_STOP) {
#if USE_AD1
    const size_t n = ADC_BUF_DEPTH / 2U;
    // depending on half buffer that has just been filled
    // if adcIsBufferComplete return true, the last filled
    // half buffer start in the middle of buffer, else, is start at
    // beginiing of buffer
    const adcsample_t *buffer = adc_samples + (adcIsBufferComplete(adcp) ?
                                n *ADC_NUM_CHANNELS : 0U);
    cacheBufferInvalidate(adc_samples, sizeof(adc_samples));
 
    for (int channel = 0; channel < ADC_NUM_CHANNELS; channel++) {
      if (adc1_buffers[channel] != NULL) {
        adc1_sum_tmp[channel] = 0;
        if (n > 0) {
          adc1_samples_tmp[channel] = n;
        } else {
          adc1_samples_tmp[channel] = 1;
        }
        for (unsigned int sample = 0; sample < n; sample++) {
          adc1_sum_tmp[channel] += buffer[channel + sample * ADC_NUM_CHANNELS];
        }
      }
    }
    chSysLockFromISR();
    for (int channel = 0; channel < ADC_NUM_CHANNELS; channel++) {
      if (adc1_buffers[channel] != NULL) {
        adc1_buffers[channel]->sum = adc1_sum_tmp[channel];
        adc1_buffers[channel]->av_nb_sample = adc1_samples_tmp[channel];
      }
    }
#if USE_ADC_WATCHDOG
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits" // remove warning when ADC_NUM_CHANNELS is 0 and test always false
    if ((adc_watchdog.adc == adcp) &&
        (adc_watchdog.channel < ADC_NUM_CHANNELS) &&
        (adc_watchdog.cb != NULL)) {
      if (adc1_buffers[adc_watchdog.channel]->sum <
          (adc1_buffers[adc_watchdog.channel]->av_nb_sample * adc_watchdog.vmin)) {
        adc_watchdog.cb();
      }
    }
#pragma GCC diagnostic pop
#endif // USE_ADC_WATCHDOG
 
    chSysUnlockFromISR();
#endif
  }
}
 
 
static void adcerrorcallback(ADCDriver *adcp, adcerror_t err)
{
  chSysLockFromISR();
  adcp_err = adcp;
  adc_error_flag = err;
  chSysUnlockFromISR();
}
 
void adc_buf_channel(uint8_t adc_channel, struct adc_buf *s, uint8_t av_nb_sample)
{
  // check for out-of-bounds access
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits" // remove warning when ADC_NUM_CHANNELS is 0 and test always true
  if (adc_channel >= ADC_NUM_CHANNELS) { return; }
#pragma GCC diagnostic pop
  adc1_buffers[adc_channel] = s;
  if (av_nb_sample <= MAX_AV_NB_SAMPLE) {
    s->av_nb_sample = av_nb_sample;
  } else {
    s->av_nb_sample = MAX_AV_NB_SAMPLE;
  }
}
 
void adc_init(void)
{
  /* Init GPIO ports for ADC operation
   */
#if USE_ADC_1
  PRINT_CONFIG_MSG("Info: Using ADC_1");
  gpio_setup_pin_analog(ADC_1_GPIO_PORT, ADC_1_GPIO_PIN);
#endif
#if USE_ADC_2
  PRINT_CONFIG_MSG("Info: Using ADC_2");
  gpio_setup_pin_analog(ADC_2_GPIO_PORT, ADC_2_GPIO_PIN);
#endif
#if USE_ADC_3
  PRINT_CONFIG_MSG("Info: Using ADC_3");
  gpio_setup_pin_analog(ADC_3_GPIO_PORT, ADC_3_GPIO_PIN);
#endif
#if USE_ADC_4
  PRINT_CONFIG_MSG("Info: Using ADC_4");
  gpio_setup_pin_analog(ADC_4_GPIO_PORT, ADC_4_GPIO_PIN);
#endif
#if USE_ADC_5
  PRINT_CONFIG_MSG("Info: Using ADC_5");
  gpio_setup_pin_analog(ADC_5_GPIO_PORT, ADC_5_GPIO_PIN);
#endif
#if USE_ADC_6
  PRINT_CONFIG_MSG("Info: Using ADC_6");
  gpio_setup_pin_analog(ADC_6_GPIO_PORT, ADC_6_GPIO_PIN);
#endif
#if USE_ADC_7
  PRINT_CONFIG_MSG("Info: Using ADC_7");
  gpio_setup_pin_analog(ADC_7_GPIO_PORT, ADC_7_GPIO_PIN);
#endif
#if USE_ADC_8
  PRINT_CONFIG_MSG("Info: Using ADC_8");
  gpio_setup_pin_analog(ADC_8_GPIO_PORT, ADC_8_GPIO_PIN);
#endif
#if USE_ADC_9
  PRINT_CONFIG_MSG("Info: Using ADC_9");
  gpio_setup_pin_analog(ADC_9_GPIO_PORT, ADC_9_GPIO_PIN);
#endif
 
#if USE_ADC_WATCHDOG
  adc_watchdog.adc = NULL;
  adc_watchdog.cb = NULL;
  adc_watchdog.channel = 0;
  adc_watchdog.vmin = (1 << 12) - 1; // max adc
#endif
 
  // Configure the ADC structure
  adc_configure(&adc1_group, ADC_NUM_CHANNELS, adc_channel_map, ADC_SAMPLE_RATE, adc1callback, adcerrorcallback);
 
  // Start ADC in continious conversion mode
  adcStart(&ADCD1, NULL);
  adcStartConversion(&ADCD1, &adc1_group, adc_samples, ADC_BUF_DEPTH);
}
 
#if USE_ADC_WATCHDOG
void register_adc_watchdog(ADCDriver *adc, adc_channels_num_t channel, adcsample_t vmin,
                           adc_watchdog_callback cb)
{
  for (int i = 0; i < NB_ADC1_CHANNELS; i++) { // FIXME when more than ADC1 will be in use
    if (adc_channel_map[i] == channel) {
      adc_watchdog.adc = adc;
      adc_watchdog.channel = i;
      adc_watchdog.vmin = vmin;
      adc_watchdog.cb = cb;
      break;
    }
  }
}
#endif