Merge pull request #4881 from jflyper/bfdev-adc-internal-full-task-version

VREFINT and core temperature support, full task polling version

src/main/sensors/adcinternal.c

@@ -0,0 +1,114 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#if defined(USE_ADC) && defined(USE_ADC_INTERNAL)
+
+#include "build/debug.h"
+
+#include "common/utils.h"
+
+#include "drivers/adc.h"
+
+typedef struct movingAverageStateUint16_s {
+    uint32_t sum;
+    uint16_t *values;
+    uint8_t size;
+    uint8_t pos;
+} movingAverageStateUint16_t;
+
+uint16_t updateMovingAverageUint16(movingAverageStateUint16_t *state, uint16_t newValue)
+{
+    state->sum -= state->values[state->pos];
+    state->values[state->pos] = newValue;
+    state->sum += newValue;
+    state->pos = (state->pos + 1) % state->size;
+
+    return state->sum / state->size;
+}
+
+static uint16_t adcVrefintValue;
+static uint16_t adcVrefintValues[8];
+movingAverageStateUint16_t adcVrefintAverageState = { 0, adcVrefintValues, 8, 0 } ;
+
+static uint16_t adcTempsensorValue;
+static uint16_t adcTempsensorValues[8];
+movingAverageStateUint16_t adcTempsensorAverageState = { 0, adcTempsensorValues, 8, 0 } ;
+
+static int16_t coreTemperature;
+
+uint16_t getVrefMv(void)
+{
+#ifdef ADC_VOLTAGE_REFERENCE_MV
+    return ADC_VOLTAGE_REFERENCE_MV;
+#else
+    return 3300 * adcVrefintValue / adcVREFINTCAL;
+#endif
+}
+
+uint16_t getCoreTemperatureCelsius(void)
+{
+    return coreTemperature;
+}
+
+void adcInternalProcess(timeUs_t currentTimeUs)
+{
+    UNUSED(currentTimeUs);
+
+    if (adcInternalIsBusy()) {
+        return;
+    }
+
+    uint16_t vrefintSample = adcInternalReadVrefint();
+    uint16_t tempsensorSample = adcInternalReadTempsensor();
+
+    adcVrefintValue = updateMovingAverageUint16(&adcVrefintAverageState, vrefintSample);
+    adcTempsensorValue = updateMovingAverageUint16(&adcTempsensorAverageState, tempsensorSample);
+
+    int32_t adcTempsensorAdjusted = (int32_t)adcTempsensorValue * 3300 / getVrefMv();
+    coreTemperature = ((adcTempsensorAdjusted - adcTSCAL1) * adcTSSlopeK + 30 * 1000 + 500) / 1000;
+
+    DEBUG_SET(DEBUG_CORE_TEMP, 0, coreTemperature);
+
+    adcInternalStartConversion(); // Start next conversion
+}
+
+void adcInternalInit(void)
+{
+    // Call adcInternalProcess repeatedly to fill moving average array
+    for (int i = 0 ; i < 9 ; i++) {
+        while (adcInternalIsBusy()) {
+            // empty
+        }
+        adcInternalProcess(0);
+    }
+}
+#else
+uint16_t getVrefMv(void)
+{
+#ifdef ADC_VOLTAGE_REFERENCE_MV
+    return ADC_VOLTAGE_REFERENCE_MV;
+#else
+    return 3300;
+#endif
+}
+#endif

src/main/sensors/adcinternal.h

@@ -0,0 +1,25 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/time.h"
+
+void adcInternalInit(void);
+void adcInternalProcess(timeUs_t currentTimeUs);
+uint16_t getCoreTemperatureCelsius(void);
+uint16_t getVrefMv(void);

src/main/sensors/current.c

@@ -32,6 +32,7 @@
 #include "pg/pg_ids.h"
 #include "config/config_reset.h"
 
+#include "sensors/adcinternal.h"
 #include "sensors/current.h"
 #include "sensors/esc_sensor.h"
 
@@ -77,8 +78,6 @@ void currentMeterReset(currentMeter_t *meter)
 // ADC/Virtual shared
 //
 
-#define ADCVREF 3300   // in mV
-
 #define IBAT_LPF_FREQ  0.4f
 static biquadFilter_t adciBatFilter;
 
@@ -106,7 +105,7 @@ static int32_t currentMeterADCToCentiamps(const uint16_t src)
 
     const currentSensorADCConfig_t *config = currentSensorADCConfig();
 
-    int32_t millivolts = ((uint32_t)src * ADCVREF) / 4096;
+    int32_t millivolts = ((uint32_t)src * getVrefMv()) / 4096;
     // y=x/m+b m is scale in (mV/10A) and b is offset in (mA)
     int32_t centiAmps = (millivolts * 10000 / (int32_t)config->scale + (int32_t)config->offset) / 10;
 

src/main/sensors/initialisation.c

@@ -31,6 +31,7 @@
 #include "fc/runtime_config.h"
 
 #include "sensors/sensors.h"
+#include "sensors/adcinternal.h"
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
 #include "sensors/gyro.h"
@@ -65,5 +66,9 @@ bool sensorsAutodetect(void)
     rangefinderInit();
 #endif
 
+#ifdef USE_ADC_INTERNAL
+    adcInternalInit();
+#endif
+
     return gyroDetected;
 }

src/main/sensors/voltage.c

@@ -33,6 +33,7 @@
 #include "pg/pg_ids.h"
 #include "config/config_reset.h"
 
+#include "sensors/adcinternal.h"
 #include "sensors/voltage.h"
 #include "sensors/esc_sensor.h"
 
@@ -138,7 +139,7 @@ STATIC_UNIT_TESTED uint16_t voltageAdcToVoltage(const uint16_t src, const voltag
 {
     // calculate battery voltage based on ADC reading
     // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 0xFFF = 12bit adc, 110 = 10:1 voltage divider (10k:1k) * 10 for 0.1V
-    return ((((uint32_t)src * config->vbatscale * 33 + (0xFFF * 5)) / (0xFFF * config->vbatresdivval)) / config->vbatresdivmultiplier);
+    return ((((uint32_t)src * config->vbatscale * getVrefMv() / 100 + (0xFFF * 5)) / (0xFFF * config->vbatresdivval)) / config->vbatresdivmultiplier);
 }
 
 void voltageMeterADCRefresh(void)