mirror of
https://github.com/betaflight/betaflight.git
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356 lines
12 KiB
C
356 lines
12 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#ifdef USE_ADC
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#include "drivers/dma.h"
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#include "drivers/dma_reqmap.h"
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#include "drivers/io.h"
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#include "drivers/io_impl.h"
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#include "drivers/rcc.h"
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#include "drivers/sensor.h"
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#include "drivers/adc.h"
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#include "drivers/adc_impl.h"
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#include "pg/adc.h"
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// Copied from stm32f7xx_ll_adc.h
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#define VREFINT_CAL_VREF ( 3300U) /* Analog voltage reference (Vref+) value with which temperature sensor has been calibrated in production (tolerance: +-10 mV) (unit: mV). */
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#define TEMPSENSOR_CAL1_TEMP (( int32_t) 30) /* Internal temperature sensor, temperature at which temperature sensor has been calibrated in production for data into TEMPSENSOR_CAL1_ADDR (tolerance: +-5 DegC) (unit: DegC). */
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#define TEMPSENSOR_CAL2_TEMP (( int32_t) 110) /* Internal temperature sensor, temperature at which temperature sensor has been calibrated in production for data into TEMPSENSOR_CAL2_ADDR (tolerance: +-5 DegC) (unit: DegC). */
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#define TEMPSENSOR_CAL_VREFANALOG ( 3300U) /* Analog voltage reference (Vref+) voltage with which temperature sensor has been calibrated in production (+-10 mV) (unit: mV). */
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// These addresses are incorrectly defined in stm32f7xx_ll_adc.h
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#if defined(STM32F745xx) || defined(STM32F746xx) || defined(STM32F765xx)
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// F745xx_F746xx and F765xx_F767xx_F769xx
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#define VREFINT_CAL_ADDR ((uint16_t*) (0x1FF0F44A))
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#define TEMPSENSOR_CAL1_ADDR ((uint16_t*) (0x1FF0F44C))
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#define TEMPSENSOR_CAL2_ADDR ((uint16_t*) (0x1FF0F44E))
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#elif defined(STM32F722xx)
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// F72x_F73x
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#define VREFINT_CAL_ADDR ((uint16_t*) (0x1FF07A2A))
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#define TEMPSENSOR_CAL1_ADDR ((uint16_t*) (0x1FF07A2C))
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#define TEMPSENSOR_CAL2_ADDR ((uint16_t*) (0x1FF07A2E))
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#endif
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const adcDevice_t adcHardware[] = {
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{
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.ADCx = ADC1,
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.rccADC = RCC_APB2(ADC1),
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#if !defined(USE_DMA_SPEC)
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.dmaResource = (dmaResource_t *)ADC1_DMA_STREAM,
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.channel = DMA_CHANNEL_0
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#endif
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},
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{
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.ADCx = ADC2,
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.rccADC = RCC_APB2(ADC2),
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#if !defined(USE_DMA_SPEC)
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.dmaResource = (dmaResource_t *)ADC2_DMA_STREAM,
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.channel = DMA_CHANNEL_1
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#endif
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},
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{
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.ADCx = ADC3,
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.rccADC = RCC_APB2(ADC3),
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#if !defined(USE_DMA_SPEC)
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.dmaResource = (dmaResource_t *)ADC3_DMA_STREAM,
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.channel = DMA_CHANNEL_2
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#endif
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}
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};
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/* note these could be packed up for saving space */
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const adcTagMap_t adcTagMap[] = {
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/*
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{ DEFIO_TAG_E__PF3, ADC_DEVICES_3, ADC_CHANNEL_9 },
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{ DEFIO_TAG_E__PF4, ADC_DEVICES_3, ADC_CHANNEL_14 },
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{ DEFIO_TAG_E__PF5, ADC_DEVICES_3, ADC_CHANNEL_15 },
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{ DEFIO_TAG_E__PF6, ADC_DEVICES_3, ADC_CHANNEL_4 },
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{ DEFIO_TAG_E__PF7, ADC_DEVICES_3, ADC_CHANNEL_5 },
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{ DEFIO_TAG_E__PF8, ADC_DEVICES_3, ADC_CHANNEL_6 },
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{ DEFIO_TAG_E__PF9, ADC_DEVICES_3, ADC_CHANNEL_7 },
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{ DEFIO_TAG_E__PF10,ADC_DEVICES_3, ADC_CHANNEL_8 },
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*/
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{ DEFIO_TAG_E__PC0, ADC_DEVICES_123, ADC_CHANNEL_10 },
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{ DEFIO_TAG_E__PC1, ADC_DEVICES_123, ADC_CHANNEL_11 },
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{ DEFIO_TAG_E__PC2, ADC_DEVICES_123, ADC_CHANNEL_12 },
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{ DEFIO_TAG_E__PC3, ADC_DEVICES_123, ADC_CHANNEL_13 },
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{ DEFIO_TAG_E__PC4, ADC_DEVICES_12, ADC_CHANNEL_14 },
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{ DEFIO_TAG_E__PC5, ADC_DEVICES_12, ADC_CHANNEL_15 },
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{ DEFIO_TAG_E__PB0, ADC_DEVICES_12, ADC_CHANNEL_8 },
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{ DEFIO_TAG_E__PB1, ADC_DEVICES_12, ADC_CHANNEL_9 },
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{ DEFIO_TAG_E__PA0, ADC_DEVICES_123, ADC_CHANNEL_0 },
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{ DEFIO_TAG_E__PA1, ADC_DEVICES_123, ADC_CHANNEL_1 },
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{ DEFIO_TAG_E__PA2, ADC_DEVICES_123, ADC_CHANNEL_2 },
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{ DEFIO_TAG_E__PA3, ADC_DEVICES_123, ADC_CHANNEL_3 },
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{ DEFIO_TAG_E__PA4, ADC_DEVICES_12, ADC_CHANNEL_4 },
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{ DEFIO_TAG_E__PA5, ADC_DEVICES_12, ADC_CHANNEL_5 },
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{ DEFIO_TAG_E__PA6, ADC_DEVICES_12, ADC_CHANNEL_6 },
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{ DEFIO_TAG_E__PA7, ADC_DEVICES_12, ADC_CHANNEL_7 },
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};
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void adcInitDevice(adcDevice_t *adcdev, int channelCount)
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{
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adcdev->ADCHandle.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV8;
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adcdev->ADCHandle.Init.ContinuousConvMode = ENABLE;
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adcdev->ADCHandle.Init.Resolution = ADC_RESOLUTION_12B;
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adcdev->ADCHandle.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_CC1;
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adcdev->ADCHandle.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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adcdev->ADCHandle.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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adcdev->ADCHandle.Init.NbrOfConversion = channelCount;
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#ifdef USE_ADC_INTERNAL
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// Multiple injected channel seems to require scan conversion mode to be
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// enabled even if main (non-injected) channel count is 1.
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adcdev->ADCHandle.Init.ScanConvMode = ENABLE;
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#else
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adcdev->ADCHandle.Init.ScanConvMode = channelCount > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
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#endif
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adcdev->ADCHandle.Init.DiscontinuousConvMode = DISABLE;
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adcdev->ADCHandle.Init.NbrOfDiscConversion = 0;
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adcdev->ADCHandle.Init.DMAContinuousRequests = ENABLE;
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adcdev->ADCHandle.Init.EOCSelection = DISABLE;
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adcdev->ADCHandle.Instance = adcdev->ADCx;
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if (HAL_ADC_Init(&adcdev->ADCHandle) != HAL_OK)
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{
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/* Initialization Error */
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}
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}
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static adcDevice_t adc;
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#ifdef USE_ADC_INTERNAL
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static adcDevice_t adcInternal;
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static ADC_HandleTypeDef *adcInternalHandle;
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void adcInitInternalInjected(adcDevice_t *adcdev)
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{
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adcInternalHandle = &adcdev->ADCHandle;
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ADC_InjectionConfTypeDef iConfig;
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iConfig.InjectedChannel = ADC_CHANNEL_VREFINT;
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iConfig.InjectedRank = 1;
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iConfig.InjectedSamplingTime = ADC_SAMPLETIME_480CYCLES;
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iConfig.InjectedOffset = 0;
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iConfig.InjectedNbrOfConversion = 2;
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iConfig.InjectedDiscontinuousConvMode = DISABLE;
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iConfig.AutoInjectedConv = DISABLE;
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iConfig.ExternalTrigInjecConv = 0; // Don't care
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iConfig.ExternalTrigInjecConvEdge = 0; // Don't care
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if (HAL_ADCEx_InjectedConfigChannel(adcInternalHandle, &iConfig) != HAL_OK) {
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/* Channel Configuration Error */
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}
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iConfig.InjectedChannel = ADC_CHANNEL_TEMPSENSOR;
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iConfig.InjectedRank = 2;
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if (HAL_ADCEx_InjectedConfigChannel(adcInternalHandle, &iConfig) != HAL_OK) {
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/* Channel Configuration Error */
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}
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adcVREFINTCAL = *(uint16_t *)VREFINT_CAL_ADDR;
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adcTSCAL1 = *TEMPSENSOR_CAL1_ADDR;
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adcTSCAL2 = *TEMPSENSOR_CAL2_ADDR;
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adcTSSlopeK = (TEMPSENSOR_CAL2_TEMP - TEMPSENSOR_CAL1_TEMP) * 1000 / (adcTSCAL2 - adcTSCAL1);
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}
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// Note on sampling time for temperature sensor and vrefint:
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// Both sources have minimum sample time of 10us.
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// With prescaler = 8:
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// 168MHz : fAPB2 = 84MHz, fADC = 10.5MHz, tcycle = 0.090us, 10us = 105cycle < 144cycle
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// 240MHz : fAPB2 = 120MHz, fADC = 15.0MHz, tcycle = 0.067usk 10us = 150cycle < 480cycle
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//
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// 480cycles@15.0MHz = 32us
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static bool adcInternalConversionInProgress = false;
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bool adcInternalIsBusy(void)
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{
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if (adcInternalConversionInProgress) {
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if (HAL_ADCEx_InjectedPollForConversion(adcInternalHandle, 0) == HAL_OK) {
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adcInternalConversionInProgress = false;
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}
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}
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return adcInternalConversionInProgress;
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}
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void adcInternalStartConversion(void)
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{
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HAL_ADCEx_InjectedStart(adcInternalHandle);
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adcInternalConversionInProgress = true;
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}
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uint16_t adcInternalReadVrefint(void)
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{
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return HAL_ADCEx_InjectedGetValue(adcInternalHandle, ADC_INJECTED_RANK_1);
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}
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uint16_t adcInternalReadTempsensor(void)
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{
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return HAL_ADCEx_InjectedGetValue(adcInternalHandle, ADC_INJECTED_RANK_2);
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}
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#endif
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void adcInit(const adcConfig_t *config)
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{
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uint8_t i;
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uint8_t configuredAdcChannels = 0;
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memset(&adcOperatingConfig, 0, sizeof(adcOperatingConfig));
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if (config->vbat.enabled) {
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adcOperatingConfig[ADC_BATTERY].tag = config->vbat.ioTag;
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}
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if (config->rssi.enabled) {
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adcOperatingConfig[ADC_RSSI].tag = config->rssi.ioTag; //RSSI_ADC_CHANNEL;
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}
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if (config->external1.enabled) {
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adcOperatingConfig[ADC_EXTERNAL1].tag = config->external1.ioTag; //EXTERNAL1_ADC_CHANNEL;
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}
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if (config->current.enabled) {
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adcOperatingConfig[ADC_CURRENT].tag = config->current.ioTag; //CURRENT_METER_ADC_CHANNEL;
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}
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ADCDevice device = ADC_CFG_TO_DEV(config->device);
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if (device == ADCINVALID) {
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return;
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}
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adc = adcHardware[device];
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bool adcActive = false;
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for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
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if (adcVerifyPin(adcOperatingConfig[i].tag, device)) {
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adcActive = true;
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IOInit(IOGetByTag(adcOperatingConfig[i].tag), OWNER_ADC_BATT + i, 0);
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IOConfigGPIO(IOGetByTag(adcOperatingConfig[i].tag), IO_CONFIG(GPIO_MODE_ANALOG, 0, GPIO_NOPULL));
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adcOperatingConfig[i].adcChannel = adcChannelByTag(adcOperatingConfig[i].tag);
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adcOperatingConfig[i].dmaIndex = configuredAdcChannels++;
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adcOperatingConfig[i].sampleTime = ADC_SAMPLETIME_480CYCLES;
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adcOperatingConfig[i].enabled = true;
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}
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}
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#ifndef USE_ADC_INTERNAL
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if (!adcActive) {
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return;
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}
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#endif
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RCC_ClockCmd(adc.rccADC, ENABLE);
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adcInitDevice(&adc, configuredAdcChannels);
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#ifdef USE_ADC_INTERNAL
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// If device is not ADC1 or there's no active channel, then initialize ADC1 here.
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if (device != ADCDEV_1 || !adcActive) {
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adcInternal = adcHardware[ADCDEV_1];
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RCC_ClockCmd(adcInternal.rccADC, ENABLE);
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adcInitDevice(&adcInternal, 0);
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adcInitInternalInjected(&adcInternal);
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} else {
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adcInitInternalInjected(&adc);
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}
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#endif
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uint8_t rank = 1;
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for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
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if (adcOperatingConfig[i].enabled) {
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ADC_ChannelConfTypeDef sConfig;
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sConfig.Channel = adcOperatingConfig[i].adcChannel;
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sConfig.Rank = rank++;
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sConfig.SamplingTime = adcOperatingConfig[i].sampleTime;
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sConfig.Offset = 0;
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if (HAL_ADC_ConfigChannel(&adc.ADCHandle, &sConfig) != HAL_OK)
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{
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/* Channel Configuration Error */
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}
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}
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}
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#ifdef USE_DMA_SPEC
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const dmaChannelSpec_t *dmaspec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, device, config->dmaopt[device]);
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if (!dmaspec) {
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return;
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}
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dmaInit(dmaGetIdentifier(dmaspec->ref), OWNER_ADC, 0);
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adc.DmaHandle.Init.Channel = dmaspec->channel;
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adc.DmaHandle.Instance = (DMA_ARCH_TYPE *)dmaspec->ref;
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#else
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dmaInit(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0);
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adc.DmaHandle.Init.Channel = adc.channel;
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adc.DmaHandle.Instance = (DMA_ARCH_TYPE *)adc.dmaResource;
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#endif
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adc.DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
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adc.DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
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adc.DmaHandle.Init.MemInc = configuredAdcChannels > 1 ? DMA_MINC_ENABLE : DMA_MINC_DISABLE;
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adc.DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
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adc.DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
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adc.DmaHandle.Init.Mode = DMA_CIRCULAR;
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adc.DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
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adc.DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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adc.DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
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adc.DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
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adc.DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
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if (HAL_DMA_Init(&adc.DmaHandle) != HAL_OK)
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{
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/* Initialization Error */
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}
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__HAL_LINKDMA(&adc.ADCHandle, DMA_Handle, adc.DmaHandle);
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//HAL_CLEANINVALIDATECACHE((uint32_t*)&adcValues, configuredAdcChannels);
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if (HAL_ADC_Start_DMA(&adc.ADCHandle, (uint32_t*)&adcValues, configuredAdcChannels) != HAL_OK)
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{
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/* Start Conversion Error */
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}
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}
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void adcGetChannelValues(void)
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{
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// Nothing to do
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}
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#endif
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