Merge pull request #3407 from opentx/bsongis/adc_averaging_done_in_driver_layer

[ARM board] ADC are done 4 times inside the driver now. To be tested …

radio/src/debug.cpp

@@ -221,8 +221,6 @@ const char * debugTimerNames[DEBUG_TIMERS_COUNT] = {
   ,"Mix eval   "   // debugTimerEvalMixes,
   ,"Mix 10ms   "   // debugTimerMixes10ms,
   ,"ADC read   "   // debugTimerAdcRead,
-  ,"ADC loop   "   // debugTimerAdcLoop,
-  ,"ADC wait   "   // debugTimerAdcWait,
   ,"mix-pulses "   // debugTimerMixerCalcToUsage
   ,"mix-int.   "   // debugTimerMixerIterval
 };

radio/src/debug.h

@@ -321,8 +321,6 @@ enum DebugTimers {
   debugTimerMixes10ms,
 
   debugTimerAdcRead,
-  debugTimerAdcLoop,
-  debugTimerAdcWait,
 
   debugTimerMixerCalcToUsage,
   debugTimerMixerIterval,

radio/src/gui/horus/view_statistics.cpp

@@ -162,7 +162,7 @@ bool menuStatsAnalogs(evt_t event)
 #if defined(JITTER_MEASURE)
     lcdDrawNumber(x+100, y, rawJitter[i].get());
     lcdDrawNumber(x+140, y, avgJitter[i].get());
-    lcdDrawNumber(x+180, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*25/256);
+    lcdDrawNumber(x+180, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*250/256, PREC1);
 #else
     lcdDrawNumber(x+100, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*25/256);
 #endif

radio/src/opentx.cpp

@@ -1463,30 +1463,20 @@ uint16_t BandGap = 225;
 // G: Note that the above would have set the ADC prescaler to 128, equating to
 // 125KHz sample rate. We now sample at 500KHz, with oversampling and other
 // filtering options to produce 11-bit results.
-uint16_t BandGap = 2040 ;
+uint16_t BandGap = 2040;
 #elif defined(PCBSTD)
-uint16_t BandGap ;
+uint16_t BandGap;
 #endif
 
 #if defined(JITTER_MEASURE)
-  JitterMeter<uint16_t> rawJitter[NUMBER_ANALOG];
+JitterMeter<uint16_t> rawJitter[NUMBER_ANALOG];
-  JitterMeter<uint16_t> avgJitter[NUMBER_ANALOG];
+JitterMeter<uint16_t> avgJitter[NUMBER_ANALOG];
-  tmr10ms_t jitterResetTime = 0;
+tmr10ms_t jitterResetTime = 0;
-  #if defined(PCBHORUS)
-    #define JITTER_MEASURE_ACTIVE()   (menuHandlers[menuLevel] == menuStatsAnalogs)
-  #elif defined(PCBTARANIS)
-    #define JITTER_MEASURE_ACTIVE()   (menuHandlers[menuLevel] == menuGeneralDiagAna)
-  #elif defined(CLI)
-    #define JITTER_MEASURE_ACTIVE()   (1)
-  #else
-    #define JITTER_MEASURE_ACTIVE()   (0)
-  #endif
 #endif
 
-
 #if defined(VIRTUALINPUTS) && defined(JITTER_FILTER)
   #define JITTER_FILTER_STRENGTH  4         // tune this value, bigger value - more filtering (range: 1-5) (see explanation below)
-  #define ANALOG_SCALE            1         // tune this value, bigger value - more filtering (range: 0-3) (see explanation below)
+  #define ANALOG_SCALE            1         // tune this value, bigger value - more filtering (range: 0-1) (see explanation below)
 
   #define JITTER_ALPHA            (1<<JITTER_FILTER_STRENGTH)
   #define ANALOG_MULTIPLIER       (1<<ANALOG_SCALE)
@@ -1536,8 +1526,6 @@ uint16_t anaIn(uint8_t chan)
 #if defined(CPUARM)
 void getADC()
 {
-  uint16_t temp[NUMBER_ANALOG] = { 0 };
-
 #if defined(JITTER_MEASURE)
   if (JITTER_MEASURE_ACTIVE() && jitterResetTime < get_tmr10ms()) {
     // reset jitter measurement every second
@@ -1550,22 +1538,11 @@ void getADC()
 #endif
 
   DEBUG_TIMER_START(debugTimerAdcRead);
-  for (uint8_t i=0; i<4; i++) {
   adcRead();
-    for (uint8_t x=0; x<NUMBER_ANALOG; x++) {
-      uint16_t val = getAnalogValue(x);
-#if defined(JITTER_MEASURE)
-      if (JITTER_MEASURE_ACTIVE()) {
-        rawJitter[x].measure(val);
-      }
-#endif
-      temp[x] += val;
-    }
-  }
   DEBUG_TIMER_STOP(debugTimerAdcRead);
 
-  for (uint32_t x=0; x<NUMBER_ANALOG; x++) {
+  for (uint8_t x=0; x<NUMBER_ANALOG; x++) {
-    uint16_t v = temp[x] >> (3 - ANALOG_SCALE);
+    uint16_t v = getAnalogValue(x) >> (1 - ANALOG_SCALE);
 
 #if defined(VIRTUALINPUTS) && defined(JITTER_FILTER)
     // Jitter filter:

radio/src/opentx.h

@@ -1790,7 +1790,16 @@ extern uint16_t s_anaFilt[NUMBER_ANALOG];
 #if defined(JITTER_MEASURE)
 extern JitterMeter<uint16_t> rawJitter[NUMBER_ANALOG];
 extern JitterMeter<uint16_t> avgJitter[NUMBER_ANALOG];
-#endif  // defined(JITTER_MEASURE)
+#if defined(PCBHORUS)
+  #define JITTER_MEASURE_ACTIVE()   (menuHandlers[menuLevel] == menuStatsAnalogs)
+#elif defined(PCBTARANIS)
+  #define JITTER_MEASURE_ACTIVE()   (menuHandlers[menuLevel] == menuGeneralDiagAna)
+#elif defined(CLI)
+  #define JITTER_MEASURE_ACTIVE()   (1)
+#else
+  #define JITTER_MEASURE_ACTIVE()   (0)
+#endif
+#endif
 
 #define WDT_500MS 500
 

radio/src/targets/horus/adc_driver.cpp

@@ -18,11 +18,23 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
 #define ADC_CS_HIGH()                  (ADC_SPI_GPIO->BSRRL = ADC_SPI_PIN_CS)
 #define ADC_CS_LOW()                   (ADC_SPI_GPIO->BSRRH = ADC_SPI_PIN_CS)
 
+#define SPI_STICK1                     0
+#define SPI_STICK2                     1
+#define SPI_STICK3                     2
+#define SPI_STICK4                     3
+#define SPI_S1                         4
+#define SPI_6POS                       5
+#define SPI_S2                         6
+#define SPI_LS                         7
+#define SPI_RS                         8
+#define SPI_TX_VOLTAGE                 9
+#define SPI_L2                         10
+#define SPI_L1                         11
 #define RESETCMD                       0x4000
 #define MANUAL_MODE                    0x1000 // manual mode channel 0
 
@@ -30,7 +42,7 @@
 
 uint16_t adcValues[NUMBER_ANALOG] __DMA;
 
-static u16 SPIx_ReadWriteByte(uint16_t value)
+uint16_t SPIx_ReadWriteByte(uint16_t value)
 {
   while(SPI_I2S_GetFlagStatus(ADC_SPI,SPI_I2S_FLAG_TXE) == RESET);
   SPI_I2S_SendData(ADC_SPI,value);
@@ -87,27 +99,13 @@ static void ADS7952_Init()
   ADC_CS_LOW();
   SPIx_ReadWriteByte(MANUAL_MODE);
   ADC_CS_HIGH();
-    
-// SPIx_ReadWriteByte(ProgramReg_Auto2 );
-// ADC_CS_HIGH();
-
-// asm("nop");
-// ADC_CS_LOW();
-// SPIx_ReadWriteByte(AutoMode_2);
-// ADC_CS_HIGH();
-
-// asm("nop");
-// ADC_CS_LOW();
-// SPIx_ReadWriteByte(ContinuedSelectMode);
-// ADC_CS_HIGH();
-// asm("nop");
 }
 
 void adcInit()
 {
   ADS7952_Init();
 
-  configure_pins( ADC_GPIO_PIN_MOUSE1 | ADC_GPIO_PIN_MOUSE2, PIN_ANALOG | PIN_PORTF );
+  configure_pins(ADC_GPIO_PIN_MOUSE1 | ADC_GPIO_PIN_MOUSE2, PIN_ANALOG | PIN_PORTF);
 	
   ADC3->CR1 = ADC_CR1_SCAN;
   ADC3->CR2 = ADC_CR2_ADON | ADC_CR2_DMA | ADC_CR2_DDS;
@@ -126,67 +124,38 @@ void adcInit()
   DMA2_Stream1->FCR = DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0;
 }
 
-#define SPI_STICK1                     0
-#define SPI_STICK2                     1
-#define SPI_STICK3                     2
-#define SPI_STICK4                     3
-#define SPI_S1                         4
-#define SPI_6POS                       5
-#define SPI_S2                         6
-#define SPI_LS                         7
-#define SPI_RS                         8
-#define SPI_TX_VOLTAGE                 9
-#define SPI_L2                         10
-#define SPI_L1                         11
-
 const uint16_t adcCommands[MOUSE1+2] =
 {
-  MANUAL_MODE | ( SPI_STICK1     << 7 ),
+  MANUAL_MODE | (SPI_STICK1     << 7),
-  MANUAL_MODE | ( SPI_STICK2     << 7 ),
+  MANUAL_MODE | (SPI_STICK2     << 7),
-  MANUAL_MODE | ( SPI_STICK3     << 7 ),
+  MANUAL_MODE | (SPI_STICK3     << 7),
-  MANUAL_MODE | ( SPI_STICK4     << 7 ),
+  MANUAL_MODE | (SPI_STICK4     << 7),
-  MANUAL_MODE | ( SPI_S1         << 7 ),
+  MANUAL_MODE | (SPI_S1         << 7),
-  MANUAL_MODE | ( SPI_6POS       << 7 ),
+  MANUAL_MODE | (SPI_6POS       << 7),
-  MANUAL_MODE | ( SPI_S2         << 7 ),
+  MANUAL_MODE | (SPI_S2         << 7),
-  MANUAL_MODE | ( SPI_L1         << 7 ),
+  MANUAL_MODE | (SPI_L1         << 7),
-  MANUAL_MODE | ( SPI_L2         << 7 ),
+  MANUAL_MODE | (SPI_L2         << 7),
-  MANUAL_MODE | ( SPI_LS         << 7 ),
+  MANUAL_MODE | (SPI_LS         << 7),
-  MANUAL_MODE | ( SPI_RS         << 7 ),
+  MANUAL_MODE | (SPI_RS         << 7),
-  MANUAL_MODE | ( SPI_TX_VOLTAGE << 7 ),
+  MANUAL_MODE | (SPI_TX_VOLTAGE << 7),
-  MANUAL_MODE | ( 0 << 7 ),    // small joystick left/right
+  MANUAL_MODE | (0 << 7 ),    // small joystick left/right
-  MANUAL_MODE | ( 0 << 7 )     // small joystick up/down
+  MANUAL_MODE | (0 << 7 )     // small joystick up/down
 };
 
-void adcRead()
+void adcReadSPIDummy()
 {
-  const uint16_t * command = adcCommands;
-
-  // Start on chip ADC read
-  DMA2_Stream1->CR &= ~DMA_SxCR_EN;		// Disable DMA
-  ADC3->SR &= ~(uint32_t) ( ADC_SR_EOC | ADC_SR_STRT | ADC_SR_OVR );
-  DMA2->LIFCR = DMA_LIFCR_CTCIF1 | DMA_LIFCR_CHTIF1 |DMA_LIFCR_CTEIF1 | DMA_LIFCR_CDMEIF1 | DMA_LIFCR_CFEIF1; // Write ones to clear bits
-  DMA2_Stream1->M0AR = CONVERT_PTR_UINT(&adcValues[MOUSE1]);
-  DMA2_Stream1->NDTR = 2;
-  DMA2_Stream1->CR |= DMA_SxCR_EN;		// Enable DMA
-  ADC3->CR2 |= (uint32_t)ADC_CR2_SWSTART;
-
   // A dummy command to get things started
   // (because the sampled data is lagging behind for two command cycles)
   ADC_CS_LOW();
   delay_01us(1);
-  SPIx_ReadWriteByte(*command);   // still sampling the old MUX channel
+  SPIx_ReadWriteByte(adcCommands[0]);
   ADC_CS_HIGH();
   delay_01us(1);
+}
 
-  DEBUG_TIMER_START(debugTimerAdcLoop);
+uint32_t adcReadNextSPIChannel(uint8_t index)
-  for (uint32_t adcIndex=0; adcIndex<MOUSE1; adcIndex++) {
+{
-    // MUX is changed to the channel that was sent in the previous command
+  uint32_t result = 0;
-    // but the data is from the old MUX position
-    ADC_CS_LOW();
-    delay_01us(1);
-    SPIx_ReadWriteByte(*command);   
-    ADC_CS_HIGH();
-    delay_01us(1);
 
   // This delay is to allow charging of ADC input capacitor
   // after the MUX changes from one channel to the other.
@@ -194,35 +163,82 @@ void adcRead()
   // the cross-talk between A4:S1 and A5:MULTIPOS. Changing S1 for one extreme
   // to the other resulted in A5 change of:
   //
-    //        delay value       A5 change
+  //        delay value       A5 change     Time needed for adcRead()
-    //          0               76 
+  //          1               16            0.154ms - 0.156ms
-    //        100               26
+  //        300               5             0.197ms - 0.199ms
-    //        300               13
+  //        500               0             0.225ms - 0.243ms
-    //        500               undetectable
+  delay_01us(300);
-    delay_01us(500);
-    ++command;    // move to the next channel
 
-    // First time the wanted ADC channel is actually sampled.
+  for (uint8_t i = 0; i < 4; i++) {
-    // This is delayed to allow MUX to settle (high input impedance)
-    // Also the MUX channel is set to the next channel here, 
-    // but the actual MUX change will happen in the next round
     ADC_CS_LOW();
     delay_01us(1);
-    adcValues[adcIndex] = (0x0fff & SPIx_ReadWriteByte(*command));
+    // command is changed to the next index for the last two readings 
+    // (because the sampled data is lagging behind for two command cycles)
+    uint16_t val = (0x0fff & SPIx_ReadWriteByte(adcCommands[(i>1) ? index+1 : index]));
+#if defined(JITTER_MEASURE)
+    if (JITTER_MEASURE_ACTIVE()) {
+      rawJitter[index].measure(val);
+    }
+#endif
     ADC_CS_HIGH();
     delay_01us(1);
+    result += val;
   }
-  DEBUG_TIMER_STOP(debugTimerAdcLoop);
 
-  DEBUG_TIMER_START(debugTimerAdcWait);
+  return result >> 2;
-  for (uint32_t i=0; i<20000; i++) {
+}
-    if (DMA2->LISR & DMA_LISR_TCIF1) {
-      break;
-    }
-  }
-  DEBUG_TIMER_STOP(debugTimerAdcWait);
 
-  // On chip ADC read should have finished
+void adcOnChipReadStart()
+{
+  DMA2_Stream1->CR &= ~DMA_SxCR_EN;		// Disable DMA
+  ADC3->SR &= ~(uint32_t) ( ADC_SR_EOC | ADC_SR_STRT | ADC_SR_OVR );
+  DMA2->LIFCR = DMA_LIFCR_CTCIF1 | DMA_LIFCR_CHTIF1 |DMA_LIFCR_CTEIF1 | DMA_LIFCR_CDMEIF1 | DMA_LIFCR_CFEIF1; // Write ones to clear bits
+  DMA2_Stream1->M0AR = CONVERT_PTR_UINT(&adcValues[MOUSE1]);
+  DMA2_Stream1->NDTR = 2;
+  DMA2_Stream1->CR |= DMA_SxCR_EN;		// Enable DMA
+  ADC3->CR2 |= (uint32_t)ADC_CR2_SWSTART;
+}
+
+bool adcOnChipReadFinished()
+{
+  return (DMA2->LISR & DMA_LISR_TCIF1);
+}
+
+void adcRead()
+{
+  uint16_t temp[NUMBER_ANALOG-MOUSE1] = { 0 };
+  uint8_t noInternalReads = 0;
+
+  adcOnChipReadStart();
+  adcReadSPIDummy();
+  adcReadSPIDummy();
+  for (uint32_t index=0; index<MOUSE1; index++) {
+    adcValues[index] = adcReadNextSPIChannel(index);
+    if (noInternalReads < 4 && adcOnChipReadFinished()) { 
+      for (uint8_t x=0; x<NUMBER_ANALOG-MOUSE1; x++) {
+        uint16_t val = adcValues[MOUSE1+x];
+#if defined(JITTER_MEASURE)
+        if (JITTER_MEASURE_ACTIVE()) {
+          rawJitter[MOUSE1+x].measure(val);
+        }
+#endif
+        temp[x] += val;
+      }
+      if (++noInternalReads < 4) {
+        adcOnChipReadStart();
+      }
+    }
+  }
+
+#if defined(DEBUG)
+  if (noInternalReads != 4) {
+    TRACE("Internal ADC problem: reads: %d", noInternalReads);
+  }
+#endif
+
+  for (uint8_t x=0; x<NUMBER_ANALOG-MOUSE1; x++) {
+    adcValues[MOUSE1+x] = temp[x] >> 2;
+  }
 }
 
 const int8_t ana_direction[NUMBER_ANALOG] = {1,-1,1,-1,  -1,1,-1,  -1,-1,  -1,1, 0,0,0};
@@ -230,7 +246,7 @@ const int8_t ana_direction[NUMBER_ANALOG] = {1,-1,1,-1,  -1,1,-1,  -1,-1,  -1,1,
 uint16_t getAnalogValue(uint8_t index)
 {
   if (ana_direction[index] < 0)
-    return 4096 - adcValues[index];
+    return 4095 - adcValues[index];
   else
     return adcValues[index];
 }

radio/src/targets/sky9x/adc_driver.cpp

@@ -18,7 +18,7 @@
  * GNU General Public License for more details.
  */
 
-#include "../opentx.h"
+#include "opentx.h"
 
 uint16_t adcValues[NUMBER_ANALOG];
 
@@ -63,12 +63,13 @@ void adcInit()
 
 // Read 8 (9 for REVB) ADC channels
 // Documented bug, must do them 1 by 1
-void adcRead()
+void adcSingleRead()
 {
   register Adc *padc;
   register uint32_t y;
   register uint32_t x;
 
+  for (uint8_t i=0; i<4; i++)
   padc = ADC;
   y = padc->ADC_ISR; // Clear EOC flags
   for (y = NUMBER_ANALOG+1; --y > 0;) {
@@ -112,6 +113,29 @@ void adcRead()
 #endif
 }
 
+void adcRead()
+{
+  uint16_t temp[NUMBER_ANALOG] = { 0 };
+
+  for (int i=0; i<4; i++) {
+    adcSingleRead();
+    for (uint8_t x=0; x<NUMBER_ANALOG; x++) {
+      uint16_t val = adcValues[x];
+#if defined(JITTER_MEASURE)
+      if (JITTER_MEASURE_ACTIVE()) {
+        rawJitter[x].measure(val);
+      }
+#endif
+      temp[x] += val;
+    }
+  }
+
+  for (uint8_t x=0; x<NUMBER_ANALOG; x++) {
+    adcValues[x] = temp[x] >> 2;
+  }
+}
+
+
 uint16_t getAnalogValue(uint8_t value)
 {
   return adcValues[value];

radio/src/targets/taranis/adc_driver.cpp

@@ -18,7 +18,7 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
 #define PIN_ANALOG  0x0003
 #define PIN_PORTA   0x0000
@@ -111,13 +111,14 @@ void adcInit()
 #endif
 }
 
-void adcRead()
+void adcSingleRead()
 {
-  DMA2_Stream0->CR &= ~DMA_SxCR_EN ;              // Disable DMA
+  DMA2_Stream0->CR &= ~DMA_SxCR_EN;              // Disable DMA
-  ADC1->SR &= ~(uint32_t) ( ADC_SR_EOC | ADC_SR_STRT | ADC_SR_OVR ) ;
+  ADC1->SR &= ~(uint32_t)(ADC_SR_EOC | ADC_SR_STRT | ADC_SR_OVR);
-  DMA2->LIFCR = DMA_LIFCR_CTCIF0 | DMA_LIFCR_CHTIF0 |DMA_LIFCR_CTEIF0 | DMA_LIFCR_CDMEIF0 | DMA_LIFCR_CFEIF0 ; // Write ones to clear bits
+  DMA2->LIFCR = DMA_LIFCR_CTCIF0 | DMA_LIFCR_CHTIF0 | DMA_LIFCR_CTEIF0 | DMA_LIFCR_CDMEIF0 |
-  DMA2_Stream0->CR |= DMA_SxCR_EN ;               // Enable DMA
+                DMA_LIFCR_CFEIF0; // Write ones to clear bits
-  ADC1->CR2 |= (uint32_t)ADC_CR2_SWSTART ;
+  DMA2_Stream0->CR |= DMA_SxCR_EN;               // Enable DMA
+  ADC1->CR2 |= (uint32_t) ADC_CR2_SWSTART;
 
 #if defined(REV9E)
   DMA2_Stream1->CR &= ~DMA_SxCR_EN ;    // Disable DMA
@@ -125,7 +126,7 @@ void adcRead()
   DMA2->LIFCR = DMA_LIFCR_CTCIF1 | DMA_LIFCR_CHTIF1 |DMA_LIFCR_CTEIF1 | DMA_LIFCR_CDMEIF1 | DMA_LIFCR_CFEIF1 ; // Write ones to clear bits
   DMA2_Stream1->CR |= DMA_SxCR_EN ;   // Enable DMA
   ADC3->CR2 |= (uint32_t)ADC_CR2_SWSTART ;
-#endif  // #if defined(REV9E)
+#endif // defined(REV9E)
 
 #if defined(REV9E)
   for (unsigned int i=0; i<10000; i++) {
@@ -136,15 +137,37 @@ void adcRead()
   DMA2_Stream0->CR &= ~DMA_SxCR_EN ;              // Disable DMA
   DMA2_Stream1->CR &= ~DMA_SxCR_EN ;              // Disable DMA
 #else
-  for (unsigned int i=0; i<10000; i++) {
+  for (unsigned int i = 0; i < 10000; i++) {
     if (DMA2->LISR & DMA_LISR_TCIF0) {
       break;
     }
   }
-  DMA2_Stream0->CR &= ~DMA_SxCR_EN ;              // Disable DMA
+  DMA2_Stream0->CR &= ~DMA_SxCR_EN;              // Disable DMA
 #endif
 }
 
+void adcRead()
+{
+  uint16_t temp[NUMBER_ANALOG] = { 0 };
+
+  for (int i=0; i<4; i++) {
+    adcSingleRead();
+    for (uint8_t x=0; x<NUMBER_ANALOG; x++) {
+      uint16_t val = adcValues[x];
+#if defined(JITTER_MEASURE)
+      if (JITTER_MEASURE_ACTIVE()) {
+        rawJitter[x].measure(val);
+      }
+#endif
+      temp[x] += val;
+    }
+  }
+
+  for (uint8_t x=0; x<NUMBER_ANALOG; x++) {
+    adcValues[x] = temp[x] >> 2;
+  }
+}
+
 // TODO
 void adcStop()
 {
@@ -162,7 +185,7 @@ uint16_t getAnalogValue(uint8_t index)
   index = ana_mapping[index];
 #endif
   if (ana_direction[index] < 0)
-    return 4096 - adcValues[index];
+    return 4095 - adcValues[index];
   else
     return adcValues[index];
 }