src/main/drivers/adc_stm32f7xx.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_ADC
  28
  29 #include "drivers/dma.h"
  30 #include "drivers/dma_reqmap.h"
  31 #include "drivers/io.h"
  32 #include "drivers/io_impl.h"
  33 #include "drivers/rcc.h"
  34 #include "drivers/sensor.h"
  35
  36 #include "drivers/adc.h"
  37 #include "drivers/adc_impl.h"
  38
  39 #include "pg/adc.h"
  40
  41 const adcDevice_t adcHardware[] = {
  42     {
  43         .ADCx = ADC1,
  44         .rccADC = RCC_APB2(ADC1),
  45 #if !defined(USE_DMA_SPEC)
  46         .dmaResource = (dmaResource_t *)ADC1_DMA_STREAM,
  47         .channel = DMA_CHANNEL_0
  48 #endif
  49     },
  50     {
  51         .ADCx = ADC2,
  52         .rccADC = RCC_APB2(ADC2),
  53 #if !defined(USE_DMA_SPEC)
  54         .dmaResource = (dmaResource_t *)ADC2_DMA_STREAM,
  55         .channel = DMA_CHANNEL_1
  56 #endif
  57     },
  58     {
  59         .ADCx = ADC3,
  60         .rccADC = RCC_APB2(ADC3),
  61 #if !defined(USE_DMA_SPEC)
  62         .dmaResource = (dmaResource_t *)ADC3_DMA_STREAM,
  63         .channel = DMA_CHANNEL_2
  64 #endif
  65     }
  66 };
  67
  68 /* note these could be packed up for saving space */
  69 const adcTagMap_t adcTagMap[] = {
  70 /*
  71     { DEFIO_TAG_E__PF3, ADC_DEVICES_3,   ADC_CHANNEL_9  },
  72     { DEFIO_TAG_E__PF4, ADC_DEVICES_3,   ADC_CHANNEL_14 },
  73     { DEFIO_TAG_E__PF5, ADC_DEVICES_3,   ADC_CHANNEL_15 },
  74     { DEFIO_TAG_E__PF6, ADC_DEVICES_3,   ADC_CHANNEL_4  },
  75     { DEFIO_TAG_E__PF7, ADC_DEVICES_3,   ADC_CHANNEL_5  },
  76     { DEFIO_TAG_E__PF8, ADC_DEVICES_3,   ADC_CHANNEL_6  },
  77     { DEFIO_TAG_E__PF9, ADC_DEVICES_3,   ADC_CHANNEL_7  },
  78     { DEFIO_TAG_E__PF10,ADC_DEVICES_3,   ADC_CHANNEL_8  },
  79 */
  80     { DEFIO_TAG_E__PC0, ADC_DEVICES_123, ADC_CHANNEL_10 },
  81     { DEFIO_TAG_E__PC1, ADC_DEVICES_123, ADC_CHANNEL_11 },
  82     { DEFIO_TAG_E__PC2, ADC_DEVICES_123, ADC_CHANNEL_12 },
  83     { DEFIO_TAG_E__PC3, ADC_DEVICES_123, ADC_CHANNEL_13 },
  84     { DEFIO_TAG_E__PC4, ADC_DEVICES_12,  ADC_CHANNEL_14 },
  85     { DEFIO_TAG_E__PC5, ADC_DEVICES_12,  ADC_CHANNEL_15 },
  86     { DEFIO_TAG_E__PB0, ADC_DEVICES_12,  ADC_CHANNEL_8  },
  87     { DEFIO_TAG_E__PB1, ADC_DEVICES_12,  ADC_CHANNEL_9  },
  88     { DEFIO_TAG_E__PA0, ADC_DEVICES_123, ADC_CHANNEL_0  },
  89     { DEFIO_TAG_E__PA1, ADC_DEVICES_123, ADC_CHANNEL_1  },
  90     { DEFIO_TAG_E__PA2, ADC_DEVICES_123, ADC_CHANNEL_2  },
  91     { DEFIO_TAG_E__PA3, ADC_DEVICES_123, ADC_CHANNEL_3  },
  92     { DEFIO_TAG_E__PA4, ADC_DEVICES_12,  ADC_CHANNEL_4  },
  93     { DEFIO_TAG_E__PA5, ADC_DEVICES_12,  ADC_CHANNEL_5  },
  94     { DEFIO_TAG_E__PA6, ADC_DEVICES_12,  ADC_CHANNEL_6  },
  95     { DEFIO_TAG_E__PA7, ADC_DEVICES_12,  ADC_CHANNEL_7  },
  96 };
  97
  98 void adcInitDevice(adcDevice_t *adcdev, int channelCount)
  99 {
 100     adcdev->ADCHandle.Init.ClockPrescaler        = ADC_CLOCK_SYNC_PCLK_DIV8;
 101     adcdev->ADCHandle.Init.ContinuousConvMode    = ENABLE;
 102     adcdev->ADCHandle.Init.Resolution            = ADC_RESOLUTION_12B;
 103     adcdev->ADCHandle.Init.ExternalTrigConv      = ADC_EXTERNALTRIGCONV_T1_CC1;
 104     adcdev->ADCHandle.Init.ExternalTrigConvEdge  = ADC_EXTERNALTRIGCONVEDGE_NONE;
 105     adcdev->ADCHandle.Init.DataAlign             = ADC_DATAALIGN_RIGHT;
 106     adcdev->ADCHandle.Init.NbrOfConversion       = channelCount;
 107 #ifdef USE_ADC_INTERNAL
 108     // Multiple injected channel seems to require scan conversion mode to be
 109     // enabled even if main (non-injected) channel count is 1.
 110     adcdev->ADCHandle.Init.ScanConvMode          = ENABLE;
 111 #else
 112     adcdev->ADCHandle.Init.ScanConvMode          = channelCount > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
 113 #endif
 114     adcdev->ADCHandle.Init.DiscontinuousConvMode = DISABLE;
 115     adcdev->ADCHandle.Init.NbrOfDiscConversion   = 0;
 116     adcdev->ADCHandle.Init.DMAContinuousRequests = ENABLE;
 117     adcdev->ADCHandle.Init.EOCSelection          = DISABLE;
 118     adcdev->ADCHandle.Instance = adcdev->ADCx;
 119
 120     if (HAL_ADC_Init(&adcdev->ADCHandle) != HAL_OK)
 121     {
 122       /* Initialization Error */
 123     }
 124 }
 125
 126 static adcDevice_t adc;
 127
 128 #ifdef USE_ADC_INTERNAL
 129
 130 static adcDevice_t adcInternal;
 131 static ADC_HandleTypeDef *adcInternalHandle;
 132
 133 void adcInitInternalInjected(adcDevice_t *adcdev)
 134 {
 135     adcInternalHandle = &adcdev->ADCHandle;
 136
 137     ADC_InjectionConfTypeDef iConfig;
 138
 139     iConfig.InjectedChannel      = ADC_CHANNEL_VREFINT;
 140     iConfig.InjectedRank         = 1;
 141     iConfig.InjectedSamplingTime = ADC_SAMPLETIME_480CYCLES;
 142     iConfig.InjectedOffset       = 0;
 143     iConfig.InjectedNbrOfConversion = 2;
 144     iConfig.InjectedDiscontinuousConvMode = DISABLE;
 145     iConfig.AutoInjectedConv     = DISABLE;
 146     iConfig.ExternalTrigInjecConv = 0;     // Don't care
 147     iConfig.ExternalTrigInjecConvEdge = 0; // Don't care
 148
 149     if (HAL_ADCEx_InjectedConfigChannel(adcInternalHandle, &iConfig) != HAL_OK) {
 150         /* Channel Configuration Error */
 151     }
 152
 153     iConfig.InjectedChannel      = ADC_CHANNEL_TEMPSENSOR;
 154     iConfig.InjectedRank         = 2;
 155
 156     if (HAL_ADCEx_InjectedConfigChannel(adcInternalHandle, &iConfig) != HAL_OK) {
 157         /* Channel Configuration Error */
 158     }
 159
 160     adcVREFINTCAL = *(uint16_t *)VREFINT_CAL_ADDR;
 161     adcTSCAL1 = *TEMPSENSOR_CAL1_ADDR;
 162     adcTSCAL2 = *TEMPSENSOR_CAL2_ADDR;
 163     adcTSSlopeK = (TEMPSENSOR_CAL2_TEMP - TEMPSENSOR_CAL1_TEMP) * 1000 / (adcTSCAL2 - adcTSCAL1);
 164 }
 165
 166 // Note on sampling time for temperature sensor and vrefint:
 167 // Both sources have minimum sample time of 10us.
 168 // With prescaler = 8:
 169 // 168MHz : fAPB2 = 84MHz, fADC = 10.5MHz, tcycle = 0.090us, 10us = 105cycle < 144cycle
 170 // 240MHz : fAPB2 = 120MHz, fADC = 15.0MHz, tcycle = 0.067usk 10us = 150cycle < 480cycle
 171 //
 172 // 480cycles@15.0MHz = 32us
 173
 174 static bool adcInternalConversionInProgress = false;
 175
 176 bool adcInternalIsBusy(void)
 177 {
 178     if (adcInternalConversionInProgress) {
 179         if (HAL_ADCEx_InjectedPollForConversion(adcInternalHandle, 0) == HAL_OK) {
 180             adcInternalConversionInProgress = false;
 181         }
 182     }
 183
 184     return adcInternalConversionInProgress;
 185 }
 186
 187 void adcInternalStartConversion(void)
 188 {
 189     HAL_ADCEx_InjectedStart(adcInternalHandle);
 190
 191     adcInternalConversionInProgress = true;
 192 }
 193
 194 uint16_t adcInternalReadVrefint(void)
 195 {
 196     return HAL_ADCEx_InjectedGetValue(adcInternalHandle, ADC_INJECTED_RANK_1);
 197 }
 198
 199 uint16_t adcInternalReadTempsensor(void)
 200 {
 201     return HAL_ADCEx_InjectedGetValue(adcInternalHandle, ADC_INJECTED_RANK_2);
 202 }
 203 #endif
 204
 205 void adcInit(const adcConfig_t *config)
 206 {
 207     uint8_t i;
 208     uint8_t configuredAdcChannels = 0;
 209
 210     memset(&adcOperatingConfig, 0, sizeof(adcOperatingConfig));
 211
 212     if (config->vbat.enabled) {
 213         adcOperatingConfig[ADC_BATTERY].tag = config->vbat.ioTag;
 214     }
 215
 216     if (config->rssi.enabled) {
 217         adcOperatingConfig[ADC_RSSI].tag = config->rssi.ioTag;  //RSSI_ADC_CHANNEL;
 218     }
 219
 220     if (config->external1.enabled) {
 221         adcOperatingConfig[ADC_EXTERNAL1].tag = config->external1.ioTag; //EXTERNAL1_ADC_CHANNEL;
 222     }
 223
 224     if (config->current.enabled) {
 225         adcOperatingConfig[ADC_CURRENT].tag = config->current.ioTag;  //CURRENT_METER_ADC_CHANNEL;
 226     }
 227
 228     ADCDevice device = ADC_CFG_TO_DEV(config->device);
 229
 230     if (device == ADCINVALID) {
 231         return;
 232     }
 233
 234     adc = adcHardware[device];
 235
 236     bool adcActive = false;
 237     for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
 238         if (adcVerifyPin(adcOperatingConfig[i].tag, device)) {
 239             adcActive = true;
 240             IOInit(IOGetByTag(adcOperatingConfig[i].tag), OWNER_ADC_BATT + i, 0);
 241             IOConfigGPIO(IOGetByTag(adcOperatingConfig[i].tag), IO_CONFIG(GPIO_MODE_ANALOG, 0, GPIO_NOPULL));
 242             adcOperatingConfig[i].adcChannel = adcChannelByTag(adcOperatingConfig[i].tag);
 243             adcOperatingConfig[i].dmaIndex = configuredAdcChannels++;
 244             adcOperatingConfig[i].sampleTime = ADC_SAMPLETIME_480CYCLES;
 245             adcOperatingConfig[i].enabled = true;
 246         }
 247     }
 248
 249 #ifndef USE_ADC_INTERNAL
 250     if (!adcActive) {
 251         return;
 252     }
 253 #endif
 254
 255     RCC_ClockCmd(adc.rccADC, ENABLE);
 256
 257     adcInitDevice(&adc, configuredAdcChannels);
 258
 259 #ifdef USE_ADC_INTERNAL
 260     // If device is not ADC1 or there's no active channel, then initialize ADC1  here.
 261     if (device != ADCDEV_1 || !adcActive) {
 262         adcInternal = adcHardware[ADCDEV_1];
 263         RCC_ClockCmd(adcInternal.rccADC, ENABLE);
 264         adcInitDevice(&adcInternal, 0);
 265         adcInitInternalInjected(&adcInternal);
 266     } else {
 267         adcInitInternalInjected(&adc);
 268     }
 269 #endif
 270
 271     uint8_t rank = 1;
 272     for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
 273         if (adcOperatingConfig[i].enabled) {
 274             ADC_ChannelConfTypeDef sConfig;
 275
 276             sConfig.Channel      = adcOperatingConfig[i].adcChannel;
 277             sConfig.Rank         = rank++;
 278             sConfig.SamplingTime = adcOperatingConfig[i].sampleTime;
 279             sConfig.Offset       = 0;
 280
 281             if (HAL_ADC_ConfigChannel(&adc.ADCHandle, &sConfig) != HAL_OK)
 282             {
 283                 /* Channel Configuration Error */
 284             }
 285         }
 286     }
 287
 288 #ifdef USE_DMA_SPEC
 289     const dmaChannelSpec_t *dmaspec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, device, config->dmaopt[device]);
 290
 291     if (!dmaspec || !dmaAllocate(dmaGetIdentifier(dmaspec->ref), OWNER_ADC, 0)) {
 292         return;
 293     }
 294
 295     dmaEnable(dmaGetIdentifier(dmaspec->ref));
 296     adc.DmaHandle.Init.Channel = dmaspec->channel;
 297     adc.DmaHandle.Instance = (DMA_ARCH_TYPE *)dmaspec->ref;
 298 #else
 299     if (!dmaAllocate(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0)) {
 300         return;
 301     }
 302     dmaEnable(dmaGetIdentifier(adc.dmaResource));
 303     adc.DmaHandle.Init.Channel = adc.channel;
 304     adc.DmaHandle.Instance = (DMA_ARCH_TYPE *)adc.dmaResource;
 305 #endif
 306
 307     adc.DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
 308     adc.DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
 309     adc.DmaHandle.Init.MemInc = configuredAdcChannels > 1 ? DMA_MINC_ENABLE : DMA_MINC_DISABLE;
 310     adc.DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
 311     adc.DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
 312     adc.DmaHandle.Init.Mode = DMA_CIRCULAR;
 313     adc.DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
 314     adc.DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
 315     adc.DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
 316     adc.DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
 317     adc.DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
 318
 319
 320     if (HAL_DMA_Init(&adc.DmaHandle) != HAL_OK)
 321     {
 322         /* Initialization Error */
 323     }
 324
 325     __HAL_LINKDMA(&adc.ADCHandle, DMA_Handle, adc.DmaHandle);
 326
 327     //HAL_CLEANINVALIDATECACHE((uint32_t*)&adcValues, configuredAdcChannels);
 328
 329     if (HAL_ADC_Start_DMA(&adc.ADCHandle, (uint32_t*)&adcValues, configuredAdcChannels) != HAL_OK)
 330     {
 331         /* Start Conversion Error */
 332     }
 333 }
 334
 335 void adcGetChannelValues(void)
 336 {
 337     // Nothing to do
 338 }
 339 #endif