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-rw-r--r--platforms/chibios/drivers/analog.c321
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diff --git a/platforms/chibios/drivers/analog.c b/platforms/chibios/drivers/analog.c
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1/* Copyright 2019 Drew Mills
2 *
3 * This program is free software: you can redistribute it and/or modify
4 * it under the terms of the GNU General Public License as published by
5 * the Free Software Foundation, either version 2 of the License, or
6 * (at your option) any later version.
7 *
8 * This program is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 * GNU General Public License for more details.
12 *
13 * You should have received a copy of the GNU General Public License
14 * along with this program. If not, see <http://www.gnu.org/licenses/>.
15 */
16
17#include "quantum.h"
18#include "analog.h"
19#include <ch.h>
20#include <hal.h>
21
22#if !HAL_USE_ADC
23# error "You need to set HAL_USE_ADC to TRUE in your halconf.h to use the ADC."
24#endif
25
26#if !STM32_ADC_USE_ADC1 && !STM32_ADC_USE_ADC2 && !STM32_ADC_USE_ADC3 && !STM32_ADC_USE_ADC4
27# error "You need to set one of the 'STM32_ADC_USE_ADCx' settings to TRUE in your mcuconf.h to use the ADC."
28#endif
29
30#if STM32_ADC_DUAL_MODE
31# error "STM32 ADC Dual Mode is not supported at this time."
32#endif
33
34#if STM32_ADCV3_OVERSAMPLING
35# error "STM32 ADCV3 Oversampling is not supported at this time."
36#endif
37
38// Otherwise assume V3
39#if defined(STM32F0XX) || defined(STM32L0XX)
40# define USE_ADCV1
41#elif defined(STM32F1XX) || defined(STM32F2XX) || defined(STM32F4XX)
42# define USE_ADCV2
43#endif
44
45// BODGE to make v2 look like v1,3 and 4
46#ifdef USE_ADCV2
47# if !defined(ADC_SMPR_SMP_1P5) && defined(ADC_SAMPLE_3)
48# define ADC_SMPR_SMP_1P5 ADC_SAMPLE_3
49# define ADC_SMPR_SMP_7P5 ADC_SAMPLE_15
50# define ADC_SMPR_SMP_13P5 ADC_SAMPLE_28
51# define ADC_SMPR_SMP_28P5 ADC_SAMPLE_56
52# define ADC_SMPR_SMP_41P5 ADC_SAMPLE_84
53# define ADC_SMPR_SMP_55P5 ADC_SAMPLE_112
54# define ADC_SMPR_SMP_71P5 ADC_SAMPLE_144
55# define ADC_SMPR_SMP_239P5 ADC_SAMPLE_480
56# endif
57
58# if !defined(ADC_SMPR_SMP_1P5) && defined(ADC_SAMPLE_1P5)
59# define ADC_SMPR_SMP_1P5 ADC_SAMPLE_1P5
60# define ADC_SMPR_SMP_7P5 ADC_SAMPLE_7P5
61# define ADC_SMPR_SMP_13P5 ADC_SAMPLE_13P5
62# define ADC_SMPR_SMP_28P5 ADC_SAMPLE_28P5
63# define ADC_SMPR_SMP_41P5 ADC_SAMPLE_41P5
64# define ADC_SMPR_SMP_55P5 ADC_SAMPLE_55P5
65# define ADC_SMPR_SMP_71P5 ADC_SAMPLE_71P5
66# define ADC_SMPR_SMP_239P5 ADC_SAMPLE_239P5
67# endif
68
69// we still sample at 12bit, but scale down to the requested bit range
70# define ADC_CFGR1_RES_12BIT 12
71# define ADC_CFGR1_RES_10BIT 10
72# define ADC_CFGR1_RES_8BIT 8
73# define ADC_CFGR1_RES_6BIT 6
74#endif
75
76/* User configurable ADC options */
77#ifndef ADC_COUNT
78# if defined(STM32F0XX) || defined(STM32F1XX) || defined(STM32F4XX)
79# define ADC_COUNT 1
80# elif defined(STM32F3XX)
81# define ADC_COUNT 4
82# else
83# error "ADC_COUNT has not been set for this ARM microcontroller."
84# endif
85#endif
86
87#ifndef ADC_NUM_CHANNELS
88# define ADC_NUM_CHANNELS 1
89#elif ADC_NUM_CHANNELS != 1
90# error "The ARM ADC implementation currently only supports reading one channel at a time."
91#endif
92
93#ifndef ADC_BUFFER_DEPTH
94# define ADC_BUFFER_DEPTH 1
95#endif
96
97// For more sampling rate options, look at hal_adc_lld.h in ChibiOS
98#ifndef ADC_SAMPLING_RATE
99# define ADC_SAMPLING_RATE ADC_SMPR_SMP_1P5
100#endif
101
102// Options are 12, 10, 8, and 6 bit.
103#ifndef ADC_RESOLUTION
104# ifdef ADC_CFGR_RES_10BITS // ADCv3, ADCv4
105# define ADC_RESOLUTION ADC_CFGR_RES_10BITS
106# else // ADCv1, ADCv5, or the bodge for ADCv2 above
107# define ADC_RESOLUTION ADC_CFGR1_RES_10BIT
108# endif
109#endif
110
111static ADCConfig adcCfg = {};
112static adcsample_t sampleBuffer[ADC_NUM_CHANNELS * ADC_BUFFER_DEPTH];
113
114// Initialize to max number of ADCs, set to empty object to initialize all to false.
115static bool adcInitialized[ADC_COUNT] = {};
116
117// TODO: add back TR handling???
118static ADCConversionGroup adcConversionGroup = {
119 .circular = FALSE,
120 .num_channels = (uint16_t)(ADC_NUM_CHANNELS),
121#if defined(USE_ADCV1)
122 .cfgr1 = ADC_CFGR1_CONT | ADC_RESOLUTION,
123 .smpr = ADC_SAMPLING_RATE,
124#elif defined(USE_ADCV2)
125# if !defined(STM32F1XX)
126 .cr2 = ADC_CR2_SWSTART, // F103 seem very unhappy with, F401 seems very unhappy without...
127# endif
128 .smpr2 = ADC_SMPR2_SMP_AN0(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN1(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN2(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN3(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN4(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN5(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN6(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN7(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN8(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN9(ADC_SAMPLING_RATE),
129 .smpr1 = ADC_SMPR1_SMP_AN10(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN11(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN12(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN13(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN14(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN15(ADC_SAMPLING_RATE),
130#else
131 .cfgr = ADC_CFGR_CONT | ADC_RESOLUTION,
132 .smpr = {ADC_SMPR1_SMP_AN0(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN1(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN2(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN3(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN4(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN5(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN6(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN7(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN8(ADC_SAMPLING_RATE) | ADC_SMPR1_SMP_AN9(ADC_SAMPLING_RATE), ADC_SMPR2_SMP_AN10(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN11(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN12(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN13(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN14(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN15(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN16(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN17(ADC_SAMPLING_RATE) | ADC_SMPR2_SMP_AN18(ADC_SAMPLING_RATE)},
133#endif
134};
135
136// clang-format off
137__attribute__((weak)) adc_mux pinToMux(pin_t pin) {
138 switch (pin) {
139#if defined(STM32F0XX)
140 case A0: return TO_MUX( ADC_CHSELR_CHSEL0, 0 );
141 case A1: return TO_MUX( ADC_CHSELR_CHSEL1, 0 );
142 case A2: return TO_MUX( ADC_CHSELR_CHSEL2, 0 );
143 case A3: return TO_MUX( ADC_CHSELR_CHSEL3, 0 );
144 case A4: return TO_MUX( ADC_CHSELR_CHSEL4, 0 );
145 case A5: return TO_MUX( ADC_CHSELR_CHSEL5, 0 );
146 case A6: return TO_MUX( ADC_CHSELR_CHSEL6, 0 );
147 case A7: return TO_MUX( ADC_CHSELR_CHSEL7, 0 );
148 case B0: return TO_MUX( ADC_CHSELR_CHSEL8, 0 );
149 case B1: return TO_MUX( ADC_CHSELR_CHSEL9, 0 );
150 case C0: return TO_MUX( ADC_CHSELR_CHSEL10, 0 );
151 case C1: return TO_MUX( ADC_CHSELR_CHSEL11, 0 );
152 case C2: return TO_MUX( ADC_CHSELR_CHSEL12, 0 );
153 case C3: return TO_MUX( ADC_CHSELR_CHSEL13, 0 );
154 case C4: return TO_MUX( ADC_CHSELR_CHSEL14, 0 );
155 case C5: return TO_MUX( ADC_CHSELR_CHSEL15, 0 );
156#elif defined(STM32F3XX)
157 case A0: return TO_MUX( ADC_CHANNEL_IN1, 0 );
158 case A1: return TO_MUX( ADC_CHANNEL_IN2, 0 );
159 case A2: return TO_MUX( ADC_CHANNEL_IN3, 0 );
160 case A3: return TO_MUX( ADC_CHANNEL_IN4, 0 );
161 case A4: return TO_MUX( ADC_CHANNEL_IN1, 1 );
162 case A5: return TO_MUX( ADC_CHANNEL_IN2, 1 );
163 case A6: return TO_MUX( ADC_CHANNEL_IN3, 1 );
164 case A7: return TO_MUX( ADC_CHANNEL_IN4, 1 );
165 case B0: return TO_MUX( ADC_CHANNEL_IN12, 2 );
166 case B1: return TO_MUX( ADC_CHANNEL_IN1, 2 );
167 case B2: return TO_MUX( ADC_CHANNEL_IN12, 1 );
168 case B12: return TO_MUX( ADC_CHANNEL_IN3, 3 );
169 case B13: return TO_MUX( ADC_CHANNEL_IN5, 2 );
170 case B14: return TO_MUX( ADC_CHANNEL_IN4, 3 );
171 case B15: return TO_MUX( ADC_CHANNEL_IN5, 3 );
172 case C0: return TO_MUX( ADC_CHANNEL_IN6, 0 ); // Can also be ADC2
173 case C1: return TO_MUX( ADC_CHANNEL_IN7, 0 ); // Can also be ADC2
174 case C2: return TO_MUX( ADC_CHANNEL_IN8, 0 ); // Can also be ADC2
175 case C3: return TO_MUX( ADC_CHANNEL_IN9, 0 ); // Can also be ADC2
176 case C4: return TO_MUX( ADC_CHANNEL_IN5, 1 );
177 case C5: return TO_MUX( ADC_CHANNEL_IN11, 1 );
178 case D8: return TO_MUX( ADC_CHANNEL_IN12, 3 );
179 case D9: return TO_MUX( ADC_CHANNEL_IN13, 3 );
180 case D10: return TO_MUX( ADC_CHANNEL_IN7, 2 ); // Can also be ADC4
181 case D11: return TO_MUX( ADC_CHANNEL_IN8, 2 ); // Can also be ADC4
182 case D12: return TO_MUX( ADC_CHANNEL_IN9, 2 ); // Can also be ADC4
183 case D13: return TO_MUX( ADC_CHANNEL_IN10, 2 ); // Can also be ADC4
184 case D14: return TO_MUX( ADC_CHANNEL_IN11, 2 ); // Can also be ADC4
185 case E7: return TO_MUX( ADC_CHANNEL_IN13, 2 );
186 case E8: return TO_MUX( ADC_CHANNEL_IN6, 2 ); // Can also be ADC4
187 case E9: return TO_MUX( ADC_CHANNEL_IN2, 2 );
188 case E10: return TO_MUX( ADC_CHANNEL_IN14, 2 );
189 case E11: return TO_MUX( ADC_CHANNEL_IN15, 2 );
190 case E12: return TO_MUX( ADC_CHANNEL_IN16, 2 );
191 case E13: return TO_MUX( ADC_CHANNEL_IN3, 2 );
192 case E14: return TO_MUX( ADC_CHANNEL_IN1, 3 );
193 case E15: return TO_MUX( ADC_CHANNEL_IN2, 3 );
194 case F2: return TO_MUX( ADC_CHANNEL_IN10, 0 ); // Can also be ADC2
195 case F4: return TO_MUX( ADC_CHANNEL_IN5, 0 );
196#elif defined(STM32F4XX)
197 case A0: return TO_MUX( ADC_CHANNEL_IN0, 0 );
198 case A1: return TO_MUX( ADC_CHANNEL_IN1, 0 );
199 case A2: return TO_MUX( ADC_CHANNEL_IN2, 0 );
200 case A3: return TO_MUX( ADC_CHANNEL_IN3, 0 );
201 case A4: return TO_MUX( ADC_CHANNEL_IN4, 0 );
202 case A5: return TO_MUX( ADC_CHANNEL_IN5, 0 );
203 case A6: return TO_MUX( ADC_CHANNEL_IN6, 0 );
204 case A7: return TO_MUX( ADC_CHANNEL_IN7, 0 );
205 case B0: return TO_MUX( ADC_CHANNEL_IN8, 0 );
206 case B1: return TO_MUX( ADC_CHANNEL_IN9, 0 );
207 case C0: return TO_MUX( ADC_CHANNEL_IN10, 0 );
208 case C1: return TO_MUX( ADC_CHANNEL_IN11, 0 );
209 case C2: return TO_MUX( ADC_CHANNEL_IN12, 0 );
210 case C3: return TO_MUX( ADC_CHANNEL_IN13, 0 );
211 case C4: return TO_MUX( ADC_CHANNEL_IN14, 0 );
212 case C5: return TO_MUX( ADC_CHANNEL_IN15, 0 );
213# if STM32_ADC_USE_ADC3
214 case F3: return TO_MUX( ADC_CHANNEL_IN9, 2 );
215 case F4: return TO_MUX( ADC_CHANNEL_IN14, 2 );
216 case F5: return TO_MUX( ADC_CHANNEL_IN15, 2 );
217 case F6: return TO_MUX( ADC_CHANNEL_IN4, 2 );
218 case F7: return TO_MUX( ADC_CHANNEL_IN5, 2 );
219 case F8: return TO_MUX( ADC_CHANNEL_IN6, 2 );
220 case F9: return TO_MUX( ADC_CHANNEL_IN7, 2 );
221 case F10: return TO_MUX( ADC_CHANNEL_IN8, 2 );
222# endif
223#elif defined(STM32F1XX)
224 case A0: return TO_MUX( ADC_CHANNEL_IN0, 0 );
225 case A1: return TO_MUX( ADC_CHANNEL_IN1, 0 );
226 case A2: return TO_MUX( ADC_CHANNEL_IN2, 0 );
227 case A3: return TO_MUX( ADC_CHANNEL_IN3, 0 );
228 case A4: return TO_MUX( ADC_CHANNEL_IN4, 0 );
229 case A5: return TO_MUX( ADC_CHANNEL_IN5, 0 );
230 case A6: return TO_MUX( ADC_CHANNEL_IN6, 0 );
231 case A7: return TO_MUX( ADC_CHANNEL_IN7, 0 );
232 case B0: return TO_MUX( ADC_CHANNEL_IN8, 0 );
233 case B1: return TO_MUX( ADC_CHANNEL_IN9, 0 );
234 case C0: return TO_MUX( ADC_CHANNEL_IN10, 0 );
235 case C1: return TO_MUX( ADC_CHANNEL_IN11, 0 );
236 case C2: return TO_MUX( ADC_CHANNEL_IN12, 0 );
237 case C3: return TO_MUX( ADC_CHANNEL_IN13, 0 );
238 case C4: return TO_MUX( ADC_CHANNEL_IN14, 0 );
239 case C5: return TO_MUX( ADC_CHANNEL_IN15, 0 );
240 // STM32F103x[C-G] in 144-pin packages also have analog inputs on F6...F10, but they are on ADC3, and the
241 // ChibiOS ADC driver for STM32F1xx currently supports only ADC1, therefore these pins are not usable.
242#endif
243 }
244
245 // return an adc that would never be used so intToADCDriver will bail out
246 return TO_MUX(0, 0xFF);
247}
248// clang-format on
249
250static inline ADCDriver* intToADCDriver(uint8_t adcInt) {
251 switch (adcInt) {
252#if STM32_ADC_USE_ADC1
253 case 0:
254 return &ADCD1;
255#endif
256#if STM32_ADC_USE_ADC2
257 case 1:
258 return &ADCD2;
259#endif
260#if STM32_ADC_USE_ADC3
261 case 2:
262 return &ADCD3;
263#endif
264#if STM32_ADC_USE_ADC4
265 case 3:
266 return &ADCD4;
267#endif
268 }
269
270 return NULL;
271}
272
273static inline void manageAdcInitializationDriver(uint8_t adc, ADCDriver* adcDriver) {
274 if (!adcInitialized[adc]) {
275 adcStart(adcDriver, &adcCfg);
276 adcInitialized[adc] = true;
277 }
278}
279
280int16_t analogReadPin(pin_t pin) {
281 palSetLineMode(pin, PAL_MODE_INPUT_ANALOG);
282
283 return adc_read(pinToMux(pin));
284}
285
286int16_t analogReadPinAdc(pin_t pin, uint8_t adc) {
287 palSetLineMode(pin, PAL_MODE_INPUT_ANALOG);
288
289 adc_mux target = pinToMux(pin);
290 target.adc = adc;
291 return adc_read(target);
292}
293
294int16_t adc_read(adc_mux mux) {
295#if defined(USE_ADCV1)
296 // TODO: fix previous assumption of only 1 input...
297 adcConversionGroup.chselr = 1 << mux.input; /*no macro to convert N to ADC_CHSELR_CHSEL1*/
298#elif defined(USE_ADCV2)
299 adcConversionGroup.sqr3 = ADC_SQR3_SQ1_N(mux.input);
300#else
301 adcConversionGroup.sqr[0] = ADC_SQR1_SQ1_N(mux.input);
302#endif
303
304 ADCDriver* targetDriver = intToADCDriver(mux.adc);
305 if (!targetDriver) {
306 return 0;
307 }
308
309 manageAdcInitializationDriver(mux.adc, targetDriver);
310 if (adcConvert(targetDriver, &adcConversionGroup, &sampleBuffer[0], ADC_BUFFER_DEPTH) != MSG_OK) {
311 return 0;
312 }
313
314#ifdef USE_ADCV2
315 // fake 12-bit -> N-bit scale
316 return (*sampleBuffer) >> (12 - ADC_RESOLUTION);
317#else
318 // already handled as part of adcConvert
319 return *sampleBuffer;
320#endif
321}
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