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

VREFINT and core temperature support, full task polling version
This commit is contained in:
Michael Keller 2018-01-10 16:12:05 +13:00 committed by GitHub
parent 68333cb27d a03b85025c
commit 4258651b3a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
16 changed files with 321 additions and 42 deletions
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1
make/source.mk
View File

@ -71,6 +71,7 @@ COMMON_SRC = \
pg/sdcard.c \
pg/vcd.c \
scheduler/scheduler.c \
sensors/adcinternal.c \
sensors/battery.c \
sensors/current.c \
sensors/voltage.c \

1
src/main/build/debug.c
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@ -55,4 +55,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"RANGEFINDER",
"RANGEFINDER_QUALITY",
"LIDAR_TF",
"CORE_TEMP",
};

1
src/main/build/debug.h
View File

@ -73,6 +73,7 @@ typedef enum {
DEBUG_RANGEFINDER,
DEBUG_RANGEFINDER_QUALITY,
DEBUG_LIDAR_TF,
DEBUG_CORE_TEMP,
DEBUG_COUNT
} debugType_e;

18
src/main/drivers/adc.c
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@ -19,11 +19,10 @@
#include <stdint.h>
#include "platform.h"
#include "common/utils.h"
#ifdef USE_ADC
#include "common/utils.h"
#include "build/build_config.h"
#include "build/debug.h"
@ -34,12 +33,18 @@
#include "adc.h"
//#define DEBUG_ADC_CHANNELS
adcOperatingConfig_t adcOperatingConfig[ADC_CHANNEL_COUNT];
volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
#ifdef USE_ADC_INTERNAL
uint16_t adcTSCAL1;
uint16_t adcTSCAL2;
uint16_t adcTSSlopeK;
uint16_t adcVREFINTCAL;
#endif
uint8_t adcChannelByTag(ioTag_t ioTag)
{
for (uint8_t i = 0; i < ARRAYLEN(adcTagMap); i++) {
@ -116,4 +121,11 @@ bool adcVerifyPin(ioTag_t tag, ADCDevice device)
return false;
}
#else
uint16_t adcGetChannel(uint8_t channel)
{
UNUSED(channel);
return 0;
}
#endif

13
src/main/drivers/adc.h
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@ -20,6 +20,7 @@
#include <stdbool.h>
#include "drivers/io_types.h"
#include "drivers/time.h"
#ifndef ADC_INSTANCE
#define ADC_INSTANCE ADC1
@ -75,6 +76,18 @@ struct adcConfig_s;
void adcInit(const struct adcConfig_s *config);
uint16_t adcGetChannel(uint8_t channel);
#ifdef USE_ADC_INTERNAL
extern uint16_t adcVREFINTCAL;
extern uint16_t adcTSCAL1;
extern uint16_t adcTSCAL2;
extern uint16_t adcTSSlopeK;
bool adcInternalIsBusy(void);
void adcInternalStartConversion(void);
uint16_t adcInternalReadVrefint(void);
uint16_t adcInternalReadTempsensor(void);
#endif
#ifndef SITL
ADCDevice adcDeviceByInstance(ADC_TypeDef *instance);
#endif

149
src/main/drivers/adc_stm32f4xx.c
View File

@ -23,6 +23,8 @@
#ifdef USE_ADC
#include "build/debug.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/system.h"
@ -96,11 +98,84 @@ const adcTagMap_t adcTagMap[] = {
#endif
};
void adcInit(const adcConfig_t *config)
#define VREFINT_CAL_ADDR 0x1FFF7A2A
#define TS_CAL1_ADDR 0x1FFF7A2C
#define TS_CAL2_ADDR 0x1FFF7A2E
void adcInitDevice(ADC_TypeDef *adcdev, int channelCount)
{
ADC_InitTypeDef ADC_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = channelCount;
ADC_InitStructure.ADC_ScanConvMode = channelCount > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
ADC_Init(adcdev, &ADC_InitStructure);
}
#ifdef USE_ADC_INTERNAL
void adcInitInternalInjected(void)
{
ADC_TempSensorVrefintCmd(ENABLE);
ADC_InjectedDiscModeCmd(ADC1, DISABLE);
ADC_InjectedSequencerLengthConfig(ADC1, 2);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_Vrefint, 1, ADC_SampleTime_480Cycles);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_TempSensor, 2, ADC_SampleTime_480Cycles);
adcVREFINTCAL = *(uint16_t *)VREFINT_CAL_ADDR;
adcTSCAL1 = *(uint16_t *)TS_CAL1_ADDR;
adcTSCAL2 = *(uint16_t *)TS_CAL2_ADDR;
adcTSSlopeK = (110 - 30) * 1000 / (adcTSCAL2 - adcTSCAL1);
}
// Note on sampling time for temperature sensor and vrefint:
// Both sources have minimum sample time of 10us.
// With prescaler = 8:
// 168MHz : fAPB2 = 84MHz, fADC = 10.5MHz, tcycle = 0.090us, 10us = 105cycle < 144cycle
// 240MHz : fAPB2 = 120MHz, fADC = 15.0MHz, tcycle = 0.067usk 10us = 150cycle < 480cycle
//
// 480cycles@15.0MHz = 32us
static bool adcInternalConversionInProgress = false;
bool adcInternalIsBusy(void)
{
if (adcInternalConversionInProgress) {
if (ADC_GetFlagStatus(ADC1, ADC_FLAG_JEOC) != RESET) {
adcInternalConversionInProgress = false;
}
}
return adcInternalConversionInProgress;
}
void adcInternalStartConversion(void)
{
ADC_ClearFlag(ADC1, ADC_FLAG_JEOC);
ADC_SoftwareStartInjectedConv(ADC1);
adcInternalConversionInProgress = true;
}
uint16_t adcInternalReadVrefint(void)
{
return ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
}
uint16_t adcInternalReadTempsensor(void)
{
return ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_2);
}
#endif
void adcInit(const adcConfig_t *config)
{
uint8_t i;
uint8_t configuredAdcChannels = 0;
@ -149,10 +224,47 @@ void adcInit(const adcConfig_t *config)
RCC_ClockCmd(adc.rccADC, ENABLE);
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_CommonStructInit(&ADC_CommonInitStructure);
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
adcInitDevice(adc.ADCx, configuredAdcChannels);
uint8_t rank = 1;
for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
if (!adcOperatingConfig[i].enabled) {
continue;
}
ADC_RegularChannelConfig(adc.ADCx, adcOperatingConfig[i].adcChannel, rank++, adcOperatingConfig[i].sampleTime);
}
ADC_DMARequestAfterLastTransferCmd(adc.ADCx, ENABLE);
ADC_DMACmd(adc.ADCx, ENABLE);
ADC_Cmd(adc.ADCx, ENABLE);
#ifdef USE_ADC_INTERNAL
// If device is not ADC1, then initialize ADC1 separately
if (device != ADCDEV_1) {
RCC_ClockCmd(adcHardware[ADCDEV_1].rccADC, ENABLE);
adcInitDevice(ADC1, 2);
ADC_Cmd(ADC1, ENABLE);
}
// Initialize for injected conversion
adcInitInternalInjected();
#endif
dmaInit(dmaGetIdentifier(adc.DMAy_Streamx), OWNER_ADC, 0);
DMA_DeInit(adc.DMAy_Streamx);
DMA_InitTypeDef DMA_InitStructure;
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&adc.ADCx->DR;
DMA_InitStructure.DMA_Channel = adc.channel;
@ -169,39 +281,6 @@ void adcInit(const adcConfig_t *config)
DMA_Cmd(adc.DMAy_Streamx, ENABLE);
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_CommonStructInit(&ADC_CommonInitStructure);
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = configuredAdcChannels;
ADC_InitStructure.ADC_ScanConvMode = configuredAdcChannels > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
ADC_Init(adc.ADCx, &ADC_InitStructure);
uint8_t rank = 1;
for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
if (!adcOperatingConfig[i].enabled) {
continue;
}
ADC_RegularChannelConfig(adc.ADCx, adcOperatingConfig[i].adcChannel, rank++, adcOperatingConfig[i].sampleTime);
}
ADC_DMARequestAfterLastTransferCmd(adc.ADCx, ENABLE);
ADC_DMACmd(adc.ADCx, ENABLE);
ADC_Cmd(adc.ADCx, ENABLE);
ADC_SoftwareStartConv(adc.ADCx);
}
#endif

13
src/main/fc/fc_tasks.c
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@ -71,6 +71,7 @@
#include "rx/rx.h"
#include "sensors/acceleration.h"
#include "sensors/adcinternal.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/compass.h"
@ -324,6 +325,9 @@ void fcTasksInit(void)
#ifdef USE_ESC_SENSOR
setTaskEnabled(TASK_ESC_SENSOR, feature(FEATURE_ESC_SENSOR));
#endif
#ifdef USE_ADC_INTERNAL
setTaskEnabled(TASK_ADC_INTERNAL, true);
#endif
#ifdef USE_CMS
#ifdef USE_MSP_DISPLAYPORT
setTaskEnabled(TASK_CMS, true);
@ -595,5 +599,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_IDLE
},
#endif
#ifdef USE_ADC_INTERNAL
[TASK_ADC_INTERNAL] = {
.taskName = "ADCINTERNAL",
.taskFunc = adcInternalProcess,
.desiredPeriod = TASK_PERIOD_HZ(1),
.staticPriority = TASK_PRIORITY_IDLE
},
#endif
#endif
};

7
src/main/interface/cli.c
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@ -130,6 +130,7 @@ extern uint8_t __config_end;
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/adcinternal.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
@ -3011,6 +3012,12 @@ static void cliStatus(char *cmdline)
cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
#ifdef USE_ADC_INTERNAL
uint16_t vrefintMv = getVrefMv();
uint16_t coretemp = getCoreTemperatureCelsius();
cliPrintf(", Vref=%d.%2dV, Core temp=%ddegC", vrefintMv / 1000, (vrefintMv % 1000) / 10, coretemp);
#endif
#if defined(USE_SENSOR_NAMES)
const uint32_t detectedSensorsMask = sensorsMask();
for (uint32_t i = 0; ; i++) {

4
src/main/scheduler/scheduler.h
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@ -118,6 +118,10 @@ typedef enum {
TASK_RCDEVICE,
#endif
#ifdef USE_ADC_INTERNAL
TASK_ADC_INTERNAL,
#endif
/* Count of real tasks */
TASK_COUNT,

114
src/main/sensors/adcinternal.c Normal file
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@ -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

25
src/main/sensors/adcinternal.h Normal file
View File

@ -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);

5
src/main/sensors/current.c
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@ -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;

5
src/main/sensors/initialisation.c
View File

@ -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;
}

3
src/main/sensors/voltage.c
View File

@ -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)

2
src/main/target/OMNIBUSF4/target.h
View File

@ -237,6 +237,8 @@
#define USE_ADC
#define ADC_INSTANCE ADC2
//#define ADC_INSTANCE ADC1
#define CURRENT_METER_ADC_PIN PC1 // Direct from CRNT pad (part of onboard sensor for Pro)
#define VBAT_ADC_PIN PC2 // 11:1 (10K + 1K) divider
#ifdef DYSF4PRO

2
src/main/target/common_fc_pre.h
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@ -50,6 +50,8 @@
#define USE_ESC_SENSOR
#define I2C3_OVERCLOCK true
#define USE_GYRO_DATA_ANALYSE
#define USE_ADC
#define USE_ADC_INTERNAL
#endif
#ifdef STM32F722xx