diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 38852e8975cdd4496e36f965293a27bcdfb38140..dc630721eef6582109b785e60a3cefa307d246cf 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -8,7 +8,7 @@
"defines": [
"DEBUG",
"_ARCH_CORTEXM4_STM32F4",
- "_BOARD_STM32F407VG_STM32F4DISCOVERY",
+ "_BOARD_STM32F4DISCOVERY",
"_MIOSIX_BOARDNAME=stm32f407vg_stm32f4discovery",
"HSE_VALUE=8000000",
"SYSCLK_FREQ_168MHz=168000000",
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 499e63fbe0bc2fbf8adf05ba283e4de56d1fb77a..caa4ff15bf38b4658d34a4bf0af6745b62d54e44 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,246 +1,264 @@
{
- "cmake.configureSettings": {
- "CMAKE_C_COMPILER_LAUNCHER": "ccache",
- "CMAKE_CXX_COMPILER_LAUNCHER": "ccache"
- },
- "cmake.parallelJobs": 1,
- "files.associations": {
- "sstream": "cpp",
- "format": "cpp",
- "any": "cpp",
- "array": "cpp",
- "atomic": "cpp",
- "bit": "cpp",
- "*.tcc": "cpp",
- "bitset": "cpp",
- "cctype": "cpp",
- "chrono": "cpp",
- "clocale": "cpp",
- "cmath": "cpp",
- "codecvt": "cpp",
- "complex": "cpp",
- "condition_variable": "cpp",
- "cstdarg": "cpp",
- "cstddef": "cpp",
- "cstdint": "cpp",
- "cstdio": "cpp",
- "cstdlib": "cpp",
- "cstring": "cpp",
- "ctime": "cpp",
- "cwchar": "cpp",
- "cwctype": "cpp",
- "deque": "cpp",
- "list": "cpp",
- "map": "cpp",
- "set": "cpp",
- "unordered_map": "cpp",
- "vector": "cpp",
- "exception": "cpp",
- "algorithm": "cpp",
- "functional": "cpp",
- "iterator": "cpp",
- "memory": "cpp",
- "memory_resource": "cpp",
- "numeric": "cpp",
- "optional": "cpp",
- "random": "cpp",
- "ratio": "cpp",
- "regex": "cpp",
- "string": "cpp",
- "string_view": "cpp",
- "system_error": "cpp",
- "tuple": "cpp",
- "type_traits": "cpp",
- "utility": "cpp",
- "fstream": "cpp",
- "future": "cpp",
- "initializer_list": "cpp",
- "iomanip": "cpp",
- "iosfwd": "cpp",
- "iostream": "cpp",
- "istream": "cpp",
- "limits": "cpp",
- "mutex": "cpp",
- "new": "cpp",
- "ostream": "cpp",
- "shared_mutex": "cpp",
- "stdexcept": "cpp",
- "streambuf": "cpp",
- "thread": "cpp",
- "cinttypes": "cpp",
- "typeindex": "cpp",
- "typeinfo": "cpp",
- "variant": "cpp",
- "__config": "cpp",
- "__threading_support": "cpp",
- "__mutex_base": "cpp",
- "__tree": "cpp",
- "locale": "cpp",
- "__bit_reference": "cpp",
- "__bits": "cpp",
- "__debug": "cpp",
- "__errc": "cpp",
- "__functional_base": "cpp",
- "__hash_table": "cpp",
- "__locale": "cpp",
- "__node_handle": "cpp",
- "__nullptr": "cpp",
- "__split_buffer": "cpp",
- "__string": "cpp",
- "__tuple": "cpp",
- "ios": "cpp",
- "queue": "cpp",
- "stack": "cpp",
- "__functional_03": "cpp",
- "filesystem": "cpp",
- "unordered_set": "cpp",
- "hash_map": "cpp",
- "valarray": "cpp",
- "ranges": "cpp",
- "compare": "cpp",
- "concepts": "cpp",
- "core": "cpp",
- "iterativelinearsolvers": "cpp",
- "pastixsupport": "cpp",
- "superlusupport": "cpp",
- "adolcforward": "cpp",
- "alignedvector3": "cpp",
- "bvh": "cpp",
- "fft": "cpp",
- "iterativesolvers": "cpp",
- "mprealsupport": "cpp",
- "matrixfunctions": "cpp",
- "nonlinearoptimization": "cpp",
- "openglsupport": "cpp",
- "polynomials": "cpp",
- "autodiff": "cpp",
- "sparseextra": "cpp",
- "specialfunctions": "cpp"
- },
- "cSpell.words": [
- "aelf",
- "airbrakes",
- "Airbrakes",
- "Alessandro",
- "AMSL",
- "atthr",
- "AVDD",
- "Baro",
- "boardcore",
- "Boardcorev",
- "boudrate",
- "Corigliano",
- "CORTEXM",
- "cpitch",
- "cppcheck",
- "croll",
- "cwise",
- "cyaw",
- "DATABUS",
- "deleteme",
- "DMEIE",
- "Doxyfile",
- "doxygen",
- "DRDY",
- "Duca",
- "Ecompass",
- "Eigen",
- "elfs",
- "Erbetta",
- "Fatt",
- "Fatttr",
- "fedetft's",
- "fiprintf",
- "Gatttr",
- "getdetahstate",
- "GNSS",
- "Gpio",
- "GPIOA",
- "GPIOB",
- "GPIOC",
- "GPIOD",
- "GPIOE",
- "GPIOF",
- "GPIOG",
- "GPIOS",
- "gpstr",
- "Hatt",
- "HSCMAND",
- "HSCMRNN",
- "HWMAPPING",
- "IDLEIE",
- "irqn",
- "irqv",
- "Kalman",
- "Katt",
- "kbps",
- "ldrex",
- "leds",
- "LIFCR",
- "logdecoder",
- "Luca",
- "MEKF",
- "MINC",
- "miosix",
- "mkdir",
- "mosfet",
- "mosi",
- "MPXHZ",
- "Musso",
- "NATT",
- "NBAR",
- "NDTR",
- "NGPS",
- "NMAG",
- "NMEA",
- "NMEKF",
- "nord",
- "NVIC",
- "peripehral",
- "PINC",
- "Pitot",
- "Plin",
- "Qgbw",
- "Qget",
- "Qhandle",
- "Qput",
- "Qwait",
- "Qwakeup",
- "Riccardo",
- "RXNE",
- "RXNEIE",
- "sats",
- "Satt",
- "sdio",
- "SDRAM",
- "spitch",
- "sqdip",
- "sqtrp",
- "sroll",
- "SSCDANN",
- "SSCDRRN",
- "stof",
- "syaw",
- "TCIE",
- "TEIE",
- "Terraneo",
- "testsuite",
- "TSCPP",
- "Ublox",
- "UBXACK",
- "UBXGPS",
- "UBXNAV",
- "Unsync",
- "upcounter",
- "USART",
- "vbat",
- "velnord",
- "vout",
- "vsense",
- "Xbee",
- "xnord",
- "yned"
- ],
- "cSpell.language": "en",
- "cSpell.enabled": true
+ "cmake.configureSettings": {
+ "CMAKE_C_COMPILER_LAUNCHER": "ccache",
+ "CMAKE_CXX_COMPILER_LAUNCHER": "ccache"
+ },
+ "cmake.parallelJobs": 1,
+ "files.associations": {
+ "sstream": "cpp",
+ "format": "cpp",
+ "any": "cpp",
+ "array": "cpp",
+ "atomic": "cpp",
+ "bit": "cpp",
+ "*.tcc": "cpp",
+ "bitset": "cpp",
+ "cctype": "cpp",
+ "chrono": "cpp",
+ "clocale": "cpp",
+ "cmath": "cpp",
+ "codecvt": "cpp",
+ "complex": "cpp",
+ "condition_variable": "cpp",
+ "cstdarg": "cpp",
+ "cstddef": "cpp",
+ "cstdint": "cpp",
+ "cstdio": "cpp",
+ "cstdlib": "cpp",
+ "cstring": "cpp",
+ "ctime": "cpp",
+ "cwchar": "cpp",
+ "cwctype": "cpp",
+ "deque": "cpp",
+ "list": "cpp",
+ "map": "cpp",
+ "set": "cpp",
+ "unordered_map": "cpp",
+ "vector": "cpp",
+ "exception": "cpp",
+ "algorithm": "cpp",
+ "functional": "cpp",
+ "iterator": "cpp",
+ "memory": "cpp",
+ "memory_resource": "cpp",
+ "numeric": "cpp",
+ "optional": "cpp",
+ "random": "cpp",
+ "ratio": "cpp",
+ "regex": "cpp",
+ "string": "cpp",
+ "string_view": "cpp",
+ "system_error": "cpp",
+ "tuple": "cpp",
+ "type_traits": "cpp",
+ "utility": "cpp",
+ "fstream": "cpp",
+ "future": "cpp",
+ "initializer_list": "cpp",
+ "iomanip": "cpp",
+ "iosfwd": "cpp",
+ "iostream": "cpp",
+ "istream": "cpp",
+ "limits": "cpp",
+ "mutex": "cpp",
+ "new": "cpp",
+ "ostream": "cpp",
+ "shared_mutex": "cpp",
+ "stdexcept": "cpp",
+ "streambuf": "cpp",
+ "thread": "cpp",
+ "cinttypes": "cpp",
+ "typeindex": "cpp",
+ "typeinfo": "cpp",
+ "variant": "cpp",
+ "__config": "cpp",
+ "__threading_support": "cpp",
+ "__mutex_base": "cpp",
+ "__tree": "cpp",
+ "locale": "cpp",
+ "__bit_reference": "cpp",
+ "__bits": "cpp",
+ "__debug": "cpp",
+ "__errc": "cpp",
+ "__functional_base": "cpp",
+ "__hash_table": "cpp",
+ "__locale": "cpp",
+ "__node_handle": "cpp",
+ "__nullptr": "cpp",
+ "__split_buffer": "cpp",
+ "__string": "cpp",
+ "__tuple": "cpp",
+ "ios": "cpp",
+ "queue": "cpp",
+ "stack": "cpp",
+ "__functional_03": "cpp",
+ "filesystem": "cpp",
+ "unordered_set": "cpp",
+ "hash_map": "cpp",
+ "valarray": "cpp",
+ "ranges": "cpp",
+ "compare": "cpp",
+ "concepts": "cpp",
+ "core": "cpp",
+ "iterativelinearsolvers": "cpp",
+ "pastixsupport": "cpp",
+ "superlusupport": "cpp",
+ "adolcforward": "cpp",
+ "alignedvector3": "cpp",
+ "bvh": "cpp",
+ "fft": "cpp",
+ "iterativesolvers": "cpp",
+ "mprealsupport": "cpp",
+ "matrixfunctions": "cpp",
+ "nonlinearoptimization": "cpp",
+ "openglsupport": "cpp",
+ "polynomials": "cpp",
+ "autodiff": "cpp",
+ "sparseextra": "cpp",
+ "specialfunctions": "cpp"
+ },
+ "cSpell.words": [
+ "ADCPRE",
+ "ADON",
+ "aelf",
+ "airbrakes",
+ "Airbrakes",
+ "Alessandro",
+ "AMSL",
+ "atthr",
+ "AVDD",
+ "Baro",
+ "boardcore",
+ "Boardcorev",
+ "boudrate",
+ "Corigliano",
+ "CORTEXM",
+ "cpitch",
+ "cppcheck",
+ "croll",
+ "cwise",
+ "cyaw",
+ "DATABUS",
+ "deleteme",
+ "DMEIE",
+ "Doxyfile",
+ "doxygen",
+ "DRDY",
+ "Duca",
+ "Ecompass",
+ "Eigen",
+ "elfs",
+ "Erbetta",
+ "Fatt",
+ "Fatttr",
+ "fedetft's",
+ "fiprintf",
+ "Gatttr",
+ "getdetahstate",
+ "GNSS",
+ "Gpio",
+ "GPIOA",
+ "GPIOB",
+ "GPIOC",
+ "GPIOD",
+ "GPIOE",
+ "GPIOF",
+ "GPIOG",
+ "GPIOS",
+ "gpstr",
+ "Hatt",
+ "HIFCR",
+ "HISR",
+ "HSCMAND",
+ "HSCMRNN",
+ "HWMAPPING",
+ "IDLEIE",
+ "irqn",
+ "irqv",
+ "JEOC",
+ "JOFR",
+ "JSQR",
+ "JSWSTART",
+ "Kalman",
+ "Katt",
+ "kbps",
+ "ldrex",
+ "leds",
+ "LIFCR",
+ "LISR",
+ "logdecoder",
+ "Luca",
+ "Matteo",
+ "MEKF",
+ "microcontrollers",
+ "MINC",
+ "miosix",
+ "mkdir",
+ "mosfet",
+ "mosi",
+ "MPXHZ",
+ "Musso",
+ "NATT",
+ "NBAR",
+ "NDTR",
+ "NGPS",
+ "Nidasio",
+ "NMAG",
+ "NMEA",
+ "NMEKF",
+ "nord",
+ "NVIC",
+ "peripehral",
+ "Piazzolla",
+ "PINC",
+ "Pitot",
+ "Plin",
+ "Qgbw",
+ "Qget",
+ "Qhandle",
+ "Qput",
+ "Qwait",
+ "Qwakeup",
+ "Riccardo",
+ "RXNE",
+ "RXNEIE",
+ "sats",
+ "Satt",
+ "sdio",
+ "SDRAM",
+ "smpr",
+ "SMPR",
+ "spitch",
+ "sqdip",
+ "sqtrp",
+ "sroll",
+ "SSCDANN",
+ "SSCDRRN",
+ "stof",
+ "SWSTART",
+ "syaw",
+ "TCIE",
+ "TCIF",
+ "TEIE",
+ "Terraneo",
+ "testsuite",
+ "TSCPP",
+ "TSVREFE",
+ "Ublox",
+ "UBXACK",
+ "UBXGPS",
+ "UBXNAV",
+ "Unsync",
+ "upcounter",
+ "USART",
+ "vbat",
+ "velnord",
+ "vout",
+ "vsense",
+ "Xbee",
+ "xnord",
+ "yned"
+ ],
+ "cSpell.language": "en",
+ "cSpell.enabled": true
}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f7a55228cdd5d6724a274cd40f0c6d7947d04f0e..cdbc08614f50f7d21b57c0a4f332df58e4477b91 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -178,7 +178,7 @@ add_executable(test-general-purpose-timer src/tests/drivers/timer/test-general-p
sbs_target(test-general-purpose-timer stm32f429zi_stm32f4discovery)
add_executable(test-internal-adc src/tests/drivers/test-internal-adc.cpp)
-sbs_target(test-internal-adc stm32f429zi_skyward_death_stack_x)
+sbs_target(test-internal-adc stm32f407vg_stm32f4discovery)
add_executable(test-internal-adc-dma src/tests/drivers/test-internal-adc-dma.cpp)
sbs_target(test-internal-adc-dma stm32f429zi_stm32f4discovery)
@@ -231,6 +231,9 @@ sbs_target(test-xbee-snd stm32f429zi_stm32f4discovery)
add_executable(test-usart src/tests/drivers/usart/test-usart.cpp)
sbs_target(test-usart stm32f407vg_stm32f4discovery)
+add_executable(test-internal-temp src/tests/drivers/test-internal-temp.cpp)
+sbs_target(test-internal-temp stm32f407vg_stm32f4discovery)
+
#-----------------------------------------------------------------------------#
# Tests - Events #
#-----------------------------------------------------------------------------#
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 3c6806988b9fcf80a1a9bce82c4536b4ae40033f..120f7bc5e0143d8e5cb78cd3c578603ca66f844e 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -43,6 +43,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/diagnostic/PrintLogger.cpp
# Drivers
+ ${SBS_BASE}/src/shared/drivers/adc/InternalTemp.cpp
${SBS_BASE}/src/shared/drivers/adc/InternalADC.cpp
${SBS_BASE}/src/shared/drivers/canbus/Canbus.cpp
${SBS_BASE}/src/shared/drivers/canbus/CanInterrupt.cpp
diff --git a/src/shared/drivers/adc/InternalADC.cpp b/src/shared/drivers/adc/InternalADC.cpp
index 5599223012b51872d29bec8cfdee357fa9fb0f33..737b2b6bc040925b2f7268ebc6154edcb17f25b3 100644
--- a/src/shared/drivers/adc/InternalADC.cpp
+++ b/src/shared/drivers/adc/InternalADC.cpp
@@ -72,9 +72,7 @@ InternalADC::InternalADC(ADC_TypeDef* adc, const float supplyVoltage,
// Init indexMap
for (auto i = 0; i < CH_NUM; i++)
- {
indexMap[i] = -1;
- }
}
InternalADC::~InternalADC()
@@ -90,13 +88,13 @@ bool InternalADC::init()
adc->CR2 |= ADC_CR2_ADON;
// Set single conversion mode
- adc->CR2 &= ~ADC_CR2_CONT;
+ // adc->CR2 &= ~ADC_CR2_CONT;
// Set scan mode
- adc->CR1 |= ADC_CR1_SCAN;
+ // adc->CR1 |= ADC_CR1_SCAN;
// Data alignment
- adc->CR2 &= ~ADC_CR2_ALIGN; // right
+ // adc->CR2 &= ~ADC_CR2_ALIGN; // right
if (isUsingDMA)
{
@@ -130,33 +128,22 @@ bool InternalADC::init()
return true;
}
-bool InternalADC::enableChannel(Channel channel)
-{
- return enableChannel(channel, CYCLES_3);
-}
-
bool InternalADC::enableChannel(Channel channel, SampleTime sampleTime)
{
// Check channel number
if (channel < CH0 || channel >= CH_NUM)
- {
return false;
- }
// Add channel to the sequence
if (!isUsingDMA)
{
if (!addInjectedChannel(channel))
- {
return false;
- }
}
else
{
if (!addRegularChannel(channel))
- {
return false;
- }
// Update the DMA number of data
dmaStream->NDTR = activeChannels;
@@ -168,6 +155,52 @@ bool InternalADC::enableChannel(Channel channel, SampleTime sampleTime)
return true;
}
+bool InternalADC::addRegularChannel(Channel channel)
+{
+ // Check active channels number
+ if (activeChannels >= 16)
+ return false;
+
+ // Add the channel to the sequence
+ volatile uint32_t* sqrPtr;
+ switch (activeChannels / 6)
+ {
+ case 1:
+ sqrPtr = &(adc->SQR2);
+ break;
+ case 2:
+ sqrPtr = &(adc->SQR1);
+ break;
+ default:
+ sqrPtr = &(adc->SQR3);
+ }
+ *sqrPtr = channel << ((activeChannels % 6) * 5);
+
+ // Update the channels number in the register
+ adc->SQR1 &= ~ADC_SQR1_L;
+ adc->SQR1 |= activeChannels << 20;
+
+ // Save the index of the channel in the ADC's regular sequence
+ indexMap[channel] = activeChannels;
+
+ // Update the counter
+ activeChannels++;
+
+ return true;
+}
+
+ADCData InternalADC::readChannel(Channel channel, SampleTime sampleTime)
+{
+ setChannelSampleTime(channel, sampleTime);
+ startRegularConversion();
+
+ while (!(adc->SR & ADC_SR_EOC))
+ ;
+
+ return {TimestampTimer::getTimestamp(), channel,
+ static_cast<uint16_t>(adc->DR) * supplyVoltage / RESOLUTION};
+}
+
InternalADCData InternalADC::getVoltage(Channel channel)
{
float voltage = 0;
@@ -219,14 +252,14 @@ InternalADCData InternalADC::sampleImpl()
// This should trigger the DMA stream for each channel's conversion
- // Wait for tranfer end
+ // Wait for transfer end
while (!(*statusReg & (transferCompleteMask | transferErrorMask)))
;
// Clear the transfer complete flag
*clearFlagReg |= transferCompleteMask;
- // If and error has occurred (probaly due to a higher priority stream)
+ // If and error has occurred (probably due to a higher priority stream)
// don't update the timestamp, the values should not have been updated
if (*statusReg & transferErrorMask)
{
@@ -244,6 +277,8 @@ InternalADCData InternalADC::sampleImpl()
return lastSample;
}
+float InternalADC::getSupplyVoltage() { return supplyVoltage; }
+
inline void InternalADC::resetRegisters()
{
// Reset the ADC configuration
@@ -277,9 +312,7 @@ inline bool InternalADC::addInjectedChannel(Channel channel)
{
// Check active channels number
if (activeChannels >= 4)
- {
return false;
- }
// Add the channel to the sequence, starting from position 4
adc->JSQR |= channel << (15 - activeChannels * 5);
@@ -292,9 +325,7 @@ inline bool InternalADC::addInjectedChannel(Channel channel)
for (auto i = 0; i < CH_NUM; i++)
{
if (indexMap[i] >= 0)
- {
indexMap[i]++;
- }
}
// Set this channel index to 0
@@ -306,53 +337,15 @@ inline bool InternalADC::addInjectedChannel(Channel channel)
return true;
}
-inline bool InternalADC::addRegularChannel(Channel channel)
-{
- // Check active channels number
- if (activeChannels >= 16)
- {
- return false;
- }
-
- // Add the channel to the sequence
- volatile uint32_t* sqrPtr;
- switch (activeChannels % 6)
- {
- case 1:
- sqrPtr = &(adc->SQR3);
- break;
- case 2:
- sqrPtr = &(adc->SQR2);
- break;
- default:
- sqrPtr = &(adc->SQR1);
- }
- *sqrPtr = channel << ((activeChannels % 6) * 5);
-
- // Update the channels number in the register
- adc->SQR1 |= activeChannels << 20;
-
- // Save the index of the channel in the ADC's regular sequence
- indexMap[channel] = activeChannels;
-
- // Update the counter
- activeChannels++;
-
- return true;
-}
-
inline void InternalADC::setChannelSampleTime(Channel channel,
SampleTime sampleTime)
{
volatile uint32_t* smprPtr;
if (channel <= 9)
- {
smprPtr = &(adc->SMPR2);
- }
else
- {
smprPtr = &(adc->SMPR1);
- }
+
*smprPtr = sampleTime << (channel * 3);
}
diff --git a/src/shared/drivers/adc/InternalADC.h b/src/shared/drivers/adc/InternalADC.h
index 662419e817ef60eb8622b6326af3ad5f11bf3f72..ab0498619a7447080ab2efa4c6c6b7c53438e73b 100644
--- a/src/shared/drivers/adc/InternalADC.h
+++ b/src/shared/drivers/adc/InternalADC.h
@@ -90,6 +90,9 @@ public:
CH13,
CH14,
CH15,
+ CH16,
+ CH17,
+ CH18,
CH_NUM
};
@@ -127,9 +130,14 @@ public:
*/
bool init() override;
- bool enableChannel(Channel channel);
+ /**
+ * @brief Make a regular conversion for the specified channel.
+ */
+ ADCData readChannel(Channel channel, SampleTime sampleTime = CYCLES_3);
+
+ bool enableChannel(Channel channel, SampleTime sampleTime = CYCLES_3);
- bool enableChannel(Channel channel, SampleTime sampleTime);
+ bool addRegularChannel(Channel channel);
InternalADCData getVoltage(Channel channel);
@@ -137,6 +145,8 @@ public:
InternalADCData sampleImpl() override;
+ float getSupplyVoltage();
+
private:
inline void resetRegisters();
@@ -146,8 +156,6 @@ private:
inline bool addInjectedChannel(Channel channel);
- inline bool addRegularChannel(Channel channel);
-
inline void setChannelSampleTime(Channel channel, SampleTime sampleTime);
ADC_TypeDef* adc;
@@ -168,7 +176,7 @@ private:
* We'll use up to 4 injected channel by default and up to 16 channels when
* using DMA.
*
- * The differentiation is necessary because whitout DMA it is much simplier
+ * The differentiation is necessary because whiteout DMA it is much simpler
* to use injected channel for multichannel readings. Otherwise we would
* need to handle each channel's end of conversion interrupt or go through
*/
@@ -182,7 +190,7 @@ private:
volatile uint32_t* clearFlagReg;
static constexpr int INJECTED_CHANNEL_N = 4;
- static constexpr int RESOLUTION = 4096; ///< 12 bits
+ static constexpr int RESOLUTION = 4095; ///< 12 bits
};
} // namespace Boardcore
diff --git a/src/shared/drivers/adc/InternalTemp.cpp b/src/shared/drivers/adc/InternalTemp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e6c15b2fc9629145d82ac9a6cb4f7fe6c63dcfec
--- /dev/null
+++ b/src/shared/drivers/adc/InternalTemp.cpp
@@ -0,0 +1,84 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "InternalTemp.h"
+
+#ifdef _ARCH_CORTEXM4_STM32F4
+#define TEMP30_CAL_VALUE ((uint16_t*)((uint32_t)0x1FFF7A2C))
+#define TEMP110_CAL_VALUE ((uint16_t*)((uint32_t)0x1FFF7A2E))
+#define TEMP30 30
+#define TEMP110 110
+#endif
+
+namespace Boardcore
+{
+
+InternalTemp::InternalTemp(InternalADC::SampleTime sampleTime,
+ const float supplyVoltage)
+ : adc(ADC1, supplyVoltage), sampleTime(sampleTime)
+{
+}
+
+bool InternalTemp::init()
+{
+ bool result = adc.init();
+
+#if defined(_BOARD_STM32F4DISCOVERY) || defined(_ARCH_CORTEXM3_STM32F2)
+ adc.addRegularChannel(InternalADC::CH16);
+#else
+ adc.addRegularChannel(InternalADC::CH18);
+#endif
+
+ ADC->CCR &= ~ADC_CCR_VBATE;
+ ADC->CCR |= ADC_CCR_TSVREFE;
+
+ return result;
+}
+
+bool InternalTemp::selfTest() { return adc.selfTest(); }
+
+InternalTempData InternalTemp::sampleImpl()
+{
+#if defined(_BOARD_STM32F4DISCOVERY) || defined(_ARCH_CORTEXM3_STM32F2)
+ auto adcData = adc.readChannel(InternalADC::CH16, sampleTime);
+#else
+ auto adcData = adc.readChannel(InternalADC::CH18, sampleTime);
+#endif
+
+ InternalTempData data;
+ data.temperatureTimestamp = adcData.voltageTimestamp;
+
+#ifdef _ARCH_CORTEXM3_STM32F2
+ // Default conversion
+ data.temperature = ((adcData.voltage - 0.76) / 0.0025) + 25;
+#else
+ // Factory calibration
+ float voltage30 = static_cast<float>(*TEMP30_CAL_VALUE) * 3.3 / 4095;
+ float voltage110 = static_cast<float>(*TEMP110_CAL_VALUE) * 3.3 / 4095;
+ float slope = (voltage110 - voltage30) / (TEMP110 - TEMP30);
+ data.temperature = ((adcData.voltage - voltage30) / slope) + TEMP30;
+#endif
+
+ return data;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/drivers/adc/InternalTemp.h b/src/shared/drivers/adc/InternalTemp.h
new file mode 100644
index 0000000000000000000000000000000000000000..a66e32cafa0283ee463a82c0d8c7be4b3efa99a3
--- /dev/null
+++ b/src/shared/drivers/adc/InternalTemp.h
@@ -0,0 +1,51 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+#include <drivers/adc/InternalADC.h>
+
+#include "InternalTempData.h"
+
+namespace Boardcore
+{
+
+class InternalTemp : public Sensor<InternalTempData>
+{
+public:
+ explicit InternalTemp(
+ InternalADC::SampleTime sampleTime = InternalADC::CYCLES_480,
+ const float supplyVoltage = 5.0);
+
+ bool init() override;
+
+ bool selfTest() override;
+
+ InternalTempData sampleImpl() override;
+
+ // InternalTempData addRegularChannel(InternalADC::Channel channel);
+
+private:
+ InternalADC adc;
+ InternalADC::SampleTime sampleTime;
+};
+
+} // namespace Boardcore
diff --git a/src/shared/drivers/adc/InternalTempData.h b/src/shared/drivers/adc/InternalTempData.h
new file mode 100644
index 0000000000000000000000000000000000000000..96f709033d5cdcadb60b4d3e53f19d2da7901b90
--- /dev/null
+++ b/src/shared/drivers/adc/InternalTempData.h
@@ -0,0 +1,42 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <sensors/SensorData.h>
+
+namespace Boardcore
+{
+
+struct InternalTempData : public TemperatureData
+{
+ InternalTempData() : TemperatureData{0, 0} {}
+
+ static std::string header() { return "timestamp,temperature\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << temperatureTimestamp << "," << temperature << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/tests/drivers/test-internal-temp.cpp b/src/tests/drivers/test-internal-temp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..23fd7844a83f5ae4978d26f092253f76067814e3
--- /dev/null
+++ b/src/tests/drivers/test-internal-temp.cpp
@@ -0,0 +1,44 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <drivers/adc/InternalTemp.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <miosix.h>
+#include <utils/ClockUtils.h>
+
+using namespace Boardcore;
+
+int main()
+{
+ ADC->CCR |= ADC_CCR_ADCPRE_0 | ADC_CCR_ADCPRE_1;
+
+ InternalTemp temp(InternalADC::CYCLES_480, 3.0);
+ temp.init();
+
+ for (;;)
+ {
+ temp.sample();
+ printf("Temperature: %2.3f\n", temp.getLastSample().temperature);
+
+ miosix::delayMs(1000);
+ }
+}