diff --git a/src/shared/drivers/adc/InternalADC.cpp b/src/shared/drivers/adc/InternalADC.cpp
index 91909daed229999a66f81523cd99ce3c06d81f1b..bf628feb6feb48c1c3f729f4797cde0316403d0e 100644
--- a/src/shared/drivers/adc/InternalADC.cpp
+++ b/src/shared/drivers/adc/InternalADC.cpp
@@ -25,20 +25,20 @@
#include <drivers/timer/TimestampTimer.h>
#include <utils/ClockUtils.h>
-#define ADC_RESOLUTION 4095
+static constexpr int ADC_RESOLUTION = 4095;
#if defined(STM32F407xx) || defined(STM32F429xx)
-#define TEMP30_CAL_VALUE ((uint16_t*)((uint32_t)0x1FFF7A2C))
-#define TEMP110_CAL_VALUE ((uint16_t*)((uint32_t)0x1FFF7A2E))
-#define TEMP30 30
-#define TEMP110 110
-#define CALIBRATION_V_DDA 3.3f
+#define CAL_PT1_VALUE ((uint16_t *)((uint32_t)0x1FFF7A2C))
+#define CAL_PT2_VALUE ((uint16_t *)((uint32_t)0x1FFF7A2E))
+static constexpr float CAL_PT1_TEMP = 30;
+static constexpr float CAL_PT2_TEMP = 110;
+static constexpr float CAL_V_DDA = 3.3f;
#elif defined(STM32F767xx) || defined(STM32F769xx)
-#define TEMP30_CAL_VALUE ((uint16_t*)((uint32_t)0x1FF0F44C))
-#define TEMP110_CAL_VALUE ((uint16_t*)((uint32_t)0x1FF0F44E))
-#define TEMP30 30
-#define TEMP110 110
-#define CALIBRATION_V_DDA 3.3f
+#define CAL_PT1_VALUE ((uint16_t *)((uint32_t)0x1FF0F44C))
+#define CAL_PT2_VALUE ((uint16_t *)((uint32_t)0x1FF0F44E))
+static constexpr float CAL_PT1_TEMP = 30;
+static constexpr float CAL_PT2_TEMP = 110;
+static constexpr float CAL_V_DDA = 3.3f;
#else
#warning This micro controller does not have a calibrated temperature sensor or is not currently supported by this driver
#define WITHOUT_CALIBRATION
@@ -47,12 +47,11 @@
#if defined(STM32F407xx) || defined(STM32F205xx)
#define TEMP_CH InternalADC::CH16
#define VBAT_CH InternalADC::CH18
-#define VBAT_DIV 2.0f
+static constexpr float VBAT_DIV = 2.0f;
#elif defined(STM32F429xx) || defined(STM32F767xx) || defined(STM32F769xx)
#define TEMP_CH InternalADC::CH18
#define VBAT_CH InternalADC::CH18
-#define SINGLE_AUX_CHANNEL
-#define VBAT_DIV 4.0f
+static constexpr float VBAT_DIV = 4.0f;
#endif
// Error the user if the current target is missing the V_DDA_VOLTAGE macro
@@ -62,23 +61,36 @@
#error Missing V_DDA_VOLTAGE definition for current target
#endif
-#ifndef WITHOUT_CALIBRATION
-namespace InternalADCConsts
-{
// Factory calibration values
// Read "Temperature sensor characteristics" chapter in the datasheet
-static const float voltage30 =
- static_cast<float>(*TEMP30_CAL_VALUE) * CALIBRATION_V_DDA / ADC_RESOLUTION;
-static const float voltage110 =
- static_cast<float>(*TEMP110_CAL_VALUE) * CALIBRATION_V_DDA / ADC_RESOLUTION;
-static const float slope = (voltage110 - voltage30) / (TEMP110 - TEMP30);
-} // namespace InternalADCConsts
+#ifndef WITHOUT_CALIBRATION
+
+float getCalPt1Voltage()
+{
+ static float pt1Voltage =
+ static_cast<float>(*CAL_PT1_VALUE) * CAL_V_DDA / ADC_RESOLUTION;
+ return pt1Voltage;
+}
+
+float getCalPt2Voltage()
+{
+ static float pt2Voltage =
+ static_cast<float>(*CAL_PT2_VALUE) * CAL_V_DDA / ADC_RESOLUTION;
+ return pt2Voltage;
+}
+
+float getCalSlope()
+{
+ static float slope = (getCalPt2Voltage() - getCalPt1Voltage()) /
+ (CAL_PT2_TEMP - CAL_PT1_TEMP);
+ return slope;
+}
#endif
namespace Boardcore
{
-InternalADC::InternalADC(ADC_TypeDef* adc) : adc(adc)
+InternalADC::InternalADC(ADC_TypeDef *adc) : adc(adc)
{
resetRegisters();
ClockUtils::enablePeripheralClock(adc);
@@ -94,8 +106,7 @@ InternalADC::InternalADC(ADC_TypeDef* adc) : adc(adc)
for (int i = 0; i < CH_NUM; i++)
{
- channelsEnabled[i] = false;
- channelsRawValues[i] = 0;
+ channelsEnabled[i] = false;
}
}
@@ -117,41 +128,69 @@ bool InternalADC::selfTest() { return true; }
InternalADCData InternalADC::sampleImpl()
{
+ InternalADCData newData;
+ newData.timestamp = TimestampTimer::getTimestamp();
+
for (int i = 0; i < CH16; i++)
{
if (channelsEnabled[i])
{
- channelsRawValues[i] = readChannel(static_cast<Channel>(i));
+ newData.voltage[i] = readChannel(static_cast<Channel>(i));
+ newData.voltage[i] =
+ newData.voltage[i] * V_DDA_VOLTAGE / ADC_RESOLUTION;
}
}
/**
- * The temperature and vbat sensors are enabled and then disabled. If left
- * enabled they somehow disrupt other channels measurements. I did not find
- * description of this behaviour anywhere but observed it during testing.
- *
- * Also the temperature sensors has a startup time of 10us. 12us is used
- * because during test 10us were not enough.
+ * Quirk: the temperature and vbat sensors are enabled and then disabled. If
+ * left enabled they somehow disrupt other channels measurements. I did not
+ * find description of this behaviour anywhere but observed it during
+ * testing. Also the temperature sensors has a startup time of 10us. 12us is
+ * used because during test 10us were not enough.
+ * The startup time is the same for all Boardcore supported micros.
*/
if (tempEnabled)
{
ADC->CCR |= ADC_CCR_TSVREFE;
- miosix::delayUs(12);
- temperatureRawValue = readChannel(static_cast<Channel>(TEMP_CH));
+ miosix::delayUs(12); // Temperature sensor startup time
+ auto temperatureRawValue = readChannel(static_cast<Channel>(TEMP_CH));
ADC->CCR &= ~ADC_CCR_TSVREFE;
+
+ // Conversion
+ if (temperatureRawValue != 0)
+ {
+ newData.temperature =
+ temperatureRawValue * V_DDA_VOLTAGE / ADC_RESOLUTION;
+
+#ifdef WITHOUT_CALIBRATION
+ // Default conversion
+ newData.temperature = ((newData.temperature - 0.76) / 0.0025) + 25;
+#else
+ // Factory calibration
+ newData.temperature = newData.temperature - getCalPt1Voltage();
+ newData.temperature /= getCalSlope();
+ newData.temperature += CAL_PT1_TEMP;
+#endif
+ }
+ else
+ {
+ newData.temperature = 0;
+ }
}
if (vbatEnabled)
{
ADC->CCR |= ADC_CCR_VBATE;
- vbatVoltageRawValue = readChannel(static_cast<Channel>(VBAT_CH));
+ auto vbatVoltageRawValue = readChannel(static_cast<Channel>(VBAT_CH));
ADC->CCR &= ~ADC_CCR_VBATE;
- }
- timestamp = TimestampTimer::getTimestamp();
+ // Conversion
+ newData.vBat =
+ vbatVoltageRawValue * V_DDA_VOLTAGE / ADC_RESOLUTION * VBAT_DIV;
+ }
- return lastSample;
+ return newData;
}
void InternalADC::enableChannel(Channel channel, SampleTime sampleTime)
@@ -163,8 +202,7 @@ void InternalADC::enableChannel(Channel channel, SampleTime sampleTime)
void InternalADC::disableChannel(Channel channel)
{
- channelsEnabled[channel] = false;
- channelsRawValues[channel] = 0;
+ channelsEnabled[channel] = false;
}
void InternalADC::enableTemperature(SampleTime sampleTime)
@@ -193,50 +231,30 @@ void InternalADC::disableVbat()
disableChannel(VBAT_CH);
}
-InternalADCData InternalADC::getVoltage(Channel channel)
+ADCData InternalADC::getVoltage(Channel channel)
{
- return {timestamp, channel,
- channelsRawValues[channel] *
- V_DDA_VOLTAGE / // cppcheck-suppress ConfigurationNotChecked
- ADC_RESOLUTION};
+ ADCData data;
+ data.voltageTimestamp = getLastSample().timestamp;
+ data.voltage = getLastSample().voltage[channel];
+ data.channelId = channel;
+ return data;
}
TemperatureData InternalADC::getTemperature()
{
TemperatureData data;
- data.temperatureTimestamp = timestamp;
-
- if (temperatureRawValue != 0)
- {
- data.temperature =
- temperatureRawValue *
- V_DDA_VOLTAGE / // cppcheck-suppress ConfigurationNotChecked
- ADC_RESOLUTION;
-
-#ifdef WITHOUT_CALIBRATION
- // Default conversion
- data.temperature = ((data.temperature - 0.76) / 0.0025) + 25;
-#else
- // Factory calibration
- data.temperature = ((data.temperature - InternalADCConsts::voltage30) /
- InternalADCConsts::slope) +
- TEMP30;
-#endif
- }
- else
- {
- data.temperature = 0;
- }
-
+ data.temperatureTimestamp = getLastSample().temperature;
+ data.temperature = getLastSample().temperature;
return data;
}
-InternalADCData InternalADC::getVbatVoltage()
+ADCData InternalADC::getVbatVoltage()
{
- return {timestamp, VBAT_CH,
- vbatVoltageRawValue *
- V_DDA_VOLTAGE / // cppcheck-suppress ConfigurationNotChecked
- ADC_RESOLUTION * VBAT_DIV};
+ ADCData data;
+ data.voltageTimestamp = getLastSample().timestamp;
+ data.voltage = getLastSample().vBat;
+ data.channelId = VBAT_CH;
+ return data;
}
inline void InternalADC::resetRegisters()
diff --git a/src/shared/drivers/adc/InternalADC.h b/src/shared/drivers/adc/InternalADC.h
index 5746a54fb61ed359c1cea43a98c017d153de820a..ac094ec820fe7f369019cec23278bdca04ab893d 100644
--- a/src/shared/drivers/adc/InternalADC.h
+++ b/src/shared/drivers/adc/InternalADC.h
@@ -122,11 +122,11 @@ public:
void disableVbat();
- InternalADCData getVoltage(Channel channel);
+ ADCData getVoltage(Channel channel);
TemperatureData getTemperature();
- InternalADCData getVbatVoltage();
+ ADCData getVbatVoltage();
private:
void resetRegisters();
@@ -140,11 +140,6 @@ private:
bool channelsEnabled[CH_NUM];
bool tempEnabled = false;
bool vbatEnabled = false;
-
- uint16_t channelsRawValues[CH_NUM];
- uint16_t temperatureRawValue = 0;
- uint16_t vbatVoltageRawValue = 0;
- uint64_t timestamp = 0;
};
} // namespace Boardcore
diff --git a/src/shared/drivers/adc/InternalADCData.h b/src/shared/drivers/adc/InternalADCData.h
index f43612ae1514166af2e0d25a6bc92813afcbe9a4..b751fab43a2c5248e4f539a854e073042b58676d 100644
--- a/src/shared/drivers/adc/InternalADCData.h
+++ b/src/shared/drivers/adc/InternalADCData.h
@@ -27,24 +27,33 @@
namespace Boardcore
{
-struct InternalADCData : public ADCData
+struct InternalADCData
{
- InternalADCData() : ADCData{0, 0, 0.0} {}
+ uint64_t timestamp = 0;
+ float voltage[16];
+ float temperature;
+ float vBat;
- InternalADCData(uint64_t t, uint8_t channelId, float voltage)
- : ADCData{t, channelId, voltage}
- {
- }
+ InternalADCData() {}
static std::string header()
{
- return "voltageTimestamp,channelId,voltage\n";
+ return "timestamp,,voltage_0,voltage_1,voltage_2,voltage_3,voltage_4,"
+ "voltage_5,voltage_6,voltage_7,voltage_8,voltage_9,voltage_10,"
+ "voltage_11,voltage_12,voltage_13,voltage_14,voltage_15,"
+ "temperature,vBat,voltage\n";
}
void print(std::ostream& os) const
{
- os << voltageTimestamp << "," << (int)channelId << "," << voltage
- << "\n";
+ os << timestamp << ",";
+
+ for (int i = 0; i < 16; i++)
+ {
+ os << voltage[i] << ",";
+ }
+
+ os << temperature << "," << vBat << "\n";
}
};