diff --git a/src/shared/drivers/adc/InternalADC.cpp b/src/shared/drivers/adc/InternalADC.cpp
index 6312b2d9aa93587f41cf6fa000bdb759fd8dc8e4..abc344d4190b8d831daa315a390073e46327b385 100644
--- a/src/shared/drivers/adc/InternalADC.cpp
+++ b/src/shared/drivers/adc/InternalADC.cpp
@@ -41,22 +41,46 @@
#endif
#if defined(STM32F407xx) || defined(STM32F205xx)
-#define AUX_CH InternalADC::CH16
+#define TEMP_CH InternalADC::CH16
+#define VBAT_CH InternalADC::CH18
#define VBAT_DIV 2.0f
#elif defined(STM32F429xx) || defined(STM32F767xx) || defined(STM32F769xx)
-#define AUX_CH InternalADC::CH18
+#define TEMP_CH InternalADC::CH18
+#define VBAT_CH InternalADC::CH18
+#define SINGLE_AUX_CHANNEL
#define VBAT_DIV 4.0f
#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) * 3.3 / 4095;
+static const float voltage110 =
+ static_cast<float>(*TEMP110_CAL_VALUE) * 3.3 / 4095;
+static const float slope = (voltage110 - voltage30) / (TEMP110 - TEMP30);
+} // namespace InternalADCConsts
+#endif
+
namespace Boardcore
{
-InternalADC::InternalADC(ADC_TypeDef* adc, const float supplyVoltage)
- : adc(adc), supplyVoltage(supplyVoltage)
+InternalADC::InternalADC(ADC_TypeDef* adc) : adc(adc)
{
resetRegisters();
ClockUtils::enablePeripheralClock(adc);
+ // Set the clock divider for the analog circuitry to the highest value (/8).
+ // Currently there is no need to speed up ADC reading. For this reason we
+ // use the safest setting.
+ // If it will need to be changed you need to check the datasheet for the
+ // maximum frequency the analog circuitry supports and compare it with the
+ // parent clock (APB2). Also you need to take into account the sampling time
+ // for the temperature sensor.
+ ADC->CCR |= ADC_CCR_ADCPRE_1 | ADC_CCR_ADCPRE_0;
+
for (int i = 0; i < CH_NUM; i++)
{
channelsEnabled[i] = false;
@@ -82,7 +106,7 @@ bool InternalADC::selfTest() { return true; }
InternalADCData InternalADC::sampleImpl()
{
- for (int i = 0; i < CH_NUM; i++)
+ for (int i = 0; i < CH16; i++)
{
if (channelsEnabled[i])
{
@@ -90,28 +114,28 @@ InternalADCData InternalADC::sampleImpl()
}
}
- // Prepare the auxiliary channel for the next sample
- if (vbatLastRead)
- {
- vbatVoltageRawValue = channelsRawValues[AUX_CH];
+ /**
+ * 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.
+ */
- if (tempEnabled)
- {
- ADC->CCR &= ~ADC_CCR_VBATE;
- ADC->CCR |= ADC_CCR_TSVREFE;
- vbatLastRead = false;
- }
- }
- else
+ if (tempEnabled)
{
- temperatureRawValue = channelsRawValues[AUX_CH];
+ ADC->CCR |= ADC_CCR_TSVREFE;
+ miosix::delayUs(12);
+ temperatureRawValue = readChannel(static_cast<Channel>(TEMP_CH));
+ ADC->CCR &= ~ADC_CCR_TSVREFE;
+ }
- if (vbatEnabled)
- {
- ADC->CCR |= ADC_CCR_VBATE;
- ADC->CCR &= ~ADC_CCR_TSVREFE;
- vbatLastRead = true;
- }
+ if (vbatEnabled)
+ {
+ ADC->CCR |= ADC_CCR_VBATE;
+ vbatVoltageRawValue = readChannel(static_cast<Channel>(VBAT_CH));
+ ADC->CCR &= ~ADC_CCR_VBATE;
}
timestamp = TimestampTimer::getTimestamp();
@@ -135,60 +159,66 @@ void InternalADC::disableChannel(Channel channel)
void InternalADC::enableTemperature(SampleTime sampleTime)
{
tempEnabled = true;
-
- ADC->CCR &= ~ADC_CCR_VBATE;
- ADC->CCR |= ADC_CCR_TSVREFE;
- vbatLastRead = false;
-
- enableChannel(AUX_CH, sampleTime);
+ enableChannel(TEMP_CH, sampleTime);
}
-void InternalADC::disableTemperature() { tempEnabled = false; }
+void InternalADC::disableTemperature()
+{
+ tempEnabled = false;
+ if (!vbatEnabled || TEMP_CH != VBAT_CH)
+ disableChannel(TEMP_CH);
+}
void InternalADC::enableVbat(SampleTime sampleTime)
{
vbatEnabled = true;
-
- ADC->CCR |= ADC_CCR_VBATE;
- ADC->CCR &= ~ADC_CCR_TSVREFE;
- vbatLastRead = true;
-
- enableChannel(AUX_CH, sampleTime);
+ enableChannel(VBAT_CH, sampleTime);
}
-void InternalADC::disableVbat() { vbatEnabled = false; }
+void InternalADC::disableVbat()
+{
+ vbatEnabled = false;
+ if (!tempEnabled || TEMP_CH != VBAT_CH)
+ disableChannel(VBAT_CH);
+}
InternalADCData InternalADC::getVoltage(Channel channel)
{
return {timestamp, channel,
- channelsRawValues[channel] * supplyVoltage / RESOLUTION};
+ channelsRawValues[channel] * V_DDA_VOLTAGE / RESOLUTION};
}
TemperatureData InternalADC::getTemperature()
{
TemperatureData data;
data.temperatureTimestamp = timestamp;
- data.temperature = temperatureRawValue * supplyVoltage / RESOLUTION;
+
+ if (temperatureRawValue != 0)
+ {
+ data.temperature = temperatureRawValue * V_DDA_VOLTAGE / RESOLUTION;
#ifdef WITHOUT_CALIBRATION
- // Default conversion
- data.temperature = ((data.temperature - 0.76) / 0.0025) + 25;
+ // Default conversion
+ data.temperature = ((data.temperature - 0.76) / 0.0025) + 25;
#else
- // Factory calibration
- // Read "Temperature sensor characteristics" chapter in the datasheet
- 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 = ((data.temperature - voltage30) / slope) + TEMP30;
+ // Factory calibration
+ data.temperature = ((data.temperature - InternalADCConsts::voltage30) /
+ InternalADCConsts::slope) +
+ TEMP30;
#endif
+ }
+ else
+ {
+ data.temperature = 0;
+ }
return data;
}
InternalADCData InternalADC::getVbatVoltage()
{
- return {timestamp, AUX_CH,
- vbatVoltageRawValue * supplyVoltage / RESOLUTION * VBAT_DIV};
+ return {timestamp, VBAT_CH,
+ vbatVoltageRawValue * V_DDA_VOLTAGE / RESOLUTION * VBAT_DIV};
}
inline void InternalADC::resetRegisters()
@@ -225,7 +255,7 @@ inline void InternalADC::setChannelSampleTime(Channel channel,
}
}
-float InternalADC::readChannel(Channel channel)
+uint16_t InternalADC::readChannel(Channel channel)
{
// Assuming that ADC_SQR1_L remains 0 (1 conversion)
diff --git a/src/shared/drivers/adc/InternalADC.h b/src/shared/drivers/adc/InternalADC.h
index 1968132cdfc09a31eb2cfc7df044703698296b64..276b35b6d1e8c0de6893470be9689c6971a07b86 100644
--- a/src/shared/drivers/adc/InternalADC.h
+++ b/src/shared/drivers/adc/InternalADC.h
@@ -93,7 +93,7 @@ public:
* @brief Resets the ADC configuration and automatically enables the
* peripheral clock.
*/
- explicit InternalADC(ADC_TypeDef* adc, const float supplyVoltage = 3.3);
+ explicit InternalADC(ADC_TypeDef* adc);
~InternalADC();
@@ -133,20 +133,18 @@ private:
void setChannelSampleTime(Channel channel, SampleTime sampleTime);
- float readChannel(Channel channel);
+ uint16_t readChannel(Channel channel);
ADC_TypeDef* adc;
- const float supplyVoltage;
bool channelsEnabled[CH_NUM];
- bool tempEnabled = false;
- bool vbatEnabled = false;
- bool vbatLastRead = false;
-
- float channelsRawValues[CH_NUM];
- float temperatureRawValue = 0;
- float vbatVoltageRawValue = 0;
- uint64_t timestamp = 0;
+ bool tempEnabled = false;
+ bool vbatEnabled = false;
+
+ uint16_t channelsRawValues[CH_NUM];
+ uint16_t temperatureRawValue = 0;
+ uint16_t vbatVoltageRawValue = 0;
+ uint64_t timestamp = 0;
static constexpr int RESOLUTION = 4095; ///< 12 bits
};
diff --git a/src/tests/drivers/test-internal-adc.cpp b/src/tests/drivers/test-internal-adc.cpp
index e4da6359da6feb10f247d34947455025e0f6526c..33bf23cc7e409d2b97c5ca9db4398854d1c93b50 100644
--- a/src/tests/drivers/test-internal-adc.cpp
+++ b/src/tests/drivers/test-internal-adc.cpp
@@ -27,33 +27,29 @@
using namespace miosix;
using namespace Boardcore;
+GpioPin ch5(GPIOA_BASE, 5);
+GpioPin ch6(GPIOA_BASE, 6);
+
int main()
{
- // Set the clock divider for the analog circuitry (/8)
- ADC->CCR |= ADC_CCR_ADCPRE_0 | ADC_CCR_ADCPRE_1;
- // In this case I've set the maximum value, check the datasheet for the
- // maximum frequency the analog circuitry supports and compare it with the
- // parent clock
-
- InternalADC adc(ADC1, 3.3);
- adc.enableChannel(InternalADC::CH5); // PF7
- adc.enableChannel(InternalADC::CH6); // PF8
+ ch5.mode(Mode::INPUT_ANALOG);
+ ch6.mode(Mode::INPUT_ANALOG);
+
+ InternalADC adc(ADC1);
+ adc.enableChannel(InternalADC::CH5); // PA5
+ adc.enableChannel(InternalADC::CH6); // PA6
adc.enableTemperature();
adc.enableVbat();
adc.init();
- printf("Configuration completed\n");
-
while (true)
{
adc.sample();
- printf(
- "CH5: %1.3f\tCH6: %1.3f\tCH18: %1.3f\tTemp: %1.3f\tVbat: %1.3f\n",
- adc.getVoltage(InternalADC::CH5).voltage,
- adc.getVoltage(InternalADC::CH6).voltage,
- adc.getVoltage(InternalADC::CH18).voltage,
- adc.getTemperature().temperature, adc.getVbatVoltage().voltage);
+ printf("CH5: %1.3f\tCH6: %1.3f\tTemp: %1.3f\tVbat: %1.3f\n",
+ adc.getVoltage(InternalADC::CH5).voltage,
+ adc.getVoltage(InternalADC::CH6).voltage,
+ adc.getTemperature().temperature, adc.getVbatVoltage().voltage);
delayMs(1000);
}