Working scheduling of ADC 🎉

source/Core/BSP/Magic/IRQ.cpp

@@ -8,42 +8,80 @@
 #include "IRQ.h"
 #include "Pins.h"
 #include "configuration.h"
+#include "expMovingAverage.h"
+
 extern "C" {
 #include "bflb_platform.h"
+#include "bl702_adc.h"
 #include "bl702_glb.h"
 #include "bl702_pwm.h"
 #include "bl702_timer.h"
+#include "hal_adc.h"
 #include "hal_clock.h"
 #include "hal_pwm.h"
 #include "hal_timer.h"
 }
-void ADC0_1_IRQHandler(void) {
 
-  // adc_interrupt_flag_clear(ADC0, ADC_INT_FLAG_EOIC);
+#define ADC_Filter_Weight 32
-  // unblock the PID controller thread
+expMovingAverage<uint16_t, ADC_Filter_Weight> ADC_Vin;
-  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+expMovingAverage<uint16_t, ADC_Filter_Weight> ADC_Temp;
-    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+expMovingAverage<uint16_t, ADC_Filter_Weight> ADC_Tip;
-    if (pidTaskNotification) {
-      vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
-      portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
-    }
-  }
-}
 
 void adc_fifo_irq(void) {
 
-}
+  if (ADC_GetIntStatus(ADC_INT_FIFO_READY) == SET) {
 
+    // Read out all entries in the fifo
+    const uint8_t cnt = ADC_Get_FIFO_Count();
+    for (uint8_t i = 0; i < cnt; i++) {
+      const uint32_t reading = ADC_Read_FIFO();
+      // As per manual, 26 bit reading; lowest 16 are the ADC
+      uint16_t sample = reading & 0xFFFF;
+      uint8_t  source = (reading >> 21) & 0b11111;
+      switch (source) {
+      case TMP36_ADC_CHANNEL:
+        ADC_Temp.update(sample);
+        break;
+      case TIP_TEMP_ADC_CHANNEL:
+        ADC_Tip.update(sample);
+        break;
+      case VIN_ADC_CHANNEL:
+        ADC_Vin.update(sample);
+        break;
+      case 0: // 0 turns up when an invalid reading is taken
+        break;
+      default:
+        // MSG((char *)"ADC Invalid chan %d\r\n", source);
+        break;
+      }
+    }
+    // MSG((char *)"ADC Reading %d %d %d\r\n", ADC_Temp.average(), ADC_Vin.average(), ADC_Tip.average());
+    // Clear IRQ
+    ADC_IntClr(ADC_INT_FIFO_READY);
+  }
+}
+const ADC_Chan_Type adc_tip_pos_chans[] = {TIP_TEMP_ADC_CHANNEL};
+const ADC_Chan_Type adc_tip_neg_chans[] = {ADC_CHAN_GND};
+static_assert(sizeof(adc_tip_pos_chans) == sizeof(adc_tip_neg_chans));
+// TODO Do we need to do the stop+start here or can we hot-write the config
 void start_adc_tip(void) {
   // Reconfigure the ADC to measure the tip temp
   // Single channel input mode
   // The ADC has a 32 sample FiFo; we set this up to fire and interrupt at 16 samples
   // Then using that IRQ to know that sampling is done and can be stored
-  
+  ADC_Stop();
+  ADC_Scan_Channel_Config((ADC_Chan_Type *)adc_tip_pos_chans, (ADC_Chan_Type *)adc_tip_neg_chans, 2, ENABLE);
+  ADC_Start();
 }
+const ADC_Chan_Type adc_misc_pos_chans[] = {TMP36_ADC_CHANNEL, VIN_ADC_CHANNEL};
+const ADC_Chan_Type adc_misc_neg_chans[] = {ADC_CHAN_GND, ADC_CHAN_GND};
+static_assert(sizeof(adc_misc_pos_chans) == sizeof(adc_misc_neg_chans));
+
 void start_adc_misc(void) {
   // Reconfigure the ADC to measure all other inputs in scan mode when we are not measuring the tip
-  
+  ADC_Stop();
+  ADC_Scan_Channel_Config((ADC_Chan_Type *)adc_misc_pos_chans, (ADC_Chan_Type *)adc_misc_neg_chans, 2, ENABLE);
+  ADC_Start();
 }
 
 static bool fastPWM;
@@ -58,12 +96,14 @@ volatile bool     lastPeriodWasFast = false;
 void timer0_irq_callback(struct device *dev, void *args, uint32_t size, uint32_t state) {
   if (state == TIMER_EVENT_COMP0) {
     // MSG((char *)"timer event comp0! \r\n");
-    // We use channel 0 to trigger the ADC, this occurs after the main PWM is done with a delay
+    // Used to start the ADC
-
+    start_adc_tip();
   } else if (state == TIMER_EVENT_COMP1) {
     // MSG((char *)"timer event comp1! \r\n");
-    // Channel 1 is end of the main PWM section; so turn off the output PWM
+    // Used to turn tip off at set point in cycle
+
   } else if (state == TIMER_EVENT_COMP2) {
+    start_adc_misc();
     // This occurs at timer rollover, so if we want to turn on the output PWM; we do so
     if (PWMSafetyTimer) {
       PWMSafetyTimer--;
@@ -83,7 +123,15 @@ void timer0_irq_callback(struct device *dev, void *args, uint32_t size, uint32_t
         // Leave output off
       }
     }
-    // MSG((char *)"timer event comp2! \r\n");
+    // unblock the PID controller thread
+    if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+      BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+      if (pidTaskNotification) {
+        vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
+        portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+      }
+    }
+    MSG((char *)"timer event comp2! \r\n");
   }
 }
 
@@ -150,3 +198,10 @@ bool getFUS302IRQLow() {
   return false;
   // return (RESET == gpio_input_bit_get(FUSB302_IRQ_GPIO_Port, FUSB302_IRQ_Pin));
 }
+
+uint16_t getADCHandleTemp(uint8_t sample) { return ADC_Temp.average(); }
+
+uint16_t getADCVin(uint8_t sample) { return ADC_Vin.average(); }
+
+// Returns either average or instant value. When sample is set the samples from the injected ADC are copied to the filter and then the raw reading is returned
+uint16_t getTipRawTemp(uint8_t sample) { return ADC_Tip.average(); }

source/Core/BSP/Magic/IRQ.h

@@ -18,6 +18,7 @@ extern "C" {
 #endif
 void timer0_irq_callback(struct device *dev, void *args, uint32_t size, uint32_t state);
 void adc_fifo_irq(void);
+void start_adc_misc(void);
 #ifdef __cplusplus
 }
 #endif

source/Core/BSP/Magic/Pins.h

@@ -7,15 +7,17 @@
 
 #ifndef BSP_PINE64_PINS_H_
 #define BSP_PINE64_PINS_H_
+#include "bl702_adc.h"
 #include "hal_gpio.h"
+
 #define KEY_B_Pin            GPIO_PIN_25
 #define TMP36_INPUT_Pin      GPIO_PIN_20
-#define TMP36_ADC_CHANNEL
+#define TMP36_ADC_CHANNEL    ADC_CHAN10
 #define TIP_TEMP_Pin         GPIO_PIN_19
-#define TIP_TEMP_ADC_CHANNEL
+#define TIP_TEMP_ADC_CHANNEL ADC_CHAN9
 
 #define VIN_Pin         GPIO_PIN_18
-#define VIN_ADC_CHANNEL
+#define VIN_ADC_CHANNEL ADC_CHAN8
 #define OLED_RESET_Pin  GPIO_PIN_3
 #define KEY_A_Pin       GPIO_PIN_28
 #define PWM_Out_Pin     GPIO_PIN_21

source/Core/BSP/Magic/Setup.cpp

@@ -9,18 +9,7 @@
 #include "Debug.h"
 #include "FreeRTOSConfig.h"
 #include "Pins.h"
-extern "C" {
+
-#include "bflb_platform.h"
-#include "bl702_adc.h"
-#include "bl702_glb.h"
-#include "bl702_i2c.h"
-#include "bl702_pwm.h"
-#include "bl702_timer.h"
-#include "hal_adc.h"
-#include "hal_clock.h"
-#include "hal_pwm.h"
-#include "hal_timer.h"
-}
 #include "IRQ.h"
 #include "history.hpp"
 #include <string.h>
@@ -37,45 +26,48 @@ void hardware_init() {
   // gpio_set_mode(KEY_A_Pin, GPIO_INPUT_PD_MODE);
   // gpio_set_mode(KEY_B_Pin, GPIO_INPUT_PD_MODE);
   setup_slow_PWM();
+  setup_adc();
 }
 
 void setup_adc(void) {
+  MSG((char *)"Setting up ADC\r\n");
   //
   ADC_CFG_Type      adc_cfg      = {};
   ADC_FIFO_Cfg_Type adc_fifo_cfg = {};
 
   CPU_Interrupt_Disable(GPADC_DMA_IRQn);
+
   ADC_IntMask(ADC_INT_ALL, MASK);
 
   adc_cfg.clkDiv         = ADC_CLK_DIV_32;
-
   adc_cfg.vref           = ADC_VREF_3P2V;
-  adc_cfg.resWidth  = ADC_DATA_WIDTH_16_WITH_128_AVERAGE;
+  adc_cfg.resWidth       = ADC_DATA_WIDTH_16_WITH_256_AVERAGE;
   adc_cfg.inputMode      = ADC_INPUT_SINGLE_END;
-
   adc_cfg.v18Sel         = ADC_V18_SEL_1P82V;
   adc_cfg.v11Sel         = ADC_V11_SEL_1P1V;
-  adc_cfg.gain1          = ADC_PGA_GAIN_1;
+  adc_cfg.gain1          = ADC_PGA_GAIN_NONE;
-  adc_cfg.gain2          = ADC_PGA_GAIN_2;
+  adc_cfg.gain2          = ADC_PGA_GAIN_NONE;
   adc_cfg.chopMode       = ADC_CHOP_MOD_AZ_PGA_ON;
   adc_cfg.biasSel        = ADC_BIAS_SEL_MAIN_BANDGAP;
   adc_cfg.vcm            = ADC_PGA_VCM_1V;
   adc_cfg.offsetCalibEn  = DISABLE;
   adc_cfg.offsetCalibVal = 0;
 
-  adc_fifo_cfg.dmaEn         = DISABLE;
-  adc_fifo_cfg.fifoThreshold = ADC_FIFO_THRESHOLD_16;
-
-  Interrupt_Handler_Register(GPADC_DMA_IRQn, adc_fifo_irq);
-
   ADC_Disable();
   ADC_Enable();
-
   ADC_Reset();
-
   ADC_Init(&adc_cfg);
-
+  adc_fifo_cfg.dmaEn         = DISABLE;
+  adc_fifo_cfg.fifoThreshold = ADC_FIFO_THRESHOLD_16;
   ADC_FIFO_Cfg(&adc_fifo_cfg);
+  // Enable FiFo IRQ
+  MSG((char *)"Int Enable\r\n");
+  Interrupt_Handler_Register(GPADC_DMA_IRQn, adc_fifo_irq);
+  ADC_IntMask(ADC_INT_FIFO_READY, UNMASK);
+  CPU_Interrupt_Enable(GPADC_DMA_IRQn);
+  MSG((char *)"Start\r\n");
+  start_adc_misc();
+  MSG((char *)"Started\r\n");
 }
 
 struct device *timer0;
@@ -104,61 +96,6 @@ void setup_slow_PWM() {
   }
 }
 
-/*
- * ADC
- * ADC is a bit of a mess as we dont have injected mode sampling to use with timers on this device
- * So instead we do this:
- *
- * Main timer0 runs at 5/10hz and schedules everything
- * Its running PWM in the 0-255 range for tip control + sample time at the end of the ADC
- * It triggers the ADC at the end of the PWM cycle
- *
- *
- */
-uint16_t getADCHandleTemp(uint8_t sample) {
-  static history<uint16_t, ADC_FILTER_LEN> filter = {{0}, 0, 0};
-  if (sample) {
-    uint32_t sum = 0;
-    for (uint8_t i = 0; i < ADC_NORM_SAMPLES; i++) {
-      sum += ADCReadings[i];
-    }
-    filter.update(sum);
-  }
-  return filter.average() >> 1;
-}
-
-uint16_t getADCVin(uint8_t sample) {
-  static history<uint16_t, ADC_FILTER_LEN> filter = {{0}, 0, 0};
-  if (sample) {
-    uint16_t latestADC = 0;
-
-    // latestADC += adc_inserted_data_read(ADC1, 0);
-    // latestADC += adc_inserted_data_read(ADC1, 1);
-    // latestADC += adc_inserted_data_read(ADC1, 2);
-    // latestADC += adc_inserted_data_read(ADC1, 3);
-    latestADC <<= 1;
-    filter.update(latestADC);
-  }
-  return filter.average();
-}
-
-// Returns either average or instant value. When sample is set the samples from the injected ADC are copied to the filter and then the raw reading is returned
-uint16_t getTipRawTemp(uint8_t sample) {
-  static history<uint16_t, ADC_FILTER_LEN> filter = {{0}, 0, 0};
-  if (sample) {
-    uint16_t latestADC = 0;
-
-    // latestADC += adc_inserted_data_read(ADC0, 0);
-    // latestADC += adc_inserted_data_read(ADC0, 1);
-    // latestADC += adc_inserted_data_read(ADC0, 2);
-    // latestADC += adc_inserted_data_read(ADC0, 3);
-    latestADC <<= 1;
-    filter.update(latestADC);
-    return latestADC;
-  }
-  return filter.average();
-}
-
 void setupFUSBIRQ() {
   // #TODO
 }

source/Core/BSP/Magic/Setup.h

@@ -8,10 +8,24 @@
 #ifndef PINE_SETUP_H_
 #define PINE_SETUP_H_
 #include <stdint.h>
+extern "C" {
+#include "bflb_platform.h"
+#include "bl702_adc.h"
+#include "bl702_common.h"
+#include "bl702_glb.h"
+#include "bl702_i2c.h"
+#include "bl702_pwm.h"
+#include "bl702_timer.h"
+#include "hal_adc.h"
+#include "hal_clock.h"
+#include "hal_pwm.h"
+#include "hal_timer.h"
 
+}
 #ifdef __cplusplus
 extern "C" {
 #endif
+
 uint16_t getADC(uint8_t channel);
 void     hardware_init();
 uint16_t getADCHandleTemp(uint8_t sample);

source/Core/BSP/Magic/bl_mcu_sdk/drivers/bl702_driver/hal_drv/src/hal_timer.c

@@ -21,9 +21,9 @@
  *
  */
 #include "hal_timer.h"
-#include "hal_clock.h"
 #include "bl702_glb.h"
 #include "bl702_timer.h"
+#include "hal_clock.h"
 
 #ifdef BSP_USING_TIMER0
 void TIMER0_IRQ(void);
@@ -48,8 +48,7 @@ static timer_device_t timerx_device[TIMER_MAX_INDEX] = {
  * @param oflag
  * @return int
  */
-int timer_open(struct device *dev, uint16_t oflag)
+int timer_open(struct device *dev, uint16_t oflag) {
-{
   timer_device_t *timer_device = (timer_device_t *)dev;
 
   uint32_t tmpval;
@@ -153,8 +152,7 @@ int timer_open(struct device *dev, uint16_t oflag)
  * @param dev
  * @return int
  */
-int timer_close(struct device *dev)
+int timer_close(struct device *dev) {
-{
   timer_device_t *timer_device = (timer_device_t *)(dev);
   TIMER_Disable(timer_device->id);
   return 0;
@@ -168,8 +166,7 @@ int timer_close(struct device *dev)
  * @param args
  * @return int
  */
-int timer_control(struct device *dev, int cmd, void *args)
+int timer_control(struct device *dev, int cmd, void *args) {
-{
   timer_device_t *timer_device = (timer_device_t *)dev;
 
   switch (cmd) {
@@ -243,8 +240,7 @@ int timer_control(struct device *dev, int cmd, void *args)
   return 0;
 }
 
-int timer_write(struct device *dev, uint32_t pos, const void *buffer, uint32_t size)
+int timer_write(struct device *dev, uint32_t pos, const void *buffer, uint32_t size) {
-{
   timer_device_t      *timer_device  = (timer_device_t *)dev;
   timer_timeout_cfg_t *timeout_cfg   = (timer_timeout_cfg_t *)buffer;
   uint32_t             compare_count = 0;
@@ -296,10 +292,7 @@ int timer_write(struct device *dev, uint32_t pos, const void *buffer, uint32_t s
   TIMER_Enable(timer_device->id);
   return 0;
 }
-int timer_read(struct device *dev, uint32_t pos, void *buffer, uint32_t size)
+int timer_read(struct device *dev, uint32_t pos, void *buffer, uint32_t size) { return 0; }
-{
-    return 0;
-}
 
 /**
  * @brief
@@ -308,8 +301,7 @@ int timer_read(struct device *dev, uint32_t pos, void *buffer, uint32_t size)
  * @param name
  * @return int
  */
-int timer_register(enum timer_index_type index, const char *name)
+int timer_register(enum timer_index_type index, const char *name) {
-{
   struct device *dev;
 
   if (TIMER_MAX_INDEX == 0) {
@@ -330,8 +322,7 @@ int timer_register(enum timer_index_type index, const char *name)
   return device_register(dev, name);
 }
 
-void timer_isr(timer_device_t *handle)
+void timer_isr(timer_device_t *handle) {
-{
   uint32_t intId   = 0;
   uint32_t tmpVal  = 0;
   uint32_t tmpAddr = 0;
@@ -348,7 +339,6 @@ void timer_isr(timer_device_t *handle)
   if (BL_IS_REG_BIT_SET(intId, TIMER_TMSR_0)) {
     BL_WR_WORD(tmpAddr, BL_SET_REG_BIT(tmpVal, TIMER_TCLR_0));
     handle->parent.callback(&handle->parent, NULL, 0, TIMER_EVENT_COMP0);
-
   }
 
   /* Comparator 1 match interrupt */
@@ -369,10 +359,7 @@ void timer_isr(timer_device_t *handle)
  * @brief
  *
  */
-void TIMER0_IRQ(void)
+void TIMER0_IRQ(void) { timer_isr(&timerx_device[TIMER0_INDEX]); }
-{
-    timer_isr(&timerx_device[TIMER0_INDEX]);
-}
 
 #endif
 
@@ -381,9 +368,6 @@ void TIMER0_IRQ(void)
  * @brief
  *
  */
-void TIMER1_IRQ(void)
+void TIMER1_IRQ(void) { timer_isr(&timerx_device[TIMER1_INDEX]); }
-{
-    timer_isr(&timerx_device[TIMER1_INDEX]);
-}
 
 #endif

source/Core/BSP/Magic/clock_config.h

@@ -49,7 +49,7 @@
 #define BSP_IR_CLOCK_SOURCE           ROOT_CLOCK_SOURCE_XCLK
 #define BSP_IR_CLOCK_DIV              0
 #define BSP_ADC_CLOCK_SOURCE          ROOT_CLOCK_SOURCE_XCLK
-#define BSP_ADC_CLOCK_DIV             0
+#define BSP_ADC_CLOCK_DIV             128
 #define BSP_DAC_CLOCK_SOURCE          ROOT_CLOCK_SOURCE_AUPLL_24000000_HZ
 #define BSP_DAC_CLOCK_DIV             2
 #define BSP_CAM_CLOCK_SOURCE          ROOT_CLOCK_SOURCE_PLL_96M

source/Core/Inc/expMovingAverage.h

@@ -8,7 +8,6 @@
 #ifndef INC_EXPMOVINGAVERAGE_H_
 #define INC_EXPMOVINGAVERAGE_H_
 
-// max size = 127
 template <class T, uint8_t weighting> struct expMovingAverage {
   int32_t sum;
   void    update(T const val) { sum = ((val * weighting) + (sum * (256 - weighting))) / 256; }

source/Makefile

@@ -270,7 +270,7 @@ CPUFLAGS= -march=rv32imafc \
 			-mabi=ilp32f \
 			-mcmodel=medany -fsigned-char -fno-builtin -nostartfiles \
 			-DportasmHANDLE_INTERRUPT=FreeRTOS_Interrupt_Handler -DARCH_RISCV -D__RISCV_FEATURE_MVE=0 -DportUSING_MPU_WRAPPERS=0
-DEV_LDFLAGS=-nostartfiles --specs=patch.specs
+DEV_LDFLAGS=-nostartfiles --specs=patch.specs -DDEBUG
 DEV_AFLAGS=  
 DEV_GLOBAL_DEFS= 
 #Required to be turned off due to their drivers tripping warnings
@@ -355,7 +355,6 @@ LINKER_FLAGS=   -Wl,--gc-sections 		                      \
 			    -Wl,--defsym=__FLASH_SIZE__=$(flash_size)     \
 			    -Wl,--defsym=__BOOTLDR_SIZE__=$(bootldr_size) \
 				-Wl,--print-memory-usage 					  \
-				-flto 										  \
 				--specs=nosys.specs 						  \
 			    --specs=nano.specs						      \
 				$(DEV_LDFLAGS)