[stm32] update libopencm3 and hence also adc injected channel order

sw/airborne/arch/stm32/mcu_periph/adc_arch.c

@@ -90,13 +90,7 @@
 
 #include <libopencm3/stm32/rcc.h>
 #include <libopencm3/stm32/gpio.h>
-#if defined(STM32F1)
-#include <libopencm3/stm32/f1/adc.h>
-#define ADC_SAMPLE_TIME ADC_SMPR_SMP_41DOT5CYC
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/adc.h>
-#define ADC_SAMPLE_TIME ADC_SMPR_SMP_56CYC
-#endif
+#include <libopencm3/stm32/adc.h>
 #include <libopencm3/cm3/nvic.h>
 #include <libopencm3/stm32/timer.h>
 #include <string.h>
@@ -110,6 +104,11 @@
 #define NVIC_ADC_IRQ_PRIO 0
 #endif
 
+#if defined(STM32F1)
+#define ADC_SAMPLE_TIME ADC_SMPR_SMP_41DOT5CYC
+#elif defined(STM32F4)
+#define ADC_SAMPLE_TIME ADC_SMPR_SMP_56CYC
+#endif
 
 // Macros to automatically enable the correct ADC
 
@@ -152,6 +151,14 @@ PRINT_CONFIG_MSG("Analog to Digital Coverter 3 active")
 #warning ALL ADC CONVERTERS INACTIVE
 #endif
 
+#ifndef ADC_TIMER_PRESCALER
+#if defined(STM32F1)
+#define ADC_TIMER_PRESCALER 0x8
+#elif defined(STM32F4)
+#define ADC_TIMER_PRESCALER 0x53
+#endif
+#endif
+
 /***************************************/
 /***   STATIC FUNCTION PROTOTYPES    ***/
 /***************************************/
@@ -197,8 +204,10 @@ static struct adc_buf * adc3_buffers[4];
 #endif
 
 #if USE_ADC_WATCHDOG
+#include "mcu_periph/sys_time.h"
 // watchdog structure with adc bank and callback
 static struct {
+  uint32_t timeStamp;
   uint32_t adc;
   adc_watchdog_callback cb;
 } adc_watchdog;
@@ -270,23 +279,19 @@ void adc_init( void ) {
    * That's why "adc_channel_map" has this descending order.
    */
 
-  nb_adc1_channels = 0;
+  nb_adc1_channels = NB_ADC1_CHANNELS;
 #if USE_AD1
-#ifdef AD1_4_CHANNEL
-  adc_channel_map[3-nb_adc1_channels] = AD1_4_CHANNEL;
-  nb_adc1_channels++;
-#endif
-#ifdef AD1_3_CHANNEL
-  adc_channel_map[3-nb_adc1_channels] = AD1_3_CHANNEL;
-  nb_adc1_channels++;
+#ifdef AD1_1_CHANNEL
+  adc_channel_map[AD1_1] = AD1_1_CHANNEL;
 #endif
 #ifdef AD1_2_CHANNEL
-  adc_channel_map[3-nb_adc1_channels] = AD1_2_CHANNEL;
-  nb_adc1_channels++;
+  adc_channel_map[AD1_2] = AD1_2_CHANNEL;
 #endif
-#ifdef AD1_1_CHANNEL
-  adc_channel_map[3-nb_adc1_channels] = AD1_1_CHANNEL;
-  nb_adc1_channels++;
+#ifdef AD1_3_CHANNEL
+  adc_channel_map[AD1_3] = AD1_3_CHANNEL;
+#endif
+#ifdef AD1_4_CHANNEL
+  adc_channel_map[AD1_4] = AD1_4_CHANNEL;
 #endif
   // initialize buffer pointers with 0 (not set). Buffer null pointers will be ignored in interrupt
   // handler, which is important as there are no buffers registered at the time the ADC trigger
@@ -296,23 +301,19 @@ void adc_init( void ) {
 #endif // USE_AD1
 
 
-  nb_adc2_channels = 0;
+  nb_adc2_channels = NB_ADC2_CHANNELS;
 #if USE_AD2
-#ifdef AD2_4_CHANNEL
-  adc_channel_map[3-nb_adc2_channels] = AD2_4_CHANNEL;
-  nb_adc2_channels++;
-#endif
-#ifdef AD2_3_CHANNEL
-  adc_channel_map[3-nb_adc2_channels] = AD2_3_CHANNEL;
-  nb_adc2_channels++;
+#ifdef AD2_1_CHANNEL
+  adc_channel_map[AD2_1] = AD2_1_CHANNEL;
 #endif
 #ifdef AD2_2_CHANNEL
-  adc_channel_map[3-nb_adc2_channels] = AD2_2_CHANNEL;
-  nb_adc2_channels++;
+  adc_channel_map[AD2_2] = AD2_2_CHANNEL;
 #endif
-#ifdef AD2_1_CHANNEL
-  adc_channel_map[3-nb_adc2_channels] = AD2_1_CHANNEL;
-  nb_adc2_channels++;
+#ifdef AD2_3_CHANNEL
+  adc_channel_map[AD2_3] = AD2_3_CHANNEL;
+#endif
+#ifdef AD2_4_CHANNEL
+  adc_channel_map[AD2_4] = AD2_4_CHANNEL;
 #endif
   // initialize buffer pointers with 0 (not set). Buffer null pointers will be ignored in interrupt
   // handler, which is important as there are no buffers registered at the time the ADC trigger
@@ -322,23 +323,19 @@ void adc_init( void ) {
 #endif // USE_AD2
 
 
-  nb_adc3_channels = 0;
+  nb_adc3_channels = NB_ADC3_CHANNELS;
 #if USE_AD3
-#ifdef AD3_4_CHANNEL
-  adc_channel_map[3-nb_adc3_channels] = AD3_4_CHANNEL;
-  nb_adc3_channels++;
-#endif
-#ifdef AD3_3_CHANNEL
-  adc_channel_map[3-nb_adc3_channels] = AD3_3_CHANNEL;
-  nb_adc3_channels++;
+#ifdef AD3_1_CHANNEL
+  adc_channel_map[AD3_1] = AD3_1_CHANNEL;
 #endif
 #ifdef AD3_2_CHANNEL
-  adc_channel_map[3-nb_adc3_channels] = AD3_2_CHANNEL;
-  nb_adc3_channels++;
+  adc_channel_map[AD3_2] = AD3_2_CHANNEL;
 #endif
-#ifdef AD3_1_CHANNEL
-  adc_channel_map[3-nb_adc3_channels] = AD3_1_CHANNEL;
-  nb_adc3_channels++;
+#ifdef AD3_3_CHANNEL
+  adc_channel_map[AD3_3] = AD3_3_CHANNEL;
+#endif
+#ifdef AD3_4_CHANNEL
+  adc_channel_map[AD3_4] = AD3_4_CHANNEL;
 #endif
   // initialize buffer pointers with 0 (not set). Buffer null pointers will be ignored in interrupt
   // handler, which is important as there are no buffers registered at the time the ADC trigger
@@ -351,6 +348,7 @@ void adc_init( void ) {
 
 #if USE_ADC_WATCHDOG
   adc_watchdog.cb = NULL;
+  adc_watchdog.timeStamp=0;
 #endif
 
 }
@@ -440,11 +438,10 @@ static inline void adc_init_rcc( void )
                  TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
 #if defined(STM32F1)
   timer_set_period(timer, 0xFF);
-  timer_set_prescaler(timer, 0x8);
 #elif defined(STM32F4)
   timer_set_period(timer, 0xFFFF);
-  timer_set_prescaler(timer, 0x53);
 #endif
+  timer_set_prescaler(timer, ADC_TIMER_PRESCALER);
   //timer_set_clock_division(timer, 0x0);
   /* Generate TRGO on every update. */
   timer_set_master_mode(timer, TIM_CR2_MMS_UPDATE);
@@ -584,6 +581,16 @@ void adc1_2_isr(void)
   struct adc_buf * buf;
 
 #if USE_ADC_WATCHDOG
+  /*
+    We need adc sampling fast enough to detect battery plug out, but we did not
+    need to get actual actual value so fast. So timer fire adc conversion fast,
+    at least 500 hz, but we inject adc value in sampling buffer only at 10hz
+   */
+  const uint32_t timeStampDiff = get_sys_time_usec() - adc_watchdog.timeStamp;
+  const bool_t shouldAccumulateValue = timeStampDiff > 100;
+  if (shouldAccumulateValue)
+    adc_watchdog.timeStamp = get_sys_time_usec();
+
   if (adc_watchdog.cb != NULL) {
     if (adc_awd(adc_watchdog.adc)) {
       ADC_SR(adc_watchdog.adc) &= ~ADC_SR_AWD; // clear int flag
@@ -596,13 +603,20 @@ void adc1_2_isr(void)
   // Clear Injected End Of Conversion
   if (ADC_SR(ADC1) & ADC_SR_JEOC){
     ADC_SR(ADC1) &= ~ADC_SR_JEOC;
+#if USE_ADC_WATCHDOG
+    if (shouldAccumulateValue) {
+#endif
     for (channel = 0; channel < nb_adc1_channels; channel++) {
       buf = adc1_buffers[channel];
       if (buf) {
         value = *(&ADC_JDR1(ADC1)+channel);
         adc_push_sample(buf, value);
       }
     }
+#if USE_ADC_WATCHDOG
+  }
+#endif
+
 #if !USE_AD2 && !USE_AD3
     adc_new_data_trigger = TRUE;
 #endif
@@ -611,13 +625,19 @@ void adc1_2_isr(void)
 #if USE_AD2
   if (ADC_SR(ADC2) & ADC_SR_JEOC){
     ADC_SR(ADC2) &= ~ADC_SR_JEOC;
+#if USE_ADC_WATCHDOG
+    if (shouldAccumulateValue) {
+#endif
     for (channel = 0; channel < nb_adc2_channels; channel++) {
       buf = adc2_buffers[channel];
       if (buf) {
         value = *(&ADC_JDR1(ADC2)+channel);
         adc_push_sample(buf, value);
       }
     }
+#if USE_ADC_WATCHDOG
+  }
+#endif
 #if !USE_AD3
     adc_new_data_trigger = TRUE;
 #endif
@@ -626,16 +646,23 @@ void adc1_2_isr(void)
 #if USE_AD3
   if (ADC_SR(ADC3) & ADC_SR_JEOC){
     ADC_SR(ADC3) &= ~ADC_SR_JEOC;
+#if USE_ADC_WATCHDOG
+    if (shouldAccumulateValue) {
+#endif
     for (channel = 0; channel < nb_adc3_channels; channel++) {
       buf = adc3_buffers[channel];
       if (buf) {
         value = *(&ADC_JDR1(ADC3)+channel);
         adc_push_sample(buf, value);
       }
     }
+#if USE_ADC_WATCHDOG
+  }
+#endif
     adc_new_data_trigger = TRUE;
   }
 #endif
 
+
   return;
 }

sw/airborne/arch/stm32/mcu_periph/adc_arch.h

@@ -33,7 +33,8 @@
 #include BOARD_CONFIG
 
 // NB_ADCx_CHANNELS
-enum adc_channels {
+
+enum adc1_channels {
 #ifdef AD1_1_CHANNEL
   AD1_1,
 #endif
@@ -46,7 +47,10 @@ enum adc_channels {
 #ifdef AD1_4_CHANNEL
   AD1_4,
 #endif
-//  NB_ADC1_CHANNELS
+  NB_ADC1_CHANNELS
+};
+
+enum adc2_channels {
 #ifdef AD2_1_CHANNEL
   AD2_1,
 #endif
@@ -59,7 +63,10 @@ enum adc_channels {
 #ifdef AD2_4_CHANNEL
   AD2_4,
 #endif
-//  NB_ADC2_CHANNELS
+  NB_ADC2_CHANNELS
+};
+
+enum adc3_channels {
 #ifdef AD3_1_CHANNEL
   AD3_1,
 #endif
@@ -72,10 +79,11 @@ enum adc_channels {
 #ifdef AD3_4_CHANNEL
   AD3_4,
 #endif
-//  NB_ADC3_CHANNELS
-  NB_ADC
+  NB_ADC3_CHANNELS
 };
 
+#define NB_ADC (NB_ADC1_CHANNELS+NB_ADC2_CHANNELS+NB_ADC3_CHANNELS)
+
 #if USE_ADC_WATCHDOG
 
 /* Watchdog callback type definition

sw/airborne/mcu_periph/adc.h

@@ -31,8 +31,8 @@
  *  - register it with the ::adc_buf_channel function
  */
 
-#ifndef _ADC_H_
-#define _ADC_H_
+#ifndef MCU_PERIPH_ADC_H
+#define MCU_PERIPH_ADC_H
 
 #include <inttypes.h>
 #include "mcu_periph/adc_arch.h"
@@ -78,4 +78,5 @@ void adc_buf_channel(uint8_t adc_channel, struct adc_buf* s, uint8_t av_nb_sampl
 
 /** Starts conversions */
 void adc_init( void );
+
 #endif