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gex-core/units/adc/_adc_core.c

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//
// Created by MightyPork on 2018/02/04.
//
#include "platform.h"
#include "unit_base.h"
#include "unit_adc.h"
#define ADC_INTERNAL
#include "_adc_internal.h"
#define DMA_POS(priv) ((priv)->dma_buffer_itemcount - (priv)->DMA_CHx->CNDTR)
volatile bool emergency = false;
//#define CRUMB() if(emergency) trap("crumb")
static void UADC_JobSendBlockChunk(Job *job)
{
Unit *unit = job->unit;
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
uint32_t start = job->data1;
uint32_t count = job->data2;
bool close = (bool) job->data3;
// dbg("Send indices [%d -> %d)", (int)start, (int)(start+count));
TF_TYPE type = close ? EVT_CAPT_DONE : EVT_CAPT_MORE;
TF_Msg msg = {
.frame_id = priv->stream_frame_id,
.len = (TF_LEN) (1 + count*sizeof(uint16_t)),
.type = type,
};
TF_Respond_Multipart(comm, &msg);
TF_Multipart_Payload(comm, &priv->stream_serial, 1);
TF_Multipart_Payload(comm, (uint8_t *) (priv->dma_buffer + start), count * sizeof(uint16_t));
TF_Multipart_Close(comm);
priv->stream_serial++;
}
static void UADC_JobSendTriggerCaptureHeader(Job *job)
{
Unit *unit = job->unit;
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
EventReport er = {
.unit = unit,
.type = EVT_CAPT_START,
.timestamp = job->timestamp,
.length = (priv->pretrig_len+1)*priv->nb_channels*sizeof(uint16_t) + 2 /*pretrig len*/ + 1 /*edge*/ + 1 /* seq */
};
uint16_t index_trigd = (uint16_t) job->data1;
uint8_t edge = (uint8_t) job->data2;
EventReport_Start(&er);
priv->stream_frame_id = er.sent_msg_id;
// dbg("Sending TRIG HEADER with id %d (idx %d)", (int)er.sent_msg_id, (int)index_trigd);
{
// preamble
uint8_t buf[4];
PayloadBuilder pb = pb_start(buf, 4, NULL);
pb_u16(&pb, priv->pretrig_len);
pb_u8(&pb, edge);
pb_u8(&pb, priv->stream_serial++); // This is the serial counter for the first chunk
// (containing the pre-trigger, or empty if no pretrig configured)
EventReport_PB(&pb);
if (priv->pretrig_len > 0) {
// pretrig
uint16_t pretrig_remain = (uint16_t) ((priv->pretrig_len + 1) * priv->nb_channels); // +1 because we want pretrig 0 to exactly start with the triggering sample
assert_param(index_trigd <= priv->dma_buffer_itemcount);
// this is one past the last entry of the triggering capture group
if (pretrig_remain > index_trigd) {
// used items in the wrap-around part of the buffer
uint16_t items_from_end = pretrig_remain - index_trigd;
assert_param(priv->dma_buffer_itemcount - items_from_end >= index_trigd);
// dbg("Pretrig wraparound part: start %d, len %d",
// (int) (priv->dma_buffer_itemcount - items_from_end),
// (int) items_from_end
// );
EventReport_Data(
(uint8_t *) &priv->dma_buffer[priv->dma_buffer_itemcount -
items_from_end],
items_from_end * sizeof(uint16_t));
assert_param(items_from_end <= pretrig_remain);
pretrig_remain -= items_from_end;
}
// dbg("Pretrig front part: start %d, len %d",
// (int) (index_trigd - pretrig_remain),
// (int) pretrig_remain
// );
assert_param(pretrig_remain <= index_trigd);
EventReport_Data((uint8_t *) &priv->dma_buffer[index_trigd - pretrig_remain],
pretrig_remain * sizeof(uint16_t));
}
}
EventReport_End();
}
static void UADC_JobSendEndOfStreamMsg(Job *job)
{
Unit *unit = job->unit;
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
TF_Msg msg = {
.type = EVT_CAPT_DONE,
.frame_id = (TF_ID) job->data1
};
TF_Respond(comm, &msg);
}
void UADC_ReportEndOfStream(Unit *unit)
{
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
Job j = {
.unit = unit,
.data1 = priv->stream_frame_id,
.cb = UADC_JobSendEndOfStreamMsg
};
scheduleJob(&j);
}
static void handle_httc(Unit *unit, bool tc)
{
struct priv *priv = unit->data;
uint16_t start = priv->stream_startpos;
uint16_t end;
const bool ht = !tc;
const bool m_trigd = priv->opmode == ADC_OPMODE_TRIGD;
const bool m_stream = priv->opmode == ADC_OPMODE_STREAM;
const bool m_fixcpt = priv->opmode == ADC_OPMODE_BLCAP;
if (ht) {
// dbg("HT");
end = (uint16_t) (priv->dma_buffer_itemcount / 2);
LL_DMA_ClearFlag_HT(priv->DMAx, priv->dma_chnum);
}
else {
// dbg("TC");
end = (uint16_t) priv->dma_buffer_itemcount;
LL_DMA_ClearFlag_TC(priv->DMAx, priv->dma_chnum);
}
if (ht == tc) {
// This shouldn't happen - looks like we missed the TC flag
dbg("!! %d -> %d", (int) start, (int) end);
// TODO we could try to catch up. for now, just take what is easy to grab and hope it doesnt matter
if (end == 64) start = 0;
}
if (start != end) {
uint32_t sgcount = (end - start) / priv->nb_channels;
if (m_trigd || m_fixcpt) {
sgcount = MIN(priv->trig_stream_remain, sgcount);
priv->trig_stream_remain -= sgcount;
}
bool close = !m_stream && priv->trig_stream_remain == 0;
Job j = {
.unit = unit,
.data1 = start,
.data2 = sgcount * priv->nb_channels,
.data3 = (uint32_t) close,
.cb = UADC_JobSendBlockChunk
};
if (!scheduleJob(&j)) {
// Abort if we can't queue - the stream would tear and we'd hog the system with error messages
dbg("(!) Buffers overflow, abort capture");
emergency = true;
UADC_SwitchMode(unit, ADC_OPMODE_EMERGENCY_SHUTDOWN);
return;
}
if (close) {
// dbg("End of capture");
// If auto-arm enabled, we need to re-arm again.
// However, EOS irq is disabled during the capture.
// We have to wait for the next EOS interrupt to occur.
// TODO verify if keeping the EOS irq enabled during capture has significant performance penalty. If not, we can leave it enabled.
UADC_SwitchMode(unit, (priv->auto_rearm && m_trigd) ? ADC_OPMODE_REARM_PENDING : ADC_OPMODE_IDLE);
}
} else {
// dbg("start==end, skip this irq");
}
if (tc) {
priv->stream_startpos = 0;
}
else {
priv->stream_startpos = end;
}
}
void UADC_DMA_Handler(void *arg)
{
Unit *unit = arg;
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
if (priv->opmode == ADC_OPMODE_UNINIT) {
LL_DMA_ClearFlag_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_ClearFlag_TC(priv->DMAx, priv->dma_chnum);
LL_DMA_ClearFlag_TE(priv->DMAx, priv->dma_chnum);
return;
}
const uint32_t isrsnapshot = priv->DMAx->ISR;
if (LL_DMA_IsActiveFlag_G(isrsnapshot, priv->dma_chnum)) {
const bool tc = LL_DMA_IsActiveFlag_TC(isrsnapshot, priv->dma_chnum);
const bool ht = LL_DMA_IsActiveFlag_HT(isrsnapshot, priv->dma_chnum);
const bool te = LL_DMA_IsActiveFlag_TE(isrsnapshot, priv->dma_chnum);
// check what mode we're in
const bool m_trigd = priv->opmode == ADC_OPMODE_TRIGD;
const bool m_stream = priv->opmode == ADC_OPMODE_STREAM;
const bool m_fixcpt = priv->opmode == ADC_OPMODE_BLCAP;
if (m_trigd || m_stream || m_fixcpt) {
if (ht || tc) {
if (ht && tc) {
uint16_t half = (uint16_t) (priv->dma_buffer_itemcount / 2);
if (priv->stream_startpos > half) {
handle_httc(unit, true);
handle_httc(unit, false);
} else {
handle_httc(unit, false);
handle_httc(unit, true);
}
} else {
handle_httc(unit, tc);
}
}
} else {
// This shouldn't happen, the interrupt should be disabled in this opmode
dbg("(!) not streaming, DMA IT should be disabled");
if (ht) {
LL_DMA_ClearFlag_HT(priv->DMAx, priv->dma_chnum);
}
else {
LL_DMA_ClearFlag_TC(priv->DMAx, priv->dma_chnum);
}
}
if (te) {
// this shouldn't happen - error
dbg("ADC DMA TE!");
LL_DMA_ClearFlag_TE(priv->DMAx, priv->dma_chnum);
}
}
}
void UADC_ADC_EOS_Handler(void *arg)
{
Unit *unit = arg;
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
// Normally
uint64_t timestamp = 0;
if (priv->opmode == ADC_OPMODE_ARMED) timestamp = PTIM_GetMicrotime();
LL_ADC_ClearFlag_EOS(priv->ADCx);
if (priv->opmode == ADC_OPMODE_UNINIT) return;
// Wait for the DMA to complete copying the last sample
uint16_t dmapos;
hw_wait_while((dmapos = (uint16_t) DMA_POS(priv)) % priv->nb_channels != 0, 100); // XXX this could be changed to reading it from the DR instead
uint32_t sample_pos;
if (dmapos == 0) {
sample_pos = (uint32_t) (priv->dma_buffer_itemcount);
} else {
sample_pos = dmapos;
}
sample_pos -= priv->nb_channels;
int cnt = 0; // index of the sample within the group
const bool can_average = priv->real_frequency_int < UADC_MAX_FREQ_FOR_AVERAGING;
const uint32_t channels_mask = priv->extended_channels_mask;
for (uint8_t i = 0; i < 18; i++) {
if (channels_mask & (1 << i)) {
uint16_t val = priv->dma_buffer[sample_pos+cnt];
cnt++;
if (can_average) {
priv->averaging_bins[i] =
priv->averaging_bins[i] * (1.0f - priv->avg_factor_as_float) +
((float) val) * priv->avg_factor_as_float;
}
priv->last_samples[i] = val;
}
}
if (priv->opmode == ADC_OPMODE_ARMED) {
uint16_t val = priv->last_samples[priv->trigger_source];
// dbg("Trig line level %d", (int)val);
if ((priv->trig_prev_level < priv->trig_level) && val >= priv->trig_level && (bool) (priv->trig_edge & 0b01)) {
// dbg("******** Rising edge");
// Rising edge
UADC_HandleTrigger(unit, 1, timestamp);
}
else if ((priv->trig_prev_level > priv->trig_level) && val <= priv->trig_level && (bool) (priv->trig_edge & 0b10)) {
// dbg("******** Falling edge");
// Falling edge
UADC_HandleTrigger(unit, 2, timestamp);
}
priv->trig_prev_level = val;
}
// auto-rearm was waiting for the next sample
if (priv->opmode == ADC_OPMODE_REARM_PENDING) {
if (!priv->auto_rearm) {
// It looks like the flag was cleared by DISARM before we got a new sample.
// Let's just switch to IDLE
UADC_SwitchMode(unit, ADC_OPMODE_IDLE);
} else {
// Re-arming for a new trigger
UADC_SwitchMode(unit, ADC_OPMODE_ARMED);
}
}
}
void UADC_HandleTrigger(Unit *unit, uint8_t edge_type, uint64_t timestamp)
{
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
if (priv->opmode == ADC_OPMODE_UNINIT) return;
if (priv->trig_holdoff != 0 && priv->trig_holdoff_remain > 0) {
// dbg("Trig discarded due to holdoff.");
return;
}
if (priv->trig_holdoff > 0) {
priv->trig_holdoff_remain = priv->trig_holdoff;
// Start the tick
unit->tick_interval = 1;
unit->_tick_cnt = 1;
}
priv->stream_startpos = (uint16_t) DMA_POS(priv);
priv->trig_stream_remain = priv->trig_len;
priv->stream_serial = 0;
// dbg("Trigger condition hit, edge=%d, startpos %d", edge_type, (int)priv->stream_startpos);
Job j = {
.unit = unit,
.timestamp = timestamp,
.data1 = priv->stream_startpos,
.data2 = edge_type,
.cb = UADC_JobSendTriggerCaptureHeader
};
scheduleJob(&j);
UADC_SwitchMode(unit, ADC_OPMODE_TRIGD);
}
void UADC_StartBlockCapture(Unit *unit, uint32_t len, TF_ID frame_id)
{
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
if (priv->opmode == ADC_OPMODE_UNINIT) return;
priv->stream_frame_id = frame_id;
priv->stream_startpos = (uint16_t) DMA_POS(priv);
priv->trig_stream_remain = len;
priv->stream_serial = 0;
UADC_SwitchMode(unit, ADC_OPMODE_BLCAP);
}
/** Start stream */
void UADC_StartStream(Unit *unit, TF_ID frame_id)
{
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
if (priv->opmode == ADC_OPMODE_UNINIT) return;
priv->stream_frame_id = frame_id;
priv->stream_startpos = (uint16_t) DMA_POS(priv);
priv->stream_serial = 0;
UADC_SwitchMode(unit, ADC_OPMODE_STREAM);
}
/** End stream */
void UADC_StopStream(Unit *unit)
{
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
if (priv->opmode == ADC_OPMODE_UNINIT) return;
UADC_ReportEndOfStream(unit);
UADC_SwitchMode(unit, ADC_OPMODE_IDLE);
}
/** Handle unit update tick - expire the trigger hold-off */
void UADC_updateTick(Unit *unit)
{
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
// Recover from shutdown after a delay
if (priv->opmode == ADC_OPMODE_EMERGENCY_SHUTDOWN) {
dbg("Recovering from emergency shutdown");
UADC_SwitchMode(unit, ADC_OPMODE_IDLE);
LL_TIM_EnableCounter(priv->TIMx);
UADC_ReportEndOfStream(unit);
unit->tick_interval = 0;
return;
}
if (priv->trig_holdoff_remain > 0) {
priv->trig_holdoff_remain--;
if (priv->trig_holdoff_remain == 0) {
unit->tick_interval = 0;
unit->_tick_cnt = 0;
}
}
}
void UADC_SwitchMode(Unit *unit, enum uadc_opmode new_mode)
{
assert_param(unit);
struct priv *priv = unit->data;
assert_param(priv);
const enum uadc_opmode old_mode = priv->opmode;
if (new_mode == old_mode) return; // nothing to do
// if un-itied, can go only to IDLE
assert_param((old_mode != ADC_OPMODE_UNINIT) || (new_mode == ADC_OPMODE_IDLE));
priv->opmode = ADC_OPMODE_UNINIT;
if (new_mode == ADC_OPMODE_UNINIT) {
// dbg("ADC switch -> UNINIT");
// Stop the DMA, timer and disable ADC - this is called before tearing down the unit
LL_TIM_DisableCounter(priv->TIMx);
// Switch off the ADC
if (LL_ADC_IsEnabled(priv->ADCx)) {
// Cancel ongoing conversion
if (LL_ADC_REG_IsConversionOngoing(priv->ADCx)) {
// dbg("Stopping ADC conv");
LL_ADC_REG_StopConversion(priv->ADCx);
hw_wait_while(LL_ADC_REG_IsStopConversionOngoing(priv->ADCx), 100);
}
LL_ADC_Disable(priv->ADCx);
// dbg("Disabling ADC");
hw_wait_while(LL_ADC_IsDisableOngoing(priv->ADCx), 100);
}
// dbg("Disabling DMA");
LL_DMA_DisableChannel(priv->DMAx, priv->dma_chnum);
LL_DMA_DisableIT_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_DisableIT_TC(priv->DMAx, priv->dma_chnum);
}
else if (new_mode == ADC_OPMODE_IDLE || new_mode == ADC_OPMODE_REARM_PENDING) {
// IDLE and ARMED are identical with the exception that the trigger condition is not checked
// ARMED can be only entered from IDLE, thus we do the init only here.
// In IDLE, we don't need the DMA interrupts
LL_DMA_ClearFlag_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_ClearFlag_TC(priv->DMAx, priv->dma_chnum);
LL_DMA_DisableIT_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_DisableIT_TC(priv->DMAx, priv->dma_chnum);
// Use End Of Sequence to recover results for averaging from the DMA buffer and DR
LL_ADC_ClearFlag_EOS(priv->ADCx);
LL_ADC_EnableIT_EOS(priv->ADCx);
if (old_mode == ADC_OPMODE_UNINIT) {
// Nothing is started yet - this is the only way to leave UNINIT
LL_ADC_Enable(priv->ADCx);
LL_DMA_EnableChannel(priv->DMAx, priv->dma_chnum);
LL_TIM_EnableCounter(priv->TIMx);
LL_ADC_REG_StartConversion(priv->ADCx);
}
}
else if (new_mode == ADC_OPMODE_EMERGENCY_SHUTDOWN) {
// Emergency shutdown is used when the job queue overflows and the stream is torn
// This however doesn't help in the case when user sets such a high frequency
// that the whole app becomes unresponsive due to the completion ISR, need to verify the value manually.
LL_DMA_ClearFlag_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_ClearFlag_TC(priv->DMAx, priv->dma_chnum);
LL_DMA_DisableIT_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_DisableIT_TC(priv->DMAx, priv->dma_chnum);
LL_TIM_DisableCounter(priv->TIMx);
UADC_SetSampleRate(unit, 10000); // fallback to a known safe value
LL_ADC_ClearFlag_EOS(priv->ADCx);
LL_ADC_DisableIT_EOS(priv->ADCx);
unit->tick_interval = 0;
unit->_tick_cnt = 250; // 1-off
}
else if (new_mode == ADC_OPMODE_ARMED) {
// dbg("ADC switch -> ARMED");
assert_param(old_mode == ADC_OPMODE_IDLE || old_mode == ADC_OPMODE_REARM_PENDING);
// avoid firing immediately by the value jumping across the scale
priv->trig_prev_level = priv->last_samples[priv->trigger_source];
}
else if (new_mode == ADC_OPMODE_TRIGD ||
new_mode == ADC_OPMODE_STREAM ||
new_mode == ADC_OPMODE_BLCAP) {
// dbg("ADC switch -> TRIG'D / STREAM / BLOCK");
assert_param(old_mode == ADC_OPMODE_ARMED || old_mode == ADC_OPMODE_IDLE);
// during the capture, we disallow direct readout and averaging to reduce overhead
LL_ADC_DisableIT_EOS(priv->ADCx);
// Enable the DMA buffer interrupts
// we must first clear the flags, otherwise it will cause WEIRD bugs in the handler
LL_DMA_ClearFlag_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_ClearFlag_TC(priv->DMAx, priv->dma_chnum);
LL_DMA_EnableIT_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_EnableIT_TC(priv->DMAx, priv->dma_chnum);
}
priv->opmode = new_mode;
}