GEX port to STM32F072. This is currently the main port.
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gex-f072/GexUnits/adc/_adc_core.c

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23 KiB

//
// Created by MightyPork on 2018/02/04.
//
// The core functionality of the ADC unit is defined here.
//
#include "platform.h"
#include "unit_base.h"
#include "unit_adc.h"
#define ADC_INTERNAL
#include "_adc_internal.h"
#define DMA_POS(priv) ((priv)->buf_itemcount - (priv)->DMA_CHx->CNDTR)
/**
* Async job to send a chunk of the DMA buffer to PC.
* This can't be done directly because the interrupt couldn't wait for the TinyFrame mutex.
*
* unit - unit
* data1 - start index
* data2 - number of samples to send
* data3 - bit flags: 0x80 if this is the last sample and we should close
* 0x01 if this was the TC interrupt (otherwise it's HT)
*/
static void UADC_JobSendBlockChunk(Job *job)
{
Unit *unit = job->unit;
struct priv *priv = unit->data;
const uint32_t start = job->data1;
const uint32_t count = job->data2;
const bool close = (bool) (job->data3 & 0x80);
const bool tc = (bool) (job->data3 & 0x01);
const TF_TYPE type = close ? EVT_CAPT_DONE : EVT_CAPT_MORE;
TF_Msg msg = {
.frame_id = priv->stream_frame_id,
.len = (TF_LEN) (1 /*seq*/ + count * sizeof(uint16_t)),
.type = type,
};
assert_param(true == 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);
// Clear the "busy" flags - those are checked in the DMA ISR to detect overrun
if (tc) priv->tc_pending = false;
else priv->ht_pending = false;
priv->stream_serial++;
}
/**
* Async job to send the trigger header.
* The header includes info about the trigger + the pre-trigger buffer.
*
* data1 - index in the DMA buffer at which the captured data willl start
* data2 - edge type - 1 rise, 2 fall, 3 forced
* timestamp - event stamp
* unit - unit
*/
static void UADC_JobSendTriggerCaptureHeader(Job *job)
{
Unit *unit = job->unit;
struct priv *priv = unit->data;
EventReport er = {
.unit = unit,
.type = EVT_CAPT_START,
.timestamp = job->timestamp,
.length = (priv->pretrig_len + ((priv->pretrig_len > 0)?1:0)) * // see below why +1
priv->nb_channels *
sizeof(uint16_t) +
4 /*pretrig len*/ +
1 /*edge*/ +
1 /* seq */
};
uint32_t index_trigd = job->data1;
uint8_t edge = (uint8_t) job->data2;
EventReport_Start(&er);
priv->stream_frame_id = er.sent_msg_id;
{
// preamble
uint8_t buf[6];
PayloadBuilder pb = pb_start(buf, 6, NULL);
pb_u32(&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
// +1 because we want pretrig 0 to exactly start with the triggering sample
uint32_t pretrig_remain = (priv->pretrig_len + 1) * priv->nb_channels;
assert_param(index_trigd <= priv->buf_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
uint32_t items_from_end = pretrig_remain - index_trigd;
assert_param(priv->buf_itemcount - items_from_end >= index_trigd);
EventReport_Data((uint8_t *) &priv->dma_buffer[priv->buf_itemcount - items_from_end],
items_from_end * sizeof(uint16_t));
assert_param(items_from_end <= pretrig_remain);
pretrig_remain -= items_from_end;
}
assert_param(pretrig_remain <= index_trigd);
EventReport_Data((uint8_t *) &priv->dma_buffer[index_trigd - pretrig_remain],
pretrig_remain * sizeof(uint16_t));
}
}
EventReport_End();
}
/**
* Async job to notify about end of stream
*/
static void UADC_JobSendEndOfStreamMsg(Job *job)
{
TF_Msg msg = {
.type = EVT_CAPT_DONE,
.frame_id = (TF_ID) job->data1
};
TF_Respond(comm, &msg);
}
/**
* Schedule sending a event report to the PC that the current stream has ended.
* The client library should handle this appropriately.
*/
void UADC_ReportEndOfStream(Unit *unit)
{
struct priv *priv = unit->data;
Job j = {
.unit = unit,
.data1 = priv->stream_frame_id, // copy the ID, it may be invalid by the time the cb gets executed
.cb = UADC_JobSendEndOfStreamMsg
};
scheduleJob(&j);
}
/**
* This is a helper function for the ADC DMA interrupt for handing the different interrupt types (half / full transfer).
* It sends the part of the buffer that was just captured via an async job, or aborts on overrun.
*
* It's split off here to allow calling it for the different flags without repeating code.
*
* @param unit
* @param tc - true if this is the TC interrupt, else HT
*/
static void handle_httc(Unit *unit, bool tc)
{
struct priv *priv = unit->data;
uint32_t start = priv->stream_startpos;
uint32_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) {
end = (priv->buf_itemcount >> 1); // div2
}
else {
end = priv->buf_itemcount;
}
if (start != end) { // this sometimes happened after a trigger, may be unnecessary now
if (end < start) {
// this was a trap for a bug with missed TC irq, it's hopefully fixed now
trap("end < start! %d < %d, tc %d", (int)end, (int)start, (int)tc);
}
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;
}
// Check for the closing condition
const bool close = !m_stream && priv->trig_stream_remain == 0;
if ((tc && priv->tc_pending) || (ht && priv->ht_pending)) {
dbg("(!) ADC DMA not handled in time, abort capture");
UADC_SwitchMode(unit, ADC_OPMODE_EMERGENCY_SHUTDOWN);
return;
}
// Here we set the tc/ht pending flags for detecting overrun
Job j = {
.unit = unit,
.data1 = start,
.data2 = sgcount * priv->nb_channels,
.data3 = (uint32_t) (close*0x80) | (tc*1), // bitfields to indicate what's happening
.cb = UADC_JobSendBlockChunk
};
if (tc)
priv->tc_pending = true;
else
priv->ht_pending = true;
if (!scheduleJob(&j)) {
// Abort if we can't queue - the stream would tear and we'd hog the system with error messages
UADC_SwitchMode(unit, ADC_OPMODE_EMERGENCY_SHUTDOWN);
return;
}
if (close) {
// If auto-arm is enabled, we need to re-arm again.
// However, EOS irq is disabled during the capture so the trigger edge detection would
// work on stale data from before this trigger. We have to wait for the next full
// conversion (EOS) before arming.
UADC_SwitchMode(unit, (priv->auto_rearm && m_trigd) ? ADC_OPMODE_REARM_PENDING : ADC_OPMODE_IDLE);
}
}
// Advance the starting position
if (tc) {
priv->stream_startpos = 0;
}
else {
priv->stream_startpos = priv->buf_itemcount >> 1; // div2
}
}
/**
* IRQ handler for the DMA flags.
*
* We handle flags:
* TC - transfer complete
* HT - half transfer
* TE - transfer error (this should never happen unless there's a bug)
*
* The buffer works in a circular mode, so we always handle the previous half
* or what of it should be sent (if capture started somewhere inside).
*
* @param arg - the unit, passed via the irq dispatcher
*/
void UADC_DMA_Handler(void *arg)
{
Unit *unit = arg;
struct priv *priv = unit->data;
// First thing, grab the flags. They may change during the function.
// Working on the live register might cause race conditions.
const uint32_t isrsnapshot = priv->DMAx->ISR;
if (priv->opmode == ADC_OPMODE_UNINIT) {
// the IRQ occured while switching mode, clear flags and do nothing else
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;
}
if (LL_DMA_IsActiveFlag_G(isrsnapshot, priv->dma_chnum)) {
// we have some flags set - check which
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);
if (ht) LL_DMA_ClearFlag_HT(priv->DMAx, priv->dma_chnum);
if (tc) LL_DMA_ClearFlag_TC(priv->DMAx, priv->dma_chnum);
if (te) {
// this shouldn't happen - error
adc_dbg("ADC DMA TE!");
LL_DMA_ClearFlag_TE(priv->DMAx, priv->dma_chnum);
return;
}
// 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) {
const uint32_t half = (uint32_t) (priv->buf_itemcount >> 1); // div2
if (ht && tc) {
// dual event interrupt - may happen if we missed both and they were pending after
// interrupts became enabled again (this can happen due to the EOS or other higher prio irq's)
if (priv->stream_startpos > half) {
handle_httc(unit, true); // TC
handle_httc(unit, false); // HT
} else {
handle_httc(unit, false); // HT
handle_httc(unit, true); // TC
}
} else {
if (ht && priv->stream_startpos > half) {
// We missed the TC interrupt while e.g. setting up the stream / interrupt. catch up!
// This fixes a bug with "negative size" for report.
handle_httc(unit, true); // TC
}
handle_httc(unit, tc);
}
} else {
// This shouldn't happen, the interrupt should be disabled in this opmode
dbg("(!) not streaming, ADC DMA IT should be disabled");
}
}
}
/**
* End of measurement group interrupt handler.
* This interrupt records the measured values and checks for trigger.
*
* @param arg - unit, passed b y irq dispatcher
*/
void UADC_ADC_EOS_Handler(void *arg)
{
Unit *unit = arg;
struct priv *priv = unit->data;
const bool can_average = priv->cfg.enable_averaging &&
priv->real_frequency_int < UADC_MAX_FREQ_FOR_AVERAGING;
// 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) {
goto exit;
}
uint32_t dmapos = DMA_POS(priv);
// Wait for the DMA to complete copying the last sample
// XXX
// experiments revealed this was actually a bug somewhere else and DMA
// is quick enough so we don't have to worry about this
#if 0
uint32_t err = (dmapos % priv->nb_channels);
if (err != 0) {
GPIOC->BSRR = 0x02;
hw_wait_while(((dmapos = DMA_POS(priv)) % priv->nb_channels) != 0, 10);
GPIOC->BRR = 0x02;
}
#endif
// wrap dmapos to be past the last sample, even if outside the buffer
// - so we can subtract nb_channels
uint32_t sample_pos;
if (dmapos == 0) {
sample_pos = (uint32_t) (priv->buf_itemcount);
} else {
sample_pos = dmapos;
}
sample_pos -= priv->nb_channels;
uint16_t val;
#if 1
for (uint32_t j = 0; j < priv->nb_channels; j++) {
const uint8_t i = priv->channel_nums[j];
val = priv->dma_buffer[sample_pos+j];
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;
}
#else
for (uint8_t i = 0; i < 18; i++) {
if (channels_mask & (1 << i)) {
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;
}
}
#endif
switch (priv->opmode) {
// Triggering condition test
case ADC_OPMODE_ARMED:
val = priv->last_samples[priv->trigger_source];
if ((priv->trig_prev_level < priv->trig_level) &&
val >= priv->trig_level &&
(bool) (priv->trig_edge & 0b01)) {
// Rising edge
UADC_HandleTrigger(unit, 0b01, timestamp);
}
else if ((priv->trig_prev_level > priv->trig_level) &&
val <= priv->trig_level &&
(bool) (priv->trig_edge & 0b10)) {
// Falling edge
UADC_HandleTrigger(unit, 0b10, timestamp);
}
priv->trig_prev_level = val;
break;
// auto-rearm was waiting for the next sample
case 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);
}
default:
break;
}
exit:
return;
}
/**
* Handle a detected trigger - start capture if we're not in hold-off
*
* @param unit
* @param edge_type - edge type, is included in the report
* @param timestamp - event time
*/
void UADC_HandleTrigger(Unit *unit, uint8_t edge_type, uint64_t timestamp)
{
struct priv *priv = unit->data;
if (priv->opmode == ADC_OPMODE_UNINIT) return;
if (priv->trig_holdoff != 0 && priv->trig_holdoff_remain > 0) {
// 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 = DMA_POS(priv);
priv->trig_stream_remain = priv->trig_len;
priv->stream_serial = 0;
// This func may be called from the EOS interrupt, so it's safer to send the header message asynchronously
Job j = {
.unit = unit,
.timestamp = timestamp,
.data1 = priv->stream_startpos,
.data2 = edge_type,
.cb = UADC_JobSendTriggerCaptureHeader
};
scheduleJob(&j);
UADC_SwitchMode(unit, ADC_OPMODE_TRIGD);
}
/**
* Abort ongoing capture.
*/
void UADC_AbortCapture(Unit *unit)
{
struct priv *priv = unit->data;
const enum uadc_opmode old_opmode = priv->opmode;
priv->auto_rearm = false;
if (old_opmode == ADC_OPMODE_BLCAP ||
old_opmode == ADC_OPMODE_STREAM ||
old_opmode == ADC_OPMODE_TRIGD) {
UADC_ReportEndOfStream(unit);
}
UADC_SwitchMode(unit, ADC_OPMODE_IDLE);
}
/**
* Start a manual block capture.
*
* @param unit
* @param len - number of samples (groups)
* @param frame_id - TF session to re-use for the report (client has a listener set up)
*/
void UADC_StartBlockCapture(Unit *unit, uint32_t len, TF_ID frame_id)
{
struct priv *priv = unit->data;
if (priv->opmode == ADC_OPMODE_UNINIT) return;
priv->stream_frame_id = frame_id;
priv->stream_startpos = DMA_POS(priv);
priv->trig_stream_remain = len;
priv->stream_serial = 0;
UADC_SwitchMode(unit, ADC_OPMODE_BLCAP);
}
/**
* Start a stream
*
* @param frame_id - TF session to re-use for the frames (client has a listener set up)
*/
void UADC_StartStream(Unit *unit, TF_ID frame_id)
{
struct priv *priv = unit->data;
if (priv->opmode == ADC_OPMODE_UNINIT) return;
priv->stream_frame_id = frame_id;
UADC_SwitchMode(unit, ADC_OPMODE_STREAM);
}
/**
* End a stream by user request.
*/
void UADC_StopStream(Unit *unit)
{
struct priv *priv = unit->data;
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.
* We also check for the emergency shutdown condition and clear it.
*/
void UADC_updateTick(Unit *unit)
{
struct priv *priv = unit->data;
// Recover from shutdown after a delay
if (priv->opmode == ADC_OPMODE_EMERGENCY_SHUTDOWN) {
adc_dbg("ADC recovering from emergency shutdown");
UADC_ReportEndOfStream(unit);
LL_TIM_EnableCounter(priv->TIMx);
UADC_SwitchMode(unit, ADC_OPMODE_IDLE);
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;
}
}
}
/**
* Switch the ADC operational mode.
*
* @param unit
* @param new_mode - mode to set
*/
void UADC_SwitchMode(Unit *unit, enum uadc_opmode new_mode)
{
struct priv *priv = unit->data;
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) {
adc_dbg("ADC switch -> UNINIT");
// Stop the DMA, timer and disable ADC - this is called before tearing down the unit
LL_TIM_DisableCounter(priv->TIMx);
LL_ADC_ClearFlag_EOS(priv->ADCx);
LL_ADC_DisableIT_EOS(priv->ADCx);
// Switch off the ADC
if (LL_ADC_IsEnabled(priv->ADCx)) {
// Cancel ongoing conversion
if (LL_ADC_REG_IsConversionOngoing(priv->ADCx)) {
LL_ADC_REG_StopConversion(priv->ADCx);
hw_wait_while(LL_ADC_REG_IsStopConversionOngoing(priv->ADCx), 100);
}
LL_ADC_Disable(priv->ADCx);
hw_wait_while(LL_ADC_IsDisableOngoing(priv->ADCx), 100);
}
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);
LL_DMA_ClearFlag_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_ClearFlag_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.
priv->tc_pending = false;
priv->ht_pending = false;
// 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) {
adc_dbg("ADC switch -> EMERGENCY_STOP");
// 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) {
adc_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) {
adc_dbg("ADC switch -> CAPTURE");
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);
// those must be as close as possible to the enabling
// if not trig'd, we don't care for lost samples before (this could cause a DMA irq miss / ht/tc mismatch with the startpos)
if (new_mode != ADC_OPMODE_TRIGD) {
priv->stream_startpos = DMA_POS(priv);
priv->stream_serial = 0;
}
LL_DMA_EnableIT_HT(priv->DMAx, priv->dma_chnum);
LL_DMA_EnableIT_TC(priv->DMAx, priv->dma_chnum);
}
priv->opmode = new_mode;
}