| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // ====================================================================== | ||
| 2 | // \title AdcDriver.cpp | ||
| 3 | // \author crsmith | ||
| 4 | // \brief cpp file for AdcDriver component implementation class | ||
| 5 | // ====================================================================== | ||
| 6 | |||
| 7 | #include "fprime-samd/Drv/AdcDriver/AdcDriver.hpp" | ||
| 8 | #include "fprime-samd/Drv/AdcDriver/AdcDriverHardware.hpp" | ||
| 9 | |||
| 10 | namespace Samd21 { | ||
| 11 | |||
| 12 | // Singleton instance for ISR access | ||
| 13 | AdcDriver* AdcDriver::s_instance = nullptr; | ||
| 14 | |||
| 15 | // ---------------------------------------------------------------------- | ||
| 16 | // Component construction and destruction | ||
| 17 | // ---------------------------------------------------------------------- | ||
| 18 | |||
| 19 | ✗ | AdcDriver::AdcDriver(const char* const compName) | |
| 20 | : AdcDriverComponentBase(compName), | ||
| 21 | ✗ | m_configured(false), | |
| 22 | ✗ | m_gain(0), | |
| 23 | ✗ | m_state(State::IDLE), | |
| 24 | ✗ | m_lastResult(0), | |
| 25 | ✗ | m_pendingPortNum(0) { | |
| 26 | // Initialize channel arrays | ||
| 27 | ✗ | for (FwIndexType i = 0; i < ADC_CHANNEL_COUNT; i++) { | |
| 28 | ✗ | m_channels[i] = AdcChannel::AIN0; | |
| 29 | ✗ | m_channelConfigured[i] = false; | |
| 30 | } | ||
| 31 | // Note: s_instance is set in configure() to ensure only configured driver handles interrupts | ||
| 32 | ✗ | } | |
| 33 | |||
| 34 | ✗ | AdcDriver::~AdcDriver() { | |
| 35 | ✗ | if (s_instance == this) { | |
| 36 | ✗ | s_instance = nullptr; | |
| 37 | } | ||
| 38 | ✗ | } | |
| 39 | |||
| 40 | // ---------------------------------------------------------------------- | ||
| 41 | // Configuration methods | ||
| 42 | // ---------------------------------------------------------------------- | ||
| 43 | // Convenient conversion time calculator https://blog.thea.codes/getting-the-most-out-of-the-samd21-adc/ | ||
| 44 | ✗ | void AdcDriver::configure(VoltageReference ref, Resolution res, SampleCount samples, U8 samplingTime, Gain gain) { | |
| 45 | // Enforce singleton: only one AdcDriver instance can be configured at a time | ||
| 46 | // to ensure ISR routing works correctly. A reconfigure() method could be added | ||
| 47 | // in the future to allow runtime reconfiguration of ADC parameters (resolution, | ||
| 48 | // reference voltage, etc.) without violating the singleton constraint. | ||
| 49 | ✗ | FW_ASSERT(s_instance == nullptr); | |
| 50 | |||
| 51 | // Store gain for use in readAdc | ||
| 52 | ✗ | m_gain = static_cast<U8>(gain); | |
| 53 | |||
| 54 | // Delegate all hardware configuration to the HAL | ||
| 55 | ✗ | AdcHardware::AdcHal::configure(ref, res, samples, samplingTime, gain); | |
| 56 | |||
| 57 | // Register singleton for ISR access | ||
| 58 | ✗ | s_instance = this; | |
| 59 | |||
| 60 | // Enable interrupts via HAL (HAL handles priority calculation) | ||
| 61 | ✗ | AdcHardware::AdcHal::enableInterrupt(); | |
| 62 | ✗ | AdcHardware::AdcHal::enableAdcInterrupts(); | |
| 63 | |||
| 64 | ✗ | m_configured = true; | |
| 65 | ✗ | } | |
| 66 | |||
| 67 | ✗ | void AdcDriver::configureChannel(FwIndexType portNum, AdcChannel channel) { | |
| 68 | ✗ | FW_ASSERT(m_configured); | |
| 69 | ✗ | FW_ASSERT(portNum < ADC_CHANNEL_COUNT); | |
| 70 | ✗ | FW_ASSERT(!m_channelConfigured[portNum]); | |
| 71 | |||
| 72 | // Note: Pin muxing should be configured in topology BEFORE calling this for external channels (AIN0-AIN19) | ||
| 73 | // Use Samd21::PinMux::configure(PINMUX_xxx) in instances.fpp | ||
| 74 | // Internal channels (TEMP, BANDGAP, SCALEDIOVCC) don't require pin configuration | ||
| 75 | |||
| 76 | // Enable internal resources if needed (only TEMP and BANDGAP require hardware setup) | ||
| 77 | ✗ | if (channel == AdcChannel::TEMP || channel == AdcChannel::BANDGAP) { | |
| 78 | ✗ | AdcHardware::AdcHal::configureChannel(channel); | |
| 79 | } | ||
| 80 | |||
| 81 | // Store channel mapping in component state | ||
| 82 | ✗ | m_channels[portNum] = channel; | |
| 83 | ✗ | m_channelConfigured[portNum] = true; | |
| 84 | ✗ | } | |
| 85 | |||
| 86 | // ---------------------------------------------------------------------- | ||
| 87 | // Handler implementations for typed input ports | ||
| 88 | // ---------------------------------------------------------------------- | ||
| 89 | |||
| 90 | ✗ | Samd21::AdcStatus AdcDriver::readAdc_handler(FwIndexType portNum) { | |
| 91 | // Validate configuration | ||
| 92 | ✗ | if (!m_configured) { | |
| 93 | ✗ | return Samd21::AdcStatus::ADC_NOT_CONFIGURED; | |
| 94 | } | ||
| 95 | ✗ | if (!m_channelConfigured[portNum]) { | |
| 96 | ✗ | return Samd21::AdcStatus::ADC_INVALID_CHANNEL; | |
| 97 | } | ||
| 98 | |||
| 99 | // Check if ADC is already busy | ||
| 100 | ✗ | if (m_state != State::IDLE) { | |
| 101 | ✗ | return Samd21::AdcStatus::ADC_BUSY; | |
| 102 | } | ||
| 103 | |||
| 104 | // Select input channel with configured gain via HAL | ||
| 105 | ✗ | AdcHardware::AdcHal::selectChannel(m_channels[portNum], m_gain); | |
| 106 | |||
| 107 | // Transition to CONVERTING state | ||
| 108 | ✗ | m_state = State::CONVERTING; | |
| 109 | ✗ | m_pendingPortNum = portNum; | |
| 110 | |||
| 111 | // Start conversion via HAL (interrupt will fire when complete) | ||
| 112 | ✗ | AdcHardware::AdcHal::startConversion(); | |
| 113 | |||
| 114 | ✗ | return Samd21::AdcStatus::ADC_OK; | |
| 115 | } | ||
| 116 | |||
| 117 | ✗ | bool AdcDriver::activeIn_handler(FwIndexType portNum, U32 context) { | |
| 118 | (void)portNum; | ||
| 119 | (void)context; | ||
| 120 | |||
| 121 | // Check if conversion is complete and result ready to deliver | ||
| 122 | ✗ | if (m_state == State::COMPLETE || m_state == State::COMPLETE_OVERRUN) { | |
| 123 | // Determine status based on whether overrun occurred | ||
| 124 | ✗ | Samd21::AdcStatus status = | |
| 125 | ✗ | (m_state == State::COMPLETE_OVERRUN) ? Samd21::AdcStatus::ADC_OVERRUN : Samd21::AdcStatus::ADC_OK; | |
| 126 | |||
| 127 | ✗ | const FwIndexType portNumToReport = m_pendingPortNum; | |
| 128 | ✗ | const U32 resultToReport = m_lastResult; | |
| 129 | |||
| 130 | ✗ | m_state = State::IDLE; | |
| 131 | |||
| 132 | ✗ | this->adcResult_out(portNumToReport, resultToReport, status); | |
| 133 | ✗ | } else { | |
| 134 | ✗ | return false; | |
| 135 | } | ||
| 136 | |||
| 137 | ✗ | return true; | |
| 138 | } | ||
| 139 | |||
| 140 | // ---------------------------------------------------------------------- | ||
| 141 | // Interrupt handler | ||
| 142 | // ---------------------------------------------------------------------- | ||
| 143 | |||
| 144 | ✗ | void AdcDriver::handleInterrupt() { | |
| 145 | // Only process interrupt if we're actually waiting for a conversion | ||
| 146 | ✗ | if (m_state != State::CONVERTING) { | |
| 147 | // Spurious interrupt - clear flags but don't change state | ||
| 148 | ✗ | if (AdcHardware::AdcHal::isOverrun()) { | |
| 149 | ✗ | AdcHardware::AdcHal::clearOverrun(); | |
| 150 | } | ||
| 151 | ✗ | if (AdcHardware::AdcHal::isResultReady()) { | |
| 152 | ✗ | (void)AdcHardware::AdcHal::readResult(); // Clear RESRDY by reading | |
| 153 | } | ||
| 154 | ✗ | return; | |
| 155 | } | ||
| 156 | |||
| 157 | ✗ | bool overrun = false; | |
| 158 | |||
| 159 | // Check for overrun error first via HAL | ||
| 160 | ✗ | if (AdcHardware::AdcHal::isOverrun()) { | |
| 161 | // Clear overrun flag via HAL | ||
| 162 | ✗ | AdcHardware::AdcHal::clearOverrun(); | |
| 163 | ✗ | overrun = true; | |
| 164 | } | ||
| 165 | |||
| 166 | // Check if RESRDY flag is set via HAL (this happens even if OVERRUN occurred) | ||
| 167 | ✗ | if (AdcHardware::AdcHal::isResultReady()) { | |
| 168 | // Read result via HAL (reading RESULT automatically clears RESRDY flag per SAMD21 datasheet ยง33.6.5) | ||
| 169 | ✗ | m_lastResult = AdcHardware::AdcHal::readResult(); | |
| 170 | |||
| 171 | // Transition to appropriate COMPLETE state | ||
| 172 | ✗ | m_state = overrun ? State::COMPLETE_OVERRUN : State::COMPLETE; | |
| 173 | } | ||
| 174 | } | ||
| 175 | |||
| 176 | } // namespace Samd21 | ||
| 177 |