AnalogIn.h

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/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
  Flymaple port by Mike McCauley
 */

#pragma once

#include <AP_HAL/AP_HAL.h>

#include "AP_HAL_F4Light.h"
#include "c++.h"



extern void setupADC(void);

#define F4Light_INPUT_MAX_CHANNELS 12


/* Generic memory-mapped I/O accessor functions */
#define MMIO8(addr)             (*(volatile uint8_t *)(addr))
#define MMIO16(addr)            (*(volatile uint16_t *)(addr))
#define MMIO32(addr)            (*(volatile uint32_t *)(addr))
#define MMIO64(addr)            (*(volatile uint64_t *)(addr))

// from libopencm3/include/libopencm3/stm32/f4/memorymap.h
/* ST provided factory calibration values @ 3.3V  - this is WRONG! BusFault on this addresses */
#define ST_VREFINT_CAL          MMIO16(0x1FFF7A2A)
#define ST_TSENSE_CAL1_30C      MMIO16(0x1FFF7A2C)
#define ST_TSENSE_CAL2_110      MMIO16(0x1FFF7A2E)




class F4Light::AnalogSource : public AP_HAL::AnalogSource {
public:
    friend class F4Light::AnalogIn;

    AnalogSource(uint8_t pin);
    float read_average() { return _read_average(); }
    inline float read_latest() {  return _latest;  }
    
    void set_pin(uint8_t p);
    inline void set_stop_pin(uint8_t pin) {     _stop_pin = pin; }
    inline void set_settle_time(uint16_t settle_time_ms) {  _settle_time_ms = settle_time_ms; }
    float voltage_average();
    float voltage_latest();
    float voltage_average_ratiometric();

    /* implementation specific interface: */

    /* new_sample(): called with value of ADC measurments, from interrput */
    void new_sample(uint16_t);

    /* setup_read(): called to setup ADC registers for next measurment, from interrupt */
    void setup_read();

    /* stop_read(): called to stop device measurement */
    void stop_read();

    /* reading_settled(): called to check if we have read for long enough */
    bool reading_settled();

    /* read_average: called to calculate and clear the internal average.
     * implements read_average(), unscaled. */
    float _read_average();

    inline int16_t get_pin() { return _pin; };
protected:
    const inline adc_dev* _find_device() const {    return _ADC1;  }
    inline bool initialized() { return _init_done;}
private:
    /* following three are used from both an interrupt and normal thread */
    volatile uint32_t _sum_count;
    volatile uint32_t _sum;
    volatile uint16_t _latest;
    float _last_average;

    /* _pin designates the ADC input mux for the sample */
    uint8_t _pin;

    /* _stop_pin designates a digital pin to use for enabling/disabling the analog device */
    uint8_t _stop_pin;
    uint16_t _settle_time_ms;
    uint32_t _read_start_time_ms;
    bool _init_done;

};


class F4Light::AnalogIn : public AP_HAL::AnalogIn {
public:
    AnalogIn();
    void init();
    AP_HAL::AnalogSource* channel(int16_t n);
    inline float board_voltage(void) { 
        return ( 1.2 * 4096  / _vcc.read_average()) * 5.0/3.3; /*_board_voltage;*/ 
    }
    inline float servorail_voltage(void) { return 0; }
    inline uint16_t power_status_flags(void) { return 0; }

protected: 
    AnalogSource* _create_channel(uint8_t num);
    void _register_channel(AnalogSource*);
    void _timer_event(void);
    static AnalogSource* _channels[F4Light_INPUT_MAX_CHANNELS];
    int16_t _num_channels;
    int16_t _active_channel;
    uint16_t _channel_repeat_count;

private:
    static AnalogSource _vcc;

    bool cnv_started;
};

#define ANALOG_INPUT_F4Light_VCC 253