Added OwnTech's Zephyr modules to the tree.

zephyr/CMakeLists.txt

+# Macro to list all subdirectories in a specified directory
+MACRO(SUBDIRLIST result curdir)
+  FILE(GLOB children RELATIVE ${curdir} ${curdir}/*)
+  SET(dirlist "")
+  FOREACH(child ${children})
+    IF(IS_DIRECTORY ${curdir}/${child})
+      LIST(APPEND dirlist ${curdir}/${child})
+    ENDIF()
+  ENDFOREACH()
+  SET(${result} ${dirlist})
+ENDMACRO()
+
+# Define SUBDIRS as the list of all subdirectories of the modules directory
+SUBDIRLIST(SUBDIRS ${CMAKE_CURRENT_SOURCE_DIR}/modules)
+
+# Append found modules to zephyr extra modules variable
+list(APPEND ZEPHYR_EXTRA_MODULES ${SUBDIRS})
+
+# Configure Zephyr
 cmake_minimum_required(VERSION 3.13.1)
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
 

zephyr/modules/owntech_data_acquisition/zephyr/CMakeLists.txt

+
+if(CONFIG_OWNTECH_DATA_ACQUISITION)
+  zephyr_include_directories(.)
+
+  zephyr_library()
+  zephyr_library_sources(
+    ./adc/adc.c
+    ./adc/adc_channels.c
+    ./adc/adc_core.c
+    ./adc/adc_helper.c
+    ./dma/dma.c
+    ./data_dispatch/data_dispatch.c
+    ./data_acquisition.c
+   )
+endif()

zephyr/modules/owntech_data_acquisition/zephyr/Kconfig

+
+config OWNTECH_DATA_ACQUISITION
+	bool "Enable OwnTech data acquisition using ADCs"
+	default y
+	select DMA

zephyr/modules/owntech_data_acquisition/zephyr/adc/adc.c

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 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 Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+// STM32 LL
+#include <stm32g4xx_ll_adc.h>
+
+// OwnTech API
+#include "adc_channels.h"
+#include "adc_core.h"
+
+
+/////
+// Private functions
+
+/**
+ * ADC 1 OwnTech's specific configuration.
+ */
+static void _adc_configure_adc_1()
+{
+    // Set regular sequence length
+    LL_ADC_REG_SetSequencerLength(ADC1, adc_channels_get_channels_count(1)-1);
+
+    // TO TEST
+    // Set discontinuous mode: first event triggers first channel conversion,
+    // next event will convert the next channel in the sequence, and so on
+    // until all channels are converted, then restart from fisrt channel.
+    // RM: 21.4.20
+    //LL_ADC_REG_SetSequencerDiscont(ADC1, LL_ADC_REG_SEQ_DISCONT_1RANK);
+
+    // Enable dma and circular mode
+    LL_ADC_REG_SetDMATransfer(ADC1, LL_ADC_REG_DMA_TRANSFER_UNLIMITED);
+
+    /////
+    // Set trigger source: only for ADC 1 as we operate in dual mode
+    // (ADC 2 triggered by ADC 1)
+
+    // Enable external trigger on hrtim_adc_trg1
+    LL_ADC_REG_SetTriggerEdge(ADC1, LL_ADC_REG_TRIG_EXT_RISING);
+
+    // RM Table 163. adc_ext_trg21 hrtim_adc_trg1 EXTSEL = 0x10101
+    LL_ADC_REG_SetTriggerSource(ADC1, LL_ADC_REG_TRIG_EXT_HRTIM_TRG1);
+}
+
+/**
+ * ADC 2 OwnTech's specific configuration.
+ */
+static void _adc_configure_adc_2()
+{
+    // Set regular sequence length
+    LL_ADC_REG_SetSequencerLength(ADC2, adc_channels_get_channels_count(2)-1);
+
+    // TO TEST
+    // Set discontinuous mode: first event triggers first channel conversion,
+    // next event will convert the next channel in the sequence, and so on
+    // until all channels are converted, then restart from fisrt channel.
+    // RM: 21.4.20
+    //LL_ADC_REG_SetSequencerDiscont(ADC2, LL_ADC_REG_SEQ_DISCONT_1RANK);
+
+    // Enable dma and circular mode
+    LL_ADC_REG_SetDMATransfer(ADC2, LL_ADC_REG_DMA_TRANSFER_UNLIMITED);
+}
+
+
+/////
+// Public API
+
+/**
+ * Configure ADC and DMA according to OwnTech
+ * board requirements.
+ */
+void adc_init()
+{
+    // Initialize ADC
+    adc_core_init();
+    adc_core_set_dual_mode();
+
+    // Initialize channels
+    adc_channels_init();
+
+    // Enable ADC
+    adc_core_enable(ADC1);
+    adc_core_enable(ADC2);
+
+    // Perform post-enable ADC configuration
+    adc_channels_configure(ADC1);
+    adc_channels_configure(ADC2);
+
+    _adc_configure_adc_1();
+    _adc_configure_adc_2();
+
+    // Finally, start ADCs
+    adc_core_start(ADC1);
+    adc_core_start(ADC2);
+}

zephyr/modules/owntech_data_acquisition/zephyr/adc/adc.h

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 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 Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ * @brief  This is the main include for ADC configuration.
+ */
+
+#ifndef ADC_H_
+#define ADC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/**
+ * @brief   Initializes ADC1 and ADC2 driver.
+ */
+void adc_init();
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ADC_H_

zephyr/modules/owntech_data_acquisition/zephyr/adc/adc_channels.c

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 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 Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @brief   ADC driver for stm32g474re
+ *
+ * @author  Hugues Larrive <hugues.larrive@laas.fr>
+ * @author  Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+// Stdlib
+#include <stdlib.h>
+
+// Current file header
+#include "adc_channels_private.h"
+
+// OwnTech API
+#include "adc_helper.h"
+#include "adc_core.h"
+
+
+/////
+// Variables
+
+static channel_prop_t channels_props[] =
+{
+    DT_FOREACH_CHILD(ADC_INPUTS_NODELABEL, CHANNEL_WRITE_PROP)
+};
+
+static uint8_t channels_in_adc1_count;
+static uint8_t channels_in_adc2_count;
+
+static channel_prop_t** adc1_channels_list;
+static channel_prop_t** adc2_channels_list;
+
+
+/////
+// ADC channels private functions
+
+/**
+ * Counts device-tree configured channels in each ADC.
+ */
+static void _adc_channels_count()
+{
+    // Count total number of channels
+    channels_in_adc1_count = 0;
+    channels_in_adc2_count = 0;
+
+    for (int i = 0 ; i < CHANNEL_COUNT ; i++)
+    {
+        ADC_TypeDef* adc = _get_adc_by_name(channels_props[i].adc);
+        if (adc == ADC1)
+        {
+            channels_in_adc1_count++;
+        }
+        else if (adc == ADC2)
+        {
+            channels_in_adc2_count++;
+        }
+    }
+
+    // Build a list of channels by ADC
+    adc1_channels_list = malloc(sizeof(channel_prop_t*) * channels_in_adc1_count);
+    adc2_channels_list = malloc(sizeof(channel_prop_t*) * channels_in_adc2_count);
+
+    int adc1_index = 0;
+    int adc2_index = 0;
+    for (int i = 0 ; i < CHANNEL_COUNT ; i++)
+    {
+        ADC_TypeDef* adc = _get_adc_by_name(channels_props[i].adc);
+        if (adc == ADC1)
+        {
+            adc1_channels_list[adc1_index] = &channels_props[i];
+            adc1_index++;
+        }
+        else if (adc == ADC2)
+        {
+            adc2_channels_list[adc2_index] = &channels_props[i];
+            adc2_index++;
+        }
+    }
+}
+
+/**
+ * Differential channel setup.
+ * Must be done before ADC is enabled.
+ */
+static void _adc_channels_differential_setup()
+{
+    for (int i = 0; i < CHANNEL_COUNT; i++)
+    {
+        if (channels_props[i].is_differential)
+        {
+            ADC_TypeDef* adc = _get_adc_by_name(channels_props[i].adc);
+            if (adc != NULL)
+            {
+                adc_core_set_channel_differential(adc, channels_props[i].number);
+            }
+        }
+    }
+}
+
+/**
+ * Internal path setup.
+ * Currently done before ADC is enabled,
+ * but is is correct? No hint in RM on this.
+ */
+void _adc_channels_internal_path_setup()
+{
+    uint8_t vts  = 0;
+    uint8_t vbat = 0;
+    uint8_t vref = 0;
+
+    for (int i = 0 ; i < CHANNEL_COUNT ; i++)
+    {
+        if (channels_props[i].number == __LL_ADC_CHANNEL_TO_DECIMAL_NB(LL_ADC_CHANNEL_TEMPSENSOR_ADC1))
+            vts = 1;
+        if (channels_props[i].number == __LL_ADC_CHANNEL_TO_DECIMAL_NB(LL_ADC_CHANNEL_VBAT))
+            vbat = 1;
+        if (channels_props[i].number == __LL_ADC_CHANNEL_TO_DECIMAL_NB(LL_ADC_CHANNEL_VREFINT))
+            vref = 1;
+    }
+
+    adc_core_configure_internal_paths(vts, vbat, vref);
+}
+
+
+/////
+// ADC channls public functions
+
+/**
+ * Performs internal data structures initialization
+ * and pre-ADC enable init.
+ * Must be called before adc_core_enable()
+ */
+void adc_channels_init()
+{
+    _adc_channels_count();
+    _adc_channels_differential_setup();
+    _adc_channels_internal_path_setup();
+}
+
+/**
+ * ADC channel configuration.
+ * Sets sequencer ranks and channels sampling time.
+ */
+void adc_channels_configure(ADC_TypeDef* adc)
+{
+    uint8_t channel;
+    uint8_t rank = 1;
+    ADC_TypeDef* channel_adc;
+
+    for (int i = 0; i < CHANNEL_COUNT; i++)
+    {
+        channel = channels_props[i].number;
+        channel_adc = _get_adc_by_name(channels_props[i].adc);
+        // Regular sequencer
+        if (channel_adc == adc)
+        {
+            LL_ADC_REG_SetSequencerRanks(adc,
+                                         adc_decimal_nb_to_rank(rank),
+                                         __LL_ADC_DECIMAL_NB_TO_CHANNEL(channel)
+                                        );
+            rank++;
+
+            // Channels sampling time
+
+            /* 000: 2.5 ADC clock cycles
+             * 001: 6.5 ADC clock cycles
+             * 010: 12.5 ADC clock cycles
+             * 011: 24.5 ADC clock cycles
+             * 100: 47.5 ADC clock cycles
+             * 101: 92.5 ADC clock cycles
+             * 110: 247.5 ADC clock cycles
+             * 111: 640.5 ADC clock cycles
+             */
+            /* Vrefint minimum sampling time : 4us
+             */
+            /* Vts minimum sampling time : 5us
+             */
+            /* For 0b110:
+             * Tadc_clk = 1 / 42.5 MHz = 23.5 ns
+             * Tsar = 12.5 * Tadc_clk = 293.75 ns
+             * Tsmpl = 247.5 * Tadc_clk = 5816.25 ns
+             * Tconv = Tsmpl + Tsar = 6.11 us
+             * -> Fconv up to 163.6 KSPS for 1 channel per ADC
+             * Fconv up to 27.2 KSPS with the 6 channels actally
+             * used on the ADC1
+             *
+             * For 0b001 (ok for voltage):
+             * Tadc_clk = 1 / 42.5 MHz = 23.5 ns
+             * Tsar = 12.5 * Tadc_clk = 293.75 ns
+             * Tsmpl = 6.5 * Tadc_clk = 152.75 ns
+             * Tconv = Tsmpl + Tsar = 446.4 ns
+             * -> Fconv up to 2239 KSPS for 1 channel per ADC
+             * Fconv up to 373 KSPS with the 6 channels actally
+             * used on the ADC1
+             *
+             * For 0b101 (ok for current):
+             * Tadc_clk = 1 / 42.5 MHz = 23.5 ns
+             * Tsar = 12.5 * Tadc_clk = 293.75 ns
+             * Tsmpl = 92.5 * Tadc_clk = 2173.75 ns
+             * Tconv = Tsmpl + Tsar = 2.47 µs
+             * -> Fconv up to 404 KSPS for 1 channel per ADC
+             * Fconv up to 134 KSPS for 3 channels actally
+             * used on each ADC
+             */
+            LL_ADC_SetChannelSamplingTime(adc,
+                                          __LL_ADC_DECIMAL_NB_TO_CHANNEL(channel),
+                                          LL_ADC_SAMPLINGTIME_92CYCLES_5
+                                         );
+        }
+    }
+}
+
+char* adc_channels_get_channel_name(uint8_t adc_num, uint8_t channel_rank)
+{
+    if (adc_num == 1)
+        return adc1_channels_list[channel_rank]->name;
+    else if (adc_num == 2)
+        return adc2_channels_list[channel_rank]->name;
+    else
+        return NULL;
+}
+
+uint8_t adc_channels_get_channels_count(uint8_t adc_num)
+{
+    if (adc_num == 1)
+        return channels_in_adc1_count;
+    else if (adc_num == 2)
+        return channels_in_adc2_count;
+    else
+        return 0xFF;
+}
\ No newline at end of file

zephyr/modules/owntech_data_acquisition/zephyr/adc/adc_channels.h

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 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 Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @brief  This is the public include for adc_channels.h
+ *
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+#ifndef ADC_CHANNELS_H_
+#define ADC_CHANNELS_H_
+
+
+// Zephyr
+#include <zephyr.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void adc_channels_init();
+void adc_channels_configure(ADC_TypeDef* adc);
+
+char* adc_channels_get_channel_name(uint8_t adc_num, uint8_t channel_rank);
+
+uint8_t adc_channels_get_channels_count(uint8_t adc_num);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ADC_CHANNELS_H_

zephyr/modules/owntech_data_acquisition/zephyr/adc/adc_channels_private.h

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 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 Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ * @brief  This is the private include file for adc_channels.c.
+ * It should only be included in C files from the current folder.
+ */
+
+#ifndef ADC_CHANNELS_PRIVATE_H_
+#define ADC_CHANNELS_PRIVATE_H_
+
+
+// Zephyr
+#include <zephyr.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+typedef struct
+{
+    char*   name;
+    bool    is_differential;
+    uint8_t number;
+    char*   adc;
+} channel_prop_t;
+
+#define ADC_INPUTS_NODELABEL DT_NODELABEL(mychannels)
+
+// Channel properties
+#define CHANNEL_NAME(node_id)    DT_LABEL(node_id)
+#define CHANNEL_IS_DIFF(node_id) DT_PROP(node_id, differential)
+#define CHANNEL_NUMBER(node_id)  DT_PHA_BY_IDX(node_id, io_channels, 0, input)
+#define CHANNEL_ADC(node_id)     DT_PROP_BY_PHANDLE_IDX(node_id, io_channels, 0, label)
+
+#define CHANNEL_WRITE_PROP(node_id)                \
+    {                                              \
+        .name=CHANNEL_NAME(node_id),               \
+        .is_differential=CHANNEL_IS_DIFF(node_id), \
+        .number=CHANNEL_NUMBER(node_id),           \
+        .adc=CHANNEL_ADC(node_id)                  \
+    },
+
+// Channel count
+#define CHANNEL_COUNTER(node_id) +1
+#define CHANNEL_COUNT DT_FOREACH_CHILD(ADC_INPUTS_NODELABEL, CHANNEL_COUNTER)
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ADC_CHANNELS_PRIVATE_H_

zephyr/modules/owntech_data_acquisition/zephyr/adc/adc_core.c

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 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 Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**</