Adc driver (#7)

* Add adc crate init. * WIP: Init driver * Convert RREG and WREG to use Register not u8 * Added getters and setters for ID, POWER, and INTERFACE registers * Rename read_register to read_multiple_registers. Remove call to read_multiple_registers for a single register call. * Update doc * Converted WREG to single and multiple variant * Added set_crc and removed RESERVED from Crc enum * Convert CRC from enum to bitflag * Moved status register to register module * Added MODE register impls * Added more registers * Removed redundant StatusRegister impl block * Added more registers * Implemented last registers * Align Register values * Start init and add default example to Mode2Register. * Add default constructors to registers. * Rework driver to avoid taking ownership of spi peripheral. * Change path to git path for HAL import. * Create temperature board adc manager. * Add ADC manager to all boards. --------- Co-authored-by: Bradley Myers <[email protected]>
uorocketry · Dec 14, 2024 · c720b06 · c720b06
1 parent 3f5ead3
commit c720b06
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Showing 22 changed files with 2,171 additions and 69 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/boards/pressure/Cargo.toml b/boards/pressure/Cargo.toml
@@ -22,6 +22,7 @@ defmt-rtt = { workspace = true }
 panic-probe = { workspace = true }
 chrono = { workspace = true }
 messages = {workspace = true}
+ads126x = {path = "../../crates/ads126x"}
 
 [dev-dependencies]
 defmt-test = { workspace = true }

diff --git a/boards/pressure/src/adc_manager.rs b/boards/pressure/src/adc_manager.rs
@@ -0,0 +1,81 @@
+use ads126x::{
+    register::{DataRate, Mode1Register, Mode2Register},
+    ADCCommand, Ads126x,
+};
+
+use common_arm::spawn;
+use stm32h7xx_hal::{
+    gpio::{Output, Pin, PushPull},
+    spi::Spi,
+};
+
+use crate::app::delay;
+
+// There is an option to use interrupts using the data ready pins, but for now we will poll.
+pub struct AdcManager {
+    pub spi: Spi<stm32h7xx_hal::pac::SPI4, stm32h7xx_hal::spi::Enabled, u8>,
+    pub adc1: Ads126x<Pin<'C', 11, Output<PushPull>>>,
+    pub adc2: Ads126x<Pin<'E', 0, Output<PushPull>>>,
+    pub adc1_cs: Pin<'C', 10, Output<PushPull>>,
+    pub adc2_cs: Pin<'D', 2, Output<PushPull>>,
+}
+
+impl AdcManager {
+    pub fn new(
+        spi: Spi<stm32h7xx_hal::pac::SPI4, stm32h7xx_hal::spi::Enabled, u8>,
+        adc1_rst: Pin<'C', 11, Output<PushPull>>,
+        adc2_rst: Pin<'E', 0, Output<PushPull>>,
+        adc1_cs: Pin<'C', 10, Output<PushPull>>,
+        adc2_cs: Pin<'D', 2, Output<PushPull>>,
+    ) -> Self {
+        Self {
+            spi,
+            adc1: Ads126x::new(adc1_rst),
+            adc2: Ads126x::new(adc2_rst),
+            adc1_cs,
+            adc2_cs,
+        }
+    }
+
+    pub fn init_adc1(&mut self) -> Result<(), ads126x::error::ADS126xError> {
+        self.adc2_cs.set_high();
+        self.adc1_cs.set_low();
+        self.adc1.reset()?;
+
+        spawn!(delay, 1000);
+
+        let mut mode1_cfg = Mode1Register::default();
+        mode1_cfg.set_filter(ads126x::register::DigitalFilter::Sinc1);
+        self.adc1.set_mode1(&mode1_cfg, &mut self.spi)?;
+
+        let mut mode2_cfg = Mode2Register::default();
+        mode2_cfg.set_dr(DataRate::SPS1200);
+        self.adc1.set_mode2(&mode2_cfg, &mut self.spi)?;
+
+        self.adc1.send_command(ADCCommand::START1, &mut self.spi)?;
+        self.adc1.send_command(ADCCommand::START2, &mut self.spi)?;
+
+        Ok(())
+    }
+
+    pub fn init_adc2(&mut self) -> Result<(), ads126x::error::ADS126xError> {
+        self.adc1_cs.set_high();
+        self.adc2_cs.set_low();
+        self.adc2.reset()?;
+
+        spawn!(delay, 1000);
+
+        let mut mode1_cfg = Mode1Register::default();
+        mode1_cfg.set_filter(ads126x::register::DigitalFilter::Sinc1);
+        self.adc1.set_mode1(&mode1_cfg, &mut self.spi)?;
+
+        let mut mode2_cfg = Mode2Register::default();
+        mode2_cfg.set_dr(DataRate::SPS1200);
+        self.adc1.set_mode2(&mode2_cfg, &mut self.spi)?;
+
+        self.adc1.send_command(ADCCommand::START1, &mut self.spi)?;
+        self.adc1.send_command(ADCCommand::START2, &mut self.spi)?;
+
+        Ok(())
+    }
+}
diff --git a/boards/pressure/src/data_manager.rs b/boards/pressure/src/data_manager.rs
@@ -114,7 +114,7 @@ impl DataManager {
     pub fn handle_data(&mut self, data: Message) {
         match data.data {
             messages::Data::Sensor(ref sensor) => match sensor.data {
-                messages::sensor::SensorData::SbgData(ref sbg_data) => match sbg_data{
+                messages::sensor::SensorData::SbgData(ref sbg_data) => match sbg_data {
                     messages::sensor::SbgData::EkfNavAcc(_) => {
                         self.ekf_nav_acc = Some(data);
                     }
@@ -154,7 +154,7 @@ impl DataManager {
                     messages::sensor::SbgData::GpsPos2(_) => {
                         self.gps_pos_2 = Some(data);
                     }
-                }
+                },
                 messages::sensor::SensorData::RecoverySensing(_) => {
                     self.recovery_sensing = Some(data);
                 }

diff --git a/boards/pressure/src/main.rs b/boards/pressure/src/main.rs
@@ -3,6 +3,7 @@
 
 mod communication;
 mod data_manager;
+mod adc_manager;
 mod types;
 
 use chrono::NaiveDate;
@@ -322,14 +323,19 @@ mod app {
         )
     }
 
+    #[task(priority = 3)]
+    async fn delay(_cx: delay::Context, delay: u32) {
+        Mono::delay(delay.millis()).await;
+    }
+
     #[task(priority = 3, shared = [&em, rtc])]
     async fn generate_random_messages(mut cx: generate_random_messages::Context) {
         loop {
             cx.shared.em.run(|| {
                 let message = Message::new(
-                    cx.shared.rtc.lock(|rtc| {
-                        messages::FormattedNaiveDateTime(rtc.date_time().unwrap())
-                    }),
+                    cx.shared
+                        .rtc
+                        .lock(|rtc| messages::FormattedNaiveDateTime(rtc.date_time().unwrap())),
                     COM_ID,
                     messages::state::State::new(messages::state::StateData::Initializing),
                 );
@@ -363,10 +369,13 @@ mod app {
                     stm32h7xx_hal::rcc::ResetReason::Unknown { rcc_rsr } => sensor::ResetReason::Unknown { rcc_rsr },
                     stm32h7xx_hal::rcc::ResetReason::WindowWatchdogReset => sensor::ResetReason::WindowWatchdogReset,
                 };
-                let message =
-                    messages::Message::new(cx.shared.rtc.lock(|rtc| {
-                        messages::FormattedNaiveDateTime(rtc.date_time().unwrap())
-                    }), COM_ID, sensor::Sensor::new(x));
+                let message = messages::Message::new(
+                    cx.shared
+                        .rtc
+                        .lock(|rtc| messages::FormattedNaiveDateTime(rtc.date_time().unwrap())),
+                    COM_ID,
+                    sensor::Sensor::new(x),
+                );
 
                 cx.shared.em.run(|| {
                     spawn!(send_gs, message)?;
@@ -385,10 +394,13 @@ mod app {
             .lock(|data_manager| data_manager.state.clone());
         cx.shared.em.run(|| {
             if let Some(x) = state_data {
-                let message =
-                    Message::new(cx.shared.rtc.lock(|rtc| {
-                        messages::FormattedNaiveDateTime(rtc.date_time().unwrap())
-                    }), COM_ID, messages::state::State::new(x));
+                let message = Message::new(
+                    cx.shared
+                        .rtc
+                        .lock(|rtc| messages::FormattedNaiveDateTime(rtc.date_time().unwrap())),
+                    COM_ID,
+                    messages::state::State::new(x),
+                );
                 spawn!(send_gs, message)?;
             } // if there is none we still return since we simply don't have data yet.
             Ok(())
@@ -442,8 +454,7 @@ mod app {
     }
 
     #[task(priority = 3, shared = [rtc, &em])]
-    async fn send_gs_intermediate(mut cx: send_gs_intermediate::Context, m: Data)
-    {
+    async fn send_gs_intermediate(mut cx: send_gs_intermediate::Context, m: Data) {
         cx.shared.em.run(|| {
             cx.shared.rtc.lock(|rtc| {
                 let message = messages::Message::new(
@@ -572,4 +583,4 @@ mod app {
             sbg.set_low();
         });
     }
-}
+}
diff --git a/boards/strain/Cargo.toml b/boards/strain/Cargo.toml
@@ -22,6 +22,7 @@ defmt-rtt = { workspace = true }
 panic-probe = { workspace = true }
 chrono = { workspace = true }
 messages = {workspace = true}
+ads126x = {path = "../../crates/ads126x"}
 
 [dev-dependencies]
 defmt-test = { workspace = true }

diff --git a/boards/strain/src/adc_manager.rs b/boards/strain/src/adc_manager.rs
@@ -0,0 +1,81 @@
+use ads126x::{
+    register::{DataRate, Mode1Register, Mode2Register},
+    ADCCommand, Ads126x,
+};
+
+use common_arm::spawn;
+use stm32h7xx_hal::{
+    gpio::{Output, Pin, PushPull},
+    spi::Spi,
+};
+
+use crate::app::delay;
+
+// There is an option to use interrupts using the data ready pins, but for now we will poll.
+pub struct AdcManager {
+    pub spi: Spi<stm32h7xx_hal::pac::SPI4, stm32h7xx_hal::spi::Enabled, u8>,
+    pub adc1: Ads126x<Pin<'C', 11, Output<PushPull>>>,
+    pub adc2: Ads126x<Pin<'E', 0, Output<PushPull>>>,
+    pub adc1_cs: Pin<'C', 10, Output<PushPull>>,
+    pub adc2_cs: Pin<'D', 2, Output<PushPull>>,
+}
+
+impl AdcManager {
+    pub fn new(
+        spi: Spi<stm32h7xx_hal::pac::SPI4, stm32h7xx_hal::spi::Enabled, u8>,
+        adc1_rst: Pin<'C', 11, Output<PushPull>>,
+        adc2_rst: Pin<'E', 0, Output<PushPull>>,
+        adc1_cs: Pin<'C', 10, Output<PushPull>>,
+        adc2_cs: Pin<'D', 2, Output<PushPull>>,
+    ) -> Self {
+        Self {
+            spi,
+            adc1: Ads126x::new(adc1_rst),
+            adc2: Ads126x::new(adc2_rst),
+            adc1_cs,
+            adc2_cs,
+        }
+    }
+
+    pub fn init_adc1(&mut self) -> Result<(), ads126x::error::ADS126xError> {
+        self.adc2_cs.set_high();
+        self.adc1_cs.set_low();
+        self.adc1.reset()?;
+
+        spawn!(delay, 1000);
+
+        let mut mode1_cfg = Mode1Register::default();
+        mode1_cfg.set_filter(ads126x::register::DigitalFilter::Sinc1);
+        self.adc1.set_mode1(&mode1_cfg, &mut self.spi)?;
+
+        let mut mode2_cfg = Mode2Register::default();
+        mode2_cfg.set_dr(DataRate::SPS1200);
+        self.adc1.set_mode2(&mode2_cfg, &mut self.spi)?;
+
+        self.adc1.send_command(ADCCommand::START1, &mut self.spi)?;
+        self.adc1.send_command(ADCCommand::START2, &mut self.spi)?;
+
+        Ok(())
+    }
+
+    pub fn init_adc2(&mut self) -> Result<(), ads126x::error::ADS126xError> {
+        self.adc1_cs.set_high();
+        self.adc2_cs.set_low();
+        self.adc2.reset()?;
+
+        spawn!(delay, 1000);
+
+        let mut mode1_cfg = Mode1Register::default();
+        mode1_cfg.set_filter(ads126x::register::DigitalFilter::Sinc1);
+        self.adc1.set_mode1(&mode1_cfg, &mut self.spi)?;
+
+        let mut mode2_cfg = Mode2Register::default();
+        mode2_cfg.set_dr(DataRate::SPS1200);
+        self.adc1.set_mode2(&mode2_cfg, &mut self.spi)?;
+
+        self.adc1.send_command(ADCCommand::START1, &mut self.spi)?;
+        self.adc1.send_command(ADCCommand::START2, &mut self.spi)?;
+
+        Ok(())
+    }
+}
diff --git a/boards/strain/src/data_manager.rs b/boards/strain/src/data_manager.rs
@@ -114,7 +114,7 @@ impl DataManager {
     pub fn handle_data(&mut self, data: Message) {
         match data.data {
             messages::Data::Sensor(ref sensor) => match sensor.data {
-                messages::sensor::SensorData::SbgData(ref sbg_data) => match sbg_data{
+                messages::sensor::SensorData::SbgData(ref sbg_data) => match sbg_data {
                     messages::sensor::SbgData::EkfNavAcc(_) => {
                         self.ekf_nav_acc = Some(data);
                     }
@@ -154,7 +154,7 @@ impl DataManager {
                     messages::sensor::SbgData::GpsPos2(_) => {
                         self.gps_pos_2 = Some(data);
                     }
-                }
+                },
                 messages::sensor::SensorData::RecoverySensing(_) => {
                     self.recovery_sensing = Some(data);
                 }