text: /****************************************************************************
   *
   *   Copyright (C) 2012-2020 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  #include "ADC.hpp"
  
  ADC::ADC(uint32_t base_address, uint32_t channels) :
  	CDev(ADC0_DEVICE_PATH),
  	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
  	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
  	_base_address(base_address)
  {
  	/* always enable the temperature sensor */
  	channels |= px4_arch_adc_temp_sensor_mask();
  
  	/* allocate the sample array */
  	for (unsigned i = 0; i < ADC_TOTAL_CHANNELS; i++) {
  		if (channels & (1 << i)) {
  			_channel_count++;
  		}
  	}
  
  	if (_channel_count > PX4_MAX_ADC_CHANNELS) {
  		PX4_ERR("PX4_MAX_ADC_CHANNELS is too small:is %d needed:%d", PX4_MAX_ADC_CHANNELS, _channel_count);
  	}
  
  	_samples = new px4_adc_msg_t[_channel_count];
  
  	/* prefill the channel numbers in the sample array */
  	if (_samples != nullptr) {
  		unsigned index = 0;
  
  		for (unsigned i = 0; i < ADC_TOTAL_CHANNELS; i++) {
  			if (channels & (1 << i)) {
  				_samples[index].am_channel = i;
  				_samples[index].am_data = 0;
  				index++;
  			}
  		}
  	}
  }
  
  ADC::~ADC()
  {
  	ScheduleClear();
  
  	if (_samples != nullptr) {
  		delete _samples;
  	}
  
  	perf_free(_sample_perf);
  	px4_arch_adc_uninit(_base_address);
  }
  
  int ADC::init()
  {
  	int ret_init = px4_arch_adc_init(_base_address);
  
  	if (ret_init < 0) {
  		PX4_ERR("arch adc init failed");
  		return ret_init;
  	}
  
  	/* create the device node */
  	int ret_cdev = CDev::init();
  
  	if (ret_cdev != PX4_OK) {
  		PX4_ERR("CDev init failed");
  		return ret_cdev;
  	}
  
  	// schedule regular updates
  	ScheduleOnInterval(kINTERVAL, kINTERVAL);
  
  	return PX4_OK;
  }
  
  ssize_t ADC::read(cdev::file_t *filp, char *buffer, size_t len)
  {
  	const size_t maxsize = sizeof(px4_adc_msg_t) * _channel_count;
  
  	if (len > maxsize) {
  		len = maxsize;
  	}
  
  	/* block interrupts while copying samples to avoid racing with an update */
  	lock();
  	memcpy(buffer, _samples, len);
  	unlock();
  
  	return len;
  }
  
  void ADC::Run()
  {
  	lock();
  	hrt_abstime now = hrt_absolute_time();
  
  	/* scan the channel set and sample each */
  	for (unsigned i = 0; i < _channel_count; i++) {
  		_samples[i].am_data = sample(_samples[i].am_channel);
  	}
  
  	update_adc_report(now);
  	update_system_power(now);
  	unlock();
  }
  
  void ADC::update_adc_report(hrt_abstime now)
  {
  	adc_report_s adc = {};
  	adc.timestamp = now;
  
  	unsigned max_num = _channel_count;
  
  	if (max_num > (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]))) {
  		max_num = (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]));
  	}
  
  	for (unsigned i = 0; i < max_num; i++) {
  		adc.channel_id[i] = _samples[i].am_channel;
  		adc.channel_value[i] = _samples[i].am_data * 3.3f / px4_arch_adc_dn_fullcount();
  	}
  
  	_to_adc_report.publish(adc);
  }
  
  void ADC::update_system_power(hrt_abstime now)
  {
  #if defined (BOARD_ADC_USB_CONNECTED)
  	system_power_s system_power {};
  	system_power.timestamp = now;
  
  	/* Assume HW provides only ADC_SCALED_V5_SENSE */
  	int cnt = 1;
  	/* HW provides both ADC_SCALED_V5_SENSE and ADC_SCALED_V3V3_SENSORS_SENSE */
  #  if defined(ADC_SCALED_V5_SENSE) && defined(ADC_SCALED_V3V3_SENSORS_SENSE)
  	cnt++;
  #  endif
  
  	for (unsigned i = 0; i < _channel_count; i++) {
  #  if defined(ADC_SCALED_V5_SENSE)
  
  		if (_samples[i].am_channel == ADC_SCALED_V5_SENSE) {
  			// it is 2:1 scaled
  			system_power.voltage5v_v = _samples[i].am_data * (ADC_V5_V_FULL_SCALE / px4_arch_adc_dn_fullcount());
  			cnt--;
  
  		} else
  #  endif
  #  if defined(ADC_SCALED_V3V3_SENSORS_SENSE)
  		{
  			if (_samples[i].am_channel == ADC_SCALED_V3V3_SENSORS_SENSE) {
  				// it is 2:1 scaled
  				system_power.voltage3v3_v = _samples[i].am_data * (ADC_3V3_SCALE * (3.3f / px4_arch_adc_dn_fullcount()));
  				system_power.v3v3_valid = 1;
  				cnt--;
  			}
  		}
  
  #  endif
  
  		if (cnt == 0) {
  			break;
  		}
  	}
  
  	/* Note once the board_config.h provides BOARD_ADC_USB_CONNECTED,
  	 * It must provide the true logic GPIO BOARD_ADC_xxxx macros.
  	 */
  	// these are not ADC related, but it is convenient to
  	// publish these to the same topic
  
  	system_power.usb_connected = BOARD_ADC_USB_CONNECTED;
  	/* If provided used the Valid signal from HW*/
  #if defined(BOARD_ADC_USB_VALID)
  	system_power.usb_valid = BOARD_ADC_USB_VALID;
  #else
  	/* If not provided then use connected */
  	system_power.usb_valid  = system_power.usb_connected;
  #endif
  
  	/* The valid signals (HW dependent) are associated with each brick */
  #if !defined(BOARD_NUMBER_DIGITAL_BRICKS)
  	bool  valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
  	system_power.brick_valid = 0;
  
  	for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
  		system_power.brick_valid |=  valid_chan[b] ? 1 << b : 0;
  	}
  
  #endif
  
  	system_power.servo_valid   = BOARD_ADC_SERVO_VALID;
  
  #ifdef BOARD_ADC_PERIPH_5V_OC
  	// OC pins are active low
  	system_power.periph_5v_oc  = BOARD_ADC_PERIPH_5V_OC;
  #endif
  
  #ifdef BOARD_ADC_HIPOWER_5V_OC
  	system_power.hipower_5v_oc = BOARD_ADC_HIPOWER_5V_OC;
  #endif
  
  	/* lazily publish */
  	_to_system_power.publish(system_power);
  
  #endif // BOARD_ADC_USB_CONNECTED
  }
  
  uint32_t ADC::sample(unsigned channel)
  {
  	perf_begin(_sample_perf);
  	uint32_t result = px4_arch_adc_sample(_base_address, channel);
  
  	if (result == UINT32_MAX) {
  		PX4_ERR("sample timeout");
  	}
  
  	perf_end(_sample_perf);
  	return result;
  }
  
  int ADC::test()
  {
  	int fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
  
  	if (fd < 0) {
  		PX4_ERR("can't open ADC device %d", errno);
  		return 1;
  	}
  
  	for (unsigned i = 0; i < 20; i++) {
  		px4_adc_msg_t data[ADC_TOTAL_CHANNELS];
  		ssize_t count = px4_read(fd, data, sizeof(data));
  
  		if (count < 0) {
  			PX4_ERR("read error");
  			return 1;
  		}
  
  		unsigned channels = count / sizeof(data[0]);
  
  		for (unsigned j = 0; j < channels; j++) {
  			printf("%d: %u  ", data[j].am_channel, data[j].am_data);
  		}
  
  		printf("\n");
  		px4_usleep(100000);
  	}
  
  	px4_close(fd);
  
  	return 0;
  }
  
  int ADC::custom_command(int argc, char *argv[])
  {
  	const char *verb = argv[0];
  
  	if (!strcmp(verb, "test")) {
  		if (is_running()) {
  			return _object.load()->test();
  		}
  
  		return PX4_ERROR;
  	}
  
  	return print_usage("unknown command");
  }
  
  int ADC::task_spawn(int argc, char *argv[])
  {
  	ADC *instance = new ADC(SYSTEM_ADC_BASE, ADC_CHANNELS);
  
  	if (instance) {
  		_object.store(instance);
  		_task_id = task_id_is_work_queue;
  
  		if (instance->init() == PX4_OK) {
  			return PX4_OK;
  		}
  
  	} else {
  		PX4_ERR("alloc failed");
  	}
  
  	delete instance;
  	_object.store(nullptr);
  	_task_id = -1;
  
  	return PX4_ERROR;
  }
  
  int ADC::print_usage(const char *reason)
  {
  	if (reason) {
  		PX4_WARN("%s\n", reason);
  	}
  
  	PRINT_MODULE_DESCRIPTION(
  		R"DESCR_STR(
  ### Description
  ADC driver.
  
  )DESCR_STR");
  
  	PRINT_MODULE_USAGE_NAME("adc", "driver");
  	PRINT_MODULE_USAGE_COMMAND("start");
  	PRINT_MODULE_USAGE_COMMAND("test");
  	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
  
  	return 0;
  }
  
  extern "C" __EXPORT int adc_main(int argc, char *argv[])
  {
  	return ADC::main(argc, argv);
  }
  