ADS111X.cpp

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/*
 * ADS111X.cpp
 *
 *  Created on: 21.04.2022
 *      Author: Yannick
 */
 
#include "ADS111X.h"
#ifdef I2C_PORT
ADS111X::ADS111X(I2CPort &port,uint8_t address) : port(port), address(address) {
    port.takePort(this);
}
 
ADS111X::~ADS111X() {
    port.freePort(this);
}
 
 
void ADS111X::readRegIT(const uint8_t reg,uint16_t* data){
    port.takeSemaphore();
    port.readMemIT(this, address, reg, 1, (uint8_t*)data, 2);
}
 
uint16_t ADS111X::readReg(const uint8_t reg){
    uint16_t buf=0;
    port.takeSemaphore();
    port.readMem(this, address, reg, 1, (uint8_t*)&buf, 2,100);
    return buf;
}
 
void ADS111X::writeRegIT(const uint8_t reg,uint16_t data){
    writeItBuffer = __REV16(data);
    port.takeSemaphore();
 
    port.writeMemIT(this, address, reg, 1, (uint8_t*)&writeItBuffer, 2);
}
 
void ADS111X::writeReg(const uint8_t reg,uint16_t data){
    writeItBuffer = __REV16(data);
    port.takeSemaphore();
    port.writeMem(this, address, reg, 1, (uint8_t*)&writeItBuffer, 2,100);
}
 
void ADS111X::setThresh(uint16_t lowTh, uint16_t highTh){
    registers.lothresh = lowTh;
    registers.hithresh = highTh;
    writeRegIT(0x02, registers.lothresh);
    writeRegIT(0x03, registers.hithresh);
}

void ADS111X::setGain(uint16_t gain){
    this->gain = clip<uint16_t,uint16_t>(gain, 0, 5);
//  this->registers.config &= ~0x0E00;
//  this->registers.config |= this->gain << 9;
//  writeRegIT(0x01, this->registers.config);
}
 

void ADS111X::setDatarate(uint16_t rate){
    datarate = clip<uint16_t,uint16_t>(rate, 0, 7);
}
 

void ADS111X::startConversion(uint8_t channel, bool differential){
    uint16_t mux = 0;
    if(differential){
        switch(channel)
        {
            default:
            case 0:
                mux = 0x0000;
                break;
            case 1:
                mux = 0x3000;
                break;
            case 2:
                mux = 0x1000;
                break;
            case 3:
                mux = 0x2000;
                break;
 
        }
    }else{
        switch(channel)
        {
            default:
            case 0:
                mux = 0x4000;
                break;
            case 1:
                mux = 0x5000;
                break;
            case 2:
                mux = 0x6000;
                break;
            case 3:
                mux = 0x7000;
                break;
 
        }
    }
    this->registers.config = 0x103; // Default settings. Single conversion 103
    this->registers.config |= mux;
    this->registers.config |= 0x8000; // Start conversion
    this->registers.config |= datarate << 5; // Read datarate from separate variable to make sure it is updated if connection was interrupted
    this->registers.config |= gain << 9;
    writeRegIT(0x01, this->registers.config);
}
 
 
 
void ADS111X::startI2CTransfer(I2CPort* port){
    //port->takeSemaphore(); // Take semaphore before setting buffers
}
 
void ADS111X::endI2CTransfer(I2CPort* port){
    port->giveSemaphore(); // Take semaphore before setting buffers
}
 
 
 
 
// ---------------------------------------------------------------------- //
#ifdef ADS111XANALOG
ClassIdentifier ADS111X_AnalogSource::info = {
         .name = "ADS111X ADC" ,
         .id=CLSID_ANALOG_ADS111X,
 };
const ClassIdentifier ADS111X_AnalogSource::getInfo(){
    return info;
}
 
 
const std::array<std::pair<uint16_t,uint16_t>,4> minMaxValAddr = {
    std::pair<uint16_t,uint16_t>(ADR_ADS111X_MIN_0,ADR_ADS111X_MAX_0),
    std::pair<uint16_t,uint16_t>(ADR_ADS111X_MIN_1,ADR_ADS111X_MAX_1),
    std::pair<uint16_t,uint16_t>(ADR_ADS111X_MIN_2,ADR_ADS111X_MAX_2),
    std::pair<uint16_t,uint16_t>(ADR_ADS111X_MIN_3,ADR_ADS111X_MAX_3),
 
};
 
ADS111X_AnalogSource::ADS111X_AnalogSource() : ADS111X(i2cport) , CommandHandler("adsAnalog", CLSID_ANALOG_ADS111X, 0),AnalogAxisProcessing(4,this,this, true,true,true,true), Thread("ads111x", 64, 25) {
    CommandHandler::registerCommands();
    setAxes(axes,differentialMode);
    registerCommand("inputs", ADS111X_AnalogSource_commands::axes, "Amount of inputs (1-4 or 1-2 if differential)",CMDFLAG_GET | CMDFLAG_SET);
    //registerCommand("addr", ADS111X_AnalogSource_commands::address, "Address",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("diff", ADS111X_AnalogSource_commands::differential, "Differential mode (Ch0= 0p 1n Ch1= 2p 3n)",CMDFLAG_GET | CMDFLAG_SET);
    registerCommand("gain", ADS111X_AnalogSource_commands::gain, "PGA scale (0-5)",CMDFLAG_GET | CMDFLAG_SET | CMDFLAG_INFOSTRING);
    registerCommand("rate", ADS111X_AnalogSource_commands::rate, "Data rate (0-7)",CMDFLAG_GET | CMDFLAG_SET | CMDFLAG_INFOSTRING);
    restoreFlash();
    this->Start();
}
 
ADS111X_AnalogSource::~ADS111X_AnalogSource(){
 
}
 
void ADS111X_AnalogSource::saveFlash(){
    AnalogAxisProcessing::saveMinMaxValues(minMaxValAddr);
    uint16_t data = axes & 0x7;
    data |= (gain & 0x7) << 3;
    data |= (datarate & 0x7) << 6;
    data |= (differentialMode) << 9;
    data |= AnalogAxisProcessing::encodeAnalogProcessingConfToInt(AnalogAxisProcessing::getAnalogProcessingConfig()) << 10;
    Flash_Write(ADR_ADS111X_CONF1, data);
}
 
void ADS111X_AnalogSource::restoreFlash(){
    AnalogAxisProcessing::restoreMinMaxValues(minMaxValAddr);
    uint16_t data;
    if(Flash_Read(ADR_ADS111X_CONF1, &data)){
        setAxes(data & 0x7, ((data >> 9) & 0x1) != 0);
        setGain((data >> 3) & 0x7);
        setDatarate((data >> 6) & 0x7);
        AnalogAxisProcessing::setAnalogProcessingConfig(AnalogAxisProcessing::decodeAnalogProcessingConfFromInt(data >> 10));
    }
}
 
void ADS111X_AnalogSource::initialize(){
    // Must not be called in constructor
    //setThresh(0,0x8000);
    lastSuccess = HAL_GetTick();
    port.resetPort();
    lastAxis = 0;
    state = ADS111X_AnalogSource_state::idle;
}
 
void ADS111X_AnalogSource::i2cError(I2CPort* port){
    state = ADS111X_AnalogSource_state::idle;
    port->resetPort();
}
 
// Handles starting next transfer for >1 byte transfers
void ADS111X_AnalogSource::Run(){
    while(true){
 
 
        /*
         * Sequence:
         * Start sampling at channel 0
         * Wait until request done
         * Poll if sampling is done
         * Wait until request done and possibly repeat polling
         * Read sample and store in buffer when request done
         *
         */
 
        if(state == ADS111X_AnalogSource_state::none){
            initialize();
        }
 
        WaitForNotification();
 
        if(lastAxis < this->axes){
            // Next transfer
            if(state == ADS111X_AnalogSource_state::beginSampling){
                ADS111X::startConversion(lastAxis,differentialMode); // Change channel and sample
 
            }else if(state == ADS111X_AnalogSource_state::sampling){
                // Check if done
                Delay(1); // Sampling takes at least 1ms so we sleep before polling
                ADS111X::readRegIT(0x01, &configRegBuf);
 
            }else if(state == ADS111X_AnalogSource_state::getsample){
 
                // if done read sample
                state = ADS111X_AnalogSource_state::readingSample; // Read next
                ADS111X::readRegIT(0x00, (uint16_t*)&sampleBuffer); // Read last conversion
            }
 
        }else{
            // Last conversion done. store in buffer
            lastAxis = 0;
            lastSuccess = HAL_GetTick();
 
            state = ADS111X_AnalogSource_state::idle;
 
        }
    }
}

void ADS111X_AnalogSource::i2cRxCompleted(I2CPort* port){
    if(port != &this->port || state == ADS111X_AnalogSource_state::idle){
        return;
    }
    if(state == ADS111X_AnalogSource_state::sampling){
        // Check config reg if conversion is done yet
        configRegBuf = __REV16(configRegBuf);
        if((configRegBuf & 0x8000) != 0){
            // Done
            state = ADS111X_AnalogSource_state::getsample;
        }
    }else if(state == ADS111X_AnalogSource_state::readingSample){
        sampleBuffer = __REV16(sampleBuffer); // Reverse buffer
        if(!differentialMode){
            sampleBuffer = (clip<int16_t,int16_t>(sampleBuffer,0,0x7fff) - 0x3fff) * 2 - 1; // Shift because we can't go below GND anyways
        }
        rawbuf[lastAxis] = (int16_t)sampleBuffer;
        lastAxis++;
        state = ADS111X_AnalogSource_state::beginSampling; // Begin next sample or go idle
    }
 
    NotifyFromISR();
}

void ADS111X_AnalogSource::i2cTxCompleted(I2CPort* port){
    if(port != &this->port || state == ADS111X_AnalogSource_state::idle){
        return;
    }
 
    if(state == ADS111X_AnalogSource_state::beginSampling){ // Last command started the sampling and was sent out. We are now waiting
        state = ADS111X_AnalogSource_state::sampling;
    }
 
    NotifyFromISR();
}
 
std::vector<int32_t>* ADS111X_AnalogSource::getAxes(){
 
    if(state == ADS111X_AnalogSource_state::idle && !port.isTaken()){
        //Begin transfer
        lastAxis = 0;
        state = ADS111X_AnalogSource_state::beginSampling;
        Notify();
    }
 
    if(HAL_GetTick() - lastSuccess > 4000){
        state = ADS111X_AnalogSource_state::none;
        Notify();
    }
    buf = rawbuf;
    AnalogAxisProcessing::processAxes(buf); // Do processing every call to keep filter samplerate steady
    return &this->buf;
}
 
void ADS111X_AnalogSource::setAxes(uint8_t axes,bool differential){
    differentialMode = differential;
    this->axes = clip<uint16_t,uint16_t>(axes,1,differentialMode ? 2 : 4);
    this->buf.resize(this->axes,0);
    this->rawbuf.resize(this->axes,0);
}
 
CommandStatus ADS111X_AnalogSource::command(const ParsedCommand& cmd,std::vector<CommandReply>& replies){
 
    switch(static_cast<ADS111X_AnalogSource_commands>(cmd.cmdId)){
 
    case ADS111X_AnalogSource_commands::axes:
        if(cmd.type == CMDtype::set){
            setAxes(cmd.val,differentialMode);
        }else if(cmd.type == CMDtype::get){
            replies.emplace_back(axes);
        }
    break;
 
    case ADS111X_AnalogSource_commands::gain:
        if(cmd.type == CMDtype::set){
            this->setGain(cmd.val);
        }else if(cmd.type == CMDtype::get){
            replies.emplace_back(gain);
        }else if(cmd.type == CMDtype::info){
            //replies.emplace_back("2/3x:0,1x:1,2x:2,4x:3,8x:4,16x:5");
            replies.emplace_back("6.144V:0,4.096V:1,2.048V:2,1.024V:3,0.512V:4,0.256V:5");
        }
    break;
 
    case ADS111X_AnalogSource_commands::differential:
        if(cmd.type == CMDtype::set){
            setAxes(axes,cmd.val != 0); // Limit axes
        }else if(cmd.type == CMDtype::get){
            replies.emplace_back(differentialMode);
        }
    break;
 
    case ADS111X_AnalogSource_commands::rate:
        if(cmd.type == CMDtype::set){
            setDatarate(cmd.val);
        }else if(cmd.type == CMDtype::get){
            replies.emplace_back(datarate);
        }else if(cmd.type == CMDtype::info){
            replies.emplace_back("8 SPS:0,16 SPS:1,32 SPS:2,64 SPS:3,128 SPS:4,250 SPS:5,475 SPS:6,860 SPS:7");
        }
    break;
    case ADS111X_AnalogSource_commands::address: // No option yet
    default:
        return AnalogAxisProcessing::command(cmd, replies); // Try processing command
    }
    return CommandStatus::OK;
}
#endif
#endif