Merge pull request #4330 from innermatrix/stm32-adc-v1-watchdog

Added STM32 ADCv1 analog watchdog implementation

2 files changed, 207 insertions, 4 deletions

diff --git a/embassy-stm32/src/adc/v1.rs b/embassy-stm32/src/adc/v1.rs
index fb6f5b7d0..7fe502da0 100644
--- a/embassy-stm32/src/adc/v1.rs
+++ b/embassy-stm32/src/adc/v1.rs
@@ -11,6 +11,9 @@ use crate::interrupt::typelevel::Interrupt;
 use crate::peripherals::ADC1;
 use crate::{interrupt, rcc, Peri};
 
+mod watchdog_v1;
+pub use watchdog_v1::WatchdogChannels;
+
 pub const VDDA_CALIB_MV: u32 = 3300;
 pub const VREF_INT: u32 = 1230;
 
@@ -21,8 +24,15 @@ pub struct InterruptHandler<T: Instance> {
 
 impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
     unsafe fn on_interrupt() {
-        if T::regs().isr().read().eoc() {
+        let isr = T::regs().isr().read();
+        let ier = T::regs().ier().read();
+        if ier.eocie() && isr.eoc() {
+            // eocie is set during adc.read()
             T::regs().ier().modify(|w| w.set_eocie(false));
+        } else if ier.awdie() && isr.awd() {
+            // awdie is set during adc.monitor_watchdog()
+            T::regs().cr().read().set_adstp(true);
+            T::regs().ier().modify(|w| w.set_awdie(false));
         } else {
             return;
         }
@@ -186,16 +196,21 @@ impl<'d, T: Instance> Adc<'d, T> {
 
         T::regs().dr().read().data()
     }
-}
 
-impl<'d, T: Instance> Drop for Adc<'d, T> {
-    fn drop(&mut self) {
+    fn teardown_adc() {
         // A.7.3 ADC disable code example
         T::regs().cr().modify(|reg| reg.set_adstp(true));
         while T::regs().cr().read().adstp() {}
 
         T::regs().cr().modify(|reg| reg.set_addis(true));
         while T::regs().cr().read().aden() {}
+    }
+}
+
+impl<'d, T: Instance> Drop for Adc<'d, T> {
+    fn drop(&mut self) {
+        Self::teardown_adc();
+        Self::teardown_awd();
 
         rcc::disable::<T>();
     }
diff --git a/embassy-stm32/src/adc/watchdog_v1.rs b/embassy-stm32/src/adc/watchdog_v1.rs
new file mode 100644
index 000000000..bbe8e1971
--- /dev/null
+++ b/embassy-stm32/src/adc/watchdog_v1.rs
@@ -0,0 +1,188 @@
+use core::future::poll_fn;
+use core::task::Poll;
+
+use stm32_metapac::adc::vals::{Align, Awdsgl, Res};
+
+use crate::adc::{Adc, AdcChannel, Instance};
+
+/// This enum is passed into `Adc::init_watchdog` to specify the channels for the watchdog to monitor
+pub enum WatchdogChannels {
+    // Single channel identified by index
+    Single(u8),
+    // Multiple channels identified by mask
+    Multiple(u16),
+}
+
+impl WatchdogChannels {
+    pub fn from_channel<T>(channel: &impl AdcChannel<T>) -> Self {
+        Self::Single(channel.channel())
+    }
+
+    pub fn add_channel<T>(self, channel: &impl AdcChannel<T>) -> Self {
+        WatchdogChannels::Multiple(
+            (match self {
+                WatchdogChannels::Single(ch) => 1 << ch,
+                WatchdogChannels::Multiple(ch) => ch,
+            }) | 1 << channel.channel(),
+        )
+    }
+}
+
+impl<'d, T: Instance> Adc<'d, T> {
+    /// Configure the analog window watchdog to monitor one or more ADC channels
+    ///
+    /// `high_threshold` and `low_threshold` are expressed in the same way as ADC results. The format
+    /// depends on the values of CFGR1.ALIGN and CFGR1.RES.
+    pub fn init_watchdog(&mut self, channels: WatchdogChannels, low_threshold: u16, high_threshold: u16) {
+        Self::stop_awd();
+
+        match channels {
+            WatchdogChannels::Single(ch) => {
+                T::regs().chselr().modify(|w| {
+                    w.set_chsel_x(ch.into(), true);
+                });
+                T::regs().cfgr1().modify(|w| {
+                    w.set_awdch(ch);
+                    w.set_awdsgl(Awdsgl::SINGLE_CHANNEL)
+                });
+            }
+            WatchdogChannels::Multiple(ch) => {
+                T::regs().chselr().modify(|w| w.0 = ch.into());
+                T::regs().cfgr1().modify(|w| {
+                    w.set_awdch(0);
+                    w.set_awdsgl(Awdsgl::ALL_CHANNELS)
+                });
+            }
+        }
+
+        Self::set_watchdog_thresholds(low_threshold, high_threshold);
+        Self::setup_awd();
+    }
+
+    /// Monitor the voltage on the selected channels; return when it crosses the thresholds.
+    ///
+    /// ```rust,ignore
+    /// // Wait for pin to go high
+    /// adc.init_watchdog(WatchdogChannels::from_channel(&pin), 0, 0x07F);
+    /// let v_high = adc.monitor_watchdog().await;
+    /// info!("ADC sample is high {}", v_high);
+    /// ```
+    pub async fn monitor_watchdog(&mut self) -> u16 {
+        assert!(
+            match T::regs().cfgr1().read().awdsgl() {
+                Awdsgl::SINGLE_CHANNEL => T::regs().cfgr1().read().awdch() != 0,
+                Awdsgl::ALL_CHANNELS => T::regs().cfgr1().read().awdch() == 0,
+            },
+            "`set_channel` should be called before `monitor`",
+        );
+        assert!(T::regs().chselr().read().0 != 0);
+        T::regs().smpr().modify(|reg| reg.set_smp(self.sample_time.into()));
+        Self::start_awd();
+
+        let sample = poll_fn(|cx| {
+            T::state().waker.register(cx.waker());
+
+            if T::regs().isr().read().awd() {
+                Poll::Ready(T::regs().dr().read().data())
+            } else {
+                Poll::Pending
+            }
+        })
+        .await;
+
+        self.stop_watchdog();
+        sample
+    }
+
+    /// Stop monitoring the selected channels
+    pub fn stop_watchdog(&mut self) {
+        Self::stop_awd();
+    }
+
+    fn set_watchdog_thresholds(low_threshold: u16, high_threshold: u16) {
+        // This function takes `high_threshold` and `low_threshold` in the same alignment and resolution
+        // as ADC results, and programs them into ADC_DR. Because ADC_DR is always right-aligned on 12 bits,
+        // some bit-shifting may be necessary. See more in table 47 §13.7.1 Analog Watchdog Comparison
+
+        // Verify that the thresholds are in the correct bit positions according to alignment and resolution
+        let threshold_mask = match (T::regs().cfgr1().read().align(), T::regs().cfgr1().read().res()) {
+            (Align::LEFT, Res::BITS6) => 0x00FC,
+            (Align::LEFT, Res::BITS8) => 0xFF00,
+            (Align::LEFT, Res::BITS10) => 0xFFC0,
+            (Align::LEFT, Res::BITS12) => 0xFFF0,
+            (Align::RIGHT, Res::BITS6) => 0x003F,
+            (Align::RIGHT, Res::BITS8) => 0x00FF,
+            (Align::RIGHT, Res::BITS10) => 0x03FF,
+            (Align::RIGHT, Res::BITS12) => 0x0FFF,
+        };
+        assert!(
+            high_threshold & !threshold_mask == 0,
+            "High threshold {:x} is invalid — only bits {:x} are allowed",
+            high_threshold,
+            threshold_mask
+        );
+        assert!(
+            low_threshold & !threshold_mask == 0,
+            "Low threshold {:x} is invalid — only bits {:x} are allowed",
+            low_threshold,
+            threshold_mask
+        );
+
+        T::regs().tr().modify(|w| {
+            w.set_lt(low_threshold << threshold_mask.leading_zeros() >> 4);
+            w.set_ht(high_threshold << threshold_mask.leading_zeros() >> 4);
+        })
+    }
+
+    fn setup_awd() {
+        // Configure AWD
+        assert!(!T::regs().cr().read().adstart());
+        T::regs().cfgr1().modify(|w| w.set_awden(true));
+    }
+
+    fn start_awd() {
+        // Clear AWD interrupt flag
+        while T::regs().isr().read().awd() {
+            T::regs().isr().modify(|regs| {
+                regs.set_awd(true);
+            })
+        }
+
+        // Enable AWD interrupt
+        assert!(!T::regs().cr().read().adstart());
+        T::regs().ier().modify(|w| {
+            w.set_eocie(false);
+            w.set_awdie(true)
+        });
+
+        // Start conversion
+        T::regs().cfgr1().modify(|w| w.set_cont(true));
+        T::regs().cr().modify(|w| w.set_adstart(true));
+    }
+
+    fn stop_awd() {
+        // Stop conversion
+        while T::regs().cr().read().addis() {}
+        if T::regs().cr().read().adstart() {
+            T::regs().cr().write(|x| x.set_adstp(true));
+            while T::regs().cr().read().adstp() {}
+        }
+        T::regs().cfgr1().modify(|w| w.set_cont(false));
+
+        // Disable AWD interrupt
+        assert!(!T::regs().cr().read().adstart());
+        T::regs().ier().modify(|w| w.set_awdie(false));
+
+        // Clear AWD interrupt flag
+        while T::regs().isr().read().awd() {
+            T::regs().isr().modify(|regs| {
+                regs.set_awd(true);
+            })
+        }
+    }
+
+    pub(crate) fn teardown_awd() {
+        Self::stop_awd();
+        T::regs().cfgr1().modify(|w| w.set_awden(false));
+    }
+}