[rp2040] Basic ADC support

README.md

@@ -78,9 +78,9 @@ git clone --recurse-submodules --jobs 8 https://github.com/modm-io/modm.git
 
 ## Microcontrollers
 
-modm can create a HAL for <!--allcount-->3287<!--/allcount--> devices of these vendors:
+modm can create a HAL for <!--allcount-->3304<!--/allcount--> devices of these vendors:
 
-- STMicroelectronics STM32: <!--stmcount-->2712<!--/stmcount--> devices.
+- STMicroelectronics STM32: <!--stmcount-->2729<!--/stmcount--> devices.
 - Microchip SAM: <!--samcount-->186<!--/samcount--> devices.
 - Microchip AVR: <!--avrcount-->388<!--/avrcount--> devices.
 - Raspberry Pi: <!--rpicount-->1<!--/rpicount--> device.
@@ -144,7 +144,7 @@ Please [discover modm's peripheral drivers for your specific device][discover].
 <td align="center">○</td>
 <td align="center">✅</td>
 <td align="center">○</td>
-<td align="center">○</td>
+<td align="center">✅</td>
 <td align="center">○</td>
 <td align="center">✅</td>
 <td align="center">✅</td>

examples/rp_pico/adc_simple/main.cpp

@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2022, Nikolay Semenov
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include <modm/board.hpp>
+#include <modm/io/iostream.hpp>
+#include <modm/platform.hpp>
+
+int
+main()
+{
+	Board::initialize();
+
+	using Led = Board::LedGreen;
+	Led::setOutput(true);
+
+	Uart0::connect<GpioOutput0::Tx>();
+	Uart0::initialize<Board::SystemClock, 115200_Bd>();
+
+	modm::IODeviceWrapper<Uart0, modm::IOBuffer::BlockIfFull> loggerDevice;
+	modm::IOStream out(loggerDevice);
+
+	Adc::connect<GpioInput26::In0, GpioInput27::In1, GpioInput28::In2, GpioInput29::In3>();
+	Adc::initialize();
+	Adc::enableTemperatureSensor();
+
+	while (true)
+	{
+		out.printf("---\r\n");
+		for (uint8_t ch = 0; ch < (uint8_t)Adc::Channel::Ch3; ++ch)
+		{
+			auto value = Adc::readChannel((Adc::Channel)ch);
+			out.printf("ADC Channel %u %f V | 0x%04x %u\r\n", ch, Adc::convertToVoltage(value),
+					   value, value);
+		}
+		{
+			auto value = Adc::readChannel(Adc::Channel::Ch3);
+			out.printf("ADC VSYS      %f V | 0x%04x %u\r\n", 3.f * Adc::convertToVoltage(value),
+					   value, value);
+		}
+		{
+			auto value = Adc::readChannel(Adc::Channel::Temperature);
+			out.printf("ADC Int Temp  %.4f C | 0x%04x %u\r\n", Adc::convertToTemperature(value),
+					   value, value);
+		}
+		modm::delay(250ms);
+		Led::toggle();
+	}
+
+	return 0;
+}

examples/rp_pico/adc_simple/project.xml

@@ -0,0 +1,12 @@
+<library>
+  <extends>modm:rp-pico</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/rp_pico/adc_simple</option>
+  </options>
+  <modules>
+    <module>modm:io</module>
+    <module>modm:platform:adc</module>
+    <module>modm:platform:uart:0</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

src/modm/board/feather_rp2040/board.hpp

@@ -36,6 +36,7 @@ struct SystemClock
 	static constexpr uint32_t UsbPLLMul = 40;
 	static constexpr uint32_t RefFrequency = XOSCFrequency;
 	static constexpr uint32_t UsbFrequency = PllUsbFrequency;
+	static constexpr uint32_t AdcFrequency = PllUsbFrequency;
 	static constexpr uint32_t SysFrequency = Frequency;
 	static constexpr uint32_t PeriFrequency = SysFrequency;
 
@@ -59,6 +60,9 @@ struct SystemClock
 		// CLK USB = PLL USB (48MHz) / 1 = 48MHz
 		ClockControl::configureClock<ClockControl::Clock::Usb, ClockControl::ClockSrc::PllUsb,
 									 PllUsbFrequency, UsbFrequency>();
+		// CLK ADC = PLL USB (48MHZ) / 1 = 48MHz
+		ClockControl::configureClock<ClockControl::Clock::Adc, ClockControl::ClockSrc::PllUsb,
+									 PllUsbFrequency, AdcFrequency>();
 		// CLK PERI = clk_sys. Used as reference clock for Peripherals. No dividers so just select
 		// and enable Normally choose clk_sys or clk_usb
 		ClockControl::configureClock<ClockControl::Clock::Peri, ClockControl::ClockSrc::Sys,

src/modm/board/rp_pico/board.hpp

@@ -1,6 +1,7 @@
 /*
  *
  * Copyright (c) 2022, Andrey Kunitsyn
+ * Copyright (c) 2022, Nikolay Semenov
  *
  * This file is part of the modm project.
  *
@@ -33,6 +34,7 @@ struct SystemClock
 	static constexpr uint32_t UsbPLLMul = 40;
 	static constexpr uint32_t RefFrequency = XOSCFrequency;
 	static constexpr uint32_t UsbFrequency = PllUsbFrequency;
+	static constexpr uint32_t AdcFrequency = PllUsbFrequency;
 	static constexpr uint32_t SysFrequency = Frequency;
 	static constexpr uint32_t PeriFrequency = SysFrequency;
 
@@ -56,6 +58,9 @@ struct SystemClock
 		// CLK USB = PLL USB (48MHz) / 1 = 48MHz
 		ClockControl::configureClock<ClockControl::Clock::Usb, ClockControl::ClockSrc::PllUsb,
 									 PllUsbFrequency, UsbFrequency>();
+		// CLK ADC = PLL USB (48MHZ) / 1 = 48MHz
+		ClockControl::configureClock<ClockControl::Clock::Adc, ClockControl::ClockSrc::PllUsb,
+									 PllUsbFrequency, AdcFrequency>();
 		// CLK PERI = clk_sys. Used as reference clock for Peripherals. No dividers so just select
 		// and enable Normally choose clk_sys or clk_usb
 		ClockControl::configureClock<ClockControl::Clock::Peri, ClockControl::ClockSrc::Sys,

src/modm/platform/adc/rp/adc.hpp.in

@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2022, Nikolay Semenov
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+#include <modm/architecture/interface/adc.hpp>
+#include <modm/platform/gpio/connector.hpp>
+
+namespace modm::platform
+{
+/**
+ * Analog/Digital-Converter module.
+ *
+ * Not implemented yet:
+ *  - Interrupts
+ *  - FIFO
+ *  - DMA
+ *
+ * \ingroup	modm_platform_adc
+ */
+class Adc : public modm::Adc
+{
+public:
+	static constexpr uint8_t Resolution = 12;
+
+public:
+	enum class Channel : uint8_t
+	{
+%% for channel, name in channels.items() | sort
+		{{ name }} = {{ channel }},
+%% endfor
+	};
+
+public:
+	// start inherited documentation
+	template< class... Signals >
+	static void
+	connect()
+	{
+		using Connector = GpioConnector<Peripheral::Adc{{ id }}, Signals...>;
+		Connector::connect();
+	}
+
+	static inline void
+	initialize();
+
+	static inline void
+	disable();
+
+	static inline bool
+	setChannel(Channel);
+
+	static inline Channel
+	getChannel();
+
+	static inline bool
+	isReady();
+
+	static inline bool
+	hasError();
+
+	static inline uint16_t
+	getValue();
+
+	static inline uint16_t
+	readChannel(Channel);
+
+	static inline void
+	enableTemperatureSensor();
+
+	static inline void
+	disableTemperatureSensor();
+
+	static inline float
+	convertToVoltage(uint16_t value);
+
+	static inline float
+	convertToTemperature(uint16_t value);
+
+private:
+	static inline void
+	reset();
+
+	static inline void
+	unreset();
+};
+
+} // namespace modm::platform
+
+#include "adc_impl.hpp"

src/modm/platform/adc/rp/adc_impl.hpp.in

@@ -0,0 +1,120 @@
+/*
+ * Copyright (c) 2022, Nikolay Semenov
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+#include <modm/platform/core/resets.hpp>
+
+#include <hardware/structs/adc.h>
+
+namespace modm::platform
+{
+
+void
+Adc::initialize()
+{
+	reset();
+	unreset();
+
+	adc_hw->cs = ADC_CS_EN_BITS;
+
+	while (!isReady()) { __NOP(); }
+}
+
+void
+Adc::disable()
+{
+	// TODO: wait for the current conversion to finish
+	adc_hw->cs = ADC_CS_EN_RESET;
+}
+
+bool
+Adc::setChannel(Channel channel)
+{
+	if (static_cast<uint32_t>(channel) > {{channels | max}}) return false;
+
+	hw_write_masked(&adc_hw->cs, static_cast<uint32_t>(channel) << ADC_CS_AINSEL_LSB, ADC_CS_AINSEL_BITS);
+	return true;
+}
+
+Adc::Channel
+Adc::getChannel()
+{
+	return static_cast<Adc::Channel>((adc_hw->cs & ADC_CS_AINSEL_BITS) >> ADC_CS_AINSEL_LSB);
+}
+
+bool
+Adc::isReady()
+{
+	return !!(adc_hw->cs & ADC_CS_READY_BITS);
+}
+
+bool
+Adc::hasError()
+{
+	return !!(adc_hw->cs & ADC_CS_ERR_BITS);
+}
+
+uint16_t
+Adc::getValue()
+{
+	// START_ONCE is ignored if START_MANY is set
+	// and isReady() will always return false.
+	hw_clear_bits(&adc_hw->cs, ADC_CS_START_MANY_BITS);
+	hw_set_bits(&adc_hw->cs, ADC_CS_START_ONCE_BITS);
+	while (!isReady()) { __NOP(); }
+	return static_cast<uint16_t>(adc_hw->result);
+}
+
+uint16_t
+Adc::readChannel(Channel channel)
+{
+	if (!setChannel(channel)) return 0;
+	return getValue();
+}
+
+void
+Adc::enableTemperatureSensor()
+{
+	hw_set_bits(&adc_hw->cs, ADC_CS_TS_EN_BITS);
+}
+
+void
+Adc::disableTemperatureSensor()
+{
+	hw_clear_bits(&adc_hw->cs, ADC_CS_TS_EN_BITS);
+}
+
+float
+Adc::convertToVoltage(uint16_t value)
+{
+	return value * (3.3f / (1 << 12));
+}
+
+float
+Adc::convertToTemperature(uint16_t value)
+{
+	return 27.f - (convertToVoltage(value) - 0.706f) / 0.001721f;
+}
+
+void
+Adc::reset()
+{
+	Resets::reset(RESETS_RESET_ADC_BITS);
+}
+
+void
+Adc::unreset()
+{
+	Resets::unresetWait(RESETS_RESET_ADC_BITS);
+}
+
+} // namespace modm::platform