adc_utils.hpp

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#ifndef STM_UTILS_INC_ADC_UTILS_HPP_
#define STM_UTILS_INC_ADC_UTILS_HPP_
 
#include <adc.h>
#include <dma.h>
#include <stdint.h>
#include <arm_math.h>
#include "supercap_def.h"
#include "main.h"
 
// ==========================
// ADC and Signal Definitions
// ==========================

#define ADC_RES 4095.0f

#define INV_VOLT_DIV 11.0f

#define ADC_REF 3.3f

#define INA186A2_GAIN 50.0f

#define SHUNT_RESISTOR 0.004f

#define VCAP_GAIN ADC_REF * INV_VOLT_DIV / ADC_RES
#define VBAT_GAIN ADC_REF * INV_VOLT_DIV / ADC_RES

#define IBAT_GAIN -(ADC_REF / SHUNT_RESISTOR / INA186A2_GAIN / ADC_RES)
#define ISOURCE_GAIN -(ADC_REF / SHUNT_RESISTOR / INA186A2_GAIN / ADC_RES)
#define ICAP_GAIN -(ADC_REF / SHUNT_RESISTOR / INA186A2_GAIN / ADC_RES)
 
// ==========================
// Offset Calibration per Board
// ==========================
 
#if BOARD_ID == 0x01
    #define VCAP_OFFSET 0.4914794921875f
    #define VBAT_OFFSET 0.5060302734375f
    #define IBAT_OFFSET 8.018306816f
    #define ISOURCE_OFFSET 8.0183068822f
    #define ICAP_OFFSET 7.97801410408f
#elif BOARD_ID == 0x02
    #define VCAP_OFFSET 0.5300927721875f
    #define VBAT_OFFSET 0.6178282734375f
    #define IBAT_OFFSET 7.9417500291f
    #define ISOURCE_OFFSET 7.9941314767f
    #define ICAP_OFFSET 7.95786746968f
#elif BOARD_ID == 0x03
    #define VCAP_OFFSET 0.5344686121875f
    #define VBAT_OFFSET 0.5866657734375f
    #define IBAT_OFFSET 8.018306816f
    #define ISOURCE_OFFSET 8.0183068822f
    #define ICAP_OFFSET 7.97801410408f
#elif BOARD_ID == 0x04
    #define VCAP_OFFSET 0.5344686121875f
    #define VBAT_OFFSET 0.5866657734375f
    #define IBAT_OFFSET 8.018306816f
    #define ISOURCE_OFFSET 8.0183068822f
    #define ICAP_OFFSET 7.97801410408f
#else
    #error "WRONG BOARD ID."
#endif
 
// ==========================
// ADC Buffers and Channels
// ==========================
 
#define ADC1_CHANNELS 2
#define ADC2_CHANNELS 3
#define ADC_FIRST_BUFFER 0
#define ADC_SECOND_BUFFER 1
#define ADC_BUFFER_DEPTH 16
 
// ==========================
// Enumerations
// ==========================

typedef enum {
    I_cap,      
    V_cap,      
    V_bat,      
    I_chassis,  
    I_bat       
} adc_names;

typedef enum {
    P_bat,
    P_chassis,
    I_capa,
    V_cap_max,
    V_cap_min
} pid_names;
 
// ==========================
// Data Structures
// ==========================

typedef struct {
    uint16_t window_filter[64]; 
    uint8_t  length;            
    uint8_t  index;             
    uint32_t sum;               
    uint8_t  full;              
} mov_avrg_filter ;

typedef struct {
    arm_pid_instance_f32 ArmPID_Instance; 
    float IntegMax;       
    float IntegMin;       
    float OutputMax;      
    float OutputMin;      
} LoopCtrl_PID;
 
// ==========================
// ADC Manager Class
// ==========================

class adc_manager {
public:
    adc_manager(ADC_HandleTypeDef* adc_cap, ADC_HandleTypeDef* adc_bat, ADC_HandleTypeDef* adc_temp)
        : adc_cap_(adc_cap), adc_bat_(adc_bat), adc_temp_(adc_temp) {}

    HAL_StatusTypeDef adc_init(uint8_t* filters_length);

    float get_temperature();
 
    bool calibration_ready = false; 
 
private:
    void set_gains_offsets(); 
 
    // ADC handles
    ADC_HandleTypeDef* adc_cap_;
    ADC_HandleTypeDef* adc_bat_;
    ADC_HandleTypeDef* adc_temp_;
 
    // (Deprecated) unused PID constants
    float P_KP_chassis, P_KI_chassis, P_KD_chassis;
    float P_KP_battery, P_KI_battery, P_KD_battery;
    float I_KP_supercap, I_KI_supercap, I_KD_supercap;
    float V_KP_capMax, V_KI_capMax, V_KD_capMax;
    float V_KP_capMin, V_KI_capMin, V_KD_capMin;
};
 
// ==========================
// External Variables
// ==========================
 
extern uint16_t adc1_samples[2][16][2]; 
extern uint16_t adc2_samples[2][16][3]; 
extern uint16_t ADC_filtered_data[5];  
extern mov_avrg_filter filters[5];     
extern float adc_gains[5];             
extern float adc_offsets[5];           

#define GET_COMPENSATED_ADC(ADC_VAL, NAME) (((float)(ADC_VAL)) * adc_gains[NAME]) + adc_offsets[NAME]
 
#endif /* STM_UTILS_INC_ADC_UTILS_HPP_ */