openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

panda/board/stm32fx/lladc.h

@@ -0,0 +1,33 @@
+// ACCEL1 = ADC10
+// ACCEL2 = ADC11
+// VOLT_S = ADC12
+// CURR_S = ADC13
+
+#define ADCCHAN_ACCEL0 10
+#define ADCCHAN_ACCEL1 11
+#define ADCCHAN_VIN 12
+#define ADCCHAN_CURRENT 13
+
+void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask);
+
+void adc_init(void) {
+  register_set(&(ADC->CCR), ADC_CCR_TSVREFE | ADC_CCR_VBATE, 0xC30000U);
+  register_set(&(ADC1->CR2), ADC_CR2_ADON, 0xFF7F0F03U);
+  register_set(&(ADC1->SMPR1), ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13, 0x7FFFFFFU);
+}
+
+uint16_t adc_get_raw(uint8_t channel) {
+  // Select channel
+  register_set(&(ADC1->JSQR), ((uint32_t) channel << 15U), 0x3FFFFFU);
+
+  // Start conversion
+  ADC1->SR &= ~(ADC_SR_JEOC);
+  ADC1->CR2 |= ADC_CR2_JSWSTART;
+  while (!(ADC1->SR & ADC_SR_JEOC));
+
+  return ADC1->JDR1;
+}
+
+uint16_t adc_get_mV(uint8_t channel) {
+  return (adc_get_raw(channel) * current_board->avdd_mV) / 4095U;
+}