openpilot v0.9.6 release

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

panda/board/stm32h7/lladc.h

@@ -0,0 +1,41 @@
+// 5VOUT_S = ADC12_INP5
+// VOLT_S = ADC1_INP2
+#define ADCCHAN_VIN 2
+
+void adc_init(void) {
+  ADC1->CR &= ~(ADC_CR_DEEPPWD); //Reset deep-power-down mode
+  ADC1->CR |= ADC_CR_ADVREGEN; // Enable ADC regulator
+  while(!(ADC1->ISR & ADC_ISR_LDORDY));
+
+  ADC1->CR &= ~(ADC_CR_ADCALDIF); // Choose single-ended calibration
+  ADC1->CR |= ADC_CR_ADCALLIN; // Lineriality calibration
+  ADC1->CR |= ADC_CR_ADCAL; // Start calibrtation
+  while((ADC1->CR & ADC_CR_ADCAL) != 0);
+
+  ADC1->ISR |= ADC_ISR_ADRDY;
+  ADC1->CR |= ADC_CR_ADEN;
+  while(!(ADC1->ISR & ADC_ISR_ADRDY));
+}
+
+uint16_t adc_get_raw(uint8_t channel) {
+  ADC1->SQR1 &= ~(ADC_SQR1_L);
+  ADC1->SQR1 = ((uint32_t) channel << 6U);
+
+  ADC1->SMPR1 = (0x2U << (channel * 3U));
+  ADC1->PCSEL_RES0 = (0x1U << channel);
+  ADC1->CFGR2 = (127U << ADC_CFGR2_OVSR_Pos) | (0x7U << ADC_CFGR2_OVSS_Pos) | ADC_CFGR2_ROVSE;
+
+  ADC1->CR |= ADC_CR_ADSTART;
+  while (!(ADC1->ISR & ADC_ISR_EOC));
+
+  uint16_t res = ADC1->DR;
+
+  while (!(ADC1->ISR & ADC_ISR_EOS));
+  ADC1->ISR |= ADC_ISR_EOS;
+
+  return res;
+}
+
+uint16_t adc_get_mV(uint8_t channel) {
+  return (adc_get_raw(channel) * current_board->avdd_mV) / 65535U;
+}