wandering1
9bbe117f97
用户选定最彻底方案（B2）：DMA + 定时器 TRGO 硬件触发 + 消费上一拍 已完成的半区。对应 P1-5 拆出的"单拍硬上界"，现已办结。 硬件事实更正（查 CubeMX 器件库 + 本仓 HAL 头证实）：F4 上 ADC1 的 外部触发清单里没有 TIM6/TIM7 TRGO（只接 DAC）。故 1 kHz 节拍源由 TIM6 改为 TIM3（PSC 83 / ARR 999，TRGO=UPDATE），同一个更新事件 同时 ① ISR 脉冲 TPAFE CONVST ② 经 TRGO 触发 ADC1 一轮 9 通道 ③ 置位 ADC_WAKE_FLAG 唤醒 adcTask。TIM6 从 .ioc 整体移除。 代码： - Src/tim.c/h：新增 MX_TIM3_Init（含 MasterSlaveMode），删 htim6 - Src/adc.c：ExternalTrigConv=T3_TRGO + EDGE_RISING + DMAContinuousRequests=ENABLE；MspInit 挂 hdma_adc1（DMA2_Stream4 循环模式）。DDS 位关掉 = 一轮只发一次请求，静默丢 8 路 - Src/dma.c：DMA2_Stream4 NVIC 优先级 6（CubeMX 换流会把它重置为 0， 优先级 0 会抢占 FreeRTOS 临界区，违反"外设中断 ≥5"） - Src/main.c：周期回调加 TIM3 分支；stm32f4xx_it.c 向量同步 - App/algo/adc_input.c：stm32_scan() → stm32_take()，逐通道 PollForConversion 全删；乒乓半区由完成计数奇偶推出（只读一个 32 位量 → 与 ISR 无竞态）；STM32 侧数据固定滞后 1 拍 - App/task/adc_task.c：心跳日志拆出四类计数 观测性：adc1_seq（完成计数）/ adc1_gap（seq 前进 >1 = 丢帧）/ adc1_err（连续 ≥2 拍无新帧 = 停摆）/ adc1_hw（HAL 错误回调）。 单拍无新帧是消费者相位伪影（DMA 完成落在唤醒后 ≈67 µs），不计故障。 验证： - 主机单测 79 → 101 全绿；反向验证四连均咬（半区奇偶取反 11 条、 停摆拍置 valid 4 条、STALL_RUN_MAX 改 1 为 6 条、gap 阈值 1 条） - @build 0 错 0 警，Code 256872 → 257660 - @test PASS：adcp 122 µs → 8 µs、adc1_err=0、adc1_hw=0、 adc1_gap=27/20002 拍、adc1_seq 与 seq 恒定偏移 2 - stack_report 7/7 PASS，adcTask 832 B / 余 59%（不变） - cubemx-survival 新增 5 项审计（TIM3 分支 / T3_TRGO / DDS / DMA 挂载 / 流优先级），28 通过 0 失败 文档：ADC 采样节拍设计说明新增 §11；看门狗停摆分析 §4.4 与 §8 收口； 算法规划 L1-1/L1-3、通道映射、测试说明、各 README 同步。
316 lines
10 KiB
C
316 lines
10 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file adc.c
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* @brief This file provides code for the configuration
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* of the ADC instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "adc.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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ADC_HandleTypeDef hadc1;
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DMA_HandleTypeDef hdma_adc1;
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/* ADC1 init function */
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void MX_ADC1_Init(void)
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{
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/* USER CODE BEGIN ADC1_Init 0 */
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/* USER CODE END ADC1_Init 0 */
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ADC_ChannelConfTypeDef sConfig = {0};
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/* USER CODE BEGIN ADC1_Init 1 */
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/* USER CODE END ADC1_Init 1 */
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/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
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*/
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hadc1.Instance = ADC1;
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hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
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hadc1.Init.Resolution = ADC_RESOLUTION_12B;
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hadc1.Init.ScanConvMode = ENABLE;
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hadc1.Init.ContinuousConvMode = DISABLE;
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hadc1.Init.DiscontinuousConvMode = DISABLE;
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hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
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hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T3_TRGO;
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hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc1.Init.NbrOfConversion = 9;
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hadc1.Init.DMAContinuousRequests = ENABLE;
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hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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if (HAL_ADC_Init(&hadc1) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_0;
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sConfig.Rank = 1;
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sConfig.SamplingTime = ADC_SAMPLETIME_144CYCLES;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_1;
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sConfig.Rank = 2;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_2;
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sConfig.Rank = 3;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_3;
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sConfig.Rank = 4;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_4;
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sConfig.Rank = 5;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_5;
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sConfig.Rank = 6;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_6;
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sConfig.Rank = 7;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_7;
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sConfig.Rank = 8;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_14;
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sConfig.Rank = 9;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN ADC1_Init 2 */
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/* STM32F4 ADC 上电**自校准**：RM0090 §13.3.6 / AN4976 要求的必需步骤，CubeMX 不生成，
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* 且本仓库的 HAL 是裁剪子集、**没有** HAL_ADCEx_Calibration_Start()（已核实
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* stm32f4xx_hal_adc_ex.c/.h 均无该函数）→ 用本文件 USER CODE BEGIN 1 里的等价实现。
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* 必须在首次转换之前完成，否则 ADC 存在失调误差（未校准的偏移可达数十 LSB）。
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* 放 USER CODE 区 = L2，重生成不丢；由 cubemx-survival 审计项 adc1-calibration 兜底。 */
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if (adc1_calibrate() != 0)
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{
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Error_Handler();
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}
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/* USER CODE END ADC1_Init 2 */
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}
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void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(adcHandle->Instance==ADC1)
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{
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/* USER CODE BEGIN ADC1_MspInit 0 */
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/* USER CODE END ADC1_MspInit 0 */
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/* ADC1 clock enable */
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__HAL_RCC_ADC1_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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/**ADC1 GPIO Configuration
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PA0-WKUP ------> ADC1_IN0
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PA1 ------> ADC1_IN1
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PA2 ------> ADC1_IN2
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PA3 ------> ADC1_IN3
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PA4 ------> ADC1_IN4
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PA5 ------> ADC1_IN5
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PA6 ------> ADC1_IN6
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PA7 ------> ADC1_IN7
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PC4 ------> ADC1_IN14
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*/
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GPIO_InitStruct.Pin = ADC9_RES_Pin|ADC10_IC_Pin|ADC11_IN_Pin|ADC12_UC_Pin
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|ADC13_RES_Pin|ADC14_TEMP_Pin|ADC15_IB_Pin|ADC16_RES_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = ADC17_UB_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(ADC17_UB_GPIO_Port, &GPIO_InitStruct);
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/* ADC1 DMA Init */
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/* ADC1 Init */
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hdma_adc1.Instance = DMA2_Stream4;
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hdma_adc1.Init.Channel = DMA_CHANNEL_0;
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hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
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hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
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hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
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hdma_adc1.Init.Mode = DMA_CIRCULAR;
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hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
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hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
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{
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Error_Handler();
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}
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__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
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/* USER CODE BEGIN ADC1_MspInit 1 */
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/* USER CODE END ADC1_MspInit 1 */
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}
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}
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void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
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{
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if(adcHandle->Instance==ADC1)
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{
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/* USER CODE BEGIN ADC1_MspDeInit 0 */
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/* USER CODE END ADC1_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_ADC1_CLK_DISABLE();
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/**ADC1 GPIO Configuration
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PA0-WKUP ------> ADC1_IN0
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PA1 ------> ADC1_IN1
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PA2 ------> ADC1_IN2
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PA3 ------> ADC1_IN3
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PA4 ------> ADC1_IN4
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PA5 ------> ADC1_IN5
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PA6 ------> ADC1_IN6
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PA7 ------> ADC1_IN7
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PC4 ------> ADC1_IN14
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*/
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HAL_GPIO_DeInit(GPIOA, ADC9_RES_Pin|ADC10_IC_Pin|ADC11_IN_Pin|ADC12_UC_Pin
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|ADC13_RES_Pin|ADC14_TEMP_Pin|ADC15_IB_Pin|ADC16_RES_Pin);
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HAL_GPIO_DeInit(ADC17_UB_GPIO_Port, ADC17_UB_Pin);
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/* ADC1 DMA DeInit */
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HAL_DMA_DeInit(adcHandle->DMA_Handle);
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/* USER CODE BEGIN ADC1_MspDeInit 1 */
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/* USER CODE END ADC1_MspDeInit 1 */
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}
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}
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/* USER CODE BEGIN 1 */
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/* CR2.CAL（bit 3）。⚠ 本仓库的 CMSIS 设备头 stm32f407xx.h 是裁剪版，**未定义**
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* ADC_CR2_CAL（已核实：CR2 只有 ADON/CONT/DMA/DDS/EOCS/ALIGN/JEXTSEL/JEXTEN/
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* JSWSTART/EXTSEL/EXTEN/SWSTART，没有 CAL）
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* → 按 RM0090 在此补齐，命名避开 CMSIS 前缀以免将来重定义冲突。 */
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#define ADC1_CAL_BIT (0x1UL << 3U)
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/* 断电/校准等待上限（ms）。CAL 实测在数十 µs 内清零，10 ms 是 100 倍以上余量 */
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#define ADC1_CAL_TIMEOUT_MS (10U)
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/* ADON 0→1 后的稳定等待（µs），同 HAL 的 ADC_STAB_DELAY_US 口径 */
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#define ADC1_STAB_DELAY_US (20U)
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/*
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* 函数功能：ADC1 上电自校准（等价于 HAL_ADCEx_Calibration_Start，本仓库 HAL 无此函数）
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* 入口参数：无（操作 ADC1 寄存器）
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* 返 回 值：0 - 校准完成；-1 - 等待超时（ADON 未清零 / CAL 未清零）
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* 限定条件：MX_ADC1_Init() 之后、**首次转换之前**；内核启动前可调用
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* （只用 HAL_GetTick 与寄存器，不触碰任何 CMSIS/FreeRTOS 对象）
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* 函数说明：RM0090 §13.3.6 时序——① ADC 必须处于关闭态（清 ADON 并等其生效）；
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* ② 置 ADON 上电，等 Tstab；③ 置 CAL 启动自校准；④ 完成后**硬件自动**清 CAL，
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* 等其清零即完成。校准值存在 ADC 内部偏置寄存器，此后所有转换都带上校正。
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* 缺这一步的后果不是"读不到"而是"读得有偏"——正是 §7.2 那类
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* adc1_err/异常值的候选根因之一，见 docs/硬件平台/ADC通道映射说明.md。
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*/
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int adc1_calibrate(void)
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{
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uint32_t tickstart;
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/* 1) 前置条件：ADC 必须关闭 */
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CLEAR_BIT(ADC1->CR2, ADC_CR2_ADON);
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tickstart = HAL_GetTick();
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while ((ADC1->CR2 & ADC_CR2_ADON) != 0U)
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{
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if ((HAL_GetTick() - tickstart) > ADC1_CAL_TIMEOUT_MS)
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{
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return -1;
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}
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}
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/* 2) 上电（ADON 0→1），等待稳定后再启动校准 */
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SET_BIT(ADC1->CR2, ADC_CR2_ADON);
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{
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__IO uint32_t wait_loop_index = (ADC1_STAB_DELAY_US * (SystemCoreClock / 1000000U));
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while (wait_loop_index != 0U)
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{
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wait_loop_index--;
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}
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}
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/* 3) 启动自校准，等硬件把 CAL 清零 */
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SET_BIT(ADC1->CR2, ADC1_CAL_BIT);
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tickstart = HAL_GetTick();
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while ((ADC1->CR2 & ADC1_CAL_BIT) != 0U)
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{
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if ((HAL_GetTick() - tickstart) > ADC1_CAL_TIMEOUT_MS)
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{
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return -1;
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}
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}
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return 0;
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}
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/* USER CODE END 1 */
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