ADC까지, 신호 확인 필요(반사 신호 약함 or 뒤쪽을 찍고 있음)

2026-05-08 18:09:04 +09:00
parent 17a78d4418
commit d7c5b34da3
23 changed files with 1992 additions and 83 deletions
@@ -0,0 +1,145 @@
+/*******************************************************************************
+ * @file    echo_adc.c
+ * @brief   ADC121S051 echo capture driver using nrfx SPIM3
+ ******************************************************************************/
+
+#include <zephyr/kernel.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/sys/util.h>
+#include <nrfx_spim.h>
+#include <errno.h>
+
+#include "echo_adc.h"
+#include "debug_print.h"
+
+#define ECHO_SCLK_NODE  DT_NODELABEL(echo_sclk)
+#define ECHO_MISO_NODE  DT_NODELABEL(echo_miso)
+#define ECHO_CS_NODE    DT_NODELABEL(echo_cs)
+
+static const struct gpio_dt_spec echo_sclk = GPIO_DT_SPEC_GET(ECHO_SCLK_NODE, gpios);
+static const struct gpio_dt_spec echo_miso = GPIO_DT_SPEC_GET(ECHO_MISO_NODE, gpios);
+static const struct gpio_dt_spec echo_cs   = GPIO_DT_SPEC_GET(ECHO_CS_NODE, gpios);
+
+/*
+ * NRFX_SPIM_INSTANCE() takes the peripheral register symbol (for example
+ * NRF_SPIM3), not a numeric instance index. Passing 3 makes p_reg invalid
+ * and causes a fault inside nrfx_spim_init().
+ */
+static nrfx_spim_t echo_spim = NRFX_SPIM_INSTANCE(NRF_SPIM3);
+static bool echo_adc_initialized;
+static uint8_t raw_capture[ECHO_ADC_MAX_SAMPLES * 2];
+
+static uint32_t gpio_abs_pin(const struct gpio_dt_spec *spec)
+{
+	uint32_t port = (spec->port == DEVICE_DT_GET(DT_NODELABEL(gpio1))) ? 1U : 0U;
+	return NRF_GPIO_PIN_MAP(port, spec->pin);
+}
+
+static int echo_adc_transfer_rx(uint8_t *buf, size_t len)
+{
+	nrfx_spim_xfer_desc_t xfer = NRFX_SPIM_XFER_RX(buf, len);
+	int err = nrfx_spim_xfer(&echo_spim, &xfer, 0);
+
+	if (err != 0)
+	{
+		DBG_PRINTF("[ECHO] xfer fail err=%d\r\n", err);
+		return -EIO;
+	}
+
+	return 0;
+}
+
+int echo_adc_init(void)
+{
+	if (echo_adc_initialized || nrfx_spim_init_check(&echo_spim))
+	{
+		echo_adc_initialized = true;
+		return 0;
+	}
+
+	const struct gpio_dt_spec *pins[] = { &echo_sclk, &echo_miso, &echo_cs };
+
+	for (size_t i = 0; i < ARRAY_SIZE(pins); i++)
+	{
+		if (!device_is_ready(pins[i]->port))
+		{
+			DBG_PRINTF("[ECHO] GPIO device not ready (%d)\r\n", (int)i);
+			return -ENODEV;
+		}
+	}
+
+	nrfx_spim_config_t config = NRFX_SPIM_DEFAULT_CONFIG(
+		gpio_abs_pin(&echo_sclk),
+		NRF_SPIM_PIN_NOT_CONNECTED,
+		gpio_abs_pin(&echo_miso),
+		gpio_abs_pin(&echo_cs));
+
+	config.frequency = NRFX_MHZ_TO_HZ(16);
+	config.mode = NRF_SPIM_MODE_3;
+	config.bit_order = NRF_SPIM_BIT_ORDER_MSB_FIRST;
+	config.orc = 0x00;
+	config.miso_pull = NRF_GPIO_PIN_NOPULL;
+	config.ss_active_high = false;
+
+	nrfx_err_t err = nrfx_spim_init(&echo_spim, &config, NULL, NULL);
+	if (err != NRFX_SUCCESS)
+	{
+		DBG_PRINTF("[ECHO] init fail err=%d\r\n", err);
+		return -EIO;
+	}
+
+	echo_adc_initialized = true;
+	DBG_PRINTF("[ECHO] SPIM3 init OK\r\n");
+	return 0;
+}
+
+int echo_adc_wake(void)
+{
+	int err = echo_adc_init();
+	if (err)
+	{
+		return err;
+	}
+
+	uint8_t discard[2];
+	return echo_adc_transfer_rx(discard, sizeof(discard));
+}
+
+int echo_adc_capture(uint16_t *samples, uint16_t num_samples)
+{
+	if (samples == NULL)
+	{
+		return -EINVAL;
+	}
+
+	if ((num_samples == 0U) || (num_samples > ECHO_ADC_MAX_SAMPLES))
+	{
+		return -EINVAL;
+	}
+
+	int err = echo_adc_init();
+	if (err)
+	{
+		return err;
+	}
+
+	for (uint16_t i = 0; i < num_samples; i++)
+	{
+		/*
+		 * Keep the framing that matched the old firmware behavior:
+		 * one 16-clock / 2-byte SPI frame per sample.
+		 */
+		err = echo_adc_transfer_rx(&raw_capture[i * 2U], 2U);
+		if (err)
+		{
+			return err;
+		}
+
+		uint16_t raw16 = ((uint16_t)raw_capture[i * 2U] << 8) |
+				 (uint16_t)raw_capture[i * 2U + 1U];
+		samples[i] = (raw16 >> 1) & 0x0FFF;
+	}
+
+	return 0;
+}