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@@ -22,30 +22,40 @@ LOG_MODULE_REGISTER(adc_sensor, LOG_LEVEL_INF);
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// Devicetree node checks
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#define VOLTAGE_SENSOR_NODE DT_NODELABEL(supply_voltage)
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#define CURRENT_SENSOR_NODE DT_NODELABEL(motor_current)
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#define SENSOR_MUX_NODE DT_NODELABEL(vnd7050aj_mux)
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#define CURRENT_OPEN_SENSOR_NODE DT_NODELABEL(motor_current_open)
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#define CURRENT_CLOSE_SENSOR_NODE DT_NODELABEL(motor_current_close)
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#define VND7050AJ_NODE DT_NODELABEL(vnd7050aj)
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#ifndef CONFIG_ADC_SENSOR_SIMULATED
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// ADC device reference from centralized mux node
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#if DT_NODE_EXISTS(SENSOR_MUX_NODE)
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#define ADC_NODE DT_PHANDLE(SENSOR_MUX_NODE, io_channels)
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#define ADC_CHANNEL DT_PHA(SENSOR_MUX_NODE, io_channels, input)
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#define ADC_RESOLUTION 12
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#define ADC_REFERENCE_MV DT_PROP(SENSOR_MUX_NODE, reference_mv)
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// ADC device reference from voltage sensor node (all sensors use same ADC)
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#if DT_NODE_EXISTS(VOLTAGE_SENSOR_NODE)
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#define ADC_NODE DT_PHANDLE(VOLTAGE_SENSOR_NODE, io_channels)
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#define ADC_REFERENCE_MV DT_PROP(VOLTAGE_SENSOR_NODE, reference_mv)
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#endif
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#define ADC_CHANNEL 1 /* ADC1 channel 1 as defined in overlay */
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// Sensor-specific properties
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#if DT_NODE_EXISTS(VOLTAGE_SENSOR_NODE)
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#define VOLTAGE_DIVIDER_RATIO \
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DT_PROP(VOLTAGE_SENSOR_NODE, voltage_divider_ratio)
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#define VOLTAGE_MUX_CHANNEL DT_PROP(VOLTAGE_SENSOR_NODE, mux_channel)
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#define VOLTAGE_DELAY_MS DT_PROP(VOLTAGE_SENSOR_NODE, measurement_delay_ms)
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#endif
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#if DT_NODE_EXISTS(CURRENT_SENSOR_NODE)
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#define CURRENT_SENSE_RESISTOR_MOHM \
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DT_PROP(CURRENT_SENSOR_NODE, current_sense_resistor_mohm)
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#define CURRENT_MUX_CHANNEL DT_PROP(CURRENT_SENSOR_NODE, mux_channel)
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#define CURRENT_DELAY_MS DT_PROP(CURRENT_SENSOR_NODE, measurement_delay_ms)
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#if DT_NODE_EXISTS(CURRENT_OPEN_SENSOR_NODE)
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#define CURRENT_OPEN_SENSE_RESISTOR_MOHM \
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DT_PROP(CURRENT_OPEN_SENSOR_NODE, current_sense_resistor_mohm)
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#define CURRENT_OPEN_K_FACTOR DT_PROP(CURRENT_OPEN_SENSOR_NODE, k_factor)
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#define CURRENT_OPEN_DELAY_MS \
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DT_PROP(CURRENT_OPEN_SENSOR_NODE, measurement_delay_ms)
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#endif
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#if DT_NODE_EXISTS(CURRENT_CLOSE_SENSOR_NODE)
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#define CURRENT_CLOSE_SENSE_RESISTOR_MOHM \
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DT_PROP(CURRENT_CLOSE_SENSOR_NODE, current_sense_resistor_mohm)
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#define CURRENT_CLOSE_K_FACTOR DT_PROP(CURRENT_CLOSE_SENSOR_NODE, k_factor)
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#define CURRENT_CLOSE_DELAY_MS \
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DT_PROP(CURRENT_CLOSE_SENSOR_NODE, measurement_delay_ms)
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#endif
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static const struct device *adc_dev;
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@@ -59,24 +69,23 @@ static struct adc_channel_cfg adc_channel_cfg = {
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static struct adc_sequence adc_sequence = {
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.channels = BIT(ADC_CHANNEL),
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.buffer_size = sizeof(uint16_t),
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.resolution = ADC_RESOLUTION,
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.resolution = 12,
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};
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static uint16_t adc_buffer;
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#endif
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#endif
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static bool initialized = false;
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#ifndef CONFIG_ADC_SENSOR_SIMULATED
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// GPIO specs from centralized mux node
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#if DT_NODE_EXISTS(SENSOR_MUX_NODE)
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// GPIO specs from VND7050AJ node
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#if DT_NODE_EXISTS(VND7050AJ_NODE)
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static const struct gpio_dt_spec sen_gpio =
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GPIO_DT_SPEC_GET(SENSOR_MUX_NODE, sen_gpios);
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GPIO_DT_SPEC_GET(VND7050AJ_NODE, sen_gpios);
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static const struct gpio_dt_spec s0_gpio =
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GPIO_DT_SPEC_GET(SENSOR_MUX_NODE, s0_gpios);
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GPIO_DT_SPEC_GET(VND7050AJ_NODE, s0_gpios);
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static const struct gpio_dt_spec s1_gpio =
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GPIO_DT_SPEC_GET(SENSOR_MUX_NODE, s1_gpios);
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GPIO_DT_SPEC_GET(VND7050AJ_NODE, s1_gpios);
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#endif
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/**
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@@ -85,7 +94,7 @@ static const struct gpio_dt_spec s1_gpio =
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static int configure_sensor_gpios(void) {
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int ret = 0;
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#if DT_NODE_EXISTS(SENSOR_MUX_NODE)
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#if DT_NODE_EXISTS(VND7050AJ_NODE)
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// Configure sensor multiplexer GPIOs
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if (gpio_is_ready_dt(&sen_gpio)) {
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ret = gpio_pin_configure_dt(&sen_gpio, GPIO_OUTPUT_INACTIVE);
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@@ -122,7 +131,7 @@ static int configure_sensor_gpios(void) {
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* @param delay_ms Delay after setting GPIOs
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*/
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static int set_mux_channel(bool enable, uint8_t channel, uint32_t delay_ms) {
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#if DT_NODE_EXISTS(SENSOR_MUX_NODE)
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#if DT_NODE_EXISTS(VND7050AJ_NODE)
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if (gpio_is_ready_dt(&sen_gpio)) {
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gpio_pin_set_dt(&sen_gpio, enable ? 1 : 0);
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}
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@@ -148,7 +157,7 @@ static int set_mux_channel(bool enable, uint8_t channel, uint32_t delay_ms) {
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* @return ADC reading in millivolts, or 0 on error
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*/
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static uint16_t read_adc_voltage_mv(void) {
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#if DT_NODE_EXISTS(SENSOR_MUX_NODE) && DT_NODE_EXISTS(VOLTAGE_SENSOR_NODE)
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#if DT_NODE_EXISTS(VOLTAGE_SENSOR_NODE)
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int ret = adc_read(adc_dev, &adc_sequence);
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if (ret < 0) {
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LOG_ERR("ADC read failed: %d", ret);
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@@ -172,11 +181,11 @@ static uint16_t read_adc_voltage_mv(void) {
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}
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/**
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* @brief Read ADC value and convert to milliamps (for current sensor)
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* @brief Read ADC value and convert to milliamps for opening current
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* @return ADC reading in milliamps, or 0 on error
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*/
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static uint16_t read_adc_current_ma(void) {
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#if DT_NODE_EXISTS(SENSOR_MUX_NODE) && DT_NODE_EXISTS(CURRENT_SENSOR_NODE)
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static uint16_t read_adc_current_open_ma(void) {
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#if DT_NODE_EXISTS(CURRENT_OPEN_SENSOR_NODE)
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int ret = adc_read(adc_dev, &adc_sequence);
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if (ret < 0) {
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LOG_ERR("ADC read failed: %d", ret);
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@@ -187,12 +196,45 @@ static uint16_t read_adc_current_ma(void) {
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uint32_t adc_value = adc_buffer;
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uint32_t voltage_mv = (adc_value * ADC_REFERENCE_MV) / 4095;
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// Convert voltage to current based on sense resistor
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// I = V / R, where R is in milliohms and V is in millivolts
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// VND7050AJ current calculation: I = V_sense * K / R_sense
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// Where: V_sense in mV, K is the current sense factor, R_sense in mΩ
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// Result is in milliamps
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uint32_t current_ma = (voltage_mv * 1000) / CURRENT_SENSE_RESISTOR_MOHM;
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uint32_t current_ma = (voltage_mv * CURRENT_OPEN_K_FACTOR * 1000) /
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CURRENT_OPEN_SENSE_RESISTOR_MOHM;
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LOG_DBG("ADC raw: %u, current: %u mA", adc_value, (uint16_t)current_ma);
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LOG_DBG("Open current - ADC raw: %u, voltage: %u mV, current: %u mA",
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adc_value, voltage_mv, (uint16_t)current_ma);
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return (uint16_t)current_ma;
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#else
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return 0;
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#endif
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}
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/**
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* @brief Read ADC value and convert to milliamps for closing current
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* @return ADC reading in milliamps, or 0 on error
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*/
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static uint16_t read_adc_current_close_ma(void) {
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#if DT_NODE_EXISTS(CURRENT_CLOSE_SENSOR_NODE)
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int ret = adc_read(adc_dev, &adc_sequence);
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if (ret < 0) {
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LOG_ERR("ADC read failed: %d", ret);
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return 0;
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}
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// Convert ADC reading to millivolts first
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uint32_t adc_value = adc_buffer;
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uint32_t voltage_mv = (adc_value * ADC_REFERENCE_MV) / 4095;
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// VND7050AJ current calculation: I = V_sense * K / R_sense
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// Where: V_sense in mV, K is the current sense factor, R_sense in mΩ
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// Result is in milliamps
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uint32_t current_ma = (voltage_mv * CURRENT_CLOSE_K_FACTOR * 1000) /
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CURRENT_CLOSE_SENSE_RESISTOR_MOHM;
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LOG_DBG("Close current - ADC raw: %u, voltage: %u mV, current: %u mA",
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adc_value, voltage_mv, (uint16_t)current_ma);
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return (uint16_t)current_ma;
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#else
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@@ -219,7 +261,7 @@ int adc_sensor_init(void) {
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}
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// Initialize ADC hardware
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#if DT_NODE_EXISTS(SENSOR_MUX_NODE)
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#if DT_NODE_EXISTS(VOLTAGE_SENSOR_NODE)
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adc_dev = DEVICE_DT_GET(ADC_NODE);
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if (!device_is_ready(adc_dev)) {
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LOG_ERR("ADC device not ready");
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@@ -237,15 +279,18 @@ int adc_sensor_init(void) {
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LOG_INF("ADC device ready: %s", adc_dev->name);
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#endif
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LOG_INF("ADC sensor initialized (real ADC mode with centralized mux)");
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LOG_INF("ADC sensor initialized (real ADC mode)");
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#if DT_NODE_EXISTS(VOLTAGE_SENSOR_NODE)
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LOG_INF("Voltage sensor: channel %d, divider ratio %d", VOLTAGE_MUX_CHANNEL,
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VOLTAGE_DIVIDER_RATIO);
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LOG_INF("Voltage sensor: divider ratio %d", VOLTAGE_DIVIDER_RATIO);
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#endif
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#if DT_NODE_EXISTS(CURRENT_SENSOR_NODE)
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LOG_INF("Current sensor: channel %d, sense resistor %d mOhm",
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CURRENT_MUX_CHANNEL, CURRENT_SENSE_RESISTOR_MOHM);
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#if DT_NODE_EXISTS(CURRENT_OPEN_SENSOR_NODE)
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LOG_INF("Open current sensor: K-factor %d, sense resistor %d mΩ",
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CURRENT_OPEN_K_FACTOR, CURRENT_OPEN_SENSE_RESISTOR_MOHM);
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#endif
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#if DT_NODE_EXISTS(CURRENT_CLOSE_SENSOR_NODE)
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LOG_INF("Close current sensor: K-factor %d, sense resistor %d mΩ",
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CURRENT_CLOSE_K_FACTOR, CURRENT_CLOSE_SENSE_RESISTOR_MOHM);
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#endif
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#endif
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@@ -262,9 +307,9 @@ uint16_t adc_sensor_get_voltage_mv(void) {
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#ifdef CONFIG_ADC_SENSOR_SIMULATED
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return SIMULATED_VOLTAGE_MV;
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#else
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// Set multiplexer to voltage channel
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// Set multiplexer to voltage channel (channel 3: VCC sense)
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#if DT_NODE_EXISTS(VOLTAGE_SENSOR_NODE)
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set_mux_channel(true, VOLTAGE_MUX_CHANNEL, VOLTAGE_DELAY_MS);
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set_mux_channel(true, 3, VOLTAGE_DELAY_MS);
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// Read real ADC value for voltage
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uint16_t voltage = read_adc_voltage_mv();
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@@ -280,6 +325,11 @@ uint16_t adc_sensor_get_voltage_mv(void) {
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}
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uint16_t adc_sensor_get_current_ma(void) {
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// Legacy function - redirect to opening current for backward compatibility
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return adc_sensor_get_current_open_ma();
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}
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uint16_t adc_sensor_get_current_open_ma(void) {
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if (!initialized) {
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LOG_WRN("ADC sensor not initialized, calling adc_sensor_init()");
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adc_sensor_init();
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@@ -288,12 +338,38 @@ uint16_t adc_sensor_get_current_ma(void) {
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#ifdef CONFIG_ADC_SENSOR_SIMULATED
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return SIMULATED_CURRENT_MA;
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#else
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// Set multiplexer to current channel
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#if DT_NODE_EXISTS(CURRENT_SENSOR_NODE)
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set_mux_channel(true, CURRENT_MUX_CHANNEL, CURRENT_DELAY_MS);
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// Set multiplexer to IN0 current sense channel (channel 0)
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#if DT_NODE_EXISTS(CURRENT_OPEN_SENSOR_NODE)
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set_mux_channel(true, 0, CURRENT_OPEN_DELAY_MS);
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// Read real ADC value for current
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uint16_t current = read_adc_current_ma();
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uint16_t current = read_adc_current_open_ma();
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// Disable sensor after measurement to save power
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set_mux_channel(false, 0, 0);
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return current;
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#else
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return 0;
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#endif
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#endif
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}
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uint16_t adc_sensor_get_current_close_ma(void) {
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if (!initialized) {
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LOG_WRN("ADC sensor not initialized, calling adc_sensor_init()");
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adc_sensor_init();
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}
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#ifdef CONFIG_ADC_SENSOR_SIMULATED
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return SIMULATED_CURRENT_MA;
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#else
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// Set multiplexer to IN1 current sense channel (channel 1)
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#if DT_NODE_EXISTS(CURRENT_CLOSE_SENSOR_NODE)
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set_mux_channel(true, 1, CURRENT_CLOSE_DELAY_MS);
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// Read real ADC value for current
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uint16_t current = read_adc_current_close_ma();
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// Disable sensor after measurement to save power
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set_mux_channel(false, 0, 0);
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