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PIOS_ADC now non-application specific.
Removed "application hooks" system from PIOS_ADC. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@245 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy
gussy
parent
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commit
6d67d2dab2
@ -1,271 +0,0 @@
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/**
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******************************************************************************
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*
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* @file pios_board.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board hardware for the OpenPilot Version 0.1 hardware.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_BOARD_H
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#define PIOS_BOARD_H
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//------------------------
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// DMA Channels Used
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//------------------------
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/* Channel 1 - */
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/* Channel 2 - SPI1 RX */
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/* Channel 3 - SPI1 TX */
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/* Channel 4 - SPI2 RX */
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/* Channel 5 - SPI2 TX */
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/* Channel 6 - */
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/* Channel 7 - */
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/* Channel 8 - */
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/* Channel 9 - */
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/* Channel 10 - */
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/* Channel 11 - */
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/* Channel 12 - */
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//------------------------
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// PIOS_LED
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//------------------------
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#define PIOS_LED_LED1_GPIO_PORT GPIOC
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_LED_LED2_GPIO_PORT GPIOC
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#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
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#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_LED_NUM 2
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
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//------------------------
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// PIOS_I2C
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//------------------------
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#define PIOS_I2C_GPIO_PORT GPIOB
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#define PIOS_I2C_SDA_PIN GPIO_Pin_11
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#define PIOS_I2C_SCL_PIN GPIO_Pin_10
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#define PIOS_I2C_DUTY_CYCLE I2C_DutyCycle_2
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#define PIOS_I2C_BUS_FREQ 400000
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#define PIOS_I2C_TIMEOUT_VALUE 5000
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#define PIOS_I2C_IRQ_EV_PRIORITY 2
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#define PIOS_I2C_IRQ_ER_PRIORITY 2
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//------------------------
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// PIOS_BMP085
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//------------------------
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#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
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#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
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#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOG
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#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource8
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#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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//-------------------------
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// PIOS_USART1 (TELEM)
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//-------------------------
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#define PIOS_USART1_ENABLED 1
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#define PIOS_USART1_USART USART2
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#define PIOS_USART1_GPIO_PORT GPIOA
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#define PIOS_USART1_RX_PIN GPIO_Pin_3
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#define PIOS_USART1_TX_PIN GPIO_Pin_2
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#define PIOS_USART1_REMAP_FUNC { }
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#define PIOS_USART1_IRQ_CHANNEL USART2_IRQn
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#define PIOS_USART1_IRQHANDLER_FUNC void USART2_IRQHandler(void)
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#define PIOS_USART1_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
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#define PIOS_USART1_NVIC_PRIO PIOS_IRQ_PRIO_HIGHEST
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#define PIOS_USART1_BAUDRATE 57600
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//-------------------------
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// PIOS_USART2 (GPS)
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//-------------------------
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#define PIOS_USART2_ENABLED 1
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#define PIOS_USART2_USART USART3
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#define PIOS_USART2_GPIO_PORT GPIOC
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#define PIOS_USART2_RX_PIN GPIO_Pin_11
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#define PIOS_USART2_TX_PIN GPIO_Pin_10
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#define PIOS_USART2_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
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#define PIOS_USART2_IRQ_CHANNEL USART3_IRQn
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#define PIOS_USART2_IRQHANDLER_FUNC void USART3_IRQHandler(void)
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#define PIOS_USART2_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
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#define PIOS_USART2_NVIC_PRIO PIOS_IRQ_PRIO_HIGHEST
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#define PIOS_USART2_BAUDRATE 57600
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//-------------------------
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// PIOS_USART3 (AUX) (RX5/RX6)
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//-------------------------
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#define PIOS_USART3_ENABLED 0
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#define PIOS_USART3_USART USART1
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#define PIOS_USART3_GPIO_PORT GPIOA
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#define PIOS_USART3_RX_PIN GPIO_Pin_10
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#define PIOS_USART3_TX_PIN GPIO_Pin_9
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#define PIOS_USART3_REMAP_FUNC { }
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#define PIOS_USART3_IRQ_CHANNEL USART1_IRQn
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#define PIOS_USART3_IRQHANDLER_FUNC void USART1_IRQHandler(void)
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#define PIOS_USART3_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
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#define PIOS_USART3_NVIC_PRIO PIOS_IRQ_PRIO_HIGH
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#define PIOS_USART3_BAUDRATE 57600
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//-------------------------
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// PIOS_USART
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//-------------------------
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#define PIOS_USART_NUM 3
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#define PIOS_USART_RX_BUFFER_SIZE 1024
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#define PIOS_USART_TX_BUFFER_SIZE 256
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#define PIOS_COM_DEBUG_PORT GPS
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//-------------------------
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// SPI
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//-------------------------
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#define PIOS_SPI_IRQ_DMA_PRIORITY PIOS_IRQ_PRIO_HIGH
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#define PIOS_SPI_NUM 2
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#define PIOS_SPI0_ENABLED 1
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#define PIOS_SPI0_PTR SPI1
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#define PIOS_SPI0_DMA_RX_PTR DMA1_Channel2
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#define PIOS_SPI0_DMA_TX_PTR DMA1_Channel3
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#define PIOS_SPI0_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2)
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#define PIOS_SPI0_DMA_IRQ_CHANNEL DMA1_Channel2_IRQn
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#define PIOS_SPI0_DMA_IRQHANDLER_FUNC void DMA1_Channel2_IRQHandler(void)
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#define PIOS_SPI0_RCLK1_PORT GPIOA
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#define PIOS_SPI0_RCLK1_PIN GPIO_Pin_4
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#define PIOS_SPI0_SCLK_PORT GPIOA
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#define PIOS_SPI0_SCLK_PIN GPIO_Pin_5
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#define PIOS_SPI0_MISO_PORT GPIOA
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#define PIOS_SPI0_MISO_PIN GPIO_Pin_6
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#define PIOS_SPI0_MOSI_PORT GPIOA
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#define PIOS_SPI0_MOSI_PIN GPIO_Pin_7
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#define PIOS_SPI1_ENABLED 1
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#define PIOS_SPI1_PTR SPI2
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#define PIOS_SPI1_DMA_RX_PTR DMA1_Channel4
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#define PIOS_SPI1_DMA_TX_PTR DMA1_Channel5
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#define PIOS_SPI1_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4)
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#define PIOS_SPI1_DMA_IRQ_CHANNEL DMA1_Channel4_IRQn
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#define PIOS_SPI1_DMA_IRQHANDLER_FUNC void DMA1_Channel4_IRQHandler(void)
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#define PIOS_SPI1_RCLK1_PORT GPIOB
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#define PIOS_SPI1_RCLK1_PIN GPIO_Pin_12
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#define PIOS_SPI1_SCLK_PORT GPIOB
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#define PIOS_SPI1_SCLK_PIN GPIO_Pin_13
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#define PIOS_SPI1_MISO_PORT GPIOB
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#define PIOS_SPI1_MISO_PIN GPIO_Pin_14
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#define PIOS_SPI1_MOSI_PORT GPIOB
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#define PIOS_SPI1_MOSI_PIN GPIO_Pin_15
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//-------------------------
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// PIOS_SDCARD
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//-------------------------
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#define PIOS_SDCARD_SPI 0
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//-------------------------
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// Delay Timer
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//-------------------------
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#define PIOS_DELAY_TIMER TIM2
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#define PIOS_DELAY_TIMER_RCC RCC_APB1Periph_TIM2
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//-------------------------
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// Master Clock
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//-------------------------
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#define PIOS_MASTER_CLOCK 72000000
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#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
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//-------------------------
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// Interrupt Priorities
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//-------------------------
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#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
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#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
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#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
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//-------------------------
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// Receiver PWM inputs
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//-------------------------
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#define RECEIVER1_GPIO_PORT GPIOB
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#define RECEIVER1_PIN GPIO_Pin_0 // PB0
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#define RECEIVER1_TIM_PORT TIM3
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#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
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#define RECEIVER2_GPIO_PORT GPIOB
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#define RECEIVER2_PIN GPIO_Pin_1 // PB1
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#define RECEIVER2_TIM_PORT TIM3
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#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
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#define RECEIVER3_GPIO_PORT GPIOA
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#define RECEIVER3_PIN GPIO_Pin_8 // PA8
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#define RECEIVER3_TIM_PORT TIM1
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#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
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#define RECEIVER4_GPIO_PORT GPIOA
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#define RECEIVER4_PIN GPIO_Pin_0 // PA0
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#define RECEIVER4_TIM_PORT TIM5
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#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
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#define RECEIVER5_GPIO_PORT GPIOA
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#define RECEIVER5_PIN GPIO_Pin_10 // PA10
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#define RECEIVER5_TIM_PORT TIM1
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#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
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#define RECEIVER6_GPIO_PORT GPIOA
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#define RECEIVER6_PIN GPIO_Pin_9 // PA9
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#define RECEIVER6_TIM_PORT TIM1
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#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
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#define RECEIVER7_GPIO_PORT GPIOB
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#define RECEIVER7_PIN GPIO_Pin_4 // PB4
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#define RECEIVER7_TIM_PORT TIM3
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#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
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#define RECEIVER8_GPIO_PORT GPIOB
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#define RECEIVER8_PIN GPIO_Pin_5 // PB5
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#define RECEIVER8_TIM_PORT TIM3
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#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
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#define NUM_RECEIVER_INPUTS 6
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//-------------------------
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// Servo outputs
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//-------------------------
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#define PIOS_SERVO_GPIO_PORT_1TO4 GPIOB
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#define PIOS_SERVO_GPIO_PIN_1 GPIO_Pin_6
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#define PIOS_SERVO_GPIO_PIN_2 GPIO_Pin_7
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#define PIOS_SERVO_GPIO_PIN_3 GPIO_Pin_8
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#define PIOS_SERVO_GPIO_PIN_4 GPIO_Pin_9
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#define PIOS_SERVO_GPIO_PORT_5TO8 GPIOC
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#define PIOS_SERVO_GPIO_PIN_5 GPIO_Pin_6
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#define PIOS_SERVO_GPIO_PIN_6 GPIO_Pin_7
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#define PIOS_SERVO_GPIO_PIN_7 GPIO_Pin_8
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#define PIOS_SERVO_GPIO_PIN_8 GPIO_Pin_9
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#define PIOS_SERVO_NUM_OUTPUTS 8
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//-------------------------
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// ADC
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//-------------------------
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#define ADC_GPIO_PORT GPIOC
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#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
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#define ADC_Z_CHANNEL ADC_Channel_10
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#define ADC_A_CHANNEL ADC_Channel_11
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#define ADC_B_CHANNEL ADC_Channel_12
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#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
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#define ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
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//-------------------------
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// USB
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//-------------------------
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#define PIOS_USB_ENABLED 1
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#define PIOS_USB_DETECT_GPIO_PORT GPIOC
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#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
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#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
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#endif /* PIOS_BOARD_H */
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@ -31,7 +31,7 @@
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//------------------------
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// DMA Channels Used
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//------------------------
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/* Channel 1 - */
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/* Channel 1 - ADC */
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/* Channel 2 - SPI1 RX */
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/* Channel 3 - SPI1 TX */
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/* Channel 4 - SPI2 RX */
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@ -253,16 +253,77 @@
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
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// PIOS_ADC_PinGet(1) = Power Sensor (Current)
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// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
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// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
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//-------------------------
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#define ADC_GPIO_PORT GPIOC
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#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
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#define ADC_Z_CHANNEL ADC_Channel_10
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#define ADC_A_CHANNEL ADC_Channel_11
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#define ADC_B_CHANNEL ADC_Channel_12
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#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
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#define ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
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//#define PIOS_ADC_OVERSAMPLING_RATE 1 // (1 to 16)
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#define PIOS_ADC_USE_TEMP_SENSOR 1
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA1 (Power Sense - Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
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#define PIOS_ADC_PIN1_ADC ADC1
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#define PIOS_ADC_PIN1_ADC_NUMBER 2
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#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
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#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
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#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
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#define PIOS_ADC_PIN2_ADC ADC2
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#define PIOS_ADC_PIN2_ADC_NUMBER 1
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#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
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#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
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#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
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#define PIOS_ADC_PIN3_ADC ADC2
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#define PIOS_ADC_PIN3_ADC_NUMBER 2
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#if 1
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#define PIOS_ADC_NUM_PINS 3
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
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#else
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#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
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#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
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#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
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#define PIOS_ADC_PIN4_ADC ADC1
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#define PIOS_ADC_PIN4_ADC_NUMBER 3
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#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
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#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
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#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
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#define PIOS_ADC_PIN5_ADC ADC1
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#define PIOS_ADC_PIN5_ADC_NUMBER 4
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#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
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#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
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#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
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#define PIOS_ADC_PIN6_ADC ADC2
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#define PIOS_ADC_PIN6_ADC_NUMBER 3
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#define PIOS_ADC_NUM_PINS 6
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
|
||||
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER }
|
||||
#endif
|
||||
|
||||
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
||||
|
||||
#define PIOS_ADC_NUM_ADC_CHANNELS 2
|
||||
#define PIOS_ADC_USE_ADC2 1
|
||||
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
||||
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5 /* Sample time: */
|
||||
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18µs */
|
||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
|
||||
//-------------------------
|
||||
// USB
|
||||
|
||||
@ -33,12 +33,18 @@
|
||||
#if !defined(PIOS_DONT_USE_ADC)
|
||||
|
||||
/* Local Variables */
|
||||
/* following two arrays are word aligned, so that DMA can transfer two hwords at once */
|
||||
static uint16_t adc_conversion_values[NUM_ADC_PINS] __attribute__((aligned(4)));
|
||||
static uint16_t adc_conversion_values_sum[NUM_ADC_PINS] __attribute__((aligned(4)));
|
||||
static GPIO_TypeDef* ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
|
||||
static const uint32_t ADC_GPIO_PIN[PIOS_ADC_NUM_PINS] = PIOS_ADC_PINS;
|
||||
static const uint32_t ADC_CHANNEL[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNELS;
|
||||
|
||||
static uint16_t adc_pin_values[NUM_ADC_PINS];
|
||||
static uint32_t adc_pin_changed[NUM_ADC_PINS];
|
||||
static ADC_TypeDef* ADC_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_MAPPING;
|
||||
static const uint32_t ADC_CHANNEL_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNEL_MAPPING;
|
||||
|
||||
/* The following two arrays are word aligned, so that DMA can transfer two hwords at once */
|
||||
static uint16_t adc_conversion_values[PIOS_ADC_NUM_CHANNELS] __attribute__((aligned(4)));
|
||||
static uint16_t adc_conversion_values_sum[PIOS_ADC_NUM_CHANNELS] __attribute__((aligned(4)));
|
||||
|
||||
static uint16_t adc_pin_values[PIOS_ADC_NUM_CHANNELS];
|
||||
|
||||
|
||||
/**
|
||||
@ -49,16 +55,13 @@ void PIOS_ADC_Init(void)
|
||||
int32_t i;
|
||||
|
||||
/* Clear arrays and variables */
|
||||
for(i=0; i < NUM_ADC_PINS; ++i) {
|
||||
for(i = 0; i < PIOS_ADC_NUM_CHANNELS; ++i) {
|
||||
adc_conversion_values[i] = 0;
|
||||
adc_conversion_values_sum[i] = 0;
|
||||
}
|
||||
for(i=0; i < NUM_ADC_PINS; ++i) {
|
||||
for(i = 0; i < PIOS_ADC_NUM_CHANNELS; ++i) {
|
||||
adc_pin_values[i] = 0;
|
||||
}
|
||||
for(i=0; i < NUM_ADC_PINS; ++i) {
|
||||
adc_pin_changed[i] = 1;
|
||||
}
|
||||
|
||||
/* Setup analog pins */
|
||||
GPIO_InitTypeDef GPIO_InitStructure;
|
||||
@ -66,23 +69,24 @@ void PIOS_ADC_Init(void)
|
||||
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
|
||||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
|
||||
|
||||
GPIO_InitStructure.GPIO_Pin = ADC_Z_PIN | ADC_A_PIN | ADC_B_PIN;
|
||||
GPIO_Init(GPIOC, &GPIO_InitStructure);
|
||||
/* Enable each ADC pin in the array */
|
||||
for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
|
||||
GPIO_InitStructure.GPIO_Pin = ADC_GPIO_PIN[i];
|
||||
GPIO_Init(ADC_GPIO_PORT[i], &GPIO_InitStructure);
|
||||
}
|
||||
|
||||
/* Enable ADC1/2 clock */
|
||||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE);
|
||||
/* Enable ADC clocks */
|
||||
PIOS_ADC_CLOCK_FUNCTION;
|
||||
|
||||
/* Map channels to conversion slots depending on the channel selection mask */
|
||||
/* Distribute this over the three ADCs, so that channels can be converted in parallel */
|
||||
/* Sample time: */
|
||||
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18µs */
|
||||
/* To be pedantic, we take A and B simultaneously, and Z and Temp simultaneously */
|
||||
ADC_RegularChannelConfig(ADC1, ADC_A_CHANNEL, 1, ADC_SampleTime_239Cycles5);
|
||||
ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 2, ADC_SampleTime_239Cycles5);
|
||||
ADC_RegularChannelConfig(ADC2, ADC_B_CHANNEL, 1, ADC_SampleTime_239Cycles5);
|
||||
ADC_RegularChannelConfig(ADC2, ADC_Z_CHANNEL, 2, ADC_SampleTime_239Cycles5);
|
||||
|
||||
for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
|
||||
ADC_RegularChannelConfig(ADC_MAPPING[i], ADC_CHANNEL[i], ADC_CHANNEL_MAPPING[i], PIOS_ADC_SAMPLE_TIME);
|
||||
}
|
||||
|
||||
#if (PIOS_ADC_USE_TEMP_SENSOR)
|
||||
ADC_TempSensorVrefintCmd(ENABLE);
|
||||
ADC_RegularChannelConfig(PIOS_ADC_TEMP_SENSOR_ADC, ADC_Channel_14, PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL, PIOS_ADC_SAMPLE_TIME);
|
||||
#endif
|
||||
|
||||
/* Configure ADCs */
|
||||
ADC_InitTypeDef ADC_InitStructure;
|
||||
@ -92,12 +96,15 @@ void PIOS_ADC_Init(void)
|
||||
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
|
||||
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
|
||||
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
|
||||
ADC_InitStructure.ADC_NbrOfChannel = 2;
|
||||
ADC_InitStructure.ADC_NbrOfChannel = PIOS_ADC_NUM_ADC_CHANNELS;
|
||||
ADC_Init(ADC1, &ADC_InitStructure);
|
||||
|
||||
#if (PIOS_ADC_USE_ADC2)
|
||||
ADC_Init(ADC2, &ADC_InitStructure);
|
||||
|
||||
/* Enable ADC2 external trigger conversion (to synch with ADC1) */
|
||||
ADC_ExternalTrigConvCmd(ADC2, ENABLE);
|
||||
#endif
|
||||
|
||||
/* Enable ADC1->DMA request */
|
||||
ADC_DMACmd(ADC1, ENABLE);
|
||||
@ -109,12 +116,14 @@ void PIOS_ADC_Init(void)
|
||||
ADC_StartCalibration(ADC1);
|
||||
while(ADC_GetCalibrationStatus(ADC1));
|
||||
|
||||
#if (PIOS_ADC_USE_ADC2)
|
||||
/* ADC2 calibration */
|
||||
ADC_Cmd(ADC2, ENABLE);
|
||||
ADC_ResetCalibration(ADC2);
|
||||
while(ADC_GetResetCalibrationStatus(ADC2));
|
||||
ADC_StartCalibration(ADC2);
|
||||
while(ADC_GetCalibrationStatus(ADC2));
|
||||
#endif
|
||||
|
||||
/* Enable DMA1 clock */
|
||||
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
|
||||
@ -126,7 +135,7 @@ void PIOS_ADC_Init(void)
|
||||
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
|
||||
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&adc_conversion_values;
|
||||
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
|
||||
DMA_InitStructure.DMA_BufferSize = 2; /* Number of conversions depends on number of used channels */
|
||||
DMA_InitStructure.DMA_BufferSize = PIOS_ADC_NUM_ADC_CHANNELS; /* Number of conversions depends on number of used channels */
|
||||
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
|
||||
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
|
||||
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
|
||||
@ -143,7 +152,7 @@ void PIOS_ADC_Init(void)
|
||||
/* Configure and enable DMA interrupt */
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = ADC_IRQ_PRIO;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_ADC_IRQ_PRIO;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
@ -162,7 +171,7 @@ void PIOS_ADC_Init(void)
|
||||
int32_t PIOS_ADC_PinGet(uint32_t pin)
|
||||
{
|
||||
/* Check if pin exists */
|
||||
if(pin >= NUM_ADC_PINS) {
|
||||
if(pin >= PIOS_ADC_NUM_CHANNELS) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -170,47 +179,6 @@ int32_t PIOS_ADC_PinGet(uint32_t pin)
|
||||
return adc_pin_values[pin];
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Checks for pin changes, and calls given callback function with following parameters on pin changes:
|
||||
* \code
|
||||
* void ADCNotifyChanged(uint32_t pin, uint16_t value)
|
||||
* \endcode
|
||||
* \param[in] _callback pointer to callback function
|
||||
* \return < 0 on errors
|
||||
*/
|
||||
int32_t PIOS_ADC_Handler(void *_callback)
|
||||
{
|
||||
/* No callback function? */
|
||||
if(_callback == NULL) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
int pin;
|
||||
void (*callback)(int32_t pin, uint32_t value) = _callback;
|
||||
|
||||
/* Check for changed ADC conversion values */
|
||||
for(pin = 0; pin < NUM_ADC_PINS; pin++) {
|
||||
PIOS_IRQ_Disable();
|
||||
uint32_t pin_value = adc_pin_values[pin];
|
||||
PIOS_IRQ_Enable();
|
||||
|
||||
/* Call application hook */
|
||||
/* Note that due to dual conversion approach, we have to convert the pin number */
|
||||
/* If an uneven number of channels selected */
|
||||
if(adc_pin_changed[pin] == 1) {
|
||||
callback(pin, pin_value);
|
||||
}
|
||||
}
|
||||
|
||||
/* Start next scan */
|
||||
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
|
||||
|
||||
/* No error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* DMA channel interrupt is triggered when all ADC channels have been converted
|
||||
* \note shouldn't be called directly from application
|
||||
@ -218,41 +186,17 @@ int32_t PIOS_ADC_Handler(void *_callback)
|
||||
void DMA1_Channel1_IRQHandler(void)
|
||||
{
|
||||
int32_t i;
|
||||
uint16_t *src_ptr, *dst_ptr, *changed_ptr;
|
||||
uint16_t *src_ptr;
|
||||
|
||||
/* Clear the pending flag(s) */
|
||||
DMA_ClearFlag(DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1);
|
||||
|
||||
/* Copy conversion values to adc_pin_values */
|
||||
// src_ptr = (uint16_t *)adc_conversion_values;
|
||||
// dst_ptr = (uint16_t *)&adc_pin_values[NUM_ADC_PINS];
|
||||
// changed_ptr = (uint16_t *)&adc_pin_changed[NUM_ADC_PINS];
|
||||
//
|
||||
// for(i = 0; i < NUM_ADC_PINS; ++i) {
|
||||
// /* Takeover new value */
|
||||
// if(*dst_ptr != *src_ptr) {
|
||||
// *dst_ptr = *src_ptr;
|
||||
// *changed_ptr = 1;
|
||||
// } else {
|
||||
// *changed_ptr = 0;
|
||||
// }
|
||||
//
|
||||
// /* Switch to next results */
|
||||
// ++dst_ptr;
|
||||
// ++src_ptr;
|
||||
// ++changed_ptr;
|
||||
// }
|
||||
|
||||
src_ptr = (uint16_t *)adc_conversion_values;
|
||||
|
||||
for(i = 0; i < NUM_ADC_PINS; ++i) {
|
||||
/* Copy conversion values to adc_pin_values */
|
||||
for(i = 0; i < PIOS_ADC_NUM_CHANNELS; ++i) {
|
||||
/* Takeover new value */
|
||||
if(adc_pin_values[i] != *src_ptr) {
|
||||
adc_pin_values[i] = *src_ptr;
|
||||
adc_pin_changed[i] = 1;
|
||||
} else {
|
||||
adc_pin_changed[i] = 0;
|
||||
}
|
||||
adc_pin_values[i] = *src_ptr;
|
||||
|
||||
++src_ptr;
|
||||
}
|
||||
|
||||
@ -30,6 +30,5 @@
|
||||
/* Public Functions */
|
||||
extern void PIOS_ADC_Init(void);
|
||||
extern int32_t PIOS_ADC_PinGet(uint32_t pin);
|
||||
extern int32_t PIOS_ADC_Handler(void *_callback);
|
||||
|
||||
#endif /* PIOS_ADC_H */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user