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Code Issues Releases Activity

OP-269 PiOS/ADC: Moved AHRS ADC code to PiOS and made all the projects use it

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2440 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-16 02:45:22 +00:00 committed by peabody124
parent 5c258a8476
commit 81b0c3fdb6
11 changed files with 224 additions and 130 deletions
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2
flight/AHRS/Makefile
View File

@ -95,7 +95,6 @@ BOOTINC = $(BOOT)/inc
## AHRS:
SRC = ahrs.c
SRC += pios_board.c
SRC += ahrs_adc.c
SRC += ahrs_timer.c
SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
@ -107,6 +106,7 @@ SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_adc.c
SRC += $(PIOSSTM32F10X)/pios_sys.c
SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_delay.c

15
flight/AHRS/ahrs.c
View File

@ -33,7 +33,7 @@
/* OpenPilot Includes */
#include "ahrs.h"
#include "ahrs_adc.h"
#include "pios.h"
#include "ahrs_timer.h"
#include "ahrs_spi_comm.h"
#include "insgps.h"
@ -430,7 +430,7 @@ void print_ahrs_raw()
get_accel_gyro_data();
valid_data_buffer = AHRS_ADC_GetRawBuffer();
valid_data_buffer = PIOS_ADC_GetRawBuffer();
if (total_conversion_blocks != previous_conversion + 1)
PIOS_LED_On(LED1); // not keeping up
@ -486,8 +486,8 @@ int main()
/* IAP System Setup */
PIOS_IAP_Init();
/* ADC system */
AHRS_ADC_Config(adc_oversampling);
AHRS_ADC_SetCallback(adc_callback);
PIOS_ADC_Init(adc_oversampling);
PIOS_ADC_SetCallback(adc_callback);
/* ADC buffer */
fifoBuf_init(&adc_fifo_buffer, adc_fifo_buf, sizeof(adc_fifo_buf));
@ -1038,12 +1038,7 @@ void settings_callback(AhrsObjHandle obj)
if(settings.Downsampling != adc_oversampling) {
adc_oversampling = settings.Downsampling;
if(adc_oversampling > MAX_OVERSAMPLING) {
adc_oversampling = MAX_OVERSAMPLING;
settings.Downsampling = MAX_OVERSAMPLING;
AHRSSettingsSet(&settings);
}
AHRS_ADC_Config(adc_oversampling);
PIOS_ADC_Init(adc_oversampling);
}
}

4
flight/CopterControl/System/pios_board.c
View File

@ -66,8 +66,8 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
PIOS_COM_Init();
//PIOS_Servo_Init();
//PIOS_ADC_Init();
//PIOS_GPIO_Init();
PIOS_ADC_Init(1);
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_PWM)
//PIOS_PWM_Init();

2
flight/OpenPilot/System/pios_board.c
View File

@ -69,7 +69,7 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
PIOS_COM_Init();
PIOS_Servo_Init();
PIOS_ADC_Init();
PIOS_ADC_Init(1);
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_PWM)

1
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -230,6 +230,7 @@ TIM8 | | | |
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2)
#define PIOS_ADC_MAX_OVERSAMPLING 50
//-------------------------
// GPIO

50
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -151,35 +151,30 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Accel Z
// PIOS_ADC_PinGet(2) = Accel Y
// PIOS_ADC_PinGet(4) = Accel X
// PIOS_ADC_PinGet(1) = Gyro X
// PIOS_ADC_PinGet(3) = Gyro Y
// PIOS_ADC_PinGet(5) = Gyro Z
// PIOS_ADC_PinGet(6) = XY Temp
// PIOS_ADC_PinGet(7) = Z Temp
// PIOS_ADC_PinGet(0) = Gyro Z
// PIOS_ADC_PinGet(1) = Gyro Y
// PIOS_ADC_PinGet(2) = Gyro X
//-------------------------
//#define PIOS_ADC_OVERSAMPLING_RATE 1
#define PIOS_ADC_USE_TEMP_SENSOR 1
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
#define PIOS_ADC_TEMP_SENSOR_ADC ADC2
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 2
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA4 (Gyro X)
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_4 // ADC12_IN2
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_4
#define PIOS_ADC_PIN1_ADC ADC1
#define PIOS_ADC_PIN1_ADC_NUMBER 2
#define PIOS_ADC_PIN1_ADC_NUMBER 1
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA5 (Gyro Y)
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_5 // ADC123_IN1
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_0
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_5 // ADC123_IN5
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_5
#define PIOS_ADC_PIN2_ADC ADC2
#define PIOS_ADC_PIN2_ADC_NUMBER 1
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA3 (Gyro Z)
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_3 // ADC12_IN0
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_1
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_3 // ADC12_IN3
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_3
#define PIOS_ADC_PIN3_ADC ADC1
#define PIOS_ADC_PIN3_ADC_NUMBER 2
@ -211,6 +206,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2)
#define PIOS_ADC_MAX_OVERSAMPLING 1
//-------------------------
// Receiver PWM inputs
@ -293,22 +289,10 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//-------------------------
// GPIO
//-------------------------
#define PIOS_GPIO_1_PORT GPIOC
#define PIOS_GPIO_1_PIN GPIO_Pin_0
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_2_PORT GPIOC
#define PIOS_GPIO_2_PIN GPIO_Pin_1
#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_3_PORT GPIOC
#define PIOS_GPIO_3_PIN GPIO_Pin_2
#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_4_PORT GPIOD
#define PIOS_GPIO_4_PIN GPIO_Pin_2
#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
#define PIOS_GPIO_NUM 4
#define PIOS_GPIO_PORTS { }
#define PIOS_GPIO_PINS { }
#define PIOS_GPIO_CLKS { }
#define PIOS_GPIO_NUM 0
//-------------------------
// USB

1
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -235,6 +235,7 @@ TIM8 | | | |
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
#define PIOS_ADC_IRQ_PRIO 3
#define PIOS_ADC_MAX_OVERSAMPLING 1
// *****************************************************************
// GPIO output pins

1
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -364,6 +364,7 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
/* Tconv = 239.5 + 12.5 = 252 cycles = 18?s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (?S) */
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
#define PIOS_ADC_MAX_OVERSAMPLING 1
//-------------------------
// GPIO

265
flight/PiOS/STM32F10x/pios_adc.c
View File

@ -28,10 +28,30 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_ADC)
// Remap the ADC DMA handler to this one
void PIOS_ADC_DMA_Handler();
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_DMA_Handler")));
// Private functions
void PIOS_ADC_downsample_data();
//! Where the raw data is stored
volatile int16_t raw_data_buffer[PIOS_ADC_MAX_SAMPLES]; // Double buffer that DMA just used
//! Various configuration settings
struct {
volatile int16_t *valid_data_buffer;
volatile uint8_t adc_oversample;
int16_t fir_coeffs[PIOS_ADC_MAX_SAMPLES];
} adc_config;
//! Filter coefficients used in decimation. Limited order so filter can't run between samples
float downsampled_buffer[PIOS_ADC_NUM_PINS];
static ADCCallback callback_function = (ADCCallback) NULL;
/* Local Variables */
static GPIO_TypeDef *ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
@ -41,82 +61,87 @@ static const uint32_t ADC_CHANNEL[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNELS;
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];
/**
* Initialise the ADC Peripheral
*/
void PIOS_ADC_Init(void)
* @brief Initialise the ADC Peripheral
* @param[in] adc_oversample
* @return
* @arg 1 for success
* @arg 0 for failure
* Currently ignores rates and uses hardcoded values. Need a little logic to
* map from sampling rates and such to ADC constants.
*/
void PIOS_ADC_Init(uint8_t adc_oversample)
{
int32_t i;
/* Clear arrays and variables */
for (i = 0; i < PIOS_ADC_NUM_CHANNELS; ++i) {
adc_conversion_values[i] = 0;
}
for (i = 0; i < PIOS_ADC_NUM_CHANNELS; ++i) {
adc_pin_values[i] = 0;
}
adc_config.adc_oversample = adc_oversample;
ADC_DeInit(ADC1);
ADC_DeInit(ADC2);
/* Setup analog pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
/* 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 ADC clocks */
PIOS_ADC_CLOCK_FUNCTION;
/* Map channels to conversion slots depending on the channel selection mask */
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);
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);
ADC_RegularChannelConfig(PIOS_ADC_TEMP_SENSOR_ADC, ADC_Channel_16,
PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL,
PIOS_ADC_SAMPLE_TIME);
#endif
// TODO: update ADC to continuous sampling, configure the sampling rate
/* Configure ADCs */
ADC_InitTypeDef ADC_InitStructure;
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = ((PIOS_ADC_NUM_CHANNELS + 1) >> 1);
ADC_InitStructure.ADC_NbrOfChannel =
((PIOS_ADC_NUM_CHANNELS + 1) >> 1);
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
//RCC_ADCCLKConfig(PIOS_ADC_ADCCLK);
RCC_ADCCLKConfig(PIOS_ADC_ADCCLK);
RCC_PCLK2Config(RCC_HCLK_Div16);
/* Enable ADC1->DMA request */
ADC_DMACmd(ADC1, ENABLE);
/* ADC1 calibration */
ADC_Cmd(ADC1, ENABLE);
ADC_ResetCalibration(ADC1);
while (ADC_GetResetCalibrationStatus(ADC1)) ;
ADC_StartCalibration(ADC1);
while (ADC_GetCalibrationStatus(ADC1)) ;
#if (PIOS_ADC_USE_ADC2)
/* ADC2 calibration */
ADC_Cmd(ADC2, ENABLE);
@ -125,90 +150,170 @@ void PIOS_ADC_Init(void)
ADC_StartCalibration(ADC2);
while (ADC_GetCalibrationStatus(ADC2)) ;
#endif
/* Enable DMA1 clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
/* Configure DMA1 channel 1 to fetch data from ADC result register */
DMA_InitTypeDef DMA_InitStructure;
DMA_StructInit(&DMA_InitStructure);
DMA_DeInit(DMA1_Channel1);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t) & adc_conversion_values;
DMA_InitStructure.DMA_MemoryBaseAddr =
(uint32_t) & raw_data_buffer[0];
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_BufferSize = ((PIOS_ADC_NUM_CHANNELS + 1) >> 1); /* Number of conversions depends on number of used channels */
/* We are double buffering half words from the ADC. Make buffer appropriately sized */
DMA_InitStructure.DMA_BufferSize =
(PIOS_ADC_NUM_CHANNELS * adc_oversample * 2) >> 1;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
/* Note: We read ADC1 and ADC2 in parallel making a word read, also hence the half buffer size */
DMA_InitStructure.DMA_PeripheralDataSize =
DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel1, &DMA_InitStructure);
DMA_Cmd(DMA1_Channel1, ENABLE);
/* Trigger interrupt when all conversion values have been fetched */
/* Trigger interrupt when for half conversions too to indicate double buffer */
DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
DMA_ITConfig(DMA1_Channel1, DMA_IT_HT, ENABLE);
/* Configure and enable DMA interrupt */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_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);
/* Finally start initial conversion */
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
/* Use simple averaging filter for now */
for (int i = 0; i < adc_oversample; i++)
adc_config.fir_coeffs[i] = 1;
adc_config.fir_coeffs[adc_oversample] = adc_oversample;
}
/**
* Returns value of an ADC Pin
* \param[in] pin number
* \return ADC pin value - resolution depends on the selected oversampling rate
* \return -1 if pin doesn't exist
*/
* Returns value of an ADC Pin
* \param[in] pin number
* \return ADC pin value - resolution depends on the selected oversampling rate
* \return -1 if pin doesn't exist
*/
int32_t PIOS_ADC_PinGet(uint32_t pin)
{
/* Check if pin exists */
if (pin >= PIOS_ADC_NUM_CHANNELS) {
return -1;
}
/* Return last conversion result */
return adc_pin_values[pin];
return downsampled_buffer[pin];
}
/**
* DMA channel interrupt is triggered when all ADC channels have been converted
* \note shouldn't be called directly from application
*/
void DMA1_Channel1_IRQHandler(void)
* @brief Set a callback function that is executed whenever
* the ADC double buffer swaps
*/
void PIOS_ADC_SetCallback(ADCCallback new_function)
{
int32_t i;
uint16_t *src_ptr;
bool bad_xfr = DMA_GetFlagStatus(DMA1_FLAG_TE1);
/* Clear the pending flag(s) */
DMA_ClearFlag(DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1);
src_ptr = (uint16_t *) adc_conversion_values;
if(! bad_xfr ) {
/* Copy conversion values to adc_pin_values */
for (i = 0; i < PIOS_ADC_NUM_CHANNELS; ++i) {
/* Takeover new value */
adc_pin_values[i] = *src_ptr;
++src_ptr;
}
}
/* Request next conversion */
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
callback_function = new_function;
}
#endif
/**
* @brief Return the address of the downsampled data buffer
*/
float * PIOS_ADC_GetBuffer(void)
{
return downsampled_buffer;
}
/**
* @brief Return the address of the raw data data buffer
*/
int16_t * PIOS_ADC_GetRawBuffer(void)
{
return (int16_t *) adc_config.valid_data_buffer;
}
/**
* @brief Return the amount of over sampling
*/
uint8_t PIOS_ADC_GetOverSampling(void)
{
return adc_config.adc_oversample;
}
/**
* @brief Set the fir coefficients. Takes as many samples as the
* current filter order plus one (normalization)
*
* @param new_filter Array of adc_oversampling floats plus one for the
* filter coefficients
*/
void PIOS_ADC_SetFIRCoefficients(float * new_filter)
{
// Less than or equal to get normalization constant
for(int i = 0; i <= adc_config.adc_oversample; i++)
adc_config.fir_coeffs[i] = new_filter[i];
}
/**
* @brief Downsample the data for each of the channels then call
* callback function if installed
*/
void PIOS_ADC_downsample_data()
{
uint16_t chan;
uint16_t sample;
for (chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
downsampled_buffer[chan] = 0;
for (sample = 0; sample < adc_config.adc_oversample; sample++) {
downsampled_buffer[chan] += adc_config.valid_data_buffer[chan + sample * PIOS_ADC_NUM_CHANNELS] * adc_config.fir_coeffs[sample];
}
downsampled_buffer[chan] /= (float) adc_config.fir_coeffs[adc_config.adc_oversample];
}
if(callback_function != NULL)
callback_function(downsampled_buffer);
}
/**
* @brief Interrupt for half and full buffer transfer
*
* This interrupt handler swaps between the two halfs of the double buffer to make
* sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but
* really this is a pretense of a sanity check since the DMA engine is consantly
* running in the background. Keep an eye on the ekf_too_slow variable to make sure
* it's keeping up.
*/
void PIOS_ADC_DMA_Handler(void)
{
if (DMA_GetFlagStatus(DMA1_IT_TC1)) { // whole double buffer filled
adc_config.valid_data_buffer =
&raw_data_buffer[1 * PIOS_ADC_NUM_CHANNELS *
adc_config.adc_oversample];
DMA_ClearFlag(DMA1_IT_TC1);
PIOS_ADC_downsample_data();
}
else if (DMA_GetFlagStatus(DMA1_IT_HT1)) {
adc_config.valid_data_buffer =
&raw_data_buffer[0 * PIOS_ADC_NUM_CHANNELS *
adc_config.adc_oversample];
DMA_ClearFlag(DMA1_IT_HT1);
PIOS_ADC_downsample_data();
}
else {
// This should not happen, probably due to transfer errors
DMA_ClearFlag(DMA1_FLAG_GL1);
}
}
/**
* @}

11
flight/PiOS/inc/pios_adc.h
View File

@ -32,9 +32,16 @@
#ifndef PIOS_ADC_H
#define PIOS_ADC_H
// Maximum of 50 oversampled points
#define PIOS_ADC_MAX_SAMPLES (PIOS_ADC_NUM_CHANNELS * PIOS_ADC_MAX_OVERSAMPLING * 2)
typedef void (*ADCCallback) (float * data);
/* Public Functions */
extern void PIOS_ADC_Init(void);
extern int32_t PIOS_ADC_PinGet(uint32_t pin);
void PIOS_ADC_Init(uint8_t adc_oversample);
int32_t PIOS_ADC_PinGet(uint32_t pin);
int16_t * PIOS_ADC_GetRawBuffer(void);
void PIOS_ADC_SetCallback(ADCCallback new_function);
#endif /* PIOS_ADC_H */

2
flight/PipXtreme/main.c
View File

@ -594,7 +594,7 @@ int main()
PIOS_COM_Init();
// ADC system
PIOS_ADC_Init();
PIOS_ADC_Init(1);
// SPI link to master
PIOS_SPI_Init();