mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Initial commit of pios_adc
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@51 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy
gussy
parent
db322beabb
commit
dc830b7a96
@ -92,6 +92,7 @@ SRC += $(PIOSSTM32F10X)/pios_sys.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_led.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_usart.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_irq.c
|
||||
SRC += $(PIOSSTM32F10X)/pios_adc.c
|
||||
|
||||
## PIOS Hardware (Common)
|
||||
SRC += $(PIOSCOMMON)/pios_settings.c
|
||||
|
||||
233
flight/PiOS/STM32F10x/pios_adc.c
Normal file
233
flight/PiOS/STM32F10x/pios_adc.c
Normal file
@ -0,0 +1,233 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_adc.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
|
||||
* @brief Analog to Digital converstion routines
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @defgroup PIOS_ADC ADC Functions
|
||||
* @{
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
|
||||
|
||||
/* 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 uint16_t adc_pin_values[NUM_ADC_PINS];
|
||||
|
||||
|
||||
/**
|
||||
* Initialise the ADC Peripheral
|
||||
*/
|
||||
void ADCInit(void)
|
||||
{
|
||||
int32_t i;
|
||||
|
||||
/* Clear arrays and variables */
|
||||
for(i=0; i < NUM_ADC_PINS; ++i) {
|
||||
adc_conversion_values[i] = 0;
|
||||
adc_conversion_values_sum[i] = 0;
|
||||
}
|
||||
for(i=0; i < NUM_ADC_PINS; ++i) {
|
||||
adc_pin_values[i] = 0;
|
||||
}
|
||||
|
||||
/* 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;
|
||||
|
||||
GPIO_InitStructure.GPIO_Pin = ADC_Z_PIN | ADC_A_PIN | ADC_B_PIN;
|
||||
GPIO_Init(GPIOC, &GPIO_InitStructure);
|
||||
|
||||
/* Enable ADC1/2 clock */
|
||||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_GPIOC, ENABLE);
|
||||
|
||||
/* 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 simulataneously, and Z and Temp simulataneously */
|
||||
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);
|
||||
|
||||
|
||||
/* 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_ExternalTrigConv = ADC_ExternalTrigConv_None;
|
||||
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
|
||||
ADC_InitStructure.ADC_NbrOfChannel = 2;
|
||||
ADC_Init(ADC1, &ADC_InitStructure);
|
||||
ADC_Init(ADC2, &ADC_InitStructure);
|
||||
|
||||
/* Enable ADC2 external trigger conversion (to synch with ADC1) */
|
||||
ADC_ExternalTrigConvCmd(ADC2, ENABLE);
|
||||
|
||||
/* 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));
|
||||
|
||||
/* ADC2 calibration */
|
||||
ADC_Cmd(ADC2, ENABLE);
|
||||
ADC_ResetCalibration(ADC2);
|
||||
while(ADC_GetResetCalibrationStatus(ADC2));
|
||||
ADC_StartCalibration(ADC2);
|
||||
while(ADC_GetCalibrationStatus(ADC2));
|
||||
|
||||
// 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_DIR = DMA_DIR_PeripheralSRC;
|
||||
DMA_InitStructure.DMA_BufferSize = 2; /* 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;
|
||||
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
|
||||
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
|
||||
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 */
|
||||
DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
|
||||
|
||||
/* 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_IRQChannelSubPriority = 0;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
/* Finally start initial conversion */
|
||||
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Returns value of an ADC Pin
|
||||
* \param[in] pin number
|
||||
* \return ADC pin value - resolution depends on the selected oversampling rate Set in Settings.ini
|
||||
* \return -1 if pin doesn't exist
|
||||
*/
|
||||
int32_t ADCPinGet(uint32_t pin)
|
||||
{
|
||||
/* Check if pin exists */
|
||||
if(pin >= NUM_ADC_PINS) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Return last conversion result */
|
||||
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 ADCHandler(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++) {
|
||||
IRQDisable();
|
||||
uint32_t pin_value = adc_pin_values[pin];
|
||||
IRQEnable();
|
||||
|
||||
/* Call application hook */
|
||||
/* Note that due to dual conversion approach, we have to convert the pin number */
|
||||
/* If an uneven number of channels selected */
|
||||
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
|
||||
*/
|
||||
void DMA1_Channel1_IRQHandler(void)
|
||||
{
|
||||
int32_t i;
|
||||
uint16_t *src_ptr, *dst_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];
|
||||
|
||||
for(i=0; i < NUM_ADC_PINS; ++i) {
|
||||
/* Takeover new value */
|
||||
*dst_ptr = *src_ptr;
|
||||
|
||||
/* Switch to next results */
|
||||
++dst_ptr;
|
||||
++src_ptr;
|
||||
}
|
||||
|
||||
/* Request next conversion */
|
||||
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
|
||||
}
|
||||
34
flight/PiOS/inc/pios_adc.h
Normal file
34
flight/PiOS/inc/pios_adc.h
Normal file
@ -0,0 +1,34 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_adc.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
|
||||
* @brief ADC functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_ADC_H
|
||||
#define PIOS_ADC_H
|
||||
|
||||
/* Public Functions */
|
||||
extern void ADCInit(void);
|
||||
extern int32_t ADCPinGet(uint32_t pin);
|
||||
extern int32_t ADCHandler(void *_callback);
|
||||
|
||||
#endif /* PIOS_ADC_H */
|
||||
@ -183,12 +183,17 @@
|
||||
#define NUM_SERVO_OUTPUTS 8
|
||||
|
||||
//-------------------------
|
||||
// Leveler (analog inputs)
|
||||
// ADC
|
||||
//-------------------------
|
||||
#define LEVELER_GPIO_PORT GPIOC
|
||||
#define LEVELER_Z_PIN GPIO_Pin_0 // ADC123_IN10
|
||||
#define LEVELER_A_PIN GPIO_Pin_1 // ADC123_IN11
|
||||
#define LEVELER_B_PIN GPIO_Pin_2 // ADC123_IN12
|
||||
#define ADC_GPIO_PORT GPIOC
|
||||
#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
|
||||
#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
|
||||
#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
|
||||
#define ADC_Z_CHANNEL ADC_Channel_10
|
||||
#define ADC_A_CHANNEL ADC_Channel_11
|
||||
#define ADC_B_CHANNEL ADC_Channel_12
|
||||
#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
|
||||
#define ADC_IRQ_PRIO IRQ_PRIO_HIGH
|
||||
|
||||
//-------------------------
|
||||
// USB
|
||||
@ -208,7 +213,7 @@
|
||||
//-------------------------
|
||||
#define IRQ_PRIO_LOW 12 // lower than RTOS
|
||||
#define IRQ_PRIO_MID 8 // higher than RTOS
|
||||
#define IRQ_PRIO_HIGH 5 // for SPI, AIN, I2C etc...
|
||||
#define IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
||||
#define IRQ_PRIO_HIGHEST 4 // for USART etc...
|
||||
|
||||
#endif /* PIOS_BOARD_H */
|
||||
|
||||
@ -52,12 +52,13 @@
|
||||
/* PIOS Hardware Includes (STM32F10x) */
|
||||
#include "pios_board.h"
|
||||
#include "pios_sys.h"
|
||||
#include "pios_settings.h"
|
||||
#include "pios_led.h"
|
||||
#include "pios_usart.h"
|
||||
#include "pios_irq.h"
|
||||
#include "pios_adc.h"
|
||||
|
||||
/* PIOS Hardware Includes (Common) */
|
||||
#include "pios_settings.h"
|
||||
#include "pios_com.h"
|
||||
|
||||
/* More added here as they get written */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user