diff --git a/flight/Makefile b/flight/Makefile index 36d3bbd54..5581fdf1c 100644 --- a/flight/Makefile +++ b/flight/Makefile @@ -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 diff --git a/flight/PiOS/STM32F10x/pios_adc.c b/flight/PiOS/STM32F10x/pios_adc.c new file mode 100644 index 000000000..2ec2fdb05 --- /dev/null +++ b/flight/PiOS/STM32F10x/pios_adc.c @@ -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); +} \ No newline at end of file diff --git a/flight/PiOS/inc/pios_adc.h b/flight/PiOS/inc/pios_adc.h new file mode 100644 index 000000000..1eb88cba1 --- /dev/null +++ b/flight/PiOS/inc/pios_adc.h @@ -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 */ diff --git a/flight/PiOS/inc/pios_board.h b/flight/PiOS/inc/pios_board.h index 4775a3590..06f44e993 100644 --- a/flight/PiOS/inc/pios_board.h +++ b/flight/PiOS/inc/pios_board.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 */ diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h index 692f9034f..703c129ea 100644 --- a/flight/PiOS/pios.h +++ b/flight/PiOS/pios.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 */