Initial commit of pios_adc

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@51 ebee16cc-31ac-478f-84a7-5cbb03baadba

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

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);
+}

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 */

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 ADC_GPIO_PORT			GPIOC  
-#define LEVELER_Z_PIN			GPIO_Pin_0	// ADC123_IN10
+#define ADC_Z_PIN			GPIO_Pin_0	// ADC123_IN10
-#define LEVELER_A_PIN			GPIO_Pin_1	// ADC123_IN11
+#define ADC_A_PIN			GPIO_Pin_1	// ADC123_IN11
-#define LEVELER_B_PIN			GPIO_Pin_2	// ADC123_IN12
+#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 */

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 */