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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
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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SRC += $(PIOSSTM32F10X)/pios_adc.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_settings.c
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233
flight/PiOS/STM32F10x/pios_adc.c
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233
flight/PiOS/STM32F10x/pios_adc.c
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@ -0,0 +1,233 @@
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/**
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******************************************************************************
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*
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* @file pios_adc.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
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* @brief Analog to Digital converstion routines
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_ADC ADC Functions
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* @{
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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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/* Project Includes */
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#include "pios.h"
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/* Local Variables */
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/* following two arrays are word aligned, so that DMA can transfer two hwords at once */
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static uint16_t adc_conversion_values[NUM_ADC_PINS] __attribute__((aligned(4)));
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static uint16_t adc_conversion_values_sum[NUM_ADC_PINS] __attribute__((aligned(4)));
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static uint16_t adc_pin_values[NUM_ADC_PINS];
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/**
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* Initialise the ADC Peripheral
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*/
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void ADCInit(void)
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{
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int32_t i;
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/* Clear arrays and variables */
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for(i=0; i < NUM_ADC_PINS; ++i) {
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adc_conversion_values[i] = 0;
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adc_conversion_values_sum[i] = 0;
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}
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for(i=0; i < NUM_ADC_PINS; ++i) {
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adc_pin_values[i] = 0;
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}
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/* Setup analog pins */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
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GPIO_InitStructure.GPIO_Pin = ADC_Z_PIN | ADC_A_PIN | ADC_B_PIN;
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GPIO_Init(GPIOC, &GPIO_InitStructure);
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/* Enable ADC1/2 clock */
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_GPIOC, ENABLE);
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/* Map channels to conversion slots depending on the channel selection mask */
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/* Distribute this over the three ADCs, so that channels can be converted in parallel */
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18µs */
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/* To be pedantic, we take A and B simulataneously, and Z and Temp simulataneously */
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ADC_RegularChannelConfig(ADC1, ADC_A_CHANNEL, 1, ADC_SampleTime_239Cycles5);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 2, ADC_SampleTime_239Cycles5);
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ADC_RegularChannelConfig(ADC2, ADC_B_CHANNEL, 1, ADC_SampleTime_239Cycles5);
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ADC_RegularChannelConfig(ADC2, ADC_Z_CHANNEL, 2, ADC_SampleTime_239Cycles5);
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/* Configure ADCs */
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ADC_InitTypeDef ADC_InitStructure;
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ADC_StructInit(&ADC_InitStructure);
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ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
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ADC_InitStructure.ADC_ScanConvMode = ENABLE;
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ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
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ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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ADC_InitStructure.ADC_NbrOfChannel = 2;
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ADC_Init(ADC1, &ADC_InitStructure);
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ADC_Init(ADC2, &ADC_InitStructure);
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/* Enable ADC2 external trigger conversion (to synch with ADC1) */
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ADC_ExternalTrigConvCmd(ADC2, ENABLE);
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/* Enable ADC1->DMA request */
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ADC_DMACmd(ADC1, ENABLE);
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/* ADC1 calibration */
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ADC_Cmd(ADC1, ENABLE);
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ADC_ResetCalibration(ADC1);
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while(ADC_GetResetCalibrationStatus(ADC1));
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ADC_StartCalibration(ADC1);
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while(ADC_GetCalibrationStatus(ADC1));
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/* ADC2 calibration */
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ADC_Cmd(ADC2, ENABLE);
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ADC_ResetCalibration(ADC2);
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while(ADC_GetResetCalibrationStatus(ADC2));
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ADC_StartCalibration(ADC2);
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while(ADC_GetCalibrationStatus(ADC2));
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// enable DMA1 clock
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
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// configure DMA1 channel 1 to fetch data from ADC result register
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DMA_InitTypeDef DMA_InitStructure;
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DMA_StructInit(&DMA_InitStructure);
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DMA_DeInit(DMA1_Channel1);
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
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DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&adc_conversion_values;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
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DMA_InitStructure.DMA_BufferSize = 2; /* number of conversions depends on number of used channels */
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
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DMA_Init(DMA1_Channel1, &DMA_InitStructure);
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DMA_Cmd(DMA1_Channel1, ENABLE);
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/* trigger interrupt when all conversion values have been fetched */
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DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
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/* Configure and enable DMA interrupt */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = ADC_IRQ_PRIO;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* Finally start initial conversion */
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ADC_SoftwareStartConvCmd(ADC1, ENABLE);
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}
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/**
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* Returns value of an ADC Pin
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* \param[in] pin number
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* \return ADC pin value - resolution depends on the selected oversampling rate Set in Settings.ini
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* \return -1 if pin doesn't exist
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*/
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int32_t ADCPinGet(uint32_t pin)
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{
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/* Check if pin exists */
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if(pin >= NUM_ADC_PINS) {
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return -1;
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}
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/* Return last conversion result */
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return adc_pin_values[pin];
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}
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/**
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* Checks for pin changes, and calls given callback function with following parameters on pin changes:
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* \code
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* void ADCNotifyChanged(uint32_t pin, uint16_t value)
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* \endcode
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* \param[in] _callback pointer to callback function
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* \return < 0 on errors
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*/
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int32_t ADCHandler(void *_callback)
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{
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/* No callback function? */
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if(_callback == NULL) {
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return -1;
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}
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int pin;
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void (*callback)(int32_t pin, uint32_t value) = _callback;
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/* Check for changed ADC conversion values */
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for(pin = 0; pin < NUM_ADC_PINS; pin++) {
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IRQDisable();
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uint32_t pin_value = adc_pin_values[pin];
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IRQEnable();
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/* Call application hook */
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/* Note that due to dual conversion approach, we have to convert the pin number */
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/* If an uneven number of channels selected */
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callback(pin, pin_value);
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}
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/* Start next scan */
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ADC_SoftwareStartConvCmd(ADC1, ENABLE);
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/* No error */
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return 0;
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}
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/**
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* DMA channel interrupt is triggered when all ADC channels have been converted
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* \note shouldn't be called directly from application
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*/
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void DMA1_Channel1_IRQHandler(void)
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{
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int32_t i;
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uint16_t *src_ptr, *dst_ptr;
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/* Clear the pending flag(s) */
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DMA_ClearFlag(DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1);
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/* Copy conversion values to adc_pin_values */
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src_ptr = (uint16_t *)adc_conversion_values;
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dst_ptr = (uint16_t *)&adc_pin_values[NUM_ADC_PINS];
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for(i=0; i < NUM_ADC_PINS; ++i) {
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/* Takeover new value */
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*dst_ptr = *src_ptr;
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/* Switch to next results */
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++dst_ptr;
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++src_ptr;
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}
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/* Request next conversion */
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ADC_SoftwareStartConvCmd(ADC1, ENABLE);
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}
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34
flight/PiOS/inc/pios_adc.h
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34
flight/PiOS/inc/pios_adc.h
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@ -0,0 +1,34 @@
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/**
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******************************************************************************
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*
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* @file pios_adc.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
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* @brief ADC functions header.
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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_ADC_H
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#define PIOS_ADC_H
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/* Public Functions */
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extern void ADCInit(void);
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extern int32_t ADCPinGet(uint32_t pin);
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extern int32_t ADCHandler(void *_callback);
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#endif /* PIOS_ADC_H */
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@ -183,12 +183,17 @@
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#define NUM_SERVO_OUTPUTS 8
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//-------------------------
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// Leveler (analog inputs)
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// ADC
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//-------------------------
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#define LEVELER_GPIO_PORT GPIOC
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#define LEVELER_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define LEVELER_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define LEVELER_B_PIN GPIO_Pin_2 // ADC123_IN12
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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 IRQ_PRIO_HIGH
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//-------------------------
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// USB
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@ -208,7 +213,7 @@
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//-------------------------
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#define IRQ_PRIO_LOW 12 // lower than RTOS
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#define IRQ_PRIO_MID 8 // higher than RTOS
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#define IRQ_PRIO_HIGH 5 // for SPI, AIN, I2C etc...
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#define IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define IRQ_PRIO_HIGHEST 4 // for USART etc...
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#endif /* PIOS_BOARD_H */
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@ -52,12 +52,13 @@
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/* PIOS Hardware Includes (STM32F10x) */
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#include "pios_board.h"
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#include "pios_sys.h"
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#include "pios_settings.h"
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#include "pios_led.h"
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#include "pios_usart.h"
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#include "pios_irq.h"
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#include "pios_adc.h"
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/* PIOS Hardware Includes (Common) */
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#include "pios_settings.h"
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#include "pios_com.h"
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/* More added here as they get written */
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