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c6a773363f
Conflicts: flight/pios/common/pios_adxl345.c make/apps-defs.mk
425 lines
13 KiB
C
425 lines
13 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_ADC ADC Functions
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* @brief STM32 ADC PIOS interface
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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) 2012.
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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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*****************************************************************************/
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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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#include "pios.h"
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#ifdef PIOS_INCLUDE_ADC
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#include <pios_adc_priv.h>
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// Private types
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enum pios_adc_dev_magic {
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PIOS_ADC_DEV_MAGIC = 0x58375124,
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};
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struct pios_adc_dev {
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const struct pios_adc_cfg *cfg;
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ADCCallback callback_function;
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#if defined(PIOS_INCLUDE_FREERTOS)
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xQueueHandle data_queue;
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#endif
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volatile int16_t *valid_data_buffer;
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volatile uint8_t adc_oversample;
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volatile uint8_t adc_oversample_block_size;
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uint8_t dma_block_size;
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uint16_t dma_half_buffer_size;
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#if defined(PIOS_INCLUDE_ADC)
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int16_t fir_coeffs[PIOS_ADC_MAX_SAMPLES + 1] __attribute__((aligned(4)));
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volatile int16_t raw_data_buffer[PIOS_ADC_MAX_SAMPLES] __attribute__((aligned(4))); // Double buffer that DMA just used
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float downsampled_buffer[PIOS_ADC_NUM_CHANNELS] __attribute__((aligned(4)));
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uint8_t downsampleStep; // allows to reduce the downsampling buffer by operating in two steps
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#endif
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enum pios_adc_dev_magic magic;
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};
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float PIOS_ADC_PinGetVolt(uint32_t pin)
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{
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return ((float)PIOS_ADC_PinGet(pin)) * PIOS_ADC_VOLTAGE_SCALE;
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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struct pios_adc_dev *pios_adc_dev;
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#endif
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// Private functions
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void PIOS_ADC_downsample_data();
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static struct pios_adc_dev *PIOS_ADC_Allocate();
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static bool PIOS_ADC_validate(struct pios_adc_dev *);
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/* Local Variables */
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static GPIO_TypeDef *ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
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static const uint32_t ADC_GPIO_PIN[PIOS_ADC_NUM_PINS] = PIOS_ADC_PINS;
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static const uint32_t ADC_CHANNEL[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNELS;
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static ADC_TypeDef *ADC_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_MAPPING;
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static const uint32_t ADC_CHANNEL_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNEL_MAPPING;
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static bool PIOS_ADC_validate(struct pios_adc_dev *dev)
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{
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if (dev == NULL) {
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return false;
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}
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return dev->magic == PIOS_ADC_DEV_MAGIC;
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_adc_dev *PIOS_ADC_Allocate()
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{
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struct pios_adc_dev *adc_dev;
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adc_dev = (struct pios_adc_dev *)pios_malloc(sizeof(*adc_dev));
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if (!adc_dev) {
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return NULL;
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}
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adc_dev->magic = PIOS_ADC_DEV_MAGIC;
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return adc_dev;
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}
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#else
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#error Not implemented
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#endif
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/**
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* @brief Initialise the ADC Peripheral, configure to run at the max oversampling
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*/
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int32_t PIOS_ADC_Init(const struct pios_adc_cfg *cfg)
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{
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pios_adc_dev = PIOS_ADC_Allocate();
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if (pios_adc_dev == NULL) {
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return -1;
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}
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pios_adc_dev->cfg = cfg;
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pios_adc_dev->callback_function = NULL;
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#if defined(PIOS_INCLUDE_FREERTOS)
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pios_adc_dev->data_queue = NULL;
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#endif
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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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/* Enable each ADC pin in the array */
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for (int32_t i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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GPIO_InitStructure.GPIO_Pin = ADC_GPIO_PIN[i];
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GPIO_Init(ADC_GPIO_PORT[i], &GPIO_InitStructure);
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}
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PIOS_ADC_Config(PIOS_ADC_MAX_OVERSAMPLING);
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return 0;
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}
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/**
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* @brief Configure the ADC to run at a fixed oversampling
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* @param[in] oversampling the amount of oversampling to run at
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*/
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void PIOS_ADC_Config(uint32_t oversampling)
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{
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// Ensure oversample is an even number
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PIOS_Assert(!(oversampling & 0x1));
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pios_adc_dev->adc_oversample = (oversampling > PIOS_ADC_MAX_OVERSAMPLING) ? PIOS_ADC_MAX_OVERSAMPLING : oversampling;
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pios_adc_dev->adc_oversample_block_size = pios_adc_dev->adc_oversample / 2;
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ADC_DeInit(ADC1);
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ADC_DeInit(ADC2);
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/* Disable interrupts */
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DMA_ITConfig(pios_adc_dev->cfg->dma.rx.channel, pios_adc_dev->cfg->dma.irq.flags, DISABLE);
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/* Enable ADC clocks */
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PIOS_ADC_CLOCK_FUNCTION;
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/* Map channels to conversion slots depending on the channel selection mask */
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for (int32_t i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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ADC_RegularChannelConfig(ADC_MAPPING[i], ADC_CHANNEL[i],
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ADC_CHANNEL_MAPPING[i],
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PIOS_ADC_SAMPLE_TIME);
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}
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#if (PIOS_ADC_USE_TEMP_SENSOR)
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ADC_TempSensorVrefintCmd(ENABLE);
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ADC_RegularChannelConfig(PIOS_ADC_TEMP_SENSOR_ADC, ADC_Channel_16,
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PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL,
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PIOS_ADC_SAMPLE_TIME);
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#endif
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// return
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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 = ENABLE;
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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 = ((PIOS_ADC_NUM_CHANNELS + 1) >> 1);
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ADC_Init(ADC1, &ADC_InitStructure);
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#if (PIOS_ADC_USE_ADC2)
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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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#endif
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RCC_ADCCLKConfig(PIOS_ADC_ADCCLK);
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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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;
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}
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ADC_StartCalibration(ADC1);
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while (ADC_GetCalibrationStatus(ADC1)) {
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;
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}
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#if (PIOS_ADC_USE_ADC2)
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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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;
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}
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ADC_StartCalibration(ADC2);
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while (ADC_GetCalibrationStatus(ADC2)) {
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;
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}
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#endif
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/* This makes sure we have an even number of transfers if using ADC2 */
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pios_adc_dev->dma_block_size = ((PIOS_ADC_NUM_CHANNELS + PIOS_ADC_USE_ADC2) >> PIOS_ADC_USE_ADC2) << PIOS_ADC_USE_ADC2;
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pios_adc_dev->dma_half_buffer_size = pios_adc_dev->dma_block_size * pios_adc_dev->adc_oversample_block_size;
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/* Configure DMA channel */
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DMA_InitTypeDef dma_init = pios_adc_dev->cfg->dma.rx.init;
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dma_init.DMA_MemoryBaseAddr = (uint32_t)&pios_adc_dev->raw_data_buffer[0];
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dma_init.DMA_MemoryInc = DMA_MemoryInc_Enable;
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dma_init.DMA_BufferSize = pios_adc_dev->dma_half_buffer_size; /* x2 for double buffer /2 for 32-bit xfr */
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DMA_Init(pios_adc_dev->cfg->dma.rx.channel, &dma_init);
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DMA_Cmd(pios_adc_dev->cfg->dma.rx.channel, ENABLE);
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/* Trigger interrupt when for half conversions too to indicate double buffer */
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DMA_ITConfig(pios_adc_dev->cfg->dma.rx.channel, DMA_IT_TC, ENABLE);
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DMA_ITConfig(pios_adc_dev->cfg->dma.rx.channel, DMA_IT_HT, ENABLE);
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/* Configure DMA interrupt */
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NVIC_Init(&pios_adc_dev->cfg->dma.irq.init);
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/* Finally start initial conversion */
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ADC_SoftwareStartConvCmd(ADC1, ENABLE);
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/* Use simple averaging filter for now */
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for (int32_t i = 0; i < pios_adc_dev->adc_oversample; i++) {
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pios_adc_dev->fir_coeffs[i] = 1;
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}
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pios_adc_dev->fir_coeffs[pios_adc_dev->adc_oversample] = pios_adc_dev->adc_oversample;
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/* Enable DMA1 clock */
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RCC_AHBPeriphClockCmd(pios_adc_dev->cfg->dma.ahb_clk, 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
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* \return -1 if pin doesn't exist
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*/
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int32_t PIOS_ADC_PinGet(uint32_t pin)
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{
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/* Check if pin exists */
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if (pin >= PIOS_ADC_NUM_CHANNELS) {
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return -1;
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}
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/* Return last conversion result */
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return pios_adc_dev->downsampled_buffer[pin];
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}
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/**
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* @brief Set a callback function that is executed whenever
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* the ADC double buffer swaps
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*/
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void PIOS_ADC_SetCallback(ADCCallback new_function)
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{
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pios_adc_dev->callback_function = new_function;
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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/**
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* @brief Register a queue to add data to when downsampled
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*/
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void PIOS_ADC_SetQueue(xQueueHandle data_queue)
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{
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pios_adc_dev->data_queue = data_queue;
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}
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#endif
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/**
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* @brief Return the address of the downsampled data buffer
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*/
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float *PIOS_ADC_GetBuffer(void)
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{
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return pios_adc_dev->downsampled_buffer;
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}
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/**
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* @brief Return the address of the raw data data buffer
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*/
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int16_t *PIOS_ADC_GetRawBuffer(void)
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{
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return (int16_t *)pios_adc_dev->valid_data_buffer;
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}
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/**
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* @brief Return the amount of over sampling
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*/
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uint8_t PIOS_ADC_GetOverSampling(void)
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{
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return pios_adc_dev->adc_oversample;
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}
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/**
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* @brief Set the fir coefficients. Takes as many samples as the
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* current filter order plus one (normalization)
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*
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* @param new_filter Array of adc_oversampling floats plus one for the
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* filter coefficients
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*/
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void PIOS_ADC_SetFIRCoefficients(float *new_filter)
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{
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// Less than or equal to get normalization constant
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for (int i = 0; i <= pios_adc_dev->adc_oversample; i++) {
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pios_adc_dev->fir_coeffs[i] = new_filter[i];
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}
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}
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/**
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* @brief Downsample the data for each of the channels then call
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* callback function if installed
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*/
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__attribute__((optimize("O3")))
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void PIOS_ADC_downsample_data()
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{
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uint16_t chan;
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uint16_t sample;
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float *downsampled_buffer = &pios_adc_dev->downsampled_buffer[0];
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static int32_t sum[PIOS_ADC_NUM_CHANNELS] = { 0 };
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if (pios_adc_dev->downsampleStep == 0) {
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for (uint8_t i = 0; i < PIOS_ADC_NUM_CHANNELS; i++) {
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sum[i] = 0;
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}
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}
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for (sample = 0; sample < pios_adc_dev->adc_oversample_block_size; sample++) {
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const uint16_t *buffer = (const uint16_t *)&pios_adc_dev->valid_data_buffer[sample * pios_adc_dev->dma_block_size];
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const uint16_t firCoeff = pios_adc_dev->fir_coeffs[sample + PIOS_ADC_NUM_CHANNELS * pios_adc_dev->downsampleStep];
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#if (PIOS_ADC_USE_TEMP_SENSOR)
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for (chan = 1; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
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#else
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for (chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
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#endif
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sum[chan] += buffer[chan] * firCoeff;
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}
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}
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// Full downsampling + fir filter is a little bit overwhelming for temp sensor.
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if (pios_adc_dev->downsampleStep == 0) {
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// first part of downsampling done. wait until the second block of samples is acquired
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pios_adc_dev->downsampleStep = 1;
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return;
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}
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pios_adc_dev->downsampleStep = 0;
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#if (PIOS_ADC_USE_TEMP_SENSOR)
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for (chan = 1; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
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#else
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for (chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
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#endif
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downsampled_buffer[chan] = (float)sum[chan] / (pios_adc_dev->fir_coeffs[pios_adc_dev->adc_oversample]);
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}
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#if (PIOS_ADC_USE_TEMP_SENSOR)
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downsampled_buffer[0] = pios_adc_dev->valid_data_buffer[0];
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#endif
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#if defined(PIOS_INCLUDE_FREERTOS)
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if (pios_adc_dev->data_queue) {
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static portBASE_TYPE xHigherPriorityTaskWoken;
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xQueueSendFromISR(pios_adc_dev->data_queue, pios_adc_dev->downsampled_buffer, &xHigherPriorityTaskWoken);
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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}
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#endif
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if (pios_adc_dev->callback_function) {
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pios_adc_dev->callback_function(pios_adc_dev->downsampled_buffer);
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}
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}
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/**
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* @brief Interrupt for half and full buffer transfer
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*
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* This interrupt handler swaps between the two halfs of the double buffer to make
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* sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but
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* really this is a pretense of a sanity check since the DMA engine is consantly
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* running in the background. Keep an eye on the ekf_too_slow variable to make sure
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* it's keeping up.
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*/
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void PIOS_ADC_DMA_Handler(void)
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{
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if (!PIOS_ADC_validate(pios_adc_dev)) {
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return;
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}
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if (DMA_GetFlagStatus(pios_adc_dev->cfg->full_flag /*DMA1_IT_TC1*/)) { // whole double buffer filled
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pios_adc_dev->valid_data_buffer = &pios_adc_dev->raw_data_buffer[pios_adc_dev->dma_half_buffer_size];
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DMA_ClearFlag(pios_adc_dev->cfg->full_flag);
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PIOS_ADC_downsample_data();
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} else if (DMA_GetFlagStatus(pios_adc_dev->cfg->half_flag /*DMA1_IT_HT1*/)) {
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pios_adc_dev->valid_data_buffer = &pios_adc_dev->raw_data_buffer[0];
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DMA_ClearFlag(pios_adc_dev->cfg->half_flag);
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PIOS_ADC_downsample_data();
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} else {
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// This should not happen, probably due to transfer errors
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DMA_ClearFlag(pios_adc_dev->cfg->dma.irq.flags /*DMA1_FLAG_GL1*/);
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}
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}
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#endif /* PIOS_INCLUDE_ADC */
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/**
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* @}
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* @}
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*/
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