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Conflicts: Makefile flight/Modules/Attitude/revolution/attitude.c flight/Modules/Battery/battery.c flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c flight/Modules/GPS/GPS.c flight/Modules/ManualControl/inc/manualcontrol.h flight/Modules/ManualControl/manualcontrol.c flight/Modules/OveroSync/overosync.c flight/Modules/PathPlanner/inc/pathplanner.h flight/Modules/PathPlanner/pathplanner.c flight/Modules/Sensors/sensors.c flight/Modules/VtolPathFollower/vtolpathfollower.c flight/PiOS/Boards/STM32F4xx_Revolution.h flight/PiOS/Boards/pios_board.h flight/PiOS/STM32F4xx/library.mk flight/PiOS/inc/pios_hmc5883.h flight/PiOS/inc/pios_l3gd20.h flight/PiOS/inc/pios_rfm22b_priv.h flight/Revolution/Makefile flight/Revolution/Makefile.osx flight/Revolution/System/inc/pios_config.h flight/Revolution/UAVObjects.inc ground/openpilotgcs/src/libs/utils/coordinateconversions.cpp ground/openpilotgcs/src/libs/utils/homelocationutil.cpp ground/openpilotgcs/src/libs/utils/homelocationutil.h ground/openpilotgcs/src/plugins/config/configrevowidget.cpp ground/openpilotgcs/src/plugins/hitlnew/il2simulator.cpp ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp ground/openpilotgcs/src/plugins/plugins.pro ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro package/Makefile shared/uavobjectdefinition/fixedwingpathfollowersettings.xml shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml shared/uavobjectdefinition/flightstatus.xml shared/uavobjectdefinition/hwsettings.xml shared/uavobjectdefinition/manualcontrolsettings.xml shared/uavobjectdefinition/pathdesired.xml shared/uavobjectdefinition/vtolpathfollowersettings.xml shared/uavobjectdefinition/waypoint.xml
453 lines
12 KiB
C
453 lines
12 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 STM32F4xx 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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* @author Michael Smith Copyright (C) 2011.
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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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/*
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* @note This is a stripped-down ADC driver intended primarily for sampling
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* voltage and current values. Samples are averaged over the period between
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* fetches so that relatively accurate measurements can be obtained without
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* forcing higher-level logic to poll aggressively.
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*
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* @todo This module needs more work to be more generally useful. It should
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* almost certainly grow callback support so that e.g. voltage and current readings
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* can be shipped out for coulomb counting purposes. The F1xx interface presumes
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* use with analog sensors, but that implementation largely dominates the ADC
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* resources. Rather than commit to a new API without a defined use case, we
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* should stick to our lightweight subset until we have a better idea of what's needed.
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*/
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#include "pios.h"
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#include <pios_adc_priv.h>
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#if defined(PIOS_INCLUDE_ADC)
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#if !defined(PIOS_ADC_MAX_SAMPLES)
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#define PIOS_ADC_MAX_SAMPLES 0
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#endif
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#if !defined(PIOS_ADC_MAX_OVERSAMPLING)
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#define PIOS_ADC_MAX_OVERSAMPLING 0
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#endif
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#if !defined(PIOS_ADC_USE_ADC2)
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#define PIOS_ADC_USE_ADC2 0
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#endif
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#if !defined(PIOS_ADC_NUM_CHANNELS)
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#define PIOS_ADC_NUM_CHANNELS 0
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#endif
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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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uint8_t dma_block_size;
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uint16_t dma_half_buffer_size;
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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)));
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// float downsampled_buffer[PIOS_ADC_NUM_CHANNELS] __attribute__ ((aligned(4)));
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enum pios_adc_dev_magic magic;
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};
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struct pios_adc_dev * pios_adc_dev;
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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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#if defined(PIOS_INCLUDE_ADC)
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static void init_pins(void);
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static void init_dma(void);
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static void init_adc(void);
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#endif
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struct dma_config {
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GPIO_TypeDef *port;
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uint32_t pin;
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uint32_t channel;
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};
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struct adc_accumulator {
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uint32_t accumulator;
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uint32_t count;
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};
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#if defined(PIOS_INCLUDE_ADC)
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static const struct dma_config config[] = PIOS_DMA_PIN_CONFIG;
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#define PIOS_ADC_NUM_PINS (sizeof(config) / sizeof(config[0]))
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static struct adc_accumulator accumulator[PIOS_ADC_NUM_PINS];
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// Two buffers here for double buffering
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static uint16_t adc_raw_buffer[2][PIOS_ADC_MAX_SAMPLES][PIOS_ADC_NUM_PINS];
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#endif
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#if defined(PIOS_INCLUDE_ADC)
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static void
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init_pins(void)
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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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for (int32_t i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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if (config[i].port == NULL)
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continue;
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GPIO_InitStructure.GPIO_Pin = config[i].pin;
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GPIO_Init(config[i].port, &GPIO_InitStructure);
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}
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}
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static void
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init_dma(void)
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{
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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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/* Configure DMA channel */
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DMA_DeInit(pios_adc_dev->cfg->dma.rx.channel);
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DMA_InitTypeDef DMAInit = pios_adc_dev->cfg->dma.rx.init;
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DMAInit.DMA_Memory0BaseAddr = (uint32_t)&adc_raw_buffer[0];
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DMAInit.DMA_BufferSize = sizeof(adc_raw_buffer[0]) / sizeof(uint16_t);
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DMAInit.DMA_DIR = DMA_DIR_PeripheralToMemory;
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DMAInit.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMAInit.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMAInit.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
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DMAInit.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
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DMAInit.DMA_Mode = DMA_Mode_Circular;
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DMAInit.DMA_Priority = DMA_Priority_Low;
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DMAInit.DMA_FIFOMode = DMA_FIFOMode_Disable;
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DMAInit.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
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DMAInit.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMAInit.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_Init(pios_adc_dev->cfg->dma.rx.channel, &DMAInit); /* channel is actually stream ... */
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/* configure for double-buffered mode and interrupt on every buffer flip */
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DMA_DoubleBufferModeConfig(pios_adc_dev->cfg->dma.rx.channel, (uint32_t)&adc_raw_buffer[1], DMA_Memory_0);
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DMA_DoubleBufferModeCmd(pios_adc_dev->cfg->dma.rx.channel, ENABLE);
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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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/* enable DMA */
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DMA_Cmd(pios_adc_dev->cfg->dma.rx.channel, ENABLE);
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/* Configure DMA interrupt */
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NVIC_InitTypeDef NVICInit = pios_adc_dev->cfg->dma.irq.init;
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NVIC_Init(&NVICInit);
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}
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static void
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init_adc(void)
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{
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
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ADC_DeInit();
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/* turn on VREFInt in case we need it */
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ADC_TempSensorVrefintCmd(ENABLE);
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/* Do common ADC init */
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ADC_CommonInitTypeDef ADC_CommonInitStructure;
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ADC_CommonStructInit(&ADC_CommonInitStructure);
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ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
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ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
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ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
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ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
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ADC_CommonInit(&ADC_CommonInitStructure);
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ADC_InitTypeDef ADC_InitStructure;
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ADC_StructInit(&ADC_InitStructure);
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ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
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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_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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ADC_InitStructure.ADC_NbrOfConversion = ((PIOS_ADC_NUM_PINS)/* >> 1*/);
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ADC_Init(pios_adc_dev->cfg->adc_dev, &ADC_InitStructure);
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/* Enable DMA request */
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ADC_DMACmd(pios_adc_dev->cfg->adc_dev, ENABLE);
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/* Configure input scan */
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for (int32_t i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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ADC_RegularChannelConfig(pios_adc_dev->cfg->adc_dev,
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config[i].channel,
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i+1,
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ADC_SampleTime_56Cycles); /* XXX this is totally arbitrary... */
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}
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ADC_DMARequestAfterLastTransferCmd(pios_adc_dev->cfg->adc_dev, ENABLE);
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/* Finally start initial conversion */
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ADC_Cmd(pios_adc_dev->cfg->adc_dev, ENABLE);
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ADC_ContinuousModeCmd(pios_adc_dev->cfg->adc_dev, ENABLE);
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ADC_SoftwareStartConv(pios_adc_dev->cfg->adc_dev);
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}
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#endif
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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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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 *)pvPortMalloc(sizeof(*adc_dev));
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if (!adc_dev) return (NULL);
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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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#if defined(PIOS_INCLUDE_ADC)
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#error Not implemented
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#endif
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static struct pios_adc_dev * PIOS_ADC_Allocate()
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{
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return (struct pios_adc_dev *) NULL;
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}
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#endif
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/**
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* @brief Init the ADC.
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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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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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#if defined(PIOS_INCLUDE_ADC)
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init_pins();
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init_dma();
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init_adc();
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#endif
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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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/* we ignore this */
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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 averaged over the set of samples since the last reading.
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* @return -1 if pin doesn't exist
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* @return -2 if no data acquired since last read
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*/
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int32_t last_conv_value;
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int32_t PIOS_ADC_PinGet(uint32_t pin)
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{
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#if defined(PIOS_INCLUDE_ADC)
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int32_t result;
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/* Check if pin exists */
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if (pin >= PIOS_ADC_NUM_PINS) {
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return -1;
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}
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if (accumulator[pin].accumulator <= 0)
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return -2;
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/* return accumulated result and clear accumulator */
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result = accumulator[pin].accumulator / (accumulator[pin].count ?: 1);
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accumulator[pin].accumulator = result;
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accumulator[pin].count = 1;
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return result;
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#endif
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return -1;
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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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* @note Not currently supported.
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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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* @note Not currently supported.
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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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* @note Not currently supported.
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*/
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float * PIOS_ADC_GetBuffer(void)
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{
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return NULL;
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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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* @note Not currently supported.
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*/
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int16_t * PIOS_ADC_GetRawBuffer(void)
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{
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return NULL;
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}
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/**
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* @brief Return the amount of over sampling
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* @note Not currently supported (always returns 1)
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*/
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uint8_t PIOS_ADC_GetOverSampling(void)
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{
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return 1;
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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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* @note Not currently supported.
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*/
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void PIOS_ADC_SetFIRCoefficients(float * new_filter)
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{
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// not implemented
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}
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/**
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* @brief accumulate the data for each of the channels.
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*/
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void accumulate(uint16_t *buffer, uint32_t count)
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{
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#if defined(PIOS_INCLUDE_ADC)
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uint16_t *sp = buffer;
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/*
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* Accumulate sampled values.
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*/
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while (count--) {
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for (int i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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accumulator[i].accumulator += *sp++;
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accumulator[i].count++;
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/*
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* If the accumulator reaches half-full, rescale in order to
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* make more space.
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*/
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if (accumulator[i].accumulator >= (1 << 31)) {
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accumulator[i].accumulator /= 2;
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accumulator[i].count /= 2;
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}
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}
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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// XXX should do something with this
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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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#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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* @brief Interrupt on buffer flip.
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*
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* The hardware is done with the 'other' buffer, so we can pass it to the accumulator.
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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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#if defined(PIOS_INCLUDE_ADC)
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/* terminal count, buffer has flipped */
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if (DMA_GetITStatus(pios_adc_dev->cfg->dma.rx.channel, pios_adc_dev->cfg->full_flag)) {
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DMA_ClearITPendingBit(pios_adc_dev->cfg->dma.rx.channel, pios_adc_dev->cfg->full_flag);
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/* accumulate results from the buffer that was just completed */
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accumulate(&adc_raw_buffer[DMA_GetCurrentMemoryTarget(pios_adc_dev->cfg->dma.rx.channel) ? 0 : 1][0][0],
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PIOS_ADC_MAX_SAMPLES);
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}
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#endif
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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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