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LibrePilot/flight/pios/stm32f30x/pios_adc.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_ADC ADC Functions
* @brief STM32F30x ADC PIOS interface
* @{
*
* @file pios_adc.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* @brief Analog to Digital converstion routines
* @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
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_ADC
#include <pios_adc_priv.h>
#include <pios_adc.h>
#if !defined(PIOS_ADC_MAX_SAMPLES)
#define PIOS_ADC_MAX_SAMPLES 0
#endif
#if !defined(PIOS_ADC_MAX_OVERSAMPLING)
#define PIOS_ADC_MAX_OVERSAMPLING 0
#endif
#if !defined(PIOS_ADC_USE_ADC2)
#define PIOS_ADC_USE_ADC2 0
#endif
#if !defined(PIOS_ADC_NUM_CHANNELS)
#define PIOS_ADC_NUM_CHANNELS 0
#endif
struct pios_adc_pin_config {
GPIO_TypeDef *port;
uint32_t pin;
uint32_t channel;
bool initialize;
};
static const struct pios_adc_pin_config config[] = PIOS_DMA_PIN_CONFIG;
#define PIOS_ADC_NUM_PINS (sizeof(config) / sizeof(config[0]))
#define PIOS_ADC_DMA_BUFFER_SIZE (PIOS_ADC_MAX_SAMPLES * PIOS_ADC_NUM_PINS)
// Private types
enum pios_adc_dev_magic {
PIOS_ADC_DEV_MAGIC = 0x58375124,
};
struct adc_accumulator {
uint32_t accumulator;
uint32_t count;
};
struct pios_adc_dev {
const struct pios_adc_cfg *cfg;
ADCCallback callback_function;
#if defined(PIOS_INCLUDE_FREERTOS)
xQueueHandle data_queue;
#endif
enum pios_adc_dev_magic magic;
volatile uint16_t raw_data_buffer[PIOS_ADC_DMA_BUFFER_SIZE] __attribute__((aligned(4))); // Double buffer that DMA just used
struct adc_accumulator accumulator[PIOS_ADC_NUM_PINS];
};
struct pios_adc_dev *pios_adc_dev;
// Private functions
void PIOS_ADC_downsample_data();
static struct pios_adc_dev *PIOS_ADC_Allocate();
static bool PIOS_ADC_validate(struct pios_adc_dev *);
static void init_pins(struct pios_adc_dev *adc_dev);
static void init_dma(struct pios_adc_dev *adc_dev);
static void init_adc(struct pios_adc_dev *adc_dev);
static void init_pins(__attribute__((unused)) struct pios_adc_dev *adc_dev)
{
for (uint32_t i = 0; i < PIOS_ADC_NUM_PINS; ++i) {
if (!config[i].initialize) {
continue;
}
PIOS_ADC_PinSetup(i);
}
}
static void init_dma(struct pios_adc_dev *adc_dev)
{
/* Disable interrupts */
DMA_ITConfig(pios_adc_dev->cfg->dma.rx.channel, pios_adc_dev->cfg->dma.irq.flags, DISABLE);
/* Configure DMA channel */
DMA_DeInit(adc_dev->cfg->dma.rx.channel);
DMA_InitTypeDef DMAInit = adc_dev->cfg->dma.rx.init;
DMAInit.DMA_PeripheralBaseAddr = (uint32_t) &adc_dev->cfg->adc_dev->DR;
DMAInit.DMA_MemoryBaseAddr = (uint32_t)&pios_adc_dev->raw_data_buffer[0];
DMAInit.DMA_BufferSize = PIOS_ADC_DMA_BUFFER_SIZE;
DMAInit.DMA_DIR = DMA_DIR_PeripheralSRC;
DMAInit.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMAInit.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMAInit.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMAInit.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMAInit.DMA_Mode = DMA_Mode_Circular;
DMAInit.DMA_M2M = DMA_M2M_Disable;
DMA_Init(adc_dev->cfg->dma.rx.channel, &DMAInit); /* channel is actually stream ... */
/* enable DMA */
DMA_Cmd(adc_dev->cfg->dma.rx.channel, ENABLE);
/* Trigger interrupt when for half conversions too to indicate double buffer */
DMA_ITConfig(adc_dev->cfg->dma.rx.channel, DMA_IT_TC, ENABLE);
DMA_ITConfig(adc_dev->cfg->dma.rx.channel, DMA_IT_HT, ENABLE);
/* Configure DMA interrupt */
NVIC_InitTypeDef NVICInit = adc_dev->cfg->dma.irq.init;
NVIC_Init(&NVICInit);
}
static void init_adc(struct pios_adc_dev *adc_dev)
{
ADC_DeInit(adc_dev->cfg->adc_dev);
if (adc_dev->cfg->adc_dev == ADC1 || adc_dev->cfg->adc_dev == ADC2 )
RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div32);
else
RCC_ADCCLKConfig(RCC_ADC34PLLCLK_Div32);
ADC_VoltageRegulatorCmd(adc_dev->cfg->adc_dev, ENABLE);
PIOS_DELAY_WaituS(10);
ADC_SelectCalibrationMode(adc_dev->cfg->adc_dev, ADC_CalibrationMode_Single);
ADC_StartCalibration(adc_dev->cfg->adc_dev);
while (ADC_GetCalibrationStatus(adc_dev->cfg->adc_dev) != RESET)
;
/* Do common ADC init */
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_CommonStructInit(&ADC_CommonInitStructure);
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
ADC_CommonInitStructure.ADC_Clock = ADC_Clock_AsynClkMode;
ADC_CommonInitStructure.ADC_DMAMode = ADC_DMAMode_Circular;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = 0;
ADC_DMAConfig(adc_dev->cfg->adc_dev, ADC_DMAMode_Circular);
ADC_CommonInit(adc_dev->cfg->adc_dev, &ADC_CommonInitStructure);
ADC_InitTypeDef ADC_InitStructure;
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ContinuousConvMode = ADC_ContinuousConvMode_Enable;
ADC_InitStructure.ADC_ExternalTrigConvEvent = ADC_ExternalTrigConvEvent_0;
ADC_InitStructure.ADC_ExternalTrigEventEdge = ADC_ExternalTrigEventEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfRegChannel = ((PIOS_ADC_NUM_PINS) /* >> 1*/);
ADC_Init(adc_dev->cfg->adc_dev, &ADC_InitStructure);
/* Enable DMA request */
ADC_DMACmd(adc_dev->cfg->adc_dev, ENABLE);
/* Configure input scan */
for (uint32_t i = 0; i < PIOS_ADC_NUM_PINS; i++) {
ADC_RegularChannelConfig(adc_dev->cfg->adc_dev,
config[i].channel,
i + 1,
ADC_SampleTime_61Cycles5); /* XXX this is totally arbitrary... */
}
ADC_Cmd(adc_dev->cfg->adc_dev, ENABLE);
while (!ADC_GetFlagStatus(adc_dev->cfg->adc_dev, ADC_FLAG_RDY));
ADC_StartConversion(adc_dev->cfg->adc_dev);
}
static bool PIOS_ADC_validate(struct pios_adc_dev *dev)
{
if (dev == NULL) {
return false;
}
return dev->magic == PIOS_ADC_DEV_MAGIC;
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_adc_dev *PIOS_ADC_Allocate()
{
struct pios_adc_dev *adc_dev;
adc_dev = (struct pios_adc_dev *)pios_malloc(sizeof(*adc_dev));
if (!adc_dev) {
return NULL;
}
memset(adc_dev, 0, sizeof(*adc_dev));
adc_dev->magic = PIOS_ADC_DEV_MAGIC;
return adc_dev;
}
#else
#error Not implemented
static struct pios_adc_dev *PIOS_ADC_Allocate()
{
return (struct pios_adc_dev *)NULL;
}
#endif
/**
* @brief Init the ADC.
*/
int32_t PIOS_ADC_Init(const struct pios_adc_cfg *cfg)
{
PIOS_Assert(cfg);
pios_adc_dev = PIOS_ADC_Allocate();
if (pios_adc_dev == NULL) {
return -1;
}
pios_adc_dev->cfg = cfg;
pios_adc_dev->callback_function = NULL;
#if defined(PIOS_INCLUDE_FREERTOS)
pios_adc_dev->data_queue = NULL;
#endif
init_pins(pios_adc_dev);
init_dma(pios_adc_dev);
init_adc(pios_adc_dev);
return 0;
}
/**
* @brief Configure the ADC to run at a fixed oversampling
* @param[in] oversampling the amount of oversampling to run at
*/
void PIOS_ADC_Config(__attribute__((unused)) uint32_t oversampling)
{
/* we ignore this */
}
/**
* Returns value of an ADC Pin
* @param[in] pin number
* @return ADC pin value averaged over the set of samples since the last reading.
* @return -1 if pin doesn't exist
* @return -2 if no data acquired since last read
*/
int32_t last_conv_value;
int32_t PIOS_ADC_PinGet(uint32_t pin)
{
int32_t result;
/* Check if pin exists */
if (pin >= PIOS_ADC_NUM_PINS) {
return -1;
}
if (pios_adc_dev->accumulator[pin].accumulator <= 0) {
return -2;
}
/* return accumulated result and clear accumulator */
result = pios_adc_dev->accumulator[pin].accumulator / (pios_adc_dev->accumulator[pin].count ? : 1);
pios_adc_dev->accumulator[pin].accumulator = result;
pios_adc_dev->accumulator[pin].count = 1;
return result;
}
float PIOS_ADC_PinGetVolt(uint32_t pin)
{
return ((float)PIOS_ADC_PinGet(pin)) * PIOS_ADC_VOLTAGE_SCALE;
}
/**
* @brief Set a callback function that is executed whenever
* the ADC double buffer swaps
* @note Not currently supported.
*/
void PIOS_ADC_SetCallback(ADCCallback new_function)
{
pios_adc_dev->callback_function = new_function;
}
#if defined(PIOS_INCLUDE_FREERTOS)
/**
* @brief Register a queue to add data to when downsampled
* @note Not currently supported.
*/
void PIOS_ADC_SetQueue(xQueueHandle data_queue)
{
pios_adc_dev->data_queue = data_queue;
}
#endif
/**
* @brief Return the address of the downsampled data buffer
* @note Not currently supported.
*/
float *PIOS_ADC_GetBuffer(void)
{
return NULL;
}
/**
* @brief Return the address of the raw data data buffer
* @note Not currently supported.
*/
int16_t *PIOS_ADC_GetRawBuffer(void)
{
return NULL;
}
/**
* @brief Return the amount of over sampling
* @note Not currently supported (always returns 1)
*/
uint8_t PIOS_ADC_GetOverSampling(void)
{
return 1;
}
/**
* @brief Set the fir coefficients. Takes as many samples as the
* current filter order plus one (normalization)
*
* @param new_filter Array of adc_oversampling floats plus one for the
* filter coefficients
* @note Not currently supported.
*/
void PIOS_ADC_SetFIRCoefficients(__attribute__((unused)) float *new_filter)
{
// not implemented
}
/**
* @brief accumulate the data for each of the channels.
*/
void accumulate(struct pios_adc_dev *dev, volatile uint16_t *buffer)
{
volatile uint16_t *sp = buffer;
/*
* Accumulate sampled values.
*/
int count = (PIOS_ADC_MAX_SAMPLES / 2);
while (count--) {
for (uint32_t i = 0; i < PIOS_ADC_NUM_PINS; ++i) {
dev->accumulator[i].accumulator += *sp++;
dev->accumulator[i].count++;
/*
* If the accumulator reaches half-full, rescale in order to
* make more space.
*/
if (dev->accumulator[i].accumulator >= (((uint32_t)1) << 31)) {
dev->accumulator[i].accumulator /= 2;
dev->accumulator[i].count /= 2;
}
}
}
#if defined(PIOS_INCLUDE_FREERTOS)
// XXX should do something with this
if (pios_adc_dev->data_queue) {
static portBASE_TYPE xHigherPriorityTaskWoken;
// xQueueSendFromISR(pios_adc_dev->data_queue, pios_adc_dev->downsampled_buffer, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
#endif
// if(pios_adc_dev->callback_function)
// pios_adc_dev->callback_function(pios_adc_dev->downsampled_buffer);
}
/**
* @brief Interrupt on buffer flip.
*
* The hardware is done with the 'other' buffer, so we can pass it to the accumulator.
*/
void PIOS_ADC_DMA_Handler(void)
{
if (!PIOS_ADC_validate(pios_adc_dev)) {
return;
}
if (DMA_GetFlagStatus(pios_adc_dev->cfg->full_flag)) { // whole double buffer filled
DMA_ClearFlag(pios_adc_dev->cfg->full_flag);
accumulate(pios_adc_dev, &pios_adc_dev->raw_data_buffer[PIOS_ADC_DMA_BUFFER_SIZE/2]);
} else if (DMA_GetFlagStatus(pios_adc_dev->cfg->half_flag)) {
DMA_ClearFlag(pios_adc_dev->cfg->half_flag);
accumulate(pios_adc_dev, &pios_adc_dev->raw_data_buffer[0]);
} else {
// This should not happen, probably due to transfer errors
DMA_ClearFlag(pios_adc_dev->cfg->dma.irq.flags);
}
}
void PIOS_ADC_PinSetup(uint32_t pin)
{
if (config[pin].port != NULL && pin < PIOS_ADC_NUM_PINS) {
/* Setup analog pin */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_Pin = config[pin].pin;
GPIO_Init(config[pin].port, &GPIO_InitStructure);
}
}
#endif /* PIOS_INCLUDE_ADC */
/**
* @}
* @}
*/
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