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0875dc8442
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba
217 lines
7.8 KiB
C
217 lines
7.8 KiB
C
/**
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******************************************************************************
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* @addtogroup AHRS AHRS Control
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* @brief The AHRS Modules perform
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*
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* @{
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* @addtogroup AHRS_ADC
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* @brief Specialized ADC code for double buffered DMA for AHRS
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* @{
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*
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*
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* @file ahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief INSGPS Test Program
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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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#include "ahrs_adc.h"
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// Remap the ADC DMA handler to this one
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void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")));
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//! Where the raw data is stored
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volatile int16_t raw_data_buffer[MAX_SAMPLES]; // Double buffer that DMA just used
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//! Swapped by interrupt handler to achieve double buffering
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volatile int16_t * valid_data_buffer;
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volatile int32_t total_conversion_blocks;
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volatile int32_t ekf_too_slow;
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volatile uint8_t adc_oversample;
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volatile states ahrs_state;
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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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/**
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* @brief Initialise the ADC Peripheral
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* @param[in] adc_oversample
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* @return
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* @arg 1 for success
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* @arg 0 for failure
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* Currently ignores rates and uses hardcoded values. Need a little logic to
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* map from sampling rates and such to ADC constants.
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*/
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uint8_t AHRS_ADC_Config(int32_t adc_oversample)
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{
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int32_t i;
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ADC_DeInit(ADC1);
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ADC_DeInit(ADC2);
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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(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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/* 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(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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ADC_RegularChannelConfig(ADC_MAPPING[i], ADC_CHANNEL[i], ADC_CHANNEL_MAPPING[i], 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_14, PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL, PIOS_ADC_SAMPLE_TIME);
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#endif
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// TODO: update ADC to continuous sampling, configure the sampling rate
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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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RCC_PCLK2Config(RCC_HCLK_Div16);
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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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#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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ADC_StartCalibration(ADC2);
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while(ADC_GetCalibrationStatus(ADC2));
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#endif
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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)&raw_data_buffer[0];
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
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/* We are double buffering half words from the ADC. Make buffer appropriately sized */
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DMA_InitStructure.DMA_BufferSize = (PIOS_ADC_NUM_CHANNELS * adc_oversample * 2) >> 1;
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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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/* Note: We read ADC1 and ADC2 in parallel making a word read, also hence the half buffer size */
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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 for half conversions too to indicate double buffer */
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DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
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DMA_ITConfig(DMA1_Channel1, DMA_IT_HT, 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 = PIOS_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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return 1;
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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 AHRS_ADC_DMA_Handler(void)
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{
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if ( ahrs_state == AHRS_IDLE )
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{
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// Ideally this would have a mutex, but I think we can avoid it (and don't have RTOS features)
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if( DMA_GetFlagStatus( DMA1_IT_TC1 ) ) // whole double buffer filled
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valid_data_buffer = &raw_data_buffer[ 1 * PIOS_ADC_NUM_CHANNELS * adc_oversample ];
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else if ( DMA_GetFlagStatus(DMA1_IT_HT1) )
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valid_data_buffer = &raw_data_buffer[ 0 * PIOS_ADC_NUM_CHANNELS * adc_oversample ];
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else {
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// lets cause a seg fault and catch whatever is going on
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valid_data_buffer = 0;
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}
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ahrs_state = AHRS_DATA_READY;
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}
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else {
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// Track how many times an interrupt occurred before EKF finished processing
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ekf_too_slow++;
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}
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total_conversion_blocks++;
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// Clear all interrupt from DMA 1 - regardless if buffer swapped
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DMA_ClearFlag( DMA1_IT_GL1 );
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}
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