ADC_NUM_CHANNELS,
adccallback,
adcerrorcallback,
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
ADC_SMPR1_SMP_AN10(ADC_SAMPLE_480) |
ADC_SMPR1_SMP_AN11(ADC_SAMPLE_480) |
ADC_SMPR1_SMP_AN12(ADC_SAMPLE_480) |
ADC_SMPR1_SMP_AN13(ADC_SAMPLE_480) |
ADC_SMPR1_SMP_AN14(ADC_SAMPLE_480) |
ADC_SMPR1_SMP_AN15(ADC_SAMPLE_480),
0, /* SMPR2 */
ADC_SQR1_NUM_CH(ADC_NUM_CHANNELS),
0,
(ADC_SQR3_SQ6_N(ADC_AN33_2) | ADC_SQR3_SQ5_N(ADC_AN33_1) |
ADC_SQR3_SQ4_N(ADC_AN33_0) | ADC_SQR3_SQ3_N(ADC_6V_SUPPLY) |
ADC_SQR3_SQ2_N(ADC_MAIN_SUPPLY) | ADC_SQR3_SQ1_N(ADC_CURRENT_SENS))
};
/*
*******************************************************************************
*******************************************************************************
* LOCAL FUNCTIONS
*******************************************************************************
*******************************************************************************
*/
/* пересчет из условных единиц АЦП в mV */
uint16_t get_comp_secondary_voltage(uint16_t raw){
uint32_t v = 6200; // такое количество милливольт
uint32_t adc = 770;// приходится на такое количество условных единиц
* Channels: IN11, IN12, IN14, IN15.
*/
static const ADCConversionGroup adc_grpcfg = {
TRUE,
ADC_NUM_CHANNELS,
NULL,
NULL,
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
ADC_SMPR1_SMP_AN15(ADC_SAMPLE_144) | ADC_SMPR1_SMP_AN14(ADC_SAMPLE_144)
| ADC_SMPR1_SMP_AN12(ADC_SAMPLE_144)
| ADC_SMPR1_SMP_AN11(ADC_SAMPLE_144), /* SMPR1 */
0, /* SMPR2 */
ADC_SQR1_NUM_CH(ADC_NUM_CHANNELS),
0, /* SQR2 */
ADC_SQR3_SQ4_N(ADC_CHANNEL_IN15) | ADC_SQR3_SQ3_N(ADC_CHANNEL_IN14)
| ADC_SQR3_SQ2_N(ADC_CHANNEL_IN12)
| ADC_SQR3_SQ1_N(ADC_CHANNEL_IN11) };
static WORKING_AREA(irWorkingArea, 1024);
/* ICU callbacks and data to be used with sonars */
/* Thread used for read data from sonar */
static msg_t irThread(void *arg) {
(void) arg;
char buf[40];
/*
* Activates the ADC1 driver.
*/
* Mode: Continuous, 16 samples of 8 channels, SW triggered.
* Channels: IN10, IN11, IN10, IN11, IN10, IN11, Sensor, VRef.
*/
static const ADCConversionGroup adcgrpcfg2 = {
TRUE,
ADC_GRP2_NUM_CHANNELS,
adccallback,
adcerrorcallback,
0, ADC_CR2_TSVREFE, /* CR1, CR2 */
ADC_SMPR1_SMP_AN11(ADC_SAMPLE_41P5) | ADC_SMPR1_SMP_AN10(ADC_SAMPLE_41P5) |
ADC_SMPR1_SMP_SENSOR(ADC_SAMPLE_239P5) | ADC_SMPR1_SMP_VREF(ADC_SAMPLE_239P5),
0, /* SMPR2 */
ADC_SQR1_NUM_CH(ADC_GRP2_NUM_CHANNELS),
ADC_SQR2_SQ8_N(ADC_CHANNEL_SENSOR) | ADC_SQR2_SQ7_N(ADC_CHANNEL_VREFINT),
ADC_SQR3_SQ6_N(ADC_CHANNEL_IN11) | ADC_SQR3_SQ5_N(ADC_CHANNEL_IN10) |
ADC_SQR3_SQ4_N(ADC_CHANNEL_IN11) | ADC_SQR3_SQ3_N(ADC_CHANNEL_IN10) |
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN11) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN10)
};
/*
* Red LEDs blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palClearPad(IOPORT3, GPIOC_LED);
chThdSleepMilliseconds(500);
adcerrorcallback,
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
ADC_SMPR1_SMP_AN10(ADC_SAMPLE_3) |
ADC_SMPR1_SMP_AN11(ADC_SAMPLE_3) |
ADC_SMPR1_SMP_AN12(ADC_SAMPLE_3) |
ADC_SMPR1_SMP_AN13(ADC_SAMPLE_3) |
ADC_SMPR1_SMP_AN14(ADC_SAMPLE_3) |
ADC_SMPR1_SMP_AN15(ADC_SAMPLE_3),
0, /* SMPR2 */
ADC_SQR1_NUM_CH(ADC_NUM_CHANNELS),
0,
ADC_SQR3_SQ6_N(ADC_AN33_2) |
ADC_SQR3_SQ5_N(ADC_AN33_1) |
ADC_SQR3_SQ4_N(ADC_AN33_0) |
ADC_SQR3_SQ3_N(ADC_6V_SUPPLY) |
ADC_SQR3_SQ2_N(ADC_MAIN_SUPPLY) |
ADC_SQR3_SQ1_N(ADC_CURRENT_SENS)
};
static void adcerrorcallback(ADCDriver *adcp, adcerror_t err) {
(void)adcp;
(void)err;
osalSysHalt("");
}
static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
(void)adcp;
(void)buffer;
(void)n;
adccallback,
adcerrorcallback,
.u.adc = {
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
0, /* LTR */
0, /* HTR */
{ /* SMPR[2] */
ADC_SMPR1_SMP_SENSOR(ADC_SAMPLE_239P5) | ADC_SMPR1_SMP_VREF(ADC_SAMPLE_239P5),
ADC_SMPR2_SMP_AN9(ADC_SAMPLE_41P5) | ADC_SMPR2_SMP_AN1(ADC_SAMPLE_41P5)
},
{ /* SQR[3] */
0,
ADC_SQR2_SQ8_N(ADC_CHANNEL_SENSOR) | ADC_SQR2_SQ7_N(ADC_CHANNEL_VBAT),
ADC_SQR3_SQ6_N(ADC_CHANNEL_IN9) | ADC_SQR3_SQ5_N(ADC_CHANNEL_IN1) |
ADC_SQR3_SQ4_N(ADC_CHANNEL_IN9) | ADC_SQR3_SQ3_N(ADC_CHANNEL_IN1) |
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN9) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN1)
}
}
};
/*
* Red LEDs blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (TRUE) {
palClearPad(GPIOC, GPIOC_LED1);
0,
// CR2 register content, set to zero for begin
0,
// SMRP1 register content, channels 10, 11, 12, 13 to 71.5 cycles
0xB6D,
// SMRP2 register content, channels 0, 1, 2, 3 to 71.5 cycles
0xB6D,
// SQR1 register content. Set channel sequence length
ADC_SQR1_NUM_CH(ADC_CH_NUM),
// SQR2 register content, set to zero for begin
(ADC_SQR2_SQ7_N(ADC_CHANNEL_IN10) |
ADC_SQR2_SQ8_N(ADC_CHANNEL_IN11)),
// SQR3 register content. First 6 channels
(ADC_SQR3_SQ1_N(ADC_CHANNEL_IN0 ) |
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN1 ) |
ADC_SQR3_SQ3_N(ADC_CHANNEL_IN2 ) |
ADC_SQR3_SQ4_N(ADC_CHANNEL_IN3 ) |
ADC_SQR3_SQ5_N(ADC_CHANNEL_IN12) |
ADC_SQR3_SQ6_N(ADC_CHANNEL_IN13)),
};
/*-----------------------------------------------------------------------------*/
/** @brief Initialize the ADC1 sub system */
/*-----------------------------------------------------------------------------*/
void
vexAdcInit()
{
// Init and start ADC1
adcInit();
adcStart(&ADCD1, &adccfg);
adcerrorcallback, //error_cb 0, /* CR1 */ ADC_CR2_SWSTART, /* CR2 */ ADC_SMPR1_SMP_AN14(ADC_OVERSAMPLING) | ADC_SMPR1_SMP_AN15(ADC_OVERSAMPLING), // SMPR1 ADC_SMPR2_SMP_AN4(ADC_OVERSAMPLING) | ADC_SMPR2_SMP_AN5(ADC_OVERSAMPLING) | /* SMPR2 */ ADC_SMPR2_SMP_AN6(ADC_OVERSAMPLING) | ADC_SMPR2_SMP_AN7(ADC_OVERSAMPLING) | /* SMPR2 */ ADC_SMPR2_SMP_AN9(ADC_OVERSAMPLING), /* SMPR2 */ ADC_SQR1_NUM_CH(ADC_ADC3_NUM_CHANNELS), // SQR1 0, //SQR2 ADC_SQR3_SQ1_N(GPIOF_ADC_CMD_TURRET_CHANNEL) | //SQR3 ADC_SQR3_SQ2_N(GPIOF_ADC_CMD_ELBOW_CHANNEL) | //SQR3 ADC_SQR3_SQ3_N(GPIOF_ADC_CMD_SHOULDER_CHANNEL) | //SQR3 ADC_SQR3_SQ4_N(GPIOF_ADC_CMD_WRIST_CHANNEL) | //SQR3 ADC_SQR3_SQ5_N(GPIOF_ADC_CMD_CLAMP_CHANNEL) //SQR3 }; #ifndef __COVERITY__ _Static_assert(CMD_TURRET_ADC_IDX == 3, "ADC mismatch"); _Static_assert(CMD_SHOULDER_ADC_IDX == 3, "ADC mismatch"); _Static_assert(CMD_ELBOW_ADC_IDX == 3, "ADC mismatch"); _Static_assert(CMD_WRIST_ADC_IDX == 3, "ADC mismatch"); _Static_assert(CMD_CLAMP_ADC_IDX == 3, "ADC mismatch"); #endif #else #error "one board has to be defined" #endif
static const ADCConversionGroup adcgrpcfg1 = {FALSE, //circular buffer mode
ADC_GRP1_NUM_CHANNELS, //Number of the analog channels
NULL, //Callback function (not needed here)
0, //Error callback
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
ADC_SMPR1_SMP_AN10(ADC_SAMPLE_84) | ADC_SMPR1_SMP_AN11(ADC_SAMPLE_84)
| ADC_SMPR1_SMP_AN12(ADC_SAMPLE_84) | ADC_SMPR1_SMP_AN13(ADC_SAMPLE_84)
| ADC_SMPR1_SMP_AN14(ADC_SAMPLE_84) | ADC_SMPR1_SMP_AN15(ADC_SAMPLE_84), //sample times ch10-18
ADC_SMPR2_SMP_AN0(ADC_SAMPLE_84) | ADC_SMPR2_SMP_AN1(ADC_SAMPLE_84)
| ADC_SMPR2_SMP_AN2(ADC_SAMPLE_84) | ADC_SMPR2_SMP_AN3(ADC_SAMPLE_84)
| ADC_SMPR2_SMP_AN4(ADC_SAMPLE_84) | ADC_SMPR2_SMP_AN5(ADC_SAMPLE_84)
| ADC_SMPR2_SMP_AN6(ADC_SAMPLE_84) | ADC_SMPR2_SMP_AN7(ADC_SAMPLE_84)
| ADC_SMPR2_SMP_AN8(ADC_SAMPLE_84) | ADC_SMPR2_SMP_AN9(ADC_SAMPLE_84), //sample times ch0-9
ADC_SQR1_SQ13_N(ADC_CHANNEL_IN12) | ADC_SQR1_SQ14_N(ADC_CHANNEL_IN13)
| ADC_SQR1_SQ15_N(ADC_CHANNEL_IN14) | ADC_SQR1_SQ16_N(ADC_CHANNEL_IN15)
| ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS), //SQR1: Conversion group sequence 13...16 + sequence length
ADC_SQR2_SQ7_N(ADC_CHANNEL_IN6) | ADC_SQR2_SQ8_N(ADC_CHANNEL_IN7)
| ADC_SQR2_SQ9_N(ADC_CHANNEL_IN8) | ADC_SQR2_SQ10_N(ADC_CHANNEL_IN9)
| ADC_SQR2_SQ11_N(ADC_CHANNEL_IN10) | ADC_SQR2_SQ12_N(ADC_CHANNEL_IN11), //SQR2: Conversion group sequence 7...12
ADC_SQR3_SQ1_N(ADC_CHANNEL_IN0) | ADC_SQR3_SQ2_N(ADC_CHANNEL_IN1)
| ADC_SQR3_SQ3_N(ADC_CHANNEL_IN2) | ADC_SQR3_SQ4_N(ADC_CHANNEL_IN3)
| ADC_SQR3_SQ5_N(ADC_CHANNEL_IN4) | ADC_SQR3_SQ6_N(ADC_CHANNEL_IN5) //SQR3: Conversion group sequence 1...6
};
void adc_convert(void) {
adcStopConversion(&ADCD1);
adcStartConversion(&ADCD1, &adcgrpcfg1, adcvalues, ADC_GRP1_BUF_DEPTH);
}
static const ADCConversionGroup adc_con_group_2 = {
TRUE, /* circular mode */
3, /* number of channels in this con group */
adc_fx_callback,
adc_error_callback,
0, /* cr1 */
/* cr2: Clock the ADC to timer 3 TRGO event*/
ADC_CR2_EXTSEL_SRC(8) | ADC_CR2_EXTEN_0,
/* smpr1+2: set all channels to 40 cycles per conversion (28+12) */
ADC_SMPR1_SMP_AN11(2)| ADC_SMPR1_SMP_AN12(2)| ADC_SMPR1_SMP_AN13(2),
ADC_SMPR2_SMP_AN0(2) | ADC_SMPR2_SMP_AN1(2) | ADC_SMPR2_SMP_AN2(2),
ADC_SQR1_NUM_CH(3), /* sqr1: set 3 channels in the group */
0, /* sqr2: no higher channels being sampled */
/* sqr3: set the channels to sample */
ADC_SQR3_SQ1_N(FX_1_CHN) | ADC_SQR3_SQ2_N(FX_2_CHN) |
ADC_SQR3_SQ3_N(FX_3_CHN)
};
/* DAC config for DAC1 */
static const DACConfig dac_cfg = {
.init = 0,
.datamode = DAC_DHRM_12BIT_RIGHT,
};
/* DAC output conversion group */
static const DACConversionGroup dac_conv_grp = {
.num_channels = 1U,
.end_cb = dac_end_callback,
.error_cb = dac_error_callback,
.trigger = DAC_TRG(1), // Trigger off TIM8 TRGO
};
.circular = false,
.num_channels = 5,
.end_cb = NULL,
.error_cb = NULL,
.cr1 = 0,
.cr2 = ADC_CR2_SWSTART,
.smpr1 = ADC_SMPR1_SMP_AN11(ADC_SAMPLE_480) |
ADC_SMPR1_SMP_AN13(ADC_SAMPLE_480),
.smpr2 = ADC_SMPR2_SMP_AN1(ADC_SAMPLE_480) |
ADC_SMPR2_SMP_AN2(ADC_SAMPLE_480) |
ADC_SMPR2_SMP_AN8(ADC_SAMPLE_480),
.sqr1 = ADC_SQR1_NUM_CH(5),
.sqr2 = 0,
.sqr3 = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN2) |
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN1) |
ADC_SQR3_SQ3_N(ADC_CHANNEL_IN11) |
ADC_SQR3_SQ4_N(ADC_CHANNEL_IN13) |
ADC_SQR3_SQ5_N(ADC_CHANNEL_IN8),
};
/* 12bit ADC reading of PYRO_CONTINUITY into 2ohm/LSB uint8t */
static uint8_t adc_to_resistance(adcsample_t reading) {
float r = 0.5 * (1000.0f * (float)reading) / (4096.0f - (float)reading);
if(r >= 255.0f) {
return 255;
} else {
return (uint8_t)r;
}
}
/* 12bit ADC reading of PYRO_SI into a 100mV/LSB uint8_t */
