void cmd_readadc(char *line) {
adc_init(PIN_MAP[12].adc_device); // all on ADC1
adc_set_extsel(PIN_MAP[12].adc_device, ADC_SWSTART);
adc_set_exttrig(PIN_MAP[12].adc_device, true);
adc_enable(PIN_MAP[12].adc_device);
adc_calibrate(PIN_MAP[12].adc_device);
adc_set_sample_rate(PIN_MAP[12].adc_device, ADC_SMPR_55_5);
gpio_set_mode (PIN_MAP[12].gpio_device,PIN_MAP[12].gpio_bit, GPIO_INPUT_ANALOG);
gpio_set_mode (PIN_MAP[19].gpio_device,PIN_MAP[19].gpio_bit, GPIO_INPUT_ANALOG);
gpio_set_mode (PIN_MAP[20].gpio_device,PIN_MAP[20].gpio_bit, GPIO_INPUT_ANALOG);
uint16 value1 = adc_read(PIN_MAP[12].adc_device,PIN_MAP[12].adc_channel);
uint16 value2 = adc_read(PIN_MAP[19].adc_device,PIN_MAP[19].adc_channel);
uint16 value3 = adc_read(PIN_MAP[20].adc_device,PIN_MAP[20].adc_channel);
char values[50];
sprintf(values,"PA6 ADC Read: %u\r\n",value1);
serial_write_string(values);
sprintf(values,"PC4 ADC Read: %u\r\n",value2);
serial_write_string(values);
sprintf(values,"PC5 ADC Read: %u\r\n",value3);
serial_write_string(values);
}
void setupUltrasonicPins(){
pinMode(ULTRASONIC_ONE_VOLTAGE_PIN, INPUT_ANALOG);
pinMode(ULTRASONIC_TWO_VOLTAGE_PIN, INPUT_ANALOG);
pinMode(ULTRASONIC_ONE_ENABLE_PIN, OUTPUT);
pinMode(ULTRASONIC_TWO_ENABLE_PIN, OUTPUT);
adc_set_sample_rate(ADC2, ADC_SMPR_13_5); //sets ultrasonic ADC to sample much faster
digitalWrite(ULTRASONIC_ONE_VOLTAGE_PIN, LOW);
digitalWrite(ULTRASONIC_TWO_VOLTAGE_PIN, LOW);
}
static void adcDefaultConfig(const adc_dev* dev)
{
adc_init(dev);
adc_set_extsel(dev, ADC_SWSTART);
adc_set_exttrig(dev, 1);
adc_enable(dev);
adc_calibrate(dev);
adc_set_sample_rate(dev, ADC_SMPR_55_5);
}
/*
* Initialize the ADC for taking meshurement on the BLDC driver.
*/
void me_adc_init(void)
{
adc_load_calibration();
adc_ch_set_input(&ADC_CH_U, ADC_U_MUXPOS, ADC_U_MUXNEG);
adc_ch_set_input(&ADC_CH_V, ADC_V_MUXPOS, ADC_V_MUXNEG);
adc_ch_set_input(&ADC_CH_VOLT, ADC_VOLT_MUXPOS, ADC_VOLT_MUXNEG);
adc_ch_set_input_mode(&ADC_CH_U, ADC_U_INP_MODE);
adc_ch_set_input_mode(&ADC_CH_V, ADC_V_INP_MODE);
adc_ch_set_input_mode(&ADC_CH_VOLT, ADC_VOLT_INP_MODE);
adc_set_freerunning(&ADCA, true, ADCA_SWEEP);
adc_set_freerunning(&ADCB, true, ADCB_SWEEP);
adc_set_resolution(&ADCA, ADC_RESOLUTION);
adc_set_resolution(&ADCB, ADC_RESOLUTION);
adc_set_conversion_mode(&ADCA, true);
adc_set_conversion_mode(&ADCB, true);
adc_set_reference(&ADCA, ADC_REFERENCE);
adc_set_reference(&ADCB, ADC_REFERENCE);
adc_set_sample_rate(&ADCA, ADC_PRESCALER);
adc_set_sample_rate(&ADCB, ADC_PRESCALER);
adc_enable(&ADCA, true);
adc_enable(&ADCB, true);
_delay_ms(5);
me_adc_set_channel(&ADC_Res_U, &ADC_CH_U);
me_adc_set_channel(&ADC_Res_V, &ADC_CH_V);
me_adc_set_channel(&ADC_Res_Volt, &ADC_CH_VOLT);
me_adc_set_zero(&ADC_Res_U);
me_adc_set_zero(&ADC_Res_V);
//adc_set_zero(&ADC_Res_Volt);
}
static void adcDefaultConfig(const adc_dev *dev) {
adc_init(dev);
// ok
adc_set_extsel(dev, ADC_SWSTART);
// ok
adc_set_exttrig(dev, true);
// ok
adc_enable(dev);
// up to 1mA
adc_calibrate(dev);
// stick at 1mA
adc_set_sample_rate(dev, ADC_SMPR_55_5);
// stick at 1mA
}
void adc_init(void)
{
adc_load_calibration();
adc_ch_set_input(&ADC_CH, ADC_CH_MUXPOS_PIN2_gc, ADC_CH_MUXNEG_PIN1_gc);
adc_ch_set_input_mode(&ADC_CH, ADC_CH_INPUTMODE_DIFF_gc);
adc_set_freerunning(&ADCA, true, ADC_SWEEP_0_gc);
adc_set_resolution(&ADCA, ADC_RESOLUTION_12BIT_gc);
adc_set_conversion_mode(&ADCA, true);
adc_set_reference(&ADCA, ADC_REFSEL_AREFA_gc);
adc_set_sample_rate(&ADCA, ADC_PRESCALER_DIV128_gc);
adc_enable(&ADCA, true);
_delay_ms(10);
ADC_ch_u.channel = &ADC_CH;
adc_set_zero(&ADC_ch_u);
}
static void adc_default_config(adc_dev *dev) {
adc_enable_single_swstart(dev);
adc_set_sample_rate(dev, wirish::priv::w_adc_smp);
}
void serial_process_command(char *line) {
if(in_displayparams) {
serial_displayparams_run(line);
in_displayparams = false;
}
if(in_setdevicetag) {
serial_setdevicetag_run(line);
in_setdevicetag = false;
}
if(in_setrtc) {
serial_setrtc_run(line);
in_setrtc = false;
}
if(in_setkeyval) {
serial_setkeyval_run(line);
in_setkeyval = false;
}
serial_write_string("\r\n");
if(strcmp(line,"HELLO") == 0) {
serial_write_string("GREETINGS PROFESSOR FALKEN.\r\n");
} else
if(strcmp(line,"LIST GAMES") == 0) {
serial_write_string("I'M KIND OF BORED OF GAMES, TURNS OUT THE ONLY WAY TO WIN IS NOT TO PLAY...\r\n");
} else
if(strcmp(line,"LOGXFER") == 0) {
serial_sendlog();
} else
if(strcmp(line,"DISPLAYPARAMS") == 0) {
serial_displayparams();
} else
if(strcmp(line,"HELP") == 0) {
serial_write_string("Available commands: HELP, LOGXFER, DISPLAYTEST, HELLO");
} else
if(strcmp(line,"DISPLAYTEST") == 0) {
display_test();
} else
if(strcmp(line,"LOGTEST") == 0) {
char stemp[100];
sprintf(stemp,"Raw log data\r\n");
serial_write_string(stemp);
uint8_t *flash_log = flashstorage_log_get();
for(int n=0;n<1024;n++) {
sprintf(stemp,"%u ",flash_log[n]);
serial_write_string(stemp);
if(n%64 == 0) serial_write_string("\r\n");
}
serial_write_string("\r\n");
log_data_t data;
data.time = 0;
data.cpm = 1;
data.accel_x_start = 2;
data.accel_y_start = 3;
data.accel_z_start = 4;
data.accel_x_end = 5;
data.accel_y_end = 6;
data.accel_z_end = 7;
data.log_type = UINT_MAX;
sprintf(stemp,"Log size: %u\r\n",flashstorage_log_size());
serial_write_string(stemp);
sprintf(stemp,"Writing test log entry of size: %u\r\n",sizeof(log_data_t));
serial_write_string(stemp);
flashstorage_log_pushback((uint8 *) &data,sizeof(log_data_t));
sprintf(stemp,"Log size: %u\r\n",flashstorage_log_size());
serial_write_string(stemp);
} else
if(strcmp(line,"VERSION") == 0) {
char stemp[50];
sprintf(stemp,"Version: %s\r\n",OS100VERSION);
serial_write_string(stemp);
} else
if(strcmp(line,"GETDEVICETAG") == 0) {
const char *devicetag = flashstorage_keyval_get("DEVICETAG");
if(devicetag != 0) {
char stemp[100];
sprintf(stemp,"Devicetag: %s\r\n",devicetag);
serial_write_string(stemp);
} else {
serial_write_string("No device tag set");
}
} else
if(strcmp(line,"SETDEVICETAG") == 0) {
serial_setdevicetag();
} else
if(strcmp(line,"READPRIVATEKEY") == 0) {
// serial_readprivatekey(); // removed for production
} else
if(strcmp(line,"WRITEPRIVATEKEY") == 0) {
// serial_writeprivatekey(); // maybe this should be removed for production?
} else
if(strcmp(line,"MAGREAD") == 0) {
gpio_set_mode (PIN_MAP[41].gpio_device,PIN_MAP[41].gpio_bit, GPIO_OUTPUT_PP); // MAGPOWER
gpio_set_mode (PIN_MAP[29].gpio_device,PIN_MAP[29].gpio_bit, GPIO_INPUT_PU); // MAGSENSE
// Power up magsense
gpio_write_bit(PIN_MAP[41].gpio_device,PIN_MAP[41].gpio_bit,1);
// wait...
delay_us(1000);
// Read magsense
int magsense = gpio_read_bit(PIN_MAP[29].gpio_device,PIN_MAP[29].gpio_bit);
char magsenses[50];
sprintf(magsenses,"%u\r\n",magsense);
serial_write_string(magsenses);
} else
if(strcmp(line,"WRITEDAC") == 0) {
dac_init(DAC,DAC_CH2);
int8_t idelta=1;
uint8_t i=0;
for(int n=0;n<1000000;n++) {
if(i == 254) idelta = -1;
if(i == 0 ) idelta = 1;
i += idelta;
dac_write_channel(DAC,2,i);
}
serial_write_string("WRITEDACFIN");
} else
if(strcmp(line,"TESTHP") == 0) {
gpio_set_mode (PIN_MAP[12].gpio_device,PIN_MAP[12].gpio_bit, GPIO_OUTPUT_PP); // HP_COMBINED
for(int n=0;n<100000;n++) {
gpio_write_bit(PIN_MAP[12].gpio_device,PIN_MAP[12].gpio_bit,1);
delay_us(100);
gpio_write_bit(PIN_MAP[12].gpio_device,PIN_MAP[12].gpio_bit,0);
delay_us(100);
}
} else
if(strcmp(line,"READADC") == 0) {
adc_init(PIN_MAP[12].adc_device); // all on ADC1
adc_set_extsel(PIN_MAP[12].adc_device, ADC_SWSTART);
adc_set_exttrig(PIN_MAP[12].adc_device, true);
adc_enable(PIN_MAP[12].adc_device);
adc_calibrate(PIN_MAP[12].adc_device);
adc_set_sample_rate(PIN_MAP[12].adc_device, ADC_SMPR_55_5);
gpio_set_mode (PIN_MAP[12].gpio_device,PIN_MAP[12].gpio_bit, GPIO_INPUT_ANALOG);
gpio_set_mode (PIN_MAP[19].gpio_device,PIN_MAP[19].gpio_bit, GPIO_INPUT_ANALOG);
gpio_set_mode (PIN_MAP[20].gpio_device,PIN_MAP[20].gpio_bit, GPIO_INPUT_ANALOG);
int n=0;
uint16 value1 = adc_read(PIN_MAP[12].adc_device,PIN_MAP[12].adc_channel);
uint16 value2 = adc_read(PIN_MAP[19].adc_device,PIN_MAP[19].adc_channel);
uint16 value3 = adc_read(PIN_MAP[20].adc_device,PIN_MAP[20].adc_channel);
char values[50];
sprintf(values,"PA6 ADC Read: %u\r\n",value1);
serial_write_string(values);
sprintf(values,"PC4 ADC Read: %u\r\n",value2);
serial_write_string(values);
sprintf(values,"PC5 ADC Read: %u\r\n",value3);
serial_write_string(values);
} else
if(strcmp(line,"SETMICREVERSE") == 0) {
gpio_set_mode (PIN_MAP[36].gpio_device,PIN_MAP[36].gpio_bit, GPIO_OUTPUT_PP); // MICREVERSE
gpio_set_mode (PIN_MAP[35].gpio_device,PIN_MAP[35].gpio_bit, GPIO_OUTPUT_PP); // MICIPHONE
gpio_write_bit(PIN_MAP[36].gpio_device,PIN_MAP[36].gpio_bit,1); // MICREVERSE
gpio_write_bit(PIN_MAP[35].gpio_device,PIN_MAP[35].gpio_bit,0); // MICIPHONE
serial_write_string("Set MICREVERSE to 1, MICIPHONE to 0\r\n");
} else
if(strcmp(line,"SETMICIPHONE") == 0) {
gpio_set_mode (PIN_MAP[36].gpio_device,PIN_MAP[36].gpio_bit, GPIO_OUTPUT_PP); // MICREVERSE
gpio_set_mode (PIN_MAP[35].gpio_device,PIN_MAP[35].gpio_bit, GPIO_OUTPUT_PP); // MICIPHONE
gpio_write_bit(PIN_MAP[36].gpio_device,PIN_MAP[36].gpio_bit,0); // MICREVERSE
gpio_write_bit(PIN_MAP[35].gpio_device,PIN_MAP[35].gpio_bit,1); // MICIPHONE
serial_write_string("Set MICREVERSE to 0, MICIPHONE to 1\r\n");
} else
if(strcmp(line,"TESTSIGN") == 0) {
serial_signing_test();
} else
if(strcmp(line,"PUBKEY") == 0) {
signing_printPubKey();
serial_write_string("\n\r");
} else
if(strcmp(line,"GUID") == 0) {
signing_printGUID();
serial_write_string("\n\r");
} else
if(strcmp(line,"KEYVALID") == 0) {
if( signing_isKeyValid() == 1 )
serial_write_string("uu_valid VALID KEY\r\n");
else
serial_write_string("uu_valid IMPROPER OR UNINITIALIZED KEY\r\n");
} else
if(strcmp(line,"LOGSIG") == 0) {
signing_hashLog();
serial_write_string("\n\r");
} else
if(strcmp(line,"LOGPAUSE") == 0) {
flashstorage_log_pause();
} else
if(strcmp(line,"LOGRESUME") == 0) {
flashstorage_log_resume();
} else
if(strcmp(line,"LOGCLEAR") == 0) {
serial_write_string("Clearing flash log\r\n");
flashstorage_log_clear();
serial_write_string("Cleared\r\n");
} else
if(strcmp(line,"KEYVALDUMP") == 0) {
serial_keyvaldump();
} else
if(strcmp(line,"KEYVALSET") == 0) {
serial_setkeyval();
} else
if(strcmp(line,"SETRTC") == 0) {
serial_setrtc();
} else
if(strcmp(line,"RTCALARM") == 0) {
serial_write_string("Alarm triggered for 10s\r\n");
rtc_set_alarm(RTC,rtc_get_time(RTC)+10);
}
serial_write_string("\r\n>");
}
/*
Set the ADC Sampling Rate.
ADC_SMPR_1_5, < 1.5 ADC cycles
ADC_SMPR_7_5, < 7.5 ADC cycles
ADC_SMPR_13_5, < 13.5 ADC cycles
ADC_SMPR_28_5, < 28.5 ADC cycles
ADC_SMPR_41_5, < 41.5 ADC cycles
ADC_SMPR_55_5, < 55.5 ADC cycles
ADC_SMPR_71_5, < 71.5 ADC cycles
ADC_SMPR_239_5, < 239.5 ADC cycles
*/
void STM32ADC::setSampleRate(adc_smp_rate SampleRate){
adc_set_sample_rate(_dev, SampleRate);
}