void lineSensorsStart(void)
{
lineSensors.active_state = TRUE;
lineSensors.right.average_value = 0;
lineSensors.left.average_value = 0;
lineSensors.front.average_value = 0;
HAL_ADCEx_InjectedStart_IT(&hadc2);
HAL_ADCEx_InjectedStart_IT(&hadc3);
}
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc)
{
/*ADC2 injected group
conversion is finished*/
/*count the amount of samples collected*/
sampleCounter[1]--;
/*collect samples into accumulator*/
adcAccumulator[3] += HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
adcAccumulator[4] += HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_2);
adcAccumulator[5] += HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_3);
if(sampleCounter[1] == 0)
{
/*if required number of samples is collected
calculate average data
and turn off ADC */
HAL_ADCEx_InjectedStop_IT(&hadc2);
xCurr = adcAccumulator[3]/ADC2_SAMPL_NUMBER;
yCurr = adcAccumulator[4]/ADC2_SAMPL_NUMBER;
zCurr = adcAccumulator[5]/ADC2_SAMPL_NUMBER;
}
else
{
/*perform next conversion cycle otherwise*/
HAL_ADCEx_InjectedStart_IT(&hadc2);
}
}
/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
{
/*250 Hz service interrupt
was caused by TIM2*/
if(htim->Instance == TIM2)
{
if (sampleCounter[0] == 0){
/*clear accumulated data buffer*/
for (int i = 0;i < 3;i++)
{
adcAccumulator[i] = 0;
}
/*Start ADC_1 to measure position sensors data*/
HAL_ADC_Start_DMA(&hadc1, (unsigned int*)adcConvertedValues, 3);
sampleCounter[0] = ADC1_SAMPL_NUMBER;
}
if (sampleCounter[1] == 0){
/*clear accumulated data buffer*/
for (int i = 3;i < 6;i++)
{
adcAccumulator[i] = 0;
}
/*Start ADC_2 to measure motor currents*/
sampleCounter[1] = ADC2_SAMPL_NUMBER;
HAL_ADCEx_InjectedStart_IT(&hadc2);
}
}
/*PWM-driving TIM1
caused interrupt on update event*/
if(htim->Instance == TIM1)
{
}
}
void lineSensors_IT(void)
{
static char selector;
switch (selector)
{
case 0:
HAL_GPIO_WritePin(GPIOA, TX_LINESENSORS, SET);
break;
case 1:
HAL_ADCEx_InjectedStart_IT(&hadc2);
HAL_ADCEx_InjectedStart_IT(&hadc3);
break;
}
selector++;
if (selector > 10)// ((2 * FREQ_TELEMETERS_DIVIDER)-1)) //freq telemeters = 10Khz/DIVIDER (20Khz/2 => 10Khz)
selector = 0;
lineSensors.active_ADC2 = TRUE;
lineSensors.active_ADC3 = TRUE;
lineSensors.emitter_state = TRUE;
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 144 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/*##-1- Configure the ADC peripheral #######################################*/
ADC_Config();
/*##-2- Start the conversion process and enable interrupt for regular channel #*/
if(HAL_ADC_Start_IT(&AdcHandle) != HAL_OK)
{
/* Start Conversation Error */
Error_Handler();
}
/*##-3- Wait one seconde before starting injected convertion ###############*/
HAL_Delay(1000);
/*##-4- Start the conversion process and enable interrupt for injected channel #*/
if(HAL_ADCEx_InjectedStart_IT(&AdcHandle) != HAL_OK)
{
/* Start Conversation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization: global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/*##-1- Configure the ADC peripheral #######################################*/
AdcHandle.Instance = ADCx;
AdcHandle.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV4;
AdcHandle.Init.Resolution = ADC_RESOLUTION_12B;
AdcHandle.Init.ScanConvMode = DISABLE;
AdcHandle.Init.ContinuousConvMode = ENABLE;
AdcHandle.Init.DiscontinuousConvMode = DISABLE;
AdcHandle.Init.NbrOfDiscConversion = 0;
AdcHandle.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
AdcHandle.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_CC1;
AdcHandle.Init.DataAlign = ADC_DATAALIGN_RIGHT;
AdcHandle.Init.NbrOfConversion = 1;
AdcHandle.Init.DMAContinuousRequests = DISABLE;
AdcHandle.Init.EOCSelection = DISABLE;
if (HAL_ADC_Init(&AdcHandle) != HAL_OK)
{
/* ADC initialization Error */
Error_Handler();
}
/*##-2- Configure ADC regular channel ######################################*/
sConfig.Channel = ADCx_REG_CHANNEL;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_56CYCLES;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&AdcHandle, &sConfig) != HAL_OK)
{
/* Channel Configuration Error */
Error_Handler();
}
/*##-3- Configure ADC injected channel ######################################*/
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedChannel = ADCx_INJ_CHANNEL;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_56CYCLES;
sConfigInjected.InjectedOffset = 0;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_NONE;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
if(HAL_ADCEx_InjectedConfigChannel(&AdcHandle, &sConfigInjected) != HAL_OK)
{
/* Channel Configuration Error */
Error_Handler();
}
/*##-4- Start the conversion process and enable interrupt for regular channel #*/
if (HAL_ADC_Start_IT(&AdcHandle) != HAL_OK)
{
/* Start Conversation Error */
Error_Handler();
}
/*##-5- Wait one second before starting injected conversion ###############*/
HAL_Delay(1000);
/*##-6- Start the conversion process and enable interrupt for injected channel #*/
if(HAL_ADCEx_InjectedStart_IT(&AdcHandle) != HAL_OK)
{
/* Start Conversation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F1xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 24 MHz */
SystemClock_Config();
/*## Configure peripherals #################################################*/
/* Initialize LEDs on board */
BSP_LED_Init(LED4);
BSP_LED_Init(LED3);
/* Configure User push-button in Interrupt mode */
BSP_PB_Init(BUTTON_USER, BUTTON_MODE_EXTI);
/* Configure the ADC peripheral */
ADC_Config();
/* Run the ADC calibration */
if (HAL_ADCEx_Calibration_Start(&AdcHandle) != HAL_OK)
{
/* Calibration Error */
Error_Handler();
}
#if defined(ADC_TRIGGER_FROM_TIMER)
/* Configure the TIM peripheral */
TIM_Config();
#endif /* ADC_TRIGGER_FROM_TIMER */
#if defined(WAVEFORM_VOLTAGE_GENERATION_FOR_TEST)
/* Configure the DAC peripheral */
DAC_Config();
#endif /* WAVEFORM_VOLTAGE_GENERATION_FOR_TEST */
/*## Enable peripherals ####################################################*/
#if defined(ADC_TRIGGER_FROM_TIMER)
/* Timer enable */
if (HAL_TIM_Base_Start(&TimHandle) != HAL_OK)
{
/* Counter Enable Error */
Error_Handler();
}
#endif /* ADC_TRIGGER_FROM_TIMER */
#if defined(WAVEFORM_VOLTAGE_GENERATION_FOR_TEST)
/* Set DAC Channel data register: channel corresponding to ADC channel CHANNELa */
/* Set DAC output to 1/2 of full range (4095 <=> Vdda=3.3V): 2048 <=> 1.65V */
if (HAL_DAC_SetValue(&DacHandle, DACx_CHANNEL_TO_ADCx_CHANNELa, DAC_ALIGN_12B_R, RANGE_12BITS/2) != HAL_OK)
{
/* Setting value Error */
Error_Handler();
}
/* Enable DAC Channel: channel corresponding to ADC channel CHANNELa */
if (HAL_DAC_Start(&DacHandle, DACx_CHANNEL_TO_ADCx_CHANNELa) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
#endif /* WAVEFORM_VOLTAGE_GENERATION_FOR_TEST */
/*## Start ADC conversions #################################################*/
/* Start ADC conversion on regular group with transfer by DMA */
if (HAL_ADC_Start_DMA(&AdcHandle,
(uint32_t *)aADCxConvertedValues,
ADCCONVERTEDVALUES_BUFFER_SIZE
) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
/* Wait for event on push button to perform following actions */
while ((ubUserButtonClickEvent) == RESET)
{
}
/* Reset variable for next loop iteration */
ubUserButtonClickEvent = RESET;
/* Start ADC conversion on injected group */
if (HAL_ADCEx_InjectedStart_IT(&AdcHandle) != HAL_OK)
{
/* Start Conversation Error */
Error_Handler();
}
#if defined(WAVEFORM_VOLTAGE_GENERATION_FOR_TEST)
/* Set DAC voltage on channel corresponding to ADCx_CHANNELa */
/* in function of user button clicks count. */
/* Set DAC output successively to: */
/* - minimum of full range (0 <=> ground 0V) */
/* - 1/4 of full range (4095 <=> Vdda=3.3V): 1023 <=> 0.825V */
/* - 1/2 of full range (4095 <=> Vdda=3.3V): 2048 <=> 1.65V */
/* - 3/4 of full range (4095 <=> Vdda=3.3V): 3071 <=> 2.475V */
/* - maximum of full range (4095 <=> Vdda=3.3V) */
if (HAL_DAC_SetValue(&DacHandle,
DACx_CHANNEL_TO_ADCx_CHANNELa,
DAC_ALIGN_12B_R,
(RANGE_12BITS * ubUserButtonClickCount / USERBUTTON_CLICK_COUNT_MAX)
) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
#endif /* WAVEFORM_VOLTAGE_GENERATION_FOR_TEST */
/* Wait for acquisition time of ADC samples on regular and injected */
/* groups: */
/* wait time to let 1/2 buffer of regular group to be filled (in ms) */
HAL_Delay(16);
/* Turn-on/off LED3 in function of ADC conversion result */
/* - Turned-off if voltage measured by injected group is below voltage */
/* measured by regular group (average of results table) */
/* - Turned-off if voltage measured by injected group is above voltage */
/* measured by regular group (average of results table) */
/* Variables of conversions results are updated into ADC conversions */
/* interrupt callback. */
if (uhADCxConvertedValue_Injected < *puhADCxConvertedValue_Regular_Avg)
{
BSP_LED_Off(LED3);
}
else
{
BSP_LED_On(LED3);
}
/* For information: ADC conversion results are stored into array */
/* "aADCxConvertedValues" (for debug: check into watch window) */
}
}
