HAL_StatusTypeDef ADC_INIT(ADC_HandleTypeDef* AdcHandle)
{
GPIO_InitTypeDef gpioInit;
ADC_ChannelConfTypeDef adcChannel;
__GPIOC_CLK_ENABLE();
__ADC3_CLK_ENABLE();
gpioInit.Pin = GPIO_PIN_10;
gpioInit.Mode = GPIO_MODE_ANALOG;
gpioInit.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOF, &gpioInit);
HAL_NVIC_SetPriority(ADC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC_IRQn);
AdcHandle->Instance = ADC3;
AdcHandle->Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV8;
AdcHandle->Init.Resolution = ADC_RESOLUTION_8B;
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 = ENABLE;
AdcHandle->Init.EOCSelection = DISABLE;
if (HAL_ADC_Init(AdcHandle) != HAL_OK)
{
/* ADC initialization Error */
return HAL_ERROR;
}
adcChannel.Channel = ADC_CHANNEL_8;
adcChannel.Rank = 1;
/*
ADC_SAMPLETIME_3CYCLES
ADC_SAMPLETIME_15CYCLES
ADC_SAMPLETIME_28CYCLES
ADC_SAMPLETIME_56CYCLES
ADC_SAMPLETIME_84CYCLES
ADC_SAMPLETIME_112CYCLES
ADC_SAMPLETIME_144CYCLES
ADC_SAMPLETIME_480CYCLES
*/
adcChannel.SamplingTime = ADC_SAMPLETIME_3CYCLES;
adcChannel.Offset = 0;
if (HAL_ADC_ConfigChannel(AdcHandle, &adcChannel) != HAL_OK)
{
/* Channel Configuration Error */
return HAL_ERROR;
}
return HAL_OK;
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hadc->Instance==ADC3)
{
/* USER CODE BEGIN ADC3_MspInit 0 */
/* USER CODE END ADC3_MspInit 0 */
/* Peripheral clock enable */
__ADC3_CLK_ENABLE();
/**ADC3 GPIO Configuration
PF3 ------> ADC3_IN9
PF4 ------> ADC3_IN14
PF10 ------> ADC3_IN8
PC0 ------> ADC3_IN10
PC1 ------> ADC3_IN11
*/
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* Peripheral DMA init*/
hdma_adc3.Instance = DMA2_Stream0;
hdma_adc3.Init.Channel = DMA_CHANNEL_2;
hdma_adc3.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc3.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc3.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc3.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
hdma_adc3.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
hdma_adc3.Init.Mode = DMA_CIRCULAR;
hdma_adc3.Init.Priority = DMA_PRIORITY_LOW;
hdma_adc3.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_adc3.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_adc3.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_adc3.Init.PeriphBurst = DMA_PBURST_SINGLE;
HAL_DMA_Init(&hdma_adc3);
__HAL_LINKDMA(hadc,DMA_Handle,hdma_adc3);
/* USER CODE BEGIN ADC3_MspInit 1 */
/* USER CODE END ADC3_MspInit 1 */
}
}
/**
* @brief ADC_MspInit
* @param None
* @retval None
*/
void HAL_ADC_MspInit(ADC_HandleTypeDef *heth)
{
GPIO_InitTypeDef GPIO_InitStructure;
__GPIOF_CLK_ENABLE();
/* Configure ADC Channel 7 as analog input */
GPIO_InitStructure.Pin = GPIO_PIN_9;/**/
GPIO_InitStructure.Mode = GPIO_MODE_ANALOG;
GPIO_InitStructure.Pull = GPIO_NOPULL ;
HAL_GPIO_Init(GPIOF, &GPIO_InitStructure);
/* ADC3 Periph clock enable */
__ADC3_CLK_ENABLE();
}
void HAL_ADC_MspInit(ADC_HandleTypeDef *hadc){
GPIO_InitTypeDef GPIO_InitStruct;
__ADC3_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_1;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_2;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
{
GPIO_InitTypeDef GPIO_InitStruct;
if (hadc->Instance == ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* Peripheral clock enable */
__ADC1_CLK_ENABLE()
;
/**ADC1 GPIO Configuration
PA7 ------> ADC1_IN7
PC4 ------> ADC1_IN14
PC5 ------> ADC1_IN15
*/
GPIO_InitStruct.Pin = GYRO_TEMP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GYRO_TEMP_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GYRO_RATE_Pin | VBAT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* Peripheral DMA init*/
hdma_adc1.Instance = DMA2_Stream0;
hdma_adc1.Init.Channel = DMA_CHANNEL_0;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
HAL_DMA_Init(&hdma_adc1);
__HAL_LINKDMA(hadc, DMA_Handle, hdma_adc1);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(ADC_IRQn, 0, 4);
HAL_NVIC_EnableIRQ(ADC_IRQn);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
else if (hadc->Instance == ADC2)
{
/* USER CODE BEGIN ADC2_MspInit 0 */
/* USER CODE END ADC2_MspInit 0 */
/* Peripheral clock enable */
__ADC2_CLK_ENABLE()
;
/**ADC2 GPIO Configuration
PC0 ------> ADC2_IN10
PC1 ------> ADC2_IN11
PC3 ------> ADC2_IN13
PA4 ------> ADC2_IN4
PA5 ------> ADC2_IN5
PA6 ------> ADC2_IN6
*/
GPIO_InitStruct.Pin = GPIO_PIN_0 | R_FRONT_RX_Pin | LINE_SENSOR_R1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LINE_SENSOR_L1_Pin | L_DIAG_RX_Pin | L_FRONT_RX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(ADC_IRQn, 0, 4);
HAL_NVIC_EnableIRQ(ADC_IRQn);
/* USER CODE BEGIN ADC2_MspInit 1 */
/* USER CODE END ADC2_MspInit 1 */
}
else if (hadc->Instance == ADC3)
{
/* USER CODE BEGIN ADC3_MspInit 0 */
/* USER CODE END ADC3_MspInit 0 */
/* Peripheral clock enable */
__ADC3_CLK_ENABLE()
;
/**ADC3 GPIO Configuration
PC0 ------> ADC3_IN10
PC2 ------> ADC3_IN12
PA1 ------> ADC3_IN1
PA3 ------> ADC3_IN3
*/
GPIO_InitStruct.Pin = GPIO_PIN_0 | LINE_SENSOR_R2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LINE_SENSOR_F_Pin | LINE_SENSOR_L2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(ADC_IRQn, 0, 4);
HAL_NVIC_EnableIRQ(ADC_IRQn);
/* USER CODE BEGIN ADC3_MspInit 1 */
/* USER CODE END ADC3_MspInit 1 */
}
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hadc->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* Peripheral clock enable */
__ADC1_CLK_ENABLE();
/**ADC1 GPIO Configuration
PC0 ------> ADC1_IN10
PC1 ------> ADC1_IN11
PC3 ------> ADC1_IN13
PC4 ------> ADC1_IN14
PC5 ------> ADC1_IN15
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_3|GPIO_PIN_4
|GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* Peripheral DMA init*/
hdma_adc1.Instance = DMA2_Stream4;
hdma_adc1.Init.Channel = DMA_CHANNEL_0;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
HAL_DMA_Init(&hdma_adc1);
__HAL_LINKDMA(hadc,DMA_Handle,hdma_adc1);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
else if(hadc->Instance==ADC3)
{
/* USER CODE BEGIN ADC3_MspInit 0 */
/* USER CODE END ADC3_MspInit 0 */
/* Peripheral clock enable */
__ADC3_CLK_ENABLE();
/**ADC3 GPIO Configuration
PC2 ------> ADC3_IN12
*/
GPIO_InitStruct.Pin = GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* Peripheral DMA init*/
hdma_adc3.Instance = DMA2_Stream1;
hdma_adc3.Init.Channel = DMA_CHANNEL_2;
hdma_adc3.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc3.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc3.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc3.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc3.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc3.Init.Mode = DMA_CIRCULAR;
hdma_adc3.Init.Priority = DMA_PRIORITY_HIGH;
hdma_adc3.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
HAL_DMA_Init(&hdma_adc3);
__HAL_LINKDMA(hadc,DMA_Handle,hdma_adc3);
/* USER CODE BEGIN ADC3_MspInit 1 */
/* USER CODE END ADC3_MspInit 1 */
}
}
void initAdc()
{
uhADCxConvertedValue1 = 0;
uhADCxConvertedValue2 = 0;
adcConfigured = 0;
sampleIndex = 100; //probably makes more sense for this to be in main for
sampleRun = 0;
wrongThings = 0;
__ADC1_CLK_ENABLE();
__ADC2_CLK_ENABLE();
__ADC3_CLK_ENABLE();
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__ADC_FORCE_RESET();
__ADC_RELEASE_RESET();
AdcHandle1.Instance = ADC1;
AdcHandle1.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV2;
AdcHandle1.Init.Resolution = ADC_RESOLUTION12b;
AdcHandle1.Init.ScanConvMode = DISABLE;
AdcHandle1.Init.ContinuousConvMode = ENABLE;
AdcHandle1.Init.DiscontinuousConvMode = DISABLE;
AdcHandle1.Init.NbrOfDiscConversion = 0;
AdcHandle1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
AdcHandle1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_CC1;
AdcHandle1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
AdcHandle1.Init.NbrOfConversion = 1;
AdcHandle1.Init.DMAContinuousRequests = DISABLE;
AdcHandle1.Init.EOCSelection = DISABLE;
if(HAL_ADC_Init(&AdcHandle1) != HAL_OK)
{
/* Initiliazation Error */
//Error_Handler();
wrongThings++;
}
AdcHandle2.Instance = ADC2;
AdcHandle2.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV2;
AdcHandle2.Init.Resolution = ADC_RESOLUTION12b;
AdcHandle2.Init.ScanConvMode = DISABLE;
AdcHandle2.Init.ContinuousConvMode = ENABLE;
AdcHandle2.Init.DiscontinuousConvMode = DISABLE;
AdcHandle2.Init.NbrOfDiscConversion = 0;
AdcHandle2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
AdcHandle2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_CC1;
AdcHandle2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
AdcHandle2.Init.NbrOfConversion = 1;
AdcHandle2.Init.DMAContinuousRequests = DISABLE;
AdcHandle2.Init.EOCSelection = DISABLE;
if(HAL_ADC_Init(&AdcHandle2) != HAL_OK)
{
/* Initiliazation Error */
//Error_Handler();
wrongThings++;
}
AdcHandle3.Instance = ADC3;
AdcHandle3.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV2;
AdcHandle3.Init.Resolution = ADC_RESOLUTION12b;
AdcHandle3.Init.ScanConvMode = DISABLE;
AdcHandle3.Init.ContinuousConvMode = ENABLE;
AdcHandle3.Init.DiscontinuousConvMode = DISABLE;
AdcHandle3.Init.NbrOfDiscConversion = 0;
AdcHandle3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
AdcHandle3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_CC1;
AdcHandle3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
AdcHandle3.Init.NbrOfConversion = 1;
AdcHandle3.Init.DMAContinuousRequests = DISABLE;
AdcHandle3.Init.EOCSelection = DISABLE;
if(HAL_ADC_Init(&AdcHandle3) != HAL_OK)
{
/* Initiliazation Error */
//Error_Handler();
wrongThings++;
}
sConfig1.Channel = ADC_MIC_CHANNEL;
sConfig1.Rank = 1;
sConfig1.SamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfig1.Offset = 0;
sConfig2.Channel = ADC_RX_I_CHANNEL;
sConfig2.Rank = 1;
sConfig2.SamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfig2.Offset = 0;
sConfig3.Channel = ADC_RX_Q_CHANNEL;
sConfig3.Rank = 1;
sConfig3.SamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfig3.Offset = 0;
if(HAL_ADC_ConfigChannel(&AdcHandle1, &sConfig1) != HAL_OK)
{
/* Channel Configuration Error */
//Error_Handler();
wrongThings++;
}
if(HAL_ADC_ConfigChannel(&AdcHandle2, &sConfig2) != HAL_OK)
{
/* Channel Configuration Error */
//Error_Handler();
wrongThings++;
}
if(HAL_ADC_ConfigChannel(&AdcHandle3, &sConfig3) != HAL_OK)
{
/* Channel Configuration Error */
//Error_Handler();
wrongThings++;
}
}
