/*
* ADC conversion group.
*/
static const ADCConversionGroup adccg = {
TRUE,
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
*******************************************************************************
*******************************************************************************
#define MY_SAMPLING_SLOW ADC_SAMPLE_480
#define MY_SAMPLING_FAST ADC_SAMPLE_28
/*
* ADC conversion group.
*/
static ADCConversionGroup adcgrpcfgSlow = { FALSE, 0, adc_callback_slow, NULL,
/* HW dependent part.*/
ADC_TwoSamplingDelay_20Cycles, // cr1
ADC_CR2_SWSTART, // cr2
ADC_SMPR1_SMP_AN10(MY_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN11(MY_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN12(MY_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN13(MY_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN14(MY_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN15(MY_SAMPLING_SLOW)
, // sample times for channels 10...18
ADC_SMPR2_SMP_AN0(MY_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN1(MY_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN3(MY_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN4(MY_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN5(MY_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN6(MY_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN7(MY_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN8(MY_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN9(MY_SAMPLING_SLOW)
, // In this field must be specified the sample times for channels 0...9
0, // Conversion group sequence 13...16 + sequence length
/*
* ADC conversion group.
*/
static ADCConversionGroup adcgrpcfgSlow = { FALSE, 0, adc_callback_slow, NULL,
/* HW dependent part.*/
ADC_TwoSamplingDelay_20Cycles, // cr1
ADC_CR2_SWSTART, // cr2
/**
* here we configure all possible channels for slow mode. Some channels would not actually
* be used hopefully that's fine to configure all possible channels.
*/
ADC_SMPR1_SMP_AN10(ADC_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN11(ADC_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN12(ADC_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN13(ADC_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN14(ADC_SAMPLING_SLOW) |
ADC_SMPR1_SMP_AN15(ADC_SAMPLING_SLOW) |
ADC_SMPR1_SMP_SENSOR(ADC_SAMPLE_144)
, // sample times for channels 10...18
ADC_SMPR2_SMP_AN0(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN1(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN2(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN3(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN4(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN5(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN6(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN7(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN8(ADC_SAMPLING_SLOW) |
ADC_SMPR2_SMP_AN9(ADC_SAMPLING_SLOW)
, // In this field must be specified the sample times for channels 0...9
/* ADC buffer. */
static IrData ir_data = { 0, 0, 0, 0 };
/*
* ADC conversion group.
* Mode: Continuous, 1 samples of 4 channels.
* 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) {
static uint32_t ints = 0;
static uint32_t errors = 0;
static const ADCConversionGroup adccg = {
TRUE,
ADC_NUM_CHANNELS,
adccallback,
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;
/*
* ADC conversion group.
* Mode:
* Channels:
*/
static const ADCConversionGroup adcgrpcfg3 = {
FALSE, //circular enable
ADC_ADC3_NUM_CHANNELS, //num_channels
adccallback, // end_conversion_cb
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
};
unsigned short adcvalues[ADC_GRP1_NUM_CHANNELS * ADC_GRP1_BUF_DEPTH] __attribute__ ((section (".sram2")));
/*
* ADC conversion group.
* Mode: Linear buffer, 8 samples of 1 channel, SW triggered.
* Channels: IN11.
*/
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
};
}
static void adcerrorcallback(ADCDriver *adcp, adcerror_t err) {
(void)adcp;
(void)err;
wiflySend(itoa(err));
}
static const ADCConversionGroup adcgrpcfg2 = {
TRUE,
ADC_CHANNELS,
adccallback,
adcerrorcallback,
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
ADC_SMPR1_SMP_AN14(ADC_SAMPLE_56),
0, /* SMPR2 */
ADC_SQR1_NUM_CH(ADC_CHANNELS),
0, /* SQR2 */
ADC_SQR3_SQ1_N(ADC_CHANNEL_IN14)
};
void sonarInit(){
adcStart(&ADCD1,0);
palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_OUTPUT_PUSHPULL);
}
void sonarStart(){
sonar_en = TRUE;
adcStartConversionI(&ADCD1, &adcgrpcfg2, sampels, ADC_BUFFER_DEPTH);
}