static void
get_adc_config (uint32_t config[4])
{
config[2] = ADC_SQR1_NUM_CH(2);
switch (SYS_BOARD_ID)
{
case BOARD_ID_FST_01:
config[0] = 0;
config[1] = ADC_SMPR2_SMP_AN0(ADC_SAMPLE_1P5)
| ADC_SMPR2_SMP_AN9(ADC_SAMPLE_1P5);
config[3] = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN0)
| ADC_SQR3_SQ2_N(ADC_CHANNEL_IN9);
break;
case BOARD_ID_OLIMEX_STM32_H103:
case BOARD_ID_STBEE:
config[0] = ADC_SMPR1_SMP_AN10(ADC_SAMPLE_1P5)
| ADC_SMPR1_SMP_AN11(ADC_SAMPLE_1P5);
config[1] = 0;
config[3] = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN10)
| ADC_SQR3_SQ2_N(ADC_CHANNEL_IN11);
break;
case BOARD_ID_STBEE_MINI:
config[0] = 0;
config[1] = ADC_SMPR2_SMP_AN1(ADC_SAMPLE_1P5)
| ADC_SMPR2_SMP_AN2(ADC_SAMPLE_1P5);
config[3] = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN1)
| ADC_SQR3_SQ2_N(ADC_CHANNEL_IN2);
break;
case BOARD_ID_CQ_STARM:
case BOARD_ID_FST_01_00:
case BOARD_ID_MAPLE_MINI:
case BOARD_ID_STM32_PRIMER2:
case BOARD_ID_STM8S_DISCOVERY:
case BOARD_ID_ST_DONGLE:
case BOARD_ID_ST_NUCLEO_F103:
case BOARD_ID_NITROKEY_START:
default:
config[0] = 0;
config[1] = ADC_SMPR2_SMP_AN0(ADC_SAMPLE_1P5)
| ADC_SMPR2_SMP_AN1(ADC_SAMPLE_1P5);
config[3] = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN0)
| ADC_SQR3_SQ2_N(ADC_CHANNEL_IN1);
break;
}
}
ADC_GRP1_NUM_CHANNELS,
NULL,
adcerrorcallback,
.u.adc = {
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
0, /* LTR */
0, /* HTR */
{ /* SMPR[2] */
0,
ADC_SMPR2_SMP_AN9(ADC_SAMPLE_41P5) | ADC_SMPR2_SMP_AN1(ADC_SAMPLE_41P5),
},
{ /* SQR[3] */
0,
0,
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN9) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN1)
}
}
};
/*
* ADC conversion group.
* Mode: Continuous, 16 samples of 8 channels, SW triggered.
* Channels: IN1, IN9, IN1, IN9, IN1, IN9, VBat, Sensor.
*/
static const ADCConversionGroup adcgrpcfg2 = {
TRUE,
ADC_GRP2_NUM_CHANNELS,
adccallback,
adcerrorcallback,
.u.adc = {
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;
ints++;
}
// Please, refer to ST manual RM0008.pdf to understand what we do.
// CR1 register content, set to zero for begin
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
static const ADCConversionGroup core_temp_conv_grp = {
.circular = FALSE,
.num_channels = 1,
.end_cb = NULL,
.error_cb = NULL,
/* HW dependent part.*/
.cr1 = 0, // 12-bit resolution
.cr2 = ADC_CR2_SWSTART, // software triggered
.smpr1 = ADC_SMPR1_SMP_SENSOR(ADC_SAMPLE_480),
.smpr2 = 0,
.sqr1 = ADC_SQR1_NUM_CH(1),
.sqr2 = 0,
.sqr3 = ADC_SQR3_SQ1_N(ADC_CHANNEL_SENSOR),
};
/**
* @brief PAL setup.
* @details Digital I/O ports static configuration as defined in @p board.h.
* This variable is used by the HAL when initializing the PAL driver.
*/
#if HAL_USE_PAL || defined(__DOXYGEN__)
const PALConfig pal_default_config =
{
{VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR, VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
{VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR, VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
{VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR, VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
{VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR, VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
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.
*/
adcStart(&ADCD1, NULL);
adcStartConversion(&ADCD1, &adc_grpcfg, (adcsample_t *)&ir_data, ADC_BUF_DEPTH);
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
static const TouchscreenDriver *ts;
static const ADCConversionGroup adc_y_config = {
FALSE,
ADC_NUM_CHANNELS,
NULL,
NULL,
0, 0,
0, 0,
ADC_SQR1_NUM_CH(ADC_NUM_CHANNELS),
0,
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN12) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN13)
};
static const ADCConversionGroup adc_x_config = {
FALSE,
ADC_NUM_CHANNELS,
NULL,
NULL,
0, 0,
0, 0,
ADC_SQR1_NUM_CH(ADC_NUM_CHANNELS),
0,
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN10) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN11)
};
/**
/*
capture VRSSI in mV
*/
uint16_t adc_sample_vrssi(void)
{
const uint32_t channel = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN5);
return adc_sample_channel(channel) * 9900 / 4096;
}
* ADC conversion group.
* Mode: Linear buffer, 1 sample of 1 channel, SW triggered.
* Channels: IN11.
*/
static const ADCConversionGroup adcgrpcfg1 = {
FALSE,
PRESSURE_ADC_NUM_CHANNELS,
NULL,
adcerrorcallback,
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
ADC_SMPR1_SMP_AN14(ADC_SAMPLE_480),
0, /* SMPR2 */
ADC_SQR1_NUM_CH(PRESSURE_ADC_NUM_CHANNELS),
0, /* SQR2 */
ADC_SQR3_SQ1_N(ADC_PRESSURE_CHANNEL)
};
//The PWM configuration for the solenoid control
static PWMConfig PWM_Config_Solenoid = {
1000000, /* 1MHz PWM clock frequency. */
250, /* Initial PWM period 4KHz. */
NULL, /* No cyclic callback */
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL}, /* Have to define the channel to enable here - channel 1=solenoid*/
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL}
},
0,
};
/* Instrument conversion group */
static const ADCConversionGroup adc_con_group_1 = {
TRUE, /* circular mode */
1, /* number of channels in this con_group */
adc_inst_callback,
adc_error_callback,
0, /* ADC_CR1 */
/* cr2: Clock the ADC to timer 8 TRGO event*/
ADC_CR2_EXTSEL_SRC(14) | 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(1), /* sqr1: set 1 channel in the group */
0, /* sqr2: no higher channels being sampled */
/* sqr3: set the two channels to sample */
ADC_SQR3_SQ1_N(INST_IN_CHN)
};
/* FX inputs conversion group */
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 */
* ADC conversion group.
* Mode: Linear buffer, 8 samples of 1 channel, SW triggered.
* Channels: IN15 = PC5 = Morpho Nucleo CN10-pin 6.
*/
static const ADCConversionGroup adcgrpcfg1 = {
FALSE, // circular buffer mode
ADC_GRP1_NUM_CHANNELS, // Number of the analog channels
NULL, // Callback function (not needed here)
NULL, // Error callback
0, // CR1
ADC_CR2_SWSTART, // CR2
ADC_SMPR2_SMP_AN0(ADC_SAMPLE_3), // sample times ch10-18
0, // sample times ch0-9
ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS),// SQR1: Conversion group sequence 13...16 + sequence length
0, // SQR2: Conversion group sequence 7...12
ADC_SQR3_SQ1_N(ADC_CHANNEL_IN0) // SQR3: Conversion group sequence 1...6
};
int main(void) {
halInit();
chSysInit();
/*
* ADC init
*/
palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
adcStart(&ADCD1, NULL);
/*
* Activates the serial driver 2 using the driver default configuration:
*/
static const ADCConversionGroup adcgrpcfg = {
TRUE, /* Circular buffer mode enabled. */
ADC_GRP_NUM_CHANNELS, /* Number of channels in the group. */
adccb, /* Callback function of the group. */
NULL, /* Error callback function. */
/* STM32F1xx dependent part: */
0, /* CR1. */
0, /* CR2. */
ADC_SMPR1_SMP_AN12(ADC_SAMPLE_239P5) |
ADC_SMPR1_SMP_AN13(ADC_SAMPLE_239P5), /* SMPR1. */
0, /* SMPR2. */
ADC_SQR1_NUM_CH(ADC_GRP_NUM_CHANNELS), /* SQR1. */
0, /* SQR2. */
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN13) |
ADC_SQR3_SQ1_N(ADC_CHANNEL_IN12) /* SQR3. */
};
/**
* Input capture configuration for ICU2 driver.
*
* @note ICU drivers used in the firmware are modified ChibiOS
* drivers for extended input capture functionality.
*/
static const ICUConfig icucfg2 = {
ICU_INPUT_TYPE_PWM, /* Driver input type (EDGE, PULSE, PWM). */
1000000, /* 1MHz ICU clock frequency. */
{ /* ICU channel configuration. */
{ICU_INPUT_DISABLED, NULL}, /* CH1 */
{ICU_INPUT_ACTIVE_HIGH, icuwidthcb}, /* CH2 */
{ICU_INPUT_DISABLED, NULL}, /* CH3 */
static const ADCConversionGroup adc_grp = {
.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;
}
}
NULL
};
static const ADCConversionGroup adcgrp1cfg5 = {
FALSE,
ADC_GRP1_NUM_CHANNELS,
adccb1,
NULL,
/* HW dependent part.*/
0,
ADC_CR2_SWSTART,
0,
ADC_SMPR2_SMP_AN5(ADC_SAMPLE_56),
ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS),
0,
ADC_SQR3_SQ1_N(ADC_CHANNEL_IN5)
};
static const ADCConversionGroup adcgrp1cfg4 = {
FALSE,
ADC_GRP1_NUM_CHANNELS,
adccb2,
NULL,
/* HW dependent part.*/
0,
ADC_CR2_SWSTART,
0,
ADC_SMPR2_SMP_AN4(ADC_SAMPLE_56),
ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS),
0,
ADC_SQR3_SQ1_N(ADC_CHANNEL_IN4)
* Mode: Continuous, 16 samples of 2 channels, HS triggered by
* GPT4-TRGO.
* Channels: Sensor, VRef.
*/
static const ADCConversionGroup adcgrpcfg1 = {
true,
ADC_GRP1_NUM_CHANNELS,
adccallback,
adcerrorcallback,
0, /* CR1 */
ADC_CR2_EXTEN_RISING | ADC_CR2_EXTSEL_SRC(12), /* CR2 */
ADC_SMPR1_SMP_SENSOR(ADC_SAMPLE_144) | ADC_SMPR1_SMP_VREF(ADC_SAMPLE_144),
0, /* SMPR2 */
ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS), /* SQR1 */
0, /* SQR1 */
ADC_SQR3_SQ2_N(ADC_CHANNEL_SENSOR) | ADC_SQR3_SQ1_N(ADC_CHANNEL_VREFINT)
};
/*===========================================================================*/
/* Application code. */
/*===========================================================================*/
/*
* This is a periodic thread that does absolutely nothing except flashing
* a LED attached to TP1.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
// | ADC_SQR3_SQ6_N(ADC_CHANNEL_IN9) /* PB1 - white */
// Conversion group sequence 1...6
};
static const ADCConversionGroup adcgrpcfg_fast = { FALSE, ADC_NUMBER_CHANNELS_FAST, adc_callback_fast, NULL,
/* HW dependent part.*/
ADC_TwoSamplingDelay_5Cycles, // cr1
ADC_CR2_SWSTART, // cr2
0, // sample times for channels 10...18
ADC_SMPR2_SMP_AN0(MY_SAMPLING_FAST), // In this field must be specified the sample times for channels 0...9
ADC_SQR1_NUM_CH(ADC_NUMBER_CHANNELS_FAST), // Conversion group sequence 13...16 + sequence length
0, // Conversion group sequence 7...12
0 | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN3) /* PA3 */
// maf | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN13) /* PC3 */
// Conversion group sequence 1...6
};
static void pwmpcb_slow(PWMDriver *pwmp) {
#ifdef EFI_INTERNAL_ADC
(void) pwmp;
/* Starts an asynchronous ADC conversion operation, the conversion
will be executed in parallel to the current PWM cycle and will
terminate before the next PWM cycle.*/chSysLockFromIsr()
;
adcStartConversionI(&ADC_SLOW, &adcgrpcfg_slow, slowAdcState.samples, ADC_GRP1_BUF_DEPTH_SLOW);
chSysUnlockFromIsr()
* Channels: IN11 (48 cycles sample time)
* Sensor (192 cycles sample time)
*/
static const ADCConversionGroup adcgrpcfg = {
FALSE,
ADC_GRP1_NUM_CHANNELS,
adccb,
NULL,
/* HW dependent part.*/
0,
ADC_CR2_SWSTART,
ADC_SMPR1_SMP_AN11(ADC_SAMPLE_56) | ADC_SMPR1_SMP_SENSOR(ADC_SAMPLE_144),
0,
ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS),
0,
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN11) | ADC_SQR3_SQ1_N(ADC_CHANNEL_SENSOR)
};
/*
* PWM configuration structure.
* Cyclic callback enabled, channels 1 and 4 enabled without callbacks,
* the active state is a logic one.
*/
static PWMConfig pwmcfg = {
10000, /* 10KHz PWM clock frequency. */
10000, /* PWM period 1S (in ticks). */
pwmpcb,
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL},
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);
}
/*
* ADC conversion group.
* Mode: Linear buffer, 8 samples of 1 channel, SW triggered.
* Channels: IN10.
*/
static const ADCConversionGroup adcgrpcfg1 = {
FALSE,
ADC_GRP1_NUM_CHANNELS,
NULL,
adcerrorcallback,
0, 0, /* CR1, CR2 */
ADC_SMPR1_SMP_AN10(ADC_SAMPLE_1P5),
0, /* SMPR2 */
ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS),
0, /* SQR2 */
ADC_SQR3_SQ1_N(ADC_CHANNEL_IN10)
};
/*
* ADC conversion group.
* 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),
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 }; #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
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
return (uint16_t)(((uint32_t)raw * v) / adc);
namespace r2p {
/*===========================================================================*/
/* Motor calibration. */
/*===========================================================================*/
static int pwm = 0;
#define ADC_NUM_CHANNELS 1
#define ADC_BUF_DEPTH 1
static float meanLevel = 0.0f;
static adcsample_t adc_samples[ADC_NUM_CHANNELS * ADC_BUF_DEPTH];
static void current_callback(ADCDriver *adcp, adcsample_t *buffer, size_t n);
/*
* ADC conversion group.
* Mode: Circular buffer, 1 sample of 1 channel, triggered by pwm channel 3
* Channels: IN10.
*/
static const ADCConversionGroup adcgrpcfg = { TRUE, // circular
ADC_NUM_CHANNELS, // num channels
current_callback, // end callback
NULL, // error callback
0, // CR1
ADC_CR2_EXTTRIG | ADC_CR2_EXTSEL_1, // CR2
0, // SMPR1
ADC_SMPR2_SMP_AN3(ADC_SAMPLE_1P5)/*ADC_SMPR2_SMP_AN3(ADC_SAMPLE_239P5)*/, // SMPR2
ADC_SQR1_NUM_CH(ADC_NUM_CHANNELS), // SQR1
0, // SQR2
ADC_SQR3_SQ1_N(ADC_CHANNEL_IN3) // SQR3
};
static void current_callback(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
(void) adcp;
(void) n;
palTogglePad(LED2_GPIO, LED2);
chSysLockFromIsr()
;
meanLevel = buffer[0];
if (tp_motor != NULL) {
chSchReadyI(tp_motor);
tp_motor = NULL;
}
chSysUnlockFromIsr();
}
static PWMConfig pwmcfg = { STM32_SYSCLK, // 72MHz PWM clock frequency.
4096, // 12-bit PWM, 17KHz frequency.
NULL, // pwm callback
{
{ PWM_OUTPUT_ACTIVE_HIGH | PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH, NULL }, //
{ PWM_OUTPUT_ACTIVE_HIGH | PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH, NULL }, //
{ PWM_OUTPUT_ACTIVE_LOW, NULL }, //
{ PWM_OUTPUT_DISABLED, NULL } }, //
0, //
#if STM32_PWM_USE_ADVANCED
72, /* XXX 1uS deadtime insertion */
#endif
0 };
static calibration_pub_node_conf defaultPubConf = { "motor_calibration_node",
"bits" };
msg_t motor_calibration_node(void * arg) {
//Configure current node
calibration_pub_node_conf* conf;
if (arg != NULL)
conf = (calibration_pub_node_conf *) arg;
else
conf = &defaultPubConf;
Node node(conf->name);
Publisher<FloatMsg> current_pub;
FloatMsg * msgp;
chRegSetThreadName(conf->name);
node.advertise(current_pub, conf->topic);
// Start the ADC driver and conversion
adcStart(&ADC_DRIVER, NULL);
adcStartConversion(&ADC_DRIVER, &adcgrpcfg, adc_samples, ADC_BUF_DEPTH);
// Init motor driver
palSetPad(DRIVER_GPIO, DRIVER_RESET);
chThdSleepMilliseconds(500);
pwmStart(&PWM_DRIVER, &pwmcfg);
// wait some time
chThdSleepMilliseconds(500);
// start pwm
float voltage = 24.0;
const float pwm_res = 4096.0f / 24.0f;
pwm = static_cast<int>(voltage * pwm_res);
if (pwm > 0) {
pwm_lld_enable_channel(&PWM_DRIVER, 1, pwm);
pwm_lld_enable_channel(&PWM_DRIVER, 0, 0);
pwm_lld_enable_channel(&PWM_DRIVER, 2, pwm/2);
} else {
pwm_lld_enable_channel(&PWM_DRIVER, 1, 0);
pwm_lld_enable_channel(&PWM_DRIVER, 0, -pwm);
pwm_lld_enable_channel(&PWM_DRIVER, 2, -pwm/2);
}
// Start publishing current measures
for (;;) {
// Wait for interrupt
chSysLock()
;
tp_motor = chThdSelf();
chSchGoSleepS(THD_STATE_SUSPENDED);
chSysUnlock();
// publish current
if (current_pub.alloc(msgp)) {
msgp->value = meanLevel;
current_pub.publish(*msgp);
}
}
return CH_SUCCESS;
}
}
