void Init_DMA()
{
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 ,ENABLE);
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC_CDR_ADDRESS;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADCTripleConvertedValue;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = 3;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream0, &DMA_InitStructure);
DMA_Cmd(DMA2_Stream0, ENABLE);
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
}
void ADC_Conf(){
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
// GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// ADCの設定
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_CommonStructInit(&ADC_CommonInitStructure);
ADC_CommonInitStructure.ADC_Mode = ADC_DualMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_2;
ADC_CommonInit(&ADC_CommonInitStructure);
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
// ADC1の設定
ADC_InitTypeDef ADC_InitStructure;
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC3;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Rising;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = nADC; // 変換回数
ADC_Init(ADC1, &ADC_InitStructure);
// ADC2の設定
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_DiscModeChannelCountConfig(ADC1, 1);
ADC_DiscModeCmd(ADC1, ENABLE);
ADC_DiscModeChannelCountConfig(ADC2, 1);
ADC_DiscModeCmd(ADC2, ENABLE);
// AD変換チャネルなどの設定
ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_144Cycles);
ADC_RegularChannelConfig(ADC1, ADC_Channel_11, 2, ADC_SampleTime_144Cycles);
ADC_RegularChannelConfig(ADC1, ADC_Channel_12, 3, ADC_SampleTime_144Cycles);
ADC_RegularChannelConfig(ADC2, ADC_Channel_10, 1, ADC_SampleTime_144Cycles);
ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_144Cycles);
ADC_RegularChannelConfig(ADC2, ADC_Channel_12, 3, ADC_SampleTime_144Cycles);
// タイマのカウンタの設定値を計算する
uint32_t clock;
RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);
if(RCC_Clocks.HCLK_Frequency == RCC_Clocks.PCLKx_Frequency_autoADC)
clock = RCC_Clocks.PCLKx_Frequency_autoADC;
else
clock = RCC_Clocks.PCLKx_Frequency_autoADC * 2;
uint16_t preDMAC_trig = 2;
uint16_t ADC_trig = dt_preADC * clock + preDMAC_trig;
uint16_t postDMAC_trig = dt_postADC * clock + ADC_trig;
uint16_t ADC_period = dt_int * clock / nDMAC_ADC;
// エラーチェック
if(ADC_trig > ADC_period || postDMAC_trig > ADC_period) while(1);
// AD変換とポート出力制御用タイマの設定
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = ADC_period - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
// AD変換タイミング (CC3)
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = ADC_trig - 1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
// AD変換前DMA転送タイミング (CC1)
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_Pulse = preDMAC_trig - 1;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
// AD変換後DMA転送タイミング (CC2)
TIM_OCInitStructure.TIM_Pulse = postDMAC_trig - 1;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
// DMAC起動許可
TIM_DMACmd(TIM1, TIM_DMA_CC1, ENABLE);
TIM_DMACmd(TIM1, TIM_DMA_CC2, ENABLE);
// regular group変換後データ転送用DMACの設定
DMA_InitTypeDef DMA_InitStructure;
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_Channel = DMA_Channel_x_endADC_autoADC;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&(ADC->CDR));
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)ADC_result;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = nDMAC_ADC; // 転送回数
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_Medium;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMAx_StreamY_endADC_autoADC, &DMA_InitStructure);
// ADCの有効化
ADC_Cmd(ADC1, ENABLE);
ADC_Cmd(ADC2, ENABLE);
// Enable DMA
DMA_Cmd(DMAx_StreamY_endADC_autoADC, ENABLE);
DMA_Cmd(DMAx_StreamY_preADC_OUT_autoADC, ENABLE);
DMA_Cmd(DMAx_StreamY_postADC_OUT_autoADC, ENABLE);
// タイマ動作開始
TIM_Cmd(TIM1, ENABLE);
}
void gpdrive_init(volatile mc_configuration *configuration) {
utils_sys_lock_cnt();
m_init_done = false;
// Restore timers
TIM_DeInit(TIM1);
TIM1->CNT = 0;
// Disable channel 2 pins
palSetPadMode(GPIOA, 9, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(GPIOA, 9);
palSetPadMode(GPIOB, 14, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(GPIOB, 14);
m_conf = configuration;
m_fsw_now = 40000;
m_mod_now = 0.0;
m_current_now = 0.0;
m_current_now_filtered = 0.0;
m_output_mode = GPD_OUTPUT_MODE_NONE;
memset((void*)&m_sample_buffer, 0, sizeof(m_sample_buffer));
m_buffer_int_scale = 1.0 / 128.0;
m_is_running = false;
m_output_now = 0.0;
m_curr0_sum = 0;
m_curr1_sum = 0;
m_curr_samples = 0;
m_curr0_offset = 0;
m_curr1_offset = 0;
m_dccal_done = false;
#ifdef HW_HAS_3_SHUNTS
m_curr2_sum = 0;
m_curr2_offset = 0;
#endif
m_last_adc_isr_duration = 0;
memset((void*)&m_current_state, 0, sizeof(m_current_state));
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = SYSTEM_CORE_CLOCK / (int)m_fsw_now;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = TIM1->ARR / 2;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = conf_general_calculate_deadtime(HW_DEAD_TIME_NSEC, SYSTEM_CORE_CLOCK);
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM1, ENABLE);
TIM_ARRPreloadConfig(TIM1, ENABLE);
ADC_CommonInitTypeDef ADC_CommonInitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 | RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_ADC3, ENABLE);
dmaStreamAllocate(STM32_DMA_STREAM(STM32_DMA_STREAM_ID(2, 4)),
3,
(stm32_dmaisr_t)adc_int_handler,
(void *)0);
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADC_Value;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC->CDR;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = HW_ADC_CHANNELS;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream4, &DMA_InitStructure);
DMA_Cmd(DMA2_Stream4, ENABLE);
DMA_ITConfig(DMA2_Stream4, DMA_IT_TC, ENABLE);
// Note that the ADC is running at 42MHz, which is higher than the
// specified 36MHz in the data sheet, but it works.
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Falling;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC2;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = HW_ADC_NBR_CONV;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = 0;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_Init(ADC3, &ADC_InitStructure);
ADC_TempSensorVrefintCmd(ENABLE);
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
hw_setup_adc_channels();
ADC_Cmd(ADC1, ENABLE);
ADC_Cmd(ADC2, ENABLE);
ADC_Cmd(ADC3, ENABLE);
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
// Always sample ADC in the beginning of the PWM cycle
TIM1->CCR2 = 200;
utils_sys_unlock_cnt();
ENABLE_GATE();
DCCAL_OFF();
do_dc_cal();
// Start threads
timer_thd_stop = false;
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
stop_pwm_hw();
// Check if the system has resumed from IWDG reset
if (timeout_had_IWDG_reset()) {
mc_interface_fault_stop(FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET);
}
m_init_done = true;
}
// INIT ADC
void InitADC(void){
ADC_InitTypeDef ADC_InitStructure;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
DMA_InitTypeDef DMA_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
// Enable GPIO Clocks, ADC1, ADC2, ADC3, DMA2
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 | RCC_AHB1Periph_GPIOA |
RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 |
RCC_APB2Periph_ADC3, ENABLE);
DMANvicInterruptConfig();
TIM2_Configuration();
// See DMA2 request mapping [STM32F407 reference Manual table 43
// DMA2 Stream0 channel0 configuration DMAStream ADC1
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC_CDR_ADDRESS;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADCConvertedValue;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = 6;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream0, &DMA_InitStructure);
//Enable DMA Stream Half / Transfer Complete interrupt
DMA_ITConfig(DMA2_Stream0, DMA_IT_TC | DMA_IT_HT, ENABLE);
DMA_Cmd(DMA2_Stream0, ENABLE);
// GPIO Init ADC1 --> PA3; PA4; PA5; PA6
GPIO_InitStructure.GPIO_Pin = ADCSENSOR1_PIN|ADCSENSOR2_PIN | ADCSENSOR3_PIN|ADCSENSOR4_PIN;;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN; // Set PA3 and PA4 as Analog Input
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// GPIO Init ADC3 --> PC0; PC2;
GPIO_InitStructure.GPIO_Pin = ADCSENSOR5_PIN|ADCSENSOR6_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Common ADC Init
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_RegSimult;//;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1; //DMA mode 1 enabled (2 / 3 half-words one by one - 1 then 2 then 3)
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
// Config the Master ADC
ADC_InitStructure.ADC_Resolution = ADC_Resolution_8b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;//DISABLE
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Rising;
ADC_InitStructure.ADC_ExternalTrigConv =ADC_ExternalTrigConv_T2_TRGO; // Trigger Event
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 2;//2
// Init ADC1
ADC_Init(ADC1, &ADC_InitStructure);
// Config the slave ADC
ADC_InitStructure.ADC_Resolution = ADC_Resolution_8b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;//DISABLE
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 2;//2
// Init ADC2
ADC_Init(ADC2, &ADC_InitStructure);
// Init ADC3
ADC_Init(ADC3, &ADC_InitStructure);
// ADC regular channel configuration
ADC_RegularChannelConfig(ADCSENSOR1_ADC, ADCSENSOR1_CHANNEL, 1, ADDCSENSORSampeTime);
ADC_RegularChannelConfig(ADCSENSOR2_ADC, ADCSENSOR2_CHANNEL, 2, ADDCSENSORSampeTime);
ADC_RegularChannelConfig(ADCSENSOR3_ADC, ADCSENSOR3_CHANNEL, 1, ADDCSENSORSampeTime);
ADC_RegularChannelConfig(ADCSENSOR4_ADC, ADCSENSOR4_CHANNEL, 2, ADDCSENSORSampeTime);
ADC_RegularChannelConfig(ADCSENSOR5_ADC, ADCSENSOR5_CHANNEL, 1, ADDCSENSORSampeTime);
ADC_RegularChannelConfig(ADCSENSOR6_ADC, ADCSENSOR6_CHANNEL, 2, ADDCSENSORSampeTime);
// Enable DMA request after last transfer (Single-ADC mode)
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
/*// Enable ADC DMA
ADC_DMACmd(ADC1, ENABLE);*/
// Enable ADC3
ADC_Cmd(ADC1, ENABLE);
ADC_Cmd(ADC2, ENABLE);
ADC_Cmd(ADC3, ENABLE);
// Start the ADC Software Conversion
ADC_SoftwareStartConv(ADC1);
}
// Setup Resolver Interface
// TIM8 triggers ADC1 and 2 at 20kHz
// TIM8 OC1 generates resolver reference signal at 10kHz
// DMA2 moves 4 samples to memory, generates transfer complete interrupt at 5kHz
void setup_res(){
//resolver timer
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 420*2;//20kHz
TIM_TimeBaseStructure.TIM_Prescaler = 9;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_ITConfig(TIM8, TIM_IT_Update, DISABLE);
TIM_SelectOutputTrigger(TIM8, TIM_TRGOSource_Update);//trigger ADC
//resolver ref signal generation
RCC_AHB1PeriphClockCmd(RES_IO_RCC, ENABLE);
GPIO_InitStructure.GPIO_Pin = RES_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(RES_PORT, &GPIO_InitStructure);
GPIO_PinAFConfig(RES_PORT, GPIO_PinSource5, GPIO_AF_TIM8);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 300;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM8, ENABLE);
RCC_AHB1PeriphClockCmd(SIN_IO_RCC, ENABLE);
RCC_AHB1PeriphClockCmd(COS_IO_RCC, ENABLE);
/* ADC clock enable */
RCC_APB2PeriphClockCmd(SIN_ADC_RCC | COS_ADC_RCC, ENABLE);
//Analog pin configuration
GPIO_InitStructure.GPIO_Pin = SIN_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SIN_PORT,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = COS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(COS_PORT,&GPIO_InitStructure);
//ADC structure configuration
ADC_DeInit();
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;//data converted will be shifted to right
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;//Input voltage is converted into a 12bit number giving a maximum value of 4096
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; //the conversion is continuous, the input data is converted more than once
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T8_TRGO;//trigger on rising edge of TIM8
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Rising;
ADC_InitStructure.ADC_NbrOfConversion = ADC_ANZ;//I think this one is clear :p
ADC_InitStructure.ADC_ScanConvMode = ENABLE;//The scan is configured in one channel
ADC_Init(SIN_ADC, &ADC_InitStructure);//Initialize ADC with the previous configuration
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_Init(COS_ADC, &ADC_InitStructure);//Initialize ADC with the previous configuration
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_CommonInitStructure.ADC_Mode = ADC_DualMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_2;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
for(int i = 1;i<=ADC_ANZ;i++){
ADC_RegularChannelConfig(SIN_ADC, SIN_ADC_CHAN, i, RES_SampleTime);
ADC_RegularChannelConfig(COS_ADC, COS_ADC_CHAN, i, RES_SampleTime);
}
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
//Enable ADC conversion
ADC_Cmd(SIN_ADC,ENABLE);
ADC_Cmd(COS_ADC,ENABLE);
// Clock Enable
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
// DMA-Disable
DMA_Cmd(DMA2_Stream0, DISABLE);
DMA_DeInit(DMA2_Stream0);
// DMA2-Config
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC->CDR;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADC_DMA_Buffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = ADC_ANZ*PID_WAVES;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream0, &DMA_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = DMA2_Stream0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
DMA_Cmd(DMA2_Stream0, ENABLE);
DMA_ITConfig(DMA2_Stream0, DMA_IT_TC, ENABLE);
}
/**
* @brief ADC configuration
* @note This function Configure the ADC peripheral
1) Enable peripheral clocks
2) Configure ADC Channel 12 pin as analog input
3) DMA2_Stream0 channel2 configuration
4) Configure ADC1 Channel 12
5) Configure ADC2 Channel 12
6) Configure ADC3 Channel 12
* @param None
* @retval None
*/
static void ADC_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
/* Enable peripheral clocks *************************************************/
RCC_AHB1PeriphClockCmd( ADC1_2_CHANNEL_GPIO_CLK , ENABLE);
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_DMA2 , ENABLE);
RCC_APB2PeriphClockCmd( RCC_APB2Periph_ADC1 , ENABLE);
RCC_APB2PeriphClockCmd( RCC_APB2Periph_ADC2 , ENABLE);
RCC_APB2PeriphClockCmd( RCC_APB2Periph_ADC3 , ENABLE);
/* Configure ADC Channel 12 pin as analog input *****************************/
GPIO_InitStructure.GPIO_Pin = GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIO_PORT, &GPIO_InitStructure);
/* DMA2 Stream0 channel0 configuration **************************************/
DMA_InitStructure.DMA_Channel = DMA_CHANNELx;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC_CDR_ADDRESS;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&aADCTripleConvertedValue;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = 3;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA_STREAMx, &DMA_InitStructure);
/* DMA2_Stream0 enable */
DMA_Cmd(DMA_STREAMx, ENABLE);
/* ADC Common configuration *************************************************/
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_Interl;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_2;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInit(&ADC_CommonInitStructure);
/* ADC1 regular channel 12 configuration ************************************/
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 1;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL, 1, ADC_SampleTime_3Cycles);
/* Enable ADC1 DMA */
ADC_DMACmd(ADC1, ENABLE);
/* ADC2 regular channel 12 configuration ************************************/
ADC_Init(ADC2, &ADC_InitStructure);
/* ADC2 regular channel12 configuration */
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL, 1, ADC_SampleTime_3Cycles);
/* ADC3 regular channel 12 configuration ************************************/
ADC_Init(ADC3, &ADC_InitStructure);
/* ADC3 regular channel12 configuration */
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL, 1, ADC_SampleTime_3Cycles);
/* Enable DMA request after last transfer (multi-ADC mode) ******************/
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
/* Enable ADC1 **************************************************************/
ADC_Cmd(ADC1, ENABLE);
/* Enable ADC2 **************************************************************/
ADC_Cmd(ADC2, ENABLE);
/* Enable ADC3 **************************************************************/
ADC_Cmd(ADC3, ENABLE);
}
// init ADC
void init_adc() {
// enable clocks
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_DMA2 | RCC_AHB1Periph_GPIOC, ENABLE );
RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM2, ENABLE );
RCC_APB2PeriphClockCmd( RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE );
// configure GPIO
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init( GPIOC, &GPIO_InitStructure );
// setup interrupts
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = DMA2_Stream0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x00;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init( &NVIC_InitStructure );
// setup tim2
// freq on 70Khz
TIM_TimeBaseInitTypeDef TIM_InitStructure;
TIM_TimeBaseStructInit( &TIM_InitStructure );
TIM_InitStructure.TIM_Period = (84000000 / 70000) - 1;
TIM_InitStructure.TIM_Prescaler = 0;
TIM_InitStructure.TIM_ClockDivision = 0;
TIM_InitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit( TIM2, &TIM_InitStructure );
// TIM2 TRGO Selection
TIM_SelectOutputTrigger( TIM2, TIM_TRGOSource_Update );
TIM_Cmd( TIM2, ENABLE );
// dma configuration
DMA_InitTypeDef DMA_InitStructure;
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t) &ADCDualConvertedValues;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t) 0x40012308;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = BUFFERSIZE;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init( DMA2_Stream0, &DMA_InitStructure );
// Enable DMA Stream Half/ Transfer Complete interrupt
DMA_ITConfig( DMA2_Stream0, DMA_IT_TC | DMA_IT_HT, ENABLE );
DMA_Cmd( DMA2_Stream0, ENABLE );
// configure ADC
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_InitTypeDef ADC_InitStructure;
ADC_CommonInitStructure.ADC_Mode = ADC_DualMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1; // 2 half words one by one
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit( &ADC_CommonInitStructure );
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Rising;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T2_TRGO;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 1;
ADC_Init( ADC1, &ADC_InitStructure );
ADC_Init( ADC2, &ADC_InitStructure );
// ADC1 Regular Channel 10
ADC_RegularChannelConfig( ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles ); // PC0
// ADC2 Regular Channel 11
ADC_RegularChannelConfig( ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles ); // PC1
ADC_MultiModeDMARequestAfterLastTransferCmd( ENABLE );
ADC_Cmd( ADC1, ENABLE );
ADC_Cmd( ADC2, ENABLE );
}
void adcInit(void) {
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_InitTypeDef ADC_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
AQ_NOTICE("ADC init\n");
memset((void *)&adcData, 0, sizeof(adcData));
// energize mag's set/reset circuit
adcData.magSetReset = digitalInit(GPIOE, GPIO_Pin_10, 1);
// use auto-zero function of gyros
adcData.rateAutoZero = digitalInit(GPIOE, GPIO_Pin_8, 0);
// bring ACC's SELF TEST line low
adcData.accST = digitalInit(GPIOE, GPIO_Pin_12, 0);
// bring ACC's SCALE line low (ADXL3X5 requires this line be tied to GND or left floating)
adcData.accScale = digitalInit(GPIOC, GPIO_Pin_15, 0);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5;
GPIO_Init(GPIOC, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_ADC3, ENABLE);
adcData.sample = ADC_SAMPLES - 1;
// Use STM32F4's Triple Regular Simultaneous Mode capable of ~ 6M samples per second
DMA_DeInit(ADC_DMA_STREAM);
DMA_InitStructure.DMA_Channel = ADC_DMA_CHANNEL;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)adcDMAData.adc123Raw1;
DMA_InitStructure.DMA_PeripheralBaseAddr = ((uint32_t)0x40012308);
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = ADC_CHANNELS * 3 * 2;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(ADC_DMA_STREAM, &DMA_InitStructure);
DMA_ITConfig(ADC_DMA_STREAM, DMA_IT_HT | DMA_IT_TC, ENABLE);
DMA_ClearITPendingBit(ADC_DMA_STREAM, ADC_DMA_FLAGS);
DMA_Cmd(ADC_DMA_STREAM, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = ADC_DMA_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// ADC Common Init
ADC_CommonStructInit(&ADC_CommonInitStructure);
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1;
ADC_CommonInit(&ADC_CommonInitStructure);
// ADC1 configuration
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 16;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGX, 1, ADC_SAMPLE_TIME); // magX
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGX, 2, ADC_SAMPLE_TIME); // magX
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGX, 3, ADC_SAMPLE_TIME); // magX
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGX, 4, ADC_SAMPLE_TIME); // magX
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGY, 5, ADC_SAMPLE_TIME); // magY
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGY, 6, ADC_SAMPLE_TIME); // magY
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGY, 7, ADC_SAMPLE_TIME); // magY
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGY, 8, ADC_SAMPLE_TIME); // magY
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGZ, 9, ADC_SAMPLE_TIME); // magZ
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGZ, 10, ADC_SAMPLE_TIME); // magZ
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGZ, 11, ADC_SAMPLE_TIME); // magZ
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_MAGZ, 12, ADC_SAMPLE_TIME); // magZ
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_RATEX, 13, ADC_SAMPLE_TIME); // rateX
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_RATEX, 14, ADC_SAMPLE_TIME); // rateX
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_RATEX, 15, ADC_SAMPLE_TIME); // rateX
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL_RATEX, 16, ADC_SAMPLE_TIME); // rateX
// Enable ADC1 DMA since ADC1 is the Master
ADC_DMACmd(ADC1, ENABLE);
// ADC2 configuration
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 16;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_RATEY, 1, ADC_SAMPLE_TIME); // rateY
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_RATEY, 2, ADC_SAMPLE_TIME); // rateY
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_RATEY, 3, ADC_SAMPLE_TIME); // rateY
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_RATEY, 4, ADC_SAMPLE_TIME); // rateY
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCX, 5, ADC_SAMPLE_TIME); // accX
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCX, 6, ADC_SAMPLE_TIME); // accX
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCX, 7, ADC_SAMPLE_TIME); // accX
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCX, 8, ADC_SAMPLE_TIME); // accX
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCY, 9, ADC_SAMPLE_TIME); // accY
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCY, 10, ADC_SAMPLE_TIME); // accY
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCY, 11, ADC_SAMPLE_TIME); // accY
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCY, 12, ADC_SAMPLE_TIME); // accY
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCZ, 13, ADC_SAMPLE_TIME); // accZ
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCZ, 14, ADC_SAMPLE_TIME); // accZ
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCZ, 15, ADC_SAMPLE_TIME); // accZ
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL_ACCZ, 16, ADC_SAMPLE_TIME); // accZ
// ADC3 configuration
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 16;
ADC_Init(ADC3, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_RATEZ, 1, ADC_SAMPLE_TIME); // rateZ
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_RATEZ, 2, ADC_SAMPLE_TIME); // rateZ
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_RATEZ, 3, ADC_SAMPLE_TIME); // rateZ
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_RATEZ, 4, ADC_SAMPLE_TIME); // rateZ
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_TEMP1, 5, ADC_SAMPLE_TIME); // temp1
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_TEMP2, 6, ADC_SAMPLE_TIME); // temp2
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_PRES1, 7, ADC_SAMPLE_TIME); // pressure1
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_PRES1, 8, ADC_SAMPLE_TIME); // pressure1
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_PRES1, 9, ADC_SAMPLE_TIME); // pressure1
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_PRES1, 10, ADC_SAMPLE_TIME); // pressure1
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_VIN, 11, ADC_SAMPLE_TIME); // Vin
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_TEMP3, 12, ADC_SAMPLE_TIME); // temp3
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_PRES2, 13, ADC_SAMPLE_TIME); // pressure2
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_PRES2, 14, ADC_SAMPLE_TIME); // pressure2
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_PRES2, 15, ADC_SAMPLE_TIME); // pressure2
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL_PRES2, 16, ADC_SAMPLE_TIME); // pressure2
// Enable DMA request after last transfer (Multi-ADC mode)
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
// Enable
ADC_Cmd(ADC1, ENABLE);
ADC_Cmd(ADC2, ENABLE);
ADC_Cmd(ADC3, ENABLE);
adcData.adcFlag = CoCreateFlag(1, 0);
adcTaskStack = aqStackInit(ADC_STACK_SIZE, "ADC");
adcData.adcTask = CoCreateTask(adcTaskCode, (void *)0, ADC_PRIORITY, &adcTaskStack[ADC_STACK_SIZE-1], ADC_STACK_SIZE);
// Start ADC1 Software Conversion
ADC_SoftwareStartConv(ADC1);
yield(100);
// set initial temperatures
adcData.temp1 = adcIDGVoltsToTemp(adcData.voltages[ADC_VOLTS_TEMP1]);
adcData.temp2 = adcIDGVoltsToTemp(adcData.voltages[ADC_VOLTS_TEMP2]);
adcData.temp3 = adcT1VoltsToTemp(adcData.voltages[ADC_VOLTS_TEMP3]);
analogData.vIn = adcVsenseToVin(adcData.voltages[ADC_VOLTS_VIN]);
adcCalibOffsets();
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f2xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f2xx.c file
*/
/******************************************************************************/
/* ADCs interface clock, pin and DMA configuration */
/******************************************************************************/
/* Enable peripheral clocks */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 | RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 |
RCC_APB2Periph_ADC3, ENABLE);
/* Configure ADC Channel 12 pin as analog input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* DMA2 Stream0 channel0 configuration */
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC_CDR_ADDRESS;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADCTripleConvertedValue;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = 3;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream0, &DMA_InitStructure);
/* DMA2_Stream0 enable */
DMA_Cmd(DMA2_Stream0, ENABLE);
/******************************************************************************/
/* ADCs configuration: triple interleaved with 5cycles delay to reach 6Msps */
/******************************************************************************/
/* ADC Common configuration *************************************************/
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_Interl;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_2;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInit(&ADC_CommonInitStructure);
/* ADC1 regular channel 12 configuration ************************************/
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 1;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_Channel_12, 1, ADC_SampleTime_3Cycles);
/* ADC2 regular channel 12 configuration ************************************/
ADC_Init(ADC2, &ADC_InitStructure);
/* ADC2 regular channel12 configuration */
ADC_RegularChannelConfig(ADC2, ADC_Channel_12, 1, ADC_SampleTime_3Cycles);
/* ADC3 regular channel 12 configuration ************************************/
ADC_Init(ADC3, &ADC_InitStructure);
/* ADC3 regular channel12 configuration */
ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_3Cycles);
/* Enable DMA request after last transfer (multi-ADC mode) ******************/
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
/* Enable ADC1 **************************************************************/
ADC_Cmd(ADC1, ENABLE);
/* Enable ADC2 **************************************************************/
ADC_Cmd(ADC2, ENABLE);
/* Enable ADC3 **************************************************************/
ADC_Cmd(ADC3, ENABLE);
/* Start ADC1 Software Conversion */
ADC_SoftwareStartConv(ADC1);
while (1)
{
}
}
/**
* @brief ADC configuration
* @note This function Configure the ADC peripheral
1) Enable peripheral clocks
2) Configure ADC Channel 12 pin as analog input
3) DMA2_Stream0 channel2 configuration
4) Configure ADC1 Channel 12
5) Configure ADC2 Channel 12
6) Configure ADC3 Channel 12
* @param None
* @retval None
*/
void ADC_Triple_Interleaved_Configuration(__IO uint32_t *pADC_TripleConvertedVale, uint32_t bufSize)
{
DMA_InitTypeDef DMA_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
DMA_DeInit(ADC_DMA_STREAM);
ADC_DeInit();
/* DMA2 Stream0 channel0 configuration **************************************/
DMA_InitStructure.DMA_Channel = ADC_DMA_CHANNEL;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC_CDR_ADDRESS;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)pADC_TripleConvertedVale;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = bufSize;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(ADC_DMA_STREAM, &DMA_InitStructure);
/* DMA2_Stream0 enable */
DMA_Cmd(ADC_DMA_STREAM, ENABLE);
DMA_ITConfig(ADC_DMA_STREAM, DMA_IT_HT, ENABLE);
/* ADC Common configuration *************************************************/
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_Interl;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_2;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInit(&ADC_CommonInitStructure);
/* ADC1 regular channel 12 configuration ************************************/
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 1;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_Channel_11, 1, ADC_SampleTime_3Cycles);
/* Enable ADC1 DMA */
ADC_DMACmd(ADC1, ENABLE);
/* ADC2 regular channel 12 configuration ************************************/
ADC_Init(ADC2, &ADC_InitStructure);
/* ADC2 regular channel12 configuration */
ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_3Cycles);
/* ADC3 regular channel 12 configuration ************************************/
ADC_Init(ADC3, &ADC_InitStructure);
/* ADC3 regular channel12 configuration */
ADC_RegularChannelConfig(ADC3, ADC_Channel_11, 1, ADC_SampleTime_3Cycles);
/* Enable DMA request after last transfer (multi-ADC mode) ******************/
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
/* Enable ADC1 **************************************************************/
ADC_Cmd(ADC1, ENABLE);
/* Enable ADC2 **************************************************************/
ADC_Cmd(ADC2, ENABLE);
/* Enable ADC3 **************************************************************/
ADC_Cmd(ADC3, ENABLE);
}
