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; } }