extern uint32_t ADC_SetClock( Adc* pAdc, uint32_t dwClk, uint32_t dwMck )
{
uint32_t dwPres, dwMr;
/* Formula for PRESCAL is:
PRESCAL = (MCK / (2 * ADCCLK)) + 1
First, we do the division, multiplied by 10 to get higher precision
If the last digit is not zero, we round up to avoid generating a higher
than required frequency. */
dwPres = (dwMck * 5) / dwClk;
if (dwPres % 10) dwPres = dwPres / 10;
else
{
if (dwPres == 0) return 0;
dwPres = dwPres / 10 - 1;
}
dwMr = ADC_MR_PRESCAL(dwPres);
if (dwMr == 0) return 0;
dwMr |= (pAdc->ADC_MR & ~ADC_MR_PRESCAL_Msk);
pAdc->ADC_MR = dwMr;
dwAdcClock = dwMck / (dwPres + 1) / 2;
//dwAdcClock = dwAdcClock / 1000 * 1000;
return dwAdcClock;
}
void adcInit(void)
{
//Enable PIO peripheral clock
PMC->PMC_PCER0 = (1 << ID_PIOA);
//Enable ADC peripheral clock
PMC->PMC_PCER1 = (1 << (ID_ADC - 32));
//Configure PA3 as an input
PIOA->PIO_IDR = PIO_PA3;
PIOA->PIO_PER = PIO_PA3;
PIOA->PIO_ODR = PIO_PA3;
//Reset ADC module
ADC->ADC_CR = ADC_CR_SWRST;
//Configure ADC parameters
ADC->ADC_MR = ADC_MR_USEQ_NUM_ORDER |
ADC_MR_TRACKTIM(2) |
ADC_MR_ANACH_NONE |
ADC_MR_SETTLING_AST3 |
ADC_MR_STARTUP_SUT768 |
ADC_MR_PRESCAL(7) |
ADC_MR_FREERUN_OFF |
ADC_MR_FWUP_OFF |
ADC_MR_SLEEP_NORMAL |
ADC_MR_TRGSEL_ADC_TRIG0 |
ADC_MR_TRGEN_DIS;
//Enable channel 1
ADC->ADC_CHER = ADC_CHER_CH1;
}
/**
* \internal
* \brief Configure the ADC Module.
*
* \param adc Base address of the ADC
* \param config Configuration for the ADC
*/
static void adc_set_config(Adc *const adc, struct adc_config *config)
{
uint32_t reg = 0;
reg = (config->useq ? ADC_MR_USEQ_REG_ORDER : 0) |
ADC_MR_PRESCAL(config->mck /
(2 * config->adc_clock) - 1) |
ADC_MR_TRACKTIM(config->tracktim) |
ADC_MR_TRANSFER(config->transfer) |
(config->startup_time);
adc->ADC_MR = reg;
adc->ADC_EMR = (config->tag ? ADC_EMR_TAG : 0) |
(config->aste ? ADC_EMR_ASTE_SINGLE_TRIG_AVERAGE : 0);
if (ADC_8_BITS == config->resolution ||
ADC_10_BITS == config->resolution) {
adc->ADC_MR |= config->resolution;
adc->ADC_EMR &= ~ADC_EMR_OSR_Msk;
} else {
adc->ADC_MR &= ~ADC_MR_LOWRES;
adc->ADC_EMR |= config->resolution;
}
}
void adc_init()
{
PMC_EnablePeripheral(ID_ADC);
ADC->ADC_CR = ADC_CR_SWRST;
ADC->ADC_MR = ADC_MR_TRANSFER(1) |
ADC_MR_TRACKTIM(1) |
ADC_MR_SETTLING(3) |
ADC_MR_PRESCAL(4) | // adc clock = 64 MHz / ((4+1)*2) = 6.4
ADC_MR_FREERUN |
ADC_MR_STARTUP_SUT512;
ADC->ADC_CHER = (1 << ADC_CH_INPUT_VOLTAGE) |
(1 << ADC_CH_TEMPERATURE) |
(1 << ADC_CH_PHALANGE_CURRENT);
ADC->ADC_IDR = 0xffffffff;
ADC->ADC_ACR = ADC_ACR_TSON; // turn on temperature sensor
ADC->ADC_CR = ADC_CR_START; // start a conversion
while (!(ADC->ADC_ISR & ADC_ISR_DRDY)) { }
ADC->ADC_LCDR;
ADC->ADC_CR = ADC_CR_START; // start another conversion
while (!(ADC->ADC_ISR & ADC_ISR_DRDY)) { }
ADC->ADC_LCDR;
ADC->ADC_IER = ADC_IER_DRDY; // fire ADC interrupt on any conversion complete
for (int i = 0; i < 3; i++)
g_adc_data[i] = 0x42 + i;
NVIC_SetPriority(ADC_IRQn, 11); // really low priority...
NVIC_EnableIRQ(ADC_IRQn);
}
// Initialize ADC channels
void HAL::analogStart(void)
{
#if MOTHERBOARD == 500 || MOTHERBOARD == 501
PIO_Configure(
g_APinDescription[58].pPort,
g_APinDescription[58].ulPinType,
g_APinDescription[58].ulPin,
g_APinDescription[58].ulPinConfiguration);
PIO_Configure(
g_APinDescription[59].pPort,
g_APinDescription[59].ulPinType,
g_APinDescription[59].ulPin,
g_APinDescription[59].ulPinConfiguration);
#endif // (MOTHERBOARD==500) || (MOTHERBOARD==501)
// ensure we can write to ADC registers
ADC->ADC_WPMR = 0x41444300u; //ADC_WPMR_WPKEY(0);
pmc_enable_periph_clk(ID_ADC); // enable adc clock
for (int i = 0; i < ANALOG_INPUTS; i++)
{
osAnalogInputValues[i] = 0;
adcSamplesMin[i] = 100000;
adcSamplesMax[i] = 0;
adcEnable |= (0x1u << osAnalogInputChannels[i]);
osAnalogSamplesSum[i] = 2048 * ANALOG_INPUT_MEDIAN;
for (int j = 0; j < ANALOG_INPUT_MEDIAN; j++)
osAnalogSamples[i][j] = 2048; // we want to prevent early error from bad starting values
}
// enable channels
ADC->ADC_CHER = adcEnable;
ADC->ADC_CHDR = !adcEnable;
// Initialize ADC mode register (some of the following params are not used here)
// HW trigger disabled, use external Trigger, 12 bit resolution
// core and ref voltage stays on, normal sleep mode, normal not free-run mode
// startup time 16 clocks, settling time 17 clocks, no changes on channel switch
// convert channels in numeric order
// set prescaler rate MCK/((PRESCALE+1) * 2)
// set tracking time (TRACKTIM+1) * clock periods
// set transfer period (TRANSFER * 2 + 3)
ADC->ADC_MR = ADC_MR_TRGEN_DIS | ADC_MR_TRGSEL_ADC_TRIG0 | ADC_MR_LOWRES_BITS_12 |
ADC_MR_SLEEP_NORMAL | ADC_MR_FWUP_OFF | ADC_MR_FREERUN_OFF |
ADC_MR_STARTUP_SUT64 | ADC_MR_SETTLING_AST17 | ADC_MR_ANACH_NONE |
ADC_MR_USEQ_NUM_ORDER |
ADC_MR_PRESCAL(AD_PRESCALE_FACTOR) |
ADC_MR_TRACKTIM(AD_TRACKING_CYCLES) |
ADC_MR_TRANSFER(AD_TRANSFER_CYCLES);
ADC->ADC_IER = 0; // no ADC interrupts
ADC->ADC_CGR = 0; // Gain = 1
ADC->ADC_COR = 0; // Single-ended, no offset
// start first conversion
ADC->ADC_CR = ADC_CR_START;
}
extern uint32_t ADC_SetClock( Adc* pAdc, uint32_t dwPres, uint32_t dwMck )
{
uint32_t dwMr;
uint32_t dwAdcClock;
dwMr = pAdc->ADC_MR;
dwMr = (dwMr & ~ADC_MR_PRESCAL_Msk) | ADC_MR_PRESCAL( dwPres );
pAdc->ADC_MR |= dwMr;
/* Formula: ADCClock = MCK / ( (PRESCAL+1) * 2 ) */
dwAdcClock = dwMck / ( (dwPres + 1) * 2 );
return dwAdcClock;
}
struct gpio_adc
gpio_adc_setup(uint8_t pin)
{
// Find pin in adc_pins table
int chan;
for (chan=0; ; chan++) {
if (chan >= ARRAY_SIZE(adc_pins))
shutdown("Not a valid ADC pin");
if (adc_pins[chan] == pin)
break;
}
if (!(PMC->PMC_PCSR1 & (1 << (ID_ADC-32)))) {
// Setup ADC
PMC->PMC_PCER1 = 1 << (ID_ADC-32);
uint32_t prescal = SystemCoreClock / (2 * ADC_FREQ_MAX) - 1;
ADC->ADC_MR = (ADC_MR_PRESCAL(prescal)
| ADC_MR_STARTUP_SUT768
| ADC_MR_TRANSFER(1));
}
return (struct gpio_adc){ .bit = 1 << chan };
}
// Try to sample a value. Returns zero if sample ready, otherwise
// returns the number of clock ticks the caller should wait before
// retrying this function.
uint32_t
gpio_adc_sample(struct gpio_adc g)
{
uint32_t chsr = ADC->ADC_CHSR & 0xffff;
if (!chsr) {
// Start sample
ADC->ADC_CHER = g.bit;
ADC->ADC_CR = ADC_CR_START;
goto need_delay;
}
if (chsr != g.bit)
// Sampling in progress on another channel
goto need_delay;
if (!(ADC->ADC_ISR & ADC_ISR_DRDY))
// Conversion still in progress
goto need_delay;
// Conversion ready
return 0;
need_delay:
return ADC_FREQ_MAX * 1000ULL / CONFIG_CLOCK_FREQ;
}
// Initialize ADC channels
void HAL::analogStart(void)
{
uint32_t adcEnable = 0;
// ensure we can write to ADC registers
ADC->ADC_WPMR = ADC_WPMR_WPKEY(0);
pmc_enable_periph_clk(ID_ADC); // enable adc clock
for(int i=0; i<ANALOG_INPUTS; i++)
{
osAnalogInputCounter[i] = 0;
osAnalogInputValues[i] = 0;
// osAnalogInputChannels
//adcEnable |= (0x1u << adcChannel[i]);
adcEnable |= (0x1u << osAnalogInputChannels[i]);
}
// enable channels
ADC->ADC_CHER = adcEnable;
ADC->ADC_CHDR = !adcEnable;
// Initialize ADC mode register (some of the following params are not used here)
// HW trigger disabled, use external Trigger, 12 bit resolution
// core and ref voltage stays on, normal sleep mode, normal not free-run mode
// startup time 16 clocks, settling time 17 clocks, no changes on channel switch
// convert channels in numeric order
// set prescaler rate MCK/((PRESCALE+1) * 2)
// set tracking time (TRACKTIM+1) * clock periods
// set transfer period (TRANSFER * 2 + 3)
ADC->ADC_MR = ADC_MR_TRGEN_DIS | ADC_MR_TRGSEL_ADC_TRIG0 | ADC_MR_LOWRES_BITS_10 |
ADC_MR_SLEEP_NORMAL | ADC_MR_FWUP_OFF | ADC_MR_FREERUN_OFF |
ADC_MR_STARTUP_SUT64 | ADC_MR_SETTLING_AST17 | ADC_MR_ANACH_NONE |
ADC_MR_USEQ_NUM_ORDER |
ADC_MR_PRESCAL(AD_PRESCALE_FACTOR) |
ADC_MR_TRACKTIM(AD_TRACKING_CYCLES) |
ADC_MR_TRANSFER(AD_TRANSFER_CYCLES);
ADC->ADC_IER = 0; // no ADC interrupts
ADC->ADC_CGR = 0; // Gain = 1
ADC->ADC_COR = 0; // Single-ended, no offset
// start first conversion
ADC->ADC_CR = ADC_CR_START;
}
/**
* \internal
* \brief Configure the ADC Module.
*
* \param adc Base address of the ADC
* \param config Configuration for the ADC
*/
static void adc_set_config(Adc *const adc, struct adc_config *config)
{
uint32_t reg = 0;
reg = (config->useq ? ADC_MR_USEQ_REG_ORDER : 0) |
ADC_MR_PRESCAL(config->mck /
(2 * config->adc_clock) - 1) |
ADC_MR_TRACKTIM(config->tracktim) |
ADC_MR_TRANSFER(config->transfer) |
(config->startup_time);
adc->ADC_MR = reg;
adc->ADC_EMR = (config->tag ? ADC_EMR_TAG : 0) |
(config->aste ? ADC_EMR_ASTE_SINGLE_TRIG_AVERAGE : 0);
adc_set_resolution(adc, config->resolution);
}
// Initializes de ADC. To be used only once.
static void ADC_Init() {
// Power up ADC
PMC->PMC_PCER0 |= ADC_POWER_BITMASK;
// Reset the controller
ADC->ADC_CR = ADC_CR_SWRST;
// Reset the Control Register
// This sets:
// * Hardware triggers are disabled. Only software triggers.
// * No trigger selected.
// * High resolution selected.
// * No sleep mode, no fast wake up, no free run.
// * The clock divider to 4 (12 MHz).
// * No analog change
// * No sequence
ADC->ADC_MR = ADC_MR_PRESCAL(1) | ADC_MR_STARTUP(8) |
ADC_MR_TRANSFER(1) | ADC_MR_TRACKTIM(0) | ADC_MR_SETTLING(3);
}
/*------------------------------------------------------------------------------
Name: configureADC
parameters: -
description: initializes the ADC controller
- no DMA transfers
- no startup delay
- 12 bit resolution
- trigger on PWM event line 0
------------------------------------------------------------------------------*/
void BldcControl::configureADC(void)
{
uint32_t prescaler;
/* general config just for first instance */
if (this->motorIndex == 0)
{
/* Reset the controller. */
ADC->ADC_CR = ADC_CR_SWRST;
/* Reset Mode Register. */
ADC->ADC_MR = 0;
/* Reset PDC transfer. */
ADC->ADC_PTCR = (ADC_PTCR_RXTDIS | ADC_PTCR_TXTDIS);
ADC->ADC_RCR = 0;
ADC->ADC_RNCR = 0;
/* set clock prescaler */
prescaler = MCK_CLOCK_42MHZ / (8 * ADC_CLOCK) - 1;
ADC->ADC_MR |= ADC_MR_PRESCAL(prescaler) |
ADC_MR_STARTUP_SUT0; /* no startup delay */
adc_configure_timing(ADC, 0, ADC_SETTLING_TIME_3, 1);
/* set 12 bit resolution */
ADC->ADC_MR |= ADC_MR_LOWRES_BITS_12;
/* set ADC trigger */
ADC->ADC_MR |= ADC_MR_TRGEN_EN | /* enable trigger */
ADC_MR_TRGSEL_ADC_TRIG4; /*PWM event line 0 trrigger */
}
#if defined (useAdcInterrupt)
/* ADC enable interrupts */
ADC->ADC_IER |= 0x80;//ADC_CH_CUR_PHA; /* interrupt on highest channel number */
NVIC_EnableIRQ(ADC_IRQn);
#endif
}
void ADCSampler::begin(unsigned int samplingRate)
{
this->sampleingRate = sampleingRate;
// Turning devices Timer on.
pmc_enable_periph_clk(ID_TC0);
// Configure timer
TC_Configure(TC0, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_ACPA_CLEAR | TC_CMR_ACPC_SET | TC_CMR_ASWTRG_CLEAR | TC_CMR_TCCLKS_TIMER_CLOCK1);
// It is good to have the timer 0 on PIN2, good for Debugging
//int result = PIO_Configure( PIOB, PIO_PERIPH_B, PIO_PB25B_TIOA0, PIO_DEFAULT);
// Configure ADC pin A7
// the below code is taken from adc_init(ADC, SystemCoreClock, ADC_FREQ_MAX, ADC_STARTUP_FAST);
ADC->ADC_CR = ADC_CR_SWRST; // Reset the controller.
ADC->ADC_MR = 0; // Reset Mode Register.
ADC->ADC_PTCR = (ADC_PTCR_RXTDIS | ADC_PTCR_TXTDIS); // Reset PDC transfer.
ADC->ADC_MR |= ADC_MR_PRESCAL(3); // ADC clock = MSCK/((PRESCAL+1)*2), 13 -> 750000 Sps
ADC->ADC_MR |= ADC_MR_STARTUP_SUT0; // What is this by the way?
ADC->ADC_MR |= ADC_MR_TRACKTIM(15);
ADC->ADC_MR |= ADC_MR_TRANSFER(1);
ADC->ADC_MR |= ADC_MR_TRGEN_EN; // Hardware trigger selected by TRGSEL field is enabled. Включен аппаратный триггер, выбранный по полю TRGSEL.
ADC->ADC_MR |= ADC_MR_TRGSEL_ADC_TRIG1; // selecting TIOA0 as trigger.
ADC->ADC_MR |= ADC_MR_LOWRES_BITS_12; // brief (ADC_MR) 12-bit resolution
//ADC->ADC_ACR |= ADC_ACR_TSON; // Включить датчик температуры
ADC->ADC_CHER = ADC_CHANNELS; // Записать контролируемые входа
ADC->ADC_CHDR = ADC_CHANNELS_DIS; // Отключить не используемые входа
ADC->ADC_EMR = ADC_EMR_CMPMODE_IN // Генерирует событие, когда преобразованные данные пересекают окно сравнения.
// | ADC_EMR_CMPSEL(4) // Compare channel 4 = A3
| ADC_EMR_CMPALL // Compare ALL channel
| ADC_EMR_CMPFILTER(0); // Количество последовательных событий сравнения, необходимых для повышения флага = CMPFILTER + 1
// При запрограммированном значении 0 флаг увеличивается, как только происходит событие.
ADC->ADC_CWR = ADC_CWR_LOWTHRES(_compare_Low) | ADC_CWR_HIGHTHRES(_compare_High); // Установить высокий и низкий порог компаратора АЦП
//ADC->ADC_SEQR1 = 0x01234567; // использовать A0 до A7 в порядке в массив
//ADC->ADC_SEQR2 = 0x00dcba00; // использовать для А8 А11 следующие действия по порядку в массив
/* Interupts */
ADC->ADC_IDR = ~ADC_IDR_ENDRX; // сбросить регистры прерывания по готовности данных.
ADC->ADC_IDR = ~ADC_IDR_COMPE; // сбросить регистры копаратора.
ADC->ADC_IER = ADC_IER_ENDRX; // Включить прерывание по готовности данных.
// ADC->ADC_IER = ADC_IER_COMPE; // Прерывание по совпадению сравнения компаратором
ADC->ADC_ISR = ~ADC_ISR_COMPE; // ADC Interrupt Status Register Обнулить ошибку сравнения с момента последнего чтения ADC_ISR.
/* Waiting for ENDRX as end of the transfer is set
when the current DMA transfer is done (RCR = 0), i.e. it doesn't include the
next DMA transfer.
If we trigger on RXBUFF This flag is set if there is no more DMA transfer in
progress (RCR = RNCR = 0). Hence we may miss samples.
Ожидание окончания ENDRX в конце передачи
когда выполняется текущая передача DMA (RCR = 0), то есть она не включает следующая передача DMA.
Если мы запускаем RXBUFF, этот флаг устанавливается, если больше нет передачи DMA в прогресс (RCR = RNCR = 0).
Следовательно, мы можем пропустить образцы.
*/
unsigned int cycles = 42000000 / samplingRate;
/* timing of ADC */
TC_SetRC(TC0, 0, cycles); // TIOA0 goes HIGH on RC.
TC_SetRA(TC0, 0, cycles / 2); // TIOA0 goes LOW on RA.
// We have to reinitalise just in case the Sampler is stopped and restarted...
// Мы должны приступить к реинициализировать на случай, если Sampler остановлен и перезапущен ...
dataReady = false;
dataHigh = false; // Признак срабатывания компаратора
adcDMAIndex = 0;
adcTransferIndex = 0;
for (int i = 0; i < NUMBER_OF_BUFFERS; i++)
{
memset((void *)adcBuffer[i], 0, BUFFER_SIZE);
}
ADC->ADC_RPR = (unsigned long) adcBuffer[adcDMAIndex]; // DMA buffer
ADC->ADC_RCR = (unsigned int) BUFFER_SIZE; // ADC works in half-word mode.
ADC->ADC_RNPR = (unsigned long) adcBuffer[(adcDMAIndex + 1)]; // next DMA buffer
ADC->ADC_RNCR = (unsigned int) BUFFER_SIZE;
// Enable interrupts
NVIC_SetPriorityGrouping(NVIC_PriorityGroup_1);
NVIC_DisableIRQ(ADC_IRQn);
NVIC_ClearPendingIRQ(ADC_IRQn);
NVIC_SetPriority(ADC_IRQn, 6);
NVIC_EnableIRQ(ADC_IRQn);
ADC->ADC_PTCR = ADC_PTCR_RXTEN; // Enable receiving data.
ADC->ADC_CR |= ADC_CR_START; // start waiting for trigger.
// Start timer
TC0->TC_CHANNEL[0].TC_SR;
TC0->TC_CHANNEL[0].TC_CCR = TC_CCR_CLKEN;
TC_Start(TC0, 0);
}