void adc_init (void)
{
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN);
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
gpio_mode_setup(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO1); //PA1 joint_1
gpio_mode_setup(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO2); //PA2 joint_2
gpio_mode_setup(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO3); //PA3 joint_3
gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO1); //PC1 joint_4
gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO2); //PC2 joint_5
gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO5); //PC5 joint_6
adc_set_clk_prescale(ADC_CCR_ADCPRE_BY2);
adc_disable_scan_mode(ADC1);
adc_set_single_conversion_mode(ADC1);
adc_set_sample_time(ADC1, ADC_CHANNEL1, ADC_SMPR_SMP_3CYC); //joint_1
adc_set_sample_time(ADC1, ADC_CHANNEL2, ADC_SMPR_SMP_3CYC); //joint_2
adc_set_sample_time(ADC1, ADC_CHANNEL3, ADC_SMPR_SMP_3CYC); //joint_3
adc_set_sample_time(ADC1, ADC_CHANNEL11, ADC_SMPR_SMP_3CYC); //joint_4
adc_set_sample_time(ADC1, ADC_CHANNEL12, ADC_SMPR_SMP_3CYC); //joint_5
adc_set_sample_time(ADC1, ADC_CHANNEL15, ADC_SMPR_SMP_3CYC); //joint_6
adc_set_multi_mode(ADC_CCR_MULTI_INDEPENDENT);
adc_power_on(ADC1);
//nvic_enable_irq(NVIC_ADC_IRQ);
//adc_enable_eoc_interrupt(ADC1);
//adc_disable_eoc_interrupt(ADC1);
}
void battery_setup() {
gpio_mode_setup(BAT_STAT_PORT, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, BAT_STAT1_PORT | BAT_STAT2_PORT | BAT_PG_PORT);
gpio_mode_setup(BAT_SENSE_PORT, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, BAT_SENSE_PIN);
adc_off(BAT_SENSE_ADC);
adc_disable_scan_mode(BAT_SENSE_ADC);
adc_set_single_conversion_mode(ADC1);
adc_set_sample_time(ADC1, ADC_CHANNEL10, ADC_SMPR_SMP_15CYC);
uint8_t channels[] = {ADC_CHANNEL10};
adc_set_regular_sequence(BAT_SENSE_ADC, 1, channels);
adc_power_on(BAT_SENSE_ADC);
}
/*--------------------------------------------------------------------*/
void adc_setup(void)
{
rcc_periph_clock_enable(RCC_ADC1);
rcc_periph_clock_enable(RCC_GPIOA);
nvic_enable_irq(NVIC_ADC_IRQ);
/* Set port PA1 for ADC1 to analogue mode. */
gpio_mode_setup(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO1);
adc_power_on(ADC1);
uint8_t channel[1] = { ADC_CHANNEL1 };
adc_set_regular_sequence(ADC1, 1, channel);
adc_set_clk_prescale(ADC_CCR_ADCPRE_BY2);
adc_enable_scan_mode(ADC1);
adc_set_continuous_conversion_mode(ADC1);
adc_set_sample_time(ADC1, ADC_CHANNEL1, ADC_SMPR_SMP_3CYC);
adc_set_multi_mode(ADC_CCR_MULTI_INDEPENDENT);
adc_set_dma_continue(ADC1);
adc_enable_dma(ADC1);
adc_enable_overrun_interrupt(ADC1);
}
/**
* Enable selected channels on specified ADC.
* Usage:
*
* adc_init_single(ADC1, 1, 1, 0, 0);
*
* ... would enable ADC1, enabling channels 1 and 2,
* but not 3 and 4.
*/
static inline void adc_init_single(uint32_t adc,
uint8_t chan1, uint8_t chan2,
uint8_t chan3, uint8_t chan4)
{
uint8_t num_channels, rank;
uint8_t channels[4];
// Paranoia, must be down for 2+ ADC clock cycles before calibration
adc_off(adc);
/* enable adc clock */
if (adc == ADC1) {
#ifdef USE_AD1
num_channels = NB_ADC1_CHANNELS;
ADC1_GPIO_INIT();
#endif
}
else if (adc == ADC2) {
#ifdef USE_AD2
num_channels = NB_ADC2_CHANNELS;
ADC2_GPIO_INIT();
#endif
}
/* Configure ADC */
/* Explicitly setting most registers, reset/default values are correct for most */
/* Set CR1 register. */
/* Clear AWDEN */
adc_disable_analog_watchdog_regular(adc);
/* Clear JAWDEN */
adc_disable_analog_watchdog_injected(adc);
/* Clear DISCEN */
adc_disable_discontinuous_mode_regular(adc);
/* Clear JDISCEN */
adc_disable_discontinuous_mode_injected(adc);
/* Clear JAUTO */
adc_disable_automatic_injected_group_conversion(adc);
/* Set SCAN */
adc_enable_scan_mode(adc);
/* Enable ADC<X> JEOC interrupt (Set JEOCIE) */
adc_enable_eoc_interrupt_injected(adc);
/* Clear AWDIE */
adc_disable_awd_interrupt(adc);
/* Clear EOCIE */
adc_disable_eoc_interrupt(adc);
/* Set CR2 register. */
/* Clear TSVREFE */
adc_disable_temperature_sensor(adc);
/* Clear EXTTRIG */
adc_disable_external_trigger_regular(adc);
/* Clear ALIGN */
adc_set_right_aligned(adc);
/* Clear DMA */
adc_disable_dma(adc);
/* Clear CONT */
adc_set_single_conversion_mode(adc);
rank = 0;
if (chan1) {
adc_set_sample_time(adc, adc_channel_map[0], ADC_SMPR1_SMP_41DOT5CYC);
channels[rank] = adc_channel_map[0];
rank++;
}
if (chan2) {
adc_set_sample_time(adc, adc_channel_map[1], ADC_SMPR1_SMP_41DOT5CYC);
channels[rank] = adc_channel_map[1];
rank++;
}
if (chan3) {
adc_set_sample_time(adc, adc_channel_map[2], ADC_SMPR1_SMP_41DOT5CYC);
channels[rank] = adc_channel_map[2];
rank++;
}
if (chan4) {
adc_set_sample_time(adc, adc_channel_map[3], ADC_SMPR1_SMP_41DOT5CYC);
channels[rank] = adc_channel_map[3];
}
adc_set_injected_sequence(adc, num_channels, channels);
#if USE_AD_TIM4
#pragma message "Info: Using TIM4 for ADC"
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM4_TRGO);
#elif USE_AD_TIM1
#pragma message "Info: Using TIM1 for ADC"
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM1_TRGO);
#else
#pragma message "Info: Using default TIM2 for ADC"
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM2_TRGO);
#endif
/* Enable ADC<X> */
adc_power_on(adc);
/* Enable ADC<X> reset calibaration register */
adc_reset_calibration(adc);
/* Check the end of ADC<X> reset calibration */
while ((ADC_CR2(adc) & ADC_CR2_RSTCAL) != 0);
/* Start ADC<X> calibaration */
adc_calibration(adc);
/* Check the end of ADC<X> calibration */
while ((ADC_CR2(adc) & ADC_CR2_CAL) != 0);
} // adc_init_single
static inline void adc_init_single(uint32_t adc, uint8_t nb_channels, uint8_t* channel_map)
{
uint8_t x = 0;
// Paranoia, must be down for 2+ ADC clock cycles before calibration
adc_off(adc);
/* Configure ADC */
/* Explicitly setting most registers, reset/default values are correct for most */
/* Set CR1 register. */
/* Clear AWDEN */
adc_disable_analog_watchdog_regular(adc);
/* Clear JAWDEN */
adc_disable_analog_watchdog_injected(adc);
/* Clear DISCEN */
adc_disable_discontinuous_mode_regular(adc);
/* Clear JDISCEN */
adc_disable_discontinuous_mode_injected(adc);
/* Clear JAUTO */
adc_disable_automatic_injected_group_conversion(adc);
/* Set SCAN */
adc_enable_scan_mode(adc);
/* Enable ADC<X> JEOC interrupt (Set JEOCIE) */
adc_enable_eoc_interrupt_injected(adc);
/* Clear AWDIE */
adc_disable_awd_interrupt(adc);
/* Clear EOCIE */
adc_disable_eoc_interrupt(adc);
/* Set CR2 register. */
/* Clear TSVREFE */
#if defined(STM32F1)
adc_disable_temperature_sensor(adc);
#elif defined(STM32F4)
adc_disable_temperature_sensor();
#endif
/* Clear EXTTRIG */
adc_disable_external_trigger_regular(adc);
/* Clear ALIGN */
adc_set_right_aligned(adc);
/* Clear DMA */
adc_disable_dma(adc);
/* Clear CONT */
adc_set_single_conversion_mode(adc);
for (x = (4-nb_channels); x < 4; x++) {
adc_set_sample_time(adc, channel_map[x], ADC_SAMPLE_TIME);
}
adc_set_injected_sequence(adc, nb_channels, channel_map);
#if USE_AD_TIM4
PRINT_CONFIG_MSG("Info: Using TIM4 for ADC")
#if defined(STM32F1)
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM4_TRGO);
#elif defined(STM32F4)
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM4_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
#endif
#elif USE_AD_TIM1
PRINT_CONFIG_MSG("Info: Using TIM1 for ADC")
#if defined(STM32F1)
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM1_TRGO);
#elif defined(STM32F4)
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM1_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
#endif
#else
PRINT_CONFIG_MSG("Info: Using default TIM2 for ADC")
#if defined(STM32F1)
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM2_TRGO);
#elif defined(STM32F4)
adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM2_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
#endif
#endif
/* Enable ADC<X> */
adc_power_on(adc);
#if defined(STM32F1)
/* Enable ADC<X> reset calibaration register */
adc_reset_calibration(adc);
/* Check the end of ADC<X> reset calibration */
while ((ADC_CR2(adc) & ADC_CR2_RSTCAL) != 0);
/* Start ADC<X> calibaration */
adc_calibration(adc);
/* Check the end of ADC<X> calibration */
while ((ADC_CR2(adc) & ADC_CR2_CAL) != 0);
#endif
return;
} // adc_init_single