implemented using one of RC inputs as ADC channel for power meter.

added MSP_ACC_TRIM stuff for android GUI.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@231 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/board.h

@@ -48,6 +48,7 @@ typedef enum {
     FEATURE_FAILSAFE = 1 << 9,
     FEATURE_SONAR = 1 << 10,
     FEATURE_TELEMETRY = 1 << 11,
+    FEATURE_POWERMETER = 1 << 12,
 } AvailableFeatures;
 
 typedef enum {

src/cli.c

@@ -116,6 +116,7 @@ const clivalue_t valueTable[] = {
     { "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
     { "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
     { "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 },
+    { "power_adc_channel", VAR_UINT8, &cfg.power_adc_channel, 0, 9 },
     { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
     { "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
     { "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },

src/config.c

@@ -192,6 +192,7 @@ static void resetConf(void)
     cfg.vbatscale = 110;
     cfg.vbatmaxcellvoltage = 43;
     cfg.vbatmincellvoltage = 33;
+    // cfg.power_adc_channel = 0;
 
     // Radio
     parseRcChannels("AETR1234");

src/drv_adc.c

@@ -1,21 +1,25 @@
 #include "board.h"
 
-static volatile uint16_t adc1Ch4Value = 0;
+#define ADC_BATTERY     0
+#define ADC_CURRENT     1
 
-void adcInit(void)
+// static volatile uint16_t adc1Ch4Value = 0;
+static volatile uint16_t adcValues[2];
+
+void adcInit(drv_adc_config_t *init)
 {
     ADC_InitTypeDef ADC_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
+    bool multiChannel = init->powerAdcChannel > 0;
 
     // ADC assumes all the GPIO was already placed in 'AIN' mode
-
     DMA_DeInit(DMA1_Channel1);
     DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
-    DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&adc1Ch4Value;
+    DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)adcValues;
     DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
-    DMA_InitStructure.DMA_BufferSize = 1;
+    DMA_InitStructure.DMA_BufferSize = multiChannel ? 2 : 1;
     DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
-    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Disable;
+    DMA_InitStructure.DMA_MemoryInc = multiChannel ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
     DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
     DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
     DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
@@ -26,14 +30,16 @@ void adcInit(void)
     DMA_Cmd(DMA1_Channel1, ENABLE);
 
     ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
-    ADC_InitStructure.ADC_ScanConvMode = DISABLE;
+    ADC_InitStructure.ADC_ScanConvMode = multiChannel ? ENABLE : DISABLE;
     ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
     ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
     ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
-    ADC_InitStructure.ADC_NbrOfChannel = 1;
+    ADC_InitStructure.ADC_NbrOfChannel = multiChannel ? 2 : 1;
     ADC_Init(ADC1, &ADC_InitStructure);
 
     ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 1, ADC_SampleTime_28Cycles5);
+    if (multiChannel)
+        ADC_RegularChannelConfig(ADC1, init->powerAdcChannel, 2, ADC_SampleTime_28Cycles5);
     ADC_DMACmd(ADC1, ENABLE);
 
     ADC_Cmd(ADC1, ENABLE);
@@ -48,7 +54,7 @@ void adcInit(void)
     ADC_SoftwareStartConvCmd(ADC1, ENABLE);
 }
 
-uint16_t adcGetBattery(void)
+uint16_t adcGetChannel(uint8_t channel)
 {
-    return adc1Ch4Value;
+    return adcValues[channel];
 }

src/drv_adc.h

@@ -1,7 +1,15 @@
 #pragma once
 
-void adcInit(void);
+#define ADC_BATTERY     0
-uint16_t adcGetBattery(void);
+#define ADC_CURRENT     1
+
+typedef struct drv_adc_config_t {
+    uint8_t powerAdcChannel;     // which channel used for current monitor, allowed PA1, PB1 (ADC_Channel_1, ADC_Channel_9)
+} drv_adc_config_t;
+
+
+void adcInit(drv_adc_config_t *init);
+uint16_t adcGetChannel(uint8_t channel);
 #ifdef FY90Q
 void adcSensorInit(sensor_t *acc, sensor_t *gyro);
 #endif

src/drv_pwm.c

@@ -74,34 +74,6 @@
 
 typedef void pwmCallbackPtr(uint8_t port, uint16_t capture);
 
-// This indexes into the read-only hardware definition structure below, as well as into pwmPorts[] structure with dynamic data.
-enum {
-    PWM1 = 0,
-    PWM2,
-    PWM3,
-    PWM4,
-    PWM5,
-    PWM6,
-    PWM7,
-    PWM8,
-    PWM9,
-    PWM10,
-    PWM11,
-    PWM12,
-    PWM13,
-    PWM14,
-    MAX_PORTS
-};
-
-typedef struct {
-    TIM_TypeDef *tim;
-    GPIO_TypeDef *gpio;
-    uint32_t pin;
-    uint8_t channel;
-    uint8_t irq;
-    uint8_t outputEnable;
-} pwmHardware_t;
-
 static pwmHardware_t timerHardware[] = {
     { TIM2, GPIOA, GPIO_Pin_0, TIM_Channel_1, TIM2_IRQn, 0, },          // PWM1
     { TIM2, GPIOA, GPIO_Pin_1, TIM_Channel_2, TIM2_IRQn, 0, },          // PWM2
@@ -481,6 +453,10 @@ bool pwmInit(drv_pwm_config_t *init)
         if (init->useUART && (port == PWM3 || port == PWM4))
             continue;
 
+        // skip ADC for powerMeter if configured
+        if (init->adcChannel && (init->adcChannel == PWM2 || init->adcChannel == PWM8))
+            continue;
+
         // hacks to allow current functionality
         if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput)
             mask = 0;

src/drv_pwm.h

@@ -11,10 +11,39 @@ typedef struct drv_pwm_config_t {
     bool useServos;
     bool extraServos;    // configure additional 4 channels in PPM mode as servos, not motors
     bool airplane;       // fixed wing hardware config, lots of servos etc
+    uint8_t adcChannel;  // steal one RC input for current sensor
     uint16_t motorPwmRate;
     uint16_t servoPwmRate;
 } drv_pwm_config_t;
 
+// This indexes into the read-only hardware definition structure in drv_pwm.c, as well as into pwmPorts[] structure with dynamic data.
+enum {
+    PWM1 = 0,
+    PWM2,
+    PWM3,
+    PWM4,
+    PWM5,
+    PWM6,
+    PWM7,
+    PWM8,
+    PWM9,
+    PWM10,
+    PWM11,
+    PWM12,
+    PWM13,
+    PWM14,
+    MAX_PORTS
+};
+
+typedef struct {
+    TIM_TypeDef *tim;
+    GPIO_TypeDef *gpio;
+    uint32_t pin;
+    uint8_t channel;
+    uint8_t irq;
+    uint8_t outputEnable;
+} pwmHardware_t;
+
 bool pwmInit(drv_pwm_config_t *init); // returns whether driver is asking to calibrate throttle or not
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmWriteServo(uint8_t index, uint16_t value);

src/drv_system.c

@@ -94,7 +94,6 @@ void systemInit(void)
     SysTick_Config(SystemCoreClock / 1000);
 
     // Configure the rest of the stuff
-    adcInit();
 #ifndef FY90Q
     i2cInit(I2C2);
 #endif

src/main.c

@@ -18,6 +18,7 @@ int main(void)
 {
     uint8_t i;
     drv_pwm_config_t pwm_params;
+    drv_adc_config_t adc_params;
 
 #if 0
     // PC12, PA15
@@ -46,6 +47,16 @@ int main(void)
     checkFirstTime(false);
     readEEPROM();
 
+    // configure power ADC
+    if (cfg.power_adc_channel > 0 && (cfg.power_adc_channel == 1 || cfg.power_adc_channel == 9))
+        adc_params.powerAdcChannel = cfg.power_adc_channel;
+    else {
+        adc_params.powerAdcChannel = 0;
+        cfg.power_adc_channel = 0;
+    }
+
+    adcInit(&adc_params);
+
     serialInit(cfg.serial_baudrate);
 
     // We have these sensors
@@ -87,6 +98,17 @@ int main(void)
     pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
     pwm_params.motorPwmRate = cfg.motor_pwm_rate;
     pwm_params.servoPwmRate = cfg.servo_pwm_rate;
+    switch (cfg.power_adc_channel) {
+        case 1:
+            pwm_params.adcChannel = PWM2;
+            break;
+        case 9:
+            pwm_params.adcChannel = PWM8;
+            break;
+        default:
+            pwm_params.adcChannel = 0;
+        break;
+    }
 
     pwmInit(&pwm_params);
 

src/mw.c

@@ -147,7 +147,7 @@ void annexCode(void)
 
     if (feature(FEATURE_VBAT)) {
         if (!(++vbatTimer % VBATFREQ)) {
-            vbatRawArray[(ind++) % 8] = adcGetBattery();
+            vbatRawArray[(ind++) % 8] = adcGetChannel(ADC_BATTERY);
             for (i = 0; i < 8; i++)
                 vbatRaw += vbatRawArray[i];
             vbat = batteryAdcToVoltage(vbatRaw / 8);

src/mw.h

@@ -164,6 +164,7 @@ typedef struct config_t {
     uint8_t vbatscale;                      // adjust this to match battery voltage to reported value
     uint8_t vbatmaxcellvoltage;             // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
     uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
+    uint8_t power_adc_channel;              // which channel is used for current sensor. Right now, only 2 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9)
 
     // Radio/ESC-related configuration
     uint8_t rcmap[8];                       // mapping of radio channels to internal RPYTA+ order

src/sensors.c

@@ -137,7 +137,7 @@ void batteryInit(void)
 
     // average up some voltage readings
     for (i = 0; i < 32; i++) {
-        voltage += adcGetBattery();
+        voltage += adcGetChannel(ADC_BATTERY);
         delay(10);
     }
 

src/serial.c

@@ -41,6 +41,9 @@
 #define MSP_DEBUGMSG             253    //out message         debug string buffer
 #define MSP_DEBUG                254    //out message         debug1,debug2,debug3,debug4
 
+#define MSP_ACC_TRIM             240    //out message         get acc angle trim values
+#define MSP_SET_ACC_TRIM         239    //in message          set acc angle trim values
+
 #define INBUF_SIZE 64
 
 static const char boxnames[] =
@@ -179,6 +182,11 @@ static void evaluateCommand(void)
             rcData[i] = read16();
         headSerialReply(0);
         break;
+    case MSP_SET_ACC_TRIM:
+        cfg.angleTrim[PITCH] = read16();
+        cfg.angleTrim[ROLL]  = read16();
+        headSerialReply(0);
+        break;
     case MSP_SET_RAW_GPS:
         f.GPS_FIX = read8();
         GPS_numSat = read8();
@@ -360,6 +368,11 @@ static void evaluateCommand(void)
         writeParams(0);
         headSerialReply(0);
         break;
+    case MSP_ACC_TRIM:
+        headSerialReply(4);
+        serialize16(cfg.angleTrim[PITCH]);
+        serialize16(cfg.angleTrim[ROLL]);
+        break;
     case MSP_DEBUG:
         headSerialReply(8);
         for (i = 0; i < 4; i++)