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Merge remote-tracking branch 'multiwii/master'

Browse source 
Conflicts:
	src/board.h
	src/drivers/adc_common.c
	src/drivers/pwm_common.c
	src/drivers/pwm_common.h
	src/main.c
	src/mw.c
	src/mw.h
	src/sensors.c
	src/utils.h
This commit is contained in:
Dominic Clifton 2014-05-03 22:48:41 +01:00
commit ee2140d324
10 changed files with 179 additions and 85 deletions
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87
src/drivers/adc_common.c
View file

@ -2,6 +2,7 @@
#include <stdint.h>
#include "platform.h"
#include "system_common.h"
#include "sensors_common.h" // FIXME dependency into the main code
@ -9,45 +10,73 @@
#include "adc_common.h"
// static volatile uint16_t adc1Ch4Value = 0;
static volatile uint16_t adcValues[2];
// Driver for STM32F103CB onboard ADC
// VBAT is connected to PA4 (ADC1_IN4) with 10k:1k divider
// rev.5 hardware has PA5 (ADC1_IN5) on breakout pad on bottom of board
// Additional channel can be stolen from RC_CH2 (PA1, ADC1_IN1) or
// RC_CH8 (PB1, ADC1_IN9) by using set power_adc_channel=1|9
typedef struct adc_config_t {
uint8_t adcChannel; // ADC1_INxx channel number
uint8_t dmaIndex; // index into DMA buffer in case of sparse channels
} adc_config_t;
static adc_config_t adcConfig[ADC_CHANNEL_MAX];
static volatile uint16_t adcValues[ADC_CHANNEL_MAX];
void adcInit(drv_adc_config_t *init)
{
#ifndef STM32F3DISCOVERY
ADC_InitTypeDef adc;
DMA_InitTypeDef dma;
int numChannels = 1, i;
ADC_InitTypeDef ADC_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
bool multiChannel = init->powerAdcChannel > 0;
// configure always-present battery index (ADC4)
adcConfig[ADC_BATTERY].adcChannel = ADC_Channel_4;
adcConfig[ADC_BATTERY].dmaIndex = numChannels - 1;
// ADC assumes all the GPIO was already placed in 'AIN' mode
// optional ADC5 input on rev.5 hardware
if (hse_value == 12000000) {
numChannels++;
adcConfig[ADC_EXTERNAL1].adcChannel = ADC_Channel_5;
adcConfig[ADC_EXTERNAL1].dmaIndex = numChannels - 1;
}
// another channel can be stolen from PWM for current measurement or other things
if (init->powerAdcChannel > 0) {
numChannels++;
adcConfig[ADC_EXTERNAL2].adcChannel = init->powerAdcChannel;
adcConfig[ADC_EXTERNAL2].dmaIndex = numChannels - 1;
}
// ADC driver 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)adcValues;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_BufferSize = multiChannel ? 2 : 1;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_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;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel1, &DMA_InitStructure);
/* Enable DMA1 channel1 */
dma.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
dma.DMA_MemoryBaseAddr = (uint32_t)adcValues;
dma.DMA_DIR = DMA_DIR_PeripheralSRC;
dma.DMA_BufferSize = numChannels;
dma.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
dma.DMA_MemoryInc = numChannels > 1 ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
dma.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
dma.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
dma.DMA_Mode = DMA_Mode_Circular;
dma.DMA_Priority = DMA_Priority_High;
dma.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel1, &dma);
DMA_Cmd(DMA1_Channel1, ENABLE);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
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 = multiChannel ? 2 : 1;
ADC_Init(ADC1, &ADC_InitStructure);
adc.ADC_Mode = ADC_Mode_Independent;
adc.ADC_ScanConvMode = numChannels > 1 ? ENABLE : DISABLE;
adc.ADC_ContinuousConvMode = ENABLE;
adc.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
adc.ADC_DataAlign = ADC_DataAlign_Right;
adc.ADC_NbrOfChannel = numChannels;
ADC_Init(ADC1, &adc);
// fixed ADC4
ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 1, ADC_SampleTime_28Cycles5);
if (multiChannel)
ADC_RegularChannelConfig(ADC1, init->powerAdcChannel, 2, ADC_SampleTime_28Cycles5);
// configure any additional ADC channels (2 + n)
for (i = 1; i < numChannels; i++)
ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, i + 1, ADC_SampleTime_28Cycles5);
ADC_DMACmd(ADC1, ENABLE);
ADC_Cmd(ADC1, ENABLE);
@ -65,5 +94,5 @@ void adcInit(drv_adc_config_t *init)
uint16_t adcGetChannel(uint8_t channel)
{
return adcValues[channel];
return adcValues[adcConfig[channel].dmaIndex];
}