mirror of
https://github.com/betaflight/betaflight.git
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353 lines
12 KiB
C
353 lines
12 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#ifdef USE_ADC
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#include "build/debug.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/dma_reqmap.h"
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#include "drivers/system.h"
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#include "drivers/io.h"
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#include "io_impl.h"
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#include "rcc.h"
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#include "dma.h"
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#include "drivers/sensor.h"
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#include "adc.h"
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#include "adc_impl.h"
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#include "pg/adc.h"
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// These are missing from STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
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#ifdef STM32F446xx
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#define ADC_Channel_TempSensor ADC_Channel_18
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#endif
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const adcDevice_t adcHardware[] = {
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{
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.ADCx = ADC1,
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.rccADC = RCC_APB2(ADC1),
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#if !defined(USE_DMA_SPEC)
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.DMAy_Streamx = ADC1_DMA_STREAM,
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.channel = DMA_Channel_0
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#endif
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},
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#if !defined(STM32F411xE)
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{
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.ADCx = ADC2,
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.rccADC = RCC_APB2(ADC2),
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#if !defined(USE_DMA_SPEC)
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.DMAy_Streamx = ADC2_DMA_STREAM,
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.channel = DMA_Channel_1
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#endif
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},
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{
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.ADCx = ADC3,
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.rccADC = RCC_APB2(ADC3),
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#if !defined(USE_DMA_SPEC)
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.DMAy_Streamx = ADC3_DMA_STREAM,
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.channel = DMA_Channel_2
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#endif
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}
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#endif
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};
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/* note these could be packed up for saving space */
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const adcTagMap_t adcTagMap[] = {
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/*
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{ DEFIO_TAG_E__PF3, ADC_DEVICES_3, ADC_Channel_9 },
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{ DEFIO_TAG_E__PF4, ADC_DEVICES_3, ADC_Channel_14 },
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{ DEFIO_TAG_E__PF5, ADC_DEVICES_3, ADC_Channel_15 },
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{ DEFIO_TAG_E__PF6, ADC_DEVICES_3, ADC_Channel_4 },
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{ DEFIO_TAG_E__PF7, ADC_DEVICES_3, ADC_Channel_5 },
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{ DEFIO_TAG_E__PF8, ADC_DEVICES_3, ADC_Channel_6 },
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{ DEFIO_TAG_E__PF9, ADC_DEVICES_3, ADC_Channel_7 },
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{ DEFIO_TAG_E__PF10,ADC_DEVICES_3, ADC_Channel_8 },
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*/
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#if defined(STM32F411xE)
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{ DEFIO_TAG_E__PC0, ADC_DEVICES_1, ADC_Channel_10 },
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{ DEFIO_TAG_E__PC1, ADC_DEVICES_1, ADC_Channel_11 },
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{ DEFIO_TAG_E__PC2, ADC_DEVICES_1, ADC_Channel_12 },
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{ DEFIO_TAG_E__PC3, ADC_DEVICES_1, ADC_Channel_13 },
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{ DEFIO_TAG_E__PC4, ADC_DEVICES_1, ADC_Channel_14 },
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{ DEFIO_TAG_E__PC5, ADC_DEVICES_1, ADC_Channel_15 },
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{ DEFIO_TAG_E__PB0, ADC_DEVICES_1, ADC_Channel_8 },
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{ DEFIO_TAG_E__PB1, ADC_DEVICES_1, ADC_Channel_9 },
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{ DEFIO_TAG_E__PA0, ADC_DEVICES_1, ADC_Channel_0 },
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{ DEFIO_TAG_E__PA1, ADC_DEVICES_1, ADC_Channel_1 },
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{ DEFIO_TAG_E__PA2, ADC_DEVICES_1, ADC_Channel_2 },
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{ DEFIO_TAG_E__PA3, ADC_DEVICES_1, ADC_Channel_3 },
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{ DEFIO_TAG_E__PA4, ADC_DEVICES_1, ADC_Channel_4 },
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{ DEFIO_TAG_E__PA5, ADC_DEVICES_1, ADC_Channel_5 },
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{ DEFIO_TAG_E__PA6, ADC_DEVICES_1, ADC_Channel_6 },
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{ DEFIO_TAG_E__PA7, ADC_DEVICES_1, ADC_Channel_7 },
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#else
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{ DEFIO_TAG_E__PC0, ADC_DEVICES_123, ADC_Channel_10 },
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{ DEFIO_TAG_E__PC1, ADC_DEVICES_123, ADC_Channel_11 },
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{ DEFIO_TAG_E__PC2, ADC_DEVICES_123, ADC_Channel_12 },
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{ DEFIO_TAG_E__PC3, ADC_DEVICES_123, ADC_Channel_13 },
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{ DEFIO_TAG_E__PC4, ADC_DEVICES_12, ADC_Channel_14 },
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{ DEFIO_TAG_E__PC5, ADC_DEVICES_12, ADC_Channel_15 },
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{ DEFIO_TAG_E__PB0, ADC_DEVICES_12, ADC_Channel_8 },
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{ DEFIO_TAG_E__PB1, ADC_DEVICES_12, ADC_Channel_9 },
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{ DEFIO_TAG_E__PA0, ADC_DEVICES_123, ADC_Channel_0 },
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{ DEFIO_TAG_E__PA1, ADC_DEVICES_123, ADC_Channel_1 },
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{ DEFIO_TAG_E__PA2, ADC_DEVICES_123, ADC_Channel_2 },
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{ DEFIO_TAG_E__PA3, ADC_DEVICES_123, ADC_Channel_3 },
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{ DEFIO_TAG_E__PA4, ADC_DEVICES_12, ADC_Channel_4 },
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{ DEFIO_TAG_E__PA5, ADC_DEVICES_12, ADC_Channel_5 },
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{ DEFIO_TAG_E__PA6, ADC_DEVICES_12, ADC_Channel_6 },
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{ DEFIO_TAG_E__PA7, ADC_DEVICES_12, ADC_Channel_7 },
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#endif
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};
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#define VREFINT_CAL_ADDR 0x1FFF7A2A
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#define TS_CAL1_ADDR 0x1FFF7A2C
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#define TS_CAL2_ADDR 0x1FFF7A2E
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void adcInitDevice(ADC_TypeDef *adcdev, int channelCount)
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{
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ADC_InitTypeDef ADC_InitStructure;
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ADC_StructInit(&ADC_InitStructure);
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ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
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ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
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ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
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ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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ADC_InitStructure.ADC_NbrOfConversion = channelCount;
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// Multiple injected channel seems to require scan conversion mode to be
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// enabled even if main (non-injected) channel count is 1.
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#ifdef USE_ADC_INTERNAL
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ADC_InitStructure.ADC_ScanConvMode = ENABLE;
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#else
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ADC_InitStructure.ADC_ScanConvMode = channelCount > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
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#endif
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ADC_Init(adcdev, &ADC_InitStructure);
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}
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#ifdef USE_ADC_INTERNAL
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void adcInitInternalInjected(const adcConfig_t *config)
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{
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ADC_TempSensorVrefintCmd(ENABLE);
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ADC_InjectedDiscModeCmd(ADC1, DISABLE);
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ADC_InjectedSequencerLengthConfig(ADC1, 2);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_Vrefint, 1, ADC_SampleTime_480Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_TempSensor, 2, ADC_SampleTime_480Cycles);
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adcVREFINTCAL = config->vrefIntCalibration ? config->vrefIntCalibration : *(uint16_t *)VREFINT_CAL_ADDR;
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adcTSCAL1 = config->tempSensorCalibration1 ? config->tempSensorCalibration1 : *(uint16_t *)TS_CAL1_ADDR;
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adcTSCAL2 = config->tempSensorCalibration2 ? config->tempSensorCalibration2 : *(uint16_t *)TS_CAL2_ADDR;
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adcTSSlopeK = (110 - 30) * 1000 / (adcTSCAL2 - adcTSCAL1);
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}
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// Note on sampling time for temperature sensor and vrefint:
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// Both sources have minimum sample time of 10us.
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// With prescaler = 8:
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// 168MHz : fAPB2 = 84MHz, fADC = 10.5MHz, tcycle = 0.090us, 10us = 105cycle < 144cycle
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// 240MHz : fAPB2 = 120MHz, fADC = 15.0MHz, tcycle = 0.067usk 10us = 150cycle < 480cycle
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//
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// 480cycles@15.0MHz = 32us
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static bool adcInternalConversionInProgress = false;
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bool adcInternalIsBusy(void)
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{
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if (adcInternalConversionInProgress) {
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if (ADC_GetFlagStatus(ADC1, ADC_FLAG_JEOC) != RESET) {
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adcInternalConversionInProgress = false;
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}
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}
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return adcInternalConversionInProgress;
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}
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void adcInternalStartConversion(void)
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{
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ADC_ClearFlag(ADC1, ADC_FLAG_JEOC);
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ADC_SoftwareStartInjectedConv(ADC1);
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adcInternalConversionInProgress = true;
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}
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uint16_t adcInternalReadVrefint(void)
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{
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return ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
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}
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uint16_t adcInternalReadTempsensor(void)
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{
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return ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_2);
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}
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#endif
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void adcInit(const adcConfig_t *config)
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{
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uint8_t i;
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uint8_t configuredAdcChannels = 0;
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memset(&adcOperatingConfig, 0, sizeof(adcOperatingConfig));
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if (config->vbat.enabled) {
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adcOperatingConfig[ADC_BATTERY].tag = config->vbat.ioTag;
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}
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if (config->rssi.enabled) {
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adcOperatingConfig[ADC_RSSI].tag = config->rssi.ioTag; //RSSI_ADC_CHANNEL;
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}
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if (config->external1.enabled) {
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adcOperatingConfig[ADC_EXTERNAL1].tag = config->external1.ioTag; //EXTERNAL1_ADC_CHANNEL;
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}
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if (config->current.enabled) {
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adcOperatingConfig[ADC_CURRENT].tag = config->current.ioTag; //CURRENT_METER_ADC_CHANNEL;
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}
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ADCDevice device = ADC_CFG_TO_DEV(config->device);
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if (device == ADCINVALID) {
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return;
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}
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adcDevice_t adc = adcHardware[device];
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bool adcActive = false;
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for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
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if (!adcVerifyPin(adcOperatingConfig[i].tag, device)) {
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continue;
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}
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adcActive = true;
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IOInit(IOGetByTag(adcOperatingConfig[i].tag), OWNER_ADC_BATT + i, 0);
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IOConfigGPIO(IOGetByTag(adcOperatingConfig[i].tag), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
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adcOperatingConfig[i].adcChannel = adcChannelByTag(adcOperatingConfig[i].tag);
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adcOperatingConfig[i].dmaIndex = configuredAdcChannels++;
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adcOperatingConfig[i].sampleTime = ADC_SampleTime_480Cycles;
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adcOperatingConfig[i].enabled = true;
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}
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#ifndef USE_ADC_INTERNAL
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if (!adcActive) {
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return;
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}
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#endif
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RCC_ClockCmd(adc.rccADC, ENABLE);
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ADC_CommonInitTypeDef ADC_CommonInitStructure;
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ADC_CommonStructInit(&ADC_CommonInitStructure);
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ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
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ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
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ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
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ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
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ADC_CommonInit(&ADC_CommonInitStructure);
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#ifdef USE_ADC_INTERNAL
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// If device is not ADC1 or there's no active channel, then initialize ADC1 separately
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if (device != ADCDEV_1 || !adcActive) {
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RCC_ClockCmd(adcHardware[ADCDEV_1].rccADC, ENABLE);
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adcInitDevice(ADC1, 2);
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ADC_Cmd(ADC1, ENABLE);
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}
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// Initialize for injected conversion
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adcInitInternalInjected(config);
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if (!adcActive) {
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return;
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}
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#endif
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adcInitDevice(adc.ADCx, configuredAdcChannels);
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uint8_t rank = 1;
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for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
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if (!adcOperatingConfig[i].enabled) {
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continue;
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}
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ADC_RegularChannelConfig(adc.ADCx, adcOperatingConfig[i].adcChannel, rank++, adcOperatingConfig[i].sampleTime);
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}
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ADC_DMARequestAfterLastTransferCmd(adc.ADCx, ENABLE);
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ADC_DMACmd(adc.ADCx, ENABLE);
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ADC_Cmd(adc.ADCx, ENABLE);
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#ifdef USE_DMA_SPEC
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const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpec(DMA_PERIPH_ADC, device, config->dmaopt[device]);
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if (!dmaSpec) {
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return;
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}
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dmaInit(dmaGetIdentifier(dmaSpec->ref), OWNER_ADC, RESOURCE_INDEX(device));
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DMA_DeInit(dmaSpec->ref);
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#else
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dmaInit(dmaGetIdentifier(adc.DMAy_Streamx), OWNER_ADC, 0);
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DMA_DeInit(adc.DMAy_Streamx);
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#endif
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DMA_InitTypeDef DMA_InitStructure;
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DMA_StructInit(&DMA_InitStructure);
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&adc.ADCx->DR;
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#ifdef USE_DMA_SPEC
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DMA_InitStructure.DMA_Channel = dmaSpec->channel;
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#else
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DMA_InitStructure.DMA_Channel = adc.channel;
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#endif
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DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)adcValues;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
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DMA_InitStructure.DMA_BufferSize = configuredAdcChannels;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = configuredAdcChannels > 1 ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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#ifdef USE_DMA_SPEC
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DMA_Init(dmaSpec->ref, &DMA_InitStructure);
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DMA_Cmd(dmaSpec->ref, ENABLE);
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#else
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DMA_Init(adc.DMAy_Streamx, &DMA_InitStructure);
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DMA_Cmd(adc.DMAy_Streamx, ENABLE);
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#endif
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ADC_SoftwareStartConv(adc.ADCx);
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}
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#endif
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