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   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include <ao.h>
  19 #include <ao_data.h>
  20 #if HAS_MPU6000
  21 #include <ao_mpu6000.h>
  22 #endif
  23 #if HAS_MS5607
  24 #include <ao_ms5607.h>
  25 #endif
  26
  27 volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
  28 volatile __data uint8_t         ao_data_head;
  29
  30 static uint8_t                  ao_adc_ready;
  31
  32 #define AO_ADC_CR2_VAL          ((0 << STM_ADC_CR2_SWSTART) |           \
  33                                  (STM_ADC_CR2_EXTEN_DISABLE << STM_ADC_CR2_EXTEN) | \
  34                                  (0 << STM_ADC_CR2_EXTSEL) |            \
  35                                  (0 << STM_ADC_CR2_JWSTART) |           \
  36                                  (STM_ADC_CR2_JEXTEN_DISABLE << STM_ADC_CR2_JEXTEN) | \
  37                                  (0 << STM_ADC_CR2_JEXTSEL) |           \
  38                                  (0 << STM_ADC_CR2_ALIGN) |             \
  39                                  (0 << STM_ADC_CR2_EOCS) |              \
  40                                  (1 << STM_ADC_CR2_DDS) |               \
  41                                  (1 << STM_ADC_CR2_DMA) |               \
  42                                  (STM_ADC_CR2_DELS_UNTIL_READ << STM_ADC_CR2_DELS) | \
  43                                  (0 << STM_ADC_CR2_CONT) |              \
  44                                  (1 << STM_ADC_CR2_ADON))
  45
  46 /*
  47  * Callback from DMA ISR
  48  *
  49  * Mark time in ring, shut down DMA engine
  50  */
  51 static void ao_adc_done(int index)
  52 {
  53         ao_data_ring[ao_data_head].tick = ao_time();
  54 #if HAS_MPU6000
  55         ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
  56 #endif
  57 #if HAS_MS5607
  58         ao_data_ring[ao_data_head].ms5607 = ao_ms5607_current;
  59 #endif
  60         ao_data_head = ao_data_ring_next(ao_data_head);
  61         ao_wakeup((void *) &ao_data_head);
  62         ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
  63         ao_adc_ready = 1;
  64 }
  65
  66 /*
  67  * Start the ADC sequence using the DMA engine
  68  */
  69 void
  70 ao_adc_poll(void)
  71 {
  72         if (!ao_adc_ready)
  73                 return;
  74         ao_adc_ready = 0;
  75         stm_adc.sr = 0;
  76         ao_dma_set_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1),
  77                             &stm_adc.dr,
  78                             (void *) (&ao_data_ring[ao_data_head].tick + 1),
  79                             AO_NUM_ADC,
  80                             (0 << STM_DMA_CCR_MEM2MEM) |
  81                             (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) |
  82                             (STM_DMA_CCR_MSIZE_16 << STM_DMA_CCR_MSIZE) |
  83                             (STM_DMA_CCR_PSIZE_16 << STM_DMA_CCR_PSIZE) |
  84                             (1 << STM_DMA_CCR_MINC) |
  85                             (0 << STM_DMA_CCR_PINC) |
  86                             (0 << STM_DMA_CCR_CIRC) |
  87                             (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
  88         ao_dma_set_isr(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1), ao_adc_done);
  89         ao_dma_start(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
  90
  91         stm_adc.cr2 = AO_ADC_CR2_VAL | (1 << STM_ADC_CR2_SWSTART);
  92 }
  93
  94 /*
  95  * Fetch a copy of the most recent ADC data
  96  */
  97 void
  98 ao_adc_get(__xdata struct ao_adc *packet)
  99 {
 100         uint8_t i = ao_data_ring_prev(ao_data_head);
 101         memcpy(packet, (void *) &ao_data_ring[i].adc, sizeof (struct ao_adc));
 102 }
 103
 104 void
 105 ao_data_get(__xdata struct ao_data *packet)
 106 {
 107         uint8_t i = ao_data_ring_prev(ao_data_head);
 108         memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
 109 }
 110
 111 static void
 112 ao_adc_dump(void) __reentrant
 113 {
 114         struct ao_data  packet;
 115         int16_t *d;
 116         uint8_t i;
 117
 118         ao_data_get(&packet);
 119         printf("tick: %5u",  packet.tick);
 120         d = (int16_t *) (&packet.adc);
 121         for (i = 0; i < AO_NUM_ADC; i++)
 122                 printf (" %2d: %5d", i, d[i]);
 123         printf("\n");
 124 }
 125
 126 __code struct ao_cmds ao_adc_cmds[] = {
 127         { ao_adc_dump,  "a\0Display current ADC values" },
 128         { 0, NULL },
 129 };
 130
 131 void
 132 ao_adc_init(void)
 133 {
 134 #ifdef AO_ADC_PIN0_PORT
 135         stm_rcc.ahbenr |= AO_ADC_RCC_AHBENR;
 136 #endif
 137
 138 #ifdef AO_ADC_PIN0_PORT
 139         stm_moder_set(&AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
 140 #endif
 141 #ifdef AO_ADC_PIN1_PORT
 142         stm_moder_set(&AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
 143 #endif
 144 #ifdef AO_ADC_PIN2_PORT
 145         stm_moder_set(&AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
 146 #endif
 147 #ifdef AO_ADC_PIN3_PORT
 148         stm_moder_set(&AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
 149 #endif
 150 #ifdef AO_ADC_PIN4_PORT
 151         stm_moder_set(&AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
 152 #endif
 153 #ifdef AO_ADC_PIN5_PORT
 154         stm_moder_set(&AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
 155 #endif
 156 #ifdef AO_ADC_PIN6_PORT
 157         stm_moder_set(&AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
 158 #endif
 159 #ifdef AO_ADC_PIN7_PORT
 160         stm_moder_set(&AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
 161 #endif
 162 #ifdef AO_ADC_PIN8_PORT
 163         stm_moder_set(&AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG);
 164 #endif
 165 #ifdef AO_ADC_PIN9_PORT
 166         stm_moder_set(&AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG);
 167 #endif
 168
 169         stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADC1EN);
 170
 171         /* Turn off ADC during configuration */
 172         stm_adc.cr2 = 0;
 173
 174         stm_adc.cr1 = ((0 << STM_ADC_CR1_OVRIE ) |
 175                        (STM_ADC_CR1_RES_12 << STM_ADC_CR1_RES ) |
 176                        (0 << STM_ADC_CR1_AWDEN ) |
 177                        (0 << STM_ADC_CR1_JAWDEN ) |
 178                        (0 << STM_ADC_CR1_PDI ) |
 179                        (0 << STM_ADC_CR1_PDD ) |
 180                        (0 << STM_ADC_CR1_DISCNUM ) |
 181                        (0 << STM_ADC_CR1_JDISCEN ) |
 182                        (0 << STM_ADC_CR1_DISCEN ) |
 183                        (0 << STM_ADC_CR1_JAUTO ) |
 184                        (0 << STM_ADC_CR1_AWDSGL ) |
 185                        (1 << STM_ADC_CR1_SCAN ) |
 186                        (0 << STM_ADC_CR1_JEOCIE ) |
 187                        (0 << STM_ADC_CR1_AWDIE ) |
 188                        (0 << STM_ADC_CR1_EOCIE ) |
 189                        (0 << STM_ADC_CR1_AWDCH ));
 190
 191         /* 384 cycle sample time for everyone */
 192         stm_adc.smpr1 = 0x3ffff;
 193         stm_adc.smpr2 = 0x3fffffff;
 194         stm_adc.smpr3 = 0x3fffffff;
 195
 196         stm_adc.sqr1 = ((AO_NUM_ADC - 1) << 20);
 197         stm_adc.sqr2 = 0;
 198         stm_adc.sqr3 = 0;
 199         stm_adc.sqr4 = 0;
 200         stm_adc.sqr5 = 0;
 201 #if AO_NUM_ADC > 0
 202         stm_adc.sqr5 |= (AO_ADC_SQ1 << 0);
 203 #endif
 204 #if AO_NUM_ADC > 1
 205         stm_adc.sqr5 |= (AO_ADC_SQ2 << 5);
 206 #endif
 207 #if AO_NUM_ADC > 2
 208         stm_adc.sqr5 |= (AO_ADC_SQ3 << 10);
 209 #endif
 210 #if AO_NUM_ADC > 3
 211         stm_adc.sqr5 |= (AO_ADC_SQ4 << 15);
 212 #endif
 213 #if AO_NUM_ADC > 4
 214         stm_adc.sqr5 |= (AO_ADC_SQ5 << 20);
 215 #endif
 216 #if AO_NUM_ADC > 5
 217         stm_adc.sqr5 |= (AO_ADC_SQ6 << 25);
 218 #endif
 219 #if AO_NUM_ADC > 6
 220         stm_adc.sqr4 |= (AO_ADC_SQ7 << 0);
 221 #endif
 222 #if AO_NUM_ADC > 7
 223         stm_adc.sqr4 |= (AO_ADC_SQ8 << 5);
 224 #endif
 225 #if AO_NUM_ADC > 8
 226         stm_adc.sqr4 |= (AO_ADC_SQ9 << 10);
 227 #endif
 228
 229         /* Turn ADC on */
 230         stm_adc.cr2 = AO_ADC_CR2_VAL;
 231
 232         /* Wait for ADC to be ready */
 233         while (!(stm_adc.sr & (1 << STM_ADC_SR_ADONS)))
 234                 ;
 235
 236 #if HAS_ADC_TEMP
 237         stm_adc.ccr = ((1 << STM_ADC_CCR_TSVREFE));
 238 #else
 239         stm_adc.ccr = 0;
 240 #endif
 241         /* Clear any stale status bits */
 242         stm_adc.sr = 0;
 243         ao_adc_ready = 1;
 244
 245         ao_dma_alloc(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
 246         ao_cmd_register(&ao_adc_cmds[0]);
 247 }