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186 lines
7.2 KiB
C
186 lines
7.2 KiB
C
/*
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* geany_encoding=koi8-r
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* adc.c
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*
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* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* 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 program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#include "adc.h"
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#include "flash.h"
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#include "stm32f0.h"
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#include "usart.h"
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static uint32_t lastVddtime = 0; // Tms value of last Vdd measurement
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static uint32_t VddValue = 0; // value of Vdd * 100 (for more precision measurements)
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// check time of last Vdd measurement & refresh it value
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#define CHKVDDTIME() do{if(!VddValue || Tms - lastVddtime > 999) getVdd();}while(0)
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/**
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* Array for ADC raw values (before median filter by 9 elements):
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* 0 - Steppers current
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* 1 - Input voltage 12V
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* 2 - EndSwitch2 of motor1
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* 3 - EndSwitch1 of motor1
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* 4 - inner temperature
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* 5 - vref
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*/
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uint16_t ADC_array[NUMBER_OF_ADC_CHANNELS*9];
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/**
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* @brief getADCval - calculate median value for `nch` channel
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* @param nch - number of channel
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* @return
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*/
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uint16_t getADCval(int nch){
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int i, addr = nch;
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register uint16_t temp;
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#define PIX_SORT(a,b) { if ((a)>(b)) PIX_SWAP((a),(b)); }
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#define PIX_SWAP(a,b) { temp=(a);(a)=(b);(b)=temp; }
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uint16_t p[9];
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for(i = 0; i < 9; ++i, addr += NUMBER_OF_ADC_CHANNELS) // first we should prepare array for optmed
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p[i] = ADC_array[addr];
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PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
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PIX_SORT(p[0], p[1]) ; PIX_SORT(p[3], p[4]) ; PIX_SORT(p[6], p[7]) ;
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PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
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PIX_SORT(p[0], p[3]) ; PIX_SORT(p[5], p[8]) ; PIX_SORT(p[4], p[7]) ;
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PIX_SORT(p[3], p[6]) ; PIX_SORT(p[1], p[4]) ; PIX_SORT(p[2], p[5]) ;
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PIX_SORT(p[4], p[7]) ; PIX_SORT(p[4], p[2]) ; PIX_SORT(p[6], p[4]) ;
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PIX_SORT(p[4], p[2]) ;
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return p[4];
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#undef PIX_SORT
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#undef PIX_SWAP
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}
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void adc_setup(){
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// AIN: PA0..3, PA13, PA14. ADC_IN16 - inner temperature. ADC_IN17 - VREFINT
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/* (1) Enable the peripheral clock of the ADC */
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/* (2) Start HSI14 RC oscillator */
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/* (3) Wait HSI14 is ready */
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RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; /* (1) */
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RCC->CR2 |= RCC_CR2_HSI14ON; /* (2) */
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while ((RCC->CR2 & RCC_CR2_HSI14RDY) == 0){}; /* (3) */
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/* (1) Ensure that ADEN = 0 */
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/* (2) Clear ADEN */
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/* (3) Launch the calibration by setting ADCAL */
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/* (4) Wait until ADCAL=0 */
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if ((ADC1->CR & ADC_CR_ADEN) != 0){ /* (1) */
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ADC1->CR &= (uint32_t)(~ADC_CR_ADEN); /* (2) */
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}
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ADC1->CR |= ADC_CR_ADCAL; /* (3) */
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while ((ADC1->CR & ADC_CR_ADCAL) != 0){} /* (4) */
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/* (1) Enable the ADC */
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/* (2) Wait until ADC ready */
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do{
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ADC1->CR |= ADC_CR_ADEN; /* (1) */
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}while ((ADC1->ISR & ADC_ISR_ADRDY) == 0); /* (2) */;
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/* (1) Select HSI14 by writing 00 in CKMODE (reset value) */
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/* (2) Select the continuous mode */
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/* (3) Select CHSEL0..3, 16,17 */
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/* (4) Select a sampling mode of 111 i.e. 239.5 ADC clk to be greater than 17.1us */
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/* (5) Wake-up the VREFINT and Temperature sensor (only for VBAT, Temp sensor and VRefInt) */
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// ADC1->CFGR2 &= ~ADC_CFGR2_CKMODE; /* (1) */
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ADC1->CFGR1 |= ADC_CFGR1_CONT; /* (2)*/
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ADC1->CHSELR = ADC_CHSELR_CHSEL0 | ADC_CHSELR_CHSEL1 | ADC_CHSELR_CHSEL2 |
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ADC_CHSELR_CHSEL3 | ADC_CHSELR_CHSEL16 | ADC_CHSELR_CHSEL17; /* (3)*/
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ADC1->SMPR |= ADC_SMPR_SMP_0 | ADC_SMPR_SMP_1 | ADC_SMPR_SMP_2; /* (4) */
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ADC->CCR |= ADC_CCR_TSEN | ADC_CCR_VREFEN; /* (5) */
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// DMA for AIN
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/* (1) Enable the peripheral clock on DMA */
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/* (2) Enable DMA transfer on ADC and circular mode */
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/* (3) Configure the peripheral data register address */
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/* (4) Configure the memory address */
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/* (5) Configure the number of DMA tranfer to be performs on DMA channel 1 */
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/* (6) Configure increment, size, interrupts and circular mode */
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/* (7) Enable DMA Channel 1 */
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RCC->AHBENR |= RCC_AHBENR_DMA1EN; /* (1) */
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ADC1->CFGR1 |= ADC_CFGR1_DMAEN | ADC_CFGR1_DMACFG; /* (2) */
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DMA1_Channel1->CPAR = (uint32_t) (&(ADC1->DR)); /* (3) */
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DMA1_Channel1->CMAR = (uint32_t)(ADC_array); /* (4) */
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DMA1_Channel1->CNDTR = NUMBER_OF_ADC_CHANNELS * 9; /* (5) */
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DMA1_Channel1->CCR |= DMA_CCR_MINC | DMA_CCR_MSIZE_0 | DMA_CCR_PSIZE_0 | DMA_CCR_CIRC; /* (6) */
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DMA1_Channel1->CCR |= DMA_CCR_EN; /* (7) */
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ADC1->CR |= ADC_CR_ADSTART; /* start the ADC conversions */
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}
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// return MCU temperature (degrees of celsius)
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int32_t getTemp(){
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CHKVDDTIME();
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// make correction on Vdd value
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int32_t temperature = (int32_t)getADCval(4) * (int32_t)VddValue / 330;
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temperature = (int32_t) *TEMP30_CAL_ADDR - temperature;
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temperature *= (int32_t)(1100 - 300);
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temperature = temperature / (int32_t)(*TEMP30_CAL_ADDR - *TEMP110_CAL_ADDR);
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temperature += 300;
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return(temperature);
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}
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// return Vdd * 100 (V)
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uint32_t getVdd(){
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uint32_t vdd = ((uint32_t) *VREFINT_CAL_ADDR) * (uint32_t)330 * the_conf.v33numerator; // 3.3V
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vdd /= getADCval(5) * the_conf.v33denominator;
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lastVddtime = Tms;
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VddValue = vdd;
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return vdd;
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}
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// return value of 12V * 100 (V)
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uint32_t getVmot(){
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CHKVDDTIME();
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uint32_t vmot = getADCval(1) * VddValue * the_conf.v12numerator;
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vmot >>= 12;
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vmot /= the_conf.v12denominator;
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return vmot;
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}
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// return value of motors' current * 100 (A)
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uint32_t getImot(){
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CHKVDDTIME();
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uint32_t vmot = getADCval(0) * VddValue * the_conf.i12numerator;
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vmot >>= 12;
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vmot /= the_conf.i12denominator;
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return vmot;
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}
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// end-switches status: 0 - don't activated, 1 - activated, 2 - user button, 4 - error
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// @param motnum - motor number (0,1)
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// @param eswnum - switch number (0,1)
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ESW_status eswStatus(int motnum, int eswnum){
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int idx;
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if(motnum){ // motor 1 have no ADC - just 0 or 1
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if(eswnum){ // ESW11 - PA14
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if(GPIOA->IDR & 1<<14) return ESW_RELEASED;
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else return ESW_HALL;
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}else{ // ESW10 - PA13
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if(GPIOA->IDR & 1<<13) return ESW_RELEASED;
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else return ESW_HALL;
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}
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}else{ // motor 0
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if(eswnum) idx = 2;
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else idx = 3;
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}
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uint16_t thres = the_conf.ESW_thres, val = getADCval(idx);
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// low sighal: 0..threshold - Hall activated
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if(val < thres) return ESW_HALL;
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// high signal: (4096-thres)..4096 - pullup
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if(val > (uint16_t)0x1000 - thres) return ESW_RELEASED;
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// middle signal: 0x800-thres..0x800+thres - user button active (47k pullup + 47k pulldown)
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if(0x800 - thres < val && val < 0x800 + thres) return ESW_BUTTON;
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// very strange, return err
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return ESW_ERROR;
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}
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