First cut at a simple® ADC driver built on our driver framework.

5 files changed, 412 insertions, 157 deletions

diff --git a/apps/drivers/boards/px4fmu/px4fmu_adc.c b/apps/drivers/boards/px4fmu/px4fmu_adc.c
deleted file mode 100644
index 987894163..000000000
--- a/apps/drivers/boards/px4fmu/px4fmu_adc.c
+++ /dev/null
@@ -1,139 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4fmu_adc.c
- *
- * Board-specific ADC functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <errno.h>
-#include <debug.h>
-#include <stdio.h>
-
-#include <nuttx/analog/adc.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "up_arch.h"
-
-#include "stm32_adc.h"
-#include "px4fmu_internal.h"
-
-#define ADC3_NCHANNELS 4
-
-/************************************************************************************
- * Private Data
- ************************************************************************************/
-/* The PX4FMU board has four ADC channels: ADC323 IN10-13
- */
-
-/* Identifying number of each ADC channel: Variable Resistor. */
-
-#ifdef CONFIG_STM32_ADC3
-static const uint8_t  g_chanlist[ADC3_NCHANNELS] = {10, 11};// , 12, 13}; ADC12 and 13 are used by MPU on v1.5 boards
-
-/* Configurations of pins used byte each ADC channels */
-static const uint32_t g_pinlist[ADC3_NCHANNELS]  = {GPIO_ADC3_IN10, GPIO_ADC3_IN11}; // ADC12 and 13 are used by MPU on v1.5 boards, GPIO_ADC3_IN12, GPIO_ADC3_IN13};
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: adc_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/adc.
- *
- ************************************************************************************/
-
-int adc_devinit(void)
-{
-	static bool initialized = false;
-	struct adc_dev_s *adc[ADC3_NCHANNELS];
-	int ret;
-	int i;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		char name[11];
-
-		for (i = 0; i < ADC3_NCHANNELS; i++) {
-			stm32_configgpio(g_pinlist[i]);
-		}
-
-		for (i = 0; i < 1; i++) {
-			/* Configure the pins as analog inputs for the selected channels */
-			//stm32_configgpio(g_pinlist[i]);
-
-			/* Call stm32_adcinitialize() to get an instance of the ADC interface */
-			//multiple channels only supported with dma!
-			adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
-
-			if (adc == NULL) {
-				adbg("ERROR: Failed to get ADC interface\n");
-				return -ENODEV;
-			}
-
-
-			/* Register the ADC driver at "/dev/adc0" */
-			sprintf(name, "/dev/adc%d", i);
-			ret = adc_register(name, adc[i]);
-
-			if (ret < 0) {
-				adbg("adc_register failed for adc %s: %d\n", name, ret);
-				return ret;
-			}
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index 57ffb77d3..4ebc5a439 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -209,8 +209,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully initialized SPI port 1\r\n");
 
-#if defined(CONFIG_STM32_SPI3)
-	/* Get the SPI port */
+	/* Get the SPI port for the microSD slot */
 
 	message("[boot] Initializing SPI port 3\n");
 	spi3 = up_spiinitialize(3);
@@ -233,23 +232,11 @@ __EXPORT int nsh_archinitialize(void)
 	}
 
 	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
-#endif /* SPI3 */
 
-#ifdef CONFIG_ADC
-	int adc_state = adc_devinit();
-
-	if (adc_state != OK) {
-		/* Try again */
-		adc_state = adc_devinit();
-
-		if (adc_state != OK) {
-			/* Give up */
-			message("[boot] FAILED adc_devinit: %d\n", adc_state);
-			return -ENODEV;
-		}
-	}
-
-#endif
+	stm32_configgpio(GPIO_ADC1_IN10);
+	stm32_configgpio(GPIO_ADC1_IN11);
+	//stm32_configgpio(GPIO_ADC1_IN12);	// XXX is this available?
+	//stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
 
 	return OK;
 }
diff --git a/apps/drivers/drv_adc.h b/apps/drivers/drv_adc.h
new file mode 100644
index 000000000..f42350cbb
--- /dev/null
+++ b/apps/drivers/drv_adc.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_adc.h
+ *
+ * ADC driver interface.
+ *
+ * This defines additional operations over and above the standard NuttX
+ * ADC API.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include <nuttx/compiler.h>
+
+#define ADC_DEVICE_PATH		"/dev/adc0"
+
+/*
+ * ioctl definitions
+ */
diff --git a/apps/drivers/stm32/adc/Makefile b/apps/drivers/stm32/adc/Makefile
new file mode 100644
index 000000000..443bc0623
--- /dev/null
+++ b/apps/drivers/stm32/adc/Makefile
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# STM32 ADC driver
+#
+
+APPNAME		 = adc
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/stm32/adc/adc.cpp b/apps/drivers/stm32/adc/adc.cpp
new file mode 100644
index 000000000..f77499706
--- /dev/null
+++ b/apps/drivers/stm32/adc/adc.cpp
@@ -0,0 +1,310 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file adc.cpp
+ *
+ * Driver for the STM32 ADC.
+ *
+ * This is a low-rate driver, designed for sampling things like voltages
+ * and so forth. It avoids the gross complexity of the NuttX ADC driver.
+ */
+
+#include <nuttx/config.h>
+#include <drivers/device/device.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_adc.h>
+
+#include <arch/stm32/chip.h>
+#include <stm32_internal.h>
+#include <stm32_gpio.h>
+
+#include <systemlib/err.h>
+
+#define ADC_BASE	STM32_ADC1_BASE
+
+/*
+ * Register accessors.
+ */
+#define REG(_reg)	(*(volatile uint32_t *)(_base + _reg))
+
+#define rSR		REG(STM32_ADC_SR_OFFSET)
+#define rCR1		REG(STM32_ADC_CR1_OFFSET)
+#define rCR2		REG(STM32_ADC_CR2_OFFSET)
+#define rSMPR1		REG(STM32_ADC_SMPR1_OFFSET)
+#define rSMPR2		REG(STM32_ADC_SMPR2_OFFSET)
+#define rJOFR1		REG(STM32_ADC_JOFR1_OFFSET)
+#define rJOFR2		REG(STM32_ADC_JOFR2_OFFSET)
+#define rJOFR3		REG(STM32_ADC_JOFR3_OFFSET)
+#define rJOFR4		REG(STM32_ADC_JOFR4_OFFSET)
+#define rHTR		REG(STM32_ADC_HTR_OFFSET)
+#define rLTR		REG(STM32_ADC_LTR_OFFSET)
+#define rSQR1		REG(STM32_ADC_SQR1_OFFSET)
+#define rSQR2		REG(STM32_ADC_SQR2_OFFSET)
+#define rSQR3		REG(STM32_ADC_SQR3_OFFSET)
+#define rJSQR		REG(STM32_ADC_JSQR_OFFSET)
+#define rJDR1		REG(STM32_ADC_JDR1_OFFSET)
+#define rJDR2		REG(STM32_ADC_JDR2_OFFSET)
+#define rJDR3		REG(STM32_ADC_JDR3_OFFSET)
+#define rJDR4		REG(STM32_ADC_JDR4_OFFSET)
+#define rDR		REG(STM32_ADC_DR_OFFSET)
+
+class ADC : public device::CDev
+{
+public:
+	ADC();
+	~ADC();
+
+	virtual int		init();
+
+	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(file *filp, char *buffer, size_t len);
+
+protected:
+	virtual int		open_first(struct file *filp);
+	virtual int		close_last(struct file *filp);
+
+private:
+	static const hrt_abstime _tickrate = 10000;	/* 100Hz base rate */
+	static const uint32_t	_base = ADC_BASE;
+
+	hrt_call		_call;
+
+	static void		_tick_trampoline(void *arg);
+	void			_tick();
+
+	uint16_t		_sample(unsigned channel);
+
+	uint16_t		_result;
+};
+
+ADC::ADC() :
+	CDev("adc", ADC_DEVICE_PATH)
+{
+	_debug_enabled = true;
+}
+
+ADC::~ADC()
+{
+}
+
+int
+ADC::init()
+{
+	/* do calibration if supported */
+#ifdef ADC_CR2_CAL
+	rCR2 |= ADC_CR2_CAL;
+	usleep(100);
+	if (rCR2 & ADC_CR2_CAL)
+		return -1;
+#endif
+
+	/* arbitrarily configure all channels for 55 cycle sample time */
+	rSMPR1 = 0b00000011011011011011011011011011;
+	rSMPR2 = 0b00011011011011011011011011011011;
+
+	/* XXX for F2/4, might want to select 12-bit mode? */
+	rCR1 = 0;
+
+	/* enable the temperature sensor / Vrefint channel if supported*/
+	rCR2 = 
+#ifdef ADC_CR2_TSVREFE
+		ADC_CR2_TSVREFE |
+#endif
+		0;
+
+	/* configure for a single-channel sequence */
+	rSQR1 = 0;
+	rSQR2 = 0;
+	rSQR3 = 11;	/* will be updated with the channel each tick */ 
+
+	/* power-cycle the ADC and turn it on */
+	rCR2 &= ~ADC_CR2_ADON;
+	usleep(10);
+	rCR2 |= ADC_CR2_ADON;
+	usleep(10);
+	rCR2 |= ADC_CR2_ADON;
+	usleep(10);
+
+	/* kick off a sample and wait for it to complete */
+	hrt_abstime now = hrt_absolute_time();
+	rCR2 |= ADC_CR2_SWSTART;
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 500) {
+			log("sample timeout");
+			return -1;
+			return 0xffff;
+		}
+	}
+	debug("init done");
+
+	/* create the device node */
+	return CDev::init();
+}
+
+int
+ADC::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	return -ENOTTY;
+}
+
+ssize_t
+ADC::read(file *filp, char *buffer, size_t len)
+{
+	if (len > sizeof(_result))
+		len = sizeof(_result);
+
+//	_result = _sample(11);
+
+	memcpy(buffer, &_result, len);
+	return len;
+}
+
+int
+ADC::open_first(struct file *filp)
+{
+	hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
+
+	return 0;
+}
+
+int
+ADC::close_last(struct file *filp)
+{
+	hrt_cancel(&_call);
+	return 0;
+}
+
+void
+ADC::_tick_trampoline(void *arg)
+{
+	((ADC *)arg)->_tick();
+}
+
+void
+ADC::_tick()
+{
+	_result = _sample(11);
+}
+
+uint16_t
+ADC::_sample(unsigned channel)
+{
+	/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
+	rSQR3 = channel;
+	rCR2 |= ADC_CR2_SWSTART;
+
+	/* wait for the conversion to complete */
+	hrt_abstime now = hrt_absolute_time();
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* don't wait for more than 50us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 50) {
+			log("sample timeout");
+			return 0xffff;
+		}
+	}
+
+	/* read the result and clear EOC */
+	uint16_t result = rDR;
+
+	return result;
+}
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int adc_main(int argc, char *argv[]);
+
+namespace
+{
+ADC	*g_adc;
+
+void
+test(void)
+{
+	int fd;
+
+	fd = open(ADC_DEVICE_PATH, O_RDONLY);
+	if (fd < 0)
+		err(1, "can't open ADC device");
+
+	uint16_t value;
+
+	for (unsigned i = 0; i < 50; i++) {
+		if (read(fd, &value, sizeof(value)) != sizeof(value))
+			errx(1, "short read");
+		printf("  %d\n", value);
+		usleep(500000);
+	}
+
+	exit(0);
+}
+}
+
+int
+adc_main(int argc, char *argv[])
+{
+	if (g_adc == nullptr) {
+		g_adc = new ADC;
+
+		if (g_adc == nullptr)
+			errx(1, "couldn't allocate the ADC driver");
+
+		if (g_adc->init() != OK) {
+			delete g_adc;
+			errx(1, "ADC init failed");
+		}
+	}
+
+	if (argc > 1) {
+		if (!strcmp(argv[1], "test"))
+			test();
+	}
+
+	exit(0);
+}