diff options
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_adc.c | 139 | ||||
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_init.c | 23 | ||||
-rw-r--r-- | apps/drivers/drv_adc.h | 54 | ||||
-rw-r--r-- | apps/drivers/stm32/adc/Makefile | 43 | ||||
-rw-r--r-- | apps/drivers/stm32/adc/adc.cpp | 310 |
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); +} |