1 files changed, 0 insertions, 387 deletions
diff --git a/apps/drivers/stm32/adc/adc.cpp b/apps/drivers/stm32/adc/adc.cpp
deleted file mode 100644
index 911def943..000000000
--- a/apps/drivers/stm32/adc/adc.cpp
+++ /dev/null
@@ -1,387 +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 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>
-#include <systemlib/perf_counter.h>
-
-/*
- * Register accessors.
- * For now, no reason not to just use ADC1.
- */
-#define REG(_reg)	(*(volatile uint32_t *)(STM32_ADC1_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)
-
-#ifdef STM32_ADC_CCR
-# define rCCR		REG(STM32_ADC_CCR_OFFSET)
-#endif
-
-class ADC : public device::CDev
-{
-public:
-	ADC(uint32_t channels);
-	~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 */
-	
-	hrt_call		_call;
-	perf_counter_t		_sample_perf;
-
-	unsigned		_channel_count;
-	adc_msg_s		*_samples;		/**< sample buffer */
-
-	/** work trampoline */
-	static void		_tick_trampoline(void *arg);
-
-	/** worker function */
-	void			_tick();
-
-	/**
-	 * Sample a single channel and return the measured value.
-	 *
-	 * @param channel		The channel to sample.
-	 * @return			The sampled value, or 0xffff if
-	 *				sampling failed.
-	 */
-	uint16_t		_sample(unsigned channel);
-
-};
-
-ADC::ADC(uint32_t channels) :
-	CDev("adc", ADC_DEVICE_PATH),
-	_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
-	_channel_count(0),
-	_samples(nullptr)
-{
-	_debug_enabled = true;
-
-	/* always enable the temperature sensor */
-	channels |= 1 << 16;
-
-	/* allocate the sample array */
-	for (unsigned i = 0; i < 32; i++) {
-		if (channels & (1 << i)) {
-			_channel_count++;
-		}
-	}
-	_samples = new adc_msg_s[_channel_count];
-
-	/* prefill the channel numbers in the sample array */
-	if (_samples != nullptr) {
-		unsigned index = 0;
-		for (unsigned i = 0; i < 32; i++) {
-			if (channels & (1 << i)) {
-				_samples[index].am_channel = i;
-				_samples[index].am_data = 0;
-				index++;
-			}
-		}
-	}
-}
-
-ADC::~ADC()
-{
-	if (_samples != nullptr)
-		delete _samples;
-}
-
-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
-		/* enable the temperature sensor in CR2 */
-		ADC_CR2_TSVREFE |
-#endif
-		0;
-
-#ifdef ADC_CCR_TSVREFE
-	/* enable temperature sensor in CCR */
-	rCCR = ADC_CCR_TSVREFE;
-#endif
-
-	/* configure for a single-channel sequence */
-	rSQR1 = 0;
-	rSQR2 = 0;
-	rSQR3 = 0;	/* 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)
-{
-	const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
-
-	if (len > maxsize)
-		len = maxsize;
-
-	/* block interrupts while copying samples to avoid racing with an update */
-	irqstate_t flags = irqsave();
-	memcpy(buffer, _samples, len);
-	irqrestore(flags);
-
-	return len;
-}
-
-int
-ADC::open_first(struct file *filp)
-{
-	/* get fresh data */
-	_tick();
-
-	/* and schedule regular updates */
-	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()
-{
-	/* scan the channel set and sample each */
-	for (unsigned i = 0; i < _channel_count; i++)
-		_samples[i].am_data = _sample(_samples[i].am_channel);
-}
-
-uint16_t
-ADC::_sample(unsigned channel)
-{
-	perf_begin(_sample_perf);
-
-	/* clear any previous EOC */
-	if (rSR & ADC_SR_EOC)
-		rSR &= ~ADC_SR_EOC;
-
-	/* 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;
-
-	perf_end(_sample_perf);
-	return result;
-}
-
-/*
- * Driver 'main' command.
- */
-extern "C" __EXPORT int adc_main(int argc, char *argv[]);
-
-namespace
-{
-ADC	*g_adc;
-
-void
-test(void)
-{
-
-	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
-	if (fd < 0)
-		err(1, "can't open ADC device");
-
-	for (unsigned i = 0; i < 50; i++) {
-		adc_msg_s data[8];
-		ssize_t count = read(fd, data, sizeof(data));
-
-		if (count < 0)
-			errx(1, "read error");
-
-		unsigned channels = count / sizeof(data[0]);
-
-		for (unsigned j = 0; j < channels; j++) {
-			printf ("%d: %u  ", data[j].am_channel, data[j].am_data);
-		}
-
-		printf("\n");
-		usleep(500000);
-	}
-
-	exit(0);
-}
-}
-
-int
-adc_main(int argc, char *argv[])
-{
-	if (g_adc == nullptr) {
-		/* XXX this hardcodes the default channel set for PX4FMU - should be configurable */
-		g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
-
-		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);
-}