MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_STM/TARGET_STM32F0/analogout_api.c@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2015, STMicroelectronics
sahilmgandhi 18:6a4db94011d3 3 * All rights reserved.
sahilmgandhi 18:6a4db94011d3 4 *
sahilmgandhi 18:6a4db94011d3 5 * Redistribution and use in source and binary forms, with or without
sahilmgandhi 18:6a4db94011d3 6 * modification, are permitted provided that the following conditions are met:
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * 1. Redistributions of source code must retain the above copyright notice,
sahilmgandhi 18:6a4db94011d3 9 * this list of conditions and the following disclaimer.
sahilmgandhi 18:6a4db94011d3 10 * 2. Redistributions in binary form must reproduce the above copyright notice,
sahilmgandhi 18:6a4db94011d3 11 * this list of conditions and the following disclaimer in the documentation
sahilmgandhi 18:6a4db94011d3 12 * and/or other materials provided with the distribution.
sahilmgandhi 18:6a4db94011d3 13 * 3. Neither the name of STMicroelectronics nor the names of its contributors
sahilmgandhi 18:6a4db94011d3 14 * may be used to endorse or promote products derived from this software
sahilmgandhi 18:6a4db94011d3 15 * without specific prior written permission.
sahilmgandhi 18:6a4db94011d3 16 *
sahilmgandhi 18:6a4db94011d3 17 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
sahilmgandhi 18:6a4db94011d3 18 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
sahilmgandhi 18:6a4db94011d3 19 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
sahilmgandhi 18:6a4db94011d3 20 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
sahilmgandhi 18:6a4db94011d3 21 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
sahilmgandhi 18:6a4db94011d3 22 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
sahilmgandhi 18:6a4db94011d3 23 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
sahilmgandhi 18:6a4db94011d3 24 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
sahilmgandhi 18:6a4db94011d3 25 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
sahilmgandhi 18:6a4db94011d3 26 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
sahilmgandhi 18:6a4db94011d3 27 */
sahilmgandhi 18:6a4db94011d3 28 #include "mbed_assert.h"
sahilmgandhi 18:6a4db94011d3 29 #include "analogout_api.h"
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 #if DEVICE_ANALOGOUT
sahilmgandhi 18:6a4db94011d3 32
sahilmgandhi 18:6a4db94011d3 33 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 34 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 35 #include "mbed_error.h"
sahilmgandhi 18:6a4db94011d3 36 #include "PeripheralPins.h"
sahilmgandhi 18:6a4db94011d3 37
sahilmgandhi 18:6a4db94011d3 38 #define DAC_RANGE (0xFFF) // 12 bits
sahilmgandhi 18:6a4db94011d3 39 #define DAC_NB_BITS (12)
sahilmgandhi 18:6a4db94011d3 40
sahilmgandhi 18:6a4db94011d3 41 static DAC_HandleTypeDef DacHandle;
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 void analogout_init(dac_t *obj, PinName pin) {
sahilmgandhi 18:6a4db94011d3 44 DAC_ChannelConfTypeDef sConfig;
sahilmgandhi 18:6a4db94011d3 45
sahilmgandhi 18:6a4db94011d3 46 // Get the peripheral name from the pin and assign it to the object
sahilmgandhi 18:6a4db94011d3 47 obj->dac = (DACName)pinmap_peripheral(pin, PinMap_DAC);
sahilmgandhi 18:6a4db94011d3 48 MBED_ASSERT(obj->dac != (DACName)NC);
sahilmgandhi 18:6a4db94011d3 49
sahilmgandhi 18:6a4db94011d3 50 // Get the pin function and assign the used channel to the object
sahilmgandhi 18:6a4db94011d3 51 uint32_t function = pinmap_function(pin, PinMap_DAC);
sahilmgandhi 18:6a4db94011d3 52 MBED_ASSERT(function != (uint32_t)NC);
sahilmgandhi 18:6a4db94011d3 53 obj->channel = STM_PIN_CHANNEL(function);
sahilmgandhi 18:6a4db94011d3 54
sahilmgandhi 18:6a4db94011d3 55 // Configure GPIO
sahilmgandhi 18:6a4db94011d3 56 pinmap_pinout(pin, PinMap_DAC);
sahilmgandhi 18:6a4db94011d3 57
sahilmgandhi 18:6a4db94011d3 58 // Save the pin for future use
sahilmgandhi 18:6a4db94011d3 59 obj->pin = pin;
sahilmgandhi 18:6a4db94011d3 60
sahilmgandhi 18:6a4db94011d3 61 // Enable DAC clock
sahilmgandhi 18:6a4db94011d3 62 __DAC1_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 // Configure DAC
sahilmgandhi 18:6a4db94011d3 65 DacHandle.Instance = (DAC_TypeDef *)(obj->dac);
sahilmgandhi 18:6a4db94011d3 66
sahilmgandhi 18:6a4db94011d3 67 sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
sahilmgandhi 18:6a4db94011d3 68 sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
sahilmgandhi 18:6a4db94011d3 69
sahilmgandhi 18:6a4db94011d3 70 if (pin == PA_4) {
sahilmgandhi 18:6a4db94011d3 71 HAL_DAC_ConfigChannel(&DacHandle, &sConfig, DAC_CHANNEL_1);
sahilmgandhi 18:6a4db94011d3 72 } else { // PA_5
sahilmgandhi 18:6a4db94011d3 73 HAL_DAC_ConfigChannel(&DacHandle, &sConfig, DAC_CHANNEL_2);
sahilmgandhi 18:6a4db94011d3 74 }
sahilmgandhi 18:6a4db94011d3 75
sahilmgandhi 18:6a4db94011d3 76 analogout_write_u16(obj, 0);
sahilmgandhi 18:6a4db94011d3 77 }
sahilmgandhi 18:6a4db94011d3 78
sahilmgandhi 18:6a4db94011d3 79 void analogout_free(dac_t *obj) {
sahilmgandhi 18:6a4db94011d3 80 // Reset DAC and disable clock
sahilmgandhi 18:6a4db94011d3 81 __DAC1_FORCE_RESET();
sahilmgandhi 18:6a4db94011d3 82 __DAC1_RELEASE_RESET();
sahilmgandhi 18:6a4db94011d3 83 __DAC1_CLK_DISABLE();
sahilmgandhi 18:6a4db94011d3 84
sahilmgandhi 18:6a4db94011d3 85 // Configure GPIO
sahilmgandhi 18:6a4db94011d3 86 pin_function(obj->pin, STM_PIN_DATA(STM_MODE_INPUT, GPIO_NOPULL, 0));
sahilmgandhi 18:6a4db94011d3 87 }
sahilmgandhi 18:6a4db94011d3 88
sahilmgandhi 18:6a4db94011d3 89 static inline void dac_write(dac_t *obj, int value) {
sahilmgandhi 18:6a4db94011d3 90 if (obj->channel == 1) {
sahilmgandhi 18:6a4db94011d3 91 HAL_DAC_SetValue(&DacHandle, DAC_CHANNEL_1, DAC_ALIGN_12B_R, (value & DAC_RANGE));
sahilmgandhi 18:6a4db94011d3 92 HAL_DAC_Start(&DacHandle, DAC_CHANNEL_1);
sahilmgandhi 18:6a4db94011d3 93 }
sahilmgandhi 18:6a4db94011d3 94 #if defined(DAC_CHANNEL_2)
sahilmgandhi 18:6a4db94011d3 95 if (obj->channel == 2) {
sahilmgandhi 18:6a4db94011d3 96 HAL_DAC_SetValue(&DacHandle, DAC_CHANNEL_2, DAC_ALIGN_12B_R, (value & DAC_RANGE));
sahilmgandhi 18:6a4db94011d3 97 HAL_DAC_Start(&DacHandle, DAC_CHANNEL_2);
sahilmgandhi 18:6a4db94011d3 98 }
sahilmgandhi 18:6a4db94011d3 99 #endif
sahilmgandhi 18:6a4db94011d3 100 }
sahilmgandhi 18:6a4db94011d3 101
sahilmgandhi 18:6a4db94011d3 102 static inline int dac_read(dac_t *obj) {
sahilmgandhi 18:6a4db94011d3 103 if (obj->channel == 1) {
sahilmgandhi 18:6a4db94011d3 104 return (int)HAL_DAC_GetValue(&DacHandle, DAC_CHANNEL_1);
sahilmgandhi 18:6a4db94011d3 105 }
sahilmgandhi 18:6a4db94011d3 106 #if defined(DAC_CHANNEL_2)
sahilmgandhi 18:6a4db94011d3 107 if (obj->channel == 2) {
sahilmgandhi 18:6a4db94011d3 108 return (int)HAL_DAC_GetValue(&DacHandle, DAC_CHANNEL_2);
sahilmgandhi 18:6a4db94011d3 109 }
sahilmgandhi 18:6a4db94011d3 110 #endif
sahilmgandhi 18:6a4db94011d3 111 return 0;
sahilmgandhi 18:6a4db94011d3 112 }
sahilmgandhi 18:6a4db94011d3 113
sahilmgandhi 18:6a4db94011d3 114 void analogout_write(dac_t *obj, float value) {
sahilmgandhi 18:6a4db94011d3 115 if (value < 0.0f) {
sahilmgandhi 18:6a4db94011d3 116 dac_write(obj, 0); // Min value
sahilmgandhi 18:6a4db94011d3 117 } else if (value > 1.0f) {
sahilmgandhi 18:6a4db94011d3 118 dac_write(obj, (int)DAC_RANGE); // Max value
sahilmgandhi 18:6a4db94011d3 119 } else {
sahilmgandhi 18:6a4db94011d3 120 dac_write(obj, (int)(value * (float)DAC_RANGE));
sahilmgandhi 18:6a4db94011d3 121 }
sahilmgandhi 18:6a4db94011d3 122 }
sahilmgandhi 18:6a4db94011d3 123
sahilmgandhi 18:6a4db94011d3 124 void analogout_write_u16(dac_t *obj, uint16_t value) {
sahilmgandhi 18:6a4db94011d3 125 dac_write(obj, value >> (16 - DAC_NB_BITS));
sahilmgandhi 18:6a4db94011d3 126 }
sahilmgandhi 18:6a4db94011d3 127
sahilmgandhi 18:6a4db94011d3 128 float analogout_read(dac_t *obj) {
sahilmgandhi 18:6a4db94011d3 129 uint32_t value = dac_read(obj);
sahilmgandhi 18:6a4db94011d3 130 return (float)value * (1.0f / (float)DAC_RANGE);
sahilmgandhi 18:6a4db94011d3 131 }
sahilmgandhi 18:6a4db94011d3 132
sahilmgandhi 18:6a4db94011d3 133 uint16_t analogout_read_u16(dac_t *obj) {
sahilmgandhi 18:6a4db94011d3 134 uint32_t value = dac_read(obj);
sahilmgandhi 18:6a4db94011d3 135 return (value << 4) | ((value >> 8) & 0x000F); // Conversion from 12 to 16 bits
sahilmgandhi 18:6a4db94011d3 136 }
sahilmgandhi 18:6a4db94011d3 137
sahilmgandhi 18:6a4db94011d3 138 #endif // DEVICE_ANALOGOUT