MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_STM/TARGET_STM32F0/analogin_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) 2016, 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 "analogin_api.h"
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 #if DEVICE_ANALOGIN
sahilmgandhi 18:6a4db94011d3 32
sahilmgandhi 18:6a4db94011d3 33 #include "mbed_wait_api.h"
sahilmgandhi 18:6a4db94011d3 34 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 35 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 36 #include "PeripheralPins.h"
sahilmgandhi 18:6a4db94011d3 37 #include "mbed_error.h"
sahilmgandhi 18:6a4db94011d3 38
sahilmgandhi 18:6a4db94011d3 39 ADC_HandleTypeDef AdcHandle;
sahilmgandhi 18:6a4db94011d3 40
sahilmgandhi 18:6a4db94011d3 41 int adc_inited = 0;
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 void analogin_init(analogin_t *obj, PinName pin) {
sahilmgandhi 18:6a4db94011d3 44 // Get the peripheral name from the pin and assign it to the object
sahilmgandhi 18:6a4db94011d3 45 obj->adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 46 MBED_ASSERT(obj->adc != (ADCName)NC);
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 // Get the functions (adc channel) from the pin and assign it to the object
sahilmgandhi 18:6a4db94011d3 49 uint32_t function = pinmap_function(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 50 MBED_ASSERT(function != (uint32_t)NC);
sahilmgandhi 18:6a4db94011d3 51 obj->channel = STM_PIN_CHANNEL(function);
sahilmgandhi 18:6a4db94011d3 52
sahilmgandhi 18:6a4db94011d3 53 // Configure GPIO excepted for internal channels (Temperature, Vref, Vbat, ...)
sahilmgandhi 18:6a4db94011d3 54 // ADC Internal Channels "pins" are described in PinNames.h and must have a value >= 0xF0
sahilmgandhi 18:6a4db94011d3 55 if (pin < 0xF0) {
sahilmgandhi 18:6a4db94011d3 56 pinmap_pinout(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 57 }
sahilmgandhi 18:6a4db94011d3 58
sahilmgandhi 18:6a4db94011d3 59 // Save pin number for the read function
sahilmgandhi 18:6a4db94011d3 60 obj->pin = pin;
sahilmgandhi 18:6a4db94011d3 61
sahilmgandhi 18:6a4db94011d3 62 // The ADC initialization is done once
sahilmgandhi 18:6a4db94011d3 63 if (adc_inited == 0) {
sahilmgandhi 18:6a4db94011d3 64 adc_inited = 1;
sahilmgandhi 18:6a4db94011d3 65
sahilmgandhi 18:6a4db94011d3 66 // Enable ADC clock
sahilmgandhi 18:6a4db94011d3 67 __ADC1_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 68
sahilmgandhi 18:6a4db94011d3 69 // Configure ADC
sahilmgandhi 18:6a4db94011d3 70 AdcHandle.Instance = (ADC_TypeDef *)(obj->adc);
sahilmgandhi 18:6a4db94011d3 71 AdcHandle.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
sahilmgandhi 18:6a4db94011d3 72 AdcHandle.Init.Resolution = ADC_RESOLUTION12b;
sahilmgandhi 18:6a4db94011d3 73 AdcHandle.Init.DataAlign = ADC_DATAALIGN_RIGHT;
sahilmgandhi 18:6a4db94011d3 74 AdcHandle.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
sahilmgandhi 18:6a4db94011d3 75 AdcHandle.Init.EOCSelection = EOC_SINGLE_CONV;
sahilmgandhi 18:6a4db94011d3 76 AdcHandle.Init.LowPowerAutoWait = DISABLE;
sahilmgandhi 18:6a4db94011d3 77 AdcHandle.Init.LowPowerAutoPowerOff = DISABLE;
sahilmgandhi 18:6a4db94011d3 78 AdcHandle.Init.ContinuousConvMode = DISABLE;
sahilmgandhi 18:6a4db94011d3 79 AdcHandle.Init.DiscontinuousConvMode = DISABLE;
sahilmgandhi 18:6a4db94011d3 80 AdcHandle.Init.ExternalTrigConv = ADC_SOFTWARE_START;
sahilmgandhi 18:6a4db94011d3 81 AdcHandle.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
sahilmgandhi 18:6a4db94011d3 82 AdcHandle.Init.DMAContinuousRequests = DISABLE;
sahilmgandhi 18:6a4db94011d3 83 AdcHandle.Init.Overrun = OVR_DATA_OVERWRITTEN;
sahilmgandhi 18:6a4db94011d3 84 if (HAL_ADC_Init(&AdcHandle) != HAL_OK) {
sahilmgandhi 18:6a4db94011d3 85 error("Cannot initialize ADC");
sahilmgandhi 18:6a4db94011d3 86 }
sahilmgandhi 18:6a4db94011d3 87 // Run the ADC calibration
sahilmgandhi 18:6a4db94011d3 88 if (HAL_ADCEx_Calibration_Start(&AdcHandle) != HAL_OK) {
sahilmgandhi 18:6a4db94011d3 89 error("Cannot Start ADC_Calibration");
sahilmgandhi 18:6a4db94011d3 90 }
sahilmgandhi 18:6a4db94011d3 91 }
sahilmgandhi 18:6a4db94011d3 92 }
sahilmgandhi 18:6a4db94011d3 93
sahilmgandhi 18:6a4db94011d3 94 static inline uint16_t adc_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 95 ADC_ChannelConfTypeDef sConfig;
sahilmgandhi 18:6a4db94011d3 96
sahilmgandhi 18:6a4db94011d3 97 AdcHandle.Instance = (ADC_TypeDef *)(obj->adc);
sahilmgandhi 18:6a4db94011d3 98
sahilmgandhi 18:6a4db94011d3 99 // Configure ADC channel
sahilmgandhi 18:6a4db94011d3 100 sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
sahilmgandhi 18:6a4db94011d3 101 #if defined (TARGET_STM32F091RC)
sahilmgandhi 18:6a4db94011d3 102 sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
sahilmgandhi 18:6a4db94011d3 103 #else
sahilmgandhi 18:6a4db94011d3 104 sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
sahilmgandhi 18:6a4db94011d3 105 #endif
sahilmgandhi 18:6a4db94011d3 106
sahilmgandhi 18:6a4db94011d3 107 switch (obj->channel) {
sahilmgandhi 18:6a4db94011d3 108 case 0:
sahilmgandhi 18:6a4db94011d3 109 sConfig.Channel = ADC_CHANNEL_0;
sahilmgandhi 18:6a4db94011d3 110 break;
sahilmgandhi 18:6a4db94011d3 111 case 1:
sahilmgandhi 18:6a4db94011d3 112 sConfig.Channel = ADC_CHANNEL_1;
sahilmgandhi 18:6a4db94011d3 113 break;
sahilmgandhi 18:6a4db94011d3 114 case 2:
sahilmgandhi 18:6a4db94011d3 115 sConfig.Channel = ADC_CHANNEL_2;
sahilmgandhi 18:6a4db94011d3 116 break;
sahilmgandhi 18:6a4db94011d3 117 case 3:
sahilmgandhi 18:6a4db94011d3 118 sConfig.Channel = ADC_CHANNEL_3;
sahilmgandhi 18:6a4db94011d3 119 break;
sahilmgandhi 18:6a4db94011d3 120 case 4:
sahilmgandhi 18:6a4db94011d3 121 sConfig.Channel = ADC_CHANNEL_4;
sahilmgandhi 18:6a4db94011d3 122 break;
sahilmgandhi 18:6a4db94011d3 123 case 5:
sahilmgandhi 18:6a4db94011d3 124 sConfig.Channel = ADC_CHANNEL_5;
sahilmgandhi 18:6a4db94011d3 125 break;
sahilmgandhi 18:6a4db94011d3 126 case 6:
sahilmgandhi 18:6a4db94011d3 127 sConfig.Channel = ADC_CHANNEL_6;
sahilmgandhi 18:6a4db94011d3 128 break;
sahilmgandhi 18:6a4db94011d3 129 case 7:
sahilmgandhi 18:6a4db94011d3 130 sConfig.Channel = ADC_CHANNEL_7;
sahilmgandhi 18:6a4db94011d3 131 break;
sahilmgandhi 18:6a4db94011d3 132 case 8:
sahilmgandhi 18:6a4db94011d3 133 sConfig.Channel = ADC_CHANNEL_8;
sahilmgandhi 18:6a4db94011d3 134 break;
sahilmgandhi 18:6a4db94011d3 135 case 9:
sahilmgandhi 18:6a4db94011d3 136 sConfig.Channel = ADC_CHANNEL_9;
sahilmgandhi 18:6a4db94011d3 137 break;
sahilmgandhi 18:6a4db94011d3 138 case 10:
sahilmgandhi 18:6a4db94011d3 139 sConfig.Channel = ADC_CHANNEL_10;
sahilmgandhi 18:6a4db94011d3 140 break;
sahilmgandhi 18:6a4db94011d3 141 case 11:
sahilmgandhi 18:6a4db94011d3 142 sConfig.Channel = ADC_CHANNEL_11;
sahilmgandhi 18:6a4db94011d3 143 break;
sahilmgandhi 18:6a4db94011d3 144 case 12:
sahilmgandhi 18:6a4db94011d3 145 sConfig.Channel = ADC_CHANNEL_12;
sahilmgandhi 18:6a4db94011d3 146 break;
sahilmgandhi 18:6a4db94011d3 147 case 13:
sahilmgandhi 18:6a4db94011d3 148 sConfig.Channel = ADC_CHANNEL_13;
sahilmgandhi 18:6a4db94011d3 149 break;
sahilmgandhi 18:6a4db94011d3 150 case 14:
sahilmgandhi 18:6a4db94011d3 151 sConfig.Channel = ADC_CHANNEL_14;
sahilmgandhi 18:6a4db94011d3 152 break;
sahilmgandhi 18:6a4db94011d3 153 case 15:
sahilmgandhi 18:6a4db94011d3 154 sConfig.Channel = ADC_CHANNEL_15;
sahilmgandhi 18:6a4db94011d3 155 break;
sahilmgandhi 18:6a4db94011d3 156 case 16:
sahilmgandhi 18:6a4db94011d3 157 sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;
sahilmgandhi 18:6a4db94011d3 158 break;
sahilmgandhi 18:6a4db94011d3 159 case 17:
sahilmgandhi 18:6a4db94011d3 160 sConfig.Channel = ADC_CHANNEL_VREFINT;
sahilmgandhi 18:6a4db94011d3 161 break;
sahilmgandhi 18:6a4db94011d3 162 #ifdef ADC_CHANNEL_VBAT
sahilmgandhi 18:6a4db94011d3 163 case 18:
sahilmgandhi 18:6a4db94011d3 164 sConfig.Channel = ADC_CHANNEL_VBAT;
sahilmgandhi 18:6a4db94011d3 165 break;
sahilmgandhi 18:6a4db94011d3 166 #endif
sahilmgandhi 18:6a4db94011d3 167 default:
sahilmgandhi 18:6a4db94011d3 168 return 0;
sahilmgandhi 18:6a4db94011d3 169 }
sahilmgandhi 18:6a4db94011d3 170
sahilmgandhi 18:6a4db94011d3 171 // Clear all channels as it is not done in HAL_ADC_ConfigChannel()
sahilmgandhi 18:6a4db94011d3 172 AdcHandle.Instance->CHSELR = 0;
sahilmgandhi 18:6a4db94011d3 173
sahilmgandhi 18:6a4db94011d3 174 HAL_ADC_ConfigChannel(&AdcHandle, &sConfig);
sahilmgandhi 18:6a4db94011d3 175
sahilmgandhi 18:6a4db94011d3 176 HAL_ADC_Start(&AdcHandle); // Start conversion
sahilmgandhi 18:6a4db94011d3 177
sahilmgandhi 18:6a4db94011d3 178 // Wait end of conversion and get value
sahilmgandhi 18:6a4db94011d3 179 if (HAL_ADC_PollForConversion(&AdcHandle, 10) == HAL_OK) {
sahilmgandhi 18:6a4db94011d3 180 return (HAL_ADC_GetValue(&AdcHandle));
sahilmgandhi 18:6a4db94011d3 181 } else {
sahilmgandhi 18:6a4db94011d3 182 return 0;
sahilmgandhi 18:6a4db94011d3 183 }
sahilmgandhi 18:6a4db94011d3 184 }
sahilmgandhi 18:6a4db94011d3 185
sahilmgandhi 18:6a4db94011d3 186 uint16_t analogin_read_u16(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 187 uint16_t value = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 188 // 12-bit to 16-bit conversion
sahilmgandhi 18:6a4db94011d3 189 value = ((value << 4) & (uint16_t)0xFFF0) | ((value >> 8) & (uint16_t)0x000F);
sahilmgandhi 18:6a4db94011d3 190 return value;
sahilmgandhi 18:6a4db94011d3 191 }
sahilmgandhi 18:6a4db94011d3 192
sahilmgandhi 18:6a4db94011d3 193 float analogin_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 194 uint16_t value = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 195 return (float)value * (1.0f / (float)0xFFF); // 12 bits range
sahilmgandhi 18:6a4db94011d3 196 }
sahilmgandhi 18:6a4db94011d3 197
sahilmgandhi 18:6a4db94011d3 198 #endif