MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_STM/TARGET_STM32F3/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 // These variables are used for the "free" function
sahilmgandhi 18:6a4db94011d3 44 static int pa4_used = 0;
sahilmgandhi 18:6a4db94011d3 45 static int pa5_used = 0;
sahilmgandhi 18:6a4db94011d3 46
sahilmgandhi 18:6a4db94011d3 47 void analogout_init(dac_t *obj, PinName pin) {
sahilmgandhi 18:6a4db94011d3 48 DAC_ChannelConfTypeDef sConfig;
sahilmgandhi 18:6a4db94011d3 49
sahilmgandhi 18:6a4db94011d3 50 // Get the peripheral name from the pin and assign it to the object
sahilmgandhi 18:6a4db94011d3 51 obj->dac = (DACName)pinmap_peripheral(pin, PinMap_DAC);
sahilmgandhi 18:6a4db94011d3 52 MBED_ASSERT(obj->dac != (DACName)NC);
sahilmgandhi 18:6a4db94011d3 53
sahilmgandhi 18:6a4db94011d3 54 // Get the pin function and assign the used channel to the object
sahilmgandhi 18:6a4db94011d3 55 uint32_t function = pinmap_function(pin, PinMap_DAC);
sahilmgandhi 18:6a4db94011d3 56 MBED_ASSERT(function != (uint32_t)NC);
sahilmgandhi 18:6a4db94011d3 57 obj->channel = STM_PIN_CHANNEL(function);
sahilmgandhi 18:6a4db94011d3 58
sahilmgandhi 18:6a4db94011d3 59 // Configure GPIO
sahilmgandhi 18:6a4db94011d3 60 pinmap_pinout(pin, PinMap_DAC);
sahilmgandhi 18:6a4db94011d3 61
sahilmgandhi 18:6a4db94011d3 62 // Save the pin for future use
sahilmgandhi 18:6a4db94011d3 63 obj->pin = pin;
sahilmgandhi 18:6a4db94011d3 64
sahilmgandhi 18:6a4db94011d3 65 // Enable DAC clock
sahilmgandhi 18:6a4db94011d3 66 if (obj->dac == DAC_1) {
sahilmgandhi 18:6a4db94011d3 67 __DAC1_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 68 }
sahilmgandhi 18:6a4db94011d3 69 #if defined(DAC2)
sahilmgandhi 18:6a4db94011d3 70 if (obj->dac == DAC_2) {
sahilmgandhi 18:6a4db94011d3 71 __DAC2_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 72 }
sahilmgandhi 18:6a4db94011d3 73 #endif
sahilmgandhi 18:6a4db94011d3 74
sahilmgandhi 18:6a4db94011d3 75 // Configure DAC
sahilmgandhi 18:6a4db94011d3 76 DacHandle.Instance = (DAC_TypeDef *)(obj->dac);
sahilmgandhi 18:6a4db94011d3 77
sahilmgandhi 18:6a4db94011d3 78 sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
sahilmgandhi 18:6a4db94011d3 79 sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
sahilmgandhi 18:6a4db94011d3 80
sahilmgandhi 18:6a4db94011d3 81 if (pin == PA_4) {
sahilmgandhi 18:6a4db94011d3 82 HAL_DAC_ConfigChannel(&DacHandle, &sConfig, DAC_CHANNEL_1);
sahilmgandhi 18:6a4db94011d3 83 pa4_used = 1;
sahilmgandhi 18:6a4db94011d3 84 }
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 #if defined(DAC_CHANNEL_2)
sahilmgandhi 18:6a4db94011d3 87 if (pin == PA_5) {
sahilmgandhi 18:6a4db94011d3 88 HAL_DAC_ConfigChannel(&DacHandle, &sConfig, DAC_CHANNEL_2);
sahilmgandhi 18:6a4db94011d3 89 pa5_used = 1;
sahilmgandhi 18:6a4db94011d3 90 }
sahilmgandhi 18:6a4db94011d3 91 #endif
sahilmgandhi 18:6a4db94011d3 92
sahilmgandhi 18:6a4db94011d3 93 if (pin == PA_6) {
sahilmgandhi 18:6a4db94011d3 94 HAL_DAC_ConfigChannel(&DacHandle, &sConfig, DAC_CHANNEL_1);
sahilmgandhi 18:6a4db94011d3 95 }
sahilmgandhi 18:6a4db94011d3 96
sahilmgandhi 18:6a4db94011d3 97 analogout_write_u16(obj, 0);
sahilmgandhi 18:6a4db94011d3 98 }
sahilmgandhi 18:6a4db94011d3 99
sahilmgandhi 18:6a4db94011d3 100 void analogout_free(dac_t *obj) {
sahilmgandhi 18:6a4db94011d3 101 // Reset DAC and disable clock
sahilmgandhi 18:6a4db94011d3 102 if (obj->pin == PA_4) pa4_used = 0;
sahilmgandhi 18:6a4db94011d3 103 if (obj->pin == PA_5) pa5_used = 0;
sahilmgandhi 18:6a4db94011d3 104
sahilmgandhi 18:6a4db94011d3 105 if ((pa4_used == 0) && (pa5_used == 0)) {
sahilmgandhi 18:6a4db94011d3 106 __DAC1_FORCE_RESET();
sahilmgandhi 18:6a4db94011d3 107 __DAC1_RELEASE_RESET();
sahilmgandhi 18:6a4db94011d3 108 __DAC1_CLK_DISABLE();
sahilmgandhi 18:6a4db94011d3 109 }
sahilmgandhi 18:6a4db94011d3 110
sahilmgandhi 18:6a4db94011d3 111 #if defined(DAC2)
sahilmgandhi 18:6a4db94011d3 112 if (obj->pin == PA_6) {
sahilmgandhi 18:6a4db94011d3 113 __DAC2_FORCE_RESET();
sahilmgandhi 18:6a4db94011d3 114 __DAC2_RELEASE_RESET();
sahilmgandhi 18:6a4db94011d3 115 __DAC2_CLK_DISABLE();
sahilmgandhi 18:6a4db94011d3 116 }
sahilmgandhi 18:6a4db94011d3 117 #endif
sahilmgandhi 18:6a4db94011d3 118
sahilmgandhi 18:6a4db94011d3 119 // Configure GPIO
sahilmgandhi 18:6a4db94011d3 120 pin_function(obj->pin, STM_PIN_DATA(STM_MODE_INPUT, GPIO_NOPULL, 0));
sahilmgandhi 18:6a4db94011d3 121 }
sahilmgandhi 18:6a4db94011d3 122
sahilmgandhi 18:6a4db94011d3 123 static inline void dac_write(dac_t *obj, int value) {
sahilmgandhi 18:6a4db94011d3 124 if (obj->channel == 1) {
sahilmgandhi 18:6a4db94011d3 125 HAL_DAC_SetValue(&DacHandle, DAC_CHANNEL_1, DAC_ALIGN_12B_R, (value & DAC_RANGE));
sahilmgandhi 18:6a4db94011d3 126 HAL_DAC_Start(&DacHandle, DAC_CHANNEL_1);
sahilmgandhi 18:6a4db94011d3 127 }
sahilmgandhi 18:6a4db94011d3 128 #if defined(DAC_CHANNEL_2)
sahilmgandhi 18:6a4db94011d3 129 if (obj->channel == 2) {
sahilmgandhi 18:6a4db94011d3 130 HAL_DAC_SetValue(&DacHandle, DAC_CHANNEL_2, DAC_ALIGN_12B_R, (value & DAC_RANGE));
sahilmgandhi 18:6a4db94011d3 131 HAL_DAC_Start(&DacHandle, DAC_CHANNEL_2);
sahilmgandhi 18:6a4db94011d3 132 }
sahilmgandhi 18:6a4db94011d3 133 #endif
sahilmgandhi 18:6a4db94011d3 134 }
sahilmgandhi 18:6a4db94011d3 135
sahilmgandhi 18:6a4db94011d3 136 static inline int dac_read(dac_t *obj) {
sahilmgandhi 18:6a4db94011d3 137 if (obj->channel == 1) {
sahilmgandhi 18:6a4db94011d3 138 return (int)HAL_DAC_GetValue(&DacHandle, DAC_CHANNEL_1);
sahilmgandhi 18:6a4db94011d3 139 }
sahilmgandhi 18:6a4db94011d3 140 #if defined(DAC_CHANNEL_2)
sahilmgandhi 18:6a4db94011d3 141 if (obj->channel == 2) {
sahilmgandhi 18:6a4db94011d3 142 return (int)HAL_DAC_GetValue(&DacHandle, DAC_CHANNEL_2);
sahilmgandhi 18:6a4db94011d3 143 }
sahilmgandhi 18:6a4db94011d3 144 #endif
sahilmgandhi 18:6a4db94011d3 145 return 0;
sahilmgandhi 18:6a4db94011d3 146 }
sahilmgandhi 18:6a4db94011d3 147
sahilmgandhi 18:6a4db94011d3 148 void analogout_write(dac_t *obj, float value) {
sahilmgandhi 18:6a4db94011d3 149 if (value < 0.0f) {
sahilmgandhi 18:6a4db94011d3 150 dac_write(obj, 0); // Min value
sahilmgandhi 18:6a4db94011d3 151 } else if (value > 1.0f) {
sahilmgandhi 18:6a4db94011d3 152 dac_write(obj, (int)DAC_RANGE); // Max value
sahilmgandhi 18:6a4db94011d3 153 } else {
sahilmgandhi 18:6a4db94011d3 154 dac_write(obj, (int)(value * (float)DAC_RANGE));
sahilmgandhi 18:6a4db94011d3 155 }
sahilmgandhi 18:6a4db94011d3 156 }
sahilmgandhi 18:6a4db94011d3 157
sahilmgandhi 18:6a4db94011d3 158 void analogout_write_u16(dac_t *obj, uint16_t value) {
sahilmgandhi 18:6a4db94011d3 159 dac_write(obj, value >> (16 - DAC_NB_BITS));
sahilmgandhi 18:6a4db94011d3 160 }
sahilmgandhi 18:6a4db94011d3 161
sahilmgandhi 18:6a4db94011d3 162 float analogout_read(dac_t *obj) {
sahilmgandhi 18:6a4db94011d3 163 uint32_t value = dac_read(obj);
sahilmgandhi 18:6a4db94011d3 164 return (float)value * (1.0f / (float)DAC_RANGE);
sahilmgandhi 18:6a4db94011d3 165 }
sahilmgandhi 18:6a4db94011d3 166
sahilmgandhi 18:6a4db94011d3 167 uint16_t analogout_read_u16(dac_t *obj) {
sahilmgandhi 18:6a4db94011d3 168 uint32_t value = dac_read(obj);
sahilmgandhi 18:6a4db94011d3 169 return (value << 4) | ((value >> 8) & 0x000F); // Conversion from 12 to 16 bits
sahilmgandhi 18:6a4db94011d3 170 }
sahilmgandhi 18:6a4db94011d3 171
sahilmgandhi 18:6a4db94011d3 172 #endif // DEVICE_ANALOGOUT