N K / Mbed 2 deprecated WangBoard_MotorScience

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Dependencies:   FastPWM mbed

Fork of foc-ed_in_the_bot_compact by N K

main.cpp@11:1a68e17c0279, 2016-05-19 (annotated)

Committer:
nki
Date:
Thu May 19 14:32:31 2016 +0000
Revision:
11:1a68e17c0279
Parent:
10:6829abb438fc 
reading currentA and currentB sequentially on ADC1.  DMA not yet implemented.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1 #include "mbed.h"
bwang 0:bac9c3a3a6ca 2 #include "math.h"
bwang 0:bac9c3a3a6ca 3 #include "PositionSensor.h"
bwang 0:bac9c3a3a6ca 4 #include "FastPWM.h"
bwang 0:bac9c3a3a6ca 5 #include "Transforms.h"
bwang 0:bac9c3a3a6ca 6 #include "config.h"
nki 11:1a68e17c0279 7 #include <numeric>
bwang 0:bac9c3a3a6ca 8
bwang 1:7b61790f6be9 9 FastPWM *a;
bwang 1:7b61790f6be9 10 FastPWM *b;
bwang 1:7b61790f6be9 11 FastPWM *c;
bwang 0:bac9c3a3a6ca 12 DigitalOut en(EN);
bwang 1:7b61790f6be9 13 DigitalOut toggle(PC_10);
nki 11:1a68e17c0279 14 //PositionSensorEncoder pos(CPR, 0);
bwang 0:bac9c3a3a6ca 15 Serial pc(USBTX, USBRX);
bwang 0:bac9c3a3a6ca 16
bwang 1:7b61790f6be9 17 int state = 0;
nki 11:1a68e17c0279 18 float adval1, adval2;
bwang 2:eabe8feaaabb 19 float ia, ib, ic, alpha, beta, d, q, vd, vq, p;
bwang 1:7b61790f6be9 20 float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
bwang 2:eabe8feaaabb 21 float d_integral = 0.0f, q_integral = 0.0f;
bwang 2:eabe8feaaabb 22 float last_d = 0.0f, last_q = 0.0f;
bwang 3:9b20da3f0055 23 float d_ref = -0.0f, q_ref = -50.0f;
bwang 2:eabe8feaaabb 24
bwang 4:a6669248ce4d 25 void commutate();
bwang 3:9b20da3f0055 26 void zero_current();
bwang 3:9b20da3f0055 27 void config_globals();
bwang 3:9b20da3f0055 28 void startup_msg();
bwang 2:eabe8feaaabb 29
nki 11:1a68e17c0279 30 ADC_HandleTypeDef g_AdcHandle;
nki 11:1a68e17c0279 31 uint32_t currentA_ADCValue, currentB_ADCValue;
nki 11:1a68e17c0279 32 int g_MeasurementNumber;
nki 11:1a68e17c0279 33
nki 11:1a68e17c0279 34 enum{ ADC_BUFFER_LENGTH = 200 }; //originally 8192
nki 11:1a68e17c0279 35 uint32_t currentA_ADCBuffer[ADC_BUFFER_LENGTH]; //current_A ADC buffer
nki 11:1a68e17c0279 36 uint32_t currentB_ADCBuffer[ADC_BUFFER_LENGTH]; //current_B ADC buffer
nki 11:1a68e17c0279 37
nki 11:1a68e17c0279 38 uint32_t debug_int = 0;
nki 11:1a68e17c0279 39
nki 11:1a68e17c0279 40
nki 11:1a68e17c0279 41 void ConfigureADC()
nki 11:1a68e17c0279 42 {
nki 11:1a68e17c0279 43 GPIO_InitTypeDef currentA_gpioInit, currentB_gpioInit;
nki 11:1a68e17c0279 44
nki 11:1a68e17c0279 45 __GPIOA_CLK_ENABLE();
nki 11:1a68e17c0279 46 __GPIOB_CLK_ENABLE();
nki 11:1a68e17c0279 47 __ADC1_CLK_ENABLE();
nki 11:1a68e17c0279 48
nki 11:1a68e17c0279 49 //Initialize PA_4 as an analog input
nki 11:1a68e17c0279 50 currentA_gpioInit.Pin = GPIO_PIN_4;
nki 11:1a68e17c0279 51 currentA_gpioInit.Mode = GPIO_MODE_ANALOG;
nki 11:1a68e17c0279 52 currentA_gpioInit.Pull = GPIO_NOPULL;
nki 11:1a68e17c0279 53 HAL_GPIO_Init(GPIOA, &currentA_gpioInit);
nki 11:1a68e17c0279 54 //Initialize PB_0 as an analog input
nki 11:1a68e17c0279 55 currentB_gpioInit.Pin = GPIO_PIN_0;
nki 11:1a68e17c0279 56 currentB_gpioInit.Mode = GPIO_MODE_ANALOG;
nki 11:1a68e17c0279 57 currentB_gpioInit.Pull = GPIO_NOPULL;
nki 11:1a68e17c0279 58 HAL_GPIO_Init(GPIOB, &currentB_gpioInit);
nki 11:1a68e17c0279 59
nki 11:1a68e17c0279 60 HAL_NVIC_SetPriority(ADC_IRQn, 0, 0);
nki 11:1a68e17c0279 61 HAL_NVIC_EnableIRQ(ADC_IRQn);
nki 11:1a68e17c0279 62
nki 11:1a68e17c0279 63 ADC_ChannelConfTypeDef adcChannel_currentA;
nki 11:1a68e17c0279 64 ADC_ChannelConfTypeDef adcChannel_currentB;
nki 11:1a68e17c0279 65
nki 11:1a68e17c0279 66 g_AdcHandle.Instance = ADC1;
nki 11:1a68e17c0279 67
nki 11:1a68e17c0279 68 g_AdcHandle.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV2;
nki 11:1a68e17c0279 69 g_AdcHandle.Init.Resolution = ADC_RESOLUTION_12B;
nki 11:1a68e17c0279 70 g_AdcHandle.Init.ScanConvMode = ENABLE; //Enabled to convert multiple channels. Changed from DISABLE
nki 11:1a68e17c0279 71 g_AdcHandle.Init.ContinuousConvMode = ENABLE;
nki 11:1a68e17c0279 72 g_AdcHandle.Init.DiscontinuousConvMode = DISABLE;
nki 11:1a68e17c0279 73 g_AdcHandle.Init.NbrOfDiscConversion = 0;
nki 11:1a68e17c0279 74 g_AdcHandle.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
nki 11:1a68e17c0279 75 g_AdcHandle.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_CC1;
nki 11:1a68e17c0279 76 g_AdcHandle.Init.DataAlign = ADC_DATAALIGN_RIGHT;
nki 11:1a68e17c0279 77 g_AdcHandle.Init.NbrOfConversion = 2;
nki 11:1a68e17c0279 78 g_AdcHandle.Init.DMAContinuousRequests = ENABLE;
nki 11:1a68e17c0279 79 g_AdcHandle.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
nki 11:1a68e17c0279 80 HAL_ADC_Init(&g_AdcHandle);
nki 11:1a68e17c0279 81
nki 11:1a68e17c0279 82 //ADC_CHANNEL_4 corresponds to PA_4
nki 11:1a68e17c0279 83 adcChannel_currentA.Channel = ADC_CHANNEL_4;
nki 11:1a68e17c0279 84 adcChannel_currentA.Rank = 1;
nki 11:1a68e17c0279 85 adcChannel_currentA.SamplingTime = ADC_SAMPLETIME_480CYCLES; //was 28
nki 11:1a68e17c0279 86 adcChannel_currentA.Offset = 0;
nki 11:1a68e17c0279 87 if (HAL_ADC_ConfigChannel(&g_AdcHandle, &adcChannel_currentA) != HAL_OK) {
nki 11:1a68e17c0279 88 asm("bkpt 255");
nki 11:1a68e17c0279 89 }
nki 11:1a68e17c0279 90 //duplicated the previous 7 lines here with the ADC channel changed to 8, corresponding to PB_0
nki 11:1a68e17c0279 91 adcChannel_currentB.Channel = ADC_CHANNEL_8;
nki 11:1a68e17c0279 92 adcChannel_currentB.Rank = 2;
nki 11:1a68e17c0279 93 adcChannel_currentB.SamplingTime = ADC_SAMPLETIME_480CYCLES;
nki 11:1a68e17c0279 94 adcChannel_currentB.Offset = 0;
nki 11:1a68e17c0279 95 if (HAL_ADC_ConfigChannel(&g_AdcHandle, &adcChannel_currentB) != HAL_OK) {
nki 11:1a68e17c0279 96 asm("bkpt 255");
nki 11:1a68e17c0279 97 }
nki 11:1a68e17c0279 98 }
nki 11:1a68e17c0279 99
nki 11:1a68e17c0279 100 DMA_HandleTypeDef currentAB_DmaHandle;
nki 11:1a68e17c0279 101
nki 11:1a68e17c0279 102 void ConfigureDMA()
nki 11:1a68e17c0279 103 {
nki 11:1a68e17c0279 104 __DMA2_CLK_ENABLE();
nki 11:1a68e17c0279 105
nki 11:1a68e17c0279 106 currentAB_DmaHandle.Instance = DMA2_Stream4;
nki 11:1a68e17c0279 107 currentAB_DmaHandle.Init.Channel = DMA_CHANNEL_0;
nki 11:1a68e17c0279 108 currentAB_DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
nki 11:1a68e17c0279 109 currentAB_DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
nki 11:1a68e17c0279 110 currentAB_DmaHandle.Init.MemInc = DMA_MINC_ENABLE;
nki 11:1a68e17c0279 111 currentAB_DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
nki 11:1a68e17c0279 112 currentAB_DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
nki 11:1a68e17c0279 113 currentAB_DmaHandle.Init.Mode = DMA_CIRCULAR;
nki 11:1a68e17c0279 114 currentAB_DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
nki 11:1a68e17c0279 115 currentAB_DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
nki 11:1a68e17c0279 116 currentAB_DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_HALFFULL;
nki 11:1a68e17c0279 117 currentAB_DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
nki 11:1a68e17c0279 118 currentAB_DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
nki 11:1a68e17c0279 119 HAL_DMA_Init(&currentAB_DmaHandle);
nki 11:1a68e17c0279 120
nki 11:1a68e17c0279 121 __HAL_LINKDMA(&g_AdcHandle, DMA_Handle, currentAB_DmaHandle); //linking ADC1 to DMA2_Stream4
nki 11:1a68e17c0279 122 HAL_NVIC_SetPriority(DMA2_Stream4_IRQn, 0, 0);
nki 11:1a68e17c0279 123 HAL_NVIC_EnableIRQ(DMA2_Stream4_IRQn);
nki 11:1a68e17c0279 124 }
nki 11:1a68e17c0279 125
nki 11:1a68e17c0279 126 static void SystemClock_Config(void)
nki 11:1a68e17c0279 127 {
nki 11:1a68e17c0279 128 RCC_ClkInitTypeDef RCC_ClkInitStruct;
nki 11:1a68e17c0279 129 RCC_OscInitTypeDef RCC_OscInitStruct;
nki 11:1a68e17c0279 130
nki 11:1a68e17c0279 131 __HAL_RCC_PWR_CLK_ENABLE();
nki 11:1a68e17c0279 132 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
nki 11:1a68e17c0279 133
nki 11:1a68e17c0279 134 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
nki 11:1a68e17c0279 135 RCC_OscInitStruct.HSEState = RCC_HSE_ON;
nki 11:1a68e17c0279 136 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
nki 11:1a68e17c0279 137 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
nki 11:1a68e17c0279 138 RCC_OscInitStruct.PLL.PLLM = 8;
nki 11:1a68e17c0279 139 RCC_OscInitStruct.PLL.PLLN = 288;
nki 11:1a68e17c0279 140 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
nki 11:1a68e17c0279 141 RCC_OscInitStruct.PLL.PLLQ = 6;
nki 11:1a68e17c0279 142 HAL_RCC_OscConfig(&RCC_OscInitStruct);
nki 11:1a68e17c0279 143
nki 11:1a68e17c0279 144 RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
nki 11:1a68e17c0279 145 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
nki 11:1a68e17c0279 146 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
nki 11:1a68e17c0279 147 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
nki 11:1a68e17c0279 148 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
nki 11:1a68e17c0279 149 HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4);
nki 11:1a68e17c0279 150 SystemCoreClockUpdate();
nki 11:1a68e17c0279 151
nki 11:1a68e17c0279 152 if (HAL_GetREVID() == 0x1001)
nki 11:1a68e17c0279 153 __HAL_FLASH_PREFETCH_BUFFER_ENABLE();
nki 11:1a68e17c0279 154 }
nki 11:1a68e17c0279 155
nki 11:1a68e17c0279 156 extern "C" void TIM1_UP_TIM10_IRQHandler(void) { //this samples current at the 000 state
bwang 1:7b61790f6be9 157 if (TIM1->SR & TIM_SR_UIF ) {
nki 11:1a68e17c0279 158
bwang 1:7b61790f6be9 159 }
bwang 1:7b61790f6be9 160 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 161 }
bwang 1:7b61790f6be9 162
bwang 1:7b61790f6be9 163 void zero_current(){
bwang 1:7b61790f6be9 164 }
bwang 0:bac9c3a3a6ca 165
nki 11:1a68e17c0279 166 void config_globals() {
bwang 1:7b61790f6be9 167 //Enable clocks for GPIOs
bwang 1:7b61790f6be9 168 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 1:7b61790f6be9 169 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 1:7b61790f6be9 170 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 1:7b61790f6be9 171
bwang 1:7b61790f6be9 172 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 1:7b61790f6be9 173
bwang 1:7b61790f6be9 174 a = new FastPWM(PWMA);
bwang 1:7b61790f6be9 175 b = new FastPWM(PWMB);
bwang 1:7b61790f6be9 176 c = new FastPWM(PWMC);
bwang 1:7b61790f6be9 177
bwang 1:7b61790f6be9 178 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 1:7b61790f6be9 179
bwang 1:7b61790f6be9 180 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 1:7b61790f6be9 181 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 1:7b61790f6be9 182 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 1:7b61790f6be9 183 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 1:7b61790f6be9 184 TIM1->EGR |= TIM_EGR_UG;
bwang 1:7b61790f6be9 185
bwang 1:7b61790f6be9 186 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 1:7b61790f6be9 187 TIM1->ARR = 0x4650; //5 Khz
bwang 1:7b61790f6be9 188 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 1:7b61790f6be9 189 TIM1->CR1 |= TIM_CR1_CEN;
bwang 1:7b61790f6be9 190
nki 11:1a68e17c0279 191 //ADCs PA_4 and PB_0 for current sensing
nki 11:1a68e17c0279 192 // PA_4 PA_2 PA_0 PB_0 PC_1 analog
bwang 1:7b61790f6be9 193
bwang 1:7b61790f6be9 194
bwang 1:7b61790f6be9 195 //DAC setup
bwang 1:7b61790f6be9 196 RCC->APB1ENR |= 0x20000000;
bwang 1:7b61790f6be9 197 DAC->CR |= DAC_CR_EN2;
bwang 1:7b61790f6be9 198
bwang 1:7b61790f6be9 199 GPIOA->MODER |= (1 << 10);
bwang 1:7b61790f6be9 200 GPIOA->MODER |= (1 << 11);
bwang 1:7b61790f6be9 201
bwang 1:7b61790f6be9 202 //Zero duty cycles
bwang 1:7b61790f6be9 203 set_dtc(a, 0.0f);
bwang 1:7b61790f6be9 204 set_dtc(b, 0.0f);
bwang 1:7b61790f6be9 205 set_dtc(c, 0.0f);
bwang 1:7b61790f6be9 206
bwang 1:7b61790f6be9 207 wait_ms(250);
bwang 1:7b61790f6be9 208 zero_current();
bwang 0:bac9c3a3a6ca 209 en = 1;
bwang 0:bac9c3a3a6ca 210 }
bwang 0:bac9c3a3a6ca 211
bwang 0:bac9c3a3a6ca 212 void startup_msg() {
nki 11:1a68e17c0279 213 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev xA.");
bwang 0:bac9c3a3a6ca 214 }
bwang 0:bac9c3a3a6ca 215
bwang 4:a6669248ce4d 216 void commutate() {
nki 11:1a68e17c0279 217 //p = pos.GetElecPosition() - POS_OFFSET;
nki 11:1a68e17c0279 218 p = 0.0f;
bwang 0:bac9c3a3a6ca 219 if (p < 0) p += 2 * PI;
bwang 0:bac9c3a3a6ca 220
bwang 2:eabe8feaaabb 221 float sin_p = sinf(p);
bwang 2:eabe8feaaabb 222 float cos_p = cosf(p);
bwang 2:eabe8feaaabb 223
nki 10:6829abb438fc 224 float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
nki 10:6829abb438fc 225 DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
bwang 0:bac9c3a3a6ca 226
bwang 1:7b61790f6be9 227 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 228 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 2:eabe8feaaabb 229 ic = -ia - ib;
bwang 0:bac9c3a3a6ca 230
nki 10:6829abb438fc 231 float u = ia;
nki 10:6829abb438fc 232 float v = ib;
bwang 2:eabe8feaaabb 233
bwang 2:eabe8feaaabb 234 alpha = u;
bwang 2:eabe8feaaabb 235 beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
bwang 2:eabe8feaaabb 236
bwang 2:eabe8feaaabb 237 d = alpha * cos_p - beta * sin_p;
bwang 2:eabe8feaaabb 238 q = -alpha * sin_p - beta * cos_p;
bwang 2:eabe8feaaabb 239
bwang 3:9b20da3f0055 240 float d_err = d_ref - d;
bwang 3:9b20da3f0055 241 float q_err = q_ref - q;
bwang 2:eabe8feaaabb 242
bwang 2:eabe8feaaabb 243 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 244 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 245
bwang 2:eabe8feaaabb 246 if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
bwang 2:eabe8feaaabb 247 if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
bwang 2:eabe8feaaabb 248 if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
bwang 2:eabe8feaaabb 249 if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
bwang 2:eabe8feaaabb 250
bwang 2:eabe8feaaabb 251 vd = KP * d_err + d_integral;
bwang 2:eabe8feaaabb 252 vq = KP * q_err + q_integral;
bwang 2:eabe8feaaabb 253
bwang 2:eabe8feaaabb 254 if (vd < -1.0f) vd = -1.0f;
bwang 2:eabe8feaaabb 255 if (vd > 1.0f) vd = 1.0f;
bwang 2:eabe8feaaabb 256 if (vq < -1.0f) vq = -1.0f;
bwang 2:eabe8feaaabb 257 if (vq > 1.0f) vq = 1.0f;
bwang 2:eabe8feaaabb 258
nki 10:6829abb438fc 259 //DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048);
bwang 2:eabe8feaaabb 260 //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
bwang 2:eabe8feaaabb 261
bwang 4:a6669248ce4d 262 //vd = 0.0f;
bwang 4:a6669248ce4d 263 //vq = -1.0f;
bwang 4:a6669248ce4d 264
bwang 2:eabe8feaaabb 265 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 266 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 267
bwang 2:eabe8feaaabb 268 float va = valpha;
bwang 2:eabe8feaaabb 269 float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 270 float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 271
bwang 2:eabe8feaaabb 272 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 273 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 274 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 275 }
bwang 0:bac9c3a3a6ca 276
bwang 0:bac9c3a3a6ca 277 int main() {
nki 11:1a68e17c0279 278 pc.baud(115200);
bwang 0:bac9c3a3a6ca 279 config_globals();
bwang 0:bac9c3a3a6ca 280 startup_msg();
bwang 0:bac9c3a3a6ca 281
nki 11:1a68e17c0279 282 HAL_Init();
nki 11:1a68e17c0279 283 SystemClock_Config();
nki 11:1a68e17c0279 284 ConfigureADC();
nki 11:1a68e17c0279 285 ADC1->CR2 |= (1<<0); //A/D on
nki 11:1a68e17c0279 286 // ADC1->CR2 |= (1<<8); //DMA mode
nki 11:1a68e17c0279 287 //ConfigureDMA();
nki 11:1a68e17c0279 288 HAL_ADC_Start_IT(&g_AdcHandle);
nki 11:1a68e17c0279 289 //HAL_ADC_Start_DMA(&g_AdcHandle, g_ADCBuffer, ADC_BUFFER_LENGTH); //this enables the overrun interrupt
nki 11:1a68e17c0279 290
nki 11:1a68e17c0279 291 //HAL_DMAEx_MultiBufferStart(..) wants uint32_t that are the destination addresses of the buffers.
nki 11:1a68e17c0279 292 uint32_t currentA_ADCBufferAddress = (uint32_t)&currentA_ADCBuffer[0];
nki 11:1a68e17c0279 293 uint32_t currentB_ADCBufferAddress = (uint32_t)&currentB_ADCBuffer[0];
nki 11:1a68e17c0279 294
nki 11:1a68e17c0279 295 //HAL_DMAEx_MultiBufferStart(&currentAB_DmaHandle, ADC1->DR, currentA_ADCBufferAddress, currentB_ADCBufferAddress, ADC_BUFFER_LENGTH); //DMA_Handle, SrcAddress, DstAddress, DstAddress2, DataLength
nki 11:1a68e17c0279 296
bwang 0:bac9c3a3a6ca 297 for (;;) {
nki 11:1a68e17c0279 298 //ADC1->CR1 |= 0x4000000;
nki 11:1a68e17c0279 299 //pc.printf("%d \n\r", ADC1->DR);
nki 11:1a68e17c0279 300 //pc.printf("%d \n\r", ADC1->SR);
nki 11:1a68e17c0279 301 pc.printf("%d %d \n\r", currentA_ADCValue, currentB_ADCValue);
nki 11:1a68e17c0279 302 //pc.printf("%d \n\r", currentB_ADCValue);
nki 11:1a68e17c0279 303 //pc.printf("%d \n\r", debug_int);
nki 11:1a68e17c0279 304 //pc.printf("%s %x %s %x\n\r", "CR1:" , ADC1->CR1, "CR2:" , ADC1->CR2);
bwang 0:bac9c3a3a6ca 305 }
bwang 0:bac9c3a3a6ca 306 }
nki 11:1a68e17c0279 307
nki 11:1a68e17c0279 308 extern "C" //legacy C code goes here
nki 11:1a68e17c0279 309 {
nki 11:1a68e17c0279 310 void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* AdcHandle)
nki 11:1a68e17c0279 311 {
nki 11:1a68e17c0279 312 //currentA_ADCValue = HAL_ADC_GetValue(AdcHandle)
nki 11:1a68e17c0279 313 toggle = state;
nki 11:1a68e17c0279 314 state = !state;
nki 11:1a68e17c0279 315 if(state){currentA_ADCValue = ADC1->DR;}
nki 11:1a68e17c0279 316 else{currentB_ADCValue = ADC1->DR;}
nki 11:1a68e17c0279 317 toggle = state;
nki 11:1a68e17c0279 318
nki 11:1a68e17c0279 319 /*
nki 11:1a68e17c0279 320 currentA_ADCValue = std::accumulate(currentA_ADCBuffer, currentA_ADCBuffer + ADC_BUFFER_LENGTH, 0) / ADC_BUFFER_LENGTH;
nki 11:1a68e17c0279 321 currentB_ADCValue = std::accumulate(currentB_ADCBuffer, currentB_ADCBuffer + ADC_BUFFER_LENGTH, 0) / ADC_BUFFER_LENGTH;
nki 11:1a68e17c0279 322 g_MeasurementNumber += ADC_BUFFER_LENGTH;
nki 11:1a68e17c0279 323 */
nki 11:1a68e17c0279 324 }
nki 11:1a68e17c0279 325
nki 11:1a68e17c0279 326 void DMA2_Stream4_IRQHandler()
nki 11:1a68e17c0279 327 {
nki 11:1a68e17c0279 328 HAL_DMA_IRQHandler(&currentAB_DmaHandle);
nki 11:1a68e17c0279 329 }
nki 11:1a68e17c0279 330
nki 11:1a68e17c0279 331 void ADC_IRQHandler()
nki 11:1a68e17c0279 332 {
nki 11:1a68e17c0279 333 HAL_ADC_IRQHandler(&g_AdcHandle);
nki 11:1a68e17c0279 334
nki 11:1a68e17c0279 335 }
nki 11:1a68e17c0279 336 }