diff --git a/Makefile b/Makefile
index 6e70113ac0619acc80e1990f9ebc4a9718c73085..ffe548d0b9f8e95c3feee3b8a11615f0f06003f1 100755
--- a/Makefile
+++ b/Makefile
@@ -9,6 +9,7 @@ TARGET_FILES+=src/stm32f4xx_hal_msp.c
TARGET_FILES+=src/gpio.c
TARGET_FILES+=src/eeprom.c
TARGET_FILES+=src/ram.c
+TARGET_FILES+=src/adc_dma.c
TARGET_FILES+=src/bioloid_time.c
TARGET_FILES+=src/bioloid_dyn_slave.c
TARGET_FILES+=src/bioloid_dyn_master_sensors.c
@@ -70,6 +71,8 @@ TARGET_FILES+=$(HAL_PATH)/src/stm32f4xx_hal_flash_ex.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f4xx_hal_dma.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f4xx_hal.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f4xx_hal_uart.c
+TARGET_FILES+=$(HAL_PATH)/src/stm32f4xx_hal_adc.c
+TARGET_FILES+=$(HAL_PATH)/src/stm32f4xx_hal_adc_ex.c
TARGET_FILES+=$(USART_PATH)/src/usart3.c
TARGET_FILES+=$(USART_PATH)/src/usart2.c
diff --git a/include/adc_dma.h b/include/adc_dma.h
index 05699e454d72613ae80b01356927b9f66267f39d..2999be465858f1d2b489991449107781aa647bd4 100644
--- a/include/adc_dma.h
+++ b/include/adc_dma.h
@@ -5,10 +5,12 @@
extern "C" {
#endif
-#include "stm32f4xx.h"
+#include "stm32f4xx_hal.h"
void adc_init(void);
-uint16_t adc_get_temperature(void);
+void adc_start(void);
+void adc_set_period(uint8_t period_ms);
+void adc_stop(void);
#ifdef __cplusplus
}
diff --git a/include/bioloid_registers.h b/include/bioloid_registers.h
index c18bb7d75d894c644b1df97e7d1a1b1fe63f8c8d..751a4430e99506b00cb1e2b03617a9cb97d9286e 100644
--- a/include/bioloid_registers.h
+++ b/include/bioloid_registers.h
@@ -46,6 +46,25 @@ typedef enum {
// | | | | interrupt flag | enable interrupt | value | internally used
BIOLOID_MODE_PB_CNTRL = 0x2F, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | interrupt flag | enable interrupt | value | internally used
+ BIOLOID_ADC_CNTRL = 0x30, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | | | | | | | Enable
+ BIOLOID_ADC_PERIOD = 0x31,
+ BIOLOID_ADC_CH1_L = 0x32,
+ BIOLOID_ADC_CH1_H = 0x33,
+ BIOLOID_ADC_CH2_L = 0x34,
+ BIOLOID_ADC_CH2_H = 0x35,
+ BIOLOID_ADC_CH3_L = 0x36,
+ BIOLOID_ADC_CH3_H = 0x37,
+ BIOLOID_ADC_CH4_L = 0x38,
+ BIOLOID_ADC_CH4_H = 0x39,
+ BIOLOID_ADC_TEMP_L = 0x3A,
+ BIOLOID_ADC_TEMP_H = 0x3B,
+ BIOLOID_ADC_CH6_L = 0x3C,
+ BIOLOID_ADC_CH6_H = 0x3D,
+ BIOLOID_ADC_VREF_L = 0x3E,
+ BIOLOID_ADC_VREF_H = 0x3F,
+ BIOLOID_ADC_CH8_L = 0x40,
+ BIOLOID_ADC_CH8_H = 0x41
} bioloid_registers;
#define GPIO_BASE_ADDRESS 0x20
diff --git a/src/adc_dma.c b/src/adc_dma.c
index 19a70aaa2a82ab8a8194a83765c07b2e29f8c6bc..6ee1685d2bea9ff9c1f7c40cc3482a539c98fc87 100644
--- a/src/adc_dma.c
+++ b/src/adc_dma.c
@@ -1,145 +1,370 @@
#include "adc_dma.h"
#include "ram.h"
-#define ADC1_CH1 ADC_Channel_TempSensor
-#define ADC1_CH2 ADC_Channel_8
-#define ADC1_CH3 ADC_Channel_10
-#define ADC1_CH4 ADC_Channel_12
-
-#define ADC2_CH1 ADC_Channel_14
-#define ADC2_CH2 ADC_Channel_9
-#define ADC2_CH3 ADC_Channel_11
-#define ADC2_CH4 ADC_Channel_13
-
-#define ADC1_CH2_PIN GPIO_Pin_8
-#define ADC1_CH2_PORT GPIOB
-#define ADC1_CH2_PORT_CLK RCC_AHB1Periph_GPIOB
-#define ADC1_CH3_PIN GPIO_Pin_0
-#define ADC1_CH3_PORT GPIOC
-#define ADC1_CH3_PORT_CLK RCC_AHB1Periph_GPIOC
-#define ADC1_CH4_PIN GPIO_Pin_2
-#define ADC1_CH4_PORT GPIOC
-#define ADC1_CH4_PORT_CLK RCC_AHB1Periph_GPIOC
-
-#define ADC2_CH1_PIN GPIO_Pin_4
-#define ADC2_CH1_PORT GPIOC
-#define ADC2_CH1_PORT_CLK RCC_AHB1Periph_GPIOC
-#define ADC2_CH2_PIN GPIO_Pin_1
-#define ADC2_CH2_PORT GPIOB
-#define ADC2_CH2_PORT_CLK RCC_AHB1Periph_GPIOB
-#define ADC2_CH3_PIN GPIO_Pin_1
-#define ADC2_CH3_PORT GPIOC
-#define ADC2_CH3_PORT_CLK RCC_AHB1Periph_GPIOC
-#define ADC2_CH4_PIN GPIO_Pin_3
-#define ADC2_CH4_PORT GPIOC
-#define ADC2_CH4_PORT_CLK RCC_AHB1Periph_GPIOC
-
-#define ADC_CCR_ADDRESS ((uint32_t)0x40012308)
+#define ADC1_CH1 ADC_CHANNEL_6
+#define ADC1_CH2 ADC_CHANNEL_8
+#define ADC1_CH3 ADC_CHANNEL_TEMPSENSOR
+#define ADC1_CH4 ADC_CHANNEL_VREFINT
+
+#define ADC2_CH1 ADC_CHANNEL_7
+#define ADC2_CH2 ADC_CHANNEL_9
+#define ADC2_CH3 ADC_CHANNEL_14
+#define ADC2_CH4 ADC_CHANNEL_15
+
+#define ADC1_CH1_PIN GPIO_PIN_6
+#define ADC1_CH1_PORT GPIOA
+#define ADC1_CH1_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
+#define ADC1_CH2_PIN GPIO_PIN_0
+#define ADC1_CH2_PORT GPIOB
+#define ADC1_CH2_ENABLE_PORT_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
+#define ADC1_ENABLE_CLK __ADC1_CLK_ENABLE()
+
+#define ADC2_CH1_PIN GPIO_PIN_7
+#define ADC2_CH1_PORT GPIOA
+#define ADC2_CH1_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
+#define ADC2_CH2_PIN GPIO_PIN_1
+#define ADC2_CH2_PORT GPIOB
+#define ADC2_CH2_ENABLE_PORT_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
+#define ADC2_CH3_PIN GPIO_PIN_4
+#define ADC2_CH3_PORT GPIOC
+#define ADC2_CH3_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
+#define ADC2_CH4_PIN GPIO_PIN_5
+#define ADC2_CH4_PORT GPIOC
+#define ADC2_CH4_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
+#define ADC2_ENABLE_CLK __ADC2_CLK_ENABLE()
+
+#define ADC_DMA_CHANNEL DMA_CHANNEL_0
+#define ADC_DMA_STREAM DMA2_Stream0
+#define ADC_DMA_IRQn DMA2_Stream0_IRQn
+#define ADC_DMA_IRQHandler DMA2_Stream0_IRQHandler
+#define ADC_ENABLE_DMA_CLK __HAL_RCC_DMA2_CLK_ENABLE()
+
+#define ADC_TIMER TIM4
+#define ENABLE_ADC_TIMER_CLK __HAL_RCC_TIM4_CLK_ENABLE()
+#define ADC_TIMER_IRQn TIM4_IRQn
+#define ADC_TIMER_IRQHandler TIM4_IRQHandler
+
+// temperature conversion functions
+#define TEMP_V25 0.76// ADC voltage at 25 degrees in V
+#define TEMP_INV_SLOPE 400.0// ADC slope in mV/degree
+
+// general voltage conversion
+#define VOLTAGE_DELTA 0.000805664
+#define VOLTAGE_GAIN 1.529411765
// private variables
+ADC_HandleTypeDef hadc1;
+ADC_HandleTypeDef hadc2;
+DMA_HandleTypeDef hdma_adc1;
+TIM_HandleTypeDef ADC_TIM_Handle;
+
+uint32_t adc_data[4];// temporal buffer to store ADC data before conversion
+uint16_t adc_period_ms;
+
+// private functions
+uint16_t adc_convert_temperature(uint16_t value)
+{
+ float conv_value;
+
+ conv_value=(value*VOLTAGE_DELTA-TEMP_V25)*TEMP_INV_SLOPE+25.0;
+
+ return conv_value*(1<<10);// fixed point format 6 | 10
+}
+
+uint16_t adc_convert_vrefint(uint16_t value)
+{
+ float conv_value;
+
+ conv_value=value*VOLTAGE_DELTA;
+
+ return conv_value*(1<<12);
+}
+
+uint16_t adc_convert_voltage(uint16_t value)
+{
+ float conv_value;
+
+ conv_value=value*VOLTAGE_DELTA*VOLTAGE_GAIN;
+
+ return conv_value*(1<<12);
+}
// interrupt handlers
+void ADC_TIMER_IRQHandler(void)
+{
+ uint32_t capture;
+
+ if(__HAL_TIM_GET_FLAG(&ADC_TIM_Handle, TIM_FLAG_CC4) != RESET)
+ {
+ if(__HAL_TIM_GET_IT_SOURCE(&ADC_TIM_Handle, TIM_IT_CC4) !=RESET)
+ {
+ __HAL_TIM_CLEAR_IT(&ADC_TIM_Handle, TIM_IT_CC4);
+ capture = HAL_TIM_ReadCapturedValue(&ADC_TIM_Handle, TIM_CHANNEL_4);
+ __HAL_TIM_SET_COMPARE(&ADC_TIM_Handle, TIM_CHANNEL_4, (capture + adc_period_ms));
+ }
+ }
+ /* TIM Update event */
+ if(__HAL_TIM_GET_FLAG(&ADC_TIM_Handle, TIM_FLAG_UPDATE) != RESET)
+ if(__HAL_TIM_GET_IT_SOURCE(&ADC_TIM_Handle, TIM_IT_UPDATE) !=RESET)
+ __HAL_TIM_CLEAR_IT(&ADC_TIM_Handle, TIM_IT_UPDATE);
+ /* TIM Break input event */
+ if(__HAL_TIM_GET_FLAG(&ADC_TIM_Handle, TIM_FLAG_BREAK) != RESET)
+ if(__HAL_TIM_GET_IT_SOURCE(&ADC_TIM_Handle, TIM_IT_BREAK) !=RESET)
+ __HAL_TIM_CLEAR_IT(&ADC_TIM_Handle, TIM_IT_BREAK);
+ /* TIM Trigger detection event */
+ if(__HAL_TIM_GET_FLAG(&ADC_TIM_Handle, TIM_FLAG_TRIGGER) != RESET)
+ if(__HAL_TIM_GET_IT_SOURCE(&ADC_TIM_Handle, TIM_IT_TRIGGER) !=RESET)
+ __HAL_TIM_CLEAR_IT(&ADC_TIM_Handle, TIM_IT_TRIGGER);
+ /* TIM commutation event */
+ if(__HAL_TIM_GET_FLAG(&ADC_TIM_Handle, TIM_FLAG_COM) != RESET)
+ if(__HAL_TIM_GET_IT_SOURCE(&ADC_TIM_Handle, TIM_IT_COM) !=RESET)
+ __HAL_TIM_CLEAR_IT(&ADC_TIM_Handle, TIM_FLAG_COM);
+}
+
+void ADC_DMA_IRQHandler(void)
+{
+ uint16_t value;
+
+ /* Transfer Error Interrupt management ***************************************/
+ if(__HAL_DMA_GET_FLAG(&hdma_adc1, __HAL_DMA_GET_TE_FLAG_INDEX(&hdma_adc1)) != RESET)
+ if(__HAL_DMA_GET_IT_SOURCE(&hdma_adc1, DMA_IT_TE) != RESET)
+ __HAL_DMA_CLEAR_FLAG(&hdma_adc1, __HAL_DMA_GET_TE_FLAG_INDEX(&hdma_adc1));
+ /* FIFO Error Interrupt management ******************************************/
+ if(__HAL_DMA_GET_FLAG(&hdma_adc1, __HAL_DMA_GET_FE_FLAG_INDEX(&hdma_adc1)) != RESET)
+ if(__HAL_DMA_GET_IT_SOURCE(&hdma_adc1, DMA_IT_FE) != RESET)
+ __HAL_DMA_CLEAR_FLAG(&hdma_adc1, __HAL_DMA_GET_FE_FLAG_INDEX(&hdma_adc1));
+ /* Direct Mode Error Interrupt management ***********************************/
+ if(__HAL_DMA_GET_FLAG(&hdma_adc1, __HAL_DMA_GET_DME_FLAG_INDEX(&hdma_adc1)) != RESET)
+ if(__HAL_DMA_GET_IT_SOURCE(&hdma_adc1, DMA_IT_DME) != RESET)
+ __HAL_DMA_CLEAR_FLAG(&hdma_adc1, __HAL_DMA_GET_DME_FLAG_INDEX(&hdma_adc1));
+ /* Half Transfer Complete Interrupt management ******************************/
+ if(__HAL_DMA_GET_FLAG(&hdma_adc1, __HAL_DMA_GET_HT_FLAG_INDEX(&hdma_adc1)) != RESET)
+ if(__HAL_DMA_GET_IT_SOURCE(&hdma_adc1, DMA_IT_HT) != RESET)
+ __HAL_DMA_CLEAR_FLAG(&hdma_adc1, __HAL_DMA_GET_HT_FLAG_INDEX(&hdma_adc1));
+ /* Transfer Complete Interrupt management ***********************************/
+ if(__HAL_DMA_GET_FLAG(&hdma_adc1, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_adc1)) != RESET)
+ if(__HAL_DMA_GET_IT_SOURCE(&hdma_adc1, DMA_IT_TC) != RESET)
+ {
+ __HAL_DMA_CLEAR_FLAG(&hdma_adc1, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_adc1));
+ value=adc_convert_voltage(adc_data[0]&0x0000FFFF);
+ ram_data[BIOLOID_ADC_CH1_L]=value%256;
+ ram_data[BIOLOID_ADC_CH1_H]=value/256;
+ value=adc_convert_voltage((adc_data[0]&0xFFFF0000)>>16);
+ ram_data[BIOLOID_ADC_CH2_L]=value%256;
+ ram_data[BIOLOID_ADC_CH2_H]=value/256;
+ value=adc_convert_voltage(adc_data[1]&0x0000FFFF);
+ ram_data[BIOLOID_ADC_CH3_L]=value%256;
+ ram_data[BIOLOID_ADC_CH3_H]=value/256;
+ value=adc_convert_voltage((adc_data[1]&0xFFFF0000)>>16);
+ ram_data[BIOLOID_ADC_CH4_L]=value%256;
+ ram_data[BIOLOID_ADC_CH4_H]=value/256;
+ value=adc_convert_temperature(adc_data[2]&0x0000FFFF);
+ ram_data[BIOLOID_ADC_TEMP_L]=value%256;
+ ram_data[BIOLOID_ADC_TEMP_H]=value/256;
+ value=adc_convert_voltage((adc_data[2]&0xFFFF0000)>>16);
+ ram_data[BIOLOID_ADC_CH6_L]=value%256;
+ ram_data[BIOLOID_ADC_CH6_H]=value/256;
+ value=adc_convert_vrefint(adc_data[3]&0x0000FFFF);
+ ram_data[BIOLOID_ADC_VREF_L]=value%256;
+ ram_data[BIOLOID_ADC_VREF_H]=value/256;
+ value=adc_convert_voltage((adc_data[3]&0xFFFF0000)>>16);
+ ram_data[BIOLOID_ADC_CH8_L]=value%256;
+ ram_data[BIOLOID_ADC_CH8_H]=value/256;
+ }
+}
// public functions
void adc_init(void)
{
- ADC_CommonInitTypeDef ADC_CommonInitStructure;
- ADC_InitTypeDef ADC_InitStructure;
- GPIO_InitTypeDef GPIO_InitStructure;
- DMA_InitTypeDef DMA_InitStructure;
+ GPIO_InitTypeDef GPIO_InitStruct;
+ ADC_MultiModeTypeDef multimode;
+ ADC_ChannelConfTypeDef sConfig;
+ TIM_ClockConfigTypeDef sClockSourceConfig;
+ TIM_MasterConfigTypeDef sMasterConfig;
+ TIM_OC_InitTypeDef TIM_OCInitStructure;
+ uint32_t capture;
+
+ /* initialize the internal variables */
+ adc_period_ms=840;// equivalent to 10 ms
+ ram_data[BIOLOID_ADC_PERIOD]=84;
/* enable clocks */
- RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE);
- RCC_AHB1PeriphClockCmd(ADC1_CH2_PORT_CLK | ADC1_CH3_PORT_CLK | ADC1_CH4_PORT_CLK, ENABLE);
- RCC_AHB1PeriphClockCmd(ADC2_CH1_PORT_CLK | ADC2_CH2_PORT_CLK | ADC2_CH3_PORT_CLK | ADC2_CH4_PORT_CLK, ENABLE);
-
- /* DMA Config */
- DMA_InitStructure.DMA_Channel = DMA_Channel_0;
- DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ram_data[50];
- DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC_CCR_ADDRESS;
- DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
- DMA_InitStructure.DMA_BufferSize = 4;
- DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
- DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
- DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
- DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
- DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
- DMA_InitStructure.DMA_Priority = DMA_Priority_High;
- DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable;
- DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
- DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
- DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
- DMA_Init(DMA2_Stream0, &DMA_InitStructure);
-
- /* DMA2_Stream0 enable */
- DMA_Cmd(DMA2_Stream0, ENABLE);
+ ADC1_CH1_ENABLE_PORT_CLK;
+ ADC1_CH2_ENABLE_PORT_CLK;
+ ADC2_CH1_ENABLE_PORT_CLK;
+ ADC2_CH2_ENABLE_PORT_CLK;
+ ADC2_CH3_ENABLE_PORT_CLK;
+ ADC2_CH4_ENABLE_PORT_CLK;
+
+ ADC_ENABLE_DMA_CLK;
+
+ ADC1_ENABLE_CLK;
+ /* configure ADC1 */
+ hadc1.Instance = ADC1;
+ hadc1.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV8;
+ hadc1.Init.Resolution = ADC_RESOLUTION12b;
+ hadc1.Init.ScanConvMode = ENABLE;
+ hadc1.Init.ContinuousConvMode = DISABLE;// because it is triggered by a timer
+ hadc1.Init.DiscontinuousConvMode = DISABLE;
+ hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISINGFALLING;
+ hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T4_CC4;
+ hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+ hadc1.Init.NbrOfConversion = 4;
+ hadc1.Init.DMAContinuousRequests = ENABLE;
+ hadc1.Init.EOCSelection = EOC_SEQ_CONV;
+ HAL_ADC_Init(&hadc1);
+
+ multimode.Mode = ADC_DUALMODE_REGSIMULT;
+ multimode.DMAAccessMode = ADC_DMAACCESSMODE_2;
+ multimode.TwoSamplingDelay = ADC_TWOSAMPLINGDELAY_20CYCLES;
+ HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode);
+
+ /* configure ADC1 channels */
+ sConfig.Channel = ADC1_CH1;
+ sConfig.Rank = 1;
+ sConfig.SamplingTime = ADC_SAMPLETIME_480CYCLES;
+ HAL_ADC_ConfigChannel(&hadc1, &sConfig);
+
+ sConfig.Channel = ADC1_CH2;
+ sConfig.Rank = 2;
+ HAL_ADC_ConfigChannel(&hadc1, &sConfig);
+
+ sConfig.Channel = ADC1_CH3;
+ sConfig.Rank = 3;
+ HAL_ADC_ConfigChannel(&hadc1, &sConfig);
+
+ sConfig.Channel = ADC1_CH4;
+ sConfig.Rank = 4;
+ HAL_ADC_ConfigChannel(&hadc1, &sConfig);
/* configure GPIO */
- GPIO_InitStructure.GPIO_Pin = ADC1_CH2_PIN | ADC2_CH2_PIN;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
- GPIO_Init(ADC1_CH2_PORT, &GPIO_InitStructure);
-
- GPIO_InitStructure.GPIO_Pin = ADC1_CH3_PIN | ADC1_CH4_PIN | ADC2_CH1_PIN | ADC2_CH3_PIN | ADC2_CH4_PIN;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
- GPIO_Init(ADC2_CH1_PORT, &GPIO_InitStructure);
-
- /* ADC Common Init */
- ADC_CommonInitStructure.ADC_Mode = ADC_DualMode_RegSimult;
- ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;
- ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_2;
- ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
- ADC_CommonInit(&ADC_CommonInitStructure);
-
- /* ADC1 configuration */
- ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
- ADC_InitStructure.ADC_ScanConvMode = ENABLE;
- ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
- ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
- ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
- ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
- ADC_InitStructure.ADC_NbrOfConversion = 4;
- ADC_Init(ADC1, &ADC_InitStructure);
-
- /* ADC1 regular channels 10, 11 configuration */
- ADC_RegularChannelConfig(ADC1, ADC1_CH1, 1, ADC_SampleTime_480Cycles);
- ADC_RegularChannelConfig(ADC1, ADC1_CH2, 2, ADC_SampleTime_480Cycles);
- ADC_RegularChannelConfig(ADC1, ADC1_CH3, 3, ADC_SampleTime_480Cycles);
- ADC_RegularChannelConfig(ADC1, ADC1_CH4, 4, ADC_SampleTime_480Cycles);
-
- /* ADC1 configuration */
- ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
- ADC_InitStructure.ADC_ScanConvMode = ENABLE;
- ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
- ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
- ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
- ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
- ADC_InitStructure.ADC_NbrOfConversion = 4;
- ADC_Init(ADC2, &ADC_InitStructure);
-
- /* ADC1 regular channels 10, 11 configuration */
- ADC_RegularChannelConfig(ADC2, ADC2_CH1, 1, ADC_SampleTime_480Cycles);
- ADC_RegularChannelConfig(ADC2, ADC2_CH2, 2, ADC_SampleTime_480Cycles);
- ADC_RegularChannelConfig(ADC2, ADC2_CH3, 3, ADC_SampleTime_480Cycles);
- ADC_RegularChannelConfig(ADC2, ADC2_CH4, 4, ADC_SampleTime_480Cycles);
-
- /* Enable DMA request after last transfer (Multi-ADC mode) */
- ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
-
- /* Enable ADC1 */
- ADC_Cmd(ADC1, ENABLE);
-
- /* Enable ADC2 */
- ADC_Cmd(ADC2, ENABLE);
-
- /* Start ADC1 Software Conversion */
- ADC_SoftwareStartConv(ADC1);
+ GPIO_InitStruct.Pin = ADC1_CH1_PIN;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(ADC1_CH1_PORT, &GPIO_InitStruct);
+ GPIO_InitStruct.Pin = ADC1_CH2_PIN;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(ADC1_CH2_PORT, &GPIO_InitStruct);
+
+ ADC2_ENABLE_CLK;
+ /* configure ADC1 */
+ hadc2.Instance = ADC2;
+ hadc2.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV8;
+ hadc2.Init.Resolution = ADC_RESOLUTION12b;
+ hadc2.Init.ScanConvMode = ENABLE;
+ hadc2.Init.ContinuousConvMode = DISABLE;// because it is triggered by a timer
+ hadc2.Init.DiscontinuousConvMode = DISABLE;
+ hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+ hadc2.Init.NbrOfConversion = 4;
+ hadc2.Init.DMAContinuousRequests = ENABLE;
+ hadc2.Init.EOCSelection = EOC_SEQ_CONV;
+ HAL_ADC_Init(&hadc2);
+
+ multimode.Mode = ADC_DUALMODE_REGSIMULT;
+ multimode.DMAAccessMode = ADC_DMAACCESSMODE_2;
+ multimode.TwoSamplingDelay = ADC_TWOSAMPLINGDELAY_20CYCLES;
+ HAL_ADCEx_MultiModeConfigChannel(&hadc2, &multimode);
+
+ /* configure ADC2 channels */
+ sConfig.Channel = ADC2_CH1;
+ sConfig.Rank = 1;
+ sConfig.SamplingTime = ADC_SAMPLETIME_480CYCLES;
+ HAL_ADC_ConfigChannel(&hadc2, &sConfig);
+
+ sConfig.Channel = ADC2_CH2;
+ sConfig.Rank = 2;
+ HAL_ADC_ConfigChannel(&hadc2, &sConfig);
+
+ sConfig.Channel = ADC2_CH3;
+ sConfig.Rank = 3;
+ HAL_ADC_ConfigChannel(&hadc2, &sConfig);
+
+ sConfig.Channel = ADC2_CH4;
+ sConfig.Rank = 4;
+ HAL_ADC_ConfigChannel(&hadc2, &sConfig);
+
+ /* configure GPIO */
+ GPIO_InitStruct.Pin = ADC2_CH1_PIN;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(ADC2_CH1_PORT, &GPIO_InitStruct);
+ GPIO_InitStruct.Pin = ADC2_CH2_PIN;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(ADC2_CH2_PORT, &GPIO_InitStruct);
+ GPIO_InitStruct.Pin = ADC2_CH3_PIN;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(ADC2_CH3_PORT, &GPIO_InitStruct);
+ GPIO_InitStruct.Pin = ADC2_CH4_PIN;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(ADC2_CH4_PORT, &GPIO_InitStruct);
+
+ /* initialize DMA */
+ hdma_adc1.Instance = DMA2_Stream0;
+ hdma_adc1.Init.Channel = DMA_CHANNEL_0;
+ hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
+ hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+ hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
+ hdma_adc1.Init.Mode = DMA_CIRCULAR;
+ hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
+ hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+ HAL_DMA_Init(&hdma_adc1);
+
+ __HAL_LINKDMA(&hadc1,DMA_Handle,hdma_adc1);
+
+ HAL_NVIC_SetPriority(ADC_DMA_IRQn, 3, 1);
+ HAL_NVIC_EnableIRQ(ADC_DMA_IRQn);
+
+ /* configure the timer to generate the internal trigger */
+ ENABLE_ADC_TIMER_CLK;
+ ADC_TIM_Handle.Instance=ADC_TIMER;
+ ADC_TIM_Handle.Init.Period = 0xFFFF;
+ ADC_TIM_Handle.Init.Prescaler = 1000;
+ ADC_TIM_Handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ ADC_TIM_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
+ HAL_NVIC_SetPriority(ADC_TIMER_IRQn, 3, 1);
+ HAL_NVIC_EnableIRQ(ADC_TIMER_IRQn);
+ /* use the internal clock */
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ HAL_TIM_ConfigClockSource(&ADC_TIM_Handle, &sClockSourceConfig);
+ HAL_TIM_OC_Init(&ADC_TIM_Handle);
+ /* disable master/slave mode */
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ HAL_TIMEx_MasterConfigSynchronization(&ADC_TIM_Handle, &sMasterConfig);
+ /* configure ouptut counter channel 4 */
+ TIM_OCInitStructure.OCMode = TIM_OCMODE_TOGGLE;
+ TIM_OCInitStructure.OCPolarity = TIM_OCPOLARITY_HIGH;
+ TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
+ capture = HAL_TIM_ReadCapturedValue(&ADC_TIM_Handle, TIM_CHANNEL_4);
+ TIM_OCInitStructure.Pulse = capture+adc_period_ms;
+ HAL_TIM_OC_ConfigChannel(&ADC_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_4);
+
+ /* start ADC operation */
+ HAL_ADC_Start(&hadc2);
+ HAL_ADCEx_MultiModeStart_DMA(&hadc1,adc_data,4);
+ adc_start();
}
-uint16_t adc_get_temperature(void)
+void adc_start(void)
{
- return 0x0000;
+ ram_data[BIOLOID_ADC_CNTRL]|=0x01;
+ HAL_TIM_OC_Start_IT(&ADC_TIM_Handle, TIM_CHANNEL_4);
}
+
+void adc_set_period(uint8_t period_ms)
+{
+ adc_period_ms=period_ms*84;
+}
+
+void adc_stop(void)
+{
+ ram_data[BIOLOID_ADC_CNTRL]&=0xFE;
+ HAL_TIM_OC_Stop_IT(&ADC_TIM_Handle, TIM_CHANNEL_4);
+}
+
diff --git a/src/bioloid_dyn_master_sensors.c b/src/bioloid_dyn_master_sensors.c
index 783f116c17276b6485735206372ba3758a7dae24..ff619e83fd9ab862e97fbc157b756b3723287c6a 100755
--- a/src/bioloid_dyn_master_sensors.c
+++ b/src/bioloid_dyn_master_sensors.c
@@ -75,9 +75,4 @@ void bioloid_dyn_master_sensors_init(void)
dyn_master_init(&bioloid_dyn_master_sensors,&bioloid_dyn_master_sensors_comm);
bioloid_dyn_master_sensors.set_rx_mode=bioloid_dyn_master_sensors_set_rx_mode;
bioloid_dyn_master_sensors.set_tx_mode=bioloid_dyn_master_sensors_set_tx_mode;
-
- if(dyn_master_ping(&bioloid_dyn_master_sensors,0xC0)==DYN_SUCCESS)
- gpio_set_led(RXD_LED);
- else
- gpio_clear_led(RXD_LED);
}
diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index 8c9688988924eb475345fd6bf33728f666450102..2b36940662c74c346e0ede9cd009caed0ea6c80c 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -2,6 +2,7 @@
#include "gpio.h"
#include "eeprom.h"
#include "ram.h"
+#include "adc_dma.h"
#include "bioloid_time.h"
#include "bioloid_dyn_slave.h"
#include "bioloid_dyn_master_sensors.h"
@@ -15,6 +16,8 @@ int32_t main(void)
EE_Init();
/* initialize the ram module */
ram_init();
+ /* initialize the ADC module */
+ adc_init();
/* initialize the time module */
bioloid_time_init();
/* initialize the dynamixel slave interface */