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Commit 18f8138b authored by Sergi Hernandez's avatar Sergi Hernandez
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Aolved a bug in the ADC module when writing the data into the RAM. 

Removed the fixed baudrate and device id from the dynamixel slave.
parent b1988281
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include/ir_feet_conf.h
+ 1
− 1
View file @ 18f8138b
......@@ -6,7 +6,7 @@
#define EEPROM_DYN_SLAVE_BASE_ADDRESS2 ((unsigned short int)0x0010)
/* ADC registers base address */
#define RAM_ADC_DMA_BASE_ADDRESS ((unsigned short int)0x004a)
#define RAM_ADC_DMA_BASE_ADDRESS ((unsigned short int)0x0020)
#define EEPROM_NUM_VAR 32
......
src/adc_dma.c
+ 18
− 12
View file @ 18f8138b
#include "adc_dma.h"
#include "adc_dma_registers.h"
#include "scheduler.h"
#include "ram.h"
#define ADC1_CH1 ADC_CHANNEL_0
......@@ -131,32 +132,32 @@ void adc_convert_voltage(adc_dma_ch_t channel_id,uint16_t value)
ram_data[DOWN_LEFT_FRONT_VOLTAGE+1]=ram_value/256;
break;
case DOWN_RIGHT_REAR_CH: adc_voltages[4]=((float)value)*VOLTAGE_DELTA;
ram_value=(uint16_t)adc_voltages[0];
ram_value=(uint16_t)adc_voltages[4];
ram_data[DOWN_RIGHT_REAR_VOLTAGE]=ram_value%256;
ram_data[DOWN_RIGHT_REAR_VOLTAGE+1]=ram_value/256;
break;
case DOWN_RIGHT_MIDDLE_CH: adc_voltages[5]=((float)value)*VOLTAGE_DELTA;
ram_value=(uint16_t)adc_voltages[0];
ram_value=(uint16_t)adc_voltages[5];
ram_data[DOWN_RIGHT_MIDDLE_VOLTAGE]=ram_value%256;
ram_data[DOWN_RIGHT_MIDDLE_VOLTAGE+1]=ram_value/256;
break;
case DOWN_RIGHT_FRONT_CH: adc_voltages[6]=((float)value)*VOLTAGE_DELTA;
ram_value=(uint16_t)adc_voltages[0];
ram_value=(uint16_t)adc_voltages[6];
ram_data[DOWN_RIGHT_FRONT_VOLTAGE]=ram_value%256;
ram_data[DOWN_RIGHT_FRONT_VOLTAGE+1]=ram_value/256;
break;
case FRONT_LEFT_CH: adc_voltages[7]=((float)value)*VOLTAGE_DELTA;
ram_value=(uint16_t)adc_voltages[0];
ram_value=(uint16_t)adc_voltages[7];
ram_data[FRONT_LEFT_VOLTAGE]=ram_value%256;
ram_data[FRONT_LEFT_VOLTAGE+1]=ram_value/256;
break;
case FRONT_RIGHT_CH: adc_voltages[8]=((float)value)*VOLTAGE_DELTA;
ram_value=(uint16_t)adc_voltages[0];
ram_value=(uint16_t)adc_voltages[8];
ram_data[FRONT_RIGHT_VOLTAGE]=ram_value%256;
ram_data[FRONT_RIGHT_VOLTAGE+1]=ram_value/256;
break;
case FRONT_ANALOG_CH: adc_voltages[9]=((float)value)*VOLTAGE_DELTA;
ram_value=(uint16_t)adc_voltages[0];
ram_value=(uint16_t)adc_voltages[9];
ram_data[FRONT_ANALOG_VOLTAGE]=ram_value%256;
ram_data[FRONT_ANALOG_VOLTAGE+1]=ram_value/256;
break;
......@@ -173,6 +174,12 @@ void adc_read_cmd(unsigned short int address,unsigned short int length,unsigned
ram_read_table(address,length,data);
}
void adc_start_conv(void)
{
HAL_ADC_Start(&hadc2);
HAL_ADCEx_MultiModeStart_DMA(&hadc1,adc_data,6);
}
/* interrupt handlers */
void ADC_DMA_IRQHandler(void)
{
......@@ -185,6 +192,7 @@ void ADC_DMA_IRQHandler(void)
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));
HAL_ADC_Stop(&hadc2);
adc_convert_voltage(DOWN_LEFT_MIDDLE_CH,adc_data[0]&0x0000FFFF);
adc_convert_voltage(DOWN_LEFT_REAR_CH,(adc_data[0]>>16)&0x0000FFFF);
......@@ -365,13 +373,11 @@ uint8_t adc_init(TMemory *memory)
if(!mem_add_module(memory,&adc_mem_module))
return 0x00;
return 0x01;
}
/* assigna a scheduler channel */
scheduler_set_channel(SCHED_CH1,adc_start_conv,10);
scheduler_enable_channel(SCHED_CH1);
void adc_start_conversion(void)
{
HAL_ADC_Start(&hadc2);
HAL_ADCEx_MultiModeStart_DMA(&hadc1,adc_data,6);
return 0x01;
}
float adc_get_voltage(adc_dma_ch_t channel_id)
......
src/ir_feet_dyn_slave.c
+ 4
− 4
View file @ 18f8138b
......@@ -68,12 +68,12 @@ void ir_feet_dyn_slave_write_cmd(unsigned short int address,unsigned short int l
{
if(ram_in_range(DEVICE_ID,address,length))
{
dyn_slave_set_address(&ir_feet_dyn_slave,0x01/*data[DEVICE_ID-address]*/);
dyn_slave_set_address(&ir_feet_dyn_slave,data[DEVICE_ID-address]);
ram_data[DEVICE_ID]=data[DEVICE_ID-address];
}
if(ram_in_range(BAUDRATE,address,length))
{
ir_feet_comm_init.BaudRate=115200;//2000000/(data[BAUDRATE-address]+1);
ir_feet_comm_init.BaudRate=2000000/(data[BAUDRATE-address]+1);
usart1_config(&ir_feet_dyn_slave_comm,&ir_feet_comm_init);
ram_data[BAUDRATE]=data[BAUDRATE-address];
}
......@@ -125,7 +125,7 @@ uint8_t ir_feet_dyn_slave_init(TMemory *memory)
/* initialize the comm object */
comm_init(&ir_feet_dyn_slave_comm,0x01,&ir_feet_dyn_slave_timer);
ir_feet_comm_init.BaudRate = 115200;//2000000/(DEFAULT_BAUDRATE+1);
ir_feet_comm_init.BaudRate = 2000000/(DEFAULT_BAUDRATE+1);
ir_feet_comm_init.WordLength = UART_WORDLENGTH_8B;
ir_feet_comm_init.StopBits = UART_STOPBITS_1;
ir_feet_comm_init.Parity = UART_PARITY_NONE;
......@@ -141,7 +141,7 @@ uint8_t ir_feet_dyn_slave_init(TMemory *memory)
priorities.dma_tx_subpriority=0;
usart1_init(&ir_feet_dyn_slave_comm,&ir_feet_comm_init,&priorities);
dyn_slave_init(&ir_feet_dyn_slave,&ir_feet_dyn_slave_comm,1/*DEFAULT_DEVICE_ID*/,DYN_VER1);
dyn_slave_init(&ir_feet_dyn_slave,&ir_feet_dyn_slave_comm,DEFAULT_DEVICE_ID,DYN_VER1);
ir_feet_dyn_slave.on_read=ir_feet_on_read;
ir_feet_dyn_slave.on_write=ir_feet_on_write;
ir_feet_dyn_slave.on_ping=ir_feet_on_ping;
......
src/main.c
+ 0
− 4
View file @ 18f8138b
......@@ -37,10 +37,6 @@ int main(void)
while(1)/* main function does not return */
{
gpio_set_led(DOWN_LEFT_FRONT);
HAL_Delay(1000);
gpio_clear_led(DOWN_LEFT_FRONT);
HAL_Delay(1000);
}
}
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