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HAL_ChibiOS: fixed analog input on H7

This commit is contained in:
Andrew Tridgell 2019-02-14 09:25:29 +11:00
parent efc8da9f9a
commit 6422068e6b
2 changed files with 16 additions and 5 deletions
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19
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
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@ -40,7 +40,7 @@ extern AP_IOMCU iomcu;
#define ANLOGIN_DEBUGGING 0 #define ANLOGIN_DEBUGGING 0
// base voltage scaling for 12 bit 3.3V ADC // base voltage scaling for 12 bit 3.3V ADC
#define VOLTAGE_SCALING (3.3f/4096.0f) #define VOLTAGE_SCALING (3.3f/(1<<12))
#if ANLOGIN_DEBUGGING #if ANLOGIN_DEBUGGING
# define Debug(fmt, args ...) do {printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0) # define Debug(fmt, args ...) do {printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
@ -188,6 +188,8 @@ void AnalogSource::_add_value(float v, float vcc5V)
void AnalogIn::adccallback(ADCDriver *adcp) void AnalogIn::adccallback(ADCDriver *adcp)
{ {
const adcsample_t *buffer = samples; const adcsample_t *buffer = samples;
cacheBufferInvalidate(buffer, sizeof(adcsample_t)*ADC_DMA_BUF_DEPTH*ADC_GRP1_NUM_CHANNELS);
for (uint8_t i = 0; i < ADC_DMA_BUF_DEPTH; i++) { for (uint8_t i = 0; i < ADC_DMA_BUF_DEPTH; i++) {
for (uint8_t j = 0; j < ADC_GRP1_NUM_CHANNELS; j++) { for (uint8_t j = 0; j < ADC_GRP1_NUM_CHANNELS; j++) {
sample_sum[j] += *buffer++; sample_sum[j] += *buffer++;
@ -213,7 +215,9 @@ void AnalogIn::init()
adcgrpcfg.num_channels = ADC_GRP1_NUM_CHANNELS; adcgrpcfg.num_channels = ADC_GRP1_NUM_CHANNELS;
adcgrpcfg.end_cb = adccallback; adcgrpcfg.end_cb = adccallback;
#if defined(STM32H7) #if defined(STM32H7)
adcgrpcfg.sqr[0] = ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS); // use 12 bits resolution to keep scaling factors the same as other boards.
// todo: enable oversampling in cfgr2 ?
adcgrpcfg.cfgr = ADC_CFGR_CONT | ADC_CFGR_RES_12BITS;
#else #else
adcgrpcfg.sqr1 = ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS); adcgrpcfg.sqr1 = ADC_SQR1_NUM_CH(ADC_GRP1_NUM_CHANNELS);
adcgrpcfg.cr2 = ADC_CR2_SWSTART; adcgrpcfg.cr2 = ADC_CR2_SWSTART;
@ -223,8 +227,15 @@ void AnalogIn::init()
uint8_t chan = pin_config[i].channel; uint8_t chan = pin_config[i].channel;
// setup cycles per sample for the channel // setup cycles per sample for the channel
#if defined(STM32H7) #if defined(STM32H7)
adcgrpcfg.smpr[i/10] |= ADC_SMPR_SMP_384P5 << (3*(chan%10)); adcgrpcfg.pcsel |= (1<<chan);
adcgrpcfg.sqr[i/6] |= chan << (5*(i%6)); adcgrpcfg.smpr[chan/10] |= ADC_SMPR_SMP_384P5 << (3*(chan%10));
if (i < 4) {
adcgrpcfg.sqr[0] |= chan << (6*(i+1));
} else if (i < 9) {
adcgrpcfg.sqr[1] |= chan << (6*(i-4));
} else {
adcgrpcfg.sqr[2] |= chan << (6*(i-9));
}
#else #else
if (chan < 10) { if (chan < 10) {
adcgrpcfg.smpr2 |= ADC_SAMPLE_480 << (3*chan); adcgrpcfg.smpr2 |= ADC_SAMPLE_480 << (3*chan);

2
libraries/AP_HAL_ChibiOS/hwdef/common/halconf.h
View File

@ -245,7 +245,7 @@
* @note Disabling this option saves both code and data space. * @note Disabling this option saves both code and data space.
*/ */
#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) #if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define ADC_USE_MUTUAL_EXCLUSION TRUE #define ADC_USE_MUTUAL_EXCLUSION FALSE
#endif #endif
/*===========================================================================*/ /*===========================================================================*/