HAL_ChibiOS: enable analog input on IOMCU

libraries/AP_HAL_ChibiOS/AnalogIn.cpp

@@ -19,7 +19,7 @@
 #include "hal.h"
 #include <AP_Common/Semaphore.h>
 
-#if HAL_USE_ADC == TRUE
+#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER)
 
 #include "AnalogIn.h"
 

libraries/AP_HAL_ChibiOS/AnalogIn.h

@@ -24,7 +24,7 @@
 // number of samples on each channel to gather on each DMA callback
 #define ADC_DMA_BUF_DEPTH 8
 
-#if HAL_USE_ADC == TRUE
+#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER)
 
 class ChibiOS::AnalogSource : public AP_HAL::AnalogSource {
 public:

libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp

@@ -59,7 +59,7 @@ static ChibiOS::SPIDeviceManager spiDeviceManager;
 static Empty::SPIDeviceManager spiDeviceManager;
 #endif
 
-#if HAL_USE_ADC == TRUE
+#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER)
 static ChibiOS::AnalogIn analogIn;
 #else
 static Empty::AnalogIn analogIn;

libraries/AP_HAL_ChibiOS/Scheduler.cpp

@@ -268,7 +268,7 @@ void Scheduler::_run_timers()
         _failsafe();
     }
 
-#if HAL_USE_ADC == TRUE
+#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER)
     // process analog input
     ((AnalogIn *)hal.analogin)->_timer_tick();
 #endif

libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat

@@ -53,6 +53,15 @@ PB13 SAFETY_LED OUTPUT HIGH
 
 PA8 INPUT PULLUP # RC Input PPM
 
+# analog inputs
+PA4 VSERVO ADC1
+PA5 VRSSI  ADC1
+define HAL_ADC_VSERVO_CHAN ADC_CHANNEL_IN4
+define HAL_ADC_VRSSI_CHAN  ADC_CHANNEL_IN5
+define HAL_USE_ADC TRUE
+define STM32_ADC_USE_ADC1 TRUE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
 #Manually define ICU settings
 define HAL_USE_ICU TRUE
 define STM32_ICU_USE_TIM1 TRUE
@@ -88,7 +97,6 @@ define HAL_NO_RCIN_THREAD
 #defined to turn off undef warnings
 define __FPU_PRESENT 0
 
-define HAL_USE_ADC FALSE
 define HAL_USE_RTC FALSE
 define HAL_NO_FLASH_SUPPORT TRUE
 define HAL_NO_UARTDRIVER TRUE

libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F100xB.py

@@ -31,4 +31,25 @@ mcu = {
     # size of main memory
     'RAM_SIZE_KB' : 8, 
     
-}
+}
+
+ADC1_map = {
+	# format is PIN : ADC1_CHAN
+    "PA0"	:	0,
+	"PA1"	:	1,
+	"PA2"	:	2,
+	"PA3"	:	3,
+	"PA4"	:	4,
+	"PA5"	:	5,
+	"PA6"	:	6,
+	"PA7"	:	7,
+	"PB0"	:	8,
+	"PB1"	:	9,
+	"PC0"	:	10,
+	"PC1"	:	11,
+	"PC2"	:	12,
+	"PC3"	:	13,
+	"PC4"	:	14,
+	"PC5"	:	15,
+}
+    

libraries/AP_IOMCU/iofirmware/analog.cpp

@@ -52,9 +52,9 @@ static uint16_t adc_sample_channel(uint32_t channel)
 
     /* capture one sample */
     ADC1->SQR3 = channel;
-	ADC1->CR2 |= ADC_CR2_ADON;
+    ADC1->CR2 |= ADC_CR2_ADON;
 
-	/* wait for the conversion to complete */
+    /* wait for the conversion to complete */
     uint32_t counter = 16;
 
     while (!(ADC1->SR & ADC_SR_EOC)) {
@@ -62,8 +62,8 @@ static uint16_t adc_sample_channel(uint32_t channel)
             // ensure EOC is clear
             ADC1->SR = 0;
             return 0xffff;
-		}
-	}
+        }
+    }
 
     // return sample (this also clears EOC flag)
     return ADC1->DR;