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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Kinetis:Added PX4 ADC Driver.
PX4 Driver for Kinetis uisng just ADC1. On V3 HW RC00 the USB_VBUS_VALID on pin 36 of the MCU ADC0_SE16/ADC1_SE22 is bridged to pin 29 ADC1_DP0 and read there. But because of missing schottky diodes on V3 HW RC00 the signal is true (3.3V) when powered by the Power Module.
This commit is contained in:
David Sidrane
Daniel Agar
parent
160f5cc67d
commit
1bc760c194
@ -284,33 +284,45 @@ __BEGIN_DECLS
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4
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* Firmware in the adc driver. ADC1 has 32 channels, with some a/b selection overlap
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* in the AD4-AD7 range on the same ADC.
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*
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* Only ADC1 is used
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* Bits 31:0 are ADC1 channels 31:0
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*/
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#define ADC_CHANNELS 1 << 0 // TBD
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/* ADC defines to be used in sensors.cpp to read from a particular channel
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*
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* ADC0
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* USB_VBUS_VALID 36 - ADC0_SE16 or ADC0_SE21
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*
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* ADC1
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* AD1 35 - ADC1_SE16
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* AD2 37 - ADC1_SE18
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* AD3 39 - ADC1_SE23
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* BAT_VSENS 85 PTB4 ADC1_SE10
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* BAT_ISENS 86 PTB5 ADC1_SE11
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* 5V_VSENS 87 PTB6 ADC1_SE12
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* RSSI_IN 88 PTB7 ADC1_SE13
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*
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*/
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#define ADC1(c) (((c) & 0x1f)) /* Define ADC number /Channel number */
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/* ADC defines to be used in sensors.cpp to read from a particular channel */
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#define ADC_USB_VBUS_VALID ADC1(0) /* USB_VBUS_VALID 29 - ADC1_DP0 (bridged on V3 RC00 HW from pin 36 ADC0_SE16 or ADC0_SE21) */
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#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1(10) /* BAT_VSENS 85 PTB4 ADC1_SE10 */
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#define ADC_BATTERY_CURRENT_CHANNEL ADC1(11) /* BAT_ISENS 86 PTB5 ADC1_SE11 */
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#define ADC_5V_RAIL_SENSE ADC1(12) /* 5V_VSENS 87 PTB6 ADC1_SE12 */
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#define ADC_RSSI_IN ADC1(13) /* RSSI_IN 88 PTB7 ADC1_SE13 */
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#define ADC_AD1 ADC1(16) /* AD1 35 - ADC1_SE16 */
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#define ADC_AD2 ADC1(18) /* AD2 37 - ADC1_SE18 */
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#define ADC_AD3 ADC1(23) /* AD3 39 - ADC1_SE23 */
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/* Mask use to initialize the ADC driver */
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#define ADC_CHANNELS ((1 << ADC_USB_VBUS_VALID) | \
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(1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
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(1 << ADC_5V_RAIL_SENSE) | \
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(1 << ADC_RSSI_IN) | \
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(1 << ADC_AD1) | \
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(1 << ADC_AD2) | \
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(1 << ADC_AD3))
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/* GPIO that require Configuration */
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#define GPIO_BAT_VSENS PIN_ADC1_SE10
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#define GPIO_BAT_ISENS PIN_ADC1_SE11
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#define GPIO_5V_VSENS PIN_ADC1_SE12
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#define GPIO_RSSI_IN PIN_ADC1_SE13
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#define ADC_BATTERY_VOLTAGE_CHANNEL 22
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#define ADC_BATTERY_CURRENT_CHANNEL 21
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#define ADC_5V_RAIL_SENSE 18
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#define BOARD_BATTERY1_V_DIV (10.177939394f)
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#define BOARD_BATTERY1_A_PER_V (15.391030303f)
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@ -213,14 +213,11 @@ kinetis_boardinitialize(void)
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board_autoled_initialize();
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/* configure ADC pins */
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#if defined(GPIO_ADC1_IN2)
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kinetis_pinconfig(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
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kinetis_pinconfig(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
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kinetis_pinconfig(GPIO_ADC1_IN4); /* VDD_5V_SENS */
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kinetis_pinconfig(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
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kinetis_pinconfig(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
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kinetis_pinconfig(GPIO_ADC1_IN15); /* PRESSURE_SENS */
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#endif
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kinetis_pinconfig(GPIO_BAT_VSENS);
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kinetis_pinconfig(GPIO_BAT_ISENS);
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kinetis_pinconfig(GPIO_5V_VSENS);
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kinetis_pinconfig(GPIO_RSSI_IN);
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/* configure power supply control/sense pins */
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@ -44,6 +44,7 @@
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*/
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#include <px4_config.h>
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#include <px4_log.h>
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#include <board_config.h>
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#include <drivers/device/device.h>
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@ -61,54 +62,59 @@
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_adc.h>
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#include <kinetis.h>
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#include <nuttx/analog/adc.h>
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//#include <kinetis_adc.h>
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#include <kinetis.h>
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#include <chip/kinetis_sim.h>
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#include <chip/kinetis_adc.h>
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#include <systemlib/err.h>
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/system_power.h>
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#include <uORB/topics/adc_report.h>
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#if defined(ADC_CHANNELS)
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/*
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* Register accessors.
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* For now, no reason not to just use ADC1.
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*/
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static volatile uint32_t dummy[21];
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#define REG(_reg) (*(volatile uint32_t *)(&dummy[(_reg)]))
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#if 1|defined(ADC_CHANNELS)
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#define ADC_CR2_ADON 0
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#define ADC_CR2_SWSTART 0
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#define ADC_SR_EOC 1
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typedef uint32_t adc_chan_t;
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#define ADC_TOTAL_CHANNELS 32
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#define rSR REG(0)
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#define rCR1 REG(1)
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#define rCR2 REG(2)
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#define rSMPR1 REG(3)
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#define rSMPR2 REG(4)
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#define rJOFR1 REG(5)
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#define rJOFR2 REG(6)
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#define rJOFR3 REG(7)
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#define rJOFR4 REG(8)
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#define rHTR REG(9)
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#define rLTR REG(10)
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#define rSQR1 REG(11)
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#define rSQR2 REG(12)
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#define rSQR3 REG(13)
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#define rJSQR REG(14)
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#define rJDR1 REG(15)
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#define rJDR2 REG(16)
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#define rJDR3 REG(17)
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#define rJDR4 REG(18)
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#define rDR REG(19)
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# define rCCR REG(20)
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#define _REG(_addr) (*(volatile uint32_t *)(_addr))
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/* ADC register accessors */
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#define REG(a, _reg) _REG(KINETIS_ADC##a##_BASE + (_reg))
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#define rSC1A(adc) REG(adc, KINETIS_ADC_SC1A_OFFSET) /* ADC status and control registers 1 */
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#define rSC1B(adc) REG(adc, KINETIS_ADC_SC1B_OFFSET) /* ADC status and control registers 1 */
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#define rCFG1(adc) REG(adc, KINETIS_ADC_CFG1_OFFSET) /* ADC configuration register 1 */
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#define rCFG2(adc) REG(adc, KINETIS_ADC_CFG2_OFFSET) /* Configuration register 2 */
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#define rRA(adc) REG(adc, KINETIS_ADC_RA_OFFSET) /* ADC data result register */
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#define rRB(adc) REG(adc, KINETIS_ADC_RB_OFFSET) /* ADC data result register */
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#define rCV1(adc) REG(adc, KINETIS_ADC_CV1_OFFSET) /* Compare value registers */
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#define rCV2(adc) REG(adc, KINETIS_ADC_CV2_OFFSET) /* Compare value registers */
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#define rSC2(adc) REG(adc, KINETIS_ADC_SC2_OFFSET) /* Status and control register 2 */
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#define rSC3(adc) REG(adc, KINETIS_ADC_SC3_OFFSET) /* Status and control register 3 */
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#define rOFS(adc) REG(adc, KINETIS_ADC_OFS_OFFSET) /* ADC offset correction register */
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#define rPG(adc) REG(adc, KINETIS_ADC_PG_OFFSET) /* ADC plus-side gain register */
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#define rMG(adc) REG(adc, KINETIS_ADC_MG_OFFSET) /* ADC minus-side gain register */
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#define rCLPD(adc) REG(adc, KINETIS_ADC_CLPD_OFFSET) /* ADC plus-side general calibration value register */
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#define rCLPS(adc) REG(adc, KINETIS_ADC_CLPS_OFFSET) /* ADC plus-side general calibration value register */
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#define rCLP4(adc) REG(adc, KINETIS_ADC_CLP4_OFFSET) /* ADC plus-side general calibration value register */
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#define rCLP3(adc) REG(adc, KINETIS_ADC_CLP3_OFFSET) /* ADC plus-side general calibration value register */
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#define rCLP2(adc) REG(adc, KINETIS_ADC_CLP2_OFFSET) /* ADC plus-side general calibration value register */
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#define rCLP1(adc) REG(adc, KINETIS_ADC_CLP1_OFFSET) /* ADC plus-side general calibration value register */
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#define rCLP0(adc) REG(adc, KINETIS_ADC_CLP0_OFFSET) /* ADC plus-side general calibration value register */
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#define rCLMD(adc) REG(adc, KINETIS_ADC_CLMD_OFFSET) /* ADC minus-side general calibration value register */
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#define rCLMS(adc) REG(adc, KINETIS_ADC_CLMS_OFFSET) /* ADC minus-side general calibration value register */
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#define rCLM4(adc) REG(adc, KINETIS_ADC_CLM4_OFFSET) /* ADC minus-side general calibration value register */
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#define rCLM3(adc) REG(adc, KINETIS_ADC_CLM3_OFFSET) /* ADC minus-side general calibration value register */
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#define rCLM2(adc) REG(adc, KINETIS_ADC_CLM2_OFFSET) /* ADC minus-side general calibration value register */
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#define rCLM1(adc) REG(adc, KINETIS_ADC_CLM1_OFFSET) /* ADC minus-side general calibration value register */
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#define rCLM0(adc) REG(adc, KINETIS_ADC_CLM0_OFFSET) /* ADC minus-side general calibration value register */
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class ADC : public device::CDev
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{
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public:
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ADC(uint32_t channels);
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ADC(adc_chan_t channels);
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~ADC();
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virtual int init();
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@ -126,6 +132,7 @@ private:
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hrt_call _call;
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perf_counter_t _sample_perf;
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adc_chan_t _channels; /**< bits set for channels */
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unsigned _channel_count;
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adc_msg_s *_samples; /**< sample buffer */
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@ -153,9 +160,10 @@ private:
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void update_adc_report(hrt_abstime now);
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};
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ADC::ADC(uint32_t channels) :
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ADC::ADC(adc_chan_t channels) :
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CDev("adc", ADC0_DEVICE_PATH),
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_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
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_channels(channels),
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_channel_count(0),
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_samples(nullptr),
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_to_system_power(nullptr),
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@ -164,10 +172,10 @@ ADC::ADC(uint32_t channels) :
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_debug_enabled = true;
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/* always enable the temperature sensor */
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channels |= 1 << 16;
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channels |= 1 << (ADC_SC1_ADCH_TEMP >> ADC_SC1_ADCH_SHIFT);
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/* allocate the sample array */
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for (unsigned i = 0; i < 32; i++) {
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for (unsigned i = 0; i < ADC_TOTAL_CHANNELS; i++) {
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if (channels & (1 << i)) {
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_channel_count++;
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}
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@ -176,10 +184,11 @@ ADC::ADC(uint32_t channels) :
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_samples = new adc_msg_s[_channel_count];
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/* prefill the channel numbers in the sample array */
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if (_samples != nullptr) {
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unsigned index = 0;
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for (unsigned i = 0; i < 32; i++) {
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for (unsigned i = 0; i < ADC_TOTAL_CHANNELS; i++) {
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if (channels & (1 << i)) {
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_samples[index].am_channel = i;
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_samples[index].am_data = 0;
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@ -194,61 +203,66 @@ ADC::~ADC()
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if (_samples != nullptr) {
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delete _samples;
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}
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irqstate_t flags = px4_enter_critical_section();
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_REG(KINETIS_SIM_SCGC3) &= ~SIM_SCGC3_ADC1;
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px4_leave_critical_section(flags);
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}
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int
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ADC::init()
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{
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/* do calibration if supported */
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#ifdef ADC_CR2_CAL
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rCR2 |= ADC_CR2_CAL;
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usleep(100);
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/* Input is Buss Clock 56 Mhz We will use /8 for 7 Mhz */
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if (rCR2 & ADC_CR2_CAL) {
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irqstate_t flags = px4_enter_critical_section();
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_REG(KINETIS_SIM_SCGC3) |= SIM_SCGC3_ADC1;
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rCFG1(1) = ADC_CFG1_ADICLK_BUSCLK | ADC_CFG1_MODE_1616BIT | ADC_CFG1_ADIV_DIV8;
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rCFG2(1) = 0;
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rSC2(1) = ADC_SC2_REFSEL_DEFAULT;
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px4_leave_critical_section(flags);
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/* Clear the CALF and begin the calibration */
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rSC3(1) = ADC_SC3_CAL | ADC_SC3_CALF;
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while ((rSC1A(1) & ADC_SC1_COCO) == 0) {
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usleep(100);
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if (rSC3(1) & ADC_SC3_CALF) {
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return -1;
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}
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}
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/* dummy read to clear COCO of calibration */
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int32_t r = rRA(1);
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/* Check the state of CALF at the end of calibration */
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if (rSC3(1) & ADC_SC3_CALF) {
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return -1;
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}
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#endif
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/* Calculate the calibration values for single ended positive */
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/* arbitrarily configure all channels for 55 cycle sample time */
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rSMPR1 = 0b00000011011011011011011011011011;
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rSMPR2 = 0b00011011011011011011011011011011;
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r = rCLP0(1) + rCLP1(1) + rCLP2(1) + rCLP3(1) + rCLP4(1) + rCLPS(1) ;
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r = 0x8000U | (r >> 1U);
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rPG(1) = r;
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/* XXX for F2/4, might want to select 12-bit mode? */
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rCR1 = 0;
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/* Calculate the calibration values for double ended Negitive */
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/* enable the temperature sensor / Vrefint channel if supported*/
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rCR2 =
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#ifdef ADC_CR2_TSVREFE
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/* enable the temperature sensor in CR2 */
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ADC_CR2_TSVREFE |
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#endif
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0;
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#ifdef ADC_CCR_TSVREFE
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/* enable temperature sensor in CCR */
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rCCR = ADC_CCR_TSVREFE;
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#endif
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/* configure for a single-channel sequence */
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rSQR1 = 0;
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rSQR2 = 0;
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rSQR3 = 0; /* will be updated with the channel each tick */
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/* power-cycle the ADC and turn it on */
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rCR2 &= ~ADC_CR2_ADON;
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usleep(10);
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rCR2 |= ADC_CR2_ADON;
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usleep(10);
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rCR2 |= ADC_CR2_ADON;
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usleep(10);
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r = rCLM0(1) + rCLM1(1) + rCLM2(1) + rCLM3(1) + rCLM4(1) + rCLMS(1) ;
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r = 0x8000U | (r >> 1U);
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rMG(1) = r;
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/* kick off a sample and wait for it to complete */
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hrt_abstime now = hrt_absolute_time();
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rCR2 |= ADC_CR2_SWSTART;
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rSR = ADC_SR_EOC;
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while (!(rSR & ADC_SR_EOC)) {
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rSC1A(1) = ADC_SC1_ADCH(ADC_SC1_ADCH_TEMP);
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while (!(rSC1A(1) & ADC_SC1_COCO)) {
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/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
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if ((hrt_absolute_time() - now) > 500) {
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@ -398,30 +412,27 @@ ADC::_sample(unsigned channel)
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{
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perf_begin(_sample_perf);
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/* clear any previous EOC */
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if (rSR & ADC_SR_EOC) {
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rSR &= ~ADC_SR_EOC;
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}
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/* clear any previous COCC */
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uint16_t result = rRA(1);
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/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
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rSQR3 = channel;
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rCR2 |= ADC_CR2_SWSTART;
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/* run a single conversion right now - should take about 35 cycles (5 microseconds) max */
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rSC1A(1) = ADC_SC1_ADCH(channel);
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/* wait for the conversion to complete */
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hrt_abstime now = hrt_absolute_time();
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rSR = ADC_SR_EOC;
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while (!(rSR & ADC_SR_EOC)) {
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while (!(rSC1A(1) & ADC_SC1_COCO)) {
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/* don't wait for more than 50us, since that means something broke - should reset here if we see this */
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if ((hrt_absolute_time() - now) > 50) {
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/* don't wait for more than 10us, since that means something broke - should reset here if we see this */
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if ((hrt_absolute_time() - now) > 10) {
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DEVICE_LOG("sample timeout");
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return 0xffff;
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}
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}
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/* read the result and clear EOC */
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uint16_t result = rDR;
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result = rRA(1);
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perf_end(_sample_perf);
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return result;
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@ -443,7 +454,8 @@ test(void)
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int fd = open(ADC0_DEVICE_PATH, O_RDONLY);
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if (fd < 0) {
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err(1, "can't open ADC device");
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PX4_ERR("can't open ADC device %d", errno);
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exit(1);
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}
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for (unsigned i = 0; i < 50; i++) {
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@ -451,7 +463,8 @@ test(void)
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ssize_t count = read(fd, data, sizeof(data));
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if (count < 0) {
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errx(1, "read error");
|
||||
PX4_ERR("read error");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
unsigned channels = count / sizeof(data[0]);
|
||||
@ -476,12 +489,14 @@ adc_main(int argc, char *argv[])
|
||||
g_adc = new ADC(ADC_CHANNELS);
|
||||
|
||||
if (g_adc == nullptr) {
|
||||
errx(1, "couldn't allocate the ADC driver");
|
||||
PX4_ERR("couldn't allocate the ADC driver");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
if (g_adc->init() != OK) {
|
||||
delete g_adc;
|
||||
errx(1, "ADC init failed");
|
||||
PX4_ERR("ADC init failed");
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user