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Moved all drivers to new world, PX4IO completely in new world
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,387 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file adc.cpp
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*
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* Driver for the STM32 ADC.
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*
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* This is a low-rate driver, designed for sampling things like voltages
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* and so forth. It avoids the gross complexity of the NuttX ADC driver.
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*/
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#include <nuttx/config.h>
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#include <drivers/device/device.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <string.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_adc.h>
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#include <arch/stm32/chip.h>
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#include <stm32_internal.h>
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#include <stm32_gpio.h>
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#include <systemlib/err.h>
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#include <systemlib/perf_counter.h>
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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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#define REG(_reg) (*(volatile uint32_t *)(STM32_ADC1_BASE + _reg))
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#define rSR REG(STM32_ADC_SR_OFFSET)
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#define rCR1 REG(STM32_ADC_CR1_OFFSET)
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#define rCR2 REG(STM32_ADC_CR2_OFFSET)
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#define rSMPR1 REG(STM32_ADC_SMPR1_OFFSET)
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#define rSMPR2 REG(STM32_ADC_SMPR2_OFFSET)
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#define rJOFR1 REG(STM32_ADC_JOFR1_OFFSET)
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#define rJOFR2 REG(STM32_ADC_JOFR2_OFFSET)
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#define rJOFR3 REG(STM32_ADC_JOFR3_OFFSET)
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#define rJOFR4 REG(STM32_ADC_JOFR4_OFFSET)
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#define rHTR REG(STM32_ADC_HTR_OFFSET)
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#define rLTR REG(STM32_ADC_LTR_OFFSET)
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#define rSQR1 REG(STM32_ADC_SQR1_OFFSET)
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#define rSQR2 REG(STM32_ADC_SQR2_OFFSET)
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#define rSQR3 REG(STM32_ADC_SQR3_OFFSET)
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#define rJSQR REG(STM32_ADC_JSQR_OFFSET)
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#define rJDR1 REG(STM32_ADC_JDR1_OFFSET)
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#define rJDR2 REG(STM32_ADC_JDR2_OFFSET)
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#define rJDR3 REG(STM32_ADC_JDR3_OFFSET)
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#define rJDR4 REG(STM32_ADC_JDR4_OFFSET)
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#define rDR REG(STM32_ADC_DR_OFFSET)
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#ifdef STM32_ADC_CCR
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# define rCCR REG(STM32_ADC_CCR_OFFSET)
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#endif
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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();
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virtual int init();
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virtual int ioctl(file *filp, int cmd, unsigned long arg);
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virtual ssize_t read(file *filp, char *buffer, size_t len);
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protected:
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virtual int open_first(struct file *filp);
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virtual int close_last(struct file *filp);
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private:
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static const hrt_abstime _tickrate = 10000; /**< 100Hz base rate */
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hrt_call _call;
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perf_counter_t _sample_perf;
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unsigned _channel_count;
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adc_msg_s *_samples; /**< sample buffer */
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/** work trampoline */
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static void _tick_trampoline(void *arg);
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/** worker function */
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void _tick();
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/**
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* Sample a single channel and return the measured value.
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*
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* @param channel The channel to sample.
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* @return The sampled value, or 0xffff if
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* sampling failed.
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*/
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uint16_t _sample(unsigned channel);
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};
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ADC::ADC(uint32_t channels) :
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CDev("adc", ADC_DEVICE_PATH),
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_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
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_channel_count(0),
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_samples(nullptr)
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{
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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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/* allocate the sample array */
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for (unsigned i = 0; i < 32; i++) {
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if (channels & (1 << i)) {
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_channel_count++;
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}
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}
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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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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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index++;
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}
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}
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}
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}
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ADC::~ADC()
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{
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if (_samples != nullptr)
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delete _samples;
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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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if (rCR2 & ADC_CR2_CAL)
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return -1;
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#endif
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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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/* XXX for F2/4, might want to select 12-bit mode? */
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rCR1 = 0;
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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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/* 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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while (!(rSR & ADC_SR_EOC)) {
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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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log("sample timeout");
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return -1;
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return 0xffff;
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}
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}
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debug("init done");
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/* create the device node */
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return CDev::init();
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}
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int
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ADC::ioctl(file *filp, int cmd, unsigned long arg)
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{
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return -ENOTTY;
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}
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ssize_t
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ADC::read(file *filp, char *buffer, size_t len)
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{
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const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
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if (len > maxsize)
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len = maxsize;
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/* block interrupts while copying samples to avoid racing with an update */
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irqstate_t flags = irqsave();
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memcpy(buffer, _samples, len);
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irqrestore(flags);
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return len;
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}
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int
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ADC::open_first(struct file *filp)
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{
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/* get fresh data */
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_tick();
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/* and schedule regular updates */
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hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
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return 0;
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}
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int
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ADC::close_last(struct file *filp)
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{
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hrt_cancel(&_call);
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return 0;
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}
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void
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ADC::_tick_trampoline(void *arg)
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{
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((ADC *)arg)->_tick();
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}
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void
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ADC::_tick()
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{
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/* scan the channel set and sample each */
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for (unsigned i = 0; i < _channel_count; i++)
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_samples[i].am_data = _sample(_samples[i].am_channel);
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}
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uint16_t
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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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/* 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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/* wait for the conversion to complete */
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hrt_abstime now = hrt_absolute_time();
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while (!(rSR & ADC_SR_EOC)) {
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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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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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perf_end(_sample_perf);
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return result;
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}
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int adc_main(int argc, char *argv[]);
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namespace
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{
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ADC *g_adc;
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void
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test(void)
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{
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int fd = open(ADC_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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for (unsigned i = 0; i < 50; i++) {
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adc_msg_s data[8];
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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");
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unsigned channels = count / sizeof(data[0]);
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for (unsigned j = 0; j < channels; j++) {
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printf ("%d: %u ", data[j].am_channel, data[j].am_data);
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}
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printf("\n");
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usleep(500000);
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}
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exit(0);
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}
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}
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int
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adc_main(int argc, char *argv[])
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{
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if (g_adc == nullptr) {
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/* XXX this hardcodes the default channel set for PX4FMU - should be configurable */
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g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
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if (g_adc == nullptr)
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errx(1, "couldn't allocate the ADC driver");
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if (g_adc->init() != OK) {
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delete g_adc;
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errx(1, "ADC init failed");
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}
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}
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if (argc > 1) {
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if (!strcmp(argv[1], "test"))
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test();
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}
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exit(0);
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}
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