Merge pull request #4881 from jflyper/bfdev-adc-internal-full-task-version
VREFINT and core temperature support, full task polling version
This commit is contained in:
commit
4258651b3a
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@ -71,6 +71,7 @@ COMMON_SRC = \
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pg/sdcard.c \
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pg/vcd.c \
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scheduler/scheduler.c \
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sensors/adcinternal.c \
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sensors/battery.c \
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sensors/current.c \
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sensors/voltage.c \
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@ -55,4 +55,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
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"RANGEFINDER",
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"RANGEFINDER_QUALITY",
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"LIDAR_TF",
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"CORE_TEMP",
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};
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@ -73,6 +73,7 @@ typedef enum {
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DEBUG_RANGEFINDER,
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DEBUG_RANGEFINDER_QUALITY,
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DEBUG_LIDAR_TF,
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DEBUG_CORE_TEMP,
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DEBUG_COUNT
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} debugType_e;
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@ -19,11 +19,10 @@
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#include <stdint.h>
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#include "platform.h"
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#include "common/utils.h"
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#ifdef USE_ADC
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#include "common/utils.h"
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#include "build/build_config.h"
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#include "build/debug.h"
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@ -34,12 +33,18 @@
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#include "adc.h"
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//#define DEBUG_ADC_CHANNELS
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adcOperatingConfig_t adcOperatingConfig[ADC_CHANNEL_COUNT];
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volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
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#ifdef USE_ADC_INTERNAL
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uint16_t adcTSCAL1;
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uint16_t adcTSCAL2;
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uint16_t adcTSSlopeK;
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uint16_t adcVREFINTCAL;
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#endif
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uint8_t adcChannelByTag(ioTag_t ioTag)
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{
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for (uint8_t i = 0; i < ARRAYLEN(adcTagMap); i++) {
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@ -116,4 +121,11 @@ bool adcVerifyPin(ioTag_t tag, ADCDevice device)
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return false;
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}
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#else
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uint16_t adcGetChannel(uint8_t channel)
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{
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UNUSED(channel);
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return 0;
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}
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#endif
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@ -20,6 +20,7 @@
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#include <stdbool.h>
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#include "drivers/io_types.h"
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#include "drivers/time.h"
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#ifndef ADC_INSTANCE
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#define ADC_INSTANCE ADC1
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@ -75,6 +76,18 @@ struct adcConfig_s;
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void adcInit(const struct adcConfig_s *config);
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uint16_t adcGetChannel(uint8_t channel);
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#ifdef USE_ADC_INTERNAL
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extern uint16_t adcVREFINTCAL;
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extern uint16_t adcTSCAL1;
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extern uint16_t adcTSCAL2;
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extern uint16_t adcTSSlopeK;
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bool adcInternalIsBusy(void);
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void adcInternalStartConversion(void);
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uint16_t adcInternalReadVrefint(void);
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uint16_t adcInternalReadTempsensor(void);
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#endif
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#ifndef SITL
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ADCDevice adcDeviceByInstance(ADC_TypeDef *instance);
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#endif
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@ -23,6 +23,8 @@
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#ifdef USE_ADC
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#include "build/debug.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/system.h"
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@ -96,11 +98,84 @@ const adcTagMap_t adcTagMap[] = {
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#endif
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};
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void adcInit(const adcConfig_t *config)
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#define VREFINT_CAL_ADDR 0x1FFF7A2A
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#define TS_CAL1_ADDR 0x1FFF7A2C
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#define TS_CAL2_ADDR 0x1FFF7A2E
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void adcInitDevice(ADC_TypeDef *adcdev, int channelCount)
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{
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ADC_InitTypeDef ADC_InitStructure;
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DMA_InitTypeDef DMA_InitStructure;
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ADC_StructInit(&ADC_InitStructure);
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ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
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ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
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ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
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ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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ADC_InitStructure.ADC_NbrOfConversion = channelCount;
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ADC_InitStructure.ADC_ScanConvMode = channelCount > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
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ADC_Init(adcdev, &ADC_InitStructure);
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}
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#ifdef USE_ADC_INTERNAL
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void adcInitInternalInjected(void)
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{
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ADC_TempSensorVrefintCmd(ENABLE);
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ADC_InjectedDiscModeCmd(ADC1, DISABLE);
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ADC_InjectedSequencerLengthConfig(ADC1, 2);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_Vrefint, 1, ADC_SampleTime_480Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_TempSensor, 2, ADC_SampleTime_480Cycles);
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adcVREFINTCAL = *(uint16_t *)VREFINT_CAL_ADDR;
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adcTSCAL1 = *(uint16_t *)TS_CAL1_ADDR;
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adcTSCAL2 = *(uint16_t *)TS_CAL2_ADDR;
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adcTSSlopeK = (110 - 30) * 1000 / (adcTSCAL2 - adcTSCAL1);
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}
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// Note on sampling time for temperature sensor and vrefint:
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// Both sources have minimum sample time of 10us.
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// With prescaler = 8:
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// 168MHz : fAPB2 = 84MHz, fADC = 10.5MHz, tcycle = 0.090us, 10us = 105cycle < 144cycle
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// 240MHz : fAPB2 = 120MHz, fADC = 15.0MHz, tcycle = 0.067usk 10us = 150cycle < 480cycle
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//
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// 480cycles@15.0MHz = 32us
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static bool adcInternalConversionInProgress = false;
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bool adcInternalIsBusy(void)
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{
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if (adcInternalConversionInProgress) {
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if (ADC_GetFlagStatus(ADC1, ADC_FLAG_JEOC) != RESET) {
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adcInternalConversionInProgress = false;
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}
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}
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return adcInternalConversionInProgress;
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}
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void adcInternalStartConversion(void)
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{
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ADC_ClearFlag(ADC1, ADC_FLAG_JEOC);
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ADC_SoftwareStartInjectedConv(ADC1);
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adcInternalConversionInProgress = true;
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}
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uint16_t adcInternalReadVrefint(void)
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{
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return ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
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}
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uint16_t adcInternalReadTempsensor(void)
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{
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return ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_2);
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}
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#endif
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void adcInit(const adcConfig_t *config)
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{
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uint8_t i;
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uint8_t configuredAdcChannels = 0;
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@ -149,10 +224,47 @@ void adcInit(const adcConfig_t *config)
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RCC_ClockCmd(adc.rccADC, ENABLE);
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ADC_CommonInitTypeDef ADC_CommonInitStructure;
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ADC_CommonStructInit(&ADC_CommonInitStructure);
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ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
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ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
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ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
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ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
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ADC_CommonInit(&ADC_CommonInitStructure);
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adcInitDevice(adc.ADCx, configuredAdcChannels);
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uint8_t rank = 1;
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for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
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if (!adcOperatingConfig[i].enabled) {
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continue;
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}
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ADC_RegularChannelConfig(adc.ADCx, adcOperatingConfig[i].adcChannel, rank++, adcOperatingConfig[i].sampleTime);
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}
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ADC_DMARequestAfterLastTransferCmd(adc.ADCx, ENABLE);
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ADC_DMACmd(adc.ADCx, ENABLE);
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ADC_Cmd(adc.ADCx, ENABLE);
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#ifdef USE_ADC_INTERNAL
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// If device is not ADC1, then initialize ADC1 separately
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if (device != ADCDEV_1) {
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RCC_ClockCmd(adcHardware[ADCDEV_1].rccADC, ENABLE);
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adcInitDevice(ADC1, 2);
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ADC_Cmd(ADC1, ENABLE);
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}
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// Initialize for injected conversion
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adcInitInternalInjected();
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#endif
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dmaInit(dmaGetIdentifier(adc.DMAy_Streamx), OWNER_ADC, 0);
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DMA_DeInit(adc.DMAy_Streamx);
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DMA_InitTypeDef DMA_InitStructure;
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DMA_StructInit(&DMA_InitStructure);
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&adc.ADCx->DR;
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DMA_InitStructure.DMA_Channel = adc.channel;
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@ -169,39 +281,6 @@ void adcInit(const adcConfig_t *config)
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DMA_Cmd(adc.DMAy_Streamx, ENABLE);
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ADC_CommonInitTypeDef ADC_CommonInitStructure;
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ADC_CommonStructInit(&ADC_CommonInitStructure);
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ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
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ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
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ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
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ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
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ADC_CommonInit(&ADC_CommonInitStructure);
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ADC_StructInit(&ADC_InitStructure);
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ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
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ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
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ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
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ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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ADC_InitStructure.ADC_NbrOfConversion = configuredAdcChannels;
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ADC_InitStructure.ADC_ScanConvMode = configuredAdcChannels > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
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ADC_Init(adc.ADCx, &ADC_InitStructure);
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uint8_t rank = 1;
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for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
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if (!adcOperatingConfig[i].enabled) {
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continue;
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}
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ADC_RegularChannelConfig(adc.ADCx, adcOperatingConfig[i].adcChannel, rank++, adcOperatingConfig[i].sampleTime);
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}
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ADC_DMARequestAfterLastTransferCmd(adc.ADCx, ENABLE);
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ADC_DMACmd(adc.ADCx, ENABLE);
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ADC_Cmd(adc.ADCx, ENABLE);
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ADC_SoftwareStartConv(adc.ADCx);
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}
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#endif
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@ -71,6 +71,7 @@
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#include "rx/rx.h"
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#include "sensors/acceleration.h"
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#include "sensors/adcinternal.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/compass.h"
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@ -324,6 +325,9 @@ void fcTasksInit(void)
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#ifdef USE_ESC_SENSOR
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setTaskEnabled(TASK_ESC_SENSOR, feature(FEATURE_ESC_SENSOR));
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#endif
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#ifdef USE_ADC_INTERNAL
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setTaskEnabled(TASK_ADC_INTERNAL, true);
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#endif
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#ifdef USE_CMS
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#ifdef USE_MSP_DISPLAYPORT
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setTaskEnabled(TASK_CMS, true);
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@ -595,5 +599,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
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.staticPriority = TASK_PRIORITY_IDLE
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},
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#endif
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#ifdef USE_ADC_INTERNAL
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[TASK_ADC_INTERNAL] = {
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.taskName = "ADCINTERNAL",
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.taskFunc = adcInternalProcess,
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.desiredPeriod = TASK_PERIOD_HZ(1),
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.staticPriority = TASK_PRIORITY_IDLE
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},
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#endif
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#endif
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};
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@ -130,6 +130,7 @@ extern uint8_t __config_end;
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#include "scheduler/scheduler.h"
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#include "sensors/acceleration.h"
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#include "sensors/adcinternal.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/boardalignment.h"
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@ -3011,6 +3012,12 @@ static void cliStatus(char *cmdline)
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cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
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#ifdef USE_ADC_INTERNAL
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uint16_t vrefintMv = getVrefMv();
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uint16_t coretemp = getCoreTemperatureCelsius();
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cliPrintf(", Vref=%d.%2dV, Core temp=%ddegC", vrefintMv / 1000, (vrefintMv % 1000) / 10, coretemp);
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#endif
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#if defined(USE_SENSOR_NAMES)
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const uint32_t detectedSensorsMask = sensorsMask();
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for (uint32_t i = 0; ; i++) {
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|
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@ -118,6 +118,10 @@ typedef enum {
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TASK_RCDEVICE,
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#endif
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#ifdef USE_ADC_INTERNAL
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TASK_ADC_INTERNAL,
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#endif
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/* Count of real tasks */
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TASK_COUNT,
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@ -0,0 +1,114 @@
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/*
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* This file is part of Cleanflight.
|
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*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#if defined(USE_ADC) && defined(USE_ADC_INTERNAL)
|
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|
||||
#include "build/debug.h"
|
||||
|
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#include "common/utils.h"
|
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|
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#include "drivers/adc.h"
|
||||
|
||||
typedef struct movingAverageStateUint16_s {
|
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uint32_t sum;
|
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uint16_t *values;
|
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uint8_t size;
|
||||
uint8_t pos;
|
||||
} movingAverageStateUint16_t;
|
||||
|
||||
uint16_t updateMovingAverageUint16(movingAverageStateUint16_t *state, uint16_t newValue)
|
||||
{
|
||||
state->sum -= state->values[state->pos];
|
||||
state->values[state->pos] = newValue;
|
||||
state->sum += newValue;
|
||||
state->pos = (state->pos + 1) % state->size;
|
||||
|
||||
return state->sum / state->size;
|
||||
}
|
||||
|
||||
static uint16_t adcVrefintValue;
|
||||
static uint16_t adcVrefintValues[8];
|
||||
movingAverageStateUint16_t adcVrefintAverageState = { 0, adcVrefintValues, 8, 0 } ;
|
||||
|
||||
static uint16_t adcTempsensorValue;
|
||||
static uint16_t adcTempsensorValues[8];
|
||||
movingAverageStateUint16_t adcTempsensorAverageState = { 0, adcTempsensorValues, 8, 0 } ;
|
||||
|
||||
static int16_t coreTemperature;
|
||||
|
||||
uint16_t getVrefMv(void)
|
||||
{
|
||||
#ifdef ADC_VOLTAGE_REFERENCE_MV
|
||||
return ADC_VOLTAGE_REFERENCE_MV;
|
||||
#else
|
||||
return 3300 * adcVrefintValue / adcVREFINTCAL;
|
||||
#endif
|
||||
}
|
||||
|
||||
uint16_t getCoreTemperatureCelsius(void)
|
||||
{
|
||||
return coreTemperature;
|
||||
}
|
||||
|
||||
void adcInternalProcess(timeUs_t currentTimeUs)
|
||||
{
|
||||
UNUSED(currentTimeUs);
|
||||
|
||||
if (adcInternalIsBusy()) {
|
||||
return;
|
||||
}
|
||||
|
||||
uint16_t vrefintSample = adcInternalReadVrefint();
|
||||
uint16_t tempsensorSample = adcInternalReadTempsensor();
|
||||
|
||||
adcVrefintValue = updateMovingAverageUint16(&adcVrefintAverageState, vrefintSample);
|
||||
adcTempsensorValue = updateMovingAverageUint16(&adcTempsensorAverageState, tempsensorSample);
|
||||
|
||||
int32_t adcTempsensorAdjusted = (int32_t)adcTempsensorValue * 3300 / getVrefMv();
|
||||
coreTemperature = ((adcTempsensorAdjusted - adcTSCAL1) * adcTSSlopeK + 30 * 1000 + 500) / 1000;
|
||||
|
||||
DEBUG_SET(DEBUG_CORE_TEMP, 0, coreTemperature);
|
||||
|
||||
adcInternalStartConversion(); // Start next conversion
|
||||
}
|
||||
|
||||
void adcInternalInit(void)
|
||||
{
|
||||
// Call adcInternalProcess repeatedly to fill moving average array
|
||||
for (int i = 0 ; i < 9 ; i++) {
|
||||
while (adcInternalIsBusy()) {
|
||||
// empty
|
||||
}
|
||||
adcInternalProcess(0);
|
||||
}
|
||||
}
|
||||
#else
|
||||
uint16_t getVrefMv(void)
|
||||
{
|
||||
#ifdef ADC_VOLTAGE_REFERENCE_MV
|
||||
return ADC_VOLTAGE_REFERENCE_MV;
|
||||
#else
|
||||
return 3300;
|
||||
#endif
|
||||
}
|
||||
#endif
|
|
@ -0,0 +1,25 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "drivers/time.h"
|
||||
|
||||
void adcInternalInit(void);
|
||||
void adcInternalProcess(timeUs_t currentTimeUs);
|
||||
uint16_t getCoreTemperatureCelsius(void);
|
||||
uint16_t getVrefMv(void);
|
|
@ -32,6 +32,7 @@
|
|||
#include "pg/pg_ids.h"
|
||||
#include "config/config_reset.h"
|
||||
|
||||
#include "sensors/adcinternal.h"
|
||||
#include "sensors/current.h"
|
||||
#include "sensors/esc_sensor.h"
|
||||
|
||||
|
@ -77,8 +78,6 @@ void currentMeterReset(currentMeter_t *meter)
|
|||
// ADC/Virtual shared
|
||||
//
|
||||
|
||||
#define ADCVREF 3300 // in mV
|
||||
|
||||
#define IBAT_LPF_FREQ 0.4f
|
||||
static biquadFilter_t adciBatFilter;
|
||||
|
||||
|
@ -106,7 +105,7 @@ static int32_t currentMeterADCToCentiamps(const uint16_t src)
|
|||
|
||||
const currentSensorADCConfig_t *config = currentSensorADCConfig();
|
||||
|
||||
int32_t millivolts = ((uint32_t)src * ADCVREF) / 4096;
|
||||
int32_t millivolts = ((uint32_t)src * getVrefMv()) / 4096;
|
||||
// y=x/m+b m is scale in (mV/10A) and b is offset in (mA)
|
||||
int32_t centiAmps = (millivolts * 10000 / (int32_t)config->scale + (int32_t)config->offset) / 10;
|
||||
|
||||
|
|
|
@ -31,6 +31,7 @@
|
|||
#include "fc/runtime_config.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/adcinternal.h"
|
||||
#include "sensors/acceleration.h"
|
||||
#include "sensors/barometer.h"
|
||||
#include "sensors/gyro.h"
|
||||
|
@ -65,5 +66,9 @@ bool sensorsAutodetect(void)
|
|||
rangefinderInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_ADC_INTERNAL
|
||||
adcInternalInit();
|
||||
#endif
|
||||
|
||||
return gyroDetected;
|
||||
}
|
||||
|
|
|
@ -33,6 +33,7 @@
|
|||
#include "pg/pg_ids.h"
|
||||
#include "config/config_reset.h"
|
||||
|
||||
#include "sensors/adcinternal.h"
|
||||
#include "sensors/voltage.h"
|
||||
#include "sensors/esc_sensor.h"
|
||||
|
||||
|
@ -138,7 +139,7 @@ STATIC_UNIT_TESTED uint16_t voltageAdcToVoltage(const uint16_t src, const voltag
|
|||
{
|
||||
// calculate battery voltage based on ADC reading
|
||||
// result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 0xFFF = 12bit adc, 110 = 10:1 voltage divider (10k:1k) * 10 for 0.1V
|
||||
return ((((uint32_t)src * config->vbatscale * 33 + (0xFFF * 5)) / (0xFFF * config->vbatresdivval)) / config->vbatresdivmultiplier);
|
||||
return ((((uint32_t)src * config->vbatscale * getVrefMv() / 100 + (0xFFF * 5)) / (0xFFF * config->vbatresdivval)) / config->vbatresdivmultiplier);
|
||||
}
|
||||
|
||||
void voltageMeterADCRefresh(void)
|
||||
|
|
|
@ -237,6 +237,8 @@
|
|||
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC2
|
||||
//#define ADC_INSTANCE ADC1
|
||||
|
||||
#define CURRENT_METER_ADC_PIN PC1 // Direct from CRNT pad (part of onboard sensor for Pro)
|
||||
#define VBAT_ADC_PIN PC2 // 11:1 (10K + 1K) divider
|
||||
#ifdef DYSF4PRO
|
||||
|
|
|
@ -50,6 +50,8 @@
|
|||
#define USE_ESC_SENSOR
|
||||
#define I2C3_OVERCLOCK true
|
||||
#define USE_GYRO_DATA_ANALYSE
|
||||
#define USE_ADC
|
||||
#define USE_ADC_INTERNAL
|
||||
#endif
|
||||
|
||||
#ifdef STM32F722xx
|
||||
|
|
Loading…
Reference in New Issue