/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT 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.
ChibiOS/RT 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 this program. If not, see .
*/
#include
#include "ch.h"
#include "hal.h"
#define ADC_GRP2_NUM_CHANNELS 8
#define ADC_GRP2_BUF_DEPTH 16
static adcsample_t samples2[ADC_GRP2_NUM_CHANNELS * ADC_GRP2_BUF_DEPTH];
static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
(void)adcp;
(void)buffer;
(void)n;
}
static void adcerrorcallback(ADCDriver *adcp, adcerror_t err) {
(void)adcp;
(void)err;
chSysHalt();
}
/*
* ADC conversion group.
* Mode: Continuous, 16 samples of 8 channels, SW triggered.
* Channels: IN11, IN12, IN11, IN12, IN11, IN12, Sensor, VRef.
*/
static const ADCConversionGroup adcgrpcfg2 = {
TRUE,
ADC_GRP2_NUM_CHANNELS,
adccallback,
adcerrorcallback,
0, /* CR1 */
ADC_CR2_SWSTART, /* CR2 */
ADC_SMPR1_SMP_AN12(ADC_SAMPLE_56) | ADC_SMPR1_SMP_AN11(ADC_SAMPLE_56) |
ADC_SMPR1_SMP_SENSOR(ADC_SAMPLE_144) | ADC_SMPR1_SMP_VREF(ADC_SAMPLE_144),
0, /* SMPR2 */
ADC_SQR1_NUM_CH(ADC_GRP2_NUM_CHANNELS),
ADC_SQR2_SQ8_N(ADC_CHANNEL_SENSOR) | ADC_SQR2_SQ7_N(ADC_CHANNEL_VREFINT),
ADC_SQR3_SQ6_N(ADC_CHANNEL_IN12) | ADC_SQR3_SQ5_N(ADC_CHANNEL_IN11) |
ADC_SQR3_SQ4_N(ADC_CHANNEL_IN12) | ADC_SQR3_SQ3_N(ADC_CHANNEL_IN11) |
ADC_SQR3_SQ2_N(ADC_CHANNEL_IN12) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN11)
};
/*
* Maximum speed SPI configuration (21MHz, CPHA=0, CPOL=0, MSb first).
*/
static const SPIConfig hs_spicfg = {
NULL,
GPIOB,
12,
0
};
static void tmo(void *p) {
(void)p;
chSysHalt();
}
/*
* SPI thread.
*/
static WORKING_AREA(waSPI1, 1024);
static WORKING_AREA(waSPI2, 1024);
static WORKING_AREA(waSPI3, 1024);
static msg_t spi_thread(void *p) {
unsigned i;
SPIDriver *spip = (SPIDriver *)p;
VirtualTimer vt;
uint8_t txbuf[256];
uint8_t rxbuf[256];
/* Prepare transmit pattern.*/
for (i = 0; i < sizeof(txbuf); i++)
txbuf[i] = (uint8_t)i;
/* Continuous transmission.*/
while (TRUE) {
/* Starts a VT working as watchdog to catch a malfunction in the SPI
driver.*/
chSysLock();
chVTSetI(&vt, MS2ST(10), tmo, NULL);
chSysUnlock();
spiExchange(spip, sizeof(txbuf), txbuf, rxbuf);
/* Stops the watchdog.*/
chSysLock();
if (chVTIsArmedI(&vt))
chVTResetI(&vt);
chSysUnlock();
}
}
/*
* This is a periodic thread that does absolutely nothing except flashing
* a LED.
*/
static WORKING_AREA(waThread1, 128);
static msg_t Thread1(void *arg) {
(void)arg;
chRegSetThreadName("blinker");
while (TRUE) {
palSetPad(GPIOD, GPIOD_LED3); /* Orange. */
chThdSleepMilliseconds(500);
palClearPad(GPIOD, GPIOD_LED3); /* Orange. */
chThdSleepMilliseconds(500);
}
}
/*
* Application entry point.
*/
int main(void) {
unsigned i;
static uint8_t patterns1[4096], patterns2[4096], buf1[4096], buf2[4096];
/* System initializations.
- HAL initialization, this also initializes the configured device drivers
and performs the board-specific initializations.
- Kernel initialization, the main() function becomes a thread and the
RTOS is active.*/
halInit();
chSysInit();
/* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 10,
Thread1, NULL);
/* Activates the ADC1 driver and the thermal sensor.*/
adcStart(&ADCD1, NULL);
adcSTM32EnableTSVREFE();
/* Starts an ADC continuous conversion.*/
adcStartConversion(&ADCD1, &adcgrpcfg2, samples2, ADC_GRP2_BUF_DEPTH);
/* Activating SPI drivers.*/
spiStart(&SPID1, &hs_spicfg);
spiStart(&SPID2, &hs_spicfg);
spiStart(&SPID3, &hs_spicfg);
/* Starting SPI threads instances.*/
chThdCreateStatic(waSPI1, sizeof(waSPI1), NORMALPRIO + 1, spi_thread, &SPID1);
chThdCreateStatic(waSPI2, sizeof(waSPI2), NORMALPRIO + 1, spi_thread, &SPID2);
chThdCreateStatic(waSPI3, sizeof(waSPI3), NORMALPRIO + 1, spi_thread, &SPID3);
/* Allocating two DMA2 streams for memory copy operations.*/
if (dmaStreamAllocate(STM32_DMA2_STREAM6, 0, NULL, NULL))
chSysHalt();
if (dmaStreamAllocate(STM32_DMA2_STREAM7, 0, NULL, NULL))
chSysHalt();
for (i = 0; i < sizeof (patterns1); i++)
patterns1[i] = (uint8_t)i;
for (i = 0; i < sizeof (patterns2); i++)
patterns2[i] = (uint8_t)(i ^ 0xAA);
/* Normal main() thread activity, it does continues memory copy operations
using 2 DMA streams at the lowest priority.*/
while (TRUE) {
VirtualTimer vt;
/* Starts a VT working as watchdog to catch a malfunction in the DMA
driver.*/
chSysLock();
chVTSetI(&vt, MS2ST(10), tmo, NULL);
chSysUnlock();
/* Copy pattern 1.*/
dmaStartMemCopy(STM32_DMA2_STREAM6,
STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
STM32_DMA_CR_MSIZE_BYTE,
patterns1, buf1, sizeof (patterns1));
dmaStartMemCopy(STM32_DMA2_STREAM7,
STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
STM32_DMA_CR_MSIZE_BYTE,
patterns1, buf2, sizeof (patterns1));
dmaWaitCompletion(STM32_DMA2_STREAM6);
dmaWaitCompletion(STM32_DMA2_STREAM7);
if (memcmp(patterns1, buf1, sizeof (patterns1)))
chSysHalt();
if (memcmp(patterns1, buf2, sizeof (patterns1)))
chSysHalt();
/* Copy pattern 2.*/
dmaStartMemCopy(STM32_DMA2_STREAM6,
STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
STM32_DMA_CR_MSIZE_BYTE,
patterns2, buf1, sizeof (patterns2));
dmaStartMemCopy(STM32_DMA2_STREAM7,
STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
STM32_DMA_CR_MSIZE_BYTE,
patterns2, buf2, sizeof (patterns2));
dmaWaitCompletion(STM32_DMA2_STREAM6);
dmaWaitCompletion(STM32_DMA2_STREAM7);
if (memcmp(patterns2, buf1, sizeof (patterns2)))
chSysHalt();
if (memcmp(patterns2, buf2, sizeof (patterns2)))
chSysHalt();
/* Stops the watchdog.*/
chSysLock();
if (chVTIsArmedI(&vt))
chVTResetI(&vt);
chSysUnlock();
chThdSleepMilliseconds(2);
}
return 0;
}