uas-ugv/components/u8g2/sys/arm/stm32l031x6/adc_dma_tim/main.c

/* 

  Example for the STM32L031 Eval Board with 128x64 OLED at PA13/PA14
  
  LED: PA1 / AF2: TIM2_CH2
  VarRes: PA5 / ADC CH5

  ch0   PA0     pin 6
  ch1   PA1     pin 7
  ch2   PA2     pin 8
  ch3   PA3     pin 9
  ch4   PA4     pin 10
  ch5   PA5     pin 11
  ch6   PA6     pin 12
  ch7   PA7     pin 13
  ch8   PB0     -
  ch9   PB1     pin 14


  ch 0..15: 	GPIO
  ch 16:		???
  ch 17:		vref (bandgap)
  ch18:		temperature sensor

  
*/

#include <stdio.h>
#include "stm32l031xx.h"
#include "delay.h"
#include "u8x8.h"

/*=======================================================================*/
/* external functions */
uint8_t u8x8_gpio_and_delay_stm32l0(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr);

/*=======================================================================*/
/* global variables */

u8x8_t u8x8;                    // u8x8 object
uint8_t u8x8_x, u8x8_y;         // current position on the screen

volatile unsigned long SysTickCount = 0;

/*=======================================================================*/

void __attribute__ ((interrupt, used)) SysTick_Handler(void)
{
  SysTickCount++;  
}

/* return current system time in milliseconds */
unsigned long getUpTime(void)
{
  unsigned long sys_tick_cycle = SysTick->LOAD+1;
  unsigned long millis_per_sys_tick_irq;
  
  /* 
    the simple approach 
      millis_per_sys_tick_irq = (sys_tick_cycle*1000UL)/SystemCoreClock;
    may overflow for large values of SysTick->LOAD. Instead this is better because SystemCoreClock is always
    very large:
      millis_per_sys_tick_irq = sys_tick_cycle/(SystemCoreClock/1000);
  
  */
  
  millis_per_sys_tick_irq = sys_tick_cycle/(SystemCoreClock/1000);
  return millis_per_sys_tick_irq * SysTickCount;
}




void setHSIClock()
{
  
  /* test if the current clock source is something else than HSI */
  if ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_HSI) 
  {
    /* enable HSI */
    RCC->CR |= RCC_CR_HSION;    
    /* wait until HSI becomes ready */
    while ( (RCC->CR & RCC_CR_HSIRDY) == 0 )
      ;      
 
    /* enable the HSI "divide by 4" bit */
    RCC->CR |= (uint32_t)(RCC_CR_HSIDIVEN);
    /* wait until the "divide by 4" flag is enabled */
    while((RCC->CR & RCC_CR_HSIDIVF) == 0)
      ;
    
       
    /* then use the HSI clock */
    RCC->CFGR = (RCC->CFGR & (uint32_t) (~RCC_CFGR_SW)) | RCC_CFGR_SW_HSI; 
    
    /* wait until HSI clock is used */
    while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_HSI)
      ;
  }
  
  /* disable PLL */
  RCC->CR &= (uint32_t)(~RCC_CR_PLLON);
  /* wait until PLL is inactive */
  while((RCC->CR & RCC_CR_PLLRDY) != 0)
    ;

  /* set latency to 1 wait state */
  FLASH->ACR |= FLASH_ACR_LATENCY;
  
  /* At this point the HSI runs with 4 MHz */
  /* Multiply by 16 device by 2 --> 32 MHz */
  RCC->CFGR = (RCC->CFGR & (~(RCC_CFGR_PLLMUL| RCC_CFGR_PLLDIV ))) | (RCC_CFGR_PLLMUL16 | RCC_CFGR_PLLDIV2); 
  
  /* enable PLL */
  RCC->CR |= RCC_CR_PLLON; 
  
  /* wait until the PLL is ready */
  while ((RCC->CR & RCC_CR_PLLRDY) == 0)
    ;

  /* use the PLL has clock source */
  RCC->CFGR |= (uint32_t) (RCC_CFGR_SW_PLL); 
  /* wait until the PLL source is active */
  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL) 
    ;

  SystemCoreClockUpdate();				/* Update SystemCoreClock global variable */  
}

/*
  Enable several power regions: PWR, GPIOA

  This must be executed after each reset.
*/
void startUp(void)
{  
  RCC->IOPENR |= RCC_IOPENR_IOPAEN;		/* Enable clock for GPIO Port A */
  RCC->APB1ENR |= RCC_APB1ENR_PWREN;	/* enable power interface (PWR) */
  PWR->CR |= PWR_CR_DBP;				/* activate write access to RCC->CSR and RTC */  
  
  SysTick->LOAD = (SystemCoreClock/1000)*50 - 1;   /* 50ms task */
  SysTick->VAL = 0;
  SysTick->CTRL = 7;   /* enable, generate interrupt (SysTick_Handler), do not divide by 2 */      
}

/*=======================================================================*/
/* u8x8 display procedures */

void initDisplay(void)
{
  u8x8_Setup(&u8x8, u8x8_d_ssd1306_128x64_noname, u8x8_cad_ssd13xx_i2c, u8x8_byte_sw_i2c, u8x8_gpio_and_delay_stm32l0);
  u8x8_InitDisplay(&u8x8);
  u8x8_ClearDisplay(&u8x8);
  u8x8_SetPowerSave(&u8x8, 0);
  u8x8_SetFont(&u8x8, u8x8_font_amstrad_cpc_extended_r);  
  u8x8_x = 0;
  u8x8_y = 0;  
}


void outChar(uint8_t c)
{
  if ( u8x8_x >= u8x8_GetCols(&u8x8) )
  {
    u8x8_x = 0;
    u8x8_y++;
  }
  u8x8_DrawGlyph(&u8x8, u8x8_x, u8x8_y, c);
  u8x8_x++;
}

void outStr(const char *s)
{
  while( *s )
    outChar(*s++);
}

void outHexHalfByte(uint8_t b)
{
  b &= 0x0f;
  if ( b < 10 )
    outChar(b+'0');
  else
    outChar(b+'a'-10);
}

void outHex8(uint8_t b)
{
  outHexHalfByte(b >> 4);
  outHexHalfByte(b);
}

void outHex16(uint16_t v)
{
  outHex8(v>>8);
  outHex8(v);
}

void outDec16(uint16_t v)
{
  outStr(u8x8_u16toa(v, 5));
}

void outHex32(uint32_t v)
{
  outHex16(v>>16);
  outHex16(v);
}

void setRow(uint8_t r)
{
  u8x8_x = 0;
  u8x8_y = r;
}

/*=======================================================================*/
/*
  ADC defaults:
    - Clock source: ADCCLK (HSI16) (ADC_CFGR2)
    - ADC clock prescaler: divide by 1 (ADC_CCR)
    - software enabled start
    - right alignment
    - 12 Bit resolution
    - No interrupts enabled
    - 1.5 clock cycles sampling time (fastest)

  Calibration:
    better ignore ADC_ISR_EOCAL and use the ADC_CR_ADCAL flag only.
    otherwise some extra NOPs are required after calibration

  Time
    (1.5 + 12.5) / 4 MHz = 3.5us  --> 286KHz
    x16 oversampling: 56us  --> 17.9KHz
*/


void initADC(uint8_t ch)
{
  
  /* ADC Clock Enable */
  
  RCC->APB2ENR |= RCC_APB2ENR_ADCEN;	/* enable ADC clock */
  __NOP(); __NOP();                                           /* extra delay for clock stabilization required? */
  
  /* ADC Reset */
  
  RCC->APB2RSTR |= RCC_APB2RSTR_ADCRST;
  __NOP();	__NOP();						/* let us wait for some time */
  RCC->APB2RSTR &= ~RCC_APB2RSTR_ADCRST;
  __NOP();	__NOP();						/* let us wait for some time */
 
  /* CALIBRATION */
  
  ADC1->CR |= ADC_CR_ADCAL; 				/* start calibration */
  while ((ADC1->CR & ADC_CR_ADCAL) != 0) 	/* wait for clibration finished */
  {
  }
 
  /* ENABLE ADC */
  
  ADC1->ISR |= ADC_ISR_ADRDY; 			/* clear ready flag */
  ADC1->CR |= ADC_CR_ADEN; 			/* enable ADC */
  while ((ADC1->ISR & ADC_ISR_ADRDY) == 0) /* wait for ADC */
  {
  }

  /* CONFIGURE ADC */

  ADC1->CFGR1 |= ADC_CFGR1_CONT;		/* continues mode */

  ADC1->CFGR2 |= ADC_CFGR2_OVSR_0;               /* 011 oversampling ration x16 */
  ADC1->CFGR2 |= ADC_CFGR2_OVSR_1;               
  ADC1->CFGR2 |= ADC_CFGR2_OVSS_2;               /* shift 4 bits (because of x16 oversampling) */  
  ADC1->CFGR2 |= ADC_CFGR2_OVSE;                  /* enable oversampling */
  
  ADC1->CHSELR = 1<<ch; 				/* Select channel */
  //ADC1->SMPR |= ADC_SMPR_SMP_0 | ADC_SMPR_SMP_1 | ADC_SMPR_SMP_2; /* Select a sampling mode of 111 (very slow)*/

  /* START CONVERSION */

  ADC1->CR |= ADC_CR_ADSTART; /* start the ADC conversion */  
  while ((ADC1->ISR & ADC_ISR_EOC) == 0) /* wait end of first conversion */
  {
  }

  //data is available in ADC1->DR;
    
}


/*=======================================================================*/

void initTIM(void)
{
  
  /* enable clock for TIM2 */
  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  
  //RCC->CFGR |= RCC_CFGR_PPRE1_2; 
  //RCC->CFGR |= RCC_CFGR_PPRE1_1; 
  //RCC->CFGR |= RCC_CFGR_PPRE1_0; 
  /*cenable clock for GPIOA */
  RCC->IOPENR |= RCC_IOPENR_IOPAEN;		/* Enable clock for GPIO Port A */  
  __NOP(); __NOP();                                           /* extra delay for clock stabilization required? */
  
  /* configure GPIOA PA1 for TIM2 */
  GPIOA->MODER &= ~GPIO_MODER_MODE1;	/* clear mode for PA1 */  
  GPIOA->MODER |= GPIO_MODER_MODE1_1;  /* alt fn */
  GPIOA->OTYPER &= ~GPIO_OTYPER_OT_1;    /* push-pull */
  GPIOA->AFR[0] &= ~(15<<4);            /* Clear Alternate Function PA1 */
  GPIOA->AFR[0] |= 2<<4;                   /* AF2 Alternate Function PA1 */
  
  /* TIM2 configure */
  /* disable all interrupts */
  //TIM2->DIER = 0;             /* 0 is reset default value */
  
  /* clear everything, including the "Update disable" flag, so that updates */
  /* are generated */
  // TIM2->CR1 = 0;             /* 0 is reset default value */
  //TIM2->CR1 |= TIM_CR1_ARPE;  // ARR is not modified so constant update is ok
  /* Update request by manual UG bit setting or slave controller */
  /* both is not required here */
  /* so, update request by couter over/underflow remains */
  //TIM2->CR1 |= TIM_CR1_URS;             /* only udf/ovf generae events */
  
  
  TIM2->ARR = 4096;                              /* total cycle count */
  TIM2->CCR2 = 1024;                            /* duty cycle */
  //TIM2->CCMR1 &= ~TIM_CCMR1_OC2CE;      /* disable clear output compare 2 **/
  TIM2->CCMR1 |= TIM_CCMR1_OC2M;            /* all 3 bits set: PWM Mode 2 */
  //TIM2->CCMR1 &= ~TIM_CCMR1_OC1M_0;     /* 110: PWM Mode 1 */
  TIM2->CCMR1 |= TIM_CCMR1_OC2PE;            /* preload enable CCR2 is preloaded*/
  // TIM2->CCMR1 &= ~TIM_CCMR1_OC2FE;            /* fast disable (reset default) */
  // TIM2->CCMR1 &= ~TIM_CCMR1_CC2S;               /* configure cc2 as output (this is reset default) */
  
  
  //TIM2->EGR  |=  TIM_EGR_CC2G;              /* capture event cc2 */
  TIM2->CCER |= TIM_CCER_CC2E;                     /* set output enable */
  //TIM2->CCER |= TIM_CCER_CC2P;                     /* polarity 0: normal (reset default) / 1: inverted*/
  
  TIM2->CR1 |= TIM_CR1_CEN;            /* counter enable */
}


/*
  copy from ADC1->DR to TIM2->CCR2
  ADC DMA requests can be used with DMA Channel 1
*/
void initDMA()
{
  
  RCC->AHBENR |= RCC_AHBENR_DMAEN; /* enable DMA clock */
  __NOP(); __NOP();                                           /* extra delay for clock stabilization required? */
  
  /* defaults: 
      - 8 Bit access
      - read from peripheral
      - none-circular mode
      - no increment mode
  */
  
  DMA1_Channel1->CCR |= DMA_CCR_MSIZE_0;                /* 16  bit access */
  DMA1_Channel1->CCR |= DMA_CCR_PSIZE_0;                /* 16  bit access */
  DMA1_Channel1->CCR |= DMA_CCR_CIRC;                /* circular mode */
  
  DMA1_Channel1->CNDTR = 1;                                        /* one data, then repeat (circular mode) */
  DMA1_Channel1->CPAR = (uint32_t)&(ADC1->DR);                     /* source value */
  DMA1_Channel1->CMAR = (uint32_t)&(TIM2->CCR2);                   /* destination register */
  
  DMA1_CSELR->CSELR &= ~DMA_CSELR_C1S;         /* 0000: select ADC for DMA CH 1 (this is reset default) */
  
  DMA1_Channel1->CCR |= DMA_CCR_EN;                /* enable */

  ADC1->CFGR1 |= ADC_CFGR1_DMACFG;       /* never stop DMA requests */
  ADC1->CFGR1 |= ADC_CFGR1_DMAEN;         /* enable DMA requests for ADC */
  
}

/*=======================================================================*/

void main()
{
  uint32_t start, diff;
  
  setHSIClock();        /* enable 32 MHz Clock */
  startUp();               /* enable systick irq and several power regions  */
  initDisplay();          /* aktivate display */
  
  /* setup ADC controlled PWM */
  
  initADC(5);            /* read from channel 5 (pin 11) */
  initTIM();              
  initDMA();            

  /* rest of the code just shows the current ADC value on the OLED */
  
  setRow(0); outStr("ADC DMA TIM Test"); 
  setRow(2); outStr("ch5 pin11: "); 
  setRow(5); outStr("cycle: "); 

  for(;;)
  {
    setRow(3); outHex16(ADC1->DR); 
    
    TIM2->SR &= ~TIM_SR_CC2IF;	/* clear irq flag */
    while ( (TIM2->SR & TIM_SR_CC2IF) == 0 )
      ;
    start = SysTick->VAL;
    
    TIM2->SR &= ~TIM_SR_CC2IF;	/* clear irq flag */
    while ( (TIM2->SR & TIM_SR_CC2IF) == 0 )
      ;
    diff = start-SysTick->VAL;
    setRow(6); outHex32(diff);
  }
  
}