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godunkogodunko
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Initialize ADC and obtain samples.
1 parent 40be1b7 commit 404b55a

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‎source/configuration.adb‎

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@@ -4,6 +4,7 @@
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-- SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
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--
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with A0B.STM32F401.SVD.ADC;
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with A0B.STM32F401.SVD.RCC;
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with A0B.STM32F401.SVD.TIM;
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with A0B.STM32F401.TIM_Lines;
@@ -21,6 +22,8 @@ is
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procedure Initialize_GPIO;
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procedure Initialize_ADC1;
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procedure Initialize_TIM3;
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-- Configure TIM3. Timer is disabled. It generates TRGO on CEN set.
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@@ -52,12 +55,168 @@ is
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begin
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Initialize_GPIO;
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Initialize_UART;
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Initialize_ADC1;
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Initialize_TIM3;
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Initialize_TIM4;
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Enable_Timers;
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end Initialize;
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---------------------
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-- Initialize_ADC1 --
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---------------------
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procedure Initialize_ADC1 is
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use A0B.STM32F401.SVD.ADC;
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begin
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A0B.STM32F401.SVD.RCC.RCC_Periph.APB2ENR.ADC1EN := True;
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-- Clear SR - Not needed
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-- Configure CR1
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declare
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Aux : A0B.STM32F401.SVD.ADC.CR1_Register := ADC1_Periph.CR1;
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begin
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-- Aux.AWDCH := <>; -- Not used
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Aux.EOCIE := False; -- 0: EOC interrupt disabled
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Aux.AWDIE := False; -- 0: Analog watchdog interrupt disabled
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Aux.JEOCIE := False; -- 0: JEOC interrupt disabled
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Aux.SCAN := True; -- 1: Scan mode enabled
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-- Aux.AWDSGL := <>; -- Not used
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Aux.JAUTO := False;
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-- 0: Automatic injected group conversion disabled
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Aux.DISCEN := False;
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-- 0: Discontinuous mode on regular channels disabled
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Aux.JDISCEN := False;
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-- 0: Discontinuous mode on injected channels disabled
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-- Aux.DISCNUM := <>; -- Not used
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Aux.JAWDEN := False;
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-- 0: Analog watchdog disabled on injected channels
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Aux.AWDIE := False;
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-- 0: Analog watchdog disabled on regular channels
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Aux.RES := 2#00#; -- 00: 12-bit (15 ADCCLK cycles)
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Aux.OVRIE := False; -- 0: Overrun interrupt disabled
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ADC1_Periph.CR1 := Aux;
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end;
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-- Configure CR2
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declare
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Aux : A0B.STM32F401.SVD.ADC.CR2_Register := ADC1_Periph.CR2;
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begin
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Aux.ADON := False;
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-- 0: Disable ADC conversion and go to power down mode
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Aux.CONT := False; -- 0: Single conversion mode
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Aux.DMA := False; -- 0: DMA mode disabled
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Aux.DDS := True;
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-- 1: DMA requests are issued as long as data are converted and DMA=1
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Aux.EOCS := True;
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-- 1: The EOC bit is set at the end of each regular conversion.
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-- Overrun detection is enabled.
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Aux.ALIGN := False; -- 0: Right alignment
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-- Aux.JEXTSEL := <>; -- Not used
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Aux.JEXTEN := 2#00#; -- 00: Trigger detection disabled
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Aux.JSWSTART := False; -- 0: Reset state
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Aux.EXTSEL := 2#1010#; -- 1010: Timer 5 CC1 event
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Aux.EXTEN := 2#01#; -- 01: Trigger detection on the rising edge
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Aux.SWSTART := False; -- 0: Reset state
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ADC1_Periph.CR2 := Aux;
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end;
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-- Configure SMPR1
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ADC1_Periph.SMPR1 := 0; -- 000: 3 cycles, for channels 10..18
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-- Configure SMPR2
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ADC1_Periph.SMPR2 := 0; -- 000: 3 cycles, for channels 0..9
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-- Configure JOFR1 - Not used
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-- Configure JOFR2 - Not used
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-- Configure JOFR3 - Not used
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-- Configure JOFR4 - Not used
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-- Configure HTR - Not used
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-- Configure LTR - Not used
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-- Configure SQR1
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declare
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Aux : A0B.STM32F401.SVD.ADC.SQR1_Register := ADC1_Periph.SQR1;
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begin
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-- Aux.SQ.Arr (16) := <>; -- Not used
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-- Aux.SQ.Arr (15) := <>; -- Not used
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-- Aux.SQ.Arr (14) := <>; -- Not used
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-- Aux.SQ.Arr (13) := <>; -- Not used
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Aux.L := 2#1000#; -- 1000: 9 conversions
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ADC1_Periph.SQR1 := Aux;
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end;
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-- Configure SQR2
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declare
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Aux : A0B.STM32F401.SVD.ADC.SQR2_Register := ADC1_Periph.SQR2;
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begin
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-- Aux.SQ.Arr (12) := <>; -- Not used
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-- Aux.SQ.Arr (11) := <>; -- Not used
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-- Aux.SQ.Arr (10) := <>; -- Not used
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Aux.SQ.Arr (9) := 7; -- IN7
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Aux.SQ.Arr (8) := 6; -- IN6
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Aux.SQ.Arr (7) := 5; -- IN5
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ADC1_Periph.SQR2 := Aux;
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end;
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-- Configure SQR3
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declare
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Aux : A0B.STM32F401.SVD.ADC.SQR3_Register := ADC1_Periph.SQR3;
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begin
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Aux.SQ.Arr (6) := 4; -- IN4
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Aux.SQ.Arr (5) := 3; -- IN3
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Aux.SQ.Arr (4) := 2; -- IN2
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Aux.SQ.Arr (3) := 1; -- IN1
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Aux.SQ.Arr (2) := 0; -- IN0
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Aux.SQ.Arr (1) := 17; -- IN17 VREFINT
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ADC1_Periph.SQR3 := Aux;
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end;
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-- Configure JSQR - Not used
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-- Configure CCR
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declare
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Aux : CCR_Register := ADC_Common_Periph.CCR;
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begin
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Aux.ADCPRE := 2#01#; -- PCLK2 divided by 4
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Aux.VBATE := False; -- 0: VBAT channel disabled
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Aux.TSVREFE := True;
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-- 1: Temperature sensor and VREFINT channel enabled
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ADC_Common_Periph.CCR := Aux;
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end;
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-- Enable ADC
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ADC1_Periph.CR2.ADON := True;
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end Initialize_ADC1;
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---------------------
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-- Initialize_GPIO --
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---------------------

‎source/driver.adb‎

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@@ -7,6 +7,7 @@
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with Configuration;
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with Console;
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with Motor_Drivers;
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with Sensors;
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1112
procedure Driver is
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Motor : Motor_Drivers.Motor_Index := 1;
@@ -56,6 +57,11 @@ begin
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Console.Put_Line ("off");
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Motor_Drivers.Set_Off (Motor);
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when 'a' | 'A' =>
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Console.Put_Line ("collect sensors data");
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Sensors.Collect_Data;
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Sensors.Dump;
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when others =>
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Console.Put_Line ("unknown command");
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end case;

‎source/sensors.adb‎

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--
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-- Copyright (C) 2025, Vadim Godunko <vgodunko@gmail.com>
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--
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-- SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
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--
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with A0B.STM32F401.SVD.ADC;
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with A0B.Types;
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with Console;
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package body Sensors is
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type Sensors_Data is record
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Vref : A0B.Types.Unsigned_16;
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M1_Current : A0B.Types.Unsigned_16;
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M1_Position : A0B.Types.Unsigned_16;
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M2_Current : A0B.Types.Unsigned_16;
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M2_Position : A0B.Types.Unsigned_16;
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M3_Current : A0B.Types.Unsigned_16;
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M3_Position : A0B.Types.Unsigned_16;
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M4_Current : A0B.Types.Unsigned_16;
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M4_Position : A0B.Types.Unsigned_16;
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end record;
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Data : array (1 .. 1_000) of Sensors_Data with Export;
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------------------
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-- Collect_Data --
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------------------
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procedure Collect_Data is
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use A0B.STM32F401.SVD.ADC;
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function Get return A0B.Types.Unsigned_16;
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---------
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-- Get --
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---------
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function Get return A0B.Types.Unsigned_16 is
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begin
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while not ADC1_Periph.SR.EOC loop
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null;
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end loop;
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return ADC1_Periph.DR.DATA;
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end Get;
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begin
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for Item of Data loop
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ADC1_Periph.CR2.SWSTART := True;
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Item.Vref := Get;
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Item.M1_Current := Get;
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Item.M1_Position := Get;
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Item.M2_Current := Get;
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Item.M2_Position := Get;
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Item.M3_Current := Get;
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Item.M3_Position := Get;
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Item.M4_Current := Get;
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Item.M4_Position := Get;
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end loop;
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end Collect_Data;
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----------
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-- Dump --
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----------
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procedure Dump is
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begin
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Console.New_Line;
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Console.Put_Line ("Vref");
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for J in Data'Range loop
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if (J - 1) mod 20 = 0 then
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Console.New_Line;
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end if;
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Console.Put (A0B.Types.Unsigned_16'Image (Data (J).Vref));
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end loop;
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Console.New_Line;
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Console.New_Line;
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Console.Put_Line ("M1 current");
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for J in Data'Range loop
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if (J - 1) mod 20 = 0 then
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Console.New_Line;
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end if;
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Console.Put (A0B.Types.Unsigned_16'Image (Data (J).M1_Current));
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end loop;
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Console.New_Line;
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Console.New_Line;
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Console.Put_Line ("M1 position");
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for J in Data'Range loop
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if (J - 1) mod 20 = 0 then
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Console.New_Line;
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end if;
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Console.Put (A0B.Types.Unsigned_16'Image (Data (J).M1_Position));
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end loop;
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Console.New_Line;
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end Dump;
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end Sensors;

‎source/sensors.ads‎

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--
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-- Copyright (C) 2025, Vadim Godunko <vgodunko@gmail.com>
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--
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-- SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
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--
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package Sensors is
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procedure Collect_Data;
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procedure Dump;
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end Sensors;

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