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ChibiOS 2.6.8, until I can figure out where to get it from git.
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Jared Boone
parent
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commit
e1eea8e08a
1929 changed files with 575326 additions and 0 deletions
229
firmware/chibios/testhal/STM32F4xx/DMA_STORM/main.c
Executable file
229
firmware/chibios/testhal/STM32F4xx/DMA_STORM/main.c
Executable file
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include <string.h>
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#include "ch.h"
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#include "hal.h"
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#define ADC_GRP2_NUM_CHANNELS 8
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#define ADC_GRP2_BUF_DEPTH 16
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static adcsample_t samples2[ADC_GRP2_NUM_CHANNELS * ADC_GRP2_BUF_DEPTH];
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static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
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(void)adcp;
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(void)buffer;
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(void)n;
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}
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static void adcerrorcallback(ADCDriver *adcp, adcerror_t err) {
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(void)adcp;
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(void)err;
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chSysHalt();
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}
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/*
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* ADC conversion group.
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* Mode: Continuous, 16 samples of 8 channels, SW triggered.
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* Channels: IN11, IN12, IN11, IN12, IN11, IN12, Sensor, VRef.
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*/
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static const ADCConversionGroup adcgrpcfg2 = {
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TRUE,
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ADC_GRP2_NUM_CHANNELS,
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adccallback,
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adcerrorcallback,
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0, /* CR1 */
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ADC_CR2_SWSTART, /* CR2 */
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ADC_SMPR1_SMP_AN12(ADC_SAMPLE_56) | ADC_SMPR1_SMP_AN11(ADC_SAMPLE_56) |
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ADC_SMPR1_SMP_SENSOR(ADC_SAMPLE_144) | ADC_SMPR1_SMP_VREF(ADC_SAMPLE_144),
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0, /* SMPR2 */
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ADC_SQR1_NUM_CH(ADC_GRP2_NUM_CHANNELS),
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ADC_SQR2_SQ8_N(ADC_CHANNEL_SENSOR) | ADC_SQR2_SQ7_N(ADC_CHANNEL_VREFINT),
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ADC_SQR3_SQ6_N(ADC_CHANNEL_IN12) | ADC_SQR3_SQ5_N(ADC_CHANNEL_IN11) |
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ADC_SQR3_SQ4_N(ADC_CHANNEL_IN12) | ADC_SQR3_SQ3_N(ADC_CHANNEL_IN11) |
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ADC_SQR3_SQ2_N(ADC_CHANNEL_IN12) | ADC_SQR3_SQ1_N(ADC_CHANNEL_IN11)
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};
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/*
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* Maximum speed SPI configuration (21MHz, CPHA=0, CPOL=0, MSb first).
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*/
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static const SPIConfig hs_spicfg = {
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NULL,
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GPIOB,
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12,
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0
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};
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static void tmo(void *p) {
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(void)p;
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chSysHalt();
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}
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/*
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* SPI thread.
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*/
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static WORKING_AREA(waSPI1, 1024);
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static WORKING_AREA(waSPI2, 1024);
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static WORKING_AREA(waSPI3, 1024);
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static msg_t spi_thread(void *p) {
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unsigned i;
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SPIDriver *spip = (SPIDriver *)p;
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VirtualTimer vt;
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uint8_t txbuf[256];
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uint8_t rxbuf[256];
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/* Prepare transmit pattern.*/
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for (i = 0; i < sizeof(txbuf); i++)
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txbuf[i] = (uint8_t)i;
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/* Continuous transmission.*/
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while (TRUE) {
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/* Starts a VT working as watchdog to catch a malfunction in the SPI
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driver.*/
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chSysLock();
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chVTSetI(&vt, MS2ST(10), tmo, NULL);
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chSysUnlock();
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spiExchange(spip, sizeof(txbuf), txbuf, rxbuf);
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/* Stops the watchdog.*/
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chSysLock();
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if (chVTIsArmedI(&vt))
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chVTResetI(&vt);
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chSysUnlock();
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}
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}
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/*
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* This is a periodic thread that does absolutely nothing except flashing
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* a LED.
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*/
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static WORKING_AREA(waThread1, 128);
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static msg_t Thread1(void *arg) {
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(void)arg;
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chRegSetThreadName("blinker");
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while (TRUE) {
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palSetPad(GPIOD, GPIOD_LED3); /* Orange. */
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chThdSleepMilliseconds(500);
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palClearPad(GPIOD, GPIOD_LED3); /* Orange. */
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chThdSleepMilliseconds(500);
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}
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}
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/*
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* Application entry point.
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*/
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int main(void) {
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unsigned i;
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static uint8_t patterns1[4096], patterns2[4096], buf1[4096], buf2[4096];
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/* System initializations.
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- HAL initialization, this also initializes the configured device drivers
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and performs the board-specific initializations.
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- Kernel initialization, the main() function becomes a thread and the
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RTOS is active.*/
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halInit();
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chSysInit();
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/* Creates the blinker thread.*/
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 10,
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Thread1, NULL);
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/* Activates the ADC1 driver and the temperature sensor.*/
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adcStart(&ADCD1, NULL);
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adcSTM32EnableTSVREFE();
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/* Starts an ADC continuous conversion.*/
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adcStartConversion(&ADCD1, &adcgrpcfg2, samples2, ADC_GRP2_BUF_DEPTH);
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/* Activating SPI drivers.*/
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spiStart(&SPID1, &hs_spicfg);
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spiStart(&SPID2, &hs_spicfg);
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spiStart(&SPID3, &hs_spicfg);
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/* Starting SPI threads instances.*/
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chThdCreateStatic(waSPI1, sizeof(waSPI1), NORMALPRIO + 1, spi_thread, &SPID1);
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chThdCreateStatic(waSPI2, sizeof(waSPI2), NORMALPRIO + 1, spi_thread, &SPID2);
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chThdCreateStatic(waSPI3, sizeof(waSPI3), NORMALPRIO + 1, spi_thread, &SPID3);
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/* Allocating two DMA2 streams for memory copy operations.*/
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if (dmaStreamAllocate(STM32_DMA2_STREAM6, 0, NULL, NULL))
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chSysHalt();
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if (dmaStreamAllocate(STM32_DMA2_STREAM7, 0, NULL, NULL))
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chSysHalt();
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for (i = 0; i < sizeof (patterns1); i++)
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patterns1[i] = (uint8_t)i;
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for (i = 0; i < sizeof (patterns2); i++)
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patterns2[i] = (uint8_t)(i ^ 0xAA);
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/* Normal main() thread activity, it does continues memory copy operations
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using 2 DMA streams at the lowest priority.*/
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while (TRUE) {
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VirtualTimer vt;
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/* Starts a VT working as watchdog to catch a malfunction in the DMA
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driver.*/
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chSysLock();
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chVTSetI(&vt, MS2ST(10), tmo, NULL);
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chSysUnlock();
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/* Copy pattern 1.*/
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dmaStartMemCopy(STM32_DMA2_STREAM6,
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STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
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STM32_DMA_CR_MSIZE_BYTE,
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patterns1, buf1, sizeof (patterns1));
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dmaStartMemCopy(STM32_DMA2_STREAM7,
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STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
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STM32_DMA_CR_MSIZE_BYTE,
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patterns1, buf2, sizeof (patterns1));
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dmaWaitCompletion(STM32_DMA2_STREAM6);
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dmaWaitCompletion(STM32_DMA2_STREAM7);
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if (memcmp(patterns1, buf1, sizeof (patterns1)))
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chSysHalt();
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if (memcmp(patterns1, buf2, sizeof (patterns1)))
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chSysHalt();
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/* Copy pattern 2.*/
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dmaStartMemCopy(STM32_DMA2_STREAM6,
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STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
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STM32_DMA_CR_MSIZE_BYTE,
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patterns2, buf1, sizeof (patterns2));
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dmaStartMemCopy(STM32_DMA2_STREAM7,
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STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
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STM32_DMA_CR_MSIZE_BYTE,
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patterns2, buf2, sizeof (patterns2));
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dmaWaitCompletion(STM32_DMA2_STREAM6);
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dmaWaitCompletion(STM32_DMA2_STREAM7);
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if (memcmp(patterns2, buf1, sizeof (patterns2)))
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chSysHalt();
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if (memcmp(patterns2, buf2, sizeof (patterns2)))
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chSysHalt();
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/* Stops the watchdog.*/
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chSysLock();
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if (chVTIsArmedI(&vt))
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chVTResetI(&vt);
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chSysUnlock();
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chThdSleepMilliseconds(2);
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}
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return 0;
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}
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