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Merge pull request #3327 from opentx/projectkk2glider/new_jitter_filter_for_next2

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Projectkk2glider/new jitter filter for next2
This commit is contained in:
Bertrand Songis
2016-02-28 19:58:45 +01:00
parent 806d547ced 6acfabeaf0
commit 9a23c3fcc6
8 changed files with 220 additions and 88 deletions
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radio/src/cli.cpp
+21 -1
View File
@@ -157,7 +157,6 @@ int cliStackInfo(const char ** argv)
return 0;
}
int cliMemoryInfo(const char ** argv)
{
// struct mallinfo {
@@ -400,6 +399,24 @@ int cliRepeat(const char ** argv)
return 0;
}
#if defined(JITTER_MEASURE)
int cliShowJitter(const char ** argv)
{
serialPrint( "# anaIn rawJ avgJ");
for (int i=0; i<NUMBER_ANALOG; i++) {
serialPrint("A%02d %04X %04X %3d %3d", i, getAnalogValue(i), anaIn(i), rawJitter[i].get(), avgJitter[i].get());
if (IS_POT_MULTIPOS(i)) {
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[i];
for (int j=0; j<calib->count; j++) {
serialPrint(" s%d %04X", j, calib->steps[j]);
}
}
}
return 0;
}
#endif
const CliCommand cliCommands[] = {
{ "beep", cliBeep, "[<frequency>] [<duration>]" },
{ "ls", cliLs, "<directory>" },
@@ -417,6 +434,9 @@ const CliCommand cliCommands[] = {
{ "help", cliHelp, "[<command>]" },
{ "debugvars", cliDebugVars, "" },
{ "repeat", cliRepeat, "<interval> <command>" },
#if defined(JITTER_MEASURE)
{ "jitter", cliShowJitter, "" },
#endif
{ NULL, NULL, NULL } /* sentinel */
};
radio/src/gui/9x/menu_general_calib.cpp
+18 -10
View File
@@ -23,6 +23,14 @@
#define XPOT_DELTA 10
#define XPOT_DELAY 10 /* cycles */
enum CalibrationState {
CALIB_START = 0,
CALIB_SET_MIDPOINT,
CALIB_MOVE_STICKS,
CALIB_STORE,
CALIB_FINISHED
};
void menuCommonCalib(uint8_t event)
{
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) { // get low and high vals for sticks and trims
@@ -41,7 +49,7 @@ void menuCommonCalib(uint8_t event)
switch (event)
{
case EVT_ENTRY:
reusableBuffer.calib.state = 0;
reusableBuffer.calib.state = CALIB_START;
break;
case EVT_KEY_BREAK(KEY_ENTER):
@@ -50,14 +58,14 @@ void menuCommonCalib(uint8_t event)
}
switch (reusableBuffer.calib.state) {
case 0:
case CALIB_START:
// START CALIBRATION
if (!READ_ONLY()) {
lcd_putsLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUTOSTART);
}
break;
case 1:
case CALIB_SET_MIDPOINT:
// SET MIDPOINT
lcdDrawText(0*FW, MENU_HEADER_HEIGHT+FH, STR_SETMIDPOINT, INVERS);
lcd_putsLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUWHENDONE);
@@ -69,7 +77,7 @@ void menuCommonCalib(uint8_t event)
}
break;
case 2:
case CALIB_MOVE_STICKS:
// MOVE STICKS/POTS
STICK_SCROLL_DISABLE();
lcdDrawText(0*FW, MENU_HEADER_HEIGHT+FH, STR_MOVESTICKSPOTS, INVERS);
@@ -86,14 +94,14 @@ void menuCommonCalib(uint8_t event)
}
break;
case 3:
case CALIB_STORE:
g_eeGeneral.chkSum = evalChkSum();
storageDirty(EE_GENERAL);
reusableBuffer.calib.state = 4;
reusableBuffer.calib.state = CALIB_FINISHED;
break;
default:
reusableBuffer.calib.state = 0;
reusableBuffer.calib.state = CALIB_START;
break;
}
@@ -105,7 +113,7 @@ void menuGeneralCalib(uint8_t event)
check_simple(event, e_Calib, menuTabGeneral, DIM(menuTabGeneral), 0);
if (menuEvent) {
calibrationState = 0;
calibrationState = CALIB_START;
}
TITLE(STR_MENUCALIBRATION);
@@ -114,8 +122,8 @@ void menuGeneralCalib(uint8_t event)
void menuFirstCalib(uint8_t event)
{
if (event == EVT_KEY_BREAK(KEY_EXIT) || reusableBuffer.calib.state == 4) {
calibrationState = 0;
if (event == EVT_KEY_BREAK(KEY_EXIT) || reusableBuffer.calib.state == CALIB_FINISHED) {
calibrationState = CALIB_START;
chainMenu(menuMainView);
}
else {
radio/src/gui/horus/menu_general_calib.cpp
+23 -13
View File
@@ -29,6 +29,14 @@
#define STICK_LEFT_X 25
#define STICK_RIGHT_X (LCD_W-STICK_LEFT_X-STICKS_WIDTH)
enum CalibrationState {
CALIB_START = 0,
CALIB_SET_MIDPOINT,
CALIB_MOVE_STICKS,
CALIB_STORE,
CALIB_FINISHED
};
void drawSticks()
{
int16_t calibStickVert = calibratedStick[CONVERT_MODE(1)];
@@ -62,7 +70,7 @@ bool menuCommonCalib(evt_t event)
drawScreenTemplate(NULL, LBM_CALIBRATION_ICON, OPTION_MENU_NO_FOOTER);
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) { // get low and high vals for sticks and trims
int16_t vt = getAnalogValue(i) >> 1;
int16_t vt = anaIn(i);
reusableBuffer.calib.loVals[i] = min(vt, reusableBuffer.calib.loVals[i]);
reusableBuffer.calib.hiVals[i] = max(vt, reusableBuffer.calib.hiVals[i]);
if (i >= POT1 && i <= POT_LAST) {
@@ -72,6 +80,8 @@ bool menuCommonCalib(evt_t event)
uint8_t idx = i - POT1;
int count = reusableBuffer.calib.xpotsCalib[idx].stepsCount;
if (IS_POT_MULTIPOS(i) && count <= XPOTS_MULTIPOS_COUNT) {
// use raw analog value for multipos calibraton, anaIn() already has multipos decoded value
vt = getAnalogValue(i) >> 1;
if (reusableBuffer.calib.xpotsCalib[idx].lastCount == 0 || vt < reusableBuffer.calib.xpotsCalib[idx].lastPosition - XPOT_DELTA || vt > reusableBuffer.calib.xpotsCalib[idx].lastPosition + XPOT_DELTA) {
reusableBuffer.calib.xpotsCalib[idx].lastPosition = vt;
reusableBuffer.calib.xpotsCalib[idx].lastCount = 1;
@@ -103,7 +113,7 @@ bool menuCommonCalib(evt_t event)
switch (event) {
case EVT_ENTRY:
case EVT_KEY_BREAK(KEY_EXIT):
calibrationState = 0;
calibrationState = CALIB_START;
break;
case EVT_KEY_BREAK(KEY_ENTER):
@@ -112,7 +122,7 @@ bool menuCommonCalib(evt_t event)
}
switch (calibrationState) {
case 0:
case CALIB_START:
// START CALIBRATION
if (!READ_ONLY()) {
lcdDrawText(50, 3, STR_MENUCALIBRATION, MENU_TITLE_COLOR);
@@ -120,14 +130,14 @@ bool menuCommonCalib(evt_t event)
}
break;
case 1:
case CALIB_SET_MIDPOINT:
// SET MIDPOINT
lcdDrawText(50, 3, STR_MENUCALIBRATION, MENU_TITLE_COLOR);
lcdDrawText(50, 3+FH, "Please center sticks and press [Enter]", MENU_TITLE_COLOR);
for (int i=0; i<NUM_STICKS+NUM_POTS; i++) {
reusableBuffer.calib.loVals[i] = 15000;
reusableBuffer.calib.hiVals[i] = -15000;
reusableBuffer.calib.midVals[i] = getAnalogValue(i) >> 1;
reusableBuffer.calib.midVals[i] = anaIn(i);
if (i < NUM_XPOTS) {
reusableBuffer.calib.xpotsCalib[i].stepsCount = 0;
reusableBuffer.calib.xpotsCalib[i].lastCount = 0;
@@ -135,7 +145,7 @@ bool menuCommonCalib(evt_t event)
}
break;
case 2:
case CALIB_MOVE_STICKS:
// MOVE STICKS/POTS
lcdDrawText(50, 3, STR_MENUCALIBRATION, MENU_TITLE_COLOR);
lcdDrawText(50, 3+FH, "Move sticks, pots and sliders and press [Enter]", MENU_TITLE_COLOR);
@@ -173,14 +183,14 @@ bool menuCommonCalib(evt_t event)
}
break;
case 3:
case CALIB_STORE:
g_eeGeneral.chkSum = evalChkSum();
storageDirty(EE_GENERAL);
calibrationState = 4;
calibrationState = CALIB_FINISHED;
break;
default:
calibrationState = 0;
calibrationState = CALIB_START;
break;
}
@@ -194,8 +204,8 @@ bool menuCommonCalib(evt_t event)
bool menuGeneralCalib(evt_t event)
{
if (event == EVT_ENTRY || event == EVT_ENTRY_UP) TRACE("Menu %s displayed ...", STR_MENUCALIBRATION);
if (calibrationState == 4) {
calibrationState = 0;
if (calibrationState == CALIB_FINISHED) {
calibrationState = CALIB_START;
popMenu();
return false;
}
@@ -210,8 +220,8 @@ bool menuGeneralCalib(evt_t event)
bool menuFirstCalib(evt_t event)
{
if (event == EVT_KEY_BREAK(KEY_EXIT) || calibrationState == 4) {
calibrationState = 0;
if (event == EVT_KEY_BREAK(KEY_EXIT) || calibrationState == CALIB_FINISHED) {
calibrationState = CALIB_START;
chainMenu(menuMainView);
return false;
}
radio/src/gui/taranis/menu_general_calib.cpp
+22 -12
View File
@@ -25,6 +25,14 @@
#define BAR_SPACING 12
#define BAR_HEIGHT 22
enum CalibrationState {
CALIB_START = 0,
CALIB_SET_MIDPOINT,
CALIB_MOVE_STICKS,
CALIB_STORE,
CALIB_FINISHED
};
void drawPotsBars()
{
// Optimization by Mike Blandford
@@ -41,7 +49,7 @@ void drawPotsBars()
void menuCommonCalib(uint8_t event)
{
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) { // get low and high vals for sticks and trims
int16_t vt = getAnalogValue(i) >> 1;
int16_t vt = anaIn(i);
reusableBuffer.calib.loVals[i] = min(vt, reusableBuffer.calib.loVals[i]);
reusableBuffer.calib.hiVals[i] = max(vt, reusableBuffer.calib.hiVals[i]);
if (i >= POT1 && i <= POT_LAST) {
@@ -51,6 +59,8 @@ void menuCommonCalib(uint8_t event)
uint8_t idx = i - POT1;
int count = reusableBuffer.calib.xpotsCalib[idx].stepsCount;
if (IS_POT_MULTIPOS(i) && count <= XPOTS_MULTIPOS_COUNT) {
// use raw analog value for multipos calibraton, anaIn() already has multipos decoded value
vt = getAnalogValue(i) >> 1;
if (reusableBuffer.calib.xpotsCalib[idx].lastCount == 0 || vt < reusableBuffer.calib.xpotsCalib[idx].lastPosition - XPOT_DELTA || vt > reusableBuffer.calib.xpotsCalib[idx].lastPosition + XPOT_DELTA) {
reusableBuffer.calib.xpotsCalib[idx].lastPosition = vt;
reusableBuffer.calib.xpotsCalib[idx].lastCount = 1;
@@ -84,7 +94,7 @@ void menuCommonCalib(uint8_t event)
switch (event) {
case EVT_ENTRY:
case EVT_KEY_BREAK(KEY_EXIT):
reusableBuffer.calib.state = 0;
reusableBuffer.calib.state = CALIB_START;
break;
case EVT_KEY_BREAK(KEY_ENTER):
@@ -93,14 +103,14 @@ void menuCommonCalib(uint8_t event)
}
switch (reusableBuffer.calib.state) {
case 0:
case CALIB_START:
// START CALIBRATION
if (!READ_ONLY()) {
lcd_putsLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUTOSTART);
}
break;
case 1:
case CALIB_SET_MIDPOINT:
// SET MIDPOINT
lcdDrawText(0*FW, MENU_HEADER_HEIGHT+FH, STR_SETMIDPOINT, INVERS);
lcd_putsLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUWHENDONE);
@@ -116,7 +126,7 @@ void menuCommonCalib(uint8_t event)
}
break;
case 2:
case CALIB_MOVE_STICKS:
// MOVE STICKS/POTS
STICK_SCROLL_DISABLE();
lcdDrawText(0*FW, MENU_HEADER_HEIGHT+FH, STR_MOVESTICKSPOTS, INVERS);
@@ -133,7 +143,7 @@ void menuCommonCalib(uint8_t event)
}
break;
case 3:
case CALIB_STORE:
for (uint8_t i=POT1; i<=POT_LAST; i++) {
int idx = i - POT1;
int count = reusableBuffer.calib.xpotsCalib[idx].stepsCount;
@@ -159,11 +169,11 @@ void menuCommonCalib(uint8_t event)
}
g_eeGeneral.chkSum = evalChkSum();
storageDirty(EE_GENERAL);
reusableBuffer.calib.state = 4;
reusableBuffer.calib.state = CALIB_FINISHED;
break;
default:
reusableBuffer.calib.state = 0;
reusableBuffer.calib.state = CALIB_START;
break;
}
@@ -173,7 +183,7 @@ void menuCommonCalib(uint8_t event)
#if 0
for (int i=POT1; i<=POT_LAST; i++) {
uint8_t steps = 0;
if (reusableBuffer.calib.state == 2) {
if (reusableBuffer.calib.state == CALIB_MOVE_STICKS) {
steps = reusableBuffer.calib.xpotsCalib[i-POT1].stepsCount;
}
else if (IS_POT_MULTIPOS(i)) {
@@ -192,14 +202,14 @@ void menuGeneralCalib(uint8_t event)
check_simple(STR_MENUCALIBRATION, event, e_Calib, menuTabGeneral, DIM(menuTabGeneral), 0);
menuCommonCalib(READ_ONLY() ? 0 : event);
if (menuEvent) {
calibrationState = 0;
calibrationState = CALIB_START;
}
}
void menuFirstCalib(uint8_t event)
{
if (event == EVT_KEY_BREAK(KEY_EXIT) || reusableBuffer.calib.state == 4) {
calibrationState = 0;
if (event == EVT_KEY_BREAK(KEY_EXIT) || reusableBuffer.calib.state == CALIB_FINISHED) {
calibrationState = CALIB_START;
chainMenu(menuMainView);
}
else {
radio/src/opentx.cpp
+96 -35
View File
@@ -1487,17 +1487,40 @@ uint16_t BandGap ;
#endif
#if defined(JITTER_MEASURE)
JitterMeter<uint16_t> rawJitter[NUMBER_ANALOG];
JitterMeter<uint16_t> avgJitter[NUMBER_ANALOG];
tmr10ms_t jitterResetTime = 0;
#define JITTER_MEASURE_ACTIVE() (menuHandlers[menuLevel] == menuGeneralDiagAna)
#endif // defined(JITTER_MEASURE)
JitterMeter<uint16_t> rawJitter[NUMBER_ANALOG];
JitterMeter<uint16_t> avgJitter[NUMBER_ANALOG];
tmr10ms_t jitterResetTime = 0;
#if defined(PCBTARANIS)
#define JITTER_MEASURE_ACTIVE() (menuHandlers[menuLevel] == menuGeneralDiagAna)
#elif defined(CLI)
#define JITTER_MEASURE_ACTIVE() (1)
#endif
#endif
#if defined(VIRTUALINPUTS) && defined(JITTER_FILTER)
#define JITTER_FILTER_STRENGTH 4 // tune this value, bigger value - more filtering (range: 1-5) (see explanation below)
#define ANALOG_SCALE 1 // tune this value, bigger value - more filtering (range: 0-3) (see explanation below)
#define JITTER_ALPHA (1<<JITTER_FILTER_STRENGTH)
#define ANALOG_MULTIPLIER (1<<ANALOG_SCALE)
#define ANA_FILT(chan) (s_anaFilt[chan] / (JITTER_ALPHA * ANALOG_MULTIPLIER))
#if (JITTER_ALPHA * ANALOG_MULTIPLIER > 32)
#error "JITTER_FILTER_STRENGTH and ANALOG_SCALE are too big, their summ should be <= 5 !!!"
#endif
#else
#define ANALOG_SCALE 0
#define JITTER_ALPHA 1
#define ANALOG_MULTIPLIER 1
#define ANA_FILT(chan) (s_anaFilt[chan])
#endif
#if !defined(SIMU)
uint16_t anaIn(uint8_t chan)
{
#if defined(VIRTUALINPUTS)
return s_anaFilt[chan];
return ANA_FILT(chan);
#elif defined(PCBSKY9X) && !defined(REVA)
static const uint8_t crossAna[]={1,5,7,0,4,6,2,3};
if (chan == TX_CURRENT) {
@@ -1531,6 +1554,7 @@ void getADC()
#if defined(JITTER_MEASURE)
if (JITTER_MEASURE_ACTIVE() && jitterResetTime < get_tmr10ms()) {
// reset jitter measurement every second
for (uint32_t x=0; x<NUMBER_ANALOG; x++) {
rawJitter[x].reset();
avgJitter[x].reset();
@@ -1552,41 +1576,78 @@ void getADC()
}
}
for (uint8_t x=0; x<NUMBER_ANALOG; x++) {
uint16_t v = temp[x] >> 3;
for (uint32_t x=0; x<NUMBER_ANALOG; x++) {
uint16_t v = temp[x] >> (3 - ANALOG_SCALE);
#if defined(JITTER_FILTER)
// jitter filter
uint16_t diff = (v > s_anaFilt[x]) ? (v - s_anaFilt[x]) : (s_anaFilt[x] - v);
if (diff < 10) {
// apply filter
v = (7 * s_anaFilt[x] + v) >> 3;
}
#endif
#if defined(JITTER_MEASURE)
if (JITTER_MEASURE_ACTIVE()) {
avgJitter[x].measure(v);
}
#endif
#if defined(VIRTUALINPUTS)
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[x];
if (IS_POT_MULTIPOS(x) && calib->count>0 && calib->count<XPOTS_MULTIPOS_COUNT) {
uint8_t vShifted = (v >> 4);
s_anaFilt[x] = 2*RESX;
for (int i=0; i<calib->count; i++) {
if (vShifted < calib->steps[i]) {
s_anaFilt[x] = i*2*RESX/calib->count;
break;
}
}
#if defined(VIRTUALINPUTS) && defined(JITTER_FILTER)
// Jitter filter:
// * pass trough any big change directly
// * for small change use Modified moving average (MMA) filter
//
// Explanation:
//
// Normal MMA filter has this formula:
// <out> = ((ALPHA-1)*<out> + <in>)/ALPHA
//
// If calculation is done this way with integer arithmetics, then any small change in
// input signal is lost. One way to combat that, is to rearrange the formula somewhat,
// to store a more precise (larger) number between iterations. The basic idea is to
// store undivided value between iterations. Therefore an new variable <filtered> is
// used. The new formula becomes:
// <filtered> = <filtered> - <filtered>/ALPHA + <in>
// <out> = <filtered>/ALPHA (use only when out is needed)
//
// The above formula with a maximum allowed ALPHA value (we are limited by
// the 16 bit s_anaFilt[]) was tested on the radio. The resulting signal still had
// some jitter (a value of 1 was observed). The jitter might be bigger on other
// radios.
//
// So another idea is to use larger input values for filtering. So instead of using
// input in a range from 0 to 2047, we use twice larger number (temp[x] is divided less)
//
// This also means that ALPHA must be lowered (remember 16 bit limit), but test results
// have proved that this kind of filtering gives better results. So the recommended values
// for filter are:
// JITTER_FILTER_STRENGTH 4
// ANALOG_SCALE 1
//
// Variables mapping:
// * <in> = v
// * <out> = s_anaFilt[x]
uint16_t previous = s_anaFilt[x] / JITTER_ALPHA;
uint16_t diff = (v > previous) ? (v - previous) : (previous - v);
if (diff < 10 * ANALOG_MULTIPLIER) {
// apply jitter filter
s_anaFilt[x] = (s_anaFilt[x] - previous) + v;
}
else
#endif
{
s_anaFilt[x] = v;
//use unfiltered value
s_anaFilt[x] = v * JITTER_ALPHA;
}
#if defined(JITTER_MEASURE)
if (JITTER_MEASURE_ACTIVE()) {
avgJitter[x].measure(ANA_FILT(x));
}
#endif
#if defined(VIRTUALINPUTS)
#define ANAFILT_MAX (2 * RESX * JITTER_ALPHA * ANALOG_MULTIPLIER - 1)
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[x];
if (IS_POT_MULTIPOS(x) && IS_MULTIPOS_CALIBRATED(calib)) {
// TODO: consider adding another low pass filter to eliminate multipos switching glitches
uint8_t vShifted = ANA_FILT(x) >> 4;
s_anaFilt[x] = ANAFILT_MAX;
for (uint32_t i=0; i<calib->count; i++) {
if (vShifted < calib->steps[i]) {
s_anaFilt[x] = (i * ANAFILT_MAX) / calib->count;
break;
}
}
}
#endif // defined(VIRTUALINPUTS)
}
}
#endif
radio/src/opentx.h
+1
View File
@@ -394,6 +394,7 @@ void memswap(void * a, void * b, uint8_t size);
#endif
#define IS_POT(x) ((x)>=POT1 && (x)<=POT_LAST)
#define IS_MULTIPOS_CALIBRATED(cal) (cal->count>0 && cal->count<XPOTS_MULTIPOS_COUNT)
#if defined(PCBFLAMENCO) || defined(PCBHORUS) || (defined(PCBTARANIS) && defined(REV9E))
#define PWR_BUTTON_DELAY
radio/src/switches.cpp
+1 -1
View File
@@ -280,7 +280,7 @@ void getSwitchesPosition(bool startup)
for (int i=0; i<NUM_XPOTS; i++) {
if (IS_POT_MULTIPOS(POT1+i)) {
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[POT1+i];
if (calib->count>0 && calib->count<XPOTS_MULTIPOS_COUNT) {
if (IS_MULTIPOS_CALIBRATED(calib)) {
uint8_t pos = anaIn(POT1+i) / (2*RESX/calib->count);
uint8_t previousPos = potsPos[i] >> 4;
uint8_t previousStoredPos = potsPos[i] & 0x0F;
radio/src/targets/horus/adc_driver.cpp
+38 -16
View File
@@ -133,11 +133,11 @@ void adcInit()
#define SPI_S1 4
#define SPI_6POS 5
#define SPI_S2 6
#define SPI_S3 7
#define SPI_S4 8
#define SPI_LS 7
#define SPI_RS 8
#define SPI_TX_VOLTAGE 9
#define SPI_RS 10
#define SPI_LS 11
#define SPI_L2 10
#define SPI_L1 11
const uint16_t adcCommands[MOUSE1+2] =
{
@@ -148,13 +148,13 @@ const uint16_t adcCommands[MOUSE1+2] =
MANUAL_MODE | ( SPI_S1 << 7 ),
MANUAL_MODE | ( SPI_6POS << 7 ),
MANUAL_MODE | ( SPI_S2 << 7 ),
MANUAL_MODE | ( SPI_L1 << 7 ),
MANUAL_MODE | ( SPI_L2 << 7 ),
MANUAL_MODE | ( SPI_LS << 7 ),
MANUAL_MODE | ( SPI_RS << 7 ),
MANUAL_MODE | ( SPI_S3 << 7 ),
MANUAL_MODE | ( SPI_S4 << 7 ),
MANUAL_MODE | ( SPI_TX_VOLTAGE << 7 ),
MANUAL_MODE | ( 0 << 7 ),
MANUAL_MODE | ( 0 << 7 )
MANUAL_MODE | ( 0 << 7 ), // small joystick left/right
MANUAL_MODE | ( 0 << 7 ) // small joystick up/down
};
void adcRead()
@@ -170,22 +170,44 @@ void adcRead()
DMA2_Stream1->CR |= DMA_SxCR_EN; // Enable DMA
ADC3->CR2 |= (uint32_t)ADC_CR2_SWSTART;
// A dummy command to get things started
// (because the sampled data is lagging behind for two command cycles)
ADC_CS_LOW();
delay_01us(1);
SPIx_ReadWriteByte(*command++); // Discard
ADC_CS_HIGH();
delay_01us(1);
ADC_CS_LOW();
delay_01us(1);
SPIx_ReadWriteByte(*command++); // Discard
SPIx_ReadWriteByte(*command); // still sampling the old MUX channel
ADC_CS_HIGH();
delay_01us(1);
for (uint32_t adcIndex=0; adcIndex<MOUSE1; adcIndex++) {
// MUX is changed to the channel that was sent in the previous command
// but the data is from the old MUX position
ADC_CS_LOW();
delay_01us(1);
adcValues[adcIndex] = (0x0fff & SPIx_ReadWriteByte(*command++));
SPIx_ReadWriteByte(*command);
ADC_CS_HIGH();
delay_01us(1);
// This delay is to allow charging of ADC input capacitor
// after the MUX changes from one channel to the other.
// It was determined experimentally. Biggest problem seems to be
// the cross-talk between A4:S1 and A5:MULTIPOS. Changing S1 for one extreme
// to the other resulted in A5 change of:
//
// delay value A5 change
// 0 76
// 100 26
// 300 13
// 500 undetectable
delay_01us(500);
++command; // move to the next channel
// First time the wanted ADC channel is actually sampled.
// This is delayed to allow MUX to settle (high input impedance)
// Also the MUX channel is set to the next channel here,
// but the actual MUX change will happen in the next round
ADC_CS_LOW();
delay_01us(1);
adcValues[adcIndex] = (0x0fff & SPIx_ReadWriteByte(*command));
ADC_CS_HIGH();
delay_01us(1);
}