1 files changed, 170 insertions, 0 deletions

diff --git a/lib/chibios-contrib/demos/STM32/RT-STM32F303-DISCOVERY-PID/main.c b/lib/chibios-contrib/demos/STM32/RT-STM32F303-DISCOVERY-PID/main.c
new file mode 100644
index 000000000..0061de61f
--- /dev/null
+++ b/lib/chibios-contrib/demos/STM32/RT-STM32F303-DISCOVERY-PID/main.c
@@ -0,0 +1,170 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+#include "pid.h"
+#include <stdlib.h>
+
+#define STM32_UUID ((uint32_t *)0x1FFFF7AC)
+#define ADC_GRP1_NUM_CHANNELS   1
+#define ADC_GRP1_BUF_DEPTH      8
+
+static pidc_t pid;
+static float input = 0, output = 0, target = 0;
+static adcsample_t samples[ADC_GRP1_NUM_CHANNELS * ADC_GRP1_BUF_DEPTH];
+
+/*
+ * ADC streaming callback.
+ */
+static void adccallback(ADCDriver *adcp) {
+
+  (void)adcp;
+  uint32_t i, tmp = 0;
+  if (adcIsBufferComplete(adcp)) {
+
+    for (i = 0; i < (adcp)->depth; i++) {
+        tmp += (adcp)->samples[i];
+    }
+    input = tmp / (adcp)->depth;
+    
+    if (input <= target) {
+        palClearLine(LINE_LED7_GREEN);
+        palSetLine(LINE_LED6_GREEN);
+    }
+    else {
+        palClearLine(LINE_LED6_GREEN);
+        palSetLine(LINE_LED7_GREEN);
+    }
+  }
+}
+
+/*
+ * ADC conversion group.
+ * Mode:        Linear buffer, 8 samples of 2 channels, SW triggered.
+ * Channels:    IN0, IN8.
+ */
+static const ADCConversionGroup adcgrpcfg1 = {
+  TRUE,
+  ADC_GRP1_NUM_CHANNELS,
+  adccallback,
+  NULL,
+  ADC_CFGR_CONT,            /* CFGR    */
+  ADC_TR(0, 4095),          /* TR1     */
+  {                         /* SMPR[2] */
+    ADC_SMPR1_SMP_AN1(ADC_SMPR_SMP_181P5),
+    0
+  },
+  {                         /* SQR[4]  */
+    ADC_SQR1_SQ1_N(ADC_CHANNEL_IN1),
+    0,
+    0,
+    0
+  }
+};
+
+static const DACConfig dac1cfg1 = {
+  .init         = 2047U,
+  .datamode     = DAC_DHRM_12BIT_RIGHT,
+  .cr           = 0
+};
+
+static void gptcb(GPTDriver *drv) {
+    
+    (void)drv;
+    pid_compute(&pid);
+    dacPutChannelX(&DACD1, 0, (dacsample_t)output);
+}
+
+/*
+ * GPT6 configuration.
+ */
+static const GPTConfig gpt6cfg1 = {
+  .frequency    = 10000U, // 10 KHz
+  .callback     = gptcb,
+  .cr2          = TIM_CR2_MMS_1,    /* MMS = 010 = TRGO on Update Event.    */
+  .dier         = 0U
+};
+
+
+/*
+ * Red LEDs blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+    
+  srand(osalOsGetSystemTimeX() + STM32_UUID[0]);
+
+  (void)arg;
+  chRegSetThreadName("blinker");
+  while (true) {
+    palToggleLine(LINE_LED10_RED);
+    chThdSleepMilliseconds(500);
+    
+    target = 1000 + (rand() % 2500); // Change the PID target every 500ms.
+  }
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+  halInit();
+  chSysInit();
+
+  /*
+  * Set PA0 PA3 PA4 to Analog (ADC1_CH2, DAC1_CH1)
+  * You will have to connect these with a jumper wire
+  */
+  palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
+  palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
+
+  /*
+   * Start peripherals
+   */
+  adcStart(&ADCD1, NULL);
+  dacStart(&DACD1, &dac1cfg1);
+  gptStart(&GPTD6, &gpt6cfg1);
+  
+  /*
+   * Start PID
+   */
+  pid_create(&pid, &input, &output, &target, 1.0, 1.0, 1.0, PID_ON_M, PID_DIRECT);
+  pid_setOutputLimits(&pid, 0.0, 4095.0); // Max DAC range
+  pid_setSampleTime(&pid, 10);
+  pid_setMode(&pid, PID_AUTOMATIC);
+
+  /*
+   * Starting a continuous conversion.
+   */
+  gptStartContinuous(&GPTD6, 101U); // 10000 / 101
+  adcStartConversion(&ADCD1, &adcgrpcfg1, samples, ADC_GRP1_BUF_DEPTH);
+  
+  /*
+  * Creates the blinker thread.
+  */
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+
+  /*
+   * Normal main() thread activity.
+   */
+  while (true) {
+    chThdSleepMilliseconds(250);
+    palToggleLine(LINE_LED3_RED);
+  }
+  return 0;
+}