SAMD21 ADCee fixes

DCCTimerSAMD.cpp

@@ -30,6 +30,8 @@
 
 #include "DCCTimer.h"
 #include <wiring_private.h>
+#include <DIAG.h>
+#include <FSH.h>
 
 INTERRUPT_CALLBACK interruptHandler=0;
 
@@ -161,20 +163,46 @@ int * ADCee::analogvals = NULL;
 
 int ADCee::init(uint8_t pin) {
   uint id = pin - A0;
+  int value = 0;
 
   if (id > NUM_ADC_INPUTS)
     return -1023;
-  analogReadResolution(12);   // Consistent with settings in ADCee::begin below
+
-  int value = analogRead(pin);
+  // Dummy read using Arduino library
-  if (analogvals == NULL)
+  analogReadResolution(12);
-    analogvals = (int *)calloc(NUM_ADC_INPUTS+1, sizeof(int));
+  value = analogRead(pin);
-  analogvals[id] = value;
+
-  usedpins |= (1<<id);
+  // Reconfigure ADC
+  ADC->CTRLA.bit.ENABLE = 0;                      // disable ADC
+  while( ADC->STATUS.bit.SYNCBUSY == 1 );         // wait for synchronization
+
+  ADC->CTRLB.reg &= 0b1111100011001111;           // mask PRESCALER and RESSEL bits
+  ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV64 |   // divide Clock by 16
+                    ADC_CTRLB_RESSEL_12BIT;       // Result 12 bits, 10 bits possible
+  ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_1 |    // take 1 sample at a time
+                     ADC_AVGCTRL_ADJRES(0x00ul);  // adjusting result by 0
+  ADC->SAMPCTRL.reg = 0x00ul;                     // sampling Time Length = 0
+  ADC->CTRLA.bit.ENABLE = 1;                      // enable ADC
+  while( ADC->STATUS.bit.SYNCBUSY == 1 );         // wait for synchronization
 
   // Permanently configure SAMD IO MUX for that pin
   pinPeripheral(pin, PIO_ANALOG);
   ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[pin].ulADCChannelNumber; // Selection for the positive ADC input
 
+  // Start conversion
+  ADC->SWTRIG.bit.START = 1;
+
+  // Wait for the conversion to be ready
+  while (ADC->INTFLAG.bit.RESRDY == 0);   // Waiting for conversion to complete
+
+  // Read the value
+  value = ADC->RESULT.reg;
+
+  if (analogvals == NULL)
+    analogvals = (int *)calloc(NUM_ADC_INPUTS+1, sizeof(int));
+  analogvals[id] = value;
+  usedpins |= (1<<id);
+
   return value;
 }
 int16_t ADCee::ADCmax() {
@@ -207,8 +235,6 @@ void ADCee::scan() {
       return; // no result, continue to wait
     // found value
     analogvals[id] = ADC->RESULT.reg;
-    // Clear the Data Ready flag
-    ADC->INTFLAG.reg = ADC_INTFLAG_RESRDY;
     // advance at least one track
     // for scope debug TrackManager::track[1]->setBrake(0);
     waiting = false;
@@ -226,7 +252,7 @@ void ADCee::scan() {
     while (true) {
       if (mask  & usedpins) {
     	  // start new ADC aquire on id
-        ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[id].ulADCChannelNumber; // Selection for the positive ADC input
+        ADC->INPUTCTRL.bit.MUXPOS = g_APinDescription[id + A0].ulADCChannelNumber; // Selection for the positive ADC input
           // Start conversion
         ADC->SWTRIG.bit.START = 1;
 	      // for scope debug TrackManager::track[1]->setBrake(1);
@@ -249,17 +275,16 @@ void ADCee::begin() {
   // Set up ADC to do faster reads... default for Arduino Zero platform configs is 436uS,
   // and we need sub-58uS. This code sets it to a read speed of around 5-6uS, and enables
   // 12-bit mode
+  // Reconfigure ADC
   ADC->CTRLA.bit.ENABLE = 0;                      // disable ADC
   while( ADC->STATUS.bit.SYNCBUSY == 1 );         // wait for synchronization
 
   ADC->CTRLB.reg &= 0b1111100011001111;           // mask PRESCALER and RESSEL bits
-  ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV16 |  // divide Clock by 16
+  ADC->CTRLB.reg |= ADC_CTRLB_PRESCALER_DIV64 |   // divide Clock by 16
-                    ADC_CTRLB_RESSEL_12BIT;      // Result is 12 bits, 10 bits possible
+                    ADC_CTRLB_RESSEL_12BIT;       // Result 12 bits, 10 bits possible
-
   ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_1 |    // take 1 sample at a time
                      ADC_AVGCTRL_ADJRES(0x00ul);  // adjusting result by 0
-  ADC->SAMPCTRL.reg = 0x00;                      // sampling Time Length = 0
+  ADC->SAMPCTRL.reg = 0x00ul;                     // sampling Time Length = 0
-
   ADC->CTRLA.bit.ENABLE = 1;                      // enable ADC
   while( ADC->STATUS.bit.SYNCBUSY == 1 );         // wait for synchronization
   interrupts();

MotorDrivers.h

@@ -59,7 +59,7 @@
 
 // Arduino STANDARD Motor Shield, used on different architectures:
 
-#if defined(ARDUINO_ARCH_SAMD)
+#if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
 // Setup for SAMD21 Sparkfun DEV board using Arduino standard Motor Shield R3 (MUST be R3
 // for 3v3 compatibility!!) senseFactor for 3.3v systems is 1.95 as calculated when using
 // 10-bit A/D samples, and for 12-bit samples it's more like 0.488, but we probably need
@@ -68,6 +68,7 @@
                               new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 0.488, 1500, UNUSED_PIN), \
                               new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 0.488, 1500, UNUSED_PIN)
 #define SAMD_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
+#define STM32_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
 
 #elif defined(ARDUINO_ARCH_ESP32)
 // STANDARD shield on an ESPDUINO-32 (ESP32 in Uno form factor). The shield must be eiter the