DCS_TEAM
/
Chemical_Sensor_DMA
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Dependencies: mbed
Fork of
Chemical_Sensor_DMA
by 
Jared Baxter
Diff: main.cpp
- Revision:
- 2:3771b3195c7b
- Parent:
- 1:f0a5690db73f
- Child:
- 3:a85b742be262
--- a/main.cpp Thu Oct 22 17:10:31 2015 +0000
+++ b/main.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -1,2516 +1,318 @@
-
-// TODO:
-#include "mbed.h"
-#include <string>
-
-#include <stdio.h>
-#include "PeripheralNames.h"
-#include "PeripheralPins.h"
-#include "fsl_adc_hal.h"
-#include "fsl_clock_manager.h"
-#include "fsl_dspi_hal.h"
-
-
-
-Serial pc(USBTX, USBRX);
-
-/*
-#if DEBUG
-#define DEBUG_PRINT(x) pc.printf(x)
-#else
-#define DEBUG_PRINT(x) do {} while(0)
-#endif
-*/
-DigitalOut led_red(LED_RED);
-DigitalOut led_green(LED_GREEN);
-DigitalOut led_blue(LED_BLUE);
-
-
-#define MAX_FADC 6000000
-
-#define TimerInterruptInMicroSeconds 25 // This is for 40 kHz
-
-
-#define CarrierFrequency 200
-
-#define ISR_counter_loop_reset 8 // 10 kHz sampling of the signal
-
-int ISR_counter = 1;
-
-#define MaxNumSamples 0 //set to 0 if want continuous sampling (i.e. run forever)
-#define NumSamplesAverageInADC 32 //hardware averaging default is 2. values 0..32. Higher values reduce noise and maximum sample rate
-#define NumADCbits 16
-
-int CyclesInState = 0;
-// While 32 is the minimum, it seems to take a few cycles to get things to work right. 32 + 18 + 18 + 18
-#define PreCalculateCycles 256
-#define NumCalculatedAverages 500
-#define PRINTTIMER 1
-
-int printCounter = 0;
-
-AnalogOut WaveOut(DAC0_OUT);
-AnalogIn WaveIn1(A0);
-AnalogIn WaveIn2(A2);
-
-
-double previousTime = 0;
-
-
-volatile unsigned long counter = 0; //keep track of how many times the timer interrupt executes
-
-
-volatile int phase_counter = 0;
-float twopi = 3.14159265359 * 2;
-
-#define pre_compute_length 4000
-float i_mod_pre[pre_compute_length];
-float q_mod_pre[pre_compute_length];
-int out_val_pre[pre_compute_length];
-
-float current_i_mod;
-float current_q_mod;
-
-
-#define lp_fir_length 2048
-
-
-float x_0_i[lp_fir_length];
-float x_0_q[lp_fir_length];
-float x_1_i[lp_fir_length];
-float x_1_q[lp_fir_length];
-
-float real_ip = 0;
-float real_ip_total = 0;
-float imag_ip = 0;
-float imag_ip_total = 0;
-float y_0_squared = 0;
-float y_1_squared = 0;
-
-int y_0, y_1;
-
-
-int max_0 = -1;
-int min_0 = 65536;
-int max_1 = -1;
-int min_1 = 65536;
-
-
-// Coefficients for FIR low-pass filter
-// Order: 511
-// Fs = 5000
-// Fpass = 5
-// Fstop = 25
-// Density Factor 20
-float lp_filter_coeff[lp_fir_length] = {
-2.25877153377331e-06,
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--5.18915929674119e-05,
--5.22282871255255e-05,
--5.25433860531435e-05,
--5.28374339049068e-05,
--5.31103372807938e-05,
--5.33626591300992e-05,
--5.35943020304215e-05,
--5.38058373779503e-05,
--5.39971664557209e-05,
--5.41688832854903e-05,
--5.43208932117335e-05,
--5.44537801178265e-05,
--5.45674740408066e-05,
--5.46625553812279e-05,
--5.47389540962183e-05,
--5.47972707257875e-05,
--5.48374279367193e-05,
--5.48600304498624e-05,
--5.48650134478435e-05,
--5.48529777470327e-05,
--5.48238615891289e-05,
--5.47782796545640e-05,
--5.47161726277983e-05,
--5.46381421707785e-05,
--5.45441409303223e-05,
--5.44347778383721e-05,
--5.43100072156885e-05,
--5.41704376199963e-05,
--5.40160121859755e-05,
--5.38473696441733e-05,
--5.36644291832927e-05,
--5.34678403499526e-05,
--5.32575308256433e-05,
--5.30341352214345e-05,
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--5.25485330801741e-05,
--5.22868899566335e-05,
--5.20133133082317e-05,
--5.17277278570648e-05,
--5.14307728917283e-05,
--5.11223701960069e-05,
--5.08031767792133e-05,
--5.04731070890493e-05,
--5.01328087389260e-05,
--4.97821954537253e-05,
--4.94219173993094e-05,
--4.90518974627560e-05,
--4.86727623947596e-05,
--4.82844457389913e-05,
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--4.62179102441466e-05,
--4.57813127757766e-05,
--4.53378004294169e-05,
--4.48872654011353e-05,
--4.44303536014418e-05,
--4.39669575807467e-05,
--4.34977023194285e-05,
--4.30224723840039e-05,
--4.25419079114848e-05,
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--4.15650349494434e-05,
--4.10692160068759e-05,
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--3.85278288122663e-05,
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--3.74863645989061e-05,
--3.69611383814916e-05,
--3.64334836149489e-05,
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--3.53710230750429e-05,
--3.48366443059829e-05,
--3.43007203295382e-05,
--3.37630833740885e-05,
--3.32243219343559e-05,
--3.26842631134414e-05,
--3.21434903845723e-05,
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--1.59013657273958e-05,
--1.54209897807815e-05,
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--1.44723391847100e-05,
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--1.35407068370928e-05,
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-};
-
-
-
-
-int lp_fifo_num = 1;
-int bp_fifo_num = 1;
-
-
-int value[] = {0,0};
-
-float mag = 0;
-float calc_mag = 0;
-double mag_total = 0;
-float phase = 0;
-float calc_phase = 0;
-float phase_total = 0;
-int NumInBlock = 0;
-
-float mag_result = 0;
-float phase_result = 0;
-/*
-int diff_0[3] = {0, 0, 0};
-int diff_1[3] = {0, 0, 0};
-*/
-double final_mag = 0;
-float final_phase = 0;
-
-// Finite State Machine
-int current_state = 0;
-
-// Flag
-bool ADC_reading = false;
-bool isTransmitting = false;
-
-
-//IntervalTimer timer0;
-Ticker timer0;
-Timer t1;
-
-int adc_cal(void)
-{
- ADC0_CFG1 |= (ADC_CFG1_MODE(3) | // 16 bits mode
- ADC_CFG1_ADICLK(1)| // Input Bus Clock divided by 2 (20-25 MHz out of reset (FEI mode) / 2)
- ADC_CFG1_ADIV(2)) ; // Clock divide by 4 (2.5-3 MHz)
-
- ADC0_SC3 |= ADC_SC3_AVGE_MASK | // Enable HW average
- ADC_SC3_AVGS(3) | // Set HW average of 32 samples
- ADC_SC3_CAL_MASK; // Start calibration process
-
- while(ADC0_SC3 & ADC_SC3_CAL_MASK); // Wait for calibration to end
-
- if(ADC0_SC3 & ADC_SC3_CALF_MASK) return 1; // Check for successful calibration
-
- uint16_t calib = 0; // calibration variable
- calib += ADC0->CLPS + ADC0_CLP4 + ADC0_CLP3 + ADC0_CLP2 + ADC0_CLP1 + ADC0_CLP0;
- calib /= 2;
- calib |= 0x8000; // Set MSB
- ADC0_PG = calib;
- calib = 0;
- calib += ADC0_CLMS + ADC0_CLM4 + ADC0_CLM3 + ADC0_CLM2 + ADC0_CLM1 + ADC0_CLM0;
- calib /= 2;
- calib |= 0x8000; // Set MSB
- ADC0_MG = calib;
-
- return 0;
-}
-
-void adc_init()
-{
- // red, indicating not ready
-
-
- // Turn on the ADC0 and ADC1 clocks
- SIM_SCGC6 |= SIM_SCGC6_ADC0_MASK;
- SIM_SCGC3 |= SIM_SCGC3_ADC1_MASK;
-
-
- __disable_irq();
- adc_cal();
- //if(adc_cal()) {red = 0; green = 0;} // if calibration fails, display yellow
- __enable_irq();
-
-
-
- // Setup Configuration Register 1
- ADC0_CFG1 = 0; // clear register
- ADC0_CFG1 |= ADC_CFG1_ADICLK(0); // select bus clock
- ADC0_CFG1 |= ADC_CFG1_MODE(3); // select 16-bit 2's complement output
- ADC0_CFG1 |= ADC_CFG1_ADIV(0); // clock divisor = 0.
- ADC0_CFG1 &= ~ADC_CFG1_ADLSMP_MASK; // select short sample time //QUESTION
- ADC0_CFG1 &= ~ADC_CFG1_ADLPC_MASK; // select normal power configuration
- ADC1_CFG1 = 0; // clear register
- ADC1_CFG1 |= ADC_CFG1_ADICLK(0); // select bus clock
- ADC1_CFG1 |= ADC_CFG1_MODE(3); // select 16-bit 2's complement output
- ADC1_CFG1 |= ADC_CFG1_ADIV(0); // clock divisor = 0.
- ADC1_CFG1 &= ~ADC_CFG1_ADLSMP_MASK; // select short sample time
- ADC1_CFG1 &= ~ADC_CFG1_ADLPC_MASK; // select normal power configuration
-
- // Setup Configuration Register 2
- ADC0_CFG2 = 0; // clear register
- //ADC0_CFG2 |= ADC_CFG2_ADHSC_MASK ; // select high-speed conversion
- ADC0_CFG2 |= ADC_CFG2_MUXSEL_MASK; // select a channels //possibly change to channel b.
- ADC1_CFG2 = 0; // clear register
- //ADC1_CFG2 |= ADC_CFG2_ADHSC_MASK ; // select high-speed conversion
- ADC1_CFG2 &= ~ADC_CFG2_MUXSEL_MASK; // select a channels
-
- // Setup Status and Control Register 2
- ADC0_SC2 = 0; // clear register
- ADC0_SC2 |= ADC_SC2_REFSEL(0); // select external voltage reference //QUESTION
- //ADC0_SC2 |= ADC_SC2_DMAEN_MASK; // enable DMA
- //ADC0_SC2 &= ~ADC_SC2_ADTRG_MASK; // select hardware trigger //QESTION
- ADC1_SC2 = 0; // clear register
- ADC1_SC2 |= ADC_SC2_REFSEL(0); // select external voltage reference
- //ADC1_SC2 |= ADC_SC2_DMAEN_MASK; // enable DMA
- //ADC1_SC2 &= ~ADC_SC2_ADTRG_MASK; // select hardware trigger
-
-
- ADC0_SC3 = ADC_SC3_AVGS(0) | ADC_SC3_AVGE_MASK; // Hardware Average set to 16 samples averaged
- // select single conversion mode
- ADC1_SC3 = ADC_SC3_AVGS(0) | ADC_SC3_AVGE_MASK; // Hardware Average set to 16 samples averaged
- // Setup Status and Control Register 3 now that calibration is complete
- ADC0_SC3 = 0; // Hardware Average set to 4 samples averaged
- // Hardware Average Disabled
- // select single conversion mode
- ADC1_SC3 = 0; // Hardware Average set to 4 samples averaged
- // Hardware Average Disabled
- // select single conversion mode
- //ADC1_SC3 = ADC_SC3_AVGS(0) | ADC_SC3_AVGE_MASK;//JARED COME BACK AND LOOK AT THIS
-
- // Setup Status and Control Register 1A
- ADC0_SC1A = 0; // clear register
- ADC0_SC1A &= ~ADC_SC1_DIFF_MASK; // select single-ended mode
- ADC0_SC1A |= ADC_SC1_AIEN_MASK; // enable interrupt (for debugging)
- ADC0_SC1A |= ADC_SC1_ADCH(12); // select channel 13
- ADC1_SC1A = 0; // clear register
- ADC1_SC1A &= ~ADC_SC1_DIFF_MASK; // select single-ended mode
- ADC1_SC1A |= ADC_SC1_AIEN_MASK; // enable interrupt (for debugging)
- ADC1_SC1A |= ADC_SC1_ADCH(14); // select channel 14
-
-
- // Check if ADC is finished initializing TODO: This part doesn't seem right, but I did it according to 871
- while( (ADC0_SC1B&ADC_SC1_COCO_MASK)) {}
- int gain = ADC0_RA; // read the register to clear SC1A[COCO] //possibly a
- while( (ADC1_SC1A&ADC_SC1_COCO_MASK)) {}
- gain = ADC1_RA; // read the register to clear SC1A[COCO]
-
-
-//QUESTION
- ADC0_SC3 &= ~ADC_SC3_ADCO_MASK; // single conversion mode
- ADC1_SC3 &= ~ADC_SC3_ADCO_MASK; // single conversion mode
- ADC0_SC2 &= ~ADC_SC2_ADTRG_MASK; // set ADC to software trigger
- ADC1_SC2 &= ~ADC_SC2_ADTRG_MASK; // set ADC to software trigger
- ADC0_SC1A |= ADC_SC1_ADCH(12); // write to SC1B causing a trigger
- ADC1_SC1A |= ADC_SC1_ADCH(14); // write to SC1A causing a trigger
-}
-
-
-
-void pre_compute_tables() {
- // This function will precompute the cos and sin tables used in the rest of the program
- for(int precompute_counter = 0; precompute_counter < pre_compute_length; precompute_counter++){
- out_val_pre[precompute_counter] = (int) (cos(twopi * CarrierFrequency * TimerInterruptInMicroSeconds * 1e-6 * precompute_counter) * 4965.0 + 49650.0);
- i_mod_pre[precompute_counter] = (cos(twopi * CarrierFrequency * TimerInterruptInMicroSeconds * 1e-6 * precompute_counter));
- q_mod_pre[precompute_counter] = (-sin(twopi * CarrierFrequency * TimerInterruptInMicroSeconds * 1e-6 * precompute_counter));
-
- }
-} //pre_compute_tables
-
-
-
-
-void ISR_repeat() {//40 KHz
- // Calculation of loop for generating signal to output on DAC
-
- WaveOut.write_u16(out_val_pre[phase_counter]); //creates a wave that bounces between 0 & 3.3 V
-
- // ISR counter reset and increment
- if (ISR_counter >= ISR_counter_loop_reset)//10KHz
- {
- ISR_counter = 1;
- //JARED ADD THESE 2 LINES BACK IN
- ADC0_SC1A |= ADC_SC1_ADCH(12); // start ADC process Possibly change to B.
- ADC1_SC1A |= ADC_SC1_ADCH(14); // start ADC process
-
- ADC_reading = true;
- current_i_mod = i_mod_pre[phase_counter];
- current_q_mod = q_mod_pre[phase_counter];
- }
- else {
- ISR_counter++;
- }
-
- phase_counter++;
- if (phase_counter >= pre_compute_length) phase_counter = 0;
-
-} //ISR_repeat
-
-
-void execute_DSP() {
-/*
-bp_fifo_num++;
- if (bp_fifo_num >= bp_fir_length) bp_fifo_num = 0;
-
- x_0[bp_fifo_num] = (float) (value[1] - value[0]);
- x_1[bp_fifo_num] = (float) (value[0] - 32768);
-
- // Band pass filter of incoming data
- float y_0 = x_0[bp_fifo_num] * bp_filter_coeff[0];
- float y_1 = x_1[bp_fifo_num] * bp_filter_coeff[0];
-
- for(int fir_counter = 1; fir_counter < bp_fir_length; fir_counter++){
- int fir_index = bp_fifo_num + fir_counter;
- if (fir_index >= bp_fir_length) {
- fir_index -= bp_fir_length;
- }
- y_0 += x_0[fir_index] * bp_filter_coeff[fir_counter];
- y_1 += x_1[fir_index] * bp_filter_coeff[fir_counter];
- }
-*/
-y_0 = (value[0]);
-y_1 = (value[1]);
- //y_0 = (value[0] - 32768);
- //y_1 = (value[1] - 32768);
- current_i_mod = i_mod_pre[phase_counter];
- current_q_mod = q_mod_pre[phase_counter];
-
- // Demodulation of the signal
- x_0_i[lp_fifo_num] = (y_0 * current_i_mod);
- x_0_q[lp_fifo_num] = (y_0 * current_q_mod);
- x_1_i[lp_fifo_num] = (y_1 * current_i_mod);
- x_1_q[lp_fifo_num] = (y_1 * current_q_mod);
-
- lp_fifo_num++;
- if (lp_fifo_num >= lp_fir_length) lp_fifo_num = 0;
-
- // Low pass filter of demodulated signal
- float y_0_i = x_0_i[lp_fifo_num] * lp_filter_coeff[0];
- float y_0_q = x_0_q[lp_fifo_num] * lp_filter_coeff[0];
- float y_1_i = x_1_i[lp_fifo_num] * lp_filter_coeff[0];
- float y_1_q = x_1_q[lp_fifo_num] * lp_filter_coeff[0];
-
- for(int fir_counter = 1; fir_counter < lp_fir_length; fir_counter++){
- int fir_index = lp_fifo_num + fir_counter;
- if (fir_index >= lp_fir_length) {
- fir_index -= lp_fir_length;
- }
- y_0_i += x_0_i[fir_index] * lp_filter_coeff[fir_counter];
- y_0_q += x_0_q[fir_index] * lp_filter_coeff[fir_counter];
- y_1_i += x_1_i[fir_index] * lp_filter_coeff[fir_counter];
- y_1_q += x_1_q[fir_index] * lp_filter_coeff[fir_counter];
- }
-
- real_ip = y_0_i * y_1_i + y_0_q * y_1_q;
- imag_ip = y_0_q * y_1_i - y_0_i * y_1_q;
- y_0_squared = y_0_i * y_0_i + y_0_q * y_0_q;
- y_1_squared = y_1_i * y_1_i + y_1_q * y_1_q;
-
-// float mag = sqrt((real_ip * real_ip + imag_ip * imag_ip) / y_0_squared;
- mag = sqrt(((float) real_ip * (float) real_ip + (float) imag_ip * (float) imag_ip)) / ((float) y_0_squared);
- mag_total += mag;
- calc_mag = mag_total / NumInBlock;
-
- real_ip_total += real_ip;
- imag_ip_total += imag_ip;
- phase = -atan2(imag_ip_total, real_ip_total);
- calc_phase = phase_total / NumInBlock;
-}
-
-
-
-void setup() {
-printf("Starting UP");
- adc_init();
- pre_compute_tables();
- wait(1);
-} //setup
-
-using namespace std;
-
-int main() {
- led_blue = 1;
- led_green = 1;
- led_red = 0;
-
- setup();
- int count = 0;
- t1.start();
-
- pc.baud(115200);
-
- for(int i = 0; i < 86; i++)
- {
- if(NVIC_GetPriority((IRQn_Type) i) == 0) NVIC_SetPriority((IRQn_Type) i, 2);
- }
-
- // Give hardware associated with
- // sampling the highest priority
- NVIC_SetPriority(ADC1_IRQn,0);
- NVIC_SetPriority(ADC0_IRQn,0);
- NVIC_SetPriority(PDB0_IRQn,0);
- NVIC_SetPriority(DMA0_IRQn,0);
- NVIC_SetPriority(DMA1_IRQn,0);
- NVIC_SetPriority(DMA2_IRQn,0);
-
- NVIC_SetPriority(ENET_1588_Timer_IRQn,1);
- NVIC_SetPriority(ENET_Transmit_IRQn,1);
- NVIC_SetPriority(ENET_Receive_IRQn,1);
- NVIC_SetPriority(ENET_Error_IRQn,1);
-
- led_green = 1;
- led_red = 1;
- led_blue = 1;
-
- timer0.attach_us(&ISR_repeat, TimerInterruptInMicroSeconds);
- while(true) {
-
- count++;
- //printf("Loop");
-
- while (!ADC_reading)
- {
-
- led_blue = 0;
- }
-
-
- counter++;
-
- CyclesInState++;
-
-
- execute_DSP();
-
-
- NumInBlock++;
- if (NumInBlock >= NumCalculatedAverages) {
- printCounter++;
- mag_result = calc_mag;
- phase_result = calc_phase;
- final_mag = mag_result;
- final_phase = phase_result;
- NumInBlock = 0;
- mag_total = 0;
- real_ip_total = 0;
- imag_ip_total = 0;
- if (printCounter>PRINTTIMER)
- {
- printf("Coeficient%f Phase%f\n\r", final_mag, final_phase);
- printCounter = 0;
- }
-
- }
-
-
-
- value[0] = ADC0_RA;//Read adc
- value[1] = ADC1_RA;//Read adc
- //printf("%f %f\n\r", value[0], value[1]);
- ADC_reading = false;//lower flag
-
- }// end while(true)
-}// end main
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+ *
+ * Pinout for FRDM-k64f
+ * J2
+ * X X
+ * X X
+ * X X
+ * J3 X X GND
+ * X X X X SCLK
+ * X X X X MISO
+ * X X X X MOSI
+ * X X X X CS
+ * X X GND X X
+ * GND X X X X
+ * GND X X
+ * 5Vin X X J1
+ * X X
+ * J4 X X motorA
+ * X X X X motorB
+ * mic1 X X X X
+ * mic2 X X X X
+ * X X X X
+ * X X quadA X X
+ * X X quadB X X
+ *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+#include "mbed.h"
+#include "pause.cpp"
+
+// Sampling
+#include "Sample/adc.h"
+#include "Sample/pdb.h"
+#include "Sample/quad.h"
+
+#include "AngleEncoder.h"
+#include "MotorControl.h"
+
+// for debug purposes
+Serial pc(USBTX, USBRX);
+DigitalOut led_red(LED_RED);
+DigitalOut led_green(LED_GREEN);
+DigitalOut led_blue(LED_BLUE);
+//DigitalIn switch1(PTA4);
+//DigitalIn switch2(PTC6);
+//DigitalOut TotalInd(PTC4);
+//DigitalOut SampleInd(PTC5);
+
+MotorControl motor(PTC2, PTA2, 2000, 25); // cw, ccw, period_us, safetyPeriod_us
+AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
+
+// defined in dma.cpp
+extern int len;
+extern uint16_t sample_array0[];
+extern uint16_t sample_array1[];
+extern uint16_t angle_array[];
+extern bool dma_done;
+extern bool dma_half_done;
+
+int motorVal = 10;
+
+// Declaration of functions
+void output_data();
+
+Timer t1;
+using namespace std;
+
+int main() {
+
+ led_blue = 1;
+ led_green = 1;
+ led_red = 1;
+
+ pc.baud(230400);
+ pc.printf("Starting...\r\n");
+
+ for(int i = 0; i < 86; i++)
+ {
+ if(NVIC_GetPriority((IRQn_Type) i) == 0) NVIC_SetPriority((IRQn_Type) i, 2);
+ }
+
+ // Give hardware associated with
+ // sampling the highest priority
+ NVIC_SetPriority(ADC1_IRQn,0);
+ NVIC_SetPriority(ADC0_IRQn,0);
+ NVIC_SetPriority(PDB0_IRQn,0);
+ NVIC_SetPriority(DMA0_IRQn,0);
+ NVIC_SetPriority(DMA1_IRQn,0);
+ NVIC_SetPriority(DMA2_IRQn,0);
+
+ NVIC_SetPriority(ENET_1588_Timer_IRQn,1);
+ NVIC_SetPriority(ENET_Transmit_IRQn,1);
+ NVIC_SetPriority(ENET_Receive_IRQn,1);
+ NVIC_SetPriority(ENET_Error_IRQn,1);
+
+ //quad_init(); // initialize FTM2 quadrature decoder
+ //quad_invert(); // invert the direction of counting
+ adc_init(); // initialize ADCs (always initialize adc before dma)
+ dma_init(); // initializes DMAs
+ pdb_init(); // initialize PDB0 as the timer for ADCs and DMA2
+
+ // flash green led indicating startup complete
+ led_red = 1;
+ led_blue = 1;
+ led_green = 0;
+ pause_ms(500);
+ led_green = 1;
+ pause_ms(200);
+ led_green = 0;
+ pause_ms(500);
+ led_green = 1;
+ pdb_start();
+ t1.start();
+ t1.reset();
+ int startAddress = (int)&sample_array0[0];
+ while (1)
+ {
+ if (t1.read()>2)
+ {
+ //pdb_start();
+ pc.printf("%i\t%i\t%i\r\n", sample_array0[1], sample_array1[1],(DMA_TCD0_DADDR-startAddress)/2);
+ t1.reset();
+ }
+ }
+ // while(1) {
+// if(pc.readable() > 0) {
+// char temp = pc.getc();
+//
+// switch(temp) {
+// case '1': // run motor and sample
+// {
+// // wait for angle to set to zero
+// led_blue = 0;
+// while(!angle_encoder.set_zero()) {pc.printf("AngleNotSet");}
+// quad_reset();
+// led_blue = 1;
+//
+// // release mallet
+// motor.releaseMallet();
+//
+// // wait for mallet to drop to certin point before beginning to sample
+// /*
+// led_red = 0;
+// int angleVal;
+// do {
+// angleVal = angle_encoder.absolute_angle();
+// }
+// while(!(angleVal > 150 && angleVal < 400));
+// led_red = 1;
+// */
+//
+// // begin sampling
+// pdb_start();
+// //pause_us(TOTAL_SAMPLES*10);
+// //while(!dma_done) {led_green = 0;}
+// led_green = 1;
+//
+// // reset mallet
+// motor.reset();
+// output_data();
+//
+//
+// led_red = 1;
+// led_blue = 1;
+// led_green = 1;
+// }
+// break;
+//
+// case '2':
+// {
+// motor.releaseMallet();
+// pause(1);
+//
+// while(!angle_encoder.set_zero()) {}
+// quad_reset();
+//
+// pdb_start();
+// motor.clockwise(1);
+// pause(1);
+// motor.off();
+// output_data();
+//
+// }
+// break;
+//
+// case '3':
+// {
+// /*
+// while(angleVar)
+// {
+// counter++;
+// angleVar = angle_encoder.absolute_angle();
+// angleVar -= motorVal;
+// if(angleVar == 0x00ff0000) {} // do nothing
+// //else if(angleVar > 340) motorB.pulsewidth_us(8000); // max speed
+// else if(angleVar < 43) {
+// angleVar = 0; // exit loop
+// //motorB.pulsewidth_us(0);} // min speed
+// //else motorB.pulsewidth_us(angleVar*800/34);
+// }
+// motor.off();
+// */
+// }
+// break;
+//
+//
+// /********************************************************************
+// * The code below is for testing and troubleshooting. Don't delete. *
+// ********************************************************************/
+// case 'B':
+// case 'b':
+// led_blue = !led_blue;
+// pc.printf("Blue LED\r\n");
+// break;
+// case 'R':
+// case 'r':
+// led_red = !led_red;
+// pc.printf("Red LED\r\n");
+// break;
+//
+// // test sampling
+// case 'Q':
+// case 'q':
+// quad_reset();
+// pdb_start();
+//
+// while(!dma_half_done) {
+// pc.printf("first half\r\n");
+// pause_ms(1);
+// }
+//
+// while(!dma_done) {
+// pc.printf("second half\r\n");
+// pause_ms(1);
+// }
+// for(int i = 0; i < len; i++) pc.printf("%i\t %i\t %i\r\n", sample_array0[i],sample_array1[i], angle_array[i]);
+// pc.printf("\r\n");
+//
+// led_red = 1;
+// led_green = 1;
+// led_blue = 1;
+//
+//
+// /*
+// while(!angle_encoder.set_zero()) {}
+// quad_reset();
+//
+//
+// pdb_start();
+// pause_us(TOTAL_SAMPLES*10);
+// output_data();*/
+//
+// break;
+// case 'W':
+// case 'w': // reads 0 unless the counter is running
+// pc.printf("PDB: %i\r\n",PDB0_CNT);
+// break;
+//
+// // test angle encoder
+// case 'A':
+// case 'a': // set zero
+// if(angle_encoder.set_zero()) {
+// pc.printf("Zero set\r\n");
+// }
+// else {
+// pc.printf("Zero NOT set\r\n");
+// }
+// break;
+// case 'S':
+// case 's': // perform "no operation", which returns 0xa5
+// {
+// pc.printf("NOP: 0x%02x\r\n", angle_encoder.nop());
+// break;
+// }
+// case 'D':
+// case 'd': // read absolute and relative angles
+// {
+// pc.printf("Angle: %i %i\r\n", angle_encoder.absolute_angle(), quad_read());
+// break;
+// }
+// case 'F':
+// case 'f':
+// pc.printf("Quad Cnt: %i\r\n", quad_read());
+// break;
+//
+// // test motor
+// case 'Z':
+// case 'z': // release the mallet
+// motor.releaseMallet();
+// break;
+// case 'X':
+// case 'x':
+// motor.hardReset(motorVal);
+// break;
+// case '+':
+// case '=':
+// motorVal++;
+// if(motorVal > 8000) motorVal = 8000;
+// pc.printf("MotorVal: %i\r\n", motorVal);
+// break;
+// case '-':
+// {
+// motorVal--;
+// if(motorVal < 0) motorVal = 0;
+// pc.printf("MotorVal: %i\r\n", motorVal);
+// break;
+// }
+// }
+// }
+// }
+}
+
+void output_data()
+{
+ for (int n = 0; n < len; n++) {
+ pc.printf("%i\t%i\r\n", sample_array0[n], sample_array1[n]);
+
+ }
+}
\ No newline at end of file