DCS_TEAM
/
Chemical_Sensor_DMA
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Dependencies: mbed
Fork of
Chemical_Sensor_DMA
by 
Jared Baxter
Diff: main.cpp
- Revision:
- 4:9fd291254686
- Parent:
- 3:a85b742be262
- Child:
- 5:1b2dc43e8947
--- a/main.cpp Sat Oct 31 20:06:37 2015 +0000
+++ b/main.cpp Fri Nov 06 03:33:09 2015 +0000
@@ -1,92 +1,155 @@
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
- *
- * 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"
-
#include "SignalProcessing.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;
+
+// uint16_t out_val_pre[];
+//
+//
+// uint16_t phase_counter2 = 0;
+// #define pre_compute_length 2000
+//
+// void ISR_repeat() {
+// WaveOut.write_u16(out_val_pre[phase_counter2]); //creates a wave that bounces between 0 & 3.3 V
+//
+// phase_counter2++;
+// if (phase_counter2 >= pre_compute_length) phase_counter2 = 0;
+//} //ISR_repeat
+//
+//Ticker timer0;
+//
+
+
+
+#define PDB_DACINTC0_TOE 0x01 // 0x01 -> PDB DAC interal trigger enabled
+
+#define DAC0_DAT0 (uint16_t *)0x400CC000 // DAC word buffer base address
+
+uint16_t *p1;
+void setUpDac()
+{
+ SIM_SCGC2 |= SIM_SCGC2_DAC0_MASK; // turn on clock to the DAC
+ SIM_SCGC6 |= SIM_SCGC6_DAC0_MASK; // turn on clock to the DAC
+ //DAC0_C0 = 0;
+ DAC0_C0 |= DAC_C0_DACEN_MASK ; // enable the DAC; must do before any of the following
+ //DAC0_C0 |= DAC_C0_REFSEL(0)
+ //DAC0_C0 &= 0x9f;
+ //DAC0_C0 |= DAC_C0_DACRFS_MASK; // 3.3V VDDA is DACREF_2
+ //DAC0_C2 =9;
+ //DAC0_C2 |= 0x9;
+ //DAC0_C2 |= DAC_C2_DACBFUP(9);
+ DAC0_C2 =9;
+ //DAC0_C2 |= DAC_C2_DACBFUP(9); // resets to 15 but setting it anyway...
+ DAC0_C1 = 1;
+ //DAC0_C1 |= (0x01); // 0x01 enables the DAC buffer! See note above
+
+ // prefill the DAC buffer with first 16 values from the lut
+
+ p1 = DAC0_DAT0;
+ for (int i = 0; i < 16; i++)
+ {
+ *p1++ = (uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * i) * 460.0 + 2870.0); // 3351.0
+ //printf("Pointer: %d\tValue: %d\n\r", (uint32_t)p1,(int) (cos(3.14159265359 * 2 * 10000 * .00001 * i) * 800.0 + 3103.0));
+ }
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT0L,DAC0_DAT0H,DAC0_DAT0L|DAC0_DAT0H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT1L,DAC0_DAT1H,DAC0_DAT1L|DAC0_DAT1H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT2L,DAC0_DAT2H,DAC0_DAT2L|DAC0_DAT2H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT3L,DAC0_DAT3H,DAC0_DAT3L|DAC0_DAT3H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT4L,DAC0_DAT4H,DAC0_DAT4L|DAC0_DAT4H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT5L,DAC0_DAT5H,DAC0_DAT5L|DAC0_DAT5H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT6L,DAC0_DAT6H,DAC0_DAT6L|DAC0_DAT6H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT7L,DAC0_DAT7H,DAC0_DAT7L|DAC0_DAT7H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT8L,DAC0_DAT8H,DAC0_DAT8L|DAC0_DAT8H<<8);
+ printf ("data Low: %d\tdata High: %d\tTotal: %d\n\r",DAC0_DAT9L,DAC0_DAT9H,DAC0_DAT9L|DAC0_DAT9H<<8);
+ //printf ("data High: %d\n\r",DAC0_DAT0H);
+
+ //printf ("data Low: %d\n\r",DAC0_DAT1L);
+ //printf ("data High: %d\n\r",DAC0_DAT1H);
+ /*
+ p1 = DAC0_DAT0;
+ for (int i = 0; i < 16; i++)
+ {
+ *p1++;
+ printf("Pointer: %d\n\r", (uint32_t)*p1);
+ }
+
+ DAC0_DAT0L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 0) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT1L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 1) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT2L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 2) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT3L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 3) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT4L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 4) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT5L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 5) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT6L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 6) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT7L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 7) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT8L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 8) * 4965.0 + 49650.0))&0xFF);
+ DAC0_DAT9L =(uint8_t)(((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 9) * 4965.0 + 49650.0))&0xFF);
+
+ DAC0_DAT0H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 0) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT1H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 1) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT2H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 2) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT3H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 3) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT4H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 4) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT5H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 5) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT6H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 6) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT7H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 7) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT8H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 8) * 4965.0 + 49650.0))>>8)&0x0F);
+ DAC0_DAT9H =(uint8_t)((((uint16_t) (cos(3.14159265359 * 2 * 10000 * .00001 * 9) * 4965.0 + 49650.0))>>8)&0x0F);
+ */
+ /*
+ DAC0_SR = 0x00;
+ SIM_SCGC2 |= SIM_SCGC2_DAC0_MASK;
+ SIM_SCGC6 |= SIM_SCGC2_DAC0_MASK;
+ DAC0_C0 = 0;
+ //DAC0_C0 |= DAC_C0_DACTRGSEL_MASK;
+ DAC0_C0 |= DAC_C0_DACEN_MASK ; //The DAC system is enabled.
+
+ DAC0_C1 = 0;
+ //DAC0_C0 |= DAC_C0_DACTRGSEL_MASK;
+ DAC0_C0 |= 0x80;//DAC_C0_DMAEN_MASK ;
+ DAC0_DAT0L = 0xFF;
+ DAC0_DAT0H = 0x00;
+ */
+}
+
int main()
{
+ //DAC0_C2 =0;
+
led_blue = 1;
led_green = 1;
led_red = 1;
pre_compute_tables();
- printf("STARTING\n\r");
- t1.reset();
- for (int t = 0; t<500000; t++)
- {
- int input1 = 5000*cos(3.14159265359 * 2*10000*t*.00001)+2500;
- int input2 = 2500*sin(3.14159265359 * 2*10000*t*.00001)+2500;
- t1.start();
- filter100K(input1, input2);
- t1.stop();
- }
- printf("FINAL TIME: %f\n\r",t1.read());
- /*
- pc.baud(230400);
+// t1.reset();
+// for (int t = 0; t<500000; t++)
+// {
+// int input1 = 5000*cos(3.14159265359 * 2*10000*t*.00001)+2500;
+// int input2 = 2500*sin(3.14159265359 * 2*10000*t*.00001)+2500;
+// t1.start();
+// filter100K(input1, input2);
+// t1.stop();
+// }
+// printf("FINAL TIME: %f\n\r",t1.read());
+
+
+
+// pc.baud(230400);
pc.printf("Starting...\r\n");
+
for(int i = 0; i < 86; i++)
{
@@ -110,6 +173,11 @@
//quad_init(); // initialize FTM2 quadrature decoder
//quad_invert(); // invert the direction of counting
adc_init(); // initialize ADCs (always initialize adc before dma)
+ setUpDac();
+ // DAC0_C1 |= 0x80;
+ // DAC0_DAT0L = 0xFF;
+ // DAC0_DAT0H = 0xFF;
+ // printf("Dac should be 3.3V");
dma_init(); // initializes DMAs
pdb_init(); // initialize PDB0 as the timer for ADCs and DMA2
@@ -121,215 +189,39 @@
led_green = 1;
pause_ms(200);
led_green = 0;
- pause_ms(500);
+ pause_ms(500);
led_green = 1;
pdb_start();
- t1.start();
- t1.reset();
+
+ //timer0.attach_us(&ISR_repeat, 10);
int startAddress = (int)&sample_array0[0];
+ //timer0.attach_us(&ISR_repeat, 100);
+ int destinationIndex = (DMA_TCD0_DADDR-startAddress)/2;
+ int currentIndex;
+ /*
+ printf("Dac Control0 Register: %X\n\r",DAC0_C0);
+ printf("Dac Control2 Register: %X\n\r",DAC0_C2);
+ printf("Dac Control1 Register: %X\n\r",DAC0_C1);
+ printf("Dac Control2 Register: %X\n\r\n\r",DAC0_C2);
+ //PDB0_DACINT0 = 0x257;
+ printf("Dac intc Register: %X\n\r",PDB0_DACINTC0);
+ printf("Dac int Register: %X\n\r",PDB0_DACINT0);
+ */
while (1)
{
- if (t1.read()>2)
+
+
+ destinationIndex = (DMA_TCD0_DADDR-startAddress)/2;
+ while (currentIndex!=destinationIndex)
{
- //pdb_start();
- pc.printf("%i\t%i\t%i\r\n", sample_array0[1], sample_array1[1],(DMA_TCD0_DADDR-startAddress)/2);
- t1.reset();
+ filter100K(sample_array0[currentIndex], sample_array1[currentIndex]);
+ currentIndex++;
+ if (currentIndex>=2000)
+ currentIndex = 0;
+
}
- }
-*/
- // 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
+
+
+}