DCS_TEAM
/
Chemical_Sensor_DMA
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Dependencies: mbed
Fork of
Chemical_Sensor_DMA
by 
Jared Baxter
main.cpp
- Committer:
- baxterja
- Date:
- 2015-10-29
- Revision:
- 2:3771b3195c7b
- Parent:
- 1:f0a5690db73f
- Child:
- 3:a85b742be262
File content as of revision 2:3771b3195c7b:
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*
* 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]);
}
}