DCS_TEAM
/
Chemical_Sensor_DMA
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed
Fork of
Chemical_Sensor_DMA
by 
Jared Baxter
Revision 2:3771b3195c7b, committed 2015-10-29
- Comitter:
- baxterja
- Date:
- Thu Oct 29 17:15:20 2015 +0000
- Parent:
- 1:f0a5690db73f
- Child:
- 3:a85b742be262
- Commit message:
- Accessible Sample folder
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AngleEncoder.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,126 @@
+#include "AngleEncoder.h"
+#include "mbed.h"
+
+AngleEncoder::AngleEncoder(PinName mosi, PinName miso, PinName sclk, PinName cs, int bits, int mode, int hz) :
+ _spi(mosi, miso, sclk),
+ _cs(cs) {
+ // constructor
+ _cs = 1;
+ _spi.format(bits,mode);
+ _spi.frequency(hz);
+
+ wait_ms(1000); // Angle encoder requires 0.1 seconds to boot up, so I gave it an entire second.
+
+}
+
+
+
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+ *
+ * Sends a NOP command. This is a read command.
+ *
+ * Returns the 8 bit data read from the encoder.
+ * 0xA5 indicates communication is good, but no data to receive from encoder
+ *
+ * 0x00 indicates that angle encoder probably wasn't read. May need to
+ * increase SPI_DELAY
+ *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+int AngleEncoder::nop() { // this function takes about 90us to complete (tested using Timer library)
+ _cs = 0;
+ wait_us(SPI_DELAY);
+ int received = _spi.write(0x00);
+ wait_us(SPI_DELAY);
+ _cs = 1;
+ wait_us(SPI_DELAY);
+ return received;
+}
+
+
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+ *
+ * Sets the current position as the zero point from which angles are calculated
+ *
+ * Returns true if successful, false otherwise
+ *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+bool AngleEncoder::set_zero() {
+ char received;
+
+ // send "set_zero_point" command
+ _cs = 0;
+ wait_us(SPI_DELAY);
+ received = _spi.write(0x70); // send the command
+ wait_us(SPI_DELAY);
+ _cs = 1;
+ wait_us(SPI_DELAY);
+
+ // send NOP until reset is confirmed
+ while(received == 0xa5) received = nop();
+
+ // 0x80 indicates that reset is confirmed
+ if(received == 0x80) return true;
+ else return false;
+}
+
+
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+ *
+ * Sets the current position as the zero point from which angles are calculated
+ * @param rotary_count The address to the rotary_count variable, allowing this
+ * function to reset both the absolute and relative angles.
+ *
+ * Returns true if successful, false otherwise
+ *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+bool AngleEncoder::set_zero(int* rotary_count) {
+
+ *rotary_count = 0; // reset relative counter
+ return set_zero(); // reset absolute counter
+}
+
+
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+ *
+ * Reads the absolute angle from the angle encoder via SPI
+ * Returns the 12 bit angle (-2048, 2047)
+ *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+int AngleEncoder::absolute_angle() { // this function takes about 500us to complete (tested using Timer library)
+ char received;
+ uint16_t absolute_pos;
+
+ // send read command
+ _cs = 0;
+ wait_us(SPI_DELAY);
+ received = _spi.write(0x10);
+ wait_us(SPI_DELAY);
+ _cs = 1;
+
+ // wait for angle encoder to echo the command
+ wait_us(SPI_DELAY);
+
+ // read until encoder sends 0x10
+ for(uint32_t i = 0; i < 100; i++)
+ {
+ received = nop();
+ if(received == 0x10) break;
+ }
+
+ //while(received != 0x10) received = nop(); // read until 0x10 is received
+
+ // the command should have been echoed back. If so, then read the angle
+ if(received == 0x10)
+ {
+ // receive the most significatn 4 bits of the 12 bit angle
+ absolute_pos = nop(); // read first 4 bits of absolute angle
+ absolute_pos <<= 8; // shift the 4 bits into the right spot
+ absolute_pos |= nop(); // receive the last 8 bits of absolute angle
+
+ //make data symmetric around 0.
+ //if(absolute_pos > 2048) absolute_pos -= 4096;
+ //absolute_pos = ~absolute_pos + 1; // inverts the data
+ return absolute_pos;
+ }
+ else return 0x00ff0000; // this is just a random number outside of the range of the encoder
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AngleEncoder.h Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,21 @@
+#ifndef ANGLE_ENCODER_H
+#define ANGLE_ENCODER_H
+
+#include "mbed.h"
+
+#define SPI_DELAY 4 // must be 4 or greater, otherwise the angle encoder can't keep up with the communication
+
+class AngleEncoder {
+public:
+ AngleEncoder(PinName mosi, PinName miso, PinName sclk, PinName cs, int bits, int mode, int hz);
+ int nop();
+ int absolute_angle();
+ bool set_zero();
+ bool set_zero(int*);
+
+private:
+ SPI _spi;
+ DigitalOut _cs;
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorControl.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,76 @@
+#include "MotorControl.h"
+#include "mbed.h"
+
+// constructor
+MotorControl::MotorControl(PinName cw, PinName ccw, int period, int safetyPeriod) :
+ _cw(cw),
+ _ccw(ccw) {
+
+ // turn motor off
+ _cw = 0;
+ _ccw = 0;
+
+ _cw.period_us(period);
+ _ccw.period_us(period);
+
+ _period = period;
+ _safetyPeriod = safetyPeriod;
+}
+
+void MotorControl::off() {
+ _cw = 0;
+ _ccw = 0;
+ pause_us(_safetyPeriod);
+}
+
+void MotorControl::clockwise(float dutyCycle) {
+ _cw = dutyCycle;
+}
+
+void MotorControl::releaseMallet() {
+ // make sure motor is off
+ off();
+
+ // pulse clockwise to release mallet
+ _cw = 1;
+ pause_ms(10);
+ _cw = 0;
+ pause_ms(75);
+
+ // pulse counter-clockwise to stop snail cam
+ _ccw = 0.7;
+ pause_ms(8);
+ _ccw = 0;
+
+ // make sure motor is off
+ off();
+}
+
+void MotorControl::reset() {
+
+}
+
+void MotorControl::hardReset(int duration) {
+ // make sure motor is off
+ off();
+
+ // long pulse clockwise to reset mallet
+ _cw = 1;
+ pause_ms(200);
+ _cw = 0;
+
+ // short pulse counter-clockwise to stop snail cam
+ _ccw = 1;
+ pause_ms(10);
+ _ccw = 0;
+
+
+ wait_ms(duration);
+ // short pulse counter-clockwise to set snail cam in groove on mallet
+ _ccw = 1;
+ pause_ms(3);
+ _ccw = 0;
+
+ // make sure motor is off
+ off();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorControl.h Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,26 @@
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#include "mbed.h"
+#include "pause.cpp"
+
+class MotorControl {
+public:
+ MotorControl(PinName cw, PinName ccw, int period, int safetyPeriod);
+
+ void off(); // make sure the motor is off
+ void clockwise(float);
+ void releaseMallet(); // release mallet using hard coded timing
+ void reset(); // reset mallet using feedback (NEEDS TO BE IMPLEMENTED)
+
+ // what we threw together just for testing
+ void hardReset(int); // reset mallet using hard coded timing
+
+private:
+ PwmOut _cw; // clock wise rotation when _cw = 1
+ PwmOut _ccw; // counter-clock wise rotation when _ccw = 1
+ int _period; // the period of the motor switching cycle
+ int _safetyPeriod; // dead time between transition from cw to ccw (and visa versa)
+};
+
+#endif
\ No newline at end of file
--- a/Sample.lib Thu Oct 22 17:10:31 2015 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://developer.mbed.org/teams/Impact-Echo/code/Sample/#9c02c19afd37
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sample/adc.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,221 @@
+#include "adc.h"
+
+/*
+TODO: calibration is done, i think
+ change clock speed and hw averaging
+*/
+
+DigitalOut green(LED_GREEN);
+DigitalOut red(LED_RED);
+
+
+
+/* The ADCs are setup so that ADC0 and ADC1 are triggered by the PDB.
+ * When the conversions are complete, ADC0 and ADC1 then trigger DMA0
+ * and DMA1, respectively. ADC0 is using channel B and ADC1 is uing
+ * channel A. If they are on the same channel, then weird things
+ * happen. I think they interfere with each other so they have to be
+ * on separate channels if they're going to be triggered at the same
+ * time by the PDB. */
+void adc_init()
+{
+ // red, indicating not ready
+ red = 0;
+ green = 1;
+
+
+ // Turn on the ADC0 and ADC1 clocks
+ SIM_SCGC6 |= SIM_SCGC6_ADC0_MASK;
+ SIM_SCGC3 |= SIM_SCGC3_ADC1_MASK;
+
+ // Set ADC hardware trigger to PDB0
+ SIM_SOPT7 = SIM_SOPT7_ADC0TRGSEL(0); // Select triggering by PDB and select pre-trigger A
+ SIM_SOPT7 = SIM_SOPT7_ADC1TRGSEL(0); // Select triggering by PDB and select pre-trigger A
+
+ // calibrate the ADC
+ __disable_irq();
+ 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); // select short sample time
+ ADC0_CFG1 &= ~ADC_CFG1_ADLSMP_MASK; // select short sample time
+ 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); // select short sample time
+ 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
+ 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
+ ADC0_SC2 |= ADC_SC2_DMAEN_MASK; // enable DMA
+ ADC0_SC2 |= ADC_SC2_ADTRG_MASK; // select hardware trigger
+ 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
+
+ // 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
+
+ // Setup Status and Control Register 1A
+ ADC0_SC1B = 0; // clear register
+ ADC0_SC1B &= ~ADC_SC1_DIFF_MASK; // select single-ended mode
+ ADC0_SC1B |= ADC_SC1_AIEN_MASK; // enable interrupt (for debugging)
+ ADC0_SC1B |= ADC_SC1_ADCH(13); // 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]
+ while( (ADC1_SC1A&ADC_SC1_COCO_MASK)) {}
+ gain = ADC1_RA; // read the register to clear SC1A[COCO]
+
+ red = 1;
+ green = 1;
+}
+
+
+/* adc_cal
+ * Calibrates the adc
+ * Returns 0 if successful calibration
+ * Returns 1 otherwise
+ * */
+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;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+/* * * * * * * * * * * * * * For Debugging Purposes * * * * * * * * * * * * * * * * * * * * */
+
+
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+ * DEBUG: This is supposed to put the ADC in continuous *
+ * mode so it samples without the PCB. But for *
+ * some reason it isn't working. I haven't deleted *
+ * it just in case it is needed for debug purposes *
+ * in the future. *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+void adc_start() {
+ // reset DMA
+ dma_reset();
+
+ // set ADC to continuous mode
+ ADC0_SC3 |= ADC_SC3_ADCO_MASK;
+ ADC1_SC3 |= ADC_SC3_ADCO_MASK;
+
+ // set ADC to software trigger
+ ADC0_SC2 &= ~ADC_SC2_ADTRG_MASK;
+ ADC1_SC2 &= ~ADC_SC2_ADTRG_MASK;
+
+ // start ADC conversion (SW trigger)
+ ADC0_SC1B |= ADC_SC1_ADCH(13); // write to SC1A causing a trigger
+ ADC1_SC1A |= ADC_SC1_ADCH(14); // write to SC1A causing a trigger
+}
+
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+ * DEBUG: This is supposed to revert back from adc_start() *
+ * but because adc_start() isn't working, this *
+ * function is good for nothing. I held on to *
+ * it just in case it is needed for debug purposes *
+ * in the future. *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+void adc_stop() {
+ // set ADC to hardware trigger
+ ADC0_SC2 |= ADC_SC2_ADTRG_MASK;
+ ADC1_SC2 |= ADC_SC2_ADTRG_MASK;
+
+ // set to single conversion mode effectively stopping the ADC unless a timer triggers the ADC
+ ADC0_SC3 &= ~ADC_SC3_ADCO_MASK;
+ ADC1_SC3 &= ~ADC_SC3_ADCO_MASK;
+}
+
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+ * DEBUG: This is supposed to trigger a software conversion *
+ * and take a single sample. However, it only *
+ * worked for ADC1 for some reason. It is here for *
+ * possible debug purposes in the future. *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+void adc_single_sample() {
+ 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_SC1B |= ADC_SC1_ADCH(13); // write to SC1B causing a trigger
+ ADC1_SC1A |= ADC_SC1_ADCH(14); // write to SC1A causing a trigger
+
+ // Set back to hardware trigger
+ ADC0_SC2 |= ADC_SC2_ADTRG_MASK; // set ADC to software trigger
+ ADC1_SC2 |= ADC_SC2_ADTRG_MASK; // set ADC to software trigger
+}
+
+
+void adc_print_registers() {
+ Serial debug(USBTX,USBRX);
+ debug.printf("ADC0_SC1a: %08x\r\n",ADC0_SC1A); //(0x0000004d)
+ debug.printf("ADC0_SC1b: %08x\r\n",ADC0_SC1B); //(0x0000001f)
+ debug.printf("ADC0_CFG1: %08x\r\n",ADC0_CFG1); //(0x0000000c)
+ debug.printf("ADC0_CFG2: %08x\r\n",ADC0_CFG2); //(0x00000004)
+ debug.printf("ADC0_RA: %08x\r\n",ADC0_RA); //(0x00000000)
+ debug.printf("ADC0_RB: %08x\r\n",ADC0_RB); //(0x00000000)
+ debug.printf("ADC0_SC2: %08x\r\n",ADC0_SC2); //(0x00000044)
+ debug.printf("ADC0_SC3: %08x\r\n\n",ADC0_SC3); //(0x00000000)
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sample/adc.h Thu Oct 29 17:15:20 2015 +0000 @@ -0,0 +1,18 @@ +#ifndef ADC_H_ +#define ADC_H_ + +#include "mbed.h" +#include "dma.h" + + +/*** + * Initializes the ADC to 16-bit single-ended, hardware triggered + * with DMA enabled. + **/ +void adc_init(); +int adc_cal(void); +//void adc_single_sample(); +//void adc_start(); +//void adc_stop(); + +#endif /* ADC_H_ */ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sample/dma.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,194 @@
+/**
+ * Setup triggering for DMA2 and PortC
+ */
+#include "dma.h"
+
+DigitalOut toggle_dma0(LED_RED);
+DigitalOut toggle_dma1(LED_BLUE);
+DigitalOut toggle_dma2(LED_GREEN);
+Serial debug3(USBTX,USBRX);
+
+//#define TOTAL_SAMPLES 30000
+//#define FILENAME_SIZE 26 // this matches what is defined in DistanceFirmware's main.cpp
+int len = TOTAL_SAMPLES;
+uint16_t sample_array0[TOTAL_SAMPLES];
+uint16_t sample_array1[TOTAL_SAMPLES];
+uint16_t angle_array[TOTAL_SAMPLES+FILENAME_SIZE];
+bool dma_done = false;
+bool dma_half_done = false;
+
+
+
+/* DMA0 and DMA1 are triggered by ADC0 and ADC1 (which are triggered
+ * by the PDB). However, DMA2 is triggered directly by the PDB. This
+ * is becuase DMA2 is reading FTM2, which cannot trigger the DMA. */
+void dma_init()
+{
+ toggle_dma0 = 1;
+ toggle_dma1 = 1;
+ toggle_dma2 = 1;
+ // Enable clock for DMAMUX and DMA
+ SIM_SCGC6 |= SIM_SCGC6_DMAMUX_MASK;
+ SIM_SCGC7 |= SIM_SCGC7_DMA_MASK;
+ SIM_SCGC6 |= SIM_SCGC6_FTM2_MASK; // make sure clock is enabled for FTM2
+
+ // Enable DMA channels and select MUX to the correct source (see page 95 of user manual
+ DMAMUX_CHCFG0 |= DMAMUX_CHCFG_ENBL_MASK | DMAMUX_CHCFG_SOURCE(40); // ADC0
+ DMAMUX_CHCFG1 |= DMAMUX_CHCFG_ENBL_MASK | DMAMUX_CHCFG_SOURCE(41); // ADC1
+ DMAMUX_CHCFG2 |= DMAMUX_CHCFG_ENBL_MASK | DMAMUX_CHCFG_SOURCE(48); // Set trigger source to PDB (Don't set DMA Trig Enable because that is for the PIT)
+ /* Source number Source module
+ 40 ADC0
+ 41 ADC1
+ 48 PDB
+ */
+
+
+ // Enable request signal for channel 0
+ DMA_ERQ = DMA_ERQ_ERQ0_MASK | DMA_ERQ_ERQ1_MASK | DMA_ERQ_ERQ2_MASK;
+
+ // select round-robin arbitration priority
+ DMA_CR |= DMA_CR_ERCA_MASK;
+
+ // Set memory address for source and destination for DMA0, DMA1, and DMA2
+ DMA_TCD0_SADDR = (uint32_t) &ADC0_RB;
+ DMA_TCD0_DADDR = (uint32_t) sample_array0;
+ DMA_TCD1_SADDR = (uint32_t) &ADC1_RA;
+ DMA_TCD1_DADDR = (uint32_t) sample_array1;
+ DMA_TCD2_SADDR = (uint32_t) &FTM2_CNT;
+ DMA_TCD2_DADDR = (uint32_t) angle_array;
+
+ // Set an offset for source and destination address
+ DMA_TCD0_SOFF = 0x00; // Source address offset of 2 bits per transaction
+ DMA_TCD0_DOFF = 0x02; // Destination address offset of 1 bit per transaction
+ DMA_TCD1_SOFF = 0x00; // Source address offset of 2 bits per transaction
+ DMA_TCD1_DOFF = 0x02; // Destination address offset of 1 bit per transaction
+ DMA_TCD2_SOFF = 0x00; // Source address offset of 2 bits per transaction
+ DMA_TCD2_DOFF = 0x02; // Destination address offset of 1 bit per transaction
+
+ // Set source and destination data transfer size
+ DMA_TCD0_ATTR = DMA_ATTR_SSIZE(1) | DMA_ATTR_DSIZE(1);
+ DMA_TCD1_ATTR = DMA_ATTR_SSIZE(1) | DMA_ATTR_DSIZE(1);
+ DMA_TCD2_ATTR = DMA_ATTR_SSIZE(1) | DMA_ATTR_DSIZE(1);
+
+ // Number of bytes to be transfered in each service request of the channel
+ DMA_TCD0_NBYTES_MLNO = 0x02;
+ DMA_TCD1_NBYTES_MLNO = 0x02;
+ DMA_TCD2_NBYTES_MLNO = 0x02;
+
+ // Current major iteration count
+ DMA_TCD0_CITER_ELINKNO = DMA_CITER_ELINKNO_CITER(len);
+ DMA_TCD0_BITER_ELINKNO = DMA_BITER_ELINKNO_BITER(len);
+ DMA_TCD1_CITER_ELINKNO = DMA_CITER_ELINKNO_CITER(len);
+ DMA_TCD1_BITER_ELINKNO = DMA_BITER_ELINKNO_BITER(len);
+ DMA_TCD2_CITER_ELINKNO = DMA_CITER_ELINKNO_CITER(len);
+ DMA_TCD2_BITER_ELINKNO = DMA_BITER_ELINKNO_BITER(len);
+
+ // Adjustment value used to restore the source and destiny address to the initial value
+ // After reading 'len' number of times, the DMA goes back to the beginning by subtracting len*2 from the address (going back to the original address)
+
+ DMA_TCD0_SLAST = 0; // Source address adjustment
+ DMA_TCD0_DLASTSGA = -len*2; // Destination address adjustment
+ DMA_TCD1_SLAST = 0; // Source address adjustment
+ DMA_TCD1_DLASTSGA = -len*2; // Destination address adjustment
+ DMA_TCD2_SLAST = 0; // Source address adjustment
+ DMA_TCD2_DLASTSGA = -len*2; // Destination address adjustment
+
+ // Setup control and status register
+ DMA_TCD0_CSR = 0;
+ DMA_TCD1_CSR = 0;
+ DMA_TCD2_CSR = 0;
+
+ // enable interrupt call at end of major loop
+ DMA_TCD0_CSR |= DMA_CSR_INTMAJOR_MASK | DMA_CSR_INTHALF_MASK;
+
+ // add interrupt handlers to interrupt vector table
+ NVIC_SetVector(DMA0_IRQn, (uint32_t)&DMA_IRQHandler);
+
+ //enable interrupts
+ NVIC_EnableIRQ(DMA0_IRQn);
+
+ // dma_init takes 4.09us to run.
+}
+
+void dma_reset() {
+ dma_done = false;
+ dma_half_done = false;
+
+ // clear all DMA interrupts
+ DMA_CINT = DMA_CINT_CAIR_MASK;
+
+ //enable interrupts
+ NVIC_EnableIRQ(DMA0_IRQn);
+}
+
+/* The only DMA interrupt is from DMA0. The interrupts from DMA1 and DMA2
+ * are turned off because they all trigger at the same time. Actually
+ * DMA2 triggers just before DMA0 and DMA1, but it's a negligible amount
+ * of time. By the time the PDB is turned off, the ADCs will have already
+ * been triggered. */
+void DMA_IRQHandler() {
+
+ DMA_CINT |= DMA_CINT_CINT(0); // clear interrupt flag
+ //toggle_dma0 = 0;
+ //debug3.printf("DMA ");
+ if(!dma_half_done) {
+ dma_half_done = true;
+ //debug3.printf("half done\r\n");
+ return;
+ }
+ //PDB0_SC &= ~PDB_SC_PDBEN_MASK; // disable PDB
+ //NVIC_DisableIRQ(DMA0_IRQn); // disable interrupt
+ dma_done = true;
+ //debug3.printf("done\r\n");
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+/* * * * * * * * * * * * * * For Debugging Purposes * * * * * * * * * * * * * * * * * * * * */
+
+
+void dma_print_registers() {
+
+ debug3.printf("SADDR0: 0x%08x\r\n",DMA_TCD0_SADDR);
+ debug3.printf("DADDR0: 0x%08x\r\n",DMA_TCD0_DADDR);
+ debug3.printf("SADDR1: 0x%08x\r\n",DMA_TCD1_SADDR);
+ debug3.printf("DADDR1: 0x%08x\r\n",DMA_TCD1_DADDR);
+ debug3.printf("SADDR2: 0x%08x\r\n",DMA_TCD2_SADDR);
+ debug3.printf("DADDR2: 0x%08x\r\n",DMA_TCD2_DADDR);
+
+ debug3.printf("CITER0: 0x%08x\r\n",DMA_TCD0_CITER_ELINKNO);
+ debug3.printf("BITER0: 0x%08x\r\n",DMA_TCD0_BITER_ELINKNO);
+ debug3.printf("CITER1: 0x%08x\r\n",DMA_TCD1_CITER_ELINKNO);
+ debug3.printf("BITER1: 0x%08x\r\n",DMA_TCD1_BITER_ELINKNO);
+ debug3.printf("CITER2: 0x%08x\r\n",DMA_TCD2_CITER_ELINKNO);
+ debug3.printf("BITER2: 0x%08x\r\n",DMA_TCD2_BITER_ELINKNO);
+
+
+ debug3.printf("DMA_CR: %08x\r\n", DMA_CR);
+ debug3.printf("DMA_ES: %08x\r\n", DMA_ES);
+ debug3.printf("DMA_ERQ: %08x\r\n", DMA_ERQ);
+ debug3.printf("DMA_EEI: %08x\r\n", DMA_EEI);
+ debug3.printf("DMA_CEEI: %02x\r\n", DMA_CEEI);
+ debug3.printf("DMA_SEEI: %02x\r\n", DMA_SEEI);
+ debug3.printf("DMA_CERQ: %02x\r\n", DMA_CERQ);
+ debug3.printf("DMA_SERQ: %02x\r\n", DMA_SERQ);
+ debug3.printf("DMA_CDNE: %02x\r\n", DMA_CDNE);
+ debug3.printf("DMA_SSRT: %02x\r\n", DMA_SSRT);
+ debug3.printf("DMA_CERR: %02x\r\n", DMA_CERR);
+ debug3.printf("DMA_CINT: %02x\r\n", DMA_CINT);
+ debug3.printf("DMA_INT: %08x\r\n", DMA_INT);
+ debug3.printf("DMA_ERR: %08x\r\n", DMA_ERR);
+ debug3.printf("DMA_HRS: %08x\r\n", DMA_HRS);
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sample/dma.h Thu Oct 29 17:15:20 2015 +0000 @@ -0,0 +1,20 @@ +#ifndef DMA_H_ +#define DMA_H_ + +#include "mbed.h" + +#define FILENAME_SIZE 26 +#define TOTAL_SAMPLES 18980 // a multiple of 1460 (tcp payload length within a packet) +extern uint16_t sample_array0[TOTAL_SAMPLES]; +extern uint16_t sample_array1[TOTAL_SAMPLES]; +extern uint16_t angle_array[TOTAL_SAMPLES+FILENAME_SIZE]; +extern bool dma_done; +extern bool dma_half_done; + +void dma_reset(); +void dma_init(); +void dma_enable_interrupt(); +void DMA_IRQHandler(); +void dma_print_registers(); + +#endif /* DMA_H_ */ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sample/pdb.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,132 @@
+#include "pdb.h"
+#include "dma.h"
+
+
+DigitalOut toggle_pdb(PTB23);
+
+
+/* The PDB is setup to run continuous (when enabled) so it will
+ * periodically trigger the ADCs to sample and trigger DMA2 to
+ * save the quadrature angle. The PDB can be started and stopped. */
+void pdb_init() {
+
+ // initialize the Programmable Delay Block
+
+ // turn on the clock to the PDB
+ SIM->SCGC6 |= SIM_SCGC6_PDB_MASK;
+
+ // set ADC trigger to PDB0
+ SIM_SOPT7 = SIM_SOPT7_ADC0TRGSEL(0);
+
+ // input frequency is 6 Mhz?
+ // Configure the Peripheral Delay Block (PDB):
+ //#define SLOW
+ #ifdef SLOW
+ PDB0_IDLY = 0; // need to trigger interrupt every counter reset which happens when modulus reached
+ PDB0_MOD = 0xffff;//0x257; // period of timer set to 10us
+ PDB0_CH0DLY0 = 0;
+ PDB0_CH0DLY1 = 0;
+ PDB0_CH1DLY0 = 0;
+ PDB0_CH1DLY1 = 0;
+ PDB0_CH0C1 = PDB_C1_EN(2) | PDB_C1_TOS(2); // channel 0 pretrigger 0 and 1 enabled and delayed
+ PDB0_CH1C1 = PDB_C1_EN(1) | PDB_C1_TOS(1); // channel 1 pretrigger 0 and 1 enabled and delayed
+
+ // Setup Staus and Control Register
+ PDB0_SC = 0; // clear register
+ PDB0_SC = PDB_SC_DMAEN_MASK // Enable DMA
+ | PDB_SC_PRESCALER(5) // Slow down the period of the PDB for testing
+ | PDB_SC_TRGSEL(0xf) // Trigger source is Software Trigger to be invoked in this file
+ | PDB_SC_PDBEN_MASK // PDB enabled
+ | PDB_SC_PDBIE_MASK // PDB Interrupt Enable
+ | PDB_SC_MULT(1) // Multiplication factor
+ | PDB_SC_CONT_MASK // Contintuous, rather than one-shot, mode
+ | PDB_SC_LDOK_MASK; // Need to ok the loading or it will not load certain regsiters!
+ #else
+ PDB0_IDLY = 0; // need to trigger interrupt every counter reset which happens when modulus reached
+ PDB0_MOD = 0x257; // period of timer set to 10us
+ PDB0_CH0DLY0 = 0;
+ PDB0_CH0DLY1 = 0;
+ PDB0_CH1DLY0 = 0;
+ PDB0_CH1DLY1 = 0;
+ PDB0_CH0C1 = PDB_C1_EN(2) | PDB_C1_TOS(2); // channel 0 pretrigger 0 and 1 enabled and delayed
+ PDB0_CH1C1 = PDB_C1_EN(1) | PDB_C1_TOS(1); // channel 1 pretrigger 0 and 1 enabled and delayed
+
+ // Setup Staus and Control Register
+ PDB0_SC = 0; // clear register
+ PDB0_SC = PDB_SC_DMAEN_MASK // Enable DMA
+ | PDB_SC_PRESCALER(0) // Slow down the period of the PDB for testing
+ | PDB_SC_TRGSEL(0xf) // Trigger source is Software Trigger to be invoked in this file
+ | PDB_SC_PDBEN_MASK // PDB enabled
+ | PDB_SC_PDBIE_MASK // PDB Interrupt Enable
+ | PDB_SC_MULT(0) // Multiplication factor
+ | PDB_SC_CONT_MASK // Contintuous, rather than one-shot, mode
+ | PDB_SC_LDOK_MASK; // Need to ok the loading or it will not load certain regsiters!
+ #endif
+
+}
+
+void pdb_start() {
+ dma_reset();
+ PDB0_SC |= PDB_SC_PDBEN_MASK; // PDB enabled
+ PDB0_SC |= PDB_SC_SWTRIG_MASK; // enable software trigger (start the PDB)
+}
+
+void pdb_stop() {
+ PDB0_SC &= ~PDB_SC_PDBEN_MASK; // PDB disabled
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+/* * * * * * * * * * * * * * For Debugging Purposes * * * * * * * * * * * * * * * * * * * * */
+
+// Enables the interrupt for PDB0, which toggles PTB23.
+// Scope PTB23 to verify the frequency.
+void pdb_enable_interrupt() {
+ PDB0_SC &= ~PDB_SC_DMAEN_MASK; // disable DMA, this stops DMA2 from functioning
+ NVIC_SetVector(PDB0_IRQn, (uint32_t)&PDB0_IRQHandler);
+ NVIC_EnableIRQ(PDB0_IRQn);
+}
+void pdb_disable_interrupt() {
+ NVIC_DisableIRQ(PDB0_IRQn); // disable interrupt
+ PDB0_SC |= PDB_SC_DMAEN_MASK; // enable DMA (this lets DMA2 function)
+}
+void PDB0_IRQHandler() {
+ toggle_pdb = !toggle_pdb;
+ PDB0_SC &= ~PDB_SC_PDBIF_MASK; // clear interrupt flag
+}
+
+void pdb_print_registers() {
+ Serial debug2(USBTX,USBRX);
+ debug2.printf("PDB0_SC: %08x\r\n",PDB0_SC);
+ debug2.printf("PDB0_MOD: %08x\r\n",PDB0_MOD);
+ debug2.printf("PDB0_CNT: %08x\r\n",PDB0_CNT);
+ debug2.printf("PDB0_IDLY: %08x\r\n",PDB0_IDLY);
+ debug2.printf("PDB0_CH0C1: %08x\r\n",PDB0_CH0C1);
+ debug2.printf("PDB0_CH0S: %08x\r\n",PDB0_CH0S);
+ debug2.printf("PDB0_CH0DLY0: %08x\r\n",PDB0_CH0DLY0);
+ debug2.printf("PDB0_CH0DLY1: %08x\r\n",PDB0_CH0DLY1);
+ debug2.printf("PDB0_CH1C1: %08x\r\n",PDB0_CH1C1);
+ debug2.printf("PDB0_CH1S: %08x\r\n",PDB0_CH1S);
+ debug2.printf("PDB0_CH1DLY0: %08x\r\n",PDB0_CH1DLY0);
+ debug2.printf("PDB0_CH1DLY1: %08x\r\n",PDB0_CH1DLY1);
+ debug2.printf("PDB0_DACINTC0: %08x\r\n",PDB0_DACINTC0);
+ debug2.printf("PDB0_DACINT0: %08x\r\n",PDB0_DACINT0);
+ debug2.printf("PDB0_DACINTC1: %08x\r\n",PDB0_DACINTC1);
+ debug2.printf("PDB0_DACINT1: %08x\r\n",PDB0_DACINT1);
+ debug2.printf("PDB0_POEN: %08x\r\n",PDB0_POEN);
+ debug2.printf("PDB0_PO0DLY: %08x\r\n",PDB0_PO0DLY);
+ debug2.printf("PDB0_PO1DLY: %08x\r\n",PDB0_PO1DLY);
+ debug2.printf("PDB0_PO2DLY: %08x\r\n\n",PDB0_PO2DLY);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sample/pdb.h Thu Oct 29 17:15:20 2015 +0000 @@ -0,0 +1,21 @@ +/* This app note explains what needs to be set for a PDB, ADC, DMA setup: http://cache.freescale.com/files/32bit/doc/app_note/AN4688.pdf + * http://cache.freescale.com/files/microcontrollers/doc/app_note/AN3844.pdf + */ + +#ifndef PDB_H_ +#define PDB_H_ + +#include "mbed.h" + +void pdb_init(); +void pdb_start(); +void pdb_stop(); + + +/* * For Debugging Purposes * */ +void pdb_enable_interrupt(); +void pdb_disable_interrupt(); +void PDB0_IRQHandler(); +void pdb_print_registers(); + +#endif /* PDB_H_ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sample/quad.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,57 @@
+#include "quad.h"
+
+void quad_init() {
+
+ // Enable clock for FTM2
+ SIM_SCGC3 |= SIM_SCGC3_FTM2_MASK; // there are two of them for some reason
+ SIM_SCGC6 |= SIM_SCGC6_FTM2_MASK; //
+
+ // Enable clock for PortB
+ SIM_SCGC5 |= SIM_SCGC5_PORTB_MASK;
+
+ //enable the counter
+ FTM2_MODE |= FTM_MODE_WPDIS_MASK; // unlock write protection on certain FTM bits and registers
+ FTM2_MODE |= FTM_MODE_FTMEN_MASK;
+
+ //enable the counter to run in the BDM mode
+ FTM2_CONF |= FTM_CONF_BDMMODE(3);
+
+ //load the Modulo register and counter initial value
+ FTM2_MOD = 4095;
+ FTM2_CNTIN = 0;
+
+ //configuring FTM for quadrature mode
+ FTM2_QDCTRL = 0;
+ FTM2_QDCTRL |= FTM_QDCTRL_QUADEN_MASK; // enable Quadrature decoding
+ FTM2_QDCTRL &= ~FTM_QDCTRL_QUADMODE_MASK; // select phase A and phase B decoding mode (this is what the angle encoder uses)
+ FTM2_QDCTRL |= FTM_QDCTRL_PHAPOL_MASK; // change direction of counting by changing the phase of input A (for some reason QUADIR wouldn't work)
+
+
+ // start the timer clock, source is the external clock
+ FTM2_SC |= FTM_SC_CLKS(3);
+
+ //configuring the input pins:
+ PORTB_PCR18 = PORT_PCR_MUX(6); // FTM2_QD_PHA (PTB18) ALT6
+ PORTB_PCR19 = PORT_PCR_MUX(6); // FTM2_QD_PHB (PTB19) ALT6
+
+ // Enable write protection
+ FTM2_MODE |= FTM_MODE_WPDIS_MASK; // Lock write protection on certain FTM bits and registers
+
+}
+
+int32_t quad_read() {
+ int angle = FTM2_CNT;
+ if(angle > 2048) angle -= 4096;
+ return angle; // this is the register with the counter in it.
+}
+
+void quad_update(int value) {
+ if(value < 0) value = value + 4096; // convert back to raw form (both absolute angle and relative angle are actually integers between 0-4095)
+ FTM2_CNTIN = value; // change reset value to desired value
+ FTM2_CNT = 0; // writing anything to FTM_CNT loads FTM2_CNTIN into FTM_CNT;
+ FTM2_CNTIN = 0; // change reset value back to 0
+}
+
+void quad_invert(){
+ FTM2_QDCTRL &= ~FTM_QDCTRL_PHAPOL_MASK; // change direction of counting by changing the phase of input A
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sample/quad.h Thu Oct 29 17:15:20 2015 +0000 @@ -0,0 +1,17 @@ +/* +Add this to the Angle Encoder class later + +http://cache.freescale.com/files/32bit/doc/app_note/AN4381.pdf +*/ + +#ifndef QUAD_H_ +#define QUAD_H_ + +#include "mbed.h" + +void quad_update(int); +void quad_init(); +int quad_read(); +void quad_invert(); + +#endif /* DMA_H_ */ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SignalProcessing.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,23 @@
+
+
+#define pre_compute_length 4000
+#define DMA_PERIOD .00001
+#define DMA_FREQUENCY 100000
+#define CARRIERFREQUENCY 10000
+float i_mod_pre[pre_compute_length];
+float q_mod_pre[pre_compute_length];
+int out_val_pre[pre_compute_length];
+
+float twopi = 3.14159265359 * 2;
+
+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 * DMA_PERIOD * 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));
+
+ }
+ */
+}
\ No newline at end of file
--- 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,
-2.66244224670397e-07,
-2.81092420097884e-07,
-2.97200797125842e-07,
-3.13057205526705e-07,
-3.30279379977406e-07,
-3.47320034430519e-07,
-3.65790534295599e-07,
-3.84037888145959e-07,
-4.03659300931941e-07,
-4.22883429696171e-07,
-4.43414078442301e-07,
-4.63474354546465e-07,
-4.85127823306893e-07,
-5.06629365749489e-07,
-5.30402400375842e-07,
-5.53883059492054e-07,
-5.79062251172147e-07,
-6.00698053897355e-07,
-6.27541356389415e-07,
-6.53603188407001e-07,
-6.79457125689371e-07,
-7.06900952158772e-07,
-7.34607521511639e-07,
-7.63210937527310e-07,
-7.92457626845786e-07,
-8.22319204892483e-07,
-8.52904112434704e-07,
-8.83993876825403e-07,
-9.15965803598408e-07,
-9.48565090704124e-07,
-9.82217633251451e-07,
-1.01643933513151e-06,
-1.05143714735623e-06,
-1.08676147556840e-06,
-1.12300409054529e-06,
-1.16035624735089e-06,
-1.19822784284488e-06,
-1.23612003796729e-06,
-1.27597253424280e-06,
-1.31548405641171e-06,
-1.35656260640872e-06,
-1.39768396625082e-06,
-1.44009364782760e-06,
-1.48263736669695e-06,
-1.52645417739943e-06,
-1.57052770327227e-06,
-1.61590430260585e-06,
-1.66152581672090e-06,
-1.70832466623602e-06,
-1.75531183154730e-06,
-1.80354697649463e-06,
-1.85213180801677e-06,
-1.90190541457320e-06,
-1.95172125266670e-06,
-2.00274982053528e-06,
-2.05440229847222e-06,
-2.10671996122087e-06,
-2.15960953108923e-06,
-2.21344673621392e-06,
-2.26753452245018e-06,
-2.32270367024371e-06,
-2.37811232502338e-06,
-2.43461484557276e-06,
-2.49131860508909e-06,
-2.54904626588095e-06,
-2.60694079790385e-06,
-2.66588370269542e-06,
-2.72502556403521e-06,
-2.78515359568984e-06,
-2.84534746585168e-06,
-2.90651253940365e-06,
-2.96789707905998e-06,
-3.03026815024548e-06,
-3.09250439907414e-06,
-3.15586112065294e-06,
-3.21917116992942e-06,
-3.28329739015491e-06,
-3.34755725225876e-06,
-3.41254082601689e-06,
-3.47759844620301e-06,
-3.54333509849531e-06,
-3.60908996231663e-06,
-3.67551457730312e-06,
-3.74192777791326e-06,
-3.80892935787303e-06,
-3.87581985935145e-06,
-3.94325856674703e-06,
-4.01062965420015e-06,
-4.07851955438422e-06,
-4.14618562570372e-06,
-4.21424927012473e-06,
-4.28219961892930e-06,
-4.35043829085821e-06,
-4.41836938506806e-06,
-4.48672487737745e-06,
-4.55459997845769e-06,
-4.62281849455623e-06,
-4.69055023332375e-06,
-4.75852881449136e-06,
-4.82598777828551e-06,
-4.89357790491499e-06,
-4.96055708038026e-06,
-5.02759963577756e-06,
-5.09401623836012e-06,
-5.16043301207036e-06,
-5.22609616909151e-06,
-5.29163941340404e-06,
-5.35641256312241e-06,
-5.42102571618858e-06,
-5.48469577560834e-06,
-5.54811134917779e-06,
-5.61062044360571e-06,
-5.67265321372291e-06,
-5.73373682457175e-06,
-5.79431080305923e-06,
-5.85377619609459e-06,
-5.91266194714808e-06,
-5.97030085360536e-06,
-6.02728122072791e-06,
-6.08294572989760e-06,
-6.13786180337324e-06,
-6.19132752972891e-06,
-6.24392081949063e-06,
-6.29499279506742e-06,
-6.34512332808420e-06,
-6.39358822958236e-06,
-6.44096494373972e-06,
-6.48662130412141e-06,
-6.53110576502919e-06,
-6.57367526411895e-06,
-6.61504319391059e-06,
-6.65439635608727e-06,
-6.69234997696170e-06,
-6.72823177451458e-06,
-6.76256992228003e-06,
-6.79475276861382e-06,
-6.82527935353772e-06,
-6.85350874920331e-06,
-6.87995435672755e-06,
-6.90400455258515e-06,
-6.92617579276020e-06,
-6.94581178960161e-06,
-6.96341207782413e-06,
-6.97837546570650e-06,
-6.99121320837930e-06,
-7.00126691500350e-06,
-7.00904991575129e-06,
-7.01399146065940e-06,
-7.01649463335420e-06,
-7.01598906903671e-06,
-7.01299335632421e-06,
-7.00682651919766e-06,
-6.99805670472170e-06,
-6.98598387232265e-06,
-6.97115918378061e-06,
-6.95293670913433e-06,
-6.93184262641915e-06,
-6.90721796243191e-06,
-6.87956544369715e-06,
-6.84826575659092e-06,
-6.81383582649206e-06,
-6.77563271791333e-06,
-6.73414912642070e-06,
-6.68879222648781e-06,
-6.64004566255543e-06,
-6.58726001945506e-06,
-6.53097084557196e-06,
-6.47057633363911e-06,
-6.40649492549257e-06,
-6.33820922296577e-06,
-6.26611753900958e-06,
-6.18969752493548e-06,
-6.10938733149237e-06,
-6.02460876343180e-06,
-5.93581228618980e-06,
-5.84243268710826e-06,
-5.74494125723676e-06,
-5.64275663266799e-06,
-5.53633239754493e-06,
-5.42511044796520e-06,
-5.30955851436901e-06,
-5.18909082922882e-06,
-5.06417106483642e-06,
-4.93426738681860e-06,
-4.79981139928378e-06,
-4.66022392940390e-06,
-4.51602630845954e-06,
-4.36660747560401e-06,
-4.21247294402037e-06,
-4.05305110546832e-06,
-3.88878763289571e-06,
-3.71916450048738e-06,
-3.54462712478025e-06,
-3.36465155419938e-06,
-3.17967167761456e-06,
-2.98917613191769e-06,
-2.79361738719780e-06,
-2.59247412473194e-06,
-2.38618565979242e-06,
-2.17426059604335e-06,
-1.95714227397860e-06,
-1.73430496738356e-06,
-1.50620956228030e-06,
-1.27238963764761e-06,
-1.03324761527409e-06,
-7.88323211174950e-07,
-5.38057114445362e-07,
-2.81944291020029e-07,
-2.04836906979221e-08,
--2.46853106248978e-07,
--5.19577878779430e-07,
--7.98197252838720e-07,
--1.08221647391169e-06,
--1.37213415644316e-06,
--1.66747248399997e-06,
--1.96871121194834e-06,
--2.27536237370173e-06,
--2.58791653823994e-06,
--2.90589263830832e-06,
--3.22973451266772e-06,
--3.55896455485854e-06,
--3.89406743396649e-06,
--4.23452884634043e-06,
--4.58080862054126e-06,
--4.93243163040497e-06,
--5.28980705682264e-06,
--5.65249312334948e-06,
--6.02088801710077e-06,
--6.39451744851171e-06,
--6.77379446388097e-06,
--7.15823725534437e-06,
--7.54825910394332e-06,
--7.94336123069663e-06,
--8.34395800204422e-06,
--8.74955757971436e-06,
--9.16054779162674e-06,
--9.57642228943518e-06,
--9.99759144947471e-06,
--1.04235511544729e-05,
--1.08546628466816e-05,
--1.12904336671393e-05,
--1.17312462832730e-05,
--1.21765651542703e-05,
--1.26267966656990e-05,
--1.30813839859992e-05,
--1.35407068370928e-05,
--1.40042432894668e-05,
--1.44723391847100e-05,
--1.49444772391115e-05,
--1.54209897807815e-05,
--1.59013657273958e-05,
--1.63859206132667e-05,
--1.68741290759562e-05,
--1.73663104823494e-05,
--1.78619508850454e-05,
--1.83613352518811e-05,
--1.88639344535055e-05,
--1.93700580786767e-05,
--1.98791701832643e-05,
--2.03915446858796e-05,
--2.09066661112072e-05,
--2.14247833830322e-05,
--2.19453728209874e-05,
--2.24687067756074e-05,
--2.29942189701287e-05,
--2.35221919064648e-05,
--2.40520571098411e-05,
--2.45840821429991e-05,
--2.51176919541455e-05,
--2.56531458365802e-05,
--2.61898800092312e-05,
--2.67281307655500e-05,
--2.72673160896635e-05,
--2.78076813742880e-05,
--2.83486572194740e-05,
--2.88904561028569e-05,
--2.94324977036388e-05,
--2.99750102268205e-05,
--3.05173890710438e-05,
--3.10598620379927e-05,
--3.16018340271438e-05,
--3.21434903845723e-05,
--3.26842631134414e-05,
--3.32243219343559e-05,
--3.37630833740885e-05,
--3.43007203295382e-05,
--3.48366443059829e-05,
--3.53710230750429e-05,
--3.59032455798272e-05,
--3.64334836149489e-05,
--3.69611383814916e-05,
--3.74863645989061e-05,
--3.80085391108475e-05,
--3.85278288122663e-05,
--3.90436126582742e-05,
--3.95560344208977e-05,
--4.00644784803627e-05,
--4.05690860811782e-05,
--4.10692160068759e-05,
--4.15650349494434e-05,
--4.20558816044656e-05,
--4.25419079114848e-05,
--4.30224723840039e-05,
--4.34977023194285e-05,
--4.39669575807467e-05,
--4.44303536014418e-05,
--4.48872654011353e-05,
--4.53378004294169e-05,
--4.57813127757766e-05,
--4.62179102441466e-05,
--4.66469626401911e-05,
--4.70685624133195e-05,
--4.74820663998248e-05,
--4.78875779787031e-05,
--4.82844457389913e-05,
--4.86727623947596e-05,
--4.90518974627560e-05,
--4.94219173993094e-05,
--4.97821954537253e-05,
--5.01328087389260e-05,
--5.04731070890493e-05,
--5.08031767792133e-05,
--5.11223701960069e-05,
--5.14307728917283e-05,
--5.17277278570648e-05,
--5.20133133082317e-05,
--5.22868899566335e-05,
--5.25485330801741e-05,
--5.27975890619123e-05,
--5.30341352214345e-05,
--5.32575308256433e-05,
--5.34678403499526e-05,
--5.36644291832927e-05,
--5.38473696441733e-05,
--5.40160121859755e-05,
--5.41704376199963e-05,
--5.43100072156885e-05,
--5.44347778383721e-05,
--5.45441409303223e-05,
--5.46381421707785e-05,
--5.47161726277983e-05,
--5.47782796545640e-05,
--5.48238615891289e-05,
--5.48529777470327e-05,
--5.48650134478435e-05,
--5.48600304498624e-05,
--5.48374279367193e-05,
--5.47972707257875e-05,
--5.47389540962183e-05,
--5.46625553812279e-05,
--5.45674740408066e-05,
--5.44537801178265e-05,
--5.43208932117335e-05,
--5.41688832854903e-05,
--5.39971664557209e-05,
--5.38058373779503e-05,
--5.35943020304215e-05,
--5.33626591300992e-05,
--5.31103372807938e-05,
--5.28374339049068e-05,
--5.25433860531435e-05,
--5.22282871255255e-05,
--5.18915929674119e-05,
--5.15334084359192e-05,
--5.11531883719458e-05,
--5.07510470767421e-05,
--5.03264565435712e-05,
--4.98795298499818e-05,
--4.94097492621224e-05,
--4.89172468415742e-05,
--4.84015062909820e-05,
--4.78626656356439e-05,
--4.73002336655060e-05,
--4.67143388964721e-05,
--4.61045141628936e-05,
--4.54709069617551e-05,
--4.48130436182427e-05,
--4.41310892863899e-05,
--4.34245803720504e-05,
--4.26937043233061e-05,
--4.19380012096953e-05,
--4.11576670903313e-05,
--4.03522641202012e-05,
--3.95219995716669e-05,
--3.86664427936628e-05,
--3.77858193439538e-05,
--3.68797197976284e-05,
--3.59483680766746e-05,
--3.49913775019667e-05,
--3.40089900319630e-05,
--3.30008251544588e-05,
--3.19671510883658e-05,
--3.09076019921684e-05,
--2.98224428705179e-05,
--2.87113445271020e-05,
--2.75745824745532e-05,
--2.64118441851114e-05,
--2.52234156518926e-05,
--2.40090034267166e-05,
--2.27689200068355e-05,
--2.15028786303040e-05,
--2.02112093356898e-05,
--1.88936525600629e-05,
--1.75505489714928e-05,
--1.61816522718723e-05,
--1.47873283970059e-05,
--1.33673529297333e-05,
--1.19221016313184e-05,
--1.04513793212540e-05,
--8.95557028181646e-06,
--7.43449717788015e-06,
--5.88858138346941e-06,
--4.31765074336527e-06,
--2.72214441335228e-06,
--1.10191546986540e-06,
-5.42576135735981e-07,
-2.21145327612140e-06,
-3.90424732482530e-06,
-5.62105051139952e-06,
-7.36137384262456e-06,
-9.12529459068137e-06,
-1.09123048193875e-05,
-1.27224474678529e-05,
-1.45552032584862e-05,
-1.64105928172265e-05,
-1.82880735840279e-05,
-2.01876489388426e-05,
-2.21087489487933e-05,
-2.40513485984833e-05,
-2.60148760416192e-05,
-2.79992736446810e-05,
-3.00039407582481e-05,
-3.20288053388297e-05,
-3.40732419683153e-05,
-3.61371619724216e-05,
-3.82199078901064e-05,
-4.03213747021350e-05,
-4.24408877592610e-05,
-4.45783101891342e-05,
-4.67329465682261e-05,
-4.89046419944162e-05,
-5.10926798053942e-05,
-5.32968764479913e-05,
-5.55164983346224e-05,
-5.77513323125343e-05,
-6.00006282654158e-05,
-6.22641611239781e-05,
-6.45411398811771e-05,
-6.68313202374356e-05,
-6.91339016622066e-05,
-7.14486074938142e-05,
-7.37746190907099e-05,
-7.61116330506792e-05,
-7.84588166968576e-05,
-8.08158423081462e-05,
-8.31818494755366e-05,
-8.55564956212588e-05,
-8.79389017808088e-05,
-9.03286966625331e-05,
-9.27249827027176e-05,
-9.51273684116554e-05,
-9.75349342814310e-05,
-9.99472748819797e-05,
-0.000102363447520479,
-0.000104783014763168,
-0.000107205025896024,
-0.000109629029400713,
-0.000112054039942443,
-0.000114479594239356,
-0.000116904687981786,
-0.000119328839927821,
-0.000121751025536885,
-0.000124170741112682,
-0.000126586955396263,
-0.000128999137073690,
-0.000131406237902807,
-0.000133807710854935,
-0.000136202494636464,
-0.000138590020743407,
-0.000140969217664355,
-0.000143339493063055,
-0.000145699758496409,
-0.000148049419840621,
-0.000150387365819865,
-0.000152712978884051,
-0.000155025147047118,
-0.000157323233199747,
-0.000159606113351142,
-0.000161873135563338,
-0.000164123164418827,
-0.000166355539329688,
-0.000168569105181148,
-0.000170763192929278,
-0.000172936642681967,
-0.000175088769080921,
-0.000177218404031216,
-0.000179324852197408,
-0.000181406934825622,
-0.000183463950477444,
-0.000185494717916349,
-0.000187498516812910,
-0.000189474160690418,
-0.000191420933229610,
-0.000193337632742739,
-0.000195223538589502,
-0.000197077449370729,
-0.000198898632343484,
-0.000200685889922636,
-0.000202438477037224,
-0.000204155202780923,
-0.000205835317231766,
-0.000207477624265485,
-0.000209081375510424,
-0.000210645375770233,
-0.000212168874797709,
-0.000213650681871823,
-0.000215090046105722,
-0.000216485772585174,
-0.000217837122420945,
-0.000219142904089215,
-0.000220402374841213,
-0.000221614355063568,
-0.000222778105957421,
-0.000223892449138464,
-0.000224956657801864,
-0.000225969559300686,
-0.000226930435535397,
-0.000227838120949022,
-0.000228691904367779,
-0.000229490637305569,
-0.000230233614422397,
-0.000230919699867762,
-0.000231548200624833,
-0.000232117991545114,
-0.000232628392706581,
-0.000233078299941400,
-0.000233467042490252,
-0.000233793529306281,
-0.000234057114622203,
-0.000234256717572874,
-0.000234391707980239,
-0.000234461034429087,
-0.000234464075886551,
-0.000234399804148527,
-0.000234267616643166,
-0.000234066510095474,
-0.000233795906658708,
-0.000233454817877378,
-0.000233042694337553,
-0.000232558571806248,
-0.000232001923306693,
-0.000231371813425932,
-0.000230667742461277,
-0.000229888797324386,
-0.000229034509219026,
-0.000228103997682251,
-0.000227096814542036,
-0.000226012115545807,
-0.000224849486757965,
-0.000223608106379000,
-0.000222287594558100,
-0.000220887169687286,
-0.000219406480827707,
-0.000217844783243759,
-0.000216201753070026,
-0.000214476690763218,
-0.000212669306710065,
-0.000210778935093994,
-0.000208805327647997,
-0.000206747856525214,
-0.000204606309833789,
-0.000202380104774549,
-0.000200069067435948,
-0.000197672653272001,
-0.000195190736945890,
-0.000192622814021790,
-0.000189968793862972,
-0.000187228227821168,
-0.000184401067781124,
-0.000181486906935768,
-0.000178485741364642,
-0.000175397211774938,
-0.000172221367164218,
-0.000168957890495671,
-0.000165606876476172,
-0.000162168061864114,
-0.000158641588326119,
-0.000155027243685390,
-0.000151325219415721,
-0.000147535354241219,
-0.000143657889880845,
-0.000139692722584275,
-0.000135640137861556,
-0.000131500087828142,
-0.000127272919603931,
-0.000122958632897122,
-0.000118557624222376,
-0.000114069956263803,
-0.000109496077969276,
-0.000104836112476280,
-0.000100090556969088,
-9.52595926807594e-05,
-9.03437806713531e-05,
-8.53433537117259e-05,
-8.02589335085685e-05,
-7.50908090508799e-05,
-6.98396606723608e-05,
-6.45058395701152e-05,
-5.90900818618602e-05,
-5.35927957604024e-05,
-4.80147832320940e-05,
-4.23565146651483e-05,
-3.66188412855488e-05,
-3.08022998861741e-05,
-2.49078076002350e-05,
-1.89359578000643e-05,
-1.28877281875480e-05,
-6.76377196319473e-06,
-5.65130739446817e-07,
--5.70747618704037e-06,
--1.20529518122427e-05,
--1.84705123312578e-05,
--2.49589991720766e-05,
--3.15175650599888e-05,
--3.81449885574943e-05,
--4.48403630718286e-05,
--5.16024050889186e-05,
--5.84301376752338e-05,
--6.53222224894314e-05,
--7.22776238052609e-05,
--7.92949306753459e-05,
--8.63730463095441e-05,
--9.35105054098079e-05,
--0.000100706144186103,
--0.000107958436359977,
--0.000115266152994485,
--0.000122627706760917,
--0.000130041811681510,
--0.000137506814203479,
--0.000145021368821121,
--0.000152583759222027,
--0.000160192579466020,
--0.000167846056910789,
--0.000175542718661153,
--0.000183280733901876,
--0.000191058573185037,
--0.000198874346379858,
--0.000206726455104848,
--0.000214612960310208,
--0.000222532206706049,
--0.000230482190676936,
--0.000238461200747511,
--0.000246467177406058,
--0.000254498351409696,
--0.000262552611408044,
--0.000270628125294601,
--0.000278722730787134,
--0.000286834539691710,
--0.000294961336084192,
--0.000303101180604228,
--0.000311251799327546,
--0.000319411202616472,
--0.000327577068996273,
--0.000335747350207106,
--0.000343919676673919,
--0.000352091955603402,
--0.000360261765094418,
--0.000368426959623216,
--0.000376585075147441,
--0.000384733917580314,
--0.000392870977630007,
--0.000400994015796423,
--0.000409100475389566,
--0.000417188075990567,
--0.000425254218742792,
--0.000433296579745569,
--0.000441312521641045,
--0.000449299675354794,
--0.000457255369089255,
--0.000465177193879328,
--0.000473062439153703,
--0.000480908661009415,
--0.000488713116827171,
--0.000496473321124369,
--0.000504186501659088,
--0.000511850143907964,
--0.000519461439038756,
--0.000527017845535591,
--0.000534516525078808,
--0.000541954904421434,
--0.000549330124139864,
--0.000556639582645205,
--0.000563880395792860,
--0.000571049939360574,
--0.000578145303770340,
--0.000585163848349161,
--0.000592102641307673,
--0.000598959022419751,
--0.000605730045666215,
--0.000612413030480144,
--0.000619005017567106,
--0.000625503315016224,
--0.000631904950355812,
--0.000638207216182248,
--0.000644407135922555,
--0.000650501991706910,
--0.000656488796703490,
--0.000662364832864586,
--0.000668127107213612,
--0.000673772895505234,
--0.000679299206549835,
--0.000684703312533797,
--0.000689982228373537,
--0.000695133224872846,
--0.000700153320679537,
--0.000705039793794998,
--0.000709789667273328,
--0.000714400230172114,
--0.000718868516431075,
--0.000723191819632401,
--0.000727367189884889,
--0.000731391938661357,
--0.000735263125592756,
--0.000738978079579033,
--0.000742533884189047,
--0.000745927883252895,
--0.000749157181924490,
--0.000752219147550121,
--0.000755110911309810,
--0.000757829866314622,
--0.000760373168287008,
--0.000762738239234387,
--0.000764922268811481,
--0.000766922708033022,
--0.000768736783543735,
--0.000770361976300053,
--0.000771795549766353,
--0.000773035026336787,
--0.000774077710368219,
--0.000774921156688016,
--0.000775562718410930,
--0.000775999996896670,
--0.000776230384120606,
--0.000776251530463252,
--0.000776060879297139,
--0.000775656128479859,
--0.000775034774979158,
--0.000774194563408219,
--0.000773133050832454,
--0.000771848039257578,
--0.000770337139062027,
--0.000768598212666572,
--0.000766628928149237,
--0.000764427212355194,
--0.000761990800345454,
--0.000759317676212684,
--0.000756405642021792,
--0.000753252754194147,
--0.000749856883052877,
--0.000746216149243278,
--0.000742328500323755,
--0.000738192130147058,
--0.000733805058805418,
--0.000729165555282147,
--0.000724271716466218,
--0.000719121892993695,
--0.000713714263134529,
--0.000708047251625198,
--0.000702119122894178,
--0.000695928386138248,
--0.000689473392683322,
--0.000682752736054815,
--0.000675764850643800,
--0.000668508423585954,
--0.000660981983005567,
--0.000653184299948689,
--0.000645113996101250,
--0.000636769940811193,
--0.000628150846892228,
--0.000619255679141116,
--0.000610083247987995,
--0.000600632615642164,
--0.000590902695998816,
--0.000580892646976487,
--0.000570601481559749,
--0.000560028464530771,
--0.000549172712705324,
--0.000538033593923370,
--0.000526610326399401,
--0.000514902384920966,
--0.000502909102003151,
--0.000490630054751344,
--0.000478064682216253,
--0.000465212674168866,
--0.000452073583482240,
--0.000438647204637503,
--0.000424933205749722,
--0.000410931495060687,
--0.000396641852357854,
--0.000382064302937101,
--0.000367198738062124,
--0.000352045297690400,
--0.000336603996500303,
--0.000320875086144786,
--0.000304858697984160,
--0.000288555200873863,
--0.000271964847867372,
--0.000255088130083280,
--0.000237925412360025,
--0.000220477306560259,
--0.000202744305292592,
--0.000184727135197687,
--0.000166426409808339,
--0.000147842979525945,
--0.000128977579742240,
--0.000109831180556723,
--9.04046425871818e-05,
--7.06990553697872e-05,
--5.07154045972636e-05,
--3.04549042775557e-05,
--9.91865979301451e-06,
-1.08919930592394e-05,
-3.19758215514218e-05,
-5.33313669696652e-05,
-7.49572729406508e-05,
-9.68519634422886e-05,
-0.000119013952872007,
-0.000141441540758312,
-0.000164133122498143,
-0.000187086875132261,
-0.000210301066410341,
-0.000233773755649941,
-0.000257503086406519,
-0.000281486994066025,
-0.000305723503700679,
-0.000330210426059308,
-0.000354945665598255,
-0.000379926915845916,
-0.000405151956507756,
-0.000430618362384964,
-0.000456323792890481,
-0.000482265705856655,
-0.000508441643241767,
-0.000534848940194894,
-0.000561485022897046,
-0.000588347113607660,
-0.000615432518021442,
-0.000642738345529626,
-0.000670261786254066,
-0.000697999835195141,
-0.000725949568737048,
-0.000754107872446179,
-0.000782471708002863,
-0.000811037851152608,
-0.000839803156162613,
-0.000868764285754871,
-0.000897917988557699,
-0.000927260821822552,
-0.000956789425305633,
-0.000986500254535089,
-0.00101638984108537,
-0.00104645454078258,
-0.00107669078473676,
-0.00110709482536606,
-0.00113766299717731,
-0.00116839145262871,
-0.00119927642758690,
-0.00123031398418415,
-0.00126150026162382,
-0.00129283122580216,
-0.00132430292836542,
-0.00135591124431857,
-0.00138765213428446,
-0.00141952138887340,
-0.00145151488073991,
-0.00148362831612719,
-0.00151585748499229,
-0.00154819801195881,
-0.00158064560650847,
-0.00161319581695018,
-0.00164584427382029,
-0.00167858645186783,
-0.00171141790451108,
-0.00174433403822607,
-0.00177733033804577,
-0.00181040213773593,
-0.00184354485348776,
-0.00187675376086131,
-0.00191002421019513,
-0.00194335141256686,
-0.00197673066266553,
-0.00201015711112216,
-0.00204362599689791,
-0.00207713241930943,
-0.00211067156001584,
-0.00214423847287856,
-0.00217782828885456,
-0.00221143601594175,
-0.00224505673956590,
-0.00227868542419834,
-0.00231231711939174,
-0.00234594674933244,
-0.00237956932031571,
-0.00241317972846192,
-0.00244677294956298,
-0.00248034384558351,
-0.00251388736165349,
-0.00254739833774491,
-0.00258087169284408,
-0.00261430224582133,
-0.00264768489443835,
-0.00268101443907401,
-0.00271428576337512,
-0.00274749365520234,
-0.00278063298200053,
-0.00281369852627465,
-0.00284668514688528,
-0.00287958762416115,
-0.00291240080973127,
-0.00294511948107620,
-0.00297773849968884,
-0.00301025264456641,
-0.00304265677662001,
-0.00307494568697706,
-0.00310711424878149,
-0.00313915726402809,
-0.00317106962060174,
-0.00320284613548793,
-0.00323448171662747,
-0.00326597120655615,
-0.00329730953059114,
-0.00332849155900580,
-0.00335951224628230,
-0.00339036649346014,
-0.00342104928540268,
-0.00345155555530025,
-0.00348188032822464,
-0.00351201857965144,
-0.00354196536968445,
-0.00357171571569318,
-0.00360126472814403,
-0.00363060747270192,
-0.00365973910561074,
-0.00368865474551317,
-0.00371734960141723,
-0.00374581885109485,
-0.00377405776271989,
-0.00380206156870805,
-0.00382982560239173,
-0.00385734516541213,
-0.00388461565135489,
-0.00391163243217263,
-0.00393839097201934,
-0.00396488671883422,
-0.00399111521100629,
-0.00401707196633785,
-0.00404275260833588,
-0.00406815273741037,
-0.00409326805585855,
-0.00411809424930169,
-0.00414262710547963,
-0.00416686240098882,
-0.00419079601487805,
-0.00421442381486645,
-0.00423774176962887,
-0.00426074584971528,
-0.00428343212038434,
-0.00430579664814760,
-0.00432783560038011,
-0.00434954515073437,
-0.00437092156951920,
-0.00439196113488749,
-0.00441266022458233,
-0.00443301523239588,
-0.00445302264569759,
-0.00447267896722690,
-0.00449198080207357,
-0.00451092477024544,
-0.00452950759322735,
-0.00454772601412418,
-0.00456557686948679,
-0.00458305702638157,
-0.00460016344989720,
-0.00461689312908165,
-0.00463324315222104,
-0.00464921064199444,
-0.00466479281370150,
-0.00467998692108119,
-0.00469479030849154,
-0.00470920036573083,
-0.00472321457430748,
-0.00473683045364440,
-0.00475004562266464,
-0.00476285774233103,
-0.00477526456757244,
-0.00478726390125808,
-0.00479885363726199,
-0.00481003172038249,
-0.00482079618697185,
-0.00483114513086222,
-0.00484107672645139,
-0.00485058921432468,
-0.00485968091876064,
-0.00486835022461732,
-0.00487659560414803,
-0.00488441559200791,
-0.00489180880914334,
-0.00489877394199243,
-0.00490530975799206,
-0.00491141509702113,
-0.00491708888109120,
-0.00492233009791042,
-0.00492713782472824,
-0.00493151120202513,
-0.00493544945801285,
-0.00493895189278199,
-0.00494201788566977,
-0.00494464688981495,
-0.00494683844085619,
-0.00494859214862692,
-0.00494990770180738,
-0.00495078486760031,
-0.00495122348912271,
-0.00495122348912271,
-0.00495078486760031,
-0.00494990770180738,
-0.00494859214862692,
-0.00494683844085619,
-0.00494464688981495,
-0.00494201788566977,
-0.00493895189278199,
-0.00493544945801285,
-0.00493151120202513,
-0.00492713782472824,
-0.00492233009791042,
-0.00491708888109120,
-0.00491141509702113,
-0.00490530975799206,
-0.00489877394199243,
-0.00489180880914334,
-0.00488441559200791,
-0.00487659560414803,
-0.00486835022461732,
-0.00485968091876064,
-0.00485058921432468,
-0.00484107672645139,
-0.00483114513086222,
-0.00482079618697185,
-0.00481003172038249,
-0.00479885363726199,
-0.00478726390125808,
-0.00477526456757244,
-0.00476285774233103,
-0.00475004562266464,
-0.00473683045364440,
-0.00472321457430748,
-0.00470920036573083,
-0.00469479030849154,
-0.00467998692108119,
-0.00466479281370150,
-0.00464921064199444,
-0.00463324315222104,
-0.00461689312908165,
-0.00460016344989720,
-0.00458305702638157,
-0.00456557686948679,
-0.00454772601412418,
-0.00452950759322735,
-0.00451092477024544,
-0.00449198080207357,
-0.00447267896722690,
-0.00445302264569759,
-0.00443301523239588,
-0.00441266022458233,
-0.00439196113488749,
-0.00437092156951920,
-0.00434954515073437,
-0.00432783560038011,
-0.00430579664814760,
-0.00428343212038434,
-0.00426074584971528,
-0.00423774176962887,
-0.00421442381486645,
-0.00419079601487805,
-0.00416686240098882,
-0.00414262710547963,
-0.00411809424930169,
-0.00409326805585855,
-0.00406815273741037,
-0.00404275260833588,
-0.00401707196633785,
-0.00399111521100629,
-0.00396488671883422,
-0.00393839097201934,
-0.00391163243217263,
-0.00388461565135489,
-0.00385734516541213,
-0.00382982560239173,
-0.00380206156870805,
-0.00377405776271989,
-0.00374581885109485,
-0.00371734960141723,
-0.00368865474551317,
-0.00365973910561074,
-0.00363060747270192,
-0.00360126472814403,
-0.00357171571569318,
-0.00354196536968445,
-0.00351201857965144,
-0.00348188032822464,
-0.00345155555530025,
-0.00342104928540268,
-0.00339036649346014,
-0.00335951224628230,
-0.00332849155900580,
-0.00329730953059114,
-0.00326597120655615,
-0.00323448171662747,
-0.00320284613548793,
-0.00317106962060174,
-0.00313915726402809,
-0.00310711424878149,
-0.00307494568697706,
-0.00304265677662001,
-0.00301025264456641,
-0.00297773849968884,
-0.00294511948107620,
-0.00291240080973127,
-0.00287958762416115,
-0.00284668514688528,
-0.00281369852627465,
-0.00278063298200053,
-0.00274749365520234,
-0.00271428576337512,
-0.00268101443907401,
-0.00264768489443835,
-0.00261430224582133,
-0.00258087169284408,
-0.00254739833774491,
-0.00251388736165349,
-0.00248034384558351,
-0.00244677294956298,
-0.00241317972846192,
-0.00237956932031571,
-0.00234594674933244,
-0.00231231711939174,
-0.00227868542419834,
-0.00224505673956590,
-0.00221143601594175,
-0.00217782828885456,
-0.00214423847287856,
-0.00211067156001584,
-0.00207713241930943,
-0.00204362599689791,
-0.00201015711112216,
-0.00197673066266553,
-0.00194335141256686,
-0.00191002421019513,
-0.00187675376086131,
-0.00184354485348776,
-0.00181040213773593,
-0.00177733033804577,
-0.00174433403822607,
-0.00171141790451108,
-0.00167858645186783,
-0.00164584427382029,
-0.00161319581695018,
-0.00158064560650847,
-0.00154819801195881,
-0.00151585748499229,
-0.00148362831612719,
-0.00145151488073991,
-0.00141952138887340,
-0.00138765213428446,
-0.00135591124431857,
-0.00132430292836542,
-0.00129283122580216,
-0.00126150026162382,
-0.00123031398418415,
-0.00119927642758690,
-0.00116839145262871,
-0.00113766299717731,
-0.00110709482536606,
-0.00107669078473676,
-0.00104645454078258,
-0.00101638984108537,
-0.000986500254535089,
-0.000956789425305633,
-0.000927260821822552,
-0.000897917988557699,
-0.000868764285754871,
-0.000839803156162613,
-0.000811037851152608,
-0.000782471708002863,
-0.000754107872446179,
-0.000725949568737048,
-0.000697999835195141,
-0.000670261786254066,
-0.000642738345529626,
-0.000615432518021442,
-0.000588347113607660,
-0.000561485022897046,
-0.000534848940194894,
-0.000508441643241767,
-0.000482265705856655,
-0.000456323792890481,
-0.000430618362384964,
-0.000405151956507756,
-0.000379926915845916,
-0.000354945665598255,
-0.000330210426059308,
-0.000305723503700679,
-0.000281486994066025,
-0.000257503086406519,
-0.000233773755649941,
-0.000210301066410341,
-0.000187086875132261,
-0.000164133122498143,
-0.000141441540758312,
-0.000119013952872007,
-9.68519634422886e-05,
-7.49572729406508e-05,
-5.33313669696652e-05,
-3.19758215514218e-05,
-1.08919930592394e-05,
--9.91865979301451e-06,
--3.04549042775557e-05,
--5.07154045972636e-05,
--7.06990553697872e-05,
--9.04046425871818e-05,
--0.000109831180556723,
--0.000128977579742240,
--0.000147842979525945,
--0.000166426409808339,
--0.000184727135197687,
--0.000202744305292592,
--0.000220477306560259,
--0.000237925412360025,
--0.000255088130083280,
--0.000271964847867372,
--0.000288555200873863,
--0.000304858697984160,
--0.000320875086144786,
--0.000336603996500303,
--0.000352045297690400,
--0.000367198738062124,
--0.000382064302937101,
--0.000396641852357854,
--0.000410931495060687,
--0.000424933205749722,
--0.000438647204637503,
--0.000452073583482240,
--0.000465212674168866,
--0.000478064682216253,
--0.000490630054751344,
--0.000502909102003151,
--0.000514902384920966,
--0.000526610326399401,
--0.000538033593923370,
--0.000549172712705324,
--0.000560028464530771,
--0.000570601481559749,
--0.000580892646976487,
--0.000590902695998816,
--0.000600632615642164,
--0.000610083247987995,
--0.000619255679141116,
--0.000628150846892228,
--0.000636769940811193,
--0.000645113996101250,
--0.000653184299948689,
--0.000660981983005567,
--0.000668508423585954,
--0.000675764850643800,
--0.000682752736054815,
--0.000689473392683322,
--0.000695928386138248,
--0.000702119122894178,
--0.000708047251625198,
--0.000713714263134529,
--0.000719121892993695,
--0.000724271716466218,
--0.000729165555282147,
--0.000733805058805418,
--0.000738192130147058,
--0.000742328500323755,
--0.000746216149243278,
--0.000749856883052877,
--0.000753252754194147,
--0.000756405642021792,
--0.000759317676212684,
--0.000761990800345454,
--0.000764427212355194,
--0.000766628928149237,
--0.000768598212666572,
--0.000770337139062027,
--0.000771848039257578,
--0.000773133050832454,
--0.000774194563408219,
--0.000775034774979158,
--0.000775656128479859,
--0.000776060879297139,
--0.000776251530463252,
--0.000776230384120606,
--0.000775999996896670,
--0.000775562718410930,
--0.000774921156688016,
--0.000774077710368219,
--0.000773035026336787,
--0.000771795549766353,
--0.000770361976300053,
--0.000768736783543735,
--0.000766922708033022,
--0.000764922268811481,
--0.000762738239234387,
--0.000760373168287008,
--0.000757829866314622,
--0.000755110911309810,
--0.000752219147550121,
--0.000749157181924490,
--0.000745927883252895,
--0.000742533884189047,
--0.000738978079579033,
--0.000735263125592756,
--0.000731391938661357,
--0.000727367189884889,
--0.000723191819632401,
--0.000718868516431075,
--0.000714400230172114,
--0.000709789667273328,
--0.000705039793794998,
--0.000700153320679537,
--0.000695133224872846,
--0.000689982228373537,
--0.000684703312533797,
--0.000679299206549835,
--0.000673772895505234,
--0.000668127107213612,
--0.000662364832864586,
--0.000656488796703490,
--0.000650501991706910,
--0.000644407135922555,
--0.000638207216182248,
--0.000631904950355812,
--0.000625503315016224,
--0.000619005017567106,
--0.000612413030480144,
--0.000605730045666215,
--0.000598959022419751,
--0.000592102641307673,
--0.000585163848349161,
--0.000578145303770340,
--0.000571049939360574,
--0.000563880395792860,
--0.000556639582645205,
--0.000549330124139864,
--0.000541954904421434,
--0.000534516525078808,
--0.000527017845535591,
--0.000519461439038756,
--0.000511850143907964,
--0.000504186501659088,
--0.000496473321124369,
--0.000488713116827171,
--0.000480908661009415,
--0.000473062439153703,
--0.000465177193879328,
--0.000457255369089255,
--0.000449299675354794,
--0.000441312521641045,
--0.000433296579745569,
--0.000425254218742792,
--0.000417188075990567,
--0.000409100475389566,
--0.000400994015796423,
--0.000392870977630007,
--0.000384733917580314,
--0.000376585075147441,
--0.000368426959623216,
--0.000360261765094418,
--0.000352091955603402,
--0.000343919676673919,
--0.000335747350207106,
--0.000327577068996273,
--0.000319411202616472,
--0.000311251799327546,
--0.000303101180604228,
--0.000294961336084192,
--0.000286834539691710,
--0.000278722730787134,
--0.000270628125294601,
--0.000262552611408044,
--0.000254498351409696,
--0.000246467177406058,
--0.000238461200747511,
--0.000230482190676936,
--0.000222532206706049,
--0.000214612960310208,
--0.000206726455104848,
--0.000198874346379858,
--0.000191058573185037,
--0.000183280733901876,
--0.000175542718661153,
--0.000167846056910789,
--0.000160192579466020,
--0.000152583759222027,
--0.000145021368821121,
--0.000137506814203479,
--0.000130041811681510,
--0.000122627706760917,
--0.000115266152994485,
--0.000107958436359977,
--0.000100706144186103,
--9.35105054098079e-05,
--8.63730463095441e-05,
--7.92949306753459e-05,
--7.22776238052609e-05,
--6.53222224894314e-05,
--5.84301376752338e-05,
--5.16024050889186e-05,
--4.48403630718286e-05,
--3.81449885574943e-05,
--3.15175650599888e-05,
--2.49589991720766e-05,
--1.84705123312578e-05,
--1.20529518122427e-05,
--5.70747618704037e-06,
-5.65130739446817e-07,
-6.76377196319473e-06,
-1.28877281875480e-05,
-1.89359578000643e-05,
-2.49078076002350e-05,
-3.08022998861741e-05,
-3.66188412855488e-05,
-4.23565146651483e-05,
-4.80147832320940e-05,
-5.35927957604024e-05,
-5.90900818618602e-05,
-6.45058395701152e-05,
-6.98396606723608e-05,
-7.50908090508799e-05,
-8.02589335085685e-05,
-8.53433537117259e-05,
-9.03437806713531e-05,
-9.52595926807594e-05,
-0.000100090556969088,
-0.000104836112476280,
-0.000109496077969276,
-0.000114069956263803,
-0.000118557624222376,
-0.000122958632897122,
-0.000127272919603931,
-0.000131500087828142,
-0.000135640137861556,
-0.000139692722584275,
-0.000143657889880845,
-0.000147535354241219,
-0.000151325219415721,
-0.000155027243685390,
-0.000158641588326119,
-0.000162168061864114,
-0.000165606876476172,
-0.000168957890495671,
-0.000172221367164218,
-0.000175397211774938,
-0.000178485741364642,
-0.000181486906935768,
-0.000184401067781124,
-0.000187228227821168,
-0.000189968793862972,
-0.000192622814021790,
-0.000195190736945890,
-0.000197672653272001,
-0.000200069067435948,
-0.000202380104774549,
-0.000204606309833789,
-0.000206747856525214,
-0.000208805327647997,
-0.000210778935093994,
-0.000212669306710065,
-0.000214476690763218,
-0.000216201753070026,
-0.000217844783243759,
-0.000219406480827707,
-0.000220887169687286,
-0.000222287594558100,
-0.000223608106379000,
-0.000224849486757965,
-0.000226012115545807,
-0.000227096814542036,
-0.000228103997682251,
-0.000229034509219026,
-0.000229888797324386,
-0.000230667742461277,
-0.000231371813425932,
-0.000232001923306693,
-0.000232558571806248,
-0.000233042694337553,
-0.000233454817877378,
-0.000233795906658708,
-0.000234066510095474,
-0.000234267616643166,
-0.000234399804148527,
-0.000234464075886551,
-0.000234461034429087,
-0.000234391707980239,
-0.000234256717572874,
-0.000234057114622203,
-0.000233793529306281,
-0.000233467042490252,
-0.000233078299941400,
-0.000232628392706581,
-0.000232117991545114,
-0.000231548200624833,
-0.000230919699867762,
-0.000230233614422397,
-0.000229490637305569,
-0.000228691904367779,
-0.000227838120949022,
-0.000226930435535397,
-0.000225969559300686,
-0.000224956657801864,
-0.000223892449138464,
-0.000222778105957421,
-0.000221614355063568,
-0.000220402374841213,
-0.000219142904089215,
-0.000217837122420945,
-0.000216485772585174,
-0.000215090046105722,
-0.000213650681871823,
-0.000212168874797709,
-0.000210645375770233,
-0.000209081375510424,
-0.000207477624265485,
-0.000205835317231766,
-0.000204155202780923,
-0.000202438477037224,
-0.000200685889922636,
-0.000198898632343484,
-0.000197077449370729,
-0.000195223538589502,
-0.000193337632742739,
-0.000191420933229610,
-0.000189474160690418,
-0.000187498516812910,
-0.000185494717916349,
-0.000183463950477444,
-0.000181406934825622,
-0.000179324852197408,
-0.000177218404031216,
-0.000175088769080921,
-0.000172936642681967,
-0.000170763192929278,
-0.000168569105181148,
-0.000166355539329688,
-0.000164123164418827,
-0.000161873135563338,
-0.000159606113351142,
-0.000157323233199747,
-0.000155025147047118,
-0.000152712978884051,
-0.000150387365819865,
-0.000148049419840621,
-0.000145699758496409,
-0.000143339493063055,
-0.000140969217664355,
-0.000138590020743407,
-0.000136202494636464,
-0.000133807710854935,
-0.000131406237902807,
-0.000128999137073690,
-0.000126586955396263,
-0.000124170741112682,
-0.000121751025536885,
-0.000119328839927821,
-0.000116904687981786,
-0.000114479594239356,
-0.000112054039942443,
-0.000109629029400713,
-0.000107205025896024,
-0.000104783014763168,
-0.000102363447520479,
-9.99472748819797e-05,
-9.75349342814310e-05,
-9.51273684116554e-05,
-9.27249827027176e-05,
-9.03286966625331e-05,
-8.79389017808088e-05,
-8.55564956212588e-05,
-8.31818494755366e-05,
-8.08158423081462e-05,
-7.84588166968576e-05,
-7.61116330506792e-05,
-7.37746190907099e-05,
-7.14486074938142e-05,
-6.91339016622066e-05,
-6.68313202374356e-05,
-6.45411398811771e-05,
-6.22641611239781e-05,
-6.00006282654158e-05,
-5.77513323125343e-05,
-5.55164983346224e-05,
-5.32968764479913e-05,
-5.10926798053942e-05,
-4.89046419944162e-05,
-4.67329465682261e-05,
-4.45783101891342e-05,
-4.24408877592610e-05,
-4.03213747021350e-05,
-3.82199078901064e-05,
-3.61371619724216e-05,
-3.40732419683153e-05,
-3.20288053388297e-05,
-3.00039407582481e-05,
-2.79992736446810e-05,
-2.60148760416192e-05,
-2.40513485984833e-05,
-2.21087489487933e-05,
-2.01876489388426e-05,
-1.82880735840279e-05,
-1.64105928172265e-05,
-1.45552032584862e-05,
-1.27224474678529e-05,
-1.09123048193875e-05,
-9.12529459068137e-06,
-7.36137384262456e-06,
-5.62105051139952e-06,
-3.90424732482530e-06,
-2.21145327612140e-06,
-5.42576135735981e-07,
--1.10191546986540e-06,
--2.72214441335228e-06,
--4.31765074336527e-06,
--5.88858138346941e-06,
--7.43449717788015e-06,
--8.95557028181646e-06,
--1.04513793212540e-05,
--1.19221016313184e-05,
--1.33673529297333e-05,
--1.47873283970059e-05,
--1.61816522718723e-05,
--1.75505489714928e-05,
--1.88936525600629e-05,
--2.02112093356898e-05,
--2.15028786303040e-05,
--2.27689200068355e-05,
--2.40090034267166e-05,
--2.52234156518926e-05,
--2.64118441851114e-05,
--2.75745824745532e-05,
--2.87113445271020e-05,
--2.98224428705179e-05,
--3.09076019921684e-05,
--3.19671510883658e-05,
--3.30008251544588e-05,
--3.40089900319630e-05,
--3.49913775019667e-05,
--3.59483680766746e-05,
--3.68797197976284e-05,
--3.77858193439538e-05,
--3.86664427936628e-05,
--3.95219995716669e-05,
--4.03522641202012e-05,
--4.11576670903313e-05,
--4.19380012096953e-05,
--4.26937043233061e-05,
--4.34245803720504e-05,
--4.41310892863899e-05,
--4.48130436182427e-05,
--4.54709069617551e-05,
--4.61045141628936e-05,
--4.67143388964721e-05,
--4.73002336655060e-05,
--4.78626656356439e-05,
--4.84015062909820e-05,
--4.89172468415742e-05,
--4.94097492621224e-05,
--4.98795298499818e-05,
--5.03264565435712e-05,
--5.07510470767421e-05,
--5.11531883719458e-05,
--5.15334084359192e-05,
--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,
--5.27975890619123e-05,
--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,
--4.78875779787031e-05,
--4.74820663998248e-05,
--4.70685624133195e-05,
--4.66469626401911e-05,
--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,
--4.20558816044656e-05,
--4.15650349494434e-05,
--4.10692160068759e-05,
--4.05690860811782e-05,
--4.00644784803627e-05,
--3.95560344208977e-05,
--3.90436126582742e-05,
--3.85278288122663e-05,
--3.80085391108475e-05,
--3.74863645989061e-05,
--3.69611383814916e-05,
--3.64334836149489e-05,
--3.59032455798272e-05,
--3.53710230750429e-05,
--3.48366443059829e-05,
--3.43007203295382e-05,
--3.37630833740885e-05,
--3.32243219343559e-05,
--3.26842631134414e-05,
--3.21434903845723e-05,
--3.16018340271438e-05,
--3.10598620379927e-05,
--3.05173890710438e-05,
--2.99750102268205e-05,
--2.94324977036388e-05,
--2.88904561028569e-05,
--2.83486572194740e-05,
--2.78076813742880e-05,
--2.72673160896635e-05,
--2.67281307655500e-05,
--2.61898800092312e-05,
--2.56531458365802e-05,
--2.51176919541455e-05,
--2.45840821429991e-05,
--2.40520571098411e-05,
--2.35221919064648e-05,
--2.29942189701287e-05,
--2.24687067756074e-05,
--2.19453728209874e-05,
--2.14247833830322e-05,
--2.09066661112072e-05,
--2.03915446858796e-05,
--1.98791701832643e-05,
--1.93700580786767e-05,
--1.88639344535055e-05,
--1.83613352518811e-05,
--1.78619508850454e-05,
--1.73663104823494e-05,
--1.68741290759562e-05,
--1.63859206132667e-05,
--1.59013657273958e-05,
--1.54209897807815e-05,
--1.49444772391115e-05,
--1.44723391847100e-05,
--1.40042432894668e-05,
--1.35407068370928e-05,
--1.30813839859992e-05,
--1.26267966656990e-05,
--1.21765651542703e-05,
--1.17312462832730e-05,
--1.12904336671393e-05,
--1.08546628466816e-05,
--1.04235511544729e-05,
--9.99759144947471e-06,
--9.57642228943518e-06,
--9.16054779162674e-06,
--8.74955757971436e-06,
--8.34395800204422e-06,
--7.94336123069663e-06,
--7.54825910394332e-06,
--7.15823725534437e-06,
--6.77379446388097e-06,
--6.39451744851171e-06,
--6.02088801710077e-06,
--5.65249312334948e-06,
--5.28980705682264e-06,
--4.93243163040497e-06,
--4.58080862054126e-06,
--4.23452884634043e-06,
--3.89406743396649e-06,
--3.55896455485854e-06,
--3.22973451266772e-06,
--2.90589263830832e-06,
--2.58791653823994e-06,
--2.27536237370173e-06,
--1.96871121194834e-06,
--1.66747248399997e-06,
--1.37213415644316e-06,
--1.08221647391169e-06,
--7.98197252838720e-07,
--5.19577878779430e-07,
--2.46853106248978e-07,
-2.04836906979221e-08,
-2.81944291020029e-07,
-5.38057114445362e-07,
-7.88323211174950e-07,
-1.03324761527409e-06,
-1.27238963764761e-06,
-1.50620956228030e-06,
-1.73430496738356e-06,
-1.95714227397860e-06,
-2.17426059604335e-06,
-2.38618565979242e-06,
-2.59247412473194e-06,
-2.79361738719780e-06,
-2.98917613191769e-06,
-3.17967167761456e-06,
-3.36465155419938e-06,
-3.54462712478025e-06,
-3.71916450048738e-06,
-3.88878763289571e-06,
-4.05305110546832e-06,
-4.21247294402037e-06,
-4.36660747560401e-06,
-4.51602630845954e-06,
-4.66022392940390e-06,
-4.79981139928378e-06,
-4.93426738681860e-06,
-5.06417106483642e-06,
-5.18909082922882e-06,
-5.30955851436901e-06,
-5.42511044796520e-06,
-5.53633239754493e-06,
-5.64275663266799e-06,
-5.74494125723676e-06,
-5.84243268710826e-06,
-5.93581228618980e-06,
-6.02460876343180e-06,
-6.10938733149237e-06,
-6.18969752493548e-06,
-6.26611753900958e-06,
-6.33820922296577e-06,
-6.40649492549257e-06,
-6.47057633363911e-06,
-6.53097084557196e-06,
-6.58726001945506e-06,
-6.64004566255543e-06,
-6.68879222648781e-06,
-6.73414912642070e-06,
-6.77563271791333e-06,
-6.81383582649206e-06,
-6.84826575659092e-06,
-6.87956544369715e-06,
-6.90721796243191e-06,
-6.93184262641915e-06,
-6.95293670913433e-06,
-6.97115918378061e-06,
-6.98598387232265e-06,
-6.99805670472170e-06,
-7.00682651919766e-06,
-7.01299335632421e-06,
-7.01598906903671e-06,
-7.01649463335420e-06,
-7.01399146065940e-06,
-7.00904991575129e-06,
-7.00126691500350e-06,
-6.99121320837930e-06,
-6.97837546570650e-06,
-6.96341207782413e-06,
-6.94581178960161e-06,
-6.92617579276020e-06,
-6.90400455258515e-06,
-6.87995435672755e-06,
-6.85350874920331e-06,
-6.82527935353772e-06,
-6.79475276861382e-06,
-6.76256992228003e-06,
-6.72823177451458e-06,
-6.69234997696170e-06,
-6.65439635608727e-06,
-6.61504319391059e-06,
-6.57367526411895e-06,
-6.53110576502919e-06,
-6.48662130412141e-06,
-6.44096494373972e-06,
-6.39358822958236e-06,
-6.34512332808420e-06,
-6.29499279506742e-06,
-6.24392081949063e-06,
-6.19132752972891e-06,
-6.13786180337324e-06,
-6.08294572989760e-06,
-6.02728122072791e-06,
-5.97030085360536e-06,
-5.91266194714808e-06,
-5.85377619609459e-06,
-5.79431080305923e-06,
-5.73373682457175e-06,
-5.67265321372291e-06,
-5.61062044360571e-06,
-5.54811134917779e-06,
-5.48469577560834e-06,
-5.42102571618858e-06,
-5.35641256312241e-06,
-5.29163941340404e-06,
-5.22609616909151e-06,
-5.16043301207036e-06,
-5.09401623836012e-06,
-5.02759963577756e-06,
-4.96055708038026e-06,
-4.89357790491499e-06,
-4.82598777828551e-06,
-4.75852881449136e-06,
-4.69055023332375e-06,
-4.62281849455623e-06,
-4.55459997845769e-06,
-4.48672487737745e-06,
-4.41836938506806e-06,
-4.35043829085821e-06,
-4.28219961892930e-06,
-4.21424927012473e-06,
-4.14618562570372e-06,
-4.07851955438422e-06,
-4.01062965420015e-06,
-3.94325856674703e-06,
-3.87581985935145e-06,
-3.80892935787303e-06,
-3.74192777791326e-06,
-3.67551457730312e-06,
-3.60908996231663e-06,
-3.54333509849531e-06,
-3.47759844620301e-06,
-3.41254082601689e-06,
-3.34755725225876e-06,
-3.28329739015491e-06,
-3.21917116992942e-06,
-3.15586112065294e-06,
-3.09250439907414e-06,
-3.03026815024548e-06,
-2.96789707905998e-06,
-2.90651253940365e-06,
-2.84534746585168e-06,
-2.78515359568984e-06,
-2.72502556403521e-06,
-2.66588370269542e-06,
-2.60694079790385e-06,
-2.54904626588095e-06,
-2.49131860508909e-06,
-2.43461484557276e-06,
-2.37811232502338e-06,
-2.32270367024371e-06,
-2.26753452245018e-06,
-2.21344673621392e-06,
-2.15960953108923e-06,
-2.10671996122087e-06,
-2.05440229847222e-06,
-2.00274982053528e-06,
-1.95172125266670e-06,
-1.90190541457320e-06,
-1.85213180801677e-06,
-1.80354697649463e-06,
-1.75531183154730e-06,
-1.70832466623602e-06,
-1.66152581672090e-06,
-1.61590430260585e-06,
-1.57052770327227e-06,
-1.52645417739943e-06,
-1.48263736669695e-06,
-1.44009364782760e-06,
-1.39768396625082e-06,
-1.35656260640872e-06,
-1.31548405641171e-06,
-1.27597253424280e-06,
-1.23612003796729e-06,
-1.19822784284488e-06,
-1.16035624735089e-06,
-1.12300409054529e-06,
-1.08676147556840e-06,
-1.05143714735623e-06,
-1.01643933513151e-06,
-9.82217633251451e-07,
-9.48565090704124e-07,
-9.15965803598408e-07,
-8.83993876825403e-07,
-8.52904112434704e-07,
-8.22319204892483e-07,
-7.92457626845786e-07,
-7.63210937527310e-07,
-7.34607521511639e-07,
-7.06900952158772e-07,
-6.79457125689371e-07,
-6.53603188407001e-07,
-6.27541356389415e-07,
-6.00698053897355e-07,
-5.79062251172147e-07,
-5.53883059492054e-07,
-5.30402400375842e-07,
-5.06629365749489e-07,
-4.85127823306893e-07,
-4.63474354546465e-07,
-4.43414078442301e-07,
-4.22883429696171e-07,
-4.03659300931941e-07,
-3.84037888145959e-07,
-3.65790534295599e-07,
-3.47320034430519e-07,
-3.30279379977406e-07,
-3.13057205526705e-07,
-2.97200797125842e-07,
-2.81092420097884e-07,
-2.66244224670397e-07,
-2.25877153377331e-06
-};
-
-
-
-
-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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/pause.cpp Thu Oct 29 17:15:20 2015 +0000
@@ -0,0 +1,17 @@
+#ifndef PAUSE_CPP
+#define PAUSE_CPP
+#include "mbed.h"
+// these are various delays
+inline void pause(uint32_t seconds) {
+ for(seconds; seconds > 0; seconds--) for(uint32_t i = 0x1ffffff; i > 0; i--) asm("nop");
+}
+
+inline void pause_ms(uint32_t milliseconds) {
+ for(milliseconds; milliseconds > 0; milliseconds--) for(uint32_t i = 0x8312; i > 0; i--) asm("nop");
+}
+
+inline void pause_us(uint32_t microseconds) {
+ for(microseconds; microseconds > 0; microseconds--) for(uint32_t i = 0x21; i > 0; i--) asm("nop");
+}
+
+#endif
\ No newline at end of file