Pascal Sandrez
Custom version for NXP cup car
Fork of
FRDM-TFC
by 
Eli Hughes
Diff: TFC.cpp
- Revision:
- 1:6f37253dab87
- Child:
- 3:23cce037011f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TFC.cpp Wed Jul 17 19:30:14 2013 +0000
@@ -0,0 +1,990 @@
+#include "mbed.h"
+#include "TFC.h"
+
+#define FTM1_CLK_PRESCALE 6// Prescale Selector value - see comments in Status Control (SC) section for more details
+#define SERVO_DEFAULT_PERIOD (float)(.020) // Desired Frequency of PWM Signal - Here 50Hz => 20ms period
+// use these to dial in servo steering to your particular servo
+#define SERVO_MIN_PULSE_WIDTH_DEFAULT (float)(.0005) // The number here should be be *pulse width* in seconds to move servo to its left limit
+#define SERVO_MAX_PULSE_WIDTH_DEFAULT (float)(.002) // The number here should be be *pulse width* in seconds to move servo to its left limit
+
+
+#define FTM0_CLOCK (SystemCoreClock/2)
+#define FTM0_CLK_PRESCALE (0) // Prescale Selector value - see comments in Status Control (SC) section for more details
+#define FTM0_DEFAULT_SWITCHING_FREQUENCY (4000.0)
+
+#define ADC_MAX_CODE (4095)
+
+#define TAOS_CLK_HIGH PTE->PSOR = (1<<1)
+#define TAOS_CLK_LOW PTE->PCOR = (1<<1)
+#define TAOS_SI_HIGH PTD->PSOR = (1<<7)
+#define TAOS_SI_LOW PTD->PCOR = (1<<7)
+
+#define ADC_STATE_INIT 0
+#define ADC_STATE_CAPTURE_POT_0 1
+#define ADC_STATE_CAPTURE_POT_1 2
+#define ADC_STATE_CAPTURE_BATTERY_LEVEL 3
+#define ADC_STATE_CAPTURE_LINE_SCAN 4
+
+
+#define TFC_POT_0_ADC_CHANNEL 13
+#define TFC_POT_1_ADC_CHANNEL 12
+#define TFC_BAT_SENSE_CHANNEL 4
+#define TFC_LINESCAN0_ADC_CHANNEL 6
+#define TFC_LINESCAN1_ADC_CHANNEL 7
+
+
+#define ADC0_irq_no 57
+#define ADC1_irq_no 58
+
+#define ADC0_CHANA 19 // set to desired ADC0 channel trigger A
+#define ADC0_CHANB 20 // set to desired ADC0 channel trigger B
+
+#define ADC1_CHANA 20 // set to desired ADC1 channel trigger A 20 defaults to potentiometer in TWRK60
+#define ADC1_CHANB 20 // set to desired ADC1 channel trigger B
+
+#define ADC0_DLYA 0x2000 // ADC0 trigger A delay
+#define ADC0_DLYB 0x4000 // ADC0 trigger B delay
+#define ADC1_DLYA 0x6000 // ADC1 trigger A delay
+#define ADC1_DLYB 0x7fff // ADC1 trigger B delay
+
+
+#define ADC0A_DONE 0x01
+#define ADC0B_DONE 0x02
+#define ADC1A_DONE 0x04
+#define ADC1B_DONE 0x08
+
+
+// Bit shifting of bitfiled is already taken into account so
+// bitfiled values are always represented as relative to their position.
+
+/************************* #Defines ******************************************/
+
+#define A 0x0
+#define B 0x1
+
+/////// NOTE: the following defines relate to the ADC register definitions
+/////// and the content follows the reference manual, using the same symbols.
+
+
+//// ADCSC1 (register)
+
+// Conversion Complete (COCO) mask
+#define COCO_COMPLETE ADC_SC1_COCO_MASK
+#define COCO_NOT 0x00
+
+// ADC interrupts: enabled, or disabled.
+#define AIEN_ON ADC_SC1_AIEN_MASK
+#define AIEN_OFF 0x00
+
+// Differential or Single ended ADC input
+#define DIFF_SINGLE 0x00
+#define DIFF_DIFFERENTIAL ADC_SC1_DIFF_MASK
+
+//// ADCCFG1
+
+// Power setting of ADC
+#define ADLPC_LOW ADC_CFG1_ADLPC_MASK
+#define ADLPC_NORMAL 0x00
+
+// Clock divisor
+#define ADIV_1 0x00
+#define ADIV_2 0x01
+#define ADIV_4 0x02
+#define ADIV_8 0x03
+
+// Long samle time, or Short sample time
+#define ADLSMP_LONG ADC_CFG1_ADLSMP_MASK
+#define ADLSMP_SHORT 0x00
+
+// How many bits for the conversion? 8, 12, 10, or 16 (single ended).
+#define MODE_8 0x00
+#define MODE_12 0x01
+#define MODE_10 0x02
+#define MODE_16 0x03
+
+
+
+// ADC Input Clock Source choice? Bus clock, Bus clock/2, "altclk", or the
+// ADC's own asynchronous clock for less noise
+#define ADICLK_BUS 0x00
+#define ADICLK_BUS_2 0x01
+#define ADICLK_ALTCLK 0x02
+#define ADICLK_ADACK 0x03
+
+//// ADCCFG2
+
+// Select between B or A channels
+#define MUXSEL_ADCB ADC_CFG2_MUXSEL_MASK
+#define MUXSEL_ADCA 0x00
+
+// Ansync clock output enable: enable, or disable the output of it
+#define ADACKEN_ENABLED ADC_CFG2_ADACKEN_MASK
+#define ADACKEN_DISABLED 0x00
+
+// High speed or low speed conversion mode
+#define ADHSC_HISPEED ADC_CFG2_ADHSC_MASK
+#define ADHSC_NORMAL 0x00
+
+// Long Sample Time selector: 20, 12, 6, or 2 extra clocks for a longer sample time
+#define ADLSTS_20 0x00
+#define ADLSTS_12 0x01
+#define ADLSTS_6 0x02
+#define ADLSTS_2 0x03
+
+////ADCSC2
+
+// Read-only status bit indicating conversion status
+#define ADACT_ACTIVE ADC_SC2_ADACT_MASK
+#define ADACT_INACTIVE 0x00
+
+// Trigger for starting conversion: Hardware trigger, or software trigger.
+// For using PDB, the Hardware trigger option is selected.
+#define ADTRG_HW ADC_SC2_ADTRG_MASK
+#define ADTRG_SW 0x00
+
+// ADC Compare Function Enable: Disabled, or Enabled.
+#define ACFE_DISABLED 0x00
+#define ACFE_ENABLED ADC_SC2_ACFE_MASK
+
+// Compare Function Greater Than Enable: Greater, or Less.
+#define ACFGT_GREATER ADC_SC2_ACFGT_MASK
+#define ACFGT_LESS 0x00
+
+// Compare Function Range Enable: Enabled or Disabled.
+#define ACREN_ENABLED ADC_SC2_ACREN_MASK
+#define ACREN_DISABLED 0x00
+
+// DMA enable: enabled or disabled.
+#define DMAEN_ENABLED ADC_SC2_DMAEN_MASK
+#define DMAEN_DISABLED 0x00
+
+// Voltage Reference selection for the ADC conversions
+// (***not*** the PGA which uses VREFO only).
+// VREFH and VREFL (0) , or VREFO (1).
+
+#define REFSEL_EXT 0x00
+#define REFSEL_ALT 0x01
+#define REFSEL_RES 0x02 /* reserved */
+#define REFSEL_RES_EXT 0x03 /* reserved but defaults to Vref */
+
+////ADCSC3
+
+// Calibration begin or off
+#define CAL_BEGIN ADC_SC3_CAL_MASK
+#define CAL_OFF 0x00
+
+// Status indicating Calibration failed, or normal success
+#define CALF_FAIL ADC_SC3_CALF_MASK
+#define CALF_NORMAL 0x00
+
+// ADC to continously convert, or do a sinle conversion
+#define ADCO_CONTINUOUS ADC_SC3_ADCO_MASK
+#define ADCO_SINGLE 0x00
+
+// Averaging enabled in the ADC, or not.
+#define AVGE_ENABLED ADC_SC3_AVGE_MASK
+#define AVGE_DISABLED 0x00
+
+// How many to average prior to "interrupting" the MCU? 4, 8, 16, or 32
+#define AVGS_4 0x00
+#define AVGS_8 0x01
+#define AVGS_16 0x02
+#define AVGS_32 0x03
+
+////PGA
+
+// PGA enabled or not?
+#define PGAEN_ENABLED ADC_PGA_PGAEN_MASK
+#define PGAEN_DISABLED 0x00
+
+// Chopper stabilization of the amplifier, or not.
+#define PGACHP_CHOP ADC_PGA_PGACHP_MASK
+#define PGACHP_NOCHOP 0x00
+
+// PGA in low power mode, or normal mode.
+#define PGALP_LOW ADC_PGA_PGALP_MASK
+#define PGALP_NORMAL 0x00
+
+// Gain of PGA. Selectable from 1 to 64.
+#define PGAG_1 0x00
+#define PGAG_2 0x01
+#define PGAG_4 0x02
+#define PGAG_8 0x03
+#define PGAG_16 0x04
+#define PGAG_32 0x05
+#define PGAG_64 0x06
+
+
+#define ADC_STATE_INIT 0
+#define ADC_STATE_CAPTURE_POT_0 1
+#define ADC_STATE_CAPTURE_POT_1 2
+#define ADC_STATE_CAPTURE_BATTERY_LEVEL 3
+#define ADC_STATE_CAPTURE_LINE_SCAN 4
+
+
+/////////// The above values fit into the structure below to select ADC/PGA
+/////////// configuration desired:
+
+typedef struct adc_cfg {
+ uint8_t CONFIG1;
+ uint8_t CONFIG2;
+ uint16_t COMPARE1;
+ uint16_t COMPARE2;
+ uint8_t STATUS2;
+ uint8_t STATUS3;
+ uint8_t STATUS1A;
+ uint8_t STATUS1B;
+ uint32_t PGA;
+} *tADC_ConfigPtr, tADC_Config ;
+
+
+#define CAL_BLK_NUMREC 18
+
+typedef struct adc_cal {
+
+ uint16_t OFS;
+ uint16_t PG;
+ uint16_t MG;
+ uint8_t CLPD;
+ uint8_t CLPS;
+ uint16_t CLP4;
+ uint16_t CLP3;
+ uint8_t CLP2;
+ uint8_t CLP1;
+ uint8_t CLP0;
+ uint8_t dummy;
+ uint8_t CLMD;
+ uint8_t CLMS;
+ uint16_t CLM4;
+ uint16_t CLM3;
+ uint8_t CLM2;
+ uint8_t CLM1;
+ uint8_t CLM0;
+} tADC_Cal_Blk ;
+
+typedef struct ADC_MemMap {
+ uint32_t SC1[2]; /**< ADC Status and Control Registers 1, array offset: 0x0, array step: 0x4 */
+ uint32_t CFG1; /**< ADC Configuration Register 1, offset: 0x8 */
+ uint32_t CFG2; /**< ADC Configuration Register 2, offset: 0xC */
+ uint32_t R[2]; /**< ADC Data Result Register, array offset: 0x10, array step: 0x4 */
+ uint32_t CV1; /**< Compare Value Registers, offset: 0x18 */
+ uint32_t CV2; /**< Compare Value Registers, offset: 0x1C */
+ uint32_t SC2; /**< Status and Control Register 2, offset: 0x20 */
+ uint32_t SC3; /**< Status and Control Register 3, offset: 0x24 */
+ uint32_t OFS; /**< ADC Offset Correction Register, offset: 0x28 */
+ uint32_t PG; /**< ADC Plus-Side Gain Register, offset: 0x2C */
+ uint32_t MG; /**< ADC Minus-Side Gain Register, offset: 0x30 */
+ uint32_t CLPD; /**< ADC Plus-Side General Calibration Value Register, offset: 0x34 */
+ uint32_t CLPS; /**< ADC Plus-Side General Calibration Value Register, offset: 0x38 */
+ uint32_t CLP4; /**< ADC Plus-Side General Calibration Value Register, offset: 0x3C */
+ uint32_t CLP3; /**< ADC Plus-Side General Calibration Value Register, offset: 0x40 */
+ uint32_t CLP2; /**< ADC Plus-Side General Calibration Value Register, offset: 0x44 */
+ uint32_t CLP1; /**< ADC Plus-Side General Calibration Value Register, offset: 0x48 */
+ uint32_t CLP0; /**< ADC Plus-Side General Calibration Value Register, offset: 0x4C */
+ uint8_t RESERVED_0[4];
+ uint32_t CLMD; /**< ADC Minus-Side General Calibration Value Register, offset: 0x54 */
+ uint32_t CLMS; /**< ADC Minus-Side General Calibration Value Register, offset: 0x58 */
+ uint32_t CLM4; /**< ADC Minus-Side General Calibration Value Register, offset: 0x5C */
+ uint32_t CLM3; /**< ADC Minus-Side General Calibration Value Register, offset: 0x60 */
+ uint32_t CLM2; /**< ADC Minus-Side General Calibration Value Register, offset: 0x64 */
+ uint32_t CLM1; /**< ADC Minus-Side General Calibration Value Register, offset: 0x68 */
+ uint32_t CLM0; /**< ADC Minus-Side General Calibration Value Register, offset: 0x6C */
+} volatile *ADC_MemMapPtr;
+
+
+
+/* ADC - Register accessors */
+#define ADC_SC1_REG(base,index) ((base)->SC1[index])
+#define ADC_CFG1_REG(base) ((base)->CFG1)
+#define ADC_CFG2_REG(base) ((base)->CFG2)
+#define ADC_R_REG(base,index) ((base)->R[index])
+#define ADC_CV1_REG(base) ((base)->CV1)
+#define ADC_CV2_REG(base) ((base)->CV2)
+#define ADC_SC2_REG(base) ((base)->SC2)
+#define ADC_SC3_REG(base) ((base)->SC3)
+#define ADC_OFS_REG(base) ((base)->OFS)
+#define ADC_PG_REG(base) ((base)->PG)
+#define ADC_MG_REG(base) ((base)->MG)
+#define ADC_CLPD_REG(base) ((base)->CLPD)
+#define ADC_CLPS_REG(base) ((base)->CLPS)
+#define ADC_CLP4_REG(base) ((base)->CLP4)
+#define ADC_CLP3_REG(base) ((base)->CLP3)
+#define ADC_CLP2_REG(base) ((base)->CLP2)
+#define ADC_CLP1_REG(base) ((base)->CLP1)
+#define ADC_CLP0_REG(base) ((base)->CLP0)
+#define ADC_CLMD_REG(base) ((base)->CLMD)
+#define ADC_CLMS_REG(base) ((base)->CLMS)
+#define ADC_CLM4_REG(base) ((base)->CLM4)
+#define ADC_CLM3_REG(base) ((base)->CLM3)
+#define ADC_CLM2_REG(base) ((base)->CLM2)
+#define ADC_CLM1_REG(base) ((base)->CLM1)
+#define ADC_CLM0_REG(base) ((base)->CLM0)
+
+#define ADC0_BASE_PTR ((ADC_MemMapPtr)0x4003B000u)
+/** Array initializer of ADC peripheral base pointers */
+#define ADC_BASE_PTRS { ADC0_BASE_PTR }
+
+
+float _ServoDutyCycleMin;
+float _ServoDutyCycleMax;
+float _ServoPeriod;
+
+volatile uint16_t QueuedServo0Val;
+volatile uint16_t QueuedServo1Val;
+
+volatile uint8_t TFC_LineScanDataReady;
+volatile uint16_t *LineScanImage0WorkingBuffer;
+volatile uint16_t *LineScanImage1WorkingBuffer;
+
+volatile uint16_t LineScanImage0Buffer[2][128];
+volatile uint16_t LineScanImage1Buffer[2][128];
+volatile uint8_t LineScanWorkingBuffer;
+
+volatile uint16_t PotADC_Value[2];
+volatile uint16_t BatSenseADC_Value;
+volatile uint16_t CurrentADC_State;
+volatile uint8_t CurrentLineScanPixel;
+volatile uint8_t CurrentLineScanChannel;
+volatile uint32_t TFC_ServoTicker;
+volatile uint16_t * TFC_LineScanCameraData[2];
+
+void TFC_SetServoDutyCycle(uint8_t ServoNumber, float DutyCycle);
+void TFC_InitLineScanCamera();
+uint8_t ADC_Cal(ADC_MemMapPtr adcmap);
+void ADC_Config_Alt(ADC_MemMapPtr adcmap, tADC_ConfigPtr ADC_CfgPtr);
+void ADC_Read_Cal(ADC_MemMapPtr adcmap, tADC_Cal_Blk *blk);
+void TFC_InitADC0();
+void TFC_InitADC_System();
+void TFC_GPIO_Init();
+void ADC0_Handler();
+void TPM1_Handler();
+
+
+void TFC_Init()
+{
+
+ TFC_GPIO_Init();
+
+ TFC_InitADC_System(); // Always call this before the Servo init function.... The IRQ for the Servo code modifies ADC registers and the clocks need enable to the ADC peripherals 1st!
+
+ TFC_InitLineScanCamera();
+
+ TFC_InitServos(SERVO_MIN_PULSE_WIDTH_DEFAULT , SERVO_MAX_PULSE_WIDTH_DEFAULT, SERVO_DEFAULT_PERIOD);
+
+ TFC_ServoTicker = 0;
+
+ TFC_InitMotorPWM(FTM0_DEFAULT_SWITCHING_FREQUENCY);
+
+}
+
+
+void TFC_GPIO_Init()
+{
+
+ //enable Clocks to all ports
+
+ SIM->SCGC5 |= SIM_SCGC5_PORTA_MASK | SIM_SCGC5_PORTB_MASK | SIM_SCGC5_PORTC_MASK | SIM_SCGC5_PORTD_MASK | SIM_SCGC5_PORTE_MASK;
+
+ //Setup Pins as GPIO
+ PORTE->PCR[21] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+ PORTE->PCR[20] = PORT_PCR_MUX(1);
+
+ //Port for Pushbuttons
+ PORTC->PCR[13] = PORT_PCR_MUX(1);
+ PORTC->PCR[17] = PORT_PCR_MUX(1);
+
+
+ //Ports for DIP Switches
+ PORTE->PCR[2] = PORT_PCR_MUX(1);
+ PORTE->PCR[3] = PORT_PCR_MUX(1);
+ PORTE->PCR[4] = PORT_PCR_MUX(1);
+ PORTE->PCR[5] = PORT_PCR_MUX(1);
+
+ //Ports for LEDs
+ PORTB->PCR[8] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+ PORTB->PCR[9] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+ PORTB->PCR[10] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+ PORTB->PCR[11] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+
+
+ //Setup the output pins
+ PTE->PDDR = TFC_HBRIDGE_EN_LOC;
+ PTB->PDDR = TFC_BAT_LED0_LOC | TFC_BAT_LED1_LOC | TFC_BAT_LED2_LOC | TFC_BAT_LED3_LOC;
+
+ TFC_SetBatteryLED(0);
+ TFC_HBRIDGE_DISABLE;
+}
+
+void TFC_SetBatteryLED(uint8_t Value)
+{
+ if(Value & 0x01)
+ TFC_BAT_LED0_ON;
+ else
+ TFC_BAT_LED0_OFF;
+
+ if(Value & 0x02)
+ TFC_BAT_LED1_ON;
+ else
+ TFC_BAT_LED1_OFF;
+
+ if(Value & 0x04)
+ TFC_BAT_LED2_ON;
+ else
+ TFC_BAT_LED2_OFF;
+
+ if(Value & 0x08)
+ TFC_BAT_LED3_ON;
+ else
+ TFC_BAT_LED3_OFF;
+}
+
+uint8_t TFC_GetDIP_Switch()
+{
+ uint8_t DIP_Val=0;
+
+ DIP_Val = (PTE->PDIR>>2) & 0xF;
+
+ return DIP_Val;
+}
+
+uint8_t TFC_ReadPushButton(uint8_t Index)
+{
+ if(Index == 0) {
+ return TFC_PUSH_BUTTON_0_PRESSED;
+ } else {
+ return TFC_PUSH_BUTTON_1_PRESSED;
+ }
+}
+
+extern "C" void TPM1_IRQHandler()
+{
+ //Clear the overflow mask if set. According to the reference manual, we clear by writing a logic one!
+ if(TPM1->SC & TPM_SC_TOF_MASK)
+ TPM1->SC |= TPM_SC_TOF_MASK;
+
+ //Dump the queued values to the timer channels
+ TPM1->CONTROLS[0].CnV = QueuedServo0Val;
+ TPM1->CONTROLS[1].CnV = QueuedServo1Val;
+
+
+ //Prime the next ADC capture cycle
+ TAOS_SI_HIGH;
+ //Prime the ADC pump and start capturing POT 0
+ CurrentADC_State = ADC_STATE_CAPTURE_POT_0;
+
+ ADC0->CFG2 &= ~ADC_CFG2_MUXSEL_MASK; //Select the A side of the mux
+ ADC0->SC1[0] = TFC_POT_0_ADC_CHANNEL | ADC_SC1_AIEN_MASK; //Start the State machine at POT0
+
+ //Flag that a new cervo cycle will start
+ if (TFC_ServoTicker < 0xffffffff)//if servo tick less than max value, count up...
+ TFC_ServoTicker++;
+
+}
+
+
+void TFC_InitServos(float PulseWidthMin, float PulseWidthMax, float ServoPeriod)
+{
+
+ SIM->SCGC5 |= SIM_SCGC5_PORTB_MASK;
+
+ _ServoPeriod = ServoPeriod;
+ _ServoDutyCycleMin = PulseWidthMin/ServoPeriod;
+ _ServoDutyCycleMax = PulseWidthMax/ServoPeriod;
+
+ //Clock Setup for the TPM requires a couple steps.
+ SIM->SCGC6 &= ~SIM_SCGC6_TPM1_MASK;
+ //1st, set the clock mux
+ //See Page 124 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
+ SIM->SOPT2 |= SIM_SOPT2_PLLFLLSEL_MASK;// We Want MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
+ SIM->SOPT2 &= ~(SIM_SOPT2_TPMSRC_MASK);
+ SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1);
+
+ //Enable the Clock to the FTM0 Module
+ //See Page 207 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
+ SIM->SCGC6 |= SIM_SCGC6_TPM1_MASK;
+
+ //The TPM Module has Clock. Now set up the peripheral
+
+ //Blow away the control registers to ensure that the counter is not running
+ TPM1->SC = 0;
+ TPM1->CONF = 0;
+
+ //While the counter is disabled we can setup the prescaler
+
+ TPM1->SC = TPM_SC_PS(FTM1_CLK_PRESCALE);
+ TPM1->SC |= TPM_SC_TOIE_MASK; //Enable Interrupts for the Timer Overflow
+
+ //Setup the mod register to get the correct PWM Period
+
+ TPM1->MOD = (SystemCoreClock/(1<<(FTM1_CLK_PRESCALE))) * _ServoPeriod;
+ //Setup Channels 0 and 1
+
+ TPM1->CONTROLS[0].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
+ TPM1->CONTROLS[1].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
+
+
+ //Set the Default duty cycle to servo neutral
+ TFC_SetServo(0, 0.0);
+ TFC_SetServo(1, 0.0);
+
+ //Enable the TPM COunter
+ TPM1->SC |= TPM_SC_CMOD(1);
+
+ //Enable TPM1 IRQ on the NVIC
+
+ //NVIC_SetVector(TPM1_IRQn,(uint32_t)TPM1_Handler);
+ NVIC_EnableIRQ(TPM1_IRQn);
+
+ //Enable the FTM functions on the the port
+
+ PORTB->PCR[0] = PORT_PCR_MUX(3);
+ PORTB->PCR[1] = PORT_PCR_MUX(3);
+
+}
+
+
+void TFC_SetServoDutyCycle(uint8_t ServoNumber, float DutyCycle)
+{
+ switch(ServoNumber) {
+ default:
+ case 0:
+
+ QueuedServo0Val = TPM1->MOD * DutyCycle;
+
+ break;
+
+ case 1:
+
+ QueuedServo1Val = TPM1->MOD * DutyCycle;
+
+ break;
+ }
+}
+
+void TFC_SetServo(uint8_t ServoNumber, float Position)
+{
+ TFC_SetServoDutyCycle(ServoNumber ,
+ ((Position + 1.0)/2) * ((_ServoDutyCycleMax - _ServoDutyCycleMin)+_ServoDutyCycleMin) );
+
+}
+
+//********************************************************************************************************
+//********************************************************************************************************
+//********************************************************************************************************
+// _____ _____ ______ _ _ _ _ _____ _______ _____ ____ _ _ _____
+// /\ | __ \ / ____| | ____| | | | \ | |/ ____|__ __|_ _/ __ \| \ | |/ ____|
+// / \ | | | | | | |__ | | | | \| | | | | | || | | | \| | (___
+// / /\ \ | | | | | | __| | | | | . ` | | | | | || | | | . ` |\___ \
+// / ____ \| |__| | |____ | | | |__| | |\ | |____ | | _| || |__| | |\ |____) |
+// /_/ \_\_____/ \_____| |_| \____/|_| \_|\_____| |_| |_____\____/|_| \_|_____/
+// ********************************************************************************************************
+// ********************************************************************************************************
+// ********************************************************************************************************
+
+
+
+
+
+uint8_t ADC_Cal(ADC_MemMapPtr adcmap)
+{
+
+ uint16_t cal_var;
+
+ ADC_SC2_REG(adcmap) &= ~ADC_SC2_ADTRG_MASK ; // Enable Software Conversion Trigger for Calibration Process - ADC0_SC2 = ADC0_SC2 | ADC_SC2_ADTRGW(0);
+ ADC_SC3_REG(adcmap) &= ( ~ADC_SC3_ADCO_MASK & ~ADC_SC3_AVGS_MASK ); // set single conversion, clear avgs bitfield for next writing
+ ADC_SC3_REG(adcmap) |= ( ADC_SC3_AVGE_MASK | ADC_SC3_AVGS(AVGS_32) ); // Turn averaging ON and set at max value ( 32 )
+
+
+ ADC_SC3_REG(adcmap) |= ADC_SC3_CAL_MASK ; // Start CAL
+ while ( (ADC_SC1_REG(adcmap,A) & ADC_SC1_COCO_MASK ) == COCO_NOT ); // Wait calibration end
+
+ if ((ADC_SC3_REG(adcmap)& ADC_SC3_CALF_MASK) == CALF_FAIL ) {
+ return(1); // Check for Calibration fail error and return
+ }
+ // Calculate plus-side calibration
+ cal_var = 0x00;
+
+ cal_var = ADC_CLP0_REG(adcmap);
+ cal_var += ADC_CLP1_REG(adcmap);
+ cal_var += ADC_CLP2_REG(adcmap);
+ cal_var += ADC_CLP3_REG(adcmap);
+ cal_var += ADC_CLP4_REG(adcmap);
+ cal_var += ADC_CLPS_REG(adcmap);
+
+ cal_var = cal_var/2;
+ cal_var |= 0x8000; // Set MSB
+
+ ADC_PG_REG(adcmap) = ADC_PG_PG(cal_var);
+
+
+ // Calculate minus-side calibration
+ cal_var = 0x00;
+
+ cal_var = ADC_CLM0_REG(adcmap);
+ cal_var += ADC_CLM1_REG(adcmap);
+ cal_var += ADC_CLM2_REG(adcmap);
+ cal_var += ADC_CLM3_REG(adcmap);
+ cal_var += ADC_CLM4_REG(adcmap);
+ cal_var += ADC_CLMS_REG(adcmap);
+
+ cal_var = cal_var/2;
+
+ cal_var |= 0x8000; // Set MSB
+
+ ADC_MG_REG(adcmap) = ADC_MG_MG(cal_var);
+
+ ADC_SC3_REG(adcmap) &= ~ADC_SC3_CAL_MASK ; /* Clear CAL bit */
+
+ return(0);
+}
+
+
+void ADC_Config_Alt(ADC_MemMapPtr adcmap, tADC_ConfigPtr ADC_CfgPtr)
+{
+ ADC_CFG1_REG(adcmap) = ADC_CfgPtr->CONFIG1;
+ ADC_CFG2_REG(adcmap) = ADC_CfgPtr->CONFIG2;
+ ADC_CV1_REG(adcmap) = ADC_CfgPtr->COMPARE1;
+ ADC_CV2_REG(adcmap) = ADC_CfgPtr->COMPARE2;
+ ADC_SC2_REG(adcmap) = ADC_CfgPtr->STATUS2;
+ ADC_SC3_REG(adcmap) = ADC_CfgPtr->STATUS3;
+//ADC_PGA_REG(adcmap) = ADC_CfgPtr->PGA;
+ ADC_SC1_REG(adcmap,A)= ADC_CfgPtr->STATUS1A;
+ ADC_SC1_REG(adcmap,B)= ADC_CfgPtr->STATUS1B;
+}
+
+
+void ADC_Read_Cal(ADC_MemMapPtr adcmap, tADC_Cal_Blk *blk)
+{
+ blk->OFS = ADC_OFS_REG(adcmap);
+ blk->PG = ADC_PG_REG(adcmap);
+ blk->MG = ADC_MG_REG(adcmap);
+ blk->CLPD = ADC_CLPD_REG(adcmap);
+ blk->CLPS = ADC_CLPS_REG(adcmap);
+ blk->CLP4 = ADC_CLP4_REG(adcmap);
+ blk->CLP3 = ADC_CLP3_REG(adcmap);
+ blk->CLP2 = ADC_CLP2_REG(adcmap);
+ blk->CLP1 = ADC_CLP1_REG(adcmap);
+ blk->CLP0 = ADC_CLP0_REG(adcmap);
+ blk->CLMD = ADC_CLMD_REG(adcmap);
+ blk->CLMS = ADC_CLMS_REG(adcmap);
+ blk->CLM4 = ADC_CLM4_REG(adcmap);
+ blk->CLM3 = ADC_CLM3_REG(adcmap);
+ blk->CLM2 = ADC_CLM2_REG(adcmap);
+ blk->CLM1 = ADC_CLM1_REG(adcmap);
+ blk->CLM0 = ADC_CLM0_REG(adcmap);
+
+}
+
+
+void TFC_InitADC0()
+{
+ tADC_Config Master_Adc0_Config;
+
+
+ SIM->SCGC6 |= (SIM_SCGC6_ADC0_MASK);
+
+ //Lets calibrate the ADC. 1st setup how the channel will be used.
+
+
+ Master_Adc0_Config.CONFIG1 = ADLPC_NORMAL //No low power mode
+ | ADC_CFG1_ADIV(ADIV_4) //divide input by 4
+ | ADLSMP_LONG //long sample time
+ | ADC_CFG1_MODE(MODE_12)//single ended 8-bit conversion
+ | ADC_CFG1_ADICLK(ADICLK_BUS);
+
+ Master_Adc0_Config.CONFIG2 = MUXSEL_ADCA // select the A side of the ADC channel.
+ | ADACKEN_DISABLED
+ | ADHSC_HISPEED
+ | ADC_CFG2_ADLSTS(ADLSTS_2);//Extra long sample Time (20 extra clocks)
+
+
+ Master_Adc0_Config.COMPARE1 = 00000; // Comparators don't matter for calibration
+ Master_Adc0_Config.COMPARE1 = 0xFFFF;
+
+ Master_Adc0_Config.STATUS2 = ADTRG_HW //hardware triggers for calibration
+ | ACFE_DISABLED //disable comparator
+ | ACFGT_GREATER
+ | ACREN_ENABLED
+ | DMAEN_DISABLED //Disable DMA
+ | ADC_SC2_REFSEL(REFSEL_EXT); //External Reference
+
+ Master_Adc0_Config.STATUS3 = CAL_OFF
+ | ADCO_SINGLE
+ | AVGE_ENABLED;
+ // | ADC_SC3_AVGS(AVGS_4);
+
+ Master_Adc0_Config.PGA = 0; // Disable the PGA
+
+
+ // Configure ADC as it will be used, but because ADC_SC1_ADCH is 31,
+ // the ADC will be inactive. Channel 31 is just disable function.
+ // There really is no channel 31.
+
+ Master_Adc0_Config.STATUS1A = AIEN_ON | DIFF_SINGLE | ADC_SC1_ADCH(31);
+
+
+ ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc0_Config); // config ADC
+
+ // Calibrate the ADC in the configuration in which it will be used:
+ ADC_Cal(ADC0_BASE_PTR); // do the calibration
+
+
+ Master_Adc0_Config.STATUS2 = ACFE_DISABLED //disable comparator
+ | ACFGT_GREATER
+ | ACREN_ENABLED
+ | DMAEN_DISABLED //Disable DMA
+ | ADC_SC2_REFSEL(REFSEL_EXT); //External Reference
+
+ Master_Adc0_Config.STATUS3 = CAL_OFF
+ | ADCO_SINGLE;
+
+
+
+ ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc0_Config);
+}
+
+
+void TFC_InitADC_System()
+{
+
+ TFC_InitADC0();
+
+
+ //All Adc processing of the Pots and linescan will be done in the ADC0 IRQ!
+ //A state machine will scan through the channels.
+ //This is done to automate the linescan capture on Channel 0 to ensure that timing is very even
+ CurrentADC_State = ADC_STATE_INIT;
+
+ //The pump will be primed with the TPM1 interrupt. upon timeout/interrupt it will set the SI signal high
+ //for the camera and then start the conversions for the pots.
+
+ // NVIC_SetVector(ADC0_IRQn,(uint32_t)ADC0_Handler);
+ NVIC_EnableIRQ(ADC0_IRQn);
+
+}
+
+extern "C" void ADC0_IRQHandler()
+{
+ uint8_t Junk;
+
+ switch(CurrentADC_State) {
+ default:
+ Junk = ADC0->R[0];
+ break;
+
+ case ADC_STATE_CAPTURE_POT_0:
+
+ PotADC_Value[0] = ADC0->R[0];
+ ADC0->CFG2 &= ~ADC_CFG2_MUXSEL_MASK; //Select the A side of the mux
+ ADC0->SC1[0] = TFC_POT_1_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
+ CurrentADC_State = ADC_STATE_CAPTURE_POT_1;
+
+ break;
+
+ case ADC_STATE_CAPTURE_POT_1:
+
+ PotADC_Value[1] = ADC0->R[0];
+ ADC0->CFG2 |= ADC_CFG2_MUXSEL_MASK; //Select the B side of the mux
+ ADC0->SC1[0] = TFC_BAT_SENSE_CHANNEL| ADC_SC1_AIEN_MASK;
+ CurrentADC_State = ADC_STATE_CAPTURE_BATTERY_LEVEL;
+
+ break;
+
+ case ADC_STATE_CAPTURE_BATTERY_LEVEL:
+
+ BatSenseADC_Value = ADC0->R[0];
+
+ //Now we will start the sequence for the Linescan camera
+
+ TAOS_CLK_HIGH;
+
+ for(Junk = 0; Junk<50; Junk++) {
+ }
+
+ TAOS_SI_LOW;
+
+
+ CurrentLineScanPixel = 0;
+ CurrentLineScanChannel = 0;
+ CurrentADC_State = ADC_STATE_CAPTURE_LINE_SCAN;
+ ADC0->CFG2 |= ADC_CFG2_MUXSEL_MASK; //Select the B side of the mux
+ ADC0->SC1[0] = TFC_LINESCAN0_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
+
+ break;
+
+ case ADC_STATE_CAPTURE_LINE_SCAN:
+
+ if(CurrentLineScanPixel<128) {
+ if(CurrentLineScanChannel == 0) {
+ LineScanImage0WorkingBuffer[CurrentLineScanPixel] = ADC0->R[0];
+ ADC0->SC1[0] = TFC_LINESCAN1_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
+ CurrentLineScanChannel = 1;
+
+ } else {
+ LineScanImage1WorkingBuffer[CurrentLineScanPixel] = ADC0->R[0];
+ ADC0->SC1[0] = TFC_LINESCAN0_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
+ CurrentLineScanChannel = 0;
+ CurrentLineScanPixel++;
+
+ TAOS_CLK_LOW;
+ for(Junk = 0; Junk<50; Junk++) {
+ }
+ TAOS_CLK_HIGH;
+
+ }
+
+ } else {
+ // done with the capture sequence. we can wait for the PIT0 IRQ to restart
+
+ TAOS_CLK_HIGH;
+
+ for(Junk = 0; Junk<50; Junk++) {
+ }
+
+ TAOS_CLK_LOW;
+ CurrentADC_State = ADC_STATE_INIT;
+
+ //swap the buffer
+
+ if(LineScanWorkingBuffer == 0) {
+ LineScanWorkingBuffer = 1;
+
+ LineScanImage0WorkingBuffer = &LineScanImage0Buffer[1][0];
+ LineScanImage1WorkingBuffer = &LineScanImage1Buffer[1][0];
+
+ TFC_LineScanCameraData[0] = &LineScanImage0Buffer[0][0];
+ TFC_LineScanCameraData[1] = &LineScanImage1Buffer[0][0];
+ } else {
+ LineScanWorkingBuffer = 0;
+ LineScanImage0WorkingBuffer = &LineScanImage0Buffer[0][0];
+ LineScanImage1WorkingBuffer = &LineScanImage1Buffer[0][0];
+
+ TFC_LineScanCameraData[0] = &LineScanImage0Buffer[1][0];
+ TFC_LineScanCameraData[1] = &LineScanImage1Buffer[1][0];
+ }
+
+ TFC_LineScanDataReady++;
+ }
+
+ break;
+ }
+
+}
+
+void TFC_InitLineScanCamera()
+{
+ SIM->SCGC5 |= SIM_SCGC5_PORTE_MASK | SIM_SCGC5_PORTD_MASK; //Make sure the clock is enabled for PORTE;
+ PORTE->PCR[1] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin for the CLOCK Signal
+ PORTD->PCR[7] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin for SI signal
+
+ PORTD->PCR[5] = PORT_PCR_MUX(0); //Make sure AO signal goes to an analog input
+ PORTD->PCR[6] = PORT_PCR_MUX(0); //Make sure AO signal goes to an analog input
+
+ //Make sure the Clock and SI pins are outputs
+ PTD->PDDR |= (1<<7);
+ PTE->PDDR |= (1<<1);
+
+ TAOS_CLK_LOW;
+ TAOS_SI_LOW;
+
+ LineScanWorkingBuffer = 0;
+
+ LineScanImage0WorkingBuffer = &LineScanImage0Buffer[LineScanWorkingBuffer][0];
+ LineScanImage1WorkingBuffer = &LineScanImage1Buffer[LineScanWorkingBuffer][0];
+
+ TFC_LineScanCameraData[0] = &LineScanImage0Buffer[1][0];
+ TFC_LineScanCameraData[1] = &LineScanImage1Buffer[1][0];
+}
+
+
+
+
+
+/** Initialized TPM0 to be used for generating PWM signals for the the dual drive motors. This method is called in the TFC constructor with a default value of 4000.0Hz
+*
+* @param SwitchingFrequency PWM Switching Frequency in floating point format. Pick something between 1000 and 9000. Maybe you can modulate it and make a tune.
+*/
+void TFC_InitMotorPWM(float SwitchingFrequency)
+{
+ //Clock Setup for the TPM requires a couple steps.
+
+
+ //1st, set the clock mux
+ //See Page 124 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
+ // SIM->SOPT2 |= SIM_SOPT2_PLLFLLSEL_MASK;// We Want MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
+ // SIM->SOPT2 &= ~(SIM_SOPT2_TPMSRC_MASK);
+ // SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1); //We want the MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
+
+
+ //Enable the Clock to the FTM0 Module
+ //See Page 207 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
+ SIM->SCGC6 |= SIM_SCGC6_TPM0_MASK;
+
+ //The TPM Module has Clock. Now set up the peripheral
+
+ //Blow away the control registers to ensure that the counter is not running
+ TPM0->SC = 0;
+ TPM0->CONF = 0;
+
+ //While the counter is disabled we can setup the prescaler
+
+ TPM0->SC = TPM_SC_PS(FTM0_CLK_PRESCALE);
+
+ //Setup the mod register to get the correct PWM Period
+
+ TPM0->MOD = (uint32_t)((float)(FTM0_CLOCK/(1<<FTM0_CLK_PRESCALE))/SwitchingFrequency);
+
+ //Setup Channels 0,1,2,3
+ TPM0->CONTROLS[0].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
+ TPM0->CONTROLS[1].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSA_MASK; // invert the second PWM signal for a complimentary output;
+ TPM0->CONTROLS[2].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
+ TPM0->CONTROLS[3].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSA_MASK; // invert the second PWM signal for a complimentary output;
+
+ //Enable the Counter
+
+ //Set the Default duty cycle to 50% duty cycle
+ TFC_SetMotorPWM(0.0,0.0);
+
+ //Enable the TPM COunter
+ TPM0->SC |= TPM_SC_CMOD(1);
+
+ //Enable the FTM functions on the the port
+ PORTC->PCR[1] = PORT_PCR_MUX(4);
+ PORTC->PCR[2] = PORT_PCR_MUX(4);
+ PORTC->PCR[3] = PORT_PCR_MUX(4);
+ PORTC->PCR[4] = PORT_PCR_MUX(4);
+
+}
+
+void TFC_SetMotorPWM(float MotorA , float MotorB)
+{
+ if(MotorA>1.0)
+ MotorA = 1.0;
+ else if(MotorA<-1.0)
+ MotorA = -1.0;
+
+ if(MotorB>1.0)
+ MotorB = 1.0;
+ else if(MotorB<-1.0)
+ MotorB = -1.0;
+
+ TPM0->CONTROLS[2].CnV = (uint16_t) ((float)TPM0->MOD * (float)((MotorA + 1.0)/2.0));
+ TPM0->CONTROLS[3].CnV = TPM0->CONTROLS[2].CnV;
+ TPM0->CONTROLS[0].CnV = (uint16_t) ((float)TPM0->MOD * (float)((MotorB + 1.0)/2.0));
+ TPM0->CONTROLS[1].CnV = TPM0->CONTROLS[0].CnV;
+
+}
+
+//Pot Reading is Scaled to return a value of -1.0 to 1.0
+float TFC_ReadPot(uint8_t Channel)
+{
+ if(Channel == 0)
+ return ((float)PotADC_Value[0]/-((float)ADC_MAX_CODE/2.0))+1.0;
+ else
+ return ((float)PotADC_Value[1]/-((float)ADC_MAX_CODE/2.0))+1.0;
+}
+
+float TFC_ReadBatteryVoltage()
+{
+ return (((float)BatSenseADC_Value/(float)(ADC_MAX_CODE)) * 3.0);// * ((47000.0+10000.0)/10000.0);
+}