kao yi
wu
Revision 19:4869b10a962e, committed 2014-07-02
- Comitter:
- backman
- Date:
- Wed Jul 02 03:23:07 2014 +0000
- Parent:
- 18:eb675df59c7f
- Commit message:
- wang
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BX-adc.cpp Wed Jul 02 03:23:07 2014 +0000
@@ -0,0 +1,97 @@
+#ifdef TARGET_KLXX
+
+#include "BX-adc.h"
+#include "clk_freqs.h"
+
+#define MAX_FADC 6000000
+#define CHANNELS_A_SHIFT 5
+
+FastAnalogIn::FastAnalogIn(PinName pin, bool enabled)
+{
+ ADCnumber = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
+ if (ADCnumber == (ADCName)NC) {
+ error("ADC pin mapping failed");
+ }
+
+ SIM->SCGC6 |= SIM_SCGC6_ADC0_MASK;
+
+ uint32_t port = (uint32_t)pin >> PORT_SHIFT;
+ SIM->SCGC5 |= 1 << (SIM_SCGC5_PORTA_SHIFT + port);
+
+ uint32_t cfg2_muxsel = ADC_CFG2_MUXSEL_MASK;
+ if (ADCnumber & (1 << CHANNELS_A_SHIFT)) {
+ cfg2_muxsel = 0;
+ }
+
+ // bus clk
+ uint32_t PCLK = bus_frequency();
+ uint32_t clkdiv;
+ for (clkdiv = 0; clkdiv < 4; clkdiv++) {
+ if ((PCLK >> clkdiv) <= MAX_FADC)
+ break;
+ }
+ if (clkdiv == 4) //Set max div
+ clkdiv = 0x7;
+
+ ADC0->SC1[1] = ADC_SC1_ADCH(ADCnumber & ~(1 << CHANNELS_A_SHIFT));
+
+ ADC0->CFG1 = ADC_CFG1_ADIV(clkdiv & 0x3) // Clock Divide Select: (Input Clock)/8
+ | ADC_CFG1_MODE(3) // (16)bits Resolution
+ | ADC_CFG1_ADICLK(clkdiv >> 2); // Input Clock: (Bus Clock)/2
+
+ ADC0->CFG2 = cfg2_muxsel // ADxxb or ADxxa channels
+ | ADC_CFG2_ADACKEN_MASK // Asynchronous Clock Output Enable
+ | ADC_CFG2_ADHSC_MASK; // High-Speed Configuration
+
+ ADC0->SC2 = ADC_SC2_REFSEL(0); // Default Voltage Reference
+
+ pinmap_pinout(pin, PinMap_ADC);
+
+ //Enable channel
+ running = false;
+ enable(enabled);
+}
+
+void FastAnalogIn::enable(bool enabled)
+{
+ //If currently not running
+ if (!running) {
+ if (enabled) {
+ //Enable the ADC channel
+ ADC0->SC3 |= ADC_SC3_ADCO_MASK; // Enable continuous conversion
+ ADC0->SC1[0] = ADC_SC1_ADCH(ADCnumber & ~(1 << CHANNELS_A_SHIFT)); //Start conversion
+ running = true;
+ } else
+ disable();
+ }
+}
+
+void FastAnalogIn::disable( void )
+{
+ //If currently running
+ if (running) {
+ ADC0->SC3 &= ~ADC_SC3_ADCO_MASK; // Disable continuous conversion
+ }
+ running = false;
+}
+
+uint16_t FastAnalogIn::read_u16()
+{
+ if (!running)
+ {
+ // start conversion
+ ADC0->SC1[0] = ADC_SC1_ADCH(ADCnumber & ~(1 << CHANNELS_A_SHIFT));
+ // Wait Conversion Complete
+ while ((ADC0->SC1[0] & ADC_SC1_COCO_MASK) != ADC_SC1_COCO_MASK);
+ }
+ if(running && ((ADC0->SC1[0]&ADC_SC1_ADCH_MASK) != (ADC_SC1_ADCH(ADCnumber & ~(1 << CHANNELS_A_SHIFT)))))
+ {
+ running = false;
+ enable();
+ while ((ADC0->SC1[0] & ADC_SC1_COCO_MASK) != ADC_SC1_COCO_MASK);
+ }
+ // Return value
+ return (uint16_t)ADC0->R[0];
+}
+
+#endif //defined TARGET_KLXX
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BX-adc.h Wed Jul 02 03:23:07 2014 +0000
@@ -0,0 +1,117 @@
+#include "mbed.h"
+#include "pinmap.h"
+
+
+
+ /** A class similar to AnalogIn, only faster, for LPC1768, LPC408X and KLxx
+ *
+ * AnalogIn does a single conversion when you read a value (actually several conversions and it takes the median of that).
+ * This library runns the ADC conversion automatically in the background.
+ * When read is called, it immediatly returns the last sampled value.
+ *
+ * LPC1768 / LPC4088
+ * Using more ADC pins in continuous mode will decrease the conversion rate (LPC1768:200kHz/LPC4088:400kHz).
+ * If you need to sample one pin very fast and sometimes also need to do AD conversions on another pin,
+ * you can disable the continuous conversion on that ADC channel and still read its value.
+ *
+ * KLXX
+ * Multiple Fast instances can be declared of which only ONE can be continuous (all others must be non-continuous).
+ *
+ * When continuous conversion is disabled, a read will block until the conversion is complete
+ * (much like the regular AnalogIn library does).
+ * Each ADC channel can be enabled/disabled separately.
+ *
+ * IMPORTANT : It does not play nicely with regular AnalogIn objects, so either use this library or AnalogIn, not both at the same time!!
+ *
+ * Example for the KLxx processors:
+ * @code
+ * // Print messages when the AnalogIn is greater than 50%
+ *
+ * #include "mbed.h"
+ *
+ * FastAnalogIn temperature(PTC2); //Fast continuous sampling on PTC2
+ * FastAnalogIn speed(PTB3, 0); //Fast non-continuous sampling on PTB3
+ *
+ * int main() {
+ * while(1) {
+ * if(temperature > 0.5) {
+ * printf("Too hot! (%f) at speed %f", temperature.read(), speed.read());
+ * }
+ * }
+ * }
+ * @endcode
+ * Example for the LPC1768 processor:
+ * @code
+ * // Print messages when the AnalogIn is greater than 50%
+ *
+ * #include "mbed.h"
+ *
+ * FastAnalogIn temperature(p20);
+ *
+ * int main() {
+ * while(1) {
+ * if(temperature > 0.5) {
+ * printf("Too hot! (%f)", temperature.read());
+ * }
+ * }
+ * }
+ * @endcode
+*/
+class FastAnalogIn {
+
+public:
+ /** Create a FastAnalogIn, connected to the specified pin
+ *
+ * @param pin AnalogIn pin to connect to
+ * @param enabled Enable the ADC channel (default = true)
+ */
+ FastAnalogIn( PinName pin, bool enabled = true );
+
+ ~FastAnalogIn( void )
+ {
+ disable();
+ }
+
+ /** Enable the ADC channel
+ *
+ * @param enabled Bool that is true for enable, false is equivalent to calling disable
+ */
+ void enable(bool enabled = true);
+
+ /** Disable the ADC channel
+ *
+ * Disabling unused channels speeds up conversion in used channels.
+ * When disabled you can still call read, that will do a single conversion (actually two since the first one always returns 0 for unknown reason).
+ * Then the function blocks until the value is read. This is handy when you sometimes needs a single conversion besides the automatic conversion
+ */
+ void disable( void );
+
+ /** Returns the raw value
+ *
+ * @param return Unsigned integer with converted value
+ */
+ unsigned short read_u16( void );
+
+ /** Returns the scaled value
+ *
+ * @param return Float with scaled converted value to 0.0-1.0
+ */
+ float read( void )
+ {
+ unsigned short value = read_u16();
+ return (float)value * (1.0f/65535.0f);
+ }
+
+ /** An operator shorthand for read()
+ */
+ operator float() {
+ return read();
+ }
+
+
+private:
+ bool running;
+ char ADCnumber;
+ uint32_t *datareg;
+};
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TFC.cpp Wed Jul 02 03:23:07 2014 +0000
@@ -0,0 +1,1038 @@
+#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)(.010) // Desired Frequency of PWM Signal - Here 50Hz => 20ms period
+#define TAOS_CLK_COUNT 200 // Number of cycles for CLK Signal on camera
+
+// 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 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 * TFC_LineScanImage0;
+volatile uint16_t * TFC_LineScanImage1;
+volatile uint8_t TFC_LineScanImageReady;
+
+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;
+
+
+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<TAOS_CLK_COUNT/2; 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<TAOS_CLK_COUNT/2; 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<TAOS_CLK_COUNT/2; 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_LineScanImage0 = &LineScanImage0Buffer[0][0];
+ TFC_LineScanImage1 = &LineScanImage1Buffer[0][0];
+ } else {
+ LineScanWorkingBuffer = 0;
+ LineScanImage0WorkingBuffer = &LineScanImage0Buffer[0][0];
+ LineScanImage1WorkingBuffer = &LineScanImage1Buffer[0][0];
+
+ TFC_LineScanImage0 = &LineScanImage0Buffer[1][0];
+ TFC_LineScanImage1 = &LineScanImage1Buffer[1][0];
+ }
+
+ TFC_LineScanImageReady++;
+ }
+
+ 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_LineScanImage0 = &LineScanImage0Buffer[1][0];
+ TFC_LineScanImage1 = &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);
+}
+
+
+void TFC_SetBatteryLED_Level(uint8_t BattLevel)
+{
+ switch(BattLevel)
+ {
+ default:
+ case 0:
+ TFC_BAT_LED0_OFF;
+ TFC_BAT_LED1_OFF;
+ TFC_BAT_LED2_OFF;
+ TFC_BAT_LED3_OFF;
+ break;
+
+ case 1:
+ TFC_BAT_LED0_ON;
+ TFC_BAT_LED1_OFF;
+ TFC_BAT_LED2_OFF;
+ TFC_BAT_LED3_OFF;
+ break;
+
+ case 2:
+ TFC_BAT_LED0_ON;
+ TFC_BAT_LED1_ON;
+ TFC_BAT_LED2_OFF;
+ TFC_BAT_LED3_OFF;
+ break;
+
+ case 3:
+ TFC_BAT_LED0_ON;
+ TFC_BAT_LED1_ON;
+ TFC_BAT_LED2_ON;
+ TFC_BAT_LED3_OFF;
+ break;
+
+ case 4:
+ TFC_BAT_LED0_ON;
+ TFC_BAT_LED1_ON;
+ TFC_BAT_LED2_ON;
+ TFC_BAT_LED3_ON;
+ break;
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TFC.h Wed Jul 02 03:23:07 2014 +0000
@@ -0,0 +1,252 @@
+
+#include "mbed.h"
+
+/** @file test.h*/
+
+/**
+ * @defgroup FRDM-TFC_API FRDM-TFC_API
+ *
+ * @{
+ */
+
+
+/**
+
+@addtogroup FRDM-TFC_API
+
+@{
+
+Resources used by the TFC Library\n
+
+I/O:\n
+-------------------------------------------------------------------------------------------------\n
+
+ PTB0 (Servo Channel 0 - TPM1)\n
+ PTB1 (Servo Channel 1 - TPM1)\n
+\n
+ PTB8 (Battery LED0)\n
+ PTB9 (Battery LED1)\n
+ PTB10 (Battery LED2)\n
+ PTB11 (Battery LED3)\n
+\n
+ PTD7 (Camera SI)\n
+ PTE0 (Camera CLK)\n
+ PTD5 (Camera A0 - ADC_SE6b)\n
+ PTD6 (Camera A1 - ADC_SE7b)\n
+\n
+ PTE2 DIP Switch 0\n
+ PTE3 DIP Switch 1\n
+ PTE4 DIP Switch 2\n
+ PTE5 DIP Switch 3\n
+
+ PTC13 Pushbutton SW1\n
+ PTC17 Pushbutton SW2\n
+
+ PTC3 H-Bridge A - 1 FTM0_CH3\n
+ PTC4 H-Bridge A - 2 FTM0_CH4\n
+ PTC1 H-Bridge B - 1 FTM0_CH1\n
+ PTC2 H-Bridge B - 2 FTM0_CH2\n
+
+ PTE21 H-Bridge Enable\n
+ PTE20 H-Bridge Fault\n
+
+ PTE23 H-Bridge A - IFB\n
+ PTE22 H-Bridge B - IFB\n
+
+ }
+*/
+
+
+
+#ifndef _TFC_H
+#define _TFC_H
+
+#define TFC_HBRIDGE_EN_LOC (uint32_t)(1<<21)
+#define TFC_HBRIDGE_FAULT_LOC (uint32_t)(1<<20)
+
+#define TFC_HBRIDGE_ENABLE PTE->PSOR = TFC_HBRIDGE_EN_LOC
+#define TFC_HBRIDGE_DISABLE PTE->PCOR = TFC_HBRIDGE_EN_LOC
+
+#define TFC_DIP_SWITCH0_LOC ((uint32_t)(1<<2))
+#define TFC_DIP_SWITCH1_LOC ((uint32_t)(1<<3))
+#define TFC_DIP_SWITCH2_LOC ((uint32_t)(1<<4))
+#define TFC_DIP_SWITCH3_LOC ((uint32_t)(1<<5))
+
+#define TFC_PUSH_BUTT0N0_LOC ((uint32_t)(1<<13))
+#define TFC_PUSH_BUTT0N1_LOC ((uint32_t)(1<<17))
+
+#define TFC_BAT_LED0_LOC ((uint32_t)(1<<11))
+#define TFC_BAT_LED1_LOC ((uint32_t)(1<<10))
+#define TFC_BAT_LED2_LOC ((uint32_t)(1<<9))
+#define TFC_BAT_LED3_LOC ((uint32_t)(1<<8))
+
+#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)
+
+
+/**
+
+@addtogroup FRDM-TFC_API
+@{
+*/
+
+/**Macro to turn on LED 0 in the battery indicator array*/
+#define TFC_BAT_LED0_ON PTB->PSOR = TFC_BAT_LED0_LOC
+/** Macro to turn on LED 1 in the battery indicator array*/
+#define TFC_BAT_LED1_ON PTB->PSOR = TFC_BAT_LED1_LOC
+/** Macro to turn on LED 2 in the battery indicator array*/
+#define TFC_BAT_LED2_ON PTB->PSOR = TFC_BAT_LED2_LOC
+/** Macro to turn on LED 3 in the battery indicator array*/
+#define TFC_BAT_LED3_ON PTB->PSOR = TFC_BAT_LED3_LOC
+
+
+/** Macro to turn off LED 0 in the battery indicator array*/
+#define TFC_BAT_LED0_OFF PTB->PCOR = TFC_BAT_LED0_LOC
+/** Macro to turn off LED 1 in the battery indicator array*/
+#define TFC_BAT_LED1_OFF PTB->PCOR = TFC_BAT_LED1_LOC
+/** Macro to turn off LED 2 in the battery indicator array*/
+#define TFC_BAT_LED2_OFF PTB->PCOR = TFC_BAT_LED2_LOC
+/** Macro to turn off LED 3 in the battery indicator array*/
+#define TFC_BAT_LED3_OFF PTB->PCOR = TFC_BAT_LED3_LOC
+
+
+/** Macro to toggle LED 0 in the battery indicator array*/
+#define TFC_BAT_LED0_TOGGLE PTB->PTOR = TFC_BAT_LED0_LOC
+/** Macro to toggle LED 1 in the battery indicator array*/
+#define TFC_BAT_LED1_TOGGLE PTB->PTOR = TFC_BAT_LED1_LOC
+/** Macro to toggle LED 2 in the battery indicator array*/
+#define TFC_BAT_LED2_TOGGLE PTB->PTOR = TFC_BAT_LED2_LOC
+/** Macro to toggle LED 3 in the battery indicator array*/
+#define TFC_BAT_LED3_TOGGLE PTB->PTOR = TFC_BAT_LED3_LOC
+
+
+/** Macro to read the state of the pushbutton SW1*/
+#define TFC_PUSH_BUTTON_0_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N0_LOC)>0)
+/** Macro to read the state of the pushbutton SW1*/
+#define TFC_PUSH_BUTTON_1_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N1_LOC)>0)
+
+/** Macro to read the state of switch 0 in the 4 position DIP switch*/
+#define TFC_DIP_SWITCH_0_ON ((TFC_GetDIP_Switch()&0x01)>0)
+
+/** Macro to read the state of switch 1 in the 4 position DIP switch*/
+#define TFC_DIP_SWITCH_1_ON ((TFC_GetDIP_Switch()&0x02)>0)
+
+/** Macro to read the state of switch 2 in the 4 position DIP switch*/
+#define TFC_DIP_SWITCH_2_ON ((TFC_GetDIP_Switch()&0x04)>0)
+
+/** Macro to read the state of switch 3 in the 4 position DIP switch*/
+#define TFC_DIP_SWITCH_3_ON ((TFC_GetDIP_Switch()&0x08)>0)
+
+
+/** Initialized the TFC API. Call before using any other API calls.
+*
+*/
+void TFC_Init();
+
+/** ServoTicker will increment once every servo cycle.
+* It can be used to synchronize events to the start of a servo cycle. ServoTicker is a volatile uint32_t and is updated in the TPM1 overlflow interrupt. This means you will see ServoTicker increment on the rising edge of the servo PWM signal
+*
+*/
+ extern volatile uint32_t TFC_ServoTicker;
+
+
+/** Gets the state of the 4-positiomn DIP switch on the FRDM-TFC
+*
+* @returns The lower 4-bits of the return value map to the 4-bits of the DIP switch
+*/
+uint8_t TFC_GetDIP_Switch();
+
+
+/** Reads the state of the pushbuttons (SW1, SW2) on the FRDM-TFC
+* @param Index Selects the pushbutton (0 for SW1 and 1 for SW2)
+* @returns A non-zero value if the button is pushed
+*/
+uint8_t TFC_ReadPushButton(uint8_t Index);
+
+
+/** Controls the 4 battery level LEDs on the FRDM-TFC boards.
+*
+* @param Value The lower 4-bits of the parameter maps to the 4 LEDs.
+*/
+void TFC_SetBatteryLED(uint8_t Value);
+
+
+/** Sets the servo channels
+*
+* @param ServoNumber Which servo channel on the FRDM-TFC to use (0 or 1). 0 is the default channel for steering
+* @param Position Angle setting for servo in a normalized (-1.0 to 1.0) form. The range of the servo can be changed with the InitServos function.
+* This is called in the TFC constructor with some useful default values--> 20mSec period, 0.5mS min and 2.0mSec max. you may need to adjust these for your own particular setup.
+*/
+void TFC_SetServo(uint8_t ServoNumber, float Position);
+
+/** Initializes TPM for the servoes. It also sets the max and min ranges
+*
+* @param ServoPulseWidthMin Minimum pulse width (in seconds) for the servo. The value of -1.0 in SetServo is mapped to this pulse width. I.E. .001
+* @param ServoPulseWidthMax Maximum pulse width (in seconds) for the servo. The value of +1.0 in SetServo is mapped to this pulse width. I.E. .002
+* @param ServoPeriod Period of the servo pulses (in seconds). I.e. .020 for 20mSec
+*/
+
+void TFC_InitServos(float ServoPulseWidthMin, float ServoPulseWidthMax, float ServoPeriod);
+
+
+/** 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);
+
+/** Sets the PWM value for each motor.
+*
+* @param MotorA The PWM value for HBridgeA. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
+* @param MotorB The PWM value for HBridgeB. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
+*/
+void TFC_SetMotorPWM(float MotorA ,float MotorB);
+
+/** Reads the potentiometers
+*
+* @param Channel Selects which pot is read. I.e. 0 for POT0 or 1 for POT1
+* @returns Pot value from -1.0 to 1.0
+*/
+float TFC_ReadPot(uint8_t Channel);
+
+/** Gets the current battery voltage
+*
+* @returns Battery voltage in floating point form.
+*/
+float TFC_ReadBatteryVoltage();
+
+
+
+/** Sets the Battery level indiciate
+*
+* @param BattLevel A number betwween 0 and 4. This will light the bar from left to right with the specifified number of segments.
+*
+*/
+void TFC_SetBatteryLED_Level(uint8_t BattLevel);
+
+
+/** Pointer to two channels of line scan camera data. Each channel is 128 points of uint8_t's. Note that the underlying implementation is ping-pong buffer These pointers will point to the
+*inactive buffer.
+*
+*/
+
+extern volatile uint16_t * TFC_LineScanImage0;
+extern volatile uint16_t * TFC_LineScanImage1;
+
+
+/** This flag will increment when a new frame is ready. Check for a non zero value (and reset to zero!) when you want to read the camera(s)
+*
+*/
+
+extern volatile uint8_t TFC_LineScanImageReady;
+
+
+
+
+
+/** @} */
+
+
+#endif
--- a/bx-adc.cpp Mon Jun 30 07:01:58 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,94 +0,0 @@
-#include "bx-adc.h"
-#include "clk_freqs.h"
-
-#define MAX_FADC 6000000
-#define CHANNELS_A_SHIFT 5
-
-FastAnalogIn::FastAnalogIn(PinName pin, bool enabled)
-{
- ADCnumber = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
- if (ADCnumber == (ADCName)NC) {
- error("ADC pin mapping failed");
- }
-
- SIM->SCGC6 |= SIM_SCGC6_ADC0_MASK;
- //-----------------------------------------------------
- uint32_t port = (uint32_t)pin >> PORT_SHIFT;
- SIM->SCGC5 |= 1 << (SIM_SCGC5_PORTA_SHIFT + port);
-
- uint32_t cfg2_muxsel = ADC_CFG2_MUXSEL_MASK;
- if (ADCnumber & (1 << CHANNELS_A_SHIFT)) {
- cfg2_muxsel = 0;
- }
- //------------------------------------------------------
- // bus clk
- uint32_t PCLK = bus_frequency();
- uint32_t clkdiv;
- for (clkdiv = 0; clkdiv < 4; clkdiv++) {
- if ((PCLK >> clkdiv) <= MAX_FADC)
- break;
- }
- if (clkdiv == 4) //Set max div
- clkdiv = 0x7;
-
- ADC0->SC1[1] = ADC_SC1_ADCH(ADCnumber & ~(1 << CHANNELS_A_SHIFT));
-
- ADC0->CFG1 = ADC_CFG1_ADIV(clkdiv & 0x3) // Clock Divide Select: (Input Clock)/8
- | ADC_CFG1_MODE(3) // (16)bits Resolution
- | ADC_CFG1_ADICLK(clkdiv >> 2); // Input Clock: (Bus Clock)/2
-
- ADC0->CFG2 = cfg2_muxsel // ADxxb or ADxxa channels
- | ADC_CFG2_ADACKEN_MASK // Asynchronous Clock Output Enable
- | ADC_CFG2_ADHSC_MASK; // High-Speed Configuration
-
- ADC0->SC2 = ADC_SC2_REFSEL(0); // Default Voltage Reference
-
- pinmap_pinout(pin, PinMap_ADC);
-
- //Enable channel
- running = false;
- enable(enabled);
-}
-
-void FastAnalogIn::enable(bool enabled)
-{
- //If currently not running
- if (!running) {
- if (enabled) {
- //Enable the ADC channel
- ADC0->SC3 |= ADC_SC3_ADCO_MASK; // Enable continuous conversion
- ADC0->SC1[0] = ADC_SC1_ADCH(ADCnumber & ~(1 << CHANNELS_A_SHIFT)); //Start conversion
- running = true;
- } else
- disable();
- }
-}
-
-void FastAnalogIn::disable( void )
-{
- //If currently running
- if (running) {
- ADC0->SC3 &= ~ADC_SC3_ADCO_MASK; // Disable continuous conversion
- }
- running = false;
-}
-
-uint16_t FastAnalogIn::read_u16()
-{
- if (!running)
- {
- // start conversion
- ADC0->SC1[0] = ADC_SC1_ADCH(ADCnumber & ~(1 << CHANNELS_A_SHIFT));
- // Wait Conversion Complete
- while ((ADC0->SC1[0] & ADC_SC1_COCO_MASK) != ADC_SC1_COCO_MASK);
- }
- if(running && ((ADC0->SC1[0]&ADC_SC1_ADCH_MASK) != (ADC_SC1_ADCH(ADCnumber & ~(1 << CHANNELS_A_SHIFT)))))
- {
- running = false;
- enable();
- while ((ADC0->SC1[0] & ADC_SC1_COCO_MASK) != ADC_SC1_COCO_MASK);
- }
- // Return value
- return (uint16_t)ADC0->R[0];
-}
-
\ No newline at end of file
--- a/bx-adc.h Mon Jun 30 07:01:58 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,117 +0,0 @@
-#include "mbed.h"
-#include "pinmap.h"
-
-
-
- /** A class similar to AnalogIn, only faster, for LPC1768, LPC408X and KLxx
- *
- * AnalogIn does a single conversion when you read a value (actually several conversions and it takes the median of that).
- * This library runns the ADC conversion automatically in the background.
- * When read is called, it immediatly returns the last sampled value.
- *
- * LPC1768 / LPC4088
- * Using more ADC pins in continuous mode will decrease the conversion rate (LPC1768:200kHz/LPC4088:400kHz).
- * If you need to sample one pin very fast and sometimes also need to do AD conversions on another pin,
- * you can disable the continuous conversion on that ADC channel and still read its value.
- *
- * KLXX
- * Multiple Fast instances can be declared of which only ONE can be continuous (all others must be non-continuous).
- *
- * When continuous conversion is disabled, a read will block until the conversion is complete
- * (much like the regular AnalogIn library does).
- * Each ADC channel can be enabled/disabled separately.
- *
- * IMPORTANT : It does not play nicely with regular AnalogIn objects, so either use this library or AnalogIn, not both at the same time!!
- *
- * Example for the KLxx processors:
- * @code
- * // Print messages when the AnalogIn is greater than 50%
- *
- * #include "mbed.h"
- *
- * FastAnalogIn temperature(PTC2); //Fast continuous sampling on PTC2
- * FastAnalogIn speed(PTB3, 0); //Fast non-continuous sampling on PTB3
- *
- * int main() {
- * while(1) {
- * if(temperature > 0.5) {
- * printf("Too hot! (%f) at speed %f", temperature.read(), speed.read());
- * }
- * }
- * }
- * @endcode
- * Example for the LPC1768 processor:
- * @code
- * // Print messages when the AnalogIn is greater than 50%
- *
- * #include "mbed.h"
- *
- * FastAnalogIn temperature(p20);
- *
- * int main() {
- * while(1) {
- * if(temperature > 0.5) {
- * printf("Too hot! (%f)", temperature.read());
- * }
- * }
- * }
- * @endcode
-*/
-class FastAnalogIn {
-
-public:
- /** Create a FastAnalogIn, connected to the specified pin
- *
- * @param pin AnalogIn pin to connect to
- * @param enabled Enable the ADC channel (default = true)
- */
- FastAnalogIn( PinName pin, bool enabled = true );
-
- ~FastAnalogIn( void )
- {
- disable();
- }
-
- /** Enable the ADC channel
- *
- * @param enabled Bool that is true for enable, false is equivalent to calling disable
- */
- void enable(bool enabled = true);
-
- /** Disable the ADC channel
- *
- * Disabling unused channels speeds up conversion in used channels.
- * When disabled you can still call read, that will do a single conversion (actually two since the first one always returns 0 for unknown reason).
- * Then the function blocks until the value is read. This is handy when you sometimes needs a single conversion besides the automatic conversion
- */
- void disable( void );
-
- /** Returns the raw value
- *
- * @param return Unsigned integer with converted value
- */
- unsigned short read_u16( void );
-
- /** Returns the scaled value
- *
- * @param return Float with scaled converted value to 0.0-1.0
- */
- float read( void )
- {
- unsigned short value = read_u16();
- return (float)value * (1.0f/65535.0f);
- }
-
- /** An operator shorthand for read()
- */
- operator float() {
- return read();
- }
-
-
-private:
- bool running;
- char ADCnumber;
- uint32_t *datareg;
-};
-
--- a/camera_api.cpp Mon Jun 30 07:01:58 2014 +0000
+++ b/camera_api.cpp Wed Jul 02 03:23:07 2014 +0000
@@ -1,18 +1,21 @@
#include "mbed.h"
#include "camera_api.h"
-
+#include "TFC.h"
#define clk 2 //ms
+#define task_ma_time
+#ifdef task_ma_time
+DigitalOut cam_p(PTE5);
+#endif
BX_camera::BX_camera(int p)
{
-
+
line_CamR = new FastAnalogIn(PTD5);
line_CamL= new FastAnalogIn(PTD6,0);
cam_clk=new DigitalOut(PTE1);
si=new DigitalOut(PTD7);
padding = p;
}
-
int BX_camera::black_centerR(void)
{
@@ -128,95 +131,134 @@
+
void BX_camera::read(void)
{
-
+
w_f_vL=0x0000;
b_f_vL=0xffff;
-
+
w_f_vR=0x0000;
b_f_vR=0xffff;
-
-
-
-
+
+
+ line_CamR->enable();
+
*si=1;
*cam_clk=1;
-
+
wait_us(30); // tune here
*si=0;
*cam_clk=0;
-
-
-
- line_CamR->enable();
- line_CamL->enable();
-
-
+
+
+
+
+
+
//input 128 //both
-
+
for(int i=0; i<128; i++) {
*cam_clk=1;
wait_us(5);
-
-
+
+
line_imageR[i]=line_CamR->read_u16();
- line_imageL[i]=line_CamL->read_u16();
-
+
+
+
+
+
// big small
if(line_imageR[i] > w_f_vR)
w_f_vR=line_imageR[i];
else if(line_imageR[i] < b_f_vR )
b_f_vR = line_imageR[i];
-
-
+
+
+
+
+
+ *cam_clk=0;
+ wait_us(5);
+
+
+ }
+ line_CamR->disable();
+ /*
+ *si=1;
+ *cam_clk=1;
+
+ wait_us(30); // tune here
+ *si=0;
+ *cam_clk=0;
+
+
+
+ cam_p=1;
+ line_CamL->enable();
+ for(int i=0; i<128; i++) {
+ *cam_clk=1;
+ wait_us(5);
+
+
+
+
+
+
+ line_imageL[i]=line_CamL->read_u16();
+
+ // big small
+
+
if(line_imageL[i] > w_f_vL)
w_f_vL=line_imageL[i];
else if(line_imageL[i] < b_f_vL )
b_f_vL = line_imageL[i];
-
-
-
-
+
+
+
+
*cam_clk=0;
wait_us(5);
-
-
+
+
}
-
-
- line_CamR->enable();
- line_CamL->enable();
-
-
+
+
+
+
+ line_CamL->disable();
+ cam_p=0;
+ */
//filter L R //may change
-
+
for(int i=0; i<128; i++) {
-
-
+
+
if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] ) )
sign_line_imageR[i]=' ';
else
sign_line_imageR[i]='O';
-
-
+
+
if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] ) )
sign_line_imageL[i]=' ';
else
sign_line_imageL[i]='O';
-
-
-
-
-
+
+
+
+
+
if(i==0) {
sign_line_imageR[i]='X';
sign_line_imageL[i]='X';
}
-
-
+
+
}
-
-
-
+
+
+
}
\ No newline at end of file
--- a/camera_api.h Mon Jun 30 07:01:58 2014 +0000
+++ b/camera_api.h Wed Jul 02 03:23:07 2014 +0000
@@ -1,9 +1,9 @@
-#include "bx-adc.h"
+#include "BX-adc.h"
#include "mbed.h"
-
-
+
+
//cause same si and clk camR ,camL are synchronous
-
+
class BX_camera{
public:
@@ -47,7 +47,7 @@
int padding;
-
+
--- a/main.cpp Mon Jun 30 07:01:58 2014 +0000
+++ b/main.cpp Wed Jul 02 03:23:07 2014 +0000
@@ -9,11 +9,11 @@
#include "Stack.h"
#define Debug_cam_uart
-#define L_eye
-//#define R_eye
+//#define L_eye
+#define R_eye
#define motor_on
#define Pcontroller
-#define task_ma_time
+//#define task_ma_time
#define R_target 64
@@ -21,9 +21,9 @@
-#define t_cam 2
+#define t_cam 6
-
+#define black_center 64
Serial pc(USBTX, USBRX); // tx, rx
@@ -44,9 +44,10 @@
PID cam_to_M_ctrlr(10.0,118.0,0.046,0.083,0.083-0.046,0.00,0.00,10);
#ifdef task_ma_time
-DigitalOut cam_p(PTD1); //cam black
-DigitalOut servo_p(PTA13); //servo coffee
-DigitalOut de_p(PTD3); // red
+DigitalOut cam_p(PTE5); //cam black
+DigitalOut servo_p(PTE4); //servo coffee
+DigitalOut idle_p (PTE3);
+//DigitalOut de_p(PTD3); // red
#endif
TSISensor tsi;
@@ -64,8 +65,7 @@
-static int b_r_c=64;
-static int b_l_c=64;
+
static int pre_b_r_c;
static double v_motor;
@@ -80,37 +80,52 @@
while(true){
#ifdef task_ma_time
cam_p=1;
- #endif
+ #endif
+
cam.read();
-
- b_r_c=cam.black_centerR();
- // b_l_c=cam.black_centerL();
-
- points.push(b_r_c);
-
-
+
#ifdef task_ma_time
cam_p=0;
#endif
+
+ int b_r_c,b_l_c;
+
+
+ b_r_c=cam.black_centerR();
+ // b_l_c=cam.black_centerL();
+
+ //right
+ // printf("push :%d\r\n",b_r_c);
+ points.push(b_r_c);
+
+
Thread::wait(t_cam);
-
+
}
}
// function
+
+
+
+
+
+
+
+
void de_thread(void const *args){
while(1){
#ifdef task_ma_time
- de_p=0;
+ //de_p=0;
#endif
-
+ cam.read();
stdio_mutex.lock();
#ifdef Debug_cam_uart
#ifdef L_eye
@@ -145,18 +160,20 @@
pc.printf("\r\n Rcenter :%d Lcenter : %d servo: %f \r\n",cam.black_centerR(),cam.black_centerL(),v_servo);
+ pc.printf("stack n: %d",points.available());
+
stdio_mutex.unlock();
#ifdef task_ma_time
- de_p=1;
+ //de_p=1;
#endif
#endif
- Thread::wait(1);
+ Thread::wait(10);
}
@@ -175,30 +192,44 @@
servo_p=1;
#endif
- int point;
-
- for(;points.available()!=0;){
- points.pop(&point);
-
+ int point;
+ int sum_e=0;
+ int n_point=0;
+ n_point=points.available() ;
+
+ for(int i=0;i<n_point;i++){
+ points.pop(&point);
//algorithm
-
+
+ sum_e+=point-black_center;
+
}
-
+ printf("error :%d compute: %f\r\n",sum_e/n_point, cam_to_M_ctrlr.compute(black_center+sum_e/n_point,R_target));
+
+
+ cam_to_M_ctrlr.compute(black_center+sum_e/n_point,R_target);
+ // pc.printf("expect :%d \r\n",black_center+sum_e/n_point );
+ // pc.printf("angle :%f", cam_to_M_ctrlr.compute(black_center+sum_e/n_point,R_target) );
+ servo.set_angle( cam_to_M_ctrlr.compute(black_center+sum_e/n_point,R_target) );
+
+ // pc.printf("dfdf");
//if(b_r_c!=-1)
- v_servo=cam_to_M_ctrlr.compute(b_r_c,R_target);
+ // v_servo=cam_to_M_ctrlr.compute(b_r_c,R_target);
//if(b_l_c!=-1)
// v_servo=cam_to_M_ctrlr.compute(b_l_c,L_target);
// v_servo=pot2.read();
- servo.set_angle(v_servo);
+
#ifdef task_ma_time
servo_p=0;
#endif
- Thread::wait(20);
+ Thread::wait(20);
+
+
}
@@ -241,14 +272,21 @@
servo.set_angle(0.055);
pc.baud(115200);
- /*
- while(1){
+
+
+
+ //while(1);
+
+
+
+
+ /* while(1){
if(tsi.readPercentage()>0.00011)
break;
}
- */
-
+
+ */
@@ -256,15 +294,27 @@
// Thread thread(ctrl_thread);
Thread th_s(servo_thread);
// Thread th_m(motor_thread);
- // Thread th_de(de_thread);
+ // Thread th_de(de_thread);
+
+ //Thread dddd(pin2_thread);
while(1){
+ #ifdef task_ma_time
+ idle_p=1;
+ #endif
+
+
+
+ #ifdef task_ma_time
+ idle_p=0;
+ #endif
+
//idle
// stdio_mutex.lock();
// printf("L: %d mid: %d R: %d\r\n",line3[0],line3[1],line3[2]);
// stdio_mutex.unlock();
- // Thread::wait(2000);
+ Thread::wait(1000);
}