Diff: main.cpp

Revision:

39:82dc3daecf32

Parent:

38:ec3b16c130d7

Child:

40:bd6d8c35e822

--- a/main.cpp	Wed Jan 28 04:56:07 2015 +0000
+++ b/main.cpp	Thu Jan 29 16:18:54 2015 +0000
@@ -9,20 +9,15 @@
 #include "fsl_clock_manager.h"
 #include "fsl_dspi_hal.h"
 #include "AngleEncoder.h"
-
+#include "adc.h"
 #include "dma.h"
+#include "pdb.h"
 
 // Analog sampling
 #define MAX_FADC 6000000
 #define SAMPLING_RATE       10 // In microseconds, so 10 us will be a sampling rate of 100 kHz
 #define TOTAL_SAMPLES       3 // originally 30000 for 0.3 ms of sampling.
 
-#define LAST_SAMPLE_INDEX   (TOTAL_SAMPLES-1) // If sampling time is 25 us, then 2000 corresponds to 50 ms
-#define FIRST_SAMPLE_INDEX  0
-#define BEGIN_SAMPLING      0xFFFFFFFF
-#define WAITING_TO_BEGIN    (BEGIN_SAMPLING-1)
-
-
 // for debug purposes
 Serial pc(USBTX, USBRX);
 DigitalOut led_red(LED_RED);
@@ -34,25 +29,25 @@
 DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
 
 // Analog sampling
-AnalogIn A0_pin(A0);
-AnalogIn A2_pin(A2);
 Ticker Sampler;
 
-uint32_t current_sample_index = WAITING_TO_BEGIN;
-uint16_t sample_array1[TOTAL_SAMPLES];
+
+uint16_t sample_array1[TOTAL_SAMPLES] = {0xa,0xb,0xc};
 uint16_t sample_array2[TOTAL_SAMPLES];
 uint16_t angle_array[TOTAL_SAMPLES];
 float currA0 = 0;
 float currA2 = 0;
 
 // Declaration of functions
-void analog_initialization(PinName pin);
+
 void timed_sampling();
 
 // Important globabl variables necessary for the sampling every interval
 int rotary_count = 0;
 uint32_t last_AMT20_AB_read = 0;
 
+void PIT0_IRQHandler(void);
+
 using namespace std;
  
 int main() {
@@ -63,197 +58,18 @@
     pc.baud(230400);
     pc.printf("Starting\r\n");
     
-    
-// Turn on the ADC0 and ADC1 clocks as well as the PDB clocks to test ADC triggered by PDB
-SIM_SCGC6 |= SIM_SCGC6_ADC0_MASK;
-SIM_SCGC3 |= SIM_SCGC3_ADC1_MASK;
-SIM_SCGC6 |= SIM_SCGC6_PDB_MASK;
-
-    
-    
-    analog_initialization(A0);
-    //analog_initialization(A2);
-    
-    ADC0->CFG1 |= ADC_CFG1_ADLPC_MASK; // high power mode for faster frequencies                   
-    //ADC0->SC2 |= ADC_SC2_ADTRG_MASK; // enable hardware trigger
-    SIM_SOPT7 |= 0;
-    
-    // put in continuous conversion mode
-    //pc.printf("ADC0_SC3: %08x\r\n", ADC0->SC3);
+    //for(int i = 0; i < 3; i++) pc.printf("Sample[%i]: %x\r\n", i, sample_array1[i]);
     
-    // enable the DMA
-    ADC0->SC2 |= ADC_SC2_DMAEN_MASK;
-    //ADC1->SC2 |= ADC_SC2_DMAEN_MASK;
-    ADC0->SC3 = 0; // Reset SC3
-    //ADC1->SC3 = 0; // Reset SC3
-    
-    dma_init(sample_array1, sample_array2, angle_array, TOTAL_SAMPLES);
-    
-    // initialize the Programmable Delay Block
-    SIM->SCGC6 |= SIM_SCGC6_PDB_MASK; // turn on the clock to the PDB
-    
-    
-// Configure System Integration Module for defaults as far as ADC
-SIM_SOPT7 &= ~(SIM_SOPT7_ADC1ALTTRGEN_MASK  | // selects PDB not ALT trigger
-            SIM_SOPT7_ADC1PRETRGSEL_MASK |
-            SIM_SOPT7_ADC0ALTTRGEN_MASK  | // selects PDB not ALT trigger
-            SIM_SOPT7_ADC0ALTTRGEN_MASK) ;
-SIM_SOPT7 = SIM_SOPT7_ADC0TRGSEL(0);       // applies only in case of ALT trigger, in which case PDB external pin input trigger for ADC
-SIM_SOPT7 = SIM_SOPT7_ADC1TRGSEL(0);       // same for both ADCs
-    
+    dma_init(sample_array1, sample_array2, angle_array, TOTAL_SAMPLES, pc);
+    analog_initialization(A0,pc);
     
-
-// Configure the Peripheral Delay Block (PDB):
-// enable PDB, pdb counter clock = busclock / 20 , continous triggers, sw trigger , and use prescaler too
-PDB0_SC =  PDB_SC_CONT_MASK       // Contintuous, rather than one-shot, mode
-     | PDB_SC_PDBEN_MASK      // PDB enabled
-     //| PDB_SC_PDBIE_MASK      // PDB Interrupt Enable
-     | PDB_SC_PRESCALER(0x5)  // 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_MULT(2);        // Multiplication factor 20 for the prescale divider for the counter clock
-                              // the software trigger, PDB_SC_SWTRIG_MASK is not triggered at this time.
-
-PDB0_IDLY = 0x0000;   // need to trigger interrupt every counter reset which happens when modulus reached
-
-PDB0_MOD = 0xffff;    // largest period possible with the slections above, so slow you can see each conversion.
-
-// channel 0 pretrigger 0 and 1 enabled and delayed
-PDB0_CH0C1 = PDB_C1_EN(0x01)
-       | PDB_C1_TOS(0x01)
-       | PDB_C1_EN(0x02)
-       | PDB_C1_TOS(0x02) ;
-
-PDB0_CH0DLY0 = 100 ;
-PDB0_CH0DLY1 = 300 ;
-
-// channel 1 pretrigger 0 and 1 enabled and delayed
-PDB0_CH1C1 = PDB_C1_EN(0x01)
-       | PDB_C1_TOS(0x01)
-       | PDB_C1_EN(0x02)
-       | PDB_C1_TOS(0x02) ;
-
-PDB0_CH1DLY0 = 200 ;
-PDB0_CH1DLY1 = 400 ;
-
-PDB0_SC =  PDB_SC_CONT_MASK        // Contintuous, rather than one-shot, mode
-     | PDB_SC_PDBEN_MASK       // PDB enabled
-     | PDB_SC_PDBIE_MASK       // PDB Interrupt Enable
-     | PDB_SC_PRESCALER(0x5)   // 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_MULT(2)          // Multiplication factor 20 for the prescale divider for the counter clock
-     | PDB_SC_LDOK_MASK;       // Need to ok the loading or it will not load certain regsiters!
-                               // the software trigger, PDB_SC_SWTRIG_MASK is not triggered at this time.
-
-
-
-//PDB configured above
-/////////////////////////////////////////////////////////////////////////////////////////
-//ADC configured below
-/*
-// setup the initial ADC default configuration
-Master_Adc_Config.CONFIG1  = ADLPC_NORMAL
-                        | ADC_CFG1_ADIV(ADIV_4)
-                        | ADLSMP_LONG
-                        | ADC_CFG1_MODE(MODE_16)
-                        | ADC_CFG1_ADICLK(ADICLK_BUS);
-Master_Adc_Config.CONFIG2  = MUXSEL_ADCA
-                        | ADACKEN_DISABLED
-                        | ADHSC_HISPEED
-                        | ADC_CFG2_ADLSTS(ADLSTS_20) ;
-Master_Adc_Config.COMPARE1 = 0x1234u ;                 // can be anything
-Master_Adc_Config.COMPARE2 = 0x5678u ;                 // can be anything
-                                                    // since not using
-                                                    // compare feature
-Master_Adc_Config.STATUS2  = ADTRG_HW
-                        | ACFE_DISABLED
-                        | ACFGT_GREATER
-                        | ACREN_ENABLED
-                        | DMAEN_DISABLED
-                        | ADC_SC2_REFSEL(REFSEL_EXT);
-
-Master_Adc_Config.STATUS3  = CAL_OFF
-                        | ADCO_SINGLE
-                        | AVGE_ENABLED
-                        | ADC_SC3_AVGS(AVGS_32);
-
-Master_Adc_Config.PGA      = PGAEN_DISABLED
-                        | PGACHP_NOCHOP
-                        | PGALP_NORMAL
-                        | ADC_PGA_PGAG(PGAG_64);
-Master_Adc_Config.STATUS1A = AIEN_OFF | DIFF_SINGLE | ADC_SC1_ADCH(31);
-Master_Adc_Config.STATUS1B = AIEN_OFF | DIFF_SINGLE | ADC_SC1_ADCH(31);
-
-
-// Configure ADC as it will be used, but becuase ADC_SC1_ADCH is 31,
-// the ADC will be inactive.  Channel 31 is just disable function.
-// There really is no channel 31.
-
-ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc_Config);  // config ADC
-
-// Calibrate the ADC in the configuration in which it will be used:
-ADC_Cal(ADC0_BASE_PTR);                    // do the calibration
-
-// The structure still has the desired configuration.  So restore it.
-// Why restore it?  The calibration makes some adjustments to the
-// configuration of the ADC.  The are now undone:
-
-// config the ADC again to desired conditions
-ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc_Config);
-
-// REPEAT for BOTH ADC's.  However we will only 'use' the results from
-// the ADC wired to the Potentiometer on the Kinetis Tower Card.
-
-// Repeating for ADC1:
-ADC_Config_Alt(ADC1_BASE_PTR, &Master_Adc_Config);  // config ADC
-ADC_Cal(ADC1_BASE_PTR);                    // do the calibration
-//  ADC_Read_Cal(ADC1_BASE_PTR,&CalibrationStore[0]);   // store the cal
-
-
-// config the ADC again to default conditions
-ADC_Config_Alt(ADC1_BASE_PTR, &Master_Adc_Config);
-
-// *****************************************************************************
-//      ADC0 and ADC1 using the PDB trigger in ping pong
-// *****************************************************************************
-
-// use interrupts, single ended mode, and real channel numbers now:
-
-Master_Adc_Config.STATUS1A = AIEN_ON | DIFF_SINGLE | ADC_SC1_ADCH(ADC0_CHANA);
-Master_Adc_Config.STATUS1B = AIEN_ON | DIFF_SINGLE | ADC_SC1_ADCH(ADC0_CHANB);
-ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc_Config);  // config ADC0
-
-Master_Adc_Config.STATUS1A = AIEN_ON | DIFF_SINGLE | ADC_SC1_ADCH(ADC1_CHANA);
-Master_Adc_Config.STATUS1B = AIEN_ON | DIFF_SINGLE | ADC_SC1_ADCH(ADC1_CHANB);
-ADC_Config_Alt(ADC1_BASE_PTR, &Master_Adc_Config);  // config ADC1
-*/
+    //pdb_init(pc);
+    //pdb_start();
     
-    
-    
-    
-    
-    /*
-    PDB0->SC = 0x0100; // DMA enable and Load OK
-    PDB0->MOD = 1000;// the period of the PDB
-    // AOS
-    PDB0->SC |= PDB_SC_CONT_MASK; // run PDB in continuous mode
-    PDB0->SC |= PDB_SC_TRGSEL(7); // set trigger selection to 7
-    PDB0->SC |= PDB_SC_LDOK_MASK; // load values into the register
-    PDB0->SC |= PDB_SC_PDBEN_MASK; // enables the PDB
-    PDB0->SC |= PDB_SC_SWTRIG_MASK; // enable software trigger (start the PDB)
-    */
-    PDB0->SC |= PDB_SC_SWTRIG_MASK; // enable software trigger (start the PDB)
-    
-    //pc.printf("SampleArr: %08x\r\n", &sample_array1);
-    //uint16_t* dma_csr = (uint16_t*) 0x4000901C;
-    //uint32_t* dma_daddr = (uint32_t*) 0x40009010;
-    //*dma_csr |= 1;
-    
-    // Start the sampling loop
-    current_sample_index = WAITING_TO_BEGIN;
-    Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
+    //Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
     
     pc.printf("\r\n\r\n\r\n");
-    
+    //while(1) {pc.printf("CNT: %04x\r\n",PDB0->CNT);}
     while(1) {
         rotary_count++;
         if(pc.readable() > 0) {
@@ -266,14 +82,19 @@
                     pc.printf("\r\n");
                     break;
                 case 'f':
-                    for(int i = 0; i < TOTAL_SAMPLES; i++) sample_array1[i] = 0;
+                    for(int i = 0; i < TOTAL_SAMPLES; i++) sample_array1[i] = 0xf;
                     break;
-                    
+                case 'd':
+                    for(int i = 0; i < 3; i++) pc.printf("Sample[%i]: %x\r\n", i, sample_array1[i]);
+                    break;
             }
         }
         for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("A%i: %f  ",i,sample_array1[i]*3.3/65535);
-        for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("B%i: %f  ",i,sample_array2[i]*3.3/65535);
-        for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("C%i: %i  ",i,angle_array[i]);
+        
+        pc.printf("ADC0_RA:   %08x\r\n",ADC0_RA);
+        pc.printf("ADC0_RB:   %08x\r\n",ADC0_RB);
+        //for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("B%i: %f  ",i,sample_array2[i]*3.3/65535);
+        //for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("C%i: %i  ",i,angle_array[i]);
         pc.printf("\r");
         //pc.printf("DMA_DADDR: %08x                  \r", *dma_daddr);
         //pc.printf("A1: %f\tA2: %f\r\n", currA0, currA2);
@@ -282,26 +103,10 @@
 }
 
 void timed_sampling() {
-    
-    // Write to SC1A to start conversion with channel 12 PTB2
-    //ADC0_SC1A = (ADC_SC1_ADCH(ADC_CHANNEL) | (ADC0_SC1A & (ADC_SC1_AIEN_MASK | ADC_SC1_DIFF_MASK))); 
-    
-    //__disable_irq();    // Disable Interrupts
-    
-    
-    // The following performs analog-to-digital conversions - first reading the last conversion - then initiating another
-    //uint32_t A0_value = adc_hal_get_conversion_value(0, 0); // ADC0_RA
-    //uint32_t A2_value = adc_hal_get_conversion_value(1, 0);
-    
-    
+    // start ADC conversion
     BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12);      // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
     BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14);      // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
     
-    /*
-    currA0 = (float) A0_value*3.3/65535;
-    currA2 = (float) A2_value*3.3/65535;
-    */
-    
     // The following updates the rotary counter for the AMT20 sensor
     // Put A on PTC0
     // Put B on PTC1
@@ -322,102 +127,4 @@
         
         last_AMT20_AB_read = AMT20_AB;        
     }
-    /*
-    //current_sample_index = BEGIN_SAMPLING; // Used to force extra time.
-    if (current_sample_index == WAITING_TO_BEGIN) {}
-    else
-    { 
-        if (current_sample_index == BEGIN_SAMPLING) {
-            current_sample_index = FIRST_SAMPLE_INDEX;
-            }
-            
-        sample_array1[current_sample_index] = A0_value;
-        sample_array2[current_sample_index] = A2_value;
-        angle_array[current_sample_index] = rotary_count;
-        
-        if (current_sample_index == LAST_SAMPLE_INDEX) {
-            current_sample_index = WAITING_TO_BEGIN;
-            }
-        else { current_sample_index++; }
-    }
-    */
-    //__enable_irq();     // Enable Interrupts
-}
-
-void analog_initialization(PinName pin)
-{
-    ADCName adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
-//    MBED_ASSERT(adc != (ADCName)NC);
-
-    uint32_t instance = adc >> ADC_INSTANCE_SHIFT;
-
-    clock_manager_set_gate(kClockModuleADC, instance, true);
-
-    uint32_t bus_clock;
-    clock_manager_get_frequency(kBusClock, &bus_clock);
-    uint32_t clkdiv;
-    for (clkdiv = 0; clkdiv < 4; clkdiv++) {
-        if ((bus_clock >> clkdiv) <= MAX_FADC)
-            break;
-    }
-    if (clkdiv == 4) {
-        clkdiv = 0x7; //Set max div
-    }
-    // adc is enabled/triggered when reading.
-    adc_hal_set_clock_source_mode(instance, (adc_clock_source_mode_t)(clkdiv >> 2));
-    adc_hal_set_clock_divider_mode(instance, (adc_clock_divider_mode_t)(clkdiv & 0x3));
-    adc_hal_set_reference_voltage_mode(instance, kAdcVoltageVref);
-    adc_hal_set_resolution_mode(instance, kAdcSingleDiff16);
-    adc_hal_configure_continuous_conversion(instance, false); // true=continuous conversion mode, false = single conversion mode
-    adc_hal_configure_hw_trigger(instance, false); // true=hw trigger, false=sw trigger
-    adc_hal_configure_hw_average(instance, false);
-    adc_hal_set_hw_average_mode(instance, kAdcHwAverageCount4);
-    adc_hal_set_group_mux(instance, kAdcChannelMuxB); // only B channels are avail 
-
-    pinmap_pinout(pin, PinMap_ADC);
-}
-
-
-
-/*
-    // read some registers for some info.
-    uint32_t* dma_cr = (uint32_t*) 0x40008000;
-    pc.printf("DMA_CR: %08x\r\n", *dma_cr);
-    
-    uint32_t* dma_eei = (uint32_t*) 0x40008014;
-    pc.printf("DMA_EEI: %08x\r\n", *dma_eei);
-    
-    uint32_t* dma_erq = (uint32_t*) 0x4000800C;
-    pc.printf("DMA_ERQ: %08x\r\n", *dma_erq);
-    
-    uint16_t* dma_csr = (uint16_t*) 0x4000901C;
-    pc.printf("DMA_TD0_CSR: %04x\r\n\n", *dma_csr);
-    
-    uint32_t* dma_saddr = (uint32_t*) 0x40009000;
-    pc.printf("DMA_SAADR: %08x\r\n", *dma_saddr);
-    
-    uint16_t* dma_soff = (uint16_t*) 0x40009004;
-    pc.printf("DMA_SOFF: %04x\r\n", *dma_soff);
-    
-    uint16_t* dma_attr = (uint16_t*) 0x40009006;
-    pc.printf("DMA_ATTR: %04x\r\n", *dma_attr);
-    
-    uint32_t* dma_minor = (uint32_t*) 0x40009008;
-    pc.printf("DMA_MINOR: %08x\r\n", *dma_minor);
-    
-    uint32_t* dma_daddr = (uint32_t*) 0x40009010;
-    pc.printf("DMA_DADDR: %08x\r\n", *dma_daddr);
-
-
-    // read some registers for some info.
-    pc.printf("DMA_CR: %08x\r\n", *dma_cr);
-    pc.printf("DMA_EEI: %08x\r\n", *dma_eei);
-    pc.printf("DMA_ERQ: %08x\r\n", *dma_erq);
-    pc.printf("DMA_TD0_CSR: %04x\r\n\n", *dma_csr);
-    pc.printf("DMA_SAADR: %08x\r\n", *dma_saddr);
-    pc.printf("DMA_SOFF: %04x\r\n", *dma_soff);
-    pc.printf("DMA_ATTR: %04x\r\n", *dma_attr);
-    pc.printf("DMA_MINOR: %08x\r\n", *dma_minor);
-    pc.printf("DMA_DADDR: %08x\r\n", *dma_daddr);
-    pc.printf("SampleArr: %08x\r\n",&sample_array1);
-*/
\ No newline at end of file
+}
\ No newline at end of file