File content as of revision 44:41c262caf898:

// Server code
#include "mbed.h"
#include <stdio.h>

// Analog sampling
#include "PeripheralNames.h"
#include "PeripheralPins.h"
#include "fsl_adc_hal.h"
#include "fsl_clock_manager.h"
#include "fsl_dspi_hal.h"
#include "AngleEncoder.h"
#include "adc.h"
#include "dma.h"
#include "pit.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       100 // originally 30000 for 0.3 ms of sampling.

// for debug purposes
Serial pc(USBTX, USBRX);
DigitalOut led_red(LED_RED);
DigitalOut led_green(LED_GREEN);
DigitalOut led_blue(LED_BLUE);
DigitalOut test1(PTB19);
DigitalOut test2(PTB18);

AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
DigitalIn AMT20_A(PTC0); // input for quadrature encoding from angle encoder
DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder

// Analog sampling
Ticker Sampler;

uint16_t sample_array1[TOTAL_SAMPLES];
uint16_t sample_array2[TOTAL_SAMPLES];
uint16_t angle_array[TOTAL_SAMPLES];
float currA0 = 0;
float currA2 = 0;



// Declaration of functions

void timed_sampling();

// Important globabl variables necessary for the sampling every interval
int rotary_count = 0;
uint32_t last_AMT20_AB_read = 0;

DMA dma(sample_array1, sample_array2, angle_array, TOTAL_SAMPLES, &rotary_count);


using namespace std;
 
int main() {
    led_blue = 1;
    led_green = 1;
    led_red = 1;
    
    pc.baud(230400);
    pc.printf("Starting\r\n");
    
    dma.reset();
    adc_init(A1);
    adc_init(A2);
    pit_init(pc);
    
    pc.printf("\r\n\r\n\r\n");
    
    while(1) {
        
        rotary_count++;
        if(rotary_count & 0x01) AMT20_A.mode(PullUp);
        else AMT20_A.mode(PullDown);
        if((rotary_count>>1) & 0x01) AMT20_B.mode(PullUp);
        else AMT20_B.mode(PullDown);
        
        if(pc.readable() > 0) {
            char temp = pc.getc();
            
            switch(temp) {
                case 'a':
                    //adc_start();
                    
                    //adc_stop();
                    // then proceed to 's' to display the array
                case 's':
                    for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("%i: %f\t %f\t %i%i\r\n",i,sample_array1[i]*3.3/65535,sample_array2[i]*3.3/65535, (angle_array[i]>>1)&0x01, angle_array[i]&0x01);
                    pc.printf("\r\n");
                    break;
                case 'f':
                    for(int i = 0; i < TOTAL_SAMPLES; i++) {sample_array1[i] = 0; sample_array2[i] = 0; angle_array[i] = 0;}
                    pc.printf("Arrays cleared\r\n");
                    break;
                case 'r':
                    pc.printf("Quadrature: %i%i \r\n", (HW_GPIO_PDIR_RD(HW_PORTC)>>1)&0x01, HW_GPIO_PDIR_RD(HW_PORTC)&0x01);
            }
        }
    }
}

void timed_sampling() {
    
    // The following updates the rotary counter for the AMT20 sensor
    // Put A on PTC0
    // Put B on PTC1
    uint32_t AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
    if (AMT20_AB != last_AMT20_AB_read)
    {
        // change "INVERT_ANGLE" to change whether relative angle counts up or down.
        if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
        #if INVERT_ANGLE == 1
            {rotary_count--;}
        else
            {rotary_count++;}
        #else
            {rotary_count++;}
        else
            {rotary_count--;}
        #endif
        
        last_AMT20_AB_read = AMT20_AB;        
    }
}