Jared Baxter / Mbed 2 deprecated Impedance_Fast_Circuitry

Dependencies:   mbed-dsp mbed

Fork of DSP_200kHz by Mazzeo Research Group

main.cpp@34:44cc9b76a507, 2015-01-25 (annotated)

Committer:
timmey9
Date:
Sun Jan 25 02:45:58 2015 +0000
Revision:
34:44cc9b76a507
Parent:
33:9806eb964362
Child:
35:df40c4566826
Analog reading works.  Trying to add DMA capabilities.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
timmey9 20:f533b3c9296f 1 // Server code
donatien 0:bb128f0e952f 2 #include "mbed.h"
timmey9 24:a5891669afc5 3 #include <stdio.h>
timmey9 22:523e316cbe70 4
timmey9 22:523e316cbe70 5 // Analog sampling
timmey9 22:523e316cbe70 6 #include "PeripheralNames.h"
timmey9 22:523e316cbe70 7 #include "PeripheralPins.h"
timmey9 22:523e316cbe70 8 #include "fsl_adc_hal.h"
timmey9 22:523e316cbe70 9 #include "fsl_clock_manager.h"
timmey9 22:523e316cbe70 10 #include "fsl_dspi_hal.h"
timmey9 22:523e316cbe70 11 #include "AngleEncoder.h"
timmey9 22:523e316cbe70 12
timmey9 34:44cc9b76a507 13 #include "dma.h"
timmey9 28:4a833d59897b 14
timmey9 22:523e316cbe70 15 // Analog sampling
timmey9 22:523e316cbe70 16 #define MAX_FADC 6000000
timmey9 34:44cc9b76a507 17 #define SAMPLING_RATE 1000 // In microseconds, so 10 us will be a sampling rate of 100 kHz
timmey9 34:44cc9b76a507 18 #define TOTAL_SAMPLES 10 // originally 30000 for 0.3 ms of sampling.
timmey9 22:523e316cbe70 19
timmey9 22:523e316cbe70 20 #define LAST_SAMPLE_INDEX (TOTAL_SAMPLES-1) // If sampling time is 25 us, then 2000 corresponds to 50 ms
timmey9 22:523e316cbe70 21 #define FIRST_SAMPLE_INDEX 0
timmey9 22:523e316cbe70 22 #define BEGIN_SAMPLING 0xFFFFFFFF
timmey9 22:523e316cbe70 23 #define WAITING_TO_BEGIN (BEGIN_SAMPLING-1)
timmey9 22:523e316cbe70 24
timmey9 21:1fb5023b72af 25
timmey9 22:523e316cbe70 26 // for debug purposes
timmey9 18:b17ddeeb1c09 27 Serial pc(USBTX, USBRX);
timmey9 18:b17ddeeb1c09 28 DigitalOut led_red(LED_RED);
timmey9 18:b17ddeeb1c09 29 DigitalOut led_green(LED_GREEN);
timmey9 18:b17ddeeb1c09 30 DigitalOut led_blue(LED_BLUE);
timmey9 18:b17ddeeb1c09 31
timmey9 22:523e316cbe70 32 AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
timmey9 22:523e316cbe70 33 DigitalIn AMT20_A(PTC0); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 34 DigitalIn AMT20_B(PTC1); // input for quadrature encoding from angle encoder
timmey9 22:523e316cbe70 35
timmey9 22:523e316cbe70 36 // Analog sampling
timmey9 22:523e316cbe70 37 AnalogIn A0_pin(A0);
timmey9 22:523e316cbe70 38 AnalogIn A2_pin(A2);
timmey9 34:44cc9b76a507 39 Ticker Sampler;
timmey9 22:523e316cbe70 40
timmey9 22:523e316cbe70 41 uint32_t current_sample_index = WAITING_TO_BEGIN;
timmey9 25:abbc19af13f9 42 uint16_t sample_array1[TOTAL_SAMPLES];
timmey9 25:abbc19af13f9 43 uint16_t sample_array2[TOTAL_SAMPLES];
timmey9 22:523e316cbe70 44 uint16_t angle_array[TOTAL_SAMPLES];
timmey9 34:44cc9b76a507 45 float currA0 = 0;
timmey9 34:44cc9b76a507 46 float currA2 = 0;
timmey9 22:523e316cbe70 47
timmey9 22:523e316cbe70 48 // Declaration of functions
timmey9 22:523e316cbe70 49 void analog_initialization(PinName pin);
timmey9 22:523e316cbe70 50 void timed_sampling();
timmey9 22:523e316cbe70 51
timmey9 22:523e316cbe70 52 // Important globabl variables necessary for the sampling every interval
timmey9 22:523e316cbe70 53 int rotary_count = 0;
timmey9 22:523e316cbe70 54 uint32_t last_AMT20_AB_read = 0;
timmey9 23:9e5141647775 55
timmey9 22:523e316cbe70 56 using namespace std;
timmey9 17:2f978f823020 57
emilmont 7:65188f4a8c25 58 int main() {
timmey9 22:523e316cbe70 59 led_blue = 1;
timmey9 30:6a4ef939a93e 60 led_green = 0;
timmey9 18:b17ddeeb1c09 61 led_red = 1;
timmey9 34:44cc9b76a507 62
timmey9 18:b17ddeeb1c09 63 pc.baud(230400);
timmey9 34:44cc9b76a507 64 pc.printf("Starting\r\n");
timmey9 27:8c2b30c855d1 65
timmey9 27:8c2b30c855d1 66 analog_initialization(A0);
timmey9 27:8c2b30c855d1 67 analog_initialization(A2);
timmey9 27:8c2b30c855d1 68
timmey9 34:44cc9b76a507 69 dma_init(sample_array1,TOTAL_SAMPLES);
timmey9 27:8c2b30c855d1 70
timmey9 27:8c2b30c855d1 71 // Start the sampling loop
timmey9 27:8c2b30c855d1 72 current_sample_index = WAITING_TO_BEGIN;
timmey9 34:44cc9b76a507 73 Sampler.attach_us(&timed_sampling, SAMPLING_RATE);
timmey9 27:8c2b30c855d1 74
timmey9 34:44cc9b76a507 75 while(1) {
timmey9 34:44cc9b76a507 76 if(pc.readable() > 0) {
timmey9 34:44cc9b76a507 77 char temp = pc.getc();
timmey9 34:44cc9b76a507 78
timmey9 34:44cc9b76a507 79 switch(temp) {
timmey9 34:44cc9b76a507 80 case 's':
timmey9 34:44cc9b76a507 81 for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("%i: ",i,sample_array1[i]);
timmey9 34:44cc9b76a507 82 break;
timmey9 34:44cc9b76a507 83 case 'f':
timmey9 34:44cc9b76a507 84 for(int i = 0; i < TOTAL_SAMPLES; i++) sample_array1[i] = 0;
timmey9 34:44cc9b76a507 85 break;
timmey9 34:44cc9b76a507 86
timmey9 34:44cc9b76a507 87 }
timmey9 34:44cc9b76a507 88 }
timmey9 34:44cc9b76a507 89 pc.printf("A1: %f\tA2: %f\r\n", currA0, currA2);
timmey9 34:44cc9b76a507 90 wait(1);
timmey9 17:2f978f823020 91 }
timmey9 22:523e316cbe70 92
timmey9 34:44cc9b76a507 93
timmey9 22:523e316cbe70 94 }
timmey9 23:9e5141647775 95
timmey9 22:523e316cbe70 96 void timed_sampling() {
timmey9 34:44cc9b76a507 97 __disable_irq(); // Disable Interrupts
timmey9 34:44cc9b76a507 98
timmey9 34:44cc9b76a507 99
timmey9 22:523e316cbe70 100 // The following performs analog-to-digital conversions - first reading the last conversion - then initiating another
timmey9 22:523e316cbe70 101 uint32_t A0_value = adc_hal_get_conversion_value(0, 0);
timmey9 22:523e316cbe70 102 uint32_t A2_value = adc_hal_get_conversion_value(1, 0);
timmey9 22:523e316cbe70 103 BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
timmey9 22:523e316cbe70 104 BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
timmey9 22:523e316cbe70 105
timmey9 34:44cc9b76a507 106 currA0 = (float) A0_value*3.3/65535;
timmey9 34:44cc9b76a507 107 currA2 = (float) A2_value*3.3/65535;
timmey9 34:44cc9b76a507 108
timmey9 22:523e316cbe70 109 // The following updates the rotary counter for the AMT20 sensor
timmey9 22:523e316cbe70 110 // Put A on PTC0
timmey9 22:523e316cbe70 111 // Put B on PTC1
timmey9 22:523e316cbe70 112 uint32_t AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
timmey9 22:523e316cbe70 113 //AMT20_AB = ~last_AMT20_AB_read; // Used to force a count - extend time.
timmey9 22:523e316cbe70 114 if (AMT20_AB != last_AMT20_AB_read)
timmey9 22:523e316cbe70 115 {
timmey9 22:523e316cbe70 116 // change "INVERT_ANGLE" to change whether relative angle counts up or down.
timmey9 22:523e316cbe70 117 if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
timmey9 22:523e316cbe70 118 #if INVERT_ANGLE == 1
timmey9 22:523e316cbe70 119 {rotary_count--;}
timmey9 22:523e316cbe70 120 else
timmey9 22:523e316cbe70 121 {rotary_count++;}
timmey9 22:523e316cbe70 122 #else
timmey9 22:523e316cbe70 123 {rotary_count++;}
timmey9 22:523e316cbe70 124 else
timmey9 22:523e316cbe70 125 {rotary_count--;}
timmey9 22:523e316cbe70 126 #endif
timmey9 22:523e316cbe70 127
timmey9 22:523e316cbe70 128 last_AMT20_AB_read = AMT20_AB;
timmey9 22:523e316cbe70 129 }
timmey9 22:523e316cbe70 130 //current_sample_index = BEGIN_SAMPLING; // Used to force extra time.
timmey9 22:523e316cbe70 131 if (current_sample_index == WAITING_TO_BEGIN) {}
timmey9 22:523e316cbe70 132 else
timmey9 28:4a833d59897b 133 {
timmey9 22:523e316cbe70 134 if (current_sample_index == BEGIN_SAMPLING) {
timmey9 22:523e316cbe70 135 current_sample_index = FIRST_SAMPLE_INDEX;
timmey9 22:523e316cbe70 136 }
timmey9 22:523e316cbe70 137
timmey9 27:8c2b30c855d1 138 sample_array1[current_sample_index] = A0_value;
timmey9 27:8c2b30c855d1 139 sample_array2[current_sample_index] = A2_value;
timmey9 22:523e316cbe70 140 angle_array[current_sample_index] = rotary_count;
timmey9 22:523e316cbe70 141
timmey9 22:523e316cbe70 142 if (current_sample_index == LAST_SAMPLE_INDEX) {
timmey9 22:523e316cbe70 143 current_sample_index = WAITING_TO_BEGIN;
timmey9 22:523e316cbe70 144 }
timmey9 22:523e316cbe70 145 else { current_sample_index++; }
timmey9 28:4a833d59897b 146 }
timmey9 22:523e316cbe70 147
timmey9 34:44cc9b76a507 148 __enable_irq(); // Enable Interrupts
timmey9 22:523e316cbe70 149 }
timmey9 22:523e316cbe70 150
timmey9 22:523e316cbe70 151 void analog_initialization(PinName pin)
timmey9 22:523e316cbe70 152 {
timmey9 22:523e316cbe70 153 ADCName adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
timmey9 22:523e316cbe70 154 // MBED_ASSERT(adc != (ADCName)NC);
timmey9 22:523e316cbe70 155
timmey9 22:523e316cbe70 156 uint32_t instance = adc >> ADC_INSTANCE_SHIFT;
timmey9 22:523e316cbe70 157
timmey9 22:523e316cbe70 158 clock_manager_set_gate(kClockModuleADC, instance, true);
timmey9 22:523e316cbe70 159
timmey9 22:523e316cbe70 160 uint32_t bus_clock;
timmey9 22:523e316cbe70 161 clock_manager_get_frequency(kBusClock, &bus_clock);
timmey9 22:523e316cbe70 162 uint32_t clkdiv;
timmey9 22:523e316cbe70 163 for (clkdiv = 0; clkdiv < 4; clkdiv++) {
timmey9 22:523e316cbe70 164 if ((bus_clock >> clkdiv) <= MAX_FADC)
timmey9 22:523e316cbe70 165 break;
timmey9 22:523e316cbe70 166 }
timmey9 22:523e316cbe70 167 if (clkdiv == 4) {
timmey9 22:523e316cbe70 168 clkdiv = 0x7; //Set max div
timmey9 22:523e316cbe70 169 }
timmey9 22:523e316cbe70 170 // adc is enabled/triggered when reading.
timmey9 22:523e316cbe70 171 adc_hal_set_clock_source_mode(instance, (adc_clock_source_mode_t)(clkdiv >> 2));
timmey9 22:523e316cbe70 172 adc_hal_set_clock_divider_mode(instance, (adc_clock_divider_mode_t)(clkdiv & 0x3));
timmey9 22:523e316cbe70 173 adc_hal_set_reference_voltage_mode(instance, kAdcVoltageVref);
timmey9 22:523e316cbe70 174 adc_hal_set_resolution_mode(instance, kAdcSingleDiff16);
timmey9 22:523e316cbe70 175 adc_hal_configure_continuous_conversion(instance, false);
timmey9 22:523e316cbe70 176 adc_hal_configure_hw_trigger(instance, false); // sw trigger
timmey9 22:523e316cbe70 177 adc_hal_configure_hw_average(instance, false);
timmey9 22:523e316cbe70 178 adc_hal_set_hw_average_mode(instance, kAdcHwAverageCount4);
timmey9 22:523e316cbe70 179 adc_hal_set_group_mux(instance, kAdcChannelMuxB); // only B channels are avail
timmey9 22:523e316cbe70 180
timmey9 22:523e316cbe70 181 pinmap_pinout(pin, PinMap_ADC);
timmey9 34:44cc9b76a507 182 }