Revision 51:43143a3fc2d7, committed 2015-01-31

Comitter:

timmey9

Date:

Sat Jan 31 20:17:58 2015 +0000

Parent:

50:33524a27e08c

Child:

52:5a40cc58c4c2

Commit message:

Cleaned up the code a little bit.

Changed in this revision

--- a/adc.cpp	Sat Jan 31 19:46:00 2015 +0000
+++ b/adc.cpp	Sat Jan 31 20:17:58 2015 +0000
@@ -14,11 +14,16 @@
         single vs continuous mode
         does asynchronous clock have to do with this?
 */
-DigitalOut toggle1(PTC16);
+DigitalOut toggle1(PTA0);
 DigitalOut green(LED_GREEN);
 DigitalOut red(LED_RED);
-Serial debug(USBTX,USBRX);
+//Serial debug(USBTX,USBRX);
+
+
 
+/* The ADCs are setup so that ADC0 and ADC1 are triggered by the PDB.
+ * When the conversions are complete, ADC0 and ADC1 then trigger DMA0
+ * and DMA1, respectively.                                         */
 void adc_init()
 {
     // red, indicating now ready
@@ -32,7 +37,6 @@
     // Set ADC hardware trigger to PDB0
     SIM_SOPT7 = SIM_SOPT7_ADC0TRGSEL(0); // Select triggering by PDB and select pre-trigger A
     SIM_SOPT7 = SIM_SOPT7_ADC1TRGSEL(0); // Select triggering by PDB and select pre-trigger A
-    debug.printf("SIM_SOPT7: 0x%08x\r\n",SIM_SOPT7); //(0x00000000)
     
     // Setup Configuration Register 1 
     ADC0_CFG1 = 0; // clear register
@@ -123,7 +127,8 @@
     ADC1_SC1A = 0; // clear register
     ADC1_SC1A &= ~ADC_SC1_DIFF_MASK; // select single-ended mode
     ADC1_SC1A |= ADC_SC1_AIEN_MASK;  // enable interrupt (for debugging)
-    ADC1_SC1A |= ADC_SC1_ADCH(14);   // select channel 13
+    ADC1_SC1A |= ADC_SC1_ADCH(14);   // select channel 14
+    
     
     // Check if ADC is finished initializing  TODO:  This part doesn't seem right, but I did it according to 871
     while( (ADC0_SC1B&ADC_SC1_COCO_MASK)) {}
@@ -136,22 +141,25 @@
     red = 1;
     green = 0;
     
-    /*
-    debug.printf("ADC0_SC1a: %08x\r\n",ADC0_SC1A);  //(0x0000004d)
-    debug.printf("ADC0_SC1b: %08x\r\n",ADC0_SC1B);  //(0x0000001f)
-    debug.printf("ADC0_CFG1: %08x\r\n",ADC0_CFG1);  //(0x0000000c)
-    debug.printf("ADC0_CFG2: %08x\r\n",ADC0_CFG2);  //(0x00000004)
-    debug.printf("ADC0_RA:   %08x\r\n",ADC0_RA);    //(0x00000000)
-    debug.printf("ADC0_RB:   %08x\r\n",ADC0_RB);    //(0x00000000)
-    debug.printf("ADC0_SC2:  %08x\r\n",ADC0_SC2);   //(0x00000044)
-    debug.printf("ADC0_SC3:  %08x\r\n\n",ADC0_SC3); //(0x00000000)
-    */
-    
     // Enable the ISR vector
     //NVIC_SetVector(ADC0_IRQn, (uint32_t)&ADC0_IRQHandler);
     //NVIC_EnableIRQ(ADC0_IRQn);
 }
 
+
+void ADC0_IRQHandler() {
+    
+    toggle1 = !toggle1;
+}
+
+
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
+ * DEBUG:  This is supposed to put the ADC in continuous     *
+ *         mode so it samples without the PCB.  But for      *
+ *         some reason it isn't working.  I haven't deleted  *
+ *         it just in case it is needed for debug purposes   *
+ *         in the future.                                    *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 void adc_start() {
     // reset DMA
     dma_reset();
@@ -169,6 +177,13 @@
     ADC1_SC1A |= ADC_SC1_ADCH(14);   // write to SC1A causing a trigger
 }
 
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
+ * DEBUG:  This is supposed to revert back from adc_start()  *
+ *         but because adc_start() isn't working, this       *
+ *         function is good for nothing.  I held on to       *
+ *         it just in case it is needed for debug purposes   *
+ *         in the future.                                    *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 void adc_stop() {
     // set ADC to hardware trigger
     ADC0_SC2 |= ADC_SC2_ADTRG_MASK;
@@ -179,7 +194,12 @@
     ADC1_SC3 &= ~ADC_SC3_ADCO_MASK; 
 }
 
-// DEBUG: this function causes the continuous sampling to break
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 
+ * DEBUG:  This is supposed to trigger a software conversion *
+ *         and take a single sample.  However, it only       *
+ *         worked for ADC1 for some reason.  It is here for  *
+ *         possible debug purposes in the future.            *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 void adc_single_sample() {
     ADC0_SC3 &= ~ADC_SC3_ADCO_MASK;  // single conversion mode
     ADC1_SC3 &= ~ADC_SC3_ADCO_MASK;  // single conversion mode
@@ -193,7 +213,14 @@
     ADC1_SC2 |= ADC_SC2_ADTRG_MASK; // set ADC to software trigger
 }
 
-void ADC0_IRQHandler() {
-    
-    toggle1 = !toggle1;
-}
\ No newline at end of file
+
+/*
+    debug.printf("ADC0_SC1a: %08x\r\n",ADC0_SC1A);  //(0x0000004d)
+    debug.printf("ADC0_SC1b: %08x\r\n",ADC0_SC1B);  //(0x0000001f)
+    debug.printf("ADC0_CFG1: %08x\r\n",ADC0_CFG1);  //(0x0000000c)
+    debug.printf("ADC0_CFG2: %08x\r\n",ADC0_CFG2);  //(0x00000004)
+    debug.printf("ADC0_RA:   %08x\r\n",ADC0_RA);    //(0x00000000)
+    debug.printf("ADC0_RB:   %08x\r\n",ADC0_RB);    //(0x00000000)
+    debug.printf("ADC0_SC2:  %08x\r\n",ADC0_SC2);   //(0x00000044)
+    debug.printf("ADC0_SC3:  %08x\r\n\n",ADC0_SC3); //(0x00000000)
+    */
\ No newline at end of file

--- a/adc.h	Sat Jan 31 19:46:00 2015 +0000
+++ b/adc.h	Sat Jan 31 20:17:58 2015 +0000
@@ -4,28 +4,22 @@
 #include "mbed.h"
 #include "dma.h"
 
-/***
- * Sets ADC to continuous conversion mode with software trigger, then
- * triggers the ADC.
- **/
-void adc_start();
 
 /***
- * Sets ADC to single conversion mode with hardware trigger.  So the 
- * ADC stops unless triggered by a timer.
- **/
-void adc_stop();
-
-/***
- * Initializes the ADC to 16-bit single-ended CH13, hardware triggered
+ * Initializes the ADC to 16-bit single-ended, hardware triggered
  * with DMA enabled.
  **/
 void adc_init();
 
 /***
- * Toggles PTC16 when conversion completes
+ * Toggles PTA0 when conversion completes
  **/
 void ADC0_IRQHandler();
-void adc_single_sample();
+
+
+
+//void adc_single_sample();
+//void adc_start();
+//void adc_stop();
 
 #endif /* ADC_H_ */
\ No newline at end of file

--- a/dma.cpp	Sat Jan 31 19:46:00 2015 +0000
+++ b/dma.cpp	Sat Jan 31 20:17:58 2015 +0000
@@ -8,9 +8,12 @@
 uint16_t sample_array0[TOTAL_SAMPLES];
 uint16_t sample_array1[TOTAL_SAMPLES];
 uint16_t angle_array[TOTAL_SAMPLES];
-//DigitalIn AMT20_A(PTB18); // FTM2_QD_PHA, apparently the k64f has a quadrature decoder.  look into this (page 264)
-//DigitalIn AMT20_B(PTB10); // FTM2_QD_PHB
+
+
 
+/*  DMA0 and DMA1 are triggered by ADC0 and ADC1 (which are triggered
+ *  by the PDB).  However, DMA2 is triggered directly by the PDB.  This
+ *  is becuase DMA2 is reading FTM2, which cannot trigger the DMA.   */
 void dma_init()
 {
     // Enable clock for DMAMUX and DMA
@@ -22,12 +25,10 @@
     DMAMUX_CHCFG0 |= DMAMUX_CHCFG_ENBL_MASK | DMAMUX_CHCFG_SOURCE(40); // ADC0
     DMAMUX_CHCFG1 |= DMAMUX_CHCFG_ENBL_MASK | DMAMUX_CHCFG_SOURCE(41); // ADC1
     DMAMUX_CHCFG2 |= DMAMUX_CHCFG_ENBL_MASK | DMAMUX_CHCFG_SOURCE(48); // Set trigger source to PDB (Don't set DMA Trig Enable because that is for the PIT)
-    /* Source number    Source module    Source description
+    /* Source number    Source module
            40                ADC0
            41                ADC1
-           30                FTM2             Channel 0
-           31                FTM2             Channel 1
-           48                PDB                  -
+           48                PDB
     */
     
     
@@ -85,9 +86,17 @@
     DMA_TCD0_CSR = 0;
     DMA_TCD1_CSR = 0;
     DMA_TCD2_CSR = 0;
-    
-    
-    /*pc.printf("DMA_CR: %08x\r\n", DMA_CR);
+}
+
+void dma_reset() {
+    // Set memory address for destinations back to the beginning
+    dma_init();
+}
+
+
+
+
+/*pc.printf("DMA_CR: %08x\r\n", DMA_CR);
     pc.printf("DMA_ES: %08x\r\n", DMA_ES);
     pc.printf("DMA_ERQ: %08x\r\n", DMA_ERQ);
     pc.printf("DMA_EEI: %08x\r\n", DMA_EEI);
@@ -101,10 +110,4 @@
     pc.printf("DMA_CINT: %02x\r\n", DMA_CINT);
     pc.printf("DMA_INT: %08x\r\n", DMA_INT);
     pc.printf("DMA_ERR: %08x\r\n", DMA_ERR);
-    pc.printf("DMA_HRS: %08x\r\n", DMA_HRS);*/
-}
-
-void dma_reset() {
-    // Set memory address for destinations back to the beginning
-    dma_init();
-}
+    pc.printf("DMA_HRS: %08x\r\n", DMA_HRS);*/
\ No newline at end of file

--- a/main.cpp	Sat Jan 31 19:46:00 2015 +0000
+++ b/main.cpp	Sat Jan 31 20:17:58 2015 +0000
@@ -10,17 +10,16 @@
 DigitalOut led_red(LED_RED);
 DigitalOut led_green(LED_GREEN);
 DigitalOut led_blue(LED_BLUE);
+DigitalOut quadA(PTC17);
+DigitalOut quadB(PTC16);
 
 AngleEncoder angle_encoder(PTD2, PTD3, PTD1, PTD0, 8, 0, 1000000); // mosi, miso, sclk, cs, bit_width, mode, hz
-DigitalOut quadA(PTC17);
-DigitalOut quadB(PTC16);
+
 extern int len;
 extern uint16_t sample_array0[];
 extern uint16_t sample_array1[];
 extern uint16_t angle_array[];
 
-bool switcher = false;
-
 using namespace std;
  
 int main() {
@@ -33,10 +32,10 @@
     pc.baud(230400);
     pc.printf("Starting\r\n");
     
-    quad_init();
+    quad_init(); // initialize FTM2 to quadrature decoder
     adc_init(); // always initialize adc before dma
-    dma_init();
-    pdb_init();
+    dma_init(); // initializes DMAs
+    pdb_init(); // initialize PDB0 as the timer for ADCs and DMA2
     
     led_green = 1;
     
@@ -56,13 +55,6 @@
                 case 'g':
                     pc.printf("Quad Cnt: %i\r\n", quad_read());
                     break;
-                /*
-                case 'A':
-                case 'a': // needs debugging
-                    adc_start();
-                    for(int i = 0; i < 1500; i++) asm("nop");
-                    adc_stop();
-                    // then proceed to 's' to display the array*/
                 case 'F': // clear the samples
                 case 'f':
                     for(int i = 0; i < len; i++) {sample_array0[i] = 0; sample_array1[i] = 0; angle_array[i] = 0;}
@@ -73,19 +65,8 @@
                     for(int i = 0; i < len; i++) pc.printf("%i: %f\t %f\t %i\r\n",i,sample_array0[i]*3.3/65535,sample_array1[i]*3.3/65535, angle_array[i]);
                     pc.printf("\r\n");
                     break;
-                /*
-                case 'D':
-                case 'd':
-                    adc_single_sample(); // trigger ADCs, which trigger DMA
-                    DMA_TCD2_CSR |= DMA_CSR_START_MASK; // trigger encoder DMA
-                    break;*/
                 
                     
-                    
-                    
-                    
-                    
-                    
                 // Programmable Delay Block debug
                 case 'B':
                 case 'b':

--- a/pdb.cpp	Sat Jan 31 19:46:00 2015 +0000
+++ b/pdb.cpp	Sat Jan 31 20:17:58 2015 +0000
@@ -1,7 +1,11 @@
 #include "pdb.h"
 
-Serial debug2(USBTX,USBRX);
+//Serial debug2(USBTX,USBRX);
+
 
+/*  The PDB is setup to run continuous (when enabled) so it will
+ *  periodically trigger the ADCs to sample and trigger DMA2 to 
+ *  save the quadrature angle.  The PDB can be started and stopped. */
 void pdb_init() {
     
     // initialize the Programmable Delay Block
@@ -32,8 +36,27 @@
              | PDB_SC_MULT(0)      // Multiplication factor 20 for the prescale divider for the counter clock
              | PDB_SC_CONT_MASK    // Contintuous, rather than one-shot, mode
              | PDB_SC_LDOK_MASK;   // Need to ok the loading or it will not load certain regsiters!
-    //PDB0_SC &= ~PDB_SC_CONT_MASK;  // enable one-shot mode for debugging.
     
+    //NVIC_SetVector(PDB0_IRQn, (uint32_t)&PDB0_IRQHandler);
+    //NVIC_EnableIRQ(PDB0_IRQn);
+}
+
+void PDB0_IRQHandler() {
+
+}
+
+void pdb_start() {
+    PDB0_SC |= PDB_SC_PDBEN_MASK;  // PDB enabled
+    PDB0_SC |= PDB_SC_SWTRIG_MASK; // enable software trigger (start the PDB)
+}
+
+void pdb_stop() {
+    //PDB0_SC &= ~PDB_SC_CONT_MASK; // change to one-shot mode, so pdb will stop after current count
+    PDB0_SC &= ~PDB_SC_PDBEN_MASK;  // PDB disabled
+}
+
+
+/*
     debug2.printf("PDB0_SC:       %08x\r\n",PDB0_SC);
     debug2.printf("PDB0_MOD:      %08x\r\n",PDB0_MOD);
     debug2.printf("PDB0_CNT:      %08x\r\n",PDB0_CNT);
@@ -54,24 +77,4 @@
     debug2.printf("PDB0_PO0DLY:   %08x\r\n",PDB0_PO0DLY);
     debug2.printf("PDB0_PO1DLY:   %08x\r\n",PDB0_PO1DLY);
     debug2.printf("PDB0_PO2DLY:   %08x\r\n\n",PDB0_PO2DLY);
-    
-    //NVIC_SetVector(PDB0_IRQn, (uint32_t)&PDB0_IRQHandler);
-    //NVIC_EnableIRQ(PDB0_IRQn);
-}
-
-
-void PDB0_IRQHandler() {
-    //switcher = !switcher;
-
-}
-
-
-void pdb_start() {
-    PDB0_SC |= PDB_SC_PDBEN_MASK;  // PDB enabled
-    PDB0_SC |= PDB_SC_SWTRIG_MASK; // enable software trigger (start the PDB)
-}
-
-void pdb_stop() {
-    //PDB0_SC &= ~PDB_SC_CONT_MASK; // change to one-shot mode, so pdb will stop after current count
-    PDB0_SC &= ~PDB_SC_PDBEN_MASK;  // PDB disabled
-}
\ No newline at end of file
+    */
\ No newline at end of file

--- a/pdb.h	Sat Jan 31 19:46:00 2015 +0000
+++ b/pdb.h	Sat Jan 31 20:17:58 2015 +0000
@@ -7,8 +7,6 @@
 
 #include "mbed.h"
 
-extern bool switcher;
-
 void pdb_init();
 void pdb_start();
 void pdb_stop();