File content as of revision 36:07d8a3143967:

// 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 "dma.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);
DigitalOut led_green(LED_GREEN);
DigitalOut led_blue(LED_BLUE);

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
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_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;

using namespace std;
 
int main() {
    led_blue = 1;
    led_green = 1;
    led_red = 1;
    
    pc.baud(230400);
    pc.printf("Starting\r\n");
    
    analog_initialization(A0);
    analog_initialization(A2);
    
    // 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);
    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);
    
    pc.printf("\r\n\r\n\r\n");
    
    while(1) {
        rotary_count++;
        if(pc.readable() > 0) {
            char temp = pc.getc();
            
            switch(temp) {
                case 's':
                    for(int i = 0; i < TOTAL_SAMPLES; i++) pc.printf("%i: %f\t",i,sample_array1[i]*3.3/65535);
                    
                    pc.printf("\r\n");
                    break;
                case 'f':
                    for(int i = 0; i < TOTAL_SAMPLES; i++) sample_array1[i] = 0;
                    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("\r");
        //pc.printf("DMA_DADDR: %08x                  \r", *dma_daddr);
        //pc.printf("A1: %f\tA2: %f\r\n", currA0, currA2);
        wait(1);
    }
    
  
}

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);
    
    
    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
    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;        
    }
    /*
    //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);
    adc_hal_configure_hw_trigger(instance, 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);
*/