int main(int argc, char** argv) {
//DDPCONbits.JTAGEN = 0; // Disable JTAG
mPORTGSetPinsDigitalIn(0x00FF);
mPORTBSetPinsAnalogIn(0x00FF); //Enable all analog
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
CloseADC10();
SetChanADC10(INITCH);
OpenADC10(CONFIG1, CONFIG2, CONFIG3, CFGPORT, CFGSCAN);
ConfigIntADC10(CFGINT);
EnableADC10();
//Initialize the DB_UTILS IO channel
DBINIT();
// Display the introduction
DBPRINTF("Welcome to the Analog Input Test.\n");
DBPRINTF("The build date and time is (" __DATE__ "," __TIME__ ")\n");
while (1){
//Get damper value from PIC analog input
int i = 0;
for(i;i<1;i++){
int analog = ReadADC10(i);
DBPRINTF("Hammer %d = %d", i, analog);
DBPRINTF("\n");
}
int digital = mPORTGReadBits(BIT_0);
DBPRINTF("digital: %X \n \n", digital );
}
return 0;
}
/**
* @Function AD_Init
* @param None
* @return SUCCESS or ERROR
* @brief Initializes the A/D subsystem and enable battery voltage monitoring.
* @author Max Dunne, 2013.08.10 */
char AD_Init(void)
{
if (ADActive) {
return ERROR;
}
int pin = 0;
//ensure that the battery monitor is active
ActivePins = BAT_VOLTAGE_MONITOR;
ADActive = TRUE;
AD_SetPins();
for (pin = 0; pin < NUM_AD_PINS; pin++) {
ADValues[pin] = -1;
}
INTEnable(INT_AD1, INT_DISABLED);
INTClearFlag(INT_AD1);
INTSetVectorPriority(INT_ADC_VECTOR, 1);
INTSetVectorSubPriority(INT_ADC_VECTOR, 3);
INTEnable(INT_AD1, INT_ENABLED);
EnableADC10();
ADNewData = FALSE;
//wait for first reading to ensure battery monitor starts in the right spot
while (!AD_IsNewDataReady()) {
#ifdef AD_DEBUG_VERBOSE
PutChar('.');
#endif
}
//set the first values for the battery monitor filter
Filt_BatVoltage = AD_ReadADPin(BAT_VOLTAGE_MONITOR);
CurFilt_BatVoltage = Filt_BatVoltage;
PrevFilt_BatVoltage = Filt_BatVoltage;
return SUCCESS;
}
void adcConfigureAutoScan()
{
// configure and enable the ADC
CloseADC10(); // ensure the ADC is off before setting the configuration
// define setup parameters for OpenADC10
// Turn module on | output in integer | trigger mode auto | enable autosample
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG16 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
// define setup parameters for OpenADC10
// ADC ref external | disable offset test | enable scan mode | perform 2 samples | use one buffer | use MUXA mode
// note: to read X number of pins you must set ADC_SAMPLES_PER_INT_X
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_3 | ADC_ALT_BUF_ON | ADC_ALT_INPUT_OFF
// define setup parameters for OpenADC10
// use ADC internal clock | set sample time
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_11
// define setup parameters for OpenADC10
// set AN4 and AN5
#define PARAM4 ENABLE_AN13_ANA|ENABLE_AN12_ANA|ENABLE_AN25_ANA
// define setup parameters for OpenADC10
// do not assign channels to scan
#define PARAM5 SKIP_SCAN_ALL//SKIP_SCAN_AN0|SKIP_SCAN_AN1|SKIP_SCAN_AN2|SKIP_SCAN_AN3|SKIP_SCAN_AN4|SKIP_SCAN_AN5|SKIP_SCAN_AN6|SKIP_SCAN_AN7|SKIP_SCAN_AN8|SKIP_SCAN_AN9|SKIP_SCAN_AN10|SKIP_SCAN_AN11|SKIP_SCAN_AN12|SKIP_SCAN_AN14|SKIP_SCAN_AN15|SKIP_SCAN_AN16|SKIP_SCAN_AN17|SKIP_SCAN_AN18|SKIP_SCAN_AN19|SKIP_SCAN_AN20|SKIP_SCAN_AN21|SKIP_SCAN_AN22|SKIP_SCAN_AN23|SKIP_SCAN_AN24|SKIP_SCAN_AN25|SKIP_SCAN_AN26|SKIP_SCAN_AN27
// use ground as neg ref for A
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF ); // // configure to sample A13
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 ); // configure ADC using parameter define above
AD1CSSLSET = 0x2003000;
EnableADC10(); // Enable the ADC
}
static void ADC_Init (void)
{
ADC_Config(); /* Configure ADC settings */
ADC_IntInit(); /* Configure the interrupt settings */
ADC_TmrInit(); /* Initialize the timer used for the ADC */
EnableADC10(); /* Enable the ADC */
}
// Prepare Hardware Channel
int platform_adc_update_sequence( )
{
elua_adc_dev_state *d = adc_get_dev_state( 0 );
CloseADC10(); // Ensure the ADC is off before setting the configuration
AD1CSSL = 0;
AD1PCFG = 0xffffffff;
platform_setup_adcs();
d->seq_ctr = 0;
while( d->seq_ctr < d->seq_len )
{
AD1CSSLSET = (1 << d->ch_state[ d->seq_ctr ]->id);
AD1PCFGCLR = (1 << d->ch_state[ d->seq_ctr ]->id);
d->seq_ctr++;
}
d->seq_ctr = 0;
EnableADC10();
// start conversion
AD1CON1SET = _AD1CON1_ASAM_MASK;
AD1CON1SET = _AD1CON1_SAMP_MASK;
return PLATFORM_OK;
}
int main(void){
mPORTASetPinsDigitalIn(0xFFFF);
mPORTBSetPinsAnalogIn(0xFFFF); //Enable all analog
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
CloseADC10();
SetChanADC10(INITCH);
OpenADC10(CONFIG1, CONFIG2, CONFIG3, CFGPORT, CFGSCAN);
ConfigIntADC10(CFGINT);
EnableADC10();
//Initialize the DB_UTILS IO channel
DBINIT();
// Display the introduction
DBPRINTF("Welcome to the Analog Input Test.\n");
DBPRINTF("The build date and time is (" __DATE__ "," __TIME__ ")\n");
while (1){
//Get damper value from PIC analog input
int i = 0;
for(i;i<16;i++){
int damper = ReadADC10(i);
DBPRINTF("Damper %d = %d", i, damper);
DBPRINTF("\n");
}
//DBPRINTF("%d \n", LATA );
}
return 0;
}
int main(void){
mPORTBSetPinsAnalogIn(0xFFFF); //Enable all analog
mPORTDClearBits(BIT_0 |BIT_1 | BIT_8);
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_8);
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
CloseADC10();
SetChanADC10(INITCH);
OpenADC10(CONFIG1, CONFIG2, CONFIG3, CFGPORT, CFGSCAN);
ConfigIntADC10(CFGINT);
EnableADC10();
mPMPOpen(PMP_CONTROL, PMP_MODE, PMP_PORT, PMP_INT);
mPMPEnable();
//mPORTDClearBits(BIT_0 |BIT_1 | BIT_8);
INTEnableSystemMultiVectoredInt();
OpenTimer2(T2_ON | T2_PS_1_64, 256);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_5 | T2_INT_SUB_PRIOR_2);
EnableIntT2;
mPORTDToggleBits(BIT_0);
while(1){
//Blink so we know we're still running
noteOn(67, 100);
//delayMs(1000);
mPORTDToggleBits(BIT_0);
//noteOff(67);
DelayMs(1000);
//mPORTDToggleBits(BIT_0);
}
return 0;
}
// initialize the analog input
void initAnalogInput(void)
{
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_16 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_31
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA | ENABLE_AN2_ANA | ENABLE_AN3_ANA | ENABLE_AN5_ANA | ENABLE_AN15_ANA
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4,0);
EnableADC10();
}
/**
* @private
* Initialise the Analog Digital Converter
* @param CONFIG1 bit-masks first turns the module on, formats the output as 32-bit integers,
* triggers its conversions automatically, and automatically samples.
* @param CONFIG2 bit-masks sets the voltage references to Vdd and Vss, disables the offset calculation,
* enables scanning, specifies how many samples are to be read per interrupt (which
* should be changed if multiple analog pins are being read?ADC_SAMPLES_PER_INT_x where x is the
* number of pins to be read), disables the buffer, and disables input sample mode.
* @param CONFIG3 bit-masks selects which clock to use, and selects the auto-sample time bits.
* @param CONFIGPORT bit-masks selects which analog pins are enabled. This is similar to setting the AD1PCFG register.
* @param CONFIGSCAN bit-masks selects which analog pins are to be scanned or skipped.
*/
void _initADC(){
CloseADC10();
SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF);
OpenADC10(CONFIG1, CONFIG2, CONFIG3, CONFIGPORT, CONFIGSCAN);
EnableADC10();
// mAD1GetIntFlag() checks the interrupt flag for the AD10.
// Waits till a conversion is finished so that there's
// values in the ADC result registers.
while (!mAD1GetIntFlag() ) {
}
}
void init_adc(void) {
// configure and enable the ADC
// A0 = AN2, A1 = AN4
CloseADC10(); // ensure the ADC is off before setting the configuration
AD1CHS = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN2; // configure to sample AN2
mPORTBSetPinsAnalogIn(SKIP_SCAN_ALL);
AD1CSSL = ~(ENABLE_AN2_ANA | ENABLE_AN4_ANA);
AD1CON3 = ADC_CONV_CLK_PB | ADC_SAMPLE_TIME_15 | ADC_CONV_CLK_16Tcy;
AD1CON2 = ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF | \
ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF;
AD1CON1 = ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_MANUAL | ADC_AUTO_SAMPLING_OFF;
EnableADC10(); // Enable the ADC
//AcquireADC10();
}
void ADC_Init (void)
{
//!!!!!!!! PORTB BIT_2 --> GP2_6 ne fonctionne pas !!!!!!!!!! CBE 29/04/2010
//Disable all comparators
DisableCN2;
DisableCN4;
DisableCN6;
DisableCN8;
DisableCN10;
DisableCN11;
PORTSetPinsAnalogIn(IOPORT_B, BIT_2 | BIT_4 | BIT_6 | BIT_8 | BIT_10 | BIT_11); // Set AN pin as analog input.
CloseADC10(); // ensure the ADC is off before setting the configuration
ADC_Config(); /* Configure ADC settings */
EnableADC10(); /* Enable the ADC */
}
int main(void)
{
BOARD_Init();
// Configure Timer 1 using PBCLK as input. This default period will make the LEDs blink at a
// pretty reasonable rate to start.
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_8, 0xFFFF);
// Set up the timer interrupt with a priority of 4.
INTClearFlag(INT_T1);
INTSetVectorPriority(INT_TIMER_1_VECTOR, INT_PRIORITY_LEVEL_4);
INTSetVectorSubPriority(INT_TIMER_1_VECTOR, INT_SUB_PRIORITY_LEVEL_0);
INTEnable(INT_T1, INT_ENABLED);
// Enable interrupts for the ADC
ConfigIntADC10(ADC_INT_PRI_2 | ADC_INT_SUB_PRI_0 | ADC_INT_ON);
// Set B2 to an input so AN0 can be used by the ADC.
TRISBCLR = 1 << 2;
// Configure and start the ADC
// Read AN0 as sample a. We don't use alternate sampling, so setting sampleb is pointless.
SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN2);
OpenADC10(
ADC_MODULE_ON | ADC_IDLE_CONTINUE | ADC_FORMAT_INTG16 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON,
ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF | ADC_SAMPLES_PER_INT_8 |
ADC_BUF_16 | ADC_ALT_INPUT_OFF,
ADC_SAMPLE_TIME_29 | ADC_CONV_CLK_PB | ADC_CONV_CLK_51Tcy2,
ENABLE_AN2_ANA,
SKIP_SCAN_ALL);
EnableADC10();
/***************************************************************************************************
* Your code goes in between this comment and the following one with asterisks.
**************************************************************************************************/
printf("Welcome to the Lab 6 Extra Credit blank. Please remove before starting.");
/***************************************************************************************************
* Your code goes in between this comment and the preceding one with asterisks
**************************************************************************************************/
while (1);
}
void initPIC() {
SYSTEMConfig(SYS_FREQ, SYS_CFG_ALL);
initLEDs();
initSerialNU32v2();
// Setup and turn off electromagnets
EMAG1 = 0;
EMAG2 = 0;
TRISEbits.TRISE7 = 0;
TRISCbits.TRISC1 = 0;
// Direction Output
DIR = 1;
TRISAbits.TRISA9 = 0;
setup_counters();
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_16 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_31
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA | ENABLE_AN2_ANA | ENABLE_AN3_ANA | ENABLE_AN5_ANA | ENABLE_AN15_ANA
OpenADC10(PARAM1, PARAM2, PARAM3, PARAM4, 0);
EnableADC10();
// 20kHz PWM signal, duty from 0-1000, pin D3
OpenTimer2(T2_ON | T2_PS_1_4, MAX_DUTY);
OpenOC4(OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, 0, 0);
SetDCOC4PWM(0);
// 200 Hz ISR
OpenTimer3(T3_ON | T3_PS_1_256, (6250/4 - 1));
//OpenTimer3(T3_ON | T3_PS_1_256, (62500 - 1));
mT3SetIntPriority(1);
mT3ClearIntFlag();
mT3IntEnable(1);
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableSystemMultiVectoredInt();
}
void initADC()
{
//portb as anaog input
mPORTBSetPinsAnalogIn(BIT_3);
// configure and enable the ADC
CloseADC10(); // ensure the ADC is off before setting the configuration
// define setup parameters for OpenADC10
// Turn module on | output in integer | trigger mode auto | enable autosample
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
// define setup parameters for OpenADC10
// ADC ref external | disable offset test | enable scan mode | perform 2 samples | use one buffer | use MUXA mode
// note: to read X number of pins you must set ADC_SAMPLES_PER_INT_X
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_1 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
// define setup parameters for OpenADC10
// use ADC internal clock | set sample time
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_15
// define setup parameters for OpenADC10
// set AN3
#define PARAM4 ENABLE_AN3_ANA
// define setup parameters for OpenADC10
// do not assign channels to scan
#define PARAM5 SKIP_SCAN_AN0 | SKIP_SCAN_AN1 | SKIP_SCAN_AN2 | SKIP_SCAN_AN4 | SKIP_SCAN_AN5 | SKIP_SCAN_AN6 | SKIP_SCAN_AN7 | SKIP_SCAN_AN8 | SKIP_SCAN_AN9 | SKIP_SCAN_AN10 | SKIP_SCAN_AN11 | SKIP_SCAN_AN12 | SKIP_SCAN_AN13 | SKIP_SCAN_AN14 | SKIP_SCAN_AN15
// use ground as neg ref for A
SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF); // use ground as the negative reference
OpenADC10(PARAM1, PARAM2, PARAM3, PARAM4, PARAM5); // configure ADC using parameter define above
EnableADC10(); // Enable the ADCd
while (!mAD1GetIntFlag())
{
} // wait for the first conversion to complete so there will be valid data in ADC result registers
}
virtual void setup_analog_in() {
CloseADC10(); // ERROR: Only open 2 channels?
SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF|ADC_CH0_POS_SAMPLEA_AN0);
PORTSetPinsAnalogIn(ltr(), num());
enabled_ADCs |= (typeof(enabled_ADCs)) (1 << bit); // PIC32 SPECIFIC
uint32_t count_enabled = __builtin_popcount(enabled_ADCs); // 32bit cuz we bitshift below
/* 1: Turn module on | ouput in integer | trigger mode auto | enable autosample
* 2: ADC ref external | disable offset test | disable scan mode | perform 2 samples | use dual buffers | use alternate mode
* 3: use ADC internal clock | set sample time
* 4: enable all ANX not in use
* 5: do not assign other channels to scan */
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | (count_enabled << _AD1CON2_SMPI_POSITION) | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF // use Channel A only
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_15
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA
#define PARAM5 SKIP_SCAN_ALL
OpenADC10( PARAM1, PARAM2, PARAM3, enabled_ADCs, ~enabled_ADCs ); // setup ADC
EnableADC10();
}
/*
* Set up ADC10 to read Cerebot battery monitor AN8.
* If you are having problems, verify jumper JP4 is on.
*/
void init_battery_monitor()
{
// configure and enable the ADC
// ensure the ADC is off before setting the configuration
CloseADC10();
// use ground as neg ref for A | use AN8 for input A
// configure to sample AN8
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN8);
// Configure the ADC
// 16 bit integer, auto convert, auto sampling select.
//
// Use AVDD and AVSS for reference, disable calibration, do not scan,
// interrupt at completion of every 2nd sample, use 2 8 word buffers,
// alternate between muxes.
//
// Use internal clock, set sample time
//
// Do not assign channels to scan
//
// Set AN8 as analog input
OpenADC10(
ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON,
ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF |
ADC_SAMPLES_PER_INT_2 | ADC_ALT_BUF_ON | ADC_ALT_INPUT_ON,
ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_15,
ENABLE_AN8_ANA,
SKIP_SCAN_ALL);
// Enable the ADC
EnableADC10();
// Wait for the first conversion to complete so there will be vaild
// data in ADC result registers
while ( ! mAD1GetIntFlag() );
}
/****************************************************************************
Function
AD_Init
Parameters
Pins, used #defined AD_PORTxxx OR'd together for each A/D Pin
Returns
SUCCESS or ERROR
Description
Initializes the A/D pins requested into analog inputs and configures the A/D subsystem.
It then generates the mapping for correctly reading the pin and then starts the A/D system.
Notes
None.
Author
Max Dunne, 2011.12.10
****************************************************************************/
unsigned char AD_Init(unsigned int Pins) {
unsigned int cssl = 0;
unsigned int pcfg = 0;
unsigned char CurPin = 0;
unsigned int PinCount2 = 0x00;
int ADMapping[NUM_AD_PINS_UNO];
if ((Pins == 0) || (Pins > 0x3FFF)) {
return ERROR;
}
for (CurPin = 0; CurPin < NUM_AD_PINS_UNO; CurPin++) {
ADMapping[CurPin] = -1;
}
for (CurPin = 0; CurPin < NUM_AD_PINS; CurPin++) {
PortMapping[CurPin] = -1;
if ((Pins & (1 << CurPin)) != 0) {
cssl |= AD1CSSL_MASKS[CurPin];
pcfg |= AD1PCFG_MASKS[CurPin];
ADMapping[AD1PCFG_POS[CurPin]] = CurPin;
PinCount++;
}
}
for (CurPin = 0; CurPin < NUM_AD_PINS_UNO; CurPin++) {
if (ADMapping[CurPin] != -1) {
PortMapping[ADMapping[CurPin]] = PinCount2;
PinCount2++;
}
}
UsedPins = Pins;
cssl = ~cssl;
OpenADC10(ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON, ADC_VREF_AVDD_AVSS
| ADC_SCAN_ON | ((PinCount - 1) << _AD1CON2_SMPI_POSITION) | ADC_BUF_16, ADC_SAMPLE_TIME_31 | ADC_CONV_CLK_32Tcy | ADC_CONV_CLK_PB, pcfg, cssl);
ConfigIntADC10(ADC_INT_ON | ADC_INT_PRI_1 | ADC_INT_SUB_PRI_3);
EnableADC10();
return SUCCESS;
}
int main(void)
{
unsigned int temp;
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
/*PORT CONFIGURATION for UART*/
// Blinky LED for Uart activity
//mPORTAClearBits(BIT_7);
//mPORTASetPinsDigitalOut(BIT_7);
// PINS used for the buttons
PORTSetPinsDigitalIn(IOPORT_B, BIT_2 | BIT_3 | BIT_4);
#define CONFIG (CN_ON | CN_IDLE_CON)
#define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2)
mCNOpen(CONFIG, CN4_ENABLE | CN5_ENABLE | CN6_ENABLE,
CN4_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE);
temp = mPORTBRead();
//Analog input
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG32 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_2 | ADC_BUF_16 | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_5
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA
#define PARAM5 SKIP_SCAN_AN2 | SKIP_SCAN_AN3 | SKIP_SCAN_AN4 | SKIP_SCAN_AN5 | SKIP_SCAN_AN6 | SKIP_SCAN_AN7 | SKIP_SCAN_AN8 | SKIP_SCAN_AN9 | SKIP_SCAN_AN10 | SKIP_SCAN_AN11 | SKIP_SCAN_AN12 | SKIP_SCAN_AN13 | SKIP_SCAN_AN14 | SKIP_SCAN_AN15
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0);
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 );
EnableADC10();
//PORT D for motors
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7 |
BIT_8 | BIT_9 | BIT_10 | BIT_11 |
BIT_12 | BIT_13 | BIT_14 | BIT_15); // Turn off PORTD on startup.
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7 |
BIT_8 | BIT_9 | BIT_10 | BIT_11 |
BIT_12 | BIT_13 | BIT_14 | BIT_15); // Make PORTD output.
// Explorer-16 uses UART2 to connect to the PC.
// This initialization assumes 36MHz Fpb clock. If it changes,
// you will have to modify baud rate initializer.
UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART2, GetPeripheralClock(), DESIRED_BAUDRATE);
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// Configure UART2 RX Interrupt
INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0);
// Congifure Change/Notice Interrupt Flag
ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
INTEnableInterrupts();
WriteString("*** UART Interrupt-driven Example ***\r\n");
unsigned int channel1, channel2;
unsigned int motor1Time, motor2Time;
// Let interrupt handler do the work
while (1) {
while ( ! mAD1GetIntFlag() );
channel1 = ReadADC10(0);
channel2 = ReadADC10(1);
motor1Time = (channel1*(60000)/(1023) + 80000);
motor2Time = (channel2*(60000)/(1023) + 80000);
//maximo valor de motorTime = 140000
//use motor time for stepping delay
if (MotorsON) {
if (M1forward) {
adelante(1, motor1Time, 1);
} else {
atras(1, motor1Time, 1);
}
if (M2forward) {
adelante(1, motor2Time, 3);
} else {
atras(1, motor2Time, 3);
}
}
mAD1ClearIntFlag();
}
return 0;
}
int main(void) {
timesec=0;
// set PIC32 to max computing power
SYSTEMConfig(SYS_FREQ, SYS_CFG_ALL);
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableSystemMultiVectoredInt();
initLEDs();
LED0 = 1;
LED1 = 1;
initSerialNU32v2();
setup_counters();
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_16 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_31
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA | ENABLE_AN2_ANA | ENABLE_AN3_ANA | ENABLE_AN5_ANA | ENABLE_AN15_ANA
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4,0);
EnableADC10();
// Setup and turn off electromagnets
EMAG1 = 0; EMAG2 = 0;
TRISEbits.TRISE7 = 0; TRISCbits.TRISC1 = 0;
//Direction Output
DIR = 1;
TRISAbits.TRISA9 = 0;
//g-select Outputs
GSEL1 = 0; GSEL2 = 0;
TRISEbits.TRISE2 = 0; TRISCbits.TRISC13= 0;
//0g Inputs
TRISAbits.TRISA0 = 1;
TRISAbits.TRISA4 = 1;
// 20kHz PWM signal, duty from 0-1000, pin D3
OpenTimer2(T2_ON | T2_PS_1_4, 1000);
OpenOC4(OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, 0, 0);
HBridgeDuty = 0;
SetDCOC4PWM(HBridgeDuty);
// 20Hz ISR
OpenTimer3(T3_ON | T3_PS_1_256, 15625);
mT3SetIntPriority(1);
mT3ClearIntFlag();
mT3IntEnable(1);
while(1) {
if(start){
EMAG2=0;
SetDCOC4PWM(100);
delaysec(delay1);
SetDCOC4PWM(1000);
delaysec(delay2);
SetDCOC4PWM(500);
delaysec(delay3);
EMAG2=1;
SetDCOC4PWM(0);
// EMAG1=0;
// SetDCOC4PWM(900);
// DIR = 0;
// delaysec(delay1);
// SetDCOC4PWM(0);
// delaysec(delay2);
// SetDCOC4PWM(700);
// delaysec(delay1);
// SetDCOC4PWM(1000);
// EMAG1=1;
start=0;
}
}
}
int main(void)
{
/******************* Setup *****************************/
mPORTBSetPinsAnalogIn(0xFFFF); //Enable all analog
//mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_8);
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
CloseADC10();
SetChanADC10(INITCH);
OpenADC10(CONFIG1, CONFIG2, CONFIG3, CFGPORT, CFGSCAN);
ConfigIntADC10(CFGINT);
EnableADC10();
//Initialize the DB_UTILS IO channel
DBINIT();
// Display the introduction
DBPRINTF("Welcome to the PIC32 Starter Kit Tutorial.\n");
DBPRINTF("The build date and time is (" __DATE__ "," __TIME__ ")\n");
/********************* Declarations *********************/
int damper = 0; //ch1 binary read
int damperchnum = 0; //damper adc number
int hammerchnum = 1; //hammer adc number
int samplesize = 1000;
int hammerdata[10][samplesize]; //collection of hammer values
int damperdata[10][samplesize]; //collection of damper values
int index = 0; //index of hammerdata and damperdata arrays
int collection[2] = {0,0};
int count = 0;
/******************** Initialize Arrays ******************/
int x;
int y;
for( x = 0; x < 10; x++)
{
for( y = 0; y < samplesize; y++)
{
damperdata[x][y] = 0;
}
}
/************************ Stuff to do *********************/
while (count < 4){
damper = ReadADC10(damperchnum);
if(damper > 100)
{
//store data
collection[0] = collection[1]; //we are collecting data, falling edge detection
collection[1] = 1;
if(index<samplesize)
{
hammerdata[count][index] = ReadADC10(hammerchnum);
damperdata[count][index] = damper;
index++;
//DBPRINTF("Damper: %d \n", damperdata[count][index-1]);
}
}else{
collection[0] = collection[1];
collection[1] = 0;
}
if(collection[1] < collection[0]) //rising edge detection
{
DBPRINTF("Count: %d \n", count);
count++;
index = 0;
}
}
int i;
/******************** Output Memory at End **********************/
for( i = 0; i < 1000; i++)
{
DBPRINTF("Damper data: %d ", damperdata[1][i]);
DBPRINTF("\n");
}
return 0;
}
// === Main ======================================================
void main(void) {
//SYSTEMConfigPerformance(PBCLK);
ANSELA = 0; ANSELB = 0;
// === config threads ==========
// turns OFF UART support and debugger pin, unless defines are set
PT_setup();
// === setup system wide interrupts ========
INTEnableSystemMultiVectoredInt();
CloseADC10(); // ensure the ADC is off before setting the configuration
#define PARAM1 ADC_FORMAT_INTG16 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_OFF //
// define setup parameters for OpenADC10
// ADC ref external | disable offset test | disable scan mode | do 1 sample | use single buf | alternate mode off
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF | ADC_SAMPLES_PER_INT_1 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
// Define setup parameters for OpenADC10
// use peripherial bus clock | set sample time | set ADC clock divider
// ADC_CONV_CLK_Tcy2 means divide CLK_PB by 2 (max speed)
// ADC_SAMPLE_TIME_5 seems to work with a source resistance < 1kohm
#define PARAM3 ADC_CONV_CLK_PB | ADC_SAMPLE_TIME_5 | ADC_CONV_CLK_Tcy2 //ADC_SAMPLE_TIME_15| ADC_CONV_CLK_Tcy2
// define setup parameters for OpenADC10
// set AN11 and as analog inputs
#define PARAM4 ENABLE_AN11_ANA // pin 24
// define setup parameters for OpenADC10
// do not assign channels to scan
#define PARAM5 SKIP_SCAN_ALL
// use ground as neg ref for A | use AN11 for input A
// configure to sample AN11
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN11 ); // configure to sample AN4
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 ); // configure ADC using the parameters defined above
EnableADC10(); // Enable the ADC
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, 400);
mPORTAClearBits(BIT_0 ); //Clear bits to ensure light is off.
mPORTASetPinsDigitalOut(BIT_0 ); //Set port as output
int CVRCON_setup;
// set up the Vref pin and use as a DAC
// enable module| eanble output | use low range output | use internal reference | desired step
CVREFOpen( CVREF_ENABLE | CVREF_OUTPUT_ENABLE | CVREF_RANGE_LOW | CVREF_SOURCE_AVDD | CVREF_STEP_0 );
// And read back setup from CVRCON for speed later
// 0x8060 is enabled with output enabled, Vdd ref, and 0-0.6(Vdd) range
CVRCON_setup = CVRCON; //CVRCON = 0x8060
// Open the desired DMA channel.
// We enable the AUTO option, we'll keep repeating the same transfer over and over.
DmaChnOpen(dmaChn, 0, DMA_OPEN_AUTO);
// set the transfer parameters: source & destination address, source & destination size, number of bytes per event
// Setting the last parameter to one makes the DMA output one byte/interrut
//DmaChnSetTxfer(dmaChn, sine_table, (void*) &CVRCON, sizeof(sine_table), 1, 1);
// set the transfer event control: what event is to start the DMA transfer
// In this case, timer2
DmaChnSetEventControl(dmaChn, DMA_EV_START_IRQ(_TIMER_2_IRQ));
// once we configured the DMA channel we can enable it
// now it's ready and waiting for an event to occur...
//DmaChnEnable(dmaChn);
int i;
for(i=0; i <256; i++){
ball_scored[i] = 0x60|((unsigned char)((float)255/2*(sin(6.2832*(((float)i)/(float)256))+1))) ;
//ball_lost[i]
// game_over
}
// init the threads
PT_INIT(&pt_timer);
PT_INIT(&pt_adc);
PT_INIT(&pt_launch);
PT_INIT(&pt_anim);
// init the display
tft_init_hw();
tft_begin();
tft_fillScreen(ILI9340_BLACK);
tft_setRotation(1); // Use tft_setRotation(1) for 320x240
while (1){
PT_SCHEDULE(protothread_timer(&pt_timer));
PT_SCHEDULE(protothread_adc(&pt_adc));
PT_SCHEDULE(protothread_launch_balls(&pt_launch));
PT_SCHEDULE(protothread_anim_balls(&pt_anim));
}
} // main
//*********************************************************************
int analogRead(uint8_t pin)
{
int analogValue;
unsigned int offset; // buffer offset to point to the base of the idle buffer
unsigned int param4;
uint8_t channelNumber;
//* in most cases (except the uno board) this will be a 1 to 1 mapping
channelNumber = analogInPinToBit(pin);
//* May 1, 2011 Gene Apperson of Digitlent sent me PIC32MX5XX-6XX-7XX Errata.pdf
//* item #26 documents a condition that I/O pins take time if previously set to outputs
//* first attempt, set all to 0
// AD1PCFG = 0;
// configure and enable the ADC
CloseADC10(); // ensure the ADC is off before setting the configuration
// define setup parameters for OpenADC10
// Turn module on | ouput in integer | trigger mode auto | enable autosample
#define PARAM1 ADC_FORMAT_INTG16 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
// define setup parameters for OpenADC10
// ADC ref external | disable offset test | disable scan mode | perform 2 samples | use dual buffers | use alternate mode
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF | ADC_SAMPLES_PER_INT_1 | ADC_ALT_BUF_ON
// define setup parameters for OpenADC10
// use ADC internal clock | set sample time
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_15
// define setup parameters for OpenADC10
// set AN4 and AN5 as analog inputs
param4 = channelNumber;
// define setup parameters for OpenADC10
// do not assign channels to scan
#define PARAM5 SKIP_SCAN_ALL
// use ground as neg ref for A | use AN4 for input A | use ground as neg ref for A | use AN5 for input B
// SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN4 | ADC_CH0_NEG_SAMPLEB_NVREF | ADC_CH0_POS_SAMPLEB_AN5); // configure to sample AN4 & AN5
// SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0 | ADC_CH0_NEG_SAMPLEB_NVREF | ADC_CH0_POS_SAMPLEB_AN1); // configure to sample AN4 & AN5
// OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 ); // configure ADC using the parameters defined above
switch(channelNumber)
{
case 0:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0);
break;
case 1:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN1);
break;
case 2:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN2);
break;
case 3:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN3);
break;
case 4:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN4);
break;
case 5:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN5);
break;
case 6:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN6);
break;
case 7:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN7);
break;
case 8:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN8);
break;
case 9:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN9);
break;
case 10:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN10);
break;
case 11:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN11);
break;
case 12:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN12);
break;
case 13:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN13);
break;
case 14:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN14);
break;
case 15:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN15);
break;
}
// configure to sample what ever pin was specified
OpenADC10( PARAM1, PARAM2, PARAM3, param4, PARAM5 ); // configure ADC using the parameters defined above
EnableADC10(); // Enable the ADC
//* A delay is needed for the the ADC start up time
//* this value started out at 1 millisecond, I dont know how long it needs to be
//* 99 uSecs will give us the same approximate sampling rate as the AVR chip
// delay(1);
delayMicroseconds(99);
while ( ! mAD1GetIntFlag() )
{
// wait for the first conversion to complete so there will be vaild data in ADC result registers
}
analogValue = ReadADC10(0);
mAD1ClearIntFlag();
return (analogValue);
}
/****************************************************************************
Function:
static void InitializeBoard(void)
Description:
This routine initializes the hardware. It is a generic initialization
routine for many of the Microchip development boards, using definitions
in HardwareProfile.h to determine specific initialization.
Precondition:
None
Parameters:
None - None
Returns:
None
Remarks:
None
***************************************************************************/
static void InitializeBoard(void)
{
// Note: WiFi Module hardware Initialization handled by StackInit() Library Routine
// Enable multi-vectored interrupts
INTEnableSystemMultiVectoredInt();
// Enable optimal performance
SYSTEMConfigPerformance(GetSystemClock());
// Use 1:1 CPU Core:Peripheral clocks
mOSCSetPBDIV(OSC_PB_DIV_1);
// Disable JTAG port so we get our I/O pins back, but first
// wait 50ms so if you want to reprogram the part with
// JTAG, you'll still have a tiny window before JTAG goes away.
// The PIC32 Starter Kit debuggers use JTAG and therefore must not
// disable JTAG.
DelayMs(50);
DDPCONbits.JTAGEN = 0;
// UART line configuration
UARTConfigure(SENSOR_UART, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(SENSOR_UART, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(SENSOR_UART, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(SENSOR_UART, GetPeripheralClock(), 9600);
UARTEnable(SENSOR_UART, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
UARTConfigure(SENSOR_UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(SENSOR_UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(SENSOR_UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(SENSOR_UART2, GetPeripheralClock(), 9600);
UARTEnable(SENSOR_UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// ADC configuration
// Define setup parameters for OpenADC10 function
// Attention, the sample number need to be changed for multi sensor use, not 1
// Turn module on | Ouput in integer format | Trigger mode auto | Disable autosample , manually controlled
#define config1 ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON | ADC_MODULE_ON | ADC_IDLE_STOP
// ADC ref external | Disable offset test | Disable scan mode | Perform 1 samples | Use dual buffers | Use alternate mode
#define config2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_2 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
// Use ADC internal clock | Set sample time
#define config3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_31
// Do not assign channels to scan
#define configscan ~(ENABLE_AN2_ANA | ENABLE_AN3_ANA)
// Define the port for ADC, need to be modified for practical prox sensors
#define configport ENABLE_AN2_ANA | ENABLE_AN3_ANA
CloseADC10();
// here use on-board potentiometer for testing, change pin configuration when for actually prox sensor use
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF);
// Configure ADC using the parameters defined above
OpenADC10( config1, config2, config3, configport, configscan );
EnableADC10(); // Enable the ADC
// LEDs
LEDS_OFF();
LED0_TRIS = 0;
LED1_TRIS = 0;
LED2_TRIS = 0;
// Push Button
SW0_TRIS = 1;
// MPU 9150 I2C Init and chip init
Mpu_I2c_Init(I2C_NUM); // config the I2C module on PIC32
// wait at least 100 ms for sensor chip warm up, based on 40Mhz sysclk 4M times
DelayMs(100);
if (Mpu_Init(I2C_NUM)==I2C_ERROR) // Initialize the 9150 chip
// UARTTxBuffer("Sensor is not connected",strlen("Sensor is not connected"));
LEDS_ON();
}
void GP2D12_Init(){
// Intitialize distance!
distance = 0.0;
// configure and enable the ADC
CloseADC10(); // ensure the ADC is off before setting the configuration
// define setup parameters for OpenADC10
// Turn module on | ouput in integer | trigger mode auto | enable autosample
DWORD PARAM1 = ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON;
// define setup parameters for OpenADC10
// ADC ref external | disable offset test | disable scan mode | perform 2 samples | use dual buffers | use alternate mode
DWORD PARAM2 = ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF | ADC_SAMPLES_PER_INT_1 | ADC_BUF_8 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF;
// define setup parameters for OpenADC10
// use ADC internal clock | set sample time
DWORD PARAM3 = ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_1 | (0x00FF << _AD1CON3_ADCS_POSITION);
// define setup parameters for OpenADC10
// set AN4 and AN5 as analog inputs
DWORD PARAM4 = 0;
DWORD PARAM6 = 0;
//ENABLE_AN4_ANA | ENABLE_AN5_ANA
switch(GP2D12_ADC_CHANNEL){
case 0: PARAM4 = ENABLE_AN0_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0; break;
case 1: PARAM4 = ENABLE_AN1_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN1; break;
case 2: PARAM4 = ENABLE_AN2_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN2; break;
case 3: PARAM4 = ENABLE_AN3_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN3; break;
case 4: PARAM4 = ENABLE_AN4_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN4; break;
case 5: PARAM4 = ENABLE_AN5_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN5; break;
case 6: PARAM4 = ENABLE_AN6_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN6; break;
case 7: PARAM4 = ENABLE_AN7_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN7; break;
case 8: PARAM4 = ENABLE_AN8_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN8; break;
case 9: PARAM4 = ENABLE_AN9_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN9; break;
case 10: PARAM4 = ENABLE_AN10_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN10; break;
case 11: PARAM4 = ENABLE_AN11_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN11; break;
case 12: PARAM4 = ENABLE_AN12_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN12; break;
case 13: PARAM4 = ENABLE_AN13_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN13; break;
case 14: PARAM4 = ENABLE_AN14_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN14; break;
case 15: PARAM4 = ENABLE_AN15_ANA, PARAM6 = ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN15; break;
default: PARAM4 = ENABLE_ALL_DIG; break;
}
if(PARAM4 == ENABLE_ALL_DIG)
return;
// define setup parameters for OpenADC10
// do not assign channels to scan
DWORD PARAM5 = SKIP_SCAN_ALL;
// use ground as neg ref for A | use AN4 for input A | use ground as neg ref for A | use AN5 for input B
// configure to sample AN4 & AN5
SetChanADC10(PARAM6); // configure to sample AN4 & AN5
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 ); // configure ADC using the parameters defined above
//ConfigIntADC10(ADC_INT_PRI_3 | ADC_INT_SUB_PRI_2 | ADC_INT_ON);
ConfigIntADC10(ADC_INT_OFF);
EnableADC10(); // Enable the ADC
}
int main(void)
{
UINT8 strBuf[bufLen];
UINT8 bank = 0;
#define NSENSORSPERBANK 4
UINT32 cPot, cSensor[2][NSENSORSPERBANK];
UINT8 i;
#define NSENSORSINSTALLED 5
UINT16 min_levels[NSENSORSINSTALLED], max_levels[NSENSORSINSTALLED], discriminators[NSENSORSINSTALLED];
#define DISCRIMINATORLEVELPCT ( 75 )
int steps_remaining_in_evaluation = 0;
BOOL noteIsOn[NSENSORSINSTALLED] = {0, 0, 0, 0, 0};
UINT32 sensorValue;
SYSTEMConfigPerformance (FCY);
LED_TRIS = 0;
LED_MIDI_TRIS = 0;
BTN_TRIS = 1;
STEPPER0_TRIS = 0;
STEPPER1_TRIS = 0;
STEPPER2_TRIS = 0;
STEPPER3_TRIS = 0;
PWR_BANK0_TRIS = 0; // disable both banks to start
PWR_BANK1_TRIS = 1;
UART2_RX_PPS_REG = UART2_RX_PPS_ITM;
UART2_TX_PPS_REG = UART2_TX_PPS_ITM;
UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
if (DO_MIDI) {
UARTSetDataRate(UART2, FPB, 31500);
} else {
UARTSetDataRate(UART2, FPB, 115200);
}
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// timer interrupt stuff...
// configure the core timer roll-over rate
// the internal source is the Peripheral Clock
// timer_preset = SYSCLK_freq / pb_div / additional prescale / desired_ticks_per_sec
UINT16 timer_preset = (clock_interrupt_period_us * (FPB / 1000000)) / 8;
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_8, timer_preset);
// set up timer interrupt with a priority of 2 and sub-priority of 0
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
// enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
// configure and enable the ADC
CloseADC10(); // ensure the ADC is off before setting the configuration
/*
Notes from ref chapter
must set the TRIS bits for these channels (1 (desired) by default)
AD1CON1
want form 32-bit integer (0b100)
we set the SAMP bit to begin sampling --no--
the ASAM bit will begin autosampling
combine this with CLRASAM which will clear ASAM after one set of samples
conversion should be auto after that
autoconvert when sampling has concluded (SSRC = 0b111)
Tad min is 65ns, which is 2.6 PBclock cycles
Tad min is 83.33ns, which is 3.3 PBclock cycles
AD1CON2
CSCNA on enables scanning of inputs according to AD1CSSL
maybe BUFM 2 8-word buffers rather than 1 16-word buffer
ALTS alternates between mux A and mux B
AD1CON3
ADRC use peripheral bus clock ADC_CONV_CLK_PB
TAD: use ADC clock divisor of 4 to give TAD of 100ns to exceed min of 83.33
Sample time (SAMC): use 2 TADs to provide 200ns sampling to exceed min of 132
New strategy: set the bit to power the necessary bank, wait 200 us,
and then kick off a sample.
AD1CHS
CH0SA and CH0SB not used when scanning channels; CH0NA and CH0NB *are* used
AD1PCFG
zero bits to configure channels as analog; set to zero on reset
AD1CSSL
one bits to select channel for scan
Will want to scan all channels on one bank, then interrupt to switch banks
Protect user code by writing valid stuff during interrupt to user area
settling time after switching is say 200 us (78us to 0.63 rise)
*/
AD1CON1 = ADC_FORMAT_INTG32 // output in integer
| ADC_CLK_AUTO // conversion begins with clock
| ADC_AUTO_SAMPLING_OFF // don't yet start autosample
;
AD1CON2 = ADC_VREF_AVDD_AVSS // ADC ref internal
| ADC_OFFSET_CAL_DISABLE // disable offset test
| ADC_SCAN_ON // enable scan mode (CSCNA)
| ADC_SAMPLES_PER_INT_5
| ADC_ALT_BUF_OFF // use single buffer
| ADC_ALT_INPUT_OFF // use MUX A only
;
AD1CON3 = ADC_SAMPLE_TIME_2 // use 2 TADs for sampling
| ADC_CONV_CLK_PB // use PBCLK
| ADC_CONV_CLK_Tcy // 4 PBCLK cycles, so TAD is 100ns
;
// AD1CHS
// CH0NA negative input select for MUX A is Vref-
// ASAM will begin a sample sequence
// CLRASAM will stop autosampling after completing one sequence
// begin conversions automatically
SetChanADC10 (ADC_CH0_NEG_SAMPLEA_NVREF);
// AD1PCFG
// these are in the order in which they will appear in BUF0
AD1CSSL = LS0_ADC_ITM
| LS1_ADC_ITM
| LS2_ADC_ITM
| LS3_ADC_ITM
| POT_ADC_ITM
;
EnableADC10();
while(1) {
// enableADC is set periodically (ADC_INTERVAL_MS) by an interrupt service routine
if (enableADC) {
// NOTE: the interrupt routine set AD1CON1bits.SAMP = 1;
// use AN0, pin 2
// wait for the conversions to complete
// so there will be vaild data in ADC result registers
while ( ! AD1CON1bits.DONE );
for (i = 0; i < NSENSORSPERBANK; i++) {
cSensor[bank][i] = ReadADC10(i);
}
cPot = POT_ADC_VAL;
// current setup has 5 sensors: 2 in bank 0, 3 in bank 1
if (1 && enablePrint && !DO_MIDI) {
snprintf (strBuf, bufLen,
"%5d <-> %5d | %5d <-> %5d | %5d <-> %5d | %5d <-> %5d | %5d <-> %5d || %5d %3.2f\n",
cSensor[0][0], discriminators[0],
cSensor[0][1], discriminators[1],
cSensor[1][0], discriminators[2],
cSensor[1][1], discriminators[3],
cSensor[1][2], discriminators[4],
cPot,
rpm
);
SendDataBuffer (strBuf, strlen(strBuf));
enablePrint = 0;
}
smoothedPotValue = smoothedPotValue * (1.0 - POTEWMAVALUE)
+ cPot * POTEWMAVALUE;
cPot = floor(smoothedPotValue + 0.5);
#if (0)
// direction not needed for BOOM32, but coded for testing
if (cPot > 512) {
stepDirection = 1;
} else {
stepDirection = -1;
}
// NOTE: my stepper asks for 12V and uses more than 200mA, which is the
// limit of my bench power supply...
// That may be the limit of how fast we can step.
// interval is least at extremes of pot travel
float scaledValue = abs(cPot - 512.0) / 512.0; // 1 at ends to 0 in middle
scaledValue = 1.0 - sqrt(scaledValue); // 0 at ends to inf in middle
int temp = floor(scaledValue * 1000000 + 0.5);
#define min_stepper_interval_us 1000
#define max_stepper_interval_us 125000
stepper_interval_us = min_stepper_interval_us +
scaledValue * (max_stepper_interval_us-min_stepper_interval_us);
#else
// desired us/phase:
// / 40-160 bpm
// * 16-32 beats per rev
// ==> 40/32=1.25 - 160/16=10 RPM
// / 200 steps/rev
// / 4 coils / step
// / 2 phases/coil
// * 60 sec/min
// * 1e6 us/sec
// --> factor = 15e6/400 = 3.75e4
// ==> is 3.75e3 (fast) - 6.0e4
// is 7500 to 60000 us/phase
#define min_stepper_interval_us 3750
#define max_stepper_interval_us 30000
stepper_interval_us = min_stepper_interval_us
+ ((1023 - cPot) *
(max_stepper_interval_us - min_stepper_interval_us)) / 1024;
rpm = ( 60 * 1e6 / stepper_interval_us) / PHASES_PER_REVOLUTION;
#endif
steps_remaining_in_evaluation--;
if (steps_remaining_in_evaluation <= 0) {
for (i = 0; i < NSENSORSINSTALLED; i++) {
discriminators[i] = min_levels[i] + (max_levels[i] - min_levels[i]) * DISCRIMINATORLEVELPCT / 100;
min_levels[i] = 1024;
max_levels[i] = 0;
}
// SendDataBuffer ("\n\n", 2);
steps_remaining_in_evaluation = ADC_READINGS_PER_LEVEL_REEVALUATION;
}
// make determinations about what's on and what's off
for (i = 0; i < NSENSORSINSTALLED; i++) {
if (i < 2) {
sensorValue = cSensor[0][i];
} else {
sensorValue = cSensor[1][i - 2];
}
if (sensorValue < min_levels[i]) min_levels[i] = sensorValue;
if (sensorValue > max_levels[i]) max_levels[i] = sensorValue;
BOOL currentValue = sensorValue < discriminators[i];
if (noteIsOn[i] != currentValue) {
if (currentValue) {
// turn note on
if (DO_MIDI) {
snprintf (strBuf, bufLen, "%c%c%c", (char) 0x99, (char) i, (char) 64);
} else if (NOTE_NOTES) {
snprintf (strBuf, bufLen, "NoteOn (%d)\n", i);
}
} else {
// turn note off
if (DO_MIDI) {
snprintf (strBuf, bufLen, "%c%c%c", (char) 0x89, (char) i, (char) 64);
} else if (NOTE_NOTES) {
snprintf (strBuf, bufLen, "NoteOff (%d)\n", i);
}
}
if (i == 0) LED_MIDI = currentValue;
SendDataBuffer (strBuf, strlen(strBuf));
noteIsOn[i] = currentValue;
}
}
if (0) {
snprintf (strBuf, bufLen, "%8d : %3d %3d : %3d %3d : %3d %3d : %3d %3d : %3d %3d :\n",
steps_remaining_in_evaluation,
min_levels[0], max_levels[0],
min_levels[1], max_levels[1],
min_levels[2], max_levels[2],
min_levels[3], max_levels[3],
min_levels[4], max_levels[4]
);
SendDataBuffer (strBuf, strlen(strBuf));
}
// switch banks
bank = 1 - bank;
if (bank == 0) {
PWR_BANK1 = 0;
PWR_BANK1_TRIS = 1;
PWR_BANK0 = 1;
PWR_BANK0_TRIS = 0;
} else {
PWR_BANK0 = 0;
PWR_BANK0_TRIS = 1;
PWR_BANK1 = 1;
PWR_BANK1_TRIS = 0;
}
AD1CON1bits.DONE = 0;
enableADC = 0;
} // ADC enabled
if (enableStep) {
theStep += stepDirection;
if (theStep >= PHASES_PER_STEP) theStep = 0;
if (theStep < 0) theStep = PHASES_PER_STEP - 1;
STEPPER0 = stepSequence[theStep][0];
STEPPER1 = stepSequence[theStep][1];
STEPPER2 = stepSequence[theStep][2];
STEPPER3 = stepSequence[theStep][3];
enableStep = 0;
}
if (enablePrint) {
// snprintf (strBuf, bufLen, " stepper_interval_ms = %d\n", stepper_interval_ms);
// SendDataBuffer (strBuf, strlen(strBuf));
// enablePrint = 0;
}
} // infinite loop
return -1;
}
