/**
* \brief Test events driver with Software trigger.
*
* \param test Current test case.
*/
static void run_events_software_test(const struct test_case *test)
{
uint32_t retry_times = 3;
bool trigger_flag = false;
/* Enable software trigger */
events_ch_enable_software_trigger(CONF_TEST_USER_ID);
/* Set new DACC value */
dacc_write_conversion_data(DACC, DACC_MAX_DATA / 5);
/* Software event trigger */
events_ch_clear_trigger_status(CONF_TEST_USER_ID);
do {
events_ch_software_trigger(CONF_TEST_USER_ID);
delay_ms(100);
if (events_ch_is_triggered(CONF_TEST_USER_ID)) {
trigger_flag = true;
events_ch_clear_trigger_status(CONF_TEST_USER_ID);
break;
}
} while (retry_times--);
test_assert_true(test, trigger_flag, "Software event not triggered!");
}
void update_speed_motor_dac(float dac_float){
uint32_t negativo = 0;
//Verificando a necessidade de alterar a rotação do motor:
if ( (dac_float < 0) && (MotorIsFoward) ){
Reverse_Motor; //Invertendo rotação do Motor
flag_revertion = !flag_revertion;
hallA = 0;
hallB = 0;
} else if ( (dac_float > 0) && (MotorIsReverse) ) {
Foward_Motor;
flag_revertion = !flag_revertion;
hallA = 0;
hallB = 0;
}
if (dac_float < 0){
dac_float = -dac_float;
negativo = 1;
}
if (dac_float > DACC_MAX_DATA){
dac_float = DACC_MAX_DATA;
}
//Transformar Valor de RPM para DAC(0-1023)
dac_val = dac_float;
while((dacc_get_interrupt_status(DACC) & DACC_ISR_TXRDY) != DACC_ISR_TXRDY);
dacc_write_conversion_data(DACC, dac_val);
if (negativo){
dac_val = -dac_val;
}
}
void TC0_Handler(void){
volatile uint32_t ul_dummy, status;
uint32_t valorDAC = 1024;
ul_dummy = tc_get_status(TC0,0);
UNUSED(ul_dummy);
/************************************************************************/
/* ADC */
/************************************************************************/
if(nleituraADC >= 500){
adc_start(ADC);
nleituraADC = 0;
}
nleituraADC++;
/************************************************************************/
/* Escreve um novo valor no DAC */
/************************************************************************/
status = dacc_get_interrupt_status(DACC_BASE);
/* namostra > 2*pi ?? */
if(namostra > resolucao)
namostra = 0;
ySeno = (sin(deltaTeta*namostra)+1)*((float)max_digital)/MAX_AMPLITUDE_ANAG;
dacc_write_conversion_data(DACC_BASE, ySeno);
namostra++;
}
void update_speed_motor(float speed){
uint32_t negativo = 0;
//Verificando a necessidade de alterar a rotação do motor:
if ( (speed < 0) && (MotorIsFoward) ){
Reverse_Motor; //Invertendo rotação do Motor
//speed = -speed;
flag_revertion = !flag_revertion;
hallA = 0;
hallB = 0;
} else if ( (speed > 0) && (MotorIsReverse) ) {
Foward_Motor;
flag_revertion = !flag_revertion;
hallA = 0;
hallB = 0;
}
if (speed < 0){
speed = -speed;
negativo = 1;
}
if (speed > MOTOR_MAX_RPM){
speed = MOTOR_MAX_RPM;
}
//Transformar Valor de RPM para DAC(0-1023)
dac_val = speed*RPMtoDAC + yo;
while((dacc_get_interrupt_status(DACC) & DACC_ISR_TXRDY) != DACC_ISR_TXRDY);
dacc_write_conversion_data(DACC, dac_val);
if (negativo){
dac_val = -dac_val;
}
}
// 40kHz sampler.
//
// Runs at too high a priority to call FreeRTOS routines.
// This routine executes each (approximately) 2000 cycles. It is important that
// it is not slow.
void PWM_Handler(void) {
// Read status to indicate that interrupt has been handled
uint32_t isr = PWM->PWM_ISR1;
if (isr != (1 << 2)) { // Must be interrupt two
fatalBlink(1, 6);
}
if (mode == AM_ADC) {
// Temporary code - read ADC, calculate result.
// TODO: replace with DMA.
// TODO: handle fading.
uint32_t data0 = adc_get_channel_value(ADC, 0);
uint32_t data1 = adc_get_channel_value(ADC, 1);
uint32_t sum = data0 + data1; // sum is a 13 bit value
// Calculate output value for DACC
dacc_write_conversion_data(DACC, sum / 2);
// Calculate duty cycle value for PWM Channel 2.
// Calculated value must be between 0 and US_PERIOD-1, non inclusive.
int32_t duty = ((US_PERIOD - 2) * sum / 8192) + 1;
// For testing with silence
// int32_t duty = US_PERIOD / 2;
PWM->PWM_CH_NUM[2].PWM_CDTYUPD = duty;
} else if (mode == AM_HZ) {
// Get TIOA value from status register
bool mtioa = TC0->TC_CHANNEL[0].TC_SR & TC_SR_MTIOA;
// Write to DACC
int16_t dDelta = 2046 * audioVolume / 255;
if (!mtioa) {
dDelta = -dDelta;
}
dacc_write_conversion_data(DACC, dDelta + 2048);
// Set PWM
int16_t pDelta = (US_PERIOD - 2) / 2 * audioVolume / 255;
if (!mtioa) {
pDelta = -pDelta;
}
PWM->PWM_CH_NUM[2].PWM_CDTYUPD = pDelta + (US_PERIOD / 2);
}
}
void task_PID(void *pvParameters)
{
const portTickType xTimeIncrement = 100;
real_Target = calculateDistance(sent_Target);
e = real_Target - distance;
u = Kp * (e);
dacc_write_conversion_data(DACC, u);
sendParameters(e, distance);
vTaskDelay(50); // 50 millisecond delay
}
/**
* \brief Test events driver with AST trigger.
*
* \param test Current test case.
*/
static void run_events_ast_test(const struct test_case *test)
{
uint32_t retry_times = 3;
bool trigger_flag = false;
struct events_conf events_config;
struct events_ch_conf ch_config;
init_ast();
init_dacc();
/* Initialize event module */
events_get_config_defaults(&events_config);
events_init(&events_config);
events_enable();
/*
* Configure an event channel
* - AST periodic event 0 --- Generator
* - DAC --- User
*/
events_ch_get_config_defaults(&ch_config);
ch_config.channel_id = CONF_TEST_USER_ID;
ch_config.generator_id = CONF_TEST_GEN_ID;
ch_config.shaper_enable = true;
ch_config.igf_edge = EVENT_IGF_EDGE_NONE;
events_ch_configure(&ch_config);
/* Enable the channel */
events_ch_enable(CONF_TEST_USER_ID);
/* Set new DACC value */
dacc_write_conversion_data(DACC, DACC_MAX_DATA / 2);
/* Wait for AST event trigger */
events_ch_clear_trigger_status(CONF_TEST_USER_ID);
do {
if (events_ch_is_triggered(CONF_TEST_USER_ID)) {
trigger_flag = true;
events_ch_clear_trigger_status(CONF_TEST_USER_ID);
break;
}
delay_ms(1000);
} while (retry_times--);
/* Disable the AST */
ast_disable(AST);
test_assert_true(test, trigger_flag, "AST event not triggered!");
}
/**
* Interrupt handler for TC0 interrupt.
*/
void TC0_Handler(void){
volatile uint32_t ul_dummy, status;
uint32_t valorDAC = 1024;
ul_dummy = tc_get_status(TC0,0);
UNUSED(ul_dummy);
/************************************************************************/
/* Escreve um novo valor no DAC */
/************************************************************************/
//status = dacc_get_interrupt_status(DACC_BASE);
//dacc_write_conversion_data(DACC_BASE, valorDAC);
if (i <= MAX_DIGITAL) {
dacc_write_conversion_data(DACC_BASE, desenhar_seno(i++));
} else {
i = 0;
}
}
void config_dacc(void){
sysclk_enable_peripheral_clock(ID_DACC);
/* Reset DACC registers */
dacc_reset(DACC);
/* Half-Word transfer mode */
dacc_set_transfer_mode(DACC, 0);
/* Timing:
* startup - 0x10 (17 clocks)
* internal trigger clock - 0x60 (96 clocks)
*/
dacc_set_timing(DACC, 0x10, 0x60);
/*External trigger mode disabled. DACC in free running mode.*/
dacc_disable_trigger(DACC);
/* Enable DAC */
dacc_enable(DACC);
while((dacc_get_interrupt_status(DACC) & DACC_ISR_TXRDY) != DACC_ISR_TXRDY);
dacc_write_conversion_data(DACC, 0);
}
/**
* \brief SysTick IRQ handler.
*/
void SysTick_Handler(void)
{
uint32_t status;
uint32_t dac_val;
status = dacc_get_interrupt_status(DACC_BASE);
/* If ready for new data */
if ((status & DACC_ISR_TXRDY) == DACC_ISR_TXRDY) {
g_ul_index_sample++;
if (g_ul_index_sample >= SAMPLES) {
g_ul_index_sample = 0;
}
dac_val = g_uc_wave_sel ?
((g_ul_index_sample > SAMPLES / 2) ? 0 : MAX_AMPLITUDE)
: wave_to_dacc(gc_us_sine_data[g_ul_index_sample],
g_l_amplitude,
MAX_DIGITAL * 2, MAX_AMPLITUDE);
dacc_write_conversion_data(DACC_BASE, dac_val);
}
}
/**
* \brief Start DAC ouput.
* Initialize DAC, set clock and timing, and set DAC to given mode.
*/
static void start_dac(void)
{
sysclk_enable_peripheral_clock(DACC);
/* Reset DACC registers */
dacc_reset(DACC);
/* Half word transfer mode */
dacc_set_transfer_mode(DACC, 0);
/* Timing:
* startup - 0x10 (17 clocks)
* internal trigger clock - 0x60 (96 clocks)
*/
dacc_set_timing(DACC, 0x10, 0x60);
/* Enable DAC */
dacc_enable(DACC);
/* The DAC is 10-bit resolution, so output voltage should be
* (3300 * 255) / ((1 << 10) - 1) = 823mv */
dacc_write_conversion_data(DACC, 0xFF);
}
/**
* \brief ACC example application entry point.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
uint32_t uc_key;
int16_t s_volt = 0;
uint32_t ul_value = 0;
volatile uint32_t ul_status = 0x0;
int32_t l_volt_dac0 = 0;
/* Initialize the system */
sysclk_init();
board_init();
/* Initialize debug console */
configure_console();
/* Output example information */
puts(STRING_HEADER);
/* Initialize DACC */
/* Enable clock for DACC */
pmc_enable_periph_clk(ID_DACC);
/* Reset DACC registers */
dacc_reset(DACC);
/* External trigger mode disabled. DACC in free running mode. */
dacc_disable_trigger(DACC, DACC_CHANNEL_0);
/* Half word transfer mode */
dacc_set_transfer_mode(DACC, 0);
#if (SAM3S) || (SAM3XA)
/* Power save:
* sleep mode - 0 (disabled)
* fast wakeup - 0 (disabled)
*/
dacc_set_power_save(DACC, 0, 0);
#endif
/* Enable output channel DACC_CHANNEL */
dacc_enable_channel(DACC, DACC_CHANNEL_0);
/* Setup analog current */
dacc_set_analog_control(DACC, DACC_ANALOG_CONTROL);
/* Set DAC0 output at ADVREF/2. The DAC formula is:
*
* (5/6 * VOLT_REF) - (1/6 * VOLT_REF) volt - (1/6 * VOLT_REF)
* ----------------------------------- = --------------------------
* MAX_DIGITAL digit
*
* Here, digit = MAX_DIGITAL/2
*/
dacc_write_conversion_data(DACC, MAX_DIGITAL / 2, DACC_CHANNEL_0);
l_volt_dac0 = (MAX_DIGITAL / 2) * (2 * VOLT_REF / 3) / MAX_DIGITAL +
VOLT_REF / 6;
/* Enable clock for AFEC */
afec_enable(AFEC0);
struct afec_config afec_cfg;
afec_get_config_defaults(&afec_cfg);
/* Initialize AFEC */
afec_init(AFEC0, &afec_cfg);
struct afec_ch_config afec_ch_cfg;
afec_ch_get_config_defaults(&afec_ch_cfg);
afec_ch_cfg.gain = AFEC_GAINVALUE_0;
afec_ch_set_config(AFEC0, AFEC_CHANNEL_POTENTIOMETER, &afec_ch_cfg);
/*
* Because the internal ADC offset is 0x200, it should cancel it and shift
* down to 0.
*/
afec_channel_set_analog_offset(AFEC0, AFEC_CHANNEL_POTENTIOMETER, 0x200);
afec_set_trigger(AFEC0, AFEC_TRIG_SW);
/* Enable channel for potentiometer. */
afec_channel_enable(AFEC0, AFEC_CHANNEL_POTENTIOMETER);
/* Enable clock for ACC */
pmc_enable_periph_clk(ID_ACC);
/* Initialize ACC */
acc_init(ACC, ACC_MR_SELPLUS_AFE0_AD0, ACC_MR_SELMINUS_DAC0,
ACC_MR_EDGETYP_ANY, ACC_MR_INV_DIS);
/* Enable ACC interrupt */
NVIC_EnableIRQ(ACC_IRQn);
/* Enable */
acc_enable_interrupt(ACC);
dsplay_menu();
while (1) {
while (usart_read(CONSOLE_UART, &uc_key)) {
}
printf("input: %c\r\n", uc_key);
switch (uc_key) {
case 's':
case 'S':
printf("Input DAC0 output voltage (%d~%d mv): ",
(VOLT_REF / 6), (VOLT_REF * 5 / 6));
s_volt = get_input_voltage();
puts("\r");
if (s_volt > 0) {
l_volt_dac0 = s_volt;
/* The DAC formula is:
*
* (5/6 * VOLT_REF) - (1/6 * VOLT_REF) volt - (1/6 * VOLT_REF)
* ----------------------------------- = --------------------------
* MAX_DIGITAL digit
*
*/
ul_value = ((s_volt - (VOLT_REF / 6))
* (MAX_DIGITAL * 6) / 4) / VOLT_REF;
dacc_write_conversion_data(DACC, ul_value, DACC_CHANNEL_0);
puts("-I- Set ok\r");
} else {
puts("-I- Input voltage is invalid\r");
}
break;
case 'v':
case 'V':
/* Start conversion */
afec_start_software_conversion(AFEC0);
ul_status = afec_get_interrupt_status(AFEC0);
while ((ul_status & AFEC_ISR_EOC0) != AFEC_ISR_EOC0) {
ul_status = afec_get_interrupt_status(AFEC0);
}
/* Conversion is done */
ul_value = afec_channel_get_value(AFEC0, AFEC_CHANNEL_POTENTIOMETER);
/*
* Convert AFEC sample data to voltage value:
* voltage value = (sample data / max. resolution) * reference voltage
*/
s_volt = (ul_value * VOLT_REF) / MAX_DIGITAL;
printf("-I- Voltage on potentiometer(AD0) is %d mv\n\r", s_volt);
printf("-I- Voltage on DAC0 is %ld mv \n\r", (long)l_volt_dac0);
break;
case 'm':
case 'M':
dsplay_menu();
break;
}
}
}
/**
* \brief Start ADC sample.
* Initialize ADC, set clock and timing, and set ADC to given mode.
*/
static void start_adc(void)
{
struct adc_config adc_cfg = {
/* System clock division factor is 16 */
.prescal = ADC_PRESCAL_DIV16,
/* The APB clock is used */
.clksel = ADC_CLKSEL_APBCLK,
/* Max speed is 150K */
.speed = ADC_SPEED_150K,
/* ADC Reference voltage is 0.625*VCC */
.refsel = ADC_REFSEL_1,
/* Enables the Startup time */
.start_up = CONFIG_ADC_STARTUP
};
struct adc_seq_config adc_seq_cfg = {
/* Select Vref for shift cycle */
.zoomrange = ADC_ZOOMRANGE_0,
/* Pad Ground */
.muxneg = ADC_MUXNEG_1,
/* DAC internal */
.muxpos = ADC_MUXPOS_3,
/* Enables the internal voltage sources */
.internal = ADC_INTERNAL_3,
/* Disables the ADC gain error reduction */
.gcomp = ADC_GCOMP_DIS,
/* Disables the HWLA mode */
.hwla = ADC_HWLA_DIS,
/* 12-bits resolution */
.res = ADC_RES_12_BIT,
/* Enables the single-ended mode */
.bipolar = ADC_BIPOLAR_SINGLEENDED
};
struct adc_ch_config adc_ch_cfg = {
.seq_cfg = &adc_seq_cfg,
/* Internal Timer Max Counter */
.internal_timer_max_count = 60,
/* Window monitor mode is off */
.window_mode = 0,
.low_threshold = 0,
.high_threshold = 0,
};
if(adc_init(&g_adc_inst, ADCIFE, &adc_cfg) != STATUS_OK) {
puts("-F- ADC Init Fail!\n\r");
while(1);
}
if(adc_enable(&g_adc_inst) != STATUS_OK) {
puts("-F- ADC Enable Fail!\n\r");
while(1);
}
if (g_adc_test_mode.uc_pdc_en) {
adc_disable_interrupt(&g_adc_inst, ADC_SEQ_SEOC);
adc_pdca_set_config(&g_adc_pdca_cfg);
pdca_channel_set_callback(CONFIG_ADC_PDCA_RX_CHANNEL, pdca_transfer_done,
PDCA_0_IRQn, 1, PDCA_IER_TRC);
} else {
pdca_channel_disable_interrupt(CONFIG_ADC_PDCA_RX_CHANNEL,
PDCA_IDR_TRC);
pdca_channel_disable_interrupt(CONFIG_ADC_PDCA_TX_CHANNEL,
PDCA_IDR_TRC);
adc_ch_set_config(&g_adc_inst, &adc_ch_cfg);
adc_set_callback(&g_adc_inst, ADC_SEQ_SEOC, adcife_read_conv_result,
ADCIFE_IRQn, 1);
}
/* Configure trigger mode and start convention. */
switch (g_adc_test_mode.uc_trigger_mode) {
case TRIGGER_MODE_SOFTWARE:
adc_configure_trigger(&g_adc_inst, ADC_TRIG_SW);
break;
case TRIGGER_MODE_CON:
adc_configure_trigger(&g_adc_inst, ADC_TRIG_CON);
break;
case TRIGGER_MODE_ITIMER:
adc_configure_trigger(&g_adc_inst, ADC_TRIG_INTL_TIMER);
adc_configure_itimer_period(&g_adc_inst,
adc_ch_cfg.internal_timer_max_count);
adc_start_itimer(&g_adc_inst);
break;
default:
break;
}
if (g_adc_test_mode.uc_gain_en) {
adc_configure_gain(&g_adc_inst, ADC_GAIN_2X);
} else {
adc_configure_gain(&g_adc_inst, ADC_GAIN_1X);
}
}
/**
* \brief Start DAC ouput.
* Initialize DAC, set clock and timing, and set DAC to given mode.
*/
static void start_dac(void)
{
sysclk_enable_peripheral_clock(DACC);
/* Reset DACC registers */
dacc_reset(DACC);
/* Half word transfer mode */
dacc_set_transfer_mode(DACC, 0);
/* Timing:
* startup - 0x10 (17 clocks)
* internal trigger clock - 0x60 (96 clocks)
*/
dacc_set_timing(DACC, 0x10, 0x60);
/* Enable DAC */
dacc_enable(DACC);
/* The DAC is 10-bit resolution, so output voltage should be
* (3300 * 255) / ((1 << 10) - 1) = 823mv */
dacc_write_conversion_data(DACC, 0xFF);
}
/**
* \brief ACC example application entry point.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
uint8_t uc_key;
int16_t s_volt = 0;
uint32_t ul_value = 0;
volatile uint32_t ul_status = 0x0;
int32_t l_volt_dac0 = 0;
/* Initialize the system */
sysclk_init();
board_init();
/* Initialize debug console */
configure_console();
/* Output example information */
puts(STRING_HEADER);
/* Initialize DACC */
/* Enable clock for DACC */
pmc_enable_periph_clk(ID_DACC);
/* Reset DACC registers */
dacc_reset(DACC);
/* External trigger mode disabled. DACC in free running mode. */
dacc_disable_trigger(DACC);
/* Half word transfer mode */
dacc_set_transfer_mode(DACC, 0);
/* Power save:
* sleep mode - 0 (disabled)
* fast wake-up - 0 (disabled)
*/
dacc_set_power_save(DACC, 0, 0);
/* Timing:
* refresh - 0x08 (1024*8 dacc clocks)
* max speed mode - 0 (disabled)
* startup time - 0xf (960 dacc clocks)
*/
dacc_set_timing(DACC, 0x08, 0, 0xf);
/* Disable TAG and select output channel DACC_CHANNEL */
dacc_set_channel_selection(DACC, DACC_CHANNEL_0);
/* Enable output channel DACC_CHANNEL */
dacc_enable_channel(DACC, DACC_CHANNEL_0);
/* Setup analog current */
dacc_set_analog_control(DACC, DACC_ANALOG_CONTROL);
/* Set DAC0 output at ADVREF/2. The DAC formula is:
*
* (5/6 * VOLT_REF) - (1/6 * VOLT_REF) volt - (1/6 * VOLT_REF)
* ----------------------------------- = --------------------------
* MAX_DIGITAL digit
*
* Here, digit = MAX_DIGITAL/2
*/
dacc_write_conversion_data(DACC, MAX_DIGITAL / 2);
l_volt_dac0 = (MAX_DIGITAL / 2) * (2 * VOLT_REF / 3) / MAX_DIGITAL +
VOLT_REF / 6;
/* Initialize ADC */
/* Enable clock for ADC */
pmc_enable_periph_clk(ID_ADC);
/*
* Formula: ADCClock = MCK / ( (PRESCAL+1) * 2 )
* For example, MCK = 64MHZ, PRESCAL = 4, then:
* ADCClock = 64 / ((4+1) * 2) = 6.4MHz;
*/
adc_init(ADC, sysclk_get_cpu_hz(), ADC_CLOCK, ADC_STARTUP_TIME_SETTING);
/* Formula:
* Startup Time = startup value / ADCClock
* Transfer Time = (TRANSFER * 2 + 3) / ADCClock
* Tracking Time = (TRACKTIM + 1) / ADCClock
* Settling Time = settling value / ADCClock
* For example, ADC clock = 6MHz (166.7 ns)
* Startup time = 512 / 6MHz = 85.3 us
* Transfer Time = (1 * 2 + 3) / 6MHz = 833.3 ns
* Tracking Time = (0 + 1) / 6MHz = 166.7 ns
* Settling Time = 3 / 6MHz = 500 ns
*/
/* Set ADC timing */
adc_configure_timing(ADC, ADC_TRACK_SETTING, ADC_SETTLING_TIME_3,
ADC_TRANSFER_SETTING);
/* Channel 5 has to be compared */
adc_enable_channel(ADC, ADC_CHANNEL_5);
//! [acc_enable_clock]
/** Enable clock for ACC */
pmc_enable_periph_clk(ID_ACC);
//! [acc_enable_clock]
//! [acc_init]
/** Initialize ACC */
acc_init(ACC, ACC_MR_SELPLUS_AD5, ACC_MR_SELMINUS_DAC0,
ACC_MR_EDGETYP_ANY, ACC_MR_INV_DIS);
//! [acc_init]
//! [acc_irq_enable]
/** Enable ACC interrupt */
NVIC_EnableIRQ(ACC_IRQn);
/** Enable */
acc_enable_interrupt(ACC);
//! [acc_irq_enable]
dsplay_menu();
while (1) {
while (uart_read(CONSOLE_UART, &uc_key)) {
}
printf("input: %c\r\n", uc_key);
switch (uc_key) {
case 's':
case 'S':
printf("Input DAC0 output voltage (%d~%d mv): ",
(VOLT_REF / 6), (VOLT_REF * 5 / 6));
s_volt = get_input_voltage();
puts("\r");
if (s_volt > 0) {
l_volt_dac0 = s_volt;
/* The DAC formula is:
*
* (5/6 * VOLT_REF) - (1/6 * VOLT_REF) volt - (1/6 * VOLT_REF)
* ----------------------------------- = --------------------------
* MAX_DIGITAL digit
*
*/
ul_value = ((s_volt - (VOLT_REF / 6))
* (MAX_DIGITAL * 6) / 4) / VOLT_REF;
dacc_write_conversion_data(DACC, ul_value);
puts("-I- Set ok\r");
} else {
puts("-I- Input voltage is invalid\r");
}
break;
case 'v':
case 'V':
/* Start conversion */
adc_start(ADC);
ul_status = adc_get_status(ADC);
while ((ul_status & ADC_ISR_EOC5) != ADC_ISR_EOC5) {
ul_status = adc_get_status(ADC);
}
/* Conversion is done */
ul_value = adc_get_channel_value(ADC, ADC_CHANNEL_5);
/*
* Convert ADC sample data to voltage value:
* voltage value = (sample data / max. resolution) * reference voltage
*/
s_volt = (ul_value * VOLT_REF) / MAX_DIGITAL;
printf("-I- Voltage on potentiometer(AD5) is %d mv\n\r", s_volt);
printf("-I- Voltage on DAC0 is %ld mv \n\r", (long)l_volt_dac0);
break;
case 'm':
case 'M':
dsplay_menu();
break;
}
}
}
/**
* \brief Configure to trigger ADC by PWM Event Line.
*/
static void configure_pwm_trigger(void)
{
/* PWM frequency in Hz. */
#define PWM_FREQUENCY 2
/* Maximum duty cycle value. */
#define MAX_DUTY_CYCLE 1000
/* Enable PWMC peripheral clock. */
pmc_enable_periph_clk(ID_PWM);
/* Disable PWM channel 0. */
pwm_channel_disable(PWM, PWM_CHANNEL_0);
gpio_configure_pin(PIN_PWMC_PWMH0_TRIG, PIN_PWMC_PWMH0_TRIG_FLAG);
/* Set clock A to run at PWM_FREQUENCY * MAX_DUTY_CYCLE (clock B is not used). */
pwm_clock_t pwm_clock_setting = {
.ul_clka = PWM_FREQUENCY * MAX_DUTY_CYCLE,
.ul_clkb = 0,
.ul_mck = sysclk_get_cpu_hz()
};
pwm_init(PWM, &pwm_clock_setting);
/* Configure PWMC for channel 0 (left-aligned). */
pwm_channel_t pwm_trigger_channel = {
.channel = PWM_CHANNEL_0,
.alignment = PWM_ALIGN_LEFT,
.polarity = PWM_LOW,
.ul_prescaler = PWM_CMR_CPRE_CLKA,
.ul_period = MAX_DUTY_CYCLE,
.ul_duty = MAX_DUTY_CYCLE / 2
};
pwm_channel_init(PWM, &pwm_trigger_channel);
pwm_cmp_t pwm_comparison_setting = {
.unit = PWM_CMP_UNIT_0,
.b_enable = true,
.ul_value = MAX_DUTY_CYCLE / 2,
.b_pulse_on_line_0 = true
};
pwm_cmp_init(PWM, &pwm_comparison_setting);
/* Enable PWM channel 0. */
pwm_channel_enable(PWM, PWM_CHANNEL_0);
/* Set PWM Event Line 0 trigger. */
#if SAM3S || SAM3XA || SAM4S
adc_configure_trigger(ADC, ADC_TRIG_PWM_EVENT_LINE_0, 0);
#elif SAM3U
#ifdef ADC_12B
adc12b_configure_trigger(ADC12B, ADC12B_TRIG_PWM_EVENT_LINE_0);
#else
adc_configure_trigger(ADC, ADC_TRIG_PWM_EVENT_LINE_0);
#endif
#endif
}
#endif
/**
* \brief Read converted data through PDC channel.
*
* \param p_adc The pointer of adc peripheral.
* \param p_s_buffer The destination buffer.
* \param ul_size The size of the buffer.
*/
#if SAM3S || SAM3N || SAM3XA || SAM4S || SAM4C
static uint32_t adc_read_buffer(Adc * p_adc, uint16_t * p_s_buffer, uint32_t ul_size)
{
/* Check if the first PDC bank is free. */
if ((p_adc->ADC_RCR == 0) && (p_adc->ADC_RNCR == 0)) {
p_adc->ADC_RPR = (uint32_t) p_s_buffer;
p_adc->ADC_RCR = ul_size;
p_adc->ADC_PTCR = ADC_PTCR_RXTEN;
return 1;
} else { /* Check if the second PDC bank is free. */
if (p_adc->ADC_RNCR == 0) {
p_adc->ADC_RNPR = (uint32_t) p_s_buffer;
p_adc->ADC_RNCR = ul_size;
return 1;
} else {
return 0;
}
}
}
#elif SAM3U
#ifdef ADC_12B
static uint32_t adc12_read_buffer(Adc12b * p_adc, uint16_t * p_s_buffer,
uint32_t ul_size)
{
/* Check if the first PDC bank is free. */
if ((p_adc->ADC12B_RCR == 0) && (p_adc->ADC12B_RNCR == 0)) {
p_adc->ADC12B_RPR = (uint32_t) p_s_buffer;
p_adc->ADC12B_RCR = ul_size;
p_adc->ADC12B_PTCR = ADC12B_PTCR_RXTEN;
return 1;
} else { /* Check if the second PDC bank is free. */
if (p_adc->ADC12B_RNCR == 0) {
p_adc->ADC12B_RNPR = (uint32_t) p_s_buffer;
p_adc->ADC12B_RNCR = ul_size;
return 1;
} else {
return 0;
}
}
}
#else
static uint32_t adc_read_buffer(Adc * p_adc, uint16_t * p_s_buffer, uint32_t ul_size)
{
/* Check if the first PDC bank is free. */
if ((p_adc->ADC_RCR == 0) && (p_adc->ADC_RNCR == 0)) {
p_adc->ADC_RPR = (uint32_t) p_s_buffer;
p_adc->ADC_RCR = ul_size;
p_adc->ADC_PTCR = ADC_PTCR_RXTEN;
return 1;
} else { /* Check if the second PDC bank is free. */
if (p_adc->ADC_RNCR == 0) {
p_adc->ADC_RNPR = (uint32_t) p_s_buffer;
p_adc->ADC_RNCR = ul_size;
return 1;
} else {
return 0;
}
}
}
#endif
#endif
/**
* \brief Start ADC sample.
* Initialize ADC, set clock and timing, and set ADC to given mode.
*/
static void start_adc(void)
{
/* Enable peripheral clock. */
uint32_t i;
pmc_enable_periph_clk(ID_ADC);
/* Initialize ADC. */
/*
* Formula: ADCClock = MCK / ( (PRESCAL+1) * 2 )
* For example, MCK = 64MHZ, PRESCAL = 4, then:
* ADCClock = 64 / ((4+1) * 2) = 6.4MHz;
*/
/* Formula:
* Startup Time = startup value / ADCClock
* Startup time = 64 / 6.4MHz = 10 us
*/
adc_init(ADC, sysclk_get_cpu_hz(), 6400000, ADC_STARTUP_TIME_4);
memset((void *)&g_adc_sample_data, 0, sizeof(g_adc_sample_data));
/* Set ADC timing. */
/* Formula:
* Transfer Time = (TRANSFER * 2 + 3) / ADCClock
* Tracking Time = (TRACKTIM + 1) / ADCClock
* Settling Time = settling value / ADCClock
*
* Transfer Time = (1 * 2 + 3) / 6.4MHz = 781 ns
* Tracking Time = (1 + 1) / 6.4MHz = 312 ns
* Settling Time = 3 / 6.4MHz = 469 ns
*/
adc_configure_timing(ADC, TRACKING_TIME, ADC_SETTLING_TIME_3, TRANSFER_PERIOD);
/* Enable channel number tag. */
adc_enable_tag(ADC);
/* Enable/disable sequencer. */
if (g_adc_test_mode.uc_sequence_en) {
/* Set user defined channel sequence. */
adc_configure_sequence(ADC, ch_list, 2);
/* Enable sequencer. */
adc_start_sequencer(ADC);
/* Enable channels. */
for (i = 0; i < 2; i++) {
adc_enable_channel(ADC, (enum adc_channel_num_t)i);
}
/* Update channel number. */
g_adc_sample_data.uc_ch_num[0] = ch_list[0];
g_adc_sample_data.uc_ch_num[1] = ch_list[1];
} else {
/* Disable sequencer. */
adc_stop_sequencer(ADC);
/* Enable channels. */
adc_enable_channel(ADC, ADC_CHANNEL_POTENTIOMETER);
adc_enable_channel(ADC, ADC_TEMPERATURE_SENSOR);
/* Update channel number. */
g_adc_sample_data.uc_ch_num[0] = ADC_CHANNEL_POTENTIOMETER;
g_adc_sample_data.uc_ch_num[1] = ADC_TEMPERATURE_SENSOR;
}
/* Enable the temperature sensor. */
adc_enable_ts(ADC);
/* Set gain and offset (only single ended mode used here). */
adc_disable_anch(ADC); /* Disable analog change. */
if (g_adc_test_mode.uc_gain_en) {
adc_enable_anch(ADC);
/* gain = 2 */
adc_set_channel_input_gain(ADC, ADC_CHANNEL_POTENTIOMETER, ADC_GAINVALUE_2);
} else {
/* gain = 1 */
adc_set_channel_input_gain(ADC, ADC_CHANNEL_POTENTIOMETER, ADC_GAINVALUE_0);
}
if (g_adc_test_mode.uc_offset_en) {
adc_enable_anch(ADC);
adc_enable_channel_input_offset(ADC, ADC_CHANNEL_POTENTIOMETER);
} else {
adc_disable_channel_input_offset(ADC, ADC_CHANNEL_POTENTIOMETER);
}
/* Set Auto Calibration Mode. */
if (g_adc_test_mode.uc_auto_calib_en) {
adc_set_calibmode(ADC);
while (1) {
if ((adc_get_status(ADC) & ADC_ISR_EOCAL) ==
ADC_ISR_EOCAL)
break;
}
}
/* Set power save. */
if (g_adc_test_mode.uc_power_save_en) {
adc_configure_power_save(ADC, 1, 0);
} else {
adc_configure_power_save(ADC, 0, 0);;
}
/* Transfer with/without PDC. */
if (g_adc_test_mode.uc_pdc_en) {
adc_read_buffer(ADC, g_adc_sample_data.us_value, BUFFER_SIZE);
/* Enable PDC channel interrupt. */
adc_enable_interrupt(ADC, ADC_IER_RXBUFF);
} else {
/* Enable Data ready interrupt. */
adc_enable_interrupt(ADC, ADC_IER_DRDY);
}
/* Enable ADC interrupt. */
NVIC_EnableIRQ(ADC_IRQn);
/* Configure trigger mode and start convention. */
switch (g_adc_test_mode.uc_trigger_mode) {
case TRIGGER_MODE_SOFTWARE:
adc_configure_trigger(ADC, ADC_TRIG_SW, 0); /* Disable hardware trigger. */
break;
case TRIGGER_MODE_ADTRG:
gpio_configure_pin(PINS_ADC_TRIG, PINS_ADC_TRIG_FLAG);
adc_configure_trigger(ADC, ADC_TRIG_EXT, 0);
break;
case TRIGGER_MODE_TIMER:
configure_time_trigger();
break;
case TRIGGER_MODE_PWM:
configure_pwm_trigger();
break;
case TRIGGER_MODE_FREERUN:
adc_configure_trigger(ADC, ADC_TRIG_SW, 1);
break;
default:
break;
}
}
/**
* \brief Systick handler.
*/
void SysTick_Handler(void)
{
uint32_t status;
uint32_t dac_val;
int i = 0;
gs_ul_ms_ticks++;
status = dacc_get_interrupt_status(DACC_BASE);
/* If ready for new data */
if ((status & DACC_ISR_TXRDY) == DACC_ISR_TXRDY) {
/*dac_val = g_uc_wave_sel ?
((g_ul_index_sample > SAMPLES / 2) ? 0 : MAX_AMPLITUDE)
: wave_to_dacc(gc_us_sine_data[g_ul_index_sample],
g_l_amplitude,
MAX_DIGITAL * 2, MAX_AMPLITUDE);*/
//reading sample from ADC
adc_start(ADC);
/* Check if ADC sample is done. */
if (g_adc_sample_data.us_done == ADC_DONE_MASK) {
/*for (i = 0; i < NUM_CHANNELS; i++) {
printf("CH%02d: %04d mv. ",
(int)g_adc_sample_data.uc_ch_num[i],
(int)(g_adc_sample_data.
us_value[i] *
VOLT_REF /
MAX_DIGITAL));
}
puts("\r");*/
g_adc_sample_data.us_done = 0;
//end reading
//write to the DACC
dacc_write_conversion_data(DACC_BASE, g_adc_sample_data.us_value[0]);
}
}
}
#if SAM3S || SAM3N || SAM3XA || SAM4S || SAM4C
/**
* \brief Interrupt handler for the ADC.
*/
void ADC_Handler(void)
{
uint32_t i;
uint32_t ul_temp;
uint8_t uc_ch_num;
/* With PDC transfer */
if (g_adc_test_mode.uc_pdc_en) {
if ((adc_get_status(ADC) & ADC_ISR_RXBUFF) ==
ADC_ISR_RXBUFF) {
g_adc_sample_data.us_done = ADC_DONE_MASK;
adc_read_buffer(ADC, g_adc_sample_data.us_value, BUFFER_SIZE);
/* Only keep sample value, and discard channel number. */
for (i = 0; i < NUM_CHANNELS; i++) {
g_adc_sample_data.us_value[i] &= ADC_LCDR_LDATA_Msk;
}
}
} else { /* Without PDC transfer */
if ((adc_get_status(ADC) & ADC_ISR_DRDY) ==
ADC_ISR_DRDY) {
ul_temp = adc_get_latest_value(ADC);
for (i = 0; i < NUM_CHANNELS; i++) {
uc_ch_num = (ul_temp & ADC_LCDR_CHNB_Msk) >>
ADC_LCDR_CHNB_Pos;
if (g_adc_sample_data.uc_ch_num[i] == uc_ch_num) {
g_adc_sample_data.us_value[i] =
ul_temp &
ADC_LCDR_LDATA_Msk;
g_adc_sample_data.us_done |= 1 << i;
}
}
}
}
/**
* \brief Example entry point.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
uint8_t c_choice;
int16_t s_adc_value;
int16_t s_dac_value;
int16_t s_threshold = 0;
float f_dac_data;
uint32_t ul_dac_data;
/* Initialize the SAM system. */
sysclk_init();
board_init();
configure_console();
/* Output example information. */
puts(STRING_HEADER);
/* Initialize threshold. */
gs_us_low_threshold = 500;
gs_us_high_threshold = 2000;
struct adc_config adc_cfg = {
/* System clock division factor is 16 */
.prescal = ADC_PRESCAL_DIV16,
/* The APB clock is used */
.clksel = ADC_CLKSEL_APBCLK,
/* Max speed is 150K */
.speed = ADC_SPEED_150K,
/* ADC Reference voltage is 0.625*VCC */
.refsel = ADC_REFSEL_1,
/* Enables the Startup time */
.start_up = CONFIG_ADC_STARTUP
};
struct adc_seq_config adc_seq_cfg = {
/* Select Vref for shift cycle */
.zoomrange = ADC_ZOOMRANGE_0,
/* Pad Ground */
.muxneg = ADC_MUXNEG_1,
/* DAC Internal */
.muxpos = ADC_MUXPOS_3,
/* Enables the internal voltage sources */
.internal = ADC_INTERNAL_3,
/* Disables the ADC gain error reduction */
.gcomp = ADC_GCOMP_DIS,
/* Disables the HWLA mode */
.hwla = ADC_HWLA_DIS,
/* 12-bits resolution */
.res = ADC_RES_12_BIT,
/* Enables the single-ended mode */
.bipolar = ADC_BIPOLAR_SINGLEENDED
};
struct adc_ch_config adc_ch_cfg = {
.seq_cfg = &adc_seq_cfg,
/* Internal Timer Max Counter */
.internal_timer_max_count = 60,
/* Window monitor mode is off */
.window_mode = ADC_WM_MODE_3,
/* The equivalent voltage value is 500 * VOLT_REF / 4095 = 251mv. */
.low_threshold = gs_us_low_threshold,
/* The equivalent voltage value is 2000 * VOLT_REF / 4095 = 1002mv. */
.high_threshold = gs_us_high_threshold,
};
start_dac();
if(adc_init(&g_adc_inst, ADCIFE, &adc_cfg) != STATUS_OK) {
puts("-F- ADC Init Fail!\n\r");
while(1);
}
if(adc_enable(&g_adc_inst) != STATUS_OK) {
puts("-F- ADC Enable Fail!\n\r");
while(1);
}
adc_ch_set_config(&g_adc_inst, &adc_ch_cfg);
adc_configure_trigger(&g_adc_inst, ADC_TRIG_CON);
adc_configure_gain(&g_adc_inst, ADC_GAIN_1X);
adc_set_callback(&g_adc_inst, ADC_WINDOW_MONITOR, adcife_wm_handler,
ADCIFE_IRQn, 1);
/* Display main menu. */
display_menu();
while (1) {
scanf("%c", (char *)&c_choice);
printf("%c\r\n", c_choice);
switch (c_choice) {
case '0':
adc_disable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
printf("DAC output is set to(mv) from 0mv to %dmv: ",
(int32_t)VOLT_REF);
s_dac_value = get_voltage();
puts("\r");
f_dac_data = (float)s_dac_value * DACC_MAX_DATA / VDDANA;
ul_dac_data = f_to_int(f_dac_data);
if (s_dac_value >= 0) {
dacc_write_conversion_data(DACC, ul_dac_data);
}
delay_ms(100);
adc_clear_status(&g_adc_inst, ADCIFE_SCR_WM);
adc_enable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
break;
case '1':
adc_disable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
printf("Low threshold is set to(mv) from 0mv to %dmv: ",
(int32_t)VOLT_REF);
s_threshold = get_voltage();
puts("\r");
if (s_threshold >= 0) {
s_adc_value = s_threshold * MAX_DIGITAL /
VOLT_REF;
adc_configure_wm_threshold(&g_adc_inst,
s_adc_value,
gs_us_high_threshold);
/* Renew low threshold. */
gs_us_low_threshold = s_adc_value;
float f_low_threshold =
(float)gs_us_low_threshold *
VOLT_REF / MAX_DIGITAL;
uint32_t ul_low_threshold =
f_to_int(f_low_threshold);
printf("Setting low threshold to %u mv (reg value to 0x%x ~%d%%)\n\r",
ul_low_threshold, gs_us_low_threshold,
gs_us_low_threshold * 100 / MAX_DIGITAL);
}
adc_clear_status(&g_adc_inst, ADCIFE_SCR_WM);
adc_enable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
break;
case '2':
adc_disable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
printf("High threshold is set to(mv)from 0mv to %dmv:",
(int32_t)VOLT_REF);
s_threshold = get_voltage();
puts("\r");
if (s_threshold >= 0) {
s_adc_value = s_threshold * MAX_DIGITAL /
VOLT_REF;
adc_configure_wm_threshold(&g_adc_inst,
gs_us_low_threshold,
s_adc_value);
/* Renew high threshold. */
gs_us_high_threshold = s_adc_value;
float f_high_threshold =
(float)gs_us_high_threshold *
VOLT_REF / MAX_DIGITAL;
uint32_t ul_high_threshold =
f_to_int(f_high_threshold);
printf("Setting high threshold to %u mv (reg value to 0x%x ~%d%%)\n\r",
ul_high_threshold, gs_us_high_threshold,
gs_us_high_threshold * 100 / MAX_DIGITAL);
}
adc_clear_status(&g_adc_inst, ADCIFE_SCR_WM);
adc_enable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
break;
case '3':
adc_disable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
puts("-a. Above low threshold.\n\r"
"-b. Below high threshold.\n\r"
"-c. In the comparison window.\n\r"
"-d. Out of the comparison window.\n\r"
"-q. Quit the setting.\r");
c_choice = get_wm_mode();
adc_configure_wm_mode(&g_adc_inst, c_choice);
printf("Comparison mode is %c.\n\r", 'a' + c_choice - 1);
adc_clear_status(&g_adc_inst, ADCIFE_SCR_WM);
adc_enable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
break;
case 'm':
display_menu();
break;
case 'i':
display_info();
adc_clear_status(&g_adc_inst, ADCIFE_SCR_WM);
adc_enable_interrupt(&g_adc_inst, ADC_WINDOW_MONITOR);
break;
}
puts("Press \'m\' or \'M\' to display the main menu again!\r");
}
}
