void audioInit(void)
{
PMC_EnablePeripheral(ID_PWM);
PWMC_ConfigureClocks(0, 0, BOARD_MCK);
PWMC_ConfigureChannel(PWM, 0, PWM_CMR_CPRE_MCK, 0, 0);
PWMC_ConfigureEventLineMode(PWM, 0, 1);
audioSetSample(AUDIO_NULL, DEFAULT_AUDIO_SAMPLERATE);
PWMC_EnableChannel(PWM, 0);
PMC_EnablePeripheral(ID_DACC);
DACC_Initialize(DACC, ID_DACC, 1, 4, 0, 0, BOARD_MCK, 8, DACC_CHANNEL_0, 0, 16 );
DACC_EnableChannel(DACC, DACC_CHANNEL_0);
}
/**
* \brief DAC initialization.
*/
void enc_init(void)
{
/* initialize amplitude and frequency */
amplitude = MAX_DIGITAL * 2 / 5;
frequency = HIJACK_CARRIER_FREQ_CONF;
/*10 us timer*/
SysTick_Config( BOARD_MCK / (frequency * SAMPLES) ) ;
//_ConfigureTc0( HIJACK_CARRIER_FREQ_8KHZ );
//TC_Start( TC0, 0 ) ;
/* Initialize DACC */
DACC_Initialize( DACC,
ID_DACC,
0, /* Hardware triggers are disabled */
0, /* External trigger */
0, /* Half-Word Transfer */
0, /* Normal Mode (not sleep mode) */
BOARD_MCK,
8, /* refresh period */
0, /* Channel 0 selection */
0, /* Tag Selection Mode disabled */
16 /* value of the start up time */);
/* enable NVIC_DACC. */
NVIC_EnableIRQ( DACC_IRQn ) ;
NVIC_SetPriority(DACC_IRQn, 5);
/* variable initial. */
enc.data = 0;
enc.state = Waiting;
enc.cur = SET;
enc.factor = Div1;
enc.reverse = 0;
ticker = 0;
index_sample = 0;
/*Enable channel for potentiometer*/
DACC_EnableChannel( DACC, DACC_channel_sine ) ;
/*initialize the DACC_CDR*/
DACC_SetConversionData( DACC,sine_data[90]*amplitude/(MAX_DIGITAL/2)+MAX_DIGITAL/2);
DACC->DACC_IER = DACC_IER_EOC; //Enable DACC end-of-convertion interrupt
}
void stepper_init(void) {
Pin pins_stepper[] = {PINS_STEPPER};
PIO_Configure(pins_stepper, PIO_LISTSIZE(pins_stepper));
Pin stepper_power_management_pins[] = {VOLTAGE_STACK_PIN,
VOLTAGE_EXTERN_PIN,
VOLTAGE_STACK_SWITCH_PIN,
STEPPER_CURRENT_PIN};
PIO_Configure(stepper_power_management_pins,
PIO_LISTSIZE(stepper_power_management_pins));
// Initialize and enable DACC to set VREF and DECAY pins
DACC_Initialize(DACC,
ID_DACC,
0, // Hardware triggers are disabled
0, // External trigger
0, // Half-Word Transfer
0, // Normal Mode (not sleep mode)
BOARD_MCK,
1, // refresh period
0, // Channel 0 selection
1, // Tag Selection Mode enabled
16); // value of the start up time
DACC_EnableChannel(DACC, VREF_CHANNEL);
DACC_EnableChannel(DACC, DECAY_CHANNEL);
// Enable peripheral clock for TC
PMC->PMC_PCER0 = 1 << ID_TC0;
// Configure and enable TC interrupts
NVIC_DisableIRQ(TC0_IRQn);
NVIC_ClearPendingIRQ(TC0_IRQn);
NVIC_SetPriority(TC0_IRQn, PRIORITY_STEPPER_TC0);
NVIC_EnableIRQ(TC0_IRQn);
tc_channel_init(&STEPPER_TC_CHANNEL,
TC_CMR_TCCLKS_TIMER_CLOCK5 | TC_CMR_CPCTRG);
// Interrupt in compare
tc_channel_interrupt_set(&STEPPER_TC_CHANNEL, TC_IER_CPCS);
PMC->PMC_PCER0 = 1 << ID_TC1;
tc_channel_init(&SINGLE_SHOT_TC_CHANNEL,
TC_CMR_WAVE |
TC_CMR_TCCLKS_TIMER_CLOCK4 |
TC_CMR_EEVT_XC0 |
TC_CMR_ASWTRG_SET |
TC_CMR_ACPC_CLEAR |
TC_CMR_WAVSEL_UP |
TC_CMR_CPCDIS |
TC_CMR_CPCSTOP);
SINGLE_SHOT_COUNTER = 1;
tc_channel_start(&SINGLE_SHOT_TC_CHANNEL);
stepper_set_output_current(VREF_DEFAULT_CURRENT);
stepper_set_step_mode(STEP_MODE_EIGTH);
stepper_set_decay(DECAY_DEFAULT_VALUE);
adc_channel_enable(VOLTAGE_EXTERN_CHANNEL);
adc_channel_enable(VOLTAGE_STACK_CHANNEL);
adc_channel_enable(STEPPER_CURRENT_CHANNEL);
}
/**
* Configure the TC0 and DACC for audio output.
* \param sampleRate Audio sample rate.
* \param nbChannels Number of audio channels.
* \param mck MCK frequence.
*/
static void ConfigureAudioPlay(uint32_t sampleRate,
uint8_t nbChannels,
uint32_t mck)
{
uint32_t div = 2;
uint32_t tcclks = TC_CMR_TCCLKS_TIMER_CLOCK1;
uint32_t freq = sampleRate * nbChannels;
double ra, rc;
/* Enable TC0 Peripheral */
PMC_EnablePeripheral(ID_TC0);
{
uint32_t divs[5] = {2, 8, 32, 128,BOARD_MCK / 32768};
uint8_t i = 0;
divs[4] = mck/32768;
/* Minimize DIV & Maxmize RC for better waveform */
while(freq < ((mck / divs[i]) / 65536)) {
++ i;
if (i == 5) {
TRACE_FATAL("Cann't find TC0 divisor!\n\r");
}
}
div = divs[i];
tcclks = i;
}
/* Configure TC for tioa output: 48M -> 48K*2 */
TC_Configure(TC0,0, tcclks /*MCK/2*/
| TC_CMR_ACPC_SET
| TC_CMR_WAVE
| TC_CMR_ACPA_CLEAR
| TC_CMR_CPCTRG);
/* 50% duty ,freq frequency*/
ra = (((double)mck/div)/(freq*2) + 0.5 );
rc = (((double)mck/div)/(freq) + 0.99);
TC0->TC_CHANNEL[0].TC_RA = (uint32_t)ra;
TC0->TC_CHANNEL[0].TC_RC = (uint32_t)ra*2;
defaultRA = (uint32_t)ra;
printf("-I- MCK %dKHz, Div %d(%x), RA: %d*.01(%x), RC: %d*.01(%x)\n\r",
(int)mck/1000, (int)div, (unsigned int)div,
(int)(ra*100), (int)ra, (int)(rc*100), (int)rc);
/* Initialize DACC with HW as trigger */
DACC_Initialize( DACC, ID_DACC,
1,
1,
0, /* DACC_MR_WORD_HALF */
0,
BOARD_MCK,
8,
CHANNEL_R,
1,
16);
/* channel number is in the first 4 significant bits*/
DACC->DACC_MR |= DACC_MR_TAG;
/* disable PDC for DAC */
DACC->DACC_PTCR = DACC_PTCR_TXTDIS;
/* Mute */
AudioPlayEnable(0);
/* Enable DACC ISR */
NVIC_EnableIRQ(DACC_IRQn);
}
