/*
* @brief Initializes gyro.
*
* Sets sampling speed, configures and enables the gyro.
* @returns void
*/
void gyro_init(void) {
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC1);
//Set sampling speed
MAP_SysCtlADCSpeedSet(SYSCTL_ADCSPEED_500KSPS);
//Disable sample sequences for configuration
MAP_ADCSequenceDisable(ADC_BASE, GYRO_ADC_CHANNEL);
//Timer Trigger, priorities are same as number
MAP_ADCSequenceConfigure(ADC_BASE, GYRO_ADC_CHANNEL, ADC_TRIGGER_PROCESSOR, GYRO_ADC_CHANNEL);
MAP_ADCSequenceStepConfigure(ADC_BASE, GYRO_ADC_CHANNEL, 0, ADC_CTL_CH3 | ADC_CTL_END);
//Config sequence steps
MAP_ADCSequenceEnable(ADC_BASE, GYRO_ADC_CHANNEL);
}
void configureADC()
{
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
MAP_SysCtlDelay(2);
// Disable sequencer 0
MAP_ADCSequenceDisable(ADC0_BASE, 3);
//
// Configure GPIO Pin
//
MAP_GPIOPinTypeADC(GPIO_PORTD_BASE, GPIO_PIN_7);
// **************************
// Configure timer
// **************************
MAP_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
// Load timer for periodic sampling of ADC
MAP_TimerLoadSet(TIMER1_BASE, TIMER_A, g_ui32SysClock/SAMPLING_RATE);
// Enable ADC triggering
MAP_TimerControlTrigger(TIMER1_BASE, TIMER_A, true);
// Trigger ADC on timer A timeout
MAP_TimerADCEventSet(TIMER1_BASE, TIMER_ADC_TIMEOUT_A);
// **************************
// Configure ADC
// **************************
// Clear the interrupt raw status bit (should be done early
// on, because it can take several cycles to clear.)
MAP_ADCIntClear(ADC0_BASE, 3);
// ADC0, Seq 0, Timer triggered, Priority 0
MAP_ADCSequenceConfigure(ADC0_BASE, 3, ADC_TRIGGER_TIMER, 0);
// MAP_ADCSequenceConfigure(ADC0_BASE, 3, ADC_TRIGGER_PROCESSOR, 0);
/*// Set all 8 sequencer steps to sample from analog channel 5 (PD7)
int i;
for(i = 0; i < 1; i++)
{
MAP_ADCSequenceStepConfigure(ADC0_BASE, 0, i, ADC_CTL_CH5 | ADC_CTL_IE | ADC_CTL_END);
}
// Configure step 7 to trigger interrupt, and be the end of sequence
// MAP_ADCSequenceStepConfigure(ADC0_BASE, 0, 7, ADC_CTL_CH5 | ADC_CTL_IE | ADC_CTL_END);
*/
MAP_ADCSequenceStepConfigure(ADC0_BASE, 3, 0, ADC_CTL_CH4 | ADC_CTL_IE | ADC_CTL_END);
MAP_ADCSequenceEnable(ADC0_BASE, 3);
// Enable interrupts when sample conversion complete
MAP_ADCIntEnable(ADC0_BASE, 3);
// Enable NVIC interrupt for ADC0 SS0
MAP_IntEnable(INT_ADC0SS3);
MAP_IntMasterEnable();
MAP_TimerEnable(TIMER1_BASE, TIMER_A);
}
//*****************************************************************************
//
// This function initializes the ADC hardware in preparation for data
// acquisition.
//
//*****************************************************************************
void
AcquireInit(void)
{
uint32_t ui32Chan, ui32Base, ui32Seq, ui32ChCtl;
//
// Enable the ADC peripherals and the associated GPIO port
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC1);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);
//
// Enabled LED GPIO
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
MAP_GPIOPinTypeGPIOOutput(GPIO_PORTG_BASE, GPIO_PIN_2);
//
// Configure the pins to be used as analog inputs.
//
MAP_GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 |
GPIO_PIN_7 | GPIO_PIN_3);
MAP_GPIOPinTypeADC(GPIO_PORTP_BASE, GPIO_PIN_0);
//
// Select the external reference for greatest accuracy.
//
MAP_ADCReferenceSet(ADC0_BASE, ADC_REF_EXT_3V);
MAP_ADCReferenceSet(ADC1_BASE, ADC_REF_EXT_3V);
//
// Apply workaround for erratum 6.1, in order to use the
// external reference.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
HWREG(GPIO_PORTB_BASE + GPIO_O_AMSEL) |= GPIO_PIN_6;
//
// Initialize both ADC peripherals using sequencer 0 and processor trigger.
//
MAP_ADCSequenceConfigure(ADC0_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
MAP_ADCSequenceConfigure(ADC1_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
//
// Enter loop to configure all of the ADC sequencer steps needed to
// acquire the data for the data logger. Multiple ADC and sequencers
// will be used in order to acquire all the channels.
//
for(ui32Chan = 0; ui32Chan < NUM_ADC_CHANNELS; ui32Chan++)
{
//
// If this is the first ADC then set the base for ADC0
//
if(ui32Chan < 8)
{
ui32Base = ADC0_BASE;
ui32Seq = 0;
}
else if(ui32Chan < 16)
{
//
// Second ADC, set the base for ADC1
//
ui32Base = ADC1_BASE;
ui32Seq = 0;
}
//
// Get the channel control for each channel. Test to see if it is the
// last channel for the sequencer, and if so then also set the
// interrupt and "end" flags.
//
ui32ChCtl = g_pui32ADCSeq[ui32Chan];
if((ui32Chan == 7) || (ui32Chan == 15) ||
(ui32Chan == (NUM_ADC_CHANNELS - 1)))
{
ui32ChCtl |= ADC_CTL_IE | ADC_CTL_END;
}
//
// Configure the sequence step
//
MAP_ADCSequenceStepConfigure(ui32Base, ui32Seq, ui32Chan % 8,
ui32ChCtl);
}
//
// Erase the configuration in case there was a prior configuration.
//
g_psConfigState = 0;
}
