int main(void)
{
DDRA = (1 << PA0) | (1 << PA1) | (1 << PA3) | (1 << PA2);
ShiftRegister shiftRegister(&PORTA, PA1, &PORTA, PA3, &PORTA, PA2);
Pin ledPin(&PORTA, PA0);
// lcd initialization goes here
KS0066 lcd(shiftRegister);
while(1)
{
ledPin.toggle();
_delay_ms(125);
}
}
void spintronicsStateMachine()
{
volatile _Q15 bridgeSample;
volatile _Q15 coilSample;
static unsigned char state = IDLE;
static uint32_t timer;
static uint8_t sensor;
_Q15 cosOmega1T;//fractions of full-scale //aligned to compensate for ADCDAC_GROUP_DELAY
_Q15 cosOmega2T;//fractions of full-scale //aligned to compensate for ADCDAC_GROUP_DELAY
static _Q15 cosOmega1TTimeAligned;//fractions of full-scale
static _Q15 cosOmega2TTimeAligned;//fractions of full-scale
static _Q15 freqT[6];//array contents: 2*f1*t, 2*f2*t, 2*f1*(t + ADCDAC_GROUP_DELAY), 2*f2*(t + ADCDAC_GROUP_DELAY), 2*fdiff*(t + ADCDAC_GROUP_DELAY), 2*fsum*(t + ADCDAC_GROUP_DELAY)
static int64_t cosAccumulator[5];
static int64_t sinAccumulator[5];
static _Q15 phaseAngle[5];//units are radians divided by PI
static _Q15 amplitude[5];//fractions of full-scale
static bool bridgeADCClipFlag;
static bool coilADCClipFlag;
static bool bridgeDigitalClipFlag;
#ifdef SIMULATION_MODE
uint16_t RXBUF2 = rand();//only to give random stimulus during simulation
#endif
if (RXBUF0 == 0x7FFF || RXBUF0 == 0x8000)
{
bridgeADCClipFlag = true;
}
if (RXBUF2 == 0x7FFF || RXBUF2 == 0x8000)
{
coilADCClipFlag = true;
}
bridgeSample = readBridgeSampleAndApplyGain(&bridgeDigitalClipFlag);
coilSample = RXBUF2;
if (GUIRequestingRun == false)
{
state = IDLE;
}
switch (state)
{
case IDLE:
timer = 0;
sensor = 0;
configSensor(sensor);
signalGenerator(RESET, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
cosAccumulator[0] = 0; cosAccumulator[1] = 0; cosAccumulator[2] = 0; cosAccumulator[3] = 0; cosAccumulator[4] = 0;
sinAccumulator[0] = 0; sinAccumulator[1] = 0; sinAccumulator[2] = 0; sinAccumulator[3] = 0; sinAccumulator[4] = 0;
phaseAngle[0] = 0; phaseAngle[1] = 0; phaseAngle[2] = 0; phaseAngle[3] = 0; phaseAngle[4] = 0;
amplitude[0] = 0; amplitude[1] = 0; amplitude[2] = 0; amplitude[3] = 0; amplitude[4] = 0;
bridgeADCClipFlag = false;
coilADCClipFlag = false;
bridgeDigitalClipFlag = false;
#ifdef CS4272_CONTROL_PORT_MODE
state = CALIBRATE_ADC;
enableADCHpf(true);//enable the hpf to calibrate for systematic DC offset
#else
state = START_SIGNAL_GEN;
#endif
break;
#ifdef CS4272_CONTROL_PORT_MODE
case CALIBRATE_ADC:
signalGenerator(RESET, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
++timer;
if (timer == ADC_CALIBRATION_TIME)
{
timer = 0;
state = WAIT_FOR_HPF_DISABLE_MESSAGE_TX;
enableADCHpf(false);//DC calibration complete; disable hpf
}
break;
case WAIT_FOR_HPF_DISABLE_MESSAGE_TX:
signalGenerator(RESET, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
++timer;
if (timer == CS4272_SPI_TX_LATENCY)
{
timer = 0;
state = START_SIGNAL_GEN;
}
break;
#endif
case START_SIGNAL_GEN:
signalGenerator(RUN, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
++timer;
if (timer == SETUP_TIME)
{
timer = 0;
state = MEASURE_PHASE;
}
break;
case MEASURE_PHASE:
measurePhase(bridgeSample, coilSample, freqT, cosOmega1TTimeAligned, cosOmega2TTimeAligned, cosAccumulator, sinAccumulator);
signalGenerator(RUN, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
++timer;
if (timer == phaseMeasurementTime)
{
timer = 0;
state = CALCULATE_PHASE;
}
break;
case CALCULATE_PHASE:
{
static uint8_t shiftAmt[5];
if (timer < 5)
{
calculateShiftAmount(timer, cosAccumulator, sinAccumulator, shiftAmt);
}
else
{
calculatePhase(timer - 5, cosAccumulator, sinAccumulator, phaseAngle, shiftAmt);
}
signalGenerator(RUN, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
++timer;
if (timer == 10)
{
cosAccumulator[0] = 0; cosAccumulator[1] = 0; cosAccumulator[2] = 0; cosAccumulator[3] = 0; cosAccumulator[4] = 0;
sinAccumulator[0] = 0; sinAccumulator[1] = 0; sinAccumulator[2] = 0; sinAccumulator[3] = 0; sinAccumulator[4] = 0;
timer = 0;
state = MEASURE_AMPLITUDE;
}
break;
}
case MEASURE_AMPLITUDE:
measureAmplitude(bridgeSample, coilSample, freqT, cosAccumulator, phaseAngle);
signalGenerator(RUN, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
++timer;
if (timer == amplitudeMeasurementTime)
{
timer = 0;
state = CALCULATE_AMPLITUDE;
}
break;
case CALCULATE_AMPLITUDE:
calculateAmplitude(timer, cosAccumulator, amplitude);
signalGenerator(RUN, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
++timer;
if (timer == 5)
{
uint8_t index;
uint8_t txSensor;//temporary variable to store the value for transmission
_Q15 txPhaseAngle[5];//temporary array to store values for transmission
_Q15 txAmplitude[5];//temporary array to store values for transmission
bool txBridgeADCClipFlag;//temporary variable to store the flag for transmission
bool txCoilADCClipFlag;//temporary variable to store the flag for transmission
bool txBridgeDigitalClipFlag;//temporary variable to store the flag for transmission
//store variables for transmission
txSensor = sensor;
for (index = 0; index < 5; ++index)
{
txPhaseAngle[index] = phaseAngle[index];
txAmplitude[index] = amplitude[index];
}
txBridgeADCClipFlag = bridgeADCClipFlag;
txCoilADCClipFlag = coilADCClipFlag;
txBridgeDigitalClipFlag = bridgeDigitalClipFlag;
//clear static variables for next iteration of the state machine
cosAccumulator[0] = 0; cosAccumulator[1] = 0; cosAccumulator[2] = 0; cosAccumulator[3] = 0; cosAccumulator[4] = 0;
timer = 0;
bridgeADCClipFlag = false;
coilADCClipFlag = false;
bridgeDigitalClipFlag = false;
state = START_SIGNAL_GEN;
++sensor;
if (sensor == NUMBER_OF_SENSORS)
{
sensor = 0;
}
configSensor(sensor);
//transmit results
transmitResults(txSensor, txPhaseAngle, txAmplitude, txBridgeADCClipFlag, txCoilADCClipFlag, txBridgeDigitalClipFlag);//don't do this until the state machine is ready for the next measurment period; transmitting results takes more than one sample period.
}
break;
default:
timer = 0;
sensor = 0;
configSensor(sensor);
signalGenerator(RESET, freqT, &cosOmega1T, &cosOmega2T);
shiftRegister(cosOmega1T, cosOmega2T, &cosOmega1TTimeAligned, &cosOmega2TTimeAligned);
cosAccumulator[0] = 0; cosAccumulator[1] = 0; cosAccumulator[2] = 0; cosAccumulator[3] = 0; cosAccumulator[4] = 0;
sinAccumulator[0] = 0; sinAccumulator[1] = 0; sinAccumulator[2] = 0; sinAccumulator[3] = 0; sinAccumulator[4] = 0;
phaseAngle[0] = 0; phaseAngle[1] = 0; phaseAngle[2] = 0; phaseAngle[3] = 0; phaseAngle[4] = 0;
amplitude[0] = 0; amplitude[1] = 0; amplitude[2] = 0; amplitude[3] = 0; amplitude[4] = 0;
break;
}
}