void dc_init(void) {
#ifdef ENCODER
pid_init(&pid,
PID_K_P_DEFAULT,
PID_K_I_DEFAULT,
PID_K_D_DEFAULT,
PID_SAMPLE_TIME_DEFAULT,
PID_MAX_OUT_DEFAULT,
PID_MIN_OUT_DEFAULT);
encoder_init();
#endif
Pin dc_pins[] = {PINS_DC};
PIO_Configure(dc_pins, PIO_LISTSIZE(dc_pins));
// Configure and enable power measurements
Pin dc_power_management_pins[] = {VOLTAGE_STACK_PIN,
VOLTAGE_EXTERN_PIN,
VOLTAGE_STACK_SWITCH_PIN,
CURRENT_CONSUMPTION_PIN};
PIO_Configure(dc_power_management_pins,
PIO_LISTSIZE(dc_power_management_pins));
// Initialize PWM
PMC->PMC_PCER0 = 1 << ID_PWM;
dc_update_pwm_frequency();
adc_channel_enable(VOLTAGE_EXTERN_CHANNEL);
adc_channel_enable(VOLTAGE_STACK_CHANNEL);
adc_channel_enable(CURRENT_CONSUMPTION_CHANNEL);
}
OSStatus platform_adc_take_sample( const platform_adc_t* adc, uint16_t* output )
{
OSStatus err = kNoErr;
platform_mcu_powersave_disable();
require_action_quiet( adc != NULL, exit, err = kParamErr);
channel_num = adc->channel;
adc_channel_enable(ADC, adc->channel);
adc_set_callback(ADC, adc->interrupt, adc_end_conversion, 1);
/* Start conversion */
adc_start_software_conversion(ADC);
adc_start_calibration(ADC);
while (adc_get_interrupt_status(ADC) & (1 << adc->channel));
*output = adc_channel_get_value(ADC, adc->channel);
mico_thread_msleep(1);
adc_channel_disable(ADC, adc->channel);
exit:
platform_mcu_powersave_enable();
return err;
}
void constructor(void) {
_Static_assert(sizeof(BrickContext) <= BRICKLET_CONTEXT_MAX_SIZE, "BrickContext too big");
PIN_OVER_CURRENT.type = PIO_INPUT;
PIN_OVER_CURRENT.attribute = PIO_PULLUP;
BA->PIO_Configure(&PIN_OVER_CURRENT, 1);
BC->over_current = false;
BC->current_avg = 0;
adc_channel_enable(BS->adc_channel);
uint16_t data;
BA->bricklet_select(BS->port - 'a');
BA->i2c_eeprom_master_read(BA->twid->pTwi,
EEPROM_POSITION,
(char *)&data,
2);
BA->bricklet_deselect(BS->port - 'a');
if(data == 0xFFFF) {
BC->offset = 0;
} else {
BC->offset = data;
}
simple_constructor();
}
/**
* \brief Application entry point.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
int32_t ul_vol;
int32_t ul_temp;
/* Initialize the SAM system. */
sysclk_init();
board_init();
configure_console();
/* Output example information. */
puts(STRING_HEADER);
adc_enable();
struct adc_config adc_cfg;
adc_get_config_defaults(&adc_cfg);
adc_init(ADC, &adc_cfg);
adc_channel_enable(ADC,ADC_TEMPERATURE_SENSOR);
adc_set_trigger(ADC, ADC_TRIG_SW);
struct adc_temp_sensor_config adc_temp_sensor_cfg;
adc_temp_sensor_get_config_defaults(&adc_temp_sensor_cfg);
adc_temp_sensor_set_config(ADC, &adc_temp_sensor_cfg);
adc_set_callback(ADC, ADC_INTERRUPT_EOC_16,
adc_temp_sensor_end_conversion, 1);
adc_start_software_conversion(ADC);
while (1) {
if (is_conversion_done == true) {
is_conversion_done = false;
ul_vol = g_ul_value * VOLT_REF / MAX_DIGITAL;
/*
* According to datasheet, The output voltage VT = 1.44V at 27C
* and the temperature slope dVT/dT = 4.7 mV/C
*/
ul_temp = (ul_vol - 1440) * 100 / 470 + 27;
printf("-- Temperature is: %4d\r\n", (int)ul_temp);
delay_ms(1000);
adc_start_software_conversion(ADC);
}
}
}
bool
adc_config (adc_t adc)
{
adc_channel_enable (adc);
if (adc == adc_config_last)
return 1;
adc_config_last = adc;
/* Set mode register. */
ADC->ADC_MR = adc->MR;
return 1;
}
/**
* \brief Configure the ADC for the light sensor.
*/
static void configure_adc(void)
{
struct adc_config adc_cfg;
/* Configure ADC pin for light sensor. */
gpio_configure_pin(LIGHT_SENSOR_GPIO, LIGHT_SENSOR_FLAGS);
/* Enable ADC clock. */
pmc_enable_periph_clk(ID_ADC);
/* Configure ADC. */
adc_enable();
adc_get_config_defaults(&adc_cfg);
adc_init(ADC, &adc_cfg);
adc_channel_enable(ADC, ADC_CHANNEL_0);
adc_set_trigger(ADC, ADC_TRIG_SW);
}
/**
* \brief Application entry point.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
int32_t ul_vol;
/* Initialize the SAM system. */
sysclk_init();
board_init();
configure_console();
/* Output example information. */
puts(STRING_HEADER);
adc_enable();
struct adc_config adc_cfg;
adc_get_config_defaults(&adc_cfg);
adc_init(ADC, &adc_cfg);
adc_channel_enable(ADC, ADC_CHANNEL_11);
adc_set_trigger(ADC, ADC_TRIG_TIO_CH_0);
adc_set_callback(ADC, ADC_INTERRUPT_EOC_11,
adc_end_conversion, 1);
set_adc_resolution();
adc_start_calibration(ADC);
/* Configure TC */
configure_tc_trigger();
while (1) {
/* Check if ADC sample is done. */
if (is_conversion_done == true) {
ul_vol = g_ul_value * VOLT_REF / g_max_digital;
printf("-- Voltage is: %4dmv\r\n", (int)ul_vol);
is_conversion_done = false;
}
}
}
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);
}
