/** * \brief (Re)Sart ADC sample. * Initialize ADC, set clock and timing, set ADC to given mode. */ static void _configure_adc(void) { uint8_t i = 0; /* Check if sequence mode is necessary */ _test_mode.sequence_enabled = 0; for(i = 0; i < NUM_CHANNELS; i++) { if(i != adc_channel_used[i]) { _test_mode.sequence_enabled = 1; break; } } /* Update channel number */ for (i = 0; i < NUM_CHANNELS; i++) { _data.channel[i] = adc_channel_used[i]; } /* Enable/disable sequencer */ if (_test_mode.sequence_enabled) { /* Set user defined channel sequence */ adc_set_sequence_by_list(adc_channel_used, NUM_CHANNELS); /* Enable sequencer */ adc_set_sequence_mode(true); } else { /* Disable sequencer */ adc_set_sequence_mode(false); } /* Enable channels, gain, single mode */ for (i = 0; i < NUM_CHANNELS; i++) { adc_enable_channel(_data.channel[i]); } /* Set power save */ if (_test_mode.power_save_enabled) { adc_set_sleep_mode(true); } else { adc_set_sleep_mode(false); } /* Transfer with/without DMA */ /* Initialize XDMA driver instance with polling mode */ /* Enable Data ready interrupt */ uint32_t ier_mask = 0; for (i = 0; i < NUM_CHANNELS; i++) { ier_mask |= 0x1u << _data.channel[i]; } adc_enable_it(ier_mask) ; /* Set ADC irq handler */ aic_set_source_vector(ID_ADC, adc_irq_handler); /* Configure trigger mode and start convention */ switch (_test_mode.trigger_mode) { case TRIGGER_MODE_SOFTWARE: /* Disable hardware trigger */ adc_set_trigger(0); /* No trigger, only software trigger can start conversions */ adc_set_trigger_mode(ADC_TRGR_TRGMOD_NO_TRIGGER); aic_enable(ID_ADC); break; case TRIGGER_MODE_ADTRG: pio_configure(pin_adtrg, ARRAY_SIZE(pin_adtrg)); break; case TRIGGER_MODE_TIMER : /* Enable hardware trigger */ adc_set_trigger(ADC_MR_TRGSEL_ADC_TRIG1); /* Trigger timer*/ adc_set_trigger_mode(ADC_TRGR_TRGMOD_PERIOD_TRIG); adc_set_trigger_period(250); aic_enable(ID_TC0); break; default : break; } }
void process_cmd(struct cmd_frame_t *cmd) { int res; reply.status = ACK; // change to NACK as necessary reply.cmd = cmd->cmd; switch (cmd->cmd) { case CMD_ECHO: reply.data[0] = cmd->echo.length; memcpy(&reply.data[1], cmd->echo.data, cmd->echo.length); send_reply(&reply, cmd->echo.length+3); break; case CMD_RESET: if (cmd->reset_magic == RESET_MAGIC) { usb_peripheral_reset(); CREG_M4MEMMAP = 0x10400000; scb_reset_system(); } else { send_nack(); } break; case CMD_GET_EVENT_COUNTERS: { struct event_counters counters = get_last_event_counters(); memcpy(reply.data, &counters, sizeof(struct event_counters)); send_reply(&reply, 2+sizeof(struct event_counters)); break; } case CMD_GET_STAGE_GAINS: memcpy(reply.data, stage_fb_gains, sizeof(stage_fb_gains)); send_reply(&reply, 2+sizeof(stage_fb_gains)); break; case CMD_SET_STAGE_GAINS: memcpy(stage_fb_gains, cmd->set_stage_gains, sizeof(stage_fb_gains)); send_ack(); break; case CMD_GET_STAGE_SETPOINT: memcpy(reply.data, stage_fb_setpoint, sizeof(stage_fb_setpoint)); send_reply(&reply, 2+sizeof(stage_fb_setpoint)); break; case CMD_SET_STAGE_SETPOINT: memcpy(stage_fb_setpoint, cmd->set_stage_setpoint, sizeof(stage_fb_setpoint)); send_ack(); break; case CMD_GET_PSD_GAINS: memcpy(reply.data, psd_fb_gains, sizeof(psd_fb_gains)); send_reply(&reply, 2+sizeof(psd_fb_gains)); break; case CMD_SET_PSD_GAINS: memcpy(psd_fb_gains, cmd->set_psd_gains, sizeof(psd_fb_gains)); send_ack(); break; case CMD_GET_PSD_SETPOINT: memcpy(reply.data, psd_fb_setpoint, sizeof(psd_fb_setpoint)); send_reply(&reply, 2+sizeof(psd_fb_setpoint)); break; case CMD_SET_PSD_SETPOINT: memcpy(psd_fb_setpoint, cmd->set_psd_setpoint, sizeof(psd_fb_setpoint)); send_ack(); break; case CMD_GET_MAX_ERROR: memcpy(reply.data, &max_error, sizeof(max_error)); send_reply(&reply, 2+sizeof(max_error)); break; case CMD_SET_MAX_ERROR: max_error = cmd->set_max_error; send_ack(); break; case CMD_GET_OUTPUT_GAINS: { fixed16_t* tmp = (fixed16_t*) reply.data; for (unsigned int i=0; i<STAGE_OUTPUTS; i++) { *tmp = stage_outputs[i].p_gain; tmp++; *tmp = stage_outputs[i].i_gain; tmp++; } send_reply(&reply, 2+2*STAGE_OUTPUTS*sizeof(fixed16_t)); break; } case CMD_SET_OUTPUT_GAINS: { for (unsigned int i=0; i<STAGE_OUTPUTS; i++) { stage_outputs[i].p_gain = cmd->set_output_gains[i][0]; stage_outputs[i].i_gain = cmd->set_output_gains[i][1]; } send_ack(); break; } case CMD_GET_OUTPUT_TAUS: { for (unsigned int i=0; i<STAGE_OUTPUTS; i++) { reply.data[i] = pi_get_tau(&stage_outputs[i]); } send_reply(&reply, 2+3); break; } case CMD_SET_OUTPUT_TAUS: { for (unsigned int i=0; i<STAGE_OUTPUTS; i++) { pi_set_tau(&stage_outputs[i], cmd->set_output_taus[i]); } send_ack(); break; } case CMD_GET_ADC_FREQ: reply.data32[0] = 0; //TODO adc_get_trigger_freq(); send_reply(&reply, 2+4); break; case CMD_SET_ADC_FREQ: adc_set_trigger_freq(cmd->set_adc_freq); send_ack(); break; case CMD_GET_ADC_TRIGGER_MODE: reply.data[0] = adc_get_trigger_mode(); send_reply(&reply, 2+1); break; case CMD_SET_ADC_TRIGGER_MODE: adc_set_trigger_mode(cmd->set_adc_trigger_mode); send_ack(); break; case CMD_START_ADC_STREAM: adc_streaming = true; send_ack(); break; case CMD_STOP_ADC_STREAM: adc_streaming = false; adc_flush(); send_ack(); break; case CMD_FLUSH_ADC_STREAM: if (adc_flush() == 0) { send_ack(); } else { send_nack(); } break; case CMD_GET_ADC_DECIMATION: { reply.data32[0] = adc_get_decimation(); send_reply(&reply, 2+4); break; } case CMD_SET_ADC_DECIMATION: if (adc_set_decimation(cmd->set_adc_decimation) == 0) { send_ack(); } else { send_nack(); } break; case CMD_GET_FEEDBACK_FREQ: { unsigned int freq = feedback_get_loop_freq(); reply.data32[0] = freq; send_reply(&reply, 2+4); break; } case CMD_SET_FEEDBACK_FREQ: feedback_set_loop_freq(cmd->set_feedback_freq); send_ack(); break; case CMD_GET_FEEDBACK_MODE: reply.data[0] = feedback_get_mode(); send_reply(&reply, 3); break; case CMD_SET_FEEDBACK_MODE: feedback_set_mode(cmd->set_feedback_mode); send_ack(); break; case CMD_SET_RAW_POS: if (feedback_set_position(cmd->set_raw_pos) == 0) { send_ack(); } else { send_nack(); } break; case CMD_CLEAR_PATH: clear_path(); send_ack(); break; case CMD_ENQUEUE_POINTS: res = 0; if (cmd->enqueue_points.npts > 0) res = enqueue_points((uint16_t*) &cmd->enqueue_points.points, cmd->enqueue_points.npts); if (res == -1 || res == 0) { reply.data[0] = res != -1; // were the points added? reply.data[1] = is_path_running(); send_reply(&reply, 4); } else { send_nack(); } break; case CMD_START_PATH: if (start_path(cmd->start_path.freq, cmd->start_path.synchronous_adc) == 0) { send_ack(); } else { send_nack(); } break; case CMD_SET_EXCITATION: { struct set_excitation* const se = &cmd->set_excitation; struct excitation_buffer* const exc = &excitations[se->channel]; if ((se->length + se->offset > MAX_EXCITATION_LENGTH) || (se->channel >= 3)) { send_nack(); break; } exc->length = 0; exc->offset = 0; if (se->length != 0) { memcpy(&exc->samples[se->offset], &se->samples, sizeof(uint16_t) * se->length); } exc->length = se->total_length; send_ack(); break; } case CMD_GET_SEARCH_STEP: memcpy(reply.data, search_fb_step, sizeof(search_fb_step)); send_reply(&reply, 2+sizeof(search_fb_step)); break; case CMD_SET_SEARCH_STEP: memcpy(search_fb_step, cmd->set_search_step, sizeof(search_fb_step)); send_ack(); break; case CMD_GET_SEARCH_OBJ_GAINS: memcpy(reply.data, search_obj_gains, sizeof(search_obj_gains)); send_reply(&reply, 2+sizeof(search_obj_gains)); break; case CMD_SET_SEARCH_OBJ_GAINS: memcpy(search_obj_gains, cmd->set_search_obj_gains, sizeof(search_obj_gains)); send_ack(); break; case CMD_GET_SEARCH_OBJ_THRESH: memcpy(reply.data, &search_obj_thresh, sizeof(search_obj_thresh)); send_reply(&reply, 2+sizeof(search_obj_thresh)); break; case CMD_SET_SEARCH_OBJ_THRESH: search_obj_thresh = cmd->set_search_obj_thresh, send_ack(); break; case CMD_GET_COARSE_FB_PARAMS: memcpy(reply.data, &coarse_fb_channels, sizeof(coarse_fb_channels)); send_reply(&reply, 2+sizeof(coarse_fb_channels)); break; case CMD_SET_COARSE_FB_PARAMS: memcpy(coarse_fb_channels, cmd->set_coarse_fb_params, sizeof(coarse_fb_channels)); send_ack(); break; default: send_nack(); return; } }