void encoder_init(void) {
PIO_Configure(&pin_encoder_a, 1);
PIO_Configure(&pin_encoder_b, 1);
// 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_ENCODER_TC0);
NVIC_EnableIRQ(TC0_IRQn);
tc_channel_init(&ENCODER_TC_CHANNEL,
TC_CMR_TCCLKS_TIMER_CLOCK4 | TC_CMR_CPCTRG);
// Interrupt in compare
tc_channel_interrupt_set(&ENCODER_TC_CHANNEL, TC_IER_CPCS);
ENCODER_COUNTER = 25;
}
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);
}
void imu_leds_on(const bool on) {
if(on) {
PMC->PMC_PCER0 = 1 << ID_PWM;
for(uint8_t i = 0; i < 4; i++) {
PWMC_ConfigureChannel(PWM, i, PWM_CMR_CPRE_MCK, 0, 0);
PWMC_SetPeriod(PWM, i, 0xFFFF);
PWMC_SetDutyCycle(PWM, i, 0);
PWMC_EnableChannel(PWM, i);
}
PMC->PMC_PCER0 = 1 << ID_TC0;
tc_channel_init(&TC0->TC_CHANNEL[0],
TC_CMR_WAVE |
TC_CMR_TCCLKS_TIMER_CLOCK1 |
TC_CMR_ACPA_CLEAR |
TC_CMR_ACPC_SET |
TC_CMR_WAVSEL_UP_RC);
TC0->TC_CHANNEL[0].TC_RA = 0;
TC0->TC_CHANNEL[0].TC_RC = 0xFFFF;
tc_channel_start(&TC0->TC_CHANNEL[0]);
PMC->PMC_PCER0 = 1 << ID_TC1;
tc_channel_init(&TC0->TC_CHANNEL[1],
TC_CMR_WAVE |
TC_CMR_TCCLKS_TIMER_CLOCK1 |
TC_CMR_ACPA_CLEAR |
TC_CMR_ACPC_SET |
TC_CMR_WAVSEL_UP_RC);
TC0->TC_CHANNEL[1].TC_RA = 0;
TC0->TC_CHANNEL[1].TC_RC = 0xFFFF;
tc_channel_start(&TC0->TC_CHANNEL[1]);
PMC->PMC_PCER0 = 1 << ID_TC2;
tc_channel_init(&TC0->TC_CHANNEL[2],
TC_CMR_WAVE |
TC_CMR_TCCLKS_TIMER_CLOCK1 |
TC_CMR_BCPB_CLEAR |
TC_CMR_BCPC_SET |
TC_CMR_EEVT_XC0 |
TC_CMR_WAVSEL_UP_RC);
TC0->TC_CHANNEL[2].TC_RB = 0;
TC0->TC_CHANNEL[2].TC_RC = 0xFFFF;
tc_channel_start(&TC0->TC_CHANNEL[2]);
PIO_Configure(pins_imu_led, PIO_LISTSIZE(pins_imu_led));
} else {
PMC->PMC_PCER0 &= ~(1 << ID_PWM);
PMC->PMC_PCER0 &= ~(1 << ID_TC0);
PMC->PMC_PCER0 &= ~(1 << ID_TC1);
PMC->PMC_PCER0 &= ~(1 << ID_TC2);
Pin pins[] = {PINS_IMU_LED};
for(uint8_t i = 0; i < PIO_LISTSIZE(pins); i++) {
pins[i].type = PIO_OUTPUT_1;
}
PIO_Configure(pins, PIO_LISTSIZE(pins));
}
imu_use_leds = on;
}
