void RMBD01Init( void )
{
//
// Configure the ADC for Pitch and Roll
// sequence 3 means a single sample
// sequence 1, 2 means up to 4 samples
// sequence 0 means up to 8 samples
// we use sequence 1
//
if (SysCtlPeripheralPresent(SYSCTL_PERIPH_ADC0))
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
ADCSequenceConfigure(ADC0_BASE, 1, ADC_TRIGGER_TIMER, 0); // 1 captures up to 4 samples
//
// Select the external reference for greatest accuracy.
//
ADCReferenceSet(ADC0_BASE, ADC_REF_EXT_3V);
ADCSequenceStepConfigure(ADC0_BASE, 1, 0, ENCODER_CHANNEL_PITCH); // sample pitch
ADCSequenceStepConfigure(ADC0_BASE, 1, 1, ENCODER_CHANNEL_ROLL | ADC_CTL_IE | ADC_CTL_END); // sample roll
ADCIntRegister(ADC0_BASE,1,ADCIntHandler);
ADCSequenceEnable(ADC0_BASE, 1);
ADCIntEnable(ADC0_BASE, 1);
//
// Setup timer for ADC_TRIGGER_TIMER
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
//
// Configure the second timer to generate triggers to the ADC
//
TimerConfigure(TIMER1_BASE, TIMER_CFG_32_BIT_PER);
TimerLoadSet(TIMER1_BASE, TIMER_A, SysCtlClockGet() / 1000); // 2 ms
TimerControlStall(TIMER1_BASE, TIMER_A, true);
TimerControlTrigger(TIMER1_BASE, TIMER_A, true);
//
// Enable the timers.
//
TimerEnable(TIMER1_BASE, TIMER_A);
new_adc = false;
//
}
//
// Clear outstanding ADC interrupt and enable
//
ADCIntClear(ADC0_BASE, 1);
IntEnable(INT_ADC0);
} // InitADC
void initHW_ADC(){
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
//SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ADCReferenceSet(ADC0_BASE, ADC_REF_INT); //Set reference to the internal reference ,You can set it to 1V or 3 V
//ADCReferenceSet(ADC1_BASE, ADC_REF_INT);
GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_3); //Ain0
GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_2); //Ain1
GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_1); //Ain2
GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_0); //Ain3
GPIOPinTypeADC(GPIO_PORTD_BASE, GPIO_PIN_3); //Ain4
/// imposta il sequencer 0, che ha 8 letture
ADCSequenceConfigure(ADC0_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
//i sensori vengono numerati da quello davanti in senso antiorario
ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ADC_CTL_CH0);
/// PE.2
ADCSequenceStepConfigure(ADC0_BASE, 0, 1, ADC_CTL_CH1);
// PE.1
ADCSequenceStepConfigure(ADC0_BASE, 0, 2, ADC_CTL_CH2 );
//GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_0); //Ain3
// PE.0
ADCSequenceStepConfigure(ADC0_BASE, 0, 3, ADC_CTL_CH3 );
/// PD.3
ADCSequenceStepConfigure(ADC0_BASE, 0, 4, ADC_CTL_CH4 );
/// PD.2
ADCSequenceStepConfigure(ADC0_BASE, 0, 5, ADC_CTL_CH5 | ADC_CTL_IE | ADC_CTL_END);
/// abilita il sequencer 0
ADCSequenceEnable(ADC0_BASE, 0);
/// messaggio di benvenuto
PRINTF("Ciao: stai provando il converntitore AD!\n");
/// abilta l'interruzione del sequencer 0
ADCIntClear(ADC0_BASE, 0);
//
// Enable the ADC interrupt.
//
IntEnable(INT_ADC0SS0);
ADCIntEnable(ADC0_BASE, 0);
//
// Enable processor interrupts.
//
IntMasterEnable();
}
/**
* Configure the processor's A/D converter subsystem.
*/
static void adc_setup(void)
{
ADCHardwareOversampleConfigure(ADC0_BASE, ADC_SAC_AVG_OFF);
ADCReferenceSet(ADC0_BASE, ADC_REF_INT);
/*
* Create a sample sequence for our A/D (what inputs to sample).
*/
ADCSequenceConfigure(ADC0_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ADC_CTL_CH0);
ADCSequenceStepConfigure(ADC0_BASE, 0, 1, ADC_CTL_CH1);
ADCSequenceStepConfigure(ADC0_BASE, 0, 2, ADC_CTL_CH2);
ADCSequenceStepConfigure(ADC0_BASE, 0, 3, ADC_CTL_CH3);
/* The last conversion is the internal temperature sensor */
ADCSequenceStepConfigure(ADC0_BASE, 0, 4, ADC_CTL_TS |
ADC_CTL_IE | ADC_CTL_END);
}
