void initADCDMA (void)
{
// Configure Oscillator to operate the device at 40Mhz
// Fosc= Fin*M/(N1*N2), Fcy=Fosc/2
// Fosc= 8M*40/(2*2)=80Mhz for 8M input clock
PLLFBD=38; // M=40
CLKDIVbits.PLLPOST=0; // N1=2
CLKDIVbits.PLLPRE=0; // N2=2
OSCTUN=0; // Tune FRC oscillator, if FRC is used
// Disable Watch Dog Timer
RCONbits.SWDTEN=0;
// clock switching to incorporate PLL
__builtin_write_OSCCONH(0x03); // Initiate Clock Switch to Primary Oscillator with PLL (NOSC=0b011)
__builtin_write_OSCCONL(OSCCON || 0x01); // Start clock switching
while (OSCCONbits.COSC != 0x03); // Wait for Clock switch to occur
while(OSCCONbits.LOCK!=1) {}; // Wait for PLL to lock
// Peripheral Initialisation
initDma0(); // Initialise the DMA controller to buffer ADC data in conversion order
initAdc1(); // Initialize the A/D converter to convert Channel 5 //Loop Endlessly - Execution is interrupt driven
//from this point on.
}
void adc_open_v1q()
{
NUM_CHS2SCAN = 4;
TRISBbits.TRISB3 = 1; // OPTIONAL
TRISBbits.TRISB8 = 1; // input
TRISBbits.TRISB9 = 1; // input
TRISAbits.TRISA7 = 1; // input
AD1CON1bits.FORM = 0b10; // Data Output Format: Fractional
AD1CON1bits.SSRC = 0b111; // Sample Clock Source: internal timer (auto-convert)
AD1CON1bits.ASAM = 1; // ADC Sample Control: Sampling begins immediately after conversion
AD1CON1bits.AD12B = 0; // 12-bit ADC operation
AD1CON2bits.CSCNA = 1; // Scan Input Selections for CH0+ during Sample A bit
AD1CON2bits.CHPS = 0; // Converts CH0
AD1CON2bits.VCFG = 0b000; // use AVDD and AGND
AD1CON3bits.ADRC = 0; // ADC Clock is derived from Systems Clock (0; 1=internal clock)
AD1CON3bits.ADCS = 63; // ADC Conversion Clock Tad=Tcy*(ADCS+1)= (1/40M)*64 = 1.6us (625Khz)
// ADC Conversion Time for 10-bit Tc=12*Tab = 19.2us
AD1CON3bits.SAMC = 31; // auto sample time bits
/*
Conversion time = sample + conversion
= 31*tad + 14*tad (12-bit)
Conversion time * 7 * 8 = 0.0007s
*/
AD1CON1bits.ADDMABM = 0; // DMA buffers are built in scatter/gather mode
AD1CON2bits.SMPI = (NUM_CHS2SCAN-1); // 4 ADC Channel is scanned
AD1CON4bits.DMABL = 3; // Each buffer contains 8 words
//AD1CSSH/AD1CSSL: A/D Input Scan Selection Register
AD1CSSH = 0x0000;
AD1CSSL = 0x0000;
AD1CSSLbits.CSS3 = 1; // Enable AN0 for channel scan
AD1CSSLbits.CSS8 = 1;
AD1CSSLbits.CSS9 = 1;
AD1CSSHbits.CSS23 = 1; // RA7
//AD1PCFGH/AD1PCFGL: Port Configuration Register
AD1PCFGL=0xFFFF;
AD1PCFGH=0xFFFF;
AD1PCFGLbits.PCFG3 = 0; // AN0 as Analog Input
AD1PCFGLbits.PCFG8 = 0;
AD1PCFGLbits.PCFG9 = 0;
AD1PCFGHbits.PCFG23 = 0;
IFS0bits.AD1IF = 0; // Clear the A/D interrupt flag bit
IEC0bits.AD1IE = 0; // Do Not Enable A/D interrupt
initDma0();
adc_start();
}
void initAdc1(void)
{
AD1CON1bits.FORM = 0; // Data Output Format: Integer
AD1CON1bits.SSRC = 2; // Sample Clock Source: GP Timer starts conversion
AD1CON1bits.ASAM = 1; // ADC Sample Control: Sampling begins immediately after conversion
AD1CON1bits.AD12B = 0; // 10-bit ADC operation
AD1CON1bits.SIMSAM = 1; // Simultaneous Sampling
AD1CON1bits.ADDMABM = 0; // DMA buffers are built in scatter/gather mode
AD1CON2bits.CSCNA = 0; // Do not scan inputs
AD1CON2bits.CHPS = 2; // Converts CH0, CH1, CH2, and CH3
AD1CON2bits.SMPI = (NUM_CHS2SCAN-1); // 4 ADC Channels are scanned
AD1CON3bits.ADRC = 0; // ADC Clock is derived from Systems Clock
AD1CON3bits.ADCS = 63; // ADC Conversion Clock Tad=Tcy*(ADCS+1)= (1/40M)*64 = 1.6us (625Khz)
// ADC Conversion Time for 10-bit Tc=12*Tab = 19.2us
AD1CON4bits.DMABL = 5; // 32 DMA buffer locations per analog input bits
AD1CHS123bits.CH123SA = 1; // CH1 positive input is AN3, CH2 positive input is AN4, CH3 positive input is AN5
AD1CHS123bits.CH123NA = 0; // CH1, CH2, CH3 negative input is VREFL
AD1CHS0bits.CH0SA = 6; // Channel 0 positive input is AN6
AD1CHS0bits.CH0NA = 0;
// AD1PCFGL: Port Configuration Register
AD1PCFGL=0xFFFF;
AD1PCFGLbits.PCFG4 = 0; // AN4 as analog input
AD1PCFGLbits.PCFG5 = 0; // AN5 as analog input
AD1PCFGLbits.PCFG6 = 0; // AN6 as analog input
TRISBbits.TRISB2 = 1; // Setting the direction of I/O pin B2 as input
TRISBbits.TRISB3 = 1; // Setting the direction of I/O pin B3 as input
TRISCbits.TRISC0 = 1; // Setting the direction of I/O pin C0 as input
IFS0bits.AD1IF = 0; // Clear the A/D interrupt flag bit
IEC0bits.AD1IE = 0; // Do Not Enable A/D interrupt
AD1CON1bits.ADON = 1; // Turn on the A/D converter
initTmr3(); // Initialize TMR3
initDma0(); // Initialize the DMA controller to buffer ADC data in conversion order
}
void adcSetup(void){
adcSetupPeripheral();
initDma0(); //DMA is needed to read multiple values from the ADC core
}
int main (void)
{
int dummy;
//int matrix; //only for test of ledmdrv
int i;
//int temp_current_val; //temporary
//int first_ec=1;
//Setup oscillator/ports/pins first
setup_oscillator();
setup_ports();
setup_peripheral_pin_select();
setup_interrupt_priorities();
#ifdef USE_DIO
setup_dio();
#endif
#ifdef USE_CONTROL
setup_control();
#endif
#ifdef USE_ADC_SPI
setup_adc_spi();
#endif
#ifdef USE_ADC
setup_adc();
initDma0(); // Initialise the DMA controller to buffer ADC data in conversion order
#endif
#ifdef USE_TIMER3
//setup_timer3();
#endif
#ifdef USE_UART
setup_uart();
#endif
ecat_isr_running = 0;
#ifdef USE_ETHERCAT
while (!eeprom_loaded()) //Wait until ESC is ready
//ToggleHeartbeatLED(); //Success
SetHeartbeatLED;
//#ifdef ECAT_DMA
cfgDma0SpiTx();
cfgDma1SpiRx();
//#endif
setup_ethercat();
ClrHeartbeatLED;
#endif
#if defined PWR_0_2 || defined PWR_0_3 || defined PWR_0_4 || defined PWR_0_5
ClrEnableMotor;
#endif
setup_interrupt_priorities();
dummy = U1RXREG;
while(1){
if (i++%20001==0)
{
//ToggleHeartbeatLED();
}
#if defined USE_ETHERCAT
if (!IEC0bits.DMA1IE)
{
DISABLE_AL_EVENT_INT;
step_ethercat();
ENABLE_AL_EVENT_INT;
}
#endif
}
}
