void stepper_set_output_current(const uint16_t current) {
Pin pin = PIN_PWR_DAC;
const uint16_t new_current = BETWEEN(VREF_RES_MIN_CURRENT,
current,
VREF_MAX_CURRENT);
if(new_current < VREF_RES_MAX_CURRENT) {
pin.type = PIO_OUTPUT_0;
pin.attribute = PIO_DEFAULT;
PIO_Configure(&pin, 1);
DACC_SetConversionData(DACC, SCALE(new_current,
VREF_RES_MIN_CURRENT,
VREF_RES_MAX_CURRENT,
VOLTAGE_MIN_VALUE,
VOLTAGE_MAX_VALUE));
} else {
DACC_SetConversionData(DACC, SCALE(new_current,
VREF_MIN_CURRENT,
VREF_MAX_CURRENT,
VOLTAGE_MIN_VALUE,
VOLTAGE_MAX_VALUE));
pin.type = PIO_INPUT;;
pin.attribute = PIO_DEFAULT;
PIO_Configure(&pin, 1);
}
stepper_output_current = new_current;
}
void stepper_set_decay(const uint16_t decay) {
stepper_decay = decay;
DACC_SetConversionData(DACC, SCALE(decay,
0,
0xFFFF,
DECAY_MIN_VALUE,
DECAY_MAX_VALUE) |
(1 << 12));
}
/**
* \brief Interrupt handler for SysTick.
*
*/
void SysTick_Handler( void )
{
uint16_t value;
{
if ( 0 == ( ticker%enc.factor) ){
value = sine_data[index_sample++] * amplitude / (MAX_DIGITAL/2) \
+ MAX_DIGITAL/2 /*- MAX_DIGITAL/50*/ + BIAS_STEP*bias ;
DACC_SetConversionData(DACC, value ) ;
DACC->DACC_IER = DACC_IER_EOC;
}
ticker++;
}
}
/**
* \brief DAC initialization.
*/
void enc_init(void)
{
/* initialize amplitude and frequency */
amplitude = MAX_DIGITAL * 2 / 5;
frequency = HIJACK_CARRIER_FREQ_CONF;
/*10 us timer*/
SysTick_Config( BOARD_MCK / (frequency * SAMPLES) ) ;
//_ConfigureTc0( HIJACK_CARRIER_FREQ_8KHZ );
//TC_Start( TC0, 0 ) ;
/* Initialize DACC */
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,
8, /* refresh period */
0, /* Channel 0 selection */
0, /* Tag Selection Mode disabled */
16 /* value of the start up time */);
/* enable NVIC_DACC. */
NVIC_EnableIRQ( DACC_IRQn ) ;
NVIC_SetPriority(DACC_IRQn, 5);
/* variable initial. */
enc.data = 0;
enc.state = Waiting;
enc.cur = SET;
enc.factor = Div1;
enc.reverse = 0;
ticker = 0;
index_sample = 0;
/*Enable channel for potentiometer*/
DACC_EnableChannel( DACC, DACC_channel_sine ) ;
/*initialize the DACC_CDR*/
DACC_SetConversionData( DACC,sine_data[90]*amplitude/(MAX_DIGITAL/2)+MAX_DIGITAL/2);
DACC->DACC_IER = DACC_IER_EOC; //Enable DACC end-of-convertion interrupt
}