/* The initialize function configures the PLL to set the internal clock
* frequency. It also configures the digital IO and calls the initialization
* functions for each of the modules. A light sequence signals the end of
* initialization.
*/
void initialize(void){
/* Configure Phase Lock Loop for the system clock reference at 40MHz */
// Fosc (Clock frequency) is set at 80MHz
// Fin is 7.37 MHz from internal FRC oscillator
// FPLLI = Fin/N1 = 3.685 MHz
CLKDIVbits.PLLPRE = 0; // N1 = 2
// FVCO = FPLLI*M1 = 162.14MHz
PLLFBDbits.PLLDIV = 42; // M = 44
// FPLLO = FVCO/N2 = 81.07 MHz
// FOSC ~= 80MHz, FCY ~= 40MHz
CLKDIVbits.PLLPOST = 0; // N2 = 2
/* Initiate Clock Switch */
//The __builtin macro handles unlocking the OSCCON register
__builtin_write_OSCCONH(1); //New oscillator is FRC with PLL
__builtin_write_OSCCONL(OSCCON | 0x01); //Enable clock switch
while (OSCCONbits.COSC!= 1); //Wait for FRC with PLL to be clock source
while (OSCCONbits.LOCK!= 1); //Wait for PLL to lock
/* Configure IO*/
TRISDbits.TRISD10 = 1; //USER input
//LED outputs
ANSELBbits.ANSB13 = 0; //Disable Analog on B13
TRISBbits.TRISB13 = 0; //LED1
ANSELBbits.ANSB12 = 0; //Disable Analog on B12
TRISBbits.TRISB12 = 0; //LED2
TRISDbits.TRISD11 = 0; //LED3
TRISDbits.TRISD0 = 0; //LED4
//Magnet Control
TRISBbits.TRISB14 = 0; //Top Magnet
//Store bits indicating reason for reset
resetStat = RCON;
//Clear reset buffer so next reset reading is correct
RCON = 0;
/* Initialize peripherals*/
initialize_PWM();
initialize_CN();
initialize_ADC();
initialize_QEI();
initialize_UART();
initialize_UART2();
//initialize_I2C_Master();
lights();
__delay32(10000000);
//initialize_MPU();
initialize_encoder_values(1600,1700,1800);
}
int main(void)
{
uint32_t v_sense;
float tempinvolts, temperature;
int counter = 0;
HAL_StatusTypeDef rc;
KalmanState kstate = {0.01, 0.3, 0.0, 0.1, 0.0};
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize the ADC and GPIO and LCD display */
initialize_ADC();
initialize_GPIO();
initialize_LCD();
/* then call start */
if (HAL_ADC_Start(&ADC1_handle) != HAL_OK)
Error_Handler(ADC_INIT_FAIL);
while (1) {
if (SYSTICK_READ_TEMP_FLAG == 1) {
if ((rc = HAL_ADC_PollForConversion(&ADC1_handle, 10000)) != HAL_OK)
printf("Error: %d\n", rc);
v_sense = HAL_ADC_GetValue(&ADC1_handle); /* Read register from the ADC */
tempinvolts = v_sense * (V_REF / 4096); /* Scale the reading into V (resolution is 12bits with VREF+ = 3.3V) */
temperature = (tempinvolts - V_25) / AVG_SLOPE + TEMP_REF + FUDGE_FACTOR; /* Formula for temperature from doc_05 p.230 */
/* Grind through the Kalman filter */
if (Kalmanfilter_asm(&temperature, &filtered_temp, 1, &kstate) != 0)
printf("Overflow error\n");
unfiltered_temp = temperature;
// printf("%d %f\n", counter, filtered_temp);
/* Display only once out of this many times the 7-segment display */
if (counter % SEGMENT_DISPLAY_PERIOD == 0) {
displayed_segment_value = filtered_temp;
display_LCD_num(filtered_temp);
}
if (ALARM_TRIGGERED_FLAG == 1) {
/* Avoid spurious noise by waiting for a lower threshold before turning off alarm */
if (filtered_temp < LOWER_THRESHOLD_TEMP) {
ALARM_TRIGGERED_FLAG = 0;
turn_off_LEDs();
}
} else {
if (filtered_temp > THRESHOLD_TEMP)
ALARM_TRIGGERED_FLAG = 1;
}
if (ALARM_TRIGGERED_FLAG == 1) {
if (counter % ALARM_LED_TOGGLE_PERIOD == 0)
toggle_LEDs();
}
printf("%f, %f\n", unfiltered_temp, filtered_temp);
++counter;
SYSTICK_READ_TEMP_FLAG = 0; /* Reset the flag */
}
/* Systick_Handler triggers the flag once every 50ms */
if (SYSTICK_DISPLAY_SEGMENT_FLAG == 1) {
display_segment_val();
SYSTICK_DISPLAY_SEGMENT_FLAG = 0;
}
}
}
