/**
* \brief Perform complete pin(s) configuration; general attributes and PIO init
* if necessary.
*
* \param p_pio Pointer to a PIO instance.
* \param ul_type PIO type.
* \param ul_mask Bitmask of one or more pin(s) to configure.
* \param ul_attribute Pins attributes.
*
* \return Whether the pin(s) have been configured properly.
*/
uint32_t pio_configure(Pio *p_pio, const pio_type_t ul_type,
const uint32_t ul_mask, const uint32_t ul_attribute)
{
/* Configure pins */
switch (ul_type) {
case PIO_PERIPH_A:
case PIO_PERIPH_B:
# if (SAM3S || SAM3N || SAM4S)
case PIO_PERIPH_C:
case PIO_PERIPH_D:
# endif
pio_set_peripheral(p_pio, ul_type, ul_mask);
pio_pull_up(p_pio, ul_mask, (ul_attribute & PIO_PULLUP));
break;
case PIO_INPUT:
pio_set_input(p_pio, ul_mask, ul_attribute);
break;
case PIO_OUTPUT_0:
case PIO_OUTPUT_1:
pio_set_output(p_pio, ul_mask, (ul_type == PIO_OUTPUT_1),
(ul_attribute & PIO_OPENDRAIN) ? 1 : 0,
(ul_attribute & PIO_PULLUP) ? 1 : 0);
break;
default:
return 0;
}
return 1;
}
/**
* \brief Perform a HW initialization to the PHY and set up clocks.
*
* This should be called only once to initialize the PHY pre-settings.
* The PHY address is the reset status of CRS, RXD[3:0] (the emacPins' pullups).
* The COL pin is used to select MII mode on reset (pulled up for Reduced MII).
* The RXDV pin is used to select test mode on reset (pulled up for test mode).
* The above pins should be predefined for corresponding settings in resetPins.
* The GMAC peripheral pins are configured after the reset is done.
*
* \param p_gmac Pointer to the GMAC instance.
* \param uc_phy_addr PHY address.
* \param ul_mck GMAC MCK.
*
* Return GMAC_OK if successfully, GMAC_TIMEOUT if timeout.
*/
uint8_t ethernet_phy_init(Gmac *p_gmac, uint8_t uc_phy_addr, uint32_t mck)
{
uint8_t uc_rc;
uint8_t uc_phy;
#if 0 // chrishamm
pio_set_output(PIN_GMAC_RESET_PIO, PIN_GMAC_RESET_MASK, 1, false, true);
pio_set_input(PIN_GMAC_INT_PIO, PIN_GMAC_INT_MASK, PIO_PULLUP);
pio_set_peripheral(PIN_GMAC_PIO, PIN_GMAC_PERIPH, PIN_GMAC_MASK);
#endif
ethernet_phy_reset(GMAC,uc_phy_addr);
/* Configure GMAC runtime clock */
uc_rc = gmac_set_mdc_clock(p_gmac, mck);
if (uc_rc != GMAC_OK) {
return 0;
}
/* Check PHY Address */
uc_phy = ethernet_phy_find_valid(p_gmac, uc_phy_addr, 0);
if (uc_phy == 0xFF) {
return 0;
}
if (uc_phy != uc_phy_addr) {
ethernet_phy_reset(p_gmac, uc_phy_addr);
}
return uc_rc;
}
/************************************************************************
Configuration of the Pulse Width Modulation (PWM).
************************************************************************/
void PWMInit(void){
pmc_enable_periph_clk(ID_PWM);
pwm_channel_disable(PWM, PWM_CHANNEL_3);
pwm_channel_disable(PWM, PWM_CHANNEL_2);
pwm_clock_t clock_setting = {
.ul_clka = 50 * 19999,
.ul_clkb = 0,
.ul_mck = sysclk_get_cpu_hz()
};
pwm_init(PWM, &clock_setting);
InitPIN40();
InitPIN38();
}
/************************************************************************
Initiation of digital pin 40 on the Arduino Due board for PWM.
************************************************************************/
void InitPIN40(void)
{
PWMPin40.channel = PWM_CHANNEL_3;
PWMPin40.ul_prescaler = PWM_CMR_CPRE_CLKA;
PWMPin40.ul_duty = 0;
PWMPin40.ul_period = 19999;
pwm_channel_init(PWM, &PWMPin40);
pio_set_peripheral(PIOC, PIO_PERIPH_B, PIO_PC8B_PWML3);
pwm_channel_enable(PWM, PWM_CHANNEL_3);
}
/************************************************************************
Initiation of digital pin 40 on the Arduino Due board for PWM.
************************************************************************/
void InitPIN38(void){
PWMPin38.channel = PWM_CHANNEL_2;
PWMPin38.ul_prescaler = PWM_CMR_CPRE_CLKA;
PWMPin38.ul_duty = 0;
PWMPin38.ul_period = 19999;
pwm_channel_init(PWM, &PWMPin38);
pio_set_peripheral(PIOC, PIO_PERIPH_B, PIO_PC6B_PWML2);
pwm_channel_enable(PWM, PWM_CHANNEL_2);
}
void sam_debug_early_init(void)
{
pmc_enable_periph_clk(ID_UART);
pmc_enable_periph_clk(ID_PIOA);
pio_set_peripheral(PIOA, PIO_PERIPH_A, PIO_PA8);
pio_set_peripheral(PIOA, PIO_PERIPH_A, PIO_PA9);
sam_uart_opt_t opt;
opt.ul_mck = 84000000;
opt.ul_baudrate = 115200;
opt.ul_mode = UART_MR_PAR_NO | UART_MR_CHMODE_NORMAL;
NVIC_DisableIRQ(UART_IRQn);
uart_init(UART, &opt);
uart_enable(UART);
}
/* Funktionen initierar PWM-signalen */
void pwm_setup(void)
{
pmc_enable_periph_clk(ID_PWM);
pwm_channel_disable(PWM, PWM_CHANNEL);
pwm_clock_t clock_setting = {
.ul_clka = PWM_FREQUENCY * PWM_PERIOD,
.ul_clkb = 0,
.ul_mck = SYS_CLOCK
};
pwm_init(PWM, &clock_setting);
pwm_channel_instance.alignment = PWM_ALIGN_LEFT;
pwm_channel_instance.polarity = PWM_LOW;
pwm_channel_instance.ul_prescaler = PWM_CMR_CPRE_CLKA;
pwm_channel_instance.ul_period = PWM_PERIOD;
pwm_channel_instance.ul_duty = PWM_INIT_DUTY_CYCLE;
pwm_channel_instance.channel = PWM_CHANNEL;
pwm_channel_init(PWM, &pwm_channel_instance);
pio_set_peripheral(PWM_PIO, PWM_PERIPHERAL, PWM_PIN);
pwm_channel_enable(PWM, PWM_CHANNEL);
}
/* Funktionen uppdaterar PWM-signalens duty-cycle */
void update_pwm(int ul_duty)
{
// Kontrollerar så att angiven duty-cycle befinner sig inom rätt område (0-1000).
if(ul_duty < PWM_MIN_DUTY_CYCLE)
{
pwm_channel_update_duty(PWM, &pwm_channel_instance, PWM_MIN_DUTY_CYCLE);
}
else if(ul_duty > PWM_MAX_DUTY_CYCLE)
{
pwm_channel_update_duty(PWM, &pwm_channel_instance, PWM_MAX_DUTY_CYCLE);
}
else
{
pwm_channel_update_duty(PWM, &pwm_channel_instance, ul_duty);
}
}
/* Funktionen initierar motor-shielden */
void motor_shield_setup(void)
{
ioport_set_pin_dir(PIO_PD8_IDX, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(PIO_PD8_IDX, IOPORT_PIN_LEVEL_HIGH);
ioport_set_pin_dir(PIO_PC21_IDX, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(PIO_PC21_IDX, IOPORT_PIN_LEVEL_LOW);
}
void twi_init ()
{
//Enable peripheral clock
AT91C_BASE_PMC->PMC_PCER = (1<<AT91C_ID_TWI);
//PIO PINS SETUP FOR SPI BUS
//setup PIO pins as peripheral
pio_set_peripheral(AT91C_PA3_TWD|AT91C_PA4_TWCK,0,FALSE);
//set opendrain
AT91C_BASE_PIOA->PIO_MDER=AT91C_PA3_TWD|AT91C_PA4_TWCK;
//* Disable interrupts
AT91C_BASE_TWI->TWI_IDR = (unsigned int) -1;
//* Reset peripheral
AT91C_BASE_TWI->TWI_CR = AT91C_TWI_SWRST;
twi_setclk(USPI_TWI_CLK_HZ);
}
void pwm_init()
{
// Enable PWMC peripheral clock
AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PWMC;
pPwm->PWMC_CH[0].PWMC_CMR=
#ifdef LOWFREQ
AT91C_PWMC_CPRE&0x4 | //MCK/16
#else
AT91C_PWMC_CPRE&0x3 | //MCK/8
#endif
AT91C_PWMC_CALG&0 | //left aligned
AT91C_PWMC_CPOL ; //starts from high
pPwm->PWMC_CH[0].PWMC_CPRDR=192;//clock multiplier
pPwm->PWMC_CH[0].PWMC_CDTYR=2;//duty cycle
//setup PIO pins as peripheral
pio_set_peripheral(AT91C_PA0_PWM0,0,TRUE);
//set outputs
AT91C_BASE_PIOA->PIO_OER=AT91C_PA0_PWM0;
}
/**
* \brief Application entry point for PWM PDC example.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
/* Initialize the SAM system */
sysclk_init();
board_init();
/* Configure the console uart for debug infomation */
configure_console();
/* Output example information */
puts(STRING_HEADER);
/* Enable PWM peripheral clock */
pmc_enable_periph_clk(ID_PWM);
/*A Disable PWM channels
- Register: PWM_DIS (PWM Disable)
- Kanal 0: Motor1_X
- Kanal 1: Motor1_Y
- Kanal 2: Motor1_Z
- Kanal 3: Referenzsignals
*/
pwm_channel_disable(PWM, PWM_CHANNEL_0);
pwm_channel_disable(PWM, PWM_CHANNEL_1);
pwm_channel_disable(PWM, PWM_CHANNEL_2);
pwm_channel_disable(PWM, PWM_CHANNEL_3);
/*A PWM-Leitungen (C.2 - C.9) im Prozessor vom
PIO-Controller trennen und auf peripheral Funktion B setzen */
for (int pinId = 2; pinId <= 9; pinId++) {
pio_set_peripheral(PIOC, PIO_TYPE_PIO_PERIPH_B, (1u << pinId));
}
/*A Clock einstellen
- Set PWM clock A for all channels, clock B not used
*/
pwm_clock_t clock_setting = {
.ul_clka = PWM_FREQUENCY * PERIOD_VALUE,
.ul_clkb = 0,
.ul_mck = sysclk_get_cpu_hz() // diese Funktion gibt 84 Mhz zurück!
};
pwm_init(PWM, &clock_setting);
/*A Kanäle 0,1,2 als synchron festlegen
*/
// zunächst die generellen Eigenschaften der synchronen Channels initialisieren
pwm_channel_t sync_channel = {
/* die Motor Kanäle sollen alle Center aligned sein */
.alignment = PWM_ALIGN_CENTER,
/* die Motor Kanäle sollen mit Low Polarität starten */
.polarity = PWM_LOW,
/* Alle Motor Kanäle sollen Clock A verwenden, da sie mit doppelter Basisfrequenz getaktet werden müssen wegen Center aligned */
.ul_prescaler = PWM_CMR_CPRE_CLKA,
/* Periode einstellen */
.ul_period = PERIOD_VALUE,
/* Duty cycle initial setzen */
.ul_duty = INIT_DUTY_VALUE,
/* der channel soll synchron sein */
.b_sync_ch = true,
.b_deadtime_generator = true,
.us_deadtime_pwmh = 1,
.us_deadtime_pwml = 1
};
/* als erstes dann den Channel 0 initialisieren, indem nur das Channel Attribut in der Struktur von oben neu gesetzt wird,
der REst bleibt gleich...
*/
sync_channel.channel = PWM_CHANNEL_0;
pwm_channel_init(PWM, &sync_channel);
// das gleiche dann mit den beiden anderen zu synchronisierenden Channels
sync_channel.channel = PWM_CHANNEL_1;
pwm_channel_init(PWM, &sync_channel);
sync_channel.channel = PWM_CHANNEL_2;
pwm_channel_init(PWM, &sync_channel);
/*
* Initialize PWM synchronous channels
* Synchronous Update Mode: Automatic update duty cycle value by the PDC
* and automatic update of synchronous channels. The update occurs when
* the Update Period elapses (MODE 2 --> Vorsicht vor Verwirrung: dies entspricht der "Methode 3" aus dem Datasheet!).
* Synchronous Update Period = MAX_SYNC_UPDATE_PERIOD.
*/
pwm_sync_init(PWM, PWM_SYNC_UPDATE_MODE_2, MAX_SYNC_UPDATE_PERIOD);
/*
* Request PDC transfer as soon as the synchronous update period elapses
*/
pwm_pdc_set_request_mode(PWM, PWM_PDC_UPDATE_PERIOD_ELAPSED, (1 << 0));
/* Aktiviere alle synchronen channel durch aktivieren von channel 0, channel 1 und 2 werden automatisch synchron mit gestartet
zusätzlich noch den Refernzchannel "synchron" mitstarten
die ASF funktion channel_enable erlaubt leider nur die Übergabe eines Kanals, also müssen wir hier wohl mit direktem Zugriff auf das Register arbeiten */
pwm_channel_enable(PWM, PWM_CHANNEL_0);
// ref channel funktioniert noch nicht, muss noch debugged werden pwm_channel_enable(PWM, PWM_CHANNEL_3);
pmc_enable_periph_clk(ID_PIOA);
pio_set_output(PIOA, PIO_PA23, LOW, DISABLE, ENABLE);
int angle = 0;
int up = 1;
float sinus = 0;
float a;
while (1) {
pio_set(PIOA, PIO_PA23);
for (int i = 0; i < 1000; i++)
{
sinus = sin(0.343543);
a = sinus;
}
pio_clear(PIOA, PIO_PA23);
delay_us(4);
/*display_menu();
uint32_t angle = get_num_value();
struct SV pwm = get_vector_for_angle(angle);
SVPWM(pwm.u, pwm.v, pwm.w);
printf("The angle is %i degrees.", angle);
for (int i = 0; i <= 360; i++) {
struct SV pwm = get_vector_for_angle(i);
SVPWM(pwm.u, pwm.v, pwm.w);
printf("%i Grad\r\n", i);
delay_ms(40);
}
for (int i = 360; i >= 0; i--) {
struct SV pwm = get_vector_for_angle(i);
SVPWM(pwm.u, pwm.v, pwm.w);
printf("%i Grad\r\n", i);
delay_ms(40);
}*/
}
}
