Lee Thompson
UT CS Bootcamp code for creating a secret knock
Dependencies: MMA8451Q mbed tsi_sensor
Fork of
UTCSBootcamp
by 
Clare Coleman
Revision 6:4b101f051a1f, committed 2013-08-23
- Comitter:
- ccoleman
- Date:
- Fri Aug 23 00:43:43 2013 +0000
- Parent:
- 5:8dde418f0d1e
- Child:
- 7:2901515f14c2
- Commit message:
- Trivial abstraction
Changed in this revision
--- a/CarAPI.cpp Fri Aug 23 00:40:51 2013 +0000 +++ b/CarAPI.cpp Fri Aug 23 00:43:43 2013 +0000 @@ -1,5 +1,5 @@ #include "CarAPI.h" -#include "CarBaseAPI.h" +#include "Includes/CarBaseAPI.h" /******************************** Init and Finish ********************************/
--- a/CarBaseAPI.h Fri Aug 23 00:40:51 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,167 +0,0 @@
-#ifndef CAR_BASE_API_046o73i4277823
-#define CAR_BASE_API_046o73i4277823
-
-#include <stdarg.h>
-#include <MMA8451Q.h>
-#include "TFC.h"
-
-Ticker TFC_TickerObj;
-Serial pc(USBTX,USBRX);
-// AnalogIn pot (p15);
-
-#define NUM_TFC_TICKERS 4
-#define MMA8451_I2C_ADDRESS (0x1d<<1)
-// Define serial ports
-volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
-
-
-float turnOffset = 0.0;// the turn turnOffset
-float crashSensitivity = 0.5; // crash sensitivity
-float stopSensitivity = 0.2; // stop sensitivity
-bool debug = false;
-
-MMA8451Q accelerometer(PTE25,PTE24, MMA8451_I2C_ADDRESS);
-
-void TFC_TickerUpdate()
-{
- int i;
- for(i=0; i<NUM_TFC_TICKERS; i++)
- {
- if(TFC_Ticker[i]<0xFFFFFFFF)
- {
- TFC_Ticker[0]++;
- }
- }
-}
-
-void utrace(const char* msg, ...){
- char buffer[256];
- va_list args;
- va_start (args, msg);
- vsprintf (buffer,msg, args);
- va_end (args);
- pc.printf(buffer);
-}
-
-void flushSerialBuffer(void) { while (pc.readable()) { pc.getc(); } return; }
-
-void _blinkSequence(bool left){
- static float w = 0.125;
- if (left) {
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- TFC_BAT_LED0_TOGGLE;
- wait(w);
- TFC_BAT_LED0_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- TFC_BAT_LED1_TOGGLE;
- wait(w);
- TFC_BAT_LED1_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- TFC_BAT_LED2_TOGGLE;
- wait(w);
- TFC_BAT_LED2_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- TFC_BAT_LED3_TOGGLE;
- wait(w);
- TFC_BAT_LED3_TOGGLE;
- } else {
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- TFC_BAT_LED3_TOGGLE;
- wait(w);
- TFC_BAT_LED3_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- TFC_BAT_LED2_TOGGLE;
- wait(w);
- TFC_BAT_LED2_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- TFC_BAT_LED1_TOGGLE;
- wait(w);
- TFC_BAT_LED1_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- TFC_BAT_LED0_TOGGLE;
- wait(w);
- TFC_BAT_LED0_TOGGLE;
- }
-}
-
-void blinkSequence(){
- _blinkSequence(false);
- _blinkSequence(true);
-}
-
-void blinkSequence2(){
- float w = 0.125;
- TFC_BAT_LED0_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- wait(w);
- TFC_BAT_LED1_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- wait(w);
- TFC_BAT_LED2_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- wait(w);
- TFC_BAT_LED3_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- wait(w);
- TFC_BAT_LED3_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- wait(w);
- TFC_BAT_LED2_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- wait(w);
- TFC_BAT_LED1_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- wait(w);
- TFC_BAT_LED0_TOGGLE;
- if (TFC_PUSH_BUTTON_0_PRESSED) return;
- wait(w);
-}
-/* turn the car */
-void turn(float d, float turnAngle){
- if (turnAngle >0.7)
- turnAngle = 0.7;
- else if (turnAngle < -0.7)
- turnAngle = -0.7;
- if(debug) utrace("turn(%f)\r\n",turnAngle);
- TFC_SetServo(d,turnAngle + turnOffset);
-}
-
-void _initialize(){
- if(debug) utrace("initialize()\r\n");
- //TFC_TickerObj.attach_us(&TFC_TickerUpdate,1000); //Things go to heck if this is enabled
- TFC_Init();
-
- // Initialize Baud Rate for PC Console
- pc.baud(38400);
-
- //flash startup
- while(!TFC_PUSH_BUTTON_0_PRESSED){
- blinkSequence();
- }
- wait(0.75);
- //starts power to back motor - hear high frequency pitch
- TFC_HBRIDGE_ENABLE;
-}
-
-void _finish(){
- //parking brake
- //need to keep spinning wheel slightly or the car will come crashing down backwards the ramp b/c of gravity
- //slight spin is not enough to move the car (even on flat surface)
- //press button 0 to stop parking brake and turn off motor - goes into wait period w/ LED1 blinking
- while (!TFC_PUSH_BUTTON_0_PRESSED){
- /// sharon's parking break code
- TFC_SetMotorPWM(0.1,0.1); //slight spinning of wheel
- blinkSequence2();
- }
- turn(0,0);
-
- //reset to straight direction and stop spinning motor
- TFC_SetMotorPWM(0,0);
-
- //stops the power to back motor - stop hearing the high pitch frequency
- TFC_HBRIDGE_DISABLE;
- if(debug) utrace("finish()\r\n");
-}
-
-
-#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Includes/CarBaseAPI.h Fri Aug 23 00:43:43 2013 +0000
@@ -0,0 +1,167 @@
+#ifndef CAR_BASE_API_046o73i4277823
+#define CAR_BASE_API_046o73i4277823
+
+#include <stdarg.h>
+#include <MMA8451Q.h>
+#include "TFC.h"
+
+Ticker TFC_TickerObj;
+Serial pc(USBTX,USBRX);
+// AnalogIn pot (p15);
+
+#define NUM_TFC_TICKERS 4
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+// Define serial ports
+volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
+
+
+float turnOffset = 0.0;// the turn turnOffset
+float crashSensitivity = 0.5; // crash sensitivity
+float stopSensitivity = 0.2; // stop sensitivity
+bool debug = false;
+
+MMA8451Q accelerometer(PTE25,PTE24, MMA8451_I2C_ADDRESS);
+
+void TFC_TickerUpdate()
+{
+ int i;
+ for(i=0; i<NUM_TFC_TICKERS; i++)
+ {
+ if(TFC_Ticker[i]<0xFFFFFFFF)
+ {
+ TFC_Ticker[0]++;
+ }
+ }
+}
+
+void utrace(const char* msg, ...){
+ char buffer[256];
+ va_list args;
+ va_start (args, msg);
+ vsprintf (buffer,msg, args);
+ va_end (args);
+ pc.printf(buffer);
+}
+
+void flushSerialBuffer(void) { while (pc.readable()) { pc.getc(); } return; }
+
+void _blinkSequence(bool left){
+ static float w = 0.125;
+ if (left) {
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ TFC_BAT_LED0_TOGGLE;
+ wait(w);
+ TFC_BAT_LED0_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ TFC_BAT_LED1_TOGGLE;
+ wait(w);
+ TFC_BAT_LED1_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ TFC_BAT_LED2_TOGGLE;
+ wait(w);
+ TFC_BAT_LED2_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ TFC_BAT_LED3_TOGGLE;
+ wait(w);
+ TFC_BAT_LED3_TOGGLE;
+ } else {
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ TFC_BAT_LED3_TOGGLE;
+ wait(w);
+ TFC_BAT_LED3_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ TFC_BAT_LED2_TOGGLE;
+ wait(w);
+ TFC_BAT_LED2_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ TFC_BAT_LED1_TOGGLE;
+ wait(w);
+ TFC_BAT_LED1_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ TFC_BAT_LED0_TOGGLE;
+ wait(w);
+ TFC_BAT_LED0_TOGGLE;
+ }
+}
+
+void blinkSequence(){
+ _blinkSequence(false);
+ _blinkSequence(true);
+}
+
+void blinkSequence2(){
+ float w = 0.125;
+ TFC_BAT_LED0_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ wait(w);
+ TFC_BAT_LED1_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ wait(w);
+ TFC_BAT_LED2_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ wait(w);
+ TFC_BAT_LED3_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ wait(w);
+ TFC_BAT_LED3_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ wait(w);
+ TFC_BAT_LED2_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ wait(w);
+ TFC_BAT_LED1_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ wait(w);
+ TFC_BAT_LED0_TOGGLE;
+ if (TFC_PUSH_BUTTON_0_PRESSED) return;
+ wait(w);
+}
+/* turn the car */
+void turn(float d, float turnAngle){
+ if (turnAngle >0.7)
+ turnAngle = 0.7;
+ else if (turnAngle < -0.7)
+ turnAngle = -0.7;
+ if(debug) utrace("turn(%f)\r\n",turnAngle);
+ TFC_SetServo(d,turnAngle + turnOffset);
+}
+
+void _initialize(){
+ if(debug) utrace("initialize()\r\n");
+ //TFC_TickerObj.attach_us(&TFC_TickerUpdate,1000); //Things go to heck if this is enabled
+ TFC_Init();
+
+ // Initialize Baud Rate for PC Console
+ pc.baud(38400);
+
+ //flash startup
+ while(!TFC_PUSH_BUTTON_0_PRESSED){
+ blinkSequence();
+ }
+ wait(0.75);
+ //starts power to back motor - hear high frequency pitch
+ TFC_HBRIDGE_ENABLE;
+}
+
+void _finish(){
+ //parking brake
+ //need to keep spinning wheel slightly or the car will come crashing down backwards the ramp b/c of gravity
+ //slight spin is not enough to move the car (even on flat surface)
+ //press button 0 to stop parking brake and turn off motor - goes into wait period w/ LED1 blinking
+ while (!TFC_PUSH_BUTTON_0_PRESSED){
+ /// sharon's parking break code
+ TFC_SetMotorPWM(0.1,0.1); //slight spinning of wheel
+ blinkSequence2();
+ }
+ turn(0,0);
+
+ //reset to straight direction and stop spinning motor
+ TFC_SetMotorPWM(0,0);
+
+ //stops the power to back motor - stop hearing the high pitch frequency
+ TFC_HBRIDGE_DISABLE;
+ if(debug) utrace("finish()\r\n");
+}
+
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Includes/TFC.cpp Fri Aug 23 00:43:43 2013 +0000
@@ -0,0 +1,1026 @@
+#include "mbed.h"
+#include "TFC.h"
+
+#define FTM1_CLK_PRESCALE 6// Prescale Selector value - see comments in Status Control (SC) section for more details
+#define SERVO_DEFAULT_PERIOD (float)(.020) // Desired Frequency of PWM Signal - Here 50Hz => 20ms period
+// use these to dial in servo steering to your particular servo
+#define SERVO_MIN_PULSE_WIDTH_DEFAULT (float)(.0005) // The number here should be be *pulse width* in seconds to move servo to its left limit
+#define SERVO_MAX_PULSE_WIDTH_DEFAULT (float)(.002) // The number here should be be *pulse width* in seconds to move servo to its left limit
+
+
+#define FTM0_CLOCK (SystemCoreClock/2)
+#define FTM0_CLK_PRESCALE (0) // Prescale Selector value - see comments in Status Control (SC) section for more details
+#define FTM0_DEFAULT_SWITCHING_FREQUENCY (4000.0)
+
+#define ADC_MAX_CODE (255)
+
+#define TAOS_CLK_HIGH PTE->PSOR = (1<<1)
+#define TAOS_CLK_LOW PTE->PCOR = (1<<1)
+#define TAOS_SI_HIGH PTD->PSOR = (1<<7)
+#define TAOS_SI_LOW PTD->PCOR = (1<<7)
+
+#define ADC_STATE_INIT 0
+#define ADC_STATE_CAPTURE_POT_0 1
+#define ADC_STATE_CAPTURE_POT_1 2
+#define ADC_STATE_CAPTURE_BATTERY_LEVEL 3
+#define ADC_STATE_CAPTURE_LINE_SCAN 4
+
+
+#define TFC_POT_0_ADC_CHANNEL 13
+#define TFC_POT_1_ADC_CHANNEL 12
+#define TFC_BAT_SENSE_CHANNEL 4
+#define TFC_LINESCAN0_ADC_CHANNEL 6
+#define TFC_LINESCAN1_ADC_CHANNEL 7
+
+
+#define ADC0_irq_no 57
+#define ADC1_irq_no 58
+
+#define ADC0_CHANA 19 // set to desired ADC0 channel trigger A
+#define ADC0_CHANB 20 // set to desired ADC0 channel trigger B
+
+#define ADC1_CHANA 20 // set to desired ADC1 channel trigger A 20 defaults to potentiometer in TWRK60
+#define ADC1_CHANB 20 // set to desired ADC1 channel trigger B
+
+#define ADC0_DLYA 0x2000 // ADC0 trigger A delay
+#define ADC0_DLYB 0x4000 // ADC0 trigger B delay
+#define ADC1_DLYA 0x6000 // ADC1 trigger A delay
+#define ADC1_DLYB 0x7fff // ADC1 trigger B delay
+
+
+#define ADC0A_DONE 0x01
+#define ADC0B_DONE 0x02
+#define ADC1A_DONE 0x04
+#define ADC1B_DONE 0x08
+
+
+// Bit shifting of bitfiled is already taken into account so
+// bitfiled values are always represented as relative to their position.
+
+/************************* #Defines ******************************************/
+
+#define A 0x0
+#define B 0x1
+
+/////// NOTE: the following defines relate to the ADC register definitions
+/////// and the content follows the reference manual, using the same symbols.
+
+
+//// ADCSC1 (register)
+
+// Conversion Complete (COCO) mask
+#define COCO_COMPLETE ADC_SC1_COCO_MASK
+#define COCO_NOT 0x00
+
+// ADC interrupts: enabled, or disabled.
+#define AIEN_ON ADC_SC1_AIEN_MASK
+#define AIEN_OFF 0x00
+
+// Differential or Single ended ADC input
+#define DIFF_SINGLE 0x00
+#define DIFF_DIFFERENTIAL ADC_SC1_DIFF_MASK
+
+//// ADCCFG1
+
+// Power setting of ADC
+#define ADLPC_LOW ADC_CFG1_ADLPC_MASK
+#define ADLPC_NORMAL 0x00
+
+// Clock divisor
+#define ADIV_1 0x00
+#define ADIV_2 0x01
+#define ADIV_4 0x02
+#define ADIV_8 0x03
+
+// Long samle time, or Short sample time
+#define ADLSMP_LONG ADC_CFG1_ADLSMP_MASK
+#define ADLSMP_SHORT 0x00
+
+// How many bits for the conversion? 8, 12, 10, or 16 (single ended).
+#define MODE_8 0x00
+#define MODE_12 0x01
+#define MODE_10 0x02
+#define MODE_16 0x03
+
+
+
+// ADC Input Clock Source choice? Bus clock, Bus clock/2, "altclk", or the
+// ADC's own asynchronous clock for less noise
+#define ADICLK_BUS 0x00
+#define ADICLK_BUS_2 0x01
+#define ADICLK_ALTCLK 0x02
+#define ADICLK_ADACK 0x03
+
+//// ADCCFG2
+
+// Select between B or A channels
+#define MUXSEL_ADCB ADC_CFG2_MUXSEL_MASK
+#define MUXSEL_ADCA 0x00
+
+// Ansync clock output enable: enable, or disable the output of it
+#define ADACKEN_ENABLED ADC_CFG2_ADACKEN_MASK
+#define ADACKEN_DISABLED 0x00
+
+// High speed or low speed conversion mode
+#define ADHSC_HISPEED ADC_CFG2_ADHSC_MASK
+#define ADHSC_NORMAL 0x00
+
+// Long Sample Time selector: 20, 12, 6, or 2 extra clocks for a longer sample time
+#define ADLSTS_20 0x00
+#define ADLSTS_12 0x01
+#define ADLSTS_6 0x02
+#define ADLSTS_2 0x03
+
+////ADCSC2
+
+// Read-only status bit indicating conversion status
+#define ADACT_ACTIVE ADC_SC2_ADACT_MASK
+#define ADACT_INACTIVE 0x00
+
+// Trigger for starting conversion: Hardware trigger, or software trigger.
+// For using PDB, the Hardware trigger option is selected.
+#define ADTRG_HW ADC_SC2_ADTRG_MASK
+#define ADTRG_SW 0x00
+
+// ADC Compare Function Enable: Disabled, or Enabled.
+#define ACFE_DISABLED 0x00
+#define ACFE_ENABLED ADC_SC2_ACFE_MASK
+
+// Compare Function Greater Than Enable: Greater, or Less.
+#define ACFGT_GREATER ADC_SC2_ACFGT_MASK
+#define ACFGT_LESS 0x00
+
+// Compare Function Range Enable: Enabled or Disabled.
+#define ACREN_ENABLED ADC_SC2_ACREN_MASK
+#define ACREN_DISABLED 0x00
+
+// DMA enable: enabled or disabled.
+#define DMAEN_ENABLED ADC_SC2_DMAEN_MASK
+#define DMAEN_DISABLED 0x00
+
+// Voltage Reference selection for the ADC conversions
+// (***not*** the PGA which uses VREFO only).
+// VREFH and VREFL (0) , or VREFO (1).
+
+#define REFSEL_EXT 0x00
+#define REFSEL_ALT 0x01
+#define REFSEL_RES 0x02 /* reserved */
+#define REFSEL_RES_EXT 0x03 /* reserved but defaults to Vref */
+
+////ADCSC3
+
+// Calibration begin or off
+#define CAL_BEGIN ADC_SC3_CAL_MASK
+#define CAL_OFF 0x00
+
+// Status indicating Calibration failed, or normal success
+#define CALF_FAIL ADC_SC3_CALF_MASK
+#define CALF_NORMAL 0x00
+
+// ADC to continously convert, or do a sinle conversion
+#define ADCO_CONTINUOUS ADC_SC3_ADCO_MASK
+#define ADCO_SINGLE 0x00
+
+// Averaging enabled in the ADC, or not.
+#define AVGE_ENABLED ADC_SC3_AVGE_MASK
+#define AVGE_DISABLED 0x00
+
+// How many to average prior to "interrupting" the MCU? 4, 8, 16, or 32
+#define AVGS_4 0x00
+#define AVGS_8 0x01
+#define AVGS_16 0x02
+#define AVGS_32 0x03
+
+////PGA
+
+// PGA enabled or not?
+#define PGAEN_ENABLED ADC_PGA_PGAEN_MASK
+#define PGAEN_DISABLED 0x00
+
+// Chopper stabilization of the amplifier, or not.
+#define PGACHP_CHOP ADC_PGA_PGACHP_MASK
+#define PGACHP_NOCHOP 0x00
+
+// PGA in low power mode, or normal mode.
+#define PGALP_LOW ADC_PGA_PGALP_MASK
+#define PGALP_NORMAL 0x00
+
+// Gain of PGA. Selectable from 1 to 64.
+#define PGAG_1 0x00
+#define PGAG_2 0x01
+#define PGAG_4 0x02
+#define PGAG_8 0x03
+#define PGAG_16 0x04
+#define PGAG_32 0x05
+#define PGAG_64 0x06
+
+
+#define ADC_STATE_INIT 0
+#define ADC_STATE_CAPTURE_POT_0 1
+#define ADC_STATE_CAPTURE_POT_1 2
+#define ADC_STATE_CAPTURE_BATTERY_LEVEL 3
+#define ADC_STATE_CAPTURE_LINE_SCAN 4
+
+
+/////////// The above values fit into the structure below to select ADC/PGA
+/////////// configuration desired:
+
+typedef struct adc_cfg {
+ uint8_t CONFIG1;
+ uint8_t CONFIG2;
+ uint16_t COMPARE1;
+ uint16_t COMPARE2;
+ uint8_t STATUS2;
+ uint8_t STATUS3;
+ uint8_t STATUS1A;
+ uint8_t STATUS1B;
+ uint32_t PGA;
+} *tADC_ConfigPtr, tADC_Config ;
+
+
+#define CAL_BLK_NUMREC 18
+
+typedef struct adc_cal {
+
+ uint16_t OFS;
+ uint16_t PG;
+ uint16_t MG;
+ uint8_t CLPD;
+ uint8_t CLPS;
+ uint16_t CLP4;
+ uint16_t CLP3;
+ uint8_t CLP2;
+ uint8_t CLP1;
+ uint8_t CLP0;
+ uint8_t dummy;
+ uint8_t CLMD;
+ uint8_t CLMS;
+ uint16_t CLM4;
+ uint16_t CLM3;
+ uint8_t CLM2;
+ uint8_t CLM1;
+ uint8_t CLM0;
+} tADC_Cal_Blk ;
+
+typedef struct ADC_MemMap {
+ uint32_t SC1[2]; /**< ADC Status and Control Registers 1, array offset: 0x0, array step: 0x4 */
+ uint32_t CFG1; /**< ADC Configuration Register 1, offset: 0x8 */
+ uint32_t CFG2; /**< ADC Configuration Register 2, offset: 0xC */
+ uint32_t R[2]; /**< ADC Data Result Register, array offset: 0x10, array step: 0x4 */
+ uint32_t CV1; /**< Compare Value Registers, offset: 0x18 */
+ uint32_t CV2; /**< Compare Value Registers, offset: 0x1C */
+ uint32_t SC2; /**< Status and Control Register 2, offset: 0x20 */
+ uint32_t SC3; /**< Status and Control Register 3, offset: 0x24 */
+ uint32_t OFS; /**< ADC Offset Correction Register, offset: 0x28 */
+ uint32_t PG; /**< ADC Plus-Side Gain Register, offset: 0x2C */
+ uint32_t MG; /**< ADC Minus-Side Gain Register, offset: 0x30 */
+ uint32_t CLPD; /**< ADC Plus-Side General Calibration Value Register, offset: 0x34 */
+ uint32_t CLPS; /**< ADC Plus-Side General Calibration Value Register, offset: 0x38 */
+ uint32_t CLP4; /**< ADC Plus-Side General Calibration Value Register, offset: 0x3C */
+ uint32_t CLP3; /**< ADC Plus-Side General Calibration Value Register, offset: 0x40 */
+ uint32_t CLP2; /**< ADC Plus-Side General Calibration Value Register, offset: 0x44 */
+ uint32_t CLP1; /**< ADC Plus-Side General Calibration Value Register, offset: 0x48 */
+ uint32_t CLP0; /**< ADC Plus-Side General Calibration Value Register, offset: 0x4C */
+ uint8_t RESERVED_0[4];
+ uint32_t CLMD; /**< ADC Minus-Side General Calibration Value Register, offset: 0x54 */
+ uint32_t CLMS; /**< ADC Minus-Side General Calibration Value Register, offset: 0x58 */
+ uint32_t CLM4; /**< ADC Minus-Side General Calibration Value Register, offset: 0x5C */
+ uint32_t CLM3; /**< ADC Minus-Side General Calibration Value Register, offset: 0x60 */
+ uint32_t CLM2; /**< ADC Minus-Side General Calibration Value Register, offset: 0x64 */
+ uint32_t CLM1; /**< ADC Minus-Side General Calibration Value Register, offset: 0x68 */
+ uint32_t CLM0; /**< ADC Minus-Side General Calibration Value Register, offset: 0x6C */
+} volatile *ADC_MemMapPtr;
+
+
+
+/* ADC - Register accessors */
+#define ADC_SC1_REG(base,index) ((base)->SC1[index])
+#define ADC_CFG1_REG(base) ((base)->CFG1)
+#define ADC_CFG2_REG(base) ((base)->CFG2)
+#define ADC_R_REG(base,index) ((base)->R[index])
+#define ADC_CV1_REG(base) ((base)->CV1)
+#define ADC_CV2_REG(base) ((base)->CV2)
+#define ADC_SC2_REG(base) ((base)->SC2)
+#define ADC_SC3_REG(base) ((base)->SC3)
+#define ADC_OFS_REG(base) ((base)->OFS)
+#define ADC_PG_REG(base) ((base)->PG)
+#define ADC_MG_REG(base) ((base)->MG)
+#define ADC_CLPD_REG(base) ((base)->CLPD)
+#define ADC_CLPS_REG(base) ((base)->CLPS)
+#define ADC_CLP4_REG(base) ((base)->CLP4)
+#define ADC_CLP3_REG(base) ((base)->CLP3)
+#define ADC_CLP2_REG(base) ((base)->CLP2)
+#define ADC_CLP1_REG(base) ((base)->CLP1)
+#define ADC_CLP0_REG(base) ((base)->CLP0)
+#define ADC_CLMD_REG(base) ((base)->CLMD)
+#define ADC_CLMS_REG(base) ((base)->CLMS)
+#define ADC_CLM4_REG(base) ((base)->CLM4)
+#define ADC_CLM3_REG(base) ((base)->CLM3)
+#define ADC_CLM2_REG(base) ((base)->CLM2)
+#define ADC_CLM1_REG(base) ((base)->CLM1)
+#define ADC_CLM0_REG(base) ((base)->CLM0)
+
+#define ADC0_BASE_PTR ((ADC_MemMapPtr)0x4003B000u)
+/** Array initializer of ADC peripheral base pointers */
+#define ADC_BASE_PTRS { ADC0_BASE_PTR }
+
+
+float _ServoDutyCycleMin;
+float _ServoDutyCycleMax;
+float _ServoPeriod;
+
+volatile uint16_t QueuedServo0Val;
+volatile uint16_t QueuedServo1Val;
+
+volatile uint8_t TFC_LineScanDataReady;
+volatile uint8_t *LineScanImage0WorkingBuffer;
+volatile uint8_t *LineScanImage1WorkingBuffer;
+
+volatile uint8_t LineScanImage0Buffer[2][128];
+volatile uint8_t LineScanImage1Buffer[2][128];
+volatile uint8_t LineScanWorkingBuffer;
+
+volatile uint8_t PotADC_Value[2];
+volatile uint8_t BatSenseADC_Value;
+volatile uint8_t CurrentADC_State;
+volatile uint8_t CurrentLineScanPixel;
+volatile uint8_t CurrentLineScanChannel;
+volatile uint32_t TFC_ServoTicker;
+volatile uint8_t * TFC_LineScanCameraData[2];
+
+void TFC_SetServoDutyCycle(uint8_t ServoNumber, float DutyCycle);
+void TFC_InitLineScanCamera();
+uint8_t ADC_Cal(ADC_MemMapPtr adcmap);
+void ADC_Config_Alt(ADC_MemMapPtr adcmap, tADC_ConfigPtr ADC_CfgPtr);
+void ADC_Read_Cal(ADC_MemMapPtr adcmap, tADC_Cal_Blk *blk);
+void TFC_InitADC0();
+void TFC_InitADC_System();
+void TFC_GPIO_Init();
+void ADC0_Handler();
+void TPM1_Handler();
+
+
+void TFC_Init()
+{
+
+ TFC_GPIO_Init();
+
+ TFC_InitADC_System(); // Always call this before the Servo init function.... The IRQ for the Servo code modifies ADC registers and the clocks need enable to the ADC peripherals 1st!
+
+ TFC_InitLineScanCamera();
+
+ TFC_InitServos(SERVO_MIN_PULSE_WIDTH_DEFAULT , SERVO_MAX_PULSE_WIDTH_DEFAULT, SERVO_DEFAULT_PERIOD);
+
+ TFC_ServoTicker = 0;
+
+ TFC_InitMotorPWM(FTM0_DEFAULT_SWITCHING_FREQUENCY);
+
+}
+
+
+void TFC_GPIO_Init()
+{
+
+ //enable Clocks to all ports
+
+ SIM->SCGC5 |= SIM_SCGC5_PORTA_MASK | SIM_SCGC5_PORTB_MASK | SIM_SCGC5_PORTC_MASK | SIM_SCGC5_PORTD_MASK | SIM_SCGC5_PORTE_MASK;
+
+ //Setup Pins as GPIO
+ PORTE->PCR[21] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+ PORTE->PCR[20] = PORT_PCR_MUX(1);
+
+ //Port for Pushbuttons
+ PORTC->PCR[13] = PORT_PCR_MUX(1);
+ PORTC->PCR[17] = PORT_PCR_MUX(1);
+
+
+ //Ports for DIP Switches
+ PORTE->PCR[2] = PORT_PCR_MUX(1);
+ PORTE->PCR[3] = PORT_PCR_MUX(1);
+ PORTE->PCR[4] = PORT_PCR_MUX(1);
+ PORTE->PCR[5] = PORT_PCR_MUX(1);
+
+ //Ports for LEDs
+ PORTB->PCR[8] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+ PORTB->PCR[9] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+ PORTB->PCR[10] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+ PORTB->PCR[11] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
+
+
+ //Setup the output pins
+ PTE->PDDR = TFC_HBRIDGE_EN_LOC;
+ PTB->PDDR = TFC_BAT_LED0_LOC | TFC_BAT_LED1_LOC | TFC_BAT_LED2_LOC | TFC_BAT_LED3_LOC;
+
+ TFC_SetBatteryLED(0);
+ TFC_HBRIDGE_DISABLE;
+}
+
+void TFC_SetBatteryLED(uint8_t Value)
+{
+ if(Value & 0x01)
+ TFC_BAT_LED0_ON;
+ else
+ TFC_BAT_LED0_OFF;
+
+ if(Value & 0x02)
+ TFC_BAT_LED1_ON;
+ else
+ TFC_BAT_LED1_OFF;
+
+ if(Value & 0x04)
+ TFC_BAT_LED2_ON;
+ else
+ TFC_BAT_LED2_OFF;
+
+ if(Value & 0x08)
+ TFC_BAT_LED3_ON;
+ else
+ TFC_BAT_LED3_OFF;
+}
+
+uint8_t TFC_GetDIP_Switch()
+{
+ uint8_t DIP_Val=0;
+
+ DIP_Val = (PTE->PDIR>>2) & 0xF;
+
+ return DIP_Val;
+}
+
+uint8_t TFC_ReadPushButton(uint8_t Index)
+{
+ if(Index == 0) {
+ return TFC_PUSH_BUTTON_0_PRESSED;
+ } else {
+ return TFC_PUSH_BUTTON_1_PRESSED;
+ }
+}
+
+extern "C" void TPM1_IRQHandler()
+{
+ //Clear the overflow mask if set. According to the reference manual, we clear by writing a logic one!
+ if(TPM1->SC & TPM_SC_TOF_MASK)
+ TPM1->SC |= TPM_SC_TOF_MASK;
+
+ //Dump the queued values to the timer channels
+ TPM1->CONTROLS[0].CnV = QueuedServo0Val;
+ TPM1->CONTROLS[1].CnV = QueuedServo1Val;
+
+
+ //Prime the next ADC capture cycle
+ TAOS_SI_HIGH;
+ //Prime the ADC pump and start capturing POT 0
+ CurrentADC_State = ADC_STATE_CAPTURE_POT_0;
+
+ ADC0->CFG2 &= ~ADC_CFG2_MUXSEL_MASK; //Select the A side of the mux
+ ADC0->SC1[0] = TFC_POT_0_ADC_CHANNEL | ADC_SC1_AIEN_MASK; //Start the State machine at POT0
+
+ //Flag that a new cervo cycle will start
+ if (TFC_ServoTicker < 0xffffffff)//if servo tick less than max value, count up...
+ TFC_ServoTicker++;
+
+}
+
+
+void TFC_InitServos(float PulseWidthMin, float PulseWidthMax, float ServoPeriod)
+{
+
+ _ServoPeriod = ServoPeriod;
+ _ServoDutyCycleMin = PulseWidthMin/ServoPeriod;
+ _ServoDutyCycleMax = PulseWidthMax/ServoPeriod;
+
+ //Clock Setup for the TPM requires a couple steps.
+ SIM->SCGC6 &= ~SIM_SCGC6_TPM1_MASK;
+ //1st, set the clock mux
+ //See Page 124 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
+ SIM->SOPT2 |= SIM_SOPT2_PLLFLLSEL_MASK;// We Want MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
+ SIM->SOPT2 &= ~(SIM_SOPT2_TPMSRC_MASK);
+ SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1);
+
+ //Enable the Clock to the FTM0 Module
+ //See Page 207 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
+ SIM->SCGC6 |= SIM_SCGC6_TPM1_MASK;
+
+ //The TPM Module has Clock. Now set up the peripheral
+
+ //Blow away the control registers to ensure that the counter is not running
+ TPM1->SC = 0;
+ TPM1->CONF = 0;
+
+ //While the counter is disabled we can setup the prescaler
+
+ TPM1->SC = TPM_SC_PS(FTM1_CLK_PRESCALE);
+ TPM1->SC |= TPM_SC_TOIE_MASK; //Enable Interrupts for the Timer Overflow
+
+ //Setup the mod register to get the correct PWM Period
+
+ TPM1->MOD = (SystemCoreClock/(1<<(FTM1_CLK_PRESCALE))) * _ServoPeriod;
+ //Setup Channels 0 and 1
+
+ TPM1->CONTROLS[0].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
+ TPM1->CONTROLS[1].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
+
+
+ //Set the Default duty cycle to servo neutral
+ TFC_SetServo(0, 0.0);
+ TFC_SetServo(1, 0.0);
+
+ //Enable the TPM COunter
+ TPM1->SC |= TPM_SC_CMOD(1);
+
+ //Enable TPM1 IRQ on the NVIC
+
+ //NVIC_SetVector(TPM1_IRQn,(uint32_t)TPM1_Handler);
+ NVIC_EnableIRQ(TPM1_IRQn);
+
+ //Enable the FTM functions on the the port
+
+ PORTB->PCR[0] = PORT_PCR_MUX(3);
+ PORTB->PCR[1] = PORT_PCR_MUX(3);
+
+}
+
+
+void TFC_SetServoDutyCycle(uint8_t ServoNumber, float DutyCycle)
+{
+ switch(ServoNumber) {
+ default:
+ case 0:
+
+ QueuedServo0Val = TPM1->MOD * DutyCycle;
+
+ break;
+
+ case 1:
+
+ QueuedServo1Val = TPM1->MOD * DutyCycle;
+
+ break;
+ }
+}
+
+void TFC_SetServo(uint8_t ServoNumber, float Position)
+{
+ TFC_SetServoDutyCycle(ServoNumber ,
+ ((Position + 1.0)/2) * ((_ServoDutyCycleMax - _ServoDutyCycleMin)+_ServoDutyCycleMin) );
+
+}
+
+//********************************************************************************************************
+//********************************************************************************************************
+//********************************************************************************************************
+// _____ _____ ______ _ _ _ _ _____ _______ _____ ____ _ _ _____
+// /\ | __ \ / ____| | ____| | | | \ | |/ ____|__ __|_ _/ __ \| \ | |/ ____|
+// / \ | | | | | | |__ | | | | \| | | | | | || | | | \| | (___
+// / /\ \ | | | | | | __| | | | | . ` | | | | | || | | | . ` |\___ \
+// / ____ \| |__| | |____ | | | |__| | |\ | |____ | | _| || |__| | |\ |____) |
+// /_/ \_\_____/ \_____| |_| \____/|_| \_|\_____| |_| |_____\____/|_| \_|_____/
+// ********************************************************************************************************
+// ********************************************************************************************************
+// ********************************************************************************************************
+
+
+
+
+
+uint8_t ADC_Cal(ADC_MemMapPtr adcmap)
+{
+
+ uint16_t cal_var;
+
+ ADC_SC2_REG(adcmap) &= ~ADC_SC2_ADTRG_MASK ; // Enable Software Conversion Trigger for Calibration Process - ADC0_SC2 = ADC0_SC2 | ADC_SC2_ADTRGW(0);
+ ADC_SC3_REG(adcmap) &= ( ~ADC_SC3_ADCO_MASK & ~ADC_SC3_AVGS_MASK ); // set single conversion, clear avgs bitfield for next writing
+ ADC_SC3_REG(adcmap) |= ( ADC_SC3_AVGE_MASK | ADC_SC3_AVGS(AVGS_32) ); // Turn averaging ON and set at max value ( 32 )
+
+
+ ADC_SC3_REG(adcmap) |= ADC_SC3_CAL_MASK ; // Start CAL
+ while ( (ADC_SC1_REG(adcmap,A) & ADC_SC1_COCO_MASK ) == COCO_NOT ); // Wait calibration end
+
+ if ((ADC_SC3_REG(adcmap)& ADC_SC3_CALF_MASK) == CALF_FAIL ) {
+ return(1); // Check for Calibration fail error and return
+ }
+ // Calculate plus-side calibration
+ cal_var = 0x00;
+
+ cal_var = ADC_CLP0_REG(adcmap);
+ cal_var += ADC_CLP1_REG(adcmap);
+ cal_var += ADC_CLP2_REG(adcmap);
+ cal_var += ADC_CLP3_REG(adcmap);
+ cal_var += ADC_CLP4_REG(adcmap);
+ cal_var += ADC_CLPS_REG(adcmap);
+
+ cal_var = cal_var/2;
+ cal_var |= 0x8000; // Set MSB
+
+ ADC_PG_REG(adcmap) = ADC_PG_PG(cal_var);
+
+
+ // Calculate minus-side calibration
+ cal_var = 0x00;
+
+ cal_var = ADC_CLM0_REG(adcmap);
+ cal_var += ADC_CLM1_REG(adcmap);
+ cal_var += ADC_CLM2_REG(adcmap);
+ cal_var += ADC_CLM3_REG(adcmap);
+ cal_var += ADC_CLM4_REG(adcmap);
+ cal_var += ADC_CLMS_REG(adcmap);
+
+ cal_var = cal_var/2;
+
+ cal_var |= 0x8000; // Set MSB
+
+ ADC_MG_REG(adcmap) = ADC_MG_MG(cal_var);
+
+ ADC_SC3_REG(adcmap) &= ~ADC_SC3_CAL_MASK ; /* Clear CAL bit */
+
+ return(0);
+}
+
+
+void ADC_Config_Alt(ADC_MemMapPtr adcmap, tADC_ConfigPtr ADC_CfgPtr)
+{
+ ADC_CFG1_REG(adcmap) = ADC_CfgPtr->CONFIG1;
+ ADC_CFG2_REG(adcmap) = ADC_CfgPtr->CONFIG2;
+ ADC_CV1_REG(adcmap) = ADC_CfgPtr->COMPARE1;
+ ADC_CV2_REG(adcmap) = ADC_CfgPtr->COMPARE2;
+ ADC_SC2_REG(adcmap) = ADC_CfgPtr->STATUS2;
+ ADC_SC3_REG(adcmap) = ADC_CfgPtr->STATUS3;
+//ADC_PGA_REG(adcmap) = ADC_CfgPtr->PGA;
+ ADC_SC1_REG(adcmap,A)= ADC_CfgPtr->STATUS1A;
+ ADC_SC1_REG(adcmap,B)= ADC_CfgPtr->STATUS1B;
+}
+
+
+void ADC_Read_Cal(ADC_MemMapPtr adcmap, tADC_Cal_Blk *blk)
+{
+ blk->OFS = ADC_OFS_REG(adcmap);
+ blk->PG = ADC_PG_REG(adcmap);
+ blk->MG = ADC_MG_REG(adcmap);
+ blk->CLPD = ADC_CLPD_REG(adcmap);
+ blk->CLPS = ADC_CLPS_REG(adcmap);
+ blk->CLP4 = ADC_CLP4_REG(adcmap);
+ blk->CLP3 = ADC_CLP3_REG(adcmap);
+ blk->CLP2 = ADC_CLP2_REG(adcmap);
+ blk->CLP1 = ADC_CLP1_REG(adcmap);
+ blk->CLP0 = ADC_CLP0_REG(adcmap);
+ blk->CLMD = ADC_CLMD_REG(adcmap);
+ blk->CLMS = ADC_CLMS_REG(adcmap);
+ blk->CLM4 = ADC_CLM4_REG(adcmap);
+ blk->CLM3 = ADC_CLM3_REG(adcmap);
+ blk->CLM2 = ADC_CLM2_REG(adcmap);
+ blk->CLM1 = ADC_CLM1_REG(adcmap);
+ blk->CLM0 = ADC_CLM0_REG(adcmap);
+
+}
+
+
+void TFC_InitADC0()
+{
+ tADC_Config Master_Adc0_Config;
+
+
+ SIM->SCGC6 |= (SIM_SCGC6_ADC0_MASK);
+
+ //Lets calibrate the ADC. 1st setup how the channel will be used.
+
+
+ Master_Adc0_Config.CONFIG1 = ADLPC_NORMAL //No low power mode
+ | ADC_CFG1_ADIV(ADIV_4) //divide input by 4
+ | ADLSMP_LONG //long sample time
+ | ADC_CFG1_MODE(MODE_8)//single ended 8-bit conversion
+ | ADC_CFG1_ADICLK(ADICLK_BUS);
+
+ Master_Adc0_Config.CONFIG2 = MUXSEL_ADCA // select the A side of the ADC channel.
+ | ADACKEN_DISABLED
+ | ADHSC_HISPEED
+ | ADC_CFG2_ADLSTS(ADLSTS_2);//Extra long sample Time (20 extra clocks)
+
+
+ Master_Adc0_Config.COMPARE1 = 00000; // Comparators don't matter for calibration
+ Master_Adc0_Config.COMPARE1 = 0xFFFF;
+
+ Master_Adc0_Config.STATUS2 = ADTRG_HW //hardware triggers for calibration
+ | ACFE_DISABLED //disable comparator
+ | ACFGT_GREATER
+ | ACREN_ENABLED
+ | DMAEN_DISABLED //Disable DMA
+ | ADC_SC2_REFSEL(REFSEL_EXT); //External Reference
+
+ Master_Adc0_Config.STATUS3 = CAL_OFF
+ | ADCO_SINGLE
+ | AVGE_ENABLED
+ | ADC_SC3_AVGS(AVGS_4);
+
+ Master_Adc0_Config.PGA = 0; // Disable the PGA
+
+
+ // Configure ADC as it will be used, but because ADC_SC1_ADCH is 31,
+ // the ADC will be inactive. Channel 31 is just disable function.
+ // There really is no channel 31.
+
+ Master_Adc0_Config.STATUS1A = AIEN_ON | DIFF_SINGLE | ADC_SC1_ADCH(31);
+
+
+ ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc0_Config); // config ADC
+
+ // Calibrate the ADC in the configuration in which it will be used:
+ ADC_Cal(ADC0_BASE_PTR); // do the calibration
+
+
+ Master_Adc0_Config.STATUS2 = ACFE_DISABLED //disable comparator
+ | ACFGT_GREATER
+ | ACREN_ENABLED
+ | DMAEN_DISABLED //Disable DMA
+ | ADC_SC2_REFSEL(REFSEL_EXT); //External Reference
+
+ Master_Adc0_Config.STATUS3 = CAL_OFF
+ | ADCO_SINGLE;
+
+
+
+ ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc0_Config);
+}
+
+
+void TFC_InitADC_System()
+{
+
+ TFC_InitADC0();
+
+
+ //All Adc processing of the Pots and linescan will be done in the ADC0 IRQ!
+ //A state machine will scan through the channels.
+ //This is done to automate the linescan capture on Channel 0 to ensure that timing is very even
+ CurrentADC_State = ADC_STATE_INIT;
+
+ //The pump will be primed with the TPM1 interrupt. upon timeout/interrupt it will set the SI signal high
+ //for the camera and then start the conversions for the pots.
+
+ // NVIC_SetVector(ADC0_IRQn,(uint32_t)ADC0_Handler);
+ NVIC_EnableIRQ(ADC0_IRQn);
+
+}
+
+extern "C" void ADC0_IRQHandler()
+{
+ uint8_t Junk;
+
+ switch(CurrentADC_State) {
+ default:
+ Junk = ADC0->R[0];
+ break;
+
+ case ADC_STATE_CAPTURE_POT_0:
+
+ PotADC_Value[0] = ADC0->R[0];
+ ADC0->CFG2 &= ~ADC_CFG2_MUXSEL_MASK; //Select the A side of the mux
+ ADC0->SC1[0] = TFC_POT_1_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
+ CurrentADC_State = ADC_STATE_CAPTURE_POT_1;
+
+ break;
+
+ case ADC_STATE_CAPTURE_POT_1:
+
+ PotADC_Value[1] = ADC0->R[0];
+ ADC0->CFG2 |= ADC_CFG2_MUXSEL_MASK; //Select the B side of the mux
+ ADC0->SC1[0] = TFC_BAT_SENSE_CHANNEL| ADC_SC1_AIEN_MASK;
+ CurrentADC_State = ADC_STATE_CAPTURE_BATTERY_LEVEL;
+
+ break;
+
+ case ADC_STATE_CAPTURE_BATTERY_LEVEL:
+
+ BatSenseADC_Value = ADC0->R[0];
+
+ //Now we will start the sequence for the Linescan camera
+
+ TAOS_CLK_HIGH;
+
+ for(Junk = 0; Junk<50; Junk++) {
+ }
+
+ TAOS_SI_LOW;
+
+
+ CurrentLineScanPixel = 0;
+ CurrentLineScanChannel = 0;
+ CurrentADC_State = ADC_STATE_CAPTURE_LINE_SCAN;
+ ADC0->CFG2 |= ADC_CFG2_MUXSEL_MASK; //Select the B side of the mux
+ ADC0->SC1[0] = TFC_LINESCAN0_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
+
+ break;
+
+ case ADC_STATE_CAPTURE_LINE_SCAN:
+
+ if(CurrentLineScanPixel<129) {
+ if(CurrentLineScanChannel == 0) {
+ LineScanImage0WorkingBuffer[CurrentLineScanPixel] = ADC0->R[0];
+ ADC0->SC1[0] = TFC_LINESCAN1_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
+ CurrentLineScanChannel = 1;
+
+ } else {
+ LineScanImage1WorkingBuffer[CurrentLineScanPixel] = ADC0->R[0];
+ ADC0->SC1[0] = TFC_LINESCAN0_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
+ CurrentLineScanChannel = 0;
+ CurrentLineScanPixel++;
+
+ TAOS_CLK_LOW;
+ for(Junk = 0; Junk<50; Junk++) {
+ }
+ TAOS_CLK_HIGH;
+
+ }
+
+ } else {
+ // done with the capture sequence. we can wait for the PIT0 IRQ to restart
+
+ TAOS_CLK_HIGH;
+
+ for(Junk = 0; Junk<50; Junk++) {
+ }
+
+ TAOS_CLK_LOW;
+ CurrentADC_State = ADC_STATE_INIT;
+
+ //swap the buffer
+
+ if(LineScanWorkingBuffer == 0) {
+ LineScanWorkingBuffer = 1;
+
+ LineScanImage0WorkingBuffer = &LineScanImage0Buffer[1][0];
+ LineScanImage1WorkingBuffer = &LineScanImage1Buffer[1][0];
+
+ TFC_LineScanCameraData[0] = &LineScanImage0Buffer[0][0];
+ TFC_LineScanCameraData[1] = &LineScanImage1Buffer[0][0];
+ } else {
+ LineScanWorkingBuffer = 0;
+ LineScanImage0WorkingBuffer = &LineScanImage0Buffer[0][0];
+ LineScanImage1WorkingBuffer = &LineScanImage1Buffer[0][0];
+
+ TFC_LineScanCameraData[0] = &LineScanImage0Buffer[1][0];
+ TFC_LineScanCameraData[1] = &LineScanImage1Buffer[1][0];
+ }
+
+ TFC_LineScanDataReady++;
+ }
+
+ break;
+ }
+
+}
+
+void TFC_InitLineScanCamera()
+{
+ SIM->SCGC5 |= SIM_SCGC5_PORTE_MASK | SIM_SCGC5_PORTD_MASK; //Make sure the clock is enabled for PORTE;
+ PORTE->PCR[1] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin for the CLOCK Signal
+ PORTD->PCR[7] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin for SI signal
+
+ PORTD->PCR[5] = PORT_PCR_MUX(0); //Make sure AO signal goes to an analog input
+ PORTD->PCR[6] = PORT_PCR_MUX(0); //Make sure AO signal goes to an analog input
+
+ //Make sure the Clock and SI pins are outputs
+ PTD->PDDR |= (1<<7);
+ PTE->PDDR |= (1<<1);
+
+ TAOS_CLK_LOW;
+ TAOS_SI_LOW;
+
+ LineScanWorkingBuffer = 0;
+
+ LineScanImage0WorkingBuffer = &LineScanImage0Buffer[LineScanWorkingBuffer][0];
+ LineScanImage1WorkingBuffer = &LineScanImage1Buffer[LineScanWorkingBuffer][0];
+
+ TFC_LineScanCameraData[0] = &LineScanImage0Buffer[1][0];
+ TFC_LineScanCameraData[1] = &LineScanImage1Buffer[1][0];
+}
+
+
+
+
+
+/** Initialized TPM0 to be used for generating PWM signals for the the dual drive motors. This method is called in the TFC constructor with a default value of 4000.0Hz
+*
+* @param SwitchingFrequency PWM Switching Frequency in floating point format. Pick something between 1000 and 9000. Maybe you can modulate it and make a tune.
+*/
+void TFC_InitMotorPWM(float SwitchingFrequency)
+{
+ //Clock Setup for the TPM requires a couple steps.
+
+
+ //1st, set the clock mux
+ //See Page 124 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
+ // SIM->SOPT2 |= SIM_SOPT2_PLLFLLSEL_MASK;// We Want MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
+ // SIM->SOPT2 &= ~(SIM_SOPT2_TPMSRC_MASK);
+ // SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1); //We want the MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
+
+
+ //Enable the Clock to the FTM0 Module
+ //See Page 207 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
+ SIM->SCGC6 |= SIM_SCGC6_TPM0_MASK;
+
+ //The TPM Module has Clock. Now set up the peripheral
+
+ //Blow away the control registers to ensure that the counter is not running
+ TPM0->SC = 0;
+ TPM0->CONF = 0;
+
+ //While the counter is disabled we can setup the prescaler
+
+ TPM0->SC = TPM_SC_PS(FTM0_CLK_PRESCALE);
+
+ //Setup the mod register to get the correct PWM Period
+
+ TPM0->MOD = (uint32_t)((float)(FTM0_CLOCK/(1<<FTM0_CLK_PRESCALE))/SwitchingFrequency);
+
+ //Setup Channels 0,1,2,3
+ TPM0->CONTROLS[0].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
+ TPM0->CONTROLS[1].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSA_MASK; // invert the second PWM signal for a complimentary output;
+ TPM0->CONTROLS[2].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
+ TPM0->CONTROLS[3].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSA_MASK; // invert the second PWM signal for a complimentary output;
+
+ //Enable the Counter
+
+ //Set the Default duty cycle to 50% duty cycle
+ TFC_SetMotorPWM(0.0,0.0);
+
+ //Enable the TPM COunter
+ TPM0->SC |= TPM_SC_CMOD(1);
+
+ //Enable the FTM functions on the the port
+ PORTC->PCR[1] = PORT_PCR_MUX(4);
+ PORTC->PCR[2] = PORT_PCR_MUX(4);
+ PORTC->PCR[3] = PORT_PCR_MUX(4);
+ PORTC->PCR[4] = PORT_PCR_MUX(4);
+
+}
+
+void TFC_SetMotorPWM(float MotorA , float MotorB)
+{
+ if(MotorA>1.0)
+ MotorA = 1.0;
+ else if(MotorA<-1.0)
+ MotorA = -1.0;
+
+ if(MotorB>1.0)
+ MotorB = 1.0;
+ else if(MotorB<-1.0)
+ MotorB = -1.0;
+
+ TPM0->CONTROLS[2].CnV = (uint16_t) ((float)TPM0->MOD * (float)((MotorA + 1.0)/2.0));
+ TPM0->CONTROLS[3].CnV = TPM0->CONTROLS[2].CnV;
+ TPM0->CONTROLS[0].CnV = (uint16_t) ((float)TPM0->MOD * (float)((MotorB + 1.0)/2.0));
+ TPM0->CONTROLS[1].CnV = TPM0->CONTROLS[0].CnV;
+
+}
+
+//Pot Reading is Scaled to return a value of -1.0 to 1.0
+float TFC_ReadPot(uint8_t Channel)
+{
+ if(Channel == 0)
+ return ((float)PotADC_Value[0]/-127.5)+1.0;
+ else
+ return ((float)PotADC_Value[1]/-127.5)+1.0;;
+}
+
+float TFC_ReadBatteryVoltage()
+{
+ return (((float)BatSenseADC_Value/(float)(ADC_MAX_CODE)) * 3.0);// * ((47000.0+10000.0)/10000.0);
+}
+
+extern volatile uint8_t TFC_LineScanCameraDataReady;
+
+Serial pc2(USBTX,USBRX);
+float init2()
+{
+ pc2.baud(38400);
+ return 0;
+}
+
+float getLine()
+{
+// if (TFC_LineScanCameraDataReady != 0)
+// return -1;
+ static int count = 0;
+// count++;
+ int channel = TFC_PUSH_BUTTON_0_PRESSED ? 1 : 0;
+ int flip = TFC_PUSH_BUTTON_1_PRESSED ? 1 : 0;
+// uint8_t* parray = TFC_LineScanCameraData(array);
+ for (int i=0; i<128; i++) {
+ uint8_t n = TFC_LineScanCameraData[0][i];
+ if (n==2)
+ pc2.printf(" ") ;
+ else
+ pc2.printf("%d",n) ;
+ }
+ pc2.printf("\r\n");
+ for (int i=0; i<128; i++) {
+ uint8_t n = TFC_LineScanCameraData[0][i];
+ if (n==2)
+ pc2.printf(" ") ;
+ else
+ pc2.printf("%d",n) ;
+ }
+ pc2.printf("\r\n");
+
+ return 0;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Includes/TFC.h Fri Aug 23 00:43:43 2013 +0000
@@ -0,0 +1,247 @@
+
+#include "mbed.h"
+
+/** @file test.h*/
+
+/**
+ * @defgroup FRDM-TFC_API FRDM-TFC_API
+ *
+ * @{
+ */
+
+
+/**
+
+@addtogroup FRDM-TFC_API
+
+@{
+
+Resources used by the TFC Library\n
+
+I/O:\n
+-------------------------------------------------------------------------------------------------\n
+
+ PTB0 (Servo Channel 0 - TPM1)\n
+ PTB1 (Servo Channel 1 - TPM1)\n
+\n
+ PTB8 (Battery LED0)\n
+ PTB9 (Battery LED1)\n
+ PTB10 (Battery LED2)\n
+ PTB11 (Battery LED3)\n
+\n
+ PTD7 (Camera SI)\n
+ PTE0 (Camera CLK)\n
+ PTD5 (Camera A0 - ADC_SE6b)\n
+ PTD6 (Camera A1 - ADC_SE7b)\n
+\n
+ PTE2 DIP Switch 0\n
+ PTE3 DIP Switch 1\n
+ PTE4 DIP Switch 2\n
+ PTE5 DIP Switch 3\n
+
+ PTC13 Pushbutton SW1\n
+ PTC17 Pushbutton SW2\n
+
+ PTC3 H-Bridge A - 1 FTM0_CH3\n
+ PTC4 H-Bridge A - 2 FTM0_CH4\n
+ PTC1 H-Bridge B - 1 FTM0_CH1\n
+ PTC2 H-Bridge B - 2 FTM0_CH2\n
+
+ PTE21 H-Bridge Enable\n
+ PTE20 H-Bridge Fault\n
+
+ PTE23 H-Bridge A - IFB\n
+ PTE22 H-Bridge B - IFB\n
+
+ }
+*/
+
+
+
+#ifndef _TFC_H
+#define _TFC_H
+
+#define TFC_HBRIDGE_EN_LOC (uint32_t)(1<<21)
+#define TFC_HBRIDGE_FAULT_LOC (uint32_t)(1<<20)
+
+#define TFC_HBRIDGE_ENABLE PTE->PSOR = TFC_HBRIDGE_EN_LOC
+#define TFC_HBRIDGE_DISABLE PTE->PCOR = TFC_HBRIDGE_EN_LOC
+
+#define TFC_DIP_SWITCH0_LOC ((uint32_t)(1<<2))
+#define TFC_DIP_SWITCH1_LOC ((uint32_t)(1<<3))
+#define TFC_DIP_SWITCH2_LOC ((uint32_t)(1<<4))
+#define TFC_DIP_SWITCH3_LOC ((uint32_t)(1<<5))
+
+#define TFC_PUSH_BUTT0N0_LOC ((uint32_t)(1<<13))
+#define TFC_PUSH_BUTT0N1_LOC ((uint32_t)(1<<17))
+
+#define TFC_BAT_LED0_LOC ((uint32_t)(1<<11))
+#define TFC_BAT_LED1_LOC ((uint32_t)(1<<10))
+#define TFC_BAT_LED2_LOC ((uint32_t)(1<<9))
+#define TFC_BAT_LED3_LOC ((uint32_t)(1<<8))
+
+#define TAOS_CLK_HIGH PTE->PSOR = (1<<1)
+#define TAOS_CLK_LOW PTE->PCOR = (1<<1)
+#define TAOS_SI_HIGH PTD->PSOR = (1<<7)
+#define TAOS_SI_LOW PTD->PCOR = (1<<7)
+
+
+/**
+
+@addtogroup FRDM-TFC_API
+@{
+*/
+
+/**Macro to turn on LED 0 in the battery indicator array*/
+#define TFC_BAT_LED0_ON PTB->PSOR = TFC_BAT_LED0_LOC
+/** Macro to turn on LED 1 in the battery indicator array*/
+#define TFC_BAT_LED1_ON PTB->PSOR = TFC_BAT_LED1_LOC
+/** Macro to turn on LED 2 in the battery indicator array*/
+#define TFC_BAT_LED2_ON PTB->PSOR = TFC_BAT_LED2_LOC
+/** Macro to turn on LED 3 in the battery indicator array*/
+#define TFC_BAT_LED3_ON PTB->PSOR = TFC_BAT_LED3_LOC
+
+
+/** Macro to turn off LED 0 in the battery indicator array*/
+#define TFC_BAT_LED0_OFF PTB->PCOR = TFC_BAT_LED0_LOC
+/** Macro to turn off LED 1 in the battery indicator array*/
+#define TFC_BAT_LED1_OFF PTB->PCOR = TFC_BAT_LED1_LOC
+/** Macro to turn off LED 2 in the battery indicator array*/
+#define TFC_BAT_LED2_OFF PTB->PCOR = TFC_BAT_LED2_LOC
+/** Macro to turn off LED 3 in the battery indicator array*/
+#define TFC_BAT_LED3_OFF PTB->PCOR = TFC_BAT_LED3_LOC
+
+
+/** Macro to toggle LED 0 in the battery indicator array*/
+#define TFC_BAT_LED0_TOGGLE PTB->PTOR = TFC_BAT_LED0_LOC
+/** Macro to toggle LED 1 in the battery indicator array*/
+#define TFC_BAT_LED1_TOGGLE PTB->PTOR = TFC_BAT_LED1_LOC
+/** Macro to toggle LED 2 in the battery indicator array*/
+#define TFC_BAT_LED2_TOGGLE PTB->PTOR = TFC_BAT_LED2_LOC
+/** Macro to toggle LED 3 in the battery indicator array*/
+#define TFC_BAT_LED3_TOGGLE PTB->PTOR = TFC_BAT_LED3_LOC
+
+
+/** Macro to read the state of the pushbutton SW1*/
+#define TFC_PUSH_BUTTON_0_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N0_LOC)>0)
+/** Macro to read the state of the pushbutton SW1*/
+#define TFC_PUSH_BUTTON_1_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N1_LOC)>0)
+
+/** Macro to read the state of switch 0 in the 4 position DIP switch*/
+#define TFC_DIP_SWITCH_0_ON ((TFC_GetDIP_Switch()&0x01)>0)
+
+/** Macro to read the state of switch 1 in the 4 position DIP switch*/
+#define TFC_DIP_SWITCH_1_ON ((TFC_GetDIP_Switch()&0x02)>0)
+
+/** Macro to read the state of switch 2 in the 4 position DIP switch*/
+#define TFC_DIP_SWITCH_2_ON ((TFC_GetDIP_Switch()&0x04)>0)
+
+/** Macro to read the state of switch 3 in the 4 position DIP switch*/
+#define TFC_DIP_SWITCH_3_ON ((TFC_GetDIP_Switch()&0x08)>0)
+
+
+/** Initialized the TFC API. Call before using any other API calls.
+*
+*/
+void TFC_Init();
+
+/** ServoTicker will increment once every servo cycle.
+* It can be used to synchronize events to the start of a servo cycle. ServoTicker is a volatile uint32_t and is updated in the TPM1 overlflow interrupt. This means you will see ServoTicker increment on the rising edge of the servo PWM signal
+*
+*/
+extern volatile uint32_t TFC_ServoTicker;
+
+
+/** Gets the state of the 4-positiomn DIP switch on the FRDM-TFC
+*
+* @returns The lower 4-bits of the return value map to the 4-bits of the DIP switch
+*/
+uint8_t TFC_GetDIP_Switch();
+
+
+/** Reads the state of the pushbuttons (SW1, SW2) on the FRDM-TFC
+* @param Index Selects the pushbutton (0 for SW1 and 1 for SW2)
+* @returns A non-zero value if the button is pushed
+*/
+uint8_t TFC_ReadPushButton(uint8_t Index);
+
+
+/** Controls the 4 battery level LEDs on the FRDM-TFC boards.
+*
+* @param Value The lower 4-bits of the parameter maps to the 4 LEDs.
+*/
+void TFC_SetBatteryLED(uint8_t Value);
+
+
+/** Sets the servo channels
+*
+* @param ServoNumber Which servo channel on the FRDM-TFC to use (0 or 1). 0 is the default channel for steering
+* @param Position Angle setting for servo in a normalized (-1.0 to 1.0) form. The range of the servo can be changed with the InitServos function.
+* This is called in the TFC constructor with some useful default values--> 20mSec period, 0.5mS min and 2.0mSec max. you may need to adjust these for your own particular setup.
+*/
+void TFC_SetServo(uint8_t ServoNumber, float Position);
+
+/** Initializes TPM for the servoes. It also sets the max and min ranges
+*
+* @param ServoPulseWidthMin Minimum pulse width (in seconds) for the servo. The value of -1.0 in SetServo is mapped to this pulse width. I.E. .001
+* @param ServoPulseWidthMax Maximum pulse width (in seconds) for the servo. The value of +1.0 in SetServo is mapped to this pulse width. I.E. .002
+* @param ServoPeriod Period of the servo pulses (in seconds). I.e. .020 for 20mSec
+*/
+
+void TFC_InitServos(float ServoPulseWidthMin, float ServoPulseWidthMax, float ServoPeriod);
+
+
+/** Initialized TPM0 to be used for generating PWM signals for the the dual drive motors. This method is called in the TFC constructor with a default value of 4000.0Hz
+*
+* @param SwitchingFrequency PWM Switching Frequency in floating point format. Pick something between 1000 and 9000. Maybe you can modulate it and make a tune.
+*/
+void TFC_InitMotorPWM(float SwitchingFrequency);
+
+/** Sets the PWM value for each motor.
+*
+* @param MotorA The PWM value for HBridgeA. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
+* @param MotorB The PWM value for HBridgeB. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
+*/
+void TFC_SetMotorPWM(float MotorA ,float MotorB);
+
+/** Reads the potentiometers
+*
+* @param Channel Selects which pot is read. I.e. 0 for POT0 or 1 for POT1
+* @returns Pot value from -1.0 to 1.0
+*/
+float TFC_ReadPot(uint8_t Channel);
+
+/** Gets the current battery voltage
+*
+* @returns Battery voltage in floating point form.
+*/
+float TFC_ReadBatteryVoltage();
+
+
+/** Pointer to two channels of line scan camera data. Each channel is 128 points of uint8_t's. Note that the underlying implementation is ping-pong buffer These pointers will point to the
+*inactive buffer.
+*
+*/
+
+extern volatile uint8_t * TFC_LineScanCameraData[2];
+
+/** This flag will increment when a new frame is ready. Check for a non zero value (and reset to zero!) when you want to read the camera(s)
+*
+*/
+
+extern volatile uint8_t TFC_LineScanCameraDataReady;
+
+float getLine();
+float init2();
+
+void TFC_GPIO_Init();
+
+void TFC_InitADC_System(); // Always call this before the Servo init function.... The IRQ for the Servo code modifies ADC registers and the clocks need enable to the ADC peripherals 1st!
+
+void TFC_InitLineScanCamera();
+
+
+/** @} */
+
+
+#endif
\ No newline at end of file
--- a/TFC.cpp Fri Aug 23 00:40:51 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1026 +0,0 @@
-#include "mbed.h"
-#include "TFC.h"
-
-#define FTM1_CLK_PRESCALE 6// Prescale Selector value - see comments in Status Control (SC) section for more details
-#define SERVO_DEFAULT_PERIOD (float)(.020) // Desired Frequency of PWM Signal - Here 50Hz => 20ms period
-// use these to dial in servo steering to your particular servo
-#define SERVO_MIN_PULSE_WIDTH_DEFAULT (float)(.0005) // The number here should be be *pulse width* in seconds to move servo to its left limit
-#define SERVO_MAX_PULSE_WIDTH_DEFAULT (float)(.002) // The number here should be be *pulse width* in seconds to move servo to its left limit
-
-
-#define FTM0_CLOCK (SystemCoreClock/2)
-#define FTM0_CLK_PRESCALE (0) // Prescale Selector value - see comments in Status Control (SC) section for more details
-#define FTM0_DEFAULT_SWITCHING_FREQUENCY (4000.0)
-
-#define ADC_MAX_CODE (255)
-
-#define TAOS_CLK_HIGH PTE->PSOR = (1<<1)
-#define TAOS_CLK_LOW PTE->PCOR = (1<<1)
-#define TAOS_SI_HIGH PTD->PSOR = (1<<7)
-#define TAOS_SI_LOW PTD->PCOR = (1<<7)
-
-#define ADC_STATE_INIT 0
-#define ADC_STATE_CAPTURE_POT_0 1
-#define ADC_STATE_CAPTURE_POT_1 2
-#define ADC_STATE_CAPTURE_BATTERY_LEVEL 3
-#define ADC_STATE_CAPTURE_LINE_SCAN 4
-
-
-#define TFC_POT_0_ADC_CHANNEL 13
-#define TFC_POT_1_ADC_CHANNEL 12
-#define TFC_BAT_SENSE_CHANNEL 4
-#define TFC_LINESCAN0_ADC_CHANNEL 6
-#define TFC_LINESCAN1_ADC_CHANNEL 7
-
-
-#define ADC0_irq_no 57
-#define ADC1_irq_no 58
-
-#define ADC0_CHANA 19 // set to desired ADC0 channel trigger A
-#define ADC0_CHANB 20 // set to desired ADC0 channel trigger B
-
-#define ADC1_CHANA 20 // set to desired ADC1 channel trigger A 20 defaults to potentiometer in TWRK60
-#define ADC1_CHANB 20 // set to desired ADC1 channel trigger B
-
-#define ADC0_DLYA 0x2000 // ADC0 trigger A delay
-#define ADC0_DLYB 0x4000 // ADC0 trigger B delay
-#define ADC1_DLYA 0x6000 // ADC1 trigger A delay
-#define ADC1_DLYB 0x7fff // ADC1 trigger B delay
-
-
-#define ADC0A_DONE 0x01
-#define ADC0B_DONE 0x02
-#define ADC1A_DONE 0x04
-#define ADC1B_DONE 0x08
-
-
-// Bit shifting of bitfiled is already taken into account so
-// bitfiled values are always represented as relative to their position.
-
-/************************* #Defines ******************************************/
-
-#define A 0x0
-#define B 0x1
-
-/////// NOTE: the following defines relate to the ADC register definitions
-/////// and the content follows the reference manual, using the same symbols.
-
-
-//// ADCSC1 (register)
-
-// Conversion Complete (COCO) mask
-#define COCO_COMPLETE ADC_SC1_COCO_MASK
-#define COCO_NOT 0x00
-
-// ADC interrupts: enabled, or disabled.
-#define AIEN_ON ADC_SC1_AIEN_MASK
-#define AIEN_OFF 0x00
-
-// Differential or Single ended ADC input
-#define DIFF_SINGLE 0x00
-#define DIFF_DIFFERENTIAL ADC_SC1_DIFF_MASK
-
-//// ADCCFG1
-
-// Power setting of ADC
-#define ADLPC_LOW ADC_CFG1_ADLPC_MASK
-#define ADLPC_NORMAL 0x00
-
-// Clock divisor
-#define ADIV_1 0x00
-#define ADIV_2 0x01
-#define ADIV_4 0x02
-#define ADIV_8 0x03
-
-// Long samle time, or Short sample time
-#define ADLSMP_LONG ADC_CFG1_ADLSMP_MASK
-#define ADLSMP_SHORT 0x00
-
-// How many bits for the conversion? 8, 12, 10, or 16 (single ended).
-#define MODE_8 0x00
-#define MODE_12 0x01
-#define MODE_10 0x02
-#define MODE_16 0x03
-
-
-
-// ADC Input Clock Source choice? Bus clock, Bus clock/2, "altclk", or the
-// ADC's own asynchronous clock for less noise
-#define ADICLK_BUS 0x00
-#define ADICLK_BUS_2 0x01
-#define ADICLK_ALTCLK 0x02
-#define ADICLK_ADACK 0x03
-
-//// ADCCFG2
-
-// Select between B or A channels
-#define MUXSEL_ADCB ADC_CFG2_MUXSEL_MASK
-#define MUXSEL_ADCA 0x00
-
-// Ansync clock output enable: enable, or disable the output of it
-#define ADACKEN_ENABLED ADC_CFG2_ADACKEN_MASK
-#define ADACKEN_DISABLED 0x00
-
-// High speed or low speed conversion mode
-#define ADHSC_HISPEED ADC_CFG2_ADHSC_MASK
-#define ADHSC_NORMAL 0x00
-
-// Long Sample Time selector: 20, 12, 6, or 2 extra clocks for a longer sample time
-#define ADLSTS_20 0x00
-#define ADLSTS_12 0x01
-#define ADLSTS_6 0x02
-#define ADLSTS_2 0x03
-
-////ADCSC2
-
-// Read-only status bit indicating conversion status
-#define ADACT_ACTIVE ADC_SC2_ADACT_MASK
-#define ADACT_INACTIVE 0x00
-
-// Trigger for starting conversion: Hardware trigger, or software trigger.
-// For using PDB, the Hardware trigger option is selected.
-#define ADTRG_HW ADC_SC2_ADTRG_MASK
-#define ADTRG_SW 0x00
-
-// ADC Compare Function Enable: Disabled, or Enabled.
-#define ACFE_DISABLED 0x00
-#define ACFE_ENABLED ADC_SC2_ACFE_MASK
-
-// Compare Function Greater Than Enable: Greater, or Less.
-#define ACFGT_GREATER ADC_SC2_ACFGT_MASK
-#define ACFGT_LESS 0x00
-
-// Compare Function Range Enable: Enabled or Disabled.
-#define ACREN_ENABLED ADC_SC2_ACREN_MASK
-#define ACREN_DISABLED 0x00
-
-// DMA enable: enabled or disabled.
-#define DMAEN_ENABLED ADC_SC2_DMAEN_MASK
-#define DMAEN_DISABLED 0x00
-
-// Voltage Reference selection for the ADC conversions
-// (***not*** the PGA which uses VREFO only).
-// VREFH and VREFL (0) , or VREFO (1).
-
-#define REFSEL_EXT 0x00
-#define REFSEL_ALT 0x01
-#define REFSEL_RES 0x02 /* reserved */
-#define REFSEL_RES_EXT 0x03 /* reserved but defaults to Vref */
-
-////ADCSC3
-
-// Calibration begin or off
-#define CAL_BEGIN ADC_SC3_CAL_MASK
-#define CAL_OFF 0x00
-
-// Status indicating Calibration failed, or normal success
-#define CALF_FAIL ADC_SC3_CALF_MASK
-#define CALF_NORMAL 0x00
-
-// ADC to continously convert, or do a sinle conversion
-#define ADCO_CONTINUOUS ADC_SC3_ADCO_MASK
-#define ADCO_SINGLE 0x00
-
-// Averaging enabled in the ADC, or not.
-#define AVGE_ENABLED ADC_SC3_AVGE_MASK
-#define AVGE_DISABLED 0x00
-
-// How many to average prior to "interrupting" the MCU? 4, 8, 16, or 32
-#define AVGS_4 0x00
-#define AVGS_8 0x01
-#define AVGS_16 0x02
-#define AVGS_32 0x03
-
-////PGA
-
-// PGA enabled or not?
-#define PGAEN_ENABLED ADC_PGA_PGAEN_MASK
-#define PGAEN_DISABLED 0x00
-
-// Chopper stabilization of the amplifier, or not.
-#define PGACHP_CHOP ADC_PGA_PGACHP_MASK
-#define PGACHP_NOCHOP 0x00
-
-// PGA in low power mode, or normal mode.
-#define PGALP_LOW ADC_PGA_PGALP_MASK
-#define PGALP_NORMAL 0x00
-
-// Gain of PGA. Selectable from 1 to 64.
-#define PGAG_1 0x00
-#define PGAG_2 0x01
-#define PGAG_4 0x02
-#define PGAG_8 0x03
-#define PGAG_16 0x04
-#define PGAG_32 0x05
-#define PGAG_64 0x06
-
-
-#define ADC_STATE_INIT 0
-#define ADC_STATE_CAPTURE_POT_0 1
-#define ADC_STATE_CAPTURE_POT_1 2
-#define ADC_STATE_CAPTURE_BATTERY_LEVEL 3
-#define ADC_STATE_CAPTURE_LINE_SCAN 4
-
-
-/////////// The above values fit into the structure below to select ADC/PGA
-/////////// configuration desired:
-
-typedef struct adc_cfg {
- uint8_t CONFIG1;
- uint8_t CONFIG2;
- uint16_t COMPARE1;
- uint16_t COMPARE2;
- uint8_t STATUS2;
- uint8_t STATUS3;
- uint8_t STATUS1A;
- uint8_t STATUS1B;
- uint32_t PGA;
-} *tADC_ConfigPtr, tADC_Config ;
-
-
-#define CAL_BLK_NUMREC 18
-
-typedef struct adc_cal {
-
- uint16_t OFS;
- uint16_t PG;
- uint16_t MG;
- uint8_t CLPD;
- uint8_t CLPS;
- uint16_t CLP4;
- uint16_t CLP3;
- uint8_t CLP2;
- uint8_t CLP1;
- uint8_t CLP0;
- uint8_t dummy;
- uint8_t CLMD;
- uint8_t CLMS;
- uint16_t CLM4;
- uint16_t CLM3;
- uint8_t CLM2;
- uint8_t CLM1;
- uint8_t CLM0;
-} tADC_Cal_Blk ;
-
-typedef struct ADC_MemMap {
- uint32_t SC1[2]; /**< ADC Status and Control Registers 1, array offset: 0x0, array step: 0x4 */
- uint32_t CFG1; /**< ADC Configuration Register 1, offset: 0x8 */
- uint32_t CFG2; /**< ADC Configuration Register 2, offset: 0xC */
- uint32_t R[2]; /**< ADC Data Result Register, array offset: 0x10, array step: 0x4 */
- uint32_t CV1; /**< Compare Value Registers, offset: 0x18 */
- uint32_t CV2; /**< Compare Value Registers, offset: 0x1C */
- uint32_t SC2; /**< Status and Control Register 2, offset: 0x20 */
- uint32_t SC3; /**< Status and Control Register 3, offset: 0x24 */
- uint32_t OFS; /**< ADC Offset Correction Register, offset: 0x28 */
- uint32_t PG; /**< ADC Plus-Side Gain Register, offset: 0x2C */
- uint32_t MG; /**< ADC Minus-Side Gain Register, offset: 0x30 */
- uint32_t CLPD; /**< ADC Plus-Side General Calibration Value Register, offset: 0x34 */
- uint32_t CLPS; /**< ADC Plus-Side General Calibration Value Register, offset: 0x38 */
- uint32_t CLP4; /**< ADC Plus-Side General Calibration Value Register, offset: 0x3C */
- uint32_t CLP3; /**< ADC Plus-Side General Calibration Value Register, offset: 0x40 */
- uint32_t CLP2; /**< ADC Plus-Side General Calibration Value Register, offset: 0x44 */
- uint32_t CLP1; /**< ADC Plus-Side General Calibration Value Register, offset: 0x48 */
- uint32_t CLP0; /**< ADC Plus-Side General Calibration Value Register, offset: 0x4C */
- uint8_t RESERVED_0[4];
- uint32_t CLMD; /**< ADC Minus-Side General Calibration Value Register, offset: 0x54 */
- uint32_t CLMS; /**< ADC Minus-Side General Calibration Value Register, offset: 0x58 */
- uint32_t CLM4; /**< ADC Minus-Side General Calibration Value Register, offset: 0x5C */
- uint32_t CLM3; /**< ADC Minus-Side General Calibration Value Register, offset: 0x60 */
- uint32_t CLM2; /**< ADC Minus-Side General Calibration Value Register, offset: 0x64 */
- uint32_t CLM1; /**< ADC Minus-Side General Calibration Value Register, offset: 0x68 */
- uint32_t CLM0; /**< ADC Minus-Side General Calibration Value Register, offset: 0x6C */
-} volatile *ADC_MemMapPtr;
-
-
-
-/* ADC - Register accessors */
-#define ADC_SC1_REG(base,index) ((base)->SC1[index])
-#define ADC_CFG1_REG(base) ((base)->CFG1)
-#define ADC_CFG2_REG(base) ((base)->CFG2)
-#define ADC_R_REG(base,index) ((base)->R[index])
-#define ADC_CV1_REG(base) ((base)->CV1)
-#define ADC_CV2_REG(base) ((base)->CV2)
-#define ADC_SC2_REG(base) ((base)->SC2)
-#define ADC_SC3_REG(base) ((base)->SC3)
-#define ADC_OFS_REG(base) ((base)->OFS)
-#define ADC_PG_REG(base) ((base)->PG)
-#define ADC_MG_REG(base) ((base)->MG)
-#define ADC_CLPD_REG(base) ((base)->CLPD)
-#define ADC_CLPS_REG(base) ((base)->CLPS)
-#define ADC_CLP4_REG(base) ((base)->CLP4)
-#define ADC_CLP3_REG(base) ((base)->CLP3)
-#define ADC_CLP2_REG(base) ((base)->CLP2)
-#define ADC_CLP1_REG(base) ((base)->CLP1)
-#define ADC_CLP0_REG(base) ((base)->CLP0)
-#define ADC_CLMD_REG(base) ((base)->CLMD)
-#define ADC_CLMS_REG(base) ((base)->CLMS)
-#define ADC_CLM4_REG(base) ((base)->CLM4)
-#define ADC_CLM3_REG(base) ((base)->CLM3)
-#define ADC_CLM2_REG(base) ((base)->CLM2)
-#define ADC_CLM1_REG(base) ((base)->CLM1)
-#define ADC_CLM0_REG(base) ((base)->CLM0)
-
-#define ADC0_BASE_PTR ((ADC_MemMapPtr)0x4003B000u)
-/** Array initializer of ADC peripheral base pointers */
-#define ADC_BASE_PTRS { ADC0_BASE_PTR }
-
-
-float _ServoDutyCycleMin;
-float _ServoDutyCycleMax;
-float _ServoPeriod;
-
-volatile uint16_t QueuedServo0Val;
-volatile uint16_t QueuedServo1Val;
-
-volatile uint8_t TFC_LineScanDataReady;
-volatile uint8_t *LineScanImage0WorkingBuffer;
-volatile uint8_t *LineScanImage1WorkingBuffer;
-
-volatile uint8_t LineScanImage0Buffer[2][128];
-volatile uint8_t LineScanImage1Buffer[2][128];
-volatile uint8_t LineScanWorkingBuffer;
-
-volatile uint8_t PotADC_Value[2];
-volatile uint8_t BatSenseADC_Value;
-volatile uint8_t CurrentADC_State;
-volatile uint8_t CurrentLineScanPixel;
-volatile uint8_t CurrentLineScanChannel;
-volatile uint32_t TFC_ServoTicker;
-volatile uint8_t * TFC_LineScanCameraData[2];
-
-void TFC_SetServoDutyCycle(uint8_t ServoNumber, float DutyCycle);
-void TFC_InitLineScanCamera();
-uint8_t ADC_Cal(ADC_MemMapPtr adcmap);
-void ADC_Config_Alt(ADC_MemMapPtr adcmap, tADC_ConfigPtr ADC_CfgPtr);
-void ADC_Read_Cal(ADC_MemMapPtr adcmap, tADC_Cal_Blk *blk);
-void TFC_InitADC0();
-void TFC_InitADC_System();
-void TFC_GPIO_Init();
-void ADC0_Handler();
-void TPM1_Handler();
-
-
-void TFC_Init()
-{
-
- TFC_GPIO_Init();
-
- TFC_InitADC_System(); // Always call this before the Servo init function.... The IRQ for the Servo code modifies ADC registers and the clocks need enable to the ADC peripherals 1st!
-
- TFC_InitLineScanCamera();
-
- TFC_InitServos(SERVO_MIN_PULSE_WIDTH_DEFAULT , SERVO_MAX_PULSE_WIDTH_DEFAULT, SERVO_DEFAULT_PERIOD);
-
- TFC_ServoTicker = 0;
-
- TFC_InitMotorPWM(FTM0_DEFAULT_SWITCHING_FREQUENCY);
-
-}
-
-
-void TFC_GPIO_Init()
-{
-
- //enable Clocks to all ports
-
- SIM->SCGC5 |= SIM_SCGC5_PORTA_MASK | SIM_SCGC5_PORTB_MASK | SIM_SCGC5_PORTC_MASK | SIM_SCGC5_PORTD_MASK | SIM_SCGC5_PORTE_MASK;
-
- //Setup Pins as GPIO
- PORTE->PCR[21] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
- PORTE->PCR[20] = PORT_PCR_MUX(1);
-
- //Port for Pushbuttons
- PORTC->PCR[13] = PORT_PCR_MUX(1);
- PORTC->PCR[17] = PORT_PCR_MUX(1);
-
-
- //Ports for DIP Switches
- PORTE->PCR[2] = PORT_PCR_MUX(1);
- PORTE->PCR[3] = PORT_PCR_MUX(1);
- PORTE->PCR[4] = PORT_PCR_MUX(1);
- PORTE->PCR[5] = PORT_PCR_MUX(1);
-
- //Ports for LEDs
- PORTB->PCR[8] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
- PORTB->PCR[9] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
- PORTB->PCR[10] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
- PORTB->PCR[11] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK;
-
-
- //Setup the output pins
- PTE->PDDR = TFC_HBRIDGE_EN_LOC;
- PTB->PDDR = TFC_BAT_LED0_LOC | TFC_BAT_LED1_LOC | TFC_BAT_LED2_LOC | TFC_BAT_LED3_LOC;
-
- TFC_SetBatteryLED(0);
- TFC_HBRIDGE_DISABLE;
-}
-
-void TFC_SetBatteryLED(uint8_t Value)
-{
- if(Value & 0x01)
- TFC_BAT_LED0_ON;
- else
- TFC_BAT_LED0_OFF;
-
- if(Value & 0x02)
- TFC_BAT_LED1_ON;
- else
- TFC_BAT_LED1_OFF;
-
- if(Value & 0x04)
- TFC_BAT_LED2_ON;
- else
- TFC_BAT_LED2_OFF;
-
- if(Value & 0x08)
- TFC_BAT_LED3_ON;
- else
- TFC_BAT_LED3_OFF;
-}
-
-uint8_t TFC_GetDIP_Switch()
-{
- uint8_t DIP_Val=0;
-
- DIP_Val = (PTE->PDIR>>2) & 0xF;
-
- return DIP_Val;
-}
-
-uint8_t TFC_ReadPushButton(uint8_t Index)
-{
- if(Index == 0) {
- return TFC_PUSH_BUTTON_0_PRESSED;
- } else {
- return TFC_PUSH_BUTTON_1_PRESSED;
- }
-}
-
-extern "C" void TPM1_IRQHandler()
-{
- //Clear the overflow mask if set. According to the reference manual, we clear by writing a logic one!
- if(TPM1->SC & TPM_SC_TOF_MASK)
- TPM1->SC |= TPM_SC_TOF_MASK;
-
- //Dump the queued values to the timer channels
- TPM1->CONTROLS[0].CnV = QueuedServo0Val;
- TPM1->CONTROLS[1].CnV = QueuedServo1Val;
-
-
- //Prime the next ADC capture cycle
- TAOS_SI_HIGH;
- //Prime the ADC pump and start capturing POT 0
- CurrentADC_State = ADC_STATE_CAPTURE_POT_0;
-
- ADC0->CFG2 &= ~ADC_CFG2_MUXSEL_MASK; //Select the A side of the mux
- ADC0->SC1[0] = TFC_POT_0_ADC_CHANNEL | ADC_SC1_AIEN_MASK; //Start the State machine at POT0
-
- //Flag that a new cervo cycle will start
- if (TFC_ServoTicker < 0xffffffff)//if servo tick less than max value, count up...
- TFC_ServoTicker++;
-
-}
-
-
-void TFC_InitServos(float PulseWidthMin, float PulseWidthMax, float ServoPeriod)
-{
-
- _ServoPeriod = ServoPeriod;
- _ServoDutyCycleMin = PulseWidthMin/ServoPeriod;
- _ServoDutyCycleMax = PulseWidthMax/ServoPeriod;
-
- //Clock Setup for the TPM requires a couple steps.
- SIM->SCGC6 &= ~SIM_SCGC6_TPM1_MASK;
- //1st, set the clock mux
- //See Page 124 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
- SIM->SOPT2 |= SIM_SOPT2_PLLFLLSEL_MASK;// We Want MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
- SIM->SOPT2 &= ~(SIM_SOPT2_TPMSRC_MASK);
- SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1);
-
- //Enable the Clock to the FTM0 Module
- //See Page 207 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
- SIM->SCGC6 |= SIM_SCGC6_TPM1_MASK;
-
- //The TPM Module has Clock. Now set up the peripheral
-
- //Blow away the control registers to ensure that the counter is not running
- TPM1->SC = 0;
- TPM1->CONF = 0;
-
- //While the counter is disabled we can setup the prescaler
-
- TPM1->SC = TPM_SC_PS(FTM1_CLK_PRESCALE);
- TPM1->SC |= TPM_SC_TOIE_MASK; //Enable Interrupts for the Timer Overflow
-
- //Setup the mod register to get the correct PWM Period
-
- TPM1->MOD = (SystemCoreClock/(1<<(FTM1_CLK_PRESCALE))) * _ServoPeriod;
- //Setup Channels 0 and 1
-
- TPM1->CONTROLS[0].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
- TPM1->CONTROLS[1].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
-
-
- //Set the Default duty cycle to servo neutral
- TFC_SetServo(0, 0.0);
- TFC_SetServo(1, 0.0);
-
- //Enable the TPM COunter
- TPM1->SC |= TPM_SC_CMOD(1);
-
- //Enable TPM1 IRQ on the NVIC
-
- //NVIC_SetVector(TPM1_IRQn,(uint32_t)TPM1_Handler);
- NVIC_EnableIRQ(TPM1_IRQn);
-
- //Enable the FTM functions on the the port
-
- PORTB->PCR[0] = PORT_PCR_MUX(3);
- PORTB->PCR[1] = PORT_PCR_MUX(3);
-
-}
-
-
-void TFC_SetServoDutyCycle(uint8_t ServoNumber, float DutyCycle)
-{
- switch(ServoNumber) {
- default:
- case 0:
-
- QueuedServo0Val = TPM1->MOD * DutyCycle;
-
- break;
-
- case 1:
-
- QueuedServo1Val = TPM1->MOD * DutyCycle;
-
- break;
- }
-}
-
-void TFC_SetServo(uint8_t ServoNumber, float Position)
-{
- TFC_SetServoDutyCycle(ServoNumber ,
- ((Position + 1.0)/2) * ((_ServoDutyCycleMax - _ServoDutyCycleMin)+_ServoDutyCycleMin) );
-
-}
-
-//********************************************************************************************************
-//********************************************************************************************************
-//********************************************************************************************************
-// _____ _____ ______ _ _ _ _ _____ _______ _____ ____ _ _ _____
-// /\ | __ \ / ____| | ____| | | | \ | |/ ____|__ __|_ _/ __ \| \ | |/ ____|
-// / \ | | | | | | |__ | | | | \| | | | | | || | | | \| | (___
-// / /\ \ | | | | | | __| | | | | . ` | | | | | || | | | . ` |\___ \
-// / ____ \| |__| | |____ | | | |__| | |\ | |____ | | _| || |__| | |\ |____) |
-// /_/ \_\_____/ \_____| |_| \____/|_| \_|\_____| |_| |_____\____/|_| \_|_____/
-// ********************************************************************************************************
-// ********************************************************************************************************
-// ********************************************************************************************************
-
-
-
-
-
-uint8_t ADC_Cal(ADC_MemMapPtr adcmap)
-{
-
- uint16_t cal_var;
-
- ADC_SC2_REG(adcmap) &= ~ADC_SC2_ADTRG_MASK ; // Enable Software Conversion Trigger for Calibration Process - ADC0_SC2 = ADC0_SC2 | ADC_SC2_ADTRGW(0);
- ADC_SC3_REG(adcmap) &= ( ~ADC_SC3_ADCO_MASK & ~ADC_SC3_AVGS_MASK ); // set single conversion, clear avgs bitfield for next writing
- ADC_SC3_REG(adcmap) |= ( ADC_SC3_AVGE_MASK | ADC_SC3_AVGS(AVGS_32) ); // Turn averaging ON and set at max value ( 32 )
-
-
- ADC_SC3_REG(adcmap) |= ADC_SC3_CAL_MASK ; // Start CAL
- while ( (ADC_SC1_REG(adcmap,A) & ADC_SC1_COCO_MASK ) == COCO_NOT ); // Wait calibration end
-
- if ((ADC_SC3_REG(adcmap)& ADC_SC3_CALF_MASK) == CALF_FAIL ) {
- return(1); // Check for Calibration fail error and return
- }
- // Calculate plus-side calibration
- cal_var = 0x00;
-
- cal_var = ADC_CLP0_REG(adcmap);
- cal_var += ADC_CLP1_REG(adcmap);
- cal_var += ADC_CLP2_REG(adcmap);
- cal_var += ADC_CLP3_REG(adcmap);
- cal_var += ADC_CLP4_REG(adcmap);
- cal_var += ADC_CLPS_REG(adcmap);
-
- cal_var = cal_var/2;
- cal_var |= 0x8000; // Set MSB
-
- ADC_PG_REG(adcmap) = ADC_PG_PG(cal_var);
-
-
- // Calculate minus-side calibration
- cal_var = 0x00;
-
- cal_var = ADC_CLM0_REG(adcmap);
- cal_var += ADC_CLM1_REG(adcmap);
- cal_var += ADC_CLM2_REG(adcmap);
- cal_var += ADC_CLM3_REG(adcmap);
- cal_var += ADC_CLM4_REG(adcmap);
- cal_var += ADC_CLMS_REG(adcmap);
-
- cal_var = cal_var/2;
-
- cal_var |= 0x8000; // Set MSB
-
- ADC_MG_REG(adcmap) = ADC_MG_MG(cal_var);
-
- ADC_SC3_REG(adcmap) &= ~ADC_SC3_CAL_MASK ; /* Clear CAL bit */
-
- return(0);
-}
-
-
-void ADC_Config_Alt(ADC_MemMapPtr adcmap, tADC_ConfigPtr ADC_CfgPtr)
-{
- ADC_CFG1_REG(adcmap) = ADC_CfgPtr->CONFIG1;
- ADC_CFG2_REG(adcmap) = ADC_CfgPtr->CONFIG2;
- ADC_CV1_REG(adcmap) = ADC_CfgPtr->COMPARE1;
- ADC_CV2_REG(adcmap) = ADC_CfgPtr->COMPARE2;
- ADC_SC2_REG(adcmap) = ADC_CfgPtr->STATUS2;
- ADC_SC3_REG(adcmap) = ADC_CfgPtr->STATUS3;
-//ADC_PGA_REG(adcmap) = ADC_CfgPtr->PGA;
- ADC_SC1_REG(adcmap,A)= ADC_CfgPtr->STATUS1A;
- ADC_SC1_REG(adcmap,B)= ADC_CfgPtr->STATUS1B;
-}
-
-
-void ADC_Read_Cal(ADC_MemMapPtr adcmap, tADC_Cal_Blk *blk)
-{
- blk->OFS = ADC_OFS_REG(adcmap);
- blk->PG = ADC_PG_REG(adcmap);
- blk->MG = ADC_MG_REG(adcmap);
- blk->CLPD = ADC_CLPD_REG(adcmap);
- blk->CLPS = ADC_CLPS_REG(adcmap);
- blk->CLP4 = ADC_CLP4_REG(adcmap);
- blk->CLP3 = ADC_CLP3_REG(adcmap);
- blk->CLP2 = ADC_CLP2_REG(adcmap);
- blk->CLP1 = ADC_CLP1_REG(adcmap);
- blk->CLP0 = ADC_CLP0_REG(adcmap);
- blk->CLMD = ADC_CLMD_REG(adcmap);
- blk->CLMS = ADC_CLMS_REG(adcmap);
- blk->CLM4 = ADC_CLM4_REG(adcmap);
- blk->CLM3 = ADC_CLM3_REG(adcmap);
- blk->CLM2 = ADC_CLM2_REG(adcmap);
- blk->CLM1 = ADC_CLM1_REG(adcmap);
- blk->CLM0 = ADC_CLM0_REG(adcmap);
-
-}
-
-
-void TFC_InitADC0()
-{
- tADC_Config Master_Adc0_Config;
-
-
- SIM->SCGC6 |= (SIM_SCGC6_ADC0_MASK);
-
- //Lets calibrate the ADC. 1st setup how the channel will be used.
-
-
- Master_Adc0_Config.CONFIG1 = ADLPC_NORMAL //No low power mode
- | ADC_CFG1_ADIV(ADIV_4) //divide input by 4
- | ADLSMP_LONG //long sample time
- | ADC_CFG1_MODE(MODE_8)//single ended 8-bit conversion
- | ADC_CFG1_ADICLK(ADICLK_BUS);
-
- Master_Adc0_Config.CONFIG2 = MUXSEL_ADCA // select the A side of the ADC channel.
- | ADACKEN_DISABLED
- | ADHSC_HISPEED
- | ADC_CFG2_ADLSTS(ADLSTS_2);//Extra long sample Time (20 extra clocks)
-
-
- Master_Adc0_Config.COMPARE1 = 00000; // Comparators don't matter for calibration
- Master_Adc0_Config.COMPARE1 = 0xFFFF;
-
- Master_Adc0_Config.STATUS2 = ADTRG_HW //hardware triggers for calibration
- | ACFE_DISABLED //disable comparator
- | ACFGT_GREATER
- | ACREN_ENABLED
- | DMAEN_DISABLED //Disable DMA
- | ADC_SC2_REFSEL(REFSEL_EXT); //External Reference
-
- Master_Adc0_Config.STATUS3 = CAL_OFF
- | ADCO_SINGLE
- | AVGE_ENABLED
- | ADC_SC3_AVGS(AVGS_4);
-
- Master_Adc0_Config.PGA = 0; // Disable the PGA
-
-
- // Configure ADC as it will be used, but because ADC_SC1_ADCH is 31,
- // the ADC will be inactive. Channel 31 is just disable function.
- // There really is no channel 31.
-
- Master_Adc0_Config.STATUS1A = AIEN_ON | DIFF_SINGLE | ADC_SC1_ADCH(31);
-
-
- ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc0_Config); // config ADC
-
- // Calibrate the ADC in the configuration in which it will be used:
- ADC_Cal(ADC0_BASE_PTR); // do the calibration
-
-
- Master_Adc0_Config.STATUS2 = ACFE_DISABLED //disable comparator
- | ACFGT_GREATER
- | ACREN_ENABLED
- | DMAEN_DISABLED //Disable DMA
- | ADC_SC2_REFSEL(REFSEL_EXT); //External Reference
-
- Master_Adc0_Config.STATUS3 = CAL_OFF
- | ADCO_SINGLE;
-
-
-
- ADC_Config_Alt(ADC0_BASE_PTR, &Master_Adc0_Config);
-}
-
-
-void TFC_InitADC_System()
-{
-
- TFC_InitADC0();
-
-
- //All Adc processing of the Pots and linescan will be done in the ADC0 IRQ!
- //A state machine will scan through the channels.
- //This is done to automate the linescan capture on Channel 0 to ensure that timing is very even
- CurrentADC_State = ADC_STATE_INIT;
-
- //The pump will be primed with the TPM1 interrupt. upon timeout/interrupt it will set the SI signal high
- //for the camera and then start the conversions for the pots.
-
- // NVIC_SetVector(ADC0_IRQn,(uint32_t)ADC0_Handler);
- NVIC_EnableIRQ(ADC0_IRQn);
-
-}
-
-extern "C" void ADC0_IRQHandler()
-{
- uint8_t Junk;
-
- switch(CurrentADC_State) {
- default:
- Junk = ADC0->R[0];
- break;
-
- case ADC_STATE_CAPTURE_POT_0:
-
- PotADC_Value[0] = ADC0->R[0];
- ADC0->CFG2 &= ~ADC_CFG2_MUXSEL_MASK; //Select the A side of the mux
- ADC0->SC1[0] = TFC_POT_1_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
- CurrentADC_State = ADC_STATE_CAPTURE_POT_1;
-
- break;
-
- case ADC_STATE_CAPTURE_POT_1:
-
- PotADC_Value[1] = ADC0->R[0];
- ADC0->CFG2 |= ADC_CFG2_MUXSEL_MASK; //Select the B side of the mux
- ADC0->SC1[0] = TFC_BAT_SENSE_CHANNEL| ADC_SC1_AIEN_MASK;
- CurrentADC_State = ADC_STATE_CAPTURE_BATTERY_LEVEL;
-
- break;
-
- case ADC_STATE_CAPTURE_BATTERY_LEVEL:
-
- BatSenseADC_Value = ADC0->R[0];
-
- //Now we will start the sequence for the Linescan camera
-
- TAOS_CLK_HIGH;
-
- for(Junk = 0; Junk<50; Junk++) {
- }
-
- TAOS_SI_LOW;
-
-
- CurrentLineScanPixel = 0;
- CurrentLineScanChannel = 0;
- CurrentADC_State = ADC_STATE_CAPTURE_LINE_SCAN;
- ADC0->CFG2 |= ADC_CFG2_MUXSEL_MASK; //Select the B side of the mux
- ADC0->SC1[0] = TFC_LINESCAN0_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
-
- break;
-
- case ADC_STATE_CAPTURE_LINE_SCAN:
-
- if(CurrentLineScanPixel<129) {
- if(CurrentLineScanChannel == 0) {
- LineScanImage0WorkingBuffer[CurrentLineScanPixel] = ADC0->R[0];
- ADC0->SC1[0] = TFC_LINESCAN1_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
- CurrentLineScanChannel = 1;
-
- } else {
- LineScanImage1WorkingBuffer[CurrentLineScanPixel] = ADC0->R[0];
- ADC0->SC1[0] = TFC_LINESCAN0_ADC_CHANNEL | ADC_SC1_AIEN_MASK;
- CurrentLineScanChannel = 0;
- CurrentLineScanPixel++;
-
- TAOS_CLK_LOW;
- for(Junk = 0; Junk<50; Junk++) {
- }
- TAOS_CLK_HIGH;
-
- }
-
- } else {
- // done with the capture sequence. we can wait for the PIT0 IRQ to restart
-
- TAOS_CLK_HIGH;
-
- for(Junk = 0; Junk<50; Junk++) {
- }
-
- TAOS_CLK_LOW;
- CurrentADC_State = ADC_STATE_INIT;
-
- //swap the buffer
-
- if(LineScanWorkingBuffer == 0) {
- LineScanWorkingBuffer = 1;
-
- LineScanImage0WorkingBuffer = &LineScanImage0Buffer[1][0];
- LineScanImage1WorkingBuffer = &LineScanImage1Buffer[1][0];
-
- TFC_LineScanCameraData[0] = &LineScanImage0Buffer[0][0];
- TFC_LineScanCameraData[1] = &LineScanImage1Buffer[0][0];
- } else {
- LineScanWorkingBuffer = 0;
- LineScanImage0WorkingBuffer = &LineScanImage0Buffer[0][0];
- LineScanImage1WorkingBuffer = &LineScanImage1Buffer[0][0];
-
- TFC_LineScanCameraData[0] = &LineScanImage0Buffer[1][0];
- TFC_LineScanCameraData[1] = &LineScanImage1Buffer[1][0];
- }
-
- TFC_LineScanDataReady++;
- }
-
- break;
- }
-
-}
-
-void TFC_InitLineScanCamera()
-{
- SIM->SCGC5 |= SIM_SCGC5_PORTE_MASK | SIM_SCGC5_PORTD_MASK; //Make sure the clock is enabled for PORTE;
- PORTE->PCR[1] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin for the CLOCK Signal
- PORTD->PCR[7] = PORT_PCR_MUX(1) | PORT_PCR_DSE_MASK; //Enable GPIO on on the pin for SI signal
-
- PORTD->PCR[5] = PORT_PCR_MUX(0); //Make sure AO signal goes to an analog input
- PORTD->PCR[6] = PORT_PCR_MUX(0); //Make sure AO signal goes to an analog input
-
- //Make sure the Clock and SI pins are outputs
- PTD->PDDR |= (1<<7);
- PTE->PDDR |= (1<<1);
-
- TAOS_CLK_LOW;
- TAOS_SI_LOW;
-
- LineScanWorkingBuffer = 0;
-
- LineScanImage0WorkingBuffer = &LineScanImage0Buffer[LineScanWorkingBuffer][0];
- LineScanImage1WorkingBuffer = &LineScanImage1Buffer[LineScanWorkingBuffer][0];
-
- TFC_LineScanCameraData[0] = &LineScanImage0Buffer[1][0];
- TFC_LineScanCameraData[1] = &LineScanImage1Buffer[1][0];
-}
-
-
-
-
-
-/** Initialized TPM0 to be used for generating PWM signals for the the dual drive motors. This method is called in the TFC constructor with a default value of 4000.0Hz
-*
-* @param SwitchingFrequency PWM Switching Frequency in floating point format. Pick something between 1000 and 9000. Maybe you can modulate it and make a tune.
-*/
-void TFC_InitMotorPWM(float SwitchingFrequency)
-{
- //Clock Setup for the TPM requires a couple steps.
-
-
- //1st, set the clock mux
- //See Page 124 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
- // SIM->SOPT2 |= SIM_SOPT2_PLLFLLSEL_MASK;// We Want MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
- // SIM->SOPT2 &= ~(SIM_SOPT2_TPMSRC_MASK);
- // SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1); //We want the MCGPLLCLK/2 (See Page 196 of the KL25 Sub-Family Reference Manual, Rev. 3, September 2012)
-
-
- //Enable the Clock to the FTM0 Module
- //See Page 207 of f the KL25 Sub-Family Reference Manual, Rev. 3, September 2012
- SIM->SCGC6 |= SIM_SCGC6_TPM0_MASK;
-
- //The TPM Module has Clock. Now set up the peripheral
-
- //Blow away the control registers to ensure that the counter is not running
- TPM0->SC = 0;
- TPM0->CONF = 0;
-
- //While the counter is disabled we can setup the prescaler
-
- TPM0->SC = TPM_SC_PS(FTM0_CLK_PRESCALE);
-
- //Setup the mod register to get the correct PWM Period
-
- TPM0->MOD = (uint32_t)((float)(FTM0_CLOCK/(1<<FTM0_CLK_PRESCALE))/SwitchingFrequency);
-
- //Setup Channels 0,1,2,3
- TPM0->CONTROLS[0].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
- TPM0->CONTROLS[1].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSA_MASK; // invert the second PWM signal for a complimentary output;
- TPM0->CONTROLS[2].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSB_MASK;
- TPM0->CONTROLS[3].CnSC = TPM_CnSC_MSB_MASK | TPM_CnSC_ELSA_MASK; // invert the second PWM signal for a complimentary output;
-
- //Enable the Counter
-
- //Set the Default duty cycle to 50% duty cycle
- TFC_SetMotorPWM(0.0,0.0);
-
- //Enable the TPM COunter
- TPM0->SC |= TPM_SC_CMOD(1);
-
- //Enable the FTM functions on the the port
- PORTC->PCR[1] = PORT_PCR_MUX(4);
- PORTC->PCR[2] = PORT_PCR_MUX(4);
- PORTC->PCR[3] = PORT_PCR_MUX(4);
- PORTC->PCR[4] = PORT_PCR_MUX(4);
-
-}
-
-void TFC_SetMotorPWM(float MotorA , float MotorB)
-{
- if(MotorA>1.0)
- MotorA = 1.0;
- else if(MotorA<-1.0)
- MotorA = -1.0;
-
- if(MotorB>1.0)
- MotorB = 1.0;
- else if(MotorB<-1.0)
- MotorB = -1.0;
-
- TPM0->CONTROLS[2].CnV = (uint16_t) ((float)TPM0->MOD * (float)((MotorA + 1.0)/2.0));
- TPM0->CONTROLS[3].CnV = TPM0->CONTROLS[2].CnV;
- TPM0->CONTROLS[0].CnV = (uint16_t) ((float)TPM0->MOD * (float)((MotorB + 1.0)/2.0));
- TPM0->CONTROLS[1].CnV = TPM0->CONTROLS[0].CnV;
-
-}
-
-//Pot Reading is Scaled to return a value of -1.0 to 1.0
-float TFC_ReadPot(uint8_t Channel)
-{
- if(Channel == 0)
- return ((float)PotADC_Value[0]/-127.5)+1.0;
- else
- return ((float)PotADC_Value[1]/-127.5)+1.0;;
-}
-
-float TFC_ReadBatteryVoltage()
-{
- return (((float)BatSenseADC_Value/(float)(ADC_MAX_CODE)) * 3.0);// * ((47000.0+10000.0)/10000.0);
-}
-
-extern volatile uint8_t TFC_LineScanCameraDataReady;
-
-Serial pc2(USBTX,USBRX);
-float init2()
-{
- pc2.baud(38400);
- return 0;
-}
-
-float getLine()
-{
-// if (TFC_LineScanCameraDataReady != 0)
-// return -1;
- static int count = 0;
-// count++;
- int channel = TFC_PUSH_BUTTON_0_PRESSED ? 1 : 0;
- int flip = TFC_PUSH_BUTTON_1_PRESSED ? 1 : 0;
-// uint8_t* parray = TFC_LineScanCameraData(array);
- for (int i=0; i<128; i++) {
- uint8_t n = TFC_LineScanCameraData[0][i];
- if (n==2)
- pc2.printf(" ") ;
- else
- pc2.printf("%d",n) ;
- }
- pc2.printf("\r\n");
- for (int i=0; i<128; i++) {
- uint8_t n = TFC_LineScanCameraData[0][i];
- if (n==2)
- pc2.printf(" ") ;
- else
- pc2.printf("%d",n) ;
- }
- pc2.printf("\r\n");
-
- return 0;
-}
\ No newline at end of file
--- a/TFC.h Fri Aug 23 00:40:51 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,247 +0,0 @@
-
-#include "mbed.h"
-
-/** @file test.h*/
-
-/**
- * @defgroup FRDM-TFC_API FRDM-TFC_API
- *
- * @{
- */
-
-
-/**
-
-@addtogroup FRDM-TFC_API
-
-@{
-
-Resources used by the TFC Library\n
-
-I/O:\n
--------------------------------------------------------------------------------------------------\n
-
- PTB0 (Servo Channel 0 - TPM1)\n
- PTB1 (Servo Channel 1 - TPM1)\n
-\n
- PTB8 (Battery LED0)\n
- PTB9 (Battery LED1)\n
- PTB10 (Battery LED2)\n
- PTB11 (Battery LED3)\n
-\n
- PTD7 (Camera SI)\n
- PTE0 (Camera CLK)\n
- PTD5 (Camera A0 - ADC_SE6b)\n
- PTD6 (Camera A1 - ADC_SE7b)\n
-\n
- PTE2 DIP Switch 0\n
- PTE3 DIP Switch 1\n
- PTE4 DIP Switch 2\n
- PTE5 DIP Switch 3\n
-
- PTC13 Pushbutton SW1\n
- PTC17 Pushbutton SW2\n
-
- PTC3 H-Bridge A - 1 FTM0_CH3\n
- PTC4 H-Bridge A - 2 FTM0_CH4\n
- PTC1 H-Bridge B - 1 FTM0_CH1\n
- PTC2 H-Bridge B - 2 FTM0_CH2\n
-
- PTE21 H-Bridge Enable\n
- PTE20 H-Bridge Fault\n
-
- PTE23 H-Bridge A - IFB\n
- PTE22 H-Bridge B - IFB\n
-
- }
-*/
-
-
-
-#ifndef _TFC_H
-#define _TFC_H
-
-#define TFC_HBRIDGE_EN_LOC (uint32_t)(1<<21)
-#define TFC_HBRIDGE_FAULT_LOC (uint32_t)(1<<20)
-
-#define TFC_HBRIDGE_ENABLE PTE->PSOR = TFC_HBRIDGE_EN_LOC
-#define TFC_HBRIDGE_DISABLE PTE->PCOR = TFC_HBRIDGE_EN_LOC
-
-#define TFC_DIP_SWITCH0_LOC ((uint32_t)(1<<2))
-#define TFC_DIP_SWITCH1_LOC ((uint32_t)(1<<3))
-#define TFC_DIP_SWITCH2_LOC ((uint32_t)(1<<4))
-#define TFC_DIP_SWITCH3_LOC ((uint32_t)(1<<5))
-
-#define TFC_PUSH_BUTT0N0_LOC ((uint32_t)(1<<13))
-#define TFC_PUSH_BUTT0N1_LOC ((uint32_t)(1<<17))
-
-#define TFC_BAT_LED0_LOC ((uint32_t)(1<<11))
-#define TFC_BAT_LED1_LOC ((uint32_t)(1<<10))
-#define TFC_BAT_LED2_LOC ((uint32_t)(1<<9))
-#define TFC_BAT_LED3_LOC ((uint32_t)(1<<8))
-
-#define TAOS_CLK_HIGH PTE->PSOR = (1<<1)
-#define TAOS_CLK_LOW PTE->PCOR = (1<<1)
-#define TAOS_SI_HIGH PTD->PSOR = (1<<7)
-#define TAOS_SI_LOW PTD->PCOR = (1<<7)
-
-
-/**
-
-@addtogroup FRDM-TFC_API
-@{
-*/
-
-/**Macro to turn on LED 0 in the battery indicator array*/
-#define TFC_BAT_LED0_ON PTB->PSOR = TFC_BAT_LED0_LOC
-/** Macro to turn on LED 1 in the battery indicator array*/
-#define TFC_BAT_LED1_ON PTB->PSOR = TFC_BAT_LED1_LOC
-/** Macro to turn on LED 2 in the battery indicator array*/
-#define TFC_BAT_LED2_ON PTB->PSOR = TFC_BAT_LED2_LOC
-/** Macro to turn on LED 3 in the battery indicator array*/
-#define TFC_BAT_LED3_ON PTB->PSOR = TFC_BAT_LED3_LOC
-
-
-/** Macro to turn off LED 0 in the battery indicator array*/
-#define TFC_BAT_LED0_OFF PTB->PCOR = TFC_BAT_LED0_LOC
-/** Macro to turn off LED 1 in the battery indicator array*/
-#define TFC_BAT_LED1_OFF PTB->PCOR = TFC_BAT_LED1_LOC
-/** Macro to turn off LED 2 in the battery indicator array*/
-#define TFC_BAT_LED2_OFF PTB->PCOR = TFC_BAT_LED2_LOC
-/** Macro to turn off LED 3 in the battery indicator array*/
-#define TFC_BAT_LED3_OFF PTB->PCOR = TFC_BAT_LED3_LOC
-
-
-/** Macro to toggle LED 0 in the battery indicator array*/
-#define TFC_BAT_LED0_TOGGLE PTB->PTOR = TFC_BAT_LED0_LOC
-/** Macro to toggle LED 1 in the battery indicator array*/
-#define TFC_BAT_LED1_TOGGLE PTB->PTOR = TFC_BAT_LED1_LOC
-/** Macro to toggle LED 2 in the battery indicator array*/
-#define TFC_BAT_LED2_TOGGLE PTB->PTOR = TFC_BAT_LED2_LOC
-/** Macro to toggle LED 3 in the battery indicator array*/
-#define TFC_BAT_LED3_TOGGLE PTB->PTOR = TFC_BAT_LED3_LOC
-
-
-/** Macro to read the state of the pushbutton SW1*/
-#define TFC_PUSH_BUTTON_0_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N0_LOC)>0)
-/** Macro to read the state of the pushbutton SW1*/
-#define TFC_PUSH_BUTTON_1_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N1_LOC)>0)
-
-/** Macro to read the state of switch 0 in the 4 position DIP switch*/
-#define TFC_DIP_SWITCH_0_ON ((TFC_GetDIP_Switch()&0x01)>0)
-
-/** Macro to read the state of switch 1 in the 4 position DIP switch*/
-#define TFC_DIP_SWITCH_1_ON ((TFC_GetDIP_Switch()&0x02)>0)
-
-/** Macro to read the state of switch 2 in the 4 position DIP switch*/
-#define TFC_DIP_SWITCH_2_ON ((TFC_GetDIP_Switch()&0x04)>0)
-
-/** Macro to read the state of switch 3 in the 4 position DIP switch*/
-#define TFC_DIP_SWITCH_3_ON ((TFC_GetDIP_Switch()&0x08)>0)
-
-
-/** Initialized the TFC API. Call before using any other API calls.
-*
-*/
-void TFC_Init();
-
-/** ServoTicker will increment once every servo cycle.
-* It can be used to synchronize events to the start of a servo cycle. ServoTicker is a volatile uint32_t and is updated in the TPM1 overlflow interrupt. This means you will see ServoTicker increment on the rising edge of the servo PWM signal
-*
-*/
-extern volatile uint32_t TFC_ServoTicker;
-
-
-/** Gets the state of the 4-positiomn DIP switch on the FRDM-TFC
-*
-* @returns The lower 4-bits of the return value map to the 4-bits of the DIP switch
-*/
-uint8_t TFC_GetDIP_Switch();
-
-
-/** Reads the state of the pushbuttons (SW1, SW2) on the FRDM-TFC
-* @param Index Selects the pushbutton (0 for SW1 and 1 for SW2)
-* @returns A non-zero value if the button is pushed
-*/
-uint8_t TFC_ReadPushButton(uint8_t Index);
-
-
-/** Controls the 4 battery level LEDs on the FRDM-TFC boards.
-*
-* @param Value The lower 4-bits of the parameter maps to the 4 LEDs.
-*/
-void TFC_SetBatteryLED(uint8_t Value);
-
-
-/** Sets the servo channels
-*
-* @param ServoNumber Which servo channel on the FRDM-TFC to use (0 or 1). 0 is the default channel for steering
-* @param Position Angle setting for servo in a normalized (-1.0 to 1.0) form. The range of the servo can be changed with the InitServos function.
-* This is called in the TFC constructor with some useful default values--> 20mSec period, 0.5mS min and 2.0mSec max. you may need to adjust these for your own particular setup.
-*/
-void TFC_SetServo(uint8_t ServoNumber, float Position);
-
-/** Initializes TPM for the servoes. It also sets the max and min ranges
-*
-* @param ServoPulseWidthMin Minimum pulse width (in seconds) for the servo. The value of -1.0 in SetServo is mapped to this pulse width. I.E. .001
-* @param ServoPulseWidthMax Maximum pulse width (in seconds) for the servo. The value of +1.0 in SetServo is mapped to this pulse width. I.E. .002
-* @param ServoPeriod Period of the servo pulses (in seconds). I.e. .020 for 20mSec
-*/
-
-void TFC_InitServos(float ServoPulseWidthMin, float ServoPulseWidthMax, float ServoPeriod);
-
-
-/** Initialized TPM0 to be used for generating PWM signals for the the dual drive motors. This method is called in the TFC constructor with a default value of 4000.0Hz
-*
-* @param SwitchingFrequency PWM Switching Frequency in floating point format. Pick something between 1000 and 9000. Maybe you can modulate it and make a tune.
-*/
-void TFC_InitMotorPWM(float SwitchingFrequency);
-
-/** Sets the PWM value for each motor.
-*
-* @param MotorA The PWM value for HBridgeA. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
-* @param MotorB The PWM value for HBridgeB. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
-*/
-void TFC_SetMotorPWM(float MotorA ,float MotorB);
-
-/** Reads the potentiometers
-*
-* @param Channel Selects which pot is read. I.e. 0 for POT0 or 1 for POT1
-* @returns Pot value from -1.0 to 1.0
-*/
-float TFC_ReadPot(uint8_t Channel);
-
-/** Gets the current battery voltage
-*
-* @returns Battery voltage in floating point form.
-*/
-float TFC_ReadBatteryVoltage();
-
-
-/** Pointer to two channels of line scan camera data. Each channel is 128 points of uint8_t's. Note that the underlying implementation is ping-pong buffer These pointers will point to the
-*inactive buffer.
-*
-*/
-
-extern volatile uint8_t * TFC_LineScanCameraData[2];
-
-/** This flag will increment when a new frame is ready. Check for a non zero value (and reset to zero!) when you want to read the camera(s)
-*
-*/
-
-extern volatile uint8_t TFC_LineScanCameraDataReady;
-
-float getLine();
-float init2();
-
-void TFC_GPIO_Init();
-
-void TFC_InitADC_System(); // Always call this before the Servo init function.... The IRQ for the Servo code modifies ADC registers and the clocks need enable to the ADC peripherals 1st!
-
-void TFC_InitLineScanCamera();
-
-
-/** @} */
-
-
-#endif
\ No newline at end of file