Commit 35fe8f8a authored by Jake Read's avatar Jake Read
Browse files

begin closed loop firmware

parent 1ce3c0d0
[Eagle]
Version="09 06 02"
Version="09 06 00"
Platform="Windows"
Globals="Globals"
Desktop="Desktop"
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[Win_1]
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......@@ -400,7 +56,7 @@ Layer=51
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[Win_3]
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This diff is collapsed.
mechaduino/
\ No newline at end of file
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
]
}
This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
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[env:adafruit_feather_m4]
platform = atmelsam
board = adafruit_feather_m4
framework = arduino
lib_deps = cmaglie/FlashStorage@^1.0.0
/*
osap/drivers/dacs.cpp
dacs on the d51
Jake Read at the Center for Bits and Atoms
(c) Massachusetts Institute of Technology 2019
This work may be reproduced, modified, distributed, performed, and
displayed for any purpose, but must acknowledge the squidworks and ponyo
projects. Copyright is retained and must be preserved. The work is provided as
is; no warranty is provided, and users accept all liability.
*/
#include "dacs.h"
//#include "ucbus_drop.h"
DACs* DACs::instance = 0;
DACs* DACs::getInstance(void){
if(instance == 0){
instance = new DACs();
}
return instance;
}
DACs* dacs = DACs::getInstance();
DACs::DACs() {}
void DACs::init(){
/*
// the below code was an attempt to scrape from
// scrape https://github.com/adafruit/ArduinoCore-samd/blob/master/cores/arduino/startup.c (clock)
// scrape https://github.com/adafruit/ArduinoCore-samd/blob/master/cores/arduino/wiring.c (peripheral clock)
// scrape https://github.com/adafruit/ArduinoCore-samd/blob/master/cores/arduino/wiring_analog.c
// to setup the DAC 'from scratch' - of course it occurred to me later that this
// setup already happens in arduino's boot. so I omitted this and just used
// the messy per-analogWrite-call config below, and wrote small write-to-dac functions
// to operate under the assumption that this init happens once.
// ...
// put the pins on the peripheral,
// DAC0 is PA02, Peripheral B
// DAC1 is PA05, Peripheral B
//PORT->Group[0].DIRSET.reg = (uint32_t)(1 << 2);
//PORT->Group[0].DIRCLR.reg = (uint32_t)(1 << 2);
PORT->Group[0].PINCFG[2].bit.PMUXEN = 1;
PORT->Group[0].PMUX[2 >> 1].reg |= PORT_PMUX_PMUXE(1);
//PORT->Group[0].DIRSET.reg = (uint32_t)(1 << 5);
//PORT->Group[0].DIRCLR.reg = (uint32_t)(1 << 5);
PORT->Group[0].PINCFG[5].bit.PMUXEN = 1;
PORT->Group[0].PMUX[5 >> 1].reg |= PORT_PMUX_PMUXO(1);
// unmask the DAC peripheral
MCLK->APBDMASK.bit.DAC_ = 1;
// DAC needs a clock,
GCLK->GENCTRL[GENERIC_CLOCK_GENERATOR_12M].reg = GCLK_GENCTRL_SRC_DFLL |
GCLK_GENCTRL_IDC |
GCLK_GENCTRL_DIV(4) |
GCLK_GENCTRL_GENEN;
while(GCLK->SYNCBUSY.reg & GENERIC_CLOCK_GENERATOR_12M_SYNC);
// feed that clock to the DAC,
GCLK->PCHCTRL[DAC_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(GENERIC_CLOCK_GENERATOR_12M_SYNC);
while(GCLK->PCHCTRL[DAC_GCLK_ID].bit.CHEN == 0);
// software reset the DAC
while(DAC->SYNCBUSY.bit.SWRST == 1);
DAC->CTRLA.bit.SWRST = 1;
while(DAC->SYNCBUSY.bit.SWRST == 1);
// and finally the DAC itself,
while(DAC->SYNCBUSY.bit.ENABLE || DAC->SYNCBUSY.bit.SWRST);
DAC->CTRLA.bit.ENABLE = 0;
// enable both channels
while(DAC->SYNCBUSY.bit.ENABLE || DAC->SYNCBUSY.bit.SWRST);
DAC->DACCTRL[0].reg = DAC_DACCTRL_ENABLE | DAC_DACCTRL_REFRESH(2);
while(DAC->SYNCBUSY.bit.ENABLE || DAC->SYNCBUSY.bit.SWRST);
DAC->DACCTRL[1].reg = DAC_DACCTRL_ENABLE | DAC_DACCTRL_REFRESH(2);
// voltage out, and select vref
DAC->CTRLB.reg = DAC_CTRLB_REFSEL_VDDANA;
// re-enable dac
while(DAC->SYNCBUSY.bit.ENABLE || DAC->SYNCBUSY.bit.SWRST);
DAC->CTRLA.bit.ENABLE = 1;
// await up,
while(!DAC->STATUS.bit.READY0);
while(!DAC->STATUS.bit.READY1);
*/
while(DAC->SYNCBUSY.bit.ENABLE || DAC->SYNCBUSY.bit.SWRST);
DAC->CTRLA.bit.ENABLE = 0;
while(DAC->SYNCBUSY.bit.ENABLE || DAC->SYNCBUSY.bit.SWRST);
DAC->DACCTRL[0].bit.ENABLE = 1;
DAC->DACCTRL[1].bit.ENABLE = 1;
while(DAC->SYNCBUSY.bit.ENABLE || DAC->SYNCBUSY.bit.SWRST);
DAC->CTRLA.bit.ENABLE = 1;
while(!DAC->STATUS.bit.READY0);
while(!DAC->STATUS.bit.READY1);
}
// 0 - 4095
void DACs::writeDac0(uint16_t val){
//analogWrite(A0, val);
while(DAC->SYNCBUSY.bit.DATA0);
DAC->DATA[0].reg = val;//DAC_DATA_DATA(val);
currentVal0 = val;
}
void DACs::writeDac1(uint16_t val){
//analogWrite(A1, val);