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peripheralFunctions.c
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peripheralFunctions.c
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#include "msp.h"
#include "driverlib.h"
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "globals.h"
#include "peripheralFunctions.h"
#include "utilityFunctions.h"
// Gets motor angle and velocity from the quadrature counter
void read_spi(void){
//printf("\nSPI\n");
const float enc_res[3] = {0.055104, 0.080357, 0.080357}; // Encoder resolution = 360deg / CPR (0.0551048 for 100:1, 0.080357 for 70:1)
//const float enc_res[3] = {0.91837, 0.91837, 0.91837}; // Encoder resolution = 360deg / CPR
static int initializations[3] = {0, 0, 0}; // Keeps track of whether each counter has been initialized
int n = 3; // Number of quadrature counters
int ii = 0; // Index of current quadrature counter
uint8_t byte_1, byte_2; // Temporary variables to hold the bytes sent by the counter
uint16_t count = 0;
// Addresses and commands for the quadrature counter (16-bit CNTR and counts all rising and falling edges of channels A and B)
volatile uint8_t tx_dummy = 0x00; // this clears the flag when you read it.
const uint8_t MDR0_address = 0b10001000; // MDR0 Address
const uint8_t MDR0_config = 0b00000011; // MDR0 Configuration
const uint8_t MDR1_address = 0b10010000; // MDR1 Address
const uint8_t MDR1_config = 0b000000010;// 0b00000011; // data to write to MDR1
const uint8_t clear_CNTR = 0b00100000; //0b10010000; // clears the counter
const uint8_t read_CNTR = 0b01100000; // mask to read the counter
// Configure/Initialize quadrature counters
for(ii = 0; ii < n; ii++){
if(initializations[ii] == 0){
initializations[ii] = 1;
GPIO_setOutputLowOnPin(ss[ii][0], ss[ii][1]);
// MDR0 Configuration
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_TRANSMIT_INTERRUPT)));
SPI_transmitData(EUSCI_B2_BASE, MDR0_address); // Transmit MDR0 address
delay_ms(10);
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_TRANSMIT_INTERRUPT)));
SPI_transmitData(EUSCI_B2_BASE, MDR0_config); // Transmit MDR0 configuration
delay_ms(10);
GPIO_setOutputHighOnPin(ss[ii][0], ss[ii][1]);
// MDR1 Configuration
GPIO_setOutputLowOnPin(ss[ii][0], ss[ii][1]);
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_TRANSMIT_INTERRUPT)));
SPI_transmitData(EUSCI_B2_BASE, MDR1_address); // Transmit MDR1 address
delay_ms(10);
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_TRANSMIT_INTERRUPT)));
SPI_transmitData(EUSCI_B2_BASE, MDR1_config); // Transmit MDR1 configuration
delay_ms(10);
GPIO_setOutputHighOnPin(ss[ii][0], ss[ii][1]);
// Clear CNTR
GPIO_setOutputLowOnPin(ss[ii][0], ss[ii][1]);
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_TRANSMIT_INTERRUPT)));
SPI_transmitData(EUSCI_B2_BASE, clear_CNTR); // Clears the counter
delay_ms(10);
GPIO_setOutputHighOnPin(ss[ii][0], ss[ii][1]);
}
// Read CNTR
GPIO_setOutputLowOnPin(ss[ii][0], ss[ii][1]);
//Make sure transmit buffer is clear
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_TRANSMIT_INTERRUPT)));
// Mask to read the counter
SPI_transmitData(EUSCI_B2_BASE, read_CNTR);
delay_ms(10);
//This will push slave to send data to master
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_TRANSMIT_INTERRUPT)));
// Clears the counter
SPI_transmitData(EUSCI_B2_BASE, tx_dummy);
delay_ms(10);
//Make sure receive interrupt flag is set
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_RECEIVE_INTERRUPT)));
//Receiving data
byte_1 = SPI_receiveData(EUSCI_B2_BASE);
delay_ms(10);
//This will push slave to send data to master
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_TRANSMIT_INTERRUPT)));
// Clears the counte
SPI_transmitData(EUSCI_B2_BASE, tx_dummy);
delay_ms(10);
//Make sure receive interrupt flag is set
while (!(SPI_getInterruptStatus(EUSCI_B2_BASE,EUSCI_B_SPI_RECEIVE_INTERRUPT)));
//Receiving data
byte_2 = SPI_receiveData(EUSCI_B2_BASE);
delay_ms(10);
count = ((uint16_t)byte_1 << 8) | byte_2;
if(count > 10000){
q[ii] = - enc_res[ii] * (float)(65535 - count);
}
else{
q[ii] = enc_res[ii] * (float)count; // (deg/count) * count -> angular position
}
GPIO_setOutputHighOnPin(ss[ii][0], ss[ii][1]); // Set SS1 line high to end transmission
qp[ii] = q[ii];
}
}