current.c

传感器AD采样程序

#include "IQmathLib.h"
#include "math.h"
#include "DSP281x_Device.h"     // DSP281x Headerfile Include File
#include "DSP281x_Examples.h"   // DSP281x Examples Include File
void Adc_config(void);
	float Current_sensor[6]; 
	float Sensor_V[6];
	float Sensor_C[6];
interrupt void ADC_Timer(void);
void compute(float *);
void Ecan_Init();
void EcanTx5(int);
main(){
	InitSysCtrl();
	EALLOW;
    SysCtrlRegs.HISPCP.all = 0x3;  // HSPCLK = SYSCLKOUT/6
    EDIS;
	DINT;
	InitPieCtrl();
	IER=0x0000;
	IFR=0x0000;
	InitPieVectTable();    
	EALLOW;  								// This is needed to write to EALLOW protected register
	PieVectTable.ADCINT = &ADC_Timer;		//int vector
	EDIS;
	InitAdc();  
	PieCtrlRegs.PIEIER1.bit.INTx6 = 1;
	IER |= M_INT1;							 // Enable CPU Interrupt 1
	EALLOW;	
    GpioMuxRegs.GPBMUX.bit.T3PWM_GPIOB6 = 0;    //confige as I/O 
	GpioMuxRegs.GPBDIR.bit.GPIOB6 = 1;          //confige as output I/O
	GpioMuxRegs.GPBMUX.bit.T4PWM_GPIOB7 = 0;    //confige as I/O 
	GpioMuxRegs.GPBDIR.bit.GPIOB7 = 1;          //confige as output I/O
    EDIS;
	EINT;          							// Enable Global interrupt INTM
	ERTM;
	LoopCount = 0;
	// Configure ADC
  	Adc_config();
	Ecan_Init();
	LED2=1;
	// Wait for ADC interrupt
	EnableInterrupts();
  	 while(1)
  	 {
      LoopCount++;
	  if(LoopCount>0x8888) LoopCount=0;
	  	LED1=0;
		DSP28x_usDelay(100000);
		LED1=1;
		DSP28x_usDelay(100000);
   	}
}
void Adc_config(){
	AdcRegs.ADCTRL3.bit.SMODE_SEL=1;       //set to subsequent mode,并发模式
	AdcRegs.ADCTRL1.bit.SEQ_CASC=1;       //SEQ1 and SEQ2 are devided to two single converter 
	AdcRegs.ADCMAXCONV.all=0x0007;		//8个双重转换（总共16个）
	AdcRegs.ADCCHSELSEQ1.bit.CONV00=0x0;//设置转换序列
	AdcRegs.ADCCHSELSEQ1.bit.CONV01=0x1;
	AdcRegs.ADCCHSELSEQ1.bit.CONV02=0x2;
	AdcRegs.ADCCHSELSEQ1.bit.CONV03=0x3;
	AdcRegs.ADCCHSELSEQ2.bit.CONV04=0x4;
	AdcRegs.ADCCHSELSEQ2.bit.CONV05=0x5;
	AdcRegs.ADCCHSELSEQ2.bit.CONV06=0x6;
	AdcRegs.ADCCHSELSEQ2.bit.CONV07=0x7;
	AdcRegs.ADCTRL2.bit.RST_SEQ1=1;         //restore SEQ1
	AdcRegs.ADCTRL2.bit.INT_MOD_SEQ1=0;   //set adc to a mode that after the end of SEQ1, the flag of INT SEQ1 will be set
	AdcRegs.ADCTRL1.bit.CONT_RUN=0;       //配置ADC工作在启动停止模式
	AdcRegs.ADCTRL2.bit.EVA_SOC_SEQ1 = 1;  // Enable EVASOC to start SEQ1
   	AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1;  // Enable SEQ1 interrupt (every EOS)
	//Configure EVA
	// Assumes EVA Clock is already enabled in InitSysCtrl();
    EvaRegs.T1CMPR = 0x0080;               // Setup T1 compare value
   	EvaRegs.T1PR = 0xFFFF;                 // Setup period register
	EvaRegs.GPTCONA.bit.T1TOADC = 0x2;       // Enable EVASOC in EVA
	EvaRegs.T1CNT=0x0000;
  	EvaRegs.T1CON.all = 0x1042;           // Enable timer 1 compare (upcount mode)
}
interrupt void ADC_Timer(void){
	int i;
	LED2= !LED2;
	Current_sensor[5]=AdcRegs.ADCRESULT4>>4;  //left foot，Use ADCINA
	Current_sensor[4]=AdcRegs.ADCRESULT6>>4;
	Current_sensor[3]=AdcRegs.ADCRESULT8>>4;
	Current_sensor[2]=AdcRegs.ADCRESULT10>>4;
	Current_sensor[1]=AdcRegs.ADCRESULT12>>4; 	//right foot, Use ADCINB
	Current_sensor[0]=AdcRegs.ADCRESULT14>>4;
	//compute the center of press and Send it to the Linux;
	for(i=0;i<=5;i++){
	Sensor_V[i]=Current_sensor[i]*3/4095;  //maxium 65520
	Sensor_C[i]=Sensor_V[i]/0.3;
	}
	AdcRegs.ADCTRL2.bit.RST_SEQ1=1;				//复位SEQ1
	AdcRegs.ADCST.bit.INT_SEQ1_CLR=1;      		 //清除INT SEQ1位
	//AdcRegs.ADCTRL2.bit.SOC_SEQ1=1;				//触发
	PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
	return;  
}