Other Parts Discussed in Thread: TM4C123GH6PM
Good morning TI comunity, im a beginner and im trying to use PD2 as a digital input to check if its HIGH or LOW and make a counter to implement a speedmeter.
I would like to know if its possible and if possible some example code simple to implement. I have to detect the state where it is so that it wont count several times when im stopped at state HIGH.
Keep the good work, happy programming
Thank's or all the help so far, i've been investigating a little better the QEI module and i tried to see how it works and somehow i haven't managed to make it work and give me the velocity.
I checked the datasheet and:
as we can see the Velocity accumulator is given by the PhA i suppose, because im using only 1 sensor. The index is not connected to the block of interest so, i dont knwo if somehow i can make the GetVelocity from only the PhA sensor.
I haven't found any kind of examples that ask for the velocity, only position.
This is my code and i would liek to get the velocity. I dont know if there are still comands missing to enable some timer or counter.
I also haven't found the list of commands i can use, i dont knwo how you guys find the comands that i can use.
Just to remember im using a TM4C123GH6PMI
//****************************************************************************
#include <stdbool.h>
#include <stdint.h>
#include "inc/hw_gpio.h"
#include "inc/hw_ints.h"
#include "inc/hw_nvic.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/debug.h"
#include "driverlib/fpu.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/pwm.h"
#include "driverlib/sysctl.h"
#include "driverlib/systick.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "driverlib/buttons.h"
#include "driverlib/adc.h"
#include "driverlib/timer.h"
#include "math.h"
#include "driverlib/ssi.h"
#include "driverlib/qei.h"
//#define GPIO_PB6_M0PWM0 0x00011804 // j� em uso no SSI2
//#define GPIO_PB7_M0PWM1 0x00011C04 // j� em uso no SSI2
//#define GPIO_PB4_M0PWM2 0x00011004 // j� em uso no SSI2
//#define GPIO_PB5_M0PWM3 0x00011404 // j� em uso no SSI2
//#define GPIO_PE4_M0PWM4 0x00041004 // j� em uso na ADC
//#define GPIO_PE5_M0PWM5 0x00041404 // j� em uso na ADC
#define GPIO_PF1_M1PWM5 0x00050405
#define GPIO_PF2_M1PWM6 0x00050805
#define GPIO_PF3_M1PWM7 0x00050C05
uint32_t ulADC0Value[8];
bool con1, con2;
unsigned long canal_0_adc0, canal_1_adc0, canal_2_adc0, canal_3_adc0, canal_5_adc0; // ADC variables
unsigned long ulPeriod, dutyCycle, PWMRATE = 10000, LED; // PWM variables
unsigned long ulResetCause;
int y=0, yant=0, limite, estado=0, estadoant=0;
unsigned long kp, ki, kd, KP, KI, erro, erroant, erroant2, errohist; // Constantes dos controladores
#ifdef DEBUG
void
__error__(char *pcFilename, uint32_t ui32Line unsigned long ulLine)
{
UARTprintf("Error at line %d of %s\n", ui32Line, pcFilename);
while(1)
{
}
}
#endif
void Init(void){
//Set the clock
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
// Enable the peripherals used by this program.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
// UART Initialization
ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioConfig(0, 115200, 80000000);
// Enable Timer 0 and 1
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
// Configure ports as I/O Digital inputs
GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_6 |GPIO_PIN_7); // PA6 e PA7 I/O Digital input
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4); // Enable SW1 = GPIO_PIN_4 as I/O Digital input
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4,GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
// Enable lazy stacking for interrupt handlers. This allows floating-point
// instructions to be used within interrupt handlers
ROM_FPULazyStackingEnable();
ROM_FPUEnable();
// Configurar ADC_0
ADCClockConfigSet(ADC0_BASE, ADC_CLOCK_SRC_PIOSC | ADC_CLOCK_RATE_HALF, 1); //
ROM_ADCHardwareOversampleConfigure(ADC0_BASE, 64); // 64 samples for each value
// Enable interruption Timer 0
IntEnable(INT_TIMER0A);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
IntMasterEnable();
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
// Enable interruption Timer 1
IntEnable(INT_TIMER1A);
ROM_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
IntMasterEnable();
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
}
void ADCRead (void){
ROM_ADCSequenceDisable(ADC0_BASE, 0);
ROM_ADCSequenceConfigure(ADC0_BASE, 0, ADC_TRIGGER_PROCESSOR, 0); // Maximum priority
ROM_ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ADC_CTL_CH0); // PE3 - canal 0
ROM_ADCSequenceStepConfigure(ADC0_BASE, 0, 1, ADC_CTL_CH1); // PE2 - canal 1
ROM_ADCSequenceStepConfigure(ADC0_BASE, 0, 2, ADC_CTL_CH2); // PE1 - canal 2
ROM_ADCSequenceStepConfigure(ADC0_BASE, 0, 3, ADC_CTL_CH3); // PE0 - canal 3
ROM_ADCSequenceStepConfigure(ADC0_BASE, 0, 4, ADC_CTL_CH5 | ADC_CTL_IE | ADC_CTL_END); // PD2 - canal 5
ROM_ADCSequenceEnable(ADC0_BASE, 0); //Enable Sequence0
ROM_ADCIntClear(ADC0_BASE, 0); // Clear ADC flag
ROM_ADCProcessorTrigger(ADC0_BASE, 0); //Trigger ADC in the processor
while(!ROM_ADCIntStatus(ADC0_BASE, 0, false)) {/*wait for conversion*/}
ROM_ADCSequenceDataGet(ADC0_BASE, 0, ulADC0Value); // Data to buffer
// ADC samples
canal_0_adc0 = (ulADC0Value[0]); // Throttle
canal_1_adc0 = (ulADC0Value[1]); // Current sensor
canal_2_adc0 = (ulADC0Value[2]); // Axis X
canal_3_adc0 = (ulADC0Value[3]); // Axis Y
canal_5_adc0 = (ulADC0Value[4]); // Axis Z
con1= GPIOPinRead(GPIO_PORTA_BASE,GPIO_PIN_6);
con2= GPIOPinRead(GPIO_PORTA_BASE,GPIO_PIN_7);
//Write in the UART
UARTprintf("REF = %4d\r\n",canal_0_adc0);
UARTprintf("Contactor 1 = %4d\r\n",con1);
UARTprintf("Contactor 2 = %4d\r\n",con2);
UARTprintf("Corrente = %4d\r\n",canal_1_adc0);
UARTprintf("Eixo X = %4d\r\n",canal_2_adc0);
UARTprintf("Eixo Y =%4d\r\n",canal_3_adc0);
UARTprintf("Eixo Z = %4d\r\n",canal_5_adc0);
}
void Calculos (void){
//____________________________________________________________________
}
void InitSSI0 (void){
SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI0);
HWREG(GPIO_PORTA_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
//Unlock the Port to write to commit register
HWREG(GPIO_PORTA_BASE + GPIO_O_CR) = 0xFF;
// Set the pins of the commit register so that AFSEL and other registers can be modified
//
GPIOPinConfigure(GPIO_PA2_SSI0CLK);
GPIOPinConfigure(GPIO_PA3_SSI0FSS);
GPIOPinConfigure(GPIO_PA4_SSI0RX);
GPIOPinConfigure(GPIO_PA5_SSI0TX);
HWREG(GPIO_PORTA_BASE + GPIO_O_LOCK) = ~(GPIO_LOCK_KEY);
// TODO: change this to select the port/pin you are using.
//
GPIOPinTypeSSI(GPIO_PORTA_BASE,GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5);
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_3);//ACC FSS pull-up
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_3,GPIO_PIN_3);
GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_5);//Gyro FSS pull-up
GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_5,GPIO_PIN_5);
//
// Configure and enable the SSI port for SPI master mode. Use SSI0,
// system clock supply, idle clock level low and active low clock in
// freescale SPI mode, master mode, 1MHz SSI frequency, and 8-bit data.
// For SPI mode, you can set the polarity of the SSI clock when the SSI
// unit is idle. You can also configure what clock edge you want to
// capture data on. Please reference the datasheet for more information on
// the different SPI modes.
//
SSIConfigSetExpClk(SSI0_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_3,
SSI_MODE_MASTER, 5000000, 16);
//
// Enable the SSI0 module.
//
SSIEnable(SSI0_BASE);
}
void InitSSI2 (void){
SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);
HWREG(GPIO_PORTB_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
//Unlock the Port to write to commit register
HWREG(GPIO_PORTB_BASE + GPIO_O_CR) = 0xFF;
// Set the pins of the commit register so that AFSEL and other registers can be modified
//
GPIOPinConfigure(GPIO_PB4_SSI2CLK);
GPIOPinConfigure(GPIO_PB5_SSI2FSS);
GPIOPinConfigure(GPIO_PB6_SSI2RX);
GPIOPinConfigure(GPIO_PB7_SSI2TX);
HWREG(GPIO_PORTB_BASE + GPIO_O_LOCK) = ~(GPIO_LOCK_KEY);
// TODO: change this to select the port/pin you are using.
//
GPIOPinTypeSSI(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_3);//ACC FSS pull-up
GPIOPinWrite(GPIO_PORTF_BASE,GPIO_PIN_3,GPIO_PIN_3);
GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_5);//Gyro FSS pull-up
GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_5,GPIO_PIN_5);
// Configure and enable the SSI port for SPI master mode. Use SSI0,
// system clock supply, idle clock level low and active low clock in
// freescale SPI mode, master mode, 1MHz SSI frequency, and 8-bit data.
// For SPI mode, you can set the polarity of the SSI clock when the SSI
// unit is idle. You can also configure what clock edge you want to
// capture data on. Please reference the datasheet for more information on
// the different SPI modes.
//
SSIConfigSetExpClk(SSI2_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_3, SSI_MODE_MASTER, 5000000, 16);
//
// Enable the SSI2 module.
SSIEnable(SSI2_BASE);
}
void InitPWM (void) {
//Configure PWM Clock to match system
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1); //The Tiva Launchpad has two modules (0 and 1). Module 1 covers the LED pins
ulPeriod = SysCtlClockGet() / 10000; //PWM frequency 10kHz
//Configure PF1,PF2,PF3 Pins as PWM
GPIOPinConfigure(GPIO_PF1_M1PWM5);
GPIOPinConfigure(GPIO_PF2_M1PWM6);
GPIOPinConfigure(GPIO_PF3_M1PWM7);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
//Configure PWM Options
//PWM_GEN_2 Covers M1PWM4 and M1PWM5
//PWM_GEN_3 Covers M1PWM6 and M1PWM7 See page 207 4/11/13 DriverLib doc
PWMGenConfigure(PWM1_BASE, PWM_GEN_2, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenConfigure(PWM1_BASE, PWM_GEN_3, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//Set the Period (expressed in clock ticks)
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2, ulPeriod);
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3, ulPeriod);
//Set PWM duty-50% (Period /2)
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5,ulPeriod/2);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6,ulPeriod/2);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7,ulPeriod/2);
// Enable the PWM generator
PWMGenEnable(PWM1_BASE, PWM_GEN_2);
PWMGenEnable(PWM1_BASE, PWM_GEN_3);
// Turn on the Output pins
PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT |PWM_OUT_6_BIT | PWM_OUT_7_BIT, true);
//True or false to turn on-off the PWM port
// Invert PWM0 signal.
//
//PWMOutputInvert(PWM0_BASE, PWM_OUT_0_BIT, true);
// Switch PWM0 signal back to regular operation.
//
//PWMOutputInvert(PWM0_BASE, PWM_OUT_0_BIT, false);
}
void PWM (void){
if(!GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4)){
LED=8;
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, LED);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5,ulPeriod/2);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6,ulPeriod/2);
// Turn on the Output pins
PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT |PWM_OUT_6_BIT, true);
} else {
LED=2;
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, LED);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5,ulPeriod/4);
PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT, true);
//Set PWM duty-25% (Period /4)
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6,ulPeriod/4);
}
}
void PID (void) {
}
void InitQEI (void) {
//short initpos = 0;
uint32_t MaxPos = 678;
//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) |= 0xF0;
//PC4, PC5, PC6
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = 0;
GPIOPinConfigure(GPIO_PD3_IDX0);
GPIOPinConfigure(GPIO_PD6_PHA0);
GPIOPinConfigure(GPIO_PD7_PHB0);
GPIOPinTypeQEI(GPIO_PORTD_BASE, GPIO_PIN_7 | GPIO_PIN_6 | GPIO_PIN_3);
QEIDisable(QEI0_BASE);
QEIIntDisable(QEI0_BASE,QEI_INTERROR | QEI_INTDIR | QEI_INTTIMER | QEI_INTINDEX);
QEIConfigure(QEI0_BASE,(QEI_CONFIG_CAPTURE_A | QEI_CONFIG_NO_RESET|QEI_CONFIG_CLOCK_DIR|QEI_CONFIG_SWAP|0x02E00), MaxPos);
//QEIPositionSet(QEI0_BASE, initpos);
//UARTprintf("\nQEI 1 Module Enable\nPosition set to %d\n\n",initpos);
QEIEnable(QEI0_BASE);
}
int main (void)
{
Init();
InitPWM();
InitSSI0();
InitSSI2();
InitQEI();
while(1)
{
ADCRead();
Calculos();
PWM();
UARTprintf("Velocidade = %4d\n",QEIVelocityGet(QEI0_BASE));
SysCtlDelay (100);
}
}
void Timer0IntHandler(void)
{
// limpa o timer
TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
}
void Timer1IntHandler(void)
{
// limpa o timer
TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
}
One more thing to point out, if i connect my sensor to PD6, the voltage drops to 0.22V.
I've checked PD6, is giving me 1.4V, any reason?