Graham Chow
Published © MIT

Acoustic Localisation

Acoustic Localisation using TivaC Texas Instruments launchpad.

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Acoustic Localisation

Things used in this project

Hardware components

EK-TM4C123GXL TM4C Tiva LaunchPad
Texas Instruments EK-TM4C123GXL TM4C Tiva LaunchPad
×1
opamps
×1
Microphone with preamps
×2
Personal Computer
×1
Servo Motor
×1

Software apps and online services

Windows 10 IoT Core
Microsoft Windows 10 IoT Core
Visual Studio 2015
Microsoft Visual Studio 2015

Story

Read more

Schematics

Analogue Filter

Code

Main Code for TivaC

C/C++
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_ints.h"
#include "inc/hw_types.h"
#include "inc/hw_adc.h"
#include "driverlib/pin_map.h"
#include "driverlib/debug.h"
#include "driverlib/sysctl.h"
#include "driverlib/adc.h"
#include "driverlib/rom.h"
#include "driverlib/interrupt.h"
#include "driverlib/gpio.h"
#include "driverlib/timer.h"
#include "driverlib/udma.h"
#include "driverlib/uart.h"
#include "usblib/usblib.h"
#include "usblib/usb-ids.h"
#include "usblib/device/usbdevice.h"
#include "usblib/device/usbdbulk.h"
#include "utils/uartstdio.h"
#include "utils/ustdlib.h"
#include "usb_bulk_structs.h"
#include "driverlib/pwm.h"
#include "global_def.h"
/*
 * main.c
 */

#define PWM_FREQUENCY (50)
#define PWM_MIN (30)
#define PWM_MAX (120)
#define PWM_ZERO (75)

static volatile uint32_t g_ui32DMAErrCount = 0;
void InitADC00(void);
void ConfigureUART(void);

static volatile bool g_bUSBConfigured = false;

#pragma DATA_ALIGN(g_adcPingPong0, 64)
static int32_t g_adcPingPong0[ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT][NUM_CHANNELS];
static int32_t g_adcInIndex0 = 0;
static int32_t g_adcOutIndex0 = 0;
static volatile int32_t g_stall0 = 0;
static volatile int32_t g_adcPingPongStage0[ADC_BUFFER_WINDOW_COUNT] = { 0 };

#pragma DATA_ALIGN(g_adcPingPong1, 64)
static int32_t g_adcPingPong1[ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT][NUM_CHANNELS];
static int32_t g_adcInIndex1 = 0;
static volatile int32_t g_stall1 = 0;
static volatile int32_t g_adcPingPongStage1[ADC_BUFFER_WINDOW_COUNT] = { 0 };

static uint32_t g_msg_index = 0;
static uint32_t g_usb_receive_size = 0;
static volatile int32_t g_usb_bytes_to_read = 0;

static uint32_t g_ui32Load;
static uint32_t g_ui32PWMClock;
static uint8_t g_ui8Adjust = PWM_ZERO;
static volatile uint8_t g_ui8AdjustPending = PWM_ZERO;

static int32_t g_channelSum[NUM_CHANNELS] = { 0 };
static int16_t g_channelOffset[NUM_CHANNELS] = { 0 };
static int32_t g_channelOffsetCount = 0;
static uint8_t g_fire = 0;



static int32_t g_filter[FILTER_SIZE] =
{
		2158	,
		-3620	,
		-7100	,
		-4486	,
		1833	,
		2758	,
		-2365	,
		-3667	,
		2091	,
		4641	,
		-1618	,
		-5790	,
		807	,
		7030	,
		412	,
		-8308	,
		-2119	,
		9586	,
		4462	,
		-10802	,
		-7643	,
		11929	,
		12065	,
		-12913	,
		-18596	,
		13723	,
		29512	,
		-14331	,
		-53266	,
		14702	,
		166092	,
		247319	,
		166092	,
		14702	,
		-53266	,
		-14331	,
		29512	,
		13723	,
		-18596	,
		-12913	,
		12065	,
		11929	,
		-7643	,
		-10802	,
		4462	,
		9586	,
		-2119	,
		-8308	,
		412	,
		7030	,
		807	,
		-5790	,
		-1618	,
		4641	,
		2091	,
		-3667	,
		-2365	,
		2758	,
		1833	,
		-4486	,
		-7100	,
		-3620	,
		2158
};

// uDMA control table aligned to 1024-byte boundary
#pragma DATA_ALIGN(pui8ControlTable, 1024)
uint8_t pui8ControlTable[1024];


#if ((ADC_BUFFER_SIZE * (ADC_BUFFER_WINDOW_COUNT - 1)) < FILTER_SIZE)
error
#endif

int main(void)
{
	//uint32_t ui32Period;
	SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_OSC_MAIN|SYSCTL_XTAL_16MHZ);
	SysCtlPWMClockSet(SYSCTL_PWMDIV_64);

	// configure USB
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
    ROM_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_4 | GPIO_PIN_5);

	ConfigureUART();

	// gpio
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
	GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
	GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, GPIO_PIN_7);
	GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_7, 0);

	// configure pwm
	SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
	GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_6);
	GPIOPinConfigure(GPIO_PB6_M0PWM0);
	g_ui32PWMClock = SysCtlClockGet() / 64;
	g_ui32Load = (g_ui32PWMClock / PWM_FREQUENCY) - 1;
	PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN);
	PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, g_ui32Load);

	PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, g_ui8Adjust * g_ui32Load / 1000);
	PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, true);
	PWMGenEnable(PWM0_BASE, PWM_GEN_0);

	// usb
	g_bUSBConfigured = false;
    USBBufferInit(&g_sTxBuffer);
    USBBufferInit(&g_sRxBuffer);
    USBStackModeSet(0, eUSBModeForceDevice, 0);
    USBDBulkInit(0, &g_sBulkDevice);

	// dma
	SysCtlPeripheralClockGating(true);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA);
	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UDMA);
	IntEnable(INT_UDMAERR);
	uDMAEnable();
	uDMAControlBaseSet(pui8ControlTable);

	// adc
	InitADC00();

	IntMasterEnable();

	UARTprintf("ADC USB\n");

	tUSBRingBufObject sTxRing;
	uint32_t ui32Space = 0, ui32WriteIndex = 0, ui32Count = 0, ui32HeaderIndex = 0;
	bool header_reserved = false;
	bool overflow = false;

	USBBufferInfoGet(&g_sTxBuffer, &sTxRing);
	ui32WriteIndex = sTxRing.ui32WriteIndex % BULK_TX_BUFFER_SIZE;
	ui32Space = USBBufferSpaceAvailable(&g_sTxBuffer);


	UARTprintf("=============================\n");
	UARTprintf("begin: wi:%d sp:%d.\n", ui32WriteIndex, ui32Space);

	//int16_t debug = 1;
	while(true)
	{
		int32_t i, j, r0, r1;
		bool samples_added = false;

		///////////////////////////////////////////////////////////////////////
		// add header if necessary
		if((header_reserved == false) && (ui32Space > BULK_BLOCK_SIZE))
		{
			header_reserved = true;
			ui32Space -= BULK_BLOCK_SIZE;
			ui32HeaderIndex = ui32WriteIndex;
			ui32WriteIndex = (ui32WriteIndex + BULK_BLOCK_SIZE) % BULK_TX_BUFFER_SIZE;
		}

		///////////////////////////////////////////////////////////////////////
		// adc 0
		r0 = g_adcOutIndex0 / ADC_BUFFER_SIZE;
		int offset =((FILTER_SIZE - (ADC_BUFFER_SIZE-1))/ADC_BUFFER_SIZE)+2;
		r1 = (r0 + offset) % ADC_BUFFER_WINDOW_COUNT;

		if((g_adcPingPongStage0[r0]==2) && (g_adcPingPongStage0[r1]==2))
		{
			if(ui32Space > (BULK_BLOCK_SIZE * ADC_DECIMATED_BUFFER_SIZE))
			{
				if((overflow == false) || (g_usb_bytes_to_read > 0))
				{
					GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 4);
					for(j=ADC_DECIMATED_BUFFER_SIZE;j>0;j--)
					{
						// filter
						int32_t accum[NUM_CHANNELS] = { 0 };
						int32_t *filter = g_filter;
						int32_t *src = &g_adcPingPong0[g_adcOutIndex0][0];
						int32_t count = min(FILTER_SIZE, (ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT - g_adcOutIndex0));
						for(i=count;i>0;i--)
						{
							int32_t f = *filter;
							accum[0] += *src++ * f;
							accum[1] += *src++ * f;
							accum[2] += *src++ * f;
							accum[3] += *src++ * f;
							accum[4] += *src++ * f;
							accum[5] += *src++ * f;
							accum[6] += *src++ * f;
							accum[7] += *src++ * f;
							filter++;
						}
						int32_t next_count = FILTER_SIZE - count;
						src = &g_adcPingPong0[0][0];
						for(i=next_count;i>0;i--)
						{
							int32_t f = *filter;
							accum[0] += *src++ * f;
							accum[1] += *src++ * f;
							accum[2] += *src++ * f;
							accum[3] += *src++ * f;
							accum[4] += *src++ * f;
							accum[5] += *src++ * f;
							accum[6] += *src++ * f;
							accum[7] += *src++ * f;
							filter++;
						}

						// add to usb buffer
						int16_t *usb_ptr = (int16_t *)&g_pui8USBTxBuffer[ui32WriteIndex];
						*usb_ptr++ = (accum[0] >> 16);
						*usb_ptr++ = (accum[1] >> 16);
						*usb_ptr++ = (accum[2] >> 16);
						*usb_ptr++ = (accum[3] >> 16);
						*usb_ptr++ = (accum[4] >> 16);
						*usb_ptr++ = (accum[5] >> 16);
						*usb_ptr++ = (accum[6] >> 16);
						*usb_ptr++ = (accum[7] >> 16);
						ui32Count += BULK_BLOCK_SIZE;
						ui32Space -= BULK_BLOCK_SIZE;
						ui32WriteIndex = (ui32WriteIndex + BULK_BLOCK_SIZE) % BULK_TX_BUFFER_SIZE;
						g_adcOutIndex0 = (g_adcOutIndex0 + DECIMATION_INC) % (ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT);
					}
					samples_added = true;
					GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
				}
			}
			else
			{
				// run out of space, reset
				header_reserved = false;
	            USBBufferFlush(&g_sTxBuffer);
				USBBufferInfoGet(&g_sTxBuffer, &sTxRing);
				ui32Count = 0;
				ui32WriteIndex = sTxRing.ui32WriteIndex % BULK_TX_BUFFER_SIZE;
				ui32Space = USBBufferSpaceAvailable(&g_sTxBuffer);
				header_reserved = false;
				overflow = true;
				UARTprintf("overflow sp:%d\n", ui32Space);
			}
			if(samples_added == false)
			{
				g_adcOutIndex0 = (g_adcOutIndex0 + ADC_BUFFER_SIZE) % (ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT);
			}
			g_adcPingPongStage0[r0] = 0;

			if(g_ui8AdjustPending != g_ui8Adjust)
			{
				if(g_ui8AdjustPending < g_ui8Adjust)
				{
					g_ui8Adjust--;
					PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, g_ui8Adjust * g_ui32Load / 1000);
				}
				else if(g_ui8AdjustPending > g_ui8Adjust)
				{
					g_ui8Adjust++;
					PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, g_ui8Adjust * g_ui32Load / 1000);
				}
			}
			GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_7, g_fire ? GPIO_PIN_7 : 0);
		}
		else
		{
			for(j=0;j<ADC_BUFFER_WINDOW_COUNT;j++)
			{
				if((g_adcPingPongStage0[j]==1) && (g_adcPingPongStage1[j]==1))
				{
					int32_t *src0 = &g_adcPingPong0[j*ADC_BUFFER_SIZE][0];
					int32_t *src1 = &g_adcPingPong1[j*ADC_BUFFER_SIZE][0];
					for(i=ADC_BUFFER_SIZE;i>0;i--)
					{
						*src0 += *src1++ - 0x1000; g_channelSum[0] -= *src0; *src0++ += g_channelOffset[0];
						*src0 += *src1++ - 0x1000; g_channelSum[1] -= *src0; *src0++ += g_channelOffset[1];
						*src0 += *src1++ - 0x1000; g_channelSum[2] -= *src0; *src0++ += g_channelOffset[2];
						*src0 += *src1++ - 0x1000; g_channelSum[3] -= *src0; *src0++ += g_channelOffset[3];
						*src0 += *src1++ - 0x1000; g_channelSum[4] -= *src0; *src0++ += g_channelOffset[4];
						*src0 += *src1++ - 0x1000; g_channelSum[5] -= *src0; *src0++ += g_channelOffset[5];
						*src0 += *src1++ - 0x1000; g_channelSum[6] -= *src0; *src0++ += g_channelOffset[6];
						*src0 += *src1++ - 0x1000; g_channelSum[7] -= *src0; *src0++ += g_channelOffset[7];
					}
					g_adcPingPongStage0[j] = 2;
					g_adcPingPongStage1[j] = 0;
					g_channelOffsetCount++;
				}
			}
			if(g_channelOffsetCount > CHANNEL_OFFSET_AVERAGE_COUNT)
			{
				g_channelOffset[0] = (g_channelOffset[0] / 2) + (int16_t)(g_channelSum[0] / CHANNEL_OFFSET_AVERAGE_DIVISOR);
				g_channelOffset[1] = (g_channelOffset[1] / 2) + (int16_t)(g_channelSum[1] / CHANNEL_OFFSET_AVERAGE_DIVISOR);
				g_channelOffset[2] = (g_channelOffset[2] / 2) + (int16_t)(g_channelSum[2] / CHANNEL_OFFSET_AVERAGE_DIVISOR);
				g_channelOffset[3] = (g_channelOffset[3] / 2) + (int16_t)(g_channelSum[3] / CHANNEL_OFFSET_AVERAGE_DIVISOR);
				g_channelOffset[4] = (g_channelOffset[4] / 2) + (int16_t)(g_channelSum[4] / CHANNEL_OFFSET_AVERAGE_DIVISOR);
				g_channelOffset[5] = (g_channelOffset[5] / 2) + (int16_t)(g_channelSum[5] / CHANNEL_OFFSET_AVERAGE_DIVISOR);
				g_channelOffset[6] = (g_channelOffset[6] / 2) + (int16_t)(g_channelSum[6] / CHANNEL_OFFSET_AVERAGE_DIVISOR);
				g_channelOffset[7] = (g_channelOffset[7] / 2) + (int16_t)(g_channelSum[7] / CHANNEL_OFFSET_AVERAGE_DIVISOR);
				g_channelOffsetCount = 0;
				g_channelSum[0] = 0;
				g_channelSum[1] = 0;
				g_channelSum[2] = 0;
				g_channelSum[3] = 0;
				g_channelSum[4] = 0;
				g_channelSum[5] = 0;
				g_channelSum[6] = 0;
				g_channelSum[7] = 0;
			}
		}

		///////////////////////////////////////////////////////////////////////
		// process USB if necessary
		if(samples_added)
		{
			// flush usb buffer..
			int32_t usb_want = g_usb_bytes_to_read - BULK_BLOCK_SIZE;
			int32_t high_water = (USB_HIGH_WATER_MULTIPLIER * BULK_BLOCK_SIZE);
			int32_t target_size = min(usb_want, high_water);
			if((ui32Count == target_size) && (target_size > 0))
			{
				// add in header
				int8_t *usb_ptr = (int8_t *)&g_pui8USBTxBuffer[ui32HeaderIndex];
				// 16 byte header
				*usb_ptr++ = 0xAA;
				*usb_ptr++ = 0xAA;
				*usb_ptr++ = (target_size >> 8) & 0xFF;
				*usb_ptr++ = (target_size) & 0xFF;
				for(i=12;i>0;i--)
					*usb_ptr++ = 0;

				USBBufferDataWritten(&g_sTxBuffer, target_size + BULK_BLOCK_SIZE);

				header_reserved = false;
				overflow = false;
				IntMasterDisable();
				g_usb_bytes_to_read -= (target_size + BULK_BLOCK_SIZE);
				if(g_usb_bytes_to_read < 0)
					g_usb_bytes_to_read = 0;
				IntMasterEnable();
				// get usb status
				USBBufferInfoGet(&g_sTxBuffer, &sTxRing);
				ui32WriteIndex = sTxRing.ui32WriteIndex % BULK_TX_BUFFER_SIZE;
				ui32Space = USBBufferSpaceAvailable(&g_sTxBuffer);
				ui32Count = 0;
			}
		}
		else
		{
			if(g_stall0 > 0)
			{
				UARTprintf("stall 0:%d\n", g_stall0);
				g_stall0 = 0;
			}
			if(g_stall1 > 0)
			{
				UARTprintf("stall 1:%d\n", g_stall1);
				g_stall1 = 0;
			}
		}
	}
}

void Timer0IntHandler(void)
{
	// Clear the timer interrupt
	TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
	// Read the current state of the GPIO pin and
	// write back the opposite state
	/*
	if(GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_2))
	{
		GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
	}
	else
	{
		GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 4);
	}
	*/
}

void uDMAErrorHandler(void)
{
	uint32_t ui32Status;
	ui32Status = uDMAErrorStatusGet();
	if(ui32Status)
	{
		uDMAErrorStatusClear();
		g_ui32DMAErrCount++;
	}
}

// ADC interrupt handler. Called on completion of uDMA transfer
void ADC00IntHandler(void)
{
    uint32_t ui32ModeP;
    uint32_t ui32ModeA;

    ADCIntClear(ADC0_BASE, 0);

    ui32ModeP = uDMAChannelModeGet(UDMA_CHANNEL_ADC0 | UDMA_PRI_SELECT);
    if(ui32ModeP == UDMA_MODE_STOP)
    {
        uDMAChannelTransferSet(UDMA_CHANNEL_ADC0 | UDMA_PRI_SELECT,
                                   UDMA_MODE_PINGPONG,
								   (void *) (ADC0_BASE + ADC_O_SSFIFO0),
								   &g_adcPingPong0[g_adcInIndex0][0], NUM_CHANNELS);
        uDMAChannelEnable(UDMA_CHANNEL_ADC0);
        g_adcInIndex0 = (g_adcInIndex0 + 1) % (ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT);
        if((g_adcInIndex0 % ADC_BUFFER_SIZE) == 2)
        {
        	int32_t ready_buffer = (g_adcInIndex0 / ADC_BUFFER_SIZE);
        	if(g_adcPingPongStage0[ready_buffer % ADC_BUFFER_WINDOW_COUNT] != 0)
        		g_stall0++;
       		ready_buffer = (ready_buffer - 1 + ADC_BUFFER_WINDOW_COUNT) % ADC_BUFFER_WINDOW_COUNT;
       		g_adcPingPongStage0[ready_buffer] = 1;
        }
    }
    else
    {
    	ui32ModeA = uDMAChannelModeGet(UDMA_CHANNEL_ADC0 | UDMA_ALT_SELECT);
		if(ui32ModeA == UDMA_MODE_STOP)
		{
			uDMAChannelTransferSet(UDMA_CHANNEL_ADC0 | UDMA_ALT_SELECT,
									   UDMA_MODE_PINGPONG,
									   (void *) (ADC0_BASE + ADC_O_SSFIFO0),
									   &g_adcPingPong0[g_adcInIndex0][0], NUM_CHANNELS);
			uDMAChannelEnable(UDMA_CHANNEL_ADC0);
			g_adcInIndex0 = (g_adcInIndex0 + 1) % (ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT);
			if((g_adcInIndex0 % ADC_BUFFER_SIZE) == 2)
			{
				int32_t ready_buffer = (g_adcInIndex0 / ADC_BUFFER_SIZE);
				if(g_adcPingPongStage0[ready_buffer % ADC_BUFFER_WINDOW_COUNT] != 0)
					g_stall0++;
				ready_buffer = (ready_buffer - 1 + ADC_BUFFER_WINDOW_COUNT) % ADC_BUFFER_WINDOW_COUNT;
				g_adcPingPongStage0[ready_buffer] = 1;
			}
		}
    }
}

// ADC interrupt handler. Called on completion of uDMA transfer
void ADC10IntHandler(void)
{
    uint32_t ui32ModeP;
    uint32_t ui32ModeA;

    ADCIntClear(ADC1_BASE, 0);

    ui32ModeP = uDMAChannelModeGet(UDMA_CHANNEL_SSI1RX | UDMA_PRI_SELECT);

    if(ui32ModeP == UDMA_MODE_STOP)
    {
        uDMAChannelTransferSet(UDMA_CHANNEL_SSI1RX | UDMA_PRI_SELECT,
                                   UDMA_MODE_PINGPONG,
								   (void *) (ADC1_BASE + ADC_O_SSFIFO0),
								   &g_adcPingPong1[g_adcInIndex1][0], NUM_CHANNELS);
        uDMAChannelEnable(UDMA_CHANNEL_SSI1RX);
        g_adcInIndex1 = (g_adcInIndex1 + 1) % (ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT);
        if((g_adcInIndex1 % ADC_BUFFER_SIZE) == 2)
        {
        	int32_t ready_buffer = (g_adcInIndex1 / ADC_BUFFER_SIZE);
        	if(g_adcPingPongStage1[ready_buffer % ADC_BUFFER_WINDOW_COUNT] != 0)
        		g_stall1++;
       		ready_buffer = (ready_buffer - 1 + ADC_BUFFER_WINDOW_COUNT) % ADC_BUFFER_WINDOW_COUNT;
       		g_adcPingPongStage1[ready_buffer] = 1;
        }
    }
    else
    {
    	ui32ModeA = uDMAChannelModeGet(UDMA_CHANNEL_SSI1RX | UDMA_ALT_SELECT);
		if(ui32ModeA == UDMA_MODE_STOP)
		{
			uDMAChannelTransferSet(UDMA_CHANNEL_SSI1RX | UDMA_ALT_SELECT,
									   UDMA_MODE_PINGPONG,
									   (void *) (ADC1_BASE + ADC_O_SSFIFO0),
									   &g_adcPingPong1[g_adcInIndex1][0], NUM_CHANNELS);
			uDMAChannelEnable(UDMA_CHANNEL_SSI1RX);
			g_adcInIndex1 = (g_adcInIndex1 + 1) % (ADC_BUFFER_SIZE*ADC_BUFFER_WINDOW_COUNT);
			if((g_adcInIndex1 % ADC_BUFFER_SIZE) == 2)
			{
				int32_t ready_buffer = (g_adcInIndex1 / ADC_BUFFER_SIZE);
				if(g_adcPingPongStage1[ready_buffer % ADC_BUFFER_WINDOW_COUNT] != 0)
					g_stall1++;
				ready_buffer = (ready_buffer - 1 + ADC_BUFFER_WINDOW_COUNT) % ADC_BUFFER_WINDOW_COUNT;
				g_adcPingPongStage1[ready_buffer] = 1;
			}
		}
    }
}


// Initialize ADC 0 0 uDMA transfer
void InitADC00(void)
{
	SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC1);

	GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_3 | GPIO_PIN_2 | GPIO_PIN_1 | GPIO_PIN_0); // 0, 1, 2, 3
	GPIOPinTypeADC(GPIO_PORTD_BASE, GPIO_PIN_3 | GPIO_PIN_2 | GPIO_PIN_1 | GPIO_PIN_0); // 4, 5, 6, 7

	ADCHardwareOversampleConfigure(ADC0_BASE, HW_AVERAGE);
	ADCSequenceConfigure(ADC0_BASE, 0, ADC_TRIGGER_ALWAYS, 0);
	ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ADC_CTL_CH0);
	ADCSequenceStepConfigure(ADC0_BASE, 0, 1, ADC_CTL_CH1);
	ADCSequenceStepConfigure(ADC0_BASE, 0, 2, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC0_BASE, 0, 3, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC0_BASE, 0, 4, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC0_BASE, 0, 5, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC0_BASE, 0, 6, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC0_BASE, 0, 7, ADC_CTL_TS|ADC_CTL_IE|ADC_CTL_END);
	ADCSequenceDMAEnable(ADC0_BASE, 0);

	// adc 0
    uDMAChannelAttributeDisable(UDMA_CHANNEL_ADC0,
                                    UDMA_ATTR_ALTSELECT | UDMA_ATTR_USEBURST |
                                    UDMA_ATTR_HIGH_PRIORITY |
                                    UDMA_ATTR_REQMASK);

    uDMAChannelControlSet(UDMA_CHANNEL_ADC0 | UDMA_PRI_SELECT,
                            UDMA_SIZE_32 | UDMA_SRC_INC_NONE | UDMA_DST_INC_32 |
                              UDMA_ARB_8);

    uDMAChannelControlSet(UDMA_CHANNEL_ADC0 | UDMA_ALT_SELECT,
    						UDMA_SIZE_32 | UDMA_SRC_INC_NONE | UDMA_DST_INC_32 |
                              UDMA_ARB_8);

    uDMAChannelTransferSet(UDMA_CHANNEL_ADC0 | UDMA_PRI_SELECT,
                               UDMA_MODE_PINGPONG,
							   (void *) (ADC0_BASE + ADC_O_SSFIFO0),
							   &g_adcPingPong0[0][0], NUM_CHANNELS);

    uDMAChannelTransferSet(UDMA_CHANNEL_ADC0 | UDMA_ALT_SELECT,
                               UDMA_MODE_PINGPONG,
							   (void *) (ADC0_BASE + ADC_O_SSFIFO0),
							   &g_adcPingPong0[1][0], NUM_CHANNELS);
    g_adcInIndex0 = 2;

    // adc 1
	ADCHardwareOversampleConfigure(ADC1_BASE, HW_AVERAGE);
	ADCSequenceConfigure(ADC1_BASE, 0, ADC_TRIGGER_ALWAYS, 1);
	ADCSequenceStepConfigure(ADC1_BASE, 0, 0, ADC_CTL_CH0);
	ADCSequenceStepConfigure(ADC1_BASE, 0, 1, ADC_CTL_CH1);
	ADCSequenceStepConfigure(ADC1_BASE, 0, 2, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC1_BASE, 0, 3, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC1_BASE, 0, 4, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC1_BASE, 0, 5, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC1_BASE, 0, 6, ADC_CTL_TS);
	ADCSequenceStepConfigure(ADC1_BASE, 0, 7, ADC_CTL_TS|ADC_CTL_IE|ADC_CTL_END);
	ADCPhaseDelaySet(ADC1_BASE, ADC_PHASE_180);
	ADCSequenceDMAEnable(ADC1_BASE, 0);
    uDMAChannelAttributeDisable(UDMA_CHANNEL_SSI1RX,
                                    UDMA_ATTR_ALTSELECT | UDMA_ATTR_USEBURST |
                                    UDMA_ATTR_HIGH_PRIORITY |
                                    UDMA_ATTR_REQMASK);

    uDMAChannelControlSet(UDMA_CHANNEL_SSI1RX | UDMA_PRI_SELECT,
                            UDMA_SIZE_32 | UDMA_SRC_INC_NONE | UDMA_DST_INC_32 |
                              UDMA_ARB_8);

    uDMAChannelControlSet(UDMA_CHANNEL_SSI1RX | UDMA_ALT_SELECT,
    						UDMA_SIZE_32 | UDMA_SRC_INC_NONE | UDMA_DST_INC_32 |
                              UDMA_ARB_8);

    uDMAChannelTransferSet(UDMA_CHANNEL_SSI1RX | UDMA_PRI_SELECT,
                               UDMA_MODE_PINGPONG,
							   (void *) (ADC1_BASE + ADC_O_SSFIFO0),
							   &g_adcPingPong1[0][0], NUM_CHANNELS);

    uDMAChannelTransferSet(UDMA_CHANNEL_SSI1RX | UDMA_ALT_SELECT,
                               UDMA_MODE_PINGPONG,
							   (void *) (ADC1_BASE + ADC_O_SSFIFO0),
							   &g_adcPingPong1[1][0], NUM_CHANNELS);
    uDMAChannelAssign(UDMA_CH24_ADC1_0);
    g_adcInIndex1 = 2;

    // both
    uDMAChannelEnable(UDMA_CHANNEL_ADC0);
    uDMAChannelEnable(UDMA_CHANNEL_SSI1RX);

	ADCIntClear(ADC0_BASE, 0);
	ADCIntClear(ADC1_BASE, 0);
	ADCIntEnable(ADC0_BASE, 0);
	ADCIntEnable(ADC1_BASE, 0);
	IntEnable(INT_ADC0SS0);
	IntEnable(INT_ADC1SS0);

	ADCSequenceEnable(ADC0_BASE, 0);
	ADCSequenceEnable(ADC1_BASE, 0);
}

//*****************************************************************************
//
// Configure the UART and its pins.  This must be called before UARTprintf().
//
//*****************************************************************************
void ConfigureUART(void)
{
    //
    // Enable the GPIO Peripheral used by the UART.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

    //
    // Enable UART0
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);

    //
    // Configure GPIO Pins for UART mode.
    //
    ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
    ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
    ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);

    //
    // Use the internal 16MHz oscillator as the UART clock source.
    //
    UARTClockSourceSet(UART0_BASE, UART_CLOCK_PIOSC);

    //
    // Initialize the UART for console I/O.
    //
    UARTStdioConfig(0, 115200, 16000000);
}


//*****************************************************************************
//
// Handles bulk driver notifications related to the transmit channel (data to
// the USB host).
//
// \param pvCBData is the client-supplied callback pointer for this channel.
// \param ui32Event identifies the event we are being notified about.
// \param ui32MsgValue is an event-specific value.
// \param pvMsgData is an event-specific pointer.
//
// This function is called by the bulk driver to notify us of any events
// related to operation of the transmit data channel (the IN channel carrying
// data to the USB host).
//
// \return The return value is event-specific.
//
//*****************************************************************************
uint32_t
TxHandler(void *pvCBData, uint32_t ui32Event, uint32_t ui32MsgValue,
          void *pvMsgData)
{
    //
    // We are not required to do anything in response to any transmit event
    // in this example. All we do is update our transmit counter.
    //
    if(ui32Event == USB_EVENT_TX_COMPLETE)
    {
        //g_ui32TxCount += ui32MsgValue;
    }

    //
    // Dump a debug message.
    //
    //DEBUG_PRINT("TX complete %d\n", ui32MsgValue);

    return(0);
}

//*****************************************************************************
//
// Handles bulk driver notifications related to the receive channel (data from
// the USB host).
//
// \param pvCBData is the client-supplied callback pointer for this channel.
// \param ui32Event identifies the event we are being notified about.
// \param ui32MsgValue is an event-specific value.
// \param pvMsgData is an event-specific pointer.
//
// This function is called by the bulk driver to notify us of any events
// related to operation of the receive data channel (the OUT channel carrying
// data from the USB host).
//
// \return The return value is event-specific.
//
//*****************************************************************************
uint32_t
RxHandler(void *pvCBData, uint32_t ui32Event,
               uint32_t ui32MsgValue, void *pvMsgData)
{
    //
    // Which event are we being sent?
    //
    switch(ui32Event)
    {
        //
        // We are connected to a host and communication is now possible.
        //
        case USB_EVENT_CONNECTED:
        {
            g_bUSBConfigured = true;
            UARTprintf("Host connected.\n");

            //
            // Flush our buffers.
            //
            USBBufferFlush(&g_sTxBuffer);
            USBBufferFlush(&g_sRxBuffer);
            IntMasterDisable();
            g_usb_bytes_to_read = 0;
            IntMasterEnable();

            break;
        }

        //
        // The host has disconnected.
        //
        case USB_EVENT_DISCONNECTED:
        {
            g_bUSBConfigured = false;
            UARTprintf("Host disconnected.\n");
            break;
        }

        //
        // A new packet has been received.
        //
        case USB_EVENT_RX_AVAILABLE:
        {
            int i;

            //
            // Read the command 0xAA
            //
            // byte 0: command = 0xAA read
            // byte 1: MSB buffer size
            // byte 2: LSB buffer size

            uint8_t *data = (uint8_t *)pvMsgData;
            uint8_t pwm;
			for(i = ui32MsgValue;i>0;i--)
			{
				switch(g_msg_index)
				{
				default:
				case 0:
					if(*data == 0xAA)
					{
						g_msg_index++;
					}
					break;
				case 1:
					if(*data == 0xAA)
						g_msg_index++;
					else
						g_msg_index = 0;
					break;
				case 2:
					g_usb_receive_size = (uint32_t)*data << 8;
					g_msg_index++;
					break;
				case 3:
					g_usb_receive_size += (uint32_t)*data;
					if(g_usb_receive_size > 0)
					{
						IntMasterDisable();
						g_usb_bytes_to_read += g_usb_receive_size;
						IntMasterEnable();
					}
					g_msg_index++;
					break;
				case 4:
					pwm = *data;
					pwm = min(pwm, PWM_MAX);
					pwm = max(pwm, PWM_MIN);
					g_ui8AdjustPending = pwm;
					//if(g_ui8AdjustPending != g_ui8Adjust)
					//{
					// cause stack overflow
					//UARTprintf("pwm:%d\n", g_ui8AdjustPending);
					//}
					g_msg_index++;
					break;
				case 5:
					g_fire = (*data);
					g_msg_index = 0;
					break;
				}
				data++;
				if(data >= &g_pui8USBRxBuffer[BULK_RX_BUFFER_SIZE])
				{
					data = &g_pui8USBRxBuffer[0];
				}

            }
			USBBufferDataRemoved(&g_sRxBuffer, ui32MsgValue);
            break;
        }

        //
        // Ignore SUSPEND and RESUME for now.
        //
        case USB_EVENT_SUSPEND:
        case USB_EVENT_RESUME:
        {
            break;
        }

        //
        // Ignore all other events and return 0.
        //
        default:
        {
            break;
        }
    }

    return(0);
}

Credits

Graham Chow

Graham Chow

14 projects • 80 followers
I'm a software developer on a long sabbatical. I've had wide experience from banking to underwater military sonar systems.

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