Programming dsPIC MCU in BASIC

Chapter14: DSP Examples

14.1 Useful functions and procedures

At the beginning of this chapter the functions and procedures used in this chapter will be described together with some other useful functions and procedures. Table 14-1 presents a list of the functions and procedures including a description of their parameters, results (functions only), and eventual restrictions on the parameter values.

• FIR_Radix
• IIR_Radix
• FFT
• IFFT
• BitReverseComplex
• Vector_Set
• VectorPower
• Vector_Subtract
• VectorScale
• Vector_Negate
• Vector_Multiply
• Vector_Min
• Vector_Max
• Vector_Dot
• Vector_Correlate
• Vector_Convolve
• Vector_Add
• Matrix_Transponse
• Matrix_Subtract
• Matrix_Scale
• Matrix_Multiply
• Matrix_Add

FIR_Radix

IIR_Radix

FFT

IFFT

BitReverseComplex

Vector_Set

VectorPower

Vector_Subtract

VectorScale

Vector_Negate

Vector_Multiply

Vector_Min

Vector_Max

Vector_Dot

Vector_Correlate

Vector_Convolve

Vector_Add

Matrix_Transponse

Matrix_Subtract

Matrix_Scale

Matrix_Multiply

Matrix_Add

14.2.1 Example 1 – Menu

The example shows a method of formation of a menu with options on an LCD in 4-bit mode. Setting of bit 1 on port F means go to the next option, whereas setting of bit 0 on port F means go to the previous option. The rate of transition to the next/previous option is limited so the maximum of 4 transitions per second is allowed.

' This project is designed to work with PIC P30F6014A. It has been tested
' on dsPICPRO3 development system with 10.0 MHz crystal and 8xPLL.
' It should work with any other crystal.
' Note: the maximum operating frequency for dsPIC is 120MHz.
' With minor adjustments, this example should work with any other dsPIC MCU

program MenuTest1

dim
  menu_index as short
  menu as String[5][6] absolute $1880 ' Array[0..4] of String[6]
                                      ' Directive absolute specifies
                                      '   the starting address in RAM for a variable.

main:
  ADPCFG = $FFFF                      ' Configure PORTB as digital
  TRISF  = $FFFF                      ' Configure PORTF as input (menu control)

  menu_index = 0                      ' Init menu_item[0]
  menu[0] = "First"                   ' Menu items
  menu[1] = "Second"
  menu[2] = "Third"
  menu[3] = "Fourth"
  menu[4] = "Fifth"

  Lcd_Init_DsPicPro3()                ' Init LCD in 4-bit mode for dsPICPRO3 board
  ' Note: GLCD/LCD Setup routines are in the setup library files located in the Uses folder
  '       These routines will be moved into AutoComplete in the future.
  Lcd_Cmd(LCD_CURSOR_OFF)
  Lcd_Cmd(LCD_FIRST_ROW)
  Lcd_Out(1,1,"Menu :")

  Lcd_Out(1,8,menu[menu_index])       ' Show menu element on LCD

  while true                          ' endless loop
  
    if PORTF.1 = 1 then               ' Detect logical one on RF1 pin => MENU UP
      menu_index = menu_index+1       ' Next index in menu
      if menu_index>4 then
        menu_index = 0                ' Circular menu
      end if
      Lcd_Out(1,8, "      ")          ' Clear text
      Lcd_Out(1,8,menu[menu_index])   ' Show menu element on LCD
      Delay_ms(250)                   ' No more than 4 changes per sec
    end if
      
    if PORTF.0 = 1 then               ' Detect logical one on RF0 pin => MENU DOWN
      menu_index = menu_index-1       ' Previous index in menu
      if menu_index<0 then
        menu_index = 4                ' Circular menu
      end if
      Lcd_Out(1,8, "      ")          ' Clear text
      Lcd_Out(1,8,menu[menu_index])   ' Show menu element on LCD
      Delay_ms(250)                   ' No more than 4 changes per sec
    end if
    
  wend
  
end.

14.2.2 Example 2 – DTMFout

The example shows a method of generation of DTMF signal. The following assumptions have been adopted:

• the level of the signal of the higher frequency is 0 to 3dB higher compared to the signal of the lower frequency,
• transmission of one character lasts 90ms, the pause between two characters is 200ms,
• the sampling frequency is 20kHz,
• input data are sent to the microcontroller via the UART module at the rate of 9600 bps.

The algorithm of generating the signal is the following. On the basis of the calculated frequencies the square signal is sent first. Then, this signal is filtered by a low pass IIR filter of the third order (4 coefficients). The output signal specifications are:

• frequency deviation is less than 1.5%,
• the level of all harmonics is 20dB below the useful signal.

The algorithm is shown in Fig. 14-1.

Fig. 14-1 Algorithm for generation of DTMF signal

Digital filter is lowpass Chebyshev type 1 filter. Wp is 1700 Hz, Ap is 3dB, sampling frequency is 20kHz. Third order fiter can meet the requirements:

a) level of all harmonics is 20dB below the useful signal:

Harmonic nearest to the useful signal is 3xf1. f1 is lowest frequency of useful signal, f1=697 Hz. Fourier series of square wave signal implies that amplitude of 3xf1=2091 Hz harmonic is 1/3 of f1signal amplitude. So we already have -9.5dB. In IIR frequency window we can see that 3xf1 frequency is 12dB weaker than useful signal. The most critical harmonic 3xf1 is -9.5dB -12dB = -21.5dB weaker than useful signal – so this requirement is fullfilled.

b) the level of the signal of the higher frequency is 0 to 3dB higher compared to the signal of the lower frequency:

IIR frequency window also shows that low frequencies 697-941Hz filter attenuation is in -3dB to -2.8dB range and low frequencies 1209-1633Hz filter attenuation is in –1.8dB to 0dB range. So any higher frequency signal is 1 to 3dB stronger than any lower frequency signal.

Filter Designer Tool Window 1.

Filter Designer Tool Window 2.

Fig. 14-2 shows the generated signal. The signals of the lower and higher frequencies are added, with the higher frequency signal 3dB below the lower frequency signal.

Fig. 14-2 Generated signal.

Fig. 14-3 Spectrum of the signal of Fig. 14-2

Fig. 14-4 Filtered signal

Fig. 14-5 Spectrum of the signal after filtering (output signal)

For generation of the filter coefficients use the Filter Designer Tool which is a constituent part of mikroBasic for dsPIC.

The program for generation of the described signal is as follows:

' This project is designed to work with PIC P30F6014A. It has been tested
' on dsPICPRO3 board with 10.0 MHz crystal and 8xPLL. It should work with any
' other crystal. Note: the maximum operating frequency for dsPIC is 120MHz.
' With minor adjustments, this example should work with any other dsPIC MCU
'
' On-board DAC module
' Enable SPI connection to DAC on SW4 and DAC's Load(LD) and Chip Select(CS) pins on SW3.

program DTMFout

' *** Filter Designer Tool outputs *** '
const
  BUFFER_SIZE  = 8
  FILTER_ORDER = 3
  COEFF_B as integer[FILTER_ORDER+1] = (0x21F3, 0x65DA, 0x65DA, 0x21F3)
  COEFF_A as integer[FILTER_ORDER+1] = (0x2000, 0xB06D, 0x47EC, 0xE8B6)
  SCALE_B =  6
  SCALE_A = -2

' *** DAC pinout *** '
const  LOAD_PIN = 2                         ' DAC load pin
const  CS_PIN   = 1                         ' DAC CS pin

dim
  THalf_Low, THalf_High as word   ' half-periods of low and high-frequency square signals
  char2send as byte               ' char recived from UART
  sample, sending_ch_cnt as word  ' digital signal sample, sending char counter
  us_cntL, us_cntH as word        ' low and high-frequency square signal microseconds counters
  input_ as integer[BUFFER_SIZE]  ' filter input signal (two square signals)
  output as integer[BUFFER_SIZE]  ' filtered signal
  sample_index as word            ' index of current sample
  voltageL, voltageH as integer   ' square signals amplitudes

sub procedure InitMain()

  LATC.CS_PIN    = 1                        ' set DAC CS to inactive
  LATC.LOAD_PIN  = 0                        ' set DAC LOAD to inactive
  TRISC.LOAD_PIN = 0                        ' configure DAC LOAD pin as output
  TRISC.CS_PIN   = 0                        ' configure DAC CS pin as output

  ' Initialize SPI2 module
  Spi2_Init_Advanced(_SPI_MASTER, _SPI_16_BIT, _SPI_PRESCALE_SEC_1, _SPI_PRESCALE_PRI_1,
                     _SPI_SS_DISABLE, _SPI_DATA_SAMPLE_MIDDLE, _SPI_CLK_IDLE_HIGH,
                     _SPI_ACTIVE_2_IDLE)

  Uart1_Init(9600)                          ' Initialize UART1 module
end sub

sub procedure DAC_Output(dim valueDAC as word)

  LATC.CS_PIN = 0                           ' CS enable for DAC
  ' filter output range is 16-bit number DAC input range is 12-bit number
  valueDAC = valueDAC >> 4
  ' now both numbers are 12-bit but filter output is signed and DAC input is unsigned.
  '  Half of DAC range 4096/2=2048 is added to correct this
  valueDAC = valueDAC + 2048
  SPI2BUF = 0x3000 or valueDAC              ' write valueDAC to DAC (0x3 is required by DAC)
  while (SPI2STAT.1 = 1)                    ' wait for SPI module to finish sending
    nop
  wend
  LATC.CS_PIN = 1                           ' CS disable for DAC
end sub

sub procedure SetPeriods(dim ch as word)

' DTMF frequencies:
'
'            1209 Hz     1336 Hz     1477 Hz     1633 Hz
' 697 Hz       1           2           3           A
' 770 Hz       4           5           6           B
' 852 Hz       7           8           9           C
' 941 Hz       *           0           #           D

  ' Calculate half-periods in microseconds
  '   example: 1/697Hz = 0.001435 seconds = 1435 microseconds
  '            1435/2  = 717
  select case ch
    case 49
      THalf_Low=717 THalf_High=414 '1'
    case 50
      THalf_Low=717 THalf_High=374 '2'
    case 51
      THalf_Low=717 THalf_High=339 '3'
    case 65
      THalf_Low=717 THalf_High=306 'A'
    
    case 52
      THalf_Low=649 THalf_High=414 '4'
    case 53
      THalf_Low=649 THalf_High=374 '5'
    case 54
      THalf_Low=649 THalf_High=339 '6'
    case 66
      THalf_Low=649 THalf_High=306 'B'
    
    case 55
      THalf_Low=587 THalf_High=414 '7'
    case 56
      THalf_Low=587 THalf_High=374 '8'
    case 57
      THalf_Low=587 THalf_High=339 '9'
    case 67
      THalf_Low=587 THalf_High=306 'C'
    
    case 42
      THalf_Low=531 THalf_High=414 '*'
    case 48
      THalf_Low=531 THalf_High=374 '0'
    case 35
      THalf_Low=531 THalf_High=339 '#'
    case 68
      THalf_Low=531 THalf_High=306 'D'
  end select
  
end sub

sub procedure ClearBufs()
  'Clear buffers
  Vector_Set(input_, BUFFER_SIZE, 0)
  Vector_Set(output, BUFFER_SIZE, 0)
end sub

sub procedure Timer1Int org $1A      ' interrupt frequency is 20kHz

  ' calculate sample
  sample = voltageL + voltageH       ' add voltages
  input_[sample_index] = sample      ' write sample to input buffer
  
  ' update low-frequency square signal microseconds counter
  us_cntL = us_cntL + 50             ' since us_cntL and THalf_Low are in microseconds
                                     ' and Timer1 interrupt occures every 50us
                                     ' increment us_cntL by 50
  if us_cntL > THalf_Low then        ' half-period exceeded, change sign
    voltageL = -voltageL
    us_cntL  = us_cntL - THalf_Low   ' subtract half-period
  end if
    
  ' update high-frequency square signal microseconds counter
  us_cntH = us_cntH + 50
  if us_cntH > THalf_High then
    voltageH = -voltageH
    us_cntH  = us_cntH - THalf_High
  end if
    
  'IIR(amp), filtering new sample
  sample = IIR_Radix(SCALE_B, SCALE_A, @COEFF_B, @COEFF_A, FILTER_ORDER+1, 
  @input_, BUFFER_SIZE, @output, sample_index)
  
  DAC_Output(sample)                 ' send sample to digital-to-analog converter

  output[sample_index] = sample      ' write filtered sample in output buffer
  
  Inc(sample_index)                  ' increment sample index, prepare for next sample
  if sample_index = BUFFER_SIZE then
    sample_index = 0
  end if

  Dec(sending_ch_cnt)                ' decrement char sending counter
                                     '   (character transmition lasts 90ms = 1800 samples)
  if sending_ch_cnt = 0 then         ' if character transmition is over
    T1CON=0                          ' turn off Timer1
    Delay_ms(200)                    ' pause between two characters is 200ms
  end if
    
  IFS0.3 = 0                         ' clear Timer1 interrupt flag
end sub


' --- main --- '
main:

  InitMain()                         ' perform initializations

  sending_ch_cnt = 0                 ' reset counter
  sample_index   = 0                 ' initialize sample index

  ' Clear interrupt flags
  IFS0 = 0
  IFS1 = 0
  IFS2 = 0
  
  INTCON1 = $8000                    ' disable nested interrupts
  IEC0    = $0008                    ' enable Timer1 interrupt
  
  ' Timer1 input clock is Fosc/4. Sampling frequency is 20kHz. Timer should
  ' raise interrupt every 50 microseconds. PR1 = (Fosc[Hz]/4) / 20000Hz = Fosc[kHz]/(4*20)
  PR1 = Clock_kHz() div 80
  ' Note: interrupt routine execution takes ~10us

  while true
    if (sending_ch_cnt = 0) and      ' check if sending of previous character is over
       (Uart1_Data_Ready() = 1) then ' check if character arrived via UART1

      char2send = Uart1_Read_Char()  ' read data from UART and store it
      SetPeriods(char2send)          ' set periods for low and high-frequency square signals
      ClearBufs()                    ' clear input and output buffers
      ' digital filter computing error is smaller for signals of higher amplitudes
      '   so signal amplitude should as high as possible. The highest value for
      '   signed integer type is 0x7FFF but since we are adding 2 signals we must
      '   divide it by 2.
      voltageH = $7FFF div 2         ' high-frequency square signal amplitude
      voltageL = $7FFF div 2         ' low-frequency square signal amplitude
      us_cntL = 0                    ' low-frequency square signal microseconds counter
      us_cntH = 0                    ' high-frequency square signal microseconds counter
      
      ' start Timer T1
      sending_ch_cnt =  1800         ' character tansmition lasts 90ms = 1800 samples * 50us
      T1CON          = $8000         ' enable Timer1 (TimerOn, prescaler 1:1)
    end if
  wend
    
end.

14.2.3 Example 3 – DTMFin

The example shows a method of detecting DTMF signal.

The following detection algorithm has been applied.

The level of input signal denoting the presence of DTMF signal is awaited. Frequency estimation over 1024 samples is performed. The sampling frequency is 20kHz. In other words, the process of estimation lasts approximately 50ms. The minimum length of one character is 65ms. The minimum pause after one character is 80ms. For this reason each estimation is followed by an 80ms pause, and then the next character is awaited.

The estimate of the signal frequency can be performed by counting zero crossings, as shown in Fig. 14-6.

Fig. 14-6 DTMF signal before filtering

Before zero crossing estimation algorithm can be performed signal must be filtred to separate low frequency from high frequency.

The signal is then put through a lowpass IIR filter of the 4th order having stopband corner frequency 1200Hz whereby all frequencies except the lower frequency are suppressed.

By counting zero crossings of the filtered signal the estimation of the frequency of the lower frequency signal is performed.

The signal is also put through a highpass IIR filter of the 4th order having stopband corner frequency 950Hz whereby all frequencies except the higher frequency are suppressed. The signal after filtering is shown in Fig. 14-7.

Fig. 14-7 DTMF signal after filtering

By counting zero crossings of the filtered signal the estimation of the frequency of the higher frequency signal is performed. After the frequencies have been obtaind, the sent character is obtained simply by comparison.

For generation of the filter coefficients one can use the Filter Designer Tool which is a constituent part of mikroBasic for dsPIC. Settings of Filter Designer Tool for LowPass and HighPass filter are given below:

IIR lowpass filter settings

IIR lowpass frequency window

IIR highpass filter settings

IIR highpass frequency window

Implementation of the described algorithm:

' This project is designed to work with PIC P30F6014A. It has been tested
' on dsPICPRO3 board with 10.0 MHz crystal and 8xPLL. It should work with any
' other crystal. Note: the maximum operating frequency for dsPIC is 120MHz.
' With minor adjustments, this example should work with any other dsPIC MCU


program DTMFin

' *** DAC pinout *** '
const  LOAD_PIN = 2                         ' DAC load pin
const  CS_PIN   = 1                         ' DAC CS pin


const
' Filter setup:
'     Filter kind: IIR
'     Filter type: lowpass filter
'     Filter order: 4
'     Design method: Chebyshev type II
  BUFFER_SIZE   = 8
  FILTER_ORDER  = 4
  BPF1_COEFF_B as Integer[FILTER_ORDER+1] = ( 0x1BD7, 0xAB5D, 0x753A, 0xAB5D, 0x1BD7)
  BPF1_COEFF_A as Integer[FILTER_ORDER+1] = ( 0x2000, 0xA1C7, 0x6C59, 0xC6EA, 0x0BDE)
  BPF1_SCALE_B  = 0
  BPF1_SCALE_A  = -2
  
' Filter setup:
'     Filter kind: IIR
'     Filter type: Highpass filter
'     Filter order: 4
'     Design method: Chebyshev type II
  BPF2_COEFF_B as Integer[FILTER_ORDER+1] = (0x0BF7, 0xD133, 0x45AF, 0xD133, 0x0BF7)
  BPF2_COEFF_A as Integer[FILTER_ORDER+1] = (0x1000, 0xCA8B, 0x44B5, 0xD7E5, 0x08F3)
  BPF2_SCALE_B       = -3
  BPF2_SCALE_A       = -3
  
  MinLevel  = 18          ' Min voltage offset level on ADC that can be detected as DTMF

dim  SignalActive as boolean           ' Indicator (if input1 signal exists)
dim  sample as Integer                 ' Temp variable used for reading from ADC
dim  Key as Char                       ' Detected character
dim  f as longint                        ' Detected frequency
dim  SampleCounter as word             ' Indicates the number of samples in circular buffer
dim  sample_index as word              ' Index of next sample
dim  input1 as Integer[8]      ' Circular buffer - raw samples (directly after ADC)
dim  output_f1 as Integer[8]   ' Circular buffer - samples after IIR BP filter
dim  output_f2 as Integer[8]   ' Circular buffer - samples after IIR BP filter

dim  TransitLow  as Integer
     TransitHigh as Word     ' Counts of transitions (low, high freq)
dim  sgnLow  as Integer
     sgnHigh as Integer      ' Current signs of low and high freq signal
dim  KeyCnt as integer       ' Number of recived DTFM and displayed on LCD


sub procedure Estimate
  dim  fd as Word
' DTMF frequencies:
'                1209 Hz     1336 Hz     1477 Hz     1633 Hz
'      697 Hz      1           2           3           A
'      770 Hz      4           5           6           B
'      852 Hz      7           8           9           C
'      941 Hz      *           0           #           D
'
 ' calculating index of lower freq
  f = TransitLow*20000  ' f = No_Of_Transitions*Sampling_Freq [Hz]
  f = f >> 11           ' f = f div 2048 = f/2/1024 (2 transitions in each period)
  if f < 733 then
    fd=1                ' Index of Low_freq = 1
  else if f < 811 then
         fd=2           ' Index of Low_freq = 2
       else if f < 896 then
              fd=3      ' Index of Low_freq = 3
            else
              fd=4      ' Index of Low_freq = 4
            end if
       end if
  end if

  ' calculating index of higher freq
  f=TransitHigh*20000   ' f = No_Of_Transitions*Sampling_Freq
  f = f >> 11           ' f = f/2048 = f/2/1024 (2 transitions in each period)

  if f<1272 then
    fd=fd+10            ' encode Index of higher freq as 10
  else if f<1406 then
         fd=fd+20       ' encode Index of higher freq as 20
       else if f<1555 then
              fd=fd+30  ' encode Index of higher freq as 30
            else
              fd=fd+40  ' encode Index of higher freq as 40
             end if
       end if
  end if

  select case fd        ' Reading of input1 char from DTMF matrix
    case 11
      Key= "1"
    case 12
      Key= "4"
    case 13
      Key= "7"
    case 14
      Key= "*"
    case 21
      Key= "2"
    case 22
      Key= "5"
    case 23
      Key= "8"
    case 24
      Key= "0"
    case 31
      Key="3"
    case 32
      Key="6"
    case 33
      Key="9"
    case 34
      Key="#"
    case 41
      Key="A"
    case 42
      Key="B"
    case 43
      Key="C"
    case 44
      Key="D"
  end select
  
  ' diplay recived char on second row of LCD
  if(KeyCnt >= 16) then
     ' if second row is full erase it and postion cursor at first column
      Lcd_Cmd(LCD_SECOND_ROW)
      Lcd_Out_CP("                ")
      Lcd_Cmd(LCD_SECOND_ROW)
      KeyCnt = 0  ' reset recived DTFM signals counter
  end if
  Lcd_Chr_CP(Key) ' output recived on LCD
  inc(KeyCnt)     ' increment counter
end sub

sub procedure DAC_Output(dim valueDAC as word)
  LATC.CS_PIN = 0  ' CS enable for DAC
  ' filter output range is 16-bit number DAC input1 range is 12-bit number
  valueDAC = valueDAC >> 4
  ' now both numbers are 12-bit but filter output is signed and DAC input1 is unsigned.
  ' Half of DAC range 4096/2=2048 is added to correct this
  valueDAC = valueDAC + 2048
  SPI2BUF = 0x3000 or valueDAC             ' write valueDAC to DAC (0x3 is required by DAC)
  while (SPI2STAT.1 = 1)                   ' wait for SPI module to finish sending
    nop
  wend
  LATC.CS_PIN = 1                          ' CS disable for DAC
end sub

sub procedure InitDec()
  SampleCounter = 1024             ' Init low-freq transitions counter
  TransitLow = 0                   ' Init high-freq transitions counter
  TransitHigh = 0                  ' Init input1 circular buffer (zero-filled)
  Vector_Set(input1, 8, 0)         ' Init filtered circular buffer (zero-filled)
  Vector_Set(output_f1, 8, 0)      ' Init filtered circular buffer (zero-filled)
  Vector_Set(output_f2, 8, 0)      ' Points on first element of circular buffer
  sample_index = 0                 ' Current sign is positive
  sgnLow=0                         ' Current sign is positive
  sgnHigh=0
  DAC_Output(0)
end sub

sub procedure ADC1Int org $2A
  sample = ADCBUF0                                ' read input1 ADC signal

  if (sample > 2048+MinLevel) and not(SignalActive) then ' detecting signal

      SignalActive = true                         ' activate estimation algorithm
      InitDec()                                   ' initialize variables
  end if

  ' since ADC is configured to get samples as intgers
  '   mean value of input1 signal is expected to be located at
  '   middle of ADC voltage range
  sample = sample << 4
  sample = sample-(2048 << 4)  'expanding signal to full scale
  ' now sample is ready to be filtred

  
  if SignalActive then
      input1[sample_index] = sample           ' Write sample in circular buffer

      ' Filter input1 signal (for low-freq estimation)
      sample = IIR_Radix(BPF1_SCALE_B, BPF1_SCALE_A, @BPF1_COEFF_B, @BPF1_COEFF_A,
                          FILTER_ORDER+1, @input1, BUFFER_SIZE, @output_f1, sample_index)
      DAC_Output(sample)  ' output filtred signal to DAC for Visual check
      output_f1[sample_index]=sample

      ' transition_Low?
      if sample.15<>sgnLow then               ' If transition trough 0
          sgnLow=sample.15                    ' save current sign
          Inc(TransitLow)                     ' Increment transition counter
      end if

      ' Filter input1 signal (for high-freq estimation)
      sample = IIR_Radix(BPF2_SCALE_B, BPF2_SCALE_A, @BPF2_COEFF_B, @BPF2_COEFF_A,
                          FILTER_ORDER+1, @input1, BUFFER_SIZE, @output_f2, sample_index)

      output_f2[sample_index]=sample         ' Write filtered signal in buffer
      ' transition_High?
      if sample.15<>sgnHigh then             ' If transition
          sgnHigh=sample.15                  ' save current sign
          Inc(TransitHigh)                   ' Increment transition counter
      end if
        
      sample_index=(sample_index+1) and 7   ' Move pointer on next element
      dec(SampleCounter)                    ' Decrement sample counter
      if SampleCounter = 0 then             ' If all of 1024 samples are readed
          SignalActive=false                ' Deactivate estimation algorithm
          Estimate()                        ' Read estimated character
          DAC_Output(0)                     ' set DAC output to 0
          Delay_ms(80)                      ' Wait for next char
      end if
    end if
  IFS0.11 = 0                               ' clear ADC complete IF
end sub

sub procedure Timer1Int org $1A

  ADCON1.1  = 1 ' ASAM=0 and SAMP=1 begin sampling
  ADCON1.15 = 1 ' start ADC
  IFS0.3    = 0 ' clear Timer1 IF
end sub

main:
  KeyCnt = 0                              ' set to 0
  SignalActive = false                    ' no signal is present
  ADPCFG = $FFFF                          ' configure pins as digital
  Lcd_Init_DsPicPro3()                    ' initialize LCD
  Lcd_Out(1,1,"tone is:")                 ' print message at first row
  Lcd_Cmd(LCD_SECOND_ROW)                 ' position cursor at second row
  LATC.CS_PIN    = 1                      ' set DAC CS to inactive
  LATC.LOAD_PIN  = 0                      ' set DAC LOAD to inactive
  TRISC.LOAD_PIN = 0                      ' configure DAC LOAD pin as output
  TRISC.CS_PIN   = 0                      ' configure DAC CS pin as output
  ' Initialize SPI2 module
  Spi2_Init_Advanced(_SPI_MASTER, _SPI_16_BIT, _SPI_PRESCALE_SEC_1, _SPI_PRESCALE_PRI_1,
                     _SPI_SS_DISABLE, _SPI_DATA_SAMPLE_MIDDLE, _SPI_CLK_IDLE_HIGH,
                     _SPI_ACTIVE_2_IDLE)

  TRISB.10  = 1          ' configure RB10 pin as input1
  ADPCFG    = $FBFF      ' configure RB10 pin as analog
  ADCON1    = $00E0      ' auto-convert, auto-conversion
  ADCON2    = $0000
  ADCON3    = $021A      ' sampling time=2*Tad, minimum Tad selected
  ADCHS     = $000A      ' sample input1 on RB10
  ADCSSL    = 0          ' no input1 scan

  ' clear interrupt flags
  IFS0    = 0
  IFS1    = 0
  IFS2    = 0
  
  INTCON1 = $8000      ' disable nested interrupts
  INTCON2 = 0
  IEC0    = $0808      ' enable Timer1 and ADC interrupts
  IPC0.12 = 1          ' Timer1 interrupt priority level = 1
  IPC2.13 = 1          ' ADC interrupt priority level = 2

  ' Timer1 input1 clock is Fosc/4. Sampling frequency is 20kHz. Timer should
  ' raise interrupt every 50 microseconds. PR1 = (Fosc[Hz]/4) / 20000Hz = Fosc[kHz]/(4*20)
  PR1 = Clock_kHz() div 80
  T1CON   = $8000    ' Enable Timer1

  while true         ' Infinite loop
    nop
  wend
end.

14.2.4 Example 4 – Acceleration sensor

This example shows a possibility of using dsPIC30F4013 or dsPIC6014A in order to realize control of the pointer of a GLCD on the basis of the signal from an acceleration sensor. In this example the use is made of an accelerometer card containing the sensor ADXL330 by Analog Devices. Besides the sensor, the card contains an operational amplifier used as a unit amplifier increasing the output current capacity of the sensor. The sensor measures the acceleration along two axes, X and Y. The offset voltage of the sensor has to be measured during the calibration procedure. From the accelerometer card, two analogue signals, for the X and Y axes, are fed to the inputs of AN8 and AN9 AD converters (pins PORTB.8 and PORTB.9). After the sampling and conversion, the measured value is presented as the shift of the pointer from the central position on the GLCD.

This example is widely applicable for the realization of e.g. joysticks, simple gyroscopes, robot controls or movement detectors.

' An example of the use of the microcontroller dsPIC30F6014A and Accel Extra Board.
' The example shows how the signal from the sensor is sampled and how the information on the
' accelerations along the X and Y axes are used for controlling the cursor on a GLCD.
' The example also covers the calibration of the sensor (determination of zeroG
' and 1G values for X and Y axes). Pin RC1 is used as user input. Pull-down PORTC and
' put button jumper in Vcc position.

program AccelerationPointer

' --- GLCD Messages ---
const msg1 = "Put board to pos  "
const msg2 = "and press RC1"

dim ' Global variables
zeroG_x, zeroG_y as integer  ' zero gravity values
oneG_x,  oneG_y  as integer  ' 1G values
meas_x,  meas_y  as integer  ' measured values
box_x,   box_y   as integer  ' variables for drawing box on GLCD
positionNo as byte           ' variable used in text messages
text as String[20]           ' variable used for text messages

sub procedure Init()
  ADPCFG  = $FCFF          ' configure AN8(RB8) and AN9(RB9) as analog pins
  TRISB.8 = 1              ' configure RB8 and RB9 as input pins
  TRISB.9 = 1
  Glcd_Init_DsPicPro3()     ' init GLCD for dsPICPRO3 board
  ' Noteas GLCD/LCD Setup routines are in the setup library files located in the Uses folder
  '       These routines will be moved into AutoComplete in the future.
  Glcd_Fill(0)              ' clear GLCD
  TRISC = $02              ' pin PORTC.1 is input for calibration
  positionNo = 1           ' variable used in text messages
end sub

sub procedure DoMeasureXY()
  meas_x = Adc_Read(8)     ' measure X axis acceleration
  meas_y = Adc_Read(9)     ' measure Y axis acceleration
end sub

sub procedure DrawPointerBox()
  dim x_real, y_real as real

  x_real = (meas_x-zeroG_x)/(oneG_x-zeroG_x)  ' scale [-1G..1G] to [-1..1]
  x_real = x_real * 64                        ' scale [-1..1]   to [-64..64]
  x_real = x_real + 64                        ' scale [-64..64] to [0..128]
  
  y_real = (meas_y-zeroG_y)/(oneG_y-zeroG_y)  ' scale [-1G..1G] to [-1..1]
  y_real = y_real * 32                        ' scale [-1..1]   to [-32..32]
  y_real = y_real + 32                        ' scale [-32..32] to [0..64]
  
  ' convert reals to integers
  box_x = x_real
  box_y = y_real
  
  ' force x and y to range [0..124] and [0..60] because of Glcd_Box parameters range
  if (box_x>124) then box_x=124 end if
  if (box_x<0)   then box_x=0   end if
  if (box_y>60)  then box_y=60  end if
  if (box_y<0)   then box_y=0   end if
  
  Glcd_Box(box_x, box_y, box_x+3, box_y+3, 2)  ' draw box pointer, color=2(invert ecah dot)
end sub

sub procedure ErasePointerBox()

  Glcd_Box(box_x, box_y, box_x+3, box_y+3, 2)  ' draw inverted box at the same position
                                                '   (erase box)
end sub

' --- Calibration procedure determines zeroG and 1G values for X and Y axes ---'
sub procedure DoCalibrate()

'  1) Put the Accel board in the position 1 : PARALLEL TO EARTH'S SURFACE
'     to measure Zero Gravity values for X and Y
  text = msg1
  text[17] = positionNo + 48
  Glcd_Write_Text(text,5,1,1)
  Inc(positionNo)
  text = msg2
  Glcd_Write_Text(text,5,20,1)
  while (PORTC.1 = 0)            ' wait for user to press RC1 button
    nop
  wend
  DoMeasureXY()
  zeroG_x = meas_x                ' save Zero Gravity values
  zeroG_y = meas_y
  Delay_ms(1000)

'  2) Put the Accel board in the position 2 : X AXIS IS VERTICAL, WITH X LABEL UP
'     to measure the 1G X value
  text = msg1
  text[17] = positionNo + 48
  Glcd_Write_Text(text,5,1,1)
  Inc(positionNo)
  text = msg2
  Glcd_Write_Text(text,5,20,1)
  while (PORTC.1 = 0)            ' wait for user to press RC1 button
    nop
  wend
  DoMeasureXY()
  oneG_x = meas_x                 ' save X axis 1G value
  Delay_ms(1000)
  
'  3) Put the Accel board in the position 3 : Y AXIS IS VERTICAL, WITH Y LABEL UP
'     to measure the 1G Y value
  text = msg1
  text[17] = positionNo + 48
  Glcd_Write_Text(text,5,1,1)
  Inc(positionNo)
  text = msg2
  Glcd_Write_Text(text,5,20,1)
  while (PORTC.1 = 0)            ' wait for user to press RC1 button
    nop
  wend
  DoMeasureXY()
  oneG_y = meas_y                 ' save Y axis 1G value
  Delay_ms(1000)
end sub


main:
  Init()                           ' initialization
  
  DoCalibrate()                    ' calibration
  
  Glcd_Fill(0)                     ' clear GLCD
  Glcd_H_Line(0, 127, 32, 1)       ' draw X and Y axes
  Glcd_V_Line(0, 63,  64, 1)
  Glcd_Write_Char("X", 122, 3, 1)
  Glcd_Write_Char("Y", 66,  0, 1)
  
  while TRUE                     ' endless loop
    DoMeasureXY()                ' measure X and Y values
    DrawPointerBox()             ' draw box on GLCD
    Delay_ms(250)                ' pause
    ErasePointerBox()            ' erase box
  wend
end.

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