kind of working

src/adc.cpp

@@ -14,9 +14,9 @@
 
 
 void adcInit() {
-	ADC10CTL0 = ADC10SHT_1 | ADC10ON | SREF_0;
-	ADC10CTL1 = INCH_5;
-	ADC10AE0 = BIT5;
+	ADC10CTL0 = ADC10SHT_0 | ADC10ON | SREF_0;
+	ADC10CTL1 = INCH_7 | ADC10SSEL_3;
+	ADC10AE0 = BIT7;
 }
 
 uint16_t adcGet() {

src/main.cpp

@@ -25,6 +25,8 @@ void init() {
   BCSCTL1 = XT2OFF | RSEL0 | RSEL1 | RSEL2 | RSEL3;
   BCSCTL2 = 0;
   BCSCTL3 = 0;
+
+  P1DIR |= BIT0 | BIT1 | BIT2 | BIT3;
 }
 
 int main() {

src/pwm.cpp

@@ -17,77 +17,91 @@
 
 volatile Control ctrl((float)PWM_MIN, (float)PWM_MAX, Ctrl_P, Ctrl_I, Ctrl_D);
 
-volatile float u_des = 0;
+volatile float u_des = 12.0;
 volatile float u_curr = 0;
 volatile uint16_t newPwm = 0;
 
 
 
 void pwmInit() {
-  P1DIR |= BIT6;
-  P1SEL |= BIT6;
-  P1OUT = 0;
+	P1DIR |= BIT6;
+	P1SEL |= BIT6;
+	P1OUT = 0;
 
-  TACCR0 = PWM_MAX;
-  TACCR1 = 8;
-  TACCTL0 = CCIE;
-  TACCTL1 = OUTMOD_7;
-  TACTL = MC_1 | ID_0 | TASSEL_2 | TACLR;
+	TACCR0 = PWM_MAX;
+	TACCR1 = 128;
+	TACCTL0 = CCIE;
+	TACCTL1 = OUTMOD_7;
+	TACTL = MC_1 | ID_0 | TASSEL_2 | TACLR;
 }
 
-void pwmSet(uint16_t v) {
-  TACCR1 = v;
-}
 
 
 ISR(TIMER0_A0, TA0_ISR) {
-  static uint8_t cycleCnt = 0;
-  cycleCnt++;
+	static uint8_t cycleCnt = 0;
+	cycleCnt++;
 
-  if (cycleCnt >= CYCLE_DELAY) {
-    cycleCnt = 0;
+	if (cycleCnt >= CYCLE_DELAY) {
+		cycleCnt = 0;
 
 
-    uint16_t adcIn = adcGet();
-    float u_adc = ((float)adcIn) * U_ref / ((float)ADC_MAX);
-    u_curr = u_adc * (R_top + R_bottom) / R_bottom;
+		uint16_t adcIn = adcGet();
 
-    float newPwm_f = ctrl.cycle(u_des, u_curr);
-    newPwm = (uint16_t) newPwm_f;
 
-    pwmSet(newPwm);
-  }
+		float u_adc = ((float)adcIn) * U_ref / ((float)ADC_MAX);
+		u_curr = u_adc * (R_top + R_bottom) / R_bottom;
+
+		float newPwm_f = ctrl.cycle(u_des, u_curr);
+		newPwm = (uint16_t) newPwm_f;
+
+//		P1OUT |= BIT1;
+//		for (uint8_t i = 0; i < 16; i++) {
+//			P1OUT |= BIT3;
+//			uint16_t x = newPwm >> i;
+//			if ((x & 1) == 1) {
+//				P1OUT |= BIT2;
+//			} else {
+//				P1OUT &= ~BIT2;
+//			}
+//			P1OUT &= ~BIT3;
+//		}
+//		P1OUT &= ~BIT1;
+
+
+
+		TACCR1 = newPwm;
+	}
 }
 
 float getDutyCycle() {
-  __disable_interrupt();
-  uint16_t my_newPwm = newPwm;
-  __enable_interrupt();
-  float dutyCycle = ((float)my_newPwm) / ((float)PWM_MAX) * 100.0;
-  return dutyCycle;
+	__disable_interrupt();
+	uint16_t my_newPwm = newPwm;
+	__enable_interrupt();
+	float dutyCycle = ((float)my_newPwm) / ((float)PWM_MAX) * 100.0;
+	return dutyCycle;
 }
 
 float getUCur() {
-  __disable_interrupt();
-  float my_u_curr = u_curr;
-  __enable_interrupt();
-  return my_u_curr;
+	__disable_interrupt();
+	float my_u_curr = u_curr;
+	__enable_interrupt();
+	return my_u_curr;
 }
 
 float getUDes() {
-  __disable_interrupt();
-  float my_u_des = u_des;
-  __enable_interrupt();
-  return my_u_des;
+	__disable_interrupt();
+	float my_u_des = u_des;
+	__enable_interrupt();
+	return my_u_des;
 }
 
 void setUDes(float uDes) {
-  if (uDes < 0) {
-    uDes= 0;
-  }
-  __disable_interrupt();
-  u_des = uDes;
-  __enable_interrupt();
+	if (uDes < 0) {
+		uDes= 0;
+	}
+	__disable_interrupt();
+	u_des = uDes;
+	__enable_interrupt();
 }
 
 

src/pwm.h

@@ -12,7 +12,7 @@
 
 const uint16_t PWM_MIN = 0;
 const uint16_t PWM_MAX = 511;
-const uint16_t CYCLE_DELAY = 2;
+const uint16_t CYCLE_DELAY = 1;
 
 
 void pwmInit();