int
main(void)
{
wdt_disable();
clock_prescale_set(clock_div_1);
LED_ON_DDR |= _BV( LED_ON_PIN );
LED_ON_PORT |= _BV( LED_ON_PIN );
led_init();
LED_ON();
spi_init();
// eeprom_factory_reset("xx");
eeprom_init();
// Setup OneWire and make a full search at the beginning (takes some time)
#ifdef HAS_ONEWIRE
i2c_init();
onewire_Init();
onewire_FullSearch();
#endif
// Setup the timers. Are needed for watchdog-reset
#if defined (HAS_IRRX) || defined (HAS_IRTX)
ir_init();
// IR uses highspeed TIMER0 for sampling
OCR0A = 1; // Timer0: 0.008s = 8MHz/256/2 == 15625Hz
#else
OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz
#endif
TCCR0B = _BV(CS02);
TCCR0A = _BV(WGM01);
TIMSK0 = _BV(OCIE0A);
TCCR1A = 0;
TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8
MCUSR &= ~(1 << WDRF); // Enable the watchdog
wdt_enable(WDTO_2S);
uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) );
fht_init();
tx_init();
input_handle_func = analyze_ttydata;
display_channel = DISPLAY_USB;
#ifdef HAS_RF_ROUTER
rf_router_init();
display_channel |= DISPLAY_RFROUTER;
#endif
checkFrequency();
LED_OFF();
sei();
for(;;) {
uart_task();
RfAnalyze_Task();
Minute_Task();
#ifdef HAS_FASTRF
FastRF_Task();
#endif
#ifdef HAS_RF_ROUTER
rf_router_task();
#endif
#ifdef HAS_ASKSIN
rf_asksin_task();
#endif
#ifdef HAS_MORITZ
rf_moritz_task();
#endif
#ifdef HAS_RWE
rf_rwe_task();
#endif
#if defined(HAS_IRRX) || defined(HAS_IRTX)
ir_task();
#endif
#ifdef HAS_MBUS
rf_mbus_task();
#endif
}
}
void main(void)
{
init();
PSC_Init(0x00, MAX_PWM);
uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUDRATE, F_CPU));
while(1)
{
/* Communicate with Big Brother :-) */
communication();
/* Sampling */
if (Flag_IT_timer0)
{
if ( !(timer % 100) )
{
/* This led shows that program is running */
GPIO_TOGGLE(WD_LED);
}
if ( !(timer % 10) )
{
GPIO_TOGGLE(LED);
/* Read meashured speed from Timer2 */
Omega_meas = TCNT1 * 10;
TCNT1 = 0;
/* PID controller */
pid_output = update_pid(reference_val.omega - Omega_meas, Omega_meas);
Command = ((int32_t)pid_output * 131) >> 10;
/* Update immediate vals */
instant_val.time = timer;
instant_val.omega = Omega_meas;
instant_val.error = reference_val.omega - Omega_meas;
instant_val.pid_output = pid_output;
instant_val.command = Command;
}
/* direction management : extract sign and absolute value */
if (Command > (int16_t)(0))
{
direction = 0;
OmegaTe = Command;
} else {
direction = 1;
OmegaTe = (~Command) + 1;
}
if (OmegaTe > K_scal)
{
// ------------------------ V/f law --------------------------
amplitude = controlVF(OmegaTe);
// ------------------ natural PWN algorithm ------------------
PWM0 = duty_cycle(theta1,amplitude);
PWM1 = duty_cycle(theta2,amplitude);
PWM2 = duty_cycle(theta3,amplitude);
} else {
PWM0 = 0;
PWM1 = 0;
PWM2 = 0;
}
// -------- load the PSCs with the new duty cycles -----------
PSC0_Load(PWM0, PWM0 + DeadTime);
if (!direction)
{
PSC1_Load(PWM1, PWM1 + DeadTime);
PSC2_Load(PWM2, PWM2 + DeadTime);
} else {
PSC2_Load(PWM1, PWM1 + DeadTime);
PSC1_Load(PWM2, PWM2 + DeadTime);
}
// 3 integrators for the evolution of the angles
theta1 = (K_scal * theta1 + OmegaTe) / K_scal;
theta2 = theta1 + 160;
theta3 = theta1 + 320;
if (theta1>=MAX_THETAx4) theta1 -= MAX_THETAx4;
if (theta2>=MAX_THETAx4) theta2 -= MAX_THETAx4;
if (theta3>=MAX_THETAx4) theta3 -= MAX_THETAx4;
Flag_IT_timer0 = 0;
}
}
int
main(void)
{
wdt_disable();
#ifdef CSMV4
LED_ON_DDR |= _BV( LED_ON_PIN );
LED_ON_PORT |= _BV( LED_ON_PIN );
#endif
led_init();
LED_ON();
spi_init();
// eeprom_factory_reset("xx");
eeprom_init();
// led_mode = 2;
// if we had been restarted by watchdog check the REQ BootLoader byte in the
// EEPROM ...
// if(bit_is_set(MCUSR,WDRF) && eeprom_read_byte(EE_REQBL)) {
// eeprom_write_byte( EE_REQBL, 0 ); // clear flag
// start_bootloader();
// }
// Setup the timers. Are needed for watchdog-reset
#ifdef HAS_IRRX
ir_init();
// IR uses highspeed TIMER0 for sampling
OCR0A = 1; // Timer0: 0.008s = 8MHz/256/2 == 15625Hz
#else
OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz
#endif
TCCR0B = _BV(CS02);
TCCR0A = _BV(WGM01);
TIMSK0 = _BV(OCIE0A);
TCCR1A = 0;
TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8
clock_prescale_set(clock_div_1);
MCUSR &= ~(1 << WDRF); // Enable the watchdog
wdt_enable(WDTO_2S);
uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) );
#ifdef HAS_DOGM
dogm_init();
#endif
fht_init();
tx_init();
input_handle_func = analyze_ttydata;
display_channel = DISPLAY_USB;
#ifdef HAS_RF_ROUTER
rf_router_init();
display_channel |= DISPLAY_RFROUTER;
#endif
#ifdef HAS_DOGM
display_channel |= DISPLAY_DOGM;
#endif
LED_OFF();
sei();
for(;;) {
uart_task();
RfAnalyze_Task();
Minute_Task();
#ifdef HAS_FASTRF
FastRF_Task();
#endif
#ifdef HAS_RF_ROUTER
rf_router_task();
#endif
#ifdef HAS_ASKSIN
rf_asksin_task();
#endif
#ifdef HAS_MORITZ
rf_moritz_task();
#endif
#ifdef HAS_IRRX
ir_task();
#endif
}
}
int
main(void)
{
wdt_disable();
led_init();
LED_ON();
MARK433_PORT |= _BV( MARK433_BIT );
MARK915_PORT |= _BV( MARK915_BIT );
spi_init();
// eeprom_factory_reset("xx");
eeprom_init();
// led_mode = 2;
// if we had been restarted by watchdog check the REQ BootLoader byte in the
// EEPROM ...
// if(bit_is_set(MCUSR,WDRF) && eeprom_read_byte(EE_REQBL)) {
// eeprom_write_byte( EE_REQBL, 0 ); // clear flag
// start_bootloader();
// }
// Setup the timers. Are needed for watchdog-reset
OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz
TCCR0B = _BV(CS02);
TCCR0A = _BV(WGM01);
TIMSK0 = _BV(OCIE0A);
TCCR1A = 0;
TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8
clock_prescale_set(clock_div_1);
MCUSR &= ~(1 << WDRF); // Enable the watchdog
wdt_enable(WDTO_2S);
uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) );
#ifdef HAS_STACKING
stacking_initialize();
// make sure i2c is inactive
DDRC &= 0xfc;
PORTC &= 0xfc;
#endif
fht_init();
tx_init();
input_handle_func = analyze_ttydata;
display_channel = DISPLAY_USB;
#ifdef HAS_RF_ROUTER
rf_router_init();
display_channel |= DISPLAY_RFROUTER;
#endif
LED_OFF();
checkFrequency();
sei();
for(;;) {
uart_task();
RfAnalyze_Task();
Minute_Task();
#ifdef HAS_FASTRF
FastRF_Task();
#endif
#ifdef HAS_RF_ROUTER
rf_router_task();
#endif
#ifdef HAS_ASKSIN
rf_asksin_task();
#endif
#ifdef HAS_MORITZ
rf_moritz_task();
#endif
#ifdef HAS_STACKING
stacking_task();
#endif
#ifdef HAS_MBUS
rf_mbus_task();
#endif
}
}
int
main(void)
{
// wdt_disable();
clock_prescale_set(clock_div_1);
MARK433_PORT |= _BV( MARK433_BIT ); // Pull 433MHz marker
MARK915_PORT |= _BV( MARK915_BIT ); // Pull 915MHz marker
led_init();
spi_init();
// Setup the timers. Are needed for watchdog-reset
OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz
TCCR0B = _BV(CS02);
TCCR0A = _BV(WGM01);
TIMSK0 = _BV(OCIE0A);
TCCR1A = 0;
TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8
//eeprom_factory_reset("xx");
eeprom_init();
MCUSR &= ~(1 << WDRF); // Enable the watchdog
wdt_enable(WDTO_2S);
//uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) );
uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) );
fht_init();
tx_init();
input_handle_func = analyze_ttydata;
display_channel = DISPLAY_USB;
#ifdef HAS_RF_ROUTER
rf_router_init();
display_channel |= DISPLAY_RFROUTER;
#endif
checkFrequency();
sei();
for(;;) {
uart_task();
RfAnalyze_Task();
Minute_Task();
#ifdef HAS_FASTRF
FastRF_Task();
#endif
#ifdef HAS_RF_ROUTER
rf_router_task();
#endif
#ifdef HAS_ASKSIN
rf_asksin_task();
#endif
#ifdef HAS_MORITZ
rf_moritz_task();
#endif
#ifdef HAS_RWE
rf_rwe_task();
#endif
#ifdef HAS_RFNATIVE
native_task();
#endif
#ifdef HAS_KOPP_FC
kopp_fc_task();
#endif
#ifdef HAS_MBUS
rf_mbus_task();
#endif
#ifdef HAS_ZWAVE
rf_zwave_task();
#endif
}
}
int
main(void)
{
wdt_disable();
// un-reset ethernet
ENC28J60_RESET_DDR |= _BV( ENC28J60_RESET_BIT );
ENC28J60_RESET_PORT |= _BV( ENC28J60_RESET_BIT );
MARK433_PORT |= _BV( MARK433_BIT ); // Pull 433MHz marker
MARK915_PORT |= _BV( MARK915_BIT ); // Pull 915MHz marker
led_init();
LED_ON();
spi_init();
eeprom_init();
// Reset the "Request Bootloader" flag in EEPROM, to avoid a permanent loop
eeprom_update_byte( EE_REQBL, 0);
// Setup OneWire and make a full search at the beginning (takes some time)
#ifdef HAS_ONEWIRE
i2c_init();
onewire_Init();
onewire_FullSearch();
#endif
// Setup the timers. Are needed for watchdog-reset
#if defined (HAS_IRRX) || defined (HAS_IRTX)
ir_init();
// IR uses highspeed TIMER0 for sampling
OCR0A = 1; // Timer0: 0.008s = 8MHz/256/2 == 15625Hz Fac: 125
#else
OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz
#endif
TCCR0B = _BV(CS02);
TCCR0A = _BV(WGM01);
TIMSK0 = _BV(OCIE0A);
TCCR1A = 0;
TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8
clock_prescale_set(clock_div_1);
MCUSR &= ~(1 << WDRF); // Enable the watchdog
wdt_enable(WDTO_2S);
uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) );
fht_init();
tx_init();
input_handle_func = analyze_ttydata;
#ifdef HAS_RF_ROUTER
rf_router_init();
display_channel = (DISPLAY_USB|DISPLAY_RFROUTER);
#else
display_channel = DISPLAY_USB;
#endif
#ifdef HAS_VZ
vz_init();
#endif
ethernet_init();
LED_OFF();
#ifdef HAS_DMX
#ifdef DMX_CHANNELS
dmx_initialize(DMX_CHANNELS);
#else
dmx_initialize(16);
#endif
#endif
#ifdef HAS_HM485
hm485_initialize();
#endif
#ifdef HAS_HELIOS
helios_initialize();
#endif
#ifdef HAS_CUNOTTY
rf_cunotty_init();
#endif
sei();
#ifdef HAS_DMX
dmx_start();
#endif
for(;;) {
uart_task();
RfAnalyze_Task();
Minute_Task();
#ifdef HAS_FASTRF
FastRF_Task();
#endif
#ifdef HAS_RF_ROUTER
rf_router_task();
#endif
#ifdef HAS_CUNOTTY
rf_cunotty_task();
#endif
#ifdef HAS_ASKSIN
rf_asksin_task();
#endif
#ifdef HAS_IRRX
ir_task();
#endif
#ifdef HAS_ETHERNET
Ethernet_Task();
#endif
#ifdef HAS_VZ
vz_task();
#endif
#ifdef HAS_MORITZ
rf_moritz_task();
#endif
#ifdef HAS_HM485
hm485_task();
#endif
#ifdef HAS_HELIOS
helios_task();
#endif
}
}
int main(void)
{
char wdrst = 0;
uint8_t mcusr;
mcusr = MCUSR;
if ( mcusr & _BV(WDRF) ) {
wdrst = 1;
}
MCUSR = 0;
wdt_disable();
cli();
#ifdef LED1
LED1 = 1;
#endif
uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(115200,F_CPU));
stdout = &mystdout;
sei();
if ( wdrst ) {
kputs("\n***WATCHDOG RESET***\n");
}
wdt_enable(WDTO_8S);
wdt_reset();
kputs("\nSetting DDR registers\n");
DDRA = DDRA_SETTING;
DDRB = DDRB_SETTING;
DDRC = DDRC_SETTING;
DDRD = DDRD_SETTING;
DIDR0 = 0;
DIDR1 = 0;
/*
kputs("Hi i2c\n");
i2c_init();
kputs("Hi humid\n");
humid_init();
humid_sleep();
kputs("Hi accel\n");
accel_init();
accel_sleep();
kputs("Hi light\n");
light_init();
light_sleep();
kputs("Hi PIR\n");
pir_wake();
kputs("Hi RTC\n");
rtctimer_init();
kputs("Go away RTC\n");
DDRC &= 0x3F;
PORTC |= 0xC0;
kputs("Go to sleep\n");
uart_flush();
ACSR = (1<<ACD);
LED1 = LED2 = 0;
cli();
wdt_disable();
SMCR = (2<<SM0) | (1<<SE); //Enable Power-Down Mode
while(1) {
asm volatile ("sleep"); // __sleep(); // Go to sleep
}
*/
kputs("Initializing PCINT\n");
pcint_init();
kputs("Initializing Reports\n");
report_init();
board_init_devices();
kputs("Initializing wireless mote\n");
wdt_reset();
datalink_init();
/*
PIR_VCC = 1;
while(1) {
if(PIR_OUT_PIN) {
kputs("ON\n");
} else {
kputs("OFF\n");
}
_delay_ms(50);
}*/
kputs("Powering down all devices\n");
board_power_down_devices();
kputs("Init logic subsystem\n");
logic_init();
/*
kputs("Turning on always-on devices\n");
pir_wake();
accel_wake();
*/
board_setup_reporting();
kputs("Starting RTC clock\n");
rtctimer_init();
rtctimer_set_periodic_alarm(report_interval_needed(),&rtc_timer_cb);
wdt_reset();
wdt_disable();
while(1)
{
//wdt_enable(WDTO_2S);
//wdt_reset();
pcint_check();
rtctimer_check_alarm();
wdt_disable();
datalink_tick();
#ifdef USE_PN532
rtc_timer_cb(); // causes monitor list to be run
#else
#if defined LOW_POWER // do we have a RTC clock and battery-powered
avr_sleep();
#else
avr_doze();
#endif
#endif
}
}
int main(void)
{
int i;
int count = 0;
DDRB = 0;
DDRC = 0;
DDRE = 0;
// Enable the pullup on RESET pin.
#if defined(__AVR_AT90PWM316__)
PORTE = (1<<PINE0);
PORTE &= ~(1<<PINE0);
#elif defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
PORTC = (1<<PINC6);
PORTC &= ~(1<<PINC6);
#else
#warning "Didn't enable reset pin pullup"
#endif
// Setup all of port C as inputs, except for pin C5
SETUP_DEBUG_PINS();
// Set up the ADC single conversion pin.
DDRC &= ~(1<<PINC6);
PORTC &= ~(1<<PINC6);
// Disable all the ADC digital inputs.
DIDR1 = 0xFF;
DIDR0 = 0xFF & ~(1<<ADC1D);
// populate the buffer with known values
ringBuffer_initialize(&txbuffer,txbuffer_storage,TXBUFFER_LEN);
ringBuffer_initialize(&adcbuffer,adcbuffer_storage,BUFFER_LEN);
ringBuffer_initialize(&rxbuffer,rxbuffer_storage,RXBUFFER_LEN);
// Populate the ADC read schedule with the mux indices that you want.
adc_mux_schedule[0] = 2;
adc_mux_schedule[1] = 10;
adc_mux_schedule[2] = 6;
adc_mux_schedule[3] = 3;
uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU), &rxbuffer, &txbuffer);
//uart_config_default_stdio();
// Translate those indices and the mask specifying which MUXes to turn on,
// to an encoded mux schedule that the ADC understands.
adc_encode_muxSchedule(adc_mux_schedule, SCHEDULE_LEN);
adc_init(ADC_MODE_MANUAL, &adcbuffer, adc_mux_schedule, SCHEDULE_LEN);
timer0_init();
sei();
uart_puts_P("\f\r\n\r\nADC and UART Demo. Commands:\n"
"b Begin 4 channel read bursts at CLK/16K\n"
"e End reading.\n"
"s Single conversion.\n");
DEBUG_PIN1_OFF();
while(1)
{
do
{
i = uart_getc();
} while (i == UART_NO_DATA);
DEBUG_PIN1_ON();
if(i == 'b'){
uart_puts_P("Begin.\n");
start_timer0();
}
else if(i == 'e'){
stop_timer0();
_delay_us(100);
uart_puts_P("End.\n");
}
else if(i == 's'){
uart_puts_P("ADC");
uart_put_hex8(count);
uart_puts_P(": ");
i = adc_single_conversion(count);
uart_put_hex8((i >> 8) & 0xFF);
uart_put_hex8(i & 0xFF);
uart_putc('\n');
count = (count + 1) & 0xF;
if(count == 11)
{
count = 13;
}
}
else{
int
main(void)
{
wdt_disable();
#ifdef HAS_16MHZ_CLOCK
/* set clock to 16MHz/2 = 8Mhz */
clock_prescale_set(clock_div_2);
#endif
// LED_ON_DDR |= _BV( LED_ON_PIN );
// LED_ON_PORT |= _BV( LED_ON_PIN );
led_init();
LED_ON();
spi_init();
// init_adcw();
//eeprom_factory_reset("xx");
eeprom_init();
// Setup the timers. Are needed for watchdog-reset
OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz
TCCR0B = _BV(CS02);
TCCR0A = _BV(WGM01);
TIMSK0 = _BV(OCIE0A);
TCCR1A = 0;
TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8
MCUSR &= ~(1 << WDRF); // Enable the watchdog
wdt_enable(WDTO_2S);
#ifdef HAS_16MHZ_CLOCK
uart_init( UART_BAUD_SELECT(UART_BAUD_RATE,F_CPU) );
#else
uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) );
#endif
fht_init();
tx_init();
input_handle_func = analyze_ttydata;
display_channel = DISPLAY_USB;
#ifdef HAS_RF_ROUTER
rf_router_init();
display_channel |= DISPLAY_RFROUTER;
#endif
checkFrequency();
LED_OFF();
sei();
for(;;) {
uart_task();
RfAnalyze_Task();
Minute_Task();
#ifdef HAS_FASTRF
FastRF_Task();
#endif
#ifdef HAS_RF_ROUTER
rf_router_task();
#endif
#ifdef HAS_ASKSIN
rf_asksin_task();
#endif
#ifdef HAS_MORITZ
rf_moritz_task();
#endif
#ifdef HAS_RWE
rf_rwe_task();
#endif
#ifdef HAS_RFNATIVE
native_task();
#endif
#ifdef HAS_KOPP_FC
kopp_fc_task();
#endif
#ifdef HAS_MBUS
rf_mbus_task();
#endif
}
}
int
main(void)
{
led_init();
#ifdef LED_RGB
led_off(LED_CHANNEL_GREEN);
led_off(LED_CHANNEL_RED);
led_off(LED_CHANNEL_BLUE);
#else
LED_ON();
#endif
spi_init();
OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz
TCCR0B = _BV(CS02);
TCCR0A = _BV(WGM01);
TIMSK0 = _BV(OCIE0A);
TCCR1A = 0;
TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8
clock_prescale_set(clock_div_1);
MCUSR &= ~(1 << WDRF); // Enable the watchdog
uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) );
input_handle_func = analyze_ttydata;
display_channel = DISPLAY_USB;
#ifdef LED_RGB
my_delay_ms(200);
led_on(LED_CHANNEL_RED);
my_delay_ms(200);
led_off(LED_CHANNEL_RED);
led_on(LED_CHANNEL_GREEN);
my_delay_ms(200);
led_off(LED_CHANNEL_GREEN);
led_on(LED_CHANNEL_BLUE);
my_delay_ms(200);
led_off(LED_CHANNEL_BLUE);
#else
LED_OFF();
#endif
sei();
/* start moritz function */
moritz_func("Zr\n");
for(;;) {
led_process(ticks);
uart_task();
Minute_Task();
rf_asksin_task();
rf_moritz_task();
if (rf_moritz_data_available()) {
DC('Z');
uint8_t *rf_data = (uint8_t*) &max_data;
for (uint8_t i=0; i<=*rf_data; i++) {
DH2( *rf_data++ );
}
DNL();
DS("length: ");
DU(max_data.length, 2);
DNL();
DS("msg count: ");
DU(max_data.message_count, 2);
DNL();
DS("msg type: ");
DU(max_data.message_type, 2);
DNL();
}
}
}
