/*---------------------------------------------------------------------------*/
uint32_t
pic32_clock_calculate_brg(uint32_t mul, uint32_t desired)
{
uint32_t fp = pic32_clock_get_peripheral_clock();
uint32_t brg[3];
uint32_t obtained[3];
int32_t err[3];
uint32_t min;
brg[0] = fp / (mul * desired); // +1
brg[1] = fp / (mul * desired) - 1; // 0
brg[2] = fp / (mul * desired) - 2; // -1
obtained[0] = fp / (mul * (brg[0] + 1));
obtained[1] = fp / (mul * (brg[1] + 1));
obtained[2] = fp / (mul * (brg[2] + 1));
err[0] = obtained[0] - desired;
err[1] = obtained[1] - desired;
err[2] = obtained[2] - desired;
err[0] = err[0] < 0 ? -err[0] : err[0];
err[1] = err[1] < 0 ? -err[1] : err[1];
err[2] = err[2] < 0 ? -err[2] : err[2];
min = 0;
min = err[1] < err[min] ? 1 : min;
min = err[2] < err[min] ? 2 : min;
return brg[min];
}
int uart_get_real_baudrate(uint32_t *baudrate)
{
#ifndef __USE_UART_PORT3__
fprintf(stderr, "uart: __USE_UART_PORT3__ not defined\n");
return -1;
#else
if(baudrate == NULL)
{
fprintf(stderr, "uart: Cannot set baudrate using null pointer.\n");
return -1;
}
/* From section 21. UART:
*
* If BRGH = 0:
* Fpb
* Baud rate = -----------------
* 16 * (U3BRG + 1)
*
* If BRGH = 1:
* Fpb
* Baud rate = -----------------
* 4 * (U3BRG + 1)
*/
uint32_t x = (U3MODE & _U3MODE_BRGH_MASK) ? 4 : 16;
*baudrate = pic32_clock_get_peripheral_clock() / (x * (U3BRG + 1));
return 0;
#endif
}
int main(int argc, char **argv)
{
int32_t r;
process_init(); // run before any function that starts a process
pic32_init();
watchdog_init();
leds_init();
leds_progress_init();
buzzer_init();
clock_init();
rtimer_init();
ctimer_init();
leds_on(LEDS_ALL);
/* Serial line init part 2/3: set up the UART port. */
uart_console_init(UART_BAUDRATE);
// usb_serial_init();
// usb_serial_set_input(serial_line_input_byte);
/* Serial line init part 3/3: start the OS process. */
serial_line_init();
asm volatile("ei"); // enable interrupts
PRINTF("CPU Clock: %uMhz\n",
pic32_clock_get_system_clock() / 1000000);
PRINTF("Peripheral Clock: %uMhz\n",
pic32_clock_get_peripheral_clock() / 1000000);
random_init(4321);
process_start(&etimer_process, NULL);
process_start(&sensors_process, NULL);
SENSORS_ACTIVATE(button_sensor);
/* Starting autostarting process */
print_processes(autostart_processes);
autostart_start(autostart_processes);
leds_off(LEDS_ALL);
watchdog_start();
PRINTF("Starting the main scheduler loop\n");
/*
* This is the scheduler loop.
*/
while (1) {
do {
/* Reset watchdog. */
watchdog_periodic();
r = process_run();
} while (r > 0);
#if LPM_MODE > LPM_MODE_NONE
watchdog_stop();
/* low-power mode start */
asm volatile("wait");
/* low-power mode end */
watchdog_start();
#endif // LPM_MODE
}
return 0;
}
