void sysInit(void){
PMOD_DDR |= _BV(PMOD0) | _BV(PMOD1) | _BV(PMOD2) | _BV(PORTD4); //Set PMOD as outputs
WIZ_DDR &= ~(_BV(INT_W5500)); //Int is an input
WIZ_PORT |= _BV(INT_W5500); //Enable pull up
WIZ_DDR |= _BV(SS_W5500); //Set SS as output
AUX_DDR &= ~(_BV(BTN0) | _BV(ISENSE) | _BV(VSENSE)); //Button set as input Isense and Vsense inputs(will be used for ADC)
AUX_DDR |= _BV(WP_EEP); //WP pin for eeprom as output
LED_DDR |= _BV(LED_R) | _BV(LED_G) | _BV(LED_B);
AUX_PORT |= _BV(BTN0); //Enable pull up on btn
PMOD_PORT |= _BV(PMOD0) | _BV(PMOD1) | _BV(PMOD2); //Full auto
uartInit();
i2c_init();
sei();
DDRB |= _BV(PORTB2) | _BV(PORTB1) | _BV(PORTB0);
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0); // SPI enable, Master, f/16
uartPutsP("\n\n[Base Station]\n");
uartPutsP(">Pins init\n");
timer0Init();
uartPutsP(">Timer 0 init\n");
timer1Init();
uartPutsP(">Timer 1 init\n");
}
STATUS initServo(void) {
INT_LOCK();
// Servo1 pin config
DDRB = DDRB | 0x20; //making PORTB 5 pin output
PORTB = PORTB | 0x20; //setting PORTB 5 pin to logic 1
// Servo2 pin config
DDRB = DDRB | 0x40; //making PORTB 6 pin output
PORTB = PORTB | 0x40; //setting PORTB 6 pin to logic 1
// Servo3 pin config
DDRB = DDRB | 0x80; //making PORTB 7 pin output
PORTB = PORTB | 0x80; //setting PORTB 7 pin to logic 1
// Initialize timers
timer1Init();
/* Set initial motor positions */
OCR1AL = (SERVO1_MIN + SERVO1_MAX)/2;
OCR1AH = 0x00;
OCR1BL = (SERVO2_MIN + SERVO2_MAX)/2;
OCR1BH = 0x00;
OCR1CL = (SERVO3_MIN + SERVO3_MAX)/2;
OCR1CH = 0x00;
INT_UNLOCK();
return STATUS_OK;
}
void UserInit(void)
{
mInitAllLEDs();
mInitAllSwitches();
InitAdc();
old_sw2 = sw2;
Pump1tris = 0;
Pump2tris = 0;
TRISVPP = 0; //output
TRISVPP_RST=0; //output
TRISPGD=0;
TRISPGC=0;
TRISVDD=0;
TRISVPP_RUN=0;
VPP_RUN=0; //run = off
PGD_LOW=1;
TRISPGD_LOW=1; //LV devices disabled, high impedance / input
PGC_LOW=1;
TRISPGC_LOW=1; //LV devices disabled, high impedance / input
VPP = 1; //VPP is low (inverted)
VPP_RST=0; //No hard reset (inverted
PGD=0;
PGC=0;
INTCON2bits.RBPU=1; //disable Portb pullup resistors
timer1Init();
timer0Init();
}//end UserInit
// Main program: Counting on T1
int main( void )
{
DDRB = 0xFF; // set PORTB for compare output
DDRA = 0xFF; // set PORTA for output in main program
timer1Init(); // it is running now!!
while (1)
{
// do something else
wait(100); // every 100 ms (busy waiting)
PORTA ^= BIT(7); // toggle bit 7 PORTA
}
}
/*----------------------------------------------------------------------------*/
void sys_init(void)
{
#ifdef UART_ENABLE
uartInit();
printf("power up \r\n");
#endif
#if RTC_ENABLE
if (init_rtc())
{
work_mode = SYS_RTC;
}
#else
{
u8 rtc_reg;
rtc_reg=read_rtc_reg();
//printf("RTC reg:%02bx\n",rtc_reg);
if (rtc_reg & BIT(6)) ///<RTC是否完全掉电
{
#if (MEMORY_STYLE == USE_RTCRAM)
reset_rtc_ram();
#endif
rtc_reg &= ~(BIT(6)); //清零PDGLG
write_rtc_reg(rtc_reg);
}
}
#endif
P0IE_init();
keyInit();
timer1Init();
timer3Init();
#ifdef USE_USB_SD_DECODE_FUNC
#ifndef NO_SD_DECODE_FUNC
sd_speed_init(1,100);
init_port_sd();
#endif
#endif
#if SDMMC_CMD_MODE
sd_chk_ctl(SET_SD_H_CHK);
#endif
DACCON0 |= 0x05; //打开DSP
EA = 1;
}
void initFullLEDState(void) {
if(ledInited) return;
ledInited = 1;
/*
timer0 = usb, ps/2 interface
timer1 = pwm
timer2 = custom macro
*/
timer1Init();
timer1PWMInit(8);
timer1PWMBOn();
// DEBUG_PRINT(("______________________ init LED State_____________\n"));
initFullLEDStateAfter();
}
void init(void)
{
//Make outputs low
cbi(PWM_PORT, PWM_BIT);
cbi(SD_PORT, PWM_BIT);
//Make outputs outputs
sbi(PWM_DDR, PWM_BIT);
//Pull-up swithces
sbi(ESTOP_PORT, ESTOP_BIT);
sbi(BRAKE_PORT, BRAKE_BIT);
//RGB Outputs
sbi(RGB_DDR, RED);
sbi(RGB_DDR, GREEN);
sbi(RGB_DDR, BLUE);
//RGB Off
sbi(RGB_PORT, RED);
sbi(RGB_PORT, GREEN);
sbi(RGB_PORT, BLUE);
//Initialise the ADC
a2dInit();
//Initialise timer 1
timer1Init();
timer1SetPrescaler(TIMER_CLK_DIV1);
timer1PWMInitICR(TOP_COUNT); //Enable PWM with top count
timer1PWMAOn(); //Turn PWM on
rgb(green);
sei(); //Enable interupts
}
int main()
{
//SYSTEMConfigPerformance(SYS_FREQ);
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
PORTFbits.RF1 = 0;
//Function that initializes all of the required I/O
initIO();
//Initialize all of the LED pins
ledinit();
adcConfigureAutoScan();
timer1Init();
encodersInit();
motorinit();
PWMinit();
motorRstop();
motorLstop();
leftspeed = 310;
rightspeed = 300;
while(PORTDbits.RD3 == 0)
{}
for(i = 0; i < 5000000; i++)
{
}
setpwmR(rightspeed);
setpwmL(leftspeed);
motorRfwd();
motorLfwd();
//turnright();
//turnleft();
while (1)
{
if(readpins(0) > 300) //left
{
setpwmR(100);
for(i=0;i<800;i++);
/*
if(leftspeed < 315)
leftspeed++;
if(rightspeed > 275)
rightspeed--;
*/
setpwmR(rightspeed);
setpwmL(leftspeed);
motorRfwd();
motorLfwd();
}
//for(i = 0; i < 500; i++){};
//if (channel13 < 600)
if(readpins(2) > 600) //right
{
setpwmL(100);
for(i=0;i<800;i++);
/*
if(leftspeed > 265)
leftspeed--;
if(rightspeed < 325)
rightspeed++;
*/
setpwmR(rightspeed);
setpwmL(leftspeed);
motorRfwd();
motorLfwd();
}
//for(i = 0; i < 500; i++){};
//if (channel13 < 900)
if(readpins(1) > 900) //middle
{
setpwmR(0);
setpwmL(0);
motorRstop();
motorLstop();
turnright();
}
//for(i = 0; i < 1500; i++){};
}
return (EXIT_SUCCESS);
}
void SBTimersInit(void(*inputTask)(void), uint8_t inputPriority, uint32_t inputPeriod) {
timer1Task = inputTask;
timer1Priority = inputPriority;
timer1Init(inputPeriod/2, timer1Priority);
}
/*----------------------------------------------------------------------------*/
void sys_init(void)
{
#ifdef UART_ENABLE
uartInit();
printf("power up \r\n");
#endif
#if RTC_ENABLE
if (init_rtc())
{
work_mode = SYS_RTC;
}
#else
{
u8 rtc_reg;
rtc_reg=read_rtc_reg();
//printf("RTC reg:%02bx\n",rtc_reg);
if (rtc_reg & BIT(6)) ///<RTC是否完全掉电
{
#if (MEMORY_STYLE == USE_RTCRAM)
reset_rtc_ram();
#endif
rtc_reg &= ~(BIT(6)); //清零PDGLG
write_rtc_reg(rtc_reg);
}
}
#endif
set_brightness_all_on();
P0IE_init();
keyInit();
timer1Init();
timer3Init();
#ifdef USE_USB_SD_DECODE_FUNC
#ifndef NO_SD_DECODE_FUNC
sd_speed_init(1,100);
init_port_sd();
#endif
#endif
#if SDMMC_CMD_MODE
sd_chk_ctl(SET_SD_H_CHK);
#endif
#ifdef USE_POWER_KEY
sys_power_up();
#endif
DACCON0 |= 0x05; //打开DSP
EA = 1;
#ifdef USE_POWER_KEY
sys_power_up();
#endif
work_mode = read_info(MEM_SYSMODE);
#ifdef CUSTOMED_POWER_ON_AT_RADIO_MODE
work_mode = SYS_FMREV;
#endif
if (work_mode == SYS_MP3DECODE_USB){
#ifdef REMOVE_USE_MODE
work_mode = SYS_FMREV;
Disp_Con(DISP_TUNER);
return;
#endif
Disp_Con(DISP_SCAN_DISK);
}
else if ((work_mode == SYS_FMREV)
#ifdef AM_RADIO_FUNC
||(work_mode == SYS_AMREV)
#endif
){
#ifdef AM_RADIO_FUNC
if(work_mode == SYS_AMREV){
cur_sw_fm_band = MW_MODE;
}
else
#endif
{
cur_sw_fm_band = FM_MODE;
}
Disp_Con(DISP_TUNER);
}
else if (work_mode == SYS_MCU_CD){
Disp_Con(DISP_SCAN_TOC);
}
else if (work_mode == SYS_AUX){
Disp_Con(DISP_AUX);
}
#if defined(USE_BLUE_TOOTH_FUNC)
else if (work_mode == SYS_BLUE_TOOTH){
Disp_Con(DISP_BT);
}
#endif
CD_PWR_GPIO_CTRL_INIT();
CD_PWR_GPIO_OFF();
//TUNER_PWR_GPIO_CTRL_INIT();
//TUNER_PWR_GPIO_OFF();
AUX_GPIO_CTRL_INIT();
AUX_PWR_GPIO_OFF();
BT_GPIO_CTRL_INIT();
BT_PWR_GPIO_OFF();
}
// Main program: Counting on T1
int main( void )
{
DDRB = 0xFF; // set PORTB for compare output
timer1Init();
wait(100);
while (1)
{
int delta = 1;
setRed (0);
// change some colors
// RED
for (int red = 0; red<=255; red+=delta)
{
setRed( red );
setBlue(255-red); // 8-bits PWM on pin OCR1a
delta += 2; // progressive steps up
wait(100); // delay of 100 ms (busy waiting)
}
for (int red = 255; red>=0; red-=delta)
{
setRed( red ); // 8-bits PWM on pin OCR1a
setGreen(255-red);
delta -= 2; // progressive steps down
wait(100); // delay of 100 ms (busy waiting)
}
for (int green = 0; green<=255; green+=delta)
{
setGreen( 255-green );
setBlue(green); // 8-bits PWM on pin OCR1a
delta += 2; // progressive steps up
wait(100); // delay of 100 ms (busy waiting)
}
setRed( 0 );
delta = 1;
wait(100);
// RED
for (int red = 0; red<=255; red+=delta)
{
setRed( red ); // 8-bits PWM on pin OCR1a
p
wait(100); // delay of 100 ms (busy waiting)
}
for (int red = 255; red>=0; red-=delta)
{
setRed( red ); // 8-bits PWM on pin OCR1a
setGreen(255-red);
delta -= 2; // progressive steps down
wait(100); // delay of 100 ms (busy waiting)
}
// GREEN
for (int gr = 0; gr<=255; gr+=delta) {
setGreen(gr);
wait(100);
}
for (int gr = 255; gr>=0; gr-=delta) {
setGreen(gr);
wait(100);
}
// BLUE
for (int blue = 0; blue<=255; blue+=delta) {
setBlue(blue);
wait(100);
}
for (int blue = 255; blue>=0; blue-=delta) {
setBlue(blue);
wait(100);
}
// YELLOW
// for (int yellow= 0; yellow<=255; yellow += delta)
// . . .
// WHITE
// for (int white = 0; white<=255; white += delta)
// . . .
}
}
