//开机初始化
void All_Init( void )
{
const uint32_t NewDeviationAddr = 0x4000;
/* BootLoad引导程序时，必须在Main中添加，同时更改“魔术棒--Target选项卡的ROM偏移地址” */
NVIC_SetVectorTable(NVIC_VectTab_FLASH,NewDeviationAddr);
/* 外设初始化 */
lcd_init();
rtc_init();
led_init();
uart3_init(BAUD_38400);
print_init(); //波特率19200
timeout_init();
TIM5_TimeoutInit();
link_init();
tf_init();
eep_init();
delay_init_t2();
beep_init();
SysTick_Config(SYSTICK_10MS);
// PrintSystemParameter(); //串口打印系统参数信息，用于调试
#ifdef ENABLE_BEEP
BEEP_START();
#endif
set_page(system_init);
}
void UART_1602_Init()
{
uart3_init(9600);
backlightOn() ;
clearLCD();
lcdPosition(0,0);
}
/*---------------------------------------------------------------------------*/
static int
init(void)
{
uart3_init(0);
uart3_set_input(xbee_input_handler);
ringbuf_init(&rxbuf, rxbuf_data, sizeof(rxbuf_data));
process_start(&xbee_process, NULL);
return 0;
}
void init_devices(void){
cli(); //disable all interrupts
timer1_init();
lcd_init();
uart3_init();
servo2_pin_config();
motion_port_init();
sei(); //re-enable interrupts
}
int main(void)
{
uart3_init();
printf("Hello World!\n");
printf("\n\n%s\n", BANNER);
while (1);
return 0;
}
void main_init( void )
{
int sts;
sts = get_reset_reason();
main_status = MAIN_STS_NO_SNS_ERR;
main_is_enter_stby_mode = 0;
bio_init();
clk_init();
uart_init();
dbg_wait();
#ifdef FEATURE_WDOG_TRIG
IWDG_Enable();
bio_led_ctrl( BIO_LED_IX_POWER, 0, 0, 0 );
#else // FEATURE_WDOG_TRIG
dbg_out( "\r\n**********==> Watchdog Disabled!!!!!\r\n" );
bio_led_ctrl( BIO_LED_IX_POWER, 500, 500, BIO_LED_ALWAYS_WINK );
#endif // FEATURE_WDOG_TRIG
dbg_out_pool_const( UART_DBG_MSG_ENTER3 );
dbg_out( "================== 0x%02X =================\r\n", sts );
dbg_out( "==== Welcome to %s Ver %d.%02X ====\r\n",
MAIN_TIT_STR, MAIN_VER_MAJ, MAIN_VER_MIN );
dbg_out( "===== i=%d, si=%d, li=%d, f=%d, d=%d =====\r\n",
sizeof( int ), sizeof( short int ),
sizeof( long int ),sizeof( float ),sizeof( double ) );
dbg_out( "===== %dMHz %s %s =====\r\n",
SystemCoreClock / 1000000, __DATE__, __TIME__ );
dbg_out_pool_const( UART_DBG_MSG_EQ_LINE );
dbg_wait();
view_reset_reason( sts );
eep_param_init();
IWDG_ReloadCounter();
u3_ctrl.sw_baud = 115200;
uart3_init();
sns_init();
adc_init();
zb_init();
encb_init();
fnd_init();
indc_init();
bio_set_fan_pwm_base_freq( eep_hw_info.fan_base_f );
cmd_rx_ptr = u1_ctrl.rx_bptr;
// set monitor timer
clk_set_timer( &monit_timer, MAIN_MONITOR_MS, MAIN_MONITOR_MS,
CLK_SIGS_MONITOR );
} // end of main_init()
void uart_init( void )
{
#ifdef USE_UART1
uart1_init();
#endif
#ifdef USE_UART2
uart2_init();
#endif
#ifdef USE_UART3
uart3_init();
#endif
}
/*!
initialize all devices. call all other initialization function
*/
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
uart3_init();
timer5_init();
timer4_init();
TCCR4B = 0x00;
TIMSK4 = 0x01; //timer4 overflow interrupt enable
TIMSK3 = 0x01;
sei(); //Enables the global interrupts
}
void init()
{
delay_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
LED_Init(); //LED端口初始化
TIM3_Int_Init(719,4999); //主中断0.03
uart_init(9600); //串口初始化为115200，读上位机数据
uart2_init(9600); //读陀螺仪数据
uart3_init(9600);
ENCODE_Init(); //编码器初始化
queue_init(&rx_queue);
basketballbot.Control_ID = Global;
}
void uart_init( void )
{
#ifdef USE_UART0
uart0_init();
#endif
#ifdef USE_UART1
uart1_init();
#endif
//TODO: add uart2 and greater
#ifdef USE_UART2
uart2_init();
#endif
#ifdef USE_UART3
uart3_init();
#endif
}
void ddk_init(void)
{
// 1. first, bring buffer enable into well defined state
buffer_init();
buf1_enable();
buf2_enable();
buf3_disable();
buf4_disable();
buf5_disable();
buf6_disable();
buf7_disable();
buf8_disable();
// 2. visuals
led_init();
led1_clr();
led2_clr();
led3_clr();
led4_clr();
// 3. comms
uart0_init(115200, 0);
uart1_init(115200, 0);
#ifdef WITH_UART2
uart2_init(115200, 0); // temporarily disabled and used as i/o
#endif
#ifdef WITH_UART3
uart3_init(115200, 0); // temporarily disabled and used as i/o
#endif
// 4. enable certain buffers if necessary
// 5. init misc i/o
io_init();
// 6. start fpga
io_fpga_enable();
//io_fpga_disable();
// enable systick interrupt. (1msec)
SysTick_Config(SystemCoreClock/1000 - 1); /* Generate interrupt each 1 ms */
SYSTICK_Cmd(DISABLE);
}
/*!
* @brief OSメイン関数
* @attention CPSRの外部割込み無効モードとして起動
* @param[in] なし
* @param[out] なし
* @return 終了値
* @retval 0:OS実効終了
* @note 正常retvalは返却されない
*/
int main(void)
{
unsigned long *p;
/* BSSセクションの初期化(BSSセクションの初期化はここでOK) */
for (p = &_bss_start; p < &_end; p++) {
*p = 0;
}
uart3_init(); /* シリアルの初期化 */
KERNEL_OUTMSG("kernel boot OK!\n");
/* OSの動作開始 */
kernel_init(start_threads, "init tsk", 0, 0x100, 0, NULL); /* initタスク起動 */
/* 正常ならばここには戻ってこない */
return 0;
}
int main(void)
{
// Declare local variables
//unsigned char switches;
unsigned char ch;
// Initialize the SAM4 board
sysclk_init();
board_init();
// Initialize the IO board
my_ioport_init();
// Initialize UART3
uart3_init();
PutString("\x1B[1c");
PutString("\x1B[j");
// Loop section
// repeate of last week's lab in a condensed manner
while (true) {
PutString("\x1B[0;0H");
PutString("drman");
PutString("\x1B[1;0H");
PutString("harbour");
delay_ms(5000);
PutString("\x1B[0;0H");
PutString("you");
PutString("\x1B[1;0H");
PutString("rock");
delay_ms(5000);
}
} // end of main, never reached
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168); //延时初始化
uart_init(9600); //串口1初始化波特率为9600
uart3_init(9600); //串口3初始化波特率为9600
LED_Init(); //初始化LED端口
EXTIX_Init(); //初始化外部中断输入
printf("keyup:写块数据中断！\r\n");
printf("key0:读块数据中断！\r\n");
printf("key1:读卡号中断！\r\n");
LoadPassword(); //装载密码
//等待中断发生
while(1)
{
}
}
int main(void)
{
// Declare local variables
unsigned char switch_status; // used to detect input button switches
unsigned short potReading; // used to read the potentiometer Reading
unsigned char ydirection; // used to set the y position direction of the joystick
// Initialize the SAM4 board
sysclk_init();
board_init();
// Initialize the IO board
my_ioport_init();
// Initialize UART3
uart3_init();
// initialize UART0
uart0_init();
// initialize SPI
spi_init();
// initialize ADC
adc_init();
// welcome message
puts("Welcome, my friend!");
// Main Loop
while (true) {
// read switch module on port C and mask out all but lowest 2 bits
switch_status = PORTC_PIO_PDSR & 0b00000011;
// exchange data with joystick
spi_joystick_exchange(switch_status);
// write button status from joystick to matching LEDs
PORTB_PIO_SODR = (buttons * 2) ;
// turn off matching leds
PORTB_PIO_CODR = ~(buttons * 2) ;
// assign y's direction bit according to the value of the y_position
if (y_position >= 512) {
// positive y direction
ydirection = 0;
// turn led 0 on
PORTB_PIO_CODR = 0x4000;
// reduce y position to the correct range using modulus property
y_position = y_position % 512;
} else {
// negative y direction
ydirection = 1;
// turn led 0 on
PORTB_PIO_SODR = 0x4000;
// reduce y position to the correct range in the negative direction
y_position = (512-y_position);
}
// read the 10 bit value from Channel 0 of the A/D Converter
potReading = ADC_CDR0;
// start the next a/d conversion
ADC_CR = ADC_START;
// divide the a/d value by 2 to restrict the range
potReading = (potReading / 2) ;
// print the direction, potentiometer Reading, and yposition's transformed value to the console
printf("\rY position is %d--direction bit: %d--A/D value: %d\n\r ", y_position, ydirection, potReading);
}
} // end of main, never reached
int main(void)
{
u16 times=0,i=0;
NORMALTIME cur_time; //设置RTC的时间用
//Flash_Write(0x08041000,(u8 *)IndCalib,sizeof(IndCalib));
Flash_Read(0x08041000,(u8 *)IndCalib,sizeof(IndCalib));
delay_init(); //延时函数初始化
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart1_init(115200); //上位机通信模块
uart2_init(9600); //风速传感器模块 A2 A3 要转为232
//uart3_init(19200); //SD卡模块 （兼职风向-因为3有重映射功能）
uart4_init(9600); //称重模块
uart5_init(9600); //AD模块
LED_Init(); //LED端口初始化
KEY_Init(); //初始化与按键连接的硬件接口
SD_init();
OPEN_SD_POWER;
CLOSE_SD_POWER;
OPEN_SD_POWER;
CLOSE_SD_POWER;
OPEN_SD_POWER;
cur_time.tm_year = 2016; //2016-1900
cur_time.tm_mon = 5;
cur_time.tm_mday = 29;
cur_time.tm_hour = 23;
cur_time.tm_min = 56;
cur_time.tm_sec = 2;
RTC_Init(cur_time);//
while(DS18B20_Init())//初始化DS18B20,兼检测18B20
{
printf("DS18B20 Check Failed!");
printf("Please Check! ");
}
printf("DS18B20 Ready! ");
while(1)
{
if(IS_BUT_DN)
{
BEEP = 0;
}
else
{
BEEP = 1;
g_PaOffset= -g_Pa;
g_IndValOffset[0]= -Volt2Distance(0,g_IndVal[0]);
g_IndValOffset[1]= -Volt2Distance(1,g_IndVal[1]);
g_IndValOffset[2]= -Volt2Distance(2,g_IndVal[2]);
g_IndValOffset[3]= -Volt2Distance(3,g_IndVal[3]);
}
if(times%60==0)
{
windSpeedDirFlag++;
sendWindSpeedCmd(); //串口2 带232
//printf("3\r\n");
if(5 == windSpeedDirFlag)
{
windSpeedDirFlag = 0;
}
//printf("4\r\n");
//风速的反应慢 一秒钟最多发一次指令 不然传感器要疯掉
if(0 == windSpeedDirFlag)
{
uart3_init(19200); //SD卡模块 （兼职风向-因为3有重映射功能）
g_uart3_used_for_SD = 1;
// 日期 时间 位移1, 2, 3, 4 |拉力| 温度 |SD|风速|风向
sprintf(CmdStr,"#01,%02d-%02d-%02d,%02d:%02d:%02d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%1d,%04d,%04d!\r\n",
cur_time.tm_year,cur_time.tm_mon,cur_time.tm_mday,
cur_time.tm_hour,cur_time.tm_min,cur_time.tm_sec,
dateSendtoPC[0],dateSendtoPC[1],dateSendtoPC[2],dateSendtoPC[3],
dateSendtoPC[4],
dateSendtoPC[6],dateSendtoPC[7],dateSendtoPC[8],dateSendtoPC[9],
g_Temper,lastSDerr,g_WindSpeed,g_WindDir);
//printf("7\r\n");
lastSDerr = write_string_to_files(CmdStr);
}
else
{
//printf("8\r\n");
uart3_init2(9600);
//SD卡的usart3 重映射到 PB10 和PB11口 来读风向
g_uart3_used_for_SD = 0;
send_byte_to_usart3(0x02);//初始化完后第一个字节会发不成功
sendWindDirCmd();//串口3
}
//printf("11\r\n");
cur_time = Time_GetTime();
}
if(times%10==0)
{
//sendWeightLoad1Cmd();
//称重标定代码
//printf("12\r\n");
switch(PC_Wcmd)
{
case 0x30:
//printf("13\r\n");
BEEP = 1;
sendWeightZeroCmd();
BEEP = 0;
PC_Wcmd = 0;
break;
case 0x40:
//printf("14\r\n");
BEEP = 1;
sendWeightLoad1Cmd();
PC_Wcmd = 0;
BEEP = 0;
break;
case 0x41:
//printf("15\r\n");
BEEP = 1;
sendWeightLoad2Cmd(g_weightCalib[0],g_weightCalib[1]);
PC_Wcmd = 0;
BEEP = 0;
break;
default:
//printf("16\r\n");
//sendWeightLoad2Cmd(0x27,0x10);
sendWeightCmd(); //串口4
break;
}
BLED3=1;
sendADCmd(); //串口5
BLED3=0;
dateSendtoPC[0] = g_IndVal[0];
dateSendtoPC[1] = g_IndVal[1];
dateSendtoPC[2] = g_IndVal[2];
dateSendtoPC[3] = g_IndVal[3];
dateSendtoPC[4] = g_PaOffset + g_Pa;
dateSendtoPC[6] = g_IndValOffset[0] + Volt2Distance(0,g_IndVal[0]);
dateSendtoPC[7] = g_IndValOffset[1] + Volt2Distance(1,g_IndVal[1]);
dateSendtoPC[8] = g_IndValOffset[2] + Volt2Distance(2,g_IndVal[2]);
dateSendtoPC[9] = g_IndValOffset[3] + Volt2Distance(3,g_IndVal[3]);
}
switch(PC_cmd)
{
case 1:
BLED2 = 1;
// 日期 时间 位移1, 2, 3, 4 |拉力| 温度 |SD|风速|风向
sprintf(CmdStr,"#01,%02d-%02d-%02d,%02d:%02d:%02d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%d,%04d,%04d!\r\n",
cur_time.tm_year,cur_time.tm_mon,cur_time.tm_mday,
cur_time.tm_hour,cur_time.tm_min,cur_time.tm_sec,
dateSendtoPC[0],dateSendtoPC[1],dateSendtoPC[2],dateSendtoPC[3],
dateSendtoPC[4],
dateSendtoPC[6],dateSendtoPC[7],dateSendtoPC[8],dateSendtoPC[9],
g_Temper,lastSDerr,g_WindSpeed,g_WindDir);
send_string_to_usart1(CmdStr);
BLED2 = 0;
PC_cmd = 0;
break;
case 0x10:
case 0x11:
case 0x12:
case 0x13:
case 0x14:
BEEP = 1;
sprintf(CmdStr,"#%02x",PC_cmd);
for(i=0;i<21;i++)
{
sprintf(CmdStr,"%s,%+05d",CmdStr,IndCalib[PC_cmd-0x10][i]);
}
sprintf(CmdStr,"%s!\r\n",CmdStr);
send_string_to_usart1(CmdStr);
PC_cmd = 0;
BEEP = 0;
break;
case 0x20:
case 0x21:
case 0x22:
case 0x23:
case 0x24:
sprintf(CmdStr,"#%02x",PC_cmd-0x10);
for(i=0;i<21;i++)
{
sprintf(CmdStr,"%s,%+05d",CmdStr,IndCalib[PC_cmd-0x20][i]);
}
sprintf(CmdStr,"%s!\r\n",CmdStr);
send_string_to_usart1(CmdStr);
PC_cmd = 0;
break;
}
times++;
delay_ms(10);
}
}
static rt_err_t rt_dev_uart_init (rt_device_t dev)
{
uart3_init(DEV_UART_BAUDRATE);
return RT_EOK;
}
void mcu_init(void)
{
mcu_arch_init();
#ifdef PERIPHERALS_AUTO_INIT
sys_time_init();
#ifdef USE_LED
led_init();
#endif
/* for now this means using spektrum */
#if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC
RADIO_CONTROL_BIND_IMPL_FUNC();
#endif
#ifdef USE_UART0
uart0_init();
#endif
#ifdef USE_UART1
uart1_init();
#endif
#ifdef USE_UART2
uart2_init();
#endif
#ifdef USE_UART3
uart3_init();
#endif
#ifdef USE_UART4
uart4_init();
#endif
#ifdef USE_UART5
uart5_init();
#endif
#ifdef USE_I2C0
i2c0_init();
#endif
#ifdef USE_I2C1
i2c1_init();
#endif
#ifdef USE_I2C2
i2c2_init();
#endif
#ifdef USE_ADC
adc_init();
#endif
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
#if USE_SPI
#if SPI_MASTER
#if USE_SPI0
spi0_init();
#endif
#if USE_SPI1
spi1_init();
#endif
#if USE_SPI2
spi2_init();
#endif
#if USE_SPI3
spi3_init();
#endif
spi_init_slaves();
#endif // SPI_MASTER
#if SPI_SLAVE
#if USE_SPI0_SLAVE
spi0_slave_init();
#endif
#if USE_SPI1_SLAVE
spi1_slave_init();
#endif
#if USE_SPI2_SLAVE
spi2_slave_init();
#endif
#if USE_SPI3_SLAVE
spi3_slave_init();
#endif
#endif // SPI_SLAVE
#endif // USE_SPI
#ifdef USE_DAC
dac_init();
#endif
#else
INFO("PERIPHERALS_AUTO_INIT not enabled! Peripherals (including sys_time) need explicit initialization.")
#endif /* PERIPHERALS_AUTO_INIT */
}
int main(void)
{
// Declare local variables
unsigned char switches;
// Initialize the SAM4 board
sysclk_init();
board_init();
// Initialize the IO board
my_ioport_init();
// Initialize UART3
uart3_init();
// Set LCD to Cursor Mode
PutCharacter(0x1B);
PutCharacter('[');
PutCharacter('1');
PutCharacter('c');
// Set LCD to clear display and home cursor
PutCharacter(0x1B);
PutCharacter('[');
PutCharacter('j');
// Loop section
while (true) {
// Send command to move cursor back to start of first line
PutCharacter(0x1B);
PutCharacter('[');
PutCharacter('0');
PutCharacter(';');
PutCharacter('0');
PutCharacter('H');
// Put letter Y to lcd screen
PutCharacter('Y');
// Send command to move cursor to start of second line
PutCharacter(0x1B);
PutCharacter('[');
PutCharacter('1');
PutCharacter(';');
PutCharacter('0');
PutCharacter('H');
// send letter R
PutCharacter('R');
// wait 5 seconds
delay_ms(5000);
// move to start of first line
PutCharacter(0x1B);
PutCharacter('[');
PutCharacter('0');
PutCharacter(';');
PutCharacter('0');
PutCharacter('H');
// send letter U
PutCharacter('U');
// move to start of second line
PutCharacter(0x1B);
PutCharacter('[');
PutCharacter('1');
PutCharacter(';');
PutCharacter('0');
PutCharacter('H');
// send the word "here"
PutCharacter('H');
PutCharacter('E');
PutCharacter('R');
PutCharacter('E');
// wait 5 seconds
delay_ms(5000);
}
} // end of main, never reached
int main (void)
{
/* variables for the UART0 (USB connection) */
unsigned int c = 0, c2 = 0, c3 = 0; // Variable for reading UARTS
char buffer[MAX_MSG_SIZE];
char buffer2[MAX_MSG_SIZE];
char buffer3[MAX_MSG_SIZE];
int idx = 0, idx2 = -1, idx3 = -1;
int len2 = 0;
int len3 = 0;
char meas_buffer[TX_BUFF_SIZE];
int txi = 0;
int txtop=0;
unsigned int i = 0;
char *ptr;
unsigned char hli_mutex = 0;
unsigned int gps = 0;
unsigned int imu = 0;
signed int ratio = 0;
uint16_t xacc = 0;
uint8_t xacca[2];
char s[64];
char rmc[256];
awake_flag = 0;
#ifdef RF_TEST_IDX
uint8_t gps_rf_test_idx = 0;
uint8_t imu_rf_test_idx = 0;
#endif
/* set outputs */
PORTL = 0xff; // Turn off LEDS
DDRL = (1<<LED1) | (1<<LED2) | (1<<LED3) | (1<<LED4); // Set pins for LED as output
pwm_init();
spiInit();
/* initialize UARTS */
uart_init( UART_BAUD_SELECT(UART_BAUD_RATE,F_CPU) ); // USB connection
uart2_init( UART_BAUD_SELECT(UART2_BAUD_RATE,F_CPU) ); // APC220 radio
uart3_init( UART_BAUD_SELECT(UART3_BAUD_RATE,F_CPU) ); // UP-501 GPS
/* Interrupt stuff for ADIS */
PCICR |= 1<<PCIE2; // Enable interrupt PORTK
PCMSK2 |= (1<<PCINT23); // interrupt in PCINT23
/* now enable interrupt, since UART library is interrupt controlled */
sei();
spiTransferWord(0xBE80); // ADSI software reset
_delay_ms(500);
/* Set GPS to a faster baud and update UART speed */
//uart3_puts("$PMTK251,115200*1F");
uart3_puts("$PMTK251,57600*2C\r\n");
//uart3_puts("$PMTK251,38400*27");
//uart3_puts("$PMTK251,0*28");
_delay_ms(500);
// uart3_init( UART_BAUD_SELECT(115200,F_CPU) );
uart3_init( UART_BAUD_SELECT(57600,F_CPU) );
//uart3_init( UART_BAUD_SELECT(38400,F_CPU) );
/* 115200 seems to be a little bit unstable, at least testing via radio*/
adis_reset_factory();
adis_set_sample_rate();
while (1) {
/* Read each UART serially and check each of them for data, if there is handle it */
c = uart_getc();
c2 = uart2_getc();
c3 = uart3_getc();
// Stop motors when connection is lost
if (awake_flag > AWAKE_THRESHOLD) {
pwm_set_duty(RC1, 0 );
pwm_set_duty(RC2, 0 );
};
if(tx_counter >= TX_READY) {
//empty buffer
for (txi = 0; txi < txtop; txi++) {
uart2_putc(meas_buffer[txi]); // Sending buffered data to RF
}
txtop = 0;
#ifdef AUTO_SHUTDOWN_ENABLE
awake_flag++;
#endif
PORTL ^= (1<<LED2);
tx_counter -= TX_READY;
}
if (adis_ready_counter >= ADIS_READY) {
adis_decode_burst_read_pack(&adis_data_decoded);
adis_reduce_decoded_burst(); // Reduce data ammount
#ifdef LOG_ENABLE
hli_send(package(sizeof(adis8_t), 0x14, 0x0D, &adis_data_decoded), sizeof(adis8_t)); // Log to SD card
#endif
#ifdef RF_TEST_IDX
memcpy(&adis_data_decoded_reduced.zgyro[0],&imu_rf_test_idx,1);
if (imu_rf_test_idx == 255)
imu_rf_test_idx = 1;
else
imu_rf_test_idx++;
memcpy(&meas_buffer[txtop], (char *)package(sizeof(adis8_reduced_t), 0x14, 0x0F, &adis_data_decoded_reduced),sizeof(adis8_reduced_t)+6);
#endif
#ifndef RF_TEST_IDX
memcpy(&meas_buffer[txtop], (char *)package(sizeof(adis8_reduced_t), 0x14, 0x0E, &adis_data_decoded_reduced),sizeof(adis8_reduced_t)+6);
#endif
txtop=txtop+sizeof(adis8_reduced_t)+6;
adis_ready_counter -= ADIS_READY;
PORTL ^= (1<<LED4);
}
/* Reading from radio */
if ( c2 & UART_NO_DATA ) {} else // Data available
{ //if data is $, set a flag, read next byte, set that value as the length, read while incrementing index until length reached, parse
//uart_putc(c2);
if (idx2 == 0) { // We should buffer a packet
len2 = c2+5; // Set length
}
if ( (idx2 < len2) && (idx2 >= 0)) { // We are buffering
buffer2[idx2] = c2;
idx2++;
if (idx2 == len2) { // We now have a full packet
if (parse(&rfmsg, buffer2)) {
PORTL ^= (1<<LED1);
process(&rfmsg);
}
idx2 = -1; // Set flag in new packet mode
#ifdef DEBUG
//puts_msg(&rfmsg);
#endif
}
}
if (c2 == '$') { // We have a possible message comming
// PORTL ^= (1<<LED4);
idx2 = 0; // Set "flag"
}
}
/* Reading from GPS */
if ( c3 & UART_NO_DATA ) {} else // Data available
{
/* Transmitting NMEA GPS sentences to the HLI */
if (c3 == '$') { // We have a possible message comming
//PORTL ^= (1<<LED3);
len3 = 0; // Set "flag"
}
if (len3 >= 0) { // We are buffering
buffer3[len3] = c3;
len3++;
if (c3 == '\n') { // We now have a full packet
if(buffer3[4] != 'S') { // Disable GSV and GSA messages
#ifdef LOG_ENABLE
hli_send(package(len3, 0x1E, 0x06, buffer3), len3); // Log to SD card
#endif
if (rmc_cut(buffer3,rmc)) {
// Invalid RMC data
} else {
#ifdef RF_TEST_IDX
memcpy(&rmc[0],&gps_rf_test_idx,1);
if (gps_rf_test_idx == 255)
gps_rf_test_idx = 1;
else
gps_rf_test_idx++;
memcpy(&meas_buffer[txtop], (char *)package(rmc_idx, 30, 31, rmc),rmc_idx+6);
#endif
#ifndef RF_TEST_IDX
memcpy(&meas_buffer[txtop], (char *)package(rmc_idx, 30, 6, rmc),rmc_idx+6);
#endif
txtop=txtop+rmc_idx+6;
PORTL ^= (1<<LED3);
}
len3 = -1; // Set flag in new packet mode
}
}
}
}
}
return 1;
}
/////////////////
// main routine
/////////////////
void main (void) {
uint8_t Rx, loop;
/////////////////
// init peripherals
/////////////////
// disable interrupts
DISABLE_INTERRUPTS;
// switch to 16MHz (default is 2MHz)
CLK.CKDIVR.byte = 0x00;
// configure green LED pin (PH2)
gpio_init(&PORT_H, PIN_2, OUTPUT_PUSHPULL_FAST);
// init timer TIM4 for 1ms clock with interrupts
tim4_init();
// init pins for UART1 Rx(=PA4) and Tx(=PA5)
gpio_init(&PORT_A, PIN_4, INPUT_PULLUP_NOEXINT);
gpio_init(&PORT_A, PIN_5, OUTPUT_PUSHPULL_FAST);
// init UART1 (connected to PC on muBoard)
uart1_init(115200L);
// init pins for UART3 Rx(=PD6) and Tx(=PD5)
gpio_init(&PORT_D, PIN_6, INPUT_PULLUP_NOEXINT);
gpio_init(&PORT_D, PIN_5, OUTPUT_PUSHPULL_FAST);
// init UART3 (available on io-plug on muBoard)
uart3_init(115200L);
// enable interrupts
ENABLE_INTERRUPTS;
/////////////////
// main loop
/////////////////
loop = 0;
while (1) {
// if byte received via UART1 send via UART3
if (uart1_check_Rx())
uart3_send_byte(uart1_receive());
// if byte received via UART3 send via UART1
if (uart3_check_Rx())
uart1_send_byte(uart3_receive());
// every 1ms do
if (g_flagClock) {
g_flagClock = 0;
// every 500ms toggle LED & print text
if (g_clock > 500) {
g_clock = 0;
// toggle LED
PORT_H.ODR.bit.b2 ^= 1;
} // loop 500ms
} // loop 1ms
} // main loop
} // main
int main(void)
{
// Declare local variables
unsigned short potReading; // used to read the potentiometer Reading
unsigned char task20_count; // increments to 5 to denote 20 Hz
unsigned char task10_count; // increment to 10 to denote 10 Hz
unsigned char task5_count; // increments to 20 to denote 5 Hz
unsigned char task1_count; // increments to 100 to denote 1Hz
unsigned char ydirection; // used to set the y position direction of the joystick
unsigned char formattedString[20]; // use to send text to the LCD Screen
unsigned short delta_count; // stores change between old count and sa_count
unsigned short old_count; // stores old count from the sa_count
unsigned short counts_per_minute;
unsigned short wholeRPM;
unsigned short fractionalRPM;
// Initialize the SAM4 board
sysclk_init();
board_init();
// Initialize the IO board
my_ioport_init();
// Initialize UART3
uart3_init();
// initialize UART0
uart0_init();
// initialize SPI
spi_init();
// initialize ADC
adc_init();
// initialize timer0 module
timer_init();
// initialize the pwm module
pwm_init();
// initialize LCD
PutString("\x1B[1c"); // lcd cursor mode
PutString("\x1B[j"); // clear display and move to home position
PutString("sp= cnt= "); // static text to the LCD
// Main Loop
while (true) {
// wait for the counter to reach 10
while (ms_counter <= 10) {
}
// read the 10 bit value from Channel 0 of the A/D Converter
potReading = ADC_CDR0;
// start the next a/d conversion
ADC_CR = ADC_START;
// divide the a/d value by 2 to restrict the range
potReading = (potReading / 2) ;
// set ms counter back to 0
ms_counter = 0;
// increment time variables appropiately
task10_count++;
task20_count++;
task5_count++;
task1_count++;
// every 20 Hz
if (task20_count >= 5)
{
// exchange data with joystick (no switch module so use a garbage value)
spi_joystick_exchange(0);
// assign y's direction bit according to the value of the y_position
// changed to 508 to ensure center position was 0 value with my motor
if (y_position >= 508)
{
// positive y direction --> counterclockwise
// turn led 0 off
PORTB_PIO_CODR = 0x4000;
// reduce y position to the correct range using modulus property
y_position = (y_position - 508);
// clear direction of port B, bit 1 to 1
PORTB_PIO_CODR = 0x02;
}
else
{
// negative y direction is clockwise
// turn led 0 on
PORTB_PIO_SODR = 0x4000;
// reduce y position to the correct range in the negative direction
y_position = (508-y_position);
// clear direction of port B, bit 1 to 1
PORTB_PIO_SODR = 0x02;
}
// use the smaller of the two values
if (y_position >= potReading) {
// update the PWM Duty Cycle with the A/D value
PWM_CUPD0 = potReading;
// build a formatted string using the A/D value
sprintf(formattedString, "%3x", potReading);
} else {
// update the PWM Duty Cycle with the y_position value
PWM_CUPD0 = y_position;
// build a formatted string using the y_position value
sprintf(formattedString, "%3x", y_position);
}
// send the command to LCD to position the cursor on Line 0, column 3
PutString("\x1B[0;3H");
PutString(formattedString);
// set task20_count back to 0;
task20_count = 0;
}
// every 10Hz
if ( task10_count >= 10)
{
// send a command string to the LCD to position the cursor on Line 0
PutString("\x1B[0;11H");
// build a formatted string for the sa_counter value
sprintf(formattedString, "%4x", sa_counter);
// send the formattedString to the LCD
PutString(formattedString);
// set task10_count back to 0
task10_count = 0;
}
// every 5 Hz
if ( task5_count >= 20)
{
// is the direction CW? by looking at direction signal (ie bit 1 on port b)
if ((PORTB_PIO_ODSR & 0x02) == 0x00) {
// capture the change in counts
delta_count = old_count - sa_counter;
} else {
// capture the change in counts
delta_count = sa_counter - old_count;
}
// save current count as the old count
old_count = sa_counter;
// computer counts per minute (5 is for 5 times per second and 60 to get from seconds to a minute)
counts_per_minute = (delta_count * 5 * 60);
// compute whole part of RPM value
wholeRPM = (counts_per_minute/ CPR);
// computer fractional part of RPM value
fractionalRPM = (counts_per_minute % CPR) * (10 / CPR);
// send a command string to the LCD to position the cursor on Line 1, row 0
PutString("\x1B[1;0H");
// is the direction CW? by looking at direction signal (ie bit 1 on port b)
if ((PORTB_PIO_ODSR & 0x02) == 0x00) {
// build a formatted string for the RPM value ending in CW
sprintf(formattedString, "%3d.%1d rpm cw ", wholeRPM, fractionalRPM);
} else {
// build a formatted string for the RPM value ending in CW
sprintf(formattedString, "%3d.%1d rpm ccw ", wholeRPM, fractionalRPM);
}
// send the formattedString to the LCD
PutString(formattedString);
// set task10_count back to 0
task5_count = 0;
}
// update every 1 Hz
if ( task1_count >= 100)
{
if ((PORTB_PIO_ODSR & 0x08) == 0x08)
{
// clear port B
PORTB_PIO_CODR = 0x08;
} else
{
// set port b, bit 3
PORTB_PIO_SODR = 0x08;
}
// set task10_count back to 0
task1_count = 0;
}
}
} // end of main, never reached
