int main(void)
{
unsigned int SystemCoreClock = 48000000UL;
// Set system frequency to 48MHz
SystemFrequency = ConfigurePLL(12000000UL, SystemCoreClock);
// Enable clock to IO Configuration block. Needed for UART, SPI, I2C, etc...
SYSCON_SYSAHBCLKCTRL_IOCON(SYSAHBCLKCTRL_ENABLE);
rt_hw_uart_init();
rt_uart_init();
rt_uart_open();
char buffer[256];
char str[] = "hi.\r\n";
rt_uart_write(str, 5);
while (1)
{
// echo back what was read
int sz = rt_uart_read(buffer, 256);
rt_uart_write(buffer, sz);
}
}
/******************************************************************************
** Function name: TargetResetInit
**
** Descriptions: Initialize the target board before running the main()
** function; User may change it as needed, but may not
** deleted it.
**
** parameters: None
** Returned value: None
**
******************************************************************************/
void TargetResetInit(void)
{
MEMMAP = 0x1;
ConfigurePLL();
return;
}
/******************************************************************************
** Function name: TargetResetInit
**
** Descriptions: Initialize the target board before running the main()
** function; User may change it as needed, but may not
** deleted it.
**
** parameters: None
** Returned value: None
**
******************************************************************************/
void TargetResetInit(void)
{
// mthomas
#if 0
#ifdef __DEBUG_RAM
MEMMAP = 0x2; /* remap to internal RAM */
#endif
#ifdef __DEBUG_FLASH
MEMMAP = 0x1; /* remap to internal flash */
#endif
#endif
#ifdef __DEBUG_RAM
MEMMAP = 0x2; /* remap to internal RAM */
#else
MEMMAP = 0x1; /* remap to internal flash */
#endif
#if USE_USB
PCONP |= 0x80000000; /* Turn On USB PCLK */
#endif
/* Configure PLL, switch from IRC to Main OSC */
ConfigurePLL();
/* Set system timers for each component */
#if (Fpclk / (Fcclk / 4)) == 1
PCLKSEL0 = 0x00000000; /* PCLK is 1/4 CCLK */
PCLKSEL1 = 0x00000000;
#endif
#if (Fpclk / (Fcclk / 4)) == 2
PCLKSEL0 = 0xAAAAAAAA; /* PCLK is 1/2 CCLK */
PCLKSEL1 = 0xAAAAAAAA;
#endif
#if (Fpclk / (Fcclk / 4)) == 4
PCLKSEL0 = 0x55555555; /* PCLK is the same as CCLK */
PCLKSEL1 = 0x55555555;
#endif
/* Set memory accelerater module*/
MAMCR = 0;
#if Fcclk < 20000000
MAMTIM = 1;
#else
#if Fcclk < 40000000
MAMTIM = 2;
#else
MAMTIM = 3;
#endif
#endif
MAMCR = 2;
GPIOResetInit();
return;
}
void init_clock (void){
ConfigurePLL();
}
int main(void)
{
// Set system frequency to 48MHz
SystemFrequency = ConfigurePLL(12000000UL, 48000000UL);
// Enable clock to IO Configuration block. Needed for UART, SPI, I2C, etc...
SYSCON_SYSAHBCLKCTRL_IOCON(SYSAHBCLKCTRL_ENABLE);
SysTick_Config(SystemFrequency/1000 - 1); // Generate interrupt each 1 ms
// set direction on port 0_7 (pin 28) to output
GPIO0_DIR(7, GPIO_OUTPUT);
GPIO0_DATA(7, 1); // turn on diagnostic led
// pin 17 (1_8) is connected to /CS1 on display
IOCON->PIO1_8.FUNC = PIO1_8_FUNC_GPIO;
GPIO1_DIR(8, GPIO_OUTPUT);
// pin 18 (1_9) is connected to A0 on display
IOCON->PIO1_9.FUNC = PIO1_9_FUNC_GPIO;
GPIO1_DIR(9, GPIO_OUTPUT);
// pin 26 (0_3) is connected to /RST on display
IOCON->PIO0_3.FUNC = PIO0_3_FUNC_GPIO;
//IOCON->PIO0_3.MODE = MODE_PULLUP_RESISTOR;
GPIO0_DIR(3, GPIO_OUTPUT);
// configure display lines
DispReset(DISP_RESET);
DispSelect(DISP_DESELECT);
//DispMode(DISP_CMD_MODE);
//
// Configure SPI 0
//
// Power on SSP 0
SYSCON->SYSAHBCLKCTRL.SSP0 = 1;
// reset the device
SYSCON->PRESETCTRL.SSP0_RST_N = 0; // assert reset
SYSCON->PRESETCTRL.SSP0_RST_N = 1; // de-assert reset
// setup clock divisor for SSP0 device
SYSCON->SSP0CLKDIV = 2;
// pin 1 - PIO0_8, set to MISO
// pin 2 - PIO0_9, set to MOSI
// pin 6 - PIO0_6, set to SCK0
// pin 25 - PIO0_2, set to SSEL0
IOCON->PIO0_8.FUNC = PIO0_8_FUNC_MISO;
IOCON->PIO0_9.FUNC = PIO0_9_FUNC_MOSI;
IOCON->SCK_LOC.SCKLOC = SCK0_LOC_PIO0_6;
IOCON->PIO0_6.FUNC = PIO0_6_FUNC_SCK0;
IOCON->PIO0_2.FUNC = PIO0_2_FUNC_SSEL;
// setup data clock rate (CPDVSR=2):
// SCR=23 = 500Khz
// SCR=11 = 1Mhz
// SCR=5 = 2Mhz
// Serial Clock Rate = PCLK / (CPSDVSR * [SCR+1])
SSP0CON->CPSR.CPSDVSR = 2;
SSP0CON->CR0.SCR = 11;
SSP0CON->CR0.DSS = SSP_CR0_DSS_8BIT;
SSP0CON->CR0.FRF = SSP_CR0_FRF_SPI;
SSP0CON->CR0.CPOL = SSP_CR0_CPOL_CLOCK_LOW;
SSP0CON->CR0.CPHA = SSP_CR0_CPHA_AWAY_FROM;
SSP0CON->CR1.MS = SSP_CR1_MS_MASTER;
// empty out FIFO
volatile uint32_t data;
for (int i = 0; i < SPI_FIFOSIZE; ++i)
{
data = SSP0CON->DR;
}
// enable SPI controller
SSP0CON->CR1.SSE = 1;
//test_display();
// pin 4 (0_11) is connected to ~SEL on DAC
IOCON->PIO0_11.FUNC = PIO0_11_FUNC_GPIO;
GPIO0_DIR(11, GPIO_OUTPUT);
GPIO0_DATA(11, 1); // set to hi to deselect the DAC
Delay(1);
GPIO0_DATA(11, 0); // set to low to select the DAC
Delay(1);
int j = 257;
SSP0CON->DR = j >> 8;
SSP0CON->DR = j & 0xFF;
Delay(1);
GPIO0_DATA(11, 1); // set to hi
Delay(1);
int res100 = 0;
while (1)
{
// pin 9 (1_0) is connected to FET gating 10 Ohm current measurement
IOCON->PIO1_0.FUNC = PIO1_0_FUNC_GPIO;
GPIO1_DIR(0, GPIO_OUTPUT);
GPIO1_DATA(0, res100); // set to high to select
Delay(3000);
res100 = res100 ? 0 : 1;
}
#if 0
while (1)
{
for (int j = 0; j < 4096; ++j)
{
Delay(1);
GPIO0_DATA(11, 0); // set to low to select the DAC
Delay(1);
SSP0CON->DR = j >> 8;
// Delay(1);
// GPIO0_DATA(11, 1); // set to hi
// Delay(1);
// GPIO0_DATA(11, 0); // set to low to select the DAC
// Delay(1);
SSP0CON->DR = j & 0xFF;
Delay(1);
GPIO0_DATA(11, 1); // set to hi
Delay(1);
}
}
#endif
}
int main(void)
{
// Set system frequency to 48MHz
SystemFrequency = ConfigurePLL(12000000UL, 48000000UL);
// Enable clock to IO Configuration block. Needed for UART, SPI, I2C, etc...
SYSCON_SYSAHBCLKCTRL_IOCON(SYSAHBCLKCTRL_ENABLE);
SysTick_Config(SystemFrequency/10000 - 1); // Generate interrupt each .1 ms
// set direction on port 0_7 (pin 28) to output
GPIO0_DIR(7, GPIO_OUTPUT);
GPIO0_DATA(7, 1); // turn on diagnostic led
GPIO1_DIR(4, GPIO_OUTPUT); // configure port 1_5 (pin 14) for output
GPIO1_DIR(5, GPIO_OUTPUT); // configure port 1_5 (pin 14) for output
// PWM output (pin 1) is tied to 1,2EN on H-bridge (SN754410 Quad Half H-bridge) //
SetupPWM();
MotorDir(0, 0); // turn on braking at 100%
MotorPower(0, 100);
// motor details:
// 120:1 gearbox
// 8 teeth on motor gear
// 32 teeth on gear with optical wheel
// 4 edges per rot of optical wheel
// 8/32*120*4 = 106.666 edges per rev
// At 5.5V max speed with just 2 gears,
// pulse width is avg 9.5 ms.
//
// a full stop should be no edge for about 150ms
// and motor on brake.
//
g_motorPos = 0;
g_motorStop = 0;
g_motorTime = 0;
g_motorInc = 0;
// setup interrupts on PIO1_0
IOCON_PIO1_0_MODE(PIO1_0_MODE_PULLDOWN_RESISTOR);
GPIO1_DIR(0, GPIO_INPUT);
GPIO1_IS(0, GPIO_EDGE_SENSITIVE);
GPIO1_IBE(0, GPIO_BOTH_EDGES);
GPIO1_IE(0, GPIO_INTERRUPT_ENABLE);
NVIC_EnableIRQ(EINT1_IRQn);
U64 time1, time2, oldTime;
int pos, oldPos;
oldTime = 0xFFFFFFFFFFFFFFFF;
U64 systickcnt;
int desiredMotorInc; // g_motorInc can only be changed when in a stopped state
while (1)
{
FlashLED();
desiredMotorInc = g_motorInc = 1;
g_motorStop = 100;
MotorDir(0, 1);
MotorPower(0, 100);
while (1)
{
do {
time1 = g_motorTime;
pos = g_motorPos;
time2 = g_motorTime;
} while (time1 != time2);
if (pos > g_motorStop)
{
desiredMotorInc = -1;
}
else if (pos < g_motorStop)
{
desiredMotorInc = 1;
}
systickcnt = SysTickCnt;
if ((systickcnt - time2) > 200 /*ms*/)
{
// stopped
if (pos == g_motorStop)
{
break; //achieved goal pos and we are stopped
}
if (desiredMotorInc != g_motorInc)
{
g_motorInc = desiredMotorInc; // g_motorInc must always be 1 or -1, otherwise we lose track of position
// change direction and turn power back on
MotorDir(0, desiredMotorInc);
MotorPower(0, 20);
}
}
}
FlashLED();
desiredMotorInc = g_motorInc = -1;
g_motorStop = 0;
MotorDir(0, -1);
MotorPower(0, 100);
while (1)
{
do {
time1 = g_motorTime;
pos = g_motorPos;
time2 = g_motorTime;
} while (time1 != time2);
if (pos > g_motorStop)
{
desiredMotorInc = -1;
}
else if (pos < g_motorStop)
{
desiredMotorInc = 1;
}
systickcnt = SysTickCnt;
if ((systickcnt - time2) > 200 /*ms*/)
{
// stopped
if (pos == g_motorStop)
{
break; //achieved goal pos and we are stopped
}
if (desiredMotorInc != g_motorInc)
{
g_motorInc = desiredMotorInc; // g_motorInc must always be 1 or -1, otherwise we lose track of position
// change direction and turn power back on
MotorDir(0, desiredMotorInc);
MotorPower(0, 20);
}
}
}
}
}
