/*---------------------------------------------------------------------------
* Setup the hardware
*---------------------------------------------------------------------------*/
static void prvSetupHardware( void )
{
prvInitPort00();
#if WATCHDOG != WTC_NONE
InitWatchdog();
#endif
}
void main(void)
{
//--- CPU Initialization
InitSysCtrl(); // Initialize the CPU (FILE: SysCtrl.c)
InitGpio(); // Initialize the shared GPIO pins (FILE: Gpio.c)
InitPieCtrl(); // Initialize and enable the PIE (FILE: PieCtrl.c)
InitWatchdog(); // Initialize the Watchdog Timer (FILE: WatchDog.c)
//--- Peripheral Initialization
InitAdc(); // Initialize the ADC (FILE: Adc.c)
InitEPwm(); // Initialize the EPwm (FILE: EPwm.c)
int d;
for (d = 0; d < SIN_DEFINITION; d++) {
sinValues[d] = (int)(fabs(sin(d * 180.f / SIN_DEFINITION * 2 * PI / 360)) * SIN_AMPLITUDE) + LOWER_HYSTERESIS_BAND;
}
// Variable Initialization
asm (" ESTOP0"); // Emulator Halt instruction
int i = 0;
//--- Enable global interrupts
// Enable global interrupts and realtime debug
asm("DBGM");
asm(" CLRC INTM");
//--- Main Loop
while(D) // endless loop - wait for an interrupt
{
i ++;
if (i == 600) {
EPwm1Regs.AQSFRC.bit.ACTSFA = 1; // What to do when One-Time Software Forced Event is invoked
// 00 Does nothing (action disabled)
// 01 Clear (low)
// 10 Set (high)
// 11 Toggle
EPwm1Regs.AQSFRC.bit.OTSFA = 1; // Invoke One-Time Software Forced Event on Output A
EPwm1Regs.AQSFRC.bit.ACTSFB = 2; // What to do when One-Time Software Forced Event is invoked
// 00 Does nothing (action disabled)
// 01 Clear (low)
// 10 Set (high)
// 11 Toggle
EPwm1Regs.AQSFRC.bit.OTSFB = 1; // Invoke One-Time Software Forced Event on Output A
i = 0;
}
}
//--- Main Loop
while(1) // endless loop - wait for an interrupt
{
asm(" NOP");
}
} //end of main()
static void prvSetupHardware( void )
{
/* Initialise the port used by the LEDs. */
vParTestInitialise();
/* See watchdog.h for definitions relating to the watchdog use. */
#if WATCHDOG != WTC_NONE
InitWatchdog();
#endif
}
static void prvSetupHardware( void )
{
/* Allow all interrupt levels. */
__set_il( mainINTERRUPT_LEVELS );
/* Initialise interrupts. */
InitIrqLevels();
/* Initialise the ports used by the LEDs. */
vParTestInitialise();
/* If we are going to use the watchdog, then initialise it now. */
#if WATCHDOG != WTC_NONE
InitWatchdog();
#endif
}
int main(int argc, char** argv)
{
//Initializations
InitCLK();
InitGPIO();
InitDAC();
InitSPI();
InitTimer0();
InitWatchdog();
//Setup interrupts
PEIE = 1;
GIE = 1;
SPI_CS = CS_IDLE; //must be changed!
SSPCON1bits.SSPEN=0; // Disable SPI Port
//PORTCbits.RC5 = 0; //Set MOSI low
//PORTCbits.RC3 = 0; //Set SCK low
PORTCbits.PORTC = LATCbits.LATC & 0xD7; //set MOSI and SCK low
while(1)
{
SPI_CS = CS_IDLE; //hands off mode for testing the launcher
//Check if beacon has been launched
CheckDisconnect(); //DONE+TESTED
if(playbackFlag&&!MEM_ACCESS)
{
PlaybackMode();
playbackFlag = 0;
}
//Transmit message
if(transmitFlag) //DONE+TESTED
TransmitMode(); //DONE+TESTED
//Go back to sleep, wait for interrupts
Hibernate();
}
return (EXIT_SUCCESS);
}
int main(void)
{
// Configure the system clock.
// The system clock is 168Mhz.
RCC_HSEConfig(RCC_HSE_ON); // ENABLE HSE (HSE = 8Mhz)
while(!RCC_WaitForHSEStartUp()); // Wait for HSE to stabilize
SystemCoreClockUpdate();
RCC_PCLK1Config(RCC_HCLK_Div4); // Set APB1=42Mhz (168/4)
// Initialize peripheral modules
InitCAN();
InitGPIO();
InitButtons();
InitEXTI();
InitNVIC();
InitTim();
InitSystick();
InitWatchdog();
/*
Check if the IWDG reset has occoured
*/
/*if(RCC_GetFlagStatus(RCC_FLAG_IWDGRST) == SET){
GPIOA->ODR |= GPIO_Pin_6; //temp action
RCC_ClearFlag();
}*/
while(1)
{
if(clk10msWheel == COMPLETE){
TxWheelrpm();
clk10msWheel = RESTART;
}
checkButtons();
LED_SetState(LED_GREEN, (GPIOE->IDR & BUTTON_START_GPIO_PIN) ? DISABLE : ENABLE);
LED_SetState(LED_RED, (GPIOE->IDR & BUTTON_STOP_GPIO_PIN) ? ENABLE : DISABLE);
}
}
void main(void)
{
IFR = 0x0000;
IER = 0x0000;
DisableWatchdog();
InitSysParameters(); // Initialization of system parameters
InitSysTimer(); // Initialization of system timer
#if (USE_TEST1_PIN)
TEST_1_INI();
TEST_1_OFF();
#endif
#if (USE_TEST2_PIN)
TEST_2_INI();
TEST_2_OFF();
#endif
InitWatchdog(); // Initialization of watchdog
InitXWatchdog(); // Initialization of extern watchdog
InitIndicators();
// InitSwitches();
InitKeyboard();
SetTimer(T_LED, T_LED_D); // Set Timers
SetTimer(T_SEC, T_SEC_D);
SetTimer(T_SWT, T_SWT_D);
PieCtrlRegs.PIEACK.all = 0xFFFF; // Enables PIE to drive a pulse into the CPU
EINT; // Enable Interrupts at the CPU level
//--- Enable interrupts
//SetDBGIER(IER); // Configure the DBGIER for realtime debug
//asm(" CLRC INTM, DBGM"); // Enable global interrupts and realtime debug
TimeDev.second = 0;
TimeDev.minute = 0;
TimeDev.hour = 0;
TimeDev.date = 0;
EnableWatchdog();
//--------------------------------------------------------------------------------------------------
for(;;) // Main loop
{
ServiceWatchdog(); // Reset Watchdog
//--------------------------------------------------------------------------------------------------
//----------------------------------------------// Time intervals
if(CheckTimer(T_SEC))
{
SetTimer(T_SEC, T_SEC_D);
if (++TimeDev.second > 59)
{
TimeDev.second = 0;
if (++TimeDev.minute > 59)
{
TimeDev.minute = 0;
if (++TimeDev.hour > 23)
{
TimeDev.hour = 0;
TimeDev.date++;
}
}
}
}
//--------------------------------------------------------------------------------------------------
//----------------------------------------------// Indication
if(CheckTimer(T_LED))
{
Debug[0]++;
SetTimer(T_LED, T_LED_D);
//----------------------------------------------// Signaling the state of the system
// ControlLedWork(TOGGLE); // LED indicates normal work of the system
//ControlIndicatorPower(TOGGLE); // Indication of connection to the power line
//----------------------------------------------// Signaling presence of errors
/*if (FlagDev.bit.ERR)
{
ControlLedError(TOGGLE);
//ControlIndicatorError(TOGGLE);
}
else
{
ControlLedError(OFF);
//ControlIndicatorError(OFF);
}*/
#if (USE_INDICATOR1)
//----------------------------------------------// Indication of the device working
// in the converter mode
/*if (FlagDev.bit.WORK)
{
ControlIndicatorWork(ON);
}
else
{
ControlIndicatorWork(OFF);
}*/
#endif
#if (USE_INDICATOR2)
//----------------------------------------------// Indication of the presence of communication
// with the control device
/*if (!ErrorDev.bit.CTR)
{
ControlIndicatorLink(ON);
}
else
{
ControlIndicatorLink(OFF);
}*/
#endif
}
if(CheckTimer(T_SWT))
{
#if (USE_SWT1)
if (CheckButtonStop() && !CheckButtonStart())
{
FlagDev.bit.STOP = 1;
}
#endif
#if (USE_SWT2)
if (CheckButtonStart() && !CheckButtonStop())
{
FlagDev.bit.PUSK = 1;
}
#endif
#if (USE_SWT3)
if (CheckButtonReset())
{
FlagDev.bit.RESET = 1;
}
#endif
#if (USE_ONB_BUT1)
if (CheckButtonOnboard1())
{
ControlLedOnboard3(ON);
}
else
{
ControlLedOnboard3(OFF);
}
#endif
#if (USE_KBRD)
CheckKeyboard();
if(KeyboardStat.bit.BUT1)
{
ControlLedWork(ON);
Debug[1] = 1;
}
else
{
ControlLedWork(OFF);
Debug[1] = 0;
}
if(KeyboardStat.bit.BUT2)
{
ControlLedError(ON);
Debug[2] = 1;
}
else
{
ControlLedError(OFF);
Debug[2] = 0;
}
if(KeyboardStat.bit.BUT4)
{
ControlLedOnboard3(ON);
Debug[3] = 1;
}
else
{
ControlLedOnboard3(OFF);
Debug[3] = 0;
}
if(KeyboardStat.bit.BUT5)
{
ControlLedOnboard4(ON);
Debug[4] = 1;
}
else
{
ControlLedOnboard4(OFF);
Debug[4] = 0;
}
#endif
}
//--------------------------------------------------------------------------------------------------
}
}
int main(int argc, char** argv) {
//Initializations
InitCLK();
InitGPIO();
InitADC();
//InitSPI();
InitTimer0();
InitTimer1();
InitWatchdog();
InitUART(); //Initialize UART module
unsigned char periodicCounter = MIN_PERIOD;
gpsIndex = 0;
INTCONbits.GIE = 1;
ToggleSleepGPS(); //Turn GPS on
SetupGPS(); //Setup Lat/Long recording
PORTBbits.PORTB = LATBbits.LATB & 0xDF; //turn red LED off
PORTBbits.PORTB = LATBbits.LATB | 0x10; //turn green LED on
__delay_ms(100);
PORTBbits.PORTB = LATBbits.LATB & 0xEF; //turn green LED off
SPI_CS = CS_IDLE;//prerecord
while(1){
//PRE_RECORD FUNCTION
//InitSPI(); //Start-up SPI again
//PreRecordMode();
//SSPCON1bits.SSPEN=0; // Disable SPI Port
//PORTCbits.RC5 = 0; //Set MOSI low
//SPI_CS = CS_IDLE;//prerecord
//__delay_ms(5);
SPI_CS = CS_IDLE;
//Check Flags
if(PORTAbits.RA1)
{
//Strobe LED
PORTBbits.RB0 = 1;
__delay_ms(100);
PORTBbits.RB0 = 0;
}
if(recordFlag)
{
RecordMode();
recordFlag = 0;
__delay_ms(500); //trying to get gps to not hangup
}
//Not recording, Update the GPS
if(gpsTimeoutState==0)
UpdateGPS(); //tell GPS to send an update
else if(gpsTimeoutState==1)
{
ToggleSleepGPS();
gpsTimeoutState = 2;
}
else if(gpsTimeoutState==2)
{
ToggleSleepGPS();
gpsTimeoutState = 3;
}
else if(gpsTimeoutState==3)
{
__delay_ms(1000);
gpsTimeoutState = 0;
}
else
{
gpsTimeoutState = 0;
}
if(gpsInvalidFlag) //turn on red LED if invalid message
{
PORTBbits.PORTB = LATBbits.LATB | 0x20; //turn red LED on
PORTBbits.PORTB = LATBbits.LATB & 0xEF; //turn green LED off
__delay_ms(250);
PORTBbits.PORTB = LATBbits.LATB & 0xDF; //turn red LED off
if(periodicCounter < MAX_PERIOD)
periodicCounter++;
}
else //turn on green LED if valid message
{
PORTBbits.PORTB = LATBbits.LATB | 0x10; //turn green LED on
PORTBbits.PORTB = LATBbits.LATB & 0xDF; //turn red LED off
__delay_ms(250);
PORTBbits.PORTB = LATBbits.LATB & 0xEF; //turn green LED off
periodicCounter = MIN_PERIOD;
}
if(!recordFlag)
{
if(PORTAbits.RA1) //check strobe
GoToSleep(MIN_PERIOD);
else if(gpsInvalidFlag)
GoToSleep(periodicCounter);
else
{
ToggleSleepGPS(); //Turn GPS off
Hibernate();
ToggleSleepGPS(); //Turn GPS on
}
}
}
return (EXIT_SUCCESS);
}
