/*!
*******************************************************************************
* Initializate all modules
******************************************************************************/
void init(void)
{
//! Calibrate the internal RC Oszillator
//! \todo test calibrate_rco();
//! set Clock to 4 Mhz
CLKPR = (1<<CLKPCE); // prescaler change enable
CLKPR = (1<<CLKPS0); // prescaler = 2 (internal RC runs @ 8MHz)
//! Disable Analog Comparator (power save)
ACSR = (1<<ACD);
//! Disable Digital input on PF0-7 (power save)
DIDR0 = 0xFF;
//! digital I/O port direction
DDRB = (1<<PB4)|(1<<PB7); // PB4, PB7 Motor out
DDRG = (1<<PG3)|(1<<PG4); // PG3, PG4 Motor out
DDRE = (1<<PE3); // PE3 activate lighteye
DDRF = (1<<PF3); // PF3 activate tempsensor
//! enable pullup on all inputs (keys and m_wheel)
//! ATTENTION: no pullup on lighteye input watch circuit diagram
PORTB = (1<<PB0)|(1<<PB1)|(1<<PB2)|(1<<PB3)|(1<<PB5)|(1<<PB6);
//! remark for PCMSK0:
//! PCINT0 for lighteye (motor monitor) is activated in motor.c using
//! mask register PCMSK0: PCMSK0=(1<<PCINT4) and PCMSK0&=~(1<<PCINT4)
//! PCMSK1 for keyactions
PCMSK1 = (1<<PCINT8)|(1<<PCINT9)|(1<<PCINT10)|(1<<PCINT11)|(1<<PCINT13);
//! activate PCINT0 + PCINT1
EIMSK = (1<<PCIE1)|(1<<PCIE0);
//! Initialize the USART
COM_Init(COM_BAUD_RATE);
//1 Initialize the LCD
LCD_Init();
//! Initialize the RTC, pass pointer to timer callback function
RTC_Init(callback_settemp);
//! Initialize the motor
MOTOR_Init();
// Init Engine
e_Init();
}
static int st_motor_ioctl(struct inode *inode, struct file *filp, unsigned int cmd, unsigned long arg)
{
switch (cmd) {
case MOTOR_Forward : {
OSTIMER_OFF;
MOTOR_Init();
Motor_Direction( Forward );
MOTOR_ReSetting(motor_speed); // 100us (default clk) = 10Hz
break;
}
case MOTOR_Reverse : {
OSTIMER_OFF;
MOTOR_Init();
Motor_Direction( Reverse );
MOTOR_ReSetting(motor_speed); // 100us (default clk) = 10Hz
break;
}
case MOTOR_SpeedUp : {
if(motor_speed > 200){
motor_speed -= 50; // Speed Up
printk("Speed up %d\n", motor_speed);
}
break;
}
case MOTOR_SpeedDown : {
motor_speed += 50; // Speed Down
break;
}
case MOTOR_STOP : {
Motor_Stop();
break;
}
default:
return 0;
}
return 0;
}
