extern void timerStart(timer * pTimer, const timerCalc * pTimerCalc)
{
pTimer->m_TimerCalc = *pTimerCalc;
const uint16_t PrescalerBits = pTimer->m_TimerCalc.PrescalerBits;
const uint16_t PriorityBits = pTimer->m_TimerCalc.PriorityBits;
const uint16_t Ticks = pTimer->m_TimerCalc.Ticks;
const timer_tCallback pCallback = pTimer->m_pCallback;
pTimer->m_OverflowCount = pTimer->m_TimerCalc.OverflowCount;
switch (pTimer->m_TimerNumber) {
case 1:
OpenTimer1(T1_ON | T1_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer1((pCallback == NULL ? T1_INT_OFF : T1_INT_ON) | PriorityBits);
break;
case 2:
OpenTimer2(T2_ON | T2_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer2((pCallback == NULL ? T2_INT_OFF : T2_INT_ON) | PriorityBits);
break;
case 3:
OpenTimer3(T3_ON | T3_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer3((pCallback == NULL ? T3_INT_OFF : T3_INT_ON) | PriorityBits);
break;
case 4:
OpenTimer4(T4_ON | T4_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer4((pCallback == NULL ? T4_INT_OFF : T4_INT_ON) | PriorityBits);
break;
case 5:
OpenTimer5(T5_ON | T5_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer5((pCallback == NULL ? T5_INT_OFF : T5_INT_ON) | PriorityBits);
break;
}
}
/*
* Setup a timer for a regular tick.
*/
void prvSetupTimerInterrupt( void )
{
const unsigned portLONG ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;
OpenTimer5( ( T5_ON | T5_PS_1_8 | T5_SOURCE_INT ), ulCompareMatch );
ConfigIntTimer5( T5_INT_ON | configKERNEL_INTERRUPT_PRIORITY );
}
void vMBPortTimersEnable(void){
/* Enable the timer with the timeout passed to xMBPortTimersInit( ) */
OpenTimer5();
xMBPortTimersInit(usTimerT35_50us); //Adjust timing for real timeouts
//ConfigIntTimer3(T2_INT_ON | T2_INT_PRIOR_2);
_T5IE = 1;
T5CONbits.TON = 1; // Start Timer
// INTCONbits.GIE = 1;
//INTEnableSystemMultiVectoredInt();
}
//******************************************************************************
//Public Function Definitions
//******************************************************************************
void Orientation_start()
{
//Setup Timer5
INTClearFlag(INT_T5);
INTSetVectorPriority(INT_TIMER_5_VECTOR, INT_PRIORITY_LEVEL_3);
INTSetVectorSubPriority(INT_TIMER_5_VECTOR, INT_SUB_PRIORITY_LEVEL_1);
INTEnable(INT_T5, INT_ENABLED);
//Turn on clock
OpenTimer5(T5_ON | T5_SOURCE_INT | T1_PS_1_64, 12500);//50hz @ 40MHz
//OpenTimer5(T5_ON | T5_SOURCE_INT | T5_PS_1_32, 3333); //375hz @ 40MHz (0.0026664 sec)
}
void fis_Timer5_config(unsigned int period){
// 7654321076543210
unsigned int config = 0b1000000000110000; //T4_ON & T4_GATE_ON & T4_IDLE_CON & T4_PS_1_1 & T4_SOURCE_INT;
// 7654321076543210
//unsigned int period = 0b0000000000000111;
WriteTimer5(0x0000);
OpenTimer5( config, period );
//ConfigIntTimer5(T5_INT_ON & T5_INT_PRIOR_1);
EnableIntT5;
//printf("t5_config\n");
}
//Timer 5 setup function
int sysServiceConfigT5(unsigned int T5conval, unsigned int T5perval,
unsigned int T5intconval){
//Todo: is there any way to have a compile time semaphore here?
if(T5_already_confgured){
return -1;
}
else{
T5_already_confgured = 1;
OpenTimer5(T5conval, T5perval);
ConfigIntTimer5(T5intconval);
return 0;
}
}
inline void Timer5_Setup(void)
{
OpenTimer5(
T5_OFF &
T5_IDLE_CON &
T5_GATE_OFF &
T5_PS_1_256 &
T5_SOURCE_INT,
39063); //for 250 ms.
ConfigIntTimer5(
T5_INT_PRIOR_2 &
T5_INT_ON
);
return;
}
//********************************
//********************************
//********** INITIALISE **********
//********************************
//********************************
void initialise (void)
{
BYTE data;
//##### GENERAL NOTE ABOUT PIC32'S #####
//Try and use the peripheral libraries instead of special function registers for everything (literally everything!) to avoid
//bugs that can be caused by the pipeline and interrupts.
//---------------------------------
//----- CONFIGURE PERFORMANCE -----
//---------------------------------
//----- SETUP EVERYTHING FOR OPTIMUM PERFORMANCE -----
SYSTEMConfigPerformance(80000000ul); //Note this sets peripheral bus to '1' max speed (regardless of configuration bit setting)
//Use PBCLK divider of 1:1 to calculate UART baud, timer tick etc
//----- SET PERIPHERAL BUS DIVISOR -----
//To minimize dynamic power the PB divisor should be chosen to run the peripherals at the lowest frequency that provides acceptable system performance
mOSCSetPBDIV(OSC_PB_DIV_2); //OSC_PB_DIV_1, OSC_PB_DIV_2, OSC_PB_DIV_4, OSC_PB_DIV_8,
//----- SETUP INTERRUPTS -----
INTEnableSystemMultiVectoredInt();
//-------------------------
//----- SETUP IO PINS -----
//-------------------------
//(Device will powerup with all IO pins as inputs)
//----- TURN OFF THE JTAG PORT -----
//(JTAG is on by default)
//mJTAGPortEnable(0); //Must be on for Microchip Multimedia Development board
#define PORTA_IO 0xc2ff //Setup the IO pin type (0 = output, 1 = input)
mPORTAWrite(0xc033); //Set initial ouput pin states
mPORTASetPinsDigitalIn(PORTA_IO); //(Sets high bits as input)
mPORTASetPinsDigitalOut(~PORTA_IO); //(Sets high bits as output)
#define PORTB_IO 0xfbff //Setup the IO pin type (0 = output, 1 = input)
mPORTBWrite(0x6d13); //Set initial ouput pin states
mPORTBSetPinsDigitalIn(PORTB_IO); //(Sets high bits as input)
mPORTBSetPinsDigitalOut(~PORTB_IO); //(Sets high bits as output)
mPORTBSetPinsDigitalIn(BIT_0 | BIT_1 | BIT_3 | BIT_4 | BIT_15); //Joystick inputs
#define PORTC_IO 0xf01e //Setup the IO pin type (0 = output, 1 = input)
mPORTCWrite(0x3018); //Set initial ouput pin states
mPORTCSetPinsDigitalIn(PORTC_IO); //(Sets high bits as input)
mPORTCSetPinsDigitalOut(~PORTC_IO); //(Sets high bits as output)
#define PORTD_IO 0x7bfe //Setup the IO pin type (0 = output, 1 = input)
mPORTDWrite(0xbdaf); //Set initial ouput pin states
mPORTDSetPinsDigitalIn(PORTD_IO); //(Sets high bits as input)
mPORTDSetPinsDigitalOut(~PORTD_IO); //(Sets high bits as output)
mPORTDSetPinsDigitalOut(BIT_2 | BIT_1); //LED's 2 and 3
mPORTDSetPinsDigitalIn(BIT_9);
#define PORTE_IO 0x03ff //Setup the IO pin type (0 = output, 1 = input)
mPORTEWrite(0x02a2); //Set initial ouput pin states
mPORTESetPinsDigitalIn(PORTE_IO); //(Sets high bits as input)
mPORTESetPinsDigitalOut(~PORTE_IO); //(Sets high bits as output)
#define PORTF_IO 0x111f //Setup the IO pin type (0 = output, 1 = input)
mPORTFWrite(0x0039); //Set initial ouput pin states
mPORTFSetPinsDigitalIn(PORTF_IO); //(Sets high bits as input)
mPORTFSetPinsDigitalOut(~PORTF_IO); //(Sets high bits as output)
#define PORTG_IO 0xd3cf //Setup the IO pin type (0 = output, 1 = input)
mPORTGWrite(0xf203); //Set initial ouput pin states
mPORTGSetPinsDigitalIn(PORTG_IO); //(Sets high bits as input)
mPORTGSetPinsDigitalOut(~PORTG_IO); //(Sets high bits as output)
//Read pins using:
// mPORTAReadBits(BIT_0);
//Write pins using:
// mPORTAClearBits(BIT_0);
// mPORTASetBits(BIT_0);
// mPORTAToggleBits(BIT_0);
//----- INPUT CHANGE NOTIFICATION CONFIGURATION -----
//EnableCN0();
ConfigCNPullups(CN2_PULLUP_ENABLE | CN3_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE | CN12_PULLUP_ENABLE); //Joystick pins
//----- SETUP THE A TO D PINS -----
ENABLE_ALL_DIG;
//---------------------
//----- SETUP USB -----
//---------------------
//The USB specifications require that USB peripheral devices must never source current onto the Vbus pin. Additionally, USB peripherals should not source
//current on D+ or D- when the host/hub is not actively powering the Vbus line. When designing a self powered (as opposed to bus powered) USB peripheral
//device, the firmware should make sure not to turn on the USB module and D+ or D- pull up resistor unless Vbus is actively powered. Therefore, the
//firmware needs some means to detect when Vbus is being powered by the host. A 5V tolerant I/O pin can be connected to Vbus (through a resistor), and
//can be used to detect when Vbus is high (host actively powering), or low (host is shut down or otherwise not supplying power). The USB firmware
//can then periodically poll this I/O pin to know when it is okay to turn on the USB module/D+/D- pull up resistor. When designing a purely bus powered
//peripheral device, it is not possible to source current on D+ or D- when the host is not actively providing power on Vbus. Therefore, implementing this
//bus sense feature is optional. This firmware can be made to use this bus sense feature by making sure "USE_USB_BUS_SENSE_IO" has been defined in the
//HardwareProfile.h file.
// #if defined(USE_USB_BUS_SENSE_IO)
// tris_usb_bus_sense = INPUT_PIN; // See HardwareProfile.h
// #endif
//If the host PC sends a GetStatus (device) request, the firmware must respond and let the host know if the USB peripheral device is currently bus powered
//or self powered. See chapter 9 in the official USB specifications for details regarding this request. If the peripheral device is capable of being both
//self and bus powered, it should not return a hard coded value for this request. Instead, firmware should check if it is currently self or bus powered, and
//respond accordingly. If the hardware has been configured like demonstrated on the PICDEM FS USB Demo Board, an I/O pin can be polled to determine the
//currently selected power source. On the PICDEM FS USB Demo Board, "RA2" is used for this purpose. If using this feature, make sure "USE_SELF_POWER_SENSE_IO"
//has been defined in HardwareProfile.h, and that an appropriate I/O pin has been mapped to it in HardwareProfile.h.
// #if defined(USE_SELF_POWER_SENSE_IO)
// tris_self_power = INPUT_PIN; // See HardwareProfile.h
// #endif
//Enable the USB port now - we will check to see if Vbus is powered at the end of init and disable it if not.
//USBDeviceInit(); //usb_device.c. Initializes USB module SFRs and firmware variables to known states.
//------------------------
//----- SETUP TIMERS -----
//------------------------
//(INCLUDE THE USAGE OF ALL TIMERS HERE EVEN IF NOT SETUP HERE SO THIS IS THE ONE POINT OF
//REFERENCE TO KNOW WHICH TIMERS ARE IN USE AND FOR WHAT).
//----- SETUP TIMER 1 -----
//Used for: Available
//OpenTimer1((T1_ON | T1_IDLE_CON | T1_GATE_OFF | T1_PS_1_4 | T1_SOURCE_INT), 20000);
//----- SETUP TIMER 2 -----
//Used for:
//OpenTimer2((T2_ON | T2_IDLE_CON | T2_GATE_OFF | T2_PS_1_1 | T2_SOURCE_INT), 0xffff); //0xffff = 305Hz
//----- SETUP TIMER 3 -----
//Used for:
//OpenTimer3((T3_ON | T3_IDLE_CON | T3_GATE_OFF | T3_PS_1_1 | T3_SOURCE_INT), PIEZO_TIMER_PERIOD);
//----- SETUP TIMER 4 -----
//Used for:
//OpenTimer4((T4_ON | T4_IDLE_CON | T4_GATE_OFF | T4_PS_1_1 | T4_SOURCE_INT), 20000);
//----- SETUP TIMER 5 -----
//Used for: Heartbeat
OpenTimer5((T5_ON | T5_IDLE_CON | T5_GATE_OFF | T5_PS_1_1 | T5_SOURCE_INT), 40000); //1mS with 80MHz osc and PB_DIV_2
ConfigIntTimer5(T5_INT_ON | T5_INT_PRIOR_7); //1=lowest priority to 7=highest priority. ISR function must specify same value
//---------------------------------
//----- SETUP EVAL BOARD CPLD -----
//---------------------------------
//Graphics bus width = 16
mPORTGSetPinsDigitalOut(BIT_14);
mPORTGSetBits(BIT_14);
//SPI source select = SPI3 (not used)
mPORTGSetPinsDigitalOut(BIT_12);
mPORTGClearBits(BIT_12);
//SPI peripheral destination select = Expansion Slot (not used)
mPORTASetPinsDigitalOut(BIT_7 | BIT_6);
mPORTASetBits(BIT_7);
mPORTAClearBits(BIT_6);
//--------------------------------------
//----- PARALLEL MASTER PORT SETUP -----
//--------------------------------------
PMMODE = 0;
PMAEN = 0;
PMCON = 0;
PMMODE = 0x0610;
PMCONbits.PTRDEN = 1; //Enable RD line
PMCONbits.PTWREN = 1; //Enable WR line
PMCONbits.PMPEN = 1; //Enable PMP
//------------------------------
//----- INITIALISE DISPLAY -----
//------------------------------
display_initialise();
display_test();
//LOAD OUR GLOBAL HTML STYLES FILE READY FOR DISPLAY HTML PAGES
BYTE dummy_styles_count;
DWORD file_size;
if (display_html_setup_read_file(global_css, 0, &file_size))
{
dummy_styles_count = 0;
display_html_read_styles(&file_size, &dummy_styles_count, 1); //1 = this is global styles file
}
}
int main(int argc, char** argv) {
/*Configuring POSC with PLL, with goal FOSC = 80 MHZ */
// Configure PLL prescaler, PLL postscaler, PLL divisor
// Fin = 8 Mhz, 8 * (40/2/2) = 80
PLLFBD = 18; // M=40 // change to 38 for POSC 80 Mhz - this worked only on a single MCU for uknown reason
CLKDIVbits.PLLPOST = 0; // N2=2
CLKDIVbits.PLLPRE = 0; // N1=2
// Initiate Clock Switch to Primary Oscillator with PLL (NOSC=0b011)
//__builtin_write_OSCCONH(0x03);
// tune FRC
OSCTUN = 23; // 23 * 0.375 = 8.625 % -> 7.37 Mhz * 1.08625 = 8.005Mhz
// Initiate Clock Switch to external oscillator NOSC=0b011 (alternative use FRC with PLL (NOSC=0b01)
__builtin_write_OSCCONH(0b011);
__builtin_write_OSCCONL(OSCCON | 0x01);
// Wait for Clock switch to occur
while (OSCCONbits.COSC!= 0b011);
// Wait for PLL to lock
while (OSCCONbits.LOCK!= 1);
// local variables in main function
int status = 0;
int i = 0;
int ax = 0, ay = 0, az = 0;
int statusProxi[8];
int slowLoopControl = 0;
UINT16 timerVal = 0;
float timeElapsed = 0.0;
//extern UINT8 pwmMotor;
extern UINT16 speakerAmp_ref;
extern UINT16 speakerFreq_ref;
extern UINT8 proxyStandby;
UINT16 dummy = 0x0000;
setUpPorts();
delay_t1(50);
PWMInit();
delay_t1(50);
ctlPeltier = 0;
PeltierVoltageSet(ctlPeltier);
FanCooler(0);
diagLED_r[0] = 100;
diagLED_r[1] = 0;
diagLED_r[2] = 0;
LedUser(diagLED_r[0], diagLED_r[1],diagLED_r[2]);
// Speaker initialization - set to 0,1
spi1Init(2, 0);
speakerAmp_ref = 0;
speakerAmp_ref_old = 10;
speakerFreq_ref = 1;
speakerFreq_ref_old = 10;
int count = 0;
UINT16 inBuff[2] = {0};
UINT16 outBuff[2] = {0};
while (speakerAmp_ref != speakerAmp_ref_old) {
if (count > 5 ) {
// Error !
//LedUser(100, 0, 0);
break;
}
inBuff[0] = (speakerAmp_ref & 0x0FFF) | 0x1000;
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], outBuff);
chipDeselect(slaveVib);
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], &speakerAmp_ref_old);
chipDeselect(slaveVib);
count++;
}
count = 0;
while (speakerFreq_ref != speakerFreq_ref_old) {
if (count > 5 ) {
// Error !
//LedUser(0, 100, 0);
break;
}
inBuff[0] = (speakerFreq_ref & 0x0FFF) | 0x2000;
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], outBuff);
chipDeselect(slaveVib);
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], &speakerFreq_ref_old);
chipDeselect(slaveVib);
count++;
}
accPin = aSlaveR;
accPeriod = 1.0 / ACC_RATE * 1000000.0; // in us; for ACC_RATE = 3200 Hz it should equal 312.5 us
status = adxl345Init(accPin);
ax = status;
delay_t1(5);
/* Init FFT coefficients */
TwidFactorInit(LOG2_FFT_BUFF, &Twiddles_array[0],0);
delta_freq = (float)ACC_RATE / FFT_BUFF;
// read 100 values to calculate bias
int m;
int n = 0;
for (m = 0; m < 100; m++) {
status = readAccXYZ(accPin, &ax, &ay, &az);
if (status <= 0) {
//
}
else {
ax_b_l += ax;
ay_b_l += ay;
az_b_l += az;
n++;
}
delay_t1(1);
}
ax_b_l /= n;
ay_b_l /= n;
az_b_l /= n;
_SI2C2IE = 0;
_SI2C2IF = 0;
// Proximity sensors initalization
I2C1MasterInit();
status = VCNL4000Init();
// Cooler temperature sensors initalization
status = adt7420Init(0, ADT74_I2C_ADD_mainBoard);
delay_t1(1);
muxCh = I2C1ChSelect(1, 6);
status = adt7420Init(0, ADT74_I2C_ADD_flexPCB);
// Temperature sensors initialization
statusTemp[0] = adt7320Init(tSlaveF, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[1] = adt7320Init(tSlaveR, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[2] = adt7320Init(tSlaveB, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[3] = adt7320Init(tSlaveL, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
// Temperature estimation initialization
for (i = 0; i < 50; i++) {
adt7320ReadTemp(tSlaveF, &temp_f);
delay_t1(1);
adt7320ReadTemp(tSlaveL, &temp_l);
delay_t1(1);
adt7320ReadTemp(tSlaveB, &temp_b);
delay_t1(1);
adt7320ReadTemp(tSlaveR, &temp_r);
delay_t1(1);
}
tempBridge[0] = temp_f;
tempBridge[1] = temp_r;
tempBridge[2] = temp_b;
tempBridge[3] = temp_l;
if (statusTemp[0] != 1)
temp_f = -1;
if (statusTemp[1] != 1)
temp_r = -1;
if (statusTemp[2] != 1)
temp_b = -1;
if (statusTemp[3] != 1)
temp_l = -1;
// CASU ring average temperature
temp_casu = 0;
tempNum = 0;
tempSensors = 0;
for (i = 0; i < 4; i++) {
if (statusTemp[i] == 1 && tempBridge[i] > 20 && tempBridge[i] < 60) {
tempNum++;
temp_casu += tempBridge[i];
tempSensors++;
}
}
if (tempNum > 0)
temp_casu /= tempNum;
else
temp_casu = -1;
temp_casu1 = temp_casu;
temp_wax = temp_casu;
temp_wax1 = temp_casu;
temp_model = temp_wax;
temp_old[0] = temp_f;
temp_old[1] = temp_r;
temp_old[2] = temp_b;
temp_old[3] = temp_l;
temp_old[4] = temp_flexPCB;
temp_old[5] = temp_pcb;
temp_old[6] = temp_casu;
temp_old[7] = temp_wax;
for (i = 0; i < 4; i++) {
uref_m[i] = temp_wax;
}
// Configure i2c2 as a slave device and interrupt priority 5
I2C2SlaveInit(I2C2_CASU_ADD, BB_I2C_INT_PRIORITY);
// delay for 2 sec
for(i = 0; i < 4; i ++) {
delay_t1(500);
ClrWdt();
}
while (i2cStarted == 0) {
delay_t1(200);
ClrWdt();
}
dma0Init();
dma1Init();
CloseTimer4();
ConfigIntTimer4(T4_INT_ON | TEMP_LOOP_PRIORITY);
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(2000, 256));
CloseTimer5();
ConfigIntTimer5(T5_INT_ON | FFT_LOOP_PRIORITY);
OpenTimer5(T5_ON | T5_PS_1_256, ticks_from_ms(1000, 256));
diagLED_r[0] = 0;
diagLED_r[1] = 0;
diagLED_r[2] = 0;
LedUser(diagLED_r[0], diagLED_r[1],diagLED_r[2]);
start_acc_acquisition();
while(1) {
ConfigIntTimer2(T2_INT_OFF); // Disable timer interrupt
IFS0bits.T2IF = 0; // Clear interrupt flag
OpenTimer2(T2_ON | T2_PS_1_256, 65535); // Configure timer
if (!proxyStandby) {
statusProxi[0] = I2C1ChSelect(1, 2); // Front
proxy_f = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[1] = I2C1ChSelect(1, 4); // Back right
proxy_br = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[2] = I2C1ChSelect(1, 3); // Front right
proxy_fr = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[3] = I2C1ChSelect(1, 5); // Back
proxy_b = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[4] = I2C1ChSelect(1, 0); // Back left
proxy_bl = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[5] = I2C1ChSelect(1, 1); // Front left
proxy_fl = VCNL4000ReadProxi();
delay_t1(1);
}
else {
proxy_f = 0; // Front
proxy_br = 0; // Back right
proxy_fr = 0; // Front right
proxy_b = 0; // Back
proxy_bl = 0; // Back left
proxy_fl = 0; // Front left
}
if (timer4_flag == 1) {
// every 2 seconds
CloseTimer4();
ConfigIntTimer4(T4_INT_ON | TEMP_LOOP_PRIORITY);
timer4_flag = 0;
if (dma_spi2_started == 0) {
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(2000, 256));
skip_temp_filter++;
tempLoop();
}
else {
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(50, 256));
}
}
if (dma_spi2_done == 1) {
fftLoop();
dma_spi2_done = 0;
}
if ((timer5_flag == 1) || (new_vibration_reference == 1)) {
// every 1 seconds
CloseTimer5();
ConfigIntTimer5(T5_INT_ON | FFT_LOOP_PRIORITY);
OpenTimer5(T5_ON | T5_PS_1_256, ticks_from_ms(1000, 256));
timer5_flag = 0;
if (new_vibration_reference == 1) {
//if(1){
CloseTimer3();
dma0Stop();
dma1Stop();
spi2Init(2, 0);
dma0Init();
dma1Init();
chipDeselect(aSlaveR);
IFS0bits.DMA0IF = 0;
delay_t1(30); // transient response
}
new_vibration_reference = 0;
start_acc_acquisition();
}
// Cooler fan control
if (fanCtlOn == 1) {
if (temp_pcb >= 25 && fanCooler == FAN_COOLER_OFF)
fanCooler = FAN_COOLER_ON;
else if (temp_pcb <= 24 && fanCooler == FAN_COOLER_ON)
fanCooler = FAN_COOLER_OFF;
// In case of I2C1 fail turn on the fan
if ((proxy_f == 0xFFFF) && (proxy_fr == 0xFFFF) && (proxy_br == 0xFFFF) && (proxy_b == 0xFFFF) && (proxy_bl == 0xFFFF) && (proxy_fl == 0xFFFF))
fanCooler = FAN_COOLER_ON;
}
else if (fanCtlOn == 2)
fanCooler = FAN_COOLER_ON;
else
fanCooler = FAN_COOLER_OFF;
//TEST
// temp_f = temp_model;
// if (temp_ref < 30) {
// temp_r = smc_parameters[0] * 10;
// }
// else {
// temp_r = smc_parameters[0] / 2.0 * 10.0;
// }
// temp_r = alpha*10;
// temp_b = sigma_m * 10;
// temp_l = sigma * 10;
//temp_flexPCB = temp_ref_ramp;
/*
proxy_f = dma_spi2_started;
proxy_fl = dma_spi2_done;
proxy_bl = new_vibration_reference;
proxy_b = timer5_flag;
proxy_br = timer4_flag;
*/
int dummy_filt = 0;
for (i = 0; i < 8; i++) {
if (index_filter[i] > 0){
dummy_filt++;
}
}
if (dummy_filt > 0) {
filtered_glitch = dummy_filt;
//for (i = 0; i< 8; index_filter[i++] = 0);
}
else {
filtered_glitch = 0;
}
updateMeasurements();
timerVal = ReadTimer2();
CloseTimer2();
timeElapsed = ms_from_ticks(timerVal, 256);
//if (timeElapsed < MAIN_LOOP_DUR)
// delay_t1(MAIN_LOOP_DUR - timeElapsed);
ClrWdt(); //Clear watchdog timer
} // end while(1)
return (EXIT_SUCCESS);
}
void InitApp()
{
_TRISA0 = 0; //led en sortie
_TRISA1 = 0;
led = 0;
led2 = 0;
//Sortie enable
_TRISB9 = 0;
_TRISB11 = 0;
_ODCB9 = 1; //Open drain RB9 (dir 1)
_ODCB11 = 1; //Open drain RB11 (dir 2)
_ODCB10 = 1; //open drain RB10 PWM1H3
//Le microswicth sur la pin RC5 (par exemple), on la met en entrée
_TRISC5 = 1; //bumper bas de pince
//Et on active la pullup qui va bien (registres CNPU1 et CNPU2)
_CN26PUE = 1;
_ODCC9 = 1; // Open drain sur la pin RC9 (pour les AX12)
_TRISA4 = 1;
_TRISA8 = 1;
_TRISA9 = 1;
_TRISB2 = 1; //RTS ?
_TRISB3 = 1; //FLush ?
_TRISA2 = 1; //CLK12 ?
_TRISB4 = 1; // Arret d'urgence
_CN1PUE = 1; // avec pullup
_TRISB12 = 1; // switch 1
_CN14PUE = 1; // avec pullup
_TRISB13 = 1; // switch 2
_CN13PUE = 1; // avec pullup
_TRISB14 = 1; // switch 3
_CN12PUE = 1; // avec pullup
_TRISB15 = 1; // Laisse
_CN11PUE = 1; // avec pullup
OpenUART2(UART_EN & UART_IDLE_CON & UART_IrDA_DISABLE & UART_MODE_FLOW
& UART_UEN_00 & UART_DIS_WAKE & UART_DIS_LOOPBACK
& UART_DIS_ABAUD & UART_UXRX_IDLE_ONE & UART_BRGH_SIXTEEN
& UART_NO_PAR_8BIT & UART_1STOPBIT,
UART_INT_TX_BUF_EMPTY & UART_IrDA_POL_INV_ZERO
& UART_SYNC_BREAK_DISABLED & UART_TX_ENABLE & UART_TX_BUF_NOT_FUL & UART_INT_RX_CHAR
& UART_ADR_DETECT_DIS & UART_RX_OVERRUN_CLEAR,
BRGVALAX12);
ConfigIntUART2(UART_RX_INT_PR4 & UART_RX_INT_EN
& UART_TX_INT_PR4 & UART_TX_INT_DIS);
OpenTimer2(T2_ON & T2_GATE_OFF & T2_PS_1_256 & T2_32BIT_MODE_OFF & T2_SOURCE_INT, 1500);
ConfigIntTimer2(T2_INT_PRIOR_3 & T2_INT_ON); //Interruption ON et priorite 3
OpenTimer5(T5_OFF & T5_GATE_OFF & T5_PS_1_1 & T5_SOURCE_INT, 40000);
ConfigIntTimer5(T5_INT_PRIOR_2 & T5_INT_ON);
OpenQEI1(QEI_DIR_SEL_QEB & QEI_INT_CLK & QEI_INDEX_RESET_DISABLE & QEI_CLK_PRESCALE_1
& QEI_NORMAL_IO & QEI_MODE_x4_MATCH & QEI_UP_COUNT,0);
// ConfigIntQEI1(QEI_INT_DISABLE);
// WriteQEI1(65535); //Valeur pour declencher l'interruption du module QEI
_QEA1R = 5; //Module QEI 1 phase A sur RB5
_QEB1R = 6; //Module QEI 1 phase B sur RB6
POS1CNT = 0; //valeur QEI
IFS2bits.SPI2IF = 0; // Flag SPI2 Event Interrupt Priority
IPC8bits.SPI2IP = 2; // Priority SPI2 Event Interrupt Priority
IEC2bits.SPI2IE = 1; //Enable SPI2 Event Interrupt Priority
// activation de la priorité des interruptions
_NSTDIS = 0;
}
/**
* @function TmrSetFrequency
* @brief configure a given timer with a desired frequency
* @param tmr_t tmr_id: timer id
* @param uint32_t desiredFrequency: desired frequency, in Hz
* @return int8_t: 0 sucess, otherwise error
*/
int8_t TmrSetFrequency(tmr_t tmr_id, uint32_t desiredFrequency) {
uint16_t tmrValue = 0xFFFF;
uint16_t prescale;
uint32_t cfg;
int8_t res = -1;
switch(tmr_id) {
case TMR_1:
if(SetTimerFrequency(TMR_TYPE_A, desiredFrequency, &tmrValue, &prescale) == 0) {
TmrStop(TMR_1);
mT1ClearIntFlag();
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_1 | T1_INT_SUB_PRIOR_1);
cfg = T1_SOURCE_INT | T1_IDLE_CON;
if(prescale == 1) cfg |= T1_PS_1_1;
else if(prescale == 8) cfg |= T1_PS_1_8;
else if(prescale == 64) cfg |= T1_PS_1_64;
else cfg |= T1_PS_1_256;
OpenTimer1(cfg, tmrValue);
timer1Configured = 1;
res = 0;
}
break;
case TMR_4:
if(SetTimerFrequency(TMR_TYPE_B, desiredFrequency, &tmrValue, &prescale) == 0) {
TmrStop(TMR_4);
mT4ClearIntFlag();
ConfigIntTimer4(T4_INT_ON | T4_INT_PRIOR_4 | T4_INT_SUB_PRIOR_1);
cfg = T4_SOURCE_INT | T4_IDLE_CON;
if(prescale == 1) cfg |= T4_PS_1_1;
else if(prescale == 2) cfg |= T4_PS_1_2;
else if(prescale == 4) cfg |= T4_PS_1_4;
else if(prescale == 8) cfg |= T4_PS_1_8;
else if(prescale == 16) cfg |= T4_PS_1_16;
else if(prescale == 32) cfg |= T4_PS_1_32;
else if(prescale == 64) cfg |= T4_PS_1_64;
else cfg |= T4_PS_1_256;
OpenTimer4(cfg, tmrValue);
timer4Configured = 1;
res = 0;
}
break;
case TMR_5:
if(SetTimerFrequency(TMR_TYPE_B, desiredFrequency, &tmrValue, &prescale) == 0) {
TmrStop(TMR_5);
mT5ClearIntFlag();
ConfigIntTimer5(T5_INT_ON | T5_INT_PRIOR_5 | T5_INT_SUB_PRIOR_1);
cfg = T5_SOURCE_INT | T5_IDLE_CON;
if(prescale == 1) cfg |= T5_PS_1_1;
else if(prescale == 2) cfg |= T5_PS_1_2;
else if(prescale == 4) cfg |= T5_PS_1_4;
else if(prescale == 8) cfg |= T5_PS_1_8;
else if(prescale == 16) cfg |= T5_PS_1_16;
else if(prescale == 32) cfg |= T5_PS_1_32;
else if(prescale == 64) cfg |= T5_PS_1_64;
else cfg |= T5_PS_1_256;
OpenTimer5(cfg, tmrValue);
timer5Configured = 1;
res = 0;
}
break;
default:
break;
}
return res;
}
