// Fonction d'initialisation
void init(void)
{
unsigned char i;
for(i=0;i<=5;i++) Data_Received[i] = 0x00;
cli(); // Désactiver toutes les interruptions
DDRD = 0b10000110; // config pour BP1 2 3 et 4 (BP = bouton poussoir)
sbiBF (PORTD, PORTD3); // BP0
sbiBF (PORTD, PORTD4); // BP1
sbiBF (PORTD, PORTD5); // BP2
sbiBF (PORTD, PORTD6); // BP3
sDDR(DDRD,1); // mettre port TX en sortie
sbiBF(PORTD,0); // mettre pull-up sur RX
sbiBF(PORTC,0); // mettre pull-up sur RX
sDDR(DDRC,1); // mettre port en sortie
DDRB = 0b00111111; // PORTB.6et7 en entrée (quartz)
sbiBF (PORTB, PINB0); // communication usart à 600baud non modulé
USART0_Init_9600(); // initialise le port série
Init_Buffers_USART (); // initialise les buffers de la communication série
init_pcint(); // initialise les interruptions externes
TIMER0_INIT(); // initialise le timer 0
TIMER1_INIT (); // initialiser le timer 1
TIMER2_INIT (); // initialiser le timer 2
sei();
}
int main()
{
int ANGLE;
ADCstart(); // initialize the ADC port
DDRB = (1<< PORTB1); // Set PORTB1 pin as output
ICR1 = 40000;// 50Hz PWN at 16Mhz, TOP = ICR1
OCR1A = 1000;// 1000 = 0 degrees, 4600 = 180 degrees
TIMER1_INIT();
//Brown = Ground
// Red = Power
// Orange = Signal
while(1)
{
ADCvalue = 0;
ADCSRA |= (1<<ADSC);// write one to ADSC bit to start conversion
while(ADCSRA & (1<<ADSC))// wait until conversion is complete
{
}
ADCvalue = ADC;// save voltage
ADCvalue = (ADCvalue*5.0)/1024;// Calculate Vin
ADCvalue = ((ADCvalue/5.0)*3600); // Calculate how far the angle is above 0 degrees
ANGLE = ADCvalue + 1000; // Add value for 0 degree
OCR1A = ANGLE; // Save value for PWN duty cycle
}
return 0;
}
int main(void){
/*
* Initializations
*/
cli();
// Make sure interrupts belong to us
MCUCR = (1<<IVCE);
MCUCR = 0;
// Initialize global variables
g_ext_ref_present = false;
g_gps_present = false;
g_switch_pos = PREFER_INTERNAL;
g_ref = NO_REF;
// Atmega128
setup_atmel_io_ports();
// Reset ClkDist chip
reset_TI_CDCE18005();
// GPSDO communication
usart_init();
// Ethernet stack
network_init();
register_udp_listener(OCTOCLOCK_UDP_CTRL_PORT, handle_udp_ctrl_packet);
register_udp_listener(OCTOCLOCK_UDP_GPSDO_PORT, handle_udp_gpsdo_packet);
// Timers
TIMER1_INIT(); // Network
TIMER3_INIT(); // External reference check
// Debug (does nothing when not in debug mode)
DEBUG_INIT();
DEBUG_LOG(" "); // Force a newline between runs
leds_off();
sei();
// Check if GPS present (should only need to happen once)
g_gps_present = (PIND & (1<<DDD4));
// State of previous iteration
prev_ref = NO_REF;
prev_switch_pos = PREFER_EXTERNAL;
cli();
prev_ICR3 = ICR3;
sei();
prev_num_overflows = 0;
/*
* Main loop
*/
while(true){
// Check switch position
g_switch_pos = (PINC & (1<<DDC1)) ? PREFER_EXTERNAL : PREFER_INTERNAL;
/*
* Check input capture pin for external reference detection.
*
* 16-bit reads could be corrupted during an interrupt, so
* disable interrupts for safety.
*/
cli();
current_ICR3 = ICR3;
current_num_overflows = num_overflows;
sei();
// Signal detected, reset timer
if(current_ICR3 != prev_ICR3){
cli();
TCNT3 = 0;
num_overflows = 0;
sei();
g_ext_ref_present = true;
}
// Timeout, no external reference detected
if(current_num_overflows >= EXT_REF_TIMEOUT){
g_ext_ref_present = false;
}
// Determine and set reference based on state
if(!g_gps_present && !g_ext_ref_present) g_ref = NO_REF;
else if(g_gps_present && !g_ext_ref_present) g_ref = INTERNAL;
else if(!g_gps_present && g_ext_ref_present) g_ref = EXTERNAL;
else g_ref = (g_switch_pos == PREFER_INTERNAL) ? INTERNAL : EXTERNAL;
if((g_ref != prev_ref) || (g_switch_pos != prev_switch_pos)){
if(g_switch_pos == PREFER_INTERNAL) prefer_internal();
else prefer_external();
}
// Record this iteration's state
prev_ref = g_ref;
prev_switch_pos = g_switch_pos;
prev_ICR3 = current_ICR3;
prev_num_overflows = current_num_overflows;
// Handle incoming Ethernet packets
network_check();
}
}
