void main (void)
{
signed char resultx, resulty, resultz;
printf("Kinetis I2C Demo\n");
//Initialize I2C
init_I2C();
//Configure MMA7660 sensor
MMA7660WriteRegister(0x09,0xE0); //Disable tap detection
MMA7660WriteRegister(0x07,0x19); //Enable auto-sleep, auto-wake, and put in active mode
printf(" X Y Z\n");
while(1)
{
//Read x-axis register
resultx = u8MMA7660ReadRegister(0x00);
printf("%3d", convert(resultx));
//Read y-axis register
resulty = u8MMA7660ReadRegister(0x01);
printf(" %3d", convert(resulty));
//Read z-axis register
resultz = u8MMA7660ReadRegister(0x02);
printf(" %3d\n", convert(resultz));
//Delay for 250ms
time_delay_ms(250);
}
}
void initSensors(void){
// TODO: init the GPS here
fd = init_I2C();
init_compass(fd);
gpioInit();
gpsRet = init_GPS();
}
void main (void)
{
Display_Intro();
init_I2C();
port_config();
DISABLE_USB_5V; // Disable USB 5v (for Host support)
MAX3353_ISR();
if(MAX3353_Init())
printf("\nMAX3353 not Present\n");
else
printf("\nMAX3353 Present\n");
while(1)
{
/*** Check for changes ****/
if(FLAG_CHK(_MAX3353,gu8ISR_Flags))
{
FLAG_CLR(_MAX3353,gu8ISR_Flags);
if(gu8MAX3353StatusRegister & ID_GND_EVENT)
{
printf("\nID-GND --> Changing to HOST mode (Enabling 5V)");
gu8USB_Mode=USB_HOST_MODE_INIT;
}
if(gu8MAX3353StatusRegister & ID_FLOAT_EVENT)
{
printf("\nID-FLOAT --> Changing to DEVICE mode (Disabling 5V)");
gu8USB_Mode=USB_DEVICE_MODE_INIT;
}
if(gu8MAX3353StatusRegister & VBUS_HIGH_EVENT)
{
printf("\nVBUS is Up");
}
if(gu8MAX3353StatusRegister & VBUS_LOW_EVENT)
{
printf("\nVBUS is Down");
if(gu8USB_Mode==USB_DEVICE_MODE)
gu8USB_Mode=USB_DEVICE_MODE_INIT;
//enter_vlps(); // Enter VLPS
//mcg_pbe_2_pee(); // Exit VLPS
// Low power
}
}
/* USB Switch stacks */
USB_State_Machine();
}
}
void main() {
TRISC = 0b00000000; // portC : output
LATC = 0b00000000; // portC = 0
init_UART();
init_I2C();
//init_GYRO();
init_ACC();
LED_RED_On();
LED_GREEN_On();
while (1) {
};
}
int main(void)
{
unsigned cmd;
char c;
int i = 0,j;
timer_init();
#ifdef POWER_OFF_VDDIO
f_serial_puts("sleep ... off\n");
#else
f_serial_puts("sleep .......\n");
#endif
while(1){
cmd = readl(P_AO_RTI_STATUS_REG0);
if(cmd == 0)
{
delay_ms(10);
continue;
}
c = (char)cmd;
if(c == 't')
{
#if (defined(POWER_OFF_VDDIO) || defined(POWER_OFF_HDMI_VCC) || defined(POWER_OFF_AVDD33) || defined(POWER_OFF_AVDD25))
init_I2C();
#endif
copy_reboot_code();
enter_power_down();
break;
}
else if(c == 'q')
{
serial_puts(" - quit command loop\n");
writel(0,P_AO_RTI_STATUS_REG0);
break;
}
else
{
serial_puts(" - cmd no support (ARC)\n");
}
//command executed
writel(0,P_AO_RTI_STATUS_REG0);
}
while(1){
asm(".long 0x003f236f"); //add sync instruction.
asm("SLEEP");
}
return 0;
}
void main(int * argv){
signal(SIGINT, signal_handler);
fd = init_I2C();
init_compass(fd);
gpioInit();
// testTurn();
/**turn(45.0);
sleep(1);
turn(280.0);
sleep(1);
turn(310.0);
turn(180.0);
**/
waypointManager();
//testTurn();
}
void main (void)
{
Display_Intro();
init_I2C();
port_config();
DISABLE_USB_5V; // Disable USB 5v (for Host support)
if(MAX3353_Init())
printf("\nMAX3353 not Present\n");
else
printf("\nMAX3353 Present\n");
MAX3353_ISR();
while(1)
{
in_char();
#if 0 //CW
enter_vlps();
#endif //kevin
//enter_stop();
mcg_pbe_2_pee();
if(FLAG_CHK(_MAX3353,gu8ISR_Flags))
{
if(gu8MAX3353StatusRegister & ID_GND_EVENT)
{
ENABLE_USB_5V;
printf("\nID-GND --> Changing to HOST mode (Enabling 5V)");
}
if(gu8MAX3353StatusRegister & ID_FLOAT_EVENT)
{
DISABLE_USB_5V;
printf("\nID-FLOAT --> Changing to DEVICE mode (Disabling 5V)");
}
if(gu8MAX3353StatusRegister & VBUS_HIGH_EVENT)
printf("\nVBUS is Up");
if(gu8MAX3353StatusRegister & VBUS_LOW_EVENT)
printf("\nVBUS is Down");
FLAG_CLR(_MAX3353,gu8ISR_Flags);
}
}
}
int main(void)
{
unsigned cmd;
char c;
p_arc_pwr_op = &arc_pwr_op;
timer_init();
arc_pwr_register((struct arc_pwr_op *)p_arc_pwr_op);//init arc_pwr_op
arc_param->serial_disable=0;
serial_put_hex(readl(P_AO_RTI_STATUS_REG1),32);
writel(0,P_AO_RTI_STATUS_REG1);
f_serial_puts("sleep .......\n");
arc_param->serial_disable=0;
while(1){
cmd = readl(P_AO_RTI_STATUS_REG0);
if(cmd == 0)
{
delay_ms(10);
continue;
}
c = (char)cmd;
if(c == 't')
{
init_I2C();
// copy_reboot_code();
#ifdef CONFIG_MESON_TRUSTZONE
copy_reboot_code_temp(temp_arm_base, sizeof(temp_arm_base));
#endif
enter_power_down();
//test_arc_core();
break;
}
else if(c == 'q')
{
f_serial_puts(" - quit command loop\n");
writel(0,P_AO_RTI_STATUS_REG0);
break;
}
else
{
f_serial_puts(" - cmd no support (ARC)\n");
}
//command executed
writel(0,P_AO_RTI_STATUS_REG0);
}
// asm("SLEEP");
while(1){
// udelay__(600);
cmd = readl(P_AO_RTI_STATUS_REG1);
c = (char)cmd;
// f_serial_puts("REG2=");
// serial_put_hex(readl(P_AO_RTI_STATUS_REG2),32);
if(c == 0)
{
udelay__(6000);
cmd = readl(P_AO_RTI_STATUS_REG1);
c = (char)cmd;
if((c == 0)||(c!='r'))
{
#ifdef _UART_DEBUG_COMMUNICATION_
serial_put_hex(cmd,32);
f_serial_puts(" arm boot fail\n\n");
wait_uart_empty();
#endif
#if 0 //power down
cmd = readl(P_AO_GPIO_O_EN_N);
cmd &= ~(1<<6);
cmd &= ~(1<<22);
writel(cmd,P_AO_GPIO_O_EN_N);
#endif
}
} else if ( cmd == 1 )
{
serial_put_hex(cmd,32);
f_serial_puts(" ARM has started running\n");
wait_uart_empty();
} else if ( cmd == 2 )
{
serial_put_hex(cmd,32);
f_serial_puts(" Reenable SEC\n");
wait_uart_empty();
}
else if(c=='r')
{
f_serial_puts("arm boot succ\n");
wait_uart_empty();
asm(".long 0x003f236f"); //add sync instruction.
asm("flag 1");
asm("nop");
asm("nop");
asm("nop");
}
else
{
#ifdef _UART_DEBUG_COMMUNICATION_
serial_put_hex(cmd,32);
f_serial_puts(" arm unkonw state\n");
wait_uart_empty();
#endif
}
//cmd='f';
//writel(cmd,P_AO_RTI_STATUS_REG1);
}
return 0;
}
int main(void)
{
unsigned cmd;
char c;
int i = 0,j;
timer_init();
#ifdef POWER_OFF_VDDIO
f_serial_puts("sleep ... off\n");
#else
f_serial_puts("sleep7 .......\n");
#endif
while(1){
cmd = readl(P_AO_RTI_STATUS_REG0);
if(cmd == 0)
{
delay_ms(10);
continue;
}
c = (char)cmd;
if(c == 't')
{
#if (defined(POWER_OFF_VDDIO) || defined(POWER_OFF_HDMI_VCC) || defined(POWER_OFF_AVDD33) || defined(POWER_OFF_AVDD25))
init_I2C();
#endif
copy_reboot_code();
enter_power_down();
//test_arc_core();
break;
}
else if(c == 'q')
{
serial_puts(" - quit command loop\n");
writel(0,P_AO_RTI_STATUS_REG0);
break;
}
else
{
serial_puts(" - cmd no support (ARC)\n");
}
//command executed
writel(0,P_AO_RTI_STATUS_REG0);
}
while(1){
udelay(6000);
cmd = readl(P_AO_RTI_STATUS_REG1);
c = (char)cmd;
if(c == 0)
{
udelay(6000);
cmd = readl(P_AO_RTI_STATUS_REG1);
c = (char)cmd;
if((c == 0)||(c!='r'))
{
#ifdef _UART_DEBUG_COMMUNICATION_
serial_put_hex(cmd,32);
f_serial_puts(" arm boot fail\n\n");
wait_uart_empty();
#endif
#if 0 //power down
cmd = readl(P_AO_GPIO_O_EN_N);
cmd &= ~(1<<6);
cmd &= ~(1<<22);
writel(cmd,P_AO_GPIO_O_EN_N);
#endif
}
}
else if(c=='r')
{
writel(0,0xc8100030);
#ifdef _UART_DEBUG_COMMUNICATION_
//f_serial_puts("arm boot succ\n");
//wait_uart_empty();
#endif
}
else
{
#ifdef _UART_DEBUG_COMMUNICATION_
serial_put_hex(cmd,32);
f_serial_puts(" arm unkonw state\n");
wait_uart_empty();
#endif
}
//cmd='f';
//writel(cmd,P_AO_RTI_STATUS_REG1);
asm(".long 0x003f236f"); //add sync instruction.
//asm("SLEEP");
asm("FLAG 1");//halt mode
}
return 0;
}
int main(void)
{
/* Initialize Interfaces */
if(PINB & (1<<SEL2)){ //SEL2 not installed, modeA
init_StepDir();
//init_pwm();
} else { //SEL2 installed, modeB
init_SPI();
init_UART(12,1); //For 1MHz testing, change to 14.7456Mhz
init_I2C();
}
//init_I2C();
//init_SPI();
//init_UART(95,0); /* Run UART at 9600 baud */
//init_StepDir();
init_stepper();
init_chopper();
sei();
int8_t motor_state = 0;
motor_enable = WAVE;
while(1)
{
if(motor_enable == FULL){
if(desired_step_cnt < 0){ //backwards
if(motor_state == 0) normstep4();
if(motor_state == 2) normstep1();
if(motor_state == 4) normstep2();
if(motor_state == 6) normstep3();
motor_state -= 2;
if(motor_state < 0) motor_state = 6;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 0) normstep2();
if(motor_state == 2) normstep3();
if(motor_state == 4) normstep4();
if(motor_state == 6) normstep1();
motor_state += 2;
if(motor_state > 6) motor_state = 0;
desired_step_cnt--;
}
} else if(motor_enable == HALF){
if(desired_step_cnt < 0){
if(motor_state == 0) halfstep8();
if(motor_state == 1) halfstep1();
if(motor_state == 2) halfstep2();
if(motor_state == 3) halfstep3();
if(motor_state == 4) halfstep4();
if(motor_state == 5) halfstep5();
if(motor_state == 6) halfstep6();
if(motor_state == 7) halfstep7();
motor_state--;
if(motor_state < 0) motor_state = 7;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 0) halfstep2();
if(motor_state == 1) halfstep3();
if(motor_state == 2) halfstep4();
if(motor_state == 3) halfstep5();
if(motor_state == 4) halfstep6();
if(motor_state == 5) halfstep7();
if(motor_state == 6) halfstep8();
if(motor_state == 7) halfstep1();
motor_state++;
if(motor_state > 7) motor_state = 0;
desired_step_cnt--;
}
} else if(motor_enable == WAVE){
if(desired_step_cnt < 0){
if(motor_state == 1) wavestep4();
if(motor_state == 3) wavestep1();
if(motor_state == 5) wavestep2();
if(motor_state == 7) wavestep3();
motor_state -= 2;
if(motor_state < 1) motor_state = 7;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 1) wavestep2();
if(motor_state == 3) wavestep3();
if(motor_state == 5) wavestep4();
if(motor_state == 7) wavestep1();
motor_state += 2;
if(motor_state > 7) motor_state = 1;
desired_step_cnt--;
}
}
_delay_ms(100);//Change according to speed input
// normstep1();
// _delay_ms(100);
// normstep2();
// _delay_ms(100);
// normstep3();
// _delay_ms(100);
// normstep4();
// _delay_ms(100);
// halfstep1();
// _delay_ms(100);
// halfstep2();
// _delay_ms(100);
// halfstep3();
// _delay_ms(100);
// halfstep4();
// _delay_ms(100);
// halfstep5();
// _delay_ms(100);
// halfstep6();
// _delay_ms(100);
// halfstep7();
// _delay_ms(100);
// halfstep8();
// _delay_ms(100);
// wavestep1();
// _delay_ms(100);
// wavestep2();
// _delay_ms(100);
// wavestep3();
// _delay_ms(100);
// wavestep4();
// _delay_ms(100);
}
return 0;
}
