/* Initializes the controller
*/
void controller_init( void )
{
/* initialize variables */
flag_check_delay = 0;
flag_new_request = 0;
/* clear data structures */
memset( &javiator_data, 0, sizeof( javiator_data ) );
/* initialize hardware */
ports_init( );
wdog_init( );
//adc_init( );
parallel_init( );
bmu09a_init( );
lsm215_init( );
//minia_init( );
leds_init( );
/* register watchdog event and start timer */
wdog_register_flag( (uint8_t *) &flag_check_delay, NOTIFY_PERIOD );
wdog_start( );
#if 0
/* register ADC channels */
adc_add_channel( ADC_CH_SONAR );
adc_add_channel( ADC_CH_BATT );
#endif
/* set Robostix signal LEDs */
LED_ON( RED );
LED_ON( BLUE );
LED_ON( YELLOW );
/* enable interrupts */
sei( );
}
/**
* MCU: Atmega328
* Fuses: Oscilador interno a 8 Mhz (sin dividir por 8)
* -U lfuse:w:0xe2:m -U hfuse:w:0xd1:m -U efuse:w:0x07:m
*/
int main(void) {
adc_init();
timer0_init(timer0_callback);
i2c_init();
rtc_init(rtc);
rtc_sqw_rate(rtc, 1);
rtc_sqw_enable(rtc);
rtc_clock_start(rtc);
eMBInit(MB_RTU, 0x03, 0, 9600, MB_PAR_NONE);
eMBSetSlaveID(0x3, TRUE, (UCHAR*) "demeter", 8);
eMBEnable();
blinkenlight(5, 100);
parameters_init();
ports_init();
f_mount(&fs, "", 0);
update_log_filename();
while (1) {
eMBPoll();
update_state();
_delay_ms(100);
}
return (0);
}
int main(void) {
// init
uart_init(UART_BAUD_SELECT(UART_BAUD_RATE, F_CPU));
// enable interrupts after resetting the kicker
sei();
uart_puts_P("* Interrupts enabled. - ");
ports_init();
uart_puts_P("Ports initialized. - ");
kicker_init();
uart_puts_P("Kicker initialized. - ");
//kicker_uext(500);
uart_puts_P("Device initialized. Enter main loop\n");
for (;;) {
parser_process_uart();
}
return 0;
}
/* Initializes the controller
*/
void controller_init( void )
{
/* initialize variables */
flag_shut_down = 1;
flag_check_delay = 0;
flag_new_signals = 0;
flag_new_sensors = 0;
/* clear data structures */
memset( &javiator_data, 0, sizeof( javiator_data ) );
memset( &motor_signals, 0, sizeof( motor_signals ) );
/* initialize hardware */
ports_init( );
wdog_init( );
adc_init( );
serial_init( );
//parallel_init( );
dm3gx1_init( );
minia_init( );
pwm_init( );
leds_init( );
/* register watchdog event and start timer */
wdog_register_flag( (uint8_t *) &flag_check_delay, NOTIFY_PERIOD );
wdog_start( );
/* set Robostix signal LEDs */
LED_ON( RED );
LED_ON( BLUE );
LED_ON( YELLOW );
/* enable interrupts */
sei( );
}
int main(int argc, const char **argv)
{
int opt;
#if 0
if (argc != 2)
{
fprintf(stderr, "Usage: motlle `smottle`\n");
exit(2);
}
sscanf(argv[1], "%p", &load_address);
#endif
for (;;)
switch (getopt(argc, argv, "+d"))
{
case 'd':
debug_lvl = 2;
break;
case '?':
break;
case -1:
goto done;
}
done:
signal(SIGALRM, silly_sig);
garbage_init();
interpret_init();
stack_init();
runtime_init();
call_init();
parser_init();
compile_init();
mcompile_init();
context_init();
ports_init();
if (optind < argc)
make_global_state(argc - optind, argv + optind);
else
make_global_state(0, NULL);
mudio_init();
print_init();
if (optind < argc)
mload(argv[optind]);
else
push_repl();
for (;;)
motlle_run1();
}
void main()
{
di();
OSCCON = 0x78;
ports_init();
usart_init();
timer_init();
ei();
usart_pkt_send('I', 1);
while (1) {
usart_check();
}
}
void mudlle_init(void)
{
garbage_init();
global_init();
strbuf_init();
print_init();
stack_init();
module_init();
runtime_init();
compile_init();
mcompile_init();
interpret_init();
error_init();
ports_init();
context_init();
}
int
main(void) {
struct adc adc;
struct adc_event adc_e;
ports_init();
adc_init();
adc_ctor(&adc);
while(1) {
adc_e.sample = adc_read(0);
adc_e.super_.signal = ADC_NEW_SAMPLE_SIG;
FSM_DISPATCH_((struct fsm*)&adc, (struct fsm_event*)&adc_e);
_delay_loop_2(10); /* using 16 bit counter, 10 loops, each of them takes 4 CPU cycles, so if F_CPU is 1MHz this does busy waiting for 40 microseconds */
}
}
void init_devices(void)
{
//1. Stop errant interrupts until set up
_BIC_SR(GIE); // Disable interrupts during initialization process
//2. Init System Clock
// By defaut the FLL stabilizes MCLK and SMCLK to 1.048576 MHz and fDCO = 2.097152 MHz.
//3. Init Peripherals
//RTC_Clock_init();
ports_init();
timer1_A3_init();
timer1_A3_Stop_Mode;
//P3DIR |= BIT7; // Show SMCLK to P3.7
//P3SEL |= BIT7;
_BIS_SR(GIE); // Global Interrupt enabled. Do this at the END of the initialization!!!!!!!!
//all peripherals are now initialized
}
void main_init(){
dashboard_state=DASHBOARD_STATE_STARTING;
ports_init();
Timer0_init(TMR0_PRESCALER);
CANInit();
#if HAS_50HZ|HAS_200HZ|HAS_50HZ
Timer1_init(TMR1_PRESCALER,FALSE);
#endif
#if HAS_10HZ|HAS_5HZ|HAS_4HZ
Timer3_init(TMR3_PRESCALER,FALSE);
#endif
#if HAS_50HZ
TIMER_Timer1_OCR1A_on();
#endif
#if HAS_25HZ
TIMER_Timer1_OCR1B_on();
#endif
#if HAS_200HZ
TIMER_Timer1_OCR1C_on();
#endif
#if HAS_10HZ
TIMER_Timer3_OCR3A_on();
#endif
#if HAS_BUZZER
buzzer_init();
TIMER_Timer3_OCR3C_on();
#endif
#if HAS_LEDS
led_init();
#endif
#if HAS_BUTTONS
button_init();
#endif
#if HAS_DISPLAY
display_init();
#endif
#if HAS_RADIO
radio_init();
#endif
InitWDT();
EventAddEvent(EVENT_INIT);
}
void main(void)
{
unsigned char n;
#pragma optsize-
#asm("cli")
n=(PMIC.CTRL & (~(PMIC_RREN_bm | PMIC_IVSEL_bm | PMIC_HILVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_LOLVLEN_bm))) |
PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
CCP=CCP_IOREG_gc;
PMIC.CTRL=n;
PMIC.INTPRI=0x00;
#pragma optsize_default
system_clocks_init();
ports_init();
usartc0_init();
usartd1_init();
rtc32_init_my();
delay_ms(50);
tcd0_init();
twie_init();
sprintf(info,"start i2c");
monitor();
delay_ms(50);
#asm("sei")
delay_ms(1);
PORTE.OUT=PORTE.OUT|0b00010000;
init_buferU1();
delay_ms(50);
PORTE.OUT=PORTE.OUT&0b11101111;
delay_ms(50);
PORTE.OUT=PORTE.OUT|0b00010000;
init_buferU2();
delay_ms(50);
PORTE.OUT=PORTE.OUT&0b11101111;
delay_ms(50);
PORTE.OUT=PORTE.OUT|0b00010000;
init_buferU3();
delay_ms(50);
PORTE.OUT=PORTE.OUT&0b11101111;
delay_ms(50);
sprintf(info,"buf i2c start ok");
monitor();
delay_ms(50);
PORTE.OUT=PORTE.OUT|0b00010000;
bmp_reg_init();
delay_ms(50);
sprintf(info,"bmp i2c start ok");
PORTE.OUT=PORTE.OUT&0b11101111;
delay_ms(50);
monitor();
delay_ms(100);
spic_init();
sprintf(info,"SPI START");
monitor();
#asm("sei")
delay_ms(200);
check_sd_card();
spic_init();
PORTA.DIRSET=0b00000001;
PORTA.OUTSET = 0b00000001;
delay_ms(10);
PORTA.OUTCLR = 0b00000001;
delay_ms(100);
PORTA.OUTSET = 0b00000001;
delay_ms(10);
ad7705_init(can1cl,mclk4,can1set,set1);
delay_ms(10);
PORTE.OUT=PORTE.OUT&0b11101111;
delay_ms(10);
PORTE.OUT=PORTE.OUT|0b00010000;
sprintf(info,"ad7705 start ok");
monitor();
RESULT=ad7705(1);
S0[7]=RESULT;// Сигнал усилителя младший
S0[8]=(RESULT>>8); //Сигнал усилителя старший
// ADCA initialization
adca_init();
// ADCB initialization
adcb_init();
// Timer/Counter
tcc0_init();
tcc1_init();
tcf0_init();
delay_ms(10);
sprintf(info,"start device");
monitor();
delay_ms(50);
if(Xsave==0xFFFFFFFF)Xsave=0;
sprintf(info,"START WHILE");
monitor();
delay_ms(50);
if(RTC32.CNT<1454622753) RTC32.CNT=1454622753;
PORTE.OUT=PORTE.OUT&0b11101111;
//прописываем заводской ответ
//!!!! важно смертельно
initzavod();
reginit();
while (1)
{
PORTR.OUTTGL=0b00000010;
//////////////////////////////////////*************************************
//поиск ошибки буфера
//buferU1_error();
//включаю подсветку
//if(error_buf!=0) PORTE.OUT=PORTE.OUT|0b00010000;
init_buferU1();
/////////////////////////////////////////////////////////////////////////////
read_bmp();
///////////////////////////////////////////////////////////////
if((0.0<Tempf&&Tempf<60.0)&&(300.0<p1&&p1<825.0))
{
Tempf_K=Tempf*10.0+2730.0;
S0[11]=Tempf_K;// температура бмп младший
S0[12]=(Tempf_K>>8); //температура бмп старший
///////////////////////////////////////////////////////////////
S0[15]=p/10;//ДАВЛЕНИЕ бмп младший
S0[16]=(p/10>>8);//ДАВЛЕНИЕ бмп старший
}
init_buferU2();
if(SD_IN)
{
get_CNTRTC(&X);
calcDateTime(X, 0, &date1,&time1);
bufform();
GETFILNAME();
}
init_buferU3();
buferU1_opros();
buferU2_opros();
buferU3_opros();
//обработочка
//21.1 b2 io7 +
if((U2in.input&0b10000000)==0b10000000) S0[21]=S0[21]|0b00000010;
else if((U2in.input&0b10000000)==0b00000000) S0[21]=S0[21]&0b11111101;
//21.2 b1 io4 +
if((U1in.input&0b00010000)==0b00010000) S0[21]=S0[21]|0b00000100;
else if((U1in.input&0b00010000)==0b00000000) S0[21]=S0[21]&0b11111011;
//21.3 b1 io5 +
if((U1in.input&0b00100000)==0b00100000) S0[21]=S0[21]|0b00001000;
else if((U1in.input&0b00100000)==0b00000000) S0[21]=S0[21]&0b11110111;
//21.4 b1 io1 ----
if((U1in.input&0b00000010)==0b00000010) S0[21]=S0[21]|0b00010000;
else if((U1in.input&0b00000010)==0b00000000) S0[21]=S0[21]&0b11101111;
//21.5 b2 io3
if((U2in.input&0b00001000)==0b00001000) S0[21]=S0[21]|0b00100000;
else if((U2in.input&0b00001000)==0b00000000) S0[21]=S0[21]&0b11011111;
//21.6 b2 io4
if((U2in.input&0b00010000)==0b00010000) S0[21]=S0[21]|0b01000000;
else if((U2in.input&0b00010000)==0b00000000) S0[21]=S0[21]&0b10111111;
//21.6 b3 io6
if((U3in.input&0b01000000)==0b01000000) S0[21]=S0[21]|0b10000000;
else if((U3in.input&0b01000000)==0b00000000) S0[21]=S0[21]&0b01111111;
//пождиг
if( (B5upr&0b00000010)==0b00000010 ) { U3out.output=U3out.output|0b00000010; }
else if( (B5upr&0b00000010)==0b00000000 ) {U3out.output=U3out.output&0b11111101;}
//клапан1
if( (B5upr&0b00000100)==0b00000100 ) {U3out.output=U3out.output|0b00000100;}
else if( (B5upr&0b00000100)==0b00000000 ) {U3out.output=U3out.output&0b11111011;}
//контрольная кювета
if( (B5upr&0b00001000)==0b00001000) {U1out.output=U1out.output&0b00111111;
U1out.output=U1out.output|0b01000000;}
else if((B5upr&0b00001000)==0b00000000) {U1out.output=U1out.output&0b00111111;
U1out.output=U1out.output|0b10000000;}
//клапан 2
if( (B5upr&0b00010000)==0b00010000 ) {U3out.output=U3out.output|0b00001000;}
else if( (B5upr&0b00010000)==0b00000000 ) {U3out.output=U3out.output&0b11110111;}
//клапан 3
if( (B5upr&0b00100000)==0b00100000 ) {U3out.output=U3out.output|0b00010000;}
else if( (B5upr&0b00100000)==0b00000000 ) {U3out.output=U3out.output&0b11101111;}
//реле 1 инверсно
if( (B5upr&0b01000000)==0b01000000 ) {U1out.output=U1out.output&0b11111110;}
else if( (B5upr&0b01000000)==0b00000000 ) {U1out.output=U1out.output|0b00000001;}
//реле 2 инверсно
if( (B5upr&0b10000000)==0b10000000 ) {U2out.output=U2out.output&0b11111110;}
else if( (B5upr&0b10000000)==0b00000000 ) {U2out.output=U2out.output|0b00000001;}
buferU1_set();
buferU2_set();
buferU3_set();
//////////////////////////////////////*************************************
//установка даты времени
if ((newtime==1)||(newdate==1))
{
calcSeconds(date1,time1,0,&X);
Xsave=X;//последняя установка
set_CNTRTC();
newdate=0;
newtime=0;
}
}
void main(void)
{
// Declare your local variables here
unsigned char n;
// Interrupt system initialization
// Optimize for speed
#pragma optsize-
// Make sure the interrupts are disabled
#asm("cli")
// Low level interrupt: Off
// Round-robin scheduling for low level interrupt: Off
// Medium level interrupt: Off
// High level interrupt: On
// The interrupt vectors will be placed at the start of the Application FLASH section
n=(PMIC.CTRL & (~(PMIC_RREN_bm | PMIC_IVSEL_bm | PMIC_HILVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_LOLVLEN_bm))) |
PMIC_HILVLEN_bm;
CCP=CCP_IOREG_gc;
PMIC.CTRL=n;
// Set the default priority for round-robin scheduling
PMIC.INTPRI=0x00;
// Restore optimization for size if needed
#pragma optsize_default
// System clocks initialization
system_clocks_init();
// Ports initialization
ports_init();
// Virtual Ports initialization
vports_init();
// USARTE0 initialization
usarte0_init();
// USARTE1 initialization
usarte1_init();
// USARTF0 initialization
usartf0_init();
// Alphanumeric LCD initialization
// Connections specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTD Bit 0
// RD - PORTD Bit 1
// EN - PORTD Bit 2
// D4 - PORTD Bit 4
// D5 - PORTD Bit 5
// D6 - PORTD Bit 6
// D7 - PORTD Bit 7
// Characters/line: 16
lcd_init(16);
// Globally enable interrupts
#asm("sei")
a1=255;
PORTB.OUT = a1 ;
lcd_putsf("START");
delay_ms(2000);
lcd_clear();
printf("START\n");
PORTB.OUT = 0 ;
delay_ms(1000);
/*
PORTF.OUTCLR = 0b00010000;
PORTB.OUTCLR = 0b10000000;
delay_ms(100);
PORTF.OUTSET = 0b00010000;
PORTB.OUTSET = 0b10000000;
delay_ms(100);
PORTF.OUTCLR = 0b00010000;
PORTB.OUTCLR = 0b10000000;
delay_ms(500);
*/
PORTF.OUTSET = 0b00010000;
PORTB.OUTSET = 0b10000000;
delay_ms(1000);
PORTF.OUTCLR = 0b00010000;
PORTB.OUTCLR = 0b10000000;
delay_ms(1000);
putchar_usarte1('A');
putchar_usarte1('T');
//putchar_usarte1('I');
putchar_usarte1('\r');
//putchar_usartf0('A');
//putchar_usartf0('T');
//putchar_usartf0('I');
//putchar_usartf0('\r');
while (1)
{
// Place your code here
PORTB.OUTTGL = 1;
PORTB.OUTSET = (PORTF.IN & 0b00100000) << 1;
PORTB.OUTCLR =!(PORTF.IN & 0b00100000) << 1;
delay_ms(100);
}
}
void app_init() {
ports_init();
ACTOR1_init();
ACTOR2_init();
ISR_init();
}
/**
* function to initialise the inshift registers.
* Here, all inshift registers are prepared for their use
* and the input filter is set to a correct state.
* To set the input filters correct, the input is reading the
* values three times and is making a majority decision on the
* value
*/
void inshiftInit(void)
{
struct sRegister * ptr = m_pInshiftReg;
unsigned short i, j, k;
LOG_INF("started");
assert(NULL != ptr);
if(!ptr)
{
LOG_ERR("not existing pointer");
return;
}
/* Schritt 1: Initialisiere alle Filterwerte */
ptr = m_pInshiftReg;
for(j = 0; j < m_inshiftRegLen; j++)
{
/* wiederhole fuer jeden vorhandenen EP16-Print */
for(k = 0; k < 16; k++)
{
/* wiederhole fuer jedes Bit des EP16 */
ptr->filterValue[k] = 0;
}
ptr++;
}
/* Schritt 2: Lies alle Werte 3 mal */
for(i = 0; i < 3; i++)
{
ptr = m_pInshiftReg;
/* Initialisiere Einlesen */
ports_init();
/* Bereite Einschieben vor */
/* Pn/S high, clock high and low */
port_set_in_clk_1();
port_set_in_ps(false);
waitALittle();
port_set_in_clk_0();
waitALittle();
port_set_in_ps(true);
/* Nun ist das Schieberegister bereit zum Einlesen */
waitALittle();
port_set_in_clk_1();
for(j = 0; j < m_inshiftRegLen; j++)
{
/* wiederhole fuer jeden vorhandenen EP16-Print */
for(k = 0; k < 16; k++)
{
/* wiederhole fuer jedes Bit des EP16 */
waitALittle();
port_set_in_clk_0();
waitALittle();
if(port_get_in_in())
{
/* wenn der Eingang gesetzt ist */
ptr->filterValue[k] += (unsigned char) 1;
}
port_set_in_clk_1();
} /* Ende fuer alle Bits */
ptr++;
} /* Ende fuer alle EP16 */
} /* Ende fuer 3 mal lesen */
/* Nun rechne fuer jedes Bit
* 2 oder 3 mal 1 --> filter >= 2 --> set
* 0 oder 1 mal 1 --> filter < 2 --> clear
*/
ptr = m_pInshiftReg;
for(j = 0; j < m_inshiftRegLen; j++)
{
/* wiederhole fuer jeden vorhandenen EP16-Print */
ptr->value = 0;
for(k = 0; k < 16; k++)
{
/* wiederhole fuer jedes Bit des EP16 */
ptr->value <<= 1;
if(((unsigned char) 2) <= ptr->filterValue[k])
{
ptr->filterValue[k] = 0x0080;
ptr->value |= 0x0001;
}
else
{
ptr->filterValue[k] = 0;
}
}
ptr++;
}
LOG_INF("ended");
}
