int16_t main(void) {
int led2_on;
int led3_on;
led2_on = 0;
led3_on = 1;
init_clock();
init_ui();
init_timer();
led_on(&led1);
timer_setPeriod(&timer2, 0.1);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
}
if(!sw_read(&sw2)){
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
led2_on = 1;
led3_on = 0;
} else if(!sw_read(&sw3)){
timer_setPeriod(&timer2, 0.1);
timer_start(&timer2);
led2_on = 0;
led3_on = 1;
}
led_write(&led2, led2_on);
led_write(&led3, led3_on);
}
}
void VendorRequests(void) {
WORD32 address;
WORD result;
switch (USB_setup.bRequest) {
case TOGGLE_LED1:
led_toggle(&led1);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case TOGGLE_LED2:
led_toggle(&led2);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW1:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw1);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
// case ENC_WRITE_REG:
// enc_writeReg(USB_setup.wValue, USB_setup.wIndex);
// BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
// BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
// break;
case ENC_READ_REG:
result = enc_readReg(USB_setup.wValue);
BD[EP0IN].address[0] = result.b[0];
BD[EP0IN].address[1] = result.b[1];
BD[EP0IN].bytecount = 2; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case TOGGLE_LED3:
led_toggle(&led3);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW2:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw2);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW3:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw3);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
default:
USB_error_flags |= 0x01; // set Request Error Flag
}
}
void VendorRequests(void) {
WORD32 address;
WORD result;
WORD32 result32;
switch (USB_setup.bRequest) {
case TOGGLE_LED1:
led_toggle(&led1);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case TOGGLE_LED2:
led_toggle(&led2);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW1:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw1);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case ENC_READ_REG:
result = (WORD)motor1.wrap_count;
// result = (WORD)enc.wrap_count;
BD[EP0IN].address[0] = result.b[0];
BD[EP0IN].address[1] = result.b[1];
BD[EP0IN].bytecount = 2; // set EP0 IN byte count to 4
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case TOGGLE_LED3:
led_toggle(&led3);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW2:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw2);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW3:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw3);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
default:
USB_error_flags |= 0x01; // set Request Error Flag
}
}
int main(void)
{
INTR_DISABLE; /* 割込み無効にする */
init_system();
init_components();
test_execute();
if (PORTCONF_SDC_DETECT() && !sw_read(Sw1)) {
puts("Boot : SDC detected.\n");
puts("Boot : Booting from SDC.\n");
boot_from_sdc("kozos");
puts("Boot : Boot from SDC failed.\n");
puts("Boot : Going to serial boot mode.\n");
boot_from_ser();
} else {
puts("Boot : SDC not found.\n");
puts("Boot : Going to serial boot mode.\n");
boot_from_ser();
}
for (;;) { }
return 0;
}
int main(void) {
setup();
pwm_set_duty(0);
pwm_set_direction(0);
printf("%s\r\n", "STARTING LOOP");
float encoder_master_count = 0;
uint16_t current_ticks = 0;
uint16_t previous_ticks = spi_read_ticks();
float target_degs = 10;
float motor_current = 0; // current through motor in amperes
float pid_command = 0;
float theor_torque;
bitset(&IEC0, 2);
bitset(&IEC0, 6);
while (1) {
if (timer_flag(&timer2)) {
// Blink green light to show normal operation.
timer_lower(&timer2);
led_toggle(&led2);
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
led_toggle(&led3);
theor_torque = spring_model(degs); // Outputs theoretical torque predicted by spring model
cur_control.set_point = fabsf(theor_torque);
cur_control.neg_set_point = read_sign(theor_torque);
read_motor_current(&motor);
cur_control.position = convert_motor_torque(motor.current);
pid_command = PID_control(&cur_control);
pwm_duty = pid_to_pwm(pid_command, cur_control.neg_set_point);
}
if (!sw_read(&sw2)) {
// If switch 2 is pressed, the UART output terminal is cleared.
printf("%s", clear);
}
ServiceUSB();
current_ticks = spi_read_ticks();
encoder_master_count = encoder_counter(current_ticks, previous_ticks, encoder_master_count);
degs = count_to_deg(encoder_master_count);
previous_ticks = current_ticks;
pin_toggle(DEBUGD1); // Heartbeat signal
}
}
int16_t main(void) {
init_clock();
init_ui();
init_timer();
led_on(&led1);
timer_setPeriod(&timer2, 1.0);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
led_toggle(&led2);
}
led_write(&led3, !sw_read(&sw3));
}
}
int main(void) {
setup();
printf("%s\r\n", "STARTING LOOP");
float encoder_master_count = 0;
float previous_degs = 0;
float current_degs = 0;
uint16_t current_ticks = 0;
uint16_t previous_ticks = spi_read_ticks();
while (1) {
if (timer_flag(&timer2)) {
// Blink green light to show normal operation.
timer_lower(&timer2);
led_toggle(&led2);
printf("ddegs %3f, dd %d\r\n", delta_degs, drive_direction);
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
delta_degs = current_degs - previous_degs;
current_duty_cycle = damper(delta_degs);
previous_degs = current_degs;
}
if (!sw_read(&sw2)) {
// If switch 2 is pressed, the UART output terminal is cleared.
printf("%s", clear);
}
ServiceUSB();
current_ticks = spi_read_ticks();
encoder_master_count = encoder_counter(current_ticks, previous_ticks, encoder_master_count);
current_degs = count_to_deg(encoder_master_count);
previous_ticks = current_ticks;
}
}
void VendorRequests(void) {
WORD32 address;
WORD result;
WORD temp;
WORD temp0, temp1;
float move_degs;
switch (USB_setup.bRequest) {
WORD temp;
case TOGGLE_LED1:
led_toggle(&led1);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case TOGGLE_LED2:
led_toggle(&led2);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case TOGGLE_LED3:
led_toggle(&led3);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW1:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw1);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW2:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw2);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW3:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw3);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case ENC_READ_REG:
result = enc_readReg(USB_setup.wValue);
BD[EP0IN].address[0] = result.b[0];
BD[EP0IN].address[1] = result.b[1];
BD[EP0IN].bytecount = 2; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_DAMPER_COEF:
VEL_SCALER = (float)(USB_setup.wValue.w)/(float)(USB_setup.wIndex.w);
printf("Set VEL_SCALER to %4f\r\n", VEL_SCALER);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_DAMPER_VEL:
temp0.w = round((delta_degs + 50) * 100);
BD[EP0IN].address[0] = temp0.b[0];
BD[EP0IN].address[1] = temp0.b[1];
float step1 = (current_duty_cycle * (float)((pwm_direction == 1) ? 1:-1));
temp1.w = round( (step1 + 5) * 1000);
BD[EP0IN].address[2] = temp1.b[0];
BD[EP0IN].address[3] = temp1.b[1];
BD[EP0IN].bytecount = 4; // set EP0 IN byte count to 2
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
// case READ_VELOCITY:
// move_degs=(delta_degs + 50) * 100;
// temp.w = round(move_degs);
// BD[EP0IN].address[0] = temp.b[0];
// BD[EP0IN].address[1] = temp.b[1];
// BD[EP0IN].bytecount = 2; // set EP0 IN byte count to 2
// BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
// break;
// case READ_POSITION:
// move_degs=(current_degs + 50) * 100;
// temp.w = round(move_degs);
// BD[EP0IN].address[0] = temp.b[0];
// BD[EP0IN].address[1] = temp.b[1];
// BD[EP0IN].bytecount = 2; // set EP0 IN byte count to 2
// BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
// break;
default:
USB_error_flags |= 0x01; // set Request Error Flag
}
}
void VendorRequests(void) {
WORD32 address;
WORD result;
WORD temp;
uint16_t temp0, temp1;
float move_degs;
switch (USB_setup.bRequest) {
WORD temp;
case TOGGLE_LED1:
led_toggle(&led1);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case TOGGLE_LED2:
led_toggle(&led2);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case TOGGLE_LED3:
led_toggle(&led3);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW1:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw1);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW2:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw2);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_SW3:
BD[EP0IN].address[0] = (uint8_t)sw_read(&sw3);
BD[EP0IN].bytecount = 1; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case ENC_READ_REG:
result = enc_readReg(USB_setup.wValue);
BD[EP0IN].address[0] = result.b[0];
BD[EP0IN].address[1] = result.b[1];
BD[EP0IN].bytecount = 2; // set EP0 IN byte count to 1
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_PID_P:
cur_control.Kp = (float)(USB_setup.wValue.w)/(float)(USB_setup.wIndex.w);
printf("Set Kp to %4f\r\n", cur_control.Kp);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_PID_I:
cur_control.Ki = (float)(USB_setup.wValue.w)/(float)(USB_setup.wIndex.w);
printf("Set Ki to %4f\r\n", cur_control.Kp);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_PID_D:
cur_control.Kd = (float)(USB_setup.wValue.w)/(float)(USB_setup.wIndex.w);
printf("Set Kd to %4f\r\n", cur_control.Kp);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_SPRING_CONSTANT:
SPRING_CONSTANT = (float)(USB_setup.wValue.w)/(float)(USB_setup.wIndex.w);
printf("Set spring constant to %4f\r\n", SPRING_CONSTANT);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case READ_POSITION:
move_degs=(degs + 50) * 100;
temp.w = round(move_degs);
BD[EP0IN].address[0] = temp.b[0];
BD[EP0IN].address[1] = temp.b[1];
BD[EP0IN].bytecount = 2; // set EP0 IN byte count to 2
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
default:
USB_error_flags |= 0x01; // set Request Error Flag
}
}
#include "config.h"
#include "common.h"
#include "ui.h"
#include "timer.h"
int16_t main(void) {
init_clock();
init_ui();
init_timer();
led_on(&led1);
led_on(&led3);
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
led_toggle(&led2);
<<<<<<< HEAD
}
led_write(&led3, !sw_read(&sw3));
=======
led_toggle(&led3);
}
>>>>>>> 4dd3851d0a27e51bc2f0abaa05a14a41831d8576
}
}
