FTVOID ft9xx_int_timer (FTVOID)
{
#if defined(DEF_TIMER)
/* The Timer Prescaler will divide the 100MHz Master clock down to 2kHz */
#define TIMER_PRESCALER (50000)
#define TIMER_M_SEC (100000/TIMER_PRESCALER)
#define TIMER_SEC (1000*TIMER_M_SEC)
#define TIMER_PRI (17) //why this number? I don't know, copy from sample.
/* Enable Timers... */
sys_enable(sys_device_timer_wdt);
/* Set up the Timer tick to be 0.5 ms... */
timer_prescaler(TIMER_PRESCALER);
/* Set up Timer A to be triggered 1 second */
timer_init(timer_select_a, /* Device */
TIMER_SEC, /* Initial Value */
timer_direction_down, /* Count Direction */
timer_prescaler_select_on, /* Prescaler Select */
timer_mode_continuous); /* Timer Mode */
/* Enable the timers... */
timer_enable_interrupt(timer_select_a);
/* Register the interrupt... */
interrupt_attach(interrupt_timers, TIMER_PRI, timerISR);
/* Start all the timers at the same time... */
timer_start(timer_select_a);
#endif
}
/**
* @brief timer hardware routine
*/
void timer_hardware_init(uint8_t interval, uint8_t scale){
HAS_CRITICAL_SECTION;
ENTER_CRITICAL_SECTION();
scale &= 0x7;
scale |= (1<<WGM1); // reset on match
TIMSK &= ((unsigned char)~(1 << (TOIE0)));
TIMSK &= ((unsigned char)~(1 << (OCIE0)));
//!< Disable TC0 interrupt
/**
* set Timer/Counter0 to be asynchronous
* from the CPU clock with a second external
* clock(32,768kHz)driving it
*/
ASSR |= (1 << (AS0)); //!< us external oscillator
TCCR0 = scale;
TCNT0 = 0;
OCR0 = interval;
//TIMSK |= (1 << (OCIE0)); replaced by the line below
timer_enable_interrupt();
LEAVE_CRITICAL_SECTION();
timer_init();
}
int main(void)
{
int test_mode;
int vm_present;
int i;
unsigned int seed;
// Needs to be called ASAP as rf need a looooooong time to wake up.
// This function is just sending a pulse over the SCL line.
rf_wakeup();
clock_set_speed(16000000UL,16);
setup_pps();
setup_io();
leds_init();
CHARGE_500MA = 0; // Switch back to 100mA charge.
// Switch on one led to say we are powered on
leds_set(LED_BATTERY_0, 32);
// Enable the poweroff softirq.
_INT3IF = 0;
_INT3IP = 1;
_INT3IE = 1;
// Sound must be enabled before analog, as
// The analog interrupt callback into sound processing ...
// But must be initialised _after_ leds as it use one led IO for enabling amp.
sound_init();
tone_init(); // Init tone generator
pwm_motor_init();
pid_motor_init();
// We need the settings for the horizontal prox.
load_settings_from_flash();
for (i = 0; i < 2; i++) {
// Settings is definitely wrong....
if(settings.mot256[i] <= 0)
settings.mot256[i] = 256;
// 1024 (AD resolution is 10 bits) * 256 / 9 fits in signed 16 bits.
if (settings.mot256[i] < 9)
settings.mot256[i] = 9;
}
// This is the horizontal prox. Vertical one are handled by the ADC
// but ADC sync the motor mesurment with the prox, so we don't pullute it with noise ...
timer_init(TIMER_IR_COMM, 0,-1); // The period will be changed later.
prox_init(PRIO_SENSORS); // Same priority as analog (maybe should be at 7 ...)
// Warning: We cannot use the SD before the analog init as some pin are on the analog port.
analog_init(TIMER_ANALOG, PRIO_SENSORS);
wait_valid_vbat();
log_init(); // We will need to read vbat to be sure we can flash.
ntc_init(ntc_callback, PRIO_1KHZ);
// i2c_init(I2C_3);
i2c_init_master(I2C_3, 400000, PRIO_I2C);
I2C3CON = 0x9000;
mma7660_init(I2C_3, MMA7660_DEFAULT_ADDRESS, acc_cb, 0);
mma7660_set_mode(MMA7660_120HZ, 1);
rc5_init(TIMER_RC5, rc5_callback, PRIO_RC5);
sd_init();
timer_init(TIMER_1KHZ, 1000, 6);
timer_enable_interrupt(TIMER_1KHZ, timer_1khz, PRIO_1KHZ);
rf_init(I2C_3);
timer_enable(TIMER_1KHZ);
sd_log_file();
vm_present = init_aseba_and_fifo();
if(vm_present)
log_analyse_bytecode();
vmVariables.fwversion[0] = FW_VERSION;
vmVariables.fwversion[1] = FW_VARIANT;
// SD file is more important than internal flash
if(!sd_load_aseba_code()) {
log_set_flag(LOG_FLAG_VMCODESD);
vm_present = 1;
log_analyse_bytecode();
}
// Behavior is on INT4 (softirq trigged by 1khz timer).
behavior_init(PRIO_BEHAVIOR);
test_mode = sd_test_file_present();
if(!test_mode)
mode_init(vm_present);
// Enable the LVD interrupt
_LVDIE = 1;
play_sound(SOUND_POWERON);
if(test_mode) {
test_mode_start();
while(1)
idle_without_aseba();
}
while(behavior_enabled(B_MODE))
idle_without_aseba();
// If usb did not put us out of behavior mode, then start the rf link
if(!usb_uart_serial_port_open() && (rf_get_status() & RF_PRESENT)) {
rf_set_link(RF_UP);
}
// get the random seed
seed = 0;
for(i = 0; i < 5; i++) {
seed += vmVariables.buttons_mean[i];
seed += vmVariables.buttons_noise[i];
}
seed += vmVariables.vbat[0];
seed += vmVariables.vbat[1];
for(i = 0; i < 3; i++)
seed += vmVariables.acc[i];
AsebaSetRandomSeed(seed);
for(i = 0; i < 3; i++)
AsebaGetRandom();
// Give full control to aseba. No way out (except reset).
run_aseba_main_loop();
}
void hwtimer_arch_enable_interrupt(void)
{
for (int i = 0; i < HWTIMER_MAXTIMERS; i++) {
timer_enable_interrupt(i);
}
}
static void timer_set(uint32_t value, short timer)
{
DEBUG("Setting timer %u to %lu\n", timer, value);
timer_set_nostart(value, timer);
timer_enable_interrupt(timer);
}
