void task_test_lcd(void)
{
static char count_mode=0;
if (!ti_task)
{
ti_task = 200;
if (count_mode++>=10)count_mode=0;
switch(count_mode)
{
case 0: vfnLCD_Write_Msg("0000"); break;
case 1: vfnLCD_Write_Msg("1111"); break;
case 2: vfnLCD_Write_Msg("2222"); break;
case 3: vfnLCD_Write_Msg("3333"); break;
case 4: vfnLCD_Write_Msg("4444"); break;
case 5: vfnLCD_Write_Msg("5555"); break;
case 6: vfnLCD_Write_Msg("6666"); break;
case 7: vfnLCD_Write_Msg("7777"); break;
case 8: vfnLCD_Write_Msg("8888"); break;
case 9: vfnLCD_Write_Msg("9999"); break;
}
}
if (input_rise(SW1_ON, &sw1_aux1))
{
next_task(task_test_slider);
printf("\n\r TSI: slider test ");
}
}
/*
Calibration status percentage
*/
void CalPercentage (void) {
int iVarPercentage = 0;
char buffer[10];
iVarPercentage = (MagBufferCount*100)/MINEQUATIONS;
sprintf(buffer,"C%03d",iVarPercentage);
vfnLCD_Write_Msg(buffer);
}
/*
LCD module initialization according to LCDConfig.h
it is used as default configuration of the LCD
*/
void vfnLCD_Init(void) {
// enable IRCLK
/*Enable IRCLK LCD source and disconnect from FLL by clearing IREFS */
MCG_C1= 0x02;
SIM_SCGC5 |= SIM_SCGC5_SLCD_MASK | SIM_SCGC5_PORTB_MASK | SIM_SCGC5_PORTC_MASK | SIM_SCGC5_PORTD_MASK | SIM_SCGC5_PORTE_MASK;
// Enable IRCLK
MCG_C1 |= MCG_C1_IRCLKEN_MASK | MCG_C1_IREFSTEN_MASK;
MCG_C2 |= !MCG_C2_IRCS_MASK ; //0 32KHZ internal reference clock; 1= 4MHz irc
//vfnLCD_interrupt_init();
LCD_GCR = 0x0;
LCD_AR = 0x0;
// lcd_pinmux(0);
/* LCD configurartion according to */
LCD_GCR = ( LCD_GCR_RVEN_MASK*_LCDRVEN
| LCD_GCR_RVTRIM(_LCDRVTRIM) //0-15
| LCD_GCR_CPSEL_MASK*_LCDCPSEL
/* | LCD_GCR_HREFSEL_MASK*_LCDHREF */
|LCD_GCR_LADJ(_LCDLOADADJUST) //0-3*/
/* | LCD_GCR_VSUPPLY(_LCDSUPPLY) //0-3*/
/* |!LCD_GCR_LCDIEN_MASK */
|!LCD_GCR_FDCIEN_MASK
| LCD_GCR_ALTDIV(_LCDALTDIV) //0-3
/* |!LCD_GCR_LCDWAIT_MASK */
|!LCD_GCR_LCDSTP_MASK
|!LCD_GCR_LCDEN_MASK
| LCD_GCR_SOURCE_MASK*_LCDCLKSOURCE
| LCD_GCR_ALTSOURCE_MASK*_LCDALRCLKSOURCE
| LCD_GCR_LCLK(_LCDLCK) //0-7
| LCD_GCR_DUTY(_LCDDUTY) //0-7
);
lcd_alternate_mode = LCD_NORMAL_MODE; //Message will be written to default backplanes if = 4
vfnLCD_EnablePins(); // Enable LCD pins and **Configure BackPlanes**
LCD_GCR |= LCD_GCR_LCDEN_MASK;
/* LCD_GCR |= LCD_GCR_LCDIEN_MASK; // Enable interrupts */
/* Configure LCD Auxiliar Register*/
LCD_AR = LCD_AR_BRATE(_LCDBLINKRATE); // all other flags set as zero
vfnLCD_Write_Msg("1235");
}
/*
** ===================================================================
** Nombre : LcdCounter_task (void *pvParameters)
**
** Resumen : Tarea que visualiza un contado de 0-9999
** en pantalla LCD
**
** Entradas : Parametro inicial para la tarea
**
** Retorna : Ningun dato
** ===================================================================
*/
void LcdCounter_task(void *pvParameters){
portBASE_TYPE MyParameter = (portBASE_TYPE )(pvParameters);
MySegLCDPtr = SegLCD1_Init(NULL); //initialize sLCD according to PEx
for(;;){
main_counter++; // Incrementa contador
if(main_counter>9999)main_counter=0; // control de valor maximo en contador
(void) sprintf(sLCDBuffer,"%04i",main_counter); // Genera cadena de texto con valor de contador
vfnLCD_Write_Msg((uint8 *)sLCDBuffer); // Muestra en LCD
FRTOS1_vTaskDelay(50 / portTICK_RATE_MS); // Espera de 50mseg
}
vTaskDelete(NULL); // Borra tarea actual
}//Fin de la Tarea "LcdCounter_task" -------------------------------------
void task_test_slider(void)
{
static int touch_slider_last_valid_value=50;
if (AbsolutePercentegePosition>0) touch_slider_last_valid_value=AbsolutePercentegePosition;
t_flash = (touch_slider_last_valid_value*2 + 50);
sprintf((char *)gu8USB_Buffer,"%4i", touch_slider_last_valid_value);
#ifdef FRDM_REVA
PORTA_PCR6 = PORT_PCR_MUX(3); //enable as TPM0_CH3
TPM0_C3V=touch_slider_last_valid_value*10;
#else
PORTD_PCR5 = PORT_PCR_MUX(4); //enable as TPM0_CH5
TPM0_C5V=touch_slider_last_valid_value*10;
#endif
vfnLCD_Write_Msg(gu8USB_Buffer);
printf("\r tsi %%= %03i ", AbsolutePercentegePosition);
if (!ti_task)
{
ti_task = t_flash;
LED1_TOGGLE;
LED2_TOGGLE;
}
if (input_rise(SW1_ON, &sw1_aux1))
{
#ifdef FRDM_REVA
PORTA_PCR6 = PORT_PCR_MUX(1); //PTA6 as GPIO LED3
#else
PORTD_PCR5 = PORT_PCR_MUX(1); //PTA6 as GPIO LED3
#endif
next_task(task_ecompass);
printf("\n\r eCompass, Magenetomer + accelerometer test ");
}
}
void ControlLoopCompass(void)
{
//printf("\n");
// for (i = 0; i < miterations; i++)
// {
// call sensor driver simulation to get accel and mag data in integer counts
fSixDOFMyNEDSensorDrivers();
// update the magnetometer measurement buffer integer magnetometer data
fUpdateMagnetometerBuffer();
// remove hard and soft iron terms from Bp (uT) to get calibrated data Bc (uT)
fInvertMagCal();
// NED coordinate system
feCompassNED(fBcx, fBcy, fBcz, fGpx, fGpy, fGpz);
Conversion();
if (validmagcal !=0)
{
APhi6DOF = median(iPhi6DOF, &arr_medianas[0]);
AThe6DOF = median(iThe6DOF, &arr_medianas[1]);
APsi6DOF = median(iPsi6DOF, &arr_medianas[2]);
// printf("Yaw =%4d Pitch =%4d Roll =%4d \r", APhi6DOF, AThe6DOF, APsi6DOF);
APsi6DOF = 359 - APsi6DOF;
sprintf(buffer,"%04d",APsi6DOF);
vfnLCD_Write_Msg(buffer); //print when it is calibrated
ecompass_direction = APsi6DOF;
}
// try to find an improved calibration if update is enabled
else
{
fCalibrationUpdate();
}
loopcounter++;
// }
}
void task_light_sensor(void)
{
char buffer_char[10];
if (!ti_task)
{
ti_task = 200;
printf("\r adc: light_sensor %4i",adc_light_sensor);
sprintf(buffer_char,"%4d",adc_light_sensor);
vfnLCD_Write_Msg((uint8 *)buffer_char); //print when it is calibrated
}
if (input_rise(SW1_ON, &sw1_aux1))
{
next_task(task_test_lcd);
printf("\n\r sLCD test ");
}
}
static portTASK_FUNCTION(MainTask, pvParameters) {
unsigned char lcdBuf[sizeof("1234")];
uint16_t cntr;
(void)pvParameters; /* parameter not used */
TRACE_Init();
MMA1_Init(); /* enable accelerometer, if not already enabled */
MAG1_Enable(); /* enable magnetometer */
SHELL_Init();
cntr = 0;
for(;;) {
UTIL1_Num16uToStrFormatted(lcdBuf, sizeof(lcdBuf), cntr, '0', 4);
vfnLCD_Write_Msg(lcdBuf);
cntr++;
if (cntr>9999) { /* can only display 4 digits */
cntr = 0;
}
#if APP_USE_KEY_COMPONENT
KEY1_ScanKeys(); /* using component in polling mode: poll keys, this will create events as needed. */
EVNT1_HandleEvent();
#else
if (SW1_GetVal()==0) { /* button pressed */
FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* wait to debounce */
while (SW1_GetVal()==0) { /* still pressed? */
LED1_On();
}
}
if (SW3_GetVal()==0) { /* button pressed */
FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* wait to debounce */
while (SW3_GetVal()==0) { /* still pressed? */
LED2_On();
}
}
#endif
LED1_Neg();
FRTOS1_vTaskDelay(50/portTICK_RATE_MS);
}
}
void APP_Run(void) {
MySegLCDPtr = SegLCD1_Init(NULL); //initialize sLCD according to PEx
vfnLCD_Write_Msg((uint8 *)"8888");
_LCD_DP1_ON(); /* dot for first digit */
_LCD_DP2_ON(); /* dot for second digit */
_LCD_DP3_ON(); /* dot for third digit */
_LCD_COL_ON(); /* : between digit two and three */
if (FRTOS1_xTaskCreate(
MainTask, /* pointer to the task */
(signed char *)"Main", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){}; /* error! probably out of memory */
/*lint +e527 */
}
FRTOS1_vTaskStartScheduler();
}
int main (void)
{
char ch,aux1 ,aux2;
int UsbDetected = FALSE;
#ifdef CMSIS // If we are conforming to CMSIS, we need to call start here
start();
#endif
vfnMcuConfig();
printf("\n\rRunning the FRDMKL46_Demo project.\n\r");
vfnLCD_Init();
gpio_init();
Pit_init();
TSI_Init();
usb_init();
next_task(vfn_led_test);
accel_init();
mag_init();
eCompassInit();
adc_init();
tpm_init(); //Green LED 50%SIM_SCGC5_PORTC_MASK
// character test
vfnLCD_Write_Msg("8888");
_LCD_DP1_ON();
_LCD_DP2_ON();
_LCD_DP3_ON();
_LCD_COL_ON();
while(1)
{
#ifdef FRDM_REVA
if (uart_getchar_present(UART1_BASE_PTR))
#else
if (uart0_getchar_present(UART0_BASE_PTR))
#endif
{
ch = in_char();
printf("\n\r Received char = %c \n\r",ch);
if (ch==' ')
{
printf("\n\r light_sensor = %i",adc_light_sensor);
// printf("\n\r Yaw =%4d Pitch =%4d Roll =%4d \r", APhi6DOF, AThe6DOF, APsi6DOF);
printf("\n\r Yaw =%4d Pitch =%4d Roll =%4d \r", APsi6DOF, APhi6DOF, AThe6DOF);
printf("\n\r tsi %%= %03i ", AbsolutePercentegePosition);
}
}
if (input_rise(SW1_ON, &aux1))
{
printf("\n\r SW1 \n\r");
}
if (input_rise(SW2_ON, &aux2))
{
printf("\n\r SW2 \n\r ");
}
ptr_next_task(); // do the actual function
TSI_SliderRead();
usb_service();
if (gu8USB_State == uENUMERATED && !UsbDetected)
{
// next_task(vfn_rgb_test);
UsbDetected = TRUE;
}
adc_light_sensor = adc_read(3);
}
}
void task_hello(void)
{
vfnLCD_Write_Msg("-HI-");
}
/*lint -save -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
LED_GREEN_NegVal();
LED_RED_NegVal();
LED_YELLOW_NegVal();
LED_ORANGE_NegVal();
MySegLCDPtr = SegLCD1_Init(NULL); //initialize sLCD according to PEx
vfnLCD_Write_Msg("1234");
/*Turn on all special symbols*/
_FREESCALE_ON();
_ONE_ON();
_COL_ON();
_GRADE_ON();
_PERCENTAGE_ON();
_AM_ON();
_PM_ON();
for (main_counter=1000000 ; main_counter>0 ;main_counter--){}; //delay to show all symbol ON
/*Turn off all special symbols*/
_FREESCALE_OFF();
_ONE_OFF();
_COL_OFF();
_GRADE_OFF();
_PERCENTAGE_OFF();
_AM_OFF();
_PM_OFF();
#ifdef CW
// If we are using CodeWarrior, we must call this function to change
// the buffer behavior such that a new line character, "\n", is not
// required to print characters to the terminal.
setvbuf(stdout, NULL, _IONBF, 0);
#endif
printf("\n\r KL46 sLCD test \n");
printf("\n\r press a=all symbols on, 0=all symbols Off, 1 to 6 symbols");
_FREESCALE_ON();
for(;;)
{
/*echoes all received character to terminal */
InpData[0] = getchar();
printf("%c",InpData[0]);
main_counter++;
sprintf(sLCDBuffer,"%04i",main_counter%1000);
vfnLCD_Write_Msg(sLCDBuffer);
LED_GREEN_NegVal();
LED_RED_NegVal();
LED_YELLOW_NegVal();
LED_ORANGE_NegVal();
switch ( InpData[0])
{
case 'a':
_FREESCALE_ON();
_ONE_ON();
_COL_ON();
_GRADE_ON();
_PERCENTAGE_ON();
_AM_ON();
_PM_ON();
break;
case '0':
_FREESCALE_OFF();
_ONE_OFF();
_COL_OFF();
_GRADE_OFF();
_PERCENTAGE_OFF();
_AM_OFF();
_PM_OFF();
break;
case '1':
_FREESCALE_ON();
break;
case '2':
_COL_ON();
break;
case '3':
_GRADE_ON();
break;
case '4':
_PERCENTAGE_ON();
break;
case '5':
_AM_ON();
break;
case '6':
_PM_ON();
break;
default:
_FREESCALE_ON();
_ONE_OFF();
_COL_OFF();
_GRADE_OFF();
_PERCENTAGE_OFF();
_AM_OFF();
_PM_OFF();
}
}
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
int main (void)
{
char ch;
char low_power_mode = MODE_SELECT;
SMC_PMPROT = SMC_PMPROT_ALLS_MASK | SMC_PMPROT_AVLLS_MASK | SMC_PMPROT_AVLP_MASK ;
#ifdef CMSIS // If we are conforming to CMSIS, we need to call start here
start();
#endif
print_llwu_status();
gpio_init();
rtc_init(); // driven by 32kHz external oscillator //
vfnLCD_Init();
vfnLCD_Write_Msg("1234");
PORTC_PCR3 = PORT_PCR_MUX(1) | PORT_PCR_PE_MASK | PORT_PCR_PS_MASK;
enable_irq(INT_LLW-16);
llwu_configure(0x0080,0x02,LLWU_ME_WUME5_MASK); //M5= RTC Alarm, M7 RTC seconds
//check if it comes from VLLx mode
if (PMC_REGSC % PMC_REGSC_ACKISO_MASK)
{
if (last_gpio_status&0x01) LED1_ON; else LED1_OFF; //configure GPIO pin with latest state
PMC_REGSC |= PMC_REGSC_ACKISO_MASK; //write to release hold on I/O
last_gpio_status ^= 0x01; //update state for next work
}
printf("\n\rRunning the lcd_rtc_lowpower project.\n\r");
// wait 3 seconds before start entering in low power mode
while (rtc_seconds_isrv_count<3){};
while(1)
{
LED2_TOGGLE;
ch= (char)RTC_TSR;
sprintf(gu8USB_Buffer,"%4i",ch );
vfnLCD_Write_Msg(gu8USB_Buffer);
printf("\n\r llwu_isrv_counter = %i, rtc_isrv_counter=%i ",llwu_isrv_counter, rtc_isrv_counter );
printf(" "); //delay
switch (low_power_mode)
{
case MODE_WAIT:
enter_wait();
printf("\n\r exit from WAIT");
break;
case MODE_STOP:
/* 0x00 = STOP - Normal Stop Mode
0x40 = PSTOP1 - Partial Stop with both system and bus clocks disabled
0x80 = PSTOP2 - Partial Stop with system clock disabled and bus clock enabled
*/
enter_stop(0x00);
printf("\n\r exit from STOP");
break;
case MODE_LLS:
MCG_C6 &= ~MCG_C6_CME0_MASK; //Disable Clock Monitor before entering in low power mode LLS, VLSSx
enter_lls();
op_mode = what_mcg_mode();
if(op_mode==PBE)
{
mcg_clk_hz = pbe_pee(CLK0_FREQ_HZ);
MCG_C6 |= MCG_C6_CME0_MASK;
}
printf("\n\r exit from LLS");
break;
case MODE_VLLS3:
MCG_C6 &= ~MCG_C6_CME0_MASK;
enter_vlls3();
//Note: exit from VLLSx mode is through RESET PMC_REGSC_ACKISO is set
break;
// VLLS2 mode not supported on KL46
case MODE_VLLS1:
MCG_C6 &= ~MCG_C6_CME0_MASK;
enter_vlls1(); //In VLLS1 and VLLS0 no SRAM is retained.
//Note: exit from VLLSx mode is through RESET PMC_REGSC_ACKISO is set
break;
default:
}
}
}
