void myPwm()
{
// choose channel for pwm
PWM_Channel(E_CHANNEL0);
// pwm out enable
Init_PWM();
}
void main(void)
{
DisableInterrupts;
PLL_Init_64M();
UART_Init();
Init_Port();
Init_AD();
Init_PWM();
// LCD_init();
// LCD_clear();
// RST = 1;
PAT_Init();
// PWMDTY23 =6300 ;
// DDRA_DDRA7 = 1;
EnableInterrupts;
for(;;)
{
Mode();
// uart_putchar('a');
/* OutData[0] = (int16)(roadflag[2]);
OutData[1] = (int16)(roadflag[3]);
OutData[2] = (int16)(Steer);
OutData[3] = (int16)(roadflag[1]);
OutPut_Data(); */
// Ramp_Detection();
GetExpectSpeed();
Steer_PID();
stop_car();
//Motor(1800);
}
}
int Pwm1::_setupPwmOut(float frequency, float duty) {
int i;
mode = MODE_PWM;
i=Init_PWM(PWM1SET,frequency);
Set_duty(PWM1TIMCH,duty);
return i;
}
int Buzzer::_setupPwmOut(float frequency, float duty) {
int i;
mode = MODE_PWM;
i=Init_PWM(BUZZERSET,frequency);
Set_duty(BUZZERTIMCH,duty);
return i;
}
int16_t main(void)
{
/* Configure the oscillator for the device */
ConfigureOscillator();
/* Initialize IO ports and peripherals */
InitApp();
Init_PWM();
Init_QEI();
AtpInit();
motion_init(SendDone);
SendBoardId();
// Petit blink kikou au démarrage
int i;
for (i = 0 ; i < 14 ; i++) {
__delay_ms(50);
led = led ^ 1;
}
SendBoardId();
//pour les AX12
responseReadyAX = 0;
while (1){
if (odoBroadcast) {
OnGetPos();
}
__delay_ms(odoBroadcastDelay);
}
}
int Led3::_setupPwmOut(float frequency, float duty)
{
int i;
mode = MODE_PWM;
i=Init_PWM(LED3SET,frequency);
Set_duty(LED3TIMCH,duty);
return i;
}
void Init_Peripherals(void)
{
Init_Ports();
Init_ADC_Pin();
Init_ADC0();
Init_ADC1();
Init_Sensor_Switch_Pin();
SPI1_Init();
Init_PWM();
}
void Init()
{
Init_switch();
Init_PWM();
Init_DBGU();
Init_timer0();
// Init_timer1();
Init_ADC();
Motor_Init();
return ;
}
/*******************************************************************************
* Function Name : Target_Init
* Description : STM32各个模块初始化
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void Target_Init(void)
{
RCC_Configuration();
GPIO_config();
NVIC_Configuration();
TIM_Init();
Init_PWM(3600);
//USART1_Configuration();
//USART2_Configuration();
//USART3_Configuration();
//I2C1_Configuration();
}
void init_hw(void){
//Init I2C bus
i2c_init(I2C_ADDRESS,1);
sei();
// sbi( DDR_IR, E_IR ); // Set IR Enable as Output
// DDRB = E_IR;
Init_PWM();
InitADC(ADC_REFERENCE_AVCC, ADC_PRESCALE_DIV8);
// OCR1B = 0x01; // GREEN
RGB[0] = 0xf9; // RED
RGB[1] = 0xf9; // GREEN
RGB[2] = 0xf9; // BLUE
}
int main(void) {
// SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN| SYSCTL_XTAL_8MHZ);
SysCtlClockSet(SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
GPIOPinTypeGPIOOutput(GPIO_PORTG_BASE, GPIO_PIN_0);
Init_ADC();
Init_PWM();
Init_Timer();
Init_UART();
while (1) {
}
}
int main(void) {
//SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN| SYSCTL_XTAL_8MHZ); //8MHz
SysCtlClockSet(SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ); //20MHz
//SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ); //50Mhz
Init_GPIO();
Init_PWM();
Init_UART();
Init_Timer();
Init_ADC();
while (1) {
}
}
int main(void) {
/*SysCtlClockSet(
SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN
| SYSCTL_XTAL_8MHZ);*/
SysCtlClockSet(
SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN
| SYSCTL_XTAL_8MHZ); //20MHz
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
// GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOPinTypeGPIOOutput(GPIO_PORTG_BASE, GPIO_PIN_0);
Init_Timer_a();
Init_Timer_b();
Init_PWM();
unsigned long ulValue;
//
// Enable the first sample sequence to capture the value of channel 0 when
// the processor trigger occurs.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC); //Will use ADC
ADCSequenceConfigure(ADC_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
ADCSequenceStepConfigure(ADC_BASE, 0, 0,
ADC_CTL_IE | ADC_CTL_END | ADC_CTL_CH0);
ADCSequenceEnable(ADC_BASE, 0);
SysCtlADCSpeedSet(SYSCTL_ADCSPEED_500KSPS);
//
// Trigger the sample sequence.
//
ADCProcessorTrigger(ADC_BASE, 0);
//
// Wait until the sample sequence has completed.
//
while (!ADCIntStatus(ADC_BASE, 0, false)) {
}
//
// Read the value from the ADC.
//
ADCSequenceDataGet(ADC_BASE, 0, &ulValue);
while (1) {
}
}
/*
* Start the demo application tasks - then start the real time scheduler.
*/
int main( void )
{
/* Setup the hardware ready for the demo. */
prvSetupHardware();
vParTestInitialise();
Init_PWM();
if ((xEventGroup = xEventGroupCreate()) != NULL)
{
/* Start the standard demo application tasks. */
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
xTaskCreate( vCommTask, "nRF", configMINIMAL_STACK_SIZE*3, NULL, mainComm_TASK_PRIORITY, ( TaskHandle_t * ) NULL );
xTaskCreate( vMPDTask, "mpu", configMINIMAL_STACK_SIZE*3, NULL, mainMPU_TASK_PRIORITY, ( TaskHandle_t * ) NULL );
/* Start the scheduler. */
vTaskStartScheduler();
}
vParTestSetLED(7, 1);
while(1);
/* As the scheduler has been started the demo applications tasks will be
executing and we should never get here! */
return 0;
}
int main(void) {
//***************************************************************************************//
//*****************ARRANCAMOS LA CONFIGURACION DEL PIC **********************************//
//***************************************************************************************//
Init_Hw();
Delay1msT1(0); //Configuramos el puertos y quitamos analogicos
Init_Pll();
Delay1msT1(0); //configuramos el pll que abiasmos arracamos sin él
Init_PWM();
Delay1msT1(0); //configuramos el PWM
init_interr_extern();
Delay1msT1(0); //configuramos las interrupciones externas
Init_Bluetooh();
Delay1msT1(0); //Configuramos el serial-Bluetooth
cargar_datos_ajuste();
Init_I2C();
Delay1msT1(0); //incializamos el I2c
set_inicial();
Delay1msT1(0); //Configuramos la incialicacion de sensor
getAngle_init();
Delay1msT1(0); //Incializamos el filtro kalman
set_inicial();
Delay1msT1(0); //Incializamos el acelerometro
LED_ALL_ON();
for (i = 0; i < 2500; i++) Delay_Nop(2000);
LED_ALL_OFF();
//***************************************************************************************//
//***************************************************************************************//
//*****************CALIBRAMOS EL ACELEROMETRO Y GIROSCOPO *******************************//
// get_calibrado_acelerometro(5, 50); //cojemos los valres por defecto del giroscopo y aceletometro
LED_ALL_OFF();
//***************************************************************************************//
//*****************INICIALIZAMOS EL PID Y LAS VARIABLES ********************************//
// pid_dsp_configuracion();
//***************************************************************************************//
LED_ALL_OFF();
//*****************ARRANCAMOS INTERRUPCION DEL BUCLE PRINCIPAL *************************//
SetupT3ForXmsPID(Tsample); //configuramos la interrupcion principal
SetupT4For20msPID(); //configuramos la interrupcion principal
StartInterrup4(); //incializamos la interrupcion
StartInterrup3(); //incializamos la interrupcion
enviar_mensaje("------------------------------------------------------");
//***************************************************************************************//
while (1) {
}
}
void myPwm()
{
PWM_Channel(E_CHANNEL0); // Select PWM channel.
Init_PWM(); // Enable PWM function and set PWM period.
}
int main ()
{
char bar = '-';
ReloadXML = 1;
int ActionId;
pthread_t LightThread;
pthread_t MusicThread;
pthread_t CheckXMLModificationThread;
GetXMLModificationDate(&LastXMLModificationDate);
pthread_create (&CheckXMLModificationThread, NULL, CheckXMLModification, &bar);
while(1)
{
sleep(1);
if( ReloadXML )
{
ReloadXML = 0;
pthread_cancel (MusicThread);
pthread_join (MusicThread, NULL);
pthread_cancel (LightThread);
pthread_join (LightThread, NULL);
memset(TimedActions, 0, sizeof(TimedActions));
NoOfActions = ReadXML();
InvertedPWM = 0;
PWMFrequency = 200; // Default 200 Hz
for(ActionId=0; ActionId<NoOfActions; ActionId++)
{
if( !strcmp(TimedActions[ActionId].PWM_Inverted, "true") )
InvertedPWM = 1;
if( atoi(TimedActions[ActionId].PWM_Frequency) != 0 )
PWMFrequency = atoi(TimedActions[ActionId].PWM_Frequency);
}
Init_PWM();
SetPWMValue(0);
Audio_SetVolume(0);
Audio_Stop();
/*
PrintTimedAction(&TimedActions[0]);
PrintTimedAction(&TimedActions[1]);
PrintTimedAction(&TimedActions[2]);
PrintTimedAction(&TimedActions[3]);*/
}
CheckForcedAction();
ActionId = CheckEnable();
if( ActionId >= 0 )
{
if( !strcmp(TimedActions[ActionId].Type, "TimedAction_PWM") )
pthread_create (&LightThread, NULL, DimmUp, &TimedActions[ActionId]);
if( !strcmp(TimedActions[ActionId].Type, "TimedAction_Music") )
pthread_create (&MusicThread, NULL, Music, &TimedActions[ActionId]);
}
}
return 0;
}
//*--------------------------------------------------------------------------------------
//* Function Name : Main
//* Object : Software entry point
//* Input Parameters : none.
//* Output Parameters : none.
//*--------------------------------------------------------------------------------------
int main(void)
{
char data[MSG_SIZE];
unsigned int length;
int stepCnt = 0;
unsigned char str[10];
/**** System init ****/
//InitFrec();
Init_CP_WP();
//chek for CP and WP
//CP - card present
while(((AT91C_BASE_PIOA->PIO_PDSR) & BIT15)) { /*put your card present event here*/ }
//WP - write protect
//while(((AT91C_BASE_PIOA->PIO_PDSR) & BIT16)) { /*put your write protect event here*/ }
if (initMMC() == MMC_SUCCESS)
{
//card_state |= 1;
memset(&mmc_buffer,0,512);
mmcReadRegister (10, 16);
mmc_buffer[7]=0;
}
flashInit();
Init_PWM();
// Enable User Reset and set its minimal assertion to 960 us
AT91C_BASE_RSTC->RSTC_RMR = AT91C_RSTC_URSTEN | (0x4<<8) | (unsigned int)(0xA5<<24);
// Led init
// First, enable the clock of the PIOB
AT91F_PMC_EnablePeriphClock ( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA ) ;
//* to be outputs. No need to set these pins to be driven by the PIO because it is GPIO pins only.
AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, OUTPUT_MASK );
//* Clear the LED's.
/*
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, OUTPUT_MASK );
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, OUTPUT_MASK );
*/
// Init USB device
AT91F_USB_Open();
AT91F_PIO_ClearOutput( AT91C_BASE_PIOA, OUTPUT_MASK );
// Init USB device
// Wait for the end of enumeration
setForce(40000);
int pCDCEnablingCounter = 0;
while (!pCDC.IsConfigured(&pCDC) && pCDCEnablingCounter < 2500000){ pCDCEnablingCounter++; };
if (pCDCEnablingCounter < 2500000)
{
CDC = 1;
}
setForce(0);
// Set Usart in interrupt
//Usart_init();
//Read and set settings
memcpy(settings, OUR_FLASH_ADDR, 128);
int i;memset(&mmc_buffer, 0x00, 512);
int j;
char *settingsBlocks[50];
char settingsDelim[] = "~";
char *settingsParts = strtok( settings, settingsDelim );
i = 0;
while( settingsParts != NULL )
{
settingsBlocks[i++] = settingsParts;
settingsParts = strtok( NULL, settingsDelim );
}
for (j = 0; j < i; j++)
{
parseSettings(settingsBlocks[j]);
}
InitADC();
Init_PWM();
AT91F_PIO_CfgInput(AT91C_BASE_PIOA, SW1_MASK);
AT91F_PIO_CfgInput(AT91C_BASE_PIOA, SW2_MASK);
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED_GREEN);
AT91F_PIO_SetOutput( AT91C_BASE_PIOA, LED_YELLOW);
setForce(0);
//startBlinking(250000);
/**** MMC CARD ****/
init_extint();
while (1)
{
cnt++;
if (cnt > 50000)
{
cnt = 0;
printTrace("COUNTER RESET\n");
}
}
}
/******************************************************************
Main
******************************************************************/
int main(void)
{
/*Disable watchdog*/
RCONbits.SWDTEN = 0;
set_clk();
InitIO();
//Initialize CAN communication
initialisation_CAN();
//Initialize PWM (Motor Control)
Init_PWM();
//Initialize ADC
//Init_ADC();
//Initialize QEI (Speed/Position DC motor)
InitQEI();
chinookpack_unpacked_init(&unpacker);
#ifdef memory_init
/*Retrieve Last gear and mât position*/
do{
EEPROM_REQUEST = 0x55;
envoi_CAN_periodique_init();
last_gear = datReceive_can_EEPROM_CONFIG_ANSWER_gear;
last_position_mat = datReceive_can_EEPROM_CONFIG_ANSWER_mat;
}while(datReceive_can_EEPROM_CONFIG_ANSWER_mat==190.0f);
gear = last_gear;
Position_mat = last_position_mat;
char print[80];
sprintf(print,"last gear: %d \t last position mat : %f \r",last_gear,last_position_mat);
char u=0;
do
{
U1TXREG=print[u];
while(U1STAbits.TRMT!=1);
u++;
}while(print[u]!=0);
int k=0;
do{
EEPROM_REQUEST = 0xAA;
envoi_CAN_periodique_init();
k++;
}while(k<5);
#endif
/*Enable 24V supply switch*/
ENALIM = 1;
//envoi_CAN_periodique();
//envoi_CAN_periodique();
//Transmission goes to first gear
Stepper_Shift_Init(last_gear);
//Mat goes to origin
//Init_mat(last_position_mat);
while(1)
{
//Transmission goes to first gear
if(datReceive_can_conf)
Stepper_Shift_Init(last_gear);
Stepper_Shift();
envoi_CAN_periodique();
#ifdef mat_manuel
if(!datReceive_can_cmd[0])
{
if(last_cmd_mat == 14 || last_cmd_mat == 15){
cmd_mat=datReceive_can_cmd[3]|datReceive_can_cmd[2]|datReceive_can_cmd[1]|datReceive_can_cmd[0];
}
if(last_cmd_mat == 11){
delai_mat++;
cmd_mat = 0;
if(delai_mat<60000)
tower_motor_ctrl(&PDC1,Position_mat);
else if(delai_mat>=60000)
delai_mat = 0;
}
}
else if(!datReceive_can_cmd[2])
{
if(last_cmd_mat == 11 || last_cmd_mat == 15){
cmd_mat=datReceive_can_cmd[3]|datReceive_can_cmd[2]|datReceive_can_cmd[1]|datReceive_can_cmd[0];
}
if(last_cmd_mat == 14){
cmd_mat = 0;
delai_mat++;
if(delai_mat<60000)
tower_motor_ctrl(&PDC1,Position_mat);
else if(delai_mat>=60000)
delai_mat = 0;
}
}
else //if(datReceive_can_cmd == 15)
{
cmd_mat=15;
}
if(cmd_mat ==14)
{
last_cmd_mat = cmd_mat;
LED0^=1;
tower_motor_ctrl(&PDC1,-180.0f);
}
else if(cmd_mat == 11)
{
last_cmd_mat = cmd_mat;
tower_motor_ctrl(&PDC1,180.0f);
}
else if(cmd_mat == 15)
{
last_cmd_mat = cmd_mat;
tower_motor_ctrl(&PDC1,Position_mat);
}
#endif
#ifdef mat_test
tower_motor_ctrl(&PDC1,-90.0f);
#endif
#ifdef mat_auto
tower_motor_ctrl(&PDC1,datReceive_can_wind_direction);
#endif
}
}
void main(void)
{
int8u dec_key;
OSCTUNE = 0;
OSCCON = 0b01100011;//0b01110011;
//TRISA = 0b11000001;
//TRISE = 0;
//TRISC = 0b0111;
TRISA=0b11000001;
//TRISAbits.RA6=1;
//TRISAbits.RA7=1;
TRISC=0b0111;
TRISE=0b000000000;
TRISB7=0; TRISD3=0;
TRISD2=0; TRISD1=0;
TRISD0=1; TRISB0=0;
TRISB1=0; TRISD4=0;
TRISD5=0; TRISD6=0; TRISD7=0;
USARTinit();
lcd_init();
Initcustom_char();
cur_gain = 0.25;
/*strncpy( Lcd_LINE1 , Lcd_L1 , 16 ) ;
strncpy( Lcd_LINE2 , Lcd_L2 , 16 ) ;
Display();
strncpy( Lcd_LINE1 , Lcd_L3 , 16 ) ;
strncpy( Lcd_LINE2 , Lcd_L4 , 16 ) ;
Display();*/
//while(1);
Adc_init();
Init_i2c();
Init_stat_isr();
Init_PWM();
dutyvolt = 0; dutycurrent = 0;
Set_PWM_Duty();
/*while(1)
{
Display();
USARTWriteChar('U');
USARTWriteString(" Hi All\n\r");
dec_key = getkey();dispnum( dec_key ,1,2);
Get_ADC_Count(); dispnum( ADC_Count,5,7);
DelayMs(1000);
}*/
FFT_ready_flag = 0;
while(1)
{
if(FFT_ready_flag)
{
INT0IE = 0;
Read_FFT(0,128);
FFT_ready_flag = 0;
Calc_percentageFull();
Disp_Mill_fill();
INT0IE = 1;
}
}
}
