int main()
{
/* Place your initialization/startup code here (e.g. MyInst_Start()) */
CYGlobalIntEnable; /* Uncomment this line to enable global interrupts. */
IDAC8_1_Start();
IDAC8_2_Start();
CyDelay(1000);
//Control_Reg_StimSel_Write(STIM_POS);
for(;;)
{
IDAC8_1_SetValue(DAC_V1); //set vdac
Control_Reg_StimSel_Write(STIM_POS); //switch mux
CyDelay(PERIOD_P1);
IDAC8_1_SetValue(0); //set vdac
Control_Reg_StimSel_Write(STIM_GROUND); //switch mux
CyDelay(PERIOD_DELAY);
IDAC8_2_SetValue(DAC_V2); //set vdac
Control_Reg_StimSel_Write(STIM_NEG); //switch mux
CyDelay(PERIOD_P2);
IDAC8_2_SetValue(0); //set vdac
Control_Reg_StimSel_Write(STIM_GROUND); //switch mux
CyDelay(PERIOD_INTERVAL);
LED_B_Write(~LED_B_Read()); //Toggle LED
}
}
void set_led_rgb(unsigned char r, unsigned char g, unsigned char b)
{
//No fading, we use 1 or 0 for now. Flipping the sign so x = 1 means ON
LED_R_Write((r & 0x01)^1);
LED_G_Write((g & 0x01)^1);
LED_B_Write((b & 0x01)^1);
}
//Call this function once in main.c, just before the while()
void init_ricnu_knee(void)
{
//FlexSEA-Execute setup:
//Example: ctrl.active_ctrl = CTRL_OPEN; //Open controller
//Example: motor_open_speed_1(0); //0% PWM
ctrl.active_ctrl = CTRL_POSITION; //Position controller
motor_open_speed_1(0); //0% PWM
Coast_Brake_Write(1); //Brake (rather than Coast)
//Position PID gains:
ctrl.position.gain.P_KP = 22;
ctrl.position.gain.P_KI = 5;
//Starts off:
LED_R_Write(1);
LED_G_Write(1);
LED_B_Write(1);
}
int main()
{
uint8 i2c_flag = 0;
uint16 tmp_volt_3v3 = 0, tmp_volt_vg = 0, tmp_volt_vb = 0;
uint16 extend_error_pulse = 0;
uint8 togg_eled = 0;
//Initialize and start peripherals:
init_peripherals();
//Enable global interrupts
CyGlobalIntEnable;
//Quick test: LED Green when ON
LED_B_Write(1);
//Test: latch output:
SW_PSOC_Write(1);
while(1)
{
//Update sensor data every 10ms, call safety functions:
if(flag_tb10ms)
{
flag_tb10ms = 0;
/*
//Update shared memory:
tmp_volt_vb = read_vb();
ezI2Cbuf[MEM_R_VB_SNS_MSB] = (uint8)((tmp_volt_vb & 0xFF00) >> 8);
ezI2Cbuf[MEM_R_VB_SNS_LSB] = (uint8)(tmp_volt_vb & 0x00FF);
tmp_volt_vg = read_vg();
ezI2Cbuf[MEM_R_VG_SNS_MSB] = (uint8)((tmp_volt_vg & 0xFF00) >> 8);
ezI2Cbuf[MEM_R_VG_SNS_LSB] = (uint8)(tmp_volt_vg & 0x00FF);
tmp_volt_3v3 = read_3v3();
ezI2Cbuf[MEM_R_3V3_SNS_MSB] = (uint8)((tmp_volt_3v3 & 0xFF00) >> 8);
ezI2Cbuf[MEM_R_3V3_SNS_LSB] = (uint8)(tmp_volt_3v3 & 0x00FF);
ezI2Cbuf[MEM_R_TEMPERATURE] = read_temp();
//ezI2Cbuf[MEM_R_STATUS1] = STATUS1_GOOD;
//Safety functions:
err_temp = safety_temp(ezI2Cbuf[MEM_R_TEMPERATURE]);
err_v_3v3 = safety_volt(tmp_volt_3v3, M_3V3_LOW, M_3V3_HIGH);
err_v_vg = safety_volt(tmp_volt_vg, M_VG_LOW, M_VG_HIGH);
err_v_vb = safety_volt(tmp_volt_vb, M_VB_LOW, M_VB_HIGH);
err_discon = safety_disconnection(tmp_volt_vb);
ezI2Cbuf[MEM_R_STATUS1] = CMB_FLAGS_STATUS1(err_wdclk, err_discon, err_temp, err_v_vb, err_v_vg);
ezI2Cbuf[MEM_R_STATUS2] = CMB_FLAGS_STATUS2(err_v_3v3);
*/
}
if(flag_tb_1ms)
{
flag_tb_1ms = 0;
}
//EZI2C Write complete
if (0u != (I2C_1_EzI2CGetActivity() & I2C_1_EZI2C_STATUS_WRITE1))
{
//...
i2c_flag = 1;
i2c_flag = 0;
}
}
}
