static void prvSetupHardware( void )
{
SystemCoreClockUpdate();
/* Disable the Watch Dog Timer */
MSS_WD_disable( );
/* Initialise the GPIO */
MSS_GPIO_init();
/* Set up GPIO for the LEDs. */
MSS_GPIO_config( MSS_GPIO_0 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_1 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_2 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_3 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_4 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_5 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_6 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_7 , MSS_GPIO_OUTPUT_MODE );
/* All LEDs start off. */
ulGPIOState = 0xffffffffUL;
MSS_GPIO_set_outputs( ulGPIOState );
/* Setup the GPIO and the NVIC for the switch used in this simple demo. */
NVIC_SetPriority( GPIO8_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
NVIC_EnableIRQ( GPIO8_IRQn );
MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );
MSS_GPIO_enable_irq( MSS_GPIO_8 );
}
void init_rgb_pwm(uint8_t _gpio_r, uint8_t _gpio_g, uint8_t _gpio_b, uint8_t _gpio_i){
timer_init();
MSS_GPIO_config((gpio_r_i = _gpio_r), MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_POSITIVE);
MSS_GPIO_config((gpio_g_i = _gpio_g), MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_POSITIVE);
MSS_GPIO_config((gpio_b_i = _gpio_b), MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_POSITIVE);
MSS_GPIO_config((gpio_i_i = _gpio_i), MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_POSITIVE);
MSS_GPIO_enable_irq(_gpio_r);
MSS_GPIO_enable_irq(_gpio_g);
MSS_GPIO_enable_irq(_gpio_b);
MSS_GPIO_enable_irq(_gpio_i);
// add the timer peripherals to the timer module
red_timer_id = add_timer(TIMER_RED);
green_timer_id = add_timer(TIMER_GREEN);
blue_timer_id = add_timer(TIMER_BLUE);
pulse_timer_id = add_timer(TIMER_PULSE);
// all colors overflow at their max pwm value
timer_setOverflowVal(red_timer_id, 1000000);
timer_setOverflowVal(blue_timer_id, 1000000);
timer_setOverflowVal(green_timer_id, 1000000);
// pulse uses overflow only
//timer_enable_allInterrupts(pulse_timer_id);
timer_enable_overflowInt(pulse_timer_id);
timer_disable_compareInt(pulse_timer_id);
// colors require overflow and compare registers
timer_enable_allInterrupts(red_timer_id);
timer_enable_allInterrupts(blue_timer_id);
timer_enable_allInterrupts(green_timer_id);
timer_enable_compareInt(red_timer_id);
timer_enable_compareInt(blue_timer_id);
timer_enable_compareInt(green_timer_id);
timer_enable_overflowInt(red_timer_id);
timer_enable_overflowInt(blue_timer_id);
timer_enable_overflowInt(green_timer_id);
timer_enable(red_timer_id);
timer_enable(green_timer_id);
timer_enable(blue_timer_id);
//timer_enable(pulse_timer_id);
// don't start the colors until set_brightness is called
}
void MY_GPIO_init (void)
{
void MSS_GPIO_init( void );
MSS_GPIO_config( MSS_GPIO_0 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_1 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_2 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_3 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_4 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_5 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_6 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_7 , MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config( MSS_GPIO_8 , MSS_GPIO_OUTPUT_MODE );
}
void rfid_init() {
/* Initialize CoreUARTapb for bar code scanner settings */
UART_init(&g_rfid_uart, RFID_UART_BASE_ADDR, RFID_BAUD_VALUE, DATA_8_BITS | NO_PARITY);
/* Initialize the MSS GPIO & GPIO_0 Interrupt */
MSS_GPIO_config( MSS_GPIO_1, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_BOTH );
MSS_GPIO_enable_irq( MSS_GPIO_1 );
NVIC_EnableIRQ(GPIO1_IRQn);
vSemaphoreCreateBinary( rfid_top_sem );
_rfid_init_done = 1;
}
void Yellowstone_Init(void)
{
// MSS_GPIO_init( );
MSS_GPIO_config( MSS_GPIO_0, MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_set_output( MSS_GPIO_0, 0 );
// Initialize SPI master
MSS_SPI_init( &g_mss_spi0 );
MSS_SPI_configure_master_mode
(
&g_mss_spi0,
MSS_SPI_SLAVE_0,
MSS_SPI_MODE0,
MSS_SPI_PCLK_DIV_128,
spi_frame_size
);
MSS_SPI_enable( &g_mss_spi0 );
MSS_GPIO_config ( MSS_GPIO_SPI_0_IT, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_LEVEL_HIGH );
MSS_GPIO_enable_irq( MSS_GPIO_SPI_0_IT );
NVIC_EnableIRQ( MSS_GPIO_SPI_0_IT_IRQn );
}
void vParTestInitialise( void )
{
long x;
/* Initialise MSS GPIOs. */
MSS_GPIO_init();
/* Ensure the LEDs are outputs and off to start. */
for( x = 0; x < partstNUM_LEDS; x++ )
{
MSS_GPIO_config( ucLEDs[ x ], MSS_GPIO_OUTPUT_MODE );
vParTestSetLED( x, pdFALSE );
}
}
void MY_GPIO_init(void) {
// Initialize MSS GPIOs.
void MSS_GPIO_init(void);
// Configure the MSS GPIO output pins
MSS_GPIO_config(MSS_GPIO_0, MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config(MSS_GPIO_1, MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config(MSS_GPIO_2, MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config(MSS_GPIO_3, MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config(MSS_GPIO_4, MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config(MSS_GPIO_5, MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config(MSS_GPIO_6, MSS_GPIO_OUTPUT_MODE );
MSS_GPIO_config(MSS_GPIO_7, MSS_GPIO_OUTPUT_MODE );
// Configure the MSS GPIO input pins + configure interrupt mode (rising)
MSS_GPIO_config(MSS_GPIO_8, MSS_GPIO_INPUT_MODE
| MSS_GPIO_IRQ_EDGE_POSITIVE );
MSS_GPIO_config(MSS_GPIO_9, MSS_GPIO_INPUT_MODE
| MSS_GPIO_IRQ_EDGE_POSITIVE );
// Enable the input pin interrupts in the MSS
MSS_GPIO_enable_irq( MSS_GPIO_8 );
MSS_GPIO_enable_irq( MSS_GPIO_9 );
}
void vParTestInitialise( void )
{
long x;
/* Initialise the GPIO */
MSS_GPIO_init();
/* Set up GPIO for the LEDs. */
for( x = 0; x < partstMAX_LEDS; x++ )
{
MSS_GPIO_config( ( mss_gpio_id_t ) x , MSS_GPIO_OUTPUT_MODE );
}
/* All LEDs start off. */
ulGPIOState = 0xffffffffUL;
MSS_GPIO_set_outputs( ulGPIOState );
}
int xbee_interface_init() {
int check;
check = _xbee_interface_alloc_init();
if (check < 0) return check;
MSS_GPIO_config(MSS_GPIO_5, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_set_output(MSS_GPIO_5, 0x0);
MSS_GPIO_set_output(MSS_GPIO_5, 0x1);
MSS_UART_init(&g_mss_uart1,
MSS_UART_57600_BAUD,
MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT);
_xbee_interface_rx_init();
_xbee_interface_tx_init();
return 0;
}
static void prvSetupHardware( void )
{
SystemCoreClockUpdate();
/* Disable the Watch Dog Timer */
MSS_WD_disable( );
/* Configure the GPIO for the LEDs. */
vParTestInitialise();
/* ACE Initialization */
ACE_init();
/* Setup the GPIO and the NVIC for the switch used in this simple demo. */
NVIC_SetPriority( GPIO8_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
NVIC_EnableIRQ( GPIO8_IRQn );
MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );
MSS_GPIO_enable_irq( MSS_GPIO_8 );
}
void initGPIO() {
//initalize MSS gpio block
MSS_GPIO_init();
//configure MSS gpio pins 0 to 3 as outputs
MSS_GPIO_config(MSS_GPIO_0, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_1, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_2, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_3, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_4, MSS_GPIO_INPUT_MODE);
MSS_GPIO_config( MSS_GPIO_5, MSS_GPIO_INPUT_MODE);
}
int main()
{
//uint32_t count;
MSS_GPIO_init();
MSS_GPIO_config( MSS_GPIO_0, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config( MSS_GPIO_1, MSS_GPIO_OUTPUT_MODE);
MSS_I2C_init(&g_mss_i2c1 , IMU_ADDRESS_WRITE, MSS_I2C_PCLK_DIV_256 );
imu_init();
//one timer tick is 10ns at 100Mhz
MSS_TIM1_init( MSS_TIMER_PERIODIC_MODE);
MSS_TIM1_enable_irq();
MSS_TIM1_load_background(100000);
MSS_TIM1_start();
MSS_TIM2_init( MSS_TIMER_ONE_SHOT_MODE);
while( 1 ) {
//int16_t x_accl = imu_accl_x();
//int16_t y_accl = imu_accl_y();
//int16_t z_accl = imu_accl_z();
X_GYRO = imu_gyro_x();
Y_ACCL = imu_accl_y();
//uint16_t y_gyro = imu_gyro_y();
//uint16_t z_gyro = imu_gyro_z();
//printf("Avg X: %f\r\n", avg_x);
//printf("Accel X: %i\n\r", x_accl);
//printf("Accel Y: %u\n\r", y_accl);
//printf("Accel Z: %u\n\r", z_accl);
//printf("Gyro X: %u\r\n", x_gyro);
//printf("Gyro Y: %u\r\n", y_gyro);
//printf("Gyro Z: %u\r\n", z_gyro);
//150000 = 1.5ms pulse
//1.49ms pulse = equilibrium point
uint32_t pulsewidth_right = 150000 + (angle/90.0)*100000;
uint32_t pulsewidth_left = 150000 - (angle/90.0)*100000;
uint32_t period = 2000000;
MSS_TIM2_load_immediate(period);
MSS_TIM2_start();
while (MSS_TIM2_get_current_value() > 0) {
if (MSS_TIM2_get_current_value() > (period - pulsewidth_right))
MSS_GPIO_set_output( MSS_GPIO_0, 1);
else
MSS_GPIO_set_output( MSS_GPIO_0, 0);
if (MSS_TIM2_get_current_value() > (period - pulsewidth_left))
MSS_GPIO_set_output( MSS_GPIO_1, 1);
else
MSS_GPIO_set_output( MSS_GPIO_1, 0);
}
}
return 0;
}
// caller must have called MSS_GPIO_init();
// because we don't want to re-init and change other gpio's setup by caller
void init_rgb_led(uint8_t _gpio_r, uint8_t _gpio_g, uint8_t _gpio_b){
MSS_GPIO_config((gpio_r = _gpio_r), MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config((gpio_g = _gpio_g), MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config((gpio_b = _gpio_b), MSS_GPIO_OUTPUT_MODE);
}
int_t main(void)
{
error_t error;
NetInterface *interface;
OsTask *task;
MacAddr macAddr;
#if (APP_USE_DHCP == DISABLED)
Ipv4Addr ipv4Addr;
#endif
#if (APP_USE_SLAAC == DISABLED)
Ipv6Addr ipv6Addr;
#endif
//Update system core clock
SystemCoreClockUpdate();
//Initialize kernel
osInitKernel();
//Configure debug UART
debugInit(115200);
//Start-up message
TRACE_INFO("\r\n");
TRACE_INFO("**********************************\r\n");
TRACE_INFO("*** CycloneTCP FTP Client Demo ***\r\n");
TRACE_INFO("**********************************\r\n");
TRACE_INFO("Copyright: 2010-2014 Oryx Embedded\r\n");
TRACE_INFO("Compiled: %s %s\r\n", __DATE__, __TIME__);
TRACE_INFO("Target: A2F200M3F\r\n");
TRACE_INFO("\r\n");
//LED configuration
MSS_GPIO_init();
MSS_GPIO_config(MSS_GPIO_0, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_1, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_2, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_3, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_4, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_5, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_6, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config(MSS_GPIO_7, MSS_GPIO_OUTPUT_MODE);
//Clear LEDs
MSS_GPIO_set_output(MSS_GPIO_0, 1);
MSS_GPIO_set_output(MSS_GPIO_1, 1);
MSS_GPIO_set_output(MSS_GPIO_2, 1);
MSS_GPIO_set_output(MSS_GPIO_3, 1);
MSS_GPIO_set_output(MSS_GPIO_4, 1);
MSS_GPIO_set_output(MSS_GPIO_5, 1);
MSS_GPIO_set_output(MSS_GPIO_6, 1);
MSS_GPIO_set_output(MSS_GPIO_7, 1);
//Initialize SW1 and SW2
MSS_GPIO_config(MSS_GPIO_8, MSS_GPIO_INPUT_MODE);
MSS_GPIO_config(MSS_GPIO_9, MSS_GPIO_INPUT_MODE);
//Initialize LCD display
OLED_init();
OLED_contrast(OLED_CONTRAST_VAL);
OLED_clear_display(BOTH_LINES);
//Welcome message
lcdSetCursor(0, 0);
printf("FTP Client Demo");
//TCP/IP stack initialization
error = tcpIpStackInit();
//Any error to report?
if(error)
{
//Debug message
TRACE_ERROR("Failed to initialize TCP/IP stack!\r\n");
}
//Configure the first Ethernet interface
interface = &netInterface[0];
//Set interface name
tcpIpStackSetInterfaceName(interface, "eth0");
//Set host name
tcpIpStackSetHostname(interface, "FTPClientDemo");
//Select the relevant network adapter
tcpIpStackSetDriver(interface, &a2fxxxm3EthDriver);
tcpIpStackSetPhyDriver(interface, &dp83848PhyDriver);
//Set host MAC address
macStringToAddr(APP_MAC_ADDR, &macAddr);
tcpIpStackSetMacAddr(interface, &macAddr);
//Initialize network interface
error = tcpIpStackConfigInterface(interface);
//Any error to report?
if(error)
{
//Debug message
TRACE_ERROR("Failed to configure interface %s!\r\n", interface->name);
}
#if (IPV4_SUPPORT == ENABLED)
#if (APP_USE_DHCP == ENABLED)
//Get default settings
dhcpClientGetDefaultSettings(&dhcpClientSettings);
//Set the network interface to be configured by DHCP
dhcpClientSettings.interface = interface;
//Disable rapid commit option
dhcpClientSettings.rapidCommit = FALSE;
//DHCP client initialization
error = dhcpClientInit(&dhcpClientContext, &dhcpClientSettings);
//Failed to initialize DHCP client?
if(error)
{
//Debug message
TRACE_ERROR("Failed to initialize DHCP client!\r\n");
}
//Start DHCP client
error = dhcpClientStart(&dhcpClientContext);
//Failed to start DHCP client?
if(error)
{
//Debug message
TRACE_ERROR("Failed to start DHCP client!\r\n");
}
#else
//Set IPv4 host address
ipv4StringToAddr(APP_IPV4_HOST_ADDR, &ipv4Addr);
ipv4SetHostAddr(interface, ipv4Addr);
//Set subnet mask
ipv4StringToAddr(APP_IPV4_SUBNET_MASK, &ipv4Addr);
ipv4SetSubnetMask(interface, ipv4Addr);
//Set default gateway
ipv4StringToAddr(APP_IPV4_DEFAULT_GATEWAY, &ipv4Addr);
ipv4SetDefaultGateway(interface, ipv4Addr);
//Set primary and secondary DNS servers
ipv4StringToAddr(APP_IPV4_PRIMARY_DNS, &ipv4Addr);
ipv4SetDnsServer(interface, 0, ipv4Addr);
ipv4StringToAddr(APP_IPV4_SECONDARY_DNS, &ipv4Addr);
ipv4SetDnsServer(interface, 1, ipv4Addr);
#endif
#endif
#if (IPV6_SUPPORT == ENABLED)
#if (APP_USE_SLAAC == ENABLED)
//Get default settings
slaacGetDefaultSettings(&slaacSettings);
//Set the network interface to be configured
slaacSettings.interface = interface;
//SLAAC initialization
error = slaacInit(&slaacContext, &slaacSettings);
//Failed to initialize SLAAC?
if(error)
{
//Debug message
TRACE_ERROR("Failed to initialize SLAAC!\r\n");
}
//Start IPv6 address autoconfiguration process
error = slaacStart(&slaacContext);
//Failed to start SLAAC process?
if(error)
{
//Debug message
TRACE_ERROR("Failed to start SLAAC!\r\n");
}
#else
//Set link-local address
ipv6StringToAddr(APP_IPV6_LINK_LOCAL_ADDR, &ipv6Addr);
ipv6SetLinkLocalAddr(interface, &ipv6Addr, IPV6_ADDR_STATE_VALID);
//Set IPv6 prefix
ipv6StringToAddr(APP_IPV6_PREFIX, &ipv6Addr);
ipv6SetPrefix(interface, &ipv6Addr, APP_IPV6_PREFIX_LENGTH);
//Set global address
ipv6StringToAddr(APP_IPV6_GLOBAL_ADDR, &ipv6Addr);
ipv6SetGlobalAddr(interface, &ipv6Addr, IPV6_ADDR_STATE_VALID);
//Set router
ipv6StringToAddr(APP_IPV6_ROUTER, &ipv6Addr);
ipv6SetRouter(interface, &ipv6Addr);
//Set primary and secondary DNS servers
ipv6StringToAddr(APP_IPV6_PRIMARY_DNS, &ipv6Addr);
ipv6SetDnsServer(interface, 0, &ipv6Addr);
ipv6StringToAddr(APP_IPV6_SECONDARY_DNS, &ipv6Addr);
ipv6SetDnsServer(interface, 1, &ipv6Addr);
#endif
#endif
//Create user task
task = osCreateTask("User Task", userTask, NULL, 500, 1);
//Failed to create the task?
if(task == OS_INVALID_HANDLE)
{
//Debug message
TRACE_ERROR("Failed to create task!\r\n");
}
//Create a task to blink the LED
task = osCreateTask("Blink", blinkTask, NULL, 500, 1);
//Failed to create the task?
if(task == OS_INVALID_HANDLE)
{
//Debug message
TRACE_ERROR("Failed to create task!\r\n");
}
//Start the execution of tasks
osStartKernel();
//This function should never return
return 0;
}
int main(){
pwm_init();
MSS_GPIO_init();
range_init();
MSS_GPIO_config(MSS_GPIO_31, MSS_GPIO_OUTPUT_MODE);
UART_init(&g_uart, COREUARTAPB0_BASE_ADDR, 162, (DATA_8_BITS | NO_PARITY));
uint8_t buff[BUFFER_SIZE];
int offset = 0;
size_t received;
int joyx, joyy, cx, cy, start, fire;
int startDown = 0;
int mode = 0; // 0 for manual, 1 for automatic
uint8_t tx[100];
int txSize;
firing = 0;
curr_angle = 0;
MSS_GPIO_set_output(MSS_GPIO_31, 0);
/*while(1) {
wheel2(255);
//wheel4(255);
//wheel2(-255);
//wheel3(255);
//wheel4(-255);
}*/
while (1) {
while (!(received = UART_get_rx(&g_uart, buff+offset, sizeof(buff)-offset)));
offset += received;
//printf("Received: %d\n\r", received);
if (buff[offset-1] == '\0') { // message fully received
//printf("%s\n\r", buff);
if (6 != sscanf(buff, "%d %d %d %d %d %d", &joyx, &joyy, &cx, &cy, &fire, &start)) {
bzero(buff, BUFFER_SIZE);
continue;
}
offset = 0;
if (start && !startDown) {
mode = !mode;
startDown = 1;
}
if (!start && startDown)
startDown = 0;
joyx = joyx * .65;
joyy = joyy * .65;
if (joyx < 0)
joyx -= 150;
else if (joyx > 0)
joyx += 150;
if (joyy < 0)
joyy -= 150;
else if (joyy > 0)
joyy += 150;
printf("JoyX: %3d, JoyY: %3d, CX: %3d, CY: %3d, Fire: %d, Start: %d\n\r", joyx, joyy, cx, cy, fire, start);
wheel1(joyy);
wheel2(joyx);
wheel3(joyy);
wheel4(joyx);
moveTurret(cy);
if (fire && !firing) {
start_gun();
}
if (firing && fire_counter <= FIRE_TIME)
fire_counter++;
if (!fire && firing && fire_counter >= FIRE_TIME)
stop_gun();
}
else continue;
txSize = sprintf(tx, "%d %d", mode, get_range()) + 1;
UART_send(&g_uart, tx, txSize);
}
/*while(1){
set_gun_angle(0);
wheel1(-255);
}*/
return 0;
}