int main(void)
{
Stm32_Clock_Init(9); //system clock init always init first
IO_Init();
delay_init(72); //delay init
uart_init(72,115200); //uart init
PWM4_Init(150,18000); // ultra ping sig
// PWM2_2Init(100,1800); //count to 100, freq/1800 //IR aqusition pulse
Timer3_Init(65535,256); //time refrence for echo/ultrasonic
// setup 5 for motors?
Timer2_Init(65535,10); // motor try1
motor_Init();
EXTIX_Init();
// Adc_Init();
// LED0_PWM_VAL2_2=0x44;
// LED0_PWM_VAL2_1=0x34;
LED0_PWM_VAL4=0x34;
IRO=0;//turn on IR LEDs
while(1)
{
printf("adcx1\tadcx2\tadcx3\tadcx4\tGyro\tBatt\techo\n");
printf("%u\t%u\t%u\t%u\t%u\t%u\t%u",adcx1,adcx2,adcx3,adcx4,Gyro_raw,Batt,echo);
printf("\n");
// USART1->DR=echo/0xff;
// while((USART1->SR&0X40)==0);//wait for transfer to compleate
LED0=!LED0;
delay_us(100000);//wait for the end of transmission
}
}
/*
** ===================================================================
** Method : PE_low_level_init (bean MC9S12GC16_80)
**
** Description :
** Initializes beans and provides common register initialization.
** The method is called automatically as a part of the
** application initialization code.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
void PE_low_level_init(void)
{
/* Int. priority initialization */
/* HPRIO: PSEL7=1,PSEL6=1,PSEL5=0,PSEL4=1,PSEL3=0,PSEL2=0,PSEL1=1,??=0 */
setReg8(HPRIO, 210); /* Set the highest interrupt priority to the ivVatd0 interrupt */
/* Common initialization of the CPU registers */
/* PORTA: BIT7=0,BIT6=0,BIT5=0,BIT4=0,BIT3=0,BIT2=0,BIT1=0,BIT0=0 */
setReg8(PORTA, 0);
/* PUCR: PUPEE=0,PUPAE=0 */
clrReg8Bits(PUCR, 18);
/* DDRA: BIT7=1,BIT6=1,BIT5=1,BIT4=1,BIT3=1,BIT2=1,BIT1=1,BIT0=1 */
setReg8(DDRA, 255);
/* PORTB: BIT7=0,BIT6=0,BIT5=0,BIT4=0,BIT3=0,BIT2=0,BIT1=0,BIT0=0 */
setReg8(PORTB, 0);
/* DDRB: BIT7=1,BIT6=1,BIT5=1,BIT4=1,BIT3=1,BIT2=1,BIT1=1,BIT0=1 */
setReg8(DDRB, 255);
/* PTM: PTM5=0,PTM4=0,PTM3=0,PTM2=0,PTM1=0,PTM0=0 */
clrReg8Bits(PTM, 63);
/* WOMM: WOMM5=0,WOMM4=0,WOMM3=0,WOMM2=0,WOMM1=0,WOMM0=0 */
clrReg8Bits(WOMM, 63);
/* DDRM: DDRM5=1,DDRM4=1,DDRM3=1,DDRM2=1,DDRM1=1,DDRM0=1 */
setReg8Bits(DDRM, 63);
/* PIEJ: PIEJ7=0,PIEJ6=0 */
clrReg8Bits(PIEJ, 192);
/* PTJ: PTJ7=0,PTJ6=0 */
clrReg8Bits(PTJ, 192);
/* PERJ: PERJ7=0,PERJ6=0 */
clrReg8Bits(PERJ, 192);
/* DDRJ: DDRJ7=1,DDRJ6=1 */
setReg8Bits(DDRJ, 192);
/* PTS: PTS2=0,PTS1=1 */
clrSetReg8Bits(PTS, 4, 2);
/* WOMS: WOMS2=0 */
clrReg8Bits(WOMS, 4);
/* DDRS: DDRS2=1,DDRS1=1,DDRS0=0 */
clrSetReg8Bits(DDRS, 1, 6);
/* TSCR1: TEN=0,TSWAI=1,TSFRZ=1,TFFCA=0 */
clrSetReg8Bits(TSCR1, 144, 96);
/* PTT: PTT6=0,PTT5=0,PTT4=0,PTT3=0,PTT2=0,PTT1=0 */
clrReg8Bits(PTT, 126);
/* PERT: PERT3=0,PERT2=0 */
clrReg8Bits(PERT, 12);
/* DDRT: DDRT6=1,DDRT5=1,DDRT4=1,DDRT3=1,DDRT2=1,DDRT1=1 */
//#ifndef RPM
//setReg8Bits(DDRT, 126);
//#else
// setReg8Bits(DDRT, 114);
//#endif
/* PEAR: RDWE=0 */
clrReg8Bits(PEAR, 4);
/* DDRE: BIT2=0 */
clrReg8Bits(DDRE, 4);
setReg8Bits(CRGINT, 18); ///DDD clrReg8Bits(CRGINT, 18) BLOQUEO LA INT DEL RTI. PERMITO LA DEL LOCK Y LA DEL SELF CLOCK;
/* PACTL: CLK1=0,CLK0=0 */
clrReg8Bits(PACTL, 12);
/* OC7M: OC7M0=0 */
clrReg8Bits(OC7M, 1);
/* TCTL2: OM1=0,OL1=0,OM0=0,OL0=0 */
clrReg8Bits(TCTL2, 15);
/* TIE: C6I=0,C5I=0,C4I=0,C1I=0,C0I=1 */
clrSetReg8Bits(TIE, 114, 1);
/* TIOS: IOS6=1,IOS5=1,IOS4=1,IOS1=1,IOS0=1 */
setReg8Bits(TIOS, 255);
/* TTOV: TOV6=0,TOV5=0,TOV4=0,TOV1=0,TOV0=0 */
clrReg8Bits(TTOV, 0);
/* TSCR2: TCRE=0,PR2=1,PR1=0,PR0=1 */
clrSetReg8Bits(TSCR2, 10, 5);
/* TFLG1: C7F=1,C6F=1,C5F=1,C4F=1,C3F=1,C2F=1,C1F=1,C0F=1 */
setReg8(TFLG1, 255);
/* MODRR: ??=0,??=0,MODRR4=0,MODRR1=0 */
clrReg8Bits(MODRR, 114);
/* TCTL1: OM6=0,OL6=0,OM5=0,OL5=0,OM4=0,OL4=0 */
clrReg8Bits(TCTL1, 63);
/* PIEP: PIEP7=0,PIEP5=0,PIEP3=0,PIEP1=0 */
clrReg8Bits(PIEP, 170);
/* PTP: PTP7=0,PTP5=0,PTP3=0,PTP1=0 */
clrReg8Bits(PTP, 170);
/* PERP: PERP7=0,PERP5=0,PERP3=0,PERP1=0 */
clrReg8Bits(PERP, 170);
/* DDRP: DDRP7=1,DDRP5=1,DDRP3=1,DDRP1=1 */
setReg8Bits(DDRP, 170);
/* ATDDIEN: IEN3=1,IEN2=1 */
setReg8Bits(ATDDIEN, 12);
/* VREGCTRL: LVIE=0 */
clrReg8Bits(VREGCTRL, 2);
/* RDRIV: RDPE=0,RDPB=0,RDPA=0 */
clrReg8Bits(RDRIV, 19);
/* RDRAD: RDRAD7=0,RDRAD6=0,RDRAD5=0,RDRAD4=0,RDRAD3=0,RDRAD2=0,RDRAD1=0,RDRAD0=0 */
setReg8(RDRAD, 0);
/* RDRJ: RDRJ7=0,RDRJ6=0 */
clrReg8Bits(RDRJ, 192);
/* RDRM: RDRM5=0,RDRM4=0,RDRM3=0,RDRM2=0,RDRM1=0,RDRM0=0 */
clrReg8Bits(RDRM, 63);
/* RDRP: RDRP7=0,RDRP6=0,RDRP5=0,RDRP4=0,RDRP3=0,RDRP2=0,RDRP1=0,RDRP0=0 */
setReg8(RDRP, 0);
/* RDRS: RDRS3=0,RDRS2=0,RDRS1=0,RDRS0=0 */
clrReg8Bits(RDRS, 15);
/* RDRT: RDRT7=0,RDRT6=0,RDRT5=0,RDRT4=0,RDRT3=0,RDRT2=0,RDRT1=0,RDRT0=0 */
setReg8(RDRT, 0);
/* INTCR: IRQEN=0 */
clrReg8Bits(INTCR, 64);
/* ### MC9S12GC16_80 "Cpu" init code ... */
/* ### ByteIO "Display1" init code ... */
/* ### BitsIO "bits5ULN" init code ... */
/* ### BitsIO "bits2ULN" init code ... */
/* ### BitIO "trx" init code ... */
/* ### BitsIO "PTSL" init code ... */
/* ### BitIO "PWSN" init code ... */
/* ### InputPin "PUL" init code ... */
/* ### WatchDog "WDog1" init code ... */
/* ### Asynchro serial "AS1" init code ... */
AS1_Init();
/* ### Init_ADC "ADC1" init code ... */
#ifndef RPM
ADC1_Init();
#endif
/* ### Init_FLASH "FLASH1" init code ... */
FLASH1_Init();
/* ### TimerInt "TI1" init code ... */
TI1_Init();
/* ### TimerOut "PWM" init code ... */
PWM_Init();
/* ### TimerOut "PWM4" init code ... */
PWM4_Init();
/* ### TimerOut "PWM5" init code ... */
PWM5_Init();
/* ### TimerOut "PWM6" init code ... */
PWM6_Init();
EI2C1_Init();
/* TSCR1: TEN=1 */
setReg8Bits(TSCR1, 128);
__EI(); /* Enable interrupts */
}
