////////////////////////////////////////////////////////////////////////////////////////
//初始化串口控制器
//sysclk:系统时钟（Mhz）
void usmart_init(u8 sysclk)
{
#if USMART_ENTIMX_SCAN==1
Timer4_Init(1000,(u32)sysclk*100-1);//分频,时钟为10K ,100ms中断一次,注意,计数频率必须为10Khz,以和runtime单位(0.1ms)同步.
#endif
usmart_dev.sptype=1; //十六进制显示参数
}
void Main(void)
{
//硬件初始化
var_Init();//初始化定时器相关的参数
Port_Init();//IO端口初始化
Isr_Init();//中断初始化
Uart_Init(0,115200);//串口初始化
Uart_Select(0);
_init_alloc(0x32500000,0x333fffff);//初始化堆地址：15M，使能malloc等存储分配函数
setlocale(LC_ALL,"C");//使能本地函数，如sprintf等
Timer4_Init();
lcdTest();
}
/*******************************************************
* "Soft" real-time event handler for slow rate
********************************************************/
void slow_event_handler(void)
{
if(slow_event_count > slow_ticks_limit)
{
slow_event_count = 0;
if(control_flags.first_scan)
{
putsUART((unsigned char *)WelcomeMsg,&UART1);
//putsUART((unsigned char *)WelcomeMsg,&UART2);
control_flags.first_scan = 0;
}
// (RAM) Parameters update management
if(control_flags.PAR_update_req)
{
update_params();
control_flags.PAR_update_req = 0;
}
if(direction_flags.word != direction_flags_prev)
{
// RESET COUNTS
QEI1_Init();
QEI2_Init();
Timer1_Init();
Timer4_Init();
direction_flags_prev = direction_flags.word;
}
// EEPROM update management
if(control_flags.EE_update_req)
{
control_flags.EE_update_req = 0;
}
update_delta_joints();
update_delta_EE();//aggiornamento delle strutture dati
status_flags.homing_done = home_f.done;
// SACT protocol timeout manager (see SACT_protocol.c)
SACT_timeout();
SACT_SendSDP();
SACT_SendSSP();
// CONTROL MODE STATE MANAGER
control_mode_manager();
} // END IF slow_event_count..
}// END slow_event_handler
/*******************************************************
* MAIN function, just setup some inits and loops
* "soft" real-time event handlers, defined hereafter
********************************************************/
int main(void)
{
// configuro l'oscillatore interno che mi fornisce Tcy
// Fosc = Fin (M/(N1*N2))
// FCY = Fosc/2
PLLFBD = 39; // M = 40
CLKDIVbits.PLLPOST=0; // N2 = 2
CLKDIVbits.PLLPRE=0; // N1 = 2
RCONbits.SWDTEN = 0; //disabilito il watchdog
DataEEInit();
//Init Peripheral Pin Selection (QEI and UART)
PPS_Init();
control_flags.first_scan = 1;
slow_ticks_limit = SLOW_RATE * (FCY_PWM / 1000) - 1 ;
medium_ticks_limit = MEDIUM_RATE * (FCY_PWM / 1000) - 1;
mposition1 = zero_pos1;//parto dalla posizione iniziale 90 90 90
mposition2 = zero_pos2;
mposition3 = zero_pos3;
/*mtheta1 = 0;
mtheta2 = 0;
mtheta3 = 0;
x_cart = 0;
y_cart = 0;
z_cart = 0;*/
coordinates_actual.x = 0;
coordinates_actual.y = 0;
coordinates_actual.z = 0;
coordinates_temp.x = 0;
coordinates_temp.y = 0;
coordinates_temp.z = 0;
angleJoints_actual.theta1 = 0;
angleJoints_actual.theta2 = 0;
angleJoints_actual.theta3 = 0;
angleJoints_temp.theta1 = 0;
angleJoints_temp.theta2 = 0;
angleJoints_temp.theta3 = 0;
update_params();
direction_flags_prev = direction_flags.word;
// UARTs init
// no need to set TRISx, they are "Module controlled"
UART1_Init();
// Setup control pins and PWM module,
// which is needed also to schedule "soft"
// real-time tasks w/PWM interrupt tick counts
DIR1 = direction_flags.motor1_dir;//0;
DIR2 = direction_flags.motor2_dir;//1;
DIR3 = direction_flags.motor3_dir;
//BRAKE1 = 0;
//BRAKE2 = 0;
DIR1_TRIS = OUTPUT;
DIR2_TRIS = OUTPUT;
DIR3_TRIS = OUTPUT;
//BRAKE1_TRIS = OUTPUT;
//BRAKE2_TRIS = OUTPUT;
CURRSENSE1_TRIS = INPUT;
CURRSENSE2_TRIS = INPUT;
CURRSENSE3_TRIS = INPUT;
PWM_Init();
// MUST SETUP ALSO ANALOG PINS AS INPUTS
AN0_TRIS = INPUT;
AN1_TRIS = INPUT;
AN2_TRIS = INPUT;
ADC_Init();
DMA0_Init();
// SETUP ENCODER INPUTS
// QEI inputs are "module controlled"
// -> no need to set TRISx
QEI1_Init();
QEI2_Init();
// Timers used to acquire Encoder 3
// corresponding PINS set as inputs
T1CK_TRIS = INPUT;
T4CK_TRIS = INPUT;
Timer1_Init();
Timer2_Init();
Timer4_Init();
// Timer5 used to schedule POSITION loops
Timer5_Init();
//Input capture
IC1_Init();
IC2_Init();
// TEST PIN
TEST_PIN_TRIS = OUTPUT;
TEST_PIN = FALSE;
while(1)//a ciclo infinito ripeto queste 2 routine
{
medium_event_handler();
slow_event_handler();
}
return 0; //code should never get here
}// END MAIN()