int main(void)
{
gpioConfig(N_LED_ORANGE_PORT, N_LED_ORANGE_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_GREEN_PORT, N_LED_GREEN_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_BLUE_PORT, N_LED_BLUE_PIN, GPIO_OUTPUT | GPIO_LOW);
for (;;) {
delay();
gpioClear(N_LED_ORANGE_PORT, N_LED_ORANGE_PIN);
delay();
gpioClear(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN);
delay();
gpioClear(N_LED_GREEN_PORT, N_LED_GREEN_PIN);
delay();
gpioClear(N_LED_BLUE_PORT, N_LED_BLUE_PIN);
delay();
gpioSet(N_LED_ORANGE_PORT, N_LED_ORANGE_PIN);
delay();
gpioSet(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN);
delay();
gpioSet(N_LED_GREEN_PORT, N_LED_GREEN_PIN);
delay();
gpioSet(N_LED_BLUE_PORT, N_LED_BLUE_PIN);
}
return 0;
}
int main(void) {
int numBlinks = 10;
gpioConfig(N_LED_BLUE_PORT, N_LED_BLUE_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_GREEN_PORT, N_LED_GREEN_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN, GPIO_OUTPUT | GPIO_LOW);
for (;;) {
/* -------- 100 MHz (external clock) -----------
* Configure the Multipurpose Clock Generator output to use the external
* clock locked with a PLL at the maximum frequency of 100MHZ
*
* For PLL, the dividers must be set first.
*
* System: 100 MHz
* Bus: 50 MHz
* Flexbus: 50 MHz
* Flash: 25 MHz
*/
clockSetDividers(DIVIDE_BY_1, DIVIDE_BY_2, DIVIDE_BY_4, DIVIDE_BY_4);
clockConfigMcgOut(MCG_PLL_EXTERNAL_100MHZ);
flashLed(N_LED_BLUE_PORT, N_LED_BLUE_PIN, numBlinks);
/* -------- 24 MHz (slow internal clock) -----------
* Configure the Multipurpose Clock Generator output to use the internal
* 4MHz clock locked with FLL (internal clocks can only be locked with
* the FLL) at 24MHz.
*
* For FLL, the clock dividers be set before or after. (but not before
* PLL)
*
* System: 24 MHz
* Bus: 3 MHz
* Flexbus: 3 MHz
* Flash: 3 MHz
*/
clockConfigMcgOut(MCG_FLL_INTERNAL_24MHZ);
clockSetDividers(DIVIDE_BY_1, DIVIDE_BY_8, DIVIDE_BY_8, DIVIDE_BY_8);
flashLed(N_LED_GREEN_PORT, N_LED_GREEN_PIN, numBlinks);
/* -------- 6 MHz (slow internal clock) -----------
* With the output still at 24MHz, the dividers are quartered. Therefore,
* the new output will be 6MHz.
*
* System: 6 MHz
* Bus: 1.5 MHz
* Flexbus: 1.5 MHz
* Flash: 1.5 MHz
*/
clockSetDividers(DIVIDE_BY_4, DIVIDE_BY_16, DIVIDE_BY_16, DIVIDE_BY_16);
flashLed(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN, numBlinks);
}
return 0;
}
int main(void)
{
clocksInit();
systickInit();
chSysInit();
gpioConfig(N_LED_ORANGE_PORT, N_LED_ORANGE_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN, GPIO_OUTPUT | GPIO_LOW);
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
hwInterruptsEnable();
while (TRUE) {
chThdSleepMilliseconds(123);
gpioToggle(N_LED_ORANGE_PORT, N_LED_ORANGE_PIN);
}
return 0;
}
void TecInit() {
gpioConfig(TEC1, GPIO_INPUT);
gpioConfig(TEC2, GPIO_INPUT);
}
void MonitorInit() {
gpioConfig(LED1, GPIO_OUTPUT);
}
void BlinkLed1Init() {
gpioConfig(LED1, GPIO_OUTPUT);
}
void ReadTec1Init() {
gpioConfig(TEC1, GPIO_INPUT);
}
int main(void)
{
int spiFd;
int fdPot;
uint32_t updateUserTick = 0;
ftmCfg_t ftmPWM = {
.mode = FTM_MODE_PWM,
.mod = 0,
.initCount = 0,
.channels = { FTM_CH_0, FTM_CH_1, FTM_CH_2,
FTM_CH_3, FTM_CH_4, FTM_CH_5,
FTM_CH_NONE},
.pwmFreq = PWM_FREQ,
.pwmCfgBits = FTM_PWM_CFG_COMBINED_MODE_CHS_0_1
| FTM_PWM_CFG_COMBINED_MODE_CHS_2_3
| FTM_PWM_CFG_COMBINED_MODE_CHS_4_5
| FTM_PWM_CFG_COMPLEMENTARY_CH_0_1
| FTM_PWM_CFG_COMPLEMENTARY_CH_2_3
| FTM_PWM_CFG_COMPLEMENTARY_CH_4_5
| FTM_PWM_CFG_OUTPUT_MASK
| FTM_PWM_CFG_CENTER_ALINGNED
,
.triggerBits = FTM_TRIGGER_INIT, /* TODO setup PDB off this trigger
* to run ADC captures of current.
*/
.deadTime = 1, /* 1/10 uSec */
.dutyScaled = { 0.6 * UNITY, 0.6 * UNITY , 0.6 * UNITY ,
0.6 * UNITY, 0.6 * UNITY , 0.6 * UNITY},
.activeLow = { TRUE, FALSE, TRUE, FALSE, TRUE, FALSE },
};
ftmCfg_t ftmCh2QD = {
.mode = FTM_MODE_QUADRATURE_DECODE,
.mod = QUAD_CALL_BACK_COUNT,
.initCount = 0,
.quadCfg = FTM_QUAD_CONFIG_FILTER_MED,
};
setClock();
uart_install();
spi_install();
adc_install();
/*
* Register the standard I/O streams with a particular deivce driver.
*/
int fd1 = fdevopen(stdout, "uart3", 0, 0);
ioctl(fd1, IO_IOCTL_UART_BAUD_SET, 115200);
assert(fd1 != -1);
gpioConfig(FET_DRIVER_ENABLE_PORT, FET_DRIVER_ENABLE_PIN,
GPIO_OUTPUT | GPIO_DSE | GPIO_PULLUP);
gpioClear(FET_DRIVER_ENABLE_PORT, FET_DRIVER_ENABLE_PIN);
gpioConfig(FET_DRIVER_RESET_PORT, FET_DRIVER_RESET_PIN,
GPIO_OUTPUT | GPIO_DSE | GPIO_PULLUP);
gpioClear(FET_DRIVER_RESET_PORT, FET_DRIVER_RESET_PIN);
gpioConfig(ENCODER_INDEX_PORT, ENCODER_INDEX_PIN, GPIO_INPUT
| GPIO_PULLUP);
#if 0
gpioConfig(HALL_A_PORT, HALL_A_PIN, GPIO_INPUT | GPIO_PULLDOWN);
gpioConfig(HALL_B_PORT, HALL_B_PIN, GPIO_INPUT | GPIO_PULLDOWN);
gpioConfig(HALL_C_PORT, HALL_C_PIN, GPIO_INPUT | GPIO_PULLDOWN);
#endif
gpioConfig(IRQ_PORT, IRQ_PIN, GPIO_INPUT | GPIO_PULLDOWN);
/* Install irq handler for driver and over current interrupts (PTA27)
* and phase B,C Hall sensors */
PORT_PCR(IRQ_PORT, IRQ_PIN) |= PORT_IRQC_INT_RISING_EDGE;
PORT_PCR(ENCODER_INDEX_PORT, ENCODER_INDEX_PIN)
|= PORT_IRQC_INT_RISING_EDGE;
#if 0
PORT_PCR(HALL_A_PORT, HALL_A_PIN) |= PORT_IRQC_INT_EITHER_EDGE;
PORT_PCR(HALL_B_PORT, HALL_B_PIN) |= PORT_IRQC_INT_EITHER_EDGE;
PORT_PCR(HALL_C_PORT, HALL_C_PIN) |= PORT_IRQC_INT_EITHER_EDGE;
#endif
hwInstallISRHandler(ISR_GPIO_A, portAIsr);
hwInstallISRHandler(ISR_GPIO_B, indexIsr);
#if 0
hwInstallISRHandler(ISR_GPIO_D, portAIsr);
#endif
/* LEDs */
gpioConfig(N_LED_ORANGE_PORT, N_LED_ORANGE_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_YELLOW_PORT, N_LED_YELLOW_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_GREEN_PORT, N_LED_GREEN_PIN, GPIO_OUTPUT | GPIO_LOW);
gpioConfig(N_LED_BLUE_PORT, N_LED_BLUE_PIN, GPIO_OUTPUT | GPIO_LOW);
/* setup pit */
pitInit(PIT_0, pit0ISR, 5000);
hwSetISRPriority(IRQ_PIT0, 0x0F);
/* setup ftm */
ftmInit(FTM_0, callBackFtm0, &ftmPWM);
#if 0
ftmInit(FTM_2, callBackFtm2, &ftmCh2QD);
#else
ftmInit(FTM_2, 0, &ftmCh2QD);
#endif
hwSetISRPriority(IRQ_FTM0, 0x0F);
hwSetISRPriority(IRQ_FTM2, 0x0F);
ftmWrite(FTM_2, 1000, 0);
/* Install spi into the device table before using it */
spiFd = open("spi2", 0, 0);
assert(spiFd != -1);
ioctl(spiFd, IO_IOCTL_SPI_SET_PORT_PCRS, 0);
ioctl(spiFd, IO_IOCTL_SPI_SET_BAUD, SPI_BAUDRATE_CLKDIV_32);
ioctl(spiFd, IO_IOCTL_SPI_SET_SCLK_MODE, SPI_SCLK_MODE_2);
ioctl(spiFd, IO_IOCTL_SPI_SET_FMSZ, 8);
ioctl(spiFd, IO_IOCTL_SPI_SET_OPTS, SPI_OPTS_MASTER);
ioctl(spiFd, IO_IOCTL_SPI_SET_CS, SPI_CS_0);
ioctl(spiFd, IO_IOCTL_SPI_SET_CS_INACT_STATE, SPI_CS_0_INACT_HIGH);
ioctl(spiFd, IO_IOCTL_SPI_SET_METHOD, SPI_METHOD_POLLED);
initFetPreDriver(FTM_0, spiFd);
/* ADC Setup */
fdPot = open("adc0", 0, 0);
if (fdPot==-1) {
assert(0);
}
ioctl(fdPot, IO_IOCTL_ADC_CALIBRATE, TRUE);
ioctl(fdPot, IO_IOCTL_ADC_SAMPLE_SIZE_SET, 1);
ioctl(fdPot, IO_IOCTL_ADC_CALL_BACK_SET, (int)potCallBackHandler);
ioctl(fdPot, IO_IOCTL_ADC_VREF_SELECT, IO_IOCTL_ADC_VREF_FLAGS_DEFAULT);
ioctl(fdPot, IO_IOCTL_ADC_TRIGGER_SELECT, IO_IOCTL_ADC_TRIGGER_SELECT_SW);
ioctl(fdPot, IO_IOCTL_ADC_CONVERSION_CONTINUOUS, TRUE);
ioctl(fdPot, IO_IOCTL_ADC_CONVERSION_TIME_SELECT,
IO_IOCTL_ADC_CONVERSION_TIME_FLAGS_ADLSTS_ADCK_2);
ioctl(fdPot, IO_IOCTL_ADC_AVERAGE_SELECT, IO_IOCTL_ADC_FLAGS_AVGS_4);
ioctl(fdPot, IO_IOCTL_ADC_RESOLUTION_SELECT, IO_IOCTL_ADC_RES_FLAGS_12_BIT);
ioctl(fdPot, IO_IOCTL_ADC_CLOCK_SELECT, IO_IOCTL_ADC_FLAGS_ADICLK_BUS);
ioctl(fdPot, IO_IOCTL_ADC_DIFFERENTIAL_SET,
(IO_IOCTL_ADC_CHANNEL_FLAGS_REGISTER_A
| IO_IOCTL_ADC_DIFF_FLAGS_SINGLE_ENDED));
ioctl(fdPot, IO_IOCTL_ADC_CHANNEL_SELECT,
(IO_IOCTL_ADC_CHANNEL_FLAGS_REGISTER_A
| (IO_IOCTL_ADC0_CHANNEL_FLAGS_ADC0_DP0
// | (IO_IOCTL_ADC1_CHANNEL_FLAGS_ADC1_DM1
& IO_IOCTL_ADC_CHANNEL_FLAGS_CH_MASK)));
hwSetISRPriority(IRQ_ADC0, 0x0A);
while(1){
switch (motorState) {
default:
/* Do nothing */
break;
case MOTOR_STATE_OFF:
/* Turn off motor outputs */
ftmSetOutputMask(FTM_0, MASK_ALL_OUTPUTS, TRUE);
taskDelay(1000);
motorState = MOTOR_STATE_ALIGN;
break;
case MOTOR_STATE_ALIGN:
{
svm_t svmAlign;
svmAlign = resolveSVM(MOTOR_ALIGN_DRIVE, 0);
ftmPwmWrite(FTM_0, FTM_CH_1, svmAlign.pwmADuty, FALSE);
ftmPwmWrite(FTM_0, FTM_CH_3, svmAlign.pwmBDuty, FALSE);
ftmPwmWrite(FTM_0, FTM_CH_5, svmAlign.pwmCDuty, FALSE);
/* Turn on motor outputs */
ftmSetOutputMask(FTM_0, MASK_NO_OUTPUTS, TRUE);
taskDelay(250);
printf("Aligning %f %f %f \n", svmAlign.pwmADuty / 32768.0,
svmAlign.pwmBDuty /32768.0, svmAlign.pwmCDuty / 32768.0);
printf("Set encoder count %d \n", ftmWrite(FTM_2, 1000, 0));
motorOutput = MOTOR_ALIGN_DRIVE;
motorState = MOTOR_STATE_RUN;
}
break;
}
if (updateFlags & UPDATE_HALT) {
updateFlags &= ~UPDATE_HALT;
break;
}
#if 0
if (tickGet() > updateStatusTick) {
updateStatusTick = tickGet() + 5;
#if 0
if (pwmRampUp) {
motorOutput += 0.0005 * UNITY;
} else {
motorOutput -= 0.0005 * UNITY;
}
if (motorOutput > 0.4 * UNITY) {
motorOutput = 0.4 * UNITY;
updateStatusTick = tickGet() + 1000;
pwmRampUp = FALSE;
} else if (motorOutput < 0.1 * UNITY) {
motorOutput = 0.1 * UNITY;
pwmRampUp = TRUE;
updateStatusTick = tickGet() + 1000;
}
#endif
}
#endif
if (tickGet() > updateUserTick) {
int count = ftmRead(FTM_2);
printf("%d,[%3.2f], %3.2f, %3.2f, 0000, "
"%d, <<%3.2f>>%3.2f, %3.2f, %3.2f\n",
// angleSetPoint / 32768.0,
count,
angleSetPoint / 32768.0,
mechTheta / 32768.0,
theta / 32768.0,
svmOutput.sinLUTIdx,
motorOutput / 32768.0,
svmOutput.pwmADuty/32768.0,
svmOutput.pwmBDuty/32768.0,
svmOutput.pwmCDuty/32768.0);
updateUserTick = tickGet() + 20;
}
}
close(fdPot);
printf("Application Fatal Error! \n");
while(1) {};
return 0;
}
void ShowElapsedTimeInit() {
gpioConfig(LED1, GPIO_OUTPUT);
}
void BlinkLed3Init() {
gpioConfig(LED3, GPIO_OUTPUT);
}
void performCommandPLC()
{
UINT8 ui8NameStrDL[15];
UINT32 pos;
UINT32 err = SUCCESS;
UINT32 ui32dstDirPos;
switch(ucHMI_addr)
{
case PLC_TIME:
stime.tm_sec = uiHMIWord[PLC_TIME+5];
stime.tm_min = uiHMIWord[PLC_TIME+4];
stime.tm_hour = uiHMIWord[PLC_TIME+3];
stime.tm_mday = uiHMIWord[PLC_TIME+2];
stime.tm_mon = uiHMIWord[PLC_TIME+1];
stime.tm_year = uiHMIWord[PLC_TIME]-1900;
timeSet(&stime);
#if C_LEVI_DEBUG
printf("time=%d/%d/%d %d:%d:%d ",uiHMIWord[PLC_TIME],uiHMIWord[PLC_TIME+1],uiHMIWord[PLC_TIME+2],uiHMIWord[PLC_TIME+3],uiHMIWord[PLC_TIME+4],uiHMIWord[PLC_TIME+5]);
#endif
if((uiHMIWord[PLC_TIME]!=2000)||(uiHMIWord[PLC_TIME+1]!=01))
ui8TimeFlag = 1;
timeGet(&ptime);
sio_psprintf(ui8NameStrDL, "%02d%02d%02dDC.CSV", (UINT32)(ptime->tm_year-100)%100, ptime->tm_mon,ptime->tm_mday);
xdcfCurRootDirSet(ui8TermModule);
//mp3_GetFileList();
pos = myFindFile(ui8NameStrDL);
myGetSingleDayDL(pos, &ui32SuccessNum);
break;
case PLC_PARA_BUF:
memcpy((UINT8 *)&curDevice, (UINT8 *)&uiHMIWord[PLC_PARA_BUF], C_PLC_PARA_NUM*sizeof(UINT16));
#if C_LEVI_DEBUG
printf("device=%d, class=%d ",uiHMIWord[PLC_MODULE_NO],uiHMIWord[PLC_MODULE_NO+1]);
#endif
getModuleName(ui16CurModule, ui8TermModule);
writePara();
//readPara();
break;
case PLC_MODULE_NO:
#if C_LEVI_DEBUG
printf("device=%d, class=%d ",uiHMIWord[PLC_MODULE_NO],uiHMIWord[PLC_MODULE_NO+1]);
#endif
ui16CurModule = uiHMIWord[PLC_MODULE_NO];
ui16CurClass = uiHMIWord[PLC_MODULE_NO+1];
getModuleName(ui16CurModule, ui8TermModule);
readPara();
writePara();
readParadelaytime();
writeParadelaytime();
break;
case TESTSTEP0:
test_step0=(~uiHMIWord[TESTSTEP0])&0xffff;
test_step1=(~uiHMIWord[TESTSTEP1])&0xff;
test_mode=(uiHMIWord[TestMode]&0x01);
printf("test_step0=%d, test_step1=%d, test_mode=%d ",test_step0,test_step1,test_mode);
break;
case delay_time:
memcpy((UINT8 *)&delay,(UINT8 *)&uiHMIWord[delay_time],C_delay_NUM*sizeof(UINT16));
//memcpy((UINT8 *)&uiHMIWord[delay_time], (UINT8 *)&delay, C_delay_NUM*sizeof(UINT16));
getModuleName(ui16CurModule, ui8TermModule);
writeParadelaytime();
//readParadelaytime();
break;
case PLC_BAKCMD:
gpioConfig(GPIO_CARD_DET, 0);
gpioSet(GPIO_CARD_DET, 1);
if(gpioGet(GPIO_CARD_DET)==0)
{
err = xdcfActiveDevIdSet(DRIVE_SD);
xdcfInit(imageDirNameStr, imageFileNameStr, 0);
dirInit();
if(err==SUCCESS)
{
xdcfChange2Root();
vfsMkdir(ui8TermModule);
xdcfCurRootDirSet(ui8TermModule);
xdcfCurDirPosGet(&ui32dstDirPos);
myXdcfDelFile();
xdcfActiveDevIdSet(DRIVE_NAND);
xdcfCurRootDirSet(ui8TermModule);
xdcfChange2Root();
vfsChdir(ui8TermModule);
err |= myXdcfCopyDisk(ui32dstDirPos);
if(uiHMIWord[PLC_BAKCMD])
{
myXdcfDelFile();
}
if(err==SUCCESS)
uiHMIWord[PLC_BAKINFO] = 2;
else
uiHMIWord[PLC_BAKINFO] = 4; // ¶ÁSD¿¨´íÎó
}
else
{
uiHMIWord[PLC_BAKINFO] = 4; // ¶ÁSD¿¨´íÎó
}
}
else
{
uiHMIWord[PLC_BAKINFO] = 3; // ûÓÐSD¿¨
}
#if C_FILE_DEBUG
printf("backup end ");
#endif
break;
default:
break;
}
}
int main(void){
/* ------------- INICIALIZACIONES ------------- */
boardConfig();
gpioConfig(TEC1, GPIO_INPUT);
gpioConfig(TEC2, GPIO_INPUT);
gpioConfig(TEC3, GPIO_INPUT);
gpioConfig(TEC4, GPIO_INPUT);
gpioConfig(LED1, GPIO_OUTPUT);
gpioConfig(LED2, GPIO_OUTPUT);
gpioConfig(LED3, GPIO_OUTPUT);
bool_t led1 = false;
bool_t led2 = false;
bool_t led3 = false;
int delayTime1 = 250;
int delayTime2 = 250;
int delayTime3 = 250;
delay_t delay1;
delay_t delay2;
delay_t delay3;
delayConfig( &delay1, delayTime1 );
delayConfig( &delay2, delayTime2 );
delayConfig( &delay3, delayTime3 );
while(1) {
if (delayRead(&delay1)) {
gpioWrite( LED1, led1 );
led1 = ! led1;
delayWrite(&delay1,delayTime1);
}
if (delayRead(&delay2)) {
gpioWrite( LED2, led2 );
led2 = ! led2;
delayWrite(&delay2,delayTime2);
}
if (delayRead(&delay3)) {
gpioWrite( LED3, led3 );
led3 = ! led3;
delayWrite(&delay3,delayTime3);
}
if (! gpioRead(TEC1)) {
delayTime1 = 250;
delayTime2 = 250;
delayTime3 = 250;
}
if (! gpioRead(TEC2)) {
delayTime1 = 250;
delayTime2 = 500;
delayTime3 = 750;
}
if (! gpioRead(TEC3)) {
delayTime1 = 750;
delayTime2 = 500;
delayTime3 = 250;
}
if (! gpioRead(TEC4)) {
delayTime1 = 1000;
delayTime2 = 1000;
delayTime3 = 1000;
}
}
return 0 ;
}
