int
main (void) {
char msg[30];
unsigned char c; int i=0;
int counter[3];
ioinit();
//initTimer();
initTimer2();
initPWM();
initLCD();
//initPWM();
USART_Transmit_String("Restarting..\r\n");
wait(10);
//LCD_gotoXY(1,0);
//LCD_Write("Out-PWM-BC1");
while (1) {
unsigned int en, en1;
asm("nop");
cli();
en = topup_timer2;
en1 = timestamp[0];
sei();
sprintf(msg, "%04x,%04x", en, en1);
USART_Transmit_String(msg);
LCD_gotoXY(0,0);
LCD_Write(msg);
}
return 0;
}
void InitApp(void)
{
/* Setup analog functionality and port direction */
(PPSUnLock);
TRISFbits.TRISF3 = 0;
PORTFbits.RF3 = 1;
PPSOutput(PPS_RP9, PPS_SCK1OUT);
PPSOutput(PPS_RP8, PPS_SDO1);
AD1PCFG = 0xFFFF; // Default all pins to digital
AD1PCFGLbits.PCFG11 = 0; //Disable digital input on AN11
/* Initialize peripherals */
InitMatrixDisplay();
spi1Init(PRI_PRESCAL_1_1);
initHD44780LCD();
initPWM();
initADC();
}
void init_motors()
{
//setup reset line
SET_DDR_PIN_OUTPUT(DDRB, PIN0);
//set motor output pins
DDRB |= (1<<PINB1)|(1<<PINB2);
DDRD |= (1<<PIND5)|(1<<PIND6);
configure_motor(&(motors[0]),0,PORTB,PINB1,M1_IDLE_SPEED, M1_OFFSET);
configure_motor(&(motors[1]),1,PORTB,PINB2,M2_IDLE_SPEED, M2_OFFSET);
configure_motor(&(motors[2]),2,PORTD,PIND5,M3_IDLE_SPEED, M3_OFFSET);
configure_motor(&(motors[3]),3,PORTD,PIND6,M4_IDLE_SPEED, M4_OFFSET);
initPWM();
calibrate_motors();
//reset motors
//MOTORS_OFF;
//Reset the RC pulse to zero to simulate throttle low position
/*for(int i = 0; i < nMOTORS; i++) {
//writeVelocity(0,&(motors[i]));
writePWMduty(0,&(motors[i]));
}*/
//writePWMduty(0,&(motors[1]));
//_delay_ms(50);
//MOTORS_ON;
}
void AlaLed::initPWM(byte pin)
{
byte *pins_ = (byte *)malloc(1);
pins_[0] = pin;
initPWM(1, pins_);
}
void alarm() {
initPWM();
OC1RS+=0x8F;
int j=0;
for (j=0;j<32*motor_position;j++)
{
PORTDCLR = 0x0010;
PORTDSET = 0x0002;
DelayMotor();
PORTDCLR = 0x0002;
PORTDSET = 0x0004;
DelayMotor();
PORTDCLR = 0x0004;
PORTDSET = 0x0008;
DelayMotor();
PORTDCLR = 0x0008;
PORTDSET = 0x0010;
DelayMotor();
}
initTimer2();
start=0;
first=1;
alm=1;
}
void init(void) {
initLeds();
initTimer();
initPWM();
initSpi();
LIS302DL_Init();
}
void initilize_motor(){
LPC_PINCON->PINSEL3 |= (2 << 14); // Set pin P1.23 as PWM1.4
LPC_PINCON->PINSEL3 |= (2 << 16); // Set pin P1.23 as PWM1.5
initPWM(200);
pwmEn(1);
change_direction_withDegree(90,ServoMotors::Top_servo);
change_direction_withDegree(90,ServoMotors::Base_servo);
}
/* main function */
int main() {
OSCSetPBDIV (OSC_PB_DIV_1); //configure PBDIV so PBCLK = SYSCLK
initIntGlobal();
initPort();
initCN();
initPWM();
while (1);
}
int main( void )
{
uint16_t leftLightSensor = 0;
uint16_t rightLightSensor = 0;
char buffer0[5];
char buffer1[5];
initUSART();
initADC();
initPWM();
while ( 1 )
{
/* Start ADC7 conversion */
leftLightSensor = readADC( 7 );
/* Convert 10-bit uint16_t adcValue to ASCII and store in buffer */
itoa( leftLightSensor, buffer0, 10 );
/* Print out leftLightSensor ADC Value */
printString( "ADC Channel 6 (Left CD Sensor): " );
printString( buffer0 );
printString( "\n\n" );
/* Start ADC6 conversion */
rightLightSensor = readADC( 6 );
/* Convert 10-bit uint16_t adcValue to ASCII and store in buffer */
itoa( rightLightSensor, buffer1, 10 );
/* Print out rightLightSensor ADC Value */
printString( "ADC Channel 7 (Right CD Sensor): " );
printString( buffer1 );
printString( "\n\n" );
/* Arch right if rightLightSensor reading is greater than leftLightSensor */
if ( ( rightLightSensor - 100 ) > leftLightSensor )
{
leftwheel( 55, 1 );
rightwheel( 35 , 1 );
}
/* Arch left if leftLightSensor reading is greater than rightLightSensor */
else if ( ( leftLightSensor - 100 ) > rightLightSensor )
{
leftwheel( 35 , 1 );
rightwheel( 45, 1 );
}
/* Go forward if both light sensors have the same reading */
else
{
leftwheel( 35 , 1 );
rightwheel( 35 , 1 );
}
_delay_ms( 500 );
}
}
void initMotor1(void)
{
motor1DirectionRegister |= _BV(motor1DirectionPin) ;
motor1EnableRegister |= _BV(motor1EnablePin);
motor1DirectionPort |= _BV(motor1DirectionPin);
motor1EnablePort |= _BV(motor1EnablePin);
initPWM();
}
void AlaLedRgb::initPWM(byte pinRed, byte pinGreen, byte pinBlue)
{
byte *pins_ = (byte *)malloc(3);
pins_[0] = pinRed;
pins_[1] = pinGreen;
pins_[2] = pinBlue;
initPWM(1, pins_);
}
int main(void) {
initDev();
initATD();
initPWM();
while (1){
}
}
// create PWMDevice connected to Robovero host with given, channel, period and pulseWidth
PWMDevice::PWMDevice(Robovero *host, unsigned int channel, unsigned int period, unsigned int pulse)
{
pwm_period = period;
pwm_pulseWidth = pulse;
robo_host = host;
pwm_channel = channel;
// initialize the device
initPWM();
}
void wcycle_init ()
{
initPins ();
initClocks ();
initFlash ();
initUART ();
initPWM ();
initDHT ();
wcycle_pwm_ctl (readFlash());
}
// Pass the list of servos, the list should be in PROGMEM space to save Flash RAM
// The specified Timer must implement timer compare interrupts and, if so, it will
// ise the timer compare channel A (if there is more than one)
void toshibaTB6612FNG_2pin_Init(TOSHIBA_TB6612FNG_2pin_MOTOR_DRIVER* driver, uint32_t freq){
uint32_t deciHertz = 10 * freq;
// Make sure each servo is set as an output
for(int i= driver->num_motors-1;i>=0;i--){
TOSHIBA_TB6612FNG_2pin_MOTOR* motor = (TOSHIBA_TB6612FNG_2pin_MOTOR*)pgm_read_word(&driver->motors[i]);
if(initPWM(motor->pwm1,deciHertz)){
if(initPWM(motor->pwm2, deciHertz)){
// Connect motor to driver
motor->actuator.class = &c_motors;
}
}
// Start off braking
act_setSpeed(motor,DRIVE_SPEED_BRAKE);
// Indicate the motor is connected
act_setConnected(motor,TRUE);
}
// create PWMDevice connected to Robovero host with the given channel
PWMDevice::PWMDevice(Robovero *host, unsigned int channel)
{
// set the period and pulse width to nominal values
pwm_period = 20000; // 20000us = 20ms = 50Hz
pwm_pulseWidth = 1520; // 1520us = 1.5ms
robo_host = host;
pwm_channel = channel;
// initialize the device
initPWM();
}
void init(void){
TRISA = 0x00;
TRISB = 0x00;
TRISC = 0x00;
PORTA = 0x00;
PORTB = 0x00;
PORTC = 0x00;
ADCON1 = 0x0f;
initPWM();
}
int main(void)
{
initPWM();
initSpiSlave();
sei();
while(1)
{
OCR1A = data;
}
}
void initAll(){
SysTick_Config(SystemCoreClock / 1000);
lcd_init();
lcd_home();
lcd_cls();
initPWM(PWM_TIME_PERIOD);
setServoAngle(0,0);
UARTInit(BAUD_RATE);
ds1307Init();
eeprom_24aaInit();
eeprom24aaMemoryCheck();
initButtons();
}
void main(void)
{
/*Variable Definitions*/
struct DC_motor motorL, motorR; //declare two DC_motor structures
motorL.power=0;
motorL.direction=1;
motorL.dutyLowByte=(unsigned char *)(&PDC1L);
motorL.dutyHighByte=(unsigned char *)(&PDC1H);
motorL.dir_pin=2;
motorL.PWMperiod=PWMcycle;
motorR.power=0;
motorR.direction=1;
motorR.dutyLowByte=(unsigned char *)(&PDC0L);
motorR.dutyHighByte=(unsigned char *)(&PDC0H);
motorR.dir_pin=0;
motorR.PWMperiod=PWMcycle;
struct DC_motor * m_L;
struct DC_motor * m_R;
m_L=&motorL; //setup pointer to left motor
m_R=&motorR; //setup pointer to right motor
/*Oscillator Setup*/
OSCCON = 0x72; //8MHz clock
while (!OSCCONbits.IOFS); //wait until stable
/*Setup Registers*/
TRISB = 0;
initPWM(); //setup PWM registers
while (1)
{
fullSpeedAhead(m_L,m_R);
delay_s(1);
stop(m_L,m_R);
turnLeft(m_L,m_R);
delay_s(1);
stop(m_L,m_R);
turnRight(m_L,m_R);
delay_s(1);
stop(m_L,m_R);
backwards(m_L,m_R);
delay_s(1);
stop(m_L,m_R);
}
}
void init() {
// Défaut toutes les pattes sont en entrée sauf PCD et PGC (qui sont concervés)
TRISA = 0xFFFF;
TRISB = TRISB | 0xFFFC;
init_osc();
//__builtin_write_OSCCONL(OSCCON & ~(0x40)); // Débloquage des RPIN et RPOR
initDebug();
UART_init_asser();
UART_init_xbee();
// initSharp();
initTimer();
initTimerEvite();
initPWM();
//__builtin_write_OSCCONL(OSCCON | 0x40); // Rebloquage des RPIN et RPOR
}
// SangSpilling foregår ved å sette registerene A (X, Y) før en kaller opp interpreteren
int main(int argc, char **argv) {
if((fd_mem = open("/dev/mem", O_RDWR | O_SYNC)) == -1) {
printf("Could not get /dev/mem\n");
return -1;
}
sid_kernel_timer = fopen("/dev/sid_timer", "r");
if (sid_kernel_timer == NULL) {
printf("Could not get /dev/sid_timer\n");
return -1;
}
set_realtime();
printWelcome();
initGPIO();
initPWM();
// sjekk opp argv[1]
if (argv[1]) {
menu_init(argv[1]);
} else {
printf("Required parameter - top level directory not specified");
exit(1);
}
if (argc > 2) {
int z = strtol(argv[2], NULL, 10);
printf("LCD reinit %d\n", z);
lcd_reinit(z, z);
} else {
lcd_init();
}
while(1) {
menu_run();
if (inputSidFile != NULL) {
int32_t next = c64_play();
next = next * ((float) sh.hz / 1000000.0f);
platform_usleep(next);
} else {
usleep(1000);
}
}
}
int main(void)
{
char str[32];
int temp_ms, temp_sec;
RCONbits.SWDTEN = 0; //disable Watch dog timer
initPLL();
while (OSCCONbits.CF == 1); //check clock failed
while (OSCCONbits.COSC != 0b011); // Wait for Clock switch to occur
while (OSCCONbits.LOCK == 0); //check PLL locked
T1_Initial();
PORTS_Test_Initial();
keypad_init();
ADC1_Initial();
initPWM();
InitializeLCM();
LATDbits.LATD11 = 1; /* turn the LCM back light */
int a;
LCD_clear();
LCD_start();
delay200usX(2*5000);
LCD_clear();
while (1) {
/* PWM */
infoPWM();
a = keypad_task();
/*
LCD_Cursor_New(0, 12);
sprintf(str, "%d",a);
putsLCD((unsigned char*)str);
*//*
if(a==1){P1DC1 = 749; }
if(a==2){P1DC1 = 3124; }
if(a==3){P1DC1 = 4999; }
if(a==4){P1DC1 = 6249; }
*/
if(a==1){P1DC1 = 1499; }
if(a==2){P1DC1 = 6249; }
if(a==3){P1DC1 = 9999; }
if(a==4){P1DC1 = 12499; }
}
}
int main(void){
// ----- Initialize ----- //
uint16_t xaxis; //PC0 ADC VALUE
uint16_t yaxis; //PC1 ADC VALUE
DDRB |= (1 <<PB0)|(1<<PB5)|(1<<PB6)|(1<<PB7);
PORTC |= (1<<PC2); //THUMBSTICK PIN PULLUP RESISTOR SET
initUSART();
initADC();
initPWM();
OCR1B = VERT_MAX_POS;
while(1){
xaxis = readADC(PC0);
yaxis = readADC(PC1);
//X-AXIS 360 DEGREE ROTATION
if(xaxis == 514 || xaxis == 515)
OCR1A = 1023;
else if(xaxis < 514)
OCR1A = 180;
else
OCR1A = rotateRight(xaxis);
if(yaxis < 500 && OCR1B > VERT_MIN_POS){
if(yaxis >=300)
OCR1B -=LOWSPEED;
else if(yaxis >=100)
OCR1B -=MEDIUMSPEED;
else
OCR1B -=HIGHSPEED;
}else if(yaxis > 530 && OCR1B < VERT_MAX_POS){
if(yaxis <=700)
OCR1B +=LOWSPEED;
else if(yaxis <=900)
OCR1B +=MEDIUMSPEED;
else
OCR1B +=HIGHSPEED;
}
_delay_ms(20);
checkJButtonState();
}
return(0);
}
int main() {
// Handle Ctrl-C quit
signal(SIGINT, sig_handler);
// Edison i2c bus is 6
mraa::I2c *i2c = new mraa::I2c(6);
assert(i2c != NULL);
initPWM(i2c);
while (running) {
// Alternate two locations with 2-sec delay
setServoPosition(i2c, 0, 0.2);
sleep(2.0);
setServoPosition(i2c, 0, 0.8);
sleep(2.0);
}
}
int main(void) {
wdt_enable(WDTO_4S); // We don't want to hang.
// Set up the outputs:
DDRB |= _BV(PB5); // LED output on SCK pin
DDRC |= _BV(PC5); // Compressor Relay
DDRD |= _BV(PD7); // Fan Relay
DDRB |= _BV(PB0); // Tank circulation pump Relay
led(1);
initADC();
initPWM();
resetInputBuffer();
muartInit();
mprintf(PSTR("#Power up!\n"));
lcd_init(LCD_DISP_ON);
led(0);
setState(STATE_OFF);
memcpy_P(parameters, (PGM_VOID_P)DEFAULT_PARAMETERS, sizeof(DEFAULT_PARAMETERS));
char frame = 0;
updateDisplay();
while(1) {
led(ledToggle);
ledToggle = ledToggle ? 0 : 1;
if ((frame & 15) == 0) {
updateDisplay();
}
pollInput();
updateStateMachine();
updatePWM();
//_delay_ms(10);
wdt_reset();
frame++;
}
}
int main(void)
{
/** configure RP9 as output compare pin (PWM) **/
__builtin_write_OSCCONL(OSCCON & 0xBF); // unlock registers to configure PPS
RPOR4bits.RP8R = 18; // configure RP9 as OC1
__builtin_write_OSCCONL(OSCCON | 0x40); // lock registers
/** configure PWM (initPWM) -- enable timer 3, set period, duty, activate PWM **/
int period = 80; // calculate for desired period based on timer 3 freq
int duty = period/2; // duty cycle of 50%
initPWM(period, duty); // PWM initialization function
int i;
while(1)
{
}
return (EXIT_SUCCESS);
}
/** @brief The main top level init
*
* The main init function to be called from main.c before entering the main
* loop. This function is simply a delegator to the finer grained special
* purpose init functions.
*/
void init(){
ATOMIC_START(); /* Disable ALL interrupts while we configure the board ready for use */
initPLL(); /* Set up the PLL and use it */
initGPIO();
initPWM();
initADC();
initAllPagedRAM(); /* Copy table and config blocks of data from flash to the paged RAM blocks for fast data lookup */
initVariables(); /* Initialise the rest of the running variables etc */
initFlash(); /* TODO, finalise this */
initECTTimer(); /* TODO move this to inside config in an organised way. Set up the timer module and its various aspects */
// initPITTimer(); /* TODO ditto... */
initSCIStuff(); /* Setup the sci module(s) that we will use. */
initConfiguration(); /* TODO Set user/feature/config up here! */
#ifdef XGATE
initXgate(); /* Fred is a legend, for good reason as of now */
#endif
initInterrupts(); /* still last, reset timers, enable interrupts here TODO move this to inside config in an organised way. Set up the rest of the individual interrupts */
ATOMIC_END(); /* Re-enable any configured interrupts */
}
int main(void){
SYSTEMConfigPerformance(40000000);
initTimer1();
initTimer3();
initPWM();
#ifdef PWM
setPwm3(100);
setPwm1(0);
delayUs(100000);
setPwm4(100);
setPwm2(0);
#endif
#ifdef run
initADC();
initLCD();
clearLCD();
writeLCD(0b00001111, 0, 50);
// enableInterrupts();
disableInterrupts();
while(1){
clearLCD();
IFS0bits.AD1IF = 0; // reset adc thing
while(AD1CON1bits.SSRC == 0 );
ADCBufferValue = ADC1BUF0; // get buffer value
printVoltage(ADCBufferValue);
delayUs(100000); // wait one second
leftMotorForward(50);
delayUs(100000); // wait one second
delayUs(100000); // wait one second
rightMotorForward(50);
delayUs(100000); // wait one second
}
#endif
return 0;
}
int main (void) {
// SYSTEMConfigPerformance(40000000);
initTMR();
initLCD();
initADC();
initPWM();
int i;
while(1) {
if (IFS0bits.AD1IF == 1)
{
analogVal = ADC1BUF0;
IFS0bits.AD1IF = 0;
getAnalogVoltage(analogVal);
}
//moveCursorLCD(1,1);
//printCharLCD('c');
//getAnalogVoltage(analogVal);
}
}
