/*********************************************************************
Main Program Loop
**********************************************************************/
int main()
{
/* Initializations */
debug_init(); /* This should be first. */
timer_init();
/* This should be before any GPIO activities. */
uint32 ret_val = bcm2835_init();
if ( ret_val == 0 )
{
DEBUG_MSG_ERROR("bcm2835_init() failed.");
}
pwm_init();
pump_init();
therm_init();
pid_init();
pump_start();
/* Take temperature as input from console. */
float setpoint;
printf("Set your desired temperature: ");
scanf("%f", &setpoint);
pid_update_temp_setpoint(setpoint);
pid_gain_params pid_gain;
pid_gain.k_p = 1;
pid_gain.k_d = 1;
pid_gain.k_i = 1;
pid_gain.k_windup = 1;
pid_set_gain(&pid_gain);
/* Main Program Loop */
while (1)
{
pwm_run();
therm_capture();
pid_loop();
}
pump_stop();
/* De-initializations */
pump_deinit();
pid_deinit();
pwm_deinit();
/* This should be after all GPIO activities. */
ret_val = bcm2835_close();
if ( ret_val == 0 )
{
DEBUG_MSG_ERROR("bcm2835_close() failed.");
}
timer_deinit();
debug_deinit(); /* This should be last. */
return 0;
}
void deinit(void)
{
cli();
timer_deinit();
pwm_deinit();
adc_deinit();
io_deinit();
}
void pwm_set_rate(byte_t rate)
{
if (rate == 0)
{
pwm_deinit();
}
else
{
if (!pwm_on)
{
pwm_init();
}
else
{
OCR2 = rate;
}
}
}
