static void Bus_Init(int bus)
{
if(bus == V5_BUS_MULTI16)
BusInit(BUS_IDX_4, BUS16);
else
BusInit(BUS_IDX_4, BUS8);
}
/*-----------------------------------------------------------------------------
* main
*/
int main(void) {
uint8_t ret;
int sioHdl;
/* set clock prescaler to 2 (set clock to 7.3928 MHz) */
CLKPR = 1 << CLKPCE;
CLKPR = 1;
/* get module address from EEPROM */
sMyAddr = eeprom_read_byte((const uint8_t *)MODUL_ADDRESS);
GetClientListFromEeprom();
PortInit();
TimerInit();
ButtonInit();
PwmInit();
ApplicationInit();
SioInit();
SioRandSeed(sMyAddr);
/* sio for bus interface */
sioHdl = SioOpen("USART1", eSioBaud9600, eSioDataBits8, eSioParityNo,
eSioStopBits1, eSioModeHalfDuplex);
SioSetIdleFunc(sioHdl, IdleSio1);
SioSetTransceiverPowerDownFunc(sioHdl, BusTransceiverPowerDown);
BusTransceiverPowerDown(true);
BusInit(sioHdl);
spBusMsg = BusMsgBufGet();
/* warten for full operation voltage */
while (!POWER_GOOD);
/* enable ints before RestorePwm() */
ENABLE_INT;
TimerStart();
RestorePwm();
/* ext int for power fail: INT0 low level sensitive */
EICRA &= ~((1 << ISC01) | (1 << ISC00));
EIMSK |= (1 << INT0);
ApplicationStart();
/* Hauptschleife */
while (1) {
Idle();
ret = BusCheck();
ProcessBus(ret);
CheckButton();
PwmCheck();
ApplicationCheck();
CheckEvent();
}
return 0;
}
int DeviceInit()
{
ClassInit();
BusInit();
InputInit();
return StorageInit();
}
/*-----------------------------------------------------------------------------
* program start
*/
int main(void) {
int sioHandle;
uint8_t windThreshold1;
uint8_t windThreshold2;
MCUSR = 0;
wdt_disable();
/* get module address from EEPROM */
sMyAddr = eeprom_read_byte((const uint8_t *)MODUL_ADDRESS);
windThreshold1 = eeprom_read_byte((const uint8_t *)WIND_THRESHOLD1);
windThreshold2 = eeprom_read_byte((const uint8_t *)WIND_THRESHOLD2);
GetClientListFromEeprom();
PortInit();
TimerInit();
SioInit();
sioHandle = SioOpen("USART0", eSioBaud9600, eSioDataBits8, eSioParityNo,
eSioStopBits1, eSioModeHalfDuplex);
SioSetIdleFunc(sioHandle, IdleSio);
SioSetTransceiverPowerDownFunc(sioHandle, BusTransceiverPowerDown);
BusTransceiverPowerDown(true);
BusInit(sioHandle);
spRxBusMsg = BusMsgBufGet();
/* enable global interrupts */
ENABLE_INT;
SendStartupMsg();
/* wait for controller startup delay for sending first state telegram */
DELAY_S(STARTUP_DELAY);
while (1) {
Idle();
ProcessSwitch();
ProcessBus();
if (sWind >= windThreshold1) {
sWindSwitch |= 0x01;
} else {
sWindSwitch &= ~0x01;
}
if (sWind >= windThreshold2) {
sWindSwitch |= 0x02;
} else {
sWindSwitch &= ~0x02;
}
}
return 0; /* never reached */
}
/*-----------------------------------------------------------------------------
* init bus communication
*/
static void InitComm(void) {
SioInit();
SioRandSeed(sMyAddr);
sSioHandle = SioOpen("USART0", eSioBaud9600, eSioDataBits8, eSioParityNo,
eSioStopBits1, eSioModeHalfDuplex);
SioSetIdleFunc(sSioHandle, IdleSio);
SioSetTransceiverPowerDownFunc(sSioHandle, BusTransceiverPowerDown);
BusTransceiverPowerDown(true);
BusInit(sSioHandle);
spRxBusMsg = BusMsgBufGet();
}
/*-----------------------------------------------------------------------------
* sio open and bus init
*/
static int InitBus(const char *comPort) {
uint8_t ch;
int handle;
SioInit();
handle = SioOpen(comPort, eSioBaud9600, eSioDataBits8, eSioParityNo, eSioStopBits1, eSioModeHalfDuplex);
if (handle == -1) {
return -1;
}
while (SioGetNumRxChar(handle) > 0) {
SioRead(handle, &ch, sizeof(ch));
}
BusInit(handle);
return handle;
}
void V9_InitEnv(void)
{
/************ Set port E, PE0 as Clock out ***********/
WriteMemory(REG_PCONE, 0x1556a);
WriteMemory(REG_PDATE, 0x1ff);
WriteMemory(REG_PUPE, 0x6);
/************ Set port G, GP3 as EINT3 ***********/
WriteMemory(REG_PCONG, 0x54c0);
WriteMemory(REG_PDATG, 0xff);
WriteMemory(REG_PUPG, 0x0);
//BusInit(BUS_IDX_4, BUS8); //V938 use bus4
BusInit(BUS_IDX_3, BUS8); //V938 use bus3
ResetV9Chip();
Lm4867ShutDown(0);
SetPortCall(3, _ISR_V9IntHandle);
ExtInt_Init(EXINT3); //v938 use exint3
/******************* start 938 clock *****************/
V9_CtrlSetPll(V938_DEFAULTMCLK);
V9_CtrlStartClk(CTRL_PLL_WORK_MODE);
}
/*-----------------------------------------------------------------------------
* program start
*/
int main(void) {
int sioHandle;
uint8_t i;
uint8_t u8;
MCUSR = 0;
wdt_disable();
/* get module address from EEPROM */
sMyAddr = eeprom_read_byte((const uint8_t *)MODUL_ADDRESS);
for (i = 0; i < NUM_BUTTON_EVENT_ADDRESSES; i++) {
sMySwitchAddr[i] = eeprom_read_byte((const uint8_t *)(BUTTON_EVENT_ADRESS_BASE + i));
}
PortInit();
TimerInit();
SioInit();
SioRandSeed(MY_ADDR);
sioHandle = SioOpen("USART0", eSioBaud9600, eSioDataBits8, eSioParityNo,
eSioStopBits1, eSioModeHalfDuplex);
SioSetIdleFunc(sioHandle, IdleSio);
SioSetTransceiverPowerDownFunc(sioHandle, BusTransceiverPowerDown);
BusTransceiverPowerDown(true);
BusInit(sioHandle);
spRxBusMsg = BusMsgBufGet();
/* enable global interrupts */
ENABLE_INT;
i2c_slave(SLAVE_ADRESSE);
button_register = 0;
init_BJ(SLAVE_ADRESSE);
for (i = 0; i < NR_OF_LEDS; i++) {
u8 = eeprom_read_byte((const uint8_t *)(COLOR_LED_BASE + i));
set_LED(i, u8);
sNewLedData[i / 2] |= (u8 & 0x0f) << ((i % 2) ? 4 : 0);
}
i2c_slave(SLAVE_ADRESSE);
SendStartupMsg();
while (1) {
Idle();
if (send_startup == 1) {
init_BJ(SLAVE_ADRESSE);
for (i = 0; i < NR_OF_LEDS; i++) {
set_LED(i, eeprom_read_byte((const uint8_t *)(COLOR_LED_BASE + i)));
}
}
sInputState = button_register;
ProcessButton(sInputState);
ProcessBus();
for (i = 0; i < BUS_SW16_LED_SIZE_SET_VALUE; i++) {
if ((sNewLedData[i] & 0x0f) != (sLedData[i] & 0x0f) ) { // linke LED
set_LED(i * 2, sNewLedData[i] & 0x0f);
i2c_slave(SLAVE_ADRESSE);
}
if ((sNewLedData[i] & 0xf0) != (sLedData[i] & 0xf0) ) { // rechte LED
set_LED(i * 2 + 1, (sNewLedData[i] & 0xf0) >> 4);
i2c_slave(SLAVE_ADRESSE);
}
sLedData[i] = sNewLedData[i];
}
}
//--------------------------------------------------------------------
// Main Init function
//--------------------------------------------------------------------
void init(void)
{
uint16_t dummy = 0;
int16_t ret;
LED_ERROR_ON;
//enable AD converter
adc_init();
ResetImu();
//enable communication to PC over USB
HostInit();
//enable communication to the bus
BusInit();
//enable communications with gps
GpsInit();
InitLeds();
XbeeInit();
//timer for sending out estop status
timer3_init();
//timer3_set_overflow_callback(SendEstopStatus);
timer3_set_overflow_callback(globalTimerOverflow);
timer4_init();
timer4_set_compa_callback(Rs485ResponseTimeout);
timer4_disable_compa_callback();
timer1_init();
timer1_set_compa_callback(EncodersRequestFcn);
//generate the request packets:
encoderRequestRawPacketSize = DynamixelPacketWrapData(MMC_MOTOR_CONTROLLER_DEVICE_ID,
MMC_MOTOR_CONTROLLER_ENCODERS_REQUEST,
&dummy,sizeof(dummy),
encoderRequestRawPacket,
encoderRequestRawPacketMaxSize);
Servo1Init(GlobalTimerGetTime());
//buzzer port
BUZZER_DDR |= _BV(BUZZER_PIN);
//enable global interrupts
sei();
DDRL |= _BV(PL3) | _BV(PL5) | _BV(PL4);
PORTL |= _BV(PL3) | _BV(PL5) | _BV(PL4);
//PORTL |= _BV(PL3);
/*
TCCR5A |= _BV(WGM51) | _BV(WGM50);
TCCR5B |= _BV(WGM52) | _BV(WGM53);
OCR5A = 2000;
TCCR5A |= _BV(COM5A0);
TCCR5A |= _BV(COM5B0);
TCCR5A |= _BV(COM5C0);
*/
LED_ERROR_OFF;
}
/*-----------------------------------------------------------------------------
* program start
*/
int main(void) {
int sioHandle;
uint8_t inputState;
MCUSR = 0;
wdt_disable();
/* get module address from EEPROM */
sMyAddr = eeprom_read_byte((const uint8_t *)MODUL_ADDRESS);
sInputType = eeprom_read_byte((const uint8_t *)INPUT_TYPE);
if (sInputType > INPUT_TYPE_MOTION_DETECTOR) {
sInputType = INPUT_TYPE_DUAL_BUTTON;
}
PortInit();
TimerInit();
SioInit();
SioRandSeed(sMyAddr);
sioHandle = SioOpen("USART0", eSioBaud9600, eSioDataBits8, eSioParityNo,
eSioStopBits1, eSioModeHalfDuplex);
SioSetIdleFunc(sioHandle, IdleSio);
SioSetTransceiverPowerDownFunc(sioHandle, BusTransceiverPowerDown);
BusTransceiverPowerDown(true);
BusInit(sioHandle);
spRxBusMsg = BusMsgBufGet();
/* enable global interrupts */
ENABLE_INT;
SendStartupMsg();
if ((sInputType == INPUT_TYPE_DUAL_SWITCH) ||
(sInputType == INPUT_TYPE_MOTION_DETECTOR)) {
/* wait for controller startup delay for sending first state telegram */
DELAY_S(STARTUP_DELAY);
}
if ((sInputType == INPUT_TYPE_DUAL_SWITCH) ||
(sInputType == INPUT_TYPE_MOTION_DETECTOR)) {
inputState = GetInputState();
sSwitchStateOld = ~inputState;
ProcessSwitch(inputState);
}
while (1) {
Idle();
inputState = GetInputState();
if ((sInputType == INPUT_TYPE_DUAL_SWITCH) ||
(sInputType == INPUT_TYPE_MOTION_DETECTOR)) {
ProcessSwitch(inputState);
} else if (sInputType == INPUT_TYPE_DUAL_BUTTON) {
ProcessButton(inputState);
}
ProcessBus();
}
return 0; /* never reached */
}
/*-----------------------------------------------------------------------------
* main
*/
int main(int argc, char *argv[]) {
int handle;
int i;
char comPort[SIZE_COMPORT] = "";
uint8_t len;
uint8_t val8;
/* get tty device */
for (i = 1; i < argc; i++) {
if (strcmp(argv[i], "-c") == 0) {
if (argc > i) {
strncpy(comPort, argv[i + 1], sizeof(comPort) - 1);
comPort[sizeof(comPort) - 1] = 0;
}
break;
}
}
if (strlen(comPort) == 0) {
PrintUsage();
return 0;
}
SioInit();
handle = SioOpen(comPort, eSioBaud9600, eSioDataBits8, eSioParityNo, eSioStopBits1, eSioModeHalfDuplex);
if (handle == -1) {
printf("can't open %s\r\n", comPort);
return 0;
}
// wait for sio input to settle and the flush
usleep(100000);
while ((len = SioGetNumRxChar(handle)) != 0) {
SioRead(handle, &val8, sizeof(val8));
}
BusInit(handle);
#if 1
BusVarInit(67, BusVarNv);
{
uint8_t var1 = 1;
uint16_t var2 = 0x1234;
bool rc;
uint8_t len;
TBusVarHdl hdl1;
TBusVarHdl hdl2;
TBusTelegram *msg;
TBusVarResult result;
TBusVarState state;
BusVarAdd(0, sizeof(var1), true);
BusVarAdd(1, sizeof(var2), false);
rc = BusVarWrite(1, &var2, sizeof(var2), &result);
rc = BusVarWrite(0, &var1, sizeof(var1), &result);
var1 = 0;
var2 = 0;
len = BusVarRead(1, &var2, sizeof(var2), &result);
printf("len %d var2 %x\n", len, var2);
len = BusVarRead(0, &var1, sizeof(var1), &result);
printf("len %d var1 %x\n", len, var1);
hdl2 = BusVarTransactionOpen(242, 1, &var2, sizeof(var2), eBusVarRead);
hdl1 = BusVarTransactionOpen(242, 0, &var1, sizeof(var1), eBusVarRead);
for (i = 0; i < 1000; i++) {
BusVarProcess();
usleep(10000);
if (BusCheck() == BUS_MSG_OK) {
msg = BusMsgBufGet();
if ((msg->type == eBusDevRespGetVar) &&
(msg->msg.devBus.receiverAddr == 67)) {
BusVarRespGet(msg->senderAddr, &msg->msg.devBus.x.devResp.getVar);
}
}
if (hdl1 != BUSVAR_HDL_INVALID) {
state = BusVarTransactionState(hdl1);
if (state & BUSVAR_STATE_FINAL) {
if (state == eBusVarState_Ready) {
printf("var1 %02x\n", var1);
}
BusVarTransactionClose(hdl1);
hdl1 = BUSVAR_HDL_INVALID;
}
}
if (hdl2 != BUSVAR_HDL_INVALID) {
state = BusVarTransactionState(hdl2);
if (state & BUSVAR_STATE_FINAL) {
if (state == eBusVarState_Ready) {
printf("var2 %04x\n", var2);
}
BusVarTransactionClose(hdl2);
hdl2 = BUSVAR_HDL_INVALID;
}
}
}
}
return 0;
#endif
if (Test() == 0) {
printf("OK\n");
} else {
printf("ERROR\n");
}
if (handle != -1) {
SioClose(handle);
}
return 0;
}
