/* HUVUDPROGRAM */
int main (void)
{
/* INITIERING */
sysclk_init(); // Systemklocka.
board_init(); // Arduino-kort.
configure_console(); // Konsoll-/terminalfönster.
adc_setup(); // AD-omvandlare.
pwm_setup(); // PWM-signal.
motor_shield_setup(); // Motor-shield.
/* PROCESS 1 - PID-REGLERING */
if (xTaskCreate(pid, (const signed char * const) "PID-reglering", 1024, NULL, 2, NULL) != pdPASS)
{
printf("Misslyckades med att skapa process för PID-reglering.\r\n");
}
/* PROCESS 2 - KOMMUNIKATION MATLAB */
if (xTaskCreate(matlab, (const signed char * const) "Matlab-kommunikation", 1024, NULL, 1, NULL) != pdPASS)
{
printf("Misslyckades med att skapa process för kommunikation med Matlab.\r\n");
}
// Schemaläggning startar.
vTaskStartScheduler();
}
void bios(void) {
uart_start();
pwm_setup(2);
adc_start(1);
twi_start();
//button code
init_buttons();
//set the CPU_POW led pin to high to show we have power
DDRD |= (1<<CPU_POW);
PORTD |= (1<<CPU_POW);
//set the status leds as outputs
DDRD |= (1<<stat_led1);
DDRD |= (1<<stat_led2);
//if this is my dev board, pull them low because the leds are cathode
#if DEV
PORTD &= ~(1<<stat_led1)
& ~(1<<stat_led2);
#endif
#if DEBUG
uart_sendstr("0x01 - Hardware setup successful...");
uart_sendstr("Bios complete...");
uart_sendstr("Starting main code...");
#endif
return;
}
/* get started */
void get_started(void) {
pio_pin_setdir(OUTPUT, "PF_0");
pwm_setup(pwmid, play_freq, 50);
play(' ');
play('.');
play('-');
}
/* kayboard handler */
int handle_kbd(int k)
{
if (k == term_decode("KC_ESC")) {
return 1;
} else if (k == term_decode("KC_UP")) {
dot_delay += dot_delay_step;
} else if (k == term_decode("KC_DOWN")) {
dot_delay -= dot_delay_step;
} else if (k > 0 && k < 256) {
if (k == '+') {
play_freq += freq_step;
} else if (k == '-') {
play_freq += freq_step;
} else if (k == 's') {
if (play_freq == 0) {
play_freq = play_freq_save;
} else {
play_freq_save = play_freq;
play_freq = 0;
}
}
}
pwm_setup(pwmid, play_freq, 50);
return 0;
}
void setup(){
uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(57600, F_CPU));
//FIXME what was the following line for?
//DDRD |= 0x02;
pwm_setup();
l7seg_setup();
r0ketbeam_setup();
input_setup();
led_setup();
config_setup();
sei();
}
int main (void)
{
sysclk_init();
board_init();
uart_config((uint32_t)UART_BAUDRATE);
init_adc();
pwm_setup();
dac_setup();
start_coms(); //Run state machine
}
void main()
{
initVariables();
DINT;
ms_delay(1);
InitAdc();
SetupAdc();
InitSysCtrl();
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
InitPieVectTable();
easyDSP_SCI_Init();
InitEPwm3();
InitEPwm4();
pwm_setup();
initialize_mppt_timer();
EALLOW;
PieVectTable.TINT2 = &mppt_int;
PieVectTable.EPWM3_INT = &pwm_int;
PieCtrlRegs.PIEIER3.bit.INTx3 = 0x1;
EDIS;
IER |= M_INT3;
IER |= M_INT14;
EINT;
ms_delay(1);
InitEPwm3Gpio();
//InitEPwm4Gpio();
// EALLOW;
// GpioCtrlRegs.GPADIR.bit.GPIO4 = 1;
// GpioCtrlRegs.GPADIR.bit.GPIO5 = 1;
// GpioCtrlRegs.GPADIR.bit.GPIO6 = 1;
// GpioCtrlRegs.GPADIR.bit.GPIO7 = 1;
//
// GpioDataRegs.GPASET.bit.GPIO4 = 1;
// GpioDataRegs.GPASET.bit.GPIO5 = 1;
// GpioDataRegs.GPACLEAR.bit.GPIO6 = 1;
// GpioDataRegs.GPACLEAR.bit.GPIO7 = 1;
// EDIS;
ERTM;
for(;;)
{
//// Bus_Voltage_Q15 = ((long int) AdcResult.ADCRESULT1*VBUS_SCALE);
if(delay_flag)
{
ms_delay(10000);
delay_flag = 0;
}
}
}
int main(void) {
pin_setup();
pwm_setup();
while(1) {
/* Placeholder for code to utilize the microcontroller */
}
return 0;
}
int main(void)
{
uint8_t i, r1, g1, b1, r2, b2, g2;
pwm_setup();
flash_led();
r1 = g1 = b1 = 0;
while (1)
{
r2 = random() % 255;
g2 = random() % 255;
b2 = random() % 255;
fade(r1, g1, b1, r2, g2, b2, 100, 10);
r1 = r2;
g1 = g2;
b1 = b2;
}
return 0;
}
bool driver_setup(){
//クロック確認
#if !defined(IS_SLIM)
while (OSCCONbits.LOCK != 1);//PLL Lock
#endif
//周辺機器(優先度高)
ports_setup();
//システム(優先度高)
eeprom_setup();
//周辺機器
pwm_setup();
encoder_setup();
uart_setup();
pwm_shutdown(false);
return false;
}
int main(void) //(int argc, char *argv[])
{
printf("Bingo, enter 1st simulator DSP APP~!\n");
#if 0
u8 i, _i;
u32 cnt, next;
u32 msk, setmsk, clrmsk;
u32 delta, deltamin, tnext, hi, lo;
u32 *nextp;
const u32 *hilop;
u32 period;
u32 enmask; /* enable mask */
u32 stmask; /* state mask */
static u32 next_hi_lo[MAX_PWMS][3];
#endif
/*
* init Obj objects of each Chn.
*/
ChanelObj chnObj[MAX_PWMS];
u32 i = 0;
u32 currTime = 0;
//u32 sartRiseTime = 0;
//u32 startFallTime = 0;
for (i = 0; i < MAX_PWMS; i++)
{
chnObj[i].chid = i + 1;
chnObj[i].enmask = 0;
}
u32 prevTime = 0;
time64 currTs64;
while (1)
{
u32 index = 0;
//step 1 : update current time.
currTime = read_PIEP_COUNT();
if(prevTime > currTime)
{
// reverse
currTs64.time_p2++;
}
currTs64.time_p1 = currTime;
prevTime = currTime;
update_flag();
//step 2: judge current if it is arrive at rising edge time
for (index = 0; index < MAX_PWMS; index++)
{
//it is time that arriving rising edge........
if(TIME_GREATER(currTs64, chnObj[index].time_of_hi))
{
chnObj[index].enmask = PWM_CMD ->enmask;
chnObj[index].period_time.time_p1 = PWM_CMD ->periodhi[index][0];
// update time stamp
//chnObj[index].time_of_lo.time_p2 = 0;
//chnObj[index].time_of_lo.time_p1 = PWM_CMD ->periodhi[index][1];
// chnObj[index].time_of_lo = time_add(chnObj[index].time_of_lo, currTs64);
TIME_ADD(chnObj[index].time_of_lo, currTs64, PWM_CMD ->periodhi[index][1]);
//rising_edge_time = current + period
// chnObj[index].time_of_hi = time_add(chnObj[index].period_time, currTs64);
TIME_ADD(chnObj[index].time_of_hi, currTs64, PWM_CMD ->periodhi[index][0]);
if (chnObj[index].enmask & (1U << index))
{
// sartRiseTime = read_PIEP_COUNT();
//fall_edge_time = current + hi_duty
__R30 |= (1U << index); //pull up
printf("<high> chn: %d cur [%08x-%08x] r30 %x hi [%08x-%08x] lo [%08x-%08x] perid %d(high: %d) \n" ,chnObj[index].chid,
currTs64.time_p2, currTs64.time_p1, __R30,
chnObj[index].time_of_hi.time_p2, chnObj[index].time_of_hi.time_p1,
chnObj[index].time_of_lo.time_p2, chnObj[index].time_of_lo.time_p1,
time_sub(currTs64, ts[index][0]), PWM_CMD ->periodhi[index][1]);
ts[index][0] = currTs64;
}
continue;
}
//it is time that arriving falling edge........
if(TIME_GREATER(currTs64, chnObj[index].time_of_lo))
{
TIME_ADD(chnObj[index].time_of_lo, currTs64, PWM_CMD ->periodhi[index][0]);
if (chnObj[index].enmask & (1U << index))
{
__R30 &= ~(1U << index); //pull down
printf("<low> chn: %d cur [%08x-%08x] r30 %x hi [%08x-%08x] lo [%08x-%08x] high-len %d \n" ,chnObj[index].chid,
currTs64.time_p2, currTs64.time_p1, __R30,
chnObj[index].time_of_hi.time_p2, chnObj[index].time_of_hi.time_p1,
chnObj[index].time_of_lo.time_p2, chnObj[index].time_of_lo.time_p1,
time_sub(currTs64, ts[index][0]));
ts[index][1] = currTs64;
}
}
}
}
#if 0
//static struct cxt cxt;
#if 0
/* enable OCP master port */
PRUCFG_SYSCFG &= ~SYSCFG_STANDBY_INIT;
PRUCFG_SYSCFG = (PRUCFG_SYSCFG &
~(SYSCFG_IDLE_MODE_M | SYSCFG_STANDBY_MODE_M)) |
SYSCFG_IDLE_MODE_NO | SYSCFG_STANDBY_MODE_NO;
/* our PRU wins arbitration */
PRUCFG_SPP |= SPP_PRU1_PAD_HP_EN;
pwm_setup();
/* configure timer */
PIEP_GLOBAL_CFG = GLOBAL_CFG_DEFAULT_INC(1) |
GLOBAL_CFG_CMP_INC(1);
PIEP_CMP_STATUS = CMD_STATUS_CMP_HIT(1); /* clear the interrupt */
PIEP_CMP_CMP1 = 0x0;
PIEP_CMP_CFG |= CMP_CFG_CMP_EN(1);
PIEP_GLOBAL_CFG |= GLOBAL_CFG_CNT_ENABLE;
#endif
/* initialize */
cnt = read_PIEP_COUNT();
enmask = cfg.enmask;
stmask = 0; /* starting all low */
clrmsk = 0;
for (i = 0, msk = 1, nextp = &next_hi_lo[0][0], hilop = &cfg.hilo[0][0];
i < MAX_PWMS; i++, msk <<= 1, nextp += 3, hilop += 2)
{
if ((enmask & msk) == 0)
{
nextp[1] = PRU_us(100); /* default */
nextp[2] = PRU_us(100);
continue;
}
nextp[0] = cnt; /* next */
nextp[1] = 200000; /* hi */
nextp[2] = 208000; /* lo */
PWM_CMD ->periodhi[i][0] = 408000;
PWM_CMD ->periodhi[i][1] = 180000;
}
PWM_CMD ->enmask = 0;
clrmsk = enmask;
setmsk = 0;
/* guaranteed to be immediate */
deltamin = 0;
next = cnt + deltamin;
PWM_CMD ->magic = PWM_REPLY_MAGIC;
while (1)
{
update_flag();
if (PWM_CMD ->magic == PWM_CMD_MAGIC)
{
msk = PWM_CMD ->enmask;
for (i = 0, nextp = &next_hi_lo[0][0]; i < MAX_PWMS;
i++, nextp += 3)
{
//Enable
if ((PWM_EN_MASK & (msk & (1U << i)))
&& (enmask & (msk & (1U << i))) == 0)
{
enmask |= (msk & (1U << i));
__R30 |= (msk & (1U << i));
// first enable
if (enmask == (msk & (1U << i)))
cnt = read_PIEP_COUNT();
nextp[0] = cnt; //since we start high, wait this amount
deltamin = 0;
next = cnt;
}
//Disable
if ((PWM_EN_MASK & (msk & (1U << i)))
&& ((msk & ~(1U << i)) == 0))
{
enmask &= ~(1U << i);
__R30 &= ~(1U << i);
}
//get and set pwm_vals
if (PWM_EN_MASK & (msk & (1U << i)))
{
if (b_true == full_period)
{
//nextp = &next_hi_lo[i * 3];
nextp[1] = PWM_CMD ->periodhi[i][1];
period = PWM_CMD ->periodhi[i][0];
nextp[2] = period - nextp[1];
}
}
PWM_CMD ->hilo_read[i][0] = nextp[0];
PWM_CMD ->hilo_read[i][1] = nextp[1];
}
// guaranteed to be immediate
deltamin = 0;
PWM_CMD ->magic = PWM_REPLY_MAGIC;
}
PWM_CMD ->enmask_read = enmask;
/* if nothing is enabled just skip it all */
if (enmask == 0)
continue;
setmsk = 0;
clrmsk = (u32) -1;
deltamin = PRU_ms(100); /* (1U << 31) - 1; */
next = cnt + deltamin;
for (_i = 0; _i < MAX_PWMS; _i++)
{
if (enmask & (1U << (_i)))
{ //
nextp = &next_hi_lo[(_i)][0]; //
tnext = nextp[0]; //
hi = nextp[1]; //
lo = nextp[2]; //
/* avoid signed arithmetic */ //
while (((delta = (tnext - cnt)) & (1U << 31)) != 0)
{ //
/* toggle the state */ //
if (stmask & (1U << (_i)))
{ //
stmask &= ~(1U << (_i)); //
clrmsk &= ~(1U << (_i)); //
tnext += lo; //
printf("CH %d: next hi: %08x\n", _i, tnext);
// flag when all motor channel finish full period
ch_num_period++;
if (!((ch_num_period) %= MAX_PWMS))
{
full_period = b_true;
printf(
"----------------full period--------------\n");
}
}
else
{ //
stmask |= (1U << (_i)); //
setmsk |= (1U << (_i)); //
tnext += hi; //
full_period = b_false;
//if(flag == Period_change)
} //
} //
if (delta <= deltamin)
{ //
deltamin = delta; //
next = tnext; //
} //
nextp[0] = tnext; //
} //
}
#if 0
#define SINGLE_PWM(_i) \
do { \
if (enmask & (1U << (_i))) { \
nextp = &next_hi_lo[(_i)][0]; \
tnext = nextp[0]; \
hi = nextp[1]; \
lo = nextp[2]; \
/* avoid signed arithmetic */ \
while (((delta = (tnext - cnt)) & (1U << 31)) != 0) { \
/* toggle the state */ \
if (stmask & (1U << (_i))) { \
stmask &= ~(1U << (_i)); \
clrmsk &= ~(1U << (_i)); \
tnext += lo; \
} else { \
stmask |= (1U << (_i)); \
setmsk |= (1U << (_i)); \
tnext += hi; \
} \
} \
if (delta <= deltamin) { \
deltamin = delta; \
next = tnext; \
} \
nextp[0] = tnext; \
} \
} while (0)
#if MAX_PWMS > 0 && (PWM_EN_MASK & BIT(0))
SINGLE_PWM(0);
#endif
#if MAX_PWMS > 1 && (PWM_EN_MASK & BIT(1))
SINGLE_PWM(1);
#endif
#if MAX_PWMS > 2 && (PWM_EN_MASK & BIT(2))
SINGLE_PWM(2);
#endif
#if MAX_PWMS > 3 && (PWM_EN_MASK & BIT(3))
SINGLE_PWM(3);
#endif
#if MAX_PWMS > 4 && (PWM_EN_MASK & BIT(4))
SINGLE_PWM(4);
#endif
#if MAX_PWMS > 5 && (PWM_EN_MASK & BIT(5))
SINGLE_PWM(5);
#endif
#if MAX_PWMS > 6 && (PWM_EN_MASK & BIT(6))
SINGLE_PWM(6);
#endif
#if MAX_PWMS > 7 && (PWM_EN_MASK & BIT(7))
SINGLE_PWM(7);
#endif
#if MAX_PWMS > 8 && (PWM_EN_MASK & BIT(8))
SINGLE_PWM(8);
#endif
#if MAX_PWMS > 9 && (PWM_EN_MASK & BIT(9))
SINGLE_PWM(9);
#endif
#if MAX_PWMS > 10 && (PWM_EN_MASK & BIT(10))
SINGLE_PWM(10);
#endif
#if MAX_PWMS > 11 && (PWM_EN_MASK & BIT(11))
SINGLE_PWM(11);
#endif
#if MAX_PWMS > 12 && (PWM_EN_MASK & BIT(12))
SINGLE_PWM(12);
#endif
#endif
/* results in set bits where there are changes */
__R30 = (__R30 & (clrmsk & 0xfff)) | (setmsk & 0xfff);
/* loop while nothing changes */
do
{
cnt = read_PIEP_COUNT();
//if(PWM_CMD->magic == PWM_CMD_MAGIC){
// break;
//}
} while (((next - cnt) & (1U << 31)) == 0);
}
#endif
printf("Bingo, leave 1st simulator DSP APP~!\n");
}
/*
* main.c
*/
int main() {
u8 i;
u32 cnt, next;
u32 msk, setmsk, clrmsk;
u32 delta, deltamin, tnext, hi, lo;
u32 *nextp;
const u32 *hilop;
u32 period;
u32 enmask; /* enable mask */
u32 stmask; /* state mask */
u32 temp;
static u32 next_hi_lo[MAX_PWMS][3];
static struct cxt cxt;
/* enable OCP master port */
PRUCFG_SYSCFG &= ~SYSCFG_STANDBY_INIT;
PRUCFG_SYSCFG = (PRUCFG_SYSCFG &
~(SYSCFG_IDLE_MODE_M | SYSCFG_STANDBY_MODE_M)) |
SYSCFG_IDLE_MODE_NO | SYSCFG_STANDBY_MODE_NO;
/* our PRU wins arbitration */
PRUCFG_SPP |= SPP_PRU1_PAD_HP_EN;
pwm_setup();
/* configure timer */
PIEP_GLOBAL_CFG = GLOBAL_CFG_DEFAULT_INC(1) |
GLOBAL_CFG_CMP_INC(1);
PIEP_CMP_STATUS = CMD_STATUS_CMP_HIT(1); /* clear the interrupt */
PIEP_CMP_CMP1 = 0x0;
PIEP_CMP_CFG |= CMP_CFG_CMP_EN(1);
PIEP_GLOBAL_CFG |= GLOBAL_CFG_CNT_ENABLE;
/* initialize */
cnt = read_PIEP_COUNT();
enmask = cfg.enmask;
stmask = 0; /* starting all low */
clrmsk = 0;
for (i = 0, msk = 1, nextp = &next_hi_lo[0][0], hilop = &cfg.hilo[0][0];
i < MAX_PWMS;
i++, msk <<= 1, nextp += 3, hilop += 2) {
if ((enmask & msk) == 0) {
nextp[1] = PRU_us(100); /* default */
nextp[2] = PRU_us(100);
continue;
}
nextp[0] = cnt; /* next */
nextp[1] = 200000; /* hi */
nextp[2] = 208000; /* lo */
PWM_CMD->periodhi[i][0] = 408000;
PWM_CMD->periodhi[i][1] = 180000;
}
PWM_CMD->enmask = 0;
clrmsk = enmask;
setmsk = 0;
/* guaranteed to be immediate */
deltamin = 0;
next = cnt + deltamin;
PWM_CMD->magic = PWM_REPLY_MAGIC;
while(1) {
//if(PWM_CMD->magic == PWM_CMD_MAGIC)
{
msk = PWM_CMD->enmask;
for(i=0, nextp = &next_hi_lo[0][0]; i<MAX_PWMS;
i++, nextp += 3){
//Enable
if ((PWM_EN_MASK & (msk&(1U<<i))) && (enmask & (msk&(1U<<i))) == 0) {
enmask |= (msk&(1U<<i));
#ifdef __GNUC__
temp = read_r30();
temp |= (msk&(1U<<i));
write_r30(temp);
#else
__R30 |= (msk&(1U<<i));
#endif
nextp[0] = cnt; //since we start high, wait this amount
// first enable
if (enmask == (msk&(1U<<i)))
cnt = read_PIEP_COUNT();
deltamin = 0;
next = cnt;
}
//Disable
if ((PWM_EN_MASK & (msk&(1U<<i))) && ((msk & ~(1U<<i)) == 0)) {
enmask &= ~(1U<<i);
#ifdef __GNUC__
temp = read_r30();
temp &= ~(1U<<i);
write_r30(temp);
#else
__R30 &= ~(1U<<i);
#endif
}
//get and set pwm_vals
if (PWM_EN_MASK & (msk&(1U<<i))) {
//nextp = &next_hi_lo[i * 3];
nextp[1] = PWM_CMD->periodhi[i][1];
period = PWM_CMD->periodhi[i][0];
nextp[2] =period - nextp[1];
}
PWM_CMD->hilo_read[i][0] = nextp[0];
PWM_CMD->hilo_read[i][1] = nextp[1];
}
// guaranteed to be immediate
deltamin = 0;
PWM_CMD->magic = PWM_REPLY_MAGIC;
}
PWM_CMD->enmask_read = enmask;
/* if nothing is enabled just skip it all */
if (enmask == 0)
continue;
setmsk = 0;
clrmsk = (u32)-1;
deltamin = PRU_ms(100); /* (1U << 31) - 1; */
next = cnt + deltamin;
#define SINGLE_PWM(_i) \
do { \
if (enmask & (1U << (_i))) { \
nextp = &next_hi_lo[(_i)][0]; \
tnext = nextp[0]; \
hi = nextp[1]; \
lo = nextp[2]; \
/* avoid signed arithmetic */ \
while (((delta = (tnext - cnt)) & (1U << 31)) != 0) { \
/* toggle the state */ \
if (stmask & (1U << (_i))) { \
stmask &= ~(1U << (_i)); \
clrmsk &= ~(1U << (_i)); \
tnext += lo; \
} else { \
stmask |= (1U << (_i)); \
setmsk |= (1U << (_i)); \
tnext += hi; \
} \
} \
if (delta <= deltamin) { \
deltamin = delta; \
next = tnext; \
} \
nextp[0] = tnext; \
} \
} while (0)
#if MAX_PWMS > 0 && (PWM_EN_MASK & BIT(0))
SINGLE_PWM(0);
#endif
#if MAX_PWMS > 1 && (PWM_EN_MASK & BIT(1))
SINGLE_PWM(1);
#endif
#if MAX_PWMS > 2 && (PWM_EN_MASK & BIT(2))
SINGLE_PWM(2);
#endif
#if MAX_PWMS > 3 && (PWM_EN_MASK & BIT(3))
SINGLE_PWM(3);
#endif
#if MAX_PWMS > 4 && (PWM_EN_MASK & BIT(4))
SINGLE_PWM(4);
#endif
#if MAX_PWMS > 5 && (PWM_EN_MASK & BIT(5))
SINGLE_PWM(5);
#endif
#if MAX_PWMS > 6 && (PWM_EN_MASK & BIT(6))
SINGLE_PWM(6);
#endif
#if MAX_PWMS > 7 && (PWM_EN_MASK & BIT(7))
SINGLE_PWM(7);
#endif
#if MAX_PWMS > 8 && (PWM_EN_MASK & BIT(8))
SINGLE_PWM(8);
#endif
#if MAX_PWMS > 9 && (PWM_EN_MASK & BIT(9))
SINGLE_PWM(9);
#endif
#if MAX_PWMS > 10 && (PWM_EN_MASK & BIT(10))
SINGLE_PWM(10);
#endif
#if MAX_PWMS > 11 && (PWM_EN_MASK & BIT(11))
SINGLE_PWM(11);
#endif
#if MAX_PWMS > 12 && (PWM_EN_MASK & BIT(12))
SINGLE_PWM(12);
#endif
/* results in set bits where there are changes */
#ifdef __GNUC__
temp = read_r30();
temp = (temp & (clrmsk & 0xfff)) | (setmsk & 0xfff);
write_r30(temp);
#else
__R30 = (__R30 & (clrmsk & 0xfff)) | (setmsk & 0xfff);
#endif
/* loop while nothing changes */
do {
cnt = read_PIEP_COUNT();
if(PWM_CMD->magic == PWM_CMD_MAGIC){
break;
}
} while (((next - cnt) & (1U << 31)) == 0);
}
return 0;
}
