// main programm
void main(void)
{
// Hardware initialization
HW_init();
// setup interrupts
setup_timer1(TMR_INTERNAL|TMR_DIV_BY_256);
// Command buffer initialization
init_ESPBuffer();
while(true)
{
// usb for debug
usb_task();
// wi-fi esp8266
wifi_task();
/*******************************
* *****************************
* User code must be situated here!
* *****************************
*******************************/
}//while(true)
}
int main(void)
{
uint8_t i;
cli();
MCUSR = 0;
wdt_disable();
//TODO replace by an ana comp polling loop
_delay_ms(10);
setup_datastructs();
setup_led();
setup_ar_uart();
setup_adc();
setup_pulse_input();
setup_analog_comparator();
setup_timer0();
setup_timer1();
// initialize the CTRL buffers
ctrlInit();
// initialize the SPI in slave mode
setup_spi(SPI_MODE_0, SPI_MSB, SPI_INTERRUPT, SPI_SLAVE);
// initialize the Si4421/RFM12 radio and buffers
rfm12_init();
// the clk/8 fuse bit is set
clock_prescale_set(clock_div_1);
FLAG_CLR_ICF1();
sei();
for(;;) {
if (spi_status & SPI_NEW_CTRL_MSG) {
ctrlDecode();
spi_status &= ~SPI_NEW_CTRL_MSG;
}
for (i = 0; i < max_analog_sensors; i++) {
if (state[i].flags & STATE_POWER_CALC) {
calculate_power(&state[i]);
state[i].flags &= ~STATE_POWER_CALC;
state[i].flags |= STATE_POWER;
}
}
rfm12_tick();
}
return 0;
}
int main(void)
{
uint8_t i;
cli();
// RS-485: Configure PD5=DE as output pin with low as default
DDRD |= (1<<DDD5);
// set high to transmit
//PORTD |= (1<<PD5);
setup_datastructs();
setup_led();
setup_adc();
setup_pulse_input();
setup_analog_comparator();
setup_timer1();
// initialize the CTRL buffers
ctrlInit();
// initialize the UART hardware and buffers
uartInit();
// initialize the SPI in slave mode
setup_spi(SPI_MODE_2, SPI_MSB, SPI_INTERRUPT, SPI_SLAVE);
sei();
for(;;) {
if (spi_status & SPI_NEW_CTRL_MSG) {
ctrlDecode();
spi_status &= ~SPI_NEW_CTRL_MSG;
}
for (i = 0; i < MAX_ANALOG_SENSORS; i++) {
if (state[i].flags & STATE_POWER_CALC) {
calculate_power(&state[i]);
state[i].flags &= ~STATE_POWER_CALC;
state[i].flags |= STATE_POWER;
}
}
}
return 0;
}
void config(void)
{
//Define inputs/outputs
define_io();
//Assignation des périphériques
peripheral_pin_select();
//Config peripherals:
setup_usart1(); //PC/GPS
setup_usart2(); //Radio
setup_timer1(); //10ms timebase
setup_adc(); //ADC
//Encoder interrupts:
_INT0IF = 0;
_INT1IF = 0;
_INT0IE = 1;
_INT1IE = 1;
//Disable unwanted interrupts:
_U1TXIE = 0;
_U2TXIE = 0;
_SPI1IE = 0;
_SPI1IF = 0;
_T3IE = 0;
_T2IE = 0;
_OC2IE = 0;
_IC1IE = 0;
_OC1IE = 0;
_IC1IE = 0;
_U1ERIE = 0;
_U2ERIE = 0;
_PMPIE = 0;
#ifdef USE_GLCD
//Init GLCD
GLCD_Initalize();
GLCD_ClearScreen();
#endif
}
int kbd_drv_init (void)
{
unsigned long flags;
save_flags_cli (flags);
#ifndef CONFIG_SA1100_ITSY
initKBCTL();
#endif
setup_timer1( (TIMER1_RATE+30)/60 );
if (request_irq (IRQ_OST1, kbd_drv_rx, SA_SHIRQ, "keyboard", NULL) != 0)
printk("Could not allocate keyboard receive IRQ!");
/* LSB should use panic() above */
restore_flags (flags);
printk (KERN_INFO "Keyboard driver v%d.%02d\n", VERSION/100, VERSION%100);
//printk("**** Turning off console printing ****\n");
/* Turn off console printk messages */
#ifndef CONFIG_SA1100_ITSY
// con_printable(0);
#endif
return 0;
}
int main (void)
{
int i=0;
tmp_debug = 0;
//Setup oscillator/ports/pins first
setup_oscillator();
setup_ports();
setup_peripheral_pin_select();
setup_interrupt_priorities();
//init_temperature_model();
//Blinking HB LED and Timestamp
#ifdef USE_DIO
setup_dio();
#endif
//ToDo Used?
#ifdef USE_TIMER1
setup_timer1(); //do before setup_pwm
#endif //ToDo: there was a missing #endif, maybe that's why disabling Timer1 was breaking the code!
//Motor control PWM
#ifdef USE_PWM
//setup_pwm();
#endif
//Brushless motor
#ifdef USE_BLDC
setup_bldc();
#endif
//Torque PID and Current PID
#ifdef USE_CONTROL
setup_control();
#endif
//Analog to Digital
#ifdef USE_ADC
setup_adc();
#endif
//Torso external ADC
#ifdef USE_ADC_SPI
setup_adc_spi();
#endif
//Current measurment, control and limitation
#ifdef USE_CURRENT
setup_current();
#endif
//ToDo: Remvove?
#ifdef USE_TIMER3
setup_timer3();
#endif
//VerteX SPI Encoder
#ifdef USE_ENCODER_VERTX
setup_vertx();
#endif
//Torso motor brake
#ifdef USE_BRAKE
setup_brake();
#endif
//EtherCAT Communication
#ifdef USE_ETHERCAT
while (!eeprom_loaded()) //Wait until ESC is ready
SetHeartbeatLED;
setup_ethercat();
ClrHeartbeatLED;
#endif
setup_interrupt_priorities();
if (RCONbits.WDTO)
SetHeartbeatLED;
//RCONbits.SWDTEN = 1;//enable watchdog timer
if (RCON & 0x03 == 0x03)
{
RCONbits.BOR = 0;
RCONbits.POR = 0;
}
rcon_reg = RCON;
while(1)
{
if (i++%10001==0)
{
//ToggleHeartbeatLED();
#if defined USE_ETHERCAT
step_ethercat();
#endif
}
}
}
void setup() {
// initialize the digital pin as an output.
pinMode(led, OUTPUT);
setup_timer1();
// Serial.begin(115200);
}
