/**
* \brief SAM-BA Main loop.
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
DEBUG_PIN_HIGH;
/* Jump in application if condition is satisfied */
check_start_application();
/* We have determined we should stay in the monitor. */
/* System initialization */
system_init();
/* UART is enabled in all cases */
usart_open();
DEBUG_PIN_LOW;
/* Wait for a complete enum on usb or a '#' char on serial line */
while (1) {
/* Check if a '#' has been received */
if (usart_sharp_received()) {
sam_ba_monitor_init(SAM_BA_INTERFACE_USART);
/* SAM-BA on UART loop */
while(1) {
sam_ba_monitor_run();
}
}
}
}
/**
* \brief SAMD21 SAM-BA Main loop.
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
#if SAM_BA_INTERFACE == SAM_BA_USBCDC_ONLY || SAM_BA_INTERFACE == SAM_BA_BOTH_INTERFACES
P_USB_CDC pCdc;
#endif
DEBUG_PIN_HIGH;
/* Jump in application if condition is satisfied */
check_start_application();
/* We have determined we should stay in the monitor. */
/* System initialization */
system_init();
cpu_irq_enable();
#if SAM_BA_INTERFACE == SAM_BA_UART_ONLY || SAM_BA_INTERFACE == SAM_BA_BOTH_INTERFACES
/* UART is enabled in all cases */
usart_open();
#endif
#if SAM_BA_INTERFACE == SAM_BA_USBCDC_ONLY || SAM_BA_INTERFACE == SAM_BA_BOTH_INTERFACES
pCdc = (P_USB_CDC)usb_init();
#endif
DEBUG_PIN_LOW;
// output on D13 (PA.17)
LED_PORT.PINCFG[LED_PIN].reg &= ~ (uint8_t)(PORT_PINCFG_INEN);
LED_PORT.DIRSET.reg = (uint32_t)(1 << LED_PIN);
/* Wait for a complete enum on usb or a '#' char on serial line */
while (1) {
pulse_led(1); // while we're waiting, blink the D13
#if SAM_BA_INTERFACE == SAM_BA_USBCDC_ONLY || SAM_BA_INTERFACE == SAM_BA_BOTH_INTERFACES
if (pCdc->IsConfigured(pCdc) != 0) {
main_b_cdc_enable = true;
}
//Check if a USB enumeration has succeeded
//And com port was opened
if (main_b_cdc_enable) {
sam_ba_monitor_init(SAM_BA_INTERFACE_USBCDC);
//SAM-BA on USB loop
while(1) {
sam_ba_monitor_run();
}
}
#endif
#if SAM_BA_INTERFACE == SAM_BA_UART_ONLY || SAM_BA_INTERFACE == SAM_BA_BOTH_INTERFACES
/* Check if a '#' has been received */
if (!main_b_cdc_enable && usart_sharp_received()) {
sam_ba_monitor_init(SAM_BA_INTERFACE_USART);
/* SAM-BA on UART loop */
while(1) {
sam_ba_monitor_run();
}
}
#endif
}
}
/**
* \brief SAMD20 SAM-BA Main loop.
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
#if DEBUG_ENABLE
/* Set BOOT_LED pin as output */
PORT->Group[0].DIRSET.reg=(1u<<BOOT_LED);
#endif
DEBUG_PIN_HIGH;
/* Jump in application if condition is satisfied */
check_start_application();
/* Make OSC8M prescalar to zero rather divide by 8 */
SYSCTRL->OSC8M.bit.PRESC = 0;
/* UART is enabled in all cases */
usart_open();
/* Wait for a complete enum on usb or a '#' char on serial line */
while (1) {
/* Check if a '#' has been received */
if (usart_sharp_received()) {
DEBUG_PIN_LOW;
sam_ba_monitor_init(SAM_BA_INTERFACE_USART);
/* SAM-BA on UART loop */
while(1) {
sam_ba_monitor_run();
}
}
}
}
int lambda_init(void)
{
uint8_t i;
for(i=0;i<128;i++) O2Mem.Mem[i] = 0;
sprintf(O2Mem.cur_value, "XXX");
// USART �ffnen
if((lambda_fd = usart_open( "/dev/ttyAMA0",115200)) == -1)
return -1;
// Einstellungen senden
usart_puts(lambda_fd, NORMAL_MODE);
usart_puts(lambda_fd, LOW_COMMUNICATION);
usart_puts(lambda_fd, CSVTEXT_MODE);
usart_flush(lambda_fd);
is_Init = true;
}
/**
* \brief SAMD21 WINO SAM-BA Main loop.
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
/* Save the value of the boot key memory before it is overwritten */
uint32_t bootKeyPtrVal = *bootKeyPtr;
*bootKeyPtr = 0;
P_USB_CDC pCdc;
DEBUG_PIN_HIGH;
volatile PortGroup *esp8266_port = (volatile PortGroup *)(&(PORT->Group[ESP8266_CH_PD_PIN / 32]));
/* Enable the ouput on the ESP8266 power down Pin and drive it to low */
esp8266_port->DIRSET.reg = ESP8266_CH_PD_PIN_MASK;
esp8266_port->PINCFG[ESP8266_CH_PD_PIN & 0x1F].reg = PORT_PINCFG_INEN;
esp8266_port->OUTCLR.reg = ESP8266_CH_PD_PIN_MASK;
/* Enable the ouput on the LED Pin and drive it to high */
PORT->Group[LED_PORT].DIRSET.reg = LED_PIN_MASK;
LED_ON;
/* System initialization */
system_init();
cpu_irq_enable();
usart_open();
pCdc = (P_USB_CDC)usb_init();
DEBUG_USART_OPEN;
/* Pointer to store application start address */
uint32_t *data_ptr = (uint32_t *)0x20000000;
/* Store the application start address @0x20000000 */
*data_ptr = APP_START_ADDRESS;
/* Jump in application if condition is satisfied */
static uint32_t app_start_address;
/* Load the Reset Handler address of the application */
app_start_address = *(uint32_t *)(APP_START_ADDRESS + 4);
int waiting = WAIT_SHORT;
int elapsed;
/* Test reset vector of application @APP_START_ADDRESS+4
* If *(APP_START+0x4) == 0xFFFFFFFF then set waiting
* Application erased condition
*/
if (app_start_address == 0xFFFFFFFF)
{
waiting = -1;
}
else if (bootKeyPtrVal == bootKey)
{
waiting = WAIT_LONG;
}
DEBUG_PIN_LOW;
*bootKeyPtr = bootKey;
/* Wait for a complete enum on usb or a '#' char on serial line.
* If there is no user application in the device's memory,
* this loop will not end, in the other case, it will wait until timeout.
*/
while (waiting)
{
if (pCdc->IsConfigured(pCdc))
{
sam_ba_monitor_init(SAM_BA_INTERFACE_USBCDC);
main_b_cdc_enable = true;
break;
}
if (usart_sharp_received())
{
sam_ba_monitor_init(SAM_BA_INTERFACE_USART);
break;
}
if (PORT->Group[LED_PORT].OUT.reg == LED_PIN_MASK)
{
if (elapsed > 3000)
{
LED_OFF;
elapsed = 0;
}
}
else
{
if (elapsed > 30000)
{
LED_ON;
elapsed = 0;
}
}
if (waiting > 0)
waiting--;
elapsed++;
}
*bootKeyPtr = 0;
while (waiting)
{
uint32_t tmp = do_sam_ba_monitor();
if (PORT->Group[LED_PORT].OUT.reg == LED_PIN_MASK)
{
if (elapsed > (1 ? 5000 : 1))
{
LED_OFF;
elapsed = 0;
}
}
else
{
if (elapsed > (1 ? 50000 : 2))
{
LED_ON;
elapsed = 0;
}
}
if (waiting > 0)
{
/* If there is no activity, decrement timeout */
/* Else set WAIT_SHORT timeout */
if (tmp == 0)
waiting--;
else
waiting = WAIT_SHORT;
}
elapsed++;
}
/* Reset LED pin */
LED_OFF;
PORT->Group[LED_PORT].DIRCLR.reg = LED_PIN_MASK;
usart_close();
usb_deinit();
// reset clocks
//SYSCTRL->OSC8M.reg = SYSCTRL_OSC8M_RESETVALUE;
//SYSCTRL->OSC32K.reg = SYSCTRL_OSC32K_RESETVALUE;
//SYSCTRL->XOSC32K.reg = SYSCTRL_XOSC32K_RESETVALUE;
//SYSCTRL->DFLLCTRL.reg = SYSCTRL_DFLLCTRL_RESETVALUE;
//SYSCTRL->DFLLMUL.reg = SYSCTRL_DFLLMUL_RESETVALUE;
//SYSCTRL->DFLLVAL.reg = SYSCTRL_DFLLVAL_RESETVALUE;
/* Jump to the application */
/* Rebase the Stack Pointer */
__set_MSP(*(uint32_t *) APP_START_ADDRESS);
/* Rebase the vector table base address */
SCB->VTOR = ((uint32_t) APP_START_ADDRESS & SCB_VTOR_TBLOFF_Msk);
/* Jump to application Reset Handler in the application */
asm("bx %0"::"r"(app_start_address));
}
void init_sumo ( void )
{
OSCCONbits.IRCF = 7; // Set internal clock to 16 Mhz
ANSELHbits.ANS11 = 0; // Make RX digital
// 115200,8,n,1: 138 - 64MHz
// 19200,8,n,1: 832 - 64MHz; 207 - 16MHz
// 9600,8,n,1: 129 - 20 MHz; 1249 - 48MHz; 1666 - 64MHz
usart_open(USART_TX_INT_OFF & // disable TX interrupt
USART_RX_INT_ON & // enable RX interrupt
USART_BRGH_HIGH & // Use High BRGH
USART_CONT_RX & // Receive continuous data
USART_EIGHT_BIT & // Use 8 bit
USART_ASYNCH_MODE, // Use Asynchronous mode
207); // 19200 for 16 Mhz
#if defined (__SDCC)
stdout = STREAM_USART; // Set stdout to serial stream
#else
baudUSART(BAUD_16_BIT_RATE &
BAUD_IDLE_CLK_LOW &
BAUD_WAKEUP_OFF &
BAUD_AUTO_OFF & 0x48); // 16 bit BRG
#endif
#if defined (__SDCC)
adc_open(ADC_CHN_0, // Set channel 0
ADC_FOSC_16 | ADC_ACQT_8, // Configure Acquisition frequency
ADC_CFG_7A, // Set the number of channels to use
ADC_FRM_RJUST | // Adjust result to the right
ADC_INT_OFF | // Disable interrupts
ADC_VCFG_VDD_VSS | // Configure reference voltages
ADC_NVCFG_VSS | // Negative reference to VSS
ADC_PVCFG_VDD); // Positive reference to VDD
#else
OpenADC(ADC_RIGHT_JUST & ADC_FOSC_16 & ADC_8_TAD,
ADC_CH0 & ADC_INT_OFF,
ADC_REF_VDD_VDD & ADC_REF_VDD_VSS,
0b0000111111110000);
#endif
T0CONbits.T08BIT = 0; // 16 bit mode
T0CONbits.T0CS = 0; // Source is internal
T0CONbits.PSA = 1; // Disable prescaler
T0CONbits.T0PS = 7; // Prescaler to 1:256
TMR0H = 0; TMR0L = 0; // Reset Timer0 to 0x0000
INTCONbits.TMR0IF = 0; // Clear interrupt flag
INTCONbits.TMR0IE = 1; // Enable Interruption from timer0
T0CONbits.TMR0ON = 1; // Start timer0
write_timer_0(Ticks4NextInterrupt);
Servo.FL = 1;
Servo.FR = 1;
Servo.BL = 1;
Servo.BR = 1;
FL_SERVO_TRIS = 0;
FR_SERVO_TRIS = 0;
BL_SERVO_TRIS = 0;
BR_SERVO_TRIS = 0;
RCONbits.IPEN = 0; // Interruption Priority Disabled
INTCONbits.PEIE = 1; // Peripheral Interrupt Enabled
INTCONbits.GIE = 1; // Global Interrupt Enable
}
