int test_timer_pit_init(void)
{
INTC_InitINTCInterrupts();
// Config_PLL();
init_PIT_RTI();
enableIrq();
}
/*~~~~~~~ Main Code ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
int main(void)
{
initModesAndClock();
/* Disable Watchdog */
disableWatchdog();
/*Initialize LEDs on TRK-MPC560xB board */
vfnGPIO_LED_Init();
/*Initialize PUSHs on TRK-MPC560xB board */
vfnGPIO_PUSH_Init();
/*Initialize Interrupts */
INTC_InitINTCInterrupts();
/*Initialize Exception Handlers */
EXCEP_InitExceptionHandlers();
PIT_device_init();
PIT_channel_configure(PIT_CHANNEL_0 , dummy_500us);
PIT_channel_start(PIT_CHANNEL_0);
/* Enable External Interrupts*/
enableIrq();
/* Infinite loop */
dummy_endless_loop();
for (;;)
{
BackgroundSubsystemTasks();
}
}
int test_timer_RIT_init(void)
{
Config_PLL();
INTC_InitINTCInterrupts();
initPIT_RTI();
gpio_init(LED_PORT, GPIO_OUTPUT);
enableIrq();
}
int main(void) {
int i;
InitModesClocks();
INTC_InitINTCInterrupts();
INTC_InstallINTCInterruptHandler(interrutsion,59,1);
INTC.CPR.R=0;
GPIOport(68);
GPIOport(69);
GPIOport(70);
GPIOport(71);
GPIO_out(68);
GPIO_out(69);
GPIO_out(70);
GPIO_out(71);
for( i = 0 ; i < E_TotalTsk ; i++ )
{
ar_dynamic[i] = ar_tsk[i].offset;
}
PITconfig();
PITchannelinterrupt(0,1);
PITchanneltimeout(0,64000);
PITcounterReset(0);
PITintflagReset(0);
PITstart(0);
while(1)
{
if(flagISR)
{
flagISR = 0;
for( i = 0 ; i < E_TotalTsk ; i++ )
{
if( ar_dynamic[i] > 0 )
{
ar_dynamic[i]--;
}
else
{
ar_dynamic[i] = ar_tsk[i].period;
ar_tsk[i].tskPtr();
}
}
}
}
}
/*~~~~~~~ Main Code ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
void main(void)
{
initModesAndClock();
initPeriClkGen();
/* Disable Watchdog */
init_disableWatchdog();
/*Initialize LEDs on TRK-MPC560xB board */
init_OnBoardLEDs();
/*Initialize the On-Board push buttons*/
init_OnBoardPushButtons();
/*Initialize Interrupts */
INTC_InitINTCInterrupts();
/*Initialize Exception Handlers */
EXCEP_InitExceptionHandlers();
IntcInterruptLINFLEXHandlers();
InitLinFlex0Slave(9600);
LED_Off(LED1);
LED_Off(LED2);
LED_Off(LED3);
LED_Off(LED4);
/*Initialize scheduler*/
SchM_Init(&SchConfig);
/*Hand control to the scheduler*/
SchM_Start();
for(;;)
{
}
}
/*~~~~~~~ Main Code ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
int main(void)
{
initModesAndClock();
/* Disable Watchdog */
disableWatchdog();
/*Initialize LEDs on TRK-MPC560xB board */
MemAllocInit(&MemAllocConfig);
vfnGPIO_LED_Init();
/*Initialize Interrupts */
INTC_InitINTCInterrupts();
/*Initialize Exception Handlers */
EXCEP_InitExceptionHandlers();
// PIT_device_init();
// PIT_channel_configure(PIT_CHANNEL_0 , Test);
// PIT_channel_start(PIT_CHANNEL_0);
/* Enable External Interrupts*/
enableIrq();
/* Infinite loop */
SchM_Init(&SchedulerConfig);
SchM_Start();
for (;;)
{
BackgroundSubsystemTasks();
}
}
/*~+:Main Code*/
int main(void)
{
/*Enable peri set 1 sysclk divided by 1 */
/* Mode initializations */
sysinit_InitMode();
/* Clock initializations */
sysinit_InitSysClock();
/* Memory Allcoation Initialization */
MemAllocInit(&MemAllocConfig);
/*Initialize LEDs on TRK-MPC560xB board */
vfnGPIO_LED_Init();
/* SBC dependencies */
InitDSPI_1();
ConfigureMZC33905DSPI_1();
/* CAN Initialization */
CAN_Initialization(&can_driver_config);
/* Initialize Interrupts */
INTC_InitINTCInterrupts();
/*Initialize Exception Handlers */
EXCEP_InitExceptionHandlers();
/* SchM Initialization */
SchM_Init(&SchMConfig);
/* Enable External Interrupts*/
enableIrq();
/*Selection of type of Car*/
Light_Ctrl_HwConfig();
init_ADC0_P0();
/* SchM Start */
SchM_Start();
/* Infinite loop - Should never reach this point */
for (;;)
{
}
}
/*~~~~~~~ Main Code ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
int main(void)
{
initModesAndClock();
/* Disable Watchdog */
disableWatchdog();
MemAllocInit(&MemAllocConfig);
Init_LIN_SLV1();
/*Initialize Interrupts */
INTC_InitINTCInterrupts();
/*Initialize Exception Handlers */
EXCEP_InitExceptionHandlers();
/* Enable External Interrupts*/
enableIrq();
/* Infinite loop */
/*init del scheduler*/
SchM_Init(&SchConfig);
SchM_Start();
for (;;)
{
BackgroundSubsystemTasks();
}
}
void main(void) {
volatile uint32_t IdleCtr = 0;
initModesAndClks(); /* Initialize mode entries */
initPeriClkGen(); /* Initialize peripheral clock generation for LINFlex */
disableWatchdog(); /* Disable watchdog */
INTC_InitINTCInterrupts();
EXCEP_InitExceptionHandlers();
INTC.MCR.R=0;
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Rx, 79, 10);
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Tx, 80, 10);
INTC_InstallINTCInterruptHandler(&Intc_LINFLEX_Err, 81, 10);
INTC.CPR.R = 0;
initLINFlex_0(9600); /* Initialize FLEXCAN 0 as master */
NormalModeLINFLEX_2();
//transmitLINframe(); /* Transmit one frame from master */
while (1) {IdleCtr++;} /* Idle loop: increment counter */
}
void main (void) {
volatile uint32_t i = 0; /* Dummy idle counter */
uint8_t success=0;
uint8_t byteReceived=0;
uint8_t opcode=0;
uint8_t payload=0;
char msg[32];
uint8_t msgLength=0;
clock = 0;
initModesAndClock(); /* MPC56xxP/B/S: Initialize mode entries, set sysclk = 64 MHz*/
initPeriClkGen(); /* Initialize peripheral clock generation for DSPIs */
disableWatchdog(); /* Disable watchdog */
EXCEP_InitExceptionHandlers(); /* Initialize exceptions: only need to load IVPR */
initADC();
initPIT(); /* Initialize PIT1 for 10Hz IRQ, priority 2 */
initPads(); /* Initialize software interrupt 4 */
initEMIOS_0(); /* Initialize eMIOS channels as counter, SAIC, OPWM */
initEMIOS_1(); /* Initialize eMIOS channels as counter, SAIC, OPWM */
initEMIOS_0ch0(); /* Initialize eMIOS 0 channel 0 as modulus counter*/
initEMIOS_0ch23(); /* Initialize eMIOS 0 channel 23 as modulus counter*/
initEMIOS_0ch8(); /* Initialize eMIOS 0 channel 8 as modulus counter*/
//just to make sure the wheels are facing straight
initDrive();
Drive();
SIU.PCR[64].R = 0x0100; /* Program the drive enable pin of S1 (PE0) as input*/
while((SIU.PGPDI[2].R & 0x80000000) == 0x80000000); /*Wait until S1 switch is pressed*/
for(i=0;i<100000;i++);
while((SIU.PGPDI[2].R & 0x80000000) != 0x80000000); /*Wait until S1 switch is released*/
INTC_InitVector();
INTC_InstallINTCInterruptHandler(&SwIrq4ISR,4,3);
INTC_InstallINTCInterruptHandler(&EOC_ISR,62,5);
INTC_InstallINTCInterruptHandler(&Pit1ISR,60,2);
INTC_InstallINTCInterruptHandler(&Pit2ISR,61,4);
INTC_InstallINTCInterruptHandler(&Pit3ISR,127,4);
initSerial();
flag_lineDone = -1;
initCamera();
initSteeringController();
INTC_InitINTCInterrupts();
INTC.CPR.B.PRI = 0; /* Single Core: Lower INTC's current priority */
initDrive();
// setPWMRw(48);
// setPWMLw(48);
setDirection(FORWARD);
in = getInBuffer();
out = getOutBuffer();
MESSAGE("I'm running\n\r");
fifo_write(&out->fifo,msg,msgLength);
while(isCameraReady()!=STATE_READY);
for(;;)
{
if(!(flag_lineDone==1))
{
Drive();
success=0;
success = fifo_read(&in->fifo,&byteReceived,1);
if(success==1)
{
if(opcode==0)
{
opcode = byteReceived;
MESSAGE("Command Received: ");
fifo_write(&out->fifo,msg,msgLength);
}
else
{
payload = byteReceived;
switch(opcode)
{
case DRIVE:
// TransmitData("Drive Command\n\r");
MESSAGE("Drive Command\n\r");
fifo_write(&out->fifo,msg,msgLength);
setDirection(payload);
break;
case SET_SPEED:
// TransmitData("Set Speed Command\n\r");
MESSAGE("Set Speed Command\n\r");
fifo_write(&out->fifo,msg,msgLength);
setPWMRw(payload);
setPWMLw(payload);
break;
case STEERING:
// TransmitData("Set Steering Command\n\r");
MESSAGE("Set Steering Command\n\r");
fifo_write(&out->fifo,msg,msgLength);
setAngle(payload);
break;
default:
// TransmitData("Bad command\n\r");
MESSAGE("Bad command\n\r");
fifo_write(&out->fifo,msg,msgLength);
break;
}
opcode = 0;
}
}
}
if(TRANSMISSION_DONE()&&(out->fifo.length>0))
Tx();
if(RECEPTION_DONE()&&(in->fifo.length<IN_BUFFER_SIZE))
Rx();
}
}
