//-----------------------------------------------------------------------------
// System_Init(void)
//-----------------------------------------------------------------------------
//
// Return Value - None
// Parameters - None
//
// This top-level initialization routine calls all support routine.
//
// ----------------------------------------------------------------------------
void System_Init (void)
{
PCA0MD &= ~0x40; // Disable Watchdog timer
PCA0MD = 0x00;
Sysclk_Init (); // initialize system clock
Port_Init (); // configure cross bar
}
//-----------------------------------------------------------------------------
// Main Routine
//-----------------------------------------------------------------------------
void main(void)
{
char cmd;
PCA0MD &= ~0x40; // Disable Watchdog timer
Sysclk_Init(); // Initialize oscillator
Port_Init(); // Initialize crossbar and GPIO
P2=0xFF; // tie high to turn off pulldowns for open drain devices connected
Usb0_Init(); // Initialize USB0
Timer_Init(); // Initialize timer2
LedOn();
//RSTSRC =0x80; ; // enable USB and
// missing clock detector reset sources
// if we enabled missing clock detector then the device doesn't work, don't know why
// watchdog
// load watchdog offset
PCA0CPL4=0xff; // maximum offset so that watchdog takes a good long time to time out
// enable watchdog
PCA0MD |= 0x44; // WDT enabled, PCA clock source is timer0 overflow
PCA0CPH4 = 0x00; // write value to WDT PCA to start watchdog
/* Servo0=0;
Servo1=0;
Servo2=0;
Servo3=0;
*/
while (1)
{
// It is possible that the contents of the following packets can change
// while being updated. This doesn't cause a problem in the sample
// application because the bytes are all independent. If data is NOT
// independent, packet update routines should be moved to an interrupt
// service routine, or interrupts should be disabled during data updates.
PCA0CPH4 = 355; // write value to WDT PCA to reset watchdog
EA=0; // disable ints
// LedToggle();
cmd=Out_Packet[0];
switch(cmd){
case CMD_SET_SERVO:
Out_Packet[0]=0; // command is processed
LedToggle();
pwmNumber=Out_Packet[1];
switch(pwmNumber)
{
// big endian 16 bit value to load into PWM controller
case 0:
{ // servo0
pwmh1=Out_Packet[2]; // store the PCA compare value for later interrupt to load
pwml1=Out_Packet[3];
PCA0CPM0 |= 0x49; // enable compare function and match and interrupt for match for pca
}
break;
case 1:
{ // servo1
pwmh2=Out_Packet[2];
pwml2=Out_Packet[3];
PCA0CPM1 |= 0x49; // enable compare function and enable match and interrupt for match for pca
}
break;
case 2:
{ // servo1
pwmh3=Out_Packet[2];
pwml3=Out_Packet[3];
PCA0CPM2 |= 0x49; // enable compare function and enable match and interrupt for match for pca
}
break;
case 3:
{ // servo1
pwmh4=Out_Packet[2];
pwml4=Out_Packet[3];
PCA0CPM3 |= 0x49; // enable compare function and enable match and interrupt for match for pca
}
}
EIE1 |= 0x10; // enable PCA interrupt
break;
case CMD_DISABLE_SERVO:
//cmd: CMD, SERVO
{
Out_Packet[0]=0; // command is processed
LedToggle();
pwmNumber=Out_Packet[1];
switch(pwmNumber)
{
// big endian 16 bit value to load into PWM controller
case 0:
{ // servo0
PCA0CPM0 &= ~0x40; // disable compare function
}
break;
case 1:
{ // servo1
PCA0CPM1 &= ~0x40; // disable compare function
}
break;
case 2:
{ // servo2
PCA0CPM2 &= ~0x40; // disable compare function
}
break;
case 3:
{ // servo3
PCA0CPM3 &= ~0x40; // disable compare function
}
}
}
break;
case CMD_SET_ALL_SERVOS: // cmd: CMD, PWMValue0 (2 bytes bigendian), PWMValue1 (2 bytes bigendian)
{
Out_Packet[0]=0; // command is processed
LedToggle();
// TODO the set all servos probably doesn't work because it doesn't save the values for the ISR to later load
PCA0CPL0=Out_Packet[2];
PCA0CPH0=Out_Packet[1]; // store the PCA compare value for later interrupt to load, write low value FIRST
PCA0CPM0 |= 0x49; // enable compare function and match and interrupt for match for pca
PCA0CPL1=Out_Packet[4];
PCA0CPH1=Out_Packet[3];
PCA0CPM1 |= 0x49; // enable compare function and enable match and interrupt for match for pca
PCA0CPL2=Out_Packet[6];
PCA0CPH2=Out_Packet[5];
PCA0CPM2 |= 0x49; // enable compare function and enable match and interrupt for match for pca
PCA0CPL3=Out_Packet[8];
PCA0CPH3=Out_Packet[7];
PCA0CPM3 |= 0x49; // enable compare function and enable match and interrupt for match for pca
}
EIE1 |= 0x10; // enable PCA interrupt
break;
case CMD_DISABLE_ALL_SERVOS: //cmd: CMD
{
Out_Packet[0]=0; // command is processed
LedToggle();
PCA0CPM0 &= ~0x40; // disable compare function
PCA0CPM1 &= ~0x40; // disable compare function
PCA0CPM2 &= ~0x40; // disable compare function
PCA0CPM3 &= ~0x40; // disable compare function
}
break;
case CMD_SET_TIMER0_RELOAD_VALUE:
{
Out_Packet[0]=0; // command is processed
LedToggle();
TH0=255-Out_Packet[1]; // timer0 reload value, 2 for 60Hz, 1 for 91Hz servo pulse rate, 0 for 180 Hz
}
break;
case CMD_SET_PCA0MD_CPS: // bit are ORed with 0x7, left shifted by one, and set to the PCA0MD bits 3:1
{
Out_Packet[0]=0; // command is processed
LedToggle();
// must disable watchdog before changing these bits
PCA0MD&=~0x40;
PCA0MD = (PCA0MD & 0xf1) | ( (0x7&Out_Packet[1]) <<1); // this is the PCA control register, bits 3:1 are the CPS bits that control the PCA clock source
// CPS = 0 sysclk/12
// CPS = 1 sysclk/4
// CPS = 2 timer0 overflow
PCA0MD|=0x40; // re-enable watchdog
PCA0CPH4 = 0xff; // write value to WDT PCA to start watchdog
}
break;
case CMD_SET_PORT2:
{
Out_Packet[0]=0; //ack
LedToggle();
P2=Out_Packet[1];
break;
}
case CMD_SEND_WOWWEE_RS_CMD:
{
// P2.0 is high
Out_Packet[0]=0; // cmd has been processed
LedToggle();
rsv2_cmd.cmd = (Out_Packet[1])|(Out_Packet[2]<<8);
//rsv2_cmd.msb = (Out_Packet[2]);
rsv2_precmd = 1; // we're sending the start 'bit'
rsv2_cyclesleft = 517; // 8/1200
rsv2_cmdidx = 12; // 12 bits
rsv2_sendcmd = 1; // we're sending a cmd state
EIE1|=0x80; // enable timer 3 interrupts, disabled at end of cmd
break;
}
case CMD_SET_PORT_DOUT:
{
Out_Packet[0]=0; // cmd has been processed
LedToggle();
P1MDOUT= (Out_Packet[1]); // setting bit to 1 makes port pin push-pull, 0 makes it open drain
P2MDOUT= (Out_Packet[2]);
break;
}
} // switch
EA=1; // enable interrupts
//LedOn();
} // while(1)
}
