void setup(void) {
//----------- Setup ----------------
fruitInit();
pinModeDigitalOut(LED); // set the LED pin mode to digital out
digitalClear(LED); // clear the LED
delayStart(mainDelay, 5000); // init the mainDelay to 5 ms
delayStart(secondesDelay, 1000000); // init the secondesDelay to 1 s
//----------- Analog setup ----------------
analogInit(); // init analog module
analogSelect(0,MOTA_CURRENT); // assign MotorA current sense to analog channel 0
analogSelect(1,MOTB_CURRENT); // assign MotorA current sense to analog channel 0
//----------- dcmotor setup ----------------
//DCMOTOR_INIT(A);
//DCMOTOR_INIT(B);
dcmotorInit(A);
dcmotorInit(B);
rampInit(&rampeVitesseA);
rampInit(&rampeVitesseB);
//--- on/off switch
pinModeDigitalIn(ONOFF); // set the ONOFF pin mode to digital input
EEreadMain();
}
int main (void)
{
//void wdt_disable(void);
/* Initialise the Due board */
sysclk_init();
board_init();
analogInit();
/* Initialise console UART */
configureConsole();
/* Print demo information on the terminal*/
printf("-- Terminal by William & Elvin--\n\r");
/* Create the first task for running the code lock */
if (xTaskCreate(TaskJoystickX, (const signed char * const) "TaskJoystickX", 1024, NULL, 2, NULL) != pdPASS){
printf("Failed to create TaskJoystick\n");
}
if (xTaskCreate(TaskJoystickY, (const signed char * const) "TaskJoystickY", 1024, NULL, 2, NULL) != pdPASS){
printf("Failed to create TaskJoystick\n");
}
vTaskStartScheduler();
}
void test_ADConverterInitialisesProperly(void){
analogInit();
TEST_ASSERT_BIT_HIGH_MESSAGE(5, *p_PMC_PCSR1, "PMC has not enabled the peripheral ADC clock"); /* Asserting the PMC manager has activated the ADC clock */
TEST_ASSERT_BIT_HIGH_MESSAGE(7, *p_ADC_CHSR, "ADC channel 7 is not enabled"); /* Asserting that ADC channel 7 is enabled */
TEST_ASSERT_BIT_HIGH_MESSAGE(6, *p_ADC_CHSR, "ADC channel 6 is not enabled"); /* Asserting that ADC channel 6 is enabled */
TEST_ASSERT_BIT_HIGH_MESSAGE(5, *p_ADC_CHSR, "ADC channel 5 is not enabled"); /* Asserting that ADC channel 5 is enabled */
}
void init()
{
disableWatchDog();
initClocks();
//Copy RAM functions
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
//Setup flash waitstates
initFlash();
initPie();
analogInit();
EINT;
}
int main(void)
{
/* Initialise the Due board */
sysclk_init();
board_init();
delayInit();
daccInit();
analogInit(1);
if (xTaskCreate(task_PID, (const signed char * const) "Task_PID", TASK_STACK_PID_SIZE, NULL, TASK_PID_STACK_PRIORITY, NULL) != pdPASS)
{
printf("Failed to create PID task\r\n");
}
/*
if (xTaskCreate(task_Matlab, (const signed char * const) "Task_Matlab", TASK_STACK_MATLAB_SIZE, NULL, TASK_MATLAB_STACK_PRIORITY, NULL) != pdPASS)
{
printf("Failed to create Matlab task\r\n");
}*/
vTaskStartScheduler();
}
//
// Function: analogHmsInit
//
// Initialize the LCD display of a very simple analog clock with
// Hour and Minutes arrow and Seconds needle
//
void analogHmsInit(u08 mode)
{
anaSecShow = GLCD_TRUE;
analogInit(mode);
}
//
// Function: analogHmInit
//
// Initialize the LCD display of a very simple analog clock with
// Hour and Minutes arrow
//
void analogHmInit(u08 mode)
{
anaSecShow = GLCD_FALSE;
analogInit(mode);
}
void setup(void)
{
//unsigned long t3,servoSOF;
fruitInit();
switchInit();
//i2cm_init(I2C_MASTER, I2C_SLEW_ON, FOSC/400000/4-1) ; //400kHz : clock = FOSC/(4 * (SSPADD + 1)) : SSPADD=FOSC/clock/4-1
//HMC5883_init();
// --------- init motors PWM on TMR2 ----------- // now done by core & dcmotor
// PWM on Timer2 : fPWM = fOSC / (TMR2prescale * 4 * (PR2+1))
// = 64000000Hz/(4 * 4 * 256) = 15625Hz
/*CCP2CON=CCP3CON=0b00001100 ; // single PWM active high
T2CONbits.T2CKPS0=1; //prescaler 4
PR2=255;
T2CONbits.TMR2ON=1;*/
// ------- init PWM1 to pulse MOTC_IN1
//PSTR1CON=0;
//PSTR1CONbits.STR1D=1;
// ------- init PWM2 to pulse MOTD_EN
//PSTR2CON=0;
//PSTR2CONbits.STR2B=1;
#if 1
// ---------- capture timer : TMR1 ------------
T1CON=0b00110011;//src=fosc/4,ps=8,16bit r/w,on.
PIE1bits.TMR1IE=1; //1;
IPR1bits.TMR1IP=1;
// ---------- Servos ------------
//Servo_Init();
//SERVO_SET_PORT(0,K3);
dcmotorInit(X);
DCMOTOR(X).Setting.PosWindow = 1;
DCMOTOR(X).Setting.PwmMin = 50;
DCMOTOR(X).Setting.PosErrorGain = 6;
DCMOTOR(X).Setting.onlyPositive = 0;
DCMOTOR(X).PosRamp.maxSpeed = 40;
DCMOTOR(X).PosRamp.maxAccel = 50;
DCMOTOR(X).PosRamp.maxDecel = 50;
rampSetPos(&DCMOTOR(X).PosRamp, 0);
DCMOTOR(X).PosPID.GainP = 120; //90
DCMOTOR(X).PosPID.GainI = 10;
DCMOTOR(X).PosPID.GainD = 0;
DCMOTOR(X).PosPID.MaxOut = 1023;
DCMOTOR(X).VolVars.homed = 1;
pinModeDigitalOut(MXEN2);
digitalSet(MXEN2);
dcmotorInit(Y);
DCMOTOR(Y).Setting.PosWindow = 100;
DCMOTOR(Y).Setting.PwmMin = 50;
DCMOTOR(Y).Setting.PosErrorGain = 1;
DCMOTOR(Y).PosRamp.maxSpeed = 2000;
DCMOTOR(Y).PosRamp.maxAccel = 5000;
DCMOTOR(Y).PosRamp.maxDecel = 5000;
rampSetPos(&DCMOTOR(Y).PosRamp, 16384);
DCMOTOR(Y).PosPID.GainP = 200; //90
DCMOTOR(Y).PosPID.GainI = 1;
DCMOTOR(Y).PosPID.GainD = 0;
DCMOTOR(Y).PosPID.MaxOut = 1023;
DCMOTOR(Y).VolVars.homed = 1;
pinModeDigitalOut(MYEN2);
digitalSet(MYEN2);
#endif
analogInit();
//ANALOG_SELECT(MOTX_POSCHAN, MOTX_POS);
analogSelect(MOTX_CSCHAN, MXCS);
//ANALOG_SELECT(MOTY_POSCHAN, MOTY_POS);
analogSelect(MOTY_CSCHAN, MYCS);
analogSelect(ACCX_CHAN, ACCX);
analogSelect(ACCZ_CHAN, ACCZ);
switchSelect(0,K7);
//EEreadMain();
delayStart(mainDelay, 5000); // init the mainDelay to 5 ms
}
