//Initialize LCD display void init_disp (void) { static const gpio_map_t DIP204_SPI_GPIO_MAP = { {DIP204_SPI_SCK_PIN, DIP204_SPI_SCK_FUNCTION }, // SPI Clock. {DIP204_SPI_MISO_PIN, DIP204_SPI_MISO_FUNCTION}, // MISO. {DIP204_SPI_MOSI_PIN, DIP204_SPI_MOSI_FUNCTION}, // MOSI. {DIP204_SPI_NPCS_PIN, DIP204_SPI_NPCS_FUNCTION} // Chip Select NPCS. }; // add the spi options driver structure for the LCD DIP204 spi_options_t spiOptions = { .reg = DIP204_SPI_NPCS, .baudrate = 1000000, .bits = 8, .spck_delay = 0, .trans_delay = 0, .stay_act = 1, .spi_mode = 0, .modfdis = 1 }; // Assign I/Os to SPI gpio_enable_module(DIP204_SPI_GPIO_MAP, sizeof(DIP204_SPI_GPIO_MAP) / sizeof(DIP204_SPI_GPIO_MAP[0])); // Initialize as master spi_initMaster(DIP204_SPI, &spiOptions); // Set selection mode: variable_ps, pcs_decode, delay spi_selectionMode(DIP204_SPI, 0, 0, 0); // Enable SPI spi_enable(DIP204_SPI); // setup chip registers spi_setupChipReg(DIP204_SPI, &spiOptions, FOSC0); // initialize LCD dip204_init(backlight_IO, true); dip204_hide_cursor(); } int main (void) { // Switch the CPU main clock to oscillator 0 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP); board_init(); init_disp(); U32 x = 12345678; U32 y = 87654321; U64 z =0; F32 a = 1234.5678; F32 b = 8765.4321; F32 c = 0; U32 calc_time_z = 0; U32 calc_time_c = 0; U32 cnt_1 = 0; U32 cnt_2 = 0; U32 cnt_3 = 0; U32 cnt_res_z = 0; U32 cnt_res_c = 0; char cycl_str_z[9]; char cycl_str_c[9]; char result[19]; char cycl_c[9]; char cycl_z[9]; //Calculation: //Cycle count 1 cnt_1 = Get_sys_count(); //Calculation part 1: z = x*y; //Cycle count 2 cnt_2 = Get_sys_count(); //Calculation part 2: c = a*b; //Cycle count 3 cnt_3 = Get_sys_count(); //Cycle count result cnt_res_z = cnt_2 - cnt_1 ; cnt_res_c = cnt_3 - cnt_2 ; //Use cycle count result to find calculation time calc_time_c = (cnt_res_c * 1000000 + FOSC0 - 1) / FOSC0; calc_time_z = (cnt_res_z * 1000000 + FOSC0 - 1) / FOSC0; //Compose strings for display output sprintf(result, "%f", c); sprintf(cycl_str_z, "%lu", calc_time_z); sprintf(cycl_str_c, "%lu", calc_time_c); sprintf(cycl_c, "%lu", cnt_res_c); sprintf(cycl_z, "%lu", cnt_res_z); //Display calculation time, cycles and multiplication result on monitor dip204_clear_display(); dip204_set_cursor_position(1,1); dip204_write_string("x*y=z"); dip204_set_cursor_position(1,2); dip204_write_string("Time:"); dip204_set_cursor_position(7,2); dip204_write_string(cycl_str_z); dip204_set_cursor_position(1,3); dip204_write_string("Cycles:"); dip204_set_cursor_position(9,3); dip204_write_string(cycl_z); dip204_set_cursor_position(11,1); dip204_write_string("a*b=c"); dip204_set_cursor_position(11,2); dip204_write_string("Time:"); dip204_set_cursor_position(17,2); dip204_write_string(cycl_str_c); dip204_set_cursor_position(11,3); dip204_write_string("Cycles:"); dip204_set_cursor_position(19,3); dip204_write_string(cycl_c); while (1) { } }
int main(void) { //-------------------------USART INTERRUPT REGISTRATION.------------// // Set Clock: Oscillator needs to initialized once: First pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP); // -------------- USART INIT ----------------------------------------------- static const gpio_map_t USART_GPIO_MAP = { {AVR32_USART0_RXD_0_0_PIN, AVR32_USART0_RXD_0_0_FUNCTION}, {AVR32_USART0_TXD_0_0_PIN, AVR32_USART0_TXD_0_0_FUNCTION} }; // USART options. static const usart_options_t USART_OPTIONS = { .baudrate = USART_BAUDRATE, .charlength = 8, .paritytype = USART_NO_PARITY, .stopbits = USART_1_STOPBIT, .channelmode = USART_NORMAL_CHMODE }; // Assign GPIO to USART gpio_enable_module(USART_GPIO_MAP, sizeof(USART_GPIO_MAP) / sizeof(USART_GPIO_MAP[0])); // Init USART usart_init_rs232(USART_0, &USART_OPTIONS, FOSC0); Disable_global_interrupt(); INTC_init_interrupts(); // Init Interrupt Table: Once at first // Register USART Interrupt (hinzufügen) INTC_register_interrupt(&usart_int_handler, AVR32_USART0_IRQ, AVR32_INTC_INT0); USART_0->ier = AVR32_USART_IER_RXRDY_MASK; // Activate ISR on RX Line Enable_global_interrupt(); // ----------------------------------------------------------------------------------- // -------------------------- Display INIT ---------------------------------- // Map SPI Pins static const gpio_map_t DIP204_SPI_GPIO_MAP = { {DIP204_SPI_SCK_PIN, DIP204_SPI_SCK_FUNCTION }, // SPI Clock. {DIP204_SPI_MISO_PIN, DIP204_SPI_MISO_FUNCTION}, // MISO. {DIP204_SPI_MOSI_PIN, DIP204_SPI_MOSI_FUNCTION}, // MOSI. {DIP204_SPI_NPCS_PIN, DIP204_SPI_NPCS_FUNCTION} // Chip Select NPCS. }; // add the spi options driver structure for the LCD DIP204 spi_options_t spiOptions = { .reg = DIP204_SPI_NPCS, .baudrate = 1000000, .bits = 8, .spck_delay = 0, .trans_delay = 0, .stay_act = 1, .spi_mode = 0, .modfdis = 1 }; // SPI Inits: Assign I/Os to SPI gpio_enable_module(DIP204_SPI_GPIO_MAP, sizeof(DIP204_SPI_GPIO_MAP) / sizeof(DIP204_SPI_GPIO_MAP[0])); // Initialize as master spi_initMaster(DIP204_SPI, &spiOptions); // Set selection mode: variable_ps, pcs_decode, delay spi_selectionMode(DIP204_SPI, 0, 0, 0); // Enable SPI spi_enable(DIP204_SPI); // setup chip registers spi_setupChipReg(DIP204_SPI, &spiOptions, FOSC0); // initialize delay driver: Muss vor dip204_init() ausgeführt werden delay_init( FOSC0 ); // initialize LCD dip204_init(backlight_PWM, TRUE); // --------------------------------------------------------------------------------------- // ----------------- Timer Counter Init --------------------------------- // Timer Configs: Options for waveform generation. static const tc_waveform_opt_t WAVEFORM_OPT = { .channel = TC_CHANNEL, // Channel selection. .bswtrg = TC_EVT_EFFECT_NOOP, // Software trigger effect on TIOB. .beevt = TC_EVT_EFFECT_NOOP, // External event effect on TIOB. .bcpc = TC_EVT_EFFECT_NOOP, // RC compare effect on TIOB. .bcpb = TC_EVT_EFFECT_NOOP, // RB compare effect on TIOB. .aswtrg = TC_EVT_EFFECT_NOOP, // Software trigger effect on TIOA. .aeevt = TC_EVT_EFFECT_NOOP, // External event effect on TIOA. .acpc = TC_EVT_EFFECT_NOOP, // RC compare effect on TIOA: toggle. .acpa = TC_EVT_EFFECT_NOOP, // RA compare effect on TIOA: toggle .wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,// Count till RC and reset (S. 649): Waveform selection .enetrg = FALSE, // External event trigger enable. .eevt = 0, // External event selection. .eevtedg = TC_SEL_NO_EDGE, // External event edge selection. .cpcdis = FALSE, // Counter disable when RC compare. .cpcstop = FALSE, // Counter clock stopped with RC compare. .burst = FALSE, // Burst signal selection. .clki = FALSE, // Clock inversion. .tcclks = TC_CLOCK_SOURCE_TC3 // Internal source clock 3, connected to fPBA / 8. }; // TC Interrupt Enable Register static const tc_interrupt_t TC_INTERRUPT = { .etrgs = 0, .ldrbs = 0, .ldras = 0, .cpcs = 1, .cpbs = 0, .cpas = 0, .lovrs = 0, .covfs = 0 }; // 0 = No Effect | 1 = Enable ( CPCS = 1 enables the RC Compare Interrupt ) // ***************** Timer Setup *********************************************** // Initialize the timer/counter. tc_init_waveform(tc, &WAVEFORM_OPT); // Initialize the timer/counter waveform. // Set the compare triggers. tc_write_rc(tc, TC_CHANNEL, RC); // Set RC value. tc_configure_interrupts(tc, TC_CHANNEL, &TC_INTERRUPT); // Start the timer/counter. tc_start(tc, TC_CHANNEL); // And start the timer/counter. // ******************************************************************************* Disable_global_interrupt(); // Register TC Interrupt INTC_register_interrupt(&tc_irq, AVR32_TC_IRQ0, AVR32_INTC_INT3); Enable_global_interrupt(); // --------------------------------------------------------------------------------------- imu_init(); //-------------------------------TWI R/W --------------------------------------------------- sensorDaten imu_data = {0}; char disp1[30], disp2[30], disp3[30], disp4[30]; short GX,GY,GZ, AX, AY, AZ; //shifted comlete Data RPY currMoveRPY; Quaternion currQuat; currQuat.q0 = 1.0; currQuat.q1 = 0; currQuat.q2 = 0; currQuat.q3 = 0; Quaternion deltaQuat; RotMatrix rot = {0}; RPY reconverted; calibrate_all(&imu_data); while(1){ if(exe){ exe = false; read_sensor(&imu_data); AX = imu_data.acc_x + imu_data.acc_x_bias; AY = imu_data.acc_y + imu_data.acc_y_bias; AZ = imu_data.acc_z + imu_data.acc_z_bias; GX = imu_data.gyro_x + imu_data.gyro_x_bias; GY = imu_data.gyro_y + imu_data.gyro_y_bias; GZ = imu_data.gyro_z + imu_data.gyro_z_bias; //convert to 1G float ax = (float)AX * (-4.0); float ay = (float)AY * (-4.0); //wegen 2^11= 2048, /2 = 1024 entspricht 4G -> 1G = (1024/4) float az = (float)AZ * (-4.0); //convert to 1°/s gx = ((float)GX/ 14.375); // in °/s gy = ((float)GY/ 14.375); gz = ((float)GZ/ 14.375); //Integration over time dGx = (gx*0.03); dGy = (gy*0.03); dGz = (gz*0.03); currMoveRPY.pitch = -dGx; currMoveRPY.roll = dGy; currMoveRPY.yaw = dGz; //aufaddieren auf den aktuellen Winkel IN GRAD gxDeg += dGx; gyDeg += dGy; gzDeg += dGz; //RPY in Quaternion umwandeln RPYtoQuat(&deltaQuat, &currMoveRPY); //normieren normQuat(&deltaQuat); //aufmultiplizeiren quatMultiplication(&deltaQuat, &currQuat, &currQuat); //nochmal normieren normQuat(&currQuat); //rücktransformation nicht nötig!! char send[80]; sprintf(send,"$,%f,%f,%f,%f,#", currQuat.q0, currQuat.q1, currQuat.q2, currQuat.q3); usart_write_line(USART_0,send); sprintf(disp1,"q0:%.3f, GX:%3.0f",currQuat.q0,gxDeg); sprintf(disp2,"q1:%.3f, GY:%3.0f",currQuat.q1, gyDeg); sprintf(disp3,"q2:%.3f, GZ:%3.0f",currQuat.q2, gzDeg); sprintf(disp4,"q3:%.3f",currQuat.q3); dip204_clear_display(); dip204_set_cursor_position(1,1); dip204_write_string(disp1); dip204_set_cursor_position(1,2); dip204_write_string(disp2); dip204_set_cursor_position(1,3); dip204_write_string(disp3); dip204_set_cursor_position(1,4); dip204_write_string(disp4); //sprintf(data,"TEST:%s",high); //print_dbg(data); } } }
static void qt60168_resources_init(const pm_freq_param_t *pm_freq_param) { static const gpio_map_t QT60168_SPI_GPIO_MAP = { {QT60168_SPI_SCK_PIN, QT60168_SPI_SCK_FUNCTION }, // SPI Clock. {QT60168_SPI_MISO_PIN, QT60168_SPI_MISO_FUNCTION }, // MISO. {QT60168_SPI_MOSI_PIN, QT60168_SPI_MOSI_FUNCTION }, // MOSI. {QT60168_SPI_NPCS0_PIN, QT60168_SPI_NPCS0_FUNCTION} // Chip Select NPCS. }; // SPI options. spi_options_t spiOptions = { .reg = QT60168_SPI_NCPS, .baudrate = QT60168_SPI_MASTER_SPEED, // Defined in conf_qt60168.h. .bits = QT60168_SPI_BITS, // Defined in conf_qt60168.h. .spck_delay = 0, .trans_delay = 0, .stay_act = 0, .spi_mode = 3, .modfdis = 1 }; // Assign I/Os to SPI. gpio_enable_module(QT60168_SPI_GPIO_MAP, sizeof(QT60168_SPI_GPIO_MAP) / sizeof(QT60168_SPI_GPIO_MAP[0])); #if EXT_BOARD != SPB105 // Initialize as master. spi_initMaster(QT60168_SPI, &spiOptions); // Set selection mode: variable_ps, pcs_decode, delay. spi_selectionMode(QT60168_SPI, 0, 0, 0); // Enable SPI. spi_enable(QT60168_SPI); #endif // Initialize QT60168 with SPI clock Osc0. spi_setupChipReg(QT60168_SPI, &spiOptions, pm_freq_param->cpu_f); } #endif void gui_init(const pm_freq_param_t *pm_freq_param) { #if BOARD == EVK1100 static const gpio_map_t DIP204_SPI_GPIO_MAP = { {DIP204_SPI_SCK_PIN, DIP204_SPI_SCK_FUNCTION }, // SPI Clock. {DIP204_SPI_MISO_PIN, DIP204_SPI_MISO_FUNCTION}, // MISO. {DIP204_SPI_MOSI_PIN, DIP204_SPI_MOSI_FUNCTION}, // MOSI. {DIP204_SPI_NPCS_PIN, DIP204_SPI_NPCS_FUNCTION} // Chip Select NPCS. }; spi_options_t spiOptions = { .reg = DIP204_SPI_NPCS, .baudrate = 1000000, .bits = 8, .spck_delay = 0, .trans_delay = 0, .stay_act = 1, .spi_mode = 3, .modfdis = 1 }; #endif memset(&scroll_box_contents, 0, sizeof scroll_box_contents); memset(&title_contents, 0, sizeof title_contents); memset(&button_contents, 0, sizeof button_contents); memset(&infobox_contents, 0, sizeof infobox_contents); memset(&info_bitmap, 0, sizeof info_bitmap); #if BOARD == EVK1104 // Init touch sensor resources: GPIO, SPI and QT60168. qt60168_resources_init(pm_freq_param); // Initialize QT60168 component. qt60168_init(pm_freq_param->cpu_f); #endif #if BOARD == EVK1100 // Assign I/Os to SPI gpio_enable_module(DIP204_SPI_GPIO_MAP, sizeof(DIP204_SPI_GPIO_MAP) / sizeof(DIP204_SPI_GPIO_MAP[0])); #if 0 // Initialize as master spi_initMaster(DIP204_SPI, &spiOptions); // Set selection mode: variable_ps, pcs_decode, delay spi_selectionMode(DIP204_SPI, 0, 0, 0); // Enable SPI spi_enable(DIP204_SPI); #endif // setup chip registers spi_setupChipReg(DIP204_SPI, &spiOptions, FOSC0); // initialize LCD dip204_init(backlight_PWM, true); dip204_set_cursor_position(1,1); dip204_write_string("http server demo!"); #else // Init display et024006_Init( pm_freq_param->cpu_f, pm_freq_param->cpu_f /*HSB*/); // Turn on the display backlight gpio_set_gpio_pin(ET024006DHU_BL_PIN); #endif mod = 1; } void gui_set_title(const char *str, unsigned char line) { int len; Assert(line < 3); memset(&title_contents.title[line], 0, sizeof title_contents.title[0]); len = strlen(str); if (len >= sizeof title_contents.title[0]) { len = sizeof title_contents.title[0] - 1; } strncpy(title_contents.title[line], str, len); mod = 1; } int gui_set_button(short id, const char *label, size_t len, button_cb_t cb) { if (id >= NUM_BUTTONS) { return 0; } if (len >= sizeof button_contents.labels[id]) { len = sizeof button_contents.labels[id] - 1; } button_contents.cbs[id] = cb; strncpy(button_contents.labels[id], label, len); mod = 1; return 1; } void gui_clear_scroll_box(void) { memset(&scroll_box_contents, 0, sizeof scroll_box_contents); scroll_box_contents.dispstart = 0; }
void init_LCD(void){ static const gpio_map_t DIP204_SPI_GPIO_MAP = { {DIP204_SPI_SCK_PIN, DIP204_SPI_SCK_FUNCTION }, // SPI Clock. {DIP204_SPI_MISO_PIN, DIP204_SPI_MISO_FUNCTION}, // MISO. {DIP204_SPI_MOSI_PIN, DIP204_SPI_MOSI_FUNCTION}, // MOSI. {DIP204_SPI_NPCS_PIN, DIP204_SPI_NPCS_FUNCTION} // Chip Select NPCS. }; spi_options_t spiOptions = { .reg = DIP204_SPI_NPCS, .baudrate = 1000000, .bits = 8, .spck_delay = 0, .trans_delay = 0, .stay_act = 1, .spi_mode = 0, .modfdis = 1 }; gpio_enable_module(DIP204_SPI_GPIO_MAP, sizeof(DIP204_SPI_GPIO_MAP) / sizeof(DIP204_SPI_GPIO_MAP[0])); spi_initMaster(DIP204_SPI, &spiOptions); spi_selectionMode(DIP204_SPI, 0, 0, 0); spi_enable(DIP204_SPI); spi_setupChipReg(DIP204_SPI, &spiOptions, FOSC0); dip204_init(backlight_PWM, true); clear_Display(); dip204_hide_cursor(); } void init_Potentiometer(void){ const gpio_map_t ADC_GPIO_MAP = { {EXAMPLE_ADC_POTENTIOMETER_PIN, EXAMPLE_ADC_POTENTIOMETER_FUNCTION} }; gpio_enable_module(ADC_GPIO_MAP, sizeof(ADC_GPIO_MAP) / sizeof(ADC_GPIO_MAP[0])); AVR32_ADC.mr |= 0x1 << AVR32_ADC_MR_PRESCAL_OFFSET; adc_configure(&AVR32_ADC); adc_enable(&AVR32_ADC, EXAMPLE_ADC_POTENTIOMETER_CHANNEL); adc_start(&AVR32_ADC); } void init_CurrentSensor(void){ #define AVR32_ADC_AD_1_PIN 22 const gpio_map_t ADC_GPIO_MAP = { {AVR32_ADC_AD_3_PIN, AVR32_ADC_AD_3_FUNCTION} }; gpio_enable_module(ADC_GPIO_MAP, sizeof(ADC_GPIO_MAP) / sizeof(ADC_GPIO_MAP[0])); AVR32_ADC.mr |= 0x1 << AVR32_ADC_MR_PRESCAL_OFFSET; adc_configure(&AVR32_ADC); adc_enable(&AVR32_ADC, 3); adc_start(&AVR32_ADC); } void clear_Line(int line){ for(int i = 0; i<21;i++){ dip204_set_cursor_position(i,line); dip204_write_string(" "); } } void set_Direccion(int direccion){ if(direccion == 1){ clear_Line(2); dip204_set_cursor_position(1,2); dip204_write_string("Direccion:"); dip204_set_cursor_position(12,2); dip204_write_string("Forward"); } if(direccion == 0){ clear_Line(2); dip204_set_cursor_position(1,2); dip204_write_string("Direccion:"); dip204_set_cursor_position(12,2); dip204_write_string("Reverse"); } } void set_Velocidad(int velocidad){ clear_Line(3); dip204_set_cursor_position(1,3); dip204_write_string("Velocidad:"); dip204_set_cursor_position(12,3); switch (velocidad){ case 1: dip204_write_string("1"); break; case 2: dip204_write_string("2"); break; case 3: dip204_write_string("3"); break; case 4: dip204_write_string("4"); break; case 5: dip204_write_string("5"); break; case 6: dip204_write_string("6"); break; case 7: dip204_write_string("7"); break; case 8: dip204_write_string("8"); break; case 9: dip204_write_string("9"); break; case 10: dip204_write_string("10"); break; }//SWITCH }
/*! * \brief main function : do init and loop (poll if configured so) */ int main(void) { static const gpio_map_t DIP204_SPI_GPIO_MAP = { {DIP204_SPI_SCK_PIN, DIP204_SPI_SCK_FUNCTION }, // SPI Clock. {DIP204_SPI_MISO_PIN, DIP204_SPI_MISO_FUNCTION}, // MISO. {DIP204_SPI_MOSI_PIN, DIP204_SPI_MOSI_FUNCTION}, // MOSI. {DIP204_SPI_NPCS_PIN, DIP204_SPI_NPCS_FUNCTION} // Chip Select NPCS. }; // Switch the CPU main clock to oscillator 0 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP); // Disable all interrupts. Disable_global_interrupt(); // init the interrupts INTC_init_interrupts(); // Enable all interrupts. Enable_global_interrupt(); // add the spi options driver structure for the LCD DIP204 spi_options_t spiOptions = { .reg = DIP204_SPI_NPCS, .baudrate = 1000000, .bits = 8, .spck_delay = 0, .trans_delay = 0, .stay_act = 1, .spi_mode = 0, .modfdis = 1 }; // Assign I/Os to SPI gpio_enable_module(DIP204_SPI_GPIO_MAP, sizeof(DIP204_SPI_GPIO_MAP) / sizeof(DIP204_SPI_GPIO_MAP[0])); // Initialize as master spi_initMaster(DIP204_SPI, &spiOptions); // Set selection mode: variable_ps, pcs_decode, delay spi_selectionMode(DIP204_SPI, 0, 0, 0); // Enable SPI spi_enable(DIP204_SPI); // setup chip registers spi_setupChipReg(DIP204_SPI, &spiOptions, FOSC0); // configure local push buttons dip204_example_configure_push_buttons_IT(); // configure local joystick dip204_example_configure_joystick_IT(); // initialize LCD dip204_init(backlight_PWM, true); // reset marker current_char = 0x10; // Display default message. dip204_set_cursor_position(8,1); dip204_write_string("ATMEL"); dip204_set_cursor_position(7,2); dip204_write_string("EVK1100"); dip204_set_cursor_position(6,3); dip204_write_string("AVR32 UC3"); dip204_set_cursor_position(3,4); dip204_write_string("AT32UC3A Series"); dip204_hide_cursor(); /* do a loop */ while (1) { if (display) { delay_ms(400); // A delay so that it is humanly possible to see the // character(s) before they are cleared. // Clear line 1 column 19 dip204_set_cursor_position(19,1); dip204_write_string(" "); // Clear line 2 from column 18 to column 20. dip204_set_cursor_position(18,2); dip204_write_string(" "); // 3 spaces // Clear line 3 column 19 dip204_set_cursor_position(19,3); dip204_write_string(" "); display = 0; } } }