//
// Main Routine
//
int main(void) {
#ifdef DEBUG
CSerial ser; // declare a UART object
ser.enable();
CDebug dbg(ser); // Debug stream use the UART object
dbg.start();
#endif
//
// PWM (Using Timer1)
//
hwPWM pwm1(TIMER_1, 5, 6, 7); // set pwm1 pins on P0.5 (CH1), P0.6 (CH2) and P0.7 (CH3)
pwm1.period(0.0002); // period time = 200us
pwm1.enable(); // enable PWM module
// update pwm2 channels duty-cycle (can be updated in any-time)
pwm1.dutycycle(PWM_CH_1, 0.8f); // CH1 duty-cycle = 80%
pwm1.dutycycle(PWM_CH_2, 0.6f); // CH2 duty-cycle = 60%
pwm1.dutycycle(PWM_CH_3, 0.2f); // CH3 duty-cycle = 20%
//
// PWM (Using Timer2)
//
hwPWM pwm2(TIMER_2, LED_PIN_1, LED_PIN_2); // set pwm2 pins on LED1 (CH1) and LED2
pwm2.period(0.0005); // period time = 500us
pwm2.enable(); // enable PWM module
// update pwm2 channels duty-cycle (can be updated in any-time)
pwm2.dutycycle(PWM_CH_1, 0.8f); // CH1 duty-cycle = 80%
pwm2.dutycycle(PWM_CH_2, 0.1f); // CH2 duty-cycle = 10%
//
// LED
//
CPin led(LED_PIN_0);
led.output();
CTimeout tmLED;
//
// Enter main loop.
//
while(1) {
//
// FireFly loop
//
if ( tmLED.isExpired(500) ) {
tmLED.reset();
led.toggle();
}
}
}
void main(void)
{
GPIO = 0x00;
TRISIO = ~(1<<0 | 1<<1 | 1<<4 );
// Load OSCCAL value
OSCCAL = __osccal_val();
// Set pin 7(R), 6(G), 3(B) as Output
UOUTPUT_PORT(TRISIO_R);
UOUTPUT_PORT(TRISIO_G);
UOUTPUT_PORT(TRISIO_B);
// Set pin2(SW) as input
UINPUT_PORT(TRISIO_SW);
// Set IOC on pin2
// Test
rgb[0].duration = 200;//50
rgb[0].pin = IND_B;
rgb[1].duration = 200;//100
rgb[1].pin = IND_G;
rgb[2].duration = 200;//200
rgb[2].pin = IND_R;
while(1)
{
// USET2(PIN_R, ON);
pwm2();
}
// while(1)
// {
// USET2(PIN_R, ON);
// __delay_ms(1000);
// USET2(PIN_R, OFF);
// USET2(PIN_G, ON);
// __delay_ms(1000);
// USET2(PIN_G, OFF);
// USET2(PIN_B, ON);
// __delay_ms(1000);
// USET2(PIN_B, OFF);
// }
}
int main(int argc, char** argv)
{
int i, nBytes;
int fd; /* file descriptor */
char buffer[256];
// create Robovero object
Robovero test ("/dev/ttyACM0","testLogging.log");
// connect pwm channels 1 and 4
PWMDevice pwm1 (&test, 1);
PWMDevice pwm2 (&test, 4);
for (i=0;i<30;i++)
{
pwm1.move(196+(45+90*(i%2))*1820/180);
pwm2.move(196+(0+90*(i%2))*1820/180);
sleep(1);
}
return 0;
}
int main(void)
{
/* FIFO Buffer */
unsigned long temp[1];
/*Set the clocking to directly run from the crystal at 8MHz*/
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
/*Enable ADC Peripheral*/
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
//Enable Timers.
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
/* Set the clock for the GPIO Port B */
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
/* Set the type of the GPIO Pin */
GPIOPinTypeTimer(GPIO_PORTB_BASE, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_5);
/* UART configuration */
InitConsole();
//Setting the timer for PWM
TimerConfigure(TIMER2_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_B_PWM);
TimerConfigure(TIMER1_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PWM);
TimerConfigure(TIMER0_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PWM);
/*Configure ADC Peripheral*/
ADCSequenceConfigure(ADC0_BASE, 3, ADC_TRIGGER_PROCESSOR, 0);
/*Configure ADC Sequence*/
ADCSequenceStepConfigure(ADC0_BASE, 3, 0, ADC_CTL_CH5 | ADC_CTL_IE | ADC_CTL_END);
/*Enable ADC sequence*/
ADCSequenceEnable(ADC0_BASE, 3);
/*Clear ADC Interrupt*/
ADCIntClear(ADC0_BASE, 3);
IntMasterEnable();
TimerLoadSet(TIMER2_BASE, TIMER_B, 500);
TimerLoadSet(TIMER1_BASE, TIMER_A, 500);
TimerLoadSet(TIMER0_BASE, TIMER_A, 500);
unsigned long i,k,counter=0,i1=0;
long num1,y=0,num2,num3,j=0,sum1=0,sum2=0,sum3=0;
while(1)
{
for(i=0;i<15648;i++)
{
if(i%24 == 0)
{
ADCProcessorTrigger(ADC0_BASE, 3);
while(!ADCIntStatus(ADC0_BASE, 3, false))
{
}
ADCIntClear(ADC0_BASE, 3);
ADCSequenceDataGet(ADC0_BASE, 3, temp);
x[i/24]=temp[0];
}
}
num1=0;
num2=0;
num3=0;
n1=_IQ17(0);
n2=_IQ17(0);
n3=_IQ17(0);
for(k=0;k<652;k++)
{
l1= _IQ17(b1[k]);
l2= _IQ17(b2[k]);
l3= _IQ17(b3[k]);
m= _IQ17(x[651-k]);
n1=n1 + _IQ17mpy(l1,m);
n2=n2 + _IQ17mpy(l2,m);
n3=n3 + _IQ17mpy(l3,m);
}
num1=_IQ17int(n1);
num2=_IQ17int(n2);
num3=_IQ17int(n3);
sum1+=num1*num1;
sum2+=num2*num2;
sum3+=num3*num3;
j++;
if(j==15)
{
sum1=sum1/500;
sum2=sum2/500;
sum3=sum3/500;
r1=isqrt(sum1);
r2=isqrt(sum2);
r3=isqrt(sum3);
sum1=sum2=0;
j=0;
}
r01=r1*r1*r1;
r02=r2*r2*r2;
r03=r3*r3*r3;
if(r01>0)
{
TimerConfigure(TIMER0_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PWM);
pwm1(256-r01);
}
else
{
TimerConfigure(TIMER0_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PERIODIC);
}
if(r02>0)
{
TimerConfigure(TIMER1_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PWM);
pwm2(256-r02);
}
else
{
TimerConfigure(TIMER1_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PERIODIC);
}
if(r03>0)
{
TimerConfigure(TIMER2_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_B_PWM);
pwm3(256-r03);
}
else
{
TimerConfigure(TIMER2_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_B_PERIODIC);
}
}
}
