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(); } }