void main(void) {
Sys_Init(); //All init function
putchar(' ');
XBR0_Init();
ADC_Init();
Port_Init();
PCA_Init();
SMB_Init(); //end the init function
lcd_clear();
lcd_print("initializing\r\n");
printf("\n\n\n\rinitalizing");
PCA0CP2 = 0xFFFF - MOTOR_NEUT;//set all to neutural
PCA0CPL0 = 0xFFFF - PW_CENTER;
PCA0CPH0 = (0xFFFF - PW_CENTER) >> 8;
pause(); //pause for a second?
start_run();
while (1) {
while(SS){ // if the slideswitch is off
slide_switch_off();
}///end slide switch off
while(!SS){ //while the slideswitch is on
Heading();
Ranger();
LCD_Print(); //print all values on the lcd
printf("\n\rRange:%d Compass:%d dh: %d, mPW: %d, sPW %d, batt:%d, obst: %d", range, heading, desired_heading, MOTOR_PW_AND_STEER_PW, STEER_PW, battery, near_obstical); //print these on the secure crt for data aquisition
//printf("\n\r Range:%d Compass:%d dh: %d, mPW: %d, sPW %d, obst: %d", range, heading, desired_heading, MOTOR_PW_AND_STEER_PW, STEER_PW, near_obstical); //print these on the secure crt for data aquisition
}//end slide switch on
} //end of the infinite while loop
}//end of the main function
//-----------------------------------------------------------------------------
// Init_Device
//-----------------------------------------------------------------------------
//
// Return Value : None
// Parameters : None
//
// Calls all device initialization functions.
//
//-----------------------------------------------------------------------------
void Init_Device (void)
{
Watchdog_Init (); // Disable the Watchdog Timer first
Oscillator_Init ();
Port_Init ();
SPI0_Init ();
}
//-----------------------------------------------------------------------------
// Main Function
//-----------------------------------------------------------------------------
void main(void)
{
int heading = 0;
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
XBR0_Init();
PCA_Init();
SMB0CR = 0x93; // set the frequency of the i2c bus to 95.41 kHz
ENSMB = 1; //enable the SMBus
//print beginning message
//printf("Embedded Control Steering Calibration\n");
//calibrate_steering();
//printf("\rCalibrated\n");
while(1){
//Steering_Servo();
//printf("H = %d\n",h_counts);
if(h_counts%2){
//printf("We are in %d", h_counts);
heading = read_compass();
}
if(!h_counts){
printf("\rThe Heading is: %u\n", heading); //print the heading
}
//else{printf("\rthis is h_coutn %d\n",h_counts);}
}
}
// 3. Subroutines Section
// MAIN: Mandatory for a C Program to be executable
int main(void){
PLL_Init();
// 80 MHz
// initialize output and interrupts
SysInit();
Port_Init();
// EnableInterrupts();
/*Initialize ports and timers*/
while(1)
{
for(j=80000;j<=160000;j=j+8000)
{
for(k=0;k<=3;k++)
{
GPIO_PORTA_DATA_R|=0x20;
SysLoad(j);
GPIO_PORTA_DATA_R&=~(0x20);
SysLoad(1600000-j);
}
}
}
}
BYTE SD_Init(){//SD卡初始化函数，成功返回0，失败则返回非0
BYTE i;
BYTE cnt = 0;
BYTE rtn = 0;
Port_Init();//初始化引脚
SPI_SetSpeedLow();//SPI初始化,设定为低速
do{
for(i=0;i<10;i++)
SPI_ByteRW(0xFF);
rtn=SD_SendCommand(0,0);//发idle命令
if((cnt++)==0xFF)
return 1;//超时退出
}while(rtn!=0x01);
cnt=0;//清零重试计数器
do{
rtn=SD_SendCommand(1,0);//发active命令
if((cnt++)==0xFF)
return 2;//超时退出
}while(rtn);
SPI_SetSpeedHigh();//设定SPI到高速模式
SD_SendCommand(59,0);//禁用CRC
SD_SendCommand(16,512);//设定扇区大小为512
return 0;//初始化成功
}
void Menu_Init(void)
{
Disp_Init(); //display init
Port_Init(); //port init
Keyboard_Init(); //keyboard init
#ifdef LCD1602
Meter_Init(); //level meter init
#endif
if(ESignature != SIGNATURE) //check EEPROM signature, if error, init params:
{
for(char i = 0; i < PARAMS; i++)
Par[i] = ParLim[i][P_NOM];
ParToEEPROM(); //params init
for(char i = 0; i < MODES; i++)
EScale[i] = SCALE_NOM + AUTO_SCALE; //scales init
}
else
{
for(char i = 0; i < PARAMS; i++)
Par[i] = EPar[i]; //read params from EEPROM
}
SetupCounter();
Count_Start(); //start counter
DispMenu = MNU_NO; //no menu
Hold = 0; //no hold mode
Hide = 0; //display not hided
Menu = MNU_SPLASH; //go to splash screen menu
}
void Init_Dev(void)
{
setbusclock();
Port_Init();
SCI_Init();
PWM_Init();
}
//-----------------------------------------------------------------------------
// 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
}
void main(void)
{
Sys_Init();
putchar(' ');
XBR0_Init();
SMB_Init();
PCA_Init();
Drive_Init();
Port_Init();
ADC_Init();
ranger_pd_init();
//fan angle initialization code goes here
while(1)
{
voltage_update();
if(SS)
{
Range_Update(); //update the range
Drive_Motor(ranger_pd());
}
else
Drive_Motor(PW_NEUT); //if ss is not flipped, put it in neutral
}
}
void main(void)
{
PCA0MD &= ~0x40;
OSCILLATOR_Init ();
Port_Init();
Ext_Interrupt_Init( );
WR_CONTROL_PIN=1;
Tft_Init( );
TftClear(BLACK);
TftWR_Str(60,70,"C8051F330 Camera",RED,BLACK);
TftWR_Str(60,100,"QI FEI DIAN ZI VER1.0",RED,BLACK);
TftWR_Str(60,130,"OV7670 Initializing......",RED,BLACK);
delay_ms(3000);
while(1!=Cmos7670_init());
delay_ms(3000);
TftClear(BLACK);
TftWR_Str(60,110,"OV7670 Init SUCCESS! ",RED,BLACK);
delay_ms(5000);
TftClear(BLACK);
EA = 1;
while(1);
}
//********************************************************************
// Main Functions
//********************************************************************
void main(void) { //Main function
Sys_Init(); // initialize board
putchar(' '); //the quotes in this line may not format correctly
Port_Init();//Init ports
XBR0_Init();//init xbro
PCA_Init();//init pca
SMB_Init();//init smb
printf("\r\n\n\n\nEmbedded Control Electric Compass and Ranger\n"); //print beginning message
Calibration();//Run calibration
comp_cal(); //Compass calibration
Choose_heading(); //Heading choice
printf("\r\nheading error");
while(1) { //inf loop, 40 ms it returns the heading
if (new_heading){ //enough overflows for a new heading COMPASS STUFF
new_heading = 0;//Clear new_heading
heading = ReadCompass(); //get compass heading
Steering_Servo(); //run steer func
}//end if new heading
if (new_range) { //if 80 ms has passed
new_range=0;//Clear new_range
range=ReadRanger();//read ranger
start_ping();//start ping
counts++;//set up text function
Drive_Motor(); //run drive func
}//end if new_range
if (counts == 3){ //prevoudly output prined every 200 ms, now every 180 ms
print_output();//Print data function. Delete this if faster output is desired
}//end if counts
}//end inf while
}//end main
void main(void) {
Sys_Init(); //All init function
putchar(' ');
XBR0_Init();
ADC_Init();
Port_Init();
PCA_Init();
SMB_Init(); //end the init function
lcd_clear();
lcd_print("initializing\r\n");
PCA0CP2 = 0xFFFF - MOTOR_NEUT;
PCA0CPL0 = 0xFFFF - PW_CENTER;
PCA0CPH0 = (0xFFFF - PW_CENTER) >> 8;
while (n_Counts < 50); //pause for a second?
start_run();
while (1) {
while(SS){ // if the slideswitch is off
slide_switch_off();
}///end slide switch off
while(!SS) //while the slideswitch is on
{
Heading();
Ranger();
LCD_Print(); //print all values on the lcd
printf("\n\r Range:%d Compass:%d PW:%d", range, heading, PW); //print these on the secure crt for data aquisition
}
} //end of the infinite while loop
}//end of the main function
// 3. Subroutines Section
// MAIN: Mandatory for a C Program to be executable
int main(void){
PLL_Init(); // 80 MHz
Port_Init();
ADC0_InitSWTriggerSeq3_Ch1();
EnableInterrupts();
SysFun();
/*Initialize ports , ADC and timers*/
while(1){
/*Your code goes here*/
a= ADC0_InSeq3();
t1=a+(10000/4096)+10000;
in1=50;
while(in1)
{
GPIO_PORTA_DATA_R |= (0x20);
SysLoad(t1);
GPIO_PORTA_DATA_R &= ~(0x20);
SysLoad(t-t1);
in1=in1-1;
}
}
}
//-----------------------------------------------------------------------------
// DBG_Reset
//-----------------------------------------------------------------------------
//
// This function returns all debug pins to a neutral state:
// 1. Disconnects from the target.
// 2. Resets all I/O pins.
//
//
void DBG_Reset(void)
{
SWD_Connect();
// Reset all I/O ports
Port_Init();
// We are disconnecting, so release nSRST
_ReleaseTargetReset;
}
//------------------------------------------------------
// Инициализация
//------------------------------------------------------
void Init_Hardware(void)
{
// NVIC - смещаем таблицу векторов прерываний (начало памяти программ)
SCB->VTOR = 0x08000000;
// Инициализация скорости работы МК
Oscillator_int();
// Инициализация PORT
Port_Init();
//
__enable_irq();
}
void main(void) {
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
PCA_Init();
SMB_Init();
Interrupt_Init();
printf("Starting\n\r");
//print beginning message
printf("Embedded Control Drive Motor Control\r\n");
// Initialize motor in neutral and wait for 1 second
MOTOR_PW = PW_NEUT;
motorPW = 0xFFFF-MOTOR_PW;
PCA0CPL2 = motorPW;
PCA0CPH2 = motorPW>>8;
printf("Pulse Width = %d\r\n",MOTOR_PW);
c = 0;
while (c < 50); //wait 1 second in neutral
printf("end wait \r\n");
//Main Functionality
while (1) {
if (!SS1) { // If the slide switch is active, set PW to center
PW = PWCENTER;
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
while (!SS1); // Wait...
} else if (take_heading) { // Otherwise take a new heading
reading = Read_Compass(); // Get current heading
printf("%d\n\r", reading);
Steering_Servo(reading); // Change PW based on current heading
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
}
if (getRange) {
getRange = 0; // Reset 80 ms flag
range_val = read_ranger(); // Read the distance from the ranger
printf("Range: %d cm \r\n", range_val);
printf("Pulse Width: %d \r\n", MOTOR_PW);
// Start a new ping
Data[0] = 0x51; // write 0x51 to reg 0 of the ranger:
i2c_write_data(addr, 0, Data, 1); // write one byte of data to reg 0 at addr
}
if (SS0) Drive_Motor(range_val);
else Drive_Motor(45); // Hold the motor in neutral if the slide switch is off
}
}
//--------------------------------INIT---------------------------------//
void sys_init()// Interrupt & Port
{
/* enable interrupt */
rINTMOD=0x0;
rINTCON=0x1;
rI_ISPC = 0xffffffff; /* clear all interrupt pend */
rEXTINTPND = 0xf; // clear EXTINTPND reg
Port_Init(); /* Initial 44B0X's I/O port */
Delay(0); /* delay time */
rINTMSK = ~(BIT_GLOBAL); // Emascara todas las lineas excepto bit global
}
void TargetInit(void)
{
int i;
U8 key;
U32 mpll_val=0;
#if ADS10
__rt_lib_init(0,0); //for ADS 1.0
#endif
i = 2 ; //use 400M!
switch ( i ) {
case 0: //200
key = 12;
mpll_val = (92<<12)|(4<<4)|(1);
break;
case 1: //300
key = 14;
mpll_val = (67<<12)|(1<<4)|(1);
break;
case 2: //400
key = 14;
mpll_val = (92<<12)|(1<<4)|(1);
break;
case 3: //440!!!
key = 14;
mpll_val = (102<<12)|(1<<4)|(1);
break;
default:
key = 14;
mpll_val = (92<<12)|(1<<4)|(1);
break;
}
//init FCLK=400M
ChangeClockDivider(key, 12);
ChangeMPllValue((mpll_val>>12)&0xff, (mpll_val>>4)&0x3f, mpll_val&3);
//MMU_EnableICache();
//MMU_EnableDCache();
MMU_DisableICache();
MMU_DisableDCache();
Port_Init();
MMU_Init();
Delay(0);
Uart_Init(0,115200);
Uart_Select(0);
Uart_SendString("Board init complete.\n");
}
void Main(void)
{
//硬件初始化
var_Init();//初始化定时器相关的参数
Port_Init();//IO端口初始化
Isr_Init();//中断初始化
Uart_Init(0,115200);//串口初始化
Uart_Select(0);
_init_alloc(0x32500000,0x333fffff);//初始化堆地址：15M，使能malloc等存储分配函数
setlocale(LC_ALL,"C");//使能本地函数，如sprintf等
Timer4_Init();
lcdTest();
}
void Main(void)
{
Port_Init(); //IO端口初始化
Isr_Init(); //中断初始化
Uart_Init(0,115200);//串口初始化
Uart_Select(0);
Uart_Printf("\n\nDM2410 Experiment System (ADS) Ver1.10\n") ;//打印系统信息
Test_SDI();
}
void sys_init()// Interrupt,Port and UART
{
/* enable interrupt */
rINTMOD=0x0;
rINTCON=0x1;
rI_ISPC = 0xffffffff; /* clear all interrupt pend */
rEXTINTPND = 0xf; // clear EXTINTPND reg
Port_Init(); /* Initial 44B0X's I/O port */
LED8ADDR = 0 ;
Led_Display(0xf);
Delay(0); /* delay time */
Uart_Init(0,115200); /* Initial Serial port 1 */
}
int main(void){
TExaS_Init(SW_PIN_PE210, LED_PIN_PB543210,ScopeOff); // activate grader and set system clock to 80 MHz
EnableInterrupts();
Port_Init();
SysTick_Init();
S = GoWest;
while(1){
GPIO_CarLED = FSM[S].CarLED; // set Car LED
GPIO_WalkLED = FSM[S].WalkLED; // set Walk LED
SysTick_Wait10ms(FSM[S].Time);
Input = GPIO_Sensor; // read sensors
S = FSM[S].Next[Input];
}
}
void main() {
char gear = 0;
Port_Init();
while(1) {
if (input(UP_SHIFT_PADDLE)) {
Shift(UP_SHIFT_AIR);
gear++;
}
if (input(DOWN_SHIFT_PADDLE)) {
Shift(DOWN_SHIFT_AIR);
gear--;
}
}
}
int main(void) {
HAL_Init(); // инит. Flash и Systick.
SystemClock_Config(); // когфиг осциллятора.
GPIO_Init(); // конфиг портов.
Clocks_Init(); // конфиг часов.
BOOT_UART_Init(115200); // настройка BOOT интерфейса.
USART_TRACE("------------------------------------\n");
USART_TRACE("BOOT_Init.. ok\n");
RS485_1_UART_Init(115200); // настройка RS485 1 канала.
USART_TRACE("RS485_1_UART_Init.. ok\n");
RS485_2_UART_Init(115200); // настройка RS485 2 канала.
USART_TRACE("RS485_2_UART_Init.. ok\n");
// тут нужно получить параметры системы от головного(MODBUS) скорости, адреса, порты....
Port_Init(LED1,GPIO_MODE_OUTPUT_PP);
Port_Init(LED2,GPIO_MODE_OUTPUT_PP);
Port_Init(LED3,GPIO_MODE_OUTPUT_PP);
Port_Init(LED4,GPIO_MODE_OUTPUT_PP);
Port_Init(MODBUS_DEn,GPIO_MODE_INPUT); // пока не используем
FREERTOS_Init(); // инит. FREERTOS.
osKernelStart(); // Старт планировщика
while (1) {
}
return 0;
}
//-----------------------------------------------------------------------------
// Main Routine
//-----------------------------------------------------------------------------
void main(void)
{
USB_Clock_Start(); // Init USB clock *before* calling USB_Init
USB_Init(USB_VID,USB_PID,USB_MfrStr,USB_ProductStr,USB_SerialStr,USB_MaxPower,USB_PwAttributes,USB_bcdDevice);
CLKSEL |= 0x02;
RSTSRC |= 0x02;
Port_Init(); // Initialize crossbar and GPIO
USB_Int_Enable(); // Enable USB_API Interrupts
while (1);
}
void TargetInit(void)
{
int i;
U8 key;
U32 mpll_val=0;
i = 2 ; //use 400M!
switch ( i ) {
case 0: //200
key = 12;
mpll_val = (92<<12)|(4<<4)|(1);
break;
case 1: //300
key = 14;
mpll_val = (67<<12)|(1<<4)|(1);
break;
case 2: //400
key = 14;
mpll_val = (92<<12)|(1<<4)|(1);
break;
case 3: //440!!!
key = 14;
mpll_val = (102<<12)|(1<<4)|(1);
break;
default:
key = 14;
mpll_val = (92<<12)|(1<<4)|(1);
break;
}
//init FCLK=400M, so change MPLL first
ChangeMPllValue((mpll_val>>12)&0xff, (mpll_val>>4)&0x3f, mpll_val&3);
ChangeClockDivider(key, 12);
MMU_DisableICache();
MMU_DisableDCache();
Port_Init();
MMU_Init();
_init_alloc(0x17fe000, 0x17ff000);/*分配堆的起始地址和结束地址，4k的空间*/
Delay(0);
Uart_Init(0,115200);
Uart_Select(0);
Uart_SendString("Board init complete.\n");
}
/**
@brief UART, SPI, I2C, GPIO initialization
@return none
**/
void Test_Init(void)
{
if(FUNCTION_TO_TEST == SPI) { /* Check if SPI is tested */
SPI_Init(); /* SPI initialization */
} else if(FUNCTION_TO_TEST == UART) { /* Check if UART is tested */
UART_Init(B9600, COMLCR_WLS_8BITS); /* UART initialization: 9600 baud rate and 8 bits data */
} else if(FUNCTION_TO_TEST == I2C) { /* Check if I2C is tested */
I2C_Init(); /* I2C initialization */
} else if(FUNCTION_TO_TEST == GPIO) { /* Check if GPIO is tested */
Port_Init();
}
}
void sys_init()// Interrupt,Port and UART
{
Port_Init(); /* Initial 44B0X's I/O port */
/* enable interrupt */
rINTMOD=0x0;
rINTCON=0x1;
rEXTINT = 0x22222222; // level mode
rI_ISPC = 0xffffffff; /* clear all interrupt pend */
rEXTINTPND = 0xf; // clear EXTINTPND reg
LED8ADDR = 0 ;
Delay(0);
Led_Display(0xf);
Uart_Init(0,115200); /* Initial Serial port 1 */
}
void main (void) {
// Disable watchdog timer
WDTCN = 0xde;
WDTCN = 0xad;
Port_Init (); // Initialize crossbar and GPIO
Oscillator_Init (); // Initialize oscillator
PCA0_Init (); // Initialize PCA0
EA = 1; // Globally enable interrupts
while (1); // Spin here to wait for ISR
{
} // end of while(1)
}
//-----------------------------------------------------------------------------
// main()
//-----------------------------------------------------------------------------
void main(void)
{
U32 transfer_data;
WDT_Init();
Oscillator_Init();
Port_Init();
// These pins are grounded on the CoreSight debug connector
P1_4 = 0;
P1_2 = 0;
// There is no debug port connection at this point
DP_Type = DP_TYPE_NONE;
SWD_Initialize();
SWD_Configure(DP_TYPE_SWD);
SWD_Connect();
transfer_data = 0x00000000;
// Read the IDCODE from the connected device
SWD_DAP_Move(0, DAP_IDCODE_RD, &transfer_data);
// The return value from DAP_IDCODE_RD for SiM3U1xx devices is 0x2BA01477
// Write the CTRLSTAT register to enable the debug hardware
transfer_data = 0x50000000;
SWD_DAP_Move(0, DAP_CTRLSTAT_WR, &transfer_data);
SWD_ClearErrors();
connect_and_halt_core();
programming_sram();
transfer_data = 0x00000000;
SWD_DAP_Move(0, DAP_CTRLSTAT_WR, &transfer_data);
SWD_Disconnect();
while (1)
{
}
}
