int main(void) {
uint8_t t1, t2;
uint32_t temp;
sint32_t i;
//Enable I2C controller
set_clk();
// 'Clear' 7_Seg display
DE0_7SEG_DISP = 0xFFFFFFFF;
// configure the I2C temperature sensor with 12-bit resolution
write_with_start(I2C_TEMP_SENSE_Slave_Addr);
write_byte(I2C_TEMP_SENSE_Conf_Reg);
write_with_stop(I2C_TEMP_SENSE_12bitRes);
while (1) {
DE0_LEDs = DE0_LEDs|(1<<8); // blink LED8 to indicate program execution status
for (i=0;i<0x300000;i++); // delay
// get the temperature sensor value
write_with_start(I2C_TEMP_SENSE_Slave_Addr);
write_with_stop(I2C_TEMP_SENSE_Temp_Reg);
read_with_start(I2C_TEMP_SENSE_Slave_Addr);
t1 = read_byte(); //Read the higher byte
t2 = read_with_stop(); //Reading the lower byte
temp = convert_for_7_seg(t1,t2); // converted the value into appropriate 7-segment format
DE0_7SEG_DISP = temp; // display it on DE0 board
}
}
int main(void)
{
/*Disable watchdog*/
RCONbits.SWDTEN = 0;
set_clk();
DataStructInit(&sSensorValues);
NotusInitIOs();
NotusInitPeripherals();
NotusInitDevices();
/*CAN bus initialization*/
/*Encoder & decoder*/
chinookpack_fbuffer_init(&buf,bTxCanBuffer,8);
chinookpack_packer_init(&pk,&buf,chinookpack_fbuffer_write);
chinookpack_unpacked_init(&unpacker);
/*Msg*/
/*configuration du message pour la direction de l'eolienne */
config_CAN_filter(0, CAN_MSG_TURBINE_DIRECTION_SID , STANDARD_ID);
receive_CAN_msg(0, 3, fct_can_turbine_direction);
/*configuration du message pour le gear */
config_CAN_filter(1, CAN_MSG_GEAR_SID , STANDARD_ID);
receive_CAN_msg(1, 3, fct_can_gear);
/*configuration du message pour l'eeprom ack */
config_CAN_filter(2, CAN_MSG_EEPROM_CONFIG_ACK_SID , STANDARD_ID);
receive_CAN_msg(2, 3, fct_can_eeprom_answer);
/*configuration du message pour l'eeprom ack */
config_CAN_filter(3, CAN_MSG_PITCH_ACK_CONFIG , STANDARD_ID);
receive_CAN_msg(3, 3, fct_can_pitch_eeprom);
/*configuration du message pour le pitch */
config_CAN_filter(4, CAN_MSG_MANUAL_PITCH_SID , STANDARD_ID);
receive_CAN_msg(4, 3, fct_can_pitch);
config_CAN_Tx_msg(&sCanMsgTurbineRPM,CAN_MSG_TURBINE_RPM_SENSOR_SID,STANDARD_ID,3);
config_CAN_Tx_msg(&sCanMsgWheelRPM,CAN_MSG_WHEEL_RPM_SID,STANDARD_ID,3);
config_CAN_Tx_msg(&sCanMsgWindSpeed,CAN_MSG_WIND_SPEED_SID,STANDARD_ID,3);
config_CAN_Tx_msg(&sCanMsgWindDirection,CAN_MSG_WIND_DIRECTION_SID,STANDARD_ID,3);
config_CAN_Tx_msg(&sCanMsgTrust,CAN_MSG_TRUST_SID,STANDARD_ID,3);
config_CAN_Tx_msg(&sCanMsgAccelerometer,CAN_MSG_ACCELERATION_SID,STANDARD_ID,3);
config_CAN_Tx_msg(&sCanMsgEepromConfigSend,CAN_MSG_EEPROM_CONFIG_SEND_SID,STANDARD_ID,3);
config_CAN_Tx_msg(&sCanMsgEepromPitchSend,CAN_MSG_PITCH_CONFIG_SEND,STANDARD_ID,3);
/*UART command decoder initialization*/
UartSetRXLineEvt(UART_1,uartReceiveLineEvt);
skadi_init(&skadi, skadiCommandTable,sizeof(skadiCommandTable)/sizeof(SkadiCommand));
while(TRUE)
{
/*Get sensors data*/
GetTrust(&sSensorValues);
GetWindDirection(&sSensorValues);
GetWindSpeed(&sSensorValues);
GetTurbineRPM(&sSensorValues);
GetWheelRPM(&sSensorValues);
Get3V3Sensing(&sSensorValues);
Get5V0Sensing(&sSensorValues);
//GetsAccelerometer0(&sSensorValues);
/*Uart command processing*/
if(uartline_rcv_new){
skadi_process_command(&skadi,uartline_rcv);
uartline_rcv_new=0;
}
if(print)
{
LED_STAT2^=1;
/*Send CAN messages*/
/*Initial message to set turbine direction and gear*/
if(ubEepromAnswerReceive == 0x55)
{
ubEepromGearInit = ReadGearEeprom();
fEepromTurbineDirectionInit = ReadTurbineDirEeprom();
chinookpack_pack_uint8(&pk,ubEepromGearInit);
chinookpack_pack_float(&pk,fEepromTurbineDirectionInit);
Set_Timeout();
send_CAN_msg(&sCanMsgEepromConfigSend,bTxCanBuffer, 7);
while(!is_CAN_msg_send(&sCanMsgEepromConfigSend) && !sSystemFlags.CanTimeout);
Reset_Timeout();
chinookpack_fbuffer_clear(&buf);
}
/*Initial message to set pitch position*/
if(ubPitchEepromAnswerReceive == 0x55)
{
fEepromPitchInit = ReadPitchEeprom();
chinookpack_pack_float(&pk,fEepromPitchInit);
Set_Timeout();
send_CAN_msg(&sCanMsgEepromPitchSend,bTxCanBuffer, 5);
while(!is_CAN_msg_send(&sCanMsgEepromPitchSend) && !sSystemFlags.CanTimeout);
Reset_Timeout();
chinookpack_fbuffer_clear(&buf);
}
chinookpack_pack_float(&pk,sSensorValues.fTurbineRPM);
Set_Timeout();
send_CAN_msg(&sCanMsgTurbineRPM,bTxCanBuffer, 5);
while(!is_CAN_msg_send(&sCanMsgTurbineRPM) && !sSystemFlags.CanTimeout);
Reset_Timeout();
chinookpack_fbuffer_clear(&buf);
/*
chinookpack_pack_float(&pk,sSensorValues.sAccelerometer0.fGx);
Set_Timeout();
send_CAN_msg(&sCanMsgAccelerometer,bTxCanBuffer, 5);
while(!is_CAN_msg_send(&sCanMsgAccelerometer) && !sSystemFlags.CanTimeout);
Reset_Timeout();
chinookpack_fbuffer_clear(&buf);
*/
/*EEPROM gear and turbine position*/
if(ubEepromAnswerReceiveMem != ubGearCanReceive)
{
ubEepromAnswerReceiveMem = ubGearCanReceive;
WriteGearEeprom(ubGearCanReceive);
WriteTurbineDirEeprom(fTubineDirectionReceive);
}
/*EEPROM pitch position*/
if(fLastCanPitchPercent != fCanPitchPercent)
{
fLastCanPitchPercent = fCanPitchPercent;
WritePitchEeprom(fLastCanPitchPercent);
}
chinookpack_pack_float(&pk,sSensorValues.fWheelRPM);
Set_Timeout();
send_CAN_msg(&sCanMsgWheelRPM,bTxCanBuffer, 5);
while(!is_CAN_msg_send(&sCanMsgWheelRPM) && !sSystemFlags.CanTimeout);
Reset_Timeout();
chinookpack_fbuffer_clear(&buf);
chinookpack_pack_float(&pk,sSensorValues.fWindSpeed);
Set_Timeout();
send_CAN_msg(&sCanMsgWindSpeed,bTxCanBuffer, 5);
while(!is_CAN_msg_send(&sCanMsgWindSpeed) && !sSystemFlags.CanTimeout);
Reset_Timeout();
chinookpack_fbuffer_clear(&buf);
chinookpack_pack_float(&pk,sSensorValues.fWindDir);
Set_Timeout();
send_CAN_msg(&sCanMsgWindDirection,bTxCanBuffer, 5);
while(!is_CAN_msg_send(&sCanMsgWindDirection) && !sSystemFlags.CanTimeout);
Reset_Timeout();
chinookpack_fbuffer_clear(&buf);
chinookpack_pack_float(&pk,sSensorValues.fTrust);
Set_Timeout();
send_CAN_msg(&sCanMsgTrust,bTxCanBuffer, 5);
while(!is_CAN_msg_send(&sCanMsgTrust) && !sSystemFlags.CanTimeout);
Reset_Timeout();
chinookpack_fbuffer_clear(&buf);
print = 0;
}
/*Error processing*/
if(sSystemFlags.CanError)
{
LED_STAT0 = 1;
}
}
return 0;
}
void reset(ROM_MODE mode)
{
comp.pEFF7 &= conf.EFF7_mask;
comp.pEFF7 |= EFF7_GIGASCREEN; // [vv] disable turbo
{
conf.frame = frametime;
cpu.SetTpi(conf.frame);
// if ((conf.mem_model == MM_PENTAGON)&&(comp.pEFF7 & EFF7_GIGASCREEN))conf.frame = 71680; //removed 0.37
apply_sound();
} //Alone Coder 0.36.4
comp.t_states = 0; comp.frame_counter = 0;
comp.p7FFD = comp.pDFFD = comp.pFDFD = comp.p1FFD = 0;
comp.p7EFD = comp.p78FD = comp.p7AFD = comp.p7CFD = comp.gmx_config = comp.gmx_magic_shift = 0;
comp.pLSY256 = 0;
comp.ulaplus_mode=0;
comp.ulaplus_reg=0;
tsinit();
if (conf.mem_model == MM_TSL)
set_clk(); // turbo 2x (7MHz) for TS-Conf
else
turbo(1); // turbo 1x (3.5MHz) for all other clones
if (conf.mem_model == MM_LSY256)
mode = RM_SYS;
switch (mode)
{
case RM_SYS: {comp.ts.memconf = 4; break;}
case RM_DOS: {comp.ts.memconf = 0; break;}
case RM_128: {comp.ts.memconf = 0; break;}
case RM_SOS: {comp.ts.memconf = 0; break;}
}
comp.p00 = comp.p80FD = 0; // quorum
comp.pBF = 0; // ATM3
comp.pBE = 0; // ATM3
if (conf.mem_model == MM_ATM710 || conf.mem_model == MM_ATM3)
{
switch(mode)
{
case RM_DOS:
// Запрет палитры, запрет cpm, включение диспетчера памяти
// Включение механической клавиатуры, разрешение кадровых прерываний
set_atm_FF77(0x4000 | 0x200 | 0x100, 0x80 | 0x40 | 0x20 | 3);
comp.pFFF7[0] = 0x100 | 1; // trdos
comp.pFFF7[1] = 0x200 | 5; // ram 5
comp.pFFF7[2] = 0x200 | 2; // ram 2
comp.pFFF7[3] = 0x200; // ram 0
comp.pFFF7[4] = 0x100 | 1; // trdos
comp.pFFF7[5] = 0x200 | 5; // ram 5
comp.pFFF7[6] = 0x200 | 2; // ram 2
comp.pFFF7[7] = 0x200; // ram 0
break;
default:
set_atm_FF77(0,0);
}
}
if (conf.mem_model == MM_ATM450)
{
switch(mode)
{
case RM_DOS:
set_atm_aFE(0x80|0x60);
comp.aFB = 0;
break;
default:
set_atm_aFE(0x80);
comp.aFB = 0x80;
}
}
comp.flags = 0;
comp.active_ay = 0;
cpu.reset();
reset_tape();
reset_sound();
#ifdef MOD_VID_VD
comp.vdbase = 0; comp.pVD = 0;
#endif
load_spec_colors();
comp.ide_hi_byte_r = 0;
comp.ide_hi_byte_w = 0;
comp.ide_hi_byte_w1 = 0;
hdd.reset();
input.atm51.reset();
input.buffer.Enable(false);
if ((!conf.trdos_present && mode == RM_DOS) ||
(!conf.cache && mode == RM_CACHE))
mode = RM_SOS;
set_mode(mode);
}
/******************************************************************
Main
******************************************************************/
int main(void)
{
/*Disable watchdog*/
RCONbits.SWDTEN = 0;
set_clk();
InitIO();
//Initialize CAN communication
initialisation_CAN();
//Initialize PWM (Motor Control)
Init_PWM();
//Initialize ADC
//Init_ADC();
//Initialize QEI (Speed/Position DC motor)
InitQEI();
chinookpack_unpacked_init(&unpacker);
#ifdef memory_init
/*Retrieve Last gear and mât position*/
do{
EEPROM_REQUEST = 0x55;
envoi_CAN_periodique_init();
last_gear = datReceive_can_EEPROM_CONFIG_ANSWER_gear;
last_position_mat = datReceive_can_EEPROM_CONFIG_ANSWER_mat;
}while(datReceive_can_EEPROM_CONFIG_ANSWER_mat==190.0f);
gear = last_gear;
Position_mat = last_position_mat;
char print[80];
sprintf(print,"last gear: %d \t last position mat : %f \r",last_gear,last_position_mat);
char u=0;
do
{
U1TXREG=print[u];
while(U1STAbits.TRMT!=1);
u++;
}while(print[u]!=0);
int k=0;
do{
EEPROM_REQUEST = 0xAA;
envoi_CAN_periodique_init();
k++;
}while(k<5);
#endif
/*Enable 24V supply switch*/
ENALIM = 1;
//envoi_CAN_periodique();
//envoi_CAN_periodique();
//Transmission goes to first gear
Stepper_Shift_Init(last_gear);
//Mat goes to origin
//Init_mat(last_position_mat);
while(1)
{
//Transmission goes to first gear
if(datReceive_can_conf)
Stepper_Shift_Init(last_gear);
Stepper_Shift();
envoi_CAN_periodique();
#ifdef mat_manuel
if(!datReceive_can_cmd[0])
{
if(last_cmd_mat == 14 || last_cmd_mat == 15){
cmd_mat=datReceive_can_cmd[3]|datReceive_can_cmd[2]|datReceive_can_cmd[1]|datReceive_can_cmd[0];
}
if(last_cmd_mat == 11){
delai_mat++;
cmd_mat = 0;
if(delai_mat<60000)
tower_motor_ctrl(&PDC1,Position_mat);
else if(delai_mat>=60000)
delai_mat = 0;
}
}
else if(!datReceive_can_cmd[2])
{
if(last_cmd_mat == 11 || last_cmd_mat == 15){
cmd_mat=datReceive_can_cmd[3]|datReceive_can_cmd[2]|datReceive_can_cmd[1]|datReceive_can_cmd[0];
}
if(last_cmd_mat == 14){
cmd_mat = 0;
delai_mat++;
if(delai_mat<60000)
tower_motor_ctrl(&PDC1,Position_mat);
else if(delai_mat>=60000)
delai_mat = 0;
}
}
else //if(datReceive_can_cmd == 15)
{
cmd_mat=15;
}
if(cmd_mat ==14)
{
last_cmd_mat = cmd_mat;
LED0^=1;
tower_motor_ctrl(&PDC1,-180.0f);
}
else if(cmd_mat == 11)
{
last_cmd_mat = cmd_mat;
tower_motor_ctrl(&PDC1,180.0f);
}
else if(cmd_mat == 15)
{
last_cmd_mat = cmd_mat;
tower_motor_ctrl(&PDC1,Position_mat);
}
#endif
#ifdef mat_test
tower_motor_ctrl(&PDC1,-90.0f);
#endif
#ifdef mat_auto
tower_motor_ctrl(&PDC1,datReceive_can_wind_direction);
#endif
}
}
