static void prvSetupHardware( void )
{
/* Set up SPI for display of speed, distance, temperature and total time*/
setup_UART1();
initialize_CLS();
setup_SPI2();
/* Set up switches for input triggers */
setup_switches();
/* Set up hbridge for the motor running */
set_hbridge();
/* Set up the input capture module to detect SA pulses of the motors */
setup_IC2();
setup_IC3();
/* Set I2C to read temperature from Pmod Tmp2 */
setup_I2C();
/* Configure corresponding interrupts */
configure_interrupts();
/* Configure the hardware for maximum performance. */
vHardwareConfigurePerformance();
/* Setup to use the external interrupt controller. */
vHardwareUseMultiVectoredInterrupts();
portDISABLE_INTERRUPTS();
}
/** \brief main loop to run tests.
*
* The tests being run are described in the documentation of this file.
*
* \return never returns, test loop runs ad infinitum. */
int main(void) {
uint8_t switch_mask = 0x00; // Input switches. Read hi when pressed
uint16_t result = 0;
SR_t shift_reg;
/* call all of the setup_* functions */
cli();
setup_clocks();
setup_LEDs();
setup_switches(switch_mask);
setup_SR(&shift_reg, &SR_PORT, &SR_SPI_MODULE, false);
setup_ADC(&ADC_PORT, &ADC_SPI_MODULE, ADC_CONVST_bm, ADC_EOC_bm,
ADC_callback);
setup_USART_BC();
sei();
set_channel(MPx, 15, &shift_reg);
set_channel(MPy, 15, &shift_reg);
/* signal debugging */
PORTD.DIRCLR |= PIN4_bm;
PORTD.PIN4CTRL = PORT_OPC_PULLDOWN_gc;
while (1)
{
if (ADC_ready(&adc)) {
// get a new conversion result
result = ADC_sample_once(&adc);
}
if (PORTD.IN & PIN4_bm) {
LED_PORT.OUT = 0xFF;
}
else {
LED_PORT.OUT = (uint8_t)(result >> 4);
printf("%u ", result);
}
}
}
/** \brief main loop to run tests.
*
* The tests being run are described in the documentation of this file.
*
* \return never returns, test loop runs ad infinitum. */
int main(void) {
uint8_t switch_mask = PIN6_bm;
int16_t position = 0;
int16_t steps = 1000;
uint16_t accel = 100;
uint16_t decel = 100;
uint16_t speed = 800;
PS_t pressure_sensor;
LA_t LA_needle;
LA_t LA_ring;
command_t command;
uint16_t steps_left = 0;
/* call all of the setup_* functions */
cli();
setup_clocks();
setup_LEDs();
setup_switches(switch_mask);
setup_pressure_sensor(&pressure_sensor);
setup_USART_BC();
setup_linear_actuators(&LA_needle, &LA_ring);
sei();
/* shows the help menu */
show_help_message();
/* show the current state of the linear actuator */
show_motor_data(position, accel, decel, speed, steps);
while (1) {
switch(command = parse_command(&steps, &accel, &decel, &speed)) {
case STEP:
LA_move(&LA_needle, steps, accel, decel, speed);
LA_move(&LA_ring, steps, accel, decel, speed);
position += steps;
printf("\n\n");
break;
case MOVE:
LA_move(&LA_needle, steps, accel, decel, speed);
LA_move(&LA_ring, steps, accel, decel, speed);
position += steps;
printf("\n\n");
break;
case ACCEL:
case DECEL:
case SPEED:
printf("\n\n");
break;
case REPEAT:
LA_move(&LA_needle, steps, accel, decel, speed);
LA_move(&LA_ring, steps, accel, decel, speed);
position += steps;
printf("\n\n");
break;
case HELP:
show_help_message();
break;
case NONE:
break;
default:
show_help_message();
break;
}
if ((command != HELP) && (command != NONE)) {
while (LA_get_motor_state(&LA_needle) != SM_STOP) {
if (READ_SWITCHES & PIN6_bm) {
LA_brake(&LA_needle);
LA_brake(&LA_ring);
printf("motors parked\n");
}
if (steps > 0) {
steps_left = (int32_t)steps * SPR / LA_needle.pitch
- LA_needle.motor.speed_ramp.step_count;
}
else {
steps_left = -1 * (int32_t)steps * SPR / LA_needle.pitch
- LA_needle.motor.speed_ramp.step_count;
}
printf(" Running... Steps Left: %d\n", steps_left);
delay_ms(250);
}
printf(" Done with command\n");
show_motor_data(position, accel, decel, speed, steps);
}
}//end while (1)
}
