/*
* get the new position from decoder
*/
void automode(void) {
unsigned char choice1;
unsigned char choice2;
if( newPos != INPUT_ON ) {
return;
}
do {
waitMS(10);
choice1 = dataIn >> 4;
waitMS(10);
choice2 = dataIn >> 4;
} while( choice1 != choice2 );
if( choice1 < MAX_TRACKS ) {
choice = choice1;
if( choice == 0 )
choice = MAX_TRACKS / 2 + 1;
waitMS(100);
move();
}
}
/*
* flash the ledOK as confirmation
*/
void confirm(unsigned char cnt) {
unsigned char n;
for( n = 0; n < cnt; n++ ) {
ledOK = LEDOK_ON;
waitMS(250);
ledOK = LEDOK_OFF;
waitMS(250);
};
}
/*
* show current choice on the 7 segment display
*/
void updateDisplay(void) {
unsigned int c = choice;
unsigned int h = c / 10;
unsigned int l = c % 10;
display = h;
displayH = 1;
waitMS(20);
displayH = 0;
display = l;
displayL = 1;
waitMS(20);
displayL = 0;
}
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
int i;
int boardNum = 0;
int ULStat;
int reward;
LARGE_INTEGER frequency; // ticks per second
char ErrMsg[ERRSTRLEN];
float duration;
// get ticks per second
QueryPerformanceFrequency(&frequency);
if (nrhs > 0)
{
duration = *mxGetPr(prhs[0]);
}
else
{
duration = 10;
}
ULStat = cbDOut(boardNum, AUXPORT,8);
waitMS(duration,frequency);
ULStat = cbDOut(boardNum, AUXPORT,0);
return;
}
void move(void) {
unsigned char alive = 0;
unsigned int diff = 0;
unsigned int newpos = 0;
stepnr = getPosition(curtrack);
newpos = getPosition(choice);
ledOK = LEDOK_OFF;
if( stepnr == newpos ) {
waitMS( 500 );
ledOK = LEDOK_ON;
return;
}
updateDisplay();
power = POWER_ON;
pulswidth = MAX_PULSWIDTH;
while( stepnr != newpos ) {
if( stepnr > newpos ) {
diff = stepnr - newpos;
stepnr--;
oneStep(STEP_LEFT);
}
else if( stepnr < newpos ) {
diff = newpos - stepnr;
stepnr++;
oneStep(STEP_RIGHT);
}
if( diff < 150 && pulswidth < MAX_PULSWIDTH ) {
// slower
pulswidth += (MAX_PULSWIDTH - pulswidth) / 150;
}
else if(pulswidth > MIN_PULSWIDTH) {
// faster
pulswidth -= (pulswidth - MIN_PULSWIDTH) / 150;
}
alive++;
if( alive > 100 ) {
//ledOK = !ledOK;
alive = 0;
}
}; // end while
if( !readByte(ADDR_KEEPPOWER) )
power = POWER_OFF;
curtrack = choice;
ledOK = LEDOK_ON;
}
int main(void) {
volatile int count = 0;
// printf("SystemBusClock = %ld\n", SystemBusClock);
// printf("SystemCoreClock = %ld\n", SystemCoreClock);
// Real programs never die!
for(;;) {
count++;
// printf("Count = %d\n", count);
waitMS(100);
}
return 0;
}
/*
* initialize all before processing
*/
void startup(void) {
// configure the ports
initIO();
waitMS(10);
// test display
choice = 41;
updateDisplay();
waitMS(1000);
choice = MAX_TRACKS/2 +1;
curtrack = choice;
initPositions();
updateDisplay();
// get the permanent power setting from eeprom
if( !readByte(ADDR_KEEPPOWER) )
power = POWER_OFF;
// signal started up
confirm(4);
}
void initPositions(void) {
waitMS(100);
if( getPosition(choice) == 0 || getPosition(choice) == 0xFFFF ) {
unsigned char i;
for( i = 1; i <= MAX_TRACKS; i++ ) {
// not initialized before
savePosition(i, initpos);
}
// default power off step motor
saveByte(ADDR_KEEPPOWER, KEEPPOWER_OFF);
}
// always set the calibration position
savePosition(choice, initpos);
}
void clockInit(void)
{
//uint32_t EMCClk;
__disable_irq();
/* Set the XTAL oscillator frequency to 12MHz*/
CGU_SetXTALOSC(__CRYSTAL);
CGU_EnableEntity(CGU_CLKSRC_XTAL_OSC, ENABLE);
CGU_EntityConnect(CGU_CLKSRC_XTAL_OSC, CGU_BASE_M3);
/* Set PL160M 12*1 = 12 MHz */
CGU_EntityConnect(CGU_CLKSRC_XTAL_OSC, CGU_CLKSRC_PLL1);
// CGU_EntityConnect(CGU_CLKSRC_IRC, CGU_CLKSRC_PLL1);
CGU_SetPLL1(1);
CGU_EnableEntity(CGU_CLKSRC_PLL1, ENABLE);
// setup CLKOUT
CGU_EntityConnect(CGU_CLKSRC_PLL1, CGU_CLKSRC_IDIVB);
CGU_EnableEntity(CGU_CLKSRC_IDIVB, ENABLE);
CGU_SetDIV(CGU_CLKSRC_IDIVB, 12); // 12 -> 6 pclks per cpu clk, 10 -> 5 pclks
// set input for CLKOUT to IDIVB
LPC_CGU->BASE_OUT_CLK &= ~0x0f000000;
LPC_CGU->BASE_OUT_CLK |= 0x0d000000;
/* Run SPIFI from PL160M, /2 */
CGU_EntityConnect(CGU_CLKSRC_PLL1, CGU_CLKSRC_IDIVA);
CGU_EnableEntity(CGU_CLKSRC_IDIVA, ENABLE);
CGU_SetDIV(CGU_CLKSRC_IDIVA, 2);
CGU_EntityConnect(CGU_CLKSRC_IDIVA, CGU_BASE_SPIFI);
CGU_UpdateClock();
LPC_CCU1->CLK_M4_EMCDIV_CFG |= (1<<0) | (1<<5); // Turn on clock / 2
LPC_CREG->CREG6 |= (1<<16); // EMC divided by 2
LPC_CCU1->CLK_M4_EMC_CFG |= (1<<0); // Turn on clock
/* Set PL160M @ 12*9=108 MHz */
CGU_SetPLL1(9);
/* Run base M3 clock from PL160M, no division */
CGU_EntityConnect(CGU_CLKSRC_PLL1, CGU_BASE_M3);
waitMS(10);
/* Change the clock to 204 MHz */
/* Set PL160M @ 12*15=180 MHz */
CGU_SetPLL1(17);
waitMS(10);
CGU_UpdateClock();
//EMCFlashInit();
//vEMC_InitSRDRAM(SDRAM_BASE_ADDR, SDRAM_WIDTH, SDRAM_SIZE_MBITS, SDRAM_DATA_BUS_BITS, SDRAM_COL_ADDR_BITS);
LPC_SCU->SFSP3_3 = 0xF3; /* high drive for SCLK */
/* IO pins */
LPC_SCU->SFSP3_4=LPC_SCU->SFSP3_5=LPC_SCU->SFSP3_6=LPC_SCU->SFSP3_7 = 0xD3;
LPC_SCU->SFSP3_8 = 0x13; /* CS doesn't need feedback */
#if 0
EMCClk = CGU_GetPCLKFrequency(CGU_PERIPHERAL_M3CORE)/2;
if (spifi_init(&sobj, 9, S_RCVCLK | S_FULLCLK, EMCClk)) {
if (spifi_init(&sobj, 9, S_RCVCLK | S_FULLCLK, EMCClk)) {
while(1);
}
}
#endif
__enable_irq();
// SPIFI_Init();
}
/*
* setup service to define the track positions
* control remains in this function as long as the setup button is active
*/
void setup(void) {
confirm(5);
// start with position mid
stepnr = initpos;
choice = MAX_TRACKS / 2 + 1;
updateDisplay();
pulswidth = MAX_PULSWIDTH;
power = POWER_ON;
waitMS(100);
curtrack = choice;
while( buttonSetup == BUTTON_ON ) {
waitMS(10);
if( buttonRight == BUTTON_ON && buttonLeft == BUTTON_ON ) {
saveByte( ADDR_KEEPPOWER, readByte(ADDR_KEEPPOWER) ? KEEPPOWER_OFF:KEEPPOWER_ON );
confirm(3);
while( buttonRight == BUTTON_ON && buttonLeft == BUTTON_ON );
}
while( stepnr < MAX_STEPS && buttonLeft == BUTTON_OFF && buttonRight == BUTTON_ON ) {
// turn right; end position is not reached
stepnr++;
oneStep(STEP_RIGHT);
};
while( stepnr > 0 && buttonLeft == BUTTON_ON && buttonRight == BUTTON_OFF ) {
// turn left; start position is not reached
stepnr--;
oneStep(STEP_LEFT);
};
// check if the buttonSave is pressed
if( buttonSave == BUTTON_ON ) {
// save the new position in eeprom
savePosition( choice, stepnr);
confirm(1);
choice++;
if( choice > MAX_TRACKS )
choice = 1;
curtrack = choice;
updateDisplay();
while( buttonSave == BUTTON_ON )
waitMS(10);
}
// check if the buttonNext is pressed
if( buttonNext == BUTTON_ON ) {
confirm(1);
choice++;
if( choice > MAX_TRACKS )
choice = 1;
curtrack = choice;
updateDisplay();
while( buttonNext == BUTTON_ON )
waitMS(10);
}
} // end while
if( !readByte(ADDR_KEEPPOWER) )
power = POWER_OFF; /* power off step motor */
}
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
int i;
int boardNum = 0;
int ULStat;
int lowPort,highPort,strobePort;
LARGE_INTEGER frequency; // ticks per second
double* doubleData;
mxChar * charData;
double waitTimeMS1,waitTimeMS2;
/* These variables set the lag between bit flips (ms) */
/* 20-50 uS is the range needed for the Ripple system */
/* faster than that will likely cause dropped codes */
waitTimeMS1 = 0.050; /* between setting bits and the strobe */
waitTimeMS2 = 0.050; /* between setting the strobe to 1 and back to 0 */
// get ticks per second
QueryPerformanceFrequency(&frequency);
lowPort = FIRSTPORTA;
highPort = FIRSTPORTB;
strobePort = FIRSTPORTC;
ULStat = cbDConfigPort (boardNum, lowPort, DIGITALOUT);
ULStat = cbDConfigPort (boardNum, highPort, DIGITALOUT);
ULStat = cbDConfigPort (boardNum, strobePort, DIGITALOUT);
if (nrhs > 0)
{
switch (mxGetClassID(prhs[0]))
{
case mxDOUBLE_CLASS:
doubleData = mxGetPr(prhs[0]);
for (i = 0; i < mxGetNumberOfElements(prhs[0]); i++)
{
ULStat = cbDOut(boardNum, lowPort, ((int)doubleData[i]) % 256);
ULStat = cbDOut(boardNum, highPort, ((int)doubleData[i]) / 256);
waitMS(waitTimeMS1,frequency);
ULStat = cbDOut(boardNum, strobePort,1);
waitMS(waitTimeMS2,frequency);
ULStat = cbDOut(boardNum, strobePort,0);
}
break;
case mxCHAR_CLASS:
charData = (mxChar*)mxGetData(prhs[0]);
for (i = 0; i < mxGetNumberOfElements(prhs[0]); i++)
{
ULStat = cbDOut(boardNum, lowPort, charData[i]);
waitMS(waitTimeMS1,frequency);
ULStat = cbDOut(boardNum, strobePort, 1);
waitMS(waitTimeMS2,frequency);
ULStat = cbDOut(boardNum, strobePort, 0);
}
break;
default:
mexPrintf("Sorry, this data type cannot be transmitted.\n");
mexEvalString("drawnow;");
}
}
return;
}
