int main(void) { wdt_disable(); clock_prescale_set(clock_div_1); LED_ON_DDR |= _BV( LED_ON_PIN ); LED_ON_PORT |= _BV( LED_ON_PIN ); led_init(); LED_ON(); spi_init(); // eeprom_factory_reset("xx"); eeprom_init(); // Setup OneWire and make a full search at the beginning (takes some time) #ifdef HAS_ONEWIRE i2c_init(); onewire_Init(); onewire_FullSearch(); #endif // Setup the timers. Are needed for watchdog-reset #if defined (HAS_IRRX) || defined (HAS_IRTX) ir_init(); // IR uses highspeed TIMER0 for sampling OCR0A = 1; // Timer0: 0.008s = 8MHz/256/2 == 15625Hz #else OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz #endif TCCR0B = _BV(CS02); TCCR0A = _BV(WGM01); TIMSK0 = _BV(OCIE0A); TCCR1A = 0; TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8 MCUSR &= ~(1 << WDRF); // Enable the watchdog wdt_enable(WDTO_2S); uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) ); fht_init(); tx_init(); input_handle_func = analyze_ttydata; display_channel = DISPLAY_USB; #ifdef HAS_RF_ROUTER rf_router_init(); display_channel |= DISPLAY_RFROUTER; #endif checkFrequency(); LED_OFF(); sei(); for(;;) { uart_task(); RfAnalyze_Task(); Minute_Task(); #ifdef HAS_FASTRF FastRF_Task(); #endif #ifdef HAS_RF_ROUTER rf_router_task(); #endif #ifdef HAS_ASKSIN rf_asksin_task(); #endif #ifdef HAS_MORITZ rf_moritz_task(); #endif #ifdef HAS_RWE rf_rwe_task(); #endif #if defined(HAS_IRRX) || defined(HAS_IRTX) ir_task(); #endif #ifdef HAS_MBUS rf_mbus_task(); #endif } }
void main(void) { init(); PSC_Init(0x00, MAX_PWM); uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUDRATE, F_CPU)); while(1) { /* Communicate with Big Brother :-) */ communication(); /* Sampling */ if (Flag_IT_timer0) { if ( !(timer % 100) ) { /* This led shows that program is running */ GPIO_TOGGLE(WD_LED); } if ( !(timer % 10) ) { GPIO_TOGGLE(LED); /* Read meashured speed from Timer2 */ Omega_meas = TCNT1 * 10; TCNT1 = 0; /* PID controller */ pid_output = update_pid(reference_val.omega - Omega_meas, Omega_meas); Command = ((int32_t)pid_output * 131) >> 10; /* Update immediate vals */ instant_val.time = timer; instant_val.omega = Omega_meas; instant_val.error = reference_val.omega - Omega_meas; instant_val.pid_output = pid_output; instant_val.command = Command; } /* direction management : extract sign and absolute value */ if (Command > (int16_t)(0)) { direction = 0; OmegaTe = Command; } else { direction = 1; OmegaTe = (~Command) + 1; } if (OmegaTe > K_scal) { // ------------------------ V/f law -------------------------- amplitude = controlVF(OmegaTe); // ------------------ natural PWN algorithm ------------------ PWM0 = duty_cycle(theta1,amplitude); PWM1 = duty_cycle(theta2,amplitude); PWM2 = duty_cycle(theta3,amplitude); } else { PWM0 = 0; PWM1 = 0; PWM2 = 0; } // -------- load the PSCs with the new duty cycles ----------- PSC0_Load(PWM0, PWM0 + DeadTime); if (!direction) { PSC1_Load(PWM1, PWM1 + DeadTime); PSC2_Load(PWM2, PWM2 + DeadTime); } else { PSC2_Load(PWM1, PWM1 + DeadTime); PSC1_Load(PWM2, PWM2 + DeadTime); } // 3 integrators for the evolution of the angles theta1 = (K_scal * theta1 + OmegaTe) / K_scal; theta2 = theta1 + 160; theta3 = theta1 + 320; if (theta1>=MAX_THETAx4) theta1 -= MAX_THETAx4; if (theta2>=MAX_THETAx4) theta2 -= MAX_THETAx4; if (theta3>=MAX_THETAx4) theta3 -= MAX_THETAx4; Flag_IT_timer0 = 0; } }
int main(void) { wdt_disable(); #ifdef CSMV4 LED_ON_DDR |= _BV( LED_ON_PIN ); LED_ON_PORT |= _BV( LED_ON_PIN ); #endif led_init(); LED_ON(); spi_init(); // eeprom_factory_reset("xx"); eeprom_init(); // led_mode = 2; // if we had been restarted by watchdog check the REQ BootLoader byte in the // EEPROM ... // if(bit_is_set(MCUSR,WDRF) && eeprom_read_byte(EE_REQBL)) { // eeprom_write_byte( EE_REQBL, 0 ); // clear flag // start_bootloader(); // } // Setup the timers. Are needed for watchdog-reset #ifdef HAS_IRRX ir_init(); // IR uses highspeed TIMER0 for sampling OCR0A = 1; // Timer0: 0.008s = 8MHz/256/2 == 15625Hz #else OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz #endif TCCR0B = _BV(CS02); TCCR0A = _BV(WGM01); TIMSK0 = _BV(OCIE0A); TCCR1A = 0; TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8 clock_prescale_set(clock_div_1); MCUSR &= ~(1 << WDRF); // Enable the watchdog wdt_enable(WDTO_2S); uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) ); #ifdef HAS_DOGM dogm_init(); #endif fht_init(); tx_init(); input_handle_func = analyze_ttydata; display_channel = DISPLAY_USB; #ifdef HAS_RF_ROUTER rf_router_init(); display_channel |= DISPLAY_RFROUTER; #endif #ifdef HAS_DOGM display_channel |= DISPLAY_DOGM; #endif LED_OFF(); sei(); for(;;) { uart_task(); RfAnalyze_Task(); Minute_Task(); #ifdef HAS_FASTRF FastRF_Task(); #endif #ifdef HAS_RF_ROUTER rf_router_task(); #endif #ifdef HAS_ASKSIN rf_asksin_task(); #endif #ifdef HAS_MORITZ rf_moritz_task(); #endif #ifdef HAS_IRRX ir_task(); #endif } }
int main(void) { wdt_disable(); led_init(); LED_ON(); MARK433_PORT |= _BV( MARK433_BIT ); MARK915_PORT |= _BV( MARK915_BIT ); spi_init(); // eeprom_factory_reset("xx"); eeprom_init(); // led_mode = 2; // if we had been restarted by watchdog check the REQ BootLoader byte in the // EEPROM ... // if(bit_is_set(MCUSR,WDRF) && eeprom_read_byte(EE_REQBL)) { // eeprom_write_byte( EE_REQBL, 0 ); // clear flag // start_bootloader(); // } // Setup the timers. Are needed for watchdog-reset OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz TCCR0B = _BV(CS02); TCCR0A = _BV(WGM01); TIMSK0 = _BV(OCIE0A); TCCR1A = 0; TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8 clock_prescale_set(clock_div_1); MCUSR &= ~(1 << WDRF); // Enable the watchdog wdt_enable(WDTO_2S); uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) ); #ifdef HAS_STACKING stacking_initialize(); // make sure i2c is inactive DDRC &= 0xfc; PORTC &= 0xfc; #endif fht_init(); tx_init(); input_handle_func = analyze_ttydata; display_channel = DISPLAY_USB; #ifdef HAS_RF_ROUTER rf_router_init(); display_channel |= DISPLAY_RFROUTER; #endif LED_OFF(); checkFrequency(); sei(); for(;;) { uart_task(); RfAnalyze_Task(); Minute_Task(); #ifdef HAS_FASTRF FastRF_Task(); #endif #ifdef HAS_RF_ROUTER rf_router_task(); #endif #ifdef HAS_ASKSIN rf_asksin_task(); #endif #ifdef HAS_MORITZ rf_moritz_task(); #endif #ifdef HAS_STACKING stacking_task(); #endif #ifdef HAS_MBUS rf_mbus_task(); #endif } }
int main(void) { // wdt_disable(); clock_prescale_set(clock_div_1); MARK433_PORT |= _BV( MARK433_BIT ); // Pull 433MHz marker MARK915_PORT |= _BV( MARK915_BIT ); // Pull 915MHz marker led_init(); spi_init(); // Setup the timers. Are needed for watchdog-reset OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz TCCR0B = _BV(CS02); TCCR0A = _BV(WGM01); TIMSK0 = _BV(OCIE0A); TCCR1A = 0; TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8 //eeprom_factory_reset("xx"); eeprom_init(); MCUSR &= ~(1 << WDRF); // Enable the watchdog wdt_enable(WDTO_2S); //uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) ); uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) ); fht_init(); tx_init(); input_handle_func = analyze_ttydata; display_channel = DISPLAY_USB; #ifdef HAS_RF_ROUTER rf_router_init(); display_channel |= DISPLAY_RFROUTER; #endif checkFrequency(); sei(); for(;;) { uart_task(); RfAnalyze_Task(); Minute_Task(); #ifdef HAS_FASTRF FastRF_Task(); #endif #ifdef HAS_RF_ROUTER rf_router_task(); #endif #ifdef HAS_ASKSIN rf_asksin_task(); #endif #ifdef HAS_MORITZ rf_moritz_task(); #endif #ifdef HAS_RWE rf_rwe_task(); #endif #ifdef HAS_RFNATIVE native_task(); #endif #ifdef HAS_KOPP_FC kopp_fc_task(); #endif #ifdef HAS_MBUS rf_mbus_task(); #endif #ifdef HAS_ZWAVE rf_zwave_task(); #endif } }
int main(void) { wdt_disable(); // un-reset ethernet ENC28J60_RESET_DDR |= _BV( ENC28J60_RESET_BIT ); ENC28J60_RESET_PORT |= _BV( ENC28J60_RESET_BIT ); MARK433_PORT |= _BV( MARK433_BIT ); // Pull 433MHz marker MARK915_PORT |= _BV( MARK915_BIT ); // Pull 915MHz marker led_init(); LED_ON(); spi_init(); eeprom_init(); // Reset the "Request Bootloader" flag in EEPROM, to avoid a permanent loop eeprom_update_byte( EE_REQBL, 0); // Setup OneWire and make a full search at the beginning (takes some time) #ifdef HAS_ONEWIRE i2c_init(); onewire_Init(); onewire_FullSearch(); #endif // Setup the timers. Are needed for watchdog-reset #if defined (HAS_IRRX) || defined (HAS_IRTX) ir_init(); // IR uses highspeed TIMER0 for sampling OCR0A = 1; // Timer0: 0.008s = 8MHz/256/2 == 15625Hz Fac: 125 #else OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz #endif TCCR0B = _BV(CS02); TCCR0A = _BV(WGM01); TIMSK0 = _BV(OCIE0A); TCCR1A = 0; TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8 clock_prescale_set(clock_div_1); MCUSR &= ~(1 << WDRF); // Enable the watchdog wdt_enable(WDTO_2S); uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) ); fht_init(); tx_init(); input_handle_func = analyze_ttydata; #ifdef HAS_RF_ROUTER rf_router_init(); display_channel = (DISPLAY_USB|DISPLAY_RFROUTER); #else display_channel = DISPLAY_USB; #endif #ifdef HAS_VZ vz_init(); #endif ethernet_init(); LED_OFF(); #ifdef HAS_DMX #ifdef DMX_CHANNELS dmx_initialize(DMX_CHANNELS); #else dmx_initialize(16); #endif #endif #ifdef HAS_HM485 hm485_initialize(); #endif #ifdef HAS_HELIOS helios_initialize(); #endif #ifdef HAS_CUNOTTY rf_cunotty_init(); #endif sei(); #ifdef HAS_DMX dmx_start(); #endif for(;;) { uart_task(); RfAnalyze_Task(); Minute_Task(); #ifdef HAS_FASTRF FastRF_Task(); #endif #ifdef HAS_RF_ROUTER rf_router_task(); #endif #ifdef HAS_CUNOTTY rf_cunotty_task(); #endif #ifdef HAS_ASKSIN rf_asksin_task(); #endif #ifdef HAS_IRRX ir_task(); #endif #ifdef HAS_ETHERNET Ethernet_Task(); #endif #ifdef HAS_VZ vz_task(); #endif #ifdef HAS_MORITZ rf_moritz_task(); #endif #ifdef HAS_HM485 hm485_task(); #endif #ifdef HAS_HELIOS helios_task(); #endif } }
int main(void) { char wdrst = 0; uint8_t mcusr; mcusr = MCUSR; if ( mcusr & _BV(WDRF) ) { wdrst = 1; } MCUSR = 0; wdt_disable(); cli(); #ifdef LED1 LED1 = 1; #endif uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(115200,F_CPU)); stdout = &mystdout; sei(); if ( wdrst ) { kputs("\n***WATCHDOG RESET***\n"); } wdt_enable(WDTO_8S); wdt_reset(); kputs("\nSetting DDR registers\n"); DDRA = DDRA_SETTING; DDRB = DDRB_SETTING; DDRC = DDRC_SETTING; DDRD = DDRD_SETTING; DIDR0 = 0; DIDR1 = 0; /* kputs("Hi i2c\n"); i2c_init(); kputs("Hi humid\n"); humid_init(); humid_sleep(); kputs("Hi accel\n"); accel_init(); accel_sleep(); kputs("Hi light\n"); light_init(); light_sleep(); kputs("Hi PIR\n"); pir_wake(); kputs("Hi RTC\n"); rtctimer_init(); kputs("Go away RTC\n"); DDRC &= 0x3F; PORTC |= 0xC0; kputs("Go to sleep\n"); uart_flush(); ACSR = (1<<ACD); LED1 = LED2 = 0; cli(); wdt_disable(); SMCR = (2<<SM0) | (1<<SE); //Enable Power-Down Mode while(1) { asm volatile ("sleep"); // __sleep(); // Go to sleep } */ kputs("Initializing PCINT\n"); pcint_init(); kputs("Initializing Reports\n"); report_init(); board_init_devices(); kputs("Initializing wireless mote\n"); wdt_reset(); datalink_init(); /* PIR_VCC = 1; while(1) { if(PIR_OUT_PIN) { kputs("ON\n"); } else { kputs("OFF\n"); } _delay_ms(50); }*/ kputs("Powering down all devices\n"); board_power_down_devices(); kputs("Init logic subsystem\n"); logic_init(); /* kputs("Turning on always-on devices\n"); pir_wake(); accel_wake(); */ board_setup_reporting(); kputs("Starting RTC clock\n"); rtctimer_init(); rtctimer_set_periodic_alarm(report_interval_needed(),&rtc_timer_cb); wdt_reset(); wdt_disable(); while(1) { //wdt_enable(WDTO_2S); //wdt_reset(); pcint_check(); rtctimer_check_alarm(); wdt_disable(); datalink_tick(); #ifdef USE_PN532 rtc_timer_cb(); // causes monitor list to be run #else #if defined LOW_POWER // do we have a RTC clock and battery-powered avr_sleep(); #else avr_doze(); #endif #endif } }
int main(void) { int i; int count = 0; DDRB = 0; DDRC = 0; DDRE = 0; // Enable the pullup on RESET pin. #if defined(__AVR_AT90PWM316__) PORTE = (1<<PINE0); PORTE &= ~(1<<PINE0); #elif defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__) PORTC = (1<<PINC6); PORTC &= ~(1<<PINC6); #else #warning "Didn't enable reset pin pullup" #endif // Setup all of port C as inputs, except for pin C5 SETUP_DEBUG_PINS(); // Set up the ADC single conversion pin. DDRC &= ~(1<<PINC6); PORTC &= ~(1<<PINC6); // Disable all the ADC digital inputs. DIDR1 = 0xFF; DIDR0 = 0xFF & ~(1<<ADC1D); // populate the buffer with known values ringBuffer_initialize(&txbuffer,txbuffer_storage,TXBUFFER_LEN); ringBuffer_initialize(&adcbuffer,adcbuffer_storage,BUFFER_LEN); ringBuffer_initialize(&rxbuffer,rxbuffer_storage,RXBUFFER_LEN); // Populate the ADC read schedule with the mux indices that you want. adc_mux_schedule[0] = 2; adc_mux_schedule[1] = 10; adc_mux_schedule[2] = 6; adc_mux_schedule[3] = 3; uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU), &rxbuffer, &txbuffer); //uart_config_default_stdio(); // Translate those indices and the mask specifying which MUXes to turn on, // to an encoded mux schedule that the ADC understands. adc_encode_muxSchedule(adc_mux_schedule, SCHEDULE_LEN); adc_init(ADC_MODE_MANUAL, &adcbuffer, adc_mux_schedule, SCHEDULE_LEN); timer0_init(); sei(); uart_puts_P("\f\r\n\r\nADC and UART Demo. Commands:\n" "b Begin 4 channel read bursts at CLK/16K\n" "e End reading.\n" "s Single conversion.\n"); DEBUG_PIN1_OFF(); while(1) { do { i = uart_getc(); } while (i == UART_NO_DATA); DEBUG_PIN1_ON(); if(i == 'b'){ uart_puts_P("Begin.\n"); start_timer0(); } else if(i == 'e'){ stop_timer0(); _delay_us(100); uart_puts_P("End.\n"); } else if(i == 's'){ uart_puts_P("ADC"); uart_put_hex8(count); uart_puts_P(": "); i = adc_single_conversion(count); uart_put_hex8((i >> 8) & 0xFF); uart_put_hex8(i & 0xFF); uart_putc('\n'); count = (count + 1) & 0xF; if(count == 11) { count = 13; } } else{
int main(void) { wdt_disable(); #ifdef HAS_16MHZ_CLOCK /* set clock to 16MHz/2 = 8Mhz */ clock_prescale_set(clock_div_2); #endif // LED_ON_DDR |= _BV( LED_ON_PIN ); // LED_ON_PORT |= _BV( LED_ON_PIN ); led_init(); LED_ON(); spi_init(); // init_adcw(); //eeprom_factory_reset("xx"); eeprom_init(); // Setup the timers. Are needed for watchdog-reset OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz TCCR0B = _BV(CS02); TCCR0A = _BV(WGM01); TIMSK0 = _BV(OCIE0A); TCCR1A = 0; TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8 MCUSR &= ~(1 << WDRF); // Enable the watchdog wdt_enable(WDTO_2S); #ifdef HAS_16MHZ_CLOCK uart_init( UART_BAUD_SELECT(UART_BAUD_RATE,F_CPU) ); #else uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) ); #endif fht_init(); tx_init(); input_handle_func = analyze_ttydata; display_channel = DISPLAY_USB; #ifdef HAS_RF_ROUTER rf_router_init(); display_channel |= DISPLAY_RFROUTER; #endif checkFrequency(); LED_OFF(); sei(); for(;;) { uart_task(); RfAnalyze_Task(); Minute_Task(); #ifdef HAS_FASTRF FastRF_Task(); #endif #ifdef HAS_RF_ROUTER rf_router_task(); #endif #ifdef HAS_ASKSIN rf_asksin_task(); #endif #ifdef HAS_MORITZ rf_moritz_task(); #endif #ifdef HAS_RWE rf_rwe_task(); #endif #ifdef HAS_RFNATIVE native_task(); #endif #ifdef HAS_KOPP_FC kopp_fc_task(); #endif #ifdef HAS_MBUS rf_mbus_task(); #endif } }
int main(void) { led_init(); #ifdef LED_RGB led_off(LED_CHANNEL_GREEN); led_off(LED_CHANNEL_RED); led_off(LED_CHANNEL_BLUE); #else LED_ON(); #endif spi_init(); OCR0A = 249; // Timer0: 0.008s = 8MHz/256/250 == 125Hz TCCR0B = _BV(CS02); TCCR0A = _BV(WGM01); TIMSK0 = _BV(OCIE0A); TCCR1A = 0; TCCR1B = _BV(CS11) | _BV(WGM12); // Timer1: 1us = 8MHz/8 clock_prescale_set(clock_div_1); MCUSR &= ~(1 << WDRF); // Enable the watchdog uart_init( UART_BAUD_SELECT_DOUBLE_SPEED(UART_BAUD_RATE,F_CPU) ); input_handle_func = analyze_ttydata; display_channel = DISPLAY_USB; #ifdef LED_RGB my_delay_ms(200); led_on(LED_CHANNEL_RED); my_delay_ms(200); led_off(LED_CHANNEL_RED); led_on(LED_CHANNEL_GREEN); my_delay_ms(200); led_off(LED_CHANNEL_GREEN); led_on(LED_CHANNEL_BLUE); my_delay_ms(200); led_off(LED_CHANNEL_BLUE); #else LED_OFF(); #endif sei(); /* start moritz function */ moritz_func("Zr\n"); for(;;) { led_process(ticks); uart_task(); Minute_Task(); rf_asksin_task(); rf_moritz_task(); if (rf_moritz_data_available()) { DC('Z'); uint8_t *rf_data = (uint8_t*) &max_data; for (uint8_t i=0; i<=*rf_data; i++) { DH2( *rf_data++ ); } DNL(); DS("length: "); DU(max_data.length, 2); DNL(); DS("msg count: "); DU(max_data.message_count, 2); DNL(); DS("msg type: "); DU(max_data.message_type, 2); DNL(); } } }