bool app_openuart(void){
//Open a uart
uart_init(uart);
uart_setdevice(uart,"/dev/ttyS41");
if (!uart_configure(uart,B9600,false)){
//Failed to open.
printf_clr(CLR_YELLOW,"Try a different tty:?\n");
uint8_t newname[64];
fgets(newname,64,stdin);
//Remove \n
int len = strlen(newname);
newname[len-1] = 0;
uart_setdevice(uart,newname);
if (!uart_configure(uart,B9600,false)){
printf_clr(CLR_RED,"Nope.\n");
return false;
}
}
//Setup everything:
fifo_init(&txfifo,txbuffer,UART_BUFFER_SIZE);
fifo_init(&rxfifo,rxbuffer,UART_BUFFER_SIZE);
//Attach fifo's to uart.
uart->rxfifo = &rxfifo;
uart->txfifo = &txfifo;
printf("Attatching funcions to stream\n");
stream_init(stream,uart);
stream->write_start = &stream_writestart;
stream->write_stop = &stream_writestop;
bus_init(bus);
}
int main(void)
{
bus_init(BUS_ADDRESS_CHASSIS);
_delay_ms(100);
engine_init();
regulator_init();
carrying_rfid = 0;
handled_count = 0;
manual_control = 0;
scan_count = 0;
lap_finished = 0;
number_of_stations = 0;
station_count = 0;
// bus_register_receive(1, receive_line_data);
bus_register_receive(2, arm_is_done);
bus_register_receive(3, control_line_following);
bus_register_receive(4, RFID_done);
bus_register_receive(8, engine_control_command);
bus_register_receive(11, engine_set_kp);
bus_register_receive(12, engine_set_kd);
sei();
start_button_init();
timer_interrupt_init();
while(1)
{
}
}
void bus_handler_init() {
/* Read the external address of the device */
bus_set_address(BUS_BASE_ADDR + read_ext_addr());
/* This delay is simply so that if you have the devices connected to the same power supply
* all units should not send their status messages at the same time. Therefor we insert a delay
* that is based on the external address of the device */
for (unsigned char i = 0; i < bus_get_address(); i++) {
delay_ms(DEFAULT_STARTUP_DELAY);
}
/* Initialize the communication bus */
bus_init();
bus_ping_init();
if ((BUS_BASE_ADDR + read_ext_addr()) == 0x01) {
bus_set_is_master(1, DEF_NR_DEVICES);
}
else {
bus_set_is_master(0, 0);
}
/* Timer used for the communication bus. The interrupt is caught in bus.c */
bsp_init_timer_2();
}
int main(void)
{
halInit();
chSysInit();
chBSemObjectInit(&frame_thread_sem, false);
bus_init();
power_init();
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
chThdCreateStatic(frame_thread_wa, sizeof(frame_thread_wa),
NORMALPRIO, frame_thread, NULL);
while(true) {
usb_rx(streamGet(&SDU1));
}
}
int main( void )
{
LED_INIT();
if (bus_init() == pdFALSE)
{
}
LED1_ON();
xTaskCreate( vbeacon_rfd, "Client", configMINIMAL_STACK_SIZE + 200, NULL, (tskIDLE_PRIORITY + 2 ), NULL );
vTaskStartScheduler();
return 0;
}
static void init(void) {
bitmaps_init();
mqueue_init();
tube_init();
bus_init();
train_init();
settings_restore();
win_main_menu_create();
win_main_menu_show(true);
analytics_track_event("app.start", " ");
time_started = time(NULL);
}
int main(void)
{
/* Bring up processor */
cpu_init();
watchdog_init();
#ifdef CONFIG_HW_LED_ALIVE_CHECK
/* Bring up low level LED */
hw_led_init();
#endif
#ifdef CONFIG_HW_UART
/* Bring up low level hardware UART */
hw_uart_init();
#endif
/* Setup timer for tick counting */
tick_init();
/* Bring up high level LED */
led_init();
/* Bring up console */
console_init();
#ifdef CONFIG_DEBUG_RESET_REASON
/* Report reason for last reset */
console_puts_P(PSTR("Reset cause:"));
console_puthex8(MCUSR);
console_newline();
#endif
/* Set default LED pattern */
led_set_seq(LED_SEQ_SINE);
#ifdef CONFIG_USBDEV
usbdev_init(USBMODE_DEFAULT);
#endif
/* HiZ bus mode selected by default */
bus_init(&bus_hiz);
/* Enable interrupts */
cpu_enable_int();
while(1)
{
driver_tick();
}
}
int main(void)
{
//initialize_memory();
DEBUG_INIT();
#if ! defined(USE_SCHEDULE)
bus_init();
ifs_init();
#endif /* USE_SCHEDULE */
ttpa_setstate(TTPA_STATE_UNSYNC);
while(1) {
#if defined(USE_SCHEDULE)
schedule();
#endif
}
return 0;
}
int board_init(void)
{
init_sc520();
bus_init();
irq_init();
/* max drive current on SDRAM */
sc520_mmcr->dsctl = 0x0100;
/* enter debug mode after next reset (only if jumper is also set) */
sc520_mmcr->rescfg = 0x08;
/* configure the software timer to 33.333MHz */
sc520_mmcr->swtmrcfg = 0;
gd->bus_clk = 33333000;
return 0;
}
static int
cmd_initbus_run( chain_t *chain, char *params[] )
{
int i;
if (cmd_params( params ) < 2)
return -1;
if (!cmd_test_cable( chain ))
return 1;
if (!chain->parts) {
printf( _("Run \"detect\" first.\n") );
return 1;
}
if (chain->active_part >= chain->parts->len || chain->active_part < 0) {
printf( _("%s: no active part\n"), "initbus" );
return 1;
}
for (i = 0; bus_drivers[i] != NULL; i++) {
if (strcasecmp( bus_drivers[i]->name, params[1] ) == 0) {
bus_t *abus = bus_drivers[i]->new_bus( chain, bus_drivers[i], params );
if (abus == NULL) {
printf( _("bus alloc/attach failed!\n") );
return 1;
}
buses_add( abus );
if (bus_init( abus ) != URJTAG_STATUS_OK)
printf( _("bus initialization failed!\n") );
for (i = 0; i < buses.len; i++)
if (buses.buses[i] == bus)
break;
if (i != buses.len - 1)
printf( _("Initialized bus %d, active bus %d\n"), buses.len - 1, i );
return 1;
}
}
printf( _("Unknown bus: %s\n"), params[1] );
return 1;
}
int main(void)
{
wdt_disable();
/* Clear WDRF in MCUSR */
MCUSR &= ~(1<<WDRF);
/* Write logical one to WDCE and WDE */
/* Keep old prescaler setting to prevent unintentional time-out */
WDTCSR |= (1<<WDCE) | (1<<WDE);
/* Turn off WDT */
WDTCSR = 0x00;
//DDRA |= 0x07;
//PORTA &= ~7;
//DDRC |= 0x07;
//DDRC |= 0xC0;
eeprom_read_block(&state, &state_ee, sizeof(state));
aes_handler_init();
bus_handler_init();
serial_init();
bus_init();
cmd_init();
buttons_init();
leds_init();
timer0_init();
sei();
leds_set(0,LED_SHORT_FLASH);
while( 1 ){
if( timer0_timebase ){
timer0_timebase--;
bus_tick();
serial_tick();
buttons_tick();
leds_tick();
}
bus_process();
serial_process();
//aes128_enc(data, &ctx); /* encrypting the data block */
}
}
int main( void )
{
LED_INIT();
if (bus_init() == pdFALSE)
{
for (;;)
{
LED1_ON();
LED2_OFF();
LED1_OFF();
LED2_ON();
}
}
xTaskCreate( vSensorTask, "Sens", configMINIMAL_STACK_SIZE + 100, NULL, (tskIDLE_PRIORITY + 2 ), NULL );
vTaskStartScheduler();
return 0;
}
int main(void)
{
wdt_disable();
/* Clear WDRF in MCUSR */
MCUSR &= ~(1<<WDRF);
/* Write logical one to WDCE and WDE */
/* Keep old prescaler setting to prevent unintentional time-out */
WDTCSR |= (1<<WDCE) | (1<<WDE);
/* Turn off WDT */
WDTCSR = 0x00;
DDRC |= 0xC0;
eeprom_read_block(&state, &state_ee, sizeof(state));
leds_init();
buttons_init();
adc_init();
power_init();
door_init();
aes_handler_init();
bus_handler_init();
bus_init();
cmd_init();
timer0_init();
sei();
while( 1 ){
if( timer0_timebase ){
timer0_timebase--;
bus_tick();
door_tick();
power_tick();
cmd_tick();
buttons_tick();
leds_tick();
}
bus_process();
door_process();
power_process();
}
}
/* Main task, initialize hardware and start the FreeRTOS scheduler */
int main( void )
{
/* Initialize the Nano hardware */
bus_init();
LED_INIT();
N710_SENSOR_INIT();
/* Start the debug UART at 115k */
debug_init(115200);
stack_init();
button_events = xQueueCreate( 4, 1 /*message size one byte*/ );
/* Setup the application task and start the scheduler */
xTaskCreate( vAppTask, "App", configMAXIMUM_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 1 ), ( xTaskHandle * )NULL );
xTaskCreate( vButtonTask, "Button", configMAXIMUM_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2 ), ( xTaskHandle * )NULL );
vTaskStartScheduler();
/* Scheduler has taken control, next vAppTask starts executing. */
return 0;
}
// only done once per app run
void sim_init()
{
// try and improve our performance a bit
setpriority(PRIO_PROCESS, 0, -20);
scall("mlockall", mlockall(MCL_CURRENT | MCL_FUTURE));
// check that new polarity scheme didn't break anything
assert(WREG_O3_RST == WREG_O3_RST_GOOD);
assert(WREG_O2_IDLE == WREG_O2_IDLE_GOOD);
assert(WREG_O2_ENA == WREG_O2_ENA_GOOD);
assert(WREG_O2_ARM == WREG_O2_ARM_GOOD);
bus_init();
pru_start();
bus_pru_gpio_init();
if (!background_mode) {
tty = open("/dev/tty", O_RDONLY | O_NONBLOCK);
if (tty < 0) sys_panic("open tty");
}
}
/*---------------------------------------------------------------------------*/
int
main(void)
{
/* Hardware initialization */
bus_init();
leds_init();
fade(LEDS_GREEN);
uart1_init(115200);
uart1_set_input(serial_line_input_byte);
/* initialize process manager. */
process_init();
serial_line_init();
printf("\n" CONTIKI_VERSION_STRING " started\n");
printf("model: " SENSINODE_MODEL "\n\n");
/* initialize the radio driver */
cc2430_rf_init();
rime_init(sicslowmac_init(&cc2430_rf_driver));
set_rime_addr();
/* start services */
process_start(&etimer_process, NULL);
fade(LEDS_RED);
autostart_start(autostart_processes);
while(1) {
process_run();
etimer_request_poll();
}
}
// Creates and initializes a device.
struct cen64_device *device_create(struct cen64_device *device,
const struct rom_file *ddipl, const struct rom_file *ddrom,
const struct rom_file *pifrom, const struct rom_file *cart,
const struct save_file *eeprom, const struct save_file *sram,
const struct save_file *flashram, const struct controller *controller,
bool no_audio, bool no_video) {
// Initialize the bus.
device->bus.ai = &device->ai;
device->bus.dd = &device->dd;
device->bus.pi = &device->pi;
device->bus.ri = &device->ri;
device->bus.si = &device->si;
device->bus.vi = &device->vi;
device->bus.rdp = &device->rdp;
device->bus.rsp = &device->rsp;
device->bus.vr4300 = &device->vr4300;
// Initialize the bus.
if (bus_init(&device->bus)) {
debug("create_device: Failed to initialize the bus.\n");
return NULL;
}
// Initialize the AI.
if (ai_init(&device->ai, &device->bus, no_audio)) {
debug("create_device: Failed to initialize the AI.\n");
return NULL;
}
// Initialize the DD.
if (dd_init(&device->dd, &device->bus,
ddipl->ptr, ddrom->ptr, ddrom->size)) {
debug("create_device: Failed to initialize the DD.\n");
return NULL;
}
// Initialize the PI.
if (pi_init(&device->pi, &device->bus, cart->ptr, cart->size, sram, flashram)) {
debug("create_device: Failed to initialize the PI.\n");
return NULL;
}
// Initialize the RI.
if (ri_init(&device->ri, &device->bus)) {
debug("create_device: Failed to initialize the RI.\n");
return NULL;
}
// Initialize the SI.
if (si_init(&device->si, &device->bus, pifrom->ptr,
cart->ptr, ddipl->ptr != NULL, eeprom->ptr, eeprom->size,
controller)) {
debug("create_device: Failed to initialize the SI.\n");
return NULL;
}
// Initialize the VI.
if (vi_init(&device->vi, &device->bus, no_video)) {
debug("create_device: Failed to initialize the VI.\n");
return NULL;
}
// Initialize the RDP.
if (rdp_init(&device->rdp, &device->bus)) {
debug("create_device: Failed to initialize the RDP.\n");
return NULL;
}
// Initialize the RSP.
if (rsp_init(&device->rsp, &device->bus)) {
debug("create_device: Failed to initialize the RSP.\n");
return NULL;
}
// Initialize the VR4300.
if (vr4300_init(&device->vr4300, &device->bus)) {
debug("create_device: Failed to initialize the VR4300.\n");
return NULL;
}
return device;
}
int main(void) {
/* Early system initialisation */
board_init();
system_init_early();
leds_init();
set_busy_led(1);
set_dirty_led(0);
/* Due to an erratum in the LPC17xx chips anything that may change */
/* peripheral clock scalers must come before system_init_late() */
uart_init();
#ifndef SPI_LATE_INIT
spi_init(SPI_SPEED_SLOW);
#endif
timer_init();
bus_interface_init();
i2c_init();
/* Second part of system initialisation, switches to full speed on ARM */
system_init_late();
enable_interrupts();
/* Internal-only initialisation, called here because it's faster */
buffers_init();
buttons_init();
/* Anything that does something which needs the system clock */
/* should be placed after system_init_late() */
bus_init(); // needs delay
rtc_init(); // accesses I2C
disk_init(); // accesses card
read_configuration();
fatops_init(0);
change_init();
uart_puts_P(PSTR("\r\nsd2iec " VERSION " #"));
uart_puthex(device_address);
uart_putcrlf();
#ifdef CONFIG_REMOTE_DISPLAY
/* at this point all buffers should be free, */
/* so just use the data area of the first to build the string */
uint8_t *strbuf = buffers[0].data;
ustrcpy_P(strbuf, versionstr);
ustrcpy_P(strbuf+ustrlen(strbuf), longverstr);
if (display_init(ustrlen(strbuf), strbuf)) {
display_address(device_address);
display_current_part(0);
}
#endif
set_busy_led(0);
#if defined(HAVE_SD) && BUTTON_PREV != 0
/* card switch diagnostic aid - hold down PREV button to use */
if (!(buttons_read() & BUTTON_PREV)) {
while (buttons_read() & BUTTON_NEXT) {
set_dirty_led(sdcard_detect());
# ifndef SINGLE_LED
set_busy_led(sdcard_wp());
# endif
}
reset_key(0xff);
}
#endif
bus_mainloop();
while (1);
}
int main(void){
clock_switch32M();
uart_init();
bus_init(&bus);
PORTC.DIR = 0xFF;
//Setup a timer, just for counting. Used for bus message and timeouts.
TCC1_CTRLA = TC_CLKSEL_DIV1024_gc;
//Set the interrupts we want to listen to.
PMIC.CTRL = PMIC_MEDLVLEN_bm |PMIC_HILVLEN_bm | PMIC_RREN_bm;
//Make sure to move the reset vectors to application flash.
CCP = CCP_IOREG_gc;
PMIC.CTRL &= ~PMIC_IVSEL_bm;
//Enable interrupts.
sei();
//Read temperature calibration:
read_calibration();
uint8_t cnt_tm = 0; //Used by TCC1
uint8_t poll_cnt = 0; //Used for polling the display.
//uint16_t pwm_lim = 0; //PWM limit may change at higher speed.
while(1){
continue;
get_measurements();
if (get_throttle()){
motor.throttle = throttle;
}else{
motor.throttle = 0;
}
if (display.online == false){
motor.mode = 0;
}
//Set display data
display.voltage = motor.voltage;
display.current = motor.current;
//display.power = power_av;
display.throttle = throttle;
display.error = status | motor.status;
/*if (motor.status){
display.error = motor.status;
}*/
//display.speed = speed% 1000; //999 max
if (TCC1.CNT > 500){
cnt_tm++;
TCC1.CNT = 0;
//Last character in message
if (wait_for_last_char){
wait_for_last_char = false;
}else{
bus_endmessage(&bus);
}
//Send timer tick
bus_tick(&bus);
if (bus_check_for_message()){
green_led_on();
}else{
green_led_off();
//Increase offline count.
display.offline_cnt++;
if (display.offline_cnt > 10){
uart_rate_find();
PORTC.OUTSET = PIN6_bm;
}else{
PORTC.OUTCLR = PIN6_bm;
}
//If offline too long:
if (display.offline_cnt > 50){
//You need to make it unsafe again.
display.road_legal = true;
display.online = false;
throttle_cruise = false;
throttle = 0;
use_brake = false;
brake = 0;
}
if (motor.offline_cnt > 20){
motor.online = false;
}
poll_cnt++;
if (poll_cnt == 2){
bus_display_poll(&bus);
}else if (poll_cnt == 4){
bus_display_update(&bus);
}else if (poll_cnt == 6){
bus_motor_poll(&bus);
motor.offline_cnt++;
}else if (poll_cnt == 8){
poll_cnt = 0;
}
}
}
}
}
/*
void read_calibration(void){
//Get the factory temperature value, at 85 Deg. C.
ad_temp_ref = SP_ReadCalibrationByte(PRODSIGNATURES_ADCACAL0) ;
ad_temp_ref |= SP_ReadCalibrationByte(PRODSIGNATURES_ADCACAL1) <<8;
}
*/
int main(void){
clock_switch32M();
init_pwm();
uart_init();
bus_init(&bus);
//Clear the AD settings.
PORTA.DIR = 0;
PORTA.OUT = 0;
ADCA.CTRLA = ADC_FLUSH_bm;
ADCA.CTRLB = 0;
ADCA.REFCTRL = 0;
ADCA.EVCTRL = 0;
ADCA.PRESCALER = 0;
//Set PORTB as AD input
PORTB.DIR = 0;
PORTB.OUT = 0;
//Setup a timer, just for counting. Used for bus message and timeouts.
TCC1_CTRLA = TC_CLKSEL_DIV1024_gc;
//Set up the RTC for speed timing.
CLK.RTCCTRL = CLK_RTCSRC_RCOSC32_gc | CLK_RTCEN_bm;
RTC.CTRL = RTC_PRESCALER_DIV1_gc;
RTC.COMP = 32768;
//A counter for 100% PWM timing.
TCD0.CTRLA = TC_CLKSEL_DIV1024_gc;
TCD0.PER = 320;
TCD0.INTCTRLA = TC_OVFINTLVL_HI_gc;
//Make sure to move the reset vectors to application flash.
//Set the interrupts we want to listen to.
CCP = CCP_IOREG_gc;
PMIC.CTRL = PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm |PMIC_HILVLEN_bm | PMIC_RREN_bm;
//Enable interrupts.
sei();
//Set defaults:
eepsettings.straincal = 200;
eemem_read_block(EEMEM_MAGIC_HEADER_SETTINGS,(uint8_t*)&eepsettings, sizeof(eepsettings), EEBLOCK_SETTINGS1);
//Apply settings...
strain_threshhold = eepsettings.straincal;
//Startup hall state.
hall_state = 0x04;
get_hall();
//Startup PWM value.
pwm = PWM_SET_MIN;
uint8_t cnt_tm = 0; //Used by TCC1
uint8_t poll_cnt = 0; //Used for polling the display.
uint16_t pwm_lim = 0; //PWM limit may change at higher speed.
display.strain_th = strain_threshhold;
//Two flags that can only be set.
bool should_freewheel = true;
bool force_commute = false;
while(1){
//Double check the PWM hasn't gone crazy:
if (pwm < pwm_set_min){
pwm = pwm_set_min;
}
if (pwm > pwm_set_max){
pwm = pwm_set_max;
}
//Testing
if (testvalue > pwm_set_max){
testvalue = pwm_set_max;
}
if (testvalue < pwm_set_min){
testvalue = pwm_set_min;
}
//Apply PWM settings.
TCC0.CCA = pwm;
TCC0.CCB = pwm;
TCC0.CCC = pwm;
//Get halls sensors.
if (!get_hall()){
should_freewheel = true;
status_set(STAT_HALL_FAULT);
}
//Commute or freewheel:
if (should_freewheel){
pwm_freewheel();
}else if (force_commute){
if (direction == FORWARD){
commute_forward();
}else{
commute_backward();
}
}else if (flag_hall_changed){
if (direction == FORWARD){
commute_forward();
}else{
commute_backward();
}
}else{
//pwm_freewheel();
}
//Remeber...
pwm_prev = pwm;
//Reset
should_freewheel = false;
//force_commute = false;
if (startup == 10){ //Just started
//Setup PWM
commute_start();
pwm = estimate_pwm_byspeed();
//Apply PWM settings.
TCC0.CCA = pwm;
TCC0.CCB = pwm;
TCC0.CCC = pwm;
}
if (display.online == false){
should_freewheel = true;
}
if (motor.mode == 0){
should_freewheel = true;
}
//Get voltage/current.
get_measurements();
//Hard under and over voltage.
if (ad_voltage > 3700){ //3900
//Freewheel as fast as possible.
pwm_freewheel();
should_freewheel = true;
status_set(STAT_OVER_VOLTAGE);
}else if (ad_voltage < 1800){ //About 19 volts.
//Freewheel as fast as possible.
pwm_freewheel();
should_freewheel = true;
status_set(STAT_UNDER_VOLTAGE);
pwm_inc(200);pwm_inc(200);
}
//Regenning too hard:
if (ad_current_regav < -1300){
//Freewheel as fast as possible.
//pwm_freewheel();
//should_freewheel = true;
//status_set(STAT_REGEN_HIGH);
//startup = 3;
}
#if (HARDWARE_HAS_THROTTLE)
if (use_throttle){
//This gas pedal is low on disconnect.
if (!get_throttle()){
status_set(STAT_THROTTLE_FAULT);
should_freewheel = true;
}
//Use the brake too:
if (get_brake()){
if (use_brake){
throttle_cruise = false;
throttle_tick = 0;
}else{
if (throttle == 0){ //< 5
should_freewheel = true;
}
}
}else{
status_set(STAT_BRAKE_FAULT);
should_freewheel = true;
}
}
#endif
if (usehall){
//Timer:
if (flag_hall_changed){
//Toggle blue led:
PORTC.OUTTGL = PIN7_bm;
//compute time:
time_now = RTC.CNT;
time_comm = time_now;
//Running average.
time_comm_av += time_comm;
time_comm_av >>= 1;
commtime_sum+= time_comm;
commtime_cnt++;
cnt_commutations++;
//Reset timer.
RTC.CNT = 0;
//Computer average current in this time:
if (ad_current_regcnt > 0){
ad_current_regav = ad_current_regsum / (int32_t)ad_current_regcnt;
}else{
ad_current_regav = ad_current;
}
//Values reset in next if-statement.
}
//Allowed to go faster if the commutation time is guaranteed to switch fast enough.
//TCD0 is used in case the motor suddenly stops. Capacitors are 100uF/16V
if (time_comm_av < 250){
//Round REV0 does not support 100% duty cycle.
pwm_set_min = 0;
}
//Limit for braking
pwm_lim = pwm_set_max - (display.function_val3 * 10);
if (pwm_lim < pwm_set_min){
pwm_lim = pwm_set_min;
}else if (pwm_lim > pwm_set_max){
pwm_lim = pwm_set_max;
}
//That's really slow.
if (RTC.CNT> 5000){
speed = 0;
}
//Minimum response time
if (flag_hall_changed) {
//Clear current sum:
ad_current_regcnt = 0;
ad_current_regsum = 0;
RTC.CNT = 0;
}
//Control loop
if ((flag_hall_changed) || (TCC1.CNT > 450)){
//Clear hall flag if it was set.
flag_hall_changed = false;
if (!off){
//If brake is enabled:
if (use_brake){
if (brake > 5){
//Regenning is a bit harder. The amount of strength decreases if PWM is too high.
//Brake is current limited.
//At low speed, ovverride PWM settings
if (speed < 150){
pwm_lim = pwm_set_max;
}
if ((ad_current_regav + 169) > (((int16_t)brake)*-12)){ //100 * 10 -> current of about -8 Amp
//More power: inc PWM
//Use the speed average as a voltage estimate for the motor.
//24V will give an unloaded speed of 350 (35.0kmh)
//If we're doing 10km/h, the motor is at 7V approx, 30% duty cycle.
if (pwm < pwm_lim){
pwm_inc(slope_brake);
}
}else{
//Back off
pwm_dec(slope_brake);
}
//Voltage limits
if (ad_voltage > 3600){
pwm_dec(slope_brake/2);
}
if (ad_voltage > 3700){
pwm_dec(slope_brake/2);
}
}
}
if (use_throttle){
//Undo brake :
if (flag_brake_lowrpm){
off = false;
tie = false;
status_clear();
flag_brake_lowrpm = false;
}
if (throttle > 5){
/*
//Throttle is current limited.
if ((ad_current_regav + 169) < (((int16_t)throttle)*8)){
//More power
pwm_dec(slope_throttle*2);
}else if ((ad_current_regav + 169) < (((int16_t)throttle)*16)){ //100 * 16 -> current of about 12 Amp
//More power
pwm_dec(slope_throttle);
}else{
//Back off
pwm_inc(slope_throttle);
}*/
//Voltage limits
if (ad_voltage < 1950){
pwm_inc(slope_throttle*2);
}
if (ad_voltage < 1900){
pwm_inc(slope_throttle*2);
}
//Cal current reg:
//Current calibration:
#if(HARDWARE_VER == HW_CTRL_REV0)
int32_t regualtion = ad_current_regav;
regualtion += 1749;
regualtion *= 1000;
regualtion /= 286;
regualtion -= 34;
#endif
//Current regulation
if (speed){
if (regualtion < ((int16_t)throttle*(int16_t)motor.mode)){ //200 * 0-5
//More power
pwm_dec(slope_throttle*2);
}else if (regualtion < ((int16_t)throttle*(int16_t)motor.mode)){
//More power
pwm_dec(slope_throttle);
}else{
//Back off
pwm_inc(slope_throttle);
}
}
}
}
if (use_pedalassist) {
if (ad_strain_av > highestforce){
highestforce = ad_strain_av;
}
if (ad_strain_av > strain_threshhold){
strain_cnt = 75UL + (2UL*speed);
if (ad_strain_av-strain_threshhold < 100){
pedal_signal = ad_strain_av-strain_threshhold;
}else{
pedal_signal = 100;
}
}
if (strain_cnt){
strain_cnt--;
}else{
pedal_signal = 0;
}
if (pedal_signal && strain_cnt){
//Same control loop as in throttle:
//Voltage limits
if (ad_voltage < 1950){
pwm_inc(slope_throttle*2);
}
if (ad_voltage < 1900){
pwm_inc(slope_throttle*2);
}
//Cal current reg:
//Current calibration:
#if(HARDWARE_VER == HW_CTRL_REV0)
int32_t regualtion = ad_current_regav;
regualtion += 1749;
regualtion *= 1000;
regualtion /= 286;
regualtion -= 34;
#endif
//Current regulation
if (speed){
if (regualtion < ((int16_t)pedal_signal*2*(int16_t)motor.mode)){ //200 * 0-5
//More power
pwm_dec(slope_throttle*2);
}else if (regualtion < ((int16_t)pedal_signal*2*(int16_t)motor.mode)){
//More power
pwm_dec(slope_throttle);
}else{
//Back off
pwm_inc(slope_throttle);
}
}
}
}
}else{ //if (off)
//Undo braking at low RPM
if (flag_brake_lowrpm){
off = false;
tie = false;
status_clear();
flag_brake_lowrpm = false;
}
}
}
}else{ //Hall hasn't changed.
//Don't use hall.
if (RTC.CNT > time_comm_av_last){
//Reset timer.
RTC.CNT = 0;
}
}
//Act on a fault?
if (isfaultset()){
if (tie){
tie_ground();
}else{
should_freewheel = true;
}
}
if (use_pedalassist && (!use_throttle)){
if (!pedal_signal){
should_freewheel = true;
}
}else if ((!use_pedalassist) && (use_throttle && (throttle < 5))){
should_freewheel = true;
}else if ((use_throttle)&& (use_pedalassist)){
if ((throttle < 5) && (!pedal_signal)){
should_freewheel = true;
}
}
//Current min/max
if (ad_current < ad_currentmin){
ad_currentmin = ad_current;
}
if (ad_current > ad_currentmax){
ad_currentmax = ad_current;
}
if (flag_keep_pwm){
pwm = pwm_prev;
}
cnt_rotations = cnt_commutations / 48;
//Set display data
display.voltage = ad_voltage_av;
display.current = ad_current_av;
display.power = power_av;
display.error = status;
display.speed = speed% 1000; //999 max
motor.status = status;
//display.speed = pwm;
//display.current = pwm_lim;
if (use_brake){
display.throttle = brake;
}else{
if (use_pedalassist){
if (pedal_signal > throttle){
display.throttle = pedal_signal;
}else{
display.throttle = throttle;
}
}else{
display.throttle = throttle;
}
}
display.cruise = throttle_cruise;
//Throttle test
//display.speed = pwm;
//display.current = status;
if (TCC1.CNT > 450){
cnt_tm++;
TCC1.CNT = 0;
//Testing
/*
if (display.button_state & BUTT_MASK_FRONT){
if (testvalue < (PWM_SET_MAX -5)){
testvalue+=5;
}
}else if (display.button_state & BUTT_MASK_TOP){
if (testvalue > (PWM_SET_MIN+5)){
testvalue-=5;
}
}*/
//Apply speed limit:
pwm_set_max = (display.function_val2 +1) * 50;
if (pwm_set_max > PWM_SET_MAX){
pwm_set_max = PWM_SET_MAX;
}
//Startup from standstill
uint8_t throttle_was = throttle;
throttle = motor.throttle;
if ((throttle_was == 0) && throttle && (speed == 0)){
force_commute = true;
pwm_inc(20);
}else{
force_commute = false;
}
if (!motor.mode){
pwm_inc(200);
}
//Testing
//Last character in message
if (wait_for_last_char){
wait_for_last_char = false;
}else{
bus_endmessage(&bus);
}
//Estimate speed /pwm. Only when there is no throttle signal or brake.
if (!use_brake){
if ((use_throttle && (throttle < 5)) && ((use_pedalassist)&&(!pedal_signal))){
pwm = estimate_pwm_byspeed();
}
}
//Send timer tick
bus_tick(&bus);
if (bus_check_for_message()){
green_led_on();
}else{
green_led_off();
//Increase offline count.
display.offline_cnt++;
if (display.offline_cnt > 10){
uart_rate_find();
PORTC.OUTSET = PIN6_bm;
}else{
PORTC.OUTCLR = PIN6_bm;
}
//If offline too long:
if (display.offline_cnt > 50){
//You need to make it unsafe again.
display.road_legal = true;
display.online = false;
throttle_cruise = false;
should_freewheel = true;
throttle = 0;
use_brake = false;
brake = 0;
pedal_signal = 0;
strain_cnt = 0;
motor.mode = 0;
}
poll_cnt++;
if (poll_cnt == 2){
#if (OPT_DISPLAY== FW_DISPLAY_MASTER)
bus_display_poll(&bus);
#endif
}else if (poll_cnt == 4){
//Update the display, and it's variables:
//Speed is now the amount of commutations per seconds.
if (commtime_sum){
speed = (commtime_cnt * 32768UL) / commtime_sum;
//With a 26" wheel:
speed = (speed * 10000UL) / 6487UL;
}else{
speed=0;
}
commtime_sum = 0;
commtime_cnt = 0 ;
//Disaplay average voltage:
ad_voltage_av = ad_voltage_sum / meas_cnt;
ad_voltage_sum = 0;
//And current.
ad_current_av = ad_current_sum / meas_cnt;
ad_current_sum = 0;
//Strain, if we have it:
#ifdef HARDWARE_HAS_STRAIN
//Running average:
int32_t strain_val = ad_strain_sum / meas_cnt;
strain_val /= 100;
ad_strain_av += strain_val;
ad_strain_av /= 2;
//ad_strain_av = meas_cnt;
ad_strain_sum = 0;
//Strain calibration in Menu F8/F3:
if ((display.func == 8) && (display.menu_downcnt > 100)){
strain_threshhold = 200;
display.strain_th = strain_threshhold;
}
if ((display.func == 3) && (display.menu_downcnt > 100)){
if (ad_strain_av > strain_threshhold){
strain_threshhold++;
}
display.strain_th = strain_threshhold;
flagsave = true;
}
if (display.menu_timeout == 0){
if (flagsave){
flagsave = false;
//Save
eepsettings.straincal = strain_threshhold;
eemem_write_block(EEMEM_MAGIC_HEADER_SETTINGS,(uint8_t*)&eepsettings, sizeof(eepsettings), EEBLOCK_SETTINGS1);
}
}
//Set test value
//uint16_t s;
//adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN8_gc); //Strain Sensor.
//s = adc_getsample();
//2180 average, over if you help.
/*
if (s > 2183){
display.value1 = 200;
testvalue+=1;
}else if (s < 2177){
display.value1 = 000;
testvalue-=1;
}else{
display.value1 = 100;
}*/
//motor.current = ad_strain_av;
display.value1 = ad_strain_av;// ad_strain_av - 2000;
display.value2 = highestforce;// ad_strain_av - 2000;
display.value3 = pwm;
display.value4 = should_freewheel;
#endif
//Temperature
ad_temp_av = ad_temp_sum / meas_cnt;
ad_temp_sum = 0;
//Set test value
//display.value2 = ad_temp_av / 2;
//Temperature about 20 Deg.C is 1866 counts. CKDIV16 2020 CKDIV512
//Counts per kelvin.
/*
uint32_t cpk = ad_temp_ref*10 / 358;
ad_temp_av = (ad_temp_av * 10) / cpk - 273;
ad_temp_av = ad_temp_ref;
*/
meas_cnt = 0;
//Calibration:
ad_voltage_av -= 175;
ad_voltage_av *= 1000;
ad_voltage_av /= 886;
//Current calibration:
#if(HARDWARE_VER == HW_CTRL_REV0)
ad_current_av += 1749;
ad_current_av *= 1000;
ad_current_av /= 286;
ad_current_av -= 34;
#else
ad_current_av += 169;
ad_current_av *= 100;
ad_current_av /= 75;
#endif
power_av = (ad_current_av * ad_voltage_av) / 10000;
poll_cnt = 0;
#if(OPT_DISPLAY == FW_DISPLAY_MASTER)
bus_display_update(&bus);
#endif
//motor.mode = 1;
}
}
}
//Counter from TCC1
if (cnt_tm > 15){
cnt_tm = 0;
//Increase throttle tick, for cruise control.
if ((use_throttle)&& (!use_brake)){
if ((display.online)&&(throttle > 10)){
if (throttle_tick < 20){
throttle_tick++;
}else{
throttle_cruise = true;
}
}
}
//test
//pwm_dec(5);
testvalue-=5;
ad_currentmin = 9999;
ad_currentmax = -9999;
if (startup){
startup--;
if (startup == 0){
//Clear any status flag:
//status_clear();
//Give it a nudge.
//commute_allowed = true;
}
}else{
status_clear();
}
}
//Set fault flags:
if (off){
status_set(STAT_STOPPED);
}
if (use_throttle){
//status_set(STAT_USETHROTTLE);
}
}
int main(void) {
/* Early system initialisation */
early_board_init();
system_init_early();
leds_init();
set_busy_led(1);
set_dirty_led(0);
/* Due to an erratum in the LPC17xx chips anything that may change */
/* peripheral clock scalers must come before system_init_late() */
uart_init();
#ifndef SPI_LATE_INIT
spi_init(SPI_SPEED_SLOW);
#endif
timer_init();
i2c_init();
/* Second part of system initialisation, switches to full speed on ARM */
system_init_late();
enable_interrupts();
/* Prompt software name and version string */
uart_puts_P(PSTR("\r\nNODISKEMU " VERSION "\r\n"));
/* Internal-only initialisation, called here because it's faster */
buffers_init();
buttons_init();
/* Anything that does something which needs the system clock */
/* should be placed after system_init_late() */
rtc_init(); // accesses I2C
disk_init(); // accesses card
read_configuration(); // restores configuration, may change device address
filesystem_init(0);
// FIXME: change_init();
#ifdef CONFIG_REMOTE_DISPLAY
/* at this point all buffers should be free, */
/* so just use the data area of the first to build the string */
uint8_t *strbuf = buffers[0].data;
ustrcpy_P(strbuf, versionstr);
ustrcpy_P(strbuf+ustrlen(strbuf), longverstr);
if (display_init(ustrlen(strbuf), strbuf)) {
display_address(device_address);
display_current_part(0);
}
#endif
set_busy_led(0);
#if defined(HAVE_SD)
/* card switch diagnostic aid - hold down PREV button to use */
if (menu_system_enabled && get_key_press(KEY_PREV))
board_diagnose();
#endif
if (menu_system_enabled)
lcd_splashscreen();
bus_interface_init();
bus_init();
read_configuration();
late_board_init();
for (;;) {
if (menu_system_enabled)
lcd_refresh();
else {
lcd_clear();
lcd_printf("#%d", device_address);
}
/* Unit number may depend on hardware and stored settings */
/* so present it here at last */
printf("#%02d\r\n", device_address);
bus_mainloop();
bus_interface_init();
bus_init(); // needs delay, inits device address with HW settings
}
}
/////////////////////////////////////////////////////////////////////////////
// Main-Funktion
/////////////////////////////////////////////////////////////////////////////
int main(int argc, const char *argv[])
{
// Initializations
//
// first some basic hardware infrastructure
timer_init(); // Timer Interrupt initialisieren
led_init();
provider_init(); // needs to be in the beginning, as other
// modules like serial register here
term_init(); // does not need endpoint/provider yet
// but can take up to a buffer of text
#ifdef __AVR__
stdout = &term_stdout; // redirect stdout
#else
device_setup(argc, argv);
#endif
// server communication
uarthw_init(); // first hardware
provider_t *serial = serial_init(); // then logic layer
// now prepare for terminal etc
// (note: in the future the assign parameter could be used
// to distinguish different UARTs for example)
void *epdata = serial->prov_assign(NAMEINFO_UNUSED_DRIVE, NULL);
term_endpoint.provider = serial;
term_endpoint.provdata = epdata;
// and set as default
provider_set_default(serial, epdata);
// debug output via "terminal"
term_set_endpoint(&term_endpoint);
// init file handling (active open calls)
file_init();
// buffer structures
buffer_init();
// direct buffer handling
direct_init();
// relfile handling
relfile_init();
// init main channel handling
channel_init();
// before we init any busses, we init the runtime config code
// note it gets the provider to register a listener for X command line params
rtconfig_init(&term_endpoint);
// bus init
// first the general bus (with bus counter)
bus_init();
// this call initializes the device-specific hardware
// e.g. IEEE488 and IEC busses on xs1541, plus SD card on petSD and so on
// it also handles the interrupt initialization if necessary
device_init();
#ifdef HAS_EEPROM
// read bus-independent settings from non volatile memory
nv_restore_common_config();
#endif
// enable interrupts
enable_interrupts();
// sync with the server
serial_sync();
// pull in command line config options from server
// also send directory charset
rtconfig_pullconfig(argc, argv);
#ifdef USE_FAT
// register fat provider
provider_register("FAT", &fat_provider);
//provider_assign(0, "FAT", "/"); // might be overwritten when fetching X-commands
//provider_assign(1, "FAT", "/"); // from the server, but useful for standalone-mode
#endif
// show our version...
ListVersion();
// ... and some system info
term_printf((" %u Bytes free"), BytesFree());
term_printf((", %d kHz"), FreqKHz());
#ifdef __AVR__
fuse_info();
#endif
term_putcrlf();
term_putcrlf();
while (1) // Mainloop-Begin
{
// keep data flowing on the serial line
main_delay();
if (!is_locked)
device_loop();
// send out log messages
term_flush();
}
}
int main(void) {
// Disable watchdog reset timer to prevent continious resets
wdt_disable();
MCUSR = 0;
can_start = 0;
uint8_t status;
arm_coordinate current_position;
servo_init();
bus_init(BUS_ADDRESS_ARM);
bus_register_receive(0, emergency_handler);
bus_register_receive(1, control_claw);
bus_register_receive(2, object_pickup);
bus_register_receive(3, object_pickup);
bus_register_receive(4, object_pickup);
bus_register_receive(5, object_pickup);
bus_register_receive(6, manual_target);
bus_register_receive(7, manual_target);
bus_register_receive(8, manual_target);
bus_register_receive(9, manual_target);
bus_register_receive(10, manual_target);
bus_register_receive(11, update_manual_control);
bus_register_receive(12, object_return);
bus_register_receive(13, predefined_positions);
// Wait for communication unit to say we can continue initialising
/*while (!can_start) {
// Delay is needed when looping flags such as this
_delay_us(1);
}*/
// Wait for servos to power on before setting initial parameters
_delay_ms(100);
arm_init();
_delay_ms(1000);
// Make sure claw is open and arm is in a well defined state
arm_claw_open();
arm_resting_position();
// XXX: Trick system into thinking we have reached a pickup station
//while (bus_transmit(BUS_ADDRESS_SENSOR, 9, 1));
//object_side = LEFT;
for (;;) {
if (object_grab) {
status = arm_move_to_coordinate(object_position);
switch (status) {
case 0:
// Save position for when dropping off object
last_object_position = object_position;
// Perform movement to coordinate
arm_move_perform_block();
// Wait for arm to stabilize
_delay_ms(500);
// Grip object and return to resting position
if (arm_claw_close()) {
display(0, "Picked object");
arm_resting_position();
has_object = 1;
// Send command that arm picked up object to chassis
while (bus_transmit(BUS_ADDRESS_CHASSIS, 2, 0));
} else {
display(0, "Failed pickup");
arm_resting_position();
arm_claw_open();
has_object = 0;
// Send command that no object was picked up object to chassis
while (bus_transmit(BUS_ADDRESS_CHASSIS, 2, 2));
}
break;
case 1:
display(0, "Invalid coordinate");
break;
case 2:
display(0, "No P found");
break;
default:
display(0, "Error %u", status);
}
object_grab = 0;
} else if (object_drop_off) {
// Move to the position where object was picked up
status = arm_move_to_coordinate(last_object_position);
switch (status) {
case 0:
// Perform movement to coordinate
arm_move_perform_block();
// Wait for arm to stabilize
_delay_ms(500);
// Leave object and return to resting position
if (arm_claw_open()) {
display(0, "Left object");
arm_resting_position();
has_object = 0;
} else {
display(0, "Left no object");
arm_resting_position();
has_object = 1;
}
// Send command that arm is done to chassis
while (bus_transmit(BUS_ADDRESS_CHASSIS, 2, 1));
break;
case 1:
display(0, "Invalid coordinate");
break;
case 2:
display(0, "No P found");
break;
default:
display(0, "Error %u", status);
}
object_drop_off = 0;
} else if (has_manual_target) {
display(1, "%d,%d,%d",
manual_target_position.x,
manual_target_position.y,
(uint16_t)(manual_target_position.angle * 1000));
status = arm_move_to_coordinate(manual_target_position);
if (status) {
display(0, "Error %u", status);
} else {
arm_move_perform_block();
}
has_manual_target = 0;
} else if (manual_control_state) {
// Update reference position when we start manual movement
if (manual_control_state == 2) {
arm_position(&manual_control_reference);
manual_control_state = 1;
}
manual_control_reference.x += manual_control_change.x;
manual_control_reference.y += manual_control_change.y;
manual_control_reference.angle += manual_control_change.angle;
if (!arm_move_to_coordinate(manual_control_reference)) {
//arm_move_perform_block();
arm_move_perform();
_delay_ms(100);
}
} else if (manual_control_claw) {
if (manual_control_claw == 1) {
display(0, "Claw close");
arm_claw_close();
} else {
display(0, "Claw open");
arm_claw_open();
}
manual_control_claw = 0;
} else if (predefined_position_move) {
switch (predefined_position_move) {
case 1:
arm_resting_position();
break;
}
predefined_position_move = 0;
}
}
}
/*---------------------------------------------------------------------------*/
int
main(void)
{
/* Hardware initialization */
bus_init();//ʱÖÓ³õʼ»¯
rtimer_init();//¼ÆʱÆ÷³õʼ»¯
/* model-specific h/w init. */
io_port_init();
/* Init LEDs here */
leds_init();//LED³õʼ»¯
/*LEDS_GREEN indicate LEDs Init finished*/
fade(LEDS_GREEN);
/* initialize process manager. */
process_init();//½ø³Ì¹ÜÀí³õʼ»¯
/* Init UART0
* Based on the EJOY MCU CC2430 Circuit Design
* */
uart0_init();//UART0´®¿Ú³õʼ»¯
#if DMA_ON
dma_init();//DMA³õʼ»¯
#endif
#if SLIP_ARCH_CONF_ENABLE
/* On cc2430, the argument is not used */
slip_arch_init(0);//SLIP³õʼ»¯
#else
uart1_set_input(serial_line_input_byte);
serial_line_init();
#endif
PUTSTRING("##########################################\n");
putstring(CONTIKI_VERSION_STRING "\n");
// putstring(SENSINODE_MODEL " (CC24");
puthex(((CHIPID >> 3) | 0x20));
putstring("-" FLASH_SIZE ")\n");
#if STARTUP_VERBOSE
#ifdef HAVE_SDCC_BANKING
PUTSTRING(" With Banking.\n");
#endif /* HAVE_SDCC_BANKING */
#ifdef SDCC_MODEL_LARGE
PUTSTRING(" --model-large\n");
#endif /* SDCC_MODEL_LARGE */
#ifdef SDCC_MODEL_HUGE
PUTSTRING(" --model-huge\n");
#endif /* SDCC_MODEL_HUGE */
#ifdef SDCC_STACK_AUTO
PUTSTRING(" --stack-auto\n");
#endif /* SDCC_STACK_AUTO */
PUTCHAR('\n');
PUTSTRING(" Net: ");
PUTSTRING(NETSTACK_NETWORK.name);
PUTCHAR('\n');
PUTSTRING(" MAC: ");
PUTSTRING(NETSTACK_MAC.name);
PUTCHAR('\n');
PUTSTRING(" RDC: ");
PUTSTRING(NETSTACK_RDC.name);
PUTCHAR('\n');
PUTSTRING("##########################################\n");
#endif
watchdog_init();//¿´ÃŹ·³õʼ»¯
/* Initialise the cc2430 RNG engine. */
random_init(0);//Ëæ»úÊýÉú³ÉÆ÷³õʼ»¯
/* start services */
process_start(&etimer_process, NULL);//
ctimer_init();//ctimer³õʼ»¯
/* initialize the netstack */
netstack_init();//ÍøÂçµ×²ãÕ»³õʼ»¯
set_rime_addr();//rimeµØÖ·ÉèÖÃ
//there is no sensor for us maintenance
#if BUTTON_SENSOR_ON || ADC_SENSOR_ON
process_start(&sensors_process, NULL);
sensinode_sensors_activate();
#endif
//IPV6,YES!
#if UIP_CONF_IPV6
memcpy(&uip_lladdr.addr, &rimeaddr_node_addr, sizeof(uip_lladdr.addr));
queuebuf_init();
process_start(&tcpip_process, NULL);
//DISCO
#if DISCO_ENABLED
process_start(&disco_process, NULL);
#endif /* DISCO_ENABLED */
//VIZTOOL
#if VIZTOOL_CONF_ON
process_start(&viztool_process, NULL);
#endif
#if (!UIP_CONF_IPV6_RPL)
{
uip_ipaddr_t ipaddr;
uip_ip6addr(&ipaddr, 0x2001, 0x630, 0x301, 0x6453, 0, 0, 0, 0);
uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
uip_ds6_addr_add(&ipaddr, 0, ADDR_TENTATIVE);
}
#endif /* UIP_CONF_IPV6_RPL */
#endif /* UIP_CONF_IPV6 */
/*
* Acknowledge the UART1 RX interrupt
* now that we're sure we are ready to process it
*
* We don't need it. by MW
*/
// model_uart_intr_en();
energest_init();
ENERGEST_ON(ENERGEST_TYPE_CPU);
fade(LEDS_RED);
#if BATMON_CONF_ON
process_start(&batmon_process, NULL);
#endif
autostart_start(autostart_processes);
watchdog_start();
while(1) {
do {
/* Reset watchdog and handle polls and events */
watchdog_periodic();
/**/
#if !CLOCK_CONF_ACCURATE
if(sleep_flag) {
if(etimer_pending() &&
(etimer_next_expiration_time() - count - 1) > MAX_TICKS) { /*core/sys/etimer.c*/
etimer_request_poll();
}
sleep_flag = 0;
}
#endif
r = process_run();
} while(r > 0);
#if SHORTCUTS_CONF_NETSTACK
len = NETSTACK_RADIO.pending_packet();
if(len) {
packetbuf_clear();
len = NETSTACK_RADIO.read(packetbuf_dataptr(), PACKETBUF_SIZE);
if(len > 0) {
packetbuf_set_datalen(len);
NETSTACK_RDC.input();
}
}
#endif
#if LPM_MODE
#if (LPM_MODE==LPM_MODE_PM2)
SLEEP &= ~OSC_PD; /* Make sure both HS OSCs are on */
while(!(SLEEP & HFRC_STB)); /* Wait for RCOSC to be stable */
CLKCON |= OSC; /* Switch to the RCOSC */
while(!(CLKCON & OSC)); /* Wait till it's happened */
SLEEP |= OSC_PD; /* Turn the other one off */
#endif /* LPM_MODE==LPM_MODE_PM2 */
/*
* Set MCU IDLE or Drop to PM1. Any interrupt will take us out of LPM
* Sleep Timer will wake us up in no more than 7.8ms (max idle interval)
*/
SLEEP = (SLEEP & 0xFC) | (LPM_MODE - 1);
#if (LPM_MODE==LPM_MODE_PM2)
/*
* Wait 3 NOPs. Either an interrupt occurred and SLEEP.MODE was cleared or
* no interrupt occurred and we can safely power down
*/
__asm
nop
nop
nop
__endasm;
if (SLEEP & SLEEP_MODE0) {
#endif /* LPM_MODE==LPM_MODE_PM2 */
ENERGEST_OFF(ENERGEST_TYPE_CPU);
ENERGEST_ON(ENERGEST_TYPE_LPM);
/* We are only interested in IRQ energest while idle or in LPM */
ENERGEST_IRQ_RESTORE(irq_energest);
/* Go IDLE or Enter PM1 */
PCON |= IDLE;
/* First instruction upon exiting PM1 must be a NOP */
__asm
nop
__endasm;
/* Remember energest IRQ for next pass */
ENERGEST_IRQ_SAVE(irq_energest);
ENERGEST_ON(ENERGEST_TYPE_CPU);
ENERGEST_OFF(ENERGEST_TYPE_LPM);
#if (LPM_MODE==LPM_MODE_PM2)
SLEEP &= ~OSC_PD; /* Make sure both HS OSCs are on */
while(!(SLEEP & XOSC_STB)); /* Wait for XOSC to be stable */
CLKCON &= ~OSC; /* Switch to the XOSC */
/*
* On occasion the XOSC is reported stable when in reality it's not.
* We need to wait for a safeguard of 64us or more before selecting it
*/
clock_delay(10);
while(CLKCON & OSC); /* Wait till it's happened */
}
#endif /* LPM_MODE==LPM_MODE_PM2 */
#endif /* LPM_MODE */
}
}
