static void
do_init_time(void)
{
struct timespec ts;
coverage_init();
init_clock(&monotonic_clock, (!clock_gettime(CLOCK_MONOTONIC, &ts)
? CLOCK_MONOTONIC
: CLOCK_REALTIME));
init_clock(&wall_clock, CLOCK_REALTIME);
boot_time = timespec_to_msec(&monotonic_clock.cache);
}
void SystemInit(void)
{
/* If desired, switch off the unused RAM to lower consumption by the use of RAMON register.
It can also be done in the application main() function. */
/* Prepare the peripherals for use as indicated by the PAN 26 "System: Manual setup is required
to enable the use of peripherals" found at Product Anomaly document for your device found at
https://www.nordicsemi.com/. The side effect of executing these instructions in the devices
that do not need it is that the new peripherals in the second generation devices (LPCOMP for
example) will not be available. */
if (is_manual_peripheral_setup_needed())
{
*(uint32_t volatile *)0x40000504 = 0xC007FFDF;
*(uint32_t volatile *)0x40006C18 = 0x00008000;
}
/* Disable PROTENSET registers under debug, as indicated by PAN 59 "MPU: Reset value of DISABLEINDEBUG
register is incorrect" found at Product Anomaly document four your device found at
https://www.nordicsemi.com/. There is no side effect of using these instruction if not needed. */
if (is_disabled_in_debug_needed())
{
NRF_MPU->DISABLEINDEBUG = MPU_DISABLEINDEBUG_DISABLEINDEBUG_Disabled << MPU_DISABLEINDEBUG_DISABLEINDEBUG_Pos;
}
// Start the external 32khz crystal oscillator.
init_clock();
}
void main() {
uint16 i = 0;
uint8 j = 0;
init_clock();
init_pwm();
init_ports();
//init_uart();
pwm = 0;
pwm_ctl(true);
HBR1 = 1;
HBR2 = 0;
while(1) {
while(pwm > 0) {
for(j = 0; j < 16; j++)
for(i = 1; i; i++);
pwm -= 2;
}
while(pwm < 64) {
for(j = 0; j < 16; j++)
for(i = 1; i; i++);
pwm += 2;
}
/*if(HBR1) {
HBR1 = 0;
HBR2 = 1;
} else {
HBR2 = 0;
HBR1 = 1;
}*/
}
}
/* main */
int main(void)
{
/* initialise kernel */
si_kernel_init();
/* initialise UI channel */
si_ui_init();
/* initialise variables */
init_clock();
/* initialise display */
display_init();
/* create tasks */
si_task_create(clock_task, &Clock_Stack[STACK_SIZE-1], 20);
si_task_create(set_task, &Set_Stack[STACK_SIZE-1], 15);
si_task_create(alarm_task, &Alarm_Stack[STACK_SIZE-1], 10);
/* start the kernel */
si_kernel_start();
/* will never be here! */
return 0;
}
void main (void)
{
init_clock();
while(1)
{
switch (get_key())
{
case 0:
motor_start();
break;
case 1:
motor_stop();
break;
case 2:
drill_down();
break;
case 3:
drill_up();
break;
case 4:
step();
break;
case 5:
drill_hole();
break;
case 6:
ref_pos();
break;
case 7:
do_auto(pattern);
break;
}
}
}
/*
* ターゲットシステム依存の初期化
*/
void
sys_initialize()
{
int i;
init_vector(); /* SRAMのリマップ。LPC2388共通 */
init_clock(); /* PLLの設定。システム固有 */
init_uart0(); /* UART0の初期化。システム固有 */
init_IRQ(); /* VICを初期化する。LPC2388共通 */
/* 必要なペリフェラルの電源を入れる(システム固有) */
/* なお、UART0とTIMER3はLPC2388共通で必要 */
PCONP |= 0x00800008; /* bit3:UART0, bit23:TIMER3 */
/* UART0のピンを設定 (LPC2388共通) */
PINSEL0 &= ~0xF0; /* bit 4-7だけをクリア */
PINSEL0 |= 0x50; /* UART入出力を割り当て */
/*
* ARMのベクタテーブルへ割込みハンドラを登録（どのARMv4システムでも要求される）
*/
arm_install_handler(IRQ_Number,IRQ_Handler);
/*
* Memory Acceleration Moduleの設定 ( NXP社 UM10211 chapter 7 )
* Flashメモリのプリフェッチを使ってプログラム実行を高速化する
*/
MAMCR = 0; /* 念のためMAMをオフにする */
MAMTIM = 4; /* UM10211によれば、60MHz以上で動作するときは4に設定する */
MAMCR = 2; /* MAM機能をオンにする */
}
int16_t main(void) {
//initialize all system clocks
init_clock();
//initialize serial communications
init_uart();
//initialize pin driving library (to be able to use the &D[x] defs)
init_pin();
//initialize the UI library
init_ui();
//initialize the timer module
init_timer();
//initialize the OC module (used by the servo driving code)
init_oc();
imu_init()
//Set servo control pins as output
pin_digitalOut(PAN_PIN);
pin_digitalOut(TILT_PIN);
pin_digitalOut(SONIC_OUT_PIN);
pin_digitalIn(SONIC_IN_PIN);
//Set LED off
led_off(LED);
//Configure blinking rate for LED when connected
timer_setPeriod(LED_TIM, 0.2);
timer_start(LED_TIM);
//Configure timer for reciever timeout
timer_setPeriod(DIST_TIM, 0.05);
//configure PWM on sonic output pin
oc_pwm(PWM_OC, SONIC_OUT_PIN, NULL, SONIC_FREQ, 0x0000);
//According to HobbyKing documentation: range .8 through 2.2 msec
//Set servo control pins as OC outputs on their respective timers
oc_servo(SERVO1_OC, PAN_PIN, SERVO1_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, pan_set_val);
oc_servo(SERVO2_OC, TILT_PIN, SERVO2_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, tilt_set_val);
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
led_on(LED);
//There's no point in driving the servos when there's no one connected yet.
}
while (1) {
ServiceUSB(); // service any pending USB requests
//blink the LED
if (timer_flag(LED_TIM)) {
timer_lower(LED_TIM);
led_toggle(LED);
}
//Update the servo control values.
x_gout = gyro_read(OUT_X_L);
}
}
//OTHER INITIAL CONDITIONS
void initChip(){
init_clock();
init_uart();
init_timer();
init_ui();
init_pin();
init_oc();
pin_analogIn(CUR);
pin_analogIn(EMF);
pin_analogIn(FB);
pin_digitalIn(SF);
pin_digitalIn(ENC);
pin_digitalOut(D1);
pin_digitalOut(D2);
pin_digitalOut(IN1);
pin_digitalOut(IN2);
pin_digitalOut(ENA);
pin_digitalOut(SLEW);
pin_digitalOut(INV);
oc_pwm(&oc1, D2, PWM_TIMER, 250, 0);
}
/**
* Function for application main entry.
*/
int main(void)
{
init_leds();
init_clock();
uint32_t err_code;
// Button configuration structure.
static app_button_cfg_t p_button[] = { {BUTTON_1, APP_BUTTON_ACTIVE_LOW, NRF_GPIO_PIN_PULLUP, button_handler},
{BUTTON_2, APP_BUTTON_ACTIVE_LOW, NRF_GPIO_PIN_PULLUP, button_handler},
{BUTTON_3, APP_BUTTON_ACTIVE_LOW, NRF_GPIO_PIN_PULLUP, button_handler},
{BUTTON_4, APP_BUTTON_ACTIVE_LOW, NRF_GPIO_PIN_PULLUP, button_handler}};
// Macro for initializing the application timer module.
// It will handle dimensioning and allocation of the memory buffer required by the timer, making sure that the buffer is correctly aligned. It will also connect the timer module to the scheduler (if specified).
APP_TIMER_INIT(APP_TIMER_PRESCALER, APP_TIMER_MAX_TIMERS, APP_TIMER_OP_QUEUE_SIZE, NULL);
// Macro for initializing the GPIOTE module.
// It will handle dimensioning and allocation of the memory buffer required by the module, making sure that the buffer is correctly aligned.
APP_GPIOTE_INIT(APP_GPIOTE_MAX_USERS);
// Initializing the buttons.
err_code = app_button_init(p_button, sizeof(p_button) / sizeof(p_button[0]), BUTTON_DEBOUNCE_DELAY);
APP_ERROR_CHECK(err_code);
// Enabling the buttons.
err_code = app_button_enable();
APP_ERROR_CHECK(err_code);
while(true)
{
// Do nothing.
}
}
/*======================================================================*
kernel_main
*======================================================================*/
PUBLIC int kernel_main()
{
clear_screen();
loadELF();
TASK* p_task = task_table;
PROCESS* p_proc = proc_table;
char* p_task_stack = task_stack + STACK_SIZE_TOTAL;
u16 selector_ldt = SELECTOR_LDT_FIRST;
int i,priority;
proc_table[0].ticks = proc_table[0].pre_ticks=proc_table[0].priority = 20; proc_table[0].status = RUNNING;
init_task(proc_table,task_table,SELECTOR_LDT_FIRST,p_task_stack,20,RUNNING);
for (i=1; i<NR_TASKS; i++){
proc_table[i].pid=i+1;
proc_table[i].status=STOPPED;
task_table[i].stacksize=0x400;
}
control_ticks();
k_reenter=0;
ticks=0;
p_proc_ready=proc_table;
init_clock();
init_keyboard();
restart();
while(1){}
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_timer();
init_i2c();
InitUSB();
init_oc();
init_display(&i2c3, 0x70, 0x71);
init_game(&timer1, &timer2, &A[0], &disp1, &disp2);
init_gun(&D[13], &A[1], &A[2], &timer3);
init_launcher(&D[5], &D[8], &D[3], &D[4]);
init_shooter(&D[6], &D[9], &D[1], &D[2], &D[7], &D[0], &oc3, &oc4);
init_baller(&D[10], &oc2, &timer4, &shooter, &launcher);
init_pix(&D[11], &timer5, 30, 0.05);
init_audio(&D[12]);
uint8_t level = 0;
uint8_t hit_flag = 0;
while (1) {
ServiceUSB(); // usb times out if not checked fast enough :/
level = run_game(hit_flag);
ServiceUSB();
hit_flag = run_gun(level);
ServiceUSB();
run_baller(level);
}
}
int16_t main(void) {
// printf("Starting Rocket Controller...\r\n");
init_clock();
init_ui();
init_pin();
init_timer();
init_i2c();
setup();
init_servo_driver(&sd1, &i2c3, 16000., 0x0);
init_servo(&servo4, &sd1, 0);
InitUSB();
U1IE = 0xFF; //setting up ISR for USB requests
U1EIE = 0xFF;
IFS5bits.USB1IF = 0; //flag
IEC5bits.USB1IE = 1; //enable
// uint32_t pid_command;
servo_set(&servo4, 1500, 0);
while (1) {
if (timer_flag(&timer1)) {
// Blink green light to show normal operation.
timer_lower(&timer1);
led_toggle(&led2);
// servo_set(&servo4, 1500, 0);
}
}
}
static void init_system()
{
cur_sale = make_new_sale(1);
cursor_hide();
init_clock();
update_clock();
}
/*
* 2.输入获取
* 3.处理输入
*/
void login()
{
int Login_status;
init_clock();
init_user();
while (1) {
/* 显示界面 */
show_login_window();
/* 获取用户名 */
get_user_name();
/* 获取密码 */
get_pass_word();
Login_status = check_login();
/*
* 验证用户名密码
*/
if ( Login_status == LOGIN_INFO_SUCCESS ) {
/* 进入系统 */
sys_main();
}
/* 错误提示 */
print_err(Login_status);
}
}
void setup(void) {
// Initialize PIC24 modules.
init_clock();
init_ui();
init_timer();
init_pin();
init_oc();
init_spi();
init_uart();
// Configure single SPI comms. system
pin_digitalOut(SPI_CS);
pin_set(SPI_CS);
spi_open(spi_inst, SPI_MISO, SPI_MOSI, SPI_SCK, spi_freq, spi_mode);
// Configure & start timers used.
timer_setPeriod(&timer1, 1);
timer_setPeriod(&timer2, 1); // Timer for LED operation/status blink
timer_setPeriod(&timer3, LOOP_TIME); // Timer for main control loop
timer_start(&timer1);
timer_start(&timer2);
timer_start(&timer3);
// Configure dual PWM signals for bidirectional motor control
oc_pwm(&oc1, PWM_I1, NULL, pwm_freq, pwm_duty);
oc_pwm(&oc2, PWM_I2, NULL, pwm_freq, pwm_duty);
InitUSB(); // initialize the USB registers and
// serial interface engine
while (USB_USWSTAT != CONFIG_STATE) { // while periph. is not configured,
ServiceUSB(); // service USB requests
}
}
/*======================================================================*
kernel_main
*======================================================================*/
PUBLIC int kernel_main()
{
disp_str("-----\"kernel_main\" begins-----\n");
TASK* p_task = task_table;
PROCESS* p_proc = proc_table;
char* p_task_stack = task_stack + STACK_SIZE_TOTAL;
u16 selector_ldt = SELECTOR_LDT_FIRST;
int i;
for (i = 0; i < NR_TASKS; i++) {
strcpy(p_proc->p_name, p_task->name); // name of the process
p_proc->pid = i; // pid
p_proc->ldt_sel = selector_ldt;
memcpy(&p_proc->ldts[0], &gdt[SELECTOR_KERNEL_CS >> 3],
sizeof(DESCRIPTOR));
p_proc->ldts[0].attr1 = DA_C | PRIVILEGE_TASK << 5;
memcpy(&p_proc->ldts[1], &gdt[SELECTOR_KERNEL_DS >> 3],
sizeof(DESCRIPTOR));
p_proc->ldts[1].attr1 = DA_DRW | PRIVILEGE_TASK << 5;
p_proc->regs.cs = ((8 * 0) & SA_RPL_MASK & SA_TI_MASK)
| SA_TIL | RPL_TASK;
p_proc->regs.ds = ((8 * 1) & SA_RPL_MASK & SA_TI_MASK)
| SA_TIL | RPL_TASK;
p_proc->regs.es = ((8 * 1) & SA_RPL_MASK & SA_TI_MASK)
| SA_TIL | RPL_TASK;
p_proc->regs.fs = ((8 * 1) & SA_RPL_MASK & SA_TI_MASK)
| SA_TIL | RPL_TASK;
p_proc->regs.ss = ((8 * 1) & SA_RPL_MASK & SA_TI_MASK)
| SA_TIL | RPL_TASK;
p_proc->regs.gs = (SELECTOR_KERNEL_GS & SA_RPL_MASK)
| RPL_TASK;
p_proc->regs.eip = (u32)p_task->initial_eip;
p_proc->regs.esp = (u32)p_task_stack;
p_proc->regs.eflags = 0x1202; /* IF=1, IOPL=1 */
p_task_stack -= p_task->stacksize;
p_proc++;
p_task++;
selector_ldt += 1 << 3;
}
k_reenter = 0;
ticks = 0;
shot_num=-1;
is_shot=1;
game_target=0x01;
p_proc_ready = proc_table;
init_clock();
init_keyboard();
restart();
while(1){}
}
//数据存入缓存数组
void transf_temper()
{
init_clock();
read_data();
if(ana == 1)
{
datacache[0] = '+';
}
else
{
datacache[0] = '-';
}
if (temp/1000 == 0)
{
datacache[1] = ' ';
}
else
{
datacache[1] = temp/1000 + 0x30;
}
if ((temp/1000 == 0) && (temp/100 == 0))
{
datacache[2] = ' ';
}
else
{
datacache[2] = temp/100 + 0x30;
}
datacache[3] = (temp%100)/10 + 0x30;
datacache[4] = '.';
datacache[5] = temp%10 + 0x30;
datacache[6] = 'C';
datacache[7] = '\r';
}
int main(void)
{
init_other_hw(); /* Must call this first */
init_timer();
init_audio();
init_turnled();
init_inputs();
enable_task(TURNLED_TASK);
enable_task(AUDIO_TASK);
enable_task(INPUTS_TASK);
enable_task(COUNTDOWN_TASK);
/* initialize display, cursor off */
lcd_init(LCD_DISP_ON);
init_clock();
/* Enable interrupts */
sei();
for (;;) { /* loop forever */
poll_inputs();
poll_clock();
sleep_until_interrupt();
} /* end loop forever */
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_spi();
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e8);
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB(); // service any pending USB requests
}
}
int main() {
init_clock();
init_gpio();
init_usart();
init_pwm();
while(1) {}
}
int main(void)
{
init_global();
init_gdt();
init_idt();
init_tss();
init_virtual_memory_mapping();
init_process();
init_8259a();
init_clock();
init_keyboard();
init_syscall();
debug_helper();
restart();
}
int16_t main(void) {
int led2_on;
int led3_on;
led2_on = 0;
led3_on = 1;
init_clock();
init_ui();
init_timer();
led_on(&led1);
timer_setPeriod(&timer2, 0.1);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
}
if(!sw_read(&sw2)){
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
led2_on = 1;
led3_on = 0;
} else if(!sw_read(&sw3)){
timer_setPeriod(&timer2, 0.1);
timer_start(&timer2);
led2_on = 0;
led3_on = 1;
}
led_write(&led2, led2_on);
led_write(&led3, led3_on);
}
}
int16_t main(void) {
init_clock();
init_timer();
init_ui();
init_pin();
init_spi();
init_oc();
init_md();
// Current measurement pin
pin_analogIn(&A[0]);
// SPI pin setup
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
// Open SPI in mode 1
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e6, 1);
// Motor setup
md_velocity(&md1, 0, 0);
// Get initial angle offset
uint8_t unset = 1;
while (unset) {
ANG_OFFSET = enc_readReg((WORD) REG_ANG_ADDR);
unset = parity(ANG_OFFSET.w);
}
ANG_OFFSET.w &= ENC_MASK;
// USB setup
InitUSB();
while (USB_USWSTAT!=CONFIG_STATE) {
ServiceUSB();
}
// Timers
timer_setFreq(&timer2, READ_FREQ);
timer_setFreq(&timer3, CTRL_FREQ);
timer_start(&timer2);
timer_start(&timer3);
// Main loop
while (1) {
ServiceUSB();
if (timer_flag(&timer2)) {
timer_lower(&timer2);
get_readings();
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
set_velocity();
}
}
}
/**
* @brief Initialize the Clock
*
* Enable dmtimer0.
*
* @return result of @ref init_clock
*/
static int dmtimer0_init(void)
{
dmtimer0_cs.mult = clocksource_hz2mult(CLK_RC32K, dmtimer0_cs.shift);
/* Enable counter */
writel(0x3, AM33XX_DMTIMER0_BASE + TCLR);
return init_clock(&dmtimer0_cs);
}
void SystemInit()
{
FLASH->ACR = 0x00000012;
init_clock();
init_lcd();
init_port();
init_usart();
}
static int clocksource_init (void)
{
cs.mult = clocksource_hz2mult(1000 * 1000 * 1000, cs.shift);
init_clock(&cs);
return 0;
}
/* main function */
int main(void)
{
/* ============================== */
/* initialization =============== */
/* ============================== */
WDT_EnableAndSetTimeout(WDT_PER_512CLK_gc);
/* set up LED pins */
init_leds();
/* set up I2C as slave */
init_twi();
/* set up our clocks */
init_clock();
/* set up sensors */
init_sensors();
/* set up motors */
init_motors();
/* set up crude digital outputs */
init_digout();
/* Flash all the LEDs for two and a half seconds to make sure
* they're hooked up */
led_orders->behavior = LED_BEHAVIOR_TIMED;
led_orders->time = 4000;
led_error1->behavior = LED_BEHAVIOR_TIMED;
led_error1->time = 6000;
led_error2->behavior = LED_BEHAVIOR_TIMED;
led_error2->time = 8000;
led_mota->behavior = LED_BEHAVIOR_TIMED;
led_mota->time = 10000;
led_motb->behavior = LED_BEHAVIOR_TIMED;
led_motb->time = 12000;
/* motA.duty = 4000; */
/* motA.direction = 1; */
/* motB.duty = 16000; */
/* motB.direction = 1; */
/* enable interrupts - things start ticking now */
sei();
/* ============================== */
/* main loop ==================== */
/* ============================== */
for(;;)
{
_delay_us(10);
WDT_Reset();
}
}
static int clocksource_init(void)
{
/* reset time base */
asm ("li 3,0 ; mttbu 3 ; mttbl 3 ;");
cs.mult = clocksource_hz2mult(get_timebase_clock(), cs.shift);
return init_clock(&cs);
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_spi();
init_timer();
init_oc();
init_md();
led_off(&led2);
led_off(&led3);
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
read_angle.w=0x3FFF;
Pscale.w=1;
Iscale.w=0;
direction.w=1;
speed.w=0;
angle_now.i=180;
angle_prev.i=180;
angle.w=10;
uint8_t loop = 0;
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e8,1);
timer_setPeriod(&timer1, 0.05);
timer_start(&timer1);
InitUSB();
// initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while(1){
ServiceUSB();
if (timer_flag(&timer1)) {
timer_lower(&timer1);
angle_prev=angle_now;
angle_prev_con=angle; // service any pending USB requests
angle_now = enc_readReg(read_angle);
angle_now = mask_angle(angle_now);
angle=convert_Angle(angle_prev,angle_now,&loop);
spring_simple(angle);
}
}
}
static int clocksource_init(void)
{
mtspr(SPR_TTMR, SPR_TTMR_CR | 0xFFFFFF);
cs.mult = clocksource_hz2mult(OPENRISC_TIMER_FREQ, cs.shift);
init_clock(&cs);
return 0;
}