int main(void)
{
/* initialize LED and debug unit */
led_init();
sysirq_init();
AT91F_DBGU_Init();
AT91F_PIOA_CfgPMC();
wdt_init();
pit_init();
blinkcode_init();
/* initialize USB */
req_ctx_init();
usbcmd_gen_init();
udp_open();
/* call application specific init function */
_init_func();
// Enable User Reset and set its minimal assertion to 960 us
AT91C_BASE_RSTC->RSTC_RMR =
AT91C_RSTC_URSTEN | (0x4 << 8) | (unsigned int)(0xA5 << 24);
#ifdef DEBUG_CLOCK_PA6
AT91F_PMC_EnablePCK(AT91C_BASE_PMC, 0, AT91C_PMC_CSS_PLL_CLK);
AT91F_PIO_CfgPeriph(AT91C_BASE_PIOA, 0, AT91C_PA6_PCK0);
#endif
/* switch on first led */
led_switch(2, 1);
DEBUGPCRF("entering main (idle) loop");
while (1) {
/* Call application specific main idle function */
_main_func();
dbgu_rb_flush();
/* restart watchdog timer */
wdt_restart();
#ifdef CONFIG_IDLE
//cpu_idle();
#endif
}
}
//*--------------------------------------------------------------------------------------
//* Function Name : main
//* Object :
//*--------------------------------------------------------------------------------------
int main ( void )
{
// char button = 0;
// int x = 0, y = 0, j = 0;
// int adc;
// int i = 0;
int x,y,z,i;
button_flag = 0;
//Init trace DBGU
//AT91F_DBGU_Init();
//AT91F_DBGU_Printk("\n\r-I- BasicUSB 1.1 (USB_DP_PUP) \n\r0) Set Pull-UP 1) Clear Pull UP\n\r");
//Enable RESET
m_pRSTC->RSTC_RCR = 0xA5000008;
m_pRSTC->RSTC_RMR = 0xA5000001;
Delay(1000);
// Init USB device
AT91F_USB_Open();
// Configure the RTT:
*AT91C_RTTC_RTMR = BUTTON_SAMPLING;
// Set in PIO mode and Configure in Input
AT91F_PIOA_CfgPMC();
// AT91F_PIO_CfgInput(AT91C_BASE_PIOA, (SW1|SW2));
// Wait for the end of enumeration
// while (!HID.IsConfigured(&HID));
// InitMAM
InitMMA();
// InitADC
ADCInit();
// UART0 Init
InitUSART0();
// Stat led
s_pPio->PIO_PER = BIT31;
// Configure PA31 as output
s_pPio->PIO_OER = BIT31;
// Set PA31 to HIGH
s_pPio->PIO_SODR = BIT31;
// Test flash
if(TestFlash()) {
for(i=0; i<20; i++) {
s_pPio->PIO_CODR = BIT31; Delay(150000);
s_pPio->PIO_SODR = BIT31; Delay(150000);
}
}
// Button
// Configure P20 as input
s_pPio->PIO_ODR = BIT20;
// Enable
s_pPio->PIO_PER = BIT20;
Delay(1000);
// CALIBRATE WHEN BUTT IS PRESS
// while((s_pPio->PIO_PDSR&BIT20)==BIT20);
Delay(1000);
// Get coordinates
GetCoordinates();
base_y = Coordinates[0]/NSAMPLE;
base_x = Coordinates[1]/NSAMPLE;
base_z = Coordinates[2]/NSAMPLE;
// Start waiting some cmd
while (1) {
// Check enumeration
if (HID.IsConfigured(&HID)) {
// check button status
if((s_pPio->PIO_PDSR&BIT20)==0) {
// Set PA31 to LOW
s_pPio->PIO_CODR = BIT31;
// set button flag
button_flag = 0x01;
Delay(1000);
}
else {
// Set PA31 to HIGH
// s_pPio->PIO_SODR = BIT31;
// clear button flag
button_flag = 0x00;
}
GetCoordinates();
Delay(10000);
//* if((j++)==100) {
//*
//* print_view = PRINT_COORDINATES;
//* write_report_USART0();
//*
//* // print_view = PRINT_DIVERSION;
//* // write_report_USART0();
//*
//* j=0;
//* }
y = 478 - Coordinates[0]/NSAMPLE;
// y = base_y - Coordinates[0]/NSAMPLE;
if(y>40) {
if(y<50)
HID.SendReport(&HID, button_flag, 0, -1);
else if (y<100)
HID.SendReport(&HID, button_flag, 0, -2);
else if (y<150)
HID.SendReport(&HID, button_flag, 0, -3);
else if (y<200)
HID.SendReport(&HID, button_flag, 0, -6);
else
HID.SendReport(&HID, button_flag, 0, -16);
}
else if(y<-40){
if(y>-50)
HID.SendReport(&HID, button_flag, 0, 1);
else if (y>-100)
HID.SendReport(&HID, button_flag, 0, 2);
else if (y>-150)
HID.SendReport(&HID, button_flag, 0, 3);
else if (y>-200)
HID.SendReport(&HID, button_flag, 0, 6);
else
HID.SendReport(&HID, button_flag, 0, 16);
}
x = 565 - Coordinates[1]/NSAMPLE;
// x = base_x - Coordinates[1]/NSAMPLE;
if(x>40) {
if(x<50)
HID.SendReport(&HID, button_flag, -1, 0);
else if (x<100)
HID.SendReport(&HID, button_flag, -2, 0);
else if (x<150)
HID.SendReport(&HID, button_flag, -3, 0);
else if (x<200)
HID.SendReport(&HID, button_flag, -6, 0);
else
HID.SendReport(&HID, button_flag, -16, 0);
}
else if(x<-40){
if(x>-50)
HID.SendReport(&HID, button_flag, 1, 0);
else if (x>-100)
HID.SendReport(&HID, button_flag, 2, 0);
else if (x>-150)
HID.SendReport(&HID, button_flag, 3, 0);
else if (x>-200)
HID.SendReport(&HID, button_flag, 6, 0);
else
HID.SendReport(&HID, button_flag, 16, 0);
}
// just test Z coordinate
z = Coordinates[2]/NSAMPLE;
if(z<300) {
s_pPio->PIO_CODR = BIT31;
}
else {
s_pPio->PIO_SODR = BIT31;
}
Delay(20);
//* x = ((150) - GetADC4())/20;
//* HID.SendReport(&HID, button, x, 0);
//* Delay(50);
//* HID.SendReport(&HID, button, ((base_y) - GetADC5())/50, 0);
//* Delay(50);
//* HID.SendReport(&HID, button, ((base_z) - GetADC6())/50, 0);
//* Delay(50);
//*
//* button = 0;
//*
//* for(j=0; j<100; j++) {
//* HID.SendReport(&HID, button, 1, 0);
//* Delay(50);
//* }
//*
//* for(j=0; j<100; j++) {
//* HID.SendReport(&HID, button, 0, 1);
//* Delay(50);
//* }
//*
//* for(j=0; j<100; j++) {
//* HID.SendReport(&HID, button, -1, 0);
//* Delay(50);
//* }
//*
//* for(j=0; j<100; j++) {
//* HID.SendReport(&HID, button, 0, -1);
//* Delay(50);
//* }
}
}
}
unsigned char canInit(unsigned int bitrate)
/******************************************************************************
Initialize the hardware to receive CAN messages and start the timer for the
CANopen stack.
INPUT
OUTPUT
******************************************************************************/
{
unsigned char i;
AT91S_CAN_MB *mb_ptr = AT91C_BASE_CAN_MB0;
// Enable CAN PIOs
AT91F_CAN_CfgPIO();
// Enable CAN Clock
AT91F_CAN_CfgPMC();
// Enable CAN Transceiver
AT91F_PIOA_CfgPMC();
// Init CAN Interrupt Source Level
AT91F_AIC_ConfigureIt(AT91C_BASE_AIC, // CAN base address
AT91C_ID_CAN, // CAN ID
AT91C_AIC_PRIOR_HIGHEST, // Max priority
AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL, // Level sensitive
can_irq_handler); // C Handler
AT91F_AIC_EnableIt(AT91C_BASE_AIC, AT91C_ID_CAN);
if (bitrate <= 500)
{
// CANopen 10..500 kbit with 16 tq, sample point is at 14 tq
// all values are added to 1 by hardware
// Resynchronisation jump width (SJW) = 1 tq
// Propagation Time Segment (PRS) = 5 tq
// Phase Segment 1 (PHS1) = 8 tq
// Phase Segment 2 (PHS2) = 2 tq
// Total = 16 tq
AT91F_CAN_CfgBaudrateReg(AT91C_BASE_CAN,
(AT91C_MASTER_CLOCK/16/1000/bitrate - 1) << 16 | 0x0471);
}
else
return 0;
// Enable CAN and Wait for WakeUp Interrupt
// AT91F_CAN_EnableIt(AT91C_BASE_CAN, AT91C_CAN_WAKEUP);
AT91F_CAN_CfgModeReg(AT91C_BASE_CAN, AT91C_CAN_CANEN);
// Reset all mailsboxes (MBs), filters are zero (accept all) by clear all MB
// Set the lower MBs as rx buffer
for (i = 0; i < NB_RX_MB; i++, mb_ptr++)
// Configure receive MBs as receive buffer, last as receive overwrite
AT91F_InitMailboxRegisters(mb_ptr,
((i < (NB_RX_MB - 1)) ? AT91C_CAN_MOT_RX : AT91C_CAN_MOT_RXOVERWRITE)
| AT91C_CAN_PRIOR, // Mailbox Mode Reg
0x00000000, // Mailbox Acceptance Mask Reg
0x00000000, // Mailbox ID Reg
0x00000000, // Mailbox Data Low Reg
0x00000000, // Mailbox Data High Reg
0x00000000); // Mailbox Control Reg
for ( ; i < NB_MB; i++, mb_ptr++)
// Configure transmit MBs
AT91F_InitMailboxRegisters(mb_ptr,
AT91C_CAN_MOT_TX
| AT91C_CAN_PRIOR, // Mailbox Mode Reg
0x00000000, // Mailbox Acceptance Mask Reg
0x00000000, // Mailbox ID Reg
0x00000000, // Mailbox Data Low Reg
0x00000000, // Mailbox Data High Reg
0x00000000); // Mailbox Control Reg
// Enable Reception on all receive Mailboxes
AT91F_CAN_InitTransferRequest(AT91C_BASE_CAN, RX_INT_MSK);
// Enable all receive interrupts
AT91F_CAN_EnableIt(AT91C_BASE_CAN, RX_INT_MSK);
return 1;
}
