void us_ticker_init(void)
{
if (us_ticker_inited) {
return;
}
us_ticker_inited = 1;
//Common for ticker/timer
uint32_t busClock;
// Structure to initialize PIT
pit_config_t pitConfig;
PIT_GetDefaultConfig(&pitConfig);
PIT_Init(PIT, &pitConfig);
busClock = CLOCK_GetFreq(kCLOCK_BusClk);
//Timer
PIT_SetTimerPeriod(PIT, kPIT_Chnl_0, busClock / 1000000 - 1);
PIT_SetTimerPeriod(PIT, kPIT_Chnl_1, 0xFFFFFFFF);
PIT_SetTimerChainMode(PIT, kPIT_Chnl_1, true);
PIT_StartTimer(PIT, kPIT_Chnl_0);
PIT_StartTimer(PIT, kPIT_Chnl_1);
//Ticker
PIT_SetTimerPeriod(PIT, kPIT_Chnl_2, busClock / 1000000 - 1);
PIT_SetTimerChainMode(PIT, kPIT_Chnl_3, true);
NVIC_SetVector(PIT0_IRQn, (uint32_t)pit_isr);
NVIC_EnableIRQ(PIT0_IRQn);
}
/*
* The application must provide a function that configures a peripheral to
* create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
* in FreeRTOSConfig.h to call the function. This file contains a function
* that is suitable for use on the Atmel SAMA5.
*/
void vConfigureTickInterrupt( void )
{
/* NOTE: The PIT interrupt is cleared by the configCLEAR_TICK_INTERRUPT()
macro in FreeRTOSConfig.h. */
/* Enable the PIT clock. */
PMC->PMC_PCER0 = 1 << ID_PIT;
/* Initialize the PIT to the desired frequency - specified in uS. */
PIT_Init( 1000000UL / configTICK_RATE_HZ, BOARD_MCK / 1000000 );
/* Configure interrupt on PIT. Note this is on the system interrupt, which
is shared with other system peripherals, so System_Handler() must be
installed in place of FreeRTOS_Tick_Handler() if other system handlers are
required. The tick must be given the lowest priority (0 in the SAMA5 AIC) */
IRQ_ConfigureIT( ID_PIT, AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE, FreeRTOS_Tick_Handler );
/* See commend directly above IRQ_ConfigureIT( ID_PIT, 0, System_Handler ); */
IRQ_EnableIT( ID_PIT );
PIT_EnableIT();
/* Enable the pit. */
PIT_Enable();
/* Prevent compiler warnings in the case where System_Handler() is not used
as the handler. See the comments above the System_Handler() function
prototype at the top of this file. */
( void ) System_Handler;
}
/** Initialize the high frequency ticker
*
*/
void us_ticker_init(void)
{
/* Common for ticker/timer. */
uint32_t busClock;
/* Structure to initialize PIT. */
pit_config_t pitConfig;
PIT_GetDefaultConfig(&pitConfig);
PIT_Init(PIT, &pitConfig);
busClock = CLOCK_GetFreq(kCLOCK_BusClk);
/* Let the timer to count if re-init. */
if (!us_ticker_inited) {
PIT_SetTimerPeriod(PIT, kPIT_Chnl_0, busClock / 1000000 - 1);
PIT_SetTimerPeriod(PIT, kPIT_Chnl_1, 0xFFFFFFFF);
PIT_SetTimerChainMode(PIT, kPIT_Chnl_1, true);
PIT_StartTimer(PIT, kPIT_Chnl_0);
PIT_StartTimer(PIT, kPIT_Chnl_1);
}
/* Configure interrupt generation counters and disable ticker interrupts. */
PIT_StopTimer(PIT, kPIT_Chnl_3);
PIT_StopTimer(PIT, kPIT_Chnl_2);
PIT_SetTimerPeriod(PIT, kPIT_Chnl_2, busClock / 1000000 - 1);
PIT_SetTimerChainMode(PIT, kPIT_Chnl_3, true);
NVIC_SetVector(PIT3_IRQn, (uint32_t) pit_isr);
NVIC_EnableIRQ(PIT3_IRQn);
PIT_DisableInterrupts(PIT, kPIT_Chnl_3, kPIT_TimerInterruptEnable);
us_ticker_inited = true;
}
/**
* \brief Configures the PIT & reset tickCount.
* Systick interrupt handler will generates 1ms interrupt and increase a
* tickCount.
* \note IRQ handler must be configured before invoking this function.
* \note PIT is enabled automatically in this function.
* \param new_mck Current master clock.
*/
extern uint32_t TimeTick_Configure( uint32_t new_mck )
{
_dwTickCount = 0 ;
PIT_Init( 1000, new_mck / 1000000 );
PIT_EnableIT();
PIT_Enable();
return 0;
}
void PIT_Configuration (void)
{
PIT_InitTypeDef PIT_InitStruct1;
PIT_InitStruct1.PITx = PIT0; //PIT0通道
PIT_InitStruct1.PIT_Interval = 200; //定时周期100MS
PIT_Init(&PIT_InitStruct1);
PIT_ITConfig(PIT0,PIT_IT_TIF,ENABLE);
//NVIC_EnableIRQ(PIT0_IRQn);
}
static void prvSetupTimerInterrupt( void )
{
const uint32_t ulPeriodIn_uS = ( 1.0 / ( double ) configTICK_RATE_HZ ) * port1SECOND_IN_uS;
/* Setup the PIT for the required frequency. */
PIT_Init( ulPeriodIn_uS, BOARD_MCK / port1MHz_IN_Hz );
/* Setup the PIT interrupt. */
AIC_DisableIT( AT91C_ID_SYS );
AIC_ConfigureIT( AT91C_ID_SYS, AT91C_AIC_PRIOR_LOWEST, vPortTickISR );
AIC_EnableIT( AT91C_ID_SYS );
PIT_EnableIT();
}
void kw41zAlarmInit(void)
{
pit_config_t config;
uint32_t count = (CLOCK_GetBusClkFreq() / 1000) - 1;
PIT_GetDefaultConfig(&config);
PIT_Init(PIT, &config);
PIT_SetTimerPeriod(PIT, kPIT_Chnl_0, count);
PIT_StartTimer(PIT, kPIT_Chnl_0);
PIT_EnableInterrupts(PIT, kPIT_Chnl_0, kPIT_TimerInterruptEnable);
NVIC_ClearPendingIRQ(PIT_IRQn);
NVIC_EnableIRQ(PIT_IRQn);
}
//--------------------------------------------------------------------------------------------------------
void System_Init(void)
{
GPIO_Init();
UART_Init();
ADC_Init();
PIT_Init();
PWM_Init();
LED_Init();
InitFlashLed();
//----------进入按键调参--------
SetLED();
//---------初始化全局变量-------
CarControlStop();
g_nCarCount=0;
g_nSpeedControlCount=0;
g_nSpeedControlPeriod=0;
g_nDirectionControlCount=0;
g_nDirectionControlPeriod=0;
g_fAngleControlOut=0;
g_nLeftMotorPulse=0;
g_nRightMotorPulse=0;
g_fCarSpeed=0;
g_fSpeedControlOutNew=0;
g_fSpeedControlOutOld=0;
g_fSpeedControlIntegral=0;
g_fSpeedControlOut=0;
VOLTAGE_RIGHT=0;
VOLTAGE_LEFT=0;
DIR_LEFT_OFFSET=0;
DIR_RIGHT_OFFSET=0;
g_fDirectionControlOutP=0;
g_fDirectionControlOutD=0;
g_fDirectionControlOutOld=0;
g_fDirectionControlOutNew=0;
g_fDirection=0;
g_nDirectionGyro=0;
g_fDirectionControlOut=0;
g_fLeftMotorOut=0;
g_fRightMotorOut=0;
}
unsigned long int SysTick_Config(unsigned long int ticks)
{
unsigned long int rate = SystemCoreClock/ticks;
/* Configure timer to interrupt specified times per second */
PIT_Init(1000000/rate, SystemCoreClock/1000000);
PIT_EnableIT();
PIT_Enable();
/* Configure timer interrupt */
AIC_ConfigureIT(AT91C_ID_SYS, AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL, TimerISR);
AIC_EnableIT(AT91C_ID_SYS);
return 0;
}
/*!
* @brief Main function
*/
int main(void)
{
/* Structure of initialize PIT */
pit_config_t pitConfig;
/* Initialize and enable LED */
LED_INIT();
/* Board pin, clock, debug console init */
BOARD_InitPins();
BOARD_BootClockRUN();
BOARD_InitDebugConsole();
/*
* pitConfig.enableRunInDebug = false;
*/
PIT_GetDefaultConfig(&pitConfig);
/* Init pit module */
PIT_Init(PIT, &pitConfig);
/* Set timer period for channel 0 */
PIT_SetTimerPeriod(PIT, kPIT_Chnl_0, USEC_TO_COUNT(1000000U, PIT_SOURCE_CLOCK));
/* Enable timer interrupts for channel 0 */
PIT_EnableInterrupts(PIT, kPIT_Chnl_0, kPIT_TimerInterruptEnable);
/* Enable at the NVIC */
EnableIRQ(PIT_IRQ_ID);
/* Start channel 0 */
PRINTF("\r\nStarting channel No.0 ...");
PIT_StartTimer(PIT, kPIT_Chnl_0);
while (true)
{
/* Check whether occur interupt and toggle LED */
if (true == pitIsrFlag)
{
PRINTF("\r\n Channel No.0 interrupt is occured !");
LED_TOGGLE();
pitIsrFlag = false;
}
}
}
void initStateMachine()
{
activityDetected();
/* configure PIT module in chain mode */
/* PIT clock source is bus clock,24MHz */
/* PIT channel 0 load value = (600000-1) */
uint32_t u32LoadValue0 = (BUS_CLOCK / 1000) * STEP_TIME_MS - 1; /* 25ms */
sPITConfig.u32LoadValue = u32LoadValue0;
sPITConfig.bFreeze = FALSE;
sPITConfig.bModuleDis = FALSE; /*!< enable PIT module */
sPITConfig.bInterruptEn = TRUE;
sPITConfig.bChainMode = FALSE;
sPITConfig.bTimerEn = TRUE;
PIT_Init(PIT_CHANNEL1, &sPITConfig);
PIT_SetCallback(PIT_CHANNEL1, controlStateMachine);
}
/*!
* @brief Initialisation thread. runs once.
*/
void InitThread(void *data)
{
for (;;)
{
OS_SemaphoreWait(InitSemaphore, 0);
Random_Init();
//Switches mate
Switch_Init(S1Callback, (void *) 0, S2Callback, (void *) 0);
Toggle_Init(ToggleModeFinished);
Game_Init(GameModeFinished);
Touch_Init();
//Initialize all the modules
LEDs_Init();
I2C_Init(100000, MODULE_CLOCK);
Accel_Init(&AccelSetup);
PIT_Init(MODULE_CLOCK, &PitCallback, (void *) 0);
PIT_Set(500000000, bFALSE);
PIT_Enable(bTRUE);
Packet_Init(BAUD_RATE, MODULE_CLOCK);
Flash_Init();
CMD_Init();
//Best to do this one last
//TODO: disabled for yellow
RTC_Init((void (*)(void*))OS_SemaphoreSignal, (void *) RtcSemaphore);
Timer_Init();
Timer_Set(&PacketTimer);
Timer_Set(&AccTimer);
CMD_SpecialGetStartupValues();
LEDs_On(LED_ORANGE);
}
}
//------------------------------------------------------------------------------
/// Configures the PIT to generate 1ms ticks.
//------------------------------------------------------------------------------
static void ConfigurePit(void)
{
// Initialize and enable the PIT
PIT_Init(PIT_PERIOD, BOARD_MCK / 1000000);
// Disable the interrupt on the interrupt controller
IRQ_DisableIT(AT91C_ID_SYS);
// Configure the AIC for PIT interrupts
IRQ_ConfigureIT(AT91C_ID_SYS, 0, ISR_Pit);
// Enable the interrupt on the interrupt controller
IRQ_EnableIT(AT91C_ID_SYS);
// Enable the interrupt on the pit
PIT_EnableIT();
// Enable the pit
PIT_Enable();
}
void PitInit(unsigned int msperiod)
{
PIT_DisableIT();
// Initialize the PIT to the desired frequency
PIT_Init(0, 0);
// PIT timer runs at MCK/16
// calculates the PIT Value accurate to a Millisecond interrupt
// msperiod can not be larget than 349 because PIV is at a 20bit limit
if(msperiod > 349) msperiod = 349;
PIT_SetPIV((MCK/(16*1000))*msperiod);
// Configure interrupt on PIT
AIC_DisableIT(AT91C_ID_SYS);
AIC_ConfigureIT(AT91C_ID_SYS, AT91C_AIC_PRIOR_LOWEST, ISR_Pit);
AIC_EnableIT(AT91C_ID_SYS);
PIT_EnableIT();
// Enable the pit
PIT_Enable();
}
void _start(void)
{
InterruptManager_Init();
PWM_Init();
PIT_Init();
PIT_EnableTimer(0);
WDOG_Init();
while(1)
{
uint32_t volatile *r = (uint32_t*)0xE000E200;
if((r[(64 - 16)/32] >> ((64-16) % 32)) & 1)
{
r = (uint32_t*)0x400FF04C;
r[0] |= (1 << 22);
}
}
}
void main(void)
{
char send_cnt=0;
SetBusCLK_40M();
SCI0_Init();
PIT_Init();
AD_Init();
CCD_IO_Init();
PWM_Init();
PAC_Init();
DDRT_DDRT0=1;
PTT_PTT0=1;
delay();
Motor_forward(26);
steering(STEER_MID);
DDRM=0XFF;
EnableInterrupts;
for(;;)
{
if(TimerFlag20ms == 1)
{
DisableInterrupts;
TimerFlag20ms = 0;
ImageCapture(Pixel);
//CalculateIntegrationTime();
//mid_val_3(Pixel);
//send_cnt++;
/*if(send_cnt>10)
{
send_cnt=0;
SendImageData(Pixel);
} */
find(Pixel,5,3,20);
//CCD_P2(Pixel,3,18);
steer_pd();
EnableInterrupts;
}
}
}
/*******************************************************************************
* @brief main routine
******************************************************************************/
int main (void)
{
SIM_Init (SIM_MODULE_FRDM_SLCD_CONFIG);
MCG_LITE_Init (MCG_LITE_HIRC_48MHZ);
// OSC module initialization
OSC_Init(OSC_MODULE_OSCERCLK_ON_STOPMODE_ON_CONFIG(OSC_SC16P));
MCG_ExtClkType(OSC_REQST);
MCG_CrystalMode(LOW_POWER_OSC);
MCG_CrystalFreqRangeSel(LOW_FREQ_RANGE);
MCG_WaitOscInit();
// VLLx, VCAPx pins disable
PORT_Init(PORTC, PORT_MODULE_DISABLED_MODE, PIN_20|PIN_21|PIN_22|PIN_23, 0, NULL);
// SLCD pin configuration
PORT_Init(PORTE, PORT_MODULE_ALT0_MODE, PIN_20|PIN_21, 0, NULL);
PORT_Init(PORTB, PORT_MODULE_ALT0_MODE, PIN_18|PIN_19, 0, NULL);
PORT_Init(PORTC, PORT_MODULE_ALT0_MODE, PIN_0|PIN_4|PIN_6|PIN_7, 0, NULL);
PORT_Init(PORTD, PORT_MODULE_ALT0_MODE, PIN_0|PIN_2|PIN_3|PIN_4, 0, NULL);
// SLCD initialization
LCD_Init (LCD_FRDM_CONFIG, \
LCD_FRONT_PLANE_PINS_FRDM_KL43, \
LCD_BACK_PLANE_PINS_FRDM_KL43, \
LCD_ASSIGN_BACK_PLANES_FRDM_KL43);
//LCD_Write_Segments(LCD_ALL_SEGMENTS_OFF_FRDM_KL43);
LCD_Delete_Char(0);
LCD_Delete_Char(1);
LCD_Delete_Char(2);
LCD_Delete_Char(3);
// PIT initialization - CH0 for LCD intro text running
PIT_Init (PIT0, CH0, PIT_CH_TIMER_EN_CONFIG, 6000000, 1, pit_callback);
__enable_irq();
while (1)
{
}
}
/*
* The application must provide a function that configures a peripheral to
* create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
* in FreeRTOSConfig.h to call the function. This file contains a function
* that is suitable for use on the Atmel SAMA5.
*/
void vConfigureTickInterrupt( void )
{
/* NOTE: The PIT interrupt is cleared by the configCLEAR_TICK_INTERRUPT()
macro in FreeRTOSConfig.h. */
/* Enable the PIT clock. */
PMC->PMC_PCER0 = 1 << ID_PIT;
/* Initialize the PIT to the desired frequency - specified in uS. */
PIT_Init( 1000000UL / configTICK_RATE_HZ, ( BOARD_MCK / 2 ) / 1000000 );
/* Enable IRQ / select PIT interrupt. */
PMC->PMC_PCER1 = ( 1 << ( ID_IRQ - 32 ) );
AIC->AIC_SSR = ID_PIT;
/* Ensure interrupt is disabled before setting the mode and installing the
handler. The priority of the tick interrupt should always be set to the
lowest possible. */
AIC->AIC_IDCR = AIC_IDCR_INTD;
AIC->AIC_SMR = AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE;
AIC->AIC_SVR = ( uint32_t ) FreeRTOS_Tick_Handler;
/* Start with the interrupt clear. */
AIC->AIC_ICCR = AIC_ICCR_INTCLR;
/* Enable the interrupt in the AIC and peripheral. */
AIC_EnableIT( ID_PIT );
PIT_EnableIT();
/* Enable the peripheral. */
PIT_Enable();
/* Prevent compiler warnings in the case where System_Handler() is not used
as the handler. See the comments above the System_Handler() function
prototype at the top of this file. */
( void ) System_Handler;
}
void us_ticker_init(void)
{
/* Common for ticker/timer. */
uint32_t busClock;
/* Structure to initialize PIT. */
pit_config_t pitConfig;
if (us_ticker_inited) {
/* calling init again should cancel current interrupt */
TPM_DisableInterrupts(TPM2, kTPM_TimeOverflowInterruptEnable);
return;
}
PIT_GetDefaultConfig(&pitConfig);
PIT_Init(PIT, &pitConfig);
busClock = CLOCK_GetFreq(kCLOCK_BusClk);
PIT_SetTimerPeriod(PIT, kPIT_Chnl_0, busClock / 1000000 - 1);
PIT_SetTimerPeriod(PIT, kPIT_Chnl_1, 0xFFFFFFFF);
PIT_SetTimerChainMode(PIT, kPIT_Chnl_1, true);
PIT_StartTimer(PIT, kPIT_Chnl_0);
PIT_StartTimer(PIT, kPIT_Chnl_1);
/* Configure interrupt generation counters and disable ticker interrupts. */
tpm_config_t tpmConfig;
TPM_GetDefaultConfig(&tpmConfig);
/* Set to Div 32 to get 1MHz clock source for TPM */
tpmConfig.prescale = kTPM_Prescale_Divide_32;
TPM_Init(TPM2, &tpmConfig);
NVIC_SetVector(TPM2_IRQn, (uint32_t)tpm_isr);
NVIC_EnableIRQ(TPM2_IRQn);
us_ticker_inited = true;
}
void Peripherals_Init(void)
{
#ifdef NVIC_AUTOINIT
NVIC_Init();
#endif /* NVIC_AUTOINIT */
#ifdef SIM_AUTOINIT
SIM_Init();
#endif /* SIM_AUTOINIT */
#ifdef MCM_AUTOINIT
MCM_Init();
#endif /* MCM_AUTOINIT */
#ifdef PMC_AUTOINIT
PMC_Init();
#endif /* PMC_AUTOINIT */
#ifdef PORTA_AUTOINIT
PORTA_Init();
#endif /* PORTA_AUTOINIT */
#ifdef PORTB_AUTOINIT
PORTB_Init();
#endif /* PORTB_AUTOINIT */
#ifdef PORTC_AUTOINIT
PORTC_Init();
#endif /* PORTC_AUTOINIT */
#ifdef PORTD_AUTOINIT
PORTD_Init();
#endif /* PORTD_AUTOINIT */
#ifdef PORTE_AUTOINIT
PORTE_Init();
#endif /* PORTE_AUTOINIT */
#ifdef ADC0_AUTOINIT
ADC0_Init();
#endif /* ADC0_AUTOINIT */
#ifdef ADC1_AUTOINIT
ADC1_Init();
#endif /* ADC1_AUTOINIT */
#ifdef AIPS0_AUTOINIT
AIPS0_Init();
#endif /* AIPS0_AUTOINIT */
#ifdef AIPS1_AUTOINIT
AIPS1_Init();
#endif /* AIPS1_AUTOINIT */
#ifdef AXBS_AUTOINIT
AXBS_Init();
#endif /* AXBS_AUTOINIT */
#ifdef CAN0_AUTOINIT
CAN0_Init();
#endif /* CAN0_AUTOINIT */
#ifdef CMP0_AUTOINIT
CMP0_Init();
#endif /* CMP0_AUTOINIT */
#ifdef CMP1_AUTOINIT
CMP1_Init();
#endif /* CMP1_AUTOINIT */
#ifdef CMP2_AUTOINIT
CMP2_Init();
#endif /* CMP2_AUTOINIT */
#ifdef CMT_AUTOINIT
CMT_Init();
#endif /* CMT_AUTOINIT */
#ifdef CRC_AUTOINIT
CRC_Init();
#endif /* CRC_AUTOINIT */
#ifdef DAC0_AUTOINIT
DAC0_Init();
#endif /* DAC0_AUTOINIT */
#ifdef DMAMUX_AUTOINIT
DMAMUX_Init();
#endif /* DMAMUX_AUTOINIT */
#ifdef DMA_AUTOINIT
DMA_Init();
#endif /* DMA_AUTOINIT */
#ifdef ENET_AUTOINIT
ENET_Init();
#endif /* ENET_AUTOINIT */
#ifdef EWM_AUTOINIT
EWM_Init();
#endif /* EWM_AUTOINIT */
#ifdef FB_AUTOINIT
FB_Init();
#endif /* FB_AUTOINIT */
#ifdef FMC_AUTOINIT
FMC_Init();
#endif /* FMC_AUTOINIT */
#ifdef FTFE_AUTOINIT
FTFE_Init();
#endif /* FTFE_AUTOINIT */
#ifdef FTM0_AUTOINIT
FTM0_Init();
#endif /* FTM0_AUTOINIT */
#ifdef FTM1_AUTOINIT
FTM1_Init();
#endif /* FTM1_AUTOINIT */
#ifdef FTM2_AUTOINIT
FTM2_Init();
#endif /* FTM2_AUTOINIT */
#ifdef FTM3_AUTOINIT
FTM3_Init();
#endif /* FTM3_AUTOINIT */
#ifdef I2C0_AUTOINIT
I2C0_Init();
#endif /* I2C0_AUTOINIT */
#ifdef I2C1_AUTOINIT
I2C1_Init();
#endif /* I2C1_AUTOINIT */
#ifdef I2C2_AUTOINIT
I2C2_Init();
#endif /* I2C2_AUTOINIT */
#ifdef I2S0_AUTOINIT
I2S0_Init();
#endif /* I2S0_AUTOINIT */
#ifdef LLWU_AUTOINIT
LLWU_Init();
#endif /* LLWU_AUTOINIT */
#ifdef LPTMR0_AUTOINIT
LPTMR0_Init();
#endif /* LPTMR0_AUTOINIT */
#ifdef MPU_AUTOINIT
MPU_Init();
#endif /* MPU_AUTOINIT */
#ifdef PDB0_AUTOINIT
PDB0_Init();
#endif /* PDB0_AUTOINIT */
#ifdef PIT_AUTOINIT
PIT_Init();
#endif /* PIT_AUTOINIT */
#ifdef PTA_AUTOINIT
PTA_Init();
#endif /* PTA_AUTOINIT */
#ifdef PTB_AUTOINIT
PTB_Init();
#endif /* PTB_AUTOINIT */
#ifdef PTC_AUTOINIT
PTC_Init();
#endif /* PTC_AUTOINIT */
#ifdef PTD_AUTOINIT
PTD_Init();
#endif /* PTD_AUTOINIT */
#ifdef PTE_AUTOINIT
PTE_Init();
#endif /* PTE_AUTOINIT */
#ifdef RCM_AUTOINIT
RCM_Init();
#endif /* RCM_AUTOINIT */
#ifdef RNG_AUTOINIT
RNG_Init();
#endif /* RNG_AUTOINIT */
#ifdef RTC_AUTOINIT
RTC_Init();
#endif /* RTC_AUTOINIT */
#ifdef SDHC_AUTOINIT
SDHC_Init();
#endif /* SDHC_AUTOINIT */
#ifdef SMC_AUTOINIT
SMC_Init();
#endif /* SMC_AUTOINIT */
#ifdef SPI0_AUTOINIT
SPI0_Init();
#endif /* SPI0_AUTOINIT */
#ifdef SPI1_AUTOINIT
SPI1_Init();
#endif /* SPI1_AUTOINIT */
#ifdef SPI2_AUTOINIT
SPI2_Init();
#endif /* SPI2_AUTOINIT */
#ifdef SystemControl_AUTOINIT
SystemControl_Init();
#endif /* SystemControl_AUTOINIT */
#ifdef SysTick_AUTOINIT
SysTick_Init();
#endif /* SysTick_AUTOINIT */
#ifdef UART0_AUTOINIT
UART0_Init();
#endif /* UART0_AUTOINIT */
#ifdef UART1_AUTOINIT
UART1_Init();
#endif /* UART1_AUTOINIT */
#ifdef UART2_AUTOINIT
UART2_Init();
#endif /* UART2_AUTOINIT */
#ifdef UART3_AUTOINIT
UART3_Init();
#endif /* UART3_AUTOINIT */
#ifdef UART4_AUTOINIT
UART4_Init();
#endif /* UART4_AUTOINIT */
#ifdef UART5_AUTOINIT
UART5_Init();
#endif /* UART5_AUTOINIT */
#ifdef USB0_AUTOINIT
USB0_Init();
#endif /* USB0_AUTOINIT */
#ifdef USBDCD_AUTOINIT
USBDCD_Init();
#endif /* USBDCD_AUTOINIT */
#ifdef VREF_AUTOINIT
VREF_Init();
#endif /* VREF_AUTOINIT */
#ifdef WDOG_AUTOINIT
WDOG_Init();
#endif /* WDOG_AUTOINIT */
}
int kmain(UInt32 initial_stack, MultibootHeader* mboot, UInt32 mboot_magic) {
initial_esp = initial_stack;
CLI_Init();
Cls();
UInt32 initrd_end = *(UInt32*)(mboot->mods_addr+4);
placement_address = (Pointer) initrd_end;
// Set up our new stack here.
//UInt32 stack = (UInt32) kmalloc_a(8192, TRUE);
MultibootHeader* mboot_hdr = mboot; //kmalloc(sizeof(MultibootHeader));
//memcpy(mboot_hdr, mboot, sizeof(MultibootHeader));
kprintf("Starting init...\n");
//new_start(stack, mboot_hdr);
GDT_Init();
IDT_Init();
ISR_Init();
asm volatile("sti");
kprintf("Basics\t\t\t[OK]\n");
PIT_Init(PIT_MSTIME);
kprintf("PIT\t\t\t[OK]\n");
init_kheap();
InitPaging((mboot_hdr->mem_lower+mboot_hdr->mem_upper)&~3);
InitKernelHeap();
kprintf("Heap\t\t\t[OK]\n");
VFS_Init();
DevFS_Init();
kprintf("VFS\t\t\t[OK]\n");
DriversInit();
kprintf("Drivers\t\t\t[OK]\n");
Screen_Init();
FloppyInit();
checkAllBuses();
DumpPCIDeviceData();
kprintf("PCI\t\t\t[OK]\n");
/*kprintf("Keyboard Init... ");
KB_Init(0);
kprintf("[ok]\n");*/
FAT12_Init(FAT12_GetContext(FloppyGetDevice()), "/", "sys");
InitTasking();
KernelSymbolsLoad();
//Cls();
kprintf("kOS v0.6.13\n");
VFS_Node* rd = GetNodeFromFile(GetFileFromPath("/sys"));
kprintf("rd = %x\n", rd);
ArrayList* list = ListFiles(rd);
ALIterator* itr = ALGetItr(list);
while(ALItrHasNext(itr)) {
VFS_Node* node = ALItrNext(itr);
kprintf("file: %s\n", node->name);
}
ALFreeItr(itr);
ALFreeList(list);
//kprintf("kprintf symbol = %x\n", getKernelSymbol("kprintf"));
File* initScript = GetFileFromPath("/sys/init.script");
FileSeek(0, initScript); // Due to these being global objects, we have to do such ugly things as this.
#ifdef INIT_DEBUG
kprintf("initScript=%x\n", initScript);
#endif
char* lineBuf = kalloc(256);
int doBreak = 0;
while(!doBreak) {
if(fgetline(initScript, lineBuf, 256, '\n')==-1) {
if(strlen(lineBuf) > 0) {
doBreak = 1;
} else {
break; // We've processed everything that needs to be processed.
}
}
// Now parse it.
char* tok = strtok(lineBuf, " ");
kprintf("%s, %x\n", tok,tok);
if(!strcmp(tok, "load_driver")) {
#ifdef INIT_DEBUG
kprintf("load_driver ");
#endif
tok = strtok(NULL, " ");
// Load the driver specified.
File* drv = GetFileFromPath(tok);
if(drv != NULL) {
int drvLength = FileSeek(SEEK_EOF, drv);
FileSeek(0, drv);
void* drvBuf = kalloc(drvLength);
#ifdef INIT_DEBUG
kprintf("%s\n", GetNodeFromFile(drv)->name);
#endif
ReadFile(drvBuf, drvLength, drv);
ELF* elf = LoadKernelDriver(drvBuf);
#ifdef INIT_DEBUG
kprintf("elf->start=%x\n", elf->start);
#endif
if(elf->error == 0) {
void (*driverInit)() = (void (*)()) elf->start;
driverInit();
}
kfree(drvBuf);
drvBuf = NULL;
CloseFile(drv);
}
}
}
CloseFile(initScript);
kfree(lineBuf);
kprintf("Kernel init done...\n");
File* elf = GetFileFromPath("/sys/helloworld");
FileSeek(SEEK_EOF, elf);
int length = FileTell(elf);
FileSeek(0, elf);
UInt8* elfBuf = kalloc(length);
ReadFile(elfBuf, length, elf);
ELF* elfExe = Parse_ELF(elfBuf);
CreateTaskFromELF(elfExe);
// Kernel main logic loop
while(1) {
asm volatile("hlt");
}
return 0;
}
int main(void)
{
unsigned char i;
unsigned char Send_Count;
uint32_t DMA_Value0 = 0;
uint32_t DMA_Value1 = 0;
PIT_InitTypeDef PIT_InitStruct1;
GPIO_InitTypeDef GPIO_InitStruct1;
FTM_InitTypeDef FTM_InitStruct1;
DMACNT_InitTypeDef DMACNT_InitStruct1;
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
UART_DebugPortInit(UART0_RX_PA14_TX_PA15,115200);
DisplayCPUInfo();
DelayInit();
OLED_Init();
DMACNT_InitStruct1.DMACNT_Mode = DMACNT_MODE_FALLING; //ÉÏÉýÑؼÆÊý
DMACNT_InitStruct1.DMA_Chl = DMA_CH0; //ʹÓÃͨµÀ 0
DMACNT_InitStruct1.GPIOx = PTC; //PTC5
DMACNT_InitStruct1.GPIO_Pin = GPIO_Pin_5;
DMACNT_Init(&DMACNT_InitStruct1);
GPIO_InitStruct1.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStruct1.GPIO_InitState = Bit_RESET;
GPIO_InitStruct1.GPIO_IRQMode = GPIO_IT_DISABLE;
GPIO_InitStruct1.GPIO_Mode = GPIO_Mode_OPP;
GPIO_InitStruct1.GPIOx = PTB;
GPIO_Init(&GPIO_InitStruct1);
GPIO_InitStruct1.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStruct1.GPIO_InitState = Bit_SET;
GPIO_InitStruct1.GPIOx = PTB;
GPIO_Init(&GPIO_InitStruct1);
PIT_InitStruct1.PITx=PIT2;
PIT_InitStruct1.PIT_Interval=100;
PIT_Init(&PIT_InitStruct1);
NVIC_EnableIRQ(PIT2_IRQn);
PIT_ITConfig(PIT2,PIT_IT_TIF,ENABLE);
PIT_InitStruct1.PITx=PIT0;
PIT_InitStruct1.PIT_Interval=20000;
PIT_Init(&PIT_InitStruct1);
PIT_ITConfig(PIT0,PIT_IT_TIF,ENABLE);
NVIC_EnableIRQ(PIT0_IRQn);
FTM_InitStruct1.Frequency = 800;
FTM_InitStruct1.FTM_Mode = FTM_Mode_EdgeAligned;
// FTM_InitStruct1.InitalDuty = 10000;
FTM_InitStruct1.FTMxMAP = FTM0_CH0_PC1;
FTM_Init(&FTM_InitStruct1);
UART_printf("DMACNT_CH0_Value:%d \n",*Pid_Out);
while(1)
{
// if(key_detect1()){
// Pid_Set += 500;
// }
// if(key_detect3()){
// Pid_Set -= 500;
// }
GPIO_ResetBits(PTB,GPIO_Pin_0);
PidError[2] = Pid_Set - *Pid_Out;
PidOut = Kp * (PidError[2] - PidError[1]);
PidOut += Ki * PidError[2] * Td;
PidOut += Kd * (PidError[2] - 2 * PidError[1] + PidError[0]) / Td;
PidError[0] = PidError[1];
PidError[1] = PidError[2];
PID_FinalOut =PidOut*2;
//
// if(key_detect5()){
// Kd+=0.2;OLED_Clear();
// }
// else if(key_detect6()){
// Kd-=0.2;OLED_Clear();
// }
//
// OLED_Write_String(2,0,"Kp");
// OLED_Write_String(2,2,"Ki");
// OLED_Write_String(2,4,"Kd");
// OLED_Write_Num3(6,0,Kp*10);
// OLED_Write_Num3(6,2,Ki*10);
// OLED_Write_Num3(6,4,Kd*10);
// OLED_Write_Num4(9,6,*Pid_Out-1000);
//
if(PID_FinalOut>10000) PID_FinalOut=10000;
else if(PID_FinalOut<0) PID_FinalOut=0;
FTM_PWM_ChangeDuty(FTM0_CH0_PC1,PID_FinalOut);
}
}
