void main(void)
{
// Initialize all tasks
Speech_Init();
UART_Init(BAUD9600);
Timer0_Init(500);
Elecmotor_Init();
Button_Init();
Battery_Init();
Sensor_Init();
Alarm_Init();
Function_init();
Function_S_init();
// Add Tasks
hSCH_Add_Task(Elecmotor_update, 1000, 1, 1); // 1ms/ticket
hSCH_Add_Task(Button_update, 1500, 200, 1); // 100ms/ticket
hSCH_Add_Task(Speech_update, 1500, 1000, 1); // 0.5s/ticket
hSCH_Add_Task(Sensor_update, 2000, 1, 1); // 1ms/ticket
hSCH_Add_Task(Alarm_update, 3000, 2000, 1); // 1s/ticket
hSCH_Add_Task(Function_update, 1500, 4000, 1); // 2s/ticket
hSCH_Add_Task(Function_s_update, 2000, 1, 1); // 1ms/ticket
// Start the program.
hSCH_Start();
while(1)
{
// Excute the program.
hSCH_Dispatch_Tasks();
}
}
// *************************** Capture image dimensions out of BMP**********
int main(void){
TExaS_Init(SSI0_Real_Nokia5110_Scope); // set system clock to 80 MHz
Random_Init(69);
Output_Init();
ADC0_Init();
ST7735_InvertDisplay(0);
ST7735_SetRotation(0);
AI_Init(0x07);
Player_Init();
player.potato=1;
Timer0_Init(Master_Funk, 30);
ST7735_DrawBitmap(53, 151, Bunker0, 18,5);
// Delay100ms(1); // delay 5 sec at 80 MHz
/* ST7735_FillScreen(0x0000); // set screen to black
ST7735_SetCursor(1, 1);
ST7735_OutString("GAME OVER");
ST7735_SetCursor(1, 2);
ST7735_OutString("Nice try,");
ST7735_SetCursor(1, 3);
ST7735_OutString("Earthling!");
ST7735_SetCursor(2, 4);
LCD_OutDec(1234); */
while(1){
}
}
int main(void)
{
unsigned char Mystring[20];
Serial_Init();
lcd_init();
print_string("\nSTART MAIN TIMER TEST");
Timer0_Init();
sei();
while(1)
{
if(Update_flag)
{
sprintf(Mystring,"%02d %02d %02d",(unsigned char)HRS_var,(unsigned char)MIN_var,(unsigned char)SEC_var);
print_string("\n\r");
print_string(Mystring);
lcd_gotoxy1(0);
lcd_string(Mystring);
Update_flag = 0;
}
}
}
// *************************** Capture image dimensions out of BMP**********
int main(void){
TExaS_Init(SSI0_Real_Nokia5110_Scope); // set system clock to 80 MHz
Output_Init();
ADC0_Init();
DAC_Init();
SysTick_Init();
Menu_Init();
Sound_Init();
UART1_Init();
Button0_Init();
Timer0_Init(Play, 80000000/11025); // 11.025 kHz 80000000/11025
Timer1_Init(Master_Funk, 80000000/60);
//Timer2_Init(SomeUART function, high speed); //for UART
/* ST7735_FillScreen(0x0000); // set screen to black
ST7735_SetCursor(1, 1);
ST7735_OutString("GAME OVER");
ST7735_SetCursor(1, 2);
ST7735_OutString("Nice try,");
ST7735_SetCursor(1, 3);
ST7735_OutString("Earthling!");
ST7735_SetCursor(2, 4);
LCD_OutDec(1234); */
while(1){
}
}
void Init()
{
ReadConfigFromEEPROM();
//LEDs
DDRC |= (1<<PC3); //Red LED
DDRB |= (1<<PB5); //Green LED
//check for service mode
CheckServiceMode();
#ifndef NO_BINDING
Bind_RX_Init();
#endif
Red_LED_ON;
Timer0_Init();
USART_Init();
RF22B_Init();
Servo_Init();
to_rx_mode();
sei();
}
void Init()
{
ReadConfigFromEEPROM();
//LEDs
DDRC |= (1<<PC3); //Red LED
DDRB |= (1<<PB5); //Green LED
//check for service mode
CheckServiceMode();
#ifndef NO_BINDING
//check BIND button state
DDRD &= ~(1<<PD3);
PORTD |= (1<<PD3);
_delay_ms(1);
if (bit_is_clear(PIND,PD3))
{
_delay_ms(1000);
if (bit_is_clear(PIND,PD3)) bind = 1;
} else bind = 0;
if (bind)
{
RF_Header[0] = 'B';
RF_Header[1] = 'I';
RF_Header[2] = 'N';
RF_Header[3] = 'D';
} else {
RF_Header[0] = SETTINGS.RF_HEADER[0];
RF_Header[1] = SETTINGS.RF_HEADER[1];
RF_Header[2] = SETTINGS.RF_HEADER[2];
RF_Header[3] = SETTINGS.RF_HEADER[3];
}
#endif
Red_LED_ON;
Timer0_Init();
USART_Init();
RF22B_Init();
Servo_Init();
to_rx_mode();
sei();
}
void main()
{
EA=1;
Timer0_Init(1);
F_Set_Timer1(10);
while(1)
{
KeyDriver();
}
}
void rc_init(void)
{
Timer0_Init();
/* External INT0 */
MCUCR |= (1 << 1); // Falling edge generates interrupt
MCUCR &= ~(1 << 0);
GICR |= (1 << INT0); // Enable interrupt
edge = 0;
timer0_ovf = 0;
state = RC_INIT;
}
void main(void) /* 此main函数是单个数码管的自加程序 */
{
NUM_LED_Init();
Timer0_Init();
while(1)
{
if(1 == flag)
{
flag = !flag; /* 清除标志位 */
NUM_ShowScan();
}
}
}
void main()
{
uint8 temp[20];
Timer0_Init(1);
UART_Conf(9600);
LCD1602_Init();
EEPROM_ReadString(0x40,16,temp);
LCD1602_Show(0,0,temp,16);
EEPROM_ReadString(0x80,16,temp);
LCD1602_Show(0,1,temp,16);
while(1)
{
UART_Driver();
}
}
void main()
{
EA=1;
P1&=0XEF;
Timer0_Init(1);
Timer1_Init();
INT0_Init();
while(1)
{
if(Flag_IR)
{
Flag_IR=0;
LedBuff[0]=LedChar[IRBuff[0]/16];
LedBuff[1]=LedChar[IRBuff[0]%16];;
LedBuff[4]=LedChar[IRBuff[2]/16];;
LedBuff[5]=LedChar[IRBuff[2]%16];;
}
}
}
void initializer()
{
// Calibrate the oscillator:
OSCCAL_calibration();
// Initialize the USART
USARTinit();
// Initialize timer0 to play a tune
Timer0_Init();
// initialize piezo-element
sbi(DDRB, 5); // set OC1A as output
sbi(PORTB, 5); // set OC1A high
// Display instructions on PC
sendFString(TALKING_TO);
sendFString(WHO_DEMO);
sendFString(ENTER);
sendFString(TEXT_FUR_ELISE);
sendFString(ENTER);
sendFString(TEXT_TURKEY_MARCH);
sendFString(ENTER);
sendFString(TEXT_MINUET);
sendFString(ENTER);
sendFString(TEXT_AULD_LANG_SYNE);
sendFString(ENTER);
sendFString(TEXT_SIRENE1);
sendFString(ENTER);
sendFString(TEXT_SIRENE2);
sendFString(ENTER);
sendFString(TEXT_WHISTLE);
sendFString(ENTER);
sendFString(VOLUME_UP);
sendFString(THE_VOLUME);
sendFString(ENTER);
sendFString(VOLUME_DOWN);
sendFString(THE_VOLUME);
sendFString(ENTER);
sendFString(STOP);
}
int main(){
int i = 0;
//Enable interrupt
sei();
//Set direction to output
DDRD = 0xFF;
//Set portD0 to high
PORTD = 0x01;
//Initialization of Timer 0
Timer0_Init();
while(1)
//Do nothing
{
i = i+1;
}
return 0;
} //end main
//***************Timer3A_Handler****************
//Plays the Tetris Sound onces at the beginning of each round
//Then it deactivates itself until the next round begins
//Input: none
//Output: none
void Timer3A_Handler(void){
TIMER3_ICR_R = 0x01;
TIMER3_CTL_R = 0x0000000; //disable TIMER0
// TIMER1_CTL_R = 0x0000000; //disable TIMER1
// TIMER2_CTL_R = 0x0000000; //disable TIMER2
for(int num =0; num < 133; num++){//133
if(TETRIS[num] == Z1) i=5;else i =150; //check if Z1 change the period to 5
Sound_Play2(TETRIS[num]); //play the note
Delay10ms(i); //delay after each note usign the value of i
}
NVIC_ST_CTRL_R =0; //disable SysTick after the song has been played
// TIMER0_CTL_R = 0x0000001; //enable TIMER0
// TIMER2_CTL_R = 0x0000001; //enable TIMER2
DisableInterrupts();
Timer0_Init(70000000); //1000000
Timer1_Init(7255);
Timer2_Init(30000000);
EnableInterrupts();
TIMER3_CTL_R = 0x0000000; //disable TIMER1A
}
void InitApp(void)
{
/* TODO Initialize User Ports/Peripherals/Project here */
/* Setup analog functionality and port direction */
TRISD = 0b00000000; // PORTD bits 7:0 are all outputs (0)
INTCON2bits.RBPU = 0; // enable PORTB internal pullups
WPUBbits.WPUB0 = 1; // enable pull up on RB0
ANSELH = 0x00; // AN8-12 are digital inputs (AN12 on RB0)
TRISBbits.TRISB0 = 1; // PORTB bit 0 (connected to switch) is input (1)
/* Initialize peripherals */
Timer0_Init();
ADC_Init();
/* Configure the IPEN bit (1=on) in RCON to turn on/off int priorities */
/* Enable interrupts */
}
//debug code
int main(void){ volatile unsigned long delay;
PLL_Init(); // bus clock at 80 MHz
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOF; // activate port F
delay = SYSCTL_RCGC2_R; // allow time to finish activating
GPIO_PORTF_DIR_R |= 0x0E; // make PF3-1 output (PF3-1 built-in LEDs)
GPIO_PORTF_AFSEL_R &= ~0x0E; // disable alt funct on PF3-1
GPIO_PORTF_DEN_R |= 0x0E; // enable digital I/O on PF3-1
// configure PF3-1 as GPIO
GPIO_PORTF_PCTL_R = (GPIO_PORTF_PCTL_R&0xFFFF000F)+0x00000000;
GPIO_PORTF_AMSEL_R = 0; // disable analog functionality on PF
LEDS = 0; // turn all LEDs off
// Timer1_Init(&UserTask, 4000); // initialize timer2 (20,000 Hz)
Timer0_Init(&UserTask, 5000000); // initialize timer1 (16 Hz)
// Timer1_Init(&UserTask, 80000000);// initialize timer1 (1 Hz)
// Timer1_Init(&UserTask, 0xFFFFFFFF); // initialize timer1 (slowest rate)
EnableInterrupts();
while(1){
WaitForInterrupt();
}
}
void main (void)
{
LED_Display = 1; // initialize
// Init I/O
TRISD = 0b00000000; // PORTD bits 7:0 are all outputs (0)
TRISAbits.TRISA0 = 1; // TRISA0 input
INTCON2bits.RBPU = 0; // enable PORTB internal pullups
WPUBbits.WPUB0 = 1; // enable pull up on RB0
// ADCON1 is now set up in the InitADC() function.
TRISBbits.TRISB0 = 1; // PORTB bit 0 (connected to switch) is input (1)
// Init Timer0
Timer0_Init(); // now enables interrupt.
// Init ADC
ADC_Init();
// Set up switch interrupt on INT0
INTCON2bits.INTEDG0 = 0; // interrupt on falling edge of INT0 (switch pressed)
INTCONbits.INT0IF = 0; // ensure flag is cleared
INTCONbits.INT0IE = 1; // enable INT0 interrupt
// NOTE: INT0 is ALWAYS a high priority interrupt
// Set up global interrupts
RCONbits.IPEN = 1; // Enable priority levels on interrupts
INTCONbits.GIEL = 1; // Low priority interrupts allowed
INTCONbits.GIEH = 1; // Interrupting enabled.
while (1)
{ // we update the port pins in our "background" loop while the interrupts
// handle the switch and timer.
LATD = LED_Display; // output LED_Display value to PORTD LEDs
}
}
/* ------------------------------------------------------------------ */
int main (void)
{
uint8_t state = ST_TOP_MENU;
uint8_t nextstate = ST_TOP_MENU;
uint8_t key = KEY_NONE;
func_p pStateFunc = states[state];
/* disable watchdog */
wdt_reset();
Wdt_clear_flag();
Wdt_change_enable();
Wdt_stop();
Clear_prescaler();
InitLED();
Led1On();
Timer0_Init();
SPEAKER_Init();
BUTTON_Init();
LCD_Init();
sei();
while (1)
{
key = BUTTON_GetKey();
nextstate = pStateFunc(key);
if (nextstate != state) {
pStateFunc = states[nextstate];
state = nextstate;
}
} /* end of while(1) */
return 0;
}
//-------------------------------------------------------------------------------------------
// MAIN Routine
//-------------------------------------------------------------------------------------------
void main (void)
{
bit restart = 0;
unsigned int randnum = 0;
WDTCN = 0xDE; // Disable the watchdog timer
WDTCN = 0xAD; // Note: = "DEAD"!
SYSCLK_INIT(); // Initialize the oscillator.
PORT_INIT(); // Configure the Crossbar and GPIO.
UART0_INIT(); // Initialize UART0.
SFRPAGE = LEGACY_PAGE;
IT0 = 1; // /INT0 is edge triggered, falling-edge.
IT1 = 1; // INT1 falling-edge-triggered
SFRPAGE = CONFIG_PAGE;
EX0 = 1; // Enable Ext Int 0 only after everything is settled.
EX1 = 1; // Enable External Interrupt 2
SFRPAGE = UART0_PAGE; // Direct output to UART0
printf("\033[2J"); // Erase screen and move cursor to the home posiiton.
Timer0_Init(); //enable timer0
TR0 = 1;
Timer2_Init();
TR2 = 1; //enable timer2
// printf("I am running :D \n\r");
while (1)
playGame();
}
/*
* Programa principal, configura el modulo ADC, el timer y luego espera las interrupciones
*/
int main(void) {
// configurar el reloj para 40MHz
SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_RCC_XTAL_16MHZ|SYSCTL_OSC_MAIN);
// configurar un led
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0x04);
// configurar el adc0ss3
ADC0SS3_TimerTrigger_Init();
// configurar el timer con el tiempo de muestreo
Timer0_Init(20000000);
// habilitar las interrupciones globales
IntMasterEnable();
while (1) {
// hacer algo, esperar interrupciones
/*
PF1 ^= 0xff;
SysCtlDelay(10000000);
*/
}
}
// *************************************************************************************************
// @fn init_application
// @brief Initialize the microcontroller.
// @param none
// @return none
// *************************************************************************************************
void init_application(void)
{
volatile unsigned char *ptr;
#ifndef EMU
// ---------------------------------------------------------------------
// Enable watchdog
// Watchdog triggers after 16 seconds when not cleared
#ifdef USE_WATCHDOG
WDTCTL = WDTPW + WDTIS__512K + WDTSSEL__ACLK;
#else
WDTCTL = WDTPW + WDTHOLD;
#endif
// ---------------------------------------------------------------------
// Configure PMM
SetVCore(3);
// Set global high power request enable
PMMCTL0_H = 0xA5;
PMMCTL0_L |= PMMHPMRE;
PMMCTL0_H = 0x00;
// ---------------------------------------------------------------------
// Enable 32kHz ACLK
P5SEL |= 0x03; // Select XIN, XOUT on P5.0 and P5.1
UCSCTL6 &= ~XT1OFF; // XT1 On, Highest drive strength
UCSCTL6 |= XCAP_3; // Internal load cap
UCSCTL3 = SELA__XT1CLK; // Select XT1 as FLL reference
UCSCTL4 = SELA__XT1CLK | SELS__DCOCLKDIV | SELM__DCOCLKDIV;
// ---------------------------------------------------------------------
// Configure CPU clock for 12MHz
_BIS_SR(SCG0); // Disable the FLL control loop
UCSCTL0 = 0x0000; // Set lowest possible DCOx, MODx
UCSCTL1 = DCORSEL_5; // Select suitable range
UCSCTL2 = FLLD_1 + 0x16E; // Set DCO Multiplier
_BIC_SR(SCG0); // Enable the FLL control loop
// Worst-case settling time for the DCO when the DCO range bits have been
// changed is n x 32 x 32 x f_MCLK / f_FLL_reference. See UCS chapter in 5xx
// UG for optimization.
// 32 x 32 x 8 MHz / 32,768 Hz = 250000 = MCLK cycles for DCO to settle
__delay_cycles(250000);
// Loop until XT1 & DCO stabilizes, use do-while to insure that
// body is executed at least once
do
{
UCSCTL7 &= ~(XT2OFFG + XT1LFOFFG + XT1HFOFFG + DCOFFG);
SFRIFG1 &= ~OFIFG; // Clear fault flags
} while ((SFRIFG1 & OFIFG));
// ---------------------------------------------------------------------
// Configure port mapping
// Disable all interrupts
__disable_interrupt();
// Get write-access to port mapping registers:
PMAPPWD = 0x02D52;
// Allow reconfiguration during runtime:
PMAPCTL = PMAPRECFG;
// P2.7 = TA0CCR1A or TA1CCR0A output (buzzer output)
ptr = &P2MAP0;
*(ptr+7) = PM_TA1CCR0A;
P2OUT &= ~BIT7;
P2DIR |= BIT7;
// P1.5 = SPI MISO input
ptr = &P1MAP0;
*(ptr+5) = PM_UCA0SOMI;
// P1.6 = SPI MOSI output
*(ptr+6) = PM_UCA0SIMO;
// P1.7 = SPI CLK output
*(ptr+7) = PM_UCA0CLK;
// Disable write-access to port mapping registers:
PMAPPWD = 0;
// Re-enable all interrupts
__enable_interrupt();
#endif
// ---------------------------------------------------------------------
// Configure ports
// ---------------------------------------------------------------------
// Reset radio core
radio_reset();
radio_powerdown();
// ---------------------------------------------------------------------
// Init acceleration sensor
as_init();
// ---------------------------------------------------------------------
// Init LCD
lcd_init();
// ---------------------------------------------------------------------
// Init buttons
init_buttons();
// ---------------------------------------------------------------------
// Configure Timer0 for use by the clock and delay functions
Timer0_Init();
// ---------------------------------------------------------------------
// Init pressure sensor
ps_init();
}
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
char altPhase = 0;
int test = 0;
unsigned int Blink,TestschubTimer;
unsigned int Blink2,MittelstromTimer,DrehzahlMessTimer,MotorGestopptTimer;
DDRC = 0x08; //PC3输出，控制红色led 端口C 数据方向寄存器
PORTC = 0x08; //PC3输出高电平，红色led亮
DDRD = 0x3A; //10111010A-B-C-配置为输出，TXD,LED_GRN(PD7)配置为输出，MITTEL/RXD/INTO为输入
PORTD = 0x00;
DDRB = 0x0E;
PORTB = 0x31;
#if (MOTORADRESSE == 0)
PORTB |= (ADR1 + ADR2); // Pullups für Adresswahl
for(test=0;test<500;test++);
if(PINB & ADR1)
{
if (PINB & ADR2) MotorAdresse = 1;
else MotorAdresse = 2;
}
else
{
if (PINB & ADR2) MotorAdresse = 3;
else MotorAdresse = 4;
}
HwVersion = 11;
#else
MotorAdresse = MOTORADRESSE;
HwVersion = 10;
#endif
if(PIND & 0x80) {HwVersion = 12; IntRef = 0xc0;} //为1.2版本
DDRD = 0xBA;
UART_Init();
Timer0_Init();
sei();//Globale Interrupts Einschalten
// Am Blinken erkennt man die richtige Motoradresse
/*
for(test=0;test<5;test++)
{
if(test == MotorAdresse) PORTD |= GRUEN;
Delay_ms(150);
PORTD &= ~GRUEN;
Delay_ms(250);
}
Delay_ms(500);
*/
// UART_Init(); // war doppelt
PWM_Init();
InitIC2_Slave(0x50);
InitPPM();
Blink = SetDelay(101);
Blink2 = SetDelay(102);
MinUpmPulse = SetDelay(103);
MittelstromTimer = SetDelay(254);
DrehzahlMessTimer = SetDelay(1005);
TestschubTimer = SetDelay(1006);
while(!CheckDelay(MinUpmPulse))
{
if(SollwertErmittlung()) break; // 一旦发现有信号，立刻停止延时
}
GRN_ON;
PWM = 0;
SetPWM();
SFIOR = 0x08; // Analog Comperator ein
ADMUX = 1;
MinUpmPulse = SetDelay(10);
DebugOut.Analog[1] = 1; // 填写一些调试信号
PPM_Signal = 0;
if(!SollwertErmittlung()) MotorTon();
//MotorTon();
PORTB = 0x31; // Pullups wieder einschalten
// zum Test der Hardware; Motor dreht mit konstanter Drehzahl ohne Regelung
if(TEST_MANUELL) Anwerfen(TEST_MANUELL); // kommt von dort nicht wieder
while (1)
{
//ShowSense();
if(!TEST_SCHUB) PWM = SollwertErmittlung();
//I2C_TXBuffer = PWM; // Antwort über I2C-Bus
if(MANUELL_PWM) PWM = MANUELL_PWM;
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(Phase != altPhase) // es gab eine Kommutierung im Interrupt
{
MotorGestoppt = 0;
ZeitFuerBerechnungen = 0; // direkt nach einer Kommutierung ist Zeit
MinUpmPulse = SetDelay(250); // Timeout, falls ein Motor stehen bleibt
altPhase = Phase; // 旧相位 = 新相位
}
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!PWM) // Sollwert == 0 在开机后主控板静默,并没有发任何I2C信号过来
{
MotorAnwerfen = 0; // kein Startversuch MotorAnwerfen means motor start
ZeitFuerBerechnungen = 0; // 指使一些操作的优先级用
// nach 1,5 Sekunden den Motor als gestoppt betrachten
if(CheckDelay(MotorGestopptTimer))
{
DISABLE_SENSE_INT;
MotorGestoppt = 1;
STEUER_OFF;
}
}
else
{
if(MotorGestoppt) MotorAnwerfen = 1; // Startversuch
MotorGestopptTimer = SetDelay(1500);
}
if(MotorGestoppt && !TEST_SCHUB) PWM = 0; //TEST_SCHUB 1为测试模式，0为正常模式
SetPWM();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!ZeitFuerBerechnungen++) //先!,后++
{
if(MotorGestoppt) // 马达停止
{
GRN_ON;
FastADConvert();
}
if(SIO_DEBUG)
{
DebugAusgaben(); // welche Werte sollen angezeigt werden?
if(!UebertragungAbgeschlossen) SendUart();
else DatenUebertragung();
}
// Berechnen des Mittleren Stroms zur (langsamen) Strombegrenzung
if(CheckDelay(MittelstromTimer)) //254ms
{
MittelstromTimer = SetDelay(50); // alle 50ms
if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bilden 将mittelstorm平缓化
else if(Mittelstrom > Strom) Mittelstrom--;
if(Strom > MAX_STROM) MaxPWM -= MaxPWM / 32; //为什么电流大于最大电流的时候，PWM最大值要减小？
if((Mittelstrom > LIMIT_STROM))// Strom am Limit? 动态调整MaxPWM的值
{
if(MaxPWM) MaxPWM--;// dann die Maximale PWM herunterfahren
PORTC |= ROT;
}
else
{
if(MaxPWM < MAX_PWM) MaxPWM++;
}
}
if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmen 1005ms
{
DrehzahlMessTimer = SetDelay(10);
SIO_Drehzahl = CntKommutierungen;//(6 * CntKommutierungen) / (POLANZAHL / 2);
CntKommutierungen = 0;
// if(PPM_Timeout == 0) // keine PPM-Signale
ZeitZumAdWandeln = 1;
}
#if TEST_SCHUB == 1
{
if(CheckDelay(TestschubTimer))
{
TestschubTimer = SetDelay(1500);
switch(test)
{
case 0: PWM = 50; test++; break;
case 1: PWM = 130; test++; break;
case 2: PWM = 60; test++; break;
case 3: PWM = 140; test++; break;
case 4: PWM = 150; test = 0; break;
default: test = 0;
}
}
}
#endif
// Motor Stehen geblieben
if((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen) // SIO_Drehzahl 为当前转速值 前面为判断意外停机
{
/* 下面三行代码给电机意外停转用*/
MotorGestoppt = 1;
DISABLE_SENSE_INT; // 取消比较中断
MinUpmPulse = SetDelay(100);
if(MotorAnwerfen)
{
PORTC &= ~ROT; //switch off red led
Strom_max = 0;
MotorAnwerfen = 0;
if(Anwerfen(10)) // 以PMW = 10触发启动程序，期间要换相32次,成功返回1
{
GRN_ON; //绿灯打开
MotorGestoppt = 0; //
Phase--; // Phase = 1
PWM = 1;
SetPWM();
SENSE_TOGGLE_INT; // ?????
ENABLE_SENSE_INT; // ????? 使能比较器中断
MinUpmPulse = SetDelay(20);
while(!CheckDelay(MinUpmPulse)); // kurz Synchronisieren
PWM = 15;
SetPWM();
MinUpmPulse = SetDelay(300);
while(!CheckDelay(MinUpmPulse)) // kurz Durchstarten
{
if(Strom > LIMIT_STROM/2)
{
STEUER_OFF; // Abschalten wegen Kurzschluss
RotBlink(10);
MotorAnwerfen = 1;
}
}
// Drehzahlmessung wieder aufsetzen
DrehzahlMessTimer = SetDelay(50);
altPhase = 7;
}
else if(SollwertErmittlung()) MotorAnwerfen = 1;
}
}
} // ZeitFuerBerechnungen
} // while(1) - Hauptschleife
}
void main(void)
{
/*设置红外输出引脚为推挽输出*/
P1M1 = 0x00;
P1M0 = 0x1C;
/*PCA模块初始化*/
PCA_Init();
/*Timer定时器初始化*/
Timer0_Init();
/*串口初始化*/
Uart1_Init();
/*ADC的初始化*/
ADC_Init();
/*打开全局中断标识位*/
EA = 1;
/*系统上电，管脚初始化*/
Signal_LED_PIN = 0;
Check_Signal_PIN = 0;
// #ifdef DEBUG
// /*启动32HZ和38KHZ方波输出*/
// T38KHZ_Start();
// T32HZ_Start();
// Timer = 0;
//
// System_State = 1;
// #endif
/*输出初始化成功标识*/
printf("%s","INIT DONE \r\n");
while(1)
{
/*软件复位，不断电，自动下载*/
if(System_IAP_REST_PIN == 0) IAP_CONTR = 0x60;
/***************************检查系统电极接触状态******************************/
if(ADC_Timer == 198)
{
ADC_Buffer = Get_ADC_Result();
printf("%d ",ADC_Buffer);
/*清除系统状态*/
System_State = 0;
if((ADC_Buffer > 140) && (ADC_Buffer <250))
{
/*电极接触*/
System_State = 1;
}
if(System_State != System_State_Buffer)
{
if(System_State == 0)
{
T32HZ_Stop();
T38KHZ_Start();
}
else if(System_State == 1)
{
T38KHZ_Stop();
T32HZ_Start();
}
}
System_State_Buffer = System_State;
printf("%d ",System_State_Buffer);
}
else if(ADC_Timer == 200)
{
ADC_Timer = 0;
}
/*****************************************************************************/
/************************系统状态为充电电极未接触状态*************************/
if(System_State == 0)
{
/*****************************指示灯部分代码程序******************************/
/*未接触时，指示灯4S亮一次*/
if(Signal_LED_PIN_Timer < 50)
{
Signal_LED_PIN = 1;
}
else if(Signal_LED_PIN_Timer >= 3999)
{
Signal_LED_PIN_Timer = 0;
Signal_LED_PIN = 0;
}
else
{
Signal_LED_PIN = 0;
}
/*****************************************************************************/
/****************************红外发射部分代码程序*****************************/
if((IR_Timer >= 0) && (IR_Timer < 50))
{
/*全向红外发射序列*/
/*1*/
if((IR_Timer >= 0) && (IR_Timer < 3))
{
LED_FF_PIN = 1;
}
else if(IR_Timer == 3)
{
LED_FF_PIN = 0;
}
/*0*/
else if(IR_Timer == 4)
{
LED_FF_PIN = 1;
}
else if((IR_Timer >= 5) && (IR_Timer < 7))
{
LED_FF_PIN = 0;
}
/*0*/
else if(IR_Timer == 7)
{
LED_FF_PIN = 1;
}
else if((IR_Timer >= 8) && (IR_Timer < 10))
{
LED_FF_PIN = 0;
}
/*1*/
else if((IR_Timer >= 10) && (IR_Timer < 13))
{
LED_FF_PIN = 1;
}
else if(IR_Timer == 13)
{
LED_FF_PIN = 0;
}
/*0*/
else if(IR_Timer == 14)
{
LED_FF_PIN = 1;
}
else if((IR_Timer >= 15) && (IR_Timer < 17))
{
LED_FF_PIN = 0;
}
/*1*/
else if((IR_Timer >= 17) && (IR_Timer < 20))
{
LED_FF_PIN = 1;
}
else if(IR_Timer == 20)
{
LED_FF_PIN = 0;
}
/*0*/
else if(IR_Timer == 21)
{
LED_FF_PIN = 1;
}
else if((IR_Timer >= 22) && (IR_Timer < 24))
{
LED_FF_PIN = 0;
}
/*1*/
else if((IR_Timer >= 24) && (IR_Timer < 27))
{
LED_FF_PIN = 1;
}
else
{
LED_FF_PIN = 0;
}
}
else if((IR_Timer >= 50) && (IR_Timer < 100))
{
/*左右侧红外发送序列*/
/*L:0 R:0*/
if(IR_Timer == 50)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 51) && (IR_Timer < 53))
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:0 R:0*/
else if(IR_Timer == 53)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 54) && (IR_Timer < 56))
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:1 R:0*/
/*L:0 R:1*/
else if(IR_Timer == 56)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 57) && (IR_Timer < 59))
{
LED_L_PIN = 1;
LED_R_PIN = 0;
}
else if(IR_Timer == 59)
{
LED_L_PIN = 0;
LED_R_PIN = 1;
}
else if(IR_Timer == 60)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if(IR_Timer == 61)
{
LED_L_PIN = 0;
LED_R_PIN = 1;
}
else if(IR_Timer == 62)
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:0 R:0*/
else if(IR_Timer == 63)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 64) && (IR_Timer < 66))
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:1 R:1*/
else if((IR_Timer >= 66) && (IR_Timer < 69))
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if(IR_Timer == 69)
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:0 R:0*/
else if(IR_Timer == 70)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 71) && (IR_Timer < 73))
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:1 R:1*/
else if((IR_Timer >= 73) && (IR_Timer < 76))
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
}
else if((IR_Timer >= 100))
{
IR_Timer = 0;
LED_FF_PIN = 0;
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*****************************************************************************/
}
/**************************统状态为充电电极接触状态***************************/
else if(System_State == 1)
{
/*****************************指示灯部分代码程序******************************/
/*接触时，指示灯常量*/
Signal_LED_PIN = 1;
Signal_LED_PIN_Timer = 0;
/*****************************************************************************/
/************************发射检测信号部分代码程序*****************************/
if(Check_Signal_Timer < 190)
{
Check_Signal_PIN = 1;
}
else if((Check_Signal_Timer >= 197) && (Check_Signal_Timer < 200 ))
{
Check_Signal_PIN = 0;
}
else if(Check_Signal_Timer >= 200)
{
Check_Signal_Timer = 0;
Check_Signal_PIN = 1;
}
/*****************************************************************************/
}
}
}
void main (void)
{
LEDDirections Direction = LEFT2RIGHT;
BOOL SwitchPressed = FALSE;
LED_Display = 1; // initialize
// Init I/O
TRISD = 0b00000000; // PORTD bits 7:0 are all outputs (0)
TRISAbits.TRISA0 = 1; // TRISA0 input
INTCON2bits.RBPU = 0; // enable PORTB internal pullups
WPUBbits.WPUB0 = 1; // enable pull up on RB0
// ADCON1 is now set up in the InitADC() function.
TRISBbits.TRISB0 = 1; // PORTB bit 0 (connected to switch) is input (1)
// Init Timer0
Timer0_Init();
// Init ADC
ADC_Init();
while (1)
{
if (Direction == LEFT2RIGHT)
{
LED_Display <<= 1; // rotate display by 1 from 0 to 7
if (LED_Display == 0)
LED_Display = 1; // rotated bit out, so set bit 0
}
if (Direction == RIGHT2LEFT)
{
LED_Display >>= 1; // rotate display by 1 from 7 to 0
if (LED_Display == 0)
LED_Display = 0x80; // rotated bit out, so set bit 7
}
LATD = LED_Display; // output LED_Display value to PORTD LEDs
do
{ // poll the switch while waiting for the timer to roll over.
if (Switch_Pin == 1)
{ // look for switch released.
SwitchPressed = FALSE;
}
else if (SwitchPressed == FALSE) // && (Switch_Pin == 0) due to if-else
{ // switch was just pressed
SwitchPressed = TRUE;
// change direction
if (Direction == LEFT2RIGHT)
Direction = RIGHT2LEFT;
else
Direction = LEFT2RIGHT;
}
} while (INTCONbits.TMR0IF == 0);
// Timer expired
INTCONbits.TMR0IF = 0; // Reset Timer flag
// Take an ADC conversion and use it to set Timer0
TMR0H = ADC_Convert(); // MSB from ADC
TMR0L = 0; // LSB = 0
}
void main()
{
INT8U i=0;
INT8U search_temp = 0x06; // search_temp 可以增加到6 在search_temp小于3的时候 开始发送广播唤醒
CpuInit();
POWER_UP_RESET_CC1100();
halRfWriteRfSettings();
halSpiWriteBurstReg(CCxxx0_PATABLE, PaTabel, 8);
CC1101_Setwor();
G_IT_ON; // 开启单片机全局中断
Usart_printf(&g_module_id.Sn[0],1);
Usart_printf(&g_module_id.Sn[1],1);
Usart_printf(&g_gateway.Sn[0],1);
Usart_printf(&g_gateway.Sn[1],1);
Log_printf(" ");
// 上电设置网关
// 只有外部中断没有打开，现在进行设置网关字节 地址和网管不能为全0xFFFF
while( ( 0xFFFF == g_gateway.Sn_temp ) || ( 0xFFFF == g_module_id.Sn_temp ) )
{
LED_D4 = ~LED_D4;
delay(50000);
if( 0x55 == g_rx_flag )
{
g_rx_flag = 0x00;
// 将网关数据写入
IapProgramByte(GATEWAY_ADDRESS,TxBuf[1]);
IapProgramByte(GATEWAY_ADDRESS+1,TxBuf[2]);
//g_gateway.Sn_temp = IapReadByte(GATEWAY_ADDRESS);
// 将地址数据写入
IapProgramByte(MODEL_SN_ADDRESS,TxBuf[3]);
IapProgramByte(MODEL_SN_ADDRESS+1,TxBuf[4]);
//g_module_id.Sn_temp = IapReadByte(MODEL_SN_ADDRESS);
Log_printf("GATEWAY OK\n");
Log_printf("MODEL_SN OK\n");
LED_D4 = 0;
// 读取设置数据
IapReadModelSn(MODEL_SN_ADDRESS,&g_module_id);
IapReadModelSn(GATEWAY_ADDRESS,&g_gateway);
}
}
// g_module_rpl = IapReadByte(MODEL_RPL);
// 默认模块id的路由等级1 模块ID 最高位为0 表示路由模块
g_module_id.Sn[0] |= ( (g_module_rpl<<4) & 0x7F );
g_pre_src = g_module_id.Sn_temp;
Usart_printf(&g_module_id.Sn[0],1);
Usart_printf(&g_module_id.Sn[1],1);
Usart_printf(&g_gateway.Sn[0],1);
Usart_printf(&g_gateway.Sn[1],1);
Log_printf(" initialization ok ");
// 地址网关设置完成
LED_D2 = ~LED_D2;
// 读出搜索模式 首次上电为0xFF 则进行搜索
g_search = IapReadByte(SEARCH_MODE);
if( 0xFF == g_search )
{
SearchMode:
while( search_temp-- != 0 )
{
SearchData[2] = g_rid;
// 网关地址
SearchData[4] = g_gateway.Sn[0];
SearchData[5] = g_gateway.Sn[1];
// 源地址(模块ID)
SearchData[9] = g_module_id.Sn[0];
SearchData[10] = g_module_id.Sn[1];
// 目的地址(网关地址)
SearchData[11] = g_gateway.Sn[0];
SearchData[12] = g_gateway.Sn[1];
for( i=0;i<13;i++)
{
SearchData[13] += SearchData[i];
}
// 进行唤醒时，只需要把路由标识滤除即可 将路由标识高字节分出一位代表是模块还是基站
// 首先发送唤醒波，而后发送数据 进行路由搜索时，使用广播唤醒
if( search_temp < 3 )
CC1101_Wakeupcarry(WorCarry, 2,4);
halRfSendPacket(SearchData, 14);
g_rid++; // 发送完成后g_rid自增
//g_wor_flag = 0x55;
timer = 0;
Timer0_Init(10);
TIMER0_ON;
//g_search = 0x55;
g_enter_rx = 0x55;
// 存放校验和
SearchData[13] = 0x00;
goto EnterRx;
}
g_search = 0x00;
}
// else
// {
// g_search = 0x00;
// }
while (1)
{
//Log_printf("Enter wor\n");
if( 0x55 == g_wor_flag )
{
CC1101_Worwakeup();
// 将接收的数据存储到RxBuf数组中
EnterRx:
while(g_enter_rx)
halRfRxPacket(RfRecBuf);
// 此处进行rf数据处理
if( 0x55 == g_rf_rx_flag )
{
g_rf_rx_flag = 0x00;
RfRouteManage(&rf_route_data);
}
if( 0xFF == g_search ) // 若没有搜索到路径，则跳转回搜索路径
goto SearchMode;
}
halSpiStrobe(CCxxx0_SWORRST); // 复位到 事件1
halSpiStrobe(CCxxx0_SWOR); // 启动WOR
INT1_ON; // 开外部中断
PCON |= PD_ON; // 从掉电模式唤醒后，程序从这行开市
//Log_printf("Exit pd\n");
}
}
void Init_Peripherals(void)
{
Init_Ports();
Timer0_Init();
}
