void exec_cmd(char *cmd){
comm_flush();
if(stricmp(cmd,"b")==0){
xprintf(INFO "resetting to bootloader" " (%s:%d)\n",_F_,_L_);
SCB->VTOR = (BOOTLOADER_START & 0x1FFFFF80);
RTC_WriteGPREG(LPC_RTC, 2, 0xbbbbbbbb);
WDT_Init (WDT_CLKSRC_PCLK, WDT_MODE_RESET);
WDT_Start(1);
NVIC_EnableIRQ(WDT_IRQn);
}
else if(stricmp(cmd,"r")==0){
xprintf(INFO "reseting" " (%s:%d)\n",_F_,_L_);
WDT_Init(WDT_CLKSRC_PCLK, WDT_MODE_RESET);
WDT_Start(1);
NVIC_EnableIRQ(WDT_IRQn);
while(1);//lockup, wdt will reset board
//WDT_ClrTimeOutFlag();
}
else if(stricmp(cmd,"t")==0){
xprintf(INFO "tests running" " (%s:%d)\n",_F_,_L_);
}
else if(stricmp(cmd,"q")==0){
xprintf(INFO "q" " (%s:%d)\n",_F_,_L_);
}
else if(stricmp(cmd,"")==0){
xprintf(INFO "\r\nr-Resets board\r\nb-Resets to bootloader\r\nt-led test\r\n" " (%s:%d)\n",_F_,_L_);
}
else{
xprintf(INFO "Command not found (cmd=%s)" " (%s:%d)\n",cmd,_F_,_L_);
}
return;
}
void main(void) //using 0
{
EA = 0;
PLLCON&=PLLCON_VAL;//настройка частоты процессора
RestoreCalibrate();
RestoreSettings();
// ChannelsInit();//инициализация настроек каналов
Protocol_Init();
Timer1_Initialize(); //таймер шедулера 200Гц
ADC_Initialize();
UART_Init();
WDT_Init(WDT_2000);//включить сторожевой таймер
PT_INIT(&pt_sort);
startMenu();
EA=1;
while(1)
{
ulongsort_process(&pt_sort);
DisplayProcess(&pt_display);
WDT_Process(&pt_wdt);
KeyboardProcess(&pt_keyboard);
}
}
void main(void) //using 0
{
EA = 0;
//CFG845=0x1;//enable xram
PLLCON&=PLLCON_VAL;//настройка частоты процессора
//-------printf--------
// T3CON = T3CON_VAL;
//
// T3FD = T3FD_VAL;
// SCON =0x52; //0x53;
//---------------------
Timer1_Initialize(); //таймер генерации частоты
Frequency_Init();
DAC_Init();
WDT_Init(WDT_2000);//включить сторожевой таймер
EA=1;
while(1)
{
Frequency_Measure_Process();
WDT_Clear();
}
}
void main(void) //using 0
{
EA = 0;
//CFG845=0x1;//enable xram
PLLCON&=PLLCON_VAL;//настройка частоты процессора
// ChannelsInit();//инициализация настроек каналов
Timer1_Initialize(); //
Timer2_Initialize();
Dol_Init();
WDT_Init(WDT_2000);//включить сторожевой таймер
I2C_Slave_Init();
EA=1;
while(1)
{
Frequency_Handler();//обработчик измерения частоты
WDT_Clear();
}
}
void WDT_NMI(void)
{
WDT_InitTypeDef WDT_InitStruct;
WDT_InitStruct.DetectTime = WDT_DETECT_TIME_EXP_25;
WDT_InitStruct.OverflowOutput = WDT_NMIINT;
LED_Init();
Delay(5000U);
LED_On(LED1 | LED2);
WDT_Init(&WDT_InitStruct);
WDT_Enable();
while (1) {
if (fIntNMI == 1U) {
fIntNMI = 0U;
LED_On(LED3);
Delay(500U);
LED_Off(LED3);
Delay(500U);
WDT_Disable();
} else {
/* Do nothing */
}
#ifdef DEMO2
Delay(500U);
WDT_WriteClearCode();
LED_On(LED2);
Delay(500U);
LED_Off(LED2);
#endif
}
}
void main(void) //using 0
{
EA = 0;
PLLCON&=PLLCON_VAL;//настройка частоты процессора
RestoreCalibrate();
ChannelsInit();//инициализаци¤ настроек каналов
Protocol_Init();
Timer1_Initialize(); //таймер шедулера 200√ц
ADC_Initialize();
UART_Init();
WDT_Init(WDT_2000);//включить сторожевой таймер
PT_INIT(&pt_sort);
EA=1;
while(1)
{
ProtoProcess(&pt_proto);
ulongsort_process(&pt_sort);
WDT_Process(&pt_wdt);
}
}
void main(void) //using 0
{
EA = 0;
PLLCON&=PLLCON_VAL;//настройка частоты процессора
if(!BUTTON1)
{
SHOW_VOLTAGE=1;
}
Timer1_Initialize(); //таймер шедулера 200Гц
ADC_Initialize();
ChannelsInit();
UART_Init();
WDT_Init(WDT_250);//включить сторожевой таймер
EA=1;
PT_INIT(&pt_display);
PT_INIT(&pt_led);
PT_INIT(&pt_key);
PT_INIT(&pt_blink);
if(!SHOW_VOLTAGE)
{
if(skd.SKD_Set.SKD_Settings.diap_high>=100.0 || skd.SKD_Set.SKD_Settings.diap_low<-100.0) //передвигаем десятичную точку
{
LED_SetPoint(INDICATOR_1,2);
}
else
{
LED_SetPoint(INDICATOR_1,3);
}
LED_Set_Brightness(INDICATOR_1,0);
//LED_Out_Float(INDICATOR_1,0.0);
}
else
{
LED_SetPoint(INDICATOR_1,4);
LED_Set_Brightness(INDICATOR_1,0);
LED_Out_Float(INDICATOR_1,0.0);
}
Protocol_Init();
while(1)
{
LED_Process(&pt_led);
Display_Out_Process(&pt_display);
Keyboard_Process(&pt_key);
ProtoProcess(&pt_proto);
LED_BlinkTask(&pt_blink);
WDT_Clear();
}
}
void check_boot_request (void)
{
if (digital_read (4, (1<<29)) == 0)
{
WDT_Init (WDT_CLKSRC_PCLK, WDT_MODE_RESET);
WDT_Start (10);
while (1);
}
}
/*
**-----------------------------------------------------------------------------
**
** Abstract:
** This function initializes every macro.
**
** Parameters:
** None
**
** Returns:
** None
**
**-----------------------------------------------------------------------------
*/
void systeminit(void)
{
CG_ReadResetSource();
CLOCK_Init();
TAU0_Init();
WDT_Init();
CRC0CTL = 0x00U;
IAWCTL = 0x00U;
}
void qWDT_Start(uint32_t timeout){
NVIC_EnableIRQ(WDT_IRQn);
// Initialize WDT, IRC OSC, interrupt mode, timeout = 5000000us = 5s
WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
// Start watchdog with timeout given
WDT_Start(timeout);
}
void main(void) //using 0
{
unsigned char i=0;
EA = 0;
ChannelsInit();//инициализаци¤ настроек каналов
Protocol_Init();
Timer0_Initialize();
Timer1_Initialize(); //таймер шедулера 200√ц
ADC_Initialize();
EA=1;
for(i=0;i<MID_NUM<<1;i++)
{
unsigned int delay=300;
SCONV=1;
while(delay)
{
delay--;
}
}
ADC_MID_1=PHASE_1_RESULT;
ADC_MID_2=PHASE_2_RESULT;
UART_Init();
Dol_Init();
Timer2_Initialize();
WDT_Init(WDT_2000);//включить сторожевой таймер
// RestoreCalibrate();
// PT_INIT(&pt_i2c_read);
// PT_INIT(&pt_freq_measure);
// PT_INIT(&pt_sort);
PT_INIT(&pt_out);
while(1)
{
ProtoProcess(&pt_proto);
OutProcess(&pt_out);
}
}
/*********************************************************************//**
* @brief c_entry: Main program body
* @param[in] None
* @return int
**********************************************************************/
int c_entry (void)
{
/* Initialize debug via UART0
* – 115200bps
* – 8 data bit
* – No parity
* – 1 stop bit
* – No flow control
*/
debug_frmwrk_init();
// print welcome screen
print_menu();
// Init WDT, IRC OSC, interrupt mode, timeout = 2000000 us = 2s
WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
_DBG_("Press '1' to enter system in Deep Sleep mode");
while(_DG !='1');
NVIC_EnableIRQ(WDT_IRQn);
WDT_Start(WDT_TIMEOUT);
_DBG_("Enter Deep Sleep mode!");
_DBG_("Wait 2s for WDT wake-up system...");
/*---------- Disable and disconnect the main PLL0 before enter into Deep-Sleep
* or Power-Down mode <according to errata.lpc1768-16.March.2010> ------------
*/
LPC_SC->PLL0CON &= ~(1<<1); /* Disconnect the main PLL (PLL0) */
LPC_SC->PLL0FEED = 0xAA; /* Feed */
LPC_SC->PLL0FEED = 0x55; /* Feed */
while ((LPC_SC->PLL0STAT & (1<<25)) != 0x00); /* Wait for main PLL (PLL0) to disconnect */
LPC_SC->PLL0CON &= ~(1<<0); /* Turn off the main PLL (PLL0) */
LPC_SC->PLL0FEED = 0xAA; /* Feed */
LPC_SC->PLL0FEED = 0x55; /* Feed */
while ((LPC_SC->PLL0STAT & (1<<24)) != 0x00); /* Wait for main PLL (PLL0) to shut down */
/*------------Then enter into PowerDown mode ----------------------------------*/
// Enter target power down mode
CLKPWR_DeepSleep();
SystemInit();
debug_frmwrk_init();
_DBG_("\n\rSystem wake-up!\n\r");
while(1);
return 1;
}
int c_entry(void)
{
// Init LED port
LED_Init();
/*
* Initialize debug via UART
*/
debug_frmwrk_init();
// print welcome screen
print_menu();
// Read back TimeOut flag to determine previous timeout reset
if (WDT_ReadTimeOutFlag()){
_DBG_(info1);
// Clear WDT TimeOut
WDT_ClrTimeOutFlag();
} else{
_DBG_(info2);
}
// Initialize WDT, IRC OSC, interrupt mode, timeout = 2000000 microsecond
WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET);
// Start watchdog with timeout given
WDT_Start(WDT_TIMEOUT);
// set timer 100 ms
Timer_Wait(100);
while (1){
// Wait for 100 millisecond
while ( !(TIM_GetIntStatus(LPC_TIM0,0)));
TIM_ClearIntPending(LPC_TIM0,0);
//turn on led
FIO_ByteSetValue(2, 0, LED_PIN);
// Wait for 100 millisecond
while ( !(TIM_GetIntStatus(LPC_TIM0,0)));
TIM_ClearIntPending(LPC_TIM0,0);
//turn off led
FIO_ByteClearValue(2, 0, LED_PIN);
}
return 0;
}
//-----------------------------------------------------------------------------
// main()
//-----------------------------------------------------------------------------
void main(void)
{
U32 transfer_data;
WDT_Init();
Oscillator_Init();
Port_Init();
// These pins are grounded on the CoreSight debug connector
P1_4 = 0;
P1_2 = 0;
// There is no debug port connection at this point
DP_Type = DP_TYPE_NONE;
SWD_Initialize();
SWD_Configure(DP_TYPE_SWD);
SWD_Connect();
transfer_data = 0x00000000;
// Read the IDCODE from the connected device
SWD_DAP_Move(0, DAP_IDCODE_RD, &transfer_data);
// The return value from DAP_IDCODE_RD for SiM3U1xx devices is 0x2BA01477
// Write the CTRLSTAT register to enable the debug hardware
transfer_data = 0x50000000;
SWD_DAP_Move(0, DAP_CTRLSTAT_WR, &transfer_data);
SWD_ClearErrors();
connect_and_halt_core();
programming_sram();
transfer_data = 0x00000000;
SWD_DAP_Move(0, DAP_CTRLSTAT_WR, &transfer_data);
SWD_Disconnect();
while (1)
{
}
}
void
xs_wdt_start(xsMachine *the)
{
int index = xsToInteger(xsArg(0));
WDT_Config_Type cfg;
cfg.timeoutVal = index;
cfg.mode = WDT_MODE_RESET;
cfg.resetPulseLen = WDT_RESET_PULSE_LEN_2;
WDT_Init(&cfg);
CLK_ModuleClkEnable(CLK_WDT);
#if defined(CONFIG_CPU_MW300)
/* For 88MW300, APB1 bus runs at 50MHz whereas for 88MC200 it runs at
* 25MHz, hence following clk divider is added to keep timeout same.
*/
CLK_ModuleClkDivider(CLK_WDT, 1);
#endif
WDT_Enable();
wdt_enable = 1;
}
/* WDT_NMI function */
void WDT_NMI(void)
{
WDT_InitTypeDef WDT_InitStruct;
WDT_InitStruct.DetectTime = WDT_DETECT_TIME_EXP_25;
WDT_InitStruct.OverflowOutput = WDT_NMIINT;
SystemInit();
/* WDT and LED configuration */
TSB_PM->CR = (uint32_t) 0xF0;
TSB_PM->PUP = (uint32_t) 0xF0;
TSB_PM->DATA = (uint32_t)0xFF;
WDT_Init(&WDT_InitStruct);
WDT_Enable();
while (1) {
#ifdef DEMO2
Delay(500U);
WDT_WriteClearCode();
TSB_PM_DATA_PM6 = !TSB_PM_DATA_PM6;
#endif
}
}
// the loop routine runs over and over again forever:
void loop() {
byte lclocktick=0;
// int j;
// analogWrite(9, 60);
// TCCR2A = _BV(COM2A1) | _BV(COM2B1) | _BV(WGM21) | _BV(WGM20);
// TCCR2B = _BV(CS22);
// OCR2A = 180;
// OCR2B = 50;
// digitalWrite(led, HIGH); // turn the LED on (HIGH is the voltage level)
if(!(laserstate||lightstate||command_pending))
{
if(sleepcounter==0)
{
attachInterrupt(0, int0, LOW);
WDT_Stop();
set_led(led,&ledstate,0);
set_led(led2,&ledstate2,0);
// delay(100);
go_sleep();
int0f();
WDT_Init();
}
}
else
sleepcounter=SLEEPIDLESECS;
if(clocktick)
{
cli();
lclocktick=clocktick;
clocktick=0;
sei();
set_led(led,&ledstate,0);
wdtcounter+=lclocktick;
sleepcounter--;
if(!(wdtcounter%BATCHECKSECS))
checkbat=1;
if(laserstate)
lasercounter++;
if(lightstate)
lightcounter++;
}
if(command_pending==2)
{
btnpress();
command_pending=0;
}
if(command_pending==1&&millis()-timepressed>LONGBUTTONPRESS)
int0r();
// toggle_led(led2,&ledstate2);
if(laserstate&&(lasercounter>LASER_MAX_ON))
{
set_laser(0);
laserstate=0;
}
if(lightstate&&(lightcounter>LIGHT_MAX_ON))
{
set_lights(0);
lightstate=0;
}
if(checkbat)
{
check_bat();
checkbat=0;
}
if(volts<VBATTHRESH)
{
if(lclocktick)
toggle_led(led2,&ledstate2);
}
else
set_led(led2,&ledstate2,0);
if(volts<VBATTHRESH_CRIT)
{
if(!(wdtcounter%BATCHECKCRITSECS))
{
// for(j=0;j<3;j++)
// {
set_lights(0);
delay(100);
set_lights(lightstate);
delay(100);
// }
}
}
//delay(100);
// digitalWrite(led, LOW); // turn the LED off by making the voltage LOW
// delay(500); // wait for a second
}
void MAIN_vInit(void)
{
// USER CODE BEGIN (Init,2)
// USER CODE END
//// -----------------------------------------------------------------------
//// Begin of Important Settings for the Start-Up File
//// -----------------------------------------------------------------------
/// All following settings must be set in the start-up file. You can use
/// DAvE's project file (*.dpt) to include this register values into your
/// compiler EDE.
/// ---------------------------------------------------------------------
/// Initialization of the SYSCON Register:
/// ---------------------------------------------------------------------
/// - 256 words system stack
/// - Internal ROM area mapped to segment 1
/// - the segmentation is enabled (CSP is saved/restored during
/// interrupt entry/exit)
/// - Internal ROM disabled
/// - the pin #BHE is enabled
/// - the pins #WR and #BHE retain their normal functions
/// - system clock output CLKOUT is disabled
/// - latched #CS mode
/// - pin #RSTIN is pulled low during the internal reset sequence
/// - the on-chip X-Peripherals are enabled and can be accessed
/// - accesses to the XBUS peripherals are done internally
//// this register must be set in the start-up file
//// SYSCON = 0x101C
/// ---------------------------------------------------------------------
/// Initialization of the SYSCON1 Register:
/// ---------------------------------------------------------------------
//// this register must be set in the start-up file
//// SYSCON1 = 0x0000
/// ---------------------------------------------------------------------
/// Initialization of the SYSCON2 Register:
/// ---------------------------------------------------------------------
//// this register must be set in the start-up file
//// SYSCON2 = 0x0000
/// ---------------------------------------------------------------------
/// Initialization of the SYSCON3 Register:
/// ---------------------------------------------------------------------
//// this register must be set in the start-up file
//// SYSCON3 = 0x0000
/// ---------------------------------------------------------------------
/// --- initialization of the BUSCON 0-4 and ADRRSEL Registers 1-4 ---
/// ---------------------------------------------------------------------
/// ---------------------------------------------------------------------
/// ---------- external bus 0 is enabled ----------
/// ---------------------------------------------------------------------
/// - 16-bit Multiplexed Bus
/// - memory cycle time control: 15 waitstates
/// - With read/write delay: activate command 1 TCL after falling edge
/// of ALE
/// - chip select mode: address chip select
/// - memory tristate control: 1 waitstate
/// - ALE lengthening control: lengthened ALE signal
/// - Address windows are switched immediately
/// - Normal #WR signal
//// this register must be set in the start-up file
//// BUSCON0 = 0x06C0
//// -----------------------------------------------------------------------
//// End of Important Settings for the Start-Up File
//// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
// Initialization of the Peripherals:
// -----------------------------------------------------------------------
// initializes the Parallel Ports
IO_Init();
// initializes the Asynchronous/Synchronous Serial Interface (ASC0)
ASC0_Init();
// initializes the General Purpose Timer Unit (GPT1)
GPT1_vInit();
// initializes the Watchdog Timer (WDT)
WDT_Init();
// initializes the Real Timer Clock (RTC)
RTC_Init();
// initializes the Analog / Digital Converter (ADC)
ADC_vInit();
// initializes the Capture / Compare Unit 2 (CAPCOM2)
CC2_Init();
// initializes the Capture / Compare Unit 6 (CAPCOM6)
CC6_Init();
// initializes the On-Chip CAN Interface 1 (CAN1)
CAN1_Init();
// USER CODE BEGIN (Init,3)
// USER CODE END
// globally enable interrupts
PSW_IEN = 1;
} // End of function MAIN_vInit
void Setup() {
/* Initialize LCD */
lcd_initialize();
/* Clear LCD */
lcd_clear();
/* Display message on LCD */
lcd_buffer_print(LCD_LINE2, " TEST ");
/* Initialize motors */
Motors_Init();
/* Turn on motors relay */
Motors_On();
/* Send arm signal to motors */
Motor_Arm(MOTOR_UPPER);
Motor_Arm(MOTOR_BOTTOM);
/* Initialize servos */
Servos_Init();
/* Initialize sonar */
sonarInitialize(); //must be initialized before IIC, otherwise it will not work
/* Setup the 12-bit A/D converter */
S12ADC_init();
/* Initialize I2C with control */
riic_ret_t iic_ret = RIIC_OK;
iic_ret |= riic_master_init();
while (RIIC_OK != iic_ret) {
nop(); /* Failure to initialize here means demo can not proceed. */
}
/* Setup Compare Match Timer */
CMT_init();
/* Initialize PID structure used for PID properties */
PID_Init(&z_axis_PID, 0.7, 0.05, 0.30, dt, 0, 0.5); //0.7 0.05 0.15
PID_Init(&Pitch_PID, 1, 0, 0.01, dt, -30, 30);
PID_Init(&Roll_PID, 1, 0, 0.01, dt, -30, 30);
Init_AVG(0, &pitchAVG);
Init_AVG(0, &rollAVG);
/* Make the port connected to SW1 an input */
PORT4.PDR.BIT.B0 = 0;
/*MPU6050 Initialization*/
MPU6050_Test_I2C();
Setup_MPU6050();
Calibrate_Gyros();
// Calibrate_Accel();
/*Kalman Initialization*/
init_Kalman();
//MS5611-01BA01 init
// MS5611_Init();
desiredState.key.motor_diff_us = 0;
desiredState.key.abs.pos.z = 0.20;
altitudeValue = 200;
mainWDT = WDT_Init(500, Fallback);
WDT_Start(&mainWDT);
sonarWDT = WDT_Init(60, Sonar_Fallback);
WDT_Start(&sonarWDT);
}
/* This is your main function! You should have an infinite loop in here that
* does all the important stuff your node was designed for */
int main(void) {
#if defined(DOUBLE_BUFFER_EXAMPLE)
#define BUFFER_SIZE 128
/* variables for double buffer example */
char buf_1[BUFFER_SIZE];
char buf_2[BUFFER_SIZE];
char *current_buf;
struct UART_buffer_descriptor buf_desc_1, buf_desc_2;
#endif
#if defined(WAVESCULPTOR_EXAMPLE)
float velocity = 2.0; // velocity in metres per second
float bus_current = 1.0; // perentage of bus current max
float motor_current = 1.0;
#endif
setup();
/* Initialise the watchdog timer. If the node crashes, it will restart automatically */
WDT_Init();
/* Initialise Scandal, registers for the config messages, timesync messages and in channels */
scandal_init();
/* Set LEDs to known states */
red_led(0);
yellow_led(1);
/* Initialise UART0 */
UART_Init(115200);
/* Wait until UART is ready */
scandal_delay(100);
/* Display welcome header over UART */
UART_printf("Welcome to the template project! This is coming out over UART0\n\r");
UART_printf("A debug LED should blink at a rate of 1HZ\n\r");
red_led(1);
sc_time_t one_sec_timer = sc_get_timer();
#if defined(IN_CHANNEL_EXAMPLE)
UART_printf("If you configure the in channel 0, a message should print upon receipt of such a channel message\n\r");
sc_time_t in_timer = sc_get_timer();
scandal_register_in_channel_handler(0, &in_channel_0_handler);
#endif
#if defined(DOUBLE_BUFFER_EXAMPLE)
UART_printf("This shows an example of double buffer reading from the UART. Enter the text 'time' and press enter\n\r> ");
UART_init_double_buffer(&buf_desc_1, buf_1, BUFFER_SIZE,
&buf_desc_2, buf_2, BUFFER_SIZE);
#endif
#if defined(WAVESCULPTOR_EXAMPLE)
sc_time_t ws_timer = sc_get_timer();
/* register for wavesculptor bus and temp messages */
scandal_register_ws_bus_callback(&ws_bus_handler);
scandal_register_ws_temp_callback(&ws_temp_handler);
#endif
/* This is the main loop, go for ever! */
while (1) {
/* This checks whether there are pending requests from CAN, and sends a heartbeat message.
* The heartbeat message encodes some data in the first 4 bytes of the CAN message, such as
* the number of errors and the version of scandal */
handle_scandal();
#if DOUBLE_BUFFER_EXAMPLE
current_buf = UART_readline_double_buffer(&buf_desc_1, &buf_desc_2);
/* UART_readline_double_buffer will return a pointer to the current buffer. */
if (current_buf != NULL) {
if (strncmp("time", current_buf, 4) == 0) {
UART_printf("The time is: %d\r\n> ", (int)sc_get_timer());
}
}
#endif
#if defined(WAVESCULPTOR_EXAMPLE)
/* Send the wavesculptor drive commands every 100ms.
* To make this more 'realtime', we should be doing this with a timer interrupt */
if(sc_get_timer() >= ws_timer + 100) {
scandal_send_ws_drive_command(DC_DRIVE, velocity, motor_current);
scandal_send_ws_drive_command(DC_POWER, 0.0, bus_current);
scandal_send_ws_id(DC_BASE, "TRIb", 4);
/* Update the timer */
ws_timer = sc_get_timer();
}
#endif
/* Send a UART and CAN message and flash an LED every second */
if(sc_get_timer() >= one_sec_timer + 1000) {
/* Send the message */
UART_printf("1 second timer %u\n\r", (unsigned int)sc_get_timer());
/* Send a channel message with a blerg value at low priority on channel 0 */
scandal_send_channel(TELEM_LOW, /* priority */
0, /* channel num */
0xaa /* value */
);
/* Twiddle the LEDs */
toggle_red_led();
/* Update the timer */
one_sec_timer = sc_get_timer();
}
#if defined(IN_CHANNEL_EXAMPLE)
/* The old way of checking for an incoming message that you've registered for.
* This is a silly way to do this. A better way is to use the scandal_register_in_channel_handler
* feature. Your function will get called when a new message comes in */
if(scandal_get_in_channel_rcvd_time(TEMPLATE_TEST_IN) > in_timer) {
UART_printf("I received a channel message in the main loop on in_channel 0, value %u at time %d\n\r",
(unsigned int)scandal_get_in_channel_value(TEMPLATE_TEST_IN),
(int)scandal_get_in_channel_rcvd_time(TEMPLATE_TEST_IN)
);
if(scandal_get_in_channel_value(TEMPLATE_TEST_IN) == 1) {
toggle_red_led();
} else {
toggle_yellow_led();
}
in_timer = scandal_get_in_channel_rcvd_time(TEMPLATE_TEST_IN);
}
#endif
/* Tickle the watchdog so we don't reset */
WDT_Feed();
}
}
int main(void)
{
Port_Init();
DDRE |= (1<<3);
DDRA |= (1<<6);
LCDInit(LS_NONE);
DDRC |= (1<<3);
PORTC |= (1<<3);
cal_point_1 = eeprom_read_dword(0);
cal_point_2 = eeprom_read_dword((uint32_t*)5);
target_feedback = (cal_point_1 + cal_point_2)/2;
cli();
TIMSK |= ((1 << TICIE1)| (1 << TOIE1)); //Set capture interrupt
TCCR1B |= ((1 << ICES1) | (1<<CS10));
TCCR3A = ((1<<COM3A1));
TCCR3B = ((1<<CS30) | (1<<WGM33));
ICR3 = 1000;
OCR3A = 0;
sei();
LCDClear();
//LCDWriteString("Powering On...");
red_light();
WDT_Init();
OCR3A = (int)pwm_duty_cycle;
_delay_ms(100);
/*int warm_up_timer = 10;
while(warm_up_timer > 0)
{
if (feedback_speed < (target_feedback - 7))
{
if (feedback_speed > (target_feedback - 100))
{
pwm_duty_cycle += 1;
}
}
if (feedback_speed > (target_feedback + 7))
{
if(feedback_speed < (target_feedback + 100))
{
pwm_duty_cycle -= 1;
}
}
if (feedback_speed < (target_feedback - 100) )
{
pwm_duty_cycle += 3;
}
if (feedback_speed > (target_feedback + 100))
{
pwm_duty_cycle -= 3;
}
if(pwm_duty_cycle > 499){pwm_duty_cycle = 499;}
if(pwm_duty_cycle < 0 ){pwm_duty_cycle = 0;}
wdt_reset();
_delay_ms(100);
LCDClear();
char feedback_speed_string[4];
snprintf(feedback_speed_string,4,"%d",feedback_speed);
LCDWriteString(feedback_speed_string);
warm_up_timer -= 1;
}
*/
while(1)
{
feedback_speed = (new_feedback_speed);
if (page == 0)
{
wdt_reset();
real_speed = ((double) feedback_speed / (double) target_feedback)*4.5f;
average_speed = (real_speed+average_speed*4.0f)/5.0f;
int avg_speed_int = (int)average_speed;
float avg_speed_float = average_speed - avg_speed_int;
int avg_speed_dec = avg_speed_float*10;
snprintf(avg_speed_string,4,"%01d.%01d",avg_speed_int,avg_speed_dec);
LCDClear();
LCDWriteString("Airflow: ");
LCDWriteString(avg_speed_string);
LCDWriteString(" m/s");
LCDWriteStringXY(0,1,"Target: 4.5 m/s");
wdt_reset();
_delay_ms(100);
wdt_reset();
// speed control section
if (feedback_speed < (target_feedback - 10))
{
if (feedback_speed > (target_feedback - 200))
{
pwm_duty_cycle += 0.25;
}
}
if (feedback_speed > (target_feedback + 10))
{
if(feedback_speed < (target_feedback + 200))
{
pwm_duty_cycle -= 0.25;
}
}
if (feedback_speed < (target_feedback - 200) )
{
pwm_duty_cycle += 4;
}
if (feedback_speed > (target_feedback + 200))
{
pwm_duty_cycle -= 4;
}
if (feedback_speed < (target_feedback - 60))
{
errors += 20;
}
if (feedback_speed > (target_feedback + 60))
{
errors += 20;
}
if (feedback_speed < (target_feedback + 40))
{
if (feedback_speed > (target_feedback - 40))
{
errors = 0;
}
}
if (errors > 250)
{
errors = 250;
}
if (pwm_duty_cycle > 999) {pwm_duty_cycle = 999;}
if (pwm_duty_cycle < 0){pwm_duty_cycle = 0;}
OCR3A = (int)pwm_duty_cycle;
wdt_reset();
}
if (page == 1)
{
LCDClear();
LCDWriteString("Calibration Mode");
if(cal_number == 0)
{
LCDWriteStringXY(0,1,"Cal. Point 1");
}
if(cal_number == 1)
{
LCDWriteStringXY(0,1,"Cal. Point 2");
}
if(cal_number == 2)
{
LCDWriteStringXY(0,1,"Press %1 To Save");
_delay_ms(50);
LCDWriteStringXY(0,1,"Press %2 To Save");
_delay_ms(50);
wdt_reset();
}
wdt_reset();
_delay_ms(150);
wdt_reset();
}
if (!(PINA & (1<<3)))
{
page++;
while(!(PINA & (1<<3)))
{
wdt_reset();
} //right
_delay_ms(25);
if (page > 1)
{
page = 0;
}
}
if (!(PINA & (1<<0))) //up
{
if (page == 1)
{
cal_speed += 5;
if (cal_speed > 1000)
{
cal_speed = 1000;
}
OCR3A = cal_speed;
wdt_reset();
}
_delay_ms(25);
}
if (!(PINA & (1<<4))) //down
{
if (page == 1)
{
cal_speed -= 5 ;
if (cal_speed < 0)
{
cal_speed = 0;
}
OCR3A = cal_speed;
wdt_reset();
}
_delay_ms(25);
}
if (!(PINA & (1<<2))) //center
{
wdt_reset();
if (page == 1)
{
switch (cal_number)
{
case 0:
cal_point_1 = feedback_speed;
cal_number = 1;
break;
case 1:
cal_point_2 = feedback_speed;
cal_number = 2;
break;
case 2:
wdt_reset();
eeprom_write_dword(0,cal_point_1);
eeprom_write_dword((uint32_t*)5,cal_point_2);
wdt_reset();
page = 0;
cal_number = 0;
break;
}
}
while(!(PINA & (1<<2)))
{
wdt_reset();
}
_delay_ms(25);
}
if (!(PINA & (1<<1))) //left
{
page--;
while(!(PINA & (1<<3)))
{
wdt_reset();
}
_delay_ms(25);
if (page < 0)
{
page = 1;
}
}
if (errors == 0)
{
green_light();
}
if(errors >= 250)
{
red_light();
}
}
}
//***********************************************************************
// 主程序
//***********************************************************************
void main(void)
{
unsigned char qq;
// unsigned char adxl_state;
unsigned char mmc_state;
unsigned char eeprom_state;
for (qq=0;qq<0xf0;qq++)
{
_NOP();
}
WDT_Init(); //看门狗设置
// _DINT();
Clock_Init(); //系统时钟设置
delay_ms(100); //延时100ms
Port_Init(); //系统初始化，设置IO口属性
GM8125_Init(0);
delay_ms(100);
DeBug_Print_Str("System Start!\r\n");
TimerA_init();
mmc_state = mmc_test();
if ( mmc_state == 1)
{
DeBug_Print_Str("MMC Verify Success!\r\n");
cardSize = MMC_ReadCardSize();
SDsizeDisplay(cardSize);
SD_File_Create();
}
else
{
DeBug_Print_Str("MMC Verify Failure!\r\n");
}
//延时100ms
_EINT();
eeprom_state = eeprom_test();
if ( eeprom_state == 1)
{
DeBug_Print_Str("EEPROM Verify Success!\r\n");
}
else
{
DeBug_Print_Str("EEPROM Verify Failure!\r\n");
}
Init_ADXL345(); //初始化ADXL345
devid=Single_Read_ADXL345(0X00); //读出的数据为0XE5,表示正确
if(devid!=0XE5)
{
DeBug_Print_Str("No ADXL345\r\n");
}
else
{
DeBug_Print_Str("ADXL345 init Success!\r\n");
}
while(1)
{
/*
adxl_state = ADXL345_Work(&X_data,&Y_data,&Z_data);
if (adxl_state == FALSE)
{
DeBug_Print_Str("Adxl345 no work!\r\n");
}
delay_ms(5);
ProcessingData();
delay_ms(5);
*/
while (0 == ConnectFlag)
{
gprs_band_rate();
DeBug_Print_Str("GPRS BandRate Set OK!\r\n");
delay_ms(1000);
gprs_check_china_mobile();
DeBug_Print_Str("GPRS Check China Mobile OK!\r\n");
delay_ms(1000);
ConnectFlag = gprs_connect_server();//while (connect ok)
if (1 == ConnectFlag)
{
DeBug_Print_Str("GPRS Connect Server is OK!\r\n");
LogFlag=0; //登上服务器后将logon标志置零
}
else
{
DeBug_Print_Str("GPRS Connect Server Fail!\r\n");
}
delay_ms(1000);
}
while(1 == ConnectFlag)
{
DoRcv();
if(LogFlag)
{
SendData();
}
delay_ms(1000);
}
//delay_ms(1000);
}
}
/*
* main.c
*/
int main(void) {
//WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
Clock_Init();
WDT_Init();
WX315_Init();
led_init();
Init_HC05();
TimerA_Init();
Key_Init();
MQ2_Init();
Ir_Init();
Sound_Init();
// //__bis_SR_register(LPM0_bits + GIE);
_EINT();
led0_off();//默认开蓝牙使能
delay_ms(1000);
while(1){
if(temp_tx_flag==1){
for(i=0;i<8;i++){
UartPutchar(ch[i]);
}
temp_tx_flag=0;
}
if(flag_mq2==1){
flag_mq2=0;
UartPutchar('V');//Vapour 烟雾传感器 有漏气 向APP发送指令'V'
}
if(flag_ir==1){
flag_ir=0;
UartPutchar('I');//Ir 红外传感器 有漏气 向APP发送指令'I'
}
if(flag_sound==1){
flag_sound=0;
UartPutchar('S');//Sound 声音传感器 有大风 向APP发送指令'S'
}
switch(uart_temp){
//color
case 'r':
RGB_r();
uart_temp=' ';
break;
case 'o':
RGB_o();
uart_temp=' ';
break;
case 'y':
RGB_y();
uart_temp=' ';
break;
case 'g':
RGB_g();
uart_temp=' ';
break;
case 'b':
RGB_b();
uart_temp=' ';
break;
case 'p':
RGB_p();
uart_temp=' ';
break;
case 'w':
RGB_w();
uart_temp=' ';
break;
case 'd'://关灯 dieout
RGB_d();
uart_temp=' ';
break;
//***********************************************************
case 'm'://开窗 m motor
Window_m();
uart_temp=' ';
break;
case 'n'://关窗
Window_n();
uart_temp=' ';
break;
//***********************************************************
case 'u'://加热 u up
TempNew_u();
uart_temp=' ';
break;
case 'v'://制冷
TempNew_v();
uart_temp=' ';
break;
case 'x'://停止加热
TempNew_x();
uart_temp=' ';
break;
case 'z'://停止制冷
TempNew_z();
uart_temp=' ';
break;
//************************************************************
case 'c'://回家模式
Home_Mode_Backhome();
break;
case 'e'://浪漫模式
Home_Mode_Romatic();
break;
case 'f'://离家模式
Home_Mode_Awayhome();
break;
default:break;
}
}
//return 0;
}
