void analogReference(uint8_t type)
{
if (type) {
// internal reference requested
if (!analog_reference_internal) {
analog_reference_internal = 1;
if (calibrating) {
ADC0_SC3 = 0; // cancel cal
#ifdef HAS_KINETIS_ADC1
ADC1_SC3 = 0; // cancel cal
#endif
}
analog_init();
}
} else {
// vcc or external reference requested
if (analog_reference_internal) {
analog_reference_internal = 0;
if (calibrating) {
ADC0_SC3 = 0; // cancel cal
#ifdef HAS_KINETIS_ADC1
ADC1_SC3 = 0; // cancel cal
#endif
}
analog_init();
}
}
}
void in_update_analogs(void)
{
int *nubp[2] = { in_a1, in_a2 };
struct input_absinfo ainfo;
int i, fd, v, ret;
if (!analog_init_done)
analog_init();
for (i = 0; i < 2; i++) {
fd = fdnub[i];
if (fd < 0)
continue;
ret = ioctl(fd, EVIOCGABS(ABS_X), &ainfo);
if (ret == -1) {
perror("ioctl");
continue;
}
v = ainfo.value / 2 + 127;
nubp[i][0] = v < 0 ? 0 : v;
ret = ioctl(fd, EVIOCGABS(ABS_Y), &ainfo);
if (ret == -1) {
perror("ioctl");
continue;
}
v = ainfo.value / 2 + 127;
nubp[i][1] = v < 0 ? 0 : v;
}
//printf("%4d %4d %4d %4d\n", in_a1[0], in_a1[1], in_a2[0], in_a2[1]);
}
void line_init() {
if (!(nibobee_initialization & NIBOBEE_ANALOG_INITIALIZED)) {
analog_init();
}
line_readPersistent();
activate_output_bit(IO_LINE_EN);
}
void init(void) {
// set up watchdog
wd_init();
// set up serial
serial_init();
// set up inputs and outputs
io_init();
// set up timers
timer_init();
// read PID settings from EEPROM
heater_init();
// set up default feedrate
current_position.F = startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
// start up analog read interrupt loop, if anything uses analog as determined by ANALOG_MASK in your config.h
analog_init();
// set up temperature inputs
temp_init();
// enable interrupts
sei();
// reset watchdog
wd_reset();
// say hi to host
serial_writestr_P(PSTR("Start\nok\n"));
}
void analogReadRes(unsigned int bits)
{
unsigned int config;
if (bits >= 13) {
if (bits > 16) bits = 16;
config = 16;
} else if (bits >= 11) {
config = 12;
} else if (bits >= 9) {
config = 10;
} else {
config = 8;
}
analog_right_shift = config - bits;
if (config != analog_config_bits) {
analog_config_bits = config;
if (calibrating) {
ADC0_SC3 = 0; // cancel cal
#ifdef HAS_KINETIS_ADC1
ADC1_SC3 = 0;
#endif
}
analog_init();
}
}
static void window_load(Window *window) {
Layer *window_layer = window_get_root_layer(window);
GRect bounds = layer_get_bounds(window_layer);
const GPoint center = grect_center_point(&bounds);
//Load bitmap image
background_layer = layer_create(bounds);
layer_set_update_proc(background_layer, background_layer_update);
layer_add_child(window_layer, background_layer);
custom_font_text = fonts_load_custom_font(resource_get_handle(RESOURCE_ID_FONT_BOXY_TEXT_20));
custom_font_outline = fonts_load_custom_font(resource_get_handle(RESOURCE_ID_FONT_BOXY_OUTLINE_20));
//Add analog hands
analog_init(my_window);
// Render layer ontop for cool transparency
render_layer = layer_create(bounds);
layer_set_update_proc(render_layer, render_layer_update);
layer_add_child(window_layer, render_layer);
//Force time update
time_t current_time = time(NULL);
struct tm *current_tm = localtime(¤t_time);
tick_handler(current_tm, MINUTE_UNIT | DAY_UNIT);
//Setup tick time handler
tick_timer_service_subscribe((MINUTE_UNIT), tick_handler);
}
int main (void)
{
mode_pointer = &mode_time; //assigns the mode_pointer initially to time mode
pwm_init();
timer_init();
analog_init();
pinchange_init();
power_register_init();
sei(); // global set enable interrupts
while(1)
{
PRR &= ~(1<<PRADC); //turns on the ADC comparator
PORTA |= (1<<MODE_SELECT_POWER); //turn on to power pot
ADCSRA |= (1<<ADSC); // starts AtoD conversion by flipping ADC Start Conversion bit in AD Control and Status Register A
while(ADCSRA & (1<<ADSC)); // loops while waiting for ADC to finish
PORTA &= ~(1<<MODE_SELECT_POWER); //turn pot back off to conserve power
PRR |= (1<<PRADC); //shuts down the ADC and comparator
(*mode_pointer)(); //uses a pointer to call the function for the specific mode
sleep_cpu();
//just hang out and wait for interrupts
}
return 1;
}
void analogReference(uint8_t type)
{
if (type) {
// internal reference requested
if (!analog_reference_internal) {
analog_reference_internal = 1;
if (calibrating) ADC0_SC3 = 0; // cancel cal
analog_init();
}
} else {
// vcc or external reference requested
if (analog_reference_internal) {
analog_reference_internal = 0;
if (calibrating) ADC0_SC3 = 0; // cancel cal
analog_init();
}
}
}
int main(void)
{
analogvalue_t delay;
setup();
setup_timer0();
// setup_int0();
// display_off(&display);
setup_timer2();
analog_init(&delay);
potentiometer_read(&delay);
display_set(&display, delay.v);
display_on(&display, 1);
/* if ((PIND & _BV(PIN_SW1)) == 0) */
/* pin = PIN_LED_RED; */
for (;;) {
if ((PIND & _BV(PIN_BUTTON2)) == 0) {
PORTB &= _BV(PIN_LED);
} else {
PORTB |= _BV(PIN_LED);
}
/*
if ((PIND & _BV(PIN_SW1)) == 0) {
long tmax = 1000L * delay.v;
while (micros() - t0 < tmax)
;
PORTD |= _BV(pin);
} else {
PORTD &= ~_BV(pin);
enable_int0();
}
if ((PIND & _BV(PIN_SW2)) == 0) {
settle_on_low(&PIND, PIN_SW2);
loop_until_bit_is_set(PIND, PIN_SW2);
display_toggle(&display);
}
*/
potentiometer_read(&delay);
if (delay.v != display.value) {
display_set(&display, delay.v);
}
}
return 0;
}
int main()
{
#if defined(PIC32_PINGUINO) || defined(PIC32_PINGUINO_OTG)
TRISDbits.TRISD9=1; // because PORTB is shared with SDA on Olimex board
TRISDbits.TRISD10=1; // because PORTB is shared with SCL on Olimex board
#endif
SystemConfig(80000000); // default clock frequency is 80Mhz
// default peripheral freq. is 40MHz (cf. system.c)
// All pins of PORTB as digital IOs
#ifdef __32MX220F032D__
ANSELA = 0;
ANSELB = 0;
ANSELC = 0;
#else
AD1PCFG = 0xFFFF;
#endif
#ifdef __ANALOG__
analog_init();
#endif
#ifdef __MILLIS__
millis_init();
#endif
#ifdef __PWM__
PWM_init();
#endif
#ifdef __USBCDC
CDC_init();
#endif
#ifdef __RTCC__
RTCC_init();
#endif
setup();
while (1)
{
#ifdef __USBCDC
CDCTxService();
#endif
loop();
}
return(0);
}
/// Startup code, run when we come out of reset
void init(void) {
halInit();
chSysInit();
#if defined(PORT_LED1) && defined(PIN_LED1)
palSetPadMode(PORT_LED1, PIN_LED1, PAL_MODE_OUTPUT_PUSHPULL);
#endif
#if defined(PORT_LED2) && defined(PIN_LED2)
palSetPadMode(PORT_LED2, PIN_LED2, PAL_MODE_OUTPUT_PUSHPULL);
#endif
// set up watchdog
wd_init();
// set up serial
serial_init();
// set up G-code parsing
gcode_init();
// set up inputs and outputs
io_init();
// set up timers
timer_init();
// read PID settings from EEPROM
heater_init();
// set up dda
dda_init();
// start up analog read interrupt loop,
// if any of the temp sensors in your config.h use analog interface
analog_init();
// set up temperature inputs
temp_init();
// enable interrupts
enable_irq();
// reset watchdog
wd_reset();
// say hi to host
serial_writestr_P(PSTR("start\nok\n"));
}
int main()
{
// default peripheral freq. is CPUCoreFrequency / 2 (cf. system.c)
#if defined(__32MX220F032D__)||defined(__32MX250F128B__)||defined(__32MX220F032B__)
SystemConfig(40000000); // default clock frequency is 40Mhz
#else
SystemConfig(80000000); // default clock frequency is 80Mhz
#endif
IOsetSpecial();
IOsetDigital();
IOsetRemap();
#ifdef __ANALOG__
analog_init();
#endif
#ifdef __MILLIS__
millis_init();
#endif
#ifdef __PWM__
PWM_init();
#endif
#ifdef __USBCDC
CDC_init();
#endif
#ifdef __RTCC__
RTCC_init();
#endif
setup();
while (1)
{
#ifdef __USBCDC
#if defined(__32MX220F032D__)||defined(__32MX250F128B__)||defined(__32MX220F032B__)
USB_Service( );
#else
CDCTxService();
#endif
#endif
loop();
}
return(0);
}
void init(void) {
analog_init();
anemometer_init();
//battery_init();
lcd_init();
cbi(DDRD, PD2);
//DDRD = 0x00;
sbi(EICRA, ISC00);
sbi(EICRA, ISC01);
sbi(EIMSK, INT0);
sei();
}
void CTMU_init()
{
/// Setup CTMU module
//CTMUCON - CTMU Control register
CTMUCONH = 0x00; // make sure CTMU is disabled
CTMUCONL = 0b10010000; // CTMU enable, Enables edge delay generation
//CTMUICON - CTMU Current Control Register
CTMUICON = 0x01; // Nominal current output = Base current level
/// Setup AD converter
analog_init();
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
led_init();
comm_init(COMM_TELEMETRY);
/* add rx callback so we can send ALTIMETER_RESET messages */
comm_add_rx_callback(COMM_TELEMETRY, comm_autopilot_message_received);
analog_init();
analog_enable_channel(ANALOG_CHANNEL_PRESSURE);
altimeter_init();
int_enable();
}
int main() {
_delay_ms(1000);
beginSerial(BAUD);
i2c_init();
as_init();
analog_init();
motor_init();
sei();
printString("MotorAssay ready.");
// Shit goes here
printString("MotorAssay done.");
return(0);
}
int main() {
_delay_ms(100);
gc_init();
sp_init();
i2c_init();
as_init();
motor_init();
boom_init();
analog_init();
sei();
printPgmString(PSTR("Shuttleboom!\n\r"));
for(;;){sp_process(); sleep_mode();}
return(0);
}
static inline void autopilot_main_init( void ) {
hw_init();
sys_time_init();
led_init();
supervision_init();
actuators_init(ACTUATOR_BANK_MOTORS);
#if BOMB_ENABLED
bomb_init_servo(RADIO_FMS, 0, 0);
#endif
rc_init();
#if HARDWARE_ENABLED_GPS
gps_init();
#else
comm_init(COMM_0);
comm_add_tx_callback(COMM_0, comm_autopilot_message_send);
comm_add_rx_callback(COMM_0, comm_autopilot_message_received);
#endif
comm_init(COMM_TELEMETRY);
comm_add_tx_callback(COMM_TELEMETRY, comm_autopilot_message_send);
comm_add_rx_callback(COMM_TELEMETRY, comm_autopilot_message_received);
analog_init();
analog_enable_channel(ANALOG_CHANNEL_BATTERY);
analog_enable_channel(ANALOG_CHANNEL_PRESSURE);
altimeter_init();
imu_init();
autopilot_init();
ahrs_init();
ins_init();
fms_init();
int_enable();
}
void pinguino_main(void)
{
PIE1=0;
PIE2=0;
ADCON1=0x0F;
#ifdef __USB__
PIE2bits.USBIE = 1;
INTCON = 0xC0;
#endif
setup();
#ifdef ANALOG
analog_init();
#endif
#ifdef MILLIS
millis_init();
#endif
#ifdef SERVOSLIBRARY
servos_init();
#endif
#ifdef __USBCDC
init_CDC();
PIE2bits.USBIE = 1;
INTCON = 0xC0;
#endif
#ifdef __SERIAL__
INTCONbits.PEIE=1;
INTCONbits.GIE=1;
#endif
#ifdef MILLIS
INTCONbits.TMR0IE=1;
INTCONbits.GIE=1;
#endif
#ifdef SERVOSLIBRARY
INTCONbits.PEIE=1;
INTCONbits.GIE=1;
#endif
while (1)
{
loop();
}
}
/// Startup code, run when we come out of reset
void init(void) {
// set up watchdog
wd_init();
// set up serial
serial_init();
// set up G-code parsing
gcode_init();
// set up inputs and outputs
io_init();
// set up timers
timer_init();
// read PID settings from EEPROM
heater_init();
// set up dda
dda_init();
// start up analog read interrupt loop,
// if any of the temp sensors in your config.h use analog interface
analog_init();
// set up temperature inputs
temp_init();
// enable interrupts
sei();
// reset watchdog
wd_reset();
// prepare the power supply
power_init();
// say hi to host
serial_writestr_P(PSTR("start\nok\n"));
}
void main() {
stdout = &mystdio;
stderr = &mystdio;
stdin = &mystdio;
analog_init();
serial_init();
timer_init();
sei();
printf_P(PSTR("start\n"));
for (;;) {
// read serial
if (serial_rxchars())
serial_getline();
// read SDCARD
if (state_flags & STATE_READ_SD) {
if (file.fs == &fatfs) {
UINT i;
do {
if (f_read(&file, &c, 1, &i) == FR_OK) {
if (i)
gcode_parse_char(c);
}
else
i = 0;
} while ((i != 0) && (c >= 32));
}
}
loopstuff();
};
}
void sim_report_temptables(int sensor) {
int i ;
temp_sensor_t s, first = sensor, last = sensor+1 ;
// sensor is a specific sensor or -1 for "all sensors"
if (sensor == -1) {
first = 0;
last = NUM_TEMP_SENSORS;
}
sei();
analog_init();
printf("; Temperature sensor test %d\n", sensor);
for (s = first; s < last; s++ ) {
printf("; Sensor %d\n", s);
for (i = 0 ; i < 1024 ; i++ ) {
analog_read_value = i ;
temp_sensor_tick() ;
uint16_t temp = temp_get(s);
printf("%d %.2f\n", i, ((float)temp)/4 ) ;
}
}
}
int main (void){
timer_init();
uint8_t analog_pins[1] = {5};
analog_init(analog_pins, 1, ANALOG_INTERNAL);
matrix_init();
matrix_set_mode(MATRIX_MODE_2BIT);
setup();
while (1) {
for (uint8_t x = 0; x < MATRIX_WIDTH; x++){
for (uint8_t y = 0; y < MATRIX_HEIGHT; y++){
uint8_t count = get_neighbor_count(x, y);
uint8_t alive = get_pixel(x, y);
if (alive) {
if (count < 2) set_scratch(x, y, 0x00);
else if (count <= 3){
if (alive == GRN_1) {
set_scratch(x, y, GRN_2);
}
if (alive == GRN_2) {
set_scratch(x, y, GRN_3);
}
if (alive == GRN_3) {
set_scratch(x, y, GRN_3 | RED_1);
}
else if (alive == (GRN_3 | RED_1)) {
set_scratch(x, y, GRN_3 | RED_2);
}
else if (alive == (GRN_3 | RED_2)) {
set_scratch(x, y, GRN_3 | RED_3);
}
else if (alive == (GRN_3 | RED_3)) {
set_scratch(x, y, GRN_2 | RED_3);
}
else if (alive == (GRN_2 | RED_3)) {
set_scratch(x, y, GRN_1 | RED_3);
}
else if (alive == (GRN_1 | RED_3)) {
set_scratch(x, y, RED_3);
}
else if (alive == (RED_3)) {
set_scratch(x, y, RED_2);
}
else if (alive == (RED_2)) {
set_scratch(x, y, RED_1);
}
}
else if (count > 3) set_scratch(x, y, 0x00);
}
else if (count == 3){
set_scratch(x, y, GRN_1);
}
}
}
flush();
matrix_write_buffer();
//Store board hash
for (uint8_t i = RECENT_HASH_COUNT - 1; i > 0; i--){
recent_hashes[i] = recent_hashes[i - 1];
}
recent_hashes[0] = get_board_hash();
uint8_t matches = 0;
for (uint8_t i = 0; i < RECENT_HASH_COUNT; i++){
for (uint8_t j = i + 1; j < RECENT_HASH_COUNT; j++){
if (recent_hashes[i] == recent_hashes[j]) matches++;
}
}
if (matches == 0) recent_hash_match_count = 0;
else recent_hash_match_count++;
if (recent_hash_match_count >= RECENT_HASH_MATCH_COUNT){
setup();
}
_delay_ms(70);
}
}
/* Constructor
* Point the registers to the correct ADC module
* Copy the correct channel2sc1a
* Call init
* The very long initializer list could be shorter using some kind of struct?
*/
ADC_Module::ADC_Module(uint8_t ADC_number, const uint8_t* const a_channel2sc1a, const uint8_t* const a_channel2sc1a_diff) :
ADC_num(ADC_number)
, channel2sc1a(a_channel2sc1a)
, channel2sc1a_diff(a_channel2sc1a_diff)
, adc_offset((uint32_t)0x20000)
, ADC_SC1A(&ADC0_SC1A + adc_offset*ADC_num)
, ADC_SC1B(&ADC0_SC1B + adc_offset*ADC_num)
, ADC_CFG1(&ADC0_CFG1 + adc_offset*ADC_num)
, ADC_CFG2(&ADC0_CFG2 + adc_offset*ADC_num)
, ADC_RA(&ADC0_RA + adc_offset*ADC_num)
, ADC_RB(&ADC0_RB + adc_offset*ADC_num)
, ADC_CV1(&ADC0_CV1 + adc_offset*ADC_num)
, ADC_CV2(&ADC0_CV2 + adc_offset*ADC_num)
, ADC_SC2(&ADC0_SC2 + adc_offset*ADC_num)
, ADC_SC3(&ADC0_SC3 + adc_offset*ADC_num)
, ADC_PGA(&ADC0_PGA + adc_offset*ADC_num)
, ADC_OFS(&ADC0_OFS + adc_offset*ADC_num)
, ADC_PG(&ADC0_PG + adc_offset*ADC_num)
, ADC_MG(&ADC0_MG + adc_offset*ADC_num)
, ADC_CLPD(&ADC0_CLPD + adc_offset*ADC_num)
, ADC_CLPS(&ADC0_CLPS + adc_offset*ADC_num)
, ADC_CLP4(&ADC0_CLP4 + adc_offset*ADC_num)
, ADC_CLP3(&ADC0_CLP3 + adc_offset*ADC_num)
, ADC_CLP2(&ADC0_CLP2 + adc_offset*ADC_num)
, ADC_CLP1(&ADC0_CLP1 + adc_offset*ADC_num)
, ADC_CLP0(&ADC0_CLP0 + adc_offset*ADC_num)
, ADC_CLMD(&ADC0_CLMD + adc_offset*ADC_num)
, ADC_CLMS(&ADC0_CLMS + adc_offset*ADC_num)
, ADC_CLM4(&ADC0_CLM4 + adc_offset*ADC_num)
, ADC_CLM3(&ADC0_CLM3 + adc_offset*ADC_num)
, ADC_CLM2(&ADC0_CLM2 + adc_offset*ADC_num)
, ADC_CLM1(&ADC0_CLM1 + adc_offset*ADC_num)
, ADC_CLM0(&ADC0_CLM0 + adc_offset*ADC_num)
, PDB0_CHnC1(&PDB0_CH0C1 + ADC_num*0xA)
{
// ADC0 or ADC1?
//ADC_num = ADC_number;
// point the control registers to the correct addresses
// use bitband where necessary
//uint32_t adc_offset = (uint32_t)0x20000;
//ADC_SC1A = &ADC0_SC1A + adc_offset*ADC_num;
// ADC_SC1A_coco = adc_bitband((uint32_t)ADC_SC1A, 7); // conversion complete
// ADC_SC1A_aien = adc_bitband((uint32_t)ADC_SC1A, 6); // interrupts enabled
//ADC_SC1B = &ADC0_SC1B + adc_offset*ADC_num;
//ADC_CFG1 = &ADC0_CFG1 + adc_offset*ADC_num;
// ADC_CFG1_adlpc = adc_bitband((uint32_t)ADC_CFG1, 7); // low power conf.
// ADC_CFG1_adiv1 = adc_bitband((uint32_t)ADC_CFG1, 6); // divide input clock
// ADC_CFG1_adiv0 = adc_bitband((uint32_t)ADC_CFG1, 5); //
// ADC_CFG1_adlsmp = adc_bitband((uint32_t)ADC_CFG1, 4); // low sampling speed
// ADC_CFG1_mode1 = adc_bitband((uint32_t)ADC_CFG1, 3); // resolution mode
// ADC_CFG1_mode0 = adc_bitband((uint32_t)ADC_CFG1, 2); //
// ADC_CFG1_adiclk1 = adc_bitband((uint32_t)ADC_CFG1, 1); // input clock
// ADC_CFG1_adiclk0 = adc_bitband((uint32_t)ADC_CFG1, 0); //
//ADC_CFG2 = &ADC0_CFG2 + adc_offset*ADC_num;
// ADC_CFG2_muxsel = adc_bitband((uint32_t)ADC_CFG2, 4); // mux to select a or b channels
// ADC_CFG2_adacken = adc_bitband((uint32_t)ADC_CFG2, 3); // enable the async. clock
// ADC_CFG2_adhsc = adc_bitband((uint32_t)ADC_CFG2, 2); // high-speed config: add 2 ADCK
// ADC_CFG2_adlsts1 = adc_bitband((uint32_t)ADC_CFG2, 1); // loger sampling time
// ADC_CFG2_adlsts0 = adc_bitband((uint32_t)ADC_CFG2, 0);
//ADC_RA = &ADC0_RA + adc_offset*ADC_num;
//ADC_RB = &ADC0_RB + adc_offset*ADC_num;
//ADC_CV1 = &ADC0_CV1 + adc_offset*ADC_num;
//ADC_CV2 = &ADC0_CV2 + adc_offset*ADC_num;
//ADC_SC2 = &ADC0_SC2 + adc_offset*ADC_num;
// ADC_SC2_adact = adc_bitband((uint32_t)ADC_SC2, 7); // conversion active
// ADC_SC2_cfe = adc_bitband((uint32_t)ADC_SC2, 5); // compare function enable, greater than and range enable
// ADC_SC2_cfgt = adc_bitband((uint32_t)ADC_SC2, 4);
// ADC_SC2_cren = adc_bitband((uint32_t)ADC_SC2, 3);
// ADC_SC2_dma = adc_bitband((uint32_t)ADC_SC2, 2); // dma enable
// ADC_SC2_ref = adc_bitband((uint32_t)ADC_SC2, 0); // refsel only uses bit 0, not really bit 1.
//ADC_SC3 = &ADC0_SC3 + adc_offset*ADC_num;
// ADC_SC3_cal = adc_bitband((uint32_t)ADC_SC3, 7); // start/stop calibration
// ADC_SC3_calf = adc_bitband((uint32_t)ADC_SC3, 6); // calibration failed flag
// ADC_SC3_adco = adc_bitband((uint32_t)ADC_SC3, 3); // continuous conversion
// ADC_SC3_avge = adc_bitband((uint32_t)ADC_SC3, 2); // enable averages bit
// ADC_SC3_avgs1 = adc_bitband((uint32_t)ADC_SC3, 1); // num of averages bits
// ADC_SC3_avgs0 = adc_bitband((uint32_t)ADC_SC3, 0);
//ADC_PGA = &ADC0_PGA + adc_offset*ADC_num;
// ADC_PGA_pgaen = adc_bitband((uint32_t)ADC_PGA, 23); // enable pga
// ADC_OFS = &ADC0_OFS + adc_offset*ADC_num;
// ADC_PG = &ADC0_PG + adc_offset*ADC_num;
// ADC_MG = &ADC0_MG + adc_offset*ADC_num;
// ADC_CLPD = &ADC0_CLPD + adc_offset*ADC_num;
// ADC_CLPS = &ADC0_CLPS + adc_offset*ADC_num;
// ADC_CLP4 = &ADC0_CLP4 + adc_offset*ADC_num;
// ADC_CLP3 = &ADC0_CLP3 + adc_offset*ADC_num;
// ADC_CLP2 = &ADC0_CLP2 + adc_offset*ADC_num;
// ADC_CLP1 = &ADC0_CLP1 + adc_offset*ADC_num;
// ADC_CLP0 = &ADC0_CLP0 + adc_offset*ADC_num;
// ADC_CLMD = &ADC0_CLMD + adc_offset*ADC_num;
// ADC_CLMS = &ADC0_CLMS + adc_offset*ADC_num;
// ADC_CLM4 = &ADC0_CLM4 + adc_offset*ADC_num;
// ADC_CLM3 = &ADC0_CLM3 + adc_offset*ADC_num;
// ADC_CLM2 = &ADC0_CLM2 + adc_offset*ADC_num;
// ADC_CLM1 = &ADC0_CLM1 + adc_offset*ADC_num;
// ADC_CLM0 = &ADC0_CLM0 + adc_offset*ADC_num;
IRQ_ADC = IRQ_ADC0 + ADC_num*1;
// pointer to channel2sc1a
//channel2sc1a = a_channel2sc1a;
//channel2sc1a_diff = a_channel2sc1a_diff;
// call our init
analog_init();
}
// Application entry point called from bootloader v4.x
void main(void)
#endif
{
#if defined(__18f25k50) || defined(__18f45k50) || \
defined(__18f26j50) || defined(__18f46j50) || \
defined(__18f26j53) || defined(__18f46j53) || \
defined(__18f27j53) || defined(__18f47j53)
u16 pll_startup_counter = 600;
#endif
/// ----------------------------------------------------------------
/// If we start from a Power-on reset, set NOT_POR bit to 1
/// ----------------------------------------------------------------
if (RCONbits.NOT_POR == 0)
{
RCON |= 0b10010011; // set all reset flag
// enable priority levels on interrupts
}
/// ----------------------------------------------------------------
/// Disables all interrupt
/// ----------------------------------------------------------------
//INTCONbits.GIEH = 0; // Disables all HP interrupts
//INTCONbits.GIEL = 0; // Disables all LP interrupts
/// ----------------------------------------------------------------
/// Perform a loop for some processors until their frequency is stable
/// ----------------------------------------------------------------
#if defined(__18f2455) || defined(__18f4455) || \
defined(__18f2550) || defined(__18f4550)
// If Internal Oscillator is used
if (OSCCONbits.SCS > 0x01)
// wait INTOSC frequency is stable (IOFS=1)
while (!OSCCONbits.IOFS);
// PLL is enabled by Config. Bits
#elif defined(__18f25k50) || defined(__18f45k50)
// If Internal Oscillator is used
if (OSCCONbits.SCS > 0x01)
// wait HFINTOSC frequency is stable (HFIOFS=1)
while (!OSCCONbits.HFIOFS);
// Enable the PLL and wait 2+ms until the PLL locks
OSCCON2bits.PLLEN = 1;
OSCTUNEbits.SPLLMULT = 1; // 1=3xPLL, 0=4xPLL
while (pll_startup_counter--);
#elif defined(__18f26j50) || defined(__18f46j50)
// If Internal Oscillator is used
// if (OSCCONbits.SCS > 0x02)
// Seems there is no time to wait
// Enable the PLL and wait 2+ms until the PLL locks
OSCTUNEbits.PLLEN = 1;
while (pll_startup_counter--);
#elif defined(__18f26j53) || defined(__18f46j53) || \
defined(__18f27j53) || defined(__18f47j53)
// If Internal Oscillator is used
if (OSCCONbits.SCS > 0x02)
// wait INTOSC frequency is stable (FLTS=1)
while(!OSCCONbits.FLTS);
// Enable the PLL and wait 2+ms until the PLL locks
OSCTUNEbits.PLLEN = 1;
while (pll_startup_counter--);
#endif
/// ----------------------------------------------------------------
/// I/O init
/// ----------------------------------------------------------------
IO_init();
IO_digital();
#if defined(__18f26j50) || defined(__18f46j50) || \
defined(__18f26j53) || defined(__18f46j53) || \
defined(__18f27j53) || defined(__18f47j53)
IO_remap();
#endif
/// ----------------------------------------------------------------
/// Various Init.
/// ----------------------------------------------------------------
#ifdef __USB__
usb_init();
#endif
#ifdef __USBCDC
CDC_init();
#endif
#ifdef __USBBULK
bulk_init();
#endif
#if defined(ANALOGREFERENCE) || defined(ANALOGREAD)
analog_init();
#endif
#ifdef ANALOGWRITE
analogwrite_init();
#endif
#ifdef __MILLIS__ // Use Timer 0
millis_init();
#endif
#ifdef SERVOSLIBRARY // Use Timer 1
servos_init();
#endif
#ifdef __PS2KEYB__
keyboard_init()
#endif
////////////////////////////////////////////////////////////////////////
setup();
////////////////////////////////////////////////////////////////////////
#if defined(TMR0INT) || defined(TMR1INT) || \
defined(TMR2INT) || defined(TMR3INT) || \
defined(TMR4INT) || defined(TMR5INT) || \
defined(TMR6INT) || defined(TMR8INT)
IntTimerStart(); // Enable all defined timers interrupts
// at the same time
#endif
#ifdef ON_EVENT
//IntInit();
INTCONbits.GIEH = 1; // Enable global HP interrupts
INTCONbits.GIEL = 1; // Enable global LP interrupts
#endif
while (1)
{
////////////////////////////////////////////////////////////////////////
loop();
////////////////////////////////////////////////////////////////////////
}
}
/* Constructor
* Point the registers to the correct ADC module
* Copy the correct channel2sc1a and sc1a2channel
* Call init
*/
ADC_Module::ADC_Module(uint8_t ADC_number) {
// ADC0 or ADC1?
ADC_num = ADC_number;
// point the control registers to the correct addresses
// use bitband where necessary
uint32_t adc_offset = (uint32_t)0x20000;
ADC_SC1A = &ADC0_SC1A + adc_offset*ADC_num;
ADC_SC1A_coco = adc_bitband((uint32_t)ADC_SC1A, 7); // conversion complete
ADC_SC1A_aien = adc_bitband((uint32_t)ADC_SC1A, 6); // interrupts enabled
ADC_SC1B = &ADC0_SC1B + adc_offset*ADC_num;
ADC_CFG1 = &ADC0_CFG1 + adc_offset*ADC_num;
ADC_CFG1_adlpc = adc_bitband((uint32_t)ADC_CFG1, 7); // low power conf.
ADC_CFG1_adiv1 = adc_bitband((uint32_t)ADC_CFG1, 6); // divide input clock
ADC_CFG1_adiv0 = adc_bitband((uint32_t)ADC_CFG1, 5); //
ADC_CFG1_adlsmp = adc_bitband((uint32_t)ADC_CFG1, 4); // low sampling speed
ADC_CFG1_mode1 = adc_bitband((uint32_t)ADC_CFG1, 3); // resolution mode
ADC_CFG1_mode0 = adc_bitband((uint32_t)ADC_CFG1, 2); //
ADC_CFG1_adiclk1 = adc_bitband((uint32_t)ADC_CFG1, 1); // input clock
ADC_CFG1_adiclk0 = adc_bitband((uint32_t)ADC_CFG1, 0); //
ADC_CFG2 = &ADC0_CFG2 + adc_offset*ADC_num;
ADC_CFG2_muxsel = adc_bitband((uint32_t)ADC_CFG2, 4); // mux to select a or b channels
ADC_CFG2_adacken = adc_bitband((uint32_t)ADC_CFG2, 3); // enable the async. clock
ADC_CFG2_adhsc = adc_bitband((uint32_t)ADC_CFG2, 2); // high-speed config: add 2 ADCK
ADC_CFG2_adlsts1 = adc_bitband((uint32_t)ADC_CFG2, 1); // loger sampling time
ADC_CFG2_adlsts0 = adc_bitband((uint32_t)ADC_CFG2, 0);
ADC_RA = &ADC0_RA + adc_offset*ADC_num;
ADC_RB = &ADC0_RB + adc_offset*ADC_num;
ADC_CV1 = &ADC0_CV1 + adc_offset*ADC_num;
ADC_CV2 = &ADC0_CV2 + adc_offset*ADC_num;
ADC_SC2 = &ADC0_SC2 + adc_offset*ADC_num;
ADC_SC2_adact = adc_bitband((uint32_t)ADC_SC2, 7); // conversion active
ADC_SC2_cfe = adc_bitband((uint32_t)ADC_SC2, 5); // compare function enable, greater than and range enable
ADC_SC2_cfgt = adc_bitband((uint32_t)ADC_SC2, 4);
ADC_SC2_cren = adc_bitband((uint32_t)ADC_SC2, 3);
ADC_SC2_dma = adc_bitband((uint32_t)ADC_SC2, 2); // dma enable
ADC_SC2_ref = adc_bitband((uint32_t)ADC_SC2, 0); // refsel only uses bit 0, not really bit 1.
ADC_SC3 = &ADC0_SC3 + adc_offset*ADC_num;
ADC_SC3_cal = adc_bitband((uint32_t)ADC_SC3, 7); // start/stop calibration
ADC_SC3_calf = adc_bitband((uint32_t)ADC_SC3, 6); // calibration failed flag
ADC_SC3_adco = adc_bitband((uint32_t)ADC_SC3, 3); // continuous conversion
ADC_SC3_avge = adc_bitband((uint32_t)ADC_SC3, 2); // enable averages bit
ADC_SC3_avgs0 = adc_bitband((uint32_t)ADC_SC3, 0); // num of averages bits
ADC_SC3_avgs1 = adc_bitband((uint32_t)ADC_SC3, 1);
ADC_PGA = &ADC0_PGA + adc_offset*ADC_num; ADC_PGA_pgaen = adc_bitband((uint32_t)ADC_PGA, 23); // enable pga
ADC_OFS = &ADC0_OFS + adc_offset*ADC_num;
ADC_PG = &ADC0_PG + adc_offset*ADC_num;
ADC_MG = &ADC0_MG + adc_offset*ADC_num;
ADC_CLPD = &ADC0_CLPD + adc_offset*ADC_num;
ADC_CLPS = &ADC0_CLPS + adc_offset*ADC_num;
ADC_CLP4 = &ADC0_CLP4 + adc_offset*ADC_num;
ADC_CLP3 = &ADC0_CLP3 + adc_offset*ADC_num;
ADC_CLP2 = &ADC0_CLP2 + adc_offset*ADC_num;
ADC_CLP1 = &ADC0_CLP1 + adc_offset*ADC_num;
ADC_CLP0 = &ADC0_CLP0 + adc_offset*ADC_num;
ADC_CLMD = &ADC0_CLMD + adc_offset*ADC_num;
ADC_CLMS = &ADC0_CLMS + adc_offset*ADC_num;
ADC_CLM4 = &ADC0_CLM4 + adc_offset*ADC_num;
ADC_CLM3 = &ADC0_CLM3 + adc_offset*ADC_num;
ADC_CLM2 = &ADC0_CLM2 + adc_offset*ADC_num;
ADC_CLM1 = &ADC0_CLM1 + adc_offset*ADC_num;
ADC_CLM0 = &ADC0_CLM0 + adc_offset*ADC_num;
// copy the correct version of channel2sc1a and sc1a2channel depending on the ADC module this instance is:
#if defined(__MK20DX128__)
// Tennsy 3.0, only ADC0
memcpy(&channel2sc1a, &ADC::channel2sc1aADC0, sizeof(channel2sc1a));
memcpy(&sc1a2channel, &ADC::sc1a2channelADC0, sizeof(sc1a2channel));
#elif defined(__MK20DX256__)
// Teensy 3.1: can be ADC0 or ADC1
if(ADC_num==0) { // ADC0
memcpy(&channel2sc1a, &ADC::channel2sc1aADC0, sizeof(channel2sc1a));
memcpy(&sc1a2channel, &ADC::sc1a2channelADC0, sizeof(sc1a2channel));
} else { // ADC1
memcpy(&channel2sc1a, &ADC::channel2sc1aADC1, sizeof(channel2sc1a));
memcpy(&sc1a2channel, &ADC::sc1a2channelADC1, sizeof(sc1a2channel));
}
#endif
// call our init
analog_init();
}
int main(void)
{
int test_mode;
int vm_present;
int i;
unsigned int seed;
// Needs to be called ASAP as rf need a looooooong time to wake up.
// This function is just sending a pulse over the SCL line.
rf_wakeup();
clock_set_speed(16000000UL,16);
setup_pps();
setup_io();
leds_init();
CHARGE_500MA = 0; // Switch back to 100mA charge.
// Switch on one led to say we are powered on
leds_set(LED_BATTERY_0, 32);
// Enable the poweroff softirq.
_INT3IF = 0;
_INT3IP = 1;
_INT3IE = 1;
// Sound must be enabled before analog, as
// The analog interrupt callback into sound processing ...
// But must be initialised _after_ leds as it use one led IO for enabling amp.
sound_init();
tone_init(); // Init tone generator
pwm_motor_init();
pid_motor_init();
// We need the settings for the horizontal prox.
load_settings_from_flash();
for (i = 0; i < 2; i++) {
// Settings is definitely wrong....
if(settings.mot256[i] <= 0)
settings.mot256[i] = 256;
// 1024 (AD resolution is 10 bits) * 256 / 9 fits in signed 16 bits.
if (settings.mot256[i] < 9)
settings.mot256[i] = 9;
}
// This is the horizontal prox. Vertical one are handled by the ADC
// but ADC sync the motor mesurment with the prox, so we don't pullute it with noise ...
timer_init(TIMER_IR_COMM, 0,-1); // The period will be changed later.
prox_init(PRIO_SENSORS); // Same priority as analog (maybe should be at 7 ...)
// Warning: We cannot use the SD before the analog init as some pin are on the analog port.
analog_init(TIMER_ANALOG, PRIO_SENSORS);
wait_valid_vbat();
log_init(); // We will need to read vbat to be sure we can flash.
ntc_init(ntc_callback, PRIO_1KHZ);
// i2c_init(I2C_3);
i2c_init_master(I2C_3, 400000, PRIO_I2C);
I2C3CON = 0x9000;
mma7660_init(I2C_3, MMA7660_DEFAULT_ADDRESS, acc_cb, 0);
mma7660_set_mode(MMA7660_120HZ, 1);
rc5_init(TIMER_RC5, rc5_callback, PRIO_RC5);
sd_init();
timer_init(TIMER_1KHZ, 1000, 6);
timer_enable_interrupt(TIMER_1KHZ, timer_1khz, PRIO_1KHZ);
rf_init(I2C_3);
timer_enable(TIMER_1KHZ);
sd_log_file();
vm_present = init_aseba_and_fifo();
if(vm_present)
log_analyse_bytecode();
vmVariables.fwversion[0] = FW_VERSION;
vmVariables.fwversion[1] = FW_VARIANT;
// SD file is more important than internal flash
if(!sd_load_aseba_code()) {
log_set_flag(LOG_FLAG_VMCODESD);
vm_present = 1;
log_analyse_bytecode();
}
// Behavior is on INT4 (softirq trigged by 1khz timer).
behavior_init(PRIO_BEHAVIOR);
test_mode = sd_test_file_present();
if(!test_mode)
mode_init(vm_present);
// Enable the LVD interrupt
_LVDIE = 1;
play_sound(SOUND_POWERON);
if(test_mode) {
test_mode_start();
while(1)
idle_without_aseba();
}
while(behavior_enabled(B_MODE))
idle_without_aseba();
// If usb did not put us out of behavior mode, then start the rf link
if(!usb_uart_serial_port_open() && (rf_get_status() & RF_PRESENT)) {
rf_set_link(RF_UP);
}
// get the random seed
seed = 0;
for(i = 0; i < 5; i++) {
seed += vmVariables.buttons_mean[i];
seed += vmVariables.buttons_noise[i];
}
seed += vmVariables.vbat[0];
seed += vmVariables.vbat[1];
for(i = 0; i < 3; i++)
seed += vmVariables.acc[i];
AsebaSetRandomSeed(seed);
for(i = 0; i < 3; i++)
AsebaGetRandom();
// Give full control to aseba. No way out (except reset).
run_aseba_main_loop();
}
void HAL_adc_init() {
analog_init();
while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
while (ADC1_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
NVIC_ENABLE_IRQ(IRQ_FTM1);
}
int unicorn_init(void)
{
channel_tag fan = NULL;
int ret = 0;
board_info_t board_info;
printf("unicorn_init...\n");
ret = eeprom_read_board_info(EEPROM_DEV, &board_info);
if (ret < 0) {
printf("Read eeprom board info failed\n");
return -1;
}
if (!strncasecmp("bbp1s", board_info.name, 5)) {
bbp_board_type = BOARD_BBP1S;
} else if(!strncasecmp("bbp1", board_info.name, 4)){
bbp_board_type = BOARD_BBP1;
}
printf("board name:%s, version:%s, get board type:%d \n", board_info.name, board_info.version, bbp_board_type);
/*
* Create fifo
* fifo_plan2st, fifo_st2plan
* fifo_plan2gc, fifo_gc2plan
*/
Fifo_Attrs fAttrs = Fifo_Attrs_DEFAULT;
hFifo_plan2st = Fifo_create(&fAttrs);
hFifo_st2plan = Fifo_create(&fAttrs);
if ((hFifo_st2plan == NULL) ||
(hFifo_plan2st == NULL)) {
printf("Create Fifo failed\n");
return -1;
}
Pause_Attrs pAttrs = Pause_Attrs_DEFAULT;
hPause_printing = Pause_create(&pAttrs);
if (hPause_printing == NULL) {
printf("Create pause err\n");
return -1;
} else {
Pause_on(hPause_printing);
}
/* set up unicorn system */
ret = unicorn_setup();
if (ret < 0) {
return ret;
}
/* init sub systems of unicorn */
ret = parameter_init(EEPROM_DEV);
if (ret < 0) {
printf("parameter_init failed\n");
return ret;
}
ret = analog_init();
if (ret < 0) {
printf("analog_init failed\n");
return ret;
}
ret = temp_init();
if (ret < 0) {
printf("temp_init failed\n");
return ret;
}
ret = pwm_init();
if (ret < 0) {
printf("pwm_init failed\n");
return ret;
}
ret = fan_init();
if (ret < 0) {
printf("fan_init failed\n");
return ret;
}
ret = heater_init();
if (ret < 0) {
printf("heater_init failed\n");
return ret;
}
#ifdef SERVO
if (bbp_board_type == BOARD_BBP1S) {
ret = servo_init();
if (ret < 0) {
printf("servo_init failed\n");
return ret;
}
}
#endif
ret = lmsw_init();
if (ret < 0) {
printf("lmsw_init failed\n");
return ret;
}
ret = plan_init();
if (ret < 0) {
printf("plan_init failed\n");
return ret;
}
ret = stepper_init();
if (ret < 0) {
printf("stepper_init failed\n");
return ret;
}
ret = gcode_init();
if (ret < 0) {
printf("gcode_init failed\n");
return ret;
}
fan = fan_lookup_by_name("fan_3");
if (fan) {
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
fan_enable(fan);
}
fan = fan_lookup_by_name("fan_4");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
fan = fan_lookup_by_name("fan_5");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
fan = fan_lookup_by_name("fan_6");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
printf("unicorn_init ok!!!\n");
return ret;
}
void pinguino_main(void)
{
#if defined(PIC18F26J50)
// Enable the PLL and wait 2+ms until the PLL locks
u16 pll_startup_counter = 600;
OSCTUNEbits.PLLEN = 1;
while(pll_startup_counter--);
#endif
PIE1 = 0;
PIE2 = 0;
IOsetSpecial();
IOsetDigital();
IOsetRemap();
#ifdef ON_EVENT // Enable General/Peripheral interrupts
int_init(); // Disable all individual interrupts
#endif
#ifdef __USB__
PIE2bits.USBIE = 1;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
#endif
//setup();
//#ifdef ON_EVENT
//int_start(); // Enable all defined timers interrupts
//#endif
#ifdef ANALOG
analog_init();
#endif
#ifdef __MILLIS__ // Use Timer 0
millis_init();
#endif
#ifdef SERVOSLIBRARY
servos_init();
#endif
#ifdef __USBCDC
CDC_init();
PIE2bits.USBIE = 1;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
#endif
#ifdef __USBBULK
bulk_init();
PIE2bits.USBIE = 1;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
#endif
#ifdef __PS2KEYB__
keyboard_init()
#endif
#if defined(__SERIAL__) || defined(SERVOSLIBRARY)
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
#endif
/* RB : millis.c/millis_init() did already the job
#ifdef MILLIS
INTCONbits.TMR0IE= 1;
INTCONbits.GIE = 1;
#endif
*/
setup();
#ifdef ON_EVENT
int_start(); // Enable all defined timers interrupts
#endif
while (1)
loop();
}
