int main( void )
{
avr_init();
pulse_init();
puts( "$Id: tach.c,v 2.0 2002/09/22 02:10:18 tramm Exp $" );
putnl();
while( 1 )
{
puthex( high_bits );
puthex( time() );
putc( ':' );
puthexs( pulse_0 );
putc( ' ' );
puthexs( pulse_1 );
putnl();
pulse_1 = pulse_0 = 0;
msleep( 8192 );
}
return 0;
}
int avr_open_(device_t dev) {
if (avr_initialized == FALSE) {
avr_init();
avr_initialized = TRUE;
}
return DRIVER_NO_ERROR;
}
int main(void) {
// initialise MCU
avr_init();
// turn on the red status led ASAP to show boot process
avr_set_bit(PORTD, STATUS_LED);
// we're using the XBee module, connected to the UART
serial_init();
// turn off the red status led ASAP to show boot process has ended
avr_clear_bit(PORTD, STATUS_LED);
// prepare for using sleep_ms
sleep_init();
// the endless loop
while(TRUE) {
// show we're awake
avr_set_bit(PORTC, STATUS_LED); // visually
printf( "Awake for 1 second ...\n"); // remotely
_delay_ms(1000);
printf( "Going to sleep for 10 seconds...\n");
avr_clear_bit(PORTC, STATUS_LED);
sleep_ms(10000L);
}
return(0);
}
avr_t *
m128rfa1_create(struct drumfish_cfg *config)
{
avr_t *avr;
avr = avr_make_mcu_by_name("atmega128rfa1");
if (!avr) {
fprintf(stderr, "Failed to create AVR core 'atmega128rfa1'\n");
return NULL;
}
/* Setup any additional init/deinit routines */
avr->special_init = m128rfa1_init;
avr->special_deinit = m128rfa1_deinit;
avr->special_data = config;
/* Initialize our AVR */
avr_init(avr);
/* Our chips always run at 16mhz */
avr->frequency = 16000000;
/* Set our fuses */
avr->fuse[0] = 0xE6; // low
avr->fuse[1] = 0x1C; // high
avr->fuse[2] = 0xFE; // extended
//avr->lockbits = 0xEF; // lock bits
/* Check to see if we initialized our flash */
if (!avr->flash) {
fprintf(stderr, "Failed to initialize flash correctly.\n");
return NULL;
}
/* Based on fuse values, we'll always want to boot from the bootloader
* which will always start at 0x1f800.
*/
avr->pc = PC_START;
avr->codeend = avr->flashend;
/* Setup our UARTs */
if (uart_pty_init(avr, &uart_pty[0], '0')) {
fprintf(stderr, "Unable to start UART0.\n");
return NULL;
}
uart_pty_connect(&uart_pty[0]);
if (uart_pty_init(avr, &uart_pty[1], '1')) {
fprintf(stderr, "Unable to start UART1.\n");
return NULL;
}
uart_pty_connect(&uart_pty[1]);
return avr;
}
int main(int argc, char *argv[])
{
// elf_firmware_t f;
const char * pwd = dirname(argv[0]);
avr = avr_make_mcu_by_name("at90usb162");
if (!avr) {
fprintf(stderr, "%s: Error creating the AVR core\n", argv[0]);
exit(1);
}
strcpy(avr_flash_path, "simusb_flash.bin");
// register our own functions
avr->special_init = avr_special_init;
avr->special_deinit = avr_special_deinit;
//avr->reset = NULL;
avr_init(avr);
avr->frequency = 8000000;
// this trick creates a file that contains /and keep/ the flash
// in the same state as it was before. This allow the bootloader
// app to be kept, and re-run if the bootloader doesn't get a
// new one
{
char path[1024];
uint32_t base, size;
snprintf(path, sizeof(path), "%s/../%s", pwd, "at90usb162_cdc_loopback.hex");
uint8_t * boot = read_ihex_file(path, &size, &base);
if (!boot) {
fprintf(stderr, "%s: Unable to load %s\n", argv[0], path);
exit(1);
}
printf("Booloader %04x: %d\n", base, size);
memcpy(avr->flash + base, boot, size);
free(boot);
avr->pc = base;
avr->codeend = avr->flashend;
}
// even if not setup at startup, activate gdb if crashing
avr->gdb_port = 1234;
if (0) {
//avr->state = cpu_Stopped;
avr_gdb_init(avr);
}
vhci_usb_init(avr, &vhci_usb);
vhci_usb_connect(&vhci_usb, '0');
while (1) {
avr_run(avr);
}
}
int
main (int argc, char **argv)
{
/* produce AVR's FSM headers. */
if (ANGFSM_OPTIONS (argc, argv))
return 0;
avr_init (argc, argv);
main_init ();
main_loop ();
return 0;
}
int main(void) {
avr_init();
serial_init();
gps_init();
// gps_on_receive_position(new_position_handler);
printf("boot and init completed.\nentering tracking loop...\n");
while(1) { gps_receive(); }
return(0);
}
int
main (int argc, char **argv)
{
avr_init (argc, argv);
sei ();
uart0_init ();
proto_send0 ('z');
while (1)
{
uint8_t c = uart0_getc ();
proto_accept (c);
}
}
avr_t *tests_init_avr(const char *elfname) {
tests_cycle_count = 0;
map_stderr();
elf_firmware_t fw;
if (elf_read_firmware(elfname, &fw))
fail("Failed to read ELF firmware \"%s\"", elfname);
avr_t *avr = avr_make_mcu_by_name(fw.mmcu);
if (!avr)
fail("Creating AVR failed.");
avr_init(avr);
avr_load_firmware(avr, &fw);
return avr;
}
int main(int argc, char *argv[])
{
elf_firmware_t f;
const char * fname = "atmega1280_i2ctest.axf";
printf("Firmware pathname is %s\n", fname);
elf_read_firmware(fname, &f);
printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu);
avr = avr_make_mcu_by_name(f.mmcu);
if (!avr) {
fprintf(stderr, "%s: AVR '%s' not known\n", argv[0], f.mmcu);
exit(1);
}
avr_init(avr);
avr_load_firmware(avr, &f);
// initialize our 'peripheral', setting the mask to allow read and write
i2c_eeprom_init(avr, &ee, 0xa0, 0x01, NULL, 1024);
i2c_eeprom_attach(avr, &ee, AVR_IOCTL_TWI_GETIRQ(0));
ee.verbose = 1;
// even if not setup at startup, activate gdb if crashing
avr->gdb_port = 1234;
if (0) {
//avr->state = cpu_Stopped;
avr_gdb_init(avr);
}
/*
* VCD file initialization
*
* This will allow you to create a "wave" file and display it in gtkwave
* Pressing "r" and "s" during the demo will start and stop recording
* the pin changes
*/
// avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 100000 /* usec */);
// avr_vcd_add_signal(&vcd_file,
// avr_io_getirq(avr, AVR_IOCTL_TWI_GETIRQ(0), TWI_IRQ_STATUS), 8 /* bits */ ,
// "TWSR" );
printf( "\nDemo launching:\n");
int state = cpu_Running;
while ((state != cpu_Done) && (state != cpu_Crashed))
state = avr_run(avr);
}
int main( void )
{
int cycle_count = 0;
uint8_t servo_pos = 0;
avr_init();
adc_init( 0x70 );
puts( "$Id: sweep.c,v 2.0 2002/09/22 02:10:18 tramm Exp $" );
putnl();
while( 1 )
{
accel_task( adc_task );
if( ++cycle_count % 32 )
continue;
puthex( high_bits );
puthex( time() );
putc( ':' );
puts( " Ax=" ); puthex( a_x );
puts( " Ay=" ); puthex( a_y );
puts( " pos=" ); puthexs( servo_pos );
servo_set( 0, servo_pos );
servo_set( 1, servo_pos );
servo_set( 2, servo_pos );
servo_set( 3, servo_pos );
servo_set( 4, servo_pos );
servo_set( 5, servo_pos );
servo_set( 6, servo_pos );
servo_set( 7, servo_pos );
servo_pos += 8;
putnl();
}
return 0;
}
int main(void)
{
avr_init();
//acd_init();
//A - wej�cie
//DDRA=0x00;
//B - wyj�cie - opcjonalne z diod�
//DDRB=0xFF;
//C - wyj�cie - tranzystory
//DDRC=0xFF;
//PORTC=0x00;
//D - wej�cie - nieu�ywany
//DDRD=0x00;
return 0;
}
/** Entry point. */
int
main (int argc, char **argv)
{
avr_init (argc, argv);
/* Pull-ups. */
PORTB = 0xe0;
PORTC = 0xfc;
PORTD = 0x80;
timer_init ();
uart0_init ();
twi_proto_init ();
cs_init ();
aux_init ();
eeprom_read_params ();
proto_send0 ('z');
sei ();
while (1)
main_loop ();
return 0;
}
int main(void) {
avr_init();
avr_adc_init();
xbee_init();
xbee_wait_for_association();
avr_clear_bit(LIGHT_SENSOR_PORT, LIGHT_SENSOR_PIN);
union {
uint16_t reading;
uint8_t bytes[2];
} light;
while(TRUE) {
light.reading = avr_adc_read(LIGHT_SENSOR_PIN);
xbee_send_bytes(light.bytes, 2);
_delay_ms(60000L);
}
return(0);
}
int main( void )
{
avr_init();
puts( "echo: Send me data" );
putnl();
while( 1 )
{
uint8_t c;
while( getchar( &c ) < 0 )
;
puthex( time() );
puts( ": read: " );
putc( c );
putnl();
}
return 0;
}
void main(void) {
#else
int main(void) {
#endif
/* Ensure that the Watchdog is not running. */
wdt_disable();
/* Initialize system. */
if (true != avr_init()) {
error_handler();
} else if (true != eep_init()) {
eep_deinit();
error_handler();
} else if (true != cmd_if_init()) {
cmd_if_deinit();
error_handler();
}
/* Disable modules that are not needed any more. */
eep_deinit();
LED_ORANGE_ON();
/* Enable interrupts. */
sei();
/* Endless application loop. */
for(;;) {
/* Dispatch events from the event queue. */
vrt_dispatch_event();
/* Poll modules that require this. */
vrt_timer_task();
usb_task();
air_capture_task();
cmd_if_task();
}
}
int
main(void)
{
avr_init();
/* all devices initialize themselves as slaves in TWI*/
USI_TWI_Slave_Initialise(TWI_BROADCAST_ADDRESS);
/* main loop */
while(1) {
if (uart_dataReceived) { // if we have received anything over UART
USI_TWI_Master_Initialise(); // Initialize ourselves as TWI master
uint8_t buffer[2];
buffer[0] =
(TWI_BROADCAST_ADDRESS << TWI_ADR_BITS) | /* address */
(FALSE << TWI_READ_BIT); /* write operation */
buffer[1] = uart_data; /* The data we received over UART has to be sent
* over TWI. */
sendUart(uart_data);
while (!USI_TWI_Start_Transceiver_With_Data(buffer, 2)); /* Transmit, and
* re-transmit
* till
* successful. */
sendUart(uart_data);
uart_dataReceived = false; /* we've consumed the data from UART.. */
/* reinitialize ourself as a slave in TWI*/
USI_TWI_Slave_Initialise(TWI_BROADCAST_ADDRESS);
} else if (USI_TWI_Data_In_Receive_Buffer()) { /* have we
* received
* anything
* over TWI? */
// temporary:
USI_TWI_Master_Initialise(); // Initialize ourselves as TWI master
uint8_t buffer[2];
buffer[0] =
(TWI_BROADCAST_ADDRESS << TWI_ADR_BITS) | /* address */
(FALSE << TWI_READ_BIT); /* write operation */
buffer[1] = 0xf3; /* The data we received over UART has to be sent
* over TWI. */
while (!USI_TWI_Start_Transceiver_With_Data(buffer, 2)); /* Transmit, and
* re-transmit
* till
* successful. */
buffer[0] =
(TWI_BROADCAST_ADDRESS << TWI_ADR_BITS) | /* address */
(FALSE << TWI_READ_BIT); /* write operation */
buffer[1] = 0x08; /* The data we received over UART has to be sent
* over TWI. */
while (!USI_TWI_Start_Transceiver_With_Data(buffer, 2)); /* Transmit, and
* re-transmit
* till
* successful. */
// temporary till here
uint8_t TWI_data = USI_TWI_Receive_Byte(); // Receive that data
sendUart(TWI_data); // Transmit it over UART
}
}
}
int main(int argc, char *argv[])
{
elf_firmware_t f = {{0}};
long f_cpu = 0;
int trace = 0;
int gdb = 0;
int log = 1;
char name[16] = "";
uint32_t loadBase = AVR_SEGMENT_OFFSET_FLASH;
int trace_vectors[8] = {0};
int trace_vectors_count = 0;
if (argc == 1)
display_usage(basename(argv[0]));
for (int pi = 1; pi < argc; pi++) {
if (!strcmp(argv[pi], "--list-cores")) {
list_cores();
} else if (!strcmp(argv[pi], "-h") || !strcmp(argv[pi], "--help")) {
display_usage(basename(argv[0]));
} else if (!strcmp(argv[pi], "-m") || !strcmp(argv[pi], "-mcu")) {
if (pi < argc-1)
strcpy(name, argv[++pi]);
else
display_usage(basename(argv[0]));
} else if (!strcmp(argv[pi], "-f") || !strcmp(argv[pi], "-freq")) {
if (pi < argc-1)
f_cpu = atoi(argv[++pi]);
else
display_usage(basename(argv[0]));
} else if (!strcmp(argv[pi], "-t") || !strcmp(argv[pi], "-trace")) {
trace++;
} else if (!strcmp(argv[pi], "-ti")) {
if (pi < argc-1)
trace_vectors[trace_vectors_count++] = atoi(argv[++pi]);
} else if (!strcmp(argv[pi], "-g") || !strcmp(argv[pi], "-gdb")) {
gdb++;
} else if (!strcmp(argv[pi], "-v")) {
log++;
} else if (!strcmp(argv[pi], "-ee")) {
loadBase = AVR_SEGMENT_OFFSET_EEPROM;
} else if (!strcmp(argv[pi], "-ff")) {
loadBase = AVR_SEGMENT_OFFSET_FLASH;
} else if (argv[pi][0] != '-') {
char * filename = argv[pi];
char * suffix = strrchr(filename, '.');
if (suffix && !strcasecmp(suffix, ".hex")) {
if (!name[0] || !f_cpu) {
fprintf(stderr, "%s: -mcu and -freq are mandatory to load .hex files\n", argv[0]);
exit(1);
}
ihex_chunk_p chunk = NULL;
int cnt = read_ihex_chunks(filename, &chunk);
if (cnt <= 0) {
fprintf(stderr, "%s: Unable to load IHEX file %s\n",
argv[0], argv[pi]);
exit(1);
}
printf("Loaded %d section of ihex\n", cnt);
for (int ci = 0; ci < cnt; ci++) {
if (chunk[ci].baseaddr < (1*1024*1024)) {
f.flash = chunk[ci].data;
f.flashsize = chunk[ci].size;
f.flashbase = chunk[ci].baseaddr;
printf("Load HEX flash %08x, %d\n", f.flashbase, f.flashsize);
} else if (chunk[ci].baseaddr >= AVR_SEGMENT_OFFSET_EEPROM ||
chunk[ci].baseaddr + loadBase >= AVR_SEGMENT_OFFSET_EEPROM) {
// eeprom!
f.eeprom = chunk[ci].data;
f.eesize = chunk[ci].size;
printf("Load HEX eeprom %08x, %d\n", chunk[ci].baseaddr, f.eesize);
}
}
} else {
if (elf_read_firmware(filename, &f) == -1) {
fprintf(stderr, "%s: Unable to load firmware from file %s\n",
argv[0], filename);
exit(1);
}
}
}
}
if (strlen(name))
strcpy(f.mmcu, name);
if (f_cpu)
f.frequency = f_cpu;
avr = avr_make_mcu_by_name(f.mmcu);
if (!avr) {
fprintf(stderr, "%s: AVR '%s' not known\n", argv[0], f.mmcu);
exit(1);
}
avr_init(avr);
avr_load_firmware(avr, &f);
if (f.flashbase) {
printf("Attempted to load a bootloader at %04x\n", f.flashbase);
avr->pc = f.flashbase;
}
avr->log = (log > LOG_TRACE ? LOG_TRACE : log);
avr->trace = trace;
for (int ti = 0; ti < trace_vectors_count; ti++) {
for (int vi = 0; vi < avr->interrupts.vector_count; vi++)
if (avr->interrupts.vector[vi]->vector == trace_vectors[ti])
avr->interrupts.vector[vi]->trace = 1;
}
// even if not setup at startup, activate gdb if crashing
avr->gdb_port = 1234;
if (gdb) {
avr->state = cpu_Stopped;
avr_gdb_init(avr);
}
signal(SIGINT, sig_int);
signal(SIGTERM, sig_int);
for (;;) {
int state = avr_run(avr);
if ( state == cpu_Done || state == cpu_Crashed)
break;
}
avr_terminate(avr);
}
int main(int argc, char *argv[])
{
elf_firmware_t f;
//const char * fname = "atmega48_ledramp.axf";
const char * fname = argv[1];
char path[256];
// sprintf(path, "%s/%s", dirname(argv[0]), fname);
// printf("Firmware pathname is %s\n", path);
elf_read_firmware(fname, &f);
printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu);
avr = avr_make_mcu_by_name(f.mmcu);
if (!avr) {
fprintf(stderr, "%s: AVR '%s' now known\n", argv[0], f.mmcu);
exit(1);
}
avr_init(avr);
avr_load_firmware(avr, &f);
// initialize our 'peripheral'
button_init(avr, &button, "button");
// "connect" the output irw of the button to the port pin of the AVR
avr_connect_irq(
button.irq + IRQ_BUTTON_OUT,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 0));
// connect all the pins on port B to our callback
for (int i = 0; i < 8; i++)
avr_irq_register_notify(
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), i),
pin_changed_hook,
NULL);
// even if not setup at startup, activate gdb if crashing
avr->gdb_port = 1234;
if (0) {
//avr->state = cpu_Stopped;
avr_gdb_init(avr);
}
/*
* VCD file initialization
*
* This will allow you to create a "wave" file and display it in gtkwave
* Pressing "r" and "s" during the demo will start and stop recording
* the pin changes
*/
avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 100000 /* usec */);
avr_vcd_add_signal(&vcd_file,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_PIN_ALL), 8 /* bits */ ,
"portb" );
avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), IOPORT_IRQ_PIN0), 1, "portc");
avr_vcd_add_signal(&vcd_file,
button.irq + IRQ_BUTTON_OUT, 1 /* bits */ ,
"button" );
// 'raise' it, it's a "pullup"
avr_raise_irq(button.irq + IRQ_BUTTON_OUT, 1);
printf( "Demo launching: 'LED' bar is PORTB, updated every 1/64s by the AVR\n"
" firmware using a timer. If you press 'space' this presses a virtual\n"
" 'button' that is hooked to the virtual PORTC pin 0 and will\n"
" trigger a 'pin change interrupt' in the AVR core, and will 'invert'\n"
" the display.\n"
" Press 'q' to quit\n\n"
" Press 'r' to start recording a 'wave' file\n"
" Press 's' to stop recording\n"
);
/*
* OpenGL init, can be ignored
*/
glutInit(&argc, argv); /* initialize GLUT system */
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE);
glutInitWindowSize(8 * pixsize, 1 * pixsize); /* width=400pixels height=500pixels */
window = glutCreateWindow("Glut"); /* create window */
// Set up projection matrix
glMatrixMode(GL_PROJECTION); // Select projection matrix
glLoadIdentity(); // Start with an identity matrix
glOrtho(0, 8 * pixsize, 0, 1 * pixsize, 0, 10);
glScalef(1,-1,1);
glTranslatef(0, -1 * pixsize, 0);
glutDisplayFunc(displayCB); /* set window's display callback */
glutKeyboardFunc(keyCB); /* set window's key callback */
glutTimerFunc(1000 / 24, timerCB, 0);
// the AVR run on it's own thread. it even allows for debugging!
pthread_t run;
pthread_create(&run, NULL, avr_run_thread, NULL);
glutMainLoop();
}
int main(int argc, char *argv[])
{
elf_firmware_t f;
const char * fname = "wordClock-erl";
char path[256];
// sprintf(path, "%s/%s", dirname(argv[0]), fname);
// printf("Firmware pathname is %s\n", path);
elf_read_firmware(fname, &f);
strcpy( f.mmcu, "atmega168" ); // hack
f.frequency = 16000000;
printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu);
avr = avr_make_mcu_by_name(f.mmcu);
if (!avr) {
fprintf(stderr, "%s: AVR '%s' now known\n", argv[0], f.mmcu);
exit(1);
}
avr_init(avr);
avr_load_firmware(avr, &f);
// initialize our 'peripheral'
// button_init(avr, &button, "button");
// "connect" the output irw of the button to the port pin of the AVR
/*
avr_connect_irq(
button.irq + IRQ_BUTTON_OUT,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 0));
*/
// connect all the pins on port B to our callback
#if 0
for (int i = 0; i < 8; i++)
avr_irq_register_notify(
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), i),
pin_changed_hook,
NULL);
#endif
// even if not setup at startup, activate gdb if crashing
avr->gdb_port = 1234;
if (0) {
//avr->state = cpu_Stopped;
avr_gdb_init(avr);
}
/*
* VCD file initialization
*
* This will allow you to create a "wave" file and display it in gtkwave
* Pressing "r" and "s" during the demo will start and stop recording
* the pin changes
*
* Initially set to 100 000 usec = 100 ms. I think it is how often
* to flush its' log.
*/
avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 100 /* usec */);
/* want MOSI, SCLK, XLAT, BLANK */
avr_vcd_add_signal( &vcd_file,
avr_io_getirq(avr, AVR_IOCTL_SPI_GETIRQ(0),
SPI_IRQ_OUTPUT),
8, "MOSI" );
avr_vcd_add_signal(&vcd_file,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 1 ),
1, "XLAT" );
avr_vcd_add_signal(&vcd_file,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 2 ),
1, "BLANK" );
avr_vcd_add_signal(&vcd_file,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 5 ),
1, "SCLK" );
#if 0
avr_vcd_add_signal(&vcd_file,
button.irq + IRQ_BUTTON_OUT, 1 /* bits */ ,
"button" );
// 'raise' it, it's a "pullup"
avr_raise_irq(button.irq + IRQ_BUTTON_OUT, 1);
#endif
avr_vcd_start( &vcd_file );
printf( "Demo launching. " );
#if 0
/*
* OpenGL init, can be ignored
*/
glutInit(&argc, argv); /* initialize GLUT system */
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE);
glutInitWindowSize(8 * pixsize, 1 * pixsize); /* width=400pixels height=500pixels */
window = glutCreateWindow("Glut"); /* create window */
// Set up projection matrix
glMatrixMode(GL_PROJECTION); // Select projection matrix
glLoadIdentity(); // Start with an identity matrix
glOrtho(0, 8 * pixsize, 0, 1 * pixsize, 0, 10);
glScalef(1,-1,1);
glTranslatef(0, -1 * pixsize, 0);
glutDisplayFunc(displayCB); /* set window's display callback */
glutKeyboardFunc(keyCB); /* set window's key callback */
glutTimerFunc(1000 / 24, timerCB, 0);
#endif
// the AVR run on it's own thread. it even allows for debugging!
pthread_t run;
pthread_create(&run, NULL, avr_run_thread, NULL);
sleep( 60 ); // wait 5 seconds, then exit.
avr_vcd_stop(&vcd_file);
/* glutMainLoop(); */
}
int main(int argc, char* argv[]) {
int r = 0;
char* elf_file = NULL;
int gdb_port = 0;
for (char** arg = &argv[1]; *arg != NULL; ++arg) {
if (strcmp("-d", *arg) == 0)
gdb_port = atoi(*(++arg));
else
elf_file = *arg;
}
if (elf_file == NULL) {
fprintf(stderr, "Give me a .elf file to load\n");
return 1;
}
elf_firmware_t f;
elf_read_firmware(elf_file, &f);
avr_t* avr = avr_make_mcu_by_name("atmega328p");
if (!avr) {
fprintf(stderr, "Unsupported cpu atmega328p\n");
return 1;
}
avr_init(avr);
if (gdb_port != 0) {
avr->gdb_port = gdb_port;
avr_gdb_init(avr);
}
avr->frequency = 16000000;
avr_load_firmware(avr, &f);
pcd8544_init(avr, &lcd);
avr_connect_irq(avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 2),
lcd.irq + IRQ_PCD8544_DC);
avr_connect_irq(avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 1),
lcd.irq + IRQ_PCD8544_CS);
avr_connect_irq(avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 0),
lcd.irq + IRQ_PCD8544_RST);
avr_connect_irq(avr_io_getirq(avr, AVR_IOCTL_SPI_GETIRQ(0), SPI_IRQ_OUTPUT),
lcd.irq + IRQ_PCD8544_SPI_IN);
gb_keypad_init(avr, &keypad);
for (int i = 0; i < keydefs_length; i++) {
const keydef_t *k = keydefs + i;
avr_connect_irq(keypad.irq + k->keypad_key,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ(k->port), k->pin));
// Start with the pin high
avr_ioport_t* port = (avr_ioport_t*) avr->io[k->avr_port].w.param;
key_io[i].pin_mask = (1<<k->pin);
key_io[i].pull_value = &port->external.pull_value;
port->external.pull_mask |= key_io[i].pin_mask;
port->external.pull_value |= key_io[i].pin_mask;
gb_keypad_press(&keypad, k->keypad_key, 1);
}
if (display_init()) {
lcd_ram_mutex = SDL_CreateMutex();
SDL_Thread* avr_thread = SDL_CreateThread(avr_run_thread, "avr-thread", avr);
main_loop();
SDL_LockMutex(lcd_ram_mutex);
quit_flag = 1;
SDL_UnlockMutex(lcd_ram_mutex);
int avr_thread_return;
SDL_WaitThread(avr_thread, &avr_thread_return);
SDL_DestroyMutex(lcd_ram_mutex);
} else {
r = 1;
fprintf(stderr, "%s\n", display_error_message());
}
display_destroy();
return r;
}
int main(int argc, char *argv[])
{
struct avr_flash flash_data;
char boot_path[1024] = "ATmegaBOOT_168_atmega328.ihex";
uint32_t boot_base, boot_size;
char * mmcu = "atmega328p";
uint32_t freq = 16000000;
int debug = 0;
int verbose = 0;
/*
* To allow other programs to know that the model is
* online and ready for programming, we create a file
* called emu_online.txt
*
* At the beginning we clean up the file and then write
* to it later on once the emulator is running.
*/
char * emu_online_file = "emu_online.txt";
int emu_online_flag = 0;
for (int i = 1; i < argc; i++) {
if (!strcmp(argv[i] + strlen(argv[i]) - 4, ".hex"))
strncpy(boot_path, argv[i], sizeof(boot_path));
else if (!strcmp(argv[i], "-d"))
debug++;
else if (!strcmp(argv[i], "-v"))
verbose++;
else if (strstr(argv[i], ".ihex") != NULL)
strcpy( boot_path, argv[1] );
else {
fprintf(stderr, "%s: invalid argument %s\n", argv[0], argv[i]);
exit(1);
}
}
if( access(emu_online_file, F_OK) != -1 ){
remove(emu_online_file);
}
avr = avr_make_mcu_by_name(mmcu); if (!avr) { fprintf(stderr, "%s: Error creating the AVR core\n", argv[0]);
exit(1);
}
uint8_t * boot = read_ihex_file(boot_path, &boot_size, &boot_base);
if (!boot) {
fprintf(stderr, "%s: Unable to load %s\n", argv[0], boot_path);
exit(1);
}
if (boot_base > 32*1024*1024) {
mmcu = "atmega2560";
freq = 20000000;
}
printf("%s booloader 0x%05x: %d bytes\n", mmcu, boot_base, boot_size);
snprintf(flash_data.avr_flash_path, sizeof(flash_data.avr_flash_path),
"simduino_%s_flash.bin", mmcu);
flash_data.avr_flash_fd = 0;
// register our own functions
avr->custom.init = avr_special_init;
avr->custom.deinit = avr_special_deinit;
avr->custom.data = &flash_data;
avr_init(avr);
avr->frequency = freq;
memcpy(avr->flash + boot_base, boot, boot_size);
free(boot);
avr->pc = boot_base;
/* end of flash, remember we are writing /code/ */
avr->codeend = avr->flashend;
avr->log = 1 + verbose;
// even if not setup at startup, activate gdb if crashing
avr->gdb_port = 1234;
if (debug) {
avr->state = cpu_Stopped;
avr_gdb_init(avr);
}
uart_pty_init(avr, &uart_pty);
uart_pty_connect(&uart_pty, '0');
while (1) {
int state = avr_run(avr);
if ( state == cpu_Done || state == cpu_Crashed)
break;
if( emu_online_flag == 0){
fopen(emu_online_file, "w+");
emu_online_flag = 1;
}
}
}
void atmega128_init(struct atmega128* const mega)
{
mega->uart0_rx_fifo_state = 0;
mega->uart1_rx_fifo_state = 0;
struct avr* const avr = &(mega->avr);
struct avr_dmem* const dmem = &(avr->dmem);
struct avr_pmem* const pmem = &(avr->pmem);
// give access to arrays
dmem->mem = mega->dmem;
dmem->callbacks = mega->callbacks;
dmem->size = ATMEGA128_DMEM_SIZE;
pmem->mem = mega->pmem;
pmem->decoded = mega->decoded;
pmem->size = ATMEGA128_PMEM_SIZE;
// initialise the config variables
avr->pc_size = ATMEGA128_PC_SIZE;
dmem->io_resisters_start = ATMEGA128_IO_REGISTERS_START;
dmem->io_resisters_end = ATMEGA128_IO_REGISTERS_END;
dmem->io_resisters_length = ATMEGA128_IO_REGISTERS_LENGTH;
dmem->sreg_loc = ATMEGA128_SREG_LOC;
dmem->sp_loc = ATMEGA128_STACK_POINTER_LOC;
dmem->sp_size = ATMEGA128_STACK_POINTER_SIZE;
dmem->x_loc = ATMEGA128_X_LOC;
dmem->y_loc = ATMEGA128_Y_LOC;
dmem->z_loc = ATMEGA128_Z_LOC;
dmem->rampx_loc = ATMEGA128_RAMPX_LOC;
dmem->rampy_loc = ATMEGA128_RAMPY_LOC;
dmem->rampz_loc = ATMEGA128_RAMPZ_LOC;
dmem->rampd_loc = ATMEGA128_RAMPD_LOC;
dmem->eind_loc = ATMEGA128_EIND_LOC;
avr_init(avr);
avr->sleep_cb = &atmega128_sleep_cb;
avr->sleep_cb_arg = mega;
// initialise version specific callbacks
dmem->callbacks[ATMEGA128_UDR0_LOC -
ATMEGA128_IO_REGISTERS_START].write_callback =
&atmega128_udr0_write_cb;
dmem->callbacks[ATMEGA128_UDR0_LOC
- ATMEGA128_IO_REGISTERS_START].write_callback_arg = mega;
dmem->callbacks[ATMEGA128_UDR0_LOC -
ATMEGA128_IO_REGISTERS_START].read_callback
= &atmega128_udr0_read_cb;
dmem->callbacks[ATMEGA128_UDR0_LOC -
ATMEGA128_IO_REGISTERS_START].read_callback_arg = mega;
dmem->callbacks[ATMEGA128_UCSR0A_LOC -
ATMEGA128_IO_REGISTERS_START].write_callback
= &atmega128_ucsr0a_write_cb;
dmem->callbacks[ATMEGA128_UCSR0A_LOC -
ATMEGA128_IO_REGISTERS_START].write_callback_arg = mega;
dmem->callbacks[ATMEGA128_UCSR0B_LOC -
ATMEGA128_IO_REGISTERS_START].write_callback
= &atmega128_ucsr0b_write_cb;
dmem->callbacks[ATMEGA128_UCSR0B_LOC -
ATMEGA128_IO_REGISTERS_START].write_callback_arg = mega;
dmem->callbacks[ATMEGA128_SREG_LOC -
ATMEGA128_IO_REGISTERS_START].write_callback
= &atmega128_sreg_write_cb;
dmem->callbacks[ATMEGA128_SREG_LOC -
ATMEGA128_IO_REGISTERS_START].write_callback_arg = mega;
// initialise version specific registers
atmega128_init_regs(dmem);
}
int main(int argc, char *argv[])
{
int state;
elf_firmware_t f;
const char *fname = "../BasicMotorControl.elf";
const char *mmcu = "atmega328p";
if (elf_read_firmware(fname, &f) != 0)
{
exit(1);
}
f.frequency = 16000000;
printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, mmcu);
avr = avr_make_mcu_by_name(mmcu);
if (!avr)
{
fprintf(stderr, "%s: AVR '%s' not known\n", argv[0], mmcu);
exit(1);
}
avr_init(avr);
avr_load_firmware(avr, &f);
#if 0
/* even if not setup at startup, activate gdb if crashing */
avr->gdb_port = 1234;
avr->state = cpu_Stopped;
avr_gdb_init(avr);
#endif
/* VCD file initialization */
avr_vcd_init(avr, "wave.vcd", &vcd_file, 10000 /* usec */);
avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 0), 1, "B0" );
avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 1), 1, "B1" );
avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 2), 1, "B2" );
avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 3), 1, "B3" );
avr_vcd_start(&vcd_file);
/* IRQ callback hooks */
avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 0), pin_changed_hook, NULL);
avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 1), pin_changed_hook, NULL);
avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 2), pin_changed_hook, NULL);
avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 3), pin_changed_hook, NULL);
/* show some info */
show_ports(avr);
/* install signal handlers */
signal(SIGINT, sig_int);
signal(SIGTERM, sig_int);
/* main loop */
printf("*** Entering main loop ***\n");
while (1)
{
state = avr_run(avr);
if (state == cpu_Done || state == cpu_Crashed)
{
printf("CPU State %d\n", state);
break;
}
}
avr_vcd_stop(&vcd_file);
avr_terminate(avr);
return 0;
}
void main(void) {
#else
int main(void) {
#endif
uint32_t blcc;
// Prevent optimizing of bootloader revision in progmem
volatile uint16_t tmp2 = ATmega3290p_bl_rev;
// Disable watchdog
watchdog_disable();
// Configuring LCD with Extern clock (TOSC, 32.768kHz)
// 32786 Hz 32786 Hz
// frame_rate = ------------------ = ------------- = 32 Hz
// 8 * .prescl * .div 8 * 16 * 8
//
lcd_config_t lcd_config = LCD_DEFAULT_CONFIG;
// Initialization
if (true != avr_init()) { // Generic MCU initialization
error_handler();
} else if (df_init() != 0) { // Data flash initialization
error_handler();
} else if (lcd_init(lcd_config) != 0) { // Display
error_handler();
} else if (led_init() != 0) { // Led
error_handler();
}
/* start timer 2*/
ASSR |= (1<<AS2); // Asynchronous operation
TCCR2A &= ~((1<<CS22)|(1<<CS21)|(1<<CS20));
TCCR2A |= (1<<CS20);
// Check shorting of "Factory default pins"
uint8_t prr = PRR;
PRR &= ~(1 << PRADC);
DIDR1 &= ~((1 << AIN1D)|(1 << AIN0D));
PRR = prr;
BOOT_DDR |= (1 << BOOT_TX); // Tx output
BOOT_PORT &= ~(1 << BOOT_TX); // Tx low
BOOT_DDR &= ~(1 << BOOT_RX); // Rx input
BOOT_PORT |= (1 << BOOT_RX); // Rx pullup on
if ((BOOT_PIN & (1 << BOOT_RX)) != (1 << BOOT_RX)) { // Rx pin low?
/* Check that RX goes high when TX is pulled high. */
BOOT_PORT |= (1 << BOOT_TX); // Set Tx high
nop();
nop();
nop();
nop();
if ((BOOT_PIN & (1 << BOOT_RX)) == (1 << BOOT_RX)) { // Rx high?
intvecs_to_boot(); // move interrutp vectors to boot section, and start boot loader
sei();
// Check supply voltage
if (supply_voltage_read() < 2600) {
lcd_puts("LOW BAT");
error_handler();
}
BLCC_WRITE(BLCC_NORMAL_APP_START); // write communication channel in case abnormal exit of boot loader (power off etc.)
lcd_symbol_set(LCD_SYMBOL_RAVEN);
lcd_puts("WRITING");
led_status_set(LED_FAST_BLINK);
do_fw_upgrade(M3290P_FLASH_FD_IMG_ADR);
// Signal ATmega3290p application program that FW upgrade is complete
// This makes the application program continue upgrade ATmega1284p after booting
BLCC_WRITE(BLCC_LOAD_FACTORY_DEFAULT);
app_start(); // start application program
}
}
// Read bootloader communication channel in EEPROM and take proper action
BLCC_READ(blcc);
if (blcc == BLCC_FW_UPGRADE_START_REQUEST_FROM_APP) {
intvecs_to_boot(); // move interrutp vectors to boot section, and start boot loader
sei();
// Check supply voltage
if (supply_voltage_read() < 2600) {
lcd_puts("LOW BAT");
error_handler();
}
BLCC_WRITE(BLCC_NORMAL_APP_START); // write communication channel in case abnormal exit of boot loader (power off etc.)
lcd_symbol_set(LCD_SYMBOL_RAVEN);
lcd_puts("WRITING");
led_status_set(LED_FAST_BLINK);
do_fw_upgrade(M3290P_FLASH_USR_IMG_ADR);
// Signal ATmega3290p application program that FW upgrade is complete
BLCC_WRITE(BLCC_FW_UPGRADE_COMPLETE);
reboot();
} else if (blcc == BLCC_FW_UPGRADE_COMPLETE) {
BLCC_WRITE(BLCC_FW_UPGRADE_COMPLETE);
sei();
app_start(); // start application program
} else if (blcc == BLCC_RESTART_REQUEST_FROM_APP) {
/* Start application program*/
BLCC_WRITE(BLCC_NORMAL_APP_START);
sei();
app_start();
} else {
/*else, start application program*/
BLCC_WRITE(BLCC_NORMAL_APP_START);
sei();
app_start();
}
}
int main(void)
{
// INIT MCU
avr_init();
uint32_t prev_time = 0;
float uptime_float = 0;
//char msg[64] = "Unknown time\r\n";
// Print program metrics
/*
USARTE0_WriteString_P(str_prog_name);// Название программы
USARTE0_WriteString_P(PSTR("Compiled at: "));
USARTE0_WriteString_P(compile_time); // Время компиляции
USARTE0_WriteString_P(PSTR(" "));
USARTE0_WriteString_P(compile_date); // Дата компиляции
USARTE0_WriteString_P(PSTR("\r\n"));
*/
//Working via printf
printf_P(str_prog_name);// Название программы
printf_P(PSTR("Compiled at: "));
printf_P(compile_time); // Время компиляции
printf_P(PSTR(" "));
printf_P(compile_date); // Дата компиляции
printf_P(PSTR("\r\n"));
// FreeRam DEBUG
//sprintf_P(msg, PSTR(">>>Free RAM is: %u bytes\r\n\r\n"), freeRam());
//USARTE0_WriteString(msg);
printf_P(PSTR(">>>Free RAM is: %u bytes\r\n\r\n"), freeRam());
//***************************Profiling micros: BEGIN
//Accurate Measure time interval from 1us till ~ 65.5ms
uint16_t _micros;
// Profiling time for 10us
_micros = TCD0.CNT;
_delay_us(10);
_micros = TCD0.CNT - _micros;
printf_P(PSTR(">>>10us is: %u us\r\n"), _micros);
// Profiling time for 100us
_micros = TCD0.CNT;
_delay_us(100);
_micros = TCD0.CNT - _micros;
printf_P(PSTR(">>>100us is: %u us\r\n"), _micros);
// Profiling time for 1ms
_micros = TCD0.CNT;
_delay_ms(1);
_micros = TCD0.CNT - _micros;
printf_P(PSTR(">>>1ms is: %u us\r\n"), _micros);
// Profiling time for 65ms
_micros = TCD0.CNT;
_delay_ms(65);
_micros = TCD0.CNT - _micros;
printf_P(PSTR(">>>65ms is: %u us\r\n"), _micros);
//***************************Profiling micros: END
//**************************Bench IO speed
BENCH_IO_std_XMEGA_profile();
BENCH_IO_std_XMEGA(); //!! 2 cycle per instruction MIDDLE SPEED
//BENCH_IO_tgl_XMEGA(); //!! 2 cycle per instruction MIDDLE SPEED
//BENCH_IO_VirtualPort_XMEGA(); //!! 1 cycle per instruction FASTEST
//BENCH_IO_std_MEGA(); //!! 5 cycle per instruction SLOWEST
while(1);
for(;;)
{
//Nothing to do
//asm("nop");
// Print OUT second tick & Received from RX
if (prev_time != uptime)
{
// Here every second
//!! Uptime Handle
prev_time = uptime;
//sprintf(msg, "Uptime is: %lu sec\r\n", prev_time);
//USARTE0_WriteString(msg);
printf_P(PSTR("Uptime is: %lu sec\r\n"), prev_time);
uptime_float += 0.01;
//!! Don't forget correct <makefile> PRINTF_LIB for:
/*
PRINTF_LIB = $(PRINTF_LIB_FLOAT)
*/
printf_P(PSTR("Uptime float is: %.2f \r\n"), uptime_float);
//!! Received from RX Handle
// Check received index
if (USARTE0_rx_buf_idx > 0)
{
cli(); // Disable IRQ
static char rx_buf[rx_buf_MAX+1];
uint8_t idx = USARTE0_rx_buf_idx;
memset(rx_buf, 0, sizeof(rx_buf)); // Fill RX_Buffer with Zeros
memcpy(rx_buf, USARTE0_rx_buf, idx); // Transfer RX data to Temporary buffer
USARTE0_rx_buf_idx = 0; // Set zero Received RX counter
sei(); // Enable IRQ
// Print OUT RX Received data
//sprintf(msg, ">>RX: %s\r\n", rx_buf);
//USARTE0_WriteString(msg);
printf_P(PSTR(">>RX: %s\r\n"), rx_buf);
}
}
/*
// Not used because USARTE0_RX via IRQ
else
{
// Check receive data from USARTE0 RX
if (USARTE0_RX_Available())
{
//Print OUT recieved from USARTE0 RX
rx_char[0] = USARTE0_ReadChar();
sprintf(msg, ">> %s\r\n", rx_char);
USARTE0_WriteString(msg);
}
}
*/
}
return(0);
}
int
main (int argc, char *argv[])
{
elf_firmware_t firmware;
const char *firmware_path = "../../../firmwares/blink-led.elf";
int rc = elf_read_firmware (firmware_path, &firmware);
if (rc == -1)
exit (1);
printf ("firmware %s f=%d mmcu=%s\n", firmware_path, (int) firmware.frequency, firmware.mmcu);
firmware.frequency = 16e6;
avr = avr_make_mcu_by_name ("atmega2560"); // firmware.mmcu
if (!avr)
{
fprintf (stderr, "%s: AVR '%s' not known\n", argv[0], firmware.mmcu);
exit (1);
}
avr_init (avr);
avr_load_firmware (avr, &firmware);
avr->log = LOG_TRACE;
avr->trace = 1;
// connect all the pins on port B to our callback
for (int i = 0; i < 8; i++)
avr_irq_register_notify (avr_io_getirq (avr, AVR_IOCTL_IOPORT_GETIRQ ('B'), i),
pin_changed_hook, NULL);
/*
* VCD file initialization
*
* This will allow you to create a "wave" file and display it in gtkwave Pressing "r" and "s"
* during the demo will start and stop recording the pin changes
*/
avr_vcd_init (avr, "gtkwave_output.vcd", &vcd_file, 100000); // us
avr_vcd_add_signal (&vcd_file,
avr_io_getirq (avr, AVR_IOCTL_IOPORT_GETIRQ ('B'), IOPORT_IRQ_PIN_ALL),
8, // bits
"porth");
printf (" Press 'q' to quit\n\n"
" Press 'r' to start recording a 'wave' file\n"
" Press 's' to stop recording\n");
// the AVR run on it's own thread. it even allows for debugging!
pthread_t run;
pthread_create (&run, NULL, avr_run_thread, NULL);
while (1)
{
switch (getchar())
{
case 'q':
exit(0);
break;
case 'r':
printf ("Starting VCD trace\n");
avr_vcd_start (&vcd_file);
break;
case 's':
printf ("Stopping VCD trace\n");
avr_vcd_stop (&vcd_file);
break;
}
fflush(stdin);
fflush(stdout);
// sleep (10); // s
}
}
void main(void) {
#else
int main(void) {
#endif
/* Ensure that the watchdog is not running. */
wdt_disable();
/* Initialize AVR peripheral modules. */
(bool)avr_init();
/* Check if the RX and TX pins are shorted. If they are shorted, the RZUSBSTICK
* shall start the bootloader. If not, continue to verify if the application
* requested to enter the bootloader.
*/
/* Check if the application has requested to enter the bootloader. */
if ((BOOT_PIN & (1 << BOOT_RX)) != (1 << BOOT_RX)) {
/* Check that RX goes high when TX is pulled high. */
BOOT_PORT |= (1 << BOOT_TX);
nop();
nop();
nop();
nop();
if ((BOOT_PIN & (1 << BOOT_RX)) != (1 << BOOT_RX)) {
start_application();
}
} else {
/* Check if the application has requested to enter the bootloader. */
uint8_t volatile magic_value = 0xAA;
EEGET(magic_value, EE_BOOT_MAGIC_ADR);
if (EE_BOOT_MAGIC_VALUE != magic_value) {
start_application();
} else {
EEPUT(EE_BOOT_MAGIC_ADR, 0xFF);
}
}
/* Set the interrupt vectors to the bootloader, initialize the LEDs and the
* VRT kernel.
*/
ENTER_CRITICAL_REGION();
uint8_t temp_mcucr = MCUCR;
MCUCR = (1 << IVCE);
MCUCR = (1 << IVSEL);
MCUCR = temp_mcucr;
LEAVE_CRITICAL_REGION();
LED_INIT();
vrt_init();
if (true != eep_init()) {
error_handler();
} else if (true != cmd_if_init()) {
error_handler();
}
LED_ORANGE_ON();
/* Enable Interrupts. */
sei();
/* Enter the endless application loop. */
for (;;) {
vrt_dispatch_event();
usb_task();
}
}
int main(int argc, char *argv[])
{
elf_firmware_t f;
const char *fname="../src/binw2.elf";
const char *mmcu="attiny13";
elf_read_firmware(fname, &f);
snprintf(f.mmcu, sizeof(f.mmcu) - 1, "%s", mmcu);
f.frequency = 4800000;
printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu);
avr = avr_make_mcu_by_name(f.mmcu);
if (!avr) {
fprintf(stderr, "%s: AVR '%s' not known\n", argv[0], f.mmcu);
exit(1);
}
avr_init(avr);
avr_load_firmware(avr, &f);
// initialize our 'peripheral'
button_init(avr, &button, "button");
// "connect" the output irq of the button to the port pin of the AVR
avr_connect_irq(
button.irq + IRQ_BUTTON_OUT,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_PIN4));
avr_irq_register_notify(
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_DIRECTION_ALL),
ddr_hook,
NULL);
avr_irq_register_notify(
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_PIN_ALL),
pin_changed_hook,
"portb");
// even if not setup at startup, activate gdb if crashing
avr->gdb_port = 1234;
//if (0) {
// //avr->state = cpu_Stopped;
// avr_gdb_init(avr);
//}
/*
* VCD file initialization
*
* This will allow you to create a "wave" file and display it in gtkwave
* Pressing "r" and "s" during the demo will start and stop recording
* the pin changes
*/
avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 100000 /* usec */);
avr_vcd_add_signal(&vcd_file,
avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_PIN_ALL), 8 /* bits */ ,
"portb" );
avr_vcd_add_signal(&vcd_file,
button.irq + IRQ_BUTTON_OUT, 1 /* bits */ ,
"button" );
// 'raise' it, it's a "pullup"
avr_raise_irq(button.irq + IRQ_BUTTON_OUT, 0);
printf( "Launching binw2 simulation\n"
" Press 'space' to press virtual button attached to pin %d\n"
" Press 'q' to quit\n"
" Press 'r' to start recording a 'wave' file\n"
" Press 's' to stop recording\n",
IOPORT_IRQ_PIN4);
/*
* OpenGL init, can be ignored
*/
glutInit(&argc, argv); /* initialize GLUT system */
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE);
glutInitWindowSize(5 * SZ_PIXSIZE, 7 * SZ_PIXSIZE);
window = glutCreateWindow("Glut"); /* create window */
// Set up projection matrix
glMatrixMode(GL_PROJECTION); // Select projection matrix
glLoadIdentity(); // Start with an identity matrix
glOrtho(0, 5 * SZ_PIXSIZE, 0, 7 * SZ_PIXSIZE, 0, 10);
//glScalef(1, -1, 1);
//glTranslatef(0, -7 * SZ_PIXSIZE, 0);
glutDisplayFunc(displayCB); /* set window's display callback */
glutKeyboardFunc(keyCB); /* set window's key callback */
glutTimerFunc(1000 / 24, timerCB, 0);
// the AVR run on it's own thread. it even allows for debugging!
pthread_t run;
pthread_create(&run, NULL, avr_run_thread, NULL);
glutMainLoop();
}
int main(void)
{
avr_init();
u08 even;
// u16 i;
//u08 temp;
command = 45;
// actualTemp = 85;
// u16 temp;
for(;;)
{
// Tasks here.
// Command line reception of commands...
// pass characters received on the uart (serial port)
// into the cmdline processor
// while(uartReceiveByte(&c)){
// vt100SetCursorPos(1, 0);
// uartSendByte(c);
// cmdlineInputFunc(c);
//
// }
// bounce the character, keep to the top 3 rows...
// run the cmdline execution functions
vt100SetCursorPos(3, 0);
cmdlineMainLoop();
// Command line reception ends here
if (APP_STATUS_REG & BV(DO_SAMPLE))
{
readMAX6675(&tempData); // get data to tempData variable
CLEAR_SAMPLE_FLAG;
//debug, invert pin
PIND ^= BV(PD5);
//update PID
// output = pid_Controller(command, tempData, &PID_data);
//invert PID
// output = PHASE_ANGLE_LIMIT_HIGH - output;
}
if(APP_STATUS_REG & BV(DO_PID))
{
#ifdef REG_PID
//update PID
output = pid_Controller(command, tempData, &PID_data);
#ifndef CMDLINE
#ifndef RX_DBG
rprintf("PID raw: ");
rprintfNum(10, 6, TRUE, ' ', output); rprintfCRLF();
#endif
//invert & limit PID
if(output > 29700) output = 700;
//output = PHASE_ANGLE_LIMIT_HIGH - output;
#ifndef RX_DBG
rprintf("PID scaled: ");
rprintfNum(10, 6, TRUE, ' ', output); rprintfCRLF();
#endif
#endif
#endif
#ifdef REG_PD
#endif
// actualTemp +=10;
// OCR0A = output;
CLEAR_PID_FLAG;
// }
/*
if((temp = 0xFFFF-output) > 30000)
{ temp = 30000;}
else if (temp < 1000)
{ temp = 1000;}
*/
// Limit to within 1 half-phase:
if((output > PHASE_ANGLE_LIMIT_HIGH) || (output < 0)){
#ifndef CMDLINE
#ifndef RX_DBG
rprintf("Max out");rprintfCRLF();
#endif
#endif
output = PHASE_ANGLE_LIMIT_HIGH; // don't fire the triac at all!
SET_HOLD_FIRE; // set flag to not fire triac
}
else
{
CLEAR_HOLD_FIRE; // set flag to fire triac
}
if ((output < PHASE_ANGLE_LIMIT_LOW)){ // || (output < 0))
#ifndef CMDLINE
#ifndef RX_DBG
rprintf("Min out");rprintfCRLF();
#endif
#endif
output = PHASE_ANGLE_LIMIT_LOW; // fire the triac at zerocrozz to get complete halfwave
}
#ifndef WALK_PHASEANGLE
OCR1A = output;
#endif
//OCR1A = PHASE_ANGLE_LIMIT_LOW;
//OCR1A = PHASE_ANGLE_LIMIT_HIGH;
}
#ifdef DEBUG_SER
// uartPrintfNum(10, 6, TRUE, ' ', 1234); --> " +1234"
// uartPrintfNum(16, 6, FALSE, '.', 0x5AA5); --> "..5AA5"
// rprintfNum(10, 4, FALSE, ' ', tempData);// rprintfCRLF();
#ifndef CMDLINE
#ifndef RX_DBG
if(sensorDisconnected)
{
rprintfProgStrM("Disconnected Probe!\r\n");
}
else
{
rprintf("Process Value: ");
rprintfNum(10, 4, FALSE, ' ', tempData); rprintfCRLF();
rprintf("Target Value: ");
rprintfNum(10, 4, FALSE, ' ', command); rprintfCRLF();
// rprintf("PID Phaselimit: ");
// rprintfNum(10, 6, TRUE, ' ', output); rprintfCRLF();
rprintf("OCR1A: ");
rprintfNum(10, 6, FALSE, ' ', OCR1A); rprintfCRLF();
//-----------
// rprintf("dummy: ");
// rprintfNum(10, 6, TRUE, ' ', _DUMMY); rprintfCRLF();
rprintf("E ");
rprintfNum(10, 4, TRUE, ' ', _ERROR); rprintfCRLF();
rprintf("P ");
rprintfNum(10, 8, TRUE, ' ', _PTERM); rprintfCRLF();
rprintf("I ");
rprintfNum(10, 8, TRUE, ' ', _ITERM); rprintfCRLF();
rprintf("D ");
rprintfNum(10, 8, TRUE, ' ', _DTERM); rprintfCRLF();
//-----------
}
vt100SetCursorPos(3, 0);
if(even++ == 10){
vt100ClearScreen();
vt100SetCursorPos(3,0);
even = 0;
}
#endif //#ifndef RX_DBG
#endif //#ifndef CMDLINE
#endif //#ifdef DEBUG_SER
}
return(0);
}
