int DIS_init() {
if (!bcm2835_init())
return 1;
bcm2835_gpio_fsel(DIS_CS1, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(DIS_CS2, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(DIS_CS3, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(DIS_CS4, BCM2835_GPIO_FSEL_OUTP);
chipSelect(DIS_NONE);
bcm2835_spi_begin();
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
bcm2835_spi_setClockDivider(DIS_CLOCK_DIVIDER);
bcm2835_spi_chipSelect(BCM2835_SPI_CS_NONE);
return 0;
}
int main(int argc, char** argv) {
/*Configuring POSC with PLL, with goal FOSC = 80 MHZ */
// Configure PLL prescaler, PLL postscaler, PLL divisor
// Fin = 8 Mhz, 8 * (40/2/2) = 80
PLLFBD = 18; // M=40 // change to 38 for POSC 80 Mhz - this worked only on a single MCU for uknown reason
CLKDIVbits.PLLPOST = 0; // N2=2
CLKDIVbits.PLLPRE = 0; // N1=2
// Initiate Clock Switch to Primary Oscillator with PLL (NOSC=0b011)
//__builtin_write_OSCCONH(0x03);
// tune FRC
OSCTUN = 23; // 23 * 0.375 = 8.625 % -> 7.37 Mhz * 1.08625 = 8.005Mhz
// Initiate Clock Switch to external oscillator NOSC=0b011 (alternative use FRC with PLL (NOSC=0b01)
__builtin_write_OSCCONH(0b011);
__builtin_write_OSCCONL(OSCCON | 0x01);
// Wait for Clock switch to occur
while (OSCCONbits.COSC!= 0b011);
// Wait for PLL to lock
while (OSCCONbits.LOCK!= 1);
// local variables in main function
int status = 0;
int i = 0;
int ax = 0, ay = 0, az = 0;
int statusProxi[8];
int slowLoopControl = 0;
UINT16 timerVal = 0;
float timeElapsed = 0.0;
//extern UINT8 pwmMotor;
extern UINT16 speakerAmp_ref;
extern UINT16 speakerFreq_ref;
extern UINT8 proxyStandby;
UINT16 dummy = 0x0000;
setUpPorts();
delay_t1(50);
PWMInit();
delay_t1(50);
ctlPeltier = 0;
PeltierVoltageSet(ctlPeltier);
FanCooler(0);
diagLED_r[0] = 100;
diagLED_r[1] = 0;
diagLED_r[2] = 0;
LedUser(diagLED_r[0], diagLED_r[1],diagLED_r[2]);
// Speaker initialization - set to 0,1
spi1Init(2, 0);
speakerAmp_ref = 0;
speakerAmp_ref_old = 10;
speakerFreq_ref = 1;
speakerFreq_ref_old = 10;
int count = 0;
UINT16 inBuff[2] = {0};
UINT16 outBuff[2] = {0};
while (speakerAmp_ref != speakerAmp_ref_old) {
if (count > 5 ) {
// Error !
//LedUser(100, 0, 0);
break;
}
inBuff[0] = (speakerAmp_ref & 0x0FFF) | 0x1000;
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], outBuff);
chipDeselect(slaveVib);
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], &speakerAmp_ref_old);
chipDeselect(slaveVib);
count++;
}
count = 0;
while (speakerFreq_ref != speakerFreq_ref_old) {
if (count > 5 ) {
// Error !
//LedUser(0, 100, 0);
break;
}
inBuff[0] = (speakerFreq_ref & 0x0FFF) | 0x2000;
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], outBuff);
chipDeselect(slaveVib);
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], &speakerFreq_ref_old);
chipDeselect(slaveVib);
count++;
}
accPin = aSlaveR;
accPeriod = 1.0 / ACC_RATE * 1000000.0; // in us; for ACC_RATE = 3200 Hz it should equal 312.5 us
status = adxl345Init(accPin);
ax = status;
delay_t1(5);
/* Init FFT coefficients */
TwidFactorInit(LOG2_FFT_BUFF, &Twiddles_array[0],0);
delta_freq = (float)ACC_RATE / FFT_BUFF;
// read 100 values to calculate bias
int m;
int n = 0;
for (m = 0; m < 100; m++) {
status = readAccXYZ(accPin, &ax, &ay, &az);
if (status <= 0) {
//
}
else {
ax_b_l += ax;
ay_b_l += ay;
az_b_l += az;
n++;
}
delay_t1(1);
}
ax_b_l /= n;
ay_b_l /= n;
az_b_l /= n;
_SI2C2IE = 0;
_SI2C2IF = 0;
// Proximity sensors initalization
I2C1MasterInit();
status = VCNL4000Init();
// Cooler temperature sensors initalization
status = adt7420Init(0, ADT74_I2C_ADD_mainBoard);
delay_t1(1);
muxCh = I2C1ChSelect(1, 6);
status = adt7420Init(0, ADT74_I2C_ADD_flexPCB);
// Temperature sensors initialization
statusTemp[0] = adt7320Init(tSlaveF, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[1] = adt7320Init(tSlaveR, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[2] = adt7320Init(tSlaveB, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[3] = adt7320Init(tSlaveL, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
// Temperature estimation initialization
for (i = 0; i < 50; i++) {
adt7320ReadTemp(tSlaveF, &temp_f);
delay_t1(1);
adt7320ReadTemp(tSlaveL, &temp_l);
delay_t1(1);
adt7320ReadTemp(tSlaveB, &temp_b);
delay_t1(1);
adt7320ReadTemp(tSlaveR, &temp_r);
delay_t1(1);
}
tempBridge[0] = temp_f;
tempBridge[1] = temp_r;
tempBridge[2] = temp_b;
tempBridge[3] = temp_l;
if (statusTemp[0] != 1)
temp_f = -1;
if (statusTemp[1] != 1)
temp_r = -1;
if (statusTemp[2] != 1)
temp_b = -1;
if (statusTemp[3] != 1)
temp_l = -1;
// CASU ring average temperature
temp_casu = 0;
tempNum = 0;
tempSensors = 0;
for (i = 0; i < 4; i++) {
if (statusTemp[i] == 1 && tempBridge[i] > 20 && tempBridge[i] < 60) {
tempNum++;
temp_casu += tempBridge[i];
tempSensors++;
}
}
if (tempNum > 0)
temp_casu /= tempNum;
else
temp_casu = -1;
temp_casu1 = temp_casu;
temp_wax = temp_casu;
temp_wax1 = temp_casu;
temp_model = temp_wax;
temp_old[0] = temp_f;
temp_old[1] = temp_r;
temp_old[2] = temp_b;
temp_old[3] = temp_l;
temp_old[4] = temp_flexPCB;
temp_old[5] = temp_pcb;
temp_old[6] = temp_casu;
temp_old[7] = temp_wax;
for (i = 0; i < 4; i++) {
uref_m[i] = temp_wax;
}
// Configure i2c2 as a slave device and interrupt priority 5
I2C2SlaveInit(I2C2_CASU_ADD, BB_I2C_INT_PRIORITY);
// delay for 2 sec
for(i = 0; i < 4; i ++) {
delay_t1(500);
ClrWdt();
}
while (i2cStarted == 0) {
delay_t1(200);
ClrWdt();
}
dma0Init();
dma1Init();
CloseTimer4();
ConfigIntTimer4(T4_INT_ON | TEMP_LOOP_PRIORITY);
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(2000, 256));
CloseTimer5();
ConfigIntTimer5(T5_INT_ON | FFT_LOOP_PRIORITY);
OpenTimer5(T5_ON | T5_PS_1_256, ticks_from_ms(1000, 256));
diagLED_r[0] = 0;
diagLED_r[1] = 0;
diagLED_r[2] = 0;
LedUser(diagLED_r[0], diagLED_r[1],diagLED_r[2]);
start_acc_acquisition();
while(1) {
ConfigIntTimer2(T2_INT_OFF); // Disable timer interrupt
IFS0bits.T2IF = 0; // Clear interrupt flag
OpenTimer2(T2_ON | T2_PS_1_256, 65535); // Configure timer
if (!proxyStandby) {
statusProxi[0] = I2C1ChSelect(1, 2); // Front
proxy_f = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[1] = I2C1ChSelect(1, 4); // Back right
proxy_br = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[2] = I2C1ChSelect(1, 3); // Front right
proxy_fr = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[3] = I2C1ChSelect(1, 5); // Back
proxy_b = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[4] = I2C1ChSelect(1, 0); // Back left
proxy_bl = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[5] = I2C1ChSelect(1, 1); // Front left
proxy_fl = VCNL4000ReadProxi();
delay_t1(1);
}
else {
proxy_f = 0; // Front
proxy_br = 0; // Back right
proxy_fr = 0; // Front right
proxy_b = 0; // Back
proxy_bl = 0; // Back left
proxy_fl = 0; // Front left
}
if (timer4_flag == 1) {
// every 2 seconds
CloseTimer4();
ConfigIntTimer4(T4_INT_ON | TEMP_LOOP_PRIORITY);
timer4_flag = 0;
if (dma_spi2_started == 0) {
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(2000, 256));
skip_temp_filter++;
tempLoop();
}
else {
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(50, 256));
}
}
if (dma_spi2_done == 1) {
fftLoop();
dma_spi2_done = 0;
}
if ((timer5_flag == 1) || (new_vibration_reference == 1)) {
// every 1 seconds
CloseTimer5();
ConfigIntTimer5(T5_INT_ON | FFT_LOOP_PRIORITY);
OpenTimer5(T5_ON | T5_PS_1_256, ticks_from_ms(1000, 256));
timer5_flag = 0;
if (new_vibration_reference == 1) {
//if(1){
CloseTimer3();
dma0Stop();
dma1Stop();
spi2Init(2, 0);
dma0Init();
dma1Init();
chipDeselect(aSlaveR);
IFS0bits.DMA0IF = 0;
delay_t1(30); // transient response
}
new_vibration_reference = 0;
start_acc_acquisition();
}
// Cooler fan control
if (fanCtlOn == 1) {
if (temp_pcb >= 25 && fanCooler == FAN_COOLER_OFF)
fanCooler = FAN_COOLER_ON;
else if (temp_pcb <= 24 && fanCooler == FAN_COOLER_ON)
fanCooler = FAN_COOLER_OFF;
// In case of I2C1 fail turn on the fan
if ((proxy_f == 0xFFFF) && (proxy_fr == 0xFFFF) && (proxy_br == 0xFFFF) && (proxy_b == 0xFFFF) && (proxy_bl == 0xFFFF) && (proxy_fl == 0xFFFF))
fanCooler = FAN_COOLER_ON;
}
else if (fanCtlOn == 2)
fanCooler = FAN_COOLER_ON;
else
fanCooler = FAN_COOLER_OFF;
//TEST
// temp_f = temp_model;
// if (temp_ref < 30) {
// temp_r = smc_parameters[0] * 10;
// }
// else {
// temp_r = smc_parameters[0] / 2.0 * 10.0;
// }
// temp_r = alpha*10;
// temp_b = sigma_m * 10;
// temp_l = sigma * 10;
//temp_flexPCB = temp_ref_ramp;
/*
proxy_f = dma_spi2_started;
proxy_fl = dma_spi2_done;
proxy_bl = new_vibration_reference;
proxy_b = timer5_flag;
proxy_br = timer4_flag;
*/
int dummy_filt = 0;
for (i = 0; i < 8; i++) {
if (index_filter[i] > 0){
dummy_filt++;
}
}
if (dummy_filt > 0) {
filtered_glitch = dummy_filt;
//for (i = 0; i< 8; index_filter[i++] = 0);
}
else {
filtered_glitch = 0;
}
updateMeasurements();
timerVal = ReadTimer2();
CloseTimer2();
timeElapsed = ms_from_ticks(timerVal, 256);
//if (timeElapsed < MAIN_LOOP_DUR)
// delay_t1(MAIN_LOOP_DUR - timeElapsed);
ClrWdt(); //Clear watchdog timer
} // end while(1)
return (EXIT_SUCCESS);
}
//
// Fix a compile error - see http://stackoverflow.com/questions/920500/what-is-the-purpose-of-cxa-pure-virtual for details.
//
// extern "C" void __cxa_pure_virtual() { while (1); }
//
// The main entry point
//
int main(void) {
//
// Board and port initialisations
//
StellarisLaunchpad pad;
StellarisPort port1(SYSCTL_PERIPH_GPIOD);
StellarisPort port2(SYSCTL_PERIPH_GPIOE);
//
// Create a set of objects representing the output pins
//
StellarisPortPin clock(GPIO_PORTD_BASE, GPIO_PIN_1);
StellarisPortPin shift(GPIO_PORTD_BASE, GPIO_PIN_2);
StellarisPortPin chipSelect(GPIO_PORTD_BASE, GPIO_PIN_3);
StellarisPortPin a(GPIO_PORTE_BASE, GPIO_PIN_1);
StellarisPortPin b(GPIO_PORTE_BASE, GPIO_PIN_2);
StellarisPortPin c(GPIO_PORTE_BASE, GPIO_PIN_3);
//
// Create and initialise the LedArrayDriver
//
LedArrayDriver led(&clock, &chipSelect, &shift, &a,&b,&c, NBR_OF_DISPLAY_ROWS, NBR_OF_DISPLAY_COLUMNS);
led.init();
AsciiMessage welcome("**** Welcome to the Museum of Computing - open Fridays 10am to 4pm and Saturdays 9:30am to 5pm ****");
AsciiMessage exhib1("**** Visit our \"Gaming on the Go\" exhibition - 35 years of handheld games consoles ****");
AsciiMessage retroGaming("**** Join our computer games sessions on Saturdays for some retro gaming ****");
AsciiMessage website("**** See us on the web at http://www.museum-of-computing.org.uk/ ****");
AsciiMessage hackspace("**** Join the Swindon Hackspace at the Museum of Computing - Wednesdays 6:30pm to 10pm ****");
AsciiMessage compClub("**** Ask about our Kids Computer Club on Saturdays ****");
AsciiMessage schoolVisit("**** Arrange a school visit and take part in a tour of the museum, quizzes and mini projects ****");
AsciiMessage shop("**** Our shop has a range of gifts and souvenirs ****");
RepeatedGraphic multiInvader(invader, 10, 8);
AnimatedGraphic pacman(animPacman, 17, 7);// columns * frames
AnimatedGraphic invader(animInvader, 11, 4);// columns * frames
LeftScroller scrollLeft1(led, invader, 2, displayBuffer);
LeftScroller scrollLeft2(led, welcome, 1, displayBuffer);
LeftScroller scrollLeft3(led, exhib1, 1, displayBuffer);
LeftScroller scrollLeft4(led, multiInvader, 1, displayBuffer);
LeftScroller scrollLeft5(led, retroGaming, 1, displayBuffer);
LeftScroller scrollLeft6(led, pacman, 1, displayBuffer);
LeftScroller scrollLeft7(led, compClub, 1, displayBuffer);
LeftScroller scrollLeft8(led, schoolVisit, 1, displayBuffer);
LeftScroller scrollLeft9(led, website, 1, displayBuffer);
LeftScroller scrollLeft10(led, shop, 1, displayBuffer);
LeftScroller scrollLeft11(led, hackspace, 1, displayBuffer);
do
{
scrollLeft1.init(); while(scrollLeft1.animate());
scrollLeft2.init(); while(scrollLeft2.animate());
scrollLeft3.init(); while(scrollLeft3.animate());
scrollLeft4.init(); while(scrollLeft4.animate());
scrollLeft5.init(); while(scrollLeft5.animate());
scrollLeft6.init(); while(scrollLeft6.animate());
scrollLeft7.init(); while(scrollLeft7.animate());
scrollLeft8.init(); while(scrollLeft8.animate());
scrollLeft9.init(); while(scrollLeft9.animate());
scrollLeft10.init(); while(scrollLeft10.animate());
scrollLeft11.init(); while(scrollLeft11.animate());
} while(1);
}
int get(uint8_t DIS_num, uint8_t cmd) {
uint8_t curr_total_att = ATT_TOTAL;
uint8_t curr_a5_att = ATT_A5;
uint8_t curr_got_a5_att = ATT_GOT_A5;
char read_tmp_buf[7];
char dummy_byte = 0x55;
char tmp = 0x55;
uint8_t success = 0;
// Стандартный стартовый байт
write_packet.write_pos.start_byte = 0xAA;
// Запишем команду
write_packet.write_pos.cmd_number = cmd;
// Данные - нули
for (uint8_t i = 0; i < 4; i++) {
write_packet.write_pos.data[i] = 0x00;
}
// Считаем CRC
write_packet.write_pos.crc = Crc8(write_packet.write_frame, 6);
// Начинаем пробовать получить 0хА5
while (curr_total_att) {
curr_total_att--;
// printf("Chip select... \n");
chipSelect(DIS_num);
// printf("Done Chip select... \n");
bcm2835_spi_transfernb((char*) write_packet.write_frame, read_tmp_buf, 7);
// printf("Transferred cmd... \n");
// ждем получения 0хА5
while (curr_a5_att) {
curr_a5_att--;
bcm2835_spi_transfernb(&dummy_byte, &tmp, 1);
bcm2835_delay(1);
// если получили, то перестаем ждать
if (0xA5 == tmp) {
break;
}
}
// если был получен А5
if (tmp == 0xA5) {
// printf("Got 0xA5 \n");
// ждем пока пройдут все A5
while (((tmp == 0xA5) || (tmp == 0x55)) && curr_got_a5_att) {
curr_got_a5_att--;
bcm2835_spi_transfernb(&dummy_byte, &tmp, 1);
}
// получаем сами данные
if (curr_got_a5_att) {
// printf("Got data \n");
bcm2835_spi_transfernb(&dummy_byte, (char*) read_packet.read_frame, 5);
success = 1;
chipSelect(DIS_NONE);
break;
}
curr_got_a5_att = ATT_GOT_A5;
} else {
curr_a5_att = ATT_A5;
}
chipSelect(DIS_NONE);
}
if (success == 1) {
// скопируем в буфер данные
for(uint8_t i = 0; i < 4; i++){
usr_data_buf_ptr[i] = read_packet.read_pos.data[i];
read_packet.read_pos.data[i] = 0;
}
return 0;
} else {
printf("Failed to get \n");
return 1;
}
}
void Spi::deSelect()
{
waitData();
chipSelect(-1);
}
