/* remove a module from the chain. this isn't guaranteed to succeed,
* because removing the module might result in an invalid routing */
void
Chain::remove ( Module *m )
{
int i = modules_pack->find( m );
int ins = 0;
if ( i != 0 )
ins = module( i - 1 )->noutputs();
if ( ! can_configure_outputs( m, ins ) )
{
fl_alert( "Can't remove module at this point because the resultant chain is invalid" );
}
client()->lock();
strip()->handle_module_removed( m );
modules_pack->remove( m );
configure_ports();
client()->unlock();
}
int main(void) {
configure_ports();
// Start PWM
// Phase Correct, TOP is OCR1A, Update OCR1x at TOP, prescaler 8
// Clear OC1B on Compare Match when upcounting. Set OC1B on Compare
// Match when downcounting.
TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10);
TCCR1B = (1 << WGM13) | (1 << CS10);
OCR1A = 130; // set period to 20 ms
OCR1B = 72;
TCCR0A = _BV(WGM01);
TCCR0B = _BV(CS00) | _BV(CS02);
OCR0A = 17;
TIMSK0 = _BV(OCIE0A);
// pwmInit910(); // Intialize PWM for timer which controls pins 9 and 10 ( since pins 9 and 10 are on the same timer)
// pwmOn9(); // turn on PWM for pin 9
// pwmInit56(); //Initialize timer for pins 5 and 6(since pins 5 and 6 are on the same timer)
// pwmOn5(); // turn on PWM for pin 5
// pwmSet5(255); //pin6 which is 8 bit PWM
// pwmSet9(65535); //pin9 which is 16 bit PWM
// pwmSet10(255);
volatile int test = 0;
while(1) {
test+=1;
}
return 0;
}
/* add a control to the control strip. Assumed to already be connected! */
void
Chain::add_control ( Controller_Module *m )
{
client()->lock();
controls_pack->add( m );
configure_ports();
client()->unlock();
controls_pack->redraw();
}
void
Chain::buffer_size ( nframes_t nframes )
{
for ( unsigned int i = scratch_port.size(); i--; )
delete[] (sample_t*)scratch_port[i].buffer();
scratch_port.clear();
configure_ports();
for ( int i = 0; i < modules(); ++i )
{
Module *m = module(i);
m->resize_buffers( nframes );
}
}
void
Chain::buffer_size ( nframes_t nframes )
{
for ( unsigned int i = scratch_port.size(); i--; )
free(scratch_port[i].buffer());
scratch_port.clear();
configure_ports();
Module::set_buffer_size ( nframes );
for ( int i = 0; i < modules(); ++i )
{
Module *m = module(i);
m->resize_buffers( nframes );
}
}
void initialize() {
counter_a = 0;
counter_b = 0;
configure_ports();
configure_timers();
init_step_motor();
init_servodrive();
init_proxi_switch();
init_delays();
sei();
while(INIT_TIME--) {
buzzer(440, 100);
delay_s(1);
}
}
int main(void) {
configure_ports();
a2dInit();
a2dSetPrescaler(ADC_PRESCALE_DIV32);
a2dSetReference(ADC_REFERENCE_AVCC);
init_servos();
LED_on();
neutral();
hold_pos();
while (1) {
move_forward();
// sustain_pos();
}
return 0;
}
bool
Chain::insert ( Module *m, Module *n )
{
client()->lock();
if ( !m )
{
if ( modules() == 0 && n->can_support_inputs( 0 ) >= 0 )
{
n->chain( this );
n->configure_inputs( 0 );
modules_pack->add( n );
}
else if ( n->can_support_inputs( module( modules() - 1 )->noutputs() ) >= 0 )
{
n->chain( this );
n->configure_inputs( module( modules() - 1 )->noutputs() );
modules_pack->add( n );
}
else
{
DMESSAGE( "Module says it can't support %i inputs", module( modules() - 1 )->noutputs() );
goto err;
}
}
else
{
int i = modules_pack->find( m );
n->chain( this );
if ( 0 == i )
{
/* inserting to head of chain*/
if ( n->can_support_inputs( 0 ) >= 0 )
n->configure_inputs( 0 );
else
goto err;
}
else
{
if ( n->can_support_inputs( module( i - 1 )->noutputs() ) >= 0 )
{
n->configure_inputs( module( i - 1 )->noutputs() );
m->configure_inputs( n->noutputs() );
for ( int j = i + 1; j < modules(); ++j )
module( j )->configure_inputs( module( j - 1 )->noutputs() );
}
else
goto err;
}
modules_pack->insert( *n, i );
}
strip()->handle_module_added( n );
configure_ports();
client()->unlock();
DMESSAGE( "Module \"%s\" has %i:%i audio and %i:%i control ports",
n->name(),
n->ninputs(),
n->noutputs(),
n->ncontrol_inputs(),
n->ncontrol_outputs() );
n->initialize();
return true;
err:
client()->unlock();
DMESSAGE( "Insert failed" );
return false;
}
void init_device() {
configure_ports();
opdi_slave_init();
}
int main(void)
{
/****************INITIALIZATIONS*******************/
//other stuff Im experimenting with for SoR
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 9600); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it
uartSetBaudRate(2, 57600); // set UARTH speed
uartSetBaudRate(3, 57600); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
// initialize rprintf system and configure uart1 (USB) for rprintf
rprintfInit(uart1SendByte);
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
rprintf("\r\nSystem Warming Up");
// initialize the timer system (comment out ones you don't want)
init_timer0(TIMER_CLK_1024);
init_timer1(TIMER_CLK_64);
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_1024);
//timer5Init();
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
int i = 0, j = 0;
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
while(1)
{
control();
delay_cycles(100);
//an optional small delay to prevent crazy oscillations
}
return 0;
}
void prvSetupHardware(){
int i, j;
//add 1.7s delay for potential power issues
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 38400); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it doesn't work
uartSetBaudRate(2, 38400); // set UARTH speed
uartSetBaudRate(3, 38400); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
rprintfInit(uart1SendByte);// initialize rprintf system and configure uart1 (USB) for rprintf
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
//rprintf("\r\nSystem Warmed Up");
// initialize the timer system
init_timer0(TIMER_CLK_1024);
// init_timer1(TIMER_CLK_64); // Timer 1 is initialized by FreeRTOS
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_64);
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
//reset all timers to zero
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
/********PWM Setup***********/
prvPWMSetup();
}
