void encoder_init_all ()
{
uint8_t isr_counter = 0;
Disable_global_interrupt();
/* Initialization loop, this loop inits all required IO and interrupts
* for EIC module and pins used to read encoders. */
while(isr_counter < ENCODER_COUNT)
{
/* Init io for interrupt line and state poll line. */
gpio_enable_gpio_pin(encoder_handle[isr_counter].a_pin);
gpio_enable_gpio_pin(encoder_handle[isr_counter].b_pin);
/* Set pullup for both gpio channels. */
gpio_enable_pin_pull_up(encoder_handle[isr_counter].a_pin);
gpio_enable_pin_pull_up(encoder_handle[isr_counter].b_pin);
/* Init interrupt from encoder A line */
gpio_enable_pin_interrupt(encoder_handle[isr_counter].a_pin, GPIO_FALLING_EDGE);
gpio_disable_pin_interrupt(encoder_handle[isr_counter].b_pin);
INTC_register_interrupt(&encoders_and_buttons_isr,
AVR32_GPIO_IRQ_0 + (encoder_handle[isr_counter].a_pin/8),
AVR32_INTC_INT0);
isr_counter++;
}
Enable_global_interrupt();
}
/** \brief Drive Y lines to ground. */
static void inline rtouch_ground_y_surface(void)
{
gpio_enable_gpio_pin(rtouch_gpio_ymap[1].pin);
gpio_enable_gpio_pin(rtouch_gpio_ymap[0].pin);
gpio_clr_gpio_pin(rtouch_gpio_ymap[0].pin);
gpio_clr_gpio_pin(rtouch_gpio_ymap[1].pin);
}
/** \brief Enable pull-ups for Y lines.
*
* Used to be able to trigger an interrupt upon a touch.
*/
static void inline rtouch_pullup_y_surface(void)
{
gpio_enable_gpio_pin(rtouch_gpio_ymap[1].pin);
gpio_enable_gpio_pin(rtouch_gpio_ymap[0].pin);
gpio_enable_pin_pull_up(rtouch_gpio_ymap[0].pin);
gpio_enable_pin_pull_up(rtouch_gpio_ymap[1].pin);
}
//! @{
void twis_init (void)
{
twis_slave_fct_t twis_slave_fct;
#if BOARD == UC3L_EK
/**
* \internal For UC3L devices, TWI default pins are,
* TWIMS0 -> PB05,PA21
* TWIMS1 -> PB04
* To enable TWI clock/data in another pin, these have
* to be assigned to other peripherals or as GPIO.
* \endinternal
*/
gpio_enable_gpio_pin(AVR32_PIN_PB05);
gpio_enable_gpio_pin(AVR32_PIN_PA21);
#endif
const gpio_map_t TWIS_GPIO_MAP = {
{TEST_TWIS_TWCK_PIN, TEST_TWIS_TWCK_FUNCTION},
{TEST_TWIS_TWD_PIN, TEST_TWIS_TWD_FUNCTION}
};
const twis_options_t TWIS_OPTIONS = {
.pba_hz = FPBA_HZ,
.speed = TWI_SPEED,
.chip = SLAVE_ADDRESS,
.smbus = false,
};
// Assign I/Os to SPI.
gpio_enable_module (TWIS_GPIO_MAP,
sizeof (TWIS_GPIO_MAP) / sizeof (TWIS_GPIO_MAP[0]));
// Set pointer to user specific application routines
twis_slave_fct.rx = &twis_slave_rx;
twis_slave_fct.tx = &twis_slave_tx;
twis_slave_fct.stop = &twis_slave_stop;
// Initialize as master.
twis_slave_init (TWIS, &TWIS_OPTIONS, &twis_slave_fct);
}
//! @}
/*! \brief Main function.
*/
/*! \remarks Main Function
*/
//! @{
int main (void)
{
// Configure the system clock
init_sys_clocks ();
// Init debug serial line
init_dbg_rs232 (FPBA_HZ);
// Display a header to user
print_dbg ("Slave Example\r\n");
print_dbg ("Slave Started\r\n");
// Initialize and enable interrupt
irq_initialize_vectors();
cpu_irq_enable();
// Initialize the TWIS Module
twis_init ();
while (true);
}
void
led_init(void)
{
gpio_enable_gpio_pin(LED0_GPIO);
gpio_enable_gpio_pin(LED1_GPIO);
gpio_enable_gpio_pin(LED2_GPIO);
LINK_LED_OFF();
ERROR_LED_OFF();
DATA_LED_OFF();
}
/** \brief Drive voltage gradient on Y surface (YL=GND, YH=VDD). */
static void inline rtouch_gradient_y_surface(void)
{
gpio_enable_gpio_pin(rtouch_gpio_ymap[1].pin);
gpio_enable_gpio_pin(rtouch_gpio_ymap[0].pin);
gpio_disable_pin_pull_up(rtouch_gpio_ymap[0].pin);
gpio_disable_pin_pull_up(rtouch_gpio_ymap[1].pin);
gpio_clr_gpio_pin(rtouch_gpio_ymap[0].pin);
gpio_set_gpio_pin(rtouch_gpio_ymap[1].pin);
}
/** \brief Drive X lines to ground. */
static void inline rtouch_ground_x_surface(void)
{
/* To avoid a spike due to a Y-surface that is tristated and
* X-surface that was gradiented we need to set XH as input first.
* Otherwise the voltage on the signal line will rise to VDD. This is
* not an issue to the measurement but it helps to let the signal look
* nice and thus we perhaps improve the EMI a bit. */
gpio_enable_gpio_pin(rtouch_gpio_xmap[1].pin);
gpio_enable_gpio_pin(rtouch_gpio_xmap[0].pin);
/* set output low */
gpio_clr_gpio_pin(rtouch_gpio_xmap[1].pin);
gpio_clr_gpio_pin(rtouch_gpio_xmap[0].pin);
}
static void inline rtouch_tristate_x_surface(void)
{
gpio_enable_gpio_pin(rtouch_gpio_xmap[1].pin);
gpio_enable_gpio_pin(rtouch_gpio_xmap[0].pin);
gpio_disable_pin_pull_up(rtouch_gpio_xmap[0].pin);
gpio_disable_pin_pull_up(rtouch_gpio_xmap[1].pin);
/* Enable ADC to control the pins */
gpio_enable_module_pin(rtouch_gpio_xmap[0].pin,
rtouch_gpio_xmap[0].function);
gpio_enable_module_pin(rtouch_gpio_xmap[1].pin,
rtouch_gpio_xmap[1].function);
}
void board_init(void)
{
/* This function is meant to contain board-specific initialization code
* for, e.g., the I/O pins. The initialization can rely on application-
* specific board configuration, found in conf_board.h.
*/
gpio_enable_gpio_pin(LOCK_LED);
gpio_configure_pin(LOCK_LED, GPIO_DIR_OUTPUT);
}
void gpio_enable_gpio(const gpio_map_t gpiomap, unsigned int size)
{
unsigned int i;
for (i = 0; i < size; i++)
{
gpio_enable_gpio_pin(gpiomap->pin);
gpiomap++;
}
}
void gpio_enable_gpio(const gpio_map_t gpiomap, uint32_t size)
{
uint32_t i;
for (i = 0; i < size; i++)
{
gpio_enable_gpio_pin(gpiomap->pin);
gpiomap++;
}
}
int main(void)
{
// Switch main clock from internal RC to external Oscillator 0
pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
init_dbg_rs232(FOSC0);
gpio_enable_gpio_pin(AVR32_PIN_PB00);
print_dbg("\r\n\nstart");
while (true) {
delay_ms(250);
print_dbg(".");
gpio_tgl_gpio_pin(AVR32_PIN_PB00);
}
}
int main (void)
{
// Initialize CPU clock to 48 MHz (configured in conf_clock.h)
sysclk_init();
// Initialize the EVK1100 and its pin configuration
board_init();
// Enable LED1 and LED2 as GPIO output
gpio_enable_gpio_pin(LED0_GPIO);
gpio_enable_gpio_pin(LED1_GPIO);
gpio_configure_pin(LED0_GPIO, GPIO_DIR_OUTPUT);
gpio_configure_pin(LED1_GPIO, GPIO_DIR_OUTPUT);
// Define USART GPIO pin map
static const gpio_map_t USART_GPIO_MAP =
{
{USART_RXD_PIN, USART_RXD_FUNCTION},
{USART_TXD_PIN, USART_TXD_FUNCTION}
};
// Define USART options
static usart_options_t usart_options =
{
.baudrate = 9600,
.charlength = 8,
.paritytype = USART_NO_PARITY,
.stopbits = USART_1_STOPBIT,
.channelmode = USART_NORMAL_CHMODE
};
// Assign GPIO
gpio_enable_module( USART_GPIO_MAP,
sizeof(USART_GPIO_MAP) / sizeof(USART_GPIO_MAP[0]) );
// Initialize USART
usart_init_rs232(USART, &usart_options, sysclk_get_pba_hz());
// Disable all interrupts
Disable_global_interrupt();
// Initialize interrupt module
INTC_init_interrupts();
// Define handler and configure interrupt with INT1 priority
INTC_register_interrupt(&push_button_interrupt_handler,
AVR32_GPIO_IRQ_0 + (GPIO_PUSH_BUTTON_1/8),
AVR32_INTC_INT1);
// Enable falling edge interrupt on Push Button 1
gpio_enable_pin_interrupt(GPIO_PUSH_BUTTON_1, GPIO_FALLING_EDGE);
// Enable global interrupts
Enable_global_interrupt();
// Set initial state
// STATE_1 = LED0 On, LED1 Off
// STATE_2 = LED0 Off, LED1 On
gpio_set_pin_low(LED0_GPIO);
gpio_set_pin_high(LED1_GPIO);
while (1)
{
// If an interrupt has happened and run_once is true...
if (run_once)
{
switch (state_indicator)
{
// ... and if current state is STATE_1...
case STATE_1:
// Activate LED0 and deactivate LED1
gpio_set_pin_low(LED0_GPIO);
gpio_set_pin_high(LED1_GPIO);
// Send debug message over USART
usart_write_line(USART,"--------------\r\n");
usart_write_line(USART,"Interrupt detected on PB1\r\n");
usart_write_line(USART,"STATE_1 engaged!\r\n");
usart_write_line(USART,"LED1 = ON\r\n");
usart_write_line(USART,"LED2 = OFF\r\n");
usart_write_line(USART,"--------------\r\n");
break;
// ... and if current state is STATE_2...
case STATE_2:
// Activate LED1 and deactivate LED0
gpio_set_pin_low(LED1_GPIO);
gpio_set_pin_high(LED0_GPIO);
// Send debug message over USART
usart_write_line(USART,"--------------\r\n");
usart_write_line(USART,"Interrupt detected on PB1\r\n");
usart_write_line(USART,"STATE_2 engaged!\r\n");
usart_write_line(USART,"LED1 = OFF\r\n");
usart_write_line(USART,"LED2 = ON\r\n");
usart_write_line(USART,"--------------\r\n");
break;
}
// Reset run_once to false
run_once = FALSE;
}
// Otherwise, do nothing!
}
}
/*! main function */
int main(void)
{
init_sys_clocks();
// Initialize RS232 debug text output.
init_dbg_rs232(FOSC0);
print_dbg(MSG_WELCOME);
// Enable LED0 and LED1
gpio_enable_gpio_pin(LED0_GPIO);
gpio_enable_gpio_pin(LED1_GPIO);
// Configure TWI as master
twi_init();
// Initialize TPA6130
tpa6130_init();
// Initialize DAC that send audio to TPA6130
tpa6130_dac_start(DEFAULT_DAC_SAMPLE_RATE_HZ,
DEFAULT_DAC_NUM_CHANNELS,
DEFAULT_DAC_BITS_PER_SAMPLE,
DEFAULT_DAC_SWAP_CHANNELS,
master_callback,
AUDIO_DAC_OUT_OF_SAMPLE_CB
| AUDIO_DAC_RELOAD_CB,
FOSC0);
tpa6130_set_volume(0x2F);
tpa6130_get_volume();
int count = 0;
int i=0;
while(true)
{
count = 0;
// Store sample from the sound_table array
while(count < (SOUND_SAMPLES)){
samples[count++] = ((uint8_t)sound_table[i]+0x80) << 8;
samples[count++] = ((uint8_t)sound_table[i]+0x80) << 8;
i++;
if (i >= sizeof(sound_table)) i = 0;
}
gpio_set_gpio_pin(LED0_GPIO);
gpio_clr_gpio_pin(LED1_GPIO);
// Play buffer
tpa6130_dac_output((void *) samples,SOUND_SAMPLES/2);
gpio_clr_gpio_pin(LED0_GPIO);
gpio_set_gpio_pin(LED1_GPIO);
/* Wait until the reload register is empty.
* This means that one transmission is still ongoing
* but we are already able to set up the next transmission
*/
while(!tpa6130_dac_output(NULL, 0));
}
}
extern void init_gpio(void) {
gpio_enable_gpio_pin(B00);
gpio_enable_gpio_pin(B01);
gpio_enable_gpio_pin(B02);
gpio_enable_gpio_pin(B03);
gpio_enable_gpio_pin(B04);
gpio_enable_gpio_pin(B05);
gpio_enable_gpio_pin(B06);
gpio_enable_gpio_pin(B07);
gpio_enable_gpio_pin(B08);
gpio_enable_gpio_pin(B09);
gpio_enable_gpio_pin(B10);
gpio_enable_gpio_pin(NMI);
}
extern void init_gpio(void) {
gpio_enable_gpio_pin(A00);
gpio_enable_gpio_pin(A01);
gpio_enable_gpio_pin(A02);
gpio_enable_gpio_pin(A03);
gpio_enable_gpio_pin(A04);
gpio_enable_gpio_pin(A05);
gpio_enable_gpio_pin(A06);
gpio_enable_gpio_pin(A07);
gpio_enable_gpio_pin(B08);
gpio_enable_gpio_pin(B09);
gpio_enable_gpio_pin(B10);
gpio_enable_gpio_pin(B11);
gpio_enable_gpio_pin(NMI);
gpio_configure_pin(B08, GPIO_DIR_OUTPUT);
gpio_configure_pin(B09, GPIO_DIR_OUTPUT);
gpio_configure_pin(B10, GPIO_DIR_OUTPUT);
gpio_configure_pin(B11, GPIO_DIR_OUTPUT);
}
extern void init_gpio(void) {
gpio_enable_gpio_pin(B00);
gpio_enable_gpio_pin(B01);
gpio_enable_gpio_pin(B02);
gpio_enable_gpio_pin(B03);
gpio_enable_gpio_pin(B04);
gpio_enable_gpio_pin(B05);
gpio_enable_gpio_pin(B06);
gpio_enable_gpio_pin(B07);
gpio_enable_gpio_pin(B08);
gpio_enable_gpio_pin(B09);
gpio_enable_gpio_pin(B10);
gpio_enable_gpio_pin(NMI);
gpio_enable_pin_pull_up(B06);
gpio_enable_pin_pull_up(B07);
gpio_enable_pin_glitch_filter(B06);
gpio_enable_pin_glitch_filter(B07);
gpio_enable_pin_glitch_filter(NMI);
}
void boardsupport_init(central_data_t *central_data)
{
irq_initialize_vectors();
cpu_irq_enable();
Disable_global_interrupt();
// Initialize the sleep manager
sleepmgr_init();
sysclk_init();
board_init();
delay_init(sysclk_get_cpu_hz());
time_keeper_init();
INTC_init_interrupts();
// Switch on the red LED
LED_On(LED2);
// servo_pwm_hardware_init();
pwm_servos_init( CS_ON_SERVO_7_8 );
// Init UART 0 for XBEE communication
xbee_init(UART0);
// Init UART 3 for GPS communication
gps_ublox_init(&(central_data->gps), UART3);
// Init UART 4 for wired communication
//console_init(CONSOLE_UART4);
// Init USB for wired communication
console_init(CONSOLE_USB);
// connect abstracted aliases to hardware ports
central_data->telemetry_down_stream = xbee_get_out_stream();
central_data->telemetry_up_stream = xbee_get_in_stream();
central_data->debug_out_stream = console_get_out_stream();
central_data->debug_in_stream = console_get_in_stream();
// init debug output
print_util_dbg_print_init(central_data->debug_out_stream);
print_util_dbg_print("Debug stream initialised\r\n");
// Bind RC receiver with remote
// spektrum_satellite_bind();
// RC receiver initialization
spektrum_satellite_init();
// Init analog rails
analog_monitor_conf_t analog_monitor_config = analog_monitor_default_config;
//analog_monitor_config.conv_factor[ANALOG_RAIL_6] = 0.00023485f * 6.6f;
//analog_monitor_config.conv_factor[ANALOG_RAIL_7] = 0.00023485f * 6.6f;
//analog_monitor_config.conv_factor[ANALOG_RAIL_10] = -0.0002409f * 11.0f;
//analog_monitor_config.conv_factor[ANALOG_RAIL_11] = -0.0002409f * 11.0f;
analog_monitor_init(¢ral_data->analog_monitor, &analog_monitor_config);
// init imu & compass
i2c_driver_init(I2C0);
lsm330dlc_init();
print_util_dbg_print("LSM330 initialised \r\n");
hmc5883l_init_slow();
print_util_dbg_print("HMC5883 initialised \r\n");
bmp085_init(¢ral_data->pressure);
// init radar or ultrasound (not implemented yet)
//i2c_driver_init(I2C1);
// init 6V enable
gpio_enable_gpio_pin(AVR32_PIN_PA04);
gpio_set_gpio_pin(AVR32_PIN_PA04);
Enable_global_interrupt();
// Init piezo speaker
piezo_speaker_init_binary();
print_util_dbg_print("Board initialised\r\n");
}
extern void init_gpio(void) {
gpio_enable_gpio_pin(A00);
gpio_enable_gpio_pin(A01);
gpio_enable_gpio_pin(A02);
gpio_enable_gpio_pin(A03);
gpio_enable_gpio_pin(A04);
gpio_enable_gpio_pin(A05);
gpio_enable_gpio_pin(A06);
gpio_enable_gpio_pin(A07);
gpio_enable_gpio_pin(B08);
gpio_enable_gpio_pin(B09);
gpio_enable_gpio_pin(B10);
gpio_enable_gpio_pin(B11);
// loopback for version detection (on new version B00 and B01 are bridged)
gpio_enable_gpio_pin(B00);
gpio_enable_gpio_pin(B01);
gpio_enable_pin_pull_up(B01);
gpio_configure_pin(B00, GPIO_DIR_OUTPUT);
gpio_set_pin_low(B00);
// turn on pull-ups for SDA/SCL
// gpio_enable_pin_pull_up(A09);
// gpio_enable_pin_pull_up(A10);
gpio_enable_gpio_pin(NMI);
gpio_configure_pin(B08, GPIO_DIR_OUTPUT);
gpio_configure_pin(B09, GPIO_DIR_OUTPUT);
gpio_configure_pin(B10, GPIO_DIR_OUTPUT);
gpio_configure_pin(B11, GPIO_DIR_OUTPUT);
}
void boardsupport_init(central_data_t *central_data)
{
irq_initialize_vectors();
cpu_irq_enable();
Disable_global_interrupt();
// Initialize the sleep manager
sleepmgr_init();
sysclk_init();
board_init();
delay_init(sysclk_get_cpu_hz());
time_keeper_init();
INTC_init_interrupts();
// Switch on the red LED
LED_On(LED2);
// servo_pwm_hardware_init();
pwm_servos_init( CS_ON_SERVO_7_8 );
// Init UART 0 for XBEE communication
xbee_init(UART0);
// Init UART 4 for wired communication
//console_init(CONSOLE_UART4);
// Init USB for wired communication
console_init(CONSOLE_USB);
// connect abstracted aliases to hardware ports
central_data->telemetry_down_stream = xbee_get_out_stream();
central_data->telemetry_up_stream = xbee_get_in_stream();
central_data->debug_out_stream = console_get_out_stream();
central_data->debug_in_stream = console_get_in_stream();
// init debug output
print_util_dbg_print_init(central_data->debug_out_stream);
print_util_dbg_print("Debug stream initialised\r\n");
// RC receiver initialization
spektrum_satellite_init();
// init imu & compass
i2c_driver_init(I2C0);
lsm330dlc_init();
print_util_dbg_print("LSM330 initialised \r\n");
hmc5883l_init_slow();
print_util_dbg_print("HMC5883 initialised \r\n");
// init radar or ultrasound (not implemented yet)
//i2c_driver_init(I2C1);
// init 6V enable
gpio_enable_gpio_pin(AVR32_PIN_PA04);
gpio_set_gpio_pin(AVR32_PIN_PA04);
Enable_global_interrupt();
// Init piezo speaker
piezo_speaker_init_binary();
print_util_dbg_print("Board initialised\r\n");
}
