int main(void)
{
sleep(5);
init_PWM();
FILE *fd;
char *data;
while(1)
{
data = malloc(50);
fd = fopen("/dev/shm/setariweb", "r");
if(fd < 0)
{
perror("Settings file open error");
exit(1);
}
fread(data, 1, 50, fd);
data_get(data);
if(activ)
{
release_door();
sleep(5); //at least 5 seconds between feedings
}
else
{
usleep(100000); //sleep to avoid massive cpu usage
}
fclose(fd);
free(data);
}
return 0;
}
int main( void )
{
int i;
uart_init(9600);
init_gpio();
init_PWM();
tss_init();
__enable_interrupts();
for( i=0; i<DELAY; i++) ;
uart_putstr( "Initialization Complete\r\n" );
// wait for user to press a key
uart_putstr( "Press any key:" );
uart_getchar();
TSI0_DATA |= TSI_DATA_SWTS_MASK;
while( 1 )
{
uart_putnum( tss_pin9, 5 ); // 2^16 = 65536 = 5 digits
uart_putstr( "\t" );
uart_putnum( tss_pin10, 5 ); // 2^16 = 65536 = 5 digits
uart_putstr( "\r\n" );
for( i=0; i<DELAY; i++);
}
return 0;
}
int main(void)
{
init_PM();
init_LCD();
init_Potentiometer();
init_CurrentSensor();
init_INTC();
fill_Display();
set_Velocidad(velocidad);
set_Direccion(direccion);
init_PWM(velocidad,direccion);
while (1)
{
adc_start(&AVR32_ADC);
adc_value_pot = adc_get_value(&AVR32_ADC,EXAMPLE_ADC_POTENTIOMETER_CHANNEL);
adc_start(&AVR32_ADC);
adc_value_current = adc_get_value(&AVR32_ADC,3);
set_Duty_Cycle(adc_value_pot);
set_Current(adc_value_current);
if(bandera ==1){
set_Velocidad(velocidad);
set_Direccion(direccion);
update_PWM(velocidad, direccion);
}
delay_ms(400);
}//WHILE
}//MAIN
//-------------------------
void servo_buka(){
//Assignment variabel PWM
UNLOCKREG();
SYSCLK->PWRCON.XTL12M_EN=1;
DrvSYS_Delay(5000); // Waiting for 12M Xtal stalble
SYSCLK->CLKSEL0.HCLK_S=0;
LOCKREG();
//init_LCD();
//clear_LCD();
// PWM_No = PWM channel number
// PWM_CLKSRC_SEL = 0: 12M, 1:32K, 2:HCLK, 3:22M
// PWM_PreScaler : PWM clock is divided by (PreScaler + 1)
// PWM_ClockDivider = 0: 1/2, 1: 1/4, 2: 1/8, 3: 1/16, 4: 1
init_PWM(0, 0, 130, 4); // initialize PWM0(GPA12) to output 1MHz square wave
Clock = 12000000;
PreScaler = 130;
ClockDivider = 1;
Frequency = 50;
//hitime = SERVO_HITIME_MIN;
//--------------------------------------
//----------Kodingan inti microservo
//hitime=hitime + (SERVO_HITIME_MAX - SERVO_HITIME_MIN)/10;
hitime = 125;
if (hitime>SERVO_HITIME_MAX) hitime = SERVO_HITIME_MIN;
//PWM_FreqOut = PWM_Clock / (PWM_PreScaler + 1) / PWM_ClockDivider / (PWM_CNR + 1)
CNR = Clock / Frequency / (PreScaler + 1) / ClockDivider - 1;
// Duty Cycle = (CMR0+1) / (CNR0+1)
CMR = hitime - 1;
//CMR = 20;
PWM_Out(0, CNR, CMR);
}
int main() {
uint8_t refTemp = 30; // reference
uint8_t check, prev_check = 0;
short up = 1, down = 1;
uint16_t adc_in; // ADC value
uint8_t temp = 1; // real temperature
init_controller();
init_PWM();
lcd_init();
sei(); // turn on interrupts
lcd_clrscr();
lcd_puts("Spinning");
Delay_s(2); // 2 seconds delay
init_ADC();
refTemp = eeprom_read_byte((uint8_t*)0);
if (!(refTemp >= TMIN && refTemp <= TMAX))
refTemp = 30;
while(1) {
if (C_CHECKBIT(Minus_REF)) down = 0;
if (C_CHECKBIT(Minus_REF) == 0 && down ==0) {
down = 1;
if (refTemp > TMIN) refTemp--;
}
if (C_CHECKBIT(Plus_REF)) up = 0;
if (C_CHECKBIT(Plus_REF) == 0 && up ==0) {
up = 1;
if (refTemp < TMAX) refTemp++;
}
eeprom_write_byte ((uint8_t *)0, refTemp);
adc_in = ReadADC(0);
temp = adc_in/2;
lcd_puts2("T%d-R%dC", temp, refTemp);
if ((temp - refTemp) > TOL)
check = 3;
else if ((refTemp - temp) > TOL)
check = 1;
else
check = 2;
switch(check) {
case 1:
if (prev_check == 1) break;
setDutyCycle1();
prev_check = 1;
break;
case 2:
if (prev_check == 2) break;
setDutyCycle2();
prev_check = 2;
break;
case 3:
if (prev_check == 3) break;
setDutyCycle3();
prev_check = 3;
break;
}
}
return 1;
}
void init_linear_actuator(){
init_PWM();
init_CWCCW();
init_LS();
detect_LS_Timers=xTimerCreate("Detect limit Switch state Polling",( DETECT_LS_POLLING_PERIOD), pdTRUE, ( void * ) 1, detect_LS_Polling);
xTimerStart( detect_LS_Timers, 0 );
}
bool BoardSupportPackage::init() {
bool result = false;
SysTick_Config(SystemCoreClock/BSP_TICKS_PER_SECOND);
initRCC();
initGPIO_Power();
initGPIO_Fan();
init_DHT11();
init_SPI();
init_TIM();
init_PWM();
screenInit();
result = true;
return result;
}
/*! \brief Initializes all configuration variables.
*/
void Configuration::init() {
// MISC
Oscillator_Freq = 16000000; //Oscillator frequency in Hz
CPUCLK = Oscillator_Freq;
PBACLK = Oscillator_Freq;
PWMCLK = Oscillator_Freq;
ADCCLK = Oscillator_Freq;
init_Timer();
init_PWM();
init_Motor();
init_Sensors();
init_UART();
init_StatusLEDs();
}
inline void init(){
// Global initializations
uartComms.init();
init_PWM();
init_ADC();
rprintfInit(uartSendByte);
// DEBUGprint init
// init_DEBUGprint();
// rprintf("*I\n");
// Wait for Eeprom to become available
eeprom_busy_wait();
startupDiagnostics();
}
int main(void) {
init_PORT();
init_TIMER0();
init_TIMER();
init_EX_INTERRUPT();
init_ADC();
init_USART();
init_PWM();
sei();
while(1) {
if(state>3) state = 3;
}
return 0;
}
void main(void){
StateType *Pt;
unsigned char sensor;
//Set pointer at STRAIGHT
Pt = STRAIGHT;
//Initialize PWM and Ports
init_PWM( );
init_Ports( );
init_PJ7( );
EnableInterrupts;
for(;;)
{
//Only run for 2 laps
if(lapCount <= 2)
{
//Adjust motor every time interval
if(adjustMotor == 1)
{
//Check PT0-PT2 for sensors
sensor = PORTA & 0x05;
//Move to next state via sensor input
Pt = Pt->Next[sensor];
//Set motor output based on state
PWMDTY3 = Pt->PWMduty3 ;
PWMDTY1 = Pt->PWMduty1 ;
//Reset adjust flag
adjustMotor == 0;
}
}
else {
//Turn off motors
PWME = 0x00;
}
}
}
int main()
{
init_board();
LED_TRIS = 0;
blink(100000L, 10, 0);
init_timer(512);
init_PWM();
init_ADC(6);
init_spi_slave();
spi_slave_set_handle_message(link_board_handle_message);
TRISFbits.TRISF5 = 0;
while(1) {
blink(10000L, 1, 1);
}
}
void wykonaj (int ile_petli, int dlugosc)
{
int licznik=0;
char ch_liczba[3];
pozycjonowanie();
_delay_ms(500);
relay_on();
_delay_ms(50);
init_LCD();
init_PWM();
_delay_ms(200);
int delay = 370;
if(dlugosc>MIN_DLUGOSC)
delay = delay + (dlugosc-MIN_DLUGOSC)*190;
for (licznik=0; licznik<ile_petli; licznik++)
{
int do_konca = ile_petli-licznik;
gen_char(ch_liczba, &do_konca); //wyswietla ile cykli pozostało do konca naswietlania
wyswietl_LCD(ch_liczba);
kierunek(PRZOD);
_delay_ms(delay); //odleglosc dokad dojadą lampy
stop();
_delay_ms(2000);
pozycjonowanie(); //jezdie do tylu az napotka krancowe
_delay_ms(2000);
}
_delay_ms(1000);
wyswietl_LCD("KONIEC PRACY");
_delay_ms(1000);
relay_off();
beep();
}
int main(void)
{
ubBufferIndex = 0;
ubLastBufferIndex = 0;
init_Osc();
init_PWM(); // PWM Setup
init_ADC(); // ADC Setup
init_DAC_Comparators();
init_T1();
TRISBbits.TRISB4 = 0; //RB4 as output
TRISBbits.TRISB6 = 1;
TRISBbits.TRISB7 = 1;
// PTCONbits.PTEN = 1; // Enable the PWM
// ADCONbits.ADON = 1; // Enable the ADC
uiHeaderZeroCount = 0;
IEC0bits.T1IE = 1;
// uc_Main_Case_Index = 0;
while(1)
{
};
}
int main()
{
init_LCD();
init_Relay();
init_Switch();
init_Buzzer();
init_LCD();
init_PWM();
sei();
while(1)
{
stop();
int ile_petli = 0; //wartosc zadana przez uzytkownika
int dlugosc = 0;
int wait = TAK;
wyswietl_LCD("Start -> OK");
_delay_ms(200);
wait = TAK;
while(wait)
if(bit_is_clear(PIN_SWITCH, SWITCH_OK)) wait = NIE;
dlugosc = get_distance();
ile_petli = ilosc_petli();
wykonaj(ile_petli, dlugosc);
_delay_ms(200);
}
}
void motor_init()
{
init_PWM();
}
int sound_tick(int state){
switch(state){
case st_sound_start:
state = st_sound_init;
break;
case st_sound_init:
state = st_sound_idle;
break;
case st_sound_idle:
if(!QueueIsEmpty(sound_command_queue)){
if(sound_command_queue->buffer[sound_command_queue->front] == snd_locked){
state = st_sound_lock1;
} else if(sound_command_queue->buffer[sound_command_queue->front] == snd_unlocked){
state = st_sound_unlock1;
} else if(sound_command_queue->buffer[sound_command_queue->front] == snd_malfunction){
state = st_sound_malfunction1;
}
QueueDequeue(sound_command_queue);
} else {
state = st_sound_idle;
}
break;
case st_sound_lock1:
state = st_sound_lock2;
break;
case st_sound_lock2:
state = st_sound_lock3;
break;
case st_sound_lock3:
state = st_sound_lock4;
break;
case st_sound_lock4:
state = st_sound_idle;
break;
case st_sound_unlock1:
state = st_sound_unlock2;
break;
case st_sound_unlock2:
state = st_sound_idle;
break;
case st_sound_malfunction1:
state = st_sound_malfunction2;
break;
case st_sound_malfunction2:
state = st_sound_malfunction3;
break;
case st_sound_malfunction3:
state = st_sound_malfunction4;
break;
case st_sound_malfunction4:
if(!QueueIsEmpty(sound_command_queue)){
state = st_sound_idle;
} else {
state = st_sound_malfunction1;
}
break;
default:
state = st_sound_start;
break;
}
switch(state){
case st_sound_init:
init_PWM();
break;
case st_sound_lock1:
set_PWM(3135.96);
break;
case st_sound_lock2:
set_PWM(0);
break;
case st_sound_lock3:
set_PWM(3135.96);
break;
case st_sound_lock4:
set_PWM(0);
break;
case st_sound_unlock1:
set_PWM(3135.96);
break;
case st_sound_unlock2:
set_PWM(0);
break;
case st_sound_malfunction1:
set_PWM(130.81);
PORTD |= 0x02;
break;
case st_sound_malfunction3:
set_PWM(0);
PORTD &= 0xFD;
break;
default:
break;
}
return state;
}
void init_actuators(void){
(*IOp_DO).port=0;
init_PWM();
// V3 board
init_DAC();
}
