int main()
{
#if defined(PIC32_PINGUINO) || defined(PIC32_PINGUINO_OTG)
TRISDbits.TRISD9=1; // because PORTB is shared with SDA on Olimex board
TRISDbits.TRISD10=1; // because PORTB is shared with SCL on Olimex board
#endif
SystemConfig(80000000); // default clock frequency is 80Mhz
// default peripheral freq. is 40MHz (cf. system.c)
// All pins of PORTB as digital IOs
#ifdef __32MX220F032D__
ANSELA = 0;
ANSELB = 0;
ANSELC = 0;
#else
AD1PCFG = 0xFFFF;
#endif
#ifdef __ANALOG__
analog_init();
#endif
#ifdef __MILLIS__
millis_init();
#endif
#ifdef __PWM__
PWM_init();
#endif
#ifdef __USBCDC
CDC_init();
#endif
#ifdef __RTCC__
RTCC_init();
#endif
setup();
while (1)
{
#ifdef __USBCDC
CDCTxService();
#endif
loop();
}
return(0);
}
int main()
{
// default peripheral freq. is CPUCoreFrequency / 2 (cf. system.c)
#if defined(__32MX220F032D__)||defined(__32MX250F128B__)||defined(__32MX220F032B__)
SystemConfig(40000000); // default clock frequency is 40Mhz
#else
SystemConfig(80000000); // default clock frequency is 80Mhz
#endif
IOsetSpecial();
IOsetDigital();
IOsetRemap();
#ifdef __ANALOG__
analog_init();
#endif
#ifdef __MILLIS__
millis_init();
#endif
#ifdef __PWM__
PWM_init();
#endif
#ifdef __USBCDC
CDC_init();
#endif
#ifdef __RTCC__
RTCC_init();
#endif
setup();
while (1)
{
#ifdef __USBCDC
#if defined(__32MX220F032D__)||defined(__32MX250F128B__)||defined(__32MX220F032B__)
USB_Service( );
#else
CDCTxService();
#endif
#endif
loop();
}
return(0);
}
static void init()
{
// OSCCAL = 71;
clock_prescale_set(CPU_DIV);
// power_twi_disable();
// power_usart0_disable();
// power_timer0_disable();
// power_timer1_disable();
// power_timer2_disable();
// power_adc_disable();
#if !UART_ENABLE
power_usart0_disable();
#endif
// Pull-up on unused pins
pinPullup(D0, PULLUP_ENABLE);
pinPullup(D1, PULLUP_ENABLE);
pinPullup(D3, PULLUP_ENABLE);
pinPullup(D4, PULLUP_ENABLE);
pinPullup(B7, PULLUP_ENABLE);
#if PIN_DEBUG != PIN_DEBUG_NONE
pinMode(PIN_DEBUG_PIN, OUTPUT);
#endif
// Pin change interrupt on USB power sense pin
PCICR |= _BV(PCIE0);
PCMSK0 |= _BV(PCINT6);
// Everything else
uart_init();
spi_init();
i2c_init();
watchconfig_init();
led_init();
buzzer_init();
battery_init();
ds3231_init();
buttons_init();
millis_init();
pwrmgr_init();
time_init();
alarm_init();
oled_init();
}
void pinguino_main(void)
{
PIE1=0;
PIE2=0;
ADCON1=0x0F;
#ifdef __USB__
PIE2bits.USBIE = 1;
INTCON = 0xC0;
#endif
setup();
#ifdef ANALOG
analog_init();
#endif
#ifdef MILLIS
millis_init();
#endif
#ifdef SERVOSLIBRARY
servos_init();
#endif
#ifdef __USBCDC
init_CDC();
PIE2bits.USBIE = 1;
INTCON = 0xC0;
#endif
#ifdef __SERIAL__
INTCONbits.PEIE=1;
INTCONbits.GIE=1;
#endif
#ifdef MILLIS
INTCONbits.TMR0IE=1;
INTCONbits.GIE=1;
#endif
#ifdef SERVOSLIBRARY
INTCONbits.PEIE=1;
INTCONbits.GIE=1;
#endif
while (1)
{
loop();
}
}
int main()
{
// Initialize library
millis_init();
// Port D 2 and 3 as outputs
DDRD |= _BV(DDD2)|_BV(DDD3);
// Enable interrupts
sei();
// Variables for keeping time LEDs last changed
millis_t lastChangeLed1 = 0;
millis_t lastChangeLed2 = 0;
while(1)
{
// Time now
millis_t now = millis();
// Has it been 500ms since last change for LED1?
if(now - lastChangeLed1 >= 500)
{
// Toggle LED
PORTD ^= _BV(PORTD2);
// Store time
lastChangeLed1 = now;
}
// Has it been 700ms since last change for LED2?
if(now - lastChangeLed2 >= 700)
{
// Toggle LED
PORTD ^= _BV(PORTD3);
// Store time
lastChangeLed2 = now;
}
}
}
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.
*/
scif_start_rc120M();
scif_start_rc8M();
//enable brownout detection
scif_bod50_enable_irq(); //4.something volts
//set cpu divide by 2^(1+1) = 4
pm_set_clk_domain_div(AVR32_PM_CLK_GRP_CPU,1);
//switch main clock source
pm_set_mclk_source(PM_CLK_SRC_RC120M);
//cpu frequency is now 30 MHz
//set up pba, pbb, pbc. must be less than fcpu/4
//cpu is divide by 4 --> need divide by 16. 2^(3+1) = 16
pm_set_clk_domain_div(AVR32_PM_CLK_GRP_PBA,3);
pm_set_clk_domain_div(AVR32_PM_CLK_GRP_PBB,3);
pm_set_clk_domain_div(AVR32_PM_CLK_GRP_PBB,3);
//120MHz / 16 = 7.5MHz
//setup adc
ADCInit();
//setup millis()
millis_init();
//set up pwm
PWMInit();
//setup usart
USARTInit();
// CANInit();
}
// Application entry point called from bootloader v4.x
void main(void)
#endif
{
#if defined(__18f25k50) || defined(__18f45k50) || \
defined(__18f26j50) || defined(__18f46j50) || \
defined(__18f26j53) || defined(__18f46j53) || \
defined(__18f27j53) || defined(__18f47j53)
u16 pll_startup_counter = 600;
#endif
/// ----------------------------------------------------------------
/// If we start from a Power-on reset, set NOT_POR bit to 1
/// ----------------------------------------------------------------
if (RCONbits.NOT_POR == 0)
{
RCON |= 0b10010011; // set all reset flag
// enable priority levels on interrupts
}
/// ----------------------------------------------------------------
/// Disables all interrupt
/// ----------------------------------------------------------------
//INTCONbits.GIEH = 0; // Disables all HP interrupts
//INTCONbits.GIEL = 0; // Disables all LP interrupts
/// ----------------------------------------------------------------
/// Perform a loop for some processors until their frequency is stable
/// ----------------------------------------------------------------
#if defined(__18f2455) || defined(__18f4455) || \
defined(__18f2550) || defined(__18f4550)
// If Internal Oscillator is used
if (OSCCONbits.SCS > 0x01)
// wait INTOSC frequency is stable (IOFS=1)
while (!OSCCONbits.IOFS);
// PLL is enabled by Config. Bits
#elif defined(__18f25k50) || defined(__18f45k50)
// If Internal Oscillator is used
if (OSCCONbits.SCS > 0x01)
// wait HFINTOSC frequency is stable (HFIOFS=1)
while (!OSCCONbits.HFIOFS);
// Enable the PLL and wait 2+ms until the PLL locks
OSCCON2bits.PLLEN = 1;
OSCTUNEbits.SPLLMULT = 1; // 1=3xPLL, 0=4xPLL
while (pll_startup_counter--);
#elif defined(__18f26j50) || defined(__18f46j50)
// If Internal Oscillator is used
// if (OSCCONbits.SCS > 0x02)
// Seems there is no time to wait
// Enable the PLL and wait 2+ms until the PLL locks
OSCTUNEbits.PLLEN = 1;
while (pll_startup_counter--);
#elif defined(__18f26j53) || defined(__18f46j53) || \
defined(__18f27j53) || defined(__18f47j53)
// If Internal Oscillator is used
if (OSCCONbits.SCS > 0x02)
// wait INTOSC frequency is stable (FLTS=1)
while(!OSCCONbits.FLTS);
// Enable the PLL and wait 2+ms until the PLL locks
OSCTUNEbits.PLLEN = 1;
while (pll_startup_counter--);
#endif
/// ----------------------------------------------------------------
/// I/O init
/// ----------------------------------------------------------------
IO_init();
IO_digital();
#if defined(__18f26j50) || defined(__18f46j50) || \
defined(__18f26j53) || defined(__18f46j53) || \
defined(__18f27j53) || defined(__18f47j53)
IO_remap();
#endif
/// ----------------------------------------------------------------
/// Various Init.
/// ----------------------------------------------------------------
#ifdef __USB__
usb_init();
#endif
#ifdef __USBCDC
CDC_init();
#endif
#ifdef __USBBULK
bulk_init();
#endif
#if defined(ANALOGREFERENCE) || defined(ANALOGREAD)
analog_init();
#endif
#ifdef ANALOGWRITE
analogwrite_init();
#endif
#ifdef __MILLIS__ // Use Timer 0
millis_init();
#endif
#ifdef SERVOSLIBRARY // Use Timer 1
servos_init();
#endif
#ifdef __PS2KEYB__
keyboard_init()
#endif
////////////////////////////////////////////////////////////////////////
setup();
////////////////////////////////////////////////////////////////////////
#if defined(TMR0INT) || defined(TMR1INT) || \
defined(TMR2INT) || defined(TMR3INT) || \
defined(TMR4INT) || defined(TMR5INT) || \
defined(TMR6INT) || defined(TMR8INT)
IntTimerStart(); // Enable all defined timers interrupts
// at the same time
#endif
#ifdef ON_EVENT
//IntInit();
INTCONbits.GIEH = 1; // Enable global HP interrupts
INTCONbits.GIEL = 1; // Enable global LP interrupts
#endif
while (1)
{
////////////////////////////////////////////////////////////////////////
loop();
////////////////////////////////////////////////////////////////////////
}
}
/*! \brief Main function. Execution starts here.
*/
int main(void)
{
board_init();
ui_init();
lithneProgrammer.setMainReset(true);
lithneProgrammer.setXbeeReset(true);
irq_initialize_vectors();
cpu_irq_enable();
sysclk_init();
delay_init(sysclk_get_cpu_hz());
millis_init();
// Start USB stack to authorize VBus monitoring
udc_start();
lithneProgrammer.setMainReset(false);
lithneProgrammer.setXbeeReset(false);
// USART_COMM0 is a directly forwarded serial to the main processor, handled by interrupts.
// The port is opened and interrupts are enabled on USB connect on port 0
// USART_COMM1 connects to the main processor for xbee rx/tx forwarding.
// USART_XBEE connects to the xbee module
// Messages outside the programming scope are forwarded between these ports in the main loop.
// When USB port 1 in opened, the main processor is held in reset and USB port 1 is transparently coupled to the XBEE.
// Only in that case the RXE interrupt is enabled.
// open both COM ports for xbee forward with default settings
uart_open(&USART_COMM1);
uart_open(&USART_XBEE);
usart_set_rx_interrupt_level(&USART_COMM1, USART_INT_LVL_HI);
usart_set_rx_interrupt_level(&USART_XBEE, USART_INT_LVL_HI);
lithneProgrammer.init(&USART_COMM0, &serialCo2MainSerial); // should not be necessary to pass 2 objects, but a quick hack to make it work near deadline
Lithne.setSerial(serialCo2Xbee);
while (true) {
if(main_cdc_is_open(1)){
// XBEE is directly linked to USB. Skip Lithne forwarding/programming
continue;
}
if (Lithne.available() ){
// Only process messages inside the programming scope
if ( Lithne.getScope() == lithneProgrammingScope ){
lithneProgrammer.updateRemoteAddress();
}
// The programming function receives all data packets containing the program to be written
if ( Lithne.getFunction() == fProgramming )
{
lithneProgrammer.processPacket();
}
// Check-in Function
else if (Lithne.getFunction() == fCheckingIn && !lithneProgrammer.busyProgramming())
{
lithneProgrammer.processCheckin();
}
// Node Name Functions - Empty messages are a request, Messages with content set the node name
else if (Lithne.getFunction() == fNodeName && !lithneProgrammer.busyProgramming())
{
lithneProgrammer.processNodeName();
}
// LastUpload Functions - Empty messages are a request, Messages with content set the time of last upload
else if (Lithne.getFunction() == fLastUpload && !lithneProgrammer.busyProgramming())
{
lithneProgrammer.processLastUpload();
}
// File Name Functions - Empty messages are a request, Messages with content set the file name
else if (Lithne.getFunction() == fFileName && !lithneProgrammer.busyProgramming())
{
lithneProgrammer.processFileName();
}
// reset the main processor
else if (Lithne.getFunction() == fResetMain && !lithneProgrammer.busyProgramming())
{
lithneProgrammer.resetMain();
}
// Kill the main processor for a longer period of time, or turn it back on again
else if (Lithne.functionIs("killMain") && !lithneProgrammer.busyProgramming())
{
lithneProgrammer.processKill();
}
// If the message is not in the 'programming scope' this is a regular incoming Lithne message for the user (main proc) - Forward all bytes to main processor
else
{
for(int i=0; i < Lithne.getXBeePacketSize(); i++) // send data in XBee packet straight through to the main processor
{
serialCo2MainXbee.write( Lithne.getXBeePacket()[i] );
}
serialCo2MainXbee.flush();
}
}
// forward communication from main processor to xbee
if ( !lithneProgrammer.busyProgramming() && serialCo2MainXbee.available() )
{
uint8_t byte_to_pass_on = serialCo2MainXbee.read();
Lithne.sendBytePublic(byte_to_pass_on, false);
while (serialCo2MainXbee.available())
{
byte_to_pass_on = serialCo2MainXbee.read();
Lithne.sendBytePublic(byte_to_pass_on, true);
}
}
lithneProgrammer.preventHangup();
}
}
void setup(){
// cli(); // Turn all interrupts off!
sei(); // Turn interrupts on.
_delay_ms(4000); // Wait for startup!
// SPI CS INIT - set all CS lines high!
DDR_RFM_CS |= (1 << BIT_RFM_CS); // Set RFM12B CS to output
PORT_RFM_CS |= (1 << BIT_RFM_CS); // Pull RFM12B CS high
DDR_MEM_SS |= (1 << BIT_MEM_SS); // Set memory CS to output
PORT_MEM_SS |= (1 << BIT_MEM_SS); // Pull memory CS high
DDR_ETH_SS |= (1 << BIT_ETH_SS); // Set Ethernet CS to output
PORT_ETH_SS |= (1 << BIT_ETH_SS); // Pull Ethernet CS high
// SPI CS INIT - set all CS lines high!
// SET ALL LED TO OUTPUT
LED_433RECEIVE_DDR |= (1 << LED_433RECEIVE_BIT); // set output
LED_433SEND_DDR |= (1 << LED_433SEND_BIT); // set output
LED_868RECEIVE_DDR |= (1 << LED_868RECEIVE_BIT); // set output
LED_868SEND_DDR |= (1 << LED_868SEND_BIT); // set output
LED_DCF77_DDR |= (1 << LED_DCF77_BIT); // set output
LED_LCD_DDR |= (1 << LED_LCD_BIT); // set output
// SET ALL LED TO OUTPUT
// TEST LEDS
blinkAllLeds(true); _delay_ms(1000); blinkAllLeds(false);
_delay_ms(500); blinkAllLeds(true); _delay_ms(1000); blinkAllLeds(false);
// TEST LEDS
/* Initialize UART */
uart_init(UART_BAUD_SELECT(UART_BAUD_RATE,F_CPU));
/* Initialize RFM12B*/
rf12_initialize(NODEID, RF12_868MHZ, NETWORKID); // see http://tools.jeelabs.org/rfm12b
rf12_control(0xC040); // set low-battery level to 2.2V i.s.o. 3.1V
// Initialize library
millis_init();
LED_LCD_PORT |= (1 << LED_LCD_BIT); // set output
/*
GLCD_IO_PIN_A0_1();
GLCD_IO_PIN_RW_1();
GLCD_IO_PIN_E_1();
GLCD_IO_DATA_DIR_OUTPUT();
GLCD_IO_DATA_OUTPUT(0b11111111);
*/
//glcd.init();
//glcd.setFont(&proportional_font);
//glcd.clearDisplay();
//uint8_t ret = glcd.drawPixel(GLCD_INDICATOR_2, 48, 2);
//uart0_putc(ret);
//glcd.drawLine(1, 1, 100,100, GLCD_COLOR_FILLED);
glcd.init();
glcd.setFont(&proportional_font);
glcd.clearDisplay();
log_s("ISA GATEWAY \n\r");
log_s("STARTUP OK! \n\r");
}
void pinguino_main(void)
{
#if defined(PIC18F26J50)
// Enable the PLL and wait 2+ms until the PLL locks
u16 pll_startup_counter = 600;
OSCTUNEbits.PLLEN = 1;
while(pll_startup_counter--);
#endif
PIE1 = 0;
PIE2 = 0;
IOsetSpecial();
IOsetDigital();
IOsetRemap();
#ifdef ON_EVENT // Enable General/Peripheral interrupts
int_init(); // Disable all individual interrupts
#endif
#ifdef __USB__
PIE2bits.USBIE = 1;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
#endif
//setup();
//#ifdef ON_EVENT
//int_start(); // Enable all defined timers interrupts
//#endif
#ifdef ANALOG
analog_init();
#endif
#ifdef __MILLIS__ // Use Timer 0
millis_init();
#endif
#ifdef SERVOSLIBRARY
servos_init();
#endif
#ifdef __USBCDC
CDC_init();
PIE2bits.USBIE = 1;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
#endif
#ifdef __USBBULK
bulk_init();
PIE2bits.USBIE = 1;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
#endif
#ifdef __PS2KEYB__
keyboard_init()
#endif
#if defined(__SERIAL__) || defined(SERVOSLIBRARY)
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
#endif
/* RB : millis.c/millis_init() did already the job
#ifdef MILLIS
INTCONbits.TMR0IE= 1;
INTCONbits.GIE = 1;
#endif
*/
setup();
#ifdef ON_EVENT
int_start(); // Enable all defined timers interrupts
#endif
while (1)
loop();
}
