/*
* Initialize the board
* Timers, Communication, etc
* Note : Should only be called once at the begginning of the main
*/
void InitBoard(void)
{
// Initialize clock
SYSTEMConfigPerformance(GetSystemClock());
SYSTEMConfig(GetSystemClock(), SYS_CFG_PCACHE);
SYSTEMConfig(GetSystemClock(), SYS_CFG_PB_BUS);
SYSTEMConfigPB(GetSystemClock());
INTEnableSystemMultiVectoredInt();
//Disable JTAG port
DDPCONbits.JTAGEN = 0;
// Initialize LEDs
LED1_TRIS = 0;
LED2_TRIS = 0;
// Initialize Timers
InitTimers();
// Initialize CAN bus
CRX1_TRIS = 1;
CTX1_TRIS = 0;
netv_init_can_driver(GetBoardID(),CAN1);
// Initialize digital IOs as inputs
DIO_TRIS |= DIO_MASK;
// Initialize Relays (low)
RELAY1_TRIS = 0;
RELAY2_TRIS = 0;
RELAY1 = 0;
RELAY2 = 0;
// Initialize SPI pins as inputs
SPICLK_TRIS = 1;
SPISDO_TRIS = 1;
SPI_CS_TRIS = 1;
SPISDI_TRIS = 1;
//TODO: Init unused pins as inputs
// Read the board ID
m_unBoardId = (DIO_PORT & DIO_MASK) ^ DIO_MASK;
// Read the parameters previously saved in flash
loadDataFromMemory();
//Enables the core to handle any pending interrupt requests
asm volatile ("ei");
}
/****************************************************************************
Function:
static void InitializeBoard(void)
Description:
This routine initializes the hardware. It is a generic initialization
routine for many of the Microchip development boards, using definitions
in HardwareProfile.h to determine specific initialization.
Precondition:
None
Parameters:
None - None
Returns:
None
Remarks:
None
***************************************************************************/
static void InitializeBoard(void)
{
// LEDs
LED0_TRIS = 0;
LED1_TRIS = 0;
LED2_TRIS = 0;
LED3_TRIS = 0;
LED4_TRIS = 0;
LED5_TRIS = 0;
LED6_TRIS = 0;
LED_PUT(0x00);
// Enable multi-vectored interrupts
//INTEnableSystemMultiVectoredInt();
// Enable optimal performance
SYSTEMConfigPerformance(GetSystemClock());
mOSCSetPBDIV(OSC_PB_DIV_1); // Use 1:1 CPU Core:Peripheral clocks
// Disable JTAG port so we get our I/O pins back, but first
// wait 50ms so if you want to reprogram the part with
// JTAG, you'll still have a tiny window before JTAG goes away
DelayMs(50);
DDPCONbits.JTAGEN = 0;
LED_PUT(0x00); // Turn the LEDs off
AD1PCFGbits.PCFG2 = 0; // Disable digital input on AN2 (potentiometer)
// ADC
AD1CON1 = 0x84E4; // Turn on, auto sample start, auto-convert, 12 bit mode (on parts with a 12bit A/D)
AD1CON2 = 0x0404; // AVdd, AVss, int every 2 conversions, MUXA only, scan
AD1CON3 = 0x1003; // 16 Tad auto-sample, Tad = 3*Tcy
// PIC32MX460F512L PIM has different pinout to accomodate USB module
AD1CSSL = 1<<2; // Scan pot
}
void setup() {
int value;
value = SYSTEMConfigWaitStatesAndPB(GetSystemClock());
// Enable the cache for the best performance
CheKseg0CacheOn();
INTEnableSystemMultiVectoredInt();
value = OSCCON;
while (!(value & 0x00000020)) {
value = OSCCON; // Wait for PLL lock to stabilize
}
LATB=0;
ANSELA = 0x00;
ANSELB = 0x00;
TRISA = 0xFFFF;
TRISB = 0xFFFF;
TRISBbits.TRISB1= OUTPUT_PIN;
TRISBbits.TRISB2= OUTPUT_PIN;
TRISBbits.TRISB3= OUTPUT_PIN;
//?timijk debug
//TRISBbits.TRISB4= OUTPUT_PIN;
ConfigurePinReMap();
}
// *--------------------------------------------------------------------------------*
int main(){
mJTAGPortEnable(0); // JTAG des-habilitado
SYSTEMConfigPerformance(GetSystemClock()); // Activa pre-cache.-
AD1PCFG = 0xFFFF;
LED1_OUTPUT();
LED2_OUTPUT();
SW1_INPUT();
SW2_INPUT();
buttonCount = 0;
buttonPressed = FALSE;
stringPrinted = TRUE;
USBDeviceInit();
while(1){
#if defined(USB_INTERRUPT)
if(USB_BUS_SENSE && (USBGetDeviceState() == DETACHED_STATE)){
USBDeviceAttach();
}
#endif
#if defined(USB_POLLING)
// Check bus status and service USB interrupts.
USBDeviceTasks();
#endif
ProcessIO();
}
}
void UART2_init(unsigned long baudRate)
{
UINT8 uartConfig= USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH;
baudRate += (unsigned long)1;
baudRate *= (unsigned long)16;
baudRate = GetSystemClock() / baudRate;
Open2USART( uartConfig ,
baudRate);
// Enable interrupt priority
// RCONbits.IPEN = 1;
RCSTA2bits.SPEN = 1;
TXSTA2bits.TXEN = 1; //enable transmission
TXSTA2bits.CSRC = 0;
PIE3bits.RC2IE = 1;
IPR1bits.TXIP = 1; //make transmit interrupt high priority
// Make receive interrupt high priority
// IPR3bits.RC2IP = 1;
}
/****************************************************************************
Function:
void SYS_Init(void)
Summary:
Initialize the PIC32 core to the correct modes and clock speeds
Description:
Initialize the PIC32 core to the correct modes and clock speeds
Precondition:
Only runs on PIC32
Parameters:
None
Return Values:
None
Remarks:
None
***************************************************************************/
void SYS_Init(void)
{
int value;
#if defined(RUN_AT_60MHZ)
// Use OSCCON default
#else
OSCCONCLR = 0x38000000; //PLLODIV
#if defined(RUN_AT_48MHZ)
OSCCONSET = 0x08000000; //PLLODIV /2
#elif defined(RUN_AT_24MHZ)
OSCCONSET = 0x10000000; //PLLODIV /4
#else
#error Cannot set OSCCON
#endif
#endif
value = SYSTEMConfigWaitStatesAndPB( GetSystemClock() );
// Enable the cache for the best performance
CheKseg0CacheOn();
INTEnableSystemMultiVectoredInt();
DDPCONbits.JTAGEN = 0;
value = OSCCON;
while (!(value & 0x00000020))
{
value = OSCCON; // Wait for PLL lock to stabilize
}
INTEnableInterrupts();
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main()
{
/* External Clock */
CRG_PLL_InputFrequencySelect(CRG_OCLK);
/* Set Systme init */
SystemInit();
/* CPIO configuration */
GPIO_Setting();
/* Get System Clock */
sysclock = GetSystemClock();
/* SysTick_Config */
SysTick_Config((sysclock/1000));
while(1)
{
delay(1000);
/* RED LED toggled */
if(GPIO_ReadOutputDataBit(GPIOC,GPIO_Pin_0) != (uint32_t)Bit_RESET)
GPIO_ResetBits(GPIOC, GPIO_Pin_0);
else
GPIO_SetBits(GPIOC, GPIO_Pin_0);
}
}
BOOL InitializeSystem ( void )
{
int value;
value = SYSTEMConfigWaitStatesAndPB( GetSystemClock() );
// Enable the cache for the best performance
CheKseg0CacheOn();
INTEnableSystemMultiVectoredInt();
value = OSCCON;
while (!(value & 0x00000020))
{
value = OSCCON; // Wait for PLL lock to stabilize
}
// Init UART
UART2Init();
// Set Default demo state
DemoState = DEMO_INITIALIZE;
if(USBHostIsochronousBuffersCreate(&isocData,2,1024)){
UART2PrintString( "CreateIsochronousBuffers\r\n" );
}else{
UART2PrintString( "Fail:CreateIsochronousBuffers\r\n" );
}
return TRUE;
} // InitializeSystem
void TheApp::Update() {
static double lastTime = GetCurrentSeconds();
double currentTime = GetCurrentSeconds();
double deltaSeconds = currentTime - lastTime;
lastTime = currentTime;
if(deltaSeconds > 0.5) {
deltaSeconds = 0.5;
}
//system clock
GetSystemClock().AdvanceTime(deltaSeconds);
deltaSeconds = GetSystemClock().GetChild("GameClock")->GetDeltaSeconds();
if(m_world) {
m_world->Update(deltaSeconds );
}
if (m_jobManager) {
m_jobManager->Update();
}
if (m_networkSystem) {
m_networkSystem->Update();
}
//update debug shapes
if (m_renderer) {
g_debugShapes.Update(deltaSeconds);
}
// if(m_soundSystem){
// m_soundSystem->Update();
// }
if (m_textSystem) {
m_textSystem->Update(deltaSeconds);
}
if (m_particleSystem) {
m_particleSystem->Update(deltaSeconds);
}
}
void SetFlashWaitStates_old()
{
SystemUnlock();
#if defined(PIC32_PINGUINO_220)||defined(GENERIC32MX250F128)||defined(GENERIC32MX220F032)
PMMODEbits.WAITB = 0b00; // Data wait of 1 TPB
#else
CHECON = (GetSystemClock() / 20) - 1; // FlashWaitStates
#endif
SystemLock();
}
//////////////////////////////////////////////////////////////////////////////////
// LED-Strip Writer
//////////////////////////////////////////////////////////////////////////////////
void lw_setup() {
// start by writting zeros to wake-up latch(s)
lw_state = LW_S_WAIT_TO_WRITE_ZEROS;
lw_pixelIndex = 0;
lw_zeroCounter = ZEROS_NEEDED;
SPI_init();
/* 10mhz - faster is not working */
SPI_clock(GetSystemClock() / SPI_PBCLOCK_DIV8);
SPI_mode(SPI_MASTER);
BUFFER = 0x00; // Trigger STATRX
}
void DelayMs(WORD delay)
{
unsigned int int_status;
while( delay-- )
{
OpenCoreTimer(GetSystemClock() / 2000);
mConfigIntCoreTimer((CT_INT_ON | CT_INT_PRIOR_2 | CT_INT_SUB_PRIOR_0));
while(!dflag);
dflag=0;
}
mDisableIntCoreTimer();
}
void SetFlashWaitStates_old()
{
SystemUnlock();
#if !defined(PIC32_PINGUINO_220) && \
!defined(PINGUINO32MX220) && \
!defined(PINGUINO32MX250) && \
!defined(PINGUINO32MX270)
CHECON = (GetSystemClock() / 20) - 1; // FlashWaitStates
#endif
SystemLock();
}
void us_ticker_init(void)
{
if (us_ticker_inited) return;
us_ticker_inited = 1;
SystemCoreClockUpdate();
TimerInitType.PWM_CHn_PR = (GetSystemClock() / 1000000) -1;
TimerInitType.PWM_CHn_LR = 0xFFFFFFFF;
TimerInitType.PWM_CHn_PDMR = 1;
PWM_TimerModeInit(TIMER_1, &TimerInitType);
PWM_CHn_Start(TIMER_1);
}
//*****************************************************************************
// DelayMs creates a delay of given miliseconds using the Core Timer
//
void DelayMs(WORD delay)
{
unsigned int int_status;
while( delay-- )
{
int_status = INTDisableInterrupts();
OpenCoreTimer(GetSystemClock() / 2000);
INTRestoreInterrupts(int_status);
mCTClearIntFlag();
while( !mCTGetIntFlag() );
}
mCTClearIntFlag();
}
// *--------------------------------------------------------------------------------*
int main(){
UINT16 Count=0;
mJTAGPortEnable(0); // JTAG des-habilitado
SYSTEMConfigPerformance(GetSystemClock()); // Activa pre-cache.-
LED1_OUTPUT();
LED2_OUTPUT();
INTEnableSystemMultiVectoredInt();
deviceAttached = FALSE;
//Initialize the stack
USBInitialize(0);
while(1){
//USB stack process function
USBTasks();
if(++Count==0){
LED1_TOGGLE();
}
//if thumbdrive is plugged in
if(USBHostMSDSCSIMediaDetect()){
deviceAttached = TRUE;
LED1_OFF();
//now a device is attached
//See if the device is attached and in the right format
if(FSInit()){
//Opening a file in mode "w" will create the file if it doesn't
// exist. If the file does exist it will delete the old file
// and create a new one that is blank.
myFile = FSfopen("test.txt","w");
//Write some data to the new file.
FSfwrite("This is a test.",1,15,myFile);
//Always make sure to close the file so that the data gets
// written to the drive.
FSfclose(myFile);
//Just sit here until the device is removed.
while(deviceAttached == TRUE){
USBTasks();
if(++Count==0){
LED2_TOGGLE();
}
}
LED2_OFF();
}
}
}
}
//////////////////////////////////////////////////////////////////////////////////
// MAIN Setup & process
//////////////////////////////////////////////////////////////////////////////////
void setup() {
// for delays - CP0Count counts at half the CPU rate
Fcp0 = GetSystemClock() / 1000000 / 2; // max = 40 for 80MHz
// setup-buffers
lw_buffer = pixel_buff_one;
pixels = pixel_buff_two;
//CDCprintf("Setup..\n");
//lb_setup();
lw_setup();
lwn_setup();
dataLink_setup();
}
void mySetLineCodingHandler(void)
{
//If the request is not in a valid range
if(cdc_notice.GetLineCoding.dwDTERate.Val > 115200)
{
//NOTE: There are two ways that an unsupported baud rate could be
//handled. The first is just to ignore the request and don't change
//the values. That is what is currently implemented in this function.
//The second possible method is to stall the STATUS stage of the request.
//STALLing the STATUS stage will cause an exception to be thrown in the
//requesting application. Some programs, like HyperTerminal, handle the
//exception properly and give a pop-up box indicating that the request
//settings are not valid. Any application that does not handle the
//exception correctly will likely crash when this requiest fails. For
//the sake of example the code required to STALL the status stage of the
//request is provided below. It has been left out so that this demo
//does not cause applications without the required exception handling
//to crash.
//---------------------------------------
//USBStallEndpoint(0,1);
}
else
{
DWORD_VAL dwBaud;
//Update the baudrate info in the CDC driver
CDCSetBaudRate(cdc_notice.GetLineCoding.dwDTERate.Val);
//Update the baudrate of the UART
#if defined(__18CXX)
dwBaud.Val = (DWORD)(GetSystemClock()/4)/line_coding.dwDTERate.Val-1;
SPBRG = dwBaud.v[0];
SPBRGH = dwBaud.v[1];
#elif defined(__C30__)
#if defined(__dsPIC33EP512MU810__) || defined (__PIC24EP512GU810__)
dwBaud.Val = ((GetPeripheralClock()/(unsigned long)(16 * line_coding.dwDTERate.Val)))- 1;
#else
dwBaud.Val = (((GetPeripheralClock()/2)+(BRG_DIV2/2*line_coding.dwDTERate.Val))/BRG_DIV2/line_coding.dwDTERate.Val-1);
#endif
U2BRG = dwBaud.Val;
#elif defined(__C32__)
U2BRG = ((GetPeripheralClock()+(BRG_DIV2/2*line_coding.dwDTERate.Val))/BRG_DIV2/line_coding.dwDTERate.Val-1);
//U2MODE = 0;
U2MODEbits.BRGH = BRGH2;
//U2STA = 0;
#endif
}
}
void DelayMs(WORD time)
{
while(time--)
{
unsigned int int_status;
int_status = INTDisableInterrupts();
OpenCoreTimer(GetSystemClock() / 2000); // core timer is at 1/2 system clock
INTRestoreInterrupts(int_status);
mCTClearIntFlag();
while(!mCTGetIntFlag());
}
mCTClearIntFlag();
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->PWM_CHx = (PWM_CHn_TypeDef *)pinmap_peripheral(pin, PinMap_PWM);
if (obj->PWM_CHx == (PWM_CHn_TypeDef *)NC) {
error("PWM error: pinout mapping failed.");
}
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
GetSystemClock();
obj->pin = pin;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void NetworkSession::Update(){
//incoming?
UpdateIncomingTraffic();
static float secondsSinceLastUpdate = 0.0;
double deltaSeconds = GetSystemClock().GetDeltaSeconds();
if (secondsSinceLastUpdate < (1 / m_sendFreqHz) ) {
secondsSinceLastUpdate += (float)deltaSeconds;
}
else {
//outgoing?
UpdateSessionConnections();
secondsSinceLastUpdate = 0.0f; //reset seconds since last
}
}
void SYS_Initialize ( void* data )
{
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
/* Disable JTAG to free up PORTA pins */
mJTAGPortEnable(DEBUG_JTAGPORT_OFF);
BSP_Initialize();
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableInterrupts();
BSP_WriteString("*** UART Interrupt-driven Application Example ***\r\n");
BSP_WriteString("*** Type some characters and observe echo ***\r\n");
/* Initialize the Application */
APP_Initialize ( );
}
void S_UART_SetBaud(uint32_t baud)
{
uint32_t uartclock = 0x00, integer_baud = 0x00;
assert_param(IS_UART_MODE(S_UART_InitStruct->UART_Mode));
if(CRG->FCLK_SSR == CRG_FCLK_SSR_RCLK)
{
uartclock = INTERN_XTAL;
}
else if(CRG->FCLK_SSR == CRG_FCLK_SSR_OCLK)
{
uartclock = EXTERN_XTAL;
}
else
{
uartclock = GetSystemClock();
}
integer_baud = (uint32_t)(uartclock / baud);
UART2->BAUDDIV = integer_baud;
}
void us_ticker_set_interrupt(timestamp_t timestamp)
{
int32_t dev = 0;
if (!us_ticker_inited)
{
us_ticker_init();
}
dev = (int32_t)(timestamp - us_ticker_read());
dev = dev * ((GetSystemClock() / 1000000) / 16);
if(dev <= 0)
{
us_ticker_irq_handler();
return;
}
DUALTIMER_ClockEnable(TIMER_0);
DUALTIMER_Stop(TIMER_0);
TimerHandler.TimerControl_Mode = DUALTIMER_TimerControl_Periodic;
TimerHandler.TimerControl_OneShot = DUALTIMER_TimerControl_OneShot;
TimerHandler.TimerControl_Pre = DUALTIMER_TimerControl_Pre_16;
TimerHandler.TimerControl_Size = DUALTIMER_TimerControl_Size_32;
TimerHandler.TimerLoad = (uint32_t)dev;
DUALTIMER_Init(TIMER_0, &TimerHandler);
DUALTIMER_IntConfig(TIMER_0, ENABLE);
NVIC_EnableIRQ(TIMER_IRQn);
DUALTIMER_Start(TIMER_0);
}
// *--------------------------------------------------------------------------------*
int main(){
UINT8 k=0;
UINT16 Conversion;
mJTAGPortEnable(0); // JTAG des-habilitado
SYSTEMConfigPerformance(GetSystemClock()); // Activa pre-cache.-
LED1_OUTPUT();
LED2_OUTPUT();
LED3_OUTPUT();
LED4_OUTPUT();
SW1_INPUT();
SW2_INPUT();
PORTSetPinsDigitalOut(IOPORT_D, BIT_1); // Backlight del TFT
mPORTDSetBits(BIT_1);
vLCDTFTInit();
vLCDTFTFillScreen(ColorWhite);
vADC_Init();
while(1){
if(SW1_STATUS()==0){
vLCDTFTRectangle(0,0,200,319,1,Colores[k]);
if(++k==6){k=0;}
DelayMs(250);
}
if(SW2_STATUS()==0){
LED2_TOGGLE();
LED4_TOGGLE();
DelayMs(250);
}
Conversion=ADC_Conversion();
vLCDTFTRectangle(201,0,239,319,1,ColorWhite);
// 1023 -> 0; 0 -> 239
vLCDTFTRectangle(202,((-0.31183*Conversion)+319.0),238,319,1,ColorRed);
DelayMs(50);
}
}
void mySetLineCodingHandler(void)
{
#if MAX_BAUDRATE
//If the request is not in a valid range
if(cdc_notice.GetLineCoding.dwDTERate.Val > MAX_BAUDRATE)
{
//NOTE: There are two ways that an unsupported baud rate could be
//handled. The first is just to ignore the request and don't change
//the values. That is what is currently implemented in this function.
//The second possible method is to stall the STATUS stage of the request.
//STALLing the STATUS stage will cause an exception to be thrown in the
//requesting application. Some programs, like HyperTerminal, handle the
//exception properly and give a pop-up box indicating that the request
//settings are not valid. Any application that does not handle the
//exception correctly will likely crash when this requiest fails. For
//the sake of example the code required to STALL the status stage of the
//request is provided below. It has been left out so that this demo
//does not cause applications without the required exception handling
//to crash.
//---------------------------------------
//USBStallEndpoint(0,1);
}else
#endif
{
DWORD_VAL dwBaud;
//Update the baudrate info in the CDC driver
CDCSetBaudRate(cdc_notice.GetLineCoding.dwDTERate.Val);
//Update the baudrate of the UART
#if defined(__18CXX)
dwBaud.Val = (GetSystemClock()/4)/line_coding.dwDTERate.Val-1;
SPBRG = dwBaud.v[0];
SPBRGH = dwBaud.v[1];
#endif
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main()
{
//uint8_t tx_size[8] = { 2, 2, 2, 2, 2, 2, 2, 2 };
//uint8_t rx_size[8] = { 2, 2, 2, 2, 2, 2, 2, 2 };
uint8_t mac_addr[6] = {0x00, 0x08, 0xDC, 0x01, 0x02, 0x03};
uint8_t src_addr[4] = {192, 168, 0, 9};
uint8_t gw_addr[4] = {192, 168, 0, 1};
uint8_t sub_addr[4] = {255, 255, 255, 0};
//uint8_t dns_server[4] = {8, 8, 8, 8}; // for Example domain name server
uint8_t tmp[8];
int32_t ret;
uint16_t port=5000, size = 0, sentsize=0;
uint8_t destip[4];
uint16_t destport;
*(volatile uint32_t *)(0x41001014) = 0x0060100; //clock setting 48MHz
/* External Clock */
//CRG_PLL_InputFrequencySelect(CRG_OCLK);
/* Set Systme init */
SystemInit();
SSP0_Initialize();
SSP1_Initialize();
GPIO_Initialize();
GPIO_SetBits(GPIOC, GPIO_Pin_8); // LED red off
GPIO_SetBits(GPIOC, GPIO_Pin_9); // LED green off
GPIO_ResetBits(GPIOC, GPIO_Pin_6); // Test off
/* UART Init */
UART_StructInit(&UART_InitStructure);
UART_Init(UART1,&UART_InitStructure);
/* SysTick_Config */
SysTick_Config((GetSystemClock()/1000));
/* Set WZ_100US Register */
setTIC100US((GetSystemClock()/10000));
//getTIC100US();
//printf(" GetSystemClock: %X, getTIC100US: %X, (%X) \r\n",
// GetSystemClock, getTIC100US(), *(uint32_t *)TIC100US);
#ifdef __DEF_USED_IC101AG__ //For using IC+101AG
*(volatile uint32_t *)(0x41003068) = 0x64; //TXD0 - set PAD strengh and pull-up
*(volatile uint32_t *)(0x4100306C) = 0x64; //TXD1 - set PAD strengh and pull-up
*(volatile uint32_t *)(0x41003070) = 0x64; //TXD2 - set PAD strengh and pull-up
*(volatile uint32_t *)(0x41003074) = 0x64; //TXD3 - set PAD strengh and pull-up
*(volatile uint32_t *)(0x41003050) = 0x64; //TXE - set PAD strengh and pull-up
#endif
printf("PHY is linked. \r\n");
#ifdef __DEF_USED_MDIO__
/* mdio Init */
mdio_init(GPIOB, MDC, MDIO );
//mdio_error_check(GPIOB, MDC, MDIO); //need verify...
/* PHY Link Check via gpio mdio */
while( link() == 0x0 )
{
printf(".");
delay(500);
}
printf("PHY is linked. \r\n");
#else
delay(1000);
delay(1000);
#endif
/* Network Configuration */
setSHAR(mac_addr);
setSIPR(src_addr);
setGAR(gw_addr);
setSUBR(sub_addr);
getSHAR(tmp);
printf(" MAC ADDRESS : %.2X:%.2X:%.2X:%.2X:%.2X:%.2X\r\n",tmp[0],tmp[1],tmp[2],tmp[3],tmp[4],tmp[5]);
getSIPR(tmp);
printf("IP ADDRESS : %d.%d.%d.%d\r\n",tmp[0],tmp[1],tmp[2],tmp[3]);
getGAR(tmp);
printf("GW ADDRESS : %d.%d.%d.%d\r\n",tmp[0],tmp[1],tmp[2],tmp[3]);
getSUBR(tmp);
printf("SN MASK: %d.%d.%d.%d\r\n",tmp[0],tmp[1],tmp[2],tmp[3]);
/* Set Network Configuration */
//wizchip_init(tx_size, rx_size);
printf(" TEST- START \r\n");
while(1)
{
switch(getSn_SR(SOCK_NUM))
{
case SOCK_ESTABLISHED:
if(getSn_IR(SOCK_NUM) & Sn_IR_CON)
{
getSn_DIPR(SOCK_NUM, destip);
destport = getSn_DPORT(SOCK_NUM);
printf("%d:Connected - %d.%d.%d.%d : %d\r\n",SOCK_NUM, destip[0], destip[1], destip[2], destip[3], destport);
setSn_IR(SOCK_NUM,Sn_IR_CON);
}
if((size = getSn_RX_RSR(SOCK_NUM)) > 0) // Don't need to check SOCKERR_BUSY because it doesn't not occur.
{
if(size > DATA_BUF_SIZE) size = DATA_BUF_SIZE;
ret = recv(SOCK_NUM, test_buf, size);
if(ret <= 0) return ret; // check SOCKERR_BUSY & SOCKERR_XXX. For showing the occurrence of SOCKERR_BUSY.
/* Send only data to SSP1 */
for (TxIdx=0; TxIdx<size; TxIdx++)
{
SSP_SendData(SSP0, test_buf[TxIdx]);
while( SSP_GetFlagStatus(SSP0, SSP_FLAG_BSY) );
}
/* Receive only data from SSP0 */
while(SSP_GetFlagStatus(SSP1, SSP_FLAG_RNE))
{
SSP1_Buffer_Rx[RxIdx] = SSP_ReceiveData(SSP1);
RxIdx++;
}
RxIdx=0;
sentsize = 0;
while(size != sentsize)
{
ret = send(SOCK_NUM, SSP1_Buffer_Rx+sentsize, size-sentsize);
if(ret < 0)
{
close(SOCK_NUM);
return ret;
}
sentsize += ret; // Don't care SOCKERR_BUSY, because it is zero.
}
}
break;
case SOCK_CLOSE_WAIT:
printf("%d:CloseWait\r\n",SOCK_NUM);
if((ret = disconnect(SOCK_NUM)) != SOCK_OK) return ret;
printf("%d:Socket Closed\r\n", SOCK_NUM);
break;
case SOCK_INIT:
printf("%d:Listen, TCP server loopback, port [%d]\r\n", SOCK_NUM, port);
if( (ret = listen(SOCK_NUM)) != SOCK_OK) return ret;
break;
case SOCK_CLOSED:
printf("%d:TCP server loopback start\r\n",SOCK_NUM);
if((ret = socket(SOCK_NUM, Sn_MR_TCP, port, 0x00)) != SOCK_NUM) return ret;
printf("%d:Socket opened\r\n",SOCK_NUM);
break;
default:
break;
}
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main()
{
//uint8_t tx_size[8] = { 2, 2, 2, 2, 2, 2, 2, 2 };
//uint8_t rx_size[8] = { 2, 2, 2, 2, 2, 2, 2, 2 };
uint8_t mac_addr[6] = {0x00, 0x08, 0xDC, 0x11, 0x22, 0x34};
uint8_t src_addr[4] = {192, 168, 0, 80};
uint8_t gw_addr[4] = {192, 168, 0, 1};
uint8_t sub_addr[4] = {255, 255, 255, 0};
//uint8_t dns_server[4] = {8, 8, 8, 8}; // for Example domain name server
uint8_t tmp[8];
#if LOOPBACK_MODE == LOOPBACK_MAIN_NOBLOCK
int ret;
uint8_t sn;
#if defined(TEST_TCPC)
int32_t loopback_ret;
struct sockaddr_in sa;
uint32_t s_addr;
#endif
#endif
// For TCP client loopback examples; destination network info
//uint8_t destip[4] = {192, 168, 0, 2};
//uint16_t destport = 5000;
//int32_t loopback_ret;
/* External Clock */
CRG_PLL_InputFrequencySelect(CRG_OCLK);
/* Set Systme init */
SystemInit();
/* UART Init */
UART_StructInit(&UART_InitStructure);
UART_Init(UART1,&UART_InitStructure);
/* SysTick_Config */
SysTick_Config((GetSystemClock()/1000));
/* Set WZ_100US Register */
setTIC100US((GetSystemClock()/10000));
//getTIC100US();
//printf(" GetSystemClock: %X, getTIC100US: %X, (%X) \r\n",
// GetSystemClock, getTIC100US(), *(uint32_t *)TIC100US);
#ifdef _MAIN_DEBUG_
uint8_t tmpstr[6] = {0,};
ctlwizchip(CW_GET_ID,(void*)tmpstr);
printf("\r\n============================================\r\n");
printf(" WIZnet %s EVB Demo v%d.%.2d\r\n", tmpstr, VER_H, VER_L);
printf("============================================\r\n");
printf(" WIZwiki Platform based Loopback Example\r\n");
printf("============================================\r\n");
#endif
#ifdef __DEF_USED_IC101AG__ //For using IC+101AG
*(volatile uint32_t *)(0x41003068) = 0x64; //TXD0 - set PAD strengh and pull-up
*(volatile uint32_t *)(0x4100306C) = 0x64; //TXD1 - set PAD strengh and pull-up
*(volatile uint32_t *)(0x41003070) = 0x64; //TXD2 - set PAD strengh and pull-up
*(volatile uint32_t *)(0x41003074) = 0x64; //TXD3 - set PAD strengh and pull-up
*(volatile uint32_t *)(0x41003050) = 0x64; //TXE - set PAD strengh and pull-up
#endif
#ifdef __DEF_USED_MDIO__
/* mdio Init */
mdio_init(GPIOB, MDC, MDIO );
/* PHY Link Check via gpio mdio */
while( link() == 0x0 )
{
printf(".");
delay(500);
}
printf("PHY is linked. \r\n");
#else
delay(1000);
delay(1000);
#endif
/* Network Configuration */
setSHAR(mac_addr);
setSIPR(src_addr);
setGAR(gw_addr);
setSUBR(sub_addr);
getSHAR(tmp);
printf("MAC ADDRESS : %.2X:%.2X:%.2X:%.2X:%.2X:%.2X\r\n",tmp[0],tmp[1],tmp[2],tmp[3],tmp[4],tmp[5]);
getSIPR(tmp);
printf("IP ADDRESS : %.3d.%.3d.%.3d.%.3d\r\n",tmp[0],tmp[1],tmp[2],tmp[3]);
getGAR(tmp);
printf("GW ADDRESS : %.3d.%.3d.%.3d.%.3d\r\n",tmp[0],tmp[1],tmp[2],tmp[3]);
getSUBR(tmp);
printf("SN MASK: %.3d.%.3d.%.3d.%.3d\r\n",tmp[0],tmp[1],tmp[2],tmp[3]);
/* Set Network Configuration */
//wizchip_init(tx_size, rx_size);
#if LOOPBACK_MODE == LOOPBACK_MAIN_NOBLOCK
#if defined(TEST_TCPS) || defined(TEST_TCPC)
ret = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
#elif defined(TEST_UDPS)
ret = socket(AF_INET, SOCK_STREAM, IPPROTO_UDP);
#endif
#if defined(TEST_TCPC)
memset(&sa, 0, sizeof(sa));
sa.sin_len = (uint16_t)sizeof(sa);
sa.sin_family = AF_INET;
sa.sin_port = htons(destport);
s_addr = (((((destip[0] << 8) | destip[1]) << 8) | destip[2]) << 8) | destip[3];
sa.sin_addr.s_addr = htonl(s_addr);
#endif
if(ret == -1)
{
#ifdef _LOOPBACK_DEBUG_
printf("%d:Socket Error\r\n", ret);
#endif
return ret;
}
sn = ret;
#endif
while(1)
{
/* Loopback Test: TCP Server and UDP */
#if LOOPBACK_MODE == LOOPBACK_MAIN_NOBLOCK
#if defined(TEST_TCPS)
loopback_tcps_bsd(sn, gDATABUF, TEST_PORT);
#elif defined(TEST_UDPS)
loopback_udps_bsd(sn, gDATABUF, TEST_PORT);
#elif defined(TEST_TCPC)
loopback_ret = loopback_tcpc_bsd(sn, gDATABUF, (struct sockaddr*)&sa);
if(loopback_ret < 0) printf("loopback ret: %ld\r\n", loopback_ret); // TCP Socket Error code
#endif
#elif LOOPBACK_MODE == LOOPBACK_MAIN_SAMPLE
#if defined(TEST_TCPS)
loopback_tcps_bsd(test_buf);
#elif defined(TEST_TCPC)
loopback_tcpc_bsd(test_buf);
#endif
#endif
}
}
int main(void)
{
//LOCALS
unsigned int temp;
unsigned int channel1, channel2;
M1_stepPeriod = M2_stepPeriod = M3_stepPeriod = M4_stepPeriod = 50; // in tens of u-seconds
unsigned char M1_state = 0, M2_state = 0, M3_state = 0, M4_state = 0;
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
/* TIMER1 - now configured to interrupt at 10 khz (every 100us) */
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, T1_TICK);
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
/* TIMER2 - 100 khz interrupt for distance measure*/
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, T2_TICK);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_3); //It is off until trigger
/* PORTA b2 and b3 for servo-PWM */
mPORTAClearBits(BIT_2 | BIT_3);
mPORTASetPinsDigitalOut(BIT_2 | BIT_3);
/* ULTRASONICS: some bits of PORTB for ultrasonic sensors */
PORTResetPins(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11 );
PORTSetPinsDigitalOut(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11); //trigger
/* Input Capture pins for echo signals */
//interrupt on every risging/falling edge starting with a rising edge
PORTSetPinsDigitalIn(IOPORT_D, BIT_8| BIT_9| BIT_10| BIT_11); //INC1, INC2, INC3, INC4 Pin
mIC1ClearIntFlag();
OpenCapture1( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//front
ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture2( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//back
ConfigIntCapture2(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture3( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//left
ConfigIntCapture3(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture4( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//right
ConfigIntCapture4(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
/* PINS used for the START (RD13) BUTTON */
PORTSetPinsDigitalIn(IOPORT_D, BIT_13);
#define CONFIG (CN_ON | CN_IDLE_CON)
#define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2)
mCNOpen(CONFIG, CN19_ENABLE, CN19_PULLUP_ENABLE);
temp = mPORTDRead();
/* PORT D and E for motors */
//motor 1
mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTD on startup.
mPORTDSetPinsDigitalOut(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTD output.
//motor 2
mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Turn on PORTC on startup.
mPORTCSetPinsDigitalOut(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Make PORTC output.
//motor 3 and 4
mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTE on startup.
mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTE output.
// UART2 to connect to the PC.
// This initialization assumes 36MHz Fpb clock. If it changes,
// you will have to modify baud rate initializer.
UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART2, GetPeripheralClock(), BAUD);
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// Configure UART2 RX Interrupt
INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0);
/* PORTD for LEDs - DEBUGGING */
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);
// Congifure Change/Notice Interrupt Flag
ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
INTEnableInterrupts();
counterDistanceMeasure=600; //measure ULTRASONICS distance each 60 ms
while (1) {
/***************** Robot MAIN state machine *****************/
unsigned char ret = 0;
switch (Robo_State) {
case 0:
MotorsON = 0;
Robo_State = 0;
InvInitialOrientation(RESET);
TestDog(RESET);
GoToRoom4short(RESET);
BackToStart(RESET);
InitialOrientation(RESET);
GoToCenter(RESET);
GoToRoom4long(RESET);
break;
case 1:
ret = InvInitialOrientation(GO);
if (ret == 1) {
Robo_State = 2;
}
break;
case 2:
ret = TestDog(GO);
if (ret == 1) {
Robo_State = 3; //DOG not found
} else if (ret == 2) {
Robo_State = 4; //DOG found
}
break;
case 3:
ret = GoToRoom4short(GO);
if (ret == 1) {
Robo_State = 0;
}
break;
case 4:
ret = BackToStart(GO);
if (ret == 1) {
Robo_State = 5;
}
break;
case 5:
ret = GoToCenter(GO);
if (ret == 1) {
Robo_State = 6;
}
break;
case 6:
ret = GoToRoom4long(GO);
if (ret == 1) {
Robo_State = 0;
}
break;
}
if (frontDistance < 30 || backDistance < 30 || leftDistance < 30 || rightDistance < 30)
mPORTDSetBits(BIT_0);
else
mPORTDClearBits(BIT_0);
/***************************************************************/
/***************** Motors State Machine ************************/
if (MotorsON) {
/****************************
MOTOR MAP
M1 O-------------O M2 ON EVEN MOTORS, STEPS MUST BE INVERTED
| /\ | i.e. FORWARD IS BACKWARD
| / \ |
| || |
| || |
M3 O-------------O M4
*****************************/
if (M1_counter == 0) {
switch (M1_state) {
case 0: // set 0011
step (0x3 , 1);
if (M1forward)
M1_state = 1;
else
M1_state = 3;
break;
case 1: // set 1001
step (0x9 , 1);
if (M1forward)
M1_state = 2;
else
M1_state = 0;
break;
case 2: // set 1100
step (0xC , 1);
if (M1forward)
M1_state = 3;
else
M1_state = 1;
break;
case 3: // set 0110
default:
step (0x6 , 1);
if (M1forward)
M1_state = 0;
else
M1_state = 2;
break;
}
M1_counter = M1_stepPeriod;
step_counter[0]--;
if (directionNow == countingDirection)
step_counter[1]--;
}
if (M2_counter == 0) {
switch (M2_state) {
case 0: // set 0011
step (0x3 , 2);
if (M2forward)
M2_state = 1;
else
M2_state = 3;
break;
case 1: // set 0110
step (0x6 , 2);
if (M2forward)
M2_state = 2;
else
M2_state = 0;
break;
case 2: // set 1100
step (0xC , 2);
if (M2forward)
M2_state = 3;
else
M2_state = 1;
break;
case 3: // set 1001
default:
step (0x9 , 2);
if (M2forward)
M2_state = 0;
else
M2_state = 2;
break;
}
M2_counter = M2_stepPeriod;
}
if (M3_counter == 0) {
switch (M3_state) {
case 0: // set 0011
step (0x3 , 3);
if (M3forward)
M3_state = 1;
else
M3_state = 3;
break;
case 1: // set 1001
step (0x9 , 3);
if (M3forward)
M3_state = 2;
else
M3_state = 0;
break;
case 2: // set 1100
step (0xC , 3);
if (M3forward)
M3_state = 3;
else
M3_state = 1;
break;
case 3: // set 0110
default:
step (0x6 , 3);
if (M3forward)
M3_state = 0;
else
M3_state = 2;
break;
}
M3_counter = M3_stepPeriod;
}
if (M4_counter == 0) {
switch (M4_state) {
case 0: // set 0011
step (0x3 , 4);
if (M4forward)
M4_state = 1;
else
M4_state = 3;
break;
case 1: // set 0110
step (0x6 , 4);
if (M4forward)
M4_state = 2;
else
M4_state = 0;
break;
case 2: // set 1100
step (0xC , 4);
if (M4forward)
M4_state = 3;
else
M4_state = 1;
break;
case 3: // set 1001
default:
step (0x9 , 4);
if (M4forward)
M4_state = 0;
else
M4_state = 2;
break;
}
M4_counter = M4_stepPeriod;
}
} else {
//motors off
mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7);
mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4);
mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7);
}
/************************************************************/
/******* TEST CODE, toggles the servos (from 90 deg. to -90 deg.) every 1 s. ********/
/* if (auxcounter == 0) {
servo1_angle = 0;
if (servo2_angle == 90)
servo2_angle = -90;
else
servo2_angle = 90;
auxcounter = 20000; // toggle angle every 2 s.
}
*/
servo1_angle = 0;
servo2_angle = -90;
/*
if (frontDistance > 13 && frontDistance < 17) {
servo2_angle = 90;
}
else
servo2_angle = -90;
*/
/*******************************************************************/
/****************** SERVO CONTROL ******************/
/*
Changing the global servoX_angle at any point in the code will
move the servo to the desired angle.
*/
servo1_counter = (servo1_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
if (servo1_period == 0) {
mPORTASetBits(BIT_2);
servo1_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */
}
servo2_counter = (servo2_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
if (servo2_period == 0) {
mPORTASetBits(BIT_3);
servo2_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */
}
/*****************************************************/
} /* end of while(1) */
return 0;
}
/****************************************************************************
Function:
static void InitializeBoard(void)
Description:
This routine initializes the hardware. It is a generic initialization
routine for many of the Microchip development boards, using definitions
in HardwareProfile.h to determine specific initialization.
Precondition:
None
Parameters:
None - None
Returns:
None
Remarks:
None
***************************************************************************/
static void InitializeBoard(void) {
// WiFi Module hardware Initialization handled by Library
// Enable multi-vectored interrupts
INTEnableSystemMultiVectoredInt();
// Enable optimal performance
SYSTEMConfigPerformance(GetSystemClock());
mOSCSetPBDIV(OSC_PB_DIV_1); // Use 1:1 CPU Core:Peripheral clocks
// Disable JTAG port so we get our I/O pins back, but first
// wait 50ms so if you want to reprogram the part with
// JTAG, you'll still have a tiny window before JTAG goes away.
// The PIC32 Starter Kit debuggers use JTAG and therefore must not
// disable JTAG.
DelayMs(50);
DDPCONbits.JTAGEN = 0;
// LEDs
LEDS_OFF();
mPORTESetPinsDigitalOut(BIT_5 | BIT_6 | BIT_7);
// Switches
mPORTDSetPinsDigitalIn(BIT_4 | BIT_5 | BIT_6);
ConfigCNPullups(CN13_PULLUP_ENABLE | CN14_PULLUP_ENABLE | CN15_PULLUP_ENABLE);
// LCD
mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3);
//Configure LCD SPI pins
mPORTFSetPinsDigitalOut(BIT_8);
mPORTDSetPinsDigitalOut(BIT_15);
//SPI Flash
mPORTDSetPinsDigitalOut(BIT_14);
//UART
mPORTFSetPinsDigitalOut(BIT_5);
mPORTFSetPinsDigitalIn(BIT_4);
//MiWi
#if defined(MRF24J40) || defined(MRF49XA)
PHY_CS = 1;
mPORTDSetPinsDigitalOut(BIT_9);
PHY_RESETn = 1;
mPORTDSetPinsDigitalOut(BIT_11);
#endif
#if defined(MRF49XA)
nFSEL_TRIS = 0;
FINT_TRIS = 1;
nFSEL = 1;
#elif defined(MRF24J40)
PHY_WAKE = 1;
mPORTBSetPinsDigitalOut(BIT_9);
#else
Data_nCS_TRIS = 0;
Config_nCS_TRIS = 0;
Data_nCS = 1;
Config_nCS = 1;
IRQ1_INT_TRIS = 1;
IRQ0_INT_TRIS = 1;
#endif
/* Set the Port Directions of SDO, SDI, Clock & Slave Select Signal */
/* Set SCK port pin to output */
mPORTDSetPinsDigitalOut(BIT_10);
/* Set SDO port pin to output */
mPORTDSetPinsDigitalOut(BIT_0);
/* Set SDI port pin to input */
mPORTCSetPinsDigitalIn(BIT_4);
/* Set INT1, INT2 port pins to input */
mPORTESetPinsDigitalIn(BIT_8 | BIT_9);
/* Clear SPI1CON register */
SPI1CONCLR = 0xFFFFFFFF;
#ifdef HARDWARE_SPI
unsigned int pbFreq;
/* Enable SPI1, Set to Master Mode & Set CKE bit : Serial output data changes on transition
from active clock state to Idle clock state */
SPI1CON = 0x00008120;
/* Peripheral Bus Frequency = System Clock / PB Divider */
pbFreq = (DWORD) CLOCK_FREQ / (1 << mOSCGetPBDIV());
/* PB Frequency can be maximum 40 MHz */
if (pbFreq > (2 * MAX_SPI_CLK_FREQ_FOR_P2P)) {
{
unsigned int SPI_Clk_Freq;
unsigned char SPI_Brg1 = 1;
//For the SPI1
/* Continue the loop till you find SPI Baud Rate Register Value */
while (1) {
/* SPI Clock Calculation as per PIC32 Manual */
SPI_Clk_Freq = pbFreq / (2 * (SPI_Brg1 + 1));
if (SPI_Clk_Freq <= MAX_SPI_CLK_FREQ_FOR_P2P) {
break;
}
SPI_Brg1++;
}
mSpiChnSetBrg(1, SPI_Brg1);
}
} else {
/* Set SPI1 Baud Rate */
mSpiChnSetBrg(1, 0);
}
#endif
/* Set the Interrupt Priority */
mINT2SetIntPriority(4);
#if defined(MRF89XA)
mINT1SetIntPriority(4);
#endif
/* Set Interrupt Subpriority Bits for INT2 */
mINT2SetIntSubPriority(2);
#if defined(MRF89XA)
mINT2SetIntSubPriority(1);
#endif
/* Set INT2 to falling edge */
mINT2SetEdgeMode(0);
#if defined(MRF89XA)
mINT1SetEdgeMode(1);
mINT2SetEdgeMode(1);
#endif
/* Enable INT2 */
mINT2IntEnable(1);
#if defined(MRF89XA)
mINT2IntEnable(1);
#endif
/* Enable Multi Vectored Interrupts */
// INTEnableSystemMultiVectoredInt();
#if defined(MRF89XA)
PHY_IRQ1 = 0;
PHY_IRQ0 = 0;
PHY_RESETn_TRIS = 1;
#else
RFIF = 0;
if (RF_INT_PIN == 0) {
RFIF = 1;
}
#endif
// Initialize the EEPROM
XEEInit();
// UART Initialization
#if defined(STACK_USE_UART)
UARTTX_TRIS = 0;
UARTRX_TRIS = 1;
UMODE = 0x8000; // Set UARTEN. Note: this must be done before setting UTXEN
USTA = 0x00001400; // RXEN set, TXEN set
#define CLOSEST_UBRG_VALUE ((GetPeripheralClock()+8ul*BAUD_RATE)/16/BAUD_RATE-1)
#define BAUD_ACTUAL (GetPeripheralClock()/16/(CLOSEST_UBRG_VALUE+1))
#define BAUD_ERROR ((BAUD_ACTUAL > BAUD_RATE) ? BAUD_ACTUAL-BAUD_RATE : BAUD_RATE-BAUD_ACTUAL)
#define BAUD_ERROR_PRECENT ((BAUD_ERROR*100+BAUD_RATE/2)/BAUD_RATE)
#if (BAUD_ERROR_PRECENT > 3)
#warning UART frequency error is worse than 3%
#elif (BAUD_ERROR_PRECENT > 2)
#warning UART frequency error is worse than 2%
#endif
UBRG = CLOSEST_UBRG_VALUE;
#endif
}
