/*
* Low-level initialization routine called during startup, before the main
* function.
* This version comes in replacement to the default one provided by Newlib.
* Newlib's _init_startup only calls init_exceptions, but Newlib's exception
* vectors are not compatible with the SCALL management in the current FreeRTOS
* port. More low-level initializations are besides added here.
*/
void _init_startup(void)
{
/* Import the Exception Vector Base Address. */
extern void _evba;
#if configHEAP_INIT
extern void __heap_start__;
extern void __heap_end__;
BaseType_t *pxMem;
#endif
/* Load the Exception Vector Base Address in the corresponding system register. */
Set_system_register( AVR32_EVBA, ( int ) &_evba );
/* Enable exceptions. */
ENABLE_ALL_EXCEPTIONS();
/* Initialize interrupt handling. */
INTC_init_interrupts();
#if configHEAP_INIT
/* Initialize the heap used by malloc. */
for( pxMem = &__heap_start__; pxMem < ( BaseType_t * )&__heap_end__; )
{
*pxMem++ = 0xA5A5A5A5;
}
#endif
/* Give the used CPU clock frequency to Newlib, so it can work properly. */
//set_cpu_hz( configCPU_CLOCK_HZ );
}
void Actividad2(void){
pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP); //osc0 a 12Mhz
center=0;
//Interrupciones
Disable_global_interrupt();
INTC_init_interrupts();
INTC_register_interrupt(&tecla_lrc_isr, 71, 0);
INTC_register_interrupt(&tecla_lrc_isr, 70,0);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_LEFT,GPIO_RISING_EDGE);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_RIGHT,GPIO_RISING_EDGE);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_ENTER,GPIO_RISING_EDGE);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_UP,GPIO_RISING_EDGE);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_DOWN,GPIO_RISING_EDGE);
Enable_global_interrupt();
while (1){}
}
/*! \brief Main function. Execution starts here.
*
* \retval 42 Fatal error.
*/
int main(void)
{
#ifndef FREERTOS_USED
Enable_global_exception();
INTC_init_interrupts();
#endif
pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP);
init_dbg_rs232(FOSC0);
pcl_configure_usb_clock();
usb_task_init();
#if USB_DEVICE_FEATURE == true
device_template_task_init();
#endif
#if USB_HOST_FEATURE == true
host_template_task_init();
#endif
#ifdef FREERTOS_USED
vTaskStartScheduler();
portDBG_TRACE("FreeRTOS returned.");
return 42;
#else
while (true)
{
usb_task();
#if USB_DEVICE_FEATURE == true
device_template_task();
#endif
#if USB_HOST_FEATURE == true
host_template_task();
#endif
}
#endif // FREERTOS_USED
}
void boardsupport_init(void)
{
central_data_t *central_data;
irq_initialize_vectors();
cpu_irq_enable();
Disable_global_interrupt();
sysclk_init();
//delay_init(sysclk_get_cpu_hz());
INTC_init_interrupts();
central_data=central_data_get_pointer_to_struct();
#ifdef TELEMETRY_USE_UART
uart_int_set_usart_conf(TELEMETRY_UART_INDEX, asv_debug_uart_conf());
//uart configuration
uart_int_init(TELEMETRY_UART_INDEX);
uart_int_register_write_stream(uart_int_get_uart_handle(TELEMETRY_UART_INDEX), &(central_data->wired_out_stream));
// Registering streams
buffer_make_buffered_stream_lossy(&(wired_in_buffer), &(central_data->wired_in_stream));
uart_int_register_read_stream(uart_int_get_uart_handle(TELEMETRY_UART_INDEX), &(central_data->wired_in_stream));
central_data->debug_in_stream=¢ral_data->wired_in_stream;
central_data->debug_out_stream=¢ral_data->wired_out_stream;
#endif
central_data_init();
Enable_global_interrupt();
}
/*! \brief Main function. Execution starts here.
*
* \retval No return value.
*/
int main(void)
{
#ifdef __GNUC__
// Initialize the INTC sw driver.
INTC_init_interrupts();
#endif
// Configure system clocks.
if (pcl_configure_clocks(&pcl_freq_param) != PASS)
while (true);
// Initialize USB clock (on PLL1)
pcl_configure_usb_clock();
// Initialize USB task
usb_task_init();
#if USB_DEVICE_FEATURE == true
// Initialize device generic USB task
device_generic_hid_task_init();
#endif
// No OS here. Need to call each task in round-robin mode.
while (true) {
usb_task();
#if USB_DEVICE_FEATURE == true
device_generic_hid_task();
#endif
}
}
/*! \brief Initializes MCU interrupts.
*/
static void init_interrupts(void)
{
// Initialize interrupt handling.
INTC_init_interrupts();
// Enable interrupts globally.
Enable_global_interrupt();
}
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*/
int __low_level_init(void)
{
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Request initialization of data segments.
return 1;
}
/*
* Low-level initialization routine called during startup, before the main
* function.
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception vectors are not compatible with the SCALL management in the current
* FreeRTOS port. More low-level initializations are besides added here.
*/
int _init_startup(void)
{
/* Import the Exception Vector Base Address. */
extern void _evba;
#if configHEAP_INIT
extern void __heap_start__;
extern void __heap_end__;
portBASE_TYPE *pxMem;
#endif
/* Load the Exception Vector Base Address in the corresponding system register. */
Set_system_register( AVR32_EVBA, ( int ) &_evba );
/* Enable exceptions. */
ENABLE_ALL_EXCEPTIONS();
/* Initialize interrupt handling. */
INTC_init_interrupts();
#if configHEAP_INIT
/* Initialize the heap used by malloc. */
for( pxMem = &__heap_start__; pxMem < ( portBASE_TYPE * )&__heap_end__; )
{
*pxMem++ = 0xA5A5A5A5;
}
#endif
/* Give the used PBA clock frequency to Newlib, so it can work properly. */
set_cpu_hz( configPBA_CLOCK_HZ );
/* Code section present if and only if the debug trace is activated. */
#if configDBG
{
static const gpio_map_t DBG_USART_GPIO_MAP =
{
{ configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
{ configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
};
/* Initialize the USART used for the debug trace with the configured parameters. */
set_usart_base( ( void * ) configDBG_USART );
gpio_enable_module( DBG_USART_GPIO_MAP,
sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
usart_init( configDBG_USART_BAUDRATE );
}
#endif
// Don't-care value for GCC.
return 1;
}
void _init(void)
{
sysclk_init();
// Disable all interrupts.
Disable_global_interrupt();
// Initialize interrupt vectors.
INTC_init_interrupts();
// Enable all interrupts.
Enable_global_interrupt();
}
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*/
int __low_level_init(void)
{
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Initialize the USART used for the debug trace with the configured parameters.
extern volatile avr32_usart_t *volatile stdio_usart_base;
stdio_usart_base = DBG_USART;
// Request initialization of data segments.
return 1;
}
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception and interrupt vectors are defined in the same section and Newlib
* add-ons' interrupt vectors are not compatible with the interrupt management
* of the INTC module.
* More low-level initializations are besides added here.
*/
int _init_startup(void)
{
// Import the Exception Vector Base Address.
extern void _evba;
// Load the Exception Vector Base Address in the corresponding system register.
Set_system_register(AVR32_EVBA, (int)&_evba);
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Don't-care value for GCC.
return 1;
}
void Actividad3(void){
pm_switch_to_osc0(&AVR32_PM,FOSC0,OSC0_STARTUP);
Disable_global_interrupt();
//! Structure holding the configuration parameters of the EIC module.
eic_options_t eic_options[2];
// Enable edge-triggered interrupt.
eic_options[0].eic_mode = EIC_MODE_EDGE_TRIGGERED;
// Interrupt will trigger on falling edge (this is a must-do for the keypad scan
// feature if the chosen mode is edge-triggered).
eic_options[0].eic_edge = EIC_EDGE_RISING_EDGE;
// Initialize in synchronous mode : interrupt is synchronized to the clock
eic_options[0].eic_async = EIC_SYNCH_MODE;
// Set the interrupt line number.
eic_options[0].eic_line = QT1081_EIC_EXTINT_INT;
INTC_init_interrupts();
/* Register the EXTINT1 interrupt handler to the interrupt controller
*/
INTC_register_interrupt(&touch_button_isr, QT1081_EIC_EXTINT_IRQ, AVR32_INTC_INT0);
// Init the EIC controller with the options
eic_init(&AVR32_EIC, eic_options, 1);
// Enable the EIC lines.
eic_enable_lines(&AVR32_EIC, (1<<eic_options[0].eic_line));
// Enable the interrupt for each EIC line.
eic_enable_interrupt_lines(&AVR32_EIC, (1<<eic_options[0].eic_line));
gpio_enable_module_pin( QT1081_EIC_EXTINT_PIN, QT1081_EIC_EXTINT_FUNCTION);
Enable_global_interrupt();
while (1){
gpio_tgl_gpio_pin(LED0_GPIO);
gpio_tgl_gpio_pin(LED1_GPIO);
gpio_tgl_gpio_pin(LED2_GPIO);
gpio_tgl_gpio_pin(LED3_GPIO);
delay_s(100);
}
}
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception and interrupt vectors are defined in the same section and Newlib
* add-ons' interrupt vectors are not compatible with the interrupt management
* of the INTC module.
* More low-level initializations are besides added here.
*/
int _init_startup(void)
{
// Import the Exception Vector Base Address.
extern void _evba;
// Load the Exception Vector Base Address in the corresponding system register.
Set_system_register(AVR32_EVBA, (int)&_evba);
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Initialize the USART used for the debug trace with the configured parameters.
set_usart_base( ( void * ) DBG_USART );
// Don't-care value for GCC.
return 1;
}
/** function to do hardware initialization
* -> hwInit() is called in main() (src/independent/main.cpp)
*/
void hwInit(){
// Input and output parameters when initializing PM clocks using pm_configure_clocks().
// - parameters are defined in params.h and evk1100.h
pm_freq_param_t clkParams = {
CPU_CLK, // unsigned long cpu_f;
PBA_CLK, // unsigned long pba_f; ! PBA frequency (input/output argument).
FOSC0, // unsigned long osc0_f; ! Oscillator 0's external crystal(or external clock) frequency (board dependant) (input argument).
OSC0_STARTUP // unsigned long osc0_startup; ! Oscillator 0's external crystal(or external clock) startup time: AVR32_PM_OSCCTRL0_STARTUP_x_RCOSC (input argument).
};
pm_configure_clocks(&clkParams);
Disable_global_interrupt();
INTC_init_interrupts(); // Initialize interrupt vectors.
uart0.init(115200);
uart1.init(115200);
// interrupts will be enabled when loading the context of the first thread (idlethread)
//Enable_global_interrupt();
}
/* \brief Initialize board.
*
*/
void init_board(void)
{
#ifdef MAX_SPEED
init_sys_clocks();
#else
pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP);
#endif
INTC_init_interrupts();
init_dbg_rs232(FPBA_HZ);
// Activate LED0 & LED1 & LED2 & LED3 pins in GPIO output
// mode and switch them off.
gpio_set_gpio_pin(LED0_GPIO);
gpio_set_gpio_pin(LED1_GPIO);
gpio_set_gpio_pin(LED2_GPIO);
gpio_set_gpio_pin(LED3_GPIO);
et024006_Init(FCPU_HZ, FCPU_HZ);
gpio_set_gpio_pin(ET024006DHU_BL_PIN);
et024006_DrawFilledRect(0, 0, ET024006_WIDTH, ET024006_HEIGHT, WHITE);
}
void init()
{
// board init
sysclk_init();
board_init();
busy_delay_init(BOARD_OSC0_HZ);
// interrupts init
cpu_irq_disable();
INTC_init_interrupts();
INTC_register_interrupt(&interrupt_J3, AVR32_GPIO_IRQ_3, AVR32_INTC_INT1);
cpu_irq_enable();
// stdio init
stdio_usb_init(&CONFIG_USART_IF);
// Specify that stdout and stdin should not be buffered.
#if defined(__GNUC__) && defined(__AVR32__)
setbuf(stdout, NULL);
setbuf(stdin, NULL);
#endif
}
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception and interrupt vectors are defined in the same section and Newlib
* add-ons' interrupt vectors are not compatible with the interrupt management
* of the INTC module.
* More low-level initializations are besides added here.
*/
int _init_startup(void)
{
// Import the Exception Vector Base Address.
extern void _evba;
// Load the Exception Vector Base Address in the corresponding system register.
Set_system_register(AVR32_EVBA, (int)&_evba);
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Give the used CPU clock frequency to Newlib, so it can work properly.
set_cpu_hz(pcl_freq_param.pba_f);
// Initialize the USART used for the debug trace with the configured parameters.
set_usart_base( ( void * ) DBG_USART );
// Don't-care value for GCC.
return 1;
}
/*
* Low-level initialization routine called during startup, before the main
* function.
*/
int __low_level_init(void)
{
#if configHEAP_INIT
#pragma segment = "HEAP"
portBASE_TYPE *pxMem;
#endif
/* Enable exceptions. */
ENABLE_ALL_EXCEPTIONS();
/* Initialize interrupt handling. */
INTC_init_interrupts();
#if configHEAP_INIT
{
/* Initialize the heap used by malloc. */
for( pxMem = __segment_begin( "HEAP" ); pxMem < ( portBASE_TYPE * ) __segment_end( "HEAP" ); )
{
*pxMem++ = 0xA5A5A5A5;
}
}
#endif
/* Code section present if and only if the debug trace is activated. */
#if configDBG
{
static const gpio_map_t DBG_USART_GPIO_MAP =
{
{ configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
{ configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
};
static const usart_options_t DBG_USART_OPTIONS =
{
.baudrate = configDBG_USART_BAUDRATE,
.charlength = 8,
.paritytype = USART_NO_PARITY,
.stopbits = USART_1_STOPBIT,
.channelmode = USART_NORMAL_CHMODE
};
/* Initialize the USART used for the debug trace with the configured parameters. */
extern volatile avr32_usart_t *volatile stdio_usart_base;
stdio_usart_base = configDBG_USART;
gpio_enable_module( DBG_USART_GPIO_MAP,
sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
usart_init_rs232(configDBG_USART, &DBG_USART_OPTIONS, configCPU_CLOCK_HZ);
}
#endif
/* Request initialization of data segments. */
return 1;
}
/*-----------------------------------------------------------*/
/* Added as there is no such function in FreeRTOS. */
void *pvPortRealloc( void *pv, size_t xWantedSize )
{
void *pvReturn;
vTaskSuspendAll();
{
pvReturn = realloc( pv, xWantedSize );
}
xTaskResumeAll();
return pvReturn;
}
/*! \brief Example application entry function.
*/
int
main (void)
{
/* BEFORE USING THE EXAMPLE PROJECTS.
1. For support queries on,
- QTouch Library usage
- Capacitive Touch Sensor Tuning
- Capacitive Touch Schematic design
- Capacitive Touch Sensor design
refer to http://www.atmel.com/design-support/
2. For more QTouch Library documentation,
refer Atmel QTouch Library User Guide doc8207.pdf.
For Capacitive Touch Sensor tuning guidelines,
refer QTAN0062: QTouch and QMatrix Sensitivity Tuning for Keys, Sliders and Wheels.
For Capacitive Touch Sensor design,
refer doc10620.pdf: Touch Sensors Design Guide.
http://www.atmel.com/dyn/products/app_notes.asp?family_id=697
3. The Example application uses a CPU, PBA and PBB clock of 48MHz.
When using a different frequency setting, the following parameters must be
changed accordingly to ensure proper QTouch operation.
a. QTx_CAT_CLK_DIV.
b. TOUCH_SPREAD_SPECTRUM_MAX_DEV, when Spread spectrum is enabled.
c. PBA_HZ, when using qdebug/SPI_Master.c
d. TARGET_PBA_FREQ_HZ and TARGET_CPU_FREQ_HZ, when using qdebug/SERIAL.c
4. STK600-QTouch Test setup pin information.
The following table indicates the STK600 pin connections for the STK600-QTouch
test setup.
Important Note: The (csa1/csab1) and (csa2/csb2) Touch channel connections are
multiplexed with the JTAG pins. So, when using the JTAG debugging mode, these
Touch channel connections MUST be removed. In the Flash mode, this will not
cause any issues.
----------------------------------------------
CAT CSA/CSB name - STK600 board Port-pin name
----------------------------------------------
ROTOR/WHEEL
csa1 - pa1 (This pair is multiplexed with JTAG pins.
csb1 - pa6 Remove Touch connections on these pins during JTAG debug mode.)
csa2 - pa0 (This pair is multiplexed with JTAG pins.
csb2 - pa7 Remove Touch connections on these pins during JTAG debug mode.)
csa5 - pb2
csb5 - pb4
SLIDER
csa9 - pd0
csb9 - pd1
csa7 - pa4
csb7 - pa5
csa8 - pc0
csb8 - pc1
KEY 1
csa15 - pe4
csb15 - pe1
KEY 2
csa16 - pe3
csb16 - pe2
----------------------------------------------
QT600 USB Bridge
'TOUCH DATA' Header Pin name - STK600 board Port-pin name
----------------------------------------------
PA22 - 'TOUCH DATA' header pin 8 - clk - pc6
PA21 - 'TOUCH DATA' header pin 7 - miso - pc5
PA20 - 'TOUCH DATA' header pin 6 - mosi - pc4
PA14 - 'TOUCH DATA' header pin 5 - nss - pb6
5. When two or more acquisition methods are used, care must be taken such that a
given port pin is not used by more than one method at the same time. The following
pin configuration options available in touch_config_at32uc3l.h must be carefully
chosen to avoid any overlapping.
a. QMatrix Pin Configuration Options.
b. Autonomous QTouch Pin Configuration Options.
c. QTouch Group A Pin Configuration Options.
d. QTouch Group B Pin Configuration Options.
e. Touch Sync Pin option.
*/
touch_ret_t touch_ret = TOUCH_SUCCESS;
touch_qt_dma_t qt_dma_ch;
/* Initialize host clock, pins, watchdog, etc. */
init_system ();
/* Disable interrupts. */
Disable_global_interrupt ();
/* The INTC driver has to be used only for GNU GCC for AVR32. */
#if (defined __GNUC__)
/* initialize interrupt vectors. */
INTC_init_interrupts ();
/* Register the Timer interrupt handler to the interrupt controller. */
INTC_register_interrupt (&tc_irq, EXAMPLE_TC_IRQ, AVR32_INTC_INT0);
/* Register the Touch Library CAT interrupt handler to the interrupt controller.
Note: This interrupt registration is a MUST before using the Touch Library
with the GCC compiler.
For the case of IAR the registration of interrupt is automatically taken
care by the compiler. The Touch Libary CAT interrupt level for the case
of IAR is fixed to Interrupt level 3. */
INTC_register_interrupt (&touch_acq_done_irq, AVR32_CAT_IRQ,
AVR32_INTC_INT3);
#endif
/* Enable interrupts. */
Enable_global_interrupt ();
/* Configure timer to fire ISR regularly. */
init_timer ();
/* Initialize touch library and uc3l cat module for QTouch Group A operation. */
touch_ret = touch_qt_sensors_init (TOUCH_QT_GRP_A, &touch_config);
if (touch_ret != TOUCH_SUCCESS)
{
while (1u); /* Check API Error return code. */
}
#if DEF_TOUCH_QDEBUG_ENABLE == 1
/* Initialize the debug interface. */
QDebug_Init ();
#endif
/* configure the touch library sensors. */
touch_ret = config_qt_grp_a_touch_sensors ();
if (touch_ret != TOUCH_SUCCESS)
{
while (1u); /* Check API Error return code. */
}
/* Initialize touch sensing. */
touch_ret = touch_qt_sensors_calibrate (TOUCH_QT_GRP_A);
if (touch_ret != TOUCH_SUCCESS)
{
while (1u); /* Check API Error return code. */
}
/* Provide the dma channel to be used by the CAT module. For each
acquisition cycle, any different dma channel from 0 to 11 can be provided.
The touch library can handle a different dma channel for each call of the
touch_qt_sensors_start_acquisition API. */
qt_dma_ch = QTA_DMA_CHANNEL_0;
/* Loop forever */
for (;;)
{
/* Process touch library events. The touch_event_dispatcher API needs to
be called as frequently as possible in order to have a good touch response. */
touch_event_dispatcher ();
if (time_to_measure_touch == 1u)
{
/* Clear flag: it's time to measure touch */
time_to_measure_touch = 0u;
/* Start a touch sensors measurement process. */
touch_ret = touch_qt_sensors_start_acquisition (TOUCH_QT_GRP_A,
current_time_ms_touch,
qt_dma_ch,
NORMAL_ACQ_MODE,
touch_qta_measure_complete_callback);
if ((touch_ret != TOUCH_SUCCESS) &&
(touch_ret != TOUCH_ACQ_INCOMPLETE))
{
while (1);
/* Reaching this point can be due to -
1. The api has retured an error due to a invalid input parameter.
2. The api has been called during a invalid Touch Library state. */
}
}
/* Host application code goes here */
if (qta_measurement_done_touch == 1u)
{
/* Clear flag: QTouch Group A measurement complete. */
qta_measurement_done_touch = 0u;
#if DEF_TOUCH_QDEBUG_ENABLE == 1
/* QT600 two-way QDebug communication application Example. */
/* Process any commands received from QTouch Studio. */
QDebug_ProcessCommands ();
/* Send out the Touch debug information data each time when Touch
measurement process is completed . */
QDebug_SendData (p_qta_measure_data->acq_status);
#endif
}
} /* Loop forever */
}
static void init_interrupts(void)
{
INTC_init_interrupts();
Enable_global_interrupt();
}
/**
* \brief The main function.
*
* It sets up the USART module on EXAMPLE_USART. The terminal settings are 57600
* 8N1.
* Then it sets up the interrupt handler and waits for a USART interrupt to
* trigger.
*/
int main(void)
{
static const gpio_map_t USART_GPIO_MAP =
{
{EXAMPLE_USART_RX_PIN, EXAMPLE_USART_RX_FUNCTION},
{EXAMPLE_USART_TX_PIN, EXAMPLE_USART_TX_FUNCTION}
};
// USART options.
static const usart_options_t USART_OPTIONS =
{
.baudrate = EXAMPLE_USART_BAUDRATE,
.charlength = 8,
.paritytype = USART_NO_PARITY,
.stopbits = USART_1_STOPBIT,
.channelmode = USART_NORMAL_CHMODE
};
#if BOARD == EVK1100 || BOARD == EVK1101 || BOARD == UC3C_EK \
|| BOARD == EVK1104 || BOARD == EVK1105 || BOARD == STK600_RCUC3L0 \
|| BOARD == STK600_RCUC3D
/*
* Configure Osc0 in crystal mode (i.e. use of an external crystal
* source, with frequency FOSC0) with an appropriate startup time then
* switch the main clock source to Osc0.
*/
pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP);
#elif BOARD == STK1000
pm_reset();
#elif BOARD == UC3L_EK
/*
* Note: on the AT32UC3L-EK board, there is no crystal/external clock
* connected to the OSC0 pinout XIN0/XOUT0. We shall then program the
* DFLL and switch the main clock source to the DFLL.
*/
pcl_configure_clocks(&pcl_dfll_freq_param);
/*
* Note: since it is dynamically computing the appropriate field values
* of the configuration registers from the parameters structure, this
* function is not optimal in terms of code size. For a code size
* optimal solution, it is better to create a new function from
* pcl_configure_clocks_dfll0() and modify it to use preprocessor
* computation from pre-defined target frequencies.
*/
#endif
// Assign GPIO to USART.
gpio_enable_module(USART_GPIO_MAP,
sizeof(USART_GPIO_MAP) / sizeof(USART_GPIO_MAP[0]));
// Initialize USART in RS232 mode.
usart_init_rs232(EXAMPLE_USART, &USART_OPTIONS,
EXAMPLE_TARGET_PBACLK_FREQ_HZ);
print(EXAMPLE_USART, ".: Using interrupts with the USART :.\r\n\r\n");
// Disable all interrupts.
Disable_global_interrupt();
// Initialize interrupt vectors.
INTC_init_interrupts();
/*
* Register the USART interrupt handler to the interrupt controller.
* usart_int_handler is the interrupt handler to register.
* EXAMPLE_USART_IRQ is the IRQ of the interrupt handler to register.
* AVR32_INTC_INT0 is the interrupt priority level to assign to the
* group of this IRQ.
*/
INTC_register_interrupt(&usart_int_handler, EXAMPLE_USART_IRQ,
AVR32_INTC_INT0);
// Enable USART Rx interrupt.
EXAMPLE_USART->ier = AVR32_USART_IER_RXRDY_MASK;
print(EXAMPLE_USART, "Type a character to use the interrupt handler."
"\r\nIt will show up on your screen.\r\n\r\n");
// Enable all interrupts.
Enable_global_interrupt();
/**
* We have nothing left to do in the main, so we may switch to a device
* sleep mode: we just need to be sure that the USART module will be
* still be active in the chosen sleep mode. The sleep mode to use is
* the FROZEN sleep mode: in this mode the PB clocks are still active
* (so the USART module which is on the Peripheral Bus will still be
* active while the CPU and HSB will be stopped).
* --
* Modules communicating with external circuits should normally be
* disabled before entering a sleep mode that will stop the module
* operation: this is not the case for the FROZEN sleep mode.
* --
* When the USART interrupt occurs, this will wake the CPU up which will
* then execute the interrupt handler code then come back to the
* while(1) loop below to execute the sleep instruction again.
*/
while(1)
{
/*
* If there is a chance that any PB write operations are
* incomplete, the CPU should perform a read operation from any
* register on the PB bus before executing the sleep
* instruction.
*/
AVR32_INTC.ipr[0]; // Dummy read
// Go to FROZEN sleep mode.
SLEEP(AVR32_PM_SMODE_FROZEN);
/*
* When the device wakes up due to an interrupt, once the
* interrupt has been serviced, go back into FROZEN sleep mode.
*/
}
}
// main function
int main(void) {
pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
// Enable edge-triggered interrupt.
eic_options[0].eic_mode = EIC_MODE_EDGE_TRIGGERED;
// Interrupt will trigger on falling edge (this is a must-do for the keypad scan
// feature if the chosen mode is edge-triggered).
eic_options[0].eic_edge = EIC_EDGE_RISING_EDGE;
// Initialize in synchronous mode : interrupt is synchronized to the clock
eic_options[0].eic_async = EIC_SYNCH_MODE;
// Set the interrupt line number.
eic_options[0].eic_line = QT1081_EIC_EXTINT_INT;
// Activate LED0 & LED1 & LED2 & LED3 pins in GPIO output mode and switch them off.
gpio_set_gpio_pin(LED0_GPIO);
gpio_set_gpio_pin(LED1_GPIO);
gpio_set_gpio_pin(LED2_GPIO);
gpio_set_gpio_pin(LED3_GPIO);
gpio_enable_module_pin( QT1081_EIC_EXTINT_PIN, QT1081_EIC_EXTINT_FUNCTION);
#if( INT_MODE == INT_MODE_GPIO)
Disable_global_interrupt();
#if __GNUC__
INTC_init_interrupts();
/* Register interrupt handler to the interrupt controller
* up, down buttons on PB22, PB23 -> GPIO_IRQ_6
*/
INTC_register_interrupt(&touch_button_isr, AVR32_GPIO_IRQ_6, 0);//AVR32_INTC_INT0);
/* Other buttons on PB[24..26] -> GPIO_IRQ_7 (PB23 - PB31) */
INTC_register_interrupt(&touch_button_isr, AVR32_GPIO_IRQ_7, 0);
#endif
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_0, GPIO_RISING_EDGE);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_1, GPIO_RISING_EDGE);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_2, GPIO_RISING_EDGE);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_3, GPIO_RISING_EDGE);
gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_4, GPIO_RISING_EDGE);
Enable_global_interrupt();
#endif
#if(INT_MODE == INT_MODE_EIC)
Disable_global_interrupt();
#if __GNUC__
INTC_init_interrupts();
/* Register the EXTINT1 interrupt handler to the interrupt controller
*/
INTC_register_interrupt(&touch_button_isr, QT1081_EIC_EXTINT_IRQ, AVR32_INTC_INT0);
#endif
// Init the EIC controller with the options
eic_init(&AVR32_EIC, eic_options, 1);
// Enable the EIC lines.
eic_enable_lines(&AVR32_EIC, (1<<eic_options[0].eic_line));
// Enable the interrupt for each EIC line.
eic_enable_interrupt_lines(&AVR32_EIC, (1<<eic_options[0].eic_line));
Enable_global_interrupt();
#endif
while(true);
return 0;
}
void core_init()
{
sysclk_init();
INTC_init_interrupts();
}
/**
* \brief TC Initialization
*
* Initializes and start the TC module with the following:
* - Counter in Up mode with automatic reset on RC compare match.
* - fPBA/8 is used as clock source for TC
* - Enables RC compare match interrupt
* \param tc Base address of the TC module
*/
static void tc_init(volatile avr32_tc_t *tc)
{
// Options for waveform generation.
static const tc_waveform_opt_t waveform_opt = {
// Channel selection.
.channel = EXAMPLE_TC_CHANNEL,
// Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
// External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
// RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_NOOP,
// RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_NOOP,
// Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
// External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
// RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_NOOP,
/* RA compare effect on TIOA.
* (other possibilities are none, set and clear).
*/
.acpa = TC_EVT_EFFECT_NOOP,
/* Waveform selection: Up mode with automatic trigger(reset)
* on RC compare.
*/
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
// External event trigger enable.
.enetrg = false,
// External event selection.
.eevt = 0,
// External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
// Counter disable when RC compare.
.cpcdis = false,
// Counter clock stopped with RC compare.
.cpcstop = false,
// Burst signal selection.
.burst = false,
// Clock inversion.
.clki = false,
// Internal source clock 3, connected to fPBA / 8.
.tcclks = TC_CLOCK_SOURCE_TC3
};
// Options for enabling TC interrupts
static const tc_interrupt_t tc_interrupt = {
.etrgs = 0,
.ldrbs = 0,
.ldras = 0,
.cpcs = 1, // Enable interrupt on RC compare alone
.cpbs = 0,
.cpas = 0,
.lovrs = 0,
.covfs = 0
};
// Initialize the timer/counter.
tc_init_waveform(tc, &waveform_opt);
/*
* Set the compare triggers.
* We configure it to count every 10 milliseconds.
* We want: (1 / (fPBA / 8)) * RC = 10 ms, hence RC = (fPBA / 8) / 100
* to get an interrupt every 10 ms.
*/
tc_write_rc(tc, EXAMPLE_TC_CHANNEL, (sysclk_get_pba_hz() / 8 / 100));
// configure the timer interrupt
tc_configure_interrupts(tc, EXAMPLE_TC_CHANNEL, &tc_interrupt);
// Start the timer/counter.
tc_start(tc, EXAMPLE_TC_CHANNEL);
}
/**
* \brief Main function
*
* Main function performs the following:
* - Configure the TC Module
* - Register the TC interrupt
* - Configure, enable the CPCS (RC compare match) interrupt,
* - and start a TC channel in waveform mode
*/
int main(void)
{
volatile avr32_tc_t *tc = EXAMPLE_TC;
uint32_t timer = 0;
/**
* \note the call to sysclk_init() will disable all non-vital
* peripheral clocks, except for the peripheral clocks explicitly
* enabled in conf_clock.h.
*/
sysclk_init();
// Enable the clock to the selected example Timer/counter peripheral module.
sysclk_enable_peripheral_clock(EXAMPLE_TC);
// Disable the interrupts
cpu_irq_disable();
// Initialize interrupt vectors.
INTC_init_interrupts();
// Register the RTC interrupt handler to the interrupt controller.
INTC_register_interrupt(&tc_irq, EXAMPLE_TC_IRQ, EXAMPLE_TC_IRQ_PRIORITY);
// Enable the interrupts
cpu_irq_enable();
// Initialize the timer module
tc_init(tc);
while(1) {
// Update the timer every 10 milli second.
if ((update_timer)) {
timer++;
/*
* TODO: Place a breakpoint here and watch the update of timer
* variable in the Watch Window.
*/
// Reset the timer update flag to wait till next timer interrupt
update_timer = false;
}
}
}
/**
* \brief TC Initialization
*
* Initializes and start the TC module with the following:
* - Counter in Up mode with automatic reset on RC compare match.
* - fPBA/8 is used as clock source for TC
* - Enables RC compare match interrupt
* \param tc Base address of the TC module
*/
static void tc_init(volatile avr32_tc_t *tc)
{
// Options for waveform generation.
static const tc_waveform_opt_t waveform_opt = {
// Channel selection.
.channel = EXAMPLE_TC_CHANNEL,
// Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
// External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
// RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_NOOP,
// RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_NOOP,
// Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
// External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
// RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_NOOP,
/*
* RA compare effect on TIOA.
* (other possibilities are none, set and clear).
*/
.acpa = TC_EVT_EFFECT_NOOP,
/*
* Waveform selection: Up mode with automatic trigger(reset)
* on RC compare.
*/
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
// External event trigger enable.
.enetrg = false,
// External event selection.
.eevt = 0,
// External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
// Counter disable when RC compare.
.cpcdis = false,
// Counter clock stopped with RC compare.
.cpcstop = false,
// Burst signal selection.
.burst = false,
// Clock inversion.
.clki = false,
// Internal source clock 3, connected to fPBA / 8.
.tcclks = TC_CLOCK_SOURCE_TC3
};
// Options for enabling TC interrupts
static const tc_interrupt_t tc_interrupt = {
.etrgs = 0,
.ldrbs = 0,
.ldras = 0,
.cpcs = 1, // Enable interrupt on RC compare alone
.cpbs = 0,
.cpas = 0,
.lovrs = 0,
.covfs = 0
};
// Initialize the timer/counter.
tc_init_waveform(tc, &waveform_opt);
/*
* Set the compare triggers.
* We configure it to count every 1 milliseconds.
* We want: (1 / (fPBA / 8)) * RC = 1 ms, hence RC = (fPBA / 8) / 1000
* to get an interrupt every 10 ms.
*/
tc_write_rc(tc, EXAMPLE_TC_CHANNEL, (sysclk_get_pba_hz() / 8 / 1000));
// configure the timer interrupt
tc_configure_interrupts(tc, EXAMPLE_TC_CHANNEL, &tc_interrupt);
// Start the timer/counter.
tc_start(tc, EXAMPLE_TC_CHANNEL);
}
/*! \brief Main function:
* - Configure the CPU to run at 12MHz
* - Configure the USART
* - Register the TC interrupt (GCC only)
* - Configure, enable the CPCS (RC compare match) interrupt, and start a
* TC channel in waveform mode
* - In an infinite loop, update the USART message every second.
*/
int main(void)
{
volatile avr32_tc_t *tc = EXAMPLE_TC;
uint32_t timer = 0;
/**
* \note the call to sysclk_init() will disable all non-vital
* peripheral clocks, except for the peripheral clocks explicitly
* enabled in conf_clock.h.
*/
sysclk_init();
// Enable the clock to the selected example Timer/counter peripheral module.
sysclk_enable_peripheral_clock(EXAMPLE_TC);
// Initialize the USART module for trace messages
init_dbg_rs232(sysclk_get_pba_hz());
// Disable the interrupts
cpu_irq_disable();
#if defined (__GNUC__)
// Initialize interrupt vectors.
INTC_init_interrupts();
// Register the RTC interrupt handler to the interrupt controller.
INTC_register_interrupt(&tc_irq, EXAMPLE_TC_IRQ, EXAMPLE_TC_IRQ_PRIORITY);
#endif
// Enable the interrupts
cpu_irq_enable();
// Initialize the timer module
tc_init(tc);
while (1) {
// Update the display on USART every second.
if ((update_timer) && (!(tc_tick%1000))) {
timer++;
// Set cursor to the position (1; 5)
print_dbg("\x1B[5;1H");
// Print the timer value
print_dbg("ATMEL AVR UC3 - Timer/Counter Example 3\n\rTimer: ");
print_dbg_ulong(timer);
print_dbg(" s");
// Reset the timer update flag to wait till next timer interrupt
update_timer = false;
}
}
}
/*! \brief Initializes SD/MMC resources: GPIO, SPI and SD/MMC.
*/
static void sd_mmc_resources_init(void)
{
// GPIO pins used for SD/MMC interface
static const gpio_map_t SD_MMC_SPI_GPIO_MAP =
{
{SD_MMC_SPI_SCK_PIN, SD_MMC_SPI_SCK_FUNCTION }, // SPI Clock.
{SD_MMC_SPI_MISO_PIN, SD_MMC_SPI_MISO_FUNCTION}, // MISO.
{SD_MMC_SPI_MOSI_PIN, SD_MMC_SPI_MOSI_FUNCTION}, // MOSI.
{SD_MMC_SPI_NPCS_PIN, SD_MMC_SPI_NPCS_FUNCTION} // Chip Select NPCS.
};
// SPI options.
spi_options_t spiOptions =
{
.reg = SD_MMC_SPI_NPCS,
.baudrate = SD_MMC_SPI_MASTER_SPEED, // Defined in conf_sd_mmc_spi.h.
.bits = SD_MMC_SPI_BITS, // Defined in conf_sd_mmc_spi.h.
.spck_delay = 0,
.trans_delay = 0,
.stay_act = 1,
.spi_mode = 0,
.modfdis = 1
};
// Assign I/Os to SPI.
gpio_enable_module(SD_MMC_SPI_GPIO_MAP,
sizeof(SD_MMC_SPI_GPIO_MAP) / sizeof(SD_MMC_SPI_GPIO_MAP[0]));
// Initialize as master.
spi_initMaster(SD_MMC_SPI, &spiOptions);
// Set SPI selection mode: variable_ps, pcs_decode, delay.
spi_selectionMode(SD_MMC_SPI, 0, 0, 0);
// Enable SPI module.
spi_enable(SD_MMC_SPI);
// Initialize SD/MMC driver with SPI clock (PBA).
sd_mmc_spi_init(spiOptions, PBA_HZ);
}
/*! \brief Initialize PDCA (Peripheral DMA Controller A) resources for the SPI transfer and start a dummy transfer
*/
void local_pdca_init(void)
{
// this PDCA channel is used for data reception from the SPI
pdca_channel_options_t pdca_options_SPI_RX ={ // pdca channel options
.addr = ram_buffer,
// memory address. We take here the address of the string dummy_data. This string is located in the file dummy.h
.size = 512, // transfer counter: here the size of the string
.r_addr = NULL, // next memory address after 1st transfer complete
.r_size = 0, // next transfer counter not used here
.pid = AVR32_PDCA_CHANNEL_USED_RX, // select peripheral ID - data are on reception from SPI1 RX line
.transfer_size = PDCA_TRANSFER_SIZE_BYTE // select size of the transfer: 8,16,32 bits
};
// this channel is used to activate the clock of the SPI by sending a dummy variables
pdca_channel_options_t pdca_options_SPI_TX ={ // pdca channel options
.addr = (void *)&dummy_data, // memory address.
// We take here the address of the string dummy_data.
// This string is located in the file dummy.h
.size = 512, // transfer counter: here the size of the string
.r_addr = NULL, // next memory address after 1st transfer complete
.r_size = 0, // next transfer counter not used here
.pid = AVR32_PDCA_CHANNEL_USED_TX, // select peripheral ID - data are on reception from SPI1 RX line
.transfer_size = PDCA_TRANSFER_SIZE_BYTE // select size of the transfer: 8,16,32 bits
};
// Init PDCA transmission channel
pdca_init_channel(AVR32_PDCA_CHANNEL_SPI_TX, &pdca_options_SPI_TX);
// Init PDCA Reception channel
pdca_init_channel(AVR32_PDCA_CHANNEL_SPI_RX, &pdca_options_SPI_RX);
//! \brief Enable pdca transfer interrupt when completed
INTC_register_interrupt(&pdca_int_handler, AVR32_PDCA_IRQ_0, AVR32_INTC_INT1); // pdca_channel_spi1_RX = 0
}
/*! \brief Main function. Execution starts here.
*/
int main(void)
{
int i, j;
// Switch the main clock to the external oscillator 0
pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP);
// Initialize debug RS232 with PBA clock
init_dbg_rs232(PBA_HZ);
//start test
print_dbg("\r\nInit SD/MMC Driver");
print_dbg("\r\nInsert SD/MMC...");
// Initialize Interrupt Controller
INTC_init_interrupts();
// Initialize SD/MMC driver resources: GPIO, SPI and SD/MMC.
sd_mmc_resources_init();
// Wait for a card to be inserted
while (!sd_mmc_spi_mem_check());
print_dbg("\r\nCard detected!");
// Read Card capacity
sd_mmc_spi_get_capacity();
print_dbg("Capacity = ");
print_dbg_ulong(capacity >> 20);
print_dbg(" MBytes");
// Enable all interrupts.
Enable_global_interrupt();
// Initialize PDCA controller before starting a transfer
local_pdca_init();
// Read the first sectors number 1, 2, 3 of the card
for(j = 1; j <= 3; j++)
{
// Configure the PDCA channel: the address of memory ram_buffer to receive the data at sector address j
pdca_load_channel( AVR32_PDCA_CHANNEL_SPI_RX,
&ram_buffer,
512);
pdca_load_channel( AVR32_PDCA_CHANNEL_SPI_TX,
(void *)&dummy_data,
512); //send dummy to activate the clock
end_of_transfer = false;
// open sector number j
if(sd_mmc_spi_read_open_PDCA (j))
{
print_dbg("\r\nFirst 512 Bytes of Transfer number ");
print_dbg_ulong(j);
print_dbg(" :\r\n");
spi_write(SD_MMC_SPI,0xFF); // Write a first dummy data to synchronize transfer
pdca_enable_interrupt_transfer_complete(AVR32_PDCA_CHANNEL_SPI_RX);
pdca_channelrx =(volatile avr32_pdca_channel_t*) pdca_get_handler(AVR32_PDCA_CHANNEL_SPI_RX); // get the correct PDCA channel pointer
pdca_channeltx =(volatile avr32_pdca_channel_t*) pdca_get_handler(AVR32_PDCA_CHANNEL_SPI_TX); // get the correct PDCA channel pointer
pdca_channelrx->cr = AVR32_PDCA_TEN_MASK; // Enable RX PDCA transfer first
pdca_channeltx->cr = AVR32_PDCA_TEN_MASK; // and TX PDCA transfer
while(!end_of_transfer);
// Display the first 2O bytes of the ram_buffer content
for( i = 0; i < 20; i++)
{
print_dbg_char_hex( (U8)(*(ram_buffer + i)));
}
}
else
{
print_dbg("\r\n! Unable to open memory \r\n");
}
}
print_dbg("\r\nEnd of the example.\r\n");
while (1);
}
void init_PWM(int velocidad, int direccion){
int auxiliar;
switch(velocidad){
case 9:
auxiliar = 2;
break;
case 8:
auxiliar = 4;
break;
case 7:
auxiliar = 6;
break;
case 6:
auxiliar = 8;
break;
case 5:
auxiliar = 10;
break;
case 4:
auxiliar = 12;
break;
case 3:
auxiliar = 14;
break;
case 2:
auxiliar = 16;
break;
case 1:
auxiliar = 18;
break;
}//SWITCH
pwm_opt_t pwm_opt =
{
.diva = AVR32_PWM_DIVA_CLK_OFF,
.divb = AVR32_PWM_DIVB_CLK_OFF,
.prea = AVR32_PWM_PREA_MCK,
.preb = AVR32_PWM_PREB_MCK
};
avr32_pwm_channel_t pwm_channel = { .ccnt = 0 };
pwm_channel.cdty = auxiliar; /* Channel duty cycle, should be < CPRD. */
pwm_channel.cprd = 20; /* Channel period. */
pwm_channel.cupd = 0; /* Channel update is not used here. */
pwm_channel.CMR.calg = PWM_MODE_LEFT_ALIGNED; /* Channel mode. */
pwm_channel.CMR.cpol = PWM_POLARITY_LOW; /* Channel polarity. */
pwm_channel.CMR.cpd = PWM_UPDATE_DUTY; /* Not used the first time. */
pwm_channel.CMR.cpre = AVR32_PWM_CPRE_MCK_DIV_256; /* Channel prescaler. */
gpio_enable_module_pin(PWM_PIN_3, PWM_PIN_Function);
gpio_enable_module_pin(PWM_PIN_1, PWM_PIN_Function);
pwm_init(&pwm_opt);
if(direccion == 1){//FORWARD
pwm_channel_init(PWM_ID_3, &pwm_channel);
pwm_start_channels(1 << PWM_ID_3);
}
if(direccion == 0){//REVERSE
pwm_channel_init(PWM_ID_1, &pwm_channel);
pwm_start_channels(1 << PWM_ID_1);
}
}
void update_PWM(int velocidad, int direccion){
int auxiliar;
switch(velocidad){
case 9:
auxiliar = 2;
break;
case 8:
auxiliar = 4;
break;
case 7:
auxiliar = 6;
break;
case 6:
auxiliar = 8;
break;
case 5:
auxiliar = 10;
break;
case 4:
auxiliar = 12;
break;
case 3:
auxiliar = 14;
break;
case 2:
auxiliar = 16;
break;
case 1:
auxiliar = 18;
break;
}//SWITCH
avr32_pwm_channel_t pwm_channel = { .ccnt = 0 };
pwm_channel.cdty = auxiliar; /* Channel duty cycle, should be < CPRD. */
pwm_channel.cprd = 20; /* Channel period. */
pwm_channel.cupd = 0; /* Channel update is not used here. */
pwm_channel.CMR.calg = PWM_MODE_LEFT_ALIGNED; /* Channel mode. */
pwm_channel.CMR.cpol = PWM_POLARITY_LOW; /* Channel polarity. */
pwm_channel.CMR.cpd = PWM_UPDATE_DUTY; /* Not used the first time. */
pwm_channel.CMR.cpre = AVR32_PWM_CPRE_MCK_DIV_256; /* Channel prescaler. */
if(direccion == 1){//FORWARD
pwm_stop_channels(1<<PWM_ID_1);
pwm_stop_channels(1<<PWM_ID_3);
pwm_channel_init(PWM_ID_3, &pwm_channel);
pwm_start_channels(1 << PWM_ID_3);
}
if(direccion == 0){//REVERSE
pwm_stop_channels(1<<PWM_ID_1);
pwm_stop_channels(1<<PWM_ID_3);
pwm_channel_init(PWM_ID_1, &pwm_channel);
pwm_start_channels(1 << PWM_ID_1);
}
bandera = 0;
}
static void handler_interrupt(void){
if (gpio_get_pin_interrupt_flag(GPIO_JOYSTICK_UP)){
direccion = 1;
gpio_clear_pin_interrupt_flag(GPIO_JOYSTICK_UP);
}
if (gpio_get_pin_interrupt_flag(GPIO_JOYSTICK_DOWN)){
direccion = 0;
gpio_clear_pin_interrupt_flag(GPIO_JOYSTICK_DOWN);
}
bandera = 1;
}
void init_INTC(void){
gpio_enable_pin_interrupt(GPIO_JOYSTICK_UP , GPIO_FALLING_EDGE);
gpio_enable_pin_interrupt(GPIO_JOYSTICK_DOWN , GPIO_FALLING_EDGE);
Disable_global_interrupt();
INTC_init_interrupts();
INTC_register_interrupt( &handler_interrupt, AVR32_GPIO_IRQ_0 + (GPIO_JOYSTICK_UP/8), AVR32_INTC_INT1);
INTC_register_interrupt( &handler_interrupt, AVR32_GPIO_IRQ_0 + (GPIO_JOYSTICK_DOWN/8), AVR32_INTC_INT1);
Enable_global_interrupt();
}
int _init_startup(void)
{
/* Import the Exception Vector Base Address. */
extern void _evba;
#if configHEAP_INIT
extern void __heap_start__;
extern void __heap_end__;
portBASE_TYPE *pxMem;
#endif
/* Load the Exception Vector Base Address in the corresponding system register. */
Set_system_register( AVR32_EVBA, ( int ) &_evba );
/* Enable exceptions. */
ENABLE_ALL_EXCEPTIONS();
/* Initialize interrupt handling. */
INTC_init_interrupts();
#if configHEAP_INIT
/* Initialize the heap used by malloc. */
for( pxMem = &__heap_start__; pxMem < ( portBASE_TYPE * )&__heap_end__; )
{
*pxMem++ = 0xA5A5A5A5;
}
#endif
/* Code section present if and only if the debug trace is activated. */
#if configDBG
{
static const gpio_map_t DBG_USART_GPIO_MAP =
{
{ configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
{ configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
};
static const usart_options_t DBG_USART_OPTIONS =
{
.baudrate = configDBG_USART_BAUDRATE,
.charlength = 8,
.paritytype = USART_NO_PARITY,
.stopbits = USART_1_STOPBIT,
.channelmode = USART_NORMAL_CHMODE
};
/* Initialize the USART used for the debug trace with the configured parameters. */
extern volatile avr32_usart_t *volatile stdio_usart_base;
stdio_usart_base = configDBG_USART;
gpio_enable_module( DBG_USART_GPIO_MAP,
sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
usart_init_rs232(configDBG_USART, &DBG_USART_OPTIONS, configPBA_CLOCK_HZ);
}
#endif
// Don't-care value for GCC.
return 1;
}
/*-----------------------------------------------------------*/
/*
* malloc, realloc and free are meant to be called through respectively
* pvPortMalloc, pvPortRealloc and vPortFree.
* The latter functions call the former ones from within sections where tasks
* are suspended, so the latter functions are task-safe. __malloc_lock and
* __malloc_unlock use the same mechanism to also keep the former functions
* task-safe as they may be called directly from Newlib's functions.
* However, all these functions are interrupt-unsafe and SHALL THEREFORE NOT BE
* CALLED FROM WITHIN AN INTERRUPT, because __malloc_lock and __malloc_unlock do
* not call portENTER_CRITICAL and portEXIT_CRITICAL in order not to disable
* interrupts during memory allocation management as this may be a very time-
* consuming process.
*/
/*
* Lock routine called by Newlib on malloc / realloc / free entry to guarantee a
* safe section as memory allocation management uses global data.
* See the aforementioned details.
*/
void __malloc_lock(struct _reent *ptr);
void __malloc_lock(struct _reent *ptr)
{
vTaskSuspendAll();
}
/*
* Unlock routine called by Newlib on malloc / realloc / free exit to guarantee
* a safe section as memory allocation management uses global data.
* See the aforementioned details.
*/
void __malloc_unlock(struct _reent *ptr);
void __malloc_unlock(struct _reent *ptr)
{
xTaskResumeAll();
}
/*-----------------------------------------------------------*/
/* Added as there is no such function in FreeRTOS. */
void *pvPortRealloc( void *pv, size_t xWantedSize )
{
void *pvReturn;
vTaskSuspendAll();
{
pvReturn = realloc( pv, xWantedSize );
}
xTaskResumeAll();
return pvReturn;
}
int main(void)
{
//-------------------------USART INTERRUPT REGISTRATION.------------//
// Set Clock: Oscillator needs to initialized once: First
pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP);
// -------------- USART INIT -----------------------------------------------
static const gpio_map_t USART_GPIO_MAP =
{
{AVR32_USART0_RXD_0_0_PIN, AVR32_USART0_RXD_0_0_FUNCTION},
{AVR32_USART0_TXD_0_0_PIN, AVR32_USART0_TXD_0_0_FUNCTION}
};
// USART options.
static const usart_options_t USART_OPTIONS =
{
.baudrate = USART_BAUDRATE,
.charlength = 8,
.paritytype = USART_NO_PARITY,
.stopbits = USART_1_STOPBIT,
.channelmode = USART_NORMAL_CHMODE
};
// Assign GPIO to USART
gpio_enable_module(USART_GPIO_MAP, sizeof(USART_GPIO_MAP) / sizeof(USART_GPIO_MAP[0]));
// Init USART
usart_init_rs232(USART_0, &USART_OPTIONS, FOSC0);
Disable_global_interrupt();
INTC_init_interrupts(); // Init Interrupt Table: Once at first
// Register USART Interrupt (hinzufügen)
INTC_register_interrupt(&usart_int_handler, AVR32_USART0_IRQ, AVR32_INTC_INT0);
USART_0->ier = AVR32_USART_IER_RXRDY_MASK; // Activate ISR on RX Line
Enable_global_interrupt();
// -----------------------------------------------------------------------------------
// -------------------------- Display INIT ----------------------------------
// Map SPI Pins
static const gpio_map_t DIP204_SPI_GPIO_MAP =
{
{DIP204_SPI_SCK_PIN, DIP204_SPI_SCK_FUNCTION }, // SPI Clock.
{DIP204_SPI_MISO_PIN, DIP204_SPI_MISO_FUNCTION}, // MISO.
{DIP204_SPI_MOSI_PIN, DIP204_SPI_MOSI_FUNCTION}, // MOSI.
{DIP204_SPI_NPCS_PIN, DIP204_SPI_NPCS_FUNCTION} // Chip Select NPCS.
};
// add the spi options driver structure for the LCD DIP204
spi_options_t spiOptions =
{
.reg = DIP204_SPI_NPCS,
.baudrate = 1000000,
.bits = 8,
.spck_delay = 0,
.trans_delay = 0,
.stay_act = 1,
.spi_mode = 0,
.modfdis = 1
};
// SPI Inits: Assign I/Os to SPI
gpio_enable_module(DIP204_SPI_GPIO_MAP,
sizeof(DIP204_SPI_GPIO_MAP) / sizeof(DIP204_SPI_GPIO_MAP[0]));
// Initialize as master
spi_initMaster(DIP204_SPI, &spiOptions);
// Set selection mode: variable_ps, pcs_decode, delay
spi_selectionMode(DIP204_SPI, 0, 0, 0);
// Enable SPI
spi_enable(DIP204_SPI);
// setup chip registers
spi_setupChipReg(DIP204_SPI, &spiOptions, FOSC0);
// initialize delay driver: Muss vor dip204_init() ausgeführt werden
delay_init( FOSC0 );
// initialize LCD
dip204_init(backlight_PWM, TRUE);
// ---------------------------------------------------------------------------------------
// ----------------- Timer Counter Init ---------------------------------
// Timer Configs: Options for waveform generation.
static const tc_waveform_opt_t WAVEFORM_OPT =
{
.channel = TC_CHANNEL, // Channel selection.
.bswtrg = TC_EVT_EFFECT_NOOP, // Software trigger effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP, // External event effect on TIOB.
.bcpc = TC_EVT_EFFECT_NOOP, // RC compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_NOOP, // RB compare effect on TIOB.
.aswtrg = TC_EVT_EFFECT_NOOP, // Software trigger effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP, // External event effect on TIOA.
.acpc = TC_EVT_EFFECT_NOOP, // RC compare effect on TIOA: toggle.
.acpa = TC_EVT_EFFECT_NOOP, // RA compare effect on TIOA: toggle
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,// Count till RC and reset (S. 649): Waveform selection
.enetrg = FALSE, // External event trigger enable.
.eevt = 0, // External event selection.
.eevtedg = TC_SEL_NO_EDGE, // External event edge selection.
.cpcdis = FALSE, // Counter disable when RC compare.
.cpcstop = FALSE, // Counter clock stopped with RC compare.
.burst = FALSE, // Burst signal selection.
.clki = FALSE, // Clock inversion.
.tcclks = TC_CLOCK_SOURCE_TC3 // Internal source clock 3, connected to fPBA / 8.
};
// TC Interrupt Enable Register
static const tc_interrupt_t TC_INTERRUPT =
{ .etrgs = 0, .ldrbs = 0, .ldras = 0, .cpcs = 1, .cpbs = 0, .cpas = 0, .lovrs = 0, .covfs = 0
};
// 0 = No Effect | 1 = Enable ( CPCS = 1 enables the RC Compare Interrupt )
// ***************** Timer Setup ***********************************************
// Initialize the timer/counter.
tc_init_waveform(tc, &WAVEFORM_OPT); // Initialize the timer/counter waveform.
// Set the compare triggers.
tc_write_rc(tc, TC_CHANNEL, RC); // Set RC value.
tc_configure_interrupts(tc, TC_CHANNEL, &TC_INTERRUPT);
// Start the timer/counter.
tc_start(tc, TC_CHANNEL); // And start the timer/counter.
// *******************************************************************************
Disable_global_interrupt();
// Register TC Interrupt
INTC_register_interrupt(&tc_irq, AVR32_TC_IRQ0, AVR32_INTC_INT3);
Enable_global_interrupt();
// ---------------------------------------------------------------------------------------
imu_init();
//-------------------------------TWI R/W ---------------------------------------------------
sensorDaten imu_data = {0};
char disp1[30], disp2[30], disp3[30], disp4[30];
short GX,GY,GZ, AX, AY, AZ; //shifted comlete Data
RPY currMoveRPY;
Quaternion currQuat;
currQuat.q0 = 1.0;
currQuat.q1 = 0;
currQuat.q2 = 0;
currQuat.q3 = 0;
Quaternion deltaQuat;
RotMatrix rot = {0};
RPY reconverted;
calibrate_all(&imu_data);
while(1){
if(exe){
exe = false;
read_sensor(&imu_data);
AX = imu_data.acc_x + imu_data.acc_x_bias;
AY = imu_data.acc_y + imu_data.acc_y_bias;
AZ = imu_data.acc_z + imu_data.acc_z_bias;
GX = imu_data.gyro_x + imu_data.gyro_x_bias;
GY = imu_data.gyro_y + imu_data.gyro_y_bias;
GZ = imu_data.gyro_z + imu_data.gyro_z_bias;
//convert to 1G
float ax = (float)AX * (-4.0);
float ay = (float)AY * (-4.0); //wegen 2^11= 2048, /2 = 1024 entspricht 4G -> 1G = (1024/4)
float az = (float)AZ * (-4.0);
//convert to 1°/s
gx = ((float)GX/ 14.375); // in °/s
gy = ((float)GY/ 14.375);
gz = ((float)GZ/ 14.375);
//Integration over time
dGx = (gx*0.03);
dGy = (gy*0.03);
dGz = (gz*0.03);
currMoveRPY.pitch = -dGx;
currMoveRPY.roll = dGy;
currMoveRPY.yaw = dGz;
//aufaddieren auf den aktuellen Winkel IN GRAD
gxDeg += dGx;
gyDeg += dGy;
gzDeg += dGz;
//RPY in Quaternion umwandeln
RPYtoQuat(&deltaQuat, &currMoveRPY);
//normieren
normQuat(&deltaQuat);
//aufmultiplizeiren
quatMultiplication(&deltaQuat, &currQuat, &currQuat);
//nochmal normieren
normQuat(&currQuat);
//rücktransformation nicht nötig!!
char send[80];
sprintf(send,"$,%f,%f,%f,%f,#", currQuat.q0, currQuat.q1, currQuat.q2, currQuat.q3);
usart_write_line(USART_0,send);
sprintf(disp1,"q0:%.3f, GX:%3.0f",currQuat.q0,gxDeg);
sprintf(disp2,"q1:%.3f, GY:%3.0f",currQuat.q1, gyDeg);
sprintf(disp3,"q2:%.3f, GZ:%3.0f",currQuat.q2, gzDeg);
sprintf(disp4,"q3:%.3f",currQuat.q3);
dip204_clear_display();
dip204_set_cursor_position(1,1);
dip204_write_string(disp1);
dip204_set_cursor_position(1,2);
dip204_write_string(disp2);
dip204_set_cursor_position(1,3);
dip204_write_string(disp3);
dip204_set_cursor_position(1,4);
dip204_write_string(disp4);
//sprintf(data,"TEST:%s",high);
//print_dbg(data);
}
}
}
/*! \brief Initializes STDIO.
*/
static void init_stdio(void)
{
#if __GNUC__ && __AVR32__
static const gpio_map_t STDIO_USART_GPIO_MAP =
{
{STDIO_USART_RX_PIN, STDIO_USART_RX_FUNCTION},
{STDIO_USART_TX_PIN, STDIO_USART_TX_FUNCTION}
};
// Initialize the USART used for STDIO.
set_usart_base((void *)STDIO_USART);
gpio_enable_module(STDIO_USART_GPIO_MAP,
sizeof(STDIO_USART_GPIO_MAP) / sizeof(STDIO_USART_GPIO_MAP[0]));
usart_init(STDIO_USART_BAUDRATE);
#elif __ICCAVR32__
static const gpio_map_t STDIO_USART_GPIO_MAP =
{
{STDIO_USART_RX_PIN, STDIO_USART_RX_FUNCTION},
{STDIO_USART_TX_PIN, STDIO_USART_TX_FUNCTION}
};
static const usart_options_t STDIO_USART_OPTIONS =
{
.baudrate = STDIO_USART_BAUDRATE,
.charlength = 8,
.paritytype = USART_NO_PARITY,
.stopbits = USART_1_STOPBIT,
.channelmode = USART_NORMAL_CHMODE
};
// Initialize the USART used for STDIO.
extern volatile avr32_usart_t *volatile stdio_base;
stdio_base = STDIO_USART;
gpio_enable_module(STDIO_USART_GPIO_MAP,
sizeof(STDIO_USART_GPIO_MAP) / sizeof(STDIO_USART_GPIO_MAP[0]));
usart_init_rs232(STDIO_USART, &STDIO_USART_OPTIONS, APPLI_PBA_SPEED);
#endif
}
#if __GNUC__
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception and interrupt vectors are defined in the same section and Newlib
* add-ons' interrupt vectors are not compatible with the interrupt management
* of the INTC module.
* More low-level initializations are besides added here.
*/
int _init_startup(void)
{
// Import the Exception Vector Base Address.
extern void _evba;
// Load the Exception Vector Base Address in the corresponding system register.
Set_system_register(AVR32_EVBA, (int)&_evba);
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Don't-care value for GCC.
return 1;
}
#elif __ICCAVR32__
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*/
int __low_level_init(void)
{
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Request initialization of data segments.
return 1;
}
