void Gpio_example2(void)
{
// Example 2:
// Toggle I/Os using SET/CLEAR registers
for(;;)
{
GpioDataRegs.GPASET.all =0xAAAAAAAA;
GpioDataRegs.GPACLEAR.all =0x55555555;
GpioDataRegs.GPBSET.all =0x0000000A;
GpioDataRegs.GPBCLEAR.all =0x00000005;
delay_loop();
GpioDataRegs.GPACLEAR.all =0xAAAAAAAA;
GpioDataRegs.GPASET.all =0x55555555;
GpioDataRegs.GPBCLEAR.all =0x0000000A;
GpioDataRegs.GPBSET.all =0x00000005;
delay_loop();
}
}
void bb_stop( void )
{
SDA_LOW;
delay_loop();
SCL_HIGH;
delay_loop();
SDA_HIGH;
}
/* -------------------------------------------------------------------------- */
void main(void) {
u8 i;
u16 tout;
GPIOH->ODR&=~ALL_LEDs; // LEDs - as push-pull outputs, all off
GPIOH->DDR|= ALL_LEDs;
GPIOH->CR1|= ALL_LEDs;
init_CAN();
CAN->DGR|= CAN_DGR_LBKM; // set CAN in loop back mode
leds= 0; // utility variables
id_offset= -1;
while (1) {
CAN->PSR= 0; // send my message
memcpy(&CAN->Page.TxMailbox.MDLCR, &MY_MESS[0], MY_MESS_DLC + 5);
id_offset= ++id_offset & 0x0F;
CAN->Page.TxMailbox.MIDR2+= (id_offset<<2);
CAN->Page.TxMailbox.MCSR|= CAN_MCSR_TXRQ; // transmit request
tout= 50000;
while((CAN->TSR & CAN_TSR_TXOK0) == 0 && --tout > 0); // wait for transmition OK
if(tout) {
set_Tx_LEDs();
CAN->TSR|= CAN_TSR_RQCP0;
}
else
if(CAN->Page.TxMailbox.MCSR & CAN_MCSR_TERR)
CAN->Page.TxMailbox.MCSR|= CAN_MCSR_ABRQ;
tout= 50000;
while((CAN->RFR & CAN_RFR_FMP01) == 0 && --tout > 0); // wait for any CAN receive message
if(tout) {
CAN->PSR= 7; // page 7 - read messsage
while (CAN->RFR & CAN_RFR_FMP01) { // make up all received messages
memcpy(&mess[0], &CAN->Page.RxFIFO.MFMI, 14); // compare the message content
for(i=5; i<MY_MESS_DLC+5; ++i)
if(mess[i+1]!=MY_MESS[i]) { tout= 0; break; };
if(tout)
set_Rx_LEDs();
CAN->RFR|= CAN_RFR_RFOM; // release received message
while(CAN->RFR & CAN_RFR_RFOM); // wait until the current message is released
};
};
delay_loop((u32)( 5000));
switch_LEDs_off();
delay_loop((u32)(15000));
};
}
static bool attempt(unsigned long loops, int ticks)
{
L4_Clock_t start = L4_SystemClock();
do {
delay_loop(100);
} while(L4_SystemClock().raw < start.raw + clock_step - 1);
delay_loop(loops);
L4_Clock_t end = L4_SystemClock();
/* this biases the result upward. that's OK; nsleep() and usleep() are
* only defined not to wake before the time is up.
*/
return start.raw + ticks * clock_step < end.raw;
}
void bb_start( void )
{
// Idle bus == both lines high
SDA_LOW;
delay_loop();
SCL_LOW;
}
/*---------------------------------------------------------------------------------------------------------*/
int main (void)
{
/* Init System, IP clock and multi-function I/O */
SYS_Init(); //In the end of SYS_Init() will issue SYS_LockReg() to lock protected register. If user want to write protected register, please issue SYS_UnlockReg() to unlock protected register.
/* Init UART for printf */
UART_Init();
printf("\n\nCPU @ %dHz\n", SystemCoreClock);
printf("+-------------------------------------+ \n");
printf("| MINI51 GPIO Toggle Sample Code | \n");
printf("+-------------------------------------+ \n");
/*set P3.6 to output mode */
P3->PMD = (P3->PMD & ~0x3000) | (GPIO_PMD_OUTPUT << 12);
P36 = 1;
while(1)
{
P36 ^= 1;
delay_loop();
}
}
void InitMcbspb(void)
{
// McBSP-B register settings
McbspbRegs.SPCR2.all=0x0000; // Reset FS generator, sample rate generator & transmitter
McbspbRegs.SPCR1.all=0x0000; // Reset Receiver, Right justify word
McbspbRegs.SPCR1.bit.DLB = 1; // Enable loopback mode for test. Comment out for normal McBSP transfer mode.
McbspbRegs.MFFINT.all=0x0; // Disable all interrupts
McbspbRegs.RCR2.all=0x0; // Single-phase frame, 1 word/frame, No companding (Receive)
McbspbRegs.RCR1.all=0x0;
McbspbRegs.XCR2.all=0x0; // Single-phase frame, 1 word/frame, No companding (Transmit)
McbspbRegs.XCR1.all=0x0;
McbspbRegs.SRGR2.bit.CLKSM = 1; // CLKSM=1 (If SCLKME=0, i/p clock to SRG is LSPCLK)
McbspbRegs.SRGR2.bit.FPER = 31; // FPER = 32 CLKG periods
McbspbRegs.SRGR1.bit.FWID = 0; // Frame Width = 1 CLKG period
McbspbRegs.SRGR1.bit.CLKGDV = CLKGDV_VAL; // CLKG frequency = LSPCLK/(CLKGDV+1)
McbspbRegs.PCR.bit.FSXM = 1; // FSX generated internally, FSR derived from an external source
McbspbRegs.PCR.bit.CLKXM = 1; // CLKX generated internally, CLKR derived from an external source
delay_loop(); // Wait at least 2 SRG clock cycles
McbspbRegs.SPCR2.bit.GRST=1; // Enable the sample rate generator
clkg_delay_loop(); // Wait at least 2 CLKG cycles
McbspbRegs.SPCR2.bit.XRST=1; // Release TX from Reset
McbspbRegs.SPCR1.bit.RRST=1; // Release RX from Reset
McbspbRegs.SPCR2.bit.FRST=1; // Frame Sync Generator reset
}
void calibrate_delay(void)
{
int sample = 0;
int count = 0;
DWORD tick_count1 = 0L;
DWORD tick_count2 = 0L;
one_ms_delay = 0;
for (sample = 0; sample < DELAY_SAMPLES; ++sample)
{
count = 0;
tick_count1 = get_tick_count();
while ((tick_count2 = get_tick_count()) == tick_count1)
{};
do
{
delay_loop(DELAY_CHECK_LOOPS);
count++;
} while ((tick_count1 = get_tick_count()) == tick_count2);
one_ms_delay += (int)((DELAY_CHECK_LOOPS * (DWORD)count) / (tick_count1 - tick_count2));
}
one_ms_delay /= DELAY_SAMPLES;
}
//
// init_mcbsp_spi - Configure McBSP settings
//
void init_mcbsp_spi()
{
//
// McBSP-A register settings
//
McbspaRegs.SPCR2.all = 0x0000; // Reset FS generator, sample rate
// generator & transmitter
McbspaRegs.SPCR1.all = 0x0000; // Reset Receiver, Right justify word,
// Digital loopback dis.
McbspaRegs.PCR.all = 0x0F08; //(CLKXM=CLKRM=FSXM=FSRM= 1, FSXP = 1)
McbspaRegs.SPCR1.bit.DLB = 1;
McbspaRegs.SPCR1.bit.CLKSTP = 2; // Together with CLKXP/CLKRP
// determines clocking scheme
McbspaRegs.PCR.bit.CLKXP = 0; // CPOL = 0, CPHA = 0 rising edge
// no delay
McbspaRegs.PCR.bit.CLKRP = 0;
McbspaRegs.RCR2.bit.RDATDLY = 01; // FSX setup time 1 in master mode.
// 0 for slave mode (Receive)
McbspaRegs.XCR2.bit.XDATDLY = 01; // FSX setup time 1 in master mode.
// 0 for slave mode (Transmit)
McbspaRegs.RCR1.bit.RWDLEN1 = 5; // 32-bit word
McbspaRegs.XCR1.bit.XWDLEN1 = 5; // 32-bit word
McbspaRegs.SRGR2.all = 0x2000; // CLKSM=1, FPER = 1 CLKG periods
McbspaRegs.SRGR1.all = 0x000F; // Frame Width = 1 CLKG period,
// CLKGDV=16
McbspaRegs.SPCR2.bit.GRST = 1; // Enable the sample rate generator
delay_loop(); // Wait at least 2 SRG clock cycles
McbspaRegs.SPCR2.bit.XRST = 1; // Release TX from Reset
McbspaRegs.SPCR1.bit.RRST = 1; // Release RX from Reset
McbspaRegs.SPCR2.bit.FRST = 1; // Frame Sync Generator reset
}
void
LoopDelay (uint16_t ms)
{
if (!ms) return;
delay_loop (ms * CONST_LOOPS);
}
static void
wait ()
{
volatile unsigned int i;
for (i = 0; i < 30000; i++)
delay_loop ();
}
void Gpio_example3(void)
{
// Example 2:
// Toggle I/Os using TOGGLE registers
// Set pins to a known state
GpioDataRegs.GPASET.all =0xAAAAAAAA;
GpioDataRegs.GPACLEAR.all =0x55555555;
GpioDataRegs.GPBSET.all =0x0000000A;
GpioDataRegs.GPBCLEAR.all =0x00000005;
// Use TOGGLE registers to flip the state of
// the pins.
// Any bit set to a 1 will flip state (toggle)
// Any bit set to a 0 will not toggle.
for(;;)
{
GpioDataRegs.GPATOGGLE.all =0xFFFFFFFF;
GpioDataRegs.GPBTOGGLE.all =0x0000000F;
delay_loop();
}
}
void pwm_stop(void)
// Stop all PWM signals to the motor.
{
// Disable interrupts.
cli();
// Are we moving in the A or B direction?
if (pwm_a || pwm_b)
{
// Disable OC1A and OC1B outputs.
TCCR1A &= ~((1<<COM1A1) | (1<<COM1A0));
TCCR1A &= ~((1<<COM1B1) | (1<<COM1B0));
// Clear PB1 and PB2.
PORTB &= ~((1<<PB1) | (1<<PB2));
delay_loop(DELAYLOOP);
// Reset the A and B direction flags.
pwm_a = 0;
pwm_b = 0;
}
// Set the PWM duty cycle to zero.
OCR1A = 0;
OCR1B = 0;
// Restore interrupts.
sei();
// Save the pwm A and B duty values.
registers_write_byte(REG_PWM_DIRA, pwm_a);
registers_write_byte(REG_PWM_DIRB, pwm_b);
}
void nsleep(unsigned long nanoseconds)
{
int nano_per_hz = 1000000000 / hz,
ticks = nanoseconds / nano_per_hz;
if(ticks > 2 && false) {
/* FIXME: this doesn't work, does it... */
L4_Clock_t start = L4_SystemClock();
do {
delay_loop(iters_per_tick / hz);
} while(start.raw + ticks < L4_SystemClock().raw);
} else {
uint64_t t = nanoseconds;
t *= iters_per_tick;
t /= nano_per_hz;
delay_loop(t);
}
}
void Gpio_example1(void)
{
// Example 1:
// Toggle I/Os using DATA registers
for(;;)
{
GpioDataRegs.GPADAT.all =0xAAAAAAAA;
GpioDataRegs.GPBDAT.all =0x0000000A;
delay_loop();
GpioDataRegs.GPADAT.all =0x55555555;
GpioDataRegs.GPBDAT.all =0x00000005;
delay_loop();
}
}
void send_nak( void )
{
SDA_HIGH;
NOP; NOP; NOP;
SCL_HIGH;
delay_loop();
SCL_LOW;
NOP; NOP; NOP;
}
void
vmusic2_init(void)
{
vmusic2_serial_init();
delay_loop(4000);
vmusic2_play("0", 1);
vmusic2_cmd(VMUSIC2_PING_CMD, 1);
vmusic2_cmd(VMUSIC2_STOP_CMD, 1);
}
/**
* @brief write cyc buffer is data to file
*
* @author hankejia
* @date 2012-07-05
* @param[in] pthis the pointer point to the CCycBuffer.
* @param[in] fd file is descriptor.the cyc buffer is data will write to this file
* @param[in] iSize how many data in bytes from cyc buffer you want to write to the file
* @param[in] pWriteBuffer the space alloc by caller,fuction will use this space to load the data,and write to file system,
* if this param is NULL, function will alloc space by himself
* @return T_S32
* @retval return >=0 the size of bytes write to file, < 0 failed
*/
static T_S32 WriteToFs( T_pVOID pthis, T_S32 fd, T_S32 iSize )
{
CCycBuffer *this = ( CCycBuffer * )pthis;
CycBuffer_handle * handle = (CycBuffer_handle *)this->handle;
T_CHR * pBuffer = NULL;
T_S32 iLineSize = 0, iLeavings = 0;
Condition_Lock( handle->mWriteDataCon );
//need to flash all data
if ( -1 == iSize ) {
iSize = handle->mUseSize;
}
pBuffer = PopSingle( pthis, iSize );
if ( pBuffer == NULL ) {
ResumeForceQuitState( pthis );
Condition_Unlock( handle->mWriteDataCon );
delay_loop( 0, 10000 ); // 10ms
return 0;
}
iLeavings = iSize;
while( iLeavings > 0 ) {
iLineSize = ( handle->mCycBuffer + handle->mBufferSize ) - pBuffer;
if ( iLineSize == 0 ) {
pBuffer = handle->mCycBuffer;
continue;
} else if ( iLineSize > iLeavings ) {
iLineSize = iLeavings;
}
if ( WriteComplete( fd, pBuffer, iLineSize ) < 0 ) {
Condition_Unlock( handle->mWriteDataCon );
loge( "WriteToFs::WriteComplete error!\n" );
return -1;
}
pBuffer += iLineSize;
iLeavings -= iLineSize;
}
Condition_Lock( handle->mDataCon );
handle->mRead = pBuffer;
handle->mUseSize -= iSize;
handle->mPopComplete = AK_TRUE;
Condition_Unlock( handle->mDataCon );
Condition_Unlock( handle->mWriteDataCon );
//logi( "pop signal send!\n" );
Condition_Signal( &(handle->mDataCon) );
return iSize;
}
void send_ack( void )
{
SDA_LOW;
NOP; NOP; NOP;
SCL_HIGH;
delay_loop();
SCL_LOW;
NOP; NOP; NOP;
SDA_HIGH;
}
/**
* @brief file lock set
*
* @author hankejia
* @date 2012-07-05
* @param[in] fd file fd
* @param[in] type type, file r/w lock or r/w unlock
* @param[in] whence lock file is position, SEEK_SET, SEEK_CUR, SEEK_END
* @param[in] nlen lock len, lock data from whence to whence + nlen.
* @param[in] time_ms time out ms
* @return T_S32
* @retval if return 0 success, otherwise failed
*/
T_S32 flock_set( T_S32 fd, T_U32 type, T_U32 whence, T_U32 nlen, T_U32 time_ms )
{
struct flock lock;
T_U32 delay_ms_once = 10 * 1000UL, delay_ms = 0;
lock.l_type = type;
lock.l_whence = whence;
lock.l_start = 0;
lock.l_len = nlen;
if ( time_ms > 0 ) //timeout wait
{
//Since there is no timeout API for fcntl(), So use while loop
//to implement time out waiting.
while( fcntl( fd, F_SETLK, &lock ) < 0 )
{
delay_loop( 0, delay_ms ); // delay 10 ms
delay_ms += delay_ms_once;
if ( delay_ms >= time_ms ) {
return 1; // return 1, time out
}
}
}
else if ( time_ms == 0 )
{
if ( fcntl( fd, F_SETLK, &lock ) < 0 )
{
if ( fcntl( fd, F_GETLK, &lock ) < 0 ) {
loge( "fcntl set %d unknown error! %s\n", type, strerror(errno) );
return -1;
}
if ( lock.l_type == F_RDLCK ) {
logi( "read lock already set by %d\n", lock.l_pid );
return 2; //return 2 the operation already set by another program
}
if ( lock.l_type == F_WRLCK ) {
logi( "write lock already set by %d\n", lock.l_pid );
return 2;//return 2 the operation already set by another program
}
loge( "fcntl set %d unknown error! %s\n", type, strerror(errno) );
return -1;
}
}
else //block wait
{
if ( fcntl( fd, F_SETLKW, &lock ) < 0 ) {
loge( "fcntl set %d block error! %s\n", type, strerror(errno) );
return -1;
}
}
return 0;
}
/**
* @brief flush cyc buffer is data to file
*
* @author hankejia
* @date 2012-07-05
* @param[in] pthis the pointer point to the CCycBuffer.
* @param[in] fd file is descriptor.the cyc buffer is data will write to this file
* @return T_S32
* @retval return >=0 the size of bytes write to file, < 0 failed
*/
static T_S32 flush( T_pVOID pthis, T_S32 fd )
{
CCycBuffer *this = ( CCycBuffer * )pthis;
CycBuffer_handle * handle = (CycBuffer_handle *)this->handle;
while ( !(handle->mPopComplete) ) {
ForceQuit( pthis );
delay_loop( 0, 1000 ); // 1ms
}
return WriteToFs( pthis, fd, -1 );
}
void calibrate_delay_loop(void)
{
L4_KernelInterfacePage_t *kip = L4_GetKernelInterface();
L4_Time_t readp = { .raw = kip->ClockInfo.X.ReadPrecision };
clock_step = time_in_us(readp);
if(clock_step > 1000000) {
printf("kernel reports scheduleprecision of %u µs (too high!)\n",
clock_step);
abort();
}
hz = 1000000 / clock_step;
printf("calibrating delay loop... (hz %u, clock_step %u)\n",
hz, clock_step);
iters_per_tick = measure(15);
assert(iters_per_tick > 0);
printf(" %lu.%02lu BogoMIPS (%lu iters / tick)\n",
iters_per_tick / (500000 / hz),
(iters_per_tick / (5000 / hz)) % 100,
iters_per_tick);
#if 0
/* testing. */
for(int i=1; i<=25; i++) {
L4_Clock_t start = L4_SystemClock();
do {
delay_loop(200);
} while(L4_SystemClock().raw < start.raw + 1);
int ticks = i * 2;
delay_loop(iters_per_tick * ticks);
L4_Clock_t end = L4_SystemClock();
if(start.raw + ticks != end.raw) {
printf("wanted to wait for %d ticks, waited for %d\n",
ticks, (int)(end.raw - start.raw));
}
}
#endif
}
void pwm_stop(void)
// Stop all PWM signals to the motor.
{
// Disable interrupts.
cli();
// Are we moving in the A or B direction?
if (pwm_a || pwm_b)
{
// Make sure that SMPLn_B (PD4) and SMPLn_A (PD7) are held high.
PORTD |= ((1<<PD4) | (1<<PD7));
// Disable PWM_A (PB1/OC1A) and PWM_B (PB2/OC1B) output.
TCCR1A = 0;
// Make sure that PWM_A (PB1/OC1A) and PWM_B (PB2/OC1B) are held low.
PORTB &= ~((1<<PB1) | (1<<PB2));
// Do we want to enable braking?
if (1)
{
// Before enabling braking (which turns on the "two lower MOSFETS"), introduce
// sufficient delay to give the H-bridge time to respond to the change of state
// that has just been made.
delay_loop(DELAYLOOP);
// Hold EN_A (PD2) and EN_B (PD3) high.
PORTD |= ((1<<PD2) | (1<<PD3));
}
else
{
// Hold EN_A (PD2) and EN_B (PD3) low.
PORTD &= ~((1<<PD2) | (1<<PD3));
}
// Reset the A and B direction flags.
pwm_a = 0;
pwm_b = 0;
}
// Set the PWM duty cycle to zero.
OCR1A = 0;
OCR1B = 0;
// Restore interrupts.
sei();
// Save the pwm A and B duty values.
registers_write_byte(REG_PWM_DIRA, pwm_a);
registers_write_byte(REG_PWM_DIRB, pwm_b);
}
int main(void)
{
/* Init System, IP clock and multi-function I/O */
SYS_Init(); //In the end of SYS_Init() will issue SYS_LockReg() to lock protected register. If user want to write protected register, please issue SYS_UnlockReg() to unlock protected register.
/* Configure UART and set UART Baudrate */
UART_Open(UART, 115200);
printf("+---------------------------------+\n");
printf("| Mini58 Toggle LED Sample |\n");
printf("+---------------------------------+\n");
/*set P1.5 to output mode */
GPIO_SetMode(P1, BIT5, GPIO_MODE_OUTPUT);
while(1)
{
P15 = 0;
delay_loop();
P15 = 1;
delay_loop();
}
}
static void pwm_dir_a(uint8_t pwm_duty)
// Send PWM signal for rotation with the indicated pwm ratio (0 - 255).
// This function is meant to be called only by pwm_update.
{
// Determine the duty cycle value for the timer.
uint16_t duty_cycle = PWM_OCRN_VALUE(pwm_div, pwm_duty);
// Disable interrupts.
cli();
// Do we need to reconfigure PWM output?
if (!pwm_a || pwm_b)
{
// Disable PWM_A (PB1/OC1A) and PWM_B (PB2/OC1B) output.
// NOTE: Actually PWM_A should already be disabled...
TCCR1A &= ~((1<<COM1A1) | (1<<COM1B1));
OCR1A = duty_cycle;
// Yes. Make sure PB1 and PB2 are zero.
PORTB &= ~((1<<PB1) | (1<<PB2));
//
// Give the H-bridge time to respond to the above changes
//
delay_loop(DELAYLOOP);
// Enable PWM_A (PB1/OC1A) output.
TCCR1A |= (1<<COM1A1);
// Reset the B direction flag.
pwm_b = 0;
}
// Set the A direction flag.
pwm_a = pwm_duty;
// Update the PWM duty cycle.
OCR1A = duty_cycle;
OCR1B = 0;
// Restore interrupts.
sei();
// Save the pwm A and B duty values.
registers_write_byte(REG_PWM_DIRA, pwm_a);
registers_write_byte(REG_PWM_DIRB, pwm_b);
}
/**
* @brief gba_getch function read char from game pad keys
*
* Character input is done with GBA buttons, up-down-left-right/A/B/R/L/Select/Start
* - Select-key accept selected character
* - Start-key read CR (Enter)
* - A-key select 'A' character
* - B-key select 'Z' character
* - R-key select '1' character
* - L-key select '9' character
* - up-key increment character ('A'->'B')
* - down-key decrement character ('B'-'A')
* - left-key change set of character ('!'->'A'->'a')
* - right-key change set of character ('a'->'A'->'!')
*
* @param None
* @return Selected char code
*/
int gba_getch(void)
{
int keyx, key = 0;
while(1) {
key = GBA_KEY();
while ( (keyx=GBA_KEY())==key );
switch (key)
{
case GBA_KEY_SELECT:
gba_put(inputch);
return inputch;
break;
case GBA_KEY_START:
gba_put(' ');
inputch = ASCII_CR;
return inputch;
break;
case GBA_KEY_A:
inputch = 'A';
break;
case GBA_KEY_B:
inputch = 'Z';
break;
case GBA_KEY_UP:
if ((inputch-1) >= 0x20) inputch--;
break;
case GBA_KEY_DOWN:
if ((inputch+1) <= 0x7E) inputch++;
break;
case GBA_KEY_LEFT:
if ((inputch - 0x20) >= 0x20) inputch -= 0x20;
break;
case GBA_KEY_RIGHT:
if ((inputch + 0x20) <= 0x7E) inputch += 0x20;
break;
case GBA_KEY_R:
inputch = '1';
break;
case GBA_KEY_L:
inputch = '9';
break;
default:
break;
}
gba_put(inputch);
delay_loop(1000);
}
}
//
// mcbsp_init_dlb - Initialize MCBSP with digital loopback setup
//
void mcbsp_init_dlb()
{
//
// RESET MCBSP
//
McbspaRegs.SPCR2.bit.FRST = 0; // Frame Sync generator reset
McbspaRegs.SPCR2.bit.GRST = 0; // Sample Rate generator Reset
McbspaRegs.SPCR2.bit.XRST = 0; // Transmitter reset
McbspaRegs.SPCR1.bit.RRST = 0; // Receiver reset
//
// Initialize McBSP Registers
// McBSP register settings for Digital loop back
//
McbspaRegs.SPCR2.all = 0x0000; // XRST =0
McbspaRegs.SPCR1.all = 0x8000; // RRST =0, DLB enabled
McbspaRegs.RCR2.all = 0x0001; // RDATDLY = 1
McbspaRegs.RCR1.all = 0x0;
McbspaRegs.XCR2.all = 0x0001; // XDATDLY = 1
McbspaRegs.XCR1.all = 0x0;
McbspaRegs.SRGR2.all = 0x3140;
McbspaRegs.SRGR1.all = 0x010f;
McbspaRegs.MCR2.all = 0x0;
McbspaRegs.MCR1.all = 0x0;
McbspaRegs.PCR.all = 0x0A00;
McbspaRegs.MFFINT.bit.XINT = 1; // Enable Transmit Interrupts
McbspaRegs.MFFINT.bit.RINT = 1; // Enable Receive Interrupts
//
// Enable Sample rate generator
//
McbspaRegs.SPCR2.bit.GRST = 1;
delay_loop(); // Wait at least 2 SRG clock cycles
//
// Enable TX/RX unit
//
McbspaRegs.SPCR2.bit.XRST = 1;
McbspaRegs.SPCR1.bit.RRST = 1;
//
// Frame Sync generator reset
//
McbspaRegs.SPCR2.bit.FRST = 1;
}
/*
* This function is called only when the reporter thread
* This function is the loop that the reporter thread processes
*/
void reporter_spawn( thread_Settings *thread ) {
do {
// This section allows for safe exiting with Ctrl-C
Condition_Lock ( ReportCond );
if ( ReportRoot == NULL ) {
// Allow main thread to exit if Ctrl-C is received
thread_setignore();
Condition_Wait ( &ReportCond );
// Stop main thread from exiting until done with all reports
thread_unsetignore();
}
Condition_Unlock ( ReportCond );
again:
if ( ReportRoot != NULL ) {
ReportHeader *temp = ReportRoot;
//Condition_Unlock ( ReportCond );
if ( reporter_process_report ( temp ) ) {
// This section allows for more reports to be added while
// the reporter is processing reports without needing to
// stop the reporter or immediately notify it
Condition_Lock ( ReportCond );
if ( temp == ReportRoot ) {
// no new reports
ReportRoot = temp->next;
} else {
// new reports added
ReportHeader *itr = ReportRoot;
while ( itr->next != temp ) {
itr = itr->next;
}
itr->next = temp->next;
}
// finished with report so free it
free( temp );
Condition_Unlock ( ReportCond );
Condition_Signal( &ReportDoneCond );
if (ReportRoot)
goto again;
}
Condition_Signal( &ReportDoneCond );
delay_loop(10000); //usleep ?
} else {
//Condition_Unlock ( ReportCond );
}
} while ( 1 );
}
void Gpio_PortF(void)
{
// GPIO Test #5:
// Configure Upper bits [14:8] of Port F as outputs and bits [7:0] as inputs
// Loop back bits [14:8] to bits [6:0], also loopback bit #8, to bit #7
var1= 0x0000; // sets GPIO Muxs as I/Os
var2= 0xFF00; // sets GPIO 14-8 DIR as outputs, 7-0 as inputs.
Gpio_select();
Test_status[Test_var] = 0x0007;
Test_var++;
Test_status[Test_var] = 0xD0BE; // Set the default value of status
// to "PASSED"
test_count = 0;
while (test_count < 4) // repeat the tests 4 times
{
GpioDataRegs.GPFSET.all = 0xFF00;
delay_loop();
GpioDataRegs.GPFCLEAR.all = 0xFF00; // Test Clear
asm (" RPT #6 || NOP");
Test_flag = GpioDataRegs.GPFDAT.all;
if ( Test_flag != 0x0000 ) error(1);
GpioDataRegs.GPFSET.all = 0x5500; // Test Set
asm(" RPT #6 || NOP");
Test_flag = GpioDataRegs.GPFDAT.all;
if ( Test_flag != 0x55D5 ) error(1);
GpioDataRegs.GPFTOGGLE.all = 0xFF00; // Test Toggle
asm(" RPT #6 || NOP");
Test_flag = GpioDataRegs.GPFDAT.all;
if ( Test_flag != 0x2A2A ) error(1);
test_count++;
}
Test_var++;
} // End of Test #5
static void pwm_dir_a(uint16_t pwm_duty)
// Send PWM signal for rotation with the indicated pwm ratio (0 - 255).
// This function is meant to be called only by pwm_update.
{
// Determine the duty cycle value for the timer.
uint16_t duty_cycle = pwm_duty;
// Disable interrupts.
//nvic_globalirq_disable();
// Do we need to reconfigure PWM output?
if (!pwm_a || pwm_b)
{
// Disable PWM_A (PB1/OC1A) and PWM_B (PB2/OC1B) output.
// NOTE: Actually PWM_A should already be disabled...
pinMode(6, OUTPUT); //PA8
pinMode(7, OUTPUT); //PA9
// Yes. Make sure PB1 and PB2 are zero.
digitalWrite(6, LOW);
digitalWrite(7, LOW);
//
// Give the H-bridge time to respond to the above changes
//
delay_loop(DELAYLOOP);
// Reset the B direction flag.
pwm_b = 0;
}
// Set the A direction flag.
pwm_a = pwm_duty;
SerialUSB.println(pwm_a);
// Update the PWM duty cycle.
pinMode(6, PWM); //PA8
pwmWrite(6, pwm_a);
// Restore interrupts.
// nvic_globalirq_enable();
// Save the pwm A and B duty values.
registers_write_byte(REG_PWM_DIRA, pwm_a);
registers_write_byte(REG_PWM_DIRB, pwm_b);
}
