int main(void)
{
laser_off();
bootloaderSwitcher();
init_serial_number();
USB_Start();
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
setupJP5();
setupJP6();
setupLeds();
init_watchdog();
setup_interlock();
//debug: flas the light on boot, to watch for watchdog resets
setCoilLed(1);
initialize_led_override();
if (LED_OVERRIDES_EN){
play_long_spin(); //Spin the led's while we load the rest of this stuff
}
initialize_pwm();
initialize_dripper();
setCornerLed(0);
setInLed(0);
setCoilLed(0);
setUSBLed(0);
SysTick_Config(SystemCoreClock / 2000); //48MHz/2000 gives us 2000 ticks per second (2KHz)
int last_drip_count = g_dripcount;
while(1) {
serialio_feed();
updateADC();
if (move_count!=0){
g_twig_coils=0;
g_key_coil_gate=0;
}
if (g_dripcount != last_drip_count) {
last_drip_count = g_dripcount;
send_updated_drip_count();
}
if ((tick % 500) == 0) {
send_printer_status();
}
}
}
int
main(void)
{
unsigned int pot_value;
unsigned int counter = 0;
initialize_board();
initialize_led();
initialize_uart();
initialize_adc(MODE_ANALOG0);
initialize_pwm();
uart_printf("Hello, world!\n");
while(1)
{
pot_value = adc_get_reading();
//UARTprintf ("Temperature = %3d*C \r", adc_get_temp ());
uart_printf ("AIN0 (PE3) = %3d Duty value = %d\r", pot_value,
pot_value/4);
led_toggle (GREEN_LED);
counter += 100;
if (counter > 1000)
counter = 0;
pwm_set_duty (pot_value/4);
//
// This function provides a means of generating a constant length
// delay. The function delay (in cycles) = 3 * parameter. Delay
// 250ms arbitrarily.
//
SysCtlDelay(SysCtlClockGet() / 12);
}
}
int pwm_start(const char *key, float duty, float freq, int polarity)
{
char fragment[18];
char pwm_test_fragment[20];
char pwm_test_path[45];
char period_path[50];
char duty_path[50];
char polarity_path[55];
int period_fd, duty_fd, polarity_fd;
struct pwm_exp *new_pwm, *pwm;
if(!BBB_G(pwm_initialized)) {
initialize_pwm();
}
snprintf(fragment, sizeof(fragment), "bone_pwm_%s", key);
if (!load_device_tree(fragment)) {
//error enabling pin for pwm
return -1;
}
//creates the fragment in order to build the pwm_test_filename, such as "pwm_test_P9_13"
snprintf(pwm_test_fragment, sizeof(pwm_test_fragment), "pwm_test_%s", key);
//finds and builds the pwm_test_path, as it can be variable...
build_path(BBB_G(ocp_dir), pwm_test_fragment, pwm_test_path, sizeof(pwm_test_path));
//create the path for the period and duty
snprintf(period_path, sizeof(period_path), "%s/period", pwm_test_path);
snprintf(duty_path, sizeof(duty_path), "%s/duty", pwm_test_path);
snprintf(polarity_path, sizeof(polarity_path), "%s/polarity", pwm_test_path);
//add period and duty fd to pwm list
if ((period_fd = open(period_path, O_RDWR)) < 0)
return -1;
if ((duty_fd = open(duty_path, O_RDWR)) < 0) {
//error, close already opened period_fd.
close(period_fd);
return -1;
}
if ((polarity_fd = open(polarity_path, O_RDWR)) < 0) {
//error, close already opened period_fd and duty_fd.
close(period_fd);
close(duty_fd);
return -1;
}
// add to list
new_pwm = malloc(sizeof(struct pwm_exp));
if (new_pwm == 0) {
return -1; // out of memory
}
strncpy(new_pwm->key, key, KEYLEN); /* can leave string unterminated */
new_pwm->key[KEYLEN] = '\0'; /* terminate string */
new_pwm->period_fd = period_fd;
new_pwm->duty_fd = duty_fd;
new_pwm->polarity_fd = polarity_fd;
new_pwm->next = NULL;
if (exported_pwms == NULL)
{
// create new list
exported_pwms = new_pwm;
} else {
// add to end of existing list
pwm = exported_pwms;
while (pwm->next != NULL)
pwm = pwm->next;
pwm->next = new_pwm;
}
pwm_set_frequency(key, freq);
pwm_set_polarity(key, polarity);
pwm_set_duty_cycle(key, duty);
return 1;
}
