void setup() {
// Setup our pins
pinMode(BOARD_LED_PIN, OUTPUT);
pinMode(VGA_R, OUTPUT);
pinMode(VGA_G, OUTPUT);
pinMode(VGA_B, OUTPUT);
pinMode(VGA_V, OUTPUT);
pinMode(VGA_H, OUTPUT);
digitalWrite(VGA_R, LOW);
digitalWrite(VGA_G, LOW);
digitalWrite(VGA_B, LOW);
digitalWrite(VGA_H, HIGH);
digitalWrite(VGA_V, HIGH);
// Fill the logo array with color patterns corresponding to its
// truth value. Note that we could get more tricky here, since
// there are 3 bits of color.
for (int y = 0; y < y_max; y++) {
for (int x = 0; x < x_max; x++) {
logo[y][x] = logo[y][x] ? ON_COLOR : OFF_COLOR;
}
}
// This gets rid of the majority of the interrupt artifacts;
// there's still a glitch for low values of y, but let's not worry
// about that. (Probably due to the hackish way vsync is done).
SerialUSB.end();
systick_disable();
// Configure
timer.pause(); // while we configure
timer.setPrescaleFactor(1); // Full speed
timer.setMode(TIMER_CH1, TIMER_OUTPUT_COMPARE);
timer.setMode(TIMER_CH2, TIMER_OUTPUT_COMPARE);
timer.setMode(TIMER_CH3, TIMER_OUTPUT_COMPARE);
timer.setMode(TIMER_CH4, TIMER_OUTPUT_COMPARE);
timer.setOverflow(2287); // Total line time
timer.setCompare(TIMER_CH1, 200);
timer.attachInterrupt(TIMER_CH1, isr_porch);
timer.setCompare(TIMER_CH2, 300);
timer.attachInterrupt(TIMER_CH2, isr_start);
timer.setCompare(TIMER_CH3, 2170);
timer.attachInterrupt(TIMER_CH3, isr_stop);
timer.setCompare(TIMER_CH4, 1); // Could be zero, I guess
timer.attachInterrupt(TIMER_CH4, isr_update);
timer.setCount(0); // Ready...
timer.resume(); // Go!
}
void Dynamixel::begin(int baud) {
//TxDString("[DXL]start begin\r\n");
afio_remap(AFIO_REMAP_USART1);//USART1 -> DXL
afio_cfg_debug_ports(AFIO_DEBUG_FULL_SWJ_NO_NJRST);
#ifdef BOARD_CM900 //Engineering version case
gpio_set_mode(PORT_ENABLE_TXD, PIN_ENABLE_TXD, GPIO_OUTPUT_PP);
gpio_set_mode(PORT_ENABLE_RXD, PIN_ENABLE_RXD, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_ENABLE_TXD, PIN_ENABLE_TXD, 0 );// TX Disable
gpio_write_bit(PORT_ENABLE_RXD, PIN_ENABLE_RXD, 1 );// RX Enable
#else
gpio_set_mode(PORT_TXRX_DIRECTION, PIN_TXRX_DIRECTION, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_TXRX_DIRECTION, PIN_TXRX_DIRECTION, 0 );// RX Enable
#endif
/* timer_set_mode(TIMER2, TIMER_CH1, TIMER_OUTPUT_COMPARE);
timer_pause(TIMER2);
uint16 ovf = timer_get_reload(TIMER2);
timer_set_count(TIMER2, min(0, ovf));
timer_set_reload(TIMER2, 10000);//set overflow
ovf = timer_get_reload(TIMER2);
timer_set_compare(TIMER2, TIMER_CH1, min(1000, ovf));
timer_attach_interrupt(TIMER2, TIMER_CH1, TIM2_IRQHandler);
timer_generate_update(TIMER2);
//timer_resume(TIMER2);*/
/*
* Timer Configuation for Dynamixel bus
* 2013-04-03 ROBOTIS Changed it as the below codes
* Dynamixel bus used timer 2(channel 1) to check timeout for receiving data from the bus.
* So, don't use time 2(channel 1) in other parts.
* */
// Pause the timer while we're configuring it
timer.pause();
// Set up period
timer.setPeriod(1); // in microseconds
// Set up an interrupt on channel 1
timer.setMode(TIMER_CH1,TIMER_OUTPUT_COMPARE);
timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
timer.attachInterrupt(TIMER_CH1,TIM2_IRQHandler);
// Refresh the timer's count, prescale, and overflow
timer.refresh();
// Start the timer counting
//timer.resume();
dxl_initialize(0, baud);
}
void FLYMAPLEScheduler::init(void* machtnichts)
{
delay_us(2000000); // Wait for startup so we have time to connect a new USB console
// 1kHz interrupts from systick for normal timers
systick_attach_callback(_timer_procs_timer_event);
// Set up Maple hardware timer for 1khz failsafe timer
// ref: http://leaflabs.com/docs/lang/api/hardwaretimer.html#lang-hardwaretimer
_failsafe_timer.pause();
_failsafe_timer.setPeriod(1000); // 1000us = 1kHz
_failsafe_timer.setChannelMode(TIMER_CH1, TIMER_OUTPUT_COMPARE);// Set up an interrupt on channel 1
_failsafe_timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
_failsafe_timer.attachInterrupt(TIMER_CH1, _failsafe_timer_event);
_failsafe_timer.refresh();// Refresh the timer's count, prescale, and overflow
_failsafe_timer.resume(); // Start the timer counting
// We run this timer at a higher priority, so that a broken timer handler (ie one that hangs)
// will not prevent the failsafe timer interrupt.
// Caution: the timer number must agree with the HardwareTimer number
nvic_irq_set_priority(NVIC_TIMER2, 0x14);
}
void setup( void )
{
hardwareSetup();
// Setup the LED to steady on
pinMode(BOARD_LED_PIN, OUTPUT);
digitalWrite(BOARD_LED_PIN, HIGH);
// Setup the button as input
pinMode(BOARD_BUTTON_PIN, INPUT);
digitalWrite(BOARD_BUTTON_PIN, HIGH);
// Setup the sensor pin as an analog input
pinMode(sensor_pin,INPUT_ANALOG);
setupKeywords();
registerAction(_DIR_, &DIRaction);
registerAction(_TYP_, &TYPaction);
setupRadioModule();
timer.pause();
// Set up period
timer.setPeriod(1000); // in microseconds
// Set up an interrupt on channel 1
timer.setMode(TIMER_CH1,TIMER_OUTPUT_COMPARE);
timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
timer.attachInterrupt(TIMER_CH1,ledTask);
// Refresh the timer's count, prescale, and overflow
timer.refresh();
// Start the timer counting
timer.resume();
setupRadioModule();
}
