void PmodHB5_INIT(UART_MODULE uartID)
{
PORTSetPinsDigitalOut(IOPORT_D, BIT_7); //HB5 Direction
PORTSetPinsDigitalOut(IOPORT_D, BIT_1); //HB5 Enable
PORTSetPinsDigitalIn(IOPORT_D, BIT_9); //HB5 Sensor A
PORTSetPinsDigitalIn(IOPORT_C, BIT_1); //HB5 Sensor B
hBridge.sensorAport = IOPORT_D;
hBridge.sensorAportBit = BIT_9;
hBridge.sensorBport = IOPORT_C;
hBridge.sensorBportBit = BIT_1;
hBridge.directionPort = IOPORT_D;
hBridge.directionPortBit = BIT_7;
hBridge.currentDirection = PMOD_HB5_DIR_CW;
hBridge.newDirection = PMOD_HB5_DIR_CW;
hBridge.ocChannel = 2;
OpenOC2(OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, 0, 0);
OpenTimer2(T2_ON | T2_PS_1_256, SYSTEM_CLOCK/PB_DIV/PRESCALE/(TOGGLES_PER_SEC/2));
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_256, T1_TICK);
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
INTEnableSystemMultiVectoredInt();
UARTPutS("\r\nPmodHB5 init complete\r\n",uartID);
}
static void InitPIC32(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();
}
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();
}
/****************************************************************************
Function
Roach_Init
Parameters
None.
Returns
SUCCESS if operation successful
ERROR otherwise
Description
Performs all the initialization necessary for the roach.
this includes initializing the PWM module, the A/D converter, the
data directions on some pins, and setting the initial motor directions.
Notes
None.
Author
Max Dunne, 2012.01.06
****************************************************************************/
char Roach_Init(void) {
//Initialize the serial port
SERIAL_Init();
TIMERS_Init();
//set the control pins for the motors
PWM_Init(LEFT_PWM | RIGHT_PWM, 200);
LEFT_DIR_TRIS = 0;
LEFT_DIR_INV_TRIS = 0;
RIGHT_DIR_TRIS = 0;
RIGHT_DIR_INV_TRIS = 0;
LEFT_DIR = 0;
LEFT_DIR_INV = ~LEFT_DIR;
RIGHT_DIR = 0;
RIGHT_DIR_INV = ~RIGHT_DIR;
//set up the hall effect and divorce all the A/D pins
AD1PCFG = 0xFF;
HALL_FRONT_LEFT_TRIS = 1;
HALL_FRONT_RIGHT_TRIS = 1;
HALL_REAR_RIGHT_TRIS = 1;
HALL_REAR_LEFT_TRIS = 1;
//Initialize the light sensor
AD_Init(LIGHT_SENSOR);
//enable interrupts
INTEnableSystemMultiVectoredInt();
}
int main()
{
mJTAGPortEnable(0);
mPORTASetPinsDigitalOut(BIT_0|BIT_1|BIT_2|BIT_3|BIT_4|BIT_5|BIT_6|BIT_7);
mPORTAClearBits(BIT_0|BIT_1|BIT_2|BIT_3|BIT_4|BIT_5|BIT_6|BIT_7);
INTCONSET=0x1000;
INTEnableSystemMultiVectoredInt();
IEC0 =0;
IFS0 = 0;
INTCONCLR = 0x00000018;
IEC0SET = 0x00088000;
IPC3 = 0x1F000000;
IPC4 = 0X17000000;
lcdconfig();
while(1)
{
if(IFS0 & 0x8000==1)
{
lcddata('3');
PORTA=0X0F;
}
if(IFS0 & 0x80000==1)
{
lcddata('4');
PORTA=0XFF;
}
}
}
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 init()
{
#ifdef _ENABLE_PIC_RTC_
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
__PIC32_pbClk = SYSTEMConfig(F_CPU, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
#else
__PIC32_pbClk = SYSTEMConfigPerformance(F_CPU);
#endif
OpenCoreTimer(CORE_TICK_RATE);
// set up the core timer interrupt with a prioirty of 2 and zero sub-priority
mConfigIntCoreTimer((CT_INT_ON | CT_INT_PRIOR_2 | CT_INT_SUB_PRIOR_0));
// enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
#ifdef _ENABLE_PIC_RTC_
RtccInit(); // init the RTCC
// while(RtccGetClkStat() != RTCC_CLK_ON); // wait for the SOSC to be actually running and RTCC to have its clock source
// could wait here at most 32ms
delay(50);
// time is MSb: hour, min, sec, rsvd. date is MSb: year, mon, mday, wday.
RtccOpen(0x10073000, 0x11010901, 0);
RtccSetTimeDate(0x10073000, 0x10101701);
// please note that the rsvd field has to be 0 in the time field!
#endif
//* as per [email protected], Jan 7, 2011
//* Disable the JTAG interface.
DDPCONbits.JTAGEN = 0;
#if defined (_BOARD_MEGA_)
//* Turn Secondary oscillator off
//* this is only needed on the mega board because the mega uses secondary ocsilator pins
//* as general I/O
{
unsigned int dma_status;
unsigned int int_status;
mSYSTEMUnlock(int_status, dma_status);
OSCCONCLR = _OSCCON_SOSCEN_MASK;
mSYSTEMLock(int_status, dma_status);
}
#endif
}
/*********************************************************************
* Function: void SYSTEM_Initialize( SYSTEM_STATE state )
*
* Overview: Initializes the system.
*
* PreCondition: None
*
* Input: SYSTEM_STATE - the state to initialize the system into
*
* Output: None
*
********************************************************************/
void SYSTEM_Initialize( SYSTEM_STATE state )
{
int value;
switch(state)
{
case SYSTEM_STATE_USB_START:
value = SYSTEMConfigWaitStatesAndPB( 64000000UL );
// Enable the cache for the best performance
CheKseg0CacheOn();
INTEnableSystemMultiVectoredInt();
value = OSCCON;
while (!(value & 0x00000020))
{
value = OSCCON; // Wait for PLL lock to stabilize
}
//Disable JTAG
DDPCONbits.JTAGEN = 0;
LED_Enable(LED_USB_DEVICE_STATE);
BUTTON_Enable(BUTTON_USB_DEVICE_HID_MOUSE);
break;
default:
break;
}
}
void initUART1(int pbClk)
{
#define config1 UART_EN | UART_IDLE_CON | UART_RX_TX | UART_DIS_WAKE | UART_DIS_LOOPBACK | UART_DIS_ABAUD | UART_NO_PAR_8BIT | UART_1STOPBIT | UART_IRDA_DIS | UART_DIS_BCLK_CTS_RTS| UART_NORMAL_RX | UART_BRGH_SIXTEEN
#define config2 UART_TX_PIN_LOW | UART_RX_ENABLE | UART_TX_ENABLE | UART_INT_TX | UART_INT_RX_CHAR | UART_ADR_DETECT_DIS | UART_RX_OVERRUN_CLEAR
OpenUART1(config1, config2, pbClk / 16 / DESIRED_BAUDRATE - 1); // calculate actual BAUD generate value.
ConfigIntUART1(UART_INT_PR2 | UART_RX_INT_EN);
INTEnableSystemMultiVectoredInt();
}
/**
* @fn void intConfig( void );
* @brief Configuration des interruptions
*/
void intConfig( void ){
// Config Interruptions
// Mode "multi-vectored". Vecteurs d'interruption multiples
INTEnableSystemMultiVectoredInt();
// Validation globale des interruptions
INTEnableInterrupts();
// uartPutString("Interrupts configured\r\n");
}
void Board_init()
{
//unsigned int pbclk=PB_CLOCK;
//SYSTEMConfig(SYSTEM_CLOCK,SYS_CFG_ALL);
//SYSTEMConfigPB(PB_CLOCK);
//OSCSetPBDIV(2);
//Serial_init();
INTEnableSystemMultiVectoredInt();
}
int main(void) {
int i;
unsigned short pattern;
char j,k;
SERIAL_Init();
AD1PCFG = 0xFF;
INTEnableSystemMultiVectoredInt();
//enable LED bank 1
TRISDbits.TRISD6 = 0;
TRISDbits.TRISD11 = 0;
TRISDbits.TRISD3 = 0;
TRISDbits.TRISD5 = 0;
printf("\nHello World!");
Stepper_Init(100);
printf("\nStepping forward 420 steps");
Stepper_SetSteps(FORWARD,420);
for (j=0;j<10;j++) {
DELAY();
printf(".");
DELAY();
printf("\t%u",Stepper_GetRemainingCount());
}
while(Stepper_GetRemainingCount() > 1) {
printf("o");
DELAY();
}
printf("\nForward steps done");
Stepper_SetSteps(REVERSE,220);
while (Stepper_GetRemainingCount() > 1) {
printf("+");
}
Stepper_End();
TRIS_COIL_A_DIRECTION = 0;
TRIS_COIL_A_ENABLE = 0;
TRIS_COIL_B_DIRECTION = 0;
TRIS_COIL_B_ENABLE = 0;
ShutDownDrive();
COIL_A_ENABLE = 0;
COIL_A_DIRECTION = 0;
COIL_B_ENABLE = 0;
COIL_B_DIRECTION = 0;
printf("\n Turning on COIL_B_DIRECTION (PortZ-07");
for (j=0;j<10;j++) {
printf("o");
DELAY();
}
while (1) {
COIL_B_DIRECTION ^= 1;
DELAY();
printf(".");
}
return 0;
}
void DeviceInit()
{
// Configure left motor direction pin and set default direction.
trisMtrLeftDirSet = ( 1 << bnMtrLeftDir );
prtMtrLeftDirSet = ( 1 << bnMtrLeftDir ); // forward
// Configure right motor diretion pin and set default direction.
trisMtrRightDirClr = ( 1 << bnMtrRightDir ); //modify for JD
prtMtrRightDirClr = ( 1 << bnMtrRightDir ); // forward
// Configure Output Compare 2 to drive the left motor.
OC2CON = ( 1 << 2 ) | ( 1 << 1 ); // pwm
OC2R = dtcMtrStopped;
OC2RS = dtcMtrStopped;
// Configure Output Compare 3.
OC3CON = ( 1 << 3 ) | ( 1 << 2 ) | ( 1 << 1 ); // pwm
OC3R = dtcMtrStopped;
OC3RS = dtcMtrStopped;
// Configure Timer 2.
TMR2 = 0; // clear timer 2 count
PR2 = 9999;
// Configure Timer 3.
TMR3 = 0;
PR3 = 9999;
// Start timers and output compare units.
T2CON = ( 1 << 15 ) | ( 1 << TCKPS20 )|(1 << TCKPS21); // timer 2 prescale = 8
OC2CONSET = ( 1 << 15 ); // enable output compare module 2
OC3CONSET = ( 1 << 15 ); // enable output compare module 3
T3CON = ( 1 << 15 ) | ( 1 << TCKPS31 ) | ( 1 << TCKPS30); //timer3 prescale = 8
// Configure Timer 5.
TMR5 = 0;
PR5 = 99; // period match every 100 us
IPC5SET = ( 1 << 4 ) | ( 1 << 3 ) | ( 1 << 2 ) | ( 1 << 1 ) | ( 1 << 0 ); // interrupt priority level 7, sub 3
IFS0CLR = ( 1 << 20);
IEC0SET = ( 1 << 20);
// Start timers.
T5CON = ( 1 << 15 ) | ( 1 << 5 ) | ( 1 << 4 ); // fTimer5 = fPb / 8
// Setup light sensor pins
PORTSetPinsDigitalIn(IOPORT_B, BIT_0 | BIT_3);
// Change notice configured for CN 2 through 5 for light sensors.
mCNOpen(CN_ON, (CN2_ENABLE | CN3_ENABLE | CN4_ENABLE | CN5_ENABLE), CN_PULLUP_DISABLE_ALL);
ConfigIntCN(CHANGE_INT_OFF | CHANGE_INT_PRI_2);
// Enable multi-vector interrupts.
INTEnableSystemMultiVectoredInt();
}
void InitApp(void)
{
/* Setup analog functionality and port direction */
// enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 2. configure Timer 1 using internal clock, 1:256 prescale
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, T1_TICK);
// set up the timer interrupt with a priority of 2
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
/* Zero to DELAY_COUNTER for Delay procedure. */
StartTimer();
/* Initialize peripherals */
DisplayBacklightConfig();
//#if defined WANT_GOL_INIT
GOLInit();
//#endif
// TouchInit(NULL,NULL,NULL,NULL);
DisplayBacklightOn();
SPIFlashInit();
// initialize the components for Resistive Touch Screen
//#if defined WANT_TOUCH_INIT
// TouchInit(NULL,NULL,NULL,NULL);
//#endif
// SDCARDInit();
// MP3Init();
/* PORT Init */
/* PORTD 0-3 bits inputs. */
/* PORTA 0-1 bits outputs. */
/* TODO Must be disable the JTAG port, that we are to appropriate using */
/* RA0, and RA1 ports. */
DDPCONbits.JTAGEN = 0; /* JTAG debug disabled */
/* TODO D port output now !!!! */
TRISDbits.TRISD14 = TRISDbits.TRISD15 = 0;
/* Port D 14, 15, pins pull up resistor enabled */
// CNPUEbits.CNPUE20 = CNPUEbits.CNPUE21 = 1;
TRISAbits.TRISA0 = TRISAbits.TRISA1 = 0;
}
void systemInit(void)
{
//Enable optimal performance
SYSTEMConfigPerformance(80000000);
//Configures peripheral bus divisor
OSCSetPBDIV(OSC_PB_DIV_2);
//Enable multi-vectored mode
INTEnableSystemMultiVectoredInt();
}
//******************************************************************
void Stepper_InitIO (void)
{
// Setup timers
//Timer 1
T1CON = 0x8030; //Set up timer 1 Fosc/2, prescaled 1:256
DDPCONbits.JTAGEN = 0; //To release port A pins from use by JTAG port
//Set Tris for Stepper
//X
AD1PCFGbits.PCFG8 = 1; //AtoD port cfg AN8/B8
TRISBbits.TRISB8 = OUTPUT; //Step
AD1PCFGbits.PCFG9 = 1; //AtoD port cfg AN9/B9
TRISBbits.TRISB9 = OUTPUT; //Dir
AD1PCFGbits.PCFG13 = 1; //AtoD port cfg AN13/B13
TRISBbits.TRISB13 = OUTPUT; //Enable
TRISDbits.TRISD4 = INPUT; //X_HomeSwitch
//Y
TRISDbits.TRISD8 = OUTPUT; //Step
TRISDbits.TRISD9 = OUTPUT; //Dir
TRISDbits.TRISD10 = OUTPUT; //Enable
TRISCbits.TRISC13 = INPUT; //Y_HomeSwitch
//Z
TRISDbits.TRISD2 = OUTPUT; //Step
TRISDbits.TRISD7 = OUTPUT; //Dir
TRISDbits.TRISD3 = OUTPUT; //Enable
TRISCbits.TRISC14 = INPUT; //Z_HomeSwitch
X_Disable = TRUE;
Y_Disable = TRUE;
Z_Disable = TRUE;
//Timer 4 is used to time the stepper motor steps
//PB clk = 8MHz Post scaler = 2 to 1 tick every 25nS
T4CON = 0x0; //Clear timer setting register
T4CONSET = 0x0010; //Set PS to 2
TMR4 = 0; //Reset clock
PR4 = 500; //Initialise PR4 value (when T4 matches PR4 it interrupts)
mT4SetIntPriority(7); //Set T4 interrupt to top priority
INTEnableSystemMultiVectoredInt();//Set T4 to vectored i.e. Fast
mT4ClearIntFlag(); //Clear interrupt flag
T4CONSET = 0x8000; //Turn on T4
mT4IntEnable(!TRUE); //Disable T4 interrputs
// init the circular buffer pointers
SBR = 0;
SBW = 0;
// Init Rapid moves
G_CodeRapidXYMove=0;
G_CodeRapidZMove=0;
}//InitStepper
int main(void)
{
SYSTEMConfigWaitStatesAndPB(72000000);
INTEnableSystemMultiVectoredInt();
Ex16LCDInit(36000000);
Ex16LCDWriteLine(2, "Main App");
while(1)
;
}
int main(void)
{
// === config the uart, DMA, SPI ===========
PT_setup();
// == SPI ==
//enable SPI at 10 MHz clock to meet digital potentiometer specifications
SpiChnOpen(spiChn, SPI_OPEN_ON | SPI_OPEN_MODE16 | SPI_OPEN_MSTEN | SPI_OPEN_CKE_REV , spiClkDiv);
// === setup system wide interrupts ====================
INTEnableSystemMultiVectoredInt();
// === set up i/o port pin ===============================
//Port B bits, 3,7,8, and 9 are used to select digital output
//Port B bit 4 is used as chip select for treble digital potentiometer
//Port B bit 13 is used as a select signal for output effect selection multiplexer
//Additional functionality would use the TFT to display which output was being
//selected
mPORTBSetPinsDigitalOut(BIT_4 | BIT_3|BIT_7 | BIT_8 | BIT_9 |BIT_13); //Set port as output
//Port A Bits 0,2,and 3 are used to configure digital potentiometers (chip selects). Port A bit 4 is used
//for multiplexing whether to have input from Digital effector chip, distortion,
//or pure tonestack sound
mPORTASetPinsDigitalOut(BIT_0 | BIT_2 | BIT_3 | BIT_4);
// === now the threads ===================================
// init the threads
PT_INIT(&pt_cmd);
PT_INIT(&pt_time);
//==Digipot spi stuff
// SCK2 is pin 26
// SDO1 (MOSI) is in PPS output group 1, could be connected to RB5 which is pin 14
PPSOutput(2, RPB5, SDO1);
// control CS for DAC
//mPORTBSetPinsDigitalOut(BIT_4); //CS
mPORTBSetBits(BIT_4 | BIT_6);
//===
mPORTASetBits(BIT_0 | BIT_2 | BIT_3 | BIT_4); //CS pins active high
mPORTAClearBits(BIT_4);
mPORTBClearBits(BIT_13);
mPORTBSetBits(BIT_13);
// schedule the threads
while(1) {
//cmd used as command center for all effects
PT_SCHEDULE(protothread_cmd(&pt_cmd));
}
} // main
void initialize(void){
SYSTEMConfig(80000000, SYS_CFG_ALL); // sets up periferal and clock configuration
INTEnableSystemMultiVectoredInt();
INTEnableInterrupts(); // enable interrupts
delay();
timers();
delay();
PWM();
delay();
UART();
delay();
beginLIDARdecoder(returned_data, &buffer_five);
}
/*-----------------------------------------------------------*/
static void prvSetupHardware(void)
{
/* Setup the CPU clocks, and configure the interrupt controller. */
SYSTEMConfigPerformance(configCPU_CLOCK_HZ);
mOSCSetPBDIV(OSC_PB_DIV_2);
INTEnableSystemMultiVectoredInt();
/* LEDs off. */
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
/* LEDs are outputs. */
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);
}
void Setup_initializeBoard(void)
{
INTDisableInterrupts();
Setup_ports();
setup_ADC();
INTEnableSystemMultiVectoredInt();
Setup_timers();
RcRx_setupInputCaptures();
MotorCtrl_setupOutputCompares();
Setup_configInterrupts();
}
// *--------------------------------------------------------------------------------*
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();
}
}
}
}
int main(void) {
SERIAL_Init();
INTEnableSystemMultiVectoredInt();
printf("\r\nUno Serial Test Harness\r\nAfter this Message the terminal should mirror anything you type.\r\n");
unsigned char ch = 0;
while (1) {
if (IsTransmitEmpty() == TRUE)
if (IsReceiveEmpty() == FALSE)
PutChar(GetChar());
}
return 0;
}
/**
* Function: Override_init()
* @return None
* @remark Initializes interrupt for Override functionality
* @author Darrel Deo
* @date 2013.04.01 */
void Override_init(){
//Enable the interrupt for the override feature
mPORTBSetPinsDigitalIn(BIT_0); // CN2
mCNOpen(CN_ON | CN_IDLE_CON , CN2_ENABLE , CN_PULLUP_DISABLE_ALL);
uint16_t value = mPORTDRead();
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_2);
//CN2 J5-15
INTEnableSystemMultiVectoredInt();
printf("Override Function has been Initialized\n\n");
//INTEnableInterrupts();
INTEnable(INT_CN,1);
}
/********************************************************************
* Function: UsbInit()
*
* Precondition:
*
* Input: pbClk: Not used.
*
* Output: None.
*
* Side Effects: None.
*
* Overview: Initializes USB
*
*
* Note: None.
********************************************************************/
void UsbInit(UINT pbClk)
{
// The USB specifications require that USB peripheral devices must never source
// current onto the Vbus pin. Additionally, USB peripherals should not source
// current on D+ or D- when the host/hub is not actively powering the Vbus line.
// When designing a self powered (as opposed to bus powered) USB peripheral
// device, the firmware should make sure not to turn on the USB module and D+
// or D- pull up resistor unless Vbus is actively powered. Therefore, the
// firmware needs some means to detect when Vbus is being powered by the host.
// A 5V tolerant I/O pin can be connected to Vbus (through a resistor), and
// can be used to detect when Vbus is high (host actively powering), or low
// (host is shut down or otherwise not supplying power). The USB firmware
// can then periodically poll this I/O pin to know when it is okay to turn on
// the USB module/D+/D- pull up resistor. When designing a purely bus powered
// peripheral device, it is not possible to source current on D+ or D- when the
// host is not actively providing power on Vbus. Therefore, implementing this
// bus sense feature is optional. This firmware can be made to use this bus
// sense feature by making sure "USE_USB_BUS_SENSE_IO" has been defined in the
// HardwareProfile.h file.
#if defined(USE_USB_BUS_SENSE_IO)
tris_usb_bus_sense = INPUT_PIN; // See HardwareProfile.h
#endif
// If the host PC sends a GetStatus (device) request, the firmware must respond
// and let the host know if the USB peripheral device is currently bus powered
// or self powered. See chapter 9 in the official USB specifications for details
// regarding this request. If the peripheral device is capable of being both
// self and bus powered, it should not return a hard coded value for this request.
// Instead, firmware should check if it is currently self or bus powered, and
// respond accordingly. If the hardware has been configured like demonstrated
// on the PICDEM FS USB Demo Board, an I/O pin can be polled to determine the
// currently selected power source. On the PICDEM FS USB Demo Board, "RA2"
// is used for this purpose. If using this feature, make sure "USE_SELF_POWER_SENSE_IO"
// has been defined in HardwareProfile.h, and that an appropriate I/O pin has been mapped
// to it in HardwareProfile.h.
#if defined(USE_SELF_POWER_SENSE_IO)
tris_self_power = INPUT_PIN; // See HardwareProfile.h
#endif
// Call USB Stack function to initialize USB.
USBDeviceInit();
#if defined(USB_INTERRUPT)
INTEnableSystemMultiVectoredInt();
USBDeviceAttach();
#endif
}
int TimerInit(void)
{
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//STEP 1. Configure cache, wait states and peripheral bus clock
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
// SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 2. configure Timer 1 using internal clock, 1:256 prescale
//OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_256, T2_TICK);
OpenTimer2(T2_ON | T2_SOURCE_INT, T2_TICK);
// set up the timer interrupt with a priority of 2
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_2);
// enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
// shake sensor debug pin
TRISBbits.TRISB8 = 0;
IEC0bits.INT4IE=0; // disable this interrupt
// AN6/RPC0/RC0 == IR recv
// config as input
TRISCbits.TRISC0 = 1;
SYSKEY = 0x0;
SYSKEY = 0xAA996655;
SYSKEY = 0x556699AA;
CFGCONbits.IOLOCK = 0; // unlock configuration
INT4Rbits.INT4R = 0b0110; // map RPC0
CFGCONbits.IOLOCK = 1; // relock configuration
SYSKEY = 0x0;
INTCONbits.INT4EP=0; // edge polarity FALLING EDGE
IPC4bits.INT4IP=1; // interrupt priority
IPC4bits.INT4IS=1; // interrupt sub priority
IEC0bits.INT4IE=1; // enable this interrupt
IEC0bits.T2IE=1;
}
static void prvSetupHardware( void )
{
/* Set the system and peripheral bus speeds and enable the program cache*/
SYSTEMConfigPerformance( configCPU_CLOCK_HZ - 1 );
mOSCSetPBDIV( OSC_PB_DIV_2 );
/* Setup to use the external interrupt controller. */
INTEnableSystemMultiVectoredInt();
portDISABLE_INTERRUPTS();
/* Setup the digital IO for the LED's. */
vParTestInitialise();
}
/*
* 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");
}
void TMR2_init() {
/**
* Initialize timer2
*/
#define PB_DIV 1
#define PRESCALE 64
#define T2_TICK (SYS_CLOCK/PB_DIV/PRESCALE/TMR2_TOGGLES_PER_SEC)
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_64, T2_TICK);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_6);
INTEnableSystemMultiVectoredInt();
TMR2_ticks = 0;
note_count = 0;
note_stop = -1;
}
int main(void)
{
// === config the uart, DMA, vref, timer5 ISR =============
PT_setup();
// === setup system wide interrupts ====================
INTEnableSystemMultiVectoredInt();
// === set up i/o port pin ===============
mPORTASetBits(BIT_0 | BIT_1 ); //Clear bits to ensure light is off.
mPORTASetPinsDigitalOut(BIT_0 | BIT_1 ); //Set port as output
mPORTBSetBits(BIT_0 ); //Clear bits to ensure light is off.
mPORTBSetPinsDigitalOut(BIT_0 ); //Set port as output
// === now the threads ====================
// init the thread control semaphores
PT_SEM_INIT(&control_t1, 0); // start blocked
PT_SEM_INIT(&control_t2, 1); // start unblocked
PT_SEM_INIT(&send_sem, 1); // start with ready to send
// init the threads
PT_INIT(&pt1);
PT_INIT(&pt2);
PT_INIT(&pt3);
PT_INIT(&pt4);
PT_INIT(&pt5);
// init the optional rate scheduler
PT_RATE_INIT();
// schedule the threads
while(1) {
PT_RATE_LOOP(); // not necessary if you use PT_SCHEDULE
PT_RATE_SCHEDULE(protothread1(&pt1), t1_rate);
if (run_t4) PT_RATE_SCHEDULE(protothread4(&pt4), t4_rate); //run always
PT_RATE_SCHEDULE(protothread2(&pt2), t1_rate);
if (cmd[0] != 'k') PT_RATE_SCHEDULE(protothread3(&pt3),t3_rate);
PT_SCHEDULE(protothread5(&pt5));
/*
// alternate scheme
PT_SCHEDULE(protothread1(&pt1));
if (run_t4) PT_SCHEDULE(protothread4(&pt4));
PT_SCHEDULE(protothread2(&pt2));
if (run_t4) PT_SCHEDULE(protothread4(&pt4));
if (cmd[0] != 'k') PT_SCHEDULE(protothread3(&pt3));
*/
}
} // main
