void main(void)
{
InitSysCtrl();
// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: epwm1_timer_isr(), epwm2_timer_isr()
// epwm3_timer_isr and and InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F28335.cmd file.
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP2833x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP2833x_DefaultIsr.c.
// This function is found in DSP2833x_PieVect.c.
InitPieVectTable();
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.SEQ1INT = &PWM_AD_isr;
PieVectTable.ECAN0INTA = &Skiip4_CAN_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
InitFlash();
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
MemCopy(&IQmathLoadStart, &IQmathLoadEnd, &IQmathRunStart);
//ECan-A模块初始化
InitECan();
InitECan1();
InitGpio(); // Skipped for this example
InitAdc(); // Initialize necessary ADC module, directly for SVPWM.
InitEPwm();
IER |= M_INT1;
// Enable SEQ1_INT which is connected to PIE1.1:
IER |= M_INT9;
// Enable eCAN0-A INT which is connected to PIE9.5:
EINT;
} // end of main()
void InitMicrocontroller(void)
{
//copy InitFlash() to ram
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
InitFlash();
InitSysCtrl(); //calibrate ADC, enable peripheral clocks, etc.
DINT; // Disable CPU interrupts
// Initialize PIE control registers to all PIE interrupts disabled and flags clear
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
InitPieVectTable();
}
int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPSTR lpCmdLine, int nCmdShow)
{
// Set current directory to module directory
wchar_t imagePath[MAX_PATH];
GetModuleFileName(NULL, imagePath, MAX_PATH);
size_t pathLen = wcslen(imagePath);
wchar_t* pathEnd = imagePath + pathLen - 1;
while (pathEnd >= imagePath && (*pathEnd != L'\\' && *pathEnd != L'/'))
--pathEnd;
if (pathEnd >= imagePath)
*pathEnd++ = 0;
SetCurrentDirectory(imagePath);
InitWindow(hInstance, nCmdShow);
InitDevice();
InitFlash();
ShowWindow(hWnd, nCmdShow);
while(true) {
MSG msg;
if(PeekMessage(&msg, NULL, 0, 0, PM_REMOVE) != 0) {
if(msg.message == WM_QUIT)
break;
else {
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
else
{
DrawFrame();
}
}
DeinitFlash();
DeinitDevice();
// UnregisterClass(wc.lpszClassName, hInstance);
return 0;
}
Uint32 main(void) {
//GPIO and SCI are still setup from Sci_Boot()
//Setup sysctl and pll
DisableDog();
IntOsc1Sel();
InitPll(DSP28_PLLCR,DSP28_DIVSEL);
InitFlash();
DELAY_US(100);
// ApplicationPtr = (void(*)(void))SCI_Boot();
//
// if(ApplicationPtr)
// ApplicationPtr();
return SCI_Boot();
// asm(" .ref _ExitBoot");
// asm(" BF _ExitBoot,UNC");
// return 0;
}
void main()
{
int i;
InitSysCtrl();
InitGpio();
DINT; //禁止全局中断
InitPieCtrl(); //将PIE控制寄存器初始化为默认状态
IER=0x0000; //禁止CPU中断（IER：CPU级中断使能寄存器）
IFR=0x0000; //清除CPU中断标志位（IFR：CPU级中断标志寄存器）
InitPieVectTable(); //初始化中断向量表
EALLOW; //确认中断函数入口地址
/***********车哥的是把MemoryCopy()放在这里************/
PieVectTable.T1PINT = &renew_PWM_isr;
PieVectTable.RXAINT = &scia_receive_isr;
PieVectTable.TXAINT = &scia_send_isr;
PieVectTable.RXBINT = &scib_receive_isr;
PieVectTable.TXBINT = &scib_send_isr;
//PieVectTable.CAPINT5= &measure_height_isr;
PieVectTable.TINT0 = &cpu_timer0_isr;
// PieVectTable.ADCINT = &adc_isr;
EDIS;
InitPeripherals();
ConfigCpuTimer(&CpuTimer0, 150, 1000000);
StartCpuTimer0();
// Configure ADC
// AdcRegs.ADCMAXCONV.all = 0x0001; // Setup 2 conv's on SEQ1
// AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0x3; // Setup ADCINA3 as 1st SEQ1 conv.
// AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 0x2; // Setup ADCINA2 as 2nd SEQ1 conv.
// AdcRegs.ADCTRL2.bit.EVA_SOC_SEQ1 = 1; // Enable EVASOC to start SEQ1
// AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1; // Enable SEQ1 interrupt (every EOS)
// EvaRegs.GPTCONA.bit.T1TOADC = 1; // Enable EVASOC in EVA
for(i=0;i<11;i++) //初始化数据变量
{
bufferA[i] = 0;
bufferB[i] = 0;
}
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
InitFlash();
PieCtrlRegs.PIEIER2.bit.INTx4=1; //使能INT2 INTx4 T1PINT
PieCtrlRegs.PIEIER9.bit.INTx1=1; //使能PIE模块中的SCIA接收中断
PieCtrlRegs.PIEIER9.bit.INTx2=1; //使能PIE模块中的SCIA发送中断
PieCtrlRegs.PIEIER9.bit.INTx3=1; //使能PIE模块中的SCIB接收中断
PieCtrlRegs.PIEIER9.bit.INTx4=1; //使能PIE模块中的SCIB发送中断
// PieCtrlRegs.PIEIER5.bit.INTx6=1; //使能PIE模块中的CAP5捕获中断
PieCtrlRegs.PIEIER1.bit.INTx7=1; //使能PIE模块中的CPU定时器中断
PieCtrlRegs.PIEIER1.bit.INTx6=1; //使能PIE模块中的ADC中断
IER|=M_INT9 | M_INT2 | M_INT1; //开CPU中断
EINT; //开全局中断
ERTM; //开全局实时中断
/*初始化pid_z模块 全局Q24
pid_z.param.Kp =_IQ(0.5);
pid_z.param.Ki =_IQ(0.0);
pid_z.param.Kd =_IQ(0);
pid_z.param.Kr =_IQ(1.0);
pid_z.param.Km =_IQ(1.0);
pid_z.param.Umax=_IQ(1.0);
pid_x.param.Umin=_IQ(1.0);
//初始化pid_y模块 全局Q24
pid_y.param.Kp =_IQ(0.01);
pid_y.param.Ki =_IQ(0);
pid_y.param.Kd =_IQ(0);
pid_y.param.Kr =_IQ(1.0);
pid_y.param.Km =_IQ(1.0);
pid_y.param.Umax=_IQ(10.0);
pid_y.param.Umin=_IQ(10.0);
//初始化pid_x模块 全局Q24
pid_x.param.Kp =_IQ(0.01);
pid_x.param.Ki =_IQ(0);
pid_x.param.Kd =_IQ(0);
pid_x.param.Kr =_IQ(1.0);
pid_x.param.Km =_IQ(1.0);
pid_x.param.Umax=_IQ(10.0);
pid_x.param.Umin=_IQ(10.0);
*/
/**************看门狗******************
EALLOW;
SysCtrlRegs.SCSR=1;
EDIS;
KickDog();
EALLOW;
SysCtrlRegs.WDCR =0x2F; //使能看门狗
EDIS;
************************************/
//DELAY_US(2000000); //安全起见延时10s，现在延时2s做实验
DELAY_US(5000000); //delay 3s
// EvaRegs.T1CMPR=0x5B8D; //50%
// EvaRegs.T2CMPR=0x5B8D;
// EvbRegs.T3CMPR=0x5B8D;
// EvbRegs.T4CMPR=0x5B8D;
// EvaRegs.T1CMPR=soilgate; //60%
// EvaRegs.T2CMPR=soilgate;
// EvbRegs.T3CMPR=soilgate;
// EvbRegs.T4CMPR=soilgate;
// DELAY_US(2000000);
/*
EvaRegs.T1CMPR=0x7704; //65%
EvaRegs.T2CMPR=0x7704;
EvbRegs.T3CMPR=0x7704;
EvbRegs.T4CMPR=0x7704;
*/
/**********************油门设置*************************
EvaRegs.T1CMPR=0x927C;
EvaRegs.T2CMPR=0x927C;
EvbRegs.T3CMPR=0x927C;
EvbRegs.T4CMPR=0x927C;
DELAY_US(3000000); //delay 2s
EvaRegs.T1CMPR=0x493E;
EvaRegs.T2CMPR=0x493E;
EvbRegs.T3CMPR=0x493E;
EvbRegs.T4CMPR=0x493E;
****************************************************/
//进入循环，等待中断
for(;;)
{
DELAY_US(20000000);
TakeoffSoilgate(23437); //50%
DELAY_US(2000000);
TakeoffSoilgate(26906); //起飞57.3%
DELAY_US(10000000);
TakeoffSoilgate(26250); //软着陆
DELAY_US(1000000);
TakeoffSoilgate(25312);
DELAY_US(1000000);
TakeoffSoilgate(0x500E);
DELAY_US(15000000);
TakeoffSoilgate(26906); //起飞
b=-3.5;
DELAY_US(6000000);
TakeoffSoilgate(26250); //软着陆
DELAY_US(1000000);
TakeoffSoilgate(25312);
DELAY_US(1000000);
TakeoffSoilgate(0x500E);
DELAY_US(15000000);
// TakeoffSoilgate(26906); //起飞
for(;;)
{
}
/*
switch(FlyFlag)
{
case 1: //起飞
TakeoffSoilgate(809);
DELAY_US(2000000);
TakeoffSoilgate(23437);
break;
case 2: //开启定高PID，飞行20s
;
break;
case 3: //降落
break;
case 4: //起飞
break;
case 5: //往回飞,改大点飞行角度
break;
case 6: //降落
break;
case 7: //起飞
break;
case 8: //飞行，此过程中有风扇
break;
case 9: //降落
break;
}
*/
}//end for loop
}//end main
void main(void)
{
DeviceInit(); // Device Life support & GPIO
// Only used if running from FLASH
// Note that the variable FLASH is defined by the compiler
#ifdef FLASH
// Copy time critical code and Flash setup code to RAM
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the linker files.
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash(); // Call the flash wrapper init function
#endif //(FLASH)
// Waiting for enable flag set
while (EnableFlag==FALSE)
{
BackTicker++;
}
// Timing sync for slow background tasks
// Timer period definitions found in device specific PeripheralHeaderIncludes.h
CpuTimer0Regs.PRD.all = mSec1; // A tasks
CpuTimer1Regs.PRD.all = mSec5; // B tasks
CpuTimer2Regs.PRD.all = mSec50; // C tasks
// Tasks State-machine init
Alpha_State_Ptr = &A0;
A_Task_Ptr = &A1;
B_Task_Ptr = &B1;
C_Task_Ptr = &C1;
// Initialize PWM module
pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2; // Prescaler X1 (T1), ISR period = T x 1
PWM_INIT_MACRO(pwm1)
pwm2.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2; // Prescaler X1 (T1), ISR period = T x 1
PWM_INIT_MACRO(pwm2)
// Initialize PWMDAC module
pwmdac1.PeriodMax = 500; // @60Mhz: 1500->20kHz, 1000-> 30kHz, 500->60kHz
pwmdac1.PwmDacInPointer0 = &PwmDacCh1;
pwmdac1.PwmDacInPointer1 = &PwmDacCh2;
PWMDAC_INIT_MACRO(pwmdac1)
// Initialize DATALOG module
dlog.iptr1 = &DlogCh1;
dlog.iptr2 = &DlogCh2;
dlog.iptr3 = &DlogCh3;
dlog.iptr4 = &DlogCh4;
dlog.trig_value = 0x1;
dlog.size = 0x00c8;
dlog.prescalar = 5;
dlog.init(&dlog);
// Initialize ADC module
ADC_MACRO_INIT()
// Initialize the PID_REG3 module for I
pid1_i.Kp = _IQ(0.318); //for 24V DC bus
pid1_i.Ki = _IQ(T/0.0005);
pid1_i.Kd = _IQ(0/T);
pid1_i.Kc = _IQ(0.2);
pid1_i.OutMax = _IQ(0.95);
pid1_i.OutMin = _IQ(-0.95);
pid2_i.Kp = _IQ(0.318); //for 24V DC bus
pid2_i.Ki = _IQ(T/0.0005);
pid2_i.Kd = _IQ(0/T);
pid2_i.Kc = _IQ(0.2);
pid2_i.OutMax = _IQ(0.95);
pid2_i.OutMin = _IQ(-0.95);
// Reassign ISRs.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.EPWM1_INT = &MainISR;
EDIS;
// Enable PIE group 3 interrupt 1 for EPWM1_INT
PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
// Enable CNT_zero interrupt using EPWM1 Time-base
EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable EPWM1INT generation
EPwm1Regs.ETSEL.bit.INTSEL = 1; // Enable interrupt CNT_zero event
EPwm1Regs.ETPS.bit.INTPRD = 1; // Generate interrupt on the 1st event
EPwm1Regs.ETCLR.bit.INT = 1; // Enable more interrupts
// Enable CPU INT3 for EPWM1_INT:
IER |= M_INT3;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// IDLE loop. Just sit and loop forever:
for(;;) //infinite loop
{
// State machine entry & exit point
//===========================================================
(*Alpha_State_Ptr)(); // jump to an Alpha state (A0,B0,...)
//===========================================================
//Put the DRV chip in RESET if we want the power stage inactive
if(DRV_RESET)
{
GpioDataRegs.GPACLEAR.bit.GPIO19 = 1;
GpioDataRegs.GPBCLEAR.bit.GPIO32 = 1;
}
else
{
GpioDataRegs.GPASET.bit.GPIO19 = 1;
GpioDataRegs.GPBSET.bit.GPIO32 = 1;
}
}
} //END MAIN CODE
//*****************************************************************************
// This is an example code demonstrating F021 Flash API usage.
// This code is in Flash
//*****************************************************************************
void main(void)
{
// Step 1. Initialize System Control:
// Enable Peripheral Clocks
// This example function is found in the F28M35x_SysCtrl.c file.
InitSysCtrl();
// Unlock CSM
//
// If the API functions are going to run in unsecured RAM
// then the CSM must be unlocked in order for the flash
// API functions to access the flash.
// If the flash API functions are executed from secure memory
// then this step is not required.
CsmUnlock();
// Step 2. Initalize GPIO:
// This example function is found in the F28M35x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the F28M35x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP2802x_DefaultIsr.c.
// This function is found in F28M35x_PieVect.c.
InitPieVectTable();
// Copy time critical code and Flash setup code to RAM
// This includes InitFlash(), Flash API functions and any functions that are
// assigned to ramfuncs section.
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the device .cmd file.
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
// Gain pump semaphore
FlashGainPump();
// Jump to RAM and call the Flash API functions
Example_CallFlashAPI();
}
void USB_Mode(void)
{
gb_cmd_timeout=0;
set_clock_mode(CLOCK_MODE_USB);
PowerOn_Init_USB();
Fill_EndpointDataTable_Into_ExRamBase();
USBInitialize();
Init_Flash_Reg();
Init_Flash_Variable();
gc_WriteProof = 0x00;
InitFlash();
USB_REG[0x27] = 0x00; // 080304 jay change for new fpga
GLOBAL_REG[0x17] = 0x01; // UDC O/P
IE = 0x83;
gdw_USB_CountDown = USB_DETECT_TIMEOUT;
EA=1;
while(!gc_USBRST_ISR_Detected) // Bulk_In_Out 將跳出while 迴圈 //20090630 chiayen modify
{
USB_PlugDetect();
if((--gdw_USB_CountDown==0)) //080925chiayen add
{
gb_cmd_timeout=1;
break;
}
if(!gbt_USB_Detected)
{
break;
}
}
EA=0;
if(gb_cmd_timeout==1) //080925chiayen modify
{
USB_DisConnect();
set_clock_mode(CLOCK_MODE_MP3);
InitFlash();
return;
}
if(!gb_cmd_timeout)
{
LCM_clear();
LCM_Disp_PC();
LCM_Disp_PCConnect();
LCM_Disp_MyMP3Logo();
}
for(;;)
{
USB_PlugDetect();
if(!gbt_USB_Detected)
{//usb connected
USB_DisConnect();
set_clock_mode(CLOCK_MODE_MP3);
InitFlash();
break;
}
else
{
if (gc_USBStage == CBWStage)
{
if(gbt_USB_Connect_Flag)
{
//tdw_CMD_In_Count =0x02FFFFF;
}
else
{
gdw_USB_CountDown =0x01FFFF; //081208 detect charge first
}
EA=1;
while (!gbt_USB_CMD_IN) // Bulk_In_Out 將跳出while 迴圈
{
USB_PlugDetect();
if(!gbt_USB_Detected)
{
break;
}
if(gbt_USB_Connect_Flag)
{
if(gbt_USER_Remove_Flag)
{
gb_cmd_timeout=1;
break;
}
}
else
{
if((--gdw_USB_CountDown==0)&&(!gb_USB_ISR_Detected))
{
gb_cmd_timeout=1;
break;
}
}
}
EA=0; // 表示有 SCSI CMD 進入 關閉中斷避免常常進入
if((!gbt_USB_Detected)||(gb_cmd_timeout==1)) //080925chiayen modify
{
USB_DisConnect();
set_clock_mode(CLOCK_MODE_MP3);
InitFlash();
break;
}
gbt_USB_CMD_IN = 0;
SD_Card_Detect();
gbt_USB_Connect_Flag =1; // 081208 jay add
Save_CBW_Packet();
Decode_CBW_Command(); // 解CBW和記錄相關手續
}
if(gw_USBDisplayTime==0)
{
USB_Mode_Disp();
}
if (gc_USBStage == BulkInReadSectorsStage)
{
USB_REG[0xD2] &= 0xDD; //Disable Bulk-Out中斷
ReadSectors();
USB_REG[0xE9] = 0x11;
if (gc_ErrorCode == SET_ABRT)
{
gc_RequestSenseCode = 0x06; //ECC Error
gdw_dCBW_DataXferLength.LW = ((LWORD)TotalXferPageNum.WD) << 9;
gc_bCSWStatus = 0x01;
}
else if (gc_ErrorCode == ID_NOT_FND)
{
gc_RequestSenseCode = 0x07; //over range
gdw_dCBW_DataXferLength.LW = ((LWORD)TotalXferPageNum.WD) << 9;
gc_bCSWStatus = 0x01;
}
else
{
gdw_dCBW_DataXferLength.LW = 0;
}
gc_USBStage = CSWStage; // 進入Comand Status Wrapper
}
if (gc_USBStage == BulkOutWriteSectorsStage)
{
USB_REG[0xD2] &= 0xDD; //Disable Bulk-Out中斷
USB_REG[0x11] = 0x01; //HW auto ACK
WriteSectors();
USB_REG[0x11] = 0x00;
USB_REG[0xE9] = 0x22;
if (gc_ErrorCode == SET_ABRT)
{
gc_bCSWStatus = 0x01;
gc_RequestSenseCode = 0x08; // write error
}
else if (gc_ErrorCode == ID_NOT_FND)
{
gc_RequestSenseCode = 0x07; //over range
gc_bCSWStatus = 0x01;
}
else
{
gc_bCSWStatus = 0x00;
gc_RequestSenseCode = 0xFF; // normal
}
gdw_dCBW_DataXferLength.LW = 0;
gc_USBStage = CSWStage;
}
if (gc_USBStage == BulkInResponseStage)
{ // '4' BulkInProcess
USB_REG[0xD2] &= 0xDD; //Disable Bulk-Out中斷
if (gbt_XferNormalResponseData_or_ModeSense)
{ // '1':Normal
if (COMD_IN[0] == 0x23)
{
gdw_dCBW_DataXferLength.WD[1] = 0x00;
USB_REG[0x16] = 0x00;
USB_REG[0x15] = 0x0C;
USB_REG[0xA1] |= 0x01;
while (USB_REG[0xA1] & 0x01)
{
USB_PlugDetect(); // 081014 Jay add for usb plug out
if(!gbt_USB_Detected) break;
}
USB_REG[0xE9] = 0x01;
}
else
{
while (gdw_dCBW_DataXferLength.WD[1])
{
if (gdw_dCBW_DataXferLength.WD[1] > 64)
{
gdw_dCBW_DataXferLength.WD[1] = gdw_dCBW_DataXferLength.WD[1] - 64;
USB_REG[0x16] = 0x00;
USB_REG[0x15] = 0x40;
}
else
{
USB_REG[0x16] = gdw_dCBW_DataXferLength.BY[2] & 0x0F;
USB_REG[0x15] = gdw_dCBW_DataXferLength.BY[3];
gdw_dCBW_DataXferLength.WD[1] = 0x00;
}
USB_REG[0xA1] |= 0x01;
while (USB_REG[0xA1] & 0x01)
{ //081014 Jay add for usb plug out
USB_PlugDetect();
if(!gbt_USB_Detected) break;
}
USB_REG[0xE9] = 0x01;
}
}
}
else
{
if (COMD_IN[0] == 0x1A)
{
gdw_dCBW_DataXferLength.WD[1] = 0x00;
USB_REG[0x15] = 0x04;
USB_REG[0x16] = 0x00;
USB_REG[0xA1] |= 0x01;
while (USB_REG[0xA1] & 0x01)
{ //081014 Jay add for usb plug out
USB_PlugDetect();
if(!gbt_USB_Detected) break;
}
USB_REG[0xE9] = 0x01;
}
else
{
gdw_dCBW_DataXferLength.WD[1] = 0x00;
USB_REG[0x15] = 0x08;
USB_REG[0x16] = 0x00;
USB_REG[0xA1] |= 0x01;
while (USB_REG[0xA1] & 0x01)
{ //081014 Jay add for usb plug out
USB_PlugDetect();
if(!gbt_USB_Detected) break;
}
USB_REG[0xE9] = 0x01;
}
gbt_XferNormalResponseData_or_ModeSense = NormalResponseData;// 將預設設為一般型
}
gc_USBStage = CSWStage;
}
if (gc_USBStage == BulkStallStage)
{
StallBulkRW();
gc_USBStage = CSWStage;
}
if (gc_USBStage == BulkInReadBufferStage)
{
USB_REG[0xD2] &= 0xDD; //Disable Bulk-Out中斷
NoCard_ReadSectors();
USB_REG[0xE9] = 0x11;
gdw_dCBW_DataXferLength.LW = 0;
gc_USBStage = CSWStage; // 進入Comand Status Wrapper
}
if (gc_USBStage == BulkOutWriteBufferStage)
{
USB_REG[0xD2] &= 0xDD; //Disable Bulk-Out中斷
USB_REG[0x11] = 0x01; //HW auto ACK
NoCard_WriteSectors();
USB_REG[0x11] = 0x00;
USB_REG[0xE9] = 0x22;
gdw_dCBW_DataXferLength.LW = 0;
gc_USBStage = CSWStage;
}
if (gc_USBStage == CSWStage)
{
gc_USBStage = CBWStage; // 重新準備收下一筆command
USB_BUF_Bank0[ 0] = 'U'; // 以下由SetCSWData expand
USB_BUF_Bank0[ 1] = 'S';
USB_BUF_Bank0[ 2] = 'B';
USB_BUF_Bank0[ 3] = 'S';
USB_BUF_Bank0[ 4] = dCBW_Tag[0];
USB_BUF_Bank0[ 5] = dCBW_Tag[1];
USB_BUF_Bank0[ 6] = dCBW_Tag[2];
USB_BUF_Bank0[ 7] = dCBW_Tag[3];
USB_BUF_Bank0[ 8] = gdw_dCBW_DataXferLength.BY[3]; // LSB 記錄剩下未被傳輸的資料
USB_BUF_Bank0[ 9] = gdw_dCBW_DataXferLength.BY[2]; // 記錄剩下未被傳輸的資料
USB_BUF_Bank0[10] = gdw_dCBW_DataXferLength.BY[1]; // 記錄剩下未被傳輸的資料
USB_BUF_Bank0[11] = gdw_dCBW_DataXferLength.BY[0]; // MSB 記錄剩下未被傳輸的資料
USB_BUF_Bank0[12] = gc_bCSWStatus; // Command Status 見BulkOnly P.15說明各種碼的情形
USB_REG[0x2B] = 0x00;
USB_REG[0x16] = 0x00;
USB_REG[0x15] = 0x0D;
USB_REG[0xA1] |= 0x01;
while (USB_REG[0xA1] & 0x01)
{ //081014 Jay add for usb plug out
USB_PlugDetect();
if(!gbt_USB_Detected) break;
}
}
USB_REG[0xE9] = 0x01;
USB_REG[0xD2] |= 0x02; //Enable Bulk-Out中斷
USB_REG[0xA1] |= 0x02; //下一筆31Byte Bulk-Out
}
}
}
void main(void)
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2803x_SysCtrl.c file.
InitSysCtrl();
// Step 2. Initialize GPIO:
// This example function is found in the DSP2803x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP2803x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP2803x_DefaultIsr.c.
// This function is found in DSP2803x_PieVect.c.
InitPieVectTable();
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.EPWM1_INT = &epwm1_timer_isr;
PieVectTable.EPWM2_INT = &epwm2_timer_isr;
PieVectTable.EPWM3_INT = &epwm3_timer_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
// Step 4. Initialize all the Device Peripherals:
InitEPwmTimer(); // For this example, only initialize the ePWM Timers
// Step 5. User specific code, enable interrupts:
// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: epwm1_timer_isr(), epwm2_timer_isr()
// epwm3_timer_isr and and InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker.
memcpy((uint16_t *)&RamfuncsRunStart,(uint16_t *)&RamfuncsLoadStart, (unsigned long)&RamfuncsLoadSize);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
// Initialize counters:
EPwm1TimerIntCount = 0;
EPwm2TimerIntCount = 0;
EPwm3TimerIntCount = 0;
LoopCount = 0;
// Enable CPU INT3 which is connected to EPWM1-3 INT:
IER |= M_INT3;
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
PieCtrlRegs.PIEIER3.bit.INTx1 = PWM1_INT_ENABLE;
PieCtrlRegs.PIEIER3.bit.INTx2 = PWM2_INT_ENABLE;
PieCtrlRegs.PIEIER3.bit.INTx3 = PWM3_INT_ENABLE;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// Step 6. IDLE loop. Just sit and loop forever (optional):
EALLOW;
GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;
EDIS;
for(;;)
{
// This loop will be interrupted, so the overall
// delay between pin toggles will be longer.
DELAY_US(DELAY);
LoopCount++;
GpioDataRegs.GPBTOGGLE.bit.GPIO34 = 1;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// MAIN CODE - starts here
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void main(void)
{
//=================================================================================
// INITIALISATION - General
//=================================================================================
//-------------------------------- FRAMEWORK --------------------------------------
DeviceInit(); // Device Life support & GPIO
SCIA_Init(); // Initalize the Serial Comms A peripheral
// Only used if running from FLASH
// Note that the variable FLASH is defined by the compiler with -d FLASH
// (see TwoChannelBuck.pjt file)
#ifdef FLASH
// Copy time critical code and Flash setup code to RAM
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the linker files.
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash(); // Call the flash wrapper init function
#endif //(FLASH)
// Timing sync for background loops
// Timer period definitions found in PeripheralHeaderIncludes.h
CpuTimer0Regs.PRD.all = mSec1; // A tasks
CpuTimer1Regs.PRD.all = mSec50; // B tasks
CpuTimer2Regs.PRD.all = mSec100; // C tasks
// Tasks State-machine init
Alpha_State_Ptr = &A0;
A_Task_Ptr = &A1;
B_Task_Ptr = &B1;
C_Task_Ptr = &C1;
BlinkStatePtr = 0;
VTimer0[0] = 0;
VTimer1[0] = 0;
VTimer2[0] = 0;
CommsOKflg = 0;
SerialCommsTimer = 0;
HRmode = 1; // Default to HR mode enabled
LED_TaskPtr = 0;
// ---------------------------------- USER -----------------------------------------
// put common initialization/variable definitions here
Gui_LEDPrd = 1000; //Default to 1 blink every second (Q0)
temp_LEDDelay = 0;
//=================================================================================
// INITIALISATION - GUI connections
//=================================================================================
// Use this section only if you plan to "Instrument" your application using the
// Microsoft C# freeware GUI Template provided by TI
//"Set" variables
//---------------------------------------
// assign GUI variable Textboxes to desired "setable" parameter addresses
//varSetTxtList[0] = &Var1;
// assign GUI Buttons to desired flag addresses
//varSetBtnList[0] = &Var2;
// assign GUI Sliders to desired "setable" parameter addresses
varSetSldrList[0] = &Gui_LEDPrd;
//"Get" variables
//---------------------------------------
// assign a GUI "getable" parameter address
//varGetList[0] = &Var3;
// assign a GUI "getable" parameter array address
// only need to set initial position of array, program will run through it
// based on the array length specified in the GUI
//arrayGetList[0] = &Var4[0];
//==================================================================================
// INITIALISATION - Peripherals used for support
//==================================================================================
// ---------------------------------- USER -----------------------------------------
// Put peripheral initialisation here
//==================================================================================
// INITIALISATION - BUILD OPTIONS - NOTE: select via ProjectSettings.h
//==================================================================================
// ---------------------------------- USER -----------------------------------------
// Put build specific initialisation here
//=================================================================================
// BACKGROUND (BG) LOOP
//=================================================================================
//--------------------------------- FRAMEWORK -------------------------------------
for(;;) //infinite loop
{
// State machine entry & exit point
//===========================================================
(*Alpha_State_Ptr)(); // jump to an Alpha state (A0,B0,...)
//===========================================================
}
} //END MAIN CODE
void main(void)
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2806x_SysCtrl.c file.
char * rto1 = (char *)0x8000;
for (rn1 = 0; rn1 < nn1; rn1++) *rto1++ = rfrom1;
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (Uint32)&RamfuncsLoadSize);
InitSysCtrl();
// Step 2. Initalize GPIO:
// This example function is found in the F2806x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the F2806x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in F2806x_DefaultIsr.c.
// This function is found in F2806x_PieVect.c.
InitPieVectTable();
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.EPWM5_INT = &epwm5_timer_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
// Step 4. Initialize all the Device Peripherals:
// This function is found in F2806x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
InitAdc(); // For this example, init the ADC
//InitAdcAio(); // Function that sets analog input pins
ConfigADC();
//AdcOffsetSelfCal();
InitEPwm(); // Function initializes ePWM 1 - 5
// Step 5. User specific code, enable interrupts:
// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: epwm1_timer_isr(), epwm2_timer_isr()
// epwm3_timer_isr and and InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadSize, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F2808.cmd file.
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
IER |= M_INT3; // Enable CPU INT3 which is connected to EPWM1-8 INT: page 175 in documentation
IER |= M_INT10; // Enable CPU Interrupt 10
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
PieCtrlRegs.PIEIER3.bit.INTx5 = PWM5_INT_ENABLE;
// Enable ADCINT1 in PIE
/*PieCtrlRegs.PIEIER10.bit.INTx1 = 1; // Enable INT 10.1 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx2 = 1; // Enable INT 10.2 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx3 = 1; // Enable INT 10.3 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx4 = 1; // Enable INT 10.4 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx5 = 1; // Enable INT 10.5 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx6 = 1; // Enable INT 10.6 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx7 = 1; // Enable INT 10.7 in the PIE
PieCtrlRegs.PIEIER10.bit.INTx8 = 1; // Enable INT 10.8 in the PIE*/
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// Step 6. IDLE loop. Just sit and loop forever (optional):
EALLOW;
GpioCtrlRegs.GPBMUX2.bit.GPIO54 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO54 = 1;
GpioDataRegs.GPBCLEAR.bit.GPIO54 = 1;
EDIS;
for(;;)
{
// This loop will be interrupted, so the overall
// delay between pin toggles will be longer.
DELAY_US(DELAY);
LoopCount++;
//GpioDataRegs.GPBTOGGLE.bit.GPIO34 = 1;
}
}
void main(void)
{
// XBYTE[0xB091]=0x01; // 1.8v/3.3v regulator turn on
XBYTE[0xB092]=0x78; // 3.2V & 2.0V
// XBYTE[0xB093]=0x00; // LVR=2.4V
// DSP initial
XBYTE[0xB010]&=0xFE; // Disable DSP clock, Jimi 080729 for pop noise as 1st time play
XBYTE[0xB002]&=0xFE; // Release DSP Reset, Jimi 080729 for pop noise as 1st time play
XBYTE[0xB08a]|=0x08; //(JC)MCU:audio DAC on
XBYTE[0xB08a]|=0x10; //(JC)MCU:Headphone driver on
XBYTE[0xB08a]|=0x20; //(JC)MCU:Headphone driver DD comm-mode bias o/p
XBYTE[0xB0ED]|=0x02; //(Jimi 091027)Audio DA zero cross reset bypass on
XBYTE[0xB0C1]=0xB0; //(Jimi 091027)Pre-mux , post-mux and internal XCK select
XBYTE[0xB0C4]=2; //(Jimi 091027)LCH speaker volume(i.e LCH OP Gain)
XBYTE[0xB0C5]=2; //(Jimi 091027)RCH speaker volume(i.e RCH OP Gain)
//SAR ADC init
XBYTE[0xB05E] = 0; // disable SAR FS clock
XBYTE[0xB05F] = 0x5F; // SAR clock = 12MHz/16/6 = 125kHz = 8us
//-------------------------------------------- //
gbt_Force_USB_FullSpeed =FALSE;
gbt_USB_Detected = 0;
gc_CardDetect = 0x00 ;
gc_CardExist = 0x00 ; // bit 0 : Nand Flash bit 1: SD_Card
gc_CardType = 0x01 ; // default Flash Interface
gc_CardChangeStage =0x00; // bit 0 : Nand bit 1 : SD_Card
gw_FileSkipNumber=0;
gb_TriggerFileSkip=0;
gb_FindFile=0;
gbt_Support_Dummy_Capacity =0; // default disable dummy capacity function
gc_bCBWLUN=0;
gbt_enableCDROM =0; //09/04/24,joyce
gc_CDROM_Size=0 ;
init_system();
USB_PlugDetect(); // Detect USB plug
//----------------------------------------------// Initial Flash module
Init_Flash_Reg();
Init_Flash_Variable();
//-------------- Need search Bank,Dsp ,hzk block info ,first---------//
FDBP.cFDev = 0;
XBYTE[0xB40F] = FDBP.cFDev;
FlashReadID();
Flash_State_Initial();
Search_BankCode_Block();
InitFlash();
Timer0_init();
XBYTE[0xB09F]|=0x06;//(JC)Vref Fast setup mode 'n Internal reference voltage power control
gc_Vrefinit_Timer=60;
XBYTE[0xB421]=0x13;
// dbprintf("tftinit\n");
TFT_init();
#ifdef CAR_48
XBYTE[0xB102]|=0x3C;
#else
XBYTE[0xB102] |= 0x01;
#endif
// dbprintf("tftinit end\n");
TFT_PowerOnlogo();
if(gbt_USB_Detected)
{
USB_Task();
}
gb_Host_Exist=1;
gb_SD_Exist=1;
if(!Host_DetectDevice())
{
if(!Host_Initial())
{
gc_CurrentCard = CURRENT_MEDIA_HOST;
gb_FindFlag = 0;
}
else
{
gc_CurrentCard=0;
}
}
else
{
if(SD_Card_Detect())
{
if(SD_Identification_Flow())
{
gc_CardExist |=0x02;
gc_CurrentCard=2;
}
else
{
gc_CurrentCard=0;
gc_CardExist &=0xFD;
gb_FindFlag = 0;
}
}
else
{
gb_SD_Exist=0;
gc_CurrentCard = 0;
}
}
XBYTE[0xB400] =0x01;
XBYTE[0xB010]&=0xFE; // Disable DSP clock, Jimi 080729 for pop noise as 1st time play
XBYTE[0xB002]&=0xFE; // Release DSP Reset, Jimi 080729 for pop noise as 1st time play
XBYTE[0xB08a]|=0x08;//(JC)MCU:audio DAC on
XBYTE[0xB08a]|=0x10;//(JC)MCU:Headphone driver on
XBYTE[0xB08a]|=0x20;//(JC)MCU:Headphone driver DD comm-mode bias o/p
//SAR ADC init
XBYTE[0xB05E] = 0; // disable SAR FS clock
XBYTE[0xB05F] = 0x5f; // SAR clock = 12MHz/16/6 = 125kHz = 8us
Get_LogData_PageIndex(); //chiayen0808
USER_LogFile_ReadWrite(0);//use reserveblock for log
if((gw_FM_frequency<875) || (gw_FM_frequency>1080))
{
gw_FM_frequency=875;
}
FM_initial();
FM_drive();
gc_SetNumber = gw_PagesPerBlock >> 2; //1set=4pages for dir management, Ching 080816 //20090107 chiayen add
gc_SetIndex = 0; //Ching 080816 //20090107 chiayen add
USER_GetUISetIndex(); //for DIR table index //20090107 chiayen add
gb_FindFlag = 0;
if (DOS_Initialize()) //20090803 chiayen modify
{
gdw_HOSTStartSectorRead=0xFFFFFFF0;
if(gc_CurrentCard==CURRENT_MEDIA_HOST)
{
if(SD_Card_Detect())
{
gb_SD_Exist=1;
if(SD_Identification_Flow())
{
gc_CardExist |=0x02;
gc_CurrentCard=2;
}
else
{
DEVICE_REG[0x00]= 0x01;
gc_CurrentCard=0;
gc_CardExist &=0xFD;
gb_FindFlag = 0;
}
}
else
{
DEVICE_REG[0x00]= 0x01;
gb_SD_Exist=0;
gc_CurrentCard = 0;
}
}
else
{
DEVICE_REG[0x00]= 0x01; //20090730 chiayen add
gc_CurrentCard=0;
gc_CardExist &=0xFD;
gb_FindFlag = 0;
InitFlash();
}
DOS_Initialize();
}
gc_CurrentCard_backup=gc_CurrentCard; //20090803 chiayen move here
gs_File_FCB[0].dw_FDB_StartCluster = gdw_DOS_RootDirClus;
DOS_Search_File(C_File_All|C_Cnt_FileNo, C_MusicFileType, C_CmpExtName|C_Next);//(JC)count music file no. in root
ir_init();
EA = 1;
gc_Task_Current=C_Task_Play;
gc_Task_Next=C_Task_Play;
gc_PhaseInx=0;
gw_init_needed=0xffff;
Detect_USB();
Polling_TaskEvents();
if(gc_Task_Current!=gc_Task_Next)
{
gc_Task_Current=gc_Task_Next;
}
while(1)
{
switch(gc_Task_Current)
{
case C_Task_Play:
Play_Task();
break;
case C_Task_USB:
USB_Task();
break;
case C_Task_Dir: //20090107 chiayen add
Dir_Task();
break;
case C_Task_Jpeg: //20090107 chiayen add
Jpeg_Task();
break;
case C_Task_Mjpeg: //20090107 chiayen add
Mjpeg_Task();
break;
case C_Task_PlayMenu: //20090107 chiayen add
// PlayMenuProcess();
break;
case C_Task_PlayMenu_IR: //20090107 chiayen add
// PlayMenuProcess_IR();
break;
case C_Task_Setting: //20090107 chiayen add
SetupMenuProcess();
break;
case C_Task_Menu:
MainMenuProcess();
break;
case C_Task_PowerOff:
PowerOffProcess();
break;
}
}
}
void HwInit(void)
{
volatile WORD i;
EALLOW;
// Disable watchdog
SysCtrlRegs.WDCR = 0x0068;
// Place device in unsecure mode with dummy reads from PWL locations
i = CsmPwl.PSWD0;
i = CsmPwl.PSWD1;
i = CsmPwl.PSWD2;
i = CsmPwl.PSWD3;
i = CsmPwl.PSWD4;
i = CsmPwl.PSWD5;
i = CsmPwl.PSWD6;
i = CsmPwl.PSWD7;
// Initalize PLL and wait for lock
SysCtrlRegs.PLLCR.bit.DIV = HW_DSP_CLKIN_MULT << 1;
for(i = 0; i < PLL_LOCK_DELAY; ++i);
// Lo-speed, hi-speed peripheral clock prescale settings
SysCtrlRegs.HISPCP.all = HW_DSP_HSPCLK_DIV >> 1;
SysCtrlRegs.LOSPCP.all = HW_DSP_LSPCLK_DIV >> 1;
// Copy RAM code into RAM from FLASH
memmove(&RamCodeRunStart, &RamCodeLoadStart, &RamCodeLoadEnd - &RamCodeLoadStart);
// Initialize FLASH (jump to code in RAM so we can change FLASH settings)
InitFlash();
// Enable all clocks (full blast)
SysCtrlRegs.PCLKCR.bit.EVAENCLK = 1;
SysCtrlRegs.PCLKCR.bit.EVBENCLK = 1;
SysCtrlRegs.PCLKCR.bit.SCIAENCLK = 1;
SysCtrlRegs.PCLKCR.bit.SCIBENCLK = 1;
SysCtrlRegs.PCLKCR.bit.MCBSPENCLK = 1;
SysCtrlRegs.PCLKCR.bit.SPIENCLK = 1;
SysCtrlRegs.PCLKCR.bit.ECANENCLK = 1;
SysCtrlRegs.PCLKCR.bit.ADCENCLK = 1;
// Disable all maskable CPU interrupts and clear interrupt flags
DINT;
IER = 0x0000;
IFR = 0x0000;
// Clear interrupt enable and flag registers
PieCtrlRegs.PIECRTL.bit.ENPIE = 0;
PieCtrlRegs.PIEIER1.all = 0;
PieCtrlRegs.PIEIER2.all = 0;
PieCtrlRegs.PIEIER3.all = 0;
PieCtrlRegs.PIEIER4.all = 0;
PieCtrlRegs.PIEIER5.all = 0;
PieCtrlRegs.PIEIER6.all = 0;
PieCtrlRegs.PIEIER7.all = 0;
PieCtrlRegs.PIEIER8.all = 0;
PieCtrlRegs.PIEIER9.all = 0;
PieCtrlRegs.PIEIER10.all = 0;
PieCtrlRegs.PIEIER11.all = 0;
PieCtrlRegs.PIEIER12.all = 0;
PieCtrlRegs.PIEIFR1.all = 0;
PieCtrlRegs.PIEIFR2.all = 0;
PieCtrlRegs.PIEIFR3.all = 0;
PieCtrlRegs.PIEIFR4.all = 0;
PieCtrlRegs.PIEIFR5.all = 0;
PieCtrlRegs.PIEIFR6.all = 0;
PieCtrlRegs.PIEIFR7.all = 0;
PieCtrlRegs.PIEIFR8.all = 0;
PieCtrlRegs.PIEIFR9.all = 0;
PieCtrlRegs.PIEIFR10.all = 0;
PieCtrlRegs.PIEIFR11.all = 0;
PieCtrlRegs.PIEIFR12.all = 0;
// Enable PIE
PieCtrlRegs.PIEACK.all = 0xFFFF;
PieCtrlRegs.PIECRTL.bit.ENPIE = 1;
EDIS;
HwGpioInit();
HwTimerInit();
HwUartInit();
HwCodecInit();
// Enable maskable CPU interrupts
EINT;
}
void main(void) {
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
InitSysCtrl();
SysCtrlRegs.PCLKCR1.bit.EQEP2ENCLK = 0; // eQEP2
SysCtrlRegs.PCLKCR0.bit.SPIBENCLK = 0; // SPI-B
InitFlash();
// Step 2. Initalize GPIO:
// InitGpio(); // Skipped; not needed
InitEQep1Gpio();
//InitEPwm1Gpio();
//InitEPwm2Gpio();
//InitEPwm3Gpio();
InitECap1Gpio();
InitECap2Gpio();
InitECap3Gpio();
EALLOW;
GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 1;
GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 1;
GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 1;
GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 1;
GpioCtrlRegs.GPBMUX2.bit.GPIO50 = 0;
GpioCtrlRegs.GPBMUX2.bit.GPIO51 = 0;
GpioCtrlRegs.GPBDIR.bit.GPIO50 = 1;
setupDrv8301();
setupSpiA();
//DRV8301_setupSpi();
EDIS;
DINT;
InitPieCtrl(); // The default state is all PIE interrupts disabled and flags are cleared.
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell ISRs.
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in F2806x_DefaultIsr.c.
InitPieVectTable();
// Interrupts that are used in this example are re-mapped to our ISR functions
EALLOW;
PieVectTable.ECAP1_INT = &ecap1_isr; // Group 4 PIE Peripheral Vectors
PieVectTable.ECAP2_INT = &ecap2_isr; // ''
PieVectTable.ECAP3_INT = &ecap3_isr; // ''
PieVectTable.ADCINT1 = &adc_isr; //
//PieVectTable.SCIRXINTA = &scia_isr;
EDIS;
// Step 4. Initialize all the Device Peripherals:
InitECapRegs();
scia_init();
epwmInit(1,2,0); //10kHz, 50% duty, no chop
InitAdc();
AdcOffsetSelfCal();
// Step 5. Enable interrupts:
IER |= M_INT1; // Enable CPU Interrupt 1 (connected to ADC)
IER |= M_INT4; // Enable CPU INT4 which is connected to ECAP1-4 INT
IER |= M_INT3; // Enable CPU INT1 which is connected to CPU-Timer 0:
PieCtrlRegs.PIEIER1.bit.INTx1 = 1; // INT1.1 for ADC
PieCtrlRegs.PIEIER4.bit.INTx1 = 1; // INT4.1 for ecap1
PieCtrlRegs.PIEIER4.bit.INTx2 = 1; // INT4.2 for ecap2
PieCtrlRegs.PIEIER4.bit.INTx3 = 1; // INT4.3 for ecap3
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
qep_data.init(&qep_data);
int printData = 10001;
readHallStateFlag = 1;
char writeBuffer[80] = {0};
int lastPhase = 0;
gogo = 1;
DRV8301_enable();
DRV8301_setupSpi();
i = 0;
while(1) {
qep_data.calc(&qep_data);
if (readHallStateFlag)
updateHallState();
if ((lastPhase != Phase) && (printData)) {
//\033[2J\033[0;0H\r
sprintf(writeBuffer, "Hall State: %d\n\r", (int)Phase);
scia_msg(writeBuffer);
sprintf(writeBuffer, "Velocity: %d rpm\n\r", qep_data.SpeedRpm_fr);
scia_msg(writeBuffer);
//sprintf(writeBuffer, "Mechanical Angle: %f degrees\n\r", qep_data.theta_mech*360);
//scia_msg(writeBuffer);
//sprintf(writeBuffer, "Electrical Angle: %f\n\r", qep_data.theta_elec);
//scia_msg(writeBuffer);
lastPhase = Phase;
}
//DRV8301_readData();
//if (!Phase /*|| drv8301.fault || drv8301.OverTempShutdown || drv8301.OverTempWarning*/) {
//while (!Phase || drv8301.fault || drv8301.OverTempShutdown || drv8301.OverTempWarning){
//GpioDataRegs.GPBCLEAR.bit.GPIO50 = 1;
///DELAY_US(32000);
//DELAY_US(32000);
//sprintf(writeBuffer, "\aERROR DECTECTED: \n\r Hall State: %d %d %d\n\r", CoilA, CoilB, CoilC);
//scia_msg(writeBuffer);
//sprintf(writeBuffer, "Fault Bit: %d\n\rOverTempShutdown: %d\n\rOverTempWarning%d\n\r", drv8301.fault, drv8301.OverTempShutdown, drv8301.OverTempWarning);
//scia_msg(writeBuffer);
//}
//}
//else {
//GpioDataRegs.GPBSET.bit.GPIO50 = 1;
//}
}
}
main()
{
int16 i;
int16 j;
int16 test[100];
//一、 system initialize: pll clock:150M;hispcp=1 100m/2; lospcp=2 100m/4;eWM,ADC,cpu Timer clock enabled
InitSysCtrl(); //修改了默认时钟到150MHz,关闭了无关外设时钟
// DELAY_US(1000000);
//二、initialize GPIO:set the GPIO to it's default state: 普通GPIO状态,均为输入,输入采样方式为第一种,均为上拉使能.
//epwm disable pull up
InitGpio(); //全部引脚初始化
//用户自定义IO初始化(主要包括:逻辑输入输出引脚)
InitLogicIO();
//串口初始化
InitScicGpio();
InitSci();
//初始化触摸屏变量
initvar();
// MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
//EPwm初始化
// InitEPwmGpio(); //PWM IO初始化
//InitEPwm1Gpio();
//InitEPwm2Gpio(); //所有PWM模块都需要开启
//InitEPwm3Gpio();
//InitEPwm4Gpio();
//InitEPwm5Gpio();
//InitEPwm6Gpio();
//三、initialize interrupts:disable cpu interrupt; disabel all pie interrupts and clear all pie interrupt flags
DINT;
InitPieCtrl();
IER=0x0000;
IFR=0x0000;
//initialize Pie interrupts and enable pie
InitPieVectTable();
//用户自定义的中断初始化
EALLOW;
PieVectTable.TINT0 = &cpu_timer0_isr; //Cpu timer0 interrupt
PieVectTable.XINT1 = &xint1_isr;
EDIS;
//四、initialize peripherials and setup peripherials
InitFlash();
InitXintf();
//ADC initialize
InitAdc();
//ADC setup
SetupAdc();
// Adc_Inquire();
//Epwm Setup
// SetupEPwm(); //pwm开始产生
//CPU timer0 initialize
InitCpuTimers();
// Configure CPU-Timer 0 to interrupt every msecond:
// 150MHz CPU Freq, 3m second Period (in uSeconds)
ConfigCpuTimer(&CpuTimer0, 150, 3000);
StartCpuTimer0();
//五、User specific code, enable interrupts:
//在开始中断之前先进行测试循环。此时进行单步运行
//1. I/O test
//测试程序，GPIOA的低18位为通用I/O输入
//测试程序，GPIOA的24,25,26,27为通用I/O输入，GPIOB的48-61为通用I/O输入
//由于I/o口均有上拉，所以只要测试输入0时是否正确即可。这样最大限度保护芯片。
for(i=0;i<100;i++)
{
j=i;
}
// EALLOW;
// GpioCtrlRegs.GPADIR.all = 0x0003FFFF; // GPIO functionality GPIO0-GPIO15
// EDIS;
// GpioDataRegs.GPACLEAR.all = 0x0003FFFF;
// GpioDataRegs.GPASET.all = 0x0001AAAA;
// GpioDataRegs.GPATOGGLE.all = 0x0003FFFF;
//2. Communication Test: //具体通讯是否成功还需要更多程序
//测试RS485通讯芯片
GpioDataRegs.GPASET.bit.GPIO21=1;
GpioDataRegs.GPATOGGLE.bit.GPIO22=1;
//测试CAN通讯芯片
GpioDataRegs.GPATOGGLE.bit.GPIO19=1;
for(i=0;i<100;i++)
{
j=i;
}
//测试RS485通讯芯片
GpioDataRegs.GPASET.bit.GPIO21=1;
GpioDataRegs.GPATOGGLE.bit.GPIO22=1;
//测试CAN通讯芯片
GpioDataRegs.GPATOGGLE.bit.GPIO19=1;
for(i=0;i<100;i++)
{
j=i;
}
// 3. A/D Test
//软件启动adc转换
for(i=0;i<100;i++)
{
AdcRegs.ADCTRL2.bit.SOC_SEQ1=1;
Adc_Inquire();
}
// 4. PWM Test //每次测一个单相，这样子发现错误及时下电
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMA_Wait1=1000;
*FPGA_PWMA_Duty1=1000;
*FPGA_PWMA_Wait2=2000;
*FPGA_PWMA_Duty2=2000;
*FPGA_PWMA_Wait3=3000;
*FPGA_PWMA_Duty3=3000;
*FPGA_PWMA_Wait4=4000;
*FPGA_PWMA_Duty4=4000;
*FPGA_PWMA_Wait5=5000;
*FPGA_PWMA_Duty5=5000;
*FPGA_PWMA_Wait6=6000;
*FPGA_PWMA_Duty6=6000;
*FPGA_PWMA_Wait7=1000;
*FPGA_PWMA_Duty7=1000;
*FPGA_PWMA_Wait8=2000;
*FPGA_PWMA_Duty8=2000;
*FPGA_PWMA_Wait9=3000;
*FPGA_PWMA_Duty9=3000;
*FPGA_PWMA_Wait10=4000;
*FPGA_PWMA_Duty10=4000;
*FPGA_PWMA_Wait11=5000;
*FPGA_PWMA_Duty11=5000;
*FPGA_PWMA_Wait12=6000;
*FPGA_PWMA_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMB_Wait1=1000;
*FPGA_PWMB_Duty1=1000;
*FPGA_PWMB_Wait2=2000;
*FPGA_PWMB_Duty2=2000;
*FPGA_PWMB_Wait3=3000;
*FPGA_PWMB_Duty3=3000;
*FPGA_PWMB_Wait4=4000;
*FPGA_PWMB_Duty4=4000;
*FPGA_PWMB_Wait5=5000;
*FPGA_PWMB_Duty5=5000;
*FPGA_PWMB_Wait6=6000;
*FPGA_PWMB_Duty6=6000;
*FPGA_PWMB_Wait7=1000;
*FPGA_PWMB_Duty7=1000;
*FPGA_PWMB_Wait8=2000;
*FPGA_PWMB_Duty8=2000;
*FPGA_PWMB_Wait9=3000;
*FPGA_PWMB_Duty9=3000;
*FPGA_PWMB_Wait10=4000;
*FPGA_PWMB_Duty10=4000;
*FPGA_PWMB_Wait11=5000;
*FPGA_PWMB_Duty11=5000;
*FPGA_PWMB_Wait12=6000;
*FPGA_PWMB_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMC_Wait1=1000;
*FPGA_PWMC_Duty1=1000;
*FPGA_PWMC_Wait2=2000;
*FPGA_PWMC_Duty2=2000;
*FPGA_PWMC_Wait3=3000;
*FPGA_PWMC_Duty3=3000;
*FPGA_PWMC_Wait4=4000;
*FPGA_PWMC_Duty4=4000;
*FPGA_PWMC_Wait5=5000;
*FPGA_PWMC_Duty5=5000;
*FPGA_PWMC_Wait6=6000;
*FPGA_PWMC_Duty6=6000;
*FPGA_PWMC_Wait7=1000;
*FPGA_PWMC_Duty7=1000;
*FPGA_PWMC_Wait8=2000;
*FPGA_PWMC_Duty8=2000;
*FPGA_PWMC_Wait9=3000;
*FPGA_PWMC_Duty9=3000;
*FPGA_PWMC_Wait10=4000;
*FPGA_PWMC_Duty10=4000;
*FPGA_PWMC_Wait11=5000;
*FPGA_PWMC_Duty11=5000;
*FPGA_PWMC_Wait12=6000;
*FPGA_PWMC_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMD_Wait1=1000;
*FPGA_PWMD_Duty1=1000;
*FPGA_PWMD_Wait2=2000;
*FPGA_PWMD_Duty2=2000;
*FPGA_PWMD_Wait3=3000;
*FPGA_PWMD_Duty3=3000;
*FPGA_PWMD_Wait4=4000;
*FPGA_PWMD_Duty4=4000;
*FPGA_PWMD_Wait5=5000;
*FPGA_PWMD_Duty5=5000;
*FPGA_PWMD_Wait6=6000;
*FPGA_PWMD_Duty6=6000;
*FPGA_PWMD_Wait7=1000;
*FPGA_PWMD_Duty7=1000;
*FPGA_PWMD_Wait8=2000;
*FPGA_PWMD_Duty8=2000;
*FPGA_PWMD_Wait9=3000;
*FPGA_PWMD_Duty9=3000;
*FPGA_PWMD_Wait10=4000;
*FPGA_PWMD_Duty10=4000;
*FPGA_PWMD_Wait11=5000;
*FPGA_PWMD_Duty11=5000;
*FPGA_PWMD_Wait12=6000;
*FPGA_PWMD_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWME_Wait1=1000;
*FPGA_PWME_Duty1=1000;
*FPGA_PWME_Wait2=2000;
*FPGA_PWME_Duty2=2000;
*FPGA_PWME_Wait3=3000;
*FPGA_PWME_Duty3=3000;
*FPGA_PWME_Wait4=4000;
*FPGA_PWME_Duty4=4000;
*FPGA_PWME_Wait5=5000;
*FPGA_PWME_Duty5=5000;
*FPGA_PWME_Wait6=6000;
*FPGA_PWME_Duty6=6000;
*FPGA_PWME_Wait7=1000;
*FPGA_PWME_Duty7=1000;
*FPGA_PWME_Wait8=2000;
*FPGA_PWME_Duty8=2000;
*FPGA_PWME_Wait9=3000;
*FPGA_PWME_Duty9=3000;
*FPGA_PWME_Wait10=4000;
*FPGA_PWME_Duty10=4000;
*FPGA_PWME_Wait11=5000;
*FPGA_PWME_Duty11=5000;
*FPGA_PWME_Wait12=6000;
*FPGA_PWME_Duty12=6000;
//PWM复位功能演示，复位以后，所有PWM为零。
GpioDataRegs.GPACLEAR.bit.GPIO31=1;
DELAY_US(1);
GpioDataRegs.GPASET.bit.GPIO31=1;
// 5. D/A Test
*DAC1=1024;
*DAC2=2048;
*DAC3=3072;
*DAC4=4095;
// 6.测试FPGA的I/O
// 首先测试是否结果为1
for(j=0;j<10;j++)
{
for(i=0; i<24; i++)
test[i]=*(FPGA_IO1_DATA+i);
i=0;
}
//再测试是否结果为0
for(j=0;j<100;j++)
{
for(i=0; i<24; i++)
test[i]=*(FPGA_IO1_DATA+i);
i=0;
}
//输出功能演示,只有输出使能的IO pin才能输出0
*FPGA_IODIR_LOW=0xFFFF;
*FPGA_IODIR_HIGH=0x00FF;
j=0;
for(i=0; i<24; i++)
{
*(FPGA_IO1_DATA+i)=j;
j=~j;
}
j=0;
for(i=0; i<24; i++)
{
j=~j;
*(FPGA_IO1_DATA+i)=j;
}
//复位功能演示，复位以后，所有IO上拉。且输出不使能
GpioDataRegs.GPACLEAR.bit.GPIO30=1;
DELAY_US(1);
GpioDataRegs.GPASET.bit.GPIO30=1;
j=*FPGA_IODIR_LOW;
j=*FPGA_IODIR_HIGH;
j=0;
for(i=0; i<24; i++)
*(FPGA_IO1_DATA+i)=j;
//开用到的中断，最后开中断。测试SCI 通讯以及DSP 和FPGA的通讯
EnableInterrupts(); //cpu timer0 中断
i=0;
// 六. 主循环IDLE loop. Just sit and loop forever (optional):
for(;;)
{
// ScicRegs.SCITXBUF=i;
DELAY_US(1000);
/*
if(GpioDataRegs.GPADAT.bit.GPIO27==0)
GpioDataRegs.GPBCLEAR.bit.GPIO50=1;
else
GpioDataRegs.GPBSET.bit.GPIO50=1;
if(GpioDataRegs.GPBDAT.bit.GPIO48==0)
GpioDataRegs.GPBCLEAR.bit.GPIO51=1;
else
GpioDataRegs.GPBSET.bit.GPIO51=1;
// ModebusRegsDataBuff[0]=i;
// GpioDataRegs.GPBTOGGLE.bit.GPIO60=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO61=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO58=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO59=1;
GpioDataRegs.GPBCLEAR.bit.GPIO53= 1;
GpioDataRegs.GPBCLEAR.bit.GPIO52= 1;
i++;
// if(i==2000)
if(i==FPGA_DATA_Test_length)
i=0;
// TestState=~TestState;
*/
slavecomm();
}
}
main() {
InitSysCtrl(); // 初始化system
DINT;
// 初始化PIE
InitPieCtrl();
// 初始化ADC
InitPieVectTable();
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
InitFlash();
//AdcOffsetSelfCal();
InitAdc();
IER = 0x0000;
IFR = 0x0000;
// 初始化中斷向量表
InitEPwm1Gpio();
GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // GPIO0 = PWM1A
GpioCtrlRegs.GPADIR.bit.GPIO0 = 1; //GPIO0 = output
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
InitEPwm1Example();
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, 1, 3906); //必須先配置 再致能 !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
CpuTimer0Regs.TCR.all = 0x4000; // 致能CPUTIMER0
EDIS;
// 設定中斷向量表位置
EALLOW;
PieVectTable.XINT1 = &xint1_isr;
PieVectTable.XINT2 = &xint2_isr;
PieVectTable.ADCINT1 = &adc_isr;
PieVectTable.TINT0 = &cputimer_isr;
EDIS;
// 設置外部中斷腳位及燈號腳位
EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 0; // GPIO ADC開關
GpioCtrlRegs.GPADIR.bit.GPIO1 = 0; // input
GpioCtrlRegs.GPAQSEL1.bit.GPIO1 = 0; // XINT1 Synch to SYSCLKOUT only
GpioIntRegs.GPIOXINT1SEL.bit.GPIOSEL = 1; // XINT1 is GPIO1
GpioCtrlRegs.GPAPUD.bit.GPIO1 = 0;
GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO2 = 1; // OUTput
GpioDataRegs.GPACLEAR.bit.GPIO2 = 1; // 當ADC ON/OFF 標示燈
GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 0; // GPIO ePWM開關
GpioCtrlRegs.GPADIR.bit.GPIO3 = 0;
GpioCtrlRegs.GPAQSEL1.bit.GPIO3 = 0; // XINT2 Synch to SYSCLKOUT only
GpioIntRegs.GPIOXINT2SEL.bit.GPIOSEL = 3; // XINT2 is GPIO3
GpioCtrlRegs.GPAPUD.bit.GPIO3 = 0; //
GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO4 = 1; // OUTput
GpioDataRegs.GPACLEAR.bit.GPIO4 = 1; // 當 ePWM ON/OFF 標示燈
GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 0; // GPIO
GpioCtrlRegs.GPADIR.bit.GPIO6 = 1; // OUTput 閃爍用
GpioDataRegs.GPACLEAR.bit.GPIO6 = 1;
EDIS;
IER |= M_INT1; // 開啟GROUP1中斷
EINT;
ERTM;
EALLOW;
PieCtrlRegs.PIECTRL.bit.ENPIE = 1; // 致能PIE(非必要)
PieCtrlRegs.PIEIER1.bit.INTx1 = 0;
PieCtrlRegs.PIEIER1.bit.INTx4 = 1;
PieCtrlRegs.PIEIER1.bit.INTx5 = 1;
//PieCtrlRegs.PIEIER1.bit.INTx7 = 1; // !!!!!!!! 不能同時開啟 , 否則打架 !!!!!!!!!
XIntruptRegs.XINT1CR.bit.POLARITY = 3; // interrupt occur on both falling and rising edge
XIntruptRegs.XINT1CR.bit.ENABLE = 1; // Enable Xint1
XIntruptRegs.XINT2CR.bit.POLARITY = 3; // interrupt occur on both falling and rising edge
XIntruptRegs.XINT2CR.bit.ENABLE = 1; // Enable Xint2
EDIS;
LoopCount = 0;
ConversionCount = 0;
// Configure ADC
// Note: Channel ADCINA4 will be double sampled to workaround the ADC 1st sample issue for rev0 silicon errata
EALLOW;
AdcRegs.ADCCTL1.bit.ADCENABLE = 0; // 不致能ADC (在initadc中已經致能)
AdcRegs.ADCCTL1.bit.INTPULSEPOS = 1; //ADCINT1 trips after AdcResults latch
AdcRegs.INTSEL1N2.bit.INT1E = 0; //disabled ADCINT1
AdcRegs.INTSEL1N2.bit.INT1CONT = 0; //Disable ADCINT1 Continuous mode
AdcRegs.INTSEL1N2.bit.INT1SEL = 0; //setup EOC0 to trigger ADCINT1 to fire
AdcRegs.ADCSOC0CTL.bit.CHSEL = 1; //set SOC0 channel select to ADCINA1
AdcRegs.ADCSOC0CTL.bit.TRIGSEL = 1; //set SOC0 start trigger on CPUtimer
AdcRegs.ADCSOC0CTL.bit.ACQPS = 6;//set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
//AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;
EDIS;
//GpioCtrlRegs.AIOMUX1.bit. &= ~(0x08); // ADCINA1
//
EALLOW;
SysCtrlRegs.XCLK.bit.XCLKOUTDIV = 2;
EDIS;
for (;;) {
//volatile long double n;
//for (n = 0; n < 5000; n++)
// ;
//EALLOW;
//GpioDataRegs.GPATOGGLE.bit.GPIO6 = 1;
//EDIS;
if (GpioDataRegs.GPADAT.bit.GPIO1 == 1) {
Voltage1[array] = AdcResult.ADCRESULT0;
if (Voltage1[array] > 5000) {
EALLOW;
SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 0;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
SysCtrlRegs.LPMCR0.bit.LPM = 3; // 全部休眠
EDIS;
EALLOW;
SysCtrlRegs.CLKCTL.bit.WDHALTI = 1; // 從休眠中開啟 , 全部重設!!
EDIS;
}
v1 = 3031;
v2 = (int)Voltage1[array];
k1 = 0.3; //0.0001;
k2 = 0.000055;
verr = v1 - v2;
vk2 = verr + z1;
z1 = verr;
vko2 =(int) vk2 * k2;
if (vko2 >= 1400)
{
vko2 = 1400;
}
else if (vko2 <= -1300) ///////////////////////
{
vko2 = -1300;
}
vou2 = vko2 + z2;
z2 = vou2;
vk1 = verr;
vko1 =(int) vk1 * k1;
vout =(int)( vou2 + vko1);
if (vout >= 1400) {
vout = 1400;
} else if (vout <= 0) {
vout = 0;
}
EALLOW;
EPwm1Regs.CMPA.half.CMPA = 1500 - vout; // Set compare A value
EDIS;
if (array < 255)
array++;
else
array = 0;
}
}
}
void InitSysCtrl(void)
{
// Disable the watchdog
DisableDog();
#ifdef _FLASH
// Copy time critical code and Flash setup code to RAM
// This includes the following functions: InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadSize, and RamfuncsRunStart
// symbols are created by the linker. Refer to the device .cmd file.
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
#endif
// *IMPORTANT*
// The Device_cal function, which copies the ADC & oscillator calibration values
// from TI reserved OTP into the appropriate trim registers, occurs automatically
// in the Boot ROM. If the boot ROM code is bypassed during the debug process, the
// following function MUST be called for the ADC and oscillators to function according
// to specification. The clocks to the ADC MUST be enabled before calling this
// function.
// See the device data manual and/or the ADC Reference
// Manual for more information.
#ifdef CPU1
EALLOW;
//enable pull-ups on unbonded IOs as soon as possible to reduce power consumption.
GPIO_EnableUnbondedIOPullups();
CpuSysRegs.PCLKCR13.bit.ADC_A = 1;
CpuSysRegs.PCLKCR13.bit.ADC_B = 1;
CpuSysRegs.PCLKCR13.bit.ADC_C = 1;
CpuSysRegs.PCLKCR13.bit.ADC_D = 1;
//check if device is trimmed
if(*((Uint16 *)0x5D1B6) == 0x0000){
//device is not trimmed, apply static calibration values
AnalogSubsysRegs.ANAREFTRIMA.all = 31709;
AnalogSubsysRegs.ANAREFTRIMB.all = 31709;
AnalogSubsysRegs.ANAREFTRIMC.all = 31709;
AnalogSubsysRegs.ANAREFTRIMD.all = 31709;
}
CpuSysRegs.PCLKCR13.bit.ADC_A = 0;
CpuSysRegs.PCLKCR13.bit.ADC_B = 0;
CpuSysRegs.PCLKCR13.bit.ADC_C = 0;
CpuSysRegs.PCLKCR13.bit.ADC_D = 0;
EDIS;
// Initialize the PLL control: PLLCR and CLKINDIV
// F28_PLLCR and F28_CLKINDIV are defined in F2837xD_Examples.h
// Note: The internal oscillator CANNOT be used as the PLL source if the
// PLLSYSCLK is configured to frequencies above 194 MHz.
InitSysPll(XTAL_OSC,IMULT_20,FMULT_1,PLLCLK_BY_2); //PLLSYSCLK = 20MHz(XTAL_OSC) * 20 (IMULT) * 1 (FMULT) / 2 (PLLCLK_BY_2)
//Turn on all peripherals
InitPeripheralClocks();
#endif
}
void main(void)
{
char s1[32];
unsigned char flag = 0;
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2802x_SysCtrl.c file.
InitSysCtrl();
// Step 2. Initalize GPIO:
// This example function is found in the DSP2802x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();
// Setup only the GP I/O only for I2C functionality
InitI2CGpio();
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP2802x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP2802x_DefaultIsr.c.
// This function is found in DSP2802x_PieVect.c.
InitPieVectTable();
#ifndef _DEBUG
// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: EPwm1_timer_isr(), EPwm2_timer_isr()
// EPwm3_timer_isr and and InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F2808.cmd file.
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
InitFlash();
#endif
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP2802x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
I2C_Init(); //use polling
// Step 5. Com port initial
scia_echoback_init();
scia_msg("-- Network Analyzer V0.03--\r\n");
scia_msg("-- Build On: "__DATE__" "__TIME__"--\r\n");
scia_msg("-- Start: 36.125KHz--\r\n");
scia_msg("-- End: 100kHz --\r\n");
scia_msg("-- Step : 125Hz --\r\n");
scia_msg("-- Point: 511 --\r\n");
// Step 6. BSP init, LEDs & Button
led_init();
button_init();
GPIOx_Init();
//blink
led_on(0x007f);
led_off(0x007f);
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
// Step 7. Initial AD5933
ad5933_init();
// Application loop
for(;;)
{
/*
* GPIO12 pressed routine
*/
while( (0 == GpioDataRegs.GPADAT.bit.GPIO12)
&& ( 0 == GpioDataRegs.GPADAT.bit.GPIO19 ) ){};
//GPIO12 pressed
if(1 == GpioDataRegs.GPADAT.bit.GPIO12)
{
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
DELAY_US(100000); // Delay 100ms , wait
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep( 0x0001 << 0, mag_ref);
//led indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 0); //led0 off
led_off(0x01 << 6); //led6 off
sprintf(s1,"Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 0); //led0 on
led_on(0x01 << 6); //led6 on
sprintf(s1,"Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
}
/*
* GPIO19 pressed routine
*/
if( 1 == GpioDataRegs.GPADAT.bit.GPIO19)
{
//clear flag
flag = 0;
//GROUP1--0b1010
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO1 GPIO3
GPIOx_Set(0x000A);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 0, mag_ref0);;
//led0 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 0); //led0 off
sprintf(s1,"Group0 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 0); //led0 on
flag++;
sprintf(s1,"Group0 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP2--0b0101
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO0 GPIO2
GPIOx_Set(0x0005);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 1, mag_ref1);
//led1 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 1); //led1 off
sprintf(s1,"Group1 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 1); //led1 on
flag++;
sprintf(s1,"Group1 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP3--0b1111
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO0~GPIO3
GPIOx_Set(0x000F);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 2, mag_ref2);
//led2 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 2); //led2 off
sprintf(s1,"Group2 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 2); //led2 on
flag++;
sprintf(s1,"Group2 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP4--0b1110
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO1~GPIO3
GPIOx_Set(0x000E);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 3, mag_ref3);
//led3 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 3); //led3 off
sprintf(s1,"Group3 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 3); //led3 on
flag++;
sprintf(s1,"Group3 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP5--0b0110
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO2~GPIO3
GPIOx_Set(0x0006);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 4, mag_ref4);
//led4 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 4); //led4 off
sprintf(s1,"Group4 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 4); //led4 on
flag++;
sprintf(s1,"Group4 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
//GROUP6--0b1101
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
//set GPIO0 GPIO2 GPIO3
GPIOx_Set(0x000D);
// Delay 100ms , wait
DELAY_US(100000);
sprintf(s1,"Temperature=%d\r\n", ad5993_GetTemperature());
scia_msg(s1);
ad5933_sweep(0x0001 << 5, mag_ref5);
//led5 indicator
led_off(0x007f);
if( diff_variance < AD5933_STANDARD_VARIANCE )
{
led_off(0x01 << 5); //led5 off
sprintf(s1,"Group5 Ref larger than standard.\r\n" );
scia_msg(s1);
}
else
{
led_on(0x01 << 5); //led5 on
flag++;
sprintf(s1,"Group5 Ref less than standard.\r\n" );
scia_msg(s1);
}
scia_PrintLF();
if(6 == flag)
{
led_on(0x01 << 6); //led6 on
sprintf(s1,"total less than standard.\r\n" );
scia_msg(s1);
}
else
{
led_off(0x01 << 6); //led6 off
sprintf(s1,"any larger than standard.\r\n" );
scia_msg(s1);
}
//the end
//clear GPIO0~GPIO3
GPIOx_Clear(0x000f);
}
} // end of for(;;)
} // end of main
/*********************************************************************
* Function: INT8U MRF24J40Init(void)
*
* PreCondition: BoardInit (or other initialzation code is required)
*
* Input: None
*
* Output: Success/error
*
* Side Effects: MRF24J40 is initialized
*
* Overview: This function initializes the MRF24J40
********************************************************************/
INT8U MRF24J40Init(void)
{
volatile INT8U i;
volatile INT16U j;
#if PROCESSOR == COLDFIRE_V1
iNesting++;
#endif
PHY_RESETn_LOW;
for(j=0;j<7000;j++)
{
};
PHY_RESETn_HIGH;
for(j=0;j<7000;j++)
{
};
/* do a soft reset */
PHYSetShortRAMAddr(WRITE_SOFTRST,0x07);
for(j=0;j<1000;j++){};
PHYSetShortRAMAddr(WRITE_RFCTL,0x04);
PHYSetShortRAMAddr(WRITE_RFCTL,0x00);
for(j=0;j<1000;j++){};
// Enable FIFO and TX Enable
PHYSetShortRAMAddr(WRITE_FFOEN, 0x98);
PHYSetShortRAMAddr(WRITE_TXPEMISP, 0x95);
/* program the RF and Baseband Register */
//PHYSetLongRAMAddr(RFCTRL4,0x02);
/* Enable the RX */
//PHYSetLongRAMAddr(RFRXCTRL,0x01);
/* setup */
PHYSetLongRAMAddr(RFCTRL0,0x03);
PHYSetLongRAMAddr(RFCTRL1,RFCTRL1_VAL);
/* enable the RF-PLL */
PHYSetLongRAMAddr(RFCTRL2,0x80);
/* set TX output power */
PHYSetLongRAMAddr(RFCTRL3,TX_POWER_LEVEL);
/* program RSSI ADC with 2.5 MHz clock */
//PHYSetLongRAMAddr(RFCTRL6,0x04);
PHYSetLongRAMAddr(RFCTRL6,0x90);
//PHYSetLongRAMAddr(RFCTRL7,0b00000000);
//PHYSetLongRAMAddr(RFCTRL7,0b10011000);
PHYSetLongRAMAddr(RFCTRL7,0x80);
PHYSetLongRAMAddr(RFCTRL8,0x10);
// Disable clockout
PHYSetLongRAMAddr(SCLKDIV,0x21);
#if (DEVICE_TYPE != PAN_COORDINATOR)
// Join network as router
// and Automatic Acknowledgment enabled
PHYSetShortRAMAddr(WRITE_RXMCR, 0x04);
#else
// Join network as PAN Coordinator
// and Automatic Acknowledgment enabled
PHYSetShortRAMAddr(WRITE_RXMCR, 0x0C);
#endif
/* flush the RX fifo */
PHYSetShortRAMAddr(WRITE_RXFLUSH,0x01);
// Configure Unslotted CSMA-CA Mode
i = PHYGetShortRAMAddr(READ_TXMCR);
i = i & 0xDF;
PHYSetShortRAMAddr(WRITE_TXMCR,i);
// Define Nonbeacon-Enabled Network
PHYSetShortRAMAddr(WRITE_ORDER,0xFF);
/* Program CCA mode using RSSI */
// 0x80 é o valor default, 0xB8 é o recomendado
PHYSetShortRAMAddr(WRITE_BBREG2,0xB8);
//PHYSetShortRAMAddr(WRITE_BBREG2,0x80);
/* Program CCA, RSSI threshold values */
// Valor Default é 0x00, recomendado é 0x60
// Determina o níve de sinal que indica o canal como ocupado
// 0x60 = -69 dBm
PHYSetShortRAMAddr(WRITE_RSSITHCCA,0x60);
//PHYSetShortRAMAddr(WRITE_RSSITHCCA,0x00);
/* Enable the packet RSSI */
PHYSetShortRAMAddr(WRITE_BBREG6,0x40);
/* Program the short MAC Address, 0xffff */
#if (DEVICE_TYPE != PAN_COORDINATOR)
PHYSetShortRAMAddr(WRITE_SADRL,0xFF);
PHYSetShortRAMAddr(WRITE_SADRH,0xFF);
#else
PHYSetShortRAMAddr(WRITE_SADRL,0x00);
PHYSetShortRAMAddr(WRITE_SADRH,0x00);
#endif
/* and the short PanId Identifier, 0xffff */
#if (DEVICE_TYPE != PAN_COORDINATOR)
PHYSetShortRAMAddr(WRITE_PANIDL,0xFF);
PHYSetShortRAMAddr(WRITE_PANIDH,0xFF);
#else
PHYSetShortRAMAddr(WRITE_PANIDL,(PANID_INIT_VALUE & 0xFF));
PHYSetShortRAMAddr(WRITE_PANIDH,((PANID_INIT_VALUE>>8) & 0xFF));
#endif
/* Test radio */
do
{
PHYSetShortRAMAddr(WRITE_EADR0,0xCA);
i = PHYGetShortRAMAddr(READ_EADR0);
if(i!= 0xCA) goto EXIT_ERROR;
PHYSetShortRAMAddr(WRITE_EADR1,0xF1);
i = PHYGetShortRAMAddr(READ_EADR1);
if(i!= 0xF1) goto EXIT_ERROR;
PHYSetShortRAMAddr(WRITE_EADR2,0x05);
i = PHYGetShortRAMAddr(READ_EADR2);
if(i!= 0x05) goto EXIT_ERROR;
PHYSetShortRAMAddr(WRITE_EADR3,0xBA);
i = PHYGetShortRAMAddr(READ_EADR3);
if(i!= 0xBA) goto EXIT_ERROR;
PHYSetShortRAMAddr(WRITE_EADR4,0xFF);
i = PHYGetShortRAMAddr(READ_EADR4);
if(i!= 0xFF) goto EXIT_ERROR;
PHYSetShortRAMAddr(WRITE_EADR5,0x10);
i = PHYGetShortRAMAddr(READ_EADR5);
if(i!= 0x10) goto EXIT_ERROR;
PHYSetShortRAMAddr(WRITE_EADR6,0x4E);
i = PHYGetShortRAMAddr(READ_EADR6);
if(i!= 0x4E) goto EXIT_ERROR;
PHYSetShortRAMAddr(WRITE_EADR7,0x11);
i = PHYGetShortRAMAddr(READ_EADR7);
if(i!= 0x11) goto EXIT_ERROR;
break;
EXIT_ERROR:
#if PROCESSOR == COLDFIRE_V1
iNesting--;
#endif
return RADIO_ERROR;
}while(0);
// Inicializa o módulo de memória FLASH
InitFlash();
#if (PROCESSOR == ARM_Cortex_M0)
if ((mac64Address[0] == 0xFF) && (mac64Address[1] == 0xFF) && (mac64Address[2] == 0xFF) && (mac64Address[3] == 0xFF))
{
INT8U tmp_mac64[8] = {EUI_0,EUI_1,EUI_2,EUI_3,EUI_4,EUI_5,EUI_6,EUI_7};
EraseFlash(0x0001F000, 1024);
WriteToFlash((INT8U*)&tmp_mac64, MAC64_MEM_ADDRESS, 8);
}
#endif
/* Program Long MAC Address*/
for(i=0;i<8;i++)
{
PHYSetShortRAMAddr(WRITE_EADR0+i*2,mac64Address[7-i]);
}
SetChannel(CHANNEL_INIT_VALUE);
for(j=0;j<1000;j++){};
//i = PHYGetShortRAMAddr(READ_ISRSTS);
PHYSetShortRAMAddr(WRITE_FFOEN, 0x98);
// Habilita interrupções
PHYSetShortRAMAddr(WRITE_INTMSK,0xF6);
// bypass the errata to make RF communication stable
PHYSetLongRAMAddr(RFCTRL1, RFCTRL1_VAL);
#if PROCESSOR == COLDFIRE_V1
iNesting--;
#endif
return RADIO_OK;
}
