int main (void)
{
wdt_reset();
wdt_enable(WDTO_2S); //Watchdog an
DDRD = 0xFF; //Pullups, Port Initialisierung
DDRD &= ~ (1<<PD3);
DDRD &= ~ (1<<PD2);
DDRB = 0xFF;
PORTC |= (1 << PC2);
PORTC |= (1 << PC3);
PORTC |= (1 << PC5);
PORTC |= (1 << PC6);
PORTC |= (1 << PC7);
PORTD |= (1<<PD3);
PORTD |= (1<<PD2);
i2c_init();
////Hardware PWM für Motoren 20000000 Hz / 256 / 256 (8bit Timer) = 304 Hz///
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); // Timer 0 für PWM bei A und B
TCCR0B = (0 << CS02)|(1 << CS01)|(1 << CS00); // Vorteiler / prescaler 1024 für Timer 0 (S. 100)############## PWM Frequenz ändern
TCCR2A = (1<<COM2A1)|(1<<COM2B1)|(1<<WGM21)|(1<<WGM20); // Timer 2 für PWM bei A und B
TCCR2B = (1 << CS22)|(0 << CS21)|(0 << CS20); // Vorteiler / prescaler 1024 für Timer 2 (S. 149)##############
TIMSK1 = (1<<TOIE1); // Overflow Interrupt 312.5 1/s
TCCR1B = 1;
ReadChannelInit(1);
if(PINSET(MCUSR, WDRF))
SETLED(P_LEDW);
MCUSR &= ~(1 << WDRF);
sei();//Interrupt starten
while(true) // main Schleife
{
wdt_reset();
}
}
int main (void)
{
wdt_reset();
wdt_enable(WDTO_2S); //Watchdog an
DDRD = 0xFF; //Pullups, Port Initialisierung
DDRD &= ~ (1<<PD3);
DDRD &= ~ (1<<PD2);
DDRB = 0xFF;
PORTC |= (1 << PC2);
PORTC |= (1 << PC3);
PORTC |= (1 << PC5);
PORTC |= (1 << PC6);
PORTC |= (1 << PC7);
PORTD |= (1<<PD3);
PORTD |= (1<<PD2);
i2c_init();
////Hardware PWM für Motoren 20000000 Hz / 256 / 256 (8bit Timer) = 304 Hz///
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); // Timer 0 für PWM bei A und B
TCCR0B = (0 << CS02)|(1 << CS01)|(1 << CS00); // Vorteiler / prescaler 1024 für Timer 0 (S. 100)############## PWM Frequenz ändern
TCCR2A = (1<<COM2A1)|(1<<COM2B1)|(1<<WGM21)|(1<<WGM20); // Timer 2 für PWM bei A und B
TCCR2B = (1 << CS22)|(0 << CS21)|(0 << CS20); // Vorteiler / prescaler 1024 für Timer 2 (S. 149)##############
TIMSK1 = (1<<TOIE1); // Overflow Interrupt 312.5 1/s
TCCR1B = 1;
ReadChannelInit(1);
if(PINSET(MCUSR, WDRF))
SETLED(P_LEDW);
MCUSR &= ~(1 << WDRF);
sei();//Interrupt starten
bool t = true;
int16_t z = 0;
while(true) // main Schleife
{
if(t) {
SETLED(P_LEDR);
t=false; z++;
_delay_ms(20);
} else {
CLEARLED(P_LEDR);
t=true;
_delay_ms(20);
}
if(z==20) {
change_i2c_address_srf08(adress_old,adress_new);
_delay_ms(50);
}
if(z==24) {
while(true) {
if(t) {
SETLED(P_LEDR);
SETLED(P_LEDW);
SETLED(P_LEDG);
_delay_ms(1000);
t=false;
} else {
CLEARLED(P_LEDR);
CLEARLED(P_LEDW);
CLEARLED(P_LEDG);
_delay_ms(1000);
t=true;
}
wdt_reset();
}
}
wdt_reset();
}
}
void
smdk2800_io_init(void)
{
unsigned int hclk;
unsigned int pclk;
unsigned int tmdat;
#define O PCON_OUTPUT
#define I PCON_INPUT
#define A PCON_ALTFUN
#define _ 0
#define _C(b7,b6,b5,b4,b3,b2,b1,b0) \
((b7<<14)|(b6<<12)|(b5<<10)|(b4<<8)|(b3<<6)|(b2<<4)|(b1<<2)|(b0<<0))
/* GPIO port */
IOW(S3C2800_GPIO_BASE+GPIO_PCONA, _C(O,O,A,A,A,A,A,A));
IOW(S3C2800_GPIO_BASE+GPIO_PUPA, 0xff);
IOW(S3C2800_GPIO_BASE+GPIO_PCONB, _C(I,O,A,A,A,A,A,A));
IOW(S3C2800_GPIO_BASE+GPIO_PCONC, _C(_,_,_,_,O,A,A,A));
IOW(S3C2800_GPIO_BASE+GPIO_PUPC, 0xff);
IOW(S3C2800_GPIO_BASE+GPIO_PCOND, _C(A,A,A,A,A,A,A,A));
IOW(S3C2800_GPIO_BASE+GPIO_PUPD, 0xff);
IOW(S3C2800_GPIO_BASE+GPIO_PCONE, _C(O,O,O,O,A,A,A,A));
IOW(S3C2800_GPIO_BASE+GPIO_PUPE, 0xff);
IOW(S3C2800_GPIO_BASE+GPIO_PCONF, _C(A,A,A,A,A,A,A,A));
IOW(S3C2800_GPIO_BASE+GPIO_PUPF, 0xff);
IOW(S3C2800_GPIO_BASE+GPIO_EXTINTR, EXTINTR_INIT);
#undef O
#undef I
#undef A
#undef _
#undef _C
/* Get clock value */
if(IOR(S3C2800_CLKMAN_BASE+CLKMAN_CLKCON) & CLKCON_HCLK)
hclk = FCLK / 2;
else
hclk = FCLK;
if(IOR(S3C2800_CLKMAN_BASE+CLKMAN_CLKCON) & CLKCON_PCLK)
pclk = hclk / 2;
else
pclk = hclk;
/* Timer */
if((pclk/F_1MHZ) < 1)
tmdat = 1<<16;
else
tmdat = (pclk/F_1MHZ)<<16;
#define TMDAT_INIT 0xf424
IOW(S3C2800_TIMER0_BASE+TIMER_TMDAT, (tmdat | TMDAT_INIT));
IOW(S3C2800_TIMER1_BASE+TIMER_TMDAT, (tmdat | TMDAT_INIT));
IOW(S3C2800_TIMER2_BASE+TIMER_TMDAT, (tmdat | TMDAT_INIT));
IOW(S3C2800_TIMER0_BASE+TIMER_TMCON, TMCON_MUX_DIV32 | TMCON_INTENA | TMCON_ENABLE);
IOW(S3C2800_TIMER1_BASE+TIMER_TMCON, TMCON_MUX_DIV16 | TMCON_INTENA | TMCON_ENABLE);
IOW(S3C2800_TIMER2_BASE+TIMER_TMCON, TMCON_MUX_DIV8 | TMCON_INTENA | TMCON_ENABLE);
/* Interrupt controller */
IOW(S3C2800_INTCTL_BASE+INTCTL_INTMOD, 0);
IOW(S3C2800_INTCTL_BASE+INTCTL_INTMSK, 0);
/* Initial complete */
SETLED(0x0); /* All LEDs on (o o o) */
}
