int main (void)
{
En_RC32M();
//Enable LowLevel & HighLevel Interrupts
PMIC_CTRL |= PMIC_HILVLEN_bm | PMIC_LOLVLEN_bm |PMIC_MEDLVLEN_bm;
PORT_init();
TimerD0_init();
TimerC0_init();
TimerE1_init();
USARTE0_init();
ADCA_init();
//wdt_enable();
// Globally enable interrupts
sei();
//Address[0]=Address[0] + RobotID ;
//// NRF Initialize
NRF_init () ;
while(1)
{
asm("wdr");
// BUZZER
//adc = adc +(adc_get_unsigned_result(&ADCA,ADC_CH0)-adc)*0.01;
adc = adc_get_unsigned_result(&ADCA,ADC_CH0);
if (adc<=2250)//10 volt
Buzzer_PORT.OUTSET = Buzzer_PIN_bm;
else if(shoot_alarm_flg && (charge_count>=30000))
Buzzer_PORT.OUTSET = Buzzer_PIN_bm;
else
Buzzer_PORT.OUTCLR = Buzzer_PIN_bm;
//SHOOT
PORTC_OUTCLR=KCK_SH_PIN_bm;
if((KCK_Ch_Limit_PORT.IN & KCK_Ch_Limit_PIN_bm)>>KCK_Ch_Limit_PIN_bp)
{
full_charge=1;
tc_disable_cc_channels(&TCC0,TC_CCDEN);
charge_count=0;
}
else
{
if((flg || flg_sw)==0)
{
tc_enable_cc_channels(&TCC0,TC_CCDEN);
}
}
if (charge_flg)//full_charge
{
if (Robot_D[RobotID].KCK )
{
if( KCK_Sens || (Robot_D[RobotID].KCK%2))
{
flg = 1;
}
}
}
if (KCK_DSH_SW)//bazi vaghta begir nagir dare
{
flg_sw = 1;
}
if (free_wheel >= 500 )
{
NRF_init();
}
if(KCK_Sens)
LED_Green_PORT.OUTSET = LED_Green_PIN_bm;
else
LED_Green_PORT.OUTCLR = LED_Green_PIN_bm;
// //motor test
//switch(flag2sec)
//{ case 200:
//// M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 400:
////M.Setpoint=2000;
//Robot_D[RobotID].M0b = 0xD0;//low
//Robot_D[RobotID].M0a = 0X07;//high
//break;
//
//case 600:
////M.Setpoint=500;
//Robot_D[RobotID].M0b = 0xF4;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 800:
////M.Setpoint=4000;
//Robot_D[RobotID].M0b = 0xA0;//low
//Robot_D[RobotID].M0a = 0X0F;//high
//break;
//
//case 1000:
////M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 1200:
////M.Setpoint=500;
//Robot_D[RobotID].M0b = 0xF4;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 1400:
////M.Setpoint=-500;
//Robot_D[RobotID].M0b = 0x0C;//low
//Robot_D[RobotID].M0a = 0XFE;//high
//break;
//
//case 1600:
////M.Setpoint=400;
//Robot_D[RobotID].M0b = 0x90;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 1800:
////M.Setpoint=350;
//Robot_D[RobotID].M0b = 0x5E;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2000:
////M.Setpoint=340;
//Robot_D[RobotID].M0b = 0x54;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2200:
////M.Setpoint=330;
//Robot_D[RobotID].M0b = 0x4A;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2600:
////M.Setpoint=100;
//Robot_D[RobotID].M0b = 0x64;//low
//Robot_D[RobotID].M0a = 0X00;//high
//break;
//
//case 2800:
////M.Setpoint=50;
//Robot_D[RobotID].M0b = 0x32;//low
//Robot_D[RobotID].M0a = 0X00;//high
//break;
//
//case 3000:
////M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 3200:
////M.Setpoint=-50;
//Robot_D[RobotID].M0b = 0xCE;//low
//Robot_D[RobotID].M0a = 0XFF;//high
//flag2sec=0;
//break;
//
//}
//Robot_D[RobotID].M0b = 0xD0;//0X18;//-1000//01;//low37121
//Robot_D[RobotID].M0a = 0x07;//0XFC;//high
//Robot_D[RobotID].M1b = 0XE8;//2000//ghalat17325
//Robot_D[RobotID].M1a = 0X03;
//Robot_D[RobotID].M2b = 0XDC;//1000//low13703
//Robot_D[RobotID].M2a = 0X05;//high
//Robot_D[RobotID].M3b = 0xF4;//3000//32;//ghalat30258
//Robot_D[RobotID].M3a = 0X01;//76;
////SEND TEST DATA TO FT232
//char str1[20];
//uint8_t count1 = sprintf(str1,"%d\r",adc);
//
//for (uint8_t i=0;i<count1;i++)
//{
//usart_putchar(&USARTE0,str1[i]);
//
//}
//usart_putchar(&USARTE0,'a');
}
void avr_init(void)
{
//!! Set-up F_CPU: BEGIN
//PS. Default FREQ wo settings 2Mhz from internal factory calibrated RC
//Config32MHzClock_Internal(); // INTERNAL RC 32Mhz factory calibrated with accuracy of 1% at 3V and 25°C
Config32MHzClock_External_XTAL_8Mhz_x_PLL4(); // EXT XTAL 8Mhz to SYSCLOCK 32Mhz with PLLx4
//Config32MHzClock_External_XTAL_16Mhz_x_PLL2(); // EXT XTAL 16Mhz to SYSCLOCK 32Mhz with PLLx2
//!! Set-up F_CPU: END
// make clkout on PORTC:7
PORTCFG.CLKEVOUT = PORTCFG_CLKOUT_PC7_gc;
PORTC.DIR = (1<<7); // clkout
//TCC0 not used here
/*
// configure timer/counter0
TCC0.CTRLA = 0x7; // clk/1024
TCC0.CNT = 0; // reset count
*/
// configure PORTA:6 as output to LED && All other pins of PORTA as input
// Classic style
/*PORTA.DIR |= (1<<LED); // PORTA.6 is out
PORTA.DIR &= ~(1<<SW1); // PORTA.7 is in*/
// XMEGA style
PORTA.DIRSET = 1<<LED; // PORTA.6 is out - DIRSET устанавливает битовую маску на <1>
PORTA.DIRCLR = 1<<SW1; // PORTA.7 is in - DIRCLR устанавливает битовую маску на <0>
PORTA.PIN6CTRL |= PORT_OPC_TOTEM_gc; // Totem-pole type (default - PUSH-PULL analog for STM32)
// additional cfg for SW1 input pin for pull-up:
PORTA.PIN7CTRL |= PORT_OPC_PULLUP_gc; // Totempole w/ Pull-up on Input PULL-UP
//PORTA.PIN7CTRL |= PORT_OPC_PULLDOWN_gc; // Totempole w/ Pull-down on Input PULL-DOWN
//PORTA.PIN7CTRL |= PORT_OPC_TOTEM_gc; // Totempole - FLOATING - DEFAULT
//USARTE0 init
USARTE0_init();
//!!Redirect STDOUT (printf etc..)
stdout = &USARTE0_stdout;
// Template to redirect STDOUT&STDIN
/*
stdout = stdin = &uart1_str;
*/
//USARTE0_WriteString("Hello from XMEGA USARTE0!\r\n"); // Classic style to waste RAM Print Out
//USARTE0_WriteString_P(PSTR("\r\nXMEGA USARTE0 RX IRQ example..\r\n")); // for Save RAM style Print Out
//!! TCE0 setup for 1Hz IRQ
TCE0_init();
//Micros timer init
TCD0_init_micros();
//!! Enable LO LVL IRQ && Round robin mechanism for LOW LEVEL IRQ
//PMIC.CTRL = PMIC_HILVLEN_bm; // enable high level interrupts
PMIC.CTRL = PMIC_RREN_bm | PMIC_LOLVLEN_bm;
//!! Set-up Virtual port0 to PORTA
virtual_port_init();
sei(); // enable interrupts
}
void avr_init(void)
{
//!! Set-up F_CPU: BEGIN
//PS. Default FREQ wo settings 2Mhz from internal factory calibrated RC
//Config32MHzClock_Internal(); // INTERNAL RC 32Mhz factory calibrated with accuracy of 1% at 3V and 25°C
Config32MHzClock_External_XTAL_8Mhz_x_PLL4(); // EXT XTAL 8Mhz to SYSCLOCK 32Mhz with PLLx4
//Config32MHzClock_External_XTAL_16Mhz_x_PLL2(); // EXT XTAL 16Mhz to SYSCLOCK 32Mhz with PLLx2
//!! Set-up F_CPU: END
// make clkout on PORTC:7
PORTCFG.CLKEVOUT = PORTCFG_CLKOUT_PC7_gc;
PORTC.DIR = (1<<7); // clkout
//TCC0 not used here
/*
// configure timer/counter0
TCC0.CTRLA = 0x7; // clk/1024
TCC0.CNT = 0; // reset count
*/
// configure PORTA:6 as output to LED && All other pins of PORTA as input
// Classic style
/*PORTA.DIR |= (1<<LED); // PORTA.6 is out
PORTA.DIR &= ~(1<<SW1); // PORTA.7 is in*/
// XMEGA style
PORTA.DIRSET = 1<<LED; // PORTA.6 is out - DIRSET устанавливает битовую маску на <1>
PORTA.DIRCLR = 1<<SW1; // PORTA.7 is in - DIRCLR устанавливает битовую маску на <0>
// additional cfg for SW1 input pin for pull-up:
PORTA.PIN7CTRL |= PORT_OPC_PULLUP_gc; // Totempole w/ Pull-up on Input PULL-UP
//PORTA.PIN7CTRL |= PORT_OPC_PULLDOWN_gc; // Totempole w/ Pull-down on Input PULL-DOWN
//PORTA.PIN7CTRL |= PORT_OPC_TOTEM_gc; // Totempole - FLOATING - DEFAULT
//USARTE0 init
USARTE0_init();
//!!Redirect STDOUT (printf etc..)
stdout = &USARTE0_stdout;
// Template to redirect STDOUT&STDIN
/*
stdout = stdin = &uart1_str;
*/
//USARTE0_WriteString("Hello from XMEGA USARTE0!\r\n"); // Classic style to waste RAM Print Out
//USARTE0_WriteString_P(PSTR("\r\nXMEGA USARTE0 RX IRQ example..\r\n")); // for Save RAM style Print Out
//!! TCE0 setup for 1Hz IRQ
TCE0_init();
//Micros timer init
TCD0_init_micros();
//!!********************TCC0 as FREQ OUT (freq generator)
//PC0 define (OCA) as Output
PORTC.DIRSET = 0x01;
//Set Timerprescaler
TCC0.CTRLA = TC_CLKSEL_DIV4_gc;
// Select the output frequency and output enable Compare A
TCC0.CTRLB = TC_WGMODE_FRQ_gc | TC0_CCAEN_bm;
// Set comparison value of CCA
//TCC0.CCA = 0xffff; // ~ 61Hz T=250ns*65536
//TCC0.CCA = 40000-1; // 100Hz T=250ns*40000
//TCC0.CCA = 4000-1; // 1kHz T=250ns*4000
//TCC0.CCA = 800-1; // 5kHz T=250ns*800
//TCC0.CCA = 400-1; // 10kHz T=250ns*400
//TCC0.CCA = 80-1; // 50kHz T=250ns*80
//TCC0.CCA = 40-1; // 100kHz T=250ns*40
//TCC0.CCA = 8-1; // 500kHz T=250ns*8
//TCC0.CCA = 0x3; // 1Mhz T=250ns*4
//TCC0.CCA = 0x1; // 2Mhz T=250ns*2
TCC0.CCA = 0x0; // 4Mhz i.e T=250ns*1
//!!PS Formula for FREQ OUT with SYSCLOCK = 32Mhz && TCC0 prescaler 4
// Step INC 250ns
/*
f = system clock / (2 * prescaler * (CCA + 1))
In our example, the frequency is then as follows:
fmin = 32MHz / (2 * 4 * (65535 + 1) = 4Mhz / 65536 = ca. 61 Hz
fmax = 32MHz / (2 * 4 * (0 + 1) = 4Mhz / 1 = 4Mhz
*/
//!! Enable LO LVL IRQ && Round robin mechanism for LOW LEVEL IRQ
//PMIC.CTRL = PMIC_HILVLEN_bm; // enable high level interrupts
PMIC.CTRL = PMIC_RREN_bm | PMIC_LOLVLEN_bm;
sei(); // enable interrupts
}
