void main(void){
init_general();// Set general runtime configuration bits
init_gpio_pins(); // Set all I/O pins to low outputs
init_oscillator(0);// Initialize oscillator configuration bits
init_timer2();// Initialize timer2 (millis)
init_adc(NULL); // Initialize ADC module
init_termination(NOT_TERMINATING);
init_adcs();// Initialize all of the ADC's
init_can(); // Initialize CAN
canAnalogMillis = canDiagMillis = 0;
ADCCON3bits.GSWTRG = 1; // Initial ADC Conversion?
STI();// Enable interrupts
while(1){
update_analog_channels();
strain_calc();
if(millis - canAnalogMillis >= CAN_ANALOG_INTV){
CANAnalogChannels();
canAnalogMillis = millis;
}
if(millis - canDiagMillis >= CAN_DIAG_INTV){
CANdiag();
canDiagMillis = millis;
}
sample_temp(); // Sample internal and external temperature sensors
}
}
int main(void) {
Init_LED();
Init_Motor();
Init_UART5(9600);
UART5_Send_String("hehehe");
init_timer();
init_timer2();
config_nvic();
Light_LED2;
Light_LED3;
gJiffies = 0;
while (1) {
if (0 <= gJiffies && gJiffies < 100) {
//FORWARD;
//ENABLE_MOTOR;
Light_LED_Both;
} else if (100 <= gJiffies && gJiffies < 200) {
Dark_LED_Both;
//DISABLE_MOTOR;
//BACKWARD;
} else if (gJiffies >= 200)
gJiffies = 0;
}
}
u64 get_incr_only_count(void)
{
static u64 incr_cnt = 0;
static u32 prev = 0;
u32 now, diff;
// init condition
if (incr_cnt == 0)
{
init_timer2();
prev = read_u32_cnt();
incr_cnt = (u64) prev;
return incr_cnt;
}
now = read_u32_cnt();
if (now > prev)
{
diff = now - prev;
}
else
{
diff = (0xffffffff - now) + prev + 1;
}
prev = now;
incr_cnt += diff;
return incr_cnt;
}
static void init_HC_SR04()
{
init_gpio();
init_timer2();
servo_control_init();
init_usart();
}
void init_pwm(void) {
APFCONbits.CCP2SEL = 0; //CCP2 is on RC1
TRISCbits.TRISC2 = 0; //CCP1 pin to output
TRISCbits.TRISC1 = 0; //CCP2 pin to output
TRISGbits.TRISG0 = 0; //CCP3 pin to output
TRISGbits.TRISG3 = 0; //CCP4 pin to output
TRISGbits.TRISG4 = 0; //CCP5 pin to output
TRISEbits.TRISE6 = 0; //CCP6 pin to output
TRISEbits.TRISE5 = 0; //CCP7 pin to output
TRISEbits.TRISE4 = 0; //CCP8 pin to output
TRISEbits.TRISE3 = 0; //CCP9 pin to output
TRISEbits.TRISE2 = 0; //CCP10 pin to output
CCP1CONbits.CCP1M = 0b1111; // set CCP1 as PWM mode
CCP2CONbits.CCP2M = 0b1111; // set CCP2 as PWM mode
CCP3CONbits.CCP3M = 0b1111; // set CCP3 as PWM mode
CCP4CONbits.CCP4M = 0b1111; // set CCP4 as PWM mode
CCP5CONbits.CCP5M = 0b1111; // set CCP5 as PWM mode
CCP6CONbits.CCP6M = 0b1111; // set CCP6 as PWM mode
CCP7CONbits.CCP7M = 0b1111; // set CCP7 as PWM mode
CCP8CONbits.CCP8M = 0b1111; // set CCP8 as PWM mode
CCP9CONbits.CCP9M = 0b1111; // set CCP9 as PWM mode
CCP10CONbits.CCP10M = 0b1111; // set CCP10 as PWM mode
CCPTMRS0 = 0b00000000; //set CCP4, CCP3, CCP2, CCP1 to reference Timer2
CCPTMRS1 = 0b00000000; //set CCP8, CCP7, CCP6, CCP5 to reference Timer2
CCPTMRS2 = 0b00000000; //set CCP10, CCP9 to reference Timer2
CCPR1 = 50; //set CCP1 Duty Cycle to 50%
CCPR2 = 100; //set CCP1 Duty Cycle to 50%
CCPR3 = 150; //set CCP1 Duty Cycle to 50%
CCPR4 = 200; //set CCP1 Duty Cycle to 50%
init_timer2();
init_timer0();
}
int main(void)
{
CLKPR = 0x80;
CLKPR = 0x00;
init_ports();
init_timer1();
init_timer2();
init_analog();
TWAR = 1 << 1;
TWCR = 0x45;
TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA);
sei();
state = WAIT_ZCROSS;
//state = TEST;
while (1)
{
_delay_ms(10000);
}
clr_led();
cli();
boot_main();
}
//Initialize all the timers
void InitTimers(void)
{
init_timer1();
init_timer2();
init_timer3();
init_timer4();
init_timer5();
}
void init(void) {
DDRB |= (1<<PB1);
DDRB &= ~(1<<PB0);
PORTB |= (1<<PB0);
init_timer1();
init_timer2();
sei();
dauer = tud[data+1];
}
int main ( void ) {
uint16_t c = 0; //create a 16 bit storage variable
init_stdusart0 (51, DB8 | P_N | SB1); //init usart0 for 19.2kBaud 8N1 (51 is the ubrr value for 19.2kBaud at 16 MHz)
printf("AVR Timer2 Testing program\r");
init_timer2 (T2_PRESCALER_8, 32, T2_SOURCE_EXTERNAL); //init timer 2 with a prescaler of 8, a top of 32, and an external clock source on TOSC1
while (1) { //repeat forever
c = get_timer2(); //store timer value
printf("Current Value of Timer 2: %d\r", c); //print current value
_delay_ms(250); //wait 1/4 of a second
}
return 0;
}
int main(void){
init_general();// Set general runtime configuration bits
init_gpio_pins();// Set all I/O pins to low outputs
init_oscillator(0);// Initialize oscillator configuration bits
init_timer2();// Initialize timer2 (millis)
int i;
while(1){
for(i = 0;i<1000000;i++);
PIC_LED_LAT = 1;
for(i = 0;i<1000000;i++);
PIC_LED_LAT = 0;
}
return 0;
}
void system_init()
{
GPIO_Digital_Output(&GPIOD_ODR, _GPIO_PINMASK_13); // Set CS pin as output
GPIO_Digital_Output(&GPIOC_ODR, _GPIO_PINMASK_2); // Set RST pin as output
GPIO_Digital_Output(&GPIOA_ODR, _GPIO_PINMASK_0); // Set PWM pin as output
GPIO_Digital_Output(&GPIOA_ODR, _GPIO_PINMASK_4); // Set PWM pin as output
// Initialize SPI
SPI3_Init_Advanced( _SPI_FPCLK_DIV16, _SPI_MASTER | _SPI_8_BIT |
_SPI_CLK_IDLE_LOW | _SPI_FIRST_CLK_EDGE_TRANSITION |
_SPI_MSB_FIRST | _SPI_SS_DISABLE | _SPI_SSM_ENABLE |
_SPI_SSI_1, &_GPIO_MODULE_SPI3_PC10_11_12);
s7x10r_init();
init_timer2();
EnableInterrupts();
}
void InitApp(void)
{
/* Setup analog functionality and port direction */
//IO configuration (pull-up CN interrupts enable
// IEC1bits.CNIE=1;
// IPC4bits.CNIP=1;
/* Initialize peripherals */
init_peripheral_pin_select();
uart1_Initialize(19200);
init_timer2();
init_timer3();
init_SPI1();
init_SPI2();
}
int main(void)
{
init_uart_transmit();
init_timer2();
// Initialize ADC with clock frequency of 1/16th of sysclock (so 62.5 kHz)
// A given ADC reading takes 13.5 cycles, so the ADC will sample at a rate of 4.6 kHz. Scope verified!
init_adc(16);
DDRD |= (1 << PD2);
while(1)
{
// Implement go_to_sleep() here later on...
PORTD &= ~(1 << PD2);
}
}
// Initialize all system peripherals
static void system_init()
{
DisableInterrupts();
GPIO_Digital_Output( &GPIOD_BASE, _GPIO_PINMASK_13 );
/* SPI Init - NOTE* Magneto samples bits on the second clock transition */
SPI3_Init_Advanced( _SPI_FPCLK_DIV16,
_SPI_MASTER | _SPI_8_BIT | _SPI_CLK_IDLE_LOW |
_SPI_SECOND_CLK_EDGE_TRANSITION | _SPI_MSB_FIRST |
_SPI_SS_DISABLE | _SPI_SSM_ENABLE | _SPI_SSI_1,
&_GPIO_MODULE_SPI3_PC10_11_12 );
// Initialize display
tft_initialize();
// Start timer
init_timer2();
// Initialize magneto and check for success or failure
if( magneto_init( MAGNETO_SPI, 0, 1 ) )
return;
}
int main()
{
stm32_NvicSetup ();
Setup_Pll_As_Clock_System();
init_portA();
init_portB();
init_portC();
init_timer2();
init_timer4();
init_timer1();
Setup_Adc();
Adc_On();
init_timer3();
// STM32 setup
//GPIOA->ODR |=0x0020;
Recule_train_Arriere();
while(1)
{
}
}
int main(void)
{
int8_t byte_str[4]; // Wird benutzt um hier ein Byte als String abzulegen
// LCD Display intialisieren
lcd_init();
// Startmeldung ausgeben
show_start_message();
// Stepper Initialisieren
init_stepper();
// Motor Initialisieren
init_motor();
// Steursignale BYTE_READY, SYNC und SOE Initialisieren
init_controll_signals();
// Schreibschutz setzen
clear_wps();
// Timer0 --> GCR senden
init_timer0();
// Tasten Initialisieren
init_keys();
// Timer2 --> wird alle 1ms aufgerufen
// z.B. zu Tasten entprellen
init_timer2();
// Meldung ausgeben, das auf SD Karte gewartet wird
lcd_setcursor(0,2);
lcd_string("Wait for SD-Karte...");
// SD Karte initialisieren
// Partition und Filesystem öffnen
// Warten bis alles O.K. ist
while(init_sd_card()){}
lcd_clear();
view_dir_entry(0,&file_entry);
#ifdef DEBUG_MODE
lcd_setcursor(0,4);
lcd_string("T:");
lcd_setcursor(5,4);
lcd_string("M:");
lcd_setcursor(9,4);
lcd_string("K:");
lcd_setcursor(2,4);
sprintf(byte_str,"%d",akt_half_track >> 1);
lcd_string(byte_str);
#endif
// Interrupts erlauben
sei();
while(1)
{
// Auf Steppermotor aktivität prüfen
// und auswerten
if(stepper_signal_r_pos != stepper_signal_w_pos)
{
uint8_t stepper = stepper_signal_puffer[stepper_signal_r_pos++]>>2 | stepper_signal_puffer[stepper_signal_r_pos-1];
switch(stepper)
{
case 0x30: case 0x40: case 0x90: case 0xE0:
// DEC
stepper_dec();
stepper_signal_time = 0;
stepper_signal = 1;
break;
case 0x10: case 0x60: case 0xB0: case 0xC0:
// INC
stepper_inc();
stepper_signal_time = 0;
stepper_signal = 1;
break;
}
#ifdef DEBUG_MODE
lcd_setcursor(2,4);
lcd_string(" ");
lcd_setcursor(2,4);
sprintf(byte_str,"%d",akt_half_track >> 1);
lcd_string(byte_str);
#endif
}
else if(stepper_signal && (stepper_signal_time >= STEPPER_DELAY_TIME))
int main(void)
{
/* Init */
int pump_timer = 0;
int i = 0;
uint16_t tzero = 0;
DDRD = 0xff; // initialize port B for output LEDs
PORTD = 0xff; // all LEDs initially OFF
init_timer2();
initIO();
sei();
for (int j=0; j < NUM_CYCLES; j++) {
/* Retain for testing: Use to test delay function */
//Delay(120);
//while(1) PORTD=0;
/* Retain for testing: use to cycle pressure read */
//while(1)
//read_pressure();
read_pressure();
close_valve();
tzero = second; // start time for each section of test
// 'second' is a global RTC variable
/*---- Initial pump cycle ----*/
while ((second - tzero) < PUMP_TIME && pressure < MAX_HI_PRESS) {
read_pressure();
start_pump();
if (pressure > (MAX_HI_PRESS + 200)) // overpressure
while (error(1));
}
stop_pump();
if (pressure < MAX_HI_PRESS) // error if target pressure no reached
while (error(2));
/*---- Vacuum dwell starts here ----*/
tzero = second;
while ((second - tzero) < DWELL_TIME) {
read_pressure();
if (pressure > (MAX_HI_PRESS + 200)) //overpressure
while (error(1));
if (pressure < MIN_HI_PRESS) {
pump_timer = 0;
while (pressure < MAX_HI_PRESS && ((second - tzero) < DWELL_TIME)) {
start_pump();
read_pressure();
for (i=0; i<1000; i++) // 1 sec busy-wait
delay_ms(1.0);
pump_timer++;
if (pump_timer >= 120) // don't run pump 120 seconds
while (error(3));
if (pressure > (MAX_HI_PRESS + 200)) //overpressure
while (error(1));
}
stop_pump();
}
}
stop_pump();
/*---- Bleed cycle start ----*/
open_valve();
tzero = second;
while ((second - tzero) < BLEED_TIME && pressure > MAX_LO_PRESS)
read_pressure();
if (pressure > MAX_LO_PRESS)
while (error(4));
/*---- Ambient pressure dwell ----*/
delay(DWELL_TIME);
//lower = pressure & 0x00ff;
//upper = (pressure & 0xff00)>>8;
//PORTD = lower;
//for (i=0; i<1000; i++) _delay_ms(1.0);
//Delay(1);
//PORTD = upper;
//for (i=0; i<1000; i++) _delay_ms(1.0);
//while(1);
}
while(1) // completed successfully without errors!
error(0);
return 0;
}
int main(void)
{
/****************INITIALIZATIONS*******************/
//other stuff Im experimenting with for SoR
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 9600); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it
uartSetBaudRate(2, 57600); // set UARTH speed
uartSetBaudRate(3, 57600); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
// initialize rprintf system and configure uart1 (USB) for rprintf
rprintfInit(uart1SendByte);
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
rprintf("\r\nSystem Warming Up");
// initialize the timer system (comment out ones you don't want)
init_timer0(TIMER_CLK_1024);
init_timer1(TIMER_CLK_64);
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_1024);
//timer5Init();
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
int i = 0, j = 0;
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
while(1)
{
control();
delay_cycles(100);
//an optional small delay to prevent crazy oscillations
}
return 0;
}
void init_sensor() {
init_porta();
init_timer2();
}
void prvSetupHardware(){
int i, j;
//add 1.7s delay for potential power issues
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 38400); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it doesn't work
uartSetBaudRate(2, 38400); // set UARTH speed
uartSetBaudRate(3, 38400); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
rprintfInit(uart1SendByte);// initialize rprintf system and configure uart1 (USB) for rprintf
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
//rprintf("\r\nSystem Warmed Up");
// initialize the timer system
init_timer0(TIMER_CLK_1024);
// init_timer1(TIMER_CLK_64); // Timer 1 is initialized by FreeRTOS
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_64);
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
//reset all timers to zero
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
/********PWM Setup***********/
prvPWMSetup();
}
