int jhd_162A_init()
{
/* int delay=0; */
/* int nbr_selectedPins=6; */
/* unsigned int data_to_write; */
/* The order is MSB -> LSB */
char * d_gpio[8] = {"GPIO_77", "GPIO_76", "GPIO_75", "GPIO_74", "GPIO_73", "GPIO_72", "GPIO_71", "GPIO_70"};
char * ctrl_gpio[3] = {"GPIO_66", "GPIO_67", "GPIO_68"};
pins_init(&ctrl_gpio, 3);
pins_init(&d_gpio, 8);
/* pinMode_multiple(enabled_gpio,selectedPins,nbr_selectedPins,"out"); */
/* //E RS DB4 DB5 DB6 DB7 = 001100 (2) = 12 (10) */
/* data_to_write=12; */
/* digitalWrite_multiple(enabled_gpio,6,data_to_write); */
/* pulsePin(enabled_gpio,data_to_write,6,5,delay); */
/* delayms(delay); */
/* //E RS DB4 DB5 DB6 DB7 = 000100 (2) = 4 (10) : 4 bit mode */
/* data_to_write=4; */
/* digitalWrite_multiple(enabled_gpio,6,data_to_write); */
/* pulsePin(enabled_gpio,data_to_write,6,5,delay); */
/* delayms(delay); */
/* //enable display part 1 - Display ON/OFF & Cursor */
/* //E RS DB4 DB5 DB6 DB7 = 000000 (2) = 0 (10) */
/* data_to_write=0; */
/* digitalWrite_multiple(enabled_gpio,6,data_to_write); */
/* pulsePin(enabled_gpio,data_to_write,6,5,delay); */
/* delayms(delay); */
/* //enable display part 2 - Display ON/OFF & Cursor */
/* //E RS DB4 DB5 DB6 DB7 = 000011 (2) = 3 (10) */
/* data_to_write=3; */
/* digitalWrite_multiple(enabled_gpio,6,data_to_write); */
/* pulsePin(enabled_gpio,data_to_write,6,5,delay); */
/* delayms(delay); */
/* //two line mode 5x7 part 1 */
/* //E RS DB4 DB5 DB6 DB7 = 000100 (2) = 4 (10) */
/* data_to_write=4; */
/* digitalWrite_multiple(enabled_gpio,6,data_to_write); */
/* pulsePin(enabled_gpio,data_to_write,6,5,delay); */
/* delayms(delay); */
/* //two line mode 5x7 part 2 (the 0 next to the 1 specifies the 5x7) */
/* //E RS DB4 DB5 DB6 DB7 = 000001 (2) = 1 (10) */
/* data_to_write=1; */
/* digitalWrite_multiple(enabled_gpio,6,data_to_write); */
/* pulsePin(enabled_gpio,data_to_write,6,5,delay); */
/* delayms(delay); */
return 0;
}
/*==================================================================================
* 函 数 名： Set_System
* 参 数： None
* 功能描述: 初始化系统
* 返 回 值： None
* 备 注：
* 作 者： gaodb
* 创建时间： 2012.10
==================================================================================*/
void Set_System(void)
{
rcc_init();
peri_clk_init();
NVIC_Configuration();
pins_init();
systick_init();
timer2_init();
timer4_init();
RAY12_ADC_Init();
LCD_Config();
DispInit();
uart1_init(BAUD_RATE_57600);
uart2_init(BAUD_RATE_57600);
dac1_init();
sys_variable_init();
}
int main(void)
{
// Enable peripherals
system_init();
pins_init();
us1_init();
us0_init();
twi_init();
// Initialize state machines
qcfp_init();
eq_init();
// Once everything is initialized, enable interrupts globally
interrupts_enable();
// Enable Expansion module 3 and 4 (sensors plugged into these temporarily)
AT91C_BASE_PIOA->PIO_CODR = AT91C_PIO_PA20;
AT91C_BASE_PIOA->PIO_CODR = AT91C_PIO_PA23;
sensors_init();
eq_post_timer(gpio_led_dance, 250, eq_timer_periodic);
while(1)
{
eq_dispatch();
eq_dispatch_timers();
}
return 0;
}
/* One start -----------------------------------------------------------------*/
static void startup()
{
unsigned char err = 0;
init_hardware();
dbg_init();
dbg_print_app_ver();
crc32_init();
pins_init();
//spi0_init(); // used in m25pexx.c (FLASH)
spi1_init();
adc_init();
err = memory_init(); // memory initialization, external EEPROM (used in pref.c, orion.c), external FLASH, internal FLASH
if (err)
goto err;
pref_init();
ds1390_init();
evt_fifo_init();
GPS_init();
//SIM900_init();
light_init();
saveDatePorojectIP();//новые параметры связи
vpu_init(); /*VPU start*/
//Init_USB();
//if (PROJ.jornal.power_on)
//Event_Push_Str("СТАРТ");
return;
err:
Err_led(err);
}
static void power_on_init(void)
{
/* JTAG must be off to use RB8-11,12,13 */
if (MCU_CONFIG1 & ~JTAGEN_OFF) while(1);
pins_init(); // Initialize pins at startup
clr_reset_state(); // Needed for MCLR
rst_events = 0; rst_num = 0;
}
void hardware_init(void)
{
power_init();
clock_init();
pins_init();
uart_init();
timers_init();
adc_init();
irq_init();
}
// Cannot declare static, as board.h declares this extern
void board_init(void)
{
// Disable watchdog timer
WDT->WDT_MR = WDT_MR_WDDIS;
sysclk_enable_peripheral_clock(ID_PIOA);
sysclk_enable_peripheral_clock(ID_PIOB);
sysclk_enable_peripheral_clock(ID_PIOC);
pins_init();
pmc_enable_periph_clk(ID_PIOB);
}
int io_conn_test(void)
{
char ch;
serial.printf("\r\n----------- I/O Connector ----------\r\n");
do {
pins_init();
serial.printf("Blinking LEDs ...\r\n");
gpio_conn_run();
serial.printf("Done\r\n");
serial.printf("Did %d LEDs blink? [y]es [n]o [r]epeat: ", LEN(gpio));
ch = serial.getc();
} while (ch == 'r');
if (ch == 'y')
return PASS;
else
return FAIL;
}
int main(void)
{
// set clock prescaler for 8MHz
CLKPR = 0x80;
CLKPR = 0x01;
cli();
power_all_disable();
power_spi_enable();
power_timer1_enable();
set_sleep_mode(SLEEP_MODE_IDLE);
pins_init();
delay_ms(345); // arbitrary
uint8_t dpi = 0x0f; // default to 800
if (!(PIND & (1<<0))) // if left is pressed at boot
dpi = 0xff; // set to 12800
pmw3366_init(dpi);
nrf24_init();
// button stuff
// previous debounced state
uint8_t btn_prev = ~(PIND);
// time (in 125us) button has been unpressed.
// consider button to be released if this time exceeds DEBOUNCE_TIME.
uint8_t btn_time[3] = {0, 0, 0};
// absolute positions. relies on integer overflow
union motion_data x = {0}, y = {0};
// wheel stuff
uint8_t whl_prev_same = 0; // what A was the last time A == B
uint8_t whl_prev_diff = 0; // what A was the last time A != B
// absolute scroll position. relies on integer overflow
int8_t whl = 0;
// begin burst mode for 3366
spi_set3366mode();
SS_3366_LOW;
spi_3366_write(0x50, 0x00);
SS_3366_HIGH;
// set up timer1 to set OCF0A in TIFR0 every 1ms
TCCR1A = 0x00;
TCCR1B = 0x09; // CTC, 8MHz
OCR1A = 7999; // main loop nominal period (7999 + 1) / 8MHz = 1ms
OCR1B = 320; // timing of when to read burst mode data from sensor
OCR1C = 800; // timing of when to load nrf24l01+ with data
// let receiver know if it's the first time sending data, so that it
// can reset the reference for absolute position and that there's no
// jump when rebooting the mouse
// uint8_t first = 0x80; // transmitted as MSB with button data below.
// when sync reaches 0, always send a packet with bit 6 in btn set, to
// tell the receiver to calculate the timing offset.
// when sync reaches 1, always send a packet requesting ACK to load the
// timing offset
// i.e. when it overflows, so 256ms periodicity.
// when sync reaches 0, afk increments.
// afk is cleared by any motion or button press.
// when afk reaches AFK_TIMEOUT, go into powerdown mode.
for (uint8_t first = 0x80, sync = 0, afk = 0; ; first = 0, sync++) {
// sync to 1ms intervals using timer1
// if (TIFR1 & (1<<OCF1A)) PORTD |= (1<<6);
TIMSK1 |= (1<<OCIE1A);
sei(); sleep_mode(); cli();
TIMSK1 &= ~(1<<OCIE1A);
TIFR1 |= (1<<OCF1A); TIFR1 |= (1<<OCF1B); TIFR1 |= (1<<OCF1C);
// begin burst mode read
spi_set3366mode();
SS_3366_LOW;
spi_send(0x50);
// do stuff here instead of busy waiting for 35us
// read wheel
int8_t dwhl = 0;
const uint8_t whl_a = WHL_A_IS_HIGH;
const uint8_t whl_b = WHL_B_IS_HIGH;
// if (whl_a == whl_b) {
// if (whl_a != whl_prev_same) {
// dwhl = 2 * (whl_a ^ whl_prev_diff) - 1;
// whl += dwhl;
// whl_prev_same = whl_a;
// }
// } else
// whl_prev_diff = whl_a;
if (whl_a != whl_b)
whl_prev_diff = whl_a;
else if (whl_a != whl_prev_same) {
dwhl = 2 * (whl_a ^ whl_prev_diff) - 1;
whl += dwhl;
whl_prev_same = whl_a;
}
// read buttons
/*
PIND 0 EIFR 0: low, no edges -> is low
PIND 0 EIFR 1: low, edge -> is low
PIND 1 EIFR 0: high, no edges -> always high during last 1ms
PIND 1 EIFR 1: high, edge -> low at some point in the last 1ms
*/
const uint8_t btn_unpressed = PIND & ~(EIFR);
EIFR = 0b00000111; // clear EIFR
// manual loop debouncing for every button
uint8_t btn_dbncd = 0x00;
#define DEBOUNCE(index) \
if ((btn_prev & (1<<index)) && (btn_unpressed & (1<<index))) { \
btn_time[index]++; \
if (btn_time[index] < DEBOUNCE_TIME) \
btn_dbncd |= (1<<index); \
} else { \
btn_time[index] = 0; \
btn_dbncd |= (~btn_unpressed) & (1<<index); \
}
DEBOUNCE(0);
DEBOUNCE(1);
DEBOUNCE(2);
#undef DEBOUNCE
// wait until 35us have elapsed since spi_send(0x50)
// if (TIFR1 & (1<<OCF1B)) PORTD |= (1<<6);
TIMSK1 |= (1<<OCIE1B);
sei(); sleep_mode(); cli();
TIMSK1 &= ~(1<<OCIE1B);
union motion_data dx, dy;
spi_send(0x00); // motion, not used
spi_send(0x00); // observation, not used
dx.lo = spi_recv();
dx.hi = spi_recv();
dy.lo = spi_recv();
dy.hi = spi_recv();
SS_3366_HIGH;
x.all += dx.all;
y.all += dy.all;
if (sync == 0) afk++;
const uint8_t changed = (btn_dbncd != btn_prev) || dx.all || dy.all || dwhl;
if (changed) afk = 0;
if (changed || (sync <= 1)) {
btn_prev = btn_dbncd;
// W_TX_PAYLOAD if sync == 1, W_TX_PAYLOAD_NOACK otherwise
const uint8_t mode = (sync == 1) ? 0b10100000 : 0b10110000;
// send miscellaneous info using top bits of btn byte
uint8_t btn_send = btn_dbncd | first; // first is either 0x80 or 0
if (sync == 0) btn_send |= 0x40;
// try to transmit at the same time every frame
// if (TIFR1 & (1<<OCF1C)) {PORTD |= (1<<6);}
TIMSK1 |= (1<<OCIE1C);
sei(); sleep_mode(); cli();
TIMSK1 &= ~(1<<OCIE1C);
spi_setnrf24mode();
SS_NRF24_LOW;
spi_send(0x20 | 0x07); // STATUS
spi_send(0b01110000); // clear IRQ
SS_NRF24_HIGH;
SS_NRF24_LOW;
spi_send(0b11100001); // flush tx
SS_NRF24_HIGH;
SS_NRF24_LOW;
spi_send(0b11100010); // flush rx
SS_NRF24_HIGH;
SS_NRF24_LOW;
spi_send(mode);
spi_send(btn_send);
spi_send(x.lo);
spi_send(x.hi);
spi_send(y.lo);
spi_send(y.hi);
spi_send(whl);
SS_NRF24_HIGH;
// pulse CE to transmit
CE_HIGH;
delay_us(12);
CE_LOW;
if (sync == 1) { // get ack payload of timing offset
delay_us(400);
if (IRQ_IS_LOW) {
// recycle motion_data union for timing
union motion_data offset;
SS_NRF24_LOW;
spi_send(0b01100001);
offset.lo = spi_recv();
offset.hi = spi_recv();
SS_NRF24_HIGH;
// shift TCNT1 by the offset, plus a
// little more because of the time it
// takes to add stuff to TCNT1.
TCNT1 += offset.all + 11;
}
}
}
// power down if afk
if (afk > AFK_TIMEOUT) {
// enable external interrupts on INT0/1/2/3, PCINT0
EIMSK = 0b00000111;
PCICR = 0x01;
// go power down mode; wake up on interrupt
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sei(); sleep_mode(); cli();
// disable external interrupts
PCICR = 0;
EIMSK = 0;
// restore state
set_sleep_mode(SLEEP_MODE_IDLE);
sync = 0;
afk = 0;
}
}
}
