// Control the backlight LED blinking
void rgb_lcd::blinkLED(void)
{
// blink period in seconds = (<reg 7> + 1) / 24
// on/off ratio = <reg 6> / 256
setReg(0x07, 0x17); // blink every second
setReg(0x06, 0x7f); // half on, half off
}
int main(int argc, char ** argv)
{
int fd = openThrusters("/dev/motor");
// int fd = open("/dev/ttyUSB0", O_RDWR);
// printf("\nSetting address: %d\n", writeReg(fd, 1, REG_ADDR, 4));
int i=0;
// int err=0;
// int e1=0, e2=0, e3=0, e4=0;
setReg(fd, 1, REG_TIMER, 0);
setReg(fd, 2, REG_TIMER, 0);
setReg(fd, 3, REG_TIMER, 0);
setReg(fd, 4, REG_TIMER, 0);
for(i=0; i<10; i++)
{
printf("\n");
printf("\nResult 1 is: %d\n", setSpeed(fd, 1, 0));
printf("\nResult 2 is: %d\n", setSpeed(fd, 2, 0));
printf("\nResult 3 is: %d\n", setSpeed(fd, 3, 0));
printf("\nResult 4 is: %d\n", setSpeed(fd, 4, 0));
}
fsync(fd);
printf("\n");
return 0;
}
/*
** ===================================================================
** Method : SetCV (component FreeCntr8)
**
** Description :
** Sets compare or preload register value. The method is called
** automatically as a part of several internal methods.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
static void SetCV(word Val)
{
EnterCritical(); /* Disable global interrupts */
setReg(TMR0_CMPLD1,Val); /* Store given value to the compare preload 1 register */
setReg(TMR0_CMPLD2,Val); /* Store given value to the compare preload 2 register */
ExitCritical(); /* Enable global interrupts */
}
/*ARD US*/ void rgb_lcd::begin(uint8_t cols, uint8_t lines, uint8_t dotsize){
Wire.begin();
if (lines > 1) {
_displayfunction |= LCD_2LINE;
}
_numlines = lines;
_currline = 0;
// for some 1 line displays you can select a 10 pixel high font
if ((dotsize != 0) && (lines == 1)) {
_displayfunction |= LCD_5x10DOTS;
}
// SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!
// according to datasheet, we need at least 40ms after power rises above 2.7V
// before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50
delayMicroseconds(50000);
// this is according to the hitachi HD44780 datasheet
// page 45 figure 23
// Send function set command sequence
command(LCD_FUNCTIONSET | _displayfunction);
delayMicroseconds(4500); // wait more than 4.1ms
// second try
command(LCD_FUNCTIONSET | _displayfunction);
delayMicroseconds(150);
// third go
command(LCD_FUNCTIONSET | _displayfunction);
// finally, set # lines, font size, etc.
command(LCD_FUNCTIONSET | _displayfunction);
// turn the display on with no cursor or blinking default
_displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;
display();
// clear it off
clear();
// Initialize to default text direction (for romance languages)
_displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
// set the entry mode
command(LCD_ENTRYMODESET | _displaymode);
// backlight init
setReg(0, 0);
setReg(1, 0);
setReg(0x08, 0xAA); // all led control by pwm
setColorWhite();
}
/*
** ===================================================================
** Method : PWMC1_SetRatio16 (component PWMMC)
**
** Description :
** This method sets a new duty-cycle ratio for selected channel.
** The value is loaded after calling <Load> method.
**
** Version specific information for Freescale 56800/E and HC08
** and HCS12 and HCS12X derivatives ]
** Setting is valid for actual speed mode only, initial value
** is restored after speed mode change.
**
** Version specific information for Freescale 56800/E
** derivatives - eFlexPWM device ]
** Settings is not affected during speed mode change. It should
** be handled by the user code.
** Parameters :
** NAME - DESCRIPTION
** Channel - channel number (0 - 5). The number
** corresponds to the logical channel number
** assigned in the component settings, which
** may not correspond to channel number of the
** peripheral.
** Ratio - Ratio is expressed as an 16-bit
** unsigned integer number. 0 - 65535 value is
** proportional to ratio 0 - 100%.
**
** Version specific information for Freescale
** 56800/E derivatives - eFlexPWM device ]
** - _edge-aligned mode:_ value computed from
** parameter is written into PWM clear-edge
** (eFlexPWM_SMn_FRACVALx) register; PWM
** set-edge (eFlexPWM_SMn_FRACVALx) register
** is not affected (zero value assumed); where
** x = 2, 4.
** - _center-aligned mode:_ value computed
** from parameter value is split between PWM
** set-edge (eFlexPWM_SMn_FRACVALx) and PWM
** clear-edge (eFlexPWM_SMn_FRACVAL(x+1))
** registers; where x = 2, 4.
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_NOTAVAIL - Channel is disabled
** ERR_RANGE - Parameter Channel is out of
** range
** ===================================================================
*/
byte PWMC1_SetRatio16(byte Channel,word Ratio)
{
register word dutyreg;
dutyreg = (word)((dword)getReg(PWM_PWMCM)*Ratio/65535); /* Calculate real duty */
switch (Channel) {
case 0 :
setReg(PWM_PWMVAL0,dutyreg); /* Store ratio value to the duty-compare register 0 */
break;
case 1 :
setReg(PWM_PWMVAL1,dutyreg); /* Store ratio value to the duty-compare register 1 */
break;
case 2 :
setReg(PWM_PWMVAL2,dutyreg); /* Store ratio value to the duty-compare register 2 */
break;
case 3 :
setReg(PWM_PWMVAL3,dutyreg); /* Store ratio value to the duty-compare register 3 */
break;
case 4 :
return ERR_NOTAVAIL;
case 5 :
return ERR_NOTAVAIL;
default: return ERR_RANGE;
}
return ERR_OK;
}
void main(void)
{
/* Write your local variable definition here */
int a = 0;
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
/* Write your code here */
setReg(ADC_CLIST1,0x12);
setReg(ADC_SDIS,0xFF88);
setRegBitGroup(ADC_CTRL1,SMODE,0x01);
AD1_Enable();
Cpu_EnableInt();
while(1)
{
WDog1_Clear();
a++;
if(a)
a = 0;
}
}
/*
** ===================================================================
** Method : AS1_Init (component AsynchroSerial)
**
** Description :
** Initializes the associated peripheral(s) and the bean internal
** variables. The method is called automatically as a part of the
** application initialization code.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
void AS1_Init(void)
{
SerFlag = 0U; /* Reset flags */
/* SCI_SCICR: LOOP=0,SWAI=0,RSRC=0,M=0,WAKE=0,POL=0,PE=0,PT=0,TEIE=0,TIIE=0,RFIE=0,REIE=0,TE=0,RE=0,RWU=0,SBK=0 */
setReg(SCI_SCICR, 0U); /* Set the SCI configuration */
/* SCI_SCIBR: ??=0,??=0,??=0,SBR=17 */
setReg(SCI_SCIBR, 17U); /* Set prescaler bits */
HWEnDi(); /* Enable/disable device according to status flags */
}
/**
* sets output.
* @param OutCTL, if TRUE sets the output channels pad (on/off).
* @param Outputs is the channel structure (see above).
* @return ERR_OK always.
*/
byte PWMC1_setOutput(bool OutCTL, TChannels Outputs)
{
if (OutCTL)
setReg (PWMB_PMOUT, ((*(byte*)&Outputs) & 63) | 48896);
else
setReg (PWMB_PMOUT, 32768);
return ERR_OK;
}
int _cdecl intrpt()
{
USHORT itr = 0;
int cycle = 0;
(*getReg)(REG_A, &itr);
switch (itr)
{
case 0:
(*setReg)(REG_B, hddState);
(*setReg)(REG_C, hddError);
case 1:
(*getReg)(REG_X, &throwItr);
case 2:
(*setReg)(REG_B, hdInfo.size);
case 3:
{
switch (hddState)
{
case HDD_STATE_READY:
(getReg)(REG_X, &itr);
thrArg = (thrArg << 16) + itr;
(getReg)(REG_Y, &itr);
thrArg = (thrArg << 16) + itr;
(getReg)(REG_Z, &itr);
thrArg = (thrArg << 16) + itr;
threadH = CreateThread(NULL, 0, &HDDThreadRead, (LPVOID)(&thrArg), 0, &threadID);
setReg(REG_B, 1);
break;
case HDD_STATE_BUSY:
setError(HDD_ERROR_BUSY);
setReg(REG_B, 0);
break;
}
}
case 4:
{
switch (hddState)
{
case HDD_STATE_READY:
(getReg)(REG_X, &itr);
thrArg = (thrArg << 16) + itr;
(getReg)(REG_Y, &itr);
thrArg = (thrArg << 16) + itr;
(getReg)(REG_Z, &itr);
thrArg = (thrArg << 16) + itr;
threadH = CreateThread(NULL, 0, &HDDThreadWrite, (LPVOID)(&thrArg), 0, &threadID);
setReg(REG_B, 1);
break;
case HDD_STATE_BUSY:
setError(HDD_ERROR_BUSY);
setReg(REG_B, 0);
break;
}
}
}
return cycle;
}
/*
** ===================================================================
** Method : Inhr6_Init (component AsynchroSerial)
**
** Description :
** Initializes the associated peripheral(s) and the bean internal
** variables. The method is called automatically as a part of the
** application initialization code.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
void Inhr6_Init(void)
{
SerFlag = 0; /* Reset flags */
/* SCI_CTRL1: LOOP=0,SWAI=0,RSRC=0,M=0,WAKE=0,POL=0,PE=0,PT=0,TEIE=0,TIIE=0,RFIE=0,REIE=0,TE=0,RE=0,RWU=0,SBK=0 */
setReg(SCI_CTRL1, 0); /* Set the SCI configuration */
/* SCI_RATE: SBR=26,FRAC_SBR=0 */
setReg(SCI_RATE, 208); /* Set prescaler bits */
HWEnDi(); /* Enable/disable device according to status flags */
}
/*
** ===================================================================
** Method : COUNTER2_Init (component EventCntr16)
**
** Description :
** Initializes the associated peripheral(s) and the beans
** internal variables. The method is called automatically as a
** part of the application initialization code.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
void COUNTER2_Init(void)
{
/* TMR1_CTRL: CM=0,PCS=0,SCS=0,ONCE=0,LENGTH=0,DIR=0,Co_INIT=0,OM=0 */
setReg(TMR1_CTRL,0); /* Stop all functions of the timer */
/* TMR1_SCR: TCF=0,TCFIE=0,TOF=0,TOFIE=1,IEF=0,IEFIE=0,IPS=0,INPUT=0,Capture_Mode=0,MSTR=0,EEOF=0,VAL=0,FORCE=0,OPS=0,OEN=0 */
setReg(TMR1_SCR,4096); /* Enable interrupt on overflow, select input edge polarity */
/* TMR1_COMSCR: DBG_EN=0,??=0,??=0,??=0,??=0,??=0,??=0,TCF2EN=0,TCF1EN=0,TCF2=0,TCF1=0,CL2=0,CL1=0 */
setReg(TMR1_COMSCR,0); /* Disable interrupt on compare, disable compare preload */
setReg(TMR1_CNTR,0); /* Initialize counter register */
/* TMR1_CTRL: CM=1,PCS=2,SCS=0,ONCE=0,LENGTH=0,DIR=0,Co_INIT=0,OM=0 */
setReg(TMR1_CTRL,9216); /* Initialize timer control register */
}
/*
** ===================================================================
** Method : Resolver_Init (component SynchroMaster)
**
** Description :
** Initializes the associated peripheral(s) and the beans
** internal variables. The method is called automatically as a
** part of the application initialization code.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
void Resolver_Init(void)
{
/* QSPI0_SCTRL: SPR=4,DSO=0,ERRIE=0,MODFEN=0,SPRIE=0,SPMSTR=1,CPOL=1,CPHA=1,SPE=0,SPTIE=0,SPRF=0,OVRF=0,MODF=1,SPTE=0 */
setReg(QSPI0_SCTRL,0x81C2); /* Set control register */
/* QSPI0_DSCTRL: WOM=0,??=0,??=0,BD2X=0,SSB_IN=0,SSB_DATA=1,SSB_ODM=0,SSB_AUTO=0,SSB_DDR=1,SSB_STRB=0,SSB_OVER=0,SPR3=0,DS=0x0B */
setReg(QSPI0_DSCTRL,0x048B); /* Set data size and control register */
/* QSPI0_DELAY: ??=0,??=0,??=0,WAIT=1 */
setReg(QSPI0_DELAY,0x01); /* Set data size and control register */
SerFlag = 0; /* Reset all flags */
EnUser = FALSE; /* Disable device */
HWEnDi(); /* Enable/disable device according to the status flags */
}
void memoryAcessControl(uint64_t ir){
if ((ir != 10)&&(ir>=1)&&(ir<=12)){
turnON(READMEM_FLAG);
}else if (ir == 33){
turnON(WRITEMEM_FLAG);
setReg(MSK, 0);
}else if (ir == 18){
turnON(WRITEMEM_FLAG);
setReg(MSK, LCLEAN);
}else if (ir == 19){
turnON(WRITEMEM_FLAG);
setReg(MSK, RCLEAN);
}
}
/*
** ===================================================================
** Method : Timer_Init
**
** Description :
** This method is internal. It is used by Processor Expert
** only.
** ===================================================================
*/
void Timer_Init(void)
{
/* TMRC0_CTRL: CM=0,PCS=0,SCS=0,ONCE=0,LENGTH=1,DIR=0,Co_INIT=0,OM=0 */
setReg(TMRC0_CTRL,32); /* Stop all functions of the timer */
/* TMRC1_CTRL: CM=7,PCS=4,SCS=0,ONCE=0,LENGTH=1,DIR=0,Co_INIT=0,OM=0 */
setReg(TMRC1_CTRL,59424); /* Set up cascade counter mode */
setReg(TMRC1_CNTR,0); /* Reset counter register */
setReg(TMRC0_CNTR,0);
setReg(TMRC1_LOAD,0); /* Reset load register */
setReg(TMRC0_LOAD,0);
setReg(TMRC1_CMP1,639); /* Store given value to the compare registers */
setReg(TMRC0_CMP1,62499);
setRegBitGroup(TMRC0_CTRL,PCS,8); /* Store given value to the prescaler */
setReg(TMRC0_CNTR,0); /* Reset counter */
setReg(TMRC1_CNTR,0);
}
ret_t rtl8370_setAsicRegBits(uint32 reg, uint32 bits, uint32 value)
{
uint32 regData;
uint32 bitsShift;
uint32 valueShifted;
if(reg > RTL8370_REGDATAMAX )
return RT_ERR_INPUT;
if(bits >= (1<<RTL8370_REGBITLENGTH) )
return RT_ERR_INPUT;
bitsShift = 0;
while(!(bits & (1 << bitsShift)))
{
bitsShift++;
if(bitsShift >= RTL8370_REGBITLENGTH)
return RT_ERR_INPUT;
}
valueShifted = value << bitsShift;
if(valueShifted > RTL8370_REGDATAMAX)
return RT_ERR_INPUT;
regData = getReg(reg);
regData = regData & (~bits);
regData = regData | (valueShifted & bits);
setReg(reg, regData);
return RT_ERR_OK;
}
/**
* initializes the counter/timer. the timer is initialized w/ 1ms period.
*/
void TI1_init (void)
{
/* TMRA3_CTRL: CM=0,PCS=0,SCS=0,ONCE=0,LENGTH=1,DIR=0,Co_INIT=0,OM=0 */
setReg (TMRA3_CTRL, 0x20); /* Stop all functions of the timer */
/* TMRA3_SCR: TCF=0,TCFIE=1,TOF=0,TOFIE=0,IEF=0,IEFIE=0,IPS=0,INPUT=0,Capture_Mode=0,MSTR=0,EEOF=0,VAL=0,FORCE=0,OPS=0,OEN=0 */
setReg (TMRA3_SCR, 0x4000);
setReg (TMRA3_LOAD, 0); /* Reset load register */
setReg (TMRA3_CMP1, 39999); /* Store appropriate value to the compare register according to the selected high speed CPU mode */
clrRegBits (TMRA3_CTRL, 0x1e00);
setRegBits (TMRA3_CTRL, 4096); /* Set prescaler register according to the selected high speed CPU mode */
setReg (TMRA3_CNTR, 0); /* Reset counter */
clrRegBits (TMRA3_CTRL, 0xe000);
setRegBits (TMRA3_CTRL, 0x2000); /* counter on! */
}
/*
** ===================================================================
** Method : AS1_SendChar (component AsynchroSerial)
** Description :
** Sends one character to the channel. If the component is
** temporarily disabled (Disable method) SendChar method only
** stores data into an output buffer. In case of a zero output
** buffer size, only one character can be stored. Enabling the
** component (Enable method) starts the transmission of the
** stored data. This method is available only if the
** transmitter property is enabled.
** Version specific information for Freescale 56800 derivatives
** DMA mode:
** If DMA controller is available on the selected CPU and the
** transmitter is configured to use DMA controller then this
** method only sets selected DMA channel. Then the status of
** the DMA transfer can be checked using GetCharsInTxBuf method.
** See an example of a typical usage for details about
** communication using DMA.
** Parameters :
** NAME - DESCRIPTION
** Chr - Character to send
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_TXFULL - Transmitter is full
** ===================================================================
*/
byte AS1_SendChar(AS1_TComData Chr)
{
if ((getRegBit(SCI_SCISR, TDRE) == 0U)) { /* Is the transmitter empty? */
return ERR_TXFULL; /* If yes then error */
}
setReg(SCI_SCIDR, Chr); /* Store char to transmitter register */
return ERR_OK; /* OK */
}
/*
** ===================================================================
** Method : PIT_1ms_Init (component TimerInt)
**
** Description :
** Initializes the associated peripheral(s) and the beans
** internal variables. The method is called automatically as a
** part of the application initialization code.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
void PIT_1ms_Init(void)
{
/* PIT0_CTRL: SLAVE=0,??=0,??=0,??=0,??=0,??=0,CLKSEL=0,??=0,PRESCALER=0,PRF=0,PRIE=1,CNT_EN=0 */
setReg(PIT0_CTRL,0x02); /* Set up control register */
SetCV((word)0xC350); /* Store appropriate value to the compare register according to the selected high speed CPU mode */
SetPV((byte)0x01); /* Set prescaler register according to the selected high speed CPU mode */
HWEnDi(); /* Enable/disable device according to status flags */
}
/*
** ===================================================================
** Method : Bits1_PutVal (component BitsIO)
**
** Description :
** This method writes the new output value.
** a) direction = Input : sets the new output value;
** this operation will be shown on
** output after the direction has
** been switched to output
** (SetDir(TRUE);)
** b) direction = Output : directly writes the value to the
** appropriate pins
** Parameters :
** NAME - DESCRIPTION
** Val - Output value (0 to 3)
** Returns : Nothing
** ===================================================================
*/
void Bits1_PutVal(byte Val)
{
register word Temp; /* Temporary variable */
Temp = (((word)Val)<<6) & Bits1_PIN_MASK; /* Prepare value for output */
Shadow_GPIO_B_DATA = Shadow_GPIO_B_DATA & ~Bits1_PIN_MASK | Temp; /* Set-up bits in shadow variable */
setReg(GPIO_B_DATA,(getReg(GPIO_B_DATA)) & ~Bits1_PIN_MASK | Temp); /* Set-up bits on port */
}
/**
* Enables the PWM pad and clears fault pins.
* @return ERR_OK always.
*/
byte PWMC1_outputPadEnable (void)
{
setRegBit (PWMB_PMOUT, PAD_EN);
#ifndef EMERGENCY_DISABLED
setReg (PWMB_PMFSA, 0x55);
#endif
return ERR_OK;
}
/*
** ===================================================================
** Method : Inhr6_SendChar (component AsynchroSerial)
**
** Description :
** Sends one character to the channel. If the bean is
** temporarily disabled (Disable method) SendChar method
** only stores data into an output buffer. In case of a zero
** output buffer size, only one character can be stored.
** Enabling the bean (Enable method) starts the transmission
** of the stored data. This method is available only if the
** transmitter property is enabled.
** Version specific information for Freescale 56800
** derivatives ]
** DMA mode:
** If DMA controller is available on the selected CPU and
** the transmitter is configured to use DMA controller then
** this method only sets selected DMA channel. Then the
** status of the DMA transfer can be checked using
** GetCharsInTxBuf method. See an example of a typical usage
** for details about communication using DMA.
** Parameters :
** NAME - DESCRIPTION
** Chr - Character to send
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_TXFULL - Transmitter is full
** ===================================================================
*/
byte Inhr6_SendChar(Inhr6_TComData Chr)
{
if (!getRegBit(SCI_STAT, TDRE)) { /* Is the transmitter empty? */
return ERR_TXFULL; /* If yes then error */
}
setReg(SCI_DATA, Chr); /* Store char to transmitter register */
return ERR_OK; /* OK */
}
auto V30MZ::opExchangeMemReg(Size size) {
wait(2);
modRM();
auto mem = getMem(size);
auto reg = getReg(size);
setMem(size, reg);
setReg(size, mem);
}
//*********************************************************
void Init_Brushless_Comm()
{
UInt8 tmp;
DutyCycle[0].Duty = MIN_DUTY;
DutyCycle[0].Dir = 0;
DutyCycleReq[0].Duty = MIN_DUTY;
DutyCycleReq[0].Dir = 0;
pTable0 = bldcCommutationTableComp;
DutyCycle[1].Duty = MIN_DUTY;
DutyCycle[1].Dir = 0;
DutyCycleReq[1].Duty = MIN_DUTY;
DutyCycleReq[1].Dir = 0;
pTable1 = bldcCommutationTableComp;
Init_Hall_Effect_0();
Init_Hall_Effect_1();
// inizializzazione dello stato del motore
status0=getReg(QD0_IMR) >> 5;
status1=getReg(QD1_IMR) >> 5;
PWMState[0] = pTable0[status0];
old_status0 = status0;
PWMState[1] = pTable1[status1];
old_status1 = status1;
//Init PWM
PWM_A_init ();
PWM_B_init ();
// write mask to PWM Channel Control Register /
tmp = getReg(PWMA_PMOUT) & 0x8000;
// Set output control enable to PWMOUT
setReg(PWMA_PMOUT,tmp | PWMState[0].MaskOut | (PWMState[0].Mask<<8));
tmp = getReg(PWMB_PMOUT) & 0x8000;
// Set output control enable to PWMOUT
setReg(PWMB_PMOUT,tmp | PWMState[1].MaskOut | (PWMState[1].Mask<<8));
// Init duty cycle timer
TD0_init();
}
ret_t rtl8370_setAsicReg(uint32 reg, uint32 value)
{
if(reg > RTL8370_REGDATAMAX || value > RTL8370_REGDATAMAX )
return RT_ERR_INPUT;
setReg(reg, value);
return RT_ERR_OK;
}
/*initialization of the grid*/
int init(CPU * grid){
int i = 0;
while (i < NB_CPU){
setMem(&grid[i]);
setReg(&grid[i]);
i++;
}
return 0;
}
/**
* sets the period of the PWM signal.
* @param period is the period of the PWM in the 15 bit range. This is the
* modulo of the counter.
* @return ERR_OK or ERR_RANGE.
*/
byte PWMC1_setPeriod (word period)
{
if (period < 32768)
setReg (PWMB_PWMCM, period);
else
return ERR_RANGE;
return ERR_OK;
}
/*
** ===================================================================
** Method : FC81_Reset (component FreeCntr8)
**
** Description :
** This method clears the counter.
** Parameters : None
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ===================================================================
*/
byte FC81_Reset(void)
{
EnterCritical(); /* Disable global interrupts */
setReg(TMR0_CNTR,0); /* Reset counter register */
TTicks = 0; /* Reset counter of timer ticks */
TOvf = FALSE; /* Reset counter overflow flag */
ExitCritical(); /* Enable global interrupts */
return ERR_OK; /* OK */
}
void PulsePlug::initSensor()
{
PulsePlug::setReg(PulsePlug::HW_KEY, 0x17);
// pulsePlug.setReg(PulsePlug::COMMAND, PulsePlug::RESET_Cmd);
//
setReg(PulsePlug::INT_CFG, 0x03); // turn on interrupts
setReg(PulsePlug::IRQ_ENABLE, 0x10); // turn on interrupt on PS3
setReg(PulsePlug::IRQ_MODE2, 0x01); // interrupt on ps3 measurement
setReg(PulsePlug::MEAS_RATE, 0x84); // 10ms measurement rate
setReg(PulsePlug::ALS_RATE, 0x08); // ALS 1:1 with MEAS
setReg(PulsePlug::PS_RATE, 0x08); // PS 1:1 with MEAS
// Current setting for LEDs pulsed while taking readings
// PS_LED21 Setting for LEDs 1 & 2. LED 2 is high nibble
// each LED has 16 possible (0-F in hex) possible settings
// see the SI114x datasheet.
// These settings should really be automated with feedback from output
// On my todo list but your patch is appreciated :)
// support at moderndevice dot com.
setReg(PulsePlug::PS_LED21, 0x39); // LED current for 2 (IR1 - high nibble) & LEDs 1 (red - low nibble)
setReg(PulsePlug::PS_LED3, 0x02); // LED current for LED 3 (IR2)
writeParam(PulsePlug::PARAM_CH_LIST, 0x77); // all measurements on
// increasing PARAM_PS_ADC_GAIN will increase the LED on time and ADC window
// you will see increase in brightness of visible LED's, ADC output, & noise
// datasheet warns not to go beyond 4 because chip or LEDs may be damaged
writeParam(PulsePlug::PARAM_PS_ADC_GAIN, 0x00);
// You can select which LEDs are energized for each reading.
// The settings below (in the comments)
// turn on only the LED that "normally" would be read
// ie LED1 is pulsed and read first, then LED2 & LED3.
writeParam(PulsePlug::PARAM_PSLED12_SELECT, 0x21); // 21 select LEDs 2 & 1 (red) only
writeParam(PulsePlug::PARAM_PSLED3_SELECT, 0x04); // 4 = LED 3 only
// Sensors for reading the three LEDs
// 0x03: Large IR Photodiode
// 0x02: Visible Photodiode - cannot be read with LEDs on - just for ambient measurement
// 0x00: Small IR Photodiode
writeParam(PulsePlug::PARAM_PS1_ADCMUX, 0x03); // PS1 photodiode select
writeParam(PulsePlug::PARAM_PS2_ADCMUX, 0x03); // PS2 photodiode select
writeParam(PulsePlug::PARAM_PS3_ADCMUX, 0x03); // PS3 photodiode select
writeParam(PulsePlug::PARAM_PS_ADC_COUNTER, B01110000); // B01110000 is default
setReg(PulsePlug::COMMAND, PulsePlug::PSALS_AUTO_Cmd); // starts an autonomous read loop
}
void PWMAReload_Interrupt(void)
{
//clear the interrupt flag of the pwm reload interrupt
clrRegBits(PWMA_PMCTL, PWMA_PMCTL_PWMF_MASK);
//read the hall sensors
status0=HALLSENSOR0;
if (old_status0!= status0)
{
if (status0 == DIRECTION_TABLE[old_status0])
{
comm_enc[0]++;
// phase_changed[0]=1;
// write mask to PWM Channel Control Register
PWMState[0]= pTable0[status0];
tmp = getReg(PWMA_PMOUT) & 0x8000;
val=tmp | PWMState[0].MaskOut | (PWMState[0].Mask<<8);
setReg(PWMA_PMOUT,val);
old_status0 = status0;
}
else if (status0 == DIRECTION_TABLE_INV[old_status0])
{
comm_enc[0]--;
// phase_changed[0]=1;
// write mask to PWM Channel Control Register
PWMState[0]= pTable0[status0];
tmp = getReg(PWMA_PMOUT) & 0x8000;
val=tmp | PWMState[0].MaskOut | (PWMState[0].Mask<<8);
setReg(PWMA_PMOUT,val);
old_status0 = status0;
}
else
{
hall_error[0]=HALL_ERROR_TABLE;
PWM_outputPadDisable(0);
#ifdef DEBUG_CAN_MSG
can_printf("HALL ERROR 0");
#endif
}
}
}
/*
** ===================================================================
** Method : LED_SetDir (component BitIO)
**
** Description :
** This method sets direction of the bean.
** Parameters :
** NAME - DESCRIPTION
** Dir - Direction to set (FALSE or TRUE)
** FALSE = Input, TRUE = Output
** Returns : Nothing
** ===================================================================
*/
void LED_SetDir(bool Dir)
{
if (Dir) { /* Is given direction output? */
setReg(GPIO_A_DR,((getReg(GPIO_A_DR)) & ~LED_PIN_MASK) | (Shadow_GPIO_A_DR & LED_PIN_MASK)); /* Restore correct value of output from shadow variable */
setRegBits(GPIO_A_DDR,LED_PIN_MASK); /* Set direction to output */
}
else { /* Is given direction input? */
clrRegBits(GPIO_A_DDR,LED_PIN_MASK); /* Set direction to input */
}
}
