int main(void) {
cpu_set_clock_source(cpu_32mhz_clock);
cpu_configure_interrupt_level(cpu_interrupt_level_medium, true);
cpu_configure_interrupt_level(cpu_interrupt_level_low, true);
cpu_configure_interrupt_level(cpu_interrupt_level_high, true);
uint8_t outbuffer[128];
uint8_t inbuffer[128];
uart_port_t debug_port = uart_init_port(&PORTE, &USARTE0, uart_baud_115200, outbuffer, 128, inbuffer, 128);
uart_connect_port(&debug_port, true);
printf("Menial PWM test.....\n> ");
pwm_output_t pwm_output = pwm_initilize_output(io_init_pin(&PORTC, 4), pwm_div256, 1000);
pwm_enable_output(&pwm_output);
PORTC.DIRSET = 1<<3;
while (1) {
PORTC.OUTTGL = 1<<3;
pwm_set_output(&pwm_output, 100);
_delay_ms(1000);
PORTC.OUTTGL = 1<<3;
pwm_set_output(&pwm_output, 500);
_delay_ms(1000);
}
while(1);
return 1;
}
int main(void) {
cpu_set_clock_source(cpu_32mhz_clock);
cpu_configure_interrupt_level(cpu_interrupt_level_medium, true);
cpu_configure_interrupt_level(cpu_interrupt_level_low, true);
cpu_configure_interrupt_level(cpu_interrupt_level_high, true);
uint8_t outbuffer[128];
uint8_t inbuffer[128];
uart_port_t debug_port = uart_init_port(&PORTE, &USARTE0, uart_baud_115200, outbuffer, 128, inbuffer, 128);
uart_connect_port(&debug_port, true);
printf("Menial e-stop test.....\n> ");
PORTC.DIRSET = 0b111;
PORTC.OUTSET = 0b10;
estop_port_t estop_port = estop_init_port(io_init_pin(&PORTJ,6),io_init_pin(&PORTJ,7),&TCE0,main_estop);
estop_enable_port(&estop_port);
PORTCFG.MPCMASK = 0xFF;
PORTK.PIN0CTRL = 0b11<<3;
while(1);
return 1;
}
/** Initialise the UART console. */
void uart_init(void) {
/* Initialise the debug port and set it as the debug console. */
uart_init_port(DEBUG_UART, 115200);
debug_console = &uart_console;
uart_console_putch('\n');
}
void imu_init_uart(void) {
imu_port = uart_init_port(&PORTE, &USARTE0, uart_baud_460800, imu_tx_buffer, UART_TX_BUFFER_SIZE, imu_rx_buffer, UART_RX_BUFFER_SIZE);
uart_connect_port(&imu_port, true);
}
