-
Notifications
You must be signed in to change notification settings - Fork 0
/
main.c
240 lines (182 loc) · 7.69 KB
/
main.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
/*----------------------------------------------------------------------------
* Program do manipulatora
*----------------------------------------------------------------------------
* Prezentacja aplikacji mikrokontrolerów Freescale
* Kraków 2015
*----------------------------------------------------------------------------
* Bartlomiej Buczek
*
*---------------------------------------------------------------------------*/
#include "MKL25Z4.h" // Device header
#define RED_WIRE 0 //definicje wyjsc do silnika
#define BLUE_WIRE 1
#define ORANGE_WIRE 2
#define YELLOW_WIRE 3
const uint32_t led_mask[] = {1UL << 8, 1UL << 2, 1UL << 10, 1UL << 11, 1UL << 0, 1UL << 1,}; //tablica stalych pomocniczych
volatile int temp1, temp2; //zmienne pozycyjne serw modyfikowane w przerwaniach
const int krok= 1;
const int min = 15;
const int max=70;
/*----------------------------------------------------------------------------
Inicjalizacja pinów GPIO
*----------------------------------------------------------------------------*/
void GPIO_Initialize(void) {
PORTA->PCR[1] = (1UL << PORT_PCR_MUX_SHIFT)|(1UL << PORT_PCR_PE_SHIFT)|(1UL << PORT_PCR_PS_SHIFT)|(10UL<<PORT_PCR_IRQC_SHIFT);/* switche do serw */
PORTA->PCR[2] = (1UL << PORT_PCR_MUX_SHIFT)|(1UL << PORT_PCR_PE_SHIFT)|(1UL << PORT_PCR_PS_SHIFT)|(10UL<<PORT_PCR_IRQC_SHIFT);
PORTD->PCR[0] = (1UL << PORT_PCR_MUX_SHIFT)|(1UL << PORT_PCR_PE_SHIFT)|(1UL << PORT_PCR_PS_SHIFT)|(10UL<<PORT_PCR_IRQC_SHIFT);
PORTD->PCR[1] = (1UL << PORT_PCR_MUX_SHIFT)|(1UL << PORT_PCR_PE_SHIFT)|(1UL << PORT_PCR_PS_SHIFT)|(10UL<<PORT_PCR_IRQC_SHIFT);
PORTE->PCR[22] |= (3<<PORT_PCR_MUX_SHIFT); /* kanaly PWM*/
PORTE->PCR[20] |= (3<<PORT_PCR_MUX_SHIFT);
PORTB->PCR[0] = (1UL << PORT_PCR_MUX_SHIFT )|(1UL << PORT_PCR_PE_SHIFT )|(1UL << PORT_PCR_PS_SHIFT ); /* switche do silnika */
PORTB->PCR[1] = (1UL << PORT_PCR_MUX_SHIFT )|(1UL << PORT_PCR_PE_SHIFT )|(1UL << PORT_PCR_PS_SHIFT );
PORTB->PCR[8] = (1UL << PORT_PCR_MUX_SHIFT ); /* GPIO silnika - wyjscia */
PORTB->PCR[2] = (1UL << PORT_PCR_MUX_SHIFT );
PORTB->PCR[10] = (1UL << PORT_PCR_MUX_SHIFT );
PORTB->PCR[11] = (1UL << PORT_PCR_MUX_SHIFT );
FPTB->PDDR = (led_mask[0] | /* Wyjscia silnika*/
led_mask[1] |
led_mask[2] |
led_mask[3] );
FPTB->PDOR = (led_mask[4] |
led_mask[5] ); /*wysoki stan na wyjsciach */
}
/*--------------------------------------------------/
Timer2 Initialization
/--------------------------------------------------*/
void Timer2_init(void){
SIM->SOPT2 |= (3<< SIM_SOPT2_TPMSRC_SHIFT ); /* use MCGIRCLK as timer counter clock */
TPM2->SC = 0; /* disable timer while configuring */
TPM2->MOD = 0x290; /* modulo value */
TPM2->CONTROLS[0].CnSC = 0xE8; /* PWM edge aligned, clear CHF, enable int from channel nad CHF clear */
TPM2->CONTROLS[0].CnV = temp2;
TPM2->SC |= (1<<TPM_SC_TOF_SHIFT); /* clear TOF */
TPM2->SC |= (1<<TPM_SC_CMOD_SHIFT); /* enable timer free-running mode and interrupt */
}
/*--------------------------------------------------/
Timer1 Initialization
/--------------------------------------------------*/
void Timer1_init(void){
SIM->SOPT2 |= (3<< SIM_SOPT2_TPMSRC_SHIFT ); /* use MCGIRCLK as timer counter clock */
TPM1->SC = 0; /* disable timer while configuring */
TPM1->MOD = 0x290; /* modulo value */
TPM1->CONTROLS[0].CnSC = 0xE8; /* PWM edge aligned, clear CHF, enable int from channel nad CHF clear */
TPM1->CONTROLS[0].CnV = temp1;
TPM1->SC |= (1<<TPM_SC_TOF_SHIFT); /* clear TOF */
TPM1->SC |= (1<<TPM_SC_CMOD_SHIFT); /* enable timer free-running mode and interrupt */
}
/*--------------------------------------------------/
Delay Function
/--------------------------------------------------*/
void delayMs(int n){
int32_t i, j;
for(i = 0 ; i < n; i++)
for(j = 0; j < 700; j++)
{} /* do nothing for 1 ms */
}
/*----------------------------------------------------------------------------
Funkcja w lewo (silnik krokowy)
*----------------------------------------------------------------------------*/
void lewo(int opoznienie) {
FPTB->PCOR = led_mask[RED_WIRE];
FPTB->PCOR = led_mask[YELLOW_WIRE];
FPTB->PSOR = led_mask[BLUE_WIRE];
FPTB->PSOR = led_mask[ORANGE_WIRE];
delayMs(opoznienie);
FPTB->PCOR = led_mask[RED_WIRE];
FPTB->PSOR = led_mask[YELLOW_WIRE];
FPTB->PSOR = led_mask[BLUE_WIRE];
FPTB->PCOR = led_mask[ORANGE_WIRE];
delayMs(opoznienie);
FPTB->PSOR = led_mask[RED_WIRE];
FPTB->PSOR = led_mask[YELLOW_WIRE];
FPTB->PCOR = led_mask[BLUE_WIRE];
FPTB->PCOR = led_mask[ORANGE_WIRE];
delayMs(opoznienie);
FPTB->PSOR = led_mask[RED_WIRE]; /* RED LED Off*/
FPTB->PCOR = led_mask[YELLOW_WIRE]; /* RED LED Off*/
FPTB->PCOR = led_mask[BLUE_WIRE]; /* blue LED On*/
FPTB->PSOR = led_mask[ORANGE_WIRE]; /* blue LED On*/
delayMs(opoznienie);
}
/*----------------------------------------------------------------------------
Funkcja w prawo(silnik krokowy)
*----------------------------------------------------------------------------*/
void prawo(int opoznienie) {
FPTB->PSOR = led_mask[RED_WIRE];
FPTB->PSOR = led_mask[YELLOW_WIRE];
FPTB->PCOR = led_mask[BLUE_WIRE];
FPTB->PCOR = led_mask[ORANGE_WIRE];
delayMs(opoznienie);
FPTB->PCOR = led_mask[RED_WIRE];
FPTB->PSOR = led_mask[YELLOW_WIRE];
FPTB->PSOR = led_mask[BLUE_WIRE];
FPTB->PCOR = led_mask[ORANGE_WIRE];
delayMs(opoznienie);
FPTB->PCOR = led_mask[RED_WIRE];
FPTB->PCOR = led_mask[YELLOW_WIRE];
FPTB->PSOR = led_mask[BLUE_WIRE];
FPTB->PSOR = led_mask[ORANGE_WIRE];
delayMs(opoznienie);
FPTB->PSOR = led_mask[RED_WIRE];
FPTB->PCOR = led_mask[YELLOW_WIRE];
FPTB->PCOR = led_mask[BLUE_WIRE];
FPTB->PSOR = led_mask[ORANGE_WIRE];
delayMs(opoznienie);
}
/*----------------------------------------------------------------------------
Inicjalizacja Zegarów
*----------------------------------------------------------------------------*/
void Clock_Initialize(void){
SIM->SCGC6 |= (1UL<<SIM_SCGC6_TPM1_SHIFT)|(1UL<<SIM_SCGC6_TPM2_SHIFT); /* enable clock to TPM2 and TPM1 */
SIM->SCGC5 |= (1UL <<SIM_SCGC5_PORTB_SHIFT)|(1UL <<SIM_SCGC5_PORTA_SHIFT)|(1UL <<SIM_SCGC5_PORTE_SHIFT)|(1UL <<SIM_SCGC5_PORTD_SHIFT); /* Enable Clock to PORTB and PORTA */
}
int main (void)
{
int start_position = 42; //zmienna pomocniczne do sterowania serwami
__disable_irq();
temp1=temp2=start_position;
Clock_Initialize();
GPIO_Initialize();
Timer1_init();
Timer2_init();
__enable_irq();
FPTB->PDOR =0;
NVIC->ICER[0]|=(1UL<<(30%32))|(1UL<<(31%32));
NVIC->ISER[0]|=(1UL<<(30%32))|(1UL<<(31%32));
while(1){
if( !(FPTB->PDIR&(1<<0))){
prawo(700);
}
if(!(FPTB->PDIR&(1<<1))){
lewo(700);
}
}
}
void PORTA_IRQHandler(){
if(!(FPTA->PDIR&(1<<1))){
if(TPM1->CONTROLS[0].CnV<=max){
TPM1->CONTROLS[0].CnV=TPM1->CONTROLS[0].CnV+krok;
TPM1->SC |= 0x80;
}
}else if(!(FPTA->PDIR&(1<<2))){
if(TPM1->CONTROLS[0].CnV>min){
TPM1->CONTROLS[0].CnV=TPM1->CONTROLS[0].CnV-krok;
TPM1->SC |= 0x80;
}
}
PORTA->ISFR=0xFFFFFFFF;
}
void PORTD_IRQHandler(){
if(!(FPTD->PDIR&(1<<0))){
if(TPM2->CONTROLS[0].CnV<=max){
TPM2->CONTROLS[0].CnV=TPM2->CONTROLS[0].CnV+krok;
TPM2->SC |= 0x80;
}
}else if(!(FPTD->PDIR&(1<<1))){
if(TPM2->CONTROLS[0].CnV>=min){
TPM2->CONTROLS[0].CnV=TPM2->CONTROLS[0].CnV-krok;
TPM2->SC |= 0x80;
}
}
PORTD->ISFR=0xFFFFFFFF;
}