#define xdc__strict //gets rid of #303-D typedef warning re Uint16, Uint32 //#define abs(t) (((t)>=0) ? (t) : -(t)) // define absolute #include #include #include #include #include #include "Peripheral_Headers/F2802x_Device.h" //function prototypes: /* * ======== main ======== */ Int main() { DeviceInit(); //initialize peripherals /* * Start BIOS * Perform a few final initializations and then * fall into a loop that continually calls the * installed Idle functions. */ BIOS_start(); /* does not return */ return(0); } /* * ======== myTickFxn ======== * Timer Tick function that increments a counter, and sets the isrFlag. */ Void myTickFxn(UArg arg) { GpioDataRegs.GPASET.bit.GPIO2 = 1; // set GPIO 2 to High to get CPU utilization tickCount += 1; /* increment the counter */ } /* * ======== myIdleFxn ======== * Background idle function that is called repeatedly * from within BIOS_start() thread. */ Void myIdleFxn(Void) { // we dont really need idle, so our task usage could be 100% // bottom is the setup pin if later we want to use Idle for a LED GpioDataRegs.GPACLEAR.bit.GPIO2 = 1; // set GPIO 2 to Low to get CPU utilization } /* * ======== myPBFxn ======== * Reset Button to a center position for Solar Panel */ Void myPBFxn(Void) { GpioDataRegs.GPASET.bit.GPIO2 = 1; // set GPIO 2 to High to get CPU utilization pbcount++; EPwm1Regs.CMPA.half.CMPA = 176; // center point of the system } /* * ======== AtoD ======== * Hwi1: hardware interrupt * Analog to Digital converter based on timer (period 100us) * read ADC value from photo resistor */ Void AtoD(Void) { GpioDataRegs.GPASET.bit.GPIO2 = 1; // set GPIO 2 to High to get CPU utilization AdcRegs.ADCSOCFRC1.all = 0x1; //start conversion via software while (AdcRegs.ADCINTFLG.bit.ADCINT1 == 0) { ; //wait for interrupt flag to be set } AdcRegs.ADCINTFLGCLR.bit.ADCINT1 = 1; //clear interrupt flag PhotoL = AdcResult.ADCRESULT0; //get reading ch J5 5 PhotoR = AdcResult.ADCRESULT1; //get reading ch J5 7 small Voltage darker Swi_post(swi0); } /* * ======== Comp ======== * Swi0: software interrupt * Analog to Digital converter based on timer (period 100us) * read ADC value from photo resistor */ Void Comp(UArg arg) { GpioDataRegs.GPASET.bit.GPIO2 = 1; // set GPIO 2 to High to get CPU utilization tickCount += 1; Percent_PhotoL = 100 * PhotoL / 420; Percent_PhotoR = 100 * PhotoR / 420; // test_v = abs(7-8); // post two values for direction moving purpose Semaphore_post(DirectionSem); } void DirectionCalcTask(void) { /* * Pend on "mySemaphore" until the timer ISR says * its time to do something. */ for (;;) { GpioDataRegs.GPASET.bit.GPIO2 = 1; // set GPIO 2 to High to get CPU utilization Semaphore_pend(DirectionSem, BIOS_WAIT_FOREVER); /* Light side has the smaller resistance normal running @ Capstone room: based on observation RangeR: 240-480 PhotoR :290 -320*/ // Move right: max (258) @ cw (0.6 - 1.5ms); 2/480 *100% < 1% if ((Percent_PhotoR < Percent_PhotoL) && (Percent_PhotoR < 1)) { if (EPwm1Regs.CMPA.half.CMPA < 258) { EPwm1Regs.CMPA.half.CMPA++; } //EPwm1Regs.CMPA.half.CMPA += abs(Percent_PhotoR-0.5)*100/(50/29); // pass dutyCycle() here } /* RangeL: 0 - 420 PhotoL: 21- 67 */ // Move left: min (94) @ cw (1.5 - 2.2ms);6/350*100% = 0 <5% else if ((Percent_PhotoL < Percent_PhotoR) && (Percent_PhotoL < 5)) { if (EPwm1Regs.CMPA.half.CMPA > 94) { EPwm1Regs.CMPA.half.CMPA--; } } else { //EPwm1Regs.CMPA;// pass dutyCycle() //EPwm1Regs.CMPA.half.CMPA=176; } //Semaphore_pend(DirectionSem, BIOS_WAIT_FOREVER); EALLOW; // reading 1 - respective grp sent to CPU & other interrupts current blocked PieCtrlRegs.PIEACK.all = PIEACK_GROUP1; EDIS; } } #include "Peripheral_Headers/F2802x_Device.h" //function prototypes: extern void DelayUs(Uint16); void DeviceInit(void); //--------------------------------------------------------------- // Configure Device for target Application Here //--------------------------------------------------------------- void DeviceInit(void) { EALLOW; // temporarily unprotect registers // LOW SPEED CLOCKS prescale register settings SysCtrlRegs.LOSPCP.all = 0x0002; // Sysclk / 4 (15 MHz) SysCtrlRegs.XCLK.bit.XCLKOUTDIV = 2; // PERIPHERAL CLOCK ENABLES //--------------------------------------------------- // If you are not using a peripheral you may want to switch // the clock off to save power, i.e., set to =0 // // Note: not all peripherals are available on all 280x derivates. // Refer to the datasheet for your particular device. SysCtrlRegs.PCLKCR0.bit.ADCENCLK = 1; // ADC //------------------------------------------------ SysCtrlRegs.PCLKCR3.bit.COMP1ENCLK = 0; // COMP1 SysCtrlRegs.PCLKCR3.bit.COMP2ENCLK = 0; // COMP2 //------------------------------------------------ SysCtrlRegs.PCLKCR0.bit.I2CAENCLK = 0; // I2C //------------------------------------------------ SysCtrlRegs.PCLKCR0.bit.SPIAENCLK = 0; // SPI-A //------------------------------------------------ SysCtrlRegs.PCLKCR0.bit.SCIAENCLK = 0; // SCI-A //------------------------------------------------ SysCtrlRegs.PCLKCR1.bit.ECAP1ENCLK = 0; // eCAP1 //------------------------------------------------ SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 1; // ePWM1 SysCtrlRegs.PCLKCR1.bit.EPWM2ENCLK = 0; // ePWM2 SysCtrlRegs.PCLKCR1.bit.EPWM3ENCLK = 0; // ePWM3 SysCtrlRegs.PCLKCR1.bit.EPWM4ENCLK = 0; // ePWM4 //------------------------------------------------ SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; // Enable TBCLK //------------------------------------------------ //--------------------------------------------------------------- // GPIO (GENERAL PURPOSE I/O) CONFIG //--------------------------------------------------------------- //----------------------- // QUICK NOTES on USAGE: //----------------------- // If GpioCtrlRegs.GP?MUX?bit.GPIO?= 1, 2, or 3 (i.e., Non GPIO func), then leave rest of lines commented // If GpioCtrlRegs.GP?MUX?bit.GPIO?= 0 (i.e., GPIO func), then: // 1) uncomment GpioCtrlRegs.GP?DIR.bit.GPIO? = ? and choose pin to be IN or OUT // 2) If IN, can leave next two lines commented // 3) If OUT, uncomment line with ..GPACLEAR.. to force pin LOW or // uncomment line with ..GPASET.. to force pin HIGH or //--------------------------------------------------------------- //--------------------------------------------------------------- // GPIO-00 - PIN FUNCTION = blue LED D2 (rightmost on LaunchPad) GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // 0=GPIO, 1=EPWM1A, 2=Resv, 3=Resv GpioCtrlRegs.GPADIR.bit.GPIO0 = 1; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO0 = 1; // uncomment if --> Set Low initially GpioDataRegs.GPASET.bit.GPIO0 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-01 - PIN FUNCTION = blue LED D4 GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 0; // 0=GPIO, 1=EPWM1B, 2=EMU0, 3=COMP1OUT GpioCtrlRegs.GPADIR.bit.GPIO1 = 1; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO1 = 1; // uncomment if --> Set Low initially GpioDataRegs.GPASET.bit.GPIO1 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-02 - PIN FUNCTION = blue LED D3 GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 0; // 0=GPIO, 1=EPWM2A, 2=Resv, 3=Resv GpioCtrlRegs.GPADIR.bit.GPIO2 = 1; // 1=OUTput, 0=INput GpioDataRegs.GPACLEAR.bit.GPIO2 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO2 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-03 - PIN FUNCTION = blue LED D5 (leftmost on LaunchPad) GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 0; // 0=GPIO, 1=EPWM2B, 2=Resv, 3=COMP2OUT GpioCtrlRegs.GPADIR.bit.GPIO3 = 1; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO3 = 1; // uncomment if --> Set Low initially GpioDataRegs.GPASET.bit.GPIO3 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-04 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 0; // 0=GPIO, 1=EPWM3A, 2=Resv, 3=Resv GpioCtrlRegs.GPADIR.bit.GPIO4 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO4 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO4 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-05 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 0; // 0=GPIO, 1=EPWM3B, 2=Resv, 3=ECAP1 GpioCtrlRegs.GPADIR.bit.GPIO5 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO5 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO5 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-06 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 0; // 0=GPIO, 1=EPWM4A, 2=SYNCI, 3=SYNCO GpioCtrlRegs.GPADIR.bit.GPIO6 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO6 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO6 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-07 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 0; // 0=GPIO, 1=EPWM4B, 2=SCIRX-A, 3=Resv GpioCtrlRegs.GPADIR.bit.GPIO7 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO7 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO7 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-08 - GPIO-11 Do Not Exist //--------------------------------------------------------------- // GPIO-12 - PIN FUNCTION = Normally Open pushbutton S3 on LaunchPad (pulled-down) GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 0; // 0=GPIO, 1=TZ1, 2=SCITX-A, 3=Resv GpioCtrlRegs.GPADIR.bit.GPIO12 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO12 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO12 = 1; // uncomment if --> Set High initially GpioCtrlRegs.GPAPUD.bit.GPIO12 = 1; //disable internal pull-up resistor GpioIntRegs.GPIOXINT1SEL.bit.GPIOSEL = 12; XIntruptRegs.XINT1CR.bit.POLARITY = 1; XIntruptRegs.XINT1CR.bit.ENABLE = 1; //--------------------------------------------------------------- // GPIO-13 - GPIO-15 = Do Not Exist //--------------------------------------------------------------- //--------------------------------------------------------------- // GPIO-16 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 0; // 0=GPIO, 1=SPISIMO-A, 2=Resv, 3=TZ2 GpioCtrlRegs.GPADIR.bit.GPIO16 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO16 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO16 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-17 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 0; // 0=GPIO, 1=SPISOMI-A, 2=Resv, 3=TZ3 GpioCtrlRegs.GPADIR.bit.GPIO17 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO17 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO17 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-18 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 0; // 0=GPIO, 1=SPICLK-A, 2=SCITX-A, 3=XCLKOUT GpioCtrlRegs.GPADIR.bit.GPIO18 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO18 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO18 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-19 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 0; // 0=GPIO, 1=SPISTE-A, 2=SCIRX-A, 3=ECAP1 GpioCtrlRegs.GPADIR.bit.GPIO19 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO19 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO19 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-20 - GPIO-27 = Do Not Exist //--------------------------------------------------------------- // GPIO-28 - PIN FUNCTION = --Spare-- (can connect to SCIRX on LaunchPad) GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 0; // 0=GPIO, 1=SCIRX-A, 2=I2C-SDA, 3=TZ2 // GpioCtrlRegs.GPADIR.bit.GPIO28 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO28 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO28 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-29 - PIN FUNCTION = --Spare-- (can connect to SCITX on LaunchPad) GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 0; // 0=GPIO, 1=SCITXD-A, 2=I2C-SCL, 3=TZ3 // GpioCtrlRegs.GPADIR.bit.GPIO29 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPACLEAR.bit.GPIO29 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPASET.bit.GPIO29 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-30 - GPIO-31 = Do Not Exist //--------------------------------------------------------------- //-------------------------------------------------------------- // GPIO-32 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 0; // 0=GPIO, 1=I2C-SDA, 2=SYNCI, 3=ADCSOCA GpioCtrlRegs.GPBDIR.bit.GPIO32 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPBCLEAR.bit.GPIO32 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPBSET.bit.GPIO32 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-33 - PIN FUNCTION = --Spare-- GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 0; // 0=GPIO, 1=I2C-SCL, 2=SYNCO, 3=ADCSOCB GpioCtrlRegs.GPBDIR.bit.GPIO33 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPBCLEAR.bit.GPIO33 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPBSET.bit.GPIO33 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-34 - PIN FUNCTION = switch S1.1 on LaunchPad GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0; // 0=GPIO, 1=COMP2OUT, 2=EMU1, 3=Resv GpioCtrlRegs.GPBDIR.bit.GPIO34 = 0; // 1=OUTput, 0=INput // GpioDataRegs.GPBCLEAR.bit.GPIO34 = 1; // uncomment if --> Set Low initially // GpioDataRegs.GPBSET.bit.GPIO34 = 1; // uncomment if --> Set High initially //--------------------------------------------------------------- // GPIO-35 - GPIO-38 = Used for JTAG Port //--------------------------------------------------------------- //--------------------------------------------------------------- //--------------------------------------------------------------- // INITIALIZE A-D & PWM //--------------------------------------------------------------- //input channel = junction temperature sensor, SOC0, software triggering //simultaneously power up ADC's analog circuitry, bandgap, and reference buffer: AdcRegs.ADCCTL1.all = 0x00e0; //bit 7 ADCPWDN (ADC power down): 0=powered down, 1=powered up //bit 6 ADCBGPWD (ADC bandgap power down): 0=powered down, 1=powered up //bit 5 ADCREFPWD (ADC reference power down): 0=powered down, 1=powered up //generate INT pulse on end of conversion: AdcRegs.ADCCTL1.bit.INTPULSEPOS = 1; //enable ADC: AdcRegs.ADCCTL1.bit.ADCENABLE = 1; //wait 1 ms after power-up before using the ADC: DelayUs(1000); AdcRegs.ADCSAMPLEMODE.bit.SIMULEN0 = 1; //configure to sample on-chip temperature sensor: // AdcRegs.ADCCTL1.bit.TEMPCONV = 1; //connect A5 to temp sensor AdcRegs.ADCSOC0CTL.bit.CHSEL = 1; //set SOC0 to sample A0, FOR ADCINA11 $ ADCINB1 AdcRegs.ADCSOC0CTL.bit.ACQPS = 0x6; //set SOC0 window to 7 ADCCLKs //AdcRegs.INTSEL1N2.bit.INT1SEL = 0; //connect interrupt ADCINT1 to EOC0 AdcRegs.INTSEL1N2.bit.INT1SEL = 0; // AdcRegs.INTSEL1N2.bit.INT1CONT = 0; // AdcRegs.INTSEL1N2.bit.INT1E = 1; //enable interrupt ADCINT1 // EPWM1 Initialization EPwm1Regs.TBPRD = 2344; // Period in TBCLK counts, sets period based on SYSCLK(60MHz) / (CLKDIV*HSPCLKDIV) EPwm1Regs.CMPA.half.CMPA = 176; // Compare counter for EPWMA, sets duty cycle relate to center of the solar Panel //EPwm1Regs.CMPA = 45; EPwm1Regs.CMPB = 200; // Compare counter for EPWMB, sets duty cycle EPwm1Regs.TBPHS.all = 0; // Set Phase register to zero EPwm1Regs.TBCTR = 0; // clear TBCLK counter EPwm1Regs.TBCTL.bit.CTRMODE = 0; // Set mode to up-count EPwm1Regs.TBCTL.bit.PHSEN = 0; // Phase loading disabled EPwm1Regs.TBCTL.bit.PRDLD = 0; // Select Shadow Register Loading EPwm1Regs.TBCTL.bit.SYNCOSEL = 3; // Disables the EPWM Synchronization EPwm1Regs.TBCTL.bit.HSPCLKDIV = 2; // Multiplies SYSCLKDIV divisor CLKDIV EPwm1Regs.TBCTL.bit.CLKDIV = 7; // Determines SYSCLK Divisor to create TBCLK EPwm1Regs.CMPCTL.bit.SHDWAMODE = 0; // Select Counter Compare Shadow Mode for EPWMA EPwm1Regs.CMPCTL.bit.SHDWBMODE = 0; // Select Counter Compare Shadow Mode for EPWMB EPwm1Regs.CMPCTL.bit.LOADAMODE = 0; // Set timer to zero initially for EPWMA EPwm1Regs.CMPCTL.bit.LOADBMODE = 0; // Set timer to zero initially for EPWMB EPwm1Regs.AQCTLA.bit.ZRO = 2; // set for EPWMA EPwm1Regs.AQCTLA.bit.CAU = 1; // Clear for EPWMA; Set output low when counter = Compare Counter for EPWMA EPwm1Regs.AQCTLB.bit.ZRO = 2; // Set output high when counter = 0 for EPWMB EPwm1Regs.AQCTLB.bit.CBU = 1; // Set output low when counter = Compare Counter for EPWMB /* for sawtooth pulse set up EPwm1Regs.AQCTLA.bit.ZRO = 2; // set for EPWMA EPwm1Regs.AQCTLA.bit.PRD = 0; // Do nothing for EPWMA EPwm1Regs.AQCTLA.bit.CAU = 1; // Clear for EPWMA; Set output low when counter = Compare Counter for EPWMA EPwm1Regs.AQCTLB.bit.ZRO = 2; // Set output high when counter = 0 for EPWMB EPwm1Regs.AQCTLB.bit.CBU = 0; // Set output low when counter = Compare Counter for EPWMB EPwm1Regs.AQCTLB.bit.CBD = 0; // Do nothing //Run Time // = = = = = = = = = = = = = = = = = = = = = = = = EPwm1Regs.CMPA.half.CMPA = Duty1A; // adjust duty for output EPWM1A EPwm1Regs.CMPB = Duty1B; // adjust duty for output EPWM1B */ // // Initialize EPWM1A pin GPIO0. Row J6 pin 1 // GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // 0=GPIO, 1=EPWM1B // GpioCtrlRegs.GPADIR.bit.GPIO0 = 1; // 1=OUTput, 0=INput EDIS; // restore protection of registers } // end DeviceInit() //=============================================================== // End of file //===============================================================