comparison: blackbox/lowlevel.c
blackbox/lowlevel.c
- changeset 7
- f4e250d5402b
- parent 6
- 2405aff29a51
- child 10
- 6d6e982bbc41
equal
deleted
inserted
replaced
| 6:2405aff29a51 | 7:f4e250d5402b |
|---|---|
| 40 } break; | 40 } break; |
| 41 } | 41 } |
| 42 } | 42 } |
| 43 | 43 |
| 44 void init_hardware(void) { | 44 void init_hardware(void) { |
| 45 // reset all ports to input, no pullup | |
| 46 DDRA = 0; PORTA = 0; | |
| 47 DDRB = 0; PORTB = 0; | |
| 48 DDRC = 0; PORTC = 0; | |
| 49 DDRD = 0; PORTD = 0; | |
| 50 | |
| 51 | |
| 45 RS232_init(); // initialize RS485 interface | 52 RS232_init(); // initialize RS485 interface |
| 46 RS232_puts_p(PSTR("CARRERA beta loading\n")); | 53 RS232_puts_p(PSTR("CARRERA beta loading\n")); |
| 47 | 54 |
| 48 initADC(); | 55 initADC(); |
| 56 SFIOR = 0; | |
| 49 | 57 |
| 50 // set LED output | 58 // set LED output |
| 51 DDR(LED1_PORT) |= _BV(LED1); | 59 DDR(LED1_PORT) |= _BV(LED1); |
| 52 DDR(LED2_PORT) |= _BV(LED2); | 60 DDR(LED2_PORT) |= _BV(LED2); |
| 53 DDR(LED3_PORT) |= _BV(LED3); | 61 DDR(LED3_PORT) |= _BV(LED3); |
| 57 // set Controller Input Pull-UPs | 65 // set Controller Input Pull-UPs |
| 58 CONTROLLER_PORT |= (_BV(CONTROLLER1_SW) | _BV(CONTROLLER2_SW) | _BV(CONTROLLER3_SW) | _BV(CONTROLLER4_SW)); | 66 CONTROLLER_PORT |= (_BV(CONTROLLER1_SW) | _BV(CONTROLLER2_SW) | _BV(CONTROLLER3_SW) | _BV(CONTROLLER4_SW)); |
| 59 | 67 |
| 60 // switch pull-ups | 68 // switch pull-ups |
| 61 SW_FUEL_PORT |= _BV(SW_FUEL); | 69 SW_FUEL_PORT |= _BV(SW_FUEL); |
| 70 SW_START_PORT |= _BV(SW_START); | |
| 71 SW_PACECAR_PORT |= _BV(SW_PACECAR); | |
| 62 | 72 |
| 73 // control outputs | |
| 74 DDR(LAP_COUNTER_PORT) |= _BV(LAP_COUNTER); | |
| 75 | |
| 76 // setup rail control | |
| 63 //RAIL_DETECT_PORT |= _BV(RAIL_DETECT); // enable internal pull-up | 77 //RAIL_DETECT_PORT |= _BV(RAIL_DETECT); // enable internal pull-up |
| 64 DDR(RAIL_POWER_PORT) |= _BV(RAIL_POWER); | 78 DDR(RAIL_POWER_PORT) |= _BV(RAIL_POWER); |
| 65 | 79 |
| 66 | 80 // display init sequence on LEDs |
| 67 LED(1, 1); _delay_ms(50); | 81 LED(1, 1); _delay_ms(50); |
| 68 LED(2, 1); _delay_ms(50); | 82 LED(2, 1); _delay_ms(50); |
| 69 LED(3, 1); _delay_ms(50); | 83 LED(3, 1); _delay_ms(50); |
| 70 LED(4, 1); _delay_ms(50); | 84 LED(4, 1); _delay_ms(50); |
| 71 LED(5, 1); _delay_ms(50); | 85 LED(5, 1); _delay_ms(50); |
| 80 TCCR0 = (1<<CS01); //divide by 8 | 94 TCCR0 = (1<<CS01); //divide by 8 |
| 81 // interrupt enable + tcnt0 set in timer2 | 95 // interrupt enable + tcnt0 set in timer2 |
| 82 | 96 |
| 83 | 97 |
| 84 // setup data bit timer | 98 // setup data bit timer |
| 85 TCCR2 = (1<<CS21); //divide by 8 | 99 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match |
| 86 TCCR2 |= (1<<WGM21); // set compare match | |
| 87 OCR2 = TIMER2_50US; | 100 OCR2 = TIMER2_50US; |
| 88 TIMSK |= 1<<OCIE2; //enable timer2 interrupt | 101 TIMSK |= 1<<OCIE2; //enable timer2 interrupt |
| 89 | 102 |
| 90 // setup data packet timer | 103 // setup data packet timer |
| 91 //TCCR1A = (1<<COM1A1); | 104 //TCCR1A = (1<<COM1A1); |
| 92 TCCR1B = (1<<CS11); //divide by 8 | 105 TCCR1B = (1<<CS11) | (1<<WGM12); //divide by 8, set compare match |
| 93 TCCR1B |= (1<<WGM12); // set compare match | |
| 94 //TCCR1B = (1<<CS11) | (1<<CS10); //divide by 64 | 106 //TCCR1B = (1<<CS11) | (1<<CS10); //divide by 64 |
| 95 //TCNT1 = TIMER_7500NS; | 107 //TCNT1 = TIMER_7500NS; |
| 96 OCR1A = TIMER1_7500NS; | 108 OCR1A = TIMER1_7500NS; |
| 97 TIMSK |= 1<<OCIE1A; //enable timer1 interrupt | 109 TIMSK |= 1<<OCIE1A; //enable timer1 interrupt |
| 98 | 110 |
