app/spejbl_rakovm1/main.c

   1 /* Autor: Martin Rakovec        */
   2 #include <lpc21xx.h>                            /* LPC21xx definitions */
   3 #include <deb_led.h>
   4 #include <can/canmsg.h>
   5 #include <can/lpcan.h>
   6 #include <can/lpcan_vca.h>
   7
   8 vca_handle_t can;
   9 uint8_t sendcount = 0;
  10
  11 /** ADC initialization
  12 * This function initialize AD convertor
  13 *
  14 * @param clk_div clock divider
  15 *
  16 */
  17 void adc_init(unsigned clk_div) {
  18         /* Set AD control registry */
  19         ADCR = ADC_CR_ADC0_m | ((clk_div&0xff)<<8)/*ADC clock*/ | ADC_CR_PDN_ON_m;
  20         ADCR |= (1<<26); /* conversion started on falling edge of MAT0.1 */
  21 }
  22
  23 void timer_irq() __attribute__((interrupt));
  24
  25 /** Timer inicialization
  26 * This function initializace timer0
  27 *
  28 * @param prescaler prescaler
  29 * @param period period
  30 *
  31 */
  32 void timer_init(uint32_t prescale, uint32_t period){
  33         T0PR = prescale - 1;    // set prescaler
  34         T0MR1 = period - 1;     // set period (match1)
  35         T0MCR = 0x3<<3; //interrupt and counter reset on match1
  36         T0EMR = 0x1<<6 | 0x2; //set MAT0.1 low on match an hight now
  37         T0CCR = 0x0;    // no capture
  38         T0TCR |=0x1;    // start timer
  39 }
  40
  41 /** Timer interrupt initialization
  42 * Set VIC
  43 * @param irq_vect vector number for timer interrupt
  44 */
  45 void timer_init_irq(unsigned irq_vect){
  46         /* Set interrupt vector*/
  47         ((uint32_t*)&VICVectAddr0)[irq_vect] = (uint32_t)timer_irq;
  48         ((uint32_t*)&VICVectCntl0)[irq_vect] = 0x20 | 4;
  49         /* enable timer interrupt */
  50         VICIntEnable = 0x00000010;
  51 }
  52
  53 uint16_t value;
  54 /** Timer interrupt control
  55 */
  56 void timer_irq(){
  57
  58         canmsg_t message;
  59         message.flags = 0;
  60         message.id = 0x400;
  61         /* wait for end of conversion */
  62         while((ADDR & (1<<31)) == 0);
  63         T0EMR |= 0x2; //set MAT0.1 hight
  64         /* Read value from AIN0*/
  65         value = ((ADDR>>6)&0x3ff);
  66         if (sendcount <10){
  67                 message.length = 1;
  68                 message.data[0] = value;
  69                 vca_send_msg_seq(can,&message,1);
  70                 sendcount++;
  71         }
  72         /* Clear interrupt flag */
  73         T0IR = 0xffffffff;
  74         VICVectAddr = 0;
  75 }
  76
  77 void dummy_wait()
  78 {
  79         unsigned int wait = 7000000;
  80         while(--wait);
  81 }
  82
  83 int main (void)  {
  84
  85         //MEMMAP = 0x1; //flash
  86         MEMMAP = 0x2;   //ram
  87
  88         VICIntEnClr = 0xFFFFFFFF;
  89         VICIntSelect = 0x00000000;
  90
  91         /* CAN bus setup */
  92         uint32_t btr;
  93         lpcan_btr(&btr, 1000000 /*Bd*/, 20000000, 0/*SJW*/, 70/*%sampl.pt.*/, 0/*SAM*/);
  94         lpc_vca_open_handle(&can, 0/*device*/, 0/*flags*/, btr, 10, 11, 12);
  95
  96         adc_init(3);
  97         timer_init(10,1000);
  98         timer_init_irq(13);
  99
 100
 101         canmsg_t message;
 102         message.flags = 0;
 103         message.id = 0x401;
 104
 105         unsigned i = 0;
 106
 107         while(1)
 108         {
 109                 i++;
 110                 message.length = 1;
 111                 message.data[0] = i;
 112                 deb_led_change(LEDG);
 113                 dummy_wait();
 114                 vca_send_msg_seq(can,&message,1);
 115                 sendcount=0;
 116         }
 117 }
 118
 119
 120