int connect()
{
unsigned char answer = 0;
SerialTransmit(HELLO_HOST);
Sleep(50);
answer = SerialReceive();
if(answer == HELLO_CLIENT) {
return 1;
}
return 0;
}
void checkKeys()
{
if(IsKeyDown(KEY_CTRL_EXIT) || IsKeyDown(KEY_CTRL_MENU)) {
SerialTransmit(EXIT);
Stop_SerialPort();
Reset_Calc();
}
if((IsKeyDown(KEY_CTRL_UP) || IsKeyDown(KEY_CHAR_5) || IsKeyDown(KEY_CHAR_8)) && direction != 2) {
direction = 0;
}
if((IsKeyDown(KEY_CTRL_RIGHT) || IsKeyDown(KEY_CHAR_3) || IsKeyDown(KEY_CHAR_6)) && direction != 3) {
direction = 1;
}
if((IsKeyDown(KEY_CTRL_DOWN) || IsKeyDown(KEY_CHAR_2)) && direction != 0) {
direction = 2;
}
if((IsKeyDown(KEY_CTRL_LEFT) || IsKeyDown(KEY_CHAR_1) || IsKeyDown(KEY_CHAR_4)) && direction != 1) {
direction = 3;
}
}
bool CommSendPacket(CommInterface * inf, CommPacket * pkt) {
unsigned char length = pkt->length;
if (SerialTransferInProgress(&inf->serData)) {
return false;
}
if (length > SERIAL_TRANSMIT_BUFFER_SIZE) // TODO: Dynamically size SerialProtocol.transmit_data so we don't have this mysterious 20 byte max packet size
length = SERIAL_TRANSMIT_BUFFER_SIZE;
memcpy((void*)inf->serData.transmit_data, (void*)pkt->data, length);
USART_TransmitMode(inf->port, true);
if (SerialTransmit(&inf->serData, pkt->target, length)==0) {
return true;
}
else {
sei();
return false;
}
}
int AddIn_main(int isAppli, unsigned short OptionNum)
{
int collided = 0;
unsigned char answer;
Bdisp_AllClr_DDVRAM();
Init_SerialPort();
Start_SerialPort();
if(connect() == 0) {
isHost = 1;
}
while(1) {
startScreen();
memset(videoBuffer, 0, 1024);
DrawBox(0, 0, 127, 63, videoBuffer, BLACK);
DrawBox(48, 27, 79, 37, videoBuffer, BLACK);
CoolText(51, 29, FONT_FIVE, "Ready?", videoBuffer);
DrawAll(videoBuffer);
Sleep(1000);
SerialTransmit(READY);
while(SerialReceive() != READY) {
;
}
reset();
while(1) {
answer = SerialReceive();
if(answer == CRASH) {
score++;
wonLast = ME;
break;
}
if(answer == EXIT) {
Reset_Calc();
}
if(answer == COORDS) {
receivedX = SerialReceive();
receivedY = SerialReceive();
setBit(videoBuffer, 128, receivedX, receivedY, 1);
}
checkKeys();
move();
collided = getBit(videoBuffer, 128, playerX, playerY);
if(collided) {
otherScore++;
wonLast = OTHER;
SerialTransmit(CRASH);
break;
}
setBit(videoBuffer, 128, playerX, playerY, 1);
SerialTransmit(COORDS);
SerialTransmit(playerX);
SerialTransmit(playerY);
DrawAll(videoBuffer);
Sleep(delays[speed]);
}
}
return 1;
}
void startScreen()
{
unsigned char answer;
char scoreText[4], otherScoreText[4], statusText[22], speedText[22], levelText[22];
int isReady = 0, is1Pressed = 0, is2Pressed = 0, is3Pressed = 0, isLeftPressed = 0, isRightPressed = 0;
while(!isReady) {
if(isHost) {
if(isConnected) {
strcpy(statusText, "Hosting");
} else {
strcpy(statusText, "Waiting");
}
} else {
strcpy(statusText, "Connected");
}
sprintf(scoreText, "%d", score);
sprintf(otherScoreText, "%d", otherScore);
sprintf(speedText, "SPEED: %d", speed + 1);
sprintf(levelText, "LEVEL: %d", level + 1);
memset(videoBuffer, 0, 1024);
DrawBox(0, 0, 127, 63, videoBuffer, BLACK);
DrawLine(0, 8, 127, 8, videoBuffer, BLACK);
DrawLine(0, 16, 127, 16, videoBuffer, BLACK);
DrawLine(0, 24, 127, 24, videoBuffer, BLACK);
DrawLine(64, 16, 64, 24, videoBuffer, BLACK);
DrawLine(0, 32, 127, 32, videoBuffer, BLACK);
DrawLine(0, 40, 127, 40, videoBuffer, BLACK);
CoolText(32, 1, FONT_FIVE, "MTRON by rojet601", videoBuffer);
CoolText(48, 9, FONT_FIVE, statusText, videoBuffer);
CoolText(27, 17, FONT_FIVE, scoreText, videoBuffer);
CoolText(91, 17, FONT_FIVE, otherScoreText, videoBuffer);
if(wonLast == ME) {
CoolText(48, 25, FONT_FIVE, "You won", videoBuffer);
}
if(wonLast == OTHER) {
CoolText(48, 25, FONT_FIVE, "You lost", videoBuffer);
}
if(isHost) {
CoolText(2, 33, FONT_FIVE, speedText, videoBuffer);
CoolText(65, 33, FONT_FIVE, levelText, videoBuffer);
CoolText(2, 52, FONT_FIVE, "[1]-[3] SPEED", videoBuffer);
CoolText(65, 52, FONT_FIVE, " LEVEL", videoBuffer);
DrawLine(65, 55, 71, 55, videoBuffer, BLACK);
DrawLine(66, 55, 68, 53, videoBuffer, BLACK);
DrawLine(66, 55, 68, 57, videoBuffer, BLACK);
DrawLine(73, 55, 79, 55, videoBuffer, BLACK);
DrawLine(79, 55, 77, 53, videoBuffer, BLACK);
DrawLine(79, 55, 77, 57, videoBuffer, BLACK);
if(isConnected) {
CoolText(2, 43, FONT_FIVE, "[SHIFT] START", videoBuffer);
}
} else {
CoolText(2, 43, FONT_FIVE, "Only the host can change", videoBuffer);
CoolText(2, 52, FONT_FIVE, "the settings", videoBuffer);
}
DrawAll(videoBuffer);
if(IsKeyDown(KEY_CTRL_EXIT) || IsKeyDown(KEY_CTRL_MENU)) {
SerialTransmit(EXIT);
Stop_SerialPort();
Reset_Calc();
}
answer = SerialReceive();
if(answer == EXIT) {
Stop_SerialPort();
Reset_Calc();
}
if(answer == START) {
Sleep(50);
speed = SerialReceive();
level = SerialReceive();
isReady = 1;
}
if(isHost) {
if(!isConnected) {
if(answer == HELLO_HOST) {
SerialTransmit(HELLO_CLIENT);
isConnected = 1;
}
} else {
if(IsKeyDown(KEY_CTRL_SHIFT)) {
SerialTransmit(START);
SerialTransmit(speed);
SerialTransmit(level);
Sleep(50);
isReady = 1;
}
}
if(!IsKeyDown(KEY_CHAR_1)) {
is1Pressed = 0;
}
if(IsKeyDown(KEY_CHAR_1) && !is1Pressed) {
is1Pressed = 1;
speed = 0;
}
if(!IsKeyDown(KEY_CHAR_2)) {
is2Pressed = 0;
}
if(IsKeyDown(KEY_CHAR_2) && !is2Pressed) {
is2Pressed = 1;
speed = 1;
}
if(!IsKeyDown(KEY_CHAR_3)) {
is3Pressed = 0;
}
if(IsKeyDown(KEY_CHAR_3) && !is3Pressed) {
is3Pressed = 1;
speed = 2;
}
if(!IsKeyDown(KEY_CTRL_LEFT)) {
isLeftPressed = 0;
}
if(IsKeyDown(KEY_CTRL_LEFT) && !isLeftPressed) {
isLeftPressed = 1;
level--;
if(level == 255) {
level = levels - 1;
}
}
if(!IsKeyDown(KEY_CTRL_RIGHT)) {
isRightPressed = 0;
}
if(IsKeyDown(KEY_CTRL_RIGHT) && !isRightPressed) {
isRightPressed = 1;
level++;
if(level > levels - 1) {
level = 0;
}
}
}
}
}
void sendAck(void)
{
SerialTransmit("ACK\n");
}
int main(void)
{
ind = 0;
// Setup functions for operation
CP0Init();
INTInitialize();
ADCSetup();
SetupButtons();
SetupIO();
SetupT1CountINT();
SetupTimer2_3PWM();
//SetupUART(115200);
NU32_EnableUART2Interrupt();
// Wait until LCD screen comes up
wait(1000); wait(1000); wait(1000); wait(1000);
LCDConfig();
LCDSetup();
ClearLCDScreen();
char msg[32];
sprintf(msg,"UART demo. Press A to start");
WriteLCD(1,msg);
int button = 1;
while(button == 1) {
button = BUTTON_A;
}
wait(1000);
while(button == 0)
{
button = BUTTON_A;
}
wait(1000);
// send dollar signs to enter command mode
char send1[] = "$$$";
SerialTransmit(send1);
wait(1000);wait(1000);wait(1000);
// print message and wait for press
/* ClearLCDScreen();
wait(1000);wait(1000);wait(1000);
sprintf(msg,"command mode. press A");
WriteLCD(1,msg);
wait(1000);wait(1000);wait(1000);
button = 1;
while(button == 1) {
button = BUTTON_A;
}
wait(1000);
while(button == 0)
{
button = BUTTON_A;
}
wait(1000);
wait(1000);
*/
while(next == 0);
next = 0;
char send2[] = "GB\n";
SerialTransmit(send2);
while(1)
{
ClearLCDScreen();
WriteLCD(0,string);
wait(10000);
wait(10000);
wait(10000);
}
// receive response from chip
char temp[4];
SerialReceive(temp, 4, CHAR_MODE);
// // print response to lcd
// ClearLCDScreen();
// WriteLCD(1,temp);
char temp2[32];
SerialReceive(temp2, 32, HEX_MODE);
ClearLCDScreen();
WriteLCD(1,temp2);
/*
* Software State machine
* POR:
* Try to connect
*
*
*/
return 0;
}
int main(void)
{
InitClock();
SerialInit();
RingBufferInit(&location_buffer, 4, locations);
PORTC.DIRSET = 0xF3;
PORTE.DIRSET = 0xFF;
PORTD.DIRSET = 0x33;
PORTB.DIRCLR = 0xFF; /* PortB all inputs */
/* Timers */
//x_axis.step_timer = &TCC1;
x_axis.pwm_timer = &TCC0;
/* Limit Switches */
x_axis.limit_switch_port = &PORTB;
x_axis.limit_switch_mask = (1<<0); /* PORTB.0 */
/* DIR ports (for inverting the stepper motor driver polarity) */
x_axis.sign_select_port = &PORTC;
x_axis.sign_switch_mask1 = 0x20; /* PORTC.5 */
x_axis.sign_switch_mask2 = 0x10; /* PORTC.4 */
/* PWM outputs: outputs will be 90 degrees out of phase */
x_axis.phase_pwm_cmp1 = &(TCC0.CCB);
x_axis.phase_pwm_cmp2 = &(TCC0.CCA);
x_axis.compare_mask = TC0_CCBEN_bm | TC0_CCAEN_bm;
/* Power Controls change the period: a longer period means longer off time and lower duty cycle */
//x_axis.axis_idle_power = 60;
x_axis.axis_run_power = 31;
/* The minimum period of the PWM update timer/counter */
/* Stepper motor tick period = 32 * min_period / 16000000 */
//x_axis.min_period = 15;
AxisInit (&x_axis);
//y_axis.step_timer = &TCD1;
y_axis.pwm_timer = &TCD0;
y_axis.limit_switch_port = &PORTB;
y_axis.limit_switch_mask = (1<<1); /* PORTB.1 */
y_axis.sign_select_port = &PORTD;
y_axis.sign_switch_mask1 = 0x20;
y_axis.sign_switch_mask2 = 0x10;
y_axis.phase_pwm_cmp1 = &(TCD0.CCB);
y_axis.phase_pwm_cmp2 = &(TCD0.CCA);
y_axis.compare_mask = TC0_CCBEN_bm | TC0_CCAEN_bm;
//y_axis.axis_idle_power = 60;
y_axis.axis_run_power = 31;
//y_axis.min_period = 15;
AxisInit (&y_axis);
//z_axis.step_timer = &TCE1;
z_axis.pwm_timer = &TCE0;
z_axis.limit_switch_port = &PORTB;
z_axis.limit_switch_mask = (1<<2); /* PORTB.2 */
z_axis.sign_select_port = &PORTE;
z_axis.sign_switch_mask1 = 0x20; /* PORTE.5 */
z_axis.sign_switch_mask2 = 0x10; /* PORTE.4 */
z_axis.phase_pwm_cmp1 = &(TCE0.CCD);
z_axis.phase_pwm_cmp2 = &(TCE0.CCC);
z_axis.compare_mask = TC0_CCDEN_bm | TC0_CCCEN_bm;
//z_axis.axis_idle_power = 60;
z_axis.axis_run_power = 31; /* 33 unique waveform values: 0 (ground) to 33 (3.3v) */
//z_axis.min_period = 15;
AxisInit (&z_axis);
PMIC.CTRL |= PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
// Fire up the timer for incrementing/decrementing steps
TC0_t * step_timer = &TCC1;
step_timer->CTRLB = TC_WGMODE_SS_gc;
/* Overflow every 1 ms: 16Mhz / (64 * 250) = 1ms */
step_timer->PER = 250;
step_timer->CTRLA = TC_CLKSEL_DIV64_gc;
step_timer->CTRLFSET = TC_CMD_RESTART_gc;
/* Enable the step overflow interrupt */
step_timer->INTCTRLA |= TC_OVFINTLVL_LO_gc;
// To Disable: axis->step_timer->INTCTRLA &= ~TC1_OVFINTLVL_gm;
char task = 0;
sei();
while(1)
{
//PORTE.OUTTGL = 0x02;
//_delay_ms (10);
//SerialData * s = SerialDataTransmitStruct();
//if (s != 0)
//{
// s->transmit_data[0] = 'a';
// s->transmit_data[1] = 'b';
// s->transmit_data[2] = 'c';
// SerialTransmit(s, 0x00, 3);
//}
SerialData * s = SerialDataAvailable();
if (s != 0)
{
switch (s->receive_data[0])
{
case 0x88: // Reset everything (all axis back to limit switches)
{
task = TASK_LIMIT_SWITCH_Y;
x_axis.state = 1;
y_axis.state = 1;
z_axis.state = 1;
s->transmit_data[0] = 0x88;
SerialTransmit (s, 0x00, 1); // Transmit to master device
break;
}
case 0x77: // Ping (and location/status information)
{
s->transmit_data[0] = 0x77;
// TODO: find a better way to do this
step_timer->INTCTRLA &= ~TC1_OVFINTLVL_gm; // Disable the step timer
int32_t x = AxisGetCurrentPosition(&x_axis);
int32_t y = AxisGetCurrentPosition(&y_axis);
int32_t z = AxisGetCurrentPosition(&z_axis);
step_timer->INTCTRLA |= TC_OVFINTLVL_LO_gc; // Enable the step timer
s->transmit_data[1] = x & 0xFF; x = x >> 8;
s->transmit_data[2] = x & 0xFF; x = x >> 8;
s->transmit_data[3] = x & 0xFF; x = x >> 8;
s->transmit_data[4] = x & 0xFF;
s->transmit_data[5] = y & 0xFF; y = y >> 8;
s->transmit_data[6] = y & 0xFF; y = y >> 8;
s->transmit_data[7] = y & 0xFF; y = y >> 8;
s->transmit_data[8] = y & 0xFF;
s->transmit_data[9] = z & 0xFF; z = z >> 8;
s->transmit_data[10] = z & 0xFF; z = z >> 8;
s->transmit_data[11] = z & 0xFF; z = z >> 8;
s->transmit_data[12] = z & 0xFF;
uint8_t status_bits = 0;
if (IsMoving (&x_axis))
{
status_bits |= 0x01;
}
if (IsMoving (&y_axis))
{
status_bits |= 0x02;
}
if (IsMoving (&z_axis))
{
status_bits |= 0x04;
}
s->transmit_data[13] = status_bits;
//step_timer->INTCTRLA &= ~TC1_OVFINTLVL_gm; // Disable the step timer
buffer_lock = 1;
s->transmit_data[14] = RingBufferCount(&location_buffer);
buffer_lock = 0;
//step_timer->INTCTRLA |= TC_OVFINTLVL_LO_gc; // Enable the step timer
//s->transmit_data[14] = location_buffer_size;
SerialTransmit (s, 0x00, 15); // Transmit to master device
break;
}
case 0x32: // Set Position + Speed
{
Location_t l;
/* Bytes 1:2 are time in milliseconds */
l.time = decode_uint16_t(&(s->receive_data[1]));
/* Bytes 3:14 are position */
l.x = decode_uint32_t(&(s->receive_data[3]));
l.y = decode_uint32_t(&(s->receive_data[7]));
l.z = decode_uint32_t(&(s->receive_data[11]));
// Add the new location to the buffer
//step_timer->INTCTRLA &= ~TC1_OVFINTLVL_gm; // Disable the step timer
buffer_lock = 1;
if (!RingBufferIsFull(&location_buffer))
{
RingBufferAdd(&location_buffer, l);
}
//if (location_buffer_size < 1)
//{
// nextLocation = l;
// location_buffer_size++;
//}
s->transmit_data[1] = RingBufferCount(&location_buffer);
buffer_lock = 0;
//step_timer->INTCTRLA |= TC_OVFINTLVL_LO_gc; // Enable the step timer
s->transmit_data[0] = 0x32;
//s->transmit_data[1] = location_buffer_size;
SerialTransmit(s, 0x00, 2);
break;
}
}
}
else if (task == TASK_LIMIT_SWITCH_Y)
{
uint8_t v = LimitSwitchHelper(&x_axis);
v &= LimitSwitchHelper(&y_axis);
v &= LimitSwitchHelper(&z_axis);
if (v)
{
task = 0;
}
}
}