int main(){
// setup functions
pwmSetup();
adcSetup();
ADC::Sync_result result;
// begin I2C, slave address 0x01
// register event on receive
Wire.begin(I2CADDR);
Wire.onReceive(rxEvent);
//Serial.begin(9600);
while(1){
// read the adc
result = adc->readSynchronizedContinuous();
adc1Val = (uint16_t)result.result_adc0;
adc2Val = (uint16_t)result.result_adc1;
// update outputs
setSleep(SLPA, SLPB, sleepFlag);
setDirection(DIRA, dirAflag);
setDirection(DIRB, dirBflag);
setPWM(PWMA, pwmAval);
setPWM(PWMB, pwmBval);
}
}
int main(){
SystemInit();
setup();
adcSetup();
Init_Display();
timerSetup();
tempMeasure();
updateDegrees();
setupInterupts(5);
lightMeasure();
pwmSetup();
setupInterupts(1000);
PrintMenu();
*PWM_CDTYUPD = 1800;
int input;
while(nInterupts < 500){}
while(1){
if(nInterupts >= 500){
tempMeasure();
nInterupts = 0;
}
updateDegrees();
Print(floatToChar, 33,1); //Skriv ut temperatur
if(value > maxLimit){
Print("ALARM", 32, 3);
Print("TOO HOT ", 32,4);
}
else if(value < lowLimit){
Print(" ALARM", 32, 3);
Print("TOO COLD", 32,4);
}
else if(value >lowLimit || value<maxLimit){
Print(" ", 32, 3);
Print(" ", 32, 4);
}
if(tempCount >= fastMode){
updateDegrees();
delay(60);
if(tempFlag == 1){
tempCalc();
tempCount = 0;
tempFlag = 0;
}
}
input = readKeypad();
if(buttonPressed == 1){
buttonPressed = 0;
menuCases(&input);
}
}
}
int main(void) {
WordVal src_addr_init = {SRC_ADDR};
WordVal src_pan_id_init = {SRC_PAN_ID};
WordVal dst_addr_init = {DST_ADDR};
SetupClock();
SwitchClocks();
SetupPorts();
batSetup();
swatchSetup();
radioInit(src_addr_init, src_pan_id_init, RXPQ_MAX_SIZE, TXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN); //Set to my channel
macSetDestAddr(dst_addr_init);
dfmemSetup();
unsigned char memsize;
memsize = dfmemGetChipSize();
xlSetup();
gyroSetup();
mcSetup();
cmdSetup();
//senSetup();
adcSetup();
pidSetup();
steeringSetup();
//radioReadTrxId(id);
LED_RED = 1;
LED_BLUE = 0;
LED_YELLOW = 0;
//while(1);
if(phyGetState() == 0x16) { LED_GREEN = 1; }
//print("Ready");
//readDFMemBySample(5);
while(1) {
cmdHandleRadioRxBuffer();
//Simple idle ; reduces idle current to 70 mA
// TODO (abuchan, apullin, fgb) : Idle() causes unexpected behavior
//if(radioIsRxQueueEmpty()){
// Idle();
//}
}
}
void setupTemperatureSensor(void){
gpioSetup();
adcSetup();
//initializeMovingAverage(&ma);
int init_buffer = 0;
ma.newIndex = 0;
ma.buffer_length = 0;
while(init_buffer < DEPTH_D)
{
ma.filterBuffer[init_buffer] = 0;
init_buffer++;
}
}
void temperature_detection_thread (void const *argument)
{
/*Set configuration to ADC for acquiring Vadc*/
adcSetup();
setupTemperatureSensor();
Temperature_Tim_Interrupt();
temperatureGetId = osThreadGetId();
while(1){
// wait for the signal data ready sent by the ISR
osSignalWait(SIGNAL_TEMPERATURE_READY, osWaitForever);
temp = runTemperatureSensorMoving();
Interrupt_Timer_Temperature_read=0;
//printf ("Temp:%f\n", temp); //--> FOR DEBUG PURPOSE
//DisplayTemperature(temp);
}
}
int main(void) {
clockSetup();
ioSetup();
adcSetup();
while (1) {
adcSample();
avg_adc = ((adc[0]+adc[1]+adc[2]+adc[3]+adc[4]+adc[5]+adc[6]+adc[7]+adc[8]+adc[9]) / 10);;
findClosest();
if (distance < 20) {
if (alarm_state == STATE_DISARMED) state = 0;
else {
if (state == 0) {
alarm_state = STATE_ALERT;
memset(txString, 0, 80);
sprintf(txString, "%s%sSystem Status: %s", clear_screen, line_1, ALERT);
i = 0;
state = STATE_CHANGE;
UC0IE |= UCA0TXIE; // Enable USCI_A0 TX interrupt
UCA0TXBUF = txString[i++];
}
P2OUT |= ALERTLED;
P2OUT &= ~(SAFELED + WARNLED);
change_lights = 1;
}
} else if (change_lights == 1) {
if (alarm_state == STATE_ARMED) {
P2OUT |= SAFELED;
P2OUT &= ~(ALERTLED + WARNLED);
} else if (alarm_state == STATE_DISARMED) {
P2OUT |= WARNLED;
P2OUT &= ~(ALERTLED + SAFELED);
}
}
}
}
void setup(){
// NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); // 0 bits for preemption, 4 bits for subpriority
/* Set up interrupt controller: 2 bits for priority (0-3),
* 2 bits for sub-priority (0-3). Priorities control which
* interrupts are allowed to preempt one another.
*/
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
/* Increase SysTick priority to be higher than USB interrupt
* priority. USB code stalls inside interrupt and we can't let
* this throw off the SysTick timer.
*/
NVIC_SetPriority(SysTick_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, SYSTICK_PRIORITY, SYSTICK_SUBPRIORITY));
NVIC_SetPriority(DMA1_Stream3_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, 0, 0));
NVIC_SetPriority(DMA1_Stream4_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, 0, 0));
NVIC_SetPriority(SPI2_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, 1, 0));
NVIC_SetPriority(ADC_IRQn, NVIC_EncodePriority(NVIC_PriorityGroup_2, 2, 0));
ledSetup();
setLed(RED);
/* check if we need to DFU boot */
configureDigitalInput(SWITCH_B_PORT, SWITCH_B_PIN, GPIO_PuPd_UP);
if(isPushButtonPressed())
jump_to_bootloader();
adcSetup();
clockSetup();
setupSwitchA(footSwitchCallback);
setupSwitchB(pushButtonCallback);
settings.init();
midi.init(MIDI_CHANNEL);
patches.init();
#ifdef EXPRESSION_PEDAL
#ifndef OWLMODULAR
setupExpressionPedal();
#endif
#endif
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); // DEBUG
configureDigitalOutput(GPIOB, GPIO_Pin_1); // PB1, DEBUG LED
debugClear();
#ifdef DEBUG_AUDIO
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); // DEBUG
configureDigitalOutput(GPIOA, GPIO_Pin_7); // PA7 DEBUG
configureDigitalOutput(GPIOC, GPIO_Pin_5); // PC5 DEBUG
clearPin(GPIOC, GPIO_Pin_5); // DEBUG
clearPin(GPIOA, GPIO_Pin_7); // DEBUG
#endif /* DEBUG_AUDIO */
usb_init();
#if SERIAL_PORT == 1
setupSerialPort1(115200);
#elif SERIAL_PORT == 2
setupSerialPort2(115200); // expression pedal
#warning expression pedal jack configured as serial port
#ifdef EXPRESSION_PEDAL
#error invalid configuration
#endif
#endif
#ifdef OWLMODULAR
configureDigitalInput(GPIOB, GPIO_Pin_6, GPIO_PuPd_NOPULL); // PB6 OWL Modular digital input
configureDigitalOutput(GPIOB, GPIO_Pin_7); // PB7 OWL Modular digital output
setPin(GPIOB, GPIO_Pin_7); // PB7 OWL Modular digital output
#endif
codec.setup();
codec.init(settings);
printString("startup\n");
updateBypassMode();
codec.start();
}
int main() {
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 1;
LED_2 = 1;
LED_3 = 1;
// Message Passing
fun_queue = carrayCreate(FUN_Q_LEN);
cmdSetup();
// Radio setup
radioInit(RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcAddr(RADIO_SRC_ADDR);
radioSetSrcPanID(RADIO_PAN_ID);
uart_tx_packet = NULL;
uart_tx_flag = 0;
//uartInit(&cmdPushFunc);
tactileInit();
// Need delay for encoders to be ready
delay_ms(100);
amsEncoderSetup();
mpuSetup();
tiHSetup();
dfmemSetup();
telemSetup();
adcSetup();
pidSetup();
LED_1 = 0;
LED_3 = 1;
while(1){
// Send outgoing radio packets
radioProcess();
/*
// Send outgoing uart packets
if(uart_tx_flag) {
uartSendPacket(uart_tx_packet);
uart_tx_flag = 0;
}*/
checkTactileBuffer();
// move received packets to function queue
while (!radioRxQueueEmpty()) {
// Check for unprocessed packet
rx_packet = radioDequeueRxPacket();
if(rx_packet != NULL) {
cmdPushFunc(rx_packet);
}
}
// process commands from function queue
while(!carrayIsEmpty(fun_queue)) {
rx_packet = carrayPopHead(fun_queue);
unsigned int rx_src_addr = rx_packet->src_addr.val;
if(rx_packet != NULL) {
rx_payload = macGetPayload(rx_packet);
if(rx_payload != NULL) {
rx_function = (test_function)(rx_payload->test);
if(rx_function != NULL) {
LED_2 = ~LED_2;
(rx_function)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload), rx_src_addr);
}
}
ppoolReturnFullPacket(rx_packet);
}
}
}
return 0;
}
int main(void) {
//wakeTime = 0;
//dcCounter = 0;
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 0;
LED_2 = 0;
LED_3 = 0;
cmdSetup();
radioInit(RADIO_TXPQ_MAX_SIZE, RADIO_RXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcPanID(RADIO_PAN_ID);
radioSetSrcAddr(RADIO_SRC_ADDR);
dfmemSetup();
uint64_t id = dfmemGetUnqiueID();
telemSetup(); //Timer 5, HW priority 4
mpuSetup();
imuSetup(); //Timer 4, HW priority 3
tiHSetup();
adcSetup();
//AMS Encoders
//encSetup();
//"Open Loop" vibration & jitter generator, AP 2014
//olVibeSetup();
legCtrlSetup(); //Timer 1, HW priority 5
steeringSetup(); //Timer 5, HW priority 4
//Tail control is a special case
//tailCtrlSetup();
//Camera is untested with current code base, AP 12/6/2012
//ovcamSetup();
LED_RED = 1; //Red is use an "alive" indicator
LED_GREEN = 0;
LED_YELLOW = 0;
//Radio startup verification
//if (phyGetState() == 0x16) {
// LED_GREEN = 1;
//}
//Sleeping and low power options
//_VREGS = 1;
//gyroSleep();
/////FUNCTION TEST, NOT FOR PRODUCTION
//olVibeStart();
////////////////////
while (1) {
cmdHandleRadioRxBuffer();
radioProcess();
}
}
