void beep()
{
wyswietl_LCD("BEEP..BEEP");
buzzer_on();
_delay_ms(500);
buzzer_off();
_delay_ms(500);
buzzer_on();
_delay_ms(700);
buzzer_off();
}
void mymain(void)
{
// set GPKCON0: output (led1-led4: use GPK4-GPK7)
GPKCON0 = 0x11110000;
// set all led off (write 1 to be off)
GPKDAT = 0x000000f0;
// set GPF14 as output
GPFCON |= 1<<28;
GPFCON &= ~(1<<29);
// set GPN0 as input
GPNCON = 0;
while(1)
{
if ( !(GPNDAT & (1<<0)) )
{
buzzer_on();
led_on(0);
}
else
{
buzzer_off();
led_off(0);
}
}
}
void keypad_buzzer(void)
{
unsigned int keyStatus;
while(1)
{
keyStatus = keyScan();
if(keyStatus)
{
buzzer_on();
delay();
buzzer_off();
}
else
buzzer_off();
}
}
void buzzer()
{
buzzer_on();
////_delay_ms(1000);
buzzer_off();
}
//--------------------------------------------------------------------------------
// start the main function here
//--------------------------------------------------------------------------------
int main(void)
{
float battery_low = 0;
init_devices();
packet_valid = 0;// initialise valid packet variable to 0
// initially calculate the battery voltage
UCSRB = 0x00;
ADMUX = 0x26; //select ADC input 6
battery_voltage = ADC_conversion();
UCSRB = 0x98;
flag2 = 0;
while(1)
{
// flag2 will rise once in 10sec and calculates the Battery voltage
// and enables the UART communication
if(flag2 == 1)
{
ADMUX = 0x26; //select ADC input 6
battery_voltage = ADC_conversion();
UCSRB = 0x98;
flag2 = 0;
}
// if battery voltage is less then battery threshold value ,buzzer beeps
battery_low = (battery_voltage * 0.041) + 0.7; // battery voltage caluculation
if(battery_low < BATTERY_TRHRESHOLD)
{ buzzer_on(); _delay_ms(200); buzzer_off();_delay_ms(200);}
// following function beeps the buzzer twice after sucessfully reciving 10 packets
// from the master(FireBird-V Hexapod robot)
if(flag1 == 0)
{
if(communication_proper_count > 10)
{
flag1 = 1;
buzzer_on(); _delay_ms(400); buzzer_off();_delay_ms(400);
buzzer_on(); _delay_ms(400); buzzer_off();_delay_ms(400);
}
}
}
}
/**
****************************************************************************************
* @brief Handles button press after cancel the jitter.
*
* @param[in] msgid Id of the message received
* @param[in] param None
* @param[in] dest_id TASK_APP
* @param[in] src_id TASK_APP
*
* @return If the message was consumed or not.
****************************************************************************************
*/
int app_button_timer_handler(ke_msg_id_t const msgid, void const *param,
ke_task_id_t const dest_id, ke_task_id_t const src_id)
{
switch(msgid)
{
case APP_SYS_BUTTON_1_TIMER:
// make sure the button is pressed
if(gpio_read_pin(BUTTON1_PIN) == GPIO_LOW)
{
if(APP_IDLE == ke_state_get(TASK_APP))
{
struct app_proxr_env_tag *app_proxr_env = &app_env.proxr_ev;
if(!app_proxr_env->enabled)
{
// start adv
app_gap_adv_start_req(GAP_GEN_DISCOVERABLE|GAP_UND_CONNECTABLE,
app_env.adv_data, app_set_adv_data(GAP_GEN_DISCOVERABLE),
app_env.scanrsp_data, app_set_scan_rsp_data(app_get_local_service_flag()),
GAP_ADV_FAST_INTV1, GAP_ADV_FAST_INTV2);
#if (QN_DEEP_SLEEP_EN)
// prevent entering into deep sleep mode
sleep_set_pm(PM_SLEEP);
#endif
#if (FB_OLED)
ke_timer_set(APP_OLED_STATE_DISPlAY_TIMER,TASK_APP,20);
#endif
}
}
else if(APP_ADV == ke_state_get(TASK_APP))
{
// stop adv
app_gap_adv_stop_req();
#if (QN_DEEP_SLEEP_EN)
// allow entering into deep sleep mode
sleep_set_pm(PM_DEEP_SLEEP);
#endif
#if (FB_OLED)
ke_timer_set(APP_OLED_STATE_DISPlAY_TIMER,TASK_APP,20);
#endif
}
}
break;
case APP_SYS_BUTTON_2_TIMER:
if(gpio_read_pin(BUTTON2_PIN) == GPIO_LOW)
{
buzzer_off();
}
break;
default:
ASSERT_ERR(0);
break;
}
return (KE_MSG_CONSUMED);
}
//function for indication of eye-bling and raw values when removed from head
void Eye_Blink ()
{
if (Eye_Enable)
{
if (On_Flag==1 && Off_Flag==0)
{
if ((Avg_Raw>Theshold_Eyeblink) && (Avg_Raw<350)) //eye-blink detected
{
p++;
buzzer_on();
_delay_ms(500);
buzzer_off();
if(p==2){
stop();
velocity(240,240);
left();
_delay_ms(650);
stop();
run();
p=0;
}
}
else
{
if (Avg_Raw>350) //Raw data values indication
{
buzzer_on();_delay_ms(50);buzzer_off(); //Sensor removed from head, bot stops.
stop();
On_Flag==0;Off_Flag==1;
}
}
}
else
{
PORTJ=0x00;
}
}
else //Device is paired
{
PORTJ=0x01;
stop();
}
}
//------------------------------------------------------------------------------
int board_init(void)
{
u32 v1, v2;
//printf("board_init\n");
/* arch number of the board */
gd->bd->bi_arch_number = MACH_TYPE_DAVINCI_EVM;
/* address of boot parameters */
gd->bd->bi_boot_params = 0x0000100; //LINUX_BOOT_PARAM_ADDR;
/* if workarounds are needed */
ka_errata_workarounds();
/* Disable SSI Clock */
word_write(KA_REGIF_BASE, word_read(KA_REGIF_BASE) & 0xffdfffff);
// printf("Status %x\n", word_read(SDSW_M1_STATUS));
//setenv ("bootdelay", "8");
v1 = word_read(0x1ffc00);
v2 = word_read(0x208000);
#ifndef BOOT_FROM_SD
if (v2 == 0xe1a00000 || v2 == 0xe3a00000)
setenv ("bootf", "mmc init; go 208000");
else if (v2 == 0x56190527)
setenv ("bootf", "mmc init; bootm 208000");
else if (v1 == 0xe1a00000 || v1 == 0xe3a00000)
setenv ("bootf", "mmc init; go 1ffc00");
else if (v1 == 0x56190527)
setenv ("bootf", "mmc init; bootm 1ffc00");
else
#endif
{
//setenv ("bootf", "mmc init; fatload mmc 1 208000 image; go 208000");
setenv ("bootf", "run boot_sd");
//printf("v1 %x v2 %x\n", v1, v2);
buzzer_off();
}
/* Enable UART */
/*word_write(UART_LCR, 0x83);
word_write(UART_INTR, 0x00);
word_write(UART_RECV, 0x28); //baudrate=19200,12MHz
word_write(UART_LCR, 0x03); */
/* Close PLL */
/* Power on required peripherals */
//timer_init();
//word_write(GPIO_OUTPUT, 0x66);
return(0);
}
void checkState(int t)
{
while(t>0)
{
buzzer_on();
_delay_ms(50);
buzzer_off();
_delay_ms(200);
t--;
}
}
/** @brief Low Battery alarm to be called for example with 1 Hz */
void beep_on_low_voltage(void)
{
if (global_data.battery_voltage < BATTERY_LOW_VOLTAGE_ALARM)
{
buzzer_toggle();
}
else
{
buzzer_off();
}
}
//Main Function
void buzzer(void)
{
init_devices_buzzer();
for(int i=0;i<1;i++)
{
buzzer_on();
_delay_ms(1000); //delay
buzzer_off();
_delay_ms(1000); //delay
}
}
void sh_cmd1(void)
{
// time_tt t = {};
// clean_lcd(BACK_COL);
// gettime(&t);
buzzer_init();
buzzer_on();
udelay(1000*1000);
buzzer_off();
udelay(1000*1000);
}
/**
****************************************************************************************
* @brief Handles alert stop timer.
*
* @param[in] msgid APP_PROXR_ALERT_STOP_TO
* @param[in] param Null
* @param[in] dest_id TASK_APP
* @param[in] src_id TASK_NONE
*
* @return If the message was consumed or not.
* @description
* This handler is used to request the Application to start the alert on the device
* considering the indicated alert level. The handler may be triggered on two conditions:
* The IAS alert level characteristic has been written to a valid value, in which case
* alert_lvl will be set to the IAS alert level value.
* A disconnection with a reason other than the normal local/remote link terminations has
* been received, in which case alert_lvl will be set to the LLS alert level value.
* The Application actions following reception of this indication are strictly implementation
* specific (it may try to reconnect to the peer and stop alert upon that, or timeout the
* alert after acertain time, please see the specification)
****************************************************************************************
*/
int app_proxr_alert_to_handler(ke_msg_id_t const msgid,
void *param,
ke_task_id_t const dest_id,
ke_task_id_t const src_id)
{
// Stop proxr alert
buzzer_off();
//app_proxr_env->alert_lvl = 0;
QPRINTF("alert_stop_timer_handler.\r\n");
return (KE_MSG_CONSUMED);
}
/**
Turn left at an intersection.
*/
void turn_left(){
buzzer_off();
motion_set(0x05);
velocity(100,100);
_delay_ms(1000);
while(1){
print_sensor_data();
read_sensors();
if(Center_white_line < W_THRESHOLD) break;
}
velocity(0,0);
}
void buzzer_beep(int n)
{
int i;
for (i = 0; i < n; i++)
{
buzzer_on();
mdelay(100);
buzzer_off();
mdelay(100);
}
}
//Main Function
int main(void)
{
init_devices();
while(1)
{
if((PINE & 0x80) == 0x80) //switch is not pressed
{
buzzer_off(); //Turn off buzzer
PORTJ = 0x00; //Turn off bargraph LEDs
}
else
{
buzzer_on(); //Turn on buzzer
PORTJ = 0xFF; //Turn on bargraph LEDs
}
}
}
void update_node()
{
if(to_process ==1)
{
lcd_cursor(2,13);
lcd_string(store);
visited =atoi(store);
check_node[visited]=1;
to_process=0;
buzzer_off();
for(k=0;k<4;k++)
store[k]=0;
forward();
return;
}
}
int isPlus()
{
if((Left_white_line >0x20 && Center_white_line>0x20) || (Right_white_line >0x20 && Center_white_line>0x20))
{
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
return 1;
}
else
{
return 0;
}
}
int move_bot()
{
init_sensor_values();
while(checkobstacle()==0) {}
buzzer_off();
if(checkintersection() == 1)
{
//communicate with coordinator
comintersection();
stop();
_delay_ms(100);
return 0;
}
else
{
follow();
return 1;
}
}
int detect_program_bin(void)
{
int ret, size, count;
u32 *buf;
buf = (u32 *)0xe00000;
fat_register_device(&mmc_blk_dev,1);
//buzzer_off();
size = file_fat_read ("program.bin", buf, 128 * 1024);
if (size > 1 && (buf[0] == 0xea000012 || buf[0] == 0x120000ea))
{
buzzer_on(0);
run_command("go e00000", 0);
buzzer_off();
}
//buzzer_off();
return 0;
}
void main()
{
buzzer_off();
pcf_8591_init();
timer0_init();
timer1_init();
while(1)
{
switch(mod)
{
case 1:
re = pcf_8591_rd();
delay(20);
l3 = weight(re,l3);
break;
case 2:
TR0 = 0;
if(leixing == 1)
{
display(mod,ht1,0);
Delay1000ms(ht1);
ht1--;
if(ht1 == 0)
mod = 1;
}
else
{
display(mod,ht2,0);
Delay1000ms(ht2);
ht2--;
if(ht2 == 0)
mod = 1;
}
break;
case 3:
break;
}
}
}
void menu_key_test(void) {
u8 i;
u16 bit;
// cleanup screen and disable possible low bat warning
buzzer_off();
key_beep();
menu_battery_low = 0; // it will be set automatically again
battery_low_shutup = 0;
// do full screen blink
lcd_set_full_on();
delay_menu_always(2);
while (btns(BTN_ENTER)) stop(); // wait for release of ENTER
lcd_clear();
button_autorepeat(0); // disable autorepeats
btnra();
// show intro text
lcd_chars("KEY");
lcd_update_stop(); // wait for key
while (1) {
if (btnl(BTN_BACK | BTN_ENTER)) break;
for (i = 0, bit = 1; i < 16; i++, bit <<= 1) {
if (btn(bit)) {
key_beep();
lcd_chars(key_ids[i]);
if (btnl(bit)) lcd_7seg(L7_L);
else lcd_set(L7SEG, LB_EMPTY);
lcd_update();
break;
}
}
btnra();
stop();
}
key_beep();
apply_model_config();
}
void detect(){
if(USART1_RX_vect()==0xAA){ //check SYNC byte 1
if(USART1_RX_vect()==0xAA){ //check SYNC byte 2
payloadlength=USART1_RX_vect();
if(payloadlength < 169) { //Payload length can not be greater than 169
generatedChecksum = 0;
for(int i = 0; i < payloadlength; i++) {
payloaddata[i] = USART1_RX_vect(); //Read payload into memory
generatedChecksum += payloaddata[i];
}
checksum = USART1_RX_vect(); //Read checksum byte from stream
generatedChecksum = 255 - generatedChecksum;
if(checksum == generatedChecksum) { //Checking whether checksum received is correct. If buzzer turns on then packet is correct.
buzzer_on();_delay_ms(100);buzzer_off();_delay_ms(100);
}
}
}
}
}
int test(void)
{
int i = 0;
led_init();
buzzer_init();
k1_init();
while(1)
{
if(k1_is_down())
{
buzzer_on();
led_on(i%4 + 1);
delay(1);
buzzer_off();
led_off(i%4 + 1);
delay(1);
i++;
}
}
return 0;
}
/** Inicjalizacja urządzeń wejścia / wyjścia.
*/
void ioinit(void)
{
uint8_t i;
hd44780_init();
hd44780_outcmd(HD44780_CLR);
hd44780_wait_ready();
hd44780_outcmd(HD44780_ENTMODE(1, 0));
hd44780_wait_ready();
hd44780_outcmd(HD44780_DISPCTL(1, 1, 1));
hd44780_wait_ready();
hd44780_outcmd(HD44780_CGADDR(0));
for(i=0; i<64; i++) {
hd44780_outdata(pgm_read_byte(&extraChar[i]));
}
TCCR1B = _BV(WGM12) | _BV(CS11); // licznik / 8 - wyzerwoanie na porownanie
TIMSK = _BV(OCIE1A); // przerwanie na porownanie wartosci
OCR1A = TAU1; // warto licznika porownania
usart_init(UBRR_VALUE);
onewire_init();
twi_init();
outputs_init();
top_off_init();
qbuttons_init();
ui_init();
BUZZER_DDR |= _BV(BUZZER_SWITCH);
buzzer_off();
wdt_enable(WDTO_2S);
}
/**
Go forward by a certain specified number of steps.
*/
void go_distance(unsigned char x)
{
reset_shaft_counters();
forward();
velocity(100,100);
PORTJ = 0x00;
while(1){
read_sensors();
print_sensor_data();
if( Front_IR_Sensor<0xF0)
{
stop();
buzzer_on();
}
else
{
forward();
buzzer_off();
}
if((ShaftCountLeft + ShaftCountRight)*5 > x*10)
break;
}
velocity(0,0);
}
/**
****************************************************************************************
* @brief Show proxr alert. User can add their own code here to show alert.
****************************************************************************************
*/
static void usr_proxr_alert(struct proxr_alert_ind *param)
{
// If it is PROXR_LLS_CHAR writting indication, don't alert,
// otherwise (PROXR_IAS_CHAR, disconnect) to alert
if (param->char_code == PROXR_IAS_CHAR || app_proxr_env->enabled == false)
{
if(param->alert_lvl == 2)
{
buzzer_on(BUZZ_VOL_HIGH);
ke_timer_set(APP_PROXR_ALERT_STOP_TIMER, TASK_APP, 500); // 5 seconds
}
else if(param->alert_lvl == 1)
{
buzzer_on(BUZZ_VOL_LOW);
ke_timer_set(APP_PROXR_ALERT_STOP_TIMER, TASK_APP, 500); // 5 seconds
}
else
{
buzzer_off();
ke_timer_clear(APP_PROXR_ALERT_STOP_TIMER, TASK_APP);
}
}
}
__EXPORT int nsh_archinitialize(void)
{
int result;
message("\n");
/* configure always-on ADC pins */
stm32_configgpio(GPIO_ADC1_IN0);
stm32_configgpio(GPIO_ADC1_IN10);
stm32_configgpio(GPIO_ADC1_IN11);
stm32_configgpio(GPIO_UART_SBUS_INVERTER);
#ifdef CONFIG_RC_INPUTS_TYPE(RC_INPUT_SBUS)
stm32_gpiowrite(GPIO_UART_SBUS_INVERTER, 1);
#else
stm32_gpiowrite(GPIO_UART_SBUS_INVERTER, 0);
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* initial BUZZER state */
drv_buzzer_start();
buzzer_off(BUZZER_EXT);
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
led_off(LED_BLUE);
led_off(LED_GREEN);
led_off(LED_EXT1);
led_off(LED_EXT2);
/* Configure SPI-based devices */
message("[boot] Initializing SPI port 1\n");
spi1 = up_spiinitialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\r\n");
led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, GPIO_SPI_CS_MS5611, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EXP_MS5611, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EXP_MPU6000, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EXP_HMC5983, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EXP_WIFI_EEPROM, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
// message("[boot] Initializing Wireless Module\n");
// wireless_archinitialize();
message("[boot] Initializing SPI port 2\n");
spi2 = up_spiinitialize(2);
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\r\n");
led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi2, 10000000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, GPIO_SPI_CS_MPU6000, false);
SPI_SELECT(spi2, GPIO_SPI_CS_IMU_MS5611, false);
SPI_SELECT(spi2, GPIO_SPI_CS_IMU_MPU6000, false);
SPI_SELECT(spi2, GPIO_SPI_CS_IMU_HMC5983, false);
SPI_SELECT(spi2, GPIO_SPI_CS_IMU_EEPROM, false);
message("[boot] Successfully initialized SPI port 2\n");
/* Get the SPI port for the microSD slot */
message("[boot] Initializing SPI port 3\n");
spi3 = up_spiinitialize(3);
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\n");
led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI3 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi3, 10000000);
SPI_SETBITS(spi3, 8);
SPI_SETMODE(spi3, SPIDEV_MODE3);
SPI_SELECT(spi3, GPIO_SPI_CS_DATAFLASH, false);
SPI_SELECT(spi3, GPIO_SPI_CS_EEPROM, false);
SPI_SELECT(spi3, GPIO_SPI_CS_SDCARD, false);
message("[boot] Successfully initialized SPI port 3\n");
/* Now bind the SPI interface to the MMCSD driver */
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
if (result != OK) {
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
led_on(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
return OK;
}
void menu_global_setup(void) {
u8 item = 0;
u8 item_val = 0; // now selecting item
global_setup_t func = gs_config[item];
// cleanup screen and disable possible low bat warning
buzzer_off();
key_beep();
menu_battery_low = 0; // it will be set automatically again
backlight_set_default(BACKLIGHT_MAX);
backlight_on();
lcd_clear();
lcd_segment(LS_MENU_MODEL, LS_ON);
lcd_segment_blink(LS_MENU_MODEL, LB_INV);
lcd_segment_blink(LS_MENU_NAME, LB_INV);
lcd_update();
func(0); // show current value
while (1) {
btnra();
stop();
if (btnl(BTN_BACK | BTN_ENTER)) break;
if (btn(BTN_ENTER)) {
if (item > 0) { // not for firmware version
key_beep();
item_val = (u8)(1 - item_val);
if (item_val) {
// changing value
lcd_chars_blink(LB_SPC);
}
else {
// selecting item
lcd_chars_blink(LB_OFF);
}
}
}
else if (btn(BTN_ROT_ALL)) {
if (item_val) {
// change item value
func(1);
lcd_chars_blink(LB_SPC);
}
else {
// select another item
func(0xff); // un-show labels
if (btn(BTN_ROT_L)) {
if (item) item--;
else item = GS_CONFIG_SIZE - 1;
}
else {
if (++item >= GS_CONFIG_SIZE) item = 0;
}
func = gs_config[item];
func(0); // show current value
}
lcd_update();
}
}
func(0xff); // un-show labels, apply resets
beep(60);
lcd_clear();
config_global_save();
apply_global_config();
}
// shut up battery low beeper
static void kf_battery_low_shutup(u8 *id, u8 *param, u8 flags, s16 *pv) {
battery_low_shutup = 1;
buzzer_off();
}
