int main(void) {
// TODO disable JTAG
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
// set the system clock to be HSE
SystemClock_Config();
// enable GPIO clocks
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
// enable the CCM RAM
__CCMDATARAMEN_CLK_ENABLE();
#if 0
#if defined(NETDUINO_PLUS_2)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
#if MICROPY_HW_HAS_SDCARD
// Turn on the power enable for the sdcard (PB1)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET);
#endif
// Turn on the power for the 5V on the expansion header (PB2)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET);
}
#endif
#endif
// basic sub-system init
pendsv_init();
led_init();
switch_init0();
int first_soft_reset = true;
uint reset_mode;
soft_reset:
// check if user switch held to select the reset mode
reset_mode = 1;
led_state(1, 0);
led_state(2, 1);
led_state(3, 0);
led_state(4, 0);
#if MICROPY_HW_HAS_SWITCH
if (switch_get()) {
for (uint i = 0; i < 3000; i++) {
if (!switch_get()) {
break;
}
HAL_Delay(20);
if (i % 30 == 29) {
reset_mode = (reset_mode + 1) & 7;
led_state(2, reset_mode & 1);
led_state(3, reset_mode & 2);
led_state(4, reset_mode & 4);
}
}
// flash the selected reset mode
for (uint i = 0; i < 6; i++) {
led_state(2, 0);
led_state(3, 0);
led_state(4, 0);
HAL_Delay(50);
led_state(2, reset_mode & 1);
led_state(3, reset_mode & 2);
led_state(4, reset_mode & 4);
HAL_Delay(50);
}
HAL_Delay(400);
}
#endif
#if MICROPY_HW_ENABLE_RTC
if (first_soft_reset) {
rtc_init();
}
#endif
// more sub-system init
#if MICROPY_HW_HAS_SDCARD
if (first_soft_reset) {
sdcard_init();
}
#endif
if (first_soft_reset) {
storage_init();
}
// GC init
gc_init(&_heap_start, &_heap_end);
// Change #if 0 to #if 1 if you want REPL on USART_6 (or another usart)
// as well as on USB VCP
#if 0
pyb_usart_global_debug = pyb_Usart(MP_OBJ_NEW_SMALL_INT(PYB_USART_YA),
MP_OBJ_NEW_SMALL_INT(115200));
#else
pyb_usart_global_debug = NULL;
#endif
// Micro Python init
qstr_init();
mp_init();
mp_obj_t def_path[3];
def_path[0] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_);
def_path[1] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_src);
def_path[2] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib);
mp_sys_path = mp_obj_new_list(3, def_path);
readline_init();
exti_init();
#if MICROPY_HW_HAS_SWITCH
// must come after exti_init
switch_init();
#endif
#if MICROPY_HW_HAS_LCD
// LCD init (just creates class, init hardware by calling LCD())
lcd_init();
#endif
pin_map_init();
// local filesystem init
{
// try to mount the flash
FRESULT res = f_mount(&fatfs0, "0:", 1);
if (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
// no filesystem, or asked to reset it, so create a fresh one
// LED on to indicate creation of LFS
led_state(PYB_LED_R2, 1);
uint32_t start_tick = HAL_GetTick();
res = f_mkfs("0:", 0, 0);
if (res == FR_OK) {
// success creating fresh LFS
} else {
__fatal_error("could not create LFS");
}
// create src directory
res = f_mkdir("0:/src");
// ignore result from mkdir
// create empty main.py
FIL fp;
f_open(&fp, "0:/src/main.py", FA_WRITE | FA_CREATE_ALWAYS);
UINT n;
f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
// TODO check we could write n bytes
f_close(&fp);
// keep LED on for at least 200ms
sys_tick_wait_at_least(start_tick, 200);
led_state(PYB_LED_R2, 0);
} else if (res == FR_OK) {
// mount sucessful
} else {
__fatal_error("could not access LFS");
}
}
// make sure we have a /boot.py
{
FILINFO fno;
#if _USE_LFN
fno.lfname = NULL;
fno.lfsize = 0;
#endif
FRESULT res = f_stat("0:/boot.py", &fno);
if (res == FR_OK) {
if (fno.fattrib & AM_DIR) {
// exists as a directory
// TODO handle this case
// see http://elm-chan.org/fsw/ff/img/app2.c for a "rm -rf" implementation
} else {
// exists as a file, good!
}
} else {
// doesn't exist, create fresh file
// LED on to indicate creation of boot.py
led_state(PYB_LED_R2, 1);
uint32_t start_tick = HAL_GetTick();
FIL fp;
f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
UINT n;
f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
// TODO check we could write n bytes
f_close(&fp);
// keep LED on for at least 200ms
sys_tick_wait_at_least(start_tick, 200);
led_state(PYB_LED_R2, 0);
}
}
// run /boot.py
if (reset_mode == 1) {
if (!pyexec_file("0:/boot.py")) {
flash_error(4);
}
}
// turn boot-up LEDs off
led_state(2, 0);
led_state(3, 0);
led_state(4, 0);
#if defined(USE_DEVICE_MODE)
usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
#endif
#if MICROPY_HW_HAS_SDCARD
// if an SD card is present then mount it on 1:/
if (reset_mode == 1 && sdcard_is_present()) {
FRESULT res = f_mount(&fatfs1, "1:", 1);
if (res != FR_OK) {
printf("[SD] could not mount SD card\n");
} else {
if (first_soft_reset) {
// use SD card as medium for the USB MSD
#if defined(USE_DEVICE_MODE)
usb_medium = USB_STORAGE_MEDIUM_SDCARD;
#endif
}
}
}
#else
// Get rid of compiler warning if no SDCARD is configured.
(void)first_soft_reset;
#endif
#if defined(USE_HOST_MODE)
// USB host
pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
// USB device
if (reset_mode == 1) {
usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC;
if (pyb_config_usb_mode != MP_OBJ_NULL) {
if (strcmp(mp_obj_str_get_str(pyb_config_usb_mode), "CDC+HID") == 0) {
usb_mode = USB_DEVICE_MODE_CDC_HID;
}
}
pyb_usb_dev_init(usb_mode, usb_medium);
} else {
pyb_usb_dev_init(USB_DEVICE_MODE_CDC_MSC, usb_medium);
}
#endif
#if MICROPY_HW_ENABLE_RNG
// RNG
rng_init();
#endif
// I2C
i2c_init();
#if MICROPY_HW_HAS_MMA7660
// MMA accel: init and reset
accel_init();
#endif
#if MICROPY_HW_ENABLE_SERVO
// servo
servo_init();
#endif
#if 0
#if MICROPY_HW_ENABLE_TIMER
// timer
timer_init();
#endif
#endif
#if MICROPY_HW_ENABLE_DAC
// DAC
dac_init();
#endif
// run main script
if (reset_mode == 1) {
vstr_t *vstr = vstr_new();
vstr_add_str(vstr, "0:/");
if (pyb_config_source_dir == MP_OBJ_NULL) {
vstr_add_str(vstr, "src");
} else {
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_source_dir));
}
vstr_add_char(vstr, '/');
if (pyb_config_main == MP_OBJ_NULL) {
vstr_add_str(vstr, "main.py");
} else {
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
}
if (!pyexec_file(vstr_str(vstr))) {
flash_error(3);
}
vstr_free(vstr);
}
#if 0
#if MICROPY_HW_HAS_WLAN
// wifi
pyb_wlan_init();
pyb_wlan_start();
#endif
#endif
// enter REPL
// REPL mode can change, or it can request a soft reset
for (;;) {
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
if (pyexec_raw_repl() != 0) {
break;
}
} else {
if (pyexec_friendly_repl() != 0) {
break;
}
}
}
printf("PYB: sync filesystems\n");
storage_flush();
printf("PYB: soft reboot\n");
first_soft_reset = false;
goto soft_reset;
}
void i2c_lpc_start(i2c_bus_t* const bus, const void* const _config) {
const i2c_lpc_config_t* const config = _config;
const uint32_t port = (uint32_t)bus->obj;
i2c_init(port, config->duty_cycle_count);
}
int main(void)
{
uint16_t adcPVoltages[BUFSIZE] = {0UL};
uint16_t adcNVoltages[BUFSIZE] = {0UL};
uint16_t adcCurrents[BUFSIZE] = {0UL};
uint16_t adcGNDs[BUFSIZE] = {0UL};
uint16_t adcValue;
int16_t gndValue;
int16_t mVoltage, mCurrent;
uint8_t idx;
float fv, fa;
// ポートの初期化
DDRD = _BV(2); // RSTピンを出力に
PORTC = _BV(4) | _BV(5); // SCL, SDA内蔵プルアップを有効
// デバイスの初期化
i2c_init(); // AVR内蔵I2Cモジュールの初期化
wait_ms(500);
PORTD &= ~_BV(2); // RSTをLにします。リセット
wait_ms(1);
PORTD |= _BV(2); // RSTをHにします。リセット解除
wait_ms(10);
lcdInit();
//LCD初期表示
lcdSetPos(0, 0); lcdPutStr("Volt + / Current");
lcdSetPos(0, 1); lcdPutStr("Volt - / GND");
wait_sec(3);
//消費電力削減のためADC使用ピンをデジタル入力禁止にする（ADC入力（アナログ）専用となる）
DIDR0 |= (1 << ADC0D) | (1 << ADC1D) | (1 << ADC2D) | (1 << ADC3D); //PC0,PC1,PC2,PC3
//ADC動作設定
ADCSRA = 0b10000110 //bit2-0: 110 = 64分周 8MHz/64=125kHz (50k〜200kHzであること)
| (1 << ADIE); //割り込み許可（スリープ対応）
//ADCの基準電圧(AVCC)と入力ピンを設定する
ADMUX = (1 << REFS0) | ADC_SET_PVOLTAGE;
//A/D変換ノイズ低減のスリープモードを設定する
set_sleep_mode(SLEEP_MODE_ADC);
sei(); //割り込み許可
sleep_mode(); //A/Dコンバータ初期化として初回変換開始…変換中…変換完了
adcValue = ADC; //値の読み捨て
idx = 0;
while(1)
{
//===== GND電圧を測定する ===================================================
//
ADMUX = ADC_SET_GND;
wait_ms(10); //安定待ち
sleep_mode(); //スリープモード突入…変換中…変換完了
adcGNDs[idx] = ADC;
adcValue = total(adcGNDs);
gndValue = (float)adcValue / BUFSIZE;
fv = gndValue * F_VCC * 1000 / 1024; // mV単位
//電圧を表示する
mVoltage = (int16_t)fv;
lcdPutVoltage(mVoltage, 1, 1);
//===== 正電圧を測定する ===================================================
//
ADMUX = ADC_SET_PVOLTAGE;
wait_ms(10); //安定待ち
sleep_mode(); //スリープモード突入…変換中…変換完了
adcPVoltages[idx] = ADC;
adcValue = total(adcPVoltages);
//A/D変換値から電圧を求める
fv = (((float)adcValue / BUFSIZE) - gndValue) * F_VCC * 1000 / (1024 * F_POSITIVE_V_RATE); // mV単位
//電圧を表示する
mVoltage = (int16_t)fv;
lcdPutVoltage(mVoltage, 0, 0);
//===== 負電圧を測定する ===================================================
//
ADMUX = ADC_SET_NVOLTAGE;
wait_ms(10); //安定待ち
sleep_mode(); //スリープモード突入…変換中…変換完了
adcNVoltages[idx] = ADC;
adcValue = total(adcNVoltages);
//A/D変換値から電圧を求める
fv = (((float)adcValue / BUFSIZE) - gndValue) * F_VCC * 1000 / (1024 * F_NEGATIVE_V_RATE); // mV単位
//電圧を表示する
mVoltage = (int16_t)fv;
lcdPutVoltage(mVoltage, 0, 1);
//===== 電流を測定する ====================================================
//
ADMUX = ADC_SET_CURRENT;
wait_ms(10); //安定待ち
sleep_mode(); //スリープモード突入…変換中…変換完了
adcCurrents[idx] = ADC;
adcValue = total(adcCurrents);
// ADCの読み取り値が1000以上の場合測定不可とする
if ((float)adcValue / BUFSIZE < 1000) {
//A/D変換値から電圧を求め、電流を算出する
fv = (((float)adcValue / BUFSIZE) - gndValue) * F_VCC * 1000 / (1024 * F_CURRENT_AMP); // mV単位
fa = fv / F_SHUNT_R; //mA単位
//電流を表示する
mCurrent = (int16_t)(fa * 10.0); //0.1mA単位
lcdPutCurrent(mCurrent, 1, 0);
}
else {
lcdLineClear(1, 0);
lcdSetPos(8, 0);
lcdPutStr(" OVER");
}
//次のループの準備
if (++idx == BUFSIZE) idx = 0;
}
return 0;
}
int main (int argc, char * argv[]){
int tst = argc < 2 ? 1 : atoi(argv[1]);
i2c_init(LOG_PRINT);
switch(tst){
case 0: //Explore regs in a given range for a device attached to a given port
{
int port = argc < 3 ? 1 : atoi(argv[2]);
uint8_t range_ini = argc < 4 ? 0x00 : (uint8_t)atoi(argv[3]);
uint8_t range_fi = argc < 5 ? 0xff : (uint8_t)atoi(argv[4]);
int retries = argc < 6 ? 10 : atoi(argv[5]), retry = 0;
int sda = port == 1 ? SDA_1 : SDA_2;
int scl = port == 1 ? SCL_1 : SCL_2;
uint8_t data_out[] = {range_ini};
uint16_t data_in[1];
bool ret;
I2C_DVC dvc;
i2c_new_device(&dvc, DVC_ADDR, FREQ, sda, scl, GPPUD_PULLDOWN, GPPUD_PULLUP);
i2c_set_loglvl(LOG_QUIET);
while(data_out[0] < range_fi) {
if (!(ret = i2c_transfer(&dvc, data_out , 1, true, data_in, 1, false, 10000))){
printf("NACK sending: 0x%02x\n", data_out[0]);
retry ++;
sleep(1);
}
if (retry > retries) {
if(data_out[0] <= range_fi-1)
printf("switching to REG: 0x%02x\n", data_out[0] +1);
data_out[0] += 1;
retry = 0;
} else if (ret) {
printf("sended: 0x%02x, received: 0x%04x / %u / %c in %d retries\n", data_out[0], data_in[0], data_in[0], data_in[0], retry);
data_out[0] += 1;
retry = 0;
}
}
i2c_shutdown(&dvc);
}
break;;
case 1: //Send command to a device plugged into a given port
{
int port = argc < 3 ? 1 : atoi(argv[2]);
int index = argc < 4 ? 2 : atoi(argv[3]);
uint8_t cmd, reg;
int delay;
int sda = port == 1 ? SDA_1 : SDA_2;
int scl = port == 1 ? SCL_1 : SCL_2;
I2C_DVC dvc;
if(argc < 5){
reg = cmds[index].reg;
cmd = cmds[index].val;
delay = cmds[index].delay;
} else {
reg = scmds[index].reg;
cmd = (uint8_t)atoi(argv[4]);
delay = scmds[index].delay;
}
uint8_t data_aux[] = {reg,cmd};
i2c_new_device(&dvc, DVC_ADDR, FREQ, sda, scl, GPPUD_PULLDOWN, GPPUD_PULLUP);
i2c_write(&dvc, data_aux, 2, delay);
i2c_shutdown(&dvc);
}
break;;
case 2: //Ultrasonic stuff
{
int port = argc < 3 ? 1 : atoi(argv[2]);
int i, k;
uint8_t cmd_ss[2];
uint16_t data_in [] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00};
uint8_t data_aux[1];
int sda = port == 1 ? SDA_1 : SDA_2;
int scl = port == 1 ? SCL_1 : SCL_2;
I2C_DVC us;
i2c_new_device(&us, DVC_ADDR, FREQ, sda, scl, GPPUD_PULLDOWN, GPPUD_PULLUP);
for (i=0; i<US_REGS; i++){
data_aux[0] = usregs[i].base;
if (i < US_BASE_DIST)
i2c_transfer(&us, data_aux, 1, true, data_in, usregs[i].len, false, usregs[i].delay);
else {
cmd_ss [0] = cmds[1].reg;
cmd_ss [1] = cmds[1].val;
i2c_write(&us, cmd_ss, 2, cmds[1].delay);
i2c_transfer(&us, data_aux, 1, true, data_in, usregs[i].len, false, usregs[i].delay);
}
if(i == 0 || i == 1 || i == 2 || i == 6 ){
printf("%s", usregs[i].def);
for (k=0; k<usregs[i].len; k++)
printf("%c",data_in[k]);
printf("\n");
} else if (i < US_BASE_DIST)
printf("%s0x%02x\n", usregs[i].def, data_in[0]);
else
printf("%s%u\n", usregs[i].def, data_in[0]);
}
i2c_shutdown(&us);
}
break;;
case 3://color sensor HiTechnic
{
int port = argc < 3 ? 2 : atoi(argv[2]);
uint8_t data_aux [1];
uint16_t data_in [1];
char str_aux [COL_MAX_LEN+1];
int sda = port == 1 ? SDA_1 : SDA_2;
int scl = port == 1 ? SCL_1 : SCL_2;
I2C_DVC col;
i2c_new_device(&col, DVC_ADDR, FREQ, sda, scl, GPPUD_PULLUP, GPPUD_PULLUP);
int i, k;
uint16_t auxraw = 0;
for (i=0; i < COL_REGS; i++){
for (k=0; k < cregs[i].len; k++){
data_aux[0] = cregs[i].base + k;
if(i2c_transfer(&col, data_aux, 1, false, data_in, 1, false, cregs[i].delay)) {
if(i < COL_BASE_DATA)
str_aux[k] = (char) data_in[0];
else if(i>6 && i<10) {
if((cregs[i].base + k)%2 == 0)
auxraw = (data_in[0] & 0xff);
else {
auxraw <<= BYTE_LEN;
auxraw |= (data_in[0] & 0xff);
}
}
} else
printf("NAK sending >> %s0x%02x\n", cregs[i].def, cregs[i].base + k);
}
if(i < COL_BASE_DATA) {
str_aux[k] = '\0';
printf("%s%s\n", cregs[i].def, str_aux);
} else if(i>6 && i<10)
printf("%s0x%04x / %u\n", cregs[i].def, auxraw, auxraw);
else if(i == 10){
printf("%s0x%02x / ", cregs[i].def, data_in[0]);
for (k=BYTE_LEN-3; k >= 0; k--) {
if (data_in[0] & (0x01 << k))
printf("1");
else
printf("0");
}
printf("\n");
}else
printf("%s0x%02x / %u\n", cregs[i].def, data_in[0], data_in[0]);
}
i2c_shutdown(&col);
}
break;;
case 4://IR seeker HiTechnic
{
int port = argc < 3 ? 2 : atoi(argv[2]);
uint8_t data_aux [1];
uint16_t data_in [1];
char str_aux [IRS_MAX_LEN+1];
int sda = port == 1 ? SDA_1 : SDA_2;
int scl = port == 1 ? SCL_1 : SCL_2;
I2C_DVC irs;
i2c_new_device(&irs, DVC_ADDR, FREQ, sda, scl, GPPUD_PULLUP, GPPUD_PULLUP);
int i, k;
for (i=0; i < IRS_REGS; i++){
for (k=0; k < irsregs[i].len; k++){
data_aux[0] = irsregs[i].base + k;
if(i2c_transfer(&irs, data_aux, 1, false, data_in, 1, false, irsregs[i].delay)) {
if(i < IRS_BASE_DATA)
str_aux[k] = (char) data_in[0];
} else
printf("NAK sending >> %s0x%02x\n", irsregs[i].def, irsregs[i].base + k);
}
if(i < IRS_BASE_DATA) {
str_aux[k] = '\0';
printf("%s%s\n", irsregs[i].def, str_aux);
} else
printf("%s0x%02x / %u\n", irsregs[i].def, data_in[0], data_in[0]);
}
i2c_shutdown(&irs);
}
break;;
case 5: //Hitechnic accelerometer
{
int port = argc < 3 ? 2 : atoi(argv[2]);
uint8_t data_aux [1];
uint16_t data_in [1];
char str_aux [AC_MAX_LEN+1];
int sda = port == 1 ? SDA_1 : SDA_2;
int scl = port == 1 ? SCL_1 : SCL_2;
int x = 0, y = 0 ,z = 0;
I2C_DVC acc;
i2c_new_device(&acc, DVC_ADDR, FREQ, sda, scl, GPPUD_PULLUP, GPPUD_PULLUP);
int i, k;
while (1){
for (i=0; i < AC_REGS; i++){
for (k=0; k < acregs[i].len; k++){
data_aux[0] = acregs[i].base + k;
if(i2c_transfer(&acc, data_aux, 1, false, data_in, 1, false, acregs[i].delay)) {
if(i < AC_BASE_DATA)
str_aux[k] = (char) data_in[0];
else {
switch(acregs[i].base + k){
case 0x42:
{
x = data_in[0] & 0x80 ? (data_in[0] - 256) << 2 : data_in[0] << 2;
}
break;;
case 0x43:
{
y = data_in[0] & 0x80 ? (data_in[0] - 256) << 2 : data_in[0] << 2;
}
break;;
case 0x44:
{
z = data_in[0] & 0x80 ? (data_in[0] - 256) << 2 : data_in[0] << 2;
}
break;;
case 0x45:
{
x |= data_in[0] & 0x03;
}
break;;
case 0x46:
{
y |= data_in[0] & 0x03;
}
break;;
case 0x47:
{
z |= data_in[0] & 0x03;
}
break;;
default:
break;;
}
}
} else
printf("NAK sending >> %s0x%02x\n", acregs[i].def, acregs[i].base + k);
}
if(i < AC_BASE_DATA) {
str_aux[k] = '\0';
printf("%s%s\n", acregs[i].def, str_aux);
}
}
printf("X: %d\n", x);
printf("Y: %d\n", y);
printf("Z: %d\n", z);
sleep(1);
}
i2c_shutdown(&acc);
}
break;;
case 6://Compass sensor HiTechnic
{
int port = argc < 3 ? 2 : atoi(argv[2]);
uint8_t data_aux [1];
uint16_t data_in [1];
char str_aux [COM_MAX_LEN+1];
int sda = port == 1 ? SDA_1 : SDA_2;
int scl = port == 1 ? SCL_1 : SCL_2;
int dsigned = 0;
uint16_t dunsigned = 0;
I2C_DVC com;
i2c_new_device(&com, DVC_ADDR, FREQ, sda, scl, GPPUD_PULLUP, GPPUD_PULLUP);
int i, k;
for (i=0; i < COM_REGS; i++){
for (k=0; k < comregs[i].len; k++){
data_aux[0] = comregs[i].base + k;
if(i2c_transfer(&com, data_aux, 1, false, data_in, 1, false, comregs[i].delay)) {
if(i < COM_BASE_DATA)
str_aux[k] = (char) data_in[0];
else {
switch(comregs[i].base + k){
case 0x42:
{
dsigned = (int) data_in[0]*2;
}
break;;
case 0x43:
{
dsigned += data_in[0];
}
break;;
case 0x44:
{
dunsigned = data_in[0];
}
break;;
case 0x45:
{
dunsigned |= data_in[0] << BYTE_LEN;
}
break;;
default:
break;;
}
}
} else
printf("NAK sending >> %s0x%02x\n", comregs[i].def, comregs[i].base + k);
}
if(i < COM_BASE_DATA){
str_aux[k] = '\0';
printf("%s%s\n", comregs[i].def, str_aux);
} else if(comregs[i].base == 0x41)
printf("%s0x%02x / %u\n", comregs[i].def, data_in[0], data_in[0]);
}
printf("Degree signed: %d\n", dsigned);
printf("Degree unsigned: %u\n", dunsigned);
i2c_shutdown(&com);
}
break;;
case 7: //useless test ...
{
I2C_DVC col;
uint8_t data_aux[] = {0x43};
uint16_t data_in[3];
i2c_new_device(&col, DVC_ADDR, FREQ, SDA_2, SCL_2, GPPUD_PULLUP, GPPUD_PULLUP);
if(i2c_transfer(&col, data_aux, 1, false, data_in, 3, false, 0))
printf("Received: 0x%02x / %u, 0x%02x / %u, 0x%02x / %u \n", data_in[0], data_in[0], data_in[1], data_in[1], data_in[2], data_in[2]);
else
printf("NACK!\n");
i2c_shutdown(&col);
}
break;;
default:
break;;
}
return (EXIT_SUCCESS);
}
static int setup_pmic_voltages(void)
{
unsigned char value, rev_id = 0;
i2c_init(CONFIG_SYS_I2C_SPEED, CONFIG_SYS_I2C_SLAVE);
if (!i2c_probe(0x8)) {
if (i2c_read(0x8, 0, 1, &value, 1)) {
printf("Read device ID error!\n");
return -1;
}
if (i2c_read(0x8, 3, 1, &rev_id, 1)) {
printf("Read Rev ID error!\n");
return -1;
}
printf("Found PFUZE100! deviceid=%x,revid=%x\n", value, rev_id);
/* set SW1AB staby volatage 0.975V */
if (i2c_read(0x8, 0x21, 1, &value, 1)) {
printf("Read SW1ABSTBY error!\n");
return -1;
}
value &= ~0x3f;
value |= 0x1b;
if (i2c_write(0x8, 0x21, 1, &value, 1)) {
printf("Set SW1ABSTBY error!\n");
return -1;
}
/* set SW1AB/VDDARM step ramp up time from 16us to 4us/25mV */
if (i2c_read(0x8, 0x24, 1, &value, 1)) {
printf("Read SW1ABCONFIG error!\n");
return -1;
}
value &= ~0xc0;
value |= 0x40;
if (i2c_write(0x8, 0x24, 1, &value, 1)) {
printf("Set SW1ABCONFIG error!\n");
return -1;
}
/* set SW1C staby volatage 0.975V */
if (i2c_read(0x8, 0x2f, 1, &value, 1)) {
printf("Read SW1CSTBY error!\n");
return -1;
}
value &= ~0x3f;
value |= 0x1b;
if (i2c_write(0x8, 0x2f, 1, &value, 1)) {
printf("Set SW1CSTBY error!\n");
return -1;
}
/* set SW1C/VDDSOC step ramp up time to from 16us to 4us/25mV */
if (i2c_read(0x8, 0x32, 1, &value, 1)) {
printf("Read SW1CCONFIG error!\n");
return -1;
}
value &= ~0xc0;
value |= 0x40;
if (i2c_write(0x8, 0x32, 1, &value, 1)) {
printf("Set SW1CCONFIG error!\n");
return -1;
}
}
return 0;
}
int main(void) {
DDRA |= (1<<PA7);
PORTA |= (1<<PA7); // podœwietlenie wyœwietlacza LCD
// Przerwanie INT0
MCUCR |= (1<<ISC01); // wyzwalanie zboczem opadaj¹cym
GICR |= (1<<INT0); // odblokowanie przerwania
PORTD |= (1<<PD2); // podci¹gniêcie pinu INT0 do VCC
// definiujemy sobie dla polepszenia czytelnoœci programu typ wyliczeniowy
// wskazuj¹cy nam póŸniej na odpowiednie indeksy w tablicy (buforze)
enum {ss=1, mm, hh};
uint8_t bufor[4]; // rezerwacja bufora 4 bajty
uint8_t sekundy, minuty, godziny;
i2c_init();
lcd_init();
sei();
lcd_str_P(PSTR("start..."));
// Ustawianie czasu na godzinê: 18:34:27
/*
bufor[0] = 0; // setne czêœci sekundy
bufor[1] = dec2bcd(27); // sekundy
bufor[2] = dec2bcd(34); // minuty
bufor[3] = dec2bcd(18); // godziny
// zapis 4 bajtów z bufora pod adres 0x01 w pamiêci RAM naszego RTC
I2C_write_buf( PCF8583_ADDR, 0x01, 4, bufor );
*/
// zapis tekstu do pamiêci EEPROM od adresu 253, dlatego aby tekst
// zosta³ zapisany w jednym i drugim banku pamiêci
EI2C_write_buf( _24C04_ADDR, 253, sizeof(tekst), tekst );
while(1) {
if ( int0_flag ) {
//odczyt 4 bajtów do bufora od adresu 0x01 z pamiêci RAM naszego RTC
I2C_read_buf( PCF8583_ADDR, 0x01, 4, bufor );
sekundy = bcd2dec( bufor[ss] );
minuty = bcd2dec( bufor[mm] );
godziny = bcd2dec( bufor[hh] );
// wyœwietlenie czasu na LCD
lcd_locate(1,0);
if( godziny < 10 ) lcd_str("0");
lcd_int(godziny);
lcd_str(":");
if( minuty < 10 ) lcd_str("0");
lcd_int(minuty);
lcd_str(":");
if( sekundy < 10 ) lcd_str("0");
lcd_int(sekundy);
// odczyt z EEPROM
EI2C_read_buf( _24C04_ADDR, 253, sizeof(tekst), bo );
// wyœwietlenie napisu z EEPROM na LCD
lcd_locate(0, 9);
lcd_str( (char*)bo );
int0_flag=0;
}
}
}
int main(void) {
// disable watchdog (pin 6 output)
DDRD |= _BV(PIND6);
// enable LED (pin 5 output)
DDRB |= _BV(PINB5);
// just in case we use I2C2 (second port)
// enable power (pin 3 output + HIGH)
DDRB |= _BV(PINB3);
PORTB |= _BV(PORTB3);
UART_INIT_STDIO();
blink(3);
prompt("press enter to start:");
i2c_init(I2C_SPEED_50KHZ);
// reset device
if (!isl_reset()) {
puts("could not initialize ISL29125 RGB sensor");
}
// set sampling mode, ir filter and interrupt mode
isl_set(ISL_R_FILTERING, ISL_FILTER_IR_MAX);
isl_set(ISL_R_COLOR_MODE, ISL_MODE_RGB | ISL_MODE_10KLUX | ISL_MODE_16BIT);
printf("read mode: ");
uint8_t color_mode = isl_get(ISL_R_COLOR_MODE);
print_bits(1, &color_mode);
puts("");
printf("read filter: ");
uint8_t ir_filtering = isl_get(ISL_R_FILTERING);
print_bits(1, &ir_filtering);
puts("");
printf("read interrupts: ");
uint8_t intr = isl_get(ISL_R_INTERRUPT);
print_bits(1, &intr);
puts("");
puts("reading RGB values from sensor");
puts("'%' indicates the chip is still in a conversion cyle, so we wait");
while (1) {
// reset device
if (!isl_reset()) {
puts("could not initialize ISL29125 RGB sensor");
}
// set sampling mode, ir filter and interrupt mode
isl_set(ISL_R_FILTERING, ISL_FILTER_IR_MAX);
isl_set(ISL_R_COLOR_MODE, ISL_MODE_RGB | ISL_MODE_10KLUX | ISL_MODE_16BIT);
_delay_ms(600);
// read the full 36 or 48 bit color
printf("48bit: ");
rgb48 rgb = isl_read_rgb();
printf("0x%04x%04x%04x rgb48(%u,%u,%u)\n", rgb.green, rgb.red, rgb.blue, rgb.red, rgb.green, rgb.blue);
printf("24bit: ");
rgb24 rgb8 = isl_read_rgb24();
printf("0x%02x%02x%02x rgb24(%u,%u,%u)\n", rgb8.red, rgb8.green, rgb8.blue, rgb8.red, rgb8.green, rgb8.blue);
// prompt("next? ");
_delay_ms(1000);
}
}
/* this happens after cpu_init where exynos resources are set */
static void mainboard_init(device_t dev)
{
int dp_tries;
struct s5p_dp_device dp_device = {
.base = (struct exynos5_dp *)EXYNOS5250_DP1_BASE,
.video_info = &dp_video_info,
};
void *fb_addr = (void *)(get_fb_base_kb() * KiB);
gpio_init();
i2c_init(TPS65090_BUS, I2C_0_SPEED, I2C_SLAVE);
i2c_init(7, I2C_0_SPEED, I2C_SLAVE);
tmu_init(&exynos5250_tmu_info);
/* Clock Gating all the unused IP's to save power */
clock_gate();
/* Disable USB3.0 PLL to save 250mW of power */
disable_usb30_pll();
set_vbe_mode_info_valid(&edid, (uintptr_t)fb_addr);
lcd_vdd();
// FIXME: should timeout
do {
udelay(50);
} while (!exynos_dp_hotplug());
exynos_dp_bridge_setup();
for (dp_tries = 1; dp_tries <= MAX_DP_TRIES; dp_tries++) {
exynos_dp_bridge_init();
if (exynos_dp_hotplug()) {
exynos_dp_reset();
continue;
}
if (dp_controller_init(&dp_device))
continue;
udelay(LCD_T3_DELAY_MS * 1000);
backlight_vdd();
backlight_pwm();
backlight_en();
/* if we're here, we're successful */
break;
}
if (dp_tries > MAX_DP_TRIES)
printk(BIOS_ERR, "%s: Failed to set up displayport\n", __func__);
// Uncomment to get excessive GPIO output:
// gpio_info();
}
static void mainboard_enable(device_t dev)
{
dev->ops->init = &mainboard_init;
/* set up dcache and MMU */
/* FIXME: this should happen via resource allocator */
exynos5250_config_l2_cache();
mmu_init();
mmu_config_range(0, DRAM_START, DCACHE_OFF);
mmu_config_range(DRAM_START, DRAM_SIZE, DCACHE_WRITEBACK);
mmu_config_range(DRAM_END, 4096 - DRAM_END, DCACHE_OFF);
dcache_invalidate_all();
dcache_mmu_enable();
/* this is going to move, but we must have it now and we're
* not sure where */
exception_init();
const unsigned epll_hz = 192000000;
const unsigned sample_rate = 48000;
const unsigned lr_frame_size = 256;
clock_epll_set_rate(epll_hz);
clock_select_i2s_clk_source();
clock_set_i2s_clk_prescaler(epll_hz, sample_rate * lr_frame_size);
power_enable_xclkout();
}
int main(){
//It's inits time!
initUartDebug();
DDRG = 0xFF;
acc_init();
PORTG = 0xFF;
adc_init();
//burn_init();
du_init();
DHT_Init();
//digipot_init();
//GPS_Init();
i2c_init();
OneWireInit();
//OPT_init();
radio_init();
sd_init();
//soilres_init();
spi_init();
TimeServiceInit();
dtpkt_t pkt;
/*accpkt_t accpkt;
accpkt.beacon = 0xACCC;
accpkt.number = 0;
accpkt.entries = 0;
uint8_t dataaval=0;*/
pkt.beacon = 0xFFFF;
pkt.number = 0;
cli();
start_temperature();
//isBigLux = false;
sei();
_delay_ms(1);
// uint16_t opt_devid = 0;;
// OPT_read(0x7F, &opt_devid);
// GR_DEBUG("OPT DevID = 0x%02x\n", opt_devid);TempTime = TimeServiceGet();
pkt.humidity = 0;
pkt.temperature2 = 0;
while(1){
PORTG ^= 0xFF;
/*for(int i = 0;i<1;i++) {
dataaval = acc_read(accpkt.datax,accpkt.datay,accpkt.dataz);
TempTime = TimeServiceGet();
accpkt.time = TempTime.seconds;
accpkt.time_part = TempTime.subseconds;
if(dataaval) {
accpkt.entries = dataaval;
accpkt.number++;
du_write(&accpkt, 9);
du_write(accpkt.datax, dataaval);
du_write(accpkt.datay, dataaval);
du_write(accpkt.dataz, dataaval);
for(int i = 0; i < (sizeof(accpkt)-sizeof(accpkt.cntrl)); i++) {
accpkt.cntrl += *((uint8_t*)(&accpkt)+i);
}
du_write(&accpkt.cntrl, 2);
}
}*/
TempTime = TimeServiceGet();
if(TempTime.seconds-startOfConv_time.seconds){
cli();
pkt.temperature1 = get_temperature();
sei();
startOfConv_time = TimeServiceGet();
}
cli();
DHT_Read(&pkt.humidity,&pkt.temperature2);
sei();
// if (rc != 0)
// GR_DEBUG("dht22 error = %d\n", rc);
pkt.pressure = adc_read(ADC_CHANNEL_PRESSURE);
pkt.O2 = adc_read(ADC_CHANNEL_O2_SENS);
pkt.CO2 = adc_read(ADC_CHANNEL_CO2_SENS);
//OPT_result(&pkt.lum);
TempTime = TimeServiceGet();
pkt.time = TempTime.seconds;
pkt.time_part = TempTime.subseconds;
pkt.number++;
for(int i = 0; i < (sizeof(pkt)-sizeof(pkt.cntrl)); i++) {
pkt.cntrl += *((uint8_t*)(&pkt)+i);
}
du_write(&pkt, sizeof(pkt));
//GR_DEBUG("Number %d, %d sec %d subsec, temp1 %d, temp2 %d, pres %d, hum %d, O2 %d, CO2 %d, lum %d\n", pkt.number, pkt.time, pkt.time_part, pkt.temperature1,pkt.temperature2,pkt.pressure,pkt.humidity,pkt.O2,pkt.CO2,pkt.lum);
/*dataaval = acc_read(accpkt.datax,accpkt.datay,accpkt.dataz);
TempTime = TimeServiceGet();
accpkt.time = TempTime.seconds;
accpkt.time_part = TempTime.subseconds;
if(dataaval) {
accpkt.entries = dataaval;
accpkt.number++;
du_write(&accpkt, 9);
du_write(accpkt.datax, dataaval);
du_write(accpkt.datay, dataaval);
du_write(accpkt.dataz, dataaval);
for(int i = 0; i < (sizeof(accpkt)-sizeof(accpkt.cntrl)); i++) {
accpkt.cntrl += *((uint8_t*)(&accpkt)+i);
}
du_write(&accpkt.cntrl, 2);
}*/
if(OnLaunchpad) {
if(StartPres - adc_read(ADC_CHANNEL_PRESSURE) > 20) {
OnLaunchpad = 0;
Started = 1;
}
}
if(Started){
if(WaitLand){
int treshhold = 1;
PresBuf[PresBufi] = pkt.pressure;
bool onePres = 1;
for(int i = 1;i<5;i++){
if((PresBuf[0]-PresBuf[i]>treshhold)||(PresBuf[i]-PresBuf[0])>treshhold) onePres=0;
}
if(onePres){
FRPORT |= (1<<FRSEEDS);
Started = 0;
SeedStarted = 1;
startOfSeeds_time = TimeServiceGet();
}
}
PresBuf[PresBufi] = pkt.pressure;
if(PresBufi == 4) {
PresBufi = 0;
WaitLand = 1;
}
else PresBufi++;
}
if(SeedStarted){
if(startOfSeeds_time.seconds - TimeServiceGet().seconds) {
FRPORT &= ~(1<<FRSEEDS);
SeedStarted = 0;
pkt.seeds = 1;
}
}
_delay_ms(900);
}
}
void main(void)
{
/* Initialization functions called below */
ecan_init();
ConfigureOscillator();
/* Enable Interrupts */
RCONbits.IPEN = 0; // Enable interrupt priority
INTCONbits.GIE = 1; // Enable interrupts
INTCONbits.PEIE = 1; // Enable peripheral interrupts.
PIE3bits.RXB0IE = 1; // Enable CAN receive buffer 0 interrupt
PIE3bits.RXB1IE = 1; // Enable CAN receive buffer 1 interrupt
i2c_init();
//Configure accelerometer CONTRL_REG1_XM
//char slaveAddr0 = 0x1E;
//char destAddr0 = 0x20;
//char sendData0 = 0b01100111; //== 0x67
//i2c_writeToReg(slaveAddr0, destAddr0, sendData0);
//CONTROL_REG5_XM
//slaveAddr0 = 0x1E;
//destAddr0 = 0x24;
//sendData0 = 0b11110000;
//i2c_writeToReg(slaveAddr0, destAddr0, sendData0);
i2c_writeToReg(0x1E, 0x1F, 0x00);
i2c_writeToReg(0x1E, 0x20, 0x57);
i2c_writeToReg(0x1E, 0x21, 0x00);
i2c_writeToReg(0x1E, 0x22, 0x00);
i2c_writeToReg(0x1E, 0x23, 0x00);
i2c_writeToReg(0x1E, 0x24, 0x14);
i2c_writeToReg(0x1E, 0x25, 0x00);
i2c_writeToReg(0x1E, 0x26, 0x00);
i2c_writeToReg(0x6A, 0x20, 0x0F);
i2c_writeToReg(0x6A, 0x21, 0x00);
i2c_writeToReg(0x6A, 0x23, 0x00);
i2c_writeToReg(0x6A, 0x24, 0x00);
/* While doing recurring functions */
while(1)
{
/*
short ac1 = i2c_get_data(0x77, 0xAA);
short ac2 = i2c_get_data(0x77, 0xAC);
short ac3 = i2c_get_data(0x77, 0xAE);
unsigned short ac4 = i2c_get_udata(0x77, 0xB0);
unsigned short ac5 = i2c_get_udata(0x77, 0xB2);
unsigned short ac6 = i2c_get_udata(0x77, 0xB4);
short b1 = i2c_get_data(0x77, 0xB6);
short b2 = i2c_get_data(0x77, 0xB8);
short mb = i2c_get_data(0x77, 0xBA);
short mc = i2c_get_data(0x77, 0xBC);
short md = i2c_get_data(0x77, 0xBF);
i2c_write_raw(0xF4, 0x2E);
__delay_ms(5);
long ut = i2c_get_data(0x77, 0xF6);
long x1 = ((long) ut - (unsigned long) ac6) * (unsigned long) ac5 / 32768;
long x2 = (long) mc * 2048 / (x1 + (long) md);
long b5 = x1 + x2;
long temp = (b5 + 8) / 16;
Message tempPack;
tempPack.sid = 0x101;
tempPack.len = 4;
tempPack.data[3] = temp >> 24;
tempPack.data[2] = temp >> 16;
tempPack.data[1] = temp >> 8;
tempPack.data[0] = temp;
ecan_send(&tempPack);
__delay_ms(50);
*/
/*short xGyroRaw = i2c_get_byte(0x6A, 0x28);
xGyroRaw += i2c_get_byte(0x6A,0x29) << 8;
short yGyroRaw = i2c_get_byte(0x6A, 0x2A);
yGyroRaw += i2c_get_byte(0x6A,0x2B) << 8;
short zGyroRaw = i2c_get_byte(0x6A, 0x2C);
zGyroRaw += i2c_get_byte(0x6A,0x2D) << 8;
Message gyroPack;
gyroPack.sid = 0x000;
gyroPack.len = 6;
gyroPack.data[5] = xGyroRaw >> 8;
gyroPack.data[4] = xGyroRaw;
gyroPack.data[3] = yGyroRaw >> 8;
gyroPack.data[2] = yGyroRaw;
gyroPack.data[1] = zGyroRaw >> 8;
gyroPack.data[0] = zGyroRaw;
ecan_send(&gyroPack); */
short xAccelRaw = i2c_get_byte(0x1E, 0x28);
xAccelRaw += i2c_get_byte(0x1E,0x29) << 8;
short yAccelRaw = i2c_get_byte(0x1E, 0x2A);
yAccelRaw += i2c_get_byte(0x1E,0x2B) << 8;
short zAccelRaw = i2c_get_byte(0x1E, 0x2C);
zAccelRaw += i2c_get_byte(0x1E,0x2D) << 8;
Message accelPack;
accelPack.sid = 0x000;
accelPack.len = 6;
accelPack.data[5] = xAccelRaw >> 8;
accelPack.data[4] = xAccelRaw;
accelPack.data[3] = yAccelRaw >> 8;
accelPack.data[2] = yAccelRaw;
accelPack.data[1] = zAccelRaw >> 8;
accelPack.data[0] = zAccelRaw;
ecan_send(&accelPack);
}
}
// main entry point, go ahead, have fun!
int main(void) {
// hold the power button for 3 seconds or shutdown
//_delay_ms(STARTUP_DELAY);
// keep power pin High unless we want to shutdown
powerControl = 1;
// disable JTAG so we can use PF4,PF5,PF6,PF7 for ADC and GPIO
MCUCSR |=(1<<JTD);MCUCSR |=(1<<JTD); // two times!!
// init time RTC
time.init(callback_timeSecond, callback_timeMinute);
time.startInterval();
// microcontroller features
adc.init(); // needed by gp2y10 and more
spi_init(); // needed by ILI9341
i2c_init(); // needed by bmp180 and mics-vz-89t
uart1.init(1, 9600, 1); // needed by esp8266 . Interrupts are hard on parsing, polling would be easier but blocking
uart0.init(0, 9600, 1);
// CONFIGURE INTERRUPT INT4 to count pulses from Geiger Counter
EICRB |= (1<<ISC00) | (1<<ISC01); // Configure INT4 to trigger on RISING EDGE
EIMSK |= (1<<INT4); // Configure INT4 to fire interrupts
// CREATE Timer T1 PWM to drive inverter for regulated Geiger tube voltage
inverter.initPWM();
// init display
lcd.init();
lcd.setRotation(ILI9341::ROT0);
//lcd.drawClear(BLACK);
backlight(true);
// init sensors
bmp180.init();
dust.init(&dustFlash, &adc, PF1);
beep();
// start UI
// enter main menu
// ## touchscreen calibration code
/*while (1) {
uint16_t x = 0, y = 0, z = 0;
if (touch.read(&x, &y , &z)) {
lcd.drawPixel(x,y, 2, RED);
}
lcd.drawStringF(0,0,2,WHITE, BLACK, "%4u %4u %4u", touch.readRawX(), touch.readRawY(), touch.readRawPressure());
}*/
// draw GUI first page with self check
if (!gui.drawPage(PAGE_INIT))
shutdown();
_delay_ms(1000);
gui.drawPage(PAGE_MAIN);
// ## main code loop
while (1) {
// ## beep
if (cmdBeep && !cmdAlarm && !isMuted) {
beep();
cmdBeep = false;
}
// ## read sensors
// read inverter voltage, via 10M/47K resistive divider, connected to pin ADC2
data.geiger_voltage = readTubeVoltage();
inverter.adjustDutyCycle(data.geiger_voltage); // do nothing on failure, we can't reset
// read battery
data.battery_voltage = readBatVoltage();
// turn backlight off when timeout is reached
if (secTimeout > BACKLIGHT_TIMEOUT) {
backlight(false);
secTimeout = 0;
}
// ## draw titlebar and refresh data display
if (cmdRefreshText) {
// sensor BMP180
bmp180.readAll(&data.bmp180_temp, &data.bmp180_pressure, &data.bmp180_altitude);
dust.readDust(&data.gp2y10_dust);
// sensor MICS-VZ-89T
uint8_t reactivity = 0;
// repeat until successful read with timeout?
//int timeout = 10;
//while (!vz89.read(&data.vz89_co2, &reactivity, &data.vz89_voc) && timeout) { _delay_ms(1500); timeout--; }
vz89.read(&data.vz89_co2, &reactivity, &data.vz89_voc);
// geiger readings
//float dose = aux_CPM2uSVh((uint8_t)DEV_RAD_DETECTOR, geigerCPM);
data.geiger_cpm = geigerCPM;
data.time_hour = time.getHour();
data.time_minute = time.getMin();
data.time_second = time.getSec();
data.setLimits(); // must be changed to proper OOP set/get for all fields
gui.updateValues();
// ## alarm condition
if (geigerCPM >= GEIGER_CPM_ALARM) {
// threshold to sound alarm reached
cmdAlarm = ALARM_RADIATION;
} else if (cmdAlarm) {
// alarm should be turned off
cmdAlarm = 0;
speaker = 0;
}
cmdRefreshText = false;
}
// ## every minute we can dispatch data over serial or over WLAN to uradmonitor
if (cmdSend) {
char tmp[200];
sprintf(tmp,"{\"data\":{ \"id\":\"%08lX\","
"\"type\":\"%X\",\"detector\":\"%s\","
"\"cpm\":%lu,\"temperature\":%.2f,\"uptime\": %lu,"
"\"pressure\":%lu,\"dust\":%.2f,\"co2\":%.2f,\"voc\":%.2f,"
"\"battery\":%.2f,\"tube\":%u}}",
deviceID, DEV_MODEL, aux_detectorName(DEV_RAD_DETECTOR), geigerCPM, data.bmp180_temp, time.getTotalSec(),
data.bmp180_pressure, data.gp2y10_dust,data.vz89_co2, data.vz89_voc, data.battery_voltage, data.geiger_voltage);
data.serial_sent += strlen(tmp);
uart0.send(tmp);
// internet code here
sprintf(tmp,"id=%08lX&ts=%ld&inv=%d&ind=%d&s1t=%2.2f&cpm=%ld&voc=%.2f&co2=%.2f",
deviceID,
time.getTotalSec(),
data.geiger_voltage,
data.geiger_duty,
data.bmp180_temp,
geigerCPM,
data.vz89_voc, data.vz89_co2);
wifi.sendData(tmp);
cmdSend = false;
}
// ## act on the gui elements
// read a new touch event only if we are done with previous: useful for handling confirmation "modal" "dialogs"
if (uiResult == 0) {
uiResult = gui.readTouchEvent();
// reset backlight timeout on valid touch
if (uiResult > 0) {
secTimeout = 0;
backlight(true);
// if screen is pressed while alarm is on, stop alarm
if (cmdAlarm) {
cmdAlarm = false;
speaker = 0;
}
}
}
// handle special cases: click on wlan AP buttons
if (uiResult >= ID_BUTTON_WLAN_START && uiResult < ID_BUTTON_WLAN_STOP) {
uint8_t ap_index = uiResult - ID_BUTTON_WLAN_START;
// connect and return to main screen
wifi.connectWiFi(data.freeAPList[ap_index], "");
uiResult = 0;
gui.drawPage(PAGE_MAIN);
}
// handle regular buttons
switch (uiResult) {
case ID_BUTTON_SHUTDOWN: {
uint16_t result = gui.showYesNoPopup("Are you sure?");
if (result == ID_YES)
shutdown();
else if (result == ID_NO) {
uiResult = 0;
gui.drawPage(PAGE_MAIN);
}
} break;
case ID_BUTTON_MEASURE: {
uiResult = 0;
gui.drawPage(PAGE_MEASURE);
} break;
case ID_BUTTON_MONITOR: {
uiResult = 0;
gui.drawPage(PAGE_MONITOR);
} break;
case ID_BUTTON_SETTINGS: {
uiResult = 0;
gui.drawPage(PAGE_SETTINGS);
} break;
case ID_BUTTON_BACK: {
uiResult = 0;
gui.drawPage(PAGE_MAIN);
} break;
case ID_BUTTON_MUTE: {
isMuted = !isMuted;
if (!isMuted) beep(); // test beep that sound is on
uiResult = 0;
} break;
case ID_BUTTON_CALIBRATE: {
uiResult = 0;
gui.drawPage(PAGE_CALIBRATE);
} break;
case ID_BUTTON_WLAN: {
// request list of WLAN APs
data.freeAPCount = 0;
//wifi.setMode();
wifi.listAP();
uiResult = 0;
gui.drawPage(PAGE_WLAN);
}
break;
// other commands that don't require a popup so we consume asap
default:
uiResult = 0;
}
//uint16_t x, y,z;
//gui.getLastTouch(&x, &y, &z);
//lcd.drawStringF(0,288, 2, RED, BLACK,"%u %d,%d ", uiResult, x,y);
}
}
void* main(void)
{
int i;
int btn;
int num_partitions;
int crc32;
char sector[512];
struct partinfo pinfo;
system_init();
kernel_init();
lcd_init();
font_init();
button_init();
i2c_init();
backlight_hw_on();
lcd_set_foreground(LCD_WHITE);
lcd_set_background(LCD_BLACK);
lcd_clear_display();
btn = button_read_device();
verbose = true;
lcd_setfont(FONT_SYSFIXED);
printf("Rockbox e200R installer");
printf("Version: %s", rbversion);
printf(MODEL_NAME);
printf("");
i=storage_init();
filesystem_init();
num_partitions = disk_mount_all();
if (num_partitions<=0)
{
error(EDISK, num_partitions, true);
}
disk_partinfo(1, &pinfo);
#if 0 /* not needed in release builds */
printf("--- Partition info ---");
printf("start: %x", pinfo.start);
printf("size: %x", pinfo.size);
printf("type: %x", pinfo.type);
printf("reading: %x", (START_SECTOR_OF_ROM + ROMSECTOR_TO_HACK)*512);
#endif
storage_read_sectors(pinfo.start + START_SECTOR_OF_ROM + ROMSECTOR_TO_HACK,
1 , sector);
crc32 = chksum_crc32 (sector, 512);
#if 0 /* not needed in release builds */
printf("--- Hack Status ---");
printf("Sector checksum: %x", crc32);
#endif
if (crc32 == PATCHED_CRC32)
{
/* Bootloader already patched */
printf("Already unlocked");
printf("Proceed to Step 2");
} else if ((crc32 == KNOWN_CRC32) &&
!memcmp(§or[HACK_OFFSET], knownBytes,
sizeof(knownBytes)/sizeof(*knownBytes)))
{
/* E200R bootloader detected - patch it */
memcpy(§or[HACK_OFFSET], changedBytes,
sizeof(changedBytes)/sizeof(*changedBytes));
storage_write_sectors(
pinfo.start + START_SECTOR_OF_ROM + ROMSECTOR_TO_HACK,
1 , sector);
printf("Firmware unlocked");
printf("Proceed to Step 2");
} else if (is_e200(crc32))
{
printf("Vanilla E200 detected!");
printf("Please install using");
printf("Sansapatcher");
}
else
{
printf("Unknown bootloader");
printf("Rockbox installer cannot");
printf("continue");
}
/* Turn button lights off */
GPIOG_OUTPUT_VAL &=~0x80;
printf("");
if (button_hold())
printf("Release Hold and");
printf("Press any key to shutdown");
while(button_read_device() == BUTTON_NONE);
power_off();
return NULL;
}
int board_late_init(void) {
#if defined(ENCLUSTRA_EEPROM_ADDR_TAB) && defined(ENCLUSTRA_EEPROM_HWMAC_REG)
u8 chip_addr_tab[] = ENCLUSTRA_EEPROM_ADDR_TAB;
#if defined(ENCLUSTRA_EEPROM_ADDR_WAKEY_TAB)
u8 chip_addr_wakey_tab[] = ENCLUSTRA_EEPROM_ADDR_WAKEY_TAB;
u8 wake_cmd = 0x0;
int j;
#endif
int i, ret;
u8 hwaddr[6];
u32 hwaddr_h;
char hwaddr_str[16];
bool hwaddr_set;
hwaddr_set = false;
if (getenv("ethaddr") == NULL) {
/* Init i2c */
i2c_init(0, 0);
i2c_set_bus_num(0);
for (i = 0; i < ARRAY_SIZE(chip_addr_tab); i++) {
/* Probe the chip */
if (i2c_probe(chip_addr_tab[i]) != 0)
continue;
#if defined(ENCLUSTRA_EEPROM_ADDR_WAKEY_TAB)
for (j = 0; j < ARRAY_SIZE(chip_addr_wakey_tab); j++) {
if(chip_addr_tab[i] != chip_addr_wakey_tab[j])
continue;
/* Wake the chip by writing 0x0 to 0x0 reg */
i2c_write(chip_addr_tab[i],
ENCLUSTRA_EEPROM_HWMAC_REG,
1,
&wake_cmd,
1);
break;
}
#endif
/* Attempt to read the mac address */
ret = i2c_read(chip_addr_tab[i],
ENCLUSTRA_EEPROM_HWMAC_REG,
1,
hwaddr,
6);
/* Do not continue if read failed */
if (ret)
continue;
/* Check if the value is a valid mac registered for
* Enclustra GmbH */
hwaddr_h = hwaddr[0] | hwaddr[1] << 8 | hwaddr[2] << 16;
if ((hwaddr_h & 0xFFFFFF) != ENCLUSTRA_MAC)
continue;
/* Format the address using a string */
sprintf(hwaddr_str,
"%02X:%02X:%02X:%02X:%02X:%02X",
hwaddr[0],
hwaddr[1],
hwaddr[2],
hwaddr[3],
hwaddr[4],
hwaddr[5]);
/* Set the actual env variable */
setenv("ethaddr", hwaddr_str);
hwaddr_set = true;
break;
}
if (!hwaddr_set)
setenv("ethaddr", ENCLUSTRA_ETHADDR_DEFAULT);
}
#else
if (getenv("ethaddr") == NULL)
setenv("ethaddr", ENCLUSTRA_ETHADDR_DEFAULT);
#endif
return 0;
}
static void kbd_init (void)
{
uchar kbd_data[KEYBD_DATALEN];
uchar tmp_data[KEYBD_DATALEN];
uchar val, errcd;
int i;
i2c_init (CONFIG_SYS_I2C_SPEED, CONFIG_SYS_I2C_SLAVE);
gd->kbd_status = 0;
/* Forced by PIC. Delays <= 175us loose */
udelay(1000);
/* Read initial keyboard error code */
val = KEYBD_CMD_READ_STATUS;
i2c_write (kbd_addr, 0, 0, &val, 1);
i2c_read (kbd_addr, 0, 0, &errcd, 1);
/* clear unused bits */
errcd &= KEYBD_STATUS_MASK;
/* clear "irrelevant" bits. Recommended by Martin Rajek, LWN */
errcd &= ~(KEYBD_STATUS_H_RESET|KEYBD_STATUS_BROWNOUT);
if (errcd) {
gd->kbd_status |= errcd << 8;
}
/* Reset error code and verify */
val = KEYBD_CMD_RESET_ERRORS;
i2c_write (kbd_addr, 0, 0, &val, 1);
udelay(1000); /* delay NEEDED by keyboard PIC !!! */
val = KEYBD_CMD_READ_STATUS;
i2c_write (kbd_addr, 0, 0, &val, 1);
i2c_read (kbd_addr, 0, 0, &val, 1);
val &= KEYBD_STATUS_MASK; /* clear unused bits */
if (val) { /* permanent error, report it */
gd->kbd_status |= val;
return;
}
/*
* Read current keyboard state.
*
* After the error reset it may take some time before the
* keyboard PIC picks up a valid keyboard scan - the total
* scan time is approx. 1.6 ms (information by Martin Rajek,
* 28 Sep 2002). We read a couple of times for the keyboard
* to stabilize, using a big enough delay.
* 10 times should be enough. If the data is still changing,
* we use what we get :-(
*/
memset (tmp_data, 0xFF, KEYBD_DATALEN); /* impossible value */
for (i=0; i<10; ++i) {
val = KEYBD_CMD_READ_KEYS;
i2c_write (kbd_addr, 0, 0, &val, 1);
i2c_read (kbd_addr, 0, 0, kbd_data, KEYBD_DATALEN);
if (memcmp(kbd_data, tmp_data, KEYBD_DATALEN) == 0) {
/* consistent state, done */
break;
}
/* remeber last state, delay, and retry */
memcpy (tmp_data, kbd_data, KEYBD_DATALEN);
udelay (5000);
}
}
void lm75_init(void)
{
i2c_init();
}
int32_t main(int argc, char **argv)
{
int32_t i = 0;
pthread_t vPollcmd;
pthread_t vPipecmd;
_gCurrentState=STATE_INIT;
for(i = 0; i < argc; i++)
{
if(0 == memcmp("-d", argv[i], 2))
{
if(i+1 < argc)
{
_gDebugFlagMask = strtol(argv[i+1], NULL, 0);
i++;
}
else
{
_gDebugFlagMask=0xFF;
}
printf("enable debug, mask = 0x%04X\n", _gDebugFlagMask);
_gDebugFlag=1;
}
else if(0 == memcmp("-t", argv[i], 2))
{
_gTestMode=1;
}
}
_gQuitHandler = signal( SIGQUIT, exit_handler );
_gKillHandler = signal( SIGKILL, exit_handler );
_gTermHandler = signal( SIGTERM, exit_handler );
_gTermHandler = signal( SIGINT, exit_handler );
#if(_DEBUG_ == 1 && _DEBUG_TO_FILE_ == 1)
if(gDebugToFile == 1)
util_debug_file_init();
#endif
pipe_init();
if(0 != i2c_init())
return -1;
#ifdef STATUS_LED
LED_init();
#endif
#ifdef PUBLIC_GPIO
GPIO_init();
#endif
Flags_init();
sysinfo_update_init();
menu_init();
signal( SIG_PROC_CMD, cmd_queue_handler );
signal( SIG_PROC_MENU, menu_queue_handler );
sigemptyset(&_gSigMask);
pthread_create(&vPollcmd, NULL, timer_main, NULL);
pthread_create(&vPipecmd, NULL, pipecmd, NULL);
pthread_join( vPollcmd, NULL);
pthread_join( vPipecmd, NULL);
return (0);
}
void init(void)
{
//***********************************************************
// I/O setup
//***********************************************************
// Set port directions
// KK2.0 and KK2.1 are different
#ifdef KK21
DDRA = 0x30; // Port A
DDRC = 0xFC; // Port C
#else
DDRA = 0x00; // Port A
DDRC = 0xFF; // Port C
#endif
DDRB = 0x0A; // Port B
DDRD = 0xF2; // Port D
// Hold all PWM outputs low to stop glitches
// M5 and M6 are on PortA for KK2.1
MOTORS = 0;
M5 = 0;
M6 = 0;
// Preset I/O pins
LED1 = 0; // LED1 off
LVA = 0; // LVA alarm OFF
LCD_SCL = 1; // GLCD clock high
// Set/clear pull-ups (1 = set, 0 = clear)
PINB = 0xF5; // Set PB pull-ups
PIND = 0x0C; // Set PD pull-ups (Don't pull up RX yet)
//***********************************************************
// Spektrum receiver binding
//***********************************************************
_delay_ms(63); // Pause while satellite wakes up
// and pull-ups have time to rise.
// Tweak until bind pulses about 68ms after power-up
// Bind as master if ONLY button 4 pressed
if ((PINB & 0xf0) == 0xE0)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master();
}
DDRD = 0xF2; // Reset Port D directions
// Set/clear pull-ups (1 = set, 0 = clear)
PIND = 0x0D; // Set PD pull-ups (now pull up RX as well)
//***********************************************************
// Timers
//***********************************************************
// Timer0 (8bit) - run @ 20MHz (50ns) - max 12.8us
// Fast timer for small, precise interval timing
TCCR0A = 0; // Normal operation
TCCR0B = (1 << CS00); // Clk / 1 = 20MHz = 50ns
TIMSK0 = 0; // No interrupts
// Timer1 (16bit) - run @ 2.5MHz (400ns) - max 26.2ms
// Used to measure Rx Signals & control ESC/servo output rate
TCCR1A = 0;
TCCR1B = (1 << CS11); // Clk/8 = 2.5MHz
// Timer2 8bit - run @ 20MHz / 1024 = 19.531kHz or 51.2us - max 13.1ms
// Used to time arm/disarm intervals
TCCR2A = 0;
TCCR2B = 0x07; // Clk/1024 = 19.531kHz
TIMSK2 = 0;
TIFR2 = 0;
TCNT2 = 0; // Reset counter
//***********************************************************
// Interrupts and pin function setup
//***********************************************************
// Pin change interrupt enables PCINT1, PCINT2 and PCINT3 (Throttle, AUX and CPPM input)
PCICR = 0x0A; // PCINT8 to PCINT15 (PCINT1 group - AUX)
// PCINT24 to PCINT31 (PCINT3 group - THR)
PCIFR = 0x0F; // Clear PCIF0 interrupt flag
// Clear PCIF1 interrupt flag
// Clear PCIF2 interrupt flag
// Clear PCIF3 interrupt flag
// External interrupts INT0 (Elevator) and INT1 (Aileron) and INT2 (Rudder)
EICRA = 0x15; // Any change INT0
// Any change INT1
// Any change INT2
EIFR = 0x07; // Clear INT0 interrupt flag (Elevator)
// Clear INT1 interrupt flag (Aileron)
// Clear INT2 interrupt flag (Rudder/CPPM)
//***********************************************************
// i2c init for KK2.1
//***********************************************************
#ifdef KK21
i2c_init();
init_i2c_gyros();
init_i2c_accs();
#endif
//***********************************************************
// Start up
//***********************************************************
// Preset important flags
Interrupted = false;
Main_flags |= (1 << FirstTimeIMU);
Main_flags |= (1 << FirstTimeFlightMode);
// Initialise the GLCD
st7565_init();
st7565_command(CMD_DISPLAY_ON);
st7565_command(CMD_SET_ALLPTS_NORMAL);
st7565_set_brightness(0x26);
st7565_command(CMD_SET_COM_REVERSE); // For logo
// Make sure the LCD is blank
clear_screen();
// This delay prevents the GLCD flashing up a ghost image of old data
_delay_ms(300);
// Reload default eeprom settings if middle two buttons are pressed (or all, for older users)
if (((PINB & 0xf0) == 0x90) || ((PINB & 0xf0) == 0x00))
{
// Display reset message
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(1,(prog_uchar*)Verdana14,40,25);
write_buffer(buffer,1);
clear_buffer(buffer);
Set_EEPROM_Default_Config();
Save_Config_to_EEPROM();
}
// Load "Config" global data structure
else
{
Initial_EEPROM_Config_Load();
}
// Now set contrast to the previously saved value
st7565_set_brightness((uint8_t)Config.Contrast);
#ifdef KK21
// Write logo from buffer
write_buffer(buffer,0);
_delay_ms(500);
#endif
#ifndef KK21
// Display "Hold steady" message for KK2.0
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(2,(prog_uchar*)Verdana14,18,25);
write_buffer(buffer,1);
clear_buffer(buffer);
#endif
// Do startup tasks
UpdateLimits(); // Update travel limts
UpdateIMUvalues(); // Update IMU factors
Init_ADC();
init_int(); // Intialise interrupts based on RC input mode
// Initialise UART
init_uart();
// Initial gyro calibration
CalibrateGyrosSlow();
// Check to see that gyros are stable
ReadGyros();
if ((gyroADC[ROLL] > GYROS_STABLE) || (gyroADC[ROLL] < -GYROS_STABLE) ||
(gyroADC[PITCH] > GYROS_STABLE) || (gyroADC[PITCH] < -GYROS_STABLE) ||
(gyroADC[YAW] > GYROS_STABLE) || (gyroADC[YAW] < -GYROS_STABLE))
{
General_error |= (1 << SENSOR_ERROR); // Set sensor error bit
}
// Check to see that throttle is low if in serial mode.
// Don't bother if in CamStab mode
_delay_ms(100);
if (
(
(Config.RxMode == CPPM_MODE) ||
(Config.RxMode == XTREME) ||
(Config.RxMode == SBUS) ||
(Config.RxMode == SPEKTRUM)
)
&& (Config.CamStab == OFF)
)
{
RxGetChannels();
if (RCinputs[THROTTLE] > -900)
{
General_error |= (1 << THROTTLE_HIGH); // Set throttle high error bit
}
}
// Flash LED
LED1 = 1;
_delay_ms(150);
LED1 = 0;
// Beep that all sensors have been handled
menu_beep(1);
// Set text display mode back to normal
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
} // init()
/* this happens after cpu_init where exynos resources are set */
static void mainboard_init(device_t dev)
{
int dp_tries;
struct s5p_dp_device dp_device = {
.base = exynos_dp1,
.video_info = &dp_video_info,
};
void *fb_addr = (void *)(get_fb_base_kb() * KiB);
prepare_usb();
gpio_init();
setup_storage();
i2c_init(TPS65090_BUS, I2C_0_SPEED, I2C_SLAVE);
i2c_init(7, I2C_0_SPEED, I2C_SLAVE);
tmu_init(&exynos5250_tmu_info);
/* Clock Gating all the unused IP's to save power */
clock_gate();
/* Disable USB3.0 PLL to save 250mW of power */
disable_usb30_pll();
sdmmc_vdd();
set_vbe_mode_info_valid(&edid, (uintptr_t)fb_addr);
lcd_vdd();
// FIXME: should timeout
do {
udelay(50);
} while (!exynos_dp_hotplug());
exynos_dp_bridge_setup();
for (dp_tries = 1; dp_tries <= MAX_DP_TRIES; dp_tries++) {
exynos_dp_bridge_init();
if (exynos_dp_hotplug()) {
exynos_dp_reset();
continue;
}
if (dp_controller_init(&dp_device))
continue;
udelay(LCD_T3_DELAY_MS * 1000);
backlight_vdd();
backlight_pwm();
backlight_en();
/* if we're here, we're successful */
break;
}
if (dp_tries > MAX_DP_TRIES)
printk(BIOS_ERR, "%s: Failed to set up displayport\n", __func__);
setup_usb();
// Uncomment to get excessive GPIO output:
// gpio_info();
}
/**
* @brief Initialize the whole system
*
* All functions that need to be called before the first mainloop iteration
* should be placed here.
*/
void main_init_generic(void)
{
// Reset to safe values
global_data_reset();
// Load default eeprom parameters as fallback
global_data_reset_param_defaults();
// LOWLEVEL INIT, ONLY VERY BASIC SYSTEM FUNCTIONS
hw_init();
enableIRQ();
led_init();
led_on(LED_GREEN);
buzzer_init();
sys_time_init();
sys_time_periodic_init();
sys_time_clock_init();
ppm_init();
pwm_init();
// Lowlevel periphel support init
adc_init();
// FIXME SDCARD
// MMC_IO_Init();
spi_init();
i2c_init();
// Sensor init
sensors_init();
debug_message_buffer("Sensor initialized");
// Shutter init
shutter_init();
shutter_control(0);
// Debug output init
debug_message_init();
debug_message_buffer("Text message buffer initialized");
// MEDIUM LEVEL INIT, INITIALIZE I2C, EEPROM, WAIT FOR MOTOR CONTROLLERS
// Try to reach the EEPROM
eeprom_check_start();
// WAIT FOR 2 SECONDS FOR THE USER TO NOT TOUCH THE UNIT
while (sys_time_clock_get_time_usec() < 2000000)
{
}
// Do the auto-gyro calibration for 1 second
// Get current temperature
led_on(LED_RED);
gyro_init();
// uint8_t timeout = 3;
// // Check for SD card
// while (sys_time_clock_get_time_usec() < 2000000)
// {
// while (GetDriveInformation() != F_OK && timeout--)
// {
// debug_message_buffer("MMC/SD-Card not found ! retrying..");
// }
// }
//
// if (GetDriveInformation() == F_OK)
// {
// debug_message_buffer("MMC/SD-Card SUCCESS: FOUND");
// }
// else
// {
// debug_message_buffer("MMC/SD-Card FAILURE: NOT FOUND");
// }
//FIXME redo init because of SD driver decreasing speed
//spi_init();
led_off(LED_RED);
// Stop trying to reach the EEPROM - if it has not been found by now, assume
// there is no EEPROM mounted
if (eeprom_check_ok())
{
param_read_all();
debug_message_buffer("EEPROM detected - reading parameters from EEPROM");
for (int i = 0; i < ONBOARD_PARAM_COUNT * 2 + 20; i++)
{
param_handler();
//sleep 1 ms
sys_time_wait(1000);
}
}
else
{
debug_message_buffer("NO EEPROM - reading onboard parameters from FLASH");
}
// Set mavlink system
mavlink_system.compid = MAV_COMP_ID_IMU;
mavlink_system.sysid = global_data.param[PARAM_SYSTEM_ID];
//Magnet sensor
hmc5843_init();
acc_init();
// Comm parameter init
mavlink_system.sysid = global_data.param[PARAM_SYSTEM_ID]; // System ID, 1-255
mavlink_system.compid = global_data.param[PARAM_COMPONENT_ID]; // Component/Subsystem ID, 1-255
// Comm init has to be
// AFTER PARAM INIT
comm_init(MAVLINK_COMM_0);
comm_init(MAVLINK_COMM_1);
// UART initialized, now initialize COMM peripherals
communication_init();
gps_init();
us_run_init();
servos_init();
//position_kalman3_init();
// Calibration starts (this can take a few seconds)
// led_on(LED_GREEN);
// led_on(LED_RED);
// Read out first time battery
global_data.battery_voltage = battery_get_value();
global_data.state.mav_mode = MAV_MODE_PREFLIGHT;
global_data.state.status = MAV_STATE_CALIBRATING;
send_system_state();
float_vect3 init_state_accel;
init_state_accel.x = 0.0f;
init_state_accel.y = 0.0f;
init_state_accel.z = -1000.0f;
float_vect3 init_state_magnet;
init_state_magnet.x = 1.0f;
init_state_magnet.y = 0.0f;
init_state_magnet.z = 0.0f;
//auto_calibration();
attitude_observer_init(init_state_accel, init_state_magnet);
debug_message_buffer("Attitude Filter initialized");
led_on(LED_RED);
send_system_state();
debug_message_buffer("System is initialized");
// Calibration stopped
led_off(LED_RED);
global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
global_data.state.status = MAV_STATE_STANDBY;
send_system_state();
debug_message_buffer("Checking if remote control is switched on:");
// Initialize remote control status
remote_control();
remote_control();
if (radio_control_status() == RADIO_CONTROL_ON && global_data.state.remote_ok)
{
global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED;
debug_message_buffer("RESULT: remote control switched ON");
debug_message_buffer("Now in MAV_MODE_TEST2 position hold tobi_laurens");
led_on(LED_GREEN);
}
else
{
global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
debug_message_buffer("RESULT: remote control switched OFF");
led_off(LED_GREEN);
}
}
void platform_init(void)
{
#if defined(TARGET_M805_892X_EVM)
int ac_charger_detect_flag, usb_detect_flag;
volatile int i;
i = 0;
#endif
#if defined(TCC_I2C_USE)
i2c_init();
#endif
clock_init();
#if defined(TCC_PCA953X_USE)
pca953x_init();
#endif
uart_init();
adc_init();
#if defined(DISPLAY_SPLASH_SCREEN) || defined(DISPLAY_SPLASH_SCREEN_DIRECT)
#ifndef DEFAULT_DISPLAY_OUTPUT_DUAL
display_init();
dprintf(INFO, "Display initialized\n");
//disp_init = 1;
#endif
#endif
#if defined(TARGET_M805_892X_EVM)
ac_charger_detect_flag = ac_charger_detect();
usb_detect_flag = usb_detect();
dprintf(INFO, "USB DETECT(%d) AC CHARGER DETECT(%d)\n", usb_detect_flag, ac_charger_detect_flag);
if( check_fwdn_mode() )
return;
if(! (ac_charger_detect_flag || usb_detect_flag) ) {
if( check_low_battery()) {
while(1) {
dprintf(CRITICAL, "Low Battery!!!! Power Off\n");
display_lowbattery_logo();
for ( i = 0 ; i < 1000000 ; i ++ );
for ( i = 0 ; i < 1000000 ; i ++ );
while(1) powercon_disable();
}
}
} else {
if( check_low_battery()) {
display_lowbattery_logo();
while( check_low_battery()) {
ac_charger_detect_flag = ac_charger_detect();
usb_detect_flag = usb_detect();
for ( i = 0 ; i < 1000000 ; i ++ );
if(! (ac_charger_detect_flag || usb_detect_flag) ) {
dprintf(CRITICAL, "Low Battery!!!! Power Off\n");
while(1) powercon_disable();
}
}
}
}
#endif
display_booting_logo();
dprintf(INFO, "platform_init()\n");
}
int main()
{
int i;
char* argv[8];
int argc;
printf_register(serial_putchar);
printf("waiting...");
// Wait a short while
for(i = 0; i < 10000; ++i)
asm volatile ("nop");
printf("configuring...");
i2c_init();
argv[0] = "1";
argc = 1;
doConfig(argv, argc);
printf("done.\n");
while (1)
{
printf("\n> ");
argc = readcmd(argv, 8);
printf("\r\n> ");
if(argc > 0)
{
switch(argv[0][0])
{
case 'S':
doSet(argv, argc);
break;
case 'G':
doGet(argv, argc);
break;
case 'R':
doResult(argv, argc);
break;
case 'W':
doWrite(argv, argc);
break;
case 'X':
doRead(argv, argc);
break;
case 'Z':
doStatus(argv, argc);
break;
case 'I':
switch(argv[0][1])
{
case 'I':
i2c_init();
break;
case 'W':
doI2CWrite(argv, argc);
break;
case 'R':
doI2CRead(argv, argc);
break;
case 'C':
doConfig(argv, argc);
break;
}
break;
}
}
}
}
void measures_init(void)
{
sem_init(&i2c_sem);
i2c_init(&i2c_bus, I2C_BITBANG0, CONFIG_I2C_FREQ);
ASSERT(mma845x_init(&i2c_bus, 0, MMADYN_4G));
}
int ble_i2c( const uint8_t * const pcCommandString,uint8_t* pcWriteBuffer,uint32_t commpare_length)
{
const int8_t *pcom;
uint32_t pxParameterStringLength;
uint8_t len;
uint8_t i2c_addr ;
uint8_t i2c_reg ;
uint8_t i2c_data;
if(pcCommandString[commpare_length+1] == '=')
{
//i2c_addr
pcom = at_get_parameter((const int8_t*)pcCommandString + commpare_length + 2, 1, &pxParameterStringLength);
if(pxParameterStringLength > 0)
{
i2c_addr = at_HEXstringToNum((const uint8_t *)pcom, pxParameterStringLength);
}
else
{
goto pram_err;
}
//i2c_reg
pcom = at_get_parameter((const int8_t*)pcCommandString + commpare_length + 2, 2, &pxParameterStringLength);
if(pxParameterStringLength > 0)
{
i2c_reg = at_HEXstringToNum((const uint8_t *)pcom, pxParameterStringLength);
}
else
{
goto pram_err;
}
// i2c R&W?
pcom = at_get_parameter((const int8_t*)pcCommandString + commpare_length + 2, 0, &pxParameterStringLength);
if(pxParameterStringLength == 1)
{
syscon_SetPMCR1WithMask(QN_SYSCON,P23_MASK_PIN_CTRL | P24_MASK_PIN_CTRL,P23_I2C_SDA_PIN_CTRL | P24_I2C_SCL_PIN_CTRL);
i2c_init(I2C_SCL_RATIO(100000), i2c_buff, 4);
if(pcom[0] == 'R')
{
i2c_data = I2C_BYTE_READ(i2c_addr,i2c_reg);
if(i2c_is_finish())
{
len = commpare_length+1;
memcpy(pcWriteBuffer, pcCommandString, len);
len += sprintf((char *)pcWriteBuffer + len,":0x%02x\r\nOK\r\n",i2c_data);
return len;
}
goto pram_err;
}
else if(pcom[0] == 'W')
{
//i2c_data
pcom = at_get_parameter((const int8_t*)pcCommandString + commpare_length + 2, 3, &pxParameterStringLength);
if(pxParameterStringLength > 0)
{
i2c_data = at_HEXstringToNum((const uint8_t *)pcom, pxParameterStringLength);
}
else
{
goto pram_err;
}
I2C_BYTE_WRITE(i2c_addr, i2c_reg, i2c_data);
if(!i2c_is_finish())
{
goto pram_err;
}
}
}
else
{
goto pram_err;
}
}
else
{
goto pram_err;
}
return sprintf((char*)pcWriteBuffer,"OK\r\n");
pram_err:
return sprintf((char*)pcWriteBuffer,"ERR\r\n");
}
int __init
pcf8563_init(void)
{
static int res;
static int first = 1;
if (!first)
return res;
first = 0;
/* Initiate the i2c protocol. */
res = i2c_init();
if (res < 0) {
printk(KERN_CRIT "pcf8563_init: Failed to init i2c.\n");
return res;
}
/*
* First of all we need to reset the chip. This is done by
* clearing control1, control2 and clk freq and resetting
* all alarms.
*/
if (rtc_write(RTC_CONTROL1, 0x00) < 0)
goto err;
if (rtc_write(RTC_CONTROL2, 0x00) < 0)
goto err;
if (rtc_write(RTC_CLOCKOUT_FREQ, 0x00) < 0)
goto err;
if (rtc_write(RTC_TIMER_CONTROL, 0x03) < 0)
goto err;
/* Reset the alarms. */
if (rtc_write(RTC_MINUTE_ALARM, 0x80) < 0)
goto err;
if (rtc_write(RTC_HOUR_ALARM, 0x80) < 0)
goto err;
if (rtc_write(RTC_DAY_ALARM, 0x80) < 0)
goto err;
if (rtc_write(RTC_WEEKDAY_ALARM, 0x80) < 0)
goto err;
/* Check for low voltage, and warn about it. */
if (rtc_read(RTC_SECONDS) & 0x80) {
voltage_low = 1;
printk(KERN_WARNING "%s: RTC Voltage Low - reliable "
"date/time information is no longer guaranteed!\n",
PCF8563_NAME);
}
return res;
err:
printk(KERN_INFO "%s: Error initializing chip.\n", PCF8563_NAME);
res = -1;
return res;
}
void sparrow_init() {
//First: Turn off external power blocks
set_digital_output(BOOST_5V_EN_PIN);
write_pin(BOOST_5V_EN_PIN, false);
set_digital_output(PORT_5V_EN_PIN);
write_pin(PORT_5V_EN_PIN, false);
//TODO: Disable 5V USB generation (USB0_PPWR, P2_0)
//TODO: Set fault input interrupt handlers to shutdown peripheral and react accordingly
//E.g. USB_PWR_FAULT_HANDLER (P2_1)
set_digital_output(AUDIO_POWER_EN_PIN);
write_pin(AUDIO_POWER_EN_PIN, false);
set_digital_output(WIFI_POWER_EN_PIN );
write_pin(WIFI_POWER_EN_PIN, false );
//TODO: Why does this pin not work? For now, the input pullup keeps the eth domain powered up permamently.
//Setting OUT and writing this bit caused the device to hang. Might be correct now, check again.
// set_digital_output(ETH_POWER_EN_PIN);
write_pin(ETH_POWER_EN_PIN, false);
//Set all ext devices to !reset
set_digital_output(AUDIO_NRESET);
write_pin(AUDIO_NRESET, false);
//init base clock to xtal, main clock, via pll1
clock_set_xtal_core_freq(MAIN_CLOCK_MHZ/XTAL_MHZ, 1);
//enable derived base clocks for shared use. Dedicated clocks are enabled by the
//respective peripheral interface
clock_set_source(BASE_APB1_CLK, true, CLKSRC_PLL1); //I2C0
clock_set_source(BASE_APB3_CLK, true, CLKSRC_PLL1); //I2C1
//GPIO
set_digital_output(LED1_PIN);
set_digital_output(LED2_PIN);
set_digital_output(LED3_PIN);
set_digital_input(BUTTON_PIN, true, false, false);
write_pin(LED1_PIN, false);
write_pin(LED2_PIN, false);
write_pin(LED3_PIN, false);
//I2C
i2c_configure_pin(I2C1_SDA_PIN_GROUP, I2C1_SDA_PIN_IDX, I2C1_SDA_PIN_MODE);
i2c_configure_pin(I2C1_SCL_PIN_GROUP, I2C1_SCL_PIN_IDX, I2C1_SCL_PIN_MODE);
i2c_init(0, I2C_MODE_FAST);
i2c_init(1, I2C_MODE_FAST);
//TODO: I2C1 might also be used as GPIOs
//SPI
scu_set_pin(SPI0_MISO_GROUP, SPI0_MISO_IDX, SPI0_MISO_MODE, false, false, true, true, true);
scu_set_pin(SPI0_MOSI_GROUP, SPI0_MOSI_IDX, SPI0_MOSI_MODE, false, false, true, false, true);
scu_set_pin(SPI0_SCK_GROUP, SPI0_SCK_IDX, SPI0_SCK_MODE, false, false, true, false, true);
scu_set_pin(SPI0_SSEL_GROUP, SPI0_SSEL_IDX, SPI0_SSEL_MODE, false, false, true, false, true);
scu_set_pin(SPI1_MISO_GROUP, SPI1_MISO_IDX, SPI1_MISO_MODE, false, false, true, true, true);
scu_set_pin(SPI1_MOSI_GROUP, SPI1_MOSI_IDX, SPI1_MOSI_MODE, false, false, true, false, true);
scu_set_pin(SPI1_SCK_GROUP, SPI1_SCK_IDX, SPI1_SCK_MODE, false, false, true, false, true);
scu_set_pin(SPI1_SSEL_GROUP, SPI1_SSEL_IDX, SPI1_SSEL_MODE, false, false, true, false, true);
//I2S
i2s_configure_pin(I2S0_TX_MCLK_GROUP, I2S0_TX_MCLK_IDX, I2S0_TX_MCLK_MODE);
i2s_configure_pin(I2S0_TX_WS_GROUP, I2S0_TX_WS_IDX, I2S0_TX_WS_MODE);
i2s_configure_pin(I2S0_TX_SCK_GROUP, I2S0_TX_SCK_IDX, I2S0_TX_SCK_MODE);
i2s_configure_pin(I2S0_TX_SD_GROUP, I2S0_TX_SD_IDX, I2S0_TX_SD_MODE);
//i2s_configure_pin(I2S0_RX_MCLK_GROUP, I2S0_RX_MCLK_IDX, I2S0_RX_MCLK_MODE);
//i2s_configure_pin(I2S0_RX_WS_GROUP, I2S0_RX_WS_IDX, I2S0_RX_WS_MODE);
//i2s_configure_pin(I2S0_RX_SCK_GROUP, I2S0_RX_SCK_IDX, I2S0_RX_SCK_MODE);
//i2s_configure_pin(I2S0_RX_SD_GROUP, I2S0_RX_SD_IDX, I2S0_RX_SD_MODE);
//SD
scu_set_pin_mode(SD_CD_GROUP, SD_CD_PIN, SD_CD_MODE);
scu_enable_pin_in_buffer(SD_CD_GROUP, SD_CD_PIN, true);
scu_set_pin_mode(SD_WP_GROUP, SD_WP_PIN, SD_WP_MODE);
//TODO: configure WP pin
scu_set_pin_mode(SD_CMD_GROUP, SD_CMD_PIN, SD_CMD_MODE);
scu_set_pin_pullup(SD_CMD_GROUP, SD_CMD_PIN, true);
scu_enable_pin_in_buffer(SD_CMD_GROUP, SD_CMD_PIN, true);
scu_set_pin_mode(SD_D0_GROUP, SD_D0_PIN, SD_D0_MODE);
scu_set_pin_pullup(SD_D0_GROUP, SD_D0_PIN, true);
scu_enable_pin_in_buffer(SD_D0_GROUP, SD_D0_PIN, true);
scu_set_pin_mode(SD_D1_GROUP, SD_D1_PIN, SD_D1_MODE);
scu_set_pin_pullup(SD_D1_GROUP, SD_D1_PIN, true);
scu_enable_pin_in_buffer(SD_D1_GROUP, SD_D1_PIN, true);
scu_set_pin_mode(SD_D2_GROUP, SD_D2_PIN, SD_D2_MODE);
scu_set_pin_pullup(SD_D2_GROUP, SD_D2_PIN, true);
scu_enable_pin_in_buffer(SD_D2_GROUP, SD_D2_PIN, true);
scu_set_pin_mode(SD_D3_GROUP, SD_D3_PIN, SD_D3_MODE);
scu_set_pin_pullup(SD_D3_GROUP, SD_D3_PIN, true);
scu_enable_pin_in_buffer(SD_D3_GROUP, SD_D3_PIN, true);
scu_set_clock_pin_mode(SD_CLK_CLK, SD_CLK_MODE, false, false, true, false, false);
//Ethernet RMII
creg_init();
creg_set_eth_interface(true);
scu_set_clock_pin_mode(ETH_CLK_CLK, ETH_CLK_MODE, false, false, true, true, false);
scu_set_pin(ETH_RXD0_GROUP, ETH_RXD0_PIN, ETH_RXD0_MODE, false, false, true, true, false);
scu_set_pin(ETH_RXD1_GROUP, ETH_RXD1_PIN, ETH_RXD1_MODE, false, false, true, true, false);
scu_set_pin(ETH_TXD0_GROUP, ETH_TXD0_PIN, ETH_TXD0_MODE, false, false, true, false, false);
scu_set_pin(ETH_TXD1_GROUP, ETH_TXD1_PIN, ETH_TXD1_MODE, false, false, true, false, false);
scu_set_pin(ETH_MDC_GROUP, ETH_MDC_PIN, ETH_MDC_MODE, false, false, true, false, false);
scu_set_pin(ETH_TXEN_GROUP, ETH_TXEN_PIN, ETH_TXEN_MODE, false, false, true, false, false);
scu_set_pin(ETH_CRS_DV_GROUP, ETH_CRS_DV_PIN, ETH_CRS_DV_MODE, false, false, true, true, false);
scu_set_pin(ETH_MDIO_GROUP, ETH_MDIO_PIN, ETH_MDIO_MODE, false, false, true, true, false);
set_digital_input(ETH_NINT_PIN, true, false, true);
set_digital_output(ETH_NRST_PIN);
write_pin(ETH_NRST_PIN, false); //put into reset
//CC3000 WIFI
set_digital_output(CC3000_SW_EN_PIN);
write_pin(CC3000_SW_EN_PIN, false);
set_digital_input(CC3000_IRQ_PIN, false, false, true);
}
void main_task(void *data) {
int nop_i;
//char tempBuf[256];
//int ret;
//uart_print("SCLK:");
//uart_printInt(calulate_system_clock());
//uart_print("\n\r");
//while(1);
//OM_SELECT : //I2C MASTER[4], UPHY_IN_REG
//OM_SELECT |= ( OM_SELECT_I2C_M_SELECT_BIT | OM_SELECT_UPHY_IN_REG_BIT );
OM_SELECT |= ( OM_SELECT_I2C_M_SELECT_BIT );
for ( nop_i = 0; nop_i < 100000; nop_i++ ) __asm __volatile("l.nop 0");
//usb init
init_usb();
//sensorSetToVGA();
//GPIO init
GPIOInit();
//GPIO12 : LED
//GPIO13 : AIC RESET
//GPIO14 : Dummy
//GPIO15 : I2S_WS
GPIOSetOutput(GPIO12|GPIO13|GPIO14); // ViDan -> ...
GPIOSetInput(GPIO15);
GPIOSetHigh(GPIO12);
//i2c devider setting
I2C_M_PRESCALE_LOW = 0x62;
I2C_M_PRESCALE_HIGH =0x00;
//i2c init
i2c_init();
//uart_print("i2c_initialized\n\r");
//flash_avata_mode_check();
//temporary vidan register setting //h.264 only
//*HIF_REG2 = 0x28; //HIF_REG2 ;640 / 16 ;HIF_REG
//*HIF_REG3 = 0x1e; //HIF_REG3 ;480 / 16
//*HIF_REG4 = 0x28; //HIF_REG4 ;640 / 16
//*HIF_REG5 = 0x1e; //HIF_REG5 ;480 / 16
//*HIF_REG6 = 0x45; //HIF_REG6 ; for jpeg 20 ;DVP_OUT 60 ;OUTPUT_PATH : 11(sim) 66:jpeg only
//*HIF_REG10 = 0x22; //HIF_REG10 ;start Mux
*HIF_REG24 = 0x33; //HIF_REG24 ;qp value i : 28 1c
*HIF_REG25 = 0x33; //HIF_REG25 ;qp value p : 28 1c
//*HIF_REG26 = 0x64; //HIF_REG26 ;intra period : 10 0a
*HIF_REG26 = 0x00; //HIF_REG26 ;intra period : 10 0a
//*HIF_REG31 = 0x02; //HIF_REG31 ;#############rate control disable 02
//*HIF_REG31 = 0x00; //HIF_REG31 ;#############rate control disable 02
//*HIF_REG54 = 0x44; //HIF_REG54 ;no fastme defined in user.mk slice mode 02
//*HIF_REG55 = 0x10; //HIF_REG55 ;#############safe_mode on [4] , frame_rate_control on[5], audio start[6] 50
*HIF_REG194 = 0x16; //HIF_REG194 ;afifo_almost_full_size (max = 512 / 16 - 1)
//*HIF_REG57 = 0xab; //HIF_REG57 ;slice_argument : 12
*HIF_REG58 = 0xfe; //HIF_REG58 ;LFAlphaC0Offset : -2
*HIF_REG59 = 0xff; //HIF_REG59 ;LFBetaOffset : -1
*HIF_REG66 = 0x20; //HIF_REG66 ;rate control bit rate : 51200 / 1024 ( 50k)
*HIF_REG67 = 0x00; //HIF_REG67 ;rate control bit rate : 51200 / 1024 ( 50k)
*HIF_REG68 = 0x0f; //HIF_REG68 ;rate control frame rate : 11
*HIF_REG69 = 0x31; //HIF_REG69 ;osb_fifo_rate_idx : 0, RATE_CONTROL_SEINITIAL_QP_VALUE : 0
//*HIF_REG70 = 0xe8; //HIF_REG70 ;SPEED_CONTROL_MB_CYCLE_VALUE : 1000
//*HIF_REG71 = 0x03; //HIF_REG71 ;SPEED_CONTROL_MB_CYCLE_VALUE : 1000
*HIF_REG50 = 0x32; //HIF_REG50 ; quality factor 30
*HIF_REG60 = 0x21; //HIF_REG60 ; i2s_ctrl
*HIF_REG63 = 10; //HIF_REG63 ; audio_gain
//*HIF_REG64 = 0; //Zoom Level : 0
// Never set SDRAM registers here!!!
// If you set, SDRAM module will Die ...
//*HIF_REG140 = 0xcb; //0xea; //HIF_REG40 SDRAMC
//*HIF_REG141 = 0x30; //0x40; //HIF_REG41 SDRAMC
//*HIF_REG142 = 0x4b; //0x8c; //HIF_REG42 SDRAMC
//*HIF_REG143 = 0x12; //0x02; //HIF_REG43 SDRAMC
//*HIF_REG143 = *HIF_REG143 & (0xef);
CONSTANT_QP_VALUE = 32;
MAX_BIT_RATE_LOW = 0xB0;
MAX_BIT_RATE_HIGH = 0x04;
JPEG_FPS = 15;
//if ( avata_capture_mode )
//{
// uart_print("avata_capture_mode\n\r");
// //Sensor2 Setting
// *HIF_REG74 = 0x1e; //SENSOR2_OUT_W
// *HIF_REG75 = 0x1e; //SENSOR2_OUT_H
// *HIF_REG76 = 0x0f; //IMAGE2_OUT_W
// *HIF_REG77 = 0x0f; //IMAGE2_OUT_H
// *HIF_REG51 = 0x0f; //HIF_REG51 ; jpeg width
// *HIF_REG52 = 0x0f; //HIF_REG52 ; jpeg height
//}
//else //normal mode
//{
// //Sensor2 Setting
// *HIF_REG74 = 0x28; //SENSOR2_OUT_W
// *HIF_REG75 = 0x1e; //SENSOR2_OUT_H
// *HIF_REG76 = 0x28; //IMAGE2_OUT_W
// *HIF_REG77 = 0x1e; //IMAGE2_OUT_H
// *HIF_REG51 = 0x14; //HIF_REG51 ; jpeg width
// *HIF_REG52 = 0x0f; //HIF_REG52 ; jpeg height
//}
//*HIF_REG102 = 0x80; //JPEG from CAM2
//uart_print("hif_initialized\n\r");
// if ( !avata_capture_mode )
// {
//// {{{
// //Sensor Setting
// //Sensor Reset
// tempBuf[0] = 0x30;
// tempBuf[1] = 0x12;
// tempBuf[2] = 0x80;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// //uart_print("ret:");
// //uart_printInt(ret);
// //uart_print("\n\r");
//
// for ( nop_i = 0; nop_i < 10000000; nop_i++ ) __asm __volatile("l.nop 0");
//
// ////read Sensor ID
// //tempBuf[0] = 0x30;
// //tempBuf[1] = 0x0a;
// //ret = i2c_write(0x30, 2, tempBuf);
// ////uart_print("ret:");
// ////uart_printInt(ret);
// ////uart_print("\n\r");
// //ret = i2c_read(0x30, 2, tempBuf);
// //uart_print("read id ret:");
// //uart_printInt(ret);
// //uart_print(",");
// //uart_printInt(tempBuf[0]);
// //uart_print(",");
// //uart_printInt(tempBuf[1]);
// //uart_print("\n\r");
// ////read Sensor ID
// for ( nop_i = 0; nop_i < 3; nop_i++ )
// {
//// {{{
// tempBuf[0] = 0x30; tempBuf[1] = 0x8c; tempBuf[2] = 0x80;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x8d; tempBuf[2] = 0x0e;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x36; tempBuf[1] = 0x0b; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xb0; tempBuf[2] = 0xff;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xb1; tempBuf[2] = 0xff;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xb2; tempBuf[2] = 0x04;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x0e; tempBuf[2] = 0x34;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x0f; tempBuf[2] = 0xa6;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x10; tempBuf[2] = 0x81;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x82; tempBuf[2] = 0x01;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xf4; tempBuf[2] = 0x01;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x90; tempBuf[2] = 0x43;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x91; tempBuf[2] = 0xc0;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xac; tempBuf[2] = 0x42;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xd1; tempBuf[2] = 0x08;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xa8; tempBuf[2] = 0x54;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x15; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x93; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x7e; tempBuf[2] = 0xe5;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x79; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xaa; tempBuf[2] = 0x52;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x17; tempBuf[2] = 0x40;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xf3; tempBuf[2] = 0x83;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x6a; tempBuf[2] = 0x0c;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x6d; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x6a; tempBuf[2] = 0x3c;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x76; tempBuf[2] = 0x6a;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xd9; tempBuf[2] = 0x95;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x16; tempBuf[2] = 0x82;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x36; tempBuf[1] = 0x01; tempBuf[2] = 0x30;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4e; tempBuf[2] = 0x88;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xf1; tempBuf[2] = 0x82;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x6f; tempBuf[2] = 0x14;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x2a; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x2b; tempBuf[2] = 0x6a;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x12; tempBuf[2] = 0x10;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x11; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x13; tempBuf[2] = 0xf7;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x18; tempBuf[2] = 0x80;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x19; tempBuf[2] = 0x70;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x1a; tempBuf[2] = 0xd4;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x1c; tempBuf[2] = 0x13;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x1d; tempBuf[2] = 0x17;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x70; tempBuf[2] = 0x5d;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x72; tempBuf[2] = 0x4d;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xaf; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x48; tempBuf[2] = 0x1f;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x49; tempBuf[2] = 0x4e;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4a; tempBuf[2] = 0x20;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4f; tempBuf[2] = 0x20;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4b; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4c; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4d; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4f; tempBuf[2] = 0x20;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xa3; tempBuf[2] = 0x10;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x13; tempBuf[2] = 0xf7;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x14; tempBuf[2] = 0x44;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x71; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x70; tempBuf[2] = 0x5d;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x73; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x72; tempBuf[2] = 0x4d;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x1c; tempBuf[2] = 0x05;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x1d; tempBuf[2] = 0x06;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4d; tempBuf[2] = 0x42;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4a; tempBuf[2] = 0x40;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4f; tempBuf[2] = 0x40;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x95; tempBuf[2] = 0x07;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x96; tempBuf[2] = 0x16;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x97; tempBuf[2] = 0x1d;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x20; tempBuf[2] = 0x01;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x21; tempBuf[2] = 0x18;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x22; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x23; tempBuf[2] = 0x06;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x24; tempBuf[2] = 0x06;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x25; tempBuf[2] = 0x58;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x26; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x27; tempBuf[2] = 0x61;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x88; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x89; tempBuf[2] = 0x80;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x8a; tempBuf[2] = 0x01;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x8b; tempBuf[2] = 0xe0;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x16; tempBuf[2] = 0x64;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x17; tempBuf[2] = 0x25;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x18; tempBuf[2] = 0x80;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x19; tempBuf[2] = 0x08;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x1a; tempBuf[2] = 0x28;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x1b; tempBuf[2] = 0x1e;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x1c; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x1d; tempBuf[2] = 0x38;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x31; tempBuf[1] = 0x00; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x20; tempBuf[2] = 0xfa;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x21; tempBuf[2] = 0x11;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x22; tempBuf[2] = 0x92;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x23; tempBuf[2] = 0x01;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x24; tempBuf[2] = 0x97;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x25; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x26; tempBuf[2] = 0xff;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x27; tempBuf[2] = 0x10;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x28; tempBuf[2] = 0x10;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x29; tempBuf[2] = 0x1f;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x2a; tempBuf[2] = 0x58;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x2b; tempBuf[2] = 0x50;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x2c; tempBuf[2] = 0xbe;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x2d; tempBuf[2] = 0xce;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x2e; tempBuf[2] = 0x2e;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x2f; tempBuf[2] = 0x36;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x30; tempBuf[2] = 0x4d;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x31; tempBuf[2] = 0x44;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x32; tempBuf[2] = 0xf0;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x33; tempBuf[2] = 0x0a;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x34; tempBuf[2] = 0xf0;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x35; tempBuf[2] = 0xf0;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x36; tempBuf[2] = 0xf0;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x37; tempBuf[2] = 0x40;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x38; tempBuf[2] = 0x40;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x39; tempBuf[2] = 0x40;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x3a; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x3b; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x80; tempBuf[2] = 0x20;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x81; tempBuf[2] = 0x5b;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x82; tempBuf[2] = 0x05;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x83; tempBuf[2] = 0x22;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x84; tempBuf[2] = 0x9d;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x85; tempBuf[2] = 0xc0;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x86; tempBuf[2] = 0xb6;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x87; tempBuf[2] = 0xb5;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x88; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x89; tempBuf[2] = 0x98;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x8a; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x40; tempBuf[2] = 0x09;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x41; tempBuf[2] = 0x19;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x42; tempBuf[2] = 0x2f;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x43; tempBuf[2] = 0x45;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x44; tempBuf[2] = 0x5a;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x45; tempBuf[2] = 0x69;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x46; tempBuf[2] = 0x75;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x47; tempBuf[2] = 0x7e;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x48; tempBuf[2] = 0x88;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x49; tempBuf[2] = 0x96;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x4a; tempBuf[2] = 0xa3;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x4b; tempBuf[2] = 0xaf;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x4c; tempBuf[2] = 0xc4;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x4d; tempBuf[2] = 0xd7;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x4e; tempBuf[2] = 0xe8;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x4f; tempBuf[2] = 0x20;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x50; tempBuf[2] = 0x35;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x51; tempBuf[2] = 0x0a;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x52; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x53; tempBuf[2] = 0x16;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x54; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x55; tempBuf[2] = 0x85;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x56; tempBuf[2] = 0x35;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x57; tempBuf[2] = 0x0a;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x58; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x59; tempBuf[2] = 0x19;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x5a; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x5b; tempBuf[2] = 0x85;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x5c; tempBuf[2] = 0x35;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x5d; tempBuf[2] = 0x0a;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x5e; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x5f; tempBuf[2] = 0x14;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x60; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x61; tempBuf[2] = 0x85;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x63; tempBuf[2] = 0x01;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x64; tempBuf[2] = 0x03;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x65; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x66; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x01; tempBuf[2] = 0xff;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x8B; tempBuf[2] = 0x1e;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x8c; tempBuf[2] = 0x10;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x8d; tempBuf[2] = 0x40;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x70; tempBuf[2] = 0xd0;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x71; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x72; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x73; tempBuf[2] = 0x40;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x74; tempBuf[2] = 0x10;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x75; tempBuf[2] = 0x10;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x76; tempBuf[2] = 0x04;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x77; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x78; tempBuf[2] = 0x04;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x79; tempBuf[2] = 0x80;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x69; tempBuf[2] = 0x86;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x7c; tempBuf[2] = 0x10;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x87; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x90; tempBuf[2] = 0x03;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xaa; tempBuf[2] = 0x52;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xa3; tempBuf[2] = 0x80;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xa1; tempBuf[2] = 0x41;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x00; tempBuf[2] = 0xfc;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x33; tempBuf[1] = 0x02; tempBuf[2] = 0x11;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x34; tempBuf[1] = 0x00; tempBuf[2] = 0x02;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x36; tempBuf[1] = 0x06; tempBuf[2] = 0x20;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x36; tempBuf[1] = 0x01; tempBuf[2] = 0x30;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x0e; tempBuf[2] = 0x34;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xf3; tempBuf[2] = 0x83;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x4e; tempBuf[2] = 0x88;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x36; tempBuf[1] = 0x3b; tempBuf[2] = 0x01;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x36; tempBuf[1] = 0x3c; tempBuf[2] = 0xf2;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0xa1; tempBuf[2] = 0x81;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x86; tempBuf[2] = 0x0f;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
// tempBuf[0] = 0x30; tempBuf[1] = 0x86; tempBuf[2] = 0x00;
// ret = i2c_write(0x30, 3, tempBuf); if ( ret ) uart_print("sensor set error!!!\n\r");
//
//
//// }}}
// }
// uart_print("Sensor Setting Done\n\r");
//// }}}
// }
//sensorSetToVGA();
//AIC Initialize
//AIC Reset
GPIOSetHigh(GPIO13);
for ( nop_i = 0; nop_i < 1000; nop_i++ ) __asm __volatile("l.nop 0");
GPIOSetLow(GPIO13);
for ( nop_i = 0; nop_i < 1000; nop_i++ ) __asm __volatile("l.nop 0");
GPIOSetHigh(GPIO13);
for ( nop_i = 0; nop_i < 1000; nop_i++ ) __asm __volatile("l.nop 0");
//uart_print("AIC_reset\n\r");
AIC3101Init( MASTER, AIC3101_FS_16KHz, MIC, AUDIO_GAIN );
//i2s init
init_i2s();
//ParamToHIFConv(); //jykim_20080715_HIF_CONV++
//Wait I2C Start Command
//while (!COMMAND_START)
// ;
lencod();
}
int main(void)
{
uint8_t dots,cnt,f;
uint8_t key,prev_key;
uint16_t dcnt;
_WDR();
WDTCR = 0x0f;
DDRA = 0xff; // porta 0-7 out
PORTA = 0;
DDRB = 0x0f; // portb 0-3 out
PORTB = 0x0f;
ADCSRA = 0x87; // ADC
ADMUX = 9;
i2c_init();
clock_init();
TCCR0B = 5; // cpu clk / 1
TIMSK = 2;
ref_pos = 0;
skip = 0;
_SEI();
bme_init();
// wr_eeprom(11,0x55);
prev_key = 0;
timer = 0;
timer_pos = 0;
cnt = 0;
f = 1;
swcnt = sw = mode = 0;
dcnt = 0;
get_date();
for(dots=0; ; ) {
if(++cnt >= 10 || f) {
if(!timer) {
if(mode) setting(); else show();
} else {
uint8_t tm = timer/60;
uint8_t ts = timer%60;
putchr(0,tm/10);
putchr(1,tm%10);
putchr(2,ts/10);
putchr(3,ts%10);
timer--;
if(timer == 300) beep(); //5min
else if(!timer) beep(); //end
}
cnt = 0;
f = 0;
if(mode) {
if(dots) {
dsp_buf[0] = chrSP;
dsp_buf[1] = chrSP;
dsp_buf[2] = chrSP;
dsp_buf[3] = chrSP;
}
} else {
if(dots || sw == 1 || sw == 2) {
dsp_buf[1] |= segDP;
}
if(sw == 3) {
dsp_buf[1] &= ~segDP;
dsp_buf[3] |= segDP;
}
}
dots ^= 1;
}
delay(100);
key = get_key();
if(key == 0 && prev_key != 0) {
tocnt = 0;
switch(prev_key) {
case KEY_1:
if(timer) break;
if(++mode > 5) mode = 0;
f = 1;
sw = swcnt = 0;
break;
case KEY_2:
if(timer) break;
inc();
f = 1;
sw = swcnt = 0;
break;
case KEY_3:
if(timer_pos) {
timer_pos--;
timer = 60*pgm_read_byte(timer_vals+timer_pos);
} else {
timer = 0;
}
f = 1;
break;
case KEY_4:
if(timer_pos < NELEM(timer_vals)-1) {
if(timer != 0) timer_pos++;
timer = 60*pgm_read_byte(timer_vals+timer_pos);
f = 1;
}
break;
default:;
}
}
prev_key = key;
if(++dcnt > 10*60) {
dcnt = 0;
get_date();
}
}
return 0;
}
int max17042_init(int load)
{
uint16_t data;
int i;
static const uint16_t* bufp = (uint16_t*) 0x81000000;
uint16_t* savestorep;
int err, retries=2, force_por=0;
uint16_t designcap;
type_params = ¶m_table[get_battery_type(load)];
designcap = type_params->init_params->Capacity;
i2c_init(100, MAX17042_ADDR);
if ( MAX_READ(MAX17042_STATUS, (uchar*)&data) != 0)
{
DEBUG("MAX17042+UBOOT: No battery or 0V battery!\n");
return 1;
}
DEBUG("MAX17042+UBOOT: gas gauge detected (0x%04x)\n",data);
//check if we need restore registers inside
is_power_on_rst();
if ( is_power_on ) {
DEBUG("MAX17042+UBOOT:POR detected!\n");
} else {
DEBUG("MAX17042+UBOOT:WARM BOOT \n");
}
if (load) {
run_command("mmcinit 1; fatload mmc 1:5 0x81000000 max17042.bin 0x1000", 0);
}
if (*bufp != 0x1234 || !load) {
DEBUG(" No valid max17042 init data found, assume no battery history \n");
is_history_exist = 0;
} else {
DEBUG(" Valid max17042 init data is loaded into memory \n");
}
if ( is_history_exist == 1 ) {
savestorep = (uint16_t*)&save_store;
for ( i = 0; i <(sizeof(save_store) / sizeof(uint16_t)); i++) {
DEBUG (" 0x%04x\n", *bufp);
*savestorep++ = *bufp++;
}
#define MIN_CAP_AGING 25/100 // allow no less than 25% of design capacity before rejecting
#define MAX_CAP_AGING 13/10 // reject history capacity if it seems overly big
#define MIN_CAPNOM_AGING 25/100 // allow no less than 25% of nominal design capacity before rejecting
#define MAX_CAPNOM_AGING 15/10 // reject history capacity if it seems overly big
if ( (save_store.val_FullCAP < (uint16_t)(((uint32_t)designcap)*MIN_CAP_AGING)) ||
(save_store.val_FullCAP > (uint16_t)(((uint32_t)designcap)*MAX_CAP_AGING)) ||
(save_store.val_FullCAPNom < (uint16_t)(((uint32_t)designcap)*MIN_CAPNOM_AGING)) ||
(save_store.val_FullCAPNom > (uint16_t)(((uint32_t)designcap)*MAX_CAPNOM_AGING)) )
{
printf("Resetting battery defaults due to faulty CAPACITY (0x%x, 0x%x)\n",
save_store.val_FullCAP, save_store.val_FullCAPNom);
force_por = 1;
is_history_exist = 0;
}
else
{
DEBUG(" verify if mem loaded: FullcapNom was saved as %04x\n",
save_store.val_FullCAPNom );
}
// In case val_DesignCap in history data does not match battery's design capacity,
// we should throw away the history data.
if(save_store.val_DesignCap != designcap) {
printf("Resetting battery defaults because Design Capactiy(0x%04X)in history data"
" does not match battery's Design Capacity(0x%04X)\n",
save_store.val_DesignCap, designcap);
force_por = 1;
is_history_exist = 0;
}
}
save_store.val_DesignCap = designcap;
i2c_init(100, 0x36); //no need
if ( !is_power_on )
{
// when there is no history file, assume it is a POR
//if ( is_history_exist && max17042_check_init_config() == 0 )
// UPDATE: if history file doesn't exist don't do a POR,
if (!force_por && max17042_check_init_config() == 0 )
{
DEBUG("MAX17042+UBOOT: warm config is okay\n");
return 0;
}
else
{
/* when the config is bad but it's not a POR, then something
* is quite wrong.
*/
DEBUG("MAX17042+UBOOT: warm config bad. soft POR\n");
is_power_on = 1;
max17042_soft_por();
}
}
//1. Delay 500ms
udelay( 500 * 1000 );
MAX17042_DUMPREG( MAX17042_Version );
MAX17042_DUMPREG( MAX17042_DesignCap );
MAX17042_DUMPREG( MAX17042_OCV );
MAX17042_DUMPREG( MAX17042_FSTAT );
MAX17042_DUMPREG( MAX17042_SOCvf );
//2. Init Configuration
max17042_init_config();
//3. Save starting para
max17042_save_start_para();
//4. unlock model access
max17042_unlock_model();
do {
//5. write custom model
max17042_write_model();
//6. read model
//7. verify model
err = max17042_read_verify_model();
} while ( err != 0 && --retries > 0 );
if ( retries == 0 ) {
DEBUG( " writing model failed\n");
return err;
}
retries = 2;
do {
//8. lock model access
max17042_lock_model();
//9. verify model access is locked
err = max17042_verify_lock_model();
} while ( err != 0 && --retries > 0 );
if ( retries == 0 ) {
DEBUG( " locking model failed\n");
return err;
}
//10. write custom parameters
err = max17042_write_custom_para( );
if ( err != 0 ) {
DEBUG("write custom parameters failed\n");
return err;
}
//11 update full capacity parameters
err = max17042_update_cap_para( );
if ( err != 0 ) {
DEBUG("update capacity parameters failed\n");
return err;
}
//13. delay 350ms;
udelay ( 350 *1000 );
//14. write VFSOC to VFSCO0
err = max17042_write_vfsoc();
if ( err != 0 ) {
DEBUG("write vfsoc failed\n");
return err;
}
/* 15.5 Advance to Colomb-Counter Mode
* We do this all the time. In the factory the battery is fresh (close to
* design capacity, and when there is a history file we restore a known good
* capacity after this, so that case it's safe to assume we have a good estimate
* as well.
*/
err = max17042_set_cycles( 0x00A0 );
if ( err != 0 ) {
DEBUG("set cycles 0x00A0 failed\n");
return err;
}
err = max17042_load_cap_para( );
if ( err != 0 ) {
DEBUG("load capacity parameters failed\n");
return err;
}
max17042_clear_POR();
if ( is_history_exist ) {
err = max17042_restore_learned_para();
if ( err != 0 ) {
DEBUG("restore learned parameters failed\n");
return err;
}
}
is_power_on = 0;
DEBUG("Max17042 init is done\n");
return 0;
}
void init(void)
{
uint8_t i;
bool updated;
//***********************************************************
// I/O setup
//***********************************************************
// Set port directions
DDRA = 0x30; // Port A
DDRB = 0x0A; // Port B
DDRC = 0xFC; // Port C
DDRD = 0xF2; // Port D
// Hold all PWM outputs low to stop glitches
// M5 and M6 are on PortA for KK2.1
MOTORS = 0;
M5 = 0;
M6 = 0;
// Preset I/O pins
LED1 = 0; // LED1 off
LVA = 0; // LVA alarm OFF
LCD_SCL = 1; // GLCD clock high
// Set/clear pull-ups (1 = set, 0 = clear)
PINB = 0xF5; // Set PB pull-ups
PIND = 0x0C; // Set PD pull-ups (Don't pull up RX yet)
//***********************************************************
// Spektrum receiver binding. Must be done immediately on power-up
//
// 3 low pulses: DSM2 1024/22ms
// 5 low pulses: DSM2 2048/11ms
// 7 low pulses: DSMX 1024/22ms
// 9 low pulses: DSMX 2048/11ms
//***********************************************************
PIND = 0x0C; // Release RX pull up on PD0
_delay_ms(63); // Pause while satellite wakes up
// and pull-ups have time to rise.
// Tweak until bind pulses about 68ms after power-up
// Bind as master if any single button pressed.
// NB: Have to wait until the button pull-ups rise before testing for a button press.
// Button 1
if ((PINB & 0xf0) == 0x70)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master(3);
}
// Button 2
if ((PINB & 0xf0) == 0xb0)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master(5);
}
// Button 3
if ((PINB & 0xf0) == 0xd0)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master(7);
}
// Button 4
if ((PINB & 0xf0) == 0xE0)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master(9);
}
DDRD = 0xF2; // Reset Port D directions
PIND = 0x0D; // Set PD pull-ups (now pull up RX as well)
//***********************************************************
// Timers
//***********************************************************
// Timer0 (8bit) - run @ 20MHz / 1024 = 19.531kHz or 51.2us - max 13.1ms
// Slow timer to extend Timer 1
TCCR0A = 0; // Normal operation
TCCR0B = 0x05; // Clk / 1024 = 19.531kHz or 51.2us - max 13.1ms
TIMSK0 |= (1 << TOIE0); // Enable interrupts
TCNT0 = 0; // Reset counter
// Timer1 (16bit) - run @ 2.5MHz (400ns) - max 26.2ms
// Used to measure Rx Signals & control ESC/servo output rate
TCCR1A = 0;
TCCR1B |= (1 << CS11); // Clk/8 = 2.5MHz
// Timer2 8bit - run @ 20MHz / 1024 = 19.531kHz or 51.2us - max 13.1ms
// Used to time arm/disarm intervals
TCCR2A = 0;
TCCR2B = 0x07; // Clk/1024 = 19.531kHz
TIMSK2 = 0;
TIFR2 = 0;
TCNT2 = 0; // Reset counter
//***********************************************************
// Interrupts and pin function setup
//***********************************************************
// Pin change interrupt enables PCINT1, PCINT2 and PCINT3 (Throttle, AUX and CPPM input)
PCICR = 0x0A; // PCINT8 to PCINT15 (PCINT1 group - AUX)
// PCINT24 to PCINT31 (PCINT3 group - THR)
PCIFR = 0x0F; // Clear PCIF0 interrupt flag
// Clear PCIF1 interrupt flag
// Clear PCIF2 interrupt flag
// Clear PCIF3 interrupt flag
// External interrupts INT0 (Elevator) and INT1 (Aileron) and INT2 (Rudder)
EICRA = 0x15; // Any change INT0
// Any change INT1
// Any change INT2
EIFR = 0x07; // Clear INT0 interrupt flag (Elevator)
// Clear INT1 interrupt flag (Aileron)
// Clear INT2 interrupt flag (Rudder/CPPM)
//***********************************************************
// Start up
//***********************************************************
// Preset important flags
Interrupted = false;
// Load EEPROM settings
updated = Initial_EEPROM_Config_Load(); // Config now contains valid values
//***********************************************************
// RX channel defaults for when no RC connected
// Not doing this can result in the FC trying (unsuccessfully) to arm
// and makes entry into the menus very hard
//***********************************************************
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
RxChannel[i] = 3750;
}
RxChannel[THROTTLE] = 2500; // Min throttle
//***********************************************************
// GLCD initialisation
//***********************************************************
// Initialise the GLCD
st7565_init();
// Make sure the LCD is blank without clearing buffer (and so no logo)
clear_screen();
//***********************************************************
// ESC calibration
//***********************************************************
// Calibrate ESCs if ONLY buttons 1 and 4 pressed
if ((PINB & 0xf0) == 0x60)
{
// Display calibrating message
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(59,(const unsigned char*)Verdana14,10,25);
write_buffer(buffer);
clear_buffer(buffer);
// For each output
for (i = 0; i < MAX_OUTPUTS; i++)
{
// Check for motor marker
if (Config.Channel[i].Motor_marker == MOTOR)
{
// Set output to maximum pulse width
ServoOut[i] = MOTOR_100;
}
else
{
ServoOut[i] = SERVO_CENTER;
}
}
// Output HIGH pulse (1.9ms) until buttons released
while ((PINB & 0xf0) == 0x60)
{
// Pass address of ServoOut array and select all outputs
output_servo_ppm_asm(&ServoOut[0], 0xFF);
// Loop rate = 20ms (50Hz)
_delay_ms(20);
}
// Output LOW pulse (1.1ms) after buttons released
// For each output
for (i = 0; i < MAX_OUTPUTS; i++)
{
// Check for motor marker
if (Config.Channel[i].Motor_marker == MOTOR)
{
// Set output to maximum pulse width
ServoOut[i] = MOTOR_0;
}
}
// Loop forever here
while(1)
{
// Pass address of ServoOut array and select all outputs
output_servo_ppm_asm(&ServoOut[0], 0xFF);
// Loop rate = 20ms (50Hz)
_delay_ms(20);
}
}
//***********************************************************
// Reset EEPROM settings
//***********************************************************
// This delay prevents the GLCD flashing up a ghost image of old data
_delay_ms(300);
// Reload default eeprom settings if middle two buttons are pressed
if ((PINB & 0xf0) == 0x90)
{
// Display reset message
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(262,(const unsigned char*)Verdana14,40,25); // "Reset"
write_buffer(buffer);
clear_buffer(buffer);
// Reset EEPROM settings
Set_EEPROM_Default_Config();
Save_Config_to_EEPROM();
// Set contrast to the default value
st7565_set_brightness(Config.Contrast);
_delay_ms(500); // Save is now too fast to show the "Reset" text long enough
}
// Display message in place of logo when updating eeprom structure
if (updated)
{
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(259,(const unsigned char*)Verdana14,30,13); // "Updating"
LCD_Display_Text(260,(const unsigned char*)Verdana14,33,37); // "settings"
write_buffer(buffer);
clear_buffer(buffer);
_delay_ms(1000);
}
else
{
// Write logo from buffer
write_buffer(buffer);
_delay_ms(1000);
}
clear_buffer(buffer);
write_buffer(buffer);
st7565_init(); // Seems necessary for KK2 mini
//***********************************************************
// i2c init
//***********************************************************
i2c_init();
init_i2c_gyros();
init_i2c_accs();
//***********************************************************
// Remaining init tasks
//***********************************************************
// Display "Hold steady" message
clear_buffer(buffer);
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
LCD_Display_Text(263,(const unsigned char*)Verdana14,18,25); // "Hold steady"
write_buffer(buffer);
clear_buffer(buffer);
// Do startup tasks
Init_ADC();
init_int(); // Initialise interrupts based on RC input mode
init_uart(); // Initialise UART
// Initial gyro calibration
if (!CalibrateGyrosSlow())
{
clear_buffer(buffer);
LCD_Display_Text(61,(const unsigned char*)Verdana14,25,25); // "Cal. failed"
write_buffer(buffer);
_delay_ms(1000);
// Reset
cli();
wdt_enable(WDTO_15MS); // Watchdog on, 15ms
while(1); // Wait for reboot
}
// Update voltage detection
SystemVoltage = GetVbat(); // Check power-up battery voltage
UpdateLimits(); // Update travel and trigger limits
// Disarm on start-up if Armed setting is ARMABLE
if (Config.ArmMode == ARMABLE)
{
General_error |= (1 << DISARMED); // Set disarmed bit
}
// Check to see that throttle is low if RC detected
if (Interrupted)
{
RxGetChannels();
if (MonopolarThrottle > THROTTLEIDLE) // THROTTLEIDLE = 50
{
General_error |= (1 << THROTTLE_HIGH); // Set throttle high error bit
}
}
// Reset IMU
reset_IMU();
// Beep that init is complete
LVA = 1;
_delay_ms(25);
LVA = 0;
#ifdef ERROR_LOG
// Log reboot
add_log(REBOOT);
#endif
} // init()
static int tegra_i2c_send_recv(int bus, int read,
uint32_t *headers, int header_words,
uint8_t *data, int data_len)
{
struct tegra_i2c_bus_info *info = &tegra_i2c_info[bus];
struct tegra_i2c_regs * const regs = info->base;
while (data_len) {
uint32_t status = read32(®s->fifo_status);
int tx_empty = status & I2C_FIFO_STATUS_TX_FIFO_EMPTY_CNT_MASK;
tx_empty >>= I2C_FIFO_STATUS_TX_FIFO_EMPTY_CNT_SHIFT;
int rx_full = status & I2C_FIFO_STATUS_RX_FIFO_FULL_CNT_MASK;
rx_full >>= I2C_FIFO_STATUS_RX_FIFO_FULL_CNT_SHIFT;
while (header_words && tx_empty) {
write32(®s->tx_packet_fifo, *headers++);
header_words--;
tx_empty--;
}
if (!header_words) {
if (read) {
while (data_len && rx_full) {
uint32_t word = read32(®s->rx_fifo);
int todo = MIN(data_len, sizeof(word));
memcpy(data, &word, todo);
data_len -= todo;
data += sizeof(word);
rx_full--;
}
} else {
while (data_len && tx_empty) {
uint32_t word;
int todo = MIN(data_len, sizeof(word));
memcpy(&word, data, todo);
write32(®s->tx_packet_fifo, word);
data_len -= todo;
data += sizeof(word);
tx_empty--;
}
}
}
uint32_t transfer_status =
read32(®s->packet_transfer_status);
if (transfer_status & I2C_PKT_STATUS_NOACK_ADDR) {
printk(BIOS_ERR,
"%s: The address was not acknowledged.\n",
__func__);
info->reset_func(info->reset_bit);
i2c_init(bus);
return -1;
} else if (transfer_status & I2C_PKT_STATUS_NOACK_DATA) {
printk(BIOS_ERR,
"%s: The data was not acknowledged.\n",
__func__);
info->reset_func(info->reset_bit);
i2c_init(bus);
return -1;
} else if (transfer_status & I2C_PKT_STATUS_ARB_LOST) {
printk(BIOS_ERR,
"%s: Lost arbitration.\n",
__func__);
info->reset_func(info->reset_bit);
/* Use Tegra bus clear registers to unlock SDA */
do_bus_clear(bus);
/* re-init i2c controller */
i2c_init(bus);
/* Return w/error, let caller decide what to do */
return -1;
}
}
return 0;
}