//MAIN FUNCTION **************************************************************
void main(void)
{
char keypad;
char tensDigit;
char onesDigit;
char numAsDecimal;
initMethods();
putchar('\r'); // Dummy write to serial port
printf("\nStart\r\n");
Counts = 0;
while (Counts < 1); // Wait a long time (1s) for keypad & LCD to initialize
lcd_clear();
lcd_print("Calibration:\nHello world!\n012_345_678:\nabc def ghij");
while (1)
{
keypadInput = read_keypad(); //read the keypad
if (keypadInput != -1) { //if keypad pressed
tensDigit = keypadInput; while(read_keypad() != -1); pause(); //store press as tens digit
do {
onesDigit = read_keypad(); //set the result of read_keypad to ones digit
} while (onesDigit == -1) //stop once ones digit equals an input value
while(read_keypad() != -1); pause(); //wait until key is released, then pause for one second
numAsDecimal = twoDigitNum(tensDigit, onesDigit);
displayInput(numAsDecimal);
}
}
int multi_view_mode(char previous) {
sensor_changer(&sensor_selector, &previous);
lcd_display_top_row("Mult");
lcd_display_bottom_row();
//use sweep_num to see what stage of 'turning' the object is at
char a = read_keypad(33);
if (a == 'A'&& previous != a) {
SYSTICK_IntCmd(DISABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 0;
}
else if (a == 'B'&& previous != a) {
SYSTICK_IntCmd(DISABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 1;
}
else if (a == 'C'&& previous != a) {
servoreset();
SYSTICK_IntCmd(ENABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 2;
}
else if (a == 'D'&& previous != a) {
servoreset();
SYSTICK_IntCmd(ENABLE);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 3;
}
else {
keypad_change_servo_speed(&turnspeed, a, &previous);
keypad_change_servo_start_pos(&servo_start, a, &previous);
keypad_change_servo_stop_pos(&servo_stop, a, &previous);
keypad_change_sample_rate(&samplerate, a, &previous);
keypad_activate_interrupt(a, &previous);
average_calculator(us_dist_arr, ir_dist_arr, array_counter, &us_avg, &ir_avg);
previous = keypad_check(a, previous);
//distanceircalc();
//RTC_AlarmIntConfig((LPC_RTC_TypeDef *) LPC_RTC, RTC_TIMETYPE_SECOND, ENABLE);
//RTC_SetAlarmTime((LPC_RTC_TypeDef *) LPC_RTC, RTC_TIMETYPE_SECOND, 1);
return 3;
}
}
unsigned char get_keypress(void)
{
char tempval = 0;
unsigned char tempnum = 0;
tempval = read_keypad();
while(tempval == -1)
{
tempval = read_keypad();
}
tempnum = tempval - 48;
while(tempval != -1)
{
tempval = read_keypad();
}
return tempnum;
}
//------------------------------------------------------------------------------
//choose gain
//------------------------------------------------------------------------------
void choose_gain(void) // This function reads desired steering gain from the keypad
{ // Desired gain is chosen by incrementing it by pressing button 8 and decrementing it by pressing button 2
lcd_clear();
while (keypad != 35)
{
lcd_clear();
lcd_print("\rPress 2 to increase gain, press 8 to decrease gain");
lcd_print("\rGain is: %d", k); // print gain
keypad = read_keypad();
pause();
if (keypad == 50)
{
k++;
}
else if (keypad == 56)
{
k--;
}
}
lcd_clear();
lcd_print("\rYour gain is: %d\n", k);
keypad = 0;
}
//-----------------------------------------------------------------------------
// Choose speed
//-----------------------------------------------------------------------------
//*************************MODIFIED NO AD!!!
void pick_speed(void){
lcd_clear();
lcd_print("\nenter speed 1-5\n");
lcd_print("0=full back, 3 = neut, etc\n");
keypad = read_keypad();
pause();
if(keypad != -1)
{
lcd_clear();
lcd_print("\nyour value was%c", keypad);
if(keypad ==0)
{
lcd_print("Wire Connection/XBR0 Error");
}
}
speed_motor = 50*keypad;
/*
lcd_clear();
lcd_print("To set speed, adjust pMeter now");
lcd_print("\n3 seconds to do so");
pause();
lcd_clear();
lcd_print("To set speed, adjust pMeter now");
lcd_print("\n2 seconds to do so");
pause();
lcd_clear();
lcd_print("To set speed, adjust pMeter now");
lcd_print("\n1 seconds to do so");
pause();
*/
}//end pick motor speed
int tape_measure_mode(char previous) {
sensor_changer(&sensor_selector, &previous);
count = 18;
lcd_display_top_row("Tape");
lcd_display_bottom_row();
char a = read_keypad(33);
if (a == 'A'&& previous != a) {
SYSTICK_IntCmd(DISABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 0;
}
else if (a == 'B'&& previous != a) {
SYSTICK_IntCmd(DISABLE);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 1;
}
else if (a == 'C'&& previous != a) {
servoreset();
SYSTICK_IntCmd(ENABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 2;
}
else if (a == 'D'&& previous != a) {
servoreset();
SYSTICK_IntCmd(ENABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 3;
}
else {
//distanceircalc();
//RTC_AlarmIntConfig((LPC_RTC_TypeDef *) LPC_RTC, RTC_TIMETYPE_SECOND, DISABLE);
PWM_MatchUpdate((LPC_PWM_TypeDef *) LPC_PWM1,2,18,PWM_MATCH_UPDATE_NOW);
keypad_change_sample_rate(&samplerate, a, &previous);
average_calculator(us_dist_arr, ir_dist_arr, array_counter, &us_avg, &ir_avg);
previous = keypad_check(a, previous);
return 1;
}
}
char get_kpd_input() { //gets keyboard input
char check = read_keypad();
pause();
while(check == -1) {
check = read_keypad();
pause();
}
keypad = check;
while(check != -1) {
check = read_keypad();
pause();
}
return keypad;
}//end get kpd input
/*----------------------------------------------------------------------------
* Thread 'LED_Thread': Toggles LED
*---------------------------------------------------------------------------*/
void Thread_keypad (void const *argument) {
while(1){
osMutexWait(mutex, 100);
keypad_value = read_keypad();
osMutexRelease(mutex);
osDelay(1000);
}
}
void main()
{
char c;
int i=0,flag=0;
char password[4]={"1234"};
char input[4];
Lcd8_Init();
while(1)
{
Lcd8_Set_Cursor(1,1);
Lcd8_Write_String("Enter Password:"******"*");
i++;
}
for(i=0;i<4;i++)
{
if(password[i]!=input[i])
{
flag=1;
break;
}
}
delay(1000);
Lcd8_Clear();
Lcd8_Set_Cursor(1,1);
if(flag==1)
{
Lcd8_Write_String("Wrong Password!");
}
else
{
Lcd8_Write_String("Correct Password");
}
delay(2000);
/* Lcd8_Write_String("Times:");
while(!(c = read_keypad()));
p=c;
while(p==c)
{
i++;
Lcd8_Set_Cursor(1,14);
Lcd8_Write_Char(c);
Lcd8_Set_Cursor(2,7);
Lcd8_Write_Char(i+48);
delay(100);
while(!(c = read_keypad()));
}
i=0; */
//while(!read_keypad());
Lcd8_Clear();
}
}
int main(void){
unsigned char digit; //where digit to be printed will be held
unsigned char digit_old = '0'; //where the previous digit will be held
DDRA = 0xF0; // set PORTA[7:4] OUT, PORTA[3:0] IN
PORTA = 0xFF; // turn on PULLUP res for PORTA[3:0] and A[7:4] HIGH
DDRB = 0xFF; // set PORTB for output
PORTB = 0x00; // turn ON all LEDs initially
while(1){
digit = read_keypad(digit_old);
digit_old = digit; //store old digit incase no button is pressed on next cycle
display_7led(digit);
}
return 1;
}
//-----------------------------------------------------------------------------
// Choose Gain
//-----------------------------------------------------------------------------
void choose_gain(void) {
char keypad;
lcd_clear();
lcd_print("\nTo set gain press a number, n");
lcd_print("\nThe gain will be 0.n");
keypad = read_keypad();
pause();
if(keypad != -1)
{
lcd_print("\nYou selected 0.%c", keypad);
ratio = ((keypad - 0x30)/10);
//ratio needs to be a float or something to hold a decimal
//doesn't need to be read too often, xdata?
if(keypad ==0)
{
lcd_print("Wire Connection/XBR0 Error")
}
}
int calibration_mode(char previous) {
sensor_changer(&sensor_selector, &previous);
count = 18;
PWM_MatchUpdate((LPC_PWM_TypeDef *) LPC_PWM1,2,18,PWM_MATCH_UPDATE_NOW);
char a = read_keypad(33);
/*
Selector to change the mode using the keypad keys A,B,C and D. Replicated in the rest of the modes too.
When the system is started for the first time, it starts in calibration mode and requests its values unless one of the
B, C or D keys is held at startup.
*/
if (a == 'A'&& previous != a) {
SYSTICK_IntCmd(DISABLE);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 0;
}
else if (a == 'B'&& previous != a) {
SYSTICK_IntCmd(DISABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 1;
}
else if (a == 'C'&& previous != a) {
servoreset();
SYSTICK_IntCmd(ENABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 2;
}
else if (a == 'D'&& previous != a) {
servoreset();
SYSTICK_IntCmd(ENABLE);
clear_display(59);
char a = read_keypad(33);
previous = keypad_check(a, previous);
return 3;
}
else {
int ir_calib_arr[3];
int us_calib_arr[3];
int ir_reported;
int us_reported;
int ir_calib_val;
int us_calib_val;
int u = 0;
char write[2];
strcpy(write, "");
/*
Code to get values from the keypad. The user places an object at a set distance away from the head, enters how far it is from
the head, then finalises this value with the # key. If a mistake is made, the screen can be cleared with the A key,
Then repostions it closer or further and enters the new distance.
This is repeated once more to obtain three different calibration values.
*/
while(calib_tracker <3) {
if (u == 1000) {
sensor_changer_cali_mode(&sensor_selector, &previous);
int addr = 0x80;
int i;
for(i=0; i < strlen("Input actual dist: "); i++) {
addr = alloc_lcd_addr(addr, i, "Input actual dist: ");
}
for(i=0; i < strlen(write); i++) {
addr = alloc_lcd_addr(addr, i, write);
}
char x;
x = read_keypad(33);
if (x == previous) {
previous = x;
}
else if (x != 'Z' && x != previous) {
if (x == 'A') {
clear_display(59);
strcpy(write, "");
previous = x;
}
else if (isalpha(x) || x == '*' || isdigit(x)) {
addr = 0x80;
append(write, x);
clear_display(59);
for(i=0; i < strlen("Input actual dist: "); i++) {
addr = alloc_lcd_addr(addr, i, "Input actual dist: ");
}
for(i=0; i < strlen(write); i++) {
addr = alloc_lcd_addr(addr, i, write);
}
previous = x;
}
else if(x == '#') {
clear_display(59);
int act_val = atoi(write);
int anglemax = ((servo_stop-8)*9);
int anglemin = ((servo_start-8)*9);
int angle = ((count-8)*9);
char port3[90] = "";
sprintf(port3, ";%i;%i;%i;%i;%i;%i;%i;%i;%i;%i;%i;%i;\n\r", ir_raw, us_raw, ir_dist, us_dist, angle, anglemax, anglemin, act_val, sweep_num, multicheck, mode, newmulti);
write_usb_serial_blocking(port3 ,90);
ir_reported = ir_dist;
char port[3] = "";
sprintf(port, "%i", ir_reported);
//write_usb_serial_blocking("ir_report: ", 11);
//write_usb_serial_blocking(port, 3);
//write_usb_serial_blocking("\n\r", 2);
us_reported = us_dist;
char port1[3] = "";
sprintf(port1, "%i", us_reported);
//write_usb_serial_blocking("us_report: ", 11);
//write_usb_serial_blocking(port1, 3);
//write_usb_serial_blocking("\n\r", 2);
ir_calib_val = (act_val - ir_reported);
us_calib_val = (act_val - us_reported);
ir_calib_arr[calib_tracker] = ir_calib_val;
us_calib_arr[calib_tracker] = us_calib_val;
calib_tracker++;
strcpy(write, "");
previous = x;
}
}
else if (x == 'Z' && previous != 'Z') {
previous = 'Z';
}
}
else {
u++;
}
}
/*
If the calibration values have been entered, but the calibration is not yet complete, this calculates the calibration adjustments
for both IR and US, then sets calibrated_flag to stop them from being recalculated.
*/
if (calibrated_flag == 0) {
for (calib_tracker = 0; calib_tracker <3; calib_tracker++) {
ir_calib_total += ir_calib_arr[calib_tracker];
us_calib_total += us_calib_arr[calib_tracker];
}
calibrated_flag = 1;
ir_calibration_adjust = ir_calib_total/3;
us_calibration_adjust = us_calib_total/3;
char port1[3] = "";
sprintf(port1, "%i", ir_calib_total);
/*write_usb_serial_blocking("IR total: ", 8);
write_usb_serial_blocking(port1, 3);
write_usb_serial_blocking("\n\r", 2);*/
char port2[3] = "";
sprintf(port2, "%i", us_calib_total);
/*write_usb_serial_blocking("US total: ", 8);
write_usb_serial_blocking(port2, 3);
write_usb_serial_blocking("\n\r", 2);*/
char port3[3] = "";
sprintf(port3, "%i", ir_calibration_adjust);
/*write_usb_serial_blocking("IR adjust: ", 9);
write_usb_serial_blocking(port3, 3);
write_usb_serial_blocking("\n\r", 2);*/
char port4[3] = "";
sprintf(port4, "%i", us_calibration_adjust);
/*write_usb_serial_blocking("US adjust: ", 9);
write_usb_serial_blocking(port4, 3);
write_usb_serial_blocking("\n\r", 2);*/
}
lcd_display_top_row("Cali");
lcd_display_bottom_row();
//distanceircalc();
//RTC_AlarmIntConfig((LPC_RTC_TypeDef *) LPC_RTC, RTC_TIMETYPE_SECOND, DISABLE);
//keypad_change_sample_rate(&samplerate, a, &previous);
average_calculator(us_dist_arr, ir_dist_arr, array_counter, &us_avg, &ir_avg);
previous = keypad_check(a, previous);
return 0;
}
}
void *read_keypad_wrapper(void *input) {
keypad_input_t *_input = (keypad_input_t *)input;
read_keypad(&_input->n, &_input->inputs);
}
void mode_change_thread(void const * argument){
wirelessTransmit_TX(motor_init);
keypad_column_init();
osDelay(100);
/*read column*/
int8_t key_column = readKeyColumn();
keypad_row_init();
/*read row*/
int8_t key_row = readKeyRow();
mode = read_keypad(key_column, key_row);
while(1){
mode = read_keypad(key_column, key_row);
while(mode == 'e'){
wirelessTransmit_TX(motor_init);
keypad_column_init();
osDelay(100);
/*read column*/
int8_t key_column = readKeyColumn();
keypad_row_init();
/*read row*/
int8_t key_row = readKeyRow();
mode = read_keypad(key_column, key_row);
}
if (mode == 'A'){
printf (">>>>>>>>Entering Mode_1 Real Time Tilting<<<<<<<<\n");
char mode1[7] = "Mode 1";
LCD_clear_display();
LCD_DISPLAY_UPDATE_POS(0x80, mode1);
wirelessTransmit_TX(mode_A);
tilt_thread = osThreadCreate(osThread(tilt_detection_thread),NULL);
tilt_transmit_thread = osThreadCreate(osThread(transmitTiltAngles),NULL);
uint8_t readreg=read_Status_Register(WIRELESS_STATUS_VERSION);
mode_selection = 1;
}else if (mode == 'B'){
printf (">>>>>>>>Entering Mode_2 Movement Sequence Input<<<<<<<<\n");
wirelessTransmit_TX(mode_B);
// printf ("A: positive sign(must be entered). B: negative sign. C: terminate input\n");
// printf ("IMPORTANT: To input <30,-60,10> <-45,65,8>...<20,-30,5> You shall enter the key as following:\n");
// printf ("A30B60A10B45A65A08...A20B30A05C\n");
keypad_thread = osThreadCreate(osThread(keypad), NULL);
mode_selection = 2;
}else if (mode == 'C'){
printf (">>>>>>>>Entering Mode_3 Record and Play Option<<<<<<<<\n");
wirelessTransmit_TX(mode_C);
mode_selection = 3;
}
osSignalWait(SIGNAL_MODE_CHANGE, osWaitForever);
if(mode_selection == 1 ){
osThreadTerminate(tilt_transmit_thread);
osThreadTerminate(tilt_thread);
}
else if(mode_selection == 2){
osThreadTerminate(keypad_thread);
}
else{
}
mode_selection=0;
}
}
void keypad(void const *argument){
printf("keypad thread entered!\n");
int8_t num = -1;
int8_t k = 0;;
char ch;
// while(1){
// keypad_column_init();
// osDelay(200);
//
// /*read column*/
// int8_t key_column = readKeyColumn();
// keypad_row_init();
//
// /*read row*/
// int8_t key_row = readKeyRow();
//
// /*read number*/
// num = read_keypad(key_column, key_row);
// if (num != -1)
// printf ("%d\n", num);
// else{
// ch = read_symble(key_column, key_row);
// if (ch != 'e'){
// printf ("%c\n", ch);
// }
//
while (ch != 'D'){
keypad_column_init();
osDelay(250);
/*read column*/
int8_t key_column = readKeyColumn();
keypad_row_init();
/*read row*/
int8_t key_row = readKeyRow();
ch = read_keypad(key_column, key_row);
if (ch != 'e' ){
// sequence[k] = ch;
// printf("sequence[%d]: %c\n", k,sequence[k] );
// k++;
//if (ch == 'D'){
sequence[0] = ch;
sequence[1] = 'D';
printf ("before sendSequence: %s\n", sequence);
LCD_clear_display();
LCD_DISPLAY_UPDATE_POS(0x80, sequence);
sendSequence(sequence);
//transmit_sequence_thread = osThreadCreate(osThread(transmitSequence), NULL);
//}
}
}
//
//
}
int main(){
first_time_boot(); //first time boot parameters
read_config(); //nuskaitom config is eeprom
//------------- I/O nustatymai ------------------
//LED
PORTDDR(LED_PORT) |= _BV(LED1_BIT);
LED_PORT &= ~_BV(LED1_BIT);
PORTDDR(LED_PORT) |= _BV(LED2_BIT);
LED_PORT &= ~_BV(LED2_BIT);
PORTDDR(LED_PORT) |= _BV(LED3_BIT);
LED_PORT &= ~_BV(LED3_BIT);
PORTDDR(LCD_LED_PORT) |= _BV(LCD_LED_BIT); //LCD pasvietimas
LCD_LED_PORT |= _BV(LCD_LED_BIT); //ijungiam LCD pasvietimas
//USART
DDRD|=_BV(PD1); //TX
PORTD|=_BV(PD1);
DDRD&=~_BV(PD0); //RX
//ROT ENCODER
DDRD&=~_BV(PD3); //INT1
PORTD|=_BV(PD3);
DDRD&=~_BV(PD4);
PORTD|=_BV(PD4);
//ROT ENCODER BUTTON
DDRB&=~_BV(PB6);
PORTB|=_BV(PB6);
//PIR
DDRD&=~_BV(PD2); //INT0
// PORTD|=_BV(PD2);
//PWM OUT
DDRB|=_BV(PB3);
//----------------- initai -----------------------------
init_uart(UBRR_VAL);
lcd_init(LCD_DISP_ON);
INT_init();
ADC_init();
timer_init_0();
timer_init_1();
start_timer1();
// TIMSK |=(_BV(OCIE1A)); //iddle timmer on
apie();
//puslapiai();
//Nustatom PWM mode
// TCCR2=0x6B; //6E;
// OCR2=EEPROM_read(24); // OCR2 is EEPROM
work_mode=EEPROM_read(25);
wmode(work_mode);
show_work_mode();
#if debug_mode
send_string("OCR2 eeprome: ");
send_string(itoa(OCR2, buff, 10));
send_string("\n\r");
#endif
//naudojam ADC nuskaitymui
// start_timer0();
_delay_ms(200);
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
sei();
//fade_in();
//fade_out();
while(5){
PORTDDR(LED_PORT)^= (1<<LED3_BIT);
// _delay_ms(50);
//-------------------- to go into main menu 00--------------------
// if (bit_is_clear(PINB, PB6)){
// lcd_light=1;
// }
if(meniu==0 && config==0 && read_keypad()==1){
#if debug_mode
PORTDDR(LED_PORT)^= (1<<LED2_BIT);
send_string("nuspausta knopke\n\r");
#endif
if(lcd_light==0) {
clock_second=0;
clock_millisecond=0;
lcd_light=1;
LCD_LED_PORT |= _BV(LCD_LED_BIT); //ijungiam LCD pasvietima
}
else{
LCD_LED_PORT |= _BV(LCD_LED_BIT); //ijungiam LCD pasvietima
meniu=1;
menu_page=0;
sub_menu_page=0;
lcd_light=0;
puslapiai();
}
#if debug_mode
debug_meniu();
#endif
}
//-------------------- main and sub menu routine --------------
while(meniu!=0 && config==0){
if(read_keypad()==1){
if(meniu==1 && config==0){
if(menu_page<4){ //2inis configas (on/off tipo)
meniu=2;
sub_menu_page=0;
puslapiai_2();
#if debug_mode
debug_meniu();
#endif
}
else if (menu_page==4){ //isejimas i configa
meniu=3;
config=1;
read_config(); //nuskaitom config parametrus is eeprom
puslapiai_config();
#if debug_mode
debug_meniu();
#endif
}
//exit meniu punktas
else if (menu_page==5){ //iseijimas i work_mode();
meniu=0;
config=0;
show_work_mode();
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
#if debug_mode
debug_meniu();
#endif
}
else meniu=meniu;
}
//-------------------- end of main menu routine --------------
//-------------------- start of sub menu routine --------------
else if (meniu==2 && config==0){ //2inis configas
if(sub_menu_page==1) { //OFF vektorius visiems meniu
if(menu_page!=4){
meniu=1;
work_mode=0; //OFF - wmode
EEPROM_write(25, work_mode);
wmode(work_mode);
puslapiai();
#if debug_mode
debug_meniu();
#endif
}
}
else if (sub_menu_page==0){ //ON vektorius
if(menu_page==0){ //ON/OFF meniu punkte
work_mode=1; //ON - wmode
EEPROM_write(25, work_mode);
meniu=0;
wmode(work_mode);
show_work_mode();
_delay_ms(200);
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
#if debug_mode
debug_meniu();
#endif
}
else if (menu_page==1){ //PIR meniu punktas
work_mode=2; //PIR - wmode
EEPROM_write(25, work_mode);
meniu=0;
show_work_mode();
wmode(work_mode);
_delay_ms(200);
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
}
else if (menu_page==2){ //PIR/LDR meniu punktas
work_mode=3; //PIR/LDR - wmode
EEPROM_write(25, work_mode);
meniu=0;
show_work_mode();
wmode(work_mode);
_delay_ms(200);
clock_second=0;
clock_millisecond=0;
lcd_light=1;
//LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
#if debug_mode
debug_meniu();
#endif
}
else if (menu_page==3){ //LDR meniu punktas
work_mode=4; //LDR - wmode
EEPROM_write(25, work_mode);
meniu=0;
show_work_mode();
wmode(work_mode);
_delay_ms(200);
LCD_LED_PORT &= ~_BV(LCD_LED_BIT); //isjungiam LCD pasvietima
#if debug_mode
debug_meniu();
#endif
}
}
else meniu=meniu;
}
}
}
//-------------------- end of sub menu routine --------------
//-------------------------- config ---------------------
while(meniu!=0 && config==1){
if(read_keypad()==1){
#if debug_mode
PORTDDR(LED_PORT)^= (1<<LED1_BIT);
send_string("nuspausta knopke confige\n\r");
#endif
//config meniu vaiksciojimas: arba iseinam i main meniu arba nueinam i sub config meniu
if(meniu==3 && config==1){
//exit meniu punktas
if (config_menu_page==config_menu_page_max){ //iseijimas i work_mode();
meniu=1;
config=0;
config_menu_page=0;
puslapiai();
#if debug_mode
debug_meniu();
#endif
}
//nuejimas i sub config meniu (minPWM, maxPWM, timeOUT ir LDRth nustatymai)
else if (config_menu_page!=config_menu_page_max){
meniu=3;
config=2;
//nuostato nustatymas (pasiziurim, kelintas fadein[] elementas atinka minPWM/maxPWM reiksme EEProme
if (config_menu_page==0) nuostatas=nuostato_radimas(minPWM);
else if (config_menu_page==1) nuostatas=nuostato_radimas(maxPWM);
else nuostatas=nuostatas;
puslapiai_config_2();
#if debug_mode
debug_meniu();
#endif
// break;
}
}
else config=config;
}
}
//---------------------- end of config -----------------------
//---------------------- sub config routine -------------------------
while(meniu!=0 && config==2){
if(read_keypad()==1){
#if debug_mode
PORTDDR(LED_PORT)^= (1<<LED1_BIT);
send_string("nuspausta knopke sub confige\n\r");
#endif
//isejimas is sub configo
meniu=3;
config=1;
nuostatas=0;
puslapiai_config();
write_config();
//OCR2=EEPROM_read(24);
timer2_set(EEPROM_read(24));
wmode(work_mode); //kad liktu tikrasis work_mode
}
else config=config;
}
//---------------------- end of sub config routine ------------------
}
}
//-----------------------------------------------------------------------------
// Main Function
//-----------------------------------------------------------------------------
void main(void)
{
desired_range = 150;
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
PCA_Init();
ADC_Init();
Interrupt_Init();
Port_Init();
XBR0_Init();
SMB_Init();
putchar('\r');
//print beginning message
printf("En taro Adun, Executor!\r\n");
// set the PCA output to a neutral setting
steering_neutral();
ranger_neutral();
wait(); /* Let stuff warm up */
// Get the PD constants and target heading from the keypad
compass_kp = read_gain()/10.;
desired_heading = read_heading();
compass_kd = read_gain_high();
ranger_kp = read_gain_thrust()/10.;
ranger_kd = read_gain_thrust_high();
//Write the settings to the record
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
PCA0CPL1 = 0xFFFF - 3200;
PCA0CPH1 = ( 0xFFFF - 3200 ) >> 8 ;
// Start at time 0.
time = 0;
while(1) /* Infinite loop is go */
{
if ( nCounts == 50 )
{
// Update the LCD loop
lcd_clear();
lcd_print( "Batt level: %d\n", get_battery_voltage() );
lcd_print("Heading :%d\n", heading/10);
lcd_print("Alt: %d", range );
if (SS)
lcd_print("PAUSED\n");
else
lcd_print("\n");
lcd_print("# forHead, * forGain");
}
if ( read_keypad() != -1 )
{
// Check the keypad
pause();
if ( getKey() == '#' )
{
// If # was pressed, get a new heading
steering_neutral();
ranger_neutral();
desired_heading = read_heading();
time = 0;
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
}
else if( getKey() == '*' )
{
// If * was pressed, get new gain contants
steering_neutral();
ranger_neutral();
compass_kp = read_gain()/10.;
compass_kd = read_gain_high();
ranger_kp = read_gain_thrust()/10.;
ranger_kd = read_gain_thrust_high();
time = 0;
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
}
}
else
pause();
if(SS) //while the SS is off
{
//printf("The slide switch is OFF \r\n");
steering_neutral();
ranger_neutral();
}
if(!SS) //SS is On
{
//printf("The Slide switch is On \r\n");
if ( new_heading )
printf("%lu,%d,%d\r\n",
time,
compass_old_error,
ranger_old_error );
if (new_heading) //wait for 40ms
{
heading=read_compass();
//printf("The heading result is %d\r\n", heading);
new_heading=0;
Steering_Servo( );
}
if (new_range)
{
ReadRanger( );
Speed_Cont( ); //adjust motor speed
new_range=0; //reset ranger flag
}
}
}
}
int main (void)
{
enum states state;
state = idle; //initial state is in idle
DDRA = 0xF0; // P.A[7:4] OUT P.A[3:0] IN
PORTA = 0xFF; // P.A[3:0] Pullup P.A[7:4] set HIGH
DDRB = 0xFF; // P.B for 7seg
PORTB = 0xFF; //
DDRC = 0xFF; // Port C for debugging purposes
PORTC = 0x00;
timer_init(); // initialize timer
sei(); // enable global interrupts
current_floor=1;
while(1)
{
display_7led(current_floor);
switch (state)
{
case idle:
{
// display_7led(1);//debug
up_amount = 0;
floor_selection_pointer = 0;
delay_time=0;
// call_flag=0;
// sel_flag = 0;
floor_clear();
read_keypad(0);
if(call_flag==1)
{
state=move_x;
}
if (sel_flag==1)
{
if(current_floor!=4)
dir_flag=1; //move up before going down if not on 4th floor
else
dir_flag=0; //move down if on 4th floor
state=delay_select;
}
break;
}
case move_x:
{
// display_7led(2);//debug
if(call_flag==1) // if a call operation, move then go to idle
{
move_elevator(call_floor_distance); // move to called floor
call_floor_distance = 0;
// call_flag=0; // reset call flag
state=open;
}
else
{
move_elevator(call_floor_distance);
floor_amount_moved++;
state=open;
call_floor_distance = 0;
}
break;
}
case open:
{
// display_7led(3);//debug
move_door(1); // open the door
state=delay_close;
break;
}
case delay_close:
{
// display_7led(4);//debug
delay_flag = 1; //begin counting delay_time
if(delay_time == 2) // wait 3 sec before closing door
{
state = closing; // close door;
delay_flag = 0; // turn off delay flag
delay_time = 0; // reset delay_time
}
break;
}
case delay_select: //
{
// display_7led(5);//debug
// move_door(1);//debug
// sel_flag=0; // turn off select flag
// read_keypad(1);
delay_flag = 1; // begin counting delay_time
// if (sel_flag ==1)
// {
// delay_time = 0; // reset delay_time if button is pressed
// sel_flag=0;
// }
if (delay_time >= 2) // after grace period, move next state
{
state=adj_distance; // begin to adj distances
delay_flag = 0;
delay_time =0;
}
break;
}
case closing:
{
// display_7led(6);//debug
move_door(0); // close the door
if((call_flag==1)||(floor_amount_moved>=floor_amount_selected))
{
call_flag=0;
floor_clear();
floor_selection_pointer=0;
state = idle;
}
else if (floor_amount_moved<floor_amount_selected)
{
up_amount--;
if (up_amount<=0)
dir_flag=0; // start moving down after done going up
state = adj_distance;
}
break;
}
case adj_distance:
{
// move_door(1);//debug
// display_7led(7);//debug
floor_adj(); // adjust the distances in array
state = move_x; // move to next floor
break;
}
default:
;
} //end of switch
// _delay_ms(250);
// display_7led(9);
// _delay_ms(250);
} //end of while
}
