void drivers_setOutputs(void)
{
// drive the digital outputs
int index;
bool temp;
for (index = 0; index < 8; index++)
{
if (index < 1)
{
if (msp430.PORT_5.digitalOutput.state == high) { setDigitalOutput(&msp430.PORT_5.digitalOutput); }
else { clearDigitalOutput(&msp430.PORT_5.digitalOutput); }
}
if (index < 4)
{
temp = msp430.PORT_7.digitalOutput[index].state;
temp ? setDigitalOutput(&msp430.PORT_7.digitalOutput[index]) :
clearDigitalOutput(&msp430.PORT_7.digitalOutput[index]);
}
if (index < 8)
{
temp = msp430.PORT_8.digitalOutput[index].state;
temp ? setDigitalOutput(&msp430.PORT_8.digitalOutput[index]) :
clearDigitalOutput(&msp430.PORT_8.digitalOutput[index]);
temp = msp430.PORT_9.digitalOutput[index].state;
temp ? setDigitalOutput(&msp430.PORT_9.digitalOutput[index]) :
clearDigitalOutput(&msp430.PORT_9.digitalOutput[index]);
}
if (index < 6)
{
temp = msp430.PORT_10.digitalOutput[index].state;
temp ? setDigitalOutput(&msp430.PORT_10.digitalOutput[index]) :
clearDigitalOutput(&msp430.PORT_10.digitalOutput[index]);
}
}
// TODO setup digital to analog converter and set outputs here
// TODO send serial outputs
}
/* Sets the logical values of the output control signal pins.
This should be called frequently (not just when the values change).
Bit 0 is DTR.
Bit 1 is RTS. */
void ioTxSignals(uint8 signals)
{
static uint8 nTrstPulseStartTime;
static uint8 lastSignals;
// Inverted outputs
setDigitalOutput(param_nDTR_pin, (signals & ACM_CONTROL_LINE_DTR) ? 0 : 1);
setDigitalOutput(param_nRTS_pin, (signals & ACM_CONTROL_LINE_RTS) ? 0 : 1);
// Non-inverted outputs.
setDigitalOutput(param_DTR_pin, (signals & ACM_CONTROL_LINE_DTR) ? 1 : 0);
setDigitalOutput(param_RTS_pin, (signals & ACM_CONTROL_LINE_RTS) ? 1 : 0);
// Arduino DTR pin.
if (!(lastSignals & ACM_CONTROL_LINE_DTR) && (signals & ACM_CONTROL_LINE_DTR))
{
// We just made a falling edge on the nDTR line, so start a 1-2ms high pulse
// on the nTRST line.
setDigitalOutput(param_arduino_DTR_pin, HIGH);
nTrstPulseStartTime = getMs();
}
else if ((uint8)(getMs() - nTrstPulseStartTime) >= 2)
{
setDigitalOutput(param_arduino_DTR_pin, LOW);
}
lastSignals = signals;
}
void main()
{
systemInit();
//Among other things, allocates byte arrays for sending commands.
dynamixel_init();
// Oooh. what's this?
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
//usbInit();
uart1Init();
uart1SetBaudRate(param_baud_rate);
// Initial setting of serial mode
updateSerialMode();
// Set up P1_5 to be the radio's TX debug signal.
// P1DIR |= (1<<5);
// IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
// P1DIR |= 0x20; //Enable pin P1_5
while(1)
{
uint32 ms;
uint16 now;
uint16 speed;
updateSerialMode();
boardService();
updateLeds();
errorService();
// Code for oscillating a servo back and forth
ms = getMs(); // Get current time in ms
now = ms % (uint32)10000; // 10 sec for a full swing
if(now >= (uint16)5000){ // Goes from 0ms...5000ms
now = (uint16)10000 - now; // then 5000ms...0ms
}
speed = interpolate(now, 0, 5000, 100, 900); // speed is really the position.
ax12SetGOAL_POSITION(32, speed);
delayMs(30);
}
}
/* the functions that puts the system to sleep (PM2) and configures sleep timer to
wake it again in 250 seconds.*/
void makeAllOutputs(BIT value)
{
//we only make the P1_ports low, and not P1_2 or P1_3
int i = 10;
for (;i < 17; i++)
{
//we don't set P1_2 low, it stays high.
/* if(i==12)
setDigitalOutput(i, HIGH);
else if(i==13)
setDigitalInput(i, PULLED);
else
*/ setDigitalOutput(i, value);
}
}
void main()
{
systemInit();
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
usbInit();
uart1Init();
uart1SetBaudRate(param_baud_rate);
if (param_serial_mode != SERIAL_MODE_USB_UART)
{
radioComRxEnforceOrdering = 1;
radioComInit();
}
// Set up P1_5 to be the radio's TX debug signal.
P1DIR |= (1<<5);
IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
while(1)
{
updateSerialMode();
boardService();
updateLeds();
errorService();
/* toggle_led();*/
if (param_serial_mode != SERIAL_MODE_USB_UART)
{
radioComTxService();
}
usbComService();
switch(currentSerialMode)
{
case SERIAL_MODE_USB_RADIO: usbToRadioService(); break;
case SERIAL_MODE_UART_RADIO: uartToRadioService(); break;
case SERIAL_MODE_USB_UART: usbToUartService(); break;
}
}
}
void main()
{
int8 SPI_SEND = 0;
int8 prev_send = 0;
systemInit();
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
usbInit();
spi0MasterInit();
spi0MasterSetFrequency(38400);
// uart1Init();
// uart1SetBaudRate(param_baud_rate);
if (param_serial_mode != SERIAL_MODE_USB_SPI)
{
radioComRxEnforceOrdering = 1;
radioComInit();
}
// Set up P1_5 to be the radio's TX debug signal.
//P1DIR |= (1<<5);
//IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
while(1)
{
updateSerialMode();
boardService();
updateLeds();
//errorService();
if(!spi0MasterBusy() && SPI_SEND != prev_send){
spi0MasterSendByte(SPI_SEND);
prev_send = SPI_SEND;
}
if (param_serial_mode != SERIAL_MODE_USB_SPI)
{
radioComTxService();
}
usbComService();
// switch(currentSerialMode)
// {
// case SERIAL_MODE_USB_RADIO: usbToRadioService(); break;
// case SERIAL_MODE_SPI_RADIO: uartToRadioService(); break;
// case SERIAL_MODE_USB_SPI: usbToUartService(); break;
// }
switch(usbComRxReceiveByte()){
case 0: // STOP
SPI_SEND += 15;
SPI_SEND = (SPI_SEND%255);
break;
case 1: // Initialize
SPI_SEND -= 15;
SPI_SEND = (SPI_SEND%255);
break;
}
}
}
void main()
{
// uint32 ms;
// uint32 now;
//
uint8 cmdrAlive = 0;
// Here we define what pins we will be using for PWM.
// uint8 CODE pwmPins[] = {ptrGunMotor->pwmpin};
uint8 CODE pwmPins[] = {11};
MOTOR gunMotor = MAKE_MOTOR_3_PIN(pwmPins[0], 12, 13); //(PWM, B, A)
MOTOR *ptrGunMotor = &gunMotor;
// setDigitalOutput(param_arduino_DTR_pin, LOW);
// ioTxSignals(0);
// Initialize UARTs
uart0Init();
uart0SetBaudRate(param_baud_rate_UART);
uart1Init();
uart1SetBaudRate(param_baud_rate_XBEE);
pwmStart((uint8 XDATA *)pwmPins, sizeof(pwmPins), 10000);
guns_firing_duration = 125; // time in ms
gunbutton = zFALSE;
solenoid_on_duration = 80; // time in ms
solenoidbutton = zFALSE;
laserbutton = zFALSE;
systemInit();
// Initialize other stuff
index_cmdr = -1;
/// MAIN LOOP ///
while(1)
{
// updateSerialMode();
boardService();
updateLeds();
errorService();
// cmdr counts down from CMDR_ALIVE_CNT by -1 whenever no packets are received?
cmdrAlive = (uint8) CLAMP(cmdrAlive + CmdrReadMsgs(), 0, CMDR_ALIVE_CNT);
// ms = getMs(); // Get current time in ms
// now = getMs();
// now = ms % (uint32)10000; // 10 sec for a full swing
// if(now >= (uint16)5000){ // Goes from 0ms...5000ms
// now = (uint16)10000 - now; // then 5000ms...0ms
// }
// speed = interpolate(now, 0, 5000, 100, 900);
if (laserbutton == zTRUE && cmdrAlive > 0){
// uart0TxSendByte('L');
setDigitalOutput(param_laser_pin, HIGH);
}
else {setDigitalOutput(param_laser_pin, LOW);}
//FIRE THE GUNS!!!!!
//Resets timer while gunbutton is held down.
if (gunbutton == zTRUE){
// uart0TxSendByte('Z');
guns_firing = zTRUE;
setMotorSpeed(ptrGunMotor, -60); //NOTE: (7.2 / 12.6) * 127 = 72.5714286
guns_firing_start_time = getMs();
}
//Check whether to stop firing guns
if (guns_firing && clockHasElapsed(guns_firing_start_time, guns_firing_duration)){
// uart0TxSendByte('X');
guns_firing = zFALSE;
setMotorSpeed(ptrGunMotor, 0); //NOTE: (7.2 / 12.6) * 127 = 72.5714286
guns_firing_start_time = getMs();
}
//Activate solenoid for hopup feed unjammer
if (solenoidbutton == zTRUE){
// uart0TxSendByte('Z');
solenoid_on = zTRUE;
setDigitalOutput(10, HIGH);
solenoid_on_start_time = getMs();
}
//Check whether to disable solenoid
if (solenoid_on && clockHasElapsed(solenoid_on_start_time, solenoid_on_duration)){
// uart0TxSendByte('X');
solenoid_on = zFALSE;
setDigitalOutput(10, LOW);
solenoid_on_start_time = getMs();
}
delayMs(5);
}
}
