int main(void)
{
// initialize
SystemInit();
initialise_monitor_handles();
init_systick();
/* Initialize the accelerometers */
init_accelerometers();
/* Initialize the LCD and Touch modules */
Delay(0x3FFFFF);
LCD_Init();
Delay(0x3FFFFF);
touch_init();
/* Clear the LCD, set text color to green and backlight to 100 */
LCD_Clear(BLACK);
LCD_SetTextColor(GREEN);
LCD_SetBackColor(LCD_COLOR_BLACK);
LCD_BackLight(100);
/* Add update_game to the timed_task array */
add_timed_task(update_game, 0.05);
while(1)
{
/* Check if the timed task function has to be called */
update();
}
}
// Main program
int main(void)
{
char i;
char *heap_end;
// Initialize all modules
uart_init(115200);
accel_init();
touch_init((1 << 9) | (1 << 10)); // Channels 9 and 10
// usb_init();
setvbuf(stdin, NULL, _IONBF, 0); // No buffering
// Run tests
tests();
delay(500);
RGB_LED(0,100,0); // Green
// Welcome banner
iprintf("\r\n\r\n====== Freescale Freedom FRDM-LK25Z\r\n");
iprintf("Built: %s %s\r\n\r\n", __DATE__, __TIME__);
heap_end = _sbrk(0);
iprintf("Heap: %p to %p (%d bytes used)\r\n", __heap_start, heap_end, heap_end - __heap_start);
iprintf("Stack: %p to %p (%d bytes used)\r\n", &i, __StackTop, __StackTop - &i);
iprintf("%d bytes free\r\n", &i - heap_end);
for(;;) {
iprintf("monitor> ");
getchar();
iprintf("\r\n");
iprintf("Inputs: x=%5d y=%5d z=%5d ", accel_x(), accel_y(), accel_z());
iprintf("touch=(%d,%d)\r\n", touch_data(9), touch_data(10));
// usb_dump();
}
}
void init_system(void)
{
/* keep mosfet closed to ground (circuit on) */
gpio_pre_init();
/* timing first, needed for all delays */
systick_init();
/* get globalb config */
config_read();
lcd_init_gpio();
lcd_init_fsmc();
/* lcd inid always before touch_init, since it resets lcd */
lcd_init();
ui_init();
gpio_init();
adc_init();
audio_init();
rtc_init();
touch_init();
}
void main(){
//Init LCD
__C30_UART=1;
lcd_initialize();
lcd_clear();
touch_init();
CLEARBIT(T1CONbits.TON); // Disable Timer
CLEARBIT(T1CONbits.TCS); // Select internal instruction cycle clock
CLEARBIT(T1CONbits.TGATE); // Disable Gated Timer mode
TMR1 = 0x00; // Clear timer register
T1CONbits.TCKPS = 0b10; // Select 1:64 Prescaler
PR1 = 2000; // Load the period value
IPC0bits.T1IP = 0x01; // Set Timer1 Interrupt Priority Level
CLEARBIT(IFS0bits.T1IF); // Clear Timer1 Interrupt Flag
SETBIT(IEC0bits.T1IE); // Enable Timer1 interrupt
while(1) {
int i = 0;
touch_select_dim(0);
lock = 1;
TMR1 = 0x00;
SETBIT(T1CONbits.TON); // Start Timer
while(lock);
for (i = 0; i < 5; i++) {
xs[i] = touch_adc();
}
// read y
touch_select_dim(1);
lock = 1;
TMR1 = 0x00;
SETBIT(T1CONbits.TON); // Start Timer
while(lock);
for (i = 0; i < 5; i++) {
ys[i] = touch_adc();
}
qsort(xs, 5, sizeof(uint16_t), cmpfunc);
qsort(ys, 5, sizeof(uint16_t), cmpfunc);
lcd_locate(0,0);
lcd_printf("x position: ");
lcd_locate(0,0);
lcd_printf("x position: %d", xs[2]);
lcd_locate(0,1);
lcd_printf("y position: ");
lcd_locate(0,1);
lcd_printf("y position: %d", ys[2]);
}
}
static void __init touch_panel(int bus_num)
{
/* touch init */
touch_init();
i2c_register_board_info(MSM_8960_GSBI3_QUP_I2C_BUS_ID,
&synaptics_panel_i2c_bdinfo[0], 1);
}
void init()
{
arduinoRun();
lcd_init();
dataflash_init();
touch_init();
bmp_init();
}
void ui_init(void)
{
touch_init();
LED_Off(LED0_GPIO);
LED_Off(LED1_GPIO);
LED_On(LED2_GPIO);
LED_Off(LED3_GPIO);
}
int
main(void)
{
halInit();
chSysInit();
get_device_id();
/* start stdout port */
sdStart(SD_STDIO, NULL);
xflash_init();
cmdline_init();
rngStart(&RNGD);
app_cfg_init();
check_for_faults();
gfx_init();
touch_init();
sensor_init(SENSOR_1, SD_OW1);
sensor_init(SENSOR_2, SD_OW2);
temp_control_init(CONTROLLER_1);
temp_control_init(CONTROLLER_2);
ota_update_init();
net_init();
web_api_init();
sntp_init();
gui_init();
thread_watchdog_init();
create_home_screen();
recovery_screen_create();
screen_saver_create();
if (palReadPad(PORT_SELF_TEST_EN, PAD_SELF_TEST_EN) == 0) {
widget_t* self_test_screen = self_test_screen_create();
gui_push_screen(self_test_screen);
}
recovery_img_init();
while (TRUE) {
cmdline_restart();
toggle_LED1();
}
}
void minig_init (void) {
SDL_Init(SDL_INIT_EVERYTHING);
window_size_get(&Mi.sx, &Mi.sy);
gl_attributes_set();
Window = SDL_CreateWindow("minig", 0, 0, Mi.sx, Mi.sy, flags);
Context = SDL_GL_CreateContext(Window);
SDL_GL_MakeCurrent(Window, Context);
gl_ext_init();
gl_configuration_set();
menu_init();
touch_init();
square_init();
// entity_particle_init();
}
static void __init touch_panel(int bus_num)
{
/* touch init */
touch_init();
#if defined(CONFIG_LGE_TOUCH_SYNAPTICS_325)
i2c_register_board_info(lge_l1_touch_i2c_devices[maker_id_val].bus,
lge_l1_touch_i2c_devices[maker_id_val].info,
lge_l1_touch_i2c_devices[maker_id_val].len);
#elif defined(LGU_TOUCH)
i2c_register_board_info(MSM_8960_GSBI3_QUP_I2C_BUS_ID,
(&melfas_touch_panel_i2c_bdinfo[1]), 1);
#else
i2c_register_board_info(MSM_8960_GSBI3_QUP_I2C_BUS_ID,
(&melfas_touch_panel_i2c_bdinfo[0]), 1);
#endif
}
int main( void )
{
/* initialise host app, pins, watchdog, etc */
init_system();
/* configure timer ISR to fire regularly */
init_timer_isr();
/* Initialize Touch sensors */
touch_init();
/* loop forever */
for( ; ; )
{
touch_measure();
/* Time Non-critical host application code goes here */
}
}
static void __init touch_panel(int bus_num)
{
/* touch init */
touch_init();
i2c_register_board_info(lge_vu2_touch_i2c_devices[maker_id_val].bus,
lge_vu2_touch_i2c_devices[maker_id_val].info,
lge_vu2_touch_i2c_devices[maker_id_val].len);
/*
if(lge_get_board_revno() < HW_REV_A) {
i2c_register_board_info(MSM_8960_GSBI3_QUP_I2C_BUS_ID,
(&melfas_touch_panel_i2c_bdinfo[0]), 1);
} else if (lge_get_board_revno() == HW_REV_A) {
i2c_register_board_info(MSM_8960_GSBI3_QUP_I2C_BUS_ID,
(&melfas_touch_panel_i2c_bdinfo[1]), 1);
} else if (lge_get_board_revno() > HW_REV_A) {
i2c_register_board_info(MSM_8960_GSBI3_QUP_I2C_BUS_ID,
(&melfas_touch_panel_i2c_bdinfo[2]), 1);
}
*/
}
/** Initializes all of the hardware. */
void initialize(void){
CPU_PRESCALE(0x00);
//LED
DDRE |= (1<<PE2);
//RGB LED
DDRB |= (1<<PB5) | (1<<PB6);
DDRC |= (1<<PC6);
/** LUFA USB related inits */
USB_Init();
CDC_Device_CreateBlockingStream
(&VirtualSerial_CDC_Interface, &USBSerialStream);
touch_init();
pwm16_rgb_init();
/** enable interrupts*/
sei();
}
// Main program
int main(void)
{
char i;
char ch;
char *heap_end;
char inBuffer[BUF_SIZE];
int readLen,bufPos;
int n;
int nargs[10];
int hasAccelData = 0;
int hasTouchData = 0;
// Initialize all modules
RGB_LED(100,0,0);
//uart_init(115200);
uart_init(9600);
accel_init();
touch_init((1 << 9) | (1 << 10)); // Channels 9 and 10
// usb_init();
setvbuf(stdin, NULL, _IONBF, 0); // No buffering
// Run tests
tests();
delay(500);
// Welcome banner
iprintf("\r\n\r\n====== Freescale Freedom FRDM-LK25Z\r\n");
iprintf("Built: %s %s\r\n\r\n", __DATE__, __TIME__);
heap_end = _sbrk(0);
iprintf("Heap: %p to %p (%d bytes used)\r\n", __heap_start, heap_end,
heap_end - (char *)__heap_start);
iprintf("Stack: %p to %p (%d bytes used)\r\n", &i, __StackTop,
(char *)__StackTop - &i);
iprintf("%d bytes free\r\n", &i - heap_end);
inBuffer[0] = 0; // reset buffer
bufPos = 0;
RGB_LED(0,100,0); // Green
for(;;) {
readLen = uart_read_nonblock(inBuffer+bufPos,BUF_SIZE-(bufPos+2));
if (readLen>0) {
bufPos+=readLen;
// quick trim
while(bufPos>0 && isspace(inBuffer[bufPos-1]))
bufPos--;
inBuffer[bufPos] = 0;
if (inBuffer[bufPos-1] == ';') {
iprintf("(in buf = '%s', len=%d)\r\n",inBuffer,bufPos);
switch(inBuffer[0]) {
case 'C':
n = sscanf(inBuffer+1,"%i,%i,%i",&nargs[0],&nargs[1],&nargs[2]);
if(n==3) RGB_LED(nargs[0],nargs[1],nargs[2]);
break;
case 'R':
RGB_LED(100,0,0);
break;
case 'G':
RGB_LED(0,100,0);
break;
case 'B':
RGB_LED(0,0,100);
break;
case 'A':
hasAccelData = 1;
break;
case 'a':
hasAccelData = 0;
break;
case 'T':
hasTouchData = 1;
break;
case 't':
hasTouchData = 0;
break;
case 'i':
iprintf("[efb,0.1] empiriKit Freescale Board, v.0.1\r\n");
break;
}
bufPos = 0; // "clear" the buffer
}
}
if (hasAccelData)
iprintf("a%d,%d,%d;\r\n", accel_x(), accel_y(), accel_z());
if (hasTouchData)
iprintf("t%d,%d;\r\n", touch_data(9), touch_data(10));
}
}
void SLIDER_init()
{
touch_init(30, 30, 30, 30);
}
/**
* \brief Initializes the TC subsystem ready to generate a LED PWM wave.
*
* Initializes the on-chip TC module in PWM generation mode, and configures the
* board LED as an output so that the LED brightness can be adjusted.
*/
static void pwm_timer_init(void)
{
// Assign output pin to timer/counter 0 channel B
gpio_enable_module_pin(AVR32_TC0_B0_0_0_PIN,
AVR32_TC0_B0_0_0_FUNCTION);
// Timer waveform options
const tc_waveform_opt_t waveform_options = {
//! Channel selection.
.channel = 0,
//! Software trigger effect on TIOB.
.bswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOB.
.beevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOB.
.bcpc = TC_EVT_EFFECT_CLEAR,
//! RB compare effect on TIOB.
.bcpb = TC_EVT_EFFECT_SET,
//! Software trigger effect on TIOA.
.aswtrg = TC_EVT_EFFECT_NOOP,
//! External event effect on TIOA.
.aeevt = TC_EVT_EFFECT_NOOP,
//! RC compare effect on TIOA.
.acpc = TC_EVT_EFFECT_NOOP,
//! RA compare effect on TIOA.
.acpa = TC_EVT_EFFECT_NOOP,
//! Waveform selection
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,
//! External event trigger enable.
.enetrg = false,
//! External event selection (non-zero for Channel B to work)
.eevt = !0,
//! External event edge selection.
.eevtedg = TC_SEL_NO_EDGE,
//! Counter disable when RC compare.
.cpcdis = false,
//! Counter clock stopped with RC compare.
.cpcstop = false,
//! Burst signal selection.
.burst = false,
//! Clock inversion selection.
.clki = false,
//! Internal source clock 5, fPBA/128.
.tcclks = TC_CLOCK_SOURCE_TC5,
};
// Setup timer/counter waveform mode
sysclk_enable_peripheral_clock(&AVR32_TC0);
tc_init_waveform(&AVR32_TC0, &waveform_options);
// Write the TOP (RC) and COMPARE (RB) values
tc_write_rb(&AVR32_TC0, 0, 1); // Set RB value.
tc_write_rc(&AVR32_TC0, 0, 255); // Set RC value.
// Start the timer PWM channel
tc_start(&AVR32_TC0, 0);
}
/**
* \brief Application main routine
*/
int main(void)
{
board_init();
sysclk_init();
irq_initialize_vectors();
cpu_irq_enable();
pwm_timer_init();
touch_init();
while (true) {
touch_handler();
}
}
void vControl ( void *pvParameters )
{
portTickType xLastWakeTime;
signed char valx, valy;
unsigned char ls, rs, lb, rb;
can_frame_t out_frame;
can_frame_t in_frame;
out_frame.id = 1;
out_frame.dlc = 6;
xLastWakeTime = xTaskGetTickCount ();
/* Button init */
buttons_init ();
/* FSM init */
fsm_init ();
/* CAN init */
can_init ();
/* ADC init */
adc_init ( ctrlNUM_ADC_VALUES );
/* Touch init */
touch_init ( 30, 30, 30, 30 );
while (1)
{
vTaskDelayUntil ( &xLastWakeTime, ctrlTASK_FREQUENCY );
if ( adc_conversion_complete () == pdTRUE )
{
adc_disable ();
adc_get_value ( &valx, 0 );
adc_get_value ( &valy, 0 );
touch_measure ( &ls, &rs, &lb, &rb );
out_frame.data[0] = valx;
out_frame.data[1] = valy;
out_frame.data[2] = ls;
out_frame.data[3] = rs;
out_frame.data[4] = lb;
out_frame.data[5] = rb;
if (fsm_get_state() == ST_PLAY)
{
can_transmit (&out_frame);
}
can_receive (&in_frame, 0);
if (in_frame.data[0] == GAME_SENSOR_TRIGGERED)
{
// TODO: set triggered state
fsm_event_t *event = pvPortMalloc (sizeof (fsm_event_t));
event->type = EV_STOP;
event->ptr = NULL;
fsm_event_put (event, portMAX_DELAY);
in_frame.data[0] = 0;
}
else if (in_frame.data[0] == GAME_SENSOR_CLEARED)
{
// TODO: set cleared state
in_frame.data[0] = 0;
}
adc_enable ();
adc_conversion_start ();
}
fsm_update ();
}
}
/**
* \brief Main function.
*
* Initializes the board and reads out the production date stored in EEPROM and
* set timezone from EEPROM if it is set. If it is not set it will open the
* timezone selector to select the local timezone. It then runs the menu system
* in an infinite while loop.
*/
int main(void)
{
uint8_t menu_status;
struct keyboard_event input;
uint32_t rtc_timestamp;
sysclk_init();
board_init();
pmic_init();
gfx_mono_init();
touch_init();
adc_sensors_init();
// Enable display backlight
gpio_set_pin_high(NHD_C12832A1Z_BACKLIGHT);
// Workaround for known issue: Enable RTC32 sysclk
sysclk_enable_module(SYSCLK_PORT_GEN, SYSCLK_RTC);
while (RTC32.SYNCCTRL & RTC32_SYNCBUSY_bm) {
// Wait for RTC32 sysclk to become stable
}
// If we have battery power and RTC is running, don't initialize RTC32
if (rtc_vbat_system_check(false) != VBAT_STATUS_OK) {
rtc_init();
// Set current time to after production date
rtc_timestamp = production_date_get_timestamp() + 1;
rtc_set_time(rtc_timestamp);
}
// Get current time
rtc_timestamp = rtc_get_time();
// Make sure RTC has not been set to a too early date .
if (rtc_timestamp < FIRST_POSSIBLE_TIMESTAMP) {
// Set time to 01.01.2011 00:00:00
rtc_set_time(FIRST_POSSIBLE_TIMESTAMP);
}
// Initialize USB CDC class
cdc_start();
cpu_irq_enable();
// Display a splash screen showing button functions
button_splash();
// Set timezone from EEPROM or to a default value
timezone_init();
/* Main loop. Read keyboard status and pass input to menu system.
* When an element has been selected in the menu, it will return the
* index of the element that should be run. This can be an application
* or another menu.
*/
while (true) {
// (re)initialize menu system
gfx_mono_menu_init(&main_menu);
do {
do {
keyboard_get_key_state(&input);
// Wait for key release
} while (input.type != KEYBOARD_RELEASE);
// Send key to menu system
menu_status = gfx_mono_menu_process_key(&main_menu, input.keycode);
// Wait for something useful to happen in the menu system
} while (menu_status == GFX_MONO_MENU_EVENT_IDLE);
switch (menu_status) {
case 0:
ntc_sensor_application();
break;
case 1:
lightsensor_application();
break;
case 2:
production_date_application();
break;
case 3:
date_time_application();
break;
case 4:
// Toggle LCD Backlight
gpio_toggle_pin(NHD_C12832A1Z_BACKLIGHT);
break;
case GFX_MONO_MENU_EVENT_EXIT:
// Fall trough to default and show button splash
default:
button_splash();
break;
};
}
}
/**
* \brief Main function.
*
* Initializes the board, displays splash screens, then launches application.
*
* If the application exits (fails), the error is written to display and an
* infinite loop with watchdog resets is entered.
*/
int main(void)
{
/* Holds state of the QTouch button */
enum pot_t potstate = POT_OFF;
/* Last state of the QTouch button for change detection */
enum pot_t last_potstate = POT_OFF;
/* Holds user-selected power-setting */
uint8_t wattage = 0;
/* Last power-setting for change detection */
uint8_t last_wattage = 0;
/* Whether the plate element is/should be actuated */
bool power = false;
/* Last power setting for change detection */
bool last_power = false;
/* Last time a simulation step was executed */
uint32_t last_sim_step;
/* Last time a control step was executed */
uint32_t last_ctl_step;
/* The WDT was just reset by the WDT functional test*/
classb_last_wdt_reset = rtc_get_time();
last_sim_step = classb_last_wdt_reset;
last_ctl_step = classb_last_wdt_reset;
sysclk_init();
board_init();
pmic_init();
gfx_mono_init();
touch_init();
main_init_rtc32();
cpu_irq_enable();
/* Enable display backlight */
ioport_set_pin_level(LCD_BACKLIGHT_ENABLE_PIN,
LCD_BACKLIGHT_ENABLE_LEVEL);
/* If an error was detected, skip directly to displaying it */
if (classb_error) {
goto display_error;
}
/* Check if required jumpers are mounted, show explanation if not */
if (!main_check_jumpers()) {
show_explain_splash();
}
/* Display a splash screen showing button functions */
show_button_splash();
/* Initialize the ADC, DAC and Timer/Counter modules that are used to
* emulate real world objects.
*/
main_init_adc_dac();
main_init_tc();
/* Initialize subsystems used for Class B testing */
oven_classb_init_tests();
/* Reset the simulation states */
oven_plant_init();
/* Clear screen */
gfx_mono_draw_filled_rect(0, 0, 128, 32, GFX_PIXEL_CLR);
/* Draw the initial axis system */
oven_ui_draw_axis();
/* Draw the user interface */
oven_ui_update_graphics(potstate, wattage, power);
/* Run simulation as long as no error is detected in class B tests */
while (!classb_error) {
uint32_t current_time;
oven_wdt_periodic_reset();
current_time = rtc_get_time();
/* Add power on SW1 press, wrap at 20 */
if (oven_ui_power_button_is_pressed()) {
wattage = (wattage + 5) % 20;
}
/* Check QTouch sensor and map this to `potstate`. This is
* needed both for simulation and for the control routine.
*/
potstate = (!touch_key_is_pressed()) ? POT_ON : POT_OFF;
/* Execute control routine periodically */
if (current_time > (last_ctl_step + OVEN_CTL_STEP_TIME)) {
ovenctl_execute_control_step(current_time, &wattage,
&power, potstate);
last_ctl_step = current_time;
}
/* Execute simulation step periodically */
if (current_time > (last_sim_step + OVEN_SIM_STEP_TIME)) {
main_execute_simulation_step(current_time, potstate);
last_sim_step = current_time;
}
/* Update graphics on wattage, power or pot on/off change */
if ((potstate != last_potstate) || (power != last_power)
|| (wattage != last_wattage)) {
oven_ui_update_graphics(potstate, wattage, power);
}
/* Update variable states for change detection on next loop
* iteration.
*/
last_power = power;
last_wattage = wattage;
last_potstate = potstate;
/* If back/menu button is pressed, pause simulation and test
* timers, and show menu.
*/
if (oven_ui_back_button_is_pressed()) {
/* Disable interrupt monitoring, if enabled */
classb_intmon_set_state(TEMP_SANITY_TEST, M_DISABLE);
classb_intmon_set_state(PER_CLASSB_TESTS, M_DISABLE);
OVEN_PERIODIC_TEMPTEST_TC.CTRLA &= ~TC1_CLKSEL_gm;
OVEN_PERIODIC_CLASSB_TC.CTRLA &= ~TC0_CLKSEL_gm;
/* Show the error insertion menu */
oven_classb_error_insertion();
/* Re-enable timers upon return */
OVEN_PERIODIC_CLASSB_TC.CTRLA |= TC_CLKSEL_DIV1024_gc;
/* If user did not induce an error in the temperature
* test timing, re-enable it correctly.
*/
if ((OVEN_PERIODIC_TEMPTEST_TC.CTRLA & TC1_CLKSEL_gm)
== TC_CLKSEL_OFF_gc) {
OVEN_PERIODIC_TEMPTEST_TC.CTRLA
|= TC_CLKSEL_DIV1024_gc;
}
/* Re-enable interrupt monitoring if the oven is
* supposed to be on, i.e., they were enabled before.
*/
if (wattage > 0) {
classb_intmon_set_state(TEMP_SANITY_TEST,
M_ENABLE);
classb_intmon_set_state(PER_CLASSB_TESTS,
M_ENABLE);
}
/* Reset UI */
gfx_mono_draw_filled_rect(0, 0, 128, 32, GFX_PIXEL_CLR);
oven_ui_draw_axis();
oven_ui_update_graphics(potstate, wattage, power);
}
}
display_error:
/* Show red status LED and write the error on display */
oven_ui_set_status_leds(S_RED);
oven_classb_display_error();
/* Enter infinite loop of watchdog resets so user can read display */
while (true) {
oven_wdt_periodic_reset();
}
}
void touch_test(void)
{
touch_init();
key_irq_init();
}
void ui_init(void)
{
ui_has_initialized = 1;
gr_init();
ev_init(input_callback, NULL);
#ifdef BOARD_TOUCH_RECOVERY
touch_init();
#endif
text_col = text_row = 0;
text_rows = gr_fb_height() / CHAR_HEIGHT;
max_menu_rows = text_rows - MIN_LOG_ROWS;
#ifdef BOARD_TOUCH_RECOVERY
max_menu_rows = get_max_menu_rows(max_menu_rows);
#endif
if (max_menu_rows > MENU_MAX_ROWS)
max_menu_rows = MENU_MAX_ROWS;
if (text_rows > MAX_ROWS) text_rows = MAX_ROWS;
text_top = 1;
text_cols = gr_fb_width() / CHAR_WIDTH;
if (text_cols > MAX_COLS - 1) text_cols = MAX_COLS - 1;
int i;
for (i = 0; BITMAPS[i].name != NULL; ++i) {
int result = res_create_surface(BITMAPS[i].name, BITMAPS[i].surface);
if (result < 0) {
LOGE("Missing bitmap %s\n(Code %d)\n", BITMAPS[i].name, result);
}
}
gProgressBarIndeterminate = malloc(ui_parameters.indeterminate_frames *
sizeof(gr_surface));
for (i = 0; i < ui_parameters.indeterminate_frames; ++i) {
char filename[40];
// "indeterminate01.png", "indeterminate02.png", ...
sprintf(filename, "indeterminate%02d", i+1);
int result = res_create_surface(filename, gProgressBarIndeterminate+i);
if (result < 0) {
LOGE("Missing bitmap %s\n(Code %d)\n", filename, result);
}
}
if (ui_parameters.installing_frames > 0) {
gInstallationOverlay = malloc(ui_parameters.installing_frames *
sizeof(gr_surface));
for (i = 0; i < ui_parameters.installing_frames; ++i) {
char filename[40];
// "icon_installing_overlay01.png",
// "icon_installing_overlay02.png", ...
sprintf(filename, "icon_installing_overlay%02d", i+1);
int result = res_create_surface(filename, gInstallationOverlay+i);
if (result < 0) {
LOGE("Missing bitmap %s\n(Code %d)\n", filename, result);
}
}
// Adjust the offset to account for the positioning of the
// base image on the screen.
if (gBackgroundIcon[BACKGROUND_ICON_INSTALLING] != NULL) {
gr_surface bg = gBackgroundIcon[BACKGROUND_ICON_INSTALLING];
ui_parameters.install_overlay_offset_x +=
(gr_fb_width() - gr_get_width(bg)) / 2;
ui_parameters.install_overlay_offset_y +=
(gr_fb_height() - gr_get_height(bg)) / 2;
}
} else {
gInstallationOverlay = NULL;
}
char enable_key_repeat[PROPERTY_VALUE_MAX];
property_get("ro.cwm.enable_key_repeat", enable_key_repeat, "");
if (!strcmp(enable_key_repeat, "true") || !strcmp(enable_key_repeat, "1")) {
boardEnableKeyRepeat = 1;
char key_list[PROPERTY_VALUE_MAX];
property_get("ro.cwm.repeatable_keys", key_list, "");
if (strlen(key_list) == 0) {
boardRepeatableKeys[boardNumRepeatableKeys++] = KEY_UP;
boardRepeatableKeys[boardNumRepeatableKeys++] = KEY_DOWN;
boardRepeatableKeys[boardNumRepeatableKeys++] = KEY_VOLUMEUP;
boardRepeatableKeys[boardNumRepeatableKeys++] = KEY_VOLUMEDOWN;
} else {
char *pch = strtok(key_list, ",");
while (pch != NULL) {
boardRepeatableKeys[boardNumRepeatableKeys++] = atoi(pch);
pch = strtok(NULL, ",");
}
}
}
pthread_t t;
pthread_create(&t, NULL, progress_thread, NULL);
pthread_create(&t, NULL, input_thread, NULL);
}
int main(){
uint8_t start_r, old_IPL;
uint8_t hz50_scaler, hz5_scaler, hz1_scaler, sec;
uint32_t tick = 0;
hz50_scaler = hz5_scaler = hz1_scaler = sec = 0;
touch_init();
__delay_ms(200);
lcd_initialize(); // Initialize the LCD
motor_init();
lcd_clear();
lcd_locate(0,0);
lcd_printf("-- Ball position: --");
timers_initialize(); // Initialize timers
while (1) {
start_r = 0;
while(!start_r) {
// disable all maskable interrupts
SET_AND_SAVE_CPU_IPL(old_IPL, 7);
start_r = start;
// enable all maskable interrupts
RESTORE_CPU_IPL(old_IPL);
}
// Periodic real-time task code starts here = CENTER_X + RADIUS * cos(tick * SPEED);
// Ypos_set = CENT!!!
double pidX, pidY;
uint16_t duty_us_x, duty_us_y;
// 50Hz control task
if(hz50_scaler == 0) {
calcQEI(Xpos_set, Xpos, Ypos_set, Ypos);
// Xpos_set = CENTER_X;
// Xpos_set = CENTER_Y;
Xpos_set = CENTER_X + RADIUS * cos(tick * SPEED);
Ypos_set = CENTER_Y + RADIUS * sin(tick * SPEED);
tick++;
pidX = pidX_controller(Xpos);
pidY = pidY_controller(Ypos);
// TODO: Convert PID to motor duty cycle (900-2100 us)
// setMotorDuty is a wrapper function that calls your motor_set_duty
// implementation in flexmotor.c. The 2nd parameter expects a value
// between 900-2100 us
// duty_us_x = cap((pidX*1000.0), 2100, 900);
// duty_us_y = cap((pidY*1000.0), 2100, 900);
duty_us_x = cap((pidX + 1500), 2100, 900);
duty_us_y = cap((pidY + 1500), 2100, 900);
motor_set_duty(1, duty_us_x);
motor_set_duty(2, duty_us_y+100);
// setMotorDuty(MOTOR_X_CHAN, duty_us_x);
// setMotorDuty(MOTOR_Y_CHAN, duty_us_y);
}
// 5Hz display task
if(hz5_scaler == 0) {
// lcd_locate(0,1);
// lcd_printf("Xp=%.1f,Yp=%.1f", Xpos, Ypos);
// lcd_locate(0,2);
// lcd_printf("X*=%.1f, Y*=%.1f", Xpos_set, Ypos_set);
// lcd_locate(0,3);
// lcd_printf("pX=%.1f,pY=%.1f", pidX, pidY);
// lcd_locate(0,4);
// lcd_printf("dx=%u, dY=%u", duty_us_x, duty_us_y);
//
if(deadline_miss >= 1) {
lcd_locate(0,6);
lcd_printf("%4d d_misses!!!", deadline_miss);
}
}
// 1Hz seconds display task
if(hz1_scaler == 0) {
lcd_locate(0,7);
lcd_printf("QEI: %5u", getQEI());
sec++;
}
hz50_scaler = (hz50_scaler + 1) % 2;
hz5_scaler = (hz5_scaler + 1) % 20;
hz1_scaler = (hz1_scaler + 1) % 100;
start = 0;
}
return 0;
}
int main( void )
{
/* initialize host app, pins, watchdog, etc */
// init_system();
/* configure timer ISR to fire regularly */
// init_timer_isr();
// Configure CPU and peripherals clock
xmega_set_cpu_clock_to_32MHz();
// Enable interrupts
PMIC.CTRL = PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
// Power management - configure sleep mode to IDLE
set_sleep_mode(SLEEP_SMODE_IDLE_gc);
// Enable sleep mode
sleep_enable();
#ifdef MMSN_DEBUG
// Initialize serial communication terminal
// usartCommTerminalInit();
// Configure and initialize communication bus usart
xmega_usart_configure();
/* RS-485 PHYSICAL DEVICE CONFIGURATION */
// Initialize GPIO related to RS-485 interface
rs485_driver_gpio_initialize();
// Enable driver to be able to send data
rs485_driver_enable();
// Redirect stream to standard output
stdout = &mystdout;
/* Print out welcome message */
printf_P(PSTR("\nGeneric Board ver 1.00\n"));
#endif
// Heartbeat timer - 8MHz prescales by 8 => 1MHz
// Thus 1ms equals to 1000 ticks
xmega_timer_config(&TIMER_HEARTBEAT, TC_CLKSEL_DIV8_gc, (TICKS_PER_MS * qt_measurement_period_msec));
/* Initialize Touch sensors */
touch_init();
// Configure PIN6 as input
PORT_DIRCLR(POWER_SUPPLY_MEASUREMENT_IO);
// ADC conversion on pin 6
uint16_t u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc | 0x02, ADC_CH_MUXPOS_PIN6_gc);
printf("Power meter = %u\n", u16ConvResult);
// Configure PIN5 as input
PORT_DIRCLR(OPTO_IO);
u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc | 0x02, ADC_CH_MUXPOS_PIN5_gc);
printf("Opto = %u\n", u16ConvResult);
/* loop forever */
for(;;)
{
touch_measure();
// Test every 2s
if(gCounter >= 40)
{
printf("\n");
printf("\nSensor[0]: %d - ", GET_SENSOR_STATE(0));
printf("Sensor[1]: %d - ", GET_SENSOR_STATE(1));
printf("Sensor[2]: %d - ", GET_SENSOR_STATE(2));
printf("Sensor[3]: %d\n", GET_SENSOR_STATE(3));
printf("Sensor[4]: %d - ", GET_SENSOR_STATE(4));
printf("Sensor[5]: %d - ", GET_SENSOR_STATE(5));
printf("Sensor[6]: %d - ", GET_SENSOR_STATE(6));
printf("Sensor[7]: %d\n", GET_SENSOR_STATE(7));
printf("Sensor[8]: %d - ", GET_SENSOR_STATE(8));
printf("Sensor[9]: %d - ", GET_SENSOR_STATE(9));
printf("Sensor[10]: %d - ", GET_SENSOR_STATE(10));
printf("Sensor[11]: %d\n", GET_SENSOR_STATE(11));
printf("Sensor[12]: %d - ", GET_SENSOR_STATE(12));
printf("Sensor[13]: %d - ", GET_SENSOR_STATE(13));
printf("Sensor[14]: %d - ", GET_SENSOR_STATE(14));
printf("Sensor[15]: %d\n", GET_SENSOR_STATE(15));
printf("Sensor[16]: %d - ", GET_SENSOR_STATE(16));
printf("Sensor[17]: %d - ", GET_SENSOR_STATE(17));
printf("Sensor[18]: %d - ", GET_SENSOR_STATE(18));
printf("Sensor[19]: %d\n", GET_SENSOR_STATE(19));
printf("Sensor[20]: %d - ", GET_SENSOR_STATE(20));
printf("Sensor[21]: %d - ", GET_SENSOR_STATE(21));
printf("Sensor[22]: %d - ", GET_SENSOR_STATE(22));
printf("Sensor[23]: %d\n", GET_SENSOR_STATE(23));
printf("Sensor[24]: %d - ", GET_SENSOR_STATE(24));
printf("Sensor[25]: %d - ", GET_SENSOR_STATE(25));
printf("Sensor[26]: %d - ", GET_SENSOR_STATE(26));
printf("Sensor[27]: %d\n", GET_SENSOR_STATE(27));
printf("Sensor[28]: %d - ", GET_SENSOR_STATE(28));
printf("Sensor[29]: %d - ", GET_SENSOR_STATE(29));
printf("Sensor[30]: %d - ", GET_SENSOR_STATE(30));
printf("Sensor[31]: %d\n", GET_SENSOR_STATE(31));
printf("\n");
u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc, ADC_CH_MUXPOS_PIN5_gc);
printf("Opto = %i\n", u16ConvResult);
/*
printf("\nCh_Sig[0]: %u ", qt_measure_data.channel_signals[0]);
printf("Ch_Sig[1]: %u ", qt_measure_data.channel_signals[1]);
printf("Ch_Sig[2]: %u ", qt_measure_data.channel_signals[2]);
printf("Ch_Sig[3]: %u", qt_measure_data.channel_signals[3]);
printf("\nCh_Sig[4]: %u ", qt_measure_data.channel_signals[4]);
printf("Ch_Sig[5]: %u ", qt_measure_data.channel_signals[5]);
printf("Ch_Sig[6]: %u ", qt_measure_data.channel_signals[6]);
printf("Ch_Sig[7]: %u", qt_measure_data.channel_signals[7]);
printf("\nCh_Sig[8]: %u ", qt_measure_data.channel_signals[8]);
printf("Ch_Sig[9]: %u ", qt_measure_data.channel_signals[9]);
printf("Ch_Sig[10]: %u ", qt_measure_data.channel_signals[10]);
printf("Ch_Sig[11]: %u", qt_measure_data.channel_signals[11]);
printf("\nCh_Sig[12]: %u ", qt_measure_data.channel_signals[12]);
printf("Ch_Sig[13]: %u ", qt_measure_data.channel_signals[13]);
printf("Ch_Sig[14]: %u ", qt_measure_data.channel_signals[14]);
printf("Ch_Sig[15]: %u", qt_measure_data.channel_signals[15]);
printf("\nCh_Sig[16]: %u ", qt_measure_data.channel_signals[16]);
printf("Ch_Sig[17]: %u ", qt_measure_data.channel_signals[17]);
printf("Ch_Sig[18]: %u ", qt_measure_data.channel_signals[18]);
printf("Ch_Sig[19]: %u", qt_measure_data.channel_signals[19]);
printf("\nCh_Sig[20]: %u ", qt_measure_data.channel_signals[20]);
printf("Ch_Sig[21]: %u ", qt_measure_data.channel_signals[21]);
printf("Ch_Sig[22]: %u ", qt_measure_data.channel_signals[22]);
printf("Ch_Sig[23]: %u", qt_measure_data.channel_signals[23]);
printf("\nCh_Sig[24]: %u ", qt_measure_data.channel_signals[24]);
printf("Ch_Sig[25]: %u ", qt_measure_data.channel_signals[25]);
printf("Ch_Sig[26]: %u ", qt_measure_data.channel_signals[26]);
printf("Ch_Sig[27]: %u", qt_measure_data.channel_signals[27]);
printf("\nCh_Sig[28]: %u ", qt_measure_data.channel_signals[28]);
printf("Ch_Sig[29]: %u ", qt_measure_data.channel_signals[29]);
printf("Ch_Sig[30]: %u ", qt_measure_data.channel_signals[30]);
printf("Ch_Sig[31]: %u", qt_measure_data.channel_signals[31]); */
printf("\ndelta[0]: %i ", qt_get_sensor_delta(0));
printf("delta[1]: %i ", qt_get_sensor_delta(1));
printf("delta[2]: %i ", qt_get_sensor_delta(2));
printf("delta[3]: %i", qt_get_sensor_delta(3));
printf("\ndelta[4]: %i ", qt_get_sensor_delta(4));
printf("delta[5]: %i ", qt_get_sensor_delta(5));
printf("delta[6]: %i ", qt_get_sensor_delta(6));
printf("delta[7]: %i", qt_get_sensor_delta(7));
printf("\ndelta[8]: %i ", qt_get_sensor_delta(8));
printf("delta[9]: %i ", qt_get_sensor_delta(9));
printf("delta[10]: %i ", qt_get_sensor_delta(10));
printf("delta[11]: %i", qt_get_sensor_delta(11));
printf("\ndelta[12]: %i ", qt_get_sensor_delta(12));
printf("delta[13]: %i ", qt_get_sensor_delta(13));
printf("delta[14]: %i ", qt_get_sensor_delta(14));
printf("delta[15]: %i", qt_get_sensor_delta(15));
printf("\ndelta[16]: %i ", qt_get_sensor_delta(16));
printf("delta[17]: %i ", qt_get_sensor_delta(17));
printf("delta[18]: %i ", qt_get_sensor_delta(18));
printf("delta[19]: %i", qt_get_sensor_delta(19));
printf("\ndelta[20]: %i ", qt_get_sensor_delta(20));
printf("delta[21]: %i ", qt_get_sensor_delta(21));
printf("delta[22]: %i ", qt_get_sensor_delta(22));
printf("delta[23]: %i", qt_get_sensor_delta(23));
printf("\ndelta[24]: %i ", qt_get_sensor_delta(24));
printf("delta[25]: %i ", qt_get_sensor_delta(25));
printf("delta[26]: %i ", qt_get_sensor_delta(26));
printf("delta[27]: %i", qt_get_sensor_delta(27));
printf("\ndelta[28]: %i ", qt_get_sensor_delta(28));
printf("delta[29]: %i ", qt_get_sensor_delta(29));
printf("delta[30]: %i ", qt_get_sensor_delta(30));
printf("delta[31]: %i", qt_get_sensor_delta(31));
gCounter = 0;
}
/* Time Non-critical host application code goes here */
}
}
