int main(void)
{
InitHardware();
dmInit();
sei(); // enable interrupts
GoToSleep();
button |= PB_ACK;
while(1)
{
if (button == PB_RELEASE) { // short button press
msg_ptr = DisplayMessage(msg_ptr);
button |= PB_ACK;
}
if (button == PB_LONGPRESS) { // button pressed for some seconds
dmClearDisplay();
dmPrintChar(130); // sad smiley
_delay_ms(500);
GoToSleep();
button |= PB_ACK;
}
} // of while(1)
}
//=========================================================================
//----- (0000782C) --------------------------------------------------------
__myevic__ void SleepIfIdle()
{
if ( !gFlags.firing && !NoEventTimer )
{
if ( ( Screen == 0 ) && ( SleepTimer == 0 ) && ( gFlags.user_idle ) )
{
GoToSleep();
byte_200000B3 = 2;
AtoProbeCount = 0;
AtoRezMilli = 0;
gFlags.sample_vbat = 1;
ReadBatteryVoltage();
if (( BatteryVoltage <= BatteryCutOff + 20 ) && !gFlags.usb_attached )
{
dfStatus.off = 1;
Screen = 0;
}
gFlags.sample_btemp = 1;
}
NoEventTimer = 200;
}
}
void main(void) {
signed char ret = 0;
signed char lastMenu = 0;
char pnum = 0;
SetupIO();
MOTOR_FORWARD = 0;
MOTOR_REVERSE = 0;
Move_shifted_position.ul = 0;
Move_position[0].ul = 0;
Move_position[1].ul = 0;
//PID_SetPoint = 0;
char idx;
for (idx = 0; idx < 16; idx++) RotaryDetentIntervals[idx] = 0xFF;
LoadSettings();
//FactoryDefault();
SetupHardware();
LCD_PowerUp();
LCD_ClearDisplay();
LCD_PrintString("CINEFLUX ORBIT\0");
LCD_SetPosition(1, 0);
LCD_PrintString(VER);
Wait_ms(2000);
const char *COMMAND_0 = "ORBIT MODE\0";
const char *COMMAND_1 = "WAYPOINT MODE\0";
const char *COMMAND_3 = "RUN PRESET\0";
const char *COMMAND_2 = "REALTIME MODE\0";
const char *COMMAND_4 = "BATTERY VOLTAGE\0";
const char *COMMAND_5 = "GO TO SLEEP\0";
const char *COMMAND_6 = "EXTERNAL CTRL MODE\0";
const char*CommandMenu[7];
CommandMenu[0] = COMMAND_0;
CommandMenu[1] = COMMAND_1;
CommandMenu[2] = COMMAND_2;
CommandMenu[3] = COMMAND_3;
CommandMenu[4] = COMMAND_4;
CommandMenu[5] = COMMAND_5;
CommandMenu[6] = COMMAND_6;
bFollowMode = 1;
LCD_ClearDisplay();
LCD_PrintString("MOVE TO ZERO DEGREES\0");
LCD_SetPosition(1, 0);
LCD_PrintString("THEN CLICK...\0");
GetClick();
bClear_MotorPosition = 1;
while (bClear_MotorPosition) Idle();
Wait_ms(10);
bFollowMode = 0;
LCD_ClearDisplay();
while (1) {
UI_Location = UI_LOC_MAINMENU;
ret = DisplayMenu(CommandMenu, 6, lastMenu);
labelProcessCommand:
switch (ret) {
case 0:
case USER_INPUT_MACRO_ORBITMODE:
lastMenu = 0;
ret = CreateOrbitProgram();
if (ret == -2) RealtimeMode();
if (ret == -1) RealtimeMode();
if (ret<-2) goto labelProcessCommand;
break;
case 1:
case USER_INPUT_MACRO_WAYMODE:
lastMenu = 1;
ret = CreateWaypointProgram();
if (ret<-2) goto labelProcessCommand;
if (ret < 0) {
ret = RealtimeMode();
if (ret<-2) goto labelProcessCommand;
}
break;
case 3:
lastMenu = 3;
ret = GetPresetNumber();
if (ret == -1) break;
if (ret == -2) break;
if (ret<-2) goto labelProcessCommand;
pnum = ret;
ret = RunPreset(pnum);
if (ret<-2) goto labelProcessCommand;
break;
case 2:
case USER_INPUT_MACRO_REALMODE:
lastMenu = 0;
ret = RealtimeMode();
if (ret<-2) goto labelProcessCommand;
break;
case 4:
lastMenu = 0;
ret = ShowVoltage();
if (ret<-2) goto labelProcessCommand;
break;
case 5:
case USER_INPUT_MACRO_SLEEP:
lastMenu = 0;
GoToSleep();
break;
case 6:
case USER_INPUT_MACRO_EXTMODE:
lastMenu = 0;
ret = ExtMode();
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET0:
ret = RunPreset(1);
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET1:
ret = RunPreset(2);
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET2:
ret = RunPreset(3);
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET3:
ret = RunPreset(4);
if (ret<-2) goto labelProcessCommand;
break;
case USER_INPUT_MACRO_RUNPRESET4:
ret = RunPreset(5);
if (ret<-2) goto labelProcessCommand;
break;
}
}
}
void main(void) {
signed char ret = 0;
signed char lastMenu = 0;
char pnum = 0;
SetupIO();
MOTOR_FORWARD = 0;
MOTOR_REVERSE = 0;
Move_shifted_position.ul = 0;
Move_position[0].ul = 0;
Move_position[1].ul = 0;
//PID_SetPoint = 0;
char idx;
for (idx = 0; idx < 16; idx++) RotaryDetentIntervals[idx] = 0xFF;
//LoadSettings();
FactoryDefault();
SetupHardware();
LCD_PowerUp();
LCD_ClearDisplay();
LCD_PrintString("CINEFLUX ORBIT\0");
LCD_SetPosition(1,0);
LCD_PrintString(VER);
Wait_ms(2000);
const char *COMMAND_0 = "ORBIT MODE\0";
const char *COMMAND_1 = "WAYPOINT MODE\0";
const char *COMMAND_3 = "RUN PRESET\0";
const char *COMMAND_2 = "REALTIME MODE\0";
const char *COMMAND_4 = "BATTERY VOLTAGE\0";
const char *COMMAND_5 = "GO TO SLEEP\0";
const char *COMMAND_6 = "EXTERNAL CTRL MODE\0";
const char*CommandMenu[7];
CommandMenu[0] = COMMAND_0;
CommandMenu[1] = COMMAND_1;
CommandMenu[2] = COMMAND_2;
CommandMenu[3] = COMMAND_3;
CommandMenu[4] = COMMAND_4;
CommandMenu[5] = COMMAND_5;
CommandMenu[6] = COMMAND_6;
bFollowMode = 1;
LCD_ClearDisplay();
LCD_PrintString("MOVE TO ZERO DEGREES\0");
LCD_SetPosition(1, 0);
LCD_PrintString("THEN CLICK...\0");
GetClick();
bClear_MotorPosition = 1;
while (bClear_MotorPosition) Idle();
Wait_ms(10);
bFollowMode = 0;
LCD_ClearDisplay();
while (1) {
ret = DisplayMenu(CommandMenu, 6, lastMenu);
switch (ret) {
case 0:
lastMenu = 0;
if (!CreateOrbitProgram() == 0)
RealtimeMode();
break;
case 1:
lastMenu = 1;
if (!CreateWaypointProgram() == 0)
RealtimeMode();
break;
case 3:
lastMenu = 2;
ret = GetPresetNumber();
if (ret == -1) break;
if (ret == -2) break;
pnum = ret;
switch (GetPresetType(pnum)) {
case 1:
LoadPreset(pnum, (unsigned char *) &CurrentPath);
if (!RunWaypointProgram() == 0)
RealtimeMode();
break;
case 2:
LoadPreset(pnum, (unsigned char *) &CurrentOrbitProgram);
if (!RunOrbitProgram() == 0)
RealtimeMode();
break;
}
break;
case 2:
lastMenu = 2;
RealtimeMode();
break;
case 4:
lastMenu = 0;
ShowVoltage();
break;
case 5:
lastMenu = 0;
GoToSleep();
break;
case 6:
lastMenu = 0;
ExtMode();
break;
}
}
}
int main(int argc, char** argv) {
//Initializations
InitCLK();
InitGPIO();
InitADC();
//InitSPI();
InitTimer0();
InitTimer1();
InitWatchdog();
InitUART(); //Initialize UART module
unsigned char periodicCounter = MIN_PERIOD;
gpsIndex = 0;
INTCONbits.GIE = 1;
ToggleSleepGPS(); //Turn GPS on
SetupGPS(); //Setup Lat/Long recording
PORTBbits.PORTB = LATBbits.LATB & 0xDF; //turn red LED off
PORTBbits.PORTB = LATBbits.LATB | 0x10; //turn green LED on
__delay_ms(100);
PORTBbits.PORTB = LATBbits.LATB & 0xEF; //turn green LED off
SPI_CS = CS_IDLE;//prerecord
while(1){
//PRE_RECORD FUNCTION
//InitSPI(); //Start-up SPI again
//PreRecordMode();
//SSPCON1bits.SSPEN=0; // Disable SPI Port
//PORTCbits.RC5 = 0; //Set MOSI low
//SPI_CS = CS_IDLE;//prerecord
//__delay_ms(5);
SPI_CS = CS_IDLE;
//Check Flags
if(PORTAbits.RA1)
{
//Strobe LED
PORTBbits.RB0 = 1;
__delay_ms(100);
PORTBbits.RB0 = 0;
}
if(recordFlag)
{
RecordMode();
recordFlag = 0;
__delay_ms(500); //trying to get gps to not hangup
}
//Not recording, Update the GPS
if(gpsTimeoutState==0)
UpdateGPS(); //tell GPS to send an update
else if(gpsTimeoutState==1)
{
ToggleSleepGPS();
gpsTimeoutState = 2;
}
else if(gpsTimeoutState==2)
{
ToggleSleepGPS();
gpsTimeoutState = 3;
}
else if(gpsTimeoutState==3)
{
__delay_ms(1000);
gpsTimeoutState = 0;
}
else
{
gpsTimeoutState = 0;
}
if(gpsInvalidFlag) //turn on red LED if invalid message
{
PORTBbits.PORTB = LATBbits.LATB | 0x20; //turn red LED on
PORTBbits.PORTB = LATBbits.LATB & 0xEF; //turn green LED off
__delay_ms(250);
PORTBbits.PORTB = LATBbits.LATB & 0xDF; //turn red LED off
if(periodicCounter < MAX_PERIOD)
periodicCounter++;
}
else //turn on green LED if valid message
{
PORTBbits.PORTB = LATBbits.LATB | 0x10; //turn green LED on
PORTBbits.PORTB = LATBbits.LATB & 0xDF; //turn red LED off
__delay_ms(250);
PORTBbits.PORTB = LATBbits.LATB & 0xEF; //turn green LED off
periodicCounter = MIN_PERIOD;
}
if(!recordFlag)
{
if(PORTAbits.RA1) //check strobe
GoToSleep(MIN_PERIOD);
else if(gpsInvalidFlag)
GoToSleep(periodicCounter);
else
{
ToggleSleepGPS(); //Turn GPS off
Hibernate();
ToggleSleepGPS(); //Turn GPS on
}
}
}
return (EXIT_SUCCESS);
}
