int main(void)
{
/* Configure the oscillator both devices */
ConfigureOscillator();
/* Initialize IO ports and peripherals for both devices */
InitGPIO();
InitUART();
InitI2c();
InitI2cCompass();
/* Program for the bracelet */
#ifdef PROTECTED
/* Initialize IO ports and peripherals */
InitTimerUS();
/* The values of the magnetic field will be save in x and y */
s16 x = 0;
s16 y = 0;
while(1)
{
I2cReadData(&x, &y);
ComputeAngle(&angle, x, y);
PutData16(angle);
__delay_ms(500);
}
#endif
/* Program for the bodyguard*/
#ifdef BODY_GUARD
/* Initialize IO ports and peripherals */
InitADC();
InitPWM();
InitLcd();
InitTimerServo();
/* TODO <INSERT USER APPLICATION CODE HERE> */
u16 ADC_values[NMB_SENSORS];
u16 average[NMB_SENSORS];
u8 i;
u8 j;
/* The values of the magnetic field will be save in x and y */
s16 x = 0;
s16 y = 0;
u16 angle2=0;
char T[5];
memset(ADC_values,0x00,sizeof(ADC_values));
memset(average, 0x00,sizeof(average));
/*
for(i=0; i<NMB_SENSORS; i++)
{
ADC_values[i]=0;
}*/
LcdClear();
#if MAGNETIC_SENSOR
while(1)
{
I2cReadData(&x, &y);
angle2=((-atan2(x,y)*180)/3.14)+180;
/* Computes the angle using the arctan2 which provides an angle
* between -180° and 180°, then converts the result that is in radian
* into degree (*180/pi) and in the end add 180° so the angle is between
* 0° and 360° */
//LcdPutFloat(angle2,0);
LcdPutFloat(angle2,0);
LcdGoto(1,2);
LcdPutFloat(angle,0);
__delay_ms(500);
LcdClear();
}
#endif
#ifdef BODY_GUARD_MODE
while(1)
{
for(j=0; j<NMB_MEASURES; j++)
{
/* SENSORS SAMPLING */
for(i=0; i<NMB_SENSORS; i++)
{
StartADC(ADC_values);
}
ObjectDetection(ADC_values, average);
}
LcdClear();
LcdPutFloat(CCP2RB, 0);
//__delay_ms(1000);
LcdClear();
/* Set Flags */
ObjectReaction(average);
DistanceFlag(average[US]);
/* react */
AutoBodyGuard();
}
#endif
#ifdef AUTO_FLEE
while(1)
{
for(j=0; j<NMB_MEASURES; j++)
{
/* SENSORS SAMPLING */
for(i=0; i<NMB_SENSORS; i++)
{
StartADC(ADC_values);
}
ObjectDetection(ADC_values, average);
}
LcdClear();
/* Set Flags */
ObjectReaction(average);
//DistanceFlag(average[US]);
AutoFLee();
}
#endif
#endif
return 0;
}
int main(void)
{
uint16_t CalcCRC16(uint8_t data_array[], int data_lenght);
int i;
/////////////////////OSCYLATOR 32MHZ///////////////////////////////////////////
init_osc32();
////KONFIGURACJA ADC////////////////////////////////////////////////////////////////
konfiguracja_adc();
/////////UART////////////////////////////////////////////////////////////////////////
PORTC_OUTSET = PIN7_bm; //Let's make PC7 as TX
PORTC_DIRSET = PIN7_bm; //TX pin as output
PORTC_OUTCLR = PIN6_bm;
PORTC_DIRCLR = PIN6_bm; //PC6 as RX
setUpSerial();
///////////////////////////////////////////////////////////////////////////////
PORTF_DIR=PIN0_bm;
//PORTF_OUTSET=PIN0_bm; //zapalenie diody
PORTC.DIRSET = PIN0_bm; // pin C0 jako wyjœcie
PORTC.DIRSET = PIN1_bm; // pin C0 jako wyjœcie
////////////////////////Flip////////////////////////////////////////////////
PORTE.DIRCLR = PIN5_bm; // pin E5 jako wejœcie
PORTE.PIN5CTRL = PORT_OPC_PULLUP_gc; // podci¹gniêcie do zasilania
////////////////////////////Klawisze gora do³ prawo lewo//////////////////////////////////////////
PORTF.DIRCLR = PIN1_bm|PIN2_bm|PIN5_bm|PIN6_bm;
PORTF.PIN1CTRL = PORT_OPC_PULLUP_gc|PORT_ISC_FALLING_gc;
PORTF.PIN2CTRL = PORT_OPC_PULLUP_gc;
PORTF.PIN5CTRL = PORT_OPC_PULLUP_gc;
PORTF.PIN6CTRL = PORT_OPC_PULLUP_gc;
///////////////////////////////////Przerwanie INT0/////////////////////////////////////////////////////
init_int0();
//////////////////////////TIMER0//////////////////////////////////////////////////////
timer();
//////////////////////W£¥CZENIE PRZERWAÑ//////////////////////////////////////////
sei(); // globalne w³¹czenie przerwañ
////////////////////////////////////////////////////////////////////////////////////////
LcdInit(); // inicjalizacja sterownika LCD
LcdGoto(0,0);
Lcd("*Inzynierka_DiagBoX*"); // wyœwietlenie napisu
LcdGoto(20,0);
Lcd("Przedstawia:");
LcdGoto(25,1);
Lcd("Marek Wudarczyk");
_delay_ms(1000);
LcdClear();
while (1){
LcdClear();
LcdGoto(0,0);
LcdDec(ADC);
LcdGoto(5,0);
Lcd("CNT = ");
LcdDec(TCC0.CNT);
LcdGoto(0,1);
LcdDec(TCC0.PER);
LcdGoto(20,1);
Lcd("czas:");
LcdDec(c);
i=usart_getc();
if(i==2){
while(1){
uint8_t i,j=0;
i=usart_getc();
uint16_t ADC = ADC_GetResults();
uint8_t buff[] = {mlody_bajt(ADC),stary_bajt(ADC)};
buff[2] = mlody_bajt(CalcCRC16(buff,2));
buff[3] = stary_bajt(CalcCRC16(buff,2));
while(j<4){
sendChar(buff[j]);
j++;
}
LcdClear();
Lcd("CRC:");
LcdDec(buff[2]);
_delay_ms(10);
if(i == 2){
break;
}
}
i=0;
}
if(i==1){
PORTF_OUTTGL=PIN0_bm;
i=0;
}
if(!(PORTE.IN & PIN5_bm)) /* je¿eli przycisk FLIP jest wciœniêty*/ {
while(1){
uint32_t licz;
licz++;
if((licz>15100)&&(PORTE.IN & PIN5_bm)){
licz=0;
c+=10;
break;
}
}
}
_delay_ms(100);
}
}
