void Play_song(struct note_struct *song, int size)
{
int i;
for (i=0; i<size; i++)
{
PWM_set_load(Get_Load_Value(g_multiplier*song[i].note));
PWM_set_duty_cycle(95);
Timer_delay(song[i].delay);
PWM_set_duty_cycle(100);
Timer_delay(50);
}
}
// ISR for GPIOF
void GPIOF_Handler(void)
{
if (GetBit32(GPIOF->RIS, 0))
{
if (g_mode == MODE1)
{
// Switch audio range
}
else
{
g_enable_play = 1;
}
SetBit32( &(GPIOF->ICR), 0, 1);
}
else if (GetBit32(GPIOF->RIS, 4))
{
//SetBit32( &(GPIOF->DATA), 3, 1 );
if (!g_enable_play)
{
if (g_mode == MODE1)
{
g_mode = MODE2;
SetBit32( &(GPIOF->DATA), 1, 0 );
SetBit32( &(GPIOF->DATA), 2, 1 );
SetBit32( &(GPIOF->DATA), 3, 0 );
PWM_set_duty_cycle(100);
}
else if (g_mode == MODE2)
{
g_mode = MODE3;
SetBit32( &(GPIOF->DATA), 1, 0 );
SetBit32( &(GPIOF->DATA), 2, 0 );
SetBit32( &(GPIOF->DATA), 3, 1 );
PWM_set_duty_cycle(100);
}
else
{
g_mode = MODE1;
SetBit32( &(GPIOF->DATA), 1, 1 );
SetBit32( &(GPIOF->DATA), 2, 0 );
SetBit32( &(GPIOF->DATA), 3, 0 );
}
}
SetBit32( &(GPIOF->ICR), 4, 1);
}
// Clear pending bit
NVIC->ICPR[0] = 0x1UL << 30;
}
void set_gun_angle(int angle){
//REQUIRES: pwm_init() has been called
// angle is a number between 0 and 204
//EFFECTS: Sets angle of gun on robot
angle += 46;
PWM_set_duty_cycle(&servos, PWM_1, angle);
return;
}
int Lua_SetPWMDutyCycle(lua_State *L)
{
if (lua_gettop(L) >= 2) {
unsigned int channel = (unsigned int)lua_tointeger(L,1);
unsigned int dutyCycleRaw = (unsigned int)lua_tointeger(L,2);
if (channel >= 0 && channel < CONFIG_PWM_CHANNELS) {
PWM_set_duty_cycle( channel, (unsigned short)dutyCycleRaw);
}
}
return 0;
}
void wheel3(int pwm){
//REQUIRES: pwm_init() has been called
// Takes a number from -255 to 255 where 0 is stopped and
// 255 is full speed ahead
//EFFECTS: Modifies the speed of wheel3
if (pwm == 0){
PWM_disable(&motors, PWM_5);
PWM_disable(&motors, PWM_6);
}
else if (pwm > 0){
PWM_set_duty_cycle(&motors, PWM_5, pwm);
PWM_enable(&motors, PWM_5);
PWM_disable(&motors, PWM_6);
}
else {
pwm = pwm * -1;
PWM_set_duty_cycle(&motors, PWM_6, pwm);
PWM_enable(&motors, PWM_6);
PWM_disable(&motors, PWM_5);
}
return;
}
int Lua_SetAnalogOut(lua_State *L)
{
if (lua_gettop(L) >= 2) {
PWMConfig *c = getPwmConfigChannel(lua_tointeger(L,1));
if (NULL != c) {
unsigned int channel = (unsigned int)lua_tointeger(L,1);
if (channel >= 0 && channel < CONFIG_PWM_CHANNELS) {
float dutyCycle = (float)lua_tonumber(L,2) / PWM_VOLTAGE_SCALING;
PWM_set_duty_cycle(channel,(unsigned short)dutyCycle);
}
}
}
return 0;
}
int main(void)
{
struct note_struct happy_birthday[25];
struct note_struct sweep[8];
happy_birthday[0].note = NOTE_D;
happy_birthday[0].delay = 250;
happy_birthday[1].note = NOTE_D;
happy_birthday[1].delay = 250;
happy_birthday[2].note = NOTE_E;
happy_birthday[2].delay = 300;
happy_birthday[3].note = NOTE_D;
happy_birthday[3].delay = 250;
happy_birthday[4].note = NOTE_G;
happy_birthday[4].delay = 250;
happy_birthday[5].note = NOTE_F_SHARP;
happy_birthday[5].delay = 350;
happy_birthday[6].note = NOTE_D;
happy_birthday[6].delay = 250;
happy_birthday[7].note = NOTE_D;
happy_birthday[7].delay = 250;
happy_birthday[8].note = NOTE_E;
happy_birthday[8].delay = 300;
happy_birthday[9].note = NOTE_D;
happy_birthday[9].delay = 250;
happy_birthday[10].note = NOTE_A;
happy_birthday[10].delay = 250;
happy_birthday[11].note = NOTE_G;
happy_birthday[11].delay = 350;
happy_birthday[12].note = NOTE_D;
happy_birthday[12].delay = 250;
happy_birthday[13].note = NOTE_D;
happy_birthday[13].delay = 250;
happy_birthday[14].note = NOTE_DH;
happy_birthday[14].delay = 300;
happy_birthday[15].note = NOTE_B;
happy_birthday[15].delay = 250;
happy_birthday[16].note = NOTE_G;
happy_birthday[16].delay = 250;
happy_birthday[17].note = NOTE_F_SHARP;
happy_birthday[17].delay = 250;
happy_birthday[18].note = NOTE_E;
happy_birthday[18].delay = 350;
happy_birthday[19].note = NOTE_CH;
happy_birthday[19].delay = 250;
happy_birthday[20].note = NOTE_CH;
happy_birthday[20].delay = 250;
happy_birthday[21].note = NOTE_B;
happy_birthday[21].delay = 300;
happy_birthday[22].note = NOTE_G;
happy_birthday[22].delay = 250;
happy_birthday[23].note = NOTE_A;
happy_birthday[23].delay = 250;
happy_birthday[24].note = NOTE_G;
happy_birthday[24].delay = 350;
sweep[0].note = NOTE_C;
sweep[0].delay = 500;
sweep[1].note = NOTE_D;
sweep[1].delay = 500;
sweep[2].note = NOTE_E;
sweep[2].delay = 500;
sweep[3].note = NOTE_F;
sweep[3].delay = 500;
sweep[4].note = NOTE_G;
sweep[4].delay = 500;
sweep[5].note = NOTE_A;
sweep[5].delay = 500;
sweep[6].note = NOTE_B;
sweep[6].delay = 500;
sweep[7].note = NOTE_C*2;
sweep[7].delay = 500;
GPIO_init();
Timer_init();
PWM_init();
ADC_init();
NVIC_init();
// infinite loop
while (1)
{
if (g_enable_play)
{
if (g_mode == MODE2)
{
Play_song(happy_birthday, sizeof(happy_birthday)/sizeof(struct note_struct));
}
else if (g_mode == MODE3)
{
Play_song(sweep, sizeof(sweep)/sizeof(struct note_struct));
}
g_enable_play = 0;
PWM_set_duty_cycle(100); // Turn off speaker
}
if (g_mode == MODE1 && ADC_changed)
{
//PWM_set_duty_cycle((ADC_value*100)/MAX_ADC_VALUE);
//PWM_load = (((ADC_value*100)/MAX_ADC_VALUE)*MAX_PWM_LOAD)/100/4;
PWM_load = map_ADC_to_load();
PWM_set_load(PWM_load);
PWM_set_duty_cycle(95);
ADC_changed = 0;
}
}
while(1);
}
