__interrupt void P1_ISR(void) {
switch(P1IFG&BIT3) {
case BIT3:
P1IFG &= ~BIT3; // clear the interrupt flag
P1IE |= ~BIT3; // disable interrupts for P1.3
if(!error)
{
TX_str("SD Card has been initialized!\n");
switch (cardType)
{
case 1:TX_str("Standard Capacity Card (Ver 1.x) Detected!\n");
break;
case 2:TX_str("High Capacity Card Detected! (SDHC)\n");
break;
case 3:TX_str("Standard Capacity Card (Ver 2.x) Detected!\n");
break;
default:TX_str("Unknown SD Card Detected!\n");
break;
}
}
if(error)
{
if(error == 1) TX_str("SD card not detected..\n");
if(error == 2) TX_str("Card Initialization failed..\n");
}
P1IE |= BIT3; //re-enable interrupts for P1.3
return;
default:
P1IFG = 0; //clears interrupt flag is other interrupt occurs
return;
}
} // P1_ISR
int main ( void )
{
//TRISA = 0b0010000000000000;
TRISA = 0b00001111;
TRISAbits.TRISA12 = 0;
TRISCbits.TRISC1 = 0;
TRISCbits.TRISC2 = 0;
TRISCbits.TRISC3 = 0;
TRISCbits.TRISC4 = 0;
//TRISD = 0;
TRISD = 0b0000000000010000; // RD11: DIR2; RD8: PWM2
//TRISE = 0b00001000;
TRISE = 0b00001000; // RE6: DIR1; RE0: PWM1
TRISEbits.TRISE7 = 0;
//LCD an
_PCFG16 = 1; // AN16 is digital
_PCFG17 = 1; // AN17 is digital
_PCFG18 = 1; // AN18 is digital
_PCFG19 = 1; // AN19 is digital
_PCFG20 =1;
_PCFG31=1;
//pwm analog select
_PCFG24=1;
_PCFG30=1;
//RE4 for lcd r/s
_PCFG28=1;
TRISEbits.TRISE4 = 0;
AD1PCFGHbits.PCFG28 = 1;
AD1PCFGHbits.PCFG27 = 1;
AD1PCFGHbits.PCFG30 = 1;
AD1PCFGHbits.PCFG24 = 1;
AD1PCFGH = 0x0020;
TRISAbits.TRISA13 = 1;
//set pwm low
PWM1=0;
PWM2=0;
SYS_Initialize ( ) ;
CLKDIVbits.FRCDIV = 0;
CLKDIVbits.PLLPOST = 0; // N2 = 2
CLKDIVbits.PLLPRE = 0; // N1 = 2
PLLFBD = (Fosc*N1_default*N2_default/Ffrc) - M_default; // M = 8 -> Fosc = 7.3728 MHz * 8 / 2 / 2 = 16 MHz
while(!OSCCONbits.LOCK); // Wait for PLL to lock
RCONbits.SWDTEN = 0; // Disable Watch Dog Timer
//TRISF = 0;
gpsLock = 0;
lcd_init();
print_lcd("Initializing");
//delay_ms(500);
//lcd_clear();
/*lcd test
char line1[] = " On Route ";
char line2[] = " Arrived ";
//send_command_byte(0xFF);
//while(1){send_command_byte(0xFF);send_data_byte(0);}
// delay_ms(2);
//send_command_byte(0x02); // Go to start of line 1
//send_command_byte(0b00001111); // Display: display on, cursor on, blink on
//send_command_byte(0b00000110); // Set entry mode: ID=1, S=0
//send_command_byte(0b00000001); // Clear display
print_lcd(line1);
delay_ms(5000);
lcd_clear();
print_lcd(line2);
//send_command_byte(0xC0); // Go to start of line 1
//while(1){send_command_byte(0b00000001);}
while(1);*/
/*int a;
long long int ct;
int i;
int j=0;*/
//i2c init
//uart init
UART_Initialize();
delayMs(100);
/* while(1){//test for delay ms configuration
//PORTDbits.RD1 = 1;
//delayUs(10);
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//ultrasonic test
/* while(1){
long double x;
delayMs(500);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
x = ultraSonicCount/TICKS_PER_METER;
sprintf(outputBuf,"%lf",x);
print_lcd(outputBuf);
}*/
//TX_str(endGPS);
//delayMs(3000);
//TX_str(startGPS);
/*TX_str(startGPShot);
delayMs(2000);
while ( !gpsLock ) {
TX_str(getGPS);
delayMs(500);
}*/
//TCP code
TX_str(openNet);
delayMs(5000);
TX_str(openConnection);
delayMs(5000);
// while(!BUTTON_IsPressed ( BUTTON_S3 ));
//TX_str(sprintf("%s%d\r",sendTCP, strlen("10")));
sprintf(outputBuf2,"2\n%lf,%lf\n\r",roverLog,roverLat );
sprintf(cmdBuf,"%s%d\r", sendTCP,strlen(outputBuf2));
TX_str(cmdBuf);
delayMs(3000);
TX_str(outputBuf2);
while(!waypointsReady || !gpsLock);
//while(1);
delayMs(7000);
lcd_clear();
print_lcd("waypoints locked");
i2c_init();
//i2c_write3(0x3c, 0x00, 0x70);
i2c_write3(0x3c, 0x00, 0b00011000);
//i2c_write3(0x3c, 0x01, 0b11000000);
i2c_write3(0x3c, 0x01, 0xA0);
i2c_write3(0x3c, 0x02, 0x00);
//timer init, do this after other initializations
motorDuty=0;
tim1_init();
tim2_init();
/*
double angleTolerance = 8.0;
motorDuty=2;
while (1){ //adjust
double angleDiff = headingDiff(0,roverHeading );
if (angleDiff > 0 ||abs(angleDiff) > 175 ){ //turn left
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn right
PWM1_DIR = 1;
PWM2_DIR = 0;
}
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
//break;
}else{
//motorDuty =4;
motorDuty =2;
}
delayMs(13);
updateHeading();
}*/
//hardcoded gps for tcpip test
/*while(1){
// PORTDbits.RD5 = 1;
// for (a = 0; a < (100/33); a++) {}
// PORTDbits.RD5 = 0;
// for (a = 0; a < (100/33); a++) {}
ct = 0;
//TMR2 = 0;//Timer Starts
delayMs(60);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(15);
//10uS Delay
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4){ //Waiting for Echo
ct++;
}
//T2CONbits.TON = 1;
while(PORTDbits.RD4) {
ct++;
}// {
//T2CONbits.TON = 0;
sprintf(outputBuf,"%lld", ct);
//a = TMR2;
//a = a / 58.82;
//long int p;
//for(p = 0; p <100000; p++);
}*/
//tim1_init();
//while ( 1 );
//UART_Initialize();
/* Infinite Loop */
/*
long int i;
while ( 1 )
{//test for delay ms configuration
//PORTDbits.RD1 = 1;
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//IEC0bits.T1IE = 0;
//IEC0bits.T1IE = 1;
//motorDuty =2;
motorStopFlag = 0; //ready to go
char tempBuf1[50];
int wapointsVisited;
double desiredHeading = 0;
double dToWaypoint = 99999.9;
double angleTolerance = 6.0;
for (wapointsVisited =0; wapointsVisited<numGPSpoints;wapointsVisited++ )
{
dToWaypoint = 99999.9;
while (1)
{
int f;
roverLog = 0;
roverLat = 0;
for(f = 0; f < ROVER_LEN; f++){
roverLog+=roverlog[f]/ROVER_LEN_D;
roverLat+=roverlat[f]/ROVER_LEN_D;
}
dToWaypoint = dist(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
if(dToWaypoint <= 3.0){break;} //go to next waypoint
desiredHeading = 330.0;
desiredHeading = bearing(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
updateHeading();
if (!(abs(headingDiff(desiredHeading,roverHeading )) < angleTolerance))
{
motorDuty = 0; //stop
delayMs(300);
while (1) //ADJUSTMENT LOOP
{
double angleDiff = headingDiff(desiredHeading,roverHeading );
//double dist = ultraSonicPing();
/*sprintf(tempBuf1,"%f",dist);
lcd_clear();
print_lcd(tempBuf1);*/
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
/*sprintf(tempBuf1,"%f",roverHeading);
IEC0bits.T1IE = 0;
print_lcd(tempBuf1);
IEC0bits.T1IE = 1;*/
break;
}
if (angleDiff > 0 || abs(angleDiff) > 175 ){ //turn right
/*PORTDbits.RD4 = 1; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 1;
PORTDbits.RD8 = 0; //left*/
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn left
/*PORTDbits.RD4 = 0; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 0;
PORTDbits.RD8 = 1; //left*/
PWM1_DIR = 1;
PWM2_DIR = 0;
}
motorDuty =3;
delayMs(15);
updateHeading();
// sprintf(tempBuf1,"%f",roverHeading);
// IEC0bits.T1IE = 0;
// lcd_clear();
// print_lcd(tempBuf1);
// IEC0bits.T1IE = 1;
//delayMs(1000);
//for(p = 0; p <100000; p++);
}
}
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 0;
motorDuty = 5;
ultraSonicDelayEnable = 1;
//frequency is around 20kHz
while (ultraSonicDelayCount < 60000){ //for 4 seconds poll ultrasonic and check for obsticles
long double x;
//PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
//PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
ultraSonicEn = 0;
x = ultraSonicCount/TICKS_PER_METER;
if (x <= 1.4){
motorDuty = 0;
}else{
motorDuty = 5;
}
delayMs(200);
}
ultraSonicDelayEnable = 0;
ultraSonicDelayCount = 0;
}
motorDuty = 0;
delayMs(1000);
//IEC0bits.T1IE = 0;
lcd_clear();
char buf3[40];
sprintf(buf3, "reached %d", wapointsVisited);
print_lcd(buf3);
delayMs(3000);
//IEC0bits.T1IE = 1;
}
//IEC0bits.T1IE = 0;
lcd_clear();
print_lcd("ARRIVED!!!");
//IEC0bits.T1IE = 1;
while (1);
}
void main(void) {
WDTCTL = WDTPW+WDTHOLD; // Stop WDT
/****** Initialize Clock to 8MHz ********/
P11DIR |= 0x07; // ACLK, MCLK, SMCLK set out to pins
P11SEL |= 0x07; // P11.0,1,2 for debugging purposes.
UCSCTL3 |= SELREF_2; // Set DCO FLL reference = REFO
UCSCTL4 |= SELA_2; // Set ACLK = REFO
__bis_SR_register(SCG0); // Disable the FLL control loop
UCSCTL0 = 0x0000; // Set lowest possible DCOx, MODx
UCSCTL1 = DCORSEL_5; // Select DCO range 16MHz operation
UCSCTL2 = FLLD_1 + 249; // Set DCO Multiplier for 8MHz
// (N + 1) * FLLRef = Fdco
// (249 + 1) * 32768 = 8MHz
// Set FLL Div = fDCOCLK/2
__bic_SR_register(SCG0); // Enable the FLL control loop
// Worst-case settling time for the DCO when the DCO range bits have been
// changed is n x 32 x 32 x f_MCLK / f_FLL_reference. See UCS chapter in 5xx
// UG for optimization.
// 32 x 32 x 8 MHz / 32,768 Hz = 250000 = MCLK cycles for DCO to settle
__delay_cycles(250000);
// Loop until XT1,XT2 & DCO fault flag is cleared
do
{
UCSCTL7 &= ~(XT2OFFG + XT1LFOFFG + XT1HFOFFG + DCOFFG);
// Clear XT2,XT1,DCO fault flags
SFRIFG1 &= ~OFIFG; // Clear fault flags
}while (SFRIFG1&OFIFG); // Test oscillator fault flag
uart_init();
P1DIR = BIT0; //enable LED P1.0 as output
//P1DIR |= BIT5;
//P1SEL |= BIT5; // output SMCLK for measurement on P1.5
P1OUT &= ~BIT0;
P1REN |= BIT3; //enable internal pull-up resistor
P1OUT |= BIT3;
P1IES |= BIT3; // high -> low is selected with IESx = 1.
P1IFG &= ~BIT3; // To prevent an immediate interrupt, clear the flag for
// P1.3 before enabling the interrupt.
P1IE |= BIT3; // Enable interrupts for P1.3
TX_str("Initialized the UART--------\n");
SPI_init();
TX_str("Initialized the SPI........\n");
cardType = 0;
for (i=0; i<10; i++)
{
error = SD_init();
if(!error) break;
}
if(error)
{
if(error == 1) TX_str("SD card not detected\n");
if(error == 2) TX_str("Card Initialization failed..\n");
while(1); //wait here forever if error in SD init
}
TX_str("SD/MMC Card Initialized Successfully!\n");
switch (cardType)
{
case 1:TX_str("Standard Capacity Card (Ver 1.x) Detected!\n");
break;
case 2:TX_str("High Capacity Card Detected! (SDHC)\n");
break;
case 3:TX_str("Standard Capacity Card (Ver 2.x) Detected!\n");
break;
default:TX_str("Unknown SD Card Detected!\n");
break;
}
//while ((mmc_ping() != MMC_SUCCESS)); // Wait till card is inserted
__delay_cycles(100);
//uart_set_rx_isr_ptr(uart_rx_isr);
//Enter low power mode with interrupts enabled
__bis_SR_register(LPM4_bits + GIE ) ;
}
