int main(void)
{
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
_disable_interrupt();
halUCS_set16MFrequency();
_enable_interrupt();
halBioAX12_initialize();
halLed_sx_initialize();
halLed_sx_setLed(LED_RED, ON);
halLed_sx_setLed(LED_YELLOW, OFF);
halLed_rx_initialize();
halLed_rx_setLed(LED_RX_ALL, OFF);
halTimer_b_initialize(TIMER_CLKSRC_ACLK, TIMER_MODE_UP);
halTimer_b_setCCRTimedInterruption(TIMER_CCR0, 1000);
halTimer_b_enableInterruptCCR0();
halJoystick_initialize();
halJoystick_setInterruptions(JOYSTICK_ALL, ON);
halButtons_initialize();
halButtons_setInterruptions(BUTTON_ALL, ON);
return 0;
}
void main()
{
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer (good dog)
_disable_interrupt();
cron.seconds = 0;
cron.minutes = 0;
cron.hours = 0;
alarm.seconds = 30;
alarm.minutes = 2;
alarm.hours = 0;
initialize_leds();
initialize_lcd();
initialize_buttons();
initialize_timer_b();
initialize_timer_a1();
_enable_interrupt();
halLcdPrintLine(lcd_line, 0, OVERWRITE_TEXT);
write_time_base();
write_cron();
while ( 1 );
}
// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
void main(void) {
initMSP430(); // Setup MSP to process IR and buttons
int32 bitstring=0x00000000;
int32 i;
int8 packetIndex2=0;
stopRobot();
_enable_interrupt();
while(1) {
if (new_packet) {
_disable_interrupt();
packetIndex2=0; //this part consolidates the incoming packet
while (packetData[packetIndex2]!=2)
{
packetIndex2++;
}
packetIndex2++;
while (packetIndex2<33)
{
bitstring+=packetData[packetIndex2];
bitstring<<=1;
packetIndex2++;
}
if (bitstring==BUTTON_FIVE) //this part translates the packet
{
stopRobot();
} else if (bitstring==BUTTON_TWO)
{
moveRobotForward();
} else if (bitstring==BUTTON_FOUR)
{
moveRobotLeft();
} else if (bitstring==BUTTON_SIX)
{
moveRobotRight();
} else if (bitstring==BUTTON_EIGHT)
{
moveRobotBackwards();
} else if (bitstring==BUTTON_ONE)
{
moveRobotLeftSlow();
} else if (bitstring==BUTTON_THREE)
{
moveRobotRightSlow();
} else
{
stopRobot();
}
for (i=0;i<0xFFFFF;i++);
bitstring=0x00000000;
packetIndex=0;
_enable_interrupt();
new_packet=0;
} else
{
bitstring=0x00000000;
}
} // end infinite loop
} // end main
void process_start(void) {
//Set up timer A interrupt
TACCR0 = 0x00EE;//Period (Timer count value)
TACTL = TASSEL_2 + ID_3 + MC_1;//SMCLK clock, Input Divider of 8, Up-mode (count)
TACCTL0 = CCIE; // Enable Timer interrupts
//Call process_begin()to start execution of processes in queue
_disable_interrupt();
process_begin();
}
inline
void StopCapture()
{
_disable_interrupt();
TACTL = MC_0;
for (int i = 0; i < _logCnt; i ++)
{
_logBuf[i] /= CPU_FREQ;
}
}
__interrupt void timerOverflow (void) {
//Turn off Timer A
TACTL &= ~MC_0;
//Disable Interrupt for timer A
_disable_interrupt();
//Clear Packet Index
packetIndex = 0;
//Set new Packet to true
newIrPacket = TRUE;
//Clear TAIFG
TACTL &= ~TAIFG;
}
void flash_write(uint8_t *addr, uint8_t value)
{
_disable_interrupt(); // Disable interrupts(IAR workbench).
FCTL2 = FWKEY + FSSEL_1 + FN0; // Clk = SMCLK/4
FCTL3 = FWKEY; // Clear Lock bit
FCTL1 = FWKEY + WRT; // Set WRT bit for write operation
*addr=value;
// if(option == WRITE_FROM_BUFFER)
//// for (i=0; i<64; i++)
//// *addr++ = data_buffer[i]; // copy value to flash
//
// else if(option == WRITE_FROM_DUMP)
// for (i=0; i<64; i++)
// *addr++ = data_dump[i]; // copy value to flash
FCTL1 = FWKEY; // Clear WRT bit
FCTL3 = FWKEY + LOCK; // Set LOCK bit
_enable_interrupt();
}
int process_create(void(*f)(void), int n) {
unsigned int sp_create;//Stack pointer (SP) for process
/*Create queue_t and process_t (allocate memory)*/
queue_t *elm = (queue_t *)malloc(sizeof(queue_t));
elm->p = (process_t *)malloc(sizeof(process_t));
//Initialize memory allocation for running the process
_disable_interrupt();
sp_create = process_init(f,n);
_enable_interrupt();
//If memory allocation failed
if (sp_create == 0)return -1;
else { //Memory Allocation Success. Set process's SP and Add elm to queue
elm->p->sp = sp_create;
add_queue(elm);
return 0;
}
}
void UCB0I2CRead(unsigned char countByte, unsigned char *RXpnter, unsigned char startRegister){
RXBytes=RXpnter; //assign the local pointer (pnter) to the global pointer for recieving data, instantiated above
byteCountRX=countByte;
unsigned char IER=UCB1IE;
_disable_interrupt();
//First we have to write the start Register and the Slave Address
UCB1CTL1|=UCTR+UCTXSTT; // to the Bus. This section does so without transmitting a STOP
//condition, preparing us for a repeated START condition
UCB1TXBUF=startRegister;
while(UCB1CTL1 & UCTXSTT);
UCB1IFG&=~UCTXIFG;
UCB1CTL1&=~(UCTR+UCTXSTT);
__enable_interrupt();
/* This section below triggers the RX ISR */
UCB1CTL1|=UCTXSTT; //set start condition if it does not already exist, ISR handles the rest
}
// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
void main(void) {
initMSP430(); // Setup MSP to process IR and buttons
while(1) {
if (newIrPacket) { //Got a new packet!
_disable_interrupt();
newIrPacket = FALSE;
packetIndex = 0;
if(packetBits == ONE){
P1OUT ^= BIT0; //Alternate the Red LED
}
else if(packetBits == TWO){
P1OUT ^= BIT6; //Alternate the Green LED
}
_enable_interrupt();
} // end if new IR packet arrived
} // end infinite loop
} // end main
void main(void) {
// === Initialize system ================================================
IFG1=0; /* clear interrupt flag1 */
WDTCTL = WDTPW|WDTHOLD; // stop the watchdog timer
initMSP430();
P2DIR |= BIT2; // P2.2 is associated with TA1CCR1
P2SEL |= BIT2; // P2.2 is associated with TA1CCTL1
P2DIR |= BIT4; // P2.2 is associated with TA1CCR2
P2SEL |= BIT4; // P2.2 is associated with TA1CCTL2
TA1CTL = ID_3 | TASSEL_2 | MC_1; // Use 1:8 presclar off MCLK
TA1CCR0 = 100; // set signal period
TA1CCR1 = 20;
TA1CCTL1 = OUTMOD_7; // set TACCTL1 to Reset / Set mode
TA1CCR2 = 80;
TA1CCTL2 = OUTMOD_3;
// P2.0 - Timer1_A, capture: CCI0A input, compare: Out0 output
// P2.1 - Timer1_A, capture: CCI1A input, compare: Out1 output
// P2.3 - Timer1_A, capture: CCI0B input, compare: Out0 output
// P2.5 - Timer1_A, capture: CCI2B input, compare: Out2 output
while(1) {
if(flagged==1) {
_disable_interrupt();
packetCount = 0;
while(packetData[packetCount]==2) {
packetCount++;
}
while(packetCount<33) {
irPacket+=packetData[packetCount];
irPacket<<=1;
packetCount++;
}
irPacket+=packetData[packetCount];
if(irPacket == SEL) {
stopMovingForward();
stopMovingBackward();
movement=0;
}
if (movement == 0) {
if(irPacket == CH_UP) {
moveForward();
movement = 1;
}
if(irPacket == CH_DW) {
moveBackward();
movement = 1;
}
if(irPacket == CH_L) {
moveLeft();
}
if(irPacket == CH_R) {
moveRight();
}
}
unsigned int i;
for(i=0; i<0xFFFF;i++);
for(i=0; i<0xFFFF;i++);
for(i=0; i<0xFFFF;i++);
packetIndex=0;
irPacket=0x00000000;
flagged =0;
_enable_interrupt();
} else {
irPacket = 0x00000000;
}
} // end if new IR packet arrived
} //end forever loop
// -----------------------------------------------------------------------
// Main: Initializes the MSP430 and checks input for a known code
// -----------------------------------------------------------------------
void main(void) {
init();
initNokia();
initMSP430(); // Setup MSP to process IR and buttons
clearDisplay();
x=1; y=1;
color= BLACK;
drawBlock(y,x);//, color);
while(1) {
if (newIrPacket) { //Got a new packet!
_disable_interrupt();
newIrPacket = FALSE;
packetIndex = 0;
if(IS_BUTTON_ONE){
P1OUT ^= BIT0; //Alternate the Red LED
}
else if(IS_BUTTON_TWO){
P1OUT ^= BIT6; //Alternate the Green LED
}
//Check if color is changed by middle button
else if(packetBits == BIG_MIDDLE){
color = (color+1)%2;
}
//Check if up button is pressed
else if (packetBits == BIG_UP) {
if (y>=1) y=y-1;
drawBlock(y,x,color);
}
//Check if down button is pressed
else if (packetBits == BIG_DOWN) {
if (y<=6) y=y+1;
drawBlock(y,x,color);
}
//Check if left button is pressed
else if (packetBits == BIG_LEFT) {
if (x>=1) x=x-1;
drawBlock(y,x,color);
}
//Check if right button is pressed
else if (packetBits == BIG_RIGHT) {
if (x<=10) x=x+1;
drawBlock(y,x,color);
}
initMSP430();
_enable_interrupt();
} // end if new IR packet arrived
} // end infinite loop
} // end main
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
initMSP430();
while (1) {
if (packetIndex > 40) {
_disable_interrupt();
while(packetData[i] != 2 && i < 80){
i++;
}
for(j = 0; j < 31; j++){
i++;
irPacket += packetData[i];
irPacket <<= 1;
}
if(irPacket == CH_UP){
initRobot();
moveForward(50);
newPacket = TRUE;
}
if(irPacket == CH_DW){
initRobot();
moveBackward(50);
newPacket = TRUE;
}
if(irPacket == VOL_UP){
initRobot();
turnRight(50);
newPacket = TRUE;
}
if(irPacket == VOL_DW){
initRobot();
turnLeft(50);
newPacket = TRUE;
}
if(irPacket == ONE){
newPacket = TRUE;
}
if(irPacket == TWO){
newPacket = TRUE;
}
if(irPacket == THR){
newPacket = TRUE;
}
if(irPacket == PWR){
newPacket = TRUE;
shutDown();
}
if(newPacket == TRUE){
initMSP430();
newPacket = FALSE;
}
i = 0;
packetIndex = 0;
_enable_interrupt();
} // end if new IR packet arrived
}
}
void main(void) {
//This sets up the block position
unsigned char x, y, c;
IFG1=0; // clear interrupt flag1
WDTCTL=WDTPW+WDTHOLD; // stop WD
BCSCTL1 = CALBC1_8MHZ; //set up clock
DCOCTL = CALDCO_8MHZ;
init();
initNokia();
initMSP430();
clearDisplay();
drawBlock(y,x,c);
x = 6;
y = 4;
c=0xFF;
initMSP430();
while(1){ // Determine value of IrPacket
if(packetIndex == 34){ // if one full signal is recieved, then the loop will iterate
_disable_interrupt();
int32 IrPacket = 0;
int32 setBit = 0xF0000000;
char i;
for(i = 2; i<34; i++){
int16 current = packetData[i]; // This is the current element
if(current/10 < 100){
IrPacket &= ~setBit;
} else {
IrPacket |= setBit;
}
setBit >>= 1;
}
packetIndex++; // This just makes sure that the loop is not entered into again.
initNokia();
// Handle the button presses
if (IrPacket == ZERO) { //This is the process in which we pick the "color" of the block
if(c == 0xFF){
c = 0;
} else if (c == 0){
c = 0xFF;
}
}
if (IrPacket == VOL_UP) { //These just check for button presses in a particular direction.
if (y>=1) y=y-1;
} else if (IrPacket == VOL_DW) {
if (y<=6) y=y+1;
} else if (IrPacket == ONE) {
if (x>=1) x=x-1;
} else if (IrPacket == TWO) {
if (x<=10) x=x+1;
}
drawBlock(y, x, c); //draws the block
initMSP430(); //Now we look for another IR input.
}
}
void getTimeFromTarget(etTargetTime_t *t) {
_disable_interrupt();
*t = targetTime;
_enable_interrupt();
}
/*
* handlePress()
* copied from Lab05
* decodes which button was pressed on remote
* modified to call appropriate drive function
*/
void handlePress(){
_disable_interrupt();
int32 result = 0;
int32 setter = 0x80000000; //1 in the MSB
char i;
for(i = 2; i<34; i++){ //traverse array
int16 current = packetData[i]; //current element
packetData[0] = 0; //clear element
if(current/10 < 100){ //is a zero
result &= ~setter; //clear bit
}
else {
result |= setter; //set bit
}
setter >>= 1; //rotate setter
}
packetIndex++; //ensure the loop is not reentered
switch(result){ //take appropriate action
case UP:
P1OUT ^= BIT0;
drive(FORWARD);
break;
case DOWN:
P1OUT ^= BIT6;
drive(BACKWARD);
break;
case LEFT:
P1OUT |= (BIT0 | BIT6);
drive(LEFT_T);
break;
case RIGHT:
P1OUT ^= (BIT0 | BIT6);
drive(RIGHT_T);
break;
case EXIT:
drive(STOP);
break;
case CH_UP:
break;
case CH_DW:
break;
case MUTE:
break;
}
initIR();
}
void main(void) {
initMSP430();
moveForward();
P1DIR &= ~BIT3;
P1REN |= BIT3;
// Left
P2DIR |= BIT0; // 1,2EN as OUT
P2DIR |= BIT1; // Sets direction of left motor
P2DIR |= BIT2; // P2.2 is associated with TA1CCR
P2SEL |= BIT2; // P2.2 is associated with TA1CCTL1
// Right
P2DIR |= BIT5; // 3,4EN as OUT
P2DIR |= BIT3; // direction of right motor
P2DIR |= BIT4; // P2.2 is associated with TA1CCR2
P2SEL |= BIT4; // P2.2 is associated with TA1CCTL2
TA1CTL = ID_3 | TASSEL_2 | MC_1; // Use 1:8 presclar off MCLK
TA1CCR0 = 100; // set signal period
TA1CCR1 = 50;
TA1CCTL1 = OUTMOD_7; // set TACCTL1 to Reset / Set mode
TA1CCR2 = 50;
TA1CCTL2 = OUTMOD_3; // set TACCTL2 to Set / Reset mode
while(1) {
//This runs if we get a new packet from the remote and decodes it to control the code
if(newIRPacket){
_disable_interrupt();
if(packet == VOL_UP){
moveForward();
}else if(packet == VOL_DW){
moveBackward();
}else if(packet == TWO ){
rotateLeft();
__delay_cycles(fullturn);
}else if(packet == ONE){
rotateRight();
__delay_cycles(fullturn);
}else{
stopMoving();
}
//Now we reset the interrupt so we can run through this cycle again.
_enable_interrupt();
initMSP430();
newIRPacket= FALSE;
}
}
}
