// Main program
int main(void)
{
char i;
char *heap_end;
// Initialize all modules
uart_init(115200);
accel_init();
touch_init((1 << 9) | (1 << 10)); // Channels 9 and 10
// usb_init();
setvbuf(stdin, NULL, _IONBF, 0); // No buffering
// Run tests
tests();
delay(500);
RGB_LED(0,100,0); // Green
// Welcome banner
iprintf("\r\n\r\n====== Freescale Freedom FRDM-LK25Z\r\n");
iprintf("Built: %s %s\r\n\r\n", __DATE__, __TIME__);
heap_end = _sbrk(0);
iprintf("Heap: %p to %p (%d bytes used)\r\n", __heap_start, heap_end, heap_end - __heap_start);
iprintf("Stack: %p to %p (%d bytes used)\r\n", &i, __StackTop, __StackTop - &i);
iprintf("%d bytes free\r\n", &i - heap_end);
for(;;) {
iprintf("monitor> ");
getchar();
iprintf("\r\n");
iprintf("Inputs: x=%5d y=%5d z=%5d ", accel_x(), accel_y(), accel_z());
iprintf("touch=(%d,%d)\r\n", touch_data(9), touch_data(10));
// usb_dump();
}
}
double SensorsWidget::rawValue(const int &i) const
{
double val = 0;
if(i < 8) val = analog10(i);
else if(i < 12) val = get_motor_position_counter(i - 8);
else if(i == 12) val = accel_x();
else if(i == 13) val = accel_y();
else if(i == 14) val = accel_z();
return val;
}
// Main program
int main(void)
{
char i;
char ch;
char *heap_end;
char inBuffer[BUF_SIZE];
int readLen,bufPos;
int n;
int nargs[10];
int hasAccelData = 0;
int hasTouchData = 0;
// Initialize all modules
RGB_LED(100,0,0);
//uart_init(115200);
uart_init(9600);
accel_init();
touch_init((1 << 9) | (1 << 10)); // Channels 9 and 10
// usb_init();
setvbuf(stdin, NULL, _IONBF, 0); // No buffering
// Run tests
tests();
delay(500);
// Welcome banner
iprintf("\r\n\r\n====== Freescale Freedom FRDM-LK25Z\r\n");
iprintf("Built: %s %s\r\n\r\n", __DATE__, __TIME__);
heap_end = _sbrk(0);
iprintf("Heap: %p to %p (%d bytes used)\r\n", __heap_start, heap_end,
heap_end - (char *)__heap_start);
iprintf("Stack: %p to %p (%d bytes used)\r\n", &i, __StackTop,
(char *)__StackTop - &i);
iprintf("%d bytes free\r\n", &i - heap_end);
inBuffer[0] = 0; // reset buffer
bufPos = 0;
RGB_LED(0,100,0); // Green
for(;;) {
readLen = uart_read_nonblock(inBuffer+bufPos,BUF_SIZE-(bufPos+2));
if (readLen>0) {
bufPos+=readLen;
// quick trim
while(bufPos>0 && isspace(inBuffer[bufPos-1]))
bufPos--;
inBuffer[bufPos] = 0;
if (inBuffer[bufPos-1] == ';') {
iprintf("(in buf = '%s', len=%d)\r\n",inBuffer,bufPos);
switch(inBuffer[0]) {
case 'C':
n = sscanf(inBuffer+1,"%i,%i,%i",&nargs[0],&nargs[1],&nargs[2]);
if(n==3) RGB_LED(nargs[0],nargs[1],nargs[2]);
break;
case 'R':
RGB_LED(100,0,0);
break;
case 'G':
RGB_LED(0,100,0);
break;
case 'B':
RGB_LED(0,0,100);
break;
case 'A':
hasAccelData = 1;
break;
case 'a':
hasAccelData = 0;
break;
case 'T':
hasTouchData = 1;
break;
case 't':
hasTouchData = 0;
break;
case 'i':
iprintf("[efb,0.1] empiriKit Freescale Board, v.0.1\r\n");
break;
}
bufPos = 0; // "clear" the buffer
}
}
if (hasAccelData)
iprintf("a%d,%d,%d;\r\n", accel_x(), accel_y(), accel_z());
if (hasTouchData)
iprintf("t%d,%d;\r\n", touch_data(9), touch_data(10));
}
}
void kissSimComputerDraw()
{
int oriX=ksWindow.simWidth, oriY=0, i;
static char digitals[]="0 0 0 0 0 0 0 0";
static char buttons[]="0 0 0 0 0 0 0";
static char analogs[11][10]={" "," "," "," "," "," "," "," "," "," "," "};
static char actuators[4][25]={" "," "," "," "};
static char servos[4][25]={" "," "," "," "};
if(!glfwGetWindowParam(GLFW_OPENED)) return;
graphics_rectangle_fill(oriX,oriY,oriX+1,ksWindow.height,BLACK); // draw left border
draw_bg(oriX+5,oriY+9,0.36); // Botguy
NOBOLD g_printString(" CBC SIMULATOR",oriX+25, oriY+10,TEAL,1.0);
NOBOLD g_printString(" DIGITALS ",oriX+25, oriY+40,TEAL,1.0);
NOBOLD g_printString("0 1 2 3 4 5 6 7",oriX+25, oriY+55,TEAL,1.0);
NOBOLD g_printString(" BUTTONS ",oriX+25, oriY+90,TEAL,1.0);
//NOBOLD g_printString("< ^ V > A B .",oriX+30, oriY+105,TEAL,1.0);
NOBOLD g_printString("\xb \xd \xe \xc A B .",oriX+30, oriY+105,TEAL,1.0);
// hex b, c, d, e are left, right, up, and down arrows
NOBOLD g_printString(digitals,oriX+25, oriY+70,WHITE,1.0); // erase old digital values
NOBOLD g_printString(" ANALOGS ",oriX+25, oriY+140,TEAL,1.0);
for(i=0;i<8;i++){
digitals[2*i]=48+digital(i);
}
NOBOLD g_printString(digitals,oriX+25, oriY+70,BLACK,1.0); // write new digital values
NOBOLD g_printString(buttons,oriX+30, oriY+120,WHITE,1.0); // erase old button values
buttons[0]=48+!!left_button();
buttons[2]=48+!!up_button();
buttons[4]=48+!!down_button();
buttons[6]=48+!!right_button();
buttons[8]=48+!!a_button();
buttons[10]=48+!!b_button();
_bob.button=!!kiss_get_key('.');
buttons[12]=48+black_button();
NOBOLD g_printString(buttons,oriX+30, oriY+120,BLACK,1.0); // erase old button values
for(i=8;i<16;i++){//print out analogs
analogs[i-8][1]=(i<10)?48+i:48+i-10;
analogs[i-8][0]=(i<10)?32:49;
analogs[i-8][2]=':';
analogs[i-8][3]=' ';
NOBOLD g_printString(analogs[i-8],oriX+5, oriY+155+(15*(i-8)),WHITE,1.0);
convertNumToString(analog10(i),4,*analogs,10,i-8,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(i-8)),oriX+157, oriY+165+(15*(i-8)),GRAY);
graphics_line(oriX+30+analog(i)/2, oriY+155+(15*(i-8)),oriX+30+analog(i)/2,oriY+165+(15*(i-8)),RED);
NOBOLD g_printString(analogs[i-8],oriX+5, oriY+155+(15*(i-8)),BLACK,1.0);
}
analogs[8][1]='X';
analogs[8][0]='A';
analogs[8][2]=':';
analogs[8][3]=' ';
NOBOLD g_printString(analogs[8],oriX+5, oriY+155+(15*(8)),WHITE,1.0);
convertNumToString(accel_x(),5,*analogs,10,8,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(8)),oriX+157, oriY+165+(15*(8)),GRAY);
graphics_line(oriX+30+(accel_x()+2048)/32, oriY+155+(15*(8)),oriX+30+(accel_x()+2048)/32,oriY+165+(15*(8)),RED);
NOBOLD g_printString(analogs[8],oriX+5, oriY+155+(15*(8)),BLACK,1.0);
analogs[9][1]='Y';
analogs[9][0]='A';
analogs[9][2]=':';
analogs[9][3]=' ';
NOBOLD g_printString(analogs[9],oriX+5, oriY+155+(15*(9)),WHITE,1.0);
convertNumToString(accel_y(),5,*analogs,10,9,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(9)),oriX+157, oriY+165+(15*(9)),GRAY);
graphics_line(oriX+30+(accel_y()+2048)/32, oriY+155+(15*(9)),oriX+30+(accel_y()+2048)/32,oriY+165+(15*(9)),RED);
NOBOLD g_printString(analogs[9],oriX+5, oriY+155+(15*(9)),BLACK,1.0);
analogs[10][1]='Z';
analogs[10][0]='A';
analogs[10][2]=':';
analogs[10][3]=' ';
NOBOLD g_printString(analogs[10],oriX+5, oriY+155+(15*(10)),WHITE,1.0);
convertNumToString(accel_z(),5,*analogs,10,10,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(10)),oriX+157, oriY+165+(15*(10)),GRAY);
graphics_line(oriX+30+(accel_z()+2048)/32, oriY+155+(15*(10)),oriX+30+(accel_z()+2048)/32,oriY+165+(15*(10)),RED);
NOBOLD g_printString(analogs[10],oriX+5, oriY+155+(15*(10)),BLACK,1.0);
NOBOLD g_printString("MOT PWM TPS ENCODER VAL",oriX+5, oriY+330,TEAL,1.0);
for(i=0;i<4;i++){
actuators[i][0]=48+i;
actuators[i][1]=':';
actuators[i][2]=' ';
NOBOLD g_printString(actuators[i],oriX+5, oriY+345+(15*(i)),WHITE,1.0);
convertNumToString(_bob.motor_pwm[i],4,*actuators,25,i,2);
convertNumToString(_bob.motor_tps[i],4,*actuators,25,i,7);
convertNumToString(_bob.motor_counter[i],10,*actuators,25,i,12);
NOBOLD g_printString(actuators[i],oriX+5, oriY+345+(15*(i)),BLACK,1.0);
}
if(_bob.enable_servos){
NOBOLD g_printString("SERVO TARGET DISABLED",oriX+5, oriY+410,WHITE,1.0);
NOBOLD g_printString("SERVO TARGET ENABLED",oriX+5, oriY+410,TEAL,1.0);
}
else {
NOBOLD g_printString("SERVO TARGET ENABLED",oriX+5, oriY+410,WHITE,1.0);
NOBOLD g_printString("SERVO TARGET DISABLED",oriX+5, oriY+410,TEAL,1.0);
}
for(i=0;i<4;i++){
servos[i][2]=49+i;//servos are 1 indexed!!
servos[i][3]=':';
servos[i][4]=' ';
NOBOLD g_printString(servos[i],oriX+5, oriY+425+(15*(i)),WHITE,1.0);
convertNumToString(_bob.servo_targets[i],4,*servos,25,i,6);
NOBOLD g_printString(servos[i],oriX+5, oriY+425+(15*(i)),BLACK,1.0);
}
}