int main(void) {
uint16_t diff;
int16_t count_deviation;
uint32_t count;
char count_string[COUNT_STRING_LEN + 1];
char pwm_string[3 + 1];
int16_t c_int = 0;
int16_t vc = 0;
WDTCTL = WDTPW + WDTHOLD;
hw_init();
gps_startup_delay();
while(!(gps_disable_nmea_output()));
while(!(gps_set_gps_only()));
while(1) {
if (P1IN & CLK_PPS) {
PJOUT |= LED4;
} else {
PJOUT &= ~LED4;
}
if (meas_finished == 1) {
meas_finished = 0;
diff = end_count - start_count;
count_deviation = (int16_t) (diff - SETPOINT_COUNT_MOD);
/* visual lock indication */
if (count_deviation < -FDEV_DEADZONE) {
PJOUT = LED1;
} else if (count_deviation > FDEV_DEADZONE) {
PJOUT = LED3;
} else {
PJOUT = LED2;
}
/* output absolute count number to USART */
count = SETPOINT_COUNT + count_deviation;
i32toa(count, COUNT_STRING_LEN, count_string);
count_string[COUNT_STRING_LEN] = ' ';
debug_transmit_string_fixed(count_string, COUNT_STRING_LEN + 1);
/* control algorithm, count_deviation contains the control error */
c_int = c_int + count_deviation;
if (c_int > 200) c_int = 200;
if (c_int < -200) c_int = -200;
vc = (32768 - 350 * c_int) >> 8;
if (vc > 255) vc = 255;
if (vc < 0) vc = 0;
TA1CCR2 = vc;
/* output PWM for debug purposes */
i32toa((uint32_t)vc, 3, pwm_string);
pwm_string[3] = '\n';
debug_transmit_string_fixed(pwm_string, 3 + 1);
}
} /* while(1) */
/*
All extended commands are handled here. This is a really long
switch statement. It could be made shorter by making the contents function
calls but (outside of a good optimizer) this would incur additional overhead.
We want to be as fast as possible.
If you are reading this, but haven't looked at uForth scripts, you are
missing a lot of context. This is just a bunch of utility calls that will
make more sense when browsed within the context of a calling script!
*/
uforth_stat c_ext_handle_cmds(CELL n) {
CELL r1, r2,r3; /* NOTE: THESE ARE 16 bit values! */
char *str1;
switch (n) {
case UF_INTERP: /* recursively call the uforth interpreter */
r1 = dpop();
str1 = uforth_count_str(r1,&r1);
str1[r1] = '\0';
dpush(uforth_interpret(str1));
break;
case UF_SUBSTR: /* return a substring of the uForth string */
r1 = dpop(); /* addr */
r2 = dpop(); /* length */
r3 = dpop(); /* start */
str1 = uforth_count_str(r1,&r1);
if (r1 < r2) r2 = r1;
PAD_STRLEN = r2;
memcpy(PAD_STR, str1 + r3, r2);
dpush(RAM_START_IDX+PAD_ADDR);
break;
case UF_NUM_TO_STR: /* 32bit to string */
{
char num[12];
i32toa(dpop32(),num,uforth_uram->base);
PAD_STRLEN=strlen(num);
memcpy(PAD_STR, num, PAD_SIZE);
dpush(RAM_START_IDX+PAD_ADDR);
}
break;
default:
return E_ABORT;
}
return OK;
}
void cmain(void)
{
char s[200];
unsigned i;
out(" <-- Test: Hello, World!");
for (i = 0;; i++)
{
i32toa(i, s, 10);
out(s);
}
}
/*
* prepare_tx_buffer
*
* fills tx_buf with telemetry values. this depends on the
* GPS having a fix and telemetry being extracted before
*
* telemetry format:
* - callsign
* - sentence id
* - time
* - latitude
* - longitude
* - altitude
* - available satellites
* - voltage of the AAA cell
* - MSP430 temperature
*/
void prepare_tx_buffer(void) {
static uint16_t sent_id = 0;
int i;
uint16_t crc;
sent_id++;
tlm_sent_id_length = i16toav(sent_id, &tx_buf[TX_BUF_SENT_ID_START]);
tx_buf[TX_BUF_SENT_ID_START + tlm_sent_id_length] = ',';
i16toa(current_fix.hour, 2, &tx_buf[TX_BUF_TIME_START]);
i16toa(current_fix.min, 2, &tx_buf[TX_BUF_TIME_START + 2]);
i16toa(current_fix.sec, 2, &tx_buf[TX_BUF_TIME_START + 4]);
tx_buf[TX_BUF_TIME_START + TIME_LENGTH] = ',';
if (current_fix.lat > 0) {
tx_buf[TX_BUF_LAT_START] = '+';
i32toa(current_fix.lat, 9, &tx_buf[TX_BUF_LAT_START + 1]);
} else {
tx_buf[TX_BUF_LAT_START] = '-';
i32toa(0 - current_fix.lat, 9, &tx_buf[TX_BUF_LAT_START + 1]);
}
/* copy fraction of degrees one character towards the end, insert dot */
/* 012XXXXXX -> 012 XXXXXX */
for (i = 8; i >= 3; i--) {
tx_buf[TX_BUF_LAT_START + i + 1] = tx_buf[TX_BUF_LAT_START + i];
}
tx_buf[TX_BUF_LAT_START + 3] = '.';
tx_buf[TX_BUF_LAT_START + LAT_LENGTH + 1] = ',';
if (current_fix.lon > 0) {
tx_buf[TX_BUF_LON_START] = '+';
i32toa(current_fix.lon, 10, &tx_buf[TX_BUF_LON_START + 1]);
} else {
tx_buf[TX_BUF_LON_START] = '-';
i32toa(0 - current_fix.lon, 10, &tx_buf[TX_BUF_LON_START + 1]);
}
/* copy fraction of degrees one character towards the end, insert dot */
/* 51XXXXXX -> 51 XXXXXX */
for (i = 9; i >= 4; i--) {
tx_buf[TX_BUF_LON_START + i + 1] = tx_buf[TX_BUF_LON_START + i];
}
tx_buf[TX_BUF_LON_START + 4] = '.';
tx_buf[TX_BUF_LON_START + LON_LENGTH + 1] = ',';
tlm_alt_length = i16toav(current_fix.alt, &tx_buf[TX_BUF_ALT_START]);
tx_buf[TX_BUF_ALT_START + tlm_alt_length] = ',';
i16toa(current_fix.num_svs, SAT_LENGTH, &tx_buf[TX_BUF_SAT_START]);
tx_buf[TX_BUF_SAT_START + SAT_LENGTH] = ',';
i16toa(current_fix.voltage_bat, VOLT_LENGTH, &tx_buf[TX_BUF_VOLT_START]);
tx_buf[TX_BUF_VOLT_START + VOLT_LENGTH] = ',';
if (current_fix.temperature_int < 0) {
tx_buf[TX_BUF_TEMP_START] = '-';
i16toa(0 - current_fix.temperature_int, TEMP_LENGTH, &tx_buf[TX_BUF_TEMP_START + 1]);
} else {
tx_buf[TX_BUF_TEMP_START] = '+';
i16toa(current_fix.temperature_int, TEMP_LENGTH, &tx_buf[TX_BUF_TEMP_START + 1]);
}
tx_buf[TX_BUF_TEMP_START + TEMP_LENGTH + 1] = '*';
crc = calculate_txbuf_checksum();
i16tox(crc, &tx_buf[TX_BUF_CHECKSUM_START]);
for (i = 0; i < TX_BUF_POSTFIX_LENGTH; i++)
tx_buf[TX_BUF_POSTFIX_START + i] = TX_BUF_POSTFIX[i];
tx_buf_length = TX_BUF_FRAME_END;
/* trigger transmission */
tx_buf_rdy = 1;
}