void lcd_start_screen()
{
lcd_cls();
lcd_locate(0,0);
lcd_str(" SFP PROGRAMMER ");
lcd_locate(1,0);
lcd_str(" ALPHA 0.1 2014 ");
}
int main (void)
{
board_init();
// Insert application code here, after the board has been initialized.
lcd_init();
lcd_cls();
lcd_locate(0,0);
lcd_set_font(Lcd_Font_5x7);
lcd_write_s(c_GreetingMsg);
/* Initialize the PWM driver and set proper frequency */
pwm_init();
pwm_set_duty(0);
pwm_set_frequency(Pwm_31250Hz);
/* Initialize the encoder and register a callback function */
encoder_init();
encoder_register_event(OnEncoderEvent);
while(1)
{
encoder_cyclic();
switch(CurrentState)
{
case State_Info:
// info_cyclic(&CurrentEventMask);
CurrentState = State_MainMenu;
break;
case State_MainMenu:
CurrentState = main_menu_cyclic(MainMessagePump);
break;
case State_Reflow:
// refow_cyclic();
CurrentState = State_MainMenu;
break;
case State_Learn:
// learn_cyclic();
CurrentState = State_MainMenu;
break;
case State_Parameterize:
// parameterize_cyclic();
CurrentState = State_MainMenu;
break;
default:
CurrentState = State_MainMenu;
break;
}
}
}
int
main ()
{
DDRD = 0x00;
PORTD = 0xff;
lcd_init ();
/*display on, cursor & blink off */
lcd_control (1, 0, 0);
timer1_init ();
lcd_cls ();
lcd_clear_CRGAM ();
//az elso sorba irunk
lcd_putstr ("Vertical", LCD_FIRST_LN_ADDR);
/* main -loop */
for (;;)
{
if (cnt1 == CNT1_THRESHOLD)
{
cnt1 = 0;
cnt3_flag = 1;
//clear second line
for (ch = 0; ch < 20; ch++)
{
lcd_set_DDRAM_addr (LCD_SECND_LN_ADDR + ch);
lcd_putch (' ');
}
/*
* array2d: custom chars array
* ROWS: number of chars
* 30: vertical delay in ms
* 0: horiz. delay
* LCD_FIRST_LN_ADDR + 9 : ddram addr.
* 1: set CGRAM clear mode; 0: no CGRAM clear
*/
//nem clear modban erdekes hatast kelt ;-)
lcd_vertical_scroll (array2d, ROWS, 40, 0 /* delay ms */ ,
LCD_FIRST_LN_ADDR + 9, 0);
}
if (cnt3 == CNT3_THRESHOLD)
{
cnt3 = 0;
cnt3_flag = 0;
lcd_putstr ("Is COOL!", LCD_SECND_LN_ADDR + 5);
}
}
return 0;
}
static void next_level(bool init_game)
{
if(init_game){
g_level = 1;
g_hp = 20;
lcd_byte(0x08+4, 0);//Normal mode
lcd_cls();
} else {
g_level++;
g_seed += g_counter0;
}
make_current_dungeon();
}
void initAll(){
SysTick_Config(SystemCoreClock / 1000);
lcd_init();
lcd_home();
lcd_cls();
initPWM(PWM_TIME_PERIOD);
setServoAngle(0,0);
UARTInit(BAUD_RATE);
ds1307Init();
eeprom_24aaInit();
eeprom24aaMemoryCheck();
initButtons();
}
//Prüfung ob zu weit links oder rechts und reagieren mit Kurskorrektur ->Folgen der Linie
void followLine(void){
updateSensorsWhite();
if (kurven == 7 && count == 1 && setting == 0){
if (sensor[MID_MID] == 0){
if(start == 'l'){ //zu weit rechts
motPowRight = motPowRight + 2; //nach links lenken
lcd_cls();
lcd_puts("links");
// }else{//zu weit links
// motPowLeft = motPowLeft + 2; //nach rechts lenken
// motPowRight = motPowRight -2;
// lcd_cls();
// lcd_puts("rechts");
}
setMotPow(motPowLeft,motPowRight);
}else{
if(start == 'l'){//zu weit links
//motPowLeft = motPowLeft + 1; //nach rechts lenken
//lcd_cls();
//lcd_puts("rechts");
}else{//zu weit rechts
motPowRight = motPowRight + 1;//nach links lenken
lcd_cls();
lcd_puts("links");
}
setMotPow(motPowLeft,motPowRight);
}
setting = 1;
}else if (muchLeft()){
setMotPow(motPowLeft,0);
}else if (muchRight()){
setMotPow(0,motPowRight);
}else{
setMotPow(motPowLeft,motPowRight);
}
}
/*-----------------27.5.99 20:30--------------------
* Display initialization
*--------------------------------------------------*/
void lcd_init(void)
{
outp(0xFF,DDRA);
lcd_delay(10000);
outp(0x03,PORTA); toggle_E(); lcd_delay(500);
outp(0x03,PORTA); toggle_E(); lcd_delay(100);
outp(0x03,PORTA); toggle_E(); lcd_delay(100);
outp(0x02,PORTA); toggle_E(); lcd_delay(100);
outp(0x02,PORTA); toggle_E();
outp(0x08,PORTA); toggle_E(); lcd_delay(100);
outp(0x00,PORTA); toggle_E();
outp(0x0F,PORTA); toggle_E(); lcd_delay(100);
outp(0x00,PORTA); toggle_E();
outp(0x06,PORTA); toggle_E(); lcd_delay(100);
lcd_cls();
}
//----------------------------------------------------------------------------------------
//
// ******* INICJALIZACJA WY�WIETLACZA LCD ********
//
//----------------------------------------------------------------------------------------
void lcd_init(void)
{
// inicjowanie pin�w port�w ustalonych do pod��czenia z wy�wietlaczem LCD
// ustawienie wszystkich jako wyj�cia
data_dir_out();
DDR(LCD_RSPORT) |= (1<<LCD_RS);
DDR(LCD_EPORT) |= (1<<LCD_E);
DDR(LCD_BACKGROUNDPORT) |= (1<<LCD_BL);
#if USE_RW == 1
DDR(LCD_RWPORT) |= (1<<LCD_RW);
#endif
// wyzerowanie wszystkich linii steruj�cych
PORT(LCD_RSPORT) &= ~(1<<LCD_RS);
PORT(LCD_EPORT) &= ~(1<<LCD_E);
#if USE_RW == 1
PORT(LCD_RWPORT) &= ~(1<<LCD_RW);
#endif
_delay_ms(15);
PORT(LCD_RSPORT) &= ~(1<<LCD_RS);
PORT(LCD_RWPORT) &= ~(1<<LCD_RW);
// jeszcze nie mo�na u�ywa� Busy Flag
lcd_sendHalf(LCDC_FUNC|LCDC_FUNC8B);
_delay_ms(4.1);
lcd_sendHalf(LCDC_FUNC|LCDC_FUNC8B);
_delay_us(100);
lcd_sendHalf(LCDC_FUNC|LCDC_FUNC4B);
_delay_us(100);
// ju� mo�na u�ywa� Busy Flag
// tryb 4-bitowy, 2 wiersze, znak 5x7
lcd_write_cmd( LCDC_FUNC|LCDC_FUNC4B|LCDC_FUNC2L|LCDC_FUNC5x7 );
// wy��czenie kursora
lcd_write_cmd( LCDC_ONOFF|LCDC_CURSOROFF );
// w��czenie wy�wietlacza
lcd_write_cmd( LCDC_ONOFF|LCDC_DISPLAYON );
// przesuwanie kursora w prawo bez przesuwania zawarto�ci ekranu
lcd_write_cmd( LCDC_ENTRY|LCDC_ENTRYR );
// kasowanie ekranu
lcd_cls();
lcd_backgroundLedOn();
}
static void wavePlayEventHandler(uint8_t evt)
{
static uint8_t prevEvt=0;
if (evt && evt < 15)
if (prevEvt!=evt) {
prevEvt=evt;
codec_sendBeep();
}
switch (evt)
{
case BTN_RIGHT:
lcd_cls();
ui_displayPreviousMenu();
break;
case BTN_LEFT:
chThdTerminate(playerThread);
chThdWait(playerThread);
playerThread=NULL;
break;
case BTN_MID_DOWN:
vol--;
if (vol < 150) vol=150;
codec_volCtl(vol);
break;
case BTN_MID_UP:
vol++;
if (vol > 220) vol=220;
codec_volCtl(vol);
break;
case BTN_MID_SEL:
if (!pause) {
pause=1;
ui_drawBottomBar("Stop", "Play", "Exit");
} else {
pause=0;
ui_drawBottomBar("Stop", "Pause", "Exit");
}
codec_pauseResumePlayback(pause);
break;
}
}
void lcd_init(void)
{
/*
* 初始化LCD
*
* 调用：lcd_cls()、lcd_cmd()、lcd_position
*/
lcd_cls();
lcd_cmd(LCD_CURSOR);
lcd_cmd(LCD_AC_AUTO_INCREMENT);
lcd_cmd(LCD_DISPLAY_ON);
lcd_cmd(LCD_LINES); //工作方式（行数）
lcd_position(2,0); //定位到第一行第一列
}
int main (void)
{
// enable pull ups for the 4 keys
PORTA |= (1<<PORTA4)|(1<<PORTA5)|(1<<PORTA6)|(1<<PORTA7);
// set LED Pins to output
DDRC |= (1<<DDC2); // BL-LED1
DDRD |= (1<<DDD6); // BL-LED2
DDRD |= (1<<DDD7); // BL-LED3
DDRC |= (1<<DDC6); // buzzer
// disable bootloader LED
DDRC |= (1<<DDC3);
PORTC |= (1<<PORTC3);
LCD_Init ();
USART_Init ();
USART1_Init ();
TWIM_Init (200000);
TIMER0_Init ();
sei ();
lcd_cls ();
lcd_printp (PSTR("Hallo"), 0);
for (;;)
{
}
}
void refresh(void)
{
/*
液晶显示刷新函数
*/
lcd_cls();
switch(State){
case 0:
switch(Signal.w){
case 0:lcd_printsxy("Sine A= Vol",0,0); break;
case 1:lcd_printsxy("Rect A= Vol",0,0); break;
case 2:lcd_printsxy("Tria A= Vol",0,0); break;
}
lcd_printnxy(Signal.a,12,0);
lcd_printsxy("C= uS",0,1);
lcd_printnxy(Signal.c,8,1);
break;
case 1:
lcd_printsxy("Wave Select",0,0);
switch(KeyCache){
case 1: lcd_printsxy("Sine Wave",0,1);break;
case 2: lcd_printsxy("Rect Wave",0,1);break;
case 3: lcd_printsxy("Tria Wave",0,1);break;
default: lcd_printsxy("1.Sin 2.Rec 3.Tri",0,1);break;
}
break;
case 2:
lcd_printsxy("Cycle Setting",0,0);
lcd_printsxy(" uS",13,1);
lcd_printnxy(KeyCache,12,1);
break;
case 3:
lcd_printsxy("Ample Setting",0,0);
lcd_printsxy("Vol",13,1);
lcd_printnxy(KeyCache,12,1);
break;
}
delay(1);
}
int main(void) {
// LCD INIT
lcd_init();
lcd_start_screen();
_delay_ms(500);
while(1)
{
lcd_backlight(1);
//sfp_read_vendor_name(sfp_vendor_name);
EI2C_read_buf(0xa0,0x14,15,sfp_vendor_name);
EI2C_read_buf(0xa0,56,4,sfp_vendor_rev);
lcd_cls();
lcd_locate(0,0);
lcd_str((char*)sfp_vendor_name);
lcd_locate(1,0);
lcd_str((char*)sfp_vendor_rev);
_delay_ms(1000);
}
}
int main (void)
{
/* INITIALIZE */
// LCD_DDR |=(1<<LCD_RSDS_PIN);
// LCD_DDR |=(1<<LCD_ENABLE_PIN);
// LCD_DDR |=(1<<LCD_CLOCK_PIN);
slaveinit();
lcd_initialize(LCD_FUNCTION_8x2, LCD_CMD_ENTRY_INC, LCD_CMD_ON);
lcd_puts("Guten Tag\0");
delay_ms(1000);
//lcd_cls();
//lcd_puts("READY\0");
delay_ms(1000);
// DS1820 init-stuff begin
uart_init();
InitSPI_Slave();
uint8_t linecounter=0;
uint8_t SPI_Call_count0=0;
lcd_cls();
lcd_puts("UART\0");
#pragma mark while
// OSZIA_HI;
//char teststring[] = {"p,10,12"};
initADC(TASTATURKANAL);
// vga_start();
setHomeCentral();
vga_command("f,1");
startcounter = 0;
linecounter=0;
uint8_t lastrand=rand();
//srand(1);
sei();
uint8_t incounter=0;
//uint8_t x=0;
while (1)
{
loopCount0 ++;
if (loopCount0 >=0x00FF)
{
//readSR();
loopCount1++;
if ((loopCount1 >0x01FF) )//&& (!(Programmstatus & (1<<MANUELL))))
{
LOOPLED_PORT ^= (1<<LOOPLED_PIN);
if ((uartstatus & (1<< SUCCESS_BIT))&& (SPI_CONTROL_PORTPIN & (1<<SPI_CONTROL_CS_HC)))
{
incounter++;
lcd_gotoxy(0,0);
lcd_puts("OK\0");
//lcd_puthex(in_startdaten);
lcd_putc(' ');
lcd_putint(incounter);
cli();
delay_ms(100);
//vga_command("f,2");
//vga_putch('*');
//putint(254);
uartstatus &= ~(1<< SUCCESS_BIT);
sei();
}
else
{
//lcd_gotoxy(0,0);
//lcd_puts(" \0");
}
{
//lcd_gotoxy(15,3);
//lcd_putint(BitCounter);
/*
loopCount2++;
vga_command("f,2");
//puts("HomeCentral ");
vga_puts("Tastenwert ");
putint(Tastenwert);
vga_putch(' ');
newline();
*/
/*
if (loopCount2 > 2)
{
newline();
linecounter++;
if (linecounter>50)
{
linecounter=0;
vga_command("e");
}
if (linecounter %3==0)
{
//linecounter =0;
linecounter+=1;
gotoxy(8,linecounter);
vga_command("f,2");
vga_puts("Stop");
putint_right(linecounter);
vga_putch(' ');
putint(Tastenwert);
//newline();
vga_command("f,1");
vga_command("e");
vga_puts("Daten");
putint_right(linecounter);
vga_command("f,2");
//vga_command("e");
gotoxy(0,linecounter);
vga_command("f,2");
newline();
}
loopCount2=0;
}
*/
loopCount1=0;
} // if startcounter
}
loopCount0 =0;
//
goto NEXT;
{
cli();
{
Tastenwert=(uint8_t)(readKanal(TASTATURKANAL)>>2);
//lcd_gotoxy(12,1);
//lcd_puts("TW:\0");
//lcd_putint(Tastenwert);
if (Tastenwert>5) // ca Minimalwert der Matrix
{
tastaturstatus |= (1<<1);
// wdt_reset();
/*
0: Wochenplaninit
1: IOW 8* 2 Bytes auf Bus laden
2: Menu der aktuellen Ebene nach oben
3: IOW 2 Bytes vom Bus in Reg laden
4: Auf aktueller Ebene nach rechts (Heizung: Vortag lesen und anzeigen)
5: Ebene tiefer
6: Auf aktueller Ebene nach links (Heizung: Folgetag lesen und anzeigen)
7:
8: Menu der aktuellen Ebene nach unten
9: DCF77 lesen
12: Ebene höher
*/
TastaturCount++;
if (tastaturstatus & (1<<1))
{
}
if (TastaturCount>=80) // Prellen
{
tastaturstatus &= ~(1<<1);
Taste=Tastenwahl(Tastenwert);
lcd_gotoxy(0,1);
lcd_puts("T:\0");
//
lcd_putc(' ');
lcd_putint(Tastenwert);
lcd_putc(' ');
if (Taste >=0)
{
lcd_putint2(Taste);
}
else
{
lcd_putc('*');
}
//lcd_gotoxy(14,1);
//lcd_putint(linecounter);
//lcd_putc(' ');
//lcd_putint((uint8_t)rand()%40);
switch (Taste)
{
case 1:
{
vga_command("f,2");
gotoxy(0,2);
vga_command("f,2");
vga_puts("Brenner: ");
}
break;
case 2:
{
vga_command("f,3");
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch(' ');
cursory--;
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch('>');
}
break;
case 3:
{
} break;
case 4:
{
if (menuebene)
{
menuebene--;
if (cursorx>10)
{
vga_command("f,3");
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch(' ');
cursorx-=10;
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch('>');
}
}
}
break;
case 5:
{
vga_command("f,3");
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch('>');
}
break;
case 6:
{
if (menuebene<MAXMENUEBENE)
{
menuebene++;
if (cursorx<40)
{
vga_command("f,3");
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch(' ');
cursorx+=10;
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch('>');
}
}
}
break;
case 7:
{
setFeld(3,70,3,30,32,1,"");
vga_command("f,3");
//vga_putch('x');
//lcd_putc('+');
}
break;
case 8:
{
vga_command("f,3");
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch(' ');
cursory++;
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch('>');
}
break;
case 9:
{
} break;
case 10:
{
setHomeCentral();
}
break;
case 12:
{
vga_command("f,3");
vga_command("e");
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch(' ');
cursorx = CURSORX;
cursory = CURSORY;
gotoxy(CURSORX+1,CURSORY);
vga_command("f,3");
vga_puts("Alpha");
gotoxy(CURSORX+1,CURSORY+1);
vga_command("f,3");
vga_puts("Beta");
gotoxy(CURSORX+1,CURSORY+2);
vga_command("f,3");
vga_puts("Gamma");
gotoxy(CURSORX+1,CURSORY+3);
vga_command("f,3");
vga_puts("Delta");
gotoxy(cursorx,cursory);
vga_command("f,3");
vga_putch('>');
}
break;
} // switch Taste
lastrand = rand();
vga_command("f,2");
//vga_putch(' ');
//gotoxy(4,linecounter);
//lcd_gotoxy(16,1);
//lcd_putint(erg);
/*
putint(linecounter);
vga_putch(' ');
putint_right(Tastenwert);
vga_putch(' ');
putint_right(Taste);
*/
//newline();
linecounter++;
TastaturCount=0;
}
} // if Tastenwert
}
}
NEXT:
//x=0;
sei();
//
}
/* *** SPI begin **************************************************************/
//lcd_gotoxy(19,0);
//lcd_putc('-');
// ***********************
//goto ENDSPI;
if (SPI_CONTROL_PORTPIN & (1<< SPI_CONTROL_CS_HC)) // PIN ist Hi, SPI ist Passiv
{
// lcd_gotoxy(19,1);
// lcd_putc('*');
// ***********************
/*
Eine Uebertragung hat stattgefunden.
(Die out-Daten sind auf dem Webserver.)
Die in-Daten vom Webserver sind geladen.
Sie muessen noch je nach in_startdaten ausgewertet werden.
*/
// ***********************
// SPI_CONTROL_PORT |= (1<<SPI_CONTROL_MISO); // MISO ist HI in Pausen
#pragma mark PASSIVE
if (spistatus &(1<<ACTIVE_BIT)) // Slave ist neu passiv geworden. Aufraeumen, Daten uebernehmen
{
wdt_reset();
SPI_Call_count0++;
// Eingang von Interrupt-Routine, Daten von Webserver
//lcd_gotoxy(19,0);
//lcd_putc(' ');
// in lcd verschoben
lcd_clr_line(2);
lcd_gotoxy(0,2);
// Eingang anzeigen
lcd_puts("iW \0");
lcd_puthex(in_startdaten);
lcd_putc(' ');
lcd_puthex(in_hbdaten);
lcd_puthex(in_lbdaten);
lcd_putc(' ');
uint8_t j=0;
for (j=0; j<2; j++)
{
//lcd_putc(' ');
lcd_puthex(inbuffer[j]);
//lcd_putc(inbuffer[j]);
}
OutCounter++;
// Uebertragung pruefen
//lcd_gotoxy(6,0);
//lcd_puts("bc:\0");
//lcd_puthex(ByteCounter);
//lcd_gotoxy(0,0);
//lcd_puts(" \0");
lcd_gotoxy(19,0);
lcd_putc(' ');
if (ByteCounter == SPI_BUFSIZE-1) // Uebertragung war vollstaendig
{
if (out_startdaten + in_enddaten==0xFF)
{
lcd_gotoxy(19,2);
lcd_putc('+');
spistatus |= (1<<SUCCESS_BIT); // Bit fuer vollstaendige und korrekte Uebertragung setzen
lcd_gotoxy(19,0);
lcd_putc(' ');
//lcd_clr_line(3);
//lcd_gotoxy(0,1);
//lcd_puthex(loopCounterSPI++);
//lcd_puts("OK \0");
//lcd_puthex(out_startdaten + in_enddaten);
// if (out_startdaten==0xB1)
{
SendOKCounter++;
}
spistatus |= (1<<SPI_SHIFT_IN_OK_BIT);
}
else
{
spistatus &= ~(1<<SUCCESS_BIT); // Uebertragung fehlerhaft, Bit loeschen
lcd_putc('-');
lcd_clr_line(1);
lcd_gotoxy(0,1);
lcd_puts("ER1\0");
lcd_putc(' ');
lcd_puthex(out_startdaten);
lcd_puthex(in_enddaten);
lcd_putc(' ');
lcd_puthex(out_startdaten + in_enddaten);
spistatus &= ~(1<<SPI_SHIFT_IN_OK_BIT);
{
SendErrCounter++;
}
//errCounter++;
}
}
else
{
spistatus &= ~(1<<SUCCESS_BIT); // Uebertragung unvollstaendig, Bit loeschen
lcd_clr_line(0);
lcd_gotoxy(0,0);
lcd_puts("ER2\0");
lcd_putc(' ');
lcd_puthex(ByteCounter);
//lcd_putc(' ');
//lcd_puthex(BitCounter);
/*
lcd_putc(' ');
lcd_puthex(out_startdaten);
lcd_puthex(in_enddaten);
lcd_putc(' ');
lcd_puthex(out_startdaten + in_enddaten);
*/
//delay_ms(100);
//errCounter++;
IncompleteCounter++;
spistatus &= ~(1<<SPI_SHIFT_IN_OK_BIT);
}
//lcd_gotoxy(11, 1); // Events zahelen
//lcd_puthex(OutCounter);
/*
lcd_puthex(SendOKCounter);
lcd_puthex(SendErrCounter);
lcd_puthex(IncompleteCounter);
*/
/*
lcd_gotoxy(0,0);
lcd_putc('i');
lcd_puthex(in_startdaten);
lcd_puthex(complement);
lcd_putc(' ');
lcd_putc('a');
lcd_puthex(out_startdaten);
lcd_puthex(in_enddaten);
lcd_putc(' ');
lcd_putc('l');
lcd_puthex(in_lbdaten);
lcd_putc(' ');
lcd_putc('h');
lcd_puthex(in_hbdaten);
out_hbdaten++;
out_lbdaten--;
lcd_putc(out_startdaten);
*/
/*
lcd_gotoxy(0,0);
lcd_puthex(inbuffer[9]);
lcd_puthex(inbuffer[10]);
lcd_puthex(inbuffer[11]);
lcd_puthex(inbuffer[12]);
lcd_puthex(inbuffer[13]);
*/
//lcd_gotoxy(13,0); // SPI - Fehler zaehlen
//lcd_puts("ERR \0");
//lcd_gotoxy(17,0);
//lcd_puthex(errCounter);
// Bits im Zusammenhang mit der Uebertragung zuruecksetzen. Wurden in ISR gesetzt
spistatus &= ~(1<<ACTIVE_BIT); // Bit 0 loeschen
spistatus &= ~(1<<STARTDATEN_BIT); // Bit 1 loeschen
spistatus &= ~(1<<ENDDATEN_BIT); // Bit 2 loeschen
spistatus &= ~(1<<SUCCESS_BIT); // Bit 3 loeschen
spistatus &= ~(1<<LB_BIT); // Bit 4 loeschen
spistatus &= ~(1<<HB_BIT); // Bit 5 loeschen
// aufraeumen
out_startdaten=0x00;
out_hbdaten=0;
out_lbdaten=0;
for (int i=0; i<SPI_BUFSIZE; i++)
{
outbuffer[i]=0;
}
/*
lcd_gotoxy(0,0); // Fehler zaehlen
lcd_puts("IC \0");
lcd_gotoxy(2,0);
lcd_puthex(IncompleteCounter);
lcd_gotoxy(5,0);
lcd_puts("TW \0");
lcd_gotoxy(7,0);
lcd_puthex(TWI_errCounter);
lcd_gotoxy(5,1);
lcd_puts("SE \0");
lcd_gotoxy(7,1);
lcd_puthex(SendErrCounter);
*/
} // if Active-Bit
#pragma mark HomeCentral-Tasks
} // neu Passiv
// letzte Daten vom Webserver sind in inbuffer und in in_startdaten, in_lbdaten, in_hbdaten
else // (IS_CS_HC_ACTIVE)
{
if (!(spistatus & (1<<ACTIVE_BIT))) // CS ist neu aktiv geworden, Daten werden gesendet, Active-Bit 0 ist noch nicht gesetzt
{
// Aufnahme der Daten vom Webserver vorbereiten
uint8_t j=0;
in_startdaten=0;
in_enddaten=0;
in_lbdaten=0;
in_hbdaten=0;
for (j=0; j<SPI_BUFSIZE; j++)
{
inbuffer[j]=0;
}
spistatus |=(1<<ACTIVE_BIT); // Bit 0 setzen: neue Datenserie
spistatus |=(1<<STARTDATEN_BIT); // Bit 1 setzen: erster Wert ergibt StartDaten
bitpos=0;
ByteCounter=0;
//timer0(); // Ueberwachung der Zeit zwischen zwei Bytes. ISR setzt bitpos und ByteCounter zurueck, loescht Bit 0 in spistatus
// Anzeige, das rxdata vorhanden ist
lcd_gotoxy(19,0);
lcd_putc('$');
lcd_gotoxy(19,1);
lcd_putc(' ');
}// if (!(spistatus & (1<<ACTIVE_BIT)))
}// (IS_CS_HC_ACTIVE)
ENDSPI:
/* *** SPI end **************************************************************/
# pragma mark Tasten
if (!(PINB & (1<<PORTB0))) // Taste 0
{
//lcd_gotoxy(12,0);
//lcd_puts("P0 Down\0");
//wdt_reset();
if (! (TastenStatus & (1<<PORTB0))) //Taste 0 war nicht nicht gedrueckt
{
TastenStatus |= (1<<PORTB0);
Tastencount=0;
//lcd_gotoxy(12,0);
//lcd_puts("P0\0");
//lcd_putint(TastenStatus);
//delay_ms(800);
}
else
{
Tastencount ++;
//lcd_gotoxy(7,1);
//lcd_puts("TC \0");
//lcd_putint(Tastencount);
wdt_reset();
if (Tastencount >= Tastenprellen)
{
//lcd_gotoxy(18,0);
//lcd_puts("ON\0");
//lcd_putint(TastenStatus);
Tastencount=0;
TastenStatus &= ~(1<<PORTB0);
}
}//else
}
#pragma mark Tastatur
} // while
int
main ()
{
DDRD = 0x00;
PORTD = 0xff;
lcd_init ();
/*display on, cursor & blink off */
lcd_control (1, 0, 0);
lcd_cls ();
lcd_putstr ("Animate is cool !", LCD_FIRST_LN_ADDR + 2);
timer1_init ();
/* main -loop */
for (;;)
{
// 2*0.065 Sec-kent vegrehajtodik az 1. es 3. animacio egy reszlete
if (cnt1 == CNT1_THRESHOLD)
{
cnt1 = 0;
//1. animacio
if (i > 3)
{
i = 0;
}
uint8_t buf[8];
for (n = 0; n < 8; n++)
{
buf[n] = pgm_read_byte_near (&anim[i][n]);
}
i++;
lcd_put_custom_char (0x00, buf); //CGRAM 0x00 cimre beirjuk a sajat karaktert.
lcd_set_DDRAM_addr (LCD_FIRST_LN_ADDR); //vissza DDRAMhoz, elso sor 1 karakterehez
lcd_putch (0x00); //megjelenitjuk a CGRAM 0x00 cimen levo karaktert.
//2. animacio
lcd_set_DDRAM_addr (LCD_FIRST_LN_ADDR + 19); //masodik sor 8. karakterehez
lcd_putch (0x00); //megjelenitjuk a CGRAM 0x00 cimen levo karaktert.
}
// 7 * 0.065 Sec(OVF) -kent vegrehajtodik a 3. animacio egy reszlete
if (cnt2 == CNT2_THRESHOLD)
{
cnt2 = 0;
//3. animacio
if (j > 1)
{
j = 0;
}
uint8_t buf[8];
//read 8byte(one char) from FLASH
for (n = 0; n < 8; n++)
{
buf[n] = pgm_read_byte_near (&man[j][n]);
}
j++;
lcd_put_custom_char (0x02, buf);
lcd_set_DDRAM_addr (LCD_SECND_LN_ADDR);
lcd_putch (0x02);
}
}
return 0;
}
int main(void)
{
#if !SDL
//wdt_enable(WDTO_1S);
// I/O ports
DDRB = 0x17;
PORTB = 0x00 | (1<<5);
//input logic disable on adc3
DIDR0 = (1<<ADC3D);
//timer0
//set clock divider to 1024
TCCR0B |= (1<<CS02) | (1<<CS00);
//compare value 49 -> 20Hz
//OCR0B = 49;
OCR0B = 3;
//enable compare match B interrupt
TIMSK |= (1<<OCIE0B);
//timer1
// CK/64
//TCCR1 = (1<<CS12) | (1<<CS11) | (1<<CS10);
//overflow interrupt
//TIMSK |= (1<<TOIE1);
//external interrupts
//enable pin change interrupt
//GIMSK = (1<<PCIE);
//enable only on PB3
//PCMSK = (1<<3);
//adc
// enable clk/16
//ADCSRA = (1<<ADEN) | (1<<ADPS2);
// enable clk/2
ADCSRA = (1<<ADEN) | (1<<ADPS0);
/*//if it's a watchdog reset
if(mcusr_mirror & (1<<WDRF)){
if(getkey() == DIR_NONE){
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sleep_mode();
}
}*/
//wdt_enable(WDTO_4S);
#else
SDL_Init(SDL_INIT_VIDEO);
if (!(screen = SDL_SetVideoMode(80, 48, 32, SDL_SWSURFACE)))
return EXIT_FAILURE;
SDL_WM_SetCaption("elladunkku", NULL);
#endif
/*g_highscore = eeprom_read_byte(0);
if(g_highscore == 0xff) g_highscore = 0;*/
/*g_highscore = eeprom_read_word(0);
if(g_highscore == 0xffff) g_highscore = 0;*/
start:
lcd_init();
//lcd_locate(10,2);
//lcd_locate8((2<<4)+1);
//lcd_printstrP(PSTR("C55 PRESENTS"));
//_delay_ms(1000);
sei();
for(;;){
next_level(true);
draw_game();
//main loop
g_counter0 = 0;
//TCNT0 = 0;
for(;;){
#if SDL
++g_counter0;
SDL_WaitEvent(&g_event);
if (g_event.type == SDL_QUIT)
goto quit;
#endif
// TODO: If nothing happens for a long time, go to sleep
int8_t key = getkey();
if(key == DIR_NONE)
continue;
uint8_t num_enemy_moves = move_player(key);
switch(num_enemy_moves){
case 2:
step_enemies();
draw_game();
case 1:
step_enemies();
}
draw_game();
if(g_hp <= 0){
_delay_ms(5000);
while(getkey() == DIR_NONE);
next_level(true); // Reset game
draw_game();
}
/*int8_t lastdir_inv = -g_next_dir;
while(g_counter0 < 6){
//while(TCNT0 < 6*3){
int8_t key = getkey();
if(key == DIR_NONE) continue;
if(key == lastdir_inv) continue;
g_next_dir = key;
g_random += g_counter0;
}
TCNT0 = 0;
g_counter0 = 0;
uint8_t ret = snake_move_and_draw();
if(ret == 1){
snake_draw(0xaa);
draw_block(g_snake[g_snake_end], 0xff);
//lcd_locate(83,5);
lcd_locate8((0<<4)+4);
if(g_points > g_highscore){
g_highscore = g_points;
//eeprom_write_byte(0, g_highscore);
eeprom_write_word(0, g_highscore);
}
_delay_ms(200);
break;
}*/
}
#if !SDL
while(getkey() != DIR_NONE);
//TCNT0 = 0;
g_counter0 = 0;
while(getkey() == DIR_NONE){
if(g_counter0 >= 200){
cli();
/*lcd_cls();
lcd_locate8((1<<4)+0);
lcd_printstrP(PSTR("GREETINGS ELLA TEJEEZ 3210"));
_delay_ms(2000);*/
/*lcd_locate8((1<<4)+1);
lcd_printstrP(PSTR("GREETINGS ELLA TEJEEZ"));
lcd_locate8((2<<4)+1);
lcd_printstrP(PSTR("ELLA"));
lcd_locate8((3<<4)+1);
lcd_printstrP(PSTR("TEJEEZ"));*/
/*lcd_cls();
lcd_locate8((1<<4)+3);
lcd_put5digit(2048);
lcd_locate8((2<<4)+3);
lcd_put5digit(128);
lcd_locate8((3<<4)+3);
lcd_put5digit(55);
_delay_ms(2000);*/
lcd_cls();
lcd_powerdown();
ADCSRA = 0 | (1<<ADPS0);
DIDR0 = 0;
CLKPR = 0x80;
CLKPR = (1<<CLKPS3); //256
while(PINB & (1<<3));
//while(getkey() == DIR_NONE);
CLKPR = 0x80;
CLKPR = 0;
DIDR0 = (1<<ADC3D);
ADCSRA = (1<<ADEN) | (1<<ADPS0);
goto start;
}
}
#endif
}
#if SDL
quit:
SDL_Quit();
#endif
return 0;
}
void
menu_handle_joystick(uint8_t key)
{
uint8_t menu_line[MLINESIZE+1];
////////////////////////////////////////
// Scrolling up/down.
if(key == KEY_DOWN || key == KEY_UP) {
menu_setbg(menu_curitem);
lcd_putchar(menu_curitem-menu_topitem+1, ' ');
uint8_t insert_line = 0;
if(key == KEY_DOWN) {
if(menu_curitem == menu_nitems-1)
menu_curitem = 0;
else
menu_curitem++;
if(menu_curitem - menu_topitem >= BODY_LINES) {
menu_topitem++;
insert_line = 9;
}
}
if(key == KEY_UP) {
if(menu_curitem == 0)
menu_curitem = menu_nitems-1;
else
menu_curitem--;
if(menu_topitem > menu_curitem) {
menu_topitem--;
insert_line = 10;
}
}
menu_setbg(menu_curitem);
if(insert_line) {
uint8_t dpybuf[17];
menu_get_line(menu_item_offset[menu_curitem],
menu_line, sizeof(menu_line));
menu_getlineword(1, menu_line, dpybuf+1, sizeof(dpybuf)-1);
dpybuf[0] = ' ';
lcd_putline(insert_line, (char *)dpybuf);
}
lcd_putchar(menu_curitem-menu_topitem+1, '>');
}
////////////////////////////////////////
// Exec current command
if(key == KEY_RIGHT) {
// Save the current position
menu_lastsel[menu_stack[menu_stackidx-1]] = menu_curitem;
menu_get_line(menu_item_offset[menu_curitem],
menu_line, sizeof(menu_line));
uint8_t arg[MLINESIZE];
menu_getlineword(2, menu_line, arg, sizeof(arg));
if(menu_line[0] == 'S') { // submenu
uint8_t sm;
fromhex((char *)arg, &sm, 1);
menu_push(sm);
}
if(menu_line[0] == 'C') { // Command
lcd_invon();
callfn((char *)arg);
lcd_invoff();
}
if(menu_line[0] == 'm') { // Macro
uint8_t idx;
uint16_t off;
lcd_invon();
fromhex((char *)arg, &idx, 1);
off = menu_get_line(menu_offset[idx], menu_line, sizeof(menu_line));
while(off && menu_line[0]) {
off = menu_get_line(off, menu_line, sizeof(menu_line));
if(off == 0 || !menu_line[0])
break;
callfn((char *)menu_line);
}
lcd_invoff();
}
}
if(key == KEY_LEFT) { // pop menu stack
// Save the current position
menu_lastsel[menu_stack[menu_stackidx-1]] = menu_curitem;
menu_pop();
}
////////////////////////////////////////
// Switch display on / off
if(key == KEY_ENTER) {
if(lcd_on) {
if(lcd_on == 0xff) {
lcd_switch(1);
lcd_cls();
lcd_contrast(0xfc);
menu_stackidx = 0;
menu_push(0);
} else {
dosleep();
}
} else {
lcd_switch(1);
}
bat_drawstate();
}
}
int main(void) {
//programowy pwm
DDRC |= (1<<PC0)|(1<<PC1);
PORTC |= (1<<PC0);
PORTC |= (1<<PC1);
TCCR2B |= (1<<WGM21); // tryb CTC
TCCR2B |= (1<<CS20); // preskaler = 1
OCR2B = 199; // dodatkowy podzia³ czêsttotliwoœci przez 200
TIMSK2 |= (1<<OCIE2B);
/*TCCR2 |= (1<<WGM21); // tryb CTC
TCCR2 |= (1<<CS20); // preskaler = 1
OCR2 = 199; // dodatkowy podzia³ czêsttotliwoœci przez 200
TIMSK |= (1<<OCIE2);*/
#if MPU6050_GETATTITUDE == 0
int16_t ax = 0;
int16_t ay = 0;
int16_t az = 0;
int16_t gx = 0;
int16_t gy = 0;
int16_t gz = 0;
double axg = 0;
double ayg = 0;
double azg = 0;
double gxds = 0;
double gyds = 0;
double gzds = 0;
#endif
#if MPU6050_GETATTITUDE == 1 || MPU6050_GETATTITUDE == 2
//long *ptr = 0;
double qw = 1.0f;
double qx = 0.0f;
double qy = 0.0f;
double qz = 0.0f;
double roll = 0.0f;
double pitch = 0.0f;
double yaw = 0.0f;
#endif
//uart_init(UART_BAUD_SELECT(UART_BAUD_RATE,F_CPU));
sei();
mpu6050_init();
_delay_ms(50);
int maxa=0,maxg=0,aax,pom;
//init mpu6050 dmp processor
#if MPU6050_GETATTITUDE == 2
mpu6050_dmpInitialize();
mpu6050_dmpEnable();
_delay_ms(10);
#endif
DDRD |= (1<<PD0);
PORTD |= (1<<PD0);
lcd_init();
int licz=1,suma=0,_ax,fi,bak;
int i;
int ii,jj;
int sprawdz;
//pid
/*float wzmocnienieP=10; //Wzmocnienie
float stalaI=0.4; //Sta³a czasowa ca³kowania
float stalaD=12; //Sta³a czasowa ró¿niczkowania
*/
float wzmocnienieP=14; //Wzmocnienie
float stalaI=0; //Sta³a czasowa ca³kowania
float stalaD=0;
float czas=0.15; //Czas zmian wielkoœci
int predkosc=127; //Prêdkoœæ silników
int predkosc_k=127;
int sterowanie,uchyb,uchyb_pop=0;
int calka=0;
int lqr;
//KF
/*Matrix *x_post = matrix_alloc(4,1);
for(ii=0;ii<4;ii++) {
for(jj=0;jj<1;jj++) {
x_post->matrix_entry[ii][jj]=0;
}
}
Matrix *P_post = matrix_alloc(4,4);
for(ii=0;ii<4;ii++) {
for(jj=0;jj<4;jj++) {
P_post->matrix_entry[ii][jj]=1;
}
}
Matrix *V = matrix_alloc(4,4);
for(ii=0;ii<4;ii++) {
for(jj=0;jj<4;jj++) {
if(ii==jj) V->matrix_entry[ii][ii]=0.8;
else V->matrix_entry[ii][jj]=0;
}
}
Matrix *W = matrix_alloc(2,2);
W->matrix_entry[0][0]=0.02;
W->matrix_entry[0][1]=0;
W->matrix_entry[1][0]=0;
W->matrix_entry[1][1]=4;
//LQR
Matrix *K_C = matrix_alloc(1,4);
K_C->matrix_entry[0][0]=80;
K_C->matrix_entry[0][1]=28.6388;
K_C->matrix_entry[0][2]=-63.7184;
K_C->matrix_entry[0][3]=-5.6401;
*/
for(;;) {
lcd_cls();
#if MPU6050_GETATTITUDE == 0
mpu6050_getRawData(&ax, &ay, &az, &gx, &gy, &gz);
mpu6050_getConvData(&axg, &ayg, &azg, &gxds, &gyds, &gzds);
#endif
#if MPU6050_GETATTITUDE == 1
mpu6050_getQuaternion(&qw, &qx, &qy, &qz);
mpu6050_getRollPitchYaw(&roll, &pitch, &yaw);
_delay_ms(10);
#endif
#if MPU6050_GETATTITUDE == 2
if(mpu6050_getQuaternionWait(&qw, &qx, &qy, &qz)) {
mpu6050_getRollPitchYaw(qw, qx, qy, qz, &roll, &pitch, &yaw);
}
_delay_ms(10);
#endif
#if MPU6050_GETATTITUDE == 0
//char itmp[10];
/*ltoa(ax, itmp, 10); uart_putc(' '); uart_puts(itmp); uart_putc(' ');
ltoa(ay, itmp, 10); uart_putc(' '); uart_puts(itmp); uart_putc(' ');
ltoa(az, itmp, 10); uart_putc(' '); uart_puts(itmp); uart_putc(' ');
ltoa(gx, itmp, 10); uart_putc(' '); uart_puts(itmp); uart_putc(' ');
ltoa(gy, itmp, 10); uart_putc(' '); uart_puts(itmp); uart_putc(' ');
ltoa(gz, itmp, 10); uart_putc(' '); uart_puts(itmp); uart_putc(' ');
uart_puts("\r\n");
dtostrf(axg, 3, 5, itmp); uart_puts(itmp); uart_putc(' ');
dtostrf(ayg, 3, 5, itmp); uart_puts(itmp); uart_putc(' ');
dtostrf(azg, 3, 5, itmp); uart_puts(itmp); uart_putc(' ');
dtostrf(gxds, 3, 5, itmp); uart_puts(itmp); uart_putc(' ');
dtostrf(gyds, 3, 5, itmp); uart_puts(itmp); uart_putc(' ');
dtostrf(gzds, 3, 5, itmp); uart_puts(itmp); uart_putc(' ');
uart_puts("\r\n");
uart_puts("\r\n");*/
/*lcd_cls();
lcd_str("a=(");
lcd_locate(0,3);
lcd_int(axg);
lcd_locate(0,6);
lcd_str(",");
lcd_locate(0,7);
lcd_int(ayg);
lcd_locate(0,10);
lcd_str(",");
lcd_locate(0,11);
lcd_int(azg);
lcd_locate(0,14);
lcd_str(")");
lcd_locate(1,0);
lcd_str("g=(");
lcd_locate(1,3);
lcd_int(gxds);
lcd_locate(1,6);
lcd_str(",");
lcd_locate(1,7);
lcd_int(gyds);
lcd_locate(1,10);
lcd_str(",");
lcd_locate(1,11);
lcd_int(gzds);
lcd_locate(1,14);
lcd_str(")");
_delay_ms(100);*/
/*if(ax<0) ax*=-1;
if(gx<0) gx*=-1;
if(ax>maxa) maxa=ax;
if(gx>maxg) maxg=gx;
lcd_int(maxa);
lcd_locate(1,0);
lcd_int(maxg);
_delay_ms(100);*/
/*
lcd_int(ax);
lcd_locate(1,0);
lcd_int(gx);
_delay_ms(100);*/
//REGULATOR PROPORCJONALNY
/*int K=26;
ax/=100;
if(ax<0) ax *= -1;
pom=-K*ax+255;
if(pom<0) pom = 0;
pwm1=pom;
if(ax>=0) PORTC &= ~(1<<PC1);
else PORTC |= (1<<PC1);
licz++;*/
//if((licz%10000)==0)
//{
/*lcd_cls();
lcd_int(pwm1);
_delay_ms(1000);
//}
*
*/
//############################33
ax /= 100;
suma+=ax;
licz++;
if(licz == 20) {
suma /= 20;
fi=suma;
//lcd_cls();
//lcd_int(fi);
//_delay_ms(500);
//
if(fi>=0) {
PORTC &= ~(1<<PC1);
}
if(fi<0) {
PORTC |= (1<<PC1);
fi *= -1;
}
//REGULATOR PROPORCJONALNY
//int K=80;
//pom=K*fi;
//if(pom>255) pom = 255;
//pwm1=pom;
//PID
if(fi<0) {
uchyb = -1*fi;
} else {
uchyb = fi;
}
calka += stalaI*fi;
sterowanie = (int)(wzmocnienieP*fi)/* - (int)(stalaD*((fi - uchyb_pop)))*/ + (int)(calka);
sprawdz = predkosc - sterowanie;
if(sterowanie>255) sterowanie = 255;
if(sterowanie<0) sterowanie = 0-sterowanie;
if(sterowanie<-255) sterowanie = 255;
//lcd_int(sterowanie);
//_delay_ms(1000);
pwm1=sterowanie;
uchyb_pop=fi;
suma=0;
licz=1;
}
//LQR
//Wypelnianie macierzy A
/*Matrix *A;
A = matrix_alloc(4,4);
for(ii=0;ii<4;ii++) {
for(jj=0;jj<4;jj++) {
A->matrix_entry[ii][jj]=0;
}
}
A->matrix_entry[0][1]=1; A->matrix_entry[2][3]=1;
A->matrix_entry[1][1]=-0.1192; A->matrix_entry[1][2]=6.7359;
A->matrix_entry[3][1]=-1.2764; A->matrix_entry[3][2]=177.1575;
//Wypelnianie macierzy B
Matrix *B;
B = matrix_alloc(4,1);
for(ii=0;ii<4;ii++) {
B->matrix_entry[ii][0]=0;
}
B->matrix_entry[1][0]=1.1923; B->matrix_entry[3][0]=12.7640;
//Wypelnianie macierzy C
Matrix *C;
C = matrix_alloc(2,4);
for(ii=0;ii<2;ii++) {
for(jj=0;jj<4;jj++) {
C->matrix_entry[ii][jj]=0;
}
}
C->matrix_entry[0][0]=1; C->matrix_entry[1][2]=1;
//u=pwm1
Matrix *x;
x = matrix_alloc(4,1);
x->matrix_entry[0][0]=0.000628*licznik; //m #################################
//x->matrix_entry[1][0]=6.28/(-0.0588*pwm1+20); //m/s
x->matrix_entry[1][0]=3.1416/(5000*pwm1); //m/s
x->matrix_entry[2][0]=(ax*9)/1600; //16000 - 90 stopni
x->matrix_entry[3][0]=gy; //
Matrix *y = matrix_alloc(2,1);
y->matrix_entry[0][0]=x->matrix_entry[0][0];
y->matrix_entry[1][0]=x->matrix_entry[2][0];
//lcd_cls();
//lcd_int((int)x->matrix_entry[2][0]);
//_delay_ms(500);
//FILTR KALMANA
Matrix *Ax = matrix_alloc(4,1);
Matrix *Bu = matrix_alloc(4,1);
Matrix *x_pri = matrix_alloc(4,1);
Matrix *AP = matrix_alloc(4,4);
Matrix *AT = matrix_alloc(4,4);
Matrix *APAT = matrix_alloc(4,4);
Matrix *P_pri = matrix_alloc(4,4);
Matrix *eps = matrix_alloc(2,1);
Matrix *CX = matrix_alloc(2,1);
// x(t+1|t) = Ax(t|t) + Bu(t)
Ax=matrix_multiply(A, x_post);
Bu->matrix_entry[0][0]=0;
Bu->matrix_entry[1][0]=pwm1*B->matrix_entry[1][0];
Bu->matrix_entry[2][0]=0;
Bu->matrix_entry[3][0]=pwm1*B->matrix_entry[3][0];
matrix_add(x_pri, Ax, Bu);
// P(t+1|t) = AP(t|t)A^T + V
AP=matrix_multiply(A, P_post);
AT=matrix_transpose(A);
APAT=matrix_multiply(AP, AT);
matrix_add(P_pri, APAT, V);
// eps(t) = y(t) - Cx(t|t-1)
CX=matrix_multiply(C, x_pri);
matrix_subtract(eps,y,CX);
Matrix *CP = matrix_alloc(2,4);
Matrix *CPCT = matrix_alloc(2,2);
Matrix *CT = matrix_alloc(4,2);
Matrix *S = matrix_alloc(2,2);
Matrix *PCT = matrix_alloc(4,2);
//Matrix *S1 = matrix_alloc(2,2);
Matrix *K = matrix_alloc(4,2);
Matrix *Keps = matrix_alloc(4,1);
Matrix *KS = matrix_alloc(4,2);
Matrix *KT = matrix_alloc(2,4);
Matrix *KSKT = matrix_alloc(4,4);
// S(t) = CP(t|t-1)C^T + W
CP=matrix_multiply(C, P_pri);
CT=matrix_transpose(C);
CPCT=matrix_multiply(CP, CT);
matrix_add(S, CPCT, W);
// K(t) = P(t|t-1)C^TS(t)^-1
PCT=matrix_multiply(P_pri, CT);
matrix_invert(S);
K=matrix_multiply(PCT, S); //S^-1
// x(t|t) = x(t|t-1) + K(t)eps(t)
Keps=matrix_multiply(K, eps);
matrix_add(x_post, x_pri, Keps);
// P(t|t) = P(t|t-1) - K(t)S(t)K(t)^T
matrix_invert(S);
KS=matrix_multiply(K, S);//S
KT=matrix_transpose(K);
KSKT=matrix_multiply(KS, KT);
matrix_subtract(P_post, P_pri, KSKT);
//LQR
Matrix *KX = matrix_alloc(1,1);
KX=matrix_multiply(K, x_post);
lqr=(int)(KX->matrix_entry[0][0]);
sprawdz=predkosc + lqr;
if(sprawdz>255) sprawdz = 255;
if(sprawdz<0) sprawdz = 0;
pwm1=sprawdz;
pwm1 = predkosc
*/
//############
//matrix_t *A = make_matrix( 4, 4 );
//put_entry_matrix( eqs, if1, if1, dx );
/*lcd_cls();
lcd_int(fi);
lcd_locate(0,7);
lcd_int(pwm1);
_delay_ms(500);*/
//#################################
/*for(i=255;i>=0;i--) {
pwm1=i;
_delay_ms(30);
if((i%10)==0) {
lcd_cls();
lcd_int(pwm1);
}
}
for(i=0;i<=255;i++) {
pwm1=i;
_delay_ms(30);
if((i%10)==0) {
lcd_cls();
lcd_int(pwm1);
}
}*/
#endif
#if MPU6050_GETATTITUDE == 1 || MPU6050_GETATTITUDE == 2
//quaternion
/*ptr = (long *)(&qw);
uart_putc(*ptr);
uart_putc(*ptr>>8);
uart_putc(*ptr>>16);
uart_putc(*ptr>>24);
ptr = (long *)(&qx);
uart_putc(*ptr);
uart_putc(*ptr>>8);
uart_putc(*ptr>>16);
uart_putc(*ptr>>24);
ptr = (long *)(&qy);
uart_putc(*ptr);
uart_putc(*ptr>>8);
uart_putc(*ptr>>16);
uart_putc(*ptr>>24);
ptr = (long *)(&qz);
uart_putc(*ptr);
uart_putc(*ptr>>8);
uart_putc(*ptr>>16);
uart_putc(*ptr>>24);
//roll pitch yaw
ptr = (long *)(&roll);
uart_putc(*ptr);
uart_putc(*ptr>>8);
uart_putc(*ptr>>16);
uart_putc(*ptr>>24);
ptr = (long *)(&pitch);
uart_putc(*ptr);
uart_putc(*ptr>>8);
uart_putc(*ptr>>16);
uart_putc(*ptr>>24);
ptr = (long *)(&yaw);
uart_putc(*ptr);
uart_putc(*ptr>>8);
uart_putc(*ptr>>16);
uart_putc(*ptr>>24);
uart_putc('\n');*/
//lcd_int((int)qw);
//_delay_ms(1000);
#endif
}
}
int main (void)
{
/* INITIALIZE */
// LCD_DDR |=(1<<LCD_RSDS_PIN);
// LCD_DDR |=(1<<LCD_ENABLE_PIN);
// LCD_DDR |=(1<<LCD_CLOCK_PIN);
slaveinit();
SPI_Init();
lcd_initialize(LCD_FUNCTION_8x2, LCD_CMD_ENTRY_INC, LCD_CMD_ON);
lcd_puts("Guten Tag\0");
delay_ms(1000);
lcd_cls();
lcd_gotoxy(0,0);
lcd_puts("MASTER\0");
// DS1820 init-stuff begin
// DS1820 init-stuff end
volatile char incoming=0;
volatile uint8_t outcounter=0;
sei();
#pragma mark while
while (1)
{
loopCount0 ++;
//_delay_ms(2);
//LOOPLED_PORT ^= (1<<LOOPLED_PIN);
//incoming = SPDR;
if (loopCount0 >=0x0F)
{
LOOPLED_PORT ^= (1<<LOOPLED_PIN);
loopCount1++;
//SPDR = loopCount2;
if ((loopCount1 >0x0002F) )//&& (!(Programmstatus & (1<<MANUELL))))
{
SPI_PORT &= ~(1<<SPI_CS); // SS LO, Start
//_delay_us(100);
uint8_t outindex=0;
textpos=0;
inbuffer[0] = '\0';
//outbuffer[0] = '\0';
text[0] = 0x30+(outcounter & 0x07);
for (outindex=0;outindex < strlen(text);outindex++)
{
SPDR = text[outindex];
while(!(SPSR & (1<<SPIF)) && spiwaitcounter<0xFFF)
{
spiwaitcounter++;
}
spiwaitcounter=0;
incoming = SPDR;
inbuffer[outindex] = incoming;
outbuffer[outindex] = text[outindex];
}
inbuffer[outindex] = '\0';
//outbuffer[outindex] = '\0';
//char rest = SPDR;
SPI_PORT |= (1<<SPI_CS); // SS HI End
lcd_gotoxy(8,0);
lcd_putc('i');
lcd_putc(' ');
lcd_puts((char*)inbuffer);
lcd_gotoxy(8,1);
lcd_putc('o');
lcd_putc(' ');
lcd_puts((char*)outbuffer);
outcounter++;
if (outcounter > 9)
{
//outcounter =0;
}
/*
if (textpos == 0)
{
SPI_PORT &= ~(1<<SPI_SS); // SS LO
}
SPDR = text[textpos];
while(!(SPSR & (1<<SPIF)) && spiwaitcounter<0xFFF)
{
spiwaitcounter++;
}
incoming = SPDR;
spiwaitcounter=0;
textpos++;
if (textpos >= strlen(text))
{
textpos=0;
SPI_PORT |= (1<<SPI_SS); // SS HI
//SPI_PORT &= ~(1<<SPI_SS); // SS LO
}
*/
loopCount2++;
/*
lcd_gotoxy(inpos,1);
lcd_putc(incoming);
inpos++;
if (inpos >= 19)
{
inpos=0;
}
*/
//lcd_gotoxy(18,0);
//lcd_puthex(loopCount2);
//LOOPLED_PORT ^= (1<<LOOPLED_PIN);
//LOOPLED_PORT ^= (1<<LOOPLED_PIN);
loopCount1=0;
/*
if ((SPSR & (1<<SPIF)) > 0) // checks to see if the SPI bit is clear
{
data='a'; // send the data
}
*/
//char incoming = SPI_get_put_char('A');
// DS1820 loop-stuff begin
/*
start_temp_meas();
delay_ms(800);
read_temp_meas();
//Sensor 1
lcd_gotoxy(0,1);
lcd_puts("1:\0");
if (gTempdata[0]/10>=100)
{
lcd_gotoxy(1,1);
lcd_putint((gTempdata[0]/10));
}
else
{
lcd_gotoxy(2,1);
lcd_putint2((gTempdata[0]/10));
}
lcd_putc('.');
lcd_putint1(gTempdata[0]%10);
// Sensor 2
lcd_gotoxy(7,1);
lcd_puts("2:\0");
if (gTempdata[1]/10>=100)
{
lcd_gotoxy(8,1);
lcd_putint((gTempdata[1]/10));
}
else
{
lcd_gotoxy(9,1);
lcd_putint2((gTempdata[1]/10));
}
lcd_putc('.');
lcd_putint1(gTempdata[1]%10);
// Sensor 3
lcd_gotoxy(14,1);
lcd_puts("3:\0");
if (gTempdata[2]/10>=100)
{
lcd_gotoxy(15,1);
lcd_putint((gTempdata[2]/10));
}
else
{
lcd_gotoxy(16,1);
lcd_putint2((gTempdata[2]/10));
}
lcd_putc('.');
lcd_putint1(gTempdata[2]%10);
lcd_gotoxy(15,0);
lcd_puts(" \0");
lcd_gotoxy(15,0);
lcd_puthex(gTemp_measurementstatus);
*/
// DS1820 loop-stuff end
//lcd_putint(gTempdata[1]);
//lcd_putint(gTempdata[2]);
//delay_ms(1000);
}
loopCount0 =0;
}
if (!(PINB & (1<<PB0))) // Taste 0
{
lcd_gotoxy(10,1);
lcd_puts("P0 Down\0");
lcd_puthex(TastenStatus);
if (! (TastenStatus & (1<<PB0))) //Taste 0 war nicht nicht gedrueckt
{
lcd_gotoxy(10,1);
lcd_puts("P0 neu \0");
TastenStatus |= (1<<PB0);
delay_ms(1000);
Tastencount=0;
//lcd_gotoxy(3,1);
//lcd_puts("P0 \0");
//lcd_putint(Servoimpulsdauer);
//delay_ms(800);
SPDR = 'x';
while(!(SPSR & (1<<SPIF)) && spiwaitcounter<0xFFF)
{
spiwaitcounter++;
}
spiwaitcounter=0;
delay_ms(1000);
//lcd_gotoxy(10,1);
//lcd_puts(" \0");
lcd_gotoxy(19,1);
lcd_putc('+');
}
else
{
lcd_gotoxy(19,1);
lcd_putc('$');
//lcd_puts("* *\0");
Tastencount ++;
if (Tastencount >= Tastenprellen)
{
Tastencount=0;
TastenStatus &= ~(1<<PB0);
lcd_gotoxy(10,1);
lcd_puts("* *\0");
}
}// else
} // Taste 0
#pragma mark Tastatur
/* ******************** */
initADC(TASTATURPIN);
Tastenwert=(readKanal(TASTATURPIN)>>2);
// lcd_gotoxy(3,1);
// lcd_putint(Tastenwert);
// Tastenwert=0;
if (Tastenwert>5)
{
/*
0: 1 2 3
1: 4 5 6
2: 7 8 9
3: x 0 y
4: Schalterpos -
5: Manuell ein
6: Schalterpos +
7:
8:
9:
12: Manuell aus
*/
TastaturCount++;
if (TastaturCount>=200)
{
//lcd_gotoxy(17,1);
//lcd_puts("T: \0");
//lcd_putint(Tastenwert);
uint8_t Taste=Tastenwahl(Tastenwert);
//Taste=0;
//lcd_gotoxy(19,1);
//lcd_putint1(Taste);
//delay_ms(600);
// lcd_clr_line(1);
TastaturCount=0;
Tastenwert=0x00;
uint8_t i=0;
uint8_t pos=0;
// lcd_gotoxy(18,1);
// lcd_putint2(Taste);
continue;
switch (Taste)
{
case 0:// Schalter auf Null-Position
{
if (Programmstatus & (1<<MANUELL))
{
Manuellcounter=0;
Programmstatus |= (1<<MANUELLNEU);
/*
lcd_gotoxy(13,0);
lcd_puts("S\0");
lcd_gotoxy(19,0);
lcd_putint1(Schalterposition); // Schalterstellung
lcd_gotoxy(0,1);
lcd_puts("SI:\0");
lcd_putint(ServoimpulsdauerSpeicher); // Servoimpulsdauer
lcd_gotoxy(5,0);
lcd_puts("SP\0");
lcd_putint(Servoimpulsdauer); // Servoimpulsdauer
*/
}
}break;
case 1: //
{
if (Programmstatus & (1<<MANUELL))
{
uint8_t i=0;
lcd_gotoxy(0,0);
lcd_puts("Sens\0");
lcd_putc('1');
lcd_putc(' ');
for (i=0;i<OW_ROMCODE_SIZE;i++)
{
lcd_puthex(gSensorIDs[0][i]);
if (i==3)
{
lcd_gotoxy(0,1);
}
lcd_putc(' ');
}
Manuellcounter=0;
}
}break;
case 2://
{
if (Programmstatus & (1<<MANUELL))
{
uint8_t i=0;
lcd_gotoxy(0,0);
lcd_puts("Sens\0");
lcd_putc('1');
lcd_putc(' ');
for (i=0;i<OW_ROMCODE_SIZE;i++)
{
lcd_puthex(gSensorIDs[1][i]);
if (i==3)
{
lcd_gotoxy(0,1);
}
lcd_putc(' ');
}
Manuellcounter=0;
}
}break;
case 3: // Uhr aus
{
if (Programmstatus & (1<<MANUELL))
{
uint8_t i=0;
lcd_gotoxy(0,0);
lcd_puts("Sens\0");
lcd_putc('1');
lcd_putc(' ');
for (i=0;i<OW_ROMCODE_SIZE;i++)
{
lcd_puthex(gSensorIDs[2][i]);
if (i==3)
{
lcd_gotoxy(0,1);
}
lcd_putc(' ');
}
Manuellcounter=0;
}
}break;
case 4://
{
DS18X20_read_scratchpad(&gSensorIDs[0][0], gScratchPad );
uint8_t i=0;
lcd_gotoxy(0,0);
lcd_puts("Sens\0");
lcd_putc('0');
lcd_putc(' ');
for (i=0;i<OW_ROMCODE_SIZE;i++)
{
lcd_puthex(gScratchPad[i]);
if (i==3)
{
lcd_gotoxy(0,1);
}
lcd_putc(' ');
}
}break;
case 5://
{
Programmstatus |= (1<<MANUELL); // MANUELL ON
Manuellcounter=0;
MANUELL_PORT |= (1<<MANUELLPIN);
Programmstatus |= (1<<MANUELLNEU);
lcd_clr_line(1);
/*
lcd_gotoxy(13,0);
lcd_puts("S\0");
lcd_putint1(Schalterposition); // Schalterstellung
lcd_gotoxy(0,1);
lcd_puts("SP:\0");
lcd_putint(ServoimpulsdauerSpeicher); // Servoimpulsdauer
lcd_gotoxy(5,0);
lcd_puts("SI\0");
lcd_putint(Servoimpulsdauer); // Servoimpulsdauer
*/
}break;
case 6://
{
sensornummer=0xAF;
Sensornummerlesen(0,&sensornummer);
lcd_gotoxy(0,0);
lcd_puts("Sens\0");
lcd_putc('1');
lcd_putc(' ');
lcd_puthex(sensornummer);
}break;
case 7:// Schalter rückwaerts
{
sensornummer=0x00;
Sensornummerlesen(0,&sensornummer);
lcd_gotoxy(0,0);
lcd_puts("Sens\0");
lcd_putc('0');
lcd_putc(' ');
lcd_puthex(sensornummer);
}break;
case 8://
{
sensornummer=0x00;
Sensornummerlesen(1,&sensornummer);
lcd_gotoxy(0,0);
lcd_puts("Sens\0");
lcd_putc('1');
lcd_putc(' ');
lcd_puthex(sensornummer);
}break;
case 9:// Schalter vorwaerts
{
sensornummer=0x00;
Sensornummerlesen(2,&sensornummer);
lcd_gotoxy(0,0);
lcd_puts("Sens\0");
lcd_putc('2');
lcd_putc(' ');
lcd_puthex(sensornummer);
}break;
case 10:// *
{
}break;
case 11://
{
}break;
case 12: // # Normalbetrieb einschalten
{
Programmstatus &= ~(1<<MANUELL); // MANUELL OFF
Programmstatus &= ~(1<<MANUELLNEU);
MANUELL_PORT &= ~(1<<MANUELLPIN);
}
}//switch Tastatur
// delay_ms(400);
// lcd_gotoxy(18,1);
// lcd_puts(" "); // Tastenanzeige loeschen
}//if TastaturCount
}
}
return 0;
}
int main(int argc, char *argv[]){
int oldx, oldy;
lcd_init();
lcd_setcursor(1);
if( argc != 2 ){
lcd_printf("emin [filename]\n");
return 0;
}
oldx = lcd_getcurx();
oldy = lcd_getcury();
lcd_setshowpage(2);
lcd_setdrawpage(2);
lcd_locate(0,0);
init(argv[1]);
uchar key;
while(!quit){
key = mpc_getchar();
if(key != 0){
if( !mpc_oncontrol() && !mpc_onalt() ){
if(key == MKS_Enter){
emin_enter();
}else if(key == MKS_BackSpace || key == MKS_Delete){
emin_backspace();
}else if(0x20 <= key && key < 0x7f){
emin_type(key);
}
}else if( mpc_oncontrol() ){
if(key == 'f'){
Cursor_move_right(&cursor);
}else if(key == 'b'){
Cursor_move_left(&cursor);
}else if(key == 'p'){
Cursor_move_up(&cursor);
}else if(key == 'n'){
Cursor_move_down(&cursor);
}else if(key == 'a'){
Cursor_move_head(&cursor);
}else if(key == 'e'){
Cursor_move_end(&cursor);
}else if(key == 'l'){
View_redraw(&cursor);
}else if(key == 'h'){
emin_backspace();
}else if(key == 'x'){
emin_command(key);
}
}else if( mpc_onalt() ){
}
//Cursor_on(&cursor);
Cursor_set(&cursor);
}
mpc_usleep(1000);
}
lcd_cls();
lcd_setshowpage(0);
lcd_setdrawpage(0);
lcd_locate(oldx, oldy);
return 0;
}
void pong (void) {
ausrichtung = unten;
int16_t xcord = 5;
int16_t ycord = 0;
int16_t number = 23;
/* Koordinatensystem */
int16_t radius = 5;
int16_t xmin = 0;
int16_t xmax = 128 ;
int16_t ymin = 0;
int16_t ymax = 64;
int p1points = 10;
int cont = 1;
/* *******************************
* Deklaration von zwei Kreisen k1 und k2
* diese sollen wild durch die gegend bouncen
* bei berührung -> invertierung
********************************/
int16_t k1xcord = 23;
int16_t k1ycord = 42;
int16_t k1xstep = 3;
int16_t k1ystep = 1;
int16_t k1xmaxcord;
int16_t k1xmincord;
int16_t k1ymaxcord;
int16_t k1ymincord;
int16_t r1xcord = 10;
int16_t r1ycord = 27;
int16_t r1widthx = 2;
int16_t r1widthy = 10;
int16_t r1step = 1;
int16_t r1xmaxcord;
int16_t r1xmincord;
int16_t r1ymaxcord;
int16_t r1ymincord;
r1xmaxcord = (r1xcord + r1widthx);
r1xmincord = r1xcord;
while(cont) {
k1xmaxcord = (k1xcord + radius);
k1xmincord = (k1xcord - radius);
k1ymaxcord = (k1ycord + radius);
k1ymincord = (k1ycord - radius);
//STEUERUNG ***********************
//hoch
while (get_key_rpt (1 << KEY_MINUS)) {
if (ymin < r1ymincord) {
r1ycord = (r1ycord - r1step);
//lcd_printp_at(3,0, PSTR("+\r"),0);
}
r1ymincord = r1ycord;
r1ymaxcord = r1ymincord + r1widthy;
}
//runter
while (get_key_rpt (1 << KEY_PLUS)) {
if (ymax > r1ymaxcord) {
r1ycord = (r1ycord + r1step);
//lcd_printp_at(3,0, PSTR("-\r"),0);
}
r1ymaxcord = (r1ycord + r1widthy);
r1ymincord = r1ymaxcord - r1widthy;
}
if (debug) {
lcd_write_number_u_at (3,0, r1ymincord);
lcd_write_number_u_at (5,0, r1ymaxcord);
}
lcd_frect (r1xcord, r1ycord, r1widthx, r1widthy, 1);
// STEUERUNG ENDE ***********************
// BALL ABFRAGE **************************
if (debug) {
lcd_write_number_u_at (7,0, r1xmaxcord);
lcd_write_number_u_at (10,0, k1xmincord);
lcd_write_number_u_at (13, 0, k1ycord);
}
if (((r1ymaxcord > k1ycord) && (r1ymincord < k1ycord)) && (r1xmaxcord >= k1xmincord)) {
k1xstep = -(k1xstep);
}
if (xmax <= k1xmaxcord) {
k1xstep = -(k1xstep);
}
if (xmin >= k1xmincord) {
p1points--;
if (p1points == 0) {
cont = 0;
lcd_printp_at (2, 3,PSTR("VERLOREN!\r\n"),0);
wait_ms(5000);
}
k1xcord = 23;
k1ycord = 42;
k1xstep = 3;
k1ystep = 1;
}
if ((k1ymaxcord >= ymax) || (k1ymincord <= ymin)) {
k1ystep = -(k1ystep);
}
k1xcord += k1xstep;
k1ycord += k1ystep;
lcd_fcircle (k1xcord, k1ycord, radius);
// BALLABFRAGE ENDE *****************************
//Zeichnen
lcd_write_number_u_at (0,0, p1points);
wait_ms (100);
lcd_cls ();
}
lcd_write_number_u_at(xcord, ycord, number);
}
