int main(void) {
int i;
init();
output_speed(0, 50);
output_speed(1, 50);
while (1) {
flash(LED_M0_R);
flash(LED_M0_B);
flash(LED_M1_R);
flash(LED_M1_B);
output_enable(0);
output_direction(0, DIR_FWD);
delay(DELAY*2);
output_direction(0, DIR_REV);
delay(DELAY*2);
output_disable(0);
delay(DELAY);
output_enable(1);
output_direction(1, DIR_FWD);
delay(DELAY*2);
output_direction(1, DIR_REV);
delay(DELAY*2);
output_disable(1);
delay(DELAY);
}
return 0;
}
int main(int argc, char **argv) {
setvbuf(stdout, NULL, _IONBF, 0); // needed to print to the command line
int x;
int a;
// initialise the servo pi on I2C address 0x40 with the Output Enable pin enabled.
// Check the returned value to ensure the Servo Pi initialised correctly
a = servopi_init(0x40, 1);
if (a != 0) {
if (a == 1) {
printf("Error enabling GPIO Pin");
}
if (a == 2) {
printf("Error setting GPIO Pin direction");
}
return (0);
}
//Set PWM frequency to 60 Hz and enable the output
set_pwm_freq(60, 0x40);
output_enable();
while (1) {
set_pwm(1, 0, servoMin, 0x40); // set the pwm width to servoMin
usleep(500000); // sleep 0.5 seconds
set_pwm(1, 0, servoMed, 0x40); // set the pwm width to servoMed
usleep(500000); // sleep 0.5 seconds
set_pwm(1, 0, servoMax, 0x40); // set the pwm width to servoMax
usleep(500000); // sleep 0.5 seconds
}
return (0);
}
void read_lock(uint8_t *lock)
{
load_command(appc_read_fuse_n_lock_bits);
output_enable();
reset_bs2();
set_byte_high();
*lock = data_in();
output_disable();
}
void read_cali(uint8_t *cali)
{
load_command(appc_read_sig_bytes_n_cali_byte);
load_address_low_byte(0);
output_enable();
set_byte_high();
*cali = data_in();
output_disable();
}
int pd_set_power_supply_ready(int port)
{
/* fault condition not cleared : do not turn on power */
if ((fault != FAULT_OK) || discharge_is_enabled())
return EC_ERROR_INVAL;
output_enable();
/* Over-current monitoring */
adc_enable_watchdog(ADC_CH_A_SENSE, MAX_CURRENT_FAST, 0);
return EC_SUCCESS; /* we are ready */
}
uint8_t read_eeprom(uint16_t addr)
{
uint8_t data;
load_command(appc_read_eeprom);
load_address_high_byte(addr >> 8);
load_address_low_byte(addr & 0xFF);
output_enable();
set_byte_low();
data = data_in();
output_disable();
return data;
}
void read_sign(uint8_t *msb, uint8_t *csb, uint8_t *lsb)
{
load_command(appc_read_sig_bytes_n_cali_byte);
//load_address_high_byte(0); // TODO
load_address_low_byte(0);
output_enable();
set_byte_low();
*msb = data_in();
output_disable();
load_address_low_byte(1);
output_enable();
set_byte_low();
*csb = data_in();
output_disable();
load_address_low_byte(2);
output_enable();
set_byte_low();
*lsb = data_in();
output_disable();
}
void read_fuse(uint8_t *efuse, uint8_t *hfuse, uint8_t *lfuse)
{
load_command(appc_read_fuse_n_lock_bits);
output_enable();
reset_bs2();
set_byte_low();
*lfuse = data_in();
set_bs2();
set_byte_high();
*hfuse = data_in();
set_bs2();
set_byte_low();
*efuse = data_in();
output_disable();
}
uint16_t read_pgm_mem_word(uint16_t waddr)
{
uint16_t word;
load_command(appc_read_flash);
load_address_high_byte(waddr >> 8);
load_address_low_byte(waddr & 0xFF);
output_enable();
set_byte_low();
word = data_in();
set_byte_high();
word |= data_in() << 8;
output_disable();
return word;
}
int main(int argc, char **argv) {
setvbuf(stdout, NULL, _IONBF, 0); // needed to print to the command line
int x;
int a;
// initialise the servo pi on I2C address 0x40 with the Output Enable pin enabled.
// Check the returned value to ensure the Servo Pi initialised correctly
a = servopi_init(0x40, 1);
if (a != 0){
if (a == 1){
printf("Error enabling GPIO Pin");
}
if (a == 2){
printf("Error setting GPIO Pin direction");
}
return (0);
}
//Set PWM frequency to 1 Khz and enable the output
set_pwm_freq(1000, 0x40);
output_enable();
while (1) {
for (x = 1; x <= 4095; x = x + 5) {
set_pwm(1, 0, x, 0x40); // set the pwm width to x
}
for (x = 4095; x >= 0; x = x - 5) {
set_pwm(1, 0, x, 0x40); // set the pwm width to x
}
}
return (0);
}
//
// set pixel at (x, y) to val (1 = on, 0 = off)
//
// note: top left is (0, 0) and bottom right is (4, 4).
//
void setpixel(uint8_t x, uint8_t y, uint8_t val)
{
uint8_t n, b;
uint8_t hi, lo;
//n = x + 5*y;
n = x + (y<<2) + y; // equivalent to "n = x + 5*y" but avoids mult operation (attiny doesn't have MUL!)
b = LEDS[n]; // get hi,lo nibbles from LED lookup table
hi = UNPACKH(b);
lo = UNPACKL(b);
// enable/disable the high pin
switch (hi) {
case A:
if (val) {
output_enable(A_LINE);
output_high(A_LINE);
} else {
output_low(A_LINE);
output_disable(A_LINE);
}
break;
case B:
if (val) {
output_enable(B_LINE);
output_high(B_LINE);
} else {
output_low(B_LINE);
output_disable(B_LINE);
}
break;
case C:
if (val) {
output_enable(C_LINE);
output_high(C_LINE);
} else {
output_low(C_LINE);
output_disable(C_LINE);
}
break;
case D:
if (val) {
output_enable(D_LINE);
output_high(D_LINE);
} else {
output_low(D_LINE);
output_disable(D_LINE);
}
break;
case E:
if (val) {
output_enable(E_LINE);
output_high(E_LINE);
} else {
output_low(E_LINE);
output_disable(E_LINE);
}
break;
case F:
if (val) {
output_enable(F_LINE);
//output_high(F_LINE);
output_low(F_LINE); // XXX hack for V0.9 board - F_LINE is ALWAYS low
} else {
//output_low(F_LINE);
output_disable(F_LINE);
}
break;
}
// low pin
switch (lo) {
case A:
if (val) {
output_enable(A_LINE);
output_low(A_LINE);
} else {
output_disable(A_LINE);
}
break;
case B:
if (val) {
output_enable(B_LINE);
output_low(B_LINE);
} else {
output_disable(B_LINE);
}
break;
case C:
if (val) {
output_enable(C_LINE);
output_low(C_LINE);
} else {
output_disable(C_LINE);
}
break;
case D:
if (val) {
output_enable(D_LINE);
output_low(D_LINE);
} else {
output_disable(D_LINE);
}
break;
case E:
if (val) {
output_enable(E_LINE);
output_low(E_LINE);
} else {
output_disable(E_LINE);
}
break;
#ifdef NOTDEF
// note: this case does not occur!
case F:
if (val) {
output_enable(F_LINE);
output_low(F_LINE);
} else {
output_disable(F_LINE);
}
break;
#endif
}
}
