void error (const PropWare::ErrorCode err) {
// Set the Quickstart LEDs for output (used to display the error code)
PropWare::SimplePort debugLEDs(PropWare::Port::P16, 8, PropWare::Pin::OUT);
while (1) {
debugLEDs.write((uint32_t) err);
waitcnt(CLKFREQ / 5 + CNT);
debugLEDs.write(0);
waitcnt(CLKFREQ / 5 + CNT);
}
}
int getQTIs(int highPin, int lowPin) // Function - getQTIs
{
int dt = (CLKFREQ / 1000000) * 230; // Set up 230 us time increment
set_outputs(highPin, lowPin, 0b1111); // highPin...lowPin set high
set_directions(highPin, lowPin, 0b1111); // highPin...lowPin set to output
waitcnt(dt + CNT); // Wait 230 us
set_directions(highPin, lowPin, 0b0000); // highPin...lowPin st to input
waitcnt(dt + CNT); // Wait 230 us
int qtis = get_states(highPin, lowPin); // Get 4-bit pattern QTIs apply
return qtis; // Return val containing pattern
}
void error (const PropWare::ErrorCode err) {
PropWare::SimplePort debugLEDs(PropWare::Port::P16, 8, PropWare::Pin::OUT);
pwSyncOut.printf("Unknown error: %u\n", err);
while (1) {
debugLEDs.write((uint32_t) err);
waitcnt(100 * MILLISECOND);
debugLEDs.write(0);
waitcnt(100 * MILLISECOND);
}
}
int main() // Main function
{
All_LED( 0 );
InitSerial();
Sensors_Start( PIN_SDI, PIN_SDO, PIN_SCL, PIN_CS_AG, PIN_CS_M, PIN_CS_ALT, PIN_LED, (int)&LEDValue[0], LED_COUNT );
loopTimer = CNT;
int filter = 256;
while(1)
{
//Read ALL inputs from the sensors into local memory, starting at Temperature
memcpy( &sens, Sensors_Address(), Sensors_ParamsSize );
S4_Put( 0, '$' ); // Send a $ as a signature (like a packet start)
LogInt( sens.GyroY ); // Sends an integer, followed by a space
LogInt( sens.AccelX ); // Sends an integer, followed by a space
LogInt( sens.AccelZ ); // Sends an integer, followed by a space
S4_Put( 0, 13 ); // Send a carriage return
++counter;
loopTimer += 80000000 / 100;
waitcnt( loopTimer );
}
}
/**
* @example L3G_Demo.cpp
*
* Read the gyrometer data and print it to the terminal
*
* @include PropWare_L3G/CMakeLists.txt
*/
int main () {
int16_t gyroValues[3];
PropWare::SPI *spi = PropWare::SPI::get_instance();
PropWare::L3G gyro(spi, CS);
gyro.start();
gyro.set_dps(PropWare::L3G::DPS_500);
// Though this functional call is not necessary (default value is 0), I
// want to bring attention to this function. It will determine whether the
// l3g_read* functions will always explicitly set the SPI modes before
// each call, or assume that the SPI driver is still running in the proper
// configuration
gyro.always_set_spi_mode(1);
while (1) {
gyro.read_all(gyroValues);
//pwOut << "Gyro vals DPS... X: " << gyro.convert_to_dps(gyroValues[PropWare::L3G::X])
// << "\tY: " << gyro.convert_to_dps(gyroValues[PropWare::L3G::Y])
// << "\tZ: " << gyro.convert_to_dps(gyroValues[PropWare::L3G::Z]) << '\n';
pwOut << "Gyro vals DPS... X: " << gyroValues[PropWare::L3G::X]
<< "\tY: " << gyroValues[PropWare::L3G::Y]
<< "\tZ: " << gyroValues[PropWare::L3G::Z] << '\n';
waitcnt(50*MILLISECOND + CNT);
}
return 0;
}
void ultrasonic_run()
{
while(1)
{
high(PIN_RANGE_TRIG);
waitcnt(CNT + CLKFREQ/100000); // 10 uS
low(PIN_RANGE_TRIG);
int duration = pulse_in(PIN_RANGE_ECHO, 1)/58;
if (duration > 400)
duration = 400;
range = duration;
waitcnt(CNT + CLKFREQ/17);
}
}
__attribute__((constructor)) void init(void) {
/* assert tx pin low for QuickStart */
OUTA &= ~(1<<30);
DIRA |= (1<<30);
/* wait a second for terminal to start */
//sleep(1);
waitcnt(CLKFREQ+CNT);
}
/**
* drain waits for all bytes to be sent
*/
void
FdSerial_drain(FdSerial_t *data)
{
while(data->tx_tail != data->tx_head)
;
/* wait for transmission */
waitcnt(_clkfreq + data->ticks);
}
void
pause(int secs)
{
while (secs > 0) {
waitcnt(_CNT+_clkfreq);
--secs;
}
}
void imu_run()
{
while(1)
{
last = CNT;
waitcnt(CNT + CLKFREQ/1000*IMU_UPDATE_DELAY);
imu_update();
}
}
terminal *simpleterm_open(void)
{
if(dport_ptr != 0)
return dport_ptr;
dport_ptr = serial_open(31,30,0,115200);
waitcnt(CLKFREQ+CNT);
return dport_ptr;
}
// Function runs in another cog
void ms_timer(void *par)
{
dt = CLKFREQ/1000;
int ticks = CNT;
while(1)
{
waitcnt(ticks+=dt);
t++;
}
}
void Listener::init () {
this->m_listener.set_rx_mask(RX_PIN);
this->m_listener.set_baud_rate(BAUD_RATE);
this->m_listener.set_parity(PARITY);
memset(m_buffer, 0, sizeof(m_buffer));
// A very short wait to ensure the main cog has finished printing its "I'm ready" statement before we start
// printing ours
waitcnt(10 * MILLISECOND + CNT);
}
void pwm_run()
{
servo_start();
waitcnt(CNT + CLKFREQ/2);
while(1)
{
for (int i=0;i<4;i++)
servo_set(motors[i]->pin, motors[i]->current_val);
}
}
int32_t screenSpin::Fadein(void)
{
int32_t Contrastnum;
Contrastnum = 0;
while (Contrastnum < 16) {
Contrast(Contrastnum);
Contrastnum = (Contrastnum + 1);
waitcnt(((CLKFREQ / 8000) + CNT));
}
return 0;
}
int32_t screenSpin::Fadeout(void)
{
int32_t Contrastnum;
Contrastnum = 15;
while (Contrastnum > (-1)) {
Contrast(Contrastnum);
Contrastnum = (Contrastnum - 1);
waitcnt(((CLKFREQ / 8000) + CNT));
}
return 0;
}
void wait(int time) // pause function definition
{
// If dt not initialized, set it up to 1 us.
/*
if(!st_iodt) // If dt not initialized
{
set_io_dt(CLKFREQ/1000000); // Set up timed I/O time increment
set_io_timeout(CLKFREQ/4); // Set up timeout
}
*/
time *= st_iodt; // Calculate system clock ticks
waitcnt(st_mark += time); // Wait for system clock target
}
int Sirc::getPulseWidth(){
//Var we are using to count time.
int count = 0;
//Wait for incoming signal
//Start waiting for the pin to get low.
//This indicates the start of a transmission.
while(true){
//Check if the pin is low.
if(input(pin) == 0){
//Get out of the loop.
break;
}
//Increase the counter.
//Each tick is 100 microseconds.
count++;
//Check if the timeout is enabled.
//Check if we need to time out already.
if(timeout > 0 && count >= (timeout*10)){
//Return the timeout value (-1).
return TIMEOUT;
}
//Wait for 100 microseconds.
waitcnt(CNT+100*us);
}
//Reset the counter.
//We are going to use it to count the pulse width now.
count = 0;
//Run until the pin becomes high again.
while(input(pin) == 0){
//Increase the counter.
//Each tick represents 100 us.
count++;
//Wait for 100 microseconds.
waitcnt(CNT+100*us);
}
//Return the counted value.
return count;
}
/**
* @example DuplexUART_Demo.cpp
*
* Write "Hello world!" out via UART protocol and receive an echo
*
* @include PropWare_DuplexUART/CMakeLists.txt
*/
int main () {
uint32_t threadStack[256];
Listener listener(threadStack);
PropWare::SimplexUART speaker(TX_PIN);
// Start our new cog and initialize the speaking UART
speaker.set_baud_rate(BAUD_RATE);
speaker.set_parity(PARITY);
pwSyncOut.printf("New cog ID: %d. Ready to send!!!\n", PropWare::Runnable::invoke(listener));
while (1) {
waitcnt(200 * MILLISECOND + CNT);
speaker.puts(TEST_STRING);
}
}
int main(int argc, char* argv[])
{
#if defined(__USE_XMM__)
int mask = 0x00008000; /* only toggle the C3 board LED */
#else
int mask = 0x3fffffff; /* toggle all pins except the serial */
#endif
int freq;
freq = CLKFREQ;
DIRA = mask;
OUTA = mask;
for(;;) {
OUTA ^= mask;
waitcnt(freq+CNT);
}
}
void SPIShiftIn_fast (const uint8_t bits, void *data, const uint8_t bytes) {
uint8_t *par8;
uint16_t *par16;
uint32_t *par32;
// Wait until idle state, then send function and mode bits
SPIWait();
g_mailbox = SPI_FUNC_READ_FAST | (bits << SPI_BITS_OFFSET);
// Wait for a value to be written
while ((uint32_t) -1 == g_mailbox)
waitcnt(SPI_TIMEOUT_WIGGLE_ROOM + CNT);
// Determine if output variable is char, short or long and write data to that location
switch (bytes) {
case 1:
par8 = data;
*par8 = g_mailbox;
break;
case 2:
par16 = data;
*par16 = g_mailbox;
break;
case 4:
par32 = data;
*par32 = g_mailbox;
break;
default:
#ifdef SPI_DEBUG
SPIError(SPI_INVALID_BYTE_SIZE);
#else
return;
#endif
break;
}
// Signal that value is saved and GAS cog can continue execution
g_mailbox = -1;
}
void pw(void *par)
{
FRQA = 1;
FRQB = 1;
int pin;
unsigned int dt = tCycle;
unsigned int t = CNT;
while(1)
{
waitcnt(t+=dt);
if(ctra != CTRA)
{
if(ctra != 0)
{
pin = CTRA & 0b111111;
DIRA &= ~(1 << pin);
}
CTRA = ctra;
pin = CTRA & 0b111111;
DIRA |= (1 << pin);
}
if(ctrb != CTRB)
{
if(ctrb != 0)
{
pin = CTRB & 0b111111;
DIRB &= ~(1 << pin);
}
CTRB = ctrb;
pin = CTRB & 0b111111;
DIRA |= (1 << pin);
}
PHSA = -ticksA;
PHSB = -ticksB;
}
}
// Main function
void main (void) {
uint8_t err;
char c;
sd_file f, f2;
#ifndef LOW_RAM_MODE
/* Option 1: Create at least one new sd_buffer variable
*
* An extra 526 bytes of memory are required to create a new sd_buffer
* for the file variable, but speed will be increased if files are
* being switched often. Using this option will allow the directory
* contents to be kept in RAM while a file is loaded.
*
*/
sd_buffer fileBuf; // If extra RAM is available
sd_buffer fileBuf2;
f.buf = &fileBuf;
f2.buf = &fileBuf2;
#else
/* Option 2: Use the generic buffer [i.e. g_sd_buf] as the buffer
*
* Good for low-RAM situations due to the re-use of g_sd_buf. Speed is
* decreased when multiple files are used often.
*
*/
f.buf = &g_sd_buf;
f2.buf = &g_sd_buf;
#endif
#ifdef DEBUG
printf("Beginning SD card initialization...\n");
#endif
// Start your engines!!!
if ((err = SDStart(MOSI, MISO, SCLK, CS, -1)))
error(err);
#ifdef DEBUG
printf("SD routine started. Mounting now...\n");
#endif
if ((err = SDMount()))
error(err);
#ifdef DEBUG
printf("FAT partition mounted!\n");
#endif
#ifdef TEST_SHELL
SD_Shell(&f);
#elif (defined TEST_WRITE)
// Create a blank file and copy the contents of STUFF.TXT into it
SDfopen(OLD_FILE, &f, SD_FILE_MODE_R);
SDfopen(NEW_FILE, &f2, SD_FILE_MODE_R_PLUS);
#ifdef DEBUG
printf("Both files opened...\n");
#endif
while (!SDfeof(&f)) {
c = SDfgetc(&f);
SDfputc(c, &f2);
#ifdef _STDIO_H
putchar(SDfgetc(&f2));
#endif
}
#ifdef DEBUG
printf("\nFile printed...\n");
printf("Now closing read-only file!\n");
#endif
SDfclose(&f);
#ifdef DEBUG
printf("***Now closing the modified file!***\n");
#endif
SDfclose(&f2);
#ifdef DEBUG
printf("Files closed...\n");
SDfopen(NEW_FILE, &f2, SD_FILE_MODE_R);
printf("File opened for a second time, now printing new contents...\n");
while (!SDfeof(&f2))
putchar(SDfgetc(&f2));
SDfclose(&f2);
#endif
SDUnmount();
#else
SDchdir("JAZZ");
SDfopen("DESKTOP.INI", &f, SD_FILE_MODE_R);
while (!SDfeof(&f))
#ifdef DEBUG
putchar(SDfgetc(&f));
#endif
#endif
#ifdef DEBUG
printf("Execution complete!\n");
#endif
GPIODirModeSet(BIT_16, GPIO_DIR_OUT);
while (1) {
GPIOPinToggle(BIT_16);
waitcnt(CLKFREQ/2 + CNT);
}
}
void test123::Pauseabit(void)
{
waitcnt((40000000 + CNT));
}
void btest005::pausems(uint32_t ms)
{
uint32_t tim;
tim = ms * mscycles;
waitcnt(tim + getcnt());
}
/****************************** start main routine ******************************/
int main(void)
{
char input_buffer[INPUT_BUFFER]; //buffer for user input
waitcnt(500000 + _CNT); //wait until initialization is complete
printf("XMMC-cogc demo v%s",VERSION); //display startup message
/* start monitoring the real time clock DS3231 */
int cog;
rtc_cb.rtc.tdb_lock = locknew();
lockclr(rtc_cb.rtc.tdb_lock);
cog = start_rtc(&rtc_cb.rtc);
if(cog == -1)
{
printf("** error attempting to start rtc cog\n cognew returned %i\n\n",cog);
return 1;
}
printf(" DS3231 monitored by code running on cog %i\n",cog);
/* set all cogs to not running */
parA.A.cog = -1;
parB.B.cog = -1;
parC.C.cog = -1;
/* loop forever */
while(1)
{
printf("\nenter command > "); //prompt user
fgets(input_buffer,INPUT_BUFFER,stdin); //get a line of input
input_buffer[strlen(input_buffer)-1] = '\0'; //get rid of trailing new line character
switch(process(input_buffer)) //test input,take appropriate action
{
case 0: //startA
if(start_cogA(&parA.A)== -1)
printf(" problem starting cogA\n");
else
printf(" cogA started\n");
break;
case 1: //startB
if(start_cogB(&parB.B)== -1)
printf(" problem starting cogB\n");
else
printf(" cogB started\n");
break;
case 2: //startC
if(start_cogC(&parC.C)== -1)
printf(" problem starting cogC\n");
else
printf(" cogC started\n");
break;
case 3: //stopA
cogstop(parA.A.cog);
printf(" cog A stopped\n");
parA.A.cog = -1;
break;
case 4: //stopB
cogstop(parB.B.cog);
printf(" cog B stopped\n");
parB.B.cog = -1;
break;
case 5: //stopC
cogstop(parC.C.cog);
printf(" cog C stopped\n");
parC.C.cog = -1;
break;
case 6: //queryA
if(parA.A.cog == -1)
printf("cog A is not running\n");
else
parA.A.query_flag = 1;
break;
case 7: //queryB
if(parB.B.cog == -1)
printf("cog B is not running\n");
else
parB.B.query_flag = 1;
break;
case 8: //queryC
if(parC.C.cog == -1)
printf("cog C is not running\n");
else
parC.C.query_flag = 1;
break;
case 9: //status
status();
break;
case 10: //exit
printf("exiting program\n");
return 0;
case 11: //time
printf("%s, %i:%02i:%02i %i/%i/%i\n\n",
day_names_long[rtc_cb.rtc.dow-1],
rtc_cb.rtc.hour,
rtc_cb.rtc.min,
rtc_cb.rtc.sec,
rtc_cb.rtc.month,
rtc_cb.rtc.day,
rtc_cb.rtc.year+2000);
break;
default:
printf("<%s> is not a valid command\n",input_buffer);
}
}
return 0;
}
// Wait for command to be cleared, signifying receipt
int32_t screen_init(int32_t ChipSelect, int32_t DataCommand, int32_t TheData, int32_t TheClock, int32_t Reset, int32_t VCC_state, int32_t Type)
{
// Startup the SPI system
screen_start();
// Initialize variables and initialize the display
self->CS = ChipSelect;
self->DC = DataCommand;
self->DATA = TheData;
self->CLK = TheClock;
self->RST = Reset;
self->vccstate = VCC_state;
self->displayType = Type;
if (self->displayType == TYPE_128X32) {
self->displayWidth = SSD1306_LCDWIDTH;
self->displayHeight = SSD1306_LCDHEIGHT32;
} else {
self->displayWidth = SSD1306_LCDWIDTH;
self->displayHeight = SSD1306_LCDHEIGHT64;
}
// Setup reset and pin direction
screen_HIGH(self->RST);
// VDD (3.3V) goes high at start; wait for a ms
waitcnt(((CLKFREQ / 100000) + CNT));
// force reset low
screen_LOW(self->RST);
// wait 10ms
waitcnt(((CLKFREQ / 100000) + CNT));
// remove reset
screen_HIGH(self->RST);
if (self->displayType == TYPE_128X32) {
// ************************************
// Init sequence for 128x32 OLED module
// ************************************
screen_ssd1306_Command(SSD1306_DISPLAYOFF);
screen_ssd1306_Command(SSD1306_SETDISPLAYCLOCKDIV);
screen_ssd1306_Command(128);
screen_ssd1306_Command(SSD1306_SETMULTIPLEX);
screen_ssd1306_Command(31);
screen_ssd1306_Command(SSD1306_SETDISPLAYOFFSET);
screen_ssd1306_Command(0);
screen_ssd1306_Command((SSD1306_SETSTARTLINE | 0x0));
screen_ssd1306_Command(SSD1306_CHARGEPUMP);
if (self->vccstate == SSD1306_EXTERNALVCC) {
screen_ssd1306_Command(16);
} else {
screen_ssd1306_Command(20);
}
screen_ssd1306_Command(SSD1306_MEMORYMODE);
screen_ssd1306_Command(0);
screen_ssd1306_Command((SSD1306_SEGREMAP | 0x1));
screen_ssd1306_Command(SSD1306_COMSCANDEC);
screen_ssd1306_Command(SSD1306_SETCOMPINS);
screen_ssd1306_Command(2);
screen_ssd1306_Command(SSD1306_SETCONTRAST);
screen_ssd1306_Command(143);
screen_ssd1306_Command(SSD1306_SETPRECHARGE);
if (self->vccstate == SSD1306_EXTERNALVCC) {
screen_ssd1306_Command(34);
} else {
// SSD1306_SWITCHCAPVCC
screen_ssd1306_Command(241);
}
screen_ssd1306_Command(SSD1306_SETVCOMDETECT);
screen_ssd1306_Command(64);
screen_ssd1306_Command(SSD1306_DISPLAYALLON_RESUME);
screen_ssd1306_Command(SSD1306_NORMALDISPLAY);
// --turn on oled panel
screen_ssd1306_Command(SSD1306_DISPLAYON);
} else {
// ************************************
// Init sequence for 128x64 OLED module
// ************************************
screen_ssd1306_Command(SSD1306_DISPLAYOFF);
// low col = 0
screen_ssd1306_Command(SSD1306_SETLOWCOLUMN);
// hi col = 0
screen_ssd1306_Command(SSD1306_SETHIGHCOLUMN);
// line #0
screen_ssd1306_Command(SSD1306_SETSTARTLINE);
screen_ssd1306_Command(SSD1306_SETCONTRAST);
if (self->vccstate == SSD1306_EXTERNALVCC) {
screen_ssd1306_Command(159);
} else {
screen_ssd1306_Command(207);
}
screen_ssd1306_Command(161);
screen_ssd1306_Command(SSD1306_NORMALDISPLAY);
screen_ssd1306_Command(SSD1306_DISPLAYALLON_RESUME);
screen_ssd1306_Command(SSD1306_SETMULTIPLEX);
screen_ssd1306_Command(63);
screen_ssd1306_Command(SSD1306_SETDISPLAYOFFSET);
// No offset
screen_ssd1306_Command(0);
screen_ssd1306_Command(SSD1306_SETDISPLAYCLOCKDIV);
screen_ssd1306_Command(128);
screen_ssd1306_Command(SSD1306_SETPRECHARGE);
if (self->vccstate == SSD1306_EXTERNALVCC) {
screen_ssd1306_Command(34);
} else {
screen_ssd1306_Command(241);
}
screen_ssd1306_Command(SSD1306_SETVCOMDETECT);
screen_ssd1306_Command(64);
screen_ssd1306_Command(SSD1306_SETCOMPINS);
screen_ssd1306_Command(18);
screen_ssd1306_Command(SSD1306_MEMORYMODE);
screen_ssd1306_Command(0);
screen_ssd1306_Command((SSD1306_SEGREMAP | 0x1));
screen_ssd1306_Command(SSD1306_COMSCANDEC);
screen_ssd1306_Command(SSD1306_CHARGEPUMP);
if (self->vccstate == SSD1306_EXTERNALVCC) {
screen_ssd1306_Command(16);
} else {
screen_ssd1306_Command(20);
}
// --turn on oled panel
screen_ssd1306_Command(SSD1306_DISPLAYON);
}
self->crsrX = 0;
self->crsrY = 0;
self->charSize = LARGE;
invert(0);
//screen_AutoUpdateOff(); // commented 8/23 5:26 PM
//clear();
return 0;
}
void pause(int time) // pause function definition
{ // If st_pauseTicks not initialized, set it up to 1 ms.
// if(!st_pauseTicks) set_pause_dt(CLKFREQ/1000);
time *= st_pauseTicks; // Calculate system clock ticks
waitcnt(time+CNT); // Wait for system clock target
}
void pause() {
waitcnt(CLKFREQ+CNT);
}
void quad_time(int power, int time) {
int tmp = CNT;
quad_power(power);
waitcnt(tmp + CLKFREQ*time);
}
