//*****************************************************************************
//
// Initializes the switch task.
//
//*****************************************************************************
unsigned long
AccelerometerTaskInit(void)
{
// volatile unsigned char foo = 28;
RGBInit(1);
RGBIntensitySet(0.3f);
//
// Turn on the Green LED
//
g_ucColorsIndx = 0;
g_ulColors[g_ucColorsIndx] = 0x8000;
RGBColorSet(g_ulColors);
RGBDisable();
//////////////
g_pAccelerometerQueue = xQueueCreate(ACCELEROMETER_QUEUE_SIZE, ACCELEROMETER_ITEM_SIZE);
I2CSetup(I2C0BASEADDR, 40000);
if (((I2CRegRead(I2C0BASEADDR, SLAVEID, DEVID)) & 0xE5) == 0)
{
while (1);
}
I2CRegWrite(I2C0BASEADDR, SLAVEID, THRESH_FF, 0x06);
simple_delay();
I2CRegWrite(I2C0BASEADDR, SLAVEID, TIME_FF, 0x15);
simple_delay();
I2CRegWrite(I2C0BASEADDR, SLAVEID, INT_MAP, 0x00);
simple_delay();
I2CRegWrite(I2C0BASEADDR, SLAVEID, POWER_CTL, 0x08);
simple_delay();
I2CRegWrite(I2C0BASEADDR, SLAVEID, INT_ENABLE, 0x04);
simple_delay();
if(xTaskCreate(AccelerometerTask, (signed portCHAR *)"Acclerometer",
ACCELEROMETERTASKSTACKSIZE, NULL, tskIDLE_PRIORITY +
PRIORITY_ACCELEROMETER_TASK, NULL) != pdTRUE)
{
return(1);
}
//
// Success.
//
return(0);
}
int pigSetup ()
{
if ((fd = I2CSetup (0x54)) < 0)
return fd ;
// Setup the chip - initialise all 18 LEDs to off
//wiringPiI2CWriteReg8 (fd, 0x17, 0) ; // Reset
writeI2CRegister (fd, 0x00, 1) ; // Not Shutdown
writeI2CRegister (fd, 0x13, 0x3F) ; // Enable LEDs 0- 5
writeI2CRegister (fd, 0x14, 0x3F) ; // Enable LEDs 6-11
writeI2CRegister (fd, 0x15, 0x3F) ; // Enable LEDs 12-17
writeI2CRegister (fd, 0x16, 0x00) ; // Update
return fd ;
}
// program setup
void setup() {
Serial.begin(115200);
pinSetup();
sensorSetup();
I2CSetup();
USBsetup();
driveSetup();
disp.addEventListener(Events::EV_TIME_1000, timeHandler1000);
//disp.addEventListener(Events::EV_TIME_1000, usbSoftwareTestHandler);
disp.addEventListener(Events::EV_TIME_1000, IRSensorHandler);
//disp.addEventListener(Events::EV_TIME_1000, I2CSensorDataHandler);
disp.addEventListener(Events::EV_TIME_500, timeHandler500);
//disp.addEventListener(Events::EV_TIME_100, timeHandler100);
//disp.addEventListener(Events::EV_ANALOG0, analogHandler);
disp.addEventListener(Events::EV_SERIAL, USBReadHandler);
}
static void PeripheralsSetup(void)
{
I2CSetup();
}
int main(void){
InitDevice();
setup_Interrupt();
CANSetup();
I2CSetup();
heartBeatCounter = 0;
FIRST_SEND = 1;
I2C_FLAG = 0;
CHIP_ALIVE_DIODE = 1;
HEARTBEAT_DIODE = 0;
ERROR_DIODE = 0;
#ifdef TEST_RFID
while(1){
int start_condition = multiToSingle();
if(start_condition == 1){
singleToBit();
int start = findStart();
bitToCode(start);
}
Delay(10);
}
#endif
while(1){
if(ECAN_Receive()){
FIRST_SEND = 0;
HEARTBEAT_DIODE = 1;
i2c_reg_map[REC_BATTERYSTATUS0] = MAP_REC_BATTERYSTATUS0;
i2c_reg_map[REC_BATTERYSTATUS1] = MAP_REC_BATTERYSTATUS1;
i2c_reg_map[REC_BATTERYSTATUS2] = 0;//not used
i2c_reg_map[REC_BATTERYSTATUS3] = 0;//not used
i2c_reg_map[REC_VELOCITY] = MAP_REC_VELOCITY;
i2c_reg_map[REC_HEARTBEAT] = temp_D2;//always one (heartbeat)
i2c_reg_map[6] = temp_D6;
i2c_reg_map[7] = temp_D7;
heartBeatCounter = 0;
}
if(heartBeatCounter > 35){
//danger
i2c_reg_map[2] = 0;
}
if(I2C_FLAG){
I2C_FLAG = 0;
zipCAN();
ECAN_Transmit(0x32,0xC0, 0x02,
MAP_BITDATA,//zipped data
i2c_reg_map[SEND_ACCELERATOR],
i2c_reg_map[10],//dummy values
i2c_reg_map[11],//dummy values
i2c_reg_map[12],//dummy values
i2c_reg_map[13],//dummy values
i2c_reg_map[14],//dummy values
i2c_reg_map[15]);//dummy values
}
//checkRFID();
Delay(ONE_MS * 5);
}
return 0;
}
int main(void) {
ROM_FPUEnable();
ROM_FPULazyStackingEnable();
ROM_SysCtlClockSet(
SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
SysTickPeriodSet(SysCtlClockGet() / TICKFREQ); //tickfreq in Hz
SysTickIntEnable();
SysTickEnable();
#ifdef DEBUG
InitConsole();
#endif
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
ROM_IntMasterEnable();
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE,
GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
GPIOPinConfigure(GPIO_PC6_U3RX);
GPIOPinConfigure(GPIO_PC7_U3TX);
GPIOPinConfigure(GPIO_PB0_U1RX);
GPIOPinConfigure(GPIO_PB1_U1TX);
ROM_GPIOPinTypeUART(GPIO_PORTC_BASE,
GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);
ROM_GPIOPinTypeUART(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
ROM_UARTFIFOEnable(UART1_BASE);
ROM_UARTFIFOEnable(UART3_BASE);
ROM_UARTConfigSetExpClk(UART3_BASE, ROM_SysCtlClockGet(), 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_UARTConfigSetExpClk(UART1_BASE, ROM_SysCtlClockGet(), 38400,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_IntEnable(INT_UART1);
ROM_UARTIntEnable(UART1_BASE, UART_INT_RX | UART_INT_RT); // ONLY recieve inturrupt
ROM_IntEnable(INT_UART3);
ROM_UARTIntEnable(UART3_BASE, UART_INT_RX | UART_INT_RT); // ONLY recieve inturrupt
I2CSetup(I2C0_MASTER_BASE, true);
setupServos();
UARTprintf("init");
nrf24l01p_init(3);
nrf24l01p_setRADDR((uint8_t *) "Boat");
nrf24l01p_setPayLoad(DATA_BUFFER_MAX);
nrf24l01p_setChannel(1);
nrf24l01p_config();
nrf24l01p_setTADDR((uint8_t *) "Base");
// nrf24l01p_send((unsigned char *) &"Init");
GPIOPortIntRegister(GPIO_PORTA_BASE, portAIntHandler);
GPIOIntTypeSet(GPIO_PORTA_BASE, GPIO_PIN_5, GPIO_FALLING_EDGE);
GPIOPinIntEnable(GPIO_PORTA_BASE, GPIO_PIN_5);
unsigned char p = 0;
nrf24l01p_readRegister(0x00, &p, 1);
UARTprintf(" ");
while (1) {
sortGPSSentence();
}
}
