void InitGPS()
{
CalculateRotateFact();
OSTimeDly(500);
InitEncoders();
InitGyro(GPS_TIMER_PPR / (double)GPS_TIMER_DIV);
g_X = START_X ;
g_Y = START_Y ;
InitTimerInt(GPS_TIMER, GPS_TIMER_PPR, GPS_TIMER_DIV, GPS_ISR, 0x10);
}
/* Assume starting well aligned to line (black on left, white on right).
If we leave the iMid region - we return (and set fLoseTrack) */
void LineFollower()
{
int pwrLeft;
int pwrRight;
InitEncoders();
while (!fStalled && !fBlocked)
{
Lookdown();
pwrLeft = WProportion(wLD, wBlack, wWhite, pwrTrackMax, pwrTrackMin);
pwrRight = WProportion(wLD, wBlack, wWhite, pwrTrackMin, pwrTrackMax);
printf("Follow: %d - %d\n", pwrRight, pwrLeft);
SetMotors(pwrLeft, pwrRight);
ReadEncoders();
}
SetMotors(0,0);
}
void Move(int cLMax, int cRMax)
{
int sL;
int sR;
float tL;
float tR;
float tMax;
int sLSet;
int sRSet;
long ms;
long msLimit;
printf("Move: %d, %d\n", cLMax, cRMax);
if (fAssertEnable)
StartPress();
msLimit = mseconds() + 2000L;
InitEncoders();
if (cLMax < 0)
{
cLMax = -cLMax;
sL = -pwrMax;
}
else
sL = pwrMax;
if (cRMax < 0)
{
cRMax = -cRMax;
sR = -pwrMax;
}
else
sR = pwrMax;
while (cL < cLMax || cR < cRMax)
{
if (stop_button())
break;
ReadEncoders();
if (FBallCapture())
break;
if (fStalled || fBlocked)
{
if (!fForce)
{
beep();beep();beep();
printf("Abort Move\n");
break;
}
ms = mseconds();
if (ms >= msLimit)
{
beep();beep();beep();
printf("Time out\n");
break;
}
}
if (cL >= cLMax)
sL = 0;
if (cR >= cRMax)
sR = 0;
/* printf("L: %d, R: %d\n", cL, cR); */
tL = Parametric(cL, cLMax);
tR = Parametric(cR, cRMax);
sRSet = sR;
sLSet = sL;
/* BUG: Can need less than 3/4 speed - also need not retart balanced
motors when both can track the same! */
if (tL > tR)
sLSet = sL*3/4;
else
sRSet = sR*3/4;
SetMotors(sLSet, sRSet);
}
SetMotors(0,0);
}
void main( int argc, char** argv)
{
//struct Position Pos;
int Ix;
strcpy( ConfigFile, "config.dat");
Parity = NoneParity;
DataBits = 8;
StopBits = 1;
CalledByGuideFlag = No;
KeepGoingFlag = No;
ReadSlewFlag = No;
StartScrollFlag = No;
/* if '-k' and '-s' (after full init): slew to Ra, Dec in slew.dat and keep going, exiting when
desired, writing slew_out.dat file;
if '-k' (before full init): (no slew.dat), keep going until centered on init position, write
slew_out.dat file and exit;
if '-s': slew to Ra, Dec in slew.dat and exit, writing slew_out.dat file;
if no '-k' and no '-s': write slew_out.dat file and exit;
if -c, then use following string as configuration file name, ie scope.exe -c config.dat will
result in config.dat being used
if -x, then use following string as scroll file name, and execute scroll file upon program
startup, ie scope.exe -x nan.scr will cause nan.scr to be loaded and started */
/* argv[0] is name of executing program */
for( Ix = 1; Ix < argc; Ix++)
if( argv[Ix][0] == '-')
if( strcmpi( &argv[Ix][1], "GUIDE") == 0)
CalledByGuideFlag = Yes;
else if( argv[Ix][1] == 'k')
KeepGoingFlag = Yes;
else if( argv[Ix][1] == 's')
ReadSlewFlag = Yes;
else if( (argv[Ix][1] == 'c' || argv[Ix][1] == 'C') && Ix < argc-1)
strcpy( ConfigFile, argv[Ix+1]);
else if( (argv[Ix][1] == 'x' || argv[Ix][1] == 'X') && Ix < argc-1)
{
strcpy( ScrollFilename, argv[Ix+1]);
StartScrollFlag = Yes;
}
InitCommonVars();
ReadConfig();
/*
Pos.Ra = Pos.Dec = 0;
applyCorrectionsFromDataFileCoordYearToEpochNow(&Pos);
printf("\n%f %f %f %f %f %f %f %f", Pos.Precession.A*RadToArcsec, Pos.Precession.Z*RadToArcsec,
Pos.Nutation.A*RadToArcsec, Pos.Nutation.Z*RadToArcsec, Pos.AnnualAberration.A*RadToArcsec,
Pos.AnnualAberration.Z*RadToArcsec, Pos.Ra*RadToArcsec, Pos.Dec*RadToArcsec);
ContMsgRoutine();
*/
/*
HsRecFile = fopen( HsRecFilename, "w");
if( HsRecFile == NULL)
BadExit( strcat( "Could not create ", HsRecFilename));
HsRecIx = 0;
*/
/*
InitTimes( DisplayOpeningMsgs, Tz, DST, LongitudeDeg);
InitConvert();
TestConvert();
getch();
TestAltAltAzTrack();
*/
if( DisplayOpeningMsgs)
{
printf( "\nCopyright BBAstroDesigns Inc. 2009\n");
printf( "\nLIMITED WARRANTY This software is provided ``as is'' and any express or");
printf( "\nimplied warranties, including, but not limited to, the implied warranties");
printf( "\nof merchantability and fitness for a particular purpose are disclaimed.");
printf( "\nIn no event shall BBAstroDesigns be liable for any direct, indirect,");
printf( "\nincidental, special, exemplary, nor consequential damages (including, but");
printf( "\nnot limited to, procurement of substitute goods or services, loss of use,");
printf( "\ndate, or profits, or business interruption) however caused and on any");
printf( "\ntheory of liability, whether in contract, strict liability, or tort");
printf( "\n(including negligence or otherwise) arising in any way out of the use of");
printf( "\nthis software, even if advised of the possibility of such damage.\n");
printf( "\nThis software licensed under the GNU GENERAL PUBLIC LICENSE. You may");
printf( "\ndistribute this software per the GNU GPL. See the enclosed gpl.txt.\n\n");
ContMsgRoutine();
}
if( DisplayOpeningMsgs)
printf( "\ncalled by guide: %d, keep_going: %d, read slew.dat file %d",
CalledByGuideFlag, KeepGoingFlag, ReadSlewFlag);
/* if( strcmpi( TestString, "TestSerial") == 0)
{
InitSerial( EncoderComPort, EncoderBaudRate, Parity, DataBits, StopBits);
TestSerial( EncoderComPort);
CloseSerial( EncoderComPort);
} */
/* else if( strcmpi( TestString, "TestVideo") == 0)
{
InitVideo( DisplayOpeningMsgs);
TestVideo();
} */
/* else if( strcmpi( TestString, "TestATimes") == 0)
{
InitTimes( DisplayOpeningMsgs, Tz, DST, LongitudeDeg);
TestTimes();
} */
/* else if( strcmpi( TestString, "TestParallelPort") == 0)
{
InitPPort();
TestPPort();
ClosePPort();
} */
/* else if( strcmpi( TestString, "TestRefract") == 0)
{
InitRefract();
TestRefract();
} */
/* else if( strcmpi( TestString, "TestMouse") == 0)
{
TestMouse();
} */
/* else if( strcmpi( TestString, "TestEncoders") == 0)
{
InitSerial( EncoderComPort, EncoderBaudRate, Parity, DataBits, StopBits);
InitEncoders();
TestEncoders();
CloseSerial( EncoderComPort);
} */
/* else if( strcmpi( TestString, "TestHandpad") == 0)
{
InitPPort();
InitializeHandpad();
TestHandpad();
ClosePPort();
} */
/* else if( strcmpi( TestString, "TestConversion") == 0)
{
InitTimes( DisplayOpeningMsgs, Tz, DST, LongitudeDeg);
InitConvert();
TestConvert();
} */
/* else if( strcmpi( TestString, "TestAltOffset") == 0)
{
InitTimes( DisplayOpeningMsgs, Tz, DST, LongitudeDeg);
InitConvert();
TestAltOffset();
} */
/* else if( strcmpi( TestString, "TestIACA") == 0)
{
InitTimes( DisplayOpeningMsgs, Tz, DST, LongitudeDeg);
TestIACA();
InitIACA();
} */
/* else if( strcmpi( TestString, "WritePWMValues") == 0)
{
InitTimes( DisplayOpeningMsgs, Tz, DST, LongitudeDeg);
InitVideo( DisplayOpeningMsgs);
InitPPort();
InitMotors();
WritePWMValues();
CloseSteppers();
ClosePPort();
}
else */
{
if( strcmpi( TestString, "NoTest") != 0
&& strcmpi( TestString, "PreloadGuidexx.dat") != 0
&& strcmpi( TestString, "Track") != 0)
{
if( DisplayOpeningMsgs)
printf( "\nsetting unrecognized TestString to 'NoTest'");
strcpy( TestString, "NoTest");
}
InitSerial( EncoderComPort, EncoderBaudRate, Parity, DataBits, StopBits);
InitEncoders();
InitMouseControl();
InitTimes( DisplayOpeningMsgs, Tz, DST, LongitudeDeg);
InitVideo( DisplayOpeningMsgs);
InitPPort();
InitializeHandpad();
InitMotors();
InitConvert();
InitRefract();
InitPEC();
InitGuide();
if( strcmpi( TestString, "PreloadGuidexx.dat") == 0)
{
LoadGuideAlts();
LoadGuideAzs();
}
InitIACA();
InitLX200Input();
InitHPEvent();
if( !CalledByGuideFlag ||
(CalledByGuideFlag && (KeepGoingFlag || ReadSlewFlag)))
{
InitKBEvent();
if( ReadSlewFlag)
InputEquatSlewDat();
if( StartScrollFlag)
LoadScrollFileFromFile();
if( strcmpi( TestString, "Track") == 0)
Start2MotorTrackWithDefaultValues();
while( !QuitFlag)
{
SequentialTaskController();
/* GrandTourFlag used to flag next object: set in ProcessHPEventsModeSwitch() */
if( GrandTourLoaded && GrandTourFlag)
ProcessGrandTour();
else
if( ScrollLoaded && ScrollFlag)
ProcessScroll();
else
if( HPPolarAlignLoaded && HPPolarAlignFlag)
ProcessHPPolarAlign();
else
{
if( UseMouseFlag && ProcessMouseEvent())
;
else
if( KeyStroke)
ProcessKBEvents();
else
ProcessHPEvents();
}
}
CloseKBEvent();
if( DisplayOpeningMsgs)
{
AskAndWriteConfig();
WriteLogFile();
}
}
CloseSteppers();
ClosePPort();
CloseEncoderResetLogFile();
CloseSerial( EncoderComPort);
CloseSerial( LX200ComPort);
if( CalledByGuideFlag)
WriteAltazSlewOutFile();
CloseMouseControl();
}
/*
for( Ix = 0; Ix < HsRecSize; Ix++)
fprintf( HsRecFile, "%8ld %8ld\n", HsRec[Ix].A, HsRec[Ix].Z);
// first position is index 0
fprintf( HsRecFile, " last entry in circular queue at position %d", HsRecIx);
fclose( HsRecFile);
*/
}
void Phaser()
{
// Initialize hardware
InitAudio(44100);
InitDisplay_DOGM128();
InitEncoders();
// Calibrate touch screen
TwoPointCalibration cal;
TwoPointCalibrate_TSC2046(&cal);
// Prepare a cleared screen
static uint8_t screen[1024];
extern uint8_t background[1204];
memcpy(screen,background,sizeof(screen));
UpdateDisplay_DOGM128(screen);
// Set up effect parameters and buffers
const int midpoint=60; // The midpoint for the delay offset value
int mix=0x8000; // Mixing factor for the phaser effect - set to 50%
int feedback=0x8000; // Feedback factor for the phaser effect - set to 50%
int count=0; // LFO control counter
int maxcount=64; // The number of iterations to run before updating the LFO
bool update=true; // Update flag for the screen
static int32_t inbuf[NumberOfSamples*2],outbuf[NumberOfSamples*2]; // Input and output audio buffers
static int32_t tmpbuf1[NumberOfSamples],tmpbuf2[NumberOfSamples]; // Temporary audio buffers
// Initialize the phaser effects for both stereo channels
static DelayPhaser dp[2];
InitDelayPhaser(&dp[0],0,mix,feedback);
InitDelayPhaser(&dp[1],0,mix,feedback);
// Initialize an LFO to control the phaser effect
LFO lfo;
InitLFO(&lfo,80,20); // period of 80, amplitude of +-20
// This loop processes 16 stereo samples at a time,
// and thus run in 16/44100 seconds, or 363 microseconds.
for(;;)
{
// Read input from the audio codec
ReadFullAudioBuffer(inbuf,NumberOfSamples*2);
// Get input from the touch screen
int x,y;
bool press=CalibratedTouchscreenPosition_TSC2046(&cal,&x,&y);
if(press)
{
// Handle clicks on the delay slider
if(x>=18-9&&x<55-9)
{
int oldcount=maxcount;
maxcount=(63-y)*4;
if(oldcount!=maxcount) update=true;
}
// Handle clicks on the mixing slider
else if(x>=55-9&&x<92-9)
{
int oldmix=mix;
mix=(63-y)*0x400;
SetDelayPhaserMix(&dp[0],mix);
SetDelayPhaserMix(&dp[1],mix);
if(oldmix!=mix) update=true;
}
// Handle clicks on the feedback slider
else if(x>=92-9&&x<92+2*18)
{
int oldfeedback=feedback;
feedback=(63-y)*0x400;
SetDelayPhaserFeedback(&dp[0],feedback);
SetDelayPhaserFeedback(&dp[1],feedback);
if(oldfeedback!=feedback) update=true;
}
}
// Read input from the encoders
int rot0=ReadEncoderChange(0);
int rot1=ReadEncoderChange(1);
int rot2=ReadEncoderChange(2);
// Handle delay encoder
if(rot0)
{
maxcount+=4*rot0;
if(maxcount<0) maxcount=0;
update=true;
}
// Handle mixing encoder
if(rot1)
{
mix+=0x800*rot1;
if(mix>0x10000) mix=0x10000;
if(mix<0) mix=0;
SetDelayPhaserMix(&dp[0],mix);
SetDelayPhaserMix(&dp[1],mix);
update=true;
}
// Handle feedback encoder
if(rot2)
{
feedback+=0x800*rot2;
if(feedback>0x10000) feedback=0x10000;
if(feedback<0) feedback=0;
SetDelayPhaserFeedback(&dp[0],feedback);
SetDelayPhaserFeedback(&dp[1],feedback);
update=true;
}
// Update screen if necessary
// TODO: fix this code snippet since it takes too much time to execute and therefore distorts the audio signal
if(update)
{
// Draw delay slider
int delayheight=maxcount/4;
EraseFilledRectangle(screen,18,0,18,64-delayheight);
DrawFilledRectangle(screen,18,64-delayheight,18,delayheight);
// Draw mixing slider
int mixheight=mix/0x400;
EraseFilledRectangle(screen,55,0,18,64-mixheight);
DrawFilledRectangle(screen,55,64-mixheight,18,mixheight);
// Draw feedback slider
int feedbackheight=feedback/0x400;
EraseFilledRectangle(screen,92,0,18,64-feedbackheight);
DrawFilledRectangle(screen,92,64-feedbackheight,18,feedbackheight);
//UpdateDisplay_DOGM128(screen);
j=0;
update=false;
screenupdated=true;
}
if(screenupdated) {
if (my_updatedisplay(screen) == 8) {
screenupdated=false;
}
}
// Run LFO if needed
if(++count>=maxcount)
{
count=0;
int lfoval=RunTriangleLFO(&lfo);
SetDelayPhaserOffset(&dp[0],lfoval+midpoint);
SetDelayPhaserOffset(&dp[1],lfoval+midpoint);
}
// Run phaser effect
for(int channel=0;channel<2;channel++)
{
// Extract one channel from the input to a temporary buffer
for(int i=0;i<NumberOfSamples;i++) tmpbuf1[i]=inbuf[2*i+channel];
// Run effect in temporary buffers
RunDelayPhaser(&dp[channel],tmpbuf1,tmpbuf2,NumberOfSamples);
// Write processed samples back to the output buffer
for(int i=0;i<NumberOfSamples;i++) outbuf[2*i+channel]=tmpbuf2[i];
}
// Send output buffer to audio codec
WriteAudioBuffer(outbuf,NumberOfSamples*2);
}
}
