void initMPU6050()
{
//Device Reset
sendbuffer[0] = MPU6050_RA_PWR_MGMT_1; //Registeradresse 0x6b
sendbuffer[1] = 0x80; //Device Reset
TWI_MasterWrite(&twiMaster, SLAVE_ADDRESS, &sendbuffer[0], 2);
while (twiMaster.status != TWIM_STATUS_READY){}
//_delay_ms(10);
_delay_loop_2(65535); // 8,2 ms
//PWR_MGMT_1
sendbuffer[0] = MPU6050_RA_PWR_MGMT_1; //Registeradresse 0x6b
sendbuffer[1] = 0x03; //DEVICE_RESET = 0, SLEEP = 0, CYCLE = 0, TEMP_DIS = 0, CLKSEL = PLL with z axis gyro reference
TWI_MasterWrite(&twiMaster, SLAVE_ADDRESS, &sendbuffer[0], 2);
while (twiMaster.status != TWIM_STATUS_READY){}
//Sample Rate 1000/(1+1) = 500Hz
sendbuffer[0] = MPU6050_RA_SMPLRT_DIV; //Registeradresse 0x19
sendbuffer[1] = 0x01;
TWI_MasterWrite(&twiMaster, SLAVE_ADDRESS, &sendbuffer[0], 2);
while (twiMaster.status != TWIM_STATUS_READY){}
//DLPF
sendbuffer[0] = MPU6050_RA_CONFIG; //Registeradresse 0x1a
sendbuffer[1] = MPU6050_DLPF_CFG_42HZ; //EXT_SYNC_SET = 0, Digital Low Pass Filter, Auswahl 5, 10, 20, 42, 98, 188, 256Hz
TWI_MasterWrite(&twiMaster, SLAVE_ADDRESS, &sendbuffer[0], 2);
while (twiMaster.status != TWIM_STATUS_READY){}
}
void initAcc()
{
//ACCEL_CONFIG
sendbuffer[0] = MPU6050_RA_ACCEL_CONFIG;
sendbuffer[1] = 0b00001000; //Accel Selftest = disabled, Scale = +-4g, DHPF = disabled
TWI_MasterWrite(&twiMaster, SLAVE_ADDRESS, &sendbuffer[0], 2);
while (twiMaster.status != TWIM_STATUS_READY){}
}
void initGyro()
{
//GYRO_CONFIG
sendbuffer[0] = MPU6050_RA_GYRO_CONFIG; //Registeradresse 0x1b
sendbuffer[1] = 0b00001000; //Gyro Selftest FS_SEL = disabled, Scale +-500 deg/sec
TWI_MasterWrite(&twiMaster, SLAVE_ADDRESS, &sendbuffer[0], 2);
while (twiMaster.status != TWIM_STATUS_READY){}
}
void gyro_write_byte(uint8_t slave, uint8_t address, uint8_t data)
{
// Initialize and fill data buffer
uint8_t data_buf[2];
data_buf[0] = address;
data_buf[1] = data;
// Transmit bytes
TWI_MasterWrite(&twiMaster,slave,data_buf,2);
// Wait for transmission completion
while (twiMaster.status != TWIM_STATUS_READY);
}
uint8_t twiWriteWrapper(uint8_t addr, uint8_t* writeData, uint8_t bytesToWrite, char* callerDescr){
uint32_t startTime = getTime();
uint8_t result = 0;
uint8_t printed = 0;
while(!result){
if((printed = waitForTWIReady(startTime, callerDescr))){
result = TWI_MasterWrite(addr, writeData, bytesToWrite);
}else{
return 0;
}
}
return result + printed - 1;
}
int main(void)
{
facilitatePowersaving(); // Pull-ups and PR Registers
initHardware(); // Switches, LEDs, Sleep, Interrupt
sei(); // Enable global interrupts
/* === Initialization of TWI Module === */
// Enable internal pull-up on PD0, PD1 for correct TWI operation
PORTCFG.MPCMASK = 0x03;
TWIPORT.PIN0CTRL = (TWIPORT.PIN0CTRL & ~PORT_OPC_gm) | PORT_OPC_PULLUP_gc;
/* Initialize TWI master. */
TWI_MasterInit(&twiMaster,
&TWI,
TWI_MASTER_INTLVL_LO_gc,
TWI_BAUDSETTING);
/* Initialize TWI slave. */
TWI_SlaveInitializeDriver(&twiSlave, &TWI, TWI_SlaveProcessData);
TWI_SlaveInitializeModule(&twiSlave,
OWN_ADDRESS,
TWI_SLAVE_INTLVL_LO_gc);
/* === End Initialization === */
while (1) {
// Try to sleep while we are waiting for button press
while (READ_SWITCHES == 0x00){ //See board.h for READ_SWITCHES define.
sleep();
}
_delay_ms(5); // Debounce switch
sendBuffer[0] = READ_SWITCHES;
TWI_MasterWrite(&twiMaster, // Module
OTHER_ADDRESS, // Which slave
&sendBuffer[0], // What to send
1); // Send how much
/* Wait until transaction is complete. Required TWI interrupts will be executed while waiting */
while (twiMaster.status != TWIM_STATUS_READY);
// Wait for user to release button.
while (READ_SWITCHES != 0x00); //See board.h for READ_SWITCHES define.
}
}
void rgb_sensor_init()
{
#ifdef AUDIO_DROPLET
uint8_t power_on_sequence[8] = {0x80, 0x01, // Write 0x01 to ENABLE register, activating the device's oscillator.
0x8F, 0x01, // Write 0x01 to CONTROL register, setting the gain to x4.
0x81, 0xD5, // Write 0xD5 to ATIME register, setting the integration time to 2.4ms*(256-ATIME)
0x80, 0x03}; // Write 0x03 to ENABLE register, activating the ADC (and leaving the oscillator on);
uint8_t result = TWI_MasterWrite(RGB_SENSE_ADDR, &(power_on_sequence[0]), 2);
if(!result) printf_P(RGB_SENSE_POWERON_FAILURE,1);
delay_ms(5);
result = TWI_MasterWrite(RGB_SENSE_ADDR, &(power_on_sequence[2]), 2);
if(!result) printf_P(RGB_SENSE_POWERON_FAILURE,2);
delay_ms(5);
result = TWI_MasterWrite(RGB_SENSE_ADDR, &(power_on_sequence[4]), 2);
if(!result) printf_P(RGB_SENSE_POWERON_FAILURE,3);
delay_ms(5);
result = TWI_MasterWrite(RGB_SENSE_ADDR, &(power_on_sequence[6]), 2);
if(!result) printf_P(RGB_SENSE_POWERON_FAILURE,4);
delay_ms(5);
#else
RGB_SENSOR_PORT.DIRCLR = RGB_SENSOR_R_PIN_bm | RGB_SENSOR_G_PIN_bm | RGB_SENSOR_B_PIN_bm;
ADCA.REFCTRL = ADC_REFSEL_AREFA_gc;
ADCA.CTRLB = ADC_RESOLUTION_LEFT12BIT_gc | ADC_CONMODE_bm;
ADCA.PRESCALER = ADC_PRESCALER_DIV256_gc;
/* When differential input is used, signed mode must be used. (sec. 28.6 of Manual) */
ADCA.CH0.CTRL = ADC_CH_INPUTMODE_DIFFWGAIN_gc | ADC_CH_GAIN_1X_gc; //Probably should turn the gain back up to 4X when we put the shells on.
ADCA.CH1.CTRL = ADC_CH_INPUTMODE_DIFFWGAIN_gc | ADC_CH_GAIN_1X_gc; //Probably should turn the gain back up to 4X when we put the shells on.
ADCA.CH2.CTRL = ADC_CH_INPUTMODE_DIFFWGAIN_gc | ADC_CH_GAIN_2X_gc; //Probably should turn the gain back up to 4X when we put the shells on.
ADCA.CH0.MUXCTRL = ADC_CH_MUXPOS_PIN5_gc | ADC_CH_MUXNEG_INTGND_MODE4_gc; // Red sensor on ADC A channel 0
ADCA.CH1.MUXCTRL = ADC_CH_MUXPOS_PIN6_gc | ADC_CH_MUXNEG_INTGND_MODE4_gc; // Green sensor on ADC A channel 1
ADCA.CH2.MUXCTRL = ADC_CH_MUXPOS_PIN7_gc | ADC_CH_MUXNEG_INTGND_MODE4_gc; // Blue sensor on ADC A channel 2
ADCA.CALL = PRODSIGNATURES_ADCACAL0;
ADCA.CALH = PRODSIGNATURES_ADCACAL1;
ADCA.CTRLA = ADC_ENABLE_bm;
//read_color_settings();
delay_us(50);
const int8_t num_samples = 3;
get_red_sensor(); get_blue_sensor(); get_green_sensor();
delay_ms(10);
int16_t r_avg=0, g_avg=0, b_avg=0;
for(uint8_t i=0; i<num_samples; i++)
{
r_avg+=get_red_sensor();
g_avg+=get_green_sensor();
b_avg+=get_blue_sensor();
delay_ms(10);
//printf("\r\n");
}
r_baseline= r_avg/num_samples;
g_baseline= g_avg/num_samples;
b_baseline= b_avg/num_samples;
//printf("Baselines:\r\n%3d %3d %3d\r\n", r_baseline, g_baseline, b_baseline);
r_baseline = 0;
g_baseline = 0;
b_baseline = 0;
#endif
}
