u8 FING_u8HandShake(u8 * Copy_u8ChipAdd)
{
u8 Local_u8Count ;
const u8 Local_u8HndShkArr[7]={0x01,0x00,0x04,0x17,0x00,0x00,0x1C};
u16 Local_u8RxData;
TIM0_u8SetTime(500);
while(TIM0_u8GetTimFlg()==0);
FING_voidSendHeader();
for(Local_u8Count=3 ; Local_u8Count>=0;Local_u8Count--)
{
USART_Transmit(Copy_u8ChipAdd[Local_u8Count]) ;
}
for(Local_u8Count=0;Local_u8Count<7;Local_u8Count++)
{
USART_Transmit(Local_u8HndShkArr[Local_u8Count]);
}
for(Local_u8Count=0 ; Local_u8Count<10;Local_u8Count++)
{
USART_Receive(&Local_u8RxData);
}
TIM0_voiResetTimFlg();
TIM0_voiResetTimer();
return Local_u8RxData ;
}
u8 FING_u8SetSysPra(u8 * Copy_u8ChipAdd,u8 *Copy_u8ParamArr)
{
u8 Local_u8Count;
const u8 Local_u8SysPra[6]={0x01,0x00,0x03,0x0f,0x00,0x13};
u16 Local_u16RxData,Local_u16Param;
FING_voidSendHeader();
for(Local_u8Count=3 ; Local_u8Count>=0;Local_u8Count--)
{
USART_Transmit(Copy_u8ChipAdd[Local_u8Count]) ;
}
for(Local_u8Count=0;Local_u8Count<6;Local_u8Count++)
{
USART_Transmit(Local_u8SysPra[Local_u8Count]);
}
for(Local_u8Count=0 ; Local_u8Count<10;Local_u8Count++)
{
USART_Receive(&Local_u16RxData);
}
for(Local_u8Count=0 ; Local_u8Count<16;Local_u8Count++)
{
USART_Receive(&Local_u16Param);
Copy_u8ParamArr[Local_u8Count]=(u8)Local_u16Param ;
}
return Local_u16RxData ;
}
//output a note off MIDI packet on the USART
void output_packet_off(char pitch){
//note on
USART_Transmit(0b10000000);
//pitch
USART_Transmit(pitch);
//velocity
USART_Transmit(0b01100100);
}
void InitMessage(){
putstring("DDS generator driver v_");
putnum(10);
USART_Transmit( '\n' );
USART_Transmit( '\r' );
putstring("Type help for command list");
USART_Transmit( '\n' );
USART_Transmit( '\r' );
}
//Main Function
int main(void)
{
init_devices();
USART_Transmit('+');
USART_Transmit('+');
USART_Transmit('+');
while(1);
}
// Print an array of chars instead of just one char.
void serialPrint(uint8_t *StringOfCharacters, size_t len) {
USART_Transmit_Start();
for (size_t i = 0; i < len; i++) {
USART_Transmit(*StringOfCharacters++);
}
// TODO(cduck): Properly wait for end of transmission
USART_Transmit(0xFF);
while (!(SS_UCSRnA & (1 << SS_UDREn))) {}
USART_Transmit_Stop();
}
void serial_puts(char* str)
{
USART_Transmit('\n');
USART_Transmit('\r');
int size = strlen(str);
for(int i = 0; i < size; i++)
{
USART_Transmit(str[i]);
}
}
int main( void )
{
char buffer[21] = {'\0'};
int i = 0;
USART_Init ( calcUBRR() );
init_push_buttons();
lcd_init();
while(1){
switch(read_push_buttons())
{
case '6': USART_Transmit('Y');
break;
case '5': USART_Transmit('N');
break;
case '4': Transmit_String("AHHHH!!!!");
break;
case '3': Transmit_String("This");
break;
case '2': Transmit_String("computer is");
break;
case '1': Transmit_String("broken!");
break;
}
wait_ms(100);
/*
unsigned char new_letter = USART_Receive();
if(new_letter != 13)
{
buffer[i++] = new_letter;
}
USART_Transmit(new_letter);
lprintf("%d, %c", i, new_letter);
if(i == 20 || new_letter == 13)
{
if(new_letter == 13)
{
USART_Transmit(10);
}
i = 0;
lprintf("%s", buffer);
for(int j=0;j<20;j++)
{
buffer[j] = 0;
}
}
*/
}
}
void USART_print(char * text){
uint8_t text_size=strlen(text);
uint8_t i;
for(i=0;i<text_size;i++){
USART_Transmit(text[i]);
}
USART_Transmit(0x0D);
USART_Transmit(0x0A);
}
void sendMessage(char *number, char *message, char success){
usartPrintString("at+cmgs=\"");
usartPrintString (number);
usartPrintString ("\"\r");
usartPrintString(message);
if (success == 1){
usartPrintString(" success");
} else if (success == 2){
usartPrintString(" failure");
}
USART_Transmit(26);
USART_Transmit(ENTER);
}
int main(void) {
unsigned char c;
/* ----------------- USART Initialization --------------------*/
// BAUD Rate = 9600, F_CPU = 1000000UL, BAUD = F_CPU / (speed * (UBRR+1))
// speed = 16 for standard more (U2X = 0) and speed = 8 for double speed mode (U2X = 1)
// So, We can choose UBRR = 6 for standard more (U2X = 0)
// or UBRR = 12 for double speed mode (U2X = 1)
// Since double speed mode (U2X = 1) provides lower error, we are going
// to use it for this configuration. Please check datasheet for more detail
//
// Set BAUD rate register to generate our desired BAUD 9600 (UBRR = 12)
// Enable double speed mode (U2X = 1)
// Disable Rx, Tx complete INT, Enable Rx, Tx module
// USART as asynchronous mode, No Parity (UPM1:0 = 0), One STOP bit (USBS = 0)
// Char Size 8 bit (UCSZ2:0 = 3)
/* ------------------------------------------------------------*/
UBRRH = 0;
UBRRL = 12;
UCSRA |= 0x02;
UCSRB |= 0x18;
UCSRC |= 0x86;
while (1) {
// wait until a data receive from PC
c = USART_Receive();
// Send the received data back to PC
USART_Transmit(c);
}
}
void usartPrintString(char *buffer){
int count = 0;
while (buffer[count] != '\0'){
USART_Transmit(buffer[count]);
count++;
}
}
char SPI_sendchar(char cData)
{
SPI_MasterTransmit(cData);
USART_Transmit(SPDR);
return SPDR;
}
/*====================================================================
関数名： _rsputc
機能： char型文字を1文字コンソール出力し、0を返します。
====================================================================*/
int _rsputc(char c)
{
//使用するマイコンに合わせて記述します
// uart_putc(c);
USART_Transmit((unsigned char)c);
return 0;
}
uint8_t keypad_4keys(void)
{
//PORTA=0x00;
PORTC = 0x00;//&=~(1<<PC7);
PORTB=0xFF; //set all the input to one
_nkey_=check_key_4keys();
if(_nkey_ == d_nkey) { USART_Transmit(9); }
if (_nkey_ == 0xFF) { _nkey_ = 98, _okey_ = 99;} // this differntiates btw a key gap , sends oxff when a key is nt pressed
if(_nkey_ == _okey_) { _nkey_ = 0xFF;}
if ((_nkey_!= 0xFF)&(_nkey_!=98))
{
//USART_Transmit(keymap[_nkey_]); // a variable should hold this value
_okey_=_nkey_;
return (_nkey_);
//d_nkey = _nkey_;
}
return 0xFF;
}
uint8_t Decrypt_Data(unsigned char Data)
{
// @00 means broadcast to ALL CAN ID's
unsigned char Output_Command[MAX_COMMAND_SIZE] = {'@', '0', '0', '!', 'G', ' '};
unsigned char dataIndexSize;
#ifdef WATCHDOG_ENABLED
wdt_reset();
#endif
/*
switch(Data)
{
case 71:
Output_Command[5] = '1';
Output_Command[6] = '0';
Output_Command[7] = '0';
Output_Command[8] = '0';
Output_Command[9] = '\r';
dataIndexSize = 10;
break;
}
*/
dataIndexSize = (sizeof(Output_Command) / sizeof(char));
USART_Transmit(Output_Command, dataIndexSize);
return 0;
}
void pi_shutdown_task(void){
if(!(PISTARTPORT & (1<<PISTART))) return; // pi ausgeschaltet? dann zurück!
//pi herunterfahren
if(PIPORT & (1<<PISHUTDOWN)){
// pi hat shutdown signal bekommen: ist er schon aus?
if(PIPIN & (1<<PIACTIVE)){
//noch an... da machen wir nix.
return;
}
//hier isser schon aus.
PIPORT &= ~(1<<PISHUTDOWN);
_delay_ms(10000);//sicherheit
PISTARTPORT &= ~(1<<PISTART);// und abschalten
_delay_ms(10000);//sicherheit
}else{
// pi ist an - soll jetzt abgeschaltet werden
if(!(PIPIN & (1<<PIREADY))){
uint8_t x = 0;
do{
USART_Transmit(0xFF); // MFD ausgeschaltet. Der Pi möge seine Arbeit einstellen.
_delay_ms(200);
x++;
if(x>50) break;
}while(PIPIN & (1<<PIREADY));
}
PIPORT |= (1<<PISHUTDOWN);
}
}
void Transmit_String(char *str)
{
for(int i = 0; i < strlen(str); i++)
{
USART_Transmit(str[i]);
}
}
void Console_help( char ch){
switch (helpcounter) {
case 0: if (ch=='h') helpcounter++; else helpcounter=0; break;
case 1: if (ch=='e') helpcounter++; else helpcounter=0; break;
case 2: if (ch=='l') helpcounter++; else helpcounter=0; break;
case 3: if (ch=='p') helpcounter++; else helpcounter=0; break;
}
if (helpcounter ==4){
putstring("help reset minXXX maxXXX freqXXXXXXXX");
USART_Transmit( '\n' );
USART_Transmit( '\r' );
helpcounter=0;
}
}
void USART_Transmit_String(unsigned char * transmitString )
{
int i;
for (i=0; transmitString[i] != NULL; i++)
{
USART_Transmit(transmitString[i]);
}
}
//for debug
void SerialPort::write(){
unsigned char myMessage[]="hello world\r\n";
unsigned char* message;
message = myMessage;
unsigned char c;
while( (c = *(message++)) != '\0' ){
USART_Transmit(c );
}
message = myMessage;
}
void Service_ReadEEPROMData(uint8_t command_type, uint8_t command_size, char *command)
{
char buffer[101];
char buffer_coded[101];
int16_t crc;
int16_t crc_data;
uint16_t offset = (command[1]<<8) + command[0]; //odczyt offsetu
uint8_t len = command[2]; //odczyt dlugosci
if (len>100) len = 100;
crc = GetCRC(command,command_size-2); //wygenerowanie CRC
crc_data = (command[command_size-1]<<8) + command[command_size-2]; //odczyt CRC
if (crc!=crc_data)
{
Service_send_ERROR("CRC Error");
return;
}
//odczyt paczki z eepromu
GetBlockEE((char *)(buffer+2), offset,len);
buffer[0] = command[0]; //offset (ten sam, ktory przyszedl w zadaniu)
buffer[1] = command[1];
//obliczanie crc
crc = GetCRC(buffer,len+2);
memcpy(buffer+len+2,&crc,2);
//zakodowanie informacji
base64_encode((unsigned char*)buffer, len+4, (unsigned char*)buffer_coded);
len = strlen((char *)buffer_coded);
//odeslanie paczki przez uart
USART_Transmit(UART_CMD_EEPROM_DATA); //przesylamy dane
for (int i=0;i<len;i++) USART_Transmit(buffer_coded[i]);
USART_Transmit(UART_EOT);
}
void Service_Recieve(uint8_t command_type, uint8_t command_size, char *command)
{
char command_decoded[101];
uint8_t new_size;
switch(command_type)
{
case UART_CMD_EEPROM_DATA: //write EEPROM block
new_size = base64_decode((unsigned char*)command, command_size, (unsigned char*)command_decoded);
Service_SaveEEPROMData(command_type,new_size,command_decoded);
break;
case UART_CMD_EEPROM_REQ: //read EEPROM block
new_size = base64_decode((unsigned char*)command, command_size, (unsigned char*)command_decoded);
Service_ReadEEPROMData(command_type,new_size,command_decoded);
break;
case UART_CMD_EEPROM_END: //after all eeprom packets
//ReadConfigFromEEPROM();
SOFT_RESET;
break;
case UART_CMD_PING: //ping
USART_Transmit(UART_CMD_PING);
USART_Transmit(UART_EOT);
break;
case UART_CMD_VERSION: //return version number
Service_VersionInfo();
break;
case UART_CMD_DEFAULTS: //load default values to EEPROM
if ((command[0]=='E')&&(command[1]=='F')&&(command[2]=='A')&&(command[3]=='U')&&(command[4]=='L')&&(command[5]=='T')&&(command[6]=='S'))
{
SetDefaults();
SOFT_RESET;
}
break;
}
}
void check_task_completion()
{
USART_Transmit('%');
USART_Transmit(bot_id);
switch(bot_id)
{
case 'A': done[0]=1;break;
case 'B': done[1]=1;break;
case 'C': done[2]=1;break;
case 'D': done[3]=1;break;
}
stop();
for(k=0;k<1000;k++)
{
lcd_print(1,9,k,4);
if(neigh == 0)
{
switch(bot_id)
{
case 'A': if(done[1]==1)
neigh=1;
break;
case 'B': if(done[2]==1)
neigh=1;
break;
case 'C': if(done[3]==1)
neigh=1;
break;
case 'D': if(done[0]==1)
neigh=1;
break;
}
}
else
{
break;
}
}
}
void main(void)
{
int AX;
int AY;
twi_init();
delay_nms(50);
MPU_6050_init();
delay_nms(500);
Usart_init();
//hc05_init();
while(1)
{
delay_nms(50000);
AX=Get_data(ACCEL_XOUT_H)/187.62;
AY=Get_data(ACCEL_YOUT_H)/187.62;
if(AY<86)
{
USART_Transmit('1');
//UCSRB=0X90; //关发送使能
}
else
{
USART_Transmit('0');
}
/*else
{
sent('2');
//UCSRB=0X90; //关发送使能
if(AX<45 || AY<45)
{
UCSRB=0X98; //打开发送使能
}
}*/
}
}
u8 FING_u8SetAdd(u8 * Copy_u8ChipOldAdd , u8 * Copy_u8ChipNewAdd)
{
u8 Local_u8Count,Local_u8CastChkSum ;
const u8 Local_u8HndShkArr[4]={0x01,0x00,0x07,0x15};
u16 Local_u16RxData ,Local_u16CastChkSum ;
u64 Local_u64ChekSum=0;
FING_voidSendHeader();
for(Local_u8Count=3 ; Local_u8Count>=0;Local_u8Count++)
{
USART_Transmit(Copy_u8ChipOldAdd[Local_u8Count]) ;
}
for(Local_u8Count=0;Local_u8Count<4;Local_u8Count++)
{
USART_Transmit(Local_u8HndShkArr[Local_u8Count]);
Local_u64ChekSum+=Local_u8HndShkArr[Local_u8Count];
}
for(Local_u8Count=3 ; Local_u8Count>=0;Local_u8Count++)
{
USART_Transmit(Copy_u8ChipNewAdd[Local_u8Count]);
Local_u64ChekSum+=Copy_u8ChipNewAdd[Local_u8Count];
}
//Cjeck sum calculations
Local_u16CastChkSum=(u16)Local_u64ChekSum ;
Local_u8CastChkSum=(u8)Local_u64ChekSum ;
USART_Transmit(Local_u8CastChkSum);
Local_u16CastChkSum>>=8;
USART_Transmit(Local_u16CastChkSum);
for(Local_u8Count=0 ; Local_u8Count<10;Local_u8Count++)
{
USART_Receive(&Local_u16RxData);
}
return Local_u16RxData ;
}
void send_wave()
{
uint16_t i;
uint16_t cs;
cs = 0;
for(i=0; i < WAVE_LENGTH; i += 2) {
thexw(wave[i]);
thexw(wave[i+1]);
cs ^= wave[i];
cs ^= wave[i+1];
}
thexw(cs ^ 0x1234);
USART_Transmit('\n');
}
int main( void ) //Главная функция
{
USART_Init( UART_BAUD_SELECT(UART_BAUD_RATE,F_CPU) ); //Скорость соединения 19200 бит/с
for(;;) //Вечный цикл
{
USART_Transmit( USART_Receive() ); //Отправка принятого символа назад
}
}
//·µ»Ø1³É¹¦£¬·µ»Ø0ʧ°Ü
uchar OV7670_init(void)
{
uint i=0;
InitSCCB();//io init..
//OV2640_JpegInit(1);
RCC->APB2ENR|=1<<4;//ÏÈʹÄÜÍâÉèPORTCʱÖÓ
//PORTC0~13ÍÆÍìÊä³ö
GPIOC->CRL = 0x88888888;
GPIOC->ODR |= 0x00FF;
Exit_Init(GPIOB, GPIO_Pin_8, GPIO_Mode_IPU, EXTI_Trigger_Rising, 2, 3); //VSYNC
Exit_Init(GPIOB, GPIO_Pin_15, GPIO_Mode_IPU, EXTI_Trigger_Falling, 2, 4);//PICLK
GpioInit(GPIOB, GPIO_Pin_14, GPIO_Mode_IPU, 0); //HREF
return;//´ÓÕâÀï·µ»Ø
temp=0x80;
if(0==wrOV7670Reg(0x12, temp)) //Reset SCCB
{
return 0 ;
}
while(0)
{
rdOV7670Reg(0x1C, &temp);
USART_Transmit(temp);
Delay_nMS(100);
}
Delay_nMS(10);
for(i=0;i<CHANGE_REG_NUM;i++)
{
if( 0 == wrOV7670Reg (change_reg[i][0],change_reg[i][1]) )
{
return 0;
}
}
return 0x01; //ok
}
void initialize( void )
{
CPU_PRESCALE(0);
USART_Init(BAUD_RATE);
USART_Transmit('\f'); // Send form feed to clear the terminal.
USART_SendString("WunderBoard initializing...\r\n");
USART_SendString("\tSetting ADC prescaler and disabling free running mode...\r\n");
SetupADC(ADC_PRESCALER_32, FALSE);
USART_SendString("\tEnabling ADC...\r\n");
ADCEnable();
USART_SendString("\tSetting ADC reference to Vcc...\r\n");
ADCSetReference(ADC_REF_VCC);
// Configure IO //
USART_SendString("\tConfiguring IO...\r\n");
//DDRx corresponds to PORTx/PINx, dependng on direction of data flow -- PORT for output, PIN for input
DDRA = 0x00; // Buttons and switches
DDRB = 0xE7; // Red enable, green enable and audio out
DDRC = 0xff; // Discrete LEDs
DDRE = 0x47; // LED Column
DDRF = 0x00; // Accelerometer
// Disable pullups and set outputs low //
PORTA = 0x00;
PORTB = 0x01;
PORTC = 0x81;
PORTE = 0x00;
PORTF = 0x00;
//Set OC1A to toggle
TCCR1A = 0b01000000;
// Clk/64 and CTC mode
TCCR1B = 0b00001011;
OCR1A = 24;
USART_SendString("\tSetting SPI\r\n");
//Set the SPI bus appropriately to use the LED array
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}
