int main(void)
{
int8_t r;
struct teensy_msg msg;
// set for 16 MHz clock
CPU_PRESCALE(0);
// Initialize the USB, and then wait for the host to set configuration.
// If the Teensy is powered without a PC connected to the USB port,
// this will wait forever.
usb_init();
while (!usb_configured()) /* wait */ ;
// Wait an extra second for the PC's operating system to load drivers
// and do whatever it does to actually be ready for input
_delay_ms(1000);
// Set up Timer 1 for PWM control.
// P&F Correct, Runs 5KHz. Divide 16Mhz clock by 8, cycle = 200.
// Make OCR1A & B outputs.
DDRB |= ((1<<PORTB5) | (1<<PORTB6));
//TCCR1A = (1<<COM1A1) | (1<<COM1A0) | (1<<COM1B1) | (1<<COM1B0);
TCCR1A = (1<<COM1A1) | (1<<COM1B1) ;
TCCR1B = (1<<WGM13) | (1<<CS11);
ICR1 = 200;
OCR1A = 0; // Should stay low to start
OCR1B = 0;
// Set up Control Signals. PD6&7 for OCR1B; PC6&7 for OCR1A.
DDRD |= (1<<PORTD6) | (1<<PORTD7);
DDRC |= (1<<PORTC6) | (1<<PORTC7);
PORTD &= ~((1<<PORTD6) | (1<<PORTD7)); // take low to start (off)
PORTC &= ~((1<<PORTC6) | (1<<PORTC7));
// Timer 0 is not necessary - leave code in case we later want it.
// Configure timer 0 to generate a timer overflow interrupt every
// 256*1024 clock cycles, or approx 61 Hz when using 16 MHz clock
// TCCR0A = 0x00;
// TCCR0B = 0x05;
// TIMSK0 = (1<<TOIE0);
// give a blink at the start
// Loop for debug
//while (1){
DDRD |= (1<<PORTD3);
PORTD |= (1<<PORTD3);
_delay_ms(500);
PORTD &= ~(1<<PORTD3);
_delay_ms(500);
//}
while (1) {
// if received data, do something with it
r = usb_rawhid_recv(buffer, 0);
if (r > 0) {
// give a blink on packet received - uncomment for debug
/*
DDRD |= (1<<PORTD3);
PORTD |= (1<<PORTD3);
_delay_ms(500);
PORTD &= ~(1<<PORTD3);
_delay_ms(500); */
msg = unpack(buffer);
switch(msg.destination){
case 'a':
handle_adc(msg);
break;
case 'm':
handle_mc(msg);
break;
default:
fail_spectacularly();
break;
}
free(msg.buf);
// _delay_ms(50);
}
}
}
static void cb_adc_available(void)
{
static uint8_t led_count = 0;
static uint32_t timestamp_counter = 0;
static uint32_t timestamp_last_frame = 0;
static uint16_t missed_adc = 0;
static uint16_t high_adc = 0;
static uint16_t low_adc = 0xffff;
uint16_t missed;
uint16_t adc_value;
uint16_t dxdt;
uint32_t timestamp_ms;
uint8_t send_adc_only = 0;
#if FPS_SEND_ADC_ONLY
send_adc_only = 1;
#endif
// Get ADC reading for light sensor
sc_adc_channel_get(&adc_value, ×tamp_ms);
// Check if we missed an ADC reading
++timestamp_counter;
missed = timestamp_ms - timestamp_counter;
timestamp_counter = timestamp_ms;
missed_adc += missed;
led_count += missed;
if (led_count++ > 100) {
led_count = 0;
sc_led_toggle();
}
// Store lowest and highest values for debugging
if (adc_value > high_adc) {
high_adc = adc_value;
}
if (adc_value < low_adc) {
low_adc = adc_value;
}
if (handle_adc(adc_value, timestamp_ms, &dxdt) || send_adc_only) {
uint8_t buf[64];
uint8_t len;
if (send_adc_only) {
len = create_adc_msg(buf, 64, adc_value, timestamp_ms);
} else {
len = create_message(buf, 64,
timestamp_ms,
timestamp_ms - timestamp_last_frame,
missed_adc,
low_adc,
high_adc,
dxdt);
}
sc_uart_send_msg(SC_UART_LAST, buf, len);
high_adc = 0;
low_adc = 0xffff;
timestamp_last_frame = timestamp_ms;
missed_adc = 0;
}
}
