int main(void)
{
CLKPR = 0x80;
CLKPR = 0x00;
init_ports();
init_timer1();
init_timer2();
init_analog();
TWAR = 1 << 1;
TWCR = 0x45;
TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA);
sei();
state = WAIT_ZCROSS;
//state = TEST;
while (1)
{
_delay_ms(10000);
}
clr_led();
cli();
boot_main();
}
/** Initialize the analog subsystem.
Initialize the ADC and start hardware scan for all sensors.
*/
void analog_init() {
if (NUM_TEMP_SENSORS) { // At least one channel in use.
init_dma();
init_analog();
}
}
int main() {
DLN_RESULT result;
DlnConnect("localhost", DLN_DEFAULT_SERVER_PORT);
// Check device count
uint32_t device_count;
result = DlnGetDeviceCount(&device_count);
if (!DLN_SUCCEEDED(result)) {
std::cout << "Failed to get DLN device count" << std::endl;
return -1;
}
if (device_count != 1) {
std::cout << "There should be one and only one DLN device connected. There are "
<< device_count << std::endl;
return -1;
}
// Try to open our device
HDLN handle;
result = DlnOpenDevice(0, &handle);
if (!DLN_SUCCEEDED(result)) {
std::cout << "Failed to open DLN device" << std::endl;
return -1;
}
// Print out some info about our DLN device
DLN_VERSION version;
uint32_t sn, id;
DlnGetVersion(handle, &version);
DlnGetDeviceSn(handle, &sn);
DlnGetDeviceId(handle, &id);
std::cout << "Opened DLN device: " << sn << "\t" << id << std::endl;
// Initialize all the things
init_i2c(handle);
init_analog(handle);
// Instantiate the rover controller
RoverControl rover(handle);
while (true) {
rover.update();
}
cleanup_analog(handle);
DlnCloseHandle(handle);
DlnDisconnectAll();
return 0;
}
int main(void)
{
lcd.clear();
lcd.invertDisplay(true);
lcd.clearMarkers();
lcd.setContrast(16);
//init analog if needed
init_analog();
srand(adc_read(0));
while(1)
{
//collapseExplosion(1);
//collapseExplosion(0);
//lcd.drawRect(10,10,10,10);
//lcd.drawLine(0,0,100,48);
//lcd.drawCircle(20,20,5);
}
return 0;
}
void pin_init(void) {
// Make sure all the LCD pins are recognized as digital
TRIS_RS = 0; TRIS_EN = 0;
TRIS_D0 = 0; TRIS_D1 = 0; TRIS_D2 = 0; TRIS_D3 = 0;
TRIS_D4 = 0; TRIS_D5 = 0; TRIS_D6 = 0; TRIS_D7 = 0;
ANSELA = 0; // PORTA pins digital
ANSELB = 0; // PORTB pins digital
CM1CON = 0;
CM2CON = 0;
CM3CON = 0;
DDPCONbits.JTAGEN = 0;
//int count=0;
TRISA=0x00;
TRISB=0x00;
PORTA=0x00;
PORTB=0x00;
// keypad setup
ANSELBbits.ANSB13 = 1; // set RB3 (AN5) to analog
TRISBbits.TRISB13 = 1; // set RB3 as an input
init_analog();
AD1CON1SET = 0x8000; // Enable ADC
}
int main(void)
{
char out_buf[20+1];
measured_val[0]=0;
measured_val[1]=0;
init_dac();
lcd_init(LCD_DISP_ON);
init_kbd();
set_val[0]=15;set_val[1]=50; // 150mA and 5V
if (eeprom_read_byte((uint8_t *)0x0) == 19){
// ok magic number matches accept values
set_val[1]=eeprom_read_word((uint16_t *)0x04);
set_val[0]=eeprom_read_word((uint16_t *)0x02);
}
// I2C also called TWI
i2c_init(3,1,0);
sei();
i2c_send_data("on");
init_analog();
while (1) {
// current
measured_val[0]=adc_i_to_disp(getanalogresult(0));
set_val_adcUnits[0]=disp_i_to_adc(set_val[0]);
set_target_adc_val(0,set_val_adcUnits[0]);
// voltage
measured_val[1]=adc_u_to_disp(getanalogresult(1),measured_val[0]);
set_val_adcUnits[1]=disp_u_to_adc(set_val[1])+disp_i_to_u_adc_offset(measured_val[0]);
set_target_adc_val(1,set_val_adcUnits[1]);
// voltage
lcd_clrscr();
int_to_ascii(measured_val[1],out_buf,1,1);
lcd_puts(out_buf);
lcd_puts("V ");
int_to_ascii(set_val[1],out_buf,1,1);
lcd_putc('[');
lcd_puts(out_buf);
lcd_putc(']');
if (!is_current_limit()){
// put a marker to show which value is currenlty limiting
lcd_puts("<-");
}
// current
lcd_gotoxy(0,1);
int_to_ascii(measured_val[0],out_buf,2,0);
lcd_puts(out_buf);
lcd_puts("A ");
int_to_ascii(set_val[0],out_buf,2,0);
lcd_putc('[');
lcd_puts(out_buf);
lcd_putc(']');
if (is_current_limit()){
// put a marker to show which value is currenlty limiting
lcd_puts("<-");
}
//dbg
//int_to_ascii(is_dacval(),out_buf,0,0);
//lcd_puts(out_buf);
check_i2c_interface();
// the buttons must be responsive but they must not
// scroll too fast if pressed permanently
if (check_buttons()==0){
// no buttons pressed
delay_ms(100);
bpress=0;
check_i2c_interface();
check_buttons();
delay_ms(150);
}else{
// button press
if (bpress > 11){
// somebody pressed permanetly the button=>scroll fast
delay_ms(10);
check_i2c_interface();
delay_ms(40);
}else{
bpress++;
delay_ms(100);
check_i2c_interface();
delay_ms(150);
}
}
}
return(0);
}
int main(void)
{
lcd.clearMarkers();
//init analog if needed
init_analog();
srand(adc_read(0));
//pin 0 on portb output.
//led stays on if iterations between fields are the same (same number of cells)
DDRB |= _BV(PB0);
//clear the buffer.
clearArray(buffer);
//if house define insert that.
#ifdef PATTERN
insert_pattern(field, Glider, 0,0);
#endif
//else random field.
#ifdef RANDOM
createRandomField(field);
#endif
//set contrast.
lcd.setContrast(17);
//make sure to start at location 0,0
lcd.setCursor(0,0);
//position is field size, I refresh the screen Backwards.
position = fieldSize;
while(position--)
{
//display field with current position
showField(field, fieldSize-position);
//here the rules of the game of life are checked.
//if a position has a cell (1),
//then look how many around,
//if 2 or 3 around it lives, else it dies.
//if(field[position])
//{
// if(totalAround(field, position)==surviveAbility)
// {
// buffer[position]=1;
// }
// else if(totalAround(field, position)==surviveAbility+1)
// {
// buffer[position]=1;
// }
// else
// {
// buffer[position]=0;
// }
//}
//else
//{
//but if a position in the field is empty
//and it has 3 around, that position becomes alife.
// if(totalAround(field, position)==reproductiveNumber)
// {
// buffer[position] = 1;
// }
// else
// {
// buffer[position] = 0;
// }
//}
//position keeps position in the field array,
//and at the same time drawing location on
//screen.
if(position == 0)
{
//insert changes into the field.
copy_buffer(buffer, field);
//reset position to 0
position = fieldSize;
//set frame rate with a blocking delay..
delay(adc_read(1));
//check wether we are in a steady state or just still evolving.
currentState = checkField(field);
//set contrast with pot meter on analog pin 1 (not 0)
lcd.setContrast(32/2);
//change field if field the same a while, or iterations goes above a certain number which meens it's probaly in a loop
//check if button is pressed and create a new field.
if(changeCount == holdingNumber || (iterations > 1000) || (PINB & (1<<PB2)))
{
//reset changeCount
changeCount = 0;
//reset iteration count.
iterations = 0;
//create a random playing field.
#ifdef PATTERN
insert_pattern(field, Glider, 0,0);
#endif
//createRandomField(field);
//put a pattern we created onto the field.
//insert_field(stable, field);
}
//if the field states stay the same.
else if(currentState == previousState)
{
PORTB |= (1<<PB0);
changeCount++;
}
//if the field states are different.
else
{
PORTB &= ~(1<<PB0);
previousState = currentState;
//that is why setting it to zero.
iterations++;
//changeCount shouldn't change if the inbetween states happen te be the same.
changeCount = 0;
}
//set location and nicely print something.
lcd.setCursor(0,5);
writeFormated(iterations,changeCount,"Game of Life:");
}
}
return 0;
}
//Initialize and enables all the peripherals
void init_peripherals(void)
{
//Motor control variables & peripherals:
init_motor();
//Init Control:
init_ctrl_data_structure();
//Timebases:
init_tb_timers();
//UART 2 - RS-485
init_rs485();
//Analog, expansion port:
init_analog();
//Clutch:
init_clutch();
//Enable Global Interrupts
CyGlobalIntEnable;
//I2C1 (internal, potentiometers, Safety-CoP & IMU)
init_i2c1();
//Peripherals that depend on I2C:
#ifdef USE_I2C_INT
//MPU-6500 IMU:
#ifdef USE_IMU
init_imu();
CyDelay(25);
init_imu();
CyDelay(25);
init_imu();
CyDelay(25);
#endif //USE_IMU
//Strain amplifier:
#ifdef USE_STRAIN
init_strain();
#endif //USE_STRAIN
#endif //USE_I2C_INT
//I2C2 (external)
#ifdef USE_I2C_EXT
//Enable pull-ups:
I2C_OPT_PU_Write(1);
//I2C2 peripheral:
init_i2c2();
//Set RGB LED - Starts Green
i2c_write_minm_rgb(SET_RGB, 0, 255, 0);
#endif //USE_I2C_EXT
//Magnetic encoder:
init_as5047();
// First DieTemp reading is always inaccurate -- throw out the first one
#ifdef USE_DIETEMP
DieTemp_1_GetTemp(&temp);
#endif
//USB CDC
#ifdef USE_USB
init_usb();
#endif //USE_USB
}
