// Initialise the device
static void __quadrature_init(SENSOR* sensor){
QUADRATURE* encoder = (QUADRATURE*)sensor;
pin_make_input(encoder->channelA, FALSE);
pin_make_input(encoder->channelB, FALSE);
pin_change_attach(encoder->channelA, &__encChA, encoder);
pin_change_attach(encoder->channelB, &__encChB, encoder);
}
//------------- Private methods - dont call directly -----
static void __spiSWInit(SPI_ABSTRACT_BUS* _spi, boolean master){
SPI_SW* spi = (SPI_SW*)_spi;
if(master){
pin_make_output(spi->MOSI, TRUE); // make MOSI an output and set high
pin_make_input(spi->MISO,TRUE); // make MISO an input with a pullup
}else{
pin_make_input(spi->SCLK,FALSE); // make clock an input with no pullup
pin_make_input(spi->MOSI,FALSE); // make MOSI an input with no pullup
pin_make_output(spi->MISO,TRUE); // make MISO an output
}
__spiSWSetClock(_spi,_spi->clock);
__spiSWSetDataOrder(_spi,_spi->order);
__spiSWSetMode(_spi,_spi->mode);
}
// Now create any global variables such as motors, servos, sensors etc
// This routine is called once only and allows you to do set up the hardware
// Dont use any 'clock' functions here - use 'delay' functions instead
void appInitHardware(void){
a2dSetPrescaler(ADC_PRESCALE_DIV128);
cyrf6936_Initialise_hard();
// Initialise SPI bus as master. (RF modules connected to hardware SPI)
spiBusInit(&bus, TRUE);
spiDeviceSelect(&cyrf_0, TRUE);
spiDeviceSelect(&cyrf_0, FALSE);
spiDeviceSelect(&cyrf_1, TRUE);
spiDeviceSelect(&cyrf_1, FALSE);
// set I/O pins for RF module(s).
pin_make_input(D4, FALSE); // set PACTL pin to input. (module on connector J1)
pin_make_input(D5, FALSE); // set PACTLn pin to input. (module on connector J1)
pin_make_input(D6, FALSE); // set PACTL pin to input. (module on connector J2)
pin_make_input(D7, FALSE); // set PACTLn pin to input. (module on connector J2)
#ifdef RF_MODULE_ARTAFLEX
//
pin_make_output(D4, FALSE); // set RXPA pin to output. (module on connector J1)
pin_make_output(D5, FALSE); // set TXPA pin to output. (module on connector J1)
pin_make_output(D6, FALSE); // set RXPA pin to output. (module on connector J2)
pin_make_output(D7, FALSE); // set TXPA pin to output. (module on connector J2)
#endif
pin_make_input(E7, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J1)
pin_make_input(E6, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J2)
pin_make_output(G3, FALSE); // set UNIGEN RF module RST pin to output. (both modules)
//pin_low(G3); // don't reset yet.
// set I/O pins for status LEDs
pin_make_output(C0, TRUE); // set LED pin for output
pin_make_output(C1, TRUE); // set LED pin for output
pin_make_output(C2, FALSE); // set LED pin for output
//pin_high(C0); // LED off
//pin_high(C1); // LED off
//pin_low(C2); // LED on
// Set UART1 to 19200 baud
uartInit(UART1, 38400);
// Tell rprintf to output to UART1
rprintfInit(&uart1SendByte);
// Initialise the servo controller using Hardware PWM
servoPWMInit(&bank1);
// Initialise WatchDog Timer
wdt_enable( WDTO_500MS );
}
// Read all the values and store into the device
static void __srf04_read(SENSOR* sensor){
TICK_COUNT duration;
Devantech_SRF04* device = (Devantech_SRF04*)sensor;
// initialise the pins
pin_make_output(device->out,FALSE); // Set low
pin_make_input(device->in,FALSE);
// 10us high trigger pulse
pin_pulseOut(device->out,10,TRUE);
// Measure the inbound pulse
duration = pin_pulseIn(device->in,TRUE);
device->distance.cm = fraction32(duration, srf04_frac);
}
// Call back - for when the speed has been set
static void setSpeed(__ACTUATOR *actuator, DRIVE_SPEED speed){
MOTOR* motor = (MOTOR*)actuator;
const TimerCompare* channel = compareFromIOPin(motor->pwm);
const Timer* timer = compareGetTimer(channel);
uint16_t top = timerGetTOP(timer);
// New compare threshold
uint16_t delay=0;
if( speed > 0 ){
delay = interpolateU(speed, 0, DRIVE_SPEED_MAX, 0 , top);
// Set direction1 high, direction2 low
pin_make_output(motor->direction1,TRUE);
pin_make_output(motor->direction2,FALSE);
}else if(speed < 0){
delay = interpolateU(speed, 0, DRIVE_SPEED_MIN, 0 , top);
// Set direction1 low, direction2 high low
pin_make_output(motor->direction1,FALSE);
pin_make_output(motor->direction2,TRUE);
}else{
// brake
if(motor->direction2){
// There are two direction pins - so set both to same value
pin_make_output(motor->direction1,FALSE);
pin_make_output(motor->direction2,FALSE);
}else{
// Only has one direction pin
// Set direction1 to an input with no pullup ie disconnect
pin_make_input(motor->direction1,FALSE);
}
}
// Change the duty cycle
compareSetThreshold(channel,delay);
}
// Make all databus pins into inputs with pullups
static void databus_input(const HD44780* device){
for(uint8_t i=0; i<8; i++){
pin_make_input(device->data[i],TRUE);
}
}
// Make the data line high
static void sda_high(const I2C_SOFTWARE_BUS* i2c){
pin_make_input(i2c->sda,FALSE); // Assumes external resistor (works)
}
// Make the clock high
static void scl_high(const I2C_SOFTWARE_BUS* i2c){
do{
pin_make_input(i2c->scl,FALSE); // Assumes external resistor (works)
}while(pin_is_low(i2c->scl));
}
