/*
* A simple setup routine, enables/disables the joystick, and makes sure
* that the button state is read correctly...
*/
void setup(void)
{
enable_joystick_1x();
enable_joystick_1y();
disable_joystick_2x();
disable_joystick_2y();
joy_digital();
read_buttons(); /* read it twice, I had trouble doing it once only :-( */
wait_recal(); /* one round */
read_buttons();
wait_recal(); /* one round */
}
void loop()
{
static uint32_t last_run = 0;
uint32_t current_time = millis();
if (current_time - last_run >= 5000)
{
Serial.println("===============");
for (uint8_t i = 0; i < CAM_COUNT; i++)
{
Serial.print("Camera[");
Serial.print(i + 1);
Serial.print("] = ");
Serial.print(cam_status[i].status, BIN);
Serial.print(" ");
Serial.print((millis() - cam_status[i].ref_time) / 1000);
Serial.println(" sec ago");
}
Serial.println("===============");
Serial.println("request...");
network.send(14, "E", 1);
network.send(13, "E", 1);
last_run = millis();
}
network.update();
network.receive(1000);
read_buttons();
indication(current_time);
};
/**
* Main.
*
* @param int argc
* @param char** argv
*
* @return int
*/
int main(int argc, char **argv)
{
bcm2835_set_debug(0);
if (!bcm2835_init()) {
return 1;
}
// Set each of the pins as input or output
bcm2835_gpio_fsel(NES_LATCH,BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(NES_CLOCK,BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(NES_DATA,BCM2835_GPIO_FSEL_INPT);
// Initialize clock and latch
bcm2835_gpio_write(NES_LATCH,LOW);
bcm2835_gpio_write(NES_CLOCK,LOW);
while(1) {
uint8_t pressed = read_buttons();
if ((pressed & BTN_A) == BTN_A)
printf("A");
if ((pressed & BTN_B) == BTN_B)
printf("B");
if ((pressed & BTN_SELECT) == BTN_SELECT)
printf("SELECT");
if ((pressed & BTN_START) == BTN_START)
printf("START");
if ((pressed & BTN_UP) == BTN_UP)
printf("UP");
if ((pressed & BTN_DOWN) == BTN_DOWN)
printf("DOWN");
if ((pressed & BTN_LEFT) == BTN_LEFT)
printf("LEFT");
if ((pressed & BTN_RIGHT) == BTN_RIGHT)
printf("RIGHT");
if (pressed) {
printf("\n");
}
// Delay approximately 60Hz
delay(((1 / 60) * 1000));
}
bcm2835_close();
return 0;
}
int main(void)
{
init();
BOOL motors_stopped = FALSE;
send_welcome();
while (1)
{
if (motors_stopped)
{
led_on ( STOP_LED );
led_off ( GO_LED );
} else
{
led_on( GO_LED );
led_off( STOP_LED );
}
read_buttons();
if (stop_button_pressed)
{
motors_stopped = TRUE;
stop_motors();
}
if (prog_button_pressed)
{
motors_stopped = FALSE;
resume_motors();
}
encoder_timeslice();
limit_switch_timeslice();
motor_timeslice_10ms();
serial_timeslice(); // handle incoming messages (if avail)
watchdog_reset();
//delay(one_second/10);
}
return (0);
}
int main(void) {
RCC_ClocksTypeDef RCC_Clocks;
/* default value with 440 Hz delta fi and Amplitude 1.0V*/
d_phi = D_PHI_440HZ;
b = AMPLITUDE_B_HIGH;
initCEP_Board();
initTimer_Dac();
msecs = 0;
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000);
TFT_cursor_off();
//Mark buffer as empty
buf1.isEmpty = 1;
buf2.isEmpty = 1;
bgbuf = &buf1;
isrbuf = &buf1;
TFT_cls();
TFT_puts("CEP4");
TFT_gotoxy(1, 2);
TFT_puts("Besnik & Burim Mulici");
TFT_gotoxy(1,5);
TFT_puts("msecs: ");
TFT_gotoxy(1,6);
TFT_puts("Interrupts: ");
TFT_gotoxy(1,7);
TFT_puts("delta_P: ");
TFT_gotoxy(1,8);
TFT_puts("Frequenz: 440");
TFT_gotoxy(1,9);
TFT_puts("Form: Sinus");
while (1) {
read_buttons();
//slow down display output
if(msecCountVar <= msecCounter) {
msecCountVar++;
} else {
msecCountVar = 0;
}
//Display output
if((output ==1) && (msecCountVar == msecCounter)){
ITM->PORT[11].u32 = 0;
TFT_gotoxy(1,5);
TFT_puts("msecs: ");
sprintf(msecbuf, "%d" , msecs);
TFT_puts(msecbuf);
TFT_gotoxy(1,6);
TFT_puts("Interrupts: ");
sprintf(interruptbuf, "%d", interruptCounter);
TFT_puts(interruptbuf);
TFT_gotoxy(1,7);
TFT_puts("delta_P: ");
sprintf(d_phi_buf, "%d", d_phi);
TFT_puts(d_phi_buf);
ITM->PORT[11].u32 = 1;
}
//Buffer empty? If yes fill it and Wait-LED off, else Wait-LED on
if(bgbuf->isEmpty){
resetLED(WAITING);
ITM->PORT[12].u32 = 0;
fill_Buf(bgbuf);
ITM->PORT[12].u32 = 1;
if(bgbuf == &buf1) { bgbuf = &buf2;}
else{ bgbuf = &buf1;}
} else {
setLED(WAITING);
}
}
}
void poll_inputs()
{
short changed = 0;
short button_state = 0;
short i;
short *pOldValue = old_sensor_values;
sensor_t *pSensor = &sensors[0];
char packet_available;
throttle_count--;
if( throttle_count == 0){
throttle_count = throttle;
// If we're not polling or someone already has the monitor
// return.
if (!poller || get_monitor_count((&(poller->_super))) != 0)
return;
// We do not have a thread that we can use to grab
// the monitor but that's OK because we are atomic
// anyway.
// Check the sensor canonical values.
for (i = 1<<SENSOR_POS; i<(1<<BUTTON_POS); i <<= 1, pOldValue++, pSensor++)
{
if (*pOldValue != pSensor->value) {
changed |= i;
*pOldValue = pSensor->value;
}
}
// Check the button status
read_buttons (0x3000, &button_state);
button_state <<= BUTTON_POS; // Shift into poll position
changed |= button_state ^ old_button_state;
old_button_state = button_state;
// Check serial status
check_for_data ( &packet_available, null);
if (packet_available) {
changed |= 1 << SERIAL_RECEIVED_POS;
}
// Only wake threads up if things have changed since
// we last looked.
if (changed)
{
// Or in the latest changes. Some threads may not have
// responded to earlier changes yet so we can't
// just overwrite them.
short jword = 0;
store_word((byte*)(&jword), 2, changed);
poller->changed |= jword;
#if DEBUG_POLL
jword = get_word((byte*)&poller->changed, 2);
printf("Poller: poller->changed = 0x%1X\n", jword);
#endif
// poller.notifyAll()
monitor_notify_unchecked(&poller->_super, 1);
}
}
}
int main(int argn,char *argv[])
{
// Print version
printf("Fred ver. %s\n",VERSION);
// Read command line arguments
init_cmds_line_args(argn,argv);
// Creates thread
init_threads();
// Creates channels
init_speaker_pipe();
// Init buttons
init_buttons();
// Main loop
//char job_choise = 0;
char buttons_choise;
while(1)
{
// Read GPIO
/*
printf("\n\n\n\n\nOpzioni:\n1) Posizione\n2) Beccheggio\n3) Rollio\n4)"
" Impostazione posizione iniziale\n5) Uscita\nScelta:");
scanf(" %c",&job_choise);
if(job_choise == '1') write(PIPE_CHANNEL[1],"1", 1);
if(job_choise == '2') write(PIPE_CHANNEL[1],"2", 1);
if(job_choise == '3') write(PIPE_CHANNEL[1],"3", 1);
if(job_choise == '4') write(PIPE_CHANNEL[1],"4", 1);
if(job_choise == '5')
{
// Request exit to speaker thread
write(PIPE_CHANNEL[1],"5", 1);
// Terminates the get_compass_data thread
pthread_cancel(get_compass_data_thread);
break;
}
*/
buttons_choise = read_buttons();
// Send info to speaker
if(buttons_choise & BTN_GET_POSITION) write(PIPE_CHANNEL[1],"1", 1);
if(buttons_choise & BTN_GET_PICH) write(PIPE_CHANNEL[1],"2", 1);
if(buttons_choise & BTN_GET_ROLL) write(PIPE_CHANNEL[1],"3", 1);
if(buttons_choise & BTN_SET_POSITION) write(PIPE_CHANNEL[1],"4", 1);
if(buttons_choise & BTN_POWER_OFF)
{
// Request exit to speaker thread
write(PIPE_CHANNEL[1],"5", 1);
// Terminates the get_compass_data thread
pthread_cancel(get_compass_data_thread);
break;
}
sleep(1);
}
// Wait for last cmd
sleep(5);
// Close the pipe channels
close(PIPE_CHANNEL[0]);
close(PIPE_CHANNEL[1]);
// Wait for the end of the thread
pthread_join(get_compass_data_thread,NULL);
pthread_join(speaker_thread,NULL);
return EXIT_SUCCESS;
}
void labor6(void) {
run = 1;
syncword_address =0;
spi_address = 0;
pwmVal = 0;
HMP3Decoder mp3dec;
bytesLeft = 0;
bytesTilSyncWord = 0;
decodeRetVal = 0;
errorCounter = 0;
idx_ISR = 0;
mainBuf_empty = 1;
interrupt_Counter = 0;
mseczaehlvar = 0;
RCC_ClocksTypeDef RCC_Clocks;
msec = 0;
int i = 0;
//Amplitude 1.0V (b_big)
amplitude = b_big;
spi_setup();
setup_TIM8_DAC_PWM();
mp3dec = MP3InitDecoder();
//SysTick end of count event each 10ms
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000);
TFT_cursor_off();
buf1.isEmpty = 1;
buf2.isEmpty = 1;
mp3OutBuffer = &buf1; //start with buf1
irsInBuffer = &buf1;
TFT_cls();
TFT_gotoxy(1,1);
TFT_puts("Frequenz: 5000");
while(B1 != 0 && B2 != 0) {}
do {
//Check Buttons
read_buttons();
//ausgabe
print_display();
//wenn der mainBuf leer ist, muss der durch readSPI mit mp3-daten gefuellt werden
if (mainBuf_empty) {
do {
//Shift bytes to the beginning
/**
* Bsp: mainBufSize = 10
* readBytes = 7 --> bytesLeft = 3
* for(){
* mainBuffer[0] = mainBuffer[(10-3)+0] idx[0] = idx[7]
* mainBuffer[1] = mainBuffer[(10-3)+1] idx[1] = ide[8] ...
*/
for(i = 0; i < bytesLeft; i++) { //die ungelesene bytes am anfang stellen
mainBuf[i] = mainBuf[(MAINBUF_SIZE - bytesLeft) + i];
}
//Reads size-bytes from current_SPI_Address and writes them into the given array ((mainBuffer + nBytesLeft))
//also nach diesem aufruf, ist der mainBuf voll und spiadresse muss verschoben werden
spiFlashMemRead(SPI_MEM_WORK, spi_address, (mainBuf + bytesLeft), MAINBUF_SIZE - bytesLeft);
//nach sync word in dem mainBuf suchen
bytesTilSyncWord = MP3FindSyncWord(mainBuf, MAINBUF_SIZE);
if (bytesTilSyncWord == 0) { //falls guelltige date gleich am anfang liegen
spi_address = spi_address + (MAINBUF_SIZE - bytesLeft);
} else if (bytesTilSyncWord < 0) {//fehler, kein sync word gefunden
run = 0;
} else if (bytesTilSyncWord > 0) {//falls skip word an der n-te adresse gefunden wurde, verschiebe ich die spiadresse um n, damit ich beim naechsten durchlauf vom flash nur die guelltige daten lese (also muell ueberspringen)
spi_address = (spi_address - bytesLeft )+ bytesTilSyncWord;
}
bytesLeft = 0; //MUSS DAS HIER NICHT AUSSERHALB DER WHILE ?? DAMIT DIE NBYTES NICHT VERLOREN GEHEN
} while(bytesTilSyncWord != 0 && run);
mainBuf_empty = 0; //mainBuf ist voll
}
if (run) { //wenn kein fehler
//wenn der mp3OutBuf voll ist ODER der MainBuf leer ist, dann warten (WAITING-LED) anschalten
if (!mp3OutBuffer->isEmpty || mainBuf_empty) {
setLED(WAITING_LED);
} else {
resetLED(WAITING_LED);
bytesLeft = MAINBUF_SIZE; //in nBytesLeft steht wieviele daten aus dem MainBuf noch in dem mp3OutBuf uebertragen werden muessen
ptrMainBuf = mainBuf; //mainBufPointer soll auf MainBuff zeigen, obwohl es bei der initialisierung schon gemacht wurde !!
/**
* para1: decoder instance
* para2: buffer aus dem die daten decodet werden sollen
* para3: (input) --> anzahl gueltige bytes, die gelesen werden sollen,
* (output)--> input - gelesene bytes, also die bytes die noch gelesen werden muessen
* para4: der buffer in dem geschrieben werden soll, der pointer wird geupdatet (bis wo der voll geschrieben wurde)
*/
//nach diesem aufruf ist der mp3OutBuf auf jeden fall voll
decodeRetVal = MP3Decode(mp3dec, &ptrMainBuf, &bytesLeft, mp3OutBuffer->data, 0); //decodeResult -->(0 means no error, < 0 means error)
mainBuf_empty = 1; //der mainBuf ist nicht komplett voll
if (decodeRetVal < 0) {
errorCounter++;
} else {
errorCounter = 0;
}
if (errorCounter > 2) { //fehler beim decode aufgetreten
run = 0;
} else {
mp3OutBuffer->isEmpty = 0; //der mp3OutBuffer wurde voll geschrieben, bereit fuer die ISR
if(mp3OutBuffer == &buf1) { //buffer ist voll, also wechseln
mp3OutBuffer = &buf2;
} else if (mp3OutBuffer == &buf2) {
mp3OutBuffer = &buf1;
}
}
}
}
} while (run);
MP3FreeDecoder(mp3dec);
}
void readSettings(void)
{
int i;
ZeroMemory(&mSkin, offset_hooks);
//====================
// titlebar click actions
for (i = 0; i < 12; i++)
{
static const char *modifiers[] = { "", "Shift", "Ctrl" };
static const char *buttons[] = { "Dbl", "Right", "Mid", "Left" };
static const char *button_ids[6+1+1] =
{
"Close", "Maximize", "Minimize",
"Rollup", "AlwaysOnTop", "Pin",
"Lower", NULL
};
char rcstring[80];
sprintf(rcstring, "bbleanskin.titlebar.%s%sClick:", modifiers[i%3], buttons[i/3]);
const char *p = ReadString(rcpath, rcstring, "");
mSkin.captionClicks.Dbl[i] = get_string_index(p, button_ids);
}
// ############# EDIT: MADE ALL BUTTONS VISIBLE BY DEFAULT ##############
// ##### (MAKES MORE SENSE, UNLESS BUTTONS 5 and 6 DO NOT WORK (?)) #####
// strncpy(mSkin.button_string, ReadString(rcpath, "bbleanskin.titlebar.buttons:", "400321"), 6);
strncpy(mSkin.button_string, ReadString(rcpath, "bbleanskin.titlebar.buttons:", "465321"), 6);
// ######################################################################
// button pics
read_buttons();
//====================
// other settings
// mSkin.nixShadeStyle = ReadBool(rcpath, "bbleanskin.option.nixShadeStyle:", true);
mSkin.nixShadeStyle = ReadBool(rcpath, "bbleanskin.option.nixShadeStyle:", false);
// mSkin.snapWindows = ReadBool(rcpath, "bbleanskin.option.snapWindows:", true);
mSkin.snapWindows = ReadBool(rcpath, "bbleanskin.option.snapWindows:", false);
applyToOpen = ReadBool(rcpath, "bbleanskin.option.applyToOpen:", true);
// adjustCaptionHeight = ReadBool(rcpath, "bbleanskin.option.adjustCaptionHeight:", false);
adjustCaptionHeight = ReadBool(rcpath, "bbleanskin.option.adjustCaptionHeight:", true);
enableLog = ReadBool(rcpath, "bbleanskin.option.enableLog:", false);
//mSkin.drawLocked = ReadBool(rcpath, "bbleanskin.option.drawLocked:", false);
mSkin.imageDither = ReadBool(bbrcPath(), "session.imageDither:", false);
//====================
// windows appearance settings
MenuHeight = ReadInt(rcpath, "bbleanskin.windows.menu.height:", -1);
strcpy(windows_menu_fontFace, ReadString(rcpath, "bbleanskin.windows.menu.Font:", ""));
windows_menu_fontHeight = ReadInt(rcpath, "bbleanskin.windows.menu.fontHeight:", 8);
ScrollbarSize = ReadInt(rcpath, "bbleanskin.windows.scrollbarsize:", -1);
setTTColor = ReadBool(rcpath, "bbleanskin.windows.setToolTipColor:", false);
mSkin.BBhwnd = BBhwnd;
mSkin.BBVersion = BBVersion;
mSkin.loghwnd = m_hwnd;
mSkin.enableLog = enableLog;
}
uint8_t TM1638::getButtons()
{
return read_buttons();
}
