int main() {
TIL311 = 0x98;
srand();
sem_init(&lcd_sem);
lcd_init();
serial_start(SERIAL_SAFE);
puts("Hello! Starting tasks.\n");
enter_critical();
create_task(&task_time,0);
create_task(&task_echo,0);
create_task(&task_scroller,0);
create_task(&task_wav_play,0);
/* for (int i = 0; i < 16; i++)
create_task(&breeder_task,0);*/
leave_critical();
yield();
puts("Tasks started, main() returning.\n");
return 0;
}
void riuc4_start(serial_t *serial, char *port_dev) {
riuc4_t *riuc4 = (riuc4_t *)serial->user_data;
riuc4->uart4_command.command[0] = 0;
riuc4->uart4_command.command[1] = 0;
riuc4->uart4_command.command[2] = 0;
riuc4->uart4_command.command[3] = 0;
strncpy(serial->port_dev, port_dev, sizeof(serial->port_dev));
serial_start(serial);
}
int main(int argc, char *argv[])
{
struct serialsosurce ss;
serial_start(&ss);
#define OPEN 1
#define CLOSE 0
while (1) {
// controller_set(&ss, 120, CLOSE);
// int status;
// controller_get(&ss, 120, &status);
// printf("controller %d status is %d\n", 120, status);
// sleep(3);
// controller_set(&ss, 120, CLOSE);
// sleep(3);
// sensor_set(&ss, 20, 100);
// int status;
// sensor_get(&ss, 20, &status);
// printf("sensor %d status is %d\n", 20, status);
//
// sleep(3);
struct sensorX sx;
int id[] = {1, 10, 20, 40};
int data[] = {10, 20, 30, 40};
sensorX_init(&sx, sizeof(id)/sizeof(int), id, data);
sensorX_set(&ss, &sx);
struct sensorX sx_test;
int id2[] = {1, 10, 20, 40};
sensorX_init(&sx_test, sizeof(id2)/sizeof(int), id2, NULL);
sensorX_get(&ss, &sx_test);
printf("Sensor Data:\n");
printf("=========================\n");
int i;
for (i = 0; i < sx_test.n; i++) {
printf("sensor id[%d] = %d\n", sx_test.id[i], sx_test.data[i]);
}
printf("=========================\n");
sleep(3);
}
while (1) getchar();
serial_stop(&ss);
return 0;
}
void
main(void) {
if (jump_token == JUMP_TOKEN) {
jump_token = 0;
jump_application();
}
setup_hsi();
serial_start(&Serial1, 115200);
ASSERT(xTaskCreate(main_thread, "main", MAIN_STACK_SIZE, NULL,
THREAD_PRIO_MAIN, &thread_main));
vTaskStartScheduler();
}
int main() {
TIL311 = 0x01;
default_interrupts();
serial_start(SERIAL_SAFE);
millis_start();
lcd_init();
lcd_puts("Hello from C,\non the 68008!");
beep(700,250);
DELAY_MS(50);
beep(500,300);
DELAY_MS(100);
beep(700,500);
DELAY_MS(500);
play_rtttl(songs[0]);
while(true) {
TIL311 = 0xCC;
DELAY_MS(1000);
TIL311 = 0xC0;
DELAY_MS(1000);
TIL311 = 0xDE;
DELAY_MS(1000);
TIL311 = 0x00;
DELAY_MS(1000);
if(serial_available()) {
int16_t ch;
lcd_clear();
uint8_t c = 0;
while ((ch = getc()) != -1) {
putc(ch);
lcd_data(ch);
if (c++ == 15)
lcd_cursor(0,1);
}
} else {
lcd_clear();
lcd_puts("Time since boot:");
lcd_cursor(0,1);
lcd_printf("%3d.%02d seconds",millis()/1000, (millis()%1000)/10);
}
}
}
int main() {
TIL311 = 0x01;
serial_start(SERIAL_SAFE);
//millis_start();
sei();
uint8_t *addr = 0x40000;
for (uint16_t i = 0; i < 300; i++)
*(addr++) = i & 0xFF;
return_to_loader();
}
int main() {
serial_start(SERIAL_SAFE);
// set up timer B
TBDR = 29; // approx 15.9 khz out
TBCR = 0x1; // prescaler of 4
// wait for the fifo to clear of garbage
DELAY_MS(50);
wav_start = song_bin;
wav_end = wav_start + song_len - 1;
wav_ptr = wav_start;
if ((*(uint32_t*)256754) != 0xDEADBEEF) {
(*(uint32_t*)256754) = 0xDEADBEEF;
} else {
(*(uint32_t*)256754) = 0;
wav_start = 0x50000;
wav_ptr = wav_start;
for (uint32_t i = 0; i < 65536; i++)
*(wav_ptr++) = i&0xFF;
wav_end = wav_ptr-1;
wav_ptr = wav_start;
}
// set up the reload interrupt
__vectors.user[MFP_INT + MFP_GPI2 - USER_ISR_START] = &wav_isr;
AER |= (1 << 2);
IERB |= INTR_GPI2;
IMRB |= INTR_GPI2;
// prime the fifo
memcpy(IO_DEV3, wav_ptr, 512);
wav_ptr += 512;
sei();
puts("Playback started.\n");
// wait for end of clip & loop.
while(1) {
TIL311 = ((wav_ptr - wav_start) * ((wav_end-wav_start)/16000) / (wav_end-wav_start));
}
}
/* start at command */
void atcmd_start(void)
{
at_serial_para_t para;
at_cmd_init();
at_serial(¶);
//serial_init(SERIAL_UART_ID, 115200, UART_DATA_BITS_8, UART_PARITY_NONE, UART_STOP_BITS_1, para.hwfc);
serial_init(SERIAL_UART_ID, para.baudrate, UART_DATA_BITS_8, UART_PARITY_NONE, UART_STOP_BITS_1, para.hwfc);
serial_start();
/* start atcmd task */
if (OS_ThreadCreate(&g_atcmd_thread,
"atcmd",
atcmd_task,
NULL,
OS_THREAD_PRIO_CONSOLE,
ATCMD_THREAD_STACK_SIZE) != OS_OK) {
ATCMD_ERR("create serial task failed\n");
return ;
}
}
int main(int argc, char **argv)
{
time_t begin = time(NULL);
autopilot_initialize();
serial_start("/dev/ttyUSB0");
printf("Opened serial connection.\n");
read_messages(); // first read to make sure that there is a connection
printf("Acquired initial read\n");
autopilot_start();
printf("locked data from read_messages()\n");
send_pre_arm_void_commands();
// arm_sequence();
usleep(200000); // 200ms = 5Hz
offboard_control_sequence();
usleep(200000);
mavlink_set_position_target_local_ned_t set_point;
for(int i = 0; i < 30; i++){
// printf("Current Initial position : x = %f , y = %f , z = %f\n", ip.x, ip.y, ip.z);
printf("%d: Current set point : x = %f, y = %f z=%f\n", i, ip.x, ip.y, ip.z - 0.25);
set_yaw (ip.yaw, &set_point);
set__(- 1.0 + ip.x , ip.y, ip.z - 2, &set_point);
usleep(100000);
}
// disarm_sequence();
usleep(200000);
disable_offboard_control_sequence();
usleep(200000);
return 0;
}
static void
main_thread(void *pdata) {
QueueSetHandle_t qs;
QueueSetMemberHandle_t active;
ASSERT((qs = xQueueCreateSet(SERIAL_RX_SIZE * 3)));
serial_start(cli_serial, 115200, qs);
serial_start(&Serial4, 57600, qs);
serial_start(&Serial5, cfg.gps_baud_rate ? cfg.gps_baud_rate : 57600, qs);
cli_set_output(cli_serial);
log_start(cli_serial);
cl_enabled = 1;
load_eeprom();
cfg.flags &= ~FLAG_HOLDOVER_TEST;
if (cfg.flags & FLAG_GPSEXT) {
gps_serial = &Serial5;
} else {
gps_serial = &Serial4;
}
if (!cfg.holdover) {
cfg.holdover = 60;
}
if (!cfg.loopstats_interval) {
cfg.loopstats_interval = 60;
}
ppscapture_start();
vtimer_start();
tcpip_start();
test_reset();
cli_banner();
if (!(cfg.flags & FLAG_GPSEXT)) {
ublox_configure();
if (HAS_FEATURE(PPSEN) && (cfg.flags & FLAG_PPSEN)) {
GPIO_OFF(PPSEN);
}
}
cl_enabled = 0;
while (1) {
watchdog_main = 5;
active = xQueueSelectFromSet(qs, pdMS_TO_TICKS(1000));
if (active == cli_serial->rx_q) {
int16_t val = serial_get(cli_serial, TIMEOUT_NOBLOCK);
ASSERT(val >= 0);
cli_feed(val);
} else if (active == gps_serial->rx_q) {
int16_t val = serial_get(gps_serial, TIMEOUT_NOBLOCK);
ASSERT(val >= 0);
gps_byte_received(val);
if (cfg.flags & FLAG_GPSOUT) {
char tmp = val;
serial_write(&Serial5, &tmp, 1);
}
#if 0
} else if (active == Serial5.rx_q) {
char tmp = serial_get(&Serial5, TIMEOUT_NOBLOCK);
serial_write(&Serial4, &tmp, 1);
#endif
}
}
}
int main() {
TIL311 = 0x01;
__vectors.address_error = &address_err;
__vectors.bus_error = &bus_error;
__vectors.illegal_instr = &illegal_inst;
__vectors.divide_by_0 = &divby0;
__vectors.uninitialized_isr = &bad_isr;
__vectors.int_spurious = &spurious;
__vectors.auto_level2 = &auto_lvl2;
__vectors.priv_violation = &priv_vio;
serial_start();
millis_start();
init_printf(null, &printf_putc);
lcd_init();
lcd_puts("Hello from C,\non the 68008!");
mario();
init_printf(null, &printf_lcd);
/* while(true) {
lcd_cursor(0,0);
printf("Runtime: %d.%02d ",millis/1000, (millis%1000)/10);
}*/
while(true) {
TIL311 = 0xCC;
DELAY_MS(1000);
TIL311 = 0xC0;
DELAY_MS(1000);
TIL311 = 0xDE;
DELAY_MS(1000);
TIL311 = 0x00;
DELAY_MS(1000);
if(serial_available()) {
int16_t ch;
lcd_clear();
uint8_t c = 0;
while ((ch = getc()) != -1) {
putc(ch);
lcd_data(ch);
if (c++ == 15)
lcd_cursor(0,1);
}
} else {
lcd_clear();
lcd_puts("Time since boot:");
lcd_cursor(0,1);
printf("%3d.%02d seconds",millis()/1000, (millis()%1000)/10);
}
}
}
//Main program
int main() {
int i,n=0,j=0;
float diff;
FMOD_SYSTEM *fmod = 0;
FMOD_RESULT result;
//establish COM communication
if(serial_start(TEXT("COM7")) != 0) {
printf("Error while establishing COM connection!\n");
system("PAUSE");
exit(1);
}
Sleep(1000);//sleep so that uC can clear LEDs' status
//FMOD
result = FMOD_System_Create(&fmod);
if(result != FMOD_OK) {
printf("FMOD Error");
exit(1);
}
//Mutex
stopAppMutex = CreateMutex(NULL,NULL,NULL);
_stopApp = FALSE;
spectrumMutex = CreateMutex(NULL,NULL,NULL);
for(i = 0;i<8;i++) {
analyzedSpectrum[i] = 0;
}
//FMOD listening thread
_beginthread(getSpectrum, 0, fmod);
//Network thread
//_beginthread(notifyLightshow, 0, NULL);
//control LEDs
n=0;
while(1) {
//clear
for(i = 0;i<25;i++){
buf[0+i*3]=0x00;
buf[1+i*3]=0x00;
buf[2+i*3]=0x00;
}
WaitForSingleObject(spectrumMutex, INFINITE);
for( i =0;i<5;i++) {
diff = abs((analyzedSpectrum[i]/10-previousAnalyzedSpectrum[i]/10)*10);
switch(i) {
case 0:
barsToLEDMapping(0,diff);
break;
case 1:
barsToLEDMapping(1,diff);
break;
case 2:
barsToLEDMapping(2,diff);
break;
case 3:
barsToLEDMapping(3,diff);
break;
case 4:
barsToLEDMapping(4,diff);
break;
}
previousAnalyzedSpectrum[i]=analyzedSpectrum[i];
}
ReleaseMutex(spectrumMutex);
serial_write(buf, 3*25);
}
//cleanup
CloseHandle(comPort);
system("PAUSE");
return 0;
}
