int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Serial_init();
I2C_init(MAGNETOMETER_I2C_ID, I2C_CLOCK_FREQ);
Magnetometer_init();
while(1){
Magnetometer_runSM();
while(!Serial_isTransmitEmpty());
printf("Angle: %.1f\n", Magnetometer_getDegree());
}
return (SUCCESS);
}
int main(void) {
// Initializations
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
I2C_init(I2C_ID, I2C_CLOCK_FREQ);
Magnetometer_init();
Interface_init();
DELAY(5);
if (Accelerometer_init() != SUCCESS) {
Interface_errorLightOn();
dbprint("Failed accel. init.\n");
return FAILURE;
}
dbprint("Ready to calibrate.\n");
Interface_readyLightOn();
DELAY(STARTUP_DELAY);
LCD_setPosition(0,0);
dbprint("Please level scope.\n");
Interface_pitchLightsOn();
state = CALIBRATE_PITCH;
Timer_new(TIMER_TEST2, PRINT_DELAY);
bool holdingCalibrate = FALSE;
while (1) {
switch (state) {
case CALIBRATE_PITCH:
if (Accelerometer_isLevel() && !holdingCalibrate) {
holdingCalibrate = TRUE;
Timer_new(TIMER_TEST, CALIBRATE_HOLD_DELAY);
Interface_readyLightOff();
Interface_waitLightOn();
LCD_setPosition(1,0);
dbprint("Hold level...\n");
}
if (Accelerometer_isLevel() && holdingCalibrate && Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(1,0);
dbprint("Pitch done!\n");
Interface_pitchLightsOff();
Interface_readyLightOn();
Interface_waitLightOff();
holdingCalibrate = FALSE;
DELAY(STARTUP_DELAY);
state = CALIBRATE_YAW;
LCD_setPosition(0,0);
dbprint("Turn scope north.\n \n");
Interface_yawLightsOn();
}
else if (!Accelerometer_isLevel() && holdingCalibrate) {
holdingCalibrate = FALSE;
Timer_stop(TIMER_TEST);
LCD_setPosition(1,0);
dbprint(" \n");
Interface_readyLightOn();
Interface_waitLightOff();
}
break;
case CALIBRATE_YAW:
if (Magnetometer_isNorth() && !holdingCalibrate) {
holdingCalibrate = TRUE;
Timer_new(TIMER_TEST, CALIBRATE_HOLD_DELAY);
Interface_readyLightOff();
Interface_waitLightOn();
LCD_setPosition(1,0);
dbprint("Hold north + level..\n");
}
if (Magnetometer_isNorth() && holdingCalibrate && Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(1,0);
dbprint("Yaw done!\n");
Interface_yawLightsOff();
Interface_readyLightOn();
Interface_waitLightOff();
holdingCalibrate = FALSE;
DELAY(STARTUP_DELAY);
return SUCCESS;
}
else if (!Magnetometer_isNorth() && holdingCalibrate) {
holdingCalibrate = FALSE;
Timer_stop(TIMER_TEST);
LCD_setPosition(1,0);
dbprint(" \n");
Interface_readyLightOn();
Interface_waitLightOff();
}
#ifdef DEBUG_MAGNETOMETER
if (Timer_isExpired(TIMER_TEST2)) {
LCD_setPosition(3,0);
dbprint("Mag: %.2f\n",Magnetometer_getHeading());
Timer_new(TIMER_TEST2, PRINT_DELAY);
}
#endif
break;
}
Magnetometer_runSM();
Accelerometer_runSM();
Interface_runSM();
}
return (SUCCESS);
}
