void ReadParametersEE(void)
{
int8 *p, c;
uint16 addr;
if( IK5 > _Neutral )
addr = _EESet2;
else
addr = _EESet1;
for(p = &FirstProgReg; p <= &LastProgReg; p++)
*p = ReadEE(addr++);
BatteryVolts = LowVoltThres;
// Sanity check
//if timing value is lower than 1, set it to 10ms!
// Note TimeSlot is re-read from EEPROM each cycle
if( TimeSlot < 2 )
TimeSlot = 2;
else
if ( TimeSlot > 20 )
TimeSlot = 20;
} // ReadParametersEE
void WriteEE(uint8 addr, int8 d)
{
int8 rd;
uint8 IntsWereEnabled;
rd = ReadEE(addr);
if ( rd != d ) // avoid redundant writes
{
EEDATA = d;
EEADR = addr;
EECON1bits.EEPGD = false;
EECON1bits.WREN = true;
IntsWereEnabled = InterruptsEnabled;
DisableInterrupts;
EECON2 = 0x55;
EECON2 = 0xaa;
EECON1bits.WR = true;
while(EECON1bits.WR);
if ( IntsWereEnabled )
EnableInterrupts;
EECON1bits.WREN = false;
}
} // WriteEE
/********************************************************************
* メモリー読み出し
********************************************************************
*/
void cmd_peek(void)
{
uchar i,size,area;
uchar *p;
size = PacketFromPC.size;
area = size & AREA_MASK;
size = size & SIZE_MASK;
p = (uchar*)PacketFromPC.adrs;
if(area & AREA_PGMEM) {
// PacketFromPC.data[0]=0; // TBLPTRUをゼロクリア.
TBLPTR = (unsigned short long)PacketFromPC.adrs;
for(i=0;i<size;i++) {
_asm
tblrdpostinc
_endasm
PacketToPC.raw[i]=TABLAT;
}
#if 0
}else if(area & AREA_EEPROM) {
unsigned char ee_adr = (unsigned char)(PacketFromPC.adrs & 0xff);
for(i=0;i<size;i++) {
PacketToPC.raw[i] = ReadEE(ee_adr++);
}
#endif
}else{
for(i=0;i<size;i++) {
PacketToPC.raw[i]=*p++;
}
}
ToPcRdy = 1;
}
//=============================================================================
// routine to restore setup data
//
//=============================================================================
int restore_setup( void )
{
int size = sizeof(pid);
int *dptr = (int *)&pid;
int res = 0;
int offset = 0;
// this routine attempts to read the entire calibration structure
// into the ram on board.
// read 16 words of structure at a time
while (size > 0)
{
res = ReadEE(__builtin_tblpage(&pidEE),
__builtin_tbloffset(&pidEE)+offset,
dptr, ROW);
if (res)
printf("%d read from eeprom failed at offset %d\r\n",
res,offset);
offset += ROW*2; // bump offset to destination 32 bytes up
dptr += ROW; // bump source ptr up 16 words
size -= ROW*2; // 16 words or 32 bytes/write
}
return res;
}
void set_serial_number()
{
unsigned char ch;
int i, j;
if (ReadEE(EE_SERIAL_LEN) == 4) {
/* データの妥当性を検証 */
j = 0;
for (i = EE_SERIAL_TOP; i < EE_SERIAL_TOP + 4; i++) {
ch = ReadEE(i);
if (' ' <= ch && ch <= 'z') {
j++;
}
}
/* データが妥当であれば、値をセットする */
if (j == 4) {
for (i = 0; i < 4; i++) {
sd003.string[i] = ReadEE (EE_SERIAL_TOP + i);
}
}
}
}
void BootService(void)
{
BlinkUSBStatus();
if((usb_device_state < CONFIGURED_STATE)||(UCONbits.SUSPND==1)) return;
if(trf_state == SENDING_RESP)
{
if(!mBootTxIsBusy())
{
BOOT_BD_OUT.Cnt = sizeof(dataPacket);
mUSBBufferReady(BOOT_BD_OUT);
trf_state = WAIT_FOR_CMD;
}//end if
return;
}//end if
if(!mBootRxIsBusy())
{
counter = 0;
switch(dataPacket.CMD)
{
case READ_VERSION:
ReadVersion();
counter=0x04;
break;
case READ_FLASH:
case READ_CONFIG:
ReadProgMem();
counter+=0x05;
break;
case WRITE_FLASH:
WriteProgMem();
counter=0x01;
break;
case ERASE_FLASH:
EraseProgMem();
counter=0x01;
break;
case READ_EEDATA:
ReadEE();
counter+=0x05;
break;
case WRITE_EEDATA:
WriteEE();
counter=0x01;
break;
case WRITE_CONFIG:
WriteConfig();
counter=0x01;
break;
case RESET:
//When resetting, make sure to drop the device off the bus
//for a period of time. Helps when the device is suspended.
UCONbits.USBEN = 0;
big_counter = 0;
while(--big_counter);
Reset();
break;
case UPDATE_LED:
if(dataPacket.led_num == 3)
{
mLED_3 = dataPacket.led_status;
counter = 0x01;
}//end if
if(dataPacket.led_num == 4)
{
mLED_4 = dataPacket.led_status;
counter = 0x01;
}//end if
break;
default:
break;
}//end switch()
trf_state = SENDING_RESP;
if(counter != 0)
{
BOOT_BD_IN.Cnt = counter;
mUSBBufferReady(BOOT_BD_IN);
}//end if
}//end if
}//end BootService
void run_CameraTurn() {
int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size;
int i;
unsigned char *buf_ptr, pixel, lightest;
unsigned int left, right, lightPos;
#include "DataEEPROM.h"
/*read HW version from the eeprom (last word)*/
int HWversion=0xFFFF;
int temp = 0;
temp = ReadEE(0x7F,0xFFFE,&HWversion, 1);
temp = temp & 0x03; // get the camera rotation from the HWversion byte
/*Cam default parameter*/
cam_mode=GREY_SCALE_MODE;
if ((temp==3)||(temp==0)) { // 0' and 180' camera rotation
cam_width=1;
cam_heigth=60;
} else {
cam_width=60;
cam_heigth=1;
}
cam_zoom=8;
cam_size=cam_width*cam_heigth;
e_poxxxx_init_cam();
e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode);
e_poxxxx_set_mirror(1,1);
e_poxxxx_write_cam_registers();
while (1) {
e_poxxxx_launch_capture(&buffer[0]); // start camera capture
e_led_clear();
e_set_body_led(0);
e_set_front_led(0);
while(!e_poxxxx_is_img_ready()); // wait end of capture
buf_ptr=(unsigned char*)&buffer[0];
left=0; right=0; lightPos=0; lightest=0;
for (i=0; i<30; i++) { //left
pixel=*buf_ptr;
buf_ptr++;
left+=pixel;
if (pixel>lightest) {
lightest=pixel;
lightPos=i;
}
}
for (; i<cam_heigth; i++) { //right
pixel=*buf_ptr;
buf_ptr++;
right+=pixel;
if (pixel>lightest) {
lightest=pixel;
lightPos=i;
}
}
if (lightPos<20) { //led on at lightest position
e_set_led(7,1); }
else if (lightPos<40) {
e_set_led(0,1); }
else {
e_set_led(1,1); }
if ((temp==3)||(temp==2)) { // 0' and 90' camera rotation
e_set_speed_left(10*(lightPos-30)); // motor speed in steps/s
e_set_speed_right(-10*(lightPos-30));
} else {
e_set_speed_left(-10*(lightPos-30)); // motor speed in steps/s
e_set_speed_right(10*(lightPos-30));
}
sprintf(buffer, "left %u, right %u, lightest %u, lightPos %u\r\n", left, right, lightest, lightPos);
e_send_uart1_char(buffer, strlen(buffer));
wait(5000);
}
}
int run_asercom(void) {
static char c1,c2,wait_cam=0;
static int i,j,n,speedr,speedl,positionr,positionl,LED_nbr,LED_action,accx,accy,accz,sound;
static int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size,cam_x1,cam_y1;
static char first=0;
char *ptr;
static int mod, reg, val;
#ifdef IR_RECEIVER
char ir_move = 0,ir_address= 0, ir_last_move = 0;
#endif
static TypeAccSpheric accelero;
//static TypeAccRaw accelero_raw;
int use_bt=0;
//e_init_port(); // configure port pins
//e_start_agendas_processing();
e_init_motors();
//e_init_uart1(); // initialize UART to 115200 Kbaud
//e_init_ad_scan();
selector = getselector(); //SELECTOR0 + 2*SELECTOR1 + 4*SELECTOR2 + 8*SELECTOR3;
if(selector==10) {
use_bt=0;
} else {
use_bt=1;
}
#ifdef FLOOR_SENSORS
if(use_bt) { // the I2C must remain disabled when using the gumstix extension
e_i2cp_init();
}
#endif
#ifdef IR_RECEIVER
e_init_remote_control();
#endif
if(RCONbits.POR) { // reset if power on (some problem for few robots)
RCONbits.POR=0;
RESET();
}
/*read HW version from the eeprom (last word)*/
static int HWversion=0xFFFF;
ReadEE(0x7F,0xFFFE,&HWversion, 1);
/*Cam default parameter*/
cam_mode=RGB_565_MODE;
cam_width=40; // DEFAULT_WIDTH;
cam_heigth=40; // DEFAULT_HEIGHT;
cam_zoom=8;
cam_size=cam_width*cam_heigth*2;
if(use_bt) {
e_poxxxx_init_cam();
//e_po6030k_set_sketch_mode(E_PO6030K_SKETCH_COLOR);
e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode);
e_poxxxx_set_mirror(1,1);
e_poxxxx_write_cam_registers();
}
e_acc_calibr();
if(use_bt) {
uart1_send_static_text("\f\a"
"WELCOME to the SerCom protocol on e-Puck\r\n"
"the EPFL education robot type \"H\" for help\r\n");
} else {
uart2_send_static_text("\f\a"
"WELCOME to the SerCom protocol on e-Puck\r\n"
"the EPFL education robot type \"H\" for help\r\n");
}
while(1) {
if(use_bt) {
while (e_getchar_uart1(&c)==0)
#ifdef IR_RECEIVER
{
ir_move = e_get_data();
ir_address = e_get_address();
if (((ir_address == 0)||(ir_address == 8))&&(ir_move!=ir_last_move)){
switch(ir_move) {
case 1:
speedr = SPEED_IR;
speedl = SPEED_IR/2;
break;
case 2:
speedr = SPEED_IR;
speedl = SPEED_IR;
break;
case 3:
speedr = SPEED_IR/2;
speedl = SPEED_IR;
break;
case 4:
speedr = SPEED_IR;
speedl = -SPEED_IR;
break;
case 5:
speedr = 0;
speedl = 0;
break;
case 6:
speedr = -SPEED_IR;
speedl = SPEED_IR;
break;
case 7:
speedr = -SPEED_IR;
speedl = -SPEED_IR/2;
break;
case 8:
speedr = -SPEED_IR;
speedl = -SPEED_IR;
break;
case 9:
speedr = -SPEED_IR/2;
speedl = -SPEED_IR;
break;
case 0:
if(first==0){
e_init_sound();
first=1;
}
e_play_sound(11028,8016);
break;
default:
speedr = speedl = 0;
}
ir_last_move = ir_move;
e_set_speed_left(speedl);
e_set_speed_right(speedr);
}
}
#else
;
#endif
} else {
while (e_getchar_uart2(&c)==0)
#ifdef IR_RECEIVER
{
ir_move = e_get_data();
ir_address = e_get_address();
if (((ir_address == 0)||(ir_address == 8))&&(ir_move!=ir_last_move)){
switch(ir_move) {
case 1:
speedr = SPEED_IR;
speedl = SPEED_IR/2;
break;
case 2:
speedr = SPEED_IR;
speedl = SPEED_IR;
break;
case 3:
speedr = SPEED_IR/2;
speedl = SPEED_IR;
break;
case 4:
speedr = SPEED_IR;
speedl = -SPEED_IR;
break;
case 5:
speedr = 0;
speedl = 0;
break;
case 6:
speedr = -SPEED_IR;
speedl = SPEED_IR;
break;
case 7:
speedr = -SPEED_IR;
speedl = -SPEED_IR/2;
break;
case 8:
speedr = -SPEED_IR;
speedl = -SPEED_IR;
break;
case 9:
speedr = -SPEED_IR/2;
speedl = -SPEED_IR;
break;
case 0:
if(first==0){
e_init_sound();
first=1;
}
e_play_sound(11028,8016);
break;
default:
speedr = speedl = 0;
}
ir_last_move = ir_move;
e_set_speed_left(speedl);
e_set_speed_right(speedr);
}
}
#else
;
#endif
}
if (c<0) { // binary mode (big endian)
i=0;
do {
switch(-c) {
case 'a': // Read acceleration sensors in a non
// filtered way, some as ASCII
accx = e_get_acc_filtered(0, 1);
accy = e_get_acc_filtered(1, 1);
accz = e_get_acc_filtered(2, 1);
//accx = e_get_acc(0); //too much noisy
//accy = e_get_acc(1);
//accz = e_get_acc(2);
buffer[i++] = accx & 0xff;
buffer[i++] = accx >> 8;
buffer[i++] = accy & 0xff;
buffer[i++] = accy >> 8;
buffer[i++] = accz & 0xff;
buffer[i++] = accz >> 8;
/*
accelero_raw=e_read_acc_xyz();
ptr=(char *)&accelero_raw.acc_x;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
ptr=(char *)&accelero_raw.acc_y;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
ptr=(char *)&accelero_raw.acc_z;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
*/
break;
case 'A': // read acceleration sensors
accelero=e_read_acc_spheric();
ptr=(char *)&accelero.acceleration;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr=(char *)&accelero.orientation;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr=(char *)&accelero.inclination;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
ptr++;
buffer[i++]=(*ptr);
break;
case 'b': // battery ok?
buffer[i++] = BATT_LOW;
break;
case 'D': // set motor speed
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
speedl=(unsigned char)c1+((unsigned int)c2<<8);
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
speedr=(unsigned char)c1+((unsigned int)c2<<8);
e_set_speed_left(speedl);
e_set_speed_right(speedr);
break;
case 'E': // get motor speed
buffer[i++] = speedl & 0xff;
buffer[i++] = speedl >> 8;
buffer[i++] = speedr & 0xff;
buffer[i++] = speedr >> 8;
break;
case 'I': // get camera image
if(use_bt) {
e_poxxxx_launch_capture(&buffer[i+3]);
wait_cam=1;
buffer[i++]=(char)cam_mode&0xff;//send image parameter
buffer[i++]=(char)cam_width&0xff;
buffer[i++]=(char)cam_heigth&0xff;
i+=cam_size;
}
break;
case 'L': // set LED
if(use_bt) {
while (e_getchar_uart1(&c1)==0);
while (e_getchar_uart1(&c2)==0);
} else {
while (e_getchar_uart2(&c1)==0);
while (e_getchar_uart2(&c2)==0);
}
switch(c1) {
case 8:
if(use_bt) {
e_set_body_led(c2);
}
break;
case 9:
if(use_bt) {
e_set_front_led(c2);
}
break;
default:
e_set_led(c1,c2);
break;
}
break;
case 'M': // optional floor sensors
#ifdef FLOOR_SENSORS
if(use_bt) {
e_i2cp_init();
e_i2cp_enable();
e_i2cp_read(0xC0, 0);
for(j = 0; j < 6; j++) {
if (j % 2 == 0) buffer[i++] = e_i2cp_read(0xC0, j + 1);
else buffer[i++] = e_i2cp_read(0xC0, j - 1);
}
#ifdef CLIFF_SENSORS
for(j=13; j<17; j++) {
if (j % 2 == 0) buffer[i++] = e_i2cp_read(0xC0, j - 1);
else buffer[i++] = e_i2cp_read(0xC0, j + 1);
}
#endif
e_i2cp_disable();
}
#else
for(j=0;j<6;j++) buffer[i++]=0;
#endif
break;
case 'N': // read proximity sensors
if(use_bt) {
for(j=0;j<8;j++) {
n=e_get_calibrated_prox(j); // or ? n=e_get_prox(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
} else {
for(j=0;j<10;j++) {
n=e_get_calibrated_prox(j); // or ? n=e_get_prox(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
}
break;
case 'O': // read light sensors
if(use_bt) {
for(j=0;j<8;j++) {
n=e_get_ambient_light(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
} else {
for(j=0;j<10;j++) {
n=e_get_ambient_light(j);
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
}
}
break;
case 'Q': // read encoders
n=e_get_steps_left();
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
n=e_get_steps_right();
buffer[i++]=n&0xff;
buffer[i++]=n>>8;
break;
case 'u': // get last micro volumes
n = e_get_micro_volume(0);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
n = e_get_micro_volume(1);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
n = e_get_micro_volume(2);
buffer[i++] = n & 0xff;
buffer[i++] = n >> 8;
break;
case 'U': // get micro buffer
ptr=(char *)e_mic_scan;
if(use_bt) {
e_send_uart1_char(ptr,600);//send sound buffer
} else {
e_send_uart2_char(ptr,600);//send sound buffer
}
n=e_last_mic_scan_id;//send last scan
buffer[i++]=n&0xff;
break;
default: // silently ignored
break;
}
if(use_bt) {
while (e_getchar_uart1(&c)==0); // get next command
} else {
while (e_getchar_uart2(&c)==0); // get next command
}
} while(c);
