int main(void)
{
OSCCAL = 0xF2;
LEDdrive_on();
LEDdrive_init();
TWI_init();
LED_row_init();
timer_init();
double rand_num;
int i,j;
while(1)
{
for(j=0;j<3;j++)
{
for(i=0;i<81;i++)
{
rand_num = (double)((uint16_t)rand()) / 65536;
update_LED(i,j,rand_num);
}
}
disp_LED(5000);
LED_clear();
}
}
/**
* @brief Function for application main entry.
*/
int main(void)
{
nrf_gpio_cfg_output(SENSORS_ON);
nrf_gpio_pin_set(SENSORS_ON);
ble_stack_init(); // Initialize Bluetooth stack
spi_base_addr = (uint32_t)spi_master_init(SPI0, SPI_MODE0, false);
CC110L_setupspibaseaddr(spi_base_addr);
setup_cc110l();
advertising_init();
// Start execution.
PacketData_Update();
advertising_start();
TWI_init();
MPL3115A2_Init();
HDC1008_Init();
HDC1008_TriggerHumidity();
TWI_powerdown();
ble_radio_notification_init(3, NRF_RADIO_NOTIFICATION_DISTANCE_5500US, radio_notification_evt_handler);
// Enter main loop.
for (;;)
{
power_manage();
}
}
void main (void)
{
//init LCD
LCD_init();
//set TWBR = 32 for 100kHz SCL @ 8MHz
TWI_init(32, 0);
//write 0x55 @ 513 and print return value on LCD
LCD_puthex(EE_write_byte(513, 0x55));
//send stop
TWI_stop();
LCD_wait();
LCD_putchar(' ');
//wait for the EEPROM to finish the write operation
TWI_wait(EE_ADDR);
//read the write location again and print return code on LCD
LCD_puthex(EE_read_byte(513));
LCD_wait();
LCD_putchar(' ');
//print the value read from the EEPROM on the LCD
LCD_puthex(TWDR);
TWI_stop();
//LCD should now show "0x00 0x00 0x55_"
//where the _ is the blinking cursor.
}
void SensorsInit()
{
TWI_init();
MPL3115A2_Init();
HDC1008_Init();
HDC1008_TriggerHumidity();
TWI_powerdown();
}
int main()
{
UART_init();
TWI_init();
sei();
while (1);
return 0;
}
int main (void)
{
TWI_init(); //TWI Bus Initialisieren
TWI_59116_reset();
TWI_59116_setup();
if(CORE==Master){
DDRA=0xff; //PORTA als Ausgang
DDRD|=(1<<2); // PD2 als Ausgang
Interrupt_init();
sei();
SPI_MasterInit();
Ebene_ein=0;
while(1)
{
effect_blinky2(1); //ok
effect_planboing(0,AXIS_Z,20); //ok
effect_planboing(1,AXIS_X,20); //ok
effect_planboing(0,AXIS_Y,20); //ok
effect_planboing(1,AXIS_Z,20); //ok
for (uint8_t ii=0;ii<8;ii++)
effect_box_shrink_grow (0,ii%4, ii & 4, 20); //ok
//sendvoxels_rand_z(100,10,20); // ok
effect_random_sparkle (1,3,20,10); //ok
effect_box_woopwoop(1,40,1); //naja
effect_rain(0,300); //ok
//effect_wormsqueeze (2, AXIS_Z, 1, 100, 25); //ok
for(int i=0;i<8;i++){ // Pixel durchtesten
for(int j=0;j<64;j++)
{ LED[0][i][j/8][j%8]=0xff;
_delay_us(500);
}
for(int j=0;j<64;j++)
{ LED[0][i][j/8][j%8]=0;
_delay_us(500);
}
}
}
}else{
DDRA=0x00; //PORTA als Eingang
DDRD&=~(1<<2); // PD2 als Eingang
SPI_SlaveInit();
Ebene_ein=0;
while(1)
{
I2C_Leds_ein(Ebene_ein%8); //Säulentreiber einschalten für nächste Ebene
}
}
return 0;
}
int main()
{
DDRB = 0xff;
PORTB = 0x00;
UART_init();
TWI_init();
sei();
while (1);
return 0;
}
//MAIN
int main(void)
{
interrupts();
setup_motor();
TWI_init(CONTROL_ADDRESS);
while(1){
if(x == 0){
manual_control_test();
}
else auto_control();
}
}
void TaskTWI(void)
{
OS_WaitTicks(OSALM_TWIWAIT,10); // BMP085 needs 10ms in advance.
TWI_init();
bmp085_init(TaskTWIWait1ms);
lsm303_config_accel(TaskTWIWait1ms);
lsm303_config_magnet(TaskTWIWait1ms);
// init ISR
INTC_register_interrupt(&int_handler_ACC, AVR32_EIC_IRQ_0, AVR32_INTC_INTLEVEL_INT2);
// activate and enable EIC pins:
eic_enable_channel(0); // enable rising edge isr.
TWI_RegisterReadyHandler(TWIreadyhandler);
lsm303_TWI_trig_read_accel(); // restart interrupt
TWIstate = etwi_readACC;
lastACCSample = OS_GetTicks();
while(1)
{
if (OS_GetTicks()-lastACCSample > 400)
{
lsm303_TWI_trig_read_accel(); // restart interrupt
TWIstate = etwi_readACC;
}
uint8_t ret = OS_WaitEventTimeout(OSEVT_TWIRDY,OSALM_TWITIMEOUT,200);
if((ret & OSEVT_TWIRDY) == 0)
{
// timeout
//asm("breakpoint"); fixme wtf why and why
//emstop(5); // will hang up while flashing, if we stop here!
}
else
{
long bar = bmp085_calc_pressure(bmp085raw); // just read stuff from rx buffers out of ISR!!! (large calculation!)
int32_t h_mm = bmp085_calcHeight_mm(bar);
s_nHeight_mm = h_mm; // update global
#if SIMULATION == 1
// do not update z position, this is done in TaskNavi to make it even more complicated. ;)
#else
NAV_UpdatePosition_z_m((float)h_mm*0.001);
#endif
}
}
}
void PacketData_Update()
{
uint8_t flags = BLE_GAP_ADV_FLAG_BR_EDR_NOT_SUPPORTED;
PACKET_INCR++; //Incrementing the value
incr_cnt++;
if(incr_cnt==50)
{
incr_cnt = 0;
SensorsInit();
}
supercap_measure_start();
TWI_init(); //Initializing TWI and reading values
__HUMIDITY = HDC1008_ReadHumidity();
__PRESSURE = MPL3115A2_Read_Baro()>>6;
__PRESSURE/=10; //Result in tens of Pascals (9500 equals 95000 Pa etc.)
__TEMP = MPL3115A2_Read_Temp();
HDC1008_TriggerHumidity();
TWI_powerdown(); //Power-down of TWI
m_beacon_info[6] = __PRESSURE>>8; //Putting data into 2.4 Ghz beacon packet and update advertising data
m_beacon_info[7] = (__PRESSURE & 0xFF);
m_beacon_info[8] = __TEMP>>8;
m_beacon_info[9] = (__TEMP & 0xFF);
m_beacon_info[10] = __HUMIDITY;
m_beacon_info[4] = PACKET_INCR;
m_beacon_info[12] = __SUPERCAP_VOLTAGE>>8;
m_beacon_info[13] = __SUPERCAP_VOLTAGE&0xFF;
manuf_specific_data.data.p_data = (uint8_t *) m_beacon_info;
// Build and set advertising data.
memset(&advdata, 0, sizeof(advdata));
advdata.flags.size = sizeof(flags);
advdata.flags.p_data = &flags;
advdata.p_manuf_specific_data = &manuf_specific_data;
ble_advdata_set(&advdata, NULL);
CC110L_PACKETCONTENT[2+6] = __PRESSURE>>8; //Putting data into 868 Mhz packet
CC110L_PACKETCONTENT[2+7] = (__PRESSURE & 0xFF);
CC110L_PACKETCONTENT[2+8] = __TEMP>>8;
CC110L_PACKETCONTENT[2+9] = (__TEMP & 0xFF);
CC110L_PACKETCONTENT[2+10] = __HUMIDITY;
CC110L_PACKETCONTENT[2+4] = PACKET_INCR;
CC110L_PACKETCONTENT[2+12] = __SUPERCAP_VOLTAGE>>8;
CC110L_PACKETCONTENT[2+13] = __SUPERCAP_VOLTAGE&0xFF;
}
int main(void)
{
TWI_init();
UART_init();
sei();
while(1)
{
TWI_read(0x50,dat,128); // Czytaj 24c02 EEPROM (A0=A1=A2 = 0)
DEBUG_hextable(dat,128);
TWI_write(0x50,dat,128); // Zapisz do PCF8583 (A0 = 1)
TWI_read(0x51,dat,128); // Czytaj z PCF8583 (A0 = 1)
DEBUG_hextable(dat,128);
delayms(500);
}
}
void eeprom_init(){
// Specify startup parameters for the TWI/I2C driver
TWI_init( F_CPU, // clock frequency
100000L, // desired TWI/IC2 bitrate
TWI_buffer, // pointer to comm buffer
sizeof(TWI_buffer), // size of comm buffer
&handle_TWI_result // pointer to callback function
);
// Enable interrupts
sei();
// Set our structure pointers to the TWI/I2C buffer
p_write_eeprom = (WRITE_EEPROM *)TWI_buffer;
p_set_eeprom_address = (SET_EEPROM_ADDRESS *)TWI_buffer;
p_read_eeprom = (READ_EEPROM *)TWI_buffer;
}
bool TWI_WR_DAT(const char *Dat, u16 Len, u16 TWI_ADR, void (*TxClbFunc)(void))
{
//Falls ein Sendevorgang läuft -> Abbruch
if(ReceiveInProcess == true || SendInProcess == true)
return false;
//Sendevorgang läuft
SendInProcess = true;
//Überwachung
intZ = 0;
TWI_init();
//Adresse der Sendedaten sowie Länge speichern
Dat2Send = Dat;
Len2Send = Len;
//Clb-Adresse speichern
AktWRClbFunc = TxClbFunc;
//Positionszähler zurücksetzen
AktPosTx = 0;
//Bytes schreiben
AT91C_BASE_TWI->TWI_MMR = 0;
//Adresse setzen
AT91C_BASE_TWI->TWI_MMR = TWI_ADR << 16;
//Übertragung starten
TWI_WR_BYTE();
return true;
}
int main(void) // main function
{
// setup USART
USART_init();
// Set Port pins
SETUP_port_init();
// setup PWM timer1
SETUP_pwm_init();
// setup timer0
SETUP_timer0();
// setup TWI
TWI_init();
// setup compass
SENSOR_HMC5883L_init();
// setup pressure sensor - not needed
SENSOR_MS5611_init();
// setup 3-axis tilt sensor - not needed
SENSOR_xxxx_init();
// setup GPS
// SENSOR_GPS_init();
// error code transmitted - USART_transmit_packet(BASE_ADDRESS, speed);
uint8_t waypoint = 0;
uint8_t counter = 0;
uint8_t current_location = 0;
uint8_t target_heading = 0;
uint8_t waypoint_distance = 0;
uint8_t current_heading = 0;
uint8_t target_speed = 0;
uint8_t gps_error = 0;
uint8_t turning_radius = 0;
while(1)// endless loop
{
counter ++;
current_location = SENSOR_GPS_getLocation();
// do not navigate with corrupt data
if (!(SENSOR_GPS_locationCheck(current_location)))
{
// waypoint distance
waypoint_distance = NAVIGATION_getDistance(current_location, waypoint);
// target_bearing is where we should be heading
target_heading = NAVIGATION_getDirection(current_location, waypoint);
}
// if within error move to next way point
if (waypoint_distance<WAYPOINT_ERROR)
{
waypoint = NAVIGATION_nextWaypoint(waypoint);
}
// current bearing
current_heading = NAVIGATION_getCurrentHeading();
//find steering... might be better to break it out into setsteering and getradius for data logging and fault finding
turning_radius = NAVIGATION_getSteering(target_heading, current_heading);
//set speed due to way point distance.... not sure if needed.
//find speed due to turning radius. need to stop on last waypoint
target_speed = NAVIGATION_getSpeed(turning_radius);
NAVIGATION_setSpeed(target_speed);
NAVIGATION_setSteering(turning_radius);
// 1hz loop... 1s = (100 * 0.01)
/*if (counter >= 200)
{
USART_transmit_packet(BASE_ADDRESS, 0x01);
counter = 0;
}
*/
// $GPGGA,230600.501,4543.8895,N,02112.7238,E,1,03,3.3,96.7,M,39.0,M,,0000*6A
char ReceivedByte;
for (;;) // Loop forever
{
while ((UCSR0A & (1 << RXC0)) == 0) {}; // Do nothing until data have been received and is ready to be read from UDR
ReceivedByte = UDR0; // Fetch the received byte value into the variable "ByteReceived"
while ((UCSR0A & (1 << UDRE0)) == 0) {}; // Do nothing until UDR is ready for more data to be written to it
UDR0 = ReceivedByte; // Echo back the received byte back to the computer
}
}
}
int main (void)
{
int tmp,i,res;
CLKPR = 0x80; CLKPR = 0x00; // Clock prescaler Reset
/*-----------------------------------------------------------------*
*------------------------- Gear buttoms setup---------------------*
*-----------------------------------------------------------------*/
DDRC&=~(1<<PC7); // Neutral
PORTC |= (1<<PC7); // Neutral pull-up
DDRE&=~(1<<PE6); // Knap1
DDRE&=~(1<<PE7); // Knap2
/* Buttoms interrupt */
EICRB |= (1<<ISC71|1<<ISC70|1<<ISC61|1<<ISC60); /* Rising edge */
EIMSK |= (1<<INT7 | 1<<INT6);
uint8_t test_rx[8];
int8_t data;
char streng[10];
// Recieve buffer
st_cmd_t msg;
// Init CAN, UART, I/O
init();
uartinit();
sendtekst("UART initialized\n\r");
TWI_init();
sendtekst("TWI initialized\n\r");
sei(); /* Interrupt enable */
sendtekst("Interrupt enabled\n\r");
/*-----------------------------------------------------------------*
*----------------------------Display setup -----------------------*
*-----------------------------------------------------------------*/
/* Set blink rates */
set_blink_rate(LED0_7_ADDR, LED_BLINK1, 20, 100);
set_blink_rate(LED0_7_ADDR, LED_BLINK2, 0, RPM_LED_DUTYCYCLE*2.56);
set_blink_rate(LED8_15_ADDR, LED_BLINK1, (1.0/RPM16_RATE)*252, RPM16_DUTYCYCLE*2.56);
set_blink_rate(LED8_15_ADDR, LED_BLINK2, 0, RPM_LED_DUTYCYCLE*2.56);
set_blink_rate(SEG_ADDR, LED_BLINK1, 20, 100);
set_blink_rate(SEG_ADDR, LED_BLINK2, 0, SEG_DUTYCYCLE*2.56);
set_blink_rate(LED_BUTTONS_ADDR, LED_BLINK1, 20, 100);
set_blink_rate(LED_BUTTONS_ADDR, LED_BLINK2, 0, SEG_DUTYCYCLE*2.56);
/*-----------------------------------------------------------------*
*----------------------------CAN interrupt setup -----------------*
*-----------------------------------------------------------------*/
Can_sei(); /* Enable general can interrupt */
Can_set_tx_int(); /* Enable can tx interrupt */
Can_set_rx_int(); /* Enable can rx interrupt */
/*
* Kode til hurtig test af can
*/
sendtekst("Config 3 mailboxes for rpm_msgid...\n\r");
msg.id.std = rpm_msgid;
msg.dlc = 8;
res = can_config_rx_mailbox(&msg, 3);
if (res == CAN_CMD_ACCEPTED) {
sendtekst("SUCCESS\n\r");
} else {
sendtekst("FAIL\n\r");
}
// --- Init variables
/* Init user led 0 & 1 */
DDRB |= (1<<PB6 | 1<<PB5);
PORTB |= (1<<PB6 | 1<<PB5);
sendtekst("Beep\n\r");
display_test();
params.GearEst = 0;
char dataout[] = {gear,0};
while (1) {
_delay_ms(20);
/* Display selected parameter */
if (mode == RPM_MODE) {
set_rpm(params.rpm, LED_ON);
} else if (mode == VOLTAGE_MODE) {
set_voltage(params.batteryV, LED_ON);
} else if (mode == WATER_TEMP_MODE) {
set_water_temp(params.waterTemp, LED_ON);
}
// Geat buttons to CAN
dataout[1] = 0;
/* Format buttom states for sending */
dataout[1] |= (params.GearButDown*GEARDOWNBUT |
GEARUPBUT*params.GearButUp |
params.GearButNeutral*GEARNEUBUT);
/* Send buttom states */
if(dataout[1] != 0) {
// Hack, sender gearskiftesignal et par gange, sådan at det går igennem
// Symptombehandling, sygdommen skal kureres...
if (dataout[1] & (GEARDOWNBUT) == GEARDOWNBUT)
indi_leds_state |= (LED_BLINK2<<LED_BUTTON_1);
if (dataout[1] & (GEARUPBUT) == GEARUPBUT)
indi_leds_state |= (LED_BLINK2<<LED_BUTTON_1);
set_leds(LED_BUTTONS_ADDR, indi_leds_state);
for(j=0;j<1;j++){
can_send_non_blocking(gear_msgid, dataout, 2);
_delay_ms(5);
}
indi_leds_state &= ~(LED_BLINK2<<LED_BUTTON_2);
indi_leds_state &= ~(LED_BLINK2<<LED_BUTTON_1);
set_leds(LED_BUTTONS_ADDR, indi_leds_state);
}
/* Clear buttom states */
params.GearButDown = 0;
params.GearButUp = 0;
params.GearButNeutral = 0;
/* Display bottons code */
buttons_state = get_buttons(LED_BUTTONS_ADDR) & (BUTTON1 | BUTTON2);
if (buttons_state == 2) {
indi_leds_state |= (LED_BLINK2<<LED_BUTTON_1);
indi_leds_state &= ~(LED_BLINK2<<LED_BUTTON_2);
mode = VOLTAGE_MODE;
} else if (buttons_state == 1) {
indi_leds_state |= (LED_BLINK2<<LED_BUTTON_2);
indi_leds_state &= ~(LED_BLINK2<<LED_BUTTON_1);
mode = WATER_TEMP_MODE;
} else if (buttons_state == 0) {
indi_leds_state |= (LED_BLINK2<<LED_BUTTON_1 | LED_BLINK2<<LED_BUTTON_2);
} else {
indi_leds_state &= ~(LED_BLINK2<<LED_BUTTON_1 | LED_BLINK2<<LED_BUTTON_2);
mode = RPM_MODE;
}
/* Indicator for water temp */
if (params.waterTemp <= WATER_OK) {
indi_leds_state |= (LED_BLINK2<<LED_INDI1);
indi_leds_state &= ~(LED_BLINK2<<LED_INDI4);
} else if (params.waterTemp > WATER_OK) {
indi_leds_state |= (LED_BLINK2<<LED_INDI4);
indi_leds_state &= ~(LED_BLINK2<<LED_INDI1);
}
/* Indicator for batt ok */
if (params.batteryV <= VOLTAGE_OK) {
indi_leds_state |= (LED_BLINK2<<LED_INDI2);
indi_leds_state &= ~(LED_BLINK2<<LED_INDI5);
} else if (params.batteryV > VOLTAGE_OK) {
indi_leds_state |= (LED_BLINK2<<LED_INDI5);
indi_leds_state &= ~(LED_BLINK2<<LED_INDI2);
}
/* Indicator for oil pressure ok */
if (params.oilPressure <= OILPRESS_OK) {
indi_leds_state |= (LED_BLINK2<<LED_INDI3);
indi_leds_state &= ~(LED_BLINK2<<LED_INDI6);
} else if (params.oilPressure > OILPRESS_OK) {
indi_leds_state |= (LED_BLINK2<<LED_INDI6);
indi_leds_state &= ~(LED_BLINK2<<LED_INDI3);
}
/* Indicator for Gear */
if (params.GearNeutral < 0) {
SEG_N(LED_ON);
} else {
if (params.GearEst > 6) {
SEG_OFF();
} else {
switch (params.GearEst) {
case 0:
SEG_N(LED_ON);
break;
case 1:
SEG_1(LED_ON);
break;
case 2:
SEG_2(LED_ON);
break;
case 3:
SEG_3(LED_ON);
break;
case 4:
SEG_4(LED_ON);
break;
case 5:
SEG_5(LED_ON);
break;
case 6:
SEG_6(LED_ON);
break;
default:
break;
}
}
}
/* if (params.GearNeutral == 0) {
SEG_OFF();
} else if (params.GearNeutral > 0) {
SEG_N(LED_BLINK2);
}
*/
/* Set indicator leds */
set_leds(LED_BUTTONS_ADDR, indi_leds_state);
/* itoa(params.batteryV, streng, 10);*/
/* sendtekst(streng);*/
/* sendtekst("\n\r"); */
PORTB ^= (1<<PB6);
}
return 0;
}
