void initialize(bool verbose)
{
CPU_PRESCALE(0);
USART_init(BAUD_RATE);
USART_transmit('\f'); // Send form feed to clear the terminal.
if (verbose)
USART_send_string("WunderBoard initializing...\r\n");
if (verbose)
USART_send_string("\tSetting ADC prescaler and disabling free running "
"mode...\r\n");
setup_ADC(ADC_PRESCALER_32, FALSE);
if (verbose)
USART_send_string("\tEnabling ADC...\r\n");
ADC_enable();
if (verbose)
USART_send_string("\tSetting ADC reference to Vcc...\r\n");
ADC_set_reference(ADC_REF_VCC);
// Configure IO //
if (verbose)
USART_send_string("\tConfiguring IO...\r\n");
//DDRx corresponds to PORTx/PINx, dependng on direction of data flow --
//PORT for output, PIN for input
DDRA = 0x00; // Buttons and switches
DDRB = 0b11100111; // Red enable, green enable and audio out
DDRC = 0b11111111; // Discrete LEDs
DDRE = 0b01000111; // LED Column
DDRF = 0x00; // Accelerometer
// Disable pullups and set outputs low //
PORTA = 0x00;
PORTB = 0b00000001;
PORTC = 0x00;
PORTE = 0x00;
PORTF = 0x00;
if (verbose)
USART_send_string("\tSetting SPI\r\n");
//Set the SPI bus appropriately to use the LED array
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}
void Setup_initializeBoard(void)
{
INTDisableInterrupts();
Setup_ports();
setup_ADC();
INTEnableSystemMultiVectoredInt();
Setup_timers();
RcRx_setupInputCaptures();
MotorCtrl_setupOutputCompares();
Setup_configInterrupts();
}
int main(void)
{
reset();
setup_ADC();
setup_UART();
println("Welcome to the read-out of the ADC");
for (;;)
{
ADC10CTL0 &= ~ENC;
while (ADC10CTL1 & BUSY); // Wait if ADC10 core is active
ADC10SA = (int)res; // Data buffer start
P1OUT |= 0x01; // Set P1.0 LED on
ADC10CTL0 |= ENC + ADC10SC; // Sampling and conversion start
__bis_SR_register(CPUOFF + GIE); // LPM0, ADC10_ISR will force exit
P1OUT &= ~0x01; // Clear P1.0 LED off
}
}
/** \brief main loop to run tests.
*
* The tests being run are described in the documentation of this file.
*
* \return never returns, test loop runs ad infinitum. */
int main(void) {
uint8_t switch_mask = 0x00; // Input switches. Read hi when pressed
uint16_t result = 0;
SR_t shift_reg;
/* call all of the setup_* functions */
cli();
setup_clocks();
setup_LEDs();
setup_switches(switch_mask);
setup_SR(&shift_reg, &SR_PORT, &SR_SPI_MODULE, false);
setup_ADC(&ADC_PORT, &ADC_SPI_MODULE, ADC_CONVST_bm, ADC_EOC_bm,
ADC_callback);
setup_USART_BC();
sei();
set_channel(MPx, 15, &shift_reg);
set_channel(MPy, 15, &shift_reg);
/* signal debugging */
PORTD.DIRCLR |= PIN4_bm;
PORTD.PIN4CTRL = PORT_OPC_PULLDOWN_gc;
while (1)
{
if (ADC_ready(&adc)) {
// get a new conversion result
result = ADC_sample_once(&adc);
}
if (PORTD.IN & PIN4_bm) {
LED_PORT.OUT = 0xFF;
}
else {
LED_PORT.OUT = (uint8_t)(result >> 4);
printf("%u ", result);
}
}
}
void gen_setup(void){
usb_conn_test = Matlab_pos_tracking || go_to_location_test || debug_com || debug_goto || debug_find_puck;
if (usb_conn_test ){
m_usb_init();
m_green(ON);
while (!m_usb_isconnected());
m_green(OFF);
}
m_bus_init();
m_wii_open();
// m_port_init(PORT_ADD);
setup_pins();
setup_puckfinding(); //Puck Finding Intialization
setup_timer_1();
setup_timer_3();
setup_ADC();
}
//programa principal
void main()
{
set_tris_A(0x00);/* 0000 0000
RA0 LED1 PIN 02
RA1 LED2 PIN 03
RA2 LED3 PIN 04
RA3 LED4 PIN 05
RA4 LED5 PIN 06
RA5 LED6 PIN 07
*/
set_tris_B(0x00);/* (0000 0000)
RB0 LED7 PIN 40
RB1 LED8 PIN 39
RB2 LED9 PIN 38
RB3 LED10 PIN 37
RB4 LED11 PIN 36
RB5 LED12 PIN 35
RB6 LED13 PIN 34
RB7 LED14 PIN 33
*/
set_tris_C(0X00);/*
RC0 ----- PIN 15
RC1 ----- PIN 16
RC2 ----- PIN 17
RC6 LED15 PIN 25
RC7 LED16 PIN 26
*/
// Configuración de Leds 17 hasta 20 y Pulsadores 1 y 2
set_tris_D(0X00);/*
RD0 SW01 PIN 19 --->Pulsador 1
RD1 SW02 PIN 20 --->Pulsador 2
RD2 ----- PIN 21
RD3 ----- PIN 22
RD4 LED17 PIN 27
RD5 LED18 PIN 28
RD6 LED19 PIN 29
RD7 LED20 PIN 30
*/
set_tris_E(0x00);/* bits(**** 0000)
RE0 ----- PIN 08
RE1 ----- PIN 09
RE2 ----- PIN 10
RE3 ----- PIN 01
*/
//Habilitando y deshabilitando modulos...
setup_timer_1(T1_disabled);
setup_timer_2(T2_disabled,0,1);
setup_timer_3(T3_disabled);
setup_ccp1(CCP_OFF);
setup_ADC(ADC_OFF);
setup_VREF(FALSE);//no voltaje de referencia
setup_COMPARATOR(NO_ANALOGS);//
//limpie los puertos
OUTPUT_A(0x00);
OUTPUT_B(0x00);
OUTPUT_C(0X00);
OUTPUT_D(0X00);
//limpiar registros, probar limpiar todos los registros en assembler con =0
//#ZERO_RAM
limpiarRegistros();
/*condicional para lanzar secuencia cuando
el pulsador esté presionado. */
output_float(SW01);
output_float(SW02);
while(TRUE)
{
if (input_state(SW01) == 1 && input_state(SW02) == 1)
{
secuencia1();
}else if (input_state(SW01) == 0 && input_state(SW02) == 1)
{
secuencia2();
}else if (input_state(SW01) == 1 && input_state(SW02) == 0)
{
secuencia4();
}else
{
}
}
//vuelva a inicio y vuelva y arranque
reset_cpu();
}
