// This function initializes all hardware used by our system.
void InitializeHardware() {
RIT128x96x4Init(1000000);
//Initializes the LED
//LED_init();
//Initializes the ADC
ADCInit();
//Initializes the keys on the keypad on the Stellaris Board
key_init();
//Initializes GPIO PORT E and enables its interrupts
init_GPIOE();
//Initializes GPIO PORT F and enables its interrupts
init_GPIOF();
// Initializes the PWM's used
PWMinit();
// Initializes Port D to use for sending signals to the H-bridge
PORTD_init();
PORTC_init();
// This method is used by FreeRtos
prvSetupHardware();
// This initializes the speaker
speakerInit();
//Sets the UART port
uARTInit();
}
/*
* Runs user initialization code. This function will be started in its own task with the default
* priority and stack size once when the robot is starting up. It is possible that the VEXnet
* communication link may not be fully established at this time, so reading from the VEX
* Joystick may fail.
*
* This function should initialize most sensors (gyro, encoders, ultrasonics), LCDs, global
* variables, and IMEs.
*
* This function must exit relatively promptly, or the operatorControl() and autonomous() tasks
* will not start. An autonomous mode selection menu like the pre_auton() in other environments
* can be implemented in this task if desired.
*/
void initialize() {
lcdInit(uart1);
lcdClear(uart1);
speakerInit();
eLeft = encoderInit(ENC_L_A, ENC_L_B,false);
eRight = encoderInit(ENC_R_A, ENC_R_B,true);
}
void cortexPortsInit() {
speakerInit();
CortexPort *port = ports;
for (int i = 0; i < 21; i++) {
port->port = i;
if ((i >= 13) && (i <= 20)) {
port->analogCapabilites = true;
port->mode = INPUT_ANALOG;
} else {
port->analogCapabilites = false;
port->mode = INPUT;
}
port++;
}
}
//*************************************************************************************************
// Main program to initialize hardware and execute Tasks.
//*************************************************************************************************
void main() {
// Initialize system counters
systemInit();
// Initialize tasks
OLEDInit();
LEDInit();
speakerInit();
// Execute tasks repeatedly
while(true){
OLEDExec();
LEDExec();
speakerExec();
}
}
//*************************************************************************************************
// Main program to initialize hardware and execute Tasks.
//*************************************************************************************************
void main(void) {
// Initialize system counters
systemInit();
// Initialize tasks
OLEDInit();
LEDInit();
speakerInit();
buttonInit();
// Execute tasks repeatedly
while(true){
OLEDExec();
LEDExec();
if (freq != 0) {
speakerExec();
}
buttonExec();
}
}
/**
* \brief Initializes all the subsystems for this Droplet. This function MUST be called
* by the user before using any other functions in the API.
*/
static void initAllSystems(void){
cli();
Config32MHzClock();
calculateIdNumber();
schedulerInit(); INIT_DEBUG_PRINT("SCHEDULER INIT\r\n");
pcCommInit(); INIT_DEBUG_PRINT("PC COM INIT\r\n");
rgbLEDinit(); INIT_DEBUG_PRINT("LED INIT\r\n");
powerInit(); INIT_DEBUG_PRINT("POWER INIT\r\n");
i2cInit(); INIT_DEBUG_PRINT("I2C INIT\r\n");
enableInterrupts();
rangeAlgsInit(); INIT_DEBUG_PRINT("RANGE ALGORITHMS INIT\r\n");
rgbSensorInit(); INIT_DEBUG_PRINT("RGB SENSE INIT\r\n");
irLedInit(); INIT_DEBUG_PRINT("IR LED INIT\r\n");
irSensorInit(); INIT_DEBUG_PRINT("IR SENSE INIT\r\n");
#ifdef AUDIO_DROPLET
speakerInit(); INIT_DEBUG_PRINT("SPEAKER INIT\r\n");
micInit(); INIT_DEBUG_PRINT("MIC INIT\r\n"); //Must occur after ir_sensor_init.
#endif
motorInit(); INIT_DEBUG_PRINT("MOTOR INIT\r\n");
randomInit(); INIT_DEBUG_PRINT("RAND INIT\r\n"); //This uses adc readings for a random seed, and so requires that the adcs have been initialized.
localizationInit(); INIT_DEBUG_PRINT("LOCALIZATION INIT\r\n");
#ifdef SYNCHRONIZED
fireflySyncInit();
#endif
setAllirPowers(256);
startupLightSequence();
irCommInit(); INIT_DEBUG_PRINT("IR COM INIT\r\n");
#ifdef AUDIO_DROPLET
enableMicInterrupt();
#endif
}
/*
* Runs the user operator control code. This function will be started in its own task with the
* default priority and stack size whenever the robot is enabled via the Field Management System
* or the VEX Competition Switch in the operator control mode. If the robot is disabled or
* communications is lost, the operator control task will be stopped by the kernel. Re-enabling
* the robot will restart the task, not resume it from where it left off.
*
* If no VEX Competition Switch or Field Management system is plugged in, the VEX Cortex will
* run the operator control task. Be warned that this will also occur if the VEX Cortex is
* tethered directly to a computer via the USB A to A cable without any VEX Joystick attached.
*
* Code running in this task can take almost any action, as the VEX Joystick is available and
* the scheduler is operational. However, proper use of delay() or taskDelayUntil() is highly
* recommended to give other tasks (including system tasks such as updating LCDs) time to run.
*
* This task should never exit; it should end with some kind of infinite loop, even if empty.
*/
void operatorControl() {
speakerInit();
// Play a tune on the speaker
// speakerPlayRtttl("Super Mario:d=4,o=5,b=100:16e6,16e6,32p,8e6,16c6,8e6,8g6,8p,8g,8p,"
// "8c6,16p,8g,16p,8e,16p,8a,8b,16a#,8a,16g.,16e6,16g6,8a6,16f6,8g6,8e6,16c6,16d6,8b,16p,"
// "8c6,16p,8g,16p,8e,16p,8a,8b,16a#,8a,16g.,16e6,16g6,8a6,16f6,8g6,8e6,16c6,16d6,8b,16p,"
// "8p,16g6,16f#6,16f6,16d#6,16p,16e6,16p,16g#,16a,16c6,16p,16a,16c6,16d6,"
// "8p,16g6,16f#6,16f6,16d#6,16p,16e6,16p,16c7,16p,16c7,16c7,8p.,"
// "8p,16g6,16f#6,16f6,16d#6,16p,16e6,16p,16g#,16a,16c6,16p,16a,16c6,16d6,"
// "8p,16d#6,8p,16d6,8p,16c6");
// Play a polyphonic tune on the speaker with 2 tracks
// const char * rtttl[] = {
// "BlackSabbath_Iron_Man:d=4,o=5,b=85:2g#.6, 2p, g#6, g#6, g#6, 2g#.6, 2p, g#6, g#6, g#6, 2g#.6, 2p, g#6, g#6, g#6, d6, f6, 8f6, 8g6, g6, 16a#6, 16a6, 16a#6, 16a6, 16a#6, 16a6, 8f6, 8f6, 8g6, g6, d6, f6, 8f6, 8g6, g6, 16a#6, 16a6, 16a#6, 16a6, 16a#6, 16a6, 8f6, 8f6, 8g6, g6, d6, f6, 8f6, 8g6, g6, 16a#6, 16a6, 16a#6, 16a6, 16a#6, 16a6" ,NULL};
// while (1) {
const char * rtttl[] = {
"Super Mario:d=4,o=5,b=100:"
"16e6,16e6,32p,8e6,16c6,8e6,8g6,8p,8g,8p,"
"8c6,16p,8g,16p,8e,16p,8a,8b,16a#,8a,16g.,16e6,16g6,8a6,16f6,8g6,8e6,16c6,16d6,8b,16p,"
"8c6,16p,8g,16p,8e,16p,8a,8b,16a#,8a,16g.,16e6,16g6,8a6,16f6,8g6,8e6,16c6,16d6,8b,16p,"
"8p,16g6,16f#6,16f6,16d#6,16p,16e6,16p,16g#,16a,16c6,16p,16a,16c6,16d6,"
"8p,16g6,16f#6,16f6,16d#6,16p,16e6,16p,16c7,16p,16c7,16c7,8p.,"
"8p,16g6,16f#6,16f6,16d#6,16p,16e6,16p,16g#,16a,16c6,16p,16a,16c6,16d6,"
"8p,16d#6,8p,16d6,8p,16c6",
"Super Mario:d=4,o=4,b=100:"
"16d,16d,32p,8d,16d,8d,8g5,8p,8g,8p,"
"8g5,16p,8e,16p,8c,16p,8f,8g,16f#,8f,16e.,16c5,16e5,8f5,16d5,8e5,8c5,16a,16b,8g,16p,"
"8g5,16p,8e,16p,8c,16p,8f,8g,16f#,8f,16e.,16c5,16e5,8f5,16d5,8e5,8c5,16a,16b,8g,16p,"
"8c,16p,16g,8p,8c5,8f,16p,16c5,16c5,16c5,8f,"
"8c,16p,16e,8p,16g,16c5,p.,8g,"
"8c,16p,16g,8p,8c5,8f,16p,16c5,16c5,16c5,8f,"
"8c,16g#,8p,16a#,8p,16c5",
NULL
};
speakerPlayArray(rtttl);
// speakerPlayRtttl("Mission Impossible (Long):d=4,o=6,b=100:32d,32d#,32d,32d#,32d,32d#,32d,32d#,32d,32d,32d#,32e,32f,32f#,32g,16g,8p,16g,8p,16a#,16p,16c7,16p,16g,8p,16g,8p,16f,16p,16f#,16p,16g,8p,16g,8p,16a#,16p,16c7,16p,16g,8p,16g,8p,16f,16p,16f#,16p,16a#,16g,2d,32p,16a#,16g,2c#,32p,16a#,16g,2c,16p,16a#5,16c");
// speakerPlayRtttl("Axel F:d=8,o=6,b=125:4e,g.,e,16e,a,e,d,4e,b.,e,16e,c7,b,g,e,b,e7,16e,d,16d,b5,f#,4e,2p,4e,g.,e,16e,a,e,d,4e,b.,e,16e,c7,b,g,e,b,e7,16e,d,16d,b5,f#,4e");
// speakerPlayRtttl("Ghostbusters:d=4,o=5,b=112:");
// delay(20);
// }
}
/****************************************************************************
Function:
void PIC24HSKInit(void)
Description:
Intialize the starter kit board: switches, speaker driver.
Precondition:
None.
Parameters:
None.
Returns:
None
Remarks:
None
***************************************************************************/
void PIC24HSKInit(void)
{
// Configuring I/O ports used by LED matrix
TRISA = 0x0000;
TRISB = 0x0000;
TRISC = 0x0000;
LATA = 0x0000;
LATB = 0x0000;
LATC = 0x0000;
AD1PCFGL = 0xFFFF;
// Initialize switches
SWITCH_S1_TRIS = 1;
SWITCH_S2_TRIS = 1;
// Initialize speaker
if(enableSoundFlag)
speakerInit();
// Initialize timer 4 to activate switch press listener
initTmr4();
}
//*****************************************************************************
//
// Main program to initialize hardware and execute Tasks.
//
//*****************************************************************************
int main( void ) {
//
// Initialize the system clock and systick interrupt
//
SysTickInit();
//
// Task Initializations
//
BlinkInit();
TickDisplayInit();
speakerInit();
buttonInit();
//
// Task Execution
//
while (1) {
BlinkExecute( );
TickDisplayExecute( );
speakerExecute();
}
}
