int main() {
chipInit();
timer0Init();
//init_adc(ADC_CHANS, INT_VREF_TYPE);
adcInit(0, AVCC_VREF_TYPE);
uart_init();
w1Init();
sei();
ee_magic = MAGIC16;
initCommands();
initVM();
ee_magic = 0;
while (1) {
char tticks = getClearTimerTicks();
while (tticks) {
tticks--;
ds18b20_step(0, TIME_UNIT);
ds18b20_step(1, TIME_UNIT);
vmStep(TIME_UNIT);
handlePWM(TIME_UNIT);
}
handleIO();
}
return 0;
}
int main() {
gpioPinInit(&pin[LED1], 1, 18, OUTPUT_PIN);
gpioPinInit(&pin[LED2], 0, 13, OUTPUT_PIN);
gpioPinInit(&pin[LED3], 1, 13, OUTPUT_PIN);
gpioPinInit(&pin[LED4], 2, 19, OUTPUT_PIN);
gpioPinInit(&pin[JLEFT], 5, 0, INPUT_PIN);
gpioPinInit(&pin[JDOWN], 5, 1, INPUT_PIN);
gpioPinInit(&pin[JUP], 5, 2, INPUT_PIN);
gpioPinInit(&pin[JCENTER], 5, 3, INPUT_PIN);
gpioPinInit(&pin[JRIGHT], 5, 4, INPUT_PIN);
timer0Init(1, timer0Handler);
while (true) {
if (buttonPressedAndReleased(&pin[JLEFT])) {
flashing[LED1] = !flashing[LED1];
}
if (buttonPressedAndReleased(&pin[JDOWN])) {
flashing[LED2] = !flashing[LED2];
}
if (buttonPressedAndReleased(&pin[JUP])) {
flashing[LED3] = !flashing[LED3];
}
if (buttonPressedAndReleased(&pin[JRIGHT])) {
flashing[LED4] = !flashing[LED4];
}
if (buttonPressedAndReleased(&pin[JCENTER])) {
flashing[LED1] = !flashing[LED1];
flashing[LED2] = !flashing[LED2];
flashing[LED3] = !flashing[LED3];
flashing[LED4] = !flashing[LED4];
}
}
}
void sysInit(void){
PMOD_DDR |= _BV(PMOD0) | _BV(PMOD1) | _BV(PMOD2) | _BV(PORTD4); //Set PMOD as outputs
WIZ_DDR &= ~(_BV(INT_W5500)); //Int is an input
WIZ_PORT |= _BV(INT_W5500); //Enable pull up
WIZ_DDR |= _BV(SS_W5500); //Set SS as output
AUX_DDR &= ~(_BV(BTN0) | _BV(ISENSE) | _BV(VSENSE)); //Button set as input Isense and Vsense inputs(will be used for ADC)
AUX_DDR |= _BV(WP_EEP); //WP pin for eeprom as output
LED_DDR |= _BV(LED_R) | _BV(LED_G) | _BV(LED_B);
AUX_PORT |= _BV(BTN0); //Enable pull up on btn
PMOD_PORT |= _BV(PMOD0) | _BV(PMOD1) | _BV(PMOD2); //Full auto
uartInit();
i2c_init();
sei();
DDRB |= _BV(PORTB2) | _BV(PORTB1) | _BV(PORTB0);
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0); // SPI enable, Master, f/16
uartPutsP("\n\n[Base Station]\n");
uartPutsP(">Pins init\n");
timer0Init();
uartPutsP(">Timer 0 init\n");
timer1Init();
uartPutsP(">Timer 1 init\n");
}
void UserInit(void)
{
mInitAllLEDs();
mInitAllSwitches();
InitAdc();
old_sw2 = sw2;
Pump1tris = 0;
Pump2tris = 0;
TRISVPP = 0; //output
TRISVPP_RST=0; //output
TRISPGD=0;
TRISPGC=0;
TRISVDD=0;
TRISVPP_RUN=0;
VPP_RUN=0; //run = off
PGD_LOW=1;
TRISPGD_LOW=1; //LV devices disabled, high impedance / input
PGC_LOW=1;
TRISPGC_LOW=1; //LV devices disabled, high impedance / input
VPP = 1; //VPP is low (inverted)
VPP_RST=0; //No hard reset (inverted
PGD=0;
PGC=0;
INTCON2bits.RBPU=1; //disable Portb pullup resistors
timer1Init();
timer0Init();
}//end UserInit
int main(void)
{
timeCount = 0;
hardwareInit();
uart0_init(BAUD_SETTING);
/* Initialise timer to divide by 1025, giving 32ms time tick */
timer0Init(0,5);
rfm12_init();
wdtInit();
sei();
indx = 0;
for(;;)
{
wdt_reset();
uint8_t sendMessage = false;
uint16_t character = uart0_getc();
/* Wait for a serial incoming message to be built. */
if (character != UART_NO_DATA)
{
inBuf[indx++] = (uint8_t)(character & 0xFF);
/* Signal to transmit if a CR was received, or string too long. */
sendMessage = ((indx > MAX_MESSAGE) || (character == 0x0D));
}
/* Send a transmission if message is ready to send, or something was
received and time waited is too long. */
if (sendMessage || (timeCount++ > TIMEOUT))
{
/* Wait for the transmit buffer to be freed and message loaded. */
if ((indx > 0) && (rfm12_tx(indx, 0, inBuf) != RFM12_TX_OCCUPIED))
indx = 0;
timeCount = 0;
}
rfm12_tick();
/* If an RF incoming message has been received, take it from the buffer one
character at a time and transmit via the serial port. */
if (rfm12_rx_status() == STATUS_COMPLETE)
{
uint8_t *bufferContents = rfm12_rx_buffer();
uint8_t messageLength = rfm12_rx_len();
uint8_t i;
for (i=0;i<messageLength;i++)
{
uart0_putc(bufferContents[i]);
}
/* Clear the "in use" status of the receive buffer to be available for
rfm12lib. */
rfm12_rx_clear();
}
}
}
void rtcInit(void)
{
// set up timer for RTC operation
// initialize real-time registers
RtcTime.totaltics = 0;
RtcTime.tics = 0;
RtcTime.seconds = 0;
RtcTime.minutes = 0;
RtcTime.hours = 0;
RtcTime.day = 1;
RtcTime.month = 1;
RtcTime.year = 2000;
// select the correct RTC timer based on bit defines
#ifdef AS2
// use timer2 for most AVRs
// initialize timer 2
timer2Init();
// count with 32.768KHz/8
timer2SetPrescaler(TIMER_CLK_DIV8);
// switch to asynchronous input (32KHz crystal)
sbi(ASSR, AS2);
// attach service to real-time clock interrupt
// rtcService() will be called at ((32768/8)/256) = 16Hz
timerAttach(TIMER2OVERFLOW_INT, rtcService);
#else
#ifdef AS0
// use timer0 for ATmega103, ATmega128
// initialize timer 0
timer0Init();
// count with 32.768KHz/8
timer0SetPrescaler(TIMER_CLK_DIV8);
// switch to asynchronous input (32KHz crystal)
sbi(ASSR, AS0);
// attach service to real-time clock interrupt
// rtcService() will be called at ((32768/8)/256) = 16Hz
timerAttach(TIMER0OVERFLOW_INT, rtcService);
#endif
#endif
}
//--------------------------------------------------------------------------------------------------------------------------
void uComOnChipInitial(void)
{
// BYTE testi = 89;
// BYTE test2[2] ;
// BYTE i;
SystemInit();
GPIO_init();
SetUARTFunction(); // set uart operation right
AnalogI2CInit();
I2C1Init(100000); //adv7181
DSA_Init();
timer0Init();
// Delayms(2000);
ADV_RST_LOW();
REST_N_380_LOW();
Delayms(500);
ADV_RST_HIGH();
REST_N_380_HIGH();
}
int main(void)
{
uartInit();
timer0Init();
timer2Init();
externalInterrupts();
DDRB |= (1<<PB4) | (1<<PB5) | (1<<PB7);
//set PC0-3 to output for stepper control
//PC0-PC3 are used for stepper control
//PC0=37, PC1=36, PC2=35, PC3=34
DDRC |= (1<<PC0) | (1<<PC1) | (1<<PC2) | (1<<PC3);
sei();
while(1)
{
switch(state){
case INIT:
uartInit();
// uartSends("Is it my turn?\nEnter '2' to start targeting mode\n");
state = MYTURN;
break;
case MYTURN:
if(i >= 2){
uartSendc(uartData[0]);
uartSendc(uartData[1]);
if(uartData[0] == 1){
// uartSendc(0b00000001);
// uartSendc(uartData[1]);
PORTB |= (1<<PB5);
OCR2A = uartData[1];
}
if(uartData[0] == 2){
// uartSends("Test\n");
uartSendc(0b00000010);
uartSendc(uartData[1]);
// rampMotorSpeed(uartData[1]);
OCR2A = uartData[1];
PORTB &= ~(1<<PB5);
}
if(uartData[0] == 3){
uartSends("To IDCUP\n");
PORTB &= ~(1<<PB7);
state = IDCUP;
break;
} else {state = MYTURN;}
i = 0;
}else {state = MYTURN;}
_delay_ms(250);
state = MYTURN;
break;
case IDCUP:
uartSends("In IDCUP\n");
state = TAKEAIM;
break;
case TAKEAIM:
//Turn on PID and start setting it
//Allow PID to automatically control settings
PIDsetMode(AUTOMATIC);
//Positive proportional control
PIDsetControllerDirection(DIRECT);
//set sample time in ms - should be handled in interrupt?
PIDsetSampleTime(50);
//Minimum and Maximum output values
PIDsetOutputLimits(0,255);
//Set PID params (Kp, Ki, Kd)
PIDsetTunings(6,0.6,0.6);
//Start controller
PIDinitialize();
//Set Setpoint to 0 RPM
Setpoint = 0;
state = LAUNCHBALL;
break;
case LAUNCHBALL:
//Write print tachometer output
//Number of cycles divided by (16000000/1024)
// RPM = 60/(timeStamp/ 15625);
// uartSendc(rotation);
if(i >= 2){
if(uartData[0] == 1){
//go back to beginning
PIDsetMode(MANUAL);
state = MYTURN;
break;
}
if(uartData[0] == 3){
uartSendc(uartData[1]);
//byte 1 is setpoint
Setpoint = (uartData[1]);
uartSendc((uint8_t)Setpoint);
}
i = 0;
}else { state = LAUNCHBALL;}
_delay_ms(100);
state = LAUNCHBALL;
break;
case HITMISS:
state = ERRORCORRECTION;
break;
case ERRORCORRECTION:
uartSends("Correcting errors! Try again!");
state = MYTURN;
break;
case TRACKBALL:
state = BLOCKSHOT;
break;
case BLOCKSHOT:
state = MYTURN;
break;
}
}
}
