int main(void)
{
Config32MHzClock(); // configure sysclk=32MHz RC oscillator, turn on 32KHz osc
Config32KHzRTC(); // configure with 1 tick per second
CLK.PSCTRL = 0x00; // no division on peripheral clock
// make clkout on PORTE:7
PORTCFG.CLKEVOUT = PORTCFG_CLKOUT_PE7_gc;
PORTE.DIR = (1<<7); // clkout
// configure timer/counter0
TCC0.CTRLA = 0x7; // clk/1024
// configure PORTF:0 as output to LED
PORTF.DIR=(1<<0);
// setup RTC counter params
RTC.PER = 0; // overflow after 1 second
RTC.INTCTRL |= 0x3; // set high level interrupt on RTC overflow
RTC.CNT = 0; // clear initial count
PMIC.CTRL = PMIC_HILVLEN_bm; // enable high level interrupts
sei(); // enable interrupts
while(1); // forever
return 0;
};
void DoOscillator(unsigned int osc)
{
switch(osc)
{
case 0:
Config2MHzClock();
break;
case 1:
Config32MHzClock();
break;
case 2:
Config32KHzClock();
break;
default:
Error("Unsupported Selectrion");
return;
};
};
/**
* \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
}
int main (void)
{
Config32MHzClock();// Set Clock Speed to 32MHz
PORTE.DIRSET = _BV(0); // DEBUG: Set pin E0 as OUTPUT
PORTE.OUTCLR = _BV(0);
/* Timer for keeping track of milliseconds:
*
* The result of this triggers the interrupt once per millisecond.
*/
TCC0.PER = 4000;// Set HIGH to 4000 and LOW to 0
TCC0.CTRLA = ( TCC0.CTRLA & ~TC0_CLKSEL_gm ) | TC_CLKSEL_DIV1024_gc; // Work from CPUCLK/8
TCC0.INTCTRLA = ( TCC0.INTCTRLA & ~TC0_OVFINTLVL_gm ) | TC_OVFINTLVL_HI_gc; // Enable overflow interrupt.--
// Enable low interrupt level in PMIC and enable global interrupts.
PMIC.CTRL |= PMIC_HILVLEN_bm;
sei();
while(1){
if(millis()>1){
PORTE.OUTSET = _BV(0);
}
}
}
int main(void)
{
int data;
int index=0;
char buffer[100];
Config32MHzClock();
CLK.PSCTRL = 0x00; // no division on peripheral clock
UsartInit();
UsartWriteString("\r\n\r\nBOOT: Starting...\r\n");
//Analog Mux
PORTF.DIR = 0b11111111; //Output
PORTF.OUTCLR = PIN6_bm;
PORTF.OUTCLR = PIN4_bm | PIN7_bm;
PORTF.OUTSET = PIN5_bm;
PORTF.OUTCLR = PIN0_bm | PIN1_bm | PIN2_bm | PIN3_bm;
//PORTF.OUTSET = PIN1_bm;
PORTF.OUTCLR = PIN6_bm;
PORTF.OUTSET = PIN4_bm;
PORTF.OUTCLR = PIN5_bm;
PORTF.OUTSET = PIN7_bm; //WR
UsartWriteString("BOOT: Analog Mux configured...\r\n");
//ADC
PORTQ.DIR = 0b1111; //Output
PORTQ.OUTCLR = PIN1_bm | PIN3_bm; //PWRDWN pins
PORTQ.OUTSET = PIN0_bm | PIN2_bm; //ENCODE pins
//Reading Values
PORTD.DIR = 0b00000000; //Input
PORTE.DIR = 0b00000000; //Input
UsartWriteString("BOOT: ADC configured...\r\n");
//TFT LCD
TFT_init();
Delay100ms(10);
Delay100ms(10);
Delay100ms(10);
Delay100ms(10);
Delay100ms(10);
TSLCDFillRect(0,TS_SIZE_X-1,0,TS_SIZE_Y-1,TS_COL_BLUE,TS_MODE_NORMAL);
/*
TSLCDFillRect(0,TS_SIZE_X-1,0,70,TS_COL_WHITE,TS_MODE_NORMAL);
TSLCDSetFontColor(TS_COL_BLUE);
TSLCDPrintStr(2,6,"Testing ELT240320TP with AVR",TS_MODE_NORMAL);
TSLCDFillRect(20,80,90,130,TS_COL_BLACK,TS_MODE_NORMAL);
TSLCDFillRect(30,90,100,140,TS_COL_YELLOW,TS_MODE_NORMAL);
TSLCDFillRect(20,80,160,200,TS_COL_BLACK,TS_MODE_NORMAL);
TSLCDFillRect(30,90,170,210,TS_COL_RED,TS_MODE_NORMAL);
TSLCDFillRect(195,205,71,TS_SIZE_Y-1,TS_COL_WHITE,TS_MODE_NORMAL);
TSLCDFillCirc(200,155,60,TS_COL_WHITE,TS_MODE_NORMAL);
TSLCDFillCirc(200,155,50,TS_COL_BLUE,TS_MODE_NORMAL);
TSLCDFillCirc(200,155,40,TS_COL_BLACK,TS_MODE_NORMAL);
TSLCDFillCirc(200,155,30,TS_COL_RED,TS_MODE_NORMAL);
*/
UsartWriteString("BOOT: TFT LCD configured...\r\n");
//Timing Lines
//INT0: breakoutbar6 / A0 / frame
//INT1: slicebin0 / A1 / pixel
PORTA.INTCTRL = (PORTA.INTCTRL & ~PORT_INT0LVL_gm ) | PORT_INT0LVL_LO_gc;
PORTA.INTCTRL = (PORTA.INTCTRL & ~PORT_INT1LVL_gm ) | PORT_INT1LVL_LO_gc;
//Detect rising edge only
PORTA.PIN0CTRL |= 0x01;
PORTA.PIN0CTRL &= ~0x06;
PORTA.PIN1CTRL |= 0x01;
PORTA.PIN1CTRL &= ~0x06;
PORTA.INT0MASK = PIN0_bm;
PORTA.INT1MASK = PIN1_bm;
UsartWriteString("BOOT: Interrupts configured...\r\n");
//EBI/SDRAM
ebi_setup_port(12, 0, 0, EBI_PORT_3PORT | EBI_PORT_SDRAM);
/*
* Configure the EBI chip select for an 8 MB SDRAM located at
* \ref BOARD_EBI_SDRAM_BASE.
*/
ebi_cs_set_mode(&cs_config, EBI_CS_MODE_SDRAM_gc);
ebi_cs_set_address_size(&cs_config, EBI_CS_ASPACE_8MB_gc);
ebi_cs_set_base_address(&cs_config, BOARD_EBI_SDRAM_BASE);
/* Configure the EBI chip select to be in SDRAM mode. */
ebi_sdram_set_mode(&cs_config, EBI_CS_SDMODE_NORMAL_gc);
/* Setup the number of SDRAM rows and columns. */
ebi_sdram_set_row_bits(&sdram_config, 12);
ebi_sdram_set_col_bits(&sdram_config, 10);
/* Further, setup the SDRAM timing. */
ebi_sdram_set_cas_latency(&sdram_config, 3);
ebi_sdram_set_mode_delay(&sdram_config, EBI_MRDLY_2CLK_gc);
ebi_sdram_set_row_cycle_delay(&sdram_config, EBI_ROWCYCDLY_7CLK_gc);
ebi_sdram_set_row_to_precharge_delay(&sdram_config, EBI_RPDLY_7CLK_gc);
ebi_sdram_set_write_recovery_delay(&sdram_config, EBI_WRDLY_1CLK_gc);
ebi_sdram_set_self_refresh_to_active_delay(&sdram_config,
EBI_ESRDLY_7CLK_gc);
ebi_sdram_set_row_to_col_delay(&sdram_config, EBI_ROWCOLDLY_7CLK_gc);
ebi_sdram_set_refresh_period(&sdram_config, BOARD_EBI_SDRAM_REFRESH);
ebi_sdram_set_initialization_delay(&sdram_config,
BOARD_EBI_SDRAM_INITDLY);
/* Write SDRAM configuration into the EBI registers. */
ebi_sdram_write_config(&sdram_config);
/* Write the chip select configuration into the EBI registers. */
ebi_cs_write_config(EBI_SDRAM_CS, &cs_config);
ebi_enable_cs(EBI_SDRAM_CS, &cs_config);
UsartWriteString("BOOT: SDRAM configured...\r\n");
do {
// Wait for SDRAM to initialize.
} while (!ebi_sdram_is_ready());
UsartWriteString("BOOT: SDRAM ready...\r\n");
status_code_t retval = ebi_test_data_bus((hugemem_ptr_t)BOARD_EBI_SDRAM_BASE);
if (retval == STATUS_OK) {
UsartWriteString("BOOT: SDRAM data bus test completed...\r\n");
} else {
UsartWriteString("BOOT: WARNING: SDRAM data bus test failed...\r\n");
}
retval = ebi_test_addr_bus((hugemem_ptr_t)BOARD_EBI_SDRAM_BASE,BOARD_EBI_SDRAM_SIZE);
if (retval == STATUS_OK) {
UsartWriteString("BOOT: SDRAM address bus test completed...\r\n");
} else {
UsartWriteString("BOOT: WARNING: SDRAM address bus test failed...\r\n");
}
//_delay_ms(1);
//SD Card testing
UsartWriteString("BOOT: SD Card testing...\r\n");
//_delay_ms(1);
FRESULT f_err_code;
static FATFS FATFS_Obj;
UsartWriteString("BOOT: SD Card: initializing disk...\r\n");
disk_initialize(0);
UsartWriteString("BOOT: SD Card: mounting disk...\r\n");
f_err_code = f_mount(0, &FATFS_Obj);
if (f_err_code == FR_OK) {
FIL fil_obj;
int test_number = 5;
UsartWriteString("BOOT: SD Card: opening file...\r\n");
f_open(&fil_obj, "asplfc.txt", FA_WRITE);
UsartWriteString("BOOT: SD Card: writing file...\r\n");
int out = f_printf(&fil_obj, "moo %d", test_number);
UsartWriteString("BOOT: SD Card: closing file...\r\n");
f_close(&fil_obj);
} else {
UsartWriteLine("BOOT: WARNING: No SD card found...");
}
//PORTQ.OUTCLR = PIN2_bm | PIN4_bm;
UsartWriteString("\n\rASP LFC firmware -- v0.1\r\n");
UsartWriteString("> ");
while(1)
{
data=UsartReadChar(); // read char
// check for carriage return and try to match/execute command
if((data == '\r')||(index==sizeof(buffer)))
{
//PORTF.OUT ^= (1<<0); // switch LED
buffer[index]=0; // null terminate
index=0; // reset buffer index
UsartWriteString("\n\r"); // echo newline
ParseCommand(buffer); // attempt to parse command
UsartWriteString("> ");
}
else if(data==8) // backspace character
{
if(index>0)
index--; // backup one character
UsartWriteChar(data);
}
else
{
buffer[index++]=data;
UsartWriteChar(data);
};
// UsartWriteChar(data); // write char
// _delay_ms(100);
// PORTF.OUT ^= (1<<0); // toggle LED
};
};
int main(void) {
Config32MHzClock(); // Setup the 32MHz Clock. Should really be using 2MHz...
// Setup output and input ports.
LEDPORT.DIRSET = 0xFF;
LEDPORT.OUT = 0xFF;
AD9835_PORT.DIRCLR = 0x40;
PORTC.DIRSET = 0x04;
// Start up the timer.
init_timer();
sensors.begin();
sensors.requestTemperatures();
// Wait a bit before starting the AD9835.
// It seems to take a few hundred ms to 'boot up' once power is applied.
_delay_ms(500);
// Configure the AD9835, and start in sleep mode.
AD9835_Setup();
AD9835_Sleep();
// Setup the AD9835 for our chosen datamode.
TX_Setup();
AD9835_Awake();
// Broadcast a bit of carrier.
_delay_ms(1000);
TXString("Booting up...\n"); // Kind of like debug lines.
// Start up the GPS RX UART.
init_gps();
// Turn Interrupts on.
PMIC.CTRL = PMIC_HILVLEN_bm | PMIC_LOLVLEN_bm;
sei();
sendNMEA("$PUBX,00"); // Poll the UBlox5 Chip for data.
//TXString("GPS Active, Interrupts On.\n");
int found_sensors = sensors.getDeviceCount();
//sprintf(tx_buffer,"Found %u sensors.\n",found_sensors);
// TXString(tx_buffer);
unsigned int counter = 0; // Init out TX counter.
while(1){
// Identify every few minutes
if ((counter%30 == 0)&&(data_mode != FALLBACK)) TXString("DE VK5VZI Project Horus HAB Launch - projecthorus.org \n");
// Read ADC PortA pin 0, using differential, signed input mode. Negative input comes from pin 1, which is tied to ground. Use VCC/1.6 as ref.
uint16_t temp = readADC();
float bat_voltage = (float)temp * 0.001007572056668* 8.5;
floatToString(bat_voltage,1,voltString);
// Collect GPS data
gps.f_get_position(&lat, &lon);
sats = gps.sats();
if(sats>2){LEDPORT.OUTCLR = 0x80;}
speed = gps.f_speed_kmph();
altitude = (long)gps.f_altitude();
gps.crack_datetime(0, 0, 0, &time[0], &time[1], &time[2]);
floatToString(lat, 5, latString);
floatToString(lon, 5, longString);
sensors.requestTemperatures();
_intTemp = sensors.getTempC(internal);
_extTemp = sensors.getTempC(external);
if (_intTemp!=85 && _intTemp!=127 && _intTemp!=-127 && _intTemp!=999) intTemp = _intTemp;
if (_extTemp!=85 && _extTemp!=127 && _extTemp!=-127 && _extTemp!=999) extTemp = _extTemp;
if(data_mode != FALLBACK){
// Construct our Data String
sprintf(tx_buffer,"$$DARKSIDE,%u,%02d:%02d:%02d,%s,%s,%ld,%d,%d,%d,%d,%s",counter++,time[0], time[1], time[2],latString,longString,altitude,speed,sats,intTemp,extTemp,voltString);
// Calculate the CRC-16 Checksum
char checksum[10];
snprintf(checksum, sizeof(checksum), "*%04X\n", gps_CRC16_checksum(tx_buffer));
// And copy the checksum onto the end of the string.
memcpy(tx_buffer + strlen(tx_buffer), checksum, strlen(checksum) + 1);
}else{
// If our battery is really low, we don't want to transmit much data, so limit what we TX to just an identifier, battery voltage, and our position.
sprintf(tx_buffer, "DE VK5VZI HORUS8 %s %s %s %ld", bat_voltage, latString, longString,altitude);
}
// Blinky blinky...
LEDPORT.OUTTGL = 0x20;
// Transmit!
TXString(tx_buffer);
sendNMEA("$PUBX,00"); // Poll the UBlox5 Chip for data again.
/*
// Check the battery voltage. If low, switch to a more reliable mode.
if((bat_voltage < BATT_THRESHOLD) && (data_mode != RELIABLE_MODE)){
new_mode = RELIABLE_MODE;
// This string should be changed if the 'reliable' mode is changed.
TXString("Battery Voltage Below 9V. Switching to DominoEX8.\n");
}
*/
// Perform a mode switch, if required.
// Done here to allow for mode changes to occur elsewhere.
if(new_mode != -1){
data_mode = new_mode;
TX_Setup();
new_mode = -1;
}
// And wait a little while before sending the next string.
// Don't delay for domino - synch stuffs up otherwise
if(data_mode != DOMINOEX8){
_delay_ms(1000);
}
}
}
/* See Atmel doc8050.pdf : AVR1313: Using the XMEGA IO Pins and External Interrupts
*
*
*/
void init(void){
Config32MHzClock(); //Set Clock Speed to 32MHz
PORTD.PIN4CTRL = PORT_OPC_PULLUP_gc; //Set pin D4 as INPUT and as a pullup (Detect when pulled LOW)
PORTE.DIRSET |= _BV(0); //Set pin E0 as OUTPUT
uart_init();
}
