int16_t main(void) {
InitUSB(); // initialize the USB registers and serial interface engine
initChip();
initMotor();
led_on(&led1);
timer_setPeriod(LED_TIMER, 0.5); //start internal clock with defined period
timer_start(LED_TIMER);
pin_write(IN1, 1);
pin_write(IN2, 0);
pin_write(D2, 65536*2/5);
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB(); // service any pending USB requests
//LED1 TOGGLE TO CONFIRM RUNNING CODE
if (timer_flag(LED_TIMER)) {
timer_lower(LED_TIMER);
led_toggle(&led1);
pin_write(D2, VAL1);
}
}
}
int _start( int argc, char *argv[])
{
printf("USB HDD FileSystem Driver v%d.%d\n", MAJOR_VER, MINOR_VER);
if (RegisterLibraryEntries(&_exp_usbmass) != 0) {
printf("USBHDFSD: Already registered.\n");
return MODULE_NO_RESIDENT_END;
}
// initialize the FAT driver
if(InitFAT() != 0)
{
printf("USBHDFSD: Error initializing FAT driver!\n");
return MODULE_NO_RESIDENT_END;
}
// initialize the USB driver
if(InitUSB() != 0)
{
printf("USBHDFSD: Error initializing USB driver!\n");
return MODULE_NO_RESIDENT_END;
}
// initialize the file system driver
if(InitFS() != 0)
{
printf("USBHDFSD: Error initializing FS driver!\n");
return MODULE_NO_RESIDENT_END;
}
// return resident
return MODULE_RESIDENT_END;
}
int16_t main(void) {
//initialize all system clocks
init_clock();
//initialize serial communications
init_uart();
//initialize pin driving library (to be able to use the &D[x] defs)
init_pin();
//initialize the UI library
init_ui();
//initialize the timer module
init_timer();
//initialize the OC module (used by the servo driving code)
init_oc();
imu_init()
//Set servo control pins as output
pin_digitalOut(PAN_PIN);
pin_digitalOut(TILT_PIN);
pin_digitalOut(SONIC_OUT_PIN);
pin_digitalIn(SONIC_IN_PIN);
//Set LED off
led_off(LED);
//Configure blinking rate for LED when connected
timer_setPeriod(LED_TIM, 0.2);
timer_start(LED_TIM);
//Configure timer for reciever timeout
timer_setPeriod(DIST_TIM, 0.05);
//configure PWM on sonic output pin
oc_pwm(PWM_OC, SONIC_OUT_PIN, NULL, SONIC_FREQ, 0x0000);
//According to HobbyKing documentation: range .8 through 2.2 msec
//Set servo control pins as OC outputs on their respective timers
oc_servo(SERVO1_OC, PAN_PIN, SERVO1_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, pan_set_val);
oc_servo(SERVO2_OC, TILT_PIN, SERVO2_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, tilt_set_val);
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
led_on(LED);
//There's no point in driving the servos when there's no one connected yet.
}
while (1) {
ServiceUSB(); // service any pending USB requests
//blink the LED
if (timer_flag(LED_TIM)) {
timer_lower(LED_TIM);
led_toggle(LED);
}
//Update the servo control values.
x_gout = gyro_read(OUT_X_L);
}
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_spi();
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e8);
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB(); // service any pending USB requests
}
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_timer();
init_i2c();
InitUSB();
init_oc();
init_display(&i2c3, 0x70, 0x71);
init_game(&timer1, &timer2, &A[0], &disp1, &disp2);
init_gun(&D[13], &A[1], &A[2], &timer3);
init_launcher(&D[5], &D[8], &D[3], &D[4]);
init_shooter(&D[6], &D[9], &D[1], &D[2], &D[7], &D[0], &oc3, &oc4);
init_baller(&D[10], &oc2, &timer4, &shooter, &launcher);
init_pix(&D[11], &timer5, 30, 0.05);
init_audio(&D[12]);
uint8_t level = 0;
uint8_t hit_flag = 0;
while (1) {
ServiceUSB(); // usb times out if not checked fast enough :/
level = run_game(hit_flag);
ServiceUSB();
hit_flag = run_gun(level);
ServiceUSB();
run_baller(level);
}
}
void* RunLoopThread(void* args)
{
unsigned i;
InitUSB();
currentRunLoop = CFRunLoopGetCurrent();
CFRunLoopTimerContext context = {0, NULL, NULL, NULL, NULL};
CFRunLoopTimerRef timer = CFRunLoopTimerCreate(kCFAllocatorDefault, 0.1, 0.1, 0, 0, &onTimerFired, &context);
CFRunLoopAddTimer(currentRunLoop, timer, kCFRunLoopCommonModes);
// Signal the parent that we are running
adb_mutex_lock(&start_lock);
adb_cond_signal(&start_cond);
adb_mutex_unlock(&start_lock);
CFRunLoopRun();
currentRunLoop = 0;
for (i = 0; i < vendorIdCount; i++) {
IOObjectRelease(notificationIterators[i]);
}
IONotificationPortDestroy(notificationPort);
usb_cleanup();
DBG("RunLoopThread done\n");
return NULL;
}
void setup(void) {
// Initialize PIC24 modules.
init_clock();
init_ui();
init_timer();
init_pin();
init_oc();
init_spi();
init_uart();
// Configure single SPI comms. system
pin_digitalOut(SPI_CS);
pin_set(SPI_CS);
spi_open(spi_inst, SPI_MISO, SPI_MOSI, SPI_SCK, spi_freq, spi_mode);
// Configure & start timers used.
timer_setPeriod(&timer1, 1);
timer_setPeriod(&timer2, 1); // Timer for LED operation/status blink
timer_setPeriod(&timer3, LOOP_TIME); // Timer for main control loop
timer_start(&timer1);
timer_start(&timer2);
timer_start(&timer3);
// Configure dual PWM signals for bidirectional motor control
oc_pwm(&oc1, PWM_I1, NULL, pwm_freq, pwm_duty);
oc_pwm(&oc2, PWM_I2, NULL, pwm_freq, pwm_duty);
InitUSB(); // initialize the USB registers and
// serial interface engine
while (USB_USWSTAT != CONFIG_STATE) { // while periph. is not configured,
ServiceUSB(); // service USB requests
}
}
int16_t main(void) {
// printf("Starting Rocket Controller...\r\n");
init_clock();
init_ui();
init_pin();
init_timer();
init_i2c();
setup();
init_servo_driver(&sd1, &i2c3, 16000., 0x0);
init_servo(&servo4, &sd1, 0);
InitUSB();
U1IE = 0xFF; //setting up ISR for USB requests
U1EIE = 0xFF;
IFS5bits.USB1IF = 0; //flag
IEC5bits.USB1IE = 1; //enable
// uint32_t pid_command;
servo_set(&servo4, 1500, 0);
while (1) {
if (timer_flag(&timer1)) {
// Blink green light to show normal operation.
timer_lower(&timer1);
led_toggle(&led2);
// servo_set(&servo4, 1500, 0);
}
}
}
int16_t main(void) {
init_clock();
init_timer();
init_ui();
init_pin();
init_spi();
init_oc();
init_md();
// Current measurement pin
pin_analogIn(&A[0]);
// SPI pin setup
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
// Open SPI in mode 1
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e6, 1);
// Motor setup
md_velocity(&md1, 0, 0);
// Get initial angle offset
uint8_t unset = 1;
while (unset) {
ANG_OFFSET = enc_readReg((WORD) REG_ANG_ADDR);
unset = parity(ANG_OFFSET.w);
}
ANG_OFFSET.w &= ENC_MASK;
// USB setup
InitUSB();
while (USB_USWSTAT!=CONFIG_STATE) {
ServiceUSB();
}
// Timers
timer_setFreq(&timer2, READ_FREQ);
timer_setFreq(&timer3, CTRL_FREQ);
timer_start(&timer2);
timer_start(&timer3);
// Main loop
while (1) {
ServiceUSB();
if (timer_flag(&timer2)) {
timer_lower(&timer2);
get_readings();
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
set_velocity();
}
}
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_spi();
init_timer();
init_oc();
init_md();
led_off(&led2);
led_off(&led3);
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
read_angle.w=0x3FFF;
Pscale.w=1;
Iscale.w=0;
direction.w=1;
speed.w=0;
angle_now.i=180;
angle_prev.i=180;
angle.w=10;
uint8_t loop = 0;
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e8,1);
timer_setPeriod(&timer1, 0.05);
timer_start(&timer1);
InitUSB();
// initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while(1){
ServiceUSB();
if (timer_flag(&timer1)) {
timer_lower(&timer1);
angle_prev=angle_now;
angle_prev_con=angle; // service any pending USB requests
angle_now = enc_readReg(read_angle);
angle_now = mask_angle(angle_now);
angle=convert_Angle(angle_prev,angle_now,&loop);
spring_simple(angle);
}
}
}
void init(void){
init_pin();
init_clock();
init_uart();
init_ui();
init_timer();
init_oc();
init_motor();
InitUSB(); // initialize the USB registers and serial interface engine
init_interrupts();
}
void setup(void) {
// Initialize PIC24 modules.
init_clock();
init_ui();
init_timer();
init_pin();
init_oc();
init_spi();
init_uart();
// Configure single SPI comms. system
pin_digitalOut(SPI_CS);
pin_set(SPI_CS);
spi_open(spi_inst, SPI_MISO, SPI_MOSI, SPI_SCK, spi_freq, spi_mode);
// Configure & start timers used.
timer_setPeriod(&timer1, 1);
timer_setPeriod(&timer2, 1); // Timer for LED operation/status blink
timer_setPeriod(&timer3, LOOP_TIME); // Timer for main control loop
timer_start(&timer1);
timer_start(&timer2);
timer_start(&timer3);
// Configure motor current conversion coefficient
CURRENT_CONV_COEF = MAX_ADC_OUTPUT * MOTOR_VOLTAGE_RESISTOR;
cur_control.Kp = KP;
cur_control.Kd = KD;
cur_control.Ki = KI;
cur_control.dt = LOOP_TIME;
cur_control.integ_min = -100;
cur_control.integ_max = 100;
cur_control.integ_state = 0;
read_motor_current(&motor);
cur_control.prev_position = convert_motor_torque(motor.current);
// Configure dual PWM signals for bidirectional motor control
oc_pwm(&oc1, PWM_I1, NULL, pwm_freq, pwm_duty);
oc_pwm(&oc2, PWM_I2, NULL, pwm_freq, pwm_duty);
pin_analogIn(MOTOR_VOLTAGE);
pin_digitalOut(DEBUGD0);
pin_digitalOut(DEBUGD1);
InitUSB(); // initialize the USB registers and
// serial interface engine
while (USB_USWSTAT != CONFIG_STATE) { // while periph. is not configured,
ServiceUSB(); // service USB requests
}
}
void* RunLoopThread(void* unused)
{
InitUSB();
currentRunLoop = CFRunLoopGetCurrent();
// Signal the parent that we are running
adb_mutex_lock(&start_lock);
adb_cond_signal(&start_cond);
adb_mutex_unlock(&start_lock);
CFRunLoopRun();
currentRunLoop = 0;
IOObjectRelease(notificationIterator);
IONotificationPortDestroy(notificationPort);
DBG("RunLoopThread done\n");
return NULL;
}
int16_t main(void) {
init_clock();
init_uart();
init_ui();
init_timer();
init_oc();
led_on(&led2);
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
val1 = 0;
val2 = 0;
interval = 0.02;
min_width = 5.5E-4;
max_width = 2.3E-3;
pos = 0; //16 bit int with binary point in front of the MSB
oc_servo(&oc1,&D[0],&timer1, interval,min_width, max_width, pos);
oc_servo(&oc2,&D[2],&timer3, interval,min_width, max_width, pos);
printf("Good morning\n");
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB();
//write the values to the servos (move the servos to the requested position)
pin_write(&D[0],val1);
pin_write(&D[2],val2);
if (timer_flag(&timer2)) {
//show a heartbeat and a status message
timer_lower(&timer2);
led_toggle(&led1);
printf("val1 = %u, val2 = %u\n", val1, val2);
}
}
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_timer();
init_oc();
init_spi();
init_enc();
init_md();
init_motor();
// (&motor1)->vel_set = 360.0;
InitUSB();
while (USB_USWSTAT!=CONFIG_STATE) {
ServiceUSB();
}
while (1) {
ServiceUSB();
}
}
/*lint -save -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
InitUSB();
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
//=========================================================================
//----- (00000C48) --------------------------------------------------------
__myevic__ void InitHardware()
{
SYS_UnlockReg();
// 32.768kHz external crystal
if ( dfStatus.x32off )
{
CLK_DisableXtalRC( CLK_PWRCTL_LXTEN_Msk );
}
else
{
SYS->GPF_MFPL &= ~(SYS_GPF_MFPL_PF0MFP_Msk|SYS_GPF_MFPL_PF1MFP_Msk);
SYS->GPF_MFPL |= (SYS_GPF_MFPL_PF0MFP_X32_OUT|SYS_GPF_MFPL_PF1MFP_X32_IN);
CLK_EnableXtalRC( CLK_PWRCTL_LXTEN_Msk );
CLK_WaitClockReady( CLK_STATUS_LXTSTB_Msk );
}
SetPWMClock();
SYS_LockReg();
#if (ENABLE_UART)
InitUART0();
#endif
InitGPIO();
if ( !PD3 )
{
gFlags.noclock = 1;
}
InitSPI0();
InitEADC();
InitPWM();
InitTimers();
InitUSB();
}
void* RunLoopThread(void* args)
{
unsigned i;
InitUSB();
currentRunLoop = CFRunLoopGetCurrent();
CFRunLoopTimerContext context = {0, NULL, NULL, NULL, NULL};
CFRunLoopTimerRef timer = CFRunLoopTimerCreate(kCFAllocatorDefault, 0.1, 0.1, 0, 0, &onTimerFired, &context);
CFRunLoopAddTimer(currentRunLoop, timer, kCFRunLoopCommonModes);
// Signal the parent that we are running
adb_mutex_lock(&start_lock);
adb_cond_signal(&start_cond);
adb_mutex_unlock(&start_lock);
set_device_loop_state(kDeviceLoopRunning);
CFRunLoopRun();
set_device_loop_state(kDeviceLoopDead);
currentRunLoop = 0;
for (i = 0; i < vendorIdCount; i++) {
IOObjectRelease(notificationIterators[i]);
}
IONotificationPortDestroy(notificationPort);
if (notificationIterators != NULL) {
D("Before notification free\n");
free(notificationIterators);
notificationIterators = NULL;
}
D("After all\n");
initialized = 0;
DBG("RunLoopThread done\n");
return NULL;
}
int16_t main(void) {
init_clock();
init_timer();
init_pin();
init_oc();
init_md();
pin_analogIn(&A[0]);
md_velocity(&md1, 0xF000, 1);
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
LAST_CURRENT = CURRENT_CURRENT;
CURRENT_CURRENT.w = pin_read(&A[0]);
ServiceUSB(); // ...service USB requests
}
while (1) {
LAST_CURRENT = CURRENT_CURRENT;
CURRENT_CURRENT.w = pin_read(&A[0]);
ServiceUSB(); // service any pending USB requests
}
}
void InitAntTracker()
{
pageRAMaddr=0;
LED = 1;
CheckConfig();
tics=0;
set_servo(SERVO_PAN,1500);
set_servo(SERVO_TILT,1500);
// set_servo(SERVO_AUX,1500);
UpdatedDatosAvion=0;
datosAvion.lon = -6.0f;
datosAvion.lat = 37.0f;
datosAvion.alt = 0.0f;
datosAvion.home_lon = -6.0f;
datosAvion.home_lat = 37.0f;
datosAvion.home_alt = 0.0f;
debugInfo.EnableDebug = 0;
debugInfo.pan = 1500;
debugInfo.tilt = 1500;
debugInfo.grados_pan = 0.0f;
debugInfo.grados_tilt = 0.0f;
InitUSB();
InitPWM();
offset_pan = 0.0f;
AD0BUSY = 1;
}
void* RunLoopThread(void* unused)
{
unsigned i;
InitUSB();
currentRunLoop = CFRunLoopGetCurrent();
// Signal the parent that we are running
sdb_mutex_lock(&start_lock);
sdb_cond_signal(&start_cond);
sdb_mutex_unlock(&start_lock);
CFRunLoopRun();
currentRunLoop = 0;
for (i = 0; i < vendorIdCount; i++) {
IOObjectRelease(notificationIterators[i]);
}
IONotificationPortDestroy(notificationPort);
DBG("RunLoopThread done\n");
return NULL;
}
int main (int argc, char **argv)
{
#ifdef GEKKO
printf("\x1b[2;0H");
//initialize libfat library
if (fatInitDefault())
printf("FAT subsytem initialized\n\n");
else
{
printf("Couldn't initialize FAT subsytem\n\n");
sleep(3);
exit(0);
}
DIR *dp;
dp = opendir ("sd:/");
if (dp) sdismount = 1; else sdismount = 0;
if (sdismount)
printf("SD FAT subsytem initialized\n\n");
else
printf("Couldn't initialize SD fat subsytem\n\n");
if (sdismount) closedir (dp);
usbismount = InitUSB();
default_prefs (&currprefs, 0);
cfgfile_load (&currprefs, SMBFILENAME, 0);
printf("\n");
if (currprefs.smb_enable) networkisinit = InitNetwork();
if (networkisinit && currprefs.smb_enable) ConnectShare();
sleep(2);
if (!(log_quiet = !currprefs.write_logfile)) set_logfile("/uae/uae.log");
#endif
write_log("main started\n");
init_sdl ();
write_log("sdl inited\n");
gui_init (argc, argv);
write_log("Starting real main\n");
real_main (argc, argv);
#ifdef GEKKO
if (smbismount) CloseShare ();
DeInitUSB();
fatUnmount(0);
#endif
return 0;
}
int16_t main(void) {
init_pin();
init_clock();
init_uart();
init_ui();
init_timer();
init_oc();
//setup the signal input pin
pin_digitalIn(&D[4]);
val1 = 0;
val2 = 0;
pos = 0; //16 bit int with binary point in front of the MSB
led_on(&led2);
timer_setPeriod(&timer2, PULSE_FREQUENCY); //how often we send a pulse
timer_start(&timer2);
timer_setPeriod(&timer3, 0.5); //heartbeat
timer_start(&timer3);
oc_servo(&oc1,&D[0],&timer4, INTERVAL,MIN_WIDTH, MAX_WIDTH, pos);
oc_servo(&oc2,&D[2],&timer5, INTERVAL,MIN_WIDTH, MAX_WIDTH, pos);
oc_pwm(&oc3,&D[3],NULL,FREQ,ZERO_DUTY);
printf("Good morning\n");
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB();
pin_write(&D[0],val1);
pin_write(&D[2],val2);
//adapted from Patrick and Charlie's approach
if (!send_pulse && timer_read(&timer2) < PULSE_WIDTH){
send_pulse = 1;
pin_write(&D[3],HALF_DUTY);
get_distance = 1;
} else if (send_pulse && timer_read(&timer2) >= PULSE_WIDTH) {
send_pulse = 0;
pin_write(&D[3],ZERO_DUTY);
}
if (timer_read(&timer2) >= ECHO_TIME)
{
if (pin_read(&D[4]) && get_distance)
{
printf("%d\n", timer_read(&timer2));
get_distance = 0;
}
}
if (timer_flag(&timer3)) {
//show a heartbeat and a status message
timer_lower(&timer3);
led_toggle(&led1);
}
}
}
int APIENTRY _tWinMain(_In_ HINSTANCE hInstance,
_In_opt_ HINSTANCE hPrevInstance,
_In_ LPTSTR lpCmdLine,
_In_ int nCmdShow)
{
UNREFERENCED_PARAMETER(hPrevInstance);
UNREFERENCED_PARAMETER(lpCmdLine);
MSG msg;
//HACCEL hAccelTable;
int bnum;
RECT screen;
TCHAR ini_fname[256];
// グローバル文字列を初期化しています。
LoadString(hInstance, IDS_APP_TITLE, szTitle, MAX_LOADSTRING);
LoadString(hInstance, IDC_CONEMU_WIN, szWindowClass, MAX_LOADSTRING);
MyRegisterClass(hInstance);
// 表示領域の定義
// 必要以外の再書き換えを防止する
screen.left = 0;
screen.right = 650;
screen.top = 0;
screen.bottom = 399;
// ini ファイルから設定を読む
if (MakeIniFileName(_T("CONEMU.ini"), ini_fname)) {
int value;
value = GetPrivateProfileInt(_T("FRAMERATE"), _T("FPS"), 7, ini_fname);
switch (value)
{
case 60:
FPSmode = FPS60;
break;
case 30:
FPSmode = FPS30;
break;
case 15:
FPSmode = FPS15;
break;
default:
FPSmode = FPS07;
break;
}
Offset_X2 = GetPrivateProfileInt(_T("200LINES"), _T("OFFSET_X"), 20, ini_fname);
Offset_Y2 = GetPrivateProfileInt(_T("200LINES"), _T("OFFSET_Y"), 34, ini_fname);
Offset_X4 = GetPrivateProfileInt(_T("400LINES"), _T("OFFSET_X"), 20, ini_fname);
Offset_Y4 = GetPrivateProfileInt(_T("400LINES"), _T("OFFSET_Y"), 34, ini_fname);
}
// USB 初期化
if (InitUSB()) {
MessageBox(NULL, _T("初期化に失敗しました。\r\nケーブルの接続を確認してください。"), _T("エラー"), MB_OK);
return 1;
}
reallocDIB();
ImmDisableIME(-1);
// アプリケーションの初期化を実行します:
if (!InitInstance (hInstance, nCmdShow))
{
return FALSE;
}
// 画面描画ポジションテーブル
for (size_t i = 0; i < 400; i++)
{
ppos[i] = g_lppxDIB + RowBytes * ((Lines - 1) - i);
}
// メイン メッセージ ループ:
while (true)
{
if (PeekMessage(&msg, NULL, 0, 0, PM_NOREMOVE))
{
if (!(GetMessage(&msg, NULL, 0, 0)))
{
// USB 解放
TrashUSB();
// ini ファイルに設定を書き込み
if (MakeIniFileName(_T("CONEMU.ini"), ini_fname)) {
TCHAR cstr[10];
switch (FPSmode)
{
case FPS60:
wsprintf(cstr, _T("60"));
break;
case FPS30:
wsprintf(cstr, _T("30"));
break;
case FPS15:
wsprintf(cstr, _T("15"));
break;
case FPS07:
wsprintf(cstr, _T("07"));
break;
default:
break;
}
WritePrivateProfileString(_T("FRAMERATE"), _T("FPS"), cstr, ini_fname);
wsprintf(cstr, _T("%d"), Offset_X2);
WritePrivateProfileString(_T("200LINES"), _T("OFFSET_X"), cstr, ini_fname);
wsprintf(cstr, _T("%d"), Offset_Y2);
WritePrivateProfileString(_T("200LINES"), _T("OFFSET_Y"), cstr, ini_fname);
wsprintf(cstr, _T("%d"), Offset_X4);
WritePrivateProfileString(_T("400LINES"), _T("OFFSET_X"), cstr, ini_fname);
wsprintf(cstr, _T("%d"), Offset_Y4);
WritePrivateProfileString(_T("400LINES"), _T("OFFSET_Y"), cstr, ini_fname);
}
return (int)msg.wParam;
}
TranslateMessage(&msg);
DispatchMessage(&msg);
}
else
{
bnum = ConvPixel();
switch (bnum)
{
case 0: // まだ1ライン分のデータが揃ってない
break;
case 399: // 最下行のデータを受信
InvalidateRect(hWnd, &screen, FALSE);
break;
default:
break;
}
}
}
}
extern "C" int main(int argc, char **argv)
{
timeval tv;
gettimeofday(&tv, NULL);
srand(tv.tv_usec);
#if defined(GEKKO)
DIR *dir_tmp;
#endif
// Init SDL
if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_AUDIO | SDL_INIT_TIMER | SDL_INIT_JOYSTICK) < 0) {
fprintf(stderr, "Couldn't initialize SDL (%s)\n", SDL_GetError());
return 1;
}
if (TTF_Init() < 0)
{
fprintf(stderr, "Unable to init TTF: %s\n", TTF_GetError() );
return 1;
}
fflush(stdout);
#ifdef GEKKO
printf("\x1b[2;0H");
//initialize libfat library
if (fatInitDefault())
printf("FAT subsytem initialized\n\n");
else
{
printf("Couldn't initialize FAT subsytem\n\n");
sleep(3);
exit(0);
}
DIR *dp;
dp = opendir ("sd:/");
if (dp) sdismount = 1; else sdismount = 0;
if (sdismount)
printf("SD FAT subsytem initialized\n\n");
else
printf("Couldn't initialize SD fat subsytem\n\n");
if (sdismount) closedir (dp);
usbismount = InitUSB();
if (usbismount)
printf("USB FAT subsytem initialized\n\n");
else
printf("Impossible to initialize USB FAT subsytem\n\n");
networkisinit = InitNetwork();
sleep(2);
//create tmp directory if it does not exist
dir_tmp = opendir("/frodo/tmp");
if (!dir_tmp) {mkdir("/frodo/tmp",0777);printf("Making tmp directory\n");sleep(2);} else closedir(dir_tmp);
//Cancel the old files
unlink ("/frodo/tmp/a");
unlink ("/frodo/tmp/dummy");
#endif
Frodo *the_app = new Frodo();
the_app->ArgvReceived(argc, argv);
the_app->ReadyToRun();
delete the_app;
if (smbismount) CloseShare (true);
#ifdef GEKKO
DeInitUSB();
fatUnmount(0);
#endif
return 0;
}
int16_t main(void) {
init_clock();
init_timer();
init_pin();
init_oc();
init_ui();
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
// Configure Interrupts on the pic
IEC1bits.CNIE = 1;
CNEN1bits.CN2IE = 1;
IFS1bits.CNIF = 0;
IEC0bits.OC1IE = 1;
IFS0bits.OC1IF = 0;
timer_enableInterrupt(&timer1);
timer_lower(&timer1);
timer_enableInterrupt(&timer2);
timer_lower(&timer2);
timer_enableInterrupt(&timer4);
timer_lower(&timer4);
timer_enableInterrupt(&timer5);
timer_lower(&timer5);
// Configure Pins
inPin0 = &A[0];
pin_analogIn(inPin0);
inPin1 = &A[1];
pin_analogIn(inPin1);
inPin2 = &A[2];
pin_analogIn(inPin2);
inPin3 = &A[3];
pin_analogIn(inPin3);
inPin4 = &A[4];
pin_analogIn(inPin4);
irPin = &A[5];
pin_analogIn(irPin);
outPin = &D[6];
pin_digitalOut(outPin);
oc_pwm(&oc1, outPin, NULL, 10, (uint16_t)(0)); // write to D2 with a 10Hz PWM signal
pin_write(outPin, 10000); //duty doesn't matter, really.
redPin = &D[7];
pin_digitalOut(redPin);
oc_pwm(&oc2, redPin, NULL, 100, (uint16_t)(0));
greenPin = &D[10];
pin_digitalOut(greenPin);
oc_pwm(&oc3, greenPin, NULL, 100, (uint16_t)(0));
bluePin = &D[8];
pin_digitalOut(bluePin);
oc_pwm(&oc4, bluePin, NULL, 100, (uint16_t)(0));
pingPin = &D[4];
pin_digitalOut(pingPin);
oc_pwm(&oc5, pingPin, &timer3, 40000, 0);
receivePin = &D[12];
pin_digitalIn(receivePin);
// Motor controller pins
dirPin = &D[0];
pin_digitalOut(dirPin);
nSleepPin = &D[3];
pin_digitalOut(nSleepPin);
pin_write(nSleepPin, 1);
stepPin = &D[2];
pin_digitalOut(stepPin);
testPin = &D[13];
pin_digitalOut(testPin);
timer_setFreq(&timer1, 100);
while (1) {
ServiceUSB(); // service any pending USB requests
irVoltage = pin_read(irPin);
if (irVoltage < 40000){
dist = 32768;
}
if (irVoltage >= 40000){
dist = 32900;
}
if (dist != stepCount) {
changeFlag += 1;
} else {
changeFlag = 0;
}
if (changeFlag >= 3){
changeFlag = 0;
motorControl(dist);
}
if (touching0 == 10){
greenTarget = 40000;
redTarget = 60000;
blueTarget = 0;
if (currentPetal == 0){
greenTarget = 0;
redTarget = 0;
blueTarget = 0;
}
currentPetal == 0;
}
if (touching1 == 11){
greenTarget = 20000;
redTarget = 20000;
blueTarget = 20000;
if (currentPetal == 1){
greenTarget = 0;
redTarget = 0;
blueTarget = 0;
}
currentPetal == 1;
}
if (touching2 == 12){
greenTarget = 0;
redTarget = 60000;
blueTarget = 40000;
if (currentPetal == 2){
greenTarget = 0;
redTarget = 0;
blueTarget = 0;
}
currentPetal == 2;
}
if (touching3 == 13){
greenTarget = 0;
redTarget = 60000;
blueTarget = 0;
if (currentPetal == 3){
greenTarget = 0;
redTarget = 0;
blueTarget = 0;
}
currentPetal == 3;
}
if (touching4 == 14){
greenTarget = 60000;
redTarget = 0;
blueTarget = 0;
if (currentPetal == 4){
greenTarget = 0;
redTarget = 0;
blueTarget = 0;
}
currentPetal == 4;
}
if (greenDuty < greenTarget) {
greenChange = 1;
} else if (greenDuty > greenTarget) {
greenChange = -1;
} else {
greenChange = 0;
onTarget += 1;
}
if (redDuty < redTarget) {
redChange = 1;
} else if (redDuty > redTarget) {
redChange = -1;
} else {
redChange = 0;
onTarget += 1;
}
if (blueDuty < blueTarget) {
blueChange = 1;
} else if (blueDuty > blueTarget) {
blueChange = -1;
} else {
blueChange = 0;
onTarget += 1;
}
greenDuty += greenChange;
redDuty += redChange;
blueDuty += blueChange;
pin_write(greenPin, greenDuty);
pin_write(redPin, redDuty);
pin_write(bluePin, blueDuty);
/*
// fade on when touched
if (touching0 == 10){
if (greenOn == 0){
greenChange = 1;
}
if (greenOn == 1){
greenChange = -1;
}
redChange = -1;
blueChange = -1;
}
if (touching1 == 11){
if (redOn == 1){
redChange = -1;
}
if (redOn == 0){
redChange = 1;
}
blueChange = -1;
greenChange = -1;
}
if (touching2 == 12){
if (blueOn == 1){
blueChange = -1;
}
if (blueOn == 0){
blueChange = 1;
}
greenChange = -1;
redChange = -1;
}
greenDuty = greenDuty + greenChange;
if (greenDuty == MAX_INT){
greenDuty = MAX_INT -1;
greenOn = 1;
greenChange = 0;
}
if (greenDuty == 0){
greenDuty = 1;
greenOn = 0;
greenChange = 0;
}
redDuty = redDuty + redChange;
if (redDuty == MAX_INT){
redDuty = MAX_INT - 1;
redOn = 1;
redChange = 0;
}
if (redDuty == 0){
redDuty = 1;
redOn = 0;
redChange = 0;
}
blueDuty = blueDuty + blueChange;
if (blueDuty == MAX_INT){
blueDuty = MAX_INT - 1;
blueOn = 1;
blueChange = 0;
}
if (blueDuty == 0){
blueDuty = 1;
blueOn = 0;
blueChange = 0;
}
pin_write(greenPin, greenDuty);
pin_write(redPin, redDuty);
pin_write(bluePin, blueDuty);
*/
/*
if (iteration > 10000) {
ping();
iteration = 0;
}
iteration += 1;
*/
}
}
