INT main (void)
{
vInitPipe();
USART_Init ( 9600 );
vSetPendingTask(vServoL);
sei();
USART_Transmit_string((unsigned char*)"*:SERVO_READY:#");
while(TRUE){
vDispathTask();
}
}
INT main (void)
{
LED_1_ON
LED_2_ON
LED_3_ON
USART_Init ( 9600 );
sei();
USART_Transmit_string((unsigned char*)"Probna transmisja\n");
// USART_Transmit(USART_Receive());
// USART_Transmit_string((unsigned char*)"TEST\n");
while(1);
}
int main(void)
{
/* insert your hardware initialization here */
InitPeripherals();
#ifdef MASTER
USART USART_CHANNEL;
USART_CHANNEL.USART_BAUDRATE = 9600;
USART_CHANNEL.USART_RECEIVER_STATUS = RECEIVER_ENABLE;
USART_CHANNEL.USART_TRANSMITTER_STATUS = TRANSMITTER_ENABLE;
USART_CHANNEL.USART_STOP_BIT = 1;
USART_CHANNEL.USART_PARITY = PARITY_EVEN;
USART_Init(USART_CHANNEL);
clear(TCCR1B, CS12);
clear(TCCR1B, CS11);
set(TCCR1B, CS10); // prescalar is 1
set(TCCR1B, WGM13);
set(TCCR1B, WGM12);
set(TCCR1A, WGM11);
clear(TCCR1A, WGM10);
set(TCCR1A, COM1A1);
set(TCCR1A, COM1A0);
set(DDRB, 1);
ICR1 = (int)(8000000/500000) - 1;
OCR1A = (int)((float)ICR1 * 0.5); // common minus output 500KHz signals
set(DDRD, 5);
set(PORTD, 5); // COIL3 PLUS on
// unsigned long frequency = 500000;
// float duty_cycle = 0.5;
// unsigned int pulse_number = 3;
// init_coil(frequency, duty_cycle, pulse_number);
//
// COIL3_PLUS_ON;
//
// drive_coil_communication();
sei();
#endif
#ifdef SLAVE
// unsigned long frequency = 500000;
// float duty_cycle = 0.5;
// unsigned int pulse_number = 3;
// init_coil(frequency, duty_cycle, pulse_number);
// COIL1_MINUS_ON;
set(DDRD, 4);
set(PORTD, 4); // COIL2_MINUS on
set(DDRD, 1);
set(PORTD, 1); // USART TX is high
set(DDRB, 3);
set(PORTB, 3); // turn on receiver
#endif
m_green(ON);m_yellow(ON);m_blue(ON);
m_wait(1000);
m_green(OFF);m_yellow(OFF);m_blue(OFF);
m_wait(2000);
for(;;){
/* insert your main loop code here */
#ifdef MASTER
set(PORTD, 5);
USART_Transmit_string("MODLAB!\n\r");
clear(PORTD, 5);
m_wait(1000);
#endif
#ifdef SLAVE
m_blue(TOGGLE);
#endif
}
return 0; /* never reached */
}
int main(void)
{
BL_OUTPUT;
// DS_OUTPUT;
BL_ON;
GLCD_Initalize(); // Initalize LCD
GLCD_ClearText(); // Clear text area
GLCD_ClearCG(); // Clear character generator area
GLCD_ClearGraphic(); // Clear graphic area
GLCD_TextGoTo(0,0);// set text coordinates
GLCD_WriteString("Hello"); // write text
GLCD_Circle(32,32,20); // draw circle
GLCD_Rectangle(8,8,24, 48); // draw rectangle
// GLCD_FillRectangle(0, 0, 96, 8);
USART_Init(MYUBRR);
USART_Transmit_string("Hi\n");
LED_OUTPUT;
BLINK3;
GLCD_ClearText();
GLCD_TextGoTo(0,0);// set text coordinates
ADCSRA = 0b10000111;
data_flag=0;
sei();
uint16_t T = 0;
uint8_t i;
while(1)
{
if (data_flag == 1)
{
//BLINK00; // Heh nasty error when it is here, if 'g' followed by newline comes, because it rewrites data here :D
if (data == 't')
{
T = DS_get(6);
GLCD_TextGoTo(0,0);
i = (uint8_t)(T>>8);
USART_Transmit_num(i);
GLCD_WriteChar(i/10 + '0');
GLCD_WriteChar(i%10 + '0');
USART_Transmit('.');
GLCD_WriteChar('.');
i = (uint8_t)(T);
USART_Transmit_num(i);
GLCD_WriteChar(i/10 + '0');
GLCD_WriteChar(i%10 + '0');
USART_Transmit('C');
GLCD_WriteChar('C');
USART_Transmit('\n');
}
if (data == 'g')
{
ADMUX = 0x00;
sbi(ADCSRA, ADSC);
while (qbi(ADCSRA, ADSC))
;
uint16_t val = ADC;
GLCD_TextGoTo(0,0);
}
data_flag=0;
}
}
