/** Configures the board hardware and chip peripherals for the demo's functionality. */
void SetupHardware(void)
{
#if (ARCH == ARCH_AVR8)
/* Disable watchdog if enabled by bootloader/fuses */
MCUSR &= ~(1 << WDRF);
wdt_disable();
/* Disable clock division */
clock_prescale_set(clock_div_1);
#elif (ARCH == ARCH_XMEGA)
/* Start the PLL to multiply the 2MHz RC oscillator to 32MHz and switch the CPU core to run from it */
XMEGACLK_StartPLL(CLOCK_SRC_INT_RC2MHZ, 2000000, F_CPU);
XMEGACLK_SetCPUClockSource(CLOCK_SRC_PLL);
/* Start the 32MHz internal RC oscillator and start the DFLL to increase it to 48MHz using the USB SOF as a reference */
XMEGACLK_StartInternalOscillator(CLOCK_SRC_INT_RC32MHZ);
XMEGACLK_StartDFLL(CLOCK_SRC_INT_RC32MHZ, DFLL_REF_INT_USBSOF, F_USB);
PMIC.CTRL = PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
#endif
/* Hardware Initialization */
//i2c
TWI_Init(TWI_BIT_PRESCALE_1, TWI_BITLENGTH_FROM_FREQ(1, 400000));
//button ports init
buttons_init();
//timer init
TCCR1B |=(1<<CS10)|(1<<CS12);//prescaler 1024
TCNT1 = 0;//init counter
//screen setup - software spi, sh1106 driver (sh1306 analog)
/* Atmega32U4 mapping:
SCK (D0) - PORTB, PIN1 == PN(1, 1)
MOSI (D1) - PORTB, PIN2
RES (RST) - PORTB, PIN0
A0 (DC) - PORTB, PIN5 (OC1A/#A9)
*/
display_init();
display_draw_logo();
//sensors initialization
adxl345_init(MEASURE_ON, RANGE_2G, ODR_800);
l3g4200d_init(FIFO_HI_LO_PASS, NORM_ODR_800);
hmc5883l_init(MODE_CONT, GAIN_4_7, NORM_75HZ_8AV);
USB_Init();
}
void auto_init_l3g4200d(void)
{
assert(L3G4200D_NUM == L3G4200D_INFO_NUM);
for (unsigned int i = 0; i < L3G4200D_NUM; i++) {
LOG_DEBUG("[auto_init_saul] initializing l3g4200d #%u\n", i);
if (l3g4200d_init(&l3g4200d_devs[i], &l3g4200d_params[i]) < 0) {
LOG_ERROR("[auto_init_saul] error initializing l3g4200d #%u\n", i);
continue;
}
saul_entries[i].dev = &(l3g4200d_devs[i]);
saul_entries[i].name = l3g4200d_saul_info[i].name;
saul_entries[i].driver = &l3g4200d_saul_driver;
saul_reg_add(&(saul_entries[i]));
}
}
int main() {
usartInit(57600);
usartEnableReceiver();
usartEnableTransmitter();
usartStdio();
setBit(DDRB, M1_DIR);
setBit(DDRD, M1_PWM);
setBit(DDRD, M2_DIR);
setBit(DDRD, M2_PWM);
clrBit(PORTB, M1_DIR);
clrBit(PORTD, M1_PWM);
clrBit(PORTD, M2_PWM);
clrBit(PORTD, M2_DIR);
timer0FastPWMMaxMode();
timer0ClockPrescaller64();
timer0OC0ANonInvertedMode();
timer0OC0BNonInvertedMode();
timer0SetCompareAValue(0);
timer0SetCompareBValue(0);
timer0DeactivateCompareAInterrupt();
timer0DeactivateCompareBInterrupt();
timer2ClockPrescaller256();
timer2NormalMode();
timer2OC2AOff();
timer2OC2BOff();
timer2ActivateOverflowInterrupt();
i2c_init();
adxl345_init();
l3g4200d_init();
l3g4200d_setoffset(0.11, -1.71, -0.46);
//l3g4200d_settemperatureref();
PID_init(&PID, 15,0.2,1, 0);
PID_SetMode(&PID, 1);
PID_SetOutputLimits(&PID, -255, 255);
PID.mySetpoint = 0;
motor1(0);
motor2(0);
// printf("\e[1;1H\e[2J");
// printf("STARTED!\r\n");
// _delay_ms(200);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(-120);
// printf("Motor1 = -120\r\n");
// _delay_ms(500);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(0);
// printf("Motor1 = 0\r\n");
sei();
while(1);
return 0;
}
PROCESS_THREAD(default_app_process, ev, data)
{
PROCESS_BEGIN();
printf("Hello, world\n");
_delay_ms(100);
#if DEBUG
printf("Begin initialization:\n");
if (microSD_init() == 0) {
printf(":microSD OK\n");
microSD_switchoff();
} else {
printf(":microSD FAILURE\n");
}
if (adxl345_init() == 0) {
printf(":ADXL345 OK\n");
} else {
printf(":ADXL345 FAILURE\n");
}
if (at45db_init() == 0) {
printf(":AT45DBxx OK\n");
} else {
printf(":AT45DBxx FAILURE\n");
}
// if (bmp085_init() == 0) {
// printf(":BMP085 OK\n");
// } else {
// printf(":BMP085 FAILURE\n");
// }
// if (l3g4200d_init() == 0) {
// printf(":L3G4200D OK\n");
// } else {
// printf(":L3G4200D FAILURE\n");
// }
#else
adxl345_init();
microSD_switchoff();
at45db_init();
microSD_init();
bmp085_init();
l3g4200d_init();
#endif
adc_init(ADC_SINGLE_CONVERSION, ADC_REF_2560MV_INT);
etimer_set(&timer, CLOCK_SECOND * 0.05);
while (1) {
PROCESS_YIELD();
etimer_set(&timer, CLOCK_SECOND);
int16_t tmp;
/*############################################################*/
//ADXL345 serial Test
printf("X:%+6d | Y:%+6d | Z:%+6d\n",
adxl345_get_x_acceleration(),
adxl345_get_y_acceleration(),
adxl345_get_z_acceleration());
/*############################################################*/
//L3G4200d serial Test
printf("X:%+6d | Y:%+6d | Z:%+6d\n",
l3g4200d_get_x_angle(),
l3g4200d_get_y_angle(),
l3g4200d_get_z_angle());
printf("T1:%+3d\n", l3g4200d_get_temp());
/*############################################################*/
//BMP085 serial Test
printf("P:%+6ld\n", (uint32_t) bmp085_read_pressure(BMP085_HIGH_RESOLUTION));
printf("T2:%+3d\n", bmp085_read_temperature());
/*############################################################*/
//Power Monitoring
printf("V:%d\n", adc_get_value_from(PWR_MONITOR_ICC_ADC));
// tmp = adc_get_value_from(PWR_MONITOR_ICC_ADC);
//
// tmp = adc_get_value_from(PWR_MONITOR_VCC_ADC);
//
/*############################################################*/
//microSD Test
// uint8_t buffer[512];
// uint16_t j;
// microSD_init();
// for (j = 0; j < 512; j++) {
// buffer[j] = 'u';
// buffer[j + 1] = 'e';
// buffer[j + 2] = 'r';
// buffer[j + 3] = '\n';
//
// j = j + 3;
// }
//
// microSD_write_block(2, buffer);
//
// microSD_read_block(2, buffer);
//
// for (j = 0; j < 512; j++) {
// printf(buffer[j]);
// }
// microSD_deinit();
//
/*############################################################*/
//Flash Test
// uint8_t buffer[512];
// uint16_t j, i;
//
// for (i = 0; i < 10; i++) {
// //at45db_erase_page(i);
// for (j = 0; j < 512; j++) {
// buffer[j] = i;
// }
// at45db_write_buffer(0, buffer, 512);
//
// at45db_buffer_to_page(i);
//
// at45db_read_page_bypassed(i, 0, buffer, 512);
//
// for (j = 0; j < 512; j++) {
// printf("%02x", buffer[j]);
// if (((j + 1) % 2) == 0)
// printf(" ");
// if (((j + 1) % 32) == 0)
// printf("\n");
// }
// }
}
PROCESS_END();
}
