void setup(){
setupBLE();
setupSensor();
startingAltitude = ps.pressureToAltitudeMeters(ps.readPressureMillibars());
//consider calibrating sensor
//successful start up LED sequence
gled = 1; bled = 0;
wait(0.4);
gled = 0; bled = 1;
wait(0.4);
gled = 1; bled = 0;
wait(0.4);
gled = 1; bled = 1;
}
// +++++++++++++++++++++++++ main loop +++++++++++++++++++++++++++++++++++++++++++
void setup()
{
// init
nh.initNode();
// setup
setupMotor();
setupSensor();
setupServo();
// advertise
nh.advertise(pub_sensor_tracks);
nh.advertise(pub_range);
// subscribe
nh.subscribe(subscriberServo);
nh.subscribe(motor_sub);
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
SYSTEM_ChipRevision_TypeDef revision;
char string[8];
int i;
uint32_t temp;
/* Chip revision alignment and errata fixes */
CHIP_Init();
/* Initialize DVK board register access */
BSP_Init(BSP_INIT_DEFAULT);
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
CMU_ClockEnable(cmuClock_HFPER, true);
CMU_ClockEnable(cmuClock_ADC0, true);
CMU_ClockEnable(cmuClock_GPIO, true);
/* Initialize LCD controller without boost */
SegmentLCD_Init(false);
SegmentLCD_AllOff();
/* Check for revision after revision B. Chips with revision earlier than */
/* Revision C has known problems with the internal temperature sensor. */
/* Display a warning in this case */
SYSTEM_ChipRevisionGet(&revision);
if (revision.minor < 2)
{
SegmentLCD_Write("WARNING");
RTCDRV_Trigger(2000, NULL);
EMU_EnterEM2(true);
SegmentLCD_Write("REV C+");
RTCDRV_Trigger(2000, NULL);
EMU_EnterEM2(true);
SegmentLCD_Write("REQUIRD");
RTCDRV_Trigger(2000, NULL);
EMU_EnterEM2(true);
}
/* Enable board control interrupts */
BSP_InterruptDisable(0xffff);
BSP_InterruptFlagsClear(0xffff);
BSP_InterruptEnable(BC_INTEN_JOYSTICK);
temperatureIRQInit();
/* Setup ADC for sampling internal temperature sensor. */
setupSensor();
/* Main loop - just read temperature and update LCD */
while (1)
{
/* Start one ADC sample */
ADC_Start(ADC0, adcStartSingle);
/* Wait in EM1 for ADC to complete */
EMU_EnterEM1();
/* Read sensor value */
temp = ADC_DataSingleGet(ADC0);
/* Convert ADC sample to Fahrenheit / Celsius and print string to display */
if (showFahrenheit)
{
/* Show Fahrenheit on alphanumeric part of display */
i = (int)(convertToFahrenheit(temp) * 10);
snprintf(string, 8, "%2d,%1d%%F", (i/10), i%10);
/* Show Celsius on numeric part of display */
i = (int)(convertToCelsius(temp) * 10);
SegmentLCD_Number(i*10);
SegmentLCD_Symbol(LCD_SYMBOL_DP10, 1);
}
else
{
/* Show Celsius on alphanumeric part of display */
i = (int)(convertToCelsius(temp) * 10);
snprintf(string, 8, "%2d,%1d%%C", (i/10), i%10);
/* Show Fahrenheit on numeric part of display */
i = (int)(convertToFahrenheit(temp) * 10);
SegmentLCD_Number(i*10);
SegmentLCD_Symbol(LCD_SYMBOL_DP10, 1);
}
SegmentLCD_Write(string);
/* Sleep for 2 seconds in EM 2 */
RTCDRV_Trigger(2000, NULL);
EMU_EnterEM2(true);
}
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
uint8_t prod_rev;
uint32_t temp;
uint32_t temp_offset;
float temperature;
/* Initialize DK board register access */
BSP_Init(BSP_INIT_DEFAULT);
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
/* Initialize the TFT stdio retarget module. */
RETARGET_TftInit();
printf("\nEFM32 onchip temperature sensor example\n\n");
CMU_ClockEnable(cmuClock_HFPER, true);
CMU_ClockEnable(cmuClock_ADC0, true);
CMU_ClockEnable(cmuClock_GPIO, true);
/* Enable board control interrupts */
BSP_InterruptDisable(0xffff);
BSP_InterruptFlagsClear(0xffff);
BSP_InterruptEnable(BC_INTEN_JOYSTICK);
temperatureIRQInit();
/* This is a work around for Chip Rev.D Errata, Revision 0.6. */
/* Check for product revision 16 and 17 and set the offset */
/* for ADC0_TEMP_0_READ_1V25. */
prod_rev = (DEVINFO->PART & _DEVINFO_PART_PROD_REV_MASK) >> _DEVINFO_PART_PROD_REV_SHIFT;
if( (prod_rev == 16) || (prod_rev == 17) )
{
temp_offset = 112;
}
else
{
temp_offset = 0;
}
/* Setup ADC for sampling internal temperature sensor. */
setupSensor();
/* Main loop - just read temperature and update LCD */
while (1)
{
/* Start one ADC sample */
ADC_Start(ADC0, adcStartSingle);
/* Wait in EM1 for ADC to complete */
EMU_EnterEM1();
/* Read sensor value */
/* According to rev. D errata ADC0_TEMP_0_READ_1V25 should be decreased */
/* by the offset but it is the same if ADC reading is increased - */
/* reference manual 28.3.4.2. */
temp = ADC_DataSingleGet(ADC0) + temp_offset;
/* Convert ADC sample to Fahrenheit / Celsius and print string to display */
if (showFahrenheit)
{
temperature = convertToFahrenheit(temp);
}
else
{
temperature = convertToCelsius(temp);
}
printf("%d.%d %c\n",
(int) temperature, (int)(10*(temperature-(int)temperature)),
showFahrenheit? 'F' : 'C');
/* Sleep for 2 seconds in EM 2 */
RTCDRV_Trigger(2000, NULL);
EMU_EnterEM2(true);
}
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
uint8_t prod_rev;
char string[8];
int i;
uint32_t temp;
uint32_t temp_offset;
/* Chip errata */
CHIP_Init();
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
/* Enable peripheral clocks */
CMU_ClockEnable(cmuClock_HFPER, true);
CMU_ClockEnable(cmuClock_ADC0, true);
/* Initialize RTC timer. */
RTCDRV_Init();
RTCDRV_AllocateTimer( &xTimerForWakeUp);
/* Initialize LCD controller without boost */
SegmentLCD_Init(false);
SegmentLCD_AllOff();
/* This is a work around for Chip Rev.D Errata, Revision 0.6. */
/* Check for product revision 16 and 17 and set the offset */
/* for ADC0_TEMP_0_READ_1V25. */
prod_rev = (DEVINFO->PART & _DEVINFO_PART_PROD_REV_MASK) >> _DEVINFO_PART_PROD_REV_SHIFT;
if( (prod_rev == 16) || (prod_rev == 17) )
{
temp_offset = 112;
}
else
{
temp_offset = 0;
}
/* Enable board control interrupts */
gpioSetup();
/* Setup ADC for sampling internal temperature sensor. */
setupSensor();
/* Main loop - just read temperature and update LCD */
while (1)
{
/* Start one ADC sample */
ADC_Start(ADC0, adcStartSingle);
/* Wait in EM1 for ADC to complete */
EMU_EnterEM1();
/* Read sensor value */
/* According to rev. D errata ADC0_TEMP_0_READ_1V25 should be decreased */
/* by the offset but it is the same if ADC reading is increased - */
/* reference manual 28.3.4.2. */
temp = ADC_DataSingleGet(ADC0) + temp_offset;
/* Convert ADC sample to Fahrenheit / Celsius and print string to display */
if (showFahrenheit)
{
/* Show Fahrenheit on alphanumeric part of display */
i = (int)(convertToFahrenheit(temp) * 10);
snprintf(string, 8, "%2d,%1d%%F", (i/10), abs(i%10));
/* Show Celsius on numeric part of display */
i = (int)(convertToCelsius(temp) * 10);
SegmentLCD_Number(i*10);
SegmentLCD_Symbol(LCD_SYMBOL_DP10, 1);
SegmentLCD_Symbol(LCD_SYMBOL_DEGC, 1);
SegmentLCD_Symbol(LCD_SYMBOL_DEGF, 0);
}
else
{
/* Show Celsius on alphanumeric part of display */
i = (int)(convertToCelsius(temp) * 10);
snprintf(string, 8, "%2d,%1d%%C", (i/10), abs(i%10));
/* Show Fahrenheit on numeric part of display */
i = (int)(convertToFahrenheit(temp) * 10);
SegmentLCD_Number(i*10);
SegmentLCD_Symbol(LCD_SYMBOL_DP10, 1);
SegmentLCD_Symbol(LCD_SYMBOL_DEGC, 0);
SegmentLCD_Symbol(LCD_SYMBOL_DEGF, 1);
}
SegmentLCD_Write(string);
/* Sleep for 2 seconds in EM 2 */
RTCDRV_StartTimer( xTimerForWakeUp, rtcdrvTimerTypeOneshot, 2000, NULL, NULL);
EMU_EnterEM2(true);
}
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
unsigned char pucMACArray[8];
uint32_t temp;
/* Chip revision alignment and errata fixes */
CHIP_Init();
/* Ensure core frequency has been updated */
SystemCoreClockUpdate();
CMU_ClockEnable(cmuClock_ADC0, true);
/* Setup SysTick Timer for 1 msec interrupts */
if (SysTick_Config(SystemCoreClock / 1000)) while (1) ;
/* Setup ADC for sampling internal temperature sensor. */
setupSensor();
/* Spi init*/
spiInit();
#if LWIP_DHCP
/* Initialze the lwIP library, using DHCP.*/
lwIPInit(pucMACArray, 0, 0, 0, IPADDR_USE_DHCP);
#else
/* Initialze the lwIP library, using Static IP.*/
lwIPInit(pucMACArray, IPADDR(192, 168, 79, 160), IPADDR(255, 255, 255, 0), \
IPADDR(192, 168, 79, 1), IPADDR_USE_STATIC);
#endif
/* Initialize a sample httpd server.*/
httpd_init();
/* Start one ADC sample */
ADC_Start(ADC0, adcStartSingle);
/* Enable board control interrupts */
gpioSetup();
axspi_write_reg(~IMR_RXPKT, P0_IMR);
/* Start LCD without boost */
SegmentLCD_Init(false);
CMU_ClockEnable(cmuClock_RTC, true);
/* RTC configuration structure */
RTC_Init_TypeDef rtcInit = {
.enable = false,
.debugRun = false,
.comp0Top = true
};
/* Initialize RTC */
RTC_Init(&rtcInit);
/* Set COMP0 value which will be the top value as well */
RTC_CompareSet(RTC_COMP, RTC_COMP_VALUE);
/* Clear all pending interrupts */
RTC_IntClear(0x7);
/* Enable COMP0 interrupts */
RTC_IntEnable(0x2);
/* Enable interrupts */
NVIC_ClearPendingIRQ(RTC_IRQn);
NVIC_EnableIRQ(RTC_IRQn);
RTC_Enable(true);
while (1)
{
/* check temperature flag*/
if (read_temperature)
{
temp = ADC_DataSingleGet(ADC0);
/* Show Celsius on numeric part of display */
temperature = (int)(convertToCelsius(temp));
/* Start a new conversion */
ADC_Start(ADC0, adcStartSingle);
/* Reset temperature flag */
read_temperature = 0;
}
if (updateIpFlag)
{
switch (ip_field)
{
case 1:
{
SegmentLCD_Write(IP_ADDR_FIRST_TEXT);
SegmentLCD_Number(IP_ADDR_FIRST_NUM(lwip_netif.ip_addr.addr));
ip_field++;
}
break;
case 2:
{
SegmentLCD_Write(IP_ADDR_SECOND_TEXT);
SegmentLCD_Number(IP_ADDR_SECOND_NUM(lwip_netif.ip_addr.addr));
ip_field++;
}
break;
case 3:
{
SegmentLCD_Write(IP_ADDR_THIRD_TEXT);
SegmentLCD_Number(IP_ADDR_THIRD_NUM(lwip_netif.ip_addr.addr));
ip_field++;
}
break;
case 4:
{
SegmentLCD_Write(IP_ADDR_FOURTH_TEXT);
SegmentLCD_Number(IP_ADDR_FOURTH_NUM(lwip_netif.ip_addr.addr));
ip_field = 1;
}
break;
default: break;
}
updateIpFlag = false;
}
}
}
