// Now create any global variables such as motors, servos, sensors etc
// This routine is called once only and allows you to do set up the hardware
// Dont use any 'clock' functions here - use 'delay' functions instead
void appInitHardware(void){
a2dSetPrescaler(ADC_PRESCALE_DIV128);
cyrf6936_Initialise_hard();
// Initialise SPI bus as master. (RF modules connected to hardware SPI)
spiBusInit(&bus, TRUE);
spiDeviceSelect(&cyrf_0, TRUE);
spiDeviceSelect(&cyrf_0, FALSE);
spiDeviceSelect(&cyrf_1, TRUE);
spiDeviceSelect(&cyrf_1, FALSE);
// set I/O pins for RF module(s).
pin_make_input(D4, FALSE); // set PACTL pin to input. (module on connector J1)
pin_make_input(D5, FALSE); // set PACTLn pin to input. (module on connector J1)
pin_make_input(D6, FALSE); // set PACTL pin to input. (module on connector J2)
pin_make_input(D7, FALSE); // set PACTLn pin to input. (module on connector J2)
#ifdef RF_MODULE_ARTAFLEX
//
pin_make_output(D4, FALSE); // set RXPA pin to output. (module on connector J1)
pin_make_output(D5, FALSE); // set TXPA pin to output. (module on connector J1)
pin_make_output(D6, FALSE); // set RXPA pin to output. (module on connector J2)
pin_make_output(D7, FALSE); // set TXPA pin to output. (module on connector J2)
#endif
pin_make_input(E7, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J1)
pin_make_input(E6, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J2)
pin_make_output(G3, FALSE); // set UNIGEN RF module RST pin to output. (both modules)
//pin_low(G3); // don't reset yet.
// set I/O pins for status LEDs
pin_make_output(C0, TRUE); // set LED pin for output
pin_make_output(C1, TRUE); // set LED pin for output
pin_make_output(C2, FALSE); // set LED pin for output
//pin_high(C0); // LED off
//pin_high(C1); // LED off
//pin_low(C2); // LED on
// Set UART1 to 19200 baud
uartInit(UART1, 38400);
// Tell rprintf to output to UART1
rprintfInit(&uart1SendByte);
// Initialise the servo controller using Hardware PWM
servoPWMInit(&bank1);
// Initialise WatchDog Timer
wdt_enable( WDTO_500MS );
}
static void sendCmd(SONY_PS2* controller, const uint8_t* data, size_t len){
for(int i=0; i<len; i++){
spiDeviceSendByte(controller,pgm_read_byte(&data[i]));
}
spiDeviceSelect(controller,FALSE); /* Deselect the device */
delay_ms(10);
}
boolean sonyPS2_read(SONY_PS2* controller){
boolean ok = FALSE;
// inferred
// spiDeviceSelect(controller,TRUE); /* Select the device */
// if(spiAbstractBusGetClock(spiDeviceGetBus(controller)) < SPI_CLOCK_DIV32 ){
// spiAbstractBusSetClock(spiDeviceGetBus(controller), SPI_CLOCK_DIV32);
// }
controller->previous = sonyPS2_buttonsRaw(controller);
spiDeviceSendByte(controller,0x01);
controller->mode = spiDeviceXferByte(controller,0x42);
controller->reply = spiDeviceReceiveByte(controller);
uint8_t numb = 0;
if(controller->reply == 0x5A ){
if(controller->mode == PS2_MODE_ANALOGUE_PRESSURE){
// read 2 bytes for buttons, 4 for joysticks, 12 for button pressures = 18
numb = 18;
}else if(controller->mode == PS2_MODE_ANALOGUE_RED){
// read 2 bytes for buttons, 4 for joysticks = 6
numb = 6;
}else if(controller->mode == PS2_MODE_DIGITAL){
// Read 2 bytes from controller for all 16 buttons
numb = 2;
}
if(numb!=0){
uint8_t i=0;
// If rumbling then send out the rumble settings
if(controller->rumble){
controller->buffer[i++] = spiDeviceXferByte(controller,(controller->rumbleRight) ? 1 : 0);
controller->buffer[i++] = spiDeviceXferByte(controller,controller->rumbleLeft);
}
while(i<numb){
controller->buffer[i++] = spiDeviceReceiveByte(controller);
}
ok = TRUE;
}
}
spiDeviceSelect(controller,FALSE); /* Deselect the device */
#ifdef DEBUG
PRINTF(DEBUG," %x %x",(unsigned)(controller->mode),(unsigned)(controller->reply) );
if(numb!=0){
for(uint8_t i=0; i<numb; i++){
PRINTF(DEBUG," %x",controller->buffer[i]);
}
}
PRINTF(DEBUG,"\n");
#endif
// Fill out the rest with the defaults
while(numb < sizeof(controller->buffer)){
controller->buffer[numb++] = pgm_read_byte(&reply[numb]);
}
return ok;
}
