void auto_raw(void)
{
//while there is not a button pressed
while(!(UCSR0A & (1 << RXC0)))
{
//prints the raw vaues with a '$,' start and ',#' end
printf("$,");
printf("%d,", x_accel());
printf("%d,", y_accel());
printf("%d,", z_accel());
printf("%d,", x_gyro());
printf("%d,", y_gyro());
printf("%d,", z_gyro());
magnetometer();
printf("%d,", x_mag);
printf("%d,", y_mag);
printf("%d,", z_mag);
printf("#\n\r");
}
//if a button is pressed and that button is ctrl-z, reset autorun, display menu
if(uart_getchar() == 0x1A)
{
write_to_EEPROM(10,0);
config_menu();
}
auto_raw();
}
void config_read(void)
{
uint8_t choice=0;
if(read_from_EEPROM(10) != 48)
{
while(1)
{
choice = uart_getchar();
putchar('\n');
putchar('\r');
if(choice=='1')
{
while(!(UCSR0A & (1 << RXC0)))adxl345();
config_menu();
}
if(choice=='2')
{
while(!(UCSR0A & (1 << RXC0)))
{
hmc5843();
delay_ms(550);//at least 100ms interval between measurements
}
config_menu();
}
if(choice=='3')
{
while(!(UCSR0A & (1 << RXC0)))stgyros();
config_menu();
}
if(choice=='4')
{
while(!(UCSR0A & (1 << RXC0)))raw();
config_menu();
}
if(choice=='5')
{
self_test();
}
if(choice==0x1A) //if ctrl-z
{
write_to_EEPROM(10,48);
auto_raw();
}
if(choice==0x3F) //if ?
{
help();
config_menu();
}
}
}else auto_raw();
}
void auto_raw(void)
{
//while there is not a button pressed
while(!(UCSR0A & (1 << RXC0)))
{
raw();
}
//if a button is pressed and that button is ctrl-z, reset autorun, display menu
if(uart_getchar() == 0x1A)
{
write_to_EEPROM(1,0);
config_menu();
}
auto_raw();
}
void config_read(void)
{
uint8_t choice=0;
if(read_from_EEPROM(1) != 48)
{
while(1)
{
choice = uart_getchar();
putchar('\n');
putchar('\r');
if(choice=='1')
{
while(!(UCSR0A & (1 << RXC0)))print_adxl345();
config_menu();
}
else if(choice=='2')
{
while(!(UCSR0A & (1 << RXC0)))
{
print_hmc5883();
delay_ms(100);//at least 100ms interval between measurements
}
config_menu();
}
else if(choice=='3')
{
while(!(UCSR0A & (1 << RXC0)))print_itg3200();
config_menu();
}
else if(choice=='4')
{
while(!(UCSR0A & (1 << RXC0)))raw();
config_menu();
}
else if(choice=='5')
{
baud_menu();
config_menu();
}
else if(choice==0x10) //if ctrl-p
{
self_test();
}
else if(choice==0x1A) //if ctrl-z
{
write_to_EEPROM(1,48);
auto_raw();
}
else if(choice==0x3F) //if ?
{
help();
while(!(UCSR0A & (1 << RXC0)));
config_menu();
}
else if(choice==0xFF) config_read();
}
}else auto_raw();
}
void baud_menu(void)
{
printf("\n\rBaud Rate Select Menu\n\r");
printf("[1] 4800\n\r");
printf("[2] 9600\n\r");
printf("[3] 19200\n\r");
printf("[4] 38400\n\r");
printf("[5] 57600\n\r");
uint8_t choicer=0;
while(1)
{
choicer = uart_getchar();
putchar('\n');
putchar('\r');
if(choicer=='1') //4800
{
//outside of default flag: used to notify init not to run default baud value
write_to_EEPROM(2, 99);
//clear other EEPROM values
write_to_EEPROM(4, 0);
write_to_EEPROM(5, 0);
write_to_EEPROM(6, 0);
write_to_EEPROM(7, 0);
write_to_EEPROM(3, 4); //baud change flag
printf("!change baud rate to 4800bps, reset board!");
delay_ms(50);
UART_Init(207);
while(1);
}
else if(choicer=='2') //9600
{
write_to_EEPROM(2, 99); //outside of default flag
//clear other EEPROM values
write_to_EEPROM(3, 0);
write_to_EEPROM(5, 0);
write_to_EEPROM(6, 0);
write_to_EEPROM(7, 0);
write_to_EEPROM(4, 9); //baud change flag
printf("!change baud rate to 9600bps, reset board!");
delay_ms(50);
UART_Init(103);
while(1);
}
else if(choicer=='3') //19200
{
write_to_EEPROM(2, 99); //outside of default flag
//clear other EEPROM values
write_to_EEPROM(3, 0);
write_to_EEPROM(4, 0);
write_to_EEPROM(6, 0);
write_to_EEPROM(7, 0);
write_to_EEPROM(5, 19); //baud change flag
printf("!change baud rate to 19200bps, reset board!");
delay_ms(50);
UART_Init(51);
while(1);
}
else if(choicer=='4') //38400
{
write_to_EEPROM(2, 99); //outside of default flag
//clear other EEPROM values
write_to_EEPROM(3, 0);
write_to_EEPROM(4, 0);
write_to_EEPROM(5, 0);
write_to_EEPROM(7, 0);
write_to_EEPROM(6, 38); //baud change flag
printf("!change baud rate to 38400bps, reset board!");
delay_ms(50);
UART_Init(25);
while(1);
}
else if(choicer=='5') //57600
{
write_to_EEPROM(2, 99); //outside of default flag
//clear other EEPROM values
write_to_EEPROM(3, 0);
write_to_EEPROM(4, 0);
write_to_EEPROM(5, 0);
write_to_EEPROM(6, 0);
write_to_EEPROM(7, 57); //baud change flag
printf("!change baud rate to 57600bps, reset board!");
delay_ms(50);
UART_Init(16);
while(1);
}
else if((choicer < 0X31) || (choicer > 0x35))config_menu(); //if choice is not #s 1-5 goto conig menu
}
config_menu();
}
void set_byte( byte menu_num, byte submenu_num ) {
byte var_in_eeprom;
byte plus5 = 0;
char limitPilih = -1;
lcd_clear();
lcd_gotoxy(0, 0);
switch (menu_num) {
case 1: // PID
switch (submenu_num) {
case 1: // Kp
lcd_putsf("Set Kp : ");
var_in_eeprom = Kp;
break;
case 2: // Ki
lcd_putsf("Set Ki : ");
var_in_eeprom = Ki;
break;
case 3: // Kd
lcd_putsf("Set Kd : ");
var_in_eeprom = Kd;
break;
}
break;
case 2: // Speed
plus5 = 1;
switch (submenu_num) {
case 1: // MAX
lcd_putsf("Set MAX Speed : ");
var_in_eeprom = max_speed;
break;
case 2: // MIN
lcd_putsf("Set MIN Speed : ");
var_in_eeprom = min_speed;
break;
}
break;
}
while (sw_cancel) {
delay_ms(150);
lcd_gotoxy(0, 1);
lcd_please_display(var_in_eeprom);
if (!sw_ok) { // If switch OK is pressed
lcd_clear();
write_to_EEPROM( menu_num, submenu_num, var_in_eeprom );
goto exitSetByte;
}
if (!sw_down) { // If switch arrow-down is pressed
if ( plus5 ) {
if ( var_in_eeprom == 0 ) {
var_in_eeprom = 255;
} else {
var_in_eeprom -= 5;
}
} else {
if ( !limitPilih ) {
var_in_eeprom--;
} else {
if ( var_in_eeprom == 0 ) {
var_in_eeprom = limitPilih;
} else {
var_in_eeprom--;
}
}
}
}
if (!sw_up) { // If switch arrow-up is pressed
if ( plus5 ) {
if ( var_in_eeprom == 255 ) {
var_in_eeprom = 0;
} else {
var_in_eeprom += 5;
}
} else {
if ( !limitPilih ) {
var_in_eeprom++;
} else {
if ( var_in_eeprom == limitPilih ) {
var_in_eeprom = 0;
} else {
var_in_eeprom++;
}
}
}
}
}
exitSetByte:
delay_ms(100);
lcd_clear();
}
