void InitADC(void)
{
EALLOW;
//write configurations
AdcaRegs.ADCCTL2.bit.PRESCALE = 0X2; //set ADCCLK divider to /4
AdcbRegs.ADCCTL2.bit.PRESCALE = 0X2; //set ADCCLK divider to /4
AdccRegs.ADCCTL2.bit.PRESCALE = 0X2; //set ADCCLK divider to /4
AdcdRegs.ADCCTL2.bit.PRESCALE = 0X2; //set ADCCLK divider to /4
AdcSetMode(ADC_ADCA, ADC_RESOLUTION_12BIT, ADC_SIGNALMODE_SINGLE);
AdcSetMode(ADC_ADCB, ADC_RESOLUTION_12BIT, ADC_SIGNALMODE_SINGLE);
AdcSetMode(ADC_ADCC, ADC_RESOLUTION_12BIT, ADC_SIGNALMODE_SINGLE);
AdcSetMode(ADC_ADCD, ADC_RESOLUTION_12BIT, ADC_SIGNALMODE_SINGLE);
//Set pulse positions to late
AdcaRegs.ADCCTL1.bit.INTPULSEPOS = 1;
AdcbRegs.ADCCTL1.bit.INTPULSEPOS = 1;
AdccRegs.ADCCTL1.bit.INTPULSEPOS = 1;
AdcdRegs.ADCCTL1.bit.INTPULSEPOS = 1;
//power up the ADC
AdcaRegs.ADCCTL1.bit.ADCPWDNZ = 1;
AdcbRegs.ADCCTL1.bit.ADCPWDNZ = 1;
AdccRegs.ADCCTL1.bit.ADCPWDNZ = 1;
AdcdRegs.ADCCTL1.bit.ADCPWDNZ = 1;
//delay for 1ms to allow ADC time to power up
DELAY_US(1000);
EDIS;
SetupADC();
}
int main ( void )
{
fun_queue = queueInit(FUN_Q_LEN);
rx_pay_queue = pqInit(12); //replace 12 with a #define const later
test_function tf;
/* Initialization */
SetupClock();
SwitchClocks();
SetupPorts();
SetupInterrupts();
SetupI2C();
SetupADC();
SetupTimer1();
SetupPWM();
SetupTimer2();
gyroSetup();
xlSetup();
dfmemSetup();
WordVal pan_id = {RADIO_PAN_ID};
WordVal src_addr = {RADIO_SRC_ADDR};
WordVal dest_addr = {RADIO_DEST_ADDR};
radioInit(src_addr, pan_id, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetDestAddr(dest_addr);
radioSetChannel(RADIO_MY_CHAN);
char j;
for(j=0; j<3; j++){
LED_2 = ON;
delay_ms(500);
LED_2 = OFF;
delay_ms(500);
}
LED_2 = ON;
EnableIntT2;
while(1){
while(!queueIsEmpty(fun_queue))
{
rx_payload = pqPop(rx_pay_queue);
tf = (test_function)queuePop(fun_queue);
(*tf)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload));
payDelete(rx_payload);
}
}
return 0;
}
void initialize( void )
{
CPU_PRESCALE(0);
USART_Init(BAUD_RATE);
USART_Transmit('\f'); // Send form feed to clear the terminal.
USART_SendString("WunderBoard initializing...\r\n");
USART_SendString("\tSetting ADC prescaler and disabling free running mode...\r\n");
SetupADC(ADC_PRESCALER_32, FALSE);
USART_SendString("\tEnabling ADC...\r\n");
ADCEnable();
USART_SendString("\tSetting ADC reference to Vcc...\r\n");
ADCSetReference(ADC_REF_VCC);
// Configure IO //
USART_SendString("\tConfiguring IO...\r\n");
//DDRx corresponds to PORTx/PINx, dependng on direction of data flow -- PORT for output, PIN for input
DDRA = 0x00; // Buttons and switches
DDRB = 0xE7; // Red enable, green enable and audio out
DDRC = 0xff; // Discrete LEDs
DDRE = 0x47; // LED Column
DDRF = 0x00; // Accelerometer
// Disable pullups and set outputs low //
PORTA = 0x00;
PORTB = 0x01;
PORTC = 0x81;
PORTE = 0x00;
PORTF = 0x00;
//Set OC1A to toggle
TCCR1A = 0b01000000;
// Clk/64 and CTC mode
TCCR1B = 0b00001011;
OCR1A = 24;
USART_SendString("\tSetting SPI\r\n");
//Set the SPI bus appropriately to use the LED array
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}
int main (void)
{
unsigned int i;
/* Initialization */
SetupClock();
SetupPorts();
batSetup();
cmdSetup();
mcSetup();
SetupADC();
SwitchClocks();
sclockSetup();
radioInit(TXPQ_MAX_SIZE, RXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN);
radioSetSrcPanID(PAN_ID);
radioSetSrcAddr(SRC_ADDR);
dfmemSetup();
camSetup();
cambuffSetup();
gyroSetup();
cmdResetSettings();
for (i = 0; i < 6; i++)
{
LED_GREEN = ~LED_GREEN; delay_ms(50);
LED_RED = ~LED_RED; delay_ms(50);
LED_ORANGE = ~LED_ORANGE; delay_ms(50);
}
LED_GREEN = 0; LED_RED = 0; LED_ORANGE = 0;
/* Program */
while (1)
{
cmdHandleRadioRxBuffer();
radioProcess();
}
}
