main ()
{
static int enable,stopUpdate,updatecomplete;
auto int loop,keyPress;
static byte init,input;
static CoData BarGraph;
//Set all the Channels Structures to a default state
// Enabled, 0 to 10Vdc range.
for (loop = 0 ; loop < 8 ; loop++)
{
AnaSetting[loop].In = loop;
AnaSetting[loop].GainMode = 1;
AnaSetting[loop].Enable = 1;
}
updatecomplete = 0;
stopUpdate = 1;
brdInit(); // Initialize the Controller
glInit(); // Initialize the LCD
keyInit(); // Initialize the Keypad
keypadDef(); // Setup the Keypad Default Values
LastContrast = 24; // Setup the Inital Contrast Setting
// Turn on the Backlight
glBackLight(1);
// Set the Contrast
glSetContrast(LastContrast);
// Setup the Fonts used in this sample
glXFontInit(&fi6x8, 6, 8, 32, 255, Font6x8);
glXFontInit(&fi8x10, 8, 10, 32, 127, Font8x10);
glXFontInit(&fi10x16, 10, 16, 32, 127, Font10x16);
glXFontInit(&fi17x35, 17,35,0x20,0xFF, Font17x35);
// Setup the Menus
glMenuInit( &MenuStart, &fi10x16, DOUBLE_LINE, SHADOW,startMenu,
" START MENU ", -1 );
glMenuInit( &MenuSysSetup, &fi10x16, DOUBLE_LINE, SHADOW,systemSetup,
" SYSTEM SETUP ", -1 );
glMenuInit( &MenuAnaSetup, &fi10x16, DOUBLE_LINE, SHADOW,analogSetup,
" ANALOG SETUP ", 5 );
glMenuInit( &MenuAdjContrast, &fi10x16, DOUBLE_LINE, SHADOW,adjContrast,
" CONSTRAST ADJUST ", -1 );
glMenuInit( &MenuRangeSel, &fi10x16, DOUBLE_LINE, SHADOW,rangeSelect,
" RANGE SELECT ", 5 );
glMenuInit( &MenuAnaSet2, &fi10x16, DOUBLE_LINE, SHADOW,analogSet2,
" ANALOG SETUP2 ", -1 );
input = 0;
init = 1;
for (;;)
{
// Check for any keypresses
keyProcess();
// This costate displays the Initial screen, and Starts the
// Bargraphing demo
costate
{
waitfor (init);
waitfor ( bgMainScreen () );
init = 0;
input = 0;
waitfor ( bgBarSet(&fi8x10) );
stopUpdate = 0;
CoBegin( &BarGraph );
}
// This costate checks for the 'S' key to be pressed
// (key just below the label 'CONFIG DEMO')
costate
{
waitfor ( ( keyPress = keyGet() )== 'S' );
stopUpdate = 1;
waitfor (updatecomplete);
CoReset( &BarGraph );
waitfor ( bgMenuStart() );
init = 1;
}
// This costate displays the Bargraphs
costate BarGraph
{
waitfor(!stopUpdate);
waitfor(IntervalMs(350));
updatecomplete = 0;
glBuffLock();
input = 0;
while (input <= 7)
{
if ( AnaSetting[input].Enable )
{
waitfor ( bgBarGraph ( &AnaSetting[ input ],
&fi8x10 ) );
}
input++;
waitfor (DelayMs(1));
}
glBuffUnlock();
updatecomplete = 1;
CoBegin( &BarGraph );
}
}
}
main()
{
auto int i, ch;
auto char buffer[64]; //buffer used for serial data
auto int sw1, sw2, led1, led2;
static const char string1[] = {"This message has been Rcv'd from serial port E !!!\n\n\r"};
static const char string2[] = {"This message has been Rcv'd from serial port C !!!\n\n\r"};
//---------------------------------------------------------------------
// Initialize the controller
//---------------------------------------------------------------------
brdInit(); //initialize board for this demo
BitWrPortI(PEDR, &PEDRShadow, 0, 5); //set low to enable rs232 device
led1=led2=1; //initialize led to off value
sw1=sw2=0; //initialize switch to false value
// Initialize serial port E, set baud rate to 19200
serEopen(19200);
serEwrFlush();
serErdFlush();
// Initialize serial port C, set baud rate to 19200
serCopen(19200);
serCwrFlush();
serCrdFlush();
// Clear data buffer
memset(buffer, 0x00, sizeof(buffer));
printf("\nStart of Sample Program!!!\n\n\n\r");
//---------------------------------------------------------------------
// Do continuous loop transmitting data between serial ports E and C
//---------------------------------------------------------------------
for(;;)
{
costate
{
if (pbRdSwitch(S1)) //wait for switch S1 press
abort;
waitfor(DelayMs(50));
if (pbRdSwitch(S1)) //wait for switch release
{
sw1=!sw1;
abort;
}
}
costate
{
if (pbRdSwitch(S2)) //wait for switch S2 press
abort;
waitfor(DelayMs(50));
if (pbRdSwitch(S2)) //wait for switch release
{
sw2=!sw2;
abort;
}
}
costate
{ // toggle DS1 upon valid S1 press/release
if (sw1)
{
pbWrLed(DS1, ON); //turn on DS1 led
sw1=!sw1;
// Transmit an ascii string from serial port C to serial port E
memcpy(buffer, string2, strlen(string2));
serCputs(buffer);
memset(buffer, 0x00, sizeof(buffer));
// Get the data string that was transmitted by port C
i = 0;
while((ch = serEgetc()) != '\r')
{
// Copy only valid RCV'd characters to the buffer
if(ch != -1)
{
buffer[i++] = ch;
}
}
buffer[i++] = ch; //copy '\r' to the data buffer
buffer[i] = '\0'; //terminate the ascii string
// Display ascii string received from serial port C
printf("%s", buffer);
// Clear buffer
memset(buffer, 0x00, sizeof(buffer));
pbWrLed(DS1, OFF); //turn off DS1
}
}
costate
{ // toggle DS2 upon valid S2 press/release
if (sw2)
{
pbWrLed(DS2, ON); //turn on DS2 led
sw2=!sw2;
// Transmit an ascii string from serial port E to serial port C
memcpy(buffer, string1, strlen(string1));
serEputs(buffer);
memset(buffer, 0x00, sizeof(buffer));
// Get the data string that was transmitted by serial port E
i = 0;
while((ch = serCgetc()) != '\r')
{
// Copy only valid RCV'd characters to the buffer
if(ch != -1)
{
buffer[i++] = ch;
}
}
buffer[i++] = ch; //copy '\r' to the data buffer
buffer[i] = '\0'; //terminate the ascii string
// Display ascii string received from serial port E
printf("%s", buffer);
pbWrLed(DS2, OFF); //turn off DS2
} //endif
} //endcostate
} //endfor
}
main()
{
auto char s[128];
auto char display[128];
auto char channels[8];
auto int output_status, channel;
auto int output_level;
auto unsigned int outputChannel;
// Initialize I/O pins
brdInit();
// Display user instructions and channel headings
DispStr(8, 2, "<<< Proto-board LED's >>>");
DispStr(8, 4, "DS2\tDS3");
DispStr(8, 5, "-----\t-----");
DispStr(8, 10, "From PC keyboard:");
DispStr(8, 21, "< Press 'Q' To Quit >");
for(channel = DS2; channel <=DS3 ; channel++)
{
channels[channel] = 1; // Indicate output is OFF
pbLedOut(channel, 1);
}
// Loop until user presses the upper/lower case "Q" key
for(;;)
{
// Update high current outputs
display[0] = '\0'; //initialize for strcat function
for(channel = DS2; channel <= DS3; channel++) //output to DS2 and DS3 only
{
output_level = channels[channel]; //output logic level to channel
pbLedOut(channel, output_level);
sprintf(s, "%s\t", output_level?"OFF":"ON "); //format logic level for display
strcat(display,s); //add to display string
}
DispStr(8, 6, display); //update output status
// Wait for user to make output channel selection or exit program
sprintf(display, "Select 2=DS2 or 3=DS3 to toggle LED's");
DispStr(8, 12, display);
do
{
channel = getchar();
if (channel == 'Q' || channel == 'q') // check if it's the q or Q key
{
exit(0);
}
channel = channel - 0x30; // convert ascii to integer
} while (!((channel >= DS2) && (channel <= DS3)));
// Display the channel that the user has selected
sprintf(display, "Selected DS%d to toggle ", channel);
DispStr(8, 12, display);
// Wait for user to select logic level or exit program
sprintf(display, "Select 1=OFF or 0=ON");
DispStr(8, 13, display);
do
{
output_level = getchar();
if (output_level == 'Q' || output_level == 'q') // check if it's the q or Q key
{
exit(0);
}
output_level = output_level - 0x30;
} while (!((output_level >= 0) && (output_level <= 1)));
sprintf(display, "Selected %s ", output_level?"OFF":"ON ");
DispStr(8, 13, display);
channels[channel] = output_level;
// Clear channel and logic level selection prompts
DispStr(8, 12, " ");
DispStr(8, 13, " ");
}
}
void main ()
{
auto long average;
auto unsigned int rawdata;
auto int channel, gaincode;
auto int key, i;
auto float voltage, cal_voltage;
auto char buffer[64];
brdInit();
while(1)
{
DispStr(1, 1,"!!!Caution this will overwrite the calibration constants set at the factory.");
DispStr(1, 2,"Do you want to continue(Y/N)?");
while(!kbhit());
key = getchar();
if(key == 'Y' || key == 'y')
{
break;
}
else if(key == 'N' || key == 'n')
{
exit(0);
}
}
while (1)
{
printrange();
printf("\nChoose gain code .... ");
do
{
gaincode = getchar();
} while (!( (gaincode >= '0') && (gaincode <= '7')) );
gaincode = gaincode - 0x30;
printf("%d", gaincode);
while(kbhit()) getchar();
cal_voltage = .1*vmax[gaincode];
printf("\nAdjust to approx. %.4f and then enter actual voltage = ", cal_voltage);
gets(buffer);
for (channel=STARTCHAN; channel<=ENDCHAN; channel++)
{
ln[channel].volts1 = atof(buffer);
average = 0;
for(i=0; i<10; i++)
average += anaIn(channel, SE_MODE, gaincode);
ln[channel].value1 = (int)average/10;
printf("lo: channel=%d raw=%d\n", channel, ln[channel].value1);
}
while(kbhit()) getchar();
cal_voltage = .9*vmax[gaincode];
printf("\nAdjust to approx. %.4f and then enter actual voltage = ", cal_voltage);
gets(buffer);
for (channel=STARTCHAN; channel<=ENDCHAN; channel++)
{
ln[channel].volts2 = atof(buffer);
average = 0;
for(i=0; i<10; i++)
average += anaIn(channel, SE_MODE, gaincode);
ln[channel].value2 = (int)average/10;
printf("hi: channel=%d raw=%d\n", channel, ln[channel].value2);
}
while(kbhit()) getchar();
for (channel=STARTCHAN; channel<=ENDCHAN; channel++)
{
anaInCalib(channel, SE_MODE, gaincode, ln[channel].value1, ln[channel].volts1,
ln[channel].value2, ln[channel].volts2);
}
printf("\nstore constants to flash\n");
for (channel=STARTCHAN; channel<=ENDCHAN; channel++)
{
anaInEEWr(channel, SE_MODE, gaincode); //store all channels
}
printf("\nread back constants\n");
anaInEERd(ALL_CHANNELS, SE_MODE, gaincode); //read all channels
printf("\nVary voltage within the range selected\n");
do
{
for (channel=STARTCHAN; channel<=ENDCHAN; channel++)
{
voltage = anaInVolts(channel, gaincode);
printf("Ch %2d Volt=%.5f \n", channel, voltage);
}
printf("Press ENTER key to read values again or 'Q' to calibrate another gain\n\n");
while(!kbhit());
key = getchar();
while(kbhit()) getchar();
}while(key != 'q' && key != 'Q');
}
}
void main (void)
{
unsigned int aFreq, aAmp, wKey, akey, validkey;
brdInit(); // initialize board, keypad, display
keypadDef(); // set keypad to default layout
dispContrast(BCONTRAST); // adjust contrast
dispBacklight(1); // turn on backlight
dispGoto(0,0);
dispPrintf ("1-4 for volume" );
dispGoto(0,1);
dispPrintf ("'5' inc, '0' dec" );
aFreq = LOFREQ;
aAmp = 0;
wKey=akey='0';
validkey = 1;
dispGoto(0,2);
dispPrintf("Vol level %c", wKey);
dispGoto(0,3);
dispPrintf("Frequency %d", aFreq);
for (;;) {
costate { // Process Keypad Press/Hold/Release
keyProcess ();
waitfor ( DelayMs(10) );
}
costate { // Process Keypad Press/Hold/Release
waitfor ( wKey = keyGet() ); // Wait for Keypress
switch ( wKey) {
case '1':
aAmp = 0; // no volume
akey=wKey;
break;
case '2':
aAmp = 2; // level 1
akey=wKey;
break;
case '3':
aAmp = 1; // level 2
akey=wKey;
break;
case '4':
aAmp = 3; // level 3
akey=wKey;
break;
case '5':
if (aFreq < HIFREQ)
aFreq+=STEP; // increase frequency
break;
case '0':
if (aFreq > LOFREQ)
aFreq-=STEP; // decrease frequency
break;
default:
validkey = 0;
break;
}
if (validkey) {
dispGoto(10,2);
dispPrintf("%c ", akey);
dispGoto(10,3);
dispPrintf("%d ", aFreq);
spkrOut (aFreq, aAmp ); // output to speaker
}
else
validkey=1;
}
}
}
//***************************************************************************
// Mainline
//***************************************************************************
void main ( void )
{
auto char entry[256];
auto int wKey, i, loop;
auto int helpMenuDone;
//------------------------------------------------------------------------
// Board and drivers initialization
//------------------------------------------------------------------------
brdInit(); // Required for all controllers
dispInit(); // Graphic driver initialization, Start-up the keypad driver
keypadDef(); // Set keys to the default driver configuration
//------------------------------------------------------------------------
// Font initialization
//------------------------------------------------------------------------
// Initialize structures with FONT bitmap information
glXFontInit(&fi6x8, 6, 8, 32, 127, Font6x8); // initialize basic font
//------------------------------------------------------------------------
// Text window initialization
//------------------------------------------------------------------------
// Setup the widow frame to be the entire LCD to display information
TextWindowFrame(&textWindow1, &fi6x8, 0, 0, 122, 32);
TextWindowFrame(&textWindow2, &fi6x8, 0, 24, 122, 8);
//------------------------------------------------------------------------
// Main loop for the user to create messages from the keypad
//------------------------------------------------------------------------
while(1)
{
// Display user prompt for the message menu
glBlankScreen();
TextGotoXY(&textWindow1, 0, 0);
TextPrintf(&textWindow1, "Press + to create a message...\n");
// Wait for ENTER key to be pressed
do
{
keyProcess();
wKey = keyGet();
} while(wKey != '+');
// Go to the message menu
glBlankScreen();
memset(entry,0,sizeof(entry));
enter_chars(entry);
// Display the message the user typed
glBlankScreen();
TextGotoXY(&textWindow1, 0, 0);
TextPrintf(&textWindow1, "Typed...%s", entry);
// Wait for user to press any key to startover
TextGotoXY(&textWindow1, 0, 3);
TextPrintf(&textWindow1, "ENTER to Continue");
do
{
keyProcess();
wKey = keyGet();
} while(wKey == 0);
}
}
/////////////////////////////////////////////////////////////////////
// Retrieve analog calibration data and rewrite to the flash
/////////////////////////////////////////////////////////////////////
void main()
{
auto unsigned long fileptr, tempPtr, xmemPtr, index;
auto unsigned long len;
auto int i;
auto char serialNumber[64];
//------------------------------------------------------------------------
// Initialize the Controller
//------------------------------------------------------------------------
brdInit();
BitWrPortI(PEDR, &PEDRShadow, 0, 5); //set low to enable rs232 device
seropen(BAUDRATE); //set baud rates for the serial ports to be used
serwrFlush(); //clear Rx and Tx data buffers
serrdFlush();
//------------------------------------------------------------------------
// Allocate and Clear XMEM
//------------------------------------------------------------------------
// Allocate XMEM memory for the file that will be read in from the PC
xmemPtr = xalloc(FILEBUFSIZE);
// Clear the buffer in XMEM
for(index =0; index < FILEBUFSIZE; index++)
{
root2xmem(xmemPtr + index, "\x00", 1);
}
//------------------------------------------------------------------------
// Download the Data File from the PC
//------------------------------------------------------------------------
sprintf(string, "\r\nWaiting...Please Send Data file\n\r");
serwrite(string, strlen(string));
// Get the calibration data file from the PC and put it into XMEM
if(!(len = getfile(xmemPtr)))
{
caldata_error(string, "\r\n\nEncounter an error while reading calibration file");
exit(1);
}
fileptr = xmemPtr;
sprintf(string, "\r\n\nDownload Complete\n\n\r");
serwrite(string, strlen(string));
//------------------------------------------------------------------------
// Parse data file and write to calibrations to flash
//------------------------------------------------------------------------
sprintf(string, "\r\nParsing data file\n\r");
serwrite(string, strlen(string));
tempPtr = find_tag(fileptr, len);
sprintf(string, "\r\n\nExiting....Calibration data successfully written\n\n\r");
serwrite(string, strlen(string));
while (serwrFree() != OUTBUFSIZE);
while((RdPortI(SXSR)&0x08) || (RdPortI(SXSR)&0x04));
serclose();
}
void main()
{
auto int i, ch;
auto char buffer[64]; //buffer used for serial data
static const char string1[] = "Rcv'd data on serial port C from serial port B\n\r";
static const char string2[] = "Rcv'd data on serial port B from serial Port C\n\r";
brdInit(); //required for BL2000 series boards
// initialize serial portB, set baud rate to 19200
serBopen(19200);
serBwrFlush();
serBrdFlush();
// initialize serial portC, set baud rate to 19200
serCopen(19200);
serCwrFlush();
serCrdFlush();
serMode(0); //required for BL2000 series bds...must be done after serXopen function(s)
//clear data buffer
memset(buffer, 0x00, sizeof(buffer));
printf("\nStart of Sample Program!!!\n\n\n\r");
for(;;)
{
//transmit an ascii string from serial port B to serial port C
memcpy(buffer, string1, strlen(string1));
serBputs(buffer);
memset(buffer, 0x00, sizeof(buffer));
//get the data string that was transmitted by serial port B
i = 0;
while((ch = serCgetc()) != '\r')
{
if(ch != -1)
{
buffer[i++] = ch;
}
}
buffer[i++] = ch; //copy '\r' to the data buffer
buffer[i] = '\0'; //terminate the ascii string
// display ascii string received from serial port B
printf("%s", buffer);
//transmit an ascii string from serial port C to serial port B
memcpy(buffer, string2, strlen(string2));
serCputs(buffer);
memset(buffer, 0x00, sizeof(buffer));
//get the data string that was transmitted by port C
i = 0;
while((ch = serBgetc()) != '\r')
{
if(ch != -1)
{
buffer[i++] = ch;
}
}
buffer[i++] = ch; //copy '\r' to the data buffer
buffer[i] = '\0'; //terminate the ascii string
// display ascii string received from serial port C
printf("%s", buffer);
}
}
main()
{
longword seq,ping_who,tmp_seq,time_out;
char buffer[100];
auto wifi_region region_info;
auto char index[10];
auto int option;
auto char tmpbuf[64];
auto int updateRegion;
auto int country;
auto int configured;
brdInit(); //initialize board for this demo
seq=0;
sock_init(); // Initial wifi interface
// Make sure wifi IF is down to do ifconfig's functions
printf("\nBringing interface down (disassociate)...\n");
ifdown(IF_WIFI0);
while (ifpending(IF_WIFI0) != IF_DOWN) {
printf(".");
tcp_tick(NULL);
}
printf("...Done.\n");
configured = FALSE;
updateRegion = FALSE;
do
{
country = get_stored_region(®ion_info);
// Check if the region has been previously set.
if(country < 0 || updateRegion)
{
// Populate structure with region info, then display
ifconfig (IF_WIFI0, IFG_WIFI_REGION_INFO, ®ion_info, IFS_END);
printf("\nCurrent region setting:\n");
display_info(®ion_info);
// Select Region and write value to userblock
country = wifi_config_region(®ion_info);
updateRegion = FALSE;
}
else
{
// Set Region from previously saved value read from the userblock, this
// will set the runtime limits to be used by the wifi driver.
ifconfig (IF_WIFI0, IFS_WIFI_REGION, country,
IFG_WIFI_REGION_INFO, ®ion_info, IFS_END);
printf("\nRuntime region setting now being used by wifi driver:\n");
display_info(®ion_info);
// Region has already been set at runtime, check if it needs to
// be changed due to country to country roaming.
printf("\nRegion already set, select option to continue");
printf("\n1. Continue.");
printf("\n2. Select new region.");
printf("\nSelect > ");
do
{
option = atoi(gets(tmpbuf));
} while (!((option >= 1) && (option <= 2)));
if(option == 2)
updateRegion = TRUE;
else
configured = TRUE;
}
}while(!configured);
// If you are not going to use the defaulted channel and/or power level,
// then you can use the following functions to set channel and/or the
// power level. This needs to be done after setting the region/country
// to meet wifi driver requirements.
//ifconfig (IF_WIFI0, IFS_WIFI_CHANNEL, 0, IFS_END); // Scan all channels
//ifconfig (IF_WIFI0, IFS_WIFI_TX_POWER, 8, IFS_END); // Set to Pwr level 8
// Startup the wireless interface here...
printf("Bringing interface back up (associate)...\n");
ifup(IF_WIFI0);
while (ifpending(IF_WIFI0) == IF_COMING_UP) {
tcp_tick(NULL);
}
printf("...Done.\n");
if (ifpending(IF_WIFI0) != IF_UP) {
printf("Unfortunately, it failed to associate :-(\n");
exit(1);
}
// End of regional setting section, from this point on do standard tcp/ip
// protocol.
/*
// Here is where we gather the statistics...
// Note that if you get a compile error here, it is because you are not running
// this sample on a Wifi-equipped board.
/* Print who we are... */
printf( "My IP address is %s\n\n", inet_ntoa(buffer, gethostid()) );
/*
* Get the binary ip address for the target of our
* pinging.
*/
#ifdef PING_WHO
/* Ping a specific IP addr: */
ping_who=resolve(PING_WHO);
if(ping_who==0) {
printf("ERROR: unable to resolve %s\n",PING_WHO);
exit(2);
}
#else
/* Examine our configuration, and ping the default router: */
tmp_seq = ifconfig( IF_ANY, IFG_ROUTER_DEFAULT, & ping_who, IFS_END );
if( tmp_seq != 0 ) {
printf( "ERROR: ifconfig() failed --> %d\n", (int) tmp_seq );
exit(2);
}
if(ping_who==0) {
printf("ERROR: unable to resolve IFG_ROUTER_DEFAULT\n");
exit(2);
}
#endif
for(;;) {
/*
* It is important to call tcp_tick here because
* ping packets will not get processed otherwise.
*
*/
tcp_tick(NULL);
/*
* Send one ping every PING_DELAY ms.
*/
costate {
waitfor(DelayMs(PING_DELAY));
_ping(ping_who,seq++);
pingoutled(LEDON); // flash transmit LED
waitfor(DelayMs(50));
pingoutled(LEDOFF);
}
/*
* Has a ping come in? time_out!=0xfffffff->yes.
*/
costate {
time_out=_chk_ping(ping_who,&tmp_seq);
if(time_out!=0xffffffff) {
#ifdef VERBOSE
printf("received ping: %ld\n", tmp_seq);
#endif
pinginled(LEDON); // flash receive LED
waitfor(DelayMs(50));
pinginled(LEDOFF);
}
}
}
}
void main ()
{
auto int device0, status;
auto char buffer[64];
auto rn_search newdev;
auto rn_AinData aindata;
auto float voltage, cal_voltage;
auto int rawdata;
auto int gaincode;
auto int data1, data2;
auto int channel;
auto int key;
brdInit();
rn_init(RN_PORTS, 1); //initialize controller RN ports
//search for device match
newdev.flags = MATCHFLAG;
newdev.productid = MATCHPID;
if ((device0 = rn_find(&newdev)) == -1)
{
printf("\n no device found\n");
exit(0);
}
while(1)
{
DispStr(1, 1,"!!!Caution this will overwrite the calibration constants set at the factory.");
DispStr(1, 2,"Do you want to continue(Y/N)?");
while(!kbhit());
key = getchar();
if(key == 'Y' || key == 'y')
{
break;
}
else if(key == 'N' || key == 'n')
{
exit(0);
}
}
printf("\n");
while(kbhit()) getchar();
while (1)
{
// display the voltage that was read on the A/D channels
printrange();
printf("\nChoose Voltage Configuration for the ADC Board 0 - 7.... ");
do
{
gaincode = getchar();
} while (!( (gaincode >= '0') && (gaincode <= '7')) );
gaincode = gaincode - 0x30;
printf("%d", gaincode);
while(kbhit()) getchar();
// enable on all channels for conversions
for(channel = 0; channel < 8; channel++)
{
status = rn_anaInConfig(device0, channel, RNSINGLE, gaincode, 0);
}
cal_voltage = .1*vmax[gaincode];
printf("\nAdjust to approx. %.4f and then enter actual voltage = ", cal_voltage);
gets(buffer);
for (channel=0; channel < 8; channel++)
{
ln[channel].volts1 = atof(buffer);
status = rn_anaIn(device0, channel, &data1, NUMSAMPLES, 0);
ln[channel].value1 = data1;
if (ln[channel].value1 == ADOVERFLOW)
printf("lo: channel=%d overflow\n", channel);
else
printf("lo: channel=%d raw=%d\n", channel, ln[channel].value1);
}
cal_voltage = .9*vmax[gaincode];
printf("\nAdjust to approx. %.4f and then enter actual voltage = ", cal_voltage);
gets(buffer);
for (channel=0; channel < 8; channel++)
{
ln[channel].volts2 = atof(buffer);
status = rn_anaIn(device0, channel, &data2, NUMSAMPLES, 0);
ln[channel].value2 = data2;
if (ln[channel].value2 == ADOVERFLOW)
printf("hi: channel=%d overflow\n", channel);
else
printf("hi: channel=%d raw=%d\n", channel, ln[channel].value2);
}
printf("\nstore all constants to flash\n");
for (channel=0; channel < 8; channel++)
{
rn_anaInCalib(channel, RNSINGLE, gaincode, ln[channel].value1,
ln[channel].volts1,ln[channel].value2, ln[channel].volts2, &aindata);
printf("gain=%8.5f offset=%d\n", aindata.gain, aindata.offset);
status = rn_anaInWrCalib(device0, channel, RNSINGLE, gaincode, aindata, 0);
}
printf("\nread back constants\n");
for (channel=0; channel < 8; channel++)
{
status = rn_anaInRdCalib(device0, channel, RNSINGLE, gaincode, &aindata, 0);
printf("read back gain=%8.5f offset=%d\n", aindata.gain, aindata.offset);
}
//After writing constants to flash, you must hard reset to close
// off flash writes. Wait 1 second to make sure device reinitializes
// and clear the reset register.
rn_reset(device0, 0);
rn_msDelay(1000);
//Check and clear reset status
if(!((status = rn_rst_status(device0, buffer)) & 0x01))
{
printf("Error! ADC board didn't reset");
exit(1);
}
status = rn_enable_wdt(device0, 1); //enable device hardware watchdog
// Must enable on all channels for conversions again after reset
for(channel = 0; channel < 8; channel++)
{
status = rn_anaInConfig(device0, channel, RNSINGLE, gaincode, 0);
}
printf("\nVary power supply for the voltage range selected.... \n\n");
do
{
for(channel = 0; channel < 8; channel++)
{
status = rn_anaInVolts(device0, channel, &voltage, NUMSAMPLES, 0);
printf("Ch %2d Volt=%.5f \n", channel, voltage);
}
printf("Press ENTER key to read value again or 'Q' to select another gain option\n\n");
while(!kbhit());
key = getchar();
while(kbhit()) getchar();
}while(key != 'q' && key != 'Q');
}
}
void main()
{
auto int i;
auto float temperature;
auto char s[256];
auto int key;
auto int calib;
auto int temp_units;
// Initialize the I/O on the RabbitFLEX SBC40 board
brdInit();
while(1)
{
DispStr(1, 1,"!!!Caution this will overwrite the offset constant set at the factory.");
DispStr(1, 2,"Do you want to continue(Y/N)?");
while(!kbhit());
key = getchar();
if(key == 'Y' || key == 'y')
{
calib = TRUE;
break;
}
else if(key == 'N' || key == 'n')
{
calib = FALSE;
break;
}
}
while(kbhit()) getchar();
if(calib)
{
printf("\n\n");
printf(" Select unit type you will be entering\n");
printf(" -------------------------------------\n");
printf(" 0 = Celsius\n");
printf(" 1 = Fahrenheit\n");
printf(" 2 = Kelvin\n");
printf(" Select (0-2) = ");
do
{
temp_units = getchar();
} while (!( (temp_units >= '0') && (temp_units <= '2')) );
temp_units = temp_units - 0x30;
printf("%d\n\n", temp_units);
while(kbhit()) getchar();
printf(" Enter the value from your temperature reference = ");
gets(s);
while(kbhit()) getchar();
temperature = atof(s);
// Create temperature offset constant and then write to flash.
thermOffset(temp_units, temperature);
}
printf(" Thermistor adjustment completed...\n");
printf(" Now display temperature continually...\n\n\n");
while(1)
{
sprintf(s, " Celsius=%.1f Fahrenheit=%.1f Kelvin=%.1f \r",
thermReading(0), thermReading(1), thermReading(2));
printf("%s", s);
}
}
void main()
{
auto char s[128];
auto char display[128];
auto char channels[16];
auto int output_status, channel;
auto int output_level;
auto unsigned int outputChannel;
brdInit();
// Display user instructions and channel headings
DispStr(8, 1, " <<< Sinking output channels = OUT1-OUT7 >>>");
DispStr(8, 2, " <<< Sourcing output channel = OUT8-OUT9 >>>");
DispStr(8, 4, "OUT0\tOUT1\tOUT2\tOUT3\tOUT4\tOUT5\tOUT6\tOUT7");
DispStr(8, 5, "-----\t-----\t-----\t-----\t-----\t-----\t-----\t-----");
DispStr(8, 9, "OUT8\tOUT9");
DispStr(8, 10, "-----\t-----");
DispStr(8, 14, "Connect the Demo Bd. LED's to the outputs that you want to demo.");
DispStr(8, 15, "(See instructions in sample program for complete details)");
DispStr(8, 21, "<-PRESS 'Q' TO QUIT->");
// Set the channel array to reflect the output channel default value
outputChannel = OUTCONFIG;
for(channel = 0; channel <=9 ; channel++)
{
// Set outputs to be OFF, for both sinking
// and sourcing type outputs.
channels[channel] = outputChannel & 0x0001;
outputChannel = outputChannel >> 1;
}
// Loop until user presses the upper/lower case "Q" key
for(;;)
{
// Update high current outputs
display[0] = '\0'; //initialize for strcat function
for(channel = 0; channel <= 7; channel++) //output to channels 0 - 7
{
output_level = channels[channel]; //output logic level to channel
digOut(channel, output_level);
sprintf(s, "%d\t", output_level); //format logic level for display
strcat(display,s); //add to display string
}
DispStr(8, 6, display); //update output status
display[0] = '\0';
for(channel = 8; channel <= 9; channel++) //output to channels 8 - 9
{
output_level = channels[channel]; //output logic level to channel
digOut(channel, output_level);
sprintf(s, "%d\t", output_level);
strcat(display,s);
}
DispStr(8, 11, display);
// Wait for user to make output channel selection or exit program
sprintf(display, "Select output channel 0 - 9 (Input Hex 0-F) = ");
DispStr(8, 17, display);
do
{
channel = getchar();
if (channel == 'Q' || channel == 'q') // check if it's the q or Q key
{
exit(0);
}
}while(!isxdigit(channel));
// Convert the ascii hex value to a interger
if( channel >= '0' && channel <='9')
{
channel = channel - 0x30;
}
// Display the channel that ths user has selected
sprintf(display, "Select output channel 0 - 9 = %d", channel);
DispStr(8, 17, display);
// Wait for user to select logic level or exit program
sprintf(display, "Select logic level = ");
DispStr(8, 18, display);
do
{
output_level = getchar();
if (output_level == 'Q' || output_level == 'q') // check if it's the q or Q key
{
exit(0);
}
output_level = output_level - 0x30;
} while(!((output_level >= 0) && (output_level <= 1)));
sprintf(display, "Select logic level = %d", output_level);
DispStr(8, 18, display);
channels[channel] = output_level;
// Clear channel and logic level selection prompts
DispStr(8, 17, " ");
DispStr(8, 18, " ");
}
}
void main ( void )
{
auto int wKey, ballspeed, stop;
auto int device0;
auto rn_search newdev;
auto unsigned int i;
auto int px,py; // Current Position
auto int dx,dy; // Current Direction
auto int nx,ny; // New Position
auto int xl, xh, yl, yh;
//------------------------------------------------------------------------
// Initialize the controller
//------------------------------------------------------------------------
brdInit(); // Initialize the controller
rn_init(RN_PORTS, 1); // Initialize controller RN ports
// Verify that the Rabbitnet display board is connected
newdev.flags = MATCHFLAG;
newdev.productid = MATCHPID;
if ((device0 = rn_find(&newdev)) == -1)
{
printf("\n no device found\n");
exit(0);
}
// Initialize Display and Keypad low-level drivers
// Note: Functions brdInit() and rn_init() must executed before initializing
// display and keypad drivers.
rn_keyInit(device0, KEYSTROBLINES, 10); //set key press buzzer for 10ms
configKeypad3x4(device0); // Set keys to the default driver configuration
rn_dispInit(device0, DISPROWS, DISPCOLS);
rn_dispPrintf(device0, 0, "Start Pong");
rn_keyBuzzerAct(device0, 100, 0);
for (i=0; i<40000; i++); //small delay
rn_keyBuzzerAct(device0, 100, 0);
rn_dispClear(device0, 0);
rn_dispCursor(device0, RNDISP_CURBLINKON, 0);
xl = 0; // box coordinates, start column
xh = DISPCOLS; // box coordinates, end column
yl = 0; // box coordinates, start row
yh = DISPROWS; // lines 0 .. yh-1
px = xl; py = yl; // Position Ball
dx = 1; dy = 1; // Give Direction
ballspeed = 200; // start ball speed at 200 ms delay
stop = 0;
while(1)
{
costate
{
if (!stop)
{
rn_dispGoto (device0, px, py, 0);
waitfor(DelayMs(ballspeed));
nx = px + dx; // Try New Position
ny = py + dy;
if (nx <= xl || nx >= xh) // Avoid Collision
dx = -dx;
if (ny <= yl || ny >= yh)
dy = -dy;
nx = px + dx; // Next Position
ny = py + dy;
rn_dispGoto (device0, px, py, 0);
waitfor(DelayMs(ballspeed));
px = nx; py = ny; // Move Ball
}
}
costate
{
rn_keyProcess (device0, 0);
waitfor ( DelayMs(10) );
}
costate
{
waitfor ( wKey = rn_keyGet(device0, 0) ); // Wait for Keypress
if (wKey != 0)
{
printf("KEY PRESSED = %c\n", wKey);
}
}
costate
{
if ((wKey == '-') && (ballspeed<500))
{
ballspeed+=10; //increase delay
stop = 0;
}
}
costate
{
if ((wKey == '+') && (ballspeed>10))
{
ballspeed-=10; //decrease delay
stop = 0;
}
}
costate
{
if (wKey == '0')
{
stop = 1; //stop ball movement
}
}
}
}
main()
{
int state;
word tmo;
brdInit(); //initialize board for this demo
// Bring up interface first time (also prints our address)
sock_init_or_exit(1);
// First initialization OK, turn on both LEDs
if_led(LEDON);
xcvr_led(LEDON);
state = 0;
tmo = _SET_SHORT_TIMEOUT(UPTIME);
for(;;) {
switch (state) {
case 0: // Up, timing out
tcp_tick(NULL);
if (_CHK_SHORT_TIMEOUT(tmo)) {
printf("Bringing interface down...\n");
state = 1;
ifdown(IF_WIFI0);
}
break;
case 1: // bringing down
tcp_tick(NULL);
if (ifpending(IF_WIFI0) == IF_DOWN) {
printf("Powering down...\n");
if_led(LEDOFF);
xcvr_led(LEDOFF);
// Set flag for MAC to power down when tcp_tick function is called!
pd_powerdown(IF_WIFI0);
tmo =_SET_SHORT_TIMEOUT(DOWNTIME);
state = 2;
}
break;
case 2: // down, waiting
tcp_tick(NULL);
if (_CHK_SHORT_TIMEOUT(tmo)) {
printf("Powering up...\n");
// Set flag for MAC to power-up when tcp_tick function is called!
pd_powerup(IF_WIFI0);
xcvr_led(LEDON);
tmo =_SET_SHORT_TIMEOUT(500); // settle for 1/2 sec
state = 3;
}
break;
case 3: // let power stabilize
tcp_tick(NULL);
if (_CHK_SHORT_TIMEOUT(tmo)) {
printf("Bringing interface up...\n");
ifup(IF_WIFI0);
state = 4;
}
break;
case 4: // waiting for up
tcp_tick(NULL);
if (ifpending(IF_WIFI0) != IF_COMING_UP) {
if (ifpending(IF_WIFI0) == IF_DOWN) {
printf("!!!!! Failed to come back up!!!!!\n");
return -1;
}
printf("Up again!\n");
if_led(LEDON);
tmo =_SET_SHORT_TIMEOUT(UPTIME);
state = 0;
}
break;
}
}
}
main()
{
auto int key, i;
auto int triac_cntrl0, triac_cntrl1;
auto int increment, decrement;
auto int triac;
auto char s[256];
// The brdInit function is only used to configure the I/O
// on the prototyping board and is not required for the triac
// library which will configure everything required for triac
// control.
brdInit();
triac_TimePropInit(1, 3);
triac_TimePropCntrlPin(0, PFDR, 2, 0);
triac_TimePropCntrlPin(1, PFDR, 3, 0);
triac_cntrl0 = 0;
triac_cntrl1 = 0;
triac = 0;
DispStr(1, 1, "Triac Status");
DispStr(1, 2, "------------");
sprintf(s,"Triac 0 ON/OFF ratio = %d/10", triac_cntrl0);
DispStr(1, 3, s);
sprintf(s,"Triac 1 ON/OFF ratio = %d/5", triac_cntrl1);
DispStr(1, 4, s);
sprintf(s,"Triac selected = %d", triac);
DispStr(1, 5, s);
DispStr(1, 7, "Triac control Menu");
DispStr(1, 8, "------------------");
DispStr(1, 9, "1. Select triac 0 for control");
DispStr(1, 10, "2. Select triac 1 for control");
DispStr(1, 11, "3. Increment number of ON cycles");
DispStr(1, 12, "4. Decrement number of ON cycles");
DispStr(1, 13, "Select Option 1 - 4 > ");
while (1)
{
costate
{
switch(triac)
{
case 0:
triac_TimePropCntrl(0, triac_cntrl0, 10);
break;
case 1:
triac_TimePropCntrl(1, triac_cntrl1, 5);
break;
}
}
costate
{
if(kbhit())
{
key = getchar();
while(kbhit()) getchar();
msDelay(500);
if( key >= '0' && key <='4')
{
sprintf(s, "Select Option 1 - 4 > %c ", key);
DispStr(1, 13, s);
}
switch(key)
{
case '1':
triac = 0;
break;
case '2':
triac = 1;
break;
case '3':
switch(triac)
{
case 0:
if(triac_cntrl0 < 10)
triac_cntrl0++;
break;
case 1:
if(triac_cntrl1 < 5)
triac_cntrl1++;
break;
}
break;
case '4':
switch(triac)
{
case 0:
if (triac_cntrl0 > 0 )
triac_cntrl0--;
break;
case 1:
if (triac_cntrl1 > 0 )
triac_cntrl1--;
break;
}
break;
}
sprintf(s,"Triac 0 ON/OFF ratio = %d/10 ", triac_cntrl0);
DispStr(1, 3, s);
sprintf(s,"Triac 1 ON/OFF ratio = %d/5 ", triac_cntrl1);
DispStr(1, 4, s);
sprintf(s,"Triac selected = %d", triac);
DispStr(1, 5, s);
}
}
}
}
void main()
{
auto int chan, ang, rvalue;
auto float dist;
auto int pwm, r_head, r_head2, head;
auto long freq;
auto char tmpbuf[128], c;
char gpsString[MAX_SENTENCE];
GPSPosition testPoint, testPoint_old;
brdInit();
serPORT(BAUDGPS);
//serCopen(BAUDGPS);
serMode(0);
serCrdFlush();// main loop
initGPS();
freq = pwm_init(450ul);
printf("pick heading: ");
r_head = atoi(gets(tmpbuf));
//while(1)
// {
/*goal.lat_degrees = 43;
goal.lat_minutes = 7036;
goal.lon_degrees = 72;
goal.lon_minutes = 2811;
goal.lat_direction = 'N';
goal.lon_direction = 'W';
goal.sog = 0;
//goal.tog =
*/
if ((r_head > 90) || (r_head < -90))
{
printf("\nbad heading ");
}
else {
while (1)
{
costate GPSRead always_on
{
// wait until gps mode is engaged and a gps string has been recieved
waitfor(serCrdUsed() > 0);
//printf("gps read: ");
// read until finding the beginning of a gps string then wait
while(1)
{
//int test2;
c = serCgetc();
if (c == -1)
{
serCrdFlush();
abort;
}
else if (c == '$')
{
waitfor(DelayMs(20)); //should only take 5ms or so at 115200 baud
break;
}
}//end while(1)
// now that 20 ms have passed, read in the gps string (it must all
// be there by now, since so much time has passed
getgps(gpsString);
rvalue = gps_get_position(&testPoint,gpsString);
if( rvalue != -1)
{
printGPSPosition(&testPoint);
}
//printf("gps: %u \n",strlen(test2));
printf("gps: %s ",gpsString);
//printGPSPosition(&testPoint);
//puts(gpsString);
//puts(": end gps \n");
//dist = gps_ground_distance(&testPoint, &testPoint_old);
//head = (int)gps_bearing(&testPoint, &testPoint_old, dist);
//testPoint_old = testPoint;
head = testPoint.tog; // grab current heading
r_head2 = r_head-head;
pwm = set_angle(0, r_head2);
printf("angle: %d, head %d \n",pwm, head);
}//end costate
} // end while
} // end else
//} // end first while
} // end main
/** \fn void main(void)
\ingroup Rabbit
\brief Fonction principal : gestion du pilotage du drone en fonctions des entrées/sorties
\author Baudouin Feildel
\author Thibaut Marty
**/
void main(void)
{
etat_commandes ec;
ardrone droneV;
ardrone* drone = &droneV;
char cptPassErr = 0;
wifi_status status;
int initOk;
/// Initialise les ports de la carte et les entrées/sorties
brdInit(); // fonction de base de Rabbit
BRDInit(); // fonction pour les bits utilisés
init_etat_commandes(&ec);
lireCommandes(&ec);
/// Crée la structure du drone
newARDrone(drone);
/// Initialise la connexion (tant que toutes les étapes ne sont pas réussies) :
do
{
printf("tentative d'initialisation\n");
initOk = 0;
/// .... Initialise le driver TCP
if(sock_init())
printf("erreur de sock_init()\n");
else
initOk++;
/// .... Initialise la socket de connexion avec le drone
if(!connectToDrone(drone))
printf("erreur connectToDrone()\n");
else
initOk++;
/// .... Se connecte au réseau WiFi
connexion(&ec);
/// .... Initialise le drone
if(!initDrone(drone, &ec))
printf("erreur initDrone()\n");
else
initOk++;
} while(initOk < 3);
printf("tentative d'initialisation reussie\n");
/// Vérifie que l'on n'est pas déjà en position 'vol', sinon indique à l'utilisateur de changer le switch en faisant clignoter la LED erreur
do
{
costate
{
lireCommandes(&ec);
yield;
}
costate // Fait clignoter la LED d'erreur
{
ec.led_erreur = ec.led_erreur ? 0 : 1;
ecrireCommandes(&ec);
waitfor(DelayMs(300));
}
} while(ec.switch_land == 0);
ec.led_erreur = 0;
ecrireCommandes(&ec);
/// Boucle principale (déroulement) :
for(;;)
{
/// .... Tâche de gestion des entrées/sorties et de l'envoi de commandes au drone
costate
{
tcp_tick(NULL);
// Lit les entrées
lireCommandes(&ec);
/// ........ Si le bouton d'arrêt d'urgence est actif :
if(!ec.bp_arret_urgence)
{
/// ............ Envoie la commande d'arrêt d'urgence
aru(drone);
drone->fly = false;
/// ............ Attend le relâchement du bouton en faisant clignoter la LED debug
do
{
costate
{
lireCommandes(&ec);
yield;
}
costate // Fait clignoter la LED de debug
{
ec.led_debug = ec.led_debug ? 0 : 1;
ecrireCommandes(&ec);
waitfor(DelayMs(100));
}
yield; // Pour la tâche de vérification de la connexion WiFi
} while(!ec.bp_arret_urgence);
ec.led_debug = 0;
ecrireCommandes(&ec);
/// ............ Renvoie la commande (pour sortir du mode d'arrêt d'urgence)
aru(drone);
}
/// ........ Sinon (traitement de tous les cas position du switch / vol en cours) :
else
{
// pour plus tard :
// if(ec.bp_video) { }
/// ............ Si le bouton trim est actif et que l'on n'est pas en cours de vol, réinitialise le drone
if(!ec.bp_trim && !drone->fly)
initDrone(drone, &ec);
/// ............ Si le switch est en position haute et que l'on ne vole pas
if(ec.switch_land == 0 && !drone->fly)
{
/// ................ Fait décoler le drone. S'il y a une erreur : attend que l'utilisateur repasse le switch en position basse en faisant clignoter la LED erreur
if(!(initDrone(drone, &ec) && takeoff(drone)))
{
do
{
costate
{
lireCommandes(&ec);
yield;
}
costate // Fait clignoter la LED d'erreur
{
ec.led_erreur = ec.led_erreur ? 0 : 1;
ecrireCommandes(&ec);
waitfor(DelayMs(100));
}
} while(ec.switch_land == 0);
}
}
/// ............ Si le switch est en position basse et que l'on vole
else if(ec.switch_land == 1 && drone->fly)
{
/// ................ Fait atterrir le drone. S'il y a une erreur : attend que l'utilisateur passe le switch en position haute
if(!land(drone))
{
do
{
costate
{
lireCommandes(&ec);
yield;
}
costate // Fait clignoter la LED d'erreur
{
ec.led_erreur = ec.led_erreur ? 0 : 1;
ecrireCommandes(&ec);
waitfor(DelayMs(300));
}
} while(ec.switch_land == 1);
}
}
/// ............ Les autres cas sont normaux et ne nécessitent pas de traitement particulier
/// ............ Si on est en vol :
if(drone->fly)
{
/// ................ Traite la valeur des joysticks et la stock dans la structure ardrone
setGoUpDown(drone, (float)(ec.joystick_2x - 2048) / 2048);
setTurnLeftRight(drone, (float)(ec.joystick_2y - 2048) / 2048);
setTiltFrontBack(drone, (float)(ec.joystick_1x - 2048) / 2048);
setTiltLeftRight(drone, (float)(ec.joystick_1y - 2048) / 2048);
/// ................ Envoie la commande avec les valeurs : s'il y a une erreur on incrémente un compteur d'erreurs. Au delà de dix erreurs de suite on tente de faire atterir le drone. S'il n'y a pas d'erreurs, on attend 30ms avant le prochain envoi
if(!(volCommand(drone, drone->tiltLeftRight, drone->tiltFrontBack, drone->goUpDown, drone->turnLeftRight)))
{
if(cptPassErr > 10)
land(drone);
else
cptPassErr++;
}
else
{
cptPassErr = 0; // Remise à zéro du compteur d'erreur en cas de réussite
waitfor(DelayMs(30)); // prochain envoi de commande dans 30 ms
}
}
else
yield;
}
int main()
{
int status, led2, led3, sw2;
// Initialize I/O pins
brdInit();
led2 = 0;
led3 = 1;
DS2led(OFF);
DS3led(OFF);
sw2 = 0;
status = !SECURE;
while(1) {
costate {
waitfor(DelayMs(200));
if(status == SECURE) {
// LED's on
DS2led(ON);
DS3led(ON);
}
else {
// Flash LED's
led2 = !led2;
led3 = !led2;
DS2led(led2);
DS3led(led3);
}
}
costate {
// Wait for switch S2 press
if(BitRdPortI(PBDR, S2_BIT))
abort;
waitfor(DelayMs(50)); // switch press detected
if(BitRdPortI(PBDR, S2_BIT)) // wait for switch release
{
sw2 = !sw2; // set valid switch
abort;
}
}
costate {
// Periodically check the VBAT RAM
memset(buffer, 0, 32);
vram2root(buffer, 0, 32);
if(memcmp(buffer, key, 32) == 0)
status = SECURE;
else
status = !SECURE;
waitfor(DelayMs(1000));
}
costate {
// If the switch is pressed, reset the VBAT RAM
if(sw2) {
root2vram(key, 0, 32);
sw2 = !sw2;
}
}
}
}
main()
{
auto char received;
auto int i;
auto int txconfig;
brdInit(); //initialize board for this demo
serBopen(baud_rate);
serCopen(baud_rate);
serBparity(PARAM_OPARITY);
serCparity(PARAM_OPARITY);
txconfig = PARAM_OPARITY;
printf("Starting...\n");
while (1)
{
costate
{
//send as fast as we can
for (i = 0; i < 128; i++)
{
waitfor(DelayMs(10)); //necessary if we are not using
//flow control
waitfordone{ cof_serBputc(i); }
}
// wait for data buffer, internal data and shift registers to become empty
waitfor(serBwrFree() == BOUTBUFSIZE);
waitfor(!((RdPortI(SBSR)&0x08) || (RdPortI(SBSR)&0x04)));
yield;
//toggle between sending parity bits, and not
if (txconfig)
{
txconfig = PARAM_NOPARITY;
printf("\nParity option set to no parity\n");
}
else
{
txconfig = PARAM_OPARITY;
printf("\nParity option set to odd parity\n");
}
serBparity(txconfig);
}
costate
{
//receive characters in a leisurely fashion
waitfordone
{
received = cof_serCgetc();
}
printf("received 0x%x\n", received);
if (serCgetError() & SER_PARITY_ERROR)
{
printf("PARITY ERROR\n");
}
}
}
}
main()
{
static int led, channel, wKey, keypad_active, prompt_displayed;
static int new_keypress_message, release_value, i;
//------------------------------------------------------------------------
// Initialize the controller
//------------------------------------------------------------------------
brdInit(); // Initialize the controller for this demo
// Start-up the keypad driver and
// Initialize the graphic driver
dispInit();
// Use default key values along with a key release code
keyConfig ( 3,'R', '1', 0, 0, 0, 0 );
keyConfig ( 6,'E', '2', 0, 0, 0, 0 );
keyConfig ( 2,'D', '3', 0, 0, 0, 0 );
keyConfig ( 5,'+', '4', 0, 0, 0, 0 );
keyConfig ( 1,'U', '5', 0, 0, 0, 0 );
keyConfig ( 4,'-', '6', 0, 0, 0, 0 );
keyConfig ( 0,'L', '7', 0, 0, 0, 0 );
// Initialize 6x8 font
glXFontInit(&fi6x8, 6, 8, 32, 127, Font6x8); // Initialize 6x8 font
glXFontInit(&fi8x10, 8, 10, 32, 127, Font8x10); // initialize 8x10 font
glBlankScreen();
// Initialize control flags
keypad_active = FALSE;
prompt_displayed = FALSE;
new_keypress_message = FALSE;
for(;;)
{
costate
{
keyProcess ();
waitfor ( DelayMs(10) );
}
costate
{
// Wait for any key to be pressed
waitfor((wKey = keyGet()) != 0);
release_value = -1;
switch(wKey)
{
case 'L': release_value = '7'; break;
case '-': release_value = '6'; break;
case 'U': release_value = '5'; break;
case '+': release_value = '4'; break;
case 'D': release_value = '3'; break;
case 'E': release_value = '2'; break;
case 'R': release_value = '1'; break;
}
if(release_value != -1)
{
keypad_active = TRUE;
// Wait for the key to be released
waitfor(keyGet() == release_value);
keypad_active = FALSE;
}
}
costate
{
if(!keypad_active)
{
if(!prompt_displayed)
{
glBlankScreen();
glPrintf (0, 0, &fi6x8, "Waiting for a Key to");
glPrintf (0, 8, &fi6x8, "be pressed on the ");
glPrintf (0, 16, &fi6x8, "LCD Keypad....");
glFillPolygon(4, 115, 26, 121,26, 121,31, 115, 31);
prompt_displayed = TRUE;
new_keypress_message = FALSE;
// Turn-Off leds on the Demo board
pbLedOut(DS1, OFF); //DS1 off
pbLedOut(DS2, OFF); //DS2 off
}
for(channel = 0; channel <= 6; channel++)
{
for(led = 0; led <=6; led++)
{
if(led != channel)
dispLedOut(led, 0);
}
dispLedOut(channel, 1);
waitfor(DelayMs(100));
if(keypad_active)
{
break;
}
}
}
}
costate
{
if(keypad_active && !new_keypress_message)
{
glBlankScreen();
glFillPolygon(4, 113, 26, 121,26, 121,31, 113, 31);
switch(wKey)
{
case 'L':
glPrintf (0, 0, &fi8x10, "Scroll-Left key");
glPrintf (0, 16, &fi8x10, "is Active.");
dispLedOut(0, 1);
channel = 0;
break;
case '-':
glPrintf (0, 0, &fi8x10, "Page-Down key");
glPrintf (0, 16, &fi8x10, "is Active.");
dispLedOut(1, 1);
channel = 1;
pbLedOut(DS1, ON); //DS1 on
break;
case 'U':
glPrintf (0, 0, &fi8x10, "Scroll-Up key");
glPrintf (0, 16, &fi8x10, "is Active.");
dispLedOut(2, 1);
channel = 2;
break;
case '+':
glPrintf (0, 0, &fi8x10, "Page-Up key");
glPrintf (0, 16, &fi8x10, "is Active.");
dispLedOut(3, 1);
channel = 3;
pbLedOut(DS2, ON); //DS2 on
break;
case 'D':
glPrintf (0, 0, &fi8x10, "Scroll-Down key");
glPrintf (0, 16, &fi8x10, "is Active.");
dispLedOut(4, 1);
channel = 4;
break;
case 'E':
glPrintf (0, 0, &fi8x10, "Enter key");
glPrintf (0, 16, &fi8x10, "is Active.");
dispLedOut(5, 1);
channel = 5;
break;
case 'R':
glPrintf (0, 0, &fi8x10, "Scroll-Right");
glPrintf (0, 16, &fi8x10, "key is Active.");
dispLedOut(6, 1);
channel = 6;
break;
}
for(led=0; led <=6; led++)
{
if(led != channel)
{
dispLedOut(led, 0);
}
}
prompt_displayed = FALSE;
new_keypress_message = TRUE;
}
}
costate
{
if(keypad_active)
{
for(i=0; i<(LCD_XS-8); i+=4)
{
glHScroll(0, 26, LCD_XS, 6, -4);
waitfor(DelayMs(5));
if(!keypad_active)
abort;
}
for(i=0; i<(LCD_XS-8); i+=4)
{
glHScroll(0, 26, LCD_XS, 6, 4);
waitfor(DelayMs(5));
if(!keypad_active)
abort;
}
}
}
}
}
void main()
{
auto int c, num_bytes, done;
auto char *ptr;
auto int parallel_counter, loop_counter;
auto char buffer[256];
auto char s[256];
brdInit(); //required for BL2100 series boards
c = 0; //initialize variables
parallel_counter = 0;
loop_counter = 0;
done = FALSE;
sprintf(s, "Character counter = %d", 0); //initialize for proper STDIO effects
DispStr(2, 2, s);
// display exit message
DispStr(2, 5, "Press the ESC key in Hyperterminal to exit the program");
serCopen(BAUD_RATE); //set baud rates for the serial ports to be used
serBopen(BAUD_RATE);
serCwrFlush(); //clear Rx and Tx data buffers
serCrdFlush();
serBwrFlush();
serBrdFlush();
serMode(0); //required for BL2100 series bds...must be done after serXopen function(s)
while (!done) {
loophead(); //required for single-user cofunctions
costate //single-user serial cofunctions
{
// Wait for char from hyperterminal
wfd c = cof_serBgetc(); // yields until successfully getting a character
//do clean exit from costatement
if(c == ESC)
{
//flag used to exit out of this WHILE loop and other costatements
done = TRUE;
//abort this costatement
abort;
}
// send character to serial port C
wfd cof_serBputc(c); // yields until c successfully put
// wait for char from serial port C
wfd c = cof_serCgetc(); // yields until successfully getting a character
//send character back to hyperterminal
wfd cof_serCputc(c); // yields until c successfully put
waitfor(serCwrUsed() == 0);
//demonstrates that the above cofunctions only yields to other costates
//and not to the code within the same costatement section.
sprintf(s, "Character counter = %d", ++loop_counter);
DispStr(2, 2, s);
}
costate
{
// Abort this costatement if the done flag has been set
if(done)
{
abort; //do clean exit of costatement
}
//execute code while waiting for characters from hyperterminal
sprintf(s, "Parallel code execution counter = %d\r", parallel_counter++);
DispStr(2, 3, s);
}
}
// send program exit message
serBputs("\n\n\rProgram Done...exiting");
// wait for memory data buffer, serial holding register, and shift
// register all to become empty
while (serBwrFree() != BOUTBUFSIZE);
while((RdPortI(SBSR)&0x08) || (RdPortI(SBSR)&0x04));
// read data and send to hyperterminal
num_bytes = serCread(buffer, sizeof(buffer), 5);
buffer[num_bytes] = '\0';
serCwrite(buffer, strlen(buffer));
// wait for memory data buffer, serial holding register, and shift
// register all to become empty
while (serCwrFree() != COUTBUFSIZE);
while((RdPortI(SCSR)&0x08) || (RdPortI(SCSR)&0x04));
//close the serial ports
serCclose();
serBclose();
}
main()
{
char radioOutput[511];
// buffer to read the radio input from user laptop
char radioInput[CINBUFSIZE];
char radioOutput2[511];
// buffer to read the radio input from instrument laptop
char radioInput2[EINBUFSIZE];
// buffer to output encoder info
char enc_data[70];
// buffer to relay data from the datalogger through to the radio
char loggerInput[EINBUFSIZE+2];
char yetiState[10];
char axis_1[20];
char axis_2[20];
char axis_3[20];
char axis_4[20];
char temp[3];
// whether the robot has gotten a ping recently or not
char ping;
// the number of waypoints the robot has
int numWayPoints;
// the current waypoint the robot is on
char curWayPoint;
// interval(sec) b/w telemtry broacastings from the robot to user and to instrument
char telemetryInterval;
// whether gps string is valid or not
int valid_gps;
// whether gps navigation is engaged or not
char engageGPSnav;
// how many bytes in the serial buffer are used
int used;
int usedE;
// int for indexing loops
int i;
// requested linear and angular velocites of robot from java
int v;
int w;
// updated linear and angular velocites
int newV;
int newW;
// difference between current and desired linear and angular velocites
int vDiff;
int wDiff;
// how many characters of a gps string have been read in so far
int charCounter;
// character read in off the serial port (look at serFgetc() to see why it is
// an int
int c;
// holds a gps string after reading it in
char gpsString[85];
// stopping interval for data collection in seconds
int resting_interval;
// int to keep track of if this is the first run of the program or not
int helpLast,helpLast2;
//Encoder Sending code
int j;
int delayvar;
int asb, bsb, csb;
long position, asb_l, bsb_l, csb_l;
float currentToGoal; //distance between current position and goal
float originToCurrent; //distance between origin to current position
float bearingToGoal; //bearing from current position to goal in degree
float bearingToCurrent; //bearing from origin to current position in degree
float INTEGRALMAX; //maximum that integral can get
float deltaloop;
int flag; //flag for restoring yeti to GPS navigation automatically
int flag2; //flag for changing last gps coordinate
// initialize hardware
brdInit();
LastGPS.lat_degrees = 72;
LastGPS.lat_minutes = 32.123;
LastGPS.lon_degrees = 17;
LastGPS.lon_minutes = 42.232;
CurrentGPS.lat_degrees = 72;
CurrentGPS.lat_minutes = 32.200;
CurrentGPS.lon_degrees = 17;
CurrentGPS.lon_minutes = 42.232;
Goal.lat_degrees = 72;
Goal.lat_minutes = 33.200;
Goal.lon_degrees = 17;
Goal.lon_minutes = 43.500;
GoalPos = getPol(getCart(&CurrentGPS,&Goal));
bearingToGoal = gps_bearing2(&CurrentGPS, &Goal);
CurCart = getCart(&LastGPS,&CurrentGPS);
CurPol = getPol(CurCart);
bearingToCurrent = gps_bearing2(&LastGPS,&CurrentGPS);
error = bearRange(CurPol.t-GoalPos.t);
error2 = bearRange((bearingToCurrent-bearingToGoal)*PI/180.0);
printf("%f, %f\n",bearingToCurrent,bearingToGoal);
printf("error:%f, error2:%f\n",error,error2);
//digOutConfig(DIGOUTCONFIG);
digOutConfig(0xff00);
//digHoutConfig(0x07); // Set Hout0 Sinking
digHTriStateConfig(0x06); // Set Hout1 & Hout2 for Tristate
//initialize Encoder Board
initEncoder();
//initialize state machine flags
controlMode = USER_CONTROL_MODE;
robotMobility = MOBILE;
classificationMode = CLASSIFICATION_OFF;
obstacleType = OBSTACLE_1;
// open 2 radio serial ports and gps serial ports
serCopen(BAUDR1);
serFopen(BAUDGPS);
serEopen(BAUDR2);
//serEopen(BAUDLOG);
//disable motor controllers
//digHout(0,0);
digHoutTriState(1,0);
// set wheel velocities to 0
anaOutConfig(1,1);
anaOutPwr(1);
anaOutVolts(0,0);
anaOutVolts(1,0);
anaOutVolts(2,0);
anaOutVolts(3,0);
anaOutStrobe();
// set serial port mode
serMode(0);
// initialize variables
ping = 1;
numWayPoints = 0;
coords_received = 0;
//engageGPSnav = 0; //remove
curWayPoint = 0;
currentV = 0;
currentW = 0;
desiredV = 0;
desiredW = 0;
helpLast = 0;
helpLast2 = 0;
// intialize WMAX so that Vmin > Vmax / 4 (preventing robot from turning in circle)
MAXW = min(2000 - AUTONOMOUS_SPEED, AUTONOMOUS_SPEED);
if((AUTONOMOUS_SPEED+MAXW)/4 > AUTONOMOUS_SPEED-MAXW)
MAXW = 3*AUTONOMOUS_SPEED/5;
printf("MAXW : %d\n",MAXW);
telemetryInterval = 1; //default telemetry broadcasting interval = 1 sec
//controller coefficients
P_coeff = .30; //starting point .30
I_coeff = .002; //starting point .002
loop_gain = 714; //starting point 714
INTEGRALMAX = (float)MAXW / loop_gain / I_coeff / 2.0; //integral effort max = 1/2 speed differential
// clear any junk out of serial ports
serFrdFlush();
serCrdFlush();
serErdFlush();
sprintf(radioOutput, "Waypoints not received, %s", gpsString);
// error integration initialization
last_error = 0;
error_integral = 0;
error = 0;
error2 = 0;
last_time = TICK_TIMER;
deltat = 0;
// stopping at each waypoint as a default setting
stoppingMode = 1;
resting_interval = 0;
// initialize distance and bearing
originToCurrent = 0;
currentToGoal = 0;
bearingToGoal = 0;
bearingToCurrent =0;
loop_time = TICK_TIMER;
flag=0;
flag2=0;
valid_gps=-1;
// main while loop
while(1)
{
deltaloop = (float)(TICK_TIMER-loop_time)/1024;
loop_time = TICK_TIMER;
//Test if Serial ports have input
costate
{
used = serCrdUsed(); //bytes being used in serial buffer for radio communication port1
usedE = serErdUsed(); //bytes being used in serial buffer for radio communication port2 or data logger
}
// sending data from robot to user computer
#ifdef _send_telemetry_
costate sendTelemetry always_on
{
waitfor(DelaySec(telemetryInterval));
sprintf(radioOutput,"valid GPS: %d, ",valid_gps);
serCputs(radioOutput);
DelayMs(35);
/*sprintf(radioOutput,"current GPS: %d,%f,%d,%f,*", CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"coord GPS: %d,%f,%d,%f,*", WayPoints[0].lat_degrees, WayPoints[0].lat_minutes, WayPoints[0].lon_degrees, WayPoints[0].lon_minutes);
serCputs(radioOutput);
DelayMs(35);*/
sprintf(radioOutput,"errors: %f,%f, deltat: %f, ",error,error2,deltat);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"integral term: %f, w:%d, ",I_coeff*error_integral*loop_gain,currentW);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"dis: %f,%f,*",currentToGoal,GoalPos.r);
serCputs(radioOutput);
DelayMs(35);
/*DelayMs(35);
sprintf(radioOutput2,"loop:%f,*",deltaloop);
serCputs(radioOutput2);*/
sprintf(radioOutput,"%d,%f,%d,%f,", CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"%d,%d,%d,",currentV,currentW,controlMode);
serCputs(radioOutput);
DelayMs(35);
sprintf(radioOutput,"%d,%f,%d,%f,*", Goal.lat_degrees, Goal.lat_minutes, Goal.lon_degrees, Goal.lon_minutes);
serCputs(radioOutput);
}
costate sendTelemetry2 always_on
{
waitfor(DelaySec(telemetryInterval));
//send current moving status of robot to instrument package laptop
sprintf(radioOutput2,"%d,%f,%d,%f,", CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
serEputs(radioOutput2);
DelayMs(35);
sprintf(radioOutput2,"%d,%d,%d,*",currentV,currentW,controlMode);
serEputs(radioOutput2);
DelayMs(35);
sprintf(radioOutput2,"stopmode: %d, controlmode: %d,*",stoppingMode, controlMode);
serEputs(radioOutput2);
}
#endif
//***********************************************************************************
// serial message interpretation costate
costate serialIn always_on
{
// wait until a message comes
waitfor(used > 0);
// give the message a chance to finish sending
waitfor(DelayMs(100));
if(used > 100) waitfor(DelaySec(2)); //increase in case receiving long waypoint list
used = serCrdUsed();
serCread(radioInput,used, 2);
radioInput[used] = '\0'; //terminate string
// since a message came, we know we are in radio contact
ping = 1;
serCrdFlush();
//remote control mode
// [zeros] [v byte 1] [v byte 2] [w byte 1] [w byte 2]
if(radioInput[0] == 0)
{
// recieve a remote control driving command
//engageGPSnav = 0; //remove
if (controlMode != ESCAPE_CONTROL_MODE)
{
controlMode = USER_CONTROL_MODE;
error_integral = 0;
last_time = TICK_TIMER;
v = (int)radioInput[2]<<8;
desiredV = v+radioInput[1];
w = (int)radioInput[4]<<8;
desiredW = w+radioInput[3];
#ifdef _debug_
printf("command\n");
#endif
}
}
else if (radioInput[0] == 1) //receiving gps waypoint list
{
// load in gps coordinates
// convention N = +lat_deg +lat_min, W = +long_deg +long_min
// S = -lat_deg -lat_min, E = -long_deg -long_min
if(radioInput[1] > 180){
numWayPoints = 180;
}
else if(radioInput[1] >0){
numWayPoints = (int)(radioInput[1]);
}
else{
numWayPoints = 0;
}
for(i = 0;i<numWayPoints;i++)
{
WayPoints[i].lat_degrees = CtoI(radioInput[2+i*12],radioInput[2+i*12+1]);
WayPoints[i].lat_minutes = CtoF(radioInput[2+i*12+2],radioInput[2+i*12+3],radioInput[2+i*12+4],radioInput[2+i*12+5]);
WayPoints[i].lon_degrees = CtoI(radioInput[2+i*12+6],radioInput[2+i*12+7]);
WayPoints[i].lon_minutes = CtoF(radioInput[2+i*12+8],radioInput[2+i*12+9],radioInput[2+i*12+10],radioInput[2+i*12+11]);
DelayMs(35); //print waypoint list to logfile
sprintf(radioOutput,"waypoint,%d,%d,%f,%d,%f,*",i,WayPoints[i].lat_degrees,WayPoints[i].lat_minutes,WayPoints[i].lon_degrees,WayPoints[i].lon_minutes);
serCputs(radioOutput);
}
curWayPoint = 0;
Goal = WayPoints[0];
if (numWayPoints > 0){
coords_received = 1;
}
DelayMs(35);
sprintf(radioOutput,"coords loaded,%d,*",numWayPoints);
serCputs(radioOutput);
//DelayMs(35);
//sprintf(radioOutput,"1st pos: %d,%f,%d,%f,*", Goal.lat_degrees, Goal.lat_minutes, Goal.lon_degrees, Goal.lon_minutes);
//serCputs(radioOutput);
#ifdef _debug_
printf("load coord\n");
#endif
}
else if (radioInput[0] == 3)
{
// engage GPS navigation system
if (numWayPoints>0){
controlMode = GPS_CONTROL_MODE;
error_integral = 0;
last_time = TICK_TIMER;
helpLast =0;
helpLast2 = 0;
originToCurrent = 0;
currentToGoal = 999999;
sprintf(radioOutput,"GPS mode started,*",numWayPoints);
serCputs(radioOutput);
}
#ifdef _debug_
printf("GPS\n");
#endif
}
else if (radioInput[0] == 4)
{
//set the interval for telemetry broadcasting
telemetryInterval = radioInput[1];
}
// {
// // set the current waypoint the robot is heading for
// if ((radioInput[1] <= numWayPoints) && (radioInput[1] > 0))
// curWayPoint = radioInput[1]-1;
// }
// Signal to test escape sequences and re-routing
// Emergency Stop the robot if Escape Mode is enabled
else if (radioInput[0] == 6)
{
controlMode = USER_CONTROL_MODE;
#ifdef _debug_
printf("E-stop\n");
#endif
desiredV = 0;
desiredW = 0;
sprintf(radioOutput,"User Control Mode,*");
serCputs(radioOutput);
}
// Toggle Classification mode
else if (radioInput[0] == 7)
{
if (classificationMode == CLASSIFICATION_OFF)
{
#ifdef _debug_
printf("Classification on\n");
#endif
classificationMode = CLASSIFICATION_ON;
}
else
{
#ifdef _debug_
printf("Classification off\n");
#endif
classificationMode = CLASSIFICATION_OFF;
}
}
//change controller coefficients
else if (radioInput[0] == 8)
{
P_coeff = CtoF(radioInput[1],radioInput[2],radioInput[3],radioInput[4]);
I_coeff = CtoF(radioInput[5],radioInput[6],radioInput[7],radioInput[8]);
loop_gain = CtoF(radioInput[9],radioInput[10],radioInput[11],radioInput[12]);
INTEGRALMAX = (float)MAXW / loop_gain / I_coeff / 2.0;
DelayMs(35);
sprintf(radioOutput,"Coefficients loaded,*");
serCputs(radioOutput);
}
}
//this costate controls state update for the control mode. State transitions
//can also take place within functions, but where it doesn't make sense make
//those transitions within a function it is taken care of here.
/*costate controlModeUpdate always_on
{
if ((controlMode == GPS_CONTROL_MODE)&&(robotMobility == IMMOBILIZED))
{
controlMode = ESCAPE_CONTROL_MODE;
printf("escape control set\n");
}
}
*/
//***********************************************************************************
// serial message interpretation costate for instrument package communication
costate serial2In always_on
{
// wait until a message comes
waitfor(usedE > 0);
// give the message a chance to finish sending
waitfor(DelayMs(100));
usedE = serErdUsed();
serEread(radioInput2,usedE, 2);
radioInput2[usedE] = '\0'; //terminate string
serErdFlush();
if(radioInput2[0] == 0)
{
// recieve a remote control driving command
//engageGPSnav = 0; //remove
if (controlMode != ESCAPE_CONTROL_MODE)
{
controlMode = USER_CONTROL_MODE;
error_integral = 0;
last_time = TICK_TIMER;
v = (int)radioInput2[2]<<8;
desiredV = v+radioInput2[1];
w = (int)radioInput2[4]<<8;
desiredW = w+radioInput2[3];
#ifdef _debug_
printf("command\n");
#endif
}
}
else if (radioInput2[0] == 1) //Set autonomous mode
{
// load in gps coordinates
// [1] [lattitude degrees int byte 1] [longitutde degrees int byte 2]...
if(radioInput2[1] > 180){
numWayPoints = 180;
}
else if(radioInput2[1] >0){
numWayPoints = (int)(radioInput2[1]);
}
else{
numWayPoints =0;
}
for(i = 0;i<numWayPoints;i++)
{
WayPoints[i].lat_degrees = CtoI(radioInput2[2+i*12],radioInput2[2+i*12+1]);
WayPoints[i].lat_minutes = CtoF(radioInput2[2+i*12+2],radioInput2[2+i*12+3],radioInput2[2+i*12+4],radioInput2[2+i*12+5]);
WayPoints[i].lon_degrees = CtoI(radioInput2[2+i*12+6],radioInput2[2+i*12+7]);
WayPoints[i].lon_minutes = CtoF(radioInput2[2+i*12+8],radioInput2[2+i*12+9],radioInput2[2+i*12+10],radioInput2[2+i*12+11]);
}
curWayPoint = 0;
Goal = WayPoints[0];
if (numWayPoints > 0)
coords_received=1;
sprintf(radioOutput2,"numway: %d,*",radioInput2[1]);
serEputs(radioOutput2);
sprintf(radioOutput2,"coords loaded,*");
serEputs(radioOutput2);
#ifdef _debug_
printf("load coord\n");
#endif
}
else if (radioInput2[0] == 3)
{
// engage GPS navigation system
if (numWayPoints>0){
controlMode = GPS_CONTROL_MODE;
error_integral = 0;
last_time = TICK_TIMER;
helpLast =0;
helpLast2 = 0;
originToCurrent = 0;
currentToGoal = 999999;
sprintf(radioOutput2,"GPS Mode,*");
serEputs(radioOutput2);
}
//engageGPSnav = 1; //remove
#ifdef _debug_
printf("GPS\n");
#endif
}
else if (radioInput2[0] == 4)
{
//set the interval for telemetry broadcasting
telemetryInterval = radioInput2[1];
}
// Signal to test escape sequences and re-routing
// Emergency Stop the robot if Escape Mode is enabled
else if (radioInput2[0] == 6)
{
controlMode = USER_CONTROL_MODE;
#ifdef _debug_
printf("E-stop\n");
#endif
desiredV = 0;
desiredW = 0;
sprintf(radioOutput2,"User Control Mode,*");
serEputs(radioOutput2);
}
else if (radioInput2[0] == 8)
{
P_coeff = CtoF(radioInput2[1],radioInput2[2],radioInput2[3],radioInput2[4]);
I_coeff = CtoF(radioInput2[5],radioInput2[6],radioInput2[7],radioInput2[8]);
loop_gain = CtoF(radioInput2[9],radioInput2[10],radioInput2[11],radioInput2[12]);
INTEGRALMAX = (float)MAXW / loop_gain / I_coeff / 2.0;
sprintf(radioOutput2,"coefficients loaded,*");
serEputs(radioOutput2);
}
// restore control mode to GPS control mode from Instrument mode
else if(radioInput2[0] == 9 && controlMode == INSTRUMENT_MODE)
{
controlMode = GPS_CONTROL_MODE;
last_time = TICK_TIMER;
desiredW = 0;
desiredV = AUTONOMOUS_SPEED;
//DelaySec(2);
}
// stop for each waypoint for X seconds
else if(radioInput2[0] == 10)
{
sprintf(radioOutput2,"command 10,*");
serEputs(radioOutput2);
stoppingMode = 1;
resting_interval = CtoI(radioInput2[1],radioInput2[2]);
}
// stop the robot for X seconds right now
else if(radioInput2[0] == 11)
{
stoppingMode = 2;
resting_interval = CtoI(radioInput2[1],radioInput2[2]);
controlMode = INSTRUMENT_MODE;
desiredV = 0;
desiredW = 0;
}
// restore stopping mode to 0 (non-stoppig mode)
else if(radioInput2[0] == 12)
{
stoppingMode = 0;
}
}
//***********************************************************************************
//if no moving signal from instrument laptop is received for designated resting interval + 2sec
//assume connection with instrument laptop is broken and go back to autonomous mode
costate monitorStop always_on
{
if(stoppingMode != 0 && controlMode == INSTRUMENT_MODE && currentV==0 && curWayPoint < numWayPoints){
waitfor(DelaySec(resting_interval+2)); //2 sec delay in addition to resting_interval
if(controlMode == INSTRUMENT_MODE){
//stoppingMode = 0; //9-13-11 retain stop at each waypoint
controlMode = GPS_CONTROL_MODE;
last_time = TICK_TIMER;
desiredW = 0;
desiredV = AUTONOMOUS_SPEED;
}
}
}
//***********************************************************************************
#ifdef _debug_
costate debugHelp always_on
{
waitfor(DelayMs(1000));
{
switch(controlMode){
case(USER_CONTROL_MODE):
printf("user control, ");
break;
case(GPS_CONTROL_MODE):
printf("gps control, ");
break;
case(ESCAPE_CONTROL_MODE):
printf("escape ctrl., ");
break;
case(ESCAPE_CONFIRM_MODE):
printf("escape confirm, ");
break;
}
switch(classificationMode){
case(CLASSIFICATION_ON):
printf("class. on, ");
break;
case(CLASSIFICATION_OFF):
printf("class. off, ");
break;
}
switch(obstacleType){
case(OBSTACLE_0):
printf("obstacle 0, ");
break;
case(OBSTACLE_1):
printf("obstacle 1, ");
break;
}
switch(robotMobility){
case(MOBILE):
printf("mobile , ");
break;
case(ALMOST_IMMOBILIZED):
printf("almost immob., ");
break;
case(IMMOBILIZED):
printf("immobilized, ");
break;
}
printf("\n");
}
}
#endif
/* **********************************************************************************
//this costate interprets the results from the mobility and obstacle detection
//classifiers
//this function is disabled in this version of yeti code because we need a serial port
//for a second radio for the communication with instrument package latop
costate loggerInterpret always_on
{
// wait for a message from datalogger port
waitfor(usedE > 0);
// give the message a chance to finish sending
waitfor(DelayMs(8));
if (classificationMode == CLASSIFICATION_ON)
{
usedE = serErdUsed();
serEread(loggerInput,usedE, 2);
loggerInput[usedE] = '\0';
serErdFlush();
switch(loggerInput[1]) {
case '0':
robotMobility = MOBILE;
break;
case '1':
robotMobility = ALMOST_IMMOBILIZED;
break;
case '2':
robotMobility = IMMOBILIZED;
break;
}
switch(loggerInput[2]) {
case '0':
obstacleType = OBSTACLE_0;
break;
case '1':
obstacleType = OBSTACLE_1;
break;
default:
obstacleType = OBSTACLE_1;
}
}
else
{
serErdFlush();
}
}
*/
//***********************************************************************************
// this costate updates the velocity of the wheels
// acc rate is such that it takes 1 sec to go from 0 to max V
// therefore can change v by at most 100 at each 50 ms time step
costate
{
waitfor(DelayMs(50));
newV = currentV;
newW = currentW;
vDiff = desiredV - currentV;
wDiff = desiredW - currentW;
if (vDiff > 0)
{
newV = currentV + min(50,vDiff); //emt - changed to 50 from 100
}
else if (vDiff < 0)
{
newV = currentV + max(-50,vDiff);
}
if (wDiff > 0)
{
newW = currentW + min(50,wDiff);
}
else if (wDiff < 0)
{
newW = currentW + max(-50,wDiff);
}
if ((newV != currentV) || (newW != currentW))
{
//disable motor controllers if velocity should be 0
if (newV == 0 && newW == 0)
digHoutTriState(1,0);
else
digHoutTriState(1,2);
setVel(newV,newW);
currentV = newV;
currentW = newW;
}
}
/* **********************************************************************************
// Send encoder data through serial to Datalogger needed for mobility detection
// This function is disabled in this version of C code
*/
/*costate sendEncoder always_on
{
waitfor(DelayMs(45)); //send faster than 20Hz
for (j = 0; j < 4; j++)
{
EncWrite(j, TRSFRCNTR_OL, CNT);
// EncWrite(j,BP_RESET,CNT);
EncWrite(j,BP_RESETB,CNT);
asb = EncRead(j,DAT);
asb_l = asb;
bsb = EncRead(j,DAT);
bsb_l = bsb;
csb = EncRead(j,DAT);
csb_l = csb;
position = asb_l; // least significant byte
position += (bsb_l << 8);
position += (csb_l <<16);
switch(j) {
case 0:
sprintf(axis_1,"%ld",position);
break;
case 1:
sprintf(axis_2,"%ld",position);
break;
case 2:
sprintf(axis_3,"%ld",position);
break;
case 3:
sprintf(axis_4,"%ld",position);
break;
}
}
sprintf(enc_data,",%s,%s,%s,%s*",axis_1,axis_2,axis_3,axis_4);
serEputs(enc_data);
}*/
//***********************************************************************************
// stop robot if get no pings from java for 5 seconds DURING user control mode
// continue GPS mode even if communication to user has been lost
/*costate pingCheck always_on
{
if(controlMode == USER_CONTROL_MODE){
if (ping == 1)
{
waitfor(DelayMs(500));
ping = 0;
abort;
}
else
{
waitfor(DelaySec(5));
if (ping == 1)
abort;
else
{
desiredV = 0;
desiredW = 0;
}
}
}
}*/
//***********************************************************************************
// this costate will check if the GPS has sent some data or not and
// call the appropriate functions to process the data
costate GPSRead always_on
{
//printf("gps read started\n");
waitfor((serFrdUsed() > 0)); //always read GPS even during user control mode
//printf("gps string came in\n");
charCounter = 0;
// read until finding the beginning of a gps string then wait 2 seconds
while(1)
{
c = serFgetc();
if (c == -1)
{
serFrdFlush();
abort;
}
else if (c == '$')
{
waitfor(DelayMs(20)); //wait for full message to send
break;
}
}
// now that 20 ms have passed, read in the gps string (it must all
// be there by now, since so much time has passed
getgps2(gpsString);
#ifdef _debug_GPS_
//printf("gps: %u \n",strlen(test2));
printf("gps: %s ",gpsString);
//puts(gpsString);
//puts(": end gps \n");
#endif
//===================================================================================
#ifdef _debug_GPS_fine_
printf("gps 2\n");
#endif
// use Luke's library function to get gps position data from the
// gps string
valid_gps = gps_get_position(&CurrentGPS,gpsString);
//num_sat = gps_get_satellites(&Satellite,gpsString); //<-can be used only during GPGSA mode
printf("valid gps: %d, CurrentGPS: %d %f, %d %f\n", valid_gps, CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
//printf("# of sat: %d\n",num_sat);
#ifdef _debug_GPS_fine_
printf("valid gps: %d, CurrentGPS: %d %f, %d %f\n", valid_gps, CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
#endif
#ifdef _debug_GPS_fine_
printf("gps 3\n");
#endif
#ifdef _debug_GPS_fine_
printf("gps 4\n");
#endif
flag2=0;
//valid gps=0 - success, -1 - parsing error, 1 - sentence marked invalid
if(valid_gps==0 && controlMode == GPS_CONTROL_MODE){
// initialize last gps coordinate if program is just starting
if(helpLast == 0)
{
LastGPS = CurrentGPS;
helpLast = 1;
}
// find the x and y distances between the last and current GPS
// positions of the robot
CurCart = getCart(&LastGPS,&CurrentGPS);
originToCurrent = gps_ground_distance(&LastGPS, &CurrentGPS);
currentToGoal = gps_ground_distance(&CurrentGPS, &Goal);
printf("CurrentGPS: %d %f, %d %f\n",CurrentGPS.lat_degrees, CurrentGPS.lat_minutes, CurrentGPS.lon_degrees, CurrentGPS.lon_minutes);
printf("LastGPS: %d,%f,%d,%f\n", LastGPS.lat_degrees, LastGPS.lat_minutes, LastGPS.lon_degrees, LastGPS.lon_minutes);
printf("originTocurrent: %f, currentToGoal: %f\n",originToCurrent, currentToGoal);
if(currentToGoal>=WAYPOINT_RADIUS){
// compute bearing if there the robot traveled enough distance 2m
if(originToCurrent >= 0.002 || helpLast2 == 0){
if(helpLast2 == 0)
helpLast2 = 1;
// set the flag so that v,w are updated in the second if statement
flag2=1;
// compute the bearing and distance from current pos to the next waypoint
GoalPos = getPol(getCart(&CurrentGPS,&Goal));
bearingToGoal = gps_bearing2(&CurrentGPS, &Goal);
// compute bearing from origin to current
// if the robot is not stationary, calculate robot bearing
// this is necessary because atan2 breaks if it is given 0/0
if(!(CurCart.x == 0 && CurCart.y == 0))
{
CurPol = getPol(CurCart);
}
else
{
CurPol.t = GoalPos.t;
}
if(originToCurrent!=0)
{
bearingToCurrent = gps_bearing2(&LastGPS,&CurrentGPS);
}
else
{
bearingToCurrent = bearingToGoal;
}
LastGPS = CurrentGPS;
/*sprintf(radioOutput,"bearing calculation: %f, %f\n", bearRange(CurPol.t-GoalPos.t),bearRange((bearingToCurrent-bearingToGoal)*PI/180.0));
serCputs(radioOutput);
printf("bearing calculation: %f, %f\n", bearRange(CurPol.t-GoalPos.t),bearRange((bearingToCurrent-bearingToGoal)*PI/180.0));*/
}
}
}
// if within 10m of the next way point, switch to the next waypoint
// in the array, or stop of there are no more waypoints
if (controlMode == GPS_CONTROL_MODE && currentToGoal >= WAYPOINT_RADIUS)
{
if (valid_gps == 0 && flag2==1) //0 = good GPS, -1 = bad GPS
{
// compute bearing error
error = bearRange(CurPol.t-GoalPos.t);
// bearing error using double precision calculation
error2 = bearRange((bearingToCurrent-bearingToGoal)*PI/180.0);
//only add up integral term when the robot is currently moving at full speed
//& the robot has actually moved 1m from the last positoin
if(currentV == AUTONOMOUS_SPEED)
{
deltat = (float)(TICK_TIMER-last_time) / (1024);
//TICK_TIMER is shared unsigned long that counts every 1/1024 sec
if(deltat<0)
{
deltat=(float)(TICK_TIMER-last_time+1024)/1024;
}
if(deltat<0) //invalid deltat -> set deltat=0
{
deltat=0;
}
error_integral = error_integral + (error2 + last_error)/2*deltat;
error_integral = bound(error_integral,INTEGRALMAX);
}
desiredW = (int)(bound(((-P_coeff*error2) - I_coeff*error_integral)*loop_gain, MAXW));
desiredV = AUTONOMOUS_SPEED;
last_error = error2;
last_time = TICK_TIMER; //(1024 times per second)
}
/*else if(valid_gps!=0)
{
// without valid GPS, go straight but slower (half of autonomous speed)
// still under autonomous mode
desiredW = 0;
desiredV = AUTONOMOUS_SPEED_SLOW;
abort;
}*/
}
}
//***********************************************************************************
// change the current waypoint to the nextway point when the robot reaches
// near the current waypoint
costate WaypointCheck always_on
{
//default distance = .005 (5 meters)
if (currentToGoal < WAYPOINT_RADIUS && controlMode == GPS_CONTROL_MODE && valid_gps==0)
{
// go straight for 2sec (travel about 4m straight)
desiredW = 0;
desiredV = AUTONOMOUS_SPEED;
waitfor(DelaySec(2));
// stop at each waypoint when stoppingMode = 1
if(stoppingMode == 1){
controlMode = INSTRUMENT_MODE;
desiredV = 0;
desiredW = 0;
}
curWayPoint++;
// if at the last way point, stop
if(curWayPoint >= numWayPoints)
{
controlMode = USER_CONTROL_MODE;
desiredV = 0;
desiredW = 0;
curWayPoint = 0;
Goal = WayPoints[0];
abort;
}
else{
Goal = WayPoints[curWayPoint];
currentToGoal = gps_ground_distance(&CurrentGPS, &Goal);
error_integral = 0; //reset error integral for PI control
last_time = TICK_TIMER; //(1024 times per second)
}
}
}
//***********************************************************************************
// Change to user control mode when there is no good GPS connection
/*costate GPSPingCheck always_on
{
waitfor(valid_gps != 0);
waitfor(DelaySec(10) || (valid_gps == 0));
if (valid_gps != 0)
{
controlMode = USER_CONTROL_MODE;
desiredV = 0;
desiredW = 0;
flag=1;
}
if(valid_gps == 0 && flag==1){
controlMode = GPS_CONTROL_MODE;
flag=0;
}
}*/
//***********************************************************************************
//Escape mode disabled in this version because datalogger is not being used
/*costate escapeSequence always_on
{
waitfor(controlMode == ESCAPE_CONTROL_MODE);
desiredV = 0;
desiredW = 0;
setVel(0,0);
//printf("waiting for escape confirm... \n");
//waitfor(controlMode == ESCAPE_CONFIRM_MODE);
printf("escape sequence initiated \n");
switch(obstacleType){
case OBSTACLE_0:
desiredV = 0;
desiredW = 0;
waitfor(DelayMs(500));
desiredV = -300;
desiredW = 0;
waitfor(DelayMs(4000));
desiredV = 0;
desiredW = -600;
waitfor(DelayMs(2000));
desiredV = 800;
desiredW = 0;
waitfor(DelayMs(4000));
break;
case OBSTACLE_1:
desiredV = 0;
desiredW = 0;
waitfor(DelayMs(500));
desiredV = -400;
desiredW = 0;
waitfor(DelayMs(4000));
desiredV = 1500;
desiredW = 0;
waitfor(DelayMs(3500));
desiredV = -400;
desiredW = 0;
waitfor(DelayMs(4000));
desiredV = 1500;
desiredW = 0;
waitfor(DelayMs(3500));
break;
}
//relinquish control to User
desiredV = 0;
desiredW = 0;
controlMode = USER_CONTROL_MODE;
robotMobility = MOBILE;
classificationMode = CLASSIFICATION_OFF;
}*/
}
}
main()
{
auto int device0;
auto rn_search newdev;
auto char s[128];
auto int counter, i, option;
// Array locations 0 - 5 used to indicate what state relays
// 0 - 5 are in, here's the possible states.
// -----------------------------------------
// 0 = Relay OFF...no action to be taken
// 1 = Request for relay to be activated
// 2 = Relay actvated...no action to be taken.
// 3 = Request for relay to be deactivated.
//
// The user will select a menu option which set the memory
// locations 0 - 5 with the desired relay state. The main
// program will detect when a change occurs in the memory
// array, which will then update the relay(s) with the new
// Relay state.
auto char CurrentRelayState[6];
auto char NewRelayState[6];
auto int relay_control_update;
auto int relay;
brdInit(); //initialize controller
rn_init(RN_PORTS, 1); //initialize controller RN ports
//search for device match
newdev.flags = MATCHFLAG;
newdev.productid = MATCHPID;
if ((device0 = rn_find(&newdev)) == -1)
{
printf("\n no device found\n");
exit(0);
}
//Display user instructions and channel headings
DispStr(2, 1, "<<< Relay Control Menu >>>");
DispStr(2, 2, "--------------------------");
DispStr(2, 3, "1.Sequence Relays 0, 2, and 4 ON, set all others OFF.");
DispStr(2, 4, "2.Sequence Relays 0, 1, 3, and 5 ON, set all others OFF.");
DispStr(2, 5, "3.Sequence All Relays ON.");
DispStr(2, 6, "4.Sequence All Relays OFF.");
counter = 0;
relay_control_update = FALSE;
memset(CurrentRelayState, 0x00, 6);
memset(NewRelayState, 0x00, 6);
for(;;)
{
costate
{
sprintf(s,"Application program is running, counter = %d", counter++);
DispStr(2, 10, s);
}
costate
{
if(kbhit())
{
option = getchar();
set_relay_state(option, &CurrentRelayState[0], &relay_control_update);
}
waitfor(DelayMs(10));
}
costate
{
if(relay_control_update)
{
for(relay=0; relay < 6; relay++)
{
if(NewRelayState[relay] == 1)
{
// Activate given relay, then wait for 50ms
rn_Relay(device0, relay, 1, 0);
NewRelayState[relay] = RELAY_IS_ON;
CurrentRelayState[relay] = RELAY_IS_ON;
// Wait for relay to stabilize
waitfor(DelayMs(50));
}
else if(NewRelayState[relay] == 3)
{
// Deactivate relay, then wait for 5ms
rn_Relay(device0, relay, 0, 0);
NewRelayState[relay] = RELAY_IS_OFF;
CurrentRelayState[relay] = RELAY_IS_OFF;
// Wait for relay power OFF completely
waitfor(DelayMs(50));
}
}
relay_control_update = FALSE;
}
else
{
if(memcmp(CurrentRelayState,NewRelayState, 6) != 0)
{
memcpy(NewRelayState, CurrentRelayState, 6);
relay_control_update = TRUE;
}
}
}
}
}
main()
{
longword seq,ping_who,tmp_seq,time_out;
char buffer[100];
brdInit(); //initialize board for this demo
seq=0;
// Start network and wait for interface to come up (or error exit).
sock_init_or_exit(1);
/*
* Get the binary ip address for the target of our
* pinging.
*/
#ifdef PING_WHO
/* Ping a specific IP addr: */
ping_who=resolve(PING_WHO);
if(ping_who==0) {
printf("ERROR: unable to resolve %s\n",PING_WHO);
exit(2);
}
#else
/* Examine our configuration, and ping the default router: */
tmp_seq = ifconfig( IF_ANY, IFG_ROUTER_DEFAULT, & ping_who, IFS_END );
if( tmp_seq != 0 ) {
printf( "ERROR: ifconfig() failed --> %d\n", (int) tmp_seq );
exit(2);
}
if(ping_who==0) {
printf("ERROR: unable to resolve IFG_ROUTER_DEFAULT\n");
exit(2);
}
#endif
for(;;) {
/*
* It is important to call tcp_tick here because
* ping packets will not get processed otherwise.
*
*/
tcp_tick(NULL);
/*
* Send one ping every PING_DELAY ms.
*/
costate {
waitfor(DelayMs(PING_DELAY));
_ping(ping_who,seq++);
pingoutled(LEDON); // flash transmit LED
waitfor(DelayMs(50));
pingoutled(LEDOFF);
}
/*
* Has a ping come in? time_out!=0xfffffff->yes.
*/
costate {
time_out=_chk_ping(ping_who,&tmp_seq);
if(time_out!=0xffffffff) {
#ifdef VERBOSE
printf("received ping: %ld\n", tmp_seq);
#endif
pinginled(LEDON); // flash receive LED
waitfor(DelayMs(50));
pinginled(LEDOFF);
}
}
}
}
void main(void)
{
char ascii_buffer[17];
char fbyte, inchar;
int i, j, k, pagenum, value, start, end;
char linebuf[80], *p, *buf, ch;
brdInit();
sfspi_init();
if (sf_init()) {
printf("Flash init failed\n");
exit(-1);
}
else {
printf("Flash init OK\n");
printf("# of blocks: %d\n", sf_blocks);
printf("size of block: %d\n\n", sf_blocksize);
}
print_command();
while (1) {
inchar = tolower(getchar());
if (inchar == 'c') {
printf("page number to clear?");
pagenum = input_number();
if (pagenum >= 0 && pagenum < sf_blocks) {
printf("\nClearing page %d\n", pagenum);
memset(flash_buf, 0, sf_blocksize);
sf_writeRAM(flash_buf, 0, sf_blocksize);
sf_RAMToPage(pagenum);
}
else {
printf("ERROR: invalid page number\n");
}
} // end if(inchar =='c')
else if ((inchar == 'p') || (inchar == 'r')) {
if (inchar == 'p') {
// Use start for page to print
printf("Page number to print out?");
start = input_number();
// Check that it is a valid page
if (start < 0 || start >= sf_blocks) {
printf("Invalid page number.\n\n");
continue;
}
// Set single page range for 'p' command
end = start;
}
else {
printf("Starting page number to print out?");
start = input_number();
// Check that it is a valid page
if (start < 0 || start >= sf_blocks) {
printf("Invalid page number.\n\n");
continue;
}
printf("\nEnding page number to print out?");
end = input_number();
if (end < start || end >= sf_blocks) {
printf("Invalid page number.\n\n");
continue;
}
}
// Loop through range of pages (range of 1 page for 'p' command)
for (pagenum = start; pagenum <= end; ++pagenum) {
printf("\nPage %d", pagenum);
sf_pageToRAM(pagenum);
sf_readRAM(flash_buf, 0, sf_blocksize);
// Test if entire buffer filled with a single value
buf = flash_buf;
for (j = k = 0, ch = *buf; j < 512; ++j) {
if (ch != *buf++) {
k = 1;
break;
}
}
// See if page is all the same value
if (k) {
printf("\n"); // No, drop through to print data
}
else {
// Yes, print out message instead
printf(" ALL = 0x%02x\n", ch);
continue;
}
k = (sf_blocksize & 0xFFF0) + ((sf_blocksize & 0x000F) ? 16 : 0);
ascii_buffer[16] = 0;
for (j = 0, buf = flash_buf; j < k; ++j) {
if (j % 16 == 0) {
p = linebuf;
p += sprintf (p, "%04x: ", j);
}
fbyte = *buf++;
if (j >= sf_blocksize) {
p += sprintf (p, " ");
ascii_buffer[j % 16] = ' ';
}
else {
p += sprintf (p, "%02x ", fbyte);
ascii_buffer[j % 16] = isprint (fbyte) ? fbyte : '.';
}
if (j % 16 == 15) {
printf ("%s %s\n", linebuf, ascii_buffer);
}
}
}
} // end if((inchar =='p') || (inchar == 'r'))
else if (inchar == 'f') {
printf("page number to fill with specified value? ");
pagenum = input_number();
if (pagenum >= 0 && pagenum < sf_blocks) {
printf("\nPage %d\n", pagenum);
printf("enter fill value ");
value = input_number();
printf("\nValue is %d dec is %02x hex", value, value);
printf("\nFilling page %d with value %02x hex\n", pagenum, value);
memset(flash_buf, value, sf_blocksize);
sf_writeRAM(flash_buf, 0, sf_blocksize);
sf_RAMToPage(pagenum);
}
else {
printf("ERROR: invalid page number\n");
}
} // end of if(inchar == 'f')
else if (inchar == 't') {
printf("page number in which to write text? ");
pagenum = input_number();
if (pagenum >= 0 && pagenum < sf_blocks) {
printf("\nPage %d\n", pagenum);
printf("enter character string followed by RETURN \n");
gets(flash_buf);
printf("Storing the following text ==> %s \n", flash_buf);
sf_writeRAM(flash_buf, 0, sf_blocksize);
sf_RAMToPage(pagenum);
}
else {
printf("ERROR: invalid page number\n");
}
} // end of if(inchar == 't')
print_command();
} // end of while
}
//------------------------------------------------------------------------
// Sample program to demonstrate the LCD and keypad
//------------------------------------------------------------------------
void main ( void )
{
auto int option;
static int state;
//------------------------------------------------------------------------
// Initialize the controller
//------------------------------------------------------------------------
brdInit(); // Initialize the controller
dispInit(); // Start-up the keypad driver, Initialize the graphic driver
keypadDef(); // Use the default keypad ASCII return values
glBackLight(1); // Turn-on the backlight
glXFontInit(&fi6x8, 6, 8, 32, 127, Font6x8); // Initialize 6x8 font
glXFontInit(&fi8x10, 8, 10, 32, 127, Font8x10); // Initialize 10x16 font
glXFontInit(&fi12x16, 12, 16, 32, 127, Font12x16); // Initialize 12x16 font
// Setup and center text window to be the entire display
TextWindowFrame(&textWindow, &fi6x8, 1, 0, 121, 32);
// Set variables to known states
ledCntrl = LEDOFF; // Initially disable the LED's
state = MENU_INIT;
//------------------------------------------------------------------------
// Display Sign-on message and wait for keypress
//------------------------------------------------------------------------
SignOnMessage();
//------------------------------------------------------------------------
// Main program loop for the MENU system
//------------------------------------------------------------------------
for (;;)
{
costate
{
keyProcess ();
waitfor(DelayMs(10));
}
costate
{
leds(OPERATE);
waitfor(DelayMs(50));
}
costate
{
// Display the MAIN MENU
waitfor((option = display_menu(main_menu, &state, LVL_MAINMENU, NUM_MAINMENU_OPTS)) > 0);
// Get menu option from the user
switch(option)
{
// Change Date/Time
case 1: glBlankScreen();
SetDateTime();
state = MENU_INIT;
break;
// Display current Date/Time
case 2: glBlankScreen();
waitfor(dispDate());
state = MENU_INIT;
break;
// Display backlight memu options
case 3: waitfor(backlight_menu());
state = MENU_REFRESH;
break;
// Enable Toggle leds option
case 4: leds(TOGGLE);
state = MENU_NO_CHANGE;
break;
// Enable Increment leds option
case 5: leds(INCREMENT);
state = MENU_NO_CHANGE;
break;
// Disable LED's
case 6: leds(LEDOFF);
state = MENU_NO_CHANGE;
break;
// User made invalid selection
default:
break;
}
}
}
}
main()
{
longword seq,ping_who,tmp_seq,time_out;
char buffer[100];
brdInit(); //initialize board for this demo
seq=0;
sock_init(); // Initialize wifi interface
// Make sure wifi IF is down to do ifconfig's functions
printf("\nBringing interface down (disassociate)...\n");
ifdown(IF_WIFI0);
while (ifpending(IF_WIFI0) != IF_DOWN) {
printf(".");
tcp_tick(NULL);
}
printf("...Done.\n");
// Enable 802.11d country information capability
// Note: Access Point must have 802.11d enabled with proper country selected
ifconfig(IF_WIFI0, IFS_WIFI_MULTI_DOMAIN, 1, IFS_END);
// Startup the wireless interface here...
printf("Bringing interface back up (associate)...\n");
ifup(IF_WIFI0);
while (ifpending(IF_WIFI0) == IF_COMING_UP) {
tcp_tick(NULL);
}
printf("...Done.\n");
if (ifpending(IF_WIFI0) != IF_UP) {
printf("Unfortunately, it failed to associate :-(\n");
exit(1);
}
// End of regional setting section, from this point on do standard tcp/ip
// protocol.
/*
// Here is where we gather the statistics...
// Note that if you get a compile error here, it is because you are not running
// this sample on a Wifi-equipped board.
/* Print who we are... */
printf( "My IP address is %s\n\n", inet_ntoa(buffer, gethostid()) );
/*
* Get the binary ip address for the target of our
* pinging.
*/
#ifdef PING_WHO
/* Ping a specific IP addr: */
ping_who=resolve(PING_WHO);
if(ping_who==0) {
printf("ERROR: unable to resolve %s\n",PING_WHO);
exit(2);
}
#else
/* Examine our configuration, and ping the default router: */
tmp_seq = ifconfig( IF_ANY, IFG_ROUTER_DEFAULT, & ping_who, IFS_END );
if( tmp_seq != 0 ) {
printf( "ERROR: ifconfig() failed --> %d\n", (int) tmp_seq );
exit(2);
}
if(ping_who==0) {
printf("ERROR: unable to resolve IFG_ROUTER_DEFAULT\n");
exit(2);
}
#endif
for(;;) {
/*
* It is important to call tcp_tick here because
* ping packets will not get processed otherwise.
*
*/
tcp_tick(NULL);
/*
* Send one ping every PING_DELAY ms.
*/
costate {
waitfor(DelayMs(PING_DELAY));
pingoutled(LEDON); // flash transmit LED
waitfor(DelayMs(50));
pingoutled(LEDOFF);
_ping(ping_who,seq++);
}
/*
* Has a ping come in? time_out!=0xfffffff->yes.
*/
costate {
time_out=_chk_ping(ping_who,&tmp_seq);
if(time_out!=0xffffffff) {
#ifdef VERBOSE
printf("received ping: %ld\n", tmp_seq);
#endif
pinginled(LEDON); // flash receive LED
waitfor(DelayMs(50));
pinginled(LEDOFF);
#if RCM5600W_SERIES
waitfor(DelayMs(250));
pinginled(LEDON); // flash receive LED again
waitfor(DelayMs(50));
pinginled(LEDOFF);
#endif
}
}
}
}
