int main (void)
{
system_init();
configure_port_pins();
configure_usart();
printf("--TEST prepare: ATMEL SAMD10 watchdog callback!\r\n");
configure_wdt();
configure_wdt_callbacks();
printf("--TEST prepare: Config WDT:4096 ms!\r\n");
printf("--TEST prepare: Config WDT:Early Warning,2048ms!\r\n");
system_interrupt_enable_global();
printf("--TEST prepare: Enable gobale Interrupt!\r\n");
printf("--TEST information: Waitting for WDT Early Warning Interrupt!\r\n");
printf("\r\n\r\n\r\n");
while(1)
{
;
}
/* Insert application code here, after the board has been initialized. */
}
int main(void)
{
system_init();
//! [setup_init]
configure_port_pins();
//! [setup_init]
//! [main]
while (true) {
//! [main_1]
bool pin_state = port_pin_get_input_level(BUTTON_0_PIN);
//! [main_1]
//! [main_2]
port_pin_set_output_level(LED_0_PIN, !pin_state);
//! [main_2]
}
//! [main]
}
int main (void)
{
system_init();
//delay_init();
configure_port_pins();
configure_usart();
uint8_t string[] = "Testing usart\n";
usart_write_buffer_wait(&usart_instance, string,sizeof(string));
port_pin_set_output_level(_RESET, 1);
port_pin_set_output_level(_RESET, 0);
delay_ms(100);
port_pin_set_output_level(_RESET, 1);
delay_ms(1000);
port_pin_set_output_level(PIN_PA02, !false);
uint8_t ndef_data[] = COSY_DEFAULT_DATA;
rf430_init();
rf430_write_ndef(ndef_data);
port_pin_set_output_level(PIN_PA02, false);
// Insert application code here, after the board has been initialized.
//example application with cosytech data. (This data should be fetched from web/bluetooth)
while(1){
delay_ms(500);
port_pin_set_output_level(PIN_PA02, true);
delay_ms(500);
port_pin_set_output_level(PIN_PA02, false);
}
}
int main (void)
{
system_init();
// Initialize local variables used in main
int failed = 0;
uint8_t debug_string[24] = "y: x: z: c: ";
uint8_t jx, jy;
char z, c, lz, lc;
jx = jy = z = c = lz = lc = 0;
int cycle_index = 0;
uint8_t cycle = 0;
uint8_t light_mode = 0;
int light_modes = 1;
uint16_t head, brake = 0;
uint8_t LIGHTS_ON = 0;
uint8_t FWD = 0;
uint8_t HEADLIGHTS = 0;
uint8_t DEBUG_BLE = 1;
uint16_t BLE_temp = '0';
//uint16_t light_sens;
// Configure Devices
configure_port_pins();
configure_LED_PWM();
configure_usart();
configure_i2c_slave();
initIMU();
failed = !beginIMU();
configure_i2c_slave_callbacks();
//configure_ADC();
// Set the BLE module name to "long-itude"
uint8_t string[17] = "AT+NAMElong-itude";
usart_write_buffer_wait(&usart_instance, string, sizeof(string));
for(int i = 0; i < 50000; ++i);
// Switch LED direction to FWD
setFWD();
while(1)
{
//readAccel();
//readGyro();
//readMag();
//light_sens = getLightSens();
// Read data from BLE
if (usart_read_wait(&usart_instance, &BLE_temp) == STATUS_OK) {
switch(BLE_temp)
{
case '0':
LIGHTS_ON = 0;
break;
case '1':
LIGHTS_ON = 1;
break;
case '2':
DEBUG_BLE = 0;
break;
case '3':
DEBUG_BLE = 1;
break;
case '4':
setFWD();
break;
case '5':
setREV();
break;
}
}
if(DEBUG_BLE)
{
uint8_t temp = I2C_slave_read_buffer[0];
debug_string[4] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[3] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[2] = '0' + temp%10;
temp = (temp - temp%10)/10;
temp = I2C_slave_read_buffer[1];
debug_string[11] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[10] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[9] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[16] = '0' + I2C_slave_read_buffer[2];
debug_string[21] = '0' + I2C_slave_read_buffer[3];
debug_string[22] = '\r';
debug_string[23] = '\n';
usart_write_buffer_wait(&usart_instance, debug_string, sizeof(debug_string));
}
jx = I2C_slave_read_buffer[0];
jy = I2C_slave_read_buffer[1];
z = I2C_slave_read_buffer[2];
c = I2C_slave_read_buffer[3];
if(z == 0 && lz != 0)
{
if(jy > 200)
{
setFWD();
if(HEADLIGHTS && FWD)
HEADLIGHTS = 0;
else if(!HEADLIGHTS && FWD)
HEADLIGHTS = 1;
else if(HEADLIGHTS && !FWD)
{
FWD = 1;
}
else if(!HEADLIGHTS && !FWD)
{
HEADLIGHTS = 1;
FWD = 1;
}
}
else if(jy < 55)
{
setREV();
if(HEADLIGHTS && !FWD)
HEADLIGHTS = 0;
else if(!HEADLIGHTS && !FWD)
HEADLIGHTS = 1;
else if(HEADLIGHTS && FWD)
{
FWD = 0;
}
else if(!HEADLIGHTS && FWD)
{
HEADLIGHTS = 1;
FWD = 0;
}
}
else if(jy > 110 && jy < 150 && jx > 110 && jx < 150)
{
LIGHTS_ON = !LIGHTS_ON;
}
else if(jx > 200)
{
light_mode++;
if(light_mode >= light_modes)
light_mode = 0;
}
else if(jx < 55)
{
light_mode--;
if(light_mode <= -1)
light_mode = light_modes-1;
}
}
if(LIGHTS_ON)
{
if(light_mode == 0)
{
if(cycle == 0)
{
setLeftRGB(cycle_index,0,0xCFFF-cycle_index);
setRightRGB(cycle_index,0,0xCFFF-cycle_index);
}
if(cycle == 1)
{
setLeftRGB(0xCFFF-cycle_index,cycle_index,0);
setRightRGB(0xCFFF-cycle_index,cycle_index,0);
}
if(cycle == 2)
{
setLeftRGB(0,0xCFFF-cycle_index,cycle_index);
setRightRGB(0,0xCFFF-cycle_index,cycle_index);
}
cycle_index += 250;
if(cycle_index >= 0xCFFF)
{
cycle_index = 0;
cycle += 1;
if(cycle == 3)
cycle = 0;
}
}
if(HEADLIGHTS)
{
head = 0xFFFF;
setWhite(head);
if(jy < 120)
{
brake = (0xFFFF/120)*(120-jy);
setRed(brake);
}
else
setRed(0);
}
else
{
setWhite(0);
setRed(0);
}
}
else
{
setWhite(0);
setRed(0);
setLeftRGB(0,0,0);
setRightRGB(0,0,0);
}
lc = c;
lz = z;
}
}
