int16_t main(void) {
//initialize all system clocks
init_clock();
//initialize serial communications
init_uart();
//initialize pin driving library (to be able to use the &D[x] defs)
init_pin();
//initialize the UI library
init_ui();
//initialize the timer module
init_timer();
//initialize the OC module (used by the servo driving code)
init_oc();
//Set servo control pins as output
pin_digitalOut(PAN_PIN);
pin_digitalOut(TILT_PIN);
pin_digitalOut(SONIC_OUT_PIN);
pin_digitalIn(SONIC_IN_PIN);
//Set LED off
led_off(LED);
//Configure blinking rate for LED when connected
timer_setPeriod(LED_TIM, 0.2);
timer_start(LED_TIM);
//Configure timer for reciever timeout
timer_setPeriod(DIST_TIM, 0.05);
//configure PWM on sonic output pin
oc_pwm(PWM_OC, SONIC_OUT_PIN, NULL, SONIC_FREQ, 0x0000);
//According to HobbyKing documentation: range .8 through 2.2 msec
//Set servo control pins as OC outputs on their respective timers
oc_servo(SERVO1_OC, PAN_PIN, SERVO1_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, pan_set_val);
oc_servo(SERVO2_OC, TILT_PIN, SERVO2_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, tilt_set_val);
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
led_on(LED);
//There's no point in driving the servos when there's no one connected yet.
}
while (1) {
ServiceUSB(); // service any pending USB requests
//blink the LED
if (timer_flag(LED_TIM)) {
timer_lower(LED_TIM);
led_toggle(LED);
}
//Update the servo control values.
pin_write(PAN_PIN, pan_set_val);
pin_write(TILT_PIN, tilt_set_val);
}
}
//INITIALIZE MOTOR
void initMotor(void) {
pin_write(ENA, 1); //set enable pin to ON
pin_write(SLEW, 1); //set slew rate to HIGH
pin_write(INV, 0); //set invert OFF
pin_write(D1, 0); //disable IN1 is OFF
pin_write(D2, 1); //disable IN2 is ON
}
static ssize_t uart_soft_write_cb(void *arg_p,
const void *txbuf_p,
size_t size)
{
int i, j;
uint8_t data;
struct uart_soft_driver_t *self_p;
const uint8_t *tx_p = txbuf_p;
self_p = container_of(arg_p, struct uart_soft_driver_t, chout);
for (i = 0; i < size; i++) {
sys_lock();
pin_write(&self_p->tx_pin, 0);
/* Put 8 bits on the transmission wire. */
data = tx_p[i];
for (j = 0; j < 8; j++) {
time_busy_wait_us(self_p->sample_time);
pin_write(&self_p->tx_pin, data & 1);
data >>= 1;
}
time_busy_wait_us(self_p->sample_time);
pin_write(&self_p->tx_pin, 1);
time_busy_wait_us(self_p->sample_time);
sys_unlock();
}
return (size);
}
int test_exti(struct harness_t *harness_p)
{
int i;
struct exti_driver_t exti;
struct pin_driver_t pin;
pin_init(&pin, &pin_d4_dev, PIN_OUTPUT);
pin_write(&pin, 1);
BTASSERT(exti_init(&exti,
&exti_d3_dev,
EXTI_TRIGGER_FALLING_EDGE,
isr,
NULL) == 0);
BTASSERT(exti_start(&exti) == 0);
for (i = 0; i < 10; i++) {
pin_write(&pin, 0);
time_busy_wait_us(10000);
pin_write(&pin, 1);
time_busy_wait_us(10000);
}
std_printf(FSTR("flag = %d\r\n"), (int)flag);
BTASSERT(flag == 10);
return (0);
}
void pwm_set_direction(unsigned char direction) {
// Direction is a bit [0 or 1] specifying the direction
// the motor should be commanded to turn. 1 is "forwards",
// and 0 is "reverse". Assumes fast decay mode operation.
if (pwm_direction != direction) {
// The direction to be set is different than the motor's current
// direction. A change should be made.
uint16_t prev_duty;
pwm_direction = direction; // Update pwm_direction
if (direction == 1) {
// If 1, PWM_I1 should PWM, PWM_I2 should be 0.
// printf("Setting motor direction FORWARD...\r\n");
prev_duty = pin_read(PWM_I2);
pin_write(PWM_I2, (uint16_t)(0));
pin_write(PWM_I1, prev_duty);
} else if (direction == 0) {
// If 0, PWM_I1 should 0, PWM_I2 should be 1.
// printf("Setting motor direction REVERSE...\r\n");
prev_duty = pin_read(PWM_I1);
pin_write(PWM_I1, (uint16_t)(0));
pin_write(PWM_I2, prev_duty);
} else {
printf("ERR: Invalid PWM direction %d received.\r\n", direction);
}
}
}
int16_t main(void) {
InitUSB(); // initialize the USB registers and serial interface engine
initChip();
initMotor();
led_on(&led1);
timer_setPeriod(LED_TIMER, 0.5); //start internal clock with defined period
timer_start(LED_TIMER);
pin_write(IN1, 1);
pin_write(IN2, 0);
pin_write(D2, 65536*2/5);
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB(); // service any pending USB requests
//LED1 TOGGLE TO CONFIRM RUNNING CODE
if (timer_flag(LED_TIMER)) {
timer_lower(LED_TIMER);
led_toggle(&led1);
pin_write(D2, VAL1);
}
}
}
void pwm_set_raw_duty(uint16_t raw_duty) {
if (pwm_direction == 1) {
pin_write(PWM_I1, raw_duty);
} else {
pin_write(PWM_I2, raw_duty);
}
}
//
// Exported functions
//
void gps_setup() {
int gps_success = 0;
strcpy(gps_time, "000000");
strcpy(gps_aprs_lat, "0000.00N");
strcpy(gps_aprs_lon, "00000.00E");
#ifdef GPS_USING_UBLOX
// Setup for the uBLOX MAX-6/7/8
// Check to see if we need to power up the GPS
#ifdef GPS_POWER_PIN
pinMode(GPS_POWER_PIN, OUTPUT);
pin_write(GPS_POWER_PIN, LOW);
#endif
#ifdef GPS_POWER_SLEEP_TIME
// Add a bit of a delay here to allow the GPS a chance to wake up
// (even if we aren't powering it via a digital pin)
delay(GPS_POWER_SLEEP_TIME);
#endif
#ifdef GPS_LED_PIN
// LED for GPS Status
pinMode(GPS_LED_PIN, OUTPUT);
pin_write(GPS_LED_PIN, LOW);
#endif
// Set MAX-6 to flight mode
int setup_attempts_remaining = 120;
while (!gps_success && (setup_attempts_remaining--) >= 0) {
sendUBX(setNav, sizeof(setNav)/sizeof(uint8_t));
gps_success = getUBX_ACK(setNav);
if (!gps_success) {
// Should find a better way to indicate a problem?
#ifdef GPS_LED_PIN
pin_write(GPS_LED_PIN, HIGH);
#endif
delay(500);
}
}
#ifdef GPS_LED_PIN
pin_write(GPS_LED_PIN, LOW);
#endif
// Finally turn off any NMEA sentences we don't need (in this case it's
// everything except GGA and RMC)
sendUBX(setGLL, sizeof(setGLL)/sizeof(uint8_t)); // Disable GGL
sendUBX(setGSA, sizeof(setGSA)/sizeof(uint8_t)); // Disable GSA
sendUBX(setGSV, sizeof(setGSV)/sizeof(uint8_t)); // Disable GSV
sendUBX(setVTG, sizeof(setVTG)/sizeof(uint8_t)); // Disable VTG
#endif
}
int8_t port_pin_write(uint8_t portx, uint8_t pin, uint8_t state)
{
#if defined (__AVR_ATmega169__) || defined (__AVR_ATmega169P__)
if (portx == portb) // it is PORTB
{
pin_write(PORTB,pin,state);
}
else if // it is PORTD
{
pin_write(PORTD,pin,state);
}
else // out of range
{
return(-1); // return ERROR
int8_t digital_write(uint8_t pin, uint8_t value)
{
#if defined (__AVR_ATmega169__) || defined (__AVR_ATmega169P__)
if ( pin < 8) // it is PORTB
{
pin_write(PORTB,pin,value);
}
else if // it is PORTD
{
pin -= 8; // converts it to numbering for PORTD
pin_write(PORTD,pin,value);
}
else // out of range
{
return(-1); // return ERROR
// Interrupt Service Routine for TIMER 3. This is used to switch between the
// buzzing and quiet periods when ON_CYCLES or OFF_CYCLES are reached.
extern "C" void __ISR (_TIMER_3_VECTOR, ipl5) T3_IntHandler (void)
{
alarm--;
if (alarm == 0) {
buzzing = !buzzing;
if (is_buzzer_on && buzzing) {
switch(BUZZER_PIN) {
case 9:
OpenOC4(OC_ON | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE, DUTY_CYCLE, 0);
break;
case 10:
OpenOC5(OC_ON | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE, DUTY_CYCLE, 0);
break;
}
alarm = ON_CYCLES;
} else {
switch(BUZZER_PIN) {
case 9: CloseOC4(); break;
case 10: CloseOC5(); break;
}
alarm = OFF_CYCLES;
pin_write(BUZZER_PIN, LOW);
}
}
// Clear interrupt flag
// This will break other interrupts and millis() (read+clear+write race condition?)
// IFS0bits.T3IF = 0; // DON'T!!
// Instead:
mT3ClearIntFlag();
}
void RadioHx1::setup()
{
// Configure pins
pinMode(PTT_PIN, OUTPUT);
pin_write(PTT_PIN, LOW);
pinMode(AUDIO_PIN, OUTPUT);
}
void RadioRSUV3::setup()
{
// Configure pins
pinMode(PTT_PIN, OUTPUT);
pin_write(PTT_PIN, HIGH);
pinMode(AUDIO_PIN, OUTPUT);
}
void quad_debug(_QUAD *self, _PIN *lut3, _PIN *lut2, _PIN *lut1, _PIN *lut0 ) {
/*
Given a quadrature encoder object and four configured digital output pins,
writes the value used to index the LUT across the four pins as follows--
LUT Index Bit | Source
[LSB --> MSB] |
****************************************
0 (LSB) | most recent value of B
1 | most recent value of A
2 | previously read value of B
3 (MSB) | previously read value of A
*/
pin_write(lut0, self -> b_curr); // b0
pin_write(lut1, self -> a_curr); // b1
pin_write(lut2, self -> b_prev); // b2
pin_write(lut3, self -> a_prev); // b3
}
uint16_t PIDcalc(uint16_t set_point){
actual_position = pin_read(potentiometer);
uint16_t error;
uint16_t duty;
uint16_t threshold = 500;
// printf("actual_position %u\n\r", actual_position);
error = abs((set_point - actual_position));
// printf("error %u\n\r", error);
if (error > threshold){
duty = (Kp * error);
// printf("duty %u\n\r", duty);
pin_write(pwmpin, duty);
PIDcalc(set_point);
}
else{
pin_write(pwmpin, 0);
}
}
// Private : Hardware scan
void Keypad_MAX::scanKeys() {
// Re-intialize the pins every time for sharing with other hardware.
for (byte r=0; r<sizeKpd.rows; r++) {
pin_mode(rowPins[r],INPUT_PULLUP);
}
// bitMap stores ALL the keys that are being pressed.
for (byte c=0; c<sizeKpd.columns; c++) {
pin_mode(columnPins[c],OUTPUT);
pin_write(columnPins[c], LOW); // Begin column pulse output.
for (byte r=0; r<sizeKpd.rows; r++) {
bitWrite(bitMap[r], c, !pin_read(rowPins[r])); // keypress is active low so invert to high.
}
// Set pin to high impedance input. Effectively ends column pulse.
pin_write(columnPins[c],HIGH);
pin_mode(columnPins[c],INPUT);
}
}
int16_t main(void) {
init_clock();
init_uart();
init_ui();
init_timer();
init_oc();
led_on(&led2);
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
val1 = 0;
val2 = 0;
interval = 0.02;
min_width = 5.5E-4;
max_width = 2.3E-3;
pos = 0; //16 bit int with binary point in front of the MSB
oc_servo(&oc1,&D[0],&timer1, interval,min_width, max_width, pos);
oc_servo(&oc2,&D[2],&timer3, interval,min_width, max_width, pos);
printf("Good morning\n");
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB();
//write the values to the servos (move the servos to the requested position)
pin_write(&D[0],val1);
pin_write(&D[2],val2);
if (timer_flag(&timer2)) {
//show a heartbeat and a status message
timer_lower(&timer2);
led_toggle(&led1);
printf("val1 = %u, val2 = %u\n", val1, val2);
}
}
}
int sensors_lm60(int powerPin, int readPin)
{
uint16_t adc = 0;
pin_write(powerPin, HIGH); // Turn the LM60 on
delayMicroseconds(5); // Allow time to settle
adc = analogRead(readPin); // Real read
pin_write(powerPin, LOW); // Turn the LM60 off
int mV = 3300L * adc / 1024L; // Millivolts
switch(TEMP_UNIT) {
case 1: // C
// Vo(mV) = (6.25*T) + 424 -> T = (Vo - 424) * 100 / 625
return (4L * (mV - 424) / 25) + CALIBRATION_VAL;
case 2: // K
// C + 273 = K
return (4L * (mV - 424) / 25) + 273 + CALIBRATION_VAL;
case 3: // F
// (9/5)C + 32 = F
return (36L * (mV - 424) / 125) + 32 + CALIBRATION_VAL;
}
}
void init_motor(void){
//outputs
pin_digitalOut(IN1); //D2-bar
pin_write(IN1,1);
pin_digitalOut(IN2); //D2-bar
pin_write(IN2,0);
pin_digitalOut(D1); //D1
pin_write(D1,0); //no tri-stating!
pin_digitalOut(ENA); //ENA
pin_write(ENA,1); //Enable the system
pin_digitalOut(&D[7]); //SLEW
pin_write(&D[7],0); //low slew rate
pin_digitalOut(INV); //INV
pin_write(INV,0); //don't invert the inputs!
//inputs
pin_analogIn(CURRENT_PIN); //direction sensor
pin_analogIn(VEMF_PIN); //Vemf sensor
pin_analogIn(FB_PIN); //0.24% of active high side current
pin_digitalIn(REV_PIN); //tach input
}
void power_save()
{
/* Enter power saving mode. SLEEP_MODE_IDLE is the least saving
* mode, but it's the only one that will keep the UART running.
* In addition, we need timer0 to keep track of time, timer 1
* to drive the buzzer and timer2 to keep pwm output at its rest
* voltage.
*/
set_sleep_mode(SLEEP_MODE_IDLE);
sleep_enable();
power_adc_disable();
power_spi_disable();
power_twi_disable();
pin_write(LED_PIN, LOW);
sleep_mode(); // Go to sleep
pin_write(LED_PIN, HIGH);
sleep_disable(); // Resume after wake up
power_all_enable();
}
// Exported functions
void buzzer_setup()
{
pinMode(BUZZER_PIN, OUTPUT);
pin_write(BUZZER_PIN, LOW);
buzzing = false;
is_buzzer_on = false;
alarm = 1;
// There are two timers capable of PWM, 2 and 3. We are using 2 for the modem,
// so use 3 for the buzzer.
OpenTimer3(T3_ON | T3_PS_1_8, PWM_PERIOD);
ConfigIntTimer3(T3_INT_ON | T3_INT_PRIOR_5);
}
void modem_hal_start()
{
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_6);
// The above could also be accomplished by ... ?
/*
IFS0bits.T2IF = 0; // Clear the T2 interrupt flag, so that the ISR doesn't go off immediatelly
IEC0bits.T2IE = 1; // Enable T2 interrupt
*/
// Turn PTT led on
pin_write(43, HIGH);
}
void modem_hal_stop()
{
// Return to rest duty cycle
SetDCOC1PWM(REST_DUTY);
//OCxRS = REST_DUTY;
// Disable playback interrupt
mT2IntEnable(0);
//IEC0bits.T2IE = 0;
// Turn PTT led off
pin_write(43, LOW);
}
int main()
{
struct nrf24l01_driver_t nrf24l01;
struct pin_driver_t pin[3];
uint8_t state[32];
sys_start();
nrf24l01_init(&nrf24l01,
&spi_device[0],
&pin_d10_dev,
&pin_d6_dev,
&exti_device[1],
SERVER_ADDRESS);
nrf24l01_start(&nrf24l01);
/* Initialize led pins. */
pin_init(&pin[0], &pin_d7_dev, PIN_OUTPUT);
pin_init(&pin[1], &pin_d8_dev, PIN_OUTPUT);
pin_init(&pin[2], &pin_d9_dev, PIN_OUTPUT);
pin_write(&pin[0], 0);
pin_write(&pin[1], 0);
pin_write(&pin[2], 0);
while (1) {
/* Read state from client. */
nrf24l01_read(&nrf24l01, state, sizeof(state));
std_printf(FSTR("state = 0x%x\r\n"), (int)state[0]);
/* Upadte LED. */
pin_write(&pin[0], (state[0] >> 0) & 0x1);
pin_write(&pin[1], (state[0] >> 1) & 0x1);
pin_write(&pin[2], (state[0] >> 2) & 0x1);
}
return (0);
}
int sensors_lm60(int powerPin, int readPin)
{
pin_write(powerPin, HIGH); // Turn the LM60 on
analogReference(INTERNAL); // Ref=1.1V. Okay up to 108 degC (424 + 6.25*108 = 1100mV)
analogRead(readPin); // Disregard the 1st conversion after changing ref (p.256)
delay(10); // This is needed when switching references
int adc = analogRead(readPin); // Real read
pin_write(powerPin, LOW); // Turn the LM60 off
int mV = 1100L * adc / 1024L; // Millivolts
switch(TEMP_UNIT) {
case 1: // C
// Vo(mV) = (6.25*T) + 424 -> T = (Vo - 424) * 100 / 625
return (4L * (mV - 424) / 25) + CALIBRATION_VAL;
case 2: // K
// C + 273 = K
return (4L * (mV - 424) / 25) + 273 + CALIBRATION_VAL;
case 3: // F
// (9/5)C + 32 = F
return (36L * (mV - 424) / 125) + 32 + CALIBRATION_VAL;
}
}
/*
void ping() {
pin_write(pingPin, HALF_INT);
timer_after(&timer4, 500e-6, 1, send);
}
*/
void motorControl(dist) {
while (stepCount != dist){
if (motorOn == 1){
stepCount += step;
motorOn = 0;
pin_write(stepPin, 0);
} else if (motorOn == 0){
motorOn = 1;
if (stepCount > dist){
step = -1;
dir = 0;
} else if (stepCount < dist){
step = 1;
dir = 1;
}
pin_write(dirPin, dir);
pin_write(stepPin, 1);
}
timer_start(&timer1);
led_toggle(&led1);
while (1) {
count = timer_read(&timer1);
led_toggle(&led2);
if (count > period){
break;
}
}
timer_stop(&timer1);
timer_lower(&timer1);
}
}
int test_falling(struct harness_t *harness_p)
{
int i;
struct pcint_driver_t pcint;
pin_write(&pin, 1);
count = 0;
BTASSERT(pcint_init(&pcint,
&pcint_a9_dev,
PCINT_TRIGGER_FALLING_EDGE,
isr,
NULL) == 0);
BTASSERT(pcint_start(&pcint) == 0);
/* 10 falling, 9 rising edges. */
for (i = 0; i < 10; i++) {
pin_write(&pin, 1);
time_busy_wait_us(10000);
pin_write(&pin, 0);
time_busy_wait_us(10000);
}
BTASSERT(pcint_stop(&pcint) == 0);
/* The interrupt is disabled, no increment. */
pin_write(&pin, 1);
time_busy_wait_us(10000);
pin_write(&pin, 0);
time_busy_wait_us(10000);
std_printf(FSTR("count: %d\r\n"), count);
BTASSERT(count == 10);
return (0);
}
/**
* def write(self, value)
*/
static mp_obj_t class_pin_write(mp_obj_t self_in, mp_obj_t value_in)
{
struct class_pin_t *self_p;
int value;
value = mp_obj_get_int(value_in);
if ((value != 0) && (value != 1)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError,
"bad pin value %d",
value));
}
self_p = MP_OBJ_TO_PTR(self_in);
pin_write(&self_p->drv, value);
return (mp_const_none);
}
void showBlank(void){
volatile uint8_t segments = 0b00000000;
volatile uint8_t segmentsZero = 0b00000000;
int a;
for(a = 0; a < 3; a++){
int z;
for (z = 0 ; z < 8 ; z++){
volatile uint8_t transferSegment = segments & (1 << (7 - z));
pin_clear(segmentClock);
pin_write(segmentData, transferSegment);
pin_set(segmentClock);
}
}
pin_clear(segmentLatch);
pin_set(segmentLatch);
}
void postNumber(int number, uint8_t decimal){
volatile uint8_t segments = 0b00000000;
volatile uint8_t segmentsZero = 0b00000000;
#define a 1<<0
#define b 1<<6
#define c 1<<5
#define d 1<<4
#define e 1<<3
#define f 1<<1
#define g 1<<2
#define dp 1<<7
switch (number){
case 1: segments = b | c | segmentsZero; break;
case 2: segments = a | b | d | e | g | segmentsZero; break;
case 3: segments = a | b | c | d | g | segmentsZero; break;
case 4: segments = f | g | b | c | segmentsZero; break;
case 5: segments = a | f | g | c | d | segmentsZero; break;
case 6: segments = a | f | g | e | c | d | segmentsZero; break;
case 7: segments = a | b | c | segmentsZero; break;
case 8: segments = a | b | c | d | e | f | g | segmentsZero; break;
case 9: segments = a | b | c | d | f | g | segmentsZero; break;
case 0: segments = a | b | c | d | e | f | segmentsZero; break;
case ' ': segments = 0 | segmentsZero; break;
case 'c': segments = g | e | d | segmentsZero; break;
case '-': segments = g | segmentsZero; break;
}
if (decimal == 1){
segments |= dp;
}
int y;
for (y = 0 ; y < 8 ; y++){
volatile uint8_t transferSegment = segments & (1 << (7 - y));
pin_clear(segmentClock);
pin_write(segmentData, transferSegment);
pin_set(segmentClock);
}
}
