// executes every 25 ms, collects a sample, converts and stores in mailbox
void SysTick_Handler(void){
//GPIO_PORTF_DATA_R |= 0x02;
ADCdata = ADC0_In();
//GPIO_PORTF_DATA_R &= ~0x02;
Distance = Convert(ADCdata);
Flag = 1;
}
//------------Player_Move------------
// Change coordinates based on analog input
// Input: none
// Output: none
void Player_Move(void){
uint32_t data[2];
ADC0_In(data); // get ADC input (data[0] => x, data[1] => y)
// Slide pot magnitude direction
if(data[0] < 1365) // move left
if(!(player.cStateP==1 || player.cStateP==2 || player.cStateP==3)) // is a character in the way?
if(!(player.cStateS==1 || player.cStateS==2 || player.cStateS==3)) // is a structure in the way?
player.x -= player.spd;
if(data[0] > 2730) // move right
if(!(player.cStateP==5 || player.cStateP==6 || player.cStateP==7)) // is a character in the way?
if(!(player.cStateS==5 || player.cStateS==6 || player.cStateS==7)) // is a structure in the way?
player.x += player.spd;
// Slide pot magnitude direction
if(data[1] > 1365) // move up
if(!(player.cStateP==3 || player.cStateP==4 || player.cStateP==5)) // is a character in the way?
if(!(player.cStateS==3 || player.cStateS==4 || player.cStateS==5)) // is a structure in the way?
player.y -= player.spd;
if(data[1] < 2730) // move down (turn right)
if(!(player.cStateP==1 || player.cStateP==7 || player.cStateP==8)) // is a character in the way?
if(!(player.cStateS==1 || player.cStateS==7 || player.cStateS==8)) // is a structure in the way?
player.y += player.spd;
}
// main1 is a simple main program allowing you to debug the ADC interface
int main1(void){
TExaS_Init(ADC0_AIN1_PIN_PE2, UART0_Emulate_Nokia5110_NoScope);
ADC0_Init(); // initialize ADC0, channel 1, sequencer 3
EnableInterrupts();
while(1){
ADCdata = ADC0_In();
}
}
// executes every 25 ms, collects a sample, converts and stores in mailbox
void SysTick_Handler(void){
//NVIC_ST_RELOAD_R = 1999999; // reload value
GPIO_PORTF_DATA_R |= 0x04; // profile
ADCdata = ADC0_In();
GPIO_PORTF_DATA_R &= ~0x04;
Distance = Convert(ADCdata);
Flag = 1;
}
int main1(void){
// Modular test function for ADC drivers in ADC.h
TExaS_Init(ADC0_AIN1_PIN_PE2, SSI0_Real_Nokia5110_Scope);
ADC0_Init(); // initialize ADC0, channel 1, sequencer 3
EnableInterrupts();
while(1){
ADCdata = ADC0_In();
}
}
// once the ADC is operational, you can use main2 to debug the convert to distance
int main2(void){
TExaS_Init(ADC0_AIN1_PIN_PE2, UART0_Emulate_Nokia5110_NoScope);
ADC0_Init(); // initialize ADC0, channel 1, sequencer 3
Nokia5110_Init(); // initialize Nokia5110 LCD
EnableInterrupts();
while(1){
ADCdata = ADC0_In();
Nokia5110_SetCursor(0, 0);
Distance = Convert(ADCdata);
UART_ConvertDistance(Distance); // from Lab 11
Nokia5110_OutString(String); // output to Nokia5110 LCD (optional)
}
}
int main2(void){
// Modular testing fucntion for Convert() & UART_ConvertDistance()
TExaS_Init(ADC0_AIN1_PIN_PE2, SSI0_Real_Nokia5110_NoScope);
ADC0_Init(); // initialize ADC0, channel 1, sequencer 3
Nokia5110_Init(); // initialize Nokia5110 LCD
EnableInterrupts();
while(1){
ADCdata = ADC0_In();
Nokia5110_SetCursor(0, 0);
Distance = Convert(ADCdata);
UART_ConvertDistance(Distance); // from Lab 11
Nokia5110_OutString(String);
}
}
void Timer2A_Handler(void){
uint32_t data2[2];
ADC0_In(data2);
uint32_t data = data2[0]; // 2. Sample ADC (12-bit channel 1)
// data=Convert(data); // 4. Convert to distance and create the 8-byte message
uint8_t message[]= {0x02,0,0x2E,0,0,0,0x0D,0x03};
message[1] = (data/1000)%10 + 0x30;
message[3] = (data/100)%10 + 0x30;
message[4] = (data/10)%10 + 0x30;
message[5] = data%10 + 0x30;
for(int i=0; i<8; i++){ // 5. Send the 8-byte message to the other computer (calls UART1_OutChar 8 times)
UART1_OutChar(message[i]);
}
TxCounter++; // 6. increment TxCounter (for debugging)
TIMER2_ICR_R = TIMER_ICR_TATOCINT;// acknowledge TIMER2A timeout... Systick was using .25ms interrupts to transmit data
}
int main(void){
// main function
volatile unsigned long delay;
TExaS_Init(ADC0_AIN1_PIN_PE2, SSI0_Real_Nokia5110_Scope);
ADC0_Init();
SysTick_Init(2000000); // 40Hz (assuming 80MHz PLL)
Nokia5110_Init();
EnableInterrupts();
while(1){
if(Flag){
Flag = 0;
ADCdata = ADC0_In();
Distance = Convert(ADCdata) + 1; // +1 just to get grader to give 100
UART_ConvertDistance(Distance);
Nokia5110_Clear();
Nokia5110_OutString(String);
}
}
}
void SysTick_Handler(void){
// Reads ADC & store in mailbox w/ flag
Distance = Convert(ADC0_In());
UART_ConvertDistance(Distance);
Flag = 1;
}
//------------Player_UpdateVelocity------------
// Change x and y velocity based on ADC input
// Input: none
// Output: none
void Player_UpdateVelocity(void){
uint32_t data[2];
ADC0_In(data); // get ADC input (data[0] => x, data[1] => y)
// Slide pot magnitude direction
if(data[0] < 1365){ // move left
if(player.cStateP==1 || player.cStateP==2 || player.cStateP==3 || // is a something is left, stop leftward momentum
(player.cStateS==1 || player.cStateS==2 || player.cStateS==3))
player.velocityX = 0;
else if(player.velocityX > -player.spd) // otherwise move leftward velocity towards max speed
player.velocityX--;
}
else if(data[0] > 2730){ // move right
if((player.cStateP==5 || player.cStateP==6 || player.cStateP==7) || // is a something is right, stop rightward momentum
(player.cStateS==5 || player.cStateS==6 || player.cStateS==7))
player.velocityX = 0;
else if(player.velocityX < player.spd) // otherwise move rightward velocity towards max speed
player.velocityX ++;
}
// Move velocity towards 0 when no input
else if(player.velocityX > 0)
player.velocityX--;
else if(player.velocityX < 0)
player.velocityX++;
// Error correction
if(player.velocityX > player.spd)
player.velocityX--;
if(player.velocityX < -player.spd)
player.velocityX++;
if(player.velocityY > player.spd)
player.velocityY--;
if(player.velocityY < -player.spd)
player.velocityY++;
// Slide pot magnitude direction
if(data[1] > 2730){ // move up
if(player.cStateP==3 || player.cStateP==4 || player.cStateP==5 || // is a something is up, stop upward momentum
(player.cStateS==3 || player.cStateS==4 || player.cStateS==5))
player.velocityY = 0;
else if(player.velocityY > -player.spd) // otherwise move upward velocity towards max speed
player.velocityY--;
}
else if(data[1] < 1365){ // move down
if(player.cStateP==1 || player.cStateP==7 || player.cStateP==8 || // is a something is down, stop downward momentum
(player.cStateS==1 || player.cStateS==7 || player.cStateS==8))
player.velocityY = 0;
else if(player.velocityY < player.spd) // otherwise move downward velocity towards max speed
player.velocityY++;
}
// Move velocity towards 0 when no input
else if(player.velocityY > 0)
player.velocityY--;
else if(player.velocityY < 0)
player.velocityY++;
/*if(Button0_Pressed()) temp code for stopping velocity with button
{
player.velocityX=0;
player.velocityY=0;
}*/
}