int main(void) {
const unsigned short MainCycle = 60;
Init(MainCycle);
for (;;) {
step();
if (is_black() == 0){
LED(3);
}else if((is_black_left() == 1) && (is_black_right() == 0)){
turn_left();
LED(2);
}else if((is_black_left() == 0) && (is_black_right() == 1)){
turn_right();
LED(1);
}else if((is_black_left() == 1) && (is_black_right() == 1)){
stop();
LED(0);
break;
}
}
stop();
return 0;
}
int main(void)
{
if(wiringPiSetup() == -1) { //when initialize wiring failed,print messageto screen
printf("setup wiringPi failed !");
return 1;
}
pinMode(ReedPin, INPUT);
LED("GREEN");
while(1) {
if(0 == digitalRead(ReedPin)) {
delay(10);
if(0 == digitalRead(ReedPin)) {
LED("RED");
printf("Detected Magnetic Material!\n");
}
}
else if(1 == digitalRead(ReedPin)) {
delay(10);
if(1 == digitalRead(ReedPin)) {
while(!digitalRead(ReedPin));
LED("GREEN");
}
}
}
return 0;
}
void cyg_hal_start( void )
{
/* Board specific prestart that's best done in C */
hal_board_prestart();
LED( 0xd0 );
#ifdef CYG_HAL_STARTUP_ROM
/* Copy data from ROM to RAM */
hal_copy_data();
#endif
LED( 0xd4 );
/* Zero BSS */
hal_zero_bss();
LED( 0xd8 );
/* Call constructors */
cyg_hal_invoke_constructors();
LED( 0xdc );
/* Board specific late startup that's best done in C */
hal_board_poststart();
LED( 0xf8 );
/* Call cyg_start */
cyg_start(); /* does not return */
}
void running_light (bool btwo_directions)
{
static uint8_t u8count = 0;
static bool bfirstrun = true;
static int8_t u8direction = 1;
// Fix firstrun bug
if (bfirstrun)
{
LED (apvu16leds_conf[u8count], apvu16leds_ports[u8count], au8leds_offsets[u8count], ON);
bfirstrun = false;
return;
}
// Turn the last LED off
LED (apvu16leds_conf[u8count], apvu16leds_ports[u8count], au8leds_offsets[u8count], TOGGLE);
// Move forward
u8count += u8direction;
if (btwo_directions)
{
if (u8count == u8leds-1)
u8direction = -1;
else if (u8count == 0)
u8direction = 1;
}
else
u8count %= u8leds;
// Turn the next LED on
LED (apvu16leds_conf[u8count], apvu16leds_ports[u8count], au8leds_offsets[u8count], TOGGLE);
}
void setup() {
keypadSetup();
LED(DDR) = 0xff;
LED(PORT) = 0xff;
onKeypadPress(onPress);
}
void mainloop(void)
{
static unsigned char led_cnt = 0, led_state = 1;
led_cnt++;
if ((GPS_Data.status & 0xFF) == 0x03)
{
LED(0, OFF);
}
else
{
if (led_cnt == 150)
{
LED(0, ON);
}
else if (led_cnt == 200)
{
led_cnt = 0;
LED(0, OFF);
}
}
SDK_mainloop();
HL2LL_write_cycle(); //write data to transmit buffer for immediate transfer to LL processor
if (GPS_init_status == GPS_NEEDS_CONFIGURATION) //configuration SM of GPS at startup
{
GPS_configure();
}
if (gpsDataOkTrigger)
{
if (GPS_Data.horizontal_accuracy > 12000)
GPS_Data.status &= ~0x03;
if (GPS_timeout > 50)//(GPS_Data.status&0xFF)!=0x03)
{
if (led_state)
{
led_state = 0;
LED(1, OFF);
}
else
{
LED(1, ON);
led_state = 1;
}
}
GPS_timeout = 0;
if (GPS_init_status == GPS_STARTUP)
GPS_init_status = GPS_IS_CONFIGURED; //gps config valid, if received correct packet
HL_Status.latitude = GPS_Data.latitude;
HL_Status.longitude = GPS_Data.longitude;
}
}
void panic(int led1, int led2)
{
for(;;) {
_delay_ms(100);
LED(led1);
_delay_ms(100);
LED(led2);
}
}
void run(void)
{
int i;
int led;
for (i=0; i<10 ; i++) {
LED(1); // green.
Wait(1000);
LED(0); // off.
}
}
/*************************************************************************
* 野火嵌入式开发工作室
*
* 函数名称：LED_test
* 功能说明：LED测试函数，用于测试LED库里的函数是否正常
* 参数说明：无
* 函数返回：无
* 修改时间：2012-2-10
* 备 注：
*************************************************************************/
void LED_test(void)
{
LED_INIT();
while(1)
{
LED_DELAY_MS(500);
LED(LED0,LED_ON);
LED_DELAY_MS(500);
LED(LED0,LED_OFF);
}
}
void printmatrix(int matriz[][verticalmax][3])
{
int i, j;
for(j=verticalmax-1; j>=0; j--)
{
for(i=0; i<horizontalmax; i++)
{
LED(i,j,matriz[i][j][0]);
LED(i,j,matriz[i][j][1]);
LED(i,j,matriz[i][j][2]);
}
}
return;
}
void stepSM(int dir) //0 +1
{
static int olddir=0; //um IOport-read zu vermeiden
LED(1);
PORTBbits.RB10 = 0;
PORTBbits.RB11 = 0;
TRISBbits.TRISB11 = dir; // dir
if (olddir!=dir)
__delay_us(4);
olddir=dir;
TRISBbits.TRISB10 = 0; // step
__delay_us(4);
LED(0);
TRISBbits.TRISB10 = 1; // step
}
int main(void)
{
const unsigned short MainCycle = 60;
Init(MainCycle);
unsigned short bw, ri;
for(;;)
{
bw = ADRead(0);
ri = ADRead(1);
if((bw < 500)&&(ri < 500)){
go(3,l,l,a);
}
else if((bw > 500)&&(ri < 500)){
go(2,r,s,a);
}
else if((bw < 500)&&(ri > 500)){
go(1,s,r,a);
}
else{
break;
}
}
LED(0);
motor(0,0);
return 0;
}
int main(void)
{
u8 R='b';
delay_init(72); //延时函数初始化
usart1_init(); //串口初始化
NRF24L01_Init(); //初始化NRF24L01
LED();
while(NRF24L01_Check()); //检查NRF24L01是否在位.
while(1)
{
NRF24L01_TX_Mode();
if(USART_GetFlagStatus(USART1, USART_FLAG_RXNE))
{
R =USART_ReceiveData(USART1);
USART_ClearFlag(USART1, USART_FLAG_TC);
USART_SendData(USART1, USART_ReceiveData(USART1));
USART_ClearFlag(USART1, USART_FLAG_RXNE);
}
NRF24L01_TxPacket(&R);
if(R=='a')
GPIO_ResetBits(GPIOE, GPIO_Pin_5); //PE=0,LED亮
if(R=='b')
GPIO_SetBits(GPIOE, GPIO_Pin_5); //PE=1,LED灭
}
}
int main(void) {
WDT_off(); //watchdog erstmal abschalten
wdt_disable();
LED_DDR = (1<<LED_PIN); //register setzen
LED(0); //LED auf LOW ziehen --> AN
delayms(20); //Delayzeit stellt die Impulsdauer und damit den Helligkeitseindruck ein
LED(1); //LED auf HIGH setzen --> AUS
wdt_enable(WDTO_2S); //setze den Watchdogtimer auf 2s
set_sleep_mode(SLEEP_MODE_PWR_DOWN); //PWR_DOWN --> quasi nur wdt kann chip wecken
sleep_mode(); //in den Tiefschlaf wechseln
while(1);
return 0;
}
uint8_t master_HandShake(uint8_t sci_x){
state_x_Send = false;
state_x_PowerUp = false;
while (!timeout && !Sci_Ready()){}
if (!timeout){
read_SPI (hand_Shake_Send);
if (g_RXData != hand_Shake_Rec){ // handshake fail
LED(1,1,1,5,1); // Handshake fail (BLUE GREEN RED)
hand_Shake_FAIL[(m + 9)] = g_RXData;
m++;
state_x_PowerUp = true;
}
}
if (m > 20) // Try three times and move on to science board 2 if no handshake
{
state_x_Send = true;
for (o = 9; o < 29; o++){
write_Buffer(hand_Shake_FAIL[o]);
}
}
if (timeout){return 1;}
else return 0;
}
int main (void) {
state = init;
SetupHardware();
LED(~GREEN);
//HMACInit(jig_key,20);
//switch_port(0);
for (;;) {
USB_USBTask(); // why not in ISR ?
if (expire ==0){
switch (state) {
case start:
connect_port(5);
state = p5_wait_reset;
break;
case JIG_wait_reset:
switch_port(5);
state = p5_wait_enumerate;
break;
case JIG_do_answer:
JIG_Task();
break;
case JIG_responded:
disconnect_port(5);
state = p5_wait_disconnect;
break;
case JIG_wait_disconnect:
if (last_port_conn_clear == 5) {
state = p5_disconnected;
expire = 20;
}
break;
case JIG_disconnected:
LED(GREEN);
break;
default:
break;
}
}
}
}
int main(void)
{
const unsigned short MainCycle = 60;
Init(MainCycle);
int i;
for(i=0;i<10000;i++){
forward(EDGE);
Wait(50);
if(ADRead(0)>500){
left_motor(EDGE);
LED(1);
}
if(ADRead(1)>500){
right_motor(EDGE);
LED(2);
}
if((ADRead(1)>500)&&(ADRead(0)>500)){
stop();
LED(3);
for (;;) {
kaeru();
Wait(3000);
}
Wait(10000);
}
}
return 0;
}
void test1(){
while(1){
tarVel1=tarVel1+1000;
LED(1,500);
delay_ms(1000);
}
}
int main(void)
{
const unsigned short MainCycle = 60;
Init(MainCycle);
int i;
unsigned short br;
unsigned short bl;
for(i=0; i<N; i++){
br = ADRead(0); //left
bl = ADRead(1); //right
if(bl<200 && br<200){
step();
}
if (bl>200 && br<200){
LED(1);
Wait(100);
LED(0);
right();
}
if(br>200 && bl<200){
LED(2);
Wait(100);
LED(0);
left();
}
else if(br>200 && bl>200){
forward(0,0);
break;
}
}
buzzer();
return 0;
}
void ClearAll() // Clear all accumulators and turn off outputs
{
uint8 i;
for(i=0; i<128; i++)
AccumulatedData[i]=0;
SampleCount=0;
ClearFinalData();
OC_COUNT(OFF);
LED(OFF);
}
int main(void){
const unsigned short MainCycle = 60;
Init(MainCycle);
for( ; ; ) {
// step(,);
left = ADRead(0);
right = ADRead(1);
if(left>600){
LED(2);
Wait(200);
turn(32760,32760,50); // 軌道修正 ~ 右 10k,10k ,persist = 100ms
}
if(right>600){
LED(1);
Wait(200);
turn(-32760,-32760,50); //軌道修正 ~ 左 -10k, -10k
}
if(right > 600 && left > 600){
break;
}
else{
step(30,0);
buzz(0,30,0);
}
LED(0);
}
return 0;
}
void leds_display_hex (uint8_t u8num)
{
uint8_t u8count = u8leds-1;
while (u8num > 0)
{
// Turn the LED representing the current bit on if it is set
LED (apvu16leds_conf[u8count], apvu16leds_ports[u8count], au8leds_offsets[u8count], u8num & 1);
u8num >>= 1;
u8count--;
}
}
/* Write LEN bytes to LEDs at position POS, from BUF.
Returns actual amount written. */
unsigned write_leds (unsigned pos, const char *buf, unsigned len)
{
/* We write the actual LED values backwards, because
increasing memory addresses reflect LEDs right-to-left. */
volatile char *led = &LED (LED_NUM_DIGITS - pos - 1);
/* We invert the value written to the hardware, because 1 = off,
and 0 = on. */
DO_LED_COPY (char *img, pos, buf, len,
*led-- = 0xFF ^ (*img++ = *buf++));
return len;
}
void lchika(void) {
uint8_t i;
for (i = 0; i < 3; i++) {
cnt[i]++;
//奇数ならLEDは消灯
if (cnt[i] % 2 == 1) {
LED(i, 0);
} else {//偶数のとき
if (cnt[i] / 2 <= v[i] / 100) {//LED点滅回数のほうが電流より少ない間LED点灯
LED(i, 1);
cntf[i] = 0; //フラグリセット
} else {//LEDの点滅回数のほうが電流より多くなったときフラグ加算
cntf[i]++;
LED(i, 0);
if (cntf[i] >= 2) {//フラグが2になったら、元に戻る
cnt[i] = 0;
}
}
}
}
}
int main(void)
{
const unsigned short MainCycle = 60;
Init(MainCycle);
LED(3);
int i;
for(;;)
{
if(ADRead(LEFT_EYE)>BLACK){
if(ADRead(RIGHT_EYE)>BLACK){
break;
}
else{
LED(2);
runl();
}
}
else{
if(ADRead(RIGHT_EYE)>BLACK){
LED(1);
runr();
}
else{
LED(3);
run();
}
}
}
Mtr_Run_lv(0, 0, 0, 0, 0, 0);
return 0;
}
void main()
{
uchar *p;
p="by Jasper";
Init();
IsReset=0;
IsReset=eeprom_read(100);
if(!IsReset) //首次进入输入密码和显示欢迎界面
{
Confirm();
LCD_clear();
delay_ms(200);
LCD_write_str(5,0,"welcome");
while(*p)
{
LCD_write_char(i,1,*p);
p++;
i++;
delay_ms(100);
}
}
LCD_clear(); //正式进入系统
LCD_write_str(0,0,"1bell2led3motor");
LCD_write_str(0,1,"4fix_password");
while(1)
{
eeprom_write(100,0);
if(select=='1') //蜂鸣器模式
{
LCD_clear();
LCD_write_str(0,0,"buzz..send * or");
LCD_write_str(0,1,"shutdown to exit");
Bell();
}
if(select=='2') LED(); //led模式
if(select=='3') Motor(); //电机模式
if(select=='4') Write_password(); //修改密码模式
}
}
void panic_mode(void) {
// RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power
lcd_printlc_P(1, 1, PSTR("Panic mode "));
LEDS_OFF();
LED(1, 2);
blinkdelay();
LED(1, 2);
LED(2, 2);
blinkdelay();
LED(2, 2);
LED(3, 2);
blinkdelay();
LED(3, 2);
LED(4, 2);
blinkdelay();
LED(4, 2);
LED(5, 2);
btn_p = (PIN(SW_PACECAR_PORT) & _BV(SW_PACECAR));
if (old_p != btn_p) {
// pacecar button changed
if (btn_p == 0) pacecarbutton();
old_p = btn_p;
}
}
void test_circuit_parallel()
{
//circuit 1
ngac AC("ac1", 0, 5, 1);
ngresistor R("r1", 370);
ngled LED("LED1", 7e-3);
ngground GND;
ngline L0(AC.p1, GND.p1);
ngline L1(AC.p2, R.p1);
ngline L2(R.p2, LED.p1);
ngline L3(LED.p2, AC.p1);
schema SCH;
SCH.AddDevices(&AC, &R, &LED, &GND, 0);
SCH.AddLines(&L0, &L1, &L2, &L3, 0);
circuit CIR(&SCH);
CIR.Tran("20", "1m");
//circuit 2
ngac ac("ac1", 0, 5, 1);
ngresistor r("r1", 370);
ngled led("led1", 5e-3);
ngground gnd;
ngline l0(ac.p1, gnd.p1);
ngline l1(ac.p2, r.p1);
ngline l2(r.p2, led.p1);
ngline l3(led.p2, ac.p1);
schema sch;
sch.AddDevices(&ac, &r, &led, &gnd, 0);
sch.AddLines(&l0, &l1, &l2, &l3, 0);
circuit cir(&sch);
cir.Tran("20", "1m");
do
{
Sleep(200);
} while (CIR.IsRunning() || cir.IsRunning());
}
/***********************************************************
* AnimationThread
***********************************************************/
int32
LEDAnimation::AnimationThread(void* data)
{
LEDAnimation *anim = (LEDAnimation*)data;
while (anim->fRunning)
{
LED(B_NUM_LOCK,true);
LED(B_NUM_LOCK,false);
LED(B_CAPS_LOCK,true);
LED(B_CAPS_LOCK,false);
LED(B_SCROLL_LOCK,true);
LED(B_SCROLL_LOCK,false);
LED(B_CAPS_LOCK,true);
LED(B_CAPS_LOCK,false);
}
anim->fThread = -1;
return 0;
}
/**********************************************************
MAIN
**********************************************************/
int main (void) {
static int vbat1; //battery_voltage (lowpass-filtered)
init();
buzzer(OFF);
LL_write_init();
PTU_init();
ADC0triggerSampling(1<<VOLTAGE_1); //activate ADC sampling
HL_Status.up_time=0;
LED(1,ON);
while(1)
{
if(mainloop_trigger)
{
if(GPS_timeout<ControllerCyclesPerSecond) GPS_timeout++;
else if(GPS_timeout==ControllerCyclesPerSecond)
{
GPS_timeout=ControllerCyclesPerSecond+1;
GPS_Data.status=0;
GPS_Data.numSV=0;
}
//battery monitoring
ADC0getSamplingResults(0xFF,adcChannelValues);
vbat1=(vbat1*14+(adcChannelValues[VOLTAGE_1]*9872/579))/15; //voltage in mV
HL_Status.battery_voltage_1=vbat1;
mainloop_cnt++;
if(!(mainloop_cnt%10)) buzzer_handler(HL_Status.battery_voltage_1);
if(mainloop_trigger) mainloop_trigger--;
mainloop();
}
}
return 0;
}
