static void WaitSwitch(unsigned char sw){
int cnt=0;
while(ReadSwitch(sw)==0);
while((ReadSwitch(sw)) || (cnt<20)){
_delay_ms(1);
if(ReadSwitch(sw)==0)
cnt++;
else
cnt=0;
}
}
bool ByteBuffer::Read( T& v )
{
return ReadSwitch( *this, v );
}
/*--------------------------------------------------------------------------------------------------*/
int InitEmoro(void){
int ret_value = 0;
int ADC_read;
long Vin, Vin_decimal;
char lcd[20];
unsigned char d[7], chk=0;
GLAM_EEPROMReadBytes(121,7, d); /* address 121 -> LCD, 122 -> switches */
/* 123 -> Accelerometer, 124 -> Gyroscope */
/* 125 -> Compas, 126 -> Bluetooth, 127 -> Chk */
for(unsigned char n=0; n<7; n++) /* calculate checksum */
chk^=*(d+n);
if(chk^0xAA == 0){
if(d[0] == 0xC8){ /* check LCD */
if(Lcd.init() == 0){ /* initialize lcd */
Lcd.backlightOn(); /* turn on lcd backlight */
ret_value |= (LCD_AVAILABLE); /* set return value -> LCD Available */
initialized_emoro_hw = ret_value;
}
}
if(d[1] == 0xC8){ /* check switches */
InitSwitch(); /* initialize switch (SW1 - SW4) */
ret_value |= (SW_AVAILABLE); /* set return value -> Switch Available */
}
if(Acc.testConnection() & d[2] == 0xC8){ /* test Acc and check */
Acc.init(); /* initialize acceleration sensor BMA150 */
ret_value |= (ACC_AVAILABLE); /* set return value -> ACC Available */
}
if(Gyr.testConnection() & d[3] == 0xC8){ /* test Gyr and check */
Gyr.initBasic(); /* initialize gyroscope L3GD20 */
ret_value |= (GYR_AVAILABLE); /* set return value -> GYR Available */
}
if(Mag.testConnection() & d[4] == 0xC8){ /* test magnetometer and check */
Mag.init(); /* initialize magnetometer */
ret_value |= (MAG_AVAILABLE); /* set return value -> MAG Available */
}
if(d[5] == 0xC8){
if(Bluetooth.init() == 0){ /* initialize bluetooth communication */
ret_value |= (BLUETOOTH_AVAILABLE); /* set return value -> Bluetooth Available */
}
}
ADC_read=CheckVoltage(); /* read input voltage */
Vin=(long)(ADC_read*15/1024); /* calculate voltage; whole number */
Vin_decimal=(long)ADC_read*1500/1024-Vin*100; /* calculate decimal places */
if( Vin >= 5 & (Vin == 6 & Vin_decimal<20) ){ /* if Vin>=5V & Vin < 6.20V batt is */
sprintf(lcd, "Vin=%d.%d", (int)Vin, (int)Vin_decimal);
Serial.begin(9600); /* initialize Serial monitor UART 9600 bps */
Serial.println((char*)"Voltage low:");
Serial.println(lcd);
if(ret_value & LCD_AVAILABLE){
Lcd.clear(); /* low, for Vin<5V:USB power supply */
Lcd.printString((char*)"Voltage low:");
Lcd.locate(1,0);
Lcd.printString(lcd);
}
for (int rep=0; rep<2; rep++){
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(100); /* Mores code letter S(...) */
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(100);
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(200);
tone(BUZ_BUILTIN, NOTE_C6, 150); _delay_ms(200);/* Mores code letter O(---) */
tone(BUZ_BUILTIN, NOTE_C6, 150); _delay_ms(200);
tone(BUZ_BUILTIN, NOTE_C6, 150); _delay_ms(300);
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(100); /* Mores code letter S(...) */
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(100);
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(400);
}
noTone(BUZ_BUILTIN);
Lcd.clear();
}
}
if(ret_value & MAG_AVAILABLE){
if(ReadSwitch(SW_2) == 1){ /* magnetometer calibration request? */
Serial.begin(9600);
Serial.println((char*)"Compass");
Serial.println((char*)"Calibration.....\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Compass ");
Lcd.locate(1,0);
Lcd.printString((char*)"Calibration.....");
}
while(ReadSwitch(SW_2)==1); /* wait button release */
_delay_ms(300);
/* mag calibration step 1 */
Serial.println((char*)"Lay board flat");
Serial.println((char*)"Press button 1\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Lay board flat");
Lcd.locate(1,0);
Lcd.printString((char*)"Press button 1");
}
WaitSwitch(SW_1);
Mag.calibrate(1);
_delay_ms(500);
/* mag calibration step 2 */
Serial.println((char*)"Rotate 180 degre");
Serial.println((char*)"Press button 1\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Rotate 180 degre");
Lcd.locate(1,0);
Lcd.printString((char*)"Press button 1");
}
WaitSwitch(SW_1);
Mag.calibrate(2);
_delay_ms(300);
/* mag calibration step 2 */
Serial.println((char*)"Flip board");
Serial.println((char*)"Press button 1\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Flip board");
Lcd.locate(1,0);
Lcd.printString((char*)"Press button 1");
}
WaitSwitch(SW_1);
Mag.calibrate(3);
_delay_ms(300);
Serial.println((char*)"Calibration");
Serial.println((char*)"Complete\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Calibration ");
Lcd.locate(1,0);
Lcd.printString((char*)"Complete ");
}
_delay_ms(1500);
Serial.println((char*)"Press button 1\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.locate(1,0);
Lcd.printString((char*)"Press button 1");
}
while(ReadSwitch(SW_1)==0){
int dir, inc, str;
Mag.read(&dir, &inc, &str);
sprintf(lcd, "Direction=%3d", dir);
Serial.println(lcd);
if(ret_value & LCD_AVAILABLE){
Lcd.locate(0, 0);
Lcd.printString(lcd);
}
}
Lcd.clear();
}
}
initialized_emoro_hw = ret_value;
return initialized_emoro_hw;
}