void Init() {
PWR_Init();
CLOCK_Init();
UART_Initialize();
printf("Start\n");
Initialize_ButtonMatrix();
SPIFlash_Init(); //This must come before LCD_Init() for 7e
LCD_Init();
CHAN_Init();
SPITouch_Init();
SOUND_Init();
BACKLIGHT_Init();
BACKLIGHT_Brightness(1);
AUTODIMMER_Init();
SPI_FlashBlockWriteEnable(1); //Enable writing to all banks of SPIFlash
PPMin_TIM_Init();
#ifdef MODULAR
//Force protocol to none to initialize RAM
Model.protocol = PROTOCOL_NONE;
PROTOCOL_Init(1);
#endif
#if HAS_RTC
RTC_Init(); // Watchdog must be running in case something goes wrong (e.g no crystal)
#endif
}
int main() {
PWR_Init();
CLOCK_Init();
UART_Initialize();
if(PWR_CheckPowerSwitch()) PWR_Shutdown();
dump_bootloader();
}
////////////////////////////////////////////////////////////////
// MAIN //
////////////////////////////////////////////////////////////////
void main(void)
{ WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
UART_Initialize(); //Initialize UART /* Initialize Timer A to measure 1/10 sec */
TACTL = TASSEL_2 + MC_1+ ID_3; // Select smclk/8 and up mode
TACCR0 = 13107; // 100ms interval
TACCTL0 = CCIE; // Capture/compare interrupt enable
P5DIR |= 0x02;
while(1) // Infinite loop
{
_BIS_SR(LPM0_bits + GIE); // Enter LPM0 w/ interrupts
SendTime(); // Send Time to HyperTerminal
}
}
void main(void)
{
WDTCTL = WDTPW + WDTHOLD;
sDCO();
UART_Initialize();
LM_Initialize();
while(1)
LM_SendQueuedBytes();
}
int main() {
PWR_Init();
CLOCK_Init();
UART_Initialize();
if(PWR_CheckPowerSwitch()) PWR_Shutdown();
#if SPI_BOOTLOADER
Initialize_ButtonMatrix();
SPIFlash_Init(); //This must come before LCD_Init() for 7e
SPI_FlashBlockWriteEnable(1); //Enable writing to all banks of SPIFlash
LCD_Init();
LCD_Clear(0x0000);
BACKLIGHT_Init();
BACKLIGHT_Brightness(5);
LCD_SetFont(0);
LCD_SetFontColor(0xffff);
dump_bootloader(0);
#else
dump_bootloader(1);
#endif
}
void main(void)
{
WDTCTL = (WDTPW|WDTHOLD);
UART_Initialize();
// Setup input pins
P6DIR &= ~0xF0; // Configure P6.4,5,6,7 as input pins
P6SEL |= 0xF0; // Configure P6.4,5,6,7 as analogue pins
// Setup Timer_A
TACCR0 = 3277; // 3277 / 32768 Hz = 0.1s
TACTL = TASSEL_1 + MC_1; // ACLK, up mode
TACCTL0 = CCIE; // enabled interrupt
// Setup ADC 12
ADC12CTL0 = ADC12ON + SHT0_8 + MSC; // configure ADC converter
ADC12CTL1 = SHP + CONSEQ_1; // Use sample timer, single sequence
ADC12MCTL0 = INCH_0 + SREF_2; // ADC channel 0 is A0 pin - Left-Stick X-axis
ADC12MCTL1 = INCH_3 + SREF_2; // ADC channel 1 is A3 pin - Left-Stick Y-axis
ADC12MCTL2 = INCH_4 + SREF_2; // ADC channel 2 is A4 pin - Right-Stick X-axis
ADC12MCTL3 = INCH_7 + SREF_2 + EOS; // ADC channel 3 is A7 pin - Right-Stick Y-axis
// EOS - End of Sequence for Conversions
ADC12IE |= 0x0008; // Enable ADC12 Interrupts
Delay_Debounce(); // Delay for reference start-up
ADC12CTL0 |= ENC; // Enable conversions
_EINT(); // Enable interrupts
_BIS_SR(LPM0_bits + GIE); // Enter LPM0 w/ interrupt
while (1)
{
}
}
/*********************************************************************
* Function: void APP_DeviceCDCEmulatorInitialize(void);
*
* Overview: Initializes the demo code
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
********************************************************************/
void APP_DeviceCDCEmulatorInitialize()
{
CDCInitEP();
line_coding.bCharFormat = 0;
line_coding.bDataBits = 8;
line_coding.bParityType = 0;
line_coding.dwDTERate = 19200;
unsigned char i;
UART_Initialize();
// Initialize the arrays
for (i=0; i<sizeof(USB_Out_Buffer); i++)
{
USB_Out_Buffer[i] = 0;
}
NextUSBOut = 0;
LastRS232Out = 0;
lastTransmission = 0;
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/* Initialize ADC */
DRV_ADC_Initialize();
sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *)&drvUsart0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_UART1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_UART1, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Initialize the Application */
UART_Initialize();
}
int main ( void )
{
//TRISA = 0b0010000000000000;
TRISA = 0b00001111;
TRISAbits.TRISA12 = 0;
TRISCbits.TRISC1 = 0;
TRISCbits.TRISC2 = 0;
TRISCbits.TRISC3 = 0;
TRISCbits.TRISC4 = 0;
//TRISD = 0;
TRISD = 0b0000000000010000; // RD11: DIR2; RD8: PWM2
//TRISE = 0b00001000;
TRISE = 0b00001000; // RE6: DIR1; RE0: PWM1
TRISEbits.TRISE7 = 0;
//LCD an
_PCFG16 = 1; // AN16 is digital
_PCFG17 = 1; // AN17 is digital
_PCFG18 = 1; // AN18 is digital
_PCFG19 = 1; // AN19 is digital
_PCFG20 =1;
_PCFG31=1;
//pwm analog select
_PCFG24=1;
_PCFG30=1;
//RE4 for lcd r/s
_PCFG28=1;
TRISEbits.TRISE4 = 0;
AD1PCFGHbits.PCFG28 = 1;
AD1PCFGHbits.PCFG27 = 1;
AD1PCFGHbits.PCFG30 = 1;
AD1PCFGHbits.PCFG24 = 1;
AD1PCFGH = 0x0020;
TRISAbits.TRISA13 = 1;
//set pwm low
PWM1=0;
PWM2=0;
SYS_Initialize ( ) ;
CLKDIVbits.FRCDIV = 0;
CLKDIVbits.PLLPOST = 0; // N2 = 2
CLKDIVbits.PLLPRE = 0; // N1 = 2
PLLFBD = (Fosc*N1_default*N2_default/Ffrc) - M_default; // M = 8 -> Fosc = 7.3728 MHz * 8 / 2 / 2 = 16 MHz
while(!OSCCONbits.LOCK); // Wait for PLL to lock
RCONbits.SWDTEN = 0; // Disable Watch Dog Timer
//TRISF = 0;
gpsLock = 0;
lcd_init();
print_lcd("Initializing");
//delay_ms(500);
//lcd_clear();
/*lcd test
char line1[] = " On Route ";
char line2[] = " Arrived ";
//send_command_byte(0xFF);
//while(1){send_command_byte(0xFF);send_data_byte(0);}
// delay_ms(2);
//send_command_byte(0x02); // Go to start of line 1
//send_command_byte(0b00001111); // Display: display on, cursor on, blink on
//send_command_byte(0b00000110); // Set entry mode: ID=1, S=0
//send_command_byte(0b00000001); // Clear display
print_lcd(line1);
delay_ms(5000);
lcd_clear();
print_lcd(line2);
//send_command_byte(0xC0); // Go to start of line 1
//while(1){send_command_byte(0b00000001);}
while(1);*/
/*int a;
long long int ct;
int i;
int j=0;*/
//i2c init
//uart init
UART_Initialize();
delayMs(100);
/* while(1){//test for delay ms configuration
//PORTDbits.RD1 = 1;
//delayUs(10);
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//ultrasonic test
/* while(1){
long double x;
delayMs(500);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
x = ultraSonicCount/TICKS_PER_METER;
sprintf(outputBuf,"%lf",x);
print_lcd(outputBuf);
}*/
//TX_str(endGPS);
//delayMs(3000);
//TX_str(startGPS);
/*TX_str(startGPShot);
delayMs(2000);
while ( !gpsLock ) {
TX_str(getGPS);
delayMs(500);
}*/
//TCP code
TX_str(openNet);
delayMs(5000);
TX_str(openConnection);
delayMs(5000);
// while(!BUTTON_IsPressed ( BUTTON_S3 ));
//TX_str(sprintf("%s%d\r",sendTCP, strlen("10")));
sprintf(outputBuf2,"2\n%lf,%lf\n\r",roverLog,roverLat );
sprintf(cmdBuf,"%s%d\r", sendTCP,strlen(outputBuf2));
TX_str(cmdBuf);
delayMs(3000);
TX_str(outputBuf2);
while(!waypointsReady || !gpsLock);
//while(1);
delayMs(7000);
lcd_clear();
print_lcd("waypoints locked");
i2c_init();
//i2c_write3(0x3c, 0x00, 0x70);
i2c_write3(0x3c, 0x00, 0b00011000);
//i2c_write3(0x3c, 0x01, 0b11000000);
i2c_write3(0x3c, 0x01, 0xA0);
i2c_write3(0x3c, 0x02, 0x00);
//timer init, do this after other initializations
motorDuty=0;
tim1_init();
tim2_init();
/*
double angleTolerance = 8.0;
motorDuty=2;
while (1){ //adjust
double angleDiff = headingDiff(0,roverHeading );
if (angleDiff > 0 ||abs(angleDiff) > 175 ){ //turn left
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn right
PWM1_DIR = 1;
PWM2_DIR = 0;
}
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
//break;
}else{
//motorDuty =4;
motorDuty =2;
}
delayMs(13);
updateHeading();
}*/
//hardcoded gps for tcpip test
/*while(1){
// PORTDbits.RD5 = 1;
// for (a = 0; a < (100/33); a++) {}
// PORTDbits.RD5 = 0;
// for (a = 0; a < (100/33); a++) {}
ct = 0;
//TMR2 = 0;//Timer Starts
delayMs(60);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(15);
//10uS Delay
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4){ //Waiting for Echo
ct++;
}
//T2CONbits.TON = 1;
while(PORTDbits.RD4) {
ct++;
}// {
//T2CONbits.TON = 0;
sprintf(outputBuf,"%lld", ct);
//a = TMR2;
//a = a / 58.82;
//long int p;
//for(p = 0; p <100000; p++);
}*/
//tim1_init();
//while ( 1 );
//UART_Initialize();
/* Infinite Loop */
/*
long int i;
while ( 1 )
{//test for delay ms configuration
//PORTDbits.RD1 = 1;
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//IEC0bits.T1IE = 0;
//IEC0bits.T1IE = 1;
//motorDuty =2;
motorStopFlag = 0; //ready to go
char tempBuf1[50];
int wapointsVisited;
double desiredHeading = 0;
double dToWaypoint = 99999.9;
double angleTolerance = 6.0;
for (wapointsVisited =0; wapointsVisited<numGPSpoints;wapointsVisited++ )
{
dToWaypoint = 99999.9;
while (1)
{
int f;
roverLog = 0;
roverLat = 0;
for(f = 0; f < ROVER_LEN; f++){
roverLog+=roverlog[f]/ROVER_LEN_D;
roverLat+=roverlat[f]/ROVER_LEN_D;
}
dToWaypoint = dist(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
if(dToWaypoint <= 3.0){break;} //go to next waypoint
desiredHeading = 330.0;
desiredHeading = bearing(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
updateHeading();
if (!(abs(headingDiff(desiredHeading,roverHeading )) < angleTolerance))
{
motorDuty = 0; //stop
delayMs(300);
while (1) //ADJUSTMENT LOOP
{
double angleDiff = headingDiff(desiredHeading,roverHeading );
//double dist = ultraSonicPing();
/*sprintf(tempBuf1,"%f",dist);
lcd_clear();
print_lcd(tempBuf1);*/
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
/*sprintf(tempBuf1,"%f",roverHeading);
IEC0bits.T1IE = 0;
print_lcd(tempBuf1);
IEC0bits.T1IE = 1;*/
break;
}
if (angleDiff > 0 || abs(angleDiff) > 175 ){ //turn right
/*PORTDbits.RD4 = 1; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 1;
PORTDbits.RD8 = 0; //left*/
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn left
/*PORTDbits.RD4 = 0; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 0;
PORTDbits.RD8 = 1; //left*/
PWM1_DIR = 1;
PWM2_DIR = 0;
}
motorDuty =3;
delayMs(15);
updateHeading();
// sprintf(tempBuf1,"%f",roverHeading);
// IEC0bits.T1IE = 0;
// lcd_clear();
// print_lcd(tempBuf1);
// IEC0bits.T1IE = 1;
//delayMs(1000);
//for(p = 0; p <100000; p++);
}
}
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 0;
motorDuty = 5;
ultraSonicDelayEnable = 1;
//frequency is around 20kHz
while (ultraSonicDelayCount < 60000){ //for 4 seconds poll ultrasonic and check for obsticles
long double x;
//PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
//PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
ultraSonicEn = 0;
x = ultraSonicCount/TICKS_PER_METER;
if (x <= 1.4){
motorDuty = 0;
}else{
motorDuty = 5;
}
delayMs(200);
}
ultraSonicDelayEnable = 0;
ultraSonicDelayCount = 0;
}
motorDuty = 0;
delayMs(1000);
//IEC0bits.T1IE = 0;
lcd_clear();
char buf3[40];
sprintf(buf3, "reached %d", wapointsVisited);
print_lcd(buf3);
delayMs(3000);
//IEC0bits.T1IE = 1;
}
//IEC0bits.T1IE = 0;
lcd_clear();
print_lcd("ARRIVED!!!");
//IEC0bits.T1IE = 1;
while (1);
}
void main(void)
{
int i = 0;
WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
UART_Initialize();
ADC12CTL0 = SHT0_8 + REFON + ADC12ON;
ADC12CTL1 = SHP; // enable sample timer
ADC12MCTL0 = 0x01A;
ADC12IE = 0x001;
rx_flag = 0; // rx default state "empty"
_EINT(); // enable global interrupts
Wait:
//send a greeting message
for(i = 0; i < 67; i++)
{
thr_char = gm1[i];
UART_putchar(thr_char);
}
while(!(rx_flag&0x01)); // wait until receive the character from HyperTerminal
rx_flag = 0; // clear rx_flag
UART_putchar(thr_char);
UART_putchar('\n'); // newline
UART_putchar('\r'); // carriage return
// character input validation
if ((thr_char != 'y') && (thr_char != 'n') && (thr_char !='Y') && (thr_char !='N'))
{
for(i = 0; i < 15; i++)
{
thr_char = gm3[i];
UART_putchar(thr_char);
}
UART_putchar('\n'); // newline
UART_putchar('\r'); // carriage return
goto Wait;
}
if ((thr_char == 'y') || (thr_char == 'Y'))
{
ADC12CTL0 |= ENC + ADC12SC; // Sampling and conversion start
_BIS_SR(CPUOFF + GIE); // LPM0 with interrupts enabled
// oF = ((x/4096)*1500mV)-923mV)*1/1.97mV = x*761/4096 - 468
// IntDegF = (ADC12MEM0 - 2519)* 761/4096
IntDegF = (temp - 2519) * 761;
IntDegF = IntDegF / 4096;
// oC = ((x/4096)*1500mV)-986mV)*1/3.55mV = x*423/4096 - 278
// IntDegC = (ADC12MEM0 - 2692)* 423/4096
IntDegC = (temp - 2692) * 423;
IntDegC = IntDegC / 4096;
//printing the temperature on hyperterminal
sprintf(NewKey, "T(F)=%ld\tT(C)=%ld\n", IntDegF, IntDegC);
for(i = 0; i < 25; i++) {
thr_char = NewKey[i];
UART_putchar(thr_char);
}
UART_putchar('\n'); // newline
UART_putchar('\r'); // carriage return
goto Wait;
}
if ((thr_char == 'n') || (thr_char == 'N'))
{
for(i = 0; i < 9; i++)
{
thr_char = gm2[i];
UART_putchar(thr_char);
}
UART_putchar('\n'); // newline
UART_putchar('\r'); // carriage return
}
}
