int main() {
SystemInit();
initSystick();
initAccelerometer();
initLeds();
AccelerometerDataStruct dat;
uint32_t lastTime = 0;
while(1) {
if (millisecondCounter > lastTime + 100) {
readAxes(&dat); // read sensor and store into `dat'
setbuf(stdout, NULL);
printf("X: %d Y: %d Z: %d\n", dat.X, dat.Y, dat.Z); // the member variables for each direction
lastTime = millisecondCounter;
// Add extra logic here to light LEDs based on orientation of the board
if(dat.X<-500){
GPIOD->BSRRL|=(1<<12);
GPIOD->BSRRH|=(1<<13);
GPIOD->BSRRH|=(1<<14);
GPIOD->BSRRH|=(1<<15);
}
if(dat.Y<-500){
GPIOD->BSRRL|=(1<<15);
GPIOD->BSRRH|=(1<<12);
GPIOD->BSRRH|=(1<<13);
GPIOD->BSRRH|=(1<<14);
}
if(dat.Y>500){
GPIOD->BSRRL|=(1<<13);
GPIOD->BSRRH|=(1<<12);
GPIOD->BSRRH|=(1<<14);
GPIOD->BSRRH|=(1<<15);
}
if(dat.X>500){
GPIOD->BSRRL|=(1<<14);
GPIOD->BSRRH|=(1<<12);
GPIOD->BSRRH|=(1<<13);
GPIOD->BSRRH|=(1<<15);
}
}
}
}
void Sensors::init(void) {
Wire.begin();
initAccelerometer();
initMagnetometer();
}
void initHardware(Logging *l) {
efiAssertVoid(CUSTOM_IH_STACK, getRemainingStack(chThdGetSelfX()) > 256, "init h");
sharedLogger = l;
engine_configuration_s *engineConfiguration = engine->engineConfigurationPtr;
efiAssertVoid(CUSTOM_EC_NULL, engineConfiguration!=NULL, "engineConfiguration");
board_configuration_s *boardConfiguration = &engineConfiguration->bc;
printMsg(sharedLogger, "initHardware()");
// todo: enable protection. it's disabled because it takes
// 10 extra seconds to re-flash the chip
//flashProtect();
chMtxObjectInit(&spiMtx);
#if EFI_HISTOGRAMS
/**
* histograms is a data structure for CPU monitor, it does not depend on configuration
*/
initHistogramsModule();
#endif /* EFI_HISTOGRAMS */
/**
* We need the LED_ERROR pin even before we read configuration
*/
initPrimaryPins();
if (hasFirmwareError()) {
return;
}
#if EFI_INTERNAL_FLASH
palSetPadMode(CONFIG_RESET_SWITCH_PORT, CONFIG_RESET_SWITCH_PIN, PAL_MODE_INPUT_PULLUP);
initFlash(sharedLogger);
/**
* this call reads configuration from flash memory or sets default configuration
* if flash state does not look right.
*/
if (SHOULD_INGORE_FLASH()) {
engineConfiguration->engineType = DEFAULT_ENGINE_TYPE;
resetConfigurationExt(sharedLogger, engineConfiguration->engineType PASS_ENGINE_PARAMETER_SUFFIX);
writeToFlashNow();
} else {
readFromFlash();
}
#else
engineConfiguration->engineType = DEFAULT_ENGINE_TYPE;
resetConfigurationExt(sharedLogger, engineConfiguration->engineType PASS_ENGINE_PARAMETER_SUFFIX);
#endif /* EFI_INTERNAL_FLASH */
#if EFI_HD44780_LCD
// initI2Cmodule();
lcd_HD44780_init(sharedLogger);
if (hasFirmwareError())
return;
lcd_HD44780_print_string(VCS_VERSION);
#endif /* EFI_HD44780_LCD */
if (hasFirmwareError()) {
return;
}
#if EFI_SHAFT_POSITION_INPUT || defined(__DOXYGEN__)
initTriggerDecoder();
#endif
bool isBoardTestMode_b;
if (CONFIGB(boardTestModeJumperPin) != GPIO_UNASSIGNED) {
efiSetPadMode("board test", CONFIGB(boardTestModeJumperPin),
PAL_MODE_INPUT_PULLUP);
isBoardTestMode_b = (!efiReadPin(CONFIGB(boardTestModeJumperPin)));
// we can now relese this pin, it is actually used as output sometimes
unmarkPin(CONFIGB(boardTestModeJumperPin));
} else {
isBoardTestMode_b = false;
}
#if HAL_USE_ADC || defined(__DOXYGEN__)
initAdcInputs(isBoardTestMode_b);
#endif
if (isBoardTestMode_b) {
// this method never returns
initBoardTest();
}
initRtc();
initOutputPins();
#if EFI_MAX_31855
initMax31855(sharedLogger, getSpiDevice(CONFIGB(max31855spiDevice)), CONFIGB(max31855_cs));
#endif /* EFI_MAX_31855 */
#if EFI_CAN_SUPPORT
initCan();
#endif /* EFI_CAN_SUPPORT */
// init_adc_mcp3208(&adcState, &SPID2);
// requestAdcValue(&adcState, 0);
#if EFI_SHAFT_POSITION_INPUT || defined(__DOXYGEN__)
// todo: figure out better startup logic
initTriggerCentral(sharedLogger);
#endif /* EFI_SHAFT_POSITION_INPUT */
turnOnHardware(sharedLogger);
#if HAL_USE_SPI || defined(__DOXYGEN__)
initSpiModules(boardConfiguration);
#endif
#if EFI_HIP_9011 || defined(__DOXYGEN__)
initHip9011(sharedLogger);
#endif /* EFI_HIP_9011 */
#if EFI_FILE_LOGGING || defined(__DOXYGEN__)
initMmcCard();
#endif /* EFI_FILE_LOGGING */
#if EFI_MEMS || defined(__DOXYGEN__)
initAccelerometer(PASS_ENGINE_PARAMETER_SIGNATURE);
#endif
// initFixedLeds();
#if EFI_BOSCH_YAW || defined(__DOXYGEN__)
initBoschYawRateSensor();
#endif /* EFI_BOSCH_YAW */
// initBooleanInputs();
#if EFI_UART_GPS || defined(__DOXYGEN__)
initGps();
#endif
#if EFI_SERVO
initServo();
#endif
#if ADC_SNIFFER || defined(__DOXYGEN__)
initAdcDriver();
#endif
#if HAL_USE_I2C || defined(__DOXYGEN__)
addConsoleActionII("i2c", sendI2Cbyte);
#endif
// USBMassStorageDriver UMSD1;
// while (true) {
// for (int addr = 0x20; addr < 0x28; addr++) {
// sendI2Cbyte(addr, 0);
// int err = i2cGetErrors(&I2CD1);
// print("I2C: err=%x from %d\r\n", err, addr);
// chThdSleepMilliseconds(5);
// sendI2Cbyte(addr, 255);
// chThdSleepMilliseconds(5);
// }
// }
#if EFI_VEHICLE_SPEED || defined(__DOXYGEN__)
initVehicleSpeed(sharedLogger);
#endif
#if EFI_CDM_INTEGRATION
cdmIonInit();
#endif
#if HAL_USE_EXT || defined(__DOXYGEN__)
initJoystick(sharedLogger);
#endif
calcFastAdcIndexes();
printMsg(sharedLogger, "initHardware() OK!");
}
int main(void) {
SystemInit();
SaLDelayInit();
SalGclkInit();
SaLRtcInit();
PinConfig();
uart_init(9600);
//SaLTC4Init();
sampleInit();
adcInit();
// UsbInit();
// startUpTone();
SaLBuzzerInit();
struct IoDescriptor *UsartIoModule;
struct IoDescriptor *UsartIoModuleUsb;
struct AccelerometerModule myAccelerometer;
SaLSyncUsartIo(&USART_0, &UsartIoModule);
SaLSyncUsartIo(&USART_1, &UsartIoModuleUsb);
initAccelerometer(&myAccelerometer);
initBarometer();
SaLFlashMemInit();
volatile uint16_t ticks = 0;
uint32_t lastTime = 0;
//uint8_t message[255];
// AT25SFErace4KBlock(0);
// AT25SFWriteByte(0x00101,251);
// volatile uint8_t byte = AT25SFGetByte(0x00101);
// pinLow(CC1120_SLAVE_SELECT);
// delay_ms(30);
// pinHigh(CC1120_SLAVE_SELECT);
// delay_ms(20);
// pinLow(CC1120_SLAVE_SELECT);
// delay_ms(30);
// pinHigh(CC1120_SLAVE_SELECT);
// delay_ms(20);
// pinLow(CC1120_SLAVE_SELECT);
//volatile uint8_t ccstatus = syncByte(CC1120_SCK ,CC1120_MOSI, CC1120_MISO, 0x80 | 0x30);
// pinHigh(CC1120_SLAVE_SELECT);
//delay_ms(200);
// pinLow(CC1120_SLAVE_SELECT);
// while (pinRead(CC1120_MISO));
// volatile uint8_t ccstatus2 = syncByte(CC1120_SCK ,CC1120_MOSI, CC1120_MISO, 0x80 | 0x3B);
// volatile uint8_t ccstatus3 = getByte(CC1120_SCK_PIN,CC1120_MISO_PIN);
// byteOut(CC1120_SCK_PIN,CC1120_MOSI_PIN, 0b10111101 );
// pinHigh(CC1120_SLAVE_SELECT);
volatile float batt;
//TC5->COUNT16.CTRLA.bit.ENABLE = 0;
// TC5->COUNT16.CTRLBCLR.reg= TC_CTRLBCLR_CMD_RETRIGGER;
while (1) {
milliseconds = millis();
sampleTick();
batt = senseBatVolts(senseBat);
}
}
int main(void) {
/* Initialize the SAM system */
SystemInit();
SaLDelayInit();
SalGclkInit();
SaLRtcInit();
// uart_init(9600);
//SaLTC4Init();
sampleInit();
adcInit();
pinOut(CC1120_SLAVE_SELECT);
pinOut(AT25SF_SLAVE_SELECT);
pinOut(MS5607_SLAVE_SELECT);
pinOut(ADXL345_SLAVE_SELECT);
// SaLPinMode(PIN_PA13,INPUT);
// pinOut(MS5607_MOSI);
// pinOut(MS5607_SCK);
//pinIn(MS5607_MISO);
pinHigh(CC1120_SLAVE_SELECT);
pinHigh(AT25SF_SLAVE_SELECT);
pinHigh(MS5607_SLAVE_SELECT);
pinHigh(ADXL345_SLAVE_SELECT);
pinOut(LedPin);
pinHigh(LedPin);
struct AccelerometerModule myAccelerometer;
initAccelerometer(&myAccelerometer);
initBarometer();
//SaLFlashMemInit();
// uint8_t message[255];
// // AT25SFErace4KBlock(0);
// // AT25SFWriteByte(0x00101,252);
// // volatile uint8_t byte = AT25SFGetByte(0x00101);
//
// pinLow(CC1120_SLAVE_SELECT);
// volatile uint8_t ccstatus = syncByte(CC1120_SCK ,CC1120_MOSI, CC1120_MISO, 0x80 | 0x30);
// pinHigh(CC1120_SLAVE_SELECT);
//
// pinLow(CC1120_SLAVE_SELECT);
//
// while (pinRead(CC1120_MISO));
// volatile uint8_t ccstatus2 = syncByte(CC1120_SCK ,CC1120_MOSI, CC1120_MISO, 0x80 | 0x3B);
// volatile uint8_t ccstatus3 = getByte(CC1120_SCK_PIN,CC1120_MISO_PIN);
// // byteOut(CC1120_SCK_PIN,CC1120_MOSI_PIN, 0b10111101 );
// pinHigh(CC1120_SLAVE_SELECT);
volatile float batt;
volatile float accelX;
volatile float accelXOffset;
for (uint8_t i = 0; i < 20; i++) {
accelXOffset += (1.8 - (adcRead(ADXL278_ACCELX) * (3.60/2.0)/pow(2,12)))/((1.8-0.50)/70);
}
accelXOffset = accelXOffset / 20;
while (1) {
delay_ms(100);
pinToggle(LedPin);
sampleTick();
// batt = senseBatVolts(senseBat);
accelX = (1.8 - (adcRead(ADXL278_ACCELX) * (3.60/2.0)/pow(2,12)))/((1.8-0.50)/70) - accelXOffset;
// batt = accelX;
}
}
