void setupMain() {
Serial.println("PoP board starting 8/14 10:19pm");
print_mac();
bool success = readFromEEPROM(sizeof(Platform), (char*) &platform);
if (success) {
Serial.print("Read from EEPROM ");
Serial.print(platform.identifier);
Serial.println();
}
char platformData[10];
const int platformSerialLength = 10;
int bytesRead = Serial.readBytes((char *) platformData, platformSerialLength);
Serial.print(bytesRead);
Serial.println(" bytes read");
Serial.print(sizeof(Platform));
Serial.println(" platform size");
if (bytesRead == platformSerialLength) {
bool success = platform.initialize(platformData, platformSerialLength);
if (success) {
writeToEEPROM(sizeof(Platform), (char*) &platform);
Serial.println("success, wrote to EEPROM");
}
else
Serial.println("Fail parsing data from central");
Serial.print(platform.y);
}
initializeAccelerometer(constants.PULSE_THSX,constants.PULSE_THSY,
constants.PULSE_THSZ);
info = new RNInfo(constants.LEDs, platform);
controller = new RNController(*info);
info->printf("Ready, platform %d, wire %d\n", info->identifier, info->wirePosition);
initializeComm(*info);
#ifndef FULL_STRIP
debugTriadPositions();
#endif
createWatchdog(constants.watchdogTimeout);
}
int main(void) {
uint32_t err_code;
uint8_t gpio_input_count;
// // Initialization
volatile uint32_t time_cnt = 0;
uint32_t i;
i=0;
b8=false; b9=false; b10=false; b21=false; b22=false, leftSignal = false; rightSignal = false;
checkForReturn = false, returning = false;
led_init(LED_0);
led_init(LED_1);
led_init(LED_2);
//initializeAccelerometer();
initializeAccelerometer();
// since active high, pins need to be set to have a pull-down resistor,
// otherwise they will be floating
static gpio_input_cfg_t cfgs[] = { {BUTTON_PIN, GPIO_ACTIVE_LOW, NRF_GPIO_PIN_NOPULL, &pin_handler},
{BUTTON2_PIN, GPIO_ACTIVE_LOW, NRF_GPIO_PIN_NOPULL, &pin_handler},
// {PIN1, GPIO_ACTIVE_HIGH, NRF_GPIO_PIN_NOPULL, &pin_handler},
// {PIN2, GPIO_ACTIVE_HIGH, NRF_GPIO_PIN_NOPULL, &pin_handler},
{ACCEL_PIN, GPIO_ACTIVE_HIGH, NRF_GPIO_PIN_NOPULL, &pin_handler}};
// // It seems only 4 pins can be registered per channel
gpio_input_count = 3;
/* SET OUTPUT WITH DRIVER */
/* uint8_t output_pins[] = {PIN1,PIN2,PIN3};
* gpio_output_init(output_pins, 3);
*/
/* SET OUTPUT OLD WAY */
/* nrf_gpio_cfg_output(OUTPUT_PIN);
*/
/* SET INPUT WITH DRIVER */
err_code = gpio_input_init(cfgs, gpio_input_count);
if (err_code) {
led_on(LED_1);
}
gpio_input_enable_all();
/* SET INPUT OLD WAY */
/* nrf_gpio_cfg_input(BUTTON_PIN, NRF_GPIO_PIN_NOPULL); //Configure pin 21 0 as input
* nrf_gpiote_event_configure(GPIOTE_CHANNEL_0, BUTTON_PIN, NRF_GPIOTE_POLARITY_LOTOHI);
* nrf_drv_gpiote_in_event_enable(BUTTON_PIN, true);
*/
//NRF_GPIOTE->INTENSET = GPIOTE_INTENSET_IN0_Enabled; //Set GPIOTE interrupt register on channel 0
NVIC_EnableIRQ(GPIOTE_IRQn); //Enable interrupts
//accelDataReady = true;
// reset accelerometer data ready interrupt
readAxisX();
while (true) {
/*******************************************************************
Working Accel turn light
********************************************************************/
/*
if (b21 == true) { //button was toggled
led_on(LED_0);
// need to sample the accelerometer value
sampled_accel_x = readAxisX();
//accelDataReady = false;
checkForReturn = true;
b21 = false;
for(time_cnt = 0; time_cnt < 1000000; time_cnt++){
//do nothing, jsut to delay
}
}
// if(checkForReturn){
while(checkForReturn){
if(abs(readAxisX() - sampled_accel_x) <= ACCEL_THRESH){
led_off(LED_0);
checkForReturn = false;
}
// accelDataReady = false;
}
// reset the data ready interrupt by reading an axis reg
readAxisX();
*/
/*******************************************************************
********************************************************************/
if (b21 == true) { //button was toggled
// need to sample the accelerometer value
// 1) add new sample to sample value
//sampled_accel_x = readAxisX();
//sampled_accel_x = 0;
// turn on LED due to button press (signal light)
// check for return to ~0
// turn off button called
b21 = false;
if (checkForReturn && !leftSignal) {
led_off(LED_1);
}
leftSignal = true;
checkForReturn = true;
led_on(LED_0);
// for(time_cnt = 0; time_cnt < 1000000; time_cnt++){
// //do nothing, jsut to delay
// }
}
if (b22 == true) { //button was toggled
// need to sample the accelerometer value
// 1) add new sample to sample value
//sampled_accel_x = readAxisX();
//sampled_accel_x = 0;
// turn on LED due to button press (signal light)
// check for return to ~0
// turn off button called
b22 = false;
if (checkForReturn && leftSignal) {
led_off(LED_0);
}
leftSignal = false;
checkForReturn = true;
led_on(LED_1);
// for(time_cnt = 0; time_cnt < 1000000; time_cnt++){
// //do nothing, jsut to delay
// }
}
if(checkForReturn && accelDataReady){
int16_t curr_x_val = readAxisX();
// add current sample to total
// if( leftSignal && (curr_x_val < 0)){
// curr_x_total += curr_x_val;
// } else if( !leftSignal && (curr_x_val > 0)){
// curr_x_total += curr_x_val;
// }
// beginning of turn - check if tilt is outisde zero-thresh range
// if(!returning && (abs( curr_x_val - sampled_accel_x ) > ACCEL_OUT_THRESH) ){
if(!returning && (abs( curr_x_val - sampled_accel_x ) > ACCEL_OUT_THRESH) ){
if(
(leftSignal && (curr_x_val < sampled_accel_x) ) ||
( !leftSignal && (curr_x_val > sampled_accel_x) ) ){
led_on(LED_2);
thresh_out_count++;
}
thresh_out_count++;
if(thresh_out_count > ACCEL_TILT_THRESH){
returning = true;
thresh_out_count = 0;
led_off(LED_2);
}
}
//check for return into zero-thresh
if(returning && (abs( curr_x_val - sampled_accel_x ) <= ACCEL_IN_THRESH) ){
if(
(leftSignal && (curr_x_val < sampled_accel_x) ) ||
( !leftSignal && (curr_x_val > sampled_accel_x) ) ){
led_on(LED_1);
thresh_in_count++;
}
if( thresh_in_count > ACCEL_TILT_THRESH){
returning = false;
thresh_in_count = 0;
checkForReturn = false;
led_off(LED_0);
led_off(LED_1);
}
}
// reset accelDataReady
accelDataReady = false;
}
// reset the data ready interrupt by reading an axis reg
readAxisX();
// while(check_accel_x() == false){
// led_toggle(LED_1);
// for(time_cnt = 0; time_cnt < 1000000; time_cnt++){
// //do nothing, jsut to delay
// }
// }
// if(check_accel_x()){
// checkForReturn = false;
// }
// }
// if (b22 == true) {
// b22 = false;
// led_toggle(LED_1);
// }
// if (b8 == true) {
// b8 = false;
// led_toggle(LED_2);
// }
// if (b9 == true) {
// b9 = false;
// for (i=0;i<1000;++i) {
// if (i%100 == 0) {
// led_toggle(LED_0);
// }
// }
// led_off(LED_0);
// }
// if (b10 == true) {
// b9 = false;
// for (i=0;i<1000;++i) {
// if (i%100 == 0) {
// led_toggle(LED_1);
// }
// }
// led_off(LED_1);
// }
}
}
