void ADT_shutdown()
{
uint8_t i;
//shutdown
for(i=0;i<ADT_sensor_count;i++)
{
#ifdef debug
uart_print("ADT shutdown:");
uart_num(i,1);
uart_nl();
#endif
if(bit_get(ADT_status,BIT(i)))
{
#ifdef debug
uart_println("SKIP");
#endif
continue;
}
i2c_start(ADT_addr_base|i,I2C_WRITE);
i2c_write(0x03);//config reg
i2c_write(0b11100000);//7: 16bit res, 6~5: shutdown mode
i2c_stop();
}
#ifdef debug
uart_println("ADTs off");
#endif
}
void ADT_wake()
{
uint8_t i;
//power on sensors
for(i=0;i<ADT_sensor_count;i++)
{
#ifdef debug
uart_print("ADT wake:");
uart_num(i,1);
uart_nl();
#endif
if(bit_get(ADT_status,BIT(i)))
{
#ifdef debug
uart_println("SKIP");
#endif
continue;//jump to next sensor, this one is broken
}
i2c_start(ADT_addr_base|i,I2C_WRITE);
i2c_write(0x03);//config reg
i2c_write(0b10000000);
i2c_stop();
}
}
uint8_t ADT_check()
{
uint8_t i;
for(i=0;i<ADT_sensor_count;i++)
{
#ifdef debug
uart_print("ADT chk: ");
uart_num(i,1);
#endif
if(i2c_start(ADT_addr_base|i,I2C_READ))
{
bit_set(ADT_status,BIT(i));//set Ith bit as sign of sensor error
#ifdef debug
uart_println(" FAIL");
#endif
}
else
{
i2c_read(0);
bit_clr(ADT_status,BIT(i));//set as working
#ifdef debug
uart_println(" OK");
#endif
}
i2c_stop();
}
if(ADT_minimum_working > ADT_get_working_count())
{
error_flags.ADT=1;
return 1;
}
else
{
error_flags.ADT=0;
return 0;
}
}
uint8_t ADT_measure(int16_t *storage, uint8_t samples,uint16_t sample_pause_ms)
{
ADT_wake();
int32_t temp=0;
uint8_t sensor_num,sample_num;
int8_t Htemp;
int16_t Ltemp;
//delay fow proper wakeup
delay_ms(300);//because 1st conversion after wake is fast and inaccurate,
//nomal conversion tooks 240ms
for(sample_num=0;sample_num<samples;sample_num++)//take N samples
{
for(sensor_num=0;sensor_num<ADT_sensor_count;sensor_num++)
{
#ifdef debug
uart_print("ADT measure:");
uart_num(sensor_num,1);
uart_nl();
#endif
if(!bit_get(ADT_status,BIT(sensor_num)))
{
if(i2c_start(ADT_addr_base|sensor_num,I2C_READ))//start reading
return 1;
Htemp=i2c_readAck();//recieve degrees
Ltemp=i2c_readNak();//recieve decimals (hexadecimals correctly), align them on lower bits
i2c_stop();
temp+=(Htemp<<8)+Ltemp;
#ifdef debug
uart_num((Htemp<<8)+Ltemp,4);
uart_putc('\n');
#endif
}
#ifdef debug
else
uart_println("SKIP");
#endif
}
delay_ms(sample_pause_ms); //wait for another conversion, tooks 240ms at minimum
}
temp=temp/(samples*ADT_get_working_count());//calculate average value (still not converted)
//there is now sth. like 3089 (24.1°C)
temp*=10;//without this, we will lose decimal information in next step
temp/=128;//convert into value
//now it is 241
ADT_shutdown();
*storage=temp;
//all measurements done
return 0;
}
int main(void)
{//all initializations
int i,j,z,n;
z=1;
i=0;
j=0;
DDRB|=0xFF;
DDRD|=0xFF;
DDRC|=0xFF;
TCCR1A|=(1<<WGM11)|(1<<COM1B1)|(1<<COM1A1)|(1<<COM1A0)|(1<<COM1B0);
TCCR1B|=(1<<WGM13)|(1<<WGM12)|(1<<CS11);
ICR1=19999;
uart_init();
while(1){
while(1){i=0;
int grabbed=0;
char input9[100]=" ";
while(1) {input9[i] = uart_read();
if (input9[i]=='.')
break;
i++;}
if(strcmp(input9,"Grab.")==0||strcmp(input9,"\nGrab.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to hold cube in 2 brackets, add delay and then hold with other 2 brackets if you want
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(5000);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(5000);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
grabbed=1;
uart_string("Grabbed.\n");
}
else if(strcmp(input9,"Ungrab.")==0||strcmp(input9,"\nUngrab.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//all brackets go back,leaving cube
PORTC=0b00000000;//select linear RL and FB
OCR1A=17200;
OCR1B=17200;
_delay_ms(5000);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
grabbed=0;
uart_string("Ungrabbed.\n");
}
else if(strcmp(input9,"Start.")==0||strcmp(input9,"\nStart.")==0)
{
//if (grabbed==1)
//{
uart_string("Ready.\n");
goto right;
//}
}
else {uart_string("Invalid.\n");
uart_num(strcmp(input9,"Start."));
uart_string(input9);
}
}
//*******************************************************************************************//Right
right:
i=0;
char input6[100]=" ";
while(1) {
input6[i] = uart_read();//read char
if (input6[i]=='.')
break;
i++;
}
if(strcmp(input6,"\nRight.")==0)
{
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring R to the top face
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=17200;
OCR1A=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=18250;
OCR1A=18250;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Right.\n");
}
else {
uart_num(strcmp(input6,"\nRight."));
goto right;
}
//*******************************************************************************************//front
front:
i=0;
char input1[100]=" ";
while(1) {
input1[i] = uart_read();//read char
if (input1[i]=='.')
break;
i++;
}
if(strcmp(input1,"\nFront.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring F to the top face
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=18250;
OCR1A=18250;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Front.\n");
}
else goto front;
//*******************************************************************************************//down
down:
i=0;
char input2[100]=" ";
while(1) {
input2[i] = uart_read();//read char
if (input2[i]=='.')
break;
i++;
}
if(strcmp(input2,"\nDown.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring D to the top face
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Down.\n");
}
else goto down;
//*******************************************************************************************//left
left:
i=0;
char input3[100]=" ";
while(1) {
input3[i] = uart_read();//read char
if (input3[i]=='.')
break;
i++;
}
if(strcmp(input3,"\nLeft.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring L to the top face
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;
OCR1B=17200;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=18250;
OCR1A=18250;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Left.\n");
}
else goto left;
//*******************************************************************************************//back
back:
i=0;
char input4[100]=" ";
while(1) {
input4[i] = uart_read();//read char
if (input4[i]=='.')
break;
i++;
}
if(strcmp(input4,"\nBack.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring B to the top face
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=18250;
OCR1A=18250;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Back.\n");
}
else goto back;
//*******************************************************************************************//
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//write code to bring U on top again
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=19150;
OCR1B=17200;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;
OCR1B=17200;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//*******************************************************************************************//
i=0;
char input[100]=" ";
while(1) {
input[i] = uart_read();//read char
if (input[i]=='.')
break;
i++;
}
//*******************************************************************************************//solve cube
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//now code for solving the cube //solution is char input [100]
while(input[z]!='.')
{
while(input[j]!=' ')
{
n=n+1;
j++;
}
if(n==1)
{
if(input[z]=='R')
{
PORTC=0b00001100;//select R
OCR1A=17200;//rotR-0
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=18250;//rotR-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='L')
{
PORTC=0b00100001;//select L
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='F')
{
PORTC=0b00001010;//select F
OCR1A=17200;//rotF-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1B=18250;//rotF-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='B')
{
PORTC=0b00010001;//select B
OCR1B=17200;//rotB-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='U')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00000000;
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=17200;//rotF-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='D')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=17200;//rotB-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
z++;
}
if(n==2)
{
if(input[z+1]=='2')
{
if(input[z]=='R')
{
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=19150;//rotR-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=17200;//rotR-0
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=18250;//rotR-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='L')
{
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='F')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=19150;//rotF-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=17200;//rotF-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='B')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=19150;//rotB-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=17200;//rotB-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='U')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=19150;//rotF-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=17200;//rotF-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='D')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=19150;//rotB-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=17200;//rotB-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
z+=2;}
else
if(input[z]=='R')
{
PORTC=0b00001100;//select R
OCR1A=19150;//rotR-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=18250;//rotR-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='L')
{
PORTC=0b00100001;//select L
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='F')
{
PORTC=0b00001010;//select F
OCR1A=19150;//rotF-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='B')
{
PORTC=0b00010001;//select B
OCR1B=19150;//rotB-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='U')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=19150;//rotF-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='D')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=19150;//rotB-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001100;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
z+=2;
}
z++;
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//*******************************************************************************************//done
uart_string("Done\n");
}
}
//------------------------------------------------------------------------------
void main()
{
WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
#if 1
BCSCTL2 = SELM_0 | DIVM_0 | DIVS_0;
DCOCTL = 0x00;
BCSCTL1 = CALBC1_1MHZ;
DCOCTL = CALDCO_1MHZ;
BCSCTL1 |= XT2OFF | DIVA_0;
BCSCTL3 = XT2S_0 | LFXT1S_0 | XCAP_1;
/*do {
IFG1 &= ~OFIFG; // Clear OSC fault flag
__delay_cycles(50); // 50us delay
} while (IFG1 & OFIFG);
*/
WDTCTL = WDTPW | WDTTMSEL | WDTSSEL;
#else
BCSCTL3 |= LFXT1S_2; // VLOCLK
BCSCTL1 = CALBC1_1MHZ; // Set DCO to calibrated 1 MHz.
DCOCTL = CALDCO_1MHZ;
//BCSCTL1 |= DIVA_0; // ACLK / 8
BCSCTL3 |= XCAP_3;
#endif
// Init timer1
//
TA0CCR0 = 0x7FFF;
TA0CCTL0 = CCIE;
TA0CTL = TASSEL_1 + MC_1 + ID_0; // ACLK, up to CCR0, divider /1
// Init timer2
//
TA1CCR0 = 0x3FFF;
TA1CCTL0 = CCIE;
TA1CTL = TASSEL_1 + MC_1 + ID_0; // ACLK, up to CCR0, divider /1
// Init timer3
//
WDTCTL = WDT_ADLY_1000;
IE1 |= WDTIE;
uart_init();
// main loop
//
config_port_init();
app_init();
uart_num(BCSCTL1);
uart_str("main\n");
//if (BCSCTL3 & LFXT1OF)
// uart_str("osc fault\n");
//__enable_interrupt();
while (1) {
if (g_event == 0)
__bis_SR_register(LPM0_bits + GIE);
if (g_event & EV_TIMER1) {
if (cb_timer1)
cb_timer1();
g_event &= ~EV_TIMER1;
}
if (g_event & EV_TIMER2) {
if (cb_timer2)
cb_timer2();
g_event &= ~EV_TIMER2;
}
if (g_event & EV_TIMER3) {
if (cb_timer3)
cb_timer3();
g_event &= ~EV_TIMER3;
}
if (g_event & EV_TX) {
if (cb_uart_tx)
cb_uart_tx();
g_event &= ~EV_TX;
}
}
}