int main(void)
{
initRP6M256();
initLCD();
writeString_P_WIFI("\n\nRP6 CONTROL M256 I2C Master Example Program!\n");
// IMPORTANT:
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handlers:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111); // Turn all LEDs on!
showScreenLCD("################", "################");
mSleep(500);
showScreenLCD("I2C-Master", "Example Program 1");
mSleep(1000);
// ---------------------------------------
setLEDs(0b0000); // All LEDs off!
uint8_t counter = 1;
// The command and register used here - in the next example we define them all.
#define CMD_SET_ACS_POWER 9
#define ACS_PWR_MED 2
// Set ACS to medium power (you can see the ACS value changes in the raw registers):
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
while(true)
{
// Increment a counter and send value to LEDs of the
// Slave Controller:
setLEDs(0b0001);
showScreenLCD("INCREMENT", "COUNTER");
setCursorPosLCD(1, 11);
writeIntegerLengthLCD(counter, DEC, 3);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, counter);
counter++;
// Read and display ALL registers of the slave controller:
setLEDs(0b0010);
readAllRegisters();
// Read the light sensors:
setLEDs(0b0100);
readLightSensors();
mSleep(250);
}
return 0;
}
int main(void)
{
initRP6M256();
initLCD();
writeString_P_WIFI("\n\nRP6 CONTROL M32 I2C Master Example Program!\n");
writeString_P_WIFI("\nMoving...\n");
// ---------------------------------------
WDT_setRequestHandler(watchDogRequest);
// ---------------------------------------
// Init TWI Interface:
I2CTWI_initMaster(100);
I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
showScreenLCD("################", "################");
mSleep(1000);
showScreenLCD("I2C-Master", "Movement...");
mSleep(1000);
setLEDs(0b0000);
// ---------------------------------------
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
while(true)
{
setLEDs(0b1001);
showScreenLCD("MOVE", "FWD");
writeString_P_WIFI("\nMoving Forwards...\n");
move(70, FWD, DIST_MM(300), BLOCKING);
setLEDs(0b1000);
showScreenLCD("ROTATE", "LEFT");
writeString_P_WIFI("\nRotating Left...\n");
rotate(60, LEFT, 180, BLOCKING);
setLEDs(0b1001);
showScreenLCD("MOVE", "FWD");
writeString_P_WIFI("\nMoving Forwards...\n");
move(70, FWD, DIST_MM(300), BLOCKING);
setLEDs(0b0001);
showScreenLCD("ROTATE", "RIGHT");
writeString_P_WIFI("\nRotating Right...\n");
rotate(60, RIGHT, 180, BLOCKING);
}
return 0;
}
int main(void)
{
initRP6M256();
initLCD();
// ---------------------------------------
WDT_setRequestHandler(watchDogRequest);
// ---------------------------------------
I2CTWI_initMaster(100);
I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
mSleep(1000);
setLEDs(0b0000);
// ---------------------------------------
// Setup ACS power:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_OFF);
// Enable Watchdog for Interrupt requests:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
// Enable timed watchdog requests:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
startStopwatch1();
startStopwatch2();
startStopwatch3();
while(true)
{
/*
mSleep(600);
warnForObs();
mSleep(600);
task_checkINT();
mSleep(600);
light_detection();
mSleep(600);
task_I2CTWI();
mSleep(600);*/
writeIntegerLength_WIFI(adcBat,DEC,4);
behaviourController();
}
return 0;
}
int main(void)
{
initRP6Control(); // Always call this first! The Processor will not work
// correctly otherwise.
bars(2);
writeString_P("\n\nRP6Control Selftest!\n\n");
bars(2);
setLEDs(0b1111);
mSleep(50);
initLCD();
showScreenLCD("################", "################");
mSleep(400);
showScreenLCD("################", "################");
showScreenLCD("RP6Control M32", "SELFTEST");
mSleep(1000);
uint8_t keynumber = 0;
while(keynumber < 6)
{
uint8_t key = checkReleasedKeyEvent();
if(key == keynumber)
{
keynumber++;
showScreenLCD("PRESS BUTTON", "NUMBER ");
writeIntegerLCD(keynumber,DEC);
setLEDs(0b0000);
writeString_P("### PRESS BUTTON NUMBER ");
writeInteger(keynumber,DEC);
writeString_P("!\n");
}
}
showScreenLCD("Testing", "BEEPER & LEDS");
mSleep(250);
// Play a sound to indicate that our program starts:
sound(50,50,100); setLEDs(0b0000);
sound(80,50,100); setLEDs(0b0001);
sound(100,50,100);setLEDs(0b0010);
sound(120,50,100);setLEDs(0b0100);
sound(140,50,100);setLEDs(0b1000);
sound(160,50,100);setLEDs(0b1001);
sound(180,50,100);setLEDs(0b1011);
sound(200,50,100);setLEDs(0b1111);
mSleep(400);
setLEDs(0b0000);
showScreenLCD("Testing", "EERPOM");
test(1);
writeString_P("\nEEPROM TEST\n");
writeString_P("\nErasing 250 Bytes...\n");
uint8_t cnt;
for(cnt = 0; cnt < 250; cnt++)
{
SPI_EEPROM_writeByte(cnt, 0xFF);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
}
writeString_P("...Done!\nWriting 250 Bytes to EEPROM:\n");
for(cnt = 0; cnt < 250; cnt++)
{
writeIntegerLength(cnt, DEC, 3);
SPI_EEPROM_writeByte(cnt, cnt);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
writeChar(',');
if(cnt % 10 == 0) writeChar('\n');
}
mSleep(400);
setLEDs(0b1111);
writeString_P("\nReading and verifying:\n");
for(cnt = 0; cnt < 250; cnt++)
{
uint8_t result = SPI_EEPROM_readByte(cnt);
if(result != cnt)
{
writeString_P("\nEEPROM VERIFY ERROR!!!! EEPROM DAMAGED!!!\n");
writeString_P("Data read: "); writeInteger(result,DEC);
writeString_P(", should be: "); writeInteger(cnt,DEC); writeChar('\n');
errors++;
}
else
writeIntegerLength(result,DEC,3);
writeChar(',');
if(cnt % 10 == 0) writeChar('\n');
}
writeString_P("\nErasing 250 Bytes...\n");
for(cnt = 0; cnt < 250; cnt++)
{
SPI_EEPROM_writeByte(cnt, 0xFF);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
}
mSleep(400);
setLEDs(0b0000);
writeString_P("\nEEPROM TEST DONE!\n");
writeString_P("\nI2C TWI TEST:\n");
showScreenLCD("I2C TWI", "TEST");
I2CTWI_initMaster(100);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
uint8_t runningLight = 1;
for(cnt = 0; cnt < 24; cnt++)
{
writeIntegerLength(cnt,DEC,3);
writeChar(':');
writeIntegerLength(runningLight,DEC,3);
writeChar(',');
writeChar(' ');
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, runningLight);
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 29);
uint8_t result = I2CTWI_readByte(I2C_RP6_BASE_ADR);
if(result != runningLight)
{
writeString_P("\nTWI TEST ERROR!\n");
errors++;
}
runningLight <<= 1;
if(runningLight > 32)
runningLight = 1;
if((cnt+1) % 6 == 0) writeChar('\n');
mSleep(100);
}
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, 0);
writeString_P("\nTWI TEST DONE!\n");
writeString_P("\nMicrophone Test\n");
writeString_P("Hit the Microphone three times with your finger!\n");
showScreenLCD("MIC TEST:", "");
#define PREPARE 1
#define WAIT 2
uint8_t state = PREPARE;
startStopwatch2();
while(true)
{
static uint8_t peak_count = 3;
if(state == PREPARE)
{
if(getStopwatch2() > 250)
{
setCursorPosLCD(1, 6);
writeIntegerLengthLCD( peak_count, DEC, 1);
dischargePeakDetector();
state = WAIT;
setStopwatch2(0);
}
}
else if(state == WAIT)
{
uint8_t key = checkReleasedKeyEvent();
if(key)
{
break;
}
if(getStopwatch2() > 50)
{
uint16_t tmp = getMicrophonePeak();
if(tmp > 4)
{
externalPort.LEDS = 0;
uint16_t i;
uint8_t j;
for(i = 0, j = 2; i < tmp; i+= 40)
{
if(i < 40)
{
externalPort.LEDS++;
}
else
{
externalPort.LEDS <<=1;
externalPort.LEDS++;
}
}
outputExt();
if(tmp > 120)
{
state = PREPARE;
peak_count--;
}
if(peak_count == 0)
break;
}
else
setLEDs(0b0000);
setStopwatch2(0);
}
}
}
writeString_P("\nMICROPHONE TEST DONE!\n");
showScreenLCD("ALL TESTS", "DONE!");
writeString_P("\n\n\n\n");
bars(2);
writeString_P("\n\nALL TESTS DONE!\n\n");
if(errors)
{
bars(4);
writeString_P("\nERROR ERROR ERROR ERROR ERROR ERROR ERROR\n");
writeString_P("\nATTENTION: TESTS FINISHED WITH ERRORS!!!\n");
writeString_P("PLEASE CHECK RP6-M32 ASSEMBLY!!!\n\n");
bars(4);
writeString_P("\n\n");
}
// Now we just show a running light...
startStopwatch1();
uint8_t runLEDs = 1;
uint8_t dir = 0;
while(true)
{
if(getStopwatch1() > 100) {
setLEDs(runLEDs);
if(dir == 0)
runLEDs <<= 1;
else
runLEDs >>= 1;
if(runLEDs > 7 )
dir = 1;
else if (runLEDs < 2 )
dir = 0;
setStopwatch1(0);
}
}
int main(void)
{
initRP6Control(); // Always call this first!
// The Processor will not work correctly otherwise.
initLCD(); // Initialize the LC-Display (LCD)
// Always call this before using the LCD!
// Play two sounds with the Piezo Beeper on the RP6Control:
sound(180,80,25);
sound(220,80,0);
//IMPORTANT:
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handlers:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
// Write a text message to the UART:
writeString_P("{cmd=0x");
writeInteger(CMD_LIFETIME, HEX);
writeString_P("}\n");
run_testCases();
// Define a counting variable:
//uint16_t counter = 0;
// clear the UART buffer once at the start of the program
clearReceptionBuffer();
mSleep(1000);
setStopwatch1(500);
startStopwatch1();
while(true)
{
//example of receiving some data over UART
DoDataProcess();
if(move_turning!=0)
{
if(move_turning == 1)
{
rotate(60, LEFT, 3, false);
}
else
{
rotate(60, RIGHT, 3, false);
}
}
else
if(move_horizontal != 0)
{
if(move_horizontal > 0)
{
move(move_horizontal, FWD, 3, false);
}
else
{
move(move_horizontal, BWD, 3, false);
}
}
//mSleep(100); // delay 100ms = 0.1s
}
return 0;
}
