//__________________________________________________________________________________________________
void anibike_dl_master_initialize ( void )
{
// Set pull-down and wired-or so that there will be no problems
PORT_ConfigurePins( &DATALINK_PORT,
DATALINK_CLK_PIN|DATALINK_DATA_PIN,
false,
false,
PORT_OPC_TOTEM_gc,
PORT_ISC_INPUT_DISABLE_gc );
PORT_ConfigurePins( &DATALINK_PORT,
DATALINK_CS_PIN,
false,
false,
PORT_OPC_WIREDANDPULL_gc,
PORT_ISC_INPUT_DISABLE_gc );
DATALINK_PORT.DIRSET = DATALINK_CLK_PIN|DATALINK_DATA_PIN|DATALINK_CS_PIN;
DATALINK_PORT.OUTSET = DATALINK_CS_PIN;
/* Initialize SPI master on port DATAFLASH_PORT. */
SPI_MasterInit(&spiMasterC,
&DATALINK_SPI,
&DATALINK_PORT,
false,
SPI_MODE_0_gc,
SPI_INTLVL_OFF_gc,
false,
SPI_PRESCALER_DIV4_gc,1);
// drive cs to high
DATALINK_PORT.OUTSET = DATALINK_CS_PIN;
}
int main(void)
{
cli();
CCP = 0xd8;
CLKPR = 3; // 1/8 clock prescaler
sei();
// power saver - uart
PRR &= ~(1 << PRUSART0);
init_uart();
//power saver - spi
PRR &= ~(1 << PRSPI);
SPI_MasterInit();
struct bme280_t s1, s2;
s1.dev_addr = 1;
s2.dev_addr = 2;
init_bme280(&s1);
init_bme280(&s2);
while(1)
{
measure(&s1);
measure(&s2);
transmit_string("----\r\n");
_delay_ms(1000);
}
}
void cc2500_Init(uint8_t power)
{
prog_uint8_t *init = cc2500InitValue;
SET_BIT(PORTB, OUT_B_SPI_SCK);
RES_BIT(PORTB, OUT_B_SPI_MOSI);
RES_BIT(PORTB, OUT_B_SPI_SS);
_delay_us(40); // warten 40us
SPI_MasterInit();
_delay_us(40); // warten 40us
cc2500_Reset();
cc2500_Off(); // SS wegnehmen
SPI_MasterTransmit(CC2500_IOCFG2 | CC2500_WRITE_BURST);
do
{
SPI_MasterTransmit(pgm_read_byte(init++));
}
while(init < (cc2500InitValue + sizeof(cc2500InitValue) - 3));
cc2500_Off(); // SS wegnehmen wegen Burst
SPI_MasterTransmit(CC2500_TEST2 | CC2500_WRITE_BURST);
do
{
SPI_MasterTransmit(pgm_read_byte(init++));
}
while(init < (cc2500InitValue + sizeof(cc2500InitValue)));
cc2500_Off(); // SS wegnehmen wegen Burst
cc2500setPatableMax(power);
}
int main(void)
{
SPI_MasterInit();
btInit();
interruptINT1_init();
sei();
btTransmit(0);
//moveRobot(ACTIVATE_HIT);
while(1)
{
BT_SensorValues();
getSensorValues();
setVariables();
dataValues[LIFE] = lifeCount;
//Start of AI program that should keep the robot within the boundaries of the tape track
moveRobot(LED | lifeCount);
if(!lifeCount) {
sensorControlDead();
if(TapeFlag >= 0x03 && counting == 0) {
counting = 1;
timerValue = TIMER_1A_SECOND;
timer_init();
} else if(counting == 2) {
while(1) {
moveRobot(STOP);
}
}
} else {
if(hit == 0) {
activateHitFlag = 0;
hitFlag = 1;
}
if (hit == 1 && activateHitFlag)
{
moveRobot(IR_ON);
moveRobot(ACTIVATE_HIT);
}
else if(hit == 1 && hitFlag == 1) {
hitFlag = 0;
lifeCount = lifeCount >> 1;
timer0_init();
}
else if (hit == 1 && !activateHitFlag) {
moveRobot(IR_OFF);
}
if(!sprayPray) {
idle();
}
}
void NT7534_Init(){
//nastaveni portu
PIN_A0_DDR = 1; //data
PIN_RES_DDR = 1; //reset
NT7534_CS_DDR = 1; //cs
//init values
//reset
RES = 0;
delay_us(50);
RES = 1;
//CS deactive
NT7534_CLEAR_CS;
//init SPI
SPI_MasterInit();
delay_us(50);
//init display
NT7534_Display_Init();
delay_us(50);
NT7534_clear_screen();
delay_us(50);
knuerr_logo();
}
int main (void)
{
TWI_init(); //TWI Bus Initialisieren
TWI_59116_reset();
TWI_59116_setup();
if(CORE==Master){
DDRA=0xff; //PORTA als Ausgang
DDRD|=(1<<2); // PD2 als Ausgang
Interrupt_init();
sei();
SPI_MasterInit();
Ebene_ein=0;
while(1)
{
effect_blinky2(1); //ok
effect_planboing(0,AXIS_Z,20); //ok
effect_planboing(1,AXIS_X,20); //ok
effect_planboing(0,AXIS_Y,20); //ok
effect_planboing(1,AXIS_Z,20); //ok
for (uint8_t ii=0;ii<8;ii++)
effect_box_shrink_grow (0,ii%4, ii & 4, 20); //ok
//sendvoxels_rand_z(100,10,20); // ok
effect_random_sparkle (1,3,20,10); //ok
effect_box_woopwoop(1,40,1); //naja
effect_rain(0,300); //ok
//effect_wormsqueeze (2, AXIS_Z, 1, 100, 25); //ok
for(int i=0;i<8;i++){ // Pixel durchtesten
for(int j=0;j<64;j++)
{ LED[0][i][j/8][j%8]=0xff;
_delay_us(500);
}
for(int j=0;j<64;j++)
{ LED[0][i][j/8][j%8]=0;
_delay_us(500);
}
}
}
}else{
DDRA=0x00; //PORTA als Eingang
DDRD&=~(1<<2); // PD2 als Eingang
SPI_SlaveInit();
Ebene_ein=0;
while(1)
{
I2C_Leds_ein(Ebene_ein%8); //Säulentreiber einschalten für nächste Ebene
}
}
return 0;
}
void main(void)
{
SPI_MasterInit();
ip_init();
while (1){
ip_task();
}
}
/** \brief Initializes the ADC.
*
* All library functions in this library take the adc given here as their first
* parameter. This function initializes it for future communication with the
* ADC. This library uses the SPI library to communicate with the ADC, set up
* in interrupt driven packet transfer mode, at 2MHz clock frequency. This
* library performs bus arbitration through the SPI_driver.c library, however,
* it is still a good idea to limit the ADC as the only peripheral on the bus
* for performance reasons.
*
* \param[out] adc the adc to initialize
* \param[in] control_port pointer to the control port for the ADC
* \param[in] CONVST_bm /CONVST pin bit mask (on control_port)
* \param[in] EOC_bm /EOC pin bit mask (on control_port)
* \param[in] SPI_port pointer to the SPI port for the ADC
* \param[in] SPI_module the SPI module to use
* \param[in] RFS_bm /RFS pin bit mask (on SPI_port) */
void ADC_init(ADC_ext_t *adc,
PORT_t *control_port, uint8_t CONVST_bm, uint8_t EOC_bm,
PORT_t *SPI_port, SPI_t *SPI_module, uint8_t RFS_bm) {
/* initialize the adc */
adc->control_port = control_port;
adc->CONVST_bm = CONVST_bm;
adc->SPI_port = SPI_port;
adc->RFS_bm = RFS_bm;
adc->SPI_master = malloc(sizeof(SPI_Master_t));
adc->data_packet = malloc(sizeof(SPI_DataPacket_t));
adc->ready = true;
adc->continuous = false;
adc->callback = NULL;
/* enable /CONVST pin as output */
control_port->DIRSET = CONVST_bm;
PORTCFG.MPCMASK = CONVST_bm;
control_port->PIN0CTRL = PORT_OPC_TOTEM_gc;
control_port->OUTSET = CONVST_bm;
control_port->OUTCLR = CONVST_bm;
control_port->OUTSET = CONVST_bm;
/* Init /RFS pin as output with push/pull configuration */
SPI_port->DIRSET = RFS_bm;
PORTCFG.MPCMASK = RFS_bm;
SPI_port->PIN0CTRL = PORT_OPC_TOTEM_gc;
SPI_port->OUTSET = RFS_bm;
SPI_port->OUTCLR = RFS_bm;
SPI_port->OUTSET = RFS_bm;
/* Initialize SPI master on port C, which also sets up SPI interrupt */
SPI_MasterInit(adc->SPI_master, // SPI_master_t struct to use
SPI_module, // SPI module to use (see board.h)
SPI_port, // SPI port to use (see board.h)
false, // lsb_first = false
SPI_MODE_2_gc, // data on leading falling edge
SPI_INTLVL_MED_gc, // SPI interrupt priority
false, // clock2x = false
SPI_PRESCALER_DIV64_gc); // division scaler (2MHz)
/* enable interrupts on /EOC for falling edge
* (ADC pulls low to signal conversion ready) */
control_port->DIRCLR = EOC_bm; // EOC pin is input
PORTCFG.MPCMASK = EOC_bm;
control_port->PIN0CTRL = PORT_ISC_FALLING_gc; // pulled low when ready
control_port->INT0MASK |= EOC_bm; // enable EOC interupt mask
control_port->INTCTRL = PORT_INT0LVL_LO_gc; // enable LO level interrupts
/* enable low and med level interrupts */
PMIC.CTRL |= PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm;
}
int main ()
{
/* Configure port D pin 0 as output
* for signaling when tests pass
*/
DDR_SIGNAL = (1<<DD_SIGNAL);
uint8_t i, byte_received;
SPI_MasterInit();
for (i=0; i<100; i++)
{
SPI_MasterTransmit(0x81);
_delay_ms(5);
/* is SPI interrupt flag set? */
if (SPSR == 0x80)
{
/* if SPI interrupt flag is set
* clear it by reading the data
* in SPI data register */
byte_received = SPI_ReadData();
set_bit(SIGNAL_PORT, SIGNAL);
//_delay_ms(25);
/* did clearing interrupt
* flag succeed? */
if (SPSR == 0x00)
{
/* if yes blink LED */
clear_bit(SIGNAL_PORT, SIGNAL);
//_delay_ms(25);
}
}
/* if flag is not set blink slowly
* forever */
else
{
while (1)
{
set_bit(SIGNAL_PORT, SIGNAL);
_delay_ms(500);
clear_bit(SIGNAL_PORT, SIGNAL);
_delay_ms(500);
}
}
}
/* if all is well, after completing
* the requested transmissions
* the LED should go off and the
* processeor should do nothing
* happily ever after */
while (1);
;
return (0);
}
void matrix_init(void)
{
SPI_MasterInit();
matrix_transmit(OP_SHUTDOWN,0b00000000);
matrix_clear();
matrix_transmit(OP_DISPLAYTEST,0x00);
matrix_transmit(OP_SCANLIMIT,0x07);
matrix_transmit(OP_DECODEMODE,0x00);
matrix_transmit(OP_INTENSITY,0x0F);
matrix_transmit(OP_SHUTDOWN,0b00000001);
}
int main( void )
{
cli();
setup_clock();
InitBuffer(&ab);
//Don't touch any PORTB below 4, those are for printf
// SetupPrintf();
USB_ZeroPrescaler();
USB_Init();
DDRC = 0x0;
SPI_MasterInit();
// _delay_ms(10); //wait for tiny 44 to be ready for data
// setup_timers();
setup_channel_interrupt();
DDRD |= _BV(PD6);
sei();
// testAsm();
// if (testPtr == 'w') PORTD |= _BV(PD6);
while(1)
{
UENUM = 4; //interrupts can change this
//these if statements can take a bit of time so run them and save the
//result for future use
if ( USB_READY(UEINTX) && (BytesFree(&ab) >= 8) )
dataState=1;
else if ( BytesUsed(&ab) >= 2)
dataState=2;
else
dataState=0;
while (needAudioFlag==0);
cli();
needAudioFlag=0;
DoAudioState();
sei();
}
return 0;
}
void oled_init()
{
SPI_MasterInit();
DDRB|=(1<<PB0)|(1<<PB1);
PORTB&=~(1<<PB0);
_delay_ms(50);
PORTB|=(1<<PB0);
PORTB&=~(1<<PB1); //发送命令
SPI_MasterTransmit(0xae);//--turn off oled panel
SPI_MasterTransmit(0x00);//---set low column address
SPI_MasterTransmit(0x10);//---set high column address
SPI_MasterTransmit(0x40);//--set start line address Set Mapping RAM Display Start Line (0x00~0x3F)
SPI_MasterTransmit(0x81);//--set contrast control register
SPI_MasterTransmit(0xcf); // Set SEG Output Current Brightness
SPI_MasterTransmit(0xa1);//--Set SEG/Column Mapping 0xa0左右反置 0xa1正常
SPI_MasterTransmit(0xc8);//Set COM/Row Scan Direction 0xc0上下反置 0xc8正常
SPI_MasterTransmit(0xa6);//--set normal display
SPI_MasterTransmit(0xa8);//--set multiplex ratio(1 to 64)
SPI_MasterTransmit(0x3f);//--1/64 duty
SPI_MasterTransmit(0xd3);//-set display offset Shift Mapping RAM Counter (0x00~0x3F)
SPI_MasterTransmit(0x00);//-not offset
SPI_MasterTransmit(0xd5);//--set display clock divide ratio/oscillator frequency
SPI_MasterTransmit(0x80);//--set divide ratio, Set Clock as 100 Frames/Sec
SPI_MasterTransmit(0xd9);//--set pre-charge period
SPI_MasterTransmit(0xf1);//Set Pre-Charge as 15 Clocks & Discharge as 1 Clock
SPI_MasterTransmit(0xda);//--set com pins hardware configuration
SPI_MasterTransmit(0x12);
SPI_MasterTransmit(0xdb);//--set vcomh
SPI_MasterTransmit(0x40);//Set VCOM Deselect Level
SPI_MasterTransmit(0x20);//-Set Page Addressing Mode (0x00/0x01/0x02)
SPI_MasterTransmit(0x02);//
SPI_MasterTransmit(0x8d);//--set Charge Pump enable/disable
SPI_MasterTransmit(0x14);//--set(0x10) disable
SPI_MasterTransmit(0xa4);// Disable Entire Display On (0xa4/0xa5)
SPI_MasterTransmit(0xa6);// Disable Inverse Display On (0xa6/a7)
SPI_MasterTransmit(0xaf);//--turn on oled panel
/* SPI_MasterTransmit(0xAF);
SPI_MasterTransmit(0x40);
SPI_MasterTransmit(0xA0);
SPI_MasterTransmit(0xA6);
SPI_MasterTransmit(0xA4);
SPI_MasterTransmit(0xA2);
SPI_MasterTransmit(0xC8);
SPI_MasterTransmit(0x2F);
SPI_MasterTransmit(0x24);
SPI_MasterTransmit(0x81);
SPI_MasterTransmit(0x24); */
oled_clear();
}
int main()
{
DDRC=255; //PORTC as output,used for Slave Selections
while(1)
{
PORTC=0;
_delay_ms(1000);
SPI_MasterInit();
SPI_MasterTransmit(255);
PORTC=255;
_delay_ms(1000);
PORTC=0;
_delay_ms(1000);
SPI_MasterInit();
SPI_MasterTransmit(0);
PORTC=255;
_delay_ms(1000);
}
return 0;
}
int main(void)
{
//usart_init (UBRR_VAL);//инициализация модуля
SPI_MasterInit();//инициализация SPI
nRF24L01_init(0b00000011);//инициализация модуля
nrf24l01_RX_TX_mode(PRX);//переходим в режим приемника
while(1)
{
mSend(4);//внешний
mSend(3);//кухня
mSend(2);//ванная
}
}
int main(void)
{
PORTB=0xFF;
DDRB=0xFF;
SPI_MasterInit();
while (1)
{
SPI_MasterTransmit(0x37);
_delay_ms(500);
SPI_MasterTransmit(0x38);
_delay_ms(500);
SPI_MasterTransmit(0x39);
_delay_ms(500);
}
}
void init(void) {
clock_prescale_set(clock_div_2); // we run at 3.3v
fdev_setup_stream(&mystdout, uart_putchar, NULL, _FDEV_SETUP_WRITE);
stdout = &mystdout;
usb_init();
MRF_RESET_CONFIG;
MRF_CS_CONFIG;
SPI_MasterInit();
// interrupt pin from mrf
EIMSK |= (1<<INT0);
while (!usb_configured()) {
}
// Advised to wait a bit longer by pjrc.com
// as not all drivers will be ready even after host is up
_delay_ms(500);
}
int main(void) {
char highbyte, lowbyte;
SPI_MasterInit();
int i;
i = MCP_START; // MCP4921 initial value
while(1)
{
for (i=MCP_START; i<MCP_START+4096; i+=2)
{
highbyte = i>>8;
lowbyte = i;
PORTB &= ~(1<<2); //SS sets to low
SPI_MasterTransmit(highbyte);
SPI_MasterTransmit(lowbyte);
PORTB |= 1<<2; //SS sets to high
}
}
}
int main(void)
{
struct LCD_Geometry *pointCurrent= &Current;
struct LCD_Properties *pointProperties= &Properties;
FILE lcd_str = FDEV_SETUP_STREAM(TerminalChar, NULL, _FDEV_SETUP_RW);
//FILE lcd_str = FDEV_SETUP_STREAM(USART_send, NULL, _FDEV_SETUP_RW);
char *hellow = "hello";
stdout = &lcd_str;
USART_init();
SPI_MasterInit();
SSD1289_Initalize();
testLibrary();
//ReadBMP_ARRAY(40,40,BMP_IMAGE);
}
void Radio_RxInit() {
SPI_MasterInit();
DDRB|=(1<<CSN)|(1<<CE);
PORTB|=(1<<IRQ)|(1<<CSN);
delay_ms(5);
unsigned char oneByte[1]={0x33};
unsigned char threeByte[3]={0x18, 0x04, 0x96};
writeRegister(0x00, oneByte, 1); //set config reg to power up into rx mode
oneByte[0]=0x01;
writeRegister(0x03, oneByte, 1); //set address length to 3 bytes
writeRegister(0x0A, threeByte, 3); //set address of pipe 0 to random number, in this case my birthday
oneByte[0]=76;
writeRegister(0x05, oneByte, 1); //set channel to 76
oneByte[0]=0x00;
writeRegister(0x01, oneByte, 1); //turn off auto acknowledge
oneByte[0]=5;
writeRegister(0x11, oneByte, 1); //set packet length for pipe 0
flushRx();
PORTB|=(1<<CE);
}
void Radio_TxInit() {
SPI_MasterInit();
DDRB|=(1<<CSN)|(1<<CE);
PORTB|=(1<<IRQ)|(1<<CSN);
delay_ms(5); //settling time specified in the data sheet
unsigned char oneByte[1]={0x72};
unsigned char threeByte[3]={0x18, 0x04, 0x96};
writeRegister(0x00, oneByte, 1); //set config reg to power up into tx mode
oneByte[0]=0x01;
writeRegister(0x03, oneByte, 1); //set address length to 3 bytes
writeRegister(0x10, threeByte, 3); //set address of transmit to random number, in this case my birthday
oneByte[0]=76;
writeRegister(0x05, oneByte, 1); //set to channel 76
oneByte[0]=0x00;
writeRegister(0x01, oneByte, 1); //turn off Auto Acknowledge, one way communication okay if a few packets get dropped
writeRegister(0x04, oneByte, 1); //turn off retransmit, not ideal for remote control
oneByte[0]=0x01;
writeRegister(0x1D, oneByte, 1); //enable W_TX_PAYLOAD_NOACK
flushTx();
PORTB|=(1<<CE);
}
void SPI_Init(u08 mode,u08 prescale)
{ //variable
unsigned char temp;
//set these pins H
SPI_PORT |= (1<<MOSI_PIN)|(1<<MISO_PIN)|(1<<SCK_PIN);
//setup SPI
SPI_SCKspeed(prescale);
SPI_Modeselect(mode);
SPI_MasterInit();
//clear SPI interrupt flag
temp = SPSR;
temp = SPDR;
}
int main(void)
{
/* desabilita os pinos de RX e TX */
UCSR0B=0x00;
/* Para uso do botão */
DDRB &= (~(1 << PB0));
PORTB |= (1 << PB0);
LCD_inicia_4bits();
SPI_MasterInit();
while(1)
{
if(!tst_bit(PINB, PB0)) {
SPI_HABILITA_SLAVE();
_delay_ms(20);
SPI_Transmit('A');
SPI_DESABILITA_SLAVE();
while(!tst_bit(PINB, PB0));
}
}
}
int main(void)
{
unsigned int XXL,YXL,ZXL;
//unsigned int ADC1,ADC2,ADC3;
// int16_t ZGY;
unsigned int XGY,YGY,ZGY;
// unsigned char XYZ_buffer[100];
unsigned int timer=0;
unsigned int timer_old=0;
unsigned int diff_counter=0;
unsigned int m_IMU_count=0;
double m_XXL_sum=0;
double m_YXL_sum=0;
double m_ZXL_sum=0;
double m_XGY_sum=0;
double m_YGY_sum=0;
double m_ZGY_sum=0;
clk_init();
port_init();
USART_INIT();
timer_Init();
int_init();
// sei();
// spi_init();
/* Init SS pin as output with wired AND and pull-up. */
//120813 portC를 D로 바꿈 SPI인거 같아서
PORTD.DIRSET = PIN0_bm;
PORTD.PIN0CTRL = PORT_OPC_WIREDANDPULL_gc;
PORTD.DIRSET = PIN1_bm;
PORTD.PIN1CTRL = PORT_OPC_WIREDANDPULL_gc;
/* Set SS output to high. (No slave addressed). */
PORTD.OUTSET = PIN0_bm;
PORTD.OUTSET = PIN1_bm;
/* Instantiate pointer to ssPort. */
PORT_t *ssPort = &PORTD;
/* Initialize SPI master on port D. */
SPI_MasterInit(&spiMasterD,
&SPID,
&PORTD,
false,
SPI_MODE_3_gc,
SPI_INTLVL_OFF_gc,
false,
SPI_PRESCALER_DIV16_gc);
/* Use USARTD0 and initialize buffers. */
USART_InterruptDriver_Initialize(&USARTD0_data, &USARTD0, USART_DREINTLVL_HI_gc);
/* Enable RXC interrupt. */
USART_RxdInterruptLevel_Set(USARTD0_data.usart, USART_RXCINTLVL_HI_gc);
/* Enable PMIC interrupt level low. */
PMIC.CTRL |= PMIC_HILVLEX_bm;
/* Enable global interrupts.*/
sei();
/* Initialize ACC & Gyro */
// Init_L3G4200DH();
Init_LIS3DH();
SPI_MasterCreateDataPacket(&dataPacket,
masterSendData_gyro_init,
GYRO_DATA,
NUM_BYTES,
&PORTD,
PIN1_bm);
SPI_MasterSSLow(ssPort, PIN1_bm);
/* Transceive packet. */
SPI_MasterTransceivePacket(&spiMasterD, &dataPacket);
/* MASTER: Release SS to slave. */
SPI_MasterSSHigh(ssPort, PIN1_bm);
// USART_Rx_Enable(&USARTD0);
// USART_Tx_Enable(&USARTD0);
double z_deg=0;
unsigned int oldT=0;
unsigned int newT=0;
unsigned int dT=0;
int i;
double x1m=0;
double x1p=0;
double P1p=1.0;
double x2m[4]={0,0,0,0};
double x2p[4]={0,0,0,0};
double P2p[4][4]={{0.1,0,0,0},
{0,0.1,0,0},
{0,0,0.1,0},
{0,0,0,0.1}};
double enc_time_cnt=0;
for(i=0;i<DELAY_COMP_G;i++)
{
m_XGY_buf[i]=0.0;
m_YGY_buf[i]=0.0;
m_ZGY_buf[i]=0.0;
m_XXL_buf[i]=0.0;
m_YXL_buf[i]=0.0;
m_ZXL_buf[i]=0.0;
m_enc_buf[i]=0.0;
m_enc_timebuf[i]=0.0;
m_T_buf[i]=0.0;
}
//char XYZ_buffer_debug[20];
//sprintf((char*)XYZ_buffer_debug,"Hello W");
//uartSendTX((unsigned char*)XYZ_buffer_debug);
while(1)
{
//if(1)
if(samplingFlag)
{
// adc_start_conversion(&ADCA, ADC_CH0);
samplingFlag=0;
timer=TCC0.CNT;
diff_counter=timer-timer_old;
/* Create data packet (SS to slave by PC0). */
SPI_MasterCreateDataPacket(&dataPacket,
masterSendData,
ACC_DATA,
NUM_BYTES,
&PORTD,
PIN0_bm);
/* MASTER: Pull SS line low. This has to be done since
* SPI_MasterTransceiveByte() does not control the SS line(s). */
SPI_MasterSSLow(ssPort, PIN0_bm);
_delay_us(5);
/* Transceive packet. */
SPI_MasterTransceivePacket(&spiMasterD, &dataPacket);
/* MASTER: Release SS to slave. */
_delay_us(5);
SPI_MasterSSHigh(ssPort, PIN0_bm);
/* Create data packet (SS to slave by PC1). */
SPI_MasterCreateDataPacket(&dataPacket,
masterSendData_gyro,
GYRO_DATA,
NUM_BYTES,
&PORTD,
PIN1_bm);
/* MASTER: Pull SS line low. This has to be done since
* SPI_MasterTransceiveByte() does not control the SS line(s). */
SPI_MasterSSLow(ssPort, PIN1_bm);
/* Transceive packet. */
_delay_us(5);
SPI_MasterTransceivePacket(&spiMasterD, &dataPacket);
/* MASTER: Release SS to slave. */
_delay_us(5);
SPI_MasterSSHigh(ssPort, PIN1_bm);
timer_old=timer;
T=(double)diff_counter/2000000.0*32.0;
ACC_DATA[2]=ACC_DATA[2]+0x80;
ACC_DATA[4]=ACC_DATA[4]+0x80;
ACC_DATA[6]=ACC_DATA[6]+0x80;
YXL= (unsigned int)ACC_DATA[2]*256+ACC_DATA[1];
XXL= (unsigned int)ACC_DATA[4]*256+ACC_DATA[3];
ZXL= (unsigned int)ACC_DATA[6]*256+ACC_DATA[5];
GYRO_DATA[2]=GYRO_DATA[2]+0x80;
GYRO_DATA[4]=GYRO_DATA[4]+0x80;
GYRO_DATA[6]=GYRO_DATA[6]+0x80;
XGY= (unsigned int)GYRO_DATA[4]*256+GYRO_DATA[3];
YGY= (unsigned int)GYRO_DATA[2]*256+GYRO_DATA[1];
ZGY= (unsigned int)GYRO_DATA[6]*256+GYRO_DATA[5];
if(m_IMU_count<Tsample)
{
m_IMU_count++;
}
else if(m_IMU_count<Tsample+Bsample)
{
m_XXL_sum+=XXL;
m_YXL_sum+=YXL;
m_ZXL_sum+=ZXL;
//m_XGY_sum+=XGY;
//m_YGY_sum+=YGY;
m_ZGY_sum+=ZGY;
m_IMU_count++;
}
else if(m_IMU_count==Tsample+Bsample)
{
//SetTimer(25,1,NULL);
m_biasXXL=(double)m_XXL_sum/(double)Bsample;
m_biasYXL=(double)m_YXL_sum/(double)Bsample;
m_biasZXL=(double)m_ZXL_sum/(double)Bsample-GRAVITY_COUNT;
//m_biasXGY=(double)m_XGY_sum/(double)Bsample;
//m_biasYGY=(double)m_YGY_sum/(double)Bsample;
m_biasZGY=(double)m_ZGY_sum/(double)Bsample;
gravityVect[0]=0;
gravityVect[1]=0;
gravityVect[2]=SCALE_ZXL*GRAVITY_COUNT;
m_IMU_count++;
}
else
{
//encoder_interface(0);
//encoder_interface(1);
//host_interface();
//unsigned int a=TCC0.CNT;
//position_estimator(XXL,YXL,ZXL,XGY,YGY,ZGY);
//unsigned int b=TCC0.CNT;
//TJX=(double)(b-a)/2000000.0*32.0;
//FF_controller();
newT=TCC0.CNT;
dT=newT-oldT;
////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
///////////////////////////////////////////////////////
int i,j,k;
m_XXL=-SCALE_XXL*((double)XXL-(double)m_biasXXL);
m_YXL=-SCALE_YXL*((double)YXL-(double)m_biasYXL);
m_ZXL=SCALE_ZXL*((double)ZXL-(double)m_biasZXL);
m_XGY=-SCALE_XGY*((double)XGY-(double)m_biasXGY);//-0.001212142/0.00015711
m_YGY=SCALE_YGY*((double)YGY-(double)m_biasYGY);//+
//if(ZGY<3000) m_ZGY=SCALE_ZGY*((double)ZGY-(double)m_biasZGY+65536.0);
//else m_ZGY=SCALE_ZGY*((double)ZGY-(double)m_biasZGY);//+
m_ZGY=SCALE_ZGY*((double)ZGY-(double)m_biasZGY);
sprintf(XYZ_buffer,"%u %u %u %u %u %u \n",XXL, YXL, ZXL, XGY, YGY, ZGY);
uartC0SendTX((unsigned char*)XYZ_buffer);
}
}
}
while(true) {
nop();
}
}
int main( void )
{
uint8_t delay;
uint8_t counter;
uint8_t doStatus = 1;
InitTimer();
InitUART();
SetDirectionOut( LED );
SetDirectionOut( MOSI );
SetDirectionIn( MISO );
SetDirectionOut( SCK );
SetDirectionOut( SS );
SetDirectionIn( INT );
SetDirectionOut( TRIGGER );
TRIGGER_PORT &= ~TRIGGER_MASK;
SPI_MasterInit();
Log( "*****\n" );
Log( "***** WLN CLI program\n" );
Log( "*****\n" );
sei();
counter = 0;
while ( 1 )
{
LED_PORT ^= LED_MASK;
if ( doStatus )
{
if ( counter == 0 )
{
uint8_t status = WLN_ReadStatus();
WLN_PrintStatus( status );
}
counter = ( counter + 1 ) & 0x03;
}
// Tick rate is 100/sec so waiting for 50 waits for 1/2 sec
for ( delay = 0; delay < 50; delay++ )
{
tick_t prevCount = gTickCount;
while ( gTickCount == prevCount )
{
LogBufDump();
}
if ( UART0_IsCharAvailable() )
{
char ch = UART0_GetChar();
switch ( ch )
{
case '!':
{
doStatus = !doStatus;
Log( "Turning status %s\n", doStatus ? "on" : "off" );
break;
}
case '*':
{
Log( "Reset\n" );
SetDirectionOut( RESET );
RESET_PORT &= ~RESET_MASK;
break;
}
case ' ':
{
WLN_ReadData();
break;
}
default:
{
Log( "Read: '%c'\n", ch );
WLN_WriteByte( ch );
break;
}
}
}
}
}
} // main
//-----------------------------------------------------------------------------
// functions
//-----------------------------------------------------------------------------
void spi_init(void) {
// Initialize SPI master on port C.
SPI_MasterInit(&spiMasterC, &SPIC, &PORTC, false, SPI_MODE_0_gc, \
SPI_INTLVL_HI_gc, false, SPI_PRESCALER_DIV4_gc);
}
void spi_format(spi_t *obj, int bits, int mode, int slave)
{
spi_master_config_t master_config;
spi_slave_config_t slave_config;
/* Bits: values between 4 and 16 are valid */
MBED_ASSERT(bits >= 4 && bits <= 16);
obj->bits = bits;
if (slave) {
/* Slave config */
SPI_SlaveGetDefaultConfig(&slave_config);
slave_config.dataWidth = (spi_data_width_t)(bits - 1);
slave_config.polarity = (mode & 0x2) ? kSPI_ClockPolarityActiveLow : kSPI_ClockPolarityActiveHigh;
slave_config.phase = (mode & 0x1) ? kSPI_ClockPhaseSecondEdge : kSPI_ClockPhaseFirstEdge;
SPI_SlaveInit(spi_address[obj->instance], &slave_config);
} else {
/* Master config */
SPI_MasterGetDefaultConfig(&master_config);
master_config.dataWidth = (spi_data_width_t)(bits - 1);
master_config.polarity = (mode & 0x2) ? kSPI_ClockPolarityActiveLow : kSPI_ClockPolarityActiveHigh;
master_config.phase = (mode & 0x1) ? kSPI_ClockPhaseSecondEdge : kSPI_ClockPhaseFirstEdge;
master_config.direction = kSPI_MsbFirst;
switch (obj->instance) {
case 0:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM0);
RESET_PeripheralReset(kFC0_RST_SHIFT_RSTn);
break;
case 1:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM1);
RESET_PeripheralReset(kFC1_RST_SHIFT_RSTn);
break;
case 2:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM2);
RESET_PeripheralReset(kFC2_RST_SHIFT_RSTn);
break;
case 3:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM3);
RESET_PeripheralReset(kFC3_RST_SHIFT_RSTn);
break;
case 4:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM4);
RESET_PeripheralReset(kFC4_RST_SHIFT_RSTn);
break;
case 5:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM5);
RESET_PeripheralReset(kFC5_RST_SHIFT_RSTn);
break;
case 6:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM6);
RESET_PeripheralReset(kFC6_RST_SHIFT_RSTn);
break;
case 7:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM7);
RESET_PeripheralReset(kFC7_RST_SHIFT_RSTn);
break;
#if (FSL_FEATURE_SOC_FLEXCOMM_COUNT > 8U)
case 8:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM8);
RESET_PeripheralReset(kFC8_RST_SHIFT_RSTn);
break;
#endif
#if (FSL_FEATURE_SOC_FLEXCOMM_COUNT > 9U)
case 9:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM9);
RESET_PeripheralReset(kFC9_RST_SHIFT_RSTn);
break;
#endif
}
SPI_MasterInit(spi_address[obj->instance], &master_config, 12000000);
}
}
int main(void)
{
unsigned int XXL,YXL,ZXL,XGL,YGL,ZGL;
unsigned char XYZ_buffer[100];
clk_init();
port_init();
USART_INIT();
// spi_init();
/* Init SS pin as output with wired AND and pull-up. */
PORTC.DIRSET = PIN0_bm;
PORTC.PIN0CTRL = PORT_OPC_WIREDANDPULL_gc;
PORTC.DIRSET = PIN1_bm;
PORTC.PIN1CTRL = PORT_OPC_WIREDANDPULL_gc;
/* Set SS output to high. (No slave addressed). */
PORTC.OUTSET = PIN0_bm;
PORTC.OUTSET = PIN1_bm;
/* Instantiate pointer to ssPort. */
PORT_t *ssPort = &PORTC;
/* Initialize SPI master on port C. */
SPI_MasterInit(&spiMasterC,
&SPIC,
&PORTC,
false,
SPI_MODE_3_gc,
SPI_INTLVL_OFF_gc,
false,
SPI_PRESCALER_DIV16_gc);
/* Initialize ACC & Gyro */
Init_L3G4200DH();
Init_LIS331DLH();
/* Read Sensor data */
while(true) {
/* Create data packet (SS to slave by PC0). */
SPI_MasterCreateDataPacket(&dataPacket,
masterSendData,
ACC_DATA,
NUM_BYTES,
&PORTC,
PIN0_bm);
/* MASTER: Pull SS line low. This has to be done since
* SPI_MasterTransceiveByte() does not control the SS line(s). */
SPI_MasterSSLow(ssPort, PIN0_bm);
/* Transceive packet. */
SPI_MasterTransceivePacket(&spiMasterC, &dataPacket);
/* MASTER: Release SS to slave. */
SPI_MasterSSHigh(ssPort, PIN0_bm);
/* Create data packet (SS to slave by PC1). */
SPI_MasterCreateDataPacket(&dataPacket,
masterSendData,
GYRO_DATA,
NUM_BYTES,
&PORTC,
PIN1_bm);
/* MASTER: Pull SS line low. This has to be done since
* SPI_MasterTransceiveByte() does not control the SS line(s). */
SPI_MasterSSLow(ssPort, PIN1_bm);
/* Transceive packet. */
SPI_MasterTransceivePacket(&spiMasterC, &dataPacket);
/* MASTER: Release SS to slave. */
SPI_MasterSSHigh(ssPort, PIN1_bm);
ACC_DATA[2]=ACC_DATA[2]+0x80;
ACC_DATA[4]=ACC_DATA[4]+0x80;
ACC_DATA[6]=ACC_DATA[6]+0x80;
XXL= (unsigned int)ACC_DATA[2]*256+ACC_DATA[1];
YXL= (unsigned int)ACC_DATA[4]*256+ACC_DATA[3];
ZXL= (unsigned int)ACC_DATA[6]*256+ACC_DATA[5];
GYRO_DATA[2]=GYRO_DATA[2]+0x80;
GYRO_DATA[4]=GYRO_DATA[4]+0x80;
GYRO_DATA[6]=GYRO_DATA[6]+0x80;
XGL= (unsigned int)GYRO_DATA[2]*256+GYRO_DATA[1];
YGL= (unsigned int)GYRO_DATA[4]*256+GYRO_DATA[3];
ZGL= (unsigned int)GYRO_DATA[6]*256+GYRO_DATA[5];
sprintf((char*)XYZ_buffer,"[XXL%6u][YXL%6u][ZXL%6u][XGY%6u][YGY%6u][ZGY%6u]\r\n",XXL,YXL,ZXL,XGL,YGL,ZGL);
//uartSendTXbit('3');
//sprintf((char*)XYZ_buffer,"abcdefgefgh12341\n\r");
uartSendTX(XYZ_buffer);
}
while(true) {
nop();
}
}
int main() {
bitSet(DDRJ, DDJ1); /* red - output pin */
bitSet(DDRJ, DDJ0); /* yellow - output pin */
bitSet(DDRH, DDH1); /* green - output pin */
bitSet(PORTJ, PJ1); /* red off */
bitSet(PORTJ, PJ0); /* yellow off */
bitSet(PORTH, PH1); /* green off */
DDRL = 0b00000000; /* PL0 .. PL7 input */
PORTL = 0b11111111; /* PL0 .. PL7 pullup enable */
// initialize timer.
OCR1A = 2; /* Compare match after 2 increments (976 Hz) */
TCCR1A = _BV(COM1A0); /* Toggle OC1A on compare match */
TCCR1B = _BV(WGM12) | _BV(CS12) | _BV(CS10); /* Mode=Clear on Compare Match; clk = Clk_IO/1024 = 1953 Hz */
TCCR1C = 0;
TIMSK1 = _BV(OCIE1A);
//TCCR0A = 0;
//TCCR0B = _BV(CS02) | _BV(CS00); // start timer with clk/1024 (15,625 kHz)
//TIMSK0 = _BV(TOIE0); // enable timer0 overflow interrupt
SPI_MasterInit();
int value = 0;
int prevValue = 0;
lcdInit();
sei();
lcdPrint(0, "Hello Arduino!");
while(1) {
set_sleep_mode(0); // IDLE mode
sleep_mode();
if (prevEncoder == 2 && encoderVal == 0) {
value+=10;
if (value > 1000) {
value = 1000;
}
bitClear(PORTJ, PJ1); /* red on */
} else {
bitSet(PORTJ, PJ1); /* red off */
}
if (prevEncoder == 1 && encoderVal == 0) {
value-=10;
if (value < 0) {
value = 0;
}
bitClear(PORTJ, PJ0); /*yellow on */
} else {
bitSet(PORTJ, PJ0); /* yellow off */
}
if (prevValue != value) {
itoa(value, line, 10);
lcdPrint(0, line);
MCP48xx_SetValue(value);
}
prevValue = value;
#if 0
if ( (prevEncoder == 3 && encoderVal == 2) ||
(prevEncoder == 2 && encoderVal == 0) ||
(prevEncoder == 0 && encoderVal == 1) ||
(prevEncoder == 1 && encoderVal == 3)) {
bitClear(PORTJ, PJ1); /* red on */
} else {
bitSet(PORTJ, PJ1); /* red off */
}
if ( (prevEncoder == 3 && encoderVal == 1) ||
(prevEncoder == 1 && encoderVal == 0) ||
(prevEncoder == 0 && encoderVal == 2) ||
(prevEncoder == 2 && encoderVal == 3)) {
bitClear(PORTJ, PJ0); /*yellow on */
} else {
bitSet(PORTJ, PJ0); /* yellow off */
}
#endif
prevEncoder = encoderVal;
}
}
/*! \brief Test function.
*
* This function tests the SPI master and slave drivers in interrupt-driven
* operation, with a master (on port C) communicating with a slave (on port D).
*
* Hardware setup:
*
* - Connect PC4 to PD4 (SS)
* - Connect PC5 to PD5 (MOSI)
* - Connect PC6 to PD6 (MISO)
* - Connect PC7 to PD7 (SCK)
*
* The driver is tested by transmitting data from the master to the slave.
* The slave increments the received data and sends it back. The master reads
* the data from the slave and verifies that it equals the data sent + 1.
*
* The first data transaction is initiated by the main routine. When a
* transaction has finished, an interrupt will be triggered which will start
* new transactions until all bytes have been transceived.
*
* The variable, 'success', will be non-zero when the function reaches the
* infinite for-loop if the test was successful.
*
* \note This example uses multilevel interrupts. For more information on how
* to use the interrupt controller, refer to application note AVR1305.
*/
int main( void )
{
/* Init SS pin as output with wired AND and pull-up. */
PORTC.DIRSET = PIN4_bm;
PORTC.PIN4CTRL = PORT_OPC_WIREDANDPULL_gc;
/* Set SS output to high. (No slave addressed). */
PORTC.OUTSET = PIN4_bm;
/* Initialize SPI master on port C. */
SPI_MasterInit(&spiMasterC,
&SPIC,
&PORTC,
false,
SPI_MODE_0_gc,
SPI_INTLVL_LO_gc,
false,
SPI_PRESCALER_DIV4_gc);
/* Initialize SPI slave on port D. */
SPI_SlaveInit(&spiSlaveD,
&SPID,
&PORTD,
false,
SPI_MODE_0_gc,
SPI_INTLVL_MED_gc);
/* Enable low and medium level interrupts in the interrupt controller. */
PMIC.CTRL |= PMIC_MEDLVLEN_bm | PMIC_LOLVLEN_bm;
sei();
/* Create data packet (SS to slave by PC4) */
SPI_MasterCreateDataPacket(&dataPacket,
sendData,
receivedData,
NUM_BYTES + 1,
&PORTC,
PIN4_bm);
/* Transmit and receive first data byte. */
uint8_t status;
do {
status = SPI_MasterInterruptTransceivePacket(&spiMasterC, &dataPacket);
} while (status != SPI_OK);
/* Wait for transmission to complete. */
while (dataPacket.complete == false) {
}
/* Check that correct data was received. Assume success at first. */
success = true;
for (uint8_t i = 0; i < NUM_BYTES; i++) {
if (receivedData[i + 1] != (uint8_t)(sendData[i] + 1)) {
success = false;
}
}
while(true) {
nop();
}
}
/*! \brief Test function.
*
* This function tests the SPI master and slave drivers in polled operation,
* with a master (on port C) communicating with a slave (on port D).
*
* Hardware setup:
*
* - Connect PC4 to PD4 (SS)
* - Connect PC5 to PD5 (MOSI)
* - Connect PC6 to PD6 (MISO)
* - Connect PC7 to PD7 (SCK)
*
* The drivers are tested in two phases:
*
* 1: Data is transmitted on byte at a time from the master to the slave.
* The slave increments the received data and sends it back. The master reads
* the data from the slave and verifies that it equals the data sent + 1.
*
* 2: Data is transmitted 4 bytes at a time to the slave. As the master sends
* a byte to the slave, the preceding byte is sent back to the master.
* When all bytes have been sent, it is verified that the last 3 bytes
* received at the master, equal the first 3 bytes sent.
*
* The variable, 'success', will be non-zero when the function reaches the
* infinite for-loop if the test was successful.
*/
int main(void)
{
/* Init SS pin as output with wired AND and pull-up. */
PORTC.DIRSET = PIN4_bm;
PORTC.PIN4CTRL = PORT_OPC_WIREDANDPULL_gc;
/* Set SS output to high. (No slave addressed). */
PORTC.OUTSET = PIN4_bm;
/* Instantiate pointer to ssPort. */
PORT_t *ssPort = &PORTC;
/* Initialize SPI master on port C. */
SPI_MasterInit(&spiMasterC,
&SPIC,
&PORTC,
false,
SPI_MODE_0_gc,
SPI_INTLVL_LO_gc,
false,
SPI_PRESCALER_DIV4_gc);
/* Initialize SPI slave on port D. */
SPI_SlaveInit(&spiSlaveD,
&SPID,
&PORTD,
false,
SPI_MODE_0_gc,
SPI_INTLVL_LO_gc);
/* PHASE 1: Transceive individual bytes. */
/* MASTER: Pull SS line low. This has to be done since
* SPI_MasterTransceiveByte() does not control the SS line(s). */
SPI_MasterSSLow(ssPort, PIN4_bm);
for(uint8_t i = 0; i < NUM_BYTES; i++) {
/* MASTER: Transmit data from master to slave. */
SPI_MasterTransceiveByte(&spiMasterC, masterSendData[i]);
/* SLAVE: Wait for data to be available. */
while (SPI_SlaveDataAvailable(&spiSlaveD) == false) {
}
/* SLAVE: Get the byte received. */
uint8_t slaveByte = SPI_SlaveReadByte(&spiSlaveD);
/* SLAVE: Increment received byte and send back. */
slaveByte++;
SPI_SlaveWriteByte(&spiSlaveD, slaveByte);
/* MASTER: Transmit dummy data to shift data from slave to master. */
uint8_t masterReceivedByte = SPI_MasterTransceiveByte(&spiMasterC, 0x00);
/* MASTER: Check if the correct value was received. */
if (masterReceivedByte != (masterSendData[i] + 1) ) {
success = false;
}
}
/* MASTER: Release SS to slave. */
SPI_MasterSSHigh(ssPort, PIN4_bm);
/* PHASE 2: Transceive data packet. */
/* Create data packet (SS to slave by PC4). */
SPI_MasterCreateDataPacket(&dataPacket,
masterSendData,
masterReceivedData,
NUM_BYTES,
&PORTC,
PIN4_bm);
/* Transceive packet. */
SPI_MasterTransceivePacket(&spiMasterC, &dataPacket);
/* Check that correct data was received. Assume success at first. */
for (uint8_t i = 0; i < NUM_BYTES - 1; i++) {
if (masterReceivedData[i + 1] != masterSendData[i]) {
success = false;
}
}
while(true) {
nop();
}
}