void Install_Timer(uint32_t ms, uint32_t timer, uint32_t prio, uint8_t mtchstop){
#ifndef AVR
#if defined(STM32F10X_MD) || defined(STM32F30X)
TIM_ITConfig(((TIM_TypeDef *) (APB1PERIPH_BASE + ((timer-2)*0x400))), TIM_IT_Update, DISABLE);
EnableClk(timer+6); ///< Just to use created functions
// RCC_APB1PeriphClockCmd(1<<(timer-2), ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = (ms-1);
TIM_TimeBaseStructure.TIM_Period = ((SystemCoreClock) / 1000) - 1;//(ms);
TIM_TimeBaseInit(((TIM_TypeDef *) (APB1PERIPH_BASE + ((timer-2)*0x400))), &TIM_TimeBaseStructure);
TIM_ClearITPendingBit(((TIM_TypeDef *) (APB1PERIPH_BASE + ((timer-2)*0x400))), TIM_IT_Update);
//TODO: Install Interrupt here? Well it actually SHOULD be initialized before activating TIM_IT
//but that would force me to create more doubles. Keep an eye on this
TIM_ITConfig(((TIM_TypeDef *) (APB1PERIPH_BASE + ((timer-2)*0x400))), TIM_IT_Update, ENABLE);
#else
// configure timer
TIM_TIMERCFG_Type tc;
TIM_ConfigStructInit(TIM_TIMER_MODE, &tc);
TIM_Init((( TIM_TypeDef *) timers[timer]), TIM_TIMER_MODE, &tc);
// set up match register
TIM_MATCHCFG_Type mc;
mc.MatchChannel = 0;
mc.IntOnMatch = ENABLE;
mc.StopOnMatch = mtchstop;
mc.ResetOnMatch = ENABLE;
mc.ExtMatchOutputType = 0;
#ifdef _LPC23XX_ //Yes it actually IS running at one Mhz. This isn't right but I don't have time to spend days in the lpc23xx bible again.
mc.MatchValue = (((1000000/1000)*ms)-1);
#else
mc.MatchValue = (ms * CLKPWR_GetPCLK(CLKPWR_PCLKSEL_TIMER0)) / 1000;
#endif
TIM_ConfigMatch((( TIM_TypeDef *) (timers[timer])), &mc);
// InstallINT(timer, prio);
// TIM_Cmd((( TIM_TypeDef *) (timers[timer])), ENABLE);// enable timer
#endif
//Must really do something neater than this
if(mtchstop==0) mtchstop=1;
else mtchstop=0;
InstallINT(timer, prio);
TIM_Cmd((( TIM_TypeDef *) (timers[timer])), mtchstop);
#endif
}
int main (void)
{
TIM_TIMERCFG_Type timerCfg;
uint8_t joyState = 0;
/* Initialize devices */
// initialize timer
TIM_ConfigStructInit(TIM_TIMER_MODE, &timerCfg);
TIM_Init(LPC_TIM0, TIM_TIMER_MODE, &timerCfg);
console_init();
joystick_init();
while(1) {
joyState = joystick_read();
if (joyState & JOYSTICK_UP) {
console_sendString((uint8_t*)"Up ");
}
if (joyState & JOYSTICK_DOWN) {
console_sendString((uint8_t*)"Down ");
}
if (joyState & JOYSTICK_LEFT) {
console_sendString((uint8_t*)"Left ");
}
if (joyState & JOYSTICK_RIGHT) {
console_sendString((uint8_t*)"Right ");
}
if (joyState & JOYSTICK_CENTER) {
console_sendString((uint8_t*)"Center ");
}
if (joyState != 0) {
console_sendString((uint8_t*)"\r\n");
}
TIM_Waitms(200);
}
}
void startTimerInt(uint8_t matchRegister, uint32_t us)
{
TIM_MATCHCFG_Type timerMatchCfg;
TIM_TIMERCFG_Type timerCfg;
uint32_t ticks = us;
//Initialize timer for delays and interrupts
TIM_ConfigStructInit(TIM_TIMER_MODE, &timerCfg); /* initialize timer config struct */
TIM_Init(LPC_TIM1, TIM_TIMER_MODE, &timerCfg); /* initialize timer0 */
timerMatchCfg.ExtMatchOutputType = TIM_EXTMATCH_NOTHING;
timerMatchCfg.IntOnMatch = ENABLE;
timerMatchCfg.MatchChannel = matchRegister;
timerMatchCfg.MatchValue = ticks;
timerMatchCfg.ResetOnMatch = DISABLE;
timerMatchCfg.StopOnMatch = DISABLE;
TIM_ConfigMatch(LPC_TIM1, &timerMatchCfg);
TIM_ResetCounter(LPC_TIM1);
NVIC_EnableIRQ(TIMER1_IRQn);
TIM_Cmd(LPC_TIM1, ENABLE);
}
int main(void) {
//Variable Declarations
initSolenoid(); /* initialize solenoid valve */
TIM_TIMERCFG_Type timerCfg;
initTimeStruct();
RTC_TIME_Type* watertime = malloc(sizeof(RTC_TIME_Type));
uint8 fed = 0;
uint8 watered = 0;
watertime->HOUR = 5;
watertime->MIN = 0;
//Initialize timer0 for delays
TIM_ConfigStructInit(TIM_TIMER_MODE, &timerCfg); /* initialize timer config struct */
TIM_Init(LPC_TIM0, TIM_TIMER_MODE, &timerCfg); /* initialize timer0 */
//Initialize Real Time Clock
RTC_Init(LPC_RTC);
RTC_Cmd(LPC_RTC, ENABLE);
RTC_ResetClockTickCounter(LPC_RTC);
// Initialize Peripherals
INIT_SDRAM(); /* initialize SDRAM */
servoInit(); /* initialize FSR servo motor for panning camera */
initStepper(); /* initialize stepper motor for dispensing food */
initFSR(); /* initialize force sensitive resistor circuit for food and water full signals */
initWiFi(AUTO_CONNECT); /* initialize WiFi module -- must be attached*/
audio_initialize();
audio_reset();
//audio_test();
audio_setupMP3();
int i = 0, retval;
uint32 length; /* length variable for photo */
printf("Entering while loop\n\r");
//audio_storeVoice();
// Enter an infinite loop
while(1) {
if(STATE == DISPENSING_FOOD){
printf("Entering food dispense state\n\r");
/* Execute commands to dispense food */
//spinUntilFull();
spinStepper(300);
reverseSpin(250);
STATE = CONNECTED;
}
if(STATE == DISPENSING_WATER){
printf("Entering water dispense state\n\r");
/* Execute commands to dispense water */
fillWater();
STATE = CONNECTED;
}
if(STATE == CAPTURING){
printf("Entering camera taking state\n\r");
/* Initialize camera and set it up to take a picture */
if(cameraInit())
printf("Camera not initialized!\n\r");
retval = stopFrame();
length = getBufferLength();
printf("length: %i\n\r", length);
/* Send length to Android application */
int temp_len = length;
while(temp_len){
uart1PutChar(temp_len % 10);
temp_len = temp_len / 10;
}
/* Send photo and finish set up */
getAndSendPhoto(length);
resumeFrame();
STATE = CONNECTED;
}
if(STATE == TALKING1){
audio_playVoice(1);
STATE = CONNECTED;
}
if(STATE == TALKING2){
audio_playVoice(2);
STATE = CONNECTED;
}
if(STATE == TALKING3){
audio_playVoice(3);
STATE = CONNECTED;
}
if(STATE == PAN_LEFT){
/* Execute commands to pan servo left */
panServo(LEFT);
STATE = CONNECTED;
}
if(STATE == PAN_RIGHT){
/* Execute commands to pan servo right */
panServo(RIGHT);
STATE = CONNECTED;
}
if(STATE == SCHEDULING){
/* Execute commands to schedule a feeding time */
STATE = CONNECTED;
}
/* Scheduling */
RTC_GetFullTime(LPC_RTC, time);
//Fill water bowl at predetermined time
if (time->HOUR == watertime->HOUR + 1 && watered == 1)
watered = 0;
if (watertime->HOUR == time->HOUR && watertime->MIN < time->MIN && watered == 0)
{
fillWater();
watered = 1;
}
//Feed dog on schedule if any cannot feed dog two consecutive hours
for(i = 0; i < scheduled_feeds; i++)
{
if (time->HOUR == feedtime[i]->HOUR + 1 && fed == 1)
fed = 0;
if (feedtime[i]->HOUR == time->HOUR && feedtime[i]->MIN < time->MIN && fed == 0)
{
spinUntilFull();
fed = 1;
}
}
}
return 0;
}
