int main(void) {
int translen = 0;
char xbeebuffer[100];
int i;
int bytetobuffer;
char rollread = 0;
char accelread = 0;
int dataready = 0;
char receive;
char count = 0;
uint8_t accelsetupbuffer[3] = {0x2C, 0b00001100, 0x08};
uint8_t accelstartbyte = 0x30;
uint8_t rollsetupbuffer1[4] = {0x15, 0x04, 0x19, 0x11};
uint8_t rollsetupbuffer2[] = {0x3E, 0b00000001};
uint8_t rollstartbyte = 0x1A;
char rollcash[3] = {0,0,0};
int accelcash[3] = {0,0,0};
short int motorr = 0;
short int motorl = 0;
short int servor = 0;
short int servol = 0;
enum states {running, stopped} state = stopped;
/**Setup directions for serial interfaces*/
PORTC.DIR = 0b00001000;
PORTC.OUT = 0b00001000;
PORTE.DIR = 0b00001000;
PORTF.DIR = 0x03;
PORTD.DIR = 0x0F;
//Pulse width modulation setup for servos, port D
TCD0.CTRLA = TC_CLKSEL_DIV1_gc;
TCD0.CTRLB = TC_WGMODE_SS_gc | TC0_CCAEN_bm |TC0_CCBEN_bm | TC0_CCCEN_bm | TC0_CCDEN_bm;
TCD0.PER = 40000;
/**Enable pullup resistors for imu*/
PORTCFG.MPCMASK = 0x03;
PORTC.PIN0CTRL = (PORTC.PIN0CTRL & ~PORT_OPC_gm) | PORT_OPC_PULLUP_gc;
/**Setup interrupts*/
PMIC.CTRL |= PMIC_LOLVLEX_bm | PMIC_MEDLVLEX_bm | PMIC_HILVLEX_bm |
PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
sei();
/**Setup IMU*/
TWI_MasterInit(&imu, &TWIC, TWI_MASTER_INTLVL_HI_gc, TWI_BAUDSETTING);
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ACCEL, accelsetupbuffer, 3, 0);
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ROLL, rollsetupbuffer1, 4, 0);
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ROLL, rollsetupbuffer2, 2, 0);
while(imu.status != TWIM_STATUS_READY);
/**Setup Xbee*/
USART_InterruptDriver_Initialize(&xbee, &USARTE0, USART_DREINTLVL_LO_gc);
USART_Format_Set(xbee.usart, USART_CHSIZE_8BIT_gc, USART_PMODE_DISABLED_gc, false);
USART_RxdInterruptLevel_Set(xbee.usart, USART_RXCINTLVL_HI_gc);
USART_Baudrate_Set(&USARTE0, 12 , 0);
USART_Rx_Enable(xbee.usart);
USART_Tx_Enable(xbee.usart);
setup = 0;
readdata = 0;
while(1) {
if(USART_RXBufferData_Available(&xbee)) {
receive = USART_RXBuffer_GetByte(&xbee);
if(receive == 's') {
state = running;
}
else if(receive == 'n') {
state = stopped;
}
}
switch(state) {
case stopped:
PORTF.OUT = 3;
TCD0.CCA = 2000;
TCD0.CCC = 2000;
TCD0.CCB = 3000;
TCD0.CCD = 3000;
for(i = 0; i < 3; i ++) {
accelcash[i] = 0;
rollcash[i] = 0;
}
break;
case running:
PORTF.OUT = 0;
//Roll reading
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ROLL, &rollstartbyte, 1, 10);
while(!readdata);
readdata = 0;
PORTF.OUT |= 0x01;
for(i = 0; i < 5; i += 2) {
if(imu.readData[i + 3] & 0x80) {
accelcash[i/2] -= 256 * (~imu.readData[i + 3] + 1);
accelcash[i/2] -= ~imu.readData[i + 2] + 1;
}
else {
accelcash[i/2] += 256 * imu.readData[i + 3];
accelcash[i/2] += imu.readData[i + 2];
}
}
//Accel reading
while(imu.status != TWIM_STATUS_READY);
PORTF.OUT ^= 1;
TWI_MasterWriteRead(&imu, ACCEL, &accelstartbyte, 1, 10);
while(!readdata);
readdata = 0;
for(i = 0; i < 5; i += 2) {
rollcash[i/2] += ((char)(imu.readData[i + 3]));
}
PORTF.OUT |= 0x02;
count ++;
if(count > 4) {
for(i = 0; i < 3; i ++) {
accelcash[i] /= 5;
rollcash[i] /= 2;
}
//motor updates
rollcash[0] -= RXN;
rollcash[1] -= RYN;
rollcash[2] -= RZN;
accelcash[0] -= AXN;
accelcash[1] -= AYN;
accelcash[2] -= AZN;
ValueFunk(accelcash[0],accelcash[1],accelcash[2],rollcash[0],rollcash[1],rollcash[2],&servol,&servor,&motorl,&motorr);
while(TCD0.CNT < 4000);
TCD0.CCA = motorr;
TCD0.CCB = servor;
TCD0.CCC = motorl;
TCD0.CCD = servol;
sprintf(xbeebuffer, " X%4d Y%4d Z%4d x%4d y%4d z%4d R%4d r%4d L%4d l%4d\n\r", rollcash[0], rollcash[1], rollcash[2], accelcash[0], accelcash[1], accelcash[2], motorr, servor, motorl, servol);
for(i = 0; xbeebuffer[i] != 0; i ++) {
bytetobuffer = 0;
while(!bytetobuffer) {
bytetobuffer = USART_TXBuffer_PutByte(&xbee, xbeebuffer[i]);
}
}
for(i = 0; i < 3; i ++) {
accelcash[i] = 0;
}
}
break;
}
}
return 0;
}
int main(void){
enum states{running, stopped} state = stopped;
/**Move cmd vars*/
short int rise = 0;
short int rotate = 0;
short int forward = 0;
short int tilt = 0;
short int motorr = 0;
short int motorl = 0;
short int servor = 0;
short int servol = 0;
int i;
char xbeebuffer[100];
uint8_t accelsetupbuffer1[3] = {0x2C, 0b00001100, 0x08};
uint8_t accelsetupbuffer2[3] = {0x31, 0x00};
uint8_t accelstartbyte = 0x30;
uint8_t rollsetupbuffer1[4] = {0x15, 0x04, 0x19, 0x11};
uint8_t rollsetupbuffer2[] = {0x3E, 0b00000001};
uint8_t rollstartbyte = 0x1A;
char rollcash[3] = {0,0,0};
int accelcash[3] = {0,0,0};
//Pulse width modulation setup for servos, port D
TCD1.CTRLA = TC_CLKSEL_DIV1_gc;
TCD1.CTRLB = TC_WGMODE_SS_gc | TC0_CCAEN_bm |TC0_CCBEN_bm;
TCD1.PER = 40000;
TCC1.CTRLA = TC_CLKSEL_DIV1_gc;
TCC1.CTRLB = TC_WGMODE_SS_gc | TC0_CCAEN_bm |TC0_CCBEN_bm;
TCC1.PER = 40000;
TCC0.CTRLA = TC_CLKSEL_DIV1_gc;
TCC0.CTRLB = TC_WGMODE_SS_gc;
TCC0.PER = 40000;
/**Setup interrupts*/
PMIC.CTRL |= PMIC_LOLVLEX_bm | PMIC_MEDLVLEX_bm | PMIC_HILVLEX_bm |
PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
sei();
//Setup IMU
PORTD.DIR = 0x30;
PORTC.DIR = 0b00111100;
PORTC.OUT = 0b00001000;
TWI_MasterInit(&imu, &TWIC, TWI_MASTER_INTLVL_HI_gc, TWI_BAUDSETTING);
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ACCEL, accelsetupbuffer1, 3, 0);
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ACCEL, accelsetupbuffer2, 2, 0);
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ROLL, rollsetupbuffer1, 4, 0);
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ROLL, rollsetupbuffer2, 2, 0);
while(imu.status != TWIM_STATUS_READY);
TWIC.MASTER.CTRLB |= 0x0C;
/**Setup Xbee*/
PORTE.DIR = 0b00001000;
PORTF.DIR = 3;
USART_InterruptDriver_Initialize(&xbee, &USARTE0, USART_DREINTLVL_LO_gc);
USART_Format_Set(xbee.usart, USART_CHSIZE_8BIT_gc, USART_PMODE_DISABLED_gc, false);
USART_RxdInterruptLevel_Set(xbee.usart, USART_RXCINTLVL_HI_gc);
USART_Baudrate_Set(&USARTE0, 12 , 0);
USART_Rx_Enable(xbee.usart);
USART_Tx_Enable(xbee.usart);
while(1){
if(readdata){
readdata = 0;
sendchar(&xbee, input);
if(input == 'r'){
state = running;
}
else if(input == 's'){
state = stopped;
sprintf(xbeebuffer, "rise %4d tilt %4d rot %4d for %4d \n\r", rise, tilt, rotate, forward);
sendstring(&xbee, xbeebuffer);
}
else if(input == 'u'){
rise += 25;
}
else if(input == 'd'){
rise -= 25;
}
else if(input == 'c'){
rotate += 10;
}
else if(input == 'x'){
rotate -= 10;
}
else if(input == 'a'){
tilt += 10;
}
else if(input == 'e'){
tilt -= 10;
}
else if(input == 't'){
forward += 10;
}
else if(input == 'b'){
forward -= 10;
}
}
switch(state){
case stopped:
TCD1.CCA = 2000;
TCC1.CCA = SERVOLINI;
TCD1.CCB = 2000;
TCC1.CCB = SERVORINI;
break;
case running:
if(TCC0.INTFLAGS & 0x01){
TCC0.INTFLAGS = 0x01;
do{
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ROLL, &rollstartbyte, 1, 10);
PORTF.OUT = 2;
while(imu.result == TWIM_RESULT_UNKNOWN);
}while(!(imu.readData[0] & 0x01));
for(i = 0; i < 5; i += 2){
rollcash[i/2] += ((char)(imu.readData[i + 3]));
}
do{
while(imu.status != TWIM_STATUS_READY);
TWI_MasterWriteRead(&imu, ACCEL, &accelstartbyte, 1, 10);
PORTF.OUT = 3;
while(imu.result == TWIM_RESULT_UNKNOWN);
PORTF.OUT = 1;
}while(!(imu.readData[0] & 0x80));
for(i = 0; i < 5; i += 2){
if(imu.readData[i + 3] & 0x80){
accelcash[i/2] -= 256 * (~imu.readData[i + 3] + 1);
accelcash[i/2] -= ~imu.readData[i + 2] + 1;
}
else{
accelcash[i/2] += 256 * imu.readData[i + 3];
accelcash[i/2] += imu.readData[i + 2];
}
}
PORTF.OUT = 0;
}
for(i = 0; i < 3; i ++){
accelcash[i] /= DAMPENACCEL;
rollcash[i] /= DAMPENROLL;
}
ValueFunk(accelcash[0],accelcash[1],accelcash[2],rollcash[0],rollcash[1],rollcash[2],&servol,&servor,&motorl,&motorr);
while(TCD1.CNT < 4000);
TCD1.CCA = motorl + rise - tilt;
TCD1.CCB = motorr + rise + tilt;
/*
while(TCC1.CNT < 4000);
TCC1.CCA = servol + rotate + forward;
TCC1.CCB = servor - rotate + forward;
*/
sprintf(xbeebuffer, " X%4d x%4d R%4d L%4d\n\r", rollcash[1], accelcash[0],motorr, motorl);
sendstring(&xbee, xbeebuffer);
for(i = 0; i < 3; i ++){
accelcash[i] *= INTEGRATEACCEL;
rollcash[i] *= INTEGRATEROLL;
}
break;
}
}
return 0;
}
