void spi_sends(uint8_t * texts, uint8_t length)
{
uint8_t i=0;
//P1OUT &= ~chip_select;
//P2OUT &= ~chip_select;
for(i = 0; i<length; i++)
{
UCB0TXBUF = texts[i]; // write INT to TX buffer
while (!(IFG2 & UCB0TXIFG));
_delay_cycles(300);
}
while ((UCB0STAT & UCBUSY));
//P1OUT |= chip_select;
}
/*
* function name:System_Initial()
* description: Initialize the system. include I/O, LCD and ADS1118 and meat select.
*/
void System_Initial()
{
flag = 0; //reset flag
flag ^= BIT8; // Default to farenheit
Thr_state = 0; //threshold temperature setting state machine counter
time_state = 0; //time setting state machine counter
Thr_temp = 100; //configure threshold temperature to 100;
Act_temp = 250;
meatState = 0; //No meat selected yet
customThreshold = 0; //Clear custom threshold flag
// IO initial
P1OUT = 0x09;
P2OUT = 0x3F;
LCD_init(); // LCD initial
LCD_clear(); // LCD clear
//Display startup message for 2 seconds
LCD_display_string(0," THERMOMEATER ");
int i;
for (i = 0; i < 2; i++) {
_delay_cycles(1000000);
}
LCD_clear();
//Output Temperature read screen labels
LCD_display_string(0,"Des:");
LCD_display_time(0,8,time); // display current time
LCD_display_string(1," Probe :"); //Initially reading probe
LCD_display_char(1,13,0xDF); //Degrees symbol
LCD_display_char(1,14,'F'); //Initially farenheit
LCD_display_number(0,4,Thr_temp); // display threshold temp number
ADS_Config(0); // set ADS1118 to convert local temperature,
//and start convertion.
}
// reset radio and load configuration data
void radio_configure(void)
{
// reset radio: SDN=1, wait >1us, SDN=0
RADIO_POUT |= RADIO_SDN;
_delay_cycles(1000);
RADIO_POUT &= ~RADIO_SDN;
while (!RADIO_READY); // wait for chip to wake up
// transfer radio configuration
const uint8_t *cfg = radio_configuration;
while (*cfg) { // configuration array stops with 0
char count = (*cfg++) - 1; // 1st byte: number of bytes, incl. command
char cmd = *cfg++; // 2nd byte: command
send_command(cmd, cfg, count, 0); // send bytes to chip
cfg += count; // point at next line
while (!RADIO_READY); // wait for chip to complete operation
}
return;
}
//------------------------------------------------------------------------------
// Send colors to the strip and show them. Disables interrupts while processing.
void showStrip()
{
// __bic_SR_register(GIE); // disable interrupts
Interrupt_disableMaster();
// send RGB color for every LED
int i, j;
for (i = 0; i < NUM_LEDS; i++){
u_char rgb[4] = {leds[i].green, leds[i].red, leds[i].blue, leds[i].white}; // get RGB color for this LED
// send green, then red, then blue, then white
for (j = 0; j < 4; j++){
u_char mask = 0x80; // b1000000
// check each of the 8 bits
while(mask != 0){
while ((UCB1IFG&0x0002)==0x0000); // wait until empty to transmit
if (rgb[j] & mask)
{ // most significant bit first
// SPI_transmitData(EUSCI_B1_MODULE, HIGH_CODE);
UCB1TXBUF = HIGH_CODE; // send 1
}
else
{
// SPI_transmitData(EUSCI_B1_MODULE, LOW_CODE);
UCB1TXBUF = LOW_CODE; // send 0
}
mask >>= 1; // check next bit
}
}
}
// send RES code for at least 50 us
_delay_cycles(800);
// __bis_SR_register(GIE); // enable interrupts
Interrupt_enableMaster();
}
/*
* drive()
* accepts a direction and moves the robot in that direction
*/
void drive(direction movement){
GO_STOP;
_delay_cycles(SHORT_T);
switch(movement){
case FORWARD:
TA1CCTL1 = OUTMOD_7;
TA1CCTL2 = OUTMOD_7;
GO_FORWARD;
break;
case BACKWARD:
TA1CCTL1 = OUTMOD_3;
TA1CCTL2 = OUTMOD_3;
GO_BACKWARD;
break;
case LEFT_T:
TA1CCTL1 = OUTMOD_7;
TA1CCTL2 = OUTMOD_3;
GO_FORWARD;
GO_LEFT;
break;
case RIGHT_T:
TA1CCTL1 = OUTMOD_3;
TA1CCTL2 = OUTMOD_7;
GO_FORWARD;
GO_RIGHT;
break;
case STOP:
GO_STOP;
break;
}//end switch
ENABLE_MOTORS;
}
__interrupt void USCI0RX_ISR(void) {
char Input_Char = 0;
if((IFG2 & UCA0RXIFG))
{
Input_Char =UCA0RXBUF;
if(Input_Char == '\r')
{
Run_Command(Command_Buffer);
Clear_Command_Buffer();
}
else
{
while (!(IFG2 & UCA0TXIFG));
UCA0TXBUF = Input_Char;
//while (UCA0STAT & UCBUSY);
Add_Char_To_Command_Buffer(Input_Char);
}
}
if((IFG2 & UCB0RXIFG))
{
_delay_cycles(1);
}
}
/*
* turns the robot CW
*/
void rotateRight(int deg_delay) {
go();
LEFT_OM_HI;
RIGHT_OM_LO;
// LEFT MOTOR
LEFT_SET_CCW;
// RIGHT MOTOR
RIGHT_SET_CCW;
GREEN_ON; // green LED ON
RED_OFF; // red LED OFF
int i;
switch(deg_delay) {
case 15:
_delay_cycles(DELAY_15);
break;
case 45:
_delay_cycles(DELAY_45);
break;
case 90:
_delay_cycles(DELAY_90);
break;
case 180:
_delay_cycles(DELAY_180);
break;
case 360:
_delay_cycles(DELAY_360);
break;
default:
for(i=0; i<deg_delay; i++) {
_delay_cycles(DELAY_360/DEG_360);
}
}
}
int main(void)
{
// configure WDT
WDTCTL = WDTPW | WDTHOLD; // stop watch dog timer
_25mhz();
#ifdef TEST
// when compiled in test mode, use different main
// disconnect radio when testing to avoid damage!
test_main();
#endif
// configure LED1 and turn it off, we'll use that for error and other stuff
P1DIR |= LED1;
LED1_OFF;
P4DIR |= LED2;
LED2_ON;
// setup uart
uart_init();
#ifdef DEBUG_MESSAGES
uart_send_string("Hola mundo!\r\n");
#endif
// setup packet handler
ph_setup();
// setup an configure radio
radio_setup();
radio_configure();
// self-calibrate image rejection
radio_calibrate_ir();
// verify that radio configuration was successful
radio_get_chip_status(0);
if (radio_buffer.chip_status.chip_status & RADIO_CMD_ERROR) { // check for command error
uart_send_string("Error inicializando radio!!!\r\n");
while (1) {
LED1_TOGGLE;
_delay_cycles(8000000); // blink LED if there was an error
}
}
// start packet receiving
ph_start();
#ifdef DEBUG_MESSAGES
uart_send_string("dAISy 0.2 started\r\n");
LED2_OFF;
#endif
while (1) {
LPM0; // deep sleep until something worthwhile happens
__no_operation();
ph_loop(); // packet handler house-keeping, e.g. channel hopping
#ifdef DEBUG_MESSAGES
uint8_t channel;
int16_t rssi;
// debug code to monitor signal strength (RSSI)
if (ph_get_state() == PH_STATE_PREFETCH) { // found preamble and start flag
// record current channel and signal strength
channel = ph_get_radio_channel(); // read current channel
rssi = ph_get_radio_rssi(); // read current RSSI
}
#endif
// retrieve last packet handler error
uint8_t error = ph_get_last_error();
#ifdef DEBUG_MESSAGES
// report error if packet handler failed
if (error != PH_ERROR_NONE) {
dec_to_str(str_output_buffer, 3, rssi); // convert to decimal string (reuse radio buffer)
str_output_buffer[4] = 0; // terminate string
uart_send_string("sync "); // send debug message to UART
uart_send_byte(channel + 'A');
uart_send_string(" RSSI=");
uart_send_string(str_output_buffer);
uart_send_string("dBm\r\n");
uart_send_string("error: ");
switch (error) {
case PH_ERROR_NOEND:
uart_send_string("no end flag");
break;
case PH_ERROR_STUFFBIT:
uart_send_string("invalid stuff bit");
break;
case PH_ERROR_CRC:
uart_send_string("CRC error");
break;
case PH_ERROR_RSSI_DROP:
uart_send_string("RSSI drop");
break;
}
uart_send_string("\r\n");
ph_loop(); // house keeping, sending over UART takes time
}
#else
// toggle LED if packet handler failed after finding preamble and start flag
if (error == PH_ERROR_NOEND || error == PH_ERROR_STUFFBIT || error == PH_ERROR_CRC)
LED1_TOGGLE;
#endif
// check if a new valid packet arrived
uint16_t size = fifo_get_packet();
if (size > 0) { // if so, process packet
#ifdef DEBUG_MESSAGES
dec_to_str(str_output_buffer, 3, rssi); // convert to decimal string (reuse radio buffer)
str_output_buffer[4] = 0; // terminate string
uart_send_string("sync "); // send debug message to UART
uart_send_byte(channel + 'A');
uart_send_string(" RSSI=");
uart_send_string(str_output_buffer);
uart_send_string("dBm\r\n");
#endif
LED2_ON;
nmea_process_packet(); // process packet (NMEA message will be sent over UART)
fifo_remove_packet(); // remove processed packet from FIFO
LED2_OFF;
}
// enter low power mode LPM0 (everything off)
// TODO: wait for UART to complete transmission
// TODO: suspend UART
}
}
//*****************************************************************************
// Delay for t milliseconds
//*****************************************************************************
void delay_ms (int t)
{
int i;
for (i = 0; i<t; i++ )
_delay_cycles(MCLK_F*1000);
}
//*****************************************************************************
// Delay for t microseconds
// The delay is not exact when t is too small
//*****************************************************************************
void delay_us (int t)
{
int i;
for (i = 0; i<t; i++ )
_delay_cycles(MCLK_F);
}
void main(void) {
WDTCTL = WDTPW | WDTHOLD; // stop the watchdog timer
unsigned char i = 0;
IFG1 = 0; // clear interrupt flag1
BCSCTL1 = CALBC1_8MHZ; // 8MHz clock
DCOCTL = CALDCO_8MHZ;
P1DIR = BIT0 | BIT6;
while (1) {
// Configure P1.4 to be the ADC input LEFT
ADC10CTL0 = 0; // Turn off ADC subsystem
ADC10CTL1 = INCH_4 | ADC10DIV_3; // Channel 4, ADC10CLK/4
ADC10AE0 = BIT4; // Make P1.4 analog input
ADC10CTL0 = SREF_0 | ADC10SHT_3 | ADC10ON | ENC;// Vcc & Vss as reference
ADC10CTL0 |= ADC10SC; // Start a conversion
while (ADC10CTL1 & ADC10BUSY)
; // Wait for conversion to complete
sampleL[i] = ADC10MEM; // collect that 10-bit value
if (sampleL[i] > 0x0200) {
P1OUT |= BIT0;
turnRight();
_delay_cycles(10000);
stopMotor();
_delay_cycles(1000000);
} else {
P1OUT &= ~BIT0;
}
//i = (i+1) & 0xF; // This is a mod 16 increment
// Configure P1.3 to be the ADC input RIGHT
ADC10CTL0 = 0; // Turn off ADC subsystem
ADC10CTL1 = INCH_3 | ADC10DIV_3; // Channel 3, ADC10CLK/4
ADC10AE0 = BIT3; // Make P1.3 analog input
ADC10CTL0 = SREF_0 | ADC10SHT_3 | ADC10ON | ENC;// Vcc & Vss as reference
ADC10CTL0 |= ADC10SC; // Start a conversion
while (ADC10CTL1 & ADC10BUSY)
; // Wait for conversion to complete
sampleR[i] = ADC10MEM; // collect that 10-bit value
if (sampleR[i] > 0x0200)
P1OUT |= BIT6;
else
P1OUT &= ~BIT6;
//i = (i+1) & 0xF; // This is a mod 16 increment
// Configure P1.5 to be the ADC input CENTER
ADC10CTL0 = 0; // Turn off ADC subsystem
ADC10CTL1 = INCH_5 | ADC10DIV_3; // Channel 2, ADC10CLK/4
ADC10AE0 = BIT5; // Make P1.2 analog input
ADC10CTL0 = SREF_0 | ADC10SHT_3 | ADC10ON | ENC;// Vcc & Vss as reference
ADC10CTL0 |= ADC10SC; // Start a conversion
while (ADC10CTL1 & ADC10BUSY)
; // Wait for conversion to complete
sampleC[i] = ADC10MEM; // collect that 10-bit value
if (sampleC[i] > 0x0200) {
P1OUT |= BIT0 | BIT6;
turnRight();
_delay_cycles(2500000);
stopMotor();
_delay_cycles(10000000);
// turnRight();
// _delay_cycles(1000000);
// stopMotor();
} else {
P1OUT &= ~(BIT0 | BIT6);
goForward();
_delay_cycles(1800000);
stopMotor();
_delay_cycles(10000000);
}
i = (i + 1) & 0xF; // This is a mod 16 increment
} // end infinite loop
} // end main
uint8_t test_power(uint16_t TEST_PIN, uint16_t INCH) {
uint8_t power = 0, samples = 5;
uint16_t adc_val = 0;
ADCChannelSelect_GEN(TEST_PIN, INCH);
_delay_cycles(30);
while(--samples != 0) {
ADC10CTL0 |= ENC + ADC10SC; // Sampling and conversion start
_delay_cycles(100);
adc_val += (uint16_t)ADC10MEM;
}
adc_val = adc_val >> 2;
_delay_cycles(5);
power = (adc_val <= 324 ? 0 : // Accounts for reserve energy to check level
(adc_val <= 331 ? 1 :
(adc_val <= 338 ? 2 :
(adc_val <= 345 ? 3 :
(adc_val <= 352 ? 4 :
(adc_val <= 359 ? 5 :
(adc_val <= 366 ? 6 :
(adc_val <= 373 ? 7 :
(adc_val <= 380 ? 8 :
(adc_val <= 387 ? 9 :
(adc_val <= 394 ? 10 :
(adc_val <= 401 ? 11 :
(adc_val <= 408 ? 12 :
(adc_val <= 415 ? 13 :
(adc_val <= 422 ? 14 :
(adc_val <= 429 ? 15 :
(adc_val <= 436 ? 16 :
(adc_val <= 443 ? 17 :
(adc_val <= 450 ? 18 :
(adc_val <= 457 ? 19 :
(adc_val <= 464 ? 20 :
(adc_val <= 471 ? 21 :
(adc_val <= 478 ? 22 :
(adc_val <= 485 ? 23 :
(adc_val <= 492 ? 24 :
(adc_val <= 499 ? 25 :
(adc_val <= 506 ? 26 :
(adc_val <= 513 ? 27 :
(adc_val <= 520 ? 28 :
(adc_val <= 527 ? 29 :
(adc_val <= 534 ? 30 :
(adc_val <= 541 ? 31 :
(adc_val <= 548 ? 32 :
(adc_val <= 555 ? 33 :
(adc_val <= 562 ? 34 :
(adc_val <= 569 ? 35 :
(adc_val <= 576 ? 36 :
(adc_val <= 583 ? 37 :
(adc_val <= 590 ? 38 :
(adc_val <= 597 ? 39 :
(adc_val <= 604 ? 40 :
(adc_val <= 611 ? 41 :
(adc_val <= 618 ? 42 :
(adc_val <= 625 ? 43 :
(adc_val <= 632 ? 44 :
(adc_val <= 639 ? 45 :
(adc_val <= 646 ? 46 :
(adc_val <= 653 ? 47 :
(adc_val <= 660 ? 48 :
(adc_val <= 667 ? 49 :
(adc_val <= 674 ? 50 :
(adc_val <= 681 ? 51 :
(adc_val <= 688 ? 52 :
(adc_val <= 695 ? 53 :
(adc_val <= 702 ? 54 :
(adc_val <= 709 ? 55 :
(adc_val <= 716 ? 56 :
(adc_val <= 723 ? 57 :
(adc_val <= 730 ? 58 :
(adc_val <= 737 ? 59 :
(adc_val <= 744 ? 60 :
(adc_val <= 751 ? 61 :
(adc_val <= 758 ? 62 :
(adc_val <= 765 ? 63 :
(adc_val <= 772 ? 64 :
(adc_val <= 779 ? 65 :
(adc_val <= 786 ? 66 :
(adc_val <= 793 ? 67 :
(adc_val <= 800 ? 68 :
(adc_val <= 807 ? 69 :
(adc_val <= 814 ? 70 :
(adc_val <= 821 ? 71 :
(adc_val <= 828 ? 72 :
(adc_val <= 835 ? 73 :
(adc_val <= 842 ? 74 :
(adc_val <= 849 ? 75 :
(adc_val <= 856 ? 76 :
(adc_val <= 863 ? 77 :
(adc_val <= 870 ? 78 :
(adc_val <= 877 ? 79 :
(adc_val <= 884 ? 80 :
(adc_val <= 891 ? 81 :
(adc_val <= 898 ? 82 :
(adc_val <= 905 ? 83 :
(adc_val <= 912 ? 84 :
(adc_val <= 919 ? 85 :
(adc_val <= 926 ? 86 :
(adc_val <= 933 ? 87 :
(adc_val <= 940 ? 88 :
(adc_val <= 947 ? 89 :
(adc_val <= 954 ? 90 :
(adc_val <= 961 ? 91 :
(adc_val <= 968 ? 92 :
(adc_val <= 975 ? 93 :
(adc_val <= 982 ? 94 :
(adc_val <= 989 ? 95 :
(adc_val <= 996 ? 96 :
(adc_val <= 1003? 97 :
(adc_val <= 1010? 98 :
(adc_val <= 1017? 99 : 100)
))))))))))))))))))))))))))))))))))))
))))))))))))))))))))))))))))))))))))
)))))))))))))))))))))))))));
ADC10CTL0 &= ~ENC;
P1DIR &= ~TEST_PIN;
P1REN &= ~TEST_PIN;
return power;
}
void delayMilli() {
_delay_cycles(1650);
}
void timeToBroadcast(void)
{
P1OUT |= BIT4;
_delay_cycles(250000);
P1OUT &= ~BIT4;
}
//1.65 ms delay
void LCDDELAY2(){
_delay_cycles(1817);
}
//40.5 us delay
void LCDDELAY1(){
_delay_cycles(45);
}
void NFC_ALIGN_SEND (uint16_t bpm, uint16_t temp,
uint16_t transit, uint16_t hydro,
uint8_t time, uint8_t day,
uint8_t pwr, uint16_t addr,
uint8_t PWR_PIN, uint8_t PULL_PIN)
{
/*
* Data alignment:
*
* BPM_H | BPM_L | TRANSIT TIME_H | TRANSIT TIME_L
* TEMP_H | TEMP_L | HYDRO_H | HYDRO_L
* TIME | DAY | PWR | 0xFF
*
*/
uint16_t l_addr = addr;
aligned[0][0] = (uint8_t)(l_addr >> 8);
aligned[0][1] = (uint8_t)l_addr;
aligned[0][2] = (uint8_t)(bpm >> 8);
aligned[0][3] = (uint8_t)bpm;
aligned[0][4] = (uint8_t)(transit >> 8);
aligned[0][5] = (uint8_t)transit;
l_addr += 0x0004;
aligned[1][0] = (uint8_t)(l_addr >> 8);
aligned[1][1] = (uint8_t)(l_addr);
aligned[1][2] = (uint8_t)(temp >> 8);
aligned[1][3] = (uint8_t)temp;
aligned[1][4] = (uint8_t)(hydro >> 8);
aligned[1][5] = (uint8_t)hydro;
l_addr += 0x0004;
aligned[2][0] = (uint8_t)(l_addr >> 8);
aligned[2][1] = (uint8_t)(l_addr);
aligned[2][2] = time;
aligned[2][3] = day;
aligned[2][4] = pwr;
aligned[2][5] = 0xFF;
/*l_addr += 0x0004;
aligned[3][0] = (uint8_t)(l_addr >> 8);
aligned[3][1] = (uint8_t)(l_addr);
aligned[3][2] = 0xDE;
aligned[3][3] = 0xAD;
aligned[3][4] = 0xBE;
aligned[3][5] = 0xEF;
*/
P2DIR |= (PULL_PIN);
P2OUT |= (PULL_PIN);
P2DIR |= (PWR_PIN);
P2OUT |= (PWR_PIN);
I2C_TO_M24LRXX(aligned[0], PWR_PIN);
_delay_cycles(16000);
I2C_TO_M24LRXX(aligned[1], PWR_PIN);
_delay_cycles(16000);
I2C_TO_M24LRXX(aligned[2], PWR_PIN);
_delay_cycles(16000);
/* I2C_TO_M24LRXX(aligned[3], PWR_PIN);
_delay_cycles(16000);*/
P2OUT &= ~(PWR_PIN);
P2DIR &= ~(PWR_PIN);
P2OUT &= ~(PULL_PIN);
P2DIR &= ~(PULL_PIN);
}
void MoveLeftMotorForwardSmall() {
TA0CCTL0 = OUTMOD_5;
_delay_cycles(10000);
TA0CCR1 = 30;
}
int main(void)
{
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
/*g_power = test_power(PWR_SENSE, PWR_ADC_INCH);
if(g_power == 0) {
g_delay = 2700000; // 15 minutes
}*/
g_delay = 1500; // 5 seconds
WDTCTL = WDT_MDLY_32; // I just met you
IE1 |= WDTIE; // Enable WatchDog Interrupt
__bis_SR_register(LPM1_bits + GIE); // Enter LPM1 w/ interrupt
while(1)
{
if(--g_delay==0) // Everything happens in here, woken from watchdog
{
P1DIR |= BIT4;
P1OUT |= BIT4;
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
IE1 &= ~WDTIE; // Disable WatchDog Interrupt
/*g_power = test_power(PWR_SENSE, PWR_ADC_INCH);
if(g_power == 0) {
g_delay = 2700000; // 15 minutes
WDTCTL = WDT_MDLY_32; // But heres my number
IE1 |= WDTIE; // Enable WatchDog Interrupt
__bis_SR_register(LPM1_bits + GIE); // Enter LPM1 w/ interrupts
}*/
_delay_cycles(50); // And this is crazy
g_heart_data = measHRTR(HEART_ON_TIME, HR_FOOT_SENSE, HR_LEG_SENSE,HR_ADC_INCH, HR_FOOT_PWR, HR_KNEE_PWR);
uint16_t bpm = g_heart_data.bpm;
uint16_t ptt = g_heart_data.transit;
_delay_cycles(50);
g_temp = measTEMP(TEMP_ON_TME, TEMP_SENSE, TEMP_ADC_INCH, TEMP_PWR);
_delay_cycles(50);
g_hyd = measHYDR();
_delay_cycles(50);
NFC_ALIGN_SEND ( bpm, // Measured Beats Per Minute
g_temp, // Measured Temp
ptt, // Measured Transit Time
g_hyd, // Measure Hydration
g_timestamp, // Accumulated Timestamp
g_daystamp, // Accumulated Daystamp
g_power, // Device Power
g_addr, // Pointer to next address
I2C_PWR, // Power the NFC Transponder
PUR_PWR // Power pullups
);
g_addr = 0x0000;
//g_addr += 0x000C;
g_timestamp = g_timestamp + 1;
if(g_timestamp == 92) {
g_daystamp = g_daystamp + 1;
//g_addr = 0x0000;
g_timestamp = 0;
}
/*g_delay = 15000;
WDTCTL = WDT_MDLY_32; // But heres my number
IE1 |= WDTIE; // Enable WatchDog Interrupt
__bis_SR_register(LPM1_bits + GIE); // Enter LPM1 w/ interrupts*/
P1DIR &= ~BIT4;
P1OUT &= ~BIT4;
break;
}
}
/* Design day demo */
P2DIR |= (HR_FOOT_PWR);
P2DIR |= (HR_KNEE_PWR);
P2DIR |= (TEMP_PWR);
P2OUT |= (HR_FOOT_PWR);
P2OUT |= (HR_KNEE_PWR);
P2OUT |= (TEMP_PWR);
while(1) {
g_hyd = measHYDR();
}
/* End design day demo */
}
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
char * endMessageTop = "You am ";
char * endMessageBottomLose = "lose ";
char * endMessageBottomWin = "Not lose";
char * deadMessage = "Dead ";
unsigned char player;
unsigned char mines[NUM_MINES];
while (1) {
timer = 0;
button = 0;
player = initPlayer();
initProgram();
printPlayer(player);
generateMines(mines);
//run while none of the end-game situations have occurred
while ((timer < 4) && !didPlayerWin(player)
&& !didPlayerHitMine(player, mines)) {
if (button) {
switch (button) {
case BIT0:
player = movePlayer(player, RIGHT);
break;
case BIT1:
player = movePlayer(player, LEFT);
break;
case BIT2:
player = movePlayer(player, UP);
break;
case BIT3:
player = movePlayer(player, DOWN);
break;
}
button = 0;
}
}
//if the timer hits 2 seconds, or if the player hits a mine, the game is over
if (timer == 4 || didPlayerHitMine(player, mines)) {
//displays a special message if the player lost due to hitting a mine
if (didPlayerHitMine(player, mines)) {
cursorToLineOne();
writeString(deadMessage, 8);
_delay_cycles(500000);
}
button = 0;
//displays game over message
cursorToLineOne();
writeString(endMessageTop, 8);
cursorToLineTwo();
writeString(endMessageBottomLose, 8);
}
//if the player hits 0xC7 they win, display the win message
else if (didPlayerWin(player)) {
button = 0;
cursorToLineOne();
writeString(endMessageTop, 8);
cursorToLineTwo();
writeString(endMessageBottomWin, 8);
}
// Waits for a button input and then resets the game
while (button != 0) {
}
}
}
void sys_reset()
{
WDTCTL = WDT_MRST_32 + ~WDTHOLD;
_delay_cycles(120000);
}
void main(void) {
WDTCTL = WDTPW + WDTHOLD; // disable WDT
initMSP430();
blip();
_delay_cycles(160000); // wait
initLCD();
while (1) {
_delay_cycles(1600000);
blip();
clearScreen(1);
set_font(&font_5x7); // FONT_SM
setColor(COLOR_16_RED);
draw_string(5, 5, "Texas Instruments");
set_font(&font_8x12); // FONT_MD
setColor(COLOR_16_WHITE);
draw_string(5, 20, "2.2\" 320x240 BoosterPack");
setColor(COLOR_16_BLUE);
draw_string(5, 40, "& MSP430F5529 LaunchPad");
setColor(COLOR_16_ORANGE);
draw_string(5, 60, "RobG's graphics library");
setColor(COLOR_16_PURPLE);
draw_string(5, 80, "Works with:");
setColor(COLOR_16_YELLOW);
/*
set_font(&font_11x16); // FONT_LG
draw_string(5, 100, "F5172 F5510 F5529");
setColor(COLOR_16_GREEN_YELLOW);
draw_string(5, 120, "G2553 G2955 & more");
*/
set_font(&font_Dyson_8x9);
draw_string(5, 120, "DYSON FONT ABC...");
blip();
_delay_cycles(40000000);
clearScreen(1);
drawTILogo(56, 56, COLOR_16_RED);
drawTILogo(55, 56, COLOR_16_RED);
drawTILogo(56, 55, COLOR_16_RED);
drawTILogo(55, 55, COLOR_16_RED);
drawTILogo(50, 50, COLOR_16_WHITE);
_delay_cycles(32000000);
blip();
shesGotColors(100);
_delay_cycles(12000000);
blip();
clearScreen(1);
drawLogicLines(8);
_delay_cycles(16000000);
blip();
/*!!sz:
drawSpirograph(40, 20, 15);
_delay_cycles(16000000);
!!*/
setOrientation(++orientation & 0x03);
}
}
void delayMicro()
{
_delay_cycles(40);
}
void leftMotorForward() {
TA0CCTL0 |= OUTMOD_5;
_delay_cycles(10000);
TA0CCR1 = 60;
}
int main(void) {
WDTCTL = WDTPW|WDTHOLD;
initTimer();
while(1) {
RobotMovement(FORWARD);
_delay_cycles(1000000);
Stop();
_delay_cycles(1000000);
RobotMovement(LEFT);
_delay_cycles(250000);
Stop();
_delay_cycles(1000000);
RobotMovement(RIGHT);
_delay_cycles(250000);
Stop();
_delay_cycles(1000000);
RobotMovement(REVERSE);
_delay_cycles(1000000);
Stop();
_delay_cycles(1000000);
RobotMovement(LEFT);
_delay_cycles(1000000);
Stop();
_delay_cycles(1000000);
RobotMovement(RIGHT);
_delay_cycles(1000000);
Stop();
_delay_cycles(1000000);
}
return 0 ;
}
/*
* main.c
*/
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
BCSCTL1 = CALBC1_8MHZ; // 8MHz clock
DCOCTL = CALDCO_8MHZ;
P2DIR |= BIT2; // P2.2 is associated with TACCTL1
P2SEL |= BIT2;
P2DIR |= BIT4; // P2.4 is associated with TACCTL2
P2SEL |= BIT4;
TA1CTL = ID_3 | TASSEL_2 | MC_1; //set duty cycle and MCLK
TA1CCR0 = 100;
TA1CCR1 = 50;
TA1CCTL1 = OUTMOD_7; // set TACCTL1 to Reset / Set mode
TA1CCR2 = 50; // set TACCTL2 to Set / Reset mode
TA1CCTL2 = OUTMOD_3;
ADC10CTL0 = ADC10SHT_3 + ADC10ON + ADC10IE; // ADC10ON, interrupt enabled
ADC10CTL1 = ADC10DIV_7;
ADC10CTL1 |= ADC10SSEL1|ADC10SSEL0; // Select SMCLK
for (;;){
stopMovement();
_delay_cycles(110000);
if(leftSensor() < 0x190) // two if statements to stay close to left wall
{
turnLeftLittle();
_delay_cycles(9000);
stopMovement();
_delay_cycles(100000);
}
if(leftSensor() >= 0x170)
{
turnRightLittle();
_delay_cycles(9000);
stopMovement();
_delay_cycles(100000);
}
if (centerSensor() >=0x170 && leftSensor() >= 0x165) // statement to turn right if both left and center sensors triggered
{
turnRightBig();
_delay_cycles(7500);
stopMovement();
_delay_cycles(100000);
}
if (centerSensor() < 0x170 && leftSensor() >= 0x170) // has robot move forward when neither sensors are triggered
{
moveForward();
_delay_cycles(100000);
}
else if (centerSensor() < 0x190)
{
moveForward();
_delay_cycles(100000);
}
}
return 0;
}
void rightMotorBackwards() {
TA1CCTL0 &= ~OUTMOD0;
TA1CCTL0 |= OUTMOD_4;
_delay_cycles(10000);
TA1CCR1 = 0;
}
__interrupt void Timer_A(void) {
if (CCTL0 & CAP) {
bitCounter++;
CCR0 += T65;
CCTL0 &= ~CAP;
} else {
switch (bitCounter) {
case 0x1000:
bitCounter = 0;
switch (irSignal & 0x001F) {
case 21: // power off all led P2
P2OUT = 0x00;
uart_printf("_turn off all led \r\n");
break;
case 20: // mute on all led P2
P2OUT |= 0xFF;
uart_printf("_turn on all led \r\n");
break;
case 3: // digit key 4
P2OUT |= 0x0f;
break;
case 5: //degit key 6
P2OUT |= 0xf0;
break;
case 1: // digit key 2
for(;;){
_delay_cycles(500000);
P2OUT =~ devRun;
devRun >>=1;
if(devRun < 0x01)devRun = 0x80;
uart_printf("_debug move off right: %u\r\n",devRun);
break;
}
break;
case 7: //degit key 8
for(;;){
_delay_cycles(500000);
P2OUT = devRun;
devRun >>=1;
if(devRun < 0x01)devRun = 0x80;
uart_printf("_debug move right: %u\r\n",devRun);
break;
}
break;
case 4: //degit key 5
for(;;){
_delay_cycles(500000);
P2OUT = devRun;
devRun <<=1;
if(devRun > 0x80)devRun = 0x01;
uart_printf("_debug move left: %u\r\n",devRun);
break;
}
break;
#ifdef _debug_key
case 0: //degit key 1
for(;;){
showled(2,0x10);
showled(0,0x20);
showled(1,0x40);
showled(4,0x80);
// break;
}
break;
#endif
}
irSignal = 0;
CCTL0 |= CAP;
break;
default:
if (CCTL0 & SCCI) {
CCR0 += T2;
} else {
irSignal |= bitCounter;
CCR0 += T3;
}
bitCounter <<= 1;
break;
}
}
}
void rightMotorForward() {
TA1CCTL0 |= OUTMOD_5;
_delay_cycles(10000);
TA1CCR1 = 60;
}
/*
* main.c
*/
void main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
unsigned char black, notBlack, button_press, y;
// === Initialize system ================================================
IFG1=0; /* clear interrupt flag1 */
WDTCTL=WDTPW+WDTHOLD; /* stop WD */
button_press = FALSE;
black = TRUE;
notBlack = FALSE;
init();
initNokia();
clearDisplay(0,0,notBlack);
vector2d pos = {2,2};
vector2d vel = {1,1};
unsigned char rad = 2;
y=1;
ball myBall;
myBall.position = pos;
myBall.velocity = vel;
myBall.radius = rad;
while(1){
if (UP_BUTTON == 0) {
while(UP_BUTTON == 0);
if (y>=1) y=y-1;
button_press = TRUE;
} else if (DOWN_BUTTON == 0) {
while(DOWN_BUTTON == 0);
if (y<=6) y=y+1;
button_press = TRUE;
}
else if(AUX_BUTTON == 0){
while(AUX_BUTTON == 0);
black = !black;
notBlack = !black;
clearDisplay(0,0,notBlack);
drawBlock(myBall.position.y, myBall.position.x, black);
drawPaddle(y,0,black);
}
if (button_press) {
button_press = FALSE;
//clearDisplay();
drawBlock(myBall.position.y, myBall.position.x, black);
drawPaddle(y,0,black);
}
moveBall(&myBall,y);
clearDisplay(0,0,notBlack);
drawBlock(myBall.position.y, myBall.position.x, black);
drawPaddle(y,0,black);
_delay_cycles(5333333);
}
}
