int UI::courseSelect(){
int course = -1;
display_goto_xy(4, 1);
while(1){
if(ecrobot_is_RUN_button_pressed()){
course = course * (-1);
if(course == 1){
display_string(" IN COURSE");
display_goto_xy(4, 1);
}
else{
display_string("OUT COURSE");
display_goto_xy(4, 1);
}
}
if(ecrobot_is_ENTER_button_pressed()){
display_goto_xy(6, 3);
display_string("READY");
break;
}
display_update();
// 500msecウェイトする
systick_wait_ms(500);
}
display_update();
return course;
}
int main() {
bool newreadings;
bool buttonschanged;
load_init();
initsystem();
watchdog_init();
initserial();
timer_init();
display_init();
initfan();
adc_init();
buttons_init();
enableInterrupts();
protocol_onbooted();
while (1) {
watchdog_kick();
newreadings = adc_updatereadings();
if (newreadings) {
checkstate();
}
buttonschanged = buttons_check();
if (newreadings || buttonschanged) {
protocol_sendstate();
display_update();
}
protocol_checkcommand();
}
}
// *************************************************************************************************
// @fn main
// @brief Main routine
// @param none
// @return none
// *************************************************************************************************
int main(void)
{
#ifdef EMU
emu_init();
#endif
// Init MCU
init_application();
// Assign initial value to global variables
init_global_variables();
#ifdef CONFIG_TEST
// Branch to welcome screen
test_mode();
#else
display_all_off();
#endif
// Main control loop: wait in low power mode until some event needs to be processed
while(1)
{
// When idle go to LPM3
idle_loop();
// Process wake-up events
if (button.all_flags || sys.all_flags) wakeup_event();
// Process actions requested by logic modules
if (request.all_flags) process_requests();
// Before going to LPM3, update display
if (display.all_flags) display_update();
}
}
/* This function is called repetitively from the main program */
void labwork( void )
{
delay( 1000 );
time2string( textstring, mytime );
display_string( 3, textstring );
display_update();
getbtns();
if (getbtns() == 1)
mytime += (getsw() << 4);
if (getbtns() == 2)
mytime += (getsw() << 8);
if (getbtns() == 4)
mytime += (getsw() << 12);
volatile int* porte = (volatile int*) 0xbf886110;
tick( &mytime );
*porte += 1;
display_image(96, icon);
}
int main(void) {
/* Set up peripheral bus clock */
/* OSCCONbits.PBDIV = 1; */
OSCCONCLR = 0x100000; /* clear PBDIV bit 1 */
OSCCONSET = 0x080000; /* set PBDIV bit 0 */
/* Set up output pins */
AD1PCFG = 0xFFFF;
ODCE = 0x0;
TRISECLR = 0xFF;
PORTE = 0x0;
/* Output pins for display signals */
PORTF = 0xFFFF;
PORTG = (1 << 9);
ODCF = 0x0;
ODCG = 0x0;
TRISFCLR = 0x70;
TRISGCLR = 0x200;
/* Set up input pins */
TRISDSET = (1 << 8);
TRISFSET = (1 << 1);
/* Set up SPI as master */
SPI2CON = 0;
SPI2BRG = 4;
/* SPI2STAT bit SPIROV = 0; */
SPI2STATCLR = 0x40;
/* SPI2CON bit CKP = 1; */
SPI2CONSET = 0x40;
/* SPI2CON bit MSTEN = 1; */
SPI2CONSET = 0x20;
/* SPI2CON bit ON = 1; */
SPI2CONSET = 0x8000;
int i,c,k;
display_init();
display_update();
for(i = 0;i<3;i++){
display_frommatrix(disco);
for(c = 0;c<1000;c++){
quicksleep(10000);
}
display_frommatrixinv(tetris);
for(k = 0;k<1000;k++){
quicksleep(10000);
}
}
labinit(); /* Do any lab-specific initialization */
while(1)
{
labwork(); /* Do lab-specific things again and again */
}
return 0;
}
/* Interrupt Service Routine */
void user_isr( void )
{
/*T2IF = IFS0 8
T2IE = IEC0 8
T2IP = IPC2 26-28
T2IS = IPC2 24/25
*/
//if interrupt clear T2IF and timer counter
if(IFS(0) & 0x100){
IFSCLR(0) = 0x100;
TMR2 = 0;
if(timeoutcount < 9){
timeoutcount++;
}else{
//print on screen once a second
timeoutcount = 0;
time2string(textstring, mytime);
display_string(3, textstring);
display_update();
tick(&mytime);
//*portE += 1;
//display_image(96, icon);
}
}
if(IFS(0) & 0x8000){
IFSCLR(0) = 0x8000;
*portE += 1;
}
}
void display_refresh(display_t *d, frame_geometry_t *g)
{
if ( d == NULL )
return;
display_update(d, g);
display_redraw(d, g->x, g->y, g->width, g->height);
}
void __nxtAssert(const char *file, int line, const char *exp)
{
display_clear(0);
display_goto_xy(0, 0);
display_string("assert");
display_goto_xy(0, 1);
display_string("File: ");
display_string(file);
display_goto_xy(0, 2);
display_string("Line: ");
display_int(line,0);
display_goto_xy(0, 3);
display_string(exp);
display_update();
#ifdef NXT_WARN_ASSERT
display_goto_xy(0, 3);
display_string("Press ENTER");
#endif
while(true)
{
#ifdef NXT_WARN_ASSERT
if(ecrobot_is_ENTER_button_pressed())
{
display_clear(0);
display_goto_xy(0, 0);
return;
}
#endif
}
}
int main(void)
{
uart_init();
shift_init();
timer_init();
display_init();
keypad_init();
serial_init();
edit_init();
clock_init();
watchdog_init(WDTO_15MS, &oops);
sei(); // enable interrupts
printf("\r\n*** BOOTED ***\r\nSpaceTime, yay!\r\n");
timer_beep(10);
while(1)
{
display_update();
serial_update();
edit_update();
clock_update();
}
}
/* This function is called repetitively from the main program */
void labwork( void )
{
prime = nextprime ( prime );
display_string ( 0, itoaconv( prime ));
display_update();
}
void display_show_string(char* string,int x,int y){
display_goto_xy(x, y);
display_string(string);
display_update();
}
/* Interrupt Service Routine */
void user_isr( void ) {
// check flag
if(IFS(0) & 0x100){
// clearing flag
IFS(0) = 0;
timeoutcount++;
if (timeoutcount == 10){
time2string( textstring, mytime );
display_string( 3, textstring );
display_update();
tick( &mytime );
timeoutcount = 0;
}
}
// code for counting LED
if(IFS(0) & 0x80){
// clearing flag
IFS(0) = 0;
// for LEDs ticking
* portE = * portE + 0x1;
// only for the last 8 bits
* E = * E & 0xFF00;
}
return;
}
static int solve_sudoku_algorithm_1(void)
{
int x, y, solution, found;
/* Go through all cells in the table and find a possible "only" solution. */
/* Do this multiple times, until no more solutions are found or table full. */
do {
found = 0; /* Will be overwritten if something is found. */
for (y = 0; y < 9; y++) {
for (x = 0; x < 9; x++) {
if (sudoku[y][x] > 0)
continue;
solution = find_only_solution(y, x);
if (solution > 0) {
sudoku[y][x] = solution;
display_update("Solving...");
usleep(10000);
found++;
}
}
}
if (table_full())
break;
} while (found > 0);
if (! table_full())
return -1;
return 0;
}
// 入力を待つ
void UI::waitStart(float angle){
while(1){
tail->control(angle);
if(touchSensor->isPressed()){
display_goto_xy(6, 5);
display_string("GO !!");
display_update();
break;
}
if(blueTooth->isReceived() == 1){
display_goto_xy(6, 5);
display_string("GO !!");
display_update();
break;
}
}
}
void show(int distance)
{
display_goto_xy(0, 0);
display_string("DISTANCE :");
display_goto_xy(0, 1);
display_unsigned(distance,10);
display_update();
}
void disp(int row, char *str, int val)
{
if (row == 0) display_clear(0);
display_goto_xy(0, row);
display_string(str);
display_int(val, 0);
if (row == 7) display_update();
}
void display_set(int x, int y, bool value)
{
if (!display_inited)
return;
display_screen[x][y] = value;
display_update(x, y);
}
void display_toggle(int x, int y)
{
if (!display_inited)
return;
display_screen[x][y] ^= 1;
display_update(x, y);
}
void update_devices(struct memory* m, uint64_t cycles) {
if (m->devices[DEVICE_DISPLAY])
display_update(m->devices[DEVICE_DISPLAY], cycles);
if (m->devices[DEVICE_TIMER])
timer_update(m->devices[DEVICE_TIMER], cycles);
if (m->devices[DEVICE_INPUT])
input_update(m->devices[DEVICE_INPUT], cycles);
}
void myPrintln(const char *s)
{
static int y = 0;
display_goto_xy(0,y);
display_string(s);
display_update();
y++;
}
// -----------------------------------------------------------------------
void startup_anim()
{
uint8_t v = 0b11110000;
for (int8_t i=7 ; i>=0 ; i--) {
display_col(0, (v>>i) & 0x0f);
display_update();
_delay_ms(40);
}
}
int recieveint_rs485(int *value)
{
totalBytesRead += ecrobot_read_rs485(raw, totalBytesRead, (INT_SIZE+1) - totalBytesRead);
if (totalBytesRead != (INT_SIZE+1))
return 0;
crc_t crcRecieved = (crc_t)raw[0];
U8 rawInt[INT_SIZE];
rawInt[0] = raw[1];
rawInt[1] = raw[2];
rawInt[2] = raw[3];
rawInt[3] = raw[4];
crc_t crc;
crc = crc_init();
crc = crc_update(crc, (unsigned char *)rawInt, INT_SIZE);
crc = crc_finalize(crc);
if (crc != crcRecieved)
{
print_str(0,0,"CRC errors = ");
display_int(++crc_errors, 0);
display_update();
//We reboot the network interface
ecrobot_term_rs485();
ecrobot_init_rs485(NETWORK_SPEED);
totalBytesRead = 0;
return 0;
}
// We convert the raw bytes to an int
*value = 0;
for (int i = INT_SIZE-1; i > -1 ; i--)
{
int temp = 0;
temp += rawInt[i];
temp <<= (8 * i);
*value += temp;
}
totalBytesRead = 0;
// print_clear_line(5);
// display_update();
// display_goto_xy(0,5);
// display_int(*value, 0);
// display_update();
return 1;
}
//*****************************************************************************
// 関数名 : calibration
// 引数 : *black (黒、最小値)，*white（白、最大値）
// 返り値 : 無し
// 概要 : 光センサの手動キャリブレーション
// 黒白の順でタッチする。
//*****************************************************************************
void calibration(int *black,int *white,int angle)
{
while(1) {
tail_control(angle);
if (ecrobot_get_touch_sensor(NXT_PORT_S4) == 1) {
ecrobot_sound_tone(440, 170, 100);
*black = ecrobot_get_light_sensor(NXT_PORT_S3);
display_clear(0); /* 画面表示 */
display_goto_xy(0, 1);
display_string("BLACK:");
display_int(*black, 4);
break;
}//if
systick_wait_ms(100); /* 10msecウェイト */
}//while
display_update();
while(ecrobot_get_touch_sensor(NXT_PORT_S4));
ecrobot_sound_tone(880, 170, 100);
while(1) {
tail_control(angle);
if (ecrobot_get_touch_sensor(NXT_PORT_S4) == 1) {
ecrobot_sound_tone(880, 170, 100);
*white = ecrobot_get_light_sensor(NXT_PORT_S3);
//display_clear(0); /* 画面表示 */
display_goto_xy(0, 2);
display_string("WHITE:");
display_int(*white, 4);
break;
}//if
systick_wait_ms(100); /* 10msecウェイト */
}//while
//display_clear(0); /* 画面表示 */
display_goto_xy(0,4);
display_string("TH:");
display_int(TH(*black,*white), 3);
display_update();
while(ecrobot_get_touch_sensor(NXT_PORT_S4));
ecrobot_sound_tone(440, 170, 100);
}
int main(void) {
/* Set up peripheral bus clock */
/* OSCCONbits.PBDIV = 1; */
/*OSCCONCLR = 0x100000; /* clear PBDIV bit 1 */
OSCCONSET = 0x080000; /* set PBDIV bit 0 */
/* Set up output pins */
AD1PCFG = 0xFFFF;
ODCE = 0x0;
TRISECLR = 0xFF;
PORTE = 0x0;
/* Output pins for display signals */
PORTF = 0xFFFF;
PORTG = (1 << 9);
ODCF = 0x0;
ODCG = 0x0;
TRISFCLR = 0x70;
TRISGCLR = 0x200;
/* Set up input pins */
TRISDSET = (1 << 8);
TRISFSET = (1 << 1);
/* Set up SPI as master */
SPI2CON = 0;
SPI2BRG = 4;
/* SPI2STAT bit SPIROV = 0; */
SPI2STATCLR = 0x40;
/* SPI2CON bit CKP = 1; */
SPI2CONSET = 0x40;
/* SPI2CON bit MSTEN = 1; */
SPI2CONSET = 0x20;
/* SPI2CON bit ON = 1; */
SPI2CONSET = 0x8000;
display_init();
display_string(0, "Vi är så bra!!!");
display_string(1, "Det löser sig!");
display_string(2, ":)");
display_string(3, "Kämpa!");
display_update();
display_image(96, icon);
labinit(); /* Do any lab-specific initialization */
while( 1 )
{
labwork(); /* Do lab-specific things again and again */
}
return 0;
}
void display_currentNode(){
//display_clear(1);
display_goto_xy(5,6);
display_int((int)previousNode[0],1);
display_goto_xy(8,6);
display_int((int)previousNode[1],1);
display_goto_xy(6,5);
display_int(directionOffset,1);
display_goto_xy(6,7);
display_int((int)mazeStorage[previousNode[0]][previousNode[1]],1);
display_update();
}
/* Interrupt Service Routine */
void user_isr( void ) {
timeoutcounter++;
IFS(0) = 0;
if(timeoutcounter % 10 == 0) {
time2string( textstring, mytime );
display_string( 3, textstring );
display_update();
tick( &mytime );
}
}
int main(void)
{
WDTCTL = WDTPW | WDTHOLD;
/* configure P2.6 and P2.7 as XIN/XOUT function pins */
P2DIR &= ~BIT6;
P2DIR |= BIT7;
P2SEL |= BIT7 | BIT6;
/* 32kHz external crystal, XCAP = 12.5pF, clear LFXT1 osc fault */
BCSCTL3 |= XCAP0 | XCAP1;
BCSCTL3 &= ~(LFXT1S0 | LFXT1S1);
/* enable ACLK function of P1.0 (32KHz clock output) */
P1DIR |= BIT0;
P1SEL |= BIT0;
spi_init();
/* to save space, since we do it in the interrupt anyway */
P1DIR |= DISPLAY_SUPPLY;
P1OUT |= DISPLAY_SUPPLY;
#if 0
display_puts("MSP430", 0);
display_puts("123456", 1);
#endif
display_init(1);
delay_ms(100);
display_update(1);
/* enable falling edge interrupt for BUSY1 of the display, which
* becomes low when the display content has been updated */
P1IE |= DISPLAY_BUSY1;
P1IES |= DISPLAY_BUSY1;
/* Timer A: input divider /8, ACLK clock source, UP mode */
TACTL = ID_3 | TASSEL_1 | MC_3;
/* enable the TACCR0 compare interrupt */
TACCTL0 = CCIE;
/* load TACCR0, starts timer. (32768Hz / 8) * 15 = 61440, so the
* timer interrupt fires every 15 seconds */
TACCR0 = 61440 - 1;
/* enable global interrupts and enter LPM3 */
_BIS_SR(LPM3_bits + GIE);
while (1) { };
}
void print(const char* intern_message)
{
static int y = 0;
if(y == 8)
{
y = 0;
display_clear(0);
}
display_goto_xy(0,y);
display_string(intern_message);
display_update();
y++;
}
void display_prev_view()
{
if (display_view == DISPLAY_VIEW_MAIN)
display_view = _DISPLAY_VIEW_END;
byte prev_view = static_cast<byte>(display_view) - 1;
display_view = static_cast<display_view_type>(prev_view);
#ifdef SUPPORT_DISPLAY_BACKLIGHT
enable_backlight();
#endif
display_update();
}
void display_next_view()
{
// enums can't be incremented directly
byte next_view = static_cast<byte>(display_view) + 1;
display_view = static_cast<display_view_type>(next_view);
if (display_view == _DISPLAY_VIEW_END)
display_view = DISPLAY_VIEW_MAIN;
#ifdef SUPPORT_DISPLAY_BACKLIGHT
enable_backlight();
#endif
display_update();
}
