int main() {
init_malloc_wrapper();
lcd_t lcd;
pin_t sclk = { .port = GPIO_PORT_C, .pin = 10 };
pin_t mosi = { .port = GPIO_PORT_C, .pin = 12 };
pin_t miso = { .port = GPIO_PORT_C, .pin = 11 };
pin_t cs = { .port = GPIO_PORT_C, .pin = 8 };
pin_t rs = { .port = GPIO_PORT_F, .pin = 12 };
pin_t rw = { .port = GPIO_PORT_F, .pin = 13 };
pin_t e = { .port = GPIO_PORT_C, .pin = 6 };
ssp_port_t ssp = { .ssp = ssp_port_3, .sclk = sclk, .mosi = mosi, .miso = miso};
if (!lcd_init(&lcd, ssp, cs, rs, rw, e))
{
printf("Cannot initialize lcd");
return 0;
}
lcd_move_to(&lcd, 0, 0);
lcd_print_string(&lcd, "Test");
while(1)
{
}
return 0;
}
void handle(struct test_type *test, int length)
{
int i=0;
for( i = 0; i<length ;i++)
{
lcd_print_num(test[i].num);
lcd_print_string(test[i].name);
}
}
void test_lcd()
{
//char string [] = {'h','e','l','l','o',' ','w','o','r','l','d','\0'};
//char string2 [] = {' ','c','r','a','f','t','e','r','s',' ','\0'};
lcd_print_string("helloworld! \n");
lcd_print_string("CRAFTER projects!\n");
//lcd_print_string(string2);
//int test = 2013;
//lcd_print_num(test);
//int length = strlen(string);
//int length2 = strlen(string2);
//lcd_print_num(length);
//lcd_print_num(length2);
//lcd_print_string(" TUT");
}
void main(void)
{
//TRISB = 0;
TRISBbits.TRISB4 = 0;
uart_init();
ei();
delay_onesec_int();
LATBbits.LATB4=0;
oneSecTick = 1;
delay_onesec();
i2c_init();
lcd_init();
lcd_print_string((unsigned char*)"Sarbani i Ghosh");
/*
* USB Setup
*/
uart_printline("\nSetting up usb");
usb_init();
while(1)
{
/*
if (oneSecTick == 1) {
oneSecTick = 0;
LATBbits.LATB4 = 1 ^ PORTBbits.RB4;
uart_printline((unsigned char*)"Ghosh\r\n");
lcd_init();
lcd_print_string((unsigned char*)"Sarbani i Ghosh");
i2c_start();
eep_write(0b10100010, 0x0000, 'b');
delayz();
eep_write(0b10100010, 0x0001, 'o');
delayz();
eep_write(0b10100010, 0x0002, 'u');
delayz();
unsigned char byte1 = eep_read(0b10100010, 0x0000);
unsigned char byte2 = eep_read(0b10100010, 0x0001);
unsigned char byte3 = eep_read(0b10100010, 0x0002);
uart_printline("\r\n--\r\n");
uart_sendbyte(byte1);
uart_sendbyte(byte2);
uart_sendbyte(byte3);
uart_printline("\r\n--\r\n");
}
*/
}
}
int main() // Main function
{
while(1) // Main loop
{
distance = ping_cm(8); // Get cm distance from Ping)))
if(distance>30){
int qtis = getQTIs(7, 4); // Check stripe position
if(qtis == 0b1000) drive_speed(-64, 64); // Far left, rotate left
if(qtis == 0b1100) drive_speed(0, 64); // Left, pivot left
if(qtis == 0b0100) drive_speed(32, 64); // A little left, curve left
if(qtis == 0b0110) drive_speed(64, 64); // Stripe centered, forward
if(qtis == 0b0010) drive_speed(64, 32); // A little right, curve right
if(qtis == 0b0011) drive_speed(64, 0); // Right, pivot right
if(qtis == 0b0001) drive_speed(64, -64); // Far right, rotate right
if(qtis == 0b1111) drive_speed(0, 0);
lcd_print_string("station reached");
}
}
}
void test_getpid()
{
lcd_print_string("testpid");
int pid = getpid();
lcd_print_num(pid);
}
int main(int argc, const char *argv[])
{
uint8_t ret;
uint8_t init = 1;
cfg_t *cfg;
int32_t adc_channel = -1;
uint32_t val_cur[MCP32XX_MAX_CHANNEL], val_old[MCP32XX_MAX_CHANNEL];
int32_t diff;
struct mcp32xx_dev mcp_dev;
struct volume_handle v_handle = {0};
struct mpd_handle m_handle = {0};
struct lcd_handle l_handle = {0};
useconds_t sleep_usec;
uint8_t song_update_count_max;
uint8_t song_update_count = 0;
cfg_opt_t opts[] = {
CFG_INT("UpdateInterval", 300000, CFGF_NONE),
CFG_INT("SongUpdateInterval", 2000000, CFGF_NONE),
CFG_INT("ChannelUsed", 2, CFGF_NONE),
CFG_INT("VolumeChannel", 0, CFGF_NONE),
CFG_INT("TunerChannel", 1, CFGF_NONE),
CFG_INT("MaxLineChar", 16, CFGF_NONE),
CFG_INT("MaxLineBuf", 80, CFGF_NONE),
CFG_STR("HostName", "localhost", CFGF_NONE),
CFG_INT("Port", 6600, CFGF_NONE),
CFG_INT("MaxTunerPos", 12, CFGF_NONE),
CFG_INT("MaxVolSteps", 50, CFGF_NONE),
CFG_STR("RadioPlaylistName", "stations", CFGF_NONE),
CFG_INT("LCD-Pin_RS", 25, CFGF_NONE),
CFG_INT("LCD-Pin_E", 24, CFGF_NONE),
CFG_INT("LCD-Pin_DB4", 23, CFGF_NONE),
CFG_INT("LCD-Pin_DB5", 17, CFGF_NONE),
CFG_INT("LCD-Pin_DB6", 27, CFGF_NONE),
CFG_INT("LCD-Pin_DB7", 22, CFGF_NONE),
CFG_STR("FillPatternFirstLine", " ++ ", CFGF_NONE),
CFG_STR("FillPatternSecondLine", " ** ", CFGF_NONE),
CFG_INT("MaxLineLength", 16, CFGF_NONE),
CFG_INT("MaxLineBufferLength", 80, CFGF_NONE),
CFG_END()
};
cfg = cfg_init(opts, CFGF_NONE);
ret = cfg_parse(cfg, "/etc/radioberry.conf");
if(ret == CFG_FILE_ERROR) {
perror("/etc/radioberry.conf");
printf("WARN: could not read /etc/radioberry.conf,"
" process with default values\n");
} else if (ret == CFG_PARSE_ERROR) {
printf("configuration parse error\n");
goto out;
}
/* get configuration values */
channel_used = (uint8_t)cfg_getint(cfg, "ChannelUsed");
volume_chan = (uint8_t)cfg_getint(cfg, "VolumeChannel");
tuner_chan = (uint8_t)cfg_getint(cfg, "TunerChannel");
sleep_usec = cfg_getint(cfg, "UpdateInterval") / channel_used;
printf("sleep_usec %d\n", sleep_usec);
song_update_count_max = cfg_getint(cfg, "SongUpdateInterval")
/ sleep_usec;
/* pass over pointer to handles of mpd, lcd and volume */
m_handle.lh = &l_handle;
v_handle.mh = &m_handle;
m_handle.cfg = cfg;
l_handle.cfg = cfg;
signal(SIGINT, sigintterm_handler);
signal(SIGTERM, sigintterm_handler);
ret = lcd_init(&l_handle);
if (ret) {
printf("failed to initialize lcd, lcd control disabled \n");
lcd_control_enabled = 0;
}
if (lcd_control_enabled) {
lcd_print_string("Radioberry");
lcd_move_cursor_down();
lcd_print_string("=== Welcome ===");
}
ret = mcp32xx_init(&mcp_dev);
if (ret) {
printf("failed to initialize spi device, analog control"
" devices disabled\n");
tuner_control_enabled = 0;
vol_control_enabled = 0;
}
ret = init_mpd_handle(&m_handle);
if (ret) {
printf("could not initialize mpd client,"
" tuner control disabled\n");
tuner_control_enabled = 0;
}
/* disable tuner control if we cannot get any station at all. If one
* station fails, let's process and wait for tuner changes */
ret = load_stations_playlist(&m_handle);
if (ret == 1) {
printf("could not load radio stations list,"
" tuner control disabled\n");
tuner_control_enabled = 0;
}
ret = init_vol_control(&v_handle);
if (ret) {
printf("could not initialize volume control,"
" volumen control disabled\n");
vol_control_enabled = 0;
}
running = 1;
while ( running ) {
usleep(sleep_usec);
if (adc_channel + 1 == channel_used) {
adc_channel = 0;
mpd_status_update(m_handle.mpd_obj);
/* detect if initial loop is done. Start update lcd
* after initial loop */
if (init)
init = 0;
else {
if (lcd_control_enabled)
lcd_update_screen(&l_handle);
}
} else
adc_channel++;
if (song_update_count == song_update_count_max) {
update_song_info(&m_handle);
song_update_count = 0;
} else
song_update_count++;
/* loop over all channels in singel ended mode
* and reset counter in the last loop. */
val_cur[adc_channel] = mcp32xx_get_val(&mcp_dev, adc_channel);
/* fill the old value buffer and intialize the player with
* current settings*/
if (init) {
val_old[adc_channel] = val_cur[adc_channel];
ret = process_value(&v_handle, &m_handle,
val_cur[adc_channel], adc_channel);
/* skip comparing old/new values while intializing */
if (ret) {
printf("unrecoverable error, quit now\n");
break;
}
else
continue;
}
diff = val_old[adc_channel] - val_cur[adc_channel];
#ifdef DEBUG
printf("adc_channel: %u, old %u, new %u, diff %d\n",
adc_channel, val_cur[adc_channel],
val_old[adc_channel], diff);
#endif
if (abs(diff) < TOLERANT_THRESHOLD)
continue;
#ifdef DEBUG
if (diff > 0)
printf("Poti %u was turned left, current val: %d\n",
adc_channel + 1, val_cur[adc_channel]);
else
printf("Poti %u was turned right, current Pos: %d\n",
adc_channel + 1, val_cur[adc_channel]);
#endif
process_value(&v_handle, &m_handle, val_cur[adc_channel],
adc_channel);
val_old[adc_channel] = val_cur[adc_channel];
}
out:
lcd_clear_screen();
lcd_close(&l_handle);
mcp32xx_close(&mcp_dev);
close_vol_ctl(&v_handle);
close_mpd_handle(&m_handle);
exit(ret);
}
