bool
CC1101::begin(const void* config)
{
// Reset the device
m_cs.pulse(30);
DELAY(30);
strobe(SRES);
DELAY(300);
// Upload the configuration. Check for default configuration
spi.begin(this);
loop_until_bit_is_clear(PIN, Board::MISO);
write_P(IOCFG2,
config ? (const uint8_t*) config : CC1101::config,
CONFIG_MAX);
spi.end();
// Adjust configuration with instance specific state
uint16_t sync = hton(m_addr.network);
spi.begin(this);
loop_until_bit_is_clear(PIN, Board::MISO);
write(PATABLE, 0x60);
write(CHANNR, m_channel);
write(ADDR, m_addr.device);
write(SYNC1, &sync, sizeof(sync));
spi.end();
// Initiate device driver state and enable interrupt handler
m_avail = false;
spi.attach(this);
m_irq.enable();
return (true);
}
void sendOutput(snesIO port0, snesIO port1) {
int i;
// Initialise transmission.
Port0LatchPORT |= (1 << Port0Latch);
Port1LatchPORT |= (1 << Port1Latch);
_delay_us(12);
Port0LatchPORT &= ~(1 << Port0Latch);
Port1LatchPORT &= ~(1 << Port1Latch);
for (i = 0; i < 16; i++) {
loop_until_bit_is_clear(Port0ClockPIN, Port0Clock);
loop_until_bit_is_clear(Port1ClockPIN, Port1Clock);
if ((port0 & (1 << i)) == 0)
Port0DataPORT &= ~(1 << Port0Data);
else
Port0DataPORT |= (1 << Port0Data);
if ((port1 & (1 << i)) == 0)
Port1DataPORT &= ~(1 << Port1Data);
else
Port1DataPORT |= (1 << Port1Data);
loop_until_bit_is_set(Port0ClockPIN, Port0Clock);
loop_until_bit_is_set(Port1ClockPIN, Port1Clock);
}
}
void calibration(uint8_t *measurement)
{
uint8_t i=0;
//Add button to calibrate every axis at once
while((PINB & (1<<2))){}
while(!(PINB & (1<<2))){}
for (i=0;i<=1;i++)
{
//setting the channel to measure the corresponding angle
ADMUX &= 0b11110000;
ADMUX = ADMUX | i;
//start the conversion. Then wait until conversion is completed. After redo this procedure in roder to make it more reliable
ADCSRA |= (1<<ADSC);
loop_until_bit_is_clear(ADCSRA,ADSC);
ADCSRA |= (1<<ADSC);
loop_until_bit_is_clear(ADCSRA,ADSC);
//copy result into array
measurement[i]=ADCH;
}
measurement[2] =(measurement[0]+measurement[1])/2;
}
int
CC1101::send(uint8_t dest, uint8_t port, const iovec_t* vec)
{
// Sanity check the payload size
if (vec == NULL) return (-1);
size_t len = iovec_size(vec);
if (len > PAYLOAD_MAX) return (-1);
// Wait for the device to become idle before writing the frame
await(IDLE_MODE);
// Write frame header(length, dest, src, port)
spi.begin(this);
loop_until_bit_is_clear(PIN, Board::MISO);
write(TXFIFO, len + 3);
write(TXFIFO, dest);
write(TXFIFO, m_addr.device);
write(TXFIFO, port);
spi.end();
// Write frame payload
for (const iovec_t* vp = vec; vp->buf != NULL; vp++) {
spi.begin(this);
loop_until_bit_is_clear(PIN, Board::MISO);
write(TXFIFO, vp->buf, vp->size);
spi.end();
}
// Trigger the transmit
strobe(STX);
return (len);
}
uint16_t adcRead(uint8_t channel)
{
// disable interrupt and wait for end of conversion
ADCSRA = (0xFF & ~_BV(ADIE));
loop_until_bit_is_clear(ADCSRA, ADSC);
ADMUX = channel; // set channel to read from
ADCSRA |= _BV(ADSC); // start conversion
loop_until_bit_is_clear(ADCSRA, ADSC); // wait to complete
ADCSRA = 0b11011111; // reenable interrupt
return ADC;
}
uint16_t
AnalogPin::sample(Board::AnalogPin pin, Board::Reference ref)
{
if (sampling_pin != NULL) return (0xffffU);
loop_until_bit_is_clear(ADCSRA, ADSC);
ADMUX = (ref | (pin & 0x1f));
#if defined(MUX5)
bit_write(pin & 0x20, ADCSRB, MUX5);
#endif
bit_mask_set(ADCSRA, _BV(ADEN) | _BV(ADSC));
loop_until_bit_is_clear(ADCSRA, ADSC);
return (ADCW);
}
int Get_Light()
{
long Light;
uint16_t x; // variable to store the ADC result
float reading;
float freading;
float fresult;
ADCSRA = (1<<ADEN) | (1<<ADPS2); // Enable ADC hardware i. e. ADEN=1 and
// set ADC Pre-scaler to 16 -->
// 1Mhz CPU clock/16 = 62.5kHz, i. e. ADPS2=1
// (ADPS0 and ADPS1 default to 0)
ADMUX = ADMUX | (0<<REFS1) | (1<<REFS0); // Reference voltage = AVCC = (?V) in our case
ADMUX = ADMUX & ~(1 << ADLAR); // Right adjust the result registers
// Select channel, e.g. pin 0 (which is the 1st pin at port A)
ADMUX = ADMUX & 0b11111110; // initialize channel bits (0)
ADMUX = ADMUX | 0; // set channel 0
PORTA = PORTA | 0b00000001; // switch off pull up resistor 0
// 1st conversion:
ADCSRA = ADCSRA | (1<<ADSC); // start ADC
loop_until_bit_is_clear(ADCSRA,ADSC); // wait for completion of ADC
// 2nd conversion:
ADCSRA = ADCSRA | (1<<ADSC); // start ADC
loop_until_bit_is_clear(ADCSRA,ADSC); // wait for completion of ADC
reading=ADCW; // store result in 16bit-variable
//x=(x*0.0048828125)
reading = 1023-reading;
freading = reading;
if(reading>=0 && reading<=155) { // Darkness
fresult = 0.0;
}
if(reading>155 && reading<=350) {
// y = 0,0042273988x2 - 1,0130028488x + 55,4403759239
fresult = 0.0042273988 * freading * freading - 1.0130028488 * freading + 55.4403759239;
}
if(reading>350 && reading<=650) {
// y = 11,7717399221e0,0083003710x
fresult = 11.7717399221 * pow(EULERNUMBER, (0.0083003710 * freading));
}
if(reading>650 && reading<=936) {
// y = 0,3373539789e0,0134529914x
fresult = 0.3373539789 * pow(EULERNUMBER, (0.0134529914 * freading)) + 448.5;
}
if(reading>980) { // Upper limit of measurement
fresult = 100000.6;
}
// Needs to be calibrated, after which the factor can be introduced here
return fresult;
}
int
CC1101::recv(uint8_t& src, uint8_t& port, void* buf, size_t len, uint32_t ms)
{
// Check if we need to wait for a message
uint8_t size;
if (!m_avail) {
// Fix: Use wakeup on radio to reduce power during wait
uint32_t start = RTC::millis();
if (read_status().mode == IDLE_MODE) {
strobe(SFRX);
strobe(SRX);
}
do {
while (!m_avail && ((ms == 0) || (RTC::since(start) < ms))) yield();
if (!m_avail) return (-2);
spi.begin(this);
loop_until_bit_is_clear(PIN, Board::MISO);
size = read(RXBYTES);
spi.end();
} while ((size & RXBYTES) == 0);
}
m_avail = false;
// Read the payload size and check against buffer length
spi.begin(this);
loop_until_bit_is_clear(PIN, Board::MISO);
size = read(RXFIFO) - 3;
if (size > len) {
spi.end();
strobe(SIDLE);
strobe(SFRX);
return (-1);
}
// Read the frame (dest, src, payload)
m_dest = read(RXFIFO);
src = read(RXFIFO);
port = read(RXFIFO);
read(RXFIFO, buf, size);
spi.end();
// Read the link quality status
spi.begin(this);
loop_until_bit_is_clear(PIN, Board::MISO);
read(RXFIFO, &m_recv_status, sizeof(m_recv_status));
spi.end();
// Fix: Add possible address checking for robustness
return (size);
}
//for manually reading adc channels
uint16_t adc_read(uint8_t channel)
{
adc_start_conversion(channel);
loop_until_bit_is_clear(ADCSRA, ADSC);
return ADCW;
}
//PING Sonar
//equations were taken from here and not independently verified:
//http://www.societyofrobots.com/member_tutorials/node/174
//http://www.societyofrobots.com/robotforum/index.php?topic=5123.msg40008
//http://www.societyofrobots.com/robotforum/index.php?topic=4656.30
//uses timer0
int sonar_Ping()
{
#define PINGPIN 0 // assign a pin to the Ping Sensor
#undef DDR
#undef PIN
#define DDR DDRC
#define PORT PORTC
#define PIN PINC
PORT_ON(DDR, PINGPIN); // Switch PingPin to OUPUT
// ------Trigger Pulse--------------
PORT_OFF(PORT, PINGPIN); // Bring PingPin low before starting trigger pulse
delay_us(2); // Wait for 2 microseconds
PORT_ON(PORT, PINGPIN); // Bring PingPin High for 5us according to spec sheet.
delay_us(5); // Wait for 5 microseconds
PORT_OFF(PORT, PINGPIN);; // Bring PingPin Low and standby
//--------End Trigger Pulse---------------------
FLIP_PORT(DDR, PINGPIN); // Switch PingPin to INPUT
loop_until_bit_is_set(PIN, PINGPIN); // Loop until the the PingPin goes high (macro found in sfr_def.h)
//clears timer, reset overflow counter
reset_timer0(); //reset timer 0
loop_until_bit_is_clear(PIN, PINGPIN); // Loop until the the PingPin goes low (macro found in sfr_def.h)
//read timer0's overflow counter
//255 is count before overflow, dependent on clock
return (get_timer0_overflow()*255+TCNT0) * 2.068965517;//elapsed time x conversion
}
int main()
{
uint16_t potentiometerValue; //Compare Potentiometer Value to certain number ranges
initADC0(); //Initialize ADC
DDRD=0x00; //Port D pins as input
PORTD=0xFF; //Enable internal pull ups
DDRB=0xFF; //Set PORTB1 pin as output
//Output compare OC1A 8 bit non inverted PWM
//Clear OC1A on Compare Match, set OC1A at TOP
ICR1=20000; //ICR1=20000 defines 50Hz PWM, TOP=ICR1;
TCCR1A|=(0<<COM1A0)|(1<<COM1A1)|(0<<COM1B0)|(0<<COM1B1)|(0<<FOC1A)|(0<<FOC1B)|(1<<WGM11)|(0<<WGM10);
TCCR1B|=(0<<ICNC1)|(0<<ICES1)|(1<<WGM13)|(1<<WGM12)|(0<<CS12)|(1<<CS11)|(0<<CS10); //Start timer with prescaler 8
OCR1A = 0;
for (;;)
{
ADCSRA |= (1 << ADSC); //Start ADC conversion
loop_until_bit_is_clear(ADCSRA, ADSC); //Wait until ADC conversion is done
potentiometerValue = ADC; //Read ADC in
OCR1A = 1200 + (potentiometerValue*3.4); //Every turn = 180 degrees of servo
}
}
static uint8_t sampleADC(uint8_t ch)
{
ADMUX = B(REFS0) | B(ADLAR) | ch; // ADC Reference is AVcc; left adjusted result; select analog input
ADCSRA |= B(ADSC);
loop_until_bit_is_clear(ADCSRA, ADSC);
return ADCH;
}
uint16_t readADC( uint8_t channel )
{
ADMUX = ( 0xF0 & ADMUX ) | channel;
ADCSRA |= ( 1 << ADSC );
loop_until_bit_is_clear( ADCSRA, ADSC );
return ( ADC );
}
static void
echo(double *ping_value,const uint8_t pingpin)
{
/*Round-trip-time, unit microseconds*/
uint16_t elapsed_time;
/* ------Trigger Pulse--------------------------*/
PORT_ON(DDR, pingpin);
PORT_OFF(PORT, pingpin);
_delay_us(2);
PORT_ON(PORT, pingpin);
_delay_us(5);
PORT_OFF(PORT, pingpin);
/*--------End Trigger Pulse---------------------*/
/*--------Meassure pulse------------------------*/
FLIP_PORT(DDR, pingpin);
loop_until_bit_is_set(PIN, pingpin);
reset_timer_0();
loop_until_bit_is_clear(PIN, pingpin);
/*--------Stop Meassure pulse-------------------*/
/* MAXCOUNTER is dependent on timer */
elapsed_time = (tot_overflow * MAXCOUNTER) + TCNT0;
/*Simple band-pass filter*/
if (elapsed_time >= ping_distance_max)
*ping_value = 0;
else if (elapsed_time <= ping_distance_min)
*ping_value = 0;
else
*ping_value = (elapsed_time * TO_CM);
_delay_us(250);
}
static uint8_t
read_adc(void)
{
ADCSRA |= _BV(ADSC);
loop_until_bit_is_clear(ADCSRA, ADSC);
return ADCH;
}
/**
* Gets the distance that chico has from an heat source. It sends a sonar signal and calculates
* the elapsed time between the send of the signal and the time when the signal comes back to chico.
* It then converts the time into centimeters.
*
* Returns the distance in centimeters.
*/
int getDistance() {
DDRA |= 0b00000001; //output
PORTA &= 0b11111110; // make sure pin A0 is LOW
_delay_us(2);
PORTA |= 0b00000001; // pulse HIGH
_delay_us(5);
PORTA &= 0b11111110; //pin A0 LOW
DDRA &= 0b11111110; //input
usart_fprintf_P(USART_0, PSTR("1\n"));
unsigned long count = 0;
while(!bit_is_set(PINA, PA0)) {
_delay_us(5);
count++;
if(count > 200000){
usart_fprintf_P(USART_0, PSTR("NOOOO CHICO!!!!!\n"));
return -1;
}
}
unsigned long start = time_in_microseconds();
usart_fprintf_P(USART_0, PSTR("2\n"));
loop_until_bit_is_clear(PINA, PA0);
unsigned long end = time_in_microseconds();
usart_fprintf_P(USART_0, PSTR("3\n"));
long elapsedTime = end - start;
int distance = elapsedTime/29/2;
usart_fprintf_P(USART_0, PSTR("Dist: %lu \n"), end);
return distance;
}
int main(void) {
uart_init();
adc0_init();
uint16_t adc_value;
char adc_value_str[5];
while(1) {
// Get the ADC value
ADCSRA |= (1 << ADSC); // Start ADC conversion
loop_until_bit_is_clear(ADCSRA, ADSC); // Wait until done
adc_value = ADC; // Read ADC in
// Send the value to UART
snprintf((char *) &adc_value_str, 5, "%d", adc_value);
uart_send_string(adc_value_str); // Send a string to UART
uart_send_string("\r\n"); // Send a string to UART
// Wait
_delay_ms(1000); // Wait 1000ms
}
return(0);
}
uint16_t range_get(void)
{
//send out one pulse
sbi(RANGE_PORT, RANGE_TRIG);
_delay_us(15);
cbi(RANGE_PORT,RANGE_TRIG);
//wait for result
TCNT1 = 0x0000;
//wait for high val
//while(!(timeout_event() || bit_is_set(RANGE_PIN, RANGE_ECHO)));
loop_until_bit_is_set(RANGE_PIN, RANGE_ECHO);
//timeout_stop();
//if (timeout_event())
//return 0xFFFF;
//start timer with 1/8 prescaler
sbi(TCCR1B, CS11);
//timeout_start_ms(500);
//while(!(timeout_event() || bit_is_clear(RANGE_PIN, RANGE_ECHO)));
loop_until_bit_is_clear(RANGE_PIN, RANGE_ECHO);
cbi(TCCR1B, CS11);
//timeout_stop();
//if (timeout_event())
//return 0xFFFF;
//the factor 1.3 is from 1/6.441MHz*8
//58 comes from 58cm per µs
return TCNT1*1.3/58.0;
}
int main()
{
uint8_t dir = CW;
initPorts();
initADC();
// accel section
halfStep(dir);
_delay_us(10000);
halfStep(dir);
_delay_us(6000);
halfStep(dir);
_delay_us(4667);
halfStep(dir);
_delay_us(3949);
while (1)
{
stepperVal = MOTORPORT;
switch (stepperVal)
{
case 1:
ADMUX = (ADMUX & 0b1110000) | 0x1;
adctested = 1;
break;
case 2:
ADMUX = (ADMUX & 0b1110000) | 0x2;
adctested = 1;
break;
case 4:
ADMUX = (ADMUX & 0b1110000) | 0x3;
adctested = 1;
break;
case 8:
ADMUX = (ADMUX & 0b1110000) | 0x0;
adctested = 1;
break;
default:
ADMUX = (ADMUX & 0b1110000) | 0x31; // GND
adctested = 0;
}
if (adctested)
{
// trigger ADC sample
ADCSRA |= _BV(ADSC);
// poll delay until sample done
loop_until_bit_is_clear( ADCSRA, ADSC );
DEBUGPORT = ADCH;
}
halfStep(dir);
_delay_us(3500);
} // main loop
}
char* sysAdcStart(void){
ADCSRA |= (1 << ADSC); //ADC Start Conversion
loop_until_bit_is_clear (ADCSRA, ADSC);
tempRead = ADCH - 20.5128;
itoa(tempRead, ADCValue, 10);
sysReverseArray(ADCValue, sizeof(ADCValue));
return ADCValue;
}
uint16_t read (uint8_t channel)
{
ADMUX = _ref | (channel & 0x0f);
ADCSRA |= _BV (ADSC);
loop_until_bit_is_clear (ADCSRA, ADSC);
ADCSRA |= _BV (ADIF);
return ADC;
}
uint16_t readADC(uint8_t channel) {
//read ADC value from channel (ADC0 to ADC 5)
//works for attiny85
ADMUX = (0b11110000 & ADMUX) | channel;
ADCSRA |= (1 << ADSC);
loop_until_bit_is_clear(ADCSRA, ADSC);
return (ADC);
}
void
CC1101::strobe(Command cmd)
{
spi.begin(this);
loop_until_bit_is_clear(PIN, Board::MISO);
m_status = spi.transfer(header_t(cmd, 0, 0));
spi.end();
}
uint16_t adc_v_read()
{
// AREF (no ext. cap), right adjust, single ended input (ADC7), 1X gain
ADMUX = _BV(REFS1) | _BV(MUX2) | _BV(MUX1) | _BV(MUX0);
_delay_us(200);
ADCSR |= _BV(ADSC);
loop_until_bit_is_clear(ADCSR, ADSC);
return (ADC);
}
uint16_t adc_a_read()
{
// AREF (no ext. cap), right adjust, differential input (ADC8-ADC9), 20X gain
ADMUX = _BV(REFS1) | _BV(MUX4) | _BV(MUX3) | _BV(MUX0);
_delay_us(200);
ADCSR |= _BV(ADSC);
loop_until_bit_is_clear(ADCSR, ADSC);
return (ADC);
}
uint16_t
AnalogPin::bandgap(uint16_t vref)
{
loop_until_bit_is_clear(ADCSRA, ADSC);
ADMUX = (Board::AVCC_REFERENCE | Board::VBG);
#if defined(MUX5)
bit_clear(ADCSRB, MUX5);
#endif
bit_set(ADCSRA, ADEN);
DELAY(1000);
bit_set(ADCSRA, ADSC);
loop_until_bit_is_clear(ADCSRA, ADSC);
uint16_t sample;
synchronized {
sample = ADCW;
}
return ((vref * 1024L) / sample);
}
uint16_t readADC(uint8_t channel)
{
// Clear old input channel selections, then set to this channel
ADMUX = (0b11110000 & ADMUX) | channel;
// Start conversion
ADCSRA |= (1 << ADSC);
loop_until_bit_is_clear(ADCSRA, ADSC);
return ADC;
}
// Polling method
uint16_t adc_read(int channel)
{
ADMUX = (ADMUX & (_BV(REFS1)|_BV(REFS0)|_BV(ADLAR))) | channel;
// Start conversion
ADCSRA |= _BV(ADSC);
loop_until_bit_is_clear(ADCSRA, ADSC);
return ADCW;
}
void ADCInitilize(void)
{
PORTC = 0x00;
DDRC = 0x00;
ADMUX |= 0 << REFS0 | 0 << REFS1;
ADMUX |= 1 << ADLAR;
ADCSRA |= 1 << ADEN | 1 << ADPS2 | 1 << ADPS1 | 0 << ADPS0 | 1 << ADSC;
loop_until_bit_is_clear(ADCSRA,ADSC);
}
uint16_t
adc_get_setref(uint8_t ref, uint8_t channel)
{
/* select reference and channel */
ADMUX = (ref & 0xc0) | (channel & 0x1f);
if (last_ref != ref)
{
ADCSRA |= _BV(ADSC);
loop_until_bit_is_clear(ADCSRA, ADSC);
last_ref = ref;
}
/* Start adc conversion */
ADCSRA |= _BV(ADSC);
/* Wait for completion of adc */
loop_until_bit_is_clear(ADCSRA, ADSC);
return ADC;
}