int MATLAB_test(int count, ...) {
char rx_buffer;
//see wikipedia article on variadic functions******
va_list ap;
int array[count];
va_start(ap, count);
for (int j= 0; j < count; j++) {
array[j] = va_arg(ap, int);
}
va_end(ap);
//*************
//char rx_buffer;
while(!m_usb_rx_available()); //wait for an indication from the computer
rx_buffer = m_usb_rx_char(); //grab the computer packet
m_usb_rx_flush(); //clear buffer
if(rx_buffer == 1) { //computer wants ir buffer
//write ir buffer as concatenated hex: i.e. f0f1f4f5
for (int i = 0; i < count; i++) {
m_usb_tx_uint(array[i]);
m_usb_tx_char('\t');
}
m_usb_tx_char('\n'); //MATLAB serial command reads 1 line at a time
}
}
void matlab_output( int* position,float* angle, unsigned int* wii_data){
if( m_usb_rx_available() ){
m_usb_tx_int( ( int)position[0] );
m_usb_tx_char('\n');
m_usb_tx_int( ( int)position[1] );
m_usb_tx_char('\n');
m_usb_tx_int( ( int )(1000*angle[0]) );
m_usb_tx_char('\n');
m_usb_tx_uint(wii_data[0]);
m_usb_tx_char('\n');
m_usb_tx_uint(wii_data[1]);
m_usb_tx_char('\n');
m_usb_tx_uint(wii_data[3]);
m_usb_tx_char('\n');
m_usb_tx_uint(wii_data[4]);
m_usb_tx_char('\n');
m_usb_tx_uint(wii_data[6]);
m_usb_tx_char('\n');
m_usb_tx_uint(wii_data[7]);
m_usb_tx_char('\n');
m_usb_tx_uint(wii_data[9]);
m_usb_tx_char('\n');
m_usb_tx_uint(wii_data[10]);
m_usb_tx_char('\n');
m_usb_rx_flush();
}
}
int main(void)
{
unsigned int value;
m_usb_init();
while(!m_usb_isconnected()); // wait for a connection
while(1) {
if(m_usb_rx_available()) {
value = m_usb_rx_char();
m_usb_tx_uint(value);
}
}
}
int main(void)
{
unsigned long runtime = 0;
m_clockdivide(0); // 16 MHz
OCR1B = 521; // initialize output compare register (interrupt every 521 cycles)
set(DDRB,6); // set B6 as output (output compare pin)
set(DDRB,4); // set B4 as output (green LED for data synchronization)
set(PORTB,4); // turn on green LED on B4
set(DDRF,0); // set F0 as output
set(DDRF,1); // set F1 as output
set(DDRB,1); // set B1 as output
m_usb_init();
while(!m_usb_isconnected()){
m_green(ON);
}
m_green(OFF);
set(DDRB,2);
while(!m_usb_rx_available()); // wait for runtime argument from Python script
m_wait(5);
while(m_usb_rx_available()){
runtime = runtime * 10 + (m_usb_rx_char() - '0'); // build number of seconds
}
runtime = runtime * 1000000; // convert to microseconds
clear(PORTF,0); // S0
clear(PORTF,1); // S1
clear(PORTB,1); // S2
m_wait(10);
if(!m_imu_init(0,1)){
m_red(ON); // RED LED turns on if there's a problem
m_usb_tx_string("IMU0 could not connect");
}
/*
set(PORTF,0);
m_wait(10);
if(!m_imu_init(0,1)){
m_red(ON); // RED LED turns on if there's a problem
m_usb_tx_string("IMU1 could not connect");
}
clear(PORTF,0);
set(PORTF,1);
m_wait(10);
if(!m_imu_init(0,1)){
m_red(ON); // RED LED turns on if there's a problem
m_usb_tx_string("IMU2 could not connect");
}
set(PORTF,0);
m_wait(10);
if(!m_imu_init(0,1)){
m_red(ON); // RED LED turns on if there's a problem
m_usb_tx_string("IMU3 could not connect");
}
set(PORTB,1);
clear(PORTF,0);
clear(PORTF,1);
m_wait(10);
if(!m_imu_init(0,1)){
m_red(ON); // RED LED turns on if there's a problem
m_usb_tx_string("IMU4 could not connect");
}
set(PORTF,0);
m_wait(10);
if(!m_imu_init(0,1)){
m_red(ON); // RED LED turns on if there's a problem
m_usb_tx_string("IMU5 could not connect");
}
*/
//calibrate(0);
//calibrate(1);
//calibrate(2);
//calibrate(3);
//calibrate(4);
//calibrate(5);
// Initialize Timer 1 output compare interrupt
set(TIMSK1,OCIE1B);
set(TCCR1B,CS12);
clear(TCCR1B,CS11);
set(TCCR1B,CS10);
clear(TCCR1B,WGM13);
set(TCCR1B,WGM12);
clear(TCCR1A,WGM11);
clear(TCCR1A,WGM10);
clear(TCCR1A,COM1B1);
set(TCCR1A,COM1B0);
// Initialize Timer 1 overflow interrupt
set(TIMSK1,TOIE1);
// Initialize Timer 3 overflow interrupt
overflow = 0;
set(TIMSK3,TOIE3);
clear(TCCR3B,CS32);
clear(TCCR3B,CS31);
set(TCCR3B,CS30);
sei(); // enable global interrupts
clear(PORTB,4); // turn off green LED --> signal to camera
while(overflow * 4096 < runtime){
m_green(TOGGLE);
}
m_usb_tx_string(" ");
m_green(OFF);
//cli();
while(1);
}
int main(void)
{
init(); // Run Timer Initializacion Code
m_bus_init();
m_usb_init(); // Initialize the USB connection.
m_rf_open(1, 0x15, 3);
set(DDRB, 0);
set(DDRB, 1);
set(DDRB, 2);
set(DDRB, 3);
set(DDRB, 7);
set(DDRD, 3);
set(DDRD, 4);
set(DDRD, 5);
set(DDRD, 6);
set(DDRD, 7);
//while(!m_usb_isconnected()); // wait for a connection
while(1){
if(m_usb_rx_available())
{
input = m_usb_rx_char();
//m_usb_tx_int(input);
m_usb_tx_string(" ");
if (input == 119) {
OCR3A = OCR3A - 1;
}
//if (input == 115) {
// OCR3A = OCR3A + 1;
//}
//if (input == 105) {
// OCR0A = OCR0A - 1;
//}
if (input == 107) {
OCR0A = OCR0A + 1;
}
if (input == 105) {
m_red(TOGGLE);
//des_freq = 100;
OCR3A = (float)62500/des_freq;
duration = 100;
flag_2 = 1;
flag = 0;
;
}
if (input == 115) {
des_freq += 10;
}
m_usb_tx_int(des_freq);
}
if (flag) {
m_red(TOGGLE);
m_rf_read(commands,3);
des_freq = *(int*)&commands[0];
des_freq /= 10;
// Measured: 130 is 60 Hz. 20 is 370 Hz. THIS IS INT.
OCR3A = 130 - (float)(des_freq - 60)/(float)2.8;
duration = commands[2];
flag_2 = 1;
flag = 0;
}
// Max Sound duration is 255 centiseconds, which is 2.55 sec.
if (flag_2) {
// TCNT0 = 0;
conta = 0;
m_green(ON);
set(DDRB, 6);
clear(PORTD, 4);
flag_2 = 0;
}
if (conta == (4*duration)) {
m_green(OFF);
clear(DDRB, 6);
clear(PORTB, 6);
set(PORTD, 4);
}
//if (TCNT0 == OCR0A) {
if (check(TIFR0, OCF0A)){
conta += 1;
set(TIFR0,OCF0A);
}
/*
if (check(ADCSRA,ADIF)) {
set(ADCSRA, ADIF);
if (ADC>100) {
set(PORTB, 0);
}
else{
clear(PORTB, 0);
}
if (ADC>200) {
set(PORTB, 1);
}
else{
clear(PORTB, 1);
}
if (ADC>300) {
set(PORTB, 2);
}
else{
clear(PORTB, 2);
}
if (ADC>400) {
set(PORTB, 3);
}
else{
clear(PORTB, 3);
}
if (ADC>500) {
set(PORTB, 7);
}
else{
clear(PORTB, 7);
}
if (ADC>600) {
set(PORTD, 3);
}
else{
clear(PORTD, 3);
}
if (ADC>700) {
set(PORTD, 4);
}
else{
clear(PORTD, 4);
}
if (ADC>800) {
set(PORTD, 5);
}
else{
clear(PORTD, 5);
}
if (ADC>900) {
set(PORTD, 6);
}
else{
clear(PORTD, 6);
}
if (ADC>1000) {
set(PORTD, 7);
}
else{
clear(PORTD, 7);
}
}
*/
//m_usb_tx_string("\r"); // Carriage Return
//m_usb_tx_uint(ADC);
//m_usb_tx_string("\r"); // Carriage Return
//m_usb_tx_hex(commands[0]);
//m_usb_tx_uint(des_freq);
//m_usb_tx_string(" ");
//m_usb_tx_char(commands[2]);
//m_usb_tx_string(" OCR3A: ");
//m_usb_tx_uint(OCR3A);
//m_usb_tx_string(" ");
// Measured: 0x81 (129, we can use 130) is 60 Hz. 46 (70) is 110 Hz.
// I get values from 60 to 110
// Do only every time the Timer Overflows
//while(!check(TIFR3, OCF3A));
if (check(TIFR3, OCF3A)) {
if(indx<255){
indx += 1;
}
else{
indx = 0;
}
//Define new value for Duty Cycle According to Sine Table
OCR1B = sinewave_data[indx];
set(TIFR3, OCF3A); //Clear Flag
}
// Display information for the SCREEN.
/*
m_usb_tx_string("ADC Input Value: "); //
m_usb_tx_uint(ADC); //transmit over USB
m_usb_tx_string(" DIP Switch Inputs:"); //
//m_usb_tx_uint(check(PIND,4));
//m_usb_tx_string(" "); m_usb_tx_uint(check(PIND,5));
//m_usb_tx_string(" "); m_usb_tx_uint(check(PIND,6));
//m_usb_tx_string(" "); m_usb_tx_uint(check(PIND,7));
m_usb_tx_string(" "); m_usb_tx_uint((check(PIND, 4) * 1 + check(PIND, 5) * 2 + check(PIND, 6) * 4 + check(PIND, 7) * 8 + 1));
m_usb_tx_string(" Duty Cycle "); m_usb_tx_uint(((OCR1A - OCR1B)/OCR1A)*100);
m_usb_tx_string("\r"); // Carriage Return
//m_usb_tx_string("\n"); // Enter
//m_usb_tx_string("\f"); // Form Feed
//m_usb_tx_string("\f"); // Tab
//m_usb_tx_string("\v"); // Vertical Tab
*/
}
return 0; /* never reached */
}
int main(void) {
m_clockdivide(0);
m_bus_init();
setup_timer_3();
m_rf_open(chan,TX_add,p_length);
setup_pins();
if (debug_ADC){ setupUSB();}
long VLeftSum=0;
long HLeftSum=0;
long VRightSum=0;
long HRightSum=0;
// int VLeftSum=0;
// int HLeftSum=0;
// int VRightSum=0;
// int HRightSum=0;
int cnt_RB = 0;
int cnt_LB = 0;
/////////////////////////////////////////////////////////////////////////////////
//
// give me a half second to go from switching on the m2 to holding the config buttons.
//
//////////////////////////////////////////////////////////////////////////////////
m_green(1);
int timer_3_cnt=0;
int Calibration = 50;
for (timer_3_cnt=0 ; timer_3_cnt< Calibration ; ){
if(check(TIFR3,OCF3A)){ ///// timer 3 runs at 100Hz
set(TIFR3,OCF3A );
timer_3_cnt++;
}
}
m_red(ON);
for (timer_3_cnt=0 ; timer_3_cnt<Calibration ; ){
if(check(TIFR3,OCF3A)){ ///// timer 3 runs at 100Hz
set(TIFR3,OCF3A );
timer_3_cnt++;
update_ADC(0,0,0,0);
check_buttons();
if (send_buffer[1]==1){ cnt_RB++ ;}
if (send_buffer[0]==1){ cnt_LB++ ;}
VLeftSum += *(int*)(&send_buffer[2]);
HLeftSum += *(int*)(&send_buffer[6]);
VRightSum += *(int*)(&send_buffer[4]);
HRightSum += *(int*)(&send_buffer[8]);
// if (debug_ADC){while(!m_usb_rx_available()); m_usb_rx_flush();}
if (debug_ADC){debug_ADC_sums( timer_3_cnt, VRightSum, VLeftSum, HLeftSum, HRightSum );}
}
}
// if (debug_ADC){while(!m_usb_rx_available()); m_usb_rx_flush();}
int VLeftOffset = (int)(VLeftSum/Calibration);
int HLeftOffset = (int)(HLeftSum/Calibration);
int VRightOffset= (int)(VRightSum/Calibration);
int HRightOffset= (int)(HRightSum/Calibration);
int VLeftOffset = 512;//(int)(VLeftSum/Calibration);
int HLeftOffset = 512;//(int)(HLeftSum/Calibration);
int VRightOffset= 512;//(int)(VRightSum/Calibration);
int HRightOffset= 512;//(int)(HRightSum/Calibration);
bool L_bump = ( cnt_LB > Calibration/2 );
bool R_bump = ( cnt_RB > Calibration/2 );
if (debug_ADC){while(!m_usb_rx_available()); m_usb_rx_flush();}
if (debug_ADC){debug_ADC_vals( Calibration, VRightSum, VLeftSum, HLeftSum, HRightSum );}
m_green(0);
m_red(OFF);
set_drive_mode( L_bump , R_bump );
while (1){
check_buttons();
update_ADC( VLeftOffset,HLeftOffset,VRightOffset,HRightOffset );
TX_comm();
if (debug_ADC){deal_with_new();}
}
}
