void digitalWrite(uint8_t pin, uint8_t val)
{
serialPrint("Pin Number - %u is ", unsigned(pin));
if (val == HIGH)
serialPrintln("HIGH");
else
serialPrintln("LOW");
}
void pinMode(uint8_t pin, uint8_t mode)
{
serialPrint("Pin Number - %u is set to ", unsigned(pin));
if (mode == INPUT)
serialPrintln("INPUT");
else
serialPrintln("OUTPUT");
}
void AsiMS2000::build()
{
if(_args.indexOf('X') > -1)
{
serialPrintln("STD_XYZ");
}
else
{
serialPrintln("Build: 0.0.0.1");
}
}
int main(void) {
initMSP();
WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
P1DIR |= 0x01; // Set P1.0 to output direction
setupBlueToothConnection();
while (1) {
serialPrintln("abcdefg");
serialPrintln("1234567");
}
return 0;
}
void AsiMS2000::status()
{
//Status should send "B" for Busy and "N" for Not busy.
if(_busyStatus)
{
serialPrintln("B");
}
else
{
serialPrintln("N");
}
}
void AsiMS2000::settingsQuery(AxisSettingsF setting, String reply)
{
char buffer[50];
if(_isAxis.x)
{
reply += "X=";
dtostrf(setting.x,1,6,buffer);
reply += buffer;
reply += " ";
}
if(_isAxis.y)
{
reply += "Y=";
dtostrf(setting.y,1,6,buffer);
reply += buffer;
reply += " ";
}
if(_isAxis.z)
{
reply += "Z=";
dtostrf(setting.z,1,6,buffer);
reply += buffer;
reply += " ";
}
serialPrintln(reply);
}
void AsiMS2000::settingsQuery(AxisSettings setting, String reply)
{
if(_isAxis.x)
{
reply += "X=";
reply += setting.x;
reply += " ";
}
if(_isAxis.y)
{
reply += "Y=";
reply += setting.y;
reply += " ";
}
if(_isAxis.z)
{
reply += "Z=";
reply += setting.z;
reply += " ";
}
serialPrintln(reply);
}
void AsiMS2000::where()
{
int arglen = _args.length();
char buffer [25];
if(arglen == 0)
{
_isAxis.x = true;
_isAxis.y = true;
_isAxis.z = true;
}
String response = ":A ";
//char buffer [25];
if(_isAxis.x)
{
dtostrf(AsiSettings.currentPos.x,1,1,buffer);
response.concat(String(buffer) + " ");
}
if(_isAxis.y)
{
dtostrf(AsiSettings.currentPos.y,1,1,buffer);
response.concat(String(buffer) + " ");
}
if(_isAxis.z)
{
dtostrf(AsiSettings.currentPos.z,1,1,buffer);
response.concat(String(buffer) + " ");
}
serialPrintln(response);
}
/*
* Sends a Code as a Byte by disabling and enabling PWM at the Port
*/
void sendCode(int Byte) {
// Loop variable
int i = 0;
// Latch in Byte so it can be safely modified
int code = 0;
// Boolean used for parity check
int parity = 0;
if (LSBFIRST) {
code = Byte;
} else {
code = ~Byte;
}
// Send start Bit
P1SEL |= BIT6;
_delay_cycles(BITTIME/2);
if (DEBUG) serialPrintInt(1);
// Loop over all Bits
for (i = 0; i < 8; i++) {
// If code and Mask not 0
if ((code & BIT0) > 0) {
// Send a logical 1
P1SEL |= BIT6;
if (DEBUG) serialPrintInt(1);
// Xor of the Parity Bit
parity ^= BIT0;
} else {
// Send a logical 0
if (DEBUG) serialPrintInt(0);
P1SEL &= ~BIT6;
P1OUT &= ~BIT6;
}
// Shift the Bit to send
code = code >> 1;
// Wait a Bitlength
_delay_cycles(BITTIME);
}
if (DEBUG) serialPrintInt(parity);
// If it was an odd number of 1s
if (parity) {
// send parity 1
P1SEL |= BIT6;
} else {
// else 0
P1SEL &= ~BIT6;
P1OUT &= ~BIT6;
}
// Send stop bit
_delay_cycles(BITTIME);
if (DEBUG) serialPrintInt(1);
P1SEL |= BIT6;
_delay_cycles(BITTIME);
// Disable PWM on line
P1SEL &= ~BIT6;
P1OUT &= ~BIT6;
if (DEBUG) serialPrintln("");
}
void IMUTester::readSerialCommand() {
int serialData = Serial.read();
if (serialData != -1)
// clear some space
serialPrint("\n\n\n");
switch (serialData)
{
case -1:
break;
case 'i':
//initialize(Serial.read());
break;
case 'a':
reportAccel = toggle(reportAccel);
break;
case 'y':
reportGyro = toggle(reportGyro);
break;
case 'Y':
reportGyroAll = toggle(reportGyroAll);
break;
case 'g':
reportGPS = toggle(reportGPS);
break;
case 'c':
reportComp = toggle(reportComp);
break;
default:
serialPrint("unknown command: ");
serialPrintln(serialData);
}
}
int main(void) {
// Stop whatchdog
WDTCTL = WDTPW + WDTHOLD;
// Set clock to 1 MHz
BCSCTL1 = CALBC1_1MHZ;
DCOCTL = CALDCO_1MHZ;
if (DEBUG) SerialBegin(SERIALSPEED, CLK_SPEED);
// Init the Ports and the timers
initPorts();
if (DEBUG) {
serialPrintln("Init Done!");
serialPrint("CLK at: ");
serialPrintInt(CLK_SPEED);
serialPrintln(" MHz");
serialPrint("PWM at: ");
serialPrintInt(PWM_FREQUZENCY);
serialPrintln(" kHz");
serialPrint("Periode: ");
serialPrintInt(PWM_PERIODE);
serialPrintln(" clkCycles");
}
// Do forever and for always
while(1) {
// If Push Button pressed
if (!(P1IN & BIT3)) {
// Send specifid Code
sendCode(CODE);
// Display sending with LED on
P1OUT |= BIT0;
// Wait so that no Burst can be sended
_delay_cycles(DELAY_BETWEEN_TWO_SENDS);
} else {
// Turn LED off
P1OUT &= ~BIT0;
}
}
}
void AsiMS2000::settingsSet(AxisSettingsF *settings)
{
AxisSettingsF units;
parseXYZArgs(&units);
char buffer [50];
sprintf(buffer, "settings x=%d y=%d z=%d", units.x, units.y, units.z);
debugPrintln(buffer);
if(_isAxis.x) {settings->x = units.x;}
if(_isAxis.y) {settings->y = units.y;}
if(_isAxis.z) {settings->z = units.z;}
serialPrintln(":A");
}
void AsiMS2000::movrel()
{
//TODO: consider unitMultiplier
_busyStatus = true;
AxisSettingsF units;
parseXYZArgs(&units);
AsiSettings.desiredPos.x += units.x;
AsiSettings.desiredPos.y += units.y;
AsiSettings.desiredPos.z += units.z;
serialPrintln(":A");
displayCurrentToDesired("MoveRel");
}
void AsiMS2000::serialPrintln(String data)
{
char buffer [data.length()];
data.toCharArray(buffer, data.length());
serialPrintln(buffer);
}
int digitalRead(uint8_t pin)
{
serialPrintln("Pin Number - %u can't be read", unsigned(pin));
return LOW;
}
void AsiMS2000::version()
{
serialPrintln(":A Ardunio Emulator 0.0.1");
}
void setupBlueToothConnection() {
serialPrint("\r\n+STWMOD=1\r\n");//set the bluetooth work in master mode
//serialPrint("\r\n+STBD=9600\r\n"); // Set the baudrate to 9600
//changeBaud();
serialPrint("\r\n+STNA=SeeedBTMaster\r\n");//set the bluetooth name as "SeeedBTMaster"
serialPrint("\r\n+STPIN=0000\r\n");//Set Master pincode"0000",it must be same as Slave pincode
serialPrint("\r\n+STAUTO=0\r\n");// Auto-connection is forbidden here
//serialPrintln("Size of Int on MSP: ");
//serialPrintInt(sizeof(int));
__delay_cycles(2000000); // This delay is required.
serialFlush();
serialPrint("\r\n+INQ=1\r\n");//make the master inquire
serialPrint("Master is inquiring!");
__delay_cycles(2000000); // This delay is required.
int pos = 0;
//find the target slave
int firstTry = 1;
char recvChar;
//serialPrint(printf("%i", test));
while(1){
if(serialAvailable()){
if (firstTry) {
firstTry = 0;
recvBuf[pos++] = serialRead();
}
else {
recvBuf[pos++] = serialRead();
recvBuf[pos] = 0;
}
}
nameIndex = indexOf(recvBuf, slaveName, 0);//get the position of slave name
if ( nameIndex != -1 && nameIndex > 0){
nameIndex -= 1;//decrease the ';' in front of the slave name, to get the position of the end of the slave address
addrIndex = indexOf(recvBuf, retSymb, (nameIndex - strlen(retSymb) - 18)) + strlen(retSymb);
slaveAddr = subString(recvBuf, addrIndex, nameIndex);
break;
}
}
/*
* Now, that we've found the slave address, connect to the slave.
*/
serialPrintln("Inquiring completed, sending command :");
serialPrintln("connectCmd");
strcat(connectCmd, slaveAddr);
strcat(connectCmd, "\r\n");
int connected = 0;
firstTry = 1;
pos = 0;
while (!connected) {
serialPrint(connectCmd);//send connection command
while(1){
if(serialAvailable()){
if (firstTry) {
firstTry = 0;
recvBuf[pos++] = serialRead();
} else {
recvBuf[pos++] = serialRead();
recvBuf[pos] = 0;
}
}
if (indexOf(recvBuf, "CONNECT:OK", 0) != -1) { //Try to find the OK
connected = 1;
serialPrintln("Connected!");
break;
} else if (indexOf(recvBuf, "CONNECT:FAIL", 0) != -1) {
break;
}
}
}
}
void AsiMS2000::cdate()
{
serialPrintln("2012-02-25 15:30:00");//update for revisions. Does Arduino have a macro for this?
}
void AsiMS2000::returnErrorToSerial(int errornum)
{
char buffer [5];
sprintf(buffer, ":E%d", errornum);
serialPrintln(buffer);
}