int main (void) {
save_power();
USART0Init();
buttons_init();
tone_init();
int useless_steps = 0;
int state = STATE_GO_OFF;
while (1) {
if (useless_steps >= 1000) {
useless_steps = 0;
state = STATE_GO_OFF;
}
if (state == STATE_GO_OFF) {
state = STATE_IS_OFF;
USART0SendString("");
USART0BacklightOff();
deep_sleep();
}
tick();
if (toggle_state() == 0) {
useless_steps = 0;
USART0BacklightOn();
write_next_chore();
while (toggle_state() == 0) { tick(); } // Wait for button to be released
int seconds = 0;
int miliseconds = 0;
while (1) {
if (toggle_state() == 0) { state = STATE_GO_OFF; notone(); break; }
if (timer_state() == 0) { miliseconds = 0; seconds = 0; notone(); }
miliseconds++;
if (miliseconds >= 1000) {
seconds++;
miliseconds = 0;
}
if (seconds == TIMER_LENGTH) {
tone(4400);
} else if (seconds > 1000) {
seconds = (TIMER_LENGTH + 1);
}
tick();
}
} else {
useless_steps++;
}
}
}
int
main (void)
{
SystemInit ();
debug_init ();
#ifdef DEBUG_LEVEL
debug_set_level (DEBUG_LEVEL);
#endif
DBG_NEWLINE (DBG_LEVEL_INFO);
DBG (DBG_LEVEL_INFO, "HAM relay firmware v" VERSION_STR " (" __GIT_SHA1__ ")");
DBG (DBG_LEVEL_INFO, "Compiled " __DATE__ " at " __TIME__ " on " __BUILD_HOSTNAME__ " using GCC " __VERSION__ " (%d.%d-%d)", __CS_SOURCERYGXX_MAJ__, __CS_SOURCERYGXX_MIN__, __CS_SOURCERYGXX_REV__);
DBG (DBG_LEVEL_INFO, "MCU running at %d MHz", SystemCoreClock / 1000000);
inputs_init ();
systick_init ();
tx_init ();
tone_init ();
roger_beep_init ();
call_init ();
call_transmit_delay (5);
while (1) {
if (!tx_is_enabled ()) {
roger_beep_transmit_if_needed ();
call_transmit_if_needed ();
}
__WFI ();
}
return 0;
}
int main(void)
{
int test_mode;
int vm_present;
int i;
unsigned int seed;
// Needs to be called ASAP as rf need a looooooong time to wake up.
// This function is just sending a pulse over the SCL line.
rf_wakeup();
clock_set_speed(16000000UL,16);
setup_pps();
setup_io();
leds_init();
CHARGE_500MA = 0; // Switch back to 100mA charge.
// Switch on one led to say we are powered on
leds_set(LED_BATTERY_0, 32);
// Enable the poweroff softirq.
_INT3IF = 0;
_INT3IP = 1;
_INT3IE = 1;
// Sound must be enabled before analog, as
// The analog interrupt callback into sound processing ...
// But must be initialised _after_ leds as it use one led IO for enabling amp.
sound_init();
tone_init(); // Init tone generator
pwm_motor_init();
pid_motor_init();
// We need the settings for the horizontal prox.
load_settings_from_flash();
for (i = 0; i < 2; i++) {
// Settings is definitely wrong....
if(settings.mot256[i] <= 0)
settings.mot256[i] = 256;
// 1024 (AD resolution is 10 bits) * 256 / 9 fits in signed 16 bits.
if (settings.mot256[i] < 9)
settings.mot256[i] = 9;
}
// This is the horizontal prox. Vertical one are handled by the ADC
// but ADC sync the motor mesurment with the prox, so we don't pullute it with noise ...
timer_init(TIMER_IR_COMM, 0,-1); // The period will be changed later.
prox_init(PRIO_SENSORS); // Same priority as analog (maybe should be at 7 ...)
// Warning: We cannot use the SD before the analog init as some pin are on the analog port.
analog_init(TIMER_ANALOG, PRIO_SENSORS);
wait_valid_vbat();
log_init(); // We will need to read vbat to be sure we can flash.
ntc_init(ntc_callback, PRIO_1KHZ);
// i2c_init(I2C_3);
i2c_init_master(I2C_3, 400000, PRIO_I2C);
I2C3CON = 0x9000;
mma7660_init(I2C_3, MMA7660_DEFAULT_ADDRESS, acc_cb, 0);
mma7660_set_mode(MMA7660_120HZ, 1);
rc5_init(TIMER_RC5, rc5_callback, PRIO_RC5);
sd_init();
timer_init(TIMER_1KHZ, 1000, 6);
timer_enable_interrupt(TIMER_1KHZ, timer_1khz, PRIO_1KHZ);
rf_init(I2C_3);
timer_enable(TIMER_1KHZ);
sd_log_file();
vm_present = init_aseba_and_fifo();
if(vm_present)
log_analyse_bytecode();
vmVariables.fwversion[0] = FW_VERSION;
vmVariables.fwversion[1] = FW_VARIANT;
// SD file is more important than internal flash
if(!sd_load_aseba_code()) {
log_set_flag(LOG_FLAG_VMCODESD);
vm_present = 1;
log_analyse_bytecode();
}
// Behavior is on INT4 (softirq trigged by 1khz timer).
behavior_init(PRIO_BEHAVIOR);
test_mode = sd_test_file_present();
if(!test_mode)
mode_init(vm_present);
// Enable the LVD interrupt
_LVDIE = 1;
play_sound(SOUND_POWERON);
if(test_mode) {
test_mode_start();
while(1)
idle_without_aseba();
}
while(behavior_enabled(B_MODE))
idle_without_aseba();
// If usb did not put us out of behavior mode, then start the rf link
if(!usb_uart_serial_port_open() && (rf_get_status() & RF_PRESENT)) {
rf_set_link(RF_UP);
}
// get the random seed
seed = 0;
for(i = 0; i < 5; i++) {
seed += vmVariables.buttons_mean[i];
seed += vmVariables.buttons_noise[i];
}
seed += vmVariables.vbat[0];
seed += vmVariables.vbat[1];
for(i = 0; i < 3; i++)
seed += vmVariables.acc[i];
AsebaSetRandomSeed(seed);
for(i = 0; i < 3; i++)
AsebaGetRandom();
// Give full control to aseba. No way out (except reset).
run_aseba_main_loop();
}
int main(int argc, char **argv)
{
struct sigaction sa;
struct tonegend tonegend;
struct cmdopt cmdopt;
cmdopt.daemon = 0;
cmdopt.uid = -1;
cmdopt.path = NULL;
cmdopt.standard = STD_CEPT;
cmdopt.interactive = 0;
cmdopt.sample_rate = 48000;
cmdopt.statistics = 0;
cmdopt.buflen = 0;
cmdopt.minreq = 0;
cmdopt.dtmf_tags = NULL;
cmdopt.ind_tags = NULL;
cmdopt.notif_tags = NULL;
cmdopt.dtmf_volume = 100;
cmdopt.ind_volume = 100;
cmdopt.notif_volume = 100;
parse_options(argc, argv, &cmdopt);
memset(&tonegend, 0, sizeof(tonegend));
memset(&sa, 0, sizeof(sa));
sa.sa_sigaction = signal_handler;
sa.sa_flags = SA_SIGINFO;
if (sigaction(SIGHUP , &sa, NULL) < 0 ||
sigaction(SIGTERM, &sa, NULL) < 0 ||
sigaction(SIGINT , &sa, NULL) < 0 ) {
LOG_ERROR("Failed to install signal handlers");
return errno;
}
if (dbusif_init(argc, argv) < 0 ||
ausrv_init(argc, argv) < 0 ||
stream_init(argc, argv) < 0 ||
tone_init(argc, argv) < 0 ||
envelop_init(argc, argv) < 0 ||
indicator_init(argc, argv) < 0 ||
dtmf_init(argc, argv) < 0 ||
note_init(argc, argv) < 0 ||
interact_init(argc, argv) < 0 ||
rfc4733_init(argc, argv) < 0 ||
notif_init(argc, argv) < 0) {
LOG_ERROR("Error during initialization");
return EINVAL;
}
stream_set_default_samplerate(cmdopt.sample_rate);
stream_print_statistics(cmdopt.statistics);
stream_buffering_parameters(cmdopt.buflen, cmdopt.minreq);
dtmf_set_properties(cmdopt.dtmf_tags);
indicator_set_properties(cmdopt.ind_tags);
notif_set_properties(cmdopt.notif_tags);
dtmf_set_volume(cmdopt.dtmf_volume);
indicator_set_volume(cmdopt.ind_volume);
notif_set_volume(cmdopt.notif_volume);
if (cmdopt.daemon)
daemonize(cmdopt.uid, cmdopt.path);
if ((main_loop = g_main_loop_new(NULL, FALSE)) == NULL) {
LOG_ERROR("Can't create main loop");
return EIO;
}
if ((tonegend.dbus_ctx = dbusif_create(&tonegend)) == NULL) {
LOG_ERROR("D-Bus setup failed");
return EIO;
}
if ((tonegend.ausrv_ctx = ausrv_create(&tonegend,pa_server_name)) == NULL){
LOG_ERROR("Pulse Audio setup failed");
return EIO;
}
if (rfc4733_create(&tonegend) < 0) {
LOG_ERROR("Can't setup rfc4733 interface on D-Bus");
return EIO;
}
if (notif_create(&tonegend) < 0) {
LOG_ERROR("Can't setup notification interface on D-Bus");
return EIO;
}
if (!cmdopt.daemon && cmdopt.interactive) {
if (!(tonegend.intact_ctx = interact_create(&tonegend,fileno(stdin)))){
LOG_ERROR("Can't setup interactive console");
return EIO;
}
printf("Running in interactive mode\n");
}
indicator_set_standard(cmdopt.standard);
g_main_loop_run(main_loop);
LOG_INFO("Exiting now ...");
ausrv_destroy(tonegend.ausrv_ctx);
dbusif_destroy(tonegend.dbus_ctx);
interact_destroy(tonegend.intact_ctx);
if (main_loop != NULL)
g_main_loop_unref(main_loop);
ausrv_exit();
return 0;
}
int main(void)
{
unsigned char cf,key_data;
int vol = 127;
ROMEMU();
da_init();
timer_init();
P6DDR &= ~0x07; /* P60,1,2 入力 */
PADDR |= 0x0f; /* PA0,1,2,3 出力 */
tone_init();
while (1)
{
key_data = 0;
//key 1,2,3
PADR = 0x07; // PA3 = L
cf = P6DR; // データ入力
cf = ~cf; // cfの反転
cf &= 0x07; // P60,1,2のみ見る
switch(cf) {
case 1 : key_data = '1'; break;
case 2 : key_data = '2'; break;
case 4 : key_data = '3'; break;
}
//key 4,5,6
PADR = 0x0b;
cf = P6DR;
cf = ~cf;
cf &= 0x07;
switch(cf) {
case 1 : key_data = '4'; break;
case 2 : key_data = '5'; break;
case 4 : key_data = '6'; break;
}
//key 7,8,9
PADR = 0x0d; /* This is a mistake code. */
cf = P6DR;
cf = ~cf;
cf &= 0x07;
switch(cf) {
case 1 : key_data = '7'; break;
case 2 : key_data = '8'; break;
case 4 : key_data = '9'; break;
}
//key *,0,#
PADR = 0x0e;
cf = P6DR;
cf = ~cf;
cf &= 0x07;
switch(cf) {
case 1 : key_data = '*'; break;
case 2 : key_data = '0'; break;
case 4 : key_data = '#'; break;
}
switch(key_data)
{
case '1':
note_on(DO_L,vol);
break;
case '2':
note_on(RE,vol);
break;
case '3':
note_on(MI,vol);
break;
case '4':
note_on(FA,vol);
break;
case '5':
note_on(SO,vol);
break;
case '6':
note_on(RA,vol);
break;
case '7':
note_on(SI,vol);
break;
case '8':
note_on(DO_H,vol);
break;
default:
note_off();
break;
}
}
return 1;
}
