char Bot_Init(void)
{
// Initialize modules
AD_Init();
PWM_Init();
// Configure digital pins
IO_PortsSetPortOutputs(MUX_PINS_PORT, MUX_PINS_OR);
IO_PortsSetPortOutputs(MOTOR_PINS_PORT, MOTOR_PINS_LEFT_DIR |
MOTOR_PINS_RIGHT_DIR | MOTOR_PINS_LIFT_DIR | MOTOR_PINS_LIFT_EN);
IO_PortsSetPortOutputs(SENSOR_PINS_PORT, SENSOR_PINS_LEDS);
IO_PortsSetPortInputs(SENSOR_PINS_PORT, SENSOR_PINS_BUMP | SENSOR_PINS_TRACK);
// Init lift motor to off
IO_PortsClearPortBits(MOTOR_PINS_PORT, MOTOR_PINS_LIFT_EN);
// Configure PWM pins
// PWM_SetFrequency(PWM_BOT_FREQUENCY);
// PWM_AddPins(MOTOR_PINS_LEFT_EN | MOTOR_PINS_RIGHT_EN);
// Configure AD pins
AD_AddPins(SENSOR_PINS_BEACON | SENSOR_PINS_TAPE);
return SUCCESS;
}
void EMG_Init()
{
AD_Init();
AD_AddPins(AD_PORTW4); // AD1 for EMG signal
EMG_DIGIPOT_CS_OUT;
EMG_DIGIPOT_CS_SET_LOW;
EMG_DIGIPOT_INC_OUT;
EMG_DIGIPOT_UD_OUT;
EMG_reset();
return;
}
int main(void)
{
unsigned int wait = 0;
int readcount = 0;
unsigned int CurPin = 0;
unsigned int PinListing = 0;
char FunctionResponse = 0;
char TestFailed = FALSE;
//SERIAL_Init();
//INTEnableSystemMultiVectoredInt();
BOARD_Init();
mJTAGPortEnable(0);
printf("\r\nUno A/D Test Harness\r\nThis will initialize all A/D pins and read them %d times\r\n", TIMES_TO_READ);
//printf("Value of pcfg before test: %X\r\n", AD1PCFG);
// while(!IsTransmitEmpty());
//AD_Init(BAT_VOLTAGE);
//AD_Init();
printf("Testing functionality before initialization\r\n");
/*adding pins individually */
printf("AD_AddPins on each pin indvidually which results in failure: ");
for (CurPin = 1; CurPin < ALLADPINS; CurPin <<= 1) {
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != ERROR) {
TestFailed = TRUE;
break;
}
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
TestFailed = FALSE;
/*removing pins individually*/
printf("AD_RemovePins on each pin indvidually which results in failure: ");
for (CurPin = 1; CurPin < ALLADPINS; CurPin <<= 1) {
FunctionResponse = AD_RemovePins(CurPin);
if (FunctionResponse != ERROR) {
TestFailed = TRUE;
break;
}
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
TestFailed = FALSE;
/*listing pins while inactive*/
printf("AD_ActivePins which should return 0: ");
PinListing = AD_ActivePins();
if (PinListing != 0x0) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
// /*calling ned when inactive*/
// printf("AD_End which should fail: ");
// FunctionResponse = AD_End();
// if (FunctionResponse != ERROR) {
// printf("FAILED\r\n");
// } else {
// printf("PASSED\r\n");
// }
/*activating module*/
printf("initializing using AD_Init: ");
FunctionResponse = AD_Init();
if (FunctionResponse != SUCCESS) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
/*attempting to reactivate*/
printf("initializing using AD_Init again returns error: ");
FunctionResponse = AD_Init();
if (FunctionResponse != ERROR) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
printf("Testing Functionality after initialization\r\n");
/*active pins after activation only has battery*/
printf("Ad_ActivePins should only return BAT_VOLTAGE: ");
PinListing = AD_ActivePins();
if (PinListing == BAT_VOLTAGE) {
printf("PASSED\r\n");
} else {
printf("FAILED\r\n");
}
/*each pin added should succeed*/
printf("Adding each pin using AD_AddPins indivdually: ");
for (CurPin = 1; CurPin < ALLADMINUSBATT; CurPin <<= 1) {
PinListing = AD_ActivePins();
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != SUCCESS) {
TestFailed = TRUE;
break;
}
while (AD_ActivePins() != (PinListing | CurPin));
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
/*removing each pin should succeed */
printf("Removing each pin using AD_RemovePins indivdually: ");
for (CurPin = 1; CurPin < ALLADMINUSBATT; CurPin <<= 1) {
PinListing = AD_ActivePins();
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != SUCCESS) {
TestFailed = TRUE;
break;
}
while (AD_ActivePins() != (PinListing | CurPin));
}
if (TestFailed) {
printf("FAIL: %X\r\n", 0xFEED);
} else {
printf("PASSED\r\n");
}
while (1);
printf("We will now add the odd pins and wait for them to be activated");
AD_AddPins(ODD_ACTIVE);
while (!(AD_ActivePins() & ODD_ACTIVE)) {
if (IsTransmitEmpty()) {
printf("%X\r\n", AD_ActivePins());
}
}
printf("The Odd pins are now active as shown by Active pins: %X\r\n", AD_ActivePins());
printf("We will now enable the even pins and wait for them to be activated");
AD_AddPins(EVEN_ACTIVE);
while (!(AD_ActivePins() & EVEN_ACTIVE));
printf("The Even pins are now active as shown by Active pins: %X\r\n", AD_ActivePins());
char numtoread = NUM_AD_PINS;
unsigned char cur = 0;
DELAY(400000)
while (readcount <= TIMES_TO_READ) {
DELAY(100000);
printf("\r\n");
for (cur = 0; cur < numtoread; cur++) {
printf("%d\t", AD_ReadADPin(1 << cur));
}
printf("\r\n");
readcount++;
}
printf("Done Reading Them\r\n");
AD_End();
printf("Value of pcfg after test: %X", AD1PCFG);
return 0;
}
