void SwitchLEDExample()
{
LED_Init();
Switch_Init();
unsigned char switch_state = 0;
unsigned char switch_on;
LED_Off(LED0|LED1|LED2|LED3);
while (1)
{
switch_on = Switch_On(SWITCH2);
if (!switch_state && switch_on)
{
LED_On(LED0|LED1|LED2|LED3);
switch_state = 1;
}
else if (switch_state && ~switch_on)
{
LED_Off(LED0|LED1|LED2|LED3);
switch_state = 0;
}
}
}
int main(void){ unsigned long status;
Switch_Init(); // PA5 is input
status = Switch_Input(); // 0x00 or 0x20
status = Switch_Input(); // 0x00 or 0x20
Board_Init(); // initialize PF0 and PF4 and make them inputs
// make PF3-1 out (PF3-1 built-in LEDs)
GPIO_PORTF_DIR_R |= (RED|BLUE|GREEN);
// disable alt funct on PF3-1
GPIO_PORTF_AFSEL_R &= ~(RED|BLUE|GREEN);
// enable digital I/O on PF3-1
GPIO_PORTF_DEN_R |= (RED|BLUE|GREEN);
// configure PF3-1 as GPIO
GPIO_PORTF_PCTL_R = (GPIO_PORTF_PCTL_R&0xFFFF000F)+0x00000000;
GPIO_PORTF_AMSEL_R = 0; // disable analog functionality on PF
while(1){
status = Board_Input();
switch(status){ // switches are negative logic on PF0 and PF4
case 0x01: LEDS = BLUE; break; // SW1 pressed
case 0x10: LEDS = RED; break; // SW2 pressed
case 0x00: LEDS = GREEN; break; // both switches pressed
case 0x11: LEDS = 0; break; // neither switch pressed
default: LEDS = (RED|GREEN|BLUE);// unexpected return value
}
}
}
//------------main----------------------------
int main(void){
PLL_Init();
SysTick_Init();
Switch_Init();
Output_Init();
// print intro screen to lab
printf(" Fixed-point Lab\n");
printf("\n\n\n\n\n\n\n\n\n\n");
printf(" By:\n");
printf(" Brandon Boesch\n");
printf(" Curtis Martin\n");
printf(" Press SW2 to begin\n");
ST7735_DrawBitmap(30, 108, bmp_Logo, 70, 100);
// begin tests
while(PF0 == 0x01){};
Fixed_uDecOut2_test();
while(PF0 == 0x01){};
Fixed_sDecOut3_test();
while(PF0 == 0x01){};
Fixed_uBinOut8_test();
while(PF0 == 0x01){};
// outro screen
Output_Clear();
ST7735_SetCursor(0,0);
printf("Tests complete!");
ST7735_DrawBitmap(6, 159, bmp_thumbs, 114, 146);
while(1){};
}
void HardwareSetup(void)
{
ConfigureOperatingFrequency();
ConfigureOutputPorts();
Switch_Init();
Rtc_Init();
Wdt_Init();
}
void main(){
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ); //pll init
UART_Init(); // initialize UART
Switch_Init(); // initialize switch
XBeeInit();
XBee_CreateTxFrame("hi");
//enable timer interrupts
}
//the main function
int main(void) {
//change the clock to osc0 = 12MHz
AVR32_PM.oscctrl0 = AVR32_PM_OSCCTRL0_MODE_CRYSTAL_G3<<AVR32_PM_OSCCTRL0_MODE_OFFSET | 3<<AVR32_PM_OSCCTRL0_STARTUP_OFFSET;
AVR32_PM.mcctrl |= AVR32_PM_MCCTRL_OSC0EN_MASK;
while (!(AVR32_PM.poscsr & AVR32_PM_POSCSR_OSC0RDY_MASK));
AVR32_PM.mcctrl |= AVR32_PM_MCCTRL_MCSEL_OSC0;
LED_Init();
Switch_Init();
LED_Off(LED0|LED1|LED2|LED3);
unsigned int counter = 0;
unsigned int div = 32;
unsigned int cycle = 0, ccycle = 0;
unsigned int cycle_counter = 0;
while (1)
{
if (cycle)
{
if (counter == 0)
LED_On(LED0|LED1|LED2|LED3);
else if (counter == cycle)
LED_Off(LED0|LED1|LED2|LED3);
}
counter = (counter + 1) % div;
cycle_counter = (cycle_counter + 1) % (2048/div);
if (!cycle_counter)
{
ccycle = (ccycle + 1) % (2*div);
if (ccycle < div)
cycle = ccycle;
else
cycle = 2*div - 1 - ccycle;
}
cpu_delay_us(2000/div, FOSC0);
}
return 0;
}
/*!
* @brief Initialisation thread. runs once.
*/
void InitThread(void *data)
{
for (;;)
{
OS_SemaphoreWait(InitSemaphore, 0);
Random_Init();
//Switches mate
Switch_Init(S1Callback, (void *) 0, S2Callback, (void *) 0);
Toggle_Init(ToggleModeFinished);
Game_Init(GameModeFinished);
Touch_Init();
//Initialize all the modules
LEDs_Init();
I2C_Init(100000, MODULE_CLOCK);
Accel_Init(&AccelSetup);
PIT_Init(MODULE_CLOCK, &PitCallback, (void *) 0);
PIT_Set(500000000, bFALSE);
PIT_Enable(bTRUE);
Packet_Init(BAUD_RATE, MODULE_CLOCK);
Flash_Init();
CMD_Init();
//Best to do this one last
//TODO: disabled for yellow
RTC_Init((void (*)(void*))OS_SemaphoreSignal, (void *) RtcSemaphore);
Timer_Init();
Timer_Set(&PacketTimer);
Timer_Set(&AccTimer);
CMD_SpecialGetStartupValues();
LEDs_On(LED_ORANGE);
}
}
int main(void) {
// Switch the main clock to the external oscillator 0
pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
board_init();
Switch_Init();
LED_Off(LED0|LED1|LED2|LED3);
unsigned int counter = 0;
unsigned int div = 32;
unsigned int cycle = 0, ccycle = 0;
unsigned int cycle_counter = 0;
while (1)
{
if (cycle)
{
if (counter == 0)
LED_On(LED0|LED1|LED2|LED3);
else if (counter == cycle)
LED_Off(LED0|LED1|LED2|LED3);
}
counter = (counter + 1) % div;
cycle_counter = (cycle_counter + 1) % (2048/div);
if (!cycle_counter)
{
ccycle = (ccycle + 1) % (2*div);
if (ccycle < div)
cycle = ccycle;
else
cycle = 2*div - 1 - ccycle;
}
cpu_delay_us(2000/div, FOSC0);
}
return 0;
}
int main(void){
SysTick_Init(); // initialize SysTick timer, see SysTick.c
Switch_Init(); // initialize PF0 and PF4 and make them inputs
EnableInterrupts(); // I=0
//__set_BASEPRI(5<<5);
while(1){
set_reg();
if(SW1){
elapsed = (before-NVIC_ST_CURRENT_R)&0x00FFFFFF;
SW1=0; // Mark it as read
PortF_Output(GPIO_PORTF_DATA_R | 0x04); // Turn Blue LED (PF2) ON
}
if (SW2){
elapsed = (before-NVIC_ST_CURRENT_R)&0x00FFFFFF;
SW2=0;
PortF_Output(0x00); // Turn Red LED (PF1) OFF
}
}
}
//******** OS_AddSW2Task ***************
// add a background task to run whenever the SW1 (PF4) button is pushed
// Inputs: pointer to a void/void background function
// priority 0 is the highest, 5 is the lowest
// Outputs: 1 if successful, 0 if this thread can not be added
// It is assumed that the user task will run to completion and return
// This task can not spin, block, loop, sleep, or kill
// This task can call OS_Signal OS_bSignal OS_AddThread
// This task does not have a Thread ID
// In labs 2 and 3, this command will be called 0 or 1 times
// In lab 2, the priority field can be ignored
// In lab 3, there will be up to four background threads, and this priority field
// determines the relative priority of these four threads
int OS_AddSW2Task(void(*task)(void), unsigned long priority)
{
Switch_Init(task,priority, 0);
return 1;
}
int main(void){
volatile uint32_t delay;
int i;
PLL_Init();
Output_Init();
// CAN0_Open();
DisableInterrupts();
SYSCTL_RCGCGPIO_R |= 0x20;
while((SYSCTL_PRGPIO_R&0x0020) == 0){};// ready?
Count = 0; // allow time to finish activating
// GPIO_PORTF_DIR_R |= 0x04; // make PF2 out (built-in LED)
// GPIO_PORTF_AFSEL_R &= ~0x04; // disable alt funct on PF2
// GPIO_PORTF_DEN_R |= 0x04; // enable digital I/O on PF2
// // configure PF2 as GPIO
// GPIO_PORTF_PCTL_R = (GPIO_PORTF_PCTL_R&0xFFFFF0FF)+0x00000000;
// GPIO_PORTF_AMSEL_R = 0; // disable analog functionality on PF
GPIO_PORTF_LOCK_R = 0x4C4F434B; // 2) unlock GPIO Port F
GPIO_PORTF_CR_R = 0x1F; // allow changes to PF4-0
GPIO_PORTF_AMSEL_R = 0x00; // 3) disable analog on
GPIO_PORTF_DIR_R &= ~0x03; // make PB6 in
GPIO_PORTF_AFSEL_R |= 0x03; // enable alt funct on PB6
GPIO_PORTF_DEN_R |= 0x03; // enable digital I/O on PB6
// configure PB6 as T0CCP0
GPIO_PORTF_PCTL_R = (GPIO_PORTF_PCTL_R&0xFFFFFF00)+0x00000077;
GPIO_PORTF_AMSEL_R &= ~0xFF; // disable analog functionality on PB6
SYSCTL_RCGCGPIO_R |= 0x01;
delay = SYSCTL_RCGCGPIO_R; // 2) allow time for clock to stabilize
delay = SYSCTL_RCGCGPIO_R;
GPIO_PORTA_DIR_R |= 0x01; // 3.11) make PA6 output
GPIO_PORTA_AFSEL_R &= ~0x01; // 4.11) disable alternate function on PA6
GPIO_PORTA_DEN_R |= 0x01; // 5.11) enable digital I/O on PA6
GPIO_PORTA_AMSEL_R = 0; // 6.11) disable analog functionality on PA6
Switch_Init();
Init_Timer4A();
Timer4A_Wait(80000000); //wait 1 sec
Init_Timer5A(80000);
ADC0_InitTimer3ATriggerSeq3PD3(6000);
ADC0_InitTimer3BTriggerSeq2PD2(5500);
TimerCapture_Init(UserTask2);
InitMotors();
EnableInterrupts();
while(1) {
getSensorValues();
printSensorValues(0);
if(buttonL) {
printSensorValues(6);
ControlMotors(35000,35000);
ST7735_SetCursor(0,8);ST7735_OutString("Buttonback");
buttonL = 0;
for(i = 0; i < 1440000; i++);
}
if(buttonR) {
printSensorValues(6);
ControlMotors(35000,35000);
ST7735_SetCursor(0,1);ST7735_OutString("ButtonR");
buttonR = 0;
for(i = 0; i < 1440000; i++);
}
if (Ping1 < 18) {
//ControlMotors(40000, 40000);
ST7735_SetCursor(0,1);
ST7735_OutString("Stopped");
printSensorValues(3);
// while(1) {
ST7735_SetCursor(0,1);ST7735_OutString("Stopped");
getSensorValues();
printSensorValues(0);
// }
if(IR_L > IR_R) {
ControlMotors(35000,35000);
ST7735_SetCursor(0,8);ST7735_OutString("BL");
}
else {
ControlMotors(35000,35000);
ST7735_SetCursor(0,8);ST7735_OutString("BR");
}
for(i = 0; i < 1440000; i++);
}
else if (((Ping2 > 80) != (Ping3 > 80)) && (Ping1 < 40)) {
if (Ping2>80) {
//spot turn right
ControlMotors(20000, 60000);
}
if (Ping3>80) {
//spot turn left
ControlMotors(60000, 20000);
}
// ControlMotors(40000,40000);
}
else if(IR_L < 1500 && IR_R < 1500) {
ControlMotors(70000,65000);
ST7735_SetCursor(0,8);ST7735_OutString("FO");
}
else if(IR_L < IR_R) {
ControlMotors(70000,50000);
ST7735_SetCursor(0,8);ST7735_OutString("LE");
}
else if(IR_R < IR_L) {
ControlMotors(70000,72000);
ST7735_SetCursor(0,8);ST7735_OutString("RI");
}
}
}
