int main(int argc, char **argv)
{
initialize();
initialize_TIMER0();
clear_array();
PORTC = 0;
USART_send_string("Currently outputing color: \n");
while(1){
for(unsigned int i = 0; i < 8; ++i){
PORTE = i;
switch (state){
case RED:
//PORTE = 1;
update_row(224,0,0);
checkState();
break;
case GREEN:
update_row(0,7,0);
checkState();
break;
case YELLOW:
led_off();
update_row(yellowRow,0,0);
update_row(yellowRow,0,0);
update_row(yellowRow,yellowRow,0);
update_row(yellowRow,0,0);
update_row(yellowRow,0,0);
led_off();
checkState();
break;
}
}
}
}
struct motor_state* allocate_motors()
{
int motor_array_size = sizeof(struct motor_state) * num_motors;
motor_buf = malloc(motor_array_size);
struct motor_state* motors = malloc(motor_array_size);
if (motors == NULL || motor_buf == NULL){
USART_send_string("Error: Could not allocate all required motor storage information. Terminating.\r\n");
exit(1);
} else {
buf_dest = (unsigned char*) motor_buf + motor_array_size - 1;
memset(motors, 0, motor_array_size);
memset(motor_buf, 0, motor_array_size);
USART_send_string("Motor state structures allocated!\r\n");
}
return motors;
}
void initialize(bool verbose)
{
CPU_PRESCALE(0);
USART_init(BAUD_RATE);
USART_transmit('\f'); // Send form feed to clear the terminal.
if (verbose)
USART_send_string("WunderBoard initializing...\r\n");
if (verbose)
USART_send_string("\tSetting ADC prescaler and disabling free running "
"mode...\r\n");
setup_ADC(ADC_PRESCALER_32, FALSE);
if (verbose)
USART_send_string("\tEnabling ADC...\r\n");
ADC_enable();
if (verbose)
USART_send_string("\tSetting ADC reference to Vcc...\r\n");
ADC_set_reference(ADC_REF_VCC);
// Configure IO //
if (verbose)
USART_send_string("\tConfiguring IO...\r\n");
//DDRx corresponds to PORTx/PINx, dependng on direction of data flow --
//PORT for output, PIN for input
DDRA = 0x00; // Buttons and switches
DDRB = 0b11100111; // Red enable, green enable and audio out
DDRC = 0b11111111; // Discrete LEDs
DDRE = 0b01000111; // LED Column
DDRF = 0x00; // Accelerometer
// Disable pullups and set outputs low //
PORTA = 0x00;
PORTB = 0b00000001;
PORTC = 0x00;
PORTE = 0x00;
PORTF = 0x00;
if (verbose)
USART_send_string("\tSetting SPI\r\n");
//Set the SPI bus appropriately to use the LED array
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}