//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
uartSetBaudRate(9600);
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// turn on and initialize A/D converter
a2dInit();
// initialize the timer system
timerInit();
// initialize vt100 terminal
vt100Init();
// configure port B for led output and pushbutton input
outb(DDRB, 0x0F);
// all LEDs on
outb(PORTB, 0x00);
// wait for hardware to power up
timerPause(100);
// all LEDs off
outb(PORTB, 0x0F);
// start command line
goCmdline();
return 0;
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
u16 a=0;
u08 i=0;
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// turn on and initialize A/D converter
a2dInit();
// print a little intro message so we know things are working
vt100ClearScreen();
vt100SetCursorPos(1,1);
rprintf("Welcome to the a2d test!\r\n");
// configure a2d port (PORTA) as input
// so we can receive analog signals
DDRA = 0x00;
// make sure pull-up resistors are turned off
PORTA = 0x00;
// set the a2d prescaler (clock division ratio)
// - a lower prescale setting will make the a2d converter go faster
// - a higher setting will make it go slower but the measurements
// will be more accurate
// - other allowed prescale values can be found in a2d.h
a2dSetPrescaler(ADC_PRESCALE_DIV32);
// set the a2d reference
// - the reference is the voltage against which a2d measurements are made
// - other allowed reference values can be found in a2d.h
a2dSetReference(ADC_REFERENCE_AVCC);
// use a2dConvert8bit(channel#) to get an 8bit a2d reading
// use a2dConvert10bit(channel#) to get a 10bit a2d reading
while(1)
{
// sample all a2d channels and print them to the terminal
vt100SetCursorPos(2,1);
for(i=0; i<8; i++)
{
rprintf("Channel %d: %d \r\n", i, a2dConvert8bit(i));
}
// print the sample number so far
rprintf("Sample # : %d \r\n", a++);
}
return 0;
}
void setup() {
uart0Init();
uartSetBaudRate(0, 9600);
rprintfInit(uart0SendByte);
//rprintf("Hello.."); rprintfCRLF();
rprintf("$Id: psp_joystick.c,v 1.1.1.1 2007/08/21 05:14:23 julian Exp $");
vt100Init();
sbi(DDRD, DDD4); // output PD4
sbi(PORTD, PD4); // set it high
cbi(DDRD, DDD5); // input PD5
sbi(PORTD, PD5); // set it low
cbi(DDRA, DDA0); // input (one axis)
cbi(DDRA, DDA1); // input (the other axis)
//cbi(DDRA, DDA2); // input
//sbi(DDRA, DDA3); // output
//sbi(PORTA, PA0);
//sbi(PINA, PINA0); // set high
//sbi(PINA, PA3);
a2dInit();
// set up the power pulse LED
TCCR0A |= (1<<WGM00) | (1<<COM0A1); // mode 1, phase-correct PWM
TCCR0B |= (1<<CS02); // clk/256 from prescaler
//TCCR0B |= (0<<CS02) | (1<<CS01) | (1<<CS00); // clk/64
// set up and enable the power pulse thing
TCNT0 = 0x00;
sbi(TIMSK0, TOIE0);
sbi(DDRB, DDB3); // output on the LED
sbi(PORTB, PB3); // turn it on
u08 i, j;
for(j=0; j<1; j++) {
for(i=0; i<10; i++) {
_delay_ms(32);
}
cbi(PORTB, PB3);
for(i=0; i<10; i++) {
_delay_ms(32);
}
sbi(PORTB, PB3);
for(i=0; i<10; i++) {
_delay_ms(32);
}
}
cbi(PORTB, PB3);
sei();
}
void init_peripherals()
{
// LED
DDRC |= (1<<2);
// accel pins
lis3l_init();
// UART
uartInit();
uartSetBaudRate(19200);
uartSetFrameFormat(8, 0, 1);
rprintfInit(uartAddToTxBuffer);
cbi(DDRB, 1); // XBee CTS on PB1
// I2C
itg3200_i2cInit(200);
sbi(PORTC, 0); // i2c SCL on ATmega163,323,16,32,etc
sbi(PORTC, 1); // i2c SDA on ATmega163,323,16,32,etc
cbi(TWCR, TWIE); // disable interrupt
// itg3200_i2cSetBitrate(200); // todo, check if if w ecan do 200
// SPI
mySpiInit();
// a2d
a2dInit();
a2dSetReference(ADC_REFERENCE_256V);
a2dSetChannel(7);
cbi(PORTA, 7);
cbi(DDRA, 7);
a2dStartConvert();
_delay_ms(50);
// accel
BOOL accelOkay = lis3l_Reset();
itg3200_init();
// switch xbee to higher baudrate
// rprintfStr("+++");
// _delay_ms(55);
// rprintfStr("ATBD6,CN\r");
}
int main(void)
{
uartInit();
uartSetBaudRate(115200);
rprintfInit(uartSendByte);
a2dInit();
timerInit();
vt100Init();
return 0;
}
int main(void) {
configure_ports();
a2dInit();
a2dSetPrescaler(ADC_PRESCALE_DIV32);
a2dSetReference(ADC_REFERENCE_AVCC);
init_servos();
LED_on();
neutral();
hold_pos();
while (1) {
move_forward();
// sustain_pos();
}
return 0;
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
uint8_t a=0;
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// turn on and initialize A/D converter
a2dInit();
// initialize the timer system
timerInit();
// print a little intro message so we know things are working
rprintf("\r\nWelcome to AVRlib!\r\n");
// initialize LCD
lcdInit();
// direct printf output to LCD
rprintfInit(lcdDataWrite);
// print message on LCD
rprintf("Welcome to AVRlib!");
DDRA = 0x00;
PORTA = 0x00;
// display a bargraph of the analog voltages on a2d channels 0,1
while(1)
{
lcdGotoXY(0,0);
lcdProgressBar(a2dConvert8bit(0), 255, 20);
rprintf(" X: %d", a2dConvert8bit(0));
rprintf(" Sample: %d", a++);
lcdGotoXY(0,1);
lcdProgressBar(a2dConvert8bit(1), 255, 20);
rprintf(" Y: %d", a2dConvert8bit(1));
}
return 0;
}
int main (void)
{
// initialize
uartInit();
timerInit();
a2dInit();
glcdInit();
outb(DDRA, 0x00);
// send rprintf output to serial port
rprintfInit(uartSendByte);
// print welcome message to serial port
rprintfProgStrM("\r\nWelcome to glcdtest...\r\n");
// send rprintf output to lcd display
rprintfInit(glcdWriteChar);
// perform basic functionality tests
rprintfProgStrM("All initialized...");
glcdSetAddress(4,LINE2);
glcdWriteChar('H');
glcdWriteChar('E');
glcdWriteChar('L');
glcdWriteChar('L');
glcdWriteChar('O');
glcdSetAddress(4,LINE3);
rprintfProgStrM("line 3");
glcdSetAddress(4,LINE4);
rprintfProgStrM("line 4");
glcdSetAddress(4,LINE5);
rprintfProgStrM("line 5");
// run application program
//oscope();
lcdtest();
return 0;
}
int main(void)
{
/* Voyant ON */
DDRD |= (1<<DDD7);
PORTD |= (1<<PD7);
/* Voyant POWER */
DDRB |= (1<<DDB3);
PORTB |= (1<<PB3);
TCCR2 = (0<<FOC2)|(1<<WGM20)|(1<<COM21)|(0<<COM20)|(1<<WGM21)|(0<<CS22)|(0<<CS21)|(1<<CS20);
OCR2=0;
init_uart();
init_output();
a2dInit(); // init analog to digital converter
// pos=0x00; // MIN
pos=0x7F; // MED
// pos=0xFF; // MAX
while (1)
{
//pos=a2dConvert8bit(0);
//pos=a2dConvert8bit(0);
pos=a2dConvert10bit(0);
//OCR1A=(pos<<2) + MIN_WIDTH; // 1000 approx 1024
//OCR1A=((((double) pos)*1000.0)/255.0) + MIN_WIDTH;
OCR1A=((((double) pos)*1000.0)/1023.0) + MIN_WIDTH;
OCR2=pos>>2; /* voyant POWER */
rprintf("Testeur de servo en cours...Sebastien CELLES... %d\r\n",OCR2);
};
return 0;
}
void init(void)
{
//Make outputs low
cbi(PWM_PORT, PWM_BIT);
cbi(SD_PORT, PWM_BIT);
//Make outputs outputs
sbi(PWM_DDR, PWM_BIT);
//Pull-up swithces
sbi(ESTOP_PORT, ESTOP_BIT);
sbi(BRAKE_PORT, BRAKE_BIT);
//RGB Outputs
sbi(RGB_DDR, RED);
sbi(RGB_DDR, GREEN);
sbi(RGB_DDR, BLUE);
//RGB Off
sbi(RGB_PORT, RED);
sbi(RGB_PORT, GREEN);
sbi(RGB_PORT, BLUE);
//Initialise the ADC
a2dInit();
//Initialise timer 1
timer1Init();
timer1SetPrescaler(TIMER_CLK_DIV1);
timer1PWMInitICR(TOP_COUNT); //Enable PWM with top count
timer1PWMAOn(); //Turn PWM on
rgb(green);
sei(); //Enable interupts
}
void setup() {
uart0Init();
uartSetBaudRate(0, 9600);
rprintfInit(uart0SendByte);
rprintf("$Id$");
// this goes to the switch common
sbi(DDRA, DDA0); // output on PA0
sbi(PORTA, PA0); // take it high
cbi(DDRA, DDA1);
cbi(DDRA, DDA2);
cbi(DDRA, DDA3);
cbi(DDRA, DDA4);
cbi(DDRA, DDA5);
a2dInit();
a2dSetReference(ADC_REFERENCE_AVCC);
a2dSetPrescaler(ADC_PRESCALE_DIV128);
sbi(DDRB, PB3); // output for the LED
sbi(PORTB, PB3);
}
int main(void)
{
/****************INITIALIZATIONS*******************/
//other stuff Im experimenting with for SoR
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 9600); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it
uartSetBaudRate(2, 57600); // set UARTH speed
uartSetBaudRate(3, 57600); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
// initialize rprintf system and configure uart1 (USB) for rprintf
rprintfInit(uart1SendByte);
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
rprintf("\r\nSystem Warming Up");
// initialize the timer system (comment out ones you don't want)
init_timer0(TIMER_CLK_1024);
init_timer1(TIMER_CLK_64);
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_1024);
//timer5Init();
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
int i = 0, j = 0;
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
while(1)
{
control();
delay_cycles(100);
//an optional small delay to prevent crazy oscillations
}
return 0;
}
void prvSetupHardware(){
int i, j;
//add 1.7s delay for potential power issues
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 38400); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it doesn't work
uartSetBaudRate(2, 38400); // set UARTH speed
uartSetBaudRate(3, 38400); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
rprintfInit(uart1SendByte);// initialize rprintf system and configure uart1 (USB) for rprintf
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
//rprintf("\r\nSystem Warmed Up");
// initialize the timer system
init_timer0(TIMER_CLK_1024);
// init_timer1(TIMER_CLK_64); // Timer 1 is initialized by FreeRTOS
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_64);
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
//reset all timers to zero
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
/********PWM Setup***********/
prvPWMSetup();
}
