uchar read_from_keyboard(void)
{
uchar row=0,col=0;
uchar value;
uint i;
//determine the row
value = (PTT & 0x0F );
if( value == 0x0E )
{
row = 0;
}
else if( value == 0x0D )
{
row = 1;
}
else if( value == 0x0B )
{
row = 2;
}
else if( value == 0x07 )
{
row = 3;
}
else
{
return 0xFF;
}
//determine the column
value = 0x1F;
for(i=0; i<4; i++)
{
PTT = value;
delay_short();
if( (PTT & 0x0F) == 0x0F)
{
col = i;
break;
}
value = ((value<<1) | 0x0F);//fill with 1's from the right
}
if( i== 4)
{
return 0xFF;
}
return keyboard_code[4*row+col];
}
//GAME
int main(void){unsigned long i=64,j=0;
PLL_Init(); // Set the clocking to run at 80MHz from the PLL.
LCD_Init(); // Initialize LCD
Piano_Init();
Sound_Init();
ADC_Init(); //initialize ADC
ADC_SetChannel(1); //PE2
Missile_Init();
Enemy1_Init();
LCD_Goto(10,0);
LCD_SetTextColor(255,0,0); // yellow= red+green, no blue
printf("Welcome to Pokemon Capture!");
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
while((GPIO_PORTE_DATA_R&0x01)==0){
LCD_Goto(10,0);
printf("Press any button to begin...");
delay_blink();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_blink();
}
delay_short();
LCD_SetTextColor(255,255,0);
LCD_Goto(0,0);
printf("Tragedy has struck Pallet Town! Four Pokemon have escaped from their Pokeballs, and it's your job to put them back where they belong.");
delay_long();
delay_long();
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
LCD_Goto(0,0);
printf("Use the slider to aim, and when you think you have a shot, press the button to throw your Pokeball.");
delay_long();
delay_long();
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_blink();
LCD_Goto(0,0);
printf("You only have so many Pokeballs, so be smart where you throw them!");
delay_long();
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
LCD_Goto(0,0);
printf("Good luck!");
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
LCD_SetTextColor(255,0,0);
LCD_Goto(0,0);
printf("Captured:");
LCD_SetTextColor(0,255,0);
LCD_Goto(14,0);
printf("Pokeballs Left:");
LCD_SetTextColor(0,0,255);
LCD_Goto(35,0);
printf("Accuracy:");
LCD_DrawLine(10,16,310,16,BURNTORANGE);
Timer2_Init(7256); // 11kHz
SysTick_Init(2666667); //30 Hz
EnableInterrupts();
Pokeballs = 25;
while(1){
if((25-(hits+misses))==0){
if(kill!=4){
DisableInterrupts();
LCD_SetTextColor(255,0,0);
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
LCD_Goto(0,0);
printf("Sorry, you were not able to catch all the Pokemon.");
delay_long();
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
LCD_Goto(0,0);
printf("Try again.");
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
while(1){
LCD_Goto(0,0);
printf("Press RESET to play again.");
delay_blink();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_blink();
}
}
}
if(kill==4){
DisableInterrupts();
LCD_SetTextColor(0,255,255);
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
LCD_Goto(0,0);
printf("Congratulations! You have captured all the Pokemon!");
delay_long();
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
LCD_Goto(0,0);
printf("You are now a Pokemon Master!");
delay_long();
delay_long();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_short();
while(1){
LCD_Goto(0,0);
printf("Press RESET to play again.");
delay_blink();
LCD_DrawFilledRect(0,0,320,80,0x00);
delay_blink();
}
}
if(Semaphore){
LCD_SetTextColor(255,0,0);
LCD_Goto(10,0);
LCD_PrintInteger(kill);
LCD_SetTextColor(0,255,0);
LCD_Goto(30,0);
LCD_PrintInteger(25-(hits+misses));
if((25-(hits+misses))<10){
LCD_Goto(31,0);
printf(" ");
}
LCD_SetTextColor(0,0,255);
LCD_Goto(45,0);
LCD_PrintInteger(hits/(hits+misses));
//draw ship
if(Ship_Position>288){
Ship_Position=288;
}
LCD_DrawBMP(PlayerShip,Ship_Position,220);
LCD_DrawFilledRect(0,220,Ship_Position,9,0x00);
LCD_DrawFilledRect(Ship_Position+32,220,320-(Ship_Position+32),9,0x00);
for(j=0;j<1;j++){
if(Missile[j].life==1){
LCD_DrawBMP(Missile[j].image, Missile[j].x, Missile[j].y);
} else{
LCD_DrawFilledRect(Missile[j].x,Missile[j].y,16,18,0x00);
}
if(Missile[j].y<=18){
LCD_DrawFilledRect(Missile[j].x,Missile[j].y,16,18,0x00);
Missile[j].life=0;
misses++;
}
}
for(i=0;i<4;i++){
if(Enemy1[i].life!=0){
LCD_DrawBMP(Enemy1[i].image,Enemy1[i].x,Enemy1[i].y);
}
else{
LCD_DrawFilledRect(Enemy1[i].x,Enemy1[i].y,32,32,0x00);
}
}
LCD_DrawFilledRect(0,17,320,4,0x00);
Semaphore = 0;
}
}
}
void main(void)
{
//IRQ INITIALIZATION
INTCR_IRQEN = 1; //enables IRQ# interrupts
INTCR_IRQE = 1; //IRQ# interrupts edge-triggered
////////
//FUN BLINKING LIGHTS FOR FUNzies
DDRA = 0xFF;
PORTA_BIT0 = 0;
////////
//KEYBOARD SETUP / PTT is also shared with Input Capture
DDRT = 0xF0; //enable Port T, 7-4 bits for output, bits 3-0 for input
PERT = 0x0F; //enable Port T, bits 3-0 for pull device
PPST = 0x00; //set Port T, bits 3-0 for Pull-Up resistors
PTT = 0x00; //initialize output pins to low
//Port E, bits 1-0 are input always input
////////
//INPUT CAPTURE REGISTER INITIALIZATION
TSCR1_TEN = 1; //enable TCNT (timer counter)
TSCR2 = (0xF8 & TSCR2) | TIMER_PRESCALE;
TIOS_IOS0 = 1; //set TC7 to output compare (TIOS)
TFLG1_C0F = 1; //reset TC7 interupt flags (TFLG1)
TIE_C0I = 1; //enable TC7 interrupts (TIE)
////////
//PWM REGISTER INITIALIZATION
PWMCLK_PCLK5 = 1; //1 to select clock SA
PWMPRCLK = (0xF8 & PWMPRCLK) | A_CLK_PRESCALE;
PWMSCLA = SA_CLK_PRESCALE; //SA = A/(2*SA_CLK_PRESCALE)
PWMPOL_PPOL5 = 1; //PPOL 1 to start high at beginning of period,
//low when duty count is reached
PWMCAE_CAE5 = 0; //0 for left aligned
PWME_PWME5 = 0; //0 to disable initially
PWMPER5 = PWM_PERIOD;//500 Hz
PWMDTY5 = 0; //scaled duty
////////
//ANALOG TO DIGITAL INITIALIZATION
ATDCTL2_ADPU = 1; //Activate Power up
ATDCTL2_AFFC = 0; //Normal flag clear (default)
ATDCTL2_AWAI = 0; //Run in WAIT mode (default)
ATDCTL2_ETRIGE = 0; //No external trigger (default)
// ATDCTL2_ETRIGP = 0; //No external trigger (default)
ATDCTL2_ASCIE = 0; //No interrupts (default)
// ATDCTL2_ASCIF //interrupt flag
delay_short();
ATDCTL3_S8C = 0; //one conversion per sequence
ATDCTL3_S4C = 0;
ATDCTL3_S2C = 0;
ATDCTL3_S1C = 1;
ATDCTL3_FIFO = 0; //result in consecutive registers (default)
ATDCTL3_FRZ = 0; //continue in freeze mode (default)
ATDCTL4_SRES8 = 1; //8-bit resolution (0=10 bit)
ATDCTL4_SMP = 3; //16-clock (max) sample time for accuracy
ATDCTL4_PRS = 1; //prescale fbus(4 MHz) by 4 for range [2MHz...500kHz]
ATDCTL5 = 0x87;
////////
//LED DISPLAY INITIALIZATION
DDRAD = 0x7F; //7 AD conversion, 6 data storage status (1==done),
//5 means PID control 1==ON
//3-0 key pressed
ATDDIEN_IEN7 = 1;
PTAD = 0x00;
////////
//GLOBAL VARIABLE INITIALIZATION
keyboard_state = KEYBOARD_READY;
measurement_state = MEASUREMENT_READY;
control_state = CONTROL_STATE_OPEN;
error[2] = 0;
error[1] = 0;
error[0] = 0;
reference =0;
adc_measurement[1] = 0;
adc_measurement[0] = 0;
last_ditch = 0;
man_integral = 0;
//initialize all the data to zeros
for(measurement_index=0; measurement_index<MEASUREMENT_NUM_SAMPLES; measurement_index++)
{
measurement_storage[measurement_index] = 0;
}
measurement_index=0;
////////
EnableInterrupts; //enable IRQ
while (1)
{
continue;
}
return;
}
uchar read_from_keyboard(void)
{
//SCANNING ROUTINE EXPLANATION
//PTT bits
//correspond to...
//out in
//cols rows
//3210 3210
//the point of this scanning routine is to not trigger a Falling edge on the
//IRQ pin. In other words this routine looks for a rising edge on the input
//from the columns
//column scanning routine
//0b0000 xxxx
//0b0001 xxxx
//if xxxx 1111 then
// col = 0
//0b0011 xxxx
//if xxxx 1111 then
// col = 1
//0b0111 xxxx
//if xxxx 1111 then
// col = 2
//0b1111 xxxx
//if xxxx 1111 then
// col = 3
//otherwise invalid KeyPress
//return 0xFF
////////
char row = 0, col = 0;
uchar value;
uint i;
//determine the row
value = (PTT & 0x0F);
if(value == 0x0E)
{
row = 0;
}
else if (value == 0x0D)
{
row = 1;
}
else if (value == 0x0B)
{
row = 2;
}
else if (value == 0x07)
{
row = 3;
}
//determine the column
value = 0x1F; //0b0001 1111
for(i = 0; i <4; i++ )
{
PTT = value;
delay_short();
if( (PTT & 0x0F) == 0x0F )
{
col = i;
break;
}
value = ((value<<1) | 0x0F);//fill with 1's from the right
}
if( i == 4)//could not read a correct value
{
return 0xFF;
}
//i=0 value=0b0001 1111
//i=1 value=0b0011 1111
//i=2 value=0b0111 1111
//i=3 value=0b1111 1111
return code[4*row+col];
}
static int reset_init_mpu(void) {
msg_t res = MSG_OK;
palSetPadMode(SCL_GPIO, SCL_PAD,
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1);
for(int i = 0;i < 16;i++) {
palClearPad(SCL_GPIO, SCL_PAD);
delay_short();
palSetPad(SCL_GPIO, SCL_PAD);
delay_short();
}
palSetPadMode(SCL_GPIO, SCL_PAD,
PAL_MODE_ALTERNATE(GPIO_AF_I2C1) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1);
I2C_DEV.state = I2C_STOP;
i2cStart(&I2C_DEV, &i2cfg);
chThdSleepMicroseconds(1000);
// Set clock source to gyro x
i2cAcquireBus(&I2C_DEV);
tx_buf[0] = MPU9150_PWR_MGMT_1;
tx_buf[1] = 0x01;
res = i2cMasterTransmitTimeout(&I2C_DEV, mpu_addr, tx_buf, 2, rx_buf, 0, MPU_I2C_TIMEOUT);
i2cReleaseBus(&I2C_DEV);
// Try the other address
if (res != MSG_OK) {
if (mpu_addr == MPU_ADDR1) {
mpu_addr = MPU_ADDR2;
} else {
mpu_addr = MPU_ADDR1;
}
// Set clock source to gyro x
i2cAcquireBus(&I2C_DEV);
tx_buf[0] = MPU9150_PWR_MGMT_1;
tx_buf[1] = 0x01;
res = i2cMasterTransmitTimeout(&I2C_DEV, mpu_addr, tx_buf, 2, rx_buf, 0, MPU_I2C_TIMEOUT);
i2cReleaseBus(&I2C_DEV);
if (res != MSG_OK) {
return 0;
}
}
// Set accelerometer full-scale range to +/- 16g
i2cAcquireBus(&I2C_DEV);
tx_buf[0] = MPU9150_ACCEL_CONFIG;
tx_buf[1] = MPU9150_ACCEL_FS_16 << MPU9150_ACONFIG_AFS_SEL_BIT;
res = i2cMasterTransmitTimeout(&I2C_DEV, mpu_addr, tx_buf, 2, rx_buf, 0, MPU_I2C_TIMEOUT);
i2cReleaseBus(&I2C_DEV);
if (res != MSG_OK) {
return 0;
}
// Set gyroscope full-scale range to +/- 2000 deg/s
i2cAcquireBus(&I2C_DEV);
tx_buf[0] = MPU9150_GYRO_CONFIG;
tx_buf[1] = MPU9150_GYRO_FS_2000 << MPU9150_GCONFIG_FS_SEL_BIT;
res = i2cMasterTransmitTimeout(&I2C_DEV, mpu_addr, tx_buf, 2, rx_buf, 0, MPU_I2C_TIMEOUT);
i2cReleaseBus(&I2C_DEV);
if (res != MSG_OK) {
return 0;
}
// Set low pass filter to 256Hz (1ms delay)
i2cAcquireBus(&I2C_DEV);
tx_buf[0] = MPU9150_CONFIG;
tx_buf[1] = MPU9150_DLPF_BW_256;
res = i2cMasterTransmitTimeout(&I2C_DEV, mpu_addr, tx_buf, 2, rx_buf, 0, MPU_I2C_TIMEOUT);
i2cReleaseBus(&I2C_DEV);
if (res != MSG_OK) {
return 0;
}
#if USE_MAGNETOMETER
// Set the i2c bypass enable pin to true to access the magnetometer
i2cAcquireBus(&I2C_DEV);
tx_buf[0] = MPU9150_INT_PIN_CFG;
tx_buf[1] = 0x02;
res = i2cMasterTransmitTimeout(&I2C_DEV, mpu_addr, tx_buf, 2, rx_buf, 0, MPU_I2C_TIMEOUT);
i2cReleaseBus(&I2C_DEV);
if (res != MSG_OK) {
return 0;
}
#endif
is_mpu9250 = read_single_reg(MPU9150_WHO_AM_I) == 0x71;
return 1;
}
