void i2c_sendbyte(uint8 tms)
{
uint8 i,sdat;
sdat=tms;
for (i=0;i<8;i++)
{
if (sdat&0x80)
{
Sda_High();
}
else
{
Sda_Low();
}
delays(15);
Scl_High();
delays(15);
Scl_Low();
sdat<<=1;
}
Sdac_High();
delays(15);
Scl_High();
delays(15);
if (Sda)
ack=1;
else
ack=0;
Scl_Low();
delays(10);
}
void i2c_start()
{
Sda_High();
delays(15);
Scl_High();
delays(15);
Sda_Low();
delays(15);
Scl_Low();
delays(15);
}
void i2c_ack()
{
delays(15);
if (ack==0)
Sda_Low();
if (ack==1)
Sda_High();
delays(15);
Scl_High();
delays(15);
Scl_Low();
delays(15);
}
virtual void Execute(
puzzler::ILog *log,
const puzzler::CircuitTimingInput *input,
puzzler::CircuitTimingOutput *output
) const override
{
log->LogVerbose("Starting timing analysis");
std::map<unsigned,unsigned> histogram;
std::vector<unsigned> delays(input->flipFlopCount,0);
auto timing_analysis = [&](unsigned i) {
delays[i]=delay(input->wires.at(i), input);
};
tbb::parallel_for<unsigned>(0, input->flipFlopCount, timing_analysis);
for (unsigned i = 0; i < input->flipFlopCount; i++) {
histogram[delays[i]]++;
}
log->LogVerbose("Finished timing analysis, converting histogram");
std::vector<uint32_t> res(histogram.rbegin()->first+1, 0);
for(unsigned i=0; i<res.size(); i++){
if(histogram.find(i)!=histogram.end()){
res.at(i)=histogram.at(i);
}
log->LogInfo(" histogram[%u] = %u", i, res[i]);
}
output->criticalPathHistogram=res;
log->LogVerbose("Finished converting histogram");
}
/*
* Simply a function that prints out a standard welcome message on startup.
*/
void welcome(void){
Lcd_Clear();
Lcd_Set_Cursor(1,1);
Lcd_Write_String(w0);
Lcd_Set_Cursor(2,1);
Lcd_Write_String(w1);
delays(2);
}
void i2c_read()
{
iic_Pull();
i2c_stop();
i2c_start();
i2c_sendbyte(0xa9); //addr
if (ack)
i2c_stop();
else
{
rdat1=i2c_recbyte(); //dat1
ack=0;
i2c_ack();
delays(20);
rdat2=i2c_recbyte(); //dat2
ack=1;
i2c_ack();
delays(20);
}
delays(100);
i2c_stop();
i2c_start();
i2c_sendbyte(0xa8); //addr
if (ack)
i2c_stop();
else
{
// i2c_sendbyte(g_u8LedTxDAT1);
// if(ack)
// i2c_stop();
// else
// {
// i2c_sendbyte(g_u8LedTxDAT2);
// ack=1;
// i2c_ack();
// delays(20);
// }
i2c_sendbyte(g_u8LedTxDAT1);
ack=1;
i2c_ack();
delays(20);
}
}
void main(void)
{
void LCD_disp(int x,int y);
void welcome(void);
TRISD = 0x00;
Lcd_Init();
welcome(); //welcome screen
while(1){
LCD_disp(1,2);
delays(2);
LCD_disp(0,3);
delays(2);
}
}
uint8 i2c_recbyte()
{
uint8 i,dat;
dat=0;
Sdac_High();
for (i=0;i<8;i++)
{
Scl_Low();
delays(15);
Scl_High();
delays(15);
dat<<=1;
if (Sda)
dat|=0x01;
delays(15);
}
Scl_Low();
delays(10);
return(dat);
}
/*Function creates an initiation sequence when motor turns on*/
void on_setup(void){
/*MOTOR ON MESSAGE*/
LCD_title(t4); //Giddy up
delays(1);
//Display run-time message
LCD_title(t6); //"Running"
//If motor is set on while on factory, defaults to manual mode
if (menu_ref_1=1){
menu_ref_1=0;
}
}
//#pragma code highPriorityInterruptAddress=0x0008
//void high_interrupt(void)
//{
// _asm GOTO highPriorityIsr _endasm
//}
//
//#pragma code
void main(void){
//Default
TRISD = 0x00; //set port D signals to output
menu_ref_1=1;
menu_ref_2=0;
/*zone of disgust*/
values[MAXSPEED]=100; //Max speed
values[PIDGAINS]=100; //PID Gains
values[MAXYAW]=100; //Max Yaw
values[IRSAMPE]=10; //ir_samp_e;
values[IRSAMPR]=20; //ir_samp_r;
values[IRRAW]=60; //ir_raw
values[IRAVG]=10; //ir_avg;
/*****************/
setupSerial();
Lcd_Init();
ADC_setup();
Button_Setup();
welcome();
LCD_disp(menu_ref_1, menu_ref_2);
RUN=0;
while(1){
//NORMAL OPERATION
while(RUN==0){
if(PORTDbits.RD0 == 0)
{
mode_button = 1;
}
if(PORTDbits.RD1 == 0)
{
motor_button = 1;
}
if (mode_button==1){ //Mode change sequence
checkMode(menu);
menu_ref_2=0; //Default menu ref, should only be SPEED
delayms(200);
mode_button=0;
LCD_disp(menu_ref_1, menu_ref_2);
}
delayms(200); //Used to prevent double tapping
//possibly new function
switchChannels(0);
joy_x = doADC();
switchChannels(1);
joy_y = doADC();
if(menu_ref_1==MANUAL) //IF IN MANUAL
{
if(joy_x<=LEFT){ //User pushes right joystick left
if(values[menu_ref_2]>0){
values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5%
GLOBAL_MAX_SPEED = values[menu_ref_2];
sendMaxSpeed();
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(200); //Delay to prevent flickering, and also to prevent 100-0 increments
}
else if (joy_x>=RIGHT){ //User pushes right joystick right
if(values[menu_ref_2]<100){
values[menu_ref_2]=values[menu_ref_2]+5; //increment value by 5%
GLOBAL_MAX_SPEED = values[menu_ref_2];
sendMaxSpeed();
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(200);
}
}
else if(menu_ref_1==FACTORY){ //IF IN FACTORY MODE
if (joy_y>=UP){ //User pushes left joystick UP
//Circular selection
if(menu_ref_2==0){
menu_ref_2=4;
}
else{
menu_ref_2--; //switched the order of this to prevent overflow
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(250); //Arbitrary delay of 250 milliseconds
}
else if (joy_y<=DOWN){ //User pushes left joystick DOWN
menu_ref_2++;
//Circular selection
if(menu_ref_2>=7){
menu_ref_2=1;
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(250);
}
else if (joy_x<=LEFT){ //User pushes right joystick left
if(values[menu_ref_2]>0){
values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5%
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(255);
delayms(200);
}
else if (joy_x>=RIGHT){ //User pushes right joystick right
if(values[menu_ref_2]<100){
values[menu_ref_2]=values[menu_ref_2]+5; //decrement value by 5%
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(255);
delayms(200);
}
}
//All other menu_ref_1's do not have values displayed
if (motor_button==1){
motor_button=0;
RUN=1;
}
//send here
}
/*Menu on setup*/
if (RUN==1){
on_setup();
GLOBAL_RUN = RUN;
sendRun();
//MOTOR ON GOES AFTER
motor_button=0;
}
/*MOTOR ON BEHAVIOUR*/
while(RUN==1){
if(PORTDbits.RD1 == 0)
{
motor_button = 1;
}
if (motor_button==1){ //At interrupt, stop motor and return to menu
motor_button=0;
RUN=0;
GLOBAL_RUN = RUN;
sendRun();
}
switchChannels(0);
//GLOBAL_VELOCITY = doADC(); GLOBAL_VELOCITY = doADC() //Get joystick values
joy_y = doADC();
GLOBAL_VELOCITY = joy_y;
switchChannels(1);
joy_x = doADC();
GLOBAL_OMEGA = joy_x;
sendVelocity();
sendOmega();
//send command here
}
/*MOTOR OFF MESSAGE*/
RUN=0;
//MOTOR OFF FUNCTION GOES BEFORE MESSAGE
LCD_title(t5); //"Whoa!"
delays(2); //safety delay
LCD_disp(menu_ref_1, menu_ref_2); //Return to normal display
}
}
