int main(void)
{
_delay_ms(1000);
char buf[10], a = 0;
init_UART_MM();
send_MM_cmd("Hi\r", 0);
init_SPI();
Current_state.gps.x = 1;
Current_state.gps.y = 2;
Current_state.gps.z = 3;
while(1)
{
_delay_ms(2000);
a++;
sprintf(buf, "sent %d", a);
send_MM_cmd(buf, 0);
slave_send (HM_DATA, (char *)&Current_state, sizeof (struct state));
}
return 0;
}
int main()
{
init_timer();
init_serial();
init_SPI();
init_ATX_power();
sei();
enable_ATX_power();
delay_milliseconds(100);
next_update_time = millisecond_time() + FRAME_MS;
SPI_write_byte(0x00);
while (true) {
const uint8_t b1 = MAX_BRIGHTNESS / 4;
const uint8_t b2 = MAX_BRIGHTNESS * 3 / 4;
const uint8_t b3 = MAX_BRIGHTNESS;
ramp(0, b1, set_LEDs_white);
ramp(b1, 0, set_LEDs_white);
ramp(0, b2, set_LEDs_CMY);
ramp(b2, 0, set_LEDs_CMY);
ramp(0, b3, set_LEDs_RGB);
ramp(b3, 0, set_LEDs_RGB);
}
}
// main function
void main(){
WDTCTL = WDTPW + WDTTMSEL+ WDTCNTCL + 0; // setup using the watchdog timer, using the 8MHz clock, 00 us /32768
BCSCTL1 = CALBC1_8MHZ; // 8Mhz calibration for clock
DCOCTL = CALDCO_8MHZ;
init_timer(); // initialize timer
init_button(); // initialize the button
// clear/initialize the global variables
xaxis_calibrate=0;
yaxis_calibrate=0;
x_axis=0;
y_axis=0;
z_axis=1;
count= 100;
P1REN = BUTTON_BIT;
P1DIR |= LED_center; //(BUTTON_BIT+LED_Xaxis+LED_Yaxis+LED_center);
P1OUT &= ~LED_center;
init_SPI();
init_accel();
IE1 |= WDTIE; //enable the WDT interrupt
_bis_SR_register(GIE+LPM0_bits); // enable general interrupts and power down CPU
}
void main(void) {
int i;
char status;
char str[100];
init(); // initialize PIC
init_soft_uart();
init_SPI();
GIE = 0; // disable all PIC's interrupts
LATB2 = 0; // LED0 off
for (i=0;i<100;i++) __delay_ms(10);
uart_write_s("init ok !\n\r");
init_RC522();
while (1)
{
status = MFRC522_Request(PICC_REQIDL, str); // check if card is present
if (status == MI_OK)
{
uart_write_s("ok card ! \n\r");
if (MFRC522_ReadCardSerial(str) == MI_OK) // get UID
{
uart_write_s("UID = "); // and display it
uart_write_hex_c(*(str+0));
uart_write_hex_c(*(str+1));
uart_write_hex_c(*(str+2));
uart_write_hex_c(*(str+3));
uart_write_s("\n\r");
}
LATB2 = 1; // blink LED0
for (i=0;i<10;i++) __delay_ms(10); // .
LATB2 = 0; // .
for (i=0;i<10;i++) __delay_ms(10); // .
LATB2 = 1; // .
for (i=0;i<10;i++) __delay_ms(10); // .
LATB2 = 0; // .
for (i=0;i<10;i++) __delay_ms(10); // .
LATB2 = 1; // .
for (i=0;i<10;i++) __delay_ms(10); // .
LATB2 = 0; // .
for (i=0;i<10;i++) __delay_ms(10); // .
}
//for (i=0;i<50;i++) __delay_ms(10);
LATB2 = 1; // Blink LED0, visual normal operation works, before watchdog dev
__delay_ms(10);
LATB2 = 0;
__delay_ms(10);
}
return;
}
int main(void)
{
// ADC Configuration
ADMUX = 0x00; // AREF, ADC0
ADCSRB = 0x00; // Free Running Mode
ADCSRA |= (1<<ADEN)|(1<<ADIE); // Enable ADC, ADC interrupt
ADCSRA |= (1<<ADPS2)|(0<<ADPS1)|(1<<ADPS0); // prescaler 32
DIDR0 |= (1<<ADC0D); // disable digital input
// SPI and Display Configuration
init_SPI();
send_cmd(SHUTDOWN_ADDR, SHUTDOWN_DISPLAY_ON);
send_cmd(DECODE_MODE_ADDR, DECODE_MODE_NO_DECODE);
send_cmd(INTENSITY_ADDR, INTENSITY_MAX);
send_cmd(SCAN_LIMIT_ADDR, SCAN_LIMIT_MAX);
blank_display();
// Test all pixels at startup
send_cmd(DISPLAY_TEST_ADDR, DISPLAY_TEST_ON);
_delay_ms(500);
send_cmd(DISPLAY_TEST_ADDR, DISPLAY_TEST_OFF);
_delay_ms(500);
sample = 0;
sei();
ADCSRA |= (1<<ADSC); // Start ADC
while(1);
}
int main(void)
{
uint8_t pressed=0,new_button_state,last_button_state;
init_SPI();
init_LED();
init_PB();
#ifdef MASTER
STM_EVAL_LEDOn(LED5);
xTaskCreate(pb_task,
(signed portCHAR *) "Push Button Task",
512 /* stack size */, NULL, tskIDLE_PRIORITY + 2, NULL);
#else
xTaskCreate(spi_recv_msg_task,
(signed portCHAR *) "SPI Recv Task",
512 /* stack size */, NULL, tskIDLE_PRIORITY + 2, NULL);
#endif
/* Start running the tasks. */
vTaskStartScheduler();
STM_EVAL_LEDOff(LED5);
return 0;
}
void soc_family_init(void)
{
init_sysclk();
init_exception_prio();
/* Enable peripheral clocks. */
init_peripheral_clocks();
/* Set up IO pin direction and mode registers. */
init_io();
#ifdef SYSTEM_SOC_CORTEXM3_STM32_GPIO_USED
/* Set up GPIO. */
init_GPIO();
#endif
#ifdef SYSTEM_SOC_CORTEXM3_STM32_USART_USED
/* Set up USART. */
init_USART();
#endif
#ifdef SYSTEM_SOC_CORTEXM3_STM32_SPI_USED
/* Set up SPI. */
init_SPI();
#endif
}
/*---------------------------------------------------------------------------*/
void init(void) {
init_PORT();
init_TRIS();
init_ANSEL();
init_UART();
init_SPI();
init_TMR();
init_OSC();
}
// main.c
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
uint8_t eg_Counter = 0;
uint8_t eg_Counter2;
uint8_t read[1]; // Hub's copy array
initialize_Ports(); // Init all non used ports
initialize_Clocks(); // Sets up timers (takes care of FRAM issue)
uint8_t pin_Setting = 2; // selects the pins used for 6989
uint8_t device_CS = 1; // selects the SYNC/SS pin (5k POT)
init_SPI (2, 1); // 2 is slave (changed in header and course file)
// clk_Rate -> 8 = 8MHz, 4 = 4MHz, 2 = 2.67MHz, 1 = 1MHz (currently only at 1MHz)
//P1.4 - CLK, P1.6 - SIMO, P1.7 - SOMI, 4.1 - GPIO
// flash_LED_2(1,10); // make hub wait
// P4OUT |= BIT1;
// UCB0TXBUF = 0x50;
////////////////////////// Hub ////////////////////////////////////////
// for (eg_Counter = 0; eg_Counter < 10; ++eg_Counter) { //loop 10 times
// read_SPI (); // device 0 is Hub
// read[0] = g_RXData; // saves values read in array
// }
for (i = 0; i < 10; ++i) {
write_uint8_SPI (array[i], device_CS);
if (UCB0RXBUF != 0xAA) {
write_uint8_SPI (array[i], device_CS);
}
//++j;
}
write_uint8_SPI (0xFF, device_CS);
/*
while (read[0] = 0x00) {
read_SPI (); // device 0 is Hub
read[1] = g_RXData;
++error_Counter;
}
if (read[0] == 0x40) { //changed reading to 16 bytes in the SPI_Polling .h .c
write_uint8_SPI (0x50, device_CS);
// write_uint16_SPI (0xBB, device_CS);
// write_uint16_SPI (0xCC, device_CS);
LED_1_On();
}else {
write_uint8_SPI (0xF0, device_CS);
LED_2_On();
}
/* for (eg_Counter2 = 0; eg_Counter2 < 10; ++eg_Counter2) { //loop 10 times
write_uint16_SPI (read[eg_Counter2], device_CS); // device 0 is Hub
}
*/
while (1) {}
}
void LSM_initSPI()
{
/* Initialize SPI */
init_SPI();
/* CS HIGH */
LSM_CSG_HIGH;
LSM_CSXM_HIGH;
}
void init(void)
{
//init_RCC();
/* RCC_Configuration */
RCC_Configuration();
init_GPIO();
init_SPI();
NVIC_Configuration();
USART_Configuration();
init_printf(0,putc);
}
int main(void)
{
unsigned char i, chksum;
ioinit();
init_SPI();
sbi(CSPORT,CS);
printf("********RFM22 Communication Test********\n");
//====================//
//Communications Test
printf("Reading DTYPE register, should be 0x08: %d", read(DTYPE));
printf("\n*****************************************\n\n");
init_RFM22(); // Initialize all RFM22 registers
printf("Entering RX Mode...\n");
to_rx_mode();
while(1)
{
if((PIND & (1<<NIRQ)) == 0) //Interrupt will be generated if data is recieved
{
// Read 18-byte packet into RF_RXBUF[]:
for(i=0; i<17; i++)
{
RF_RXBUF[i] = read(0x7F);
}
// Check that the checksum matches up:
chksum = 0;
for(i=0; i<16; i++)
chksum += RF_RXBUF[i];
// If checksum is good, print out what was received into the terminal
if(chksum == RF_RXBUF[16])
{
write(0x07, 0x01); // To ready mode
printf("Received: ");
for(i=0; i<17; i++)
printf("%c", RF_RXBUF[i]); // Print characters if passed the checksum
printf("\n");
//printf("To Ready mode\n");
}
// otherwise reset and start listening again
else
{
rx_reset();
//printf("Bad checksum RX RESET...Listening again\n");
}
delay_ms(50);
}
}
}
bool BoardSupportPackage::init() {
bool result = false;
SysTick_Config(SystemCoreClock/BSP_TICKS_PER_SECOND);
initRCC();
initGPIO_Power();
initGPIO_Fan();
init_DHT11();
init_SPI();
init_TIM();
init_PWM();
screenInit();
result = true;
return result;
}
int main()
{
init_timer();
init_SPI();
init_ATX_power();
sei();
enable_ATX_power();
repeat_LEDs_off();
uint32_t d = ROTATION_SECONDS * 1000L / (6 * 127);
wait_for_it(d);
#if 0
while (true) {
for (uint8_t i = 0; i < 6; i++) {
for (uint8_t j = 0; j < 127; j++) {
wait_for_it(0);
uint8_t r, g, b;
calc_color(i, j, &r, &g, &b);
set_LEDs_color(r, g, b);
}
}
}
#else
while (true) {
for (uint8_t i = 0; i < 6; i++) {
for (uint8_t j = 0; j < 127; j++) {
wait_for_it(0);
begin_LEDs_refresh();
for (uint8_t p = 0; p < PIXEL_COUNT; p++) {
uint8_t r=0, g=0, b=0;
uint8_t ii = i, jj = j + 4 * p;
if (jj >= 127) {
jj -= 127;
if (++ii == 6) ii = 0;
}
calc_color(ii, jj, &r, &g, &b);
set_pixel_color(r, g, b);
}
end_LEDs_refresh();
}
}
}
#endif
}
int main(void)
{
//init_USART();
init_SPI();
init_ster();
lcd_init();
LCD_DISPLAY(LCDDISPLAY);
lcd_puts("KAROL");
if(GetRegister(STATUS) == 0x0E)
{
LED_ON;
_delay_ms(1000);
LED_OFF;
_delay_ms(1000);
}
LCD_CLEAR;
NRF24L01_init();
while(1)
{
reset();
receive_payload();
if(((GetRegister(STATUS) & (1<<RX_DR)) != 0))
{
LED_ON;
_delay_ms(10);
//LCD_CLEAR;
receive_buffer=WriteReadToNrf(R,R_RX_PAYLOAD,receive_buffer,5);
X_acc=receive_buffer[0];
Y_acc=receive_buffer[1];
Z_acc=receive_buffer[2];
ster(X_acc,Y_acc);
LCD_LOCATE(0,0);
sprintf(Text_buff,"%3d",X_acc);
lcd_puts(Text_buff);
LCD_LOCATE(0,1);
sprintf(Text_buff,"%3d",Y_acc);
lcd_puts(Text_buff);
LED_OFF;
}
}
}
int main(void) {
uint8_t dest[] = {0x02,0x17,0x31,0x88,0xAF,0x4B};
uint8_t data[100];// = {0x11,0x23,0x58};
uint8_t buffer[100];
uint8_t sendData[100];
uint8_t packetId=0;
uint8_t packetSize;
uint16_t nextPacket;
uint16_t j;
//initialize
DDRA = 0xFF; //set PORTA to output
wdt_disable(); //disable watchdog
init_SPI(); //init SPI
src_ENC(); //init ENC
init_ENC();
rxen_ENC(); //start reading packets
//read packets
while(1);
}
static void system_init(void)
{
_asm sei;
#ifdef FLASH
///// pll_init(); // solo para flash (ver config.h)
#endif
QueueInit();
Sci_Init();
PORTA = 0x00;
DDRA = 0xFF;
init_SPI();
atd_init();
rti_start();
speed=DEFAULT_SPEED; // message shift speed
Led_intensity=DEFAULT_INTENSITY;
// rti_init();
_asm cli;
}
int main()
{
init_timer();
init_SPI();
init_ATX_power();
sei();
enable_ATX_power();
repeat_LEDs_off();
uint16_t refresh_ms = STRIPE_MS / PIXEL_COUNT;
while (true) {
for (uint8_t i = 0; i < PIXEL_COUNT; i++) {
uint8_t j = abs(PIXEL_COUNT / 2 - i);
uint8_t k = PIXEL_COUNT - j - 1;
uint8_t j1 = (2 * j + PIXEL_COUNT) / 4;
uint8_t k1 = (2 * k + PIXEL_COUNT) / 4;
begin_LEDs_refresh();
for (uint8_t p = 0; p < PIXEL_COUNT; p++) {
uint8_t r = 127, g = 127, b = 127;
r = g = b = 63;
if ((j <= p && p < j1) || (k1 <= p && p < k)) {
r = 127;
g = 63;
b = 0;
}
set_pixel_color(r, g, b);
}
end_LEDs_refresh();
wait_for(refresh_ms);
}
set_LEDs_level(63);
wait_for(IDLE_MS);
}
}
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // 关闭看门狗
__enable_interrupt(); //使能全局中断
init_key(); //初始化按键的管脚设置
init_LCD_hardware(); //初始化LCD液晶显示屏的管脚设置
SetVCore(3); //设VCore为最大,提高Vcore电压到最高级，以满足倍频需求该函数位于HAL_PMM.H中
initClocks(20000000); //初始化时钟20MHz
init_SPI(); //初始化SPI
ILI9325_CMO24_Initial();
SPILCD_SetWindow(0,480-1,0,320-1);
SPILCD_Clear(WHITE);
P6DIR |= BIT3+BIT4;
Show_splash();
int ai;
for(ai=0;ai<200;ai++)
{
myDelay();
}
SPILCD_Clear(WHITE);
Show_MenuTheme();
Show_MenuMode(1);
Show_Select();
Init_UART2();
UCA0IE |= UCRXIE;
int as1=1;
buttonsPressed=0;
USB_setup(TRUE,TRUE);
while (!buttonsPressed)
{
buttonsPressed = 0;
for(ai=0;ai<30;ai++)
{
myDelay();
}
if (buttonsPressed & BUTTON_S3)
{
Show_ButtonS3();
if(as1==4){
as1=1;
Show_MenuMode(as1);
}else{
if(as1==1){
as1=2;
Show_MenuMode(as1);
}else{
if(as1==2){
as1=3;
Show_MenuMode(as1);
}else{
if(as1==3){
as1=4;
Show_MenuMode(as1);
}
}
}
}
buttonsPressed=0;
Show_Select();
}
if (buttonsPressed & BUTTON_S2)
{
Show_ButtonS2();
if(as1==2){
as1=1;
Show_MenuMode(as1);
}else{
if(as1==3){
as1=2;
Show_MenuMode(as1);
}else{
if(as1==4){
as1=3;
Show_MenuMode(as1);
}else{
if(as1==1){
as1=4;
Show_MenuMode(as1);
}
}
}
}
buttonsPressed=0;
Show_Select();
}
if (buttonsPressed & BUTTON_S1)
{
Init_UART2();
Show_ButtonS1();
if(as1==1){
menu_select=1;
}
if(as1==2){
menu_select=2;
}
if(as1==3){
menu_select=3;
}
if(as1==4){
menu_select=4;
}
chanle_menu();
as1=1;
buttonsPressed=0;
SPILCD_Clear(WHITE);
Show_MenuTheme();
Show_MenuMode(1);
Show_Select();
}
if (buttonsPressed & BUTTON_S4){
Show_ButtonS4();
Show_MenuMode(as1);
buttonsPressed=0;
Show_Select();
}
}
}
int main(void) {
// Locals General. -----------------------------------------------------
char imu_board_id[9] = {0,0,0,0, 0,0,0,0, 0};
char message[1024]; // Any message to send by UART1
InitOscillator(); // Initialize the PLL (also disables wdt)
__delay32(_50MILLISEC);
// Init mcu ports ------------------------------------------------------
init_port(); // Initialize ports
LED_ORNG =0;
LED_RED = 1;
// Init UARTS. ---------------------------------------------------------
init_UART1(); // Initialize the serial communication (TTL / RS-232)
init_UART2();
broadcast_message("RC Testing program\n");
// Init Analog Channels. -----------------------------------------------
analog_initAnalog(); // Init the ADC module
// Init SPI. ---------------------------------------------------------
init_SPI();
// Init I2C. ---------------------------------------------------------
e_i2cp_init();
e_i2cp_enable();
__delay32(_50MILLISEC);
e_i2c_write(0x00); // dummy byte to get the START bit on the bus (believe it or not!)
// Init RC. ----------------------------------------------------------
initControlVariables(NULL);
broadcast_message("Initialising RC\n");
LED_ORNG =1;
LED_RED = 1;
BuzzerBip(1,1); // Make x bips of the Buzzer (blocking)
RCInitReception();
// RCSetType(RC_WK2401);
RCSetType(RC_WK2402);
broadcast_message("Initialising IMU\n");
// Init BUZZER. ----------------------------------------------------------
__delay32(_200MILLISEC); // Wait for the IMU to boot
while (INT_IMU==0) // Wait for the IMU to boot
{
FlashORNG (); // Flash the LED
}
read_imu_version(imu_board_id); imu_board_id[8] = 0;
broadcast_message("Entering main loop\n");
// Init BUZZER. ----------------------------------------------------------
BuzzerBip(3,1); // Make x bips of the Buzzer, blocking
InitLoopTimer(control.params.T_ctrl_ms);// Initialize & Enable control loop timer (20ms; 50Hz)
LED_RED = 0;
while (1) {
__delay32(5*_10MILLISEC);
sprintf(message, "RC %+.2f %+.2f %+.2f %.2f %.2f %+.2f %+.2f %+.2f %s CTRL %02X %s %s\n",
RC_THROTTLE, RC_YAW, RC_ROLL, RC_PITCH,
RC_THROTTLE_TRIM, RC_YAW_TRIM, RC_ROLL_TRIM, RC_PITCH_TRIM,
string_of_rc_state(RCSMGetState()),
control.flags.CONTROL_MODE,
string_of_control_mode(control.flags.CONTROL_MODE),
string_of_control_type(control.flags.CONTROL_MODE));
broadcast_message(message);
}
return 0;
} // End of main
int main(void){
//while(1);
wdt_disable();
///Configure the Torquer
configure_torquer();
char buf[100];
uint16_t v;
int ao;
for(ao=0;ao<1;ao++)
_delay_ms(1000);
/// Initialise Interfaces - UART of Magnetometer and GPS and the SPI bus
init_UART_MM();
init_UART_GPS();
init_SPI();
init_TWI();
send_preflight("Master\r", 7);
///Set Preflight pin as input
cbi(DDR_PF, PIN_PF);
///* Switch on Global interrupts
sei();
///Check if Preflight Pin is high
while(1){
///* * Reset timer for 2 seconds
timer_reset_two_sec();
//get_HM_data();
//send_preflight("Power\r", 6);
///* Preflight Checks
if(0){
///* * Set the mode as preflight
Mode = PREFLIGHT;
/*slave_send(HM_DATA, "Hello", 5);
_delay_ms(10);
slave_send (BEGIN_TX_GS, NULL, 0);
//power_up_peripheral(PCC);
_delay_ms(10);
ao = init_CC1020();
if(ao)
send_preflight("CC Init\r", 8);
else
send_preflight("No Init\r", 8);
while(1);*/
/*power_up_peripheral(PGPS);
while(1) {
read_GPS();
while(UCSR0B & _BV(RXCIE0));
copy_gps_reading();
sprintf(buf,"%ld %ld %ld\r", Current_state.gps.x/1000, Current_state.gps.y/1000, Current_state.gps.z/1000);
send_preflight(buf, strlen(buf));
sprintf(buf,"%ld %ld %ld\r", Current_state.gps.v_x/1000, Current_state.gps.v_y/1000, Current_state.gps.v_z/1000);
send_preflight(buf, strlen(buf));
_delay_ms(1000);
}*/
///* * Magnetometer and Torquer test
///* * Reading with one torquer on at once
/*Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 10000;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 30000;
Current_state.pwm.z_dir = 1;
Current_state.pwm.z = 20000;
send_preflight("Read\r", 5);
set_PWM();*/
while(1) {
read_SS();
//send_preflight((char *)&Current_state.ss, sizeof(struct SS_reading));
for(v = 0; v < 6; v++)
{
sprintf(buf,"%u\r", (uint16_t)(((float)Current_state.ss.reading[v])*1.6*100/4096));
send_preflight(buf, strlen(buf));
sprintf(buf,"%x\r", Current_state.ss.reading[v]);
send_preflight(buf, strlen(buf));
}
_delay_ms(1000);
}
///* * Set Torquer values to zero
reset_PWM();
while(1)
read_MM();
read_GPS();
send_preflight((char *)&Current_state.gps, sizeof(struct GPS_reading));
///* * Sunsensor test
read_SS();
send_preflight((char *)&Current_state.ss, sizeof(struct SS_reading));
///* Health Montoring
get_HM_data();
send_preflight((char *)&Current_state.hm, sizeof(struct HM_data));
///Communication Task
comm();
///* * Wait for 2 seconds to get over
timer_wait_reset();
}
///Normal Mode
else{
///* Set default mode of Satellite
Mode = DETUMBLING;
///* initialise Timer
Time = 0;
///Loop begins
while(1){
//Fuses Pain, Nominal Mode checking
send_preflight("Loop\r", 5);
control();
send_preflight("Control\r", 8);
//power();
comm();
send_preflight("Comm\r", 5);
v = StackCount();
sprintf(buf, "Stack = %d\r", v);
send_preflight(buf, strlen(buf));
v = get_free_memory();
sprintf(buf, "Stack(Method 2) = %d\r", v);
send_preflight(buf, strlen(buf));
Time += FRAME_TIME;
timer_wait_reset();
}
}
}
return 0;
}
int main(void){
///Configure the Torquer
configure_torquer();
_delay_ms(1000);
/// Initialise Interfaces - UART of Magnetometer and GPS and the SPI bus
init_UART_MM();
init_UART_GPS();
init_SPI();
init_TWI();
///Set Preflight pin as input
cbi(DDR_PF, PIN_PF);
///* Switch on Global interrupts
sei();
///Check if Preflight Pin is high
while(1){
///* * Reset timer for 2 seconds
timer_reset_two_sec();
///* Get Health Monitoring data
get_HM_data();
///* Preflight Checks
if(PORT_PF & _BV(PIN_PF)){
///* * Set the mode as preflight
Mode = PREFLIGHT;
send_preflight("Master\r", 7);
///* * GPS test
read_GPS();
while(UCSR0B & _BV(RXCIE0));
send_preflight((char *)&Current_state.gps, sizeof(struct GPS_reading));
///* * Magnetometer and Torquer test
///* * Reading with no torquers on
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
///* * Reading with one torquer on at once
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 32768;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 0;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 0;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 0;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 32768;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 0;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 0;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 0;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 32768;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
///* * Reading with one torquer on at once, in other direction
Current_state.pwm.x_dir = 1;
Current_state.pwm.x = 32768;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 0;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 0;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 0;
Current_state.pwm.y_dir = 1;
Current_state.pwm.y = 32768;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 0;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 0;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 0;
Current_state.pwm.z_dir = 1;
Current_state.pwm.z = 32768;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
///* * Set Torquer values to zero
reset_PWM();
///* * Sunsensor test
read_SS();
send_preflight((char *)&Current_state.ss, sizeof(struct SS_reading));
///* Health Montoring
get_HM_data();
send_preflight((char *)&Current_state.hm, sizeof(struct HM_data));
///Communication Task
comm();
///* * Wait for 2 seconds to get over
timer_wait_reset();
}
///Normal Mode
else{
///* Set default mode of Satellite
Mode = DETUMBLING;
///* initialise Timer
Time = 0;
///Loop begins
while(!(PORT_PF & _BV(PIN_PF))){
/**
* * * * Task 2: Control codes
* @ref control
*/
control();
/**
* * * * Task 1: Communication with power uC through I2C. @ref power
*/
power();
/**
* * * * Task 3: Communication check routine;
* @ref comm
*/
comm();
wdt_disable();
///* * Increment the Timer
Time += FRAME_TIME;
///* * Wait for 2 seconds to get over
timer_wait_reset();
}
}
}
return 0;
}
int main(void)
{
// b. Umleiten der Standardausgabe stdout (Teil 2)
//stdout = &mystdout;
// Init everything
// Init Touch & Potis
DDRA = 0x00; // ADWandler-Pins auf Eingang schalten
uint16_t ADC_val;
ADC_Init();
// Init LED Matrix
TLC5940_Init();
// Init SPI
init_SPI();
// Init Timer
timer_config();
TLC5940_SetAllDC(63);
TLC5940_ClockInDC();
TLC5940_SetAllGS(0);
// Init all 74hc595
init_74hc595();
// Init all 74hc165
init_74hc165();
// Enable Interrupts globally
// TEMP TEMP TEMP
DDRC |= 0b01000000;
// Kalibriere Touchpanel
calibrate();
sei();
// Init UART
uart_init();
while (1)
{
static uint8_t current_potentiometer = 0;
// POTENTIOMETER auslesen
{
/* switch( current_potentiometer )
{
// case 1:
// PORTC &= ~0b01000000;
// break;
case 2:
PORTC |= 0b01000000;
break;
} */
// erstes Auslesen immer Fehlerhaft wegen Touchpanel evtl
// zweiter Wert beinhaltet richtiges Ergebniss!
// POTI_ADC_SAMPLES sollte daher 2 sein damit nach dem zweiten lesen in ADC_val das richtige ergebniss steht
ADC_val = 0;
for ( uint8_t count = 0 ; count < POTI_ADC_SAMPLES ; count++ )
ADC_val = ADC_Read(potentiometer[current_potentiometer].adc_channel);
if( ADC_val > ( potentiometer[current_potentiometer].value + ADC_delta_for_change_poti ) || ( ADC_val < ( potentiometer[current_potentiometer].value - ADC_delta_for_change_poti ) ) ) // +- 8 von 1024 Quantisierungsstufen / 128 Midi Schritte . // if( ADC_val > ( potentiometer[current_potentiometer].value + 10 ) || ( ADC_val < ( potentiometer[current_potentiometer].value - 10 ) ) )
{
potentiometer[current_potentiometer].value = ADC_val;
controlChange(midi_channel, midi_poti_offset + current_potentiometer,ADC_val/8);
//printf("%i. Poti %i\n", current_potentiometer , potentiometer[current_potentiometer].value );
}
current_potentiometer++;
if ( current_potentiometer == potentiometer_count)
current_potentiometer = 0;
}
//Display_SetCross(4,2);
// TOUCHPANEL auslesen
read_touchscreen();
if(touchscreen.FLAG_Display_change)
{
TLC5940_SetAllGS(0);
//Display_SetParabel(touchscreen.last_x , touchscreen.last_y );
Display_SetCross(touchscreen.last_LED_x,touchscreen.last_LED_y);
touchscreen.FLAG_Display_change = 0;
}
}
}
int main(void)
{
/* Initialize Interfaces */
if(PINB & (1<<SEL2)){ //SEL2 not installed, modeA
init_StepDir();
//init_pwm();
} else { //SEL2 installed, modeB
init_SPI();
init_UART(12,1); //For 1MHz testing, change to 14.7456Mhz
init_I2C();
}
//init_I2C();
//init_SPI();
//init_UART(95,0); /* Run UART at 9600 baud */
//init_StepDir();
init_stepper();
init_chopper();
sei();
int8_t motor_state = 0;
motor_enable = WAVE;
while(1)
{
if(motor_enable == FULL){
if(desired_step_cnt < 0){ //backwards
if(motor_state == 0) normstep4();
if(motor_state == 2) normstep1();
if(motor_state == 4) normstep2();
if(motor_state == 6) normstep3();
motor_state -= 2;
if(motor_state < 0) motor_state = 6;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 0) normstep2();
if(motor_state == 2) normstep3();
if(motor_state == 4) normstep4();
if(motor_state == 6) normstep1();
motor_state += 2;
if(motor_state > 6) motor_state = 0;
desired_step_cnt--;
}
} else if(motor_enable == HALF){
if(desired_step_cnt < 0){
if(motor_state == 0) halfstep8();
if(motor_state == 1) halfstep1();
if(motor_state == 2) halfstep2();
if(motor_state == 3) halfstep3();
if(motor_state == 4) halfstep4();
if(motor_state == 5) halfstep5();
if(motor_state == 6) halfstep6();
if(motor_state == 7) halfstep7();
motor_state--;
if(motor_state < 0) motor_state = 7;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 0) halfstep2();
if(motor_state == 1) halfstep3();
if(motor_state == 2) halfstep4();
if(motor_state == 3) halfstep5();
if(motor_state == 4) halfstep6();
if(motor_state == 5) halfstep7();
if(motor_state == 6) halfstep8();
if(motor_state == 7) halfstep1();
motor_state++;
if(motor_state > 7) motor_state = 0;
desired_step_cnt--;
}
} else if(motor_enable == WAVE){
if(desired_step_cnt < 0){
if(motor_state == 1) wavestep4();
if(motor_state == 3) wavestep1();
if(motor_state == 5) wavestep2();
if(motor_state == 7) wavestep3();
motor_state -= 2;
if(motor_state < 1) motor_state = 7;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 1) wavestep2();
if(motor_state == 3) wavestep3();
if(motor_state == 5) wavestep4();
if(motor_state == 7) wavestep1();
motor_state += 2;
if(motor_state > 7) motor_state = 1;
desired_step_cnt--;
}
}
_delay_ms(100);//Change according to speed input
// normstep1();
// _delay_ms(100);
// normstep2();
// _delay_ms(100);
// normstep3();
// _delay_ms(100);
// normstep4();
// _delay_ms(100);
// halfstep1();
// _delay_ms(100);
// halfstep2();
// _delay_ms(100);
// halfstep3();
// _delay_ms(100);
// halfstep4();
// _delay_ms(100);
// halfstep5();
// _delay_ms(100);
// halfstep6();
// _delay_ms(100);
// halfstep7();
// _delay_ms(100);
// halfstep8();
// _delay_ms(100);
// wavestep1();
// _delay_ms(100);
// wavestep2();
// _delay_ms(100);
// wavestep3();
// _delay_ms(100);
// wavestep4();
// _delay_ms(100);
}
return 0;
}
