void main(void)
{
WDTCTL = WDTPW +WDTHOLD; // Stop WDT
initializeUART(); // Setup UART for RS-232
P6DIR &= ~0x05; // Configure P6.3 and P6.7 as input pins
P6SEL |= 0x05; // Configure P6.3 and P6.7 as analog pins
//Set up timer to send ADC info to PC overy 100 ms
TACCR0 = 3277; //3277 / 32768 Hz = 0.1s
TACTL = TASSEL_1 + MC_1; //ACLK, up mode
TACCTL0 = CCIE; //enabled interupt
//Set up ADC 12
ADC12CTL0 = ADC12ON + SHT0_6 + MSC; // configure ADC converter
ADC12CTL1 = SHP + CONSEQ_1; // Use sample timer, single sequence
ADC12MCTL0 = INCH_0; // ADC chan 0 is A3 pin - Stick X-axis
ADC12MCTL1 = INCH_5 + EOS; // ADC chan 1 is A7 pin - Stick Y-axis
//EOS - End of Sequence for Conversions
ADC12IE |= 0x02; // Enable ADC12IFG.8
for (int i = 0; i < 0x3600; i++); // Delay for reference start-up
ADC12CTL0 |= ENC; // Enable conversions
_EINT();
while (1)
{
ADC12CTL0 |= ADC12SC; // Start conversions
__bis_SR_register(LPM0_bits + GIE); // enter LPM0
}
}
uint8_t MG2639_Cell::begin(unsigned long baud)
{
unsigned long setBaud = 0;
uint8_t tries = 0;
initializePins(); // Set up power and UART pin direction
initializeUART(baud); // Initialize UART to requested baud
// Try turning echo off first (send ATE0 command). If it succeeds,
// we're already at the target baud and the module's on.
if (setEcho(0) <= 0)
{
// If setEcho fails, we can't communicate with the shield. The baud
// may be incorrect, or the shield may be off. First time in, we'll
// assume the module is on.
// tries should be at least > 2 - one time assuming module is on,
// another time assuming module is off
while (setBaud <= 0 && tries < 4)
{
setBaud = autoBaud(); // Try to find the baud rate
if (setBaud <= 0)
{
// If autoBaud fails to find anything, the module must be off.
powerPulse(); // Send a power pulse (hold PWRKEY for 3s)
delay(MODULE_WARM_UP_TIME); // Delay ~3s for module to warm up
}
tries++; // Increment tries and go again
}
// If we still can't find the baud rate, or communicate with the shield
// we give up. Return a fail.
if (setBaud <= 0)
return 0;
// If autoBaud succeeds, the module is on, we just need to
// change the baud rate.
if (setBaud != baud)
{
int baudRsp;
#if (ARDUINO >= 10601)
// Software serial after 1.6.1 works much better, no need for brute force
baudRsp = changeBaud(setBaud, baud);
#else
baudRsp = bruteForceBaudChange(setBaud, baud, 100);
#endif
// Look for any error _except_ ERROR_UNKOWN_RESPONSE -- a change from
// 115200 will result in that error, even though the change baud
// worked. (SoftwareSerial can't read reliably at that high rate.)
if ((baudRsp == 0) || (baudRsp == ERROR_FAIL_RESPONSE) ||
(baudRsp == ERROR_TIMEOUT))
{
return 0;
}
}
delay(COMMAND_RESPONSE_TIME);
}
return 1;
}
int main() {
// initialize the board
(void) Board_initGeneral(120 * 1000 * 1000);
// initialize i2c
initializeI2C();
// setup i2c task, who does the work
(void) setup_I2C_Task();
// initialize uart
initializeUART();
// setup uart task, printing the output
(void) setup_UART_Task();
// setup the events which are used in combination with the queues
(void) setup_Events();
// initialize interrupts
initializeInterrupts();
// setup the interrupts - both for the ALTITUDE CLICK module and the USR_SW
setup_Interrupts();
System_printf("Start BIOS\n");
System_flush();
/* Start BIOS */
BIOS_start();
}
int MG2639_Cell::changeBaud(unsigned long from, unsigned long to)
{
int iRetVal;
char changeBaudCmd[14];
memset(changeBaudCmd, 0, 14);
// Print something like "AT+IPR=9600" to changeBaudCmd string
sprintf(changeBaudCmd, "%s=%lu", SET_BAUD_RATE, to);
initializeUART(from); // Set UART baud to [from] baud
sendATCommand((const char *)changeBaudCmd); // Send the baud change command
// SoftwareSerial included with Arduino 1.6.1+ is drastically improved.
// We can reliably send strings at 115200
#if (ARDUINO >= 10601)
iRetVal = readWaitForResponse(RESPONSE_OK, COMMAND_RESPONSE_TIME);
initializeUART(to); // Set SS UART to [to] baud rate
return iRetVal;
#else
// Earlier versions of SS can't reliably read, but we should be able
// to tell the difference between "ERROR" and "OK" due to the size
// of the received string.
unsigned long timeIn = millis();
unsigned long timeout = 10; // Set timeout to 10ms
int received = 0;
clearBuffer(); // Clear rxBuffer
while (timeIn + timeout > millis()) // Check for a timeout
{
if (dataAvailable()) // If data available on UART
{
received += readByteToBuffer(); // Read it into rxBuffer, inc received
}
}
initializeUART(to); // Set SS UART to [to] baud rate
return received; // Return number of characters received
#endif
}
void initialize() {
DDRA = 0x00; // PORT A est en mode entrée
DDRB = 0xff; // PORT B est en mode sortie
DDRC = 0xff; // PORT C est en mode sortie
DDRD = 0xff; // PORT D est en mode sortie
initializeUART();
initializeFilterClock();
vibrationLedOff();
//because the starting state is assumed unknown
amplifierLedOn();
amplifierLedOff();
updateAmplifierStatus();
}
unsigned long MG2639_Cell::autoBaud()
{
int i;
int echoResponse;
for (i=0; i<BAUD_COUNT; i++)
{
initializeUART(baudRates[i]); // Set UART to baud rate
printChar('\r'); // Print a '\r' to send any possible garbage command
delay(10); // Wait for a possible "ERROR" response
// Try turning echo off to see if the module responds with "OK"
echoResponse = setEcho(0);
// If setEcho is successful, we found the baud rate! Break this loop
if (echoResponse > 0)
break;
}
// If we found the baud rate, return the matching value
if (echoResponse > 0)
return baudRates[i];
else
return 0; // Otherwise we failed to find it, return 0
}
main()
{
// Disable JTAG (on RA0 and RA1 )
mJTAGPortEnable( DEBUG_JTAGPORT_OFF );
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
initializeUART();
initializeADC();
initializeLCD();
initializeRPG();
/* Initialize SD card */
setup_SDSPI();
SD_setStart();
/* Fill tempBuffer[] with int 0 to 63
* Write it to the current block.
* Empty tempBuffer[] to all 0.
* Read from the current block to make sure that it returns the right value.
*/
fillTempBuffer();
testSDReadWrite(tempBuffer);
curr_read_block = curr_block;
ConfigTimer1(); // Enable Timer1 for second counts
configureInterrupts();
// T2CON = 0x8030; // TMR1 on, prescale 1:256 PB
mPORTASetPinsDigitalOut( LED_MASK ); // LEDs = output
mPORTDSetPinsDigitalIn( PB_MASK_D ); // PBs on D = input
curr_state = READY;
// enable interrupts
INTEnableInterrupts();
int i = 0;
while( 1 )
{
if (getPrintToUARTFlag() == 1){
LCDMenuControl();
//mPORTAToggleBits( LED_MASK );
convertAndPrintIntegerToString("i => ", i++);
convertAndPrintIntegerToString("timeElapse => ", timeElapsed);
convertAndPrintIntegerToString("timeElapsedLEDSample => ", timeElapsedLEDSample);
convertAndPrintIntegerToString("timeElapsedLEDTurnedOff => ", timeElapsedLEDTurnedOff);
convertAndPrintIntegerToString("sampleLEDNow => ", sampleLEDNow);
convertAndPrintIntegerToString(" ADC Value => ", getChannel5Value());
printShadowDetect();
printLightLevel();
drawLightDetectedBar();
controlPowerRelay();
switch(curr_state) {
case READY : WriteString("State => READY ");
break;
case SLEEP : WriteString("State => SLEEP ");
break;
case HIBERNATE : WriteString("State => HIBERNATE");
break;
case BUSY : WriteString("State => BUSY ");
break;
}
WriteString("\r");
setPrintToUARTFlag(0);
}
if (NEW_BYTE_RECEIVED == 1){
curr_state = READY;
NEW_BYTE_RECEIVED = 0;
//mPORTAToggleBits( LED_MASK );
char tempArray[] = "g";
tempArray[0] = characterByteReceived;
WriteString(tempArray);
if(curr_state = HIBERNATE) {
addByteToBuffer(characterByteReceived);
}
else {
PutCharacter(characterByteReceived);
}
}
if(bufferIndex == 512) {
SDWriteBlock(currBlock);
currBlock++;
bufferIndex = 0;
}
if((curr_state == READY) && (timeElapsed >= SLEEP_TIMEOUT) && (timeElapsed < HIBERNATE_TIMEOUT)) {
curr_state = SLEEP;
}
else if((curr_state == SLEEP) && (timeElapsed >= HIBERNATE_TIMEOUT)) {
curr_state = HIBERNATE;
timeElapsed = 0;
}
if (transmitDataFromSDCard == 1) {
transmitDataFromSDCard = 0;
forwardDataToPrinter();
}
} // main (while) loop
return 0;
} // main
// Main Application
int main(int argc, char** argv) {
// Setup Main System
SYSTEMConfigPerformance(80000000L);
DDPCONbits.JTAGEN = 0;
// Initialize System Pins
initializeAllPins();
// Initialize the Real Time Clock
initializeRTCC();
// Initialize Communication Systems
initializeUART();
// Configure for multi-vectored mode & Enable Interrupts
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableInterrupts();
// Configure XBee
xbee_baud.size = 1; strcpy(xbee_baud.data, "6");
xbee_channel.size = 2; strcpy(xbee_channel.data, "15");
xbee_network.size = 4; strcpy(xbee_network.data, "3421");
configureXBee(xbee_baud, xbee_channel, xbee_network);
// Loop Infinitely
while(1) {
// Update Terminal Every Second, using the RTCC
//while(!RtccGetSync());
// Update Termina Every 300mS
Delayms(200);
/*
//Copy new GPS string to Globals
if (gpsTempBuf.ready == 1) {
// Copy GPS TempBuf to Sentence
UINT8 gpsGGAPosition = 0;
UINT8 ggaPosition = 0;
int i = 0;
for (i = 0; i < gpsTempBuf.size; i++) {
gpsTempBuf.data[i] = gpsTempBuf.data[i];
// Parse specific GPS Data
if (gpsTempBuf.data[i] == ',') {
gpsGGAPosition++;
ggaPosition = 0;
}
char temp[1] = { gpsTempBuf.data[i] };
if (gpsTempBuf.data[i] != ',') {
switch(gpsGGAPosition) {
case 1:
gpsBaseCurrent.time.data[ggaPosition] = gpsTempBuf.data[i];
gpsBaseCurrent.time.size++;
ggaPosition++;
break;
case 2:
gpsBaseCurrent.Latitude.data[ggaPosition] = gpsTempBuf.data[i];
gpsBaseCurrent.Latitude.size++;
ggaPosition++;
break;
case 3:
gpsBaseCurrent.Longitude.data[ggaPosition] = gpsTempBuf.data[i];
gpsBaseCurrent.Longitude.size++;
ggaPosition++;
break;
case 4:
gpsBaseCurrent.Fix = atoi(temp);
ggaPosition++;
break;
case 5:
gpsBaseCurrent.NumSatellites = atoi(temp);
ggaPosition++;
break;
case 6:
gpsBaseCurrent.HorizontalDilution.data[ggaPosition] = gpsTempBuf.data[i];
gpsBaseCurrent.HorizontalDilution.size++;
ggaPosition++;
break;
case 7:
gpsBaseCurrent.Altitude.data[ggaPosition] = gpsTempBuf.data[i];
gpsBaseCurrent.Altitude.size++;
ggaPosition++;
break;
case 8:
gpsBaseCurrent.HeightOfGeoid.data[ggaPosition] = gpsTempBuf.data[i];
gpsBaseCurrent.HeightOfGeoid.size++;
ggaPosition++;
break;
default:
break;
}
}
}
// Update System Time
DFloat currentTime;
currentTime.timeBytes.RSV = 0x0000;
currentTime.timeBytes.HU = gpsBaseCurrent.time.data[0];
currentTime.timeBytes.HL = gpsBaseCurrent.time.data[1];
currentTime.timeBytes.MU = gpsBaseCurrent.time.data[2];
currentTime.timeBytes.ML = gpsBaseCurrent.time.data[3];
currentTime.timeBytes.SU = gpsBaseCurrent.time.data[4];
currentTime.timeBytes.SL = gpsBaseCurrent.time.data[5];
RtccSetTimeDate(currentTime.UValue, 0);
}
*/
/*
// Perform Magnetometer Calculations
float tempMX = (float) compassCurrent.Signed.X;
tempMX *= magGain[1] / 1000;
float tempMY = (float) compassCurrent.Signed.Y;
tempMY *= magGain[1] / 1000;
float tempMZ = (float) compassCurrent.Signed.Z;
tempMZ *= magGain[1] / 1000;
// Create Unit Vectors
float totalM = sqrtf(powf(tempMX,2) + powf(tempMY,2) + powf(tempMZ,2));
tempMX /= totalM;
tempMY /= totalM;
tempMZ /= totalM;
*/
// Convert to Degrees
//tempMX = acosf(tempMX) * degrees_per_radian;
//tempMY = acosf(tempMY) * degrees_per_radian;
//tempMZ = acosf(tempMZ) * degrees_per_radian;
// Match Current Angle with Calculated
//sprintf(buf, "%04d X(%+07.2f, %5.3f) Y(%+07.2f, %5.3f) Z(%+07.2f, %5.3f) %02dmS %02dC \r\n", outputs, angleCurrent.X.Value, tempMX, angleCurrent.Y.Value, tempMY, angleCurrent.Z.Value, tempMZ, angleCurrent.T, gyroCurrent.TU);
sprintf(buf, "%04d X(%+07.2f, %4d)\tY(%+07.2f, %4d)\tZ(%+07.2f, %4d)\tA(%3d, %4d)\tPWM(%3d, %3d, %3d, %3d) \r\n", outputs, angleCurrent.X.Value, errorReading[0], angleCurrent.Y.Value, errorReading[1], angleCurrent.Z.Value, errorReading[2], altitudeReading[0], errorReading[3], pwmReading[0], pwmReading[1], pwmReading[2], pwmReading[3]);
outputs++;
// Working, Shows Gyroscope Calculated Angles!
//sprintf(buf, "Gyro: %+08.3f, %+08.3f, %+08.3f\r\n", tempX, tempY, tempZ);
// Get Current Time
//tempTime.l=RtccGetTime();
// Format String
//sprintf(buf, "Gyro: %07f, %07f, %07f | Acl: %07.3f, %07.3f, %07.3f | Ang: %03.3f, %03.3f, %03.3f | UT: %02d mS | BST: %02x:%02x:%02x | FCT: %02x:%02x:%02x\r\n", tempX, tempY, tempZ, accelCurrent.X, accelCurrent.Y, accelCurrent.Z, angleCurrent.X.Value, angleCurrent.Y.Value, angleCurrent.Z.Value, angleCurrent.T, tempTime.hour, tempTime.min, tempTime.sec, timeFCBCurrent.hour, timeFCBCurrent.min, timeFCBCurrent.sec);
// Place on Bluetooth
putsBluetooth(buf, strlen(buf));
}
return (EXIT_SUCCESS);
}
