void nunchuk2pi_init()
{
printf("nunchuk2pi init:\n");
signal(SIGTERM, catch_signal);
signal(SIGKILL, catch_signal);
signal(SIGINT, catch_signal);
if(uinput_init() < 0) {
printf("Could not open uinput.\n");
//exit(EXIT_FAILURE);
}
if(nunchuk_init(&nun) < 0) {
printf("Could not init nunchuk.\n");
exit(EXIT_FAILURE);
}
if(rfm_init(&nun) < 0) {
printf("Could not init rfm.\n");
exit(EXIT_FAILURE);
}
nunchuk_set_read_callback(read_callback);
}
int main(void) {
wdt_enable(WDTO_4S);
wdt_reset();
/* configure PPM output port */
PPM_DDR |= (1<<PPM_BIT);
PPM_PORT &= ~(1<<PPM_BIT);
/* configure LED output port */
LED_DDR |= (1<<LED_BIT);
LED_PORT |= (1<<LED_BIT);
/* configure VOL(tage) warning port */
VOL_DDR &= ~(1<<VOL_BIT);
VOL_PORT |= (1<<VOL_BIT); // enable pullup
#ifdef ENABLE_SERIAL
serial_init();
#endif
#ifdef ENABLE_TWI
twi_init();
#endif
#ifdef USE_NUNCHUK
nunchuk_init();
wdt_reset();
#endif
/* configure switches */
sw_init();
/* configure ADC */
adc_init();
#if defined(USE_TWI_ADC)
twi_adc_init();
wdt_reset();
#endif
#if defined(USE_MAG)
mag_init();
wdt_reset();
#endif
#if defined(USE_ACC)
acc_init();
#endif
#if defined(USE_LCD)
/* initialize LCD twice (due to timing issues?) */
lcd_init();
wdt_reset();
_delay_ms(100);
wdt_reset();
lcd_init();
wdt_reset();
lcd_splash();
#endif
/* configure watchfog timer to reset after 60ms */
wdt_enable(WDTO_60MS);
/* configure timer */
/* enable CTC waveform generation (TOP == OCR1A) */
TCCR1B |= (1<<WGM12);
/* set compare value for the stop pulse to 300µs */
OCR1B = STOP_US;
/* set pulse width to max for now */
OCR1A = ~0;
/* set Timer 1 to clk/8, giving us ticks of 1 µs */
TCCR1B |= (1<<CS11);
/* Timer 2 generates overflows at 1kHz */
#if defined(TCCR2) /* e.g. ATMega8 */
#define TIMER2_COMP_IRQ TIMER2_COMP_vect
TCCR2 = (1<<WGM21 | 1<<CS22);
OCR2 = 0x7D;
/* enable compare and overflow interrupts */
TIMSK = (1<<OCIE2 | 1<<OCIE1B | 1<<OCIE1A);
#elif defined(TCCR2A) /* e.g. ATMega{8,16,32}8 */
#define TIMER2_COMP_IRQ TIMER2_COMPA_vect
TCCR2A = (1<<WGM21);
TCCR2B = (1<<CS22);
OCR2A = 0x7D;
/* enable compare and overflow interrupts */
TIMSK1 = (1<<OCIE1B | 1<<OCIE1A);
TIMSK2 = (1<<OCIE2A);
#else
#error "Unable to determine timer 2 configuration registers"
#endif
/* initialize channel data */
start_ppm_frame();
set_ppm(1);
start_ppm_pulse();
/* enable interrupts */
sei();
serial_write_str("Welcome!\n");
while (1) {
/* reset watchdog */
wdt_reset();
/* keep sampling adc data */
adc_query();
/* query switches */
sw_query();
/* prepare Datenschlag data frames */
ds_prepare();
#ifdef USE_TWI_ADC
/* query TWI/I²C ADC */
twi_adc_query();
#endif
#if defined(USE_MAG)
#ifdef MAG_CENTER_CALIBRATION_TRIGGER_INPUT
if (get_input_scaled( (MAG_CENTER_CALIBRATION_TRIGGER_INPUT), 1, -1) == (MAG_CENTER_CALIBRATION_TRIGGER_VALUE)) {
mag_set_calibration(millis + 10000L);
}
#endif
if (mag_is_calibrating()) {
mag_calibrate(0);
} else {
mag_calibrate(1);
mag_query();
mag_dump();
}
#endif
#if defined(USE_ACC)
acc_query();
acc_dump();
#endif
#ifdef USE_NUNCHUK
nunchuk_query();
#endif
check_voltage();
/* switch LED */
if (!low_voltage || (millis/250 % 2)) {
LED_PORT |= (1<<LED_BIT);
} else {
LED_PORT &= ~(1<<LED_BIT);
}
#ifdef USE_LCD
static enum {
LCD_MODE_STATUS,
#ifdef LCD_MENU
LCD_MODE_MENU,
#endif
LCD_MODE_CNT
} lcd_mode;
uint8_t lcd_mode_changed = 0;
#ifdef LCD_MODE_SWITCH_INPUT
static int8_t old_sw_state = 0;
int8_t sw_state = get_input_scaled(LCD_MODE_SWITCH_INPUT, -1, 1);
if (old_sw_state != sw_state) {
lcd_mode += LCD_MODE_CNT;
lcd_mode += sw_state;
lcd_mode %= LCD_MODE_CNT;
old_sw_state = sw_state;
lcd_mode_changed = 1;
}
#endif
switch (lcd_mode) {
case LCD_MODE_STATUS:
lcd_status_update(lcd_mode_changed);
break;
#ifdef LCD_MENU
case LCD_MODE_MENU:
lcd_menu_update(lcd_mode_changed);
break;
#endif
default:
break;
}
#endif
}
return 0;
}
