void send_at_command_sci1(char* str){
long i;
status = 'c';
for (i = 0; str[i] != '\0'; i++) outchar1(str[i]);
outchar1('\n');
at_timeout = 10 * 100; // set at_timeout to ~10 sec
while(at_timeout){
while(qempty() && at_timeout);
c = getq();
if (c == 'O'){
while(qempty() && at_timeout);
c = getq();
if (c == 'K')
break;
else
continue;
}
}
// XXX: maybe clearing out nXXXXXXXXXX?
//empty_queue(); // clear the queue of any part of the message we may have ignored.
if (at_timeout)
status = 'i';
else{
status = 'e';
set_lcd_addr(0);
type_lcd("writing timed");
set_lcd_addr(0x40);
type_lcd("out.");
}
}
void display(char *out, int idx, char curs){
out[idx] = '\0';
set_lcd_addr(curs); //set cursor to location curs
type_lcd(out); //display ASCIIZ string on LCD
set_lcd_addr(0x40);
}
void subString() {
strncpy(sub, oper+substart, 16);
clrLine(2);
set_lcd_addr(0x40);
type_lcd(sub);
set_lcd_addr(0x40);
}
void main(void) {
PLL_init(); // set system clock frequency to 24 MHz
ad0_enable(); // enable a/d converter 0
ad1_enable(); // enable a/d converter 1
led_enable();
seg7_disable();
servo54_init();
lcd_init(); // enable lcd
motor1_init(); // enable 8-bit pwm1 for computer fan
while(1) {
for (width = 3000; width < 14500; width = width + 150) {
flame = ad0conv(3); // read flame sensor output on channel 3 adc0
range = ad0conv(5); // read range sensor output on channel 7 adc1
set_lcd_addr(0x40);
if (range > 550) {
type_lcd("Flame is near! ");
} else {
type_lcd("Out of range ");
}
set_servo54(width);
ms_delay(10);
if (flame > 1000) {
set_lcd_addr(0x00);
ms_delay(10);
type_lcd("Flame Detected! ");
if (range > 550) {
ms_delay(10);
//Turn the motor on for 8 seconds
set_lcd_addr(0x40);
ms_delay(10);
type_lcd("Flame is near! ");
ms_delay(10);
leds_on(0b11111000); //Motor is on
ms_delay(8000);
motor1(speed);
ms_delay(10);
}
} else {
leds_on(0b11111100); //Motor is off
set_lcd_addr(0x00);
type_lcd("No Flame ");
}
ms_delay(10);
}
}
}
/*** get keypad input ****/
void get_keypad_input() {
char keypad_key;
keypad_enable();
while(training) {
keypad_key=getkey(); // get value from keypad
wait_keyup();
lcd_init();
set_lcd_addr(0x00);
if(keypad_key==1) { // 1 = forward
move_forward();
}else if(keypad_key==4) { // 4 = left
move_left();
}else if(keypad_key==7) { // 7 = right
move_right();
}else if(keypad_key==0) { // 0 = reverse
move_reverse();
}else if(keypad_key==6) { // 7 = pause
move_pause();
}else if(keypad_key==9) { // break out of training mode
training=0;
move_stop();
display_movement(&stop_training);
break;
}else{
display_movement(&error);
}
ms_delay(50);
}
}
void main(void) {
long op1, op2; //32-bit operands
char* ptr; //pointer to keypad buffer
char* blanks;
char kbuf[12]; //keypad buffer
char c, a;
int i;
ptr = kbuf;
blanks = " ";
PLL_init(); //set system clock freq to 24MHz
lcd_init(); //enable lcd
keypad_enable(); //enable keypad
set_lcd_addr(0x00); //display on 1st line
i = 0;
while(1) {
c = getkey(); //read keypad
a = hex2asc(c); //convert to ascii
kbuf[i] = a; // and store in kbuf
if(c<10) { //if 0 - 9
data8(a); // display on lcd
wait_keyup(); // wait to release key
i++; //increment index
} else {
switch(c) {
case 0xE: //if enter (*) key
op1 = number(ptr); //convert to binary
set_lcd_addr(0x40); //display on 2nd line
write_long_lcd(op1);
set_lcd_addr(0x00); //clear 1st line
type_lcd(blanks);
wait_keyup(); //wait to release key
i = 0; //reset kbuf index
set_lcd_addr(0x00); //display on 2nd line
break;
case 0xA: //if key A
op2 = number(ptr); //convert to binary
op1 = op1 + op2; //compete sum
set_lcd_addr(0x40); //display on 2nd line
write_long_lcd(op1);
set_lcd_addr(0x00); //clear 1st line
type_lcd(blanks);
wait_keyup(); //wait to release key
i = 0; //reset kbuf index
set_lcd_addr(0x00); //display on 1st line
break;
case 0xF: //if clear (#) key
clear_lcd(); //clear lcd display
wait_keyup(); //wait to release key
i = 0; //reset kbuf index
break;
default:
break;
}
}
}
}
void main(void) {
PLL_init();
lcd_init();
SCI0_init(9600);
SCI1_int_init(9600); // Channel to talk to ESP8266
motor0_init(); // These functions actually control PWM outputs
motor1_init(); // We use them to run the RGB LED.
motor2_init();
RTI_init();
SW_enable();
initq();
DDRH = 0; // PORTH is an input.
result = 0;
status = 'b';
// Populate binary search tree:
set_lcd_addr(0);
send_at_command_sci1("ATE0"); // change to ATE1 for debug
status = 'i';
// Establish connection to server.
send_at_command_sci1("AT+CWMODE=1"); // Set ESP to station mode
send_at_command_sci1("AT+CIPMODE=0"); // Set ESP to normal transmission mode
send_at_command_sci1("AT+CIPMUX=0"); // Set ESP to single-connection mode
send_at_command_sci1("AT+CWJAP=\"Freynet\",\"\""); // Connect to network
send_at_command_sci1("AT+CIPSTART=\"TCP\",\"fpf3.net\",12345"); // connect to server
while(1){
command = '\0';
while(qempty());
command = getq();
switch (command) {
case 'n':
status = 'w';
result = new_sequence();
ms_delay(500); // If we finish too quickly, we open a connection the ESP thinks is already open, and it breaks.
send_at_command_sci1("AT+CIPSTART=\"TCP\",\"fpf3.net\",12345"); // connect to server
break;
}
outchar0(result);
}
}
void main() {
int period1; // period of pulse train
int HI_time1; // High time (pulse width)
int LO_time1; // Low time
lcd_init(); // start the LCD
HILO1_init();
while (1) {
HI_time1 = get_HI_time1();
LO_time1 = get_LO_time1();
set_lcd_addr(0x00);
write_int_lcd(HI_time1);
write_int_lcd(LO_time1);
period1 = HI_time1 + LO_time1;
set_lcd_addr(0x40);
write_int_lcd(period1);
ms_delay(100);
}
}
int new_sequence(void) {
unsigned long num = 0, newnum = 0;
char c;
for(i = 0; i < 10; i++) {
while(qempty());
c = getq();
newnum = (c - '0') * pow(10, 9 - i);
if (num + newnum < num) { // Check for rollover
status = 'e';
set_lcd_addr(0);
type_lcd("Sequence goes");
set_lcd_addr(0x40);
type_lcd("above 2^32!");
return -1;
}
num += newnum; // we passed test
}
while (num != 1){
set_lcd_addr(0);
if (display_mode) write_long_lcd(num);
if (num % 2 == 0)
num /= 2;
else{
newnum = (num * 3) + 1;
if (newnum < num){ // Check for rollover.
status = 'e';
set_lcd_addr(0);
type_lcd("Sequence goes");
set_lcd_addr(0x40);
type_lcd("above 2^32!");
return -1;
}
num = newnum; // we passed test
}
if (slow_mode) ms_delay(750);// to make sure we see what numbers we're getting
}
if (display_mode) write_long_lcd(num);
status = 'i';
return num;
}
void clrLine(int ln){
char *blank = " ";
switch(ln) {
case 1: //clear 1st line
set_lcd_addr(0x00); //set cursor to 1st line
type_lcd(blank);
break;
case 2: //clear 2nd line
set_lcd_addr(0x40);
type_lcd(blank); //set cursor to 2nd line
break;
default: //clear entire display
clear_lcd();
break;
}
//set_lcd_addr(curs); //set cursor to location curs
}
/************** MAIN **************/
void main(void)
{
seg7_disable();
/* Stop Motors on initial load */
MOTORDDR=0xFF; // enable motor port as output
MOTORPORT=0xFF; // turn off all motor ports
lcd_init(); // initialize lcd
set_lcd_addr(0x00); // set starting lcd address
/* check training or playback mode */
while(1){
if(SW2_down()){ // switch2 starts training mode
playback=0;
training=1;
display_movement(&start_training);
}
if(SW3_down()){ // switch3 stops training mode
training=0;
display_movement(&stop_training);
}
if(SW4_down()){ // switch4 starts playback mode
if(array_length) {
training=0;
playback=1;
} else {
display_movement(&array_empty);
}
}
if(SW5_down()){ // switch5 erases array
playback=0;
array_length=0; // reset array counter
memset(array1, 9, sizeof(array1)); // reset array
display_movement(&stop_playback);
}
get_keypad_input();
playback_robot();
}
}
void main(void) {
char key; //key pressed
Flag *flag = createFlag();
PLL_init(); //set system clock freq to 24MHz
lcd_init(); //enable lcd display (clear display)
keypad_enable(); //enable keypad
led_enable(); //enable leds
seg7_disable(); //turn off and disable seg7 display
set_lcd_addr(0x40); //set display on 2nd line
while(1){
key = getkey(); //read keypad
if(flag->shift == true) //shift key was pressed
shiftMode(key, flag); //operator input keys
else
stdMode(key, flag); //standard input keys
} //end while(1)
} //end main
void main(void){
unsigned long int edge1,edge2, edge3, period, duty;
unsigned long int r = 0, q = 0, i, n =0;
unsigned int k[8] = {0,0,0,0,0,0,0,0};
char *msg1 = "period(ms):";
char *msg2 = "period(us):" ;
char *msg3 = "Duty:" ;
char *percent = "%";
char scale = 0x06;
begin:
TSCR1 = 0x90; //enable timer counter
TIOS = 0x00; //enable input-capture 0
TSCR2 = scale; //disable TCNT overflow interrupt
TCTL4 = 0x01; //capture rising edge
TFLG1 = 0x00; //clear flags register
while(!(TFLG1 & 0x01)){} //wait until rising edge
edge1 = TC0; //save first rising edge
//decrease prescaler by 1
//if count less than value
if((edge1 < 2000) || (edge1 < 1000)|| (edge1 < 500)|| (edge1 < 200) ||(edge1 < 100) || (edge1 < 50 )){
if(scale == 0x00){ //if prescaler already 1 skip
goto skip;
}
scale = scale - 1; //decrease prescaler by 1
goto begin; //take input again
}
skip:
TCTL4 = 0x02; //caputre falling edge
while(!(TFLG1 & 0x01)){} //wait until falling edge
edge2 = TC0; //save first falling edge
TCTL4 = 0x01; //detect second rising edge
while(!(TFLG1 & 0x01)){} //wait until edge detected
edge3 = TC0; //save value
period = edge3 - edge1; //calculate period
duty = (edge2 - edge1); //calculate duty cycle
duty = duty*100; //calculate duty cycle
duty = duty/period; //calculate duty cycle
lcd_init ();
if(scale == 0){ //if prescaler is 1
period = period *1; //multiply period by scaler
period = period/24; //divide by 24 for us
type_lcd(msg2);
}
if(scale == 0x01){ //if prescaler is 2
period = period *2; //multiply period by scaler
period = period/24;
type_lcd(msg2);
}
if(scale == 0x02){ //if prescaler is 4
period = period *4; //multiply period by scaler
period = period/24; //divide by 24 for us
type_lcd(msg2);
}
if(scale == 0x03){ //if prescaler is 8
period = period *8; //multiply period by scaler
period = period/24; //divide by 24 for us
type_lcd(msg2);
}
if(scale == 0x04){ //if prescaler is 16
period = period *16; //multiply period by scaler
period = period/24; //divide by 24 for us
type_lcd(msg2);
}
if(scale == 0x05){ //if prescaler is 32
period = period *32; //multiply period by scaler
period = period/24000; //divide by 24000 for ms
type_lcd(msg1);
}
if(scale == 0x06){ //if prescaler is 64
period = period *64; //multiply period by scaler
period = period/24000; //divide by 24000 for ms
type_lcd(msg1);
}
do { //convert period from hex to dec
q = period/10;
r = period%10;
k[n] =r; //store values to be displayed
period /= 10;
n++; //increase index
}while(q != 0);
while (n != 0 ) { //display decimal value of period
k[n-1] = (char)k[n-1]; //convert to char
k[n-1] = k[n-1] + 0x30; //convert to ASCII
data8(k[n-1]); //display to LCD
n--;
}
n= 0; //reset n
do { //convert duty from hex to dec
q = (duty/10);
r =(duty%10);
k[n] =r; //store values to be displayed
duty /= 10;
n++; //Increment index
}while(q != 0);
set_lcd_addr(0x40);
type_lcd(msg3);
while (n != 0 ) { //display decimal value of duty
k[n-1] = (char)k[n-1]; //convert to char
k[n-1] = k[n-1] + 0X30; //convert to ASCII
data8(k[n-1]); //display to LCD
n--;
}
type_lcd(percent);
}
void shiftMode(char key, Flag *flag){
switch(key){
case 0xA: //if memory set (A) key - save number
midx = kidx;
strcpy(mem, kbuf); //copy data from kbuf to mem
flag->save = true;
led_on(1); //turn on 2nd led to indicate saved number
wait_keyup();
break;
case 0xB: //if memory recall (B) key - get saved number
if(flag->save == true){
flag->olock = false;
flag->nlock = true;
strcpy(kbuf, mem);
kidx = midx;
//kbuf[kidx] = '\0';
clrLine(2); //clear line 2
display(kbuf, kidx, 0x40);
wait_keyup();
}
break;
case 0x1: //if plus '+' (1) key
addOper('+', flag);
break;
case 0x2: //if minus '-' (2) key
addOper('-', flag);
break;
case 0x3: //if mod '%' (3) key
addOper('%', flag);
break;
case 0x4: //if multiply '*' (4) key
addOper('*', flag);
break;
case 0x5: //if divide key '/' (5) key
addOper('/', flag);
break;
case 0x6: //if power '^' (6) key
addOper('^', flag);
break;
case 0x7: //if left parenthesis '(' (7) key
if(flag->olock == true){
flag->leftpar += 1;
kbuf[kidx++] = '(';
display(kbuf,kidx, 0x40);
wait_keyup();
}
break;
case 0x8: //if right parenthesis ')' (8) key
if(flag->leftpar>0 && flag->olock==false){ //if '(' present
flag->leftpar -= 1;
kbuf[kidx++] = ')';
display(kbuf,kidx, 0x40);
flag->nlock = true; //nlock = true to stop taking number inputs
wait_keyup();
}
break;
case 0x9: //if factorial '!' (9) key
addOper('!', flag);
break;
case 0xC: //if clear (C) key
flag->nlock = false;
flag->olock = true;
flag->deci = false;
flag = createFlag();
clear_lcd();
kidx = 0; //reset kbuf index
kbuf[kidx] = '\0'; //clear kbuf
oidx = 0; //reset oper index
oper[oidx] = '\0'; //clear oper
substart = 0;
set_lcd_addr(0x40);
wait_keyup(); //wait to release key
break;
case 0xD: // if shift (D) key
flag->shift = false;
wait_keyup(); //wait to release key
break;
case 0xF: //if equal (#) key
clrLine(1);
//--------------------
if(oidx > 0){
strcat(oper, kbuf);
oidx += kidx;
}
else{
oidx = kidx;
strcpy(oper, kbuf);
}
oper[oidx++] = ' ';
flag->nlock = false;
flag->deci = false;
kidx = 0;
//-------------------
--oidx; //remove space
display(oper, oidx, 0x40);
wait_keyup();
break;
case 0x0:
break;
default: break;
} //end switch
}
void main(){
long int n;
int i;
float ix = 0.0,duty, period;
char j, scale = 0x06;
char *msg1 = "Period(us):";
char *msg2 = "Duty(%):";
char *msg3 = "Not valid";
char *msg4 = "Displaying...";
char *msg5 = "Go again?";
lcd_init();
type_lcd(msg1);
n = 0;
getperiod:
i= getkey1(); //get key from keypad
delayms(10);
if(i == 0x0A){ //if i=A (enter key)
clear_lcd(); //clear lcd
type_lcd(msg2); //diplay duty message
delayms(1000); //diplay message for 1s
period = n; //save period value
n= 0; //reset n to be used for duty
goto getduty; //get duty cycle
}
else if (i > 0x0A) { //if i not a valid input
clear_lcd(); //clear lcd
type_lcd(msg3); //display error message
delayms(1000); //display for 1s
n = 0; //reset n
clear_lcd();
type_lcd(msg1);
goto getperiod; //get period again
}
if((n*10+i) > 1360){ //if n exceeds limit
clear_lcd(); //clear lcd
type_lcd(msg3); //display error message
delayms(1000); //display for 1s
n = 0; //reset n
clear_lcd();
type_lcd(msg1);
goto getperiod; //get period again
}
j= (char)i; //turn i into char
j=j+0x30; //convert hex to ASCII
data8(j); //display ASCII to LCD
n = n*10 +i; //keep track of decimal value
goto getperiod; //get another key
getduty:
i= getkey1(); //get key from keypad
delayms(10);
if(i == 0x0A){ //if i=A (enter key)
clear_lcd(); //clear lcd
duty = n; //save duty value
n = 0; //reset n
goto signal; //output signal
}
else if (i > 0x0A) { //if i not a valid input
clear_lcd(); //clear lcd
type_lcd(msg3); //display error message
delayms(1000); //display for 1s
n = 0; //reset n
clear_lcd();
type_lcd(msg2);
goto getduty; //get duty cycle again
}
if((n*10+i) > 100){ //if n exceeds limit
clear_lcd(); //clear lcd
type_lcd(msg3); //display error message
delayms(1000); //display for 1s
n = 0; //reset n
clear_lcd();
type_lcd(msg2);
goto getduty; //get duty again
}
j= (char)i; //turn i into char
j=j+0x30; //convert hex to ASCII
data8(j); //display ASCII to LCD
n = n*10 +i; //keep track of decimal value
goto getduty; //get another key
signal:
if(period < 10){
period= period*24; //calculate count
duty = duty/100; //calculate duty
duty = duty*period;
scale = 0x00;
}else if(period >680){
period= period*24; //calculate count
period = period/128; //calculate count
duty = duty/100; //calculate duty
duty = duty*period;
scale = 0x07;
}else{
period= period*24; //calculate count
period = period/64; //calculate count
duty = duty/100; //calculate duty
duty = duty*period; //calculate duty
scale = 0x06;
}
PWMCLK = 0; //select clock A as source
PWMPRCLK = scale; //set clock A prescaler to 64
PWMPOL = 1; //channel 9 output high at start
PWMCAE = 0; //left-aligned mode
PWMCTL = 0x0C; //8-bit mode, stop in wait and freeze mode
PWMPER0 = period; //set period value
PWMDTY0 = duty; //set duty value
PWME = 0x01; //enalbe PWM0 to output signal
while (1){
type_lcd(msg4); //displaying signal
set_lcd_addr(0x40);
type_lcd(msg5); //ask if want to create new waveform
i= getkey1(); //get key from keypad
delayms(10);
if(i == 0x0A){ //if i=A (enter key)
clear_lcd(); //clear lcd
type_lcd(msg1); //diplay period message
delayms(1000); //diplay message for 1s
n= 0; //reset n
goto getperiod; //get new period
}else{
clear_lcd();
}
}
}
