void SLIDER_poll()
{
// only send if it has changed
static unsigned char ls_old;
static unsigned char rs_old;
static unsigned char lb_old;
static unsigned char rb_old;
unsigned char ls;
unsigned char rs;
unsigned char lb;
unsigned char rb;
touch_measure(&ls, &rs, &lb, &rb);
if(ls_old != ls)
{
COMMAND_setServo(ls*4);
ls_old = ls;
}
if(rs_old != rs)
{
COMMAND_setMotor(rs - (unsigned char)30);
rs_old = rs;
}
if(lb)
{
if(lb_old == 0)
COMMAND_triggerSolenoid();
lb_old = 1;
} else {
lb_old = 0;
}
if(rb)
{
if(rb_old == 0)
COMMAND_triggerSolenoid();
rb_old = 1;
} else {
rb_old = 0;
}
}
/**********************************************************
* Main function
**********************************************************/
int main(void){
//variables
uint16_t i;
uint16_t sample[3];
//initialize
initialize();
i = 0;
//main loop
while (1)
{
i++;
if (i>10000){
sample[0] = touch_measure(&btn1);
sample[1] = touch_measure(&btn2);
sample[2] = touch_measure(&btn3);
pwm16_set_values(sample[0],sample[1],sample[2]);
if(USB_DeviceState == DEVICE_STATE_Configured){
fprintf(&USBSerialStream,"btn1: %u\t",sample[0]);
fprintf(&USBSerialStream,"btn2: %u\t",sample[1]);
fprintf(&USBSerialStream,"btn3: %u\r\n",sample[2]);
}
i=0;
PORTE ^= (1<<PE2);
}
/**LUFA usb related tasks*/
CDC_Device_USBTask(&VirtualSerial_CDC_Interface);
USB_USBTask();
}
return 0;
}
int main( void )
{
/* initialise host app, pins, watchdog, etc */
init_system();
/* configure timer ISR to fire regularly */
init_timer_isr();
/* Initialize Touch sensors */
touch_init();
/* loop forever */
for( ; ; )
{
touch_measure();
/* Time Non-critical host application code goes here */
}
}
void vControl ( void *pvParameters )
{
portTickType xLastWakeTime;
signed char valx, valy;
unsigned char ls, rs, lb, rb;
can_frame_t out_frame;
can_frame_t in_frame;
out_frame.id = 1;
out_frame.dlc = 6;
xLastWakeTime = xTaskGetTickCount ();
/* Button init */
buttons_init ();
/* FSM init */
fsm_init ();
/* CAN init */
can_init ();
/* ADC init */
adc_init ( ctrlNUM_ADC_VALUES );
/* Touch init */
touch_init ( 30, 30, 30, 30 );
while (1)
{
vTaskDelayUntil ( &xLastWakeTime, ctrlTASK_FREQUENCY );
if ( adc_conversion_complete () == pdTRUE )
{
adc_disable ();
adc_get_value ( &valx, 0 );
adc_get_value ( &valy, 0 );
touch_measure ( &ls, &rs, &lb, &rb );
out_frame.data[0] = valx;
out_frame.data[1] = valy;
out_frame.data[2] = ls;
out_frame.data[3] = rs;
out_frame.data[4] = lb;
out_frame.data[5] = rb;
if (fsm_get_state() == ST_PLAY)
{
can_transmit (&out_frame);
}
can_receive (&in_frame, 0);
if (in_frame.data[0] == GAME_SENSOR_TRIGGERED)
{
// TODO: set triggered state
fsm_event_t *event = pvPortMalloc (sizeof (fsm_event_t));
event->type = EV_STOP;
event->ptr = NULL;
fsm_event_put (event, portMAX_DELAY);
in_frame.data[0] = 0;
}
else if (in_frame.data[0] == GAME_SENSOR_CLEARED)
{
// TODO: set cleared state
in_frame.data[0] = 0;
}
adc_enable ();
adc_conversion_start ();
}
fsm_update ();
}
}
int main( void )
{
/* initialize host app, pins, watchdog, etc */
// init_system();
/* configure timer ISR to fire regularly */
// init_timer_isr();
// Configure CPU and peripherals clock
xmega_set_cpu_clock_to_32MHz();
// Enable interrupts
PMIC.CTRL = PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
// Power management - configure sleep mode to IDLE
set_sleep_mode(SLEEP_SMODE_IDLE_gc);
// Enable sleep mode
sleep_enable();
#ifdef MMSN_DEBUG
// Initialize serial communication terminal
// usartCommTerminalInit();
// Configure and initialize communication bus usart
xmega_usart_configure();
/* RS-485 PHYSICAL DEVICE CONFIGURATION */
// Initialize GPIO related to RS-485 interface
rs485_driver_gpio_initialize();
// Enable driver to be able to send data
rs485_driver_enable();
// Redirect stream to standard output
stdout = &mystdout;
/* Print out welcome message */
printf_P(PSTR("\nGeneric Board ver 1.00\n"));
#endif
// Heartbeat timer - 8MHz prescales by 8 => 1MHz
// Thus 1ms equals to 1000 ticks
xmega_timer_config(&TIMER_HEARTBEAT, TC_CLKSEL_DIV8_gc, (TICKS_PER_MS * qt_measurement_period_msec));
/* Initialize Touch sensors */
touch_init();
// Configure PIN6 as input
PORT_DIRCLR(POWER_SUPPLY_MEASUREMENT_IO);
// ADC conversion on pin 6
uint16_t u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc | 0x02, ADC_CH_MUXPOS_PIN6_gc);
printf("Power meter = %u\n", u16ConvResult);
// Configure PIN5 as input
PORT_DIRCLR(OPTO_IO);
u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc | 0x02, ADC_CH_MUXPOS_PIN5_gc);
printf("Opto = %u\n", u16ConvResult);
/* loop forever */
for(;;)
{
touch_measure();
// Test every 2s
if(gCounter >= 40)
{
printf("\n");
printf("\nSensor[0]: %d - ", GET_SENSOR_STATE(0));
printf("Sensor[1]: %d - ", GET_SENSOR_STATE(1));
printf("Sensor[2]: %d - ", GET_SENSOR_STATE(2));
printf("Sensor[3]: %d\n", GET_SENSOR_STATE(3));
printf("Sensor[4]: %d - ", GET_SENSOR_STATE(4));
printf("Sensor[5]: %d - ", GET_SENSOR_STATE(5));
printf("Sensor[6]: %d - ", GET_SENSOR_STATE(6));
printf("Sensor[7]: %d\n", GET_SENSOR_STATE(7));
printf("Sensor[8]: %d - ", GET_SENSOR_STATE(8));
printf("Sensor[9]: %d - ", GET_SENSOR_STATE(9));
printf("Sensor[10]: %d - ", GET_SENSOR_STATE(10));
printf("Sensor[11]: %d\n", GET_SENSOR_STATE(11));
printf("Sensor[12]: %d - ", GET_SENSOR_STATE(12));
printf("Sensor[13]: %d - ", GET_SENSOR_STATE(13));
printf("Sensor[14]: %d - ", GET_SENSOR_STATE(14));
printf("Sensor[15]: %d\n", GET_SENSOR_STATE(15));
printf("Sensor[16]: %d - ", GET_SENSOR_STATE(16));
printf("Sensor[17]: %d - ", GET_SENSOR_STATE(17));
printf("Sensor[18]: %d - ", GET_SENSOR_STATE(18));
printf("Sensor[19]: %d\n", GET_SENSOR_STATE(19));
printf("Sensor[20]: %d - ", GET_SENSOR_STATE(20));
printf("Sensor[21]: %d - ", GET_SENSOR_STATE(21));
printf("Sensor[22]: %d - ", GET_SENSOR_STATE(22));
printf("Sensor[23]: %d\n", GET_SENSOR_STATE(23));
printf("Sensor[24]: %d - ", GET_SENSOR_STATE(24));
printf("Sensor[25]: %d - ", GET_SENSOR_STATE(25));
printf("Sensor[26]: %d - ", GET_SENSOR_STATE(26));
printf("Sensor[27]: %d\n", GET_SENSOR_STATE(27));
printf("Sensor[28]: %d - ", GET_SENSOR_STATE(28));
printf("Sensor[29]: %d - ", GET_SENSOR_STATE(29));
printf("Sensor[30]: %d - ", GET_SENSOR_STATE(30));
printf("Sensor[31]: %d\n", GET_SENSOR_STATE(31));
printf("\n");
u16ConvResult = xmega_generate_adc_random_value(&ADCA, ADC_REFSEL_INT1V_gc, ADC_CH_MUXPOS_PIN5_gc);
printf("Opto = %i\n", u16ConvResult);
/*
printf("\nCh_Sig[0]: %u ", qt_measure_data.channel_signals[0]);
printf("Ch_Sig[1]: %u ", qt_measure_data.channel_signals[1]);
printf("Ch_Sig[2]: %u ", qt_measure_data.channel_signals[2]);
printf("Ch_Sig[3]: %u", qt_measure_data.channel_signals[3]);
printf("\nCh_Sig[4]: %u ", qt_measure_data.channel_signals[4]);
printf("Ch_Sig[5]: %u ", qt_measure_data.channel_signals[5]);
printf("Ch_Sig[6]: %u ", qt_measure_data.channel_signals[6]);
printf("Ch_Sig[7]: %u", qt_measure_data.channel_signals[7]);
printf("\nCh_Sig[8]: %u ", qt_measure_data.channel_signals[8]);
printf("Ch_Sig[9]: %u ", qt_measure_data.channel_signals[9]);
printf("Ch_Sig[10]: %u ", qt_measure_data.channel_signals[10]);
printf("Ch_Sig[11]: %u", qt_measure_data.channel_signals[11]);
printf("\nCh_Sig[12]: %u ", qt_measure_data.channel_signals[12]);
printf("Ch_Sig[13]: %u ", qt_measure_data.channel_signals[13]);
printf("Ch_Sig[14]: %u ", qt_measure_data.channel_signals[14]);
printf("Ch_Sig[15]: %u", qt_measure_data.channel_signals[15]);
printf("\nCh_Sig[16]: %u ", qt_measure_data.channel_signals[16]);
printf("Ch_Sig[17]: %u ", qt_measure_data.channel_signals[17]);
printf("Ch_Sig[18]: %u ", qt_measure_data.channel_signals[18]);
printf("Ch_Sig[19]: %u", qt_measure_data.channel_signals[19]);
printf("\nCh_Sig[20]: %u ", qt_measure_data.channel_signals[20]);
printf("Ch_Sig[21]: %u ", qt_measure_data.channel_signals[21]);
printf("Ch_Sig[22]: %u ", qt_measure_data.channel_signals[22]);
printf("Ch_Sig[23]: %u", qt_measure_data.channel_signals[23]);
printf("\nCh_Sig[24]: %u ", qt_measure_data.channel_signals[24]);
printf("Ch_Sig[25]: %u ", qt_measure_data.channel_signals[25]);
printf("Ch_Sig[26]: %u ", qt_measure_data.channel_signals[26]);
printf("Ch_Sig[27]: %u", qt_measure_data.channel_signals[27]);
printf("\nCh_Sig[28]: %u ", qt_measure_data.channel_signals[28]);
printf("Ch_Sig[29]: %u ", qt_measure_data.channel_signals[29]);
printf("Ch_Sig[30]: %u ", qt_measure_data.channel_signals[30]);
printf("Ch_Sig[31]: %u", qt_measure_data.channel_signals[31]); */
printf("\ndelta[0]: %i ", qt_get_sensor_delta(0));
printf("delta[1]: %i ", qt_get_sensor_delta(1));
printf("delta[2]: %i ", qt_get_sensor_delta(2));
printf("delta[3]: %i", qt_get_sensor_delta(3));
printf("\ndelta[4]: %i ", qt_get_sensor_delta(4));
printf("delta[5]: %i ", qt_get_sensor_delta(5));
printf("delta[6]: %i ", qt_get_sensor_delta(6));
printf("delta[7]: %i", qt_get_sensor_delta(7));
printf("\ndelta[8]: %i ", qt_get_sensor_delta(8));
printf("delta[9]: %i ", qt_get_sensor_delta(9));
printf("delta[10]: %i ", qt_get_sensor_delta(10));
printf("delta[11]: %i", qt_get_sensor_delta(11));
printf("\ndelta[12]: %i ", qt_get_sensor_delta(12));
printf("delta[13]: %i ", qt_get_sensor_delta(13));
printf("delta[14]: %i ", qt_get_sensor_delta(14));
printf("delta[15]: %i", qt_get_sensor_delta(15));
printf("\ndelta[16]: %i ", qt_get_sensor_delta(16));
printf("delta[17]: %i ", qt_get_sensor_delta(17));
printf("delta[18]: %i ", qt_get_sensor_delta(18));
printf("delta[19]: %i", qt_get_sensor_delta(19));
printf("\ndelta[20]: %i ", qt_get_sensor_delta(20));
printf("delta[21]: %i ", qt_get_sensor_delta(21));
printf("delta[22]: %i ", qt_get_sensor_delta(22));
printf("delta[23]: %i", qt_get_sensor_delta(23));
printf("\ndelta[24]: %i ", qt_get_sensor_delta(24));
printf("delta[25]: %i ", qt_get_sensor_delta(25));
printf("delta[26]: %i ", qt_get_sensor_delta(26));
printf("delta[27]: %i", qt_get_sensor_delta(27));
printf("\ndelta[28]: %i ", qt_get_sensor_delta(28));
printf("delta[29]: %i ", qt_get_sensor_delta(29));
printf("delta[30]: %i ", qt_get_sensor_delta(30));
printf("delta[31]: %i", qt_get_sensor_delta(31));
gCounter = 0;
}
/* Time Non-critical host application code goes here */
}
}
