static void *btn_handler_function (void *arg)
{
uint32_t last = xtimer_now();
int i;
flag_state = 0;
while (1)
{
i = gpio_read(BTN_B1_PIN);
if (i != 0) {
if ( flag_state == 0 )
{
LED6_ON;
flag_state = 1;
xtimer_usleep_until(&last, 1000000);
}
else {
LED6_OFF;
flag_state = 0;
xtimer_usleep_until(&last, 1000000);
}
}
xtimer_usleep_until(&last, 100000);
}
return NULL;
}
int main(void)
{
uint32_t last = xtimer_now();
int sample = 0;
puts("\nRIOT ADC peripheral driver test\n");
puts("This test will sample all available ADC lines once every 100ms with\n"
"a 10-bit resolution and print the sampled results to STDIO\n\n");
/* initialize all available ADC lines */
for (int i = 0; i < ADC_NUMOF; i++) {
if (adc_init(ADC_LINE(i)) < 0) {
printf("Initialization of ADC_LINE(%i) failed\n", i);
return 1;
} else {
printf("Successfully initialized ADC_LINE(%i)\n", i);
}
}
while (1) {
for (int i = 0; i < ADC_NUMOF; i++) {
sample = adc_sample(ADC_LINE(i), RES);
if (sample < 0) {
printf("ADC_LINE(%i): 10-bit resolution not applicable\n", i);
} else {
printf("ADC_LINE(%i): %i\n", i, sample);
}
}
xtimer_usleep_until(&last, DELAY);
}
return 0;
}
int main(void)
{
phydat_t res;
uint32_t last = xtimer_now();
puts("SAUL test application");
while (1) {
saul_reg_t *dev = saul_reg;
if (dev == NULL) {
puts("No SAUL devices present");
return 1;
}
while (dev) {
int dim = saul_reg_read(dev, &res);
phydat_dump(&res, dim);
dev = dev->next;
}
xtimer_usleep_until(&last, INTERVAL);
}
return 0;
}
static void *colllision_detection(void *arg)
{
uint32_t lw = xtimer_now();
while (1) {
/* trigger sensor reading */
srf02_trigger(&dist_front, SRF02_MODE_REAL_CM);
srf02_trigger(&dist_back, SRF02_MODE_REAL_CM);
/* wait for results */
xtimer_usleep(SRF02_RANGE_DELAY);
/* read distance data */
front_filter[filter_pos] = srf02_read(&dist_front);
xtimer_usleep(1); /* hack, otherwise the 2nd srf02_read f***s up */
back_filter[filter_pos] = srf02_read(&dist_back);
// printf(" f: %3i, b: %3i %i\n", (int)front_filter[filter_pos], (int)back_filter[filter_pos], filter_pos);
filter_pos = (++filter_pos >= FILTER_SIZE) ? 0 : filter_pos;
/* analyze data and trigger events base on it */
uint16_t fd = 0;
uint16_t bd = 0;
for (int i = 0; i < FILTER_SIZE; i++) {
fd += front_filter[i];
bd += back_filter[i];
}
if ((fd < (FILTER_SIZE * CONF_DIST_THOLD)) && (front_blocked == 0)) {
front_blocked = 1;
event(EVT_FRONT_BLOCKED);
}
else if ((fd >= (FILTER_SIZE * CONF_DIST_THOLD)) && (front_blocked == 1)) {
front_blocked = 0;
event(EVT_FRONT_FREE);
}
if ((bd < (FILTER_SIZE * CONF_DIST_THOLD)) && (back_blocked == 0)) {
back_blocked = 1;
event(EVT_BACK_BLOCKED);
}
else if ((bd >= (FILTER_SIZE * CONF_DIST_THOLD)) && (back_blocked == 1)) {
back_blocked = 0;
event(EVT_BACK_FREE);
}
xtimer_usleep_until(&lw, CONF_DIST_SENSE_DELAY);
}
return NULL;
}
int main(void)
{
int state = 0;
int step = STEP;
uint32_t last_wakeup = xtimer_now();
puts("\nRIOT PWM test");
puts("Connect an LED or scope to PWM pins to see something\n");
printf("Available PWM devices: %i\n", PWM_NUMOF);
for (int i = 0; i < PWM_NUMOF; i++) {
uint32_t real_f = pwm_init(PWM_DEV(i), MODE, FREQU, STEPS);
if (real_f == 0) {
printf("Error initializing PWM_%i\n", i);
return 1;
}
else {
printf("Initialized PWM_%i @ %" PRIu32 "Hz\n", i, real_f);
}
}
puts("\nLetting the PWM pins oscillate now...");
while (1) {
for (int i = 0; i < PWM_NUMOF; i++) {
for (uint8_t chan = 0; chan < pwm_channels(PWM_DEV(i)); chan++) {
pwm_set(PWM_DEV(i), chan, state);
}
}
state += step;
if (state <= 0 || state >= STEPS) {
step = -step;
}
xtimer_usleep_until(&last_wakeup, INTERVAL);
}
return 0;
}
