/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
/* Chip errata */
CHIP_Init();
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
/* Initialize LED driver */
BSP_LedsInit();
/* Setting state of leds*/
BSP_LedSet(0);
BSP_LedSet(1);
/* Initialize SLEEP driver, no calbacks are used */
SLEEP_Init(NULL, NULL);
#if (configSLEEP_MODE < 3)
/* do not let to sleep deeper than define */
SLEEP_SleepBlockBegin((SLEEP_EnergyMode_t)(configSLEEP_MODE+1));
#endif
/* Parameters value for taks*/
static TaskParams_t parametersToTask1 = { pdMS_TO_TICKS(1000), 0 };
static TaskParams_t parametersToTask2 = { pdMS_TO_TICKS(500), 1 };
/*Create two task for blinking leds*/
xTaskCreate( LedBlink, (const char *) "LedBlink1", STACK_SIZE_FOR_TASK, ¶metersToTask1, TASK_PRIORITY, NULL);
xTaskCreate( LedBlink, (const char *) "LedBlink2", STACK_SIZE_FOR_TASK, ¶metersToTask2, TASK_PRIORITY, NULL);
/*Start FreeRTOS Scheduler*/
vTaskStartScheduler();
return 0;
}
static void prvQueueReceiveTask( void *pvParameters )
{
uint32_t ulReceivedValue;
const uint32_t ulExpectedValue = 100UL;
const TickType_t xShortDelay = pdMS_TO_TICKS( 10 );
/* Remove compiler warning about unused parameter. */
( void ) pvParameters;
for( ;; ) {
/* Wait until something arrives in the queue - this task will block
indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
FreeRTOSConfig.h. */
xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
/* To get here something must have been received from the queue, but
is it the expected value? If it is, toggle the LED. */
if( ulReceivedValue == ulExpectedValue ) {
/* Turn the LED on for a brief time only so it doens't distort the
energy reading. */
BSP_LedSet( mainTASK_LED );
vTaskDelay( xShortDelay );
BSP_LedClear( mainTASK_LED );
ulReceivedValue = 0U;
}
}
}
/***************************************************************************//**
* @brief
* RxTimer, Timer0 IRQHandler.
******************************************************************************/
void TIMER0_IRQHandler(void)
{
uint32_t irqFlags;
irqFlags = TIMER_IntGet(HIJACK_RX_TIMER);
TIMER_IntClear(HIJACK_RX_TIMER, irqFlags);
if (TIMER_IF_CC1 & irqFlags)
{
cur_stamp = TIMER_CaptureGet(HIJACK_RX_TIMER, 1);
TIMER_CounterSet(HIJACK_RX_TIMER, 0);
edge_occur = true;
/* Check what transition it was. */
if (GPIO_PinInGet(HIJACK_RX_GPIO_PORT, HIJACK_RX_GPIO_PIN))
{
cur_edge = rising;
BSP_LedSet( 0 );
}
else
{
cur_edge = falling;
BSP_LedClear( 0 );
}
}
}
void SysTick_Handler(void)
{
msTicks++;
if (msDelay != 0)
msDelay--;
if (Stopwatch_active)
Stopwatch_ms++;
if (msLedRunOff != 0)
{
if (--msLedRunOff == 0)
{
BSP_LedSet(0);
msLedRunOn = msLedOn;
}
}
if (msLedRunOn != 0)
{
if (--msLedRunOn == 0)
{
BSP_LedClear(0);
msLedRunOff = msLedOff;
}
}
}
/**************************************************************************//**
* @brief RTC Handler
* Interrupt Service Routine for Real Time Counter
*****************************************************************************/
void RTC_IRQHandler(void)
{
/* Clear interrupt source */
RTC_IntClear(RTC_IFC_COMP0);
/* Toggle the LED */
if (enabled)
{
BSP_LedClear(0);
}
else
{
BSP_LedSet(0);
/* Change state */
switch (STATE)
{
case EM0:
STATE = EM1;
break;
case EM1:
STATE = EM2;
break;
case EM2:
STATE = EM0;
break;
}
}
enabled = !enabled;
}
void LOS_EvbLedInit(void)
{
#ifdef EFM32PG1B200F256GM48
/* Initialize LED driver */
BSP_LedsInit();
BSP_LedSet(0);
BSP_LedClear(1);
#endif
return ;
}
/*************************************************************************************************
* function£ºcontrol led on off *
* param (1) index Led's index *
* (2) cmd Led on or off *
* return : None *
* discription: *
**************************************************************************************************/
void LOS_EvbLedControl(int index, int cmd)
{
#ifdef EFM32PG1B200F256GM48
switch (index)
{
case LOS_LED1:
{
if (cmd == LED_ON)
{
BSP_LedSet(0); /*led1 on */
}
else
{
BSP_LedClear(0); /*led1 off */
}
break;
}
case LOS_LED2:
{
if (cmd == LED_ON)
{
BSP_LedSet(1); /*led2 on */
}
else
{
BSP_LedClear(1); /*led2 off */
}
break;
}
default:
{
break;
}
}
#endif
return ;
}
/*!
* Radio Initialization.
*
* @author Sz. Papp
*
* @note
*
*/
void vRadio_Init(void)
{
/* Power Up the radio chip */
vRadio_PowerUp();
/* Load radio configuration */
while (SI446X_SUCCESS != si446x_configuration_init(pRadioConfiguration->Radio_ConfigurationArray))
{
/* Error hook */
BSP_LedSet(0);
Delay(2);
BSP_LedClear(0);
/* Power Up the radio chip */
vRadio_PowerUp();
}
// Read ITs, clear pending ones
si446x_get_int_status(0u, 0u, 0u);
}
static void prvSetupHardware( void )
{
EMU_DCDCInit_TypeDef xDCDInit = EMU_DCDCINIT_STK_DEFAULT;
CMU_HFXOInit_TypeDef xHFXOInit = CMU_HFXOINIT_STK_DEFAULT;
/* Chip errata */
CHIP_Init();
/* Init DCDC regulator and HFXO with kit specific parameters */
EMU_DCDCInit( &xDCDInit );
CMU_HFXOInit( &xHFXOInit );
/* Switch HFCLK to HFXO and disable HFRCO */
CMU_ClockSelectSet( cmuClock_HF, cmuSelect_HFXO );
CMU_OscillatorEnable( cmuOsc_HFRCO, false, false );
/* Initialize LED driver. */
BSP_LedsInit();
BSP_LedSet( 0 );
BSP_LedClear( 1 );
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
/* Chip errata */
CHIP_Init();
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
/* Setup SysTick Timer for 1 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000)) while (1) ;
/* Initialize LED driver */
BSP_LedsInit();
BSP_LedSet(0);
/* Infinite blink loop */
while (1)
{
BSP_LedToggle(0);
BSP_LedToggle(1);
Delay(1000);
}
}
/**************************************************************************//**
*
* @brief Initialize board
*
*****************************************************************************/
void BoardInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
Pin_Init();
LED_CLK();
BSP_LedSet(0);
GPIO_InitStructure.GPIO_Pin = LED_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(LED_PORT, &GPIO_InitStructure);
SystemCoreClockUpdate();
TimingInit();
PC_GPIO_CLK();
GPIO_InitStructure.GPIO_Pin = PC_PIN_RX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(PC_PIN_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = PC_PIN_TX;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(PC_PIN_PORT, &GPIO_InitStructure);
PC_UART_CLK();
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(PC_UART, &USART_InitStructure);
USART_Cmd(PC_UART, ENABLE);
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
CHIP_Init(); // This function addresses some chip errata and should be called at the start of every EFM32 application (need em_system.c)
uint8_t i, front_back, left_right, command;
char init_message[] = "Start!\n";
/* Setup SysTick Timer for 1 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000)) while (1) ;
/* Initialize LED driver */
BSP_LedsInit();
BSP_LedSet(0);
/* initalize clocks */
CMU->CTRL |= (1 << 14); // Set HF clock divider to /2 to keep core frequency <32MHz
CMU->OSCENCMD |= 0x4; // Enable XTAL Oscillator
while(! (CMU->STATUS & 0x8) ); // Wait for XTAL osc to stabilize
CMU->CMD = 0x2; // Select HF XTAL osc as system clock source. 48MHz XTAL, but we divided the system clock by 2, therefore our HF clock should be 24MHz
usart_init();
i2cInit();
// Print test string
for(i=0; init_message[i] != '\0'; i++) {
usart_send_data(init_message[i]);
}
usart_enable_rx_isr();
while (1)
{
performI2CTransfer();
BSP_LedToggle(0);
BSP_LedToggle(1);
front_back = (uint8_t)(G[1]>>8 & 0xFF);
left_right = (uint8_t)(G[0]>>8 & 0xFF);
/*
usart_send_data(0xAA);
usart_send_data(front_back);
usart_send_data(0xBB);
usart_send_data(left_right);
*/
if (left_right >= 0x30 && front_back <= 0x45){
command = 'l';
}else if (left_right >= 0xC0 && front_back <= 0xDF){
command = 'r';
}else if(front_back >= 0xC0&& front_back <= 0xCD){
command = 'f';
}else if (front_back >= 0x32 && front_back <= 0x35){
command = 'b';
}
/*else if (left_right >= 0x3E && front_back <= 0x40){
command = 'l';
}else if (left_right >= 0xC4 && front_back <= 0xD0){
command = 'r';
}
*/
if(command != 0x00){
usart_send_data(command);
command = 0x00;
}
//usart_send_data((uint8_t)(G[0]>>8 & 0xFF));
//usart_send_data((uint8_t)G[1] & 0xFF);
Delay(500);
}
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
char buffer[] = "AT";
uint8_t delay_type = 0;
/* Chip errata */
CHIP_Init();
/* initalize clocks */
CMU->CTRL |= (1 << 14); // Set HF clock divider to /2 to keep core frequency <32MHz
CMU->OSCENCMD |= 0x4; // Enable XTAL Oscillator
while(! (CMU->STATUS & 0x8) ); // Wait for XTAL osc to stabilize
CMU->CMD = 0x2; // Select HF XTAL osc as system clock source. 48MHz XTAL, but we divided the system clock by 2, therefore our HF clock should be 24MHz
/* Setup SysTick Timer for 1 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000)) while (1) ;
usart_init();
motor_init();
usart_enable_rx_isr();
BSP_LedsInit();
BSP_LedSet(0);
BSP_LedSet(1);
usart_send_string(buffer);
/* Infinite loop */
while (1) {
BSP_LedToggle(1);
switch(rx_data){
case 'f':
Move_Forward();
delay_type = 1;
break;
case 'b':
Move_Backward();
delay_type = 1;
break;
case 'r':
Move_Left();
delay_type = 2;
break;
case 'l':
Move_Right();
delay_type = 2;
break;
default:
delay_type = 1;
Stop_Robot();
break;
}
rx_data = 0;
//Chooses the delay depending on the movement
if (delay_type == 1){
Delay(1000);
}else if(delay_type == 2){
Delay(200);
}
}
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
/* Chip errata */
CHIP_Init();
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
/* Initial BSP led driver . **/
BSP_LedsInit();
BSP_LedSet(0);
BSP_LedClear(0);
/* timer1 intial to generate wave. */
enc_init();
/* Initialize LCD controller without boost */
SegmentLCD_Init(false);
/* Disable all segments */
SegmentLCD_AllOff();
/* Copy contents of the userpage (flash) into the userData struct */
//memcpy((void *) &userData, (void *) USERPAGE, sizeof(UserData_TypeDef));
/* Special case for uninitialized data */
if (userData.number > 10000)
userData.number = 0;
if (userData.numWrites == 0xFFFFFFFF)
userData.numWrites = 0;
/* Display the number */
SegmentLCD_Number(userData.number);
/* Setup GPIO interrupts. PB0 to increase number, PB1 to save to flash */
gpioSetup();
/* No save has occured yet */
recentlySaved = false;
/* Main loop - just scroll informative text describing the current state of
* the system */
while (1)
{
EM2Sleep(125);
#if 0
switch (currentError)
{
case mscReturnInvalidAddr:
ScrollText(" ERROR: INVALID ADDRESS ");
break;
case mscReturnLocked:
ScrollText(" ERROR: USER PAGE IS LOCKED ");
break;
case mscReturnTimeOut:
ScrollText(" ERROR: TIMEOUT OCCURED ");
break;
case mscReturnUnaligned:
ScrollText(" ERROR: UNALIGNED ACCESS ");
default:
if (recentlySaved)
{
recentlySaved = false;
SegmentLCD_Number(userData.numWrites);
ScrollText(" SAVE NUMBER ");
}
else
{
SegmentLCD_Number(userData.number);
ScrollText(" PRESS PB0 TO INCREASE NUMBER. PB1 TO SAVE TO INTERNAL FLASH ");
}
break;
}
#endif
}
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
int i;
uint8_t data[7];
SENSOR_DATA_TypeDef axis_converted_avg[33];
char lcd_data[20];
/* ADXL345 I2C driver config */
ADXL345Handle.port = I2C1;
ADXL345Handle.sclPort = ADXL345_I2C_SCL_PORT;
ADXL345Handle.sclPin = ADXL345_I2C_SCL_PIN;
ADXL345Handle.sdaPort = ADXL345_I2C_SDA_PORT;
ADXL345Handle.sdaPin = ADXL345_I2C_SDA_PIN;
ADXL345Handle.portLocation = ADXL345_I2C_PORT_LOC;
/* Chip errata */
CHIP_Init();
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
/* Enable two leds to show we're alive */
BSP_LedsInit();
BSP_LedSet(0);
BSP_LedSet(1);
/* Setup SysTick Timer for 1 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000)) while (1) ;
/* Enable LCD without voltage boost */
SegmentLCD_Init(false);
/* Initialize I2C drivers */
I2CSPM_Init(&ADXL345Handle);
ADXL345_INIT(ADXL345Handle.port);
SegmentLCD_Write("ADXL345");
Delay(500);
/* Read Device ID */
SegmentLCD_Write("DEV_ID");
Delay(500);
ADXL345_Read_Reg(ADXL345Handle.port, DEVICEID_REG_ADDR,data,1);
SegmentLCD_LowerHex(data[0]);
Delay(500);
/* Read FIFO CTL */
SegmentLCD_Write("AXISDATA");
Delay(500);
/* Infinite loop with test pattern. */
while(1)
{
// axis_converted_avg.X = 0;
// axis_converted_avg.Y = 0;
// axis_converted_avg.Z = 0;
ADXL345_Read_Reg(ADXL345Handle.port, 0x30,data,1);
if(data[0]&0x02)
{
ADXL345_READ_FIFO(axis_converted_avg);
// sprintf(lcd_data,"X:%d",(int)axis_converted_avg.X/i);
// SegmentLCD_Write(lcd_data);
// Delay(500);
// sprintf(lcd_data,"Y:%d",(int)axis_converted_avg.Y/i);
// SegmentLCD_Write(lcd_data);
// Delay(500);
// sprintf(lcd_data,"Z:%d",(int)axis_converted_avg.Z/i);
// SegmentLCD_Write(lcd_data);
// Delay(500);
for(i=0;i<33;i++)
{
ADXL345_STEPCOUNT(axis_converted_avg[i]);
}
}
SegmentLCD_LowerNumber(STEP_COUNT);
// SegmentLCD_LowerNumber(ADXL345_DATA_CONVERT(axis_data[0]));
Delay(500);
// SegmentLCD_LowerNumber(ADXL345_DATA_CONVERT(axis_data[1]));
// Delay(500);
// SegmentLCD_LowerNumber(ADXL345_DATA_CONVERT(axis_data[2]));
// Delay(500);
// ADXL345_Read_Reg(ADXL345Handle.port, 0x1e,data,1);
// SegmentLCD_LowerHex(data[0]);
// Delay(500);
// ADXL345_Read_Reg(ADXL345Handle.port, 0x1f,data,1);
// SegmentLCD_LowerHex(data[0]);
// Delay(500);
// ADXL345_Read_Reg(ADXL345Handle.port, 0x20,data,1);
// SegmentLCD_LowerHex(data[0]);
// Delay(500);
// SegmentLCD_LowerHex(axis_data[1]<< 8 + axis_data[0]);
// Delay(500);
// SegmentLCD_LowerHex(axis_data[3]<< 8 + axis_data[2]);
// Delay(500);
// SegmentLCD_LowerHex(axis_data[5]<< 8 + axis_data[4]);
// Delay(1000);
}
}
void halSetLed(HalBoardLed led)
{
BSP_LedSet(led);
}
