int main()
{
/*UART initiering*/
UART_1_Start();
UART_1_UartPutString("This is a unit test of accelerometer ADXL345\n\r\n");
/*I2C initiering*/
I2C_1_Start();
I2C_1_I2CMasterClearStatus();
/*Opsætter accellerometer til I2C*/
if(I2C_1_I2CMasterSendStart(ACCEL_ADDRESS, I2C_1_I2C_WRITE_XFER_MODE) == I2C_1_I2C_MSTR_NO_ERROR
&& I2C_1_I2CMasterWriteByte(PWR_CTRL_REG) == I2C_1_I2C_MSTR_NO_ERROR
&& I2C_1_I2CMasterWriteByte(PWR_MODE) == I2C_1_I2C_MSTR_NO_ERROR)
UART_1_UartPutString("Accelerometer ADXL345 initialized.\n\r\n");
UART_1_UartPutString("10000 reads, from reg DEVID, will now be performed.\n\rPlease wait.\n\r\n");
I2C_1_I2CMasterSendStop();
int errors = 0; //Variabel til at tælle fejl
int i;
for(i = 0; i < 10000; i++) //Forløkke som løber igennem læsningen 10000 gange. (fra DEVID)
{
if (I2C_1_I2CMasterSendStart(ACCEL_ADDRESS, I2C_1_I2C_WRITE_XFER_MODE) == I2C_1_I2C_MSTR_NO_ERROR) /* Tjekker om transfer er sket uden fejl */
{
if(I2C_1_I2CMasterWriteByte(DEVID) == I2C_1_I2C_MSTR_NO_ERROR)
{
if(I2C_1_I2CMasterSendRestart(ACCEL_ADDRESS, I2C_1_I2C_READ_XFER_MODE) == I2C_1_I2C_MSTR_NO_ERROR)
{
rawData = I2C_1_I2CMasterReadByte(I2C_1_I2C_NAK_DATA); //Læser og gemmer læsningen i rawData
I2C_1_I2CMasterSendStop();
if(rawData != 0xE5)errors++; //Hvis der læses andet end device ID, inkrementeres fejl.
}
else
{
I2C_1_I2CMasterSendStop(); /* Send Stop */
errors++;
}
}
else
{
errors++;
}
}
else
{
I2C_1_I2CMasterSendStop(); /* Send Stop */
errors++;
}
}
char errorString[32];
sprintf(errorString, "Finished reading.\n\rErrors: %d\n\r\n", errors); //Gemmer antal errors i en string
UART_1_UartPutString(errorString); //Udskriver hvor mange fejl.
char readingString[32];
sprintf(readingString, "Data from register: %d\n\r\n", rawData); // Gemmer rawData i som en string
UART_1_UartPutString(readingString); //Udskriver hvad der står på rawData i UART
while(1);
}
//Internal I2C: IMU, Safety-CoP, potentiometers
void init_i2c1(void)
{
#ifdef USE_I2C_INT
I2C_1_EnableInt();
I2C_1_Start();
#endif //USE_I2C_INT
}
void init(void)
{
QuadDec_Right_Start();
QuadDec_Left_Start();
PWM_Motor_a_Start();
PWM_Motor_b_Start();
Motor_Right(0);
Motor_Left(0);
ADC_DelSig_Distance_Start();
ADC_DelSig_Distance_StartConvert();
AMux_D_Sensor_Start();
UART_Line_Sensor_Start();
I2C_1_Start();
I2C_LCD_1_Start();
I2C_LCD_Init();
I2C_Color_init();
}
int main()
{
CyGlobalIntEnable; /* Uncomment this line to enable global interrupts. */
isr_1_StartEx(nunchuck_isr);
VDAC_Start();
I2C_1_Start();
SendHandshake();
for(;;)
{
GetDataFromNunChuck();
CyDelay(1);
int test = GetJoystickY();
VDAC_SetValue(test + 126);
}
}
void main()
{
uint8 ButtonPressFlag = 0;
int32 temp=0;
uint32 lowest=24,i;
uint32 increment=2;
uint32 battery_volts;
volatile uint32 counter=0;
CYGlobalIntDisable;
/* Intitalize hardware */
LEDControlReg_Write(0xff); /* Turn off the LEDs on PORT2(pin 0-3) and PORT4 pin(0-3) */
PSU_Enable_Write(3);
// AMux_1_Start(); /* Enable THe analog mux input to the ADC */
// AcclADC_Start(); /* Start ADC */
// VDAC8_1_Start(); /* Start and configure the VDAC used to measure the Thermistor */
// VDAC8_1_SetRange(VDAC8_1_RANGE_1V);
// VDAC8_1_SetValue(200 );
PWM_0_Start();
PWM_1_Start();
PWM_2_Start();
PWM_3_Start();
PWM_4_Start();
PWM_5_Start();
PWM_6_Start();
PWM_7_Start();
// VBATT_ADC_Start();
//VBATT_ADC_StartConvert();
// VBATT_ADC_Stop(); //debugging
// UART_1_Start();
I2C_1_Start();
I2C_1_EnableInt();
Button_ClearInterrupt();
ALERT2_ClearPending();
ALERT1_ClearPending();
ALERT1_StartEx(ALERT1_ISR);
Button_Pressed_StartEx(Button_Press_ISR);
ALERT2_StartEx(ALERT2_ISR);
CYGlobalIntEnable; /* Enable global interrupt */
I2C_1_MasterClearStatus();
while(set_ina226(CH1)!=CYRET_SUCCESS);
while(set_tmp100(CH1)!=CYRET_SUCCESS);
while(1)
{
if(0)
//if(Status_Reg_1_Read()&1)
{
read_tmp100(CH1);
read_ina226(CH1);
}
LEDControlReg_Write(((uint8)~(PSU_Enable_Read())));
for(i=0;i<65000;i++);
LEDControlReg_Write(((uint8)~(PSU_Enable_Read())) & ~(1<<7));
for(i=0;i<65000;i++);
// CyPmSaveClocks();
// CyPmSleep(PM_SLEEP_TIME_NONE, PM_SLEEP_SRC_PICU);
// CyPmRestoreClocks();
// battery_volts = VBATT_ADC_GetResult32();
if(reset==1)
{
for(i=0;i<65000;i++); //delay for half a second.
PSU_Enable_Write(3); //Both PSU ON
I2C_1_Start();
I2C_1_EnableInt();
while(set_ina226(CH1)!=CYRET_SUCCESS);
while(set_tmp100(CH1)!=CYRET_SUCCESS);
reset=0;
}
}
while(1)
{
/* Calculate the current board temperature */
temp = Thermistor_TemperatureCompute() / 10; //we get 24.1 as 241. We drop fractionals.
uint32 barrels_above= (temp-lowest)/increment;
if(temp<=lowest) barrels_above=0; //negative temperatures are too low!
if(barrels_above>8) barrels_above=8;
LEDControlReg_Write(1<<barrels_above);
}
}
int main()
{
//Enable custom ISR's
initAllISR();
//Enable Globals
CyGlobalIntEnable;
//INITIALIZE 12C, XBEE, Veg
Veg_Start();
Veg_StartConvert();
Xbee_UART_Start();
I2C_1_Start();
CyDelay(250);
//read EEPROM, config, and oscillator trimming value
readEEPROM();
writeOscTrimValue();
writeConfigValue();
//Initialize PSOC state
state = WAKE;
//Start Sleep Timer
SleepTimer_Start();
for(;;)
{
/* Place your application code here. */
if (state == WAKE){
//change state
state = GETDATA;
} // end WAKE
else if (state == GETDATA){
//MLX READ------------------------------------------
//Temperature, compensation, and whole frame read
uint16 ptat = readPTAT();
uint16 comp = readCompensation();
readFrame();
//END MLX READ--------------------------------------
//VEG READ------------------------------------------
//Get and scale ADC
int depth;
for (depth = 0; depth < NUM_LEVELS; depth++) {
voltage[depth] = Veg_GetResult16(0)*(3.3/4096);
temperature[depth] = 22.3;
}
//END VEG READ--------------------------------------
//change state
state = TXDATA;
} // end GETDATA
else if (state == TXDATA){
//TX MLX
//tx whole frame, PTAT, and compensation
XBeeTxFrame();
XBeeTxPTAT();
XBeeTxCompensation();
//END TX MLX----------------------------------------
//TX VEG--------------------------------------------
char level[4];
int depth;
//string for calculating Checksum
char toCksm[56];
Xbee_UART_PutString("V,");
for (depth = 0; depth < NUM_LEVELS; depth++) {
sprintf(level, "%d:", depth);
sprintf(Veg_out, "%1.4f:", voltage[depth]);
//Add hard coded temperature value
sprintf(temp_out, "%2.1f,", temperature[depth]);
//if first level, copy string, otherwise concatenate
if (depth == 0) {
strcpy(toCksm, level);
}
else {
strcat(toCksm, level);
}
strcat(toCksm, Veg_out);
strcat(toCksm, temp_out);
//Transmit level string
Xbee_UART_PutString(level);
Xbee_UART_PutString(Veg_out);
Xbee_UART_PutString(temp_out);
} //end for
//Transmit Checksum for Vegetronix
Xbee_UART_PutChar(calculateCheckSum(toCksm, strlen(toCksm)));
//END TX VEG----------------------------------------
//Change State
state = SLEEPMODE;
} // end TXDATA
else if (state == SLEEPMODE){
//put her to sleep
//CyDelay(2000);
if (wake_count % wakeCycles == 0) {
//Change State
state = WAKE;
continue;
}
else {
sleepPsoc();
}
} // END SLEEPM0DE
else{ // Error in state machine, to be filled out. Likely a reset will occur here.
//Change State
state = WAKE;
} // End Error Catch
}
}
