void bspI2cInit(void)
{
Semaphore_Params semParamsMutex;
// Create protection semaphore
Semaphore_Params_init(&semParamsMutex);
semParamsMutex.mode = Semaphore_Mode_BINARY;
Semaphore_construct(&mutex, 1, &semParamsMutex);
// Reset the I2C controller
HWREG(PRCM_BASE + PRCM_O_RESETI2C) = PRCM_RESETI2C_I2C;
I2C_init();
I2C_Params_init(&I2CParams);
I2CParams.bitRate = I2C_400kHz;
I2Chandle = I2C_open(Board_I2C, &I2CParams);
// Initialize local variables
slaveAddr = 0xFF;
interface = BSP_I2C_INTERFACE_0;
#ifdef POWER_SAVING
checkI2cConstraint = false;
#endif
/*
if (I2Chandle == NULL) {
while(1) {
// wait here for ever
}
}
*/
}
/*******************************************************************************
* @fn i2c_sel_interfas
* @brief Selecciona interfas
* @param Interfas - 0 o 1=MPU
* @param dir - Esclavo
* @return ok Siempre
*/
bool i2c_sel_interface(uint8_t Interface, uint8_t dir)
{
slaveAddr = dir; //Dispositivo esclavo
if (Interface != interface) //no es la actual ya seleccionada?
{
interface = Interface;
I2C_close(i2cHandle); //Cierra apertura actual, si la hay
// Sets custom to NULL, selects I2C interface 0
I2C_Params_init(&i2cParams);
// Assign I2C data/clock pins according to selected I2C interface 1
if (interface == 1)
{
//i2cParams.custom = (void*)&pinCfg1; //así lo hacen en el sensor tag
i2cParams.custom = (uintptr_t)&pinCfg1; //Modifico para suprimir el warning de tipo, pues espera un puntero uint
}
// Re-open RTOS driver with new bus pin assignment
i2cHandle = I2C_open(Board_I2C, &i2cParams);
}
return true;
}
/*******************************************************************************
* @fn bspI2cInit
*
* @brief Initialize the RTOS I2C driver (must be called only once)
*
* @param none
*
* @return none
*/
void bspI2cInit(void)
{
Semaphore_Params semParamsMutex;
// Create protection semaphore
Semaphore_Params_init(&semParamsMutex);
semParamsMutex.mode = Semaphore_Mode_BINARY;
Semaphore_construct(&mutex, 1, &semParamsMutex);
// Reset the I2C controller
HapiResetPeripheral(PRCM_PERIPH_I2C0);
I2C_init();
I2C_Params_init(&i2cParams);
i2cParams.bitRate = I2C_400kHz;
i2cHandle = I2C_open(Board_I2C, &i2cParams);
// Initialize local variables
slaveAddr = 0xFF;
interface = BSP_I2C_INTERFACE_0;
if (i2cHandle == NULL)
{
Task_exit();
}
}
/*******************************************************************
* Function: void initializeRobot(void)
* Input Variables: none
* Output Return: none
* Overview: This initialize the robot by using other startups
********************************************************************/
void initializeRobot(void)
{
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use
SPKR_open(SPKR_TONE_MODE);//open the speaker in tone mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
// Initialize IR Values and Reset Prefilter
checkIR();
prefilter(1);
// Mistake? odometryTrigger = WORLD_RESOLUTION_SIZE*D_STEP which is about 6
odometryTrigger = WORLD_RESOLUTION_SIZE/2.75;
// pixel array for the LCD screen
for(int i = 0; i < 4; i++) {
for(int j = 0; j < 32; j++) {
pix_arr[i][j] = 0x00;
}
}
}
static PyObject *I2CDev_open(I2CDev *self, PyObject *args, PyObject *kwds) {
uint8_t use_10bit_address;
static char *kwlist[] = {"use_10bit_address", NULL};
use_10bit_address = 0;
if(!PyArg_ParseTupleAndKeywords(args, kwds, "|b", kwlist,
&use_10bit_address)) {
return NULL;
}
if (self->i2c_fd > 0) I2C_close(self->i2c_fd);
self->i2c_fd = I2C_open(self->bus_num);
if (self->i2c_fd < 0) {
PyErr_SetString(PyExc_IOError, "could not open I2C interface");
return NULL;
}
if (use_10bit_address) {
if (I2C_enable10BitAddressing(self->i2c_fd) < 0) {
PyErr_SetString(PyExc_IOError,
"could not set I2C interface to 10-bit address mode");
return NULL;
}
}
else {
if (I2C_disable10BitAddressing(self->i2c_fd) < 0) {
PyErr_SetString(PyExc_IOError,
"could not set I2C interface to 10-bit address mode");
return NULL;
}
}
Py_INCREF(Py_None);
return Py_None;
}
/*
* ======== Board_openI2C ========
* Initialize the I2C driver.
* Initialize the I2C port's pins.
* Open the I2C port.
*/
I2C_Handle Board_openI2C(UInt i2cPortIndex, I2C_Params *i2cParams)
{
/* Initialize the I2C driver */
/* By design, I2C_init() is idempotent */
I2C_init();
/* initialize the pins associated with the respective I2C */
switch (i2cPortIndex) {
case 0:
/*
* Configure LaunchPad P1.9 as a I2C pin: LaunchPad Sensor Data (via I2C)
* device pin: 1 (I2C_SCL)
* Wiring id : 9
*/
MAP_PinTypeI2C(PIN_01, PIN_MODE_1);
/*
* Configure LaunchPad P1.10 as a I2C pin: LaunchPad Sensor Data (via I2C)
* device pin: 2 (I2C_SDA)
* Wiring id : 10
*/
MAP_PinTypeI2C(PIN_02, PIN_MODE_1);
break;
default:
return (NULL);
}
/* open the I2C */
return (I2C_open(i2cPortIndex, i2cParams));
}
/*******************************************************************************
* @fn bspI2cSelect
*
* @brief Select an I2C interface and slave
*
* @param newInterface - selected interface
* @param address - slave address
*
* @return true if success
*/
bool bspI2cSelect(uint8_t newInterface, uint8_t address)
{
// Acquire I2C resource
if (!Semaphore_pend(Semaphore_handle(&mutex),MS_2_TICKS(I2C_TIMEOUT)))
{
return false;
}
// Store new slave address
slaveAddr = address;
// Interface changed ?
if (newInterface != interface)
{
// Store new interface
interface = newInterface;
// Shut down RTOS driver
I2C_close(i2cHandle);
// Sets custom to NULL, selects I2C interface 0
I2C_Params_init(&i2cParams);
// Assign I2C data/clock pins according to selected I2C interface 1
if (interface == BSP_I2C_INTERFACE_1)
{
i2cParams.custom = (void*)&pinCfg1;
}
// Re-open RTOS driver with new bus pin assignment
i2cHandle = I2C_open(Board_I2C, &i2cParams);
}
return true;
}
Uint32 TPS65070_open(Uint32 instance)
{
Uint32 status = E_PASS;
switch(instance)
{
case 0:
tpsConfigObj[0].i2cConfig.addrMode = I2C_ADDRESSING_7BIT;
tpsConfigObj[0].i2cConfig.i2cclkh = DEVICE_I2C_CLKH;
tpsConfigObj[0].i2cConfig.i2cclkl = DEVICE_I2C_CLKL;
tpsConfigObj[0].i2cConfig.ownAddr = DEVICE_I2C_OWN_ADDRESS;
tpsConfigObj[0].i2cConfig.prescalar = DEVICE_I2C_CLK_PRESCALE;
tpsConfigObj[0].hI2cInfo = NULL;
tpsConfigObj[0].hI2cInfo = \
I2C_open(0, I2C_ROLE_MASTER, I2C_MODE_AUTO_STOP, &tpsConfigObj[0].i2cConfig);
status = (tpsConfigObj[0].hI2cInfo ? E_PASS : E_FAIL) ;
if(status == E_PASS) {
tpsConfigObj[0].hI2cInfo->slaveAddr = DEVICE_I2C_TPS65070_PMIC_SLAVE_ADDR;
}
break;
default:
status = E_FAIL;
break;
}
return status;
}
Void cycleLED(UArg arg0, UArg arg1)
{
unsigned int i = 0;
uint8_t writeBuffer[4];
I2C_Handle handle;
I2C_Params i2cparams;
I2C_Transaction i2c;
I2C_Params_init(&i2cparams);
i2cparams.bitRate = I2C_400kHz;
handle = I2C_open(Board_I2C_TPL0401, &i2cparams);
if (handle == NULL) {
System_abort("I2C was not opened");
}
i2c.slaveAddress = Board_TPL0401_ADDR;
i2c.readCount = 0;
i2c.readBuf = NULL;
i2c.writeBuf = writeBuffer;
/* Enable the PWM oscillator */
writeBuffer[0] = 0x00;
writeBuffer[1] = 0x81;
i2c.writeCount = 2;
if (!I2C_transfer(handle, &i2c)) {
GPIO_write(Board_LED1, Board_LED_ON);
System_abort("Bad I2C transfer!");
}
/* Bring the LEDs into PWM mode */
writeBuffer[0] = 0x8C;
writeBuffer[1] = 0xAA;
writeBuffer[2] = 0xAA;
i2c.writeCount = 3;
if (!I2C_transfer(handle, &i2c)) {
GPIO_write(Board_LED1, Board_LED_ON);
System_abort("Bad I2C transfer!");
}
i2c.writeCount = 4;
while (true) {
/* Point to the new LED pattern */
i2c.writeBuf = (uint8_t *) &(rgbcmd[i]);
if (!I2C_transfer(handle, &i2c)) {
GPIO_write(Board_LED1, Board_LED_ON);
System_abort("Bad I2C transfer!");
}
/* Reached the end of the RGB patterns; reset index */
if (rgbcmd[++i].LED == 0x00) {
i = 0;
}
Task_sleep(100);
}
}
void CBOT_main( void )
{
// Initialize variables
int btnValue=0;//value of button pushed
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use
SPKR_open(SPKR_BEEP_MODE);//open the speaker in beep mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
// Initialize IR Values and Reset Prefilter
checkIR();
prefilter(1);
// LCD_printf("PRESS a button\nOR\nWAIT for default\n");
//TMRSRVC_delay(3000);//wait 3 seconds
//btnValue = WaitButton();
LCD_clear;
// Infinite loop
while (1)
{
// update the sensor values
checkLightSensor();
checkIR();
checkContactIR();
//Test contact Sensors
// LCD_printf("Right Contact: %i\nLeft Contact: %i\n\n\n",rightContact,leftContact);
// TMRSRVC_delay(1000);//wait 1 seconds
//Test IR Sensors
// LCD_printf("FrontIR = %3.2f\nBackIR = %3.2f\nLeftIR = %3.2f\nRightIR = %3.2f\n", ftIR,bkIR,ltIR,rtIR);
// TMRSRVC_delay(2000);//wait 2 seconds
// run the moveBehavior FSM
moveBehavior(LIGHT_LOVER);
// debug primitive behaviors
// moveAway();
// moveWall();
// moveRetreat();
// moveTrackLight();
// moveWander();
}
}// end the CBOT_main()
void CBOT_main( void )
{
// Initialize variables
int btnValue=0;//value of button pushed
int i=0;//loop counter
BOOL ltContact;//left contact sensor
BOOL rtContact;//right contact sensor
float ltLght;//left light reading
float rtLght;//right light reading
unsigned char data;
unsigned char pixel1 = 0;
unsigned char pixel2 = 0;
unsigned char pixel3 = 0;
unsigned char pixel4 = 0;
unsigned char pixel5 = 0;
unsigned char pixel6 = 0;
unsigned char pixel7 = 0;
unsigned char pixel8 = 0;
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use.
SPKR_open(SPKR_BEEP_MODE);//open the speaker in beep mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
btnValue = WaitButton();
// Infinite loop
while (1)
{
// check sensors
//checkIR();
// if no obstacle detected MOVE
// if obstacle detected STOP
// moveCollide();
moveAway();
}
}// end the CBOT_main()
void HalI2CInit(void)
{
#ifdef TI_DRIVERS_I2C_INCLUDED
Board_initI2C(); // Setup I2C and initialize the driver.
I2C_Params_init(&I2CParams);
I2CParams.bitRate = I2C_400kHz;
I2Chandle = I2C_open(Board_I2C, &I2CParams);
if (I2Chandle == NULL) {
while(1) {
// whait here for ever
}
}
#endif
}
/*******************************************************************************
* @fn i2c_inicia
* @brief Inicia i2c
*/
bool i2c_inicia(void)
{
I2C_init();
I2C_Params_init(&i2cParams);
i2cParams.bitRate = I2C_400kHz;
i2cHandle = I2C_open(Board_I2C, &i2cParams);
slaveAddr = 0xFF;
interface = 0;
if (i2cHandle == NULL)
{
return false;
}
return true;
}
void bspI2cSelect(uint8_t newInterface, uint8_t address)
{
/* Acquire I2C resource */
Semaphore_pend(Semaphore_handle(&mutex),BIOS_WAIT_FOREVER);
#ifdef POWER_SAVING
if (!checkI2cConstraint)
{
/* Prevent the system from entering standby while using I2C. */
Power_setConstraint(Power_SB_DISALLOW);
checkI2cConstraint = true;
}
#endif
slaveAddr = address;
if (newInterface != interface)
{
interface = newInterface;
I2C_close(I2Chandle);
if (interface == BSP_I2C_INTERFACE_0)
{
i2cCC26xxHWAttrs[CC2650_I2C0].sdaPin = Board_I2C0_SDA0;
i2cCC26xxHWAttrs[CC2650_I2C0].sclPin = Board_I2C0_SCL0;
// Secondary I2C as GPIO
IOCPinTypeGpioInput(Board_I2C0_SDA1);
IOCPinTypeGpioInput(Board_I2C0_SCL1);
IOCIOPortPullSet(Board_I2C0_SDA1, IOC_NO_IOPULL);
IOCIOPortPullSet(Board_I2C0_SCL1, IOC_NO_IOPULL);
}
else if (interface == BSP_I2C_INTERFACE_1)
{
i2cCC26xxHWAttrs[CC2650_I2C0].sdaPin = Board_I2C0_SDA1;
i2cCC26xxHWAttrs[CC2650_I2C0].sclPin = Board_I2C0_SCL1;
// Primary I2C as GPIO
IOCPinTypeGpioInput(Board_I2C0_SDA0);
IOCPinTypeGpioInput(Board_I2C0_SCL0);
IOCIOPortPullSet(Board_I2C0_SDA0, IOC_NO_IOPULL);
IOCIOPortPullSet(Board_I2C0_SCL0, IOC_NO_IOPULL);
}
I2Chandle = I2C_open(Board_I2C, &I2CParams);
}
}
// Подключение кодека
uint16 aic3204_open(void) {
// Снять аппаратурный сброс кодека
EBSR |= 0x0020; // Вывод A20 - GPIO[26]
GPIO_DIR1 |= BIT10; // GPIO[26] - выход
GPIO_OUT1 |= BIT10; // GPIO[26]=1 - снять сброс AIC3204
// Инициализация приборного интерфеса
I2C_open(); // Подключить I2C
// Инициализация звукового интерфеса
PCGCR1 &= ~PCGCR1_I2S2CG; // Подать тактирование
c5515_wait(100); // Ожидание завершения
I2S2->SRATE = 0x15; // Синхронизация: кадров 32, бит 64
I2S2->INTMASK = INTFL_XMITL // Готовность стерео передатчика
| INTFL_RCVL; // Готовность стерео приемника (0x0028)
I2S2->SCTL = SCTL_ENABLE | SCTL_WDLNGTH16 | SCTL_MODE;
c5515_wait(100); // Ожидание завершения инициализации
return 0;
}
Void Task_I2C(UArg arg0, UArg arg1)
{
I2C_Handle i2c;
I2C_Params i2cParams;
I2C_Transaction i2cTransaction;
uint8_t txBuffer[4];
uint8_t rxBuffer[4];
I2C_Params_init(&i2cParams);
i2cParams.bitRate = I2C_400kHz;
i2cParams.transferMode = I2C_MODE_BLOCKING;
i2c = I2C_open(Board_I2C_NFC, &i2cParams);
if (i2c == NULL) {
System_abort("Error Initializing I2C\n");
}
else {
System_printf("\nTask_I2C");
}
i2cTransaction.slaveAddress = 0x17;
for (;;) {
i2cTransaction.writeBuf = txBuffer;
i2cTransaction.writeCount = sizeof(txBuffer);
i2cTransaction.readCount = 0;
txBuffer[0]=1;
txBuffer[1]=2;
txBuffer[2]=3;
txBuffer[3]=4;
if (!I2C_transfer(i2c, &i2cTransaction)) {
System_printf("Bad I2C transfer!");
}
Task_sleep(200); //One Tick is 1ms
}
}
/*******************************************************************************
* @fn bspI2cReset
*
* @brief Reset the RTOS I2C driver
*
* @param none
*
* @return none
*/
void bspI2cReset(void)
{
// Acquire I2C resource */
if (!Semaphore_pend(Semaphore_handle(&mutex),MS_2_TICKS(I2C_TIMEOUT)))
{
return;
}
// Close the driver
I2C_close(i2cHandle);
// Reset the I2C controller
HapiResetPeripheral(PRCM_PERIPH_I2C0);
// Reset local variables
slaveAddr = 0xFF;
interface = BSP_I2C_INTERFACE_0;
// Open driver
i2cHandle = I2C_open(Board_I2C, &i2cParams);
// Release I2C resource
Semaphore_post(Semaphore_handle(&mutex));
}
void CBOT_main( void )
{
// Initialize Robot
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use
SPKR_open(SPKR_BEEP_MODE);//open the speaker in beep mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
// // Print a debug statement
// LCD_printf("It's ALIVE\n\n\n\n");
// TMRSRVC_delay(3000);//wait 3 seconds
// LCD_clear();
// Print the metric Map
// printMetricMap();
// LCD_printf("%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n",ROBOT_METRIC_WORLD[0][0],ROBOT_METRIC_WORLD[0][1],ROBOT_METRIC_WORLD[0][2],ROBOT_METRIC_WORLD[0][3],ROBOT_METRIC_WORLD[1][0],ROBOT_METRIC_WORLD[1][1],ROBOT_METRIC_WORLD[1][2],ROBOT_METRIC_WORLD[1][3],ROBOT_METRIC_WORLD[2][0],ROBOT_METRIC_WORLD[2][1],ROBOT_METRIC_WORLD[2][2],ROBOT_METRIC_WORLD[2][3],ROBOT_METRIC_WORLD[3][0],ROBOT_METRIC_WORLD[3][1],ROBOT_METRIC_WORLD[3][2],ROBOT_METRIC_WORLD[3][3]);
// TMRSRVC_delay(10000);//wait 10 seconds
// wavefrontMake();
// LCD_printf("%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n",ROBOT_METRIC_WORLD[0][0],ROBOT_METRIC_WORLD[0][1],ROBOT_METRIC_WORLD[0][2],ROBOT_METRIC_WORLD[0][3],ROBOT_METRIC_WORLD[1][0],ROBOT_METRIC_WORLD[1][1],ROBOT_METRIC_WORLD[1][2],ROBOT_METRIC_WORLD[1][3],ROBOT_METRIC_WORLD[2][0],ROBOT_METRIC_WORLD[2][1],ROBOT_METRIC_WORLD[2][2],ROBOT_METRIC_WORLD[2][3],ROBOT_METRIC_WORLD[3][0],ROBOT_METRIC_WORLD[3][1],ROBOT_METRIC_WORLD[3][2],ROBOT_METRIC_WORLD[3][3]);
// TMRSRVC_delay(10000);//wait 10 seconds
// LCD_clear();
// Test the 4-Neighbor search
// LCD_printf("%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n",ROBOT_METRIC_WORLD[0][0],ROBOT_METRIC_WORLD[0][1],ROBOT_METRIC_WORLD[0][2],ROBOT_METRIC_WORLD[0][3],ROBOT_METRIC_WORLD[1][0],ROBOT_METRIC_WORLD[1][1],ROBOT_METRIC_WORLD[1][2],ROBOT_METRIC_WORLD[1][3],ROBOT_METRIC_WORLD[2][0],ROBOT_METRIC_WORLD[2][1],ROBOT_METRIC_WORLD[2][2],ROBOT_METRIC_WORLD[2][3],ROBOT_METRIC_WORLD[3][0],ROBOT_METRIC_WORLD[3][1],ROBOT_METRIC_WORLD[3][2],ROBOT_METRIC_WORLD[3][3]);
// TMRSRVC_delay(5000);
// LCD_clear();
currentCellWorld = WORLD_CELL[0][0];
wavefrontMake();
while(currentCellWorld!=reachedEnd){
nextOrientation = fourNeighborSearch(currentCellWorld);
metricMove();
moveMap();
currentCellWorld = shiftMap(currentCellWorld, currentMove, currentOrientation);
}
LCD_printf("LOOOOOOOOOOOOLZ");
TMRSRVC_delay(5000);
LCD_clear();
// Unit test the function
// sqrt function
// int xDelta, yDelta;
// float distance;
// xDelta = abs(-3);
// yDelta = abs(0);
// distance = sqrt(((xDelta*xDelta)+(yDelta*yDelta)));
// LCD_printf("xDel = %d\nyDel = %d\ndist = %f\n\n",xDelta,yDelta,distance);
// TMRSRVC_delay(5000);
// LCD_clear();
// cell values
}// end the CBOT_main()
void bspI2cReset(void)
{
I2C_close(I2Chandle);
I2Chandle = I2C_open(Board_I2C, &I2CParams);
}
