int main(void)
{
unsigned char write_data=0x75, recv_data;
int testn=0;
USART_init();
print_UART(" This is the test for TWI ");
_delay_ms(1000);
PORTD |= 0x80; ///turn led on
_delay_ms(100);
TWI_init_master();
sei();
print_UART(" Sending Start condition ");
TWI_start();
print_UART(" address= %x ", ((address<<1)|write));
TWI_write_address((address<<1)|write);
print_UART(" writing register = %x ", write_data);
TWI_write_byte(write_data); //write register
print_UART(" Repeat Start ");
TWI_start(); //repeated start
print_UART(" address read= %x ", ((address<<1)|read));
TWI_write_address((address<<1)|read);
print_UART(" read Data ");
recv_data=TWI_read_byte(1); ///read byte and nack
TWI_stop();
print_UART(" This is the value of the register= %x ", recv_data);
PORTD &= 0x7F;
return 0;
}
int main(void)
{
_delay_ms(2000);
DDRB=0xff;
TWI_init_master(); // Function to initialize TWI
while(1)
{
if(write_data==0x00)
write_data=1;
TWI_start(); // Function to send start condition
TWI_write_address(address+write); // Function to write address and data direction bit(write) on SDA
TWI_write_data(255); // Function to write data in slave
TWI_stop(); // Function to send stop condition
_delay_ms(100); // Delay of 10 mili second
PORTB=0xff;
TWI_start();
TWI_read_address(address+read); // Function to write address and data direction bit(read) on SDA
TWI_read_data(); // Function to read data from slave
TWI_stop();
_delay_ms(2000);
}
}
int main(void)
{
TWI_init_master(); // Initialize TWI (I2C) communication
DDRD &= ~(1<<DDD2); // Set SWITCH1 on PD2 as input
DDRD &= ~(1<<DDD3); // Set SWITCH2 on PD3 as input
PCICR |= (1<<PCIE2); // Enable interrupt requests on pins PCINT23..16
PCMSK2 |= (1<<PCINT18)|(1<<PCINT19); // Enable interrupt on PB2 (PCINT18) and PB3 (PCINT19)
sei();
while(1)
{
// Do nothing
}
}
int main(void)
{
PORTG=255;
_delay_ms(2000);
#define F_CPU 16000000UL
unsigned char temp;
//Init_LED();
uart_1_ini();
while (temp=='P')
{
temp=USART1_Recieve();
}
temp=0;
while (temp<5)
{
uart_1_Transmit('o');
temp++;
}
UCSR1B=((1<<RXEN1)|(1<<TXEN1)|(1<<RXCIE1));
PORTG=0;
TWI_init_master();
//kalmaninit();
PORTG=255;
uart_1_Transmit('B');
_delay_ms(200);
cli(); //Initialize Gyro
InitHMC();
PORTG=0; //Enable Global Interrupt
DDRA=0;
DDRD=0b00001011;
PORTA=255;
DDRF=0;
//ADCSRA=(1<<ADEN);//|(1<<ADFR);
_delay_ms(5);
cleargyro();
zero_error();
sei();
PORTG=0;
//uart_1_Transmit('C');
//uart_1_Transmit('L');
//init_timer();
//_delay_ms(500);
/*_delay_ms(2000);
setspeed(front,100);
setspeed(left,0);
setspeed(right,0);
setspeed(back,0);
_delay_ms(500);
setspeed(front,0);
setspeed(left,100);
setspeed(right,0);
setspeed(back,0);
_delay_ms(1000);
setspeed(front,0);
setspeed(left,0);
setspeed(right,100);
setspeed(back,0);
_delay_ms(1000);
setspeed(front,0);
setspeed(left,0);
setspeed(right,0);
setspeed(back,100);
_delay_ms(2000);
setspeed(front,0);
setspeed(left,0);
setspeed(right,0);
setspeed(back,0);
*/
//OCR0=18;
int i,countera=0;
//
//while(1)
//{
//PORTG=255;
//_delay_ms(1000);
// PORTG=0;
//_delay_ms(1000);
//}
while(1)
{
/* PORTG=!(PORTG);
frontmotor=ontime_1;
backmotor=ontime_1;
rightmotor=ontime_1;
leftmotor=ontime_1;
*/
//if (X_angle>4 || X_angle < (-4))
//{
//
//leftmotor=leftmotor-Y_angle*0.3;
//rightmotor=rightmotor+Y_angle*0.3;
//}
if(X_angle>X_angle_prev)
X_error=X_angle-X_angle_prev;
else
X_error=X_angle_prev-X_angle;
X_integ =X_integ+Xangle;
if (X_integ>=5000)
X_integ=5000;
if (X_integ<=-5000)
X_integ=-5000;
countera++;
if (X_angle>2)
{
float kp=0.8;
float kd=0.6;
float ki=0.005;
leftmotor=ontime_1+kp*X_angle+kd*X_error+ki*X_integ;
if(leftmotor<0)
leftmotor=0;
rightmotor=ontime_1-kp*X_angle-kd*X_error-ki*X_integ;
if(rightmotor<0)
rightmotor=0;
X_angle_prev=X_angle;
}
else if (X_angle<-2)
{
float kp=0.8;
float kd=0.6;
float ki=0.005; // 0.0012
leftmotor=ontime_1+kp*X_angle-kd*X_error+ki*X_integ;
if(leftmotor<0)
leftmotor=0;
rightmotor=ontime_1-kp*X_angle+kd*X_error-ki*X_integ;
if(rightmotor<0)
rightmotor=0;
X_angle_prev=X_angle;
}
else
{
rightmotor=ontime_1;
leftmotor=ontime_1;
}
leftmotor=ontime_1;
rightmotor=ontime_1;
//setspeed(front,frontmotor);
setspeed(left,leftmotor);
setspeed(right,rightmotor);
////setspeed(back,backmotor);
//
//uart_1_Transmit('Y');
//uartWriteInt(Y_angle,4);
//uart_1_Transmit('y');
//uartWriteInt(Yangle,4);
//uart_1_Transmit('X');
//uartWriteInt(Xangle,4);
uart_1_Transmit('X');
uartWriteInt(Xangle,4);
uart_1_Transmit('x');
uartWriteInt(yangle,4);
//uart_1_Transmit('Y');
//uartWriteInt(Yangle,4);
uart_1_Transmit('Y');
uartWriteInt(Yangle,4);
uart_1_Transmit('y');
uartWriteInt(xangle,4);
//uart_1_Transmit('Z');
//uartWriteInt(zacc*100,4);
//uart_1_Transmit('I');
//uartWriteInt(X_integ,6);
//uart_1_Transmit('C');
//uartWriteInt(countera,6);
uart_1_Transmit(13);
//uart_1_Transmit('Y');
//uartWriteInt(yacc*100,4);
//uart_1_Transmit('X');
//uartWriteInt(xacc*100,4);
//// */
/*uart_1_Transmit('F');
uartWriteInt(frontmotor,4);
uart_1_Transmit('B');
uartWriteInt(backmotor,4);
uart_1_Transmit('R');
uartWriteInt(load,1);
//// */
/*
uart_1_Transmit('L');
uartWriteInt(load,1);
uart_1_Transmit('L');
uart_1_Transmit('&');
uartWriteInt(mean_1,3);
uart_1_Transmit('&');
uartWriteInt(mean_2,3);
uart_1_Transmit('&');
uartWriteInt(ontime_1,4);
uart_1_Transmit('&');
uartWriteInt(ontime_2,4);
uart_1_Transmit('&');
uartWriteInt(ontime_3,4);
*/
}
}
int main()
{
int16_t length=0,adc_value1,adc_value2;
uint8_t i;
DELAY_ms(100);
ADC_Init();
TIMSK = 0x00;
DDRB= 0xff;
DDRC = 0xff;
DDRD = 0xff;
PORTC = 0xff;
while(1)
{
switch(state)
{
case E_Init:
DELAY_ms(200);
ADC_Init();
adc_value1 = ADC_GetAdcValue(6);
adc_value2 = ADC_GetAdcValue(7);
// UART_Init(BAUD_RATE);
// sw_uart_init();
StartDisplayTimer();
sei();
// GetFont('1',pattern);
while(1);
MsgLength = strlen(inputBuffer);
if( (adc_value1 >= 600) && (adc_value2 >= 600) )
{
deviceType = MASTER;
}
else
{
deviceType = SLAVE;
}
state = E_StartArbitration;
break;
case E_StartArbitration:
GetFont(((MyDeviceId-0x30)/2)+0x30,pattern);
if(deviceType == MASTER)
{
DELAY_ms(500);
TCCR2 = 0x00;
TIMSK = 0x01;
TWI_init_master();
state = E_MasterDisp;
}
else
{
if(IdConfirmed == 1)
{
DELAY_ms(250);
TCCR2 = 0x00;
TIMSK = 0x01;
DisableHwUartComm();
TWI_init_slave(MyDeviceId);
state = E_SlaveDisp;
}
}
break;
case E_MasterDisp:
if(NewMsgReceived!=0)
{
MsgLength = NewMsgLength;
NewMsgReceived = 0;
NewMsgLength = 0;
}
strcpy(msgBuffer,inputBuffer);
if(MsgLength > NumberOfSegments)
{
ScrollString(msgBuffer);
}
else
{
DisplayString(msgBuffer);
}
break;
case E_SlaveDisp:
TWI_Receive_Frame(FrameBuffer);
for(i=0;i<8;i++)
pattern[i] = FrameBuffer[i];
break;
}
}
}
int main(void)
{
//int flag;
TWI_init_master();
_delay_ms(100);
//sei();
//_delay_ms(1000);
InitLCD(0);
_delay_ms(50);
LCDClear();
_delay_ms(10);
uart_0_ini();
uart_1_ini();
Init_LED();
sei();
_delay_ms(50);
LCD(0,0,"VIT");
_delay_ms(500);
LCDClear();
_delay_ms(10);
LCD(0,0,"SURACSHA");
_delay_ms(100);
LCDClear();
_delay_ms(100);
while (1)
{
LCDvar(0,0,Y_Data,5);
if (Y_Data > 2000 || Y_Data < -2000 ||X_Data > 2000 || X_Data < -2000||Z_Data > 2000 || Z_Data < -2000)
{
_delay_ms(50);
LCDClear();
_delay_ms(70);
LCD(0,1,"accident Happned");
//flag=1;
glow3();
glow4();
LCDGotoXY(0,0);
LCDWriteString("Waiting for GPS");
while(valid!='A');
LCDClear();
_delay_ms(100);
LCDGotoXY(0,0);
LCDWriteString("Fix Available");
_delay_ms(2000);
LCDClear();
_delay_ms(100);
sendlocation("9503139115");
//break;
}
else
{_delay_ms(70);
LCDGotoXY(0,1);
LCDWriteString("Normal");
glow2();
glow3();
_delay_ms(50);
off2();
off3();
}
}}
