void Katapult::initDisplay()
{
display = settings->display();
if(display == 0) {
initAccel(this);
} else {
initAccel(display);
setQuery("");
connect(display, SIGNAL(keyReleased(QKeyEvent *)), this, SLOT(keyReleased(QKeyEvent *)));
connect(display, SIGNAL(focusOut()), this, SLOT(hideLauncher()));
}
}
int main(void)
{
ConfigPins();
initUART();
initSysTick();
RValue = initAccel();
printInteger(RValue);
if (RValue == 0) {
printString("Boldly going :)\r\n");
} else {
printString("Inertia sensors offline :(\r\n");
}
while (1) {
Temperature = getTemperature();
printShort(Temperature);
printString(" ");
getMotion(&m);
printShort(m.x_a);
printString(" ");
printShort(m.y_a);
printString(" ");
printShort(m.z_a);
printString(" ");
printString("\r\n");
GPIO0DATA ^= BIT2;
delay(10000);
}
return 0;
}
uint16_t LSM9DS0_begin( LSM9DS0_t* lsm_t, LMS9DS0_Init_t* init_t )
{
#if (DEBUG0==1)
uint8_t test[8];
#endif
uint8_t gTest, xmTest;
if(init_t==NULL)
init_t = &LMS_Device_Defaults;
// Store the given scales in class variables. These scale variables
// are used throughout to calculate the actual g's, DPS,and Gs's.
lsm_t->gScale = init_t->gScl;
lsm_t->aScale = init_t->aScl;
lsm_t->mScale = init_t->mScl;
// Once we have the scale values, we can calculate the resolution
// of each sensor. That's what these functions are for. One for each sensor
calcgRes(lsm_t); // Calculate DPS / ADC tick, stored in gRes variable
calcmRes(lsm_t); // Calculate Gs / ADC tick, stored in mRes variable
calcaRes(lsm_t); // Calculate g / ADC tick, stored in aRes variable
// Now, initialize our hardware interface.
#if(LSM_I2C_SUPPORT==1)
if (lsm_t->interfaceMode == MODE_I2C) // If we're using I2C
LSM_initI2C(); // Initialize I2C
else if (lsm_t->interfaceMode == MODE_SPI) // else, if we're using SPI
#endif
//LSM_initSPI(); // Initialize SPI
// To verify communication, we can read from the WHO_AM_I register of
// each device. Store those in a variable so we can return them.
gTest = gReadByte(lsm_t,WHO_AM_I_G); // Read the gyro WHO_AM_I
xmTest = xmReadByte(lsm_t,WHO_AM_I_XM); // Read the accel/mag WHO_AM_I
// Gyro initialization stuff:
initGyro(lsm_t); // This will "turn on" the gyro. Setting up interrupts, etc.
setGyroODR(lsm_t,init_t->gODR); // Set the gyro output data rate and bandwidth.
setGyroScale(lsm_t,lsm_t->gScale); // Set the gyro range
// Accelerometer initialization stuff:
initAccel(lsm_t); // "Turn on" all axes of the accel. Set up interrupts, etc.
setAccelODR(lsm_t,init_t->aODR); // Set the accel data rate.
setAccelScale(lsm_t,lsm_t->aScale); // Set the accel range.
// Magnetometer initialization stuff:
initMag(lsm_t); // "Turn on" all axes of the mag. Set up interrupts, etc.
setMagODR(lsm_t,init_t->mODR); // Set the magnetometer output data rate.
setMagScale(lsm_t,lsm_t->mScale); // Set the magnetometer's range.
LSM9DS0_Update_Ctrl(lsm_t);
lsm_t->update=UPDATE_ON_SET;
#if (DEBUG0==1)
I2CreadBytes(lsm_t->gAddress,CTRL_REG1_G,test,5);
I2CreadBytes(lsm_t->xmAddress,CTRL_REG0_XM,test,7);
#endif
// Once everything is initialized, return the WHO_AM_I registers we read:
return (xmTest << 8) | gTest;
}
uint16_t LSM9DS1::begin()
{
//! Todo: don't use ACCEL_GYRO_ADDRESS or MAGNETOMETER_ADDRESS, duplicating memory
constrainScales();
// Once we have the scale values, we can calculate the resolution
// of each sensor. That's what these functions are for. One for each sensor
calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
calcaRes(); // Calculate g / ADC tick, stored in aRes variable
initI2C(); // Initialize I2C
// To verify communication, we can read from the WHO_AM_I register of
// each device. Store those in a variable so we can return them.
uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I
uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I
uint16_t whoAmICombined = (xgTest << 8) | mTest;
if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
return 0;
// Gyro initialization stuff:
initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
// Accelerometer initialization stuff:
initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
// Magnetometer initialization stuff:
initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
// Once everything is initialized, return the WHO_AM_I registers we read:
return whoAmICombined;
}
/* ************************************************************************** */
uint16_t LSM9DS0_begin_adv( stLSM9DS0_t * stThis,
gyro_scale gScl,
accel_scale aScl,
mag_scale mScl,
gyro_odr gODR,
accel_odr aODR,
mag_odr mODR )
{
// Default to 0xFF to indicate status is not OK
uint8_t gTest = 0xFF;
uint8_t xmTest = 0xFF;
byte byDatas;
byte byAddress = 0x1D;
byte bySubAddress = 0x0F;
// Wiat for a few millis at the beginning for the chip to boot
WAIT1_Waitms( 200 );
// Store the given scales in class variables. These scale variables
// are used throughout to calculate the actual g's, DPS,and Gs's.
stThis->gScale = gScl;
stThis->aScale = aScl;
stThis->mScale = mScl;
// Once we have the scale values, we can calculate the resolution
// of each sensor. That's what these functions are for. One for each sensor
calcgRes(stThis); // Calculate DPS / ADC tick, stored in gRes variable
calcmRes(stThis); // Calculate Gs / ADC tick, stored in mRes variable
calcaRes(stThis); // Calculate g / ADC tick, stored in aRes variable
// Now, initialize our hardware interface.
if (stThis->interfaceMode == MODE_I2C) // If we're using I2C
initI2C(stThis); // Initialize I2C
else if (stThis->interfaceMode == MODE_SPI) // else, if we're using SPI
initSPI(stThis); // Initialize SPI
// To verify communication, we can read from the WHO_AM_I register of
// each device. Store those in a variable so we can return them.
gTest = gReadByte( stThis, WHO_AM_I_G ); // Read the gyro WHO_AM_I
xmTest = xmReadByte( stThis, WHO_AM_I_XM ); // Read the accel/mag WHO_AM_I
// Gyro initialization stuff:
initGyro(stThis); // This will "turn on" the gyro. Setting up interrupts, etc.
LSM9DS0_setGyroODR(stThis, gODR); // Set the gyro output data rate and bandwidth.
LSM9DS0_setGyroScale(stThis, stThis->gScale); // Set the gyro range
// Accelerometer initialization stuff:
initAccel(stThis); // "Turn on" all axes of the accel. Set up interrupts, etc.
LSM9DS0_setAccelODR(stThis, aODR); // Set the accel data rate.
LSM9DS0_setAccelScale(stThis, stThis->aScale); // Set the accel range.
// Magnetometer initialization stuff:
initMag(stThis); // "Turn on" all axes of the mag. Set up interrupts, etc.
LSM9DS0_setMagODR(stThis, mODR); // Set the magnetometer output data rate.
LSM9DS0_setMagScale(stThis, stThis->mScale); // Set the magnetometer's range.
// Once everything is initialized, return the WHO_AM_I registers we read:
return (xmTest << 8) | gTest;
}
int main(void) {
thread_t *sh = NULL;
PollerData.temp = 0;
PollerData.press = 0;/*
PollerData.uTime = 0;*/
halInit();
chSysInit();
shellInit();
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
// SPI-related pins (for display)
palSetPadMode(GPIOB, 11, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOB, 10, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5));
palSetPadMode(GPIOB, 14, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5));
spiStart(&SPID1, &spi1cfg);
spiStart(&SPID2, &spi2cfg);
i2cStart(&I2CD1, &i2cconfig);
initGyro();
initAccel();
initMag();
// nunchuk_status = nunchuk_init();
bmp085_status = bmp085_init();
lcd5110Init();
lcd5110SetPosXY(0, 0);
lcd5110WriteText("P :: ");
lcd5110SetPosXY(0, 1);
lcd5110WriteText("T :: ");
chThdCreateStatic(waThreadBlink, sizeof(waThreadBlink), NORMALPRIO, ThreadBlink, NULL);
chThdCreateStatic(waThreadButton, sizeof(waThreadButton), NORMALPRIO, ThreadButton, NULL);
chThdCreateStatic(waPoller, sizeof(waPoller), NORMALPRIO, ThreadPoller, NULL);
while (TRUE) {
if (!sh) {
sh = shellCreate(&shCfg, SHELL_WA_SIZE, NORMALPRIO);
}
else if (chThdTerminatedX(sh)) {
chThdRelease(sh);
sh = NULL;
}
chThdSleepMilliseconds(1000);
}
return 0; // never returns, lol
}
uint16_t begin(void)
{
//! Todo: don't use _xgAddress or _mAddress, duplicating memory
_xgAddress = settings.device.agAddress;
_mAddress = settings.device.mAddress;
constrainScales();
// Once we have the scale values, we can calculate the resolution
// of each sensor. That's what these functions are for. One for each sensor
calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
calcaRes(); // Calculate g / ADC tick, stored in aRes variable
if (settings.device.commInterface == IMU_MODE_I2C) // If we're using I2C
initI2C(); // Initialize I2C
else if (settings.device.commInterface == IMU_MODE_SPI) // else, if we're using SPI
initSPI(); // Initialize SPI
// To verify communication, we can read from the WHO_AM_I register of
// each device. Store those in a variable so we can return them.
uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I
delay(DELAY * 150);
uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I
uint16_t whoAmICombined = (xgTest << 8) | mTest;
if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
{
return 0;
}
// Gyro initialization stuff:
initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
// Accelerometer initialization stuff:
initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
// Magnetometer initialization stuff:
initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
// Once everything is initialized, return the WHO_AM_I registers we read:
return whoAmICombined;
}
uint16_t LSM9DS0::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
gyro_odr gODR, accel_odr aODR, mag_odr mODR)
{
// Store the given scales in class variables. These scale variables
// are used throughout to calculate the actual g's, DPS,and Gs's.
gScale = gScl;
aScale = aScl;
mScale = mScl;
// Once we have the scale values, we can calculate the resolution
// of each sensor. That's what these functions are for. One for each sensor
calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
calcaRes(); // Calculate g / ADC tick, stored in aRes variable
// Now, initialize our hardware interface.
if (interfaceMode == MODE_I2C) // If we're using I2C
{} //initI2C(); // Initialize I2C
else if (interfaceMode == MODE_SPI) // else, if we're using SPI
initSPI(); // Initialize SPI
// To verify communication, we can read from the WHO_AM_I register of
// each device. Store those in a variable so we can return them.
uint8_t gTest = gReadByte(WHO_AM_I_G); // Read the gyro WHO_AM_I
uint8_t xmTest = xmReadByte(WHO_AM_I_XM); // Read the accel/mag WHO_AM_I
// Gyro initialization stuff:
initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
setGyroScale(gScale); // Set the gyro range
// Accelerometer initialization stuff:
initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
setAccelODR(aODR); // Set the accel data rate.
setAccelScale(aScale); // Set the accel range.
// Magnetometer initialization stuff:
initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
setMagODR(mODR); // Set the magnetometer output data rate.
setMagScale(mScale); // Set the magnetometer's range.
// Once everything is initialized, return the WHO_AM_I registers we read:
return (xmTest << 8) | gTest;
}
/** Power on and prepare for general usage.
* This will activate the device and take it out of sleep mode (which must be done
* after start-up). This function also sets both the accelerometer and the gyroscope
* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
* the clock source to use the X Gyro for reference, which is slightly better than
* the default internal clock source.
*/
PUBLIC void initializeLSM6DS0(bool useAccel, bool useGyro) {
xAccelOffset = yAccelOffset = zAccelOffset = 0;
xGyroOffset = yGyroOffset = zGyroOffset = 0;
gyroEnabled = useGyro;
accelEnabled = useAccel;
if(gyroEnabled)
{
gScale = GYRO_FS_245DSP;
calcGyroRes();
}
if(accelEnabled)
{
aScale = ACC_FS_2G;
calcAccelRes();
}
if(testConnection())
{
resetLSM6DS0();
if(accelEnabled)
{
initAccel();
setFullScaleAccelRange(aScale);
setAccelODR(ACC_ODR_119Hz);
}
if(gyroEnabled)
{
initGyro();
setFullScaleGyroRange(gScale);
setGyroODR(GYRO_ODR_119Hz_CO_14Hz);
}
calibrateLSM6DS0(gbias,abias);
}
}
void systemInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// Turn on clocks for stuff we use
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE);
RCC_ClearFlag();
// Make all GPIO in by default to save power and reduce noise
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Turn off JTAG port 'cause we're using the GPIO for leds
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority
checkFirstTime(false);
readEEPROM();
ledInit();
LED0_ON;
initMixer();
pwmOutputConfig.escPwmRate = eepromConfig.escPwmRate;
pwmOutputConfig.servoPwmRate = eepromConfig.servoPwmRate;
cliInit(115200);
i2cInit(I2C2);
pwmOutputInit(&pwmOutputConfig);
rxInit();
delay(20000); // 20 sec delay for sensor stabilization - probably not long enough.....
LED1_ON;
initAccel();
initGyro();
initMag();
initPressure();
initPID();
}
int main(void)
{
uint8_t sensor; // Stores analog readings for transmission
int i; // multipurpose counter
char choice = 0; // Holds the top-level menu character
// int red = 0; // For the red LED intensity
// int green = 0; // For the green LED intensity
// int blue = 0; // For the blue LED intensity
uint8_t exit = 0; // Flag that gets set if we need to go back to idle mode.
unsigned int temph=0; // Temporary variable (typically stores high byte of a 16-bit int )
unsigned int templ=0; // Temporary variable (typically stores low byte of a 16-bit int)
uint8_t location = 0; // Holds the EEPROM location of a stored IR signal
// unsigned int frequency = 0; // For PWM control - PWM frequency, also used to set buzzer frequency
// int amplitude;
int channel;
unsigned int duty; // For PWM control - PWM duty cycle
int baud; // Baud rate selection for auxiliary UART
char scale; // For auxiliary UART
long int time_out=0; // Counter which counts to a preset level corresponding to roughly 1 minute
// Initialize system
// Turn off JTAG to save a bit of battery life
CCP = CCP_IOREG_gc;
MCU.MCUCR = 1;
init_clock();
init_led();
init_adc();
init_ir();
init_BT();
init_dac();
init_buzzer();
initAccel();
init_aux_uart(131, -3); // Set the auxiliary uart to 115200 8n1
EEPROM_DisableMapping();
// Enable global interrupts
sei();
// Do the following indefinitely
while(1) {
// Turn off LED
set_led(0,0,0);
// Reset flags (in case this isn't the first time through the loop)
exit = 0;
choice = 0;
time_out = 0;
stop_ir_timer();
// Sing a BL song in idle mode so you can be found. Stop as soon as you get a *
while(choice != 42) {
bt_putchar('B');
bt_putchar('L');
if (USART_RXBufferData_Available(&BT_data)) {
choice = USART_RXBuffer_GetByte(&BT_data);
if (choice == 128) {
// Something is trying to connect directly to an iRobot
set_aux_baud_rate( ROOMBA_UART_SETTINGS ); // depends on model
aux_putchar( 128); // pass through to iRobot
serial_bridge(); // currently never returns
}
else if (choice == 0) {
// Something may be trying to connect directly to a MindFlex headset
set_aux_baud_rate( 135, -2); // 57600
aux_putchar( 0); // pass through to headset
serial_bridge(); // currently never returns;
}
else {
bt_putchar(choice);
}
}
if (choice != 42)
_delay_ms(500);
}
// Active part of the program - listens for commands and responds as necessary
while(exit == 0) {
// Checks if we haven't heard anything for a long time, in which case we exit loop and go back to idle mode
time_out++;
// Corresponds to roughly 60 seconds
if(time_out > 33840000) {
exit = 1;
}
// Check for a command character
if (USART_RXBufferData_Available(&BT_data)) {
choice = USART_RXBuffer_GetByte(&BT_data);
}
else {
choice = 0;
}
// If it exists, act on command
if(choice != 0) {
// Reset the time out
time_out = 0;
// Return the command so the host knows we got it
bt_putchar(choice);
// Giant switch statement to decide what to do with the command
switch(choice) {
// Return the currect accelerometer data - X, Y, Z, and status (contains tapped and shaken bits)
case 'A':
updateAccel();
bt_putchar(_acc.x);
bt_putchar(_acc.y);
bt_putchar(_acc.z);
bt_putchar(_acc.status);
break;
// Set the buzzer
case 'B': // frequency_divider(2)
if (get_arguments(2)) {
set_buzzer(GET_16BIT_ARGUMENT(0));
}
break;
// Turn off the buzzer
case 'b':
turn_off_buzzer();
break;
// Returns the value of the light sensor
case 'L':
sensor = read_analog(LIGHT, 0);
bt_putchar(sensor);
break;
// Returns the Xmegas internal temperature read - this is undocumented because the value returned is very erratic
case 'T':
sensor = read_internal_temperature();
bt_putchar(sensor);
break;
// Returns the battery voltage
case 'V':
sensor = read_analog(BATT_VOLT, 0);
bt_putchar(sensor);
break;
// Differential ADC mode
case 'D': // active(1) numgainstages(1)
if (get_arguments(2)) {
if (arguments[0] == '0') {
adcResolution = ADC_RESOLUTION_8BIT_gc;
adcConvMode = ADC_ConvMode_Unsigned;
adcGain = ADC_DRIVER_CH_GAIN_NONE;
adcInputMode = ADC_CH_INPUTMODE_SINGLEENDED_gc;
init_adc();
}
else if (arguments[0] == '1') {
adcResolution = ADC_RESOLUTION_12BIT_gc;
adcConvMode = ADC_ConvMode_Signed;
if (arguments[1] >= '1' && arguments[1] <= '6') { // number of gain stages
adcGain = (arguments[1] - '0') << ADC_CH_GAINFAC_gp;
adcInputMode = ADC_CH_INPUTMODE_DIFFWGAIN_gc;
init_adc();
}
else if (arguments[1] == '0') {
adcGain = ADC_DRIVER_CH_GAIN_NONE;
adcInputMode = ADC_CH_INPUTMODE_DIFF_gc;
init_adc();
}
else {
err();
}
}
else {
err();
}
}
break;
// Returns the readings on all six ADC ports
case 'X':
for (i=0; i<6; i++) {
sensor = read_analog(pgm_read_byte_near(muxPosPins+i), 0);
bt_putchar(sensor);
}
break;
// Returns differential measurement on pair of ADC ports
// Assumes we are in differential mode
case 'x':
if (get_arguments(2)) {
i = read_differential(arguments[0], arguments[1]);
bt_putchar(0xFF&(i >> 8));
bt_putchar(0xFF&i);
}
break;
case 'e': // this is a bit of testing code, which will eventually be changed
// do not rely on it
if (get_arguments(2)) {
char a1 = arguments[0];
char a2 = arguments[1];
while(1) {
_delay_ms(2);
i = read_differential(a1, a2);
itoa((i<<4)>>4, (char*)arguments, 10);
for (i=0; arguments[i]; i++)
bt_putchar(arguments[i]);
bt_putchar('\r');
bt_putchar('\n');
}
}
break;
// Sets the full-color LED
case 'O': // red(1) green(1) blue(1);
if (get_arguments(3)) {
set_led(arguments[0], arguments[1], arguments[2]);
}
break;
// Switches serial between irDA and standard serial
// Currently, this works over the same port numbers as
// standard serial, instead of using the IR receiver
// and IR LED. This may change when I get the IR receiver
// and LED working reliably.
case 'J':
temph = bt_getchar_timeout_echo();
if(/*temph == 256 || */ temph < '0' || temph > '1') {
err();
break;
}
set_irda_mode(temph - '0');
break;
// Sets up the IR transmitter with signal characteristics
case 'I':
init_ir();
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
// Set the frequency of the IR carrier
robotData.frequency = ((temph)<<8) + templ;
set_ir_carrier(robotData.frequency);
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
else {
// Set the length of the start up pulses
robotData.startUpPulseLength = templ;
}
if(robotData.startUpPulseLength > 16) {
err();
break;
}
// Read in the start up pulse timing data
for(i=0; i < robotData.startUpPulseLength; i++) {
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
robotData.startUpPulse[i] = ((temph)<<8) + templ;
}
if(temph == 256 || templ == 256) {
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
// Set the bit encoding to one of four pre-determined settings (see protocol instructions for more information)
robotData.bitEncoding = templ;
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
// Set the number of bits (and bytes) contained in an IR command
robotData.numBits = templ;
robotData.numBytes = (robotData.numBits-1)/8 + 1;
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
// Set timing data for a high bit
robotData.highBitTime = ((temph)<<8) + templ;
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
// Set timing data for a low bit
robotData.lowBitTime = ((temph)<<8) + templ;
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
// Set timing data for on or off
robotData.offTime = ((temph)<<8) + templ;
break;
// Transmit an IR signal according to the previously determined configuration
case 'i':
init_ir();
// Get the signal data as one or more bytes
for(i = 0; i < robotData.numBytes; i++) {
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
robotData.irBytes[i] = templ;
}
if(templ == 256) {
break;
}
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
// Determine if the signal is repeated or not, and if so, with what frequency
robotData.repeatTime = ((temph)<<8) + templ;
if(robotData.repeatTime != 0) {
robotData.repeatFlag = 1;
}
else {
robotData.repeatFlag = 0;
}
// Startup timer interrupts
start_ir_timer();
break;
// Turn off any repeating IR signal
case '!':
robotData.repeatFlag = 0;
stop_ir_timer();
break;
// Capture a signal from the IR receiver
case 'R':
init_ir_read();
while(ir_read_flag!=0);
break;
// Store the captured signal in an EEPROM location
case 'S':
location = bt_getchar_timeout_echo()-48; // Subtracting 48 converts from ASCII to numeric numbers
if((location >= 0) && (location < 5) && (signal_count > 4)) {
write_data_to_eeprom(location);
}
else {
err();
}
break;
// Receive a raw IR signal over bluetooth and transmit it with the IR LED
case 's':
if(read_data_from_serial()) {
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
// Set if the signal should repeat and if so, with what frequency
robotData.repeatTime = ((temph)<<8) + templ;
if(robotData.repeatTime != 0) {
robotData.repeatFlag = 1;
}
else {
robotData.repeatFlag = 0;
}
// Set frequency to 38KHz, since raw signals must have come from the receiver at some point
robotData.frequency = 0x0349;
robotData.startUpPulseLength = 0;
robotData.bitEncoding = 0x04;
start_ir_timer();
}
else {
err();
break;
}
break;
// Get a stored signal from an EEPROM location and transmit it over the IR LED (and repeat as desired)
case 'G':
location = bt_getchar_timeout_echo()-48;
if(location >= 0 && location < 5) {
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
robotData.repeatTime = ((temph)<<8) + templ;
if(robotData.repeatTime != 0) {
robotData.repeatFlag = 1;
}
else {
robotData.repeatFlag = 0;
}
read_data_from_eeprom(location);
robotData.frequency = 0x0349;
robotData.startUpPulseLength = 0;
robotData.bitEncoding = 0x04;
start_ir_timer();
}
else {
err();
}
break;
// Get a stored signal from EEPROM and print it over bluetooth to the host
case 'g':
location = bt_getchar_timeout_echo()-48;
if(location >= 0 && location < 5) {
print_data_from_eeprom(location);
}
else {
err();
}
break;
// Output on digital I/O
case '>':
// Set port
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
// Get value
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
set_output(temph, (templ-48));
break;
// Input on digital I/O
case '<':
// Get port
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
// Get value (1 or 0)
templ = read_input(temph)+48;
bt_putchar(templ);
break;
// Configure PWM frequency
case 'P':
if (get_arguments(2))
pwm_frequency = GET_16BIT_ARGUMENT(0);
break;
// Set PWM duty cycle for a specific port
case 'p':
if (get_arguments(3)) {
set_pwm();
duty = GET_16BIT_ARGUMENT(1);
if (arguments[0] == '0')
set_pwm0(duty);
else if (arguments[1] == '1')
set_pwm1(duty);
// could add else err();, but original firmware doesn't do this
}
break;
// Set DAC voltage on one of the two DAC ports
case 'd':
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
if(temph == '0') {
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
else {
set_dac0(temph);
}
}
else if(temph == '1') {
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
else {
set_dac1(temph);
}
}
break;
// Go back to idle mode so you can be found again. Should be sent at end of host program.
case 'Q':
exit = 1;
break;
// Human-readable uart speed setting
case 'u':
temph = bt_getchar_timeout_echo();
if(temph == 256) {
err();
break;
}
templ = bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
baud = ((temph)<<8) + templ;
switch(baud) {
case ('1'<<8) + '2': // 1200
baud = 6663;
scale = -2;
break;
case ('4'<<8) + '8': // 4800
baud = 3325;
scale = -3;
break;
case ('9'<<8) + '6': // 9600
baud = 829;
scale = -2;
break;
case ('1'<<8) + '9': // 19200
baud = 825;
scale = -3;
break;
case ('3'<<8) + '8': // 38400
baud = 204;
scale = -2;
break;
case ('5'<<8) + '7': // 57600
baud = 135;
scale = -2;
break;
case ('1'<<8) + '1': // 115200
baud = 131;
scale = -3;
break;
default:
err();
goto BAUD_DONE;
}
set_aux_baud_rate(baud, scale);
BAUD_DONE:
break;
// Configures the baud rate of the auxiliary UART
case 'C': // baud(2) scale(1)
// e.g., 9600 = C\x03\x3D\xFE
if (! get_arguments(3))
break;
bt_putchar(arguments[2]); // duplicate buggy behavior from official firmware; delete if unwanted
set_aux_baud_rate( GET_16BIT_ARGUMENT(0), arguments[2]);
break;
// BT-serial high speed bridge mode
case 'Z':
serial_bridge();
break;
case 'w': // channel(1) type(1) duty(1) amplitude(1) frequency(3)
// w0s\x20\xFF\x02\x00\x00
if (!get_arguments(7))
break;
if (arguments[0] < '0' || arguments[0] > '1' || arguments[2] > WAVEFORM_SIZE) {
err();
break;
}
play_wave_dac(arguments[0]-'0', (char)arguments[1], arguments[2], arguments[3], get_24bit_argument(4));
break;
case 'W': // channel(1) frequency(3) length(1) data(length)
if (!get_arguments(5))
break;
if (arguments[0] < '0' || arguments[0] > '1' || arguments[4] > WAVEFORM_SIZE || arguments[4] == 0 ) {
err();
break;
}
channel = arguments[0] - '0';
if (bt_to_buffer(waveform[channel], arguments[4])) {
disable_waveform(channel);
play_arb_wave(channel, waveform[channel], arguments[4], get_24bit_argument(1));
}
break;
case '@':
channel = bt_getchar_timeout_echo();
if (channel == '0')
disable_waveform0();
else if (channel == '1')
disable_waveform1();
else
err();
break;
case 'r':
i = USART_RXBufferData_AvailableCount(&AUX_data);
bt_putchar((uint8_t)(i+1));
while(i-- > 0) {
bt_putchar(USART_RXBuffer_GetByte(&AUX_data));
}
break;
// Transmit a stream of characters from bluetooth to auxiliary serial
case 't':
temph= bt_getchar_timeout_echo();
if (temph == 256) {
err();
break;
}
for(; temph>0; temph--) {
templ= bt_getchar_timeout_echo();
if(templ == 256) {
err();
break;
}
else {
aux_putchar( templ);
}
}
break;
default:
break;
}
}
void testInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
uint8_t i;
struct __gpio_config_t {
GPIO_TypeDef *gpio;
uint16_t pin;
GPIOMode_TypeDef mode;
}
gpio_cfg[] = {
{LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP}, // PB3 (LED)
{LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP}, // PB4 (LED)
};
uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);
// Turn on clocks for stuff we use
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE);
RCC_ClearFlag();
// Make all GPIO in by default to save power and reduce noise
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Turn off JTAG port 'cause we're using the GPIO for leds
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
// Configure gpio
for (i = 0; i < gpio_count; i++) {
GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode;
GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure);
}
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
LED0_OFF;
LED1_OFF;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority
checkFirstTime(true,true);
initMixer();
pwmOutputConfig.motorPwmRate = 10*1000;
pwmOutputConfig.noEsc = true;
pwmOutputInit(&pwmOutputConfig);
i2cInit(SENSOR_I2C);
initGyro();
initAccel();
initMag();
nrf_init();
nrf_detect();
}
