void showStatus(uint8_t verdieping, uint16_t hoogte, uint8_t motor)
{
// "rechtsom aan", "Hoogte: 100 "
showScreenLCD(" ", "H: V: ");
setCursorPosLCD(0, 13);
writeStringLCD_P("aan");
// motor status
switch (motor) {
case MOTOR_IDLE:
setCursorPosLCD(0, 13);
writeStringLCD_P("uit");
break;
case MOTOR_LEFT:
setCursorPosLCD(0, 0);
writeStringLCD_P("Linksom");
break;
case MOTOR_RIGHT:
setCursorPosLCD(0, 0);
writeStringLCD_P("Rechtsom");
break;
}
setCursorPosLCD(1, 3);
writeIntegerLCD(hoogte, DEC);
setCursorPosLCD(1, 15);
writeIntegerLCD(verdieping, DEC);
setLEDs(1 << verdieping);
}
/*
* Initialize the pathfinder
*/
void pathfinder_init(uint8_t x, uint8_t y, direction currentDirection)
{
lastDirection = currentDirection;
clearLCD();
setCursorPosLCD(0, 2);
writeIntegerLCD(x, DEC);
setCursorPosLCD(0, 5);
writeIntegerLCD(y, DEC);
mSleep(5000);
// initialize root node
root = malloc(sizeof(root));
root->count = nodeCount;
root->x = x;
root->y = y;
root->north = NULL;
root->west = NULL;
root->south = NULL;
root->east = NULL;
// make the current node the root node
current = root;
// also, initialize the empty node
empty = malloc(sizeof(empty));
empty->count = 255;
empty->x = 255;
empty->y = 255;
empty->north = NULL;
empty->west = NULL;
empty->south = NULL;
empty->east = NULL;
// initialize the current node
if (!hal_hasWallLeft()) {
current->west = empty;
}
if (!hal_hasWallFront()) {
current->north = empty;
}
if (!hal_hasWallRight()) {
current->east = empty;
}
}
/*
* Make a new step
*/
direction pathfinder_NextStep(direction currentDirection, uint8_t x, uint8_t y)
{
// first check if we have reached the target already
if ((x == targetX) && (y == targetY)) {
// we ain't going anywhere soon!
return NONE;
}
setCursorPosLCD(0, 2);
writeIntegerLCD(root->x, DEC);
setCursorPosLCD(0, 5);
writeIntegerLCD(root->y, DEC);
setCursorPosLCD(1, 0);
writeIntegerLCD(current->count, DEC);
setCursorPosLCD(1, 4);
writeIntegerLCD(nodeCount, DEC);
// now check if we can only go one direction
if (hal_hasWallLeft() && hal_hasWallRight() && !hal_hasWallFront()) {
return currentDirection;
} else if (hal_hasWallLeft() && !hal_hasWallRight() && hal_hasWallFront()) {
return turnRight(currentDirection);
} else if (!hal_hasWallLeft() && hal_hasWallRight() && hal_hasWallFront()) {
return turnLeft(currentDirection);
}
// we cannot keep cruising normally
// get the node or create a new one
struct node *node = getNode(current);
if (!node) {
node = createNode(current, currentDirection, x, y);
}
if (hal_hasWallLeft() && hal_hasWallRight() && hal_hasWallFront()) {
// dead end
current = node;
currentDirection = turnAround(currentDirection);
} else {
// ok, decide where we're gonna go
chooseDirection(currentDirection, node, x, y);
current = node;
}
lastDirection = currentDirection;
return currentDirection;
}
void showSimParams( void )
{
clearPosLCD(0,7,5);
setCursorPosLCD(0, 7);
writeIntegerLCD( Balloon_get_height(), DEC);
clearPosLCD(1,3,5);
setCursorPosLCD(1, 3);
if(Balloon_get_valvestate() == OPEN) {
writeStringLCD("OPEN ");
} else {
writeStringLCD("CLOSED");
}
clearPosLCD(1,13,5);
setCursorPosLCD(1, 13);
if(Balloon_get_burnerstate() == ON) {
writeStringLCD("ON ");
} else {
writeStringLCD("OFF");
}
}
int main(void)
{
initRP6Control(); // Always call this first! The Processor will not work
// correctly otherwise.
bars(2);
writeString_P("\n\nRP6Control Selftest!\n\n");
bars(2);
setLEDs(0b1111);
mSleep(50);
initLCD();
showScreenLCD("################", "################");
mSleep(400);
showScreenLCD("################", "################");
showScreenLCD("RP6Control M32", "SELFTEST");
mSleep(1000);
uint8_t keynumber = 0;
while(keynumber < 6)
{
uint8_t key = checkReleasedKeyEvent();
if(key == keynumber)
{
keynumber++;
showScreenLCD("PRESS BUTTON", "NUMBER ");
writeIntegerLCD(keynumber,DEC);
setLEDs(0b0000);
writeString_P("### PRESS BUTTON NUMBER ");
writeInteger(keynumber,DEC);
writeString_P("!\n");
}
}
showScreenLCD("Testing", "BEEPER & LEDS");
mSleep(250);
// Play a sound to indicate that our program starts:
sound(50,50,100); setLEDs(0b0000);
sound(80,50,100); setLEDs(0b0001);
sound(100,50,100);setLEDs(0b0010);
sound(120,50,100);setLEDs(0b0100);
sound(140,50,100);setLEDs(0b1000);
sound(160,50,100);setLEDs(0b1001);
sound(180,50,100);setLEDs(0b1011);
sound(200,50,100);setLEDs(0b1111);
mSleep(400);
setLEDs(0b0000);
showScreenLCD("Testing", "EERPOM");
test(1);
writeString_P("\nEEPROM TEST\n");
writeString_P("\nErasing 250 Bytes...\n");
uint8_t cnt;
for(cnt = 0; cnt < 250; cnt++)
{
SPI_EEPROM_writeByte(cnt, 0xFF);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
}
writeString_P("...Done!\nWriting 250 Bytes to EEPROM:\n");
for(cnt = 0; cnt < 250; cnt++)
{
writeIntegerLength(cnt, DEC, 3);
SPI_EEPROM_writeByte(cnt, cnt);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
writeChar(',');
if(cnt % 10 == 0) writeChar('\n');
}
mSleep(400);
setLEDs(0b1111);
writeString_P("\nReading and verifying:\n");
for(cnt = 0; cnt < 250; cnt++)
{
uint8_t result = SPI_EEPROM_readByte(cnt);
if(result != cnt)
{
writeString_P("\nEEPROM VERIFY ERROR!!!! EEPROM DAMAGED!!!\n");
writeString_P("Data read: "); writeInteger(result,DEC);
writeString_P(", should be: "); writeInteger(cnt,DEC); writeChar('\n');
errors++;
}
else
writeIntegerLength(result,DEC,3);
writeChar(',');
if(cnt % 10 == 0) writeChar('\n');
}
writeString_P("\nErasing 250 Bytes...\n");
for(cnt = 0; cnt < 250; cnt++)
{
SPI_EEPROM_writeByte(cnt, 0xFF);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
}
mSleep(400);
setLEDs(0b0000);
writeString_P("\nEEPROM TEST DONE!\n");
writeString_P("\nI2C TWI TEST:\n");
showScreenLCD("I2C TWI", "TEST");
I2CTWI_initMaster(100);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
uint8_t runningLight = 1;
for(cnt = 0; cnt < 24; cnt++)
{
writeIntegerLength(cnt,DEC,3);
writeChar(':');
writeIntegerLength(runningLight,DEC,3);
writeChar(',');
writeChar(' ');
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, runningLight);
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 29);
uint8_t result = I2CTWI_readByte(I2C_RP6_BASE_ADR);
if(result != runningLight)
{
writeString_P("\nTWI TEST ERROR!\n");
errors++;
}
runningLight <<= 1;
if(runningLight > 32)
runningLight = 1;
if((cnt+1) % 6 == 0) writeChar('\n');
mSleep(100);
}
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, 0);
writeString_P("\nTWI TEST DONE!\n");
writeString_P("\nMicrophone Test\n");
writeString_P("Hit the Microphone three times with your finger!\n");
showScreenLCD("MIC TEST:", "");
#define PREPARE 1
#define WAIT 2
uint8_t state = PREPARE;
startStopwatch2();
while(true)
{
static uint8_t peak_count = 3;
if(state == PREPARE)
{
if(getStopwatch2() > 250)
{
setCursorPosLCD(1, 6);
writeIntegerLengthLCD( peak_count, DEC, 1);
dischargePeakDetector();
state = WAIT;
setStopwatch2(0);
}
}
else if(state == WAIT)
{
uint8_t key = checkReleasedKeyEvent();
if(key)
{
break;
}
if(getStopwatch2() > 50)
{
uint16_t tmp = getMicrophonePeak();
if(tmp > 4)
{
externalPort.LEDS = 0;
uint16_t i;
uint8_t j;
for(i = 0, j = 2; i < tmp; i+= 40)
{
if(i < 40)
{
externalPort.LEDS++;
}
else
{
externalPort.LEDS <<=1;
externalPort.LEDS++;
}
}
outputExt();
if(tmp > 120)
{
state = PREPARE;
peak_count--;
}
if(peak_count == 0)
break;
}
else
setLEDs(0b0000);
setStopwatch2(0);
}
}
}
writeString_P("\nMICROPHONE TEST DONE!\n");
showScreenLCD("ALL TESTS", "DONE!");
writeString_P("\n\n\n\n");
bars(2);
writeString_P("\n\nALL TESTS DONE!\n\n");
if(errors)
{
bars(4);
writeString_P("\nERROR ERROR ERROR ERROR ERROR ERROR ERROR\n");
writeString_P("\nATTENTION: TESTS FINISHED WITH ERRORS!!!\n");
writeString_P("PLEASE CHECK RP6-M32 ASSEMBLY!!!\n\n");
bars(4);
writeString_P("\n\n");
}
// Now we just show a running light...
startStopwatch1();
uint8_t runLEDs = 1;
uint8_t dir = 0;
while(true)
{
if(getStopwatch1() > 100) {
setLEDs(runLEDs);
if(dir == 0)
runLEDs <<= 1;
else
runLEDs >>= 1;
if(runLEDs > 7 )
dir = 1;
else if (runLEDs < 2 )
dir = 0;
setStopwatch1(0);
}
}
void ir_receiveBaseStation(void)
{
uint8_t tijdelijk;
writeString_P("aap!\n");
while ((personX == 0xFF) || (personY == 0xFF) || (startX == 0xFF) || (startY == 0xFF)) {
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 27);
tijdelijk = I2CTWI_readByte(I2C_RP6_BASE_ADR);
writeString_P("ADDR: ");
writeInteger((int16_t) tijdelijk, DEC);
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 28);
tijdelijk = I2CTWI_readByte(I2C_RP6_BASE_ADR);
writeString_P(" DATA: ");
writeInteger((int16_t) tijdelijk, DEC);
writeString_P("\n");
mSleep(100);
// implement device bit 0 - device bit - code
// Oops! i did it again (van 44 naar 9)
if (tijdelijk >= 48 && tijdelijk <= 56) {
startY = tijdelijk - 48;
} else if (tijdelijk >= 32 && tijdelijk <= 38) {
startX = tijdelijk - 32;
} else if (tijdelijk >= 16 && tijdelijk <= 24) {
personY = tijdelijk - 16;
} else if (tijdelijk <= 6) {
personX = tijdelijk;
}
// for now, just put it on the screen
clearLCD();
setCursorPosLCD(0, 0);
writeCharLCD('X');
setCursorPosLCD(0, 2);
writeIntegerLCD(startX, DEC);
setCursorPosLCD(0, 10);
writeCharLCD('Y');
setCursorPosLCD(0, 12);
writeIntegerLCD(startY, DEC);
setCursorPosLCD(1, 0);
writeCharLCD('X');
setCursorPosLCD(1, 2);
writeIntegerLCD(personX, DEC);
setCursorPosLCD(1, 10);
writeCharLCD('Y');
setCursorPosLCD(1, 12);
writeIntegerLCD(personY, DEC);
}
}
