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#include "common.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <util/delay.h>
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include "i2c.h"
#include "uart.h"
#include "timer.h"
#include "gyro.h"
#include "accel.h"
#include "speaker.h"
#include "pwm.h"
static void cpuInit () {
/* enter change prescaler mode */
CLKPR = (1 << CLKPCE);
/* write new prescaler */
#if F_CPU == 1000000
CLKPR = 0b00000011;
#elif F_CPU == 4000000
CLKPR = 0b00000001;
#elif F_CPU == 8000000
CLKPR = 0b00000000;
#else
#error "cpu speed not supported"
#endif
}
int main () {
cpuInit ();
twInit ();
uartInit ();
gyroInit ();
accelInit ();
speakerInit ();
pwmInit ();
set_sleep_mode (SLEEP_MODE_IDLE);
printf ("initialization done\n");
/* global interrupt enable */
sei ();
gyroStart ();
accelStart ();
pwmStart ();
#if 0
speakerStart ();
_delay_ms (200);
speakerStop ();
#endif
timerStart ();
bool checkGyro = false;
while (1) {
while (!timerHit ()) {
for (uint8_t i = 0; i < 6; i++) {
pwmSetBrightness (i, abs (gyroGetZTicks ()));
}
/* round-robin to prevent starvation */
if (checkGyro) {
gyroProcess ();
accelProcess();
} else {
accelProcess ();
gyroProcess ();
}
checkGyro = !checkGyro;
sleep_enable ();
sleep_cpu ();
sleep_disable ();
}
printf ("t=%i, h=%i, s=%i\n", gyroGetZTicks (), accelGetHorizon (),
accelGetShakeCount ());
#if 0
volatile const int32_t *gyroval = gyroGetAccum ();
volatile const int16_t *gyroraw = gyroGetRaw ();
volatile const int8_t *accelval = accelGet ();
printf ("%li/%li/%li - %i/%i/%i - %i/%i/%i\n",
gyroval[0], gyroval[1], gyroval[2],
gyroraw[0], gyroraw[1], gyroraw[2],
accelval[1], accelval[3], accelval[5]);
#endif
}
timerStop ();
pwmStop ();
printf ("stopped\n");
/* global interrupt disable */
cli ();
while (1);
}
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