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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 "i2c.h"
#include "uart.h"
#include "timer.h"
#include "gyro.h"
#include "accel.h"
static void ledInit () {
/* set led1,led2 to output */
DDRB |= (1 << PB6) | (1 << PB7);
/* set led3,led4,led5,led6 to output */
DDRD |= (1 << PD2) | (1 << PD3) | (1 << PD4) | (1 << PD5);
}
/* show data with leds */
static void ledShow (const unsigned char val) {
PORTB = (PORTB & ~((1 << PB6) | (1 << PB7))) | ((val & 0x3) << PB6);
PORTD = (PORTD & ~((1 << PD2) | (1 << PD3) | (1 << PD4) | (1 << PD5))) | (((val >> 2) & 0xf) << PD2);
}
static void cpuInit () {
/* enter change prescaler mode */
CLKPR = CLKPCE << 1;
/* write new prescaler = 8 (i.e. 1Mhz clock frequency) */
CLKPR = 0b00000011;
}
int main () {
cpuInit ();
ledInit ();
twInit ();
uartInit ();
gyroInit ();
accelInit ();
set_sleep_mode (SLEEP_MODE_IDLE);
printf ("initialization done\n");
/* global interrupt enable */
sei ();
gyroStart ();
accelStart ();
timerStart ();
bool checkGyro = false;
while (1) {
while (!timerHit ()) {
/* round-robin to prevent starvation */
if (checkGyro) {
gyroProcess ();
accelProcess();
} else {
accelProcess();
gyroProcess ();
}
checkGyro = !checkGyro;
sleep_enable ();
sleep_cpu ();
sleep_disable ();
}
volatile const int16_t *gyroval = gyroGetAngle ();
volatile const int8_t *accelval = accelGet ();
printf ("%i/%i/%i - %i/%i/%i\n", gyroval[0], gyroval[1], gyroval[2],
accelval[1], accelval[3], accelval[5]);
gyroResetAngle ();
}
timerStop ();
/* global interrupt disable */
cli ();
while (1);
}
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