#include <stdio.h>
#include <string.h>
#include <avr/io.h>
//#include <util/delay.h>
#include <homelab/adc.h>
#include <homelab/module/lcd_gfx.h>
#include <homelab/module/segment_display.h>
#include <homelab/module/motors.h>
#include <homelab/module/encoders.h>
#include <homelab/module/sensors.h>
#include <homelab/module/zigbee.h>
#include <homelab/delay.h>
#include "homelab/common.h"
#include "homelab/pin.h"
#define ULTRASONIC_SPEED_OF_SOUND 33000 //cm/s
#define ZIGBEE_MAX_NODES 4 //maksimum number zigbee mooduleid võrgus + broadcast aadress + 1
usart port = USART(1); //USART liidese määramine
zigbee_node_t nodelist[ZIGBEE_MAX_NODES]; //teiste leitavate zigbee moodulite aadresside massiiv
void SPI_init(void);
void SPI_write(unsigned char data);
///////////////////////// Peaprogramm /////////////////////////////
int main(void)
{
char adc0[16],adc1[16],adc2[16],caption0[16],caption1[16];
unsigned char new_value=0, old_value = 1,new_value0=0, old_value0 = 1,new_value2=0, old_value2 = 1,i,lcd_taust=0;
int servopos=1, dcpos=1,nupp=0,nupp1=0,dcpulse=0, count=0, adr=0;
/////////////////////// Init ///////////////////
//bipolar_init();
lcd_gfx_init();
lcd_gfx_clear();
adc_init(ADC_REF_AVCC, ADC_PRESCALE_8);
segment_display_init();
pin leds[3] = { PIN(C, 3), PIN(C, 4), PIN(C, 5) };
pin buttons[3] = { PIN(C, 0), PIN(C, 1), PIN(C, 2) };
pin led_red = PIN(C, 5);
pin sensors = PIN(G, 0);
pin buzzer = PIN(G, 5);
pin srf05 = PIN(F,2);
pin_setup_output(sensors);
pin_setup_output(buzzer);
for (i = 0; i < 3; i++)
{
pin_setup_output(leds[i]);
pin_setup_input(buttons[i]);
dcmotor_init(i);
}
usart_init_async(port,USART_DATABITS_8,USART_STOPBITS_ONE,USART_PARITY_NONE,USART_BAUDRATE_ASYNC(9600)); // USART liidese seadistamine
dcmotor_init(3);
unipolar_init(0);
unipolar_init(1);
servomotor_init(0);
servomotor_init(1);
encoder_init(0);
encoder_init(1);
/////////////////////////// Programmi tsükkel ////////////////////////////////
while (true)
{
new_value0 = pin_get_value(buttons[0]);
if ((new_value0) && (!old_value0))
{
//nupp = PINC & 0x07;
nupp++;
if (nupp>4) nupp=0;
pin_toggle(leds[0]);
lcd_gfx_clear();
for (i = 0; i < 10; i++)
{
pin_set(buzzer);
hw_delay_ms(1);
pin_clear(buzzer);
hw_delay_ms(1);
}
}
old_value0 = new_value0;
//pin_clear(buzzer);
//sprintf(t,"%d",nupp);
if (nupp==0){
sprintf(caption0, " Robotic ");
sprintf(caption1, " HomeLab v5 ");
sprintf(adc0, "S1 MODULES ");
sprintf(adc1, "S2 DEVICES ");
sprintf(adc2, "S3 FUNCTIONS ");
}
////////////////////////// Kasutajaliidese moodul /////////////////////////////////////////////////////
else if (nupp==1){
new_value = pin_get_value(buttons[1]);
if ((new_value) && (!old_value))
{
//bit_invert(nupp1,0);
nupp1=1;
lcd_gfx_clear();
}
old_value = new_value;
new_value2 = pin_get_value(buttons[2]);
if ((new_value2) && (!old_value2))
{
//bit_invert(nupp2,0);
lcd_gfx_clear();
nupp1=2;
}
old_value2 = new_value2;
if (nupp1==1) {
pin_clear(leds[1]);
pin_set(leds[2]);
lcd_taust=1;
sprintf(caption1, " S2 ");
}
else if (nupp1==2) {
pin_set(leds[1]);
pin_clear(leds[2]);
lcd_taust=0;
sprintf(caption1, " S3 ");
}
else {
pin_set(leds[1]);
pin_set(leds[2]);
sprintf(caption1, " S1 ");
nupp1=0;
}
//segment_display_write(loendur++ % 10);
sprintf(adc0, "S1: %d ", pin_get_value(buttons[0]));
sprintf(adc1, "S2: %d ", pin_get_value(buttons[1]));
sprintf(adc2, "S3: %d ", pin_get_value(buttons[2]));
sprintf(caption0, " UI module ");
hw_delay_ms(100);
}
////////////////////////// Andurite moodul /////////////////////////////////////////////////////
else if (nupp==2){
new_value = pin_get_value(buttons[1]);
if ((new_value) && (!old_value))
{
bit_invert(nupp1,0);
lcd_gfx_clear();
}
old_value = new_value;
if (nupp1) {
pin_clear(sensors);
pin_clear(leds[0]);
sprintf(caption1, " on-board ");
sprintf(adc0, "Sound: %d ADC ", adc_get_average_value(0, 4));
sprintf(adc1, "Light: %d ADC ", adc_get_average_value(1, 4));
sprintf(adc2, "Temp.: %d C ", thermistor_calculate_celsius(adc_get_average_value(2, 4)));
}
else {
pin_set(sensors);
pin_set(leds[0]);
sprintf(caption1, " external ");
sprintf(adc0, "IR: %d cm ", ir_distance_calculate_cm(GP2Y0A21YK, adc_get_average_value(3, 4)) );
sprintf(adc1, "UH: %d cm ", ultrasonic_measure_srf05(srf05));
sprintf(adc2, "EX: %d ADC ", adc_get_average_value(1, 4));
}
//segment_display_write(adc_get_average_value(3, 4) * 10 / 1024);
sprintf(caption0, "Sensor module ");
hw_delay_ms(500);
}
///////////////////////// Mootorite moodul /////////////////////////////////////////////////////////7
else if (nupp==3){
sprintf(caption0, " Motors ");
sprintf(caption1, " module ");
sprintf(adc0, "DC %d dir ", dcpulse );
sprintf(adc1, "Servo %d pos ", servopos );
sprintf(adc2, "Step. %d dir ", dcpos );
servopos++;
if (servopos>10) {
servopos=-10;
dcpos=dcpos*-1;
pin_toggle(leds[0]);
}
dcmotor_drive(0,dcpos);
dcmotor_drive(1,dcpos);
dcmotor_drive(2,dcpos);
dcmotor_drive(3,dcpos);
dcpulse=encoder_get_pulses(0);
servomotor_position(0,servopos*10);
servomotor_position(1,servopos*10);
unipolar_halfstep(1, dcpos, 100, 3);
unipolar_halfstep(0, dcpos, 100, 3);
}
////////////////////////////// Kommunikatsioonimoodul ////////////////////////////////////////////////////7
else if (nupp==4){
new_value = pin_get_value(buttons[1]);
if ((new_value) && (!old_value))
{
count = 0; //keskmine nupp alustab otsast peale ZigBee otsimist
lcd_gfx_clear();
}
old_value = new_value;
sprintf(caption0, "Communication");
sprintf(caption1, " module ");
sprintf(adc0, " ");
sprintf(adc1, " ");
sprintf(adc2, " ");
if (count == 0)
{
lcd_gfx_clear();
lcd_gfx_goto_char_xy(0, 0);
lcd_gfx_write_string("Communication");
lcd_gfx_goto_char_xy(3, 1);
lcd_gfx_write_string("module");
lcd_gfx_goto_char_xy(3, 3);
lcd_gfx_write_string("wait...");
zigbee_find_nodes(port, nodelist, ZIGBEE_MAX_NODES); //Otsib ja salvestab ümbritsevate ZigBee moodulite info
lcd_gfx_goto_char_xy(0, 2);
lcd_gfx_write_string("Found: ");
lcd_gfx_goto_char_xy(0, 3);
lcd_gfx_write_string(" ");
zigbee_lcd_show_nodes(3, nodelist, ZIGBEE_MAX_NODES); //Kirjutab leitud ZigBee moodulite info LCD-le
hw_delay_ms(2000);
// Kuvab ekraanil ühendamise teate
lcd_gfx_goto_char_xy(0, 2);
lcd_gfx_write_string(" ");
lcd_gfx_goto_char_xy(0, 3);
lcd_gfx_write_string("Connecting... ");
lcd_gfx_goto_char_xy(0, 4);
lcd_gfx_write_string((nodelist + adr)->address64l); //kuvab ainult aadressi tagumise osa (8 tähemärki)
zigbee_set_destination(port, &nodelist[adr]); //Seadistab ZigBee saatma infot esimesele leitud mooduli aadressile
count = 1;
}
else
{
sprintf(adc0, "Connected "); //ühendus loodud
sprintf(adc1, (nodelist + adr)->address64l); //millega
if (usart_has_data(port)) // loe kas USART'st andmed tulnud
{
pin_toggle(leds[usart_read_char(port) - 'A']); // loe bait, teisenda leds massiivi indeksiks, ja muuda väljundit.
}
else //kui ei ole andmeid, siis ise saadab
{
usart_send_char(port, 'A'); //lülitab ümber teisel moodulil LED-i
hw_delay_ms(1000); //vilkumiseks
}
}
}
else {
pin_toggle(led_red);
hw_delay_ms(500);
}
//////////////// OUTPUT to LCD ////////////////////////////////////////////////////////
//lcd_gfx_goto_char_xy(0, 2);
//lcd_gfx_write_string(t);
segment_display_write(nupp);
lcd_gfx_backlight(lcd_taust);
lcd_gfx_goto_char_xy(0, 0);
lcd_gfx_write_string(caption0);
lcd_gfx_goto_char_xy(0, 1);
lcd_gfx_write_string(caption1);
lcd_gfx_goto_char_xy(0, 3);
lcd_gfx_write_string(adc0);
lcd_gfx_goto_char_xy(0, 4);
lcd_gfx_write_string(adc1);
lcd_gfx_goto_char_xy(0, 5);
lcd_gfx_write_string(adc2);
}
}
void SPI_init(void) // Set MOSI and SCK output, all others input
{
SPCR |= ((1<<SPE)|(1<<MSTR)|(1<<SPR1)); //enable SPI, Master, clock rate fck/4
SPSR |= (1<<SPI2X); //2x speed, kokku SPI kell fck/32
}
void SPI_write(unsigned char data)
{
SPDR = data;
while (!(SPSR & 0x80)); // wait for data transfer to be completed
}
