Controls xyControl On-Board Hardware like LEDs. More...

Files
file	xycontrol.h
	xyControl API Header.

file	xycontrol.c
	xyControl API Implementation.

Data Structures
struct	Vector3f
	The global 3-Dimensional Floating Point Vector. More...

Enumerations
enum	LED { LED_RED0 = 0, LED_RED1 = 1, LED_GREEN0 = 2, LED_GREEN1 = 3, LED_ALL = 4, LED_BITMAP = 5, LED_RED = 6, LED_GREEN = 7 }
	Methods of addressing the LEDs. More...

enum	LEDState { LED_OFF = 0, LED_ON = 1, LED_TOGGLE = 2 }
	Possible states of the LEDs. More...

Functions
void	xyInit (void)
	Initialize the xyControl Hardware. More...

void	xyLed (LED l, LEDState v)
	Set the LEDs. More...

double	getVoltage (void)
	Calculate and return the Battery Voltage. More...

void	xySelfReset (void)
	Use the Watchdog to reset yourself after 15ms. More...

int64_t	map (int64_t value, int64_t oldMin, int64_t oldMax, int64_t newMin, int64_t newMax)
	Map an Integer from one range to another range. More...

int	uartoutput (char c, FILE *f)
	Method used to write to stdout and stderr. More...

int	uartinput (FILE *f)
	Method used to read from stdin. More...

void	xyLedInternal (uint8_t v, volatile uint8_t *port, uint8_t pin)
	Internal LED Manipulation function. More...

Variables
char PROGMEM	helpText [] = "Print this Help"
	UART Menu Help Text. More...

char PROGMEM	resetText [] = "Reset MCU"
	UART Menu Reset Text. More...

FILE	inFile
	FILE for stdin. More...

FILE	outFile
	FILE for stdout and stderr. More...

Detailed Description

Controls xyControl On-Board Hardware like LEDs.

Enumeration Type Documentation

enum LED

Methods of addressing the LEDs.

Enumerator
LED_RED0	First red LED.
LED_RED1	Second red LED.
LED_GREEN0	First green LED.
LED_GREEN1	Second green LED.
LED_ALL	All LEDs.
LED_BITMAP	LEDs as Bitmap (R0, R1, G0, G1)
LED_RED	Both red LEDs.
LED_GREEN	Both green LEDs.

Definition at line 44 of file xycontrol.h.

              {
     LED_RED0 = 0, 
     LED_RED1 = 1, 
     LED_GREEN0 = 2, 
     LED_GREEN1 = 3, 
     LED_ALL = 4, 
     LED_BITMAP = 5, 
     LED_RED = 6, 
     LED_GREEN = 7 
 } LED;

enum LEDState

Possible states of the LEDs.

Enumerator
LED_OFF	LED Off.
LED_ON	LED On.
LED_TOGGLE	Toggle the LED.

Definition at line 56 of file xycontrol.h.

              {
     LED_OFF = 0, 
     LED_ON = 1, 
     LED_TOGGLE = 2 
 } LEDState;

Function Documentation

double getVoltage ( void )

Calculate and return the Battery Voltage.

Returns: Current Battery Voltage

Examples:: hardwareTest.c, and uartFlight.c.

Definition at line 172 of file xycontrol.c.

References adcGet(), adcReady(), adcStart(), BATT_CHANNEL, and BATT_MAX.

                         {
     adcStart(BATT_CHANNEL);
     while(!adcReady());
     uint16_t v = adcGet(0) * BATT_MAX;
     return ((double)v / 1024.0);
 }

int64_t map	(	int64_t	value,
		int64_t	oldMin,
		int64_t	oldMax,
		int64_t	newMin,
		int64_t	newMax
	)

Map an Integer from one range to another range.

Parameters

value	Integer to operate on
oldMin	Lower Limit of Input range
oldMax	Upper Limit of Input range
newMin	Lower Limit of Output range
newMax	Upper Limit of Output range

Returns: Value in new range

Definition at line 184 of file xycontrol.c.

                                                                                            {
     return (value - oldMin) * (newMax - newMin) / (oldMax - oldMin) + newMin;
 }

int uartinput ( FILE * f )

Method used to read from stdin.

Definition at line 81 of file xycontrol.c.

References serialAvailable(), serialGet(), and serialHasChar().

Referenced by xyInit().

                        {
     for (;;) {
         for (uint8_t i = 0; i < serialAvailable(); i++) {
             if (serialHasChar(i)) {
                 return serialGet(i);
             }
         }
     }
 }

int uartoutput	(	char	c,
		FILE *	f
	)

Method used to write to stdout and stderr.

Definition at line 66 of file xycontrol.c.

References serialAvailable(), and serialWrite().

Referenced by xyInit().

                                 {
     // Inject CR here, instead of in the serial library,
     // so we can still do binary transfers with serialWrite()...
     if (c == '\n') {
         for (uint8_t i = 0; i < serialAvailable(); i++)
             serialWrite(i, '\r');
     }
     if (c != '\r') {
         for (uint8_t i = 0; i < serialAvailable(); i++)
             serialWrite(i, c);
     }
     return 0;
 }

void xyInit ( void )

Initialize the xyControl Hardware.

Initializes LEDs, Timer, UART, I2C, SPI, ADC, the UART Menu and prepares stdin and stdout.

Examples:: hardwareTest.c, test.c, and uartFlight.c.

Definition at line 91 of file xycontrol.c.

References adcInit(), addMenuCommand(), addTask(), AVCC, BAUD, helpText, inFile, initSystemTimer(), LED0DDR, LED0PIN, LED1DDR, LED1PIN, LED2DDR, LED2PIN, LED3DDR, LED3PIN, MODE_0, outFile, resetText, serialAvailable(), serialInit(), SPEED_2, spiInit(), twiInit(), uartinput(), uartMenuPrintHelp(), uartMenuTask(), uartoutput(), xmemInit(), xyLed(), and xySelfReset().

                   {
     xmemInit(); // Most important!
 
     // LEDs
     LED0DDR |= (1 << LED0PIN);
     LED1DDR |= (1 << LED1PIN);
     LED2DDR |= (1 << LED2PIN);
     LED3DDR |= (1 << LED3PIN);
     xyLed(4, 1);
 
     initSystemTimer();
     for (uint8_t i = 0; i < serialAvailable(); i++) {
         serialInit(i, BAUD(38400, F_CPU));
     }
     twiInit();
     spiInit(MODE_0, SPEED_2);
     adcInit(AVCC);
 
     addMenuCommand('q', resetText, &xySelfReset);
     addMenuCommand('h', helpText, &uartMenuPrintHelp);
     addTask(&uartMenuTask);
 
     // fdevopen() is using malloc, so printf in a different
     // memory bank will not work!
     //   fdevopen(&uartoutput, NULL); // stdout & stderr
     //   fdevopen(NULL, &uartinput); // stdin
     // Instead we have the FILE structs as static variables
     // and assign them to stdin, stdout and stderr
 
     fdev_setup_stream(&outFile, &uartoutput, NULL, _FDEV_SETUP_WRITE);
     fdev_setup_stream(&inFile, NULL, &uartinput, _FDEV_SETUP_READ);
     stdin = &inFile;
     stdout = &outFile;
     stderr = &outFile;
 
     sei();
 }

void xyLed	(	LED	l,
		LEDState	v
	)

Set the LEDs.

Parameters

l	LEDs to set
v	New LED State

Examples:: hardwareTest.c, test.c, and uartFlight.c.

Referenced by xyInit().

void xyLedInternal	(	uint8_t	v,
		volatile uint8_t *	port,
		uint8_t	pin
	)

Internal LED Manipulation function.

Parameters

v	New LED State (Off, On, Toggle)
port	The Corresponding Output Port
pin	The LED Pin

Definition at line 134 of file xycontrol.c.

                                                                    {
     if (v == 0) {
         *port &= ~(1 << pin);
     } else if (v == 1) {
         *port |= (1 << pin);
     } else {
         *port ^= (1 << pin);
     }
 }

void xySelfReset ( void )

Use the Watchdog to reset yourself after 15ms.

Definition at line 179 of file xycontrol.c.

Referenced by orientationTask(), and xyInit().

                        {
     wdt_enable(WDTO_15MS);
     for(;;);
 }

Variable Documentation

char PROGMEM helpText[] = "Print this Help"

UART Menu Help Text.

Definition at line 59 of file xycontrol.c.

Referenced by xyInit().

FILE inFile

FILE for stdin.

Definition at line 62 of file xycontrol.c.

Referenced by xyInit().

FILE outFile

FILE for stdout and stderr.

Definition at line 63 of file xycontrol.c.

Referenced by xyInit().

char PROGMEM resetText[] = "Reset MCU"

UART Menu Reset Text.

Definition at line 60 of file xycontrol.c.

Referenced by xyInit().

Files

Data Structures

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation