Merge branch 'master' of github.com:frmwrk123/uni

es/blatt4/uebung4-2/uebung4-2.ino

@@ -5,7 +5,6 @@
 // hardware pins
 int ledPin = 13;
 int analogLevel = 0;
-
 int slaveAddress = 4;
 
 /**
@@ -14,12 +13,18 @@ int slaveAddress = 4;
 void setup() {
     // Configure pins
     Wire.begin();
-    Wire.onReceive(receiveEvent);
-
+    pinMode(ledPin, OUTPUT);
+    digitalWrite(ledPin, LOW);
     // initialize serial port
     Serial.begin(9600);
 }
 
+void writeResult(bool result)
+{
+  Serial.print("Result: ");
+  Serial.println(result ? "on" : "off");
+}
+
 /**
  * Loop function for main code
  */
@@ -28,23 +33,21 @@ void loop() {
   Wire.write(1);
   Wire.endTransmission();
   delay(100);
-  Wire.beginTransmission(slaveAddress);
-  Wire.write('r');
-  Wire.endTransmission();
+  Wire.requestFrom(slaveAddress, 1);
+  if (Wire.available()) {
+    int x = Wire.read();
+    writeResult((bool) x);
+  }
   delay(1900);
   Wire.beginTransmission(slaveAddress);
   Wire.write(0);
   Wire.endTransmission();
   delay(100);
-  Wire.beginTransmission(slaveAddress);
-  Wire.write('r');
-  Wire.endTransmission();
+  Wire.requestFrom(slaveAddress, 1);
+  if (Wire.available()) {
+    int x = Wire.read();
+    writeResult((bool) x);
+  }
   delay(1900);
 }
 
-void receiveEvent(int readBytes)
-{
-  int x = Wire.read();
-  Serial.print("Result: ");
-  Serial.println(x ? "on" : "off");
-}

es/blatt4/uebung4-3/uebung4-3.ino

@@ -0,0 +1,150 @@
+#include <Servo.h>
+#include <Wire.h>
+// these variables describe the used hardware pins
+// adjust them when you use other pins
+// hardware pins
+int az = 50;
+int xout = A4;
+int zout = A2;
+int vref = A3;
+int ledPin = 13;
+int slaveAddress = 4;
+// servo
+Servo ourServo;
+int servoPin = 11;
+// used to achieve a 10 Hz frequency
+// don't touch them
+long rc = 1049999;
+// flags for servo
+bool volatile cwMaxReached = false;
+bool volatile ccwMaxReached = false;
+bool volatile lightLED = false;
+bool volatile read_ready = false;
+
+// tmp variables
+int volatile zAxis = 0;
+int volatile ref = 0;
+double volatile differenceZRef = 0;
+double volatile rotationZ = 0;
+int volatile currentServoPos = 0;
+int volatile newServoPos = 0;
+
+/**
+* Calculates the servo position.
+*
+* @param int currentServoPos
+* @param int rotationZ
+*/
+int calculate_new_servo_pos(int currentServoPos, int rotationZ) {
+  int newServoPos = currentServoPos + rotationZ;
+  // faktor 10 zu gross (weil messung grad/sec
+  
+  if (newServoPos > 159) {
+    newServoPos = 159;
+    cwMaxReached = true;
+    lightLED = true;
+  }
+  if (newServoPos < 25) {
+    newServoPos = 25;
+    ccwMaxReached = true;
+    lightLED = true;
+  }
+  return newServoPos;
+}
+/**
+* Setup function for initial setup code
+*/
+void setup() {
+  Wire.begin();
+  
+  pmc_set_writeprotect(false);
+  pmc_enable_periph_clk(ID_TC1);
+  // configure hardware timer
+  TC_Configure(TC0, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
+  TC_SetRC(TC0, 1, rc);
+  TC0->TC_CHANNEL[1].TC_IER = TC_IER_CPCS; // IER = interrupt enable register
+  TC0->TC_CHANNEL[1].TC_IDR = ~TC_IER_CPCS;
+  NVIC_ClearPendingIRQ(TC1_IRQn);
+  NVIC_EnableIRQ(TC1_IRQn);
+  // start hardware timer
+  TC_Start(TC0, 1);
+  
+  pinMode(ledPin, OUTPUT);
+  digitalWrite(ledPin, LOW);
+  ourServo.attach(servoPin);
+  ourServo.write(90);
+  // initialize serial port
+  Serial.begin(9600);
+}
+/**
+* Loop function for main code
+*/
+void loop() {
+  if (read_ready) {
+    
+    // berechnung auf 5000/1024 umstellen - was hat volt mit der berechnung zu tun? warscheinlich steht das so im aufgabenblatt ?
+    Serial.print("rotationZ: ");
+    Serial.println(rotationZ);
+    
+    Serial.print("currentServoPos: ");
+    Serial.println(currentServoPos);
+    Serial.print("newServoPos: ");
+    Serial.println(newServoPos);
+    /*
+    if (lightLED) {
+      blink();
+    }*/
+    ourServo.write(newServoPos + 1);
+    read_ready = false;
+  }
+}
+/**
+* Used to handle the timer.
+*/
+void TC1_Handler()
+{
+  // request static for some magic behind the curtain
+  TC_GetStatus(TC0, 1);
+  read_ready = true;
+  requestValues();
+  //zAxis = analogRead(zout);
+  //ref = analogRead(vref);
+  //differenceZRef = zAxis - ref;
+  differenceZRef = (differenceZRef * 5000) / 1024;
+  rotationZ = (differenceZRef / 9.1);
+  if (fabs(rotationZ) > 4) {
+    currentServoPos = ourServo.read();
+    newServoPos = calculate_new_servo_pos(currentServoPos, rotationZ / 10);
+  }
+}
+
+void requestValues()
+{
+  // request zAxis
+  Wire.requestFrom(slaveAddress, 4);
+  int result = 0;
+  int i = 1;
+  while (Wire.available()) {
+    uint8_t x = (uint8_t) Wire.read();
+    result = result | ((x) << ((sizeof(int) - i)*8));
+    i++;
+  }
+  differenceZRef = (double) result;
+  Serial.print("Got: ");
+  Serial.println(result);
+}
+
+void blink(){
+  digitalWrite(ledPin, HIGH);
+  delay(10);
+  digitalWrite(ledPin, LOW);
+  delay(10);
+  digitalWrite(ledPin, HIGH);
+  delay(10);
+  digitalWrite(ledPin, LOW);
+  delay(10);
+  digitalWrite(ledPin, HIGH);
+  delay(10);
+  digitalWrite(ledPin, LOW);
+  lightLED = false;
+}

es/blatt5/uebung5-1/uebung5-1.ino

@@ -0,0 +1,126 @@
+#include <SPI.h>
+
+// pins
+int slaveSelectPin = 10;
+int rstPin = 6;
+int dcPin = 5;
+
+// constants
+int divider = 84;
+int maxBufferIndex = 288;
+
+// buffer
+char screenBuffer[288];
+
+void setup()
+{
+    Serial.begin(9600);
+    
+    // intialize SPI
+    SPI.begin(slaveSelectPin);
+    SPI.setClockDivider(slaveSelectPin, divider);
+    
+    // initialize pins
+    pinMode(dcPin, OUTPUT);
+    pinMode(rstPin, OUTPUT);
+    
+    // initial reset of display
+    resetDisplay();
+    
+    // initialization of display
+    digitalWrite(dcPin, LOW);
+    SPI.transfer(slaveSelectPin, 0x21);
+    SPI.transfer(slaveSelectPin, 0x14);
+    SPI.transfer(slaveSelectPin, 0xb0);
+    SPI.transfer(slaveSelectPin, 0x20);
+    SPI.transfer(slaveSelectPin, 0x0c);
+    digitalWrite(dcPin, HIGH);
+    
+    // initialize screen buffer
+    for (int i = 0; i < maxBufferIndex; i++) {
+      screenBuffer[i] = 0x0;
+    }
+}
+
+/**
+ * Loop function for main code
+ */
+void loop()
+{
+  for (int y = 0; y < 84; y++) {
+    for (int x = 0; x < 48; x++) {
+      setPixel(x, y, 1);
+    }
+    flushBuffer();
+    delay(20);
+  }
+  //flushBuffer();
+  //delay(20);
+  Serial.println("fertig");
+  
+}
+
+void resetDisplay()
+{
+  digitalWrite(rstPin, LOW);
+  delay(500);
+  digitalWrite(rstPin, HIGH);
+}
+
+void flushBuffer()
+{
+  for (int i = 0; i < maxBufferIndex; i++) {
+    SPI.transfer(slaveSelectPin, screenBuffer[i]);
+  }
+}
+
+/**
+ * Sets the pixel at the given location.
+ * @param x
+ * @param y
+ * @param value
+ */
+void setPixel(int x, int y, int value)
+{
+  int bank = x / 8;
+  int relativeRow = x - bank * 8;
+  int bankStartIndex = bank * 48;
+  int index = bankStartIndex + y;
+  char bitValue = 0x0;
+  
+  if (value == 1) {
+    bitValue = 0xff;
+  }
+  
+  char existingValue = screenBuffer[index];
+  char pixelMask = 1 << relativeRow;
+  pixelMask = 0x0 | pixelMask;
+  char invMask = ~ pixelMask;
+  char newValue = pixelMask & bitValue;
+  
+  char finalExistingValue = existingValue & invMask;
+  char finalValue = finalExistingValue | newValue;
+
+  Serial.print("bank:");
+  Serial.println(bank);
+  Serial.print("relRow:");
+  Serial.println(relativeRow);  
+  Serial.print("index:");
+  Serial.println(index);
+  Serial.print("value:");
+  Serial.println(value);
+  Serial.print("existingValue:");
+  Serial.println(existingValue, BIN);
+  Serial.print("finalExistingValue:");
+  Serial.println(finalExistingValue, BIN);
+  Serial.print("pixelMask:");
+  Serial.println(pixelMask, BIN);
+  Serial.print("invMask:");
+  Serial.println(invMask, BIN);
+  Serial.print("newValue:");
+  Serial.println(newValue, BIN);
+  Serial.print("finalValue:");
+  Serial.println(finalValue, BIN);
+  Serial.println("-----");
+  screenBuffer[index] = finalValue;
+}