seniordesign-firmware Changeset - f7fad1196562

Changeset - f7fad1196562

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mkroening@CL-ENS241-07.cedarville.edu - 12 years ago 2013-03-21 16:56:16
mkroening@CL-ENS241-07.cedarville.edu

Camera functions

3 files changed with 21 insertions and 11 deletions:

slave/slave/lib/cameras.c

slave/slave/modules.c

slave/slave/slave.c

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slave/slave/lib/cameras.c

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@@ @@ -31,17 +31,12 @@ @@
  void cameras_sendPulse()
+ {
 	 PORTA |= (1 << PA0);	// Pull pin on usb high
 	 PORTA |= (1 << PA1);	// Pull pin on usb high
 	 PORTA |= (1 << PA2);	// Pull pin on usb high
 	 PORTA |= (1 << PA3);	// Pull pin on usb high
 	 _delay_ms(250);
 	 PORTA &= ~(1 << PA0);	// Pull pin on usb low
 	 PORTA &= ~(1 << PA1);	// Pull pin on usb low
 	 PORTA &= ~(1 << PA2);	// Pull pin on usb low
 	 PORTA &= ~(1 << PA3);	// Pull pin on usb low
+ }
  int8_t cameras_getAccelX()
+ {
 	 return xmsb;
+ }

slave/slave/modules.c

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@@ @@ -12,14 +12,16 @@ @@
  #include <util/delay.h>
  #include "modules.h"
  #include "lib/spi.h"
  #include "lib/i2c.h"
  #include "lib/sensors.h"
  #include "lib/loopTimer.h"
  #include "lib/led.h"
  uint32_t lastPicture;
  uint8_t pulseOn;
  void modules_setup(uint8_t id)
+ {
 	switch(id)
+	{
 		case 0:
@@ @@ -106,12 +108,15 @@ @@
+ }
  void modules_cameras_setup()
+ {
 	 lastPicture = time_millis();
 	 pulseOn = time_millis();
 	 DDRA |= (1 << DDA0);	// Set PA0 to Output for Camera
 	 DDRA |= (1 << DDA1);	// Set PA1 to Output for Camera
 	 DDRA |= (1 << DDA2);	// Set PA2 to Output for Camera
 	 DDRA |= (1 << DDA3);	// Set PA3 to Output for Camera
+ }
@@ @@ -140,18 +145,27 @@ @@
+ }
  void modules_cameras()
+ {
 	// Gathers data and performs functions for cameras daughter board
 		cameras_readAccelXYZ();
-		if ((time_millis() - lastPicture) > CAMERA_FREQ)	// Frequency of photos
+		if ((time_millis() - pulseOn) > CAMERA_PULSE)
+		{
 			cameras_sendPulse();
 			lastPicture = time_millis();
 			PORTA &= ~(1 << PA0);	// Pull pin on usb low
 			PORTA &= ~(1 << PA1);	// Pull pin on usb low
 			PORTA &= ~(1 << PA2);	// Pull pin on usb low
 			PORTA &= ~(1 << PA3);	// Pull pin on usb low
 			if ((time_millis() - lastPicture) > CAMERA_FREQ)	// Frequency of photos
+			{
 				cameras_sendPulse();
 				lastPicture = time_millis();
+			}
 			pulseOn = time_millis();
+		}
+ }
@@ \ No newline at end of file @@

slave/slave/slave.c

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@@ @@ -84,12 +84,13 @@ int main(void) @@
 		masterComm_checkParser();	//Checks parser for data requests from master
 		// Main slave operations
 		if ((time_millis() - lastLoop) > SENSOR_LOOP)	// Uses program timer to run every so often. Time interval defined in config.h
+		{
 			led_on(0);
 			sensors_readBatt();				// Read Battery level
 			sensors_readBoardTemp();		// Read board temperature sensor (Common on all slaves) (Data Read)
 			modules_run(io_getModuleId());	// Runs specific module functions (like data reading)
 			io_regulateTemp();			// Gets board temperature and enables heater if below threshold

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