#include "msp430x20x3.h"
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#include "msp430x20x3.h"
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#include <signal.h> // Needed for using interrupts with msp430-gcc
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#include <signal.h> // Needed for using interrupts with msp430-gcc
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#include "spacewar.h"
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#include "spacewar.h"
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//************************************************************
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//************************************************************
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// externals
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// externals
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//
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//
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extern volatile unsigned char flags;
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extern volatile unsigned char flags;
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extern void reset_rkts(rkt_data *, rkt_data *);
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extern void reset_rkts(rkt_data *, rkt_data *);
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extern void reset_game(rkt_data *);
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extern void reset_game(rkt_data *);
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//************************************************************
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//************************************************************
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//
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//
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// init_hardware
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// init_hardware
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//
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//
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// initalize all the MSP430 hardware before we start
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// initalize all the MSP430 hardware before we start
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//
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//
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/* Description:
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/* Description:
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Sets up all the hardware in the MSP430 used by the SPACEWAR game.
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Sets up all the hardware in the MSP430 used by the SPACEWAR game.
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Stops the watchdog timer. Sets the internal cpu clock to a maximun.
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Stops the watchdog timer. Sets the internal cpu clock to a maximun.
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Sets the timer to cause an interrupt every 10ms. Sets the SPI interface
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Sets the timer to cause an interrupt every 10ms. Sets the SPI interface
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to talk to the dual DAC. Sets the A to D to use an external reference
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to talk to the dual DAC. Sets the A to D to use an external reference
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and unipolar operation. Finally initializes all the variable used by the game.
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and unipolar operation. Finally initializes all the variable used by the game.
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*/
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*/
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void init_all(rkt_data *rkt1, rkt_data *rkt2)
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void init_all(rkt_data *rkt1, rkt_data *rkt2)
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{
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{
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WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
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WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
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BCSCTL1 = 0x08; // Setup DCO highest range
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BCSCTL1 = 0x08; // Setup DCO highest range
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DCOCTL = 0xe0; // biggest DCO
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DCOCTL = 0xe0; // biggest DCO
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P1OUT = 0x04; // TLV5618A CS high
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P1OUT = 0x04; // TLV5618A CS high
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P1DIR |= 0x01+0x04; // P1.0=LED, P1.2=TLV5618A_cs
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P1DIR |= 0x01+0x04; // P1.0=LED, P1.2=TLV5618A_cs
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P1SEL = 0x08; // P1.3 = VREF
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P1SEL = 0x08; // P1.3 = VREF
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//BCSCTL2 = 0x00; // SMCLK divider = 1
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//BCSCTL2 = 0x02; // SMCLK divider = 2
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//BCSCTL2 = 0x04; // SMCLK divider = 4
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BCSCTL2 = 0x06; // SMCLK divider = 8
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CCTL0 = CCIE; // CCR0 interrupt enabled
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CCTL0 = CCIE; // CCR0 interrupt enabled
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CCR0 = 23500;
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CCR0 = 23500;
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//CCR0 = 500;
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TACTL = TASSEL_2 + MC_1; // SMCLK, upmode
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TACTL = TASSEL_2 + MC_1; // SMCLK, upmode
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_BIS_SR(GIE); // enable interrupts
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_BIS_SR(GIE); // enable interrupts
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// USICTL0 |= USIPE7+USIPE6+USIPE5+USIMST+USIOE; // Port, SPI master
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// USICTL0 |= USIPE7+USIPE6+USIPE5+USIMST+USIOE; // Port, SPI master
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// USICKCTL = USIDIV_0+USISSEL_2+USICKPL; // divide by 1 SMCLK, inactive high
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// USICKCTL = USIDIV_0+USISSEL_2+USICKPL; // divide by 1 SMCLK, inactive high
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// USICTL0 &= ~USISWRST; // release USI for operation
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// USICTL0 &= ~USISWRST; // release USI for operation
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// USICTL1 = USICKPH; // take data on falling edge
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// USICTL1 = USICKPH; // take data on falling edge
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// SD16CTL = SD16SSEL_1; // exter ref, SMCLK
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// SD16CTL = SD16SSEL_1; // exter ref, SMCLK
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// SD16CCTL0 = SD16UNI + SD16SNGL; // 256OSR, unipolar, inter
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// SD16CCTL0 = SD16UNI + SD16SNGL; // 256OSR, unipolar, inter
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// SD16AE = 0; // P1.1 A4+, A4- = VSS
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// SD16AE = 0; // P1.1 A4+, A4- = VSS
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// // P1.4 A2+, A2- = VSS
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// // P1.4 A2+, A2- = VSS
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// SD16INCTL0 = SD16INCH_4; // A4+/- start with rocket 1
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// SD16INCTL0 = SD16INCH_4; // A4+/- start with rocket 1
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// SD16CCTL0 |= SD16SC; // Start A2D conversion
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// SD16CCTL0 |= SD16SC; // Start A2D conversion
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reset_rkts(rkt1, rkt2); // reset rkt positons
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reset_rkts(rkt1, rkt2); // reset rkt positons
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reset_game(rkt1);
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reset_game(rkt1);
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reset_game(rkt2);
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reset_game(rkt2);
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rkt1->game = 0;
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rkt1->game = 0;
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rkt2->game = 0;
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rkt2->game = 0;
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flags |= time_tick; // force an update at startup
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flags |= time_tick; // force an update at startup
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}
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}
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//************************************************************
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//************************************************************
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//
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//
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// Timer A0 interrupt service routine
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// Timer A0 interrupt service routine
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//
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//
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/* Description:
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/* Description:
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Interrupt service routine for the timer. The function sets a flag for the main
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Interrupt service routine for the timer. The function sets a flag for the main
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loop to update object positions.
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loop to update object positions.
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*/
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*/
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interrupt (TIMERA0_VECTOR) irq_routine(void)
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interrupt (TIMERA0_VECTOR) irq_routine(void)
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{
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{
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// P1OUT ^= 0x01; // Toggle P1.0
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// P1OUT ^= 0x01; // Toggle P1.0
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flags |= time_tick; // flag a timer tick has occured
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flags |= time_tick; // flag a timer tick has occured
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}
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}
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//************************************************************
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//************************************************************
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//
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//
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// read_a2d
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// read_a2d
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//
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//
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/* Description:
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/* Description:
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Waits for present A to D to finish. Reads 16 bit A to D value. Switches
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Waits for present A to D to finish. Reads 16 bit A to D value. Switches
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A to D mux to a channel passed into function. Starts another A to D on new
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A to D mux to a channel passed into function. Starts another A to D on new
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mux input. Returns int value read from last mux input A to D.
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mux input. Returns int value read from last mux input A to D.
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*/
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*/
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unsigned int read_a2d(unsigned int next_mux)
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unsigned int read_a2d(unsigned int next_mux)
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{
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{
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unsigned int last_a2d;
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unsigned int last_a2d;
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if (next_mux==SD16INCH_2) {
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if (next_mux==SD16INCH_2) {
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last_a2d = MY_CNTRL1;
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last_a2d = MY_CNTRL1;
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} else {
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} else {
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last_a2d = MY_CNTRL2;
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last_a2d = MY_CNTRL2;
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}
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}
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if (last_a2d & 0x8) { // CCW
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if (last_a2d & 0x8) { // CCW
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last_a2d = 0xE000;
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last_a2d = 0xE000;
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} else if (last_a2d & 0x4) { // CW
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} else if (last_a2d & 0x4) { // CW
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last_a2d = 0xB000;
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last_a2d = 0xB000;
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} else if (last_a2d & 0x2) { // Thrust
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} else if (last_a2d & 0x2) { // Thrust
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last_a2d = 0x8000;
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last_a2d = 0x8000;
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} else if (last_a2d & 0x1) { // Fire
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} else if (last_a2d & 0x1) { // Fire
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last_a2d = 0x4000;
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last_a2d = 0x4000;
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} else {
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} else {
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last_a2d = 0x0000;
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last_a2d = 0x0000;
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}
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}
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//while ((SD16CCTL0 & SD16IFG) == 0); // wait for a2d to finish
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//while ((SD16CCTL0 & SD16IFG) == 0); // wait for a2d to finish
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//last_a2d = SD16MEM0; // save results from last a2d
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//last_a2d = SD16MEM0; // save results from last a2d
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//SD16INCTL0 = next_mux; // switch analog mux for next rocket
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//SD16INCTL0 = next_mux; // switch analog mux for next rocket
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//SD16CCTL0 |= SD16SC; // Start another conversion
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//SD16CCTL0 |= SD16SC; // Start another conversion
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return last_a2d;
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return last_a2d;
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}
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}
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// ************************************************************
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// ************************************************************
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//
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//
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// send one 16 bit value to SPI DAC
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// send one 16 bit value to SPI DAC
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//
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//
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/* Description:
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/* Description:
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First put the value into the transmit register. Chip select the DAC.
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First put the value into the transmit register. Chip select the DAC.
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Start the automatic SPI transfer. Wait until the transfer is complete.
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Start the automatic SPI transfer. Wait until the transfer is complete.
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Finally remove the chip select.
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Finally remove the chip select.
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*/
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*/
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void set_one(int set_1)
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void set_one(int set_1)
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{
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{
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USISR = set_1; // send value to DAC
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USISR = set_1; // send value to DAC
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P1OUT &= ~0x04; // chip select TLV5618A
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P1OUT &= ~0x04; // chip select TLV5618A
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USICNT = 0x10 + USI16B; // start spi
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USICNT = 0x10 + USI16B; // start spi
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while ((USIIFG & USICTL1) == 0) ; // wait until y spi done
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while ((USIIFG & USICTL1) == 0) ; // wait until y spi done
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P1OUT |= 0x04; // remove chip select
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P1OUT |= 0x04; // remove chip select
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}
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}
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// ************************************************************
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// ************************************************************
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//
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//
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// Move DAC's to dot position
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// Move DAC's to dot position
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//
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//
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// set_x and set_y enter as 0 to 4095
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// set_x and set_y enter as 0 to 4095
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// Masked to 12 bit dac 0 to 4095
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// Masked to 12 bit dac 0 to 4095
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/* Description:
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/* Description:
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Move DAC to position set_x, set_y. Write the set_y value into the DAC's
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Move DAC to position set_x, set_y. Write the set_y value into the DAC's
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BUFFER. Write the set_x value to DAC_x and at the same time move the BUFFER
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BUFFER. Write the set_x value to DAC_x and at the same time move the BUFFER
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value to DAC_y. This technique removes the stair steping in lines.
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value to DAC_y. This technique removes the stair steping in lines.
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*/
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*/
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void set_xy(int set_x, int set_y)
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void set_xy(int set_x, int set_y)
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{
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{
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//set_one((set_y & 0x0FFF) | 0x5000); // send y value to BUFFER
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//set_one((set_y & 0x0FFF) | 0x5000); // send y value to BUFFER
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//set_one((set_x & 0x0FFF) | 0xc000); // send x DAC_X, BUFFER to DAC_Y
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//set_one((set_x & 0x0FFF) | 0xc000); // send x DAC_X, BUFFER to DAC_Y
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while (MY_DAC_X_STAT);
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while (MY_DAC_X_STAT);
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while (MY_DAC_Y_STAT);
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while (MY_DAC_Y_STAT);
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MY_DAC_Y = (set_y & 0x0FFF);
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MY_DAC_Y = (set_y & 0x0FFF);
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MY_DAC_X = (set_x & 0x0FFF);
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MY_DAC_X = (set_x & 0x0FFF);
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}
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}
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