void main(void)
{
ENTR_CRT_SECTION();
/* Setup STM32 system (clock, PLL and Flash configuration) */
SystemInit();
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
// I2C1 init
I2C1_Init();
EXT_CRT_SECTION();
// GLCD init
GLCD_PowerUpInit(0x0); //(
GLCD_Backlight(BACKLIGHT_ON);
GLCD_SetFont(&Terminal_9_12_6,0x000F00,0x00FF0);
GLCD_SetWindow(10,10,131,131);
// Init Accl sensor
if(FALSE == Accl_Init())
{
// Initialization fault
GLCD_TextSetPos(0,0);
GLCD_print("\fLIS3LV020 Init.\r\nfault\r\n");
while(1);
}
//Init CarControl and Delay
Car_Init();
DWT_Init();
HCSR04_Init();
// SysTick end of count event each 0.5s with input clock equal to 9MHz (HCLK/8, default)
SysTick_Config(150000);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
DWT_Delayms(1000);
while(1)
{
//while(1){GLCD_print("Current state: %d \r",GPIO_ReadInputDataBit(JS_LEFT_PORT, JS_LEFT_MASK));}
//car_feedback=accl_feedback();
/* A = accX[1];
B = velX[1];
C = posX[1]; */
if(SysTickF1)
{
SysTickF1 = FALSE;
//GLCD_TextSetPos(0,0);
GLCD_print("%d, %d \r", get_Xvel(), accl_feedback());
DWT_Delayms(500);
}
if(NewInstr) //
{
DWT_Delayms(1000);
NewInstr = FALSE;
//GoCar(Test, TestTurn);
// 1. Give command (desired state)
//desiredState;
// 2. Run machine learning to test action
action = goToState(car_instr);
GoCars(action);
// testExp();
int runTime = 0;
while (runTime < 1){
DWT_Delayms(700);
runTime++;
}
GLCD_TextSetPos(0,0);
GLCD_print("\f%d,%d;%d,%d\r\n", get_X_accFeedback(0), get_Y_accFeedback(0), get_X_vel(0), get_Y_vel(0));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(1), get_Y_accFeedback(1), get_X_vel(1), get_Y_vel(1));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(2), get_Y_accFeedback(2), get_X_vel(2), get_Y_vel(2));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(3), get_Y_accFeedback(3), get_X_vel(3), get_Y_vel(3));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(4), get_Y_accFeedback(4), get_X_vel(4), get_Y_vel(4));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(5), get_Y_accFeedback(5), get_X_vel(5), get_Y_vel(5));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(6), get_Y_accFeedback(6), get_X_vel(6), get_Y_vel(6));
// GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(7), get_Y_accFeedback(7), get_X_vel(7), get_Y_vel(7));
car_instr=car_stop;
GoCars(car_instr);
DWT_Delayms(2000);
}
//GoCars(3); //Stopping the car
// 3. Wait x ms
//Wait in ML-method testAllActions
// 4. Return value from accelerometer
//Return value from accelerometer in ML-method testAllActions
// 5. Evaluate action compared to state
//Already implemented in ML-file. No need to alter (probably)
// 6. Repeat 3-5 until all actions has been tested
//Already implemented in ML-file. No need to alter (probably)
// 7. Choose the correct state
//Already implemented in ML-file. No need to alter (probably)
}
}
int main(void)
{
u8 len=0;
u8 temp[100];
u8 t=0;
u8 flag=0;
char mode='O';
long value=0;
u8 counter=0;
//char val2str[]="50";
char SelfCheck='O';
int D_val=0;
u8 SelfCheckCounter=0;
/////////////////////以上变量定义///////////////////////////
delay_init(72);
USART1_Init(19200);//与地面站传递命令
USART2_Init(115200);//与X86板子传递命令
USART3_Init(115200);//调试用
HCSR04_Init();
ResetOLED();
OLED_Init();
Key_Init();
///////////////以上初始化///////////////////////
OLED_ShowString(35,20,"READY",24);
OLED_Refresh_Gram();
delay_ms(1000);
OLED_Clear();
/////////////////////////////欢迎界面，提示准备工作/////////////////////////////////
while(KEY==1)
{
OLED_ShowString(0,0,"Self checking now...",12);
OLED_Refresh_Gram();
if(USART_RX2_STA&0x8000)
{
len=USART_RX2_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
temp[t]=Rx2Buf[t];
while((USART2->SR&0X40)==0);//等待发送结束
}
flag=1;
USART_RX2_STA=0;
}//接受来自X86的命令,用于自检。
if(flag==1)
{
SelfCheck=TempOrPressure(temp);
{
if(SelfCheck=='C')
{
value=ValueOfMea(temp);
if(value==1)
{
OLED_ShowString(0,15,"Environment ok",12);
SelfCheckCounter++;
}
if(value==2)
{
OLED_ShowString(0,30,"The data chain ok",12);
}
if(value==0)
{
OLED_ShowString(0,42,"Checking fail...",12);
}
}
}
memset(temp,0,sizeof(u8)*100);
flag=0;
}//先对开发环境进行自检，在VS下下发ok标志即可。
OLED_Refresh_Gram();
if(SelfCheckCounter==1)//如果已经通过了开发环境自检
{
while(KEY==1)//不按强制退出就一直自检，直到成功
{
if(DataChain_SelfTest()==1)//数据链自检完成
break;
else
continue;
}
SelfCheckCounter=0;
break;//在不按按键强制退出的情况下，只有自检成功了才能退出。
}
}
OLED_Clear();
/////////////////////////以上对上位机的自检，按键强制结束//////////////////
OLED_ShowString(0,0,"Parameters",16);
OLED_ShowString(0,16,"X=",12);
OLED_ShowString(0,28,"Y=",12);
OLED_ShowString(0,40,"S=",12);
OLED_ShowString(0,52,"D=",12);
OLED_Refresh_Gram();
flag=0;//复位flag
///////////显示参数////////////////////////////////
//AutoLaunch();
////////////////////////以上开始起飞/////////////////////////////////
while(1)
{
if(USART_RX2_STA&0x8000)
{
len=USART_RX2_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
temp[t]=Rx2Buf[t];
while((USART2->SR&0X40)==0);//等待发送结束
}
flag=1;
USART_RX2_STA=0;
//printf3("%s\r\n",temp);
}//接受来自X86的命令
if(flag==1)
{
mode=TempOrPressure(temp);
if(mode=='S')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"S\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_S_PARAM,value);
#endif
}
OLED_ShowNum(20,40,value,6,12);
// counter++;
}
if(mode=='X')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"X\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_X_PARAM,value);
#endif
}
OLED_ShowNum(20,16,value,6,12);
// counter++;
}
else if(mode=='Y')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"Y\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_Y_PARAM,value);
#endif
}
OLED_ShowNum(20,28,value,6,12);
// counter++;
}
{
delay_ms(10);//太小在透传情况下可能出问题？
{
D_val=HCSR04_GetDistance_Filter();
#ifdef __TRANSPARENT_MODE
printf1("\"D\":\"%ld\"\r\n",D_val);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_D_PARAM,value);
#endif
}
OLED_ShowNum(20,52,D_val,6,12);
// counter=0;
}//去掉了判断，每个周期都要做判断，同时进行距离的pid调控。
OLED_Refresh_Gram();
memset(temp,0,sizeof(u8)*100);
flag=0;
}
}
}
