/*******************************************************************
* MAIN()
*******************************************************************/
int
main(void)
{
long lEEPROMRetStatus;
uint16_t i=0;
uint8_t halted_latch = 0;
// Set the clocking to run at 80 MHz from the PLL.
// (Well we were at 80MHz with SYSCTL_SYSDIV_2_5 but according to the errata you can't
// write to FLASH at frequencies greater than 50MHz so I slowed it down. I supposed we
// could slow the clock down when writing to FLASH but then we need to find out how long
// it takes for the clock to stabilize. This is on at the bottom of my list of things to do
// for now)
SysCtlClockSet(SYSCTL_SYSDIV_4_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
// Initialize the device pinout.
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOJ);
// Enable processor interrupts.
IntMasterEnable();
// Setup the UART's
my_uart_0_init(115200, (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
// command_handler_init overwrites the baud rate. We still need to configure the pins though
my_uart_1_init(38400, (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
// Enable the command handler
command_handler_init(); // We set the baud in here
// Start the timers
my_timer0_init();
my_timer1_init();
i2c_init();
motor_init();
qei_init();
gyro_init();
accel_init();
led_init();
//rc_radio_init();
//setupBluetooth();
// Initialize the EEPROM emulation region.
lEEPROMRetStatus = SoftEEPROMInit(EEPROM_START_ADDR, EEPROM_END_ADDR, EEPROM_PAGE_SIZE);
if(lEEPROMRetStatus != 0) UART0Send("EEprom ERROR!\n", 14);
#if 0
// If ever we wanted to write some parameters to FLASH without the HMI
// we could do it here.
SoftEEPROMWriteDouble(kP_ID, 10.00);
SoftEEPROMWriteDouble(kI_ID, 10.00);
SoftEEPROMWriteDouble(kD_ID, 10.00);
SoftEEPROMWriteDouble(ANG_ID, 0.0);
SoftEEPROMWriteDouble(COMPC_ID, 0.99);
#endif
kP = SoftEEPROMReadDouble(kP_ID);
kI = SoftEEPROMReadDouble(kI_ID);
kD = SoftEEPROMReadDouble(kD_ID);
commanded_ang = zero_ang = SoftEEPROMReadDouble(ANG_ID);
COMP_C = SoftEEPROMReadDouble(COMPC_ID);
pid_init(kP, kI, kD, &pid_ang);
motor_controller_init(20, 100, 10, &mot_left);
motor_controller_init(20, 100, 10, &mot_right);
//pid_init(0.0, 0.0, 0.0, &pid_pos_left);
//pid_init(0.0, 0.0, 0.0, &pid_pos_right);
//UART0Send("Hello World!\n", 13);
// Tell the HMI what the initial parameters are.
print_params(1);
while(1)
{
delta_t = myTimerValueGet();
myTimerZero();
sum_delta_t += delta_t;
// Read our sensors
accel_get_xyz_cal(&accel_x, &accel_y, &accel_z, true);
gyro_get_y_cal(&gyro_y, false);
// Calculate the pitch angle with the accelerometer only
R = sqrt(pow(accel_x, 2) + pow(accel_z, 2));
accel_pitch_ang = (acos(accel_z / R)*(RAD_TO_DEG)) - 90.0 - zero_ang;
//accel_pitch_ang = (double)((atan2(accel_x, -accel_z))*RAD_TO_DEG - 90.0);
gyro_pitch_ang += (double)gyro_y*g_gyroScale*CONV_TO_SEC(delta_t);
// Kalman filter
//filtered_ang = kalman((double)accel_pitch_ang, ((double)gyro_y)*g_gyroScale, CONV_TO_SEC(delta_t));
filtered_ang = (COMP_C*(filtered_ang+((double)gyro_y*g_gyroScale*CONV_TO_SEC(delta_t)))) + ((1.0-COMP_C)*(double)accel_pitch_ang);
// Skip the rest of the process until the angle stabilizes
if(i < 250) { i++; continue; }
// Tell the HMI what's going on every 100ms
if(sum_delta_t >= 1000)
{
print_update(1);
print_debug(0);
//print_control_surfaces(0);
led_toggle();
//print_angle();
sum_delta_t = 0;
}
// See if the HMI has anything to say
command_handler();
//continue;
// If we are leaning more than +/- FALL_ANG deg off center it's hopeless.
// Turn off the motors in hopes of some damage control
if( abs(filtered_ang) > FALL_ANG )
{
if(halted_latch) continue;
stop_motors();
halted_latch = 1;
continue;
}
halted_latch = 0;
motor_val = pid_controller(calc_commanded_angle(0), filtered_ang, delta_t, &pid_ang);
motor_left = motor_right = motor_val;
drive_motors(motor_left*left_mot_gain, motor_right*right_mot_gain);
}
}
void prvSetupHardware( void ){
tBoolean found;
long lEEPROMRetStatus;
unsigned short data,data2;
unsigned long uart_speed;
/* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
a workaround to allow the PLL to operate reliably. */
if( DEVICE_IS_REVA2 ) {
SysCtlLDOSet( SYSCTL_LDO_2_75V );
}
/* Set the clocking to run from the PLL at 50 MHz */
SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
/* Enable Port F for Ethernet LEDs
LED0 Bit 3 Output
LED1 Bit 2 Output */
SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
//
// Enable the GPIO pin for the LED (PF0). Set the direction as output, and
// enable the GPIO pin for digital function.
//
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0);
//
// Enable processor interrupts.
//
IntMasterEnable();
if(SoftEEPROMInit(0x1F000, 0x20000, 0x800) != 0) {
LWIPDebug("SoftEEPROM initialisation failed.");
}
lEEPROMRetStatus = SoftEEPROMRead(UART0_SPEED_HIGH_ID, &data, &found);
if(lEEPROMRetStatus == 0 && found) {
SoftEEPROMRead(UART0_SPEED_LOW_ID, &data2, &found);
uart_speed = (data << 16 & 0xFFFF0000) | (data2 & 0x0000FFFF);
SoftEEPROMRead(UART0_CONFIG_ID, &data, &found);
} else {
uart_speed=115200;
data = (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE);
}
uart_init(0, uart_speed, data);
SysCtlPeripheralEnable(SYSCTL_PERIPH_WDOG0);
IntPriorityGroupingSet(4);
IntPrioritySet(INT_WATCHDOG,SET_SYSCALL_INTERRUPT_PRIORITY(5));
IntEnable(INT_WATCHDOG); // Enable the watchdog interrupt.
WatchdogReloadSet(WATCHDOG0_BASE, SysCtlClockGet());
WatchdogResetEnable(WATCHDOG0_BASE);
WatchdogEnable(WATCHDOG0_BASE);
rtc_init();
modules_init();
}
