int sc_main(int argn,char* argc[])
{
sca_tdf::sca_signal<double> sig_1, sig_2;
sca_tdf::sca_signal<bool> sig_3;
sin_source_with_noise sin1("sin1");
sin1.out(sig_1);
prefilter prefi1("lp1");
prefi1.in(sig_1);
prefi1.out(sig_2);
adc_sd adc1("adc1");
adc1.in(sig_2);
adc1.out(sig_3);
sca_trace_file* tfp =
sca_create_vcd_trace_file("tb_lab2c");
sca_trace(tfp, sig_1, "sig_1");
sca_trace(tfp, sig_2, "sig_2");
sca_trace(tfp, sig_3, "sig_3");
sc_start(5.0, SC_MS);
sca_close_vcd_trace_file(tfp);
tfp = sca_create_tabular_trace_file("tb_ac_lab2c.dat");
tfp->set_mode(sca_ac_format(sca_util::SCA_AC_DB_DEG));
sca_trace(tfp, sig_1, "sig_1");
sca_trace(tfp, sig_2, "sig_2");
sca_trace(tfp, sig_3, "sig_3");
sca_ac_start(1.0, 1e6, 1000, SCA_LOG);
return 0;
}
/* Terminal writig */
void terminal( char * string){
int retPls = 0;
char string_save[200];
int n;
float m,o;
if(strcmp (string,"help")==0){
SendStr(" \n\r");
SendStr(" \r");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ** help menu **");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ");
SendStr(" \r auto start automatic mode and stop manual mode \r\n");
SendStr(" \r manual start manual mode and stop automatic mode \r\n");
SendStr(" \r speed update speed value (only in manual mode) \r\n");
SendStr(" \r steering update steering value (only in manual mode) \r\n");
SendStr(" \r camera update position and voltage analog values for propulsion module \r\n");
SendStr(" \r meas print currents and voltage analog values for propulsion module \r\n");
SendStr(" \r help print supported commands \r\n");
SendStr("\r control:# ");
}
else if(strcmp (string,"auto")==0){
SendStr("\n\r automatic mode is running\n\r");
i2c_cgroup_function(1);
SendStr("\r control:# ");
}
else if(strcmp (string,"manual")==0){
SendStr("\n\r manual mode is running\n\r");
SendStr("\r control:# ");
}
else if(strcmp (string,"speed")==0){
SendStr("\n\r enter a value between 0 (stop) and 254 (full speed), 255 (reverse, speed is fixed): \n\r");
char value[4];
int i;
GetStr(value);
if(value[0]=='-')
SendStr("\n\r error : failed value (0 to 255) ");
if ( value[0] == '2'){
if ( value[1] == '5'){
if (value[2] == '5'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH2_Pulse(retPls);
PWM_CH1_Pulse(0);
}
}
}
else if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='2'){
if(value[1]<='5'){
if(value[2]<='5'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else if (value[0]<='2'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255)");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255) ");
SendStr("\n\r control:# ");
}
else if(strcmp (string,"steering")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0')
SendChar(value[1]);
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else {
SendStr("\n\r error : failed value (-127 to 128) ");
}
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else{
SendStr("\n\r error : failed value (-127 to 128) ");
}
}
SendStr("\n\r control:# ");
}
else if(strcmp (string,"camera")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0'){
SendChar(value[1]);
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
SendStr("\n\r control:# ");
}
else if(strcmp (string,"meas")==0){
SendStr("\n\r currents and voltage analog values for propulsion module : \n\r");
n=adc1();
m=n*3.3/255;
o=m*100/24;
sprintf(string_save," ADC value: adc1=%d, V=%f, I=%f \r\n control :# ", n,m,o);
SendStr(string_save);
SendStr("\n\r control:# ");
}
else{
SendStr("\n\r ERROR : command not supported. Enter help to know the supported command \n\r");
SendStr("\r control:# ");
}
}