/*
DualShock::DualShock(int idArg){
canId=idArg;
psbutton.start.value=0;
psbutton.select.value=0;
psbutton.L1.value=0;
psbutton.L2.value=0;
psbutton.R1.value=0;
psbutton.R2.value=0;
psbutton.Triangle.value=0;
psbutton.Circle.value=0;
psbutton.Cross.value=0;
psbutton.Square.value=0;
psbutton.Up.value=0;
psbutton.Right.value=0;
psbutton.Down.value=0;
psbutton.Left.value=0;
psbutton.CError.value=0;
psbutton.Pitch.value=0;
psbutton.Roll.value=0;
psbutton.left_x.value=0;
psbutton.left_y.value=0;
psbutton.right_x.value=0;
psbutton.right_y.value=0;
psbutton.start.tolerance=0;
psbutton.select.tolerance=0;
psbutton.L1.tolerance=0;
psbutton.L2.tolerance=0;
psbutton.R1.tolerance=0;
psbutton.R2.tolerance=0;
psbutton.Triangle.tolerance=0;
psbutton.Circle.tolerance=0;
psbutton.Cross.tolerance=0;
psbutton.Square.tolerance=0;
psbutton.Up.tolerance=0;
psbutton.Right.tolerance=0;
psbutton.Down.tolerance=0;
psbutton.Left.tolerance=0;
psbutton.CError.tolerance=0;
psbutton.Pitch.tolerance=0;
psbutton.Roll.tolerance=0;
psbutton.left_x.tolerance=0;
psbutton.left_y.tolerance=0;
psbutton.right_x.tolerance=0;
psbutton.right_y.tolerance=0;
time=millis();
oldPitch=0;
oldRoll=0;
disconnectTimeData=500;
}
*/
int DualShock::setup(){
if(mode==modeCan){
if(canSetup()) return 1;
canSetId(CAN_CONTROLLER_ID);
}else if(mode==modeSerial){
serial->setup(115200,(*this));
}
return 0;
}
/**
* @brief Configura todo o sistema
*/
void configSystem(void)
{
// Configure USART
usartSetup();
// Configure CAN
canSetup();
// Configure inputs and outputs
ioSetup();
// Enable global interrupts
//sei();
}
void main (void) {
vuint32_t i = 0;
initModesAndClock(); /* Initialize mode entries and system clock */
disableWatchdog(); /* Disable watchdog */
initPeriClkGen(); /* Initialize peripheral clock generation for DSPIs */
initADC();
initLED();
//can stuff
initDSPI_1(); /* Initialize DSPI_1 as Slave SPI and init CTAR0 */
canSetup();
initEnergizeButton();
energizePacket.ID = ENERGIZE_ID;
energizePacket.DATA.W[0] = 0xFFFFFFFF;
energizePacket.DATA.W[1] = 0xFFFFFFFF;
deenergizePacket.ID = DEENERGIZE_ID;
deenergizePacket.DATA.W[0] = 0x00000000;
deenergizePacket.DATA.W[1] = 0x00000000;
torquePacket.ID = TORQUE_ID;
speedPacket.ID = SPEED_ID;
shutdownPacket.ID = SHUTDOWN_ID;
shutdownPacket.DATA.W[0] = 0xDEADBEEF;
shutdownPacket.DATA.W[1] = 0xDEADBEEF;
/* Loop forever */
while (1)
{
prevEnergizeButton = energizeButton;
getEnergizeButton();
switch (currentState) {
case NOT_ENERGIZED:
if (!energizeButton && prevEnergizeButton) {
currentState = ENERGIZED;
canSend(energizePacket);
}
break;
case ENERGIZED:
if (!energizeButton && prevEnergizeButton) {
currentState = NOT_ENERGIZED;
canSend(deenergizePacket);
} else {
getADC();
processAnalog();
if (imp_count < 2 || torque0 < 20) {
convertSpeed();
convertTorque();
if (MODE == 0) {
canSend(speedPacket);
} else {
canSend(torquePacket);
}
} else {
currentState = SHUTDOWN;
canSend(deenergizePacket);
}
}
break;
case SHUTDOWN:
canSend(shutdownPacket);
SHUTDOWN_CIRCUIT = TRUE;
break;
}
toLED(currentState);
//canReceive();
delay();
i++;
}
}