void main()
{
systemInit();
//Among other things, allocates byte arrays for sending commands.
dynamixel_init();
// Oooh. what's this?
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
//usbInit();
uart1Init();
uart1SetBaudRate(param_baud_rate);
// Initial setting of serial mode
updateSerialMode();
// Set up P1_5 to be the radio's TX debug signal.
// P1DIR |= (1<<5);
// IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
// P1DIR |= 0x20; //Enable pin P1_5
while(1)
{
uint32 ms;
uint16 now;
uint16 speed;
updateSerialMode();
boardService();
updateLeds();
errorService();
// Code for oscillating a servo back and forth
ms = getMs(); // Get current time in ms
now = ms % (uint32)10000; // 10 sec for a full swing
if(now >= (uint16)5000){ // Goes from 0ms...5000ms
now = (uint16)10000 - now; // then 5000ms...0ms
}
speed = interpolate(now, 0, 5000, 100, 900); // speed is really the position.
ax12SetGOAL_POSITION(32, speed);
delayMs(30);
}
}
int main(void)
{
NVIC_SetPriorityGrouping(3);
/* enable GPIO */
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOEEN;
act::mode(GPIO_OUTPUT);
stat::mode(GPIO_OUTPUT);
error::mode(GPIO_OUTPUT);
error::high();
estop::mode(GPIO_INPUT);
/* setup ethernet */
phy_rst::mode(GPIO_OUTPUT_2MHz);
phy_rst::high(); // release reset line
eth_mii_crs::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_rx_clk::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mdio::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_col::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_rx_dv::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_rxd2::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_rxd3::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_rx_er::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_tx_en::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_txd0::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_txd1::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mdc::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_txd2::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_tx_clk::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_rxd0::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_rxd1::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
eth_mii_txd3::mode(GPIO_ALTERNATE | GPIO_AF_ETH);
/* Initialize Table */
register_table.model_number = 302;
register_table.version = 0;
register_table.id = 253;
register_table.baud_rate = 34; // 57600????
register_table.last_packet = 0;
register_table.system_time = 0;
register_table.led = 0;
dynamixel_init();
/* setup analog */
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN | RCC_APB2ENR_ADC2EN | RCC_APB2ENR_ADC3EN;
adc1.init(VOLTAGE_SENSE_ANALOG_CHANNEL,
CURRENT_SENSE_ANALOG_CHANNEL);
voltage_sense::mode(GPIO_INPUT_ANALOG);
current_sense::mode(GPIO_INPUT_ANALOG);
/* setup systick */
SysTick_Config(SystemCoreClock/1000);
NVIC_SetPriority(SysTick_IRQn,2);
NVIC_EnableIRQ(SysTick_IRQn);
Ethernet_Init();
LwIP_Init();
if (!netapp_init())
while(1);
__enable_irq();
/* done with setup, turn off err led */
error::low();
while(1)
{
/* check if any packet received */
if (ETH_CheckFrameReceived())
{
/* process received ethernet packet */
LwIP_Pkt_Handle();
}
LwIP_Periodic_Handle(register_table.system_time);
}
}
