int main (void) {
unsigned char kommando[32]; // Kommandozeilenbuffer
unsigned char* k_sp = kommando; // und dazugehöriger Pointer
volatile struct buffer put_buffer, get_buffer; // Sende- u. Empfangsbuffer
buffer_init(put_buffer);
buffer_init(get_buffer);
put_bp=&put_buffer;
get_bp=&get_buffer;
DDRD = 0xE0; // Port D, Pin 6,7,8 als Ausgang
tim0_init(); // Initialisiere Timer_0
tim1_init(); // Initialisiere Timer_1
tim2_init(); // Initialisiere Timer_2
uart_init(); // Initialisiere serielle Schnittstelle
adc_init(); // Initialisiere Analog-Digitalwandler ADC
uart_puts(version); // Startmeldung/Version ausgeben
beep(1000);
uart_puts("\n> "); // newline und prompt
UCSRB |= (1<<RXCIE); // Empfaenger-Interrupts freigeben
sei(); // Interrupts global freigeben
while(1) {
while(buffer_size(get_bp)){
*k_sp = buffer_read(get_bp);
uart_putc(*k_sp);
if(*k_sp == '\n' || *k_sp == '\r'){
*k_sp = 0x00;
k_sp=kommando;
uart_putc('\n');
// uart_puts(k_sp); // Ausgabe für Testwecke
parser(k_sp);
}
else
k_sp++;
// hier noch Bufferoverflow abfangen
}
if(status_LED2 == 's'){
PORTD ^= 1<<PD6; // toggle LED2
my_delay_ms(delay); // warte delay ms
PORTD ^= 1<<PD6; // toggle LED2
status_LED2 = '0'; // Status_Flag auf Aus
}
if(status_LED2 == 't'){
my_delay_ms(delay); // warte delay ms
PORTD ^= 1<<PD6; // toggle LED2
}
}
/* wird nie erreicht */
return 0;
}
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000 - 1);
setup_adc();
tim1_init();
usart_init();
PWM_U = 0;
PWM_V = 0;
PWM_W = 0;
while(1){
if(uartsend == 1){
amp = AMP(amp_raw);
volt = VOLT(volt_raw);
if(temp_raw < ARES && temp_raw > 0){
temp = TEMP(temp_raw);
}
from_hv.dc_volt = TOFIXED(volt);
from_hv.dc_cur = TOFIXED(amp);
from_hv.hv_temp = TOFIXED(temp);
#ifdef TROLLER
from_hv.dc_cur = TOFIXED(0);
from_hv.hv_temp = TOFIXED(0);
from_hv.a = TOFIXED(AMP(ADCConvertedValue[1]));
from_hv.b = TOFIXED(AMP(ADCConvertedValue[2]));
from_hv.c = TOFIXED(AMP(ADCConvertedValue[3]));
#endif
uartsend = 0;
while (USART_GetFlagStatus(USART2, USART_FLAG_TXE) == RESET);
USART_SendData(USART2, 0x154);
for(int j = 0;j<sizeof(from_hv_t);j++){
while (USART_GetFlagStatus(USART2, USART_FLAG_TXE) == RESET);
USART_SendData(USART2, ((uint8_t*)&from_hv)[j]);
}
}
//GPIOA->BSRR = (GPIOA->ODR ^ GPIO_Pin_2) | (GPIO_Pin_2 << 16);//toggle red led
}
}
int main ( void )
{
//TRISA = 0b0010000000000000;
TRISA = 0b00001111;
TRISAbits.TRISA12 = 0;
TRISCbits.TRISC1 = 0;
TRISCbits.TRISC2 = 0;
TRISCbits.TRISC3 = 0;
TRISCbits.TRISC4 = 0;
//TRISD = 0;
TRISD = 0b0000000000010000; // RD11: DIR2; RD8: PWM2
//TRISE = 0b00001000;
TRISE = 0b00001000; // RE6: DIR1; RE0: PWM1
TRISEbits.TRISE7 = 0;
//LCD an
_PCFG16 = 1; // AN16 is digital
_PCFG17 = 1; // AN17 is digital
_PCFG18 = 1; // AN18 is digital
_PCFG19 = 1; // AN19 is digital
_PCFG20 =1;
_PCFG31=1;
//pwm analog select
_PCFG24=1;
_PCFG30=1;
//RE4 for lcd r/s
_PCFG28=1;
TRISEbits.TRISE4 = 0;
AD1PCFGHbits.PCFG28 = 1;
AD1PCFGHbits.PCFG27 = 1;
AD1PCFGHbits.PCFG30 = 1;
AD1PCFGHbits.PCFG24 = 1;
AD1PCFGH = 0x0020;
TRISAbits.TRISA13 = 1;
//set pwm low
PWM1=0;
PWM2=0;
SYS_Initialize ( ) ;
CLKDIVbits.FRCDIV = 0;
CLKDIVbits.PLLPOST = 0; // N2 = 2
CLKDIVbits.PLLPRE = 0; // N1 = 2
PLLFBD = (Fosc*N1_default*N2_default/Ffrc) - M_default; // M = 8 -> Fosc = 7.3728 MHz * 8 / 2 / 2 = 16 MHz
while(!OSCCONbits.LOCK); // Wait for PLL to lock
RCONbits.SWDTEN = 0; // Disable Watch Dog Timer
//TRISF = 0;
gpsLock = 0;
lcd_init();
print_lcd("Initializing");
//delay_ms(500);
//lcd_clear();
/*lcd test
char line1[] = " On Route ";
char line2[] = " Arrived ";
//send_command_byte(0xFF);
//while(1){send_command_byte(0xFF);send_data_byte(0);}
// delay_ms(2);
//send_command_byte(0x02); // Go to start of line 1
//send_command_byte(0b00001111); // Display: display on, cursor on, blink on
//send_command_byte(0b00000110); // Set entry mode: ID=1, S=0
//send_command_byte(0b00000001); // Clear display
print_lcd(line1);
delay_ms(5000);
lcd_clear();
print_lcd(line2);
//send_command_byte(0xC0); // Go to start of line 1
//while(1){send_command_byte(0b00000001);}
while(1);*/
/*int a;
long long int ct;
int i;
int j=0;*/
//i2c init
//uart init
UART_Initialize();
delayMs(100);
/* while(1){//test for delay ms configuration
//PORTDbits.RD1 = 1;
//delayUs(10);
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//ultrasonic test
/* while(1){
long double x;
delayMs(500);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
x = ultraSonicCount/TICKS_PER_METER;
sprintf(outputBuf,"%lf",x);
print_lcd(outputBuf);
}*/
//TX_str(endGPS);
//delayMs(3000);
//TX_str(startGPS);
/*TX_str(startGPShot);
delayMs(2000);
while ( !gpsLock ) {
TX_str(getGPS);
delayMs(500);
}*/
//TCP code
TX_str(openNet);
delayMs(5000);
TX_str(openConnection);
delayMs(5000);
// while(!BUTTON_IsPressed ( BUTTON_S3 ));
//TX_str(sprintf("%s%d\r",sendTCP, strlen("10")));
sprintf(outputBuf2,"2\n%lf,%lf\n\r",roverLog,roverLat );
sprintf(cmdBuf,"%s%d\r", sendTCP,strlen(outputBuf2));
TX_str(cmdBuf);
delayMs(3000);
TX_str(outputBuf2);
while(!waypointsReady || !gpsLock);
//while(1);
delayMs(7000);
lcd_clear();
print_lcd("waypoints locked");
i2c_init();
//i2c_write3(0x3c, 0x00, 0x70);
i2c_write3(0x3c, 0x00, 0b00011000);
//i2c_write3(0x3c, 0x01, 0b11000000);
i2c_write3(0x3c, 0x01, 0xA0);
i2c_write3(0x3c, 0x02, 0x00);
//timer init, do this after other initializations
motorDuty=0;
tim1_init();
tim2_init();
/*
double angleTolerance = 8.0;
motorDuty=2;
while (1){ //adjust
double angleDiff = headingDiff(0,roverHeading );
if (angleDiff > 0 ||abs(angleDiff) > 175 ){ //turn left
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn right
PWM1_DIR = 1;
PWM2_DIR = 0;
}
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
//break;
}else{
//motorDuty =4;
motorDuty =2;
}
delayMs(13);
updateHeading();
}*/
//hardcoded gps for tcpip test
/*while(1){
// PORTDbits.RD5 = 1;
// for (a = 0; a < (100/33); a++) {}
// PORTDbits.RD5 = 0;
// for (a = 0; a < (100/33); a++) {}
ct = 0;
//TMR2 = 0;//Timer Starts
delayMs(60);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(15);
//10uS Delay
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4){ //Waiting for Echo
ct++;
}
//T2CONbits.TON = 1;
while(PORTDbits.RD4) {
ct++;
}// {
//T2CONbits.TON = 0;
sprintf(outputBuf,"%lld", ct);
//a = TMR2;
//a = a / 58.82;
//long int p;
//for(p = 0; p <100000; p++);
}*/
//tim1_init();
//while ( 1 );
//UART_Initialize();
/* Infinite Loop */
/*
long int i;
while ( 1 )
{//test for delay ms configuration
//PORTDbits.RD1 = 1;
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//IEC0bits.T1IE = 0;
//IEC0bits.T1IE = 1;
//motorDuty =2;
motorStopFlag = 0; //ready to go
char tempBuf1[50];
int wapointsVisited;
double desiredHeading = 0;
double dToWaypoint = 99999.9;
double angleTolerance = 6.0;
for (wapointsVisited =0; wapointsVisited<numGPSpoints;wapointsVisited++ )
{
dToWaypoint = 99999.9;
while (1)
{
int f;
roverLog = 0;
roverLat = 0;
for(f = 0; f < ROVER_LEN; f++){
roverLog+=roverlog[f]/ROVER_LEN_D;
roverLat+=roverlat[f]/ROVER_LEN_D;
}
dToWaypoint = dist(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
if(dToWaypoint <= 3.0){break;} //go to next waypoint
desiredHeading = 330.0;
desiredHeading = bearing(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
updateHeading();
if (!(abs(headingDiff(desiredHeading,roverHeading )) < angleTolerance))
{
motorDuty = 0; //stop
delayMs(300);
while (1) //ADJUSTMENT LOOP
{
double angleDiff = headingDiff(desiredHeading,roverHeading );
//double dist = ultraSonicPing();
/*sprintf(tempBuf1,"%f",dist);
lcd_clear();
print_lcd(tempBuf1);*/
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
/*sprintf(tempBuf1,"%f",roverHeading);
IEC0bits.T1IE = 0;
print_lcd(tempBuf1);
IEC0bits.T1IE = 1;*/
break;
}
if (angleDiff > 0 || abs(angleDiff) > 175 ){ //turn right
/*PORTDbits.RD4 = 1; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 1;
PORTDbits.RD8 = 0; //left*/
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn left
/*PORTDbits.RD4 = 0; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 0;
PORTDbits.RD8 = 1; //left*/
PWM1_DIR = 1;
PWM2_DIR = 0;
}
motorDuty =3;
delayMs(15);
updateHeading();
// sprintf(tempBuf1,"%f",roverHeading);
// IEC0bits.T1IE = 0;
// lcd_clear();
// print_lcd(tempBuf1);
// IEC0bits.T1IE = 1;
//delayMs(1000);
//for(p = 0; p <100000; p++);
}
}
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 0;
motorDuty = 5;
ultraSonicDelayEnable = 1;
//frequency is around 20kHz
while (ultraSonicDelayCount < 60000){ //for 4 seconds poll ultrasonic and check for obsticles
long double x;
//PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
//PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
ultraSonicEn = 0;
x = ultraSonicCount/TICKS_PER_METER;
if (x <= 1.4){
motorDuty = 0;
}else{
motorDuty = 5;
}
delayMs(200);
}
ultraSonicDelayEnable = 0;
ultraSonicDelayCount = 0;
}
motorDuty = 0;
delayMs(1000);
//IEC0bits.T1IE = 0;
lcd_clear();
char buf3[40];
sprintf(buf3, "reached %d", wapointsVisited);
print_lcd(buf3);
delayMs(3000);
//IEC0bits.T1IE = 1;
}
//IEC0bits.T1IE = 0;
lcd_clear();
print_lcd("ARRIVED!!!");
//IEC0bits.T1IE = 1;
while (1);
}
int main(void) {
InitPeripherals();
mRedOFF; mGreenOFF; mBlueOFF;
// startup blink
const float kShortDelay = 0.1;
const float kLongDelay = 0.3;
mRedON; mGreenON; mBlueON;
DelaySeconds(kShortDelay);
mRedOFF; mGreenOFF; mBlueOFF;
DelaySeconds(kLongDelay);
mRedON; mGreenON; mBlueON;
DelaySeconds(kShortDelay);
mRedOFF; mGreenOFF; mBlueOFF;
DelaySeconds(kLongDelay);
mRedON; mGreenON; mBlueON;
DelaySeconds(kShortDelay);
mRedOFF; mGreenOFF; mBlueOFF;
DelaySeconds(kLongDelay);
UsbInterface usb = UsbInterface();
usb.Init();
PersistentMemory mem;
DelaySeconds(1.0f);
ZigbeeInterface zig = ZigbeeInterface();
DelaySeconds(0.05f);
zig.Init(mem);
error_reporting_com1 = &usb;
error_reporting_com2 = &zig;
Mpu60XXImu imu(mem);
GyroAccelDriftUkfIo est;
BatteryMonitor battery(mem);
battery_ptr = &battery;
MotorHal motor_hal(mem);
motor_hal_ptr = &motor_hal;
// Get_pos addition:
InitPositionSensor();
tim1_set_position_callback_2(get_position);
QuatPD pd(mem);
PulsingCoaxControllerQuat uav(mem, pd, imu, est, motor_hal);
CoaxOpenController open_controller(mem);
CoaxOpenAttitudeController open_attitude_controller(mem, est);
monitor = LoopMonitor(mem);
UavReporter reporter(mem, imu, est, motor_hal, battery, uav, open_attitude_controller, pd, monitor);
StateMachine state_machine;
mem.Freeze(); // freeze memory to make writes possible
imu.InitFromMemory();
//imu.DefaultAccelSensitivity(1); // overwrite scale for off-datasheet fix
imu.flip_z = 1; // flip z-axis direction for upside-down imu
#ifdef STREAM_IMU_RAW
imu_raw_msg_logger_init(imu);
#endif
monitor.InitFromMemory();
PlayTimebase();
imu.StartRead();
DelayMilliseconds(10);
tim1_init();
tim1_set_supply_volts(3.7f);
//////////////////////////////////////////////////////////////////////////////
// Main Loop
while(1) {
monitor.Profile(0);
////////////////////////////////////////////////////////////////////////////
// Get IMU Data and Start New Measurement
while(!imu.FinishRead()) {};
#ifdef STREAM_IMU_RAW
imu_raw_msg_logger_push();
#endif
DelayMicroseconds(50); // this seems to be critical (?!?)
imu.StartRead();
monitor.Profile(1);
////////////////////////////////////////////////////////////////////////////
// Update Estimator with Measurement
est.Update(imu.time, imu.w, imu.a);
////////////////////////////////////////////////////////////////////////////
// Control
// update control laws
uav.Update();
open_controller.Update();
open_attitude_controller.Update();
// map controllers to outputs based on state
enum control_state state = state_machine.get_state();
// in STOP state, send active kill messages to motors
if(state == kStop) {
mGreenOFF; mAmberON;
motor_hal.set_top_cmd_volts(0);
motor_hal.set_top_cmd_volts_pulse_amp(0);
motor_hal.set_top_cmd_pulse_phase(0);
motor_hal.set_bottom_cmd_volts(0);
}
// in STANDBY state, send no motor commands except on entry
else if(state == kStandby) {
mGreenOFF; mAmberOFF;
if(state_machine.get_standby_needs_init()) {
motor_hal.set_top_cmd_volts(0);
motor_hal.set_top_cmd_volts_pulse_amp(0);
motor_hal.set_top_cmd_pulse_phase(0);
motor_hal.set_bottom_cmd_volts(0);
state_machine.clear_standby_needs_init();
}
}
// in QUAT state, send motor commands according to quat control law
else if(state == kQuat) {
mGreenON; mAmberOFF;
motor_hal.set_top_cmd_volts(uav.top_mean);
motor_hal.set_top_cmd_volts_pulse_amp(uav.top_pulse_amp);
motor_hal.set_top_cmd_pulse_phase(uav.top_pulse_phase);
motor_hal.set_bottom_cmd_volts(uav.bottom_mean);
}
// in OPEN state, send motor command according to open motor control commands
else if(state == kOpen) {
mGreenON; mAmberOFF;
motor_hal.set_top_cmd_volts(open_controller.top_mean);
motor_hal.set_top_cmd_volts_pulse_amp(open_controller.top_pulse_amp);
motor_hal.set_top_cmd_pulse_phase(open_controller.top_pulse_phase);
motor_hal.set_bottom_cmd_volts(open_controller.bottom_mean);
}
// in OPEN ATTITUDE state, send motor command according to open motor control commands
else if(state == kOpenAttitude) {
mGreenON; mAmberOFF;
motor_hal.set_top_cmd_volts(open_attitude_controller.top_mean);
motor_hal.set_top_cmd_volts_pulse_amp(open_attitude_controller.top_pulse_amp);
motor_hal.set_top_cmd_pulse_phase(open_attitude_controller.top_pulse_phase);
motor_hal.set_bottom_cmd_volts(open_attitude_controller.bottom_mean);
}
monitor.Profile(2);
////////////////////////////////////////////////////////////////////////////
// Packet Communication
uint8_t is_data; // 1 iff data received
uint8_t *rx_data; // temporary pointer to received type+data bytes
uint8_t rx_length; // number of received type+data bytes
////////////////////////////////////////////////////////////////////////////
// USB Input
is_data = 0;
usb.GetBytes();
while(usb.PeekPacket(&rx_data, &rx_length)) {
zig.ReadMsg(usb, rx_data, rx_length);
imu.ReadMsg(usb, rx_data, rx_length);
est.ReadMsg(usb, rx_data, rx_length);
mem.ReadMsg(usb, rx_data, rx_length);
uav.ReadMsg(usb, rx_data, rx_length);
open_controller.ReadMsg( usb, rx_data, rx_length);
open_attitude_controller.ReadMsg( usb, rx_data, rx_length);
pd.ReadMsg( usb, rx_data, rx_length);
monitor.ReadMsg( usb, rx_data, rx_length);
motor_hal.ReadMsg(usb, rx_data, rx_length);
battery.ReadMsg( usb, rx_data, rx_length);
reporter.ReadMsg( usb, rx_data, rx_length);
state_machine.ReadMsg(usb, rx_data, rx_length);
usb.DropPacket();
is_data = 1;
} // while peek...
if(is_data) {
usb.SendNow();
}
////////////////////////////////////////////////////////////////////////////
// Radio Input
is_data = 0;
zig.GetBytes();
while(zig.PeekPacket(&rx_data, &rx_length)) {
#ifdef STREAM_IMU_RAW
if(rx_data[0] == kTypeQuatPilot || rx_data[0] == kTypeQuatFullObsPilot || rx_data[0] == kTypeOpenPilot || rx_data[0] == kTypeOpenAttitudePilot) {
imu_raw_msg_logger_send(zig);
}
#endif
zig.ReadMsg(zig, rx_data, rx_length);
imu.ReadMsg(zig, rx_data, rx_length);
est.ReadMsg(zig, rx_data, rx_length);
mem.ReadMsg(zig, rx_data, rx_length);
uav.ReadMsg(zig, rx_data, rx_length);
open_controller.ReadMsg( zig, rx_data, rx_length);
open_attitude_controller.ReadMsg( zig, rx_data, rx_length);
pd.ReadMsg( zig, rx_data, rx_length);
monitor.ReadMsg( zig, rx_data, rx_length);
motor_hal.ReadMsg(zig, rx_data, rx_length);
battery.ReadMsg( zig, rx_data, rx_length);
reporter.ReadMsg( zig, rx_data, rx_length);
state_machine.ReadMsg(zig, rx_data, rx_length);
zig.DropPacket();
is_data = 1;
} // while peek...
monitor.Profile(3);
if(is_data) {
zig.SendNow();
}
monitor.Profile(4);
monitor.Profile(5);
////////////////////////////////////////////////////////////////////////////
// Throttle main loop to main_freq
monitor.EndMainLoop();
monitor.Profile(6);
//monitor.SendProfile(usb);
//usb.SendNow();
} // while(1)
return(0);
}
