void RTOS_Start(void) {
#if PL_HAS_HW_SOUNDER
BUZ_Disable();
#endif
#if PL_HAS_HW_TOUCHSCREEN
TCHS1_Init();
#endif
#if PL_HAS_HW_LCD
LCD1_Init();
#endif
#if PL_APP_MODE_I2C_LCD || PL_APP_MODE_I2C_TWR
I2C_Init();
#endif
AD_Init();
#if PL_HAS_ACCEL_DEMO
ACCEL_StartOrientationTask();
#endif
#if PL_HAS_SHELL
SERIAL_Start();
#endif
#if PL_USE_RTOS
if (FRTOS1_xTaskCreate(TaskMain, "Main", configMINIMAL_STACK_SIZE+350, NULL, tskIDLE_PRIORITY+2, (xTaskHandle *) NULL)==pdPASS) {
FRTOS1_vTaskStartScheduler(); /* Start the scheduler */
}
#endif
}
char main(){
int i;
SERIAL_Init();
INTEnableSystemMultiVectoredInt();
Drive_Init();
dbprintf("\nHello World");
AD_Init(BAT_VOLTAGE);
LED_Init(LED_BANK3);
LED_OffBank(LED_BANK3, 0xf);
wait();
int pwm;
while(1) {
//Drive_Stop();
wait();
//Drive_Forward(MIN_SPEED);
printf("\nFORWARD! speed=%u pwm=%u", motorSpeed[A], motorPWMValue[A]);
//for (i = 0; i < 100; i++)
// wait();
Drive_Stop();
Drive_Pivot(left, 1);
for (i = 0; i < 1; i++)
wait();
Drive_Stop();
Drive_Pivot(right, 1);
for (i = 0; i < 1; i++)
wait();
Drive_Stop();
for (i = 0; i < 1; i++)
wait();
}
}
char Bot_Init(void)
{
// Initialize modules
AD_Init();
PWM_Init();
// Configure digital pins
IO_PortsSetPortOutputs(MUX_PINS_PORT, MUX_PINS_OR);
IO_PortsSetPortOutputs(MOTOR_PINS_PORT, MOTOR_PINS_LEFT_DIR |
MOTOR_PINS_RIGHT_DIR | MOTOR_PINS_LIFT_DIR | MOTOR_PINS_LIFT_EN);
IO_PortsSetPortOutputs(SENSOR_PINS_PORT, SENSOR_PINS_LEDS);
IO_PortsSetPortInputs(SENSOR_PINS_PORT, SENSOR_PINS_BUMP | SENSOR_PINS_TRACK);
// Init lift motor to off
IO_PortsClearPortBits(MOTOR_PINS_PORT, MOTOR_PINS_LIFT_EN);
// Configure PWM pins
// PWM_SetFrequency(PWM_BOT_FREQUENCY);
// PWM_AddPins(MOTOR_PINS_LEFT_EN | MOTOR_PINS_RIGHT_EN);
// Configure AD pins
AD_AddPins(SENSOR_PINS_BEACON | SENSOR_PINS_TAPE);
return SUCCESS;
}
int main(void) {
unsigned int wait = 0;
int readcount = 0;
SERIAL_Init();
INTEnableSystemMultiVectoredInt();
mJTAGPortEnable(0);
printf("\r\nUno A/D Test Harness\r\nThis will initialize all A/D pins and read them %d times", TIMES_TO_READ);
printf("Value of pcfg before test: %X",AD1PCFG);
AD_Init(AD_PORTV3 | AD_PORTV4 | AD_PORTV5 | AD_PORTV6 | AD_PORTV7 | AD_PORTV8 | AD_PORTW3 | AD_PORTW4 | AD_PORTW5 | AD_PORTW6 | AD_PORTW7 | AD_PORTW8 | BAT_VOLTAGE);
char numtoread = 13;
unsigned char cur = 0;
while (readcount <= TIMES_TO_READ) {
for (wait = 0; wait <= 100000; wait++)
asm("nop");
// printf("\r\nAN2\tAN3\tAN4\tAN5\tAN8\tAN9\tAN11\tAN10\tAN13\tAN12\tAN15\tAN14\tAN1\n");
for (cur = 0; cur < numtoread; cur++) {
printf("%d\t", ReadADPin(1 << cur));
}
printf("\r\n");
readcount++;
}
printf("Done Reading Them\r\n");
AD_End();
printf("Value of pcfg after test: %X",AD1PCFG);
return 0;
}
/****************************************************************************
Function
Roach_Init
Parameters
None.
Returns
SUCCESS if operation successful
ERROR otherwise
Description
Performs all the initialization necessary for the roach.
this includes initializing the PWM module, the A/D converter, the
data directions on some pins, and setting the initial motor directions.
Notes
None.
Author
Max Dunne, 2012.01.06
****************************************************************************/
char Roach_Init(void) {
//Initialize the serial port
SERIAL_Init();
TIMERS_Init();
//set the control pins for the motors
PWM_Init(LEFT_PWM | RIGHT_PWM, 200);
LEFT_DIR_TRIS = 0;
LEFT_DIR_INV_TRIS = 0;
RIGHT_DIR_TRIS = 0;
RIGHT_DIR_INV_TRIS = 0;
LEFT_DIR = 0;
LEFT_DIR_INV = ~LEFT_DIR;
RIGHT_DIR = 0;
RIGHT_DIR_INV = ~RIGHT_DIR;
//set up the hall effect and divorce all the A/D pins
AD1PCFG = 0xFF;
HALL_FRONT_LEFT_TRIS = 1;
HALL_FRONT_RIGHT_TRIS = 1;
HALL_REAR_RIGHT_TRIS = 1;
HALL_REAR_LEFT_TRIS = 1;
//Initialize the light sensor
AD_Init(LIGHT_SENSOR);
//enable interrupts
INTEnableSystemMultiVectoredInt();
}
int main(void) {
unsigned int wait = 0;
int readcount = 0;
SERIAL_Init();
INTEnableSystemMultiVectoredInt();
mJTAGPortEnable(0);
printf("\r\nUno A/D Test Harness\r\nThis will initialize all A/D pins and read them %d times", TIMES_TO_READ);
printf("Value of pcfg before test: %X",AD1PCFG);
AD_Init(AD_PORTV3 | AD_PORTV4 | AD_PORTV5 | AD_PORTV6 | AD_PORTW4 | AD_PORTW3 | BAT_VOLTAGE | PINA);
unsigned char cur = 0;
while (readcount <= TIMES_TO_READ) {
for (wait = 0; wait <= 100000; wait++)
asm("nop");
printf("\r\nAN0\tAN1\tAN2\tAN3\tAN4\tAN5\tAN11\tAN10\n");
printf("%d\t", ReadADPin(PINA));
printf("%d\t", ReadADPin(BAT_VOLTAGE));
printf("%d\t", ReadADPin(AD_PORTV3));
printf("%d\t", ReadADPin(AD_PORTV4));
printf("%d\t", ReadADPin(AD_PORTV5));
printf("%d\t", ReadADPin(AD_PORTV6));
printf("%d\t", ReadADPin(AD_PORTW4));
printf("%d\t", ReadADPin(AD_PORTW3));
readcount++;
}
printf("Done Reading Them\r\n");
AD_End();
printf("Value of pcfg after test: %X",AD1PCFG);
return 0;
}
int main(void) {
SERIAL_Init();
TIMERS_Init();
char i, j = 0;
int k, l = 0;
int time = GetTime();
INTEnableSystemMultiVectoredInt();
AD_Init(IR_PINS);
IR_Init();
while (1) {
k = ReadADPin(IR_LEFT);
l = ReadADPin(IR_RIGHT);
char leftTrig = '_';
char rightTrig = '_';
if (IR_LeftTriggered())
leftTrig = 'x';
if (IR_RightTriggered())
rightTrig = 'x';
//if (time > GetTime() + 500) {
if (IsTransmitEmpty()) {
printf("\n %cLeft : %d \n %cRight : %d",leftTrig, k, rightTrig, l);
}
wait();
//time = GetTime();
//}
//while (!IsTransmitEmpty()); // bad, this is blocking code
}
return 0;
}
static void init(void)
{
/* Enable all the interrupts */
IRQ_ENABLE;
/* Initialize debugging module (allow kprintf(), etc.) */
kdbg_init();
/* Initialize system timer */
timer_init();
/* Initialize LED driver */
LED_INIT();
ser_init(&ser_port, SER_UART2);
ser_setbaudrate(&ser_port, 115200L);
afsk_init(&afsk, 0, 0);
// timer period = 24000000 hz /100/25 = 9600hz
AD_Init(&afsk);
AD_SetTimer(100, 25);
AD_Start();
DA_Init(&afsk);
DA_SetTimer(100, 25);
kiss_init(&ser_port, &ax25, &afsk);
ax25_init(&ax25, &afsk.fd, 1, ax25_message_callback);
}
void main()
{
AD_Init();
PWM_Init_T2();
while(1)
{
AD_Get_Sample();
PWM_Update_T2(Analog_G);
}
}
void EMG_Init()
{
AD_Init();
AD_AddPins(AD_PORTW4); // AD1 for EMG signal
EMG_DIGIPOT_CS_OUT;
EMG_DIGIPOT_CS_SET_LOW;
EMG_DIGIPOT_INC_OUT;
EMG_DIGIPOT_UD_OUT;
EMG_reset();
return;
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
RCC_ClocksTypeDef RCC_Clocks;
/* SysTick end of count event each 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
/********************输出 初始化 ******************/
PWM_init();
STM324xG_LCD_Init();
LCD_Clear(BLACK);/* Clear the LCD */
LCD_SetBackColor(BLACK);/* Set the LCD Back Color */
LCD_SetTextColor(WHITE);/* Set the LCD Text Color */
LCD_DisplayStringLine(LINE(0), " Hello jaja. I'm xiaohei01");
/********************输入 初始化 ******************/
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3);/*!< 3 bits for pre-emption priority 1 bits for subpriority */
Encoder_init(); //encoder tim8
usart_init();//通信COM usart2 115200
IMU_init();
if (get_mode()==1)
{
IMU_BE10();
}
KEY_init();
AD_Init();
GPS_int();
TIM2_Configuration();
printf("uart init OK 2 \r\n");
while(1)
{
if(LCD_flag)
{
LCD_flag=0;
lcd_refresh();
}
}
}
void main(void) {
EnableInterrupts;
SetBusCLK_40M(); // 设置时钟初始化。40MHz.
SCI_Init();
AD_Init(); // AD初始化。
DDRM = 0X1F; //启动LCD
LCD_start(); //初始化LCD模块
LCD_clear(); //清屏幕
LCD_startshow();
for(;;) {
// TestSMinfo();
}
}
void main(void)
{
char send_cnt=0;
SetBusCLK_40M();
SCI0_Init();
PIT_Init();
AD_Init();
CCD_IO_Init();
PWM_Init();
PAC_Init();
DDRT_DDRT0=1;
PTT_PTT0=1;
delay();
Motor_forward(26);
steering(STEER_MID);
DDRM=0XFF;
EnableInterrupts;
for(;;)
{
if(TimerFlag20ms == 1)
{
DisableInterrupts;
TimerFlag20ms = 0;
ImageCapture(Pixel);
//CalculateIntegrationTime();
//mid_val_3(Pixel);
//send_cnt++;
/*if(send_cnt>10)
{
send_cnt=0;
SendImageData(Pixel);
} */
find(Pixel,5,3,20);
//CCD_P2(Pixel,3,18);
steer_pd();
EnableInterrupts;
}
}
}
int main(void)
{
unsigned int wait = 0;
int readcount = 0;
unsigned int CurPin = 0;
unsigned int PinListing = 0;
char FunctionResponse = 0;
char TestFailed = FALSE;
//SERIAL_Init();
//INTEnableSystemMultiVectoredInt();
BOARD_Init();
mJTAGPortEnable(0);
printf("\r\nUno A/D Test Harness\r\nThis will initialize all A/D pins and read them %d times\r\n", TIMES_TO_READ);
//printf("Value of pcfg before test: %X\r\n", AD1PCFG);
// while(!IsTransmitEmpty());
//AD_Init(BAT_VOLTAGE);
//AD_Init();
printf("Testing functionality before initialization\r\n");
/*adding pins individually */
printf("AD_AddPins on each pin indvidually which results in failure: ");
for (CurPin = 1; CurPin < ALLADPINS; CurPin <<= 1) {
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != ERROR) {
TestFailed = TRUE;
break;
}
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
TestFailed = FALSE;
/*removing pins individually*/
printf("AD_RemovePins on each pin indvidually which results in failure: ");
for (CurPin = 1; CurPin < ALLADPINS; CurPin <<= 1) {
FunctionResponse = AD_RemovePins(CurPin);
if (FunctionResponse != ERROR) {
TestFailed = TRUE;
break;
}
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
TestFailed = FALSE;
/*listing pins while inactive*/
printf("AD_ActivePins which should return 0: ");
PinListing = AD_ActivePins();
if (PinListing != 0x0) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
// /*calling ned when inactive*/
// printf("AD_End which should fail: ");
// FunctionResponse = AD_End();
// if (FunctionResponse != ERROR) {
// printf("FAILED\r\n");
// } else {
// printf("PASSED\r\n");
// }
/*activating module*/
printf("initializing using AD_Init: ");
FunctionResponse = AD_Init();
if (FunctionResponse != SUCCESS) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
/*attempting to reactivate*/
printf("initializing using AD_Init again returns error: ");
FunctionResponse = AD_Init();
if (FunctionResponse != ERROR) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
printf("Testing Functionality after initialization\r\n");
/*active pins after activation only has battery*/
printf("Ad_ActivePins should only return BAT_VOLTAGE: ");
PinListing = AD_ActivePins();
if (PinListing == BAT_VOLTAGE) {
printf("PASSED\r\n");
} else {
printf("FAILED\r\n");
}
/*each pin added should succeed*/
printf("Adding each pin using AD_AddPins indivdually: ");
for (CurPin = 1; CurPin < ALLADMINUSBATT; CurPin <<= 1) {
PinListing = AD_ActivePins();
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != SUCCESS) {
TestFailed = TRUE;
break;
}
while (AD_ActivePins() != (PinListing | CurPin));
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
/*removing each pin should succeed */
printf("Removing each pin using AD_RemovePins indivdually: ");
for (CurPin = 1; CurPin < ALLADMINUSBATT; CurPin <<= 1) {
PinListing = AD_ActivePins();
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != SUCCESS) {
TestFailed = TRUE;
break;
}
while (AD_ActivePins() != (PinListing | CurPin));
}
if (TestFailed) {
printf("FAIL: %X\r\n", 0xFEED);
} else {
printf("PASSED\r\n");
}
while (1);
printf("We will now add the odd pins and wait for them to be activated");
AD_AddPins(ODD_ACTIVE);
while (!(AD_ActivePins() & ODD_ACTIVE)) {
if (IsTransmitEmpty()) {
printf("%X\r\n", AD_ActivePins());
}
}
printf("The Odd pins are now active as shown by Active pins: %X\r\n", AD_ActivePins());
printf("We will now enable the even pins and wait for them to be activated");
AD_AddPins(EVEN_ACTIVE);
while (!(AD_ActivePins() & EVEN_ACTIVE));
printf("The Even pins are now active as shown by Active pins: %X\r\n", AD_ActivePins());
char numtoread = NUM_AD_PINS;
unsigned char cur = 0;
DELAY(400000)
while (readcount <= TIMES_TO_READ) {
DELAY(100000);
printf("\r\n");
for (cur = 0; cur < numtoread; cur++) {
printf("%d\t", AD_ReadADPin(1 << cur));
}
printf("\r\n");
readcount++;
}
printf("Done Reading Them\r\n");
AD_End();
printf("Value of pcfg after test: %X", AD1PCFG);
return 0;
}
//------------------------------------------------------------------------------
void main(void)
{
WDTCTL = WDTPW+WDTHOLD; // Stop watchdog timer
FCTL2 = FWKEY + FSSEL0 + FN0; // MCLK/2 for Flash Timing Generator
read_flash_segA();
Rs232_Init(); // RS232 初始化 115200 P3
TDCM3_Init(); // 電子羅盤 初始化
P4DIR = 0xff; // Set P4. to output direction
P4OUT = 0;
WDT_flag = true;
TBCTL = TBSSEL_2 + MC_1; // SCLK, up-down mode PWM timeClock
AD_Init();
WDTCTL = WDT_ARST_1000; //--開狗
CloseMotorPower(); //----開電測試系統
// TimerA 啟動讀秒
TACCTL0 = CCIE; // CCR0 interrupt enabled
TACCR0 = 16384-1; // for 0.5 Hz
TACTL = TASSEL_1 + MC_1; // ACLK, contmode
// _BIS_SR(GIE);
Setting_mode = true;
long int cou_delay;
while(Setting_mode){ //---- setting mode
if(Set_OriginX_flag){
Set_OriginX_flag = 0;
OpenMotorPower();
cou_delay = (long int)motor_T_AD * 1150; // delay
while(cou_delay > 0){ cou_delay--;}
DoTheAd(AD_AVGtime,1);
CloseMotorPower();
Set_OriginX = (int)(Angle_X*100);
write_flash_segA();
}
if(Set_OriginY_flag){
Set_OriginY_flag = 0;
OpenMotorPower();
cou_delay = (long int)motor_T_AD * 1150; // delay
while(cou_delay > 0){ cou_delay--;}
DoTheAd(AD_AVGtime,1);
CloseMotorPower();
Set_OriginY = (int)(Angle_Y*100);
write_flash_segA();
}
_BIS_SR(LPM0_bits + GIE);
}
IE2 &= ~URXIE1 ; // Disable USART1 RX interrupt
ReStart_Sec += ((unsigned long int)ReStart_Day * 3600); //--
// ReStart_Sec += ((unsigned long int)ReStart_Day * 60); //-- 每隔分鐘數
PwmSet();
int testRun = 0;
Leveling = true;
while(1) //-------------- working mode
{
if(Leveling){
WDTCTL = WDTPW+WDTHOLD; // Stop watchdog timer
TACCTL0 &= ~CCIE; // close timer
Leveling = false;
outPutcount = false;
//TDCM3_Enable();
testRun++;
sprintf(string,"this is %02d time \r\n",testRun); UART1_SendStr(string);
OpenMotorPower(); //----開電
WDTCTL = WDTPW+WDTHOLD; // Stop watchdog timer
long int cou = (long int)motor_T_AD * 1150; // 100Hz delay
while(cou > 0){ cou--; }
GoToRange_V2();
GoHome();
CloseMotorPower(); //----關電
outPutcount = true;
TACCTL0 |= CCIE; // open timer
}
_BIS_SR(LPM0_bits + GIE); // Enter LPM0, Enable interrupts
}
}
int main(void) {
// ----------------- Initialization --------------
SERIAL_Init();
AD_Init(POT_INPUT);
// Initialize interrupts
INTEnableSystemMultiVectoredInt();
RC_Init(RC_PORT);
unsigned int wait = 0;
for (wait = 0; wait <= 1000000; wait++)
asm("nop");
RC_SetPulseTime(RC_PORT, 2000);
printf("\nHello,...");
while (1) {
// Read and print potentiometer
unsigned int potValue = ReadPotentiometer();
//printf("\nPot. reading: %x", potValue);
// Pause if desired
#ifdef ADC_PAUSE
#endif
unsigned int newSpeed = potValue +1000;
printf("\nPot value to %u", potValue);
// bound it
newSpeed = max(newSpeed,MINPULSE);
newSpeed = min(newSpeed,MAXPULSE);
// effect the motor
if (RC_SetPulseTime(RC_PORT, newSpeed) == SUCCESS) {
printf("\nSuccessfully set PWM to %u", newSpeed);
}
else {
printf("\nFailed to set PWM to %u", newSpeed);
}
/*
char keyPressed = GetChar();
if (keyPressed != 0) {
/*
if (keyPressed == 'f') {
// forward
printf("\nforward");
if (DIRECTION != FORWARD)
DIRECTION = FORWARD;
}
else if(keyPressed == 'r') {
// reverse
printf("\nreverse");
if (DIRECTION != REVERSE)
DIRECTION = REVERSE;
}
else if(keyPressed == 'q') {
printf("\nGoodbye!");
PWM_End();
return 0;
}
if(keyPressed == 't') {
unsigned short int stringMax = 4;
unsigned short int i = 0;
char charNumber[1];
charNumber[0] = 0;
char stringNumber[stringMax+1];
printf("\nPlease enter a frequency:");
while(charNumber[0] != 46) {
charNumber[0] = GetChar();
//printf("\nGot %s", charNumber);
if ((charNumber[0] <= 57 && charNumber[0] >= 48)) {
stringNumber[i] = charNumber[0];
stringNumber[i+1] = '\0';
//printf("\nAppended %c to '%s'",charNumber[0],stringNumber);
//stringNumber = strcat(stringNumber, charNumber);
i++;
}
if (i >= stringMax)
break;
}
//printf("\ni=%u stmax=%u", i, stringMax);
printf("\nDone");
unsigned int newFreq = atoi(stringNumber);
newFreq = max(newFreq,MINPULSE);
newFreq = min(newFreq,MAXPULSE);
printf("\nPulse width set to %u",newFreq);
RC_SetPulseTime(RC_PORT,newFreq);
}
} // end of keyPressed
*/
while (!IsTransmitEmpty()); // bad, this is blocking code
} // end of while loop
return 0;
}
void main(void)
{
// int temp_laserStatus; //定义一个数组用来接受 上下舵机值
// DisableInterrupts;
SetBusCLK_40M(); // 设置时钟初始化。40MHz.
//PITInit(); //PIT初始
// PWM_Init();
// LIGHT_Init();
SCI_Init();
// Tect_Speed_Init(); //ECT 捕捉初始
AD_Init();
delayms(3200);
// Laser_num();
// EnableInterrupts;
for(;;)
{
// Light_Up(); //激光整排点亮
Collect_IR(); //这两个是红外捕捉和判断红外位置 先注释
Cross_judge();
TestIR(IR_temp_laser_array);
// Clear_baitou(); //position的第一次滤波
// baitou_delay++;
// if(baitou_delay%8==0)
// {
// baitou_delay=1;
// baitou( ); //先执行摆头舵机，通过计算得出角度，为第二次滤波做准备
// }
// General_Position();
// Collect_Point();
// Collect_Section();
// Judge_Slope();
// Clear_General();
// delay_count++;
// dajiao();
/*send_count++;
if(send_count%20==0) {
send_count=1;
TestSMinfo(1);
}*/
//Clear_Speed();
// SpeedCtrl();
}
// _FEED_COP(); /*看门狗，防死循环用的 */
/* loop forever */
/* please make sure that you never leave main */
}
