int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
LCD_Init(2, 20);
LCD_PrintString(0, 0, "Damogran Labs");
Encoder_Init(&encoder1, ENC1_A_GPIO_Port, ENC1_A_Pin, ENC1_B_GPIO_Port, ENC1_B_Pin);
Encoder_Init(&encoder2, ENC2_A_GPIO_Port, ENC2_A_Pin, ENC2_B_GPIO_Port, ENC2_B_Pin);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
LCD_PrintNumber(1, 0, encoder1.abs_rot);
LCD_PrintNumber(1, 6, encoder2.abs_rot);
while (1)
{
if(Encoder_GetState(&encoder1)){
LCD_PrintString(1, 0, " ");
LCD_PrintNumber(1, 0, encoder1.abs_rot);
}
if(Encoder_GetState(&encoder2)){
LCD_PrintString(1, 6, " ");
LCD_PrintNumber(1, 6, encoder2.abs_rot);
}
if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_0) == GPIO_PIN_SET){
Encoder_SetAbsToZero(&encoder1);
Encoder_SetAbsToZero(&encoder2);
}
HAL_Delay(100);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
void HardwareInit()
{
IntMasterDisable();
// Set the system clock to run at 50MHz from the PLL. // PLL=400MHz
// sysc2000000lk = 400MHz/2/4 = 50MHz
//SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
// Set the system clock to run at 20MHz from the PLL. // PLL=100MHz
// sysc2000000lk = 100MHz/2/4 = 20MHz
//SysCtlClockSet(SYSCTL_SYSDIV_10| SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
ulSysClock = ROM_SysCtlClockGet();
if (InitUART(UART0_BASE,SysCtlClockGet(),19200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE)) == -1)
while (1); // hang
if (InitUART(UART1_BASE,SysCtlClockGet(),9600,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE)) == -1)
while (1); // hang
SysTickInit(1000); // 1msec counter
TimerInit(1); // 100ms counter
BBLedInit();
DEBUG_LED1(1);
DEBUG_LED1(0);
DEBUG_LED2(1);
DEBUG_LED2(0);
MasterI2C0Init(SysCtlClockGet() >= 40000000L); // Need 40MHz for 400K
A3906Init();
RMBD01Init();
Encoder_Init(QEI0_BASE); // J6 PITCH Encoder
Encoder_Init(QEI1_BASE); // J8 ROLL Encoder
EncoderLinesSet(QEI0_BASE,64);
EncoderLinesSet(QEI1_BASE,64);
//HBridgeInit();
//GPIOPinInit('E',4,false,false); /*TP5 */
//GPIOPinInit('E',5,false,false); /*TP6 */
IntMasterEnable();
}
int main(){
int muxpin[4] = {19,18,17,16};
Uart_Init(57600);
Uart_Print("Uart Inited\n\r");
SPI_InitMaster(16);
Mux_Init(&MBMux,20,muxpin);
Encoder_Init(&MBMux);
Uart_Print("SPI Encoder Inited\n\r");
Joystick_Init();
GPIO_Init(31,OUTPUT);
Timer_Init(0,100,Timer_Rountine);
return 0;
}
int main(void)
{
// uint32_t loop=0xFFFFFF;
// while(loop)
// {
// loop--;
// }
SystemInit();
Power_Detector_Init();
Watchdog_Init();
Encoder_Init();
Proto_Init(PROTO_FIRST_INIT);
vTaskStartScheduler();
while(1);
}
/** Configures the board hardware and chip peripherals for the demo's functionality. */
void HidApp_Init(void)
{
/* LUFA: Disable watchdog if enabled by bootloader fuses */
MCUSR &= ~(1 << WDRF);
wdt_disable();
/* LUFA: Disable clock division */
clock_prescale_set(clock_div_1);
/* Hardware Initialization */
USB_Init();
BoardConfig_Init();
Encoder_Init( EVENT_EncoderButtonDown,
EVENT_EncoderButtonUp,
EVENT_Encoder_CC,
EVENT_Encoder_CCW);
Leds_Init();
}
void ENC_L_INIT_STATE(void)
{
/*
s_el 码盘正反转初始化状态时的状态标志
0--初始化还未开始
1--校准正传系数
2--校准反正系数
3--告知主控陀螺仪标定完成
*/
static uint8_t s_el = 0;
switch(s_el)
{
case 0:
s_el = 1;
Encoder_Clear(0);
Encoder_Clear(1);
break;
case 1:
s_el = 2;
Encoder_InitXY(0);
break;
case 2:
s_el = 3;
Encoder_Clear(0);
Encoder_Clear(1);
break;
case 3:
s_el = 0;
Encoder_InitXY(1);
Encoder_Init();
Data_Save();
SS_H = 0; //复位状态标志
break;
default : s_el = 1;
Encoder_Clear(0);
Encoder_Clear(1);
break;
}
}
void ENCODER(void){
unsigned char Error =0;
int Encoder_L_Counter =0;
int Encoder_R_Counter =0;
unsigned char Encoder_Watchdog_Flag =0;
Encoder_Init();
EnableInterrupts;
// get interrupt point
for (;;){
// PASS ENCODER VARS TO MAIN
DisableInterrupts;
Encoder_L_Counter = L_Counter;
Encoder_R_Counter = R_Counter;
Encoder_Watchdog_Flag = WATCH_DOG_FLAG;
EnableInterrupts;
if(Encoder_Watchdog_Flag ==1){
printf("R %d", Encoder_R_Counter);
printf("L %d", Encoder_L_Counter);
// RESET COUNTERS AND FLAGS
DisableInterrupts;
WATCH_DOG_FLAG =0;
L_Counter =0;
R_Counter =0;
EnableInterrupts;
}
// PASS VARS TO WATCHDOG
DisableInterrupts;
WATCH_L_COUNTER = Encoder_L_Counter;
WATCH_R_COUNTER = Encoder_R_Counter;
EnableInterrupts;
}
}
int main(void) {
LockoutProtection();
InitializeMCU();
//init uart
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
LED_Init();
Jumper_Init();
ADC_Init();
Sonar_Init();
usemotors = Jumper_Value & 0x8;
if ((Jumper_Value & 0x7) == 0x1) {
if (usemotors) {
Motor_Init(false,true);
Motor_Set(127,127);
}
avoid_sonar(0);
avoid_ir(filtered_ir);
for (;;);
}
if ((Jumper_Value & 0x7) == 0x2) {
Travel_Init(usemotors);
Travel_Go(FULL_SPEED);
for (;;);
}
if ((Jumper_Value & 0x7) == 0x3) {
if (usemotors) {
Motor_Init(false,true);
Motor_Set(127,127);
}
for (;;);
}
//if no jumpers are set, enter debug mode
Encoder_Init(true,false);
for (;;c++) {
ADC_Background_Read(0);
Sonar_Background_Read(0);
Encoder_Background_Read(0);
Jumper_Read();
UARTprintf("ADC[%3d %3d %3d %3d %3d %3d %3d %3d] S[%7d] E[%3d %3d] J[%1x] c:%d\n",
ADC_Values[0],ADC_Values[1],ADC_Values[2],ADC_Values[3],ADC_Values[4],ADC_Values[5],ADC_Values[6],ADC_Values[7],
Sonar_Value,
Encoder_Values[0],Encoder_Values[1],
Jumper_Value,
c
);
LED_Set(LED_0,c);
LED_Set(LED_1,c+64);
LED_Set(LED_2,c+128);
LED_Set(LED_3,c+192);
WaitUS(20000);
}
}
int main()
{
USART3_Config();
USART2_Config();
Encoder_Init();
//while(1);
Motor_Init();
SysTick_Init(72);
Car_Run_Speed(0);
while(!Start_Due)
{
Car_Turn_Speed(2000); //Z向输出标定
}
Car_Turn_Angle(0);
while(1)
{
//USART1_printf(USART2,"angle=%d cnt=%d\r\n", (int)Car_Angle,TIM2->CNT);
//USART_SendData(USART2,USART_ReceiveData(USART2));
cmd_speed_pre = speed;
cmd_angle_pre = turn;
sscanf(Cmd_Ble, "#%d-%d*", &speed, &turn);
if (turn > 180)
{
turn = turn % 180;
}
else if (turn <= -180)
{
turn = turn % -180;
}
#ifdef BOTTOMIMPROVE
// //转向优化
// if (is_close(Car_Angle,turn))
// turn = turn;
// else
// turn = turn + 180;
// speed = -speed;
// if (turn > 180)
// {
// turn = turn % 180;
// }
// else if (turn <= -180)
// {
// turn = -((-turn) % 180);
// }
// Car_Turn_Angle(turn);
// Car_Run(speed);
if (abs(speed) > 0) //速度为零时不要优化，便于调零
{
src_1 = Car_Angle;
if (Car_Angle > 0)
{
src_2 = -180 + Car_Angle;
}
else
{
src_2 = 180 + Car_Angle;
}
//calc the angle distance
diff_4 = abs(turn - src_1); //normal
diff_5 = abs(turn - src_2); //reverse
if (diff_4 > 180)
{
diff_4 = 360 - diff_4;
}
if (diff_5 > 180)
{
diff_5 = 360 - diff_5;
}
if (diff_5 >= diff_4)
{
//normal turn
}
else
{
if (turn >=0)
{
turn = -180 + turn;
}
else
{
turn = 180 + turn;
}
speed = -speed; //reverse turn
}
}
#endif
//解决170 -> -170反转的问题，原理：以170->-170为例，未过180前，turn为190，但是对于calcpid而言，仍然能够正常输出。过了180后，
//turn就变回-170了，从而恢复正常。
diff_1 = abs(turn - Car_Angle);
diff_2 = abs(360 + turn - Car_Angle);
diff_3 = abs(turn - 360 - Car_Angle);
if (diff_2 < diff_1) //+360较小,即170 -> -170
{
turn = 360 + turn;
}
else if (diff_3 < diff_1) //-360较小,即-170 -> 170
{
turn = turn - 360;
}
else
{
turn = turn;
}
//#ifndef BOTTOMIMPROVE
if(abs(turn - cmd_angle_pre) != 0) //cmd_angle_pre 在读取新值之前被赋值，接下来被赋值的turn又会被更改，因此没有问题
{
Car_Turn_Angle(turn);
}
if(abs(speed - cmd_speed_pre) != 0)
{
Car_Run(speed);
}
stop_protect_val = (130 - abs(speed)) > 60?60:(130-abs(speed));
//Car_Turn(1);
//#endif
}
}
void main(void) {
unsigned int i =0;
unsigned char Error =0;
struct LCD_Geometry *pointCurrent= &Current;
unsigned int Local_Process =0;
unsigned int Local_counter =0;
unsigned char Local_Error_Flag_Number =0;
Error_Flag_Number =0;
Timer_INIT(); /// ENABLE TIMERS FIRST ALL THINGS DEPEND ON THIS THAT USE DELAYS !!! F**K
ILI9327_INIT();// init lcd
//ENCODER();
DCM_INIT();
RC_SERVO_INIT();
STMOTOR_INIT();
STMOTOR_FIND_HOME();
Accelerometer_INIT(); // init accel // read from input
Encoder_Init();
/// FOREVER LOOP
RS232_TEST();
//WORKS GREAT
// RC_SERVO_INIT();
// DO ENCODER SHIT HERE
// Encoder_menu();
// STMOTOR_TEST();
// ENCODER();
// init sd // write hello world //
// SD_INIT_FAT();
// DCMOTOR WORKS// SET SPEED USING SET SPEED PERCENTAGE //
/// WORKS GREAT
/* DCM_INIT();
DC_1_REVERSE_DIRECTION;
DC_2_FORWARD_DIRECTION ;
DC_R_SETSPEED_PERCENTAGE(40);
DC_L_SETSPEED_PERCENTAGE(100); */
// ENCODER WORKS
/*
interrupt 10 void TC1handler(void) // INPUT R
interrupt 9 void TC2handler(void) // INPUT L
interrupt 12 void TC4handler(void) // WATCHDOG
*/
// Encoder_menu();
// ENCODER();
// STEPPER MOTOR WORKS //
//STMOTOR_TEST();
// GETS ACCEL VALUES // WORKS GREAT
/*
interrupt 14 void TC6handler // TIMER WATCHDOG
*/
// Accelerometer_Menu(); //
//Accelerometer_Test_2();
// NEEDS MORE WORK // WORKS FINE BUT NEEDS To BE RUN IN THE BACKGROUND
// USING TIMERS
//Touch_Test();
// RS232_INIT();
// printf("waitforever");
while(1){
asm("NOP");
continue;
}
// WORKS GREAT WITH INPUT FROM SERIAL //
// SHOULD CHANGE
// RS232_INIT();
/*extern unsigned char RS232_Termination_String[4] = {
// 0xDE, 0xAD, 0xBE, 0xEF
'a','b', 'c','d'
};
extern unsigned char RS232_Transmission_String[4] = {
// 0xFE, 0xED, 0xDE, 0xAD
'q','w','e','r'
};
*/
// Analog_Init(ANALOG_10BIT);
//Touch_Test();
//MAX5513_Test();
//Accelerometer_Test();
}
