int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Serial_init();
Encoder_init();
float angle;
while(1){
if(Encoder_isLockPressed() || Encoder_isZeroPressed()){
Encoder_runSM();
// if(useZeroAngle){
// angle = Encoder_getAverageAngle();
// while(!Serial_isTransmitEmpty());
// printf("Angle: %.2f\n", angle);
// }
// else
// zeroAngle = Encoder_getZeroAngle();
//
// useZeroAngle = FALSE;
// zeroFlag = FALSE;
}
}
return (SUCCESS);
}
int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
dbprint("Starting encoders...\n");
I2C_init(I2C_ID, I2C_CLOCK_FREQ);
Encoder_init();
Interface_init();
Timer_new(TIMER_TEST, PRINT_DELAY );
while (!Timer_isExpired(TIMER_TEST)) {
Encoder_runSM();
}
// Not working?
//Encoder_setZeroPitch();
//Encoder_setZeroYaw();
dbprint("Encoders initialized.\n");
DELAY(STARTUP_DELAY)
Timer_new(TIMER_TEST, PRINT_DELAY );
bool clearedCalibrateMessage = TRUE;
Timer_new(TIMER_TEST2,CALIBRATE_HOLD_DELAY);
//Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
LCD_setPosition(0,0);
dbprint("Encoders:\n");
while(1) {
if (Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(1,0);
dbprint(" P=%.1f,\n Y=%.1f\n",Encoder_getPitch(), Encoder_getYaw());
Timer_new(TIMER_TEST, PRINT_DELAY );
}
if (Interface_isOkPressed() && Timer_isExpired(TIMER_TEST2)) {
Encoder_setZeroPitch();
Encoder_setZeroYaw();
LCD_setPosition(3,0);
dbprint("Zeroed encoders.\n");
clearedCalibrateMessage = FALSE;
Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
Interface_readyLightOff();
Timer_new(TIMER_TEST2,CALIBRATE_HOLD_DELAY);
}
if (Timer_isExpired(TIMER_TEST2) && !clearedCalibrateMessage) {
clearedCalibrateMessage = TRUE;
LCD_setPosition(3,0);
dbprint(" ");
Interface_readyLightOn();
}
Encoder_runSM();
Interface_runSM();
}
return (SUCCESS);
}
/**
* @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();
}
}
}
int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
dbprint("Starting encoders...\n");
I2C_init(ENCODER_I2C_ID, I2C_CLOCK_FREQ);
if (Encoder_init() != SUCCESS) {
dbprint("Failed init. encoder\n");
return FAILURE;
}
Timer_new(TIMER_TEST, PRINT_DELAY );
while (!Timer_isExpired(TIMER_TEST)) {
Encoder_runSM();
}
// Not working?
//Encoder_setZeroPitch();
//Encoder_setZeroYaw();
dbprint("Encoders initialized.\n");
DELAY(STARTUP_DELAY);
Timer_new(TIMER_TEST, PRINT_DELAY );
LCD_setPosition(0,0);
dbprint("Encoders:\n");
while(1){
if (Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(1,0);
dbprint(" P=%.1f,\n Y=%.1f\n",Encoder_getPitch(), Encoder_getYaw());
/*dbprint("Encoders:\n P=%d,\n Y=%d\n",
readDevice(SLAVE_PITCH_READ_ADDRESS,SLAVE_PITCH_WRITE_ADDRESS),
readDevice(SLAVE_YAW_READ_ADDRESS,SLAVE_YAW_WRITE_ADDRESS));*/
/*dbprint("Encoders:\n P=%.1f,\n Y=%.1f\n",
readDevice(SLAVE_PITCH_READ_ADDRESS,SLAVE_PITCH_WRITE_ADDRESS) * DEGREE_PER_NUMBER,
readDevice(SLAVE_YAW_READ_ADDRESS,SLAVE_YAW_WRITE_ADDRESS) * DEGREE_PER_NUMBER);*/
Timer_new(TIMER_TEST, PRINT_DELAY );
}
Encoder_runSM();
}
return (SUCCESS);
}
/**
* Function: initMasterSM
* @return None.
* @remark Initializes the master state machine for the command canter.
* @author David Goodman
* @date 2013.03.10 */
void initMasterSM() {
Board_init();
Serial_init();
Timer_init();
// CC buttons
LOCK_BUTTON_TRIS = 1;
ZERO_BUTTON_TRIS = 1;
Encoder_init();
#ifdef USE_XBEE
Xbee_init();
#endif
#ifdef USE_NAVIGATION
Navigation_init();
#endif
#ifdef USE_ENCODERS
I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
#endif
#ifdef USE_ACCELEROMETER
//printf("Initializing accelerometer...\n");
if (Accelerometer_init() != SUCCESS) {
printf("Failed to initialize the accelerometer.\n");
//return;
}
//printf("Initialized the accelerometer.\n");
// Configure ports as outputs
LED_N_TRIS = OUTPUT;
LED_S_TRIS = OUTPUT;
LED_E_TRIS = OUTPUT;
LED_W_TRIS = OUTPUT;
Timer_new(TIMER_ACCELEROMETER, LED_DELAY );
#endif
}
