int main(void) {
SetupClock();
SwitchClocks();
SetupPorts();
//lcdSetup(4,20); // 4 rows & 20 cols
radioSetup(); // polling mode
bootSetup();
LED_1 = 1; LED_2 = 1; LED_3 = 1;
delay_ms(500);
LED_1 = 0; LED_2 = 0; LED_3 = 0;
delay_ms(200);
LED_1 = 1; LED_2 = 1; LED_3 = 1;
delay_ms(500);
// check if radio is working and at the right state.
while (radioGetTrxState() != 0x16);
LED_1 = 0;
LED_2 = 0;
LED_3 = 0;
//print("Ready");
//bootTestRadio();
bootRun();
bootReset();
while(1);
return 1;
}
DataServeriOS::DataServeriOS(EthernetServer *server, char *pass, boolean serial, char *Arduino, void (*substitudeLoop)(void),int pwmports[],byte nports,int cfports[],byte ncfports,void(*customfunction)(int),char*(*customdigitalreturn)(int),int crports[],byte ncrports,char*(*customanalogreturn)(int))
{
_serial = serial;
_nPWMports = nports;
if (nports > 0) {
_pwm = true;
_PWMPorts = pwmports;
}
else _pwm = false;
_nCRports = ncrports;
if (ncrports > 0) {
_cr = true;
_CRPorts = crports;
_returnAnalogForPort = customanalogreturn;
}
else _cr = false;
_nCFports = ncfports;
if (ncfports > 0) {
_cf = true;
_CFPorts = cfports;
_function = customfunction;
_returnDigitalForPort = customdigitalreturn;
}
else _cf = false;
_server = server;
_pass = pass;
_Arduino = Arduino;
_substitudeLoop = substitudeLoop;
SetupPorts();
}
void init(void)
{
int i;
volatile WordVal src_addr = {SRC_ADDR};
volatile WordVal src_pan_id = {SRC_PAN_ID};
SetupClock();
SwitchClocks();
SetupPorts();
for (i = 0; i < 6; i++)
{
LED_RED = ~LED_RED;
delay_ms(50);
LED_YLW1 = ~LED_YLW1;
delay_ms(50);
LED_YLW2 = ~LED_YLW2;
delay_ms(50);
LED_BLU = ~LED_BLU;
delay_ms(50);
}
SetupUART1();
SetupInterrupts();
EnableIntU1TX;
EnableIntU1RX;
radioInit(src_addr, src_pan_id, 150, 150);
atSetPromMode(1); //This turns off Automatic Acknowledgements and puts the radio in prom mode
radioSetChannel(MY_CHAN); //Set to my channel
//atSetAntDiversity(1);
}
int main(void) {
WordVal src_addr_init = {SRC_ADDR};
WordVal src_pan_id_init = {SRC_PAN_ID};
WordVal dst_addr_init = {DST_ADDR};
SetupClock();
SwitchClocks();
SetupPorts();
batSetup();
swatchSetup();
radioInit(src_addr_init, src_pan_id_init, RXPQ_MAX_SIZE, TXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN); //Set to my channel
macSetDestAddr(dst_addr_init);
dfmemSetup();
unsigned char memsize;
memsize = dfmemGetChipSize();
xlSetup();
gyroSetup();
mcSetup();
cmdSetup();
//senSetup();
adcSetup();
pidSetup();
steeringSetup();
//radioReadTrxId(id);
LED_RED = 1;
LED_BLUE = 0;
LED_YELLOW = 0;
//while(1);
if(phyGetState() == 0x16) { LED_GREEN = 1; }
//print("Ready");
//readDFMemBySample(5);
while(1) {
cmdHandleRadioRxBuffer();
//Simple idle ; reduces idle current to 70 mA
// TODO (abuchan, apullin, fgb) : Idle() causes unexpected behavior
//if(radioIsRxQueueEmpty()){
// Idle();
//}
}
}
int main ( void )
{
fun_queue = queueInit(FUN_Q_LEN);
rx_pay_queue = pqInit(12); //replace 12 with a #define const later
test_function tf;
/* Initialization */
SetupClock();
SwitchClocks();
SetupPorts();
SetupInterrupts();
SetupI2C();
SetupADC();
SetupTimer1();
SetupPWM();
SetupTimer2();
gyroSetup();
xlSetup();
dfmemSetup();
WordVal pan_id = {RADIO_PAN_ID};
WordVal src_addr = {RADIO_SRC_ADDR};
WordVal dest_addr = {RADIO_DEST_ADDR};
radioInit(src_addr, pan_id, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetDestAddr(dest_addr);
radioSetChannel(RADIO_MY_CHAN);
char j;
for(j=0; j<3; j++){
LED_2 = ON;
delay_ms(500);
LED_2 = OFF;
delay_ms(500);
}
LED_2 = ON;
EnableIntT2;
while(1){
while(!queueIsEmpty(fun_queue))
{
rx_payload = pqPop(rx_pay_queue);
tf = (test_function)queuePop(fun_queue);
(*tf)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload));
payDelete(rx_payload);
}
}
return 0;
}
//--------------------------------------------------------------------------------
//
// Main program loop.
//
void main()
{
__disable_interrupt();
_pulseDataAddress = (char *) EEPROM_PULSE_DATA;
_numberOfPulses = *_pulseDataAddress++;
SetupPorts();
SetupUART();
SetupTimer2();
SetupTimer1();
__enable_interrupt();
while (1)
{
__wait_for_interrupt();
}
}
int main (void)
{
unsigned int i;
/* Initialization */
SetupClock();
SetupPorts();
batSetup();
cmdSetup();
mcSetup();
SetupADC();
SwitchClocks();
sclockSetup();
radioInit(TXPQ_MAX_SIZE, RXPQ_MAX_SIZE);
radioSetChannel(MY_CHAN);
radioSetSrcPanID(PAN_ID);
radioSetSrcAddr(SRC_ADDR);
dfmemSetup();
camSetup();
cambuffSetup();
gyroSetup();
cmdResetSettings();
for (i = 0; i < 6; i++)
{
LED_GREEN = ~LED_GREEN; delay_ms(50);
LED_RED = ~LED_RED; delay_ms(50);
LED_ORANGE = ~LED_ORANGE; delay_ms(50);
}
LED_GREEN = 0; LED_RED = 0; LED_ORANGE = 0;
/* Program */
while (1)
{
cmdHandleRadioRxBuffer();
radioProcess();
}
}
int main ( void )
{
/** pin buttons locals */
volatile bool regPinButton1;
volatile bool regPinButton2;
/** speed local */
short iRefSpeed;
// Configure Oscillator to operate the device at 40Mhz
// Fosc= Fin*M/(N1*N2), Fcy=Fosc/2
// Fosc= 8*40/(2*2)= 80Mhz for 8M input clock
PLLFBD = 38; // M=40
CLKDIVbits.PLLPOST = 0; // N1=2
CLKDIVbits.PLLPRE = 0; // N2=2
// while(OSCCONbits.LOCK != 1) {}; // Wait for PLL to loc
/** setup dsPIC ports */
SetupPorts();
/** init user parameters */
InitUserParms();
/** init user specified parms and stop on error */
if( SetupPeripherals() )
{
/* Error */
return 0;
}
uGF.Word = 0; // clear flags
while(1)
{
// init Mode
eStateControl = CNTRL_STOP;
iLockLoopCnt = 0;
/** clear the variables other than STOP command */
uGF.bit.TLock = 0;
uGF.bit.Btn1Pressed = 0;
uGF.bit.Btn2Pressed = 0;
uGF.bit.DoSnap = 0;
uGF.bit.SnapDone = 0;
/** ============= Open Loop ======================*/
OpenLoopParm.qVelMech = dqOL_VelMech;
CtrlParm.qVelRef = OpenLoopParm.qVelMech;
iRefSpeed = CtrlParm.qVelRef;
InitOpenLoop();
/** Inital offsets for currents */
InitMeasCompCurr( 450, 730 );
// init board
SetupBoard();
// Enable ADC interrupt and begin main loop timing
IFS0bits.AD1IF = 0;
IEC0bits.AD1IE = 1;
/** Initialize private variables used by CalcVelIrp. */
InitCalcVel();
/** Initialize private variables used by CurrModel */
InitCurModel();
// zero out i sums
PIParmD.qdSum = 0;
PIParmQ.qdSum = 0;
PIParmQref.qdSum = 0;
// zero out i out
PIParmD.qOut = 0;
PIParmQ.qOut = 0;
PIParmQref.qOut = 0;
/** if state is stop */
if(eStateControl == CNTRL_STOP)
{
//wait here until button 1 is pressed or stop time elapsed
while(uGF.bit.TStop){};
while(!pinButton1)
{
/** make sure that the STOP do not occur due to this loop */
iStopLoopCnt = 0;
// Start offset accumulation
//and accumulate current offset while waiting
MeasCompCurr();
}
while(pinButton1); //when button 1 is released
eStateControl = CNTRL_OPEN_LOOP; //then start motor in open loop
}
// Run the motor
uGF.bit.ChangeMode = 1;
// Enable the driver IC on the motor control PCB
pinPWMOutputEnable_ = 0;
//Run Motor loop
while(1)
{
/** algorithm was stopped before*/
if(uGF.bit.TStop)
{
/* break the while */
break;
}
/* for logic of this application 2 buttons are used
S3 and S6. If both buttons are pressed the state of
the application is commuted between OPEN_LOOP,
CLOSED_LOOP and CLOSED_LOOP_DOUBLE_SPEED. The touch
of only one button will increase the speed in one
of the states enumerated above */
/* read the buttons state */
/* while no buttons are pushed */
do{
regPinButton1 = pinButton1; /* pin button 1 */
/* retain if pressed */
if(regPinButton1 == 1)
{
uGF.bit.Btn1Pressed=1;
}
regPinButton2 = pinButton2; /* pin button 2 */
/* retain if pressed */
if(regPinButton2 == 1)
{
uGF.bit.Btn2Pressed=1;
}
/** make sure that the STOP do not occur due to this loop */
iStopLoopCnt = 0;
}while((!regPinButton1)&&(!regPinButton2));
/* while buttons are released */
do{
regPinButton1 = pinButton1; /* pin button 1 */
/* retain if pressed */
if(regPinButton1 == 1)
{
uGF.bit.Btn1Pressed=1;
}
regPinButton2 = pinButton2; /* pin button 2 */
/* retain if pressed */
if(regPinButton2 == 1)
{
uGF.bit.Btn2Pressed=1;
}
}while(pinButton1||pinButton2);
/** the counter for STOP is cleared - if buttons released */
iStopLoopCnt = 0;
/* check if one of the buttons is pressed */
/* check if both buttons are pressed */
if ((uGF.bit.Btn1Pressed)&&(uGF.bit.Btn2Pressed))
{
/* if yes */
/* clear both flags indicating the buttons were pressed */
uGF.bit.Btn1Pressed = 0;
uGF.bit.Btn2Pressed = 0;
/* and command not locked */
/* check if command not locked */
if(!uGF.bit.TLock)
{
/* lock command for Tlock_multiple */
uGF.bit.TLock = 1; /* command locked */
iLockLoopCnt = 0; /* reset counter */
/* state machine for control algorithm */
switch(eStateControl)
{
/* the previous state was STOP */
case CNTRL_OPEN_LOOP:
{
/* swich the state machine */
eStateControl = CNTRL_CLOSED_LOOP;
/* first switch the global flag */
uGF.bit.ChangeMode = 1;
break;
}
case CNTRL_CLOSED_LOOP:
{
/* double the speed of the motor */
/* and swich the state machine */
eStateControl = CNTRL_CLOSED_LOOP_DBL_SPEED;
/* double the speed */
iRefSpeed += iRefSpeed;
#ifdef SNAPSHOT
uGF.bit.DoSnap = 1;
SnapCount = 0;
#endif
break;
}
case CNTRL_CLOSED_LOOP_DBL_SPEED:
{
/* divide by 2 the speed of the motor */
/* and swich the state machine */
eStateControl = CNTRL_CLOSED_LOOP;
/* divide the speed by 2 */
iRefSpeed -= iRefSpeed/2;
#ifdef SNAPSHOT
uGF.bit.DoSnap = 1;
SnapCount = 0;
#endif
break;
}
default:
{
/* undefined state, stop */
eStateControl = CNTRL_STOP;
/* disable the PWM module */
pinPWMOutputEnable_ = 1;
break;
}
}
}
}
/* check which button was pressed */
/* perhaps button 1 was the one */
else if(uGF.bit.Btn1Pressed)
{
/* if yes */
/* clear the button flag for future usage */
uGF.bit.Btn1Pressed = 0;
/* and command not locked */
/* check if command not locked */
if(!uGF.bit.TLock)
{
/* lock command for Tlock_multiple */
uGF.bit.TLock = 1; /* command locked */
iLockLoopCnt = 0; /* reset counter */
/* increase speed with SPEED_STEP */
iRefSpeed += SPEED_STEP;
}
}
/* it was button 2, but checking */
else if(uGF.bit.Btn2Pressed)
{
/* if yes */
/* clear the button flag for future usage */
uGF.bit.Btn2Pressed = 0;
/* and command not locked */
/* check if command not locked */
if(!uGF.bit.TLock)
{
/* lock command for Tlock_multiple */
uGF.bit.TLock = 1; /* command locked */
iLockLoopCnt = 0; /* reset counter */
/* decrease speed with SPEED_STEP */
iRefSpeed -= SPEED_STEP;
}
}
/** limit the reference to 60Hz */
if( iRefSpeed > MAX_SPEED_UP )
{
iRefSpeed = MAX_SPEED_UP;
}
/** limit the reference to 60Hz */
if((signed short)iRefSpeed < (signed short)MAX_SPEED_DOWN )
{
iRefSpeed = MAX_SPEED_DOWN;
}
/** update the global speed reference */
CtrlParm.qVelRef = iRefSpeed;
if( uGF.bit.SnapDone )
{
uGF.bit.SnapDone=0;
}
} // End of Run Motor loop
} // End of Main loop
// should never get here
while(1){}
}
int main(void) {
wakeTime = 0;
dcCounter = 0;
WordVal src_addr_init = {RADIO_SRC_ADDR};
WordVal src_pan_id_init = {RADIO_SRC_PAN_ID};
WordVal dst_addr_init = {RADIO_DST_ADDR};
SetupClock();
SwitchClocks();
SetupPorts();
tiHSetup();
//swatchSetup();
radioInit(src_addr_init, src_pan_id_init, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL); //Set to my channel
macSetDestAddr(dst_addr_init);
cmdSetup();
if(phyGetState() == 0x16) { LED_RED = 1; }
while(1){
cmdHandleRadioRxBuffer();
}
LED_GREEN = 0;
LED_RED = 1;
LED_YELLOW = 1;
_LATG9 = 1;
_LATC15 = 1;
//testRadio();
/*
LED_GREEN = 1;
mpuSetup();
LED_GREEN = 0;
LED_RED = 1;
LED_YELLOW = 1;
//batSetup();
//int old_ipl;
//mSET_AND_SAVE_CPU_IP(old_ipl, 1)
//LED_YELLOW = 1;
//dfmemSetup();
//xlSetup();
//gyroSetup();
//tiHSetup();
//mcSetup();
//cmdSetup();
//adcSetup();
//telemSetup(); //Timer 5
//mcSetDutyCycle(1,70.0);
//mcSetDutyCycle(2,70.0);
//mcSetDutyCycle(3,70.0);
//mcSetDutyCycle(4,70.0);
#ifdef HALL_SENSORS
//hallSetup(); // Timer 1, Timer 2
//hallSteeringSetup(); //doesn't exist yet
#else //No hall sensors, standard BEMF control
//legCtrlSetup(); // Timer 1
//steeringSetup(); //Timer 5
#endif
//tailCtrlSetup();
//ovcamSetup();
/*
//radioReadTrxId(id);
LED_RED = 1; //Red is use an "alive" indicator
LED_GREEN = 0;
LED_YELLOW = 0;
//tiHSetFloat(1,50.0);
//tiHSetFloat(2,75.0);
//tiHSetup();
//LED_GREEN = 1;
//tiHSetFloat(1,.800);
//LED_YELLOW = 1;
//Radio startup verification
//if(phyGetState() == 0x16) { LED_GREEN = 1; }
//Sleeping and low power options
//_VREGS = 1;
//gyroSleep();
//tiHSetFloat(1,98.0);
//tiHSetFloat(2,30.0);
//tiHSetFloat(3,99.0);
//tiHSetFloat(4,99.0);
LED_GREEN = 0;
LED_RED = 0;
LED_YELLOW = 1;
int i = 0;
while (1)
{
delay_ms(2000);
int i = i+1;
LED_GREEN = i%2;
// cmdHandleRadioRxBuffer();
#ifndef __DEBUG //Idle will not work with debug
//Simple idle:
if (radioIsRxQueueEmpty()) {
Idle();
//_T1IE = 0;
}
#endif
//delay_ms(1000);
//cmdEcho(0, 1 , (unsigned char*)(&i) );
//i++;
//if(radioIsRxQueueEmpty() && (t1_ticks >= wakeTime + 5000) ){
//Idle();
//LED_RED = 0;
//gyroSleep();
//Sleep();
//}
}
/*
if(g_radio_duty_cycle){
if(dcCounter == 0){
//LED_GREEN = 1;
atSetRXAACKON();
}else{
//LED_GREEN = 0;
atSetTRXOFF();
}
}
else{
//LED_GREEN = 1;
}
dcCounter = (dcCounter + 1) % 8;
if(radioIsRxQueueEmpty() && !inMotion){
//gyroSleep();
LED_RED = 0;
_SWDTEN = 1; //restart wdt
Sleep();
//Idle();
}
//should be asleep here, waiting for WTD wakeup
ClrWdt(); //clear wdt
_SWDTEN = 0; //software disable wdt
LED_RED = 1;
//spin up clock
if(_COSC != 0b010){
while(OSCCONbits.LOCK!=1);
}
//gyroWake();
}
}
void testRadio(void)
{
//designed to be used with testRadio.py.
//test radio.py should produce many echoes that cycle through the ASCII characters
//comment out all code in main and use test Radio to test the radio only.
//This code does not initialize non-radio-nessisary components.
wakeTime = 0;
dcCounter = 0;
WordVal src_addr_init = {RADIO_SRC_ADDR};
WordVal src_pan_id_init = {RADIO_SRC_PAN_ID};
WordVal dst_addr_init = {RADIO_DST_ADDR};
SetupClock();
SwitchClocks();
SetupPorts();
int old_ipl;
mSET_AND_SAVE_CPU_IP(old_ipl, 1)
swatchSetup();
radioInit(src_addr_init, src_pan_id_init, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL); //Set to my channel
macSetDestAddr(dst_addr_init);
cmdSetup();
LED_GREEN = ON;
int i = 0;
while (1) {
i++;
cmdHandleRadioRxBuffer();
}
LED_RED = OFF;
}*/
}
int main() {
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 1;
LED_2 = 1;
LED_3 = 1;
// Message Passing
fun_queue = carrayCreate(FUN_Q_LEN);
cmdSetup();
// Radio setup
radioInit(RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcAddr(RADIO_SRC_ADDR);
radioSetSrcPanID(RADIO_PAN_ID);
uart_tx_packet = NULL;
uart_tx_flag = 0;
//uartInit(&cmdPushFunc);
tactileInit();
// Need delay for encoders to be ready
delay_ms(100);
amsEncoderSetup();
mpuSetup();
tiHSetup();
dfmemSetup();
telemSetup();
adcSetup();
pidSetup();
LED_1 = 0;
LED_3 = 1;
while(1){
// Send outgoing radio packets
radioProcess();
/*
// Send outgoing uart packets
if(uart_tx_flag) {
uartSendPacket(uart_tx_packet);
uart_tx_flag = 0;
}*/
checkTactileBuffer();
// move received packets to function queue
while (!radioRxQueueEmpty()) {
// Check for unprocessed packet
rx_packet = radioDequeueRxPacket();
if(rx_packet != NULL) {
cmdPushFunc(rx_packet);
}
}
// process commands from function queue
while(!carrayIsEmpty(fun_queue)) {
rx_packet = carrayPopHead(fun_queue);
unsigned int rx_src_addr = rx_packet->src_addr.val;
if(rx_packet != NULL) {
rx_payload = macGetPayload(rx_packet);
if(rx_payload != NULL) {
rx_function = (test_function)(rx_payload->test);
if(rx_function != NULL) {
LED_2 = ~LED_2;
(rx_function)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload), rx_src_addr);
}
}
ppoolReturnFullPacket(rx_packet);
}
}
}
return 0;
}
int main(void) {
//wakeTime = 0;
//dcCounter = 0;
// Processor Initialization
SetupClock();
SwitchClocks();
SetupPorts();
sclockSetup();
LED_1 = 0;
LED_2 = 0;
LED_3 = 0;
cmdSetup();
radioInit(RADIO_TXPQ_MAX_SIZE, RADIO_RXPQ_MAX_SIZE);
radioSetChannel(RADIO_CHANNEL);
radioSetSrcPanID(RADIO_PAN_ID);
radioSetSrcAddr(RADIO_SRC_ADDR);
dfmemSetup();
uint64_t id = dfmemGetUnqiueID();
telemSetup(); //Timer 5, HW priority 4
mpuSetup();
imuSetup(); //Timer 4, HW priority 3
tiHSetup();
adcSetup();
//AMS Encoders
//encSetup();
//"Open Loop" vibration & jitter generator, AP 2014
//olVibeSetup();
legCtrlSetup(); //Timer 1, HW priority 5
steeringSetup(); //Timer 5, HW priority 4
//Tail control is a special case
//tailCtrlSetup();
//Camera is untested with current code base, AP 12/6/2012
//ovcamSetup();
LED_RED = 1; //Red is use an "alive" indicator
LED_GREEN = 0;
LED_YELLOW = 0;
//Radio startup verification
//if (phyGetState() == 0x16) {
// LED_GREEN = 1;
//}
//Sleeping and low power options
//_VREGS = 1;
//gyroSleep();
/////FUNCTION TEST, NOT FOR PRODUCTION
//olVibeStart();
////////////////////
while (1) {
cmdHandleRadioRxBuffer();
radioProcess();
}
}
