int main( void ) {
init_servos();
init_dcmotors( 1 );
/*
* In this case, i is not quite an iterator.
* It counts up from 0 to 255 and then back down.
* The incrementor is used to make this happen.
*/
int8_t i = 0;
int8_t inc = 1;
uint8_t scaled = i;
while( 1 ) {
scaled = i + 128;
update_servos( scaled, scaled, i );
run_dcmotors( i, i );
_delay_ms( 10 );
switch( i ) {
case 127:
inc = -1;
break;
case -127:
inc = 1;
break;
default:
break;
}
i += inc;
}
return 0;
}
void pwm_servo_init(void)
{
// init timer1
TCNT1 = (uint16_t) 0 - 16000;
TCCR1A = 0x00;
TCCR1B = 0x00; // init
TCCR1B |= (1<<CS10); // prescale no ->50hz
TIMSK1 |= _BV(TOIE1);
init_servos();
}
void init() {
Serial.begin(SERIAL_BAUD_RATE); // 115200 by default
Serial.systemDebugOutput(false); // Debug output to serial
// mount spiffs
int slot = rboot_get_current_rom();
if (slot == 0) {
#ifdef RBOOT_SPIFFS_0
debugf("trying to mount spiffs at %x, length %d", RBOOT_SPIFFS_0 + 0x40200000, SPIFF_SIZE);
spiffs_mount_manual(RBOOT_SPIFFS_0 + 0x40200000, SPIFF_SIZE);
#else
debugf("trying to mount spiffs at %x, length %d", 0x40300000, SPIFF_SIZE);
spiffs_mount_manual(0x40300000, SPIFF_SIZE);
#endif
} else {
#ifdef RBOOT_SPIFFS_1
debugf("trying to mount spiffs at %x, length %d", RBOOT_SPIFFS_1 + 0x40200000, SPIFF_SIZE);
spiffs_mount_manual(RBOOT_SPIFFS_1 + 0x40200000, SPIFF_SIZE);
#else
debugf("trying to mount spiffs at %x, length %d", 0x40500000, SPIFF_SIZE);
spiffs_mount_manual(0x40500000, SPIFF_SIZE);
#endif
}
WifiAccessPoint.enable(false);
WifiStation.config(WIFI_SSID, WIFI_PWD);
WifiStation.enable(true);
Serial.printf("\r\nCurrently running rom %d.\r\n", slot);
Serial.println("Type 'help' and press enter for instructions.");
Serial.println();
Serial.commandProcessing(true);
commandHandler.registerCommand(CommandDelegate("ip","show current ip address","user", cmdIP));
commandHandler.registerCommand(CommandDelegate("ota","perform ota update, switch rom and reboot","user", cmdOTA));
commandHandler.registerCommand(CommandDelegate("heap","display free heap","user", cmdAppHeap));
commandHandler.registerCommand(CommandDelegate("ls","list files in spiffs","user", cmdLs));
commandHandler.registerCommand(CommandDelegate("connect","connect to wifi","user", cmdConnect));
commandHandler.registerCommand(CommandDelegate("disconnect","disconnect from wifi","user", cmdConnect));
commandHandler.registerCommand(CommandDelegate("ap","create access point","user", cmdAP));
//Serial.setCallback(serialCallBack);
init_servos();
WifiStation.waitConnection(startWebServer, 30, startAP);
}
int main(void) {
configure_ports();
a2dInit();
a2dSetPrescaler(ADC_PRESCALE_DIV32);
a2dSetReference(ADC_REFERENCE_AVCC);
init_servos();
LED_on();
neutral();
hold_pos();
while (1) {
move_forward();
// sustain_pos();
}
return 0;
}
int
main(int argc, char **argv)
{
pi_usb_init();
wb_init();
wb_set(LIGHTS, 0);
if ((m = maestro_new()) == NULL) {
fprintf(stderr, "Failed to initialize servo controller\n");
exit(1);
}
song = track_new(SONG_WAV);
if (! song) {
perror(SONG_WAV);
exit(1);
}
init_servos();
while (1) {
wb_set(LIGHTS, 0);
rest_servos();
ween2018_wait_until_valid();
ms_sleep(BETWEEN_SONG_MS);
nano_gettime(&start);
wb_set(LIGHTS, 1);
talking_skull_actor_play(lead);
talking_skull_actor_play(backup);
talking_skull_actor_play(bass);
talking_skull_actor_play(triangle);
track_play(song);
}
return 0;
}
void application_main(void)
{
unsigned char toto[2][4]={{0x05,0x01,0x00,0xf0}, // 00000101, 00000001, 00000000, 11110000
{0x0A,0x02,0x00,0xf0}};// 00001010, 00000010, 00000000, 11110000
// Reset the Timer0 value
TMR0H = 0;
TMR0L = 1;
setalim();
init_motors();
setup_adconversion();
init_servos();
init_digitals_in();
init_debug();
init_fdc();
set_fdc((unsigned char *)toto,2);
SET_DEVICE_STATUS(REMOTE_WAKEUP_DIS);
// Interruptions
PIE2bits.USBIE = 0; // Interrupt USB off : on ne touche pas a la gestion de l'USB !!
INTCONbits.PEIE = 1; // Interrupts peripheriques (usb, timer 1...)
INTCONbits.GIE = 1; // Interrupts global
while(usb_active_cfg > 2)
{
usb_sleep();
dispatch_usb_event();
}
cutalim();
PINDEBUG = 0;
verif_fdc(0);
// clear_device_remote_wakeup();
}
void Tracker::init_tracker()
{
// initialise console serial port
serial_manager.init_console();
hal.console->printf("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n",
hal.util->available_memory());
// Check the EEPROM format version before loading any parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial ports
serial_manager.init();
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
gcs[i].set_snoop(mavlink_snoop_static);
}
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
if (g.compass_enabled==true) {
if (!compass.init() || !compass.read()) {
hal.console->println("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
// GPS Initialization
gps.init(NULL, serial_manager);
ahrs.init();
ahrs.set_fly_forward(false);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
init_barometer(true);
// set serial ports non-blocking
serial_manager.set_blocking_writes_all(false);
// initialise servos
init_servos();
// use given start positions - useful for indoor testing, and
// while waiting for GPS lock
// sanity check location
if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
current_loc.lat = g.start_latitude * 1.0e7f;
current_loc.lng = g.start_longitude * 1.0e7f;
gcs_send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
}
// see if EEPROM has a default location as well
if (current_loc.lat == 0 && current_loc.lng == 0) {
get_home_eeprom(current_loc);
}
init_capabilities();
gcs_send_text(MAV_SEVERITY_INFO,"Ready to track");
hal.scheduler->delay(1000); // Why????
set_mode(AUTO); // tracking
if (g.startup_delay > 0) {
// arm servos with trim value to allow them to start up (required
// for some servos)
prepare_servos();
}
}
void Tracker::init_tracker()
{
// initialise console serial port
serial_manager.init_console();
hal.console->printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n"),
hal.util->available_memory());
// Check the EEPROM format version before loading any parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial ports
serial_manager.init();
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// init the GCS and start snooping for vehicle data
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
gcs[0].set_snoop(mavlink_snoop_static);
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// setup serial port for telem1 and start snooping for vehicle data
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
gcs[1].set_snoop(mavlink_snoop_static);
#if MAVLINK_COMM_NUM_BUFFERS > 2
// setup serial port for telem2 and start snooping for vehicle data
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
gcs[2].set_snoop(mavlink_snoop_static);
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
// setup serial port for fourth telemetry port (not used by default) and start snooping for vehicle data
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
gcs[3].set_snoop(mavlink_snoop_static);
#endif
mavlink_system.sysid = g.sysid_this_mav;
if (g.compass_enabled==true) {
if (!compass.init() || !compass.read()) {
hal.console->println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
// GPS Initialization
gps.init(NULL, serial_manager);
ahrs.init();
ahrs.set_fly_forward(false);
ins.init(AP_InertialSensor::WARM_START, ins_sample_rate);
ahrs.reset();
init_barometer();
// set serial ports non-blocking
serial_manager.set_blocking_writes_all(false);
// initialise servos
init_servos();
// use given start positions - useful for indoor testing, and
// while waiting for GPS lock
current_loc.lat = g.start_latitude * 1.0e7f;
current_loc.lng = g.start_longitude * 1.0e7f;
// see if EEPROM has a default location as well
if (current_loc.lat == 0 && current_loc.lng == 0) {
get_home_eeprom(current_loc);
}
gcs_send_text_P(SEVERITY_LOW,PSTR("\nReady to track."));
hal.scheduler->delay(1000); // Why????
set_mode(AUTO); // tracking
if (g.startup_delay > 0) {
// arm servos with trim value to allow them to start up (required
// for some servos)
prepare_servos();
}
// calibrate pressure on startup by default
nav_status.need_altitude_calibration = true;
}
