/**********************************************************
* Function: controller
*********************************************************/
void *controller(void *arg)
{
char request[10];
char answer[10];
MIXER_STATE = 0;
TIME_LAST_CHANGE_MIXER = time(NULL);
// Endless loop
memset(request,'\0',10);
memset(answer,'\0',10);
struct timespec timeInit, timeEnd, timeDiff, timePeriod;
timePeriod.tv_sec = (time_t) TIME_SEC_CYCLE_SECONDS;
timePeriod.tv_nsec = (long) TIME_SEC_CYCLE_NANOSECONDS;
while(1) {
// - Lectura de la pendiente actual
if(read_slope(request, answer) == 2) {
printf("Error in read slope");
}
// - Lectura de la velocidad actual
if(read_speed(request, answer) == -1.0) {
//Error
printf("Error in read speed");
}
// - Activar el acelerador
if(gas_turn(request, answer) != 0 ) {
//Error
printf("Error in break. Current value = ");
}
// - Activar el freno
if(break_turn(request, answer) != 0 ) {
//Error
printf("Error in break. Current value = ");
}
// - Activar el Mezclador
if(mixer_turn(request, answer) != 0 ) {
//Error
printf("Error in break. Current value = ");
}
sec_cycle = (sec_cycle + 1) % TOTAL_SEC_CYCLES;
clock_gettime(CLOCK_REALTIME, &timeEnd);
diffTime(timeEnd, timeInit, &timeDiff);
diffTime(timePeriod, timeDiff, &timeDiff);
nanosleep(&timeDiff, NULL);
addTime(timeInit, timePeriod, &timeInit);
}
//return (0);
}
/*
* List Speed of CD-ROM drive.
*/
static void list_speeds(const char *name, int fd)
{
#ifdef CDROM_SELECT_SPEED
int max_speed, curr_speed = 0, prev_speed;
select_speed(fd, 0);
max_speed = read_speed(name);
while (curr_speed < max_speed) {
prev_speed = curr_speed;
select_speed(fd, prev_speed + 1);
curr_speed = read_speed(name);
if (curr_speed > prev_speed)
printf("%d ", curr_speed);
else
curr_speed = prev_speed + 1;
}
printf("\n");
#else
warnx(_("CD-ROM select speed command not supported by this kernel"));
#endif
}
/*
* List Speed of CD-ROM drive.
*/
static void list_speeds(struct eject_control *ctl)
{
#ifdef CDROM_SELECT_SPEED
int max_speed, curr_speed = 0;
select_speed(ctl);
max_speed = read_speed(ctl->device);
while (curr_speed < max_speed) {
ctl->x_arg = curr_speed + 1;
select_speed(ctl);
curr_speed = read_speed(ctl->device);
if (ctl->x_arg < curr_speed)
printf("%d ", curr_speed);
else
curr_speed = ctl->x_arg + 1;
}
printf("\n");
#else
warnx(_("CD-ROM select speed command not supported by this kernel"));
#endif
}
void easy_uart :: print_settings(void)
{
bool ret = false;
std::cout << "UART settings:\n";
ret = read_speed(speed);
if (ret) std::cout << "Speed: " << speed << std::endl;
ret = ! ioctl(fd, GET_UART_SETUP, &LCR);
if (ret)
{
std::cout << "len_word: " << LCR.bit.len_word + 5 << std::endl;
std::cout << "num_stop_bit: " << LCR.bit.num_stop_bit + 1 << std::endl;
std::cout << "parity: ";
if (LCR.bit.parity == 1) std::cout << "YES\n"; else std::cout << "NO\n";
std::cout << "evenparity: ";
if (LCR.bit.evenpar == 1) std::cout << "PARITY\n"; else std::cout << "NO PARITY\n";
std::cout << "sticpar: ";
if (LCR.bit.sticpar == 1) std::cout << "CONST PARITY\n"; else std::cout << "GENERATION\n";
std::cout << "break Control: ";
if (LCR.bit.brcon == 1) std::cout << "YES_BREAK\n"; else std::cout << "NO_BREAK\n";
}
ret = !ioctl(fd, GET_UART_MODE, &mode_fifo);
if (ret)
{
std::cout << "mode: ";
switch(mode_fifo)
{
case 0 : std::cout << "NORM\n"; break;
case 64 : std::cout << "UART 16550\n"; break;
case 192 : std::cout << "UART 16550А\n"; break;
default : std::cout << "unknow\n";
}
}
return;
}
void SPEED(Machine & machine){
machine.stack.push(read_speed());
}
// Main function
void main(void) {
reset_peripheral(); initClock(); initTimer(); initDisplay(); initPin();
initGPIO(); initADC(); initConsole(); int i = 0;
//init_password();
send_data();
initCircBuf (&speed_buffer, BUF_SIZE); init_set_speed_data(&speed_set_data);
int screen = 0; int screen_prev = 0; float speed = 0; float buffed_speed = 0;
int fake_speed = 0; float acc = 0; float max_acc = 0; //float fuel_eco = 0;
float distance = 0;
bool fix = 0; uint8_t satillite = 0; float quality = 0; clock time;
int aim_pos = 0; unsigned long adc = 0; //int error_stepper = 0;
IntMasterEnable();
while(1){
//reading data
read_data = split_data(UART_char_data_old, read_data); // decode data
speed = read_speed(); //read data into variables
adc = run_adc()/7;
//calculations
aim_pos = speed_feedback(buffed_speed, encoder_1/40, speed_set_data.speed);
if (speed_set_data.enable == 1){
step_motor_control(encoder_1/40, aim_pos);
}
//sending fake data
fake_speed = (int)adc;//= random_at_most(100/1.852);
send_info(fake_speed);//knots
//storing data
store_speed(speed);
buffed_speed = analysis_speed();
acc = read_acceleration(buffed_speed);
max_acc = max_acc_func(acc, max_acc);
time = read_time();
satillite = read_satillite();
fix = read_fix();
quality = read_quality();
debounce_button(); // debounce buttons
screen = read_button_screen(screen, fix);
distance = read_distance();
select_read(); //need a mosfet for turning power off
// select adds a an on and off switch yo
if (screen == 1){
if(screen_prev != 1 && screen == 1){
speed_set_data.speed = buffed_speed;
}
speed_set_data.speed = set_speed(speed_set_data.speed); // set the speed to cruise at
}
if (screen == 2){ //0 to 100
acceleration_test(speed);
}
// refresh chainging
if (fix == 1 && speed_set_data.old == speed_set_data.speed && refresh_rate < 4){
UARTSend((unsigned char *)PMTK_SET_NMEA_UPDATE_5HZ, 18, 0);
refresh_rate += 1;
}
if (i >= 50){
display(screen, buffed_speed, acc, max_acc, speed_set_data.speed, satillite,
encoder_1/40, time, distance, quality, UART_char_data_old, aim_pos, adc, acc_times);
i = 0;
}
screen_prev = screen;
i++;
}
}
int main(void)
{
int cnt;
setup_ports();
read_config();
setup_timer();
setup_control();
PORTC = DISABLED;
setup_uart(9600UL);
flags = eeread(FLAGS_START);
ph_u = 0;
ph_v = 24;
ph_w = 12;
pwm_u = 0;
pwm_v = 0;
pwm_w = 0;
sei();
cnt = 0;
while (1) {
register byte i;
if ((flags & FLAG_POT) && cnt == 0)
read_speed();
cnt++;
cnt &= 0x3F;
if (flags & FLAG_GO) {
int8_t cnt_u, cnt_v, cnt_w;
int u_u, u_v, u_w;
/* Disable all phases */
PORTC &= ~((1 << EU) | (1 << EV) | (1 << EW));
/* Wait to turn mosfets off */
_delay_loop_2(delay_num * delay_step);
/* Switch all bridges to HIGH */
PORTC |= ((1<<UU) | (1<<UV) | (1<<UW));
/* Enable all phases */
PORTC |= ((1<<EU) | (1<<EV) | (1<<EW));
//_delay_loop_2(50);
cnt_u = cnt_v = cnt_w = -1;
u_u = u_v = u_w = 1;
for (i = 0; i < MAX_PWM; i++) {
if (i == pwm_u || (i > pwm_u && u_u)) {
CLRBIT(PORTC, EU); // DISABLE U
u_u = 0;
cnt_u = delay_num;
}
if (i == pwm_v || (i > pwm_v && u_v)) {
CLRBIT(PORTC, EV); // DISABLE V
u_v = 0;
cnt_v = delay_num;
}
if (i == pwm_w || (i > pwm_w && u_w)) {
CLRBIT(PORTC, EW); // DISABLE W
u_w = 0;
cnt_w = delay_num;
}
_delay_loop_2(delay_step);
if (cnt_u == 0) {
CLRBIT(PORTC, UU); // Set U to LOW
PORTC |= (1<<EU);
cnt_u = -1;
}
if (cnt_v == 0) {
CLRBIT(PORTC, UV); // Set V to LOW
PORTC |= (1<<EV);
cnt_v = -1;
}
if (cnt_w == 0) {
CLRBIT(PORTC, UW); // Set W to LOW
PORTC |= (1<<EW);
cnt_w = -1;
}
if (cnt_u > 0)
cnt_u--;
if (cnt_v > 0)
cnt_v--;
if (cnt_w > 0)
cnt_w--;
}
} else {
PORTC = DISABLED;
_delay_loop_1(250);
}
}
return 0;
}
