// gsr-20130609-itjin: added 1ms function
void wait_1ms(u16 ms_1)
{
s16 tmp_ms = ms_1 / 10;
u16 delay_cnt = 0;
// Wait over 10ms
if(tmp_ms > 0)
{
wait_10ms(tmp_ms);
}
// Wait 1ms
tmp_ms = ms_1 % 10;
delay_cnt = 100;
while(tmp_ms--)
{
delay_cnt = 100;
while(delay_cnt--);
};
}
/* ===================================================================*/
void set_Mode() {
windowT win;
operating_mode = MODE_BUTTON;
clear_leds(TOPSIDE);
LEDred_SetVal();
LEDgreen_SetVal();
LEDblue_SetVal();
// button pressed
while (! ButtonReleased) {
// wait till button released
wait_10ms(2);
}
if (ButtonLongPressed) {
ButtonLongPressed = FALSE;
// toggle low energy mode
if (energy_mode == ENERGY_LOW || energy_mode == ENERGY_ALWAYS_ON) {
if (energy_mode == ENERGY_LOW) {
energy_mode = ENERGY_STANDARD;
}
set_led(TOPSIDE, LED1, WHITE);
LEDred_ClrVal();
LEDgreen_ClrVal();
LEDblue_ClrVal();
oled_setState(OLED_ON);
} else {
energy_mode = ENERGY_LOW;
set_led(TOPSIDE, LED1, YELLOW);
LEDred_ClrVal();
LEDgreen_ClrVal();
oled_setState(OLED_OFF);
}
write_ledColumn(TOPSIDE);
wait_10ms(100);
clear_leds(TOPSIDE);
LEDred_SetVal();
LEDgreen_SetVal();
LEDblue_SetVal();
write_ledColumn(TOPSIDE);
wait_ledColumn();
ButtonReleased = FALSE;
ButtonPressed = FALSE;
ButtonLongPressed = FALSE;
} else {
// start/stop trip
ButtonPressed = FALSE;
ButtonReleased = FALSE;
if (tripMode == TRIP_STOPPED) {
// stopped -> start trip
tripMode = TRIP_STARTED;
chronoMode = TRIP_STARTED;
set_led(TOPSIDE, LED1, GREEN);
LEDgreen_ClrVal();
} else {
// started (or paused) -> stop trip
tripMode = TRIP_STOPPED;
chronoMode = TRIP_STOPPED;
set_led(TOPSIDE, LED1, RED);
LEDred_ClrVal();
// save the configuration and data
set_params();
save_params();
}
write_ledColumn(TOPSIDE);
wait_10ms(100);
if (ButtonPressed) {
// reset trip
set_led(TOPSIDE, LED1, BLUE);
LEDblue_ClrVal();
LEDred_SetVal();
LEDgreen_SetVal();
write_ledColumn(TOPSIDE);
tripDistance = 0.0;
maxSpeed = 0.0;
avgSpeed = 0.0;
tripElevationGain = 0.0;
maxAltitude = 0.0;
chronoTime = 0.0;
tripTime = 0.0;
while (! ButtonReleased) {
// wait till button released
wait_10ms(2);
}
ButtonPressed = FALSE;
ButtonReleased = FALSE;
ButtonLongPressed = FALSE;
wait_10ms(100);
}
clear_leds(TOPSIDE);
write_ledColumn(TOPSIDE);
wait_ledColumn();
}
operating_mode = NORMAL;
}
/*******************************************************************************
* Function Name : main.
* Description : main routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
int main(void)
{
/* Initialize the Demo */
bsp_init_rcc();
bsp_init_gpio();
bsp_init_interrupt();
#ifdef DEV_KIT_ADC_CONV_TEST
bsp_init_adc();
DMA_Initial();
#endif /* DEV_KIT_ADC_CONV_TEST */
#ifdef DEV_KIT_STEP_MOTOR_TEST
step_motor_enable(DISABLE);
#endif /* DEV_KIT_STEP_MOTOR_TEST */
register_timer_function(timer2ServiceFunction, timer2_event);
#ifdef DEV_KIT_STEP_MOTOR_TEST
register_timer_function(timer3ServiceFunction, isr_left_motor_event);
register_timer_function(timer4ServiceFunction, isr_right_motor_event);
#endif /* DEV_KIT_STEP_MOTOR_TEST */
register_rtc_function(rtcServiceFunction, rtc_event);
bsp_init_timer2();
#ifdef DEV_KIT_STEP_MOTOR_TEST
bsp_init_timer3(DISABLE);
bsp_init_timer4(DISABLE);
#endif /* DEV_KIT_STEP_MOTOR_TEST */
bsp_init_irq_usart1();
//bsp_init_dma_usart1();
// 10msec
wait_10ms(1);
// User LED ON
bsp_led_on(ledUser);
#ifdef DEV_KIT_LED_TEST
//led_rotate_test();
s_satus_led_flag = 1; // Go status led
#endif /* DEV_KIT_LED_TEST */
welcome();
usart1_transmit_string("\r\n*****************************************************************************\r\n");
usart1_transmit_string("User led ( on )\r\n");
usart1_transmit_string("Initialize gpio service.\r\n");
usart1_transmit_string("Start USART1 service on mode interrupt.\r\n");
usart1_transmit_string_format("BaudRate = %d, Databit = %dbit, StopBits = %d, Parity = no, FlowControl = none\r\n", 115200, 8, 1);
usart1_transmit_string("\r\n*****************************************************************************\r\n");
display_menu();
usart1_tx_proc();
#ifdef DEV_KIT_I2C_TOUCH_KEY_TEST
i2c_GPIO_Config();
#endif /* DEV_KIT_I2C_TOUCH_KEY_TEST */
while( 1 )
{
#ifdef DEV_KIT_I2C_TOUCH_KEY_TEST
i2c_Test_Example();
#endif /* DEV_KIT_I2C_TOUCH_KEY_TEST */
#ifdef DEV_KIT_ADC_CONV_TEST
// test_func_adc_conv();
#endif /* DEV_KIT_ADC_CONV_TEST */
if( run_menu_selection() != 0 )
display_menu();
motor_all(3000, ACT_GO_FORWARD, NOT_ADJUSMENT); // 300cm
wait_1ms(2000); // 5seconds
motor_all(3000, ACT_GO_BACKWARD, NOT_ADJUSMENT);
wait_1ms(2000);
motor_all(1000, ACT_GO_FORWARD, ADJUSMENT_FRONT);
wait_1ms(2000);
robot_turn(TURN_LEFT, TURN_90_DEGREE);
wait_1ms(2000);
robot_turn(TURN_RIGHT, TURN_90_DEGREE);
wait_1ms(2000);
motor_all(10000, ACT_GO_FORWARD, SETTING_ONLY);
while((g_left_mot.step_count <= MM_TO_STEP(700)) || (g_right_mot.step_count <= MM_TO_STEP(700)))
{
if(300 < robot_read_sensor(SENSOR_TOP_AD))
{
motor_stop(STOP_EMERGENCY);
break;
}
}
motor_stop(STOP_NORMAL);
wait_1ms(3000);
test_func_robot_turn(TURN_LEFT, 200);
wait_1ms(3000);
test_func_robot_smooth_turn(TURN_LEFT);
wait_1ms(5000);
}
}
