//-----------------------------------------------------------------------------
// Init_Device
//-----------------------------------------------------------------------------
//
// Return Value : None
// Parameters : None
//
// Calls all device initialization functions.
//
//-----------------------------------------------------------------------------
void Init_Device (void)
{
Watchdog_Init (); // Disable the Watchdog Timer first
Oscillator_Init ();
Port_Init ();
SPI0_Init ();
}
void Nrf_Spi0_Init(void)
{
SPI0_Init();
NRF24l01_CE_Init
NRF24l01_CSN_Init
NRF24l01_IQR_Init
}
void main()
{
unsigned int i;
WDTCN=0xDE;
WDTCN=0xAD;
SYSCLK_Init();
PORT_Init();
SPI0_Init();
Mp3Reset();
P7 &= ~0x40;
for (i = 0; i < 15000; ++i)
send_dat(music[i]);
flush_buffer();
while(1);
}
// init - initialise sensor
// initCommAPI parameter controls whether SPI interface is initialised (set to false if other devices are on the SPI bus and have already initialised the interface)
boolean initOF()
{
int retry = 0;
digitalWrite(CSPIN,HIGH); // disable device (Chip select is active low)
SPI0_Init();
// reset the device
//reset();
// check the sensor is functioning
if( retry < 3 ) {
if( read_register(ADNS3080_PRODUCT_ID) == 0x17 )
return true;
retry++;
}
return false;
}
void Peripherals_Init(void)
{
#ifdef NVIC_AUTOINIT
NVIC_Init();
#endif /* NVIC_AUTOINIT */
#ifdef SIM_AUTOINIT
SIM_Init();
#endif /* SIM_AUTOINIT */
#ifdef MCM_AUTOINIT
MCM_Init();
#endif /* MCM_AUTOINIT */
#ifdef PMC_AUTOINIT
PMC_Init();
#endif /* PMC_AUTOINIT */
#ifdef PORTA_AUTOINIT
PORTA_Init();
#endif /* PORTA_AUTOINIT */
#ifdef PORTB_AUTOINIT
PORTB_Init();
#endif /* PORTB_AUTOINIT */
#ifdef PORTC_AUTOINIT
PORTC_Init();
#endif /* PORTC_AUTOINIT */
#ifdef PORTD_AUTOINIT
PORTD_Init();
#endif /* PORTD_AUTOINIT */
#ifdef PORTE_AUTOINIT
PORTE_Init();
#endif /* PORTE_AUTOINIT */
#ifdef ADC0_AUTOINIT
ADC0_Init();
#endif /* ADC0_AUTOINIT */
#ifdef ADC1_AUTOINIT
ADC1_Init();
#endif /* ADC1_AUTOINIT */
#ifdef AIPS0_AUTOINIT
AIPS0_Init();
#endif /* AIPS0_AUTOINIT */
#ifdef AIPS1_AUTOINIT
AIPS1_Init();
#endif /* AIPS1_AUTOINIT */
#ifdef AXBS_AUTOINIT
AXBS_Init();
#endif /* AXBS_AUTOINIT */
#ifdef CAN0_AUTOINIT
CAN0_Init();
#endif /* CAN0_AUTOINIT */
#ifdef CMP0_AUTOINIT
CMP0_Init();
#endif /* CMP0_AUTOINIT */
#ifdef CMP1_AUTOINIT
CMP1_Init();
#endif /* CMP1_AUTOINIT */
#ifdef CMP2_AUTOINIT
CMP2_Init();
#endif /* CMP2_AUTOINIT */
#ifdef CMT_AUTOINIT
CMT_Init();
#endif /* CMT_AUTOINIT */
#ifdef CRC_AUTOINIT
CRC_Init();
#endif /* CRC_AUTOINIT */
#ifdef DAC0_AUTOINIT
DAC0_Init();
#endif /* DAC0_AUTOINIT */
#ifdef DMAMUX_AUTOINIT
DMAMUX_Init();
#endif /* DMAMUX_AUTOINIT */
#ifdef DMA_AUTOINIT
DMA_Init();
#endif /* DMA_AUTOINIT */
#ifdef ENET_AUTOINIT
ENET_Init();
#endif /* ENET_AUTOINIT */
#ifdef EWM_AUTOINIT
EWM_Init();
#endif /* EWM_AUTOINIT */
#ifdef FB_AUTOINIT
FB_Init();
#endif /* FB_AUTOINIT */
#ifdef FMC_AUTOINIT
FMC_Init();
#endif /* FMC_AUTOINIT */
#ifdef FTFE_AUTOINIT
FTFE_Init();
#endif /* FTFE_AUTOINIT */
#ifdef FTM0_AUTOINIT
FTM0_Init();
#endif /* FTM0_AUTOINIT */
#ifdef FTM1_AUTOINIT
FTM1_Init();
#endif /* FTM1_AUTOINIT */
#ifdef FTM2_AUTOINIT
FTM2_Init();
#endif /* FTM2_AUTOINIT */
#ifdef FTM3_AUTOINIT
FTM3_Init();
#endif /* FTM3_AUTOINIT */
#ifdef I2C0_AUTOINIT
I2C0_Init();
#endif /* I2C0_AUTOINIT */
#ifdef I2C1_AUTOINIT
I2C1_Init();
#endif /* I2C1_AUTOINIT */
#ifdef I2C2_AUTOINIT
I2C2_Init();
#endif /* I2C2_AUTOINIT */
#ifdef I2S0_AUTOINIT
I2S0_Init();
#endif /* I2S0_AUTOINIT */
#ifdef LLWU_AUTOINIT
LLWU_Init();
#endif /* LLWU_AUTOINIT */
#ifdef LPTMR0_AUTOINIT
LPTMR0_Init();
#endif /* LPTMR0_AUTOINIT */
#ifdef MPU_AUTOINIT
MPU_Init();
#endif /* MPU_AUTOINIT */
#ifdef PDB0_AUTOINIT
PDB0_Init();
#endif /* PDB0_AUTOINIT */
#ifdef PIT_AUTOINIT
PIT_Init();
#endif /* PIT_AUTOINIT */
#ifdef PTA_AUTOINIT
PTA_Init();
#endif /* PTA_AUTOINIT */
#ifdef PTB_AUTOINIT
PTB_Init();
#endif /* PTB_AUTOINIT */
#ifdef PTC_AUTOINIT
PTC_Init();
#endif /* PTC_AUTOINIT */
#ifdef PTD_AUTOINIT
PTD_Init();
#endif /* PTD_AUTOINIT */
#ifdef PTE_AUTOINIT
PTE_Init();
#endif /* PTE_AUTOINIT */
#ifdef RCM_AUTOINIT
RCM_Init();
#endif /* RCM_AUTOINIT */
#ifdef RNG_AUTOINIT
RNG_Init();
#endif /* RNG_AUTOINIT */
#ifdef RTC_AUTOINIT
RTC_Init();
#endif /* RTC_AUTOINIT */
#ifdef SDHC_AUTOINIT
SDHC_Init();
#endif /* SDHC_AUTOINIT */
#ifdef SMC_AUTOINIT
SMC_Init();
#endif /* SMC_AUTOINIT */
#ifdef SPI0_AUTOINIT
SPI0_Init();
#endif /* SPI0_AUTOINIT */
#ifdef SPI1_AUTOINIT
SPI1_Init();
#endif /* SPI1_AUTOINIT */
#ifdef SPI2_AUTOINIT
SPI2_Init();
#endif /* SPI2_AUTOINIT */
#ifdef SystemControl_AUTOINIT
SystemControl_Init();
#endif /* SystemControl_AUTOINIT */
#ifdef SysTick_AUTOINIT
SysTick_Init();
#endif /* SysTick_AUTOINIT */
#ifdef UART0_AUTOINIT
UART0_Init();
#endif /* UART0_AUTOINIT */
#ifdef UART1_AUTOINIT
UART1_Init();
#endif /* UART1_AUTOINIT */
#ifdef UART2_AUTOINIT
UART2_Init();
#endif /* UART2_AUTOINIT */
#ifdef UART3_AUTOINIT
UART3_Init();
#endif /* UART3_AUTOINIT */
#ifdef UART4_AUTOINIT
UART4_Init();
#endif /* UART4_AUTOINIT */
#ifdef UART5_AUTOINIT
UART5_Init();
#endif /* UART5_AUTOINIT */
#ifdef USB0_AUTOINIT
USB0_Init();
#endif /* USB0_AUTOINIT */
#ifdef USBDCD_AUTOINIT
USBDCD_Init();
#endif /* USBDCD_AUTOINIT */
#ifdef VREF_AUTOINIT
VREF_Init();
#endif /* VREF_AUTOINIT */
#ifdef WDOG_AUTOINIT
WDOG_Init();
#endif /* WDOG_AUTOINIT */
}
/**
* @brief 初始化SD相关的引脚和设备。SD的片选接到PE12
* @param
* @retval None
*/
void SD_SPI_Init(void)
{
/* 初始化SPI0 */
SPI0_Init();
}
void main (void)
{
int reflection,LDs_count,omron_count,angel;
int old_fix,fix,left,right;
unsigned char reflect,status,k;
char old_flag,flag;
WDTCN = 0xDE; // disable watchdog timer
WDTCN = 0xAD;
SYSCLK_Init (); // Initialize system clock to 16MHz
ExtCrystalOsc_Init (); // switch system clock
Port_Init (); // Initialize crossbar and GPIO
SPI0_Init();
LED_Init(); // Initialize OLED
Sensors_Init();
Rudder_Init();
Motor_Init();
Measurement_Init();
Test_Helper_Init();
EA = 1; // Enable global interrupts
CR = 1; // start to output PWM
P31 = 1;
PUT_LINE("OMRON:",omron_count);
PUT_LINE("reflection:",reflection);
PUT_LINE("LDs_count:",LDs_count);
PUT_LINE("Tunnel1:",tunnel_length[0]);
PUT_LINE("Tunnel2:",0);
PUT_LINE("Tunnel3:",0);
//PUT_LINE("angel:",angel);
//PUT_LINE("fix:",fix);
while (1) { // Spin forever
DIRECTION = 0;
PCA0CPH1 = 0xE0;
flag = 0;
while (1) {
// dectecting
reflect = get_LD_reflection();
old_flag = flag;
flag = 0;
// conner emergency
if(reflect < 25){
if(!LEFT3 && RIGHT3)
flag = 1;
if(!RIGHT3 && LEFT3)
flag = -1;
if(flag)
break;
}
// go straight forward:
if(!LEFT1 || !LEFT2 || !LEFT3)
flag = 1;
if(!RIGHT1 && LEFT2)
flag = -1;
if(!RIGHT2 && LEFT3)
flag = -1;
if(!RIGHT3)
flag = -1;
k = 7;
if(reflect > 50){
k = 10;
}
if(reflect > 85){
if(flag > 0)
if(++left > 32766)
{
left = left - right;
right = 0;
}
if(flag < 0)
if(++right > 32766)
{
right = right - left;
left = 0;
}
old_fix = fix;
fix = left - right;
if(fix > 20)
fix = 20;
if(fix < -20)
fix = -20;
fix = ((fix + RUDDER_FIX) + old_fix)/2;
}
//UPDATE_VALUE(5,fix);
if(MAX_REFLECTION > reflect)
angel = MAX_REFLECTION - reflect;
else
angel = 0;
angel = flag * k * angel / 10 + fix;
//UPDATE_VALUE(4,angel);
set_angel(angel);
// debug info
omron_count = Get_OMRON_Count();
reflection = get_LD_reflection();
LDs_count = TL1 + LD2_count;
UPDATE_VALUE(0,omron_count);
UPDATE_VALUE(1,reflection);
UPDATE_VALUE(2,LDs_count/3);
tmp = tunnel_length[1] * 464 / 1683;
UPDATE_VALUE(3,tmp);
tmp = tunnel_length[2] * 464 / 1683;
UPDATE_VALUE(4,tmp);
tmp = tunnel_length[3] * 464 / 1683;
UPDATE_VALUE(5,tmp);
}
reflect = get_LD_reflection();
if(reflect < 10){ // 60 degree
PCA0CPH1 = 0xB8;
set_angel(flag * 127);
Clear_OMRON_Count();
while(omron_count <= 300);
while(1){
if(flag > 0 && !LEFT1) {
while(!RIGHT1);
break;
}
if(flag < 0 && !RIGHT1) {
while(!LEFT1);
break;
}
}
}else{
// 90 degree
DIRECTION = 1;
PCA0CPH1 = 0x38;
Clear_OMRON_Count();
set_angel(-flag * 127);
while(1){
omron_count = Get_OMRON_Count();
UPDATE_VALUE(0,omron_count);
if(omron_count >= 410) //1062
break;
}
DIRECTION = 0;
PCA0CPH1 = 0xB8;
//Clear_OMRON_Count();
set_angel(flag * 127);
// escape from conner
while(1){
if(flag > 0 && !LEFT1){
while(!RIGHT1);
break;
}
if(flag < 0 && !RIGHT1){
while(!LEFT1);
break;
} // if
} // while
} // if else: 60 or 90 degree
} // main loop
} // main
void Peripherals_Init(void)
{
#ifdef NVIC_AUTOINIT
NVIC_Init();
#endif /* NVIC_AUTOINIT */
#ifdef SIM_AUTOINIT
SIM_Init();
#endif /* SIM_AUTOINIT */
#ifdef MCM_AUTOINIT
MCM_Init();
#endif /* MCM_AUTOINIT */
#ifdef PMC_AUTOINIT
PMC_Init();
#endif /* PMC_AUTOINIT */
#ifdef PORTA_AUTOINIT
PORTA_Init();
#endif /* PORTA_AUTOINIT */
#ifdef PORTB_AUTOINIT
PORTB_Init();
#endif /* PORTB_AUTOINIT */
#ifdef PORTC_AUTOINIT
PORTC_Init();
#endif /* PORTC_AUTOINIT */
#ifdef PORTD_AUTOINIT
PORTD_Init();
#endif /* PORTD_AUTOINIT */
#ifdef PORTE_AUTOINIT
PORTE_Init();
#endif /* PORTE_AUTOINIT */
#ifdef ADC0_AUTOINIT
ADC0_Init();
#endif /* ADC0_AUTOINIT */
#ifdef ADC1_AUTOINIT
ADC1_Init();
#endif /* ADC1_AUTOINIT */
#ifdef CMP0_AUTOINIT
CMP0_Init();
#endif /* CMP0_AUTOINIT */
#ifdef CMP1_AUTOINIT
CMP1_Init();
#endif /* CMP1_AUTOINIT */
#ifdef CRC_AUTOINIT
CRC_Init();
#endif /* CRC_AUTOINIT */
#ifdef DAC0_AUTOINIT
DAC0_Init();
#endif /* DAC0_AUTOINIT */
#ifdef DMAMUX_AUTOINIT
DMAMUX_Init();
#endif /* DMAMUX_AUTOINIT */
#ifdef DMA_AUTOINIT
DMA_Init();
#endif /* DMA_AUTOINIT */
#ifdef EWM_AUTOINIT
EWM_Init();
#endif /* EWM_AUTOINIT */
#ifdef FTFA_AUTOINIT
FTFA_Init();
#endif /* FTFA_AUTOINIT */
#ifdef FTM0_AUTOINIT
FTM0_Init();
#endif /* FTM0_AUTOINIT */
#ifdef FTM1_AUTOINIT
FTM1_Init();
#endif /* FTM1_AUTOINIT */
#ifdef FTM2_AUTOINIT
FTM2_Init();
#endif /* FTM2_AUTOINIT */
#ifdef GPIOA_AUTOINIT
GPIOA_Init();
#endif /* GPIOA_AUTOINIT */
#ifdef GPIOB_AUTOINIT
GPIOB_Init();
#endif /* GPIOB_AUTOINIT */
#ifdef GPIOC_AUTOINIT
GPIOC_Init();
#endif /* GPIOC_AUTOINIT */
#ifdef GPIOD_AUTOINIT
GPIOD_Init();
#endif /* GPIOD_AUTOINIT */
#ifdef GPIOE_AUTOINIT
GPIOE_Init();
#endif /* GPIOE_AUTOINIT */
#ifdef I2C0_AUTOINIT
I2C0_Init();
#endif /* I2C0_AUTOINIT */
#ifdef LLWU_AUTOINIT
LLWU_Init();
#endif /* LLWU_AUTOINIT */
#ifdef LPTMR0_AUTOINIT
LPTMR0_Init();
#endif /* LPTMR0_AUTOINIT */
#ifdef PDB0_AUTOINIT
PDB0_Init();
#endif /* PDB0_AUTOINIT */
#ifdef RCM_AUTOINIT
RCM_Init();
#endif /* RCM_AUTOINIT */
#ifdef SMC_AUTOINIT
SMC_Init();
#endif /* SMC_AUTOINIT */
#ifdef SPI0_AUTOINIT
SPI0_Init();
#endif /* SPI0_AUTOINIT */
#ifdef SystemControl_AUTOINIT
SystemControl_Init();
#endif /* SystemControl_AUTOINIT */
#ifdef SysTick_AUTOINIT
SysTick_Init();
#endif /* SysTick_AUTOINIT */
#ifdef UART0_AUTOINIT
UART0_Init();
#endif /* UART0_AUTOINIT */
#ifdef UART1_AUTOINIT
UART1_Init();
#endif /* UART1_AUTOINIT */
#ifdef WDOG_AUTOINIT
WDOG_Init();
#endif /* WDOG_AUTOINIT */
}
