//Main hall effect sensor setup, called from main()
void hallSetup() {
//Init of PID controller objects
int i;
for (i = 0; i < NUM_HALL_PIDS; i++) {
hallInitPIDObjPos(&(hallPIDObjs[i]), DEFAULT_HALL_KP, DEFAULT_HALL_KI,
DEFAULT_HALL_KD, DEFAULT_HALL_KAW, DEFAULT_HALL_FF);
hallPIDObjs[i].minVal = 0;
hallPIDObjs[i].satValNeg = 0;
hallPIDObjs[i].maxVal = FULLTHROT;
hallPIDObjs[i].satValPos = SATTHROT;
}
// Controller to PWM channel correspondance
hallOutputChannels[0] = MC_CHANNEL_PWM1;
hallOutputChannels[1] = MC_CHANNEL_PWM2;
//Init for velocity profile objects
hallInitPIDVelProfile();
//System setup
SetupTimer1();
SetupTimer2(); // used for leg hall effect sensors
SetupInputCapture(); // setup input capture for hall effect sensors
int retval;
retval = sysServiceInstallT1(hallServiceRoutine);
// returns pointer to queue with 8 move entries
hallMoveq = mqInit(8);
hallIdleMove = malloc(sizeof (moveCmdStruct));
hallIdleMove->inputL = 0;
hallIdleMove->inputR = 0;
hallIdleMove->duration = 0;
hallCurrentMove = hallIdleMove;
hallManualMove = malloc(sizeof (moveCmdStruct));
hallManualMove->inputL = 0;
hallManualMove->inputR = 0;
hallManualMove->duration = 0;
lastMoveTime = 0;
// initialize PID structures before starting Timer1
hallPIDSetInput(0, 0, 0);
hallPIDSetInput(1, 0, 0);
for (i = 0; i < NUM_HALL_PIDS; i++) {
hallbemfLast[i] = 0;
hallbemfHist[i][0] = 0;
hallbemfHist[i][1] = 0;
hallbemfHist[i][2] = 0;
}
}
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() {
// LEDs as outputs
DDRC |= (1 << IR_LED_PIN);
DDRC |= (1 << IR_INDICATOR_LED_PIN);
DDRC |= (1 << TIMER_INDICATOR_LED_PIN);
//enable internal pullup resistors
PORTC |= (1 << MODE_SWITCH_PIN);
PORTC |= (1 << POTENTIOMETER_PIN);
PORTD |= (1 << TRIGGER_PIN);
// Pin change interrupt control register - enables interrupt vectors
// Bit 2 = enable PC vector 2 (PCINT23..16)
// Bit 1 = enable PC vector 1 (PCINT14..8)
// Bit 0 = enable PC vector 0 (PCINT7..0)
PCICR |= (1 << PCIE2);
// Pin change mask registers decide which pins are enabled as triggers
PCMSK2 |= (1 << PCINT18);
adc_init();
//start up the serial port
uart_init();
FILE uart_stream = FDEV_SETUP_STREAM(uart_putchar, uart_getchar, _FDEV_SETUP_RW);
stdin = stdout = &uart_stream;
printf_P(PSTR("STARTING\r\n"));
//Check mode switch
if ((PINC & (1 << MODE_SWITCH_PIN)) == 0) {
mode = REMOTE;
blink_timer_led_times(1U);
} else {
mode = INTERVALOMETER;
blink_timer_led_times(2U);
SetupTimer2();
timer_interval_ms = get_interval_ms();
}
delay_ms(500U);
printf_P(PSTR("Mode %u ms\r\n"), mode);
while (1) {
if (mode == INTERVALOMETER) {
set_sleep_mode(SLEEP_MODE_PWR_SAVE);
cli();
sleep_enable();
sei();
sleep_cpu();
sleep_disable();
sei();
if (the_time_ms >= timer_interval_ms) {
the_time_ms = 0UL;
remainder_counter = 0UL;
click();
count_down_ms = 5000UL;
printf_P(PSTR("Waiting for: %lu ms\r\n"), timer_interval_ms);
} else {
//while waiting for next intervalometer click, flash a green LED to show it is still on
if (the_time_ms > 0UL && (count_down_ms <= 0L)) { //turn on every 5 seconds
count_down_ms = 5000UL;
blink_timer_led_times(1U);
}
}
}
else {
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
cli();
sleep_enable();
sei();
sleep_cpu();
sleep_disable();
sei();
}
}
return 0;
}
