/**
*
* @return
*/
int main(void) {
int i, j=0;
uint8_t colourbuf[24][3];//={255,0,127,255,0,127};
Timer3_init();
while(1)
{
for (i = 0; i < 24; i++)
{
colourbuf[i][0] = 0; //R
if (i == j) //G
colourbuf[i][1] = 255;
else
colourbuf[i][1] = 0;
colourbuf[i][2] = 0; //B
}
WS2812_send2(/*(const uint8_t(*)[]) &*/colourbuf, 24);
Delay(2000000L);
if (++j > 24)
j = 0;
}
while (1)
{
myWS2812();
Delay(200000);
}
}
int main(void)
{
StructPMC* pmcbase = PMC_BASE; // Basisadresse PMC
StructPIO* piobaseA = PIOA_BASE; // Basisadresse PIOA
StructPIO* piobaseB = PIOB_BASE; // Basisadresse PIOB
StructAIC* aicbase = AIC_BASE; // Basisadresse AIC
pmcbase->PMC_PCER = 0x6200; //PIOA, PIOB, TIMER3 einschalten
// ab hier entsprechend der Aufgabestellung ergänzen
//**************************************************
piobaseB->PIO_PER = 0x18; // SW1 und SW2 aktivieren
piobaseB->PIO_ODR = 0x18; // SW1 und SW2 als Input definieren
aicbase->AIC_IDCR = 0x4000; //deaktivieren interrupts for PIOB
aicbase->AIC_ICCR = 0x4000; // Löschen der Interrupts
aicbase->AIC_SVR[PIOB_ID] = (unsigned int)taste_irq_handler;
aicbase->AIC_SMR[PIOB_ID] = 0x7;
aicbase->AIC_IECR = 0x4000; //Aktiviere Interrupts an PIOB
piobaseB->PIO_IER = KEY1 | KEY2; //enable Interrupts inerhalb der PIOB
Timer3_init();
while(1);
return 0;
}
void bsp_init(void)
{
SystemInit(); //系统时钟初始化
Timer3_init();
Systick_Init();
LED_GPIO_Config();//LED引脚初始化
Moto_Init(); //电机初始化
I2c_Init(); //IIC初始化
Delay_ms(50);
}
void main_init(){
dashboard_state=DASHBOARD_STATE_STARTING;
ports_init();
Timer0_init(TMR0_PRESCALER);
CANInit();
#if HAS_50HZ|HAS_200HZ|HAS_50HZ
Timer1_init(TMR1_PRESCALER,FALSE);
#endif
#if HAS_10HZ|HAS_5HZ|HAS_4HZ
Timer3_init(TMR3_PRESCALER,FALSE);
#endif
#if HAS_50HZ
TIMER_Timer1_OCR1A_on();
#endif
#if HAS_25HZ
TIMER_Timer1_OCR1B_on();
#endif
#if HAS_200HZ
TIMER_Timer1_OCR1C_on();
#endif
#if HAS_10HZ
TIMER_Timer3_OCR3A_on();
#endif
#if HAS_BUZZER
buzzer_init();
TIMER_Timer3_OCR3C_on();
#endif
#if HAS_LEDS
led_init();
#endif
#if HAS_BUTTONS
button_init();
#endif
#if HAS_DISPLAY
display_init();
#endif
#if HAS_RADIO
radio_init();
#endif
InitWDT();
EventAddEvent(EVENT_INIT);
}
int main(void)
{
m_clockdivide(0);
Timer3_init();//timer for setting delta t for angle value
timer1_init();
m_usb_init();
m_imu_init(2, 3);
sei();
//for motor control-testing
while(1)
{
if (update_angle) {
m_imu_raw(data);
Ax = (float)data[0]*g/accel_scale;
Ay = (float)data[1]*g/accel_scale;
Az = (float)data[2]*g/accel_scale;
Gx = (float)data[3]/gyro_scale;
Gy = (float)data[4]/gyro_scale;
Gz = (float)data[5]/gyro_scale;
// Mx = (float)data[6];
// My = (float)data[7];
// Mz = (float)data[8];
//angle calculation
theta_Ay = (float)Ay*90/g;
angle = alpha*(angle_old + Gx*timestep*5)+ (1-alpha)*theta_Ay;
angle_old = angle;
delta_angle = angle_old + Gx*timestep*5;
integral_angle += angle;
//PID
//output = (Kp*angle) + Kd*(angle - angle_old)*timestep + (Ki*integral_angle*timestep) ;
output = Kp*angle + Kd*Gx*timestep + Ki*integral_angle*timestep;
m_usb_tx_string("\t Ax: ");
m_usb_tx_int(Ax);
m_usb_tx_string("\t Ay: ");
m_usb_tx_int(Ay);
m_usb_tx_string("\t Az: ");
m_usb_tx_int(Az);
m_usb_tx_string("\t Gx: ");
m_usb_tx_int(Gx);
m_usb_tx_string("\t Gy: ");
m_usb_tx_int(Gy);
m_usb_tx_string("\t Gz: ");
m_usb_tx_int(Gz);
m_usb_tx_string("\t angle_Gx: ");
m_usb_tx_int(angle);
m_usb_tx_string("\t output: ");
m_usb_tx_int(output);
m_usb_tx_string("\n");
update_angle = 0;
}
//PID Control
//
//pwm , sensor , whell rotation spd, fbk loop, pwm generate;
//pseudo code to control motor
// initialise timer for motor here, and set OCR1A,OCR1B,OCR1C value based on the speed u want to control the bot.
// go slow or fast, angle less, slow, angle more faster
if (angle > base_angle){//>
//move forward
set(DDRB,6);//set Port B pin 6 for output
clear(PORTB,6); //clear Port B pin 6}
clear(DDRB,7);
flag_foward = 1;
flag_back = 0;
}
if (angle < -base_angle){
//move backwards
set(DDRB,7);//set Port B pin 7 for output
clear(PORTB,7); //clear Port B pin 7
clear(DDRB,6);
flag_back = 1;
flag_foward = 0;
}
//timer1_init();//testing fr working
timer_update();
}
}
