/*-------------------------------------------------------------------------------------------------------------------------------*/
void LIN_SendHeaderUsingLinCtlReg(uint32_t u32id, uint32_t u32HeaderSel)
{
g_i32pointer = 0 ;
/* Switch back to LIN Function */
UART1->FUN_SEL = UART_FUNC_SEL_LIN;
/* Set LIN 1. PID as 0x30 [UART_LIN_CTL_LIN_LIN_PID(0x30)]
2. Header select as includes "break field", "sync field" and "frame ID field".[UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC_ID]
3. Break/Sync Delimiter Length as 1 bit time [UART_LIN_CTL_LIN_BS_LEN(1)]
4. Break Field Length as 12 bit time [UART_LIN_CTL_LIN_BKFL(12)]
5. ID Parity Enable. Hardware will calculate and fill P0/P1 automatically [UART_LIN_CTL_LIN_IDPEN_Msk]
*/
if(u32HeaderSel == UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC_ID) {
UART1->LIN_CTL = UART_LIN_CTL_LIN_LIN_PID(u32id) | UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC_ID |
UART_LIN_CTL_LIN_BS_LEN(1) | UART_LIN_CTL_LIN_BKFL(12) | UART_LIN_CTL_LIN_IDPEN_Msk;
/* LIN TX Send Header Enable */
UART1->LIN_CTL |= UART_LIN_CTL_LIN_SHD_Msk;
/* Wait until break field, sync field and ID field transfer completed */
while((UART1->LIN_CTL & UART_LIN_CTL_LIN_SHD_Msk) == UART_LIN_CTL_LIN_SHD_Msk);
}
/* Set LIN 1. Header select as includes "break field" and "sync field".[UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC]
2. Break/Sync Delimiter Length as 1 bit time [UART_LIN_CTL_LIN_BS_LEN(1)]
3. Break Field Length as 12 bit time [UART_LIN_CTL_LIN_BKFL(12)]
*/
else if(u32HeaderSel == UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC) {
UART1->LIN_CTL = UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC | UART_LIN_CTL_LIN_BS_LEN(1) | UART_LIN_CTL_LIN_BKFL(12);
/* LIN TX Send Header Enable */
UART1->LIN_CTL |= UART_LIN_CTL_LIN_SHD_Msk;
/* Wait until break field and sync field transfer completed */
while((UART1->LIN_CTL & UART_LIN_CTL_LIN_SHD_Msk) == UART_LIN_CTL_LIN_SHD_Msk);
/* Send ID field, g_u8SendData[0] is ID+parity field*/
g_u8SendData[g_i32pointer++] = GetParityValue(u32id); // ID+Parity Field
UART_Write(UART1, g_u8SendData, 1);
}
/* Set LIN 1. Header select as includes "break field".[UART_LIN_CTL_LIN_HEAD_SEL_BREAK]
2. Break/Sync Delimiter Length as 1 bit time [UART_LIN_CTL_LIN_BS_LEN(1)]
3. Break Field Length as 12 bit time [UART_LIN_CTL_LIN_BKFL(12)]
*/
else if(u32HeaderSel == UART_LIN_CTL_LIN_HEAD_SEL_BREAK) {
UART1->LIN_CTL = UART_LIN_CTL_LIN_HEAD_SEL_BREAK | UART_LIN_CTL_LIN_BS_LEN(1) | UART_LIN_CTL_LIN_BKFL(12);
/* LIN TX Send Header Enable */
UART1->LIN_CTL |= UART_LIN_CTL_LIN_SHD_Msk;
/* Wait until break field transfer completed */
while((UART1->LIN_CTL & UART_LIN_CTL_LIN_SHD_Msk) == UART_LIN_CTL_LIN_SHD_Msk);
/* Send sync field and ID field*/
g_u8SendData[g_i32pointer++] = 0x55 ; // SYNC Field
g_u8SendData[g_i32pointer++] = GetParityValue(u32id); // ID+Parity Field
UART_Write(UART1, g_u8SendData, 2);
}
}
/**
* @brief Write a string to the USART
* @param String: The string to write
* @retval None
*/
void UART_WriteString(const char *String)
{
while (*String != 0x00)
{
UART_Write(*String++);
}
}
/**
* @brief Write a string to the USART from FLASH memory
* @param String: The string to write located in FLASH
* @retval None
*/
void UART_WriteString_P(const char *String)
{
while (pgm_read_byte(String) != 0x00)
{
UART_Write(pgm_read_byte(String++));
}
}
void UART_Send_Char(void)
{
lsx_percent = (int)(lsx*(3.40/4095)*100/3.40);
lsy_percent = (int)(lsy*3.4/4095*100/3.4);
rsx_percent = (int)(rsx*3.4/4095*100/3.4);
rsy_percent = (int)(rsy*3.4/4095*100/3.4);
int lsx_loc = Generate_Section(lsx_percent, 'x');
int lsy_loc = Generate_Section(lsy_percent, 'y');
int rsx_loc = Generate_Section(rsx_percent, 'x');
int rsy_loc = Generate_Section(rsy_percent, 'y');
int l_index = alpha_index[lsy_loc][lsx_loc];
int r_index = alpha_index[rsy_loc][rsx_loc];
if ((l_index == -1) || (r_index == -1)) {
//UART_Write('_');
current_char = '\0';
return;
}
if (current_char != '\0') {
return;
}
current_char = alphabet[r_index][l_index];
if (lsx > 50 && rsx > 50)
{
UART_Write(current_char);
}
}
void UART_Write_Text(const char *text)
{
int i;
for(i=0;text[i]!='\0';i++)
UART_Write(text[i]);
}
void RS485_SendDataByte(uint8_t *pu8TxBuf, uint32_t u32WriteBytes)
{
/* Set UART parity as SPACE and skip baud rate setting */
UART_SetLine_Config(UART1, 0, UART_WORD_LEN_8, UART_PARITY_SPACE, UART_STOP_BIT_1);
/* Send data */
UART_Write(UART1, pu8TxBuf, u32WriteBytes);
}
/*---------------------------------------------------------------------------------------------------------*/
void LIN_SendResponse(int32_t checkSumOption,uint32_t *pu32TxBuf)
{
int32_t i32;
for(i32=0;i32<8;i32++)
g_u8SendData[g_i32pointer++] = pu32TxBuf[i32] ;
g_u8SendData[g_i32pointer++] = GetCheckSumValue(g_u8SendData,checkSumOption) ; //CheckSum Field
UART_Write(UART1,g_u8SendData+2,9);
}
/*---------------------------------------------------------------------------------------------------------*/
void LIN_SendHeader(uint32_t u32id)
{
g_i32pointer = 0 ;
/* Set LIN operation mode, Tx mode and break field length is 12 bits */
UART_SelectLINMode(UART1, UART_ALT_CSR_LIN_TX_EN_Msk, 10);
g_u8SendData[g_i32pointer++] = 0x55 ; // SYNC Field
g_u8SendData[g_i32pointer++] = GetParityValue(u32id); // ID+Parity Field
UART_Write(UART1, g_u8SendData, 2);
}
/*******************************************************************************
函 数 名： UART_Send
功能说明： 串口数据发送
参 数： *data: 要发送的数内容
len : 数据长度
返 回 值： 发送结果 TRUE/FALSE
*******************************************************************************/
u8 UART_Send(u8 *data, u8 len, u8 level)
{
while (len--)
{
if (!UART_Write(*data++))
{
UART_Init(72, 9600);
}
}
return TRUE;
}
void LIN_SendHeader(uint32_t u32id)
{
g_i32pointer =0 ;
/* Switch back to LIN Function */
_UART_SEL_FUNC(UART1,UART_FUNC_SEL_LIN);
_UART_SET_LIN_TXMODE(UART1,11);
g_u8SendData[g_i32pointer++] = 0x55 ; // SYNC Field
g_u8SendData[g_i32pointer++] = GetParityValue(u32id); // ID+Parity Field
UART_Write(UART1,g_u8SendData,2);
}
/*---------------------------------------------------------------------------------------------------------*/
void LIN_MasterTestUsingLinCtlReg(uint32_t u32id, uint32_t u32ModeSel)
{
uint8_t au8TestPattern[9] = {0x1, 0x2, 0x3, 0x4, 0x5, 0x6, 0x7, 0x8, 0x0}; // 8 data byte + 1 byte checksum
uint32_t i;
if(u32ModeSel == MODE_CLASSIC) {
/* Send break+sync+ID */
LIN_SendHeaderUsingLinCtlReg(u32id, UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC_ID);
/* Compute checksum without ID and fill checksum value to au8TestPattern[8] */
au8TestPattern[8] = ComputeChksumValue(&au8TestPattern[0], 8);
UART_Write(UART1, &au8TestPattern[0], 9);
} else if(u32ModeSel == MODE_ENHANCED) {
/* Send break+sync+ID and fill ID value to g_u8SendData[0]*/
LIN_SendHeaderUsingLinCtlReg(u32id, UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC);
/* Fill test pattern to g_u8SendData[1]~ g_u8SendData[8] */
for(i = 0; i < 8; i++)
g_u8SendData[g_i32pointer++] = au8TestPattern[i];
/* Compute checksum value with ID and fill checksum value to g_u8SendData[9] */
g_u8SendData[g_i32pointer++] = ComputeChksumValue(&g_u8SendData[0], 9) ;
UART_Write(UART1, &g_u8SendData[1], 9);
}
}
void main(void)
{
char rom_data[7];
//setup UART
UART1_Init(9600); //setup UART for 9600bps comm
UART1_Write_Text("mikroC EEPROM TEST\n");
//write to EEPROM
EEPROM_Write(0, '1'); //write data
Delay_ms(20); //needed to ensure correct write/read
EEPROM_Write(1, '2'); //write data
Delay_ms(20); //needed to ensure correct write/read
EEPROM_Write(2, '3'); //write data
Delay_ms(20); //needed to ensure correct write/read
//Read from EEPROM
IntToStr((int)EEPROM_Read(0), rom_data); //read data
UART1_Write_Text("EEPROM Data : ");
UART1_Write_Text(rom_data);
UART_Write('\n');
Delay_ms(20); //needed to ensure correct write/read
IntToStr((int)EEPROM_Read(1), rom_data); //read data
UART1_Write_Text("EEPROM Data : ");
UART1_Write_Text(rom_data);
UART_Write('\n');
Delay_ms(20); //needed to ensure correct write/read
IntToStr((int)EEPROM_Read(2), rom_data); //read data
UART1_Write_Text("EEPROM Data : ");
UART1_Write_Text(rom_data);
UART_Write('\n');
Delay_ms(20); //needed to ensure correct write/read
while(1);
}
int uart0write_(const char *buf, size_t len)
{
#if defined(TARGET_LPC23xx)
// DMA currently doesn't work on the LPC23xx
UART_WriteUnbuffered(uart0, buf, len);
#else
const char *tmp = buf;
do
{
tmp += UART_Write(uart0, tmp, (buf + len) - tmp);
}
while (tmp < (buf + len));
#endif
return len;
}
/*---------------------------------------------------------------------------------------------------------*/
void LIN_SendResponseWithByteCnt(int32_t checkSumOption, uint32_t *pu32TxBuf, uint32_t u32ByteCnt)
{
int32_t i32;
/* Prepare data */
for(i32 = 0; i32 < u32ByteCnt; i32++)
g_u8SendData[g_i32pointer++] = pu32TxBuf[i32] ;
/* Prepare check sum */
if(checkSumOption == MODE_CLASSIC)
g_u8SendData[g_i32pointer++] = GetCheckSumValue(&g_u8SendData[2], u32ByteCnt) ; //CheckSum Field
else if(checkSumOption == MODE_ENHANCED)
g_u8SendData[g_i32pointer++] = GetCheckSumValue(&g_u8SendData[1], (u32ByteCnt + 1)) ; //CheckSum Field
/* Send data and check sum */
UART_Write(UART1, g_u8SendData + 2, 9);
}
/*******************************************************************
函 数 名： UART_Send
功能说明： 串口数据发送
参 数： *data: 要发送的数内容
len : 数据长度
level: 串口选择
返 回 值： 发送结果 TRUE/FALSE
*******************************************************************/
u8 UART_Send(u8 *data, u8 len, u8 level)
{
// u8 a[20] = {0};
// u8 i = 0;
// for(i=0;i<len;i++)
// {
// a[i] = data[i];
// }
while (len--)
{
if (!UART_Write(*data++))
{
// UART_Init(72, 115200);
}
}
return TRUE;
}
void Usart_Init(void)
{
/* Enable IP clock */
CLK_EnableModuleClock(UART3_MODULE);
/* Select IP clock source */
CLK_SetModuleClock(UART3_MODULE, CLK_CLKSEL1_UARTSEL_HIRC , CLK_CLKDIV0_UART(1));
/* Set GPD multi-function pins for UART3 RXD and TXD */
SYS->GPD_MFPL |= SYS_GPD_MFPL_PD4MFP_UART3_RXD | SYS_GPD_MFPL_PD5MFP_UART3_TXD ;
GPIO_SetMode(PD, 5, GPIO_MODE_OUTPUT);
GPIO_SetMode(PD, 4, GPIO_MODE_INPUT);
UART_Open(UART3, 9600);
// UART_DisableFlowCtrl(UART3);
//UART_SetLine_Config(UART3, 115200, UART_WORD_LEN_8,UART_PARITY_NONE,UART_STOP_BIT_1);
// UART_EnableInt(UART3, UART_INTEN_RDAIEN_Msk );
// NVIC_SetPriority(UART3_IRQn, 2 );
//NVIC_EnableIRQ(UART3_IRQn); //UART_INTEN_THREIEN_Msk
NVIC_DisableIRQ(UART3_IRQn);
UART_Write(UART3,"Usart3 init done!\r\n", sizeof("Usart3 init done!\r\n"));
}
void UART_WriteRead(uint8_t data[], int Write_length, int Read_length, uint8_t Data_array[])
{
// Write Bytes
int i;
volatile uint8_t status;
for(i = 0; i < (Write_length + 1) ; i++)
{
UART_Write(data[i]);
}
//*(uint32_t *)Flag_reg = FINAL_WRITE_STOP_FLAGS;
// Read Bytes
for(i = 0; i<Read_length+PACKET_OVERHEAD; i++)
{
*(uint32_t *)Addr_reg = STATUS_ADDR;
*(uint32_t *)Flag_reg = READ_TOGGLE_ON;
*(uint32_t *)Flag_reg = READ_TOGGLE_OFF;
unsigned long Time_out_counter = 0;
do // check RX busy flag
{
Time_out_counter++;
status = *(uint32_t *)Data_out_reg;
}while(!(status & 0b10) && Time_out_counter < 40000);
if(status & 0x02){
//printf("Data Received. Bytes: %d\n", i);
}
if(Time_out_counter >= 40000){
//printf("Read Timed Out. Bytes: %d\n", i);
}
*(uint32_t *) Addr_reg = DATA_ADDR;
Data_array[i] = *(uint32_t *) Data_out_reg;
}
}
void lcdPosition(int row, int col)
{
UART_Write(0xFE); //command flag
UART_Write((col + row*64 + 128)); //position
delay_ms(10);
}
/***************************************************************************//**
* @brief Main function.
*
* @return None.
*******************************************************************************/
void main(void)
{
/*! Variables holding information about the device */
unsigned short temperature = 0; /*!< Last temperature read from the device */
unsigned long startFreq = 0; /*!< Start frequency sweep */
unsigned long incFreq = 0; /*!< Increment frequency */
unsigned short incNum = 0; /*!< Number of increments */
unsigned long calibImped = 0; /*!< Calibration impedance */
double gainFactor = 0; /*!< Stores the value of the gain factor */
double impedance = 0; /*!< Measured impedance */
double currentFreq = 0; /*!< Signal frequency used during a measurement */
/*! Temporary variables */
unsigned char tempString[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
double tempValue = 0;
/*! Initialize the UART communication peripheral. */
UART_Init(9600);
/*! Initialize the AD5933 device. */
if(AD5933_Init())
{
CONSOLE_WriteString("AD5933 OK");
UART_Write(0x0D);
}
else
{
CONSOLE_WriteString("AD5933 Error");
UART_Write(0x0D);
}
while(1)
{
CONSOLE_GetCommand(receivedCommand);
invalidCommand = 0;
for(command = 0; command < commandsNumber; command++)
{
commandType = CONSOLE_CheckCommands(receivedCommand,
commandsList[command],
(double*)&commandParam);
if(commandType == 0)
{
invalidCommand++;
}
if((command == 0) && (commandType != 0)) /*!< "help?" command*/
{
CONSOLE_WriteString("Available commands:");
UART_Write(0x0D);
for(displayCommand = 0; displayCommand < commandsNumber;
displayCommand++)
{
CONSOLE_WriteString(commandsList[displayCommand]);
CONSOLE_WriteString(commandsDescription[displayCommand]);
UART_Write(0x0D);
}
}
if((command == 1) && (commandType != 0)) /*!< "temperature?" command*/
{
/*! Read the temperature from the device */
temperature = AD5933_GetTemperature();
/*! Send the requested value to user */
CONSOLE_WriteString("temperature=");
itoa(tempString, temperature, 10);
CONSOLE_WriteString(tempString);
CONSOLE_WriteString(" degrees Celsius");
UART_Write(0xD);
}
if((command == 2) && (commandType != 0)) /*!< "startFreq=" command*/
{
/*! Check if the parameter is valid */
if( (commandParam >= 0) && (commandParam < MAX_START_FREQ) )
{
tempValue = (commandParam / MHZ_4) * POW_2_27;
startFreq = (unsigned long)tempValue;
}
else if(commandParam < 0)
{
startFreq = 0;
}
else
{
startFreq = 0x00FFFFFF;
}
/* Configure the sweep parameters */
AD5933_ConfigSweep(startFreq,
incFreq,
incNum);
/* Start the sweep operation */
AD5933_StartSweep();
/*! Send feedback to user */
CONSOLE_WriteString(commandsList[command]);
tempValue = ((double)startFreq * MHZ_4) / POW_2_27;
FloatToString(tempString, tempValue);
CONSOLE_WriteString(tempString);
CONSOLE_WriteString(" Hz");
UART_Write(0xD);
/*! Update the currentFrequrncy */
currentFreq = tempValue;
}
if((command == 3) && (commandType != 0)) /*!< "incFreq=" command*/
{
/*! Check if the parameter is valid */
if( (commandParam >= 0) && (commandParam < MAX_START_FREQ) )
{
tempValue = (commandParam / MHZ_4) * POW_2_27;
incFreq = (unsigned long)tempValue;
}
else if(commandParam < 0)
{
incFreq = 0;
}
else
{
incFreq = 0x00FFFFFF;
}
/* Configure the sweep parameters */
AD5933_ConfigSweep(startFreq,
incFreq,
incNum);
/* Start the sweep operation */
AD5933_StartSweep();
/*! Send feedback to user */
CONSOLE_WriteString(commandsList[command]);
tempValue = ((double)incFreq * MHZ_4) / POW_2_27;
FloatToString(tempString, tempValue);
CONSOLE_WriteString(tempString);
CONSOLE_WriteString(" Hz");
UART_Write(0xD);
}
if((command == 4) && (commandType != 0)) /*!< "incNum=" command*/
{
/*! Check if the parameter is valid */
if( (commandParam >= 0) && (commandParam < MAX_INC_NUM) )
{
incNum = (unsigned short)commandParam;
}
else if(commandParam < 0)
{
incNum = 0;
}
else
{
incNum = 0x01FF;
}
/* Configure the sweep parameters */
AD5933_ConfigSweep(startFreq,
incFreq,
incNum);
/* Start the sweep operation */
AD5933_StartSweep();
/*! Send feedback to user */
CONSOLE_WriteString(commandsList[command]);
itoa(tempString, incNum, 10);
CONSOLE_WriteString(tempString);
UART_Write(0xD);
}
if((command == 5) && (commandType != 0)) /*!< "sweepParam?" command*/
{
/*! Send the requested value to user */
CONSOLE_WriteString(commandsList[2]);
tempValue = ((double)startFreq * MHZ_4) / POW_2_27;
FloatToString(tempString, tempValue);
CONSOLE_WriteString(tempString);
CONSOLE_WriteString(" Hz");
UART_Write(0xD);
CONSOLE_WriteString(commandsList[3]);
tempValue = ((double)incFreq * MHZ_4) / POW_2_27;
FloatToString(tempString, tempValue);
CONSOLE_WriteString(tempString);
CONSOLE_WriteString(" Hz");
UART_Write(0xD);
CONSOLE_WriteString(commandsList[4]);
itoa(tempString, incNum, 10);
CONSOLE_WriteString(tempString);
UART_Write(0xD);
}
if((command == 6) && (commandType != 0)) /*!< "calibImpedance=" command*/
{
/*! Check if the parameter is valid */
if( (commandParam >= 1) && (commandParam <= 1000000) )
{
calibImped = (unsigned long)commandParam;
}
else if(commandParam < 1)
{
calibImped = 1;
}
else
{
calibImped = 1000000;
}
/* Calculate the gain factor for the selected impedance */
gainFactor = AD5933_CalculateGainFactor(calibImped,
AD5933_FUNCTION_REPEAT_FREQ);
/*! Send feedback to user */
CONSOLE_WriteString("Gain was calculated for Z=");
itoa(tempString, calibImped, 10);
CONSOLE_WriteString(tempString);
CONSOLE_WriteString(" [Ohm]");
UART_Write(0xD);
}
if((command == 7) && (commandType != 0)) /*!< "impendace?" command*/
{
/* Calculates the impedance between the VOUT and VIN pins. */
impedance = AD5933_CalculateImpedance(gainFactor,
AD5933_FUNCTION_INC_FREQ);
/*! Send the requested value to user */
tempValue = (double)impedance / 1000;
FloatToString(tempString, tempValue);
CONSOLE_WriteString("impedance=");
CONSOLE_WriteString(tempString);
CONSOLE_WriteString("[KOhm]");
UART_Write(0xD);
/*! Update the currentFrequrncy */
tempValue = ((double)incFreq * MHZ_4) / POW_2_27;
currentFreq = currentFreq + tempValue;
}
if((command == 8) && (commandType != 0)) /*!< "currentFreq?" command*/
{
FloatToString(tempString, currentFreq);
CONSOLE_WriteString(tempString);
CONSOLE_WriteString(" [Hz]");
UART_Write(0xD);
}
}
if(invalidCommand == commandsNumber)
{
/*! Send feedback to user */
CONSOLE_WriteString("Invalid command");
UART_Write(0x0D);
}
}
}
int main(void)
{
system_init();
clock_init();
led_init(); led_set(0x01); //show life
UART_Init(BAUD); UART_Write("\nInit"); //Show UART life
motor_init();
adc_init();
//Enable Analog pins
adc_enable(CHANNEL_SENSOR_LEFT);
adc_enable(CHANNEL_SENSOR_RIGHT);
adc_enable(CHANNEL_SENSOR_FRONT);
//Sensor value variables
uint16_t sensor_left_value = 0; uint16_t sensor_right_value = 0; uint16_t sensor_front_value = 0;
//Analog inputSignal conditioning arrays
circBuf_t left_buffer; circBuf_t right_buffer; circBuf_t front_buffer;
//Initialise sensor averaging buffers
initCircBuf(&left_buffer, ROLLING_AVERAGE_LENGTH);
initCircBuf(&right_buffer, ROLLING_AVERAGE_LENGTH);
initCircBuf(&front_buffer, ROLLING_AVERAGE_LENGTH);
//UART output buffer
char buffer[UART_BUFF_SIZE] = {0};
//=====Application specific variables===== //TODO: initialise circbuff
circBuf_t sweep_times;
initCircBuf(&sweep_times, SWEEP_TIME_MEMORY_LENGTH);
short sweep_del_t_last = 0;
short sweep_end_t_last = 0;
//time when front sensor begins to see grey.
uint32_t grey_time_start = 0;
bool sweep_ended = FALSE;
//set high if the front sensor crosses the line
bool front_crossed_black = FALSE;
//set high if front finds finish line
bool front_crossed_grey = FALSE;
bool sensor_update_serviced = TRUE;
action current_action = IDLE;
int16_t forward_speed = DEFAULT_FORWARD_SPEED;
int16_t turn_speed = DEFAULT_SPEED;
//Scheduler variables
uint32_t t = 0;
//Loop control time variables
uint32_t maze_logic_t_last = 0;
uint32_t sample_t_last = 0;
uint32_t UART_t_last = 0;
clock_set_ms(0);
sei(); // Enable all interrupts
UART_Write("ialized\n");
//wait for start command
DDRD &= ~BIT(7);
PORTD |= BIT(7);
//motor_set(128, 128);
while((PIND & BIT(7)))
{
continue;
}
while(1)
{
t = clock_get_ms();
//check if a sensor update has occured
if ((sensor_update_serviced == FALSE) &&
(t%MAZE_LOGIC_PERIOD == 0) && (t != maze_logic_t_last))
{
sensor_update_serviced = TRUE;
// finishing condition is a grey read for a set period
if(is_grey(sensor_front_value) && front_crossed_grey == FALSE)
{
front_crossed_grey = TRUE;
grey_time_start = t; //TODO: adjust so that finishing condition is a 1/2 whole sweeps on grey line
}
else if (is_grey(sensor_front_value) && front_crossed_grey == TRUE)
{
//
if ((grey_time_start + GREY_TIME) <= t )
{
// Finish line found. Stop robot.
maze_completed(); // wait for button push
front_crossed_grey = FALSE;
}
}
else
{
front_crossed_grey = FALSE;
}
//see if the front sensor crosses the line in case we run into a gap
if(is_black(sensor_front_value)&&front_crossed_black == FALSE)
{
front_crossed_black = TRUE;
//check for false finish line
if(front_crossed_grey)
front_crossed_grey = FALSE; //false alarm
}
// when both rear sensors go black, this indicates an intersection (turns included).
// try turning left
if(is_black(sensor_left_value) && is_black(sensor_right_value))
{
sweep_ended = TRUE;
motor_set(0, 255);
PORTB |= BIT(3);
PORTB |= BIT(4);
}
//when both sensors are completely white this indicates a dead end or a tape-gap
else if (is_white(sensor_left_value) && is_white(sensor_right_value))
{
sweep_ended = TRUE;
PORTB &= ~BIT(3);
PORTB &= ~BIT(4);
//current_action = ON_WHITE;
//Check if the front sensor is on black, or has been during the last sweep.
if(is_black(sensor_front_value) | front_crossed_black)
motor_set(255, 255);
else if (is_white(sensor_front_value))
motor_set(-255, 255);
}
//sweep to the side that reads the darkest value
else if (sensor_left_value + SENSOR_TOLLERANCE < sensor_right_value)
{
PORTB &= ~BIT(3);
PORTB |= BIT(4);
if (current_action == SWEEP_LEFT)
sweep_ended = TRUE;
current_action = SWEEP_RIGHT;
motor_set(forward_speed + turn_speed, forward_speed);
}
else if(sensor_right_value + SENSOR_TOLLERANCE< sensor_left_value)
{
PORTB |= BIT(3);
PORTB &= ~BIT(4);
if (current_action == SWEEP_RIGHT)
sweep_ended = TRUE;
current_action = SWEEP_LEFT;
motor_set(forward_speed, forward_speed+ turn_speed);
}
//If a new sweep started this cycle, find how long it took
if (sweep_ended)
{
//reset front black crossing detection variable
sweep_ended = FALSE;
if (front_crossed_black)
front_crossed_black = FALSE;
//Calculate sweep time
sweep_del_t_last = t - sweep_end_t_last;
sweep_end_t_last = t;
writeCircBuf(&sweep_times, sweep_del_t_last);
//adjust turn_speed for battery level.
if (sweep_del_t_last > IDEAL_SWEEP_TIME)
{
turn_speed += 5;
}
if (sweep_del_t_last < IDEAL_SWEEP_TIME)
{
turn_speed -= 5;
}
turn_speed = regulate_within(turn_speed, MIN_TURN_SPEED, MAX_TURN_SPEED);
}
}
//Sensor value update
if((t%SAMPLE_PERIOD == 0) & (t!=sample_t_last))
{
sample_t_last = t;
//read in analog values
sensor_update(CHANNEL_SENSOR_LEFT, &left_buffer, &sensor_left_value );
sensor_update(CHANNEL_SENSOR_RIGHT, &right_buffer, &sensor_right_value );
sensor_update(CHANNEL_SENSOR_FRONT, &front_buffer, &sensor_front_value );
sensor_update_serviced = FALSE;
}
//display debug information
if((t%UART_PERIOD == 0) & (t != UART_t_last) & UART_ENABLED)
{
UART_t_last = t;
sprintf(buffer, "sweep_time: %u \n", sweep_del_t_last);
UART_Write(buffer);
sprintf(buffer, "L: %u F: %u R: %u", sensor_left_value, sensor_front_value, sensor_right_value);
UART_Write(buffer);
UART_Write("\n");
}
}
}
void main()
{
unsigned char i;
unsigned char array[80];
const char *main1="SLAVE 1(0XAA)";
const char *main2="SLAVE 2(0XBB)";
const char *main3="SLAVE 3(0XCC)";
const char *msg1="\r\nnWaiting for Master\r\n";
const char *t1="\r\n before start\r\n";
const char *t2="\r\n address detected\r\n";
const char *t3="\r\n data recieved??\r\n";
const unsigned char *arr1= "\r\nUART Initialised\r\n";
const unsigned char *arr2= "\r\nSlave I2C initialised:\r\n";
OSCCONbits.IRCF = 0x07; // Configure Internal OSC for 8MHz Clock
while(!OSCCONbits.HTS); // Wait Until Internal Osc is Stable
UART_Init(baud_rate);
UART_Write_Text(main3);//DISPLAYS SLAVE 1 AS THE SLAVE DEVICE
UART_Write_Text(arr1);
delay_ms(500);
UART_Write_Text(msg1);
i2c_slave_init();
UART_Write_Text(arr2);
while(1)
{
for(i=0;i<=80;i++)
{
array[i]=0;
}
i=0;
UART_Write(datain);
UART_Write_Text("\r\n next line\r\n");
UART_Write_Text(array);
UART_Write_Text("\r\n");
//start i2c routines
i2c_start_detect();
PIR1bits.SSPIF=0;
i2c_address_detect();
UART_Write_Text("Address check returns true\r\n");
i=0;
delay_us(50);
do
{
i2c_data_detect();
array[i]=datain;
i++;
}while(!(SSPSTATbits.P));
UART_Write_Text("\r\nDATA READ\r\n");
UART_Write_Text(array);
}
}
bool OfflineDownloadwithUART(void)
{
u32 i,j;
//u8 tmp[2];
if(!mcu_scfg.flash_done) // no user FW for MCU
return FALSE;
//connect
if(!UART_Connect())
return FALSE;
//check pid
/*if(!UART_GetPID(tmp))
return FALSE;
if(memcmp(tmp,mcu_scfg.MCUPID,2)!=0)
return FALSE;*/
//check boot loader version
//still not real boot loader version
//remove password
if(!UART_RemovePWD())
return FALSE;
//write password or not
if(mcu_scfg.pwdflag[0]==FISH_MAN)
{
if(!UART_WritePWD(mcu_scfg.max_auth_num,TRUE))
return FALSE;
}
//download user FW
for(i=0;i<MCU_FLASH_PAGES;i++)
{
if(mcu_scfg.flash_map[i])
{
for(j=0;j<PRO_PAGE_SIZE/MAX_DATA_SIZE;j++)
{
if(!UART_Write(MCU_FLASH_BASE+i*PRO_PAGE_SIZE+j*MAX_DATA_SIZE-mcu_scfg.flash_offset,
MAX_DATA_SIZE,
(u8*)(MCU_FLASH_BASE+i*PRO_PAGE_SIZE+j*MAX_DATA_SIZE),
TRUE))
return FALSE;
DelayMs(10);
}
}
}
//verify
for(i=0;i<MCU_FLASH_PAGES;i++)
{
if(mcu_scfg.flash_map[i])
{
for(j=0;j<PRO_PAGE_SIZE/MAX_DATA_SIZE;j++)
{
if(!UART_Read(MCU_FLASH_BASE+i*PRO_PAGE_SIZE+j*MAX_DATA_SIZE-mcu_scfg.flash_offset,
MAX_DATA_SIZE,
RD_Buffer,
TRUE))
return FALSE;
if(memcmp(RD_Buffer,(u8*)(MCU_FLASH_BASE+i*PRO_PAGE_SIZE+j*MAX_DATA_SIZE),MAX_DATA_SIZE)!=0)
return FALSE;
DelayMs(5);
}
}
}
//GO usr app
if(!UART_GoUserApp(0))
return FALSE;
return TRUE;
}
void main(void){
ADCON1 |= 0x0F; // Configure all ports with analog function as digital
CMCON |= 7; // Disable comparators
INTCON = 0;
TRISB = 0b01110111;
TRISD = 0b00001111;
PORTB=0;
LATB=0;
PORTD=0;
INTCON.INT0IF=0;
INTCON.INT1IF=0;
INTCON.INT2IF=0;
INTCON.RBIF=0;
RCON.IPEN=1;
INTCON2.RBIP=0;
TRISA=0b00000000;
PORTA=0;
TRISE=0;
PORTE=0;
INTCON3.INT1IP=1 ;
INTCON3.INT2IP=1;
INTCON.INT0IE=1;
INTCON.RBIE=0;
INTCON3.INT1IE=1;
INTCON3.INT2IE=1;
INTCON2.RBPU = 1;
INTCON2.INTEDG0 = 0 ;
INTCON2.INTEDG1 = 0 ;
INTCON2.INTEDG2 = 0 ;
INTCON.RBIF=0;
UART1_Init(2400); // initialize UART1 module
Delay_ms(100);
INTCON.GIE = 1;
INTCON.RBIE=1;
for(cnt=0;cnt<6;cnt++)
writebuff[cnt]=48;
i=1;
while(1){
writebuff[4]=0x2E;
UART_Write(writebuff[0]) ;
UART_Write(writebuff[1]) ;
UART_Write(writebuff[2]) ;
UART_Write(writebuff[3]) ;
UART_Write(writebuff[4]) ;
UART_Write(writebuff[5]) ;
UART_Write(writebuff[6]) ;
UART_Write(76);
}
}
void clearLCD() //clear lcd
{
UART_Write(0xFE); //command flag
UART_Write(0x01); //clear command.
delay_ms(10);
}
void backlightOff() //turns off the backlight
{
UART_Write(0x7C); //command flag for backlight stuff
UART_Write(128); //light level for off.
delay_ms(10);
}
/* Required by user program and RAK415 library */
uint8_t rak_UART_send(uint8_t *tx_buf, uint16_t buflen)
{
UART_Write(UART1, tx_buf, buflen);
return 0;
}
void RS485_SendDataByte(uint8_t *pu8TxBuf, uint32_t u32WriteBytes)
{
_UART_SET_DATA_FORMAT(UART1,UART_WORD_LEN_8 | UART_PARITY_SPACE | UART_STOP_BIT_1);
UART_Write(UART1,pu8TxBuf,u32WriteBytes);
}
void main(void)
{
const unsigned char *mas="\r\n---------------MASTER DEVICE-----------------\r\n";
const unsigned char * arr1 = "\r\nTaking in the text \r\n";
const unsigned char *arr2="\r\nEnter your choice \r\n 1.Slave 1(Address:0xAA\r\n2.Slave 2(Address:0xBB)\r\n3.Slave 3(Address:0xCC\r\n";
const unsigned char *arr3= "You have entered:\r\n";
const unsigned char *arr4= "\r\nUART Initialised\r\n";
const unsigned char *arr5= "\r\nI2C initialised:\r\n";
const unsigned char *msg1="\r\nSending to Slave 1 (Address 0xAA)\r\n";
const unsigned char *msg2="\r\nSending to Slave 2 (Address 0xBB)\r\n";
const unsigned char *msg3="\r\nSending to Slave 3 (Address 0xCC)\r\n";
const unsigned char *msg4="\r\nAddress sent\r\n";
const unsigned char *msg5="\r\nData sent\r\n";
const unsigned char *err="\r\nNo message will be sent since no slave no entered\r\n";
const unsigned char *fin="\r\nClosing Communication!\r\n";
const unsigned char *msgm="\r\nYou have entered choice number:\r\n";
unsigned char choice;
OSCCONbits.IRCF = 0x07; // Configure Internal OSC for 8MHz Clock
while(!OSCCONbits.HTS); // Wait Until Internal Osc is Stable
INTCON=0; // purpose of disabling the interrupts.
UART_Init(baud_rate);
UART_Write_Text(mas);
UART_Write_Text(arr4);
delay_ms(500);
I2C_init();
UART_Write_Text(arr5);
//Initialisation done
while(1)
{
UART_Write_Text(arr1);
i2c_idle();
//receive the characters until ENTER is pressed (ASCII for ENTER = 13)
is=UART_Read_Text();
UART_Write_Text(arr3);
UART_Write_Text(is);
UART_Write_Text(arr2);
choice=UART_Read();
UART_Write_Text(msgm);
UART_Write(choice);
switch(choice)
{
case 0x31:
{
UART_Write_Text(msg1);
I2C_Start();
if(I2C_address_send())//device address
{
delay_us(20);//clock settle and then send
I2C_Write_Text(is);
}
else
break;
I2C_Stop();
break;
}
case 0x32:
{
UART_Write_Text(msg2);
I2C_Start();
if(I2C_address_send1())//device address
{
delay_us(20);//clock settle and then send
I2C_Write_Text(is);
}
else
break;
I2C_Stop();
break;
}
case 0x33:
{
UART_Write_Text(msg3);
I2C_Start();
if(I2C_address_send2())//device address
{
delay_us(20);//clock settle and then send
I2C_Write_Text(is);
}
else
break;
I2C_Stop();
break;
}
default:
UART_Write_Text(err);
break;
}
//Choice entered data sent respectively to slaves now stop
//i2c_SendAcknowledge(I2C_LAST);
PIR1bits.SSPIF = 0;
UART_Write_Text(fin);
}
}
void backlightOn() //turns on the backlight
{
UART_Write(0x7C); //command flag for backlight stuff
UART_Write(157); //light level.
delay_ms(10);
}