int main(int argc, char** argv)
{
ros::init(argc, argv, "averaging");
AveragingAction averaging(ros::this_node::getName());
ros::spin();
return 0;
}
/**
* sensor_config: - setting sensor measurement parameters
* @rx_msg: pointer to recive message structure
*/
char sensor_config(struct canmsg_t *rx_msg, struct fsm *fsm)
{
unsigned char i = 0;
/* if recived message is IDN request, send idn_msg */
if (rx_msg->id[0] == IDN_RQ) {
if (sja1000p_pre_write_config(&idn_msg))
return -1;
sja1000p_send_msg();
#ifdef DEBUG
CANMSG("IDN? answer OK");
#endif
} else if (rx_msg->id[0] == MY_ID) {
/* if recived message is MY_ID = ADC configuration */
/* decode and save number of samples for every channel from msg ID */
sen_cfg.samples[0] = averaging((rx_msg->id[2] >> 3) & 7);
sen_cfg.samples[1] = averaging(rx_msg->id[2] & 7);
sen_cfg.samples[2] = averaging((rx_msg->id[3] >> 2) & 7);
/* if at least one sample for one channel will be measured, continue in decoding */
if (sen_cfg.samples[0] || sen_cfg.samples[1] || sen_cfg.samples[2]) {
/* save RX msg ID */
for (i = 0; i < 4; i++) {
sen_cfg.rx_msg_id[i] = rx_msg->id[i];
}
/* decode and save treshold value from msg ID */
sen_cfg.treshold = rx_msg->id[1];
/* decode and save channel with overflow control from msg ID */
sen_cfg.treshold_channel = (rx_msg->id[2] >> 6) & 0x03;
/* decode and save delivery parameter from msg ID */
sen_cfg.delivery = (rx_msg->id[3] >> 1) & 0x01;
/* start FSM measurement */
fsm->measurement_start = true;
#ifdef DEBUG
CANMSG("Sensor config OK");
#endif
}
}
void CCD_TASK(void *p_arg)
{
(void)p_arg;
uint8_t Track_Midline_value,A;
CCD_Restet();
while(1)
{
CCD_gather();
CCD_Filtering();
Data_binarization(averaging());
Track_Midline_value = Track_Midline();
A = Track_Midline_value;
printf("Track_Midline_value = %d\n",A);
OSMboxPost(Str_Box_2,&Track_Midline_value);
OSTimeDlyHMSM(0,0,0,30);
}
}
int main()
{
uint8_t i,Track_Midline_value,A;
DelayInit();
GPIO_QuickInit(HW_GPIOE,0,kGPIO_Mode_OPP);
GPIO_WriteBit(HW_GPIOE,0,0);
GPIO_QuickInit(HW_GPIOB,2,kGPIO_Mode_OPP);
GPIO_QuickInit(HW_GPIOB,4,kGPIO_Mode_OPP);
CCD_SI(0);
CCD_CLK(0);
UART_QuickInit(UART0_RX_PA15_TX_PA14, 115200);
ADC_QuickInit(ADC0_SE8_PB0,kADC_SingleDiff8or9);
CCD_Restet();
while(1)
{
//CCD();
CCD_gather();
CCD_Filtering();
Data_binarization(averaging());
for(i=0;i<128;i++)
{
if(CCD_filtering_data[127]==0xff)
{
CCD_filtering_data[127]=0xfe;
}
UART_WriteByte(HW_UART0,CCD_filtering_data[i]);
}
UART_WriteByte(HW_UART0,0xff);
// Track_Midline_value = Track_Midline();
// A = Track_Midline_value;
// printf("Track_Midline_value = %d\n",A);
}
}
