int main(void)
{
//Initialize new interrupt fix
SYSTEMConfigPerformance(40000000);
#ifdef part1
initSW();
initLED(RUN_LED);
initLED(STOP_LED);
initTimer2();
enableInterrupts();
// initialize the lights
state = runToggle;
turnOffLED(STOP_LED);
turnOnLED(RUN_LED);
while(1){
switch(state){
// the state that toggles the LEDs
case runToggle:
// switch the led's
toggleAllLEDs();
prevState = runToggle;
state = waitForPress; //Go to debounce press state
break;
// wait for user input i.e. button press
case waitForPress:
while (state == waitForPress);
break;
// once the button has been pressed
case dbPress:
delayUs(DBdelayTime); // Delay for 5ms
while(state == dbPress );
break;
// once the button has been released
case dbRelease:
delayUs(DBdelayTime); //Delay for 5ms
state = runToggle;
break;
}
}
#endif
return 0;
}
//Main function
int main(void){
//State state = INITIAL;
TaskBlock LED1_tb;
initTaskBlock(&LED1_tb);
initLED(LED1);
initLED(LED2);
initButton();
while(1){
yield_LED1(&LED1_tb);
}
}
void vLedTask (void *pvParameters)
{
uint8_t state=0;
initLED();
while(1)
{
if (state == 0)
{
GPIO_ResetBits(GPIOC,GREEN);
GPIO_SetBits(GPIOC,BLUE);
state = 1;
}
else
{
GPIO_SetBits(GPIOC,GREEN);
GPIO_ResetBits(GPIOC,BLUE);
state = 0;
}
vTaskDelay(500 / portTICK_PERIOD_MS);
}
}
// You do not need to modify this function
void initSystem()
{
sleep_status = 0; // Make it so that we don't start asleep
initLED(); // Turn on our LED
initButton(); // Turn on button interrupts
sei(); // Nothing's gonna interrupt until we turn on global interrupts
}
int main (void)
{
uint8_t no = 0;
// wait(10);
setMU2PutFunc(uart0Put);
setMU2GetFunc(uart0Get);
initUART(
UART0,
StopBitIs1Bit|NonParity,
ReceiverEnable|TransmiterEnable|ReceiveCompleteInteruptEnable,
UARTBAUD(19200)
);
initLED();
initSwitch();
initRCRx();
no = Switch() & 0x03;
mu2Command("EI",EI[no]);
mu2Command("DI",DI[no]);
mu2Command("GI",GI[no]);
mu2Command("CH",CH[no]);
sei();
userMain();
return 0;
}
int main()
{
initLED();
while(1) //infinite loop
{
Blink();
}
return 0;
}
int main(void){
State state4 = INITIAL;
initLED();
initButton();
while(1){
runningLight(&state4, ONE_HUNDRED_MILI_SEC);
}
}
void initALL()
{
int flag;
/*initialize the clocks and basic peripherals*/
RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE); //set the SYSCLOCK
RCC_HCLKConfig(RCC_SYSCLK_Div1); //set the SYSCLOCK
initUSART(USART1); //Initialize USART1
//initUSART(USART3); //Initialize USART3
ADC_Initialize(); //Initialize ADCs
I2C_LowLevel_Init(I2C1, 100000, 0); //Initialize I2C1 bus @ 100Khz speed
I2C_LowLevel_Init(I2C2, 100000, 0); //Initialize I2C1 bus @ 100Khz speed
initLED(); //Initialize LEDs D3 D4
initGPIO(); //initialize PB2 and PB12 used as external GPIO
//InitTimer(); //Initialize Timer
/* Initialize and configure RF related functions */
initRFconfpin(); // Init the GPIO PB15 used as CONFIG PIN with the RADIOCRAFT module
//Configure the RF BOARD to standard value (configfile.c): NETID 2.2.2.2 Channel 2
if (readintvalue(FLAG_EEPROM)!=0xf0f0f0f0){ //flag eeprom = f0f0f0f0 only when already initialized
flag= ConfigureRF();
close_RFconfig();
if (flag==ERROR)
printf("Configuration Failed");
else
printf("Configuration RF ok");
}
else
close_RFconfig();
/* Initialize EEPROM VALUES*/
if (readintvalue(FLAG_EEPROM)!=0xf0f0f0f0){ //flag eeprom = f0f0f0f0 only when already initialized
init_eeprom(); //Initialize eeprom
Receivedpackage.bytes[0]='$';
Receivedpackage.bytes[1]='V';
Receivedpackage.bytes[2]='x';
Receivedpackage.bytes[3]='x';
}
/*Initialize Sensors*/
init_acceler(); //initialize accelerometer
/* Initialize interrupts sources*/
EnRtcInter(); //Initialize RTC Interrupt Source
EnUsartInter(); //Enable the USART Interrupts
//EnPVDInter(); //Enable the power PVD
//EnExtInter(); //Initialize External Interrupt Source
//EnTimInterr(); //Initialize Timer Interrupt Source
}
void BAMClass::begin() {
memset((void*)frames, 0, sizeof(frames));
initLED();
tickpos = 0;
TCCR1A = 0;
TCCR1B = 0;
TCCR1B |= (1 << WGM12); // CTC
TCCR1B |= (1 << CS12) | (1 << CS10); // 1024 prescaler
TIMSK1 |= (1 << OCIE1A); // enable timer compare interrupt
TCNT1 = 0;
}
int main(void)
{
initLED();
initDOTS();
/* insert your hardware initialization here */
PORTD |= RESETPIN;
for(;;){
for (uint8_t i=0; i<100; i++) {
writeCol(i);
}
_delay_ms(1);
for (uint8_t i=0; i<100; i++) {
writeCol(0xFF-i);
}
_delay_ms(1);
}
return 0; /* never reached */
}
int main(void)
{
initLED();
initDOTS();
uart_init(UART_BAUD_SELECT(38400, F_CPU));
sei();
uart_flush();
_delay_ms(100);
uint8_t i=0;
char c;
memset(to_write, 0x00, sizeof(to_write));
PORTD &=~RESETPIN;
_delay_ms(1);
PORTD |= RESETPIN;
for (uint8_t i=0; i<200; i++) {
writeCol(0xFF);
}
for (;;) {
while(uart_available() == 0) {
PORTB|=(1<<PB5);
_delay_ms(100);
PORTB&=~(1<<PB5);
_delay_ms(100);
}
c = uart_getc();
char c_lo = c;
uart_putc(c);
if (c_lo >= 0x20) {
to_write[i++] = c_lo;
}
if ((c_lo < 0x20) || (i >= 12)) {
writeArray(to_write);
i=0;
}
}
return 0; /* never reached */
}
int main(void){
initSysTick();
initTcb();
//taskSwitch();
//testFunc();
TaskBlock tb_LED1;
TaskBlock tb_LED2;
TaskBlock tb_LED5;
initLED();
initLED2();
initLED5();
initPushButton1();
initTaskBlock(&tb_LED1);
initTaskBlock(&tb_LED2);
initTaskBlock(&tb_LED5);
while(1){
SD1(&tb_LED1);
SD2(&tb_LED2);
SD5(&tb_LED5);
}
}
int main(void)
{
int pwm;
int adc_on;
int adc_off;
uint16_t i;
element elem;
robot.rotation_target = 0;
robot.right_motor_pos =0;
robot.left_motor_pos =0;
robot.right_motor_target =0;
robot.left_motor_target =0;
SysTick_Config(168000000/8/1000000); // interrupr 1000000 per secound
initTimer3(1);
initMotors();
initEncoders();
initUsart3();
// enableUSART3RXNEInterrupt();
initADC();
initIRSensors();
initLED();
initSPI2();
LED_OFF;
waitMs(1000);
LED_ON;
initPIDStructures();
stopMotors();
resetEncoders();
updateRobotState();
robot.left_ir_sensor_target = measures.left_ir_sensor;
robot.right_ir_sensor_target = measures.right_ir_sensor;
initQueue(&robot_queue);
//addMove(&robot_queue,FORWARD,2000);
addMove(&robot_queue,ROTATE,20000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,0);
// addMove(&robot_queue,ROTATE,6000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,6000);
// addMove(&robot_queue,ROTATE,12000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,12000);
// addMove(&robot_queue,ROTATE,3000);
// nextMove();
LED_ON;
while(1)
{
if ( isBatteryWeak() ){
stopMotors();
blinkLed();
}
if (flags.update_robot == 1){
moveRobot();
updateRobotState();
flags.update_robot =0;
}
if (flags.usart_custom == 1){
USART3_transmitString(itoa((int) robot.rotation, buf,10));
USART3_transmitString(" ");
USART3_transmitString(itoa((int) robot.rotation_target, buf,10));
USART3_transmitString("\n");
}
}
// flags.usart_custom == 0;
// USART3_transmitString("lewe_kolo_diff ");
// USART3_transmitString(itoa((int) robot.left_motor_target - robot.left_motor_pos , buf,10));
// USART3_transmitByte('\n');
// USART3_transmitString("lewe kolo pwm ");
// USART3_transmitString(itoa((int) getTranslation(LEFT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
//
// USART3_transmitString("prawe kolo diff ");
// USART3_transmitString(itoa((int) robot.right_motor_target - robot.right_motor_pos , buf,10));
// USART3_transmitByte('\n');
// USART3_transmitString("prawe kolo pwm ");
// USART3_transmitString(itoa((int) getTranslation(RIGHT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
// }
//
// if (flags.usart_graph == 1){
// static uint8_t usart_start = 1;
// if (usart_start ){
// usart_start=0;
// USART3_transmitString("\n");
// USART3_transmitString("\n");
// USART3_transmitString("\n");
// USART3_transmitString("__start__\n");
// USART3_transmitString("lewe_kolo_pozycja ");
// USART3_transmitString("lewe_kolo_cel ");
// USART3_transmitString("lewe_kolo_diff ");
// USART3_transmitString("lewe_kolo_pwm_T ");
// USART3_transmitString("prawe_kolo_pozycja ");
// USART3_transmitString("prawe_kolo_cel ");
// USART3_transmitString("prawe_kolo_diff ");
// USART3_transmitString("prawe_kolo_pwm_T \n");
// USART3_transmitString(" \n");
// }
//
// USART3_transmitString(itoa((int) robot.right_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.right_motor_target , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.right_motor_target - robot.right_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) getTranslation(RIGHT_MOTOR) , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_target , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_target - robot.left_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) getTranslation(LEFT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
// flags.usart_graph = 0;
// }
// }
//
return 0;
}
void main (void) {
vuint32_t i = 0;
initModesAndClock(); /* Initialize mode entries and system clock */
disableWatchdog(); /* Disable watchdog */
initPeriClkGen(); /* Initialize peripheral clock generation for DSPIs */
initADC();
initLED();
//can stuff
initDSPI_1(); /* Initialize DSPI_1 as Slave SPI and init CTAR0 */
canSetup();
initEnergizeButton();
energizePacket.ID = ENERGIZE_ID;
energizePacket.DATA.W[0] = 0xFFFFFFFF;
energizePacket.DATA.W[1] = 0xFFFFFFFF;
deenergizePacket.ID = DEENERGIZE_ID;
deenergizePacket.DATA.W[0] = 0x00000000;
deenergizePacket.DATA.W[1] = 0x00000000;
torquePacket.ID = TORQUE_ID;
speedPacket.ID = SPEED_ID;
shutdownPacket.ID = SHUTDOWN_ID;
shutdownPacket.DATA.W[0] = 0xDEADBEEF;
shutdownPacket.DATA.W[1] = 0xDEADBEEF;
/* Loop forever */
while (1)
{
prevEnergizeButton = energizeButton;
getEnergizeButton();
switch (currentState) {
case NOT_ENERGIZED:
if (!energizeButton && prevEnergizeButton) {
currentState = ENERGIZED;
canSend(energizePacket);
}
break;
case ENERGIZED:
if (!energizeButton && prevEnergizeButton) {
currentState = NOT_ENERGIZED;
canSend(deenergizePacket);
} else {
getADC();
processAnalog();
if (imp_count < 2 || torque0 < 20) {
convertSpeed();
convertTorque();
if (MODE == 0) {
canSend(speedPacket);
} else {
canSend(torquePacket);
}
} else {
currentState = SHUTDOWN;
canSend(deenergizePacket);
}
}
break;
case SHUTDOWN:
canSend(shutdownPacket);
SHUTDOWN_CIRCUIT = TRUE;
break;
}
toLED(currentState);
//canReceive();
delay();
i++;
}
}
int main(void)
{
int i;
unsigned char add[5]={110,110,8,110,110};
/*!< At this stage the microcontroller clock setting is already configured to
120 MHz, this is done through SystemInit() function which is called from
startup file (startup_stm32f2xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f2xx.c file
*/
#ifdef SERIAL_DEBUG
DebugComPort_Init();
#endif
initLED();
init_Timer();
//while(1);
/*Initialize LCD and Leds */
//LCD_LED_Init();
delay_ms(500);
for(i=0;i<100;i++)
{
setNumber(i);
delay_ms(10);
}
beep(40);
offSegment(3);
delay_ms(100);
setNumber(0);
delay_ms(100);
beep(40);
offSegment(3);
delay_ms(100);
setNumber(0);
delay_ms(100);
beep(40);
//USART2_Init();
//USART3_Init();
init_NRF1_IO();
init_NRF2_IO();
SPI1_Config();
SPI3_Config();
SPI_Cmd(SPI1, ENABLE);
SPI_Cmd(SPI3, ENABLE);
nrf24l01_initialize_debug(false, TX_PAYLOAD_SIZE, false);
nrf24l01_clear_flush();
add[2]=8;
nrf24l01_set_tx_addr(add , 5);
add[2]=30;
nrf24l01_set_rx_addr(add,5,0);
nrf24l01_set_rf_ch(tx_channel);
nrf24l02_initialize_debug(false, RX_PAYLOAD_SIZE, false);
nrf24l02_clear_flush();
add[2]=8;
nrf24l02_set_tx_addr(add , 5);
add[2]=30;
nrf24l02_set_rx_addr(add,5,0);
nrf24l02_set_rf_ch(rx_channel);
nrf24l02_set_as_rx(true);
/* configure ethernet */
ETH_BSP_Config();
/* Initilaize the LwIP stack */
LwIP_Init();
/* UDP echoserver */
udp_echoserver_init();
/* Infinite loop */
while (1)
{
/* check if any packet received */
if (ETH_CheckFrameReceived())
{
/* process received ethernet packet */
LwIP_Pkt_Handle();
}
/* handle periodic timers for LwIP */
LwIP_Periodic_Handle(LocalTime);
process_incoming_rf();
if(firstPacketRecieved==0)
{
demo();
setNumber(22);
}
}
}
int main(void)
{
//Set clock so it runs directly on the crystal
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
volatile unsigned long ulLoop;
// Initialisation des ports
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOJ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);
//Enable les GPIO pour les timings des interrupts et autres
GPIOPadConfigSet(GPIO_PORTA_BASE, GPIO_PIN_2, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPD);
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_2);
//Mettre les interrupts du port E en haute prorités: évite collisions avec QEI logiciel
IntPrioritySet(INT_GPIOE,0);
//Activer les interruptions
IntMasterEnable();
//Initialisation des variables globales
ulLoop = 0;
receive_buffer.read=0;
receive_buffer.write=0;
send_buffer.read=0;
send_buffer.write=0;
send_buffer2.read=0;
send_buffer2.write=0;
buffer_commande.read = 0;
buffer_commande.write = 0;
//QEI
position=0;
speed=0;
state=0;
state_m2=0;
state_m3=0;
position_m2=0;
position_m3=0;
//Asservissement
previous_error0=0;
previous_error1=0;
previous_error2=0;
previous_error3=0;
I0=0;
I1=0;
I2=0;
I3=0;
consigne0=0;
consigne1=0;
consigne2=0;
consigne3=0;
//Pour les déplacements rapides @6400
Kd0 = 0.1;
Ki0 = 7;
Kp0 = 1.75;
Kd1 = 0.1;
Ki1 = 7;
Kp1 = 1.75;
Kd2 = 0.1;
Ki2 = 7;
Kp2 = 1.75;
Kd3 = 0.1;
Ki3 = 7;
Kp3 = 1.75;
Tf0 = 0.1;
Tf1 = 0.1;
Tf2 = 0.1;
Tf3 = 0.1;
//Pour les déplacements moyens @3200
Kd0_m = 0.05;
Ki0_m = 10;
Kp0_m = 1.6;
Kd1_m = 0.05;
Ki1_m = 10;
Kp1_m = 1.5;
Kd2_m = 0.05;
Ki2_m = 10;
Kp2_m = 1.5;
Kd3_m = 0.05;
Ki3_m = 10;
Kp3_m = 1.6;
//Pour les mouvements lents @1600
Kd0_s = 0.05;
Ki0_s = 12;
Kp0_s = 1.2;
Kd1_s = 0.05;
Ki1_s = 12;
Kp1_s = 1.2;
Kd2_s = 0.05;
Ki2_s = 12;
Kp2_s = 1.2;
Kd3_s = 0.2;
Ki3_s = 12;
Kp3_s = 1.2;
//Pour les mouvements de dessin @800
Kd0_d = 0.2;
Ki0_d = 10;
Kp0_d = 1.2;
Kd1_d = 0.05;
Ki1_d = 10;
Kp1_d = 1.2;
Kd2_d = 0.05;
Ki2_d = 10;
Kp2_d = 1.2;
Kd3_d = 0.2;
Ki3_d = 10;
Kp3_d = 1.2;
/*Kd0_s = 0.05;
Ki0_s = 12;//5.64;
Kp0_s = 1.2;
Kd1_s = 0.05;
Ki1_s = 12;//5.64;
Kp1_s = 1.2;
Kd2_s = 0.05;
Ki2_s = 12;//5.64;
Kp2_s = 1.2;
Kd3_s = 0.05;
Ki3_s = 12;//5.64;
Kp3_s = 1.2;*/
dt = 0.1;
tolerancePos = 0;
posqei1 = 0;
speedqei1=0;
initCommande();
initMotorCommand();
initLED();
initPrehenseur();
initPWM();
initUART();
initQEI();
//init_lcd();
initTimer();
while(1)
{
EncoderHandler(); // Traitement des encodeurs en quadrature pour les moteurs 2 et 3
//si un charactère dans la Receive FIFO
/*if(!(UART0_FR_R & UART_FR_RXFE)) //&& (send_buffer.read > send_buffer.write-256))
{
receive_buffer.buffer[receive_buffer.write%BUFFER_LEN] = UART0_DR_R;
receive_buffer.write++;
}*/
/*
if(!(UART0_FR_R & UART_FR_TXFF) && (send_buffer.read < send_buffer.write))
{
UART0_DR_R = send_buffer.buffer[send_buffer.read%BUFFER_LEN];
send_buffer.read++;
}*/
/*if(receive_buffer.write - receive_buffer.read > 7){
long i;
short commande[8];
for(i=0; i < 8; i++){
commande[i] = receive_buffer.buffer[receive_buffer.read%BUFFER_LEN];
receive_buffer.read++;
}
traiterNouvelleCommande(commande); //Traitement des commandes
}
if(buffer_commande.write - buffer_commande.read >= 8){
CommandHandler();
}*/
}
}
void pathManagerInit(void) {
initTimer4();
initLED(0);
//Communication with GPS
initGPS();
initBatterySensor();
initAirspeedSensor();
initSPI(IC_DMA_PORT, DMA_CLOCK_KHZ, SPI_MODE1, SPI_BYTE, SPI_MASTER);
initInterchip(DMA_CHIP_ID_PATH_MANAGER);
//Communication with Altimeter
if (initAltimeter()){
float initialValue = 0;
while (initialValue == 0) initialValue = getAltitude();
calibrateAltimeter(initialValue);
}
//Initialize Home Location
home.altitude = 400;
home.latitude = RELATIVE_LATITUDE;
home.longitude = RELATIVE_LONGITUDE;
home.radius = 1;
home.id = -1;
//Initialize first path nodes
// PathData* node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473662;
// node->longitude = -80.540019;
// node->radius = 5;
// appendPathNode(node);
// node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473479;
// node->longitude = -80.540601;
// node->radius = 5;
// appendPathNode(node);
// node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473718;
// node->longitude = -80.540837;
// node->radius = 5;
// appendPathNode(node);
// node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473946;
// node->longitude = -80.540261;
// node->radius = 5;
// appendPathNode(node);
// node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473685;
// node->longitude = -80.540073;
// node->radius = 5;
// appendPathNode(node);
#if DEBUG
char str[20];
sprintf(str, "PM:%d, AM:%d", sizeof(PMData),sizeof(AMData));
debug(str);
#endif
}
