Exemple #1
0
int main(void) {
    BOARD_Init();

    printf("board_inited\n");
    init_MDB();

    AHRS_init();
    printf("ahrs inited\n");
     // timer_init();

    //while(1);

    int i = 700;
    while (i >= -700) {
        while (IsReceiveEmpty());
        printf("looped\n");
        printf("current angle: %f\n",get_AHRS_angle());
        printf("current speed: %f\n", get_AHRS_rate());
        waitabit(1000);
        motor_command(i);
        printf("sent command %d\n\n", i);
        GetChar();
        i = i - 100;
    }
//    while (1){
//        while (IsReceiveEmpty());
//        printf("looped\n");
//        waitabit(1000);
//        printf("current speed: %d\n", motor_command(10000));
//        GetChar();
//    }

}
Exemple #2
0
/********************************* 
	main entry point
*********************************/
int main ( void )
{
    // Init the basic hardware
    InitCnsts();
    InitHardware();

    // Start the main 1Khz timer and PWM timer
    InitTimer1();
    InitTimer2();
    InitPWM();

    // Initialize A2D, 
    InitA2D();

    UART1_Init(XBEE_SPEED);         // for communication and control signals
    UART2_Init(LOGGING_RC_SPEED);   // for spektrum RC satellite receiver

    // Wait for a bit before doing rate gyro bias calibration
    // TODO: test this length of wait
    uint16_t i=0;for(i=0;i<60000;i++){Nop();}

    // turn on the leds until the bias calibration is complete
    led_on(LED_RED);
    led_on(LED_GREEN);

    // Initialize the AHRS
    AHRS_init();

    // Initialize the Controller variables
    Controller_Init();

    // MAIN CONTROL LOOP: Loop forever
    while (1)
    {
        // Gyro propagation
        if(loop.GyroProp){
            loop.GyroProp = 0;
            // Call gyro propagation
            AHRS_GyroProp();
        }

        // Attitude control
        if(loop.AttCtl){
            loop.AttCtl = 0;
            // Call attitude control
            Controller_Update();
        }

        // Accelerometer correction
        if( loop.ReadAccMag ){
            loop.ReadAccMag = 0;
            AHRS_AccMagCorrect( );
        }

        // Send data over modem - runs at ~20Hz
        if(loop.SendSerial){
            loop.SendSerial = 0;

            // Send debug packet
            UART1_SendAHRSpacket();
        }

        // Process Spektrum RC data
        if(loop.ProcessSpektrum){
            loop.ProcessSpektrum = 0;
            UART2_ProcessSpektrumData();
        }

        // Read data from UART RX buffers - 500 Hz
        if(loop.ReadSerial){
            loop.ReadSerial = 0;

            // Read serial data
            //UART2_FlushRX_Spektrum();

        }


        // Toggle Red LED at 1Hz
        if(loop.ToggleLED){
            loop.ToggleLED = 0;
            
            // Toggle LED
            led_toggle(LED_RED);
        }

    } // End while(1)
	
}