void main(void)
{
unsigned int channel = CHANNEL;
unsigned char data = 0x07;
// DBGU output configuration
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
// Configuration PIT (Periodic Interrupt Timer)
ConfigurePit();
// Configuration TC (Timer Counter)
ConfigureTc();
// Configuration PIO (Paralell In and Out port), Init Interrupt on PIO
ConfigureButtons();
ConfigureLeds();
// Configuration Radio Module nRF24L (PIO and SPI), ConfigureButtons must be executed before
ConfigureNRF24L();
ConfigureUSART0();
ConfigureUSART1();
//initialize proximity sensor
ir_init();
Global_Variable_Init();
while(Timer0Tick<2); // wait until NRF24L01 power up
nrf24l01_power_up(True);
while(Timer0Tick<4); // wait until NRF24L01 stand by
Timer0Tick = 0;
//initialize the 24L01 to the debug configuration as RX and auto-ack disabled
nrf24l01_initialize_debug(True, nrf_TX_RX_SIZE, False);
nrf24l01_write_register(0x06, &data, 1);
nrf24l01_set_as_rx(True);
Delay_US(130);
nrf24l01_set_rf_ch(channel);
nrf24l01_flush_rx();
Delay_US(300);
while (1) {
if(Timer0Tick!=0){
Timer0Tick = 0;
Check_Battery(0);
odometry(0);
ProxRead_m();
Send_Coord();
Delay_US(10000);//give time for the coming message
feedbackController(goalx, goaly, goaldist);
}
Check_Wireless();
}//while
}//main
void main(void)
{
char TempVar;
// variable used for IMU chip Autotest
unsigned char IMUAutotestResult;
// structure used to store IMU data
struct IMUData CurrentIMUData;
// variable for CAN TX FIFO buffer
struct CANTxMsg TempCANTxMsg;
// variable for CAN RX FIFO buffer
struct CANRxMsg TempCANRxMsg;
//----------------------------------------------------
//---------- CPU internal configurations: -----------
//----------------------------------------------------
CLRWDT(); // clear watchdog timer at startup
/* Configure the oscillator for the CPU */
ConfigureOscillator();
__delay_ms(10); // wait for Oscillator to be stabilized
// configure CPU GPIO for IMU board
ConfigureGPIO();
//USART Initialize();
ConfigureUSART1();
ConfigureUSART2();
// SPI initialize
ConfigureSPI();
//CAN controller Initialize
ECANInitialize();
//Set MASK and Filters for CAN
ECANFiltersInit();
// Timers configuration
ConfigureTimers();
//----------------------------------------------------
//---------- Global variables initialisation --------
//----------------------------------------------------
// tick counter initialisation
TickCounter.AccelTick_ms=0;
TickCounter.GyroTick_ms=1;
TickCounter.MagnetTick_ms=2;
// initialize CAN tx FIFO
CANTxFifoInit();
CANRxFifoInit();
// initialise USART RX FIFO's
USARTFifoInit ();
//----------------------------------------------------
//------ external peripheral configurations: --------
//----------------------------------------------------
__delay_ms(10); // wait for reset to be released on external peripherals
ISM_RESET = 0; // release reset of ISM module
IMUInitRegisters(); // init of BMX055 chip
IMUAutotestResult=IMUAutotest(); // launch IMU autotest
//----------------------------------------------------
//---------- GSM startup delay -----------
//----------------------------------------------------
GSM_RTS=1;
for(char i=0;i<200;i++)
{
__delay_ms(10);
CLRWDT(); // clear watchdog timer each loop
}
GSM_RTS=0;
__delay_ms(10);
__delay_ms(10);
//----------------------------------------------------
//---------- Ready to go in main loop: -----------
//---------- interrupts activation -----------
//----------------------------------------------------
ConfigureInterrupts();
LED1=1; // everything is initialized: enable the PWR/booted LED
//----------------------------------------------------
//---------- GSM dummy AT command -----------
//----------------------------------------------------
USART1Write('A');
USART1Write('T');
USART1Write(0x0D);
for(char i=0;i<10;i++)
{
__delay_ms(10);
}
//-----------------------------------------------------
//------------- infinite main loop ----------
//----------------------------------------------------
while(1)
{
//--------------------------------------------------------------------------------
//------------- periodic tasks occures according to TickCounter variable----------
//--------------------------------------------------------------------------------
if(TickCounter.AccelTick_ms>IMU_TICK_PERIOD)
{
CLRWDT(); // clear watchdog timer each real time cycles
LED2=1;
TickCounter.AccelTick_ms=0; // reset IMU tick counter to 0
CurrentIMUData = IMUUpdateData(); // update IMU data from sensor
// send Accelerometer data to CAN Fifo
TempCANTxMsg.data_TX[0]=(char)(CurrentIMUData.XAccelerationData>>8); //fill data buffer
TempCANTxMsg.data_TX[1]=(char)(CurrentIMUData.XAccelerationData);
TempCANTxMsg.data_TX[2]=(char)(CurrentIMUData.YAccelerationData>>8);
TempCANTxMsg.data_TX[3]=(char)(CurrentIMUData.YAccelerationData);
TempCANTxMsg.data_TX[4]=(char)(CurrentIMUData.ZAccelerationData>>8);
TempCANTxMsg.data_TX[5]=(char)(CurrentIMUData.ZAccelerationData);
TempCANTxMsg.data_TX[6]=0;
TempCANTxMsg.data_TX[7]=0;
TempCANTxMsg.dataLen= ACCEL_DATA_MESSAGE_LEN;
TempCANTxMsg.id = (CAN_MESSAGE_IMU_TYPE << 7 | CAN_DEVICE_ADRESS <<4 | ACCEL_DATA_MESSAGE_ADRESS );
TempCANTxMsg.flags = ECAN_TX_STD_FRAME;
if(!CANTxFifo.Fifofull)
PutCANTxFifo(TempCANTxMsg);
LED2=0;
}
if(TickCounter.GyroTick_ms>IMU_TICK_PERIOD)
{
//LED2=1;
TickCounter.GyroTick_ms=0; // reset IMU tick counter to 0
// send Gyro data to CAN Fifo
TempCANTxMsg.data_TX[0]=(char)(CurrentIMUData.XGyroscopeData>>8);
TempCANTxMsg.data_TX[1]=(char)(CurrentIMUData.XGyroscopeData);
TempCANTxMsg.data_TX[2]=(char)(CurrentIMUData.YGyroscopeData>>8);
TempCANTxMsg.data_TX[3]=(char)(CurrentIMUData.YGyroscopeData);
TempCANTxMsg.data_TX[4]=(char)(CurrentIMUData.ZGyroscopeData>>8);
TempCANTxMsg.data_TX[5]=(char)(CurrentIMUData.ZGyroscopeData);
TempCANTxMsg.dataLen= GYRO_DATA_MESSAGE_LEN;
TempCANTxMsg.id = (CAN_MESSAGE_IMU_TYPE << 7 | CAN_DEVICE_ADRESS <<4 | GYRO_DATA_MESSAGE_ADRESS );
TempCANTxMsg.flags = ECAN_TX_STD_FRAME;
if(!CANTxFifo.Fifofull)
PutCANTxFifo(TempCANTxMsg);
}
void main(void)
{
unsigned int channel = CHANNEL;
unsigned char data = 0x07;
unsigned char t1;
unsigned char t2;
unsigned int tmpcount = 0;
unsigned char wl_data[10];
unsigned char rs_line[20];
unsigned char rs_data[10];
unsigned char tmp_data[50];
// DBGU output configuration
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
// Configuration PIT (Periodic Interrupt Timer)
ConfigurePit();
// Configuration TC (Timer Counter)
ConfigureTc();
// Configuration PIO (Paralell In and Out port), Init Interrupt on PIO
ConfigureButtons();
ConfigureLeds();
// Configuration Radio Module nRF24L (PIO and SPI), ConfigureButtons must be executed before
ConfigureNRF24L();
ConfigureUSART0();
ConfigureUSART1();
while(Timer1Tick<2); // wait until NRF24L01 power up
nrf24l01_power_up(True);
while(Timer1Tick<4); // wait until NRF24L01 stand by
Timer1Tick = 0;
//initialize the 24L01 to the debug configuration as RX and auto-ack disabled
nrf24l01_initialize_debug(True, nrf_TX_RX_SIZE, False);
nrf24l01_write_register(0x06, &data, 1);
nrf24l01_set_as_rx(True);
Delay_US(130);
nrf24l01_set_rf_ch(channel);
nrf24l01_flush_rx();
Delay_US(300);
reset_wl = 1;
while (1) {
if( nrf_Data > 0 ) {
nrf_Data = 0;
for( t1 = 0; t1<8; t1++ ) {
wl_data[t1] = nrfRxMessage.Data[t1];
}
LED_Toggle(LED_Green);
writeByteSequence_8(wl_data);
}
if(messageUSART1){
messageUSART1 = 0;
pmsgRead(tmp_data);
while (tmp_data[tmpcount]!='\n'){
t1 = tmp_data[tmpcount];
tmpcount++;
if( t1 >= '0' && t1 <= '9' ) { // If character is 0-9 convert it to num
if( count < 20) {
rs_line[count] = t1-'0';
count++;
}
}
if( t1 >= 'A' && t1 <= 'F' ) { // If character A-F convert to 10-15
if( count < 20) {
rs_line[count] = t1-'A'+10;
count++;
}
}
}
// If character is a line break send packet
for( count = 0; count <10; count++ ) { // Convert from 16*4 to 8*8
t1 = (rs_line[count*2])<<4;
t2 = rs_line[count*2+1];
rs_data[count] = t1 | t2;
}
count = 0;
tmpcount = 0;
if( nrf_Transmission_Done == 1 ) {
TX_packet_BASE(rs_data); // Send packet.
LED_Toggle(LED_Yellow);
}
}//if msg flag has been raised
}//while
}//main
