void DBG_testUltraDistance(S_robot*r, uint32_t reps)
{
uint32_t period = 100;
uint32_t prStart = _tic();
S_sensor_ultra* u = 0;
u = r->ults.u[0];
while(reps>1)
{
CLOCK_digiPrint(r);
if( _tocFrom(prStart) > period )
{
gpio_toggle(PLED,LEDBLUE3);
LCD_gotoxy(r->lcd,0,0);
fprintf(r->flcd, "=%0.5f|s=%u", u->dist, u->state );
LCD_gotoxy(r->lcd,0,1);
fprintf(r->flcd, "=%6lu |p=%u ", u->nTicks, u->nOwerflow);
//fprintf(r->flcd, "[s=%u][%4u]", u->state, cnt);
//cnt = timer_get_counter(u->TIMX);
prStart = _tic();
}
reps--;
}
int main (void)
{
DIO_init();
LCD_init();
LCD_gotoxy(1,1);
printf("AVR ADC Tutorial");
LCD_gotoxy(1,2);
ADC_init();
ADC_Configure_Reference(VREFERENCE_VALUE);
ADC_Configure_PRESCALAR(PRESCALAR_VALUE);
ADC_Enable();
ADC_start();
while(1)
{
LCD_gotoxy(1,2);
adc_read=ADC_read_8bits(ADC0);
printf("%d",adc_read);
printf (" " );
TO_DELAY(500);
}
return(0);
}
void DBG_testActuators_wInit(S_robot*r, uint32_t reps)
{
uint32_t period = 100;
uint32_t prStart = _tic();
uint8_t q=0;
//uint32_t ocval = 0;
//init
rcc_clock_setup_in_hse_8mhz_out_72mhz();
/* enable GPIOC clock */
rcc_periph_clock_enable(RCC_GPIOC);
/*
* set GPIO12 at PORTC (led) to 'output alternate function push-pull'.
*/
// gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO12);
gpio_mode_setup(GPIOA,GPIO_MODE_AF,GPIO_PUPD_NONE,GPIO1);
gpio_set_af(GPIOA,GPIO_AF1,GPIO1);
uint32_t *p = TIM2_CCMR1;
*p = 0x6800;
p = TIM2_CR1 ;
*p |= 1<<7; // ARPE
p = TIM2_EGR ;
*p |= 1<<0;
p = TIM2_CCER ;
*p |= 1<<4; //enable output
while(reps>1)
{
CLOCK_digiPrint(r);
if( _tocFrom(prStart) > period )
{
//TIM_CCR1(m->TIMX) = m->OCval;
//ocval += 10;
//model_timer_SET_outputCompare(TIM2,TIM_OC2,ocval);
// printit
LCD_gotoxy(r->lcd,0,0);
LCD_gotoxy(r->lcd,0,1);
//fprintf(r->flcd, "");
//for(q=0;q<ROB_MOTOR_COUNT;q++)
//fprintf(r->flcd, "%.0f%%=%lu/%lu", ds->m[q]->dutyCycle*100, ds->m[q]->OCval, ds->m[q]->tim_s->period );
//fprintf(r->flcd, "oc=%lu=%lu", ocval, m->OCval );
prStart = _tic();
}
reps--;
}
void DBG_testActuators(S_robot*r, uint32_t reps)
{
uint32_t period = 10;
uint32_t prStart = _tic();
uint8_t q=0;
//uint32_t ocval = 0;
S_robot_dcmotors* ds = 0;
ds = &(r->dcs);
S_actuator_dcmotor* m = 0;
m = ds->m[q];
float dcadd = 0.00001;
mswait(1000);
while(1)
{
CLOCK_digiPrint(r);
if(m->dutyCycle >= 1.0) m->dutyCycle = 0.0;
DCMOT_SET_dutyCycle(m, m->dutyCycle+dcadd);
}
while(reps>1)
{
CLOCK_digiPrint(r);
if( _tocFrom(prStart) > period )
{
// cycle dutyCycle
if(m->dutyCycle >= 1.0) m->dutyCycle = 0.0;
DCMOT_SET_dutyCycle(m, m->dutyCycle+0.02);
TIM_CCR1(m->TIMX) = m->OCval;
//ocval += 10;
//model_timer_SET_outputCompare(TIM2,TIM_OC2,ocval);
// printit
LCD_gotoxy(r->lcd,0,0);
fprintf(r->flcd, "%.0f%%", ds->m[q]->dutyCycle*100);
LCD_gotoxy(r->lcd,0,1);
//fprintf(r->flcd, "");
//for(q=0;q<ROB_MOTOR_COUNT;q++)
fprintf(r->flcd, "%lu/%lu|", ds->m[q]->OCval, ds->m[q]->tim_s->period );
//fprintf(r->flcd, "oc=%lu=%lu", ocval, m->OCval );
prStart = _tic();
}
reps--;
}
gpio_toggle(PLED,LEDORANGE1);
void DBG_testButtonState(S_robot* r, uint32_t repeats,uint32_t ms)
{
while(repeats>1)
{
repeats--;
S_robot_buttons * b = &(r->btns);
REFRESH_buttonState(b->bStart);
REFRESH_buttonState(b->bLine);
REFRESH_buttonState(b->bSumo);
gpio_clear(PLED,LEDGREEN0|LEDORANGE1|LEDRED2|LEDBLUE3);
LCD_clear(r->lcd);
LCD_gotoxy(r->lcd,0,0);
fprintf(R.flcd, "%x|%x|%x",
b->bStart->state,
b->bLine->state,
b->bSumo->state
);
if(b->bStart->state) gpio_set(PLED,LEDGREEN0);
if(b->bLine->state) gpio_set(PLED,LEDBLUE3);
if(b->bSumo->state) gpio_set(PLED,LEDRED2);
mswait(ms);
}
gpio_clear(PLED,LEDGREEN0|LEDORANGE1|LEDRED2|LEDBLUE3);
void DBG_testAllUltraDistance(S_robot*r, uint32_t reps)
{
uint32_t period = 100;
uint32_t prStart = _tic();
uint8_t q=0;
S_robot_ultras* us = 0;
us = &(r->ults);
while(reps>1)
{
CLOCK_digiPrint(r);
if( _tocFrom(prStart) > period )
{
gpio_toggle(PLED,LEDBLUE3);
LCD_gotoxy(r->lcd,0,0);
fprintf(r->flcd, "s");
for(q=0;q<ROB_ULTRA_COUNT;q++)
fprintf(r->flcd, "%u", us->u[q]->state );
fprintf(r->flcd, "p");
for(q=0;q<ROB_ULTRA_COUNT;q++)
fprintf(r->flcd, "%u", us->u[q]->nOwerflow);
fprintf(r->flcd, " ");
//fprintf(r->flcd, "p=");
//u->nOwerflow
LCD_gotoxy(r->lcd,0,1);
//fprintf(r->flcd, "a");
for(q=0;q<ROB_ULTRA_COUNT;q++)
{
fprintf(r->flcd, "%3.0f|", us->u[q]->dist );
//fprintf(r->flcd, "%3.0f", us->u[q]->dist );
//if(q<3) fprintf(r->flcd, "|");
}
//fprintf(r->flcd, "[s=%u][%4u]", u->state, cnt);
//cnt = timer_get_counter(u->TIMX);
prStart = _tic();
}
reps--;
}
void vLCDTask( void *pvParameters )
{
xLCDMessage xMessage;
/* Initialise the LCD and display a startup message. */
LCD_init();
LCD_cur_off();
LCD_cls();
LCD_gotoxy( 1, 1 );
LCD_puts( ( signed char * ) "www.FreeRTOS.org" );
for( ;; )
{
/* Wait for a message to arrive that requires displaying. */
while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );
/* Display the message. Print each message to a different position. */
LCD_cls();
LCD_gotoxy( ( xMessage.xColumn & 0x07 ) + 1, ( xMessage.xColumn & 0x01 ) + 1 );
LCD_puts( xMessage.pcMessage );
}
}
void CLOCK_digiPrint(S_robot* r)
{
static uint32_t world_time = 0;
static uint32_t last_wtime = 0;
world_time = _tic()/1000;
if(world_time != last_wtime)
{
char str_hhmmss[] = "%2lu:%02lu:%02lu";
char str_mss[] = "%2lu:%02lu";
char str_s[] = "%2lu";
uint32_t hh = (world_time/3600);
uint32_t mm = (world_time/60)%60;
uint32_t ss = world_time%60;
if(mm > 0)
{
if(hh>0)
{
LCD_gotoxy(r->lcd,8,0);
fprintf(r->flcd, str_hhmmss, hh, mm, ss);
}
else
{
LCD_gotoxy(r->lcd,11,0);
fprintf(r->flcd, str_mss, mm, ss);
}
}
else
{
LCD_gotoxy(r->lcd,14,0);
fprintf(r->flcd, str_s, ss);
}
last_wtime = world_time;
}
/*---------------------------------------------------------------------------*/
static void lcd (char *str)
{
short wStrLen;
lcd_setup_t LCDMessage;
extern xQueueHandle xLCDQueue;
LCDMessage.byColumn = 0;
wStrLen = strlen("lcd ");
if (strlen(str) > wStrLen) {
LCD_cls();
LCD_gotoxy(1, 1);
LCDMessage.Message = &str[wStrLen];
xQueueSend(xLCDQueue, &LCDMessage, portMAX_DELAY);
shell_output("LCD OK!", "");
shell_output("Message: ", LCDMessage.Message);
} else {
shell_output("LCD ERROR: String null!", "");
}
}
void temp_show() {
LCD_clear();
LCD_puts(" SET TEMP ");
LCD_gotoxy(1, 2);
LCD_puts("<");
if (m_dayTemp != 0) {
if (m_dayTemp >= 10) {
LCD_putint(m_dayTemp, 10);
} else {
LCD_puts("0");
LCD_putint(m_dayTemp, 10);
}
} else {
LCD_puts("00");
}
LCD_puts(" / ");
if (m_nightTemp != 0) {
if (m_nightTemp >= 10) {
LCD_putint(m_nightTemp, 10);
} else {
LCD_puts("0");
LCD_putint(m_nightTemp, 10);
}
} else {
LCD_puts("00");
}
LCD_puts(" +- ");
if (m_offsetTemp != 0) {
LCD_putint(m_offsetTemp, 10);
} else {
LCD_puts("0");
}
LCD_puts(" C>");
// LCD_puts("<00 / 00 +- 0 C>");
}
static void vCheckTask( void *pvParameters )
{
portBASE_TYPE xErrorOccurred = pdFALSE;
TickType_t xLastExecutionTime;
unsigned portBASE_TYPE uxColumn = 0;
xLCDMessage xMessage;
xLastExecutionTime = xTaskGetTickCount();
xMessage.xColumn = 0;
xMessage.pcMessage = "PASS";
for( ;; )
{
/* Perform this check every mainCHECK_DELAY milliseconds. */
vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
/* Has an error been found in any task? */
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xIsCreateTaskStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
LCD_cls();
xMessage.xColumn++;
LCD_gotoxy( ( uxColumn & 0x07 ) + 1, ( uxColumn & 0x01 ) + 1 );
if( xErrorOccurred == pdTRUE )
{
xMessage.pcMessage = "FAIL";
}
/* Send the message to the LCD gatekeeper for display. */
xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
}
}
void set_temp_init(void) {
u16 value;
u08 step = 0, empty, tmp[2];
u08 day[3], month[3], year[5];
u08 temp1[3], temp2[3];
u08 skipLoop = 0;
LCD_write_command(0x0f);
waitms(20);
do {
empty = 0;
LCD_gotoxy((2 + step), 2);
value = decode_rc5();
switch (value) {
case KEY_0: {
LCD_puts("0");
strcpy(tmp, "0");
break;
}
case KEY_1: {
LCD_puts("1");
strcpy(tmp, "1");
break;
}
case KEY_2: {
LCD_puts("2");
strcpy(tmp, "2");
break;
}
case KEY_3: {
LCD_puts("3");
strcpy(tmp, "3");
break;
}
case KEY_4: {
LCD_puts("4");
strcpy(tmp, "4");
break;
}
case KEY_5: {
LCD_puts("5");
strcpy(tmp, "5");
break;
}
case KEY_6: {
LCD_puts("6");
strcpy(tmp, "6");
break;
}
case KEY_7: {
LCD_puts("7");
strcpy(tmp, "7");
break;
}
case KEY_8: {
LCD_puts("8");
strcpy(tmp, "8");
break;
}
case KEY_9: {
LCD_puts("9");
strcpy(tmp, "9");
break;
}
case KEY_LEFT: {
if (step == 5) {
step -= 4;
} else if (step == 11) {
step -= 5;
} else {
step--;
}
skipLoop = 1;
break;
}
case KEY_RIGHT: {
empty = 1;
break;
}
default: {
step--;
empty = 1;
break;
}
}
if(skipLoop) {
skipLoop = 0;
continue;
}
if (!empty) {
switch (step) {
case 0:
strcpy(temp1, tmp);
break;
case 1:
strcat(temp1, tmp);
break;
case 5:
strcpy(temp2, tmp);
break;
case 6:
strcat(temp2, tmp);
break;
default:
break;
}
}
step++;
if (step == 2)
step += 3;
if (step == 7)
step += 4;
} while (step <= 11);
LCD_write_command(0x0C);
if (m_dayTemp >= 0 && m_nightTemp >= 0) {
m_requiresSettings |= SETTING_TEMP;
}
m_dayTemp = (atoi(temp1) % 90);
m_nightTemp = (atoi(temp2) % 90);
m_offsetTemp = (atoi(tmp) % 90);
}
