/* * Application entry point. */ int main(void) { /* * Shell thread */ Thread *shelltp = NULL; /* * System initializations. * - HAL initialization, this also initializes the configured device drivers * and performs the board-specific initializations. * - Kernel initialization, the main() function becomes a thread and the * RTOS is active. */ halInit(); chSysInit(); /* * Activate custom stuff */ mypwmInit(); myADCinit(); /* * Creates the blinker thread. */ startBlinker(); /* * Activates the USB driver and then the USB bus pull-up on D+. */ myUSBinit(); /* * Main loop, does nothing except spawn a shell when the old one was terminated */ while (TRUE) { if (!shelltp && isUsbActive()) { shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO); } else if (chThdTerminated(shelltp)) { chThdRelease(shelltp); /* Recovers memory of the previous shell. */ shelltp = NULL; /* Triggers spawning of a new shell. */ } chThdSleepMilliseconds(1000); } }
/* * Application entry point. */ int main(void) { int8_t accelData[2]={0,0}; // Discovery Board's Accelerometer uint8_t receivedBuff[4]={0,0,0,0}; // Received request/information from PandaBoard uint8_t sentData[4] = {0,0,0,0}; // Returned Information (reply) to the PandaBoard float imuData[7]={0,0,0,0,0,0,0}; // IMU calculated data based on Razor Boad int* razorInfo; // Razor Board Data int steering = 0; int speed = 0; int ir_data[3]={0,0,0}; int16_t us_data[3]={0,0,0}; /* * System initializations. * - HAL initialization, this also initializes the configured device drivers * and performs the board-specific initializations. * - Kernel initialization, the main() function becomes a thread and the * RTOS is active. */ halInit(); chSysInit(); mypwmInit(); // Initializing Motor motorInit(); // Initializing IR Thread ADCinit(); // Initializing US Thread // myUltrasonicInit(); // Initializing Discovery Board's Accelerometer //mySPIinit(); // Initializing Razor Board myRazorInit(); // Activates the USB driver and then the USB bus pull-up on D+. myUSBinit(); // Initializing IMU Calculations. initIMU(); //Starting the usb configuration sdStart(&SDU1,&portConfig2); char receivedInfo[11]; /* * Main loop, it takes care of reciving the requests from Panda Board using USB protocol, * and reply with the requested data. */ while (TRUE) { receivedInfo[0]='T'; sdRead(&SDU1, receivedInfo, 10); // getImuValues(imuData); // getAccel(accelData); // getIR(ir_data); // getUS(us_data); if(receivedInfo[0] != 'T'){ receivedInfo[11]='\0'; parse(receivedInfo); //setMotorData(-(rcvData[1]-28),rcvData[2]-2); setMotorData(rcvData[1],1550); translate(rcvData[0],ir_data,us_data,razorInfo,imuData,accelData,sentData); sdWrite(&SDU1, sentData, 4); } } }