int main() {
/*
IOCON_PIO1_5 = 0x000000d0;
GPIO1DIR |= 1 << 5;
GPIO1MASKED[1 << 5] = 0;
for (int i = 0;; i++) {
GPIO1MASKED[1 << 5] = i;
}
*/
matrixled_init();
ux_init();
#if ENEBLE_WDT == 1
slowClock();
#endif
#if SYSTICK_WAIT == 1
#if ENEBLE_WDT == 1
InitSysTick(120000);
#else
InitSysTick(12000); // 12,000,000Hz 12,000 -> 10 = 1ms
#endif
#endif
#if ENEBLE_WDT == 0
initUART();
#endif
/*
for (;;) {
playMML("C");
println("TEST\n");
toggleSounder();
wait(10000);
}
// uart();
*/
// bitman();
// bitman2();
for (;;) {
if (!ux_state()) {
break;
}
WAIT(10);
}
for (;;) {
animate(DATA_ANIM, LEN_DATA_ANIM);
app_mikuji();
// app_keytest();
app_renda();
}
return 0;
}
int main(void)
{
ms = 0;
InitGPIO();
InitLCD();
InitSysTick();
limpaLCD();
for(;;) { }
}
ILI9341::ILI9341(): TftDriver()
{
InitSysTick();
configTftFsmc();
fsmcSetup();
initTft();
configBacklightPWM();
//setBacklightON(333);
//fadeBacklightON();
}
//----------------------------------------------------------------------------------------------------------------------------------------
// Hauptprogramm
//----------------------------------------------------------------------------------------------------------------------------------------
int main (void)
{
// I2C initialisieren
I2C_LowLevel_Init(I2C1, I2C_Clockspeed , I2C_OwnAddress); // I2C initialisieren -> Kanal 1, clockspeed, Materadresse
// Systick timer initialisieren
InitSysTick(); // SysTick timer initialisieren (Ladewert, Clockspeed)
// Timer2 initialisieren
InitTIM2_PWM(); // Timer 2 initialisieren -> notwendig um PWM Signal auszugeben
// Aktiviere Port C für Motor Polarität
RCC->APB2ENR |= (1UL << 4); // Enable GPIOC
GPIOC->CRL = 0x33333333; // PortC 0..7 als Output -> Output Mode, max speed 50MHz ; General purpose output Open-drain
// MPU-6050 initialisieren
Init_MPU6050();
// Beschleunigungswerte und Drehraten vom MPU-6050 lesen
i2cData[0] = 0x3B;
I2C_Write(I2C1, i2cData, 1, I2C_MPUAddress);
I2C_Read(I2C1, i2cDataRead, 14, I2C_MPUAddress);
// Daten ordnen und abspeichern
accY = ((i2cDataRead[2] << 8) | i2cDataRead[3]);
accZ = ((i2cDataRead[4] << 8) | i2cDataRead[5]);
gyroX = ((i2cDataRead[8] << 8) | i2cData[9]);
//Kalibrierung von accY, accZ und gyroX - Werte wurden in einem Versuch ermittelt
accY = accY - 150;
accZ = accZ - 451.63;
gyroX = gyroX + 273.25;
//Winkel initialisieren
accYangle = (atan2(accY, accZ))*RAD_TO_DEG; // Winkel aus Beschleunigungswerten berechnen
setAngle(accYangle); // Kalman-(Start)Winkel setzen
gyroAngle = accYangle; // Drehratenwinkel initialisieren
compAngle = accYangle; // Komplementärwinkel initialisieren
SysTick->CTRL |= 0x01; // Systick timer einschalten - sonst würde dieser bereits vor der Inittialisierung auslösen
//while-Schleife um auf den Interrupt des Systick timers zu warten
while(1) {
}//while
}//int main
void TFC_Init()
{
InitClock(); /* Initialize clock system for 48 MHz */
InitSysTick(); /* Configure the timer and the interrupt to be used to generate the tick of the scheduler */
TFC_InitGPIO();
TFC_InitServos();
TFC_InitMotorPWM();
TFC_InitADCs();
TFC_InitLineScanCamera();
TFC_InitTerminal();
TFC_InitUARTs();
TFC_HBRIDGE_DISABLE;
TFC_SetMotorPWM(0,0);
TFC_RGB_Init();
TFC_Accel_Init();
}
/**
*******************************************************************************
* @brief Initialize OS
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to initialize OS.
*
* @note You must call this function first,before any other OS API function
*
* @code There is a example for useage of this function,as follows:
* e.g.
* ... // Your target initial code.
*
* OsInit(); // Initial OS.
* CreateTask(...); // Create tasks.
* ...
* OsStart(); // Start multitask.
* @endcode
*******************************************************************************
*/
void CoInitOS(void) {
InitSysTick(); /* Initialize system tick. */
InitInt(); /* Initialize PendSV,SVC,SysTick interrupt */
CreateTCBList(); /* Create TCB list. */
#if CFG_EVENT_EN > 0
CreateEventList(); /* Create event control list. */
#endif
#if CFG_KHEAP_EN > 0
CoCreateKheap(); /* Create kernel heap within user define */
#endif
OsSchedLock(); /* Lock Schedule */
/* Create first task -- IDLE task. */
CoCreateTask( CoIdleTask,
Co_NULL,
CFG_LOWEST_PRIO,
&idle_stk[CFG_IDLE_STACK_SIZE-1],
CFG_IDLE_STACK_SIZE
);
/* Set PSP for CoIdleTask coming in */
SetEnvironment(&idle_stk[CFG_IDLE_STACK_SIZE-1]);
}
//*****************************************************************************
//
//! initDriver
//!
//! @param None
//!
//! @return none
//!
//! @brief The function initializes a CC3000 device and triggers it to start
//! operation
//
//*****************************************************************************
int
initDriver(void)
{
// Init GPIO's
pio_init();
// Init Spi
init_spi();
// Enable processor interrupts
MAP_IntMasterEnable();
// WLAN On API Implementation
wlan_init( CC3000_UsynchCallback, sendWLFWPatch, sendDriverPatch,
sendBootLoaderPatch, ReadWlanInterruptPin, WlanInterruptEnable,
WlanInterruptDisable, WriteWlanPin);
// Trigger a WLAN device
wlan_start(0);
// Turn on the LED 1 (RED) to indicate that we are active and initiated WLAN successfully
turnLedOn(1);
// Mask out all non-required events from CC3000
wlan_set_event_mask(HCI_EVNT_WLAN_KEEPALIVE|HCI_EVNT_WLAN_UNSOL_INIT
|HCI_EVNT_WLAN_ASYNC_PING_REPORT);
DispatcherUARTConfigure(SysCtlClockGet());
SysCtlDelay(1000000);
// Generate teh event to CLI: send a version string
{
char cc3000IP[50];
char *ccPtr;
unsigned short ccLen;
DispatcherUartSendPacket((unsigned char*)pucUARTExampleAppString,
sizeof(pucUARTExampleAppString));
ccPtr = &cc3000IP[0];
ccLen = itoa(PALTFORM_VERSION, ccPtr);
ccPtr += ccLen;
*ccPtr++ = '.';
ccLen = itoa(APPLICATION_VERSION, ccPtr);
ccPtr += ccLen;
*ccPtr++ = '.';
ccLen = itoa(SPI_VERSION_NUMBER, ccPtr);
ccPtr += ccLen;
*ccPtr++ = '.';
ccLen = itoa(DRIVER_VERSION_NUMBER, ccPtr);
ccPtr += ccLen;
*ccPtr++ = '\f';
*ccPtr++ = '\r';
*ccPtr++ = '\0';
DispatcherUartSendPacket((unsigned char*)cc3000IP, strlen(cc3000IP));
}
ucStopSmartConfig = 0;
// Configure SysTick to occur X times per second, to use as a time
// reference. Enable SysTick to generate interrupts.
InitSysTick();
return(0);
}
int main(void)
{
/* initialize the core clock and the systick timer */
InitClock();
InitSysTick();
/* initialize the RGB led */
LED_Init();
/* Initialize UART0 */
InitUart0();
/* double rainbow all across the sky */
DoubleFlash();
/* initialize the I2C bus */
I2C_Init();
#if DATA_FUSE_MODE
/* signaling for fusion */
FusionSignal_Init();
#endif // DATA_FUSE_MODE
/* initialize UART fifos */
RingBuffer_Init(&uartInputFifo, &uartInputData, UART_RX_BUFFER_SIZE);
RingBuffer_Init(&uartOutputFifo, &uartOutputData, UART_TX_BUFFER_SIZE);
/* initialize UART0 interrupts */
Uart0_InitializeIrq(&uartInputFifo, &uartOutputFifo);
Uart0_EnableReceiveIrq();
/* initialize I2C arbiter */
InitI2CArbiter();
/* initialize the IMUs */
InitHMC5883L();
InitMPU6050();
// InitMPU6050();
#if ENABLE_MMA8451Q
InitMMA8451Q();
#endif
/* Wait for the config messages to get flushed */
//TrafficLight();
DoubleFlash();
RingBuffer_BlockWhileNotEmpty(&uartOutputFifo);
#if ENABLE_MMA8451Q
/* initialize the MMA8451Q data structure for accelerometer data fetching */
mma8451q_acc_t acc;
MMA8451Q_InitializeData(&acc);
#endif
/* initialize the MPU6050 data structure */
mpu6050_sensor_t accgyrotemp, previous_accgyrotemp;
MPU6050_InitializeData(&accgyrotemp);
MPU6050_InitializeData(&previous_accgyrotemp);
/* initialize the HMC5883L data structure */
hmc5883l_data_t compass, previous_compass;
HMC5883L_InitializeData(&compass);
HMC5883L_InitializeData(&previous_compass);
/* initialize HMC5883L reading */
uint32_t lastHMCRead = 0;
const uint32_t readHMCEvery = 1000 / 75; /* at 75Hz, data come every (1000/75Hz) ms. */
/************************************************************************/
/* Fetch scaler values */
/************************************************************************/
#if DATA_FUSE_MODE
const fix16_t mpu6050_accelerometer_scaler = mpu6050_accelerometer_get_scaler();
const fix16_t mpu6050_gyroscope_scaler = mpu6050_gyroscope_get_scaler();
const fix16_t hmc5883l_magnetometer_scaler = hmc5883l_magnetometer_get_scaler();
#endif // DATA_FUSE_MODE
/************************************************************************/
/* Prepare data fusion */
/************************************************************************/
#if DATA_FUSE_MODE
uint32_t last_transmit_time = 0;
uint32_t last_fusion_time = systemTime();
fusion_initialize();
#endif // DATA_FUSE_MODE
/************************************************************************/
/* Main loop */
/************************************************************************/
for(;;)
{
/* helper variables to track data freshness */
uint_fast8_t have_gyro_data = 0;
uint_fast8_t have_acc_data = 0;
uint_fast8_t have_mag_data = 0;
/************************************************************************/
/* Determine if sensor data fetching is required */
/************************************************************************/
/* helper variables for event processing */
int eventsProcessed = 0;
int readMPU, readHMC;
#if ENABLE_MMA8451Q
int readMMA;
#endif
/* atomic detection of fresh data */
__disable_irq();
#if ENABLE_MMA8451Q
readMMA = poll_mma8451q;
#endif
readMPU = poll_mpu6050;
poll_mma8451q = 0;
poll_mpu6050 = 0;
__enable_irq();
/* detection of HMC read */
/*
* TODO: read synchronized with MPU
*/
readHMC = 0;
uint32_t time = systemTime();
if ((time - lastHMCRead) >= readHMCEvery)
{
readHMC = 1;
lastHMCRead = time;
}
/************************************************************************/
/* Fetching MPU6050 sensor data if required */
/************************************************************************/
/* read accelerometer/gyro */
if (readMPU)
{
LED_BlueOff();
I2CArbiter_Select(MPU6050_I2CADDR);
MPU6050_ReadData(&accgyrotemp);
/* mark event as detected */
eventsProcessed = 1;
/* check for data freshness */
have_acc_data = (accgyrotemp.accel.x != previous_accgyrotemp.accel.x)
|| (accgyrotemp.accel.y != previous_accgyrotemp.accel.y)
|| (accgyrotemp.accel.z != previous_accgyrotemp.accel.z);
have_gyro_data = (accgyrotemp.gyro.x != previous_accgyrotemp.gyro.x)
|| (accgyrotemp.gyro.y != previous_accgyrotemp.gyro.y)
|| (accgyrotemp.gyro.z != previous_accgyrotemp.gyro.z);
/* loop current data --> previous data */
previous_accgyrotemp = accgyrotemp;
}
/************************************************************************/
/* Fetching HMC5883L sensor data if required */
/************************************************************************/
/* read compass data */
if (readHMC)
{
I2CArbiter_Select(HMC5883L_I2CADDR);
HMC5883L_ReadData(&compass);
/* mark event as detected */
eventsProcessed = 1;
/* check for data freshness */
have_mag_data = (compass.x != previous_compass.x)
|| (compass.y != previous_compass.y)
|| (compass.z != previous_compass.z);
/* loop current data --> previous data */
previous_compass = compass;
}
/************************************************************************/
/* Fetching MMA8451Q sensor data if required */
/************************************************************************/
#if ENABLE_MMA8451Q
/* read accelerometer */
if (readMMA)
{
LED_RedOff();
I2CArbiter_Select(MMA8451Q_I2CADDR);
MMA8451Q_ReadAcceleration14bitNoFifo(&acc);
/* mark event as detected */
eventsProcessed = 1;
}
#endif
/************************************************************************/
/* Raw sensor data output over serial */
/************************************************************************/
#if DATA_FETCH_MODE
/* data availability + sanity check
* This sent me on a long bug hunt: Sometimes the interrupt would be raised
* even if not all data registers were written. This always resulted in a
* z data register not being fully written which, in turn, resulted in
* extremely jumpy measurements.
*/
if (readMPU && accgyrotemp.status != 0)
{
/* write data */
uint8_t type = 0x02;
P2PPE_TransmissionPrefixed(&type, 1, (uint8_t*)accgyrotemp.data, sizeof(accgyrotemp.data), IO_SendByte);
}
/* data availability + sanity check */
if (readHMC && (compass.status & HMC5883L_SR_RDY_MASK) != 0) /* TODO: check if not in lock state */
{
uint8_t type = 0x03;
P2PPE_TransmissionPrefixed(&type, 1, (uint8_t*)compass.xyz, sizeof(compass.xyz), IO_SendByte);
}
#if ENABLE_MMA8451Q
/* data availability + sanity check */
if (readMMA && acc.status != 0)
{
uint8_t type = 0x01;
P2PPE_TransmissionPrefixed(&type, 1, (uint8_t*)acc.xyz, sizeof(acc.xyz), IO_SendByte);
}
#endif
#endif // DATA_FETCH_MODE
/************************************************************************/
/* Sensor data fusion */
/************************************************************************/
#if DATA_FUSE_MODE
// if there were sensor data ...
if (eventsProcessed)
{
v3d gyro, acc, mag;
// convert, calibrate and store gyroscope data
if (have_gyro_data)
{
sensor_prepare_mpu6050_gyroscope_data(&gyro, accgyrotemp.gyro.x, accgyrotemp.gyro.y, accgyrotemp.gyro.z, mpu6050_gyroscope_scaler);
fusion_set_gyroscope_v3d(&gyro);
}
// convert, calibrate and store accelerometer data
if (have_acc_data)
{
sensor_prepare_mpu6050_accelerometer_data(&acc, accgyrotemp.accel.x, accgyrotemp.accel.y, accgyrotemp.accel.z, mpu6050_accelerometer_scaler);
fusion_set_accelerometer_v3d(&acc);
}
// convert, calibrate and store magnetometer data
if (have_mag_data)
{
sensor_prepare_hmc5883l_data(&mag, compass.x, compass.y, compass.z, hmc5883l_magnetometer_scaler);
fusion_set_magnetometer_v3d(&mag);
}
// get the time differential
const uint32_t current_time = systemTime();
const fix16_t deltaT_ms = fix16_from_int(current_time - last_fusion_time);
const fix16_t deltaT = fix16_mul(deltaT_ms, F16(0.001));
last_fusion_time = current_time;
FusionSignal_Predict();
// predict the current measurements
fusion_predict(deltaT);
FusionSignal_Update();
// correct the measurements
fusion_update(deltaT);
FusionSignal_Clear();
#if 0
fix16_t yaw, pitch, roll;
fusion_fetch_angles(&roll, &pitch, &yaw);
#if 0
float yawf = fix16_to_float(yaw),
pitchf = fix16_to_float(pitch),
rollf = fix16_to_float(roll);
IO_SendInt16((int16_t)yawf);
IO_SendInt16((int16_t)pitchf);
IO_SendInt16((int16_t)rollf);
IO_SendByteUncommited('\r');
IO_SendByte('\n');
#else
if (current_time - last_transmit_time >= 100)
{
/* write data */
uint8_t type = 42;
fix16_t buffer[3] = { roll, pitch, yaw };
P2PPE_TransmissionPrefixed(&type, 1, (uint8_t*)buffer, sizeof(buffer), IO_SendByte);
last_transmit_time = current_time;
}
#endif
#else
if (current_time - last_transmit_time >= 100)
{
/* write data */
switch (output_mode)
{
case RPY:
{
fix16_t roll, pitch, yaw;
fusion_fetch_angles(&roll, &pitch, &yaw);
/* write data */
uint8_t type = 42;
fix16_t buffer[3] = { roll, pitch, yaw };
P2PPE_TransmissionPrefixed(&type, 1, (uint8_t*)buffer, sizeof(buffer), IO_SendByte);
break;
}
case QUATERNION:
{
qf16 orientation;
fusion_fetch_quaternion(&orientation);
uint8_t type = 43;
fix16_t buffer[4] = { orientation.a, orientation.b, orientation.c, orientation.d };
P2PPE_TransmissionPrefixed(&type, 1, (uint8_t*)buffer, sizeof(buffer), IO_SendByte);
break;
}
case QUATERNION_RPY:
{
fix16_t roll, pitch, yaw;
fusion_fetch_angles(&roll, &pitch, &yaw);
qf16 orientation;
fusion_fetch_quaternion(&orientation);
uint8_t type = 44;
fix16_t buffer[7] = { orientation.a, orientation.b, orientation.c, orientation.d, roll, pitch, yaw };
P2PPE_TransmissionPrefixed(&type, 1, (uint8_t*)buffer, sizeof(buffer), IO_SendByte);
break;
}
case SENSORS_RAW:
{
uint8_t type = 0;
fix16_t buffer[6] = { acc.x, acc.y, acc.z, mag.x, mag.y, mag.z };
P2PPE_TransmissionPrefixed(&type, 1, (uint8_t*)buffer, sizeof(buffer), IO_SendByte);
break;
}
}
last_transmit_time = current_time;
}
#endif
}
#endif // DATA_FUSE_MODE
/************************************************************************/
/* Read user data input */
/************************************************************************/
/* as long as there is data in the buffer */
while(!RingBuffer_Empty(&uartInputFifo))
{
/* light one led */
LED_RedOn();
/* fetch byte */
uint8_t data = IO_ReadByte();
output_mode = (output_mode_t)data;
LED_RedOff();
#if 0
/* echo to output */
IO_SendByte(data);
/* mark event as detected */
eventsProcessed = 1;
#endif
}
/************************************************************************/
/* Save energy if you like to */
/************************************************************************/
/* in case of no events, allow a sleep */
if (!eventsProcessed)
{
/*
* Care must be taken with this instruction here, as it can lead
* to a condition where after being woken up (e.g. by the SysTick)
* and looping through, immediately before entering WFI again
* an interrupt would yield a true condition for the branches below.
* In this case this loop would be blocked until the next IRQ,
* which, in case of a 1ms SysTick timer, could be too late.
*
* To counter this behaviour, SysTick has been speed up by factor
* four (0.25ms).
*/
#if 0
__WFI();
#endif
}
}
return 0;
}
