void ProcessTimer() {
static uint32_t timer = millis();
if((millis() - timer) >= TIMER_INTERVAL) {
Watchdog();
CheckInternetConnection();
timer = millis();
}
}
void myRobot::OperatorControl()
{
GetWatchdog().SetEnabled(true);
while(IsOperatorControl() && IsEnabled())
{
Watchdog().Feed();
float
//Axis Values, zeroed out /w speed accel.
x = pad.getAxis(pad.LeftX),
y = pad.getAxis(pad.LeftY),
z = pad.getAxis(pad.Triggers),
fl, fr, bl, br;
// Still needs to be tested
fl = (y + x + z);
fr = (-y + x - z);
bl = (y - x + z);
br = (-y - x - z);
Drive(fl, fr, bl, br);
Dashboard();
}
}
static float longitude = 0.0; static float altitude = 0.0; static unsigned long precision = 0; static char date[32]; static unsigned long encoded_chars = 0; static unsigned short good_sentences = 0; static unsigned short failed_checksums = 0; static FILE *logging_file = NULL; #define LOG_RATE 10.0 //INTERNAL GLOBAL VARS #define WATCH_DOG_RATE 22.0 //Pet the watchdog every WATCH_DOG_RATE seconds #define PID_RATE 22.0 //Ideally the PID is activated every PID_RATE seconds for proper heating. #define DESIRED_INTERNAL_TEMP 1.0 //Must keep weather balloon above freezing temperature #define CURR_TEMP 23.0 Watchdog W = Watchdog(); //Watch dog must be petted at least every 26 seconds //IRIDIUM GLOBAL VARS RingBuffer<char> messageBuffer(300); //To store Iridium Messages #define IRIDIUM_SEND_RATE 60.0 //How often you want to send iridium messages //LOGGING PINS MS5803 p_sensor(D14, D15,ms5803_addrCL); //External pressure and temperature sensor TMP102 temperature(D14, D15, 0x90); //The internal temperature sensor Serial gps_ser(D8,D2); //serial to gps, 9600 baud. D8 <-> TX , D2 <-> RX SDFileSystem sd(SPI_MOSI, SPI_MISO, SPI_SCK, SPI_CS, "sd"); // sd card TinyGPS gps; AnalogIn ain(A0); //Reads the power //INTERNAL PINS PID controller(1.0, 0.0, 0.0, PID_RATE); //PID Controller for internal heating
/*******************************************************************************
* Function Name : PollCAN
* Description : periodièno procesiranje CAN protokola v glavni zanki
* Input :
* Output :
* Return : FLASH_COMPLETE na bootloader strani, FLASH_STATUS na strani
* klienta (glej stm32f10x_flash.h)
*******************************************************************************/
int PollCAN(CanRxMsg *p) {
static int addr,n=0; // statièni register za zaèetno. adreso, index IAP stringa
int i; // ....
CanRxMsg Rx;
if(!p) {
if(!CAN_MessagePending(CAN1, CAN_FIFO0))
return(EOF);
p=&Rx;
CAN_Receive(CAN1,CAN_FIFO0, p);
}
switch(p->StdId) {
//----------------------------------------------------------------------------------------------
// client - deep sleep (watchdog), no ack.
case _ID_IAP_GO:
NVIC_SystemReset();
break;
//----------------------------------------------------------------------------------------------
// client - sign FW
case _ID_IAP_SIGN:
SendAck(crcSIGN());
break;
//----------------------------------------------------------------------------------------------
// client - setup adrese, no ack
case _ID_IAP_ADDRESS:
addr=*(int *)p->Data;
break;
//----------------------------------------------------------------------------------------------
// client - programiranje 2x4 bytov, ack
case _ID_IAP_DWORD:
for(i=p->DLC; i<8; ++i)
p->Data[i]=((char *)addr)[i];
i=FlashProgram32(addr,*(int *)(&p->Data[0]));
addr+=4;
++_Words32Received;
if(p->DLC>4) {
i |= FlashProgram32(addr,*(int *)(&p->Data[4]));
}
addr+=4;
++_Words32Received;
SendAck(i);
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_ERASE:
_Words32Received=0;
Watchdog();
SendAck(EraseFLASH(*(int *)p->Data));
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_STRING:
for(i=0; i<p->DLC && n<_IAP_STRING_LEN; ++i, ++n)
_Iap_string[n]=p->Data[i];
if(_Iap_string[n-1]=='\0' || _Iap_string[n-1]=='\r' || _Iap_string[n-1]=='\n' || n==_IAP_STRING_LEN) {
n=0;
CanHexProg(NULL);
}
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_PING:
SendAck(0);
break;
//----------------------------------------------------------------------------------------------
// server - acknowledge received
case _ID_IAP_ACK:
return(p->Data[0]);
//----------------------------------------------------------------------------------------------
default:
break;
}
return(EOF);
}
