int main(void)
{
vuint32_t PulseNum = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
light_init(); /* LED灯初始化 */
/* 初始化串口 */
serial_initialize((intptr_t)(NULL));
ftm_decoder_init(PTA8_9);
printf("%s\n","FTM - PWM test!");
while(1)
{
PulseNum = FTM_CNT_REG(FTM1_BASE_PTR); //读FTM1的CNT寄存器的值
if(PulseNum > 5000)
{
light_change(LIGHT1);
}
}
return 0;
}
int main(void)
{
/* 模块初始化 */
exc_init(); /* 中断初始化 */
light_init(); /* LED灯初始化 */
/* 初始化串口 */
serial_initialize((intptr_t)(NULL));
pit_init(PIT0, BUS_CLK_50000*1000);
pit_enable(PIT0);
printf("%s\n","PIT test!");
/* 主循环 */
while (1)
{
//主循环计数到一定的值，使小灯的亮、暗状态切换
if (pit_count > 0)
{
light_change(LIGHT0);//指示灯的亮、暗状态切换
pit_count = 0;
}
pit_enable(PIT0);
} //end_while
}
/* One start -----------------------------------------------------------------*/
static void startup()
{
unsigned char err = 0;
init_hardware();
dbg_init();
dbg_print_app_ver();
crc32_init();
pins_init();
//spi0_init(); // used in m25pexx.c (FLASH)
spi1_init();
adc_init();
err = memory_init(); // memory initialization, external EEPROM (used in pref.c, orion.c), external FLASH, internal FLASH
if (err)
goto err;
pref_init();
ds1390_init();
evt_fifo_init();
GPS_init();
//SIM900_init();
light_init();
saveDatePorojectIP();//новые параметры связи
vpu_init(); /*VPU start*/
//Init_USB();
//if (PROJ.jornal.power_on)
//Event_Push_Str("СТАРТ");
return;
err:
Err_led(err);
}
int main(int argc, char **argv)
{
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* LED灯初始化 */
switch_init(); /* 开关初始化 */
speaker_init(); /* 蜂鸣器初始化 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init(); /* 编码器初始化 */
serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
//sd_init(&Fatfs); /* 初始化SD卡，并创建文件 */
//sd_create_file(&test_data, test_data_name);
/* 命令注册 */
help_cmd_initialize((intptr_t)(NULL));
light_cmd_initialize((intptr_t)(NULL));
switch_cmd_initialize((intptr_t)(NULL));
speaker_cmd_initialize((intptr_t)(NULL));
motor_cmd_initialize((intptr_t)(NULL));
decoder_cmd_initialize((intptr_t)(NULL));
control_cmd_initialize((intptr_t)(NULL));
//sd_cmd_initialize((intptr_t)(NULL));
printf("\n Welcome to k60 software platform!");
printf("\n Press 'help' to get the help! \n");
//light_open(LIGHT4);
/* ntshell测试 */
task_ntshell((intptr_t)(NULL));
}
/* initialize blue and opengl stuff */
void blue_gl_init(INITFUNC_ARGS){
/* Blue type initialization */
window_type = window_init(lib, Module);
view_type = view_init(lib, Module);
layer_type = layer_init(lib, Module);
shape_type = shape_init(lib, Module);
image_type = image_init(lib, Module);
light_type = light_init(lib, Module);
text_type = text_init(lib, Module);
}
void board_init_devices(void) {
#if defined(ENVIRONMENT_SENSOR)
kputs("Initializing i2c\n");
i2c_init();
kputs("Initializing Devices... Light,");
light_init();
#ifdef REPORT_TYPE_GYRO
kputs("Gyro, ");
gyro_init();
#endif
#ifdef REPORT_TYPE_ACCEL
kputs("Accell, ");
accel_init();
#endif
#ifdef REPORT_TYPE_HUMID
kputs("Humid, ");
humid_init();
#endif
kputs("PIR\n");
pir_init();
#elif defined POWER_STRIP_MONITOR
kputs("Initializing Devices... Power\n");
powermon_init();
#endif
#ifdef USE_PN532
kputs("Initializing RFID reader... \n");
rfid_init();
#endif
#ifdef USE_MACHXO2_PMCO2
kputs("Initializing CO2 and PM extension...\n");
machxo2_init();
#endif
#ifdef USE_DOOR_SENSORS
kputs("Initializing Door Sensors...\n");
door_sensors_init();
#endif
}
/** \brief Read current light's raw value
* \return EOF on error
*/
int16_t
sensor_light_get_raw()
{
int16_t result;
if (!light_initialized) {
light_init();
}
/* Power up sensor */
LIGHT_PORT |= (1 << LIGHT_BIT);
/* Init ADC and measure */
adc_init(ADC_CHAN_ADC4, ADC_TRIG_FREE_RUN, ADC_REF_AVCC, ADC_PS_128);
adc_conversion_start();
while ((result = adc_result_get(ADC_ADJ_RIGHT)) == EOF ){
;
}
adc_deinit();
/* Power down sensor */
LIGHT_PORT &= ~(1 << LIGHT_BIT);
return result;
}
int main(void)
{
int32_t e_ftm_timer = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
e_ftm_timer = ftm_timer_init(FTM0);
light_init(); /* LED灯初始化 */
/* 使能ftm定时器中断 */
ftm_timer_enable(FTM0);
/* 主循环 */
while (1)
{
/* 主循环1s计数，使小灯的亮、暗状态切换 */
if(ftm_count >= 1000)
{
ftm_count = 0;
light_change(Light_Run_PORT,Light_Run2);
} /* end_if */
} /* end_while */
}
/*************************** LIGHT CLASS FUNCTIONS ****************************/
LIGHT :: LIGHT(uint8_t priority) :scheduler_task("LIGHT", 2048, priority)
{
light_init();
setRunDuration(50); //run after every 50mS
}
void* upm_light_init_str(const char* protocol, const char* params)
{
fprintf(stderr, "String initialization - not implemented, using ain0: %s\n", __FILENAME__);
return light_init(0);
}
int run_simulation(struct simulation *sim)
{
struct device cell;
log_clear(sim);
printf_log(sim,_("Run_simulation\n"));
device_init(&cell);
cell.onlypos=FALSE;
dump_init(sim,&cell);
set_dump_status(sim,dump_stop_plot, FALSE);
set_dump_status(sim,dump_print_text, TRUE);
char temp[1000];
cell.kl_in_newton=FALSE;
//if (strcmp(outputpath,"")!=0) strcpy(get_output_path(sim),outputpath);
//if (strcmp(inputpath,"")!=0) strcpy(get_input_path(sim),inputpath);
dump_load_config(sim,&cell);
int i;
int z;
int x;
int y;
join_path(2,temp,get_output_path(sim),"error.dat");
remove(temp);
join_path(2,temp,get_output_path(sim),"equilibrium");
remove_dir(sim,temp);
join_path(2,temp,get_output_path(sim),"snapshots");
remove_dir(sim,temp);
join_path(2,temp,get_output_path(sim),"light_dump");
remove_dir(sim,temp);
join_path(2,temp,get_output_path(sim),"dynamic");
remove_dir(sim,temp);
join_path(2,temp,get_output_path(sim),"frequency");
remove_dir(sim,temp);
load_config(sim,&cell);
if (strcmp(sim->force_sim_mode,"")!=0)
{
strcpy(cell.simmode,sim->force_sim_mode);
}
if (strcmp(cell.simmode,"opticalmodel@optics")!=0)
{
solver_init(sim,cell.solver_name);
newton_init(sim,cell.newton_name);
printf_log(sim,_("Loading DoS for %d layers\n"),cell.my_epitaxy.electrical_layers);
char tempn[100];
char tempp[100];
i=0;
for (i=0;i<cell.my_epitaxy.electrical_layers;i++)
{
dos_init(&cell,i);
printf_log(sim,"Load DoS %d/%d\n",i,cell.my_epitaxy.electrical_layers);
sprintf(tempn,"%s_dosn.dat",cell.my_epitaxy.dos_file[i]);
sprintf(tempp,"%s_dosp.dat",cell.my_epitaxy.dos_file[i]);
load_dos(sim,&cell,tempn,tempp,i);
}
device_alloc_traps(&cell);
if (get_dump_status(sim,dump_write_converge)==TRUE)
{
sim->converge = fopena(get_output_path(sim),"converge.dat","w");
fclose(sim->converge);
sim->tconverge=fopena(get_output_path(sim),"tconverge.dat","w");
fclose(sim->tconverge);
}
mesh_cal_layer_widths(&cell);
long double depth=0.0;
long double percent=0.0;
long double value=0.0;
for (z=0;z<cell.zmeshpoints;z++)
{
for (x=0;x<cell.xmeshpoints;x++)
{
for (y=0;y<cell.ymeshpoints;y++)
{
depth=cell.ymesh[y]-cell.layer_start[cell.imat[z][x][y]];
percent=depth/cell.layer_width[cell.imat[z][x][y]];
cell.Nad[z][x][y]=get_dos_doping_start(&cell,cell.imat[z][x][y])+(get_dos_doping_stop(&cell,cell.imat[z][x][y])-get_dos_doping_start(&cell,cell.imat[z][x][y]))*percent;
}
}
}
init_mat_arrays(&cell);
for (z=0;z<cell.zmeshpoints;z++)
{
for (x=0;x<cell.xmeshpoints;x++)
{
for (y=0;y<cell.ymeshpoints;y++)
{
cell.phi[z][x][y]=0.0;
cell.R[z][x][y]=0.0;
cell.n[z][x][y]=0.0;
}
}
}
contacts_load(sim,&cell);
cell.C=cell.xlen*cell.zlen*epsilon0*cell.epsilonr[0][0][0]/(cell.ylen+cell.other_layers);
if (get_dump_status(sim,dump_print_text)==TRUE) printf_log(sim,"C=%Le\n",cell.C);
cell.A=cell.xlen*cell.zlen;
cell.Vol=cell.xlen*cell.zlen*cell.ylen;
///////////////////////light model
char old_model[100];
gdouble old_Psun=0.0;
old_Psun=light_get_sun(&cell.mylight);
light_init(&cell.mylight);
light_set_dx(&cell.mylight,cell.ymesh[1]-cell.ymesh[0]);
light_load_config(sim,&cell.mylight);
if (cell.led_on==TRUE)
{
strcpy(old_model,cell.mylight.mode);
strcpy(cell.mylight.mode,"ray");
}
light_load_dlls(sim,&cell.mylight);
light_setup_ray(sim,&cell,&cell.mylight);
if (cell.led_on==TRUE)
{
cell.mylight.force_update=TRUE;
light_set_sun(&(cell.mylight),1.0);
light_set_sun_delta_at_wavelength(&(cell.mylight),cell.led_wavelength);
light_solve_all(sim,&(cell.mylight));
cell.mylight.force_update=FALSE;
strcpy(cell.mylight.mode,old_model);
light_set_sun(&(cell.mylight),old_Psun);
light_free_dlls(sim,&cell.mylight);
light_load_dlls(sim,&cell.mylight);
}
///////////////////////
//update_arrays(&cell);
contact_set_all_voltages(sim,&cell,0.0);
get_initial(sim,&cell);
remesh_shrink(&cell);
if (cell.math_enable_pos_solver==TRUE)
{
for (z=0;z<cell.zmeshpoints;z++)
{
for (x=0;x<cell.xmeshpoints;x++)
{
solve_pos(sim,&cell,z,x);
}
}
}
time_init(sim,&cell);
cell.N=0;
cell.M=0;
solver_realloc(sim,&cell);
plot_open(sim);
cell.go_time=FALSE;
plot_now(sim,"plot");
//set_solver_dump_every_matrix(1);
find_n0(sim,&cell);
//set_solver_dump_every_matrix(0);
draw_gaus(&cell);
if (cell.onlypos==TRUE)
{
join_path(2,temp,get_output_path(sim),"equilibrium");
dump_1d_slice(sim,&cell,temp);
device_free(sim,&cell);
device_free_traps(&cell);
mesh_free(sim,&cell);
return 0;
}
}
//Load the dll
if (is_domain(cell.simmode)!=0)
{
char gussed_full_mode[200];
if (guess_whole_sim_name(sim,gussed_full_mode,get_input_path(sim),cell.simmode)==0)
{
printf_log(sim,"I guess we are using running %s\n",gussed_full_mode);
strcpy(cell.simmode,gussed_full_mode);
}else
{
ewe(sim,"I could not guess which simulation to run from the mode %s\n",cell.simmode);
}
}
run_electrical_dll(sim,&cell,strextract_domain(cell.simmode));
if (strcmp(cell.simmode,"opticalmodel@optics")!=0)
{
device_free(sim,&cell);
device_free_traps(&cell);
mesh_free(sim,&cell);
plot_close(sim);
for (i=0;i<cell.my_epitaxy.electrical_layers;i++)
{
dos_free(&cell,i);
}
solver_free_memory(sim,&cell);
newton_interface_free(sim);
light_free(sim,&cell.mylight);
}
return cell.odes;
}
int main(int argc, char **argv)
{
uint8_t n = 1, p = 2, q = 0, f = 0;
uint32_t e = 0;
uint32_t test_time = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* LED灯初始化 */
// motor_init();
// serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
sd_init(&Fatfs); /* 初始化SD卡，并创建文件 */
sd_create_file(&test_data, test_data_name); /* create a file */
// printf("\n Welcome to k60 software platform! \n");
// printf(" *** This is a test for SD module! *** \n");
// light_open(LIGHT4);
//
// printf(" \n>>>> The data will be writen into the SD card! \n");
// for(test_time = 0;test_time < 65535; test_time++)
// {
// test_sd_data[test_time] = test_time;
// }
/* 写数据 */
if (test_data.fs)
{
f_printf(&test_data, "Hello SD Card!\n");
f_printf(&test_data, "This is a test!\n");
f_printf(&test_data, "1 2 3 4 5 6 7 8 9\n");
f_printf(&test_data, "~ ! # $ % ^ & * (\n");
// for(test_time = 0;test_time < 65535; test_time++)
// {
// f_printf(&test_data, "%d\t", test_sd_data[test_time]);
// }
}
f_printf(&test_data, "TEST OVER\n");
sd_close_file(&test_data); /* 关闭文件 */
//for(n=0;n<128;n++)
// while(1)
// {
// SD_SendData(n);
// SD_SendData(p);
// SD_SendData(q);
// SD_SendData(f);
// SD_SendData(CRLF);
//
// for(e = 0; e< 65535; e++);
// }
//
// printf(" \n>>>> A test for SD module is over!\n");
while(1)
{
light_open(LIGHT6);
}
}
void main()
{
unsigned char i;
unsigned char savemode;
//
// Core Hardware Initialization
mcu_initialize(); // Initialize MCU resources and 8KHz interrupt...
nvreadbuf(); // Load the NV buffer from flash (get badge Addr and properties)
proc_btn1(); // Process Buttons
sound_config_polled(); // Configure the sound subsystem chip
etoh_init(); // Initialize the Alcohol Sensor Subsystem
MRF49XA_Init(); // Initialize the RF tranceiver
usb_ser_init(); // Initialize the serial port
light_init();
//
// Preliminary setup and interaction
// These setup a precurser items will occur prior to going into the main worker loop.
// This is mainly the one-time powerup and "boot" sequence
//
// Show the address of the badge on the LEDs (since there are only 7 LED's
// the binary number will show in green if the badge is < 128 and red if >
// 128 with the badge addresses 0 and 128 showing up as nothing (typically illegal
// numbers anyway
// Note, led_showbin does not interact with the interrupt driven light show well.
// So only use if you may not be in interrupt mode yet of if a show is not running
delay_s(1);
led_showbin(LED_SHOW_RED, nvget_badgetype() | 0x40); // Startup Indicator
delay_10us(100);
led_showbin(LED_SHOW_RED, 0);
delay_s(1);
led_showbin(LED_SHOW_RED, nvget_badgeperm() | 0x40); // Same
delay_10us(100);
led_showbin(LED_SHOW_RED, 0);
delay_s(1);
//
// Shows address as described above
//
MyBadgeID = nvget_badgeid();
led_showbin(MyBadgeID & 0x80 ? LED_SHOW_RED : LED_SHOW_GRN, MyBadgeID & 0x7f );
delay_s(TIME_ADDR);
led_showbin(LED_SHOW_NONE, 0);
init_rnd(nvget_badgetype()+1, MyBadgeID, 0x55); // Seed tha random number generator
//
// Perform POV credits (spin the badge on your wrist :)
//
led_pov(LED_SHOW_AUTO, TIME_POV);
// Enable Global Interrupts
// Use Interrupts. ISR is interrupt(), below
intcon.GIE=1;
//sample_play();
//delay_s(2);
MyMode = MODE_IDLE;
modelights(); // Sets lightshow based on a few state parameters
// Calculate initial elevation time
elevatemsecs = elapsed_msecs + ELEVATE_BASE + (unsigned long) rnd_randomize() * ELEVATE_VAR;
//
// Main Worker Loop
//
while(1) {
//
// Handle the elapsed time clocks
//
clear_bit(intcon, TMR0IE);
loop_msecs = intr_msecs; // Take copy to avoid race conditions
intr_msecs = 0;
set_bit(intcon, TMR0IE);
elapsed_msecs += loop_msecs; // Update elapsed time in msecs
savemode = MyMode; // Used to detact mode changes when command processers set new mode
switch(MyMode) {
case MODE_IDLE:
// If button pressed, handle it
if(btn_commandwork(loop_msecs) == BTN_WORKING) {
MyMode = MODE_GETCMD;
modelights();
playsong = 0;
//light_pause();
break;
}
// Look for incoming RF packet
if(MRF49XA_Receive_Packet(rfrxbuf,&rfrxlen) == PACKET_RECEIVED) {
MRF49XA_Reset_Radio();
//led_showbin(LED_SHOW_RED, 2);
//delay_10us(10);
//led_showbin(LED_SHOW_RED, 0);
rfcmd_execute(rfrxbuf, rfrxlen);
}
if(savemode != MyMode) { // Don't process remainder of idle switch if state change
break;
}
// If time to send a beacon, send it. Also process quorum sounds.
if(elapsed_msecs > (last_beacon + (unsigned long)BEACON_BASE + ((unsigned long)rnd_randomize()* BEACON_RNDSCALE))) { // time for beacon
rfcmd_3send(RFCMD_BEACON, MyBadgeID, nvget_socvec1());
last_beacon = elapsed_msecs;
rfcmd_clrcden();
if(have_quorum) {
if(rfcmd_getdensity() <= DENSITY_QUORUM_LO) {
have_quorum = 0;
if(!playsong) tune_startsong(SONG_CHIRP2);
}
}
else {
if(rfcmd_getdensity() >= DENSITY_QUORUM_HI) {
have_quorum = 1;
if (!playsong) tune_startsong(SONG_303);
}
}
modelights();
}
break;
case MODE_ETOH: // Run the alcohol sensor state machine
if(etoh_breathtest(ETOH_DOWORK, loop_msecs ) == ETOH_DONE) { // worker for ETOH
switch(etoh_getreward()) {
case REWARD_SOBER:
tune_startsong(SONG_BUZZER);
break;
case REWARD_TIPSY:
tune_startsong(SONG_PEWPEW);
break;
case REWARD_DRUNK:
tune_startsong(SONG_CACTUS);
break;
}
MyMode = MODE_IDLE;
light_show(LIGHTSHOW_SOCFLASH, 5);
break;
}
break;
case MODE_ATTEN:
// Puts all badges into visual attention mode to see who's in range
if(MyMode != lastmode) {
attelapsed = 0;
}
attelapsed += loop_msecs;
if(attelapsed > 120000) { // Stays there 2 min (should be in #def)
MyMode = MODE_IDLE;
}
if(MRF49XA_Receive_Packet(rfrxbuf,&rfrxlen) == PACKET_RECEIVED) {
MRF49XA_Reset_Radio();
rfcmd_execute(rfrxbuf, rfrxlen);
}
modelights();
break;
case MODE_GETCMD:
if (btn_commandwork( loop_msecs) != BTN_WORKING) {
MyMode = MODE_IDLE;
modelights();
}
break;
} // switch
tune_songwork(); // Worker thread for songs
light_animate(loop_msecs); // worker thread for lights
if(MyElev) { // Handle the privilege elevation timer
if(elapsed_msecs > (elevatemsecs + ELEVATE_DUR)) {
MyElev = 0;
elevatemsecs = elapsed_msecs + ELEVATE_BASE + (unsigned long) rnd_randomize() * ELEVATE_VAR;
modelights();
}
} else {
if(elapsed_msecs > elevatemsecs) {
MyElev = 1;
sample_play();
modelights();
}
}
lastmode = MyMode;
}
}
int main(int argc, char **argv)
{
uint32_t buff_r;
FRESULT res;
uint32_t n = 0, j = 0;
int32_t y_temp = -1;
int temp = 0;
uint32_t time[64];
uint32_t time_temp[4];
uint32_t time_start = 0;
uint32_t time_end = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* LED灯初始化 */
serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
sd_init(&Fatfs); /* 初始化SD卡，并创建文件 */
sd_create_file(&image_data, image_data_name); /* create a file */
printf("\n Welcome to k60 software platform! \n");
light_open(LIGHT4);
res = f_open(&image_data, "0:DATA.TXT", FA_OPEN_EXISTING | FA_READ);
res = f_read(&image_data, buffer, sizeof(buffer), &buff_r);
////// for(n=0; n<64; n++)
////// {
////// for(j=0;j<4;j++)
////// {
// sys_timer_read(&time_start);
compress_image();
// sys_timer_read(&time_end);
//////
////// time_temp[j] = time_start - time_end;
//////
////// }
////// time[n] = (time_temp[0] +time_temp[1]+time_temp[2]+time_temp[3])/4;
////// }
//
res = f_open(&image_data, "0:A_IMAGE.TXT", FA_OPEN_EXISTING | FA_WRITE);
// /* 取出制表符 */
// if (image_data.fs)
// {
// for (n = 0; n < ((12800*2) +100) ; n++)
// {
// if((buffer[n] == '0') || (buffer[n] == '1'))
// f_printf(&image_data, "%c", buffer[n]);
// }
// }
// /* 写原始数据 */
//// if (image_data.fs)
//// {
//// for (n = 0; n < 12800 ; n++)
//// {
//// if(n%128 == 0)
//// {
//// y_temp ++;
//// }
////
//// if(buffer[n] == '0')
//// {
//// f_printf(&image_data, "%d\t", (n%128));
//// f_printf(&image_data, "%d\n", y_temp);
//// }
//// }
//// }
/* 写压缩后图像 */
// if (image_data.fs)
// {
// for (n = gl_SRNum; n >0 ; n--)
// {
// f_printf(&image_data, "%d\t%d\n",
// (int)StrRoadFind[n].CenterX, (int)StrRoadFind[n].CenterY);
// }
// }
for (n = 0; n <12800 ; n++)
{
buffer[n] = 0;
}
for (n = gl_SRNum; n >0 ; n--)
{
if((int)StrRoadFind[n].Width<12)
buffer[(int)StrRoadFind[n].CenterY * 128 + (int)StrRoadFind[n].CenterX] = 1;
}
if (image_data.fs)
{
for (n = 12800; n >0 ; n--)
{
if(n%128 == 0)
{
f_printf(&image_data, "\n%d\t", (int)buffer[n]);
}
else
{
f_printf(&image_data, "%d\t", (int)buffer[n]);
}
}
}
// for (n = gl_SRNum; n > 0; n--)
// {
// printf("%d\t%d\n", (int) StrRoadFind[n].CenterX,
// (int) StrRoadFind[n].CenterY);
// }
// printf("time cost is %d\n", (time_start - time_end)/100);
//// for(n=0;n<64;n++)
//// {
//// f_printf(&image_data, "%d\t%d\n",
//// n, time[n]);
//// }
////
// f_printf(&image_data, "COMPRESS OVER");
// sys_timer_read(&time_start);
// find_road();
// sys_timer_read(&time_end);
//printf("time cost is %d\n", (time_start - time_end)/100);
sd_close_file(&image_data); /* 关闭文件 */
while(1)
{
light_open(LIGHT6);
}
}
//extern void drawModelSetMax(void);
int glInit(void){
cvar_register(&cvar_gl_MSAA_Samples);
cvar_pset(&cvar_gl_MSAA_Samples, "0");
// console_printf("cvar id is %i\n", cvar_gl_MSAA_Samples.myid);
// console_printf("cvar name is %s\n", cvar_gl_MSAA_Samples.name);
// console_printf("cvar value is %s\n", cvar_gl_MSAA_Samples.valuestring);
glewExperimental = TRUE;
GLenum glewError = glewInit();
CHECKGLERROR
if(glewError != GLEW_OK){
console_printf("ERROR with the glew: %s\n", glewGetErrorString(glewError));
return FALSE;
}
shader_init();
CHECKGLERROR
if(!shader_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
texture_init();
CHECKGLERROR
if(!texture_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
framebuffer_init();
CHECKGLERROR
if(!framebuffer_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
vbo_init();
CHECKGLERROR
if(!vbo_ok){
return FALSE;
//todo call some sort of shutdown of everything
}
ubo_init();
CHECKGLERROR
if(!ubo_ok){
return FALSE;
//todo call some sort of shutdown of everything
}
anim_init();
CHECKGLERROR
if(!anim_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
model_init();
CHECKGLERROR
if(!model_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
/*
initParticleSystem(128);
if(!particlesOK){
//todo call some sort of shutdown of everything
return FALSE;
}
*/
light_init();
CHECKGLERROR
if(!light_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
lighttile_init();
CHECKGLERROR
if(!lighttile_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
viewport_init();
CHECKGLERROR
if(!viewport_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
text_init();
CHECKGLERROR
if(!text_ok){
//todo call some sort of shutdown of everything
return FALSE;
}
rendermodel_init();
CHECKGLERROR
//todo errorcheck
drawbb_init();
CHECKGLERROR
//todo errorcheck
states_enableForce(GL_MULTISAMPLE);
glClearDepth(1.0);
glClearColor(0.0, 0.0, 0.0, 0.0);
CHECKGLERROR
// states_disableForce(GL_FOG);
states_enableForce(GL_DEPTH_TEST);
CHECKGLERROR
// glDepthFunc(GL_LESS);
states_depthFunc(GL_LESS);
states_enableForce(GL_CULL_FACE);
states_cullFace(GL_BACK);
// states_depthMask(GL_TRUE);
int maxSamples = 0, maxIntSamples = 0, maxColorTextureSamples = 0, maxDepthTextureSamples = 0;
glGetIntegerv(GL_MAX_SAMPLES, &maxSamples);
glGetIntegerv(GL_MAX_INTEGER_SAMPLES, &maxIntSamples);
glGetIntegerv(GL_MAX_COLOR_TEXTURE_SAMPLES, &maxColorTextureSamples);
glGetIntegerv(GL_MAX_DEPTH_TEXTURE_SAMPLES, &maxDepthTextureSamples);
maxMSAASamples = maxSamples;
if(maxIntSamples < maxMSAASamples) maxMSAASamples = maxIntSamples;
if(maxColorTextureSamples < maxMSAASamples) maxMSAASamples = maxColorTextureSamples;
if(maxDepthTextureSamples < maxMSAASamples) maxMSAASamples = maxDepthTextureSamples;
console_printf("Max multisample samples: %i\n", maxMSAASamples);
cam = createAndAddViewportRPOINT("cam", 1);
camid = cam->myid;
cam->outfbid = findFramebufferByNameRINT("screen");
unsigned char dflags[] = {3, 7, 3};
// unsigned char drb = FRAMEBUFFERRBFLAGSDEPTH| 2;
unsigned char drb = FRAMEBUFFERRBFLAGSDEPTH;
unsigned char dcount = 3;
cam->dfbid = createAndAddFramebufferRINT("screend", dcount, drb, dflags);
resizeViewport(cam, 800, 600);
screenWidth = 800;
screenHeight = 600;
glGenBuffers(1, &instancevbo);
glGenBuffers(1, &instancevbo2);
//temporary
CHECKGLERROR
vbo_t * tvbo = createAndAddVBORPOINT("text", 2);
textvbo = tvbo->myid;
textshaderid = shader_createAndAddRINT("text");
fsblendshaderid = shader_createAndAddRINT("fsblend");
depthonlyid = shader_createAndAddRINT("depthmodel");
forwardmodelid = shader_createAndAddRINT("forwardmodel");
fsquadmodel = model_findByNameRINT("fsquad");
readyRenderQueueBuffers();
return TRUE; // so far so good
}
int main(int argc, char **argv)
{
int robot_state = FORWARD;
int last_robot_state = FORWARD;
int front_infrared_value = 0;
int back_infrared_value = 0;
int front_infrared_num = 0;
int back_infrared_num = 0;
int front_infrared_amount = 0;
int back_infrared_amount = 0;
int front_infrared_weight = 0;
int back_infrared_weight = 0;
uint32_t car_distence = 0;
uint8_t get_char = 0;
int change_num = 0;
bool_t switch_state = 0;
int detect_num = 0;
int angle = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* 灯初始化 */
switch_init(); /* 开关初始化 */
serial_initialize((intptr_t) (NULL)); /* 初始化串口 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init((intptr_t) (NULL)); /* 编码器初始化 */
infrared_init(); /* 红外初始化 */
while(1)
{
light_open(LIGHT2);
light_open(LIGHT3);
}
// gpio_init(PORT_NO_GET(PTC0), PIN_NO_GET(PTC0), OUT_PUT, 0);
// gpio_init(PORT_NO_GET(PTC2), PIN_NO_GET(PTC2),OUT_PUT, 1);
// while(1)
// {
// motor_output(MOTOR_LEFT, 50);
// motor_output(MOTOR_RIGHT, 50);
// }
while((get_char != 's') && (switch_state != SWITCH_ON))
{
light_open_some(0x0f);
get_char = serial_get_char(UART_NO_GET(UART_NO));
switch_state = switch_read(SWITCH0);
}
while (1)
{
get_char = serial_get_char(UART_NO_GET(UART_NO));
if(get_char == 'p')
{
last_robot_state = robot_state;
robot_state = STOP;
}
/* 读取光电管的数据 */
front_infrared_value = infrared_read_loc(INFRARED_FRONT);
back_infrared_value = infrared_read_loc(INFRARED_BACK);
/* 读取红外从右第一个亮灯的位置 */
front_infrared_num = infrared_read_num(front_infrared_value);
back_infrared_num = infrared_read_num(back_infrared_value);
/* 读取传感器亮灯的总数 */
front_infrared_amount = infrared_read_amount(front_infrared_value);
back_infrared_amount = infrared_read_amount(back_infrared_value);
/* 读取权值 */
front_infrared_weight = infrared_read_weight(front_infrared_value);
back_infrared_weight = infrared_read_weight(back_infrared_value);
switch (robot_state)
{
/**********************************前进*************************************/
case FORWARD:
light_open_some(0x01);
light_bar_open(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
if (front_infrared_amount == 1)
{
if (front_infrared_weight == 3)
{
angle = 40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 2)
{
angle = 20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -2)
{
angle = -20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 1)
{
angle = 5;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -1)
{
angle = -5;
//motor_output2(13, 13);
}
}
else if (front_infrared_amount == 2)
{
if (front_infrared_weight == 5)
{
angle = 30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -5)
{
angle = -30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 3)
{
angle = 10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 0)
{
angle = 0;
//motor_output2(13, 13);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_forward(30,angle);
if (front_infrared_amount > 4)
{
if(change_num == 4)
{
robot_state = STOP;
}
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = FORWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/**********************************前进转换1*************************************/
case FORWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((gl_distanceTotal - car_distence)>9)
{
robot_state = FORWARD_CHANGE2;
}
break;
/**********************************前进转换2*************************************/
case FORWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((back_infrared_value & 0x30) && (!(back_infrared_value & 0x03)) && (front_infrared_amount < 3))
{
robot_state = BACKWARD;
car_distence = gl_distanceTotal;
change_num ++;
}
break;
/************************************后退****************************************/
case BACKWARD:
light_bar_open(LIGHT_BAR1);
light_bar_close(LIGHT_BAR0);
light_open_some(0x04);
if (back_infrared_amount == 1)
{
if (back_infrared_weight == 3)
{
angle = -40;
//motor_output2(-5, -22);
}
else if (back_infrared_weight == -3)
{
angle = 40;
//motor_output2(-22, -5);
}
else if (back_infrared_weight == 2)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -2)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 1)
{
angle = -5;
//motor_output2(-14, -14);
}
else if (back_infrared_weight == -1)
{
angle = 5;
//motor_output2(-14, -14);
}
}
else if (back_infrared_amount == 2)
{
if (back_infrared_weight == 5)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -5)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 3)
{
angle = -20;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -3)
{
angle = 20;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 0)
{
angle = 0;
//motor_output2(-14, -14);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_backward(30,angle);
if(back_infrared_amount > 4)
{
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = BACKWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/************************************后退转换1****************************************/
case BACKWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((gl_distanceTotal - car_distence)>7)
{
robot_state = BACKWARD_CHANGE2;
}
break;
/************************************后退转换2****************************************/
case BACKWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((front_infrared_value & 0x38) && (!(front_infrared_value & 0x03)) && (back_infrared_amount < 3))
{
robot_state = FORWARD;
change_num ++;
}
break;
/************************************停车****************************************/
case STOP:
light_open_some(0x03);
light_bar_close(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
motor_output2(0, 0);
steer_output_angle(STEER_DIR, 0);
if(get_char == 's')
{
robot_state = last_robot_state;
}
break;
}
}
}
int main(int argc, char **argv)
{
uint8_t speaker_no = 0;
uint8_t speaker_total_no = 2;
uint8_t get_char = 0;
uint8_t n = 0;
ER speaker_msg = 0;
/* 模块初始化 */
// exc_init(); /* 中断初始化 */
//sys_timer_init(); /* 系统时钟初始化 */
speaker_init(); /* 蜂鸣器初始化 */
light_init();
//serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
// printf("\n Welcome to k60 software platform! \n");
while(1)
{
speaker_msg = speaker_close(SPEAKER0);
light_open(LIGHT0);
}
//printf(" *** This is a test for speaker module! *** \n");
// printf(" \n>>>> The speaker will be ringing! \n");
// for(speaker_no = 0; speaker_no < speaker_total_no; speaker_no++)
// {
// delay(200);
// switch (speaker_no)
// {
// case 0:
// speaker_msg = speaker_open(SPEAKER0);
// break;
// case 1:
// speaker_msg = speaker_open(SPEAKER1);
// break;
// default:
// //printf("The speaker number is error!\n");
// break;
//
// }
// if (speaker_msg == E_ID)
// {
// //printf(" The ID of speaker%d is error!\n", speaker_no);
// }
// else if (speaker_msg == E_ILUSE)
// {
// // printf(" The port of speaker%d is not open!\n", speaker_no);
// }
// else
// {
// // printf(" The speaker%d is ringing now!\n", speaker_no);
// }
// }
//
// //printf(" \n>>>> The speaker will be not ringing! \n");
// for (speaker_no = 0; speaker_no < speaker_total_no; speaker_no++)
// {
// delay(200);
// switch (speaker_no)
// {
// case 0:
// speaker_msg = speaker_close(SPEAKER0);
// break;
// case 1:
// speaker_msg = speaker_close(SPEAKER1);
// break;
// default:
// //printf("The speaker number is error!");
// break;
//
// }
// if (speaker_msg == E_ID)
// {
// // printf(" The ID of speaker%d is error !\n", speaker_no);
// }
// else if (speaker_msg == E_ILUSE)
// {
// //printf(" The port of speaker%d is not open!\n", speaker_no);
// }
// else
// {
// //printf(" The speaker%d is not ringing now!\n", speaker_no);
// }
// }
//
// //printf(" \n>>>> The speaker will change frequence! \n");
//
// for(n=0;n<10;n++)
// {
// delay(10);
// if(speaker_read(SPEAKER0))
// {
// speaker_close(SPEAKER0);
// }
// else
// {
// speaker_open(SPEAKER0);
// }
// }
// for(n=0;n<10;n++)
// {
// delay(5);
// if(speaker_read(SPEAKER0))
// {
// speaker_close(SPEAKER0);
// }
// else
// {
// speaker_open(SPEAKER0);
// }
// }
// for(n=0;n<20;n++)
// {
// delay(1);
// if(speaker_read(SPEAKER0))
// {
// speaker_close(SPEAKER0);
// }
// else
// {
// speaker_open(SPEAKER0);
// }
// }
// for(n=0;n<10;n++)
// {
// delay(10);
// if(speaker_read(SPEAKER0))
// {
// speaker_close(SPEAKER0);
// }
// else
// {
// speaker_open(SPEAKER0);
// }
// }
// for(n=0;n<10;n++)
// {
// delay(20);
// if(speaker_read(SPEAKER0))
// {
// speaker_close(SPEAKER0);
// }
// else
// {
// speaker_open(SPEAKER0);
// }
// }
//
// speaker_close(SPEAKER0);
// // printf(" \n>>>> A test for speaker module is over!\n");
// while (1)
// {
// // printf(" \n>>>> Press 'n' to test once more.\n");
// serial_rea_dat(NTSHELL_PORTID, &get_char, 1);
//
// if (get_char == 'n')
// {
// // printf("Once more \n");
// delay(200);
// break;
// }
// }
// }
}
int main(int argc, char *argv[])
{
cal_path();
setlocale(LC_MESSAGES, "");
bindtextdomain("opvdm", get_lang_path());
textdomain("opvdm");
timer_init(0);
timer_init(1);
dbus_init();
set_ewe_lock_file("", "");
cell.onlypos = FALSE;
char pwd[1000];
if (getcwd(pwd, 1000) == NULL) {
ewe("IO error\n");
}
dump_init(&cell);
dump_load_config(&cell);
remove("snapshots.zip");
remove("light_dump.zip");
hard_limit_init();
//char path[PATH_MAX];
//char dest[PATH_MAX];
//pid_t pid = getpid();
//sprintf(path, "/proc/%d/exe", pid);
//if (readlink(path, dest, PATH_MAX) == -1)
//{
// printf("error\n");
// exit(1);
//}
// char *base = strrchr(dest, '/');
//*base='/';
//*(base+1)=0;
set_plot_script_dir(pwd);
//set_plot_script_dir(char * in)
if (scanarg(argv, argc, "--help") == TRUE) {
printf("opvdm_core - Organic Photovoltaic Device Model\n");
printf(copyright);
printf("\n");
printf("Usage: opvdm_core [options]\n");
printf("\n");
printf("Options:\n");
printf("\n");
printf("\t--outputpath\toutput data path");
printf("\t--inputpath\t sets the input path\n");
printf("\t--version\tdisplays the current version\n");
printf("\t--zip_results\t zip the results\n");
printf("\t--optics\t runs only optical simulation\n");
printf("\t--cpus\t sets the number of CPUs\n");
printf("\n");
printf
("Additional information about opvdm is available at www.opvdm.com.\n");
printf("\n");
printf
("Report bugs to: [email protected]\n\n");
exit(0);
}
if (scanarg(argv, argc, "--version") == TRUE) {
printf("opvdm_core, Version %s\n", opvdm_ver);
printf(copyright);
printf(this_is_free_software);
printf
("There is ABSOLUTELY NO WARRANTY; not even for MERCHANTABILITY or\n");
printf("FITNESS FOR A PARTICULAR PURPOSE.\n");
printf("\n");
exit(0);
}
if (geteuid() == 0) {
ewe("Don't run me as root!\n");
}
set_dump_status(dump_stop_plot, FALSE);
set_dump_status(dump_print_text, TRUE);
set_io_dump(FALSE);
srand(time(0));
textcolor(fg_green);
randomprint(_("Organic Photovoltaic Device Model (www.opvdm.com)\n"));
randomprint(_
("You should have received a copy of the GNU General Public License\n"));
randomprint(_
("along with this software. If not, see www.gnu.org/licenses/.\n"));
randomprint("\n");
randomprint(_
("If you wish to collaborate in anyway please get in touch:\n"));
randomprint(_("[email protected]\n"));
randomprint(_("www.roderickmackenzie.eu/contact.html\n"));
randomprint("\n");
textcolor(fg_reset);
globalserver.on = FALSE;
globalserver.cpus = 1;
globalserver.readconfig = TRUE;
if (scanarg(argv, argc, "--outputpath") == TRUE) {
strcpy(sim_output_path(),
get_arg_plusone(argv, argc, "--outputpath"));
} else {
strcpy(sim_output_path(), pwd);
}
if (scanarg(argv, argc, "--inputpath") == TRUE) {
strcpy(sim_input_path(),
get_arg_plusone(argv, argc, "--inputpath"));
} else {
strcpy(sim_input_path(), sim_output_path());
}
dump_load_config(&cell);
if (scanarg(argv, argc, "--onlypos") == TRUE) {
cell.onlypos = TRUE;
}
char name[200];
struct inp_file inp;
inp_init(&inp);
inp_load_from_path(&inp, sim_input_path(), "ver.inp");
inp_check(&inp, 1.0);
inp_search_string(&inp, name, "#core");
inp_free(&inp);
if (strcmp(name, opvdm_ver) != 0) {
printf
("Software is version %s and the input files are version %s\n",
opvdm_ver, name);
exit(0);
}
gui_start();
if (scanarg(argv, argc, "--optics") == FALSE)
server_init(&globalserver);
if (scanarg(argv, argc, "--lock") == TRUE) {
server_set_dbus_finish_signal(&globalserver,
get_arg_plusone(argv, argc,
"--lock"));
}
int ret = 0;
int do_fit = FALSE;
if (scanarg(argv, argc, "--fit") == TRUE)
do_fit = TRUE;
FILE *f = fopen("fit.inp", "r");
if (f != NULL) {
fclose(f);
inp_init(&inp);
inp_load_from_path(&inp, pwd, "fit.inp");
int fit_temp;
inp_search_int(&inp, &fit_temp, "#do_fit");
if (fit_temp == 1) {
do_fit = TRUE;
}
inp_free(&inp);
}
if (do_fit == TRUE) {
set_dump_status(dump_lock, FALSE);
set_dump_status(dump_print_text, FALSE);
set_dump_status(dump_iodump, FALSE);
set_dump_status(dump_optics, FALSE);
set_dump_status(dump_newton, FALSE);
set_dump_status(dump_plot, FALSE);
set_dump_status(dump_stop_plot, FALSE);
set_dump_status(dump_opt_for_fit, FALSE);
set_dump_status(dump_print_newtonerror, FALSE);
set_dump_status(dump_print_converge, FALSE);
set_dump_status(dump_print_pos_error, FALSE);
set_dump_status(dump_lock, TRUE);
}
#include "main_args.c"
if (scanarg(argv, argc, "--optics") == TRUE) {
gui_start();
struct light two;
light_init(&two, &cell, pwd);
//light_set_dx(&cell.mylight,cell.ymesh[1]-cell.ymesh[0]);
light_load_config(&two);
two.disable_transfer_to_electrical_mesh = TRUE;
set_dump_status(dump_lock, FALSE);
set_dump_status(dump_optics, TRUE);
set_dump_status(dump_optics_verbose, TRUE);
double Psun;
inp_init(&inp);
inp_load_from_path(&inp, pwd, "light.inp");
inp_search_double(&inp, &(Psun), "#Psun");
Psun = 1.0; //fabs(Psun);
inp_free(&inp);
light_solve_and_update(&cell, &two, Psun, 0.0);
light_dump(&two);
light_free(&two);
complex_solver_free();
} else {
gen_dos_fd_gaus_fd();
server_add_job(&globalserver, cell.outputpath, cell.inputpath);
print_jobs(&globalserver);
ret = server_run_jobs(&globalserver);
}
server_shut_down(&globalserver);
if (scanarg(argv, argc, "--zip_results") == TRUE) {
printf("zipping results\n");
int ret;
char temp[200];
DIR *dir = opendir("snapshots");
if (dir) {
closedir(dir);
ret =
system("zip -r -j -q snapshots.zip ./snapshots/*");
if (ret == -1) {
printf("tar returned error\n");
}
join_path(2, temp, cell.outputpath, "snapshots");
remove_dir(temp);
}
dir = opendir("light_dump");
if (dir) {
closedir(dir);
ret =
system
("zip -r -j -q light_dump.zip ./light_dump/*");
if (ret == -1) {
printf("tar returned error\n");
}
join_path(2, temp, cell.outputpath, "light_dump");
remove_dir(temp);
}
}
hard_limit_free();
if (ret != 0) {
return 1;
}
return 0;
}