void project_init(void)
{
uart0_init();
// Initialize Peripherals
initialize_steppers();
initialize_actuator();
initialize_rotary();
initialize_magnet();
initialize_LCD();
//uart_init_115K(UART0_BASE);
}
int main(void)
{
uint32_t v_sense;
float tempinvolts, temperature;
int counter = 0;
HAL_StatusTypeDef rc;
KalmanState kstate = {0.01, 0.3, 0.0, 0.1, 0.0};
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize the ADC and GPIO and LCD display */
initialize_ADC();
initialize_GPIO();
initialize_LCD();
/* then call start */
if (HAL_ADC_Start(&ADC1_handle) != HAL_OK)
Error_Handler(ADC_INIT_FAIL);
while (1) {
if (SYSTICK_READ_TEMP_FLAG == 1) {
if ((rc = HAL_ADC_PollForConversion(&ADC1_handle, 10000)) != HAL_OK)
printf("Error: %d\n", rc);
v_sense = HAL_ADC_GetValue(&ADC1_handle); /* Read register from the ADC */
tempinvolts = v_sense * (V_REF / 4096); /* Scale the reading into V (resolution is 12bits with VREF+ = 3.3V) */
temperature = (tempinvolts - V_25) / AVG_SLOPE + TEMP_REF + FUDGE_FACTOR; /* Formula for temperature from doc_05 p.230 */
/* Grind through the Kalman filter */
if (Kalmanfilter_asm(&temperature, &filtered_temp, 1, &kstate) != 0)
printf("Overflow error\n");
unfiltered_temp = temperature;
// printf("%d %f\n", counter, filtered_temp);
/* Display only once out of this many times the 7-segment display */
if (counter % SEGMENT_DISPLAY_PERIOD == 0) {
displayed_segment_value = filtered_temp;
display_LCD_num(filtered_temp);
}
if (ALARM_TRIGGERED_FLAG == 1) {
/* Avoid spurious noise by waiting for a lower threshold before turning off alarm */
if (filtered_temp < LOWER_THRESHOLD_TEMP) {
ALARM_TRIGGERED_FLAG = 0;
turn_off_LEDs();
}
} else {
if (filtered_temp > THRESHOLD_TEMP)
ALARM_TRIGGERED_FLAG = 1;
}
if (ALARM_TRIGGERED_FLAG == 1) {
if (counter % ALARM_LED_TOGGLE_PERIOD == 0)
toggle_LEDs();
}
printf("%f, %f\n", unfiltered_temp, filtered_temp);
++counter;
SYSTICK_READ_TEMP_FLAG = 0; /* Reset the flag */
}
/* Systick_Handler triggers the flag once every 50ms */
if (SYSTICK_DISPLAY_SEGMENT_FLAG == 1) {
display_segment_val();
SYSTICK_DISPLAY_SEGMENT_FLAG = 0;
}
}
}