//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
uartSetBaudRate(115200);
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// initialize vt100 terminal
vt100Init();
timerPause(100);
// print welcome message
vt100ClearScreen();
vt100SetCursorPos(1,0);
rprintfProgStrM("\r\nWelcome to the MMC Test Suite!\r\n");
timerPause(1000);
mmcTest();
return 0;
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(9600);
// initialize the timer system
timerInit();
// initialize rprintf system
// - use uartSendByte as the output for all rprintf statements
// this will cause all rprintf library functions to direct their
// output to the uart
// - rprintf can be made to output to any device which takes characters.
// You must write a function which takes an unsigned char as an argument
// and then pass this to rprintfInit like this: rprintfInit(YOUR_FUNCTION);
rprintfInit(uartSendByte);
// initialize vt100 library
vt100Init();
// clear the terminal screen
vt100ClearScreen();
// run the test
rprintfTest();
return 0;
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of UART 0 for our debug/reporting output
uartSetBaudRate(0,9600);
// set uart0SendByte as the output for all rprintf statements
rprintfInit(uart0SendByte);
// initialize the timer system
timerInit();
// initialize vt100 library
vt100Init();
// print a little intro message so we know things are working
vt100ClearScreen();
rprintf("\r\nWelcome to GPS Test!\r\n");
// run example gps processing loop
// (pick the one appropriate for your GPS packet format)
// gpsTsipTest();
gpsNmeaTest();
return 0;
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
uartSetBaudRate(9600);
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// turn on and initialize A/D converter
a2dInit();
// initialize the timer system
timerInit();
// initialize vt100 terminal
vt100Init();
// configure port B for led output and pushbutton input
outb(DDRB, 0x0F);
// all LEDs on
outb(PORTB, 0x00);
// wait for hardware to power up
timerPause(100);
// all LEDs off
outb(PORTB, 0x0F);
// start command line
goCmdline();
return 0;
}
void setup() {
uart0Init();
uartSetBaudRate(0, 9600);
rprintfInit(uart0SendByte);
//rprintf("Hello.."); rprintfCRLF();
rprintf("$Id: psp_joystick.c,v 1.1.1.1 2007/08/21 05:14:23 julian Exp $");
vt100Init();
sbi(DDRD, DDD4); // output PD4
sbi(PORTD, PD4); // set it high
cbi(DDRD, DDD5); // input PD5
sbi(PORTD, PD5); // set it low
cbi(DDRA, DDA0); // input (one axis)
cbi(DDRA, DDA1); // input (the other axis)
//cbi(DDRA, DDA2); // input
//sbi(DDRA, DDA3); // output
//sbi(PORTA, PA0);
//sbi(PINA, PINA0); // set high
//sbi(PINA, PA3);
a2dInit();
// set up the power pulse LED
TCCR0A |= (1<<WGM00) | (1<<COM0A1); // mode 1, phase-correct PWM
TCCR0B |= (1<<CS02); // clk/256 from prescaler
//TCCR0B |= (0<<CS02) | (1<<CS01) | (1<<CS00); // clk/64
// set up and enable the power pulse thing
TCNT0 = 0x00;
sbi(TIMSK0, TOIE0);
sbi(DDRB, DDB3); // output on the LED
sbi(PORTB, PB3); // turn it on
u08 i, j;
for(j=0; j<1; j++) {
for(i=0; i<10; i++) {
_delay_ms(32);
}
cbi(PORTB, PB3);
for(i=0; i<10; i++) {
_delay_ms(32);
}
sbi(PORTB, PB3);
for(i=0; i<10; i++) {
_delay_ms(32);
}
}
cbi(PORTB, PB3);
sei();
}
int main(void)
{
uartInit();
uartSetBaudRate(115200);
rprintfInit(uartSendByte);
a2dInit();
timerInit();
vt100Init();
return 0;
}
void init_uart(void) {
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(9600);
// set uartSendByte as the output for all rprintf statements
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// initialize vt100 library
vt100Init();
vt100ClearScreen();
// print a little intro message so we know things are working
rprintf("\r\nServo tester\r\n");
rprintf("Sebastien CELLES\r\n");
rprintf("IUT de Poitiers\r\n");
rprintf("Genie Thermique et Energie\r\n");
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(9600);
// set uartSendByte as the output for all rprintf statements
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// initialize vt100 library
vt100Init();
vt100ClearScreen();
// print a little intro message so we know things are working
rprintf("\r\nWelcome to Servo Test!\r\n");
// begin servo test
servoTest();
return 0;
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(9600);
// initialize the timer system
timerInit();
// initialize rprintf system
rprintfInit(uartSendByte);
// initialize vt100 library
vt100Init();
// clear the terminal screen
vt100ClearScreen();
// run the test
encoderTest();
return 0;
}
/*******************************************************************
* rprintf_test
*******************************************************************/
void rprintf_test(void)
{
u16 val;
u08 mydata;
u08 mystring[10];
double b;
u08 small;
u16 medium;
u32 big;
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(38400);
// initialize rprintf system
// - use uartSendByte as the output for all rprintf statements
// this will cause all rprintf library functions to direct their
// output to the uart
// - rprintf can be made to output to any device which takes characters.
// You must write a function which takes an unsigned char as an argument
// and then pass this to rprintfInit like this: rprintfInit(YOUR_FUNCTION);
rprintfInit(uartSendByte);
// initialize vt100 library
vt100Init();
// clear the terminal screen
vt100ClearScreen();
while (!(getkey() == 1)) //do the folling block until enter is pressed
{
// print a little intro message so we know things are working
rprintf("\r\nWelcome to rprintf Test!\r\n");
// print single characters
rprintfChar('H');
rprintfChar('e');
rprintfChar('l');
rprintfChar('l');
rprintfChar('o');
// print a constant string stored in FLASH
rprintfProgStrM(" World!");
// print a carriage return, line feed combination
rprintfCRLF();
// note that using rprintfCRLF() is more memory-efficient than
// using rprintf("\r\n"), especially if you do it repeatedly
mystring[0] = 'A';
mystring[1] = ' ';
mystring[2] = 'S';
mystring[3] = 't';
mystring[4] = 'r';
mystring[5] = 'i';
mystring[6] = 'n';
mystring[7] = 'g';
mystring[8] = '!';
mystring[9] = 0; // null termination
// print a null-terminated string from RAM
rprintfStr(mystring);
rprintfCRLF();
// print a section of a string from RAM
// - start at index 2
// - print 6 characters
rprintfStrLen(mystring, 2, 6);
rprintfCRLF();
val = 24060;
mydata = 'L';
// print a decimal number
rprintf("This is a decimal number: %d\r\n", val);
// print a hex number
rprintf("This is a hex number: %x\r\n", mydata);
// print a character
rprintf("This is a character: %c\r\n", mydata);
// print hex numbers
small = 0x12; // a char
medium = 0x1234; // a short
big = 0x12345678; // a long
rprintf("This is a 2-digit hex number (char) : ");
rprintfu08(small);
rprintfCRLF();
rprintf("This is a 4-digit hex number (short): ");
rprintfu16(medium);
rprintfCRLF();
rprintf("This is a 8-digit hex number (long) : ");
rprintfu32(big);
rprintfCRLF();
// print a formatted decimal number
// - use base 10
// - use 8 characters
// - the number is signed [TRUE]
// - pad with '.' periods
rprintf("This is a formatted decimal number: ");
rprintfNum(10, 8, TRUE, '.', val);
rprintfCRLF();
b = 1.23456;
// print a floating point number
// use 10-digit precision
// NOTE: TO USE rprintfFloat() YOU MUST ENABLE SUPPORT IN global.h
// use the following in your global.h: #define RPRINTF_FLOAT
rprintf("This is a floating point number: ");
rprintfFloat(8, b);
rprintfCRLF();
}
}
/*****************************************************************************
* Balance -
*****************************************************************************/
void balance(void)
{
unsigned long TimerMsWork;
long int g_bias = 0;
double x_offset = 532; //offset value 2.56V * 1024 / 4.93V = 4254
double q_m = 0.0;
double int_angle = 0.0;
double x = 0.0;
double tilt = 0.0;
int pwm;
InitADC();
init_pwm();
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(115200);
// initialize rprintf system
rprintfInit(uartSendByte);
// initialize vt100 library
vt100Init();
// clear the terminal screen
vt100ClearScreen();
TimerMsWork = TimerMsCur();
DDRB |= (1 << PB0); // Make B0 an output for LED
/* as a 1st step, a reference measurement of the angular rate sensor is
* done. This value is used as offset compensation */
for (int i=1 ; i<=200; i++) // determine initial value for bias of gyro
{
g_bias = g_bias + GetADC(gyro_sensor);
}
g_bias = g_bias / 200;
while (!(getkey() == 1))
{
/* insure loop runs at specified Hz */
while (!TimerCheck(TimerMsWork, (dt_PARAM * 1000) -1))
;
TimerMsWork = TimerMsCur();
// toggle pin B0 for oscilloscope timings.
PORTB = PINB ^ (1 << PB0);
// get rate gyro reading and convert to deg/sec
// q_m = (GetADC(gyro_sensor) - g_bias) / -3.072; // -3.07bits/deg/sec (neg. because forward is CCW)
q_m = (GetADC(gyro_sensor) - g_bias) * -0.3255; // each bit = 0.3255 /deg/sec (neg. because forward is CCW)
state_update(q_m);
// get Accelerometer reading and convert to units of gravity.
// x = (GetADC(accel_sensor) - x_offset) / 204.9; // (205 bits/G)
x = (GetADC(accel_sensor) - x_offset) * 0.00488; // each bit = 0.00488/G
// x is measured in multiples of earth gravitation g
// therefore x = sin (tilt) or tilt = arcsin(x)
// for small angles in rad (not deg): arcsin(x)=x
// Calculation of deg from rad: 1 deg = 180/pi = 57.29577951
tilt = 57.29577951 * (x);
kalman_update(tilt);
int_angle += angle * dt_PARAM;
rprintf(" x:");
rprintfFloat(8, x);
rprintf(" angle:");
rprintfFloat(8, angle);
rprintf(" rate:");
rprintfFloat(8, rate);
// Balance. The most important line in the entire program.
// balance_torque = Kp * (current_angle - neutral) + Kd * current_rate;
// rprintf("bal_torq: ");
// rprintfFloat(8, balance_torque);
// rprintfCRLF();
//steer_knob = 0;
// change from current angle to something proportional to speed
// should this be the abs val of the cur speed or just curr speed?
//double steer_cmd = (1.0 / (1.0 + Ksteer2 * fabs(current_angle))) * (Ksteer * steer_knob);
//double steer_cmd = 0.0;
// Get current rate of turn
//double current_turn = left_speed - right_speed; //<-- is this correct
//double turn_accel = current_turn - prev_turn;
//prev_turn = current_turn;
// Closed-loop turn rate PID
//double steer_cmd = KpTurn * (current_turn - steer_desired)
// + KdTurn * turn_accel;
// //+ KiTurn * turn_integrated;
// Possibly optional
//turn_integrated += current_turn - steer_cmd;
// Differential steering
//left_motor_torque = balance_torque + steer_cmd; //+ cur_speed + steer_cmd;
//right_motor_torque = balance_torque - steer_cmd; //+ cur_speed - steer_cmd;
// Limit extents of torque demand
//left_motor_torque = flim(left_motor_torque, -MAX_TORQUE, MAX_TORQUE);
// if (left_motor_torque < -MAX_TORQUE) left_motor_torque = -MAX_TORQUE;
// if (left_motor_torque > MAX_TORQUE) left_motor_torque = MAX_TORQUE;
//right_motor_torque = flim(right_motor_torque, -MAX_TORQUE, MAX_TORQUE);
// if (right_motor_torque < -MAX_TORQUE) right_motor_torque = -MAX_TORQUE;
// if (right_motor_torque > MAX_TORQUE) right_motor_torque = MAX_TORQUE;
pwm = (int) ((angle -3.5) * Kp) + (rate * Kd); // + (int_angle * Ki);
rprintf(" pwm:%d\r\n", pwm);
// Set PWM values for both motors
SetLeftMotorPWM(pwm);
SetRightMotorPWM(pwm);
}
SetLeftMotorPWM(0);
SetRightMotorPWM(0);
}
