int main(void) {
struct b_pool* pbuf;
struct head* h;
init_pools_buffers();
//configure NVIC
NVIC_Configuration();
//start time
start_timer();
//configure adc
ADC_config();
//configure pwm
pwm_Config();
//ETHERNET INITIALIZATION
ETH_BSP_Config();
/* Initilaize the LwIP stack */
LwIP_Init();
//enable clock
/*__disable_irq();
clockHseInit();
__enable_irq();*/
/*Initilaize the PTP stack*/
PTPd_Init();
//udp initialization
udp_echoserver_init();
//configure state
//init_current_state(&cur);
cur.status = STOP;
cur.id_sig = 0;
while (1)
{
//PROCESSING OF PEREODIC TASKS FOR LWIP
LwIP_Periodic_Handle(gettime());
//PROCESSING OF PEREODIC TASKS FOR PTP
ptpd_Periodic_Handle(gettime());
//PROCESSING OF QUEUING BUFFERS
pbuf = pull_out_queue();
if(pbuf != NULL) {
h = (struct head*)pbuf->pbuf;
if(h->dst & SLAVE) {
if(h->type == COMMAND)
handl_command(pbuf);
} else
transPackage(pbuf, eth_write);
free_buf(pbuf);
}
//PROCESSING OF DEBUG_INFO
if(debug.time > 0) {
if(debug.num == -1 || debug.num > 0) {
debug_info();
}
else
debug.time = 0;
if (debug.num > 0)
debug.num --;
}
//PROCESSING OF TEMP BUFFER
}
}
int main(){
Delay_init(8928); //1ms period
GPIO_config();
led_on();
RF_config();
ADC_config();
SMPS_config();
RF_enable();
int i = 0;
while(1){
//code goes here
i++;
//led_on();
//led_off();
}
return 0;
}
int main(void)
{
//Calibração do sensor
/*configPWM();
setServoAngle(0);
while(1){
}*/
double dt = 0.0;
double curr_err = 0;
float PID_Input = 0;
float PID_Output = 0;
int i_PID_Input = 0;
int i_Output = 0;
char c_PID_Input[4];
char c_Output[4];
char c_adc_value[4];
float gain = -20.0;
ADC_config();
ADC_Start();
USART_config();
configPWM();
setServoAngle(0);
ConfigSerie_BT();
pid_start();
pid_timer_config();
configMotorPWM(500);
setMotorDirection(1);
duty_cycle = 10;
while(1)
{
if(mode == 1)
{
if(all_read == 1)
{
PID_Input = Centroid_Algorithm();
curr_err = (3.5 - PID_Input);
dt = TCNT5;
dt = (dt*16)/1000000;
pid_update(ptr, curr_err,dt);
PID_Output = PID.control;
itoa(i_Output, c_Output, 10);
SendString((char*)"\n-------------------\n");
SendString((char*)"\nSaída_PID 1: ");
SendString(c_Output);
PID_Output = PID_Output*gain;
if(PID_Output > 75)
PID_Output = 75;
if(PID_Output < -75)
PID_Output = -75;
setServoAngle(PID_Output);
i_PID_Input = (int) PID_Input;
i_Output = (int) PID_Output;
itoa(i_PID_Input, c_PID_Input ,10);
itoa(i_Output, c_Output, 10);
SendString((char*)"\nLeituras: ");
for(int i = 0; i < 8; i++)
{
itoa(adc_value[i], c_adc_value, 10);
SendString(c_adc_value);
UsartSendByte(' ');
}
SendString((char*)"\nEntrada PID: ");
SendString(c_PID_Input);
SendString((char*)"\nSaída_PID 2: ");
SendString(c_Output);
all_read = 0;
ADMUX &= 0XE0; //Limpa ADMUX
ADMUX |= channel; //Selecciona o canal 0
ADCSRA |= (1<<ADSC); //Inicia conversão
}
}
if(mode == 0)
{
//
}
}
}
void vmisc_tasks()
{
uint8_t time_count,time_200ms;
portTickType ticks_now,ticks_old = 0;
uint16_t time_elapsed = 0;
modem_config();
ublox_init();
// debug_config(); //configure debug serial port
/*
* data from external sensors initialized, version M21
* can disable it by commenting here and changing dataFromInternalSensors from 0 to 1
* check externalPackets.h for more information
*/
if (!(dataFromInternalSensors))
/* initialize external sensors data UART3, debug port and this can't be enabled together */
externalDataPortInit();
RPM_config();
ADC_config();
ADC_SoftwareStartConv(ADC1);
ADC_3_config();
ADC_SoftwareStartConv(ADC3);
PWM_out_config();
for(;;)
{
if(WDT_status == 1)
{
IWDG_ReloadCounter();
WDT_status = 0; //clear it so that it can be set again if all is OK
}
if(xbee_tx_count>0) //enable TX interrupts if transmit data is present
USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
if(gps_tx.count >0) //enable TX interrupts if transmit data is present
USART_ITConfig(USART2, USART_IT_TXE, ENABLE);
if(debug_tx_count >0) //enable TX interrupts if transmit data is present
USART_ITConfig(USART3, USART_IT_TXE, ENABLE);
parse_gps_data();
if(xbee_rx_count)
parse_modem_data();
if(xbee_fresh_data) //if received fresh data
{
calculate_xbee(); //call appropriate function based on received data
xbee_fresh_data = 0;
}
if(log_init_flag)
{
if(write_buff_to_card == 1) //if one buffer is full
{
res = f_open(&fil, file_name, FA_OPEN_ALWAYS | FA_WRITE |FA_READ);
f_lseek(&fil, cursor_pos);
if(log_buff_status == 1)
{
f_write(&fil, SD_buffer2.BUFFER, SD_buffer2.write_count, &bw);
cursor_pos += SD_buffer2.write_count;
}
else if(log_buff_status == 2)
{
f_write(&fil, SD_buffer1.BUFFER, SD_buffer1.write_count, &bw);
cursor_pos += SD_buffer1.write_count;
}
write_buff_to_card = 0;
f_close(&fil);
GPIOF->ODR ^= GPIO_Pin_12;
}
}
ticks_now = xTaskGetTickCount()*2;
if((ticks_now - ticks_old) >=100) //do the following every 100ms
{
time_elapsed = ticks_now - ticks_old;
rpm = pulse_cnt*2*60/MOTOR_POLES*(1000/time_elapsed);
pulse_cnt = 0;
ticks_old = ticks_now;
air_speed_indicator();
send_status();
if(link_count >= 5 ) //no data from more than 500ms
{
modem_link_active = 0; //indicate absence of GIB
link_count = 0;
}
else
link_count++;
if(time_200ms == 2) //do the following every 200ms
{
send_gps_data();
time_200ms = 0;
}
else
time_200ms++;
if(time_count == 5) //do the following every 500ms
{
queue_data(); //append debug data for transmission
update_battery();
update_RPM();
send_press_temp();
send_defections();
send_power_propulsion();
time_count = 0;
}
else
time_count++;
}
}
}
