SingleEncoder::SingleEncoder(uint8_t interrupt1, uint8_t interrupt2, uint8_t analog1,uint8_t analog2)
{
intPinA = interrupt1;
intPinB = interrupt2;
anaPinA = analog1;
anaPinB = analog2;
pinMode(intPinA, INPUT);
pinMode(intPinB, INPUT);
attachInterrupt(0, updateEnc1, CHANGE);
attachInterrupt(1, updateEnc2, CHANGE);
init_Timer();
}
/*! \brief Initializes all configuration variables.
*/
void Configuration::init() {
// MISC
Oscillator_Freq = 16000000; //Oscillator frequency in Hz
CPUCLK = Oscillator_Freq;
PBACLK = Oscillator_Freq;
PWMCLK = Oscillator_Freq;
ADCCLK = Oscillator_Freq;
init_Timer();
init_PWM();
init_Motor();
init_Sensors();
init_UART();
init_StatusLEDs();
}
void start_Measuring(){
uint8_t numBytes;
mpu_regs->fifo_en |= (BIT_FIFO_EN_XYZA | BIT_FIFO_EN_XYZG); /* Turn on sensors */
mpu_regs->user_ctrl |= (BIT_FIFO_EN); /* turn on the fifo for data */
enQueue(mpuTxQueue, reg.fifo_en); /* enqueue the register */
enQueue(mpuTxQueue, mpu_regs->fifo_en); /* enqueue values of regs */
numBytes = 1; /* number of reg VALUES written */
mpu_writeRegister(numBytes, reg.fifo_en, false);
/* Turn on/off device sectors */
enQueue(mpuTxQueue, reg.user_ctrl); /* enqueue the register */
enQueue(mpuTxQueue, mpu_regs->user_ctrl); /* enqueue values of regs */
numBytes = 1; /* number of reg VALUES written */
mpu_writeRegister(numBytes, reg.user_ctrl, false); /* can burst write consecutive regs */
init_Timer(MS_PER_SAMPLE); /* Set timer to periodically update motion */
start_Timer();
}
int main(void)
{
int i;
unsigned char add[5]={110,110,8,110,110};
/*!< At this stage the microcontroller clock setting is already configured to
120 MHz, this is done through SystemInit() function which is called from
startup file (startup_stm32f2xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f2xx.c file
*/
#ifdef SERIAL_DEBUG
DebugComPort_Init();
#endif
initLED();
init_Timer();
//while(1);
/*Initialize LCD and Leds */
//LCD_LED_Init();
delay_ms(500);
for(i=0;i<100;i++)
{
setNumber(i);
delay_ms(10);
}
beep(40);
offSegment(3);
delay_ms(100);
setNumber(0);
delay_ms(100);
beep(40);
offSegment(3);
delay_ms(100);
setNumber(0);
delay_ms(100);
beep(40);
//USART2_Init();
//USART3_Init();
init_NRF1_IO();
init_NRF2_IO();
SPI1_Config();
SPI3_Config();
SPI_Cmd(SPI1, ENABLE);
SPI_Cmd(SPI3, ENABLE);
nrf24l01_initialize_debug(false, TX_PAYLOAD_SIZE, false);
nrf24l01_clear_flush();
add[2]=8;
nrf24l01_set_tx_addr(add , 5);
add[2]=30;
nrf24l01_set_rx_addr(add,5,0);
nrf24l01_set_rf_ch(tx_channel);
nrf24l02_initialize_debug(false, RX_PAYLOAD_SIZE, false);
nrf24l02_clear_flush();
add[2]=8;
nrf24l02_set_tx_addr(add , 5);
add[2]=30;
nrf24l02_set_rx_addr(add,5,0);
nrf24l02_set_rf_ch(rx_channel);
nrf24l02_set_as_rx(true);
/* configure ethernet */
ETH_BSP_Config();
/* Initilaize the LwIP stack */
LwIP_Init();
/* UDP echoserver */
udp_echoserver_init();
/* Infinite loop */
while (1)
{
/* check if any packet received */
if (ETH_CheckFrameReceived())
{
/* process received ethernet packet */
LwIP_Pkt_Handle();
}
/* handle periodic timers for LwIP */
LwIP_Periodic_Handle(LocalTime);
process_incoming_rf();
if(firstPacketRecieved==0)
{
demo();
setNumber(22);
}
}
}
