int main(void) {
// Initialize all hardware
PLL_Init();
eStopInit();
encoderInit(actlPos);
motorInit();
lightsInit();
lightsUpdate(COLOR_RED);
UART_Init();
Timer1_Init();
softRun();
// Send welcome message to UART terminal
UART_OutChar('W');UART_OutChar('e');UART_OutChar('l');UART_OutChar('c');
UART_OutChar('o');UART_OutChar('m');UART_OutChar('e');
UART_OutChar(CR);UART_OutChar(LF);
// Spin forever
while(1) {
parse(UART_InUDec()); // read commands from UART
// All other functions performed by Timer 1 interrupt handler
}
}
//------------cmdCAN-----------------
// Control CAN.
void cmdCAN(void){
printf("Choose a command for CAN:\n\r");
printf(" (1) Get Data - Get the data received in FIFO.\n\r");
printf(" (2) Send Data - Send four bytes of data.\n\r");
printf(" (3) Lost Packets - Display how many packets were lost.\n\r");
printf("--Enter Command #--> ");
uint32_t selection = UART_InUDec();
printf("\n\r");
switch(selection){
// View data
case(1):{
uint8_t data[8];
unsigned long counter = 1;
printf("The data in the CAN0 fifo is as follows:\n\r");
if(CAN0PutPt!=CAN0GetPt){//if there is one
do{//for all data in fifo
data[0] = CAN0_Fifo_Get();//Byte 0
data[1] = CAN0_Fifo_Get();//Byte 1
data[2] = CAN0_Fifo_Get();//Byte 2
data[3] = CAN0_Fifo_Get();//Byte 3
data[4] = CAN0_Fifo_Get();//Byte 4
data[5] = CAN0_Fifo_Get();//Byte 5
data[6] = CAN0_Fifo_Get();//Byte 6
// data[7] = CAN0_Fifo_Get();//Byte 7
//get data and print it
printf("Output %lu IR0 = %u\n\r", counter, data[0]);
printf("Output %lu IR1 = %u\n\r", counter, data[1]);
printf("Output %lu IR2 = %u\n\r", counter, data[2]);
printf("Output %lu IR3 = %u\n\r", counter, data[3]);
printf("Output %lu Ping1 = %u\n\r", counter, data[4]);
printf("Output %lu Bumper0 = %u\n\r", counter, data[5]);
printf("Output %lu Bumper1 = %u\n\r", counter, data[6]);
// printf("Output %lu Start = %u\n\r\n\r", counter, data[7]);
counter++;//increment counter
}while(CAN0PutPt!=CAN0GetPt);
}
else{//if there is none
printf("none");
printf("\n\r");
}
break;
}
// Send data
case(2):{
uint8_t data[8];
uint32_t input;
for(int i = 0; i < 8; i++){//for Bytes 0-7
switch(i){//for every different sensor
case 0:
printf("What is the input from IR0 (0-255): ");
break;
case 1:
printf("\n\rWhat is the input from IR1 (0-255): ");
break;
case 2:
printf("\n\rWhat is the input from IR2 (0-255): ");
break;
case 3:
printf("\n\rWhat is the input from IR3 (0-255): ");
break;
case 4:
printf("\n\rWhat is the input from Ping1 (0-255): ");
break;
case 5:
printf("\n\rWhat is the input from Bumper0 (0-255): ");
break;
case 6:
printf("\n\rWhat is the input from Bumper1 (0-255): ");
break;
// case 7:
// printf("\n\rWhat is the input from Start (0-255): ");
// break;
}
input=UART_InUDec();
if(input>255){
printf("\n\rImproper selection\n\r");
return;
}
else{
data[i] = input&0x000000FF;//store the byte
}
}
CAN0_SendData(data);//send 8 bytes of data
printf("\n\rYour inputs were sent.\n\r");
break;
}
// Lost packets
case(3):{
printf("\n\r%lu packets have been lost.\n\r", PacketLost);
break;
}
default: {
printf("Improper selection\n\r");
return;
}
}
}
void Interpreter(void) // just a prototype, link to your interpreter
{
uint32_t stringSize;
uint32_t adcVoltage;
uint8_t deviceChosen;
uint8_t taskAddedBefore = 0;
uint8_t commandChosen = -1;
char message[MESSAGELENGTH] = "";
OutCRLF();
UART_OutString("Input Command: ");
while(1){
OutCRLF();
//UART_OutString("Commands: 0 - ADC, 1 - LCD, 2 - Time");
OutCRLF();
commandChosen = UART_InChar();
switch(commandChosen)
{
case '0':
OutCRLF();
UART_OutString("ADC Voltage = ");
//ADC_Open(4);
adcVoltage = (ADC_In() *3300) / 4095; //convert to mV
UART_OutUDec(adcVoltage);
OutCRLF();
break;
case '1':
OutCRLF();
UART_OutString("Enter LCD device 0 or 1: ");
deviceChosen = UART_InUDec();
OutCRLF();
UART_OutString("Enter message: ");
UART_InString(message, MESSAGELENGTH);
OutCRLF();
stringSize = strlen(message);
if(stringSize > 20)
{
OutCRLF();
UART_OutString("String too long...");
OutCRLF();
}
LCD_test(deviceChosen, message); //prints to lcd
OutCRLF();
break;
case '2':
if(!taskAddedBefore){
OS_AddPeriodicThread(dummy, 5, 1);
taskAddedBefore = 1;
}
OutCRLF();
UART_OutUDec(OS_ReadPeriodicTime());
OutCRLF();
break;
case '3':
UART_OutString("NumSamples: ");
UART_OutUDec(NumSamples);
OutCRLF();
break;
case '4':
UART_OutString("Jitter: ");
UART_OutUDec(MaxJitter);
OutCRLF();
break;
case '5':
UART_OutString("DataLost: ");
UART_OutUDec(DataLost);
OutCRLF();
break;
case '6':
UART_OutString("FilterWork: ");
UART_OutUDec(FilterWork);
OutCRLF();
break;
case '7':
UART_OutString("NumCreated: ");
UART_OutUDec(NumCreated);
OutCRLF();
break;
case '8':
for(int i = 0; i<64; i++)
{
UART_OutUDec(x[i]);
OutCRLF();
}
break;
default:
UART_OutString("Incorrect command!");
break;
}
//adcSample = ADC_In();
//ST7735_SetCursor(0,0);
//ST7735_OutUDec(adcSample);
}
}
