//===========================================================================
// Function name: gps_system_init
//
// Description: initializes the GPS module
//
// Passed : no variables passed
// Locals: none
// Returned: no values returned
// Globals:
//
// Author: Mattia Muller
// Date: Oct 2014
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (5.40.1)
//----------------------------------------------------------------------------
void gps_system_init(void){
time_pass_by = SET_0;
PJOUT &= ~GPS_RESET;
time_pass_by = SET_0;
five_msec_sleep(SET_200);
time_pass_by = SET_0;
PJOUT |= GPS_RESET;
five_msec_sleep(SET_20);
PJOUT |= GPS_PWRCNTL;
five_msec_sleep(SET_40);
if (PJIN & GPS_PWRCHK)
{
PJOUT &= ~GPS_PWRCNTL;
}
}
void main(void){
//==============================================================================
// Main Program
//
// Description: This function contains the while loop that runs continuously
// to act for the operating system. It also calls all the functions to
// initialize the system.
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: volatile unsigned int Time_Sequence;
// volatile char one_time;
// char* display_1
// char* display_2
// char* display_3
// char* display_4
// slow_input_down
// control_state[CNTL_STATE_INDEX]
// char big
// char size_count;
// char posL1
// char posL2
// char posL3
// char posL4
//
// Author: David Pryor
// Date: Feb 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Time_Sequence = SWITCH_OFF; //
Init_Timers(); // Initialize Timers
five_msec_sleep(COUNT_TWOFIDDY_MSEC); // 250 msec delay for the clock to settle (50)
Init_LEDs(); // Initialize LEDs
Init_LCD(); // Initialize LCD
// 1234567890
display_1 = "NCSU";
posL1 = LINE_POS_3;
display_2 = "WOLFPACK";
posL2 = LINE_POS_1;
display_3 = "ECE306";
posL3 = LINE_POS_2;
display_4 = "D Pryor";
posL4 = LINE_POS_1;
big = SWITCH_OFF;
Display_Process();
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
switch(Time_Sequence){
case COUNT_TWELVEFIDDY_MSEC: // 1250 msec (250)
if(one_time){
Init_LEDs(); // Initialize LEDs
one_time = SWITCH_OFF;
}
Time_Sequence = SWITCH_OFF; //
case COUNT_ONETHOUSAND_MSEC: // 1000 msec (200)
if(one_time){
one_time = SWITCH_OFF;
}
case COUNT_SEVENFIDDY_MSEC: // 750 msec (150)
if(one_time){
one_time = SWITCH_OFF;
}
case COUNT_FIVEHUNNED_MSEC: // 500 msec (100)
if(one_time){
one_time = SWITCH_OFF;
}
case COUNT_TWOFIDDY_MSEC: // 250 msec (50)
if(one_time){
one_time = SWITCH_OFF;
}
size_count++;
if(size_count > MAX_SIZE_COUNT){
size_count = SWITCH_OFF;
if(big){
//lcd_BIG_mid();
big = SWITCH_OFF;
}else{
//lcd_4line();
big = SWITCH_ON;
}
}
Display_Process();
break; //
default: break;
}
Switches_Process(); // Check for switch state change
if(Time_Sequence > COUNT_TWELVEFIDDY_MSEC){
Time_Sequence = SWITCH_OFF;
}
}
//------------------------------------------------------------------------------
}
void changeMotion()
{
//------------------------------------------------------------------------------
// change motion based on current cat state
// Author: Lingxiao Zheng
// Date: 09/29/2015
//------------------------------------------------------------------------------
switch (Car_State)
{
case 0: // pause 0.5s
case 2:
case 4:
case 6:
case 8:
case 10:
if (resetTimerA0)
changeTimerA0Interval(TA0_INTERVAL_0_5s);
stop();
break;
case 1: // move forward until BLK_LN
if (!startADC)
startADC=TRUE;
move_forward();
break;
case 3: // move reverse until BLK_LN
move_reverse();
// recording time
if (!isRecording)
startRecording();
if (!startADC)
{
five_msec_sleep(SLEEP_1s/2);
startADC=TRUE;
}
break;
case 5: // go forward for half of time going reverse
if (resetTimerA0)
changeTimerA0Interval(TA0_INTERVAL_0_1s*HALF(getRecording()));
move_forward();
break;
case 7: // spin clockwise
if (resetTimerA0)
changeTimerA0Interval(TA0_INTERVAL_3s);
spin_clockwise();
break;
case 9: // spin counter clockwise
if (resetTimerA0)
changeTimerA0Interval(TA0_INTERVAL_5s);
spin_counterclock();
break;
default: // done, disable all ISR
TA0CTL |= MC__STOP;
ADC10IE &= ~ADC10IE0;
while(ALWAYS)
LPM4;
}
}