void init_car(){
init_motor();
init_motor_CWCCW();
init_encoder();
init_External_Interrupt();
init_linear_actuator();
init_Neural(&n_r, 0.01, 0.01, 0);
init_Neural(&n_l, 0.01, 0.01, 0);
init_Neural(&n_r_back, 0.01, 0.01, 0);
init_Neural(&n_l_back, 0.01, 0.01, 0);
array_1d_Init_2(RECORD_SIZE, 0, path_record_r_p);
array_1d_Init_2(RECORD_SIZE, 0, path_record_l_p);
array_1d_Init_2(RECORD_SIZE, 0, path_record_r_n);
array_1d_Init_2(RECORD_SIZE, 0, path_record_l_n);
array_1d_Init_2(RECORD_SIZE, 0, kp_record_l);
array_1d_Init_2(RECORD_SIZE, 0, kp_record_r);
array_1d_Init_2(RECORD_SIZE, 0, ki_record_l);
array_1d_Init_2(RECORD_SIZE, 0, ki_record_r);
array_1d_Init_2(RECORD_SIZE, 0, kd_record_l);
array_1d_Init_2(RECORD_SIZE, 0, kd_record_r);
array_1d_Init_2(RECORD_SIZE, 0, desire_record);
array_1d_Init_2(RECORD_SIZE, 0, c_out_r);
array_1d_Init_2(RECORD_SIZE, 0, c_out_l);
path_counter = 0;
carTimers = xTimerCreate("Car_State_Polling", ( CAR_POLLING_PERIOD), pdTRUE, ( void * ) 1, Car_State_Polling );
xTimerStart( carTimers, 0 );
}
int main( int argc, char** argv ) {
char c;
init_motor(frameSize.width,frameSize.height);
init_fish();
//printf("hacked frames %d w %d h %d\n",frames,tmpw,tmph);
begin = clock();
#if 1
while(1) {
get_fish_pos();
cvShowImage( "set_HSV", gr_frame );
fish_motor(fishPos);
c = (char)cvWaitKey(50);
if( c == 27 ) break;
if( c == 'c'){
while(1){
c = getchar();
if(ctlMotor(c)<0) break;
}
}
}
#endif
end = clock();
time_spent = (double)(end - begin)/CLOCKS_PER_SEC;
time_spent += 1;
printf("time of prog %f, numframe %d,numframe for sec %d\n",
time_spent,mod,mod/(int)time_spent);
exit_fish();
exit_motors();
return(0);
}
void init()
{
ResetReason = MCUSR;
cli();
WDT_off(); // Turn off until initialization is done and we can pet the dog.
init_leds ();
init_buttons();
init_limit_switches();
init_motor();
float mBaseFrequencyHerz = 500.0; // 4khz
pwm_init( mBaseFrequencyHerz, TRUE );
init_serial();
init_configuration();
// read_configuration_and_set();
// init_adc();
// start_sampling();
encoder_init();
// pot_init ();
WDT_Prescaler_Change();
//delay(100000); // ~ 2 sec
//read_cal(); // Read everything including motor stops.
sei();
//OS_InitTask();
}
motor::motor(void) : DefaultGUIModel("motor with Custom GUI", ::vars, ::num_vars) {
setWhatsThis("<p><b>motor:</b><br>QWhatsThis description.</p>");
DefaultGUIModel::createGUI(vars, num_vars); // this is required to create the GUI
customizeGUI();
init_motor();
update( INIT ); // this is optional, you may place initialization code directly into the constructor
refresh(); // this is required to update the GUI with parameter and state values
}
void init(void){
init_pin();
init_clock();
init_uart();
init_ui();
init_timer();
init_oc();
init_motor();
InitUSB(); // initialize the USB registers and serial interface engine
init_interrupts();
}
int main(void)
{
/* hardware initialisation: */
init_motor();
init_buzzr();
init_leds();
init_switch();
uint8_t mode = 0;
for(;;) /* ever */ {
//do something
switch(mode){
case 1:
mode_blinktest();
break;
case 2:
mode_motortest();
break;
case 3:
mode_beeptest();
break;
default: //mode=0;
blinkrattlebeep();
}
//check switches and change mode
switch( PIND & 0b00000011){
case 0b00000010: //left switch pressed
mode--;
if (mode > 3) mode =3;
flashleds(LED_L);
break;
case 0b00000001: //right switch pressed
mode++;
if (mode > 3) mode = 0;
flashleds(LED_R);
break;
case 0b00000000: //both switches pressed
flashleds(LED_R|LED_L);
break;
}
}
/* never return 0; */
return 0;
}
int main() {
// capture any reset reason
G_reset_source = MCUSR;
// clear the status register by writing ones
// (odd, I know, but that is how it is done)
MCUSR = 0x1F;
// Display on the LCD that serial connection is needed
print("Waiting for");
lcd_goto_xy(0, 1);
print(" serial conn...");
// This init will block if no serial connection present
// so user sees message on LCD to make a connection
init_interface();
// Display the user interface over the serial usb
// connection
serial_check();
print_reset_reason();
print_usb("Welcome to lab 3!\r\n", 19);
print_usage();
print_prompt();
// clear "Waiting for connection" message from the LCD
clear();
// turn on interrupts
sei();
init_motor();
init_encoder();
// set controller for 1000 Hz
init_controller_w_rate(50);
while (1) {
serial_check();
check_for_new_bytes_received();
}
return 0;
}
void init_board()
{
uint8_t i;
d7segment_init();
init_ir();
init_motor();
uart_init();
adc_init(1); // AVCC as reference
g_cmd_decode = 0;
g_motor= 0;
for ( i = 0 ; i< MOTOR_MAX ;i++)
{
g_speed[i] = 1;
g_angle[i] = 1;
}
sei();
}
int main(void) {
init_menu();
clear();
init_motor();
init_timers();
encoders_init(IO_D2, IO_D3, IO_C4, IO_C5);
sei();
while (1)
{
if(g_pd_release) {
pd_task();
g_pd_release = 0;
}
if(g_velocity_release) {
velocity_task();
g_velocity_release = 0;
}
if(g_encoder_release) {
encoder_task();
g_encoder_release = 0;
}
if(g_log_release) {
log_task();
g_log_release = 0;
}
if(g_interpolate_release) {
interoplate_task();
g_interpolate_release = 0;
}
serial_check();
check_for_new_bytes_received();
}
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_timer();
init_oc();
init_spi();
init_enc();
init_md();
init_motor();
// (&motor1)->vel_set = 360.0;
InitUSB();
while (USB_USWSTAT!=CONFIG_STATE) {
ServiceUSB();
}
while (1) {
ServiceUSB();
}
}
int main (void)
{
//Initialize UART with 8-bit character sizes,no parity,1 stop bit
uart_init();
sei();
init_motor(); //This should be called first before using any motor command macro
init_sensor();
TCNT0 = 0x63; // for speed control
TCCR0 = 0x05;
X=1;
Y=1;
curHead = East;
while(1) {
trans('1');
_delay_ms(1);
trans('2');
_delay_ms(1);
trans('3');
_delay_ms(1);
fwd();
//move(0x22);
//moveStraight();
//turnRight();
//stop();
//while(1);
//moveStraight();
// Now ISR will initiate the actions
}
}
void main()
{
unsigned short val = 0;
unsigned int show_data = 0;
//unsigned short last_data = 0;
uart2_init();
init_led();
init_motor();
init_steering();
init_speed();
show_byte(0);
//led_vcc_on();
while(1) {
// show_byte(0x12,1);
if((uart_data >= '0') && (uart_data <= 'z')) {
//last_data = val;
val = uart_data;
}
//show_data = (cmd_func << 8) | (val & 0xff);
show_data = ((left_dis << 8)&0xff00) | (right_dis & 0xff);
//show_data = (left_diff << 8) | (right_diff & 0xff);
show_byte(show_data);
if(sg_flag == 1) {
sg_flag = 0;
delay1ms_show(1000 * 3,show_data);
if(sg_flag == 0) { //maybe call up() twice in 3s
stop_sg();
}
}
//uart2_send('a');
//uart2_send('b');
//uart2_send('c');
}
}
void init_board()
{
uint8_t i;
d7segment_init();
init_ir();
init_motor();
uart_init();
adc_init(3); // 2.56 BG as reference
g_cmd_decode = 0;
g_motor= 0;
g_program_index =0;
g_ircode =0;
for ( i = 0 ; i< MOTOR_MAX ;i++)
{
g_speed[i] = 1;
g_angle[i] = 1;
}
sei();
}
void initialize()
{
/* ---------communication-------- */
init_USART3(9600);
USART_puts(USART3,"initial...\n\r");
USART_puts(USART3,"USART is ready\n\r");
/* ------------motors------------ */
init_motor();
init_linear_actuator();
USART_puts(USART3,"motor is ready \n\r");
/* ------------sensor------------ */
init_encoder();
init_CurTransducer();
init_Indicator();
/* -----------SD(data)----------- */
USART_puts(USART3,"test sdio/fat \n\r");
start_record();
USART_puts(USART3,"test end \n\r");
}
void init()
{
prc2 = 1; /*PACRの書込み許可*/
pacr = 3; /*80ピンに設定*/
/*クロック設定*/
prc0=1;
cm21=0;
cm06=0;
prc0=0;
/* I/Oポート設定 */
pd1 = 0x0f; /* P10 to P13 output */
pd3 = 0xf0; /* P34 to P37 output */
/* 入力ピンをプルアップ */
pu05 = 1; /* P24 to P27 pull-up */
pu06 = 1; /* P30 to P33 pull-up */
pu14 = 1; /* P60 to P63 pull-up */
init_motor();
}
//Initialize and enables all the peripherals
void init_peripherals(void)
{
//Motor control variables & peripherals:
init_motor();
//Init Control:
init_ctrl_data_structure();
//Timebases:
init_tb_timers();
//UART 2 - RS-485
init_rs485();
//Analog, expansion port:
init_analog();
//Clutch:
init_clutch();
//Enable Global Interrupts
CyGlobalIntEnable;
//I2C1 (internal, potentiometers, Safety-CoP & IMU)
init_i2c1();
//Peripherals that depend on I2C:
#ifdef USE_I2C_INT
//MPU-6500 IMU:
#ifdef USE_IMU
init_imu();
CyDelay(25);
init_imu();
CyDelay(25);
init_imu();
CyDelay(25);
#endif //USE_IMU
//Strain amplifier:
#ifdef USE_STRAIN
init_strain();
#endif //USE_STRAIN
#endif //USE_I2C_INT
//I2C2 (external)
#ifdef USE_I2C_EXT
//Enable pull-ups:
I2C_OPT_PU_Write(1);
//I2C2 peripheral:
init_i2c2();
//Set RGB LED - Starts Green
i2c_write_minm_rgb(SET_RGB, 0, 255, 0);
#endif //USE_I2C_EXT
//Magnetic encoder:
init_as5047();
// First DieTemp reading is always inaccurate -- throw out the first one
#ifdef USE_DIETEMP
DieTemp_1_GetTemp(&temp);
#endif
//USB CDC
#ifdef USE_USB
init_usb();
#endif //USE_USB
}
int main(void)
{
int8_t byte_str[4]; // Wird benutzt um hier ein Byte als String abzulegen
// LCD Display intialisieren
lcd_init();
// Startmeldung ausgeben
show_start_message();
// Stepper Initialisieren
init_stepper();
// Motor Initialisieren
init_motor();
// Steursignale BYTE_READY, SYNC und SOE Initialisieren
init_controll_signals();
// Schreibschutz setzen
clear_wps();
// Timer0 --> GCR senden
init_timer0();
// Tasten Initialisieren
init_keys();
// Timer2 --> wird alle 1ms aufgerufen
// z.B. zu Tasten entprellen
init_timer2();
// Meldung ausgeben, das auf SD Karte gewartet wird
lcd_setcursor(0,2);
lcd_string("Wait for SD-Karte...");
// SD Karte initialisieren
// Partition und Filesystem öffnen
// Warten bis alles O.K. ist
while(init_sd_card()){}
lcd_clear();
view_dir_entry(0,&file_entry);
#ifdef DEBUG_MODE
lcd_setcursor(0,4);
lcd_string("T:");
lcd_setcursor(5,4);
lcd_string("M:");
lcd_setcursor(9,4);
lcd_string("K:");
lcd_setcursor(2,4);
sprintf(byte_str,"%d",akt_half_track >> 1);
lcd_string(byte_str);
#endif
// Interrupts erlauben
sei();
while(1)
{
// Auf Steppermotor aktivität prüfen
// und auswerten
if(stepper_signal_r_pos != stepper_signal_w_pos)
{
uint8_t stepper = stepper_signal_puffer[stepper_signal_r_pos++]>>2 | stepper_signal_puffer[stepper_signal_r_pos-1];
switch(stepper)
{
case 0x30: case 0x40: case 0x90: case 0xE0:
// DEC
stepper_dec();
stepper_signal_time = 0;
stepper_signal = 1;
break;
case 0x10: case 0x60: case 0xB0: case 0xC0:
// INC
stepper_inc();
stepper_signal_time = 0;
stepper_signal = 1;
break;
}
#ifdef DEBUG_MODE
lcd_setcursor(2,4);
lcd_string(" ");
lcd_setcursor(2,4);
sprintf(byte_str,"%d",akt_half_track >> 1);
lcd_string(byte_str);
#endif
}
else if(stepper_signal && (stepper_signal_time >= STEPPER_DELAY_TIME))
void taskBackground(void* pvParameter)
{
static unsigned int val1;
static unsigned int val2;
time_t time_sec;
// vTaskSetApplicationTaskTag( NULL, ( void * ) 'b' );
alarm_st = 0;
#ifndef SIM_DEBUG
//sysinit
wdi_ena = 0;
Spi_init();
if(get_time_rtc(&rtc_time)== FALSE)
{
SetError(RTC_ERR, HARWARE_ALRM_SCR);
reset_rtc();
while(clear_os_rtc() == FALSE);
init_time_rtc(&rtc_time);
// rtc_time.tm_sec = 0;
// rtc_time.tm_min = 0;
// rtc_time.tm_hour = 0;
// rtc_time.tm_mday = 1;
// rtc_time.tm_wday = 0;
// rtc_time.tm_mon = 0;
// rtc_time.tm_year = 100;
// rtc_time.tm_yday = 0;
// rtc_time.tm_isdst = 0;
set_time_rtc(&rtc_time)/*set_date()*/;
}
else if(mktime(&rtc_time)==-1)
{
SetError(RTC_ERR, HARWARE_ALRM_SCR);
// reset_rtc();
init_time_rtc(&rtc_time);
set_time_rtc(&rtc_time)/*set_date()*/;
}
time_sec = mktime(&rtc_time);
set_clock(time_sec);
// if(get_days(&calib_date) > 365)
// if(time_sec - calib_time >= 31536000L /*365*24*60*60*/)
// {
// Beep(800);
// lcd_clear();
// beep(800,4);
// RTclock.timer = 2000; //10sec timeout
// draw_text( 15, LCD_TXTLINE1, (uchar*)"SEND THE PUMP", LCD_PIXEL_ON,0);
// draw_text( 54, LCD_TXTLINE2, (uchar*)"TO", LCD_PIXEL_ON,0);
// draw_text( 29, LCD_TXTLINE3, (uchar*)"CALIBRATE", LCD_PIXEL_ON,0);
// while(RTclock.timer > 0);
// }
SST25ProtDisable();
SST25ReadArray(PARAM_E2PIMG_BASE, &E2pImage, sizeof(E2pImage_t));
if(crc16((unsigned char*)&E2pImage, sizeof(E2pImage_t)) != 0)
{
SetError(EEPROM_ERR, HARWARE_ALRM_SCR);
set_defaults();
}
SST25ReadArray(CLBR_E2PIMG_BASE, &Clbr_E2pImage, sizeof(Clbr_E2pImage_t));
if(crc16((unsigned char*)&Clbr_E2pImage, sizeof(Clbr_E2pImage_t)) != 0)
{
SetError(EEPROM_ERR, HARWARE_ALRM_SCR);
set_fact_defaults();
}
if(GetError() != 0)
{
err_code = GetError();
ClearError();
((unsigned int*)&E2pImage)[sizeof(E2pImage_t)/2 - 1] = crc16(&E2pImage, sizeof(E2pImage_t) - 2);
SST25SectorErase(PARAM_E2PIMG_BASE);
if(!SST25WriteArray(PARAM_E2PIMG_BASE, &E2pImage, sizeof(E2pImage_t)))
/*CriticalError("eeprom err")*/;
}
MCP23S08Init();
MCP4822Write(0, zero_press1 , 0);
MCP4822Write(1, zero_press2 , 0);
init_motor();
init_airdet();
#endif
init_keypad();
init_clock();
CheckParams();
/* drop task priority */
vTaskPrioritySet( hBACKGRNDTask, tskIDLE_PRIORITY + 1 );
while (1)
{
vTaskDelay( 50 / portTICK_RATE_MS ); // Wait 50ms
if(val1 > 0x0fff)
val1 = 0;
else
val1++;
if(val2 > 0x0fff)
val1 = 0;
else
val2++;
if(!wdi_ena)
toggleExpGPO(WDI_EXTIOBIT);
// ClrWdt();
// WD_PIN^= 1; /*toggle external watch dog */
}
}
