void setup()
{
//Initialize all the global variables
gSystemError = 0;
gSystemTimerTick = 0;
gSystemTime = 0;
Serial.begin(115200);
Serial.println("Pushpak Quadrotor........");
GPIO_OUTPUT(LED);
GPIO_CLEAR(LED);
initialize_servo_out();
initialize_servo_in();
initialize_adc(); //Initialize adc at the last as this funtion enable interrupts.
timer1_init();
sei(); //enable interrupts
// cli(); //Disable interrupts before copying the current RC reciever pulse values
}
int
main(void)
{
unsigned int pot_value;
unsigned int counter = 0;
initialize_board();
initialize_led();
initialize_uart();
initialize_adc(MODE_ANALOG0);
initialize_pwm();
uart_printf("Hello, world!\n");
while(1)
{
pot_value = adc_get_reading();
//UARTprintf ("Temperature = %3d*C \r", adc_get_temp ());
uart_printf ("AIN0 (PE3) = %3d Duty value = %d\r", pot_value,
pot_value/4);
led_toggle (GREEN_LED);
counter += 100;
if (counter > 1000)
counter = 0;
pwm_set_duty (pot_value/4);
//
// This function provides a means of generating a constant length
// delay. The function delay (in cycles) = 3 * parameter. Delay
// 250ms arbitrarily.
//
SysCtlDelay(SysCtlClockGet() / 12);
}
}
int adc_setup()
{
return initialize_adc();
}
BBIO_err adc_setup(void)
{
return initialize_adc();
}
/*****************************************************************
* int initialize_cape()
* sets up necessary hardware and software
* should be the first thing your program calls
*****************************************************************/
int initialize_cape(){
FILE *fd;
printf("\n");
// check if another project was using resources
// kill that process cleanly with sigint if so
#ifdef DEBUG
printf("checking for existing PID_FILE\n");
#endif
fd = fopen(PID_FILE, "r");
if (fd != NULL) {
int old_pid;
fscanf(fd,"%d", &old_pid);
if(old_pid != 0){
printf("warning, shutting down existing robotics project\n");
kill((pid_t)old_pid, SIGINT);
sleep(1);
}
// close and delete the old file
fclose(fd);
remove(PID_FILE);
}
// create new pid file with process id
#ifdef DEBUG
printf("opening PID_FILE\n");
#endif
fd = fopen(PID_FILE, "ab+");
if (fd < 0) {
printf("\n error opening PID_FILE for writing\n");
return -1;
}
pid_t current_pid = getpid();
printf("Current Process ID: %d\n", (int)current_pid);
fprintf(fd,"%d",(int)current_pid);
fflush(fd);
fclose(fd);
// check the device tree overlay is actually loaded
if (is_cape_loaded() != 1){
printf("ERROR: Device tree overlay not loaded by cape manager\n");
return -1;
}
// initialize mmap io libs
printf("Initializing GPIO\n");
if(initialize_gpio()){
printf("mmap_gpio_adc.c failed to initialize gpio\n");
return -1;
}
//export all GPIO output pins
gpio_export(RED_LED);
gpio_set_dir(RED_LED, OUTPUT_PIN);
gpio_export(GRN_LED);
gpio_set_dir(GRN_LED, OUTPUT_PIN);
gpio_export(MDIR1A);
gpio_set_dir(MDIR1A, OUTPUT_PIN);
gpio_export(MDIR1B);
gpio_set_dir(MDIR1B, OUTPUT_PIN);
gpio_export(MDIR2A);
gpio_set_dir(MDIR2A, OUTPUT_PIN);
gpio_export(MDIR2B);
gpio_set_dir(MDIR2B, OUTPUT_PIN);
gpio_export(MDIR3A);
gpio_set_dir(MDIR3A, OUTPUT_PIN);
gpio_export(MDIR3B);
gpio_set_dir(MDIR3B, OUTPUT_PIN);
gpio_export(MDIR4A);
gpio_set_dir(MDIR4A, OUTPUT_PIN);
gpio_export(MDIR4B);
gpio_set_dir(MDIR4B, OUTPUT_PIN);
gpio_export(MOT_STBY);
gpio_set_dir(MOT_STBY, OUTPUT_PIN);
gpio_export(PAIRING_PIN);
gpio_set_dir(PAIRING_PIN, OUTPUT_PIN);
gpio_export(SPI1_SS1_GPIO_PIN);
gpio_set_dir(SPI1_SS1_GPIO_PIN, OUTPUT_PIN);
gpio_export(SPI1_SS2_GPIO_PIN);
gpio_set_dir(SPI1_SS2_GPIO_PIN, OUTPUT_PIN);
gpio_export(INTERRUPT_PIN);
gpio_set_dir(INTERRUPT_PIN, INPUT_PIN);
gpio_export(SERVO_PWR);
gpio_set_dir(SERVO_PWR, OUTPUT_PIN);
printf("Initializing ADC\n");
if(initialize_adc()){
printf("mmap_gpio_adc.c failed to initialize adc\n");
return -1;
}
printf("Initializing eQEP\n");
if(init_eqep(0)){
printf("mmap_pwmss.c failed to initialize eQEP\n");
return -1;
}
if(init_eqep(1)){
printf("mmap_pwmss.c failed to initialize eQEP\n");
return -1;
}
if(init_eqep(2)){
printf("mmap_pwmss.c failed to initialize eQEP\n");
return -1;
}
// setup pwm driver
printf("Initializing PWM\n");
if(simple_init_pwm(1,PWM_FREQ)){
printf("simple_pwm.c failed to initialize PWMSS 0\n");
return -1;
}
if(simple_init_pwm(2,PWM_FREQ)){
printf("simple_pwm.c failed to initialize PWMSS 1\n");
return -1;
}
// start some gpio pins at defaults
deselect_spi1_slave(1);
deselect_spi1_slave(2);
disable_motors();
//set up function pointers for button press events
printf("Initializing button interrupts\n");
initialize_button_handlers();
// Load binary into PRU
printf("Initializing PRU\n");
if(initialize_pru()){
printf("ERROR: PRU init FAILED\n");
return -1;
}
// Start Signal Handler
printf("Initializing exit signal handler\n");
signal(SIGINT, ctrl_c);
signal(SIGTERM, ctrl_c);
// Print current battery voltage
printf("Battery Voltage: %2.2fV\n", get_battery_voltage());
// all done
set_state(PAUSED);
printf("\nRobotics Cape Initialized\n");
return 0;
}
