int main() {
int n;
short vref = *(short*)((void*)0x1FFFF7BA);
REG_L(RCC_BASE, RCC_AHBENR) |= (1 << 17); // port A clock
REG_L(RCC_BASE, RCC_AHB2ENR) |= (1 << 9); // ADC clock
REG_L(GPIOA_BASE, GPIO_MODER) |= 1;
uartEnable();
adcEnable();
REG_L(ADC_BASE, ADC_CHSELR) |= (1 << 5); // ADC from PA5
REG_L(ADC_BASE, ADC_CHSELR) |= (1 << 17); // ADC from vrefint
while(1) {
REG_L(GPIOA_BASE, GPIO_BSRR) |= (1 << 0);
sends("on\n");
adcRead(2);
sends("adc=0x");
sendHex(adc[0], 3);
n = (intDiv(3300 * (int) adc[0], adc[1]) * vref) >> 12;
sends(", V=");
sendDec(n);
sends("mv, T=");
sendDec(intDiv(((n - 2980) + 5), 10) + 25);
sends("\n");
n=250000; while(--n);
REG_L(GPIOA_BASE, GPIO_BSRR) |= (1 << 16);
sends("off\n");
n=1000000; while(--n);
}
}
void printSamples(void) {
int i;
for (i=0; i<SAMPLE_COUNT; i++) {
Sample* localSample = &samples[i];
sendDec(localSample->pidTime);
sendDec(localSample->positionLeft);
sendDec(localSample->positionRight);
}
println();
}
void printDistances() {
int i;
for (i = 0; i < HISTORY_SIZE; i++) {
sendDec(distances[i]);
println();
}
}
int receiverZigbeeTest(void) {
/*
char *macAdresse = "1";
char *panId = "1620";
char *channel = "100000";
char *function = "0";
char *adresse = "0";
char *data;
char receiveChar;
char valide;
int toto;
*/
TRISB = 0;
TRISB = 0;
// Configure serialBuffer
Buffer zigbeeBuffer;
initBuffer(&zigbeeBuffer, SERIAL_PORT_ZIGBEE);
setAndOpenSerialBuffer(&zigbeeBuffer);
Buffer debugBuffer;
initBuffer(&debugBuffer, SERIAL_PORT_DEBUG);
setAndOpenSerialBuffer(&debugBuffer);
setSerialBuffer(&debugBuffer);
putString("Beacon Receiver start rs232\n");
initPwmForServo(1500);
// Initialization of laserDetector
// Laser 1
initLaserDetectorStruct(
LASER_INDEX_1,
LASER_SERVO_INDEX_1,
&getLaserPin1,
SERVO_LASER_1_MAX_LEFT_POSITION_DEFAULT_VALUE,
SERVO_LASER_1_MAX_RIGHT_POSITION_DEFAULT_VALUE,
SHORT_TRACKING_INTERVAL,
BEACON_SERVO_1_FACTOR,
BEACON_SERVO_1_INIT_COMPUTE_VALUE,
BEACON_SERVO_1_ANGLE_DEGREE
);
// Laser 2
initLaserDetectorStruct(
LASER_INDEX_2,
LASER_SERVO_INDEX_2,
&getLaserPin2,
SERVO_LASER_2_MAX_LEFT_POSITION_DEFAULT_VALUE,
SERVO_LASER_2_MAX_RIGHT_POSITION_DEFAULT_VALUE,
SHORT_TRACKING_INTERVAL,
BEACON_SERVO_2_FACTOR,
BEACON_SERVO_2_INIT_COMPUTE_VALUE,
BEACON_SERVO_2_ANGLE_DEGREE
);
while (1) {
int laserIndex;
for (laserIndex = 0; laserIndex < LASER_COUNT; laserIndex++) {
detectsLaser(laserIndex);
}
delay100us(5);
char c = handleChar(&debugBuffer, false);
if (c != 0) {
putString("---------\n");
Laser* laser1 = getLaser(LASER_INDEX_1);
Laser* laser2 = getLaser(LASER_INDEX_2);
printLaserStruct(&debugBuffer, laser1);
println();
printLaserStruct(&debugBuffer, laser2);
clearBuffer(&debugBuffer);
Point p = getPosition(DISTANCE_BETWEEN_BEACON);
if (p.x != 0 && p.y != 0) {
sendDec(p.x);
putString(", ");
sendDec(p.y);
println();
}
}
}
/*
valide = 0;
while (1) {
if (U2STAbits.URXDA == 1){
valide = getc();
putc1 (valide);
}
if (U1STAbits.URXDA == 1){
valide = getc1();
putc (valide);
}
}
*/
}
