static void resetRainRecordYear (WVIEWD_WORK *work)
{
// initialize the store
sensorInit (&work->sensors.sensor[STF_YEAR][SENSOR_RAIN]);
sensorInit (&work->sensors.sensor[STF_YEAR][SENSOR_RAINRATE]);
sensorInit (&work->sensors.sensor[STF_YEAR][SENSOR_ET]);
sensorAddSample (&work->sensors.sensor[STF_YEAR][SENSOR_RAIN],
&work->sensors.sensor[STF_INTERVAL][SENSOR_RAIN]);
sensorAddSample (&work->sensors.sensor[STF_YEAR][SENSOR_RAINRATE],
&work->sensors.sensor[STF_INTERVAL][SENSOR_RAINRATE]);
sensorAddSample (&work->sensors.sensor[STF_YEAR][SENSOR_ET],
&work->sensors.sensor[STF_INTERVAL][SENSOR_ET]);
return;
}
void init()
{
//initialise colour sensor
sensorInit();
//iniitalise interface
InterfaceInit();
//initialise servos for seperator and sorter
servoInit();
// Configure button S1 interrupt
GPIO_selectInterruptEdge(GPIO_PORT_P1, GPIO_PIN3, GPIO_LOW_TO_HIGH_TRANSITION);
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P1, GPIO_PIN3);
GPIO_clearInterrupt(GPIO_PORT_P1, GPIO_PIN3);
GPIO_enableInterrupt(GPIO_PORT_P1, GPIO_PIN3);
// Configure button S2 interrupt
GPIO_selectInterruptEdge(GPIO_PORT_P1, GPIO_PIN4, GPIO_LOW_TO_HIGH_TRANSITION);
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P1, GPIO_PIN4);
GPIO_clearInterrupt(GPIO_PORT_P1, GPIO_PIN4);
GPIO_enableInterrupt(GPIO_PORT_P1, GPIO_PIN4);
}
void sensorClearSet (WV_SENSOR *set)
{
int type;
for (type = 0; type < SENSOR_MAX; type ++)
{
sensorInit (&set[type]);
}
return;
}
int doorbell_init() {
//sensor init
if ((devFD = sensorInit(sensor_dev, ARRAY_SIZE(sensor_dev))) == -1) {
printf("Fail to init sensor sound\n");
return -1;
}
//LED init
if ((exportGPIOPin(LEDpin)) == -1) {
printf("exportGPIOPin(%d) failed\n", LEDpin);
return -1;
}
if ((setGPIODirection(LEDpin, GPIO_OUT)) == -1) {
printf("setGPIODirection(%d) failed\n", LEDpin);
return -1;
}
return 0;
}
void trainTaskInit(void) {
clockInitTask();
mioInit();
tioInit();
logInit();
Create(31, idlerTask);
Delay(50);
vtInit();
turnoutInit();
sensorInit();
parserInit();
clockDrawerInit();
controllerInit();
freightInit();
initTrackA(nodes, hashtbl);
}
int
PMW3901::init()
{
int ret = PX4_ERROR;
// get yaw rotation from sensor frame to body frame
param_t rot = param_find("SENS_FLOW_ROT");
if (rot != PARAM_INVALID) {
int32_t val = 0;
param_get(rot, &val);
_yaw_rotation = (enum Rotation)val;
}
/* For devices competing with NuttX SPI drivers on a bus (Crazyflie SD Card expansion board) */
SPI::set_lockmode(LOCK_THREADS);
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
goto out;
}
sensorInit();
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(optical_flow_s));
if (_reports == nullptr) {
goto out;
}
ret = OK;
_sensor_ok = true;
_previous_collect_timestamp = hrt_absolute_time();
out:
return ret;
}
int main(){
//wiringPi check
showError();
// ctl + c ...exiting
(void)signal(SIGINT,control_event);
(void)signal(SIGQUIT,control_event);
//gnuplot file
gnuPlotOpenfile();
//sensor initial
sensorInit();
printf("....start loop....\n");
while(1) {
//accel
getAccelValue();
accelCalculate();
//gyro
getGyroValue();
gyroCalculate();
//mag
getMagValue();
//baro
getBaroValue();
//filter
sensorFilter( pitchRatio, rollRatio, yawRatio, altitudeRatio );
//put data to file
gnuPlotPutToFile(dataNum);
printResult();
delay(10);//+40(in getTempValue)....sampling time
dataNum++;
}
}
int main(void)
{
int i;
int retSize = -1;
char value[ARRAY_SIZE(lean)];
int devFD = -1;
if ((devFD =sensorInit(lean, ARRAY_SIZE(lean))) == -1) {
printf("Fail to init sensor\n");
return -1;
}
if (( retSize = sensorRead(devFD, value, ARRAY_SIZE(lean)) ) == -1) {
printf("Fail to read sensors\n");
}
if (retSize > 0) {
i = 0;
for(i=0; i<retSize; i++)
{
printf("lean:%d\n", value[i]);
}
}
sensorDeinit(devFD);
return 0;
}
int main(void){
int log = 0;
//Start Switch
// DDRA = 0x00;
// PORTA = 0x12;
//Start PORT A for switch and IR sensors
DDRA = 0xFC;
PORTA = 0xFE;
//LED Initial
DDRC = 0x7F;
PORTC = 0x7E;
DDRD = 0x70;
PORTD = 0x11;
MotorInit();
initSerial();
char * readData = NULL;
int isFinish = 0;
sensorInit();
if (isCaptureMode ==1) dxl_write_byte( BROADCAST_ID, P_TORQUE_ENABLE, 0 );
while(1){
sensorTest(0);
sensorTest(1);
sensorTest(2);
setMode();
if( checkSerialRead() > 0 ){
readData = getReadBuffer();
if( readData != NULL ){
// printf( "readData=%s\n", &readData[0] );
split( &readData[0] );
switch( serCmd[0] ){
case EVT_ACTION:
ServoControl( serCmd[1] );
// setSpeedTest( serCmd[1] );
sendAck(1);
break;
case EVT_START_MOTION:
startMotion( serCmd[1], serCmd[2] );
PORTC = ~(1 << (LED_MAX - 2));
sendAck(1);
break;
case EVT_STOP_MOTION:
stopMotion();
sendAck(1);
break;
case EVT_FORCE_MOTION:
forceMotion( serCmd[1], serCmd[2] );
break;
case EVT_GET_NOW_ANGLE:
getAngle();
break;
case EVT_SET_ANGLE:
setAngle();
case EVT_GET_ACT_ANGLE:
if( serCmd[1] >= ACT_MAX ){
sendAck(0);
}else{
sendActAngle(serCmd[1]);
}
break;
case EVT_GET_LOAD:
getLoad();
// printf( "%d\n", movingTime );
break;
case EVT_GET_VOLTAGE:
getVoltage();
break;
case EVT_TORQUE_DISABLE:
dxl_write_byte( BROADCAST_ID, P_TORQUE_ENABLE, 0 );
break;
case EVT_WATCH_DOG:
watchDogCnt = 0;
break;
case EVT_MOTION_EDIT:
break;
case 999:
// printf( "finish\n");
sendAck(999);
isFinish = 1;
break;
default:
sendAck(0);
}
if( isFinish > 0 ){
MotorControl( 0, 0 );
break;
}
memset( readData, 0x00, SERIAL_BUFFER_SIZE );
}
}
memset( &serCmd[0], 0x00, sizeof(int) * SERIAL_BUFFER_SIZE );
if (~PINA & SW_START ) {
if (log == 1) printf( "main() 0\n");
if( iStart > 0 ){
iStart = 0;
PORTC = LED_BAT|LED_TxD|LED_RxD|LED_AUX|LED_MANAGE|LED_PROGRAM|LED_PLAY;
if (isCaptureMode != 1) ServoControl( 0 );
}
}else{
if( iStart == 0 ){
PORTC &= ~LED_PLAY;
iStart = 1;
}
if( modeWait <= 0 ){
if (log == 1) printf( "main() 1\n");
setModeAction();
if (isMovetest == 1) {
moveTest();
} else {
move();
}
}else{
if (log == 1) printf( "main() 2\n");
modeWait -= MAIN_DELAY;
}
}
if (sensorValue[0] == 0 && sensorValueOld[0] != sensorValue[0]) {
if (log == 1) printf( "### main() sensorValue[0] == 0\n");
PORTC |= LED_PROGRAM; //edit
}else if (sensorValueOld[0] != sensorValue[0]){
if (log == 1) printf( "### main() sensorValue[0] == 1\n");
PORTC &= ~LED_PROGRAM; //edit
}
if (sensorValue[1] == 0 && sensorValueOld[1] != sensorValue[1]) {
if (log == 1) printf( "### main() sensorValue[1] == 0\n");
PORTC |= LED_MANAGE; //mon
}else if (sensorValueOld[1] != sensorValue[1]){
if (log == 1) printf( "### main() sensorValue[1] == 1\n");
PORTC &= ~LED_MANAGE; //mon
}
if (sensorValue[2] == 0 && sensorValueOld[2] != sensorValue[2]) {
if (log == 1) printf( "### main() sensorValue[2] == 0\n");
PORTC |= LED_AUX; //AUX
}else if (sensorValueOld[2] != sensorValue[2]){
if (log == 1) printf( "### main() sensorValue[2] == 1\n");
PORTC &= ~LED_AUX; //AUX
}
sensorValueOld[0] = sensorValue[0];
sensorValueOld[1] = sensorValue[1];
sensorValueOld[2] = sensorValue[2];
// walk pattern LED
// brinkLED();
_delay_ms(MAIN_DELAY);
watchDogCnt++;
caputureCount1++;
if (caputureCount1 == 25){
if (isCaptureMode == 1) getAngle();
caputureCount1 = 0;
}
}
}
static UINT32
sysInit(
void
)
{
/* board dependent modules */
rtcInit();
wdtInit();
inputInit();
audioInit();
fmInit();
lineBufferInit();
graphicInit();
scalarInit();
if (strcmp(SYSCONFIG_PRODUCT, "gplus.microwindowsUI__gplus.evm32900b") != 0) {
aesInit();
}
sdmaInit();
#ifdef SYSCONFIG_ARCH_SPMP8050
rotatorInit();
#endif
#ifdef SYSCONFIG_ARCH_SPMP8050
cevaInit();
#endif
if( gp_ver.major == MACH_GPL32900 )
{
cevaInit();
}
storageInit();
if (strcmp(SYSCONFIG_MAINSTORAGE, "gp_usb_disk")) {
usbInit();
}
usbWifiInit();
touchpanelInit();
#ifdef SYSCONFIG_SDIO
system("modprobe cfg80211");
system("modprobe mac80211");
system("modprobe sunrpc");
#endif
sensorInit();
ppuInit();
//tvInit();
powerInit();
batteryInit();
gsensorInit();
asensorInit();
#ifdef SYSCONFIG_GP_FAST_BOOT
gpFastBootInit();
#endif /* SYSCONFIG_GP_FAST_BOOT */
if( gp_ver.major == MACH_GPL32900B )
{
On2Init();
LBPInit();
}
return SP_OK;
}
// compute HILOW values for the current year
static int computeDataYear (WVIEWD_WORK *work, time_t lastTime)
{
SENSOR_STORE *store = &work->sensors;
int i, retVal, numrecs = 0;
int nowmonth, rainmonth, nowyear, rainyear;
time_t startTime, timenow = time(NULL);
struct tm startMonth, bkntimenow;
// do this so we pick up the proper hour/day when mins < archiveInterval
timenow -= (work->archiveInterval * 60);
localtime_r (&timenow, &bkntimenow);
nowmonth = bkntimenow.tm_mon + 1;
nowyear = bkntimenow.tm_year + 1900;
bkntimenow.tm_mon = 0;
bkntimenow.tm_mday = 1;
bkntimenow.tm_hour = 0;
bkntimenow.tm_min = 0;
bkntimenow.tm_sec = 0;
bkntimenow.tm_isdst = -1;
startTime = mktime(&bkntimenow);
if (lastTime > startTime)
{
// Only add new records:
startTime = lastTime + 1;
}
localtime_r(&startTime, &startMonth);
// loop through each month this year (so far)
for (i = startMonth.tm_mon+1; i <= nowmonth; i ++)
{
// process the month
retVal = computeDataForMonth (work, i, nowyear, STF_YEAR, FALSE, startTime);
if (retVal == ERROR || retVal == 0)
{
// just continue here
continue;
}
radMsgLog(PRI_STATUS, "computeDataYear: %4.4d%2.2d", nowyear, i);
// Clear this so it is only used the first time through:
startTime = 0;
numrecs += retVal;
}
// If we didn't have save data:
if (lastTime == 0)
{
// Clear rain/ET sensors:
sensorInit(&store->sensor[STF_YEAR][SENSOR_RAIN]);
sensorInit(&store->sensor[STF_YEAR][SENSOR_RAINRATE]);
sensorInit(&store->sensor[STF_YEAR][SENSOR_ET]);
// Do the Year rain totals to account for rain season start:
rainmonth = work->stationRainSeasonStart;
rainyear = nowyear;
if (rainmonth > nowmonth)
{
// we need to go back a year...
rainyear --;
}
localtime_r (&timenow, &bkntimenow);
bkntimenow.tm_year = rainyear - 1900;
bkntimenow.tm_mon = rainmonth - 1;
bkntimenow.tm_mday = 1;
bkntimenow.tm_hour = 0;
bkntimenow.tm_min = 0;
bkntimenow.tm_sec = 0;
bkntimenow.tm_isdst = -1;
startTime = mktime(&bkntimenow);
// now loop till we get to this month:
while ((rainyear < nowyear) || ((rainmonth <= nowmonth) && (rainyear == nowyear)))
{
// process the month for yearly rain
computeDataForMonth (work, rainmonth, rainyear, STF_YEAR, TRUE, startTime);
if (++rainmonth > 12)
{
rainmonth = 1;
rainyear ++;
}
// Only use this the first time through:
startTime = 0;
}
}
return OK;
}
