void setup()
{
//
// Configure PLL, disable WD, enable peripheral clocks.
//
Device_init();
//
// Disable pin locks and enable internal pullups.
//
Device_initGPIO();
// Initialize Pins as desired
SCI_Init();
ADC_Init();
EQEP_Init();
GPIO_Init();
UltraSonic_GPIO_Init();
UltraSonic_TMR_Init();
//
// Enable Global Interrupt (INTM) and realtime interrupt (DBGM)
//
EINT;
ERTM;
}
Effect* new_Effect(void)
{
Effect* eff = memory_alloc_item(Effect);
if (eff == NULL)
return NULL;
eff->out_iface = NULL;
eff->in_iface = NULL;
eff->connections = NULL;
eff->dsps = NULL;
if (!Device_init(&eff->parent, false))
{
del_Effect(eff);
return NULL;
}
Device_set_state_creator(&eff->parent, Effect_create_state);
Device_set_reset(&eff->parent, Effect_reset);
Device_register_set_audio_rate(&eff->parent, Effect_set_audio_rate);
Device_register_update_tempo(&eff->parent, Effect_update_tempo);
Device_register_set_buffer_size(&eff->parent, Effect_set_buffer_size);
//Device_set_sync(&eff->parent, Effect_sync);
Device_set_process(&eff->parent, Effect_process);
for (int port = 0; port < KQT_DEVICE_PORTS_MAX; ++port)
{
Device_register_port(&eff->parent, DEVICE_PORT_TYPE_RECEIVE, port);
Device_register_port(&eff->parent, DEVICE_PORT_TYPE_SEND, port);
}
eff->out_iface = new_Effect_interface();
eff->in_iface = new_Effect_interface();
eff->dsps = new_DSP_table(KQT_DSPS_MAX);
if (eff->out_iface == NULL || eff->in_iface == NULL || eff->dsps == NULL)
{
del_Effect(eff);
return NULL;
}
for (int port = 0; port < KQT_DEVICE_PORTS_MAX; ++port)
{
Device_register_port(&eff->out_iface->parent,
DEVICE_PORT_TYPE_SEND, port);
Device_register_port(&eff->in_iface->parent,
DEVICE_PORT_TYPE_SEND, port);
}
Device_register_port(&eff->out_iface->parent,
DEVICE_PORT_TYPE_RECEIVE, 0);
//fprintf(stderr, "New effect %p\n", (void*)eff);
return eff;
}
Module* new_Module(void)
{
Module* module = memory_alloc_item(Module);
if (module == NULL)
return NULL;
if (!Device_init(&module->parent, false))
{
memory_free(module);
return NULL;
}
Device_set_existent(&module->parent, true);
// Clear fields
module->random_seed = 0;
module->songs = NULL;
module->album_is_existent = false;
module->track_list = NULL;
module->ch_defs = NULL;
module->pats = NULL;
module->au_map = NULL;
module->au_controls = NULL;
module->au_table = NULL;
module->connections = NULL;
module->is_dc_blocker_enabled = true;
module->mix_vol_dB = COMP_DEFAULT_MIX_VOL;
module->mix_vol = exp2(module->mix_vol_dB / 6);
module->force_shift = 0;
module->env = NULL;
module->bind = NULL;
for (int i = 0; i < KQT_SONGS_MAX; ++i)
module->order_lists[i] = NULL;
for (int i = 0; i < KQT_TUNING_TABLES_MAX; ++i)
module->tuning_tables[i] = NULL;
// Create fields
module->songs = new_Song_table();
module->pats = new_Pat_table(KQT_PATTERNS_MAX);
module->au_controls = new_Bit_array(KQT_CONTROLS_MAX);
module->au_table = new_Au_table(KQT_AUDIO_UNITS_MAX);
if (module->songs == NULL ||
module->pats == NULL ||
module->au_controls == NULL ||
module->au_table == NULL)
{
del_Module(module);
return NULL;
}
module->env = new_Environment();
if (module->env == NULL)
{
del_Module(module);
return NULL;
}
Streader* conn_sr = Streader_init(STREADER_AUTO, NULL, 0);
module->connections =
new_Connections_from_string(conn_sr, false, module->au_table, &module->parent);
if (module->connections == NULL)
{
del_Module(module);
return NULL;
}
return module;
}
void main(void)
{
int i1=0;
int count10S = 0;
Device_init();
disable_irq(PIT0_IRQn);
systick_delay_ms(50);
FLOAT_LDC_init(SPI1);
systick_delay_ms(50);
FLOAT_LDC_init(SPI0);
systick_delay_ms(1000);
uart_init(UART3,115200);
key_init(0);
key_init(1);
key_init(2);
//LDC_EVM_TEST();
//Speed_Ctl_Init(short point_value, double dKpp, double dKii, double dKdd);
while(1)
{
//value_collect();
LCD_P6x8Str(0,2,"Rmax Lmin");
printf("Rmax Rmin\r\n");
systick_delay_ms(1500);
i1=50;
while(i1--)
{
adjustment[2]=(float)filter(SPI1)/10;//右max
LCD_BL(55,2,(uint16)adjustment[2]);
printf("%d\r\n",adjustment[2]);
}
i1=50;
while(i1--)
{
adjustment[1]=(float)filter(SPI0)/10;//左min
LCD_BL(90,2,(uint16)adjustment[1]);
printf("%d\r\n",adjustment[1]);
}
LCD_BL(55,2,(uint16)adjustment[1]);
LCD_BL(90,2,(uint16)adjustment[2]);
LCD_P6x8Str(0,4,"Lmax Rmin");
printf("Lmax Rmin\r\n");
systick_delay_ms(1500);
i1=50;
while(i1--)
{
adjustment[3]=(float)filter(SPI1)/10;//右min
LCD_BL(55,4,(uint16)adjustment[3]);
printf("%d\r\n",adjustment[3]);
}
i1=50;
while(i1--)
{
adjustment[4]=(float)filter(SPI0)/10;//左max
LCD_BL(90,4,(uint16)adjustment[4]);
printf("%d\r\n",adjustment[4]);
}
LCD_BL(55,4,(uint16)adjustment[4]);
LCD_BL(90,4,(uint16)adjustment[3]);
if(adjustment[1]<=adjustment[3])
adjustment[5]=adjustment[1];//次小值
else
adjustment[5]=adjustment[3];//次小值
if(adjustment[2]>=adjustment[4])
adjustment[6]=adjustment[2];//次大值
else
adjustment[6]=adjustment[4];//次大值
divisor = (adjustment[2] - adjustment[3])/60; //48 //50
divisor2 = (adjustment[4] - adjustment[1])/59; //48 //45
zengfuzhi = (adjustment[2] - adjustment[3])/(adjustment[4] - adjustment[1]);
// for(int i=0;i<10;i++)
// {
// printf("%d\r\n",adjustment[i]);
// }
// systick_delay_ms(1000);
LCD_P6x8Str(0,6,"Mid value");
i1 = 50;
systick_delay_ms(1500);
while(i1--)
{
adjustment[7]=(float)filter(SPI0)/10;//左
adjustment[8]=(float)filter(SPI1)/10;//右
LCD_BL(55,6,(uint16)adjustment[7]);
LCD_BL(90,6,(uint16)adjustment[8]);
}
if(adjustment[7]>=adjustment[8])
{ flag=1;
adjustment[0]=adjustment[7]-adjustment[8];
}
else
{
flag=0;
adjustment[0]=adjustment[8]-adjustment[7];
}
LCD_Fill(0x00);
Out_side_collect();
LCD_Fill(0x00);
adjustment_change();
enable_irq(PIT0_IRQn);
while(1)
{
if(PIT_1sFlag == 1)
{
gpio_turn(PTD4);
PIT_1sFlag = 0;
count10S ++;
}
if(key_check(2) == 0)
{
LCD_Fill(0x00);
Motor_stop();
break;
}
else
{
if(PIT_5msFlag == 1)
{
LDC_get();
PIT_5msFlag = 0;
Steering_Change();
}
if(count10S > 10)
{
if(gpio_get(PTC4) == 0)
{
while(1)
{
Motor_stop();
Steering_Change();
}
}
}
if(PIT_10msFlag == 1)
{
Quad_count();
now = (float)guad_val;
Motor_PID(now);
PIT_10msFlag = 0;
}
if(PIT_20msFlag == 1)
{
PIT_20msFlag = 0;
}
if(PIT_50msFlag == 1)
{
//Result_collect();
PIT_50msFlag = 0;
}
//printf("guad_val:%d \r\n",(guad_val));
//TEST_display();
speed_control();
//key_choice();
uint16 i23 = gpio_get(PTC4);
//LCD_BL(50,2,(uint16)(i23));
}
}
}
}