/*************************************************************************
* Function Name: UartRead
* Parameters: UartNum_t Uart, pInt8U pBuffer, Int32U BufferSize
*
* Return: Int32U
*
* Description: Read received data from UART.
* Return number of readied characters
*
*************************************************************************/
Int32U UartRead(UartNum_t Uart, pInt8U pBuffer, Int32U BufferSize)
{
Int32U Count;
pUartFifo_t pUartFifo;
switch(Uart)
{
case UART_1:
pUartFifo = pUart1RxFifo;
break;
case UART_2:
pUartFifo = pUart2RxFifo;
break;
case UART_3:
pUartFifo = pUart3RxFifo;
break;
default:
return(0);
}
for (Count = 0; Count < BufferSize; ++Count)
{
ENTR_CRT_SECTION();
if(!FifoPop(pUartFifo,pBuffer+Count))
{
EXT_CRT_SECTION();
break;
}
EXT_CRT_SECTION();
}
return(Count);
}
void main(void)
{
ENTR_CRT_SECTION();
/* Setup STM32 system (clock, PLL and Flash configuration) */
SystemInit();
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
// SysTick end of count event each 0.5s with input clock equal to 9MHz (HCLK/8, default)
SysTick_Config(1500000);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
// Step motor init
StepMotorInit();
// I2C1 init
I2C1_Init();
EXT_CRT_SECTION();
// GLCD init
GLCD_PowerUpInit((pInt8U)IAR_Logo.pPicStream); //(
GLCD_Backlight(BACKLIGHT_ON);
GLCD_SetFont(&Terminal_9_12_6,0x000F00,0x00FF0);
GLCD_SetWindow(10,104,131,131);
// Init Accl sensor
if(FALSE == Accl_Init())
{
// Initialization fault
GLCD_TextSetPos(0,0);
GLCD_print("\fLIS3LV020 Init.\r\nfault\r\n");
while(1);
}
Car_Init();
while(1)
{
A=position();
/* A = accX[1];
B = velX[1];
C = posX[1]; */
if(SysTickFl) //
{
SysTickFl = FALSE;
GLCD_TextSetPos(0,0);
GLCD_print("\f%d Deg\r\n",A);
}
GoCar(Test, TestTurn);
}
}
/*************************************************************************
* Function Name: UartWrite
* Parameters: UartNum_t Uart, pInt8U pBuffer, Int32U BufferSize
*
* Return: Int32U
*
* Description: Write a data to UART. Return number of successful
* transmitted bytes
*
*************************************************************************/
Int32U UartWrite(UartNum_t Uart, pInt8U pBuffer, Int32U BufferSize)
{
Int32U Count = 0;
pUartFifo_t pUartFifo;
USART_TypeDef * pUart;
switch(Uart)
{
case UART_1:
pUart = USART1;
pUartFifo = pUart1TxFifo;
break;
case UART_2:
pUart = USART2;
pUartFifo = pUart2TxFifo;
break;
case UART_3:
pUart = USART3;
pUartFifo = pUart3TxFifo;
break;
default:
return(0);
}
if(BufferSize != 0)
{
ENTR_CRT_SECTION();
if(pUartFifo->PopIndx == pUartFifo->PushIndx)
{
USART_SendData(pUart,*pBuffer);
USART_ITConfig(pUart,USART_IT_TXE ,ENABLE);
++Count;
}
for ( ; Count < BufferSize; ++Count)
{
if(!FifoPush(pUartFifo,*(pBuffer+Count)))
{
break;
}
}
EXT_CRT_SECTION();
}
return(Count);
}
void main(void)
{
ENTR_CRT_SECTION();
/* Setup STM32 system (clock, PLL and Flash configuration) */
SystemInit();
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
// I2C1 init
I2C1_Init();
EXT_CRT_SECTION();
// GLCD init
GLCD_PowerUpInit(0x0); //(
GLCD_Backlight(BACKLIGHT_ON);
GLCD_SetFont(&Terminal_9_12_6,0x000F00,0x00FF0);
GLCD_SetWindow(10,10,131,131);
// Init Accl sensor
if(FALSE == Accl_Init())
{
// Initialization fault
GLCD_TextSetPos(0,0);
GLCD_print("\fLIS3LV020 Init.\r\nfault\r\n");
while(1);
}
//Init CarControl and Delay
Car_Init();
DWT_Init();
HCSR04_Init();
// SysTick end of count event each 0.5s with input clock equal to 9MHz (HCLK/8, default)
SysTick_Config(150000);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
DWT_Delayms(1000);
while(1)
{
//while(1){GLCD_print("Current state: %d \r",GPIO_ReadInputDataBit(JS_LEFT_PORT, JS_LEFT_MASK));}
//car_feedback=accl_feedback();
/* A = accX[1];
B = velX[1];
C = posX[1]; */
if(SysTickF1)
{
SysTickF1 = FALSE;
//GLCD_TextSetPos(0,0);
GLCD_print("%d, %d \r", get_Xvel(), accl_feedback());
DWT_Delayms(500);
}
if(NewInstr) //
{
DWT_Delayms(1000);
NewInstr = FALSE;
//GoCar(Test, TestTurn);
// 1. Give command (desired state)
//desiredState;
// 2. Run machine learning to test action
action = goToState(car_instr);
GoCars(action);
// testExp();
int runTime = 0;
while (runTime < 1){
DWT_Delayms(700);
runTime++;
}
GLCD_TextSetPos(0,0);
GLCD_print("\f%d,%d;%d,%d\r\n", get_X_accFeedback(0), get_Y_accFeedback(0), get_X_vel(0), get_Y_vel(0));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(1), get_Y_accFeedback(1), get_X_vel(1), get_Y_vel(1));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(2), get_Y_accFeedback(2), get_X_vel(2), get_Y_vel(2));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(3), get_Y_accFeedback(3), get_X_vel(3), get_Y_vel(3));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(4), get_Y_accFeedback(4), get_X_vel(4), get_Y_vel(4));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(5), get_Y_accFeedback(5), get_X_vel(5), get_Y_vel(5));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(6), get_Y_accFeedback(6), get_X_vel(6), get_Y_vel(6));
// GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(7), get_Y_accFeedback(7), get_X_vel(7), get_Y_vel(7));
car_instr=car_stop;
GoCars(car_instr);
DWT_Delayms(2000);
}
//GoCars(3); //Stopping the car
// 3. Wait x ms
//Wait in ML-method testAllActions
// 4. Return value from accelerometer
//Return value from accelerometer in ML-method testAllActions
// 5. Evaluate action compared to state
//Already implemented in ML-file. No need to alter (probably)
// 6. Repeat 3-5 until all actions has been tested
//Already implemented in ML-file. No need to alter (probably)
// 7. Choose the correct state
//Already implemented in ML-file. No need to alter (probably)
}
}
/*************************************************************************
* Function Name: SPI2_DmaTransfer
* Parameters: pInt8U pData,Int32U Size, SPI_TransferDir_t SPI_TransferDir
* Return: none
*
* Description: DMA transfer
*
*************************************************************************/
void SPI2_DmaTransfer(pInt8U pData,Int32U Size, SPI_TransferDir_t SPI_TransferDir)
{
DMA_InitTypeDef DMA_InitStructure;
Int32U Dummy = 0xFF;
// Initialize DMA Rx channel
DMA_DeInit(DMA_Channel4);
DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)&SPI2->DR;
DMA_InitStructure.DMA_MemoryBaseAddr = (SPI_TransferDir == SPI_RECEIVE)?(Int32U)pData:(Int32U)&Dummy;
DMA_InitStructure.DMA_BufferSize = Size;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = (SPI_TransferDir == SPI_RECEIVE)?DMA_MemoryInc_Enable:DMA_MemoryInc_Disable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
// Init channel
DMA_Init(DMA_Channel4, &DMA_InitStructure);
// Initialize DMA Tx channel
DMA_DeInit(DMA_Channel5);
DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)&SPI2->DR;
DMA_InitStructure.DMA_MemoryBaseAddr = (SPI_TransferDir == SPI_TRANSMIT)?(Int32U)pData:(Int32U)&Dummy;
DMA_InitStructure.DMA_BufferSize = Size;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = (SPI_TransferDir == SPI_TRANSMIT)?DMA_MemoryInc_Enable:DMA_MemoryInc_Disable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_Medium;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
// Init channel
DMA_Init(DMA_Channel5, &DMA_InitStructure);
// Enable SPI2 DMA transfer
SPI_DMACmd(SPI2,SPI_DMAReq_Rx,ENABLE);
SPI_DMACmd(SPI2,SPI_DMAReq_Tx,ENABLE);
#ifdef DMA_ERRATA
ENTR_CRT_SECTION();
// Enable channel
DMA_Cmd(DMA_Channel4,ENABLE);
DMA_Cmd(DMA_Channel5,ENABLE);
while(1)
{
if ( (DMA_GetITStatus(DMA_IT_TE4) == SET)
|| (DMA_GetITStatus(DMA_IT_TE5) == SET))
{
DMA_ClearITPendingBit(DMA_IT_GL4 | DMA_IT_GL5);
DMA_Cmd(DMA_Channel5,DISABLE);
DMA_Cmd(DMA_Channel4,DISABLE);
break;
}
if ( (DMA_GetITStatus(DMA_IT_TC4) == SET)
&& (DMA_GetITStatus(DMA_IT_TC5) == SET))
{
break;
}
};
EXT_CRT_SECTION();
#else
// set the flag DMA Transfer in progress
TransferStatus = TRUE;
DMA_ITConfig(DMA_Channel4, DMA_IT_TC | DMA_IT_TE, ENABLE);
DMA_ITConfig(DMA_Channel5, DMA_IT_TE, ENABLE);
// Enable SPI2 DMA transfer
SPI_DMACmd(SPI2,SPI_DMAReq_Rx,ENABLE);
SPI_DMACmd(SPI2,SPI_DMAReq_Tx,ENABLE);
while(TransferStatus);
#endif
// wait until SPI transmit FIFO isn't empty
while(SPI_GetFlagStatus(SPI2, SPI_FLAG_TXE)==RESET);
// wait until SPI receive FIFO isn't empty
while(SPI_GetFlagStatus(SPI2, SPI_FLAG_RXNE)==SET);
SPI_DMACmd(SPI2,SPI_DMAReq_Tx,DISABLE);
SPI_DMACmd(SPI2,SPI_DMAReq_Rx,DISABLE);
}