uint32_t flash_erase (cmd_tbl_t * cmdtp, uint32_t argc, const uint8_t *argv[])
{
uint8_t Return;
Flash_init();
if (TRUE == iflash_erase(16 * 2048, 1 * 2048))
{
printf("erase ok!\n");
}
else
{
printf("erase ERROR!\n");
}
// uint32_t size = 255 * 2048;
// LPLD_Flash_Init();
return 0;
#if 0
for (uint32_t i = 15; i < 16 + (size + 2048) / 2048 ; i++)
{
if (FLASH_OK != LPLD_Flash_SectorErase(i * 2048))
{
printf("bug[%d]\n", i);
}
}
#endif
// Return = LPLD_Flash_SectorErase(16 * 2048);
Return = LPLD_Flash_SectorErase(17 * 2048);
if (FLASH_OK != Return)
{
printf("fail flash erase\r\n");
switch (Return)
{
case 0x01:
printf("error FLASH_FACCERR\r\n");
break;
case 0x02:
printf("error FLASH_FPVIOL\r\n");
break;
case 0x08:
printf("error FLASH_RDCOLERR\r\n");
break;
case 0x04:
printf("error FLASH_MGSTAT0\r\n");
break;
default:break;
}
}
return 0;
}
void main()
{
uart_init(UART3, 115200); // For our flashed bluetooth
//uart_init(UART3, 9600); // For our non-flashed bluetooth
gpio_init(PORTE,6,GPI,0); // SW2 goes into gyro calibration mode
printf("\nWelcome to the SmartCar 2013 Sensor team developement system\n");
while(1){
printf("==============================================================\n");
printf("Please select mode:\n---------------------------\n");
printf("1:Accelerometer&gyro\n");
printf("2:LinearCCD\n");
printf("3:Flash Memory\n");
printf("4:Encoder testing\n");
printf("6:Motor control test\n");
printf("7:SystemLoop Test\n");
delayms(300);
if(gpio_get(PORTE,6)==0){
adc_init(ADC1,AD5b);
adc_init(ADC1,AD7b);
printf("We are now in gyro calibration mode, Please keep car stationery and wait till light dies");
gpio_init(PORTE,24,GPO,0);
gpio_init(PORTE,25,GPO,0);
gpio_init(PORTE,26,GPO,0);
gpio_init(PORTE,27,GPO,0);
delayms(3000);
turn_gyro_offset=ad_ave(ADC1,AD5b,ADC_12bit,1000);
balance_gyro_offset=ad_ave(ADC1,AD7b,ADC_12bit,1000);
store_u32_to_flashmem1(turn_gyro_offset);
store_u32_to_flashmem2(balance_gyro_offset);
gpio_turn(PORTE,24);
gpio_turn(PORTE,25);
gpio_turn(PORTE,26);
gpio_turn(PORTE,27);
while(1){}
}
g_char_mode = '7'; // Hard code mode = system loop
//g_char_mode = uart_getchar(UART3);
switch (g_char_mode){
case '0':
//VR analog input
adc_init(ADC0,AD14);
while(1){
delayms(500);
printf("\n%d",ad_once(ADC0,AD14,ADC_16bit));//vr value
}
break;
case '1':
uart_sendStr(UART3,"The mode now is 1: Accelerometer and Gyroscope Test");
//accl_init();
adc_init(ADC1,AD6b);
adc_init(ADC1,AD7b);
adc_init(ADC0,AD14);
adc_init(ADC1,AD4b);
balance_centerpoint_set=ad_ave(ADC0,AD14,ADC_12bit,10);
printf("\nEverything Initialized alright\n");
while(1)
{
//printf("\n\f====================================");
//control_tilt=(ad_ave(ADC1,AD6b,ADC_12bit,8)-3300)+(balance_centerpoint_set/10);
//printf("\nMain gyro%d",control_tilt);//theta
//printf("\n%d",ad_once(ADC1,AD7b,ADC_12bit)-1940);//omega
printf("\n%d",ad_ave(ADC1,AD6b,ADC_12bit,8)-940);
delayms(50);
}
break;
case '2':
uart_sendStr(UART3,"The mode now is 2: Linear CCD");
ccd_interrupts_init();
printf("\nEverything Initialized alright\n");
while(1)
{
//ccd_sampling(1); // Longer SI CCD Sampling
}
break;
case '3':
uart_sendStr(UART3,"The mode now is 3:Flash Memory\n");
Flash_init();
printf("Flash Memory init ok\n");
printf("writing the u32 : 3125 to memory 1\n");
store_u32_to_flashmem1(3125);
printf("writing the u32: 1019 to memory 2\n");
store_u32_to_flashmem2(1019);
printf("Now reading from memory\n");
printf("Memory 1:%d\n",get_u32_from_flashmem1());
printf("Memory 2:%d\n",get_u32_from_flashmem2());
while(1)
{
//stops loop to see results
}
break;
case '4':
//temporary case for debuggine encoder libraries, move to encoder.h later
uart_sendStr(UART3,"The mode now is 4: encoder test");
DisableInterrupts;
exti_init(PORTA,6,rising_up); //inits left encoder interrupt capture
exti_init(PORTA,7,rising_up); //inits right encoder interrupt capture
pit_init_ms(PIT1,500); //periodic interrupt every 500ms
EnableInterrupts;
printf("\nEverything Initialized alright\n");
while(1){
}
break;
case '6':
uart_sendStr(UART3,"The mode now is 6: Motor Control test");
//inits
motor_init();
printf("\nEverything Initialized alright\n");
delayms(1000);
while(1)
{
//printf("\n\fInput 0-9 Motor Speed, Currently:%d",motor_test);
//motor_test=100*(uart_getchar(UART3)-48);
FTM_PWM_Duty(FTM1,CH0,2000);
FTM_PWM_Duty(FTM1,CH1,2000);//left
printf("\n\f Input direction : 0 or 1");
motor_test = uart_getchar(UART3)-48;
if (motor_test){
gpio_set(PORTD,9,1);
gpio_set(PORTD,7,1);//this is DIR
}else{
gpio_set(PORTD,9,0);
gpio_set(PORTD,1,0);//this is DIR
}
}
break;
case '7':
printf("\n The Mode is now 7: SystemLoop Test");
adc_init(ADC1,AD6b);
adc_init(ADC1,AD7b);
adc_init(ADC0,AD14);
adc_init(ADC1,AD5b);
balance_centerpoint_set=ad_ave(ADC0,AD14,ADC_12bit,10);
motor_init();
gpio_set(PORTD,9,0); //dir
gpio_set(PORTD,7,0); //dir
FTM_PWM_Duty(FTM1, CH0, 3000); //initital speed
FTM_PWM_Duty(FTM1, CH1, 3000); //initital speed
ccd_interrupts_init();
pit_init_ms(PIT3,1);
printf("\nEverything inited alright");
while(1){
//system loop runs
}
break;
default :
printf("\n\fYou entered:%c, Please enter a number from 1-7 to select a mode\n\f",g_char_mode);
}
}
}