void main(void) {
Sys_Init(); //All init function
putchar(' ');
XBR0_Init();
ADC_Init();
Port_Init();
PCA_Init();
SMB_Init(); //end the init function
lcd_clear();
lcd_print("initializing\r\n");
PCA0CP2 = 0xFFFF - MOTOR_NEUT;
PCA0CPL0 = 0xFFFF - PW_CENTER;
PCA0CPH0 = (0xFFFF - PW_CENTER) >> 8;
while (n_Counts < 50); //pause for a second?
start_run();
while (1) {
while(SS){ // if the slideswitch is off
slide_switch_off();
}///end slide switch off
while(!SS) //while the slideswitch is on
{
Heading();
Ranger();
LCD_Print(); //print all values on the lcd
printf("\n\r Range:%d Compass:%d PW:%d", range, heading, PW); //print these on the secure crt for data aquisition
}
} //end of the infinite while loop
}//end of the main function
void main(void) {
Sys_Init(); //All init function
putchar(' ');
XBR0_Init();
ADC_Init();
Port_Init();
PCA_Init();
SMB_Init(); //end the init function
lcd_clear();
lcd_print("initializing\r\n");
printf("\n\n\n\rinitalizing");
PCA0CP2 = 0xFFFF - MOTOR_NEUT;//set all to neutural
PCA0CPL0 = 0xFFFF - PW_CENTER;
PCA0CPH0 = (0xFFFF - PW_CENTER) >> 8;
pause(); //pause for a second?
start_run();
while (1) {
while(SS){ // if the slideswitch is off
slide_switch_off();
}///end slide switch off
while(!SS){ //while the slideswitch is on
Heading();
Ranger();
LCD_Print(); //print all values on the lcd
printf("\n\rRange:%d Compass:%d dh: %d, mPW: %d, sPW %d, batt:%d, obst: %d", range, heading, desired_heading, MOTOR_PW_AND_STEER_PW, STEER_PW, battery, near_obstical); //print these on the secure crt for data aquisition
//printf("\n\r Range:%d Compass:%d dh: %d, mPW: %d, sPW %d, obst: %d", range, heading, desired_heading, MOTOR_PW_AND_STEER_PW, STEER_PW, near_obstical); //print these on the secure crt for data aquisition
}//end slide switch on
} //end of the infinite while loop
}//end of the main function
/*******************************************************************************
* @fn userAppInit
*
* @brief user Application init
*
* @param void
*
* @return none
*/
void userAppInit(void)
{
OLED_Init();
// 电池状态读初始化I2C
SMB_Init();
// 串口初始化
bspUartInit();
// 按键初始化要等系统稳定后，防止外部中断引起系统死机
KEY_Init();
//电池状态检测初始化
chargeDetection_Init();
//OLED_ShowString(40,32, "WiCore");
OLED_Clear();
// Create one-shot clocks for internal periodic events.
Util_constructClock(&periodicClock_10ms, userApp_clockHandler,
10, 0, false, USER_10MS_EVT);
#ifndef INCLUDE_CLKSTOP
systemState.powerOffFlag = 1;
Util_startClock(&periodicClock_10ms);
#else
Util_stopClock(&periodicClock_10ms);
#endif
}
//********************************************************************
// Main Functions
//********************************************************************
void main(void) { //Main function
Sys_Init(); // initialize board
putchar(' '); //the quotes in this line may not format correctly
Port_Init();//Init ports
XBR0_Init();//init xbro
PCA_Init();//init pca
SMB_Init();//init smb
printf("\r\n\n\n\nEmbedded Control Electric Compass and Ranger\n"); //print beginning message
Calibration();//Run calibration
comp_cal(); //Compass calibration
Choose_heading(); //Heading choice
printf("\r\nheading error");
while(1) { //inf loop, 40 ms it returns the heading
if (new_heading){ //enough overflows for a new heading COMPASS STUFF
new_heading = 0;//Clear new_heading
heading = ReadCompass(); //get compass heading
Steering_Servo(); //run steer func
}//end if new heading
if (new_range) { //if 80 ms has passed
new_range=0;//Clear new_range
range=ReadRanger();//read ranger
start_ping();//start ping
counts++;//set up text function
Drive_Motor(); //run drive func
}//end if new_range
if (counts == 3){ //prevoudly output prined every 200 ms, now every 180 ms
print_output();//Print data function. Delete this if faster output is desired
}//end if counts
}//end inf while
}//end main
void main(void)
{
Sys_Init();
putchar(' ');
XBR0_Init();
SMB_Init();
PCA_Init();
Drive_Init();
Port_Init();
ADC_Init();
ranger_pd_init();
//fan angle initialization code goes here
while(1)
{
voltage_update();
if(SS)
{
Range_Update(); //update the range
Drive_Motor(ranger_pd());
}
else
Drive_Motor(PW_NEUT); //if ss is not flipped, put it in neutral
}
}
void Notify_AP_MHL_TX_Event(unsigned int event, unsigned int event_param, void *param)
{
if(event != MHL_TX_EVENT_SMB_DATA)
HDMI_LOG("%s, event_param: %d\n", MHL_TX_Event_Print(event), event_param);
switch(event)
{
case MHL_TX_EVENT_CONNECTION:
break;
case MHL_TX_EVENT_DISCONNECTION:
{
sii_mhl_connected = MHL_TX_EVENT_DISCONNECTION;
hdmi_state_callback(HDMI_STATE_NO_DEVICE);
reset_av_info();
SMB_Denit();
MHL_Connect_type = MHL_CABLE;
}
break;
case MHL_TX_EVENT_HPD_CLEAR:
{
sii_mhl_connected= MHL_TX_EVENT_DISCONNECTION;
hdmi_state_callback(HDMI_STATE_NO_DEVICE);
}
break;
case MHL_TX_EVENT_HPD_GOT:
break;
case MHL_TX_EVENT_DEV_CAP_UPDATE:
{
MHL_Connect_type = MHL_SMB_CABLE;
}
break;
case MHL_TX_EVENT_EDID_UPDATE:
{
update_av_info_edid(true, event_param, 0);
}
break;
case MHL_TX_EVENT_EDID_DONE:
{
#ifdef HDCP_ENABLE
HDCP_Supported_Info = true;
#endif
sii_mhl_connected = MHL_TX_EVENT_CALLBACK;
hdmi_state_callback(HDMI_STATE_ACTIVE);
SMB_Init();
SMB_HandShake_Init();
}
break;
case MHL_TX_EVENT_SMB_DATA:
{
//SMARTBOOK: get write burst command
SMB_Write_Data((uint8_t *)param);
}
break;
default:
return ;
}
return ;
}
void main(void) {
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
PCA_Init();
SMB_Init();
Interrupt_Init();
printf("Starting\n\r");
//print beginning message
printf("Embedded Control Drive Motor Control\r\n");
// Initialize motor in neutral and wait for 1 second
MOTOR_PW = PW_NEUT;
motorPW = 0xFFFF-MOTOR_PW;
PCA0CPL2 = motorPW;
PCA0CPH2 = motorPW>>8;
printf("Pulse Width = %d\r\n",MOTOR_PW);
c = 0;
while (c < 50); //wait 1 second in neutral
printf("end wait \r\n");
//Main Functionality
while (1) {
if (!SS1) { // If the slide switch is active, set PW to center
PW = PWCENTER;
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
while (!SS1); // Wait...
} else if (take_heading) { // Otherwise take a new heading
reading = Read_Compass(); // Get current heading
printf("%d\n\r", reading);
Steering_Servo(reading); // Change PW based on current heading
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
}
if (getRange) {
getRange = 0; // Reset 80 ms flag
range_val = read_ranger(); // Read the distance from the ranger
printf("Range: %d cm \r\n", range_val);
printf("Pulse Width: %d \r\n", MOTOR_PW);
// Start a new ping
Data[0] = 0x51; // write 0x51 to reg 0 of the ranger:
i2c_write_data(addr, 0, Data, 1); // write one byte of data to reg 0 at addr
}
if (SS0) Drive_Motor(range_val);
else Drive_Motor(45); // Hold the motor in neutral if the slide switch is off
}
}
int
Valid_User(char *USERNAME, char *PASSWORD, char *SERVER, char *BACKUP, char *DOMAIN)
{
int pass_is_precrypted_p = 0;
char *SMB_Prots[] =
{
/* "PC NETWORK PROGRAM 1.0", */
/* "MICROSOFT NETWORKS 1.03", */
/* "MICROSOFT NETWORKS 3.0", */
"LANMAN1.0",
"LM1.2X002",
"Samba",
/* "NT LM 0.12", */
/* "NT LANMAN 1.0", */
NULL};
SMB_Handle_Type con;
SMB_Init();
con = SMB_Connect_Server(NULL, SERVER, DOMAIN);
if (con == NULL) { /* Error ... */
con = SMB_Connect_Server(NULL, BACKUP, DOMAIN);
if (con == NULL) {
return (NTV_SERVER_ERROR);
}
}
if (SMB_Negotiate(con, SMB_Prots) < 0) { /* An error */
SMB_Discon(con, 0);
return (NTV_PROTOCOL_ERROR);
}
/* Test for a server in share level mode do not authenticate against it */
if (con->Security == 0) {
SMB_Discon(con, 0);
return (NTV_PROTOCOL_ERROR);
}
if (SMB_Logon_Server(con, USERNAME, PASSWORD, DOMAIN, pass_is_precrypted_p) < 0) {
SMB_Discon(con, 0);
return (NTV_LOGON_ERROR);
}
SMB_Discon(con, 0);
return (NTV_NO_ERROR);
}
/*******************************************************************************
* Function Name : SystemInit
* Description : 系统初始化.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
extern void SystemInit2(void)
{
prvSetupHardware();
GPIO_Configuration();
NVIC_Configuration();
//SysTick_Config(MsTimeTick);
USART1_Init();
MainQInit();
#if defined (INCLUDE_BUZZER)
BuzzerInit();
BuzzerBeep(4);
#endif
#ifdef INCLUDE_OLED12832
OLED_Init();
#else
SMB_Init();
#endif
#ifdef INCLUDE_IWDG
IWDGInit();
#endif
}
void *
NTLM_Connect(char *SERVER, char *BACKUP, char *DOMAIN, char *nonce)
{
char *SMB_Prots[] =
{
/* "PC NETWORK PROGRAM 1.0", */
/* "MICROSOFT NETWORKS 1.03", */
/* "MICROSOFT NETWORKS 3.0", */
"LANMAN1.0",
"LM1.2X002",
"Samba",
/* "NT LM 0.12", */
/* "NT LANMAN 1.0", */
NULL};
SMB_Handle_Type con;
SMB_Init();
con = SMB_Connect_Server(NULL, SERVER, DOMAIN);
if (con == NULL) { /* Error ... */
con = SMB_Connect_Server(NULL, BACKUP, DOMAIN);
if (con == NULL) {
return (NULL);
}
}
if (SMB_Negotiate(con, SMB_Prots) < 0) { /* An error */
SMB_Discon(con, 0);
return (NULL);
}
/* Test for a server in share level mode do not authenticate against it */
if (con->Security == 0) {
SMB_Discon(con, 0);
return (NULL);
}
memcpy(nonce, con->Encrypt_Key, 8);
return (con);
}
main(int argc, char *argv[])
{
void *con, *tree;
extern char *optarg;
extern int optind;
int opt, error, SMB_Error, err_class, err_code, pwlen, tries = 0;
char server[80], service[80], service_name[160], password[80], username[80];
char old_password[80], err_string[1024];
server[0] = 0;
strncpy(service, "IPC$", sizeof(service) - 1);
service_name[0] = 0;
username[0] = 0;
password[0] = 0;
old_password[0] = 0;
while ((opt = getopt(argc, argv, "s:u:l:v")) != EOF) {
switch (opt) {
case 's':
strcpy(service, optarg);
break;
case 'u': /* Pick up the user name */
strncpy(username, optarg, sizeof(username) - 1);
break;
case 'l': /* pick up password len */
pwlen = atoi(optarg);
break;
case 'v': /* Verbose? */
verbose = TRUE;
break;
default:
usage();
exit(1);
break;
}
}
if (optind < argc) { /* Some more parameters, assume is the server */
strncpy(server, argv[optind], sizeof(server) - 1);
optind++;
} else {
strcpy(server, "nemesis");
}
if (verbose == TRUE) { /* Print out all we know */
fprintf(stderr, "Finding password for User: %s, on server: %s\n",
username, server);
fprintf(stderr, "with a pwlen = %i\n", pwlen);
}
SMB_Init(); /* Initialize things ... */
/* We connect to the server and negotiate */
con = SMB_Connect_Server(NULL, server);
if (con == NULL) { /* Error processing */
fprintf(stderr, "Unable to connect to server %s ...\n", server);
if (SMB_Get_Last_Error() == SMBlibE_Remote) {
SMB_Error = SMB_Get_Last_SMB_Err();
SMB_Get_SMB_Error_Msg(SMBlib_Error_Class(SMB_Error),
SMBlib_Error_Code(SMB_Error),
err_string,
sizeof(err_string) - 1);
} else {
SMB_Get_Error_Msg(SMB_Get_Last_Error(), err_string, sizeof(err_string) - 1);
}
printf(" %s\n", err_string);
exit(1);
}
/* We need to negotiate a protocol better than PC NetWork Program */
if (SMB_Negotiate(con, SMB_Prots) < 0) {
fprintf(stderr, "Unable to negotiate a protocol with server %s ...\n",
server);
if (SMB_Get_Last_Error() == SMBlibE_Remote) {
SMB_Error = SMB_Get_Last_SMB_Err();
SMB_Get_SMB_Error_Msg(SMBlib_Error_Class(SMB_Error),
SMBlib_Error_Code(SMB_Error),
err_string,
sizeof(err_string) - 1);
} else {
SMB_Get_Error_Msg(SMB_Get_Last_Error(), err_string, sizeof(err_string) - 1);
}
printf(" %s\n", err_string);
exit(1);
}
sprintf(service_name, "\\\\%s\\%s", server, service); /* Could blow up */
/* Now loop through all password possibilities ... */
memset(password, 0, sizeof(password));
while (next_password(password, pwlen) == TRUE) {
if ((tree = SMB_Logon_And_TCon(con,
NULL,
username,
password,
service_name, "?????")) == NULL) {
if (verbose == TRUE) { /* Lets hear about the error */
fprintf(stderr, "Unable to logon and tree connect to server %s ...\n",
server);
fprintf(stderr, "With username: %s, and password: %s\n",
username, print_password(password));
if (SMB_Get_Last_Error() == SMBlibE_Remote) {
SMB_Error = SMB_Get_Last_SMB_Err();
SMB_Get_SMB_Error_Msg(SMBlib_Error_Class(SMB_Error),
SMBlib_Error_Code(SMB_Error),
err_string,
sizeof(err_string) - 1);
} else {
SMB_Get_Error_Msg(SMB_Get_Last_Error(), err_string, sizeof(err_string) - 1);
}
printf(" %s\n", err_string);
}
} else { /* Password match */
fprintf(stderr, "Logged in with password:%s\n",
print_password(password));
/* Exit now ... */
exit(0);
}
}
fprintf(stderr, "Passwords exhausted.");
}
//-----------------------------------------------------------------------------
// Main Function
//-----------------------------------------------------------------------------
void main(void)
{
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
XBR0_Init();
PCA_Init();
ADC_Init();
SMB_Init();
//drive motor config
printf("\rBegin Speed Controller Initialization\n");
PCA0CPL2 = 0xFFFF - PW_SC;
PCA0CPH2 = (0xFFFF - PW_SC) >> 8;
counts = 0;
while(counts < 100); //wait 1 second
printf("\rSC init finished\n");
//start_ping();
// set the PCA output to a neutral setting
PW_SS = PW_CENTER_SS;
PCA0CPL0 = 0xFFFF - PW_SS;
PCA0CPH0 = (0xFFFF - PW_SS)>>8;
/*
//print beginning message
printf("Embedded Control Steering Calibration\n");
printf ("\n\rr or l for direction, space for center, then right, then left\n\r");
while (flag < 3)
{
Steering_Config();
}
*/
//select heading/gain
desired_heading = pick_heading();
gain_SS = pick_gain();
while(1)
{
//steering servo
//ultrasonic ranger
if(!SS1){ //switch is on
Steering_Servo();
Ultrasonic_Ranger();
run_stop = 1;
}
else if(run_stop) {
PW_SC = PW_NEUTRAL_SC; //drive motor stop
PCA0CPL2 = 0xFFFF - PW_SC;
PCA0CPH2 = (0xFFFF - PW_SC) >> 8;
desired_heading = pick_heading();
gain_SS = pick_gain();
run_stop = 0;
}
if(new_display)
{
new_display = 0;
Print_LCD();
}
}
}
//-----------------------------------------------------------------------------
// Main Function
//-----------------------------------------------------------------------------
void main(void)
{
desired_range = 150;
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
PCA_Init();
ADC_Init();
Interrupt_Init();
Port_Init();
XBR0_Init();
SMB_Init();
putchar('\r');
//print beginning message
printf("En taro Adun, Executor!\r\n");
// set the PCA output to a neutral setting
steering_neutral();
ranger_neutral();
wait(); /* Let stuff warm up */
// Get the PD constants and target heading from the keypad
compass_kp = read_gain()/10.;
desired_heading = read_heading();
compass_kd = read_gain_high();
ranger_kp = read_gain_thrust()/10.;
ranger_kd = read_gain_thrust_high();
//Write the settings to the record
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
PCA0CPL1 = 0xFFFF - 3200;
PCA0CPH1 = ( 0xFFFF - 3200 ) >> 8 ;
// Start at time 0.
time = 0;
while(1) /* Infinite loop is go */
{
if ( nCounts == 50 )
{
// Update the LCD loop
lcd_clear();
lcd_print( "Batt level: %d\n", get_battery_voltage() );
lcd_print("Heading :%d\n", heading/10);
lcd_print("Alt: %d", range );
if (SS)
lcd_print("PAUSED\n");
else
lcd_print("\n");
lcd_print("# forHead, * forGain");
}
if ( read_keypad() != -1 )
{
// Check the keypad
pause();
if ( getKey() == '#' )
{
// If # was pressed, get a new heading
steering_neutral();
ranger_neutral();
desired_heading = read_heading();
time = 0;
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
}
else if( getKey() == '*' )
{
// If * was pressed, get new gain contants
steering_neutral();
ranger_neutral();
compass_kp = read_gain()/10.;
compass_kd = read_gain_high();
ranger_kp = read_gain_thrust()/10.;
ranger_kd = read_gain_thrust_high();
time = 0;
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
}
}
else
pause();
if(SS) //while the SS is off
{
//printf("The slide switch is OFF \r\n");
steering_neutral();
ranger_neutral();
}
if(!SS) //SS is On
{
//printf("The Slide switch is On \r\n");
if ( new_heading )
printf("%lu,%d,%d\r\n",
time,
compass_old_error,
ranger_old_error );
if (new_heading) //wait for 40ms
{
heading=read_compass();
//printf("The heading result is %d\r\n", heading);
new_heading=0;
Steering_Servo( );
}
if (new_range)
{
ReadRanger( );
Speed_Cont( ); //adjust motor speed
new_range=0; //reset ranger flag
}
}
}
}
void Notify_AP_MHL_TX_Event(unsigned int event, unsigned int event_param, void *param)
{
if(event != MHL_TX_EVENT_SMB_DATA)
MHL_DBG("%s, event_param: %d\n", MHL_TX_Event_Print(event), event_param);
switch(event)
{
case MHL_TX_EVENT_CONNECTION:
break;
case MHL_TX_EVENT_DISCONNECTION:
{
MHL_NOTICE("%s, event_param: %d\n", MHL_TX_Event_Print(event), event_param);
sii_mhl_connected = MHL_TX_EVENT_DISCONNECTION;
hdmi_invoke_cable_callbacks(HDMI_STATE_NO_DEVICE);
reset_av_info();
SMB_Denit();
MHL_Connect_type = MHL_CABLE;
}
break;
case MHL_TX_EVENT_HPD_CLEAR:
{
sii_mhl_connected= MHL_TX_EVENT_DISCONNECTION;
hdmi_invoke_cable_callbacks(HDMI_STATE_NO_DEVICE);
}
break;
case MHL_TX_EVENT_HPD_GOT:
break;
case MHL_TX_EVENT_DEV_CAP_UPDATE:
{
#ifdef CONFIG_MTK_HDMI_3D_SUPPORT
if(event_param == 0xBA)
MHL_Connect_type = MHL_3D_GLASSES;
else
#endif
MHL_Connect_type = MHL_SMB_CABLE;
}
break;
case MHL_TX_EVENT_EDID_UPDATE:
{
update_av_info_edid(true, event_param, 0);
}
break;
case MHL_TX_EVENT_EDID_DONE:
{
MHL_NOTICE("%s, event_param: %d\n", MHL_TX_Event_Print(event), event_param);
///#ifdef HDCP_ENABLE
if(chip_device_id == 0x8346)
HDCP_Supported_Info = 140; ///HDCP 1.4
///#endif
sii_mhl_connected = MHL_TX_EVENT_CALLBACK;
hdmi_invoke_cable_callbacks(HDMI_STATE_ACTIVE);
SMB_Init();
SMB_HandShake_Init();
}
break;
case MHL_TX_EVENT_SMB_DATA:
{
//SMARTBOOK: get write burst command
SMB_Write_Data((uint8_t *)param);
}
break;
default:
return ;
}
return ;
}
