//Initialize all the timers
void InitTimers(void)
{
init_timer1();
init_timer2();
init_timer3();
init_timer4();
init_timer5();
}
void InitApp(void)
{
/* Setup analog functionality and port direction */
//IO configuration (pull-up CN interrupts enable
// IEC1bits.CNIE=1;
// IPC4bits.CNIP=1;
/* Initialize peripherals */
init_peripheral_pin_select();
uart1_Initialize(19200);
init_timer2();
init_timer3();
init_SPI1();
init_SPI2();
}
void comm_init(unsigned char seed, unsigned char ID)
{
int i;
e_init_randb(I2C); // IR ring in I2C mode
e_randb_set_range(0); // Transmit IR with full power (0xff is min power)
e_randb_store_light_conditions(); // Calibrate background IR levels
/* Pre-compute random values for communication backoff */
srand(seed + TMR1);
for (i = 0; i < RANDOM_BACKOFF_SIZE; i++)
random_backoff[i] = rand() % MAX_SEND_TIMER_BACKOFF;
tx_buffer.bits.ID = ID;
init_timer3(); // Start broadcasting the contents of tx_buffer
e_start_agendas_processing();
}
int main()
{
stm32_NvicSetup ();
Setup_Pll_As_Clock_System();
init_portA();
init_portB();
init_portC();
init_timer2();
init_timer4();
init_timer1();
Setup_Adc();
Adc_On();
init_timer3();
// STM32 setup
//GPIOA->ODR |=0x0020;
Recule_train_Arriere();
while(1)
{
}
}
int main(void)
{
//lprintf("%d", 4);
init_ADC();
init_timer3();
init_timer();
init_USART(calcUBRR(BAUD));
char * str = "Degrees\tIR Distance (cm)\tSonar Distance (cm)\n\n\r";
move_servo(0);
char degrees = 0;
while(1)
{
//send_pulse();
Transmit_String(str);
sprintf(str, "%d\t%d\t%d\n\r", degrees, ir_distance(), time2dist(ping_read()));
move_servo(degrees);
degrees += 2;
if(degrees > 180)
break;
}
}
int main(void)
{
/****************INITIALIZATIONS*******************/
//other stuff Im experimenting with for SoR
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 9600); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it
uartSetBaudRate(2, 57600); // set UARTH speed
uartSetBaudRate(3, 57600); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
// initialize rprintf system and configure uart1 (USB) for rprintf
rprintfInit(uart1SendByte);
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
rprintf("\r\nSystem Warming Up");
// initialize the timer system (comment out ones you don't want)
init_timer0(TIMER_CLK_1024);
init_timer1(TIMER_CLK_64);
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_1024);
//timer5Init();
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
int i = 0, j = 0;
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
while(1)
{
control();
delay_cycles(100);
//an optional small delay to prevent crazy oscillations
}
return 0;
}
void prvSetupHardware(){
int i, j;
//add 1.7s delay for potential power issues
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 38400); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it doesn't work
uartSetBaudRate(2, 38400); // set UARTH speed
uartSetBaudRate(3, 38400); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
rprintfInit(uart1SendByte);// initialize rprintf system and configure uart1 (USB) for rprintf
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
//rprintf("\r\nSystem Warmed Up");
// initialize the timer system
init_timer0(TIMER_CLK_1024);
// init_timer1(TIMER_CLK_64); // Timer 1 is initialized by FreeRTOS
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_64);
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
//reset all timers to zero
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
/********PWM Setup***********/
prvPWMSetup();
}
