void CMyButton::PreSubclassWindow()
{
// TODO: Add your specialized code here and/or call the base class
CButton::PreSubclassWindow();
ButtonInit();
}
BOOL CMyButton::PreCreateWindow(CREATESTRUCT& cs)
{
// TODO: Add your specialized code here and/or call the base class
BOOL bRect = CButton::PreCreateWindow(cs);
ButtonInit();
return bRect;
}
int main(void)
{
/* Watchdog timer disabled */
WDTCTL = WDTPW + WDTHOLD;
BspInit();
DioInit();
DioSet(BUTTON0);
UartInit(9600, UartCallback);
LedInit();
ButtonInit();
ButtonSetup(0, Button0Cbf, 20);
LedOn(0);
SchedulerInit(100, 1, 2); // 1ms tick, 1 timed task, 2 loop task
SetSchedulerTimedTask(LedRedFlash, 0, 500, 0); // schedule timed_task[0] as led_red_flash, set off every 500ms
SetSchedulerLoopTask(ButtonLoop, 0); // schedule loop_task[0] as button_loop
SetSchedulerLoopTask(UartManage, 1); // schedule loop_task[1] as uart_loop
__eint();
SchedulerRun();
while(1)
{
}
}
/*-----------------------------------------------------------------------------
* main
*/
int main(void) {
uint8_t ret;
int sioHdl;
/* set clock prescaler to 2 (set clock to 7.3928 MHz) */
CLKPR = 1 << CLKPCE;
CLKPR = 1;
/* get module address from EEPROM */
sMyAddr = eeprom_read_byte((const uint8_t *)MODUL_ADDRESS);
GetClientListFromEeprom();
PortInit();
TimerInit();
ButtonInit();
PwmInit();
ApplicationInit();
SioInit();
SioRandSeed(sMyAddr);
/* sio for bus interface */
sioHdl = SioOpen("USART1", eSioBaud9600, eSioDataBits8, eSioParityNo,
eSioStopBits1, eSioModeHalfDuplex);
SioSetIdleFunc(sioHdl, IdleSio1);
SioSetTransceiverPowerDownFunc(sioHdl, BusTransceiverPowerDown);
BusTransceiverPowerDown(true);
BusInit(sioHdl);
spBusMsg = BusMsgBufGet();
/* warten for full operation voltage */
while (!POWER_GOOD);
/* enable ints before RestorePwm() */
ENABLE_INT;
TimerStart();
RestorePwm();
/* ext int for power fail: INT0 low level sensitive */
EICRA &= ~((1 << ISC01) | (1 << ISC00));
EIMSK |= (1 << INT0);
ApplicationStart();
/* Hauptschleife */
while (1) {
Idle();
ret = BusCheck();
ProcessBus(ret);
CheckButton();
PwmCheck();
ApplicationCheck();
CheckEvent();
}
return 0;
}
void CreditsInit()
{
SDL_Color textColor = { 255, 255, 255 };
ImageLoad("../../Resource/matrix.png", &c_background);
TextLoad(&t, "../../Resource/alien.ttf", 30);
TextPos(&t, 20, 250);
TextColor(&t, &textColor);
ButtonInit(&back, "../../Resource/back.png", 700, 500);
}
int ButtonWait(void)
{
int button;
ButtonInit();
button = ButtonGet();
switch (button) {
case '1':
return EXITCODE_OK;
case '2':
return EXITCODE_CANCEL;
case '3':
return EXITCODE_EXTRA;
case ASCII_CAN:
return EXITCODE_TIMEOUT;
}
return EXITCODE_ERROR;
}
// main task to loop
void MainLoop(void *pvParameters) {
ButtonInit();
for(;;) {
if (val&1) {
GPIO_IF_LedOn(MCU_RED_LED_GPIO);
} else {
GPIO_IF_LedOff(MCU_RED_LED_GPIO);
}
if (val &(1<<1)) {
GPIO_IF_LedOn(MCU_ORANGE_LED_GPIO);
} else {
GPIO_IF_LedOff(MCU_ORANGE_LED_GPIO);
}
if (val & (1<<2)) {
GPIO_IF_LedOn(MCU_GREEN_LED_GPIO);
} else {
GPIO_IF_LedOff(MCU_GREEN_LED_GPIO);
}
}
}
int main ( void ) {
printf("Game!\n");
// Init devices
ButtonInit();
LedInit();
Screen screen = ScreenNew(320, 240);
Canvas canvas = CanvasNew( &screen );
// Init game
Controller ctrl = ControllerNew( &canvas );
onGameInit( &ctrl );
// Main loop
static tick_delay = 0;
while(ctrl.running) {
if ( tick_delay++ == 20000 ) {
tick_delay = 0;
onTick( &ctrl );
}
ButtonPoll();
}
onGameExit( &ctrl );
ButtonDestroy();
LedDestroy();
ScreenDestroy( &screen );
return 0;
}
void BoardInitPeriph( void )
{
/*GpioInit( &Sel1, SEL_1, PIN_OUTPUT, PIN_OPEN_DRAIN, PIN_NO_PULL, 0 );
GpioInit( &Sel2, SEL_2, PIN_OUTPUT, PIN_OPEN_DRAIN, PIN_NO_PULL, 0 );
GpioInit( &Sel3, SEL_3, PIN_OUTPUT, PIN_OPEN_DRAIN, PIN_NO_PULL, 0 );
GpioInit( &Sel4, SEL_4, PIN_OUTPUT, PIN_OPEN_DRAIN, PIN_NO_PULL, 0 );*/
/*GpioInit( &Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led2, LED_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led3, LED_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led4, LED_4, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );*/
/*GpioInit( &Btn1, BTN_1, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Btn2, BTN_2, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );*/
// Init temperature, pressure and altitude sensor
//MPL3115Init( );
// Init Leds
LedInit();
// Init Buttons
ButtonInit();
}
CTransButton::CTransButton(CWnd* pParentWnd) : m_nLinkPageID(-1)
{
ASSERT(pParentWnd!=NULL);
m_pParentWnd=pParentWnd;
ButtonInit();
}
void CMyButton::PreSubclassWindow()
{
CButton::PreSubclassWindow();
ButtonInit();
}
BOOL CMyButton::PreCreateWindow(CREATESTRUCT& cs)
{
BOOL bRet=CButton::PreCreateWindow(cs);
ButtonInit();
return bRet;
}
///////////////////////////////////////////////////////////////////////////////
//////////////////////////////// MAIN ///////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
int main(void)
{
IntMasterDisable();
//=====SYSTEM PERIPHERAL INITIALIZATION=====
// Initialize real time clock
mRTCInit(RTC_RATE_HZ);
// Millisecond timekeeping variable
int time;
//Add periodic tasks to be executed by systick
mRTCAddTask(heightSample, HEIGHT_SAMPLE_RATE_HZ);
// Set up display
mDisplayInit(1000000);
mDisplayLine(" Waiting... ", 0, 5, 15);
// Set up buttons
ButtonInit();
// Set up PWM
mPWMInit();
mPWMEnable(PWM4, false); // tail rotor, yaw control.
mPWMEnable(PWM1, false); // main rotor, height control.
//=========CONTROL INITIALIZATION========
//-----altitude PID control------
// Initialize altitude module
heightInit();
// =========PID parameters========================
//Phils
float H_kp = 1;float H_ki = 1.5;float H_kd = -0.5;
short heightPIDOffset = 40;
float Y_kp = 0.6;float Y_ki = 0;float Y_kd = 0;
short YawPIDOffset = 0;//50;
// Windup regulator
float H_windup_limit = 10;
if (H_ki)
H_windup_limit /= H_ki;
// height PID controller
pid_t heightPID;
PIDInit(&heightPID);
PIDSet(&heightPID, H_kp, H_ki, H_kd, H_windup_limit); // set PID constants
// height PID control variables
//35; // PID out offset such that the rotor is at near-takoff speed
short height = 0;
short heightSetpoint = 0; // in degrees
short heightError = 0;
short heightPIDOut = 0;
//-----yaw PID control-------
// Initialise Yaw decoder module
yawInit(); // yaw monitor
float Y_windup_limit = 20; // Maximum integral contribution to PID output value
if (Y_ki)
Y_windup_limit /= Y_ki; // devide by Y_ki to find maximum value in terms of error
// Yaw PID controller
pid_t yawPID;
PIDInit(&yawPID);
PIDSet(&yawPID, Y_kp, Y_ki, Y_kd, Y_windup_limit); // set PID constants
// yaw PID control variables
short yaw = 0;
short yawSetpoint = 0;
short yawError = 0;
short yawPIDOut = 0;
//
// Enable interrupts to the processor.
IntMasterEnable();
short takeOffFlag = false;
while (!takeOffFlag)
{
if (ButtonCheck(SELECT))
//if (GPIOPinRead(GPIO_PORTG_BASE, 0x80))
{
takeOffFlag = true;
}
}
// Reset setpoints to current position
heightSetpoint = heightGet();
yawSetpoint = yawGetAngle();
mPWMEnable(PWM4, true); // tail rotor, yaw control.
mPWMEnable(PWM1, true); // main rotor, height control.
//spin up routine
//spinUp(heightPIDOffset, yawPID);
// Reset clock to zero for effective helicopter launch time
mRTCSet(0);
while (1)
{
//mDisplayClear();
time = mRTCGetMilliSeconds();
// Update Setpoints
updateSetpoints(&yawSetpoint, &heightSetpoint);
// ==================PID Control=================
if ((time % (RTC_RATE_HZ/PID_RATE_HZ)) /*1000/(float)PID_RATE_HZ*/ == 0)
{
//
// ~~~~~~~~~~~~~~~~~ HEIGHT PID ~~~~~~~~~~~~~~~~
height = heightGet();
heightError = heightSetpoint - height;
heightPIDOut = PIDUpdate(&heightPID, heightError, 1.00 / (float)PID_RATE_HZ) + heightPIDOffset;
if (heightPIDOut > 79)
//heightPIDOut = 79;
if (heightPIDOut < 2)
heightPIDOut = 2;
mPWMSet(PWM1, (unsigned short)heightPIDOut);
//
// ~~~~~~~~~~~~~~~~~~ YAW PID ~~~~~~~~~~~~~~~~~~~
yaw = yawGetAngle();
yawError = yaw - yawSetpoint;
yawPIDOut = PIDUpdate(&yawPID, yawError, 1.00 / (float)PID_RATE_HZ) + YawPIDOffset;
if (yawPIDOut > 79)
yawPIDOut = 79;
if (yawPIDOut < 2)
yawPIDOut = 2;
mPWMSet(PWM4, (unsigned short)yawPIDOut);
// ===============================================
}
// RTC_RATE_HZ - PID_RATE_HZ
if (( (time) % 10) == 0)
{
mDisplayLine("time:%.6d mS", time, 0, 7);
mDisplayLine("Yaw = %.4d' ", (int)yaw, 1, 15);
mDisplayLine("YSet = %.4d' ", (int)yawSetpoint, 2, 15);
mDisplayLine("YErr = %.4d' ", (int)yawError, 3, 15);
mDisplayLine("YOut = %.4d' ", (int)yawPIDOut, 4, 15);
mDisplayLine("height = ~%.3d ", (int)height, 5, 15);
mDisplayLine("Hset = %.4d ", (int)heightSetpoint, 6, 15);
mDisplayLine("Herr = %.4d ", (int)heightError, 7, 15);
mDisplayLine("Hout = %.4d ", (int)heightPIDOut, 8, 15);
}
// should put this as part of the main while loop condition
//if (ButtonCheck(SELECT))
//{
// spinDown();
//}
}
}
/********************************************************************
* Function: static void InitializeSystem(void)
* Overview: InitializeSystem is a centralize initialization
* routine. All required USB initialization routines
* are called from here.
*
* User application initialization routine should
* also be called from here.
*******************************************************************/
static void InitializeSystem(void)
{
ADCON1 |= 0x0F; // Default all pins to digital
// initialize
LED1_TRIS = 0; // LED1 output
LED2_TRIS = 0; // LED2 output
IR_TRIS = 1; // IR input
SW_TRIS = 1; // SW input
IRLED_TRIS= 0; // IRLED input
LED1_PORT = 0;
LED2_PORT = 0;
IRLED_PORT= 0;
// timer list
// 48MHz/4=12MHz => 0.08333[us/cycle]
// 0.08333[us/cycle] * 2 = 0.16666us -> max: *65536 = 10.923ms
// 0.08333[us/cycle] * 4 = 0.33333us -> max: *65536 = 21.845ms
// 0.08333[us/cycle] * 8 = 0.66666us -> max: *65536 = 43.69ms
// 0.08333[us/cycle] * 16 = 1.33333us -> max: *65536 = 87.381ms
// 0.08333[us/cycle] * 32 = 2.66666us -> max: *65536 = 174.76ms
// 0.08333[us/cycle] * 64 = 5.33333us -> max: *65536 = 349.5ms
// 0.08333[us/cycle] *128 = 10.66666us -> max: *65536 = 699ms
// 0.08333[us/cycle] *256 = 21.33333us -> max: *65536 = 1398ms
// timer0 max=349.5[ms]
T0CON = TIMER_INT_ON &
T0_16BIT &
T0_SOURCE_INT &
T0_EDGE_RISE & // なんでもいい
T0_PS_1_64;
// timer1 max=43.69[ms]
T1CON = TIMER_INT_ON &
T1_16BIT_RW &
T1_SOURCE_INT &
T1_PS_1_8;
// timer2 max=5.33333[us]*256=1.365[ms] 約1ms
T2CON = T2_POST_1_4 &
T2_PS_1_16;
// configure USART
// For a device with FOSC of 16 MHz, desired baud rate of 9600, Asynchronous mode, 8-bit BRG:
// Desired Baud Rate = FOSC/(64 ([SPBRGH:SPBRG] + 1))
// Solving for SPBRGH:SPBRG:
// X = ((FOSC/Desired Baud Rate)/64) – 1
// = ((16000000/9600)/64) – 1
// = [25.042] = 25
// Calculated Baud Rate = 16000000/(64 (25 + 1))
// = 9615
// Error = (Calculated Baud Rate – Desired Baud Rate)/Desired Baud Rate
// = (9615 - 9600)/9600 = 0.16%
// FOSC == 48 [MHz]
// X = ((48 * 1,000,000 / 9600)/64 -1
// = 77.125
// Calculated Baud Rate = 48 * 1,000,000 / (64 * (77+1)) = 9615.38
// Error = (9615 - 9600) / 9600 = 0.16%
OpenUSART(USART_TX_INT_OFF & // 送信割込みの禁止
USART_RX_INT_ON & // 受信割込みの許可
USART_ASYNCH_MODE & // 非同期（調歩）モード
USART_EIGHT_BIT & // ８ビットモード
USART_CONT_RX & // 連続受信モード
USART_BRGH_LOW, // 低速ボーレート
77); // 9600 bps
RCONbits.IPEN = 0; //割込み優先順位制御：OFF (RCON レジスタのIPENビット = 0)
INTCONbits.GIE = 1; // 全割込み許可
INTCONbits.PEIE = 1; // 周辺機能の割込み有効
// initilize other variables
InitBuffer();
AddBuffer(signalBuffer, sizeof(signalBuffer));
ButtonInit(SW_BIT);
enableReadIR = 1;
}