int main ()
{
char uartReceiverBuffer[RECEIVER_SIZE];
Servo_Init(10000);
Servo_Callib();
UART_InitWithInt(9600);
while(1)
{
if(eReciever_GetStatus()==READY)
{
Reciever_GetStringCopy(uartReceiverBuffer);
if (eCompareString("callib", uartReceiverBuffer)==EQUAL)
{
Servo_Callib();
}
else if (eCompareString("left", uartReceiverBuffer)==EQUAL)
{
Servo_GoTo(50);
}
else if (eCompareString("right", uartReceiverBuffer)==EQUAL)
{
Servo_GoTo(150);
}
}
}
}
/*
-------------------------------------------------------------------------
* 函数名称：
* 函数功能：
* 输入形参：
* 返回值：
---------------------------------------------------------------------------
*/
void Board_Init(void)
{
u8 i;
//系统时钟配置
SystemInit();
//延时函数初始化
delay_init(72);
//定时器1初始化
TIM1_config();
//舵机初始化
Motor_Init();
Servo_Init();
//串口配置
USART_Config();
//串口中断配置
NVIC_Config();
//LED初始化
LED_Init();
//按键初始化
KEY_Init();
//等待电调中间值确定
for(i=0;i<3;i++)
{
delay_ms(1000);
}
}
int main ()
{
char uartReceiverBuffer[RECEIVER_SIZE];
Servo_Init(10000);
Servo_Callib();
UART_InitWithInt(9600);
while(1)
{
if(eReciever_GetStatus()==READY)
{
Reciever_GetStringCopy(uartReceiverBuffer);
DecodeMsg(uartReceiverBuffer);
if(ucTokenNr!=0&&asToken[0].eType==KEYWORD) // pacze czy slowo klucz
{
switch(asToken[0].uValue.eKeyword)
{
case CALLIB:
Servo_Callib();
break;
case GOTO:
if(asToken[1].eType==NUMBER&&asToken[1].uValue.uiNumber<200)Servo_GoTo(asToken[1].uValue.uiNumber); // tu czy po goto byla liczba oraz czy wartosc mniejsza od 200
break;
default:
break;
}
}
}
}
}
/**
Lock or unlock the I/O lines used by the servos.
Sets whether the specified Servo I/O is active.
@param index An integer specifying which servo (0 - 3).
@param state An integer specifying the active state - 1 (active) or 0 (inactive).
@return Zero on success.
\b Example
\code
// enable servo 2
Servo_SetActive(2, 1);
\endcode
*/
int Servo_SetActive( int index, int state )
{
if ( index < 0 || index >= SERVO_COUNT )
return CONTROLLER_ERROR_ILLEGAL_INDEX;
if ( state )
{
if( Servo == NULL )
{
int retVal = Servo_Init( );
if( retVal != CONTROLLER_OK )
return retVal;
}
return Servo_Start( index );
}
else
{
if( Servo == NULL )
return -1;
int retVal = Servo_Stop( index );
if( retVal != CONTROLLER_OK )
return retVal;
if( --Servo->users <= 0 )
retVal = Servo_Deinit( );
return retVal;
}
}
void Init()
{
ReadConfigFromEEPROM();
//LEDs
DDRC |= (1<<PC3); //Red LED
DDRB |= (1<<PB5); //Green LED
//check for service mode
CheckServiceMode();
#ifndef NO_BINDING
Bind_RX_Init();
#endif
Red_LED_ON;
Timer0_Init();
USART_Init();
RF22B_Init();
Servo_Init();
to_rx_mode();
sei();
}
void Init()
{
ReadConfigFromEEPROM();
//LEDs
DDRC |= (1<<PC3); //Red LED
DDRB |= (1<<PB5); //Green LED
//check for service mode
CheckServiceMode();
#ifndef NO_BINDING
//check BIND button state
DDRD &= ~(1<<PD3);
PORTD |= (1<<PD3);
_delay_ms(1);
if (bit_is_clear(PIND,PD3))
{
_delay_ms(1000);
if (bit_is_clear(PIND,PD3)) bind = 1;
} else bind = 0;
if (bind)
{
RF_Header[0] = 'B';
RF_Header[1] = 'I';
RF_Header[2] = 'N';
RF_Header[3] = 'D';
} else {
RF_Header[0] = SETTINGS.RF_HEADER[0];
RF_Header[1] = SETTINGS.RF_HEADER[1];
RF_Header[2] = SETTINGS.RF_HEADER[2];
RF_Header[3] = SETTINGS.RF_HEADER[3];
}
#endif
Red_LED_ON;
Timer0_Init();
USART_Init();
RF22B_Init();
Servo_Init();
to_rx_mode();
sei();
}
/*
-------------------------------------------------------------------------
* 函数名称：void Board_Init(void)
* 函数功能：调用底层硬件初始化函数，供main()函数调用
* 输入形参：无
* 返回值：无
---------------------------------------------------------------------------
*/
void Board_Init(void)
{
u8 i;
SystemInit(); //系统时钟配置
delay_init(72); //延时函数初始化
TIM1_config();
TIM4_Mode_Config();
Motor_Init(); //舵机初始化
Servo_Init();
USART_Config(); //串口配置
LED_Init(); //按键初始化
KEY_Init();
for(i=0;i<3;i++) //等待电调中间值确定
{
delay_ms(1000);
}
OV7670_Init(); //最后进行摄像头初始化
}
/*
-------------------------------------------------------------------------
* 函数名称：
* 函数功能：
* 输入形参：
* 返回值：
---------------------------------------------------------------------------
*/
void Board_Init(void)
{
//系统时钟配置
SystemInit();
//延时函数初始化
delay_init(72);
//定时器1初始化
TIM1_config();
//舵机初始化
Servo_Init();
//串口配置
USART_Config();
//串口中断配置
NVIC_Config();
//LED初始化
LED_Init();
//按键初始化
KEY_Init();
}
boolean Plugin_027(byte function, struct NodoEventStruct *event, char *string)
{
boolean success=false;
#ifdef PLUGIN_027_CORE
switch(function)
{
case PLUGIN_COMMAND:
{
if (!Servo_attached(event->Par1-1))
{
Servo_Init(event->Par1-1);
Servo_attach(event->Par1-1,PIN_WIRED_OUT_1 + event->Par1-1);
}
Servo_write(event->Par1-1,event->Par2);
success=true;
break;
}
#endif // CORE
#if NODO_MEGA // alleen relevant voor een Nodo Mega want de Small heeft geen MMI!
case PLUGIN_MMI_IN:
{
char *TempStr=(char*)malloc(INPUT_COMMAND_SIZE);
if(GetArgv(string,TempStr,1))
{
if(strcasecmp(TempStr,PLUGIN_NAME_027)==0)
{
if(GetArgv(string,TempStr,2))
{
if(GetArgv(string,TempStr,3))
{
if(event->Par1>0 && event->Par1<5 && event->Par2>=0 && event->Par2<=180)
{
event->Type = NODO_TYPE_PLUGIN_COMMAND;
event->Command = 27; // Plugin nummer
success=true;
}
}
}
}
}
free(TempStr);
break;
}
case PLUGIN_MMI_OUT:
{
strcpy(string,PLUGIN_NAME_027);
strcat(string," ");
strcat(string,int2str(event->Par1));
strcat(string,",");
strcat(string,int2str(event->Par2));
break;
}
#endif //MMI
}
return success;
}
/******************************************************************************
*
* Test program
*
*****************************************************************************/
int
main(void)
{
int ret;
int servo; // lame TI compiler cant handle loop var declaration
FPUStackingDisable();
/* Initialize the clock to run at 40 MHz
*/
SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
gSysClock = SysCtlClockGet();
/* Initialize the UART.
*/
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
#ifdef STELLARISWARE
UARTStdioInit(0);
#else
UARTStdioConfig(0, 115200, gSysClock);
#endif
UARTprintf("\n\nServoBoard-Test\n---------------\n");
/* Initialize the GPIO port for the RGB LED
*/
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, RGB_PINS);
GPIOPinWrite(GPIO_PORTF_BASE, RGB_PINS, 0);
/* Initialize the battery monitor
* Use zeroes for parameter so default calibration will be used
*/
Servo_BatteryInit(0, 0);
/* Initialize servos for 20 msec
*/
ret = Servo_Init(gSysClock, 20000);
if(ret)
{
UARTprintf("error calling ServoInit\n");
return 0;
}
/* Enter loop to initialize all the servos in the system
*/
for(servo = 0; servo < NUM_SERVOS; servo++)
{
/* Associate each servo ID with a hardware timer (and A or B half)
*/
hServo[servo] = Servo_Config(servoInfo[servo].timer, servoInfo[servo].half);
if(hServo[servo] == 0)
{
UARTprintf("error config servo %d\n", servo);
return 0;
}
/* Delay a bit before initting the next servo. This is done to
* spread out the servo pulses so they do not all happen at the
* same time and load down the power supply.
* The delay value was determined experimentally. If the
* system clock frequency is changed then the delay value needs to
* be changed
*/
SysCtlDelay(22000);
}
/* Set each servo position to 0 to start, with 100 ms delay
*/
for(servo = 0; servo < NUM_SERVOS; servo++)
{
/* Set the servo motion rate */
Servo_SetMotionParameters(hServo[servo], 200);
Servo_SetPosition(hServo[servo], 0);
SysCtlDelay((gSysClock / 10) / 3);
}
// MoveAll(0xFFF, 0);
/* In this loop we just move all the servos between +45 and
* -45 deg (uncalibrated). There is a 100 ms delay between each
* servo, so that if observed with a scope each servo does not have
* the exact same timing.
*/
while(1)
{
/* Move all servos to -45 deg, with 100 ms between each servo
*/
for(servo = 0; servo < NUM_SERVOS; servo++)
{
UpdateRGB();
MoveOne(servo, -450);
DelayMs(100);
}
/* Now move all servos to +45 deg, with 100 ms delay
*/
for(servo = 0; servo < NUM_SERVOS; servo++)
{
UpdateRGB();
MoveOne(servo, 450);
DelayMs(100);
}
/* Read the battery voltage and print to the terminal
*/
uint32_t bat = Servo_ReadBatteryMv();
UARTprintf("%u.%02u V\n", bat / 1000, (bat % 1000) / 10);
}
#ifndef ccs // prevent warning from TI ccs compiler
return(0);
#endif
}
