void accelerometer_config(void)
{
/* Configure analog inputs for accelerometer reading */
analog_config(ANALOG9);
analog_config(ANALOG10);
analog_config(ANALOG4);
}
int bebopr_pre_init( void)
{
int result = -1;
result = analog_config( analog_config_data, NR_ITEMS( analog_config_data));
if (result < 0) {
fprintf( stderr, "analog_config failed!\n");
goto done;
}
result = temp_config( temp_config_data, NR_ITEMS( temp_config_data));
if (result < 0) {
fprintf( stderr, "temp_config failed!\n");
goto done;
}
result = pwm_config( pwm_config_data, NR_ITEMS( pwm_config_data));
if (result < 0) {
fprintf( stderr, "pwm_config failed!\n");
goto done;
}
result = heater_config( heater_config_data, NR_ITEMS( heater_config_data));
if (result < 0) {
fprintf( stderr, "heater_config failed!\n");
goto done;
}
result = get_step_io_config( EEPROM_PATH);
// Only differentiate between Pololu and TB6560, default to Pololu
if (result == TB6560_DRIVERS) {
use_pololu_drivers = 0;
}
fprintf( stderr, "Using stepper driver configuration: '%s'\n", (use_pololu_drivers) ? "Pololu" : "TB6560");
result = 0;
done:
return result;
}
void main(void)
{
slave_id();
port_configure();
//ini();
analog_config();
while(true)
{
analog_read(); // Le posicao corrente
if (buffer_adc>250) // Limite mecanico superior
{
stop_engine();
limit_up=0;
limit_down=1;
}
else if (buffer_adc<10) // Limite mecanico inferior
{
stop_engine();
limit_down=0;
limit_up=1;
}
else if ((buffer_adc==buffer_pos)) // Para motor em posicao
{
stop_engine();
}
else if ((buffer_adc>buffer_pos) && limit_down!=0)
{
move_down();
limit_up=1; //liberta limite cima
}
else if ((buffer_adc<buffer_pos) && limit_up!=0)
{
move_up();
limit_down=1; //liberta limite baixo
}
}
}
int main(void)
{
uint8_t circuit_idx = 0;
volatile uint16_t v_mean, i_mean, v_gain_rms2, i_gain_rms2;
board_init();
sysclk_init();
communication_init();
time_init();
/*
* V_Offset, I_offset, tension y corriente 0
* - esperar sart desde la PC
* - Medir y promediar el canal de tension
* - Medir y promediar el canal de corriente
* - enviar resultados
* V_gian, I_gain, se le pone una tension y corriente conocidas
* - esperar sart desde la PC
* - Medir y promediar el canal de tension
* - Medir y promediar el canal de corriente
* - enviar resultados
*/
for(circuit_idx=0; circuit_idx<N_CIRCUITS; circuit_idx++)
{
getchar_from_pi();
analog_config(&CIRCUITS[circuit_idx]);
v_mean = analog_get_V_sample_calibration();
i_mean = analog_get_I_sample_calibration();
send_to_pi_mean_calibration(v_mean, i_mean);
getchar_from_pi();
v_gain_rms2 = analog_get_V_rms_sample_calibration(v_mean);
i_gain_rms2 = analog_get_I_rms_sample_calibration(i_mean);
send_to_pi_gain_calibration(v_gain_rms2, i_gain_rms2);
}
}
/*
* Setup all sub sys of unicorn
*/
static int unicorn_setup()
{
int ret = 0;
if (bbp_board_type == BOARD_BBP1) {
printf("Board is FastBot BBP 1\n");
ret = analog_config(analog_config_bbp1, NR_ITEMS(analog_config_bbp1));
if (ret < 0) {
printf("analog_config failed\n");
goto out;
}
ret = temp_config(temp_config_data_bbp1, NR_ITEMS(temp_config_data_bbp1));
if (ret < 0) {
printf("temp_config failed\n");
goto out;
}
ret = pwm_config(pwm_config_bbp1, NR_ITEMS(pwm_config_bbp1));
if (ret < 0) {
printf("pwm_config failed\n");
goto out;
}
ret = fan_config(fan_config_bbp1, NR_ITEMS(fan_config_bbp1));
if (ret < 0) {
printf("fan_config failed\n");
goto out;
}
ret = heater_config(heater_config_data_bbp, NR_ITEMS(heater_config_data_bbp));
if (ret < 0) {
printf("heater_config failed\n");
goto out;
}
ret = stepper_config(stepper_config_bbp1, NR_ITEMS(stepper_config_bbp1));
if (ret < 0) {
printf("stepper_config failed\n");
goto out;
}
} else if (bbp_board_type == BOARD_BBP1S) {
printf("Board is FastBot BBP 1s\n");
ret = analog_config(analog_config_bbp1s, NR_ITEMS(analog_config_bbp1s));
if (ret < 0) {
printf("analog_config failed\n");
goto out;
}
ret = temp_config(temp_config_data_bbp1s, NR_ITEMS(temp_config_data_bbp1s));
if (ret < 0) {
printf("temp_config failed\n");
goto out;
}
ret = pwm_config(pwm_config_bbp1s, NR_ITEMS(pwm_config_bbp1s));
if (ret < 0) {
printf("pwm_config failed\n");
goto out;
}
ret = fan_config(fan_config_bbp1s, NR_ITEMS(fan_config_bbp1s));
if (ret < 0) {
printf("fan_config failed\n");
goto out;
}
ret = heater_config(heater_config_data_bbp1s, NR_ITEMS(heater_config_data_bbp1s));
if (ret < 0) {
printf("heater_config failed\n");
goto out;
}
#ifdef SERVO
if (bbp_board_type == BOARD_BBP1S) {
ret = servo_config(servo_config_data, NR_ITEMS(servo_config_data));
if (ret < 0) {
printf("servo_config failed\n");
goto out;
}
}
#endif
ret = stepper_config(stepper_config_bbp1s, NR_ITEMS(stepper_config_bbp1s));
if (ret < 0) {
printf("stepper_config failed\n");
goto out;
}
} else {
printf("Not supported board!\n");
}
out:
return ret;
}