main()
{
int i,n,m;
init_IPIC();
ip = (IP_STEPPER*)IPABase;
init_stepper();
init_encoder();
//
ip->AxisCtrl1.Polarity = 0;
ip->AxisCtrl1.Source = 0;
ip->SyncCtrl = 0;
ip->intVector = 0xF0;
//programmer timer MCchip : une it toutes les TICK mili secondes
StoreByte(MCchip_Base + General_Control_R, 0x2); /* MIEN */
StoreByte(MCchip_Base+Timer1_Control_R, 3); /* CEN COC */
StoreLong(MCchip_Base+Timer1_Compare_R, TICK*1000);
StoreByte(MCchip_Base+Timer1_Interrupt_R, 0x11); /* IEN IL=1 */
SetHandler(((IVBR+Timer1_IRQ)*4 + VBR), it_timer );
sti();
//start
ip->Motor1.csr = START_STOP_CMD | START_MOTION | FH1_SPEED | RAMP_UP_SPEED;
while(1) stop();
}
int main(void)
{
int8_t byte_str[4]; // Wird benutzt um hier ein Byte als String abzulegen
// LCD Display intialisieren
lcd_init();
// Startmeldung ausgeben
show_start_message();
// Stepper Initialisieren
init_stepper();
// Motor Initialisieren
init_motor();
// Steursignale BYTE_READY, SYNC und SOE Initialisieren
init_controll_signals();
// Schreibschutz setzen
clear_wps();
// Timer0 --> GCR senden
init_timer0();
// Tasten Initialisieren
init_keys();
// Timer2 --> wird alle 1ms aufgerufen
// z.B. zu Tasten entprellen
init_timer2();
// Meldung ausgeben, das auf SD Karte gewartet wird
lcd_setcursor(0,2);
lcd_string("Wait for SD-Karte...");
// SD Karte initialisieren
// Partition und Filesystem öffnen
// Warten bis alles O.K. ist
while(init_sd_card()){}
lcd_clear();
view_dir_entry(0,&file_entry);
#ifdef DEBUG_MODE
lcd_setcursor(0,4);
lcd_string("T:");
lcd_setcursor(5,4);
lcd_string("M:");
lcd_setcursor(9,4);
lcd_string("K:");
lcd_setcursor(2,4);
sprintf(byte_str,"%d",akt_half_track >> 1);
lcd_string(byte_str);
#endif
// Interrupts erlauben
sei();
while(1)
{
// Auf Steppermotor aktivität prüfen
// und auswerten
if(stepper_signal_r_pos != stepper_signal_w_pos)
{
uint8_t stepper = stepper_signal_puffer[stepper_signal_r_pos++]>>2 | stepper_signal_puffer[stepper_signal_r_pos-1];
switch(stepper)
{
case 0x30: case 0x40: case 0x90: case 0xE0:
// DEC
stepper_dec();
stepper_signal_time = 0;
stepper_signal = 1;
break;
case 0x10: case 0x60: case 0xB0: case 0xC0:
// INC
stepper_inc();
stepper_signal_time = 0;
stepper_signal = 1;
break;
}
#ifdef DEBUG_MODE
lcd_setcursor(2,4);
lcd_string(" ");
lcd_setcursor(2,4);
sprintf(byte_str,"%d",akt_half_track >> 1);
lcd_string(byte_str);
#endif
}
else if(stepper_signal && (stepper_signal_time >= STEPPER_DELAY_TIME))
int main(void)
{
/* Initialize Interfaces */
if(PINB & (1<<SEL2)){ //SEL2 not installed, modeA
init_StepDir();
//init_pwm();
} else { //SEL2 installed, modeB
init_SPI();
init_UART(12,1); //For 1MHz testing, change to 14.7456Mhz
init_I2C();
}
//init_I2C();
//init_SPI();
//init_UART(95,0); /* Run UART at 9600 baud */
//init_StepDir();
init_stepper();
init_chopper();
sei();
int8_t motor_state = 0;
motor_enable = WAVE;
while(1)
{
if(motor_enable == FULL){
if(desired_step_cnt < 0){ //backwards
if(motor_state == 0) normstep4();
if(motor_state == 2) normstep1();
if(motor_state == 4) normstep2();
if(motor_state == 6) normstep3();
motor_state -= 2;
if(motor_state < 0) motor_state = 6;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 0) normstep2();
if(motor_state == 2) normstep3();
if(motor_state == 4) normstep4();
if(motor_state == 6) normstep1();
motor_state += 2;
if(motor_state > 6) motor_state = 0;
desired_step_cnt--;
}
} else if(motor_enable == HALF){
if(desired_step_cnt < 0){
if(motor_state == 0) halfstep8();
if(motor_state == 1) halfstep1();
if(motor_state == 2) halfstep2();
if(motor_state == 3) halfstep3();
if(motor_state == 4) halfstep4();
if(motor_state == 5) halfstep5();
if(motor_state == 6) halfstep6();
if(motor_state == 7) halfstep7();
motor_state--;
if(motor_state < 0) motor_state = 7;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 0) halfstep2();
if(motor_state == 1) halfstep3();
if(motor_state == 2) halfstep4();
if(motor_state == 3) halfstep5();
if(motor_state == 4) halfstep6();
if(motor_state == 5) halfstep7();
if(motor_state == 6) halfstep8();
if(motor_state == 7) halfstep1();
motor_state++;
if(motor_state > 7) motor_state = 0;
desired_step_cnt--;
}
} else if(motor_enable == WAVE){
if(desired_step_cnt < 0){
if(motor_state == 1) wavestep4();
if(motor_state == 3) wavestep1();
if(motor_state == 5) wavestep2();
if(motor_state == 7) wavestep3();
motor_state -= 2;
if(motor_state < 1) motor_state = 7;
desired_step_cnt++;
} else if(desired_step_cnt > 0){
if(motor_state == 1) wavestep2();
if(motor_state == 3) wavestep3();
if(motor_state == 5) wavestep4();
if(motor_state == 7) wavestep1();
motor_state += 2;
if(motor_state > 7) motor_state = 1;
desired_step_cnt--;
}
}
_delay_ms(100);//Change according to speed input
// normstep1();
// _delay_ms(100);
// normstep2();
// _delay_ms(100);
// normstep3();
// _delay_ms(100);
// normstep4();
// _delay_ms(100);
// halfstep1();
// _delay_ms(100);
// halfstep2();
// _delay_ms(100);
// halfstep3();
// _delay_ms(100);
// halfstep4();
// _delay_ms(100);
// halfstep5();
// _delay_ms(100);
// halfstep6();
// _delay_ms(100);
// halfstep7();
// _delay_ms(100);
// halfstep8();
// _delay_ms(100);
// wavestep1();
// _delay_ms(100);
// wavestep2();
// _delay_ms(100);
// wavestep3();
// _delay_ms(100);
// wavestep4();
// _delay_ms(100);
}
return 0;
}
int main(int argc, char** argv)
{
//close server and RedPitaya if CTRL+C
signal(SIGINT, signal_callback_handler);
//client TCP initialisation
unsigned int MaxClient=5;
sock=0;
init_TCP_server(&sock, PORT, &client_list, MaxClient);
launch_server(&sock, &client_list);
//RedPitaya and settings initialisation
init_RP();
uint32_t buffer_length=0;
float level0=0.80, levelf=1.0;
int delay;
float *buffer_float=NULL;
char *buffer_char=NULL;
set_acquisition(dec);
init_ramp(1, level0, x0, levelf, xf);
init_variable(x0, xf, dec, &buffer_length, &delay);
printf("length = %i\n",(int)buffer_length);
buffer_float=(float *)malloc(((int)buffer_length)*sizeof(float));
buffer_char=(char *)malloc(((int)buffer_length+1)*sizeof(char));
//stepper initialisation
init_stepper(&stepper);
set_mode(&stepper, full_16);
double angle=0.0, speed=3.0;
angle=sector/((double)Nline);
init_position(&stepper, 160.0-sector/2.0);
int i=0;
while(1)
{
for (i=0 ; i<Nline ; i++)
{
move(&stepper, &angle, &speed, sens1);
trigg(delay);
pulse();
on_trigger_acquisition(buffer_float, buffer_length);
send_via_tcp(i+1, buffer_char, buffer_float, buffer_length, &client_list);
pulse();
}
for (i=Nline ; i>0 ; i--)
{
move(&stepper, &angle, &speed, sens2);
trigg(delay);
pulse();
on_trigger_acquisition(buffer_float, buffer_length);
send_via_tcp(i, buffer_char, buffer_float, buffer_length, &client_list);
pulse();
}
}
free(buffer_float);
free(buffer_char);
end_ramp();
disable_stepper(&stepper);
printf("Process done\n");
//close TCP client
close_TCP_client(&sock);
//close RedPitaya
close_RP();
return 0;
}
/******************************************************************
* Main-function
*/
int main(void) {
/**************************************
* Set the clock to run at 80 MHz
*/
SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
/**************************************
* Enable the floating-point-unit
*/
FPUEnable();
// We also want Lazystacking, so enable that too
FPULazyStackingEnable();
// We also want to put numbers close to zero to zero
FPUFlushToZeroModeSet(FPU_FLUSH_TO_ZERO_EN);
/**************************************
* Init variables
*/
uint16_t mapData[MAP_DATA_SIZE];
uint8_t stepDir = 0;
/**************************************
* Init peripherals used
*/
bluetooth_init();
init_stepper(); // Init the GPIOs used for the stepper and loading LED
InitI2C1(); // Init the communication with the lidar-unit through I2C
InitPWM();
setupTimers();
/**************************************
* State 2
*/
// Disable the timers that are used
disableTimer(TIMER1_BASE);
disableTimer(TIMER2_BASE);
// Enable all interrupts
IntMasterEnable();
/**************************************
* State 3
*/
// Indicate we should start with a scan regardless of what other things we have already got
// from UART-interrupt
// This means setting the appropriate bit in the status vector
stat_vec |= TAKE_MEAS;
/**************************************
* State 4
*/
// Contains main-loop where decisions should be made
for ( ; ; ) {
/**********************************
* Decision tree
*/
// Highest priority case first
// Check both interrupts at each iteration in the loop
if ( int_vec & UART_INT ) {
// Reset the indication
int_vec &= ~UART_INT;
// Remove drive-stop flag to enable movement
stat_vec &= ~DRIVE_STOP;
// Init data array
uint8_t dataArr[MAX_UART_MSG_SIZE];
// Collect the message
if ( readUARTMessage(dataArr, MAX_UART_MSG_SIZE) < SUCCESS ) {
// If we have recieved more data than fits in the vector we should simply
// go in here again and grab data
int_vec |= UART_INT;
}
// We have gathered a message
// and now need to determine what the message is
parseMsg(dataArr, MAX_UART_MSG_SIZE);
}
// Checking drive (movement) interrupt
if ( int_vec & TIMER2_INT ) {
int_vec &= ~TIMER2_INT;
// Disable TIMER2
disableTimer(TIMER2_BASE);
// Set drive-stop in status vector
stat_vec |= DRIVE_STOP;
}
// Checking measure interrupt
if ( int_vec & TIMER1_INT ) {
int_vec &= ~TIMER1_INT;
// Disable TIMER1
disableTimer(TIMER1_BASE);
// Take reading from LIDAR
mapData[stepCount++] = readLidar();
SysCtlDelay(2000);
// Take step
// Note: We need to take double meas at randvillkor (100) !!!!!
if ( stepCount > 0 && stepCount < 100 ) {
stepDir = 1;
}
else if ( stepCount >= 100 && stepCount < 200) {
stepDir = 0;
}
else {
stepDir = 1;
stepCount = 0;
// Reset busy-flag
stat_vec &= ~TAKE_MEAS;
}
step = takeStep(step, stepDir);
// Request reading from LIDAR
reqLidarMeas();
if ( stat_vec & TAKE_MEAS ) {
// Restart TIMER1
enableTimer(TIMER1_BASE, (SYSCLOCK / MEASUREMENT_DELAY));
}
else {
sendUARTDataVector(mapData, MAP_DATA_SIZE);
stat_vec &= ~BUSY;
}
}
// Check the drive_stop flag, which always should be set unless we should move
if ( stat_vec & DRIVE_STOP ) {
// Stop all movement
SetPWMLevel(0,0);
halt();
// MAKE SURE all drive-flags are not set
stat_vec &= ~(DRIVE_F | DRIVE_L | DRIVE_R | DRIVE_LL | BUSY);
}
// Should we drive?
else if ( stat_vec & DRIVE ) {
// Remove drive flag
stat_vec &= ~DRIVE;
// Increase PWM
increase_PWM(0,MAX_FORWARD_SPEED,0,MAX_FORWARD_SPEED);
if ( stat_vec & DRIVE_F ) {
enableTimer(TIMER2_BASE, DRIVE_FORWARD_TIME);
}
else if ( stat_vec & DRIVE_LL ) {
enableTimer(TIMER2_BASE, DRIVE_TURN_180_TIME);
}
else {
enableTimer(TIMER2_BASE, DRIVE_TURN_TIME);
}
}
if ( !(stat_vec & BUSY) ) {
// Tasks
switch ( stat_vec ) {
case ((uint8_t)DRIVE_F) :
// Call drive function
go_forward();
// Set the drive flag & BUSY
stat_vec |= DRIVE | BUSY;
break;
case ((uint8_t)DRIVE_L) :
// Call drive-left function
go_left();
// Set the drive flag
stat_vec |= DRIVE | BUSY;
break;
case ((uint8_t)DRIVE_R) :
// Call drive-right function
go_right();
// Set the drive flag
stat_vec |= DRIVE | BUSY;
break;
case ((uint8_t)DRIVE_LL) :
// Call turn 180-degrees function
go_back();
// Set the drive flag
stat_vec |= DRIVE | BUSY;
break;
case ((uint8_t)TAKE_MEAS) :
// Request reading from LIDAR
reqLidarMeas();
// Start TIMER1
enableTimer(TIMER1_BASE, (SYSCLOCK / MEASUREMENT_DELAY)); // if sysclock = 1 s, 1/120 = 8.3 ms
// We are busy
stat_vec |= BUSY;
break;
default:
break;
}
}
}
}
