void task2(void) {
for (;;) {
digitalWrite(ONBOARD_LED, LOW);
Serial.println("off");
servoSet(900);
Task_Next();
}
}
/**
* UART 3 - for wifi
*/
void uart3InturruptHandle(void) {
unsigned long ulStatus;
unsigned char ble[15];
ble[14] = '\0';
unsigned long val;
bool msg = false;
//
// Get the interrrupt status.
//
ulStatus = ROM_UARTIntStatus(UART3_BASE, true);
//
// Clear the asserted interrupts.
//
ROM_UARTIntClear(UART3_BASE, ulStatus);
//
// Loop while there are characters in the receive FIFO.
//
while (UARTCharsAvail(UART3_BASE)) {
//
// Read the next character from the UART and write it back to the UART.
//
val = UARTCharGetNonBlocking(UART3_BASE);
ble[i] = val;
if (val == '\n' || val == '\r' || i == 13) {
i = -1;
msg = true;
}
// UARTCharPutNonBlocking(UART3_BASE, val);
i++;
}
if (msg) {
if (strncmp((char*) ble, "gps", 3) == 0) {// && (strncmp((char*) ble, "accl", 4) == 0)
// UARTCharPutNonBlocking(UART3_BASE, 'p');
sendGPSData();
msg = false;
//
} else if (strncmp((char*) ble, "accl", 4) == 0) {
sendAcclData();
msg = false;
} else if (strncmp((char*) ble, "mag", 3) == 0) {
//sendMagnetoData();
sendHeading();
msg = false;
} else if (strncmp((char*) ble, "ser", 3) == 0) {
if (ble[3] == '+') {
servoSet(servo, 1800);
} else if (ble[3] == '-') {
servoSet(servo, 1388);
} else {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, GPIO_PIN_2);
//Delay for 1 millisecond. Each SysCtlDelay is about 3 clocks.
SysCtlDelay(SysCtlClockGet() / (1000 * 3));
//Turn off the LED
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
servoSet(servo, 1500);
}
}
msg = false;
}
}
int main(void) {
// Enable FPU for interrupt routines
// ROM_FPULazyStackingEnable();
// ROM_FPUEnable();
// Set clock to 80MHz
SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
// Turn off LEDs
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2|GPIO_PIN_3, 0);
// Setup buttons
ButtonsInit();
// Initialize the UART.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
// Setup servos and start the timer for them
setupServos();
uint16_t servoPosition = SERVO_MIN_PULSE;
// Continually check which button is pressed and move the servo position that direction
while(1) {
switch(ButtonsPoll(0, 0) & ALL_BUTTONS) {
case LEFT_BUTTON:
servoPosition -= 10;
if(servoPosition < SERVO_MIN_PULSE) {
servoPosition = SERVO_MIN_PULSE;
// Too far, blink red
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_1);
} else {
// Valid position, blink green
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_2);
}
break;
case RIGHT_BUTTON:
servoPosition += 10;
if(servoPosition > SERVO_MAX_PULSE) {
servoPosition = SERVO_MAX_PULSE;
// Too far, blink red
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_1);
} else {
// Valid position, blink blue
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_3);
}
break;
}
// Update servo positions
servoSet(servo, servoPosition);
servoSet(servo2, servoPosition);
// Wait .002s
SysCtlDelay((SysCtlClockGet() / 3) / 500);
// Turn off all LEDs
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, 0);
}
}
void portAIntHandler(void) {
GPIOPinIntClear(GPIO_PORTA_BASE, GPIO_PIN_5);
unsigned char irq = 0;
nRF24L01_IRQ(&irq, recDataBuffer);
if (irq & (1 << RX_DR)) {
delay_ms(1); //IMPORTANT, delay > max retransmission delay
if (strncmp((char*) recDataBuffer, "gps", 3) == 0) { // && (strncmp((char*) ble, "accl", 4) == 0)
//nrf24l01p_send((unsigned char*) "lablala");
// UARTCharPutNonBlocking(UART3_BASE, 'p');
sendGPSData();
//
} else if (strncmp((char*) recDataBuffer, "accl", 4) == 0) {
sendAcclData();
} else if (strncmp((char*) recDataBuffer, "mag", 3) == 0) {
//sendMagnetoData();
sendHeading();
} else if (strncmp((char*) recDataBuffer, "ser", 3) == 0) {
if (recDataBuffer[3] == '+') {
servoSet(servo, 1800);
} else if (recDataBuffer[3] == '-') {
servoSet(servo, 1388);
} else {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, GPIO_PIN_2);
//Delay for 1 millisecond. Each SysCtlDelay is about 3 clocks.
SysCtlDelay(SysCtlClockGet() / (1000 * 3));
//Turn off the LED
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
servoSet(servo, 1500);
}
}
}
//UARTprintf("irq %x", irq);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, GPIO_PIN_3);
SysCtlDelay(SysCtlClockGet() / (1000 * 2));
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, 0);
#ifdef DEBUG
if (irq & (1 << MAX_RT)) {
UARTprintf("Max_RT.\n");
}
if (irq & (1 << TX_DS)) {
//UARTprintf("TX_DS.\n");
}
if (irq & (1 << RX_DR)) {
UARTprintf("RX_DR\n");
}
#endif
}
