void Laser::Init() {
// Initialize timers for laser intensity control
#if LASER_CONTROL == 1
#if IS_TIMER_3_PWR
timer3_init(LASER_PWR_PIN);
#elif IS_TIMER_4_PWR
timer4_init(LASER_PWR_PIN);
#endif
#elif LASER_CONTROL == 2
#if IS_TIMER_3_PWM
timer3_init(LASER_PWM_PIN);
#elif IS_TIMER_4_PWM
timer4_init(LASER_PWM_PIN);
#endif
#endif
#if ENABLED(LASER_PERIPHERALS)
OUT_WRITE(LASER_PERIPHERALS_PIN, HIGH); // Laser peripherals are active LOW, so preset the pin
OUT_WRITE(LASER_PERIPHERALS_STATUS_PIN, HIGH); // Set the peripherals status pin to pull-up.
#endif
#if LASER_CONTROL == 2
OUT_WRITE(LASER_PWR_PIN, LASER_UNARM); // Laser FIRING is active LOW, so preset the pin
#endif
// initialize state to some sane defaults
laser.intensity = 100.0;
laser.ppm = 0.0;
laser.duration = 0;
laser.status = LASER_OFF;
laser.firing = LASER_ON;
laser.mode = CONTINUOUS;
laser.last_firing = 0;
laser.diagnostics = false;
laser.time = 0;
#if ENABLED(LASER_RASTER)
laser.raster_aspect_ratio = LASER_RASTER_ASPECT_RATIO;
laser.raster_mm_per_pulse = LASER_RASTER_MM_PER_PULSE;
laser.raster_direction = 1;
#endif // LASER_RASTER
laser.extinguish();
}
/*==================================================================================
* 函 数 名： Set_System
* 参 数： None
* 功能描述: 初始化系统
* 返 回 值： None
* 备 注：
* 作 者： gaodb
* 创建时间： 2012.10
==================================================================================*/
void Set_System(void)
{
rcc_init();
peri_clk_init();
NVIC_Configuration();
pins_init();
systick_init();
timer2_init();
timer4_init();
RAY12_ADC_Init();
LCD_Config();
DispInit();
uart1_init(BAUD_RATE_57600);
uart2_init(BAUD_RATE_57600);
dac1_init();
sys_variable_init();
}
uint8_t module_system_start()
{
s_module_status = MODULE_START;
timer4_init(1000, 1, at_fifo_check);
timer4_start();
return s_module_status;
}
void start_timer4(void)
{
cli(); //Clears the global interrupts
timer4_init();
TIMSK4 = 0x01; //timer4 overflow interrupt enable
sei(); //Enables the global interrupts
}
/*!
initialize all devices. call all other initialization function
*/
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
uart3_init();
timer5_init();
timer4_init();
TCCR4B = 0x00;
TIMSK4 = 0x01; //timer4 overflow interrupt enable
TIMSK3 = 0x01;
sei(); //Enables the global interrupts
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
timer4_init();
adc_init();
timer5_init();
store_init();
uart2_init();
TIMSK4 = 0x01;
sei(); // Enables the global interrupt
}
void PD1_INT_Handler(void)
{
// volatile U32 time, echo_time;
if(trig_num2==0)
{
timer4_init();
trig_num2 ++;
*(RP)(GPIO_PORTD_INTLEL) |= (0x1<<1);//change PA1 to trailing edge下降沿触发
}
else
{
time2 = *(RP)(TIMER_T4CCR);
}
*(RP)(GPIO_PORTD_INTCLR) |= (0x1<<1);//clear PA1 interrupt
}
void laser_init()
{
// Initialize timers for laser intensity control
#if LASER_CONTROL == 1
if (LASER_FIRING_PIN == 2 || LASER_FIRING_PIN == 3 || LASER_FIRING_PIN == 5) timer3_init(LASER_FIRING_PIN);
if (LASER_FIRING_PIN == 6 || LASER_FIRING_PIN == 7 || LASER_FIRING_PIN == 8) timer4_init(LASER_FIRING_PIN);
#endif
#if LASER_CONTROL == 2
if (LASER_INTENSITY_PIN == 2 || LASER_INTENSITY_PIN == 3 || LASER_INTENSITY_PIN == 5) timer3_init(LASER_INTENSITY_PIN);
if (LASER_INTENSITY_PIN == 6 || LASER_INTENSITY_PIN == 7 || LASER_INTENSITY_PIN == 8) timer4_init(LASER_INTENSITY_PIN);
#endif
#ifdef LASER_PERIPHERALS
digitalWrite(LASER_PERIPHERALS_PIN, HIGH); // Laser peripherals are active LOW, so preset the pin
pinMode(LASER_PERIPHERALS_PIN, OUTPUT);
digitalWrite(LASER_PERIPHERALS_STATUS_PIN, HIGH); // Set the peripherals status pin to pull-up.
pinMode(LASER_PERIPHERALS_STATUS_PIN, INPUT);
#endif // LASER_PERIPHERALS
// initialize state to some sane defaults
laser.intensity = 100.0;
laser.ppm = 0.0;
laser.duration = 0;
laser.status = LASER_OFF;
laser.firing = LASER_OFF;
laser.mode = CONTINUOUS;
laser.last_firing = 0;
laser.diagnostics = false;
laser.time = 0;
#ifdef LASER_RASTER
laser.raster_aspect_ratio = LASER_RASTER_ASPECT_RATIO;
laser.raster_mm_per_pulse = LASER_RASTER_MM_PER_PULSE;
laser.raster_direction = 1;
#endif // LASER_RASTER
#ifdef MUVE_Z_PEEL
laser.peel_distance = 2.0;
laser.peel_speed = 2.0;
laser.peel_pause = 0.0;
#endif // MUVE_Z_PEEL
laser_extinguish();
}
void laser_init()
{
#if LASER_CONTROL == 1
timer3_init();
#endif // LASER_CONTROL ==1
#if LASER_CONTROL == 2
timer3_init();
timer4_init();
#endif // LASER_CONTROL == 2
// Engage the pullup resistor for TTL laser controllers which don't turn off entirely without it.
pinMode(LASER_FIRING_PIN, OUTPUT);
#ifdef LASER_PERIPHERALS
digitalWrite(LASER_PERIPHERALS_PIN, HIGH); // Laser peripherals are active LOW, so preset the pin
pinMode(LASER_PERIPHERALS_PIN, OUTPUT);
digitalWrite(LASER_PERIPHERALS_STATUS_PIN, HIGH); // Set the peripherals status pin to pull-up.
pinMode(LASER_PERIPHERALS_STATUS_PIN, INPUT);
#endif // LASER_PERIPHERALS
// initialize state to some sane defaults
laser.intensity = 100.0;
laser.ppm = 0.0;
laser.duration = 0;
laser.status = LASER_OFF;
laser.firing = LASER_OFF;
laser.mode = CONTINUOUS;
laser.last_firing = 0;
laser.diagnostics = false;
laser.time = 0;
#ifdef LASER_RASTER
laser.raster_aspect_ratio = LASER_RASTER_ASPECT_RATIO;
laser.raster_mm_per_pulse = LASER_RASTER_MM_PER_PULSE;
laser.raster_direction = 1;
#endif // LASER_RASTER
#ifdef MUVE_Z_PEEL
laser.peel_distance = 2.0;
laser.peel_speed = 2.0;
laser.peel_pause = 0.0;
#endif // MUVE_Z_PEEL
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// proceso principal del juego que recibe el tablero, y las direcciones en las que indica el jugador la fila y la columna y la se?al de ready que indica que se han actualizado fila y columna
void reversi6(char tablero[][TAM_TABLERO]) // en esta versi?n el usuario lleva negras y el ordenador blancas
{ // no se comprueba que el jugador mueva bien. S?lo que el ordenador realice un movimiento correcto.
int done; // nos indica si se ha conseguido mover
int move = 0; //indica que el jugador ha movido;
tiempo = 0; // inicializa el valor del tiempo transcurrido a 0
display_tiempo(); // mostrar mensaje de tiempo
display_actualizar_tiempo(tiempo); // mostrar el valor del tiempo
display_mensaje_ayuda(); // mostrar mensaje de ayuda
int fin = 0;// fin se pone a 1 si el jugador no ha podido mover (ha introducido un valor de movimiento con alg?n 6) y luego el ordenador tampoco puede.
int blancas = 2, negras = 2; // se usan para contar el n?mero de fichas de cada color.
char f,c; // fila y columna elegidas por el programa para su movimiento
init_table(tablero);
actualizar_lcd(tablero, blancas, negras);
timer4_init(); // comienza el contador de tiempo transcurrido
while (fin == 0) {
move = 0;
esperar_mov();
if (((fila) != TAM_TABLERO) && ((columna) != TAM_TABLERO)) { // si la fila o columna son 8 asumimos que el jugador no puede mover
tablero[fila][columna] = 2;
actualizar_tablero(fila, columna, 2, tablero);
contar(&blancas, &negras, tablero);
actualizar_lcd(tablero, blancas, negras);
actualizar_candidatos(fila, columna);
move = 1;
}
done = elegir_mov(&f, &c, tabla_valor, tablero); //escribe el movimiento en las variables globales fila columna
if (done == -1 && move == 0){
fin = 1;
}
else {
tablero[f][c] = 1;
actualizar_tablero(f, c, 1, tablero);
contar(&blancas, &negras, tablero);
actualizar_lcd(tablero, blancas, negras);
actualizar_candidatos(f, c);
}
}
timer4_stop(); // parar reloj del tiempo transcurrido
display_final(blancas,negras); // mostrar resultado final
}
int main(int argc, char *argv[])
{
int i=0;
int h=0;
int bupi=0;
cli();
memset(command,'$',58);
init();
timer0_init();
timer1_init();
timer3_init();
timer4_init();
timer5_init();
//lcd_init();
//lcd_string("Welcome");
//lcd_move(0,1);
//lcdconfig();
//lcd_string("Give me a code:");
//lcd_move(0,2);
UART_init();
//adc_init();
//lcdsenddata('F');
//lcd_num(123456);
_delay_ms(1500);
sei();
while(1)
{
//-------------------------------------------------scan for input
while(mode==0)
{
while(1)//scan line
{
if(command[comm]=USART_Receive())
{
if((command[comm]==13||command[comm]=='\n'||command[comm]==59)&&(comm<59))
{
break;
}
if(echo==1)
{
//USART_Transmit('[');
// USART_Transmit(comm+48);
// USART_Transmit(']');
USART_Transmit(command[comm]);
}
comm++;
}
else
{
}
}
mode=1;
if(echo==1)
{
USART_String_Transmit("\nTransition to parsing.");
}
}
//-------------------------------------------------parse commands
while(mode==1)//parse commands
{
for(i=0;i<comm;i++)//cycling i till \n-1
{
if(command[i]=='N'&&command[i+1]>47&&command[i+1]<58)//GET LINE NUMBER
{
if(echo)
{
USART_String_Transmit("\n Getting line number.");
}
temp_line_number=fetchlong(command,i,'N');
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='5')//GET EXTRUDER TEMP
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='4')//SET EXTRUDER TEMP FAST SXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='9')//SET EXTRUDER TEMP AND WAIT RXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='4'&&command[i+3]=='0')//SET BED TEMP FAST SXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='9'&&command[i+3]=='0')//WAIT FOR BED TEMP TO HIT RXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='7')//FAN OFF
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='6')//FAN ON WITH FAN SPEED S255MAX
{
}
if(command[i]=='M'&&command[i+1]=='8'&&command[i+2]=='2'&&command[i+3]==' ')//EXTRUDER TO ABSOLUTE MODE
{
}
if(command[i]=='G'&&command[i+1]=='2'&&command[i+2]=='1'&&command[i+3]==' ')//METRIC VALUES
{
}
if(command[i]=='G'&&command[i+1]=='9'&&command[i+2]=='0'&&command[i+3]==' ')//ABSOLUTE POSITIONING
{
}
if(command[i]=='G'&&command[i+1]=='9'&&command[i+2]=='2'&&command[i+3]==' ')//ZERO EXTRUDED LENGTH WITH E0 otherwise set origin?
{
}
if(command[i]=='G'&&command[i+1]=='0'&&command[i+2]==' ')//MOVE WITHOUT EXTUSION
{
if(echo)
{
USART_String_Transmit("\nG0 command.");
}
line_engine(double_scan_x,double_scan_y,double_scan_z,double_scan_e,i);
if((echo==1)&&(xroll==1)&&(yroll=1))
{
USART_String_Transmit("\n Xroll=1");
USART_String_Transmit("\n Yroll=1");
}
mode==2;
}
if(command[i]=='G'&&command[i+1]=='1'&&command[i+2]==' ')//MOVE WITH EXTRUSION
{
}
if(command[i]=='Q'&&command[i+1]=='1')//MOTOR TEST {
{
if(echo)
{
USART_String_Transmit("\n Motor test on.");
//xroll=1;
yroll=1;
//testval=(threefetchdouble(command,i,'E')/0.01)*16;
}
}
if(command[i]=='Q'&&command[i+1]=='0')//MOTOR TEST
{
if(echo)
{
USART_String_Transmit("\n Motor test off.");
}
//xroll=0;
yroll=0;
}
}
mode=2;
if(echo)
{
USART_String_Transmit("\nTransition to set outputs.");
}
}
//-------------------------------------------------setting outputs
while(mode==2)
{
while(zroll==1||eroll==1||xroll==1||yroll==1)
{
if(USART_Receive()=='.')
{
zroll=0;
eroll=0;
xroll=0;
yroll=0;
USART_String_Transmit("\nSW Emergency stopped, please reset!");
// PINK|=0b00000001;
// PINA|=0b00000100;
// PINF|=0b00000100;
// PIND|=0b10000000;
}
}
if(zroll==0&&eroll==0&&xroll==0&&yroll==0)
{
if(echo)
{
USART_String_Transmit("\nTransition to mode 3, reseting parameters.");
}
mode=3;
}
}
//-------------------------------------------------clear things
while(mode==3)
{
cli();
memset(command,'$',58);
comm=0;
i=0;
double_scan_x=-1.0;
double_scan_y=-1.0;
double_scan_z=-1.0;
double_scan_e=-1.0;
if(echo)
{
USART_String_Transmit("\nParameters reseted returning to scanning mode");
}
USART_String_Transmit("\n\rok");
sei();
mode=0;
}
//-------------------------------------------------
while(mode==4)
{
}
}
return 0;
}
//--------------------------------------------------------------------
// Main Init function
//--------------------------------------------------------------------
void init(void)
{
uint16_t dummy = 0;
int16_t ret;
LED_ERROR_ON;
//enable AD converter
adc_init();
ResetImu();
//enable communication to PC over USB
HostInit();
//enable communication to the bus
BusInit();
//enable communications with gps
GpsInit();
InitLeds();
XbeeInit();
//timer for sending out estop status
timer3_init();
//timer3_set_overflow_callback(SendEstopStatus);
timer3_set_overflow_callback(globalTimerOverflow);
timer4_init();
timer4_set_compa_callback(Rs485ResponseTimeout);
timer4_disable_compa_callback();
timer1_init();
timer1_set_compa_callback(EncodersRequestFcn);
//generate the request packets:
encoderRequestRawPacketSize = DynamixelPacketWrapData(MMC_MOTOR_CONTROLLER_DEVICE_ID,
MMC_MOTOR_CONTROLLER_ENCODERS_REQUEST,
&dummy,sizeof(dummy),
encoderRequestRawPacket,
encoderRequestRawPacketMaxSize);
Servo1Init(GlobalTimerGetTime());
//buzzer port
BUZZER_DDR |= _BV(BUZZER_PIN);
//enable global interrupts
sei();
DDRL |= _BV(PL3) | _BV(PL5) | _BV(PL4);
PORTL |= _BV(PL3) | _BV(PL5) | _BV(PL4);
//PORTL |= _BV(PL3);
/*
TCCR5A |= _BV(WGM51) | _BV(WGM50);
TCCR5B |= _BV(WGM52) | _BV(WGM53);
OCR5A = 2000;
TCCR5A |= _BV(COM5A0);
TCCR5A |= _BV(COM5B0);
TCCR5A |= _BV(COM5C0);
*/
LED_ERROR_OFF;
}
/*
* @brief radiotimer_init Initialize the radio timer
* with 32.768KHz input clock
*
* @param None
*
*/
void radiotimer_init(void)
{
memset(&radiotimer_vars,0,sizeof(radiotimer_vars_t));
timer4_init();
tc4_irq_enable();
}
