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Fwd: bagi
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Milos Tomic
Attachments9:33 AM (10 hours ago)

to me
---------- Forwarded message ----------
From: "Nebojsa Sapic" <sapic94@gmail.com>
Date: Jun 7, 2017 21:00
Subject: Fwd: bagi
To: <milost1995@gmail.com>
Cc:



Sent from my iPhone

Begin forwarded message:

From: Djole Savic <djole12@gmail.com>
Date: June 5, 2017 at 19:10:04 GMT+2
To: Nebojsa Sapic <sapic94@gmail.com>
Subject: bagi
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Milos Tomic
milost1995@gmail.com

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sbit BREAK_LAMPS at GPIOE_ODR.B1;

sbit HEAD_LAMPS at GPIOE_ODR.B3;

sbit TURN_L at GPIOC_ODR.B4;

sbit TURN_R at GPIOE_ODR.B2;

sbit MAIN_BEAM at GPIOB_ODR.B6;



//BUGGY COMMANDS

#define CMD_DRIVE                0x01

#define CMD_BREAK                0x02

#define CMD_RESPOND              0x03

#define CMD_SPIN                 0x04



unsigned int SPEED_L;

unsigned int SPEED_R;



unsigned int PWM_A_PERIOD;

unsigned int PWM_B_PERIOD;

unsigned int PWM_C_PERIOD;

unsigned int PWM_D_PERIOD;



extern char writeBuff[32];

extern short readBuff[32];



char old_cmd = CMD_BREAK;

char txPipe;





void Init_Buggy() {

//GPIO

  GPIO_Digital_Output (&GPIOE_BASE, _GPIO_PINMASK_1 | _GPIO_PINMASK_2 | _GPIO_PINMASK_3);

  GPIO_Digital_Output (&GPIOB_BASE, _GPIO_PINMASK_6);

  GPIO_Digital_Output (&GPIOC_BASE, _GPIO_PINMASK_4);



//BAT VSENSE

  ADC_Set_Input_Channel(_ADC_CHANNEL_13); //ADC on PC3

  Adc1_Init();



//PWM

  SPEED_L = 0;

  SPEED_R = 0;

  PWM_A_PERIOD = PWM_TIM4_Init(20000);

  PWM_B_PERIOD = PWM_TIM4_Init(20000);//PWM_A_PERIOD;

  PWM_C_PERIOD = PWM_TIM9_Init(20000);

  PWM_D_PERIOD = PWM_TIM3_Init(20000);



  PWM_TIM4_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL3);

  PWM_TIM4_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL4);

  PWM_TIM9_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL1);

  PWM_TIM3_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL3);





}

//postavljanje na koliko vremena ce se lampice paliti

void HeadLamps_Blink() {

  HEAD_LAMPS = 1;

  delay_ms(200);

  HEAD_LAMPS = 0;

  delay_ms(500);

  HEAD_LAMPS = 1;

  delay_ms(200);

  HEAD_LAMPS = 0;

}



//red blinkanja lapmica

void TurnLamps_Blink() {

  char n;



  for(n=0; n<7; n++) {

    TURN_L = ~ TURN_L;

    TURN_R = ~ TURN_R;

    delay_ms(200);

  }

  TURN_L = 0;

  TURN_R = 0;

}



//red blinkaca desnih lampica

void TurnLamps_Blink_R() {

  char n;



  for(n=0; n<7; n++) {

    TURN_R = ~ TURN_R;

    delay_ms(200);

  }

  TURN_R = 0;

}



//ugasiti lampice

void Lights_Off() {



}



//zaustaviti buggy-ja

void Break_Buggy() {

  SPEED_L = 0;

  SPEED_R = 0;

  PWM_TIM4_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL3);

  PWM_TIM4_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL4);

  PWM_TIM9_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL1);

  PWM_TIM3_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL3);

}



static void Full_Circle_Left() {

  double dbl_temp = 3.1;

  unsigned int spin_speed;

  Break_Buggy();

  spin_speed = (unsigned int) (PWM_D_PERIOD * dbl_temp);

  PWM_TIM3_Set_Duty(spin_speed,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_D  right_forward

  spin_speed = (unsigned int) (PWM_B_PERIOD * dbl_temp);

  PWM_TIM4_Set_Duty(spin_speed,  _PWM_NON_INVERTED, _PWM_CHANNEL4);  //PWM_B  left_reverse

  TURN_L = ~TURN_L;

  TURN_R = ~TURN_R;

}



static void Test_Drive() {

  Break_Buggy();

  PWM_TIM4_Set_Duty(PWM_A_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_A  left_forward

  PWM_TIM3_Set_Duty(PWM_D_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_D  right_forward

  delay_ms(500);

  Break_Buggy();

  PWM_TIM4_Set_Duty(PWM_B_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL4);  //PWM_B  left_reverse

  PWM_TIM9_Set_Duty(PWM_C_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL1);  //PWM_C  right_reverse

  delay_ms(500);

  Break_Buggy();

}



static void Test_Drive_2() {

  Break_Buggy();

  PWM_TIM4_Set_Duty(PWM_A_PERIOD >> 1,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_A  left_forward

  PWM_TIM9_Set_Duty(PWM_C_PERIOD >> 1,  _PWM_NON_INVERTED, _PWM_CHANNEL1);  //PWM_C  right_reverse

  delay_ms(200);

  Break_Buggy();

}



static void Full_Circle_Right() {

  //double dbl_temp = (double)readBuff[6] / 100;

  double dbl_temp = 0.5;

  unsigned int spin_speed;

  Break_Buggy();

  spin_speed = (unsigned int) (PWM_A_PERIOD * dbl_temp);

  PWM_TIM4_Set_Duty(spin_speed,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_A  left_forward

  spin_speed = (unsigned int) (PWM_C_PERIOD * dbl_temp);

  PWM_TIM9_Set_Duty(spin_speed,  _PWM_NON_INVERTED, _PWM_CHANNEL1);  //PWM_C  right_reverse

  TURN_L = ~TURN_L;

  TURN_R = ~TURN_R;

}

//kretanje buggy-ja napred

 static void Forward(int times) {

  int i;

  Break_Buggy();

  PWM_TIM4_Set_Duty((unsigned int) (PWM_A_PERIOD * 0.2),  _PWM_NON_INVERTED, _PWM_CHANNEL3);

  PWM_TIM3_Set_Duty((unsigned int) (PWM_D_PERIOD * 0.2),  _PWM_NON_INVERTED, _PWM_CHANNEL3);

  //PWM_TIM4_Set_Duty(PWM_A_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_A  left_forward

  //PWM_TIM3_Set_Duty(PWM_D_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_D  right_forward

  for(i = 0; i < times; i += 1) {



     delay_ms(1);

  }

  Break_Buggy();

}



//isto kretanje buggy-ja napred

static void Forward_1() {



  Break_Buggy();

  PWM_TIM4_Set_Duty(PWM_A_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_A  left_forward

  PWM_TIM3_Set_Duty(PWM_D_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_D  right_forward

  delay_ms(150);

  Break_Buggy();

}



//kretanje buggy-ja desno

static void Right(int times) {



  int i;

  Break_Buggy();

    PWM_TIM9_Set_Duty((unsigned int) (PWM_C_PERIOD * 0.5),  _PWM_NON_INVERTED, _PWM_CHANNEL1);  //PWM_C  right_reverse

  PWM_TIM4_Set_Duty((unsigned int) (PWM_A_PERIOD * 0.5),  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_A  left_forward

    for(i = 0; i < times; i += 1) {



     delay_ms(1);

  }

  Break_Buggy();

}

//kretanje buggy-ja levo

static void Left(int times) {



  int i;

  Break_Buggy();

  PWM_TIM4_Set_Duty((unsigned int) (PWM_B_PERIOD * 0.5),  _PWM_NON_INVERTED, _PWM_CHANNEL4);  //PWM_B  left_reverse

   PWM_TIM3_Set_Duty((unsigned int) (PWM_D_PERIOD * 0.5),  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_D  right_forward

  for(i = 0; i < times; i += 1) {



     delay_ms(1);

  }

  Break_Buggy();

}

//kretanje buggy-ja unazad

static void Back(int times) {



  int i;

  Break_Buggy();

  PWM_TIM4_Set_Duty(PWM_B_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL4);  //PWM_B  left_reverse

  PWM_TIM9_Set_Duty(PWM_C_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL1);  //PWM_C  right_reverse

  for(i = 0; i < times; i += 1) {



     delay_ms(1);

  }

  Break_Buggy();

}

int lefttt = 0;

static void Circle_right(int times) {

  int i = 0;

  for(i; i < times; i++) {

     Right(13);

     Forward(8);

  }

}



static void Circle_left(int times) {

  int i = 0;

  for(i; i < times; i++) {

     Left(13);

     Forward(8);

  }

}



//nameštanje kako ce se kretati buggy

static void Test_Drive_3() {

Forward(50);   //napred



//           if(lefttt == 0) {

//                 Circle_right(8);

//           } else if(lefttt == 1) {

                   Circle_right(7);

//           }



           Forward(50);

           Circle_left(8);

//           Forward(30);  //naprede

//           Left(30);        //levo

//           Forcircle_right



}



int circle_right_time = 1;

int Circle_right_time1 = 50;



static void Circle_right1(int times) {

  int i = 0;

  for(i; i < times; i++) {

     Right(circle_right_time1);

     Forward(1);

  }

}



static void Test_Drive_4() {

       while(1) {

//                circle_right_time = circle_right_time + 1;

//                circle_right_time1 = circle_right_time1 - 1;

//                   Circle_right1(circle_right_time);

//                   Forward(circle_right_time);

circle_right_time1 = circle_right_time1 - 1;

if(circle_right_time1 == 0) {

 Circle_right_time1 = 50;

 }

 Right(circle_right_time1);

 Forward(1);



       }

}



//pokretanje buggy-ja

void Start_Buggy() {

  PWM_TIM4_Start(_PWM_CHANNEL3, &_GPIO_MODULE_TIM4_CH3_PB8);

  PWM_TIM4_Start(_PWM_CHANNEL4, &_GPIO_MODULE_TIM4_CH4_PB9);

  PWM_TIM9_Start(_PWM_CHANNEL1, &_GPIO_MODULE_TIM9_CH1_PE5);

  PWM_TIM3_Start(_PWM_CHANNEL3, &_GPIO_MODULE_TIM3_CH3_PB0);



//  HeadLamps_Blink();  //postavljanje na koliko vremena ce se lampice paliti

//  Test_Drive();             //kretanje rada lampica

//  Test_Drive_2();         // kretanje rada lampica

  Test_Drive_4();        //namestati kako ce se kretati buggy

  Break_Buggy();      //zaustaviti buggy-ja

}









void Drive_Buggy() {

   double dbl_temp;

   char dir = readBuff[5];

   char vel_left = readBuff[6];

   char vel_right = readBuff[7];



   if (dir != 0) { //reverse direction

       //left motors

       dbl_temp = (double)vel_left / 100;                                        //Convert received speed in %

       SPEED_L = (unsigned int) (PWM_B_PERIOD * dbl_temp);

       PWM_TIM4_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL3);                 // left forward PWM

       PWM_TIM4_Set_Duty(SPEED_L,  _PWM_NON_INVERTED, _PWM_CHANNEL4);           // left reverse PWM

       //right motors

       dbl_temp = (double)vel_right / 100;

       SPEED_R = (unsigned int) (PWM_C_PERIOD * dbl_temp);

       PWM_TIM3_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL3);                 // right forward PWM

       PWM_TIM9_Set_Duty(SPEED_R,  _PWM_NON_INVERTED, _PWM_CHANNEL1);           // right_reverse PWM

   }else{ //forward direction

       //left motors

       dbl_temp = (double)vel_left / 100;                                        //Convert received speed in %

       SPEED_L = (unsigned int) (PWM_A_PERIOD * dbl_temp);

       PWM_TIM4_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL4);                 // left reverse  PWM

       PWM_TIM4_Set_Duty(SPEED_L,  _PWM_NON_INVERTED, _PWM_CHANNEL3);           // left forward  PWM

       //right motors

       dbl_temp = (double)vel_right / 100;

       SPEED_R = (unsigned int) (PWM_D_PERIOD * dbl_temp);

       PWM_TIM9_Set_Duty(0,  _PWM_NON_INVERTED, _PWM_CHANNEL1);                 // right reverse PWM

       PWM_TIM3_Set_Duty(SPEED_R,  _PWM_NON_INVERTED, _PWM_CHANNEL3);           // right forward PWM

   }

}



static void SetBattValueToBuffer(unsigned int Value){

  //Divide to 4x4bit value

  writeBuff[0] = (char)((Value >> 12)& 0xF); //HHHsb

  writeBuff[1] = (char)((Value >> 8)& 0xF);  //HHsb

  writeBuff[2] = (char)((Value >> 4) & 0xF); //Hsb

  writeBuff[3] = (char)(Value & 0xF);        //Lsb

}





/*void OnDataReceived() {





  char next_cmd = readBuff[4];

  switch (next_cmd) {

    case CMD_DRIVE:

      Drive_Buggy();

      break;

    case CMD_BREAK:

      Break_Buggy();

      break;

    case CMD_SPIN:

      if (old_cmd != CMD_SPIN) {

          TURN_L = 0;

          TURN_R = 0;

      }



      if (readBuff[5] != 0) {

         Full_Circle_Left();

      }else{

         Full_Circle_Right();

      }

      break;

    case CMD_RESPOND:

      asm nop;

      break;

    default:

      Break_Buggy();

  }



  //lights control



  BREAK_LAMPS = readBuff[8] & 0x01;

  MAIN_BEAM = readBuff[8] >> 3;

  HEAD_LAMPS = readBuff[8] >> 4;

  if (next_cmd != CMD_SPIN) {

    if (readBuff[8] & 0x02) {

      TURN_L = ~TURN_L;

    }else{

      TURN_L = 0;

    }



    if (readBuff[8] & 0x04) {

      TURN_R = ~TURN_R;

    }else{

      TURN_R = 0;

    }



  }



  //turn off turn lights after spining

  if (next_cmd != old_cmd) {

    if (old_cmd == CMD_SPIN) {

      TURN_L = 0;

      TURN_R = 0;

    }

  }



  old_cmd = next_cmd;

  txPipe = readBuff[2] + 1;

  temp_int = ADC1_Get_Sample(13);

  SetBattValueToBuffer(temp_int);

  Blep_SendData(&writeBuff,6,TxPipe);



}  */



void main()

{

     Init_Buggy();              //podesavanje buggy-ja

     while(1){

//  Break_Buggy();           //zaustaviti buggy-ja

//  HEAD_LAMPS = 1;    //lampice

//  MAIN_BEAM = 1;

//  PWM_TIM4_Set_Duty(PWM_A_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_A  left_forward

//  PWM_TIM3_Set_Duty(PWM_D_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_D  right_forward

//  delay_ms(250);

//  HEAD_LAMPS = 0;      //lampice

//  MAIN_BEAM = 0;

//  Break_Buggy();           //zaustaviti buggy-ja

//  BREAK_LAMPS = 1;  //zaustaviti paljenje lapmica

//  MAIN_BEAM = 1;

//  PWM_TIM4_Set_Duty(PWM_B_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL4);  //PWM_B  left_reverse

//  PWM_TIM9_Set_Duty(PWM_C_PERIOD >> 2,  _PWM_NON_INVERTED, _PWM_CHANNEL1);  //PWM_C  right_reverse

//  delay_ms(250);

//  BREAK_LAMPS = 0;    //zaustaviti paljenje lampica

//  MAIN_BEAM = 0;

//  Break_Buggy();            //zaustaviti buggy-ja

//  TurnLamps_Blink_R();  //red poaljenja desnih lampica

//  PWM_TIM4_Set_Duty(PWM_A_PERIOD >> 1,  _PWM_NON_INVERTED, _PWM_CHANNEL3);  //PWM_A  left_forward

//  PWM_TIM9_Set_Duty(PWM_C_PERIOD >> 1,  _PWM_NON_INVERTED, _PWM_CHANNEL1);  //PWM_C  right_reverse

//  delay_ms(150);

//  Break_Buggy();          //zaustaviti buggy-ja

//  Start_Buggy();           //pokretanje buggy-ja

//Test_Drive_3();

                 Start_Buggy();

     }

}
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