laser-rotaring.c File Reference

#include <stdio.h>
#include <types.h>
#include <cpu_def.h>
#include <mcu_regs.h>
#include <system_def.h>
#include <string.h>
#include <boot_fn.h>
#include <periph/sci_rs232.h>
#include <cmd_proc.h>
#include <stdlib.h>
#include <pxmc.h>
#include <pxmcbsp.h>
#include <h8s2638h.h>
#include <malloc.h>
#include "laser-io.h"
#include <can_ids.h>
#include <candriver.h>
#include <canOpenDriver.h>

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Defines
#define	IRC_START_POINT   0
#define	DIRECTION   (1)
#define	USE_IRC
#define	SEND_AFTER_REFLECTION
#define	LASER_OPTO_CORRECTION   485
Enumerations
enum	{ EMPTY = 0, INT_IR, INT_LASER, SET_REF_DONE }
Functions
void	unhandled_exception (void)
	OTHER FUNCTIONS.
void	init ()
	init - shadow registers, outputs.
void	isr_rotation_finished (void)
	INTERRUPT SERVICE ROUTINES.
void	isr_beacon (void)
void	init_rot_timer (void)
void	init_engine (void)
	Initialization of the laser`s beacon engine.
void	engine_run (char speed)
void	engine_stop ()
void	print_meas ()
void	serio_laser_send ()
	Send measured data through serial line.
void	can_laser_send2 ()
	Send measured data through CAN bus.
void	can_laser_receive ()
	Receiving can messages from ppc.
int	main ()
Variables
cmd_des_t const **	cmd_list = cmd_list_default
	COMMAND PROCESSOR STUFFS.
cmd_des_t const	cmd_des_help
cmd_des_t *	cmd_stm_default [1]
cmd_des_t const *	cmd_list_default []
pxmc_state_t	mcs0
	ENGINE STUFFS.
pxmc_state_t	mcs1
pxmc_state_t *	pxmc_main_arr [] = {&mcs0,&mcs1}
pxmc_state_list_t	pxmc_main_list
__u16	las_can_ids [4] = {CAN_LAS1, CAN_LAS2, CAN_LAS3, CAN_LAS4}
cmd_io_t	cmd_io_rs232_line

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Define Documentation

#define DIRECTION   (1)

#define IRC_START_POINT   0

#define LASER_OPTO_CORRECTION   485

#define SEND_AFTER_REFLECTION

#define USE_IRC

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Enumeration Type Documentation

anonymous enum

Enumerator:

EMPTY
INT_IR
INT_LASER
SET_REF_DONE

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Function Documentation

void can_laser_receive

(

)

Receiving can messages from ppc.

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void can_laser_send2

(

)

Send measured data through CAN bus.

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void engine_run

(

char

speed

)

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void engine_stop

(

)

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void init

(

void

)

init - shadow registers, outputs.

Initializes P1 and P3 shadow registers, sets PJ.1, PJ.2, PJ.3 LED as outputs, initialises interrupt vector.

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void init_engine

(

void

)

Initialization of the laser`s beacon engine.

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void init_rot_timer

(

void

)

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void isr_beacon

(

void

)

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void isr_rotation_finished

(

void

)

INTERRUPT SERVICE ROUTINES.

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int main

(

void

)

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void print_meas

(

)

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void serio_laser_send

(

)

Send measured data through serial line.

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void unhandled_exception

(

void

)

OTHER FUNCTIONS.

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Variable Documentation

cmd_des_t const cmd_des_help

Initial value:

 {0, 0, "HELP", "prints help for commands",
                        cmd_do_help, {(char*)&cmd_list}}

cmd_io_t cmd_io_rs232_line

cmd_des_t const ** cmd_list = cmd_list_default

COMMAND PROCESSOR STUFFS.

cmd_des_t const* cmd_list_default[]

Initial value:

 {
        &cmd_des_help,
        CMD_DES_INCLUDE_SUBLIST(cmd_stm_default),
        NULL
}

cmd_des_t* cmd_stm_default[1]

__u16 las_can_ids[4] = {CAN_LAS1, CAN_LAS2, CAN_LAS3, CAN_LAS4}

pxmc_state_t mcs0

ENGINE STUFFS.

pxmc_state_t mcs1

pxmc_state_t* pxmc_main_arr[] = {&mcs0,&mcs1}

pxmc_state_list_t pxmc_main_list

Initial value:

 {
        pxml_arr:pxmc_main_arr,
        pxml_cnt:sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0])
}