#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>
Defines | |
#define | IRC_START_POINT 0 |
#define | IRC_END_POINT 29400 |
#define | IRC_CORRECTION 35 |
Enumerations | |
enum | { EMPTY = 0, INT_IR, 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 | print_irc () |
void | print_meas () |
void | meas_reorder () |
void | serio_laser_send () |
Send measured data through serial line. | |
void | can_laser_send () |
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 |
#define IRC_CORRECTION 35 |
#define IRC_END_POINT 29400 |
#define IRC_START_POINT 0 |
void can_laser_receive | ( | ) |
Receiving can messages from ppc.
void can_laser_send | ( | ) |
Send measured data through CAN bus.
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.
void init_engine | ( | void | ) |
Initialization of the laser`s beacon engine.
void init_rot_timer | ( | void | ) |
void isr_beacon | ( | void | ) |
void isr_rotation_finished | ( | void | ) |
INTERRUPT SERVICE ROUTINES.
int main | ( | void | ) |
void meas_reorder | ( | ) |
void print_irc | ( | ) |
void print_meas | ( | ) |
void serio_laser_send | ( | ) |
Send measured data through serial line.
void unhandled_exception | ( | void | ) |
OTHER FUNCTIONS.
cmd_des_t const cmd_des_help |
{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[] |
{ &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 |
{ pxml_arr:pxmc_main_arr, pxml_cnt:sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0]) }