main.c File Reference

#include <lpc21xx.h>
#include <errno.h>
#include <periph/can.h>
#include <string.h>
#include <deb_led.h>
#include <can_ids.h>
#include <can_msg_def.h>
#include <servo.h>
#include <powswitch.h>
#include <engine.h>
#include <adc_filtr.h>
#include <uart_nozen.h>

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Defines
#define	CAN_SPEED   1000000
#define	CAN_ISR   0
#define	UART0_ISR   1
#define	UART1_ISR   2
#define	SERVO_ISR   4
#define	ADC_ISR   5
#define	CR   0x0d
#define	PWM_CHAN_A   0
#define	PWM_CHAN_B   1
#define	ADC_TIME   60
#define	SERVO_0_BOUND   0x10
#define	SERVO_1_BOUND   0xFA
#define	TIMEOUT_DELAY   3000
#define	CHELAE_R_MAX   0xE0
#define	CHELAE_R_MIN   0x30
#define	CHELAE_L_MAX   0xA0
#define	CHELAE_L_MIN   0x00
#define	HOKUYO_MAX   0xFF
#define	HOKUYO_MIN   0x20
#define	HOKUYO_AHEAD   0xD0
#define	CHELAE_L   2
#define	CHELAE_R   1
#define	HOKUYO   0
#define	START_TIME   16
#define	PUCK_PIN   18
#define	PUCK_TIME   50
#define	BACK_PIN   19
#define	START_PIN   15
Picker_09 (lpceurobot)
#define	LED_GREEN
	Blinks once per second when software is alive.
#define	LED_BLUE
	Blinks when a CAN message is received:
#define	LED_YELLOW
	Light: when timeout occurs.
#define	LED_RED
	Not used.
Functions
void	led_blik (unsigned char led)
void	atoim (unsigned int val)
void	send_adc ()
void	set_pwm (unsigned char chan, unsigned char pwm)
void	go_to_sleep ()
	set carousel to sleep caused by CAN_PWR_ALERT CAN message
void	can_rx (can_msg_t *msg)
void	init_perip (void)
void	timeout (void)
void	puck_switch (void)
void	start_button (void)
int	main (void)
Variables
can_msg_t	msg
unsigned int	time_blink
volatile unsigned int	time_timeout
volatile unsigned int	sberac_timeout
volatile unsigned	sberac_timeout_en = 0
unsigned int	time_adc = 0
int	time_delay = 0
uint32_t	time_puck = 0
uint8_t	start_bt = 0
uint32_t	time_start = 0
uint8_t	start_cnt = 0

---

Define Documentation

#define ADC_ISR   5

#define ADC_TIME   60

#define BACK_PIN   19

#define CAN_ISR   0

#define CAN_SPEED   1000000

#define CHELAE_L   2

#define CHELAE_L_MAX   0xA0

#define CHELAE_L_MIN   0x00

#define CHELAE_R   1

#define CHELAE_R_MAX   0xE0

#define CHELAE_R_MIN   0x30

#define CR   0x0d

#define HOKUYO   0

#define HOKUYO_AHEAD   0xD0

#define HOKUYO_MAX   0xFF

#define HOKUYO_MIN   0x20

#define PUCK_PIN   18

#define PUCK_TIME   50

#define PWM_CHAN_A   0

#define PWM_CHAN_B   1

#define SERVO_0_BOUND   0x10

#define SERVO_1_BOUND   0xFA

#define SERVO_ISR   4

#define START_PIN   15

#define START_TIME   16

#define TIMEOUT_DELAY   3000

#define UART0_ISR   1

#define UART1_ISR   2

---

Function Documentation

void atoim

(

unsigned int

val

)

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void can_rx

(

can_msg_t *

msg

)

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void go_to_sleep

(

)

set carousel to sleep caused by CAN_PWR_ALERT CAN message

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void init_perip

(

void

)

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void led_blik

(

unsigned char

led

)

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int main

(

void

)

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void puck_switch

(

void

)

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void send_adc

(

)

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void set_pwm	(	unsigned char	chan,
		unsigned char	pwm
	)

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void start_button

(

void

)

void timeout

(

void

)

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---

Variable Documentation

can_msg_t msg

volatile unsigned int sberac_timeout

volatile unsigned sberac_timeout_en = 0

uint8_t start_bt = 0

uint8_t start_cnt = 0

unsigned int time_adc = 0

unsigned int time_blink

int time_delay = 0

uint32_t time_puck = 0

uint32_t time_start = 0

volatile unsigned int time_timeout