#include <stdio.h>
#include <math.h>
#include "communication/communication.h"
#include "main.h"
#include "taskScheduler.h"
#include "ui.h"
#include "datalogger.h"
#include "calibration/calibration.h"

Include dependency graph for main.c:

Macros
#define	TASK_UI_PERIOD 200000

#define	TASK_CONTROL_PERIOD 20000

Functions
int	main (void)

static void	main_task (int signo)

static void	ui_hook (int signo)

static void	control_hook (int signo)

static void	ui_task ()

static void	control_task ()

int	reset_timer (void)

int	get_time (double time_control_task_s, double Ts_control_task_s, double mean_time_control_task_s, double t0_control_task_s)
	Review of this function: More...

void	exit_program (void)
	Internal function to end program. More...

Variables
TASK_S	task1
	Main rotine for control: More...

TASK_S	task_ui

TASK_S	task_control

IMU_PARAM_STRUCT	imu_param

SPI_PARAM_STRUCT	spi_param

EFF_DATA_STRUCT	eff_data

IMU_DATA_STRUCT	imu_data

ENC_DATA_STRUCT	enc_data

MRA_DATA_STRUCT	mra_data

int	total = 0

int	failure = 0

int	acquire = 0

int	quittask = 0

int	t0 = 0

Macro Definition Documentation

#define TASK_CONTROL_PERIOD 20000

Definition at line 22 of file main.c.

Referenced by main().

#define TASK_UI_PERIOD 200000

Definition at line 21 of file main.c.

Referenced by main().

Function Documentation

static void control_hook ( int signo )

static

Definition at line 113 of file main.c.

References timer_function_task().

Referenced by main().

                                    {
   timer_function_task(&task_control);
   //control_task();
 }

Here is the call graph for this function:

Here is the caller graph for this function:

static void control_task ( )

static

Definition at line 127 of file main.c.

References actuate(), calibrate_all(), DATALOGGER_NOT_RUNNING, DATALOGGER_RUNNING, datalogger_set_Ts(), datalogger_status(), datalogger_update(), failure, IMU_PARAM_STRUCT::i2c_dev, TASK_S::period_us, read_all_data(), reset_timer(), SPI_PARAM_STRUCT::spi_dev, SUCCESS, t0, TASK_S::T_exec_global, TASK_S::t_global, total, and MRA_DATA_STRUCT::v_ctl.

Referenced by main(), and main_task().

                           {
   static int previous_datalogger_status = DATALOGGER_NOT_RUNNING;
   int current_datalogger_status; // Used to detect rising edge
   char user =0;
 
 
   total++;
 
 /*Input*/
   if(read_all_data(imu_param.i2c_dev, spi_param.spi_dev, &imu_data,&eff_data, &mra_data, &enc_data) != SUCCESS) failure++;
 
   calibrate_all(&imu_data);
   
   current_datalogger_status = datalogger_status();
     if( (current_datalogger_status == DATALOGGER_RUNNING))
     {
         if(previous_datalogger_status == DATALOGGER_NOT_RUNNING) // Rising edge
         {
             datalogger_set_Ts(task_control.period_us/1e6);
             reset_timer();
         }
         datalogger_update(task_control.t_global, task_control.T_exec_global, task_ui.T_exec_global, t0, &imu_data, &eff_data, &mra_data /*&imu_measure, &magnetometer_measure, &estimation_data, &control_data*/);
     }
     previous_datalogger_status = current_datalogger_status;
 /* Control */
   //mra_data.v_ctl= 1275 - (uint8_t)(800*cosf(task_control.t_global*1000));
     mra_data.v_ctl = ((int)(total*4))%409;
   //control_test(task1.t_global,&imu_data,&eff_data,&mra_data);
 /* Actuate */
   actuate(spi_param.spi_dev,&mra_data);
 }

Here is the call graph for this function:

Here is the caller graph for this function:

void exit_program ( void )

Internal function to end program.

Definition at line 180 of file main.c.

                        {
   quittask = 1;
   return;
 }

int get_time	(	double *	time_control_task_s,
		double *	Ts_control_task_s,
		double *	mean_time_control_task_s,
		double *	t0_control_task_s
	)

Review of this function:

Definition at line 167 of file main.c.

Referenced by ui_overview_data().

 {
   *time_control_task_s = task1.t_global;
   *Ts_control_task_s = (task1.period_us)/1e6;
   *mean_time_control_task_s = task1.T_mean_global;
   *t0_control_task_s = t0;
 
   return SUCCESS;
 }

Here is the caller graph for this function:

int main ( void )

Definition at line 42 of file main.c.

               {
   int return_value = SUCCESS;
 
 /*Setting config values:*/
   // Parameters for IMU
   imu_param.acc.full_res=1;
   imu_param.acc.rate=100;
   imu_param.acc.range=16;
   imu_param.gyr.rate=100;
   imu_param.gyr.lpf_bw=188;
   imu_param.gyr.clk_source='Z';
   imu_param.gyr.act="XYZ";
   imu_param.mag.rate=75;
   imu_param.mag.range=0;
   imu_param.mag.samples_avg=8;
   imu_param.mag.meas_mode=0;
   imu_param.mag.op_mode=0;
 
   // Parameters for SPI
   spi_param.mode=0;
   spi_param.speed=375000;
   spi_param.cs=0;
 
   // Periodic task :
   timer_new_task(&task_ui,ui_task);
   timer_new_task(&task_control,control_task);
   
 /*Initialization:*/
   if(devices_init(&imu_param,&spi_param,&mra_data)!=SUCCESS){
     perror("Unsuccesful devices initialization");
     return FAILURE;
   }
 
   if(ui_init()!=SUCCESS){
     perror("Unsuccesful user interface initialization");
     return FAILURE;
   }
 
   //timer_start_task(&task1,TASK1_PERIOD);
   timer_start_task(&task_ui,ui_hook,TASK_UI_PERIOD);
   timer_start_task(&task_control,control_hook,TASK_CONTROL_PERIOD);
 
 /* Main loop: */
   while(quittask == 0){
     //ui_task(0);
   }
 
 /*Shutting Down:*/
   timer_stop_task(&task_ui);
   timer_stop_task(&task_control);
   usleep(2000);
 
   if(ui_close()==FAILURE){
     return_value = FAILURE;
   }
 
   devices_close(&imu_param, &spi_param, &mra_data);
 
   return return_value;
 }

static void main_task ( int signo )

static

Definition at line 103 of file main.c.

References control_task(), and ui_task().

                                 {
   ui_task();
   control_task();
 }

Here is the call graph for this function:

int reset_timer ( void )

Definition at line 160 of file main.c.

Referenced by control_task().

 {
     t0 = task_control.t_global;
     return SUCCESS;
 }

Here is the caller graph for this function:

static void ui_hook ( int signo )

static

Definition at line 108 of file main.c.

References timer_function_task().

Referenced by main().

                               {
   timer_function_task(&task_ui);
   //ui_task();
 }

Here is the call graph for this function:

Here is the caller graph for this function:

static void ui_task ( )

static

Definition at line 118 of file main.c.

References failure, IMU_PARAM_STRUCT::i2c_dev, read_all_data(), SPI_PARAM_STRUCT::spi_dev, SUCCESS, total, and ui_update().

Referenced by main(), and main_task().

                      {
   total++;
 
   if(read_all_data(imu_param.i2c_dev, spi_param.spi_dev, &imu_data,&eff_data, &mra_data, &enc_data) != SUCCESS) failure++;
 
   ui_update(&imu_data, &eff_data, &mra_data,&enc_data, total, failure);
 
 }