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Dependencies:   mbed-rtos mbed

main.cpp@0:867c4eabf128, 2016-02-26 (annotated)

Committer:
ibestwill
Date:
Fri Feb 26 21:28:57 2016 +0000
Revision:
0:867c4eabf128
Child:
1:f1d9b55f7dd7
US & RC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ibestwill 0:867c4eabf128 1 #include "mbed.h"
ibestwill 0:867c4eabf128 2 #include "rtos.h"
ibestwill 0:867c4eabf128 3 #include "stdlib.h"
ibestwill 0:867c4eabf128 4
ibestwill 0:867c4eabf128 5 // IO Port Configuration
ibestwill 0:867c4eabf128 6 DigitalOut led1(LED1);
ibestwill 0:867c4eabf128 7 DigitalOut led2(LED2);
ibestwill 0:867c4eabf128 8 DigitalOut led3(LED3);
ibestwill 0:867c4eabf128 9 DigitalOut led4(LED4);
ibestwill 0:867c4eabf128 10 PwmOut PwmR(p21); // define p21 as PwmR, p22 as PwmL
ibestwill 0:867c4eabf128 11 PwmOut PwmL(p22); // define p21 as PwmR, p22 as PwmL
ibestwill 0:867c4eabf128 12 DigitalOut DirR(p30); // define p30 as DirR, p29 as DirL
ibestwill 0:867c4eabf128 13 DigitalOut DirL(p29); // define p30 as DirR, p29 as DirL
ibestwill 0:867c4eabf128 14 DigitalOut SpiReset(p11);//Reset for all devices within the slave SPI peripheral in the DE0 FPGA
ibestwill 0:867c4eabf128 15 DigitalOut IoReset(p12); //Places SPI interface on the DE0 FPGA into control mode
ibestwill 0:867c4eabf128 16 SPI DE0(p5,p6,p7); //(mosi,miso,sclk)DE0 is the SPI channel with the FPGA
ibestwill 0:867c4eabf128 17 Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel
ibestwill 0:867c4eabf128 18 Serial BluetoothSerial(p9, p10); // tx, rx
ibestwill 0:867c4eabf128 19 Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
ibestwill 0:867c4eabf128 20 InterruptIn Bumper(p8); // External interrupt pin declared as Bumper
ibestwill 0:867c4eabf128 21
ibestwill 0:867c4eabf128 22 // Function prototypes
ibestwill 0:867c4eabf128 23 void Initialize(void);
ibestwill 0:867c4eabf128 24 char DisplayMenu(void);
ibestwill 0:867c4eabf128 25 void ManualControl(void);
ibestwill 0:867c4eabf128 26 void BluetoothTest(void);
ibestwill 0:867c4eabf128 27 void PiControllerISR(void);
ibestwill 0:867c4eabf128 28 void WdtFaultISR(void);
ibestwill 0:867c4eabf128 29 void ExtCollisionISR(void);
ibestwill 0:867c4eabf128 30 void PiControlThread(void const *argument);
ibestwill 0:867c4eabf128 31 void ExtCollisionThread(void const *argument);
ibestwill 0:867c4eabf128 32 void Watchdog(void const *n);
ibestwill 0:867c4eabf128 33 void PIController(void);
ibestwill 0:867c4eabf128 34 void SpeedControl(void);
ibestwill 0:867c4eabf128 35 int SatAdd(int x, int y);
ibestwill 0:867c4eabf128 36 int SatSub(int x, int y);
ibestwill 0:867c4eabf128 37 int SatValue(int x, int Limit);
ibestwill 0:867c4eabf128 38 int Signextend(int x);
ibestwill 0:867c4eabf128 39 void Userinterface(void);
ibestwill 0:867c4eabf128 40 void QeiInterface(void);
ibestwill 0:867c4eabf128 41 void UsRangefinder(void);
ibestwill 0:867c4eabf128 42 void RcServoMotor(void);
ibestwill 0:867c4eabf128 43
ibestwill 0:867c4eabf128 44
ibestwill 0:867c4eabf128 45 // Processes and threads
ibestwill 0:867c4eabf128 46 int32_t SignalPi, SignalWdt, SignalExtCollision;
ibestwill 0:867c4eabf128 47 osThreadId PiControl,WdtFault,ExtCollision;
ibestwill 0:867c4eabf128 48 osThreadDef(PiControlThread, osPriorityRealtime, DEFAULT_STACK_SIZE); // Declare Control as a thread/process
ibestwill 0:867c4eabf128 49 osThreadDef(ExtCollisionThread, osPriorityHigh, DEFAULT_STACK_SIZE); // Declare External Collision as a thread/process
ibestwill 0:867c4eabf128 50 osTimerDef(Wdtimer, Watchdog); // Declare a watch dog timer
ibestwill 0:867c4eabf128 51
ibestwill 0:867c4eabf128 52
ibestwill 0:867c4eabf128 53 // Global variables for interrupt handler
ibestwill 0:867c4eabf128 54 int32_t dPos_R, dTime_R, Vel_R;
ibestwill 0:867c4eabf128 55 int32_t Setspeed_R;
ibestwill 0:867c4eabf128 56 int32_t u_R=0,uS_R=0;
ibestwill 0:867c4eabf128 57 int32_t uP_R,uI_R;
ibestwill 0:867c4eabf128 58 int32_t e_R;
ibestwill 0:867c4eabf128 59 int32_t x_R=0, xT_R=0;
ibestwill 0:867c4eabf128 60
ibestwill 0:867c4eabf128 61 float T = 5000; //us
ibestwill 0:867c4eabf128 62 float y_R=0;
ibestwill 0:867c4eabf128 63 float Kp_R=3.5, Ki_R=0.8;
ibestwill 0:867c4eabf128 64
ibestwill 0:867c4eabf128 65
ibestwill 0:867c4eabf128 66 //**************************************************************************
ibestwill 0:867c4eabf128 67 //**************************************************************************
ibestwill 0:867c4eabf128 68
ibestwill 0:867c4eabf128 69
ibestwill 0:867c4eabf128 70 int main()
ibestwill 0:867c4eabf128 71 {
ibestwill 0:867c4eabf128 72
ibestwill 0:867c4eabf128 73 //Initialize();
ibestwill 0:867c4eabf128 74
ibestwill 0:867c4eabf128 75 //Userinterface();
ibestwill 0:867c4eabf128 76
ibestwill 0:867c4eabf128 77 //UsRangefinder();
ibestwill 0:867c4eabf128 78
ibestwill 0:867c4eabf128 79 RcServoMotor();
ibestwill 0:867c4eabf128 80
ibestwill 0:867c4eabf128 81 }
ibestwill 0:867c4eabf128 82
ibestwill 0:867c4eabf128 83
ibestwill 0:867c4eabf128 84 void UsRangefinder(void)
ibestwill 0:867c4eabf128 85 {
ibestwill 0:867c4eabf128 86 unsigned int V, duration;
ibestwill 0:867c4eabf128 87 float distance;
ibestwill 0:867c4eabf128 88 DE0.format(16,1); // SPI is mode 1
ibestwill 0:867c4eabf128 89 DE0.frequency(500000); // SPI frequency
ibestwill 0:867c4eabf128 90
ibestwill 0:867c4eabf128 91 IoReset=0; // Reset all SPI peripherals
ibestwill 0:867c4eabf128 92 IoReset=1;
ibestwill 0:867c4eabf128 93 wait_us(5);
ibestwill 0:867c4eabf128 94 IoReset=0;
ibestwill 0:867c4eabf128 95
ibestwill 0:867c4eabf128 96 SpiReset=0;
ibestwill 0:867c4eabf128 97 SpiReset=1;
ibestwill 0:867c4eabf128 98 wait_us(5);
ibestwill 0:867c4eabf128 99 SpiReset=0;
ibestwill 0:867c4eabf128 100 V=DE0.write(0x8901); // Control word to read ultrasonic range finder.
ibestwill 0:867c4eabf128 101 do {
ibestwill 0:867c4eabf128 102 duration = DE0.write(0x0000); // Read ultrasonic rangefinder.
ibestwill 0:867c4eabf128 103 pc.printf("\r\n SPI ID=%4x Us Range=%5d",V,duration);
ibestwill 0:867c4eabf128 104
ibestwill 0:867c4eabf128 105 //Need to check if duration is singed or unsigned value, if extend 16bit to 32bit
ibestwill 0:867c4eabf128 106 distance = (duration / 2) * 0.0344;
ibestwill 0:867c4eabf128 107
ibestwill 0:867c4eabf128 108 if (distance >= 400 || distance <= 2){
ibestwill 0:867c4eabf128 109 pc.printf("\r\nOut of Range\r\n");
ibestwill 0:867c4eabf128 110 }
ibestwill 0:867c4eabf128 111 else {
ibestwill 0:867c4eabf128 112 pc.printf("Distance = %2f", distance);
ibestwill 0:867c4eabf128 113 wait(1);
ibestwill 0:867c4eabf128 114 }
ibestwill 0:867c4eabf128 115 wait(0.5);
ibestwill 0:867c4eabf128 116 } while(!pc.readable());
ibestwill 0:867c4eabf128 117 }
ibestwill 0:867c4eabf128 118
ibestwill 0:867c4eabf128 119 void RcServoMotor(void)
ibestwill 0:867c4eabf128 120 {
ibestwill 0:867c4eabf128 121 unsigned int V, W, X, n;
ibestwill 0:867c4eabf128 122 DE0.format(16,1); // SPI is mode 1
ibestwill 0:867c4eabf128 123 DE0.frequency(500000); // SPI frequency
ibestwill 0:867c4eabf128 124 IoReset=0; // Reset all SPI peripherals
ibestwill 0:867c4eabf128 125 IoReset=1;
ibestwill 0:867c4eabf128 126 wait_us(5);
ibestwill 0:867c4eabf128 127 IoReset=0;
ibestwill 0:867c4eabf128 128
ibestwill 0:867c4eabf128 129 SpiReset=0;
ibestwill 0:867c4eabf128 130 SpiReset=1;
ibestwill 0:867c4eabf128 131 wait_us(5);
ibestwill 0:867c4eabf128 132 SpiReset=0;
ibestwill 0:867c4eabf128 133 V=DE0.write(0x0402); // Control word to write RC Servo pulse interval in ms.
ibestwill 0:867c4eabf128 134 //n=4000;
ibestwill 0:867c4eabf128 135
ibestwill 0:867c4eabf128 136 do {
ibestwill 0:867c4eabf128 137 /*
ibestwill 0:867c4eabf128 138 wait_us(10);
ibestwill 0:867c4eabf128 139 W=DE0.write(0x10); // Write RC Servo pulse interval in ms
ibestwill 0:867c4eabf128 140 X=DE0.write(n); // Write position to RC Servo M1.
ibestwill 0:867c4eabf128 141 n=n+2000;
ibestwill 0:867c4eabf128 142 if(n==60000) n=4000;
ibestwill 0:867c4eabf128 143 pc.printf("\r\n SPI ID=%4x Nms=%4x R/C Servo 1=%5d",V,W,X);
ibestwill 0:867c4eabf128 144 wait(1);
ibestwill 0:867c4eabf128 145
ibestwill 0:867c4eabf128 146 */
ibestwill 0:867c4eabf128 147
ibestwill 0:867c4eabf128 148 for(n=0;n<=60000;n=n+6000){
ibestwill 0:867c4eabf128 149 wait_us(10);
ibestwill 0:867c4eabf128 150 W=DE0.write(0x10); // Write RC Servo pulse interval in ms
ibestwill 0:867c4eabf128 151 X=DE0.write(n); // Write position to RC Servo M1.
ibestwill 0:867c4eabf128 152 pc.printf("\r\n SPI ID=%4x Nms=%4x R/C Servo 1=%5d",V,W,X);
ibestwill 0:867c4eabf128 153 wait(1);
ibestwill 0:867c4eabf128 154 }
ibestwill 0:867c4eabf128 155
ibestwill 0:867c4eabf128 156 for(n=60000;n>=6000;n=n-6000){
ibestwill 0:867c4eabf128 157 wait_us(10);
ibestwill 0:867c4eabf128 158 W=DE0.write(0x10); // Write RC Servo pulse interval in ms
ibestwill 0:867c4eabf128 159 X=DE0.write(n); // Write position to RC Servo M1.
ibestwill 0:867c4eabf128 160 pc.printf("\r\n SPI ID=%4x Nms=%4x R/C Servo 1=%5d",V,W,X);
ibestwill 0:867c4eabf128 161 wait(1);
ibestwill 0:867c4eabf128 162 }
ibestwill 0:867c4eabf128 163
ibestwill 0:867c4eabf128 164 } while(!pc.readable());
ibestwill 0:867c4eabf128 165
ibestwill 0:867c4eabf128 166 }
ibestwill 0:867c4eabf128 167
ibestwill 0:867c4eabf128 168
ibestwill 0:867c4eabf128 169 //**************************************************************************
ibestwill 0:867c4eabf128 170 void Userinterface(void)
ibestwill 0:867c4eabf128 171 {
ibestwill 0:867c4eabf128 172
ibestwill 0:867c4eabf128 173 pc.printf("\n\rEnter number:\n ");
ibestwill 0:867c4eabf128 174 pc.scanf("%d",&Setspeed_R);
ibestwill 0:867c4eabf128 175 pc.printf("\n\rYou Entered :%d\n\n",Setspeed_R);
ibestwill 0:867c4eabf128 176
ibestwill 0:867c4eabf128 177 /*
ibestwill 0:867c4eabf128 178 DirR=1;
ibestwill 0:867c4eabf128 179 y_R=Setspeed_R/36*T;
ibestwill 0:867c4eabf128 180 pc.printf("y_R = %f\n",y_R);
ibestwill 0:867c4eabf128 181 PwmR.pulsewidth_us(y_R);
ibestwill 0:867c4eabf128 182 */
ibestwill 0:867c4eabf128 183
ibestwill 0:867c4eabf128 184 }
ibestwill 0:867c4eabf128 185
ibestwill 0:867c4eabf128 186 //**************************************************************************
ibestwill 0:867c4eabf128 187 void Initialize(void)
ibestwill 0:867c4eabf128 188 {
ibestwill 0:867c4eabf128 189 //Baud Rate
ibestwill 0:867c4eabf128 190 //pc.baud (460800);
ibestwill 0:867c4eabf128 191
ibestwill 0:867c4eabf128 192 //Intialization Motor
ibestwill 0:867c4eabf128 193 PwmR.period_us(T);
ibestwill 0:867c4eabf128 194 PwmL.period_us(T);
ibestwill 0:867c4eabf128 195
ibestwill 0:867c4eabf128 196
ibestwill 0:867c4eabf128 197 //Initialization QEI - to be exected once(normally)
ibestwill 0:867c4eabf128 198 DE0.format(16,1); //SPI format:16-bit words, mode 1 protocol or mode 0????????????
ibestwill 0:867c4eabf128 199 //DE0.frequency(500000);
ibestwill 0:867c4eabf128 200 IoReset=0;
ibestwill 0:867c4eabf128 201 IoReset=1;
ibestwill 0:867c4eabf128 202 IoReset=0;
ibestwill 0:867c4eabf128 203
ibestwill 0:867c4eabf128 204 SpiReset=0;
ibestwill 0:867c4eabf128 205 SpiReset=1;
ibestwill 0:867c4eabf128 206 wait_us(10);
ibestwill 0:867c4eabf128 207 SpiReset=0;
ibestwill 0:867c4eabf128 208 int ID = DE0.write(0x8002); //SPI slave control word to read (only) 2-word transactions starting at base address 0 within the peripheral
ibestwill 0:867c4eabf128 209
ibestwill 0:867c4eabf128 210 if(ID == 23) printf("\r\n\nSPI Interface is Successful ! ID = %d\r\n\n",ID); //ID=0x0017
ibestwill 0:867c4eabf128 211 else printf("\r\n********SPI Interface failed!********\r\n\n");
ibestwill 0:867c4eabf128 212
ibestwill 0:867c4eabf128 213
ibestwill 0:867c4eabf128 214 }
ibestwill 0:867c4eabf128 215
ibestwill 0:867c4eabf128 216
ibestwill 0:867c4eabf128 217 //**************************************************************************
ibestwill 0:867c4eabf128 218 void QeiInterface(void)
ibestwill 0:867c4eabf128 219 {
ibestwill 0:867c4eabf128 220
ibestwill 0:867c4eabf128 221 dPos_R = DE0.write(0x00);
ibestwill 0:867c4eabf128 222 dTime_R = DE0.write(0x00);
ibestwill 0:867c4eabf128 223
ibestwill 0:867c4eabf128 224 dPos_R = Signextend(dPos_R);
ibestwill 0:867c4eabf128 225
ibestwill 0:867c4eabf128 226
ibestwill 0:867c4eabf128 227 Vel_R = (123*dPos_R)/dTime_R; //radians per second
ibestwill 0:867c4eabf128 228
ibestwill 0:867c4eabf128 229 printf("\r\ndPos_R: %d dTime_R: %d Vel_R: %d \r\n",dPos_R,dTime_R,Vel_R);
ibestwill 0:867c4eabf128 230
ibestwill 0:867c4eabf128 231
ibestwill 0:867c4eabf128 232 }
ibestwill 0:867c4eabf128 233
ibestwill 0:867c4eabf128 234 //**************************************************************************
ibestwill 0:867c4eabf128 235
ibestwill 0:867c4eabf128 236 void PIController(void){
ibestwill 0:867c4eabf128 237
ibestwill 0:867c4eabf128 238 dPos_R = DE0.write(0x00);
ibestwill 0:867c4eabf128 239 dTime_R = DE0.write(0x00);
ibestwill 0:867c4eabf128 240
ibestwill 0:867c4eabf128 241 dPos_R = Signextend(dPos_R);
ibestwill 0:867c4eabf128 242
ibestwill 0:867c4eabf128 243
ibestwill 0:867c4eabf128 244 Vel_R = (123*dPos_R)/dTime_R;
ibestwill 0:867c4eabf128 245
ibestwill 0:867c4eabf128 246
ibestwill 0:867c4eabf128 247 //Error
ibestwill 0:867c4eabf128 248 e_R = SatSub(Setspeed_R,Vel_R);
ibestwill 0:867c4eabf128 249 //e_R = SatValue(e_R,36);
ibestwill 0:867c4eabf128 250
ibestwill 0:867c4eabf128 251
ibestwill 0:867c4eabf128 252 //xtate
ibestwill 0:867c4eabf128 253 xT_R = SatAdd(x_R,e_R);
ibestwill 0:867c4eabf128 254 //xT_R = SatValue(x_R,xlimit);
ibestwill 0:867c4eabf128 255
ibestwill 0:867c4eabf128 256
ibestwill 0:867c4eabf128 257 //proportional and integral control terms
ibestwill 0:867c4eabf128 258 uP_R=(Kp_R*e_R);
ibestwill 0:867c4eabf128 259 uI_R=(Ki_R*x_R);
ibestwill 0:867c4eabf128 260
ibestwill 0:867c4eabf128 261 uS_R = SatAdd(uP_R,uI_R);
ibestwill 0:867c4eabf128 262 u_R = SatValue(uS_R,36);
ibestwill 0:867c4eabf128 263
ibestwill 0:867c4eabf128 264 if (u_R==uS_R) x_R = xT_R; //Integrator windup prevention
ibestwill 0:867c4eabf128 265
ibestwill 0:867c4eabf128 266 if(u_R >= 0) DirR = 1; else DirR = 0;
ibestwill 0:867c4eabf128 267
ibestwill 0:867c4eabf128 268 y_R=u_R/36.0*T;
ibestwill 0:867c4eabf128 269 PwmR.pulsewidth_us(abs(y_R));
ibestwill 0:867c4eabf128 270
ibestwill 0:867c4eabf128 271
ibestwill 0:867c4eabf128 272 }
ibestwill 0:867c4eabf128 273
ibestwill 0:867c4eabf128 274
ibestwill 0:867c4eabf128 275 //**************************************************************************
ibestwill 0:867c4eabf128 276
ibestwill 0:867c4eabf128 277 int SatAdd(int x, int y)
ibestwill 0:867c4eabf128 278 {
ibestwill 0:867c4eabf128 279 // Detect overflow and saturate result
ibestwill 0:867c4eabf128 280 int z;
ibestwill 0:867c4eabf128 281 z = x + y;
ibestwill 0:867c4eabf128 282 if((x > 0) && (y > 0) && (z < 0)) z = 0x7FFFFFFF;
ibestwill 0:867c4eabf128 283 else if ((x < 0) && (y < 0) && (z > 0)) z = 0x80000000;
ibestwill 0:867c4eabf128 284 return z;
ibestwill 0:867c4eabf128 285 }
ibestwill 0:867c4eabf128 286
ibestwill 0:867c4eabf128 287
ibestwill 0:867c4eabf128 288 int SatSub(int x, int y)
ibestwill 0:867c4eabf128 289 {
ibestwill 0:867c4eabf128 290 int z;
ibestwill 0:867c4eabf128 291 z = x - y;
ibestwill 0:867c4eabf128 292 // 32-bit overflow detection and saturating arithmetic
ibestwill 0:867c4eabf128 293 if((x > 0) && (y < 0) && (z < 0)) z = 0x7FFFFFFF;
ibestwill 0:867c4eabf128 294 else if((x < 0) && (y > 0) && (z > 0)) z = 0x80000000;
ibestwill 0:867c4eabf128 295 return z;
ibestwill 0:867c4eabf128 296 }
ibestwill 0:867c4eabf128 297
ibestwill 0:867c4eabf128 298
ibestwill 0:867c4eabf128 299 int SatValue(int x, int Limit)
ibestwill 0:867c4eabf128 300 {
ibestwill 0:867c4eabf128 301 // Impose maximum limit on integrator state
ibestwill 0:867c4eabf128 302 if(x > Limit) return(Limit);
ibestwill 0:867c4eabf128 303 else if(x < -Limit) return(-Limit);
ibestwill 0:867c4eabf128 304 else return(x);
ibestwill 0:867c4eabf128 305 }
ibestwill 0:867c4eabf128 306
ibestwill 0:867c4eabf128 307
ibestwill 0:867c4eabf128 308 int Signextend(int x) {
ibestwill 0:867c4eabf128 309 if (x & 0x00008000) {
ibestwill 0:867c4eabf128 310 x = x | 0xFFFF0000;
ibestwill 0:867c4eabf128 311 }
ibestwill 0:867c4eabf128 312 return x;
ibestwill 0:867c4eabf128 313 }
ibestwill 0:867c4eabf128 314
ibestwill 0:867c4eabf128 315 //**************************************************************************
ibestwill 0:867c4eabf128 316 //**************************************************************************
ibestwill 0:867c4eabf128 317
ibestwill 0:867c4eabf128 318
ibestwill 0:867c4eabf128 319 // ******** Control Thread ********
ibestwill 0:867c4eabf128 320 void PiControlThread(void const *argument)
ibestwill 0:867c4eabf128 321 {
ibestwill 0:867c4eabf128 322 while (true) {
ibestwill 0:867c4eabf128 323 osSignalWait(SignalPi, osWaitForever); // Go to sleep until signal, SignalPi, is received.
ibestwill 0:867c4eabf128 324 led2= !led2; // Alive status - led2 toggles each time PiControlThread is signaled.
ibestwill 0:867c4eabf128 325
ibestwill 0:867c4eabf128 326 PIController();
ibestwill 0:867c4eabf128 327
ibestwill 0:867c4eabf128 328 }
ibestwill 0:867c4eabf128 329 }
ibestwill 0:867c4eabf128 330
ibestwill 0:867c4eabf128 331 // ******** Collision Thread ********
ibestwill 0:867c4eabf128 332 void ExtCollisionThread(void const *argument)
ibestwill 0:867c4eabf128 333 {
ibestwill 0:867c4eabf128 334 while (true) {
ibestwill 0:867c4eabf128 335 osSignalWait(SignalExtCollision, osWaitForever); // Go to sleep until signal, SignalExtCollision, is received
ibestwill 0:867c4eabf128 336 led4 = 1;
ibestwill 0:867c4eabf128 337 }
ibestwill 0:867c4eabf128 338 }
ibestwill 0:867c4eabf128 339
ibestwill 0:867c4eabf128 340 // ******** Watchdog Interrupt Handler ********
ibestwill 0:867c4eabf128 341 void Watchdog(void const *n)
ibestwill 0:867c4eabf128 342 {
ibestwill 0:867c4eabf128 343 led3=1; // led3 is activated when the watchdog timer times out
ibestwill 0:867c4eabf128 344 }
ibestwill 0:867c4eabf128 345
ibestwill 0:867c4eabf128 346 // ******** Period Timer Interrupt Handler ********
ibestwill 0:867c4eabf128 347 void PiControllerISR(void)
ibestwill 0:867c4eabf128 348 {
ibestwill 0:867c4eabf128 349 osSignalSet(PiControl,0x1); // Activate the signal, PiControl, with each periodic timer interrupt.
ibestwill 0:867c4eabf128 350
ibestwill 0:867c4eabf128 351 }
ibestwill 0:867c4eabf128 352
ibestwill 0:867c4eabf128 353 // ******** Collision Interrupt Handler ********
ibestwill 0:867c4eabf128 354 void ExtCollisionISR(void)
ibestwill 0:867c4eabf128 355 {
ibestwill 0:867c4eabf128 356 osSignalSet(ExtCollision,0x1); // Activate the signal, ExtCollision, with each pexternal interrupt.
ibestwill 0:867c4eabf128 357 }
ibestwill 0:867c4eabf128 358
ibestwill 0:867c4eabf128 359 //**************************************************************************