Development

Autonomous_Parallel_Parking/Autonomous_Parallel_Parking.c

@@ -1,28 +1,98 @@
 /***************************************************************************************************************
-	
+  
   Authors: Harikrishnan G Nair
            Denny Mathews
-           John Vasques
+           John Vasquez
            Steven Pill
            Harish Puvvada
-
   Description: This is the file that contains the applicaiton source code. More coming up!!
-
 *****************************************************************************************************************
-
-      Copyright © 2017 Harikrishnan G Nair, Denny Mathews, John Vasques, Steven Pill, Harish Puvvada @ NYU
-
+      Copyright © 2017 Harikrishnan G Nair, Denny Mathews, John Vasquez, Steven Pill, Harish Puvvada @ NYU
  ****************************************************************************************************************/
 
+// C standard include(s):
+#include <math.h>
+
+// Custom user APIs needed for hardware access specific to this board:
 #include "cpu.h"
-#include "board_led.h"
+#include "interrupts.h"
+#include "uart.h"
+#include <stdio.h>
+#include "motion.h"
+#include "state_machine.h"
+#include "sensor_timer.h"
+#include "pwm_hal.h"
 
+// Custom user APIs needed for generic algorithmic libraries that are hardware-independent:
 #include "foo.h"
 
+
+
 int main()
 {
+  /*
+    Initialize the PLL, clock tree to all peripherals, flash and Systick 1 ms time reference:
+   */
   cpu_init();
-  board_led_init();
+
+  uart_debug_init();
+  //GPIOInterruptSetup();
+  init_sensor();
+  state_init();
+
+  //Set PE8, blue LED
+  Pin_Set(GPIOE, GPIO_PIN_8, GPIO_MODE_OUTPUT_PP, GPIO_PULLDOWN, GPIO_SPEED_FREQ_LOW);
+  Pin_Set(GPIOE, GPIO_PIN_9, GPIO_MODE_OUTPUT_PP, GPIO_PULLDOWN, GPIO_SPEED_FREQ_LOW);
+
+
+  /*
+    Initialize the PWM outputs by configuring the corresponding channels
+   */
+  init_pwm();
+
+  /*
+    Test a series of movements:
+   */
+
+
+  int i = 0;
+  uint8_t next_dir;
+  while(1)
+  {
+    /*
+      Carry out a simple unit test of foo() declared in foo.h:
+     */
+    if(TEST_FOO(i, i+1) < 0)
+    {
+      /*
+        If the above fails there is either a hardware, code or other undefined error.
+        Now we're in an undefined state regarding processor core behavior...
+       */
+      while(1); // We probably have had a radiation hit or a major malfunction on the ALU of the processor...
+    }
+    else
+    {
+      // move_robot(STOP);
+
+      next_dir = state_execute();
+      move_robot(next_dir);
+      //cpu_sw_delay(10U);
+
+      //trigger_sensor(sensor_front) ;
+
+      // cpu_sw_delay(10U);
+      // if (g_inches_f < 20)
+      //   move_back();
+      // cpu_sw_delay(500U); 
+      // turn_f_right();
+      // cpu_sw_delay(500U); 
+      // turn_f_left();
+      // cpu_sw_delay(500U); 
+      // brake();
+      // cpu_sw_delay(500U); 
+
+    }
+  }
 
   return 0;
 }

Autonomous_Parallel_Parking/user_include/hal_interface/cpu.h

@@ -8,5 +8,6 @@
 
 void cpu_init(void); // This function calls all CPU HAL (Hardware Abstraction Layer)-specific functions that initialize the CPU clock, flash and peripherals.
 void cpu_sw_delay(uint32_t ms); // A simple busy-loop delay function that blocks until the specified ms number of milliseconds have elapsed.
+void cpu_sw_udelay(uint32_t us); // A simple busy-loop delay function that blocks until the specified ms number of milliseconds have elapsed.
 
 #endif

Autonomous_Parallel_Parking/user_include/hal_interface/interrupts.h

@@ -0,0 +1,16 @@
+#ifndef INTERRUPTS
+#define INTERRUPTS	1
+
+#include "pin_setup.h"
+#include "hal_common_includes.h"
+
+//Interrupt initialization functions
+void GPIOInterruptSetup();
+
+
+//Interrupt IRQ's
+void EXTI0_IRQHandler(void);
+void EXTI2_TSC_IRQHandler(void);
+void EXTI4_IRQHandler(void);
+
+#endif

Autonomous_Parallel_Parking/user_include/hal_interface/motor_hal.h

@@ -0,0 +1,16 @@
+#ifndef MOTOR_HAL_H_
+#define MOTOR_HAL_H_	1
+
+#include "hal_common_includes.h"
+
+#define TIMER_PERIOD_1KHZ	6545
+
+typedef enum {
+	motor1,
+	motor2
+} motor_id;
+
+void motor_init(void);
+void test_motor_gpio(char value);
+
+#endif

Autonomous_Parallel_Parking/user_include/hal_interface/pin_setup.h

@@ -0,0 +1,9 @@
+#ifndef PIN_SETUP
+#define PIN_SETUP	1
+
+#include "stm32f3xx_hal_gpio.h"
+
+
+void Pin_Set(GPIO_TypeDef* GPIOx, uint32_t pins, uint32_t mode, uint32_t pull, uint32_t speed);
+
+#endif

Autonomous_Parallel_Parking/user_include/hal_interface/pwm_hal.h

@@ -0,0 +1,18 @@
+#ifndef PWM_HAL_H_
+#define PWM_HAL_H_	1
+
+#include "hal_common_includes.h"
+
+#define TIMER_PERIOD_1KHZ	6545
+
+
+
+void init_pwm(void);
+void configure_channel(uint32_t channel_no, uint32_t new_pulse);
+
+void start_channel(uint32_t channel_no);
+
+void stop_channel(uint32_t channel_no);
+
+
+#endif

Autonomous_Parallel_Parking/user_include/hal_interface/uart_hal.h

@@ -0,0 +1,15 @@
+#ifndef UART_HAL_H_
+#define UART_HAL_H_		1
+
+#include "hal_common_includes.h"
+
+typedef enum {
+	UART_PORT1
+} uart_port;
+
+void uart_hal_init(uart_port port);
+
+void uart_hal_send_byte_blocking(uart_port port, uint8_t data);
+uint8_t uart_hal_get_byte_blocking(uart_port port);
+
+#endif

Autonomous_Parallel_Parking/user_include/motion.h

@@ -0,0 +1,14 @@
+#ifndef MOTION_H_
+#define MOTION_H_   1
+
+#include <stdint.h>
+#include "hal_common_includes.h"
+
+#define LEFT 0U
+#define RIGHT 1U
+#define FORWARD 3U
+#define BACK 4U
+#define STOP 5U
+void move_robot(uint8_t next_dir);
+
+#endif // MOTION_H_

Autonomous_Parallel_Parking/user_include/sensor_timer.h

@@ -0,0 +1,31 @@
+#ifndef SENSOR_TIMER_H_
+#define SENSOR_TIMER_H_   1
+
+#include <stdint.h>
+#include "hal_common_includes.h"
+
+void InitializeTimer();
+typedef enum {
+  sensor_front,
+  sensor_left,
+  sensor_right
+} sensor_id;
+
+
+float usensor_check_distance(int sensor_id);
+
+// //Initialize ultrasound sensor gpio as needed for the board we are using.
+// void usensor_gpio_init(void);
+
+// //Simple software delay microseconds.
+// void delay_us(uint32_t n);
+
+// //Measures a pulse in microseconds.
+// long pulse_in(GPIO_TypeDef* echo_port, uint32_t hexval);
+
+
+void trigger_sensor(int sensor_no);
+
+void init_sensor();
+// HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority);
+#endif

Autonomous_Parallel_Parking/user_include/state_machine.h

@@ -0,0 +1,22 @@
+#ifndef STATE_MACHINE_H_
+#define STATE_MACHINE_H_	1
+
+#include "hal_common_includes.h"
+
+#define TIMER_PERIOD_1KHZ	6545
+#// uncomment for parallel parking
+#define CURR_MODE_PERPENDICULAR
+
+typedef enum {
+	STATE_IDLE,
+	STATE_FOLLOW_WALL,
+	STATE_PARK,
+	STATE_STOP
+} states;
+
+void state_init(void);
+
+uint8_t	 state_execute(void);
+
+
+#endif // STATE_MACHINE_H_

Autonomous_Parallel_Parking/user_include/u_sensor.h

@@ -0,0 +1,31 @@
+// #ifndef U_SENSOR_H
+// #define U_SENSOR_H	1
+
+// #include "stm32f3xx_hal.h"
+// #include "hal_common_includes.h"
+
+
+
+
+// typedef enum {
+// 	sensor_front,
+// 	sensor_left,
+// 	sensor_right
+// } motor_id;
+
+
+
+
+// //Initialize ultrasound sensor gpio as needed for the board we are using.
+// void usensor_gpio_init(void);
+
+// //Simple software delay microseconds.
+// void delay_us(uint32_t n);
+
+// //Measures a pulse in microseconds.
+// long pulse_in(GPIO_TypeDef* echo_port);
+
+// //Returns the distance from object.
+// int get_sensor_dist(GPIO_TypeDef* trig_port, GPIO_TypeDef* echo_port, uint16_t trigger);
+
+// #endif

Autonomous_Parallel_Parking/user_include/uart.h

@@ -0,0 +1,17 @@
+#ifndef UART_H_
+#define UART_H_		1
+
+#include "uart_hal.h"
+
+#define DEBUG_UART	UART_PORT1
+
+void uart_debug_init(void);
+void uart_init(uart_port port);
+
+uint8_t uart_get_byte_blocking(uart_port port);
+void uart_send_byte_blocking(uart_port port, uint8_t data);
+
+void uart_get_data_blocking(uart_port port, uint8_t* data, uint8_t len);
+void uart_send_data_blocking(uart_port port, uint8_t* data, uint8_t len);
+
+#endif

Autonomous_Parallel_Parking/user_source/hal_interface/cpu.c

@@ -60,4 +60,19 @@ void cpu_sw_delay(uint32_t ms)
 			asm("nop");
 		}
 	}
-}
+}
+
+
+void cpu_sw_udelay(uint32_t us)
+{
+  uint32_t i = 0U;
+  uint32_t j = 0U;
+
+  for(i = 0U; i < us; ++i)
+  {
+    for(j = 0U; j < (uint32_t)CPU_TICKS_PER_MS/1000; ++j)
+    {
+      asm("nop");
+    }
+  }
+}