navigation_controller.c File Reference

#include "coridium.h"
#include "cor_hwlib.h"
#include "cor_wrflash.h"
#include "mem.h"
#include "string.h"
#include "printf.h"
#include <math.h>
#include "accelerometer.h"
#include "encoder_counter.h"
#include "platform_communication.h"
#include "dead_man.h"

Go to the source code of this file.

Functions
int	selfTest ()
void	sendNavigationData (int *var_array[])
void	formatSend (char header, int data)
void	systemControllerCom (int speed, int *system_steering_setpoint, int *system_throttle_setpoint, short *run_mode, short *sytem_dead_man)
int	main (void)
Variables
const unsigned short	ACC_X_AXIS_PIN = 0
const unsigned short	ACC_Y_AXIS_PIN = 1
const unsigned short	ACC_Z_AXIS_PIN = 2
const unsigned short	GND_REF_PIN = 4
const unsigned short	SPI_SCLK_PIN = 2
const unsigned short	SPI_SS_PIN = 3
const unsigned short	SPI_MOSI_PIN = 4
const unsigned short	SPI_MISO_PIN = 5
const unsigned short	STEERING_PULSOUT_PIN = 7
const unsigned short	THROTTLE_PULSOUT_PIN = 6
const unsigned short	STEERING_PULSIN_PIN = 9
const unsigned short	THROTTLE_PULSIN_PIN = 8
const unsigned short	PLATFORM_SERIN_PIN = 10
const unsigned short	PLATFORM_DATA_READY_PIN = 11
const unsigned short	PLATFORM_ACK_PIN = 12
const unsigned short	DEAD_MAN_PIN = 13
const char	COLON = ':'
const char	SEMICOLON = ';'
const unsigned int	GROUND_REFERENCE_LIMIT = 0
const unsigned int	NUM_VARS = 6
const int	PROGRAM_LOOP_PERIOD = 20000
const int	BRAKE_DURATION = 4000000
const int	REVERSE_DURATION = 4000000
const int	FULL_BRAKE = -100
const int	REVERSING_CONSTANT = -50

---

Function Documentation

void formatSend	(	char	header,
		int	data
	)

Definition at line 264 of file navigation_controller.c.

int main

(

void

)

Definition at line 56 of file navigation_controller.c.

int selfTest

(

)

Definition at line 243 of file navigation_controller.c.

void sendNavigationData

(

int *

var_array[]

)

Definition at line 255 of file navigation_controller.c.

void systemControllerCom	(	int	speed,
		int *	system_steering_setpoint,
		int *	system_throttle_setpoint,
		short *	run_mode,
		short *	sytem_dead_man
	)

Definition at line 269 of file navigation_controller.c.

---

Variable Documentation

const unsigned short ACC_X_AXIS_PIN = 0

Definition at line 21 of file navigation_controller.c.

const unsigned short ACC_Y_AXIS_PIN = 1

Definition at line 21 of file navigation_controller.c.

const unsigned short ACC_Z_AXIS_PIN = 2

Definition at line 21 of file navigation_controller.c.

const int BRAKE_DURATION = 4000000

Definition at line 46 of file navigation_controller.c.

const char COLON = ':'

Definition at line 42 of file navigation_controller.c.

const unsigned short DEAD_MAN_PIN = 13

Definition at line 37 of file navigation_controller.c.

const int FULL_BRAKE = -100

Definition at line 47 of file navigation_controller.c.

const unsigned short GND_REF_PIN = 4

Definition at line 22 of file navigation_controller.c.

const unsigned int GROUND_REFERENCE_LIMIT = 0

Definition at line 43 of file navigation_controller.c.

const unsigned int NUM_VARS = 6

Definition at line 44 of file navigation_controller.c.

const unsigned short PLATFORM_ACK_PIN = 12

Definition at line 35 of file navigation_controller.c.

const unsigned short PLATFORM_DATA_READY_PIN = 11

Definition at line 34 of file navigation_controller.c.

const unsigned short PLATFORM_SERIN_PIN = 10

Definition at line 33 of file navigation_controller.c.

const int PROGRAM_LOOP_PERIOD = 20000

Definition at line 45 of file navigation_controller.c.

const int REVERSE_DURATION = 4000000

Definition at line 46 of file navigation_controller.c.

const int REVERSING_CONSTANT = -50

Definition at line 47 of file navigation_controller.c.

const char SEMICOLON = ';'

Definition at line 42 of file navigation_controller.c.

const unsigned short SPI_MISO_PIN = 5

Definition at line 28 of file navigation_controller.c.

const unsigned short SPI_MOSI_PIN = 4

Definition at line 28 of file navigation_controller.c.

const unsigned short SPI_SCLK_PIN = 2

Definition at line 27 of file navigation_controller.c.

const unsigned short SPI_SS_PIN = 3

Definition at line 27 of file navigation_controller.c.

const unsigned short STEERING_PULSIN_PIN = 9

Definition at line 31 of file navigation_controller.c.

const unsigned short STEERING_PULSOUT_PIN = 7

Definition at line 30 of file navigation_controller.c.

const unsigned short THROTTLE_PULSIN_PIN = 8

Definition at line 31 of file navigation_controller.c.

const unsigned short THROTTLE_PULSOUT_PIN = 6

Definition at line 30 of file navigation_controller.c.