UARTSignalsCtl

/***
 *    _________     _____ __________  ___________    .__            _____                  _______      _______  ____
 *    \_   ___ \   /  _  \\______   \ \__    ___/___ |  |   ____   /     \ _____    ____   \   _  \     \   _  \/_   |
 *    /    \  \/  /  /_\  \|    |  _/   |    |_/ __ \|  | _/ __ \ /  \ /  \\__  \  /    \  /  /_\  \    /  /_\  \|   |
 *    \     \____/    |    \    |   \   |    |\  ___/|  |_\  ___//    Y    \/ __ \|   |  \ \  \_/   \   \  \_/   \   |
 *     \______  /\____|__  /______  /   |____| \___  >____/\___  >____|__  (____  /___|  /  \_____  / /\ \_____  /___|
 *            \/         \/       \/               \/          \/        \/     \/     \/         \/  \/       \/
 */

#include <stdint.h>
#include <stdbool.h>
#include <driverlib/rom.h>
#include "Sensors/QEIModule.h"
#include  "Actuators/PWMModule.h"
#include "utils/ControlScheme.h"
#include "utils/RGBDriver.h"
#include "Controllers/SpeedController.h"
#include "Controllers/RefUART.h"
#include "Controllers/PositionController.h"
#include "utils/MainMenu.h"
#include "drivers/buttons.h"
#include "ConfigTiva.h"
#include "Communication/UARTModule.h"
#include "Storage/USBStickModule.h"
#include "Sensors/CurrentMeas.h"

//#define TARGET_IS_BLIZZARD_RB1

uint32_t refIter = 0;

int main(void) {

	//
	// Enable lazy stacking for interrupt handlers.  This allows floating-point
	// instructions to be used within interrupt handlers, but at the expense of
	// extra stack usage.
	//
	ROM_FPULazyStackingEnable();
	ROM_FPUEnable();

	// Initialize system Clock
	TivaCfg_SysClk();

	// Config RGB
	RGB_Config();

	// Initialize buttons
	ButtonsInit();

	// Config QEI
	QEI_Config();

	uint32_t uartFS = 50;

	ClassPWM pwmModule;
	PWM_Construct(&pwmModule, 0, 25000, 12, uartFS);

	ClassCtlScheme ctlScheme;
	CtlScheme_Construct(&ctlScheme, &pwmModule, uartFS);

	ClassUSBStick stickStorage;
	USBStick_Construct(&stickStorage, uartFS, LOGGER);
	USBStick_Enable(&stickStorage);
	while (_deviceState != eSTATE_DEVICE_READY) {
		USBStick_Run(&stickStorage);
	}

	ClassUART uartModule;
	UART_Construct(&uartModule, 1, 115200, SysCtlClockGet(), uartFS,
			SIGNAL_OUT);

	CtlScheme_AddComModule(&ctlScheme, &uartModule._uartHandeler);
	CtlScheme_AddComModule(&ctlScheme, &stickStorage._USBStickHandler);

	UART_Enable(&uartModule);

	float posKP = 6;
	float posKI = 0;
	float posSat = 3;
	float posISat = 1;

	ClassPosCtl posCtl;
	PosCtl_Construct(&posCtl, uartFS, posKP, posKI, 0, posSat, posISat);

	ClassRefUART refUartDist;

	refUart_Construct(&refUartDist, &uartModule, uartFS /2, 1, "d");

	ClassRefUART refUartPos;

	refUart_Construct(&refUartPos, &uartModule, uartFS /4, 1, "g");

	CtlScheme_Connect(&ctlScheme, &refUartDist._rUartHandler, &posCtl._posHandler);

	CtlScheme_Connect(&ctlScheme, &refUartPos._rUartHandler, &posCtl._posHandler);


	CtlScheme_Connect(&ctlScheme, &posCtl._posHandler, &pwmModule._pwmHandler);

	USBStick_AddVar2Stream(&stickStorage, &refUartDist._rUartOutSignal, "slaveDist");
	USBStick_AddVar2Stream(&stickStorage, &refUartPos._rUartOutSignal, "slavePos");
	USBStick_AddVar2Stream(&stickStorage, &posCtl._posPID._ctlVar, "masterPos");


	UART_AddSignal2SigStream(&uartModule, &posCtl._posPID._ctlVar, "p");

	SysCtlDelay(20000000);

	UARTEchoSet(false);

	char sBuff[10];
	sBuff[0] = 'a';

	UART_PrintString(&uartModule, "s");

	while (sBuff[0] != 'o')
		sBuff[0] = UARTgetc();

	UART_PrintString(&uartModule, "p");

	int i;

	for (i = 0; i < 4; ++i) {

		UARTgetc();

	}

	UART_PrintString(&uartModule, "r");

	sBuff[0] = 'a';

	while (sBuff[0] != 's')
		sBuff[0] = UARTgetc();

	while (1) {

		if (CtlScheme_IsRunning(&ctlScheme) == false) {

			USBStick_Run(&stickStorage);
		}

		runMenu(&ctlScheme);

	}
}