Elisa3
variables.c File Reference
#include "constants.h"

Variables

volatile unsigned char currentAdChannel = 0
unsigned char currentProx = 0
unsigned char currentMotLeftChannel = 0
unsigned char currentMotRightChannel = 0
unsigned char rightMotorPhase = 0
unsigned char leftMotorPhase = 0
volatile unsigned int proximityValue [24] = {0}
int proximityResult [12] = {0}
signed int proximityOffset [12] = {0}
unsigned long proximitySum [12] = {0}
unsigned char adcSaveDataTo = 0
unsigned char adcSamplingState = 0
unsigned char rightChannelPhase = 0
unsigned char leftChannelPhase = 0
unsigned int batteryLevel = 0
unsigned char measBattery = 0
unsigned char proxUpdated = 0
int proximityResultLinear [8] = {0}
float rightMotSteps = 0
float leftMotSteps = 0
float rightMotStepsOld = 0
float leftMotStepsOld = 0
unsigned int left_current_avg = 0
unsigned int right_current_avg = 0
unsigned int last_left_current = 0
unsigned int last_right_current = 0
signed int pwm_right_desired_to_control = 0
signed int pwm_left_desired_to_control = 0
unsigned int left_vel_sum = 0
unsigned int right_vel_sum = 0
signed int last_left_vel = 0
signed int last_right_vel = 0
signed int pwm_right = 0
signed int pwm_left = 0
signed int pwm_right_desired = 0
signed int pwm_left_desired = 0
signed int pwm_intermediate_right_desired = 0
signed int pwm_intermediate_left_desired = 0
signed int k_ff_speed_control_left = INIT_KFF
signed int k_ff_speed_control_right = INIT_KFF
signed long int pwm_right_speed_controller = 0
signed long int pwm_left_speed_controller = 0
signed int delta_left_speed_current
signed int delta_right_speed_current
signed int delta_left_speed_prev
signed int delta_right_speed_prev
signed int delta_left_speed_sum = 0
signed int delta_right_speed_sum = 0
unsigned char compute_left_vel = 1
unsigned char compute_right_vel = 1
signed int pwm_right_working = 0
signed int pwm_left_working = 0
unsigned char firstSampleRight = 1
unsigned char firstSampleLeft = 1
unsigned int dataLED [3]
signed int speedl = 0
signed int speedr = 0
unsigned char rfData [PAYLOAD_SIZE]
unsigned char ackPayload [16]
unsigned char packetId = 3
unsigned int rfAddress = 0
unsigned char rfFlags = 0
unsigned char spiCommError = 0
unsigned char rfDebugMode = 0
unsigned char rfDebugCounter = 0
unsigned char pwm_red = 255
unsigned char pwm_green = 255
unsigned char pwm_blue = 255
unsigned char blinkState = 0
unsigned char rgbState = 0
unsigned char peripheralChoice = 5
unsigned char choosePeripheral = 1
unsigned char sendAdcValues = 0
unsigned char commError = 0
unsigned int byteCount = 0
unsigned char uartBuff [UART_BUFF_SIZE] = {0}
unsigned char nextByteIndex = 0
unsigned char currByteIndex = 0
unsigned char chooseMenu = 1
unsigned char menuChoice = 0
unsigned char addressReceived = 0
unsigned char menuState = 0
unsigned char getDataNow = 0
unsigned char irCommand = 0
unsigned char command_received = 0
unsigned char colorState = 0
unsigned char irEnabled = 1
unsigned char checkGlitch = 1
unsigned char behaviorState = 0
unsigned char accelAddress = MMA7455L_ADDR
unsigned char useAccel = USE_MMAX7455L
signed int accX = 0
signed int accY = 0
signed int accZ = 0
signed int accOffsetX = 0
signed int accOffsetY = 0
signed int accOffsetZ = 0
signed int accOffsetXSum = 0
signed int accOffsetYSum = 0
signed int accOffsetZSum = 0
signed int currentAngle = 0
unsigned char currPosition = HORIZONTAL_POS
unsigned int timesInSamePos = 0
unsigned char robotPosition = 1
signed char accBuff [6] = {0}
uint32_t clockTick = 0
unsigned char currentSelector = 0
signed int calibrationCycle = 0
unsigned char startCalibration
unsigned char hardwareRevision = HW_REV_3_0
unsigned char demoState = 0
unsigned char lineFound = 0
unsigned char outOfLine = 0
unsigned char chargeContact = 0
unsigned long int demoStartTime = 0
unsigned long int demoStartTime2 = 0
unsigned long int demoEndTime = 0
unsigned char currentOsccal
unsigned long long int speedStepCounter = 0
unsigned char speedStep = 4
unsigned char softAccEnabled = 0
unsigned char calibrationWritten = 0
unsigned char greenLedState = 0
unsigned char rgbLedState = 0
unsigned char obstacleAvoidanceEnabled = 0
unsigned char cliffAvoidanceEnabled = 0
unsigned char cliffDetectedFlag = 0
float theta = 0.0
float lastTheta = 0.0
float xPos = 0.0
float yPos = 0.0
float deltaDist = 0.0
float thetaOld = 0.0
float xPosOld = 0.0
float yPosOld = 0.0
float deltaDistOld = 0.0
float leftDist = 0
float rightDist = 0
float leftDistPrev = 0
float rightDistPrev = 0
unsigned char computeOdometry = 0
float thetaAcc = 0.0
unsigned char calibState
unsigned char calibVelIndex
unsigned char calibWheel
signed int tempVel
signed int calibration [CALIBRATION_SAMPLES][8]
unsigned long int timeoutOdometry
unsigned long timeOdometry
unsigned char calibrateOdomFlag
signed long int leftSpeedSumOdom = 0
signed long int rightSpeedSumOdom = 0
unsigned int leftSumCount = 0
unsigned int rightSumCount = 0
signed int avgLeftSpeed = 0
signed int avgRightSpeed = 0
signed int speedLeftFromEnc = 0
signed int speedRightFromEnc = 0
uint32_t timeLeftOdom = 0
uint32_t timeRightOdom = 0
unsigned char irCommEnabled = IRCOMM_MODE_SENSORS_SAMPLING
unsigned char irCommEnabledNext = IRCOMM_MODE_SENSORS_SAMPLING
unsigned char irCommMode = IRCOMM_MODE_SENSORS_SAMPLING
volatile unsigned char irCommState = 0
unsigned int irCommTempValue = 0
volatile unsigned char irCommSendValues = 0
unsigned long int irCommTickCounter = 0
unsigned long int irCommTickCounter2 = 0
unsigned char irCommTickCounterUpdate = 0
signed char irCommLastSensor = -1
signed int irCommLastData = 0
signed int angleDeg = 0
signed int angleError = 0
unsigned char angleDegEncode = 0
unsigned char irCommRobotId = 0
unsigned char irCommRobotsNum = 0
unsigned char irCommLedToggle = 0
unsigned char irCommMsgCount = 0
signed int irCommMaxSensorSignalTemp [IRCOMM_SAMPLING_WINDOW *2]
unsigned char irCommMaxSensorSignalIndexTemp = 0
signed int irCommMaxSensorSignalFiltTemp [IRCOMM_SAMPLING_WINDOW *2]
unsigned char irCommMaxSensorSignalFiltIndexTemp = 0
signed int irCommRxMaxSensorTemp [2]
unsigned char irCommRxMaxSensorIndexTemp = 0
signed int irCommRxMaxDiffTemp [2]
unsigned char irCommRxMaxDiffIndexTemp = 0
signed int irCommProxMeanTemp [2]
unsigned char irCommProxMeanIndexTemp = 0
unsigned char irCommSwitchCountTemp [2]
unsigned char irCommSwitchCountIndexTemp = 0
unsigned int irCommMaxSensorValueCurrTemp [2]
unsigned char irCommMaxSensorValueCurrIndexTemp = 0
unsigned int irCommMinSensorValueCurrTemp [2]
unsigned char irCommMinSensorValueCurrIndexTemp = 0
unsigned char irCommShiftCountTemp [2]
unsigned char irCommShiftCountIndexTemp = 0
unsigned char irCommShiftCountFinalTemp [2]
unsigned char irCommShiftCountFinalIndexTemp = 0
unsigned int irCommStartDiffTemp [2]
unsigned char irCommStartDiffIndexTemp = 0
unsigned char irCommComputeShiftTemp [2]
unsigned char irCommComputeShiftIndexTemp = 0
unsigned char irCommRxPeakHighToLowTemp [2]
unsigned char irCommRxPeakHighToLowIndexTemp = 0
unsigned char irCommRxStartPeakDurationTemp [2]
unsigned char irCommRxStartPeakDurationIndexTemp = 0
unsigned char irCommRxStartBitDetectedTemp [2]
unsigned char irCommRxStartBitDetectedIndexTemp = 0
unsigned char irCommStateTemp [14]
unsigned char irCommStateIndexTemp = 0
unsigned char irCommSyncStateTemp [2]
unsigned char irCommSyncStateIndexTemp = 0
signed int irCommBitsSignalTemp [IRCOMM_SAMPLING_WINDOW *10]
unsigned char irCommBitsSignalIndexTemp = 0
unsigned char irCommRxBitReceivedTemp [10]
unsigned char irCommRxBitReceivedIndexTemp = 0
unsigned char irCommRxPrevDataReceived = 0
unsigned char irCommAdcRxState = 0
unsigned char irCommRxWindowSamples = 0
unsigned int irCommMaxSensorValueBuff1 [8]
unsigned int irCommMaxSensorValueBuff2 [8]
unsigned int * irCommMaxSensorValueAdc
unsigned int * irCommMaxSensorValueCurr
unsigned int irCommMinSensorValueBuff1 [8]
unsigned int irCommMinSensorValueBuff2 [8]
unsigned int * irCommMinSensorValueAdc
unsigned int * irCommMinSensorValueCurr
unsigned int irCommProxValuesBuff1 [8 *IRCOMM_SAMPLING_WINDOW]
unsigned int irCommProxValuesBuff2 [8 *IRCOMM_SAMPLING_WINDOW]
unsigned int * irCommProxValuesAdc
unsigned int * irCommProxValuesCurr
unsigned int * irCommTempPointer
unsigned char irCommRxCrc = 0
signed int irCommMaxSensorSignal [IRCOMM_SAMPLING_WINDOW]
signed long int irCommProxSum = 0
signed int irCommTempMax = 0
signed int irCommTempMin = 0
unsigned char irCommShiftCount = 0
unsigned char irCommComputeShift = 0
signed int irCommProxMean = 0
signed char irCommSignalState = 0
unsigned char irCommSwitchCount = 0
unsigned char irCommRxBitCount = 0
unsigned char irCommRxCrcError = 0
unsigned char irCommRxByte = 0
unsigned char irCommSecondBitSkipped = 0
unsigned char irCommShiftCounter = 0
unsigned char irCommRxBitReceived [10]
unsigned char irCommRxByteExpected = 0
unsigned char irCommRxSequenceCount = 0
unsigned char irCommRxLastDataReceived = 0
unsigned char irCommRxDataAvailable = 0
signed char irCommRxReceivingSensor = -1
unsigned char irCommRxBitSkipped = 0
unsigned char irCommRxStartBitDetected = 0
unsigned char irCommRxPeakHighToLow = 0
unsigned char irCommRxStartPeakDuration = 0
signed int irCommRxMaxDiff = 0
signed int irCommRxMaxSensor = 0
unsigned char irCommRxNumReceivingSensors = 0
unsigned char irCommAdcTxState = 0
unsigned char irCommTxByte = 0
unsigned char irCommTxByteEnqueued = 0
unsigned long int irCommTxLastTransmissionTime = 0
unsigned char irCommTxBitToTransmit [12]
unsigned char irCommTxCrc = 0
unsigned char irCommTxBitCount = 0
unsigned char irCommTxPulseState = 0
unsigned int irCommTxDuration = 0
unsigned char irCommTxSwitchCount = 0
unsigned char irCommTxSwitchCounter = 0
unsigned char irCommTxDurationCycle = 0
unsigned char irCommTxSensorMask = 0
unsigned char irCommTxSensorGroup = 0

Variable Documentation

signed char accBuff[6] = {0}
unsigned char accelAddress = MMA7455L_ADDR
signed int accOffsetX = 0
signed int accOffsetXSum = 0
signed int accOffsetY = 0
signed int accOffsetYSum = 0
signed int accOffsetZ = 0
signed int accOffsetZSum = 0
signed int accX = 0
signed int accY = 0
signed int accZ = 0
unsigned char ackPayload[16]
unsigned char adcSamplingState = 0
unsigned char adcSaveDataTo = 0
unsigned char addressReceived = 0
signed int angleDeg = 0
unsigned char angleDegEncode = 0
signed int angleError = 0
signed int avgLeftSpeed = 0
signed int avgRightSpeed = 0
unsigned int batteryLevel = 0
unsigned char behaviorState = 0
unsigned char blinkState = 0
unsigned int byteCount = 0
unsigned char calibrateOdomFlag
signed int calibrationCycle = 0
unsigned char calibrationWritten = 0
unsigned char calibState
unsigned char calibVelIndex
unsigned char calibWheel
unsigned char chargeContact = 0
unsigned char checkGlitch = 1
unsigned char chooseMenu = 1
unsigned char choosePeripheral = 1
unsigned char cliffAvoidanceEnabled = 0
unsigned char cliffDetectedFlag = 0
uint32_t clockTick = 0
unsigned char colorState = 0
unsigned char command_received = 0
unsigned char commError = 0
unsigned char compute_left_vel = 1
unsigned char compute_right_vel = 1
unsigned char computeOdometry = 0
unsigned char currByteIndex = 0
volatile unsigned char currentAdChannel = 0
signed int currentAngle = 0
unsigned char currentMotLeftChannel = 0
unsigned char currentMotRightChannel = 0
unsigned char currentOsccal
unsigned char currentProx = 0
unsigned char currentSelector = 0
unsigned char currPosition = HORIZONTAL_POS
unsigned int dataLED[3]
signed int delta_left_speed_sum = 0
signed int delta_right_speed_sum = 0
float deltaDist = 0.0
float deltaDistOld = 0.0
unsigned long int demoEndTime = 0
unsigned long int demoStartTime = 0
unsigned long int demoStartTime2 = 0
unsigned char demoState = 0
unsigned char firstSampleLeft = 1
unsigned char firstSampleRight = 1
unsigned char getDataNow = 0
unsigned char greenLedState = 0
unsigned char hardwareRevision = HW_REV_3_0
unsigned char irCommAdcRxState = 0
unsigned char irCommAdcTxState = 0
unsigned char irCommand = 0
unsigned char irCommBitsSignalIndexTemp = 0
unsigned char irCommComputeShift = 0
unsigned char irCommComputeShiftIndexTemp = 0
unsigned char irCommComputeShiftTemp[2]
signed int irCommLastData = 0
signed char irCommLastSensor = -1
unsigned char irCommLedToggle = 0
unsigned char irCommMaxSensorSignalIndexTemp = 0
unsigned int* irCommMaxSensorValueAdc
unsigned int irCommMaxSensorValueBuff1[8]
unsigned int irCommMaxSensorValueBuff2[8]
unsigned int* irCommMaxSensorValueCurr
unsigned int* irCommMinSensorValueAdc
unsigned int irCommMinSensorValueBuff1[8]
unsigned int irCommMinSensorValueBuff2[8]
unsigned int* irCommMinSensorValueCurr
unsigned char irCommMsgCount = 0
signed int irCommProxMean = 0
unsigned char irCommProxMeanIndexTemp = 0
signed int irCommProxMeanTemp[2]
signed long int irCommProxSum = 0
unsigned int* irCommProxValuesAdc
unsigned int* irCommProxValuesCurr
unsigned char irCommRobotId = 0
unsigned char irCommRobotsNum = 0
unsigned char irCommRxBitCount = 0
unsigned char irCommRxBitReceived[10]
unsigned char irCommRxBitReceivedIndexTemp = 0
unsigned char irCommRxBitReceivedTemp[10]
unsigned char irCommRxBitSkipped = 0
unsigned char irCommRxByte = 0
unsigned char irCommRxByteExpected = 0
unsigned char irCommRxCrc = 0
unsigned char irCommRxCrcError = 0
unsigned char irCommRxDataAvailable = 0
unsigned char irCommRxLastDataReceived = 0
signed int irCommRxMaxDiff = 0
unsigned char irCommRxMaxDiffIndexTemp = 0
signed int irCommRxMaxDiffTemp[2]
signed int irCommRxMaxSensor = 0
unsigned char irCommRxMaxSensorIndexTemp = 0
signed int irCommRxMaxSensorTemp[2]
unsigned char irCommRxNumReceivingSensors = 0
unsigned char irCommRxPeakHighToLow = 0
unsigned char irCommRxPeakHighToLowIndexTemp = 0
unsigned char irCommRxPeakHighToLowTemp[2]
unsigned char irCommRxPrevDataReceived = 0
signed char irCommRxReceivingSensor = -1
unsigned char irCommRxSequenceCount = 0
unsigned char irCommRxStartBitDetected = 0
unsigned char irCommRxStartBitDetectedTemp[2]
unsigned char irCommRxStartPeakDuration = 0
unsigned char irCommRxWindowSamples = 0
unsigned char irCommSecondBitSkipped = 0
volatile unsigned char irCommSendValues = 0
unsigned char irCommShiftCount = 0
unsigned char irCommShiftCounter = 0
unsigned char irCommShiftCountFinalIndexTemp = 0
unsigned char irCommShiftCountFinalTemp[2]
unsigned char irCommShiftCountIndexTemp = 0
unsigned char irCommShiftCountTemp[2]
signed char irCommSignalState = 0
unsigned char irCommStartDiffIndexTemp = 0
unsigned int irCommStartDiffTemp[2]
volatile unsigned char irCommState = 0
unsigned char irCommStateIndexTemp = 0
unsigned char irCommStateTemp[14]
unsigned char irCommSwitchCount = 0
unsigned char irCommSwitchCountIndexTemp = 0
unsigned char irCommSwitchCountTemp[2]
unsigned char irCommSyncStateIndexTemp = 0
unsigned char irCommSyncStateTemp[2]
signed int irCommTempMax = 0
signed int irCommTempMin = 0
unsigned int* irCommTempPointer
unsigned int irCommTempValue = 0
unsigned long int irCommTickCounter = 0
unsigned long int irCommTickCounter2 = 0
unsigned char irCommTickCounterUpdate = 0
unsigned char irCommTxBitCount = 0
unsigned char irCommTxBitToTransmit[12]
unsigned char irCommTxByte = 0
unsigned char irCommTxByteEnqueued = 0
unsigned char irCommTxCrc = 0
unsigned int irCommTxDuration = 0
unsigned char irCommTxDurationCycle = 0
unsigned long int irCommTxLastTransmissionTime = 0
unsigned char irCommTxPulseState = 0
unsigned char irCommTxSensorGroup = 0
unsigned char irCommTxSensorMask = 0
unsigned char irCommTxSwitchCount = 0
unsigned char irCommTxSwitchCounter = 0
unsigned char irEnabled = 1
signed int k_ff_speed_control_left = INIT_KFF
signed int k_ff_speed_control_right = INIT_KFF
unsigned int last_left_current = 0
signed int last_left_vel = 0
unsigned int last_right_current = 0
signed int last_right_vel = 0
float lastTheta = 0.0
unsigned int left_current_avg = 0
unsigned int left_vel_sum = 0
unsigned char leftChannelPhase = 0
float leftDist = 0
float leftDistPrev = 0
unsigned char leftMotorPhase = 0
float leftMotSteps = 0
float leftMotStepsOld = 0
signed long int leftSpeedSumOdom = 0
unsigned int leftSumCount = 0
unsigned char lineFound = 0
unsigned char measBattery = 0
unsigned char menuChoice = 0
unsigned char menuState = 0
unsigned char nextByteIndex = 0
unsigned char obstacleAvoidanceEnabled = 0
unsigned char outOfLine = 0
unsigned char packetId = 3
unsigned char peripheralChoice = 5
signed int proximityOffset[12] = {0}
int proximityResult[12] = {0}
int proximityResultLinear[8] = {0}
unsigned long proximitySum[12] = {0}
volatile unsigned int proximityValue[24] = {0}
unsigned char proxUpdated = 0
unsigned char pwm_blue = 255
unsigned char pwm_green = 255
signed int pwm_left = 0
signed int pwm_left_desired = 0
signed long int pwm_left_speed_controller = 0
signed int pwm_left_working = 0
unsigned char pwm_red = 255
signed int pwm_right = 0
signed int pwm_right_desired = 0
signed long int pwm_right_speed_controller = 0
signed int pwm_right_working = 0
unsigned int rfAddress = 0
unsigned char rfData[PAYLOAD_SIZE]
unsigned char rfDebugCounter = 0
unsigned char rfDebugMode = 0
unsigned char rfFlags = 0
unsigned char rgbLedState = 0
unsigned char rgbState = 0
unsigned int right_current_avg = 0
unsigned int right_vel_sum = 0
unsigned char rightChannelPhase = 0
float rightDist = 0
float rightDistPrev = 0
unsigned char rightMotorPhase = 0
float rightMotSteps = 0
float rightMotStepsOld = 0
signed long int rightSpeedSumOdom = 0
unsigned int rightSumCount = 0
unsigned char robotPosition = 1
unsigned char sendAdcValues = 0
unsigned char softAccEnabled = 0
signed int speedl = 0
signed int speedLeftFromEnc = 0
signed int speedr = 0
signed int speedRightFromEnc = 0
unsigned char speedStep = 4
unsigned long long int speedStepCounter = 0
unsigned char spiCommError = 0
unsigned char startCalibration
signed int tempVel
float theta = 0.0
float thetaAcc = 0.0
float thetaOld = 0.0
uint32_t timeLeftOdom = 0
unsigned long timeOdometry
unsigned long int timeoutOdometry
uint32_t timeRightOdom = 0
unsigned int timesInSamePos = 0
unsigned char uartBuff[UART_BUFF_SIZE] = {0}
unsigned char useAccel = USE_MMAX7455L
float xPos = 0.0
float xPosOld = 0.0
float yPos = 0.0
float yPosOld = 0.0
 All Files Functions Variables Defines