//------------------------------------------------------------------------------
/// Interrupt service routine for the system tick. Debounces the wake-up pin input.
//------------------------------------------------------------------------------
void SysTick_Handler(void)
{
// Button released
if (PIO_Get(&pinWakeUp))
{
debounceCounter = DEBOUNCE_TIME;
}
// Button still pressed
else
{
debounceCounter--;
}
// End of debounce time
if (debounceCounter == 0)
{
// Disable debounce timer
SysTick_Configure(1, BOARD_MCK/1000, 0);
debounceCounter = DEBOUNCE_TIME;
HIDDMouseDriver_RemoteWakeUp();
}
}
/*
*********************************************************************************************************
* App_StartTask()
*
* Description : 系统任务初始化
*
* Argument(s) : pdata.
*
* Return(s) : none.
*********************************************************************************************************
*/
static void App_StartTask(void *pdata)
{
(void)pdata;
//创建事件
App_EventCreate();
//系统滴答设置
SysTick_Configure();
//机器人系统初始化
RobotSystemInit();
//创建任务
App_TaskCreate();
//挂起任务
OSTaskSuspend(4); //超声波避障任务
OSTaskSuspend(5); //机器人防跌落(PD: Prevent Drop)
OSTaskSuspend(6); //机器人动作任务挂起和恢复
// OSTaskSuspend(7); //GLWP: Get the Legs and Waist Position//储存膝关节位置信息，用于指导机器人摆臂
// OSTaskSuspend(8); //串口接收任务
// OSTaskSuspend(9); //动作执行任务(RW: Robot Walk)
// OSTaskSuspend(10); //动作步骤任务(RFS: Robot Forward Step)
// OSTaskSuspend(11); //动作步骤任务(RBS: Robot Backward Step)
// OSTaskSuspend(12); //右臂复位任务(RRA: Reset Right Arm)
// OSTaskSuspend(13); //左臂复位任务(RLA: Reset Left Arm)
// OSTaskSuspend(14); //右摆臂任务(SRA: Swing Right Arm)
// OSTaskSuspend(15); //左摆臂任务(SLA: Swing Left Arm)
// OSTaskSuspend(16); //摆腰任务(SW: Swing Waist)
OSTaskSuspend(17); //左右手腕和头部转动任务（SteerWork：Steer control）
// OSTaskSuspend(18); //眼睛任务(EE: Eye Expression)
// OSTaskSuspend(19); //LED任务(LED:decorative lighting)
// OSTaskSuspend(20); //LED任务(LED:decorative lighting)
//挂起自己
OSTaskDel(OS_PRIO_SELF);
}
static void init(void) {
const Pin pinsDbgu[] = {PINS_DBGU};
PMC_EnablePeripheral(AT91C_ID_DBGU);
PIO_Configure(pinsDbgu, PIO_LISTSIZE(pinsDbgu));
DBGU_Configure(AT91C_US_PAR_NONE, 115200, BOARD_MCK);
SysTick_Configure(1, BOARD_MCK / 1000, SysTick_Handler);
}
//------------------------------------------------------------------------------
/// Configures the SYS Tisk to generate 1ms ticks.
//------------------------------------------------------------------------------
static void ConfigureSysTick(void)
{
// 1ms System Tick
SysTick_Configure(1, BOARD_MCK/1000, SysTick_Handler);
}
int main()
{
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
printf("-- USB Device CDC Serial Project %s --\n\r", SOFTPACK_VERSION);
printf("-- %s\n\r", BOARD_NAME);
printf("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
// If they are present, configure Vbus & Wake-up pins
//PIO_InitializeInterrupts(0);
//-------- Init parameters --------------
printf("INIT Parameters\n\r");
init_parameters();
//-------- Load parameters from Flash --------------
printf("Load parameters from Flash\n\r");
FLASH_LoadSettings();
//-------- Init UART --------------
printf("USB Seriel INIT\n\r");
samserial_init();
//-------- Init ADC without Autostart --------------
printf("Init ADC\n\r");
initadc(0);
//-------- On USB recived byte call this function --------------
printf("Init Callback for USB\n\r");
samserial_setcallback(&usb_characterhandler);
//-------- Init Motor driver --------------
printf("Init Motors\n\r");
motor_setup();
//-------- Init Heater I/O --------------
printf("Init Heaters\n\r");
heaters_setup();
//-------- Start SYSTICK (1ms) --------------
printf("Configuring systick.\n\r");
SysTick_Configure(1, BOARD_MCK/1000, SysTick_Handler);
//-------- Timer 0 for Stepper --------------
printf("Init Stepper IO\n\r");
stepper_setup(); //Timer for Stepper
//-------- Timer 0 for Stepper --------------
printf("Configuring Timer 0 Stepper\n\r");
ConfigureTc0_Stepper(); //Timer for Stepper
//-------- Timer 1 for heater PWM --------------
printf("Configuring Timer 1 PWM.\n\r");
ConfigureTc_1();
//-------- Init Planner Values --------------
printf("Plan Init\n\r");
plan_init();
//-------- Check for SD card presence -------
// sdcard_handle_state();
//motor_enaxis(0,1);
//motor_enaxis(1,1);
while (1)
{
//uncomment to use//sprinter_mainloop();
//main loop events go here
do_periodic();
if(buflen < (BUFSIZE-1))
get_command();
if(buflen > 0)
{
//-------- Check and execute G-CODE --------------
process_commands();
//-------- Increment G-Code FIFO --------------
buflen = (buflen-1);
bufindr++;
if(bufindr == BUFSIZE) bufindr = 0;
}
}
}
