int main (void)
{
SysCtlClockSet (SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_25MHZ);
configureUART ();
printf ("cpu-gauge.\r\n");
// Enable the GPIO port that is used for the on-board LED.
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
// // USB config : Enable the GPIO peripheral used for USB, and configure the USB pins.
// SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
// SysCtlGPIOAHBEnable(SYSCTL_PERIPH_GPIOD);
// GPIOPinTypeUSBAnalog(GPIO_PORTD_AHB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
// ButtonsInit();
// printf ("Buttons OK.\r\n");
motorInit ();
printf ("Motor initialized.\r\n");
printf ("Test sequence : +40 steps.\r\n");
motorRun (40);
printf ("Test sequence : -40 steps.\r\n");
motorRun (-40);
printf ("Test sequence : OK.\r\n");
SysCtlDelay (DELAY_COEFFICIENT_SCD / 10);
uint8_t ui8ButtonsChanged, ui8Buttons;
while (1) {
ButtonsPoll(&ui8ButtonsChanged, &ui8Buttons);
if (ui8ButtonsChanged) {
if(ui8Buttons & LEFT_BUTTON)
{
printf ("pressed\r\n");
}
else {
printf ("released\r\n");
}
}
}
}
void processCmdMsg(pb_istream_t *streamPtr) {
pb_istream_t substream;
gCmdParamNum = 0;
double degSec;
double pos;
EMotorDirection dir;
if (pb_make_string_substream(streamPtr, &substream)) {
MotorMsg_Cmd motorCmd = MotorMsg_Cmd_init_zero;
motorCmd.params.funcs.decode = &motorCmdParamCallback;
//motorCmd.params.arg = (void *) (&motorCmd.action);
pb_decode(&substream, MotorMsg_Cmd_fields, &motorCmd);
pb_close_string_substream(streamPtr, &substream);
switch (motorCmd.action) {
case MotorMsg_Cmd_Action_UNKNOWN:
break;
case MotorMsg_Cmd_Action_BRAKE:
motorBrake();
break;
case MotorMsg_Cmd_Action_FREEWHEEL:
motorFreewheel();
break;
case MotorMsg_Cmd_Action_RUN:
degSec = getMotorParam(MotorMsg_Cmd_Param_Id_VELOCITY, gCmdParams, gCmdParamNum);
dir = (getMotorParam(MotorMsg_Cmd_Param_Id_CLOCKWISE, gCmdParams, gCmdParamNum) != 0.0) ? eClockwise : eCounterClockwise;
motorRun(dir, degSec);
break;
case MotorMsg_Cmd_Action_GOTO_POS:
pos = getMotorParam(MotorMsg_Cmd_Param_Id_POSITION, gCmdParams, gCmdParamNum);
degSec = getMotorParam(MotorMsg_Cmd_Param_Id_VELOCITY, gCmdParams, gCmdParamNum);
dir = (getMotorParam(MotorMsg_Cmd_Param_Id_CLOCKWISE, gCmdParams, gCmdParamNum) != 0.0) ? eClockwise : eCounterClockwise;
motorGotoPos(dir, pos, degSec);
break;
}
}
}
