void main(void)
{
DisableInterrupts;
PLL_Init_64M();
UART_Init();
Init_Port();
Init_AD();
Init_PWM();
// LCD_init();
// LCD_clear();
// RST = 1;
PAT_Init();
// PWMDTY23 =6300 ;
// DDRA_DDRA7 = 1;
EnableInterrupts;
for(;;)
{
Mode();
// uart_putchar('a');
/* OutData[0] = (int16)(roadflag[2]);
OutData[1] = (int16)(roadflag[3]);
OutData[2] = (int16)(Steer);
OutData[3] = (int16)(roadflag[1]);
OutPut_Data(); */
// Ramp_Detection();
GetExpectSpeed();
Steer_PID();
stop_car();
//Motor(1800);
}
}
void main( void )
{
WDTCTL = WDTPW + WDTHOLD ; // 关看门狗
BoardConfig(0xf0);
Init_Port();
InitUART();
_EINT() ;
PcdReset();//复位RC522
PcdAntennaOn();//开启天线发射
DisplayConfigMenu();
while(1)
{
Send1Char('>');
Send1Char('\n');
i=Get1Char();
HandleConfigMenu(i);
}
}
void main(void)
{
WDTCN = 0xDE;
WDTCN = 0xAD;
EA = 0;
Init_Clock();
Init_Port();
Init_Timer0(SYSCLK);
Init_Timer2(SYSCLK);
Init_Timer3(SYSCLK);
EA = 1;
PIN_MOTOR_DIR = 0xFF; //set motor direction to clockwise;
while(1) { }
}
void main()
{
// Stop watchdog timer to prevent time out reset
WDTCTL = WDTPW + WDTHOLD;
Init_Port();
Lcd_initial();
unsigned int count = 0;
// unsigned int count = 0;
while(1)
{
IntToStr(count++,Chinese_0);
write_digital(Chinese_0,0,0,2);
// write_Chinese(Chinese_1,8,0,3);
write_Chinese(Chinese_2,16,0,8);
write_Chinese(Chinese_3,24,0,8);
delay(10);
}
}
void main(void)
{
u16 i;
u8 shortcut = KEY_INVALID;
// RS485 Node
init_var(); //init data structure
// System Initialization
Init_Port();
// Init_Timers();
// Init_Ex_Interrupt();
Init_UART();
Enable_XMEM();
Init_554();
InitLED();
Key_Init();
// Global enable interrupts
WDTCR = 0x00; //disable dog watch
#asm("sei")
/*********************************************************************/
// System hardware dection
/*********************************************************************/
// intialize LED.
nextwin = 0;
sleepms(20*ONEMS);
LCD_Init();
wnd_msgbox(&bootup);
//init the DMM
nav_command(NAV_INIT);
sleepms(200*ONEMS);
navto1v();
nav_command(NAV_SLOWMODE);
sleepms(200*ONEMS);
nav_command(NAV_AFLTON);
sleepms(200*ONEMS);
sleepms(2*ONEMS); //wait until all the node is ready after power up
State_Init();
SET_BORE_MODE;
nextwin = PG_BOOTTYPE;
key = KEY_INVALID;
curr_ch = 1; //channel for display
curr_dispch = 1;
while(1)
{
if(nextwin != 0)
{
SwitchWindow(nextwin);
(*curr_window)(MSG_INIT);
nextwin = 0;
}
if(key != KEY_INVALID)
{
if((key == KEY_BTN1)||(key == KEY_BTN2)||(key == KEY_BTN3)||(key == KEY_BTN4))
{
shortcut = key;
//processing shortcut key
if(curr_window == pgmain_handler)
{
LCD_Cls();
wnd_msgbox(&modify);
}
if(shortcut == KEY_BTN1) //mode switch
{
SET_TOP1MA;
SET_TOPT1000;
if(IS_BORE_MODE){
SET_THERM_MODE;
}else{
SET_BORE_MODE;
}
dlg_cnt = 0;
onesec_cnt = 0;
phase = 0; //reset the state machine
}
if(shortcut == KEY_BTN2) //auto ktt or not
{
if(IS_BORE_MODE)
{
SET_TOP1MA;
SET_TOPT1000;
if((IS_MODE_KTT)){
CLR_MODE_KTT;
SET_PKTT;
}else{
SET_MODE_KTT;
SET_PKTT;
}
dlg_cnt = 0;
onesec_cnt = 0;
phase = 0; //reset the state machine
}
}
if(shortcut == KEY_BTN3) //thermal probe type
{
display_buttons(KEY_BTN3,1);
if(IS_THERM_MODE)
{
i = sysdata.tid[curr_dispch-1];
if(i != INVALID_PROBE)
{
if((tprbdata.type[i] >= PRBTYPE_K) &&\
(tprbdata.type[i] <= PRBTYPE_R))
{
if(tprbdata.type[i] == PRBTYPE_R)
tprbdata.type[i] = PRBTYPE_K;
else
tprbdata.type[i] +=1;
}
if(rundata.reading[curr_dispch-1] > -9000)
rundata.temperature[curr_dispch-1] = MValueToTValue(rundata.reading[curr_dispch-1], tprbdata.type[i]);
}
}
display_buttons(KEY_BTN3,0);
}
if(shortcut == KEY_BTN4) //remove zero
{
display_buttons(KEY_BTN4,1);
if(IS_BORE_MODE){
sysdata.R0 = rundata.Rx;
}else{
//sysdata.V0 = nav_read();
nav_command(NAV_ZEROON);
sleepms(1000*ONEMS);
}
display_buttons(KEY_BTN4,0);
}
if(curr_window == pgmain_handler) //redraw the running window
{
pgmain_handler(MSG_INIT);
}
shortcut = KEY_INVALID;
}else{
(*curr_window)(key);
}
key = KEY_INVALID;
}else{
if(curr_window != pgmain_handler)
continue;
if(dlg_cnt > 1)
{
onesec_cnt++;
if(onesec_cnt == (ONESEC-10))
{
updatestate();
}
if(onesec_cnt == ONESEC)
onesec_cnt = 0 ;
dlg_cnt--;
continue;
}
updatestate();
if((IS_THERM_MODE))
{
if(therm_state() == 0)
continue;
}else{
if(bore_state() == 0)
continue;
}
//shift to next channel
while(true)
{
ch_to_search += 1;
if(ch_to_search >= MAX_CH_NUM)
{
ch_to_search = 0;
break;
}
if(IS_THERM_MODE)
{
i = sysdata.tid[ch_to_search];
}else{
i = sysdata.rid[ch_to_search];
}
if(i == INVALID_PROBE)
continue;
if(IS_THERM_MODE)
{
if((tprbdata.type[i] >= PRBTYPE_K) && (tprbdata.type[i] <= PRBTYPE_R))
break;
}else{
if((rprbdata.type[i] <= PRBTYPE_MAX) && (rprbdata.type[i] >= PRBTYPE_MIN))
break;
}
}
}
}
}
