//*****************************************************************************
// MAIN FUNCTION
//*****************************************************************************
void main()
{
#if defined(ewarm)
IntVTableBaseSet((unsigned long)&__vector_table);
#endif
//
// Board Initialization
//
MCUInit();
InitTerm(); //set the parameters of uart0
//
// Enable the SYSTICK interrupt
//
IntEnable(FAULT_SYSTICK);
//
// Start the SimpleLink Host
//
VStartSimpleLinkSpawnTask(SPAWN_TASK_PRIORITY);
//
// Start the WlanAPMode task
//
osi_TaskCreate( WlanAPMode,
(const signed char*)"wireless LAN in AP mode",
2048, NULL, 1, NULL );
//
// Start the task scheduler
//
osi_start();
}
//主程序
int main()
{
INT8U remember;
DISABLE_INTERRUPTS; //禁止总中断
//1. 芯片初始化
MCUInit();
//2. 模块初始化
SCIInit(); //(1) 串口初始化
TimerInit(); //(2) 定时器1初始化
//3. 内存初始化
//(1) "时分秒"缓存初始化(00:00:00)
time[0] = 0;
time[1] = 0;
time[2] = 0;
//(2) 临时变量remember初始化
remember = time[2];
//(3) 全局变量TimInterCount初始化
TimInterCount = 0;
//4. 开放各模块中断
EnableSCIReInt; //(1) 开放SCI0接收中断
EnableT1OVInt; //(2) 开放定时器1溢出中断
//5. 开放总中断
ENABLE_INTERRUPTS; //开总中断
while (1)
{
if (time[2] != remember)
{
SCISendN(3, time); //发送当前"时分秒"
remember = time[2]; //remember中存放当前秒值
}
}
}
int main(void) {
__bis_SR_register(GIE);
MCUInit();
I2C_masterInit();
TimerInit();
I2C_enable();
//TA0CCTL1 |= CCIE;
TA1CCTL1 |= CCIE;
while (1)
{
}
}
//主函数
int main()
{
DISABLE_INTERRUPTS; //禁止总中断
//1. 芯片初始化
MCUInit();
//2. 模块初始化
ICInit(); //输入捕捉初始化
LEDInit(); //小灯驱动头文件
//3. 开放总中断
ENABLE_INTERRUPTS; //开放总中断
//主循环
while(1)
{
}
}
void main(void)
{
INT8U i;
DISABLE_INTERRUPTS; //关总中断
//1.芯片初始化
MCUInit();
//2. 模块初始化
SCIInit(); //(1) 串口初始化
while (1)
{
i = SCIReN(1,SerialBuff); //等待接收1个数据
if (i == 0) SCISendN(1,SerialBuff); //发送接到的数据
}
}
//主函数
int main()
{
INT8U i, j;
INT16U value[2];
MCUInit(); //系统初始化
SCIInit(); //串行口初始化
SPIInit(); //SPI通信初始化
//程序总循环入口
while (1)
{
ADCP(3, 1, 2, value); //取33路AD转换16次平均值放入ADValue[33]
SCISendN(4,(INT8U *)value);
for (i=0; i<100; i++)
for (j=0; j<200; j++)
Delay();
}
}
//*****************************************************************************
// MAIN FUNCTION
//*****************************************************************************
void main()
{
#if defined(ewarm)
IntVTableBaseSet((unsigned long)&__vector_table);
#endif
//
// Board Initialization
//
MCUInit();
//
// Enable the SYSTICK interrupt
//
IntEnable(FAULT_SYSTICK);
UART_PRINT("hellow i am in\n\r");
//
// Start the SimpleLink Host
//
VStartSimpleLinkSpawnTask(SPAWN_TASK_PRIORITY);
//
// WlanStationMode(NULL);
// UART_PRINT("hellow i am in\n\r");
// Start the WlanStationMode task
//
osi_TaskCreate( WlanStationMode,
(const signed char*)"wireless LAN in station mode",
2048, NULL, 1, NULL );
//
// Start the task scheduler
//
osi_start();
}
//*****************************************************************************
// MAIN FUNCTION
//*****************************************************************************
void main()
{
#if defined(ewarm)
IntVTableBaseSet((unsigned long)&__vector_table);
#endif
//
// Board Initialization
//
MCUInit();
//
// Enable the SYSTICK interrupt
//
IntEnable(FAULT_SYSTICK);
sysTickInit();
//
// Start the SimpleLink Host
//
VStartSimpleLinkSpawnTask(SPAWN_TASK_PRIORITY);
//
// WlanStationMode(NULL);
// UART_PRINT("hellow i am in\n\r");
// Start the WlanStationMode task
//
if(OSI_OK !=osi_TaskCreate( WlanStationMode,
(const signed char*)"WlanStationMode task",
2048, NULL, 3, NULL ))
UART_PRINT("WlanStationMode failed\n\r");
if(OSI_OK != osi_TaskCreate( taskServer,
(const signed char*)"taskServer",
2048, NULL, 2, (OsiTaskHandle)&ServerTaskHandle ) )
UART_PRINT("taskServer failed\n\r");
if(OSI_OK != osi_TaskCreate( taskClient,
(const signed char*)"taskClient",
2048, NULL, 1, (OsiTaskHandle)&clientTaskHandle ))
UART_PRINT("taskClient failed\n\r");
/*
if(OSI_OK != osi_TaskCreate( taskTest1,
(const signed char*)"taskTest1",
2048, NULL, 1, NULL ))
UART_PRINT("taskTest1 failed\n\r");
if(OSI_OK != osi_TaskCreate( taskTest2,
(const signed char*)"taskTest2",
2048, NULL, 1, NULL ))
UART_PRINT("taskTest1 failed\n\r");
*/
//
// Start the task scheduler
//
//osi_start();
vTaskStartScheduler();
}
//主函数
int main()
{
INT8U i;
INT8U j;
INT8U k;
INT8U flag; //写字节奇偶个数标志
DISABLE_INTERRUPTS; //禁止总中断
//1. 芯片初始化
MCUInit();
//2. 模块初始化
SCIInit(); //串行口初始化
//3.内存初始化
//把存放在RAM区的机器码赋值给数组PrgOfRam,供Flash擦写函数调用
for (i=0; i<18; i++)
PrgOfRam[i] = P[i];
//主循环
while (1)
{
i = SCIReN(1,SerialBuff);
if (i != 0) continue;
switch (SerialBuff[0])
{
//收到提问信号
case '?' :
{
SCISendN(11,"E:PAGE:ADDR",0x00); //擦除命令格式
SCISendN(2, (void *)Line_end,0x00);
SCISendN(18,"W:PAGE:ADDR:N:DATA",0x00); //写入命令格式
SCISendN(2, (void *)Line_end,0x00);
SCISendN(13,"R:PAGE:ADDR:N",0x00); //读取命令格式
SCISendN(2,(void *)Line_end,0x00);
break;
}
//收到擦除信号
case 'E' :
{
j = SCIReN(8,SerialBuff);
if (j == 0)
{
//将收到的字符数据转换成十六进制数据
for (k=1; k<8; k++)
if((SerialBuff[k]>='0') && (SerialBuff[k]<='9'))
SerialBuff[k] = SerialBuff[k]-'0';
else SerialBuff[k] = SerialBuff[k]-'A'+0x0A;
//对页号和地址处理
page=CvtPage(SerialBuff);
addr=CvtAddr(SerialBuff);
//擦除指定的扇区
Flash_Erase_Sector(page,addr);
//发送擦除结果
SCISendN(250,(void *)addr,page);
}
break;
}
//收到写入信号
case 'W' :
{
j = SCIReN(11,SerialBuff);
if (j == 0)
{
//将收到的字符数据转换成十六进制数据
for (k=1; k<10; k++)
if ((SerialBuff[k]>='0') && (SerialBuff[k]<='9'))
SerialBuff[k] = SerialBuff[k]-'0';
else SerialBuff[k] = SerialBuff[k]-'A'+0x0A;
//对页号和地址处理
page=CvtPage(SerialBuff);
addr=CvtAddr(SerialBuff);
//接收写入的数据个数
N = SerialBuff[9];
//接收写入的数据
k = SCIReN(N,SerialBuff);
//对数据的奇偶个数进行处理
if (k == 0)
{
flag = 0;
if(1 == N%2)
{
SerialBuff[N] = 0xFF;
N += 1;
flag = 1;
}
//写入数据
Flash_Write_Nword(page,addr,(INT16U)SerialBuff,N/2);
if(1 == flag)
{
N -= 1;
}
//发送写入到Flash的数据
SCISendN(N,(void *)addr,page);
}
}
break;
}
//收到读取信号
case 'R' :
{
i = SCIReN(10,SerialBuff);
if (i == 0)
{
//将收到的字符数据转换成十六进制数据
for (i=1; i<10; i++)
if((SerialBuff[i]>='0') && (SerialBuff[i]<='9'))
SerialBuff[i] = SerialBuff[i]-'0';
else SerialBuff[i] = SerialBuff[i]-'A'+0x0A;
//对页号和地址处理
page=CvtPage(SerialBuff);
addr=CvtAddr(SerialBuff);
//接收要读取的数据个数
N = SerialBuff[9];
//发送要读取的数据
SCISendN(N,(void *)addr,page);
}
break;
}
}
}
}
/* ================= main ====================
desc: 程序入口函数
pre: 无
Post: 无
*/
void main(void) {
// Local Declarations
byte laser_history_array[LASER_HISTORY_MAX]; //激光管历史状态数组
Bool temp_usualRoad_flag = TRUE; //当前判断是否正常路段标志
Bool last_usualRoad_flag = TRUE; //上次判断是否正常路段标志
Bool stopCar_flag = FALSE; //停车标志
Bool breakCar_flag = FALSE; //刹车标志
byte startlineFlag_count = 0; //经过起始线的次数
byte laser_hitNum = 1; //照到黑线的激光管个数
byte inside_count = INSIDE_COUNT_MAX; //激光管连续在黑线范围内的次数
byte outside_count = 0; //激光管连续在黑线外的次数
byte last_error = 0; //直道加速匀速控制的上次误差
LASER_STATUS last_laserStatus = MID7; //上次激光管状态
LASER_STATUS temp_laserStatus = MID7; //当前激光管状态
int last_turnAngle = PWM1_MID; //上次舵机调整的角度
int temp_turnAngle = PWM1_MID; //当前舵机需要调整的角度
int last_speed = PWM3_FAST0; //上次速度
int temp_speed = PWM3_FAST0; //当前速度
int i;
int testcount=0; //发送激光管信息计数值定义
for(i=0;i<LASER_HISTORY_MAX;i++) {
laser_history_array[i] = MID7;
}
// Statements
DisableInterrupts;
MCUInit();
SmartcarInit();
EnableInterrupts;
for(;;) {
if(PITINTE_PINTE0 == 0) { //若PIT0采集中断为关,即道路信息采集完成
laser_hitNum = 15 - CalculateLaserHitNum(g_temp_laser_array);
temp_usualRoad_flag = IsUsualRoad (laser_hitNum); //判断是否为正常道路
if (temp_usualRoad_flag) {
temp_laserStatus = GetLaserStatus(last_laserStatus,g_temp_laser_array,laser_hitNum,&inside_count,&breakCar_flag,laser_history_array,&outside_count); //得到当前激光管状态
temp_turnAngle = CalculateAngle(temp_laserStatus); //得到舵机需要调整的转角
temp_speed = CalculateSpeed (temp_turnAngle,stopCar_flag,inside_count,outside_count); //得到需要输出的速度
}
else {
if((last_usualRoad_flag == TRUE)&&(laser_hitNum>=8&&laser_hitNum<=11)) { //一定执行
startlineFlag_count = CountStartlineFlag(startlineFlag_count,g_temp_laser_array); //计算小车经过起始线的次数
if(startlineFlag_count == 2)
stopCar_flag = TRUE; //若是第二次经过起始线，停车标志置位，即停车
StopCar(stopCar_flag);
}
} /**/
testcount++;
if(testcount%50==0){
testcount=1;
SendSmartcarInfo(g_temp_laser_array,temp_laserStatus,last_laserStatus,g_temp_pulse);//发送激光管信息
} /* */
PITINTE_PINTE0 = 1; //开PIT0采集中断
}
DerectionCtrl(temp_turnAngle); //调整舵机
if(breakCar_flag == TRUE) { //若直道入弯，反转减速刹车
BreakCar(g_temp_pulse, &breakCar_flag);
}
else
SpeedCtrl(temp_speed,g_temp_pulse,&last_error); //调整正转速度
last_speed = temp_speed; //保存当前速度
last_laserStatus = temp_laserStatus; //保存当前激光管状态
last_turnAngle = temp_turnAngle; //保存当前舵机转角
last_usualRoad_flag = temp_usualRoad_flag; //保存当前是否正常道路的标志
for(i=LASER_HISTORY_MAX-1;i>0;i--){ //保存激光管历史状态
laser_history_array[i] = laser_history_array[i-1];
}
laser_history_array[0] = temp_laserStatus;
}
} //main
//主函数
int main()
{
INT8U i;
INT8U j;
INT8U k;
INT8U flag; //读写字节奇偶个数标志
INT8U Line_end[2];
INT8U Convert(INT8U ASC1,INT8U ASC2);
DISABLE_INTERRUPTS; //禁止总中断
//1. 芯片初始化
MCUInit();
//2. 模块初始化
SCIInit(); //(1) 串行口初始化
//3.内存初始化
//ASCII码换行符
Line_end[0]=13;
Line_end[1]=10;
//把存放在RAM区的机器码赋值给数组PrgOfRam,供Flash擦写函数调用
for (i=0; i<18; i++)
PrgOfRam[i] = P[i];
//后门机制密码
for(i=0;i<8;i++)
BackdoorKey[i]=0xFF;
//安全字节
SecureByte[0]=0xFF;
SecureByte[1]=0xFE;
//主循环
while (1)
{
i = SCIReN(1,SerialBuff);
if (i != 0) continue;
switch (SerialBuff[0])
{
//收到提问信号
case '?' :
{
SCISendN(11,"E:PAGE:ADDR"); //擦除命令格式
SCISendN(2, (void *)Line_end);
SCISendN(18,"W:PAGE:ADDR:N:DATA"); //写入命令格式
SCISendN(2, (void *)Line_end);
SCISendN(13,"R:PAGE:ADDR:N"); //读取命令格式
SCISendN(2,(void *)Line_end);
SCISendN(13,"S:BackdoorKey"); //设置密码命令格式
SCISendN(2,(void *)Line_end);
SCISendN(12,"C:SecureByte"); //设置安全状态命令格式
SCISendN(2,(void *)Line_end);
SCISendN(24,"U:BackdoorKey"); //解除安全模式命令格式
SCISendN(2,(void *)Line_end);
break;
}
//收到擦除信号
case 'E' :
{
j = SCIReN(8,SerialBuff);
if (j == 0)
{
//将收到的字符数据转换成十六进制数据
for (k=1; k<8; k++)
if((SerialBuff[k]>='0') && (SerialBuff[k]<='9'))
SerialBuff[k] = SerialBuff[k]-'0';
else SerialBuff[k] = SerialBuff[k]-'A'+0x0A;
//对页号和地址处理
page=CvtPage(SerialBuff);
addr=CvtAddr(SerialBuff);
//擦除指定的扇区
Flash_Erase_Sector(page,addr);
//发送擦除结果
SCISendN(250,(void *)addr);
}
break;
}
//收到写入信号
case 'W' :
{
j = SCIReN(11,SerialBuff);
if (j == 0)
{
//将收到的字符数据转换成十六进制数据
for (k=1; k<10; k++)
if ((SerialBuff[k]>='0') && (SerialBuff[k]<='9'))
SerialBuff[k] = SerialBuff[k]-'0';
else SerialBuff[k] = SerialBuff[k]-'A'+0x0A;
//对页号和地址处理
page=CvtPage(SerialBuff);
addr=CvtAddr(SerialBuff);
//接收写入的数据个数
N = SerialBuff[9];
//接收写入的数据
k = SCIReN(N,SerialBuff);
//对数据的奇偶个数进行处理
if (k == 0)
{
flag = 0;
if(1 == N%2)
{
SerialBuff[N] = 0xFF;
N += 1;
flag = 1;
}
//写入数据
Flash_Write_Nword(page,addr,(INT16U)SerialBuff,N/2);
if(1 == flag)
{
N -= 1;
}
//发送写入到Flash的数据
SCISendN(N,(void *)addr);
}
}
break;
}
//收到读取信号
case 'R' :
{
i = SCIReN(10,SerialBuff);
if (i == 0)
{
//将收到的字符数据转换成十六进制数据
for (i=1; i<10; i++)
if((SerialBuff[i]>='0') && (SerialBuff[i]<='9'))
SerialBuff[i] = SerialBuff[i]-'0';
else SerialBuff[i] = SerialBuff[i]-'A'+0x0A;
//对页号和地址处理
page=CvtPage(SerialBuff);
addr=CvtAddr(SerialBuff);
//接收要读取的数据个数
N = SerialBuff[9];
//发送要读取的数据
SCISendN(N,(void *)addr);
}
break;
}
//设置后门机制进入密码
case 'S' :
{
i = SCIReN(17,SerialBuff);
if (i == 0)
{
for(i=0; i<8; i++)
BackdoorKey[i]=Convert(SerialBuff[i*2+1],SerialBuff[i*2+2]);
Flash_SetKey(BackdoorKey);
SCISendN(8,(void *)0xFF00);
}
break;
}
//改变安全状态
case 'C' :
{
i = SCIReN(3,SerialBuff);
if (i == 0)
{
SecureByte[1]=Convert(SerialBuff[1],SerialBuff[2]);
Flash_SetStatus(SecureByte);
SCISendN(1,(void *)0xFF0F);
}
break;
}
//使用后门机制解密
case 'U' :
{
i = SCIReN(17,SerialBuff);
if (i == 0)
{
for(i=0; i<8; i++)
BackdoorKey[i]=Convert(SerialBuff[i*2+1],SerialBuff[i*2+2]);
Flash_unsecured(BackdoorKey);
SCISendN(20,"Unsercured Success !");
SCISendN(2,(void *)Line_end);
}
break;
}
}
}
}
