int main(void) {
char c;
INTCON1bits.NSTDIS = 1;
openQEI();
OpenUART();
// openPWM();
// InitTMR2();
Clock_Init();
// enablePWM;
// ch1Run;
// ch2Run;
initInterpreter();
initOdometrie();
initAsservissement();
initPIDs();
while(1)
{
c = (char)ReadUART1();
if(buildCommande())
{
interpreteCommande();
clearCommande();
}
}
return 0;
}
void Setup (void)
{
unsigned char MSG_SAUD_Radio_nRF24L01 [] = {"nRF24L01 Radio\n\r"};
TRISDbits.RD0 = 0;
TRISAbits.RA4 = 0;
LED_OFF
OpenUART(); // abre Soft UART @9600,8N1, TXD pino RB4 & RXD pino RB5
Usart_Send (MSG_SAUD_Radio_nRF24L01);
Open_nRF24L01_SPI();
ADCON1 = 0x0E; // CONFIGURA PA0 COMO ANALOGICA, restantes como digitais
CMCON = 0x0F; // DESABILITAR COMPARADOR
// PIC Expert 2 somente
// ---------------
TRISBbits.RB3 = 0; // mantém o GLCD resetado
PORTBbits.RB3 = 0; // só pra evitar de ficar piscando
TRISEbits.RE2 = 0; // pois compartilha o PORT D c/
PORTEbits.RE2 = 0; // os LEDs
// ---------------
}//
void SerialPCInit( void ){
serialPC_ProcessaPkt = FALSE;
stSerialPC = ST_STX;
serialPC_CRC = 0;
serialPC_DataLen = 0;
#ifdef _USE_SERIALPC_TIMEOUT
serialPC_timer = TIMER_NULL;
#endif
#ifdef USE_SONDA
serialPC_SondaTimer = TIMER_NULL;
#endif
OpenUART();
return;
}
//*****************************************************************************
//
//! main() is the programs main routine.
//!
//! \param argc is the number of parameters that were passed in via the command
//! line.
//! \param argv is the list of strings that holds each parameter that was were
//! passed in via the command line.
//!
//! This is the main routine for downloading an image to the device via the
//! UART.
//!
//! \return This function either returns a negative value indicating a failure
//! or zero if the download was successful.
//
//*****************************************************************************
int32_t
main(int32_t argc, char **argv)
{
FILE *hFile;
FILE *hFileBoot;
g_ui32DownloadAddress = 0;
g_ui32StartAddress = 0xffffffff;
g_pcFilename = 0;
g_pcBootLoadName = 0;
g_pui32BaudRate = 115200;
g_ui32DataSize = 8;
g_i32DisableAutoBaud = 0;
setbuf(stdout, 0);
//
// Get any arguments that were passed in.
//
if(parseArgs(argc, argv))
{
printf("%s", pcUsageString);
return(-1);
}
if(CheckArgs())
{
return(-1);
}
//
// If a boot loader was specified then open it.
//
if(g_pcBootLoadName)
{
//
// Open the boot loader file to download.
//
hFileBoot = fopen(g_pcBootLoadName, "rb");
if(hFileBoot == 0)
{
printf("Failed to open file: %s\n", g_pcBootLoadName);
return(-1);
}
}
//
// Open the file to download.
//
hFile = fopen(g_pcFilename, "rb");
if(hFile == 0)
{
printf("Failed to open file: %s\n", g_pcFilename);
return(-1);
}
if(OpenUART(g_pcCOMName, g_pui32BaudRate))
{
printf("Failed to configure Host UART\n");
return(-1);
}
//
// Now try to auto baud with the board by sending the Sync and waiting
// for an ack from the board.
//
if(g_i32DisableAutoBaud == 0)
{
if(AutoBaud())
{
printf("Failed to synchronize with board.\n");
return(-1);
}
}
printf("\n");
if(g_pcBootLoadName)
{
printf("Boot Loader : %s\n", g_pcBootLoadName);
}
printf("Application : %s\n", g_pcFilename);
printf("Program Address: 0x%x\n", g_ui32DownloadAddress);
printf(" COM Port: %s\n", g_pcCOMName);
printf(" Baud Rate: %d\n", g_pui32BaudRate);
printf("Erasing Flash:\n");
//
// If both a boot loader and an application were specified then update both
// the boot loader and the application.
//
if(g_pcBootLoadName != 0)
{
if(UpdateFlash(hFile, hFileBoot, g_ui32DownloadAddress) < 0)
{
return(-1);
}
}
//
// Otherwise just update the application.
//
else if(UpdateFlash(hFile, 0, g_ui32DownloadAddress) < 0)
{
return(-1);
}
//
// If a start address was specified then send the run command to the
// boot loader.
//
if(g_ui32StartAddress != 0xffffffff)
{
//
// Send the run command but just send the packet, there will likely
// be no boot loader to answer after this command completes.
//
g_pui8Buffer[0] = COMMAND_RUN;
g_pui8Buffer[1] = (uint8_t)(g_ui32StartAddress>>24);
g_pui8Buffer[2] = (uint8_t)(g_ui32StartAddress>>16);
g_pui8Buffer[3] = (uint8_t)(g_ui32StartAddress>>8);
g_pui8Buffer[4] = (uint8_t)g_ui32StartAddress;
if(SendPacket(g_pui8Buffer, 5, 0) < 0)
{
printf("Failed to Send Run command\n");
}
else
{
printf("Running from address %08x\n",g_ui32StartAddress);
}
}
