/*************************************************
Function: initSystemParam
Description: 初始化系统参数
Input: 无
Output: 无
Return: 无
Others:
*************************************************/
void operGuiStorage::initSystemParam()
{
init_sysparam();
}
void main(void) {
/* put your own code here */
static unsigned int last_msec_task1 ;
static unsigned int last_msec_task2 ;
PLL_Init () ;
SerialCfgPort() ;
init_pit() ;
Mspeed_init() ;
pwm_init() ;
init_sysparam();
EnableInterrupts;
DDRE = DDRE|0X50;
PORTE_PE4 = 1 ;
DDRE_DDRE5 = 0 ;
for(;;) {
PORTE_PE6 = ~PORTE_PE6 ;
/*-----------------------------------------------------------------------------
* 获取激光数据，融合编码器数据控制车体运动
*-----------------------------------------------------------------------------*/
if(start_time.msec % 50 == 0 && start_time.msec != last_msec_task1
&& start_time.msec != last_msec_task1+1 ) //防止时间的更新正好发生在条件判断的时候
{
last_msec_task1 = start_time.msec ;
/*获取速度*/
buffer_1[0] = PACNT%256 ; //低位
buffer_1[1] = PACNT/256 ; //高位
/*计数器清零*/
PACNT = 0 ;
/*获取速度*/
buffer_1[2] = PORTB ;
/*计数器清零*/
PORTE_PE4 = 0 ;
asm(nop) ; asm(nop) ;
asm(nop) ; asm(nop) ;
PORTE_PE4 = 1 ;
/* */
//SCI0Send1(buffer_1[0]) ;
//SCI0Send1(buffer_1[1]) ;
SCI0Send1(buffer_1[2]) ;
// SCI1Send1(buffer_1[1]) ;
// SCI0Send1(buffer_1[2]) ;
}
/*-----------------------------------------------------------------------------
* 车体运动控制结束
*-----------------------------------------------------------------------------*/
/*-----------------------------------------------------------------------------
* 编码并保存漏磁信号,以最高速度1ms每次的采样率
*-----------------------------------------------------------------------------*/
if( start_time.msec != last_msec_task2 )
{
last_msec_task2 = start_time.msec ;
}
/*-----------------------------------------------------------------------------
* 漏磁信号处理结束
*-----------------------------------------------------------------------------*/
_FEED_COP(); /* feeds the dog */
} /* loop forever */
