void delay1ms_show (unsigned int a, unsigned int val) { // 1ms延时程序（12MHz 10倍于51单片机速度时）
unsigned int i;
while( --a != 0) {
for(i = 0; i < 600; i++);
show_byte((cmd_func << 8) | (val & 0xff));
}
}
void led_test_pattern()
{
a = 0x00;
while (1)
{
a += 0x11;
msg1.data[0] = a;
show_byte( a, 0 );
delay(one_second/2);
}
}
void main()
{
unsigned short val = 0;
unsigned int show_data = 0;
//unsigned short last_data = 0;
uart2_init();
init_led();
init_motor();
init_steering();
init_speed();
show_byte(0);
//led_vcc_on();
while(1) {
// show_byte(0x12,1);
if((uart_data >= '0') && (uart_data <= 'z')) {
//last_data = val;
val = uart_data;
}
//show_data = (cmd_func << 8) | (val & 0xff);
show_data = ((left_dis << 8)&0xff00) | (right_dis & 0xff);
//show_data = (left_diff << 8) | (right_diff & 0xff);
show_byte(show_data);
if(sg_flag == 1) {
sg_flag = 0;
delay1ms_show(1000 * 3,show_data);
if(sg_flag == 0) { //maybe call up() twice in 3s
stop_sg();
}
}
//uart2_send('a');
//uart2_send('b');
//uart2_send('c');
}
}
//***** main *****************************************************
int main(void)
{
union uKeyRoster scan;
chip_init(); // Chip initialization
can_init(); /* Enables Mob0 for Reception! */
can_init_test_msg();
byte result = CANSTMOB;
send_test_msgs();
/* TEST A) Initial Board Alive test, call this below. Watch LEDs go.
led_test_pattern(); */
/* B) Enable Receive Interrupts and call Show_byte() in the ISR.
ALL CODE IS IN ISR() */
while (1) {};
while (1)
{
wait_for_press();
// Result is stored in prev_keys & keys and hopefully keys2
scan = pack_array( keys );
can_prep_button_roster_msg( &msg1, scan );
can_send_msg( 0, &msg1 );
show_byte( scan.array[0], 1 );
// result = CANEN2; // shows MOb n in use mob1 is staying "in use" after 1 can_tx()
// result = CANSTMOB; // shows TXOK or ERRs BERR staying on instead of TXOK
// result = CANGSTA; // shows TXOK or ERRs TXBSY blinking (retires?)
// result = 0x83;
// result = scan.array[0];
// show_byte( a, 1 );
// [0] upper nibble is front row
// [0] lower is top row
// [1] upper nibble is 2nd row
// [1] lower is 3rd row
// [2] upper nibble is 4th row
/* for (int j=0; j<4; j++)
{
show_result_toggle(result);
delay (one_second/2);
} */
}
return(0);
}
int main (void)
{
int count;
uint8_t data = 'M';
system_init ();
tinygl_init (LOOP_RATE);
tinygl_font_set (&font3x5_1);
tinygl_text_speed_set (MESSAGE_RATE);
tinygl_text_mode_set (TINYGL_TEXT_MODE_STEP);
tinygl_text_dir_set (TINYGL_TEXT_DIR_ROTATE);
navswitch_init ();
ir_uart_init ();
pacer_init (LOOP_RATE);
show_byte ('M');
count = 0;
/* Paced loop. */
while (1)
{
/* Wait for next tick. */
pacer_wait ();
tinygl_update ();
if (ir_uart_read_ready_p ())
{
uint8_t data;
data = ir_uart_getc ();
/* Note, if messages come in too fast, say due to IR
inteference from fluorescent lights, then the display
will not keep up and will appear to freeze. */
show_byte (data);
}
count++;
if (count > LOOP_RATE / SWITCH_POLL_RATE)
{
count = 0;
navswitch_update ();
if (navswitch_push_event_p (NAVSWITCH_WEST))
{
ir_uart_putc (--data);
/* Gobble echoed character. */
ir_uart_getc ();
}
if (navswitch_push_event_p (NAVSWITCH_EAST))
{
ir_uart_putc (++data);
/* Gobble echoed character. */
ir_uart_getc ();
}
}
}
return 0;
}
