/* The handler for the GPIOPortB Pin4, Pin5 & Pin6 state change interrupt. */
void portBIntHandler(void) {
//clear the interrupt
GPIOPinIntClear (GPIO_PORTB_BASE, (GPIO_PIN_1 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6));
int button;
//Read the state of the pins
//Select icon clicked to start/stop heli
if (!GPIOPinRead( GPIO_PORTB_BASE, GPIO_PIN_4 )) {
xSemaphoreGiveFromISR( xBinarySelectSemaphore, pdFALSE );
}
//Up icon clicked
if (!GPIOPinRead( GPIO_PORTB_BASE, GPIO_PIN_5 )) {
button = UP;
xQueueSendFromISR( xButtonQueue, &button, NULL );
}
//Down icon clicked
if (!GPIOPinRead( GPIO_PORTB_BASE, GPIO_PIN_6 )) {
button = DOWN;
xQueueSendFromISR( xButtonQueue, &button, NULL );
}
//Reset icon clicked
if (!GPIOPinRead( GPIO_PORTB_BASE, GPIO_PIN_1 )) {
SysCtlReset();
}
}
void USBDFUTriggerDevice::beginUpdate()
{
vTaskSuspendAll();
//USBDDFUUpdateBegin();
uint32_t *x = (uint32_t*)0x20017FFC;
*x = 0x23422342;
SysCtlReset();
}
void ButtPressIntHandler (void)
{
unsigned long ulSelect; //SELECT
unsigned long ulUp; //UP
unsigned long ulDown; //DOWN
unsigned long ulCCw; //CCW/RIGHT
unsigned long ulCw; //CW/LEFT
unsigned long ulReset; //RESET
//int power = 0;
// Clear the interrupt (documentation recommends doing this early)
GPIOPinIntClear (GPIO_PORTB_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6);
// Read the pins simultaneously to ensure the right states are read
ulReset = GPIOPinRead (GPIO_PORTB_BASE, GPIO_PIN_1);
ulCw = GPIOPinRead (GPIO_PORTB_BASE, GPIO_PIN_2);
ulCCw = GPIOPinRead (GPIO_PORTB_BASE, GPIO_PIN_3);
ulSelect = GPIOPinRead (GPIO_PORTB_BASE, GPIO_PIN_4);
ulUp = GPIOPinRead (GPIO_PORTB_BASE, GPIO_PIN_5);
ulDown = GPIOPinRead (GPIO_PORTB_BASE, GPIO_PIN_6);
// Compute the PWM period in terms of the PWM clock
period = SysCtlClockGet () / PWM_DIVIDER / MOTOR_RATE_HZ;
if(ulUp == 0){// && main_duty < 98){
//main_duty += 10;
//if (main_duty >= 98) main_duty = 98;
//PWMPulseWidthSet (PWM_BASE, PWM_OUT_1, period * main_duty /100);
desiredHeight += 10;
}
//Might have to change the duty cycle down here
if(ulDown == 0){// && main_duty > 10){
//main_duty -= 10;
//if (main_duty <= 10) main_duty = 10;
//PWMPulseWidthSet (PWM_BASE, PWM_OUT_1, period * main_duty /100);
desiredHeight -= 10;
}
if(ulCw == 0){// && tail_duty < 98){
//tail_duty += 15;
//if (tail_duty >= 98) tail_duty = 98;
//PWMPulseWidthSet (PWM_BASE, PWM_OUT_4, period * tail_duty /100);
desiredYaw += 15;
}
if(ulCCw == 0){// && tail_duty > 10){
//tail_duty -= 15;
//if (tail_duty <= 10) tail_duty = 10;
//PWMPulseWidthSet (PWM_BASE, PWM_OUT_4, period * tail_duty /100);
desiredYaw -= 15;
}
if(ulSelect == 0 && state == 0){
main_duty = MOTOR_DUTY_MAIN;
tail_duty = MOTOR_DUTY_TAIL;
PWMOutputState (PWM_BASE, PWM_OUT_1_BIT, true);
PWMOutputState (PWM_BASE, PWM_OUT_4_BIT, true);
PWMPulseWidthSet (PWM_BASE, PWM_OUT_1, period * main_duty /100);
PWMPulseWidthSet (PWM_BASE, PWM_OUT_4, period * tail_duty /100);
state = 1;
}
/*if(ulSelect == 0 && state == 1){
PWMOutputState (PWM_BASE, PWM_OUT_1_BIT, false);
PWMOutputState (PWM_BASE, PWM_OUT_4_BIT, false);
state = 0;
}*/
if(ulReset == 0){
if (!ulReset) SysCtlReset();
}
}
main()
{
SysCtlClockSet(SYSCTL_SYSDIV_2_5| SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ);
IntMasterEnable();
Uart0Init(19200);
Uart1Init(19200);
DPRINTF(("Bat=%d ,cha=%x ,Temp=%f \n",1,20,3.0));
// ADCBAT_init();
// Ssi0Init(); //AD7367
//spi_ad7705Init(); //AD7705
IoPortInit(); //IO口初始化
// I2CM_Init(); //Fm31256
//TimerInit();
PIN_JR_relay(ERelay_off);
PIN_JRTG_relay(ERelay_off);
PIN_JUNX_relay(ERelay_off);
PIN_JUN_relay(ERelay_off);
PIN_JUX_relay(ERelay_off);
FlashUsecSet(49);
AD7367_init();
AD7705_init();
// PIN_JR_relay(ERsample_1M);
/*
{
uint32 i;
set.Debug=EDebug_sub;
set.Fre=EFre_500;
gainchange();
Vac_read();
for(i=0;i<500;i++)
{
Fourier_Samplestart(); ;
delay(0xf000*200);
}
}
*/
/*
{
uint32 i;
set.Debug=EDebug_sub;
set.Fre=EFre_000;
V_read();
for(i=0;i<50;i++)
{
DPRINTF(("I=%x \n",Read_ad7705_I(0x07,1)));
}
for(i=0;i<50;i++)
{
DPRINTF(("U=%x \n",Read_ad7705_U(0x07,1)));
}
for(i=0;i<500;i++)
{
R_test();
delay(0xf000*200);
}
}
*/
modifyK_js();
rx_flag=0;
while(1)
{
// uint8 option=0;
if((rx_flag==rx_succeed))
{
Sendstc_ask();
set.Work=0x0f&rx_data.mune.workcommand;
set.Debug=0x0f&(rx_data.mune.workcommand>>4);
set.Fre=rx_data.mune.Fre;
set.Voltage=rx_data.mune.Voltage;
rx_flag=0x00;
switch(set.Work)
{
case EstartV_main:
V_read();
break;
case EstartTg_main://AC
Fourier_Samplestart();
PIN_JRTG_relay(ERelay_off);
PIN_JUNX_relay(ERelay_off);
PIN_JUN_relay(ERelay_off);
PIN_JUX_relay(ERelay_off);
break;
case EstartR_main://DC
R_test();
PIN_JRTG_relay(ERelay_off);
break;
case Emodifyin_main:
modify_save();
modifyK_js();
//DPRINTF(("In \n"));
break;
case Emodifyout_main :
delay(0x80000);
modify_ToView();
modifyK_js();
//DPRINTF(("out \n"));
break;
case EstartX_main :
Vacx_read();
break;
case ERelay_main:
PIN_JRTG_relay(ERelay_on);
PIN_JR_relay(ERsample_50);
break;
default :
SysCtlReset();
break;
}
if((rx_flag==rx_succeed))
{
if(set.Work==0x0f&rx_data.mune.workcommand)
{
rx_flag=0;
}
}
}
}
void bsp_reboot(void)
{
SysCtlReset();
}
void Restart(void)
{
SysCtlReset();
}
