/******************************************************************************
* LED_TurnOffLed
*
* Turns off on or more LEDs. Doesn't check/affect flashing states.
*******************************************************************************/
void LED_TurnOffLed(LED_t LEDNr)
{
if (LEDNr & LED1)
Led1Off();
if (LEDNr & LED2)
Led2Off();
if (LEDNr & LED3)
Led3Off();
if (LEDNr & LED4)
Led4Off();
}
void MotorClass::Stop(void)
{
GPIO_ResetBits(MOTOR_A1_GPIO,MOTOR_A1_PIN);
GPIO_ResetBits(MOTOR_A2_GPIO,MOTOR_A2_PIN);
GPIO_SetBits(MOTOR_B1_GPIO,MOTOR_B1_PIN);
GPIO_SetBits(MOTOR_B2_GPIO,MOTOR_B2_PIN);
iOverloadDelay=0;
Led2Off();
Led3Off();
chState=MOTOR_STOP;
}
void MotorClass::Upward(void) // A1, B2 - вверх
{
// отключаем A2 и B1
GPIO_ResetBits(MOTOR_A2_GPIO,MOTOR_A2_PIN);
GPIO_SetBits(MOTOR_B1_GPIO,MOTOR_B1_PIN);
Led2Off();
// ждем закрытия транзисторов
Delay.ms(SWITCH_DELAY);
// включаем A1 и B2
GPIO_SetBits(MOTOR_A1_GPIO,MOTOR_A1_PIN);
GPIO_ResetBits(MOTOR_B2_GPIO,MOTOR_B2_PIN);
iOverloadDelay=0;
chState=MOTOR_UPWARD;
Led3On();
}
/** Main program entry point. This routine configures the hardware required by the application, then
* enters a loop to run the application tasks in sequence.
*/
int main(void)
{
//RFCOMM_SendFrame(0x10003000,0x10003004,4,4,130,0x10003200);
uint16_t tick;
SetupHardware();
LPC_TIM0->TCR = 1;
Led1On();
Led2On();
Led1Off();
Led2Off();
EVENT_USB_Host_DeviceUnattached();
for (;;)
{
//uint8_t ButtonStatus = Buttons_GetStateMask();
/* Check if the system update interval has elapsed */
if(LPC_TIM0->IR &0x01)
{
/* Clear the timer compare flag */
LPC_TIM0->IR |= 0x01;
if (RFCOMM_SensorStream){
Led1On();
}
else{
if(tick++>=50)
{
tick = 0;
Led1Not();
}
}
/* If the bluetooth stack is active, manage timeouts within each layer */
BluetoothAdapter_TickElapsed();
KeyScan();
if(sendFlag){
rfcomm_send_data();
}
}
BluetoothAdapter_USBTask();
USB_USBTask();
}
}
void Main(void)
{
InterruptInit();
IntDisableAll();
Platform_Init();
TS_Init(); /* Init the kernel. */
TMR_Init(); /* Init the TMR module */
NvModuleInit();
Uart_ModuleInit();
/* This only creates the MAC TS thread. */
MacInit();
/* Use TS for MAC - the MAC TS ID must be known at this step. */
Init_802_15_4(TRUE);
#if gZtcIncluded_d
Ztc_TaskInit();
#endif /* gZtcIncluded_d */
/*initialize the application*/
gAppTaskID_c = TS_CreateTask(gTsAppTaskPriority_c, AppTask);
MApp_init();
#if (gLpmIncluded_d == 1)
/*do not allow the device to enter sleep mode*/
PWR_DisallowDeviceToSleep();
#endif /* gLpmIncluded_d == 1 */
/*All LED's are switched OFF*/
Led1Off();
Led2Off();
Led3Off();
Led4Off();
/* Start the task scheduler. Does not return. */
TS_Scheduler();
}
