void main(){
EA = 1; //开总中断
ConfigUART(9600);
while (1){ //配置波特率为 9600
while(temp<=10000)temp++;
temp=0;
StartTXD(0x55);
while (!TxdEnd);
}
}
void main(){
EA = 1; //开总中断
ConfigUART(9600);
P0=0;
while (1){ //配置波特率为 9600
while (PIN_RXD); //等待接收引脚出现低电平，即起始位
StartRXD(); //启动接收
while (!RxdEnd); //等待接收完成
P0=RxdBuf;
}
}
void main(void)
{
ConfigWDT();
ConfigClocks();
ConfigPINs();
ConfigUART();
ConfigTimerA2();
__bis_SR_register(GIE); // Enter LPM0 w/ int until Byte RXed
while (1)
{
if( RX_TRS ) Exec_Commands( );
}
}
// Initialize FreeRTOS and start the initial set of tasks.
int main(void)
{
// TivaC application specific code
MAP_FPUEnable();
MAP_FPULazyStackingEnable();
// Run from the PLL at 120 MHz.
MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480), TM4C129FREQ);
// Make sure the main oscillator is enabled because this is required by
// the PHY. The system must have a 25MHz crystal attached to the OSC
// pins. The SYSCTL_MOSC_HIGHFREQ parameter is used when the crystal
// frequency is 10MHz or higher.
MAP_SysCtlMOSCConfigSet(SYSCTL_MOSC_HIGHFREQ);
MAP_IntEnable(FAULT_NMI);
MAP_IntEnable(FAULT_MPU);
MAP_IntEnable(FAULT_BUS);
MAP_IntEnable(FAULT_USAGE);
ConfigUART(115200);
UARTprintf("\n\nWelcome to the EK-TM4C129XL FreeRTOS Demo!\n");
// ROS nodehandle initialization and topic registration
nh.initNode("192.168.1.135");
// Start ROS spin task, responsible for handling callbacks and communications
if (spinInitTask(&nh))
{
UARTprintf("Couldn't create ROS spin task.\n");
while (1);
}
else
{
UARTprintf("Created ROS spin task.\n");
}
// Register and init subscribe task
if (subscribeInitTask(&nh))
{
UARTprintf("Couldn't create subscribe task.\n");
while (1);
}
else
{
UARTprintf("Created subscribe task.\n");
}
// Register and init publish task
if (publishInitTask(&nh))
{
UARTprintf("Couldn't create publish task.\n");
while (1);
}
else
{
UARTprintf("Created publish task.\n");
}
// Start the scheduler. This should not return.
UARTprintf("Starting scheduller.\n");
vTaskStartScheduler();
// In case the scheduler returns for some reason, print an error and loop forever.
while (1)
{
UARTprintf("Scheduler returned!\n");
}
}
int main()//OPTIMIZATION LEVEL = 0
{
HAL_Init();
SystemClockConfig();
ConfigLED();
ConfigTimer();
rtksvrstart(&svr);
ConfigUART(svr.format[0]);
fobs[0]=fobs[1]=0;
//svr.raw[1].time.time = 1429540822;//test SS2 data
//svr.raw[1].time.time = 1429539852;//test SS2 data
while (HAL_UART_Receive_DMA(&UartGPSHandle,svr.buff[0],MAX_RAW_LEN) != HAL_OK);
while (HAL_UART_Receive_DMA(&UartRFHandle,svr.buff[1],MAX_RAW_LEN) != HAL_OK);
HAL_Delay(3000);
sendRequest(svr.format[0]);
// test();
while(1)
{
#ifndef _TEST_RESULT
if (flagTimeout)
{
int index,temp;
flagTimeout=0;
//SendIntStr(UartGPSHandle.Instance->SR);
//SendIntStr(UartRFHandle.Instance->SR);
for (index=0;index<2;index++)
{
if (index==0)
temp = UartGPSHandle.hdmarx->Instance->NDTR & 0xffff;
else
temp = UartRFHandle.hdmarx->Instance->NDTR & 0xffff;
if (temp + svr.buffPtr[index] <= MAX_RAW_LEN)
svr.nb[index] = MAX_RAW_LEN - svr.buffPtr[index] - temp;
else
svr.nb[index] = 2*MAX_RAW_LEN - temp - svr.buffPtr[index];
fobs[index] = decode_raw(&svr,index);
svr.buffPtr[index] = MAX_RAW_LEN - temp;
}
// temp = UartGPSHandle.hdmarx->Instance->NDTR & 0xffff;
// if (temp + svr.buffPtr[0] <= MAX_RAW_LEN)
// svr.nb[0] = MAX_RAW_LEN - svr.buffPtr[0] - temp;
// else
// svr.nb[0] = 2*MAX_RAW_LEN - temp - svr.buffPtr[0];
// if (svr.buffPtr[0] + svr.nb[0] <= MAX_RAW_LEN)
// {
// for (i = svr.buff[0] + svr.buffPtr[0] ;
// i < svr.buff[0] + svr.buffPtr[0] + svr.nb[0]; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// }
// else
// {
// for (i = svr.buff[0] + svr.buffPtr[0] ;
// i < svr.buff[0] + MAX_RAW_LEN; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// for (i = svr.buff[0] ;
// i < svr.buff[0] + svr.nb[0] + svr.buffPtr[0] - MAX_RAW_LEN ; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// }
// svr.buffPtr[0] = MAX_RAW_LEN - temp;
//rtk positioning**********************************************************************
// if (0)
if (fobs[1])
{
fobs[1]=0;
LED4_TOGGLE;
}
if (fobs[0])
{
int i;
fobs[0]=0;
LED3_TOGGLE;
#ifdef TIME_MEASURE
start=HAL_GetTick();
#endif
temp=svr.obs[0].n;
for (i=0;i<temp;i++)
{
obsd[i]=svr.obs[0].data[i];
}
for (i=0;(i<svr.obs[1].n)&&(i+temp<MAX_OBS);i++)
{
obsd[i+temp]=svr.obs[1].data[i];
}
if (!rtkpos(&svr.rtk,obsd,i+temp,&svr.nav))
// if (1)
{
LED5_TOGGLE;
#ifdef TIME_MEASURE
t=HAL_GetTick()-start;
svr.rtk.sol.processTime = t;
#endif
if (svr.rtk.sol.stat==SOLQ_FIX)
LED6_TOGGLE;
outsol(&svr.rtk.sol,svr.rtk.rb);
SendStr(svr.rtk.sol.result);
}
else
{
HAL_UART_Transmit_DMA(&UartResultHandle,(unsigned char*)svr.rtk.errbuf,svr.rtk.errLen);
}
}
}
#else
if (flagTimeout)
{
static int i;
char* res = svr.rtk.sol.result;
flagTimeout = 0;
res+=sprintf(res,
"%04.0f/%02.0f/%02.0f %02.0f:%02.0f:%06.3f %14.4f %14.4f %14.4f %3d %3d %8.4f %8.4f %8.4f %8.4f %8.4f %8.4f %6.2f %6.1f",
2015.0,10.0,12.0,3.0,45.0,18.0,//time yy/mm/dd hh:mm:ss.ssss
1.0,2.0,1.0,
1,1,
1.0,1.0,1.0,
1.0,1.0,1.0,
1.0,1.0);
res+=sprintf(res," %4d",i++);
res[0]='\n';
SendStr(svr.rtk.sol.result);
}
#endif
}
}
