/**************************************************************************************************
* @fn main
*
* @brief Start of application.
*
* @param none
*
* @return none
**************************************************************************************************
*/
int main(void)
{
/* Initialize hardware */
HAL_BOARD_INIT();
/* Initialze the HAL driver */
HalDriverInit();
/* Initialize MAC */
MAC_Init();
/* Initialize the operating system */
osal_init_system();
/* Enable interrupts */
HAL_ENABLE_INTERRUPTS();
/* Setup OSAL Timer */
HalTimerConfig ( OSAL_TIMER, // 16bit timer3
HAL_TIMER_MODE_CTC, // Clear Timer on Compare
HAL_TIMER_CHANNEL_SINGLE, // Channel 1 - default
HAL_TIMER_CH_MODE_OUTPUT_COMPARE, // Output Compare mode
FALSE, // Use interrupt
MSA_Main_TimerCallBack); // Channel Mode
/* Setup Keyboard callback */
HalKeyConfig(MSA_KEY_INT_ENABLED, MSA_Main_KeyCallback);
/* Initialize UART */
UartCnfg.baudRate = HAL_UART_BR_9600;
UartCnfg.callBackFunc = HalUARTCBack;
UartCnfg.flowControl = FALSE;
UartCnfg.flowControlThreshold = 0; /* max Buffer Size in Byte*/
UartCnfg.idleTimeout = 200;
/*
* halUARTOpen provvederà tramite la funzione halUartAllocBuffers ad allocare e inizializzare
* le strutture dati RxUART e TxUART.
*/
UartCnfg.rx = RxUART;
UartCnfg.tx = TxUART;
UartCnfg.rx.maxBufSize = UART_MAX_BUFFER_SIZE;
UartCnfg.tx.maxBufSize = UART_MAX_BUFFER_SIZE;
UartCnfg.intEnable = TRUE ; /* enable or disable the interrupts */
UartCnfg.configured = TRUE;
uint8 status = HalUARTOpen(HAL_UART_PORT, &UartCnfg); /* passo l'indirizzo di memoria della struttura dati
UartCnfg, Passaggio per riferimento!!!*/
/* Start OSAL */
osal_start_system(); // No Return from here
return 0;
}
static void initTimer3() {
if (isInitTimer3 == 0) {
GPIO_LedsInit();
HalTimerInit();
HalTimerConfig(HAL_TIMER_0, HAL_TIMER_MODE_CTC, HAL_TIMER_CHANNEL_SINGLE, HAL_TIMER_CH_MODE_OUTPUT_COMPARE, TRUE, showsomething);
isInitTimer3 = 1;
}
count = 0;
flag = 0;
IRLED = 0;
}
//-------------------------------------------------------------------
// GLOBAL FUNCTIONS
//-------------------------------------------------------------------
//-------------------------------------------------------------------
// @fn M160_Init
// @brief Set up timer 4 to generate an interrupt 1 kHz for PWM
// @return none
//-------------------------------------------------------------------
void M160_Init(void)
{
HAL_DO_OUTPUT();
// Set prescaler divider value to 128 (8KHz)
/*
X_T4CTL |= 0x80;
X_T4CTL &= ~(0x10); // Stop timer
T4IE = 0; // Disable interrupt
*/
uint8 status =
HalTimerConfig(HAL_TIMER_0,
HAL_TIMER_MODE_CTC,
HAL_TIMER_CHANNEL_SINGLE,
HAL_TIMER_CH_MODE_OUTPUT_COMPARE,
1,
M160_Timer_Call_Back);
HalTimerStart(HAL_TIMER_0,100);
}
/*********************************************************************
* @fn SampleApp_Init
*
* @brief Initialization function for the Generic App Task.
* This is called during initialization and should contain
* any application specific initialization (ie. hardware
* initialization/setup, table initialization, power up
* notificaiton ... ).
*
* @param task_id - the ID assigned by OSAL. This ID should be
* used to send messages and set timers.
*
* @return none
*/
void SampleApp_Init( uint8 task_id )
{
SampleApp_TaskID = task_id;
SampleApp_NwkState = DEV_INIT;
SampleApp_TransID = 0;
MT_UartInit();//串口初始化
MT_UartRegisterTaskID(task_id);//登记任务号
#ifdef MODE_ED //终端节点下才配置
/**************超声波***************/
#define trig P0_1
#define echo P0_0
P0DIR |= 0x02; //P01输出trig
P0DIR &= ~0x01; //P00输入echo
trig=0;
/*定时器配置*/
HalTimerInit();
HalTimerConfig(HAL_TIMER_0,
HAL_TIMER_MODE_CTC,
HAL_TIMER_CHANNEL_SINGLE,
HAL_TIMER_CH_MODE_OUTPUT_COMPARE,
TRUE,
timer_callback);
/***********步进电机**************/
#define in1 P0_4
#define in2 P0_5
#define in3 P0_6
#define in4 P0_7
P0SEL &=~0xf0;
P0DIR |= 0xf0;
P0INP &=~0Xf0; //打开上拉
in1=0;
in2=0;
in3=0;
in4=0;
/*测试*/
int i=0;
for(i=0;i<128;i++)
{
MotorCW();
}
for(i=0;i<128;i++)
{
MotorCCW();
}
HalLedBlink( HAL_LED_2, 2,50, 500);
#endif
// Device hardware initialization can be added here or in main() (Zmain.c).
// If the hardware is application specific - add it here.
// If the hardware is other parts of the device add it in main().
#if defined ( BUILD_ALL_DEVICES )
// The "Demo" target is setup to have BUILD_ALL_DEVICES and HOLD_AUTO_START
// We are looking at a jumper (defined in SampleAppHw.c) to be jumpered
// together - if they are - we will start up a coordinator. Otherwise,
// the device will start as a router.
if ( readCoordinatorJumper() )
zgDeviceLogicalType = ZG_DEVICETYPE_COORDINATOR;
else
zgDeviceLogicalType = ZG_DEVICETYPE_ROUTER;
#endif // BUILD_ALL_DEVICES
#if defined ( HOLD_AUTO_START )
// HOLD_AUTO_START is a compile option that will surpress ZDApp
// from starting the device and wait for the application to
// start the device.
ZDOInitDevice(0);
#endif
// Setup for the periodic message's destination address
// Broadcast to everyone
SampleApp_Periodic_DstAddr.addrMode = (afAddrMode_t)AddrBroadcast;
SampleApp_Periodic_DstAddr.endPoint = SAMPLEAPP_ENDPOINT;
SampleApp_Periodic_DstAddr.addr.shortAddr = 0xFFFF;
// Setup for the flash command's destination address - Group 1
SampleApp_Flash_DstAddr.addrMode = (afAddrMode_t)afAddrGroup;
SampleApp_Flash_DstAddr.endPoint = SAMPLEAPP_ENDPOINT;
SampleApp_Flash_DstAddr.addr.shortAddr = SAMPLEAPP_FLASH_GROUP;
// 网蜂点对点通讯定义
Point_To_Point_DstAddr.addrMode = (afAddrMode_t)Addr16Bit;//点播
Point_To_Point_DstAddr.endPoint = SAMPLEAPP_ENDPOINT;
Point_To_Point_DstAddr.addr.shortAddr = 0x0000; //发给协调器
// Fill out the endpoint description.
SampleApp_epDesc.endPoint = SAMPLEAPP_ENDPOINT;
SampleApp_epDesc.task_id = &SampleApp_TaskID;
SampleApp_epDesc.simpleDesc
= (SimpleDescriptionFormat_t *)&SampleApp_SimpleDesc;
SampleApp_epDesc.latencyReq = noLatencyReqs;
// Register the endpoint description with the AF
afRegister( &SampleApp_epDesc );
// Register for all key events - This app will handle all key events
RegisterForKeys( SampleApp_TaskID );
// By default, all devices start out in Group 1
SampleApp_Group.ID = 0x0001;
osal_memcpy( SampleApp_Group.name, "Group 1", 7 );
aps_AddGroup( SAMPLEAPP_ENDPOINT, &SampleApp_Group );
#if defined ( LCD_SUPPORTED )
HalLcdWriteString( "SmartPark", HAL_LCD_LINE_1 );
#endif
}
