int main(void)
{
u8 R='b';
delay_init(72); //延时函数初始化
usart1_init(); //串口初始化
NRF24L01_Init(); //初始化NRF24L01
LED();
while(NRF24L01_Check()); //检查NRF24L01是否在位.
while(1)
{
NRF24L01_TX_Mode();
if(USART_GetFlagStatus(USART1, USART_FLAG_RXNE))
{
R =USART_ReceiveData(USART1);
USART_ClearFlag(USART1, USART_FLAG_TC);
USART_SendData(USART1, USART_ReceiveData(USART1));
USART_ClearFlag(USART1, USART_FLAG_RXNE);
}
NRF24L01_TxPacket(&R);
if(R=='a')
GPIO_ResetBits(GPIOE, GPIO_Pin_5); //PE=0,LED亮
if(R=='b')
GPIO_SetBits(GPIOE, GPIO_Pin_5); //PE=1,LED灭
}
}
usart_t
usart_init (const usart_cfg_t *cfg)
{
usart_dev_t *dev = 0;
uint16_t baud_divisor;
if (cfg->baud_rate == 0)
baud_divisor = cfg->baud_divisor;
else
baud_divisor = USART_BAUD_DIVISOR (cfg->baud_rate);
#if USART0_ENABLE
if (cfg->channel == 0)
{
usart0_init (baud_divisor);
dev = &usart0_dev;
}
#endif
#if USART1_ENABLE
if (cfg->channel == 1)
{
usart1_init (baud_divisor);
dev = &usart1_dev;
}
#endif
dev->read_timeout_us = cfg->read_timeout_us;
dev->write_timeout_us = cfg->write_timeout_us;
return dev;
}
int main(void)
{
usart0_init(25, 8, 1, USART_PARITY_EVEN,1); //38400
usart1_init(25, 8, 1, USART_PARITY_DISABLED,0); //TODO check oi_alternative OI_ALTERNATE_BAUD_RATE
_delay_ms(333);
oi_switch_baud_rate();
_delay_ms(333);
oi_init();
oi_full_mode();
int i;
int val;
for (i = 0; i < 10; i++)
{
val = i % 2;
oi_set_leds(val, val, val, val, 0xFF * val, 0xFF);
_delay_ms(50);
}
oi_init();
//input_capture_test();
printf0("Hello world!\r\n");
printf0(" 0x%02X 0x%02X 0x%02X", UCSR0A, UCSR0B, UCSR0C);
_delay_ms(3000);
doSweepLoop();
doPingLoop();
doIrLoop();
servo_test();
}
/**
* @brief Low level serial driver configuration and (re)start.
*
* @param[in] sdp pointer to a @p SerialDriver object
* @param[in] config the architecture-dependent serial driver configuration.
* If this parameter is set to @p NULL then a default
* configuration is used.
*
* @notapi
*/
void sd_lld_start(SerialDriver * sdp, const SerialConfig * config) {
if (config == NULL) {
config = &default_config;
}
if (sdp->state == SD_STOP) {
#if MSP430X_SERIAL_USE_USART0 == TRUE
if (&SD0 == sdp) {
usart0_init(config);
}
#endif
#if MSP430X_SERIAL_USE_USART1 == TRUE
if (&SD1 == sdp) {
usart1_init(config);
}
#endif
#if MSP430X_SERIAL_USE_USART2 == TRUE
if (&SD2 == sdp) {
usart2_init(config);
}
#endif
#if MSP430X_SERIAL_USE_USART3 == TRUE
if (&SD3 == sdp) {
usart3_init(config);
}
#endif
}
}
int main(void){
SystemInit();
usart1_init();
// enable clock for CRC unit
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
unsigned int data = 0x12345678;
unsigned int result = CRC_CalcCRC(data);
printf("single word crc calculation:\r\n");
printf(" data = 0x%08x\r\n", (unsigned int)data);
printf(" result = 0x%08x\r\n", (unsigned int)result);
CRC_ResetDR();
int len_datablock = sizeof(data_block);
result = CRC_CalcBlockCRC(data_block, len_datablock);
printf("block crc calculation (%d bytes):\r\n", len_datablock);
printf(" data block can be found in source.\r\n");
printf(" result = 0x%08x\r\n", result);
for(;;) {
}
return 0;
}
static void init(void) {
usart1_init(115200, buf_in, ARR_LEN(buf_in), buf_out, ARR_LEN(buf_out));
rtc_init();
sei();
puts_P(PSTR("Init complete\n\n"));
}
int main()
{
// create the UART queue
queue_uart_char = xQueueGenericCreate(5, 10, 0);
queue_lua_commands = xQueueGenericCreate(5, MAX_STRLEN + 1, 0);
queue_stepmotor = xQueueGenericCreate(5, sizeof(int), 0);
dac_init();
ledlib_init();
usart1_init(9600, &queue_uart_char);
task_lua_init(&queue_lua_commands);
task_stepmotor_init(&queue_stepmotor);
// just send a message to indicate that it worksa
usart1_write_string ("\r\nInit complete with motors\r\n");
xTaskCreate(task_receive_uart_chars, (signed char*)"uart-chars", 100, 0, 1, 0);
vTaskStartScheduler();
/*
* Should never reach here!
*/
ledlib_set_error_state();
}
int main(){
SystemCoreClockUpdate();
usart1_init(9600);
char c;
while(1){
//TODO
c = usart1_getc();
usart1_putc(c);
}
}
int main(void){
SystemInit();
usart1_init();
adc_init();
for(;;) {
printf("core temperature %d\r\n", adc_get_coretemp());
}
return 0;
}
int main()
{
int i=500000;
while(i--);;
gpio_init();
usart1_init();
//init_i2c();
printf("I2C init done\n\r");
i2c_detect();
char b = i2c_read(MPU6050,0x0);
printf("b == %x \n", b);
}
void init(void)
{
// allow poer to stabilize
_delay_ms(250);
// port settings
DDRC = 0xFF;
PORTC = 0x00;
// init usart
usart1_init( USART_BAUD_4800, USART_FRAME_8N1 );
return;
}
static void init(void) {
usart1_init(115200, buf_in, ARR_LEN(buf_in), buf_out, ARR_LEN(buf_out));
sei();
printf("Running init\n");
int rc = sd_init();
if (rc == 0) {
puts_P(PSTR("Init complete\n\n"));
} else {
puts_P(PSTR("\n\n\nInit failed\n\n"));
// Hard_reset();
}
}
int main(void){
usart1_init();
can1_init();
nvic_init();
dma_init();
while(1){
if((obd_mode != 0xff) && (obd_pid != 0xff)){
obd_cmd_parse(obd_mode, obd_pid);
}
// while(USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == RESET);
// while(DMA_GetFlagStatus(DMA1_FLAG_TC4) == RESET);
}
}
void IAC_Init(void)
{
delay_init(72); //延时函数初始化
Nvic_Init(); //中断初始化
LED_Init(); //led初始化
KEY_Init(); //按键初始化
OLED_Init(); //oled初始化
//Draw_LibLogo(); //logo
paramLoad(); //pid参数初始化
State_Display();//OLED数据显示
Moto_Init(); //电机初始化//200hz
usart1_init(72,115200); //串口1初始化 摄像头
usart2_Init(36,9600); //ks103数据 9600
usart3_config(460800); //串口3初始化 上位机
TIM3_Init(2500); //定时器初始化 2.5MS
}
/**
* @brief Low level serial driver configuration and (re)start.
*
* @param[in] sdp pointer to a @p SerialDriver object
* @param[in] config the architecture-dependent serial driver configuration.
* If this parameter is set to @p NULL then a default
* configuration is used.
*
* @notapi
*/
void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) {
if (config == NULL)
config = &default_config;
#if USE_MSP430_USART0
if (&SD1 == sdp) {
usart0_init(config);
return;
}
#endif
#if USE_MSP430_USART1
if (&SD2 == sdp) {
usart1_init(config);
return;
}
#endif
}
static void init(void) {
usart1_init(115200, buf_in, ARR_LEN(buf_in), buf_out, ARR_LEN(buf_out));
sysclock_init();
adc_init(1, AVCC, 4);
can_init();
vnh2sp30_init();
vnh2sp30_active_break_to_Vcc();
SET_PIN_MODE(NEUT_PORT, NEUT_PIN, INPUT_PULLUP);
SET_PIN_MODE(IGN_PORT, IGN_PIN, OUTPUT);
IGNITION_UNCUT();
can_subscribe(PADDLE_STATUS);
can_subscribe(NEUTRAL_ENABLED);
can_subscribe(GEAR_STOP_BUTTON);
can_subscribe(RESET_GEAR_ESTIMATE);
sei();
puts_P(PSTR("Init complete\n\n"));
}
void GPS_int()
{
NVIC_InitTypeDef NVIC_InitStructure;
char GPS_init1_Char[]="unlogall true\r\n";//42
char GPS_init2_Char[]="log bestposb ontime 0.2\r\n";
char GPS_init3_Char[]="log bestvelb ontime 0.2\r\n";
uint8_t i;
usart1_init();
Delay(300);
for (i=0;i<15;i++)
{
while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
USART_SendData(USART1, (uint16_t) GPS_init1_Char[i]);
}
Delay(50);
for (i=0;i<25;i++)
{
while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
USART_SendData(USART1, (uint16_t) GPS_init2_Char[i]);
}
Delay(50);
for (i=0;i<25;i++)
{
while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
USART_SendData(USART1, (uint16_t) GPS_init3_Char[i]);
}
/* Enable the USART1 通信端口 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; /* 抢占优先级 */
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
GPS_Buff[0]=0xaa;
GPS_Buff[1]=0x44;
GPS_Buff[2]=0x12;
}
int usart_main(int argc, char *argv[])
{
cli();
local::system_init();
usart0_init(57600UL);
usart1_init(57600UL);
sei();
PORTD = 0xFF;
_delay_ms(100);
PORTD = 0x00;
while (1)
{
if (!usart0_is_empty())
{
/*
#if 0
uint8_t hex = usart0_top_char();
usart0_pop_char();
#else
uint8_t ascii = usart0_top_char();
usart0_pop_char();
uint8_t hex = ascii2hex(ascii);
#endif
uint16_t num = 0xABCD;
usart1_push_char(hex2ascii((num >> 12) & 0x0F));
usart1_push_char(hex2ascii((num >> 8) & 0x0F));
usart1_push_char(hex2ascii((num >> 4) & 0x0F));
usart1_push_char(hex2ascii(num & 0x0F));
*/
uint8_t ascii = usart0_top_char();
usart0_pop_char();
uint8_t hex = ascii2hex(ascii);
PORTA = hex;
usart0_push_char(ascii);
}
if (!usart1_is_empty())
{
/*
#if 0
uint8_t hex = usart1_top_char();
usart1_pop_char();
#else
uint8_t ascii = usart1_top_char();
usart1_pop_char();
uint8_t hex = ascii2hex(ascii);
#endif
uint16_t num = 0xABCD;
usart1_push_char(hex2ascii((num >> 12) & 0x0F));
usart1_push_char(hex2ascii((num >> 8) & 0x0F));
usart1_push_char(hex2ascii((num >> 4) & 0x0F));
usart1_push_char(hex2ascii(num & 0x0F));
*/
uint8_t ascii = usart1_top_char();
usart1_pop_char();
uint8_t hex = ascii2hex(ascii);
PORTA = hex;
usart1_push_char(ascii);
}
//sleep_mode();
}
return 0;
}
/*! Larsmarks code */
void init_usb_usart(unsigned char baudrate) {
usart1_init(baudrate);
//Make printf work as output to USB
fdevopen((void*)usart1_transmit, (void*)usart1_receive_loopback);
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
int i;
char ch = 'a';
int leftright, forwardbackward, throttle, trim;
char buffer[100];
int matches;
/* GPIOC Periph clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
/* Configure PC10 in output pushpull mode */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* Configure PA15 in input mode, no pullup/down */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
usart1_init();
// USART_IT_RXNE: Receive Data register not empty interrupt.
//USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
//USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
//NVIC_Config();
// disable error interrupts from USART1 (EIE=0)
//USART1->CR3 &= ~(1 << 0);
leftright = 126;
forwardbackward = 126;
throttle = 0;
trim = 148;
if (!writebuffer) {
writebuffer = buffer1;
readbuffer = buffer2;
}
{
/* uint32_t dest[10]; */
/* uint32_t src[10] = {0,1,2,3,4,5,6,7,8,9}; */
/* __aeabi_memcpy(dest, src, 10); */
/* memcpy(dest, src, 10); */
}
printf("Starting...\r\n");
i = 20;
while (1) {
//send_command(132, 126, 24, 150);
//send_command(leftright, forwardbackward, throttle, trim);
// Channel command intervals:
// A: 120 ms
// B: 180 ms
// But it seems that the heli doesn't care, so we can have longer intervals
//delay_ms(180);
if (usart1_receive_char(&ch)) {
usart1_send_char(ch);
}
//delay_ms(1000);
// USART_ITConfig(USART1, USART_IT_RXNE, DISABLE);
// if (new_message) {
// strcpy(buffer, readbuffer);
// new_message = 0;
// USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
// printf("new message: \"%s\"\r\n", buffer);
// matches = sscanf((const char *)buffer, "%d %d %d", &leftright, &forwardbackward, &throttle);
// if (matches == 3) {
// printf("new controls: %d %d %d\r\n", leftright, forwardbackward, throttle);
// }
// } else {
// USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
// }
//detect_and_print_pulses();
//delay_ms(500);
// GPIOC->BSRR = BSRR_VAL;
// delay_us(600);
// GPIOC->BRR = BSRR_VAL;
// delay_us(10);
}
}
void os_usart1_init(int baudrate){
usart1_init(baudrate);
usart1_tx_mutex_id = osMutexCreate(osMutex(usart1_tx_mutex));
usart1_rx_mutex_id = osMutexCreate(osMutex(usart1_rx_mutex));
}
/*******************************************************************************
* Function Name :void TaskStart(void)
* Description :任务启动
* Input :
* Output :
* Other :
* Date :2012.04.18 11:48:23
*******************************************************************************/
static void TaskStart(void)
{
OS_ERR err;
led_init();
usart1_init(115200);
SPI_Config() ;
SysTickInit();
OSTaskCreate( (OS_TCB *)&task1TCB,
(CPU_CHAR *)"Task1",
(OS_TASK_PTR)Task1,
(void *)0,
(OS_PRIO )TASK1_PRIO,
(CPU_STK *)&task1_stk[0],
(CPU_STK_SIZE)TASK1_STK_SIZE / 10,
(CPU_STK_SIZE)TASK1_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&task2TCB,
(CPU_CHAR *)"Task2",
(OS_TASK_PTR)Task2,
(void *)0,
(OS_PRIO ) TASK2_PRIO,
(CPU_STK *)&task2_stk[0],
(CPU_STK_SIZE)TASK2_STK_SIZE / 10,
(CPU_STK_SIZE)TASK2_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&task3TCB,
(CPU_CHAR *)"Task3",
(OS_TASK_PTR)Task3,
(void *)0,
(OS_PRIO )TASK3_PRIO,
(CPU_STK *)&task3_stk[0],
(CPU_STK_SIZE)TASK3_STK_SIZE / 10,
(CPU_STK_SIZE)TASK3_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&dispTCB,
(CPU_CHAR *)"LCD display",
(OS_TASK_PTR)MainTask,
(void *)0,
(OS_PRIO )Disp_PRIO,
(CPU_STK *)&dispStk[0],
(CPU_STK_SIZE)TASK4_STK_SIZE / 10,
(CPU_STK_SIZE)TASK4_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&schedTaskEx1TCB,
(CPU_CHAR *)"Sched Task Example1",
(OS_TASK_PTR)SchedEx1Task,
(void *)0,
(OS_PRIO )Disp_PRIO,
(CPU_STK *)&dispStk[0],
(CPU_STK_SIZE)SCHED_TASK_STK_SIZE / 10,
(CPU_STK_SIZE)SCHED_TASK_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&schedTaskEx2TCB,
(CPU_CHAR *)"Sched Task Example1",
(OS_TASK_PTR)SchedEx2Task,
(void *)0,
(OS_PRIO )Disp_PRIO,
(CPU_STK *)&dispStk[0],
(CPU_STK_SIZE)SCHED_TASK_STK_SIZE / 10,
(CPU_STK_SIZE)SCHED_TASK_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSSemCreate( (OS_SEM *)&taskSem,
(CPU_CHAR *)"taskSem",
(OS_SEM_CTR )0,
(OS_ERR *)err);
OSTaskDel( (OS_TCB *)&taskStartTCB,
(OS_ERR *)&err);
}
int main(void)
{
// EXT_MEM_INIT;
usart0_init(USART_RS485_SLAVE, 38400);
usart0_setprotocol_modbus();
usart1_init(USART_RS232, 115200);
USART1_SET_8N1;
USART1_RX_INT_DISABLE;
timer_init();
kbd_init();
shift_init();
sensor_init();
menu_init();
menu_items_init();
beep_init();
GLOBAL_INT_ENABLE;
beep_ms(1000);
_delay_ms(500);
beep_ms(200);
_delay_ms(200);
beep_ms(200);
_delay_ms(200);
lcd_init();
for (;;)
{
//do_kbd();
do_lcd();
do_shift();
do_sensor();
menu_doitem();
process_usart();
process_soft_controls();
process_siren();
//process_foil();
//process_kbd();
// simple process foil
soft_sensors = sensors;
if (TEST_SOFT_CONTROL(SOFT_CONTROL_BUNKER_MOTOR) &&
TEST_SENSOR(SENSOR_END_OF_FOIL))
SOFT_CONTROL_OFF(SOFT_CONTROL_BUNKER_MOTOR);
/*
if (!TEST_SENSOR(SENSOR_END_OF_FOIL) &&
TEST_SENSOR(SENSOR_SEC_REEL))
SOFT_CONTROL_ON(SOFT_CONTROL_BUNKER_MOTOR);
*/
}
return 0;
}
int main(void) {
set_canit_callback(CANIT_RX_COMPLETED, rx_complete);
set_canit_callback(CANIT_TX_COMPLETED, tx_complete);
set_canit_callback(CANIT_DEFAULT, can_default);
usart1_init();
CAN_INIT_ALL(); //Can setup
sei(); //Enable interrupt
usart1_printf("\n\n\nSTARTING\n");
// Set MOB 8 to listen for messeges with id 4 and length 7
can_msg_t rx_msg = {
.mob = 8,
.id = 4,
.dlc = 7,
.mode = MOB_RECIEVE
};
can_setup(&rx_msg);
usart1_printf("Listning for id %d on mob %d with a msg length %d\n",
rx_msg.id,
rx_msg.mob,
rx_msg.dlc
);
while(1){
// Main work loop
_delay_ms(250);
// send a message with id 4 on MOB 10
can_msg_t tx_msg = {
.mob = 10,
.id = 4,
.data = {'H', 'E', 'L', 'L', 'O', '!', '!'},
.dlc = 7,
.mode = MOB_TRANSMIT
};
can_send(&tx_msg);
usart1_printf("CAN Tx\t id %d, mob %d, :: ", tx_msg.id, tx_msg.mob);
// As tx_msg.data is a byte array we cant treat it as a string
usart1_putn(sizeof(tx_msg.data)/sizeof(tx_msg.data[0]), tx_msg.data);
usart1_putc('\n');
}
return 0;
}
// Callback to be run when rx comletes on the CAN
static void rx_complete(uint8_t mob) {
can_msg_t msg = {
.mob = mob // mob is the MOB that fired the interrupt
};
can_receive(&msg); // Fetch the message and fill out the msg struct
// Print out the received data. Please dont print inside can callbacks
// in real code as these are run inside the can ISR
usart1_printf("CAN Rx\t id: %d on mob %d :: ", msg.id, msg.mob);
usart1_putn(msg.dlc, msg.data); usart1_putc('\n');
}
static void tx_complete(uint8_t mob) {
// We clear the mob so it can be used again
MOB_ABORT(); // Freed the MOB
MOB_CLEAR_INT_STATUS(); // and reset MOB status
CAN_DISABLE_MOB_INTERRUPT(mob); // Unset interrupt
}
