void usart_transmit_string(USART_TypeDef* port, const void *data)
{
int i;
u16 data_len;
int tx_count;
const char* usart_data;
q_node_type* q_usart_pkt_ptr;
usart_data = (char*)data;
data_len = strlen(usart_data);
tx_count = (data_len - 1) / USART_TX_DMA_SIZ + 1;
INTLOCK();
if( q_get_count(&gbl_qlist_usart1_tx_free) >= tx_count )
{
for(i=0;i<tx_count-1;i++)
{
if( (q_usart_pkt_ptr = q_remove_tail(&gbl_qlist_usart1_tx_free)) != NULL )
{
memcpy(q_usart_pkt_ptr->data, usart_data, USART_TX_DMA_SIZ);
q_usart_pkt_ptr->len = USART_TX_DMA_SIZ;
q_add_tail(&gbl_qlist_usart1_tx, q_usart_pkt_ptr);
data_len = data_len - USART_TX_DMA_SIZ;
usart_data += USART_TX_DMA_SIZ;
}
}
if( (q_usart_pkt_ptr = q_remove_tail(&gbl_qlist_usart1_tx_free)) != NULL )
{
memcpy(q_usart_pkt_ptr->data, usart_data, data_len);
q_usart_pkt_ptr->len = data_len;
q_add_tail(&gbl_qlist_usart1_tx, q_usart_pkt_ptr);
}
if( usart1_dma_transfering == FALSE )
usart1_tx_proc();
}
INTFREE();
}
/*******************************************************************************
* Function Name : main.
* Description : main routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
int main(void)
{
/* Initialize the Demo */
bsp_init_rcc();
bsp_init_gpio();
bsp_init_interrupt();
#ifdef DEV_KIT_ADC_CONV_TEST
bsp_init_adc();
DMA_Initial();
#endif /* DEV_KIT_ADC_CONV_TEST */
#ifdef DEV_KIT_STEP_MOTOR_TEST
step_motor_enable(DISABLE);
#endif /* DEV_KIT_STEP_MOTOR_TEST */
register_timer_function(timer2ServiceFunction, timer2_event);
#ifdef DEV_KIT_STEP_MOTOR_TEST
register_timer_function(timer3ServiceFunction, isr_left_motor_event);
register_timer_function(timer4ServiceFunction, isr_right_motor_event);
#endif /* DEV_KIT_STEP_MOTOR_TEST */
register_rtc_function(rtcServiceFunction, rtc_event);
bsp_init_timer2();
#ifdef DEV_KIT_STEP_MOTOR_TEST
bsp_init_timer3(DISABLE);
bsp_init_timer4(DISABLE);
#endif /* DEV_KIT_STEP_MOTOR_TEST */
bsp_init_irq_usart1();
//bsp_init_dma_usart1();
// 10msec
wait_10ms(1);
// User LED ON
bsp_led_on(ledUser);
#ifdef DEV_KIT_LED_TEST
//led_rotate_test();
s_satus_led_flag = 1; // Go status led
#endif /* DEV_KIT_LED_TEST */
welcome();
usart1_transmit_string("\r\n*****************************************************************************\r\n");
usart1_transmit_string("User led ( on )\r\n");
usart1_transmit_string("Initialize gpio service.\r\n");
usart1_transmit_string("Start USART1 service on mode interrupt.\r\n");
usart1_transmit_string_format("BaudRate = %d, Databit = %dbit, StopBits = %d, Parity = no, FlowControl = none\r\n", 115200, 8, 1);
usart1_transmit_string("\r\n*****************************************************************************\r\n");
display_menu();
usart1_tx_proc();
#ifdef DEV_KIT_I2C_TOUCH_KEY_TEST
i2c_GPIO_Config();
#endif /* DEV_KIT_I2C_TOUCH_KEY_TEST */
while( 1 )
{
#ifdef DEV_KIT_I2C_TOUCH_KEY_TEST
i2c_Test_Example();
#endif /* DEV_KIT_I2C_TOUCH_KEY_TEST */
#ifdef DEV_KIT_ADC_CONV_TEST
// test_func_adc_conv();
#endif /* DEV_KIT_ADC_CONV_TEST */
if( run_menu_selection() != 0 )
display_menu();
motor_all(3000, ACT_GO_FORWARD, NOT_ADJUSMENT); // 300cm
wait_1ms(2000); // 5seconds
motor_all(3000, ACT_GO_BACKWARD, NOT_ADJUSMENT);
wait_1ms(2000);
motor_all(1000, ACT_GO_FORWARD, ADJUSMENT_FRONT);
wait_1ms(2000);
robot_turn(TURN_LEFT, TURN_90_DEGREE);
wait_1ms(2000);
robot_turn(TURN_RIGHT, TURN_90_DEGREE);
wait_1ms(2000);
motor_all(10000, ACT_GO_FORWARD, SETTING_ONLY);
while((g_left_mot.step_count <= MM_TO_STEP(700)) || (g_right_mot.step_count <= MM_TO_STEP(700)))
{
if(300 < robot_read_sensor(SENSOR_TOP_AD))
{
motor_stop(STOP_EMERGENCY);
break;
}
}
motor_stop(STOP_NORMAL);
wait_1ms(3000);
test_func_robot_turn(TURN_LEFT, 200);
wait_1ms(3000);
test_func_robot_smooth_turn(TURN_LEFT);
wait_1ms(5000);
}
}