void main(void)
{
Init_Main(); // 초기화_MCU
U8 i;
//Send_Packet();
//ADC_Reset();
//Send_Packet(0);
while(1)
{
//Send_Packet_Test(0);
//Delay(1000);
if(Dis[5]==0 || Dis[5]>6)
{
MMode = 1;
while(1)
{if(MMode==0) {break;}}
}
if(Dis[5]!=0 && Dis[5]<=6)
{
if(Dis[0] <= 12)
{ MMode=4;
while(1)
{if(MMode==0) {break;}}
}
}
if(Dis[0]<4 && Dis[1]<6 && Dis[2]<=7 )
{
MMode=6;
while(1)
{
if(MMode==0)
{break;}
}
}
}
}
//------------------------------------------------------------------------------
// === Main Function ===
//------------------------------------------------------------------------------
void main(void)
{
Init_Main(); // 초기화_MCU
while(1)
{
//--------------------------------------------------------------------------
// === Function Module ===
//--------------------------------------------------------------------------
//Uart_Print(0, "AT&MSG=0,");
Uart_Putch(0,i);
//Uart_Print(0, "\r");
i++;
_delay_ms(1000);
//--------------------------------------------------------------------------
}
}
//------------------------------------------------------------------------------
// === Main Function ===
//------------------------------------------------------------------------------
void main(void)
{
Init_Main(); // 초기화_MCU
while(1)
{
//--------------------------------------------------------------------------
// === Function Module ===
//--------------------------------------------------------------------------
if(ADC_Average(0, 10) >= 200)
{
//nMODE = MODERUN;
AX_Action(0, 0x02, 0x00, 0x02, 0x90);
_delay_ms(300);
AX_Action(0, 0x02, 0x90, 0x02, 0x90);
_delay_ms(300);
}
//--------------------------------------------------------------------------
}
}
//------------------------------------------------------------------------------
// === Main Function ===
//------------------------------------------------------------------------------
void main(void)
{
Init_Main(); // 초기화_MCU
Position_Homing();
while(1)
{
//--------------------------------------------------------------------------
// === Function Module ===
//--------------------------------------------------------------------------
//PacketManager((PARTNER_PACKET*)&pPacket, (UART_CONTEXT*)&pContext );
//_delay_ms(5); // delay. NECESSARY!!!
if(RXstate == RXEND)
{
Mode = MODE_RUN;
for(U08 cnt=0; cnt<RXLENGTH; cnt++)
{
Uart_Print(1,"\n\r Xcod : ");
Uart_U08Bit_PutNum(1, CoordinateX[cnt]);
Uart_Print(1," Ycod : ");
Uart_U08Bit_PutNum(1, CoordinateY[cnt]);
Uart_Print(1," Zcod : ");
Uart_U08Bit_PutNum(1, CoordinateZ[cnt]);
Moving_XYCoordinate(CoordinateX[cnt],CoordinateY[cnt]);
//Change ServoPWM
}
RXstate = RXREADY;
SendRequestPacket(IND_TX_NEXTPAGE, 0x00);
}
//--------------------------------------------------------------------------
}
}
bool CMainConfig::Init()
{
//获得数据解析包的版本号
CPacketParse objPacketParse;
sprintf_safe(m_szPacketVersion, MAX_BUFF_20, "%s", objPacketParse.GetPacketVersion());
//读取主配置文件
bool blState = Init_Main(MAINCONFIG);
if(blState == false)
{
return false;
}
//读取报警相关配置文件
blState = Init_Alert(ALERTCONFIG);
if(blState == false)
{
return false;
}
else
{
return true;
}
}
void main(void)
{
Init_Main(); // 초기화_MCU
U8 i;
SetPwmPeriod(999);
while(1)
{
Encoder_Count1 =TIM_GetCounter(TIM4);
Encoder_Count2 =TIM_GetCounter(TIM3);
/*
if( TIM3->CR1 & ((u16)0x0010))
{
// down couting
} else
{
// up counting
}
*/
SetPwmDuty(1,750);
Delay(5000);
SetPwmDuty(1,500);
Delay(5000);
SetPwmDuty(2,250);
Delay(5000);
//Usart_Putnum(Encoder_Count1); Usart_Putnum(Encoder_Count2);
Delay(1000);
//--------------------------------------------------------------------------
// === Function Module ===
//--------------------------------------------------------------------------
//SetPwmPeriod(4, 1000);
//SetPwmDuty(1, (U8)(ADCConvertedValue[0] * 100 / 4096));
//SetPwmDuty(2, (U8)(ADCConvertedValue[1] * 100 / 4096));
//SetPwmDuty(3, (U8)(ADCConvertedValue[2] * 100 / 4096));
/*
Move(Forward);
Delay(3000);
Move(Backward);
printf("%04d %04d %04d\n",ADCConvertedValue[0], ADCConvertedValue[1], ADCConvertedValue[2]);
printf("%d", TIM4->ARR);
Delay(3000);
*/
//printf("%04d %04d %04d\n",ADCConvertedValue[0], ADCConvertedValue[1], ADCConvertedValue[2]);
// printf("%d", TIM4->ARR);
/*
Usart_Putnum(ADCConvertedValue[0]);
Delay(1000);
Usart_Putnum((U16)(88.2/(ADCConvertedValue[0]/819+0.1))-15);
Delay(1000);
Usart_Putnum((U16)(88.2/(ADCConvertedValue[0]/819+0.1))/2-10);
Delay(1000);
Usart_Putnum((U16) (( (11.65/(( ADCConvertedValue[0]/819) - 0.147 )) - 0.42 ) * 10)-4);
Delay(1000);
*/
/*
for(i=0;i<ADCMAXCH;i++)
{
Usart_Putnum(ADCConvertedValue[i]);
}
Delay(1000);*/
//Usart_Putnum(102);
//Delay(1000);
//--------------------------------------------------------------------------
/*
SetPwmDuty(1,750);
Delay(5000);
SetPwmDuty(1,500);
Delay(5000);
SetPwmDuty(2,250);
Delay(5000);
*/
//Usart_Putnum(Rx_Buffer[data]);
//Delay(1000);
}
}
void main(void)
{
U8 temp_ADC = 0; // ADC value 임시저장
uint16_t CHK = 0;
uint16_t i = 0;
Init_Main(); // 초기화_MCU
print_Reg(); // Register Print
//receiver set time in 390us from trans ID to receive ID
//sensor trans time needs 100~150us
while(1)
{
CHK = 0;
for(i=0; i<4; i++)
{
bbuf[i*2] = (U8)(ADCConvertedValue[i]>>8);
CHK += bbuf[i*2];
bbuf[i*2 + 1] = (U8)ADCConvertedValue[i];
CHK += bbuf[i*2 + 1];
}
bbuf[30] = (U8)(CHK>>8);
bbuf[31] = (U8)CHK;
// while(USART_GetFlagStatus(USART1,USART_FLAG_TXE)==RESET);
/*
printf("ADC8 = %d\n", ADCConvertedValue[0]);
printf("ADC9 = %d\n", ADCConvertedValue[1]);
printf("ADC10 = %d\n", ADCConvertedValue[2]);
printf("ADC11 = %d\n", ADCConvertedValue[3]);
printf("ADC12 = %d\n", ADCConvertedValue[4]);
printf("ADC13 = %d\n", ADCConvertedValue[5]);
printf("ADC14 = %d\n", ADCConvertedValue[6]);
printf("ADC15 = %d\n", ADCConvertedValue[7]);
*/
/*
temp_ADC = (U8)(ADCConvertedValue[0]>>8);
printf("%d\n", temp_ADC);
temp_ADC = (U8)ADCConvertedValue[0];
printf("%d\n", temp_ADC);
*/
// falling 방식
/*
while( !(nRF24_ReadReg(nRF24_REG_FIFO_STATUS) & 1))
{
// GPIO_SetBits(GPIOC,GPIO_Pin_9);
nRF24_ReadBuf(nRF24_CMD_R_RX_PAYLOAD,buf,1); //3 //it takes 15us , receiver sent 770 ~800 us
// GPIO_ResetBits(GPIOC,GPIO_Pin_9);
nRF24_RWReg(nRF24_CMD_WREG |nRF24_REG_STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
// USART_SendData(USART1,buf[0]);
if(buf[0] == '1') // 780us * 8(ID:0~7) = 6240
{
GPIO_SetBits(GPIOC,GPIO_Pin_9);
nRF24_TXMode(bbbbbuf, 32); // it takes 500us
GPIO_ResetBits(GPIOC,GPIO_Pin_9);
nRF24_RXMode();
}
}
*/
}
}
