void main(void)
{
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
nLoop = 0;
SCIcount=0;
AD1_Start();
Puls1_Enable();
Puls2_Enable();
TI1_DisableEvent();
Cpu_Delay100US(10000);
if(!AD_Flag)
{
calibrateSensor();
TI1_EnableEvent();
AD_Flag = 1;
}
//----------------------------------------------------------------
for(;;)
{
nLoop ++;
if(nLoop >= LOOP_TIME)
nLoop = 0;
else
continue;
//----------------------------------------------------------------
if((g_fGyroscopeAngleIntegral < 50.0) && (g_fGyroscopeAngleIntegral > -50.0)) //ж╠а╒еп╤о
standFlag = 1;
else if((g_fGyroscopeAngleIntegral >= 50.0) || (g_fGyroscopeAngleIntegral <= -50.0))
standFlag = 0;
//----------------------------------------------------------------
Cpu_Delay100US(100);
if(UartFlag == 1)
{
sendData();
UartFlag = 0;
}
receiveData();
}
}
void FLOPPY_Init(void) {
int i;
for(i=0;i<FLOPPY_NOF_DRIVES;i++) {
FLOPPY_Drives[i].forward = FALSE;
FLOPPY_Drives[i].pos = 0;
FLOPPY_Drives[i].currentPeriod = 0;
FLOPPY_Drives[i].currentTick = 0;
}
FLOPPY_Drives[0].Dir = Drv0_Dir;
FLOPPY_Drives[0].StepSetVal = Drv0_StepSetVal;
FLOPPY_Drives[0].StepClearVal = Drv0_StepClrVal;
FLOPPY_Drives[1].Dir = Drv1_Dir;
FLOPPY_Drives[1].StepSetVal = Drv1_StepSetVal;
FLOPPY_Drives[1].StepClearVal = Drv1_StepClrVal;
FLOPPY_Drives[2].Dir = Drv2_Dir;
FLOPPY_Drives[2].StepSetVal = Drv2_StepSetVal;
FLOPPY_Drives[2].StepClearVal = Drv2_StepClrVal;
FLOPPY_Drives[3].Dir = Drv3_Dir;
FLOPPY_Drives[3].StepSetVal = Drv3_StepSetVal;
FLOPPY_Drives[3].StepClearVal = Drv3_StepClrVal;
FLOPPY_Drives[4].Dir = Drv4_Dir;
FLOPPY_Drives[4].StepSetVal = Drv4_StepSetVal;
FLOPPY_Drives[4].StepClearVal = Drv4_StepClrVal;
FLOPPY_Drives[5].Dir = Drv5_Dir;
FLOPPY_Drives[5].StepSetVal = Drv5_StepSetVal;
FLOPPY_Drives[5].StepClearVal = Drv5_StepClrVal;
FLOPPY_Drives[6].Dir = Drv6_Dir;
FLOPPY_Drives[6].StepSetVal = Drv6_StepSetVal;
FLOPPY_Drives[6].StepClearVal = Drv6_StepClrVal;
FLOPPY_Drives[7].Dir = Drv7_Dir;
FLOPPY_Drives[7].StepSetVal = Drv7_StepSetVal;
FLOPPY_Drives[7].StepClearVal = Drv7_StepClrVal;
TI1_Enable();
TI1_EnableEvent();
}
