//------------------------------------------------------------------------------
// ===== Sub Menu 01 =====
//------------------------------------------------------------------------------
void View_SubMenu01(void)
{
ANSI_GotoXY(0,11);
ANSI_ClearScreen(FROM);
ANSI_Normal();
ANSI_GotoXY(41,12);
Uart_Print(UART1,"◆◆◆ ◆◆◆ ◆ ◆ ◆◆◆");
ANSI_GotoXY(41,13);
Uart_Print(UART1,"◆ ◆ ◆ ◆ ◆ ◆ ◆ ◆ ◆");
ANSI_GotoXY(41,14);
Uart_Print(UART1,"◆◆◆ ◆ ◆ ◆ ◆◆◆ ◆◆ ");
ANSI_GotoXY(41,15);
Uart_Print(UART1,"◆◆ ◆ ◆ ◆ ◆ ◆ ◆ ◆");
ANSI_GotoXY(41,16);
Uart_Print(UART1,"◆ ◆ ◆◆◆ ◆◆◆ ◆ ◆ ◆◆◆");
ANSI_GotoXY(41,18);
Uart_Print(UART1," 로랩19기 표윤석");
ANSI_GotoXY(5,12);
Uart_Print(UART1," [ MAIN MENU ] ");
ANSI_GotoXY(5,14);
Uart_Print(UART1," 1. 프로그램 ");
ANSI_Line(21);
ANSI_GotoXY(0,22);
Uart_Print(UART1,"| 이전(B) 다음(N) 처음(S) 도움말(H) 종료(Q) |");
ANSI_Line(23);
ANSI_GotoXY(0,24);
Uart_Print(UART1,"명령어 >");
ANSI_Normal();
}
int main(){
int muxpin[4] = {19,18,17,16};
Uart_Init(57600);
Uart_Print("Uart Inited\n\r");
SPI_InitMaster(16);
Mux_Init(&MBMux,20,muxpin);
Encoder_Init(&MBMux);
Uart_Print("SPI Encoder Inited\n\r");
Joystick_Init();
GPIO_Init(31,OUTPUT);
Timer_Init(0,100,Timer_Rountine);
return 0;
}
void Syslog64(const INT8 * str, UINT64 value)
{
INT8 valueStr[20];
if(str)
{
Uart_Print(DEBUG_UART_CHANNEL, str);
}
itoa64(value, valueStr);
Uart_Print(DEBUG_UART_CHANNEL, valueStr);
if(str)
{
Uart_Print(DEBUG_UART_CHANNEL, "\n");
}
}
void Syslog32(const INT8 * str, UINT32 value)
{
INT8 valueStr[12];
if(str)
{
Uart_Print(DEBUG_UART_CHANNEL, str);
}
itoa(value, valueStr);
Uart_Print(DEBUG_UART_CHANNEL, valueStr);
if(str)
{
Uart_Print(DEBUG_UART_CHANNEL, "\n");
}
}
void panic(const INT8 * format, ...)
{
// TODO: Need to print whole formatted string
Uart_Print(DEBUG_UART_CHANNEL, format);
// TODO: Implement this function
while(1);
}
void SyslogStr(const INT8 * str, const INT8 * value)
{
// TODO: OS Log should be handled using a different buffer to be fast
if(str)
{
Uart_Print(DEBUG_UART_CHANNEL, str);
}
if(value)
{
Uart_Print(DEBUG_UART_CHANNEL, value);
}
if(str)
{
Uart_Print(DEBUG_UART_CHANNEL, "\n");
}
}
/**
* @brief Send out a Interger
*
* Number of digits of the num is limited by arm_math
*
* @param num number to be sent
* @see Uart_SendChar
* @see numDigi
* */
void Uart_SendInt(int num){
int digi;
int i;
digi=numDigi(num);
if (num<0){
Uart_Print("-");
num = -1*num;
}
for (i=digi-1;i>=0;i--){
Uart_SendChar('0'+(int)(num/pow10(i))%10);
}
return;
}
//------------------------------------------------------------------------------
// === 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);
}
//--------------------------------------------------------------------------
}
}
/**
* @brief Send out a floating point number
*
* @param num Number to be sent
*
* @see Uart_SendInt
* @see Uart_SendChar
* */
void Uart_SendFloat(float num){
int copy;
if (num<0){
Uart_Print("-");
num = -1*num;
}
copy=(int)num; //print the first part as integer
Uart_SendInt(copy); //print the decimal part
Uart_SendChar('.');
Uart_SendChar('0'+(int)(num*10)%10);
Uart_SendChar('0'+(int)(num*100)%10);
Uart_SendChar('0'+(int)(num*1000)%10);
Uart_SendChar('0'+(int)(num*10000)%10);
return;
}
//------------------------------------------------------------------------------
// ===== Help =====
//------------------------------------------------------------------------------
void View_Help(void)
{
ANSI_GotoXY(0,11);
ANSI_ClearScreen(FROM);
ANSI_Normal();
ANSI_GotoXY(5,12); Uart_Print(UART1," [ HELP ] ");
ANSI_GotoXY(5,14); Uart_Print(UART1," ① 개발자 : 표윤석(ROLAB 19th)");
ANSI_GotoXY(5,15); Uart_Print(UART1," ② 소 속 : 광운대 로보트연구회");
ANSI_GotoXY(5,16); Uart_Print(UART1," ③ 버 전 : ANSI-MENU 1.0");
ANSI_GotoXY(5,17); Uart_Print(UART1," ④ 설 명 : ATmega128을 이용한 비쥬얼 메뉴구성");
ANSI_Line(21);
ANSI_GotoXY(0,22);
Uart_Print(UART1,"| 이전(B) 다음(N) 처음(S) 도움말(H) 종료(Q) |");
ANSI_Line(23);
ANSI_GotoXY(0,24);
Uart_Print(UART1,"명령어 >");
ANSI_Normal();
}
//------------------------------------------------------------------------------
// ===== 메인메뉴 =====
//------------------------------------------------------------------------------
void View_MainMenu(void)
{
ANSI_ClearScreen(ALL); // 터미널 전체 클리어
ANSI_Normal();
ANSI_Line(1);
ANSI_Line(2);
ANSI_Line(3);
ANSI_Line(4);
ANSI_Line(5);
ANSI_Line(6);
ANSI_Line(7);
ANSI_Line(8);
ANSI_GotoXY(5,3);
Uart_Print(UART1,"■■■■■■■■■■\n");
ANSI_GotoXY(5,4);
Uart_Print(UART1,"■ ■■■■■■■■■■\n");
ANSI_GotoXY(5,5);
Uart_Print(UART1,"■ 광운대학교 ■■■\n");
ANSI_GotoXY(5,6);
Uart_Print(UART1,"■■■ 로보트연구회(ROLAB) ■\n");
ANSI_GotoXY(5,7);
Uart_Print(UART1,"──■■■ ■\n");
ANSI_GotoXY(5,8);
Uart_Print(UART1,"────■■■■■■■■■■■■■■■■■\n");
ANSI_Line(9);
ANSI_Line(10);
ANSI_Reverse(1);
ANSI_GotoXY(57,4);
Uart_Print(UART1," KwangWoon University \r\n");
ANSI_GotoXY(58,6);
Uart_Print(UART1," Robotics Laboratory \r\n");
ANSI_GotoXY(67,8);
Uart_Print(UART1," SINCE 1985 \r\n");
ANSI_Reverse(0);
ANSI_Normal();
ANSI_GotoXY(41,12);
Uart_Print(UART1,"◆◆◆ ◆◆◆ ◆ ◆ ◆◆◆");
ANSI_GotoXY(41,13);
Uart_Print(UART1,"◆ ◆ ◆ ◆ ◆ ◆ ◆ ◆ ◆");
ANSI_GotoXY(41,14);
Uart_Print(UART1,"◆◆◆ ◆ ◆ ◆ ◆◆◆ ◆◆ ");
ANSI_GotoXY(41,15);
Uart_Print(UART1,"◆◆ ◆ ◆ ◆ ◆ ◆ ◆ ◆");
ANSI_GotoXY(41,16);
Uart_Print(UART1,"◆ ◆ ◆◆◆ ◆◆◆ ◆ ◆ ◆◆◆");
ANSI_GotoXY(41,18);
Uart_Print(UART1," 로랩19기 표윤석");
ANSI_GotoXY(6,12);
Uart_Print(UART1, "========== M E N U ==========");
ANSI_GotoXY(5,14);
Uart_Print(UART1," 1. 프로그램 6. 프로그램 ");
ANSI_GotoXY(5,15);
Uart_Print(UART1," 2. 프로그램 7. 프로그램 ");
ANSI_GotoXY(5,16);
Uart_Print(UART1," 3. 프로그램 8. 프로그램 ");
ANSI_GotoXY(5,17);
Uart_Print(UART1," 4. 프로그램 9. 프로그램 ");
ANSI_GotoXY(5,18);
Uart_Print(UART1," 5. 프로그램 0. 프로그램 ");
ANSI_Line(21);
ANSI_GotoXY(0,22);
Uart_Print(UART1,"| 이전(B) 다음(N) 처음(S) 도움말(H) 종료(Q) |");
ANSI_Line(23);
ANSI_GotoXY(0,24);
Uart_Print(UART1,"명령어 >");
ANSI_Normal();
}
