/////////////////
// main routine
/////////////////
void main (void) {
uint8_t Rx, loop;
/////////////////
// init peripherals
/////////////////
// disable interrupts
DISABLE_INTERRUPTS;
// switch to 16MHz (default is 2MHz)
CLK.CKDIVR.byte = 0x00;
// configure green LED pin (PH2)
gpio_init(&PORT_H, PIN_2, OUTPUT_PUSHPULL_FAST);
// init timer TIM4 for 1ms clock with interrupts
tim4_init();
// init pins for UART1 Rx(=PA4) and Tx(=PA5)
gpio_init(&PORT_A, PIN_4, INPUT_PULLUP_NOEXINT);
gpio_init(&PORT_A, PIN_5, OUTPUT_PUSHPULL_FAST);
// init UART1 (connected to PC on muBoard)
uart1_init(115200L);
// init pins for UART3 Rx(=PD6) and Tx(=PD5)
gpio_init(&PORT_D, PIN_6, INPUT_PULLUP_NOEXINT);
gpio_init(&PORT_D, PIN_5, OUTPUT_PUSHPULL_FAST);
// init UART3 (available on io-plug on muBoard)
uart3_init(115200L);
// enable interrupts
ENABLE_INTERRUPTS;
/////////////////
// main loop
/////////////////
loop = 0;
while (1) {
// if byte received via UART1 send via UART3
if (uart1_check_Rx())
uart3_send_byte(uart1_receive());
// if byte received via UART3 send via UART1
if (uart3_check_Rx())
uart1_send_byte(uart3_receive());
// every 1ms do
if (g_flagClock) {
g_flagClock = 0;
// every 500ms toggle LED & print text
if (g_clock > 500) {
g_clock = 0;
// toggle LED
PORT_H.ODR.bit.b2 ^= 1;
} // loop 500ms
} // loop 1ms
} // main loop
} // main
/////////////////
// main routine
/////////////////
void main (void) {
uint8_t Rx, loop;
/////////////////
// init peripherals
/////////////////
// disable interrupts
DISABLE_INTERRUPTS;
// switch to 16MHz (default is 2MHz)
CLK.CKDIVR.byte = 0x00;
// configure green LED pin (PH2)
gpio_init(&PORT_H, PIN_2, OUTPUT_PUSHPULL_FAST);
// init timer TIM4 for 1ms clock with interrupts
tim4_init();
// init pins for UART1 Rx(=PA4) and Tx(=PA5)
gpio_init(&PORT_A, PIN_4, INPUT_PULLUP_NOEXINT);
gpio_init(&PORT_A, PIN_5, OUTPUT_PUSHPULL_FAST);
// init UART1 (connected to PC on muBoard)
uart1_init(115200L);
// enable interrupts
ENABLE_INTERRUPTS;
/////////////////
// main loop
/////////////////
loop = 0;
while (1) {
// if byte received via UART1, echo byte+1
while (uart1_check_Rx()) {
Rx = uart1_receive(); // grab oldest byte
putchar((char) (Rx+1));
}
// every 1ms do
if (g_flagClock) {
g_flagClock = 0;
// every 500ms toggle LED & print text
if (g_clock > 500) {
g_clock = 0;
// toggle LED
PORT_H.ODR.bit.b2 ^= 1;
// print something to UART (blocking)
printf("loop: %d\n", (int) (++loop));
} // loop 500ms
} // loop 1ms
} // main loop
} // main
void cmd_handle(void){
unsigned char cmd;
unsigned char cmd_param[8];
int i;
cmd = uart1_receive();
uart1_send_char(cmd);
// uart2_send_char('O');
// uart3_send_char('K');
switch(cmd){
case CMD_FORWARD://前进
car_forward();
break;
case CMD_BACK ://后退
car_back();
break;
case CMD_LEFT://向左移动
car_left();
break;
case CMD_RIGHT://向右移动
car_right();
break;
case CMD_STOP://制动
car_stop();
break;
case CMD_INIT://初始化
car_init();
break;
case CMD_STANDBY://待机
car_standby();
break;
case CMD_CIRCLE1://转
car_circle(1);
break;
case CMD_CIRCLE2://反转
car_circle(0);
break;
case CMD_MOTOR_SET://设置参数
for(i=0;i<8;i++){
cmd_param[i]=uart1_receive();
}
car_set(cmd_param);
for(i=0;i<8;i++){
uart1_send_char(cmd_param[i]);
}
break;
case CMD_RESUME://恢复
car_resume();
break;
case CMD_POWER_SET:
for(i=0;i<2;i++){
cmd_param[i]=uart1_receive();
}
power_set(cmd_param);
for(i=0;i<2;i++){
uart1_send_char(cmd_param[i]);
}
break;
case CMD_STEER_SET:
for(i=0;i<3;i++){
cmd_param[i]=uart1_receive();
}
steering_set(cmd_param);
for(i=0;i<3;i++){
uart1_send_char(cmd_param[i]);
}
break;
case CMD_STEER_SHOW:
steering_show();
break;
case CMD_STEER_SET_INIT:
steering_set_init();
break;
case CMD_PLAY_WAV:
cmd_param[0]=uart1_receive();
play_wav(cmd_param[0]);
break;
default:break;
}
}
