int main(void) {
irInit();
while(1) {
if (irCTR) {
unsigned long data = irRead;
}
}
}
void main(void) {
irInit();
while (1) {
if (irTest()) {
P1 = irGetDataCode();
}
}
}
void userInit(void)
{
delayInit(72);
uartxInit();
rgbLedInit();
ledGpioInit();
rgbKeyGpioInit();
motorInit();
dht11Init();
irInit();
watchdogInit(2); //5,625看门狗复位时间2s
memset((uint8_t*)&reportData, 0, sizeof(gizwitsReport_t));
reportData.devStatus.Motor_Speed = protocolExchangeBytes(Y2X(MOTOR_SPEED_RATIO,MOTOR_SPEED_ADDITION,MOTOR_SPEED_DEFAULT));
motorStatus(MOTOR_SPEED_DEFAULT);
}
void StartCore(void) {
PORTB = 0xAA;
DDRB = 0xFF;
// 初始化小按键
DDRP_DDRP0 = 0;
PPSP_PPSP0 = 0;
PERP_PERP0 = 1;
/********************************/
/* 初始化 */
InitServo();
StartServo();
SetServo(90);
InitSpeeder();
irInit();
InitADC();
InitSCI0();
WaitEnable();
/*******************************/
GetBlackAndWhite();
PORTB = 0x55;
Wait(1500);
PORTB = 0xAA;
while (PTIP_PTIP0);
PORTB = 0x5A;
Wait(1000);
PORTB = 0xA5;
CoreControl();
}
int main(int argc, char* argv[]) {
struct bParamList * paramList = NULL;
const char *strPtr;
int ii;
for (ii=0; ii<TCX_MAX_CLIENTS; ii++) {
CLIENT[ii] = NULL;
}
/*
* Set some parameters
*/
/* add some defaults */
paramList = bParametersAddEntry(paramList, "*", "base.bps", "9600");
paramList = bParametersAddEntry(paramList, "*", "base.dev", "/dev/cur0");
paramList = bParametersAddEntry(paramList, "", "TCXHOST", "localhost");
paramList = bParametersAddEntry(paramList, "", "fork", "yes");
/* add some parameter files */
paramList = bParametersAddFile(paramList, "etc/beeSoft.ini");
/* add some enviroment variables */
paramList = bParametersAddEnv(paramList, "", "TCXHOST");
/* add command line arguements */
paramList = bParametersAddArray(paramList, "", argc, argv);
/* here is where we should add non "parameter format" options */
bParametersFillParams(paramList);
strPtr = bParametersGetParam(paramList, "robot", "name");
if (!strPtr) {
fprintf(stderr,
"Robot name not set. Check the value in beeSoft.ini.\n");
exit(1);
}
else if (!strcmp("none", strPtr)) {
fprintf(stderr,
"Robot name set to 'none'. Check value in beeSoft.ini.\n");
exit(1);
}
strPtr = bParametersGetParam(paramList, strPtr, "base.type");
if (!strPtr) {
fprintf(stderr,
"Base type not set. Check the value in beeSoft.ini.\n");
exit(1);
}
else if (
strcmp("B14", strPtr) &&
strcmp("B21", strPtr) &&
strcmp("Ramona", strPtr)
) {
fprintf(stderr,
"Arm type set to unrecognized type '%s'. Check the\n"
"value in beeSoft.ini.\n", strPtr);
exit(1);
}
/*
*
*/
argv0 = argv[0];
if (makeLock(BASE_SERVER_LOCK)<0) {
fprintf(stderr,"%s: Already running base server\n",argv[0]);
exit(-1);
}
if (findArg(argc,argv,"-v")) {
VERBOSE = TRUE;
fprintf(stderr,"baseServer started in verbose mode\n");
}
if (findArg(argc,argv,"-noIrs")) {
IRS = FALSE;
fprintf(stderr,"baseServer started without IRs\n");
}
if (findArg(argc,argv,"-noTactiles")) {
TACTILES = FALSE;
fprintf(stderr,"baseServer started without Tactiles\n");
}
if (findArg(argc,argv,"-noSonars")) {
SONARS= FALSE;
fprintf(stderr,"baseServer started without Sonars\n");
}
if (findArg(argc,argv,"-simulator")) {
useSimulator=TRUE;
fprintf(stderr,"baseServer connecting to simulator.\n");
}
RaiInit();
BaseInit(bRobot.base_dev, bRobot.base_bps);
catchInterrupts();
initBaseServerTCX(bRobot.TCXHOST);
if (useSimulator==TRUE) {
simulatorHandle = tcxConnectModule(TCX_SIMULATOR_MODULE_NAME);
}
registerWatchdogCallback(watchdogToClient);
/*
* GRUMBLE - It is going to be a bit ugly to get the sensor
* structures initialized without opening /dev/abus. tds
*/
if (SONARS && !useSimulator) {
sonarInit();
registerSonarCallback(sonarToClient);
SIM_sonarStop(); /* turn off sonar until we have a client */
}
if (IRS && !useSimulator) {
irInit();
registerIrCallback(irToClient);
SIM_irStop(); /* turn off ir until we have a client */
}
if (TACTILES && !useSimulator) {
tactileInit();
registerTactileCallback(tactileToClient);
tactileStop();
}
registerStatusCallback(statusToClient);
registerBaseCallback(baseToClient);
initBaseServerModules();
if (bRobot.fork) {
bDaemonize("baseServer.log");
}
rotateLimp();
translateLimp();
RaiStart();
exit(0);
}
void main()
{
SCB->VTOR = 0x08000000;
// set clock source as HSI / 2 * (PLL) 4
RCC->CFGR |= RCC_CFGR_PLLMULL8 | RCC_CFGR_PLLXTPRE_HSE_Div2 /*| RCC_CFGR_PLLSRC*/;
RCC->CR |= RCC_CR_PLLON;
while (!(RCC->CR & RCC_CR_PLLRDY));
RCC->CFGR |= RCC_CFGR_SW_PLL;
while (!(RCC->CFGR & RCC_CFGR_SWS_PLL));
// enable peripherals
RCC->APB1ENR = RCC_APB1ENR_TIM2EN;
RCC->APB2ENR = RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_ADC1EN | RCC_APB2ENR_USART1EN | RCC_APB2ENR_AFIOEN;
AFIO->MAPR = AFIO_MAPR_SWJ_CFG_JTAGDISABLE;
// configure USART
IO_ALT_PUSH_PULL(UART_TX);
USART1->BRR = USART_BRR(230400);
USART1->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE | USART_CR1_RXNEIE;
ENABLE_INTERRUPT(USART1_IRQn);
// enable systick
SysTick->LOAD = SysTick->VAL = (F_CPU / 1000) / 8;
SysTick->CTRL = /*SysTick_CTRL_CLKSOURCE |*/ SysTick_CTRL_ENABLE | SysTick_CTRL_TICKINT;
_delay_init();
IO_PUSH_PULL(LED);
IO_HIGH(LED);
#ifndef ETHERNET_MODULE
OW_UART_init();
tempInit();
ioInit();
irInit();
#endif
#ifdef ETHERNET
ethInit();
#endif
uint8_t b;
uint32_t lastCheck = 0;
for (;;)
{
// if (IO_IS_LOW(IN1)) dodump = 1;
// else dodump = 0;
// dodump=1;
#ifndef ETHERNET_MODULE
ioProcess();
tempProcess();
irProcess();
#endif
provTmr();
#ifdef ETHERNET
ethProcess();
#endif
}
}
