/*************************************************************************
* Function Name: main
* Parameters: none
* Return: Int32U
*
* Description: The main subroutine
*
*************************************************************************/
int main(void)
{
*NVIC_CCR = *NVIC_CCR | 0x200; /* Set STKALIGN in NVIC */
// Init clock system
Clk_Init();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOA, ENABLE);
// Configure PC.12 as output push-pull (LED)
GPIO_WriteBit(GPIOC,GPIO_Pin_12,Bit_SET);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
while(1)
{
GPIOC->BRR |= 0x00001000;
myDelay(500000);
GPIOC->BSRR |= 0x00001000;
myDelay(500000);
}
}
/*********************************************************************************************************
** Function name: main
** Descriptions: 用户程序入口函数
** input parameters: 无
** output parameters: 无
** Returned value: 无
*********************************************************************************************************/
int main(void)
{
targetInit(); /* 初始化目标板，切勿删除 */
pinInit(); /* 引脚初始化 */
BEEP_INIT();
BEEP_OFF();
while (1) {
BEEP_OFF();
myDelay(200);
BEEP_ON();
myDelay(200);
}
}
static int GetClass1Cap()
{
char str[0x40],*p;
int i,len,n;
SendCmdStr("AT+FTM=?\r"); /*- bps when send data in C_segment -*/
GetRecvStr(str,0x38);
str[0x3c]=0;
if( WaitRetString(600)!=ID_CMDOK )
return 0;
Class1CapBits=0;
len=strlen(str); /*- str may be : 3,24,48,72,96 -*/
p=str;
while(p-str<len)
{
sscanf(p,"%d",&n);
if(n)
{
for(i=0; i<0xf; i++)
if(Class1ReceiverCapArr[i*4]==n)
Class1CapBits |= (1<<i);
}
do {
if(*p++==',') break;
} while (p-str<len);
} /*-- for --*/
myDelay(0xf);
return 1;
}
void servoInit()
{
// set servos to initial positions
setServo(PAN, PAN_CENTER);
setServo(BOOM, BOOM_UP);
setServo(TILT, TILT_FORWARD);
setServo(DOOR, DOOR_CLOSED);
myDelay(30);
setServo(LIFT, LIFT_UP);
myDelay(50);
disableServo(PAN);
disableServo(BOOM);
disableServo(TILT);
disableServo(DOOR);
disableServo(LIFT);
}
void trackLineInit()
{
// Assume we start on the center of the line
lineSlope = 0;
lineOffset = 0;
topLost = TRUE;
bottomLost = TRUE;
statsBufProcessed = TRUE;
// Set pan, tilt, boom postions
setServo(BOOM, BOOM_UP);
setServo(PAN, PAN_CENTER);
setServo(TILT, TILT_FORWARD);
myDelay(5);
// Initialize wheel speeds to some base speed
setLeftPWM(LEFT_BASE_SPEED);
setRightPWM(RIGHT_BASE_SPEED);
// Set Low Resolution
rprintf("hr 0\r");
// Downsample the image
rprintf("DS %d %d\r", DS_X_LINE, DS_Y_LINE);
// Line mode type 0, mode 2
// "per row statistics in the tracked region" p.41
rprintf("lm 0 2\r");
// Output mask hides everything but, mean p.45
rprintf("om 5 15\r");
// set black line tracking parameters p.51
rprintf("st 16 70 16 70 16 60\r");
// set virtual window
rprintf("vw %d %d %d %d\r", VW_X1_LINE, VW_Y1_LINE, VW_X2_LINE, VW_Y2_LINE);
// start the tracking (Track Color)
rprintf("tc\r");
}
void grabBonusBall()
{
// Get in position
//setPose(BB_READY);
setServo(TILT, TILT_BACK);
setServo(LIFT, LIFT_BB_READY);
myDelay(40);
// Drive up to the corner
timer1PWMASet(255);
timer1PWMBSet(255);
forward();
myDelay(20);
brake();
// Execute the pickup sequence
setServo(BOOM, BOOM_BB_GRAB);
myDelay(10);
setServo(TILT, TILT_BB_GRAB);
myDelay(10);
setServo(BOOM, BOOM_UP);
myDelay(15);
setServo(LIFT, LIFT_UP);
myDelay(0);
// Back away from the corner
timer1PWMASet(200);
timer1PWMBSet(200);
reverse();
myDelay(15);
brake();
}
void Example_ADC_ReadData(void)
{
/* 1. set ADC clock */
ADC_SetClk(TSB_ADB, ADC_HOLD_FIX, ADC_FC_DIVIDE_LEVEL_2);
/* 2. select trigger and AD channel, this time we use sofeware trigger, */
/* the VR1 is connected to ADC unit B channel 2, remember to input with macro TRG_ENABLE() */
ADC_SetSWTrg(TSB_ADB, ADC_REG0, TRG_ENABLE(ADC_AIN2));
/* 3. enable ADC module */
ADC_Enable(TSB_ADB);
/* 4. now start ADC */
ADC_Start(TSB_ADB, ADC_TRG_SW);
/* initialize LEDs on M374-SK board before display something */
LED_Init();
while (1U) {
/* check ADC module state */
adcState = ADC_GetConvertState(TSB_ADB, ADC_TRG_SW);
if (adcState == DONE) {
/* read ADC result when it is finished */
result = ADC_GetConvertResult(TSB_ADB, ADC_REG0);
/* get the real ADC result without other information */
/* "/16" is to limit the range of AD value */
myResult = result.Bit.ADResult / 16U;
/* software trigger, need to trigger it again */
ADC_Start(TSB_ADB, ADC_TRG_SW);
}
myDelay(myResult);
if(idx)
{
LED_Off(LEDs[idx-1]);
}
idx &= 0x03U;
myDelay(myResult);
LED_On(LEDs[idx]);
idx++;
}
}
void setPose(uint8_t pose)
{
switch (pose)
{
case DRIVE_OPEN:
// set servos to initial positions
setServo(PAN, PAN_CENTER);
setServo(BOOM, MAX_BOOM_UP);
setServo(TILT, TILT_VERT);
setServo(DOOR, DOOR_CLOSED);
myDelay(30);
setServo(LIFT, LIFT_OPEN);
myDelay(20);
disableServo(PAN);
disableServo(BOOM);
disableServo(TILT);
disableServo(DOOR);
disableServo(LIFT);
lcdWriteStr("Drive Open", 0, 0);
break;
case DRIVE_UP:
// set servos to initial positions
setServo(PAN, PAN_CENTER);
setServo(BOOM, BOOM_UP);
setServo(TILT, TILT_VERT);
setServo(DOOR, DOOR_CLOSED);
myDelay(30);
setServo(LIFT, LIFT_UP);
myDelay(50);
disableServo(PAN);
disableServo(BOOM);
disableServo(TILT);
disableServo(DOOR);
disableServo(LIFT);
lcdWriteStr("Drive UP", 0, 0);
break;
default:
lcdWriteStr("ERROR", 0, 0);
break;
}
}
int main(void)
{
init_led();
init_button();
enable_button_interrupts();
while(1) {
/* Generate a software interrupt on EXTI line 0 */
EXTI_GenerateSWInterrupt(EXTI_Line0);
myDelay(500000);
}
}
/*-- return:
0=time out, otherwise return 1
--------------*/
static int SendComFrame(char *buf,int flag, int DelayN)
{
int ret,i,total;
if(SendFTHflag)
{
SendCmdStr("AT+FTH=3\r");
ret=WaitRetString(DelayN);
if(ret!=ID_CMDOK && ret!=ID_CMDCONNECT)
return 0;
myDelay(2);
}
SendFTHflag=flag;
if(flag) buf[3] |= 0x10;
else buf[3] &= 0xef;
total=*(short *)&buf[0];
i=2;
total += 2;
TimerTicks=0;
for(; i<total; i++)
{
while( SendCmdChar(buf[i]) )
if(TimerTicks>=DelayN)
break;
if(buf[i]==DLE)
while( SendCmdChar(DLE) )
if(TimerTicks>=DelayN)
break;
}
while( SendCmdChar(DLE) )
if(TimerTicks>=DelayN)
break;
while( SendCmdChar(ETX) )
if(TimerTicks>=DelayN)
break;
if(TimerTicks>=DelayN)
return 0;
ret=WaitRetString(600);
if( ret!=ID_CMDOK && ret!=ID_CMDCONNECT )
return 0;
return 1;
}
void cmuInit()
{
//myDelay(10); // wait for the CMU to power up
//lcdWriteStr("CMU Init", 0, 0);
// Set high res mode
rprintf("hr 1\r");
//lcdWriteStr("White bal ON", 1, 0);
// turn white balance on p.31
rprintf("cr 18 44\r");
myDelay(200);
//lcdWriteStr("White bal OFF", 1, 0);
// turn white balance off p.31
rprintf("cr 18 40\r");
}
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // 关闭看门狗
__enable_interrupt(); //使能全局中断
init_key(); //初始化按键的管脚设置
init_LCD_hardware(); //初始化LCD液晶显示屏的管脚设置
SetVCore(3); //设VCore为最大,提高Vcore电压到最高级，以满足倍频需求该函数位于HAL_PMM.H中
initClocks(20000000); //初始化时钟20MHz
init_SPI(); //初始化SPI
ILI9325_CMO24_Initial();
SPILCD_SetWindow(0,480-1,0,320-1);
SPILCD_Clear(WHITE);
P6DIR |= BIT3+BIT4;
Show_splash();
int ai;
for(ai=0;ai<200;ai++)
{
myDelay();
}
SPILCD_Clear(WHITE);
Show_MenuTheme();
Show_MenuMode(1);
Show_Select();
Init_UART2();
UCA0IE |= UCRXIE;
int as1=1;
buttonsPressed=0;
USB_setup(TRUE,TRUE);
while (!buttonsPressed)
{
buttonsPressed = 0;
for(ai=0;ai<30;ai++)
{
myDelay();
}
if (buttonsPressed & BUTTON_S3)
{
Show_ButtonS3();
if(as1==4){
as1=1;
Show_MenuMode(as1);
}else{
if(as1==1){
as1=2;
Show_MenuMode(as1);
}else{
if(as1==2){
as1=3;
Show_MenuMode(as1);
}else{
if(as1==3){
as1=4;
Show_MenuMode(as1);
}
}
}
}
buttonsPressed=0;
Show_Select();
}
if (buttonsPressed & BUTTON_S2)
{
Show_ButtonS2();
if(as1==2){
as1=1;
Show_MenuMode(as1);
}else{
if(as1==3){
as1=2;
Show_MenuMode(as1);
}else{
if(as1==4){
as1=3;
Show_MenuMode(as1);
}else{
if(as1==1){
as1=4;
Show_MenuMode(as1);
}
}
}
}
buttonsPressed=0;
Show_Select();
}
if (buttonsPressed & BUTTON_S1)
{
Init_UART2();
Show_ButtonS1();
if(as1==1){
menu_select=1;
}
if(as1==2){
menu_select=2;
}
if(as1==3){
menu_select=3;
}
if(as1==4){
menu_select=4;
}
chanle_menu();
as1=1;
buttonsPressed=0;
SPILCD_Clear(WHITE);
Show_MenuTheme();
Show_MenuMode(1);
Show_Select();
}
if (buttonsPressed & BUTTON_S4){
Show_ButtonS4();
Show_MenuMode(as1);
buttonsPressed=0;
Show_Select();
}
}
}
void transmit_menu(void){
SPILCD_Clear(WHITE);
Show_MenuTheme();
Show_TranMenuMode(1);
Show_Select();
int as1=1;
int tran_mode;
buttonsPressed=0;
while (!(buttonsPressed & BUTTON_S4))
{
buttonsPressed = 0;
int ai;
for(ai=0;ai<30;ai++)
{
myDelay();
}
if (buttonsPressed & BUTTON_S3)
{
Show_ButtonS3();
if(as1==4){
as1=1;
Show_TranMenuMode(as1);
}else{
if(as1==1){
as1=2;
Show_TranMenuMode(as1);
}else{
if(as1==2){
as1=3;
Show_TranMenuMode(as1);
}else{
if(as1==3){
as1=4;
Show_TranMenuMode(as1);
}
}
}
}
buttonsPressed=0;
Show_Select();
}
if (buttonsPressed & BUTTON_S2)
{
Show_ButtonS2();
if(as1==2){
as1=1;
Show_TranMenuMode(as1);
}else{
if(as1==1){
as1=4;
Show_TranMenuMode(as1);
}else{
if(as1==4){
as1=3;
Show_TranMenuMode(as1);
}else{
if(as1==3){
as1=2;
Show_TranMenuMode(as1);
}
}
}
}
buttonsPressed=0;
Show_Select();
}
if (buttonsPressed & BUTTON_S1)
{
Show_ButtonS1();
if(as1==1){
tran_mode=1;
tran_mode_SP=1;
}
if(as1==2){
tran_mode=2;
tran_mode_SP=2;
}
if(as1==3){
tran_mode=3;
tran_mode_SP=3;
}
if(as1==4){
tran_mode=4;
tran_mode_SP=4;
}
if(menu_select==1){
UCA0IE &= ~UCRXIE;
HR(tran_mode);
menu_select=1;
}
if(menu_select==2){
BP(tran_mode);
menu_select=2;
}
if(menu_select==3){
SPO2H(tran_mode);
menu_select=3;
}
if(menu_select==4){
ACCELMENU(tran_mode);
menu_select=4;
}
as1=1;
tran_mode=1;
buttonsPressed=0;
BUTTON_S4=0;
SPILCD_Clear(WHITE);
Show_MenuTheme();
Show_TranMenuMode(1);
Show_Select();
}
}
if(buttonsPressed & BUTTON_S4){
Show_ButtonS4();
}
}
void chanle_menu(void){
SPILCD_Clear(WHITE);
Show_MenuTheme();
Show_ChanleMode(1);
Show_Select();
int as1=1;
buttonsPressed=0;
while (!(buttonsPressed & BUTTON_S4))
{
buttonsPressed = 0;
int ai;
for(ai=0;ai<30;ai++)
{
myDelay();
}
if (buttonsPressed & BUTTON_S3)
{
Show_ButtonS3();
if(as1==4){
as1=1;
Show_ChanleMode(as1);
}else{
if(as1==1){
as1=2;
Show_ChanleMode(as1);
}else{
if(as1==2){
as1=3;
Show_ChanleMode(as1);
}else{
if(as1==3){
as1=4;
Show_ChanleMode(as1);
}
}
}
}
buttonsPressed=0;
Show_Select();
}
if (buttonsPressed & BUTTON_S2)
{
Show_ButtonS2();
if(as1==2){
as1=1;
Show_ChanleMode(as1);
}else{
if(as1==1){
as1=4;
Show_ChanleMode(as1);
}else{
if(as1==4){
as1=3;
Show_ChanleMode(as1);
}else{
if(as1==3){
as1=2;
Show_ChanleMode(as1);
}
}
}
}
buttonsPressed=0;
Show_Select();
}
if (buttonsPressed & BUTTON_S1)
{
Show_ButtonS1();
if(as1==1){
select_chanle(1);
}
if(as1==2){
select_chanle(2);
}
if(as1==3){
select_chanle(3);
}
if(as1==4){
select_chanle(4);
}
if(menu_select==3) {
NONUSE_LCD();
int_dac();
on_red();
USE_LCD();
}
transmit_menu();
as1=1;
buttonsPressed=0;
BUTTON_S4=0;
SPILCD_Clear(WHITE);
Show_MenuTheme();
Show_ChanleMode(1);
Show_Select();
}
}
if(buttonsPressed & BUTTON_S4){
Show_ButtonS4();
}
}
