/* Start user code for adding. Do not edit comment generated here */
void packet_process(void)
{
int pwm; /* duty cycle for duty assignment mode */
int mode; /* assigned mode from master packet */
/* if ignore bit set, do nothing */
if (masterPacket[0] & 2)
return;
mode = masterPacket[0] & 12;
/* servo off mode */
if (mode == 0)
{
set_motor_output(0);
TRG = 0;
count = 0;
}
/* duty assignment mode */
if (mode == 4)
{
pwm = (double)((int8_t)masterPacket[3]) / 100 * 3100;
set_motor_output(pwm);
}
/* position control mode */
if (mode == 8)
{
pid_control();
}
/* else reservation mode, don't need to do anything */
/* if this is the time we are processing this packet, and if required send reply */
if (firstCall == 1 && masterPacket[1] & 1 == 1)
{
firstCall = 0;
bufferOut[0] = masterPacket[0];
bufferOut[2] = count >> 8;
bufferOut[3] = count;
bufferOut[4] = crc((((long)bufferIn[0]) << 24) +
(((long)bufferIn[1]) << 16) +
(((long)bufferIn[2]) << 8) +
((long) bufferIn[3]));*/
P1.5 = 1;
R_UART2_Send(bufferOut , 5);
/* when send finishes, it will toggle DE for receive */
}
/***********************************************************************************************************************
* Function Name: main
* Description : This function implements main function.
* Arguments : None
* Return Value : None
***********************************************************************************************************************/
void main(void)
{
R_MAIN_UserInit();
/* Start user code. Do not edit comment generated here */
int transmit_count = 0;
R_UART2_Create();
R_UART2_Start();
uart2Status = R_UART2_Receive(&uart2RxBuf[0],1); // Prime UART2 Rx
R_TAU0_Create();
R_TAU0_Channel0_Start();
R_PORT_Create();
R_ADC_Create();
while (1U)
{
if(oneSec)
{
if(transmit)
uart2Status = R_UART2_Send(uart2TxBuf, 1);
counter++;
oneSec = !oneSec;
}
if(uart2RxFlag)
{
uart2RxFlag = 0U;
if(uart2RxBuf[0] == 'b')
{
uart2TxBuf[0] = counter;
transmit_count = convertToNum(uart2TxBuf); //convert the ASCII symbols to integers instead.
uart2Status = R_UART2_Send(uart2TxBuf, transmit_count);
}
else
if(uart2RxBuf[0] == 'l')
P7_bit.no7 = !P7_bit.no7;
else
if(uart2RxBuf[0] == 'a')
{
uint8_t adcvalue = 0;
R_ADC_Start();
while(!adc_done_flag); //wait for interrupt
adc_done_flag = 0;
R_ADC_Get_Result_8bit(&adcvalue);
uart2TxBuf[0] = adcvalue;
transmit_count = convertToNum(uart2TxBuf); //convert the ASCII symbols to integers instead.
R_ADC_Stop();
uart2Status = R_UART2_Send(uart2TxBuf, transmit_count);
}
else
if(uart2RxBuf[0] == 't')
transmit = !transmit;
else
uart2TxBuf[0] = uart2RxBuf[0];
// Prime UART2 Rx
uart2Status = R_UART2_Receive(uart2RxBuf, 1);
}
//If a character has been transmitted
if (uart2TxFlag)
{
// End of UART2 transmit
uart2TxFlag = 0U; // clear tx flag
}
}
R_UART2_Stop();
R_TAU0_Channel0_Stop();
//R_ADC_Stop();
/* End user code. Do not edit comment generated here */
}
