/*************************************************************
//! 函数名：void main (void)
//! 函数说明：主程序
*************************************************************/
void main (void)
{
unsigned char i,max_data_chn;
struct movement_info *car_cmd;
PCA0MD &= ~0x40; //关闭看门狗
Oscillator_Init(); //时钟晶振初始化
// ADC_PortInit();
Timer1_Init(); //定时器1初始化
//Timer3_Init ();
SMBus_Init (); //SMBus初始化（IIC控制器）
PWM_Init(); //PWM初始化
servo_init(); //舵机控制初始化
//Watchdog_Init();
EA = 1; // 开中断
do
{
Flag = 0;
while (!rec_flag) ; //检测接收控制数据的标志
rec_flag = 0;
car_cmd = (struct movement_info *)Data; //若接收到数据，则从全局区取出
car_movement_control(car_cmd); //根据控制信息执行车体控制代码
}while(1);
}
// Initialization function for device,
// Call Init_Device() from your main program
void Init_Device(void)
{
Reset_Sources_Init();
Timer_Init();
UART_Init();
SMBus_Init();
ADC_Init();
DAC_Init();
EMI_Init();
Voltage_Reference_Init();
Port_IO_Init();
Oscillator_Init();
Interrupts_Init();
}
//-----------------------------------------------------------------------------
// MAIN Routine
//-----------------------------------------------------------------------------
//
// Main routine performs all configuration tasks, then loops forever sending
// and receiving SMBus data to the slave <SLAVE_ADDR>.
//
void main (void)
{
unsigned char odoslat[4] = {0x00,0x00,0x12,0xFF};
volatile unsigned char dat; // Test counter
unsigned char i; // Dummy variable counters
PCA0MD &= ~0x40; // WDTE = 0 (watchdog timer enable bit)
OSCICN |= 0x07; // Set internal oscillator to highest
// setting of 24500000
// If slave is holding SDA low because of an improper SMBus reset or error
while(!SDA)
{
// Provide clock pulses to allow the slave to advance out
// of its current state. This will allow it to release SDA.
XBR1 = 0x40; // Enable Crossbar
SCL = 0; // Drive the clock low
for(i = 0; i < 255; i++); // Hold the clock low
SCL = 1; // Release the clock
while(!SCL); // Wait for open-drain
// clock output to rise
for(i = 0; i < 10; i++); // Hold the clock high
XBR1 = 0x00; // Disable Crossbar
}
Port_Init (); // Initialize Crossbar and GPIO
Timer1_Init (); // Configure Timer1 for use as SMBus
// clock source
Timer3_Init (); // Configure Timer3 for use with SMBus
// low timeout detect
SMBus_Init (); // Configure and enable SMBus
EIE1 |= 0x01; // Enable the SMBus interrupt
LED = 0;
EA = 1; // Global interrupt enable
// TEST CODE-------------------------------------------------------------------
dat = 0; // Output data counter
NUM_ERRORS = 0; // Error counter
while (1)
{
// SMBus Write Sequence
if (dat < 4){
SMB_DATA_OUT = odoslat[dat]; // Define next outgoing byte
TARGET = SLAVE_ADDR; // Target the F3xx/Si8250 Slave for next
// SMBus transfer
SMB_Write(); // Initiate SMBus write
}
// SMBus Read Sequence
// TARGET = SLAVE_ADDR; // Target the F3xx/Si8250 Slave for next
// SMBus transfer
//SMB_Read();
// Check transfer data
/*if(SMB_DATA_IN != SMB_DATA_OUT) // Received data match transmit data?
{
NUM_ERRORS++; // Increment error counter if no match
}*/
// Indicate that an error has occurred (LED no longer lit)
if (NUM_ERRORS > 0)
{
LED = 0;
}
else
{
LED = ~LED;
}
// Run to here to view the SMB_DATA_IN and SMB_DATA_OUT variables
dat++;
T0_Wait_ms (1); // Wait 1 ms until the next cycle
}
// END TEST CODE---------------------------------------------------------------
}
