void
usart_init(usart_num num)
{
if(!usart_available(num))
return;
usart_driver *driver = &usart_drivers[num];
const usart_dev *dev = usart_get_dev(num);
rcc_clk_enable(dev->clk_id);
nvic_irq_enable(dev->irq);
/* initial driver */
driver->p_dev = dev;
/* enable receive and transmit mode */
usart_t *usart = (usart_t *)dev->reg;
usart->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE | USART_CR1_IDLEIE;
/* Parity: none, stop bit: 0, flow control: none */
usart->CR2 = 0;
/* Enable TX/RX DMA */
usart->CR3 = 0;
(void)usart->SR;
(void)usart->DR;
/* Initial DMA */
usart_dma_init(num);
usart_set_used(num);
}
int Ax12Class::readPosition(unsigned char ID)
{
TChecksum = (ID + AX_POS_LENGTH + AX_READ_DATA + AX_PRESENT_POSITION_L + AX_BYTE_READ_POS);
while ( TChecksum >= 255){
TChecksum -= 255;
}
Checksum = 255 - TChecksum;
digitalWrite(Direction_Pin,HIGH);
usart_write(AX_START);
usart_write(AX_START);
usart_write(ID);
usart_write(AX_POS_LENGTH);
usart_write(AX_READ_DATA);
usart_write(AX_PRESENT_POSITION_L);
usart_write(AX_BYTE_READ_POS);
usart_write(Checksum);
delayMicroseconds(TX_DELAY_TIME);
digitalWrite(Direction_Pin,LOW); // Set Rx Mode
Position_Long_Byte = 0;
Time_Counter = 0;
while(usart_available() < 7 & Time_Counter < TIME_OUT){
Time_Counter++;
delay(1);
if( usart_peek() != 255 ){
usart_read();
}
}
while (usart_available() > 0){
Incoming_Byte = usart_read();
if ( Incoming_Byte == 255 & usart_peek() == 255 ){
usart_read(); // Start Bytes
usart_read(); // Ax-12 ID
usart_read(); // Length
if( (Error_Byte = usart_read()) != 0 ) // Error
return (Error_Byte*(-1));
Position_Low_Byte = usart_read(); // Position Bytes
Position_High_Byte = usart_read();
Position_Long_Byte = Position_High_Byte << 8;
Position_Long_Byte = Position_Long_Byte + Position_Low_Byte;
}
}
return (Position_Long_Byte); // Returns the read position
}
int Ax12Class::readVoltage(unsigned char ID)
{
TChecksum = (ID + AX_VOLT_LENGTH + AX_READ_DATA + AX_PRESENT_VOLTAGE + AX_BYTE_READ);
while ( TChecksum >= 255){
TChecksum -= 255;
}
Checksum = 255 - TChecksum;
digitalWrite(Direction_Pin,HIGH);
usart_write(AX_START);
usart_write(AX_START);
usart_write(ID);
usart_write(AX_VOLT_LENGTH);
usart_write(AX_READ_DATA);
usart_write(AX_PRESENT_VOLTAGE);
usart_write(AX_BYTE_READ);
usart_write(Checksum);
delayMicroseconds(TX_DELAY_TIME);
digitalWrite(Direction_Pin,LOW); // Set Rx Mode
Voltage_Byte = 0;
Time_Counter = 0;
while(usart_available() < 6 & Time_Counter < TIME_OUT){
Time_Counter++;
delay(1);
if( usart_peek() != 255 ){
usart_read();
}
}
while (usart_available() > 0){
Incoming_Byte = usart_read();
if ( Incoming_Byte == 255 & usart_peek() == 255 ){
usart_read(); // Start Bytes
usart_read(); // Ax-12 ID
usart_read(); // Length
if( (Error_Byte = usart_read()) != 0 ) // Error
return (Error_Byte*(-1));
Voltage_Byte = usart_read(); // Voltage
}
}
return (Voltage_Byte); // Returns the read Voltage
}
int Ax12Class::read_error(void)
{
Time_Counter = 0;
while(usart_available() < 5 & Time_Counter < TIME_OUT){ // Wait for Data
Time_Counter++;
delay(1);
if( usart_peek() != 255 ){
usart_read();
}
}
while (usart_available() > 0){
Incoming_Byte = usart_read();
if ( Incoming_Byte == 255 & usart_peek() == 255 ){
usart_read(); // Start Bytes
usart_read(); // Ax-12 ID
usart_read(); // Length
Error_Byte = usart_read(); // Error
return (Error_Byte);
}
}
return (-1); // No Ax Response
}
int main(void) {
int i = 10;
GPIO_InitTypeDef gpio_init;
USART_InitTypeDef usart_init;
USART_ClockInitTypeDef usart_clk_init;
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
// PA9 = Tx, PA10 = Rx
gpio_init.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10;
gpio_init.GPIO_Mode = GPIO_Mode_AF;
gpio_init.GPIO_Speed = GPIO_Speed_40MHz;
gpio_init.GPIO_OType = GPIO_OType_PP;
gpio_init.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &gpio_init);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_USART1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_USART1);
USART_ClockStructInit(&usart_clk_init);
USART_ClockInit(USART1, &usart_clk_init);
usart_init.USART_BaudRate = 9600;
usart_init.USART_WordLength = USART_WordLength_8b;
usart_init.USART_StopBits = USART_StopBits_1;
usart_init.USART_Parity = USART_Parity_No ;
usart_init.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
usart_init.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_Init(USART1, &usart_init);
USART_Cmd(USART1,ENABLE);
while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET) {}
while (1) {
if ( usart_available() ) // data available
{
usart_print( "Data Available: " );
uint8_t ch = usart_read();
usart_write(ch);
usart_print( "\r\n" );
}
}
return 0;
}
int main(void) {
uint16_t bits;
uint32_t intval = 40;
uint32_t tnow;
char tmp[92];
RCC_ClocksTypeDef RCC_Clocks;
uint16_t i;
TIM2_timer_start();
usart_begin(&USerial3, USART3, PC11, PC10, 19200);
usart_print(&USerial3,
"Happy are those who know they are spiritually poor; \n"
"The kingdom of heaven belongs to them!\n");
usart_flush(&USerial3);
RCC_GetClocksFreq(&RCC_Clocks);
sprintf(tmp, "SYSCLK = %ul\n", RCC_Clocks.SYSCLK_Frequency);
usart_print(&USerial3, tmp);
sprintf(tmp, "PCLK1 = %ul\n", RCC_Clocks.PCLK1_Frequency);
usart_flush(&USerial3);
GPIOMode(PinPort(PD12),
(PinBit(PD12) | PinBit(PD13) | PinBit(PD14) | PinBit(PD15)), OUTPUT,
FASTSPEED, PUSHPULL, NOPULL);
/*
spi_begin(SPI2, PB13, PB14, PB15, PB12);
digitalWrite(PB12, HIGH);
*/
I2C1_Init();
/*
i2c_begin(&Wire1, PB9, PB8, 100000);
lcd.init(&Wire1);
lcd.begin();
lcd.setContrast(46);
lcd.print("Yappee!"); // Classic Hello World!
*/
bits = GPIO_ReadOutputData(GPIOD );
GPIOWrite(GPIOD, PinBit(PD13) | (bits & 0x0fff));
delay_ms(intval);
tnow = millis() / 1000;
while (tnow == millis() / 1000)
;
tnow = millis() / 1000;
while (1) {
bits = GPIO_ReadOutputData(GPIOD );
GPIOWrite(GPIOD, PinBit(PD13) | (bits & 0x0fff));
delay_ms(intval);
GPIOWrite(GPIOD, PinBit(PD14) | (bits & 0x0fff));
delay_ms(intval);
GPIOWrite(GPIOD, PinBit(PD15) | (bits & 0x0fff));
delay_ms(intval);
GPIOWrite(GPIOD, PinBit(PD12) | (bits & 0x0fff));
delay_ms(intval);
//
bits &= 0x0fff;
switch ((tnow % 60) / 15) {
case 3:
bits |= PinBit(PD12);
case 2:
bits |= PinBit(PD15);
case 1:
bits |= PinBit(PD14);
case 0:
default:
bits |= PinBit(PD13);
break;
}
GPIOWrite(GPIOD, bits);
while (tnow == millis() / 1000);
tnow = millis() / 1000;
//Serial3.print(tmp);
sprintf(tmp, "%04ld\n", millis());
usart_print(&USerial3, tmp);
/*
digitalWrite(PB12, LOW);
spi_transfer(SPI2, (uint8_t *) tmp, 8);
digitalWrite(PB12, HIGH);
*/
i = 0;
if (usart_available(&USerial3) > 0) {
while (usart_available(&USerial3) > 0 && i < 92) {
tmp[i++] = (char) usart_read(&USerial3);
}
tmp[i] = 0;
usart_print(&USerial3, "> ");
usart_print(&USerial3, tmp);
usart_print(&USerial3, "\n");
}
}
return 0;
}
