📄 app.c
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----------------------------------------------------------------*/
void DealKeyUp(void)
{
unsigned char bit = nCursor;
if( ( nAxisCode != 0) && ( nCursor != 0x0f) )//选择轴并是置数
{
if( bit >= nDotbit )
bit++;
if( bit == 0 )
{
if( SetBuffer[bit] == '+' )
SetBuffer[bit] = '-';
else
SetBuffer[bit] = '+';
}
else
{
if( SetBuffer[bit] == '9' )
SetBuffer[bit] = '0';
else
SetBuffer[bit]++;
}
}
else
{
Wait2SendVal = 1;
SendBuffer[1] = 7;
/* if( nCheckZRO == 0)
{
Wait2SendVal = 1;
SendBuffer[1] = 7;
}
else
{
Wait2SendVal = 10;
for(bit=1; bit<=10; bit++)
{
SendBuffer[bit] = 7;
}
}*/
}
}
/*----------------------------------------------------------------
处理Down按键函数
----------------------------------------------------------------*/
void DealKeyDown(void)
{
unsigned char bit = nCursor;
if( ( nAxisCode != 0) && ( nCursor != 0x0f) )//选择轴并是置数
{
if( bit >= nDotbit )
bit++;
if( bit == 0 )
{
if( SetBuffer[bit] == '+' )
SetBuffer[bit] = '-';
else SetBuffer[bit] = '+';
}
else
{
if( SetBuffer[bit] == '0' )
SetBuffer[bit] = '9';
else SetBuffer[bit]--;
}
}
else
{
Wait2SendVal = 1;
SendBuffer[1] = 8;
}
}
/*----------------------------------------------------------------
处理按键函数
----------------------------------------------------------------*/
void DealKey( void )
{
switch(nKey)
{
case 0x01: DealKeyAxis(1); break;
case 0x02: DealKeyAxis(2); break;
case 0x03: DealKeyAxis(3); break;
case 0x04: DealKeyCLR(); break;
case 0x05: DealKeyMI(); break;
case 0x06: DealKeyHalf(); break;
case 0x07: DealKeyUp(); break;
case 0x08: DealKeyDown(); break;
default: break;
}
}
/*----------------------------------------------------------------
数码管三轴显示子程序
----------------------------------------------------------------*/
void Display( void )
{
unsigned char i;
switch( nAxisCode )
{
case SEL_X_AXIS:
ACSII2LED( SetBuffer, XAxisLedCode);
ACSII2LED( YRecBuffer, YAxisLedCode);
ACSII2LED( ZRecBuffer, ZAxisLedCode);
break;
case SEL_Y_AXIS:
ACSII2LED( XRecBuffer, XAxisLedCode);
ACSII2LED( SetBuffer, YAxisLedCode);
ACSII2LED( ZRecBuffer, ZAxisLedCode);
break;
case SEL_Z_AXIS:
ACSII2LED( XRecBuffer, XAxisLedCode);
ACSII2LED( YRecBuffer, YAxisLedCode);
ACSII2LED( SetBuffer, ZAxisLedCode);
break;
default:
ACSII2LED( XRecBuffer, XAxisLedCode);
ACSII2LED( YRecBuffer, YAxisLedCode);
ACSII2LED( ZRecBuffer, ZAxisLedCode);
break;
}
if( nCheckZRO == 1 ) //查看ZRO坐标时，Z轴显示SetBuffer的数
{
CHAR2ACSII(nCoordinate, SetBuffer); //将坐标值转换成ASCII码
ACSII2LED( SetBuffer, ZAxisLedCode); //显ZRO坐标
}
SEL_ROW = 0x00; //关闭灯
NOPDelay(2);
OSSchedLock();
for(i=0; i<8; i++) //动态显示8个LED
{
LEDX = XAxisLedCode[i];
LEDY = YAxisLedCode[i];
LEDZ = ZAxisLedCode[i];
if( (nAxisCode != 0 ) && ( nCursor == i ) ) //置数光标闪烁
{
if( displaytime < 250 )
{
switch( nAxisCode )
{
case SEL_X_AXIS: LEDX = 0x00; break;
case SEL_Y_AXIS: LEDY = 0x00; break;
case SEL_Z_AXIS: LEDZ = 0x00; break;
default: break;
}
}
}
else if( nCheckZRO == 1 )
{
LEDX = 0x00 ; //查看ZRO坐标时，X，Y轴不显示数
LEDY = 0x00 ;
}
SEL_ROW = ( 0x80 >> i);
NOPDelay(20);
SEL_ROW = 0x00;
NOPDelay(2);
}
OSSchedUnlock();
LEDX = 0x00; //点灯
LEDY = 0x00;
LEDZ = 0x00;
if( nCoordinate > 1)
{
LEDZ = 0x80; //ZRO灯亮
}
else
{
if( nCoordinate == 0 )
LEDX = 0x80; //ALE灯亮
else
LEDY = 0x80; //INC灯亮
}
SEL_ROW = 0x80; //一直点亮
if( displaytime == 500 )
displaytime = 0;
else
displaytime++;
}
/*----------------------------------------------------------------
通讯子程序
----------------------------------------------------------------*/
void Comm( void )
{
unsigned char i,nextAxis,*pAxisBuffer;
static unsigned char nCurrentRead;
wUartWait++;
switch( nReadAxisStep )
{
case WAIT_READ_FINISH:
if( nRxFinish == 1 ) //收完轴读数包
{
//nRecpack++;
nRxFinish = 0;
//nErrorTime = 0;
if( (RecData[PACK_LENTH-1]!=0xBB) | (RecData[PACK_LENTH-2] != nSendByte) )//by yang //if error request to send data again
{
Usart1_send( nSendByte ); //重发
wUartWait=0;
//nErrorpack++;
}
else//no error //set next key to sent //if a key had sent out and back, wait to confirm ,sent 0x0e as confirm or resent.
{ //if a key confirmed ,or no key was send last ,//see that if there some key in send buffer .
if( Wait2SendVal != 0 )
{ if ( fSendingCMD == 0 )
{
fSendingCMD=1;
nSendKey = SendBuffer[Wait2SendVal];
}
else if( ( RecData[PACK_LENTH-2]&0x0F) == nSendKey )
{
if( nSendKey != 0x0E )
{
nSendKey = 0x0E;
}
else
{
Wait2SendVal--;
nSendKey = SendBuffer[Wait2SendVal];
}
}//else,just do nothing ,keep the nSendKey
}
else
{
if( fSendingVAL == 1 )
{
fSendingVAL=0;
nAxisCode=0;
nCursor =0x0F;
}
fSendingCMD = 0;
nSendKey = SendBuffer[Wait2SendVal];
}
switch( nCurrentRead )
{
case READ_X_STEP:
pAxisBuffer=XRecBuffer;
nextAxis=0x20;
nCurrentRead = READ_Y_STEP;
break;
case READ_Y_STEP:
pAxisBuffer=YRecBuffer;
nextAxis=0x30;
nCurrentRead = READ_Z_STEP;
break;
case READ_Z_STEP:
pAxisBuffer=ZRecBuffer;
nextAxis=0x10;
nCurrentRead = READ_X_STEP;
break;
default:
nextAxis=0x10;
pAxisBuffer=XRecBuffer;
nCurrentRead = READ_X_STEP;
break;
}//end of switch
for(i=0; i<LED_LENTH; i++) //store the received axis value
pAxisBuffer[i] = RecData[i];
if( RecData[3] == '.' ) //record M/I
nDotbit = 3;
else if( RecData[4] == '.' )
nDotbit = 4;
else
nDotbit = 5;
nCoordinate = RecData[PACK_LENTH-3]; //record coordinate
//NOPDelay(1500);
nSendByte = nextAxis | nSendKey;
nReadAxisStep = SENT_REQUEST;
}//end check error
}
else
{
if( wUartWait >= 2 )
{
wUartWait = 0;
Usart1_send( nSendByte ); //重发
// nOverTime++;
nRxFinish = 0;
}
}//check package error
break;
case SENT_REQUEST:
Usart1_send( nSendByte );
wUartWait = 0;
nReadAxisStep = WAIT_READ_FINISH;
break;
default:
nSendByte = 0x10 ;
nSendKey = 0;
nCurrentRead = READ_X_STEP;
nReadAxisStep = SENT_REQUEST;
break;
}
/* if(looptime>20000)
{
_NOP();
looptime=0;
}*/
}
/*----------------------------------------------------------------
任务1函数
----------------------------------------------------------------*/
void Task1 (void *pdata)
{
pdata = pdata; /* 无任何意义，防止编译器报警 */
WDTCTL = WDT_MDLY_32; /* SMCLK = MCLK = 3M ,设置时钟节拍间隔为10ms */
IE1 |= 0x01; /* 开看门狗定时器中断 */
_EINT();
while(1)
{
Comm();
OSTimeDly(2);
}
}
/*----------------------------------------------------------------
任务2函数
----------------------------------------------------------------*/
void Task2 (void *pdata)
{
pdata = pdata; /* 无任何意义，防止编译器报警 */
while(1)
{
ScanKey();
DealKey();
OSTimeDly(8);
}
}
/*----------------------------------------------------------------
任务3函数
----------------------------------------------------------------*/
void Task3 (void *pdata)
{
pdata = pdata; /* 无任何意义，防止编译器报警 */
while(1)
{
Display();
//OSTimeDly();
}
}
/*----------------------------------------------------------------
任务主函数
----------------------------------------------------------------*/
void main(void)
{
unsigned char I;
WDTCTL = WDTPW + WDTHOLD; //关看门狗
//BCSCTL1 &=~XT2OFF;
BCSCTL1 = 0x86;
DCOCTL = 0xe0;
do{
IFG1 &=~OFIFG;
for(I=0xff; I>0; I--);
}while ( ( IFG1& OFIFG) != 0 );
BCSCTL2 = 0;
Init_Usart1();
//Init_TimerA();
Init_IO();
P3OUT &= 0xdf; //485接收状态 */
OSInit(); /* 初始化uCOS-II */
OSTaskCreate(Task1, (void *)0, &Task1Stk[TASK_STK_SIZE - 1], 0);
OSTaskCreate(Task2, (void *)0, &Task2Stk[TASK_STK_SIZE - 1], 1);
OSTaskCreate(Task3, (void *)0, &Task3Stk[TASK_STK_SIZE - 1], 2);
OSStart(); /* 开始任务调度 */
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