905.c

来自「MS320F2812 Sci驱动程序」· C语言 代码 · 共 186 行

#include "DSP28_Device.h"

#define		LED1_ON		GpioDataRegs.GPFDAT.bit.GPIOF11=1
#define		LED1_OFF	GpioDataRegs.GPFDAT.bit.GPIOF11=0

int LedFlag = 1;

unsigned int i, j;

int rx, tx;
int data;
int WaitCnt = 0;

void main(void)
{


	/*初始化系统*/
	InitSysCtrl();

	/*关中断*/
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

	/*初始化PIE中断*/
	InitPieCtrl();

	/*初始化PIE中断矢量表*/
	InitPieVectTable();	
	
    /*初始化外设*/
	InitPeripherals();
    
    InitGpio();
    
    #if SCIA_INT
	/*设置中断服务程序入口地址*/
	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.TXAINT = &SCITXINTA_ISR;
	PieVectTable.RXAINT = &SCIRXINTA_ISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers
	/*开中断*/
	IER |= M_INT9;	
	#endif
	
	#if SCIB_INT
	/*设置中断服务程序入口地址*/
	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.TXBINT = &SCITXINTB_ISR;
	PieVectTable.RXBINT = &SCIRXINTB_ISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers
	/*开中断*/
	IER |= M_INT9;	
	#endif
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM
	IFR = 0x0000;
	
	//Config Timer
	ConfigCpuTimer(&CpuTimer0, 150, 500000);		//at 75ms period
	StartCpuTimer0();

	PieCtrl.PIEIER1.bit.INTx7 = 1;

	IER |= M_INT1;

	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM
	
	IFR = 0x0000;
	
	for(WaitCnt = 0; WaitCnt < 4; WaitCnt ++)	//wait 7.5s for controller start
	{
		while(SyncFlag == 0)
		{
			//NOP wait for Sync;
		}
		SyncFlag = 0;	
	}


//	SendCommand(0);
//	SendCommand(5);	

	for(;;)
	{
	
		if(LedFlag == 1)
		{
			LED1_ON;
			LedFlag = 0;
		}
		else
		{
			LED1_OFF;
			LedFlag = 1;
		}

/*
		//Process center computer command
		RecvCmd();
		if(ReadAzCmd(&data) == 1)
			SendEncoder(1, data);
		if(ReadElCmd(&data) == 1)
			SendEncoder(2, data);
*/

		
		//process key
		if(SciRecv(1, &rx) == 1)
		{
			tx = rx;//ProcessKey();
			if(tx != 0xFFFF)
			{
				SciSend(2, tx);
			}
		}
		
		if(SciRecv(2, &rx) == 1)
		{
			tx = rx;//ProcessKey();
			if(tx != 0xFFFF)
			{
				SciSend(1, tx);
			}
		}
		
/*		if(SciRecv(2, &rx) == 1)
		{

			if(rx == 1)
			{
				ReadRDC(1);
			}
			if(rx == 4)
			{
				ReadRDC(2);
			}
			if(rx == 0x12)
			{
				WriteDigitalOutput(0xFF);
			}
			if(rx == 0x22)
			{
				WriteDigitalOutput(0x00);
			}
			if(rx == 0x10)
			{
				rx = ReadDigitalInput()>>8;
			}
			if(rx == 0x30)
			{
//				SetVelocity(-100);
				SendCommand(12);
			}
					
			tx = rx;
			SciSend(2, tx);	
		}


		if(KeyInput() == 1)
		{
			SendEncoder(AZ, AzZeroPos);
		}
*/		


		
//		MainLoop();
		while(SyncFlag == 0)
		{
			//NOP wait for Sync;
		}
		SyncFlag = 0;				
	}
//	StopCpuTimer0();
} 	


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// No more.
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