main.c

基于Cortex-M3的全自动焊接机

#include  "systick.h"
#include  "circuit.h"
#include  <hw_sysctl.h>
#include  <hw_gpio.h>
#include  <hw_timer.h>
#include "define.h"
#include "hw_types.h"
#include "hw_memmap.h"
#include  "hw_uart.h"
#include  "uart.h"

#include "globaltype.h"
#include  "hip4081.h"
#include "motor.h"

#include  "pwm.h"
#include  "pwm_init.h"
void driver_dir(unsigned char dir,unsigned char motor_number);

//  将较长的标识符定义成较短的形式

#define  GPIOPinTypeIn          GPIOPinTypeGPIOInput
#define  GPIOPinTypeOut         GPIOPinTypeGPIOOutput


extern unsigned int timerloadvalue;
unsigned long ulPeriod;


struct placed_relate_parm palced_magor[MOTOR_NUMBER]; //电机是主体，是执行者


extern unsigned char error_report;                   //
extern unsigned char Uart_recBuf[];                   //接收数据缓存区


extern unsigned char new_data_flag;

unsigned char TxEndFlag = false;                    //调试时使用，发送完毕标志位
    

/*电机处于各种状态下，都假定返回的相邻的码时间间隔小于1s，不必申请超时中断*/
unsigned char usr_require;

//void driver_motor(unsigned char driver,unsigned char motor_number);

//void clear_motor(unsigned char motor_num);
void clear_uart_buf(void);
unsigned char uart_rec_deal();
extern void uart_driver_motor(unsigned char motor_number ,unsigned char usr_command);
extern void clear_send_buf(void);

void fill_Txbuf();
void TxFIFOFill(void);
void driver_dir(unsigned char ptr_motor_number,unsigned char motor_num);



#define  SysCtlPeriEnable       SysCtlPeripheralEnable

void  main(void)
{
    circuit();
    
    /*cpu_dis_interrupt();
    palced_magor[0].dir = 1;
    uart_driver_motor(0,NULL);
    while(1);*/
    for (;;)
    {
        if(Uart_recBuf[0])
        {
            uart_rec_deal();
            if(!error_report)
            {
                error_report = 1;
                clear_uart_buf(); //数据若出错，清空缓存   
            }
        }

        if(TxEndFlag)
        {
            TxEndFlag = 0;
            clear_send_buf();
            //UARTCharPut(UART0_BASE, '\n');//参数千万不要给错，否则会进入FaultISR
        }
    }   
   
}