task_hostservantcomm.c

本人s12的一部分机器人巡线程序

#include "includes.h"
#define EXT extern
#include "main.h"


#pragma CODE_SEG Task_HostServantCommCode	//save Task1 code in banked flash
//#pragma STRING_SEG Task1Code	//save Task1 string in banked flash
void Task_HostServantComm(TASKDATA* pdata); //串口通讯任务4294967296

uchar data1[8]={'1','2','3','4','5','6','7','8'};
void Task_HostServantComm(TASKDATA* pdata)
{
	#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR cpu_sr;
	#endif

	INT8U err;	
	uchar i=0;
	uchar left[26];
	ulong var;
	rightspeedcount=0;
	for(;;)
	{
    OSTimeDlyHMSM(0,0,0,250);
    left[0]=leftspeedcount/1000000000;
    var=leftspeedcount%1000000000;
    left[0]=       var/100000000+0x30;
    var=           var%10000000;
    left[1]=       var/1000000+0x30;
    var=           var%1000000;
    left[2]=       var/100000+0x30;
    var=           var%100000;
    left[3]=       var/10000+0x30;
    var=           var%10000;
    left[4]=       var/1000+0x30;
    var=           var%1000;
    left[5]=       var/100+0x30;
    var=           var%100;
    left[6]=       var/10+0x30;
    var=           var%10;
    left[7]=       var+0x30;
    leftspeedcount=0;
    left[8]='A';
    left[9]=rightspeedcount/1000000000;
    var=rightspeedcount%1000000000;
    left[9]=       var/100000000+0x30;
    var=           var%10000000;
    left[10]=       var/1000000+0x30;
    var=           var%1000000;
    left[11]=       var/100000+0x30;
    var=           var%100000;
    left[12]=       var/10000+0x30;
    var=           var%10000;
    left[13]=       var/1000+0x30;
    var=           var%1000;
    left[14]=       var/100+0x30;
    var=           var%100;
    left[15]=       var/10+0x30;
    var=           var%10;
    left[16]=       var+0x30;
    left[17]='B';
    //rightspeedcount=0; 
    left[18]=LeftSpeed/100+0x30;
    var=LeftSpeed%100;
    left[19]=var/10+0x30;
    var=var%10;
    left[20]=var+0x30;
    left[21]='C';
    left[22]=RightSpeed/100+0x30;
    var=RightSpeed%100;
    left[23]=var/10+0x30;
    var=var%10;
    left[24]=var+0x30;
    left[25]='D';
    
                    
    uart0_string_int(left,26);

    
//    PORTB=i++;
	 }
	
}
#pragma CODE_SEG DEFAULT
//#pragma STRING_SEG DEFAULT