|
|
|
#include "bsp_led.h"
|
|
|
|
#include "c_delay.h"
|
|
|
|
#include "debug_drv.h"
|
|
|
|
|
|
|
|
TS_key_ ts_key;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void L0_board_init(unsigned char onf)
|
|
|
|
{
|
|
|
|
if(onf)
|
|
|
|
{
|
|
|
|
/// SWITCH_INIT();
|
|
|
|
/// LED1_INIT();
|
|
|
|
// D_LED2_INIT();
|
|
|
|
}else
|
|
|
|
{
|
|
|
|
|
|
|
|
/// SWITCH_OFF();
|
|
|
|
/// LED1_OFF();
|
|
|
|
// D_LED2_OFF();
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
|
|
|
|
|
|
|
void L0_board_key(void)
|
|
|
|
{
|
|
|
|
ts_key.now = D_P32_AT();
|
|
|
|
if(ts_key.pool != ts_key.now)
|
|
|
|
{
|
|
|
|
if(ts_key.now)
|
|
|
|
{
|
|
|
|
|
|
|
|
}else
|
|
|
|
{///``\____
|
|
|
|
ts_key.val = 1;
|
|
|
|
}
|
|
|
|
ts_key.pool = ts_key.now;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void L0_sw_key(void)///限位开关判定
|
|
|
|
{
|
|
|
|
ts_key.now = L0_Mmin_AT();
|
|
|
|
if(ts_key.pool != ts_key.now)
|
|
|
|
{
|
|
|
|
if(ts_key.now)
|
|
|
|
{
|
|
|
|
|
|
|
|
}else
|
|
|
|
{///``\____
|
|
|
|
ts_key.val = 1;
|
|
|
|
}
|
|
|
|
ts_key.pool = ts_key.now;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
TS_task_keyled_ ts_task_keyled;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void L2_task_keyled_register(void)
|
|
|
|
{
|
|
|
|
L1_task_reg_clear(&ts_task_keyled.task);
|
|
|
|
L3_task_s_go(ts_task_keyled,D_task_init);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#define D_task_keyled_set 0x41
|
|
|
|
|
|
|
|
#define D_task_keyled_cmd_init 0x41
|
|
|
|
#define D_task_keyled_cmd_mac 0x42
|
|
|
|
|
|
|
|
#define D_task_keyled_1 0x52
|
|
|
|
#define D_task_keyled_2 0x43
|
|
|
|
#define D_task_keyled_3 0x53
|
|
|
|
#define D_task_keyled_4 0x44
|
|
|
|
#define D_task_keyled_cmd_innet 0x45
|
|
|
|
#define D_task_keyled_cmd_innet_ok 0x55
|
|
|
|
|
|
|
|
#define D_task_keyled_cmd_32 0x46
|
|
|
|
#define D_task_keyled_cmd_32_ok 0x56
|
|
|
|
|
|
|
|
|
|
|
|
#define D_delay_pt D_Tdelay_3s
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
|
|
|
|
|
|
|
////L2_task_keyled_handle(&ts_task_keyled);
|
|
|
|
void L2_task_keyled_handle(TS_task_keyled_ *s)
|
|
|
|
{
|
|
|
|
unsigned char d = 0;
|
|
|
|
TTSS_Task_init():
|
|
|
|
printf("\r\nL2_task_keyled_handle TTSS_Task_init");
|
|
|
|
|
|
|
|
L2_task_go(D_task_keyled_2);
|
|
|
|
TTSS_Task_step(D_task_keyled_2):
|
|
|
|
|
|
|
|
|
|
|
|
/// L2_task_Tdelay_go(D_Tdelay_2s,D_task_keyled_cmd_netid);
|
|
|
|
TTSS_Task_step(D_task_keyled_3):
|
|
|
|
|
|
|
|
|
|
|
|
/// L0_moto_run(D_MOTO_FORWARD);
|
|
|
|
if(s->loc_now)
|
|
|
|
|
|
|
|
|
|
|
|
/// L2_task_go(D_task_keyled_2);
|
|
|
|
|
|
|
|
///L2_task_Tdelay_go(D_Tdelay_500ms,D_task_keyled_1);
|
|
|
|
|
|
|
|
|
|
|
|
TTSS_Task_end();
|
|
|
|
////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
|
|
L0_board_key();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
|