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312 lines
5.7 KiB
312 lines
5.7 KiB
//////////////////////////////////////////////////////////////////////////
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/// COPYRIGHT NOTICE
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/// Copyright (c) 2023, 传控科技
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/// All rights reserved.
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///
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/// @file asp_gsensor.c
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/// @brief asp_gsensor
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///
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///（本文件实现的功能的详述）
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///
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////20221217_213321 CCmodify new uart struct for road protocol
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#include "msp_UART1.h"
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#include "msp_UART2.h"
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#include "debug_drv.h"
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#include "bsp_config.h"
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#include "asp_gsensor.h"
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#include "bsp_moto.h"
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#include "asp_move.h"
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#include "asp_lowpower.h"
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#define D_version_main "7.0"
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void L0_uart_close(void)
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{
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L0_uart1_str("\r\nuart1 close");///
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Lc_delay_ms(20);
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EA = 0;
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D_uart1_ES_INT(0);
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//// D_UART2_ES_INT(0);
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AUXR = 0; //定时器2开始计时
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ET1 = 0; //禁止定时器%d中断
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TR1 = 0; //定时器1开始计时
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}
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void L0_uart1_open(void)
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{//
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L0_uart1_buf_init();//串口初始化//
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EA = 1;
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L0_uart1_str("\r\nuart1 open");
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}
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void L0_uart2_open(void)
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{//
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L0_uart2_buf_init();
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EA = 1;
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L0_uart1_str("\r\nuart2 open");
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}
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void L0_SetWakeUpTime(u16 SetTime)
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{
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SetTime = (U16)((32768UL * (U32)SetTime) / 16000); //重装值 = Fwkt/16 * SetTime/1000 = Fwkt * SetTime / 16000
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if(SetTime > 0) SetTime--;
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WKTCL = (u8)SetTime;
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WKTCH = (u8)(SetTime >> 8) | 0x80;
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}
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void L0_main_lowp_set(void)
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{//
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L0_uart_close();
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L0_SetWakeUpTime(10000);///
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BITN_1(P_SW2 ,BITN7);///P_SW2|=0x80;
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////PCON = 0;
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///0：禁止端口内部的 4.1K 上拉电阻
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///1：使能端口内部的 4.1K 上拉电阻
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P0PU = 0;
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P1PU = 0;
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P2PU = 0;
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P3PU = 0;
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P4PU = 0;
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P5PU = 0;
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///0：使能端口的施密特触发功能。（上电复位后默认使能施密特触发）
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P0NCS = 0xff;
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P1NCS = 0xff;
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P2NCS = 0xff;
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P3NCS = 0xff;
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P4NCS = 0xff;
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P5NCS = 0xff;
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////1：电平转换速度慢，相应的上下冲比较小
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P0SR =0xff;
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P1SR =0xff;
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P2SR =0xff;
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P3SR =0xff;
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P4SR =0xff;
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P5SR =0xff;
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///1：一般驱动能力
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P0DR =0xff;
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P1DR =0xff;
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P2DR =0xff;
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P3DR =0xff;
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P4DR =0xff;
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P5DR =0xff;
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///0：禁止数字信号输入。若 I/O 被当作比较器输入口、ADC 输入口、触摸按键输入口或者为外部晶 振接入脚等模拟口时，
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///进入时钟停振模式前，必须设置为 0，否则会有额外的耗电。
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///1：使能数字信号输入。若 I/O 被当作数字口时，必须设置为 1，否 MCU 无法读取外部端口的电平。
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P0IE =0;
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P1IE =0;
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P2IE =0;
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P3IE =0;
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P4IE =0;
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P5IE =0;
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BITN_1(P_SW2 ,BITN7);USBCON = 0;
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////USBCON = 0;
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///USBCON = 0x80;
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ADC_CONTR = 0; ////建议进入空闲模式和掉电模式前将 ADC 电源关闭，以降低功耗
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RSTCFG = 0;//没有变化43ua 41ua 低压复位控制位
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D_HighR_P0_ALL();
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D_HighR_P1_ALL();
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D_HighR_P2_ALL();
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D_HighR_P3_ALL();
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D_HighR_P4_ALL();
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D_HighR_P5_ALL();/***********
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P3 = 0;
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P0 = 0;
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P1 = 0;
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P2 = 0;
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P4 = 0;
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P5 = 0;
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*********/
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P0 = 0xff;
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P1 = 0xff;
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P2 = 0xff;
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P4 = 0xff;
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P5 = 0xff;
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D_stdIO_P4(BITN1);
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///D_OpenD_P4(BITN1);
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D_P41_ON();
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/*****
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// XOSCCR =0;
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///HIRCCR = 0;
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IRC32KCR = 0x80; //启动内部32K IRC
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while (!(IRC32KCR & 1)); //等待时钟稳定
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CLKDIV = 0x00; //时钟不分频
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CLKSEL = 0x03; //选择内部32K
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P_SW2 = 0x00;
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P45
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P27
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P26
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P44
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P43
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p13
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P23 switch2 限位开关
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P40 SWITCH1 限位开关
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P41 SW_CAL 电源分压电阻 =1 关闭
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*******/
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}
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/*
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void L2_main_version(u8 d)
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{
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printfs(D_version_main);
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L1_uartD_uc(d);
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printfs(D_BOARD_NAME);
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printfs(__DATE__);
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printfs(__TIME__);
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}
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*/
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void L1_main_lowp_test(void)
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{//
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while(9)
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{
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/// L2_gsensor_init(0);
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L0_main_lowp_set();
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_nop_();
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_nop_();
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//// L0_uart_close();
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PCON = 0x02; ////2222 //MCU进入掉电模式
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///D_LPCD_INT_CLOSE(); 对掉电唤醒后有一个中断进来没有效果
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_nop_();
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_nop_(); _nop_();
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_nop_(); _nop_();
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_nop_();
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L0_uart1_open();
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L0_uart2_open();
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/// L2_main_version(0);
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/// L2_gsensor_init(1);
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}
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}
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void L3_test_lp(u8 filter)//// ON listen function
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{
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if(filter == pd->filter)
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{///filter num d1 d2 d3 ....dn
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//// FD 08 11 22 33 44 55 66 77 88
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///printf("\r\nDdebug:F1 R1 R2 R3 R4 ocr FD->");
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switch (pd->ocr)
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{
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case 0x22: ///'s'
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///FX R1 R2 R3 R4 ocr
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///F1 m R2 R3 R4 22
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// L0_moto_run(pd->R1);
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printf1("22: moto=(%X)",(int)pd->R1);
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break;
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default:
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printfs(" pp error\r\n ");
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break;
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};
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printfs("333");
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}
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}
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/***
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case 0x23: ///'s'
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///FX R1 R2 R3 R4 ocr
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///F1 m R2 R3 R4 22
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if(pd->R1)
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{
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D_BUZ_OPEN();
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}else
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{
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D_BUZ_OFF();
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}
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printf("22: moto=(%X)",(int)pd->R1);
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break;
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case 0x24: ///'s'
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///F1 m 23 56 64 22
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ts_task_move.loc_angle[0] = pd->R1;
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ts_task_move.loc_angle[1] = pd->R2;
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ts_task_move.loc_angle[2] = pd->R3;
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ts_task_move.loc_angle[3] = pd->R4;
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L3_task_s_go(ts_task_move,D_task_move_init);
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printf("move: %d %d %d %d )",(int)pd->R1,(int)pd->R2,(int)pd->R3,(int)pd->R4);
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break;
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case 0x25: ///'s'
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///F1 m 23 56 64 22
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ts_task_move.loc_angle[0] = pd->R1;
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ts_task_move.loc_angle[1] = pd->R2;
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ts_task_move.loc_angle[2] = pd->R3;
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ts_task_move.loc_angle[3] = pd->R4;
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L3_task_s_go(ts_task_move,D_task_move_init);
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ts_task_move.loc_now =D_2uc_u16(pd->R1, pd->R2);
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printf("move: loc_now %XH %d )",(int)ts_task_move.loc_now,(int)ts_task_move.loc_now);
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break;
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case 0x26: ///'s'
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///F1 m 23 56 64 22
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ts_task_move.loc_angle[0] = pd->R1;
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if(pd->R1)
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{
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ts_task_move.loc_now ++;
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}
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else
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{
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ts_task_move.loc_now --;
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}
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printf("move: loc_now %XH %d ->%d )",(int)ts_task_move.loc_now,(int)ts_task_move.loc_now,(int)ts_task_move.loc_want);
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break;
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****/
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