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#include"precomp.h"
#include"rsbus.h"
#include"sysctl.h"
int cnt=0;
int cnt2=0;
int cnt3=0;
void port_init(void)
{
P1DIR |= BIT0+BIT6; // P1.0 P1.6 output
P1OUT = 0;
}
void received(unsigned char* str,unsigned int len)
{
unsigned char ch;
switch (str[0])
{
case 1:// start
if (!MSTATE)
{
SWITCH_STATE(ST_RUN);
cnt2=0;
cnt3=0;
STATE(0)=0;
SYSCALL(TEST);
}
RETSTATE;
break;
case 2:// Get Res
if (MSTATE&ST_RUN)
{
ch=(unsigned char)(cnt2-STATE(0));
rsbus_w(0,&ch,1);
}
else
if (MSTATE&ST_RES)
{
SWITCH_STATE(ST_REST);
ch=(unsigned char)(cnt2);
rsbus_w(0,&ch,1);
}
else
RETSTATE;
break;
case 3:// Stop
if (MSTATE&ST_RUN)
{
SWITCH_STATE(ST_REST);
SYSSTOP(TEST);
}
RETSTATE;
break;
case 4:// Block
if (!MSTATE)
{
cnt2=0;
SWITCH_STATE(ST_BUSY);
}
RETSTATE;
}
//rsbus_w(0,str,len);
}
// Timer A0 interrupt service routine
#pragma vector=TIMER0_A0_VECTOR
__interrupt void Timer_A0 (void)
{
++cnt;
if (cnt==25)
{
STATE(0)=(STATE(0)+1)&0xFF;
if ((MSTATE&ST_BUSY) && !(MSTATE&ST_RES))
{
++cnt2;
if (STATE(0)>200)
SWITCH_STATE(ST_BUSY|ST_RES);
}
cnt=0;
P1OUT^=BIT6;
}
}
//TIMER A0 initialize -
// desired value: 40ms
void TimerA0_Init(void)
{
// Configure TimerA0
TA0CTL = TASSEL_2 + MC_1 +ID_3 ; // Source: SMCLK=4MHz, UP mode, DIV by 8 -> 0.5M
TA0CCR0 = 20000; // 0.5MHz / 20000 -> 25Hz -> 40ms
TA0CCTL0 = CCIE; // CCR0 interrupt enabled
}
void init_devices(void)
{
WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
if (CALBC1_8MHZ ==0xFF || CALDCO_8MHZ == 0xFF)
while(1)_BIS_SR(CPUOFF); // If calibration constants erased, trap CPU!!
BCSCTL1 = CALBC1_16MHZ; // Set range
DCOCTL = CALDCO_16MHZ; // Set DCO step + modulation£¬DCO=8MHz
BCSCTL3 |= LFXT1S_2; // LFXT1 = VLO
IFG1 &= ~OFIFG; // Clear OSCFault flag
BCSCTL2 |= DIVS_2; // SMCLK = DCO/4 = 4MHz
sysctl_init();
port_init();
TimerA0_Init();
rsbus_init(&received);
_BIS_SR(GIE);
}
// Clock tick using cycle estimation
void basic_running_ex()
{
delay_ms(2);
++cnt2;
if (cnt2==250)
{
++cnt3;
cnt2=0;
}
SYSCALL(TEST);
}
void main(void)
{
init_devices();
sysctl_reghdlr(TEST,basic_running_ex);
while(1)
sysroutine();
}
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