116 lines
2.3 KiB
C
116 lines
2.3 KiB
C
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#pragma config(UART_Usage, UART1, uartUserControl, baudRate1200, IOPins, None, None)
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// custom baud rate set code
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typedef unsigned long uint32_t;
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typedef unsigned short uint16_t;
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typedef struct
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{
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uint16_t SR;
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uint16_t RESERVED0;
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uint16_t DR;
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uint16_t RESERVED1;
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uint16_t BRR;
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uint16_t RESERVED2;
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uint16_t CR1;
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uint16_t RESERVED3;
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uint16_t CR2;
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uint16_t RESERVED4;
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uint16_t CR3;
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uint16_t RESERVED5;
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uint16_t GTPR;
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uint16_t RESERVED6;
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} USART_TypeDef;
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/* Peripheral memory map */
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#define PERIPH_BASE ((unsigned long)0x40000000)
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#define APB1PERIPH_BASE PERIPH_BASE
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#define USART2_BASE (APB1PERIPH_BASE + 0x4400)
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#define USART3_BASE (APB1PERIPH_BASE + 0x4800)
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#define USART2 ((USART_TypeDef *)USART2_BASE)
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#define USART3 ((USART_TypeDef *)USART3_BASE)
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void setBaud(const TUARTs nPort, int baudRate)
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{
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uint32_t tmpreg = 0x00, apbclock = 0x00;
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uint32_t integerdivider = 0x00;
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uint32_t fractionaldivider = 0x00;
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/* pclk1 - 36MHz */
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apbclock = 36000000;
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/* Determine the integer part */
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integerdivider = ((0x19 * apbclock) / (0x04 * (baudRate)));
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tmpreg = (integerdivider / 0x64) << 0x04;
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/* Determine the fractional part */
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fractionaldivider = integerdivider - (0x64 * (tmpreg >> 0x04));
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tmpreg |= ((((fractionaldivider * 0x10) + 0x32) / 0x64)) & 0x0F;
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/* Write to USART BRR */
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USART_TypeDef *uart = USART2;
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if (nPort == UART2)
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{
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uart = USART3;
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}
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uart->BRR = (uint16_t)tmpreg;
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}
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enum IRState {
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Black = 0,
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White = 1
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};
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task detectTask();
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task recvTask();
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int charr = -1;
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int recvdCodes = 0;
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IRState floorColor = Black;
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// ANCHOR Robot code
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task main()
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{
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// Setup the IR baud rate
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setBaud(UART1, 600);
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startTask(detectTask);
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startTask(recvTask);
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// Loop forever
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while (true)
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{
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if (vexRT[Btn8L])
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{
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sendChar(UART1, 17);
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sleep(100);
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}
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}
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}
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task detectTask()
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{
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int cycles = 0;
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int cached = recvdCodes;
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while (true) {
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if (cycles % 5 == 0) {
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if (cached == recvdCodes) {
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floorColor = Black;
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} else {
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floorColor = White;
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}
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}
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cached = recvdCodes;
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sleep(100);
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}
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}
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task recvTask()
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{
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while (true)
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{
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charr = getChar(UART1);
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if (charr != -1)
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{
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recvdCodes = recvdCodes + 1;
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}
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sleep(20); // Free up cycle time
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}
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}
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