50 lines
960 B
C++
50 lines
960 B
C++
#include "Start.hpp"
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#include "SerialDebug.hpp"
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#include "Robot.hpp"
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extern UART_HandleTypeDef huart1;
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extern UART_HandleTypeDef huart2;
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extern TIM_HandleTypeDef htim1;
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extern TIM_HandleTypeDef htim2;
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extern TIM_HandleTypeDef htim3;
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extern TIM_HandleTypeDef htim4;
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SerialDebug debug(&huart2, 32);
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Robot robot;
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//Temporary variables begin
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//Temporary Variables end
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
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if(htim==&htim4){
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robot.controlCallback();
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}
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}
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void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
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if(huart == &huart2){
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debug.serialTxCpltCallback();
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}
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}
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
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}
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void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
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if(huart == &huart1){
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robot.uartCallback();
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}
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}
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void start(){
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debug.setLevel(SerialDebug::DEBUG_LEVEL_INFO);
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debug.info("-----Init-----");
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robot.init();
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while(true){
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}
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}
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