59 lines
1.2 KiB
C++
59 lines
1.2 KiB
C++
#include "Start.hpp"
|
|
#include "SerialDebug.hpp"
|
|
#include "Robot.hpp"
|
|
|
|
extern UART_HandleTypeDef huart1;
|
|
extern UART_HandleTypeDef huart2;
|
|
extern TIM_HandleTypeDef htim1;
|
|
extern TIM_HandleTypeDef htim2;
|
|
extern TIM_HandleTypeDef htim3;
|
|
extern TIM_HandleTypeDef htim4;
|
|
|
|
SerialDebug debug(&huart2, 32);
|
|
Robot robot;
|
|
|
|
//Temporary variables begin
|
|
|
|
//Temporary Variables end
|
|
|
|
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
|
|
if(htim==&htim4){
|
|
robot.controlCallback();
|
|
}
|
|
}
|
|
|
|
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
|
|
if(huart == &huart2){
|
|
debug.serialTxCpltCallback();
|
|
}
|
|
}
|
|
|
|
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
|
|
switch(GPIO_Pin){
|
|
case GPIO_PIN_8:
|
|
//encoder0
|
|
robot.encoder0.callback(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_9));
|
|
break;
|
|
case GPIO_PIN_6:
|
|
//encoder1
|
|
robot.encoder1.callback(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_7));
|
|
break;
|
|
}
|
|
}
|
|
|
|
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
|
|
if(huart == &huart1){
|
|
robot.uartCallback();
|
|
}
|
|
}
|
|
|
|
void start(){
|
|
debug.setLevel(SerialDebug::DEBUG_LEVEL_INFO);
|
|
debug.info("-----Init-----");
|
|
robot.init();
|
|
while(true){
|
|
|
|
}
|
|
}
|
|
|