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wrobot.c
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wrobot.c
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//*****************************************************************************
//
// WRobot == Walking Robot
//
// This is was a part of revision 6852 of the EK-LM3S811 Firmware Package.
//
//*****************************************************************************
#include "wobot.h"
//*****************************************************************************
//
// The error routine that is called if the driver library encounters an error.
//
//*****************************************************************************
#ifdef DEBUG
void
__error__(char *pcFilename, unsigned long ulLine)
{
}
#endif
//*****************************************************************************
//
// The interrupt handler for the SysTick timer interrupt.
//
//*****************************************************************************
void SysTickIntHandler(void)
{
WRServTimerHandler();
WRWalkingTimerHandler();
}
//*****************************************************************************
//
// Walking Robot
//
//*****************************************************************************
int main(void)
{
//
// Set the clocking to run directly from the crystal.
//
//Caution! All current settings depend from 6MHz frqequency of clocking!!!
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_6MHZ);
/*=============================SysTick===================================*/
SysTickPeriodSet( SysCtlClockGet() / WR_SYS_TIMER_FREQUENCY );
IntPrioritySet( FAULT_SYSTICK, 0 );
SysTickIntEnable();
SysTickEnable();
/*=======================================================================*/
/*=============================USER CODE=================================*/
WRPWMInit();
WRTimerInit();
WRFlashInit();
WRServInit();
WRLegInit();
WRUART0Init();
WRUART1Init();
WRConsoleInit();
SonarInit();
/*=======================================================================*/
/*===============================OLED====================================*/
//
// Initialize the OLED display and write status.
//
// Display96x16x1Init(false);
/*=======================================================================*/
while(1)
{
if (GetStatus()==3) WRSendDistance(GetDistFromSonar());
//=================blink==========================
//================================================
}
}