GitHub/Avem
1
0
Fork 0
mirror of https://github.com/avem-labs/Avem.git synced 2023-09-01 15:18:49 +08:00
Code Issues Projects Releases Wiki Activity

Merge from <feature-drawille>

Browse Source
This commit is contained in:
but0n 2016-12-20 21:11:06 +08:00
commit d8ae32170e
4 changed files with 38 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libs/include/drawille.h Normal file
View File

@ -0,0 +1,18 @@
#ifndef DRAWILLE_H
#define DRAWILLE_H
#include "uart.h"
// ---
// |0 3|
// |1 4|
// |2 5|
// |6 7|
// ---
// #define BRAILLE_OFFSET 0x2800
#define PIX(x) (1<<(x))
// #define MAP(bit) BRAILLE_OFFSET + (bit)
void draw(unsigned char uni);
#endif

2
libs/include/motor.h
View File

@ -13,7 +13,7 @@
#define THROTTLE_MAX (unsigned short)3600 //2ms - top position of throttle
#define THROTTLE_MIN (unsigned short)1620 //0.9ms - bottom position of throttle
#define THROTTLE_MID (unsigned short)2200
#define THROTTLE_MID (unsigned short)1650
#ifdef MOTOR_NORMAL_STARTUP
#define MOTOR_SETTING() {\

10
libs/source/drawille.c Normal file
View File

@ -0,0 +1,10 @@
#include "drawille.h"
// 1110 xxxx : 10xx xxxx : 10xx xxxx - UTF-8
// 0x2800 - braille unicode offset
// 0010 1000 : 0000 0000
void draw(unsigned char uni) { //unicode to UTF-8
uart_sendData(0xE2); //First byte must be 0xE2
uart_sendData(0xA0 | ((uni>>6) & 0b00000011));
uart_sendData(0x80 | (uni & 0b00111111));
}

10
src/main.c
View File

@ -10,6 +10,7 @@
#include "wifi.h"
#include "pid.h"
#include "tty.h"
#include "drawille.h"
#define Kp 100.0f //比例增益支配率(常量)
#define Ki 0.002f //积分增益支配率
@ -182,6 +183,12 @@ void uart_debugPID() {
}
}
void drawille_task() {
while(1) {
draw((PIX(0)|PIX(1)|PIX(2)|PIX(3)|PIX(4)|PIX(5)|PIX(6)|PIX(7)));
}
}
int main() {
#ifdef DEBUG_BLDC
@ -196,7 +203,8 @@ int main() {
uart_sendStr("MPU6050 Connect Success!");
UART_CR();
xTaskCreate(uart_debugPID, "UART_TASK", 100, NULL, 1, NULL);
// xTaskCreate(uart_debugPID, "UART_TASK", 100, NULL, 1, NULL);
xTaskCreate(drawille_task, "UART_TASK", 100, NULL, 1, NULL);
xTaskCreate(mpu_task, "MPU_TASK", 100, NULL, 3, NULL);
xTaskCreate(pid_task, "PID_TASK", 100, NULL, 2, NULL);
vTaskStartScheduler();