/*----------------------------------------------------------------------
功能描述：驱动器主机机485通讯 －通讯速率4800bps－用于测试485总线
本程序realease版本在avr开发板“05-4-28 by hank”上面运行

PC5 ＝ 1--发送允许控制脚
--------------------------------- --------------------------------------

------------------------------------------------------------------------ */  
/*------------------------------------------------------------------------
一共6个字节
第一个字节始终为0xAA，它作为帧头以用来标识一个数据帧的起始；
第二个字节为地址字节，用来标识这个数据包的目的CPU（当数据包是
       主控制CPU 发出时）或者是源CPU（当数据包是从控制CPU发出时）；
第三个字节为命令字节；
第四个字节为校验字节，其作为整个帧的校验（累加和校验）；
第五和第六字节为数据字节，其为这一个数据包中与命令有关的有效数据。
------------------------------------------------------------------------*/
#include <avr/io.h>
#include <avr/signal.h>
#include <avr/interrupt.h>
#include <inttypes.h>
//#include "LCD.h"

#define COM_ADD       01//从机地址

#define UART_CTRL_PORT    PORTA
#define UART_CTRL_DDR      DDRA
#define UART_CTRL_NUM      PA7

#define tx485en()        UART_CTRL_PORT |= (1<<UART_CTRL_NUM) //发送
#define rx485en()        UART_CTRL_PORT &= ~(1<<UART_CTRL_NUM) //接收
uint8_t char_txbuf[6];                                   //串行通信的缓冲区
uint8_t char_rxbuf[6];
uint8_t TX_js, RX_js;          //字节个数计数
uint8_t RX_bz, TX_bz;              //帧接受完毕标志

int main(void)
{
  unsigned int i;
       avr_init();
       sei();
      
  //PC7-LED, PC6-KEY,使能上拉电阻
  DDRC = (1<<DDC7) | (0<<DDC6);
  PORTC = (0<<PC7) | (1<<PC6);
  
/*------------------------------------------------   
  //测试步进电机专用
  while(1)
  {
    while(bit_is_set(PINC, PC6));  
    motor_yes();
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));  
    
    stepper_ctrl(250, 1);    
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));  
    
    stepper_ctrl(250, 1);    
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));
    
    stepper_ctrl(250, 1);    
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));
    
    stepper_ctrl(250, 1);    
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));
    
    motor_no();
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));    
    while(bit_is_set(PINC, PC6));  
    
  }
  ------------------------------------------------*/  
//  测试各个功能，5种命令，2005-7-18
  while(1)
  {
    while(bit_is_set(PINC, PC6));  
    motor_yes();
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));  
    
    stepper_ctrl(250, 1);    
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));  
    
    dcmotor_ctrl(10, 1);
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));  
    
    angle_inquire();
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));  
    
    vel_inquire();
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));
    while(bit_is_set(PINC, PC6));  
    
    motor_no();
    for(i=6000; i>0; i--);    
    while(bit_is_clear(PINC, PC6));    
    while(bit_is_set(PINC, PC6));  
    
  }
    
   /*------------------------------------------------
   给从机发命令测试程序，按键一次发命令一次，循环执行，led闪烁指示系统正常工作
   2005.7.18调试通过
  
  unsigned char addr=0;
   while(1)
   {
    if(bit_is_clear(PINC, PC6))
    {
      char_txbuf[0] = 0xaa;
      char_txbuf[1] = COM_ADD;
      char_txbuf[2] = addr;
      char_txbuf[4] = 6;
      char_txbuf[5] = 0;
      char_txbuf[3] = (uint8_t) (char_txbuf[2] + char_txbuf[4] + char_txbuf[5]);
      UART_Putchar();
      while(TX_bz != 0);
      addr += 1;
      if(addr > 5)
        addr = 0;
      while(bit_is_clear(PINC, PC6));  
    }
    
     PORTC |= (1 << PC7);
     for(i=6000; i>0; i--);
      
    PORTC &= ~(1 << PC7);
    for(i=6000; i>0; i--);
   }
       ------------------------------------------------*/
       return(0);
}