Beta 1

.gitignore

@@ -1,3 +1,4 @@
 Debug/
+Release/
 .launches/
-.settings/
+.settings/

inc/driver/stepper.h

@@ -7,8 +7,11 @@ enum direction {
 };
 
 extern unsigned char stepper_ready;
-extern unsigned int stepper_location;
 
+extern unsigned int stepper_location_now;
+extern unsigned int stepper_location_set;
+
+extern void stepper_update(void);
 extern void stepper_init(void);
 extern void stepper_step(unsigned int steps_to_move, unsigned char direction);
 

inc/user/motor.h

@@ -21,5 +21,6 @@ extern unsigned char motor_status_past;
 extern void motor_init(void);
 extern void motor_step(int num);
 extern void motor_update(void);
+extern void motor_set_position(unsigned int value);
 
 #endif

inc/user/status.h

@@ -0,0 +1,13 @@
+/*
+ * status.h
+ *
+ *  Created on: 2017-3-19
+ *      Author: redchenjs
+ */
+
+#ifndef STATUS_H_
+#define STATUS_H_
+
+extern void status_update(void);
+
+#endif /* STATUS_H_ */

inc/user/terminal.h

@@ -15,8 +15,7 @@ enum terminal_mode {
 extern unsigned char mode_now;
 extern unsigned char mode_past;
 
-extern void terminal_value_to_string(unsigned int value, char *p_string);
-extern char* terminal_sub_string(char* p_string, unsigned char position, unsigned char length);
+extern void terminal_set_mode(unsigned int value);
 
 extern void terminal_update(void);
 

src/device/wdt.c

@@ -9,5 +9,5 @@
 void wdt_init(void)
 {
 	WDTCTL = WDT_MDLY_8;
-	IE1	|= WDTIE;
+	IE1	  |= WDTIE;
 }

src/driver/stepper.c

@@ -4,31 +4,38 @@
 #define stepper_port P2OUT
 
 unsigned char stepper_ready = 0;
-unsigned int stepper_location = 0;
 
-static unsigned int location_set = 0;
+unsigned int stepper_location_now = 0;
+unsigned int stepper_location_set = 0;
 
 const static unsigned char stepper_mask[4] = {0x03, 0x06, 0x0c, 0x09};
 
+void stepper_update(void)
+{
+    stepper_ready = 0;
+
+    TA0CTL |= MC_1;
+}
+
 void stepper_step(unsigned int steps_to_move, unsigned char direction)
 {
 	const static unsigned int min_of_steps = 0;
-	const static unsigned int max_of_steps = 6400;
+	const static unsigned int max_of_steps = 2000;
 
 	if (direction == FORWARD) {
-		if (steps_to_move + location_set > max_of_steps) {
-			location_set = max_of_steps;
+		if (steps_to_move + stepper_location_set > max_of_steps) {
+			stepper_location_set = max_of_steps;
 		}
 		else {
-			location_set += steps_to_move;
+			stepper_location_set += steps_to_move;
 		}
 	}
 	else {
-		if (steps_to_move > location_set) {
-			location_set = min_of_steps;
+		if (steps_to_move > stepper_location_set) {
+			stepper_location_set = min_of_steps;
 		}
 		else {
-			location_set -= steps_to_move;
+			stepper_location_set -= steps_to_move;
 		}
 	}
 
@@ -42,27 +49,27 @@ void stepper_init(void)
 	P2DIR = 0x0f;
 	P2OUT = 0x00;
 
-	TA0CCR0 = 5000;
-	TA0CCTL0 = CCIE;
-	TA0CTL = TASSEL_2 + ID_3 + MC_0 + TACLR;
+	TA0CCR0   = 4000;
+	TA0CCTL0 |= CCIE;
+	TA0CTL   |= TASSEL_2 + ID_3 + MC_0 + TACLR;
 
 	stepper_ready = 1;
 }
 
 inline void stepper_timer_isr_handle(void)
 {
-    if (stepper_location != location_set) {
-        if (stepper_location < location_set) {
-            stepper_location++;
+    if (stepper_location_now != stepper_location_set) {
+        if (stepper_location_now < stepper_location_set) {
+            stepper_location_now++;
         }
         else {
-            stepper_location--;
+            stepper_location_now--;
         }
-        stepper_port = stepper_mask[stepper_location & 0x03];
+        stepper_port = stepper_mask[stepper_location_now & 0x03];
     }
     else {
         TA0CTL |= MC_0;
-        stepper_port = 0x0f;
+        stepper_port = 0x00;
         stepper_ready = 1;
     }
 }

src/interface/uart_usci_a0.c

@@ -17,9 +17,6 @@
 static unsigned char *uart_tx_buff = 0;
 static unsigned char uart_rx_buff[SIZE] = {0};
 
-static unsigned char uart_rx_read_index  = 0;
-static unsigned char uart_rx_write_index = 0;
-
 static unsigned char uart_tx_num = 0;
 static unsigned char uart_rx_num = 0;
 
@@ -31,15 +28,15 @@ void uart_init(void)
     UCA0CTL1 |= UCSWRST;
 
 	UCA0CTL1 |= UCSSEL_2;
-	UCA0BR0  = 140;
+	UCA0BR0  = 139;
 	UCA0BR1  = 0;
-    UCA0MCTL = UCBRS2 + UCBRS0;
+    UCA0MCTL = UCBRS0;
 
 	UCA0CTL1 &=~UCSWRST;
 
     UC0IFG &=~(UCA0RXIFG + UCA0TXIFG);
 
-	UC0IE  |= UCA0RXIE;
+    UC0IE |= UCA0RXIE;
 }
 
 unsigned char uart_transmit_frame(unsigned char *p_buff, unsigned char num)
@@ -58,17 +55,15 @@ unsigned char uart_transmit_frame(unsigned char *p_buff, unsigned char num)
 
 unsigned char uart_receive_frame(unsigned char *p_buff, unsigned char num)
 {
-    unsigned char i, cnt=0;
+    unsigned char cnt=0;
     if (num == 0 || uart_rx_num == 0) return 0;
+    p_buff += uart_rx_num;
     __disable_interrupt();
-    for (i = uart_rx_num; i>0 && num>0; i--, num--) {
-        if (uart_rx_read_index == SIZE) {
-            uart_rx_read_index = 0;
-        }
-        *p_buff++ = uart_rx_buff[uart_rx_read_index++];
-        uart_rx_num--;
+    do {
+        *--p_buff = uart_rx_buff[--uart_rx_num];
         cnt++;
-    }
+    }while (uart_rx_num > 0);
+    uart_rx_num = 0;
     __enable_interrupt();
     return cnt;
 }
@@ -88,12 +83,8 @@ inline void uart_tx_isr_handle(void)
 
 inline void uart_rx_isr_handle(void)
 {
-    if (uart_rx_write_index == SIZE) {
-        uart_rx_write_index = 0;
-    }
     if (uart_rx_num == SIZE) {
-        uart_rx_num = 0;
+        uart_rx_num = SIZE-1;
     }
-    uart_rx_buff[uart_rx_write_index++] = UCA0RXBUF;
-    uart_rx_num++;
+    uart_rx_buff[uart_rx_num++] = UCA0RXBUF;
 }