Delete main.c

main.c

-#include "main.h"
-#include <string.h>
-// openocd -s /local/sdk_elec/openocd/share/openocd/scripts -f board/st_nucleo_f4.cfg -c init
-
-extern TIM_HandleTypeDef    TimHandle_period;
-
-
-#define DYN_ID	1
-#define DYN_ID2	2
-
-//=====================================================================================
-//  >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>    MAIN    <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
-//=====================================================================================
-
-int main(void)
-{
-    HAL_Init(); // passage par stm32f4xx_hal_msp.c : configuration des broches
-    SystemClock_Config();
-
-    uart1_Init();           //zigbee
-    uart2_Init();           // CABLE
-    uart6_Init();           // dxlAMIXELS
-    tickTimer_Init(3000);   // 3000 ms
-    i2c1_Init();          // Modifier stm32f4xx_hal_msp.c pour configurer les broches
-    spi1Init();           // Modifier stm32f4xx_hal_msp.c pour configurer les broches
-    HAL_Delay(500);
-
-    //------------------------------------------------------------
-    //  TEST LIAISON SERIE
-    // ouvrir gtkterm ou minicom / /dev/ttyCAM0 baudrate : 115200-8-N-1
-    //------------------------------------------------------------
-
-
-
-
-
-    dxl_LED(DYN_ID, LED_ON);
-    HAL_Delay(500);
-    dxl_LED(DYN_ID, LED_OFF);
-    HAL_Delay(500);
-    dxl_LED(2, LED_ON);
-    HAL_Delay(500);
-    dxl_LED(2, LED_OFF);
-    HAL_Delay(500);
-
-
-//    dxl_LED(DYN_ID, LED_ON );
-//
-//    HAL_Delay(500);
-//    dxl_LED(DYN_ID, LED_OFF);
-//    HAL_Delay(500);
-
-    // CHANGE BAUDRATE
- /*  dxl_setBaudrate(DYN_ID, 1);
-
-   dxl_factoryReset(DYN_ID);
-*/
-
-
-     //dxl_torque(DYN_ID, TORQUE_OFF);
-     //dxl_torque(DYN_ID2, TORQUE_OFF);
-
-    //------------------------------------------------------------
-    //  BLINK LED : PA5
-    //------------------------------------------------------------
-    while(1)
-    {
-        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, 1);
-
-
-        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, 0);
-
-
-        //HAL_UART_Receive(&Uart1Handle,(uint8_t *)Rx_data,4,10);
-        // HAL_UART_Receive_IT(&Uart1Handle, (uint8_t *)rec_buf1,NB_CAR_TO_RECEIVE);
-       // term_printf(&rec_buf1);
-
-        term_printf_zigbee("a");
-        HAL_Delay(10); // 1000 ms
-      //  int w = 1;
-
-        if(strcmp(rec_buf1,"a")==0){
-       		dxl_setOperatingMode(DYN_ID, VELOCITY_MODE);
-       		dxl_setOperatingMode(DYN_ID2, VELOCITY_MODE);
-       		dxl_torque(DYN_ID, TORQUE_ON);
-       		dxl_setGoalVelocity(DYN_ID, 210);
-
-               dxl_setOperatingMode(DYN_ID2, VELOCITY_MODE);
-               dxl_torque(DYN_ID2, TORQUE_ON);
-               dxl_setGoalVelocity(DYN_ID2, -210);
-        //       HAL_Delay(2000);
-
-        }
-               if(strcmp(rec_buf1,"c")==0){
-
-                   //--------------Rotation  a droite -----------------
-                   dxl_setOperatingMode(DYN_ID, VELOCITY_MODE);
-                   dxl_setOperatingMode(DYN_ID2, VELOCITY_MODE);
-                   dxl_torque(DYN_ID2, TORQUE_ON);
-                   dxl_setGoalVelocity(DYN_ID2, 210);
-                   //HAL_Delay(1000);
-                   dxl_torque(DYN_ID, TORQUE_ON);
-                   dxl_setGoalVelocity(DYN_ID, 210);
-
-               }
-
-               if(strcmp(rec_buf1,"b")==0){
-               //--------------Rotation  a gauche -----------------
-               dxl_setOperatingMode(DYN_ID, VELOCITY_MODE);
-               dxl_setOperatingMode(DYN_ID2, VELOCITY_MODE);
-               dxl_torque(DYN_ID2, TORQUE_ON);
-               dxl_setGoalVelocity(DYN_ID2, -210);
-
-               dxl_torque(DYN_ID, TORQUE_ON);
-               dxl_setGoalVelocity(DYN_ID, -210);
-               }
-
-               if(strcmp(rec_buf1,"d")==0){
-       		//---------- REtour en arriere --------------
-
-               dxl_setOperatingMode(DYN_ID, VELOCITY_MODE);
-               dxl_setOperatingMode(DYN_ID2, VELOCITY_MODE);
-               dxl_torque(DYN_ID, TORQUE_ON);
-               dxl_setGoalVelocity(DYN_ID, -210);
-
-               dxl_torque(DYN_ID2, TORQUE_ON);
-               dxl_setGoalVelocity(DYN_ID2, 210);
-
-               }
-               if(strcmp(rec_buf1,"e")==0){
-            	   //stop
-              		dxl_setOperatingMode(DYN_ID, VELOCITY_MODE);
-              		dxl_setOperatingMode(DYN_ID2, VELOCITY_MODE);
-              		dxl_torque(DYN_ID, TORQUE_OFF);
-              		//dxl_setGoalVelocity(DYN_ID, 210);
-
-                      dxl_setOperatingMode(DYN_ID2, VELOCITY_MODE);
-                      dxl_torque(DYN_ID2, TORQUE_OFF);
-
-
-               }
-
-    }
-    return 0;
-}
-//=====================================================================================
-//      GPIO EXTERNAL INTERRUPT CALLBACK
-//=====================================================================================
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
-{
-    switch(GPIO_Pin)
-    {
-    case GPIO_PIN_0 :
-                    break;
-    case GPIO_PIN_13 :  term_printf_zigbee("USER BUTTON PUSHED \n\r"); // USER BUTTON
-                    break;
-    default :       break;
-
-    }
-}
-//=====================================================================================
-//      TIMER INTERRUPT CALLBACK
-//=====================================================================================
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
-{
-    if (htim==&TimHandle_period)
-    {
-    	//term_printf_zigbee("Tick Timer period elapsed \n\r");
-    }
-}
-//=====================================================================================