/*
?*?main.c
?*/
#include?“MSP430G2553.h“
#include?“UART_FIFO.h“
#include?“UART_Global.h“
#include?“IIC.h“
//-----對于硬件有關的代碼宏定義處理-----
/*#define?LED1_ON?P1DIR|=BIT0;?P1OUT|=BIT0
#define?LED1_OFF?P1DIR|=BIT0;?P1OUT&=~BIT0
#define?LED2_ON?P1DIR|=BIT6;?P1OUT|=BIT6
#define?LED2_OFF?P1DIR|=BIT6;?P1OUT&=~BIT6*/
//-----預存入ROM中的顯示代碼-----
const?unsigned?char?Out_DELETE[]=?“\x8?\x8“;??/*?VT100?backspace?and?clear?*/
const?unsigned?char?String1[]=“命令:catch?loose?left?right?up?down?long?short?reset\r\n“;
const?unsigned?char?String2[]=“Please?input?Command:\r\n“;
const??unsigned?char?String3[]=“Are?you?crazy?\r\n“;
const??unsigned?char?String4[]=“catch?it!\r\n“;
const??unsigned?char?String5[]=“loose?it!\r\n“;
const??unsigned?char?String6[]=“turn?left?5\r\n“;
const??unsigned?char?String7[]=“turn?right?5\r\n“;
const??unsigned?char?String8[]=“turn?up?5\r\n“;
const??unsigned?char?String9[]=“turn?down?5\r\n“;
const??unsigned?char?String10[]=“longer?5\r\n“;
const??unsigned?char?String11[]=“shorter?5\r\n“;
const??unsigned?char?String12[]=“I‘m?back!\r\n“;

//?=========================定義PCA9685內部地址====================================
#define??SlaveAddress?????0x80???????????//IIC寫入時的地址字節數據，+1為讀取//??1+A5+A4+A3+A2+A1+A0+w/r
????????????????????????????????????????????//片選地址，將焊接點置1可改變地址，???????????????????????????????????????????//????????當IIC總線上有多片PCA9685或相同地址時才需焊接
#define?PCA9685_SUBADR1?0x02
#define?PCA9685_SUBADR2?0x03
#define?PCA9685_SUBADR3?0x04

#define?PCA9685_MODE1?0x00
#define?PCA9685_PRESCALE?0xFE

#define?LED0_ON_L?0x06
#define?LED0_ON_H?0x07
#define?LED0_OFF_L?0x08
#define?LED0_OFF_H?0x09

//static?float?ca=1.5horizon=1.5verticle=1.5length=1.5;//初始個舵機寄存值
float?freq_re;??//設置頻率保留值
void?UART_SendString（const?unsigned?char?*Ptr）;//發送字節函數
void?Command_match（）;??//?字符匹配命令函數
void?setPWM_ms（uint?numfloat?time_ms）;
void?setPWM（uint?num?uint?on?uint?off）;????//0--4096
void?setPWMFreq（float?freq）;
void?setARC（uint?numfloat?arc）;
/******************************************************************************************************
?*?名???????稱：UART_OnTx（）
?*?功???????能：UART的Tx事件處理函數
?*?入口參數：無
?*?出口參數：無
?*?說???????明：Tx_FIFO里有數據就將數據移到Tx?Buffer寄存器中去
?*?范???????例：無
?******************************************************************************************************/
void?UART_OnTx（void）
{
	unsigned?char?Temp;
	if（Tx_FIFO_DataNum>0）
	{
		Tx_FIFO_ReadChar（&Temp）;	//調用FIFO庫函數
		UCA0TXBUF=?Temp;
	}
}
/******************************************************************************************************
?*?名???????稱：UART_OnRx（）
?*?功???????能：UART的Rx事件處理函數
?*?入口參數：無
?*?出口參數：無
?*?說???????明：對接收到的數據，區別對待進行處理
?*?范???????例：無
?******************************************************************************************************/
void?UART_OnRx（void）
{
	unsigned?char?Temp?=?0;
	Temp=UCA0RXBUF;			//?預存下Tx?Buffer數據
	//-----首先必須回顯屏幕-----
	if（Temp?==?0x0d）				//如果是回車
	{
		Tx_FIFO_WriteChar（‘\r‘）;
		Tx_FIFO_WriteChar（‘\n‘）;
	}
	else?if（Temp==0x08?||?Temp==0x7f）	//如果是退格
	{
		UART_Send

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-06-18?15:01??try?uart\
?????文件?????????615??2018-06-18?14:45??try?uart\.ccsproject
?????文件???????28508??2018-06-18?14:53??try?uart\.cproject
?????目錄???????????0??2018-06-18?14:55??try?uart\.launches\
?????文件????????4250??2018-06-18?22:47??try?uart\.launches\try?uart.launch
?????文件?????????838??2018-06-18?14:45??try?uart\.project
?????目錄???????????0??2018-06-18?14:50??try?uart\.settings\
?????文件??????????62??2018-06-18?14:45??try?uart\.settings\org.eclipse.cdt.codan.core.prefs
?????文件?????????123??2018-06-18?14:45??try?uart\.settings\org.eclipse.cdt.debug.core.prefs
?????文件?????????293??2018-06-18?14:50??try?uart\.settings\org.eclipse.core.resources.prefs
?????目錄???????????0??2018-06-21?18:34??try?uart\Debug\
?????文件??????????93??2018-06-21?18:34??try?uart\Debug\ccsObjs.opt
?????文件?????????907??2018-06-21?18:34??try?uart\Debug\main.d
?????文件???????56072??2018-06-21?18:34??try?uart\Debug\main.obj
?????文件????????4200??2018-06-21?18:34??try?uart\Debug\makefile
?????文件?????????248??2018-06-18?14:53??try?uart\Debug\objects.mk
?????文件????????2079??2018-06-21?18:34??try?uart\Debug\sources.mk
?????目錄???????????0??2018-06-18?14:53??try?uart\Debug\src\
?????文件????????1535??2018-06-21?18:34??try?uart\Debug\src\subdir_rules.mk
?????文件?????????664??2018-06-21?18:34??try?uart\Debug\src\subdir_vars.mk
?????文件?????????715??2018-06-18?14:53??try?uart\Debug\src\UART_FIFO.d
?????文件???????13988??2018-06-18?14:53??try?uart\Debug\src\UART_FIFO.obj
?????文件?????????147??2018-06-18?14:53??try?uart\Debug\src\UART_Global.d
?????文件????????5924??2018-06-18?14:53??try?uart\Debug\src\UART_Global.obj
?????文件?????????928??2018-06-21?18:34??try?uart\Debug\subdir_rules.mk
?????文件?????????511??2018-06-21?18:34??try?uart\Debug\subdir_vars.mk
?????文件???????37311??2018-06-21?18:34??try?uart\Debug\try?uart.map
?????文件???????99192??2018-06-21?18:34??try?uart\Debug\try?uart.out
?????文件??????259368??2018-06-21?18:34??try?uart\Debug\try?uart_linkInfo.xml
?????文件????????4555??2018-06-18?15:11??try?uart\IIC.h
?????文件????????8984??2018-06-18?14:45??try?uart\lnk_msp430g2553.cmd
............此處省略9個文件信息