UART Связь с устройством Bluetooth с использованием PIC16f15324

Question

Я новичок в программировании Pic-микроконтроллера.Я пытаюсь запрограммировать картинку для связи с устройством Bluetooth HC-05 с помощью MPLAB.Исходный код я программирую на плате Arduino, и он работает, но когда я пытаюсь преобразовать его в рисунок, он не работает.Я не уверен, что раздел кода для UART и прерываний правильный.Когда я запускаю программу, мотор работает все время.Предполагается, что он включается только тогда, когда Bluetooth связывается с устройством, чтобы сообщить ему о включении.

// CONFIG1
#pragma config FEXTOSC = OFF     // External Oscillator mode selection bits (HS (crystal oscillator) above 4MHz; PFM set to high power)
#pragma config RSTOSC = EXT1X  // Power-up default value for COSC bits (HFINTOSC (1MHz))
#pragma config CLKOUTEN = OFF   // Clock Out Enable bit (CLKOUT function is disabled; i/o or oscillator function on OSC2)
#pragma config CSWEN = ON       // Clock Switch Enable bit (Writing to NOSC and NDIV is allowed)
#pragma config FCMEN = ON       // Fail-Safe Clock Monitor Enable bit (FSCM timer enabled)

// CONFIG2
#pragma config MCLRE = ON       // Master Clear Enable bit (MCLR pin is Master Clear function)
#pragma config PWRTE = OFF      // Power-up Timer Enable bit (PWRT disabled)
#pragma config LPBOREN = OFF    // Low-Power BOR enable bit (ULPBOR disabled)
#pragma config BOREN = OFF      // Brown-out reset enable bits (Brown-out Reset Enabled, SBOREN bit is ignored)
#pragma config BORV = LO        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (VBOR) set to 1.9V on LF, and 2.45V on F Devices)
#pragma config ZCD = OFF        // Zero-cross detect disable (Zero-cross detect circuit is disabled at POR.)
#pragma config PPS1WAY = ON     // Peripheral Pin Select one-way control (The PPSLOCK bit can be cleared and set only once in software)
#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable bit (Stack Overflow or Underflow will cause a reset)

// CONFIG3
#pragma config WDTCPS = WDTCPS_31// WDT Period Select bits (Divider ratio 1:65536; software control of WDTPS)
#pragma config WDTE = OFF       // WDT operating mode (WDT Disabled, SWDTEN is ignored)
#pragma config WDTCWS = WDTCWS_7// WDT Window Select bits (window always open (100%); software control; keyed access not required)
#pragma config WDTCCS = SC      // WDT input clock selector (Software Control)

// CONFIG4
#pragma config BBSIZE = BB512   // Boot Block Size Selection bits (512 words boot block size)
#pragma config BBEN = OFF       // Boot Block Enable bit (Boot Block disabled)
#pragma config SAFEN = OFF      // SAF Enable bit (SAF disabled)
#pragma config WRTAPP = OFF     // Application Block Write Protection bit (Application Block not write protected)
#pragma config WRTB = OFF       // Boot Block Write Protection bit (Boot Block not write protected)
#pragma config WRTC = OFF       // Configuration Register Write Protection bit (Configuration Register not write protected)
#pragma config WRTSAF = OFF     // Storage Area Flash Write Protection bit (SAF not write protected)
#pragma config LVP = OFF        // Low Voltage Programming Enable bit (High Voltage on MCLR/Vpp must be used for programming)

// CONFIG5
#pragma config CP = OFF         // UserNVM Program memory code protection bit (UserNVM code protection disabled)

// #pragma config statements should precede project file includes.
// Use project enums instead of #define for ON and OFF.

#include <xc.h>
#include <stdint.h>
#define _XTAL_FREQ 12000000
#define Baud 115200

void UART_RX_Init(void);
uint32_t UART_Buffer = 0;
unsigned char Suit = 0x00;
unsigned char Value = 0x00;
int counter = 0;
unsigned char t;
int quotient = 0;
int remainder = 0;
int i= 0;
int j=0;

void main(void)
{
    UART_RX_Init();
    ANSELA=0;
    ANSELC=0;
    LATAbits.LATA2 = 0;


    t = 0x00;

    while(1)
    {


        while (UART_Buffer == 0){}
        while (UART_Buffer != 0)
        {
            t = UART_Buffer;
            UART_Buffer = 0;

        }
        if (UART_Buffer == 0)
        {
           if (t == 0x58)
           {
                    counter = 0;
            } 
           else if (t == 0x59)
           {
                counter = 0;
            }
           else if (t == 0x5A)
           {
           }
           else{
                counter++;
                Suit = t;  
                }
        if (counter == 0){
          for (int i = 0; i < 7; i++){
                LATAbits.LATA2 = 1;
            __delay_ms(200);
                LATAbits.LATA2 = 0;
            __delay_ms(200);
          }
        }

        }
        else if (counter > 0){
        counter = 0;
        Value = t;

         quotient = Suit/0x04;
         remainder = Suit%0x04;


        for (i = 0; i < quotient; i++){
          LATAbits.LATA2 = 1;
          __delay_ms(500);
          LATAbits.LATA2 = 0;
          __delay_ms(500);
        }
        for ( i = 0; i < remainder; i++){
          LATAbits.LATA2 = 1;
          __delay_ms(250);
          LATAbits.LATA2 = 0;
          __delay_ms(250);
        }
        __delay_ms(1000);
        quotient = Value/0x04;
        remainder = Value%0x04;

        for ( j = 0; j < quotient; j++){
          LATAbits.LATA2 = 1;
          __delay_ms(500);
          LATAbits.LATA2 = 0;
          __delay_ms(500);
        }
        for ( j = 0; j < remainder; j++){
          LATAbits.LATA2 = 1;
          __delay_ms(250);
          LATAbits.LATA2 = 0;
          __delay_ms(250);
        }

    }
}
}

void UART_RX_Init()
{
    SP1BRGH = 1;
    SP1BRGL = 5; 

    TX1STAbits.SYNC = 0;
    RCSTAbits.SPEN = 1;

    TRISC5 = 1;
    TRISC4 = 1;

    RC1IE = 1;
    PEIE = 1;
    GIE = 1;

   RC1STAbits.CREN = 1;
}

void __interrupt() my_isr(void)
{
    if (CSWIF == 1)
    {
        UART_Buffer = RCREG;
        CSWIF = 0;
    }


}