/**
* @brief Execute the demo application.
* @param None
* @retval None
*/
static void Demo_Exec(void)
{
RCC_ClocksTypeDef RCC_Clocks;
/* 串口配置 */
USART1_Config();
NVIC_Config();
/* Initialize LEDs to be managed by GPIO */
STM_EVAL_LEDInit(LED4);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED5);
STM_EVAL_LEDInit(LED6);
//每次系统初始化后，都读取flash查看存储空间剩余情况
flash_readIndex(IndexList,uniIndexLength, &IndexCount);
while(1)
{
DemoEnterCondition = 0x00;
/* Reset UserButton_Pressed variable */
UserButtonPressed = 0x00;
// SerialButtonPressed = 0x00;
/* SysTick end of count event each 2.5ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / TimeDev);
/******************************************/
/***空闲状态，清空flash或者发送数据选项****/
/******************************************/
/* Waiting User Button is pressed */
while (UserButtonPressed == 0x00)
{
/********通过串口与上位机通信*******************/
/* if Send serial data Button(PB11) is pressed */
if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11) == Bit_SET)//不太灵敏
{
while(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11) == Bit_SET);
/*串口通信状态指示灯*/
STM_EVAL_LEDOn(LED4);
STM_EVAL_LEDOn(LED3);
STM_EVAL_LEDOn(LED5);
STM_EVAL_LEDOn(LED6);
//读取flash中index区域
flash_readIndex(IndexList,uniIndexLength, &IndexCount);
//与上位机握手操作
unsigned char* shakeHandSend = "ready? ";//最后一个字符必须是空格字符
while (*shakeHandSend != ' ')
{
SendChar(*shakeHandSend);
shakeHandSend++;
}
Delay(100);//等待1s确认接收自上位机的握手信号"ok!"
if (serialRecv[0] == 'o'&&serialRecv[1] == 'k'&&serialRecv[2] == '!')
{
//与上位机握手成功，可发送数据
serialFlag = 1;
}
else
{
//与上位机握手失败，无法发送数据
serialFlag = 0;
/*串口握手失败指示灯*/
STM_EVAL_LEDOff(LED4);
Delay(10);
STM_EVAL_LEDOff(LED3);
Delay(10);
STM_EVAL_LEDOff(LED5);
Delay(10);
STM_EVAL_LEDOff(LED6);
Delay(100);
}
if (1 == serialFlag)
{
//先发送IndexList数据给上位机，上位机选择需要的记录段（segment）反馈给下位机，下位机据此发送相应记录段给上位机
uint8_t i;
unsigned char sendData[4];
SendString("index");
SendCounter = 0;
while(SendCounter < IndexCount)
{
uint32_to_uint8(sendData,IndexList[SendCounter]);
i = 0;
while(i < 4)
{
SendChar((unsigned char)sendData[i]);
i+= 1 ;
}
SendCounter += 1;
}
/*开始发送segment数据给上位机*/
while(serialRecv[0] == 'o');//等待确认接收自上位机的选择信号"0"——"6"
Delay(2);//等待20ms后开始发送data,实现收发同步
if (serialRecv[0] == '0'||serialRecv[0] == '1'||serialRecv[0] == '2'||serialRecv[0] == '3'||serialRecv[0] == '4'||serialRecv[0] == '5'||serialRecv[0] == '6')
{
tempCount = IndexList[(serialRecv[0]-48)*uniIndexLength+2];
tempCount2 = 0;
//读取flash user data area中对应数据
while (tempCount > lowerComputerBufferNum)
{
flash_readData(SendData,lowerComputerBufferNum, tempCount2*lowerComputerBufferNum, IndexList[(serialRecv[0]-48)*uniIndexLength]);
SendCounter = 0;
while(SendCounter < lowerComputerBufferNum)
{
SendChar((unsigned char)SendData[SendCounter]);
SendCounter += 1 ;
}
tempCount -= lowerComputerBufferNum;
tempCount2 += 1;
Delay(9);//延时9ms以便上位机有时间处理缓冲区（上位机缓冲区大小同下位机）
}
if (tempCount != 0)
{
flash_readData(SendData,tempCount, tempCount2*lowerComputerBufferNum, IndexList[(serialRecv[0]-48)*uniIndexLength]);
SendCounter = 0;
while(SendCounter < tempCount)
{
SendChar((unsigned char)SendData[SendCounter]);
SendCounter += 1 ;
}
}
}
/*选择是否擦除对应segment和index*/
//接收自上位机的删除信号 'Y' for 删除，'N' for 不删除
if(serialRecv[1] == 'Y')
{
//uint32_t tempIndexList[uniIndexLength*7];
flash_init_sector(IndexList[(serialRecv[0]-48)*uniIndexLength]);//擦除该index所对应flash user data area区域
flash_init_sector(((uint32_t)0x08010000));//先擦除Index区域（sector 4）
i = 0;
uint8_t k = 0;
while(i < IndexCount)
{
if (i != (serialRecv[0]-48)*uniIndexLength)
{
IndexList[k] = IndexList[i];
IndexList[k+1] = IndexList[i+1];
IndexList[k+2] = IndexList[i+2];
k += uniIndexLength;
}
i += uniIndexLength;
}
flash_writeIndex(IndexList,IndexCount-uniIndexLength);//后重写该条index记录
IndexCount -= 3;
}
}
}
/********************清空flash********************************/
/* if Button(PB12) is pressed, flash user area will be erased*/
if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_12) == Bit_SET)
{
/*waiting Button(PB12) being released*/
while(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_12) == Bit_SET);
/* flash初始化 */
flash_init();
IndexCount = 0;
/*灯全闪烁后全灭，指示flash中用户数据被擦除*/
STM_EVAL_LEDToggle(LED4);
STM_EVAL_LEDToggle(LED3);
STM_EVAL_LEDToggle(LED5);
STM_EVAL_LEDToggle(LED6);
Delay(10);
STM_EVAL_LEDOff(LED4);
STM_EVAL_LEDOff(LED3);
STM_EVAL_LEDOff(LED5);
STM_EVAL_LEDOff(LED6);
Delay(100);
}
/* Toggle LED4 */
STM_EVAL_LEDToggle(LED6);
Delay(50);
//LED4 3 5用于二进制编码指示flash存储区占用个数
if((IndexCount/uniIndexLength)&(0x01))//最低位
{
STM_EVAL_LEDOn(LED5);
}
else
{
STM_EVAL_LEDOff(LED5);
}
if((IndexCount/uniIndexLength)&(0x02))
{
STM_EVAL_LEDOn(LED3);
}
else
{
STM_EVAL_LEDOff(LED3);
}
if((IndexCount/uniIndexLength)&(0x04))//最高位
{
STM_EVAL_LEDOn(LED4);
}
else
{
STM_EVAL_LEDOff(LED4);
}
}
/* Waiting User Button is Released */
while (STM_EVAL_PBGetState(BUTTON_USER) == Bit_SET)
{}
/******************************************/
/***退出空闲状态，采样状态配置初始化*******/
/******************************************/
STM_EVAL_LEDOn(LED4);
STM_EVAL_LEDOff(LED4);
Delay(10);
STM_EVAL_LEDOn(LED3);
STM_EVAL_LEDOff(LED3);
Delay(10);
STM_EVAL_LEDOn(LED5);
STM_EVAL_LEDOff(LED5);
Delay(10);
STM_EVAL_LEDOn(LED6);
STM_EVAL_LEDOff(LED6);
Delay(10);
/*各段记录相互独立的标志位均清零*/
Counter = 0;//分组采用计数器复位
DataWriteErrorFlag = 0;//flash写入错误标志位复位
NoWrittenFlag = 0;//未写入标志位复位
WritingSectorFlag = 0;//正在写入sector标志位复位
totalDataNumber = 0;//各段记录数据个数计数器复位
UserButtonPressed = 0x00;
/* MEMS configuration */
LIS302DL_InitStruct.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
LIS302DL_InitStruct.Output_DataRate = LIS302DL_DATARATE_400;//加速度传感器采用率400HZ
LIS302DL_InitStruct.Axes_Enable = LIS302DL_XYZ_ENABLE;
LIS302DL_InitStruct.Full_Scale = LIS302DL_FULLSCALE_2_3;//18 mg/digit
LIS302DL_InitStruct.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_InitStruct);
/* Required delay for the MEMS Accelerometre: Turn-on time = 3/Output data Rate
= 3/400 = 7.5ms */
Delay(1);
/* MEMS High Pass Filter configuration */
LIS302DL_FilterStruct.HighPassFilter_Data_Selection = LIS302DL_FILTEREDDATASELECTION_OUTPUTREGISTER;
LIS302DL_FilterStruct.HighPassFilter_CutOff_Frequency = LIS302DL_HIGHPASSFILTER_LEVEL_1;
LIS302DL_FilterStruct.HighPassFilter_Interrupt = LIS302DL_HIGHPASSFILTERINTERRUPT_1_2;
LIS302DL_FilterConfig(&LIS302DL_FilterStruct);
LIS302DL_Read(Buffer, LIS302DL_OUT_X_ADDR, 6);
X_Offset = Buffer[0];
Y_Offset = Buffer[2];
Z_Offset = Buffer[4];
/******************************************/
/***********开始进入采样模式，写入flash****/
/******************************************/
DemoEnterCondition = 0x01;
/* Waiting User Button is pressed */
while (UserButtonPressed == 0x00) //利用采样间隙写入缓冲器内数据，提高效率
{
if((0 == Counter)&&(1 == NoWrittenFlag)&&(0 == DataWriteErrorFlag))
{
if (WritingSectorFlag == 0)
{
writingDataAddr = getFreeDataStartAddr();
if (writingDataAddr == 0)
{
NoFreeSectors = 1;//无空闲sector块置位
NoWrittenFlag = 0;
/* 指示灯全亮，指示存储空间已满 */
STM_EVAL_LEDOn(LED4);
STM_EVAL_LEDOn(LED3);
STM_EVAL_LEDOn(LED5);
STM_EVAL_LEDOn(LED6);
break;//退出采样模式
}
else
{
//一次完整flash写入
flash_init_sector(writingDataAddr);//保险起见，先擦除该空闲sector块
DataWriteErrorFlag = flash_writeData(Total_Buffer, Total_Buffer_Number,writingDataAddr);
NoWrittenFlag = 0;//表示已写入(flash)
WritingSectorFlag = 1;//正在写入sector标志位置位，表示启用该块sector
}
}
else
{
//flash写入
DataWriteErrorFlag = flash_writeData(Total_Buffer, Total_Buffer_Number,writingDataAddr);
NoWrittenFlag = 0;//表示已写入(flash)
}
}
if(DataWriteErrorFlag != 0)
{
flash_init_sector(writingDataAddr);//flash写入错误后，擦除相应存储空间，退出采样状态
WritingSectorFlag = 0;//归还对该块存储空间的使用权
/* 指示灯全亮后全灭，指示进入采样状态 */
STM_EVAL_LEDOn(LED4);
STM_EVAL_LEDOn(LED3);
STM_EVAL_LEDOn(LED5);
STM_EVAL_LEDOn(LED6);
Delay(100);
STM_EVAL_LEDOff(LED4);
STM_EVAL_LEDOff(LED3);
STM_EVAL_LEDOff(LED5);
STM_EVAL_LEDOff(LED6);
Delay(100);
break;
}
/* 指示灯全灭，指示进入采样状态 */
STM_EVAL_LEDOff(LED4);
STM_EVAL_LEDOff(LED4);
STM_EVAL_LEDOff(LED3);
STM_EVAL_LEDOff(LED5);
STM_EVAL_LEDOff(LED6);
}
/* Waiting User Button is Released */
while (STM_EVAL_PBGetState(BUTTON_USER) == Bit_SET)
{}
/******************************************/
/***********退出采样模式，做善后处理*******/
/******************************************/
DemoEnterCondition = 0x00;//防止此时进入采样模式
/*如果退出采样模式时尚有数据未写入flash，在此一并写入flash*/
if(1 == NoWrittenFlag) flash_writeData(Total_Buffer, Counter,writingDataAddr);
if ((0 == NoFreeSectors)&&(1 == WritingSectorFlag))
{
/* 指示灯全灭后全亮，指示进入数据善后状态 */
STM_EVAL_LEDOff(LED4);
STM_EVAL_LEDOff(LED3);
STM_EVAL_LEDOff(LED5);
STM_EVAL_LEDOff(LED6);
Delay(10);
STM_EVAL_LEDOn(LED4);
STM_EVAL_LEDOn(LED3);
STM_EVAL_LEDOn(LED5);
STM_EVAL_LEDOn(LED6);
Delay(10);
/*至此，一条“完整”记录写入flash完毕，需要在flash中建立关于这条记录的索引index*/
flash_readIndex(IndexList,uniIndexLength, &IndexCount);//从flash中读取原IndexList
IndexList[IndexCount] = writingDataAddr;//写入最新的数据地址块首地址
srand((int)time(0));
IndexList[IndexCount+1] = rand()%100;//写入最新的记录名
IndexList[IndexCount+2] = totalDataNumber;//写入最新的段记录总个数
flash_init_sector(((uint32_t)0x08010000));//先擦除Index区域（sector 4）
flash_writeIndex(IndexList,IndexCount+3);//后写入
IndexCount += 3;
}
/* Disable SPI1 used to drive the MEMS accelerometre */
SPI_Cmd(LIS302DL_SPI, DISABLE);
}
}
void _ttywrch(int ch)
{
SendChar (ch);
}
int fputc(int ch, FILE *stream)
{
SendChar(ch);
return ch;
}
int fputc(int ch, FILE *f)
{
SendChar(ch);
return ch;
}
/****************************************************************************
* 名 称： SendBeginCMD()
* 功 能： 发送帧头命令
* 入口参数： 无
* 出口参数： 无
****************************************************************************/
void SendBeginCMD()
{
SendChar(0xEE);
}
/****************************************************************************
* 名 称： SetTouchScreen_Adj()
* 功 能： 触摸屏校准，校准完毕后下发结束信息
* 入口参数： 无
* 出口参数： 无
****************************************************************************/
void SetTouchScreen_Adj()
{
SendBeginCMD();
SendChar(0x72);
SendEndCmd();
}
void Uart_SendByte(int data)
{
SendChar(data);
}
int main(void) {
int accelData[3];
int analogData[BUFFER];
int i=0;
for(i=0;i<BUFFER;i++){ analogData[i]=0; }
int a = 0;
int analogIn = 0;
int analogMin, analogMax;
/* Initialize system */
SystemInit();
/* Initialize delay */
//TM_DELAY_Init();
/* Initialize PG13 (GREEN LED) and PG14 (RED LED) */
TM_GPIO_Init(GPIOG, GPIO_PIN_13 | GPIO_PIN_14, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_Fast);
TM_GPIO_SetPinValue(GPIOG, GPIO_PIN_14, 1); // Red: ON
#ifdef ENABLE_USART
/* Initialize USART1 at 115200 baud, TX: PA10, RX: PA9 */
TM_USART_Init(USART1, TM_USART_PinsPack_1, 115200);
#endif
#ifdef ENABLE_VCP
/* Initialize USB Virtual Comm Port */
TM_USB_VCP_Result status = TM_USB_VCP_NOT_CONNECTED;
while (TM_USB_VCP_GetStatus() != TM_USB_VCP_CONNECTED) {
TM_USB_VCP_Init();
TM_GPIO_TogglePinValue(GPIOG, GPIO_PIN_14);
Delay(500000);
}
SendString("USB VCP initialized and connected\n");
TM_GPIO_TogglePinValue(GPIOG, GPIO_PIN_14 | GPIO_PIN_13); // Red: OFF, Gr: ON
#endif
#ifdef ENABLE_MMA
/* Initialize MMA845X */
uint8_t mma_status = MMA845X_Initialize(MMA_RANGE_4G);
if (mma_status == MMA_OK) {
SendString("MMA initialized\n");
} else {
SendString("MMA initialization failed, error code: ");
// Add 48 to the byte value to have character representation, (48 = '0')
SendChar('0'+mma_status);
SendChar('\n');
}
#endif
/* Initialize Display */
TM_ILI9341_Init();
TM_ILI9341_Rotate(TM_ILI9341_Orientation_Portrait_1);
TM_ILI9341_SetLayer1();
TM_ILI9341_Fill(ILI9341_COLOR_BLACK); /* Fill data on layer 1 */
/* Initialize ADC1 */
TM_ADC_Init(CURRENT_ADC, CURRENT_CH);
/* Initialize PE2 and PE3 for digital output (Motor direction) */
TM_GPIO_Init(GPIOE, GPIO_PIN_2 | GPIO_PIN_3, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_Fast);
// Set them to HIGH/LOW
TM_GPIO_SetPinHigh(GPIOE, GPIO_PIN_3);
TM_GPIO_SetPinLow(GPIOE, GPIO_PIN_2);
#ifdef ENABLE_PWM
/* Set up PE5 (in front of PE4) for PWM (TIM9 CH1 PP2) (Motor speed control) */
TM_PWM_TIM_t TIM9_Data;
// Set PWM to 1kHz frequency on timer TIM4, 1 kHz = 1ms = 1000us
TM_PWM_InitTimer(TIM9, &TIM9_Data, 1000);
// Initialize PWM on TIM9, Channel 1 and PinsPack 2 = PE5
TM_PWM_InitChannel(&TIM9_Data, TM_PWM_Channel_1, TM_PWM_PinsPack_2);
// Set channel 1 value, 50% duty cycle
TM_PWM_SetChannelPercent(&TIM9_Data, TM_PWM_Channel_1, 50);
#endif
/* Initialize DAC channel 2, pin PA5 (Shaker control) */
//TM_DAC_Init(TM_DAC2);
/* Set 12bit analog value of 2047/4096 * 3.3V */
//TM_DAC_SetValue(TM_DAC2, 4096);
#ifdef ENABLE_DAC
// DAC PIN PA5
/* Initialize DAC1, use TIM4 for signal generation */
TM_DAC_SIGNAL_Init(TM_DAC2, TIM4);
/* Output predefined triangle signal with frequency of 5kHz */
TM_DAC_SIGNAL_SetSignal(TM_DAC2, TM_DAC_SIGNAL_Signal_Sinus, 50);
#endif
/* MAIN LOOP */
while (1) {
// Read acceleration data
#ifdef ENABLE_MMA
MMA845X_ReadAcceleration(accelData);
#endif
// Read analog input
analogData[a] = TM_ADC_Read(CURRENT_ADC, CURRENT_CH);
a++;
if(a==BUFFER) {a=0;}
// Analog average
analogIn=0;
analogMax=0;
analogMin=4096;
for(i=0;i<BUFFER;i++){
if(analogData[i] > analogMax) { analogMax = analogData[i]; }
if(analogData[i] < analogMin) { analogMin = analogData[i]; }
analogIn+=analogData[i];
}
analogIn/=BUFFER;
// Print graphs
printGraphsLCD(accelData, analogData[a], analogIn, analogMin, analogMax);
// Toggle Green led
TM_GPIO_TogglePinValue(GPIOG, GPIO_PIN_13);
}
}
int main()
{
char tegn;
char TestStreng[40] = "This string is stored in SRAM memory\r\n";
// Initialize USART
// Important : Also other Baud Rates and Data Bits should be tested
// Corresponding changes has to be made in the terminal program used
// for the test
InitUART(9600, 8);
while (1)
{
// Testing SendChar
SendChar('A');
SendChar('B');
SendChar('C');
SendChar('\r');
SendChar('\n');
// Testing ReadChar() : Read and echo
tegn = ReadChar();
SendChar(tegn);
SendChar('\r');
SendChar('\n');
// Testing CharReady()
while ( !CharReady() )
{}
SendChar( ReadChar() );
SendChar('\r');
SendChar('\n');
// Sending string stored in Flash (constant string)
SendString("This string is stored as a constant in flash memory\r\n");
// Sending string stored in SRAM (modify-able string)
SendString(TestStreng);
// Testing SendInteger()
SendInteger(12345);
SendChar('\r');
SendChar('\n');
SendInteger(-1000);
SendChar('\r');
SendChar('\n');
}
}
void dc18_change_state(void)
{
uint16_t i;
uint32_t t;
gSTATE_CHANGE = TRUE;
switch (badge_state)
{
case DEFCON:
if (gSW == SW_1) badge_state = JOEGRAND;
else if (gSW == SW_0)
{
// clear frame buffer and variables in preparation for the next state
dc18_clear_fb();
gLoc = 0;
gIconIdx = 0;
badge_state = BADGE;
}
else gSTATE_CHANGE = FALSE;
break;
case BADGE:
if (gSW == SW_1)
{
++gIconIdx; // point to next icon
if (gIconIdx >= NUM_GLYPHS) gIconIdx = 0; // wrap-around
}
else if (gSW == SW_0)
{
if (gIconIdx == 0) gIconIdx = NUM_GLYPHS; // wrap-around backwards
--gIconIdx; // point to next icon
}
else if (gSW == SW_BOTH)
{
if (gLoc < GLYPHS_PER_IMAGE - 1)
++gLoc; // move to next image location
else
badge_state = DEFCON; // if all glyphs have been entered, go to the next state
}
else gSTATE_CHANGE = FALSE;
break;
case JOEGRAND:
if (gSW == SW_1) badge_state = BY;
else if (gSW == SW_BOTH) badge_state = KINGPIN;
else gSTATE_CHANGE = FALSE;
break;
case KINGPIN:
if (gSW == SW_0) badge_state = JOEGRAND;
else gSTATE_CHANGE = FALSE;
break;
case BY:
if (gSW == SW_1) badge_state = NINJA;
else if (gSW == SW_0) badge_state = AKA;
else gSTATE_CHANGE = FALSE;
break;
case AKA:
if (gSW == SW_0) badge_state = BY;
else gSTATE_CHANGE = FALSE;
break;
case NINJA:
if (gSW == SW_1) badge_state = DEFCON;
else if (gSW == SW_0)
{
// clear frame buffer and variables in preparation for the next state
dc18_clear_fb();
gLoc = 0;
gTumblerIdx = MIDDLE;
badge_state = EIGHTEEN;
}
else if (gSW == SW_BOTH)
{
// display indication that we are transmitting/blocking
// (indicator is cleared automatically when we return to main loop)
for (i = 0; i < TX_ICON_WIDTH; ++i)
{
gFB[1 + i] = (uint8_t)dc18TX[i];
gFB[129 + i] = (uint8_t)dc18TX[i + TX_ICON_WIDTH];
}
dc18_update_lcd();
if (gNINJA_EN == 0)
t = dc18_encode_tumblers(gTumblers); // encode tumbler states into 24-bit value
else
t = 0; // badge is still locked, so transmit three NULLs instead of valid code
// transmit code via bit-banged serial port
// for ~15 seconds (1200bps / 64 bits/message = 18.75 messages/s)
for (i = 0; i < 227; ++i)
{
SendChar('N');
SendChar('I');
SendChar('N');
SendChar('J');
SendChar('A');
SendChar((unsigned char)((t >> 16) & 0xFF)); // MSB first
SendChar((unsigned char)((t >> 8) & 0xFF));
SendChar((unsigned char)(t & 0xFF));
}
}
else gSTATE_CHANGE = FALSE;
break;
case EIGHTEEN:
if (gNINJA_EN == 0) // unlocked
{
if (gSW == SW_0) badge_state = NINJA;
else gSTATE_CHANGE = FALSE;
}
else // locked
{
if (gSW == SW_1)
{
if (gTumblerIdx == MIDDLE) gTumblerIdx = TOP; // change tumbler position
else if (gTumblerIdx == BOTTOM) gTumblerIdx = MIDDLE;
}
else if (gSW == SW_0)
{
if (gTumblerIdx == MIDDLE) gTumblerIdx = BOTTOM;
else if (gTumblerIdx == TOP) gTumblerIdx = MIDDLE;
}
else if (gSW == SW_BOTH)
{
gTumblers[gLoc] = gTumblerIdx; // store current position
if (gLoc < TUMBLERS_PER_IMAGE - 1)
{
++gLoc; // move to next image location
gTumblerIdx = MIDDLE; // set to default position
}
else
{
// all tumblers have been set...
t = dc18_encode_tumblers(gTumblers); // encode tumbler states into 24-bit value
if (dc18_ninja_validate(t) == 1) // check for validity
gNINJA_EN = 0; // if valid, ninja mode unlocked!
else
gNINJA_EN = 0xFF; // else we stay locked. boo hoo.
badge_state = NINJA;
}
}
else gSTATE_CHANGE = FALSE;
}
break;
case USB:
if (gSW == SW_1) badge_state = DEFCON;
else gSTATE_CHANGE = FALSE;
break;
default:
gSTATE_CHANGE = FALSE;
break;
}
void R_FOG( void ) {
//===============
int width;
int dec;
int exp;
int logval;
char *buf;
ftnfile *fcb;
char ch;
extended value;
extended absvalue;
width = IOCB->fmtptr->fmt3.fld1;
dec = IOCB->fmtptr->fmt3.fld2;
exp = IOCB->fmtptr->fmt3.fld3;
fcb = IOCB->fileinfo;
buf = &fcb->buffer[ fcb->col ];
if( IOCB->typ <= PT_LOG_4 ) {
R_FOLog();
} else if( IOCB->typ <= PT_INT_4 ) {
OutInt( width, 1 );
} else {
if( GetRealRtn( &value, width ) ) {
absvalue = value;
if( value < 0.0 ) {
absvalue = -value;
}
/* round to "dec" digits */
absvalue = absvalue + .5 * pow( 10, -dec );
if( ( IOCB->typ == PT_REAL_4 ) || ( IOCB->typ == PT_CPLX_8 ) ) {
logval = Div10S( absvalue );
} else if((IOCB->typ == PT_REAL_8) || (IOCB->typ == PT_CPLX_16)) {
logval = Div10L( absvalue );
} else {
logval = Div10X( absvalue );
}
// use E format if less than 0.1 unless value is zero
// use E format if there are more digits than the width
if( (( absvalue < 0.1 ) || ( logval >= dec )) &&
( value != 0.0 ) ) {
ch = 'E';
if( exp == 0 ) { // if Gw.d
#if defined( _M_IX86 ) || defined( __AXP__ ) || defined( __PPC__ )
if( ( ( absvalue <= P1d_99 ) || ( absvalue >= P1d100 ) ) &&
( absvalue != 0.0 ) ) {
ch = NULLCHAR; // no exponent letter
exp = 3;
} else {
#endif
exp = 2;
#if defined( _M_IX86 ) || defined( __AXP__ ) || defined( __PPC__ )
}
#endif
}
R_F2E( value, buf, width, dec, (IOCB->flags & IOF_PLUS) != 0,
IOCB->scale, exp, ch );
fcb->col += width;
} else {
if( exp == 0 ) { // if Gw.d
exp = 4;
} else {
exp += 2;
}
width -= exp;
if( width > 0 ) {
dec -= ( logval + 1 );
if( ( dec <= width ) && ( dec >= 0 ) ) {
R_F2F( value, buf, width, dec,
( IOCB->flags & IOF_PLUS ) != 0, 0 );
fcb->col += width;
if( *buf == '*' ) {
// fill remaining field
SendChar( '*', exp );
} else {
SendChar( ' ', exp );
}
} else {
SendChar( '*', width + exp );
}
} else {
SendChar( '*', width + exp );
}
}
} else { // undefined chars will be filled in for value
fcb->col += width;
}
}
}
static void FOHex( uint width ) {
//===============================
uint len;
int trunc;
ftnfile *fcb;
PTYPE typ;
char *buff;
fcb = IOCB->fileinfo;
typ = IOCB->typ;
len = GetLen();
trunc = 0;
// Use this method when real and imaginary parts are formatted using
// one edit descriptor:
/*
if( ( IOCB->typ == PT_CPLX_8 ) || ( IOCB->typ == PT_CPLX_16 ) ) {
len *= 2;
IOCB->flags &= ~IOF_FMTREALPART; // we'll print both parts at once
}
*/
// Use this method when real and imaginary parts each require an
// edit descriptor:
if( IOCB->typ == PT_CPLX_8 ) {
if( !(IOCB->flags & IOF_FMTREALPART) ) {
IORslt.scomplex.realpart = IORslt.scomplex.imagpart;
}
} else if( IOCB->typ == PT_CPLX_16 ) {
if( !(IOCB->flags & IOF_FMTREALPART) ) {
IORslt.dcomplex.realpart = IORslt.dcomplex.imagpart;
}
} else if( IOCB->typ == PT_CPLX_32 ) {
if( !(IOCB->flags & IOF_FMTREALPART) ) {
IORslt.xcomplex.realpart = IORslt.xcomplex.imagpart;
}
}
if( width == 0 ) {
width = 2*len;
}
trunc = ( len * 2 ) - width;
if( trunc < 0 ) {
SendChar( ' ', -trunc );
}
if( trunc <= 0 ) {
trunc = 0;
}
if( typ != PT_CHAR ) {
len *= 2;
HexFlip( (char *)&IORslt, len );
BToHS( (char *)&IORslt , len, IOCB->buffer );
strupr( IOCB->buffer );
SendStr( IOCB->buffer + trunc, len - trunc );
} else {
buff = IOCB->buffer;
len *= 2;
if( len > IO_FIELD_BUFF ) {
buff = RChkAlloc( len + 1 );
}
pgm_BToHS( IORslt.string.strptr, len, buff );
strupr( buff );
SendStr( buff + trunc, len - trunc );
if( len > IO_FIELD_BUFF ) {
RMemFree( buff );
}
}
}
int main(void)
{
// Prepare for UART communication with external world. The default baud rate
// is 921,600 bps
IOWR_FIFOED_AVALON_UART_DIVISOR(UART_BASE, BAUD_RATE(921600.0f));
// Make sure UART interrupts are disabled
alt_ic_irq_disable(UART_IRQ_INTERRUPT_CONTROLLER_ID, UART_IRQ);
// Clear the input and output buffers
FlushRx(UART_BASE);
FlushTx(UART_BASE);
#define MAX_CMD_LEN 64
char cmd[MAX_CMD_LEN];
s8 cmdIndex = 0;
// Sit in an infinite loop waiting for serial commands
while(1)
{
while (IORD_FIFOED_AVALON_UART_STATUS(UART_BASE) & FIFOED_AVALON_UART_CONTROL_RRDY_MSK)
{
// Read the Uart
char rx = IORD_FIFOED_AVALON_UART_RXDATA(UART_BASE);
// If this is the end of a command, then try to parse it
if (('\r' == rx) || ('\n' == rx))
{
cmd[cmdIndex] = '\0';
ExecuteCmd(cmd, UART_BASE);
FlushRx(UART_BASE);
FlushTx(UART_BASE);
cmdIndex = 0;
}
// If this is a backspace
else if ('\b' == rx)
{
SendStr("\b \b", UART_BASE);
if (cmdIndex > 0)
cmdIndex--;
}
// This is any other character
else
{
// echo the character
SendChar(rx, UART_BASE);
// Add it to the buffer, if possible, making sure to save the
// space for the null terminator (when completing the command)
if (cmdIndex < (MAX_CMD_LEN - 1))
cmd[cmdIndex++] = rx;
// Otherwise, report the error and reset the buffer
else
{
cmdIndex = 0;
SendStr(NO_ANSWER, UART_BASE);
}
}
}
}
}
/* ---------------------------------------------------------------------------
-- Routine to send a command string (including potentially nulls) to printer
--
-- Usage: void SendCommand(char *str)
--
-- Inputs: str - command string
---------------------------------------------------------------------------- */
void SendCommand(char *str) {
while (*str) SendChar(*(str++));
return;
}
void appcall(void)
{
u16 i;
switch(uip_conn->lport)
{
/* http port */
case HTONS(80):
/* when syn_rcv the uip_connected() return not zero ,it means
client connect to host*/
if(uip_connected()) {
/* init the byte count */
hs.count = 0;
return;
}
else if(uip_poll()) {
/* If we are polled ten times, we abort the connection. This is
because we don't want connections lingering indefinately in
the system. */
if(hs.count++ >= 10) {
uip_abort();
}
return;
}
else if(uip_newdata())
{ if(uip_appdata[0]!='G' || uip_appdata[1]!='E' || uip_appdata[2]!='T' || uip_appdata[3]!=' ')
uip_abort();
/* control the led on and off */
/* 0123456789abcdef */
/* GET /swc.html?sw7=1 */
if(uip_appdata[4]=='/' && uip_appdata[5]=='s' && uip_appdata[6]=='w' && uip_appdata[7]=='c')
{ if(uip_appdata[16]=='7')
{ if(uip_appdata[18]=='1')
{ P1_7=0;
htmlpage[0x146]='0';
}
else
{ P1_7=1;
htmlpage[0x146]='1';
}
}
if(uip_appdata[16]=='6')
{ if(uip_appdata[18]=='1')
{ P1_6=0;
htmlpage[0x17d]='0';
}
else
{ P1_6=1;
htmlpage[0x17d]='1';
}
}
}
{
xdata u8 val[16];
sprintf(val,"%04.2f",get_adc_val()*5.0/1024);
memcpy(&htmlpage[0x1ae],val,5);
}
// tt = 0;
// htmlpage[0x1ae]=(unsigned char)(tt>>8)/10+'0'; //整数
// htmlpage[0x1af]=(unsigned char)(tt>>8)%10+'0';
//
// htmlpage[0x1af+2]=(tt & 0x00ff)/10+'0'; //小数
// htmlpage[0x1af+3]=(tt & 0x00ff)%10+'0';
hs.dataptr=htmlpage;
hs.count=sizeof(htmlpage)-1;
}
//若收到client的ack包，说明先前的数据已成功发送，进行剩下的数据处理，若没数据要发，就关闭连接
if(uip_acked()) {//若没发送完，长度和开始指针还是存在hs->count 和hs->dataptr中
if(hs.count >= uip_conn->len) { /* uip_conn.len contain the bytes sent just now */
hs.count -= uip_conn->len;
hs.dataptr += uip_conn->len;
}
else {
hs.count = 0;
}
if(hs.count == 0) {
uip_close(); /* 数据发送完成，关闭连接 */
}
}
/* 在没有重发数据且在ESTABLISHED状态时，才会出现uip_flags = UIP_POLL; */
if(!uip_poll()) {
/* Send a piece of data, but not more than the MSS of the connection. */
uip_send(hs.dataptr, hs.count);
}
return;
case HTONS(8079): //*串口参数配置
if (uip_newdata()) //*UIP_CONNECTED UIP_NEWDATA UIP_ACKDATA
{ if(uip_appdata[0]=='s' && uip_appdata[1]=='e' && uip_appdata[2]=='t')
if(uip_appdata[3]=='c' && uip_appdata[4]=='o' && uip_appdata[5]=='m')
{
// u8 *str[]={"24","48","96","192","288","384","576","1152"};
u8 code tab[] = {112,184,220,238,244,247,250,253};
xputs("set ok, please change buard rate\r\n");
Delay_x(500);
i = uip_appdata[6] - '0';
if(i >= 0 && i <=7)
{
TH1 = tab[i];
TL1=TH1;
}
// switch(uip_appdata[6])
// { case '0': //2400bps
// TH1 = 112;
// //RCAP2H=0xf7;
// //RCAP2L=0x00;
// //puts("300bps\r\n");
// break;
// case '1':
// TH1 = 184; //4800bps
// //RCAP2H=0xfb;
// //RCAP2L=0x80;
// //puts("600bps\r\n");
// break;
// case '2':
// TH1 = 220; //9600bps
// //RCAP2H=0xfd;
// //RCAP2L=0xc0;
// //puts("1200bps\r\n");
// break;
// case '3':
// TH1 =
// //RCAP2H=0xfe;
// //RCAP2L=0xe0;
// //puts("2400bps\r\n");
// break;
// case '4':
// //RCAP2H=0xff;
// //RCAP2L=0x70;
// //puts("4800bps\r\n");
// break;
// case '5':
// //RCAP2H=0xff;
// //RCAP2L=0xb8;
// //puts("9600bps\r\n");
// break;
// case '6':
// //RCAP2H=0xff;
// //RCAP2L=0xdc;
// //puts("19200bps\r\n");
// break;
// case '7':
// //RCAP2H=0xff;
// //RCAP2L=0xee;
// //puts("38400bps\r\n");
// break;
// case '8':
// //RCAP2H=0xff;
// //RCAP2L=0xf4;
// //puts("57600bps\r\n");
// break;
// case '9':
// //RCAP2H=0xff;
// //RCAP2L=0xfa;
// //puts("115200bps\r\n");
// break;
// default:
// //RCAP2H=0xff;
// //RCAP2L=0xb8;
// //puts("9600bps\r\n");
// break;
// }
}
}
return;
/*---------------------------------------------------------------------------------*/
//用于数据传送的端口
case HTONS(8080):
if (uip_newdata()) //UIP_CONNECTED UIP_NEWDATA UIP_ACKDATA
{
if(uip_len)
{
for(i=0; i<uip_len; i++ )
{
SendChar(uip_appdata[i]);
// if(-1 != SendChar(uip_appdata[i]))
// i++;
}
}
}
if(uip_poll())
{
u16 dt_len = SIO_RBUFLEN;
if(dt_len > 0)
{
for(i=0; i<dt_len; i++)
{
tx_buf[i] = GetKey();
}
uip_slen = dt_len;
uip_send(tx_buf,uip_slen);
}
}
return;
/*---------------------------------------------------------------------------------*/
//采用client时，这部分需要取消
// default:
// uip_abort();
// break;
}
if(uip_conn->rport == HTONS(8888))
{
if(uip_connected())
{
code char hello[] = "Hello world\r\n";
xlog("建立连接\r\n");
uip_slen = strlen(hello);
uip_send(hello,uip_slen);
client_connect_flag = 1;
}
else if(uip_newdata())
{
uip_send(uip_appdata,uip_len); //照原样输出
}
else if(uip_aborted())
{
client_connect_flag = 0;
xlog("rst ");
}
else if(uip_closed())
{
client_connect_flag = 0;
xlog("disc ");
}
}
}
void main(void)
{
Init();
while(1)
{
P2 = Tab[i];
Key = P2;
if ((K1 & K2 & K3) == 0)
{
if (flag == 0)
{
// Obsluga przycisków dla LCD i 7segCC
P1 = Key;
if (Key == 0xE7) {SendChar('1');} //
if (Key == 0xEB) {SendChar('2');} //
if (Key == 0xED) {SendChar('3');} //
if (Key == 0xD7) {SendChar('4');} //
if (Key == 0xDB) {SendChar('5');} //
if (Key == 0xDD) {SendChar('6');} // kody do wyslania
if (Key == 0xB7) {SendChar('7');} //
if (Key == 0xBB) {SendChar('8');} //
if (Key == 0xBD) {SendChar('9');} //
if (Key == 0x7B) {SendChar('0');} //
if (Key == 0x77) {SendChar('*');} //
if (Key == 0x7D) {SendChar('#');} //
flag2=!flag2;
flag = 1;
}
}
else
{
if (i == 3) {i = 0;} else {i++;}
flag = 0;
}
}
}
// sends a carriage return, to look nice on the display when using strings
void SendCR(void)
{
SendChar(0x0d);
}
/****************************************************************************
* 名 称： GUI_CleanScreen()
* 功 能： 清屏
* 入口参数： 无
* 出口参数： 无
****************************************************************************/
void GUI_CleanScreen()
{
SendBeginCMD();
SendChar(0x01);
SendEndCmd();
}
/* finds dictionary matches for characters in current sector */
void DictSearch(unsigned int dictpos, unsigned int bytestodo)
{
register unsigned int i, j;
#if (GREEDY == 0)
unsigned int matchlen1, matchpos1;
/* non-greedy search loop (slow) */
i = dictpos; j = bytestodo;
while (j) /* loop while there are still characters left to be compressed */
{
FindMatch(i, THRESHOLD);
if (matchlength > THRESHOLD)
{
matchlen1 = matchlength;
matchpos1 = matchpos;
for ( ; ; )
{
FindMatch(i + 1, matchlen1);
if (matchlength > matchlen1)
{
matchlen1 = matchlength;
matchpos1 = matchpos;
SendChar(dict[i++]);
j--;
}
else
{
if (matchlen1 > j)
{
matchlen1 = j;
if (matchlen1 <= THRESHOLD) { SendChar(dict[i++]); j--; break; }
}
SendMatch(matchlen1, (i - matchpos1) & (DICTSIZE - 1));
i += matchlen1;
j -= matchlen1;
break;
}
}
}
else
{
SendChar(dict[i++]);
j--;
}
}
#else
/* greedy search loop (fast) */
i = dictpos; j = bytestodo;
while (j) /* loop while there are still characters left to be compressed */
{
FindMatch(i, THRESHOLD);
if (matchlength > j) matchlength = j; /* clamp matchlength */
if (matchlength > THRESHOLD) /* valid match? */
{
SendMatch(matchlength, (i - matchpos) & (DICTSIZE - 1));
i += matchlength;
j -= matchlength;
}
else
{
SendChar(dict[i++]);
j--;
}
}
#endif
}
/****************************************************************************
* 名 称： SetHandShake()
* 功 能： 握手
* 入口参数： 无
* 出口参数： 无
****************************************************************************/
void SetHandShake(void)
{
SendBeginCMD();
SendChar(0x00);
SendEndCmd();
}
/* Terminal writig */
void terminal( char * string){
int retPls = 0;
char string_save[200];
int n;
float m,o;
if(strcmp (string,"help")==0){
SendStr(" \n\r");
SendStr(" \r");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ** help menu **");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ");
SendStr(" \r auto start automatic mode and stop manual mode \r\n");
SendStr(" \r manual start manual mode and stop automatic mode \r\n");
SendStr(" \r speed update speed value (only in manual mode) \r\n");
SendStr(" \r steering update steering value (only in manual mode) \r\n");
SendStr(" \r camera update position and voltage analog values for propulsion module \r\n");
SendStr(" \r meas print currents and voltage analog values for propulsion module \r\n");
SendStr(" \r help print supported commands \r\n");
SendStr("\r control:# ");
}
else if(strcmp (string,"auto")==0){
SendStr("\n\r automatic mode is running\n\r");
i2c_cgroup_function(1);
SendStr("\r control:# ");
}
else if(strcmp (string,"manual")==0){
SendStr("\n\r manual mode is running\n\r");
SendStr("\r control:# ");
}
else if(strcmp (string,"speed")==0){
SendStr("\n\r enter a value between 0 (stop) and 254 (full speed), 255 (reverse, speed is fixed): \n\r");
char value[4];
int i;
GetStr(value);
if(value[0]=='-')
SendStr("\n\r error : failed value (0 to 255) ");
if ( value[0] == '2'){
if ( value[1] == '5'){
if (value[2] == '5'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH2_Pulse(retPls);
PWM_CH1_Pulse(0);
}
}
}
else if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='2'){
if(value[1]<='5'){
if(value[2]<='5'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else if (value[0]<='2'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255)");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255) ");
SendStr("\n\r control:# ");
}
else if(strcmp (string,"steering")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0')
SendChar(value[1]);
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else {
SendStr("\n\r error : failed value (-127 to 128) ");
}
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else{
SendStr("\n\r error : failed value (-127 to 128) ");
}
}
SendStr("\n\r control:# ");
}
else if(strcmp (string,"camera")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0'){
SendChar(value[1]);
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
SendStr("\n\r control:# ");
}
else if(strcmp (string,"meas")==0){
SendStr("\n\r currents and voltage analog values for propulsion module : \n\r");
n=adc1();
m=n*3.3/255;
o=m*100/24;
sprintf(string_save," ADC value: adc1=%d, V=%f, I=%f \r\n control :# ", n,m,o);
SendStr(string_save);
SendStr("\n\r control:# ");
}
else{
SendStr("\n\r ERROR : command not supported. Enter help to know the supported command \n\r");
SendStr("\r control:# ");
}
}
/****************************************************************************
* 名 称： TestTouchScreen()
* 功 能： 触摸屏体验
* 入口参数： 无
* 出口参数： 无
****************************************************************************/
void TestTouchScreen()
{
SendBeginCMD();
SendChar(0x73);
SendEndCmd();
}
VOID CALLBACK TimeCheck( HWND hwnd, UINT uMsg,UINT_PTR idEvent,DWORD dwTime) // every 100 ms
{
char c;
static bool init = false;
static int inputCount = 0;
if (!init)
{
init = true;
// char word[MAX_WORD_SIZE];
// GetCurrentDir(word, MAX_WORD_SIZE);
InitChatbot(computerName);
RECT rect;
GetClientRect(hwnd, &rect);
InvalidateRect(hwnd, &rect, TRUE);
strcpy(response,"Chatbot initialization complete");
}
static int counter = 0;
++counter; // increament each timer interrupt, tracking how long since last key input from user
static char lastchar = 0;
static bool keyhit = false;
while ((c = ReadChar())) // returns 0 if nothing found
{
keyhit = true; // user input seen since last output
RECT rect;
GetClientRect(hwnd, &rect);
InvalidateRect(hwnd, &rect, TRUE);
if ( c == 8) // backspace
{
if ( msgPtr != inputMessage) *--msgPtr = 0;
}
else if ( c == '\n' || c == '\r') // prepare for NEW input and get response
{
if (msgPtr == inputMessage) continue; // ignore empty lines
*msgPtr = 0;
counter = 100; // treat as end of input
break; // dont read until we have responded
}
else if (msgPtr == inputMessage && (c == ' ' || c == '\t' )) continue; // ignore leading whitespace.
else // accept new character
{
*msgPtr++ = c;
lastchar = c;
*msgPtr = 0;
}
counter = 0; // start time wait over again
}
// do we have something we want to respond to?
bool trigger = false;
if (counter >= 30 && *inputMessage && (lastchar == '.' || lastchar == '?' || lastchar == '!')) trigger = true; // 3 sec passed and have input ended on closer
else if (counter >= 70 && *inputMessage) trigger = true; // 7 seconds + have lingering input
// or timer oob goes off
char oob[MAX_WORD_SIZE];
*oob = 0;
ProcessInputDelays(oob,keyhit);
if (trigger || *oob)
{
if (*oob) strcpy(ourMainInputBuffer,oob); // priority is to alarm callback. others will be only if no user input anyway
else
{
strcpy(ourMainInputBuffer,inputMessage);
// clear all signs of user input
lastchar = 0;
*inputMessage = 0;
msgPtr = inputMessage;
keyhit = false;
}
PerformChat(loginID,computerID,ourMainInputBuffer,NULL,ourMainOutputBuffer);
strcpy(response,ourMainOutputBuffer);
callBackDelay = 0; // now turned off after an output
ProcessOOB(ourMainOutputBuffer); // process relevant out of band messaging and remove
char word[MAX_WORD_SIZE];
char* p = SkipWhitespace(ourMainOutputBuffer);
ReadCompiledWord(p,word);
if (!*word) strcpy(p,"huh?"); // in case we fail to generate output
// transmit message to user
++inputCount;
while (*p)
{
if (SendChar(*p,p[1],inputCount)) p++; // got sent
}
SendChar('\n',0,inputCount);
if (loopBackDelay) loopBackTime = ElapsedMilliseconds() + loopBackDelay; // resets every output
// write out last sequence id
FILE* out = fopen("sequence", "wb");
fprintf(out,"%d",sequence);
fclose(out);
counter = 0;
RECT rect;
GetClientRect(hwnd, &rect);
InvalidateRect(hwnd, &rect, TRUE);
}
}
/*---------------------------------------------------------------------------------------------------------*/
void _ttywrch(int ch)
{
SendChar(ch);
return;
}
int fputc(int ch, FILE *f)
{
return (SendChar(ch));
}
static void SendString(const unsigned char *str, UART_Desc *desc) {
while(*str!='\0') {
SendChar(*str++, desc);
}
}
void terminal( char * string){
if(strcmp (string,"help")==0){
SendStr(" \n\r");
SendStr(" \r");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ** help menu **");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ");
SendStr(" \r auto start automatic mode and stop manual mode \r\n");
SendStr(" \r manual start manual mode and stop automatic mode \r\n");
SendStr(" \r speed update speed value (only in manual mode) \r\n");
SendStr(" \r steering update steering value (only in manual mode) \r\n");
SendStr(" \r camera update position and voltage analog values for propulsion module \r\n");
SendStr(" \r meas print currents and voltage analog values for propulsion module \r\n");
SendStr(" \r help print supported commands \r\n");
SendStr("\r control:# ");
}
else if(strcmp (string,"auto")==0){
SendStr("\n\r automatic mode is running\n\r");
SendStr("\r control:# ");
}
else if(strcmp (string,"manual")==0){
SendStr("\n\r manual mode is running\n\r");
SendStr("\r control:# ");
}
else if(strcmp (string,"speed")==0){
SendStr("\n\r enter a value between 0 (stop) and 255 (full speed): \n\r");
char value[4];
int i;
GetStr(value);
if(value[0]=='-')
SendStr("\n\r error : failed value (0 to 255) ");
else if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='2'){
if(value[1]<='5'){
if(value[2]<='5'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else if (value[0]<='2'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (0 to 255)");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (0 to 255) ");
SendStr("\n\r control:# ");
}
else if(strcmp (string,"steering")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0')
SendChar(value[1]);
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
SendStr("\n\r control:# ");
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
SendStr("\n\r control:# ");
}
}
else if(strcmp (string,"camera")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0')
SendChar(value[1]);
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
SendStr("\n\r control:# ");
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
SendStr("\n\r control:# ");
}
}
else if(strcmp (string,"meas")==0){
SendStr("\n\r currents and voltage analog values for propulsion module : \n\r");
SendStr("\r NOT FINISH YET \r");
SendStr("\n\r control:# ");
}
else{
SendStr("\n\r ERROR : command not supported. Enter help to know the supported command \n\r");
SendStr("\r control:# ");
}
}