void redo(void)
{
char buf[5000];
// Read the rest of the menu
ReadUntilString( 0, "-> ", buf, 500);
// Leave the menu
SendString(0, "7\n");
// Read the main menu
ReadUntilString( 0, "-> ", buf, 500);
// Enter the pantry menu
SendString(0, "2\n");
// Read the pantry menu
ReadUntilString( 0, "-> ", buf, 500);
// Delete a pantry
SendString(0, "2\n");
// Read all of the pantry list and then the prompt
ReadUntilString( 0, "128]: ", buf, 5000);
// Delete the 8th entry
SendString(0, "7\n");
/// Read the pantry menu again
ReadUntilString( 0, "-> ", buf, 500);
// Create a new pantry
SendString(0, "1\n");
// Read the pantry prompt
ReadUntilString( 0, ": ", buf, 500);
// Send the name
SendString(0, "gggg\n");
// Read the ingredient prompt
ReadUntilString( 0, ": ", buf, 500);
// Send blank
SendString(0, "\n");
// Read the pantry menu
ReadUntilString( 0, "-> ", buf, 500);
// Leave the pantry menu
SendString(0, "6\n");
// Read the main menu
ReadUntilString( 0, "-> ", buf, 500);
// Enter the recipe menu
SendString( 0, "1\n");
// Read the recipe menu
ReadUntilString( 0, "-> ", buf, 500);
return;
}
//*****************************************************************************
//
// This is the main loop that runs the application.
//
//*****************************************************************************
int
main(void)
{
unsigned long ulButton, ulPrevious, ulLastTickCount;
tBoolean bLastSuspend;
//
// Set the clocking to run from the PLL at 50MHz.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable the UART.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
UARTprintf("\033[2JKeyboard device application\n");
//
// Enable the GPIO that is used for the on-board push button.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_4);
ROM_GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
//
// Enable the GPIO that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_0, 0);
//
// Not configured initially.
//
g_bConnected = false;
g_bSuspended = false;
bLastSuspend = false;
//
// Enable the peripherals used by this example.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
//
// Set the USB stack mode to Device mode with VBUS monitoring.
//
USBStackModeSet(0, USB_MODE_DEVICE, 0);
//
// Pass our device information to the USB HID device class driver,
// initialize the USB
// controller and connect the device to the bus.
//
USBDHIDKeyboardInit(0, &g_sKeyboardDevice);
//
// Set the system tick to fire 100 times per second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// The main loop starts here. We begin by waiting for a host connection
// then drop into the main keyboard handling section. If the host
// disconnects, we return to the top and wait for a new connection.
//
ulPrevious = 1;
while(1)
{
//
// Tell the user what we are doing and provide some basic instructions.
//
UARTprintf("Waiting for host...\n");
//
// Wait for USB configuration to complete.
//
while(!g_bConnected)
{
}
//
// Update the status.
//
UARTprintf("Host connected...\n");
//
// Enter the idle state.
//
g_eKeyboardState = STATE_IDLE;
//
// Assume that the bus is not currently suspended if we have just been
// configured.
//
bLastSuspend = false;
//
// Keep transfering characters from the UART to the USB host for as
// long as we are connected to the host.
//
while(g_bConnected)
{
//
// Remember the current time.
//
ulLastTickCount = g_ulSysTickCount;
//
// Has the suspend state changed since last time we checked?
//
if(bLastSuspend != g_bSuspended)
{
//
// Yes - the state changed so update the display.
//
bLastSuspend = g_bSuspended;
UARTprintf(bLastSuspend ? "Bus suspended...\n" :
"Host connected...\n");
}
//
// See if the button was just pressed.
//
ulButton = ROM_GPIOPinRead(GPIO_PORTB_BASE, GPIO_PIN_4);
if((ulButton == 0) && (ulPrevious != 0))
{
//
// If the bus is suspended then resume it. Otherwise, type
// some "random" characters.
//
if(g_bSuspended)
{
//
// We are suspended so request a remote wakeup.
//
USBDHIDKeyboardRemoteWakeupRequest(
(void *)&g_sKeyboardDevice);
}
else
{
SendString("Make the Switch to TI Microcontrollers!");
}
}
ulPrevious = ulButton;
//
// Wait for at least 1 system tick to have gone by before we poll
// the buttons again.
//
while(g_ulSysTickCount == ulLastTickCount)
{
//
// Hang around doing nothing.
//
}
}
//
// Dropping out of the previous loop indicates that the host has
// disconnected so go back and wait for reconnection.
//
if(g_bConnected == false)
{
UARTprintf("Host disconnected...\n");
}
}
}
void AT_CMD()
{
SendString("AT+CWMODE=1\r\n"); Delay(5000); DispOne(10,5,'.',0);
SendString("AT+RST\r\n"); Delay(5000); DispOne(11,5,'.',0);
SendString("AT+CIPMODE=1\r\n"); Delay(5000); DispOne(12,5,'.',0);
SendString("AT+CIPMUX=0\r\n"); Delay(5000); DispOne(13,5,'.',0);
SendString("AT+CWLAP\r\n"); Delay(5000); DispOne(14,5,'.',0);
SendString("AT+CWJAP=\"Route Device Name\",\"PassWord\"\r\n"); Delay(5000); DispOne(15,5,'.',0);//change to suit your net environment
SendString("AT+CWJAP?\r\n"); Delay(5000); DispOne(16,5,'.',0);
SendString("AT+CIFSR\r\n"); Delay(5000); DispOne(17,5,'.',0);
SendString("AT+CIPSTART=\"TCP\",\"*.*.*.*\",Port\r\n"); Delay(5000); DispOne(18,5,'.',0);//the *.*.*.* is your server address,And don't forget the Port
SendString("AT+CIPSEND\r\n"); Delay(5000); DispOne(19,5,'.',0);
SendString("Acquire Info! From:STC12\r\n"); Delay(5000); DispOne(20,5,'.',0);
}
int skapmot(void) {
struct ShortUser *shortUser;
int mad, setPermission, changed, ch, i, fidoDomainId, highestId;
struct FidoDomain *fidoDomain;
BPTR lock;
struct User user;
struct Mote tmpConf,*searchConf,*newConf;
memset(&tmpConf, 0, sizeof(struct Mote));
if(argument[0] == '\0') {
SendString("\r\n\nNamn på mötet: ");
if(GetString(40,NULL)) {
return 1;
}
strcpy(tmpConf.namn, inmat);
} else {
strcpy(tmpConf.namn, argument);
}
if(parsemot(tmpConf.namn) != -1) {
SendString("\r\n\nFinns redan ett sådant möte!\r\n");
return 0;
}
tmpConf.skapat_tid = time(NULL);;
tmpConf.skapat_av = inloggad;
for(;;) {
SendString("\r\nMötesAdministratör (MAD) : ");
if(GetString(5,NULL)) {
return 1;
}
if(inmat[0]) {
if((mad = parsenamn(inmat)) == -1) {
SendString("\r\nFinns ingen sådan användare!");
} else {
tmpConf.mad = mad;
break;
}
}
}
SendString("\n\rSorteringsvärde: ");
tmpConf.sortpri = GetNumber(0, LONG_MAX, NULL);
if(EditBitFlagShort("\r\nSka mötet vara slutet?", 'j', 'n', "Slutet", "Öppet",
&tmpConf.status, SLUTET)) {
return 1;
}
if(tmpConf.status & SLUTET) {
SendString("\r\nVilka grupper ska ha tillgång till mötet? (? för lista)\r\n");
if(editgrupp((char *)&tmpConf.grupper)) {
return 1;
}
}
if(EditBitFlagShort("\r\nSka mötet vara skrivskyddat?", 'j', 'n',
"Skyddat", "Oskyddat", &tmpConf.status, SKRIVSKYDD)) {
return 1;
}
if(EditBitFlagShort("\r\nSka mötet vara kommentarsskyddat?", 'j', 'n',
"Skyddat", "Oskyddat", &tmpConf.status, KOMSKYDD)) {
return 1;
}
if(EditBitFlagShort("\r\nSka mötet vara hemligt?", 'j', 'n',
"Hemligt", "Ej hemligt", &tmpConf.status, HEMLIGT)) {
return 1;
}
if(!(tmpConf.status & SLUTET)) {
if(EditBitFlagShort("\r\nSka alla användare bli medlemmar automagiskt?", 'j', 'n',
"Ja", "Nej", &tmpConf.status, AUTOMEDLEM)) {
return 1;
}
if(EditBitFlagShort("\r\nSka rättigheterna styra skrivmöjlighet?", 'j', 'n',
"Ja", "Nej", &tmpConf.status, SKRIVSTYRT)) {
return 1;
}
if(tmpConf.status & SKRIVSTYRT) {
SendString("\r\nVilka grupper ska ha tillgång till mötet? (? för lista)\r\n");
if(editgrupp((char *)&tmpConf.grupper)) {
return 1;
}
}
}
if(EditBitFlagShort("\r\nSka mötet enbart kommas åt från ARexx?", 'j', 'n',
"Ja", "Nej", &tmpConf.status, SUPERHEMLIGT)) {
return 1;
}
SendString("\n\n\rVilken typ av möte ska det vara?\n\r");
SendString("1: Lokalt möte\n\r");
SendString("2: Fido-möte\n\n\r");
SendString("Val: ");
for(;;) {
ch = GetChar();
if(ch == GETCHAR_LOGOUT) {
return 1;
}
if(ch == '1' || ch == '2') {
break;
}
}
if(ch == '1') {
SendString("Lokalt möte\n\n\r");
tmpConf.type = MOTE_ORGINAL;
} else {
SendString("Fido-möte\n\n\r");
tmpConf.type = MOTE_FIDO;
if(EditString("Katalog for .msg-filerna", tmpConf.dir, 79, TRUE)) {
return 1;
}
if(!(lock = Lock(tmpConf.dir, SHARED_LOCK))) {
if(!(lock = CreateDir(tmpConf.dir)))
SendString("\n\rKunde inte skapa katalogen\n\r");
}
if(lock) {
UnLock(lock);
}
if(EditString("FidoNet tag-namn", tmpConf.tagnamn, 49, TRUE)) {
return 1;
}
strcpy(tmpConf.origin, Servermem->fidodata.defaultorigin);
if(MaybeEditString("Origin-rad", tmpConf.origin, 69)) {
return 1;
}
SendString("\n\n\rVilken teckenuppsättning ska användas för utgående texter?\n\r");
SendString("1: ISO Latin 1 (ISO 8859-1)\n\r");
SendString("2: SIS-7 (SF7, 'Måsvingar')\n\r");
SendString("3: IBM CodePage\n\r");
SendString("4: Mac\n\n\r");
SendString("Val: ");
for(;;) {
ch = GetChar();
if(ch == GETCHAR_LOGOUT) {
return 1;
}
if(ch == '1' || ch == '2' || ch == '3' || ch == '4') {
break;
}
}
switch(ch) {
case '1':
SendString("ISO Latin 1\n\n\r");
tmpConf.charset = CHRS_LATIN1;
break;
case '2':
SendString("SIS-7\n\n\r");
tmpConf.charset = CHRS_SIS7;
break;
case '3':
SendString("IBM CodePage\n\n\r");
tmpConf.charset = CHRS_CP437;
break;
case '4':
SendString("Mac\n\n\r");
tmpConf.charset = CHRS_MAC;
break;
}
SendString("Vilken domän är mötet i?\n\r");
highestId = 0;
for(i = 0; i < 10; i++) {
if(!Servermem->fidodata.fd[i].domain[0]) {
break;
}
highestId = max(highestId, Servermem->fidodata.fd[i].nummer);
SendString("%3d: %s (%d:%d/%d.%d)\n\r",
Servermem->fidodata.fd[i].nummer,
Servermem->fidodata.fd[i].domain,
Servermem->fidodata.fd[i].zone,
Servermem->fidodata.fd[i].net,
Servermem->fidodata.fd[i].node,
Servermem->fidodata.fd[i].point);
}
if(i == 0) {
SendString("\n\rDu måste definiera en domän i NiKomFido.cfg först!\n\r");
return 0;
}
for(;;) {
SendString("\r\nDomän: ");
if(GetString(5, NULL)) {
return 1;
}
fidoDomainId = atoi(inmat);
if(fidoDomain = getfidodomain(fidoDomainId, 0)) {
break;
} else {
SendString("\n\rFinns ingen sådan domän.\n\r");
}
}
tmpConf.domain = fidoDomain->nummer;
SendString("%s\n\n\r", fidoDomain->domain);
}
for(i = 0; i < MAXMOTE; i++) {
if(getmotpek(i) == NULL) {
break;
}
}
if(i >= MAXMOTE) {
SendString("\n\n\rDet finns inte plats för fler möten.\n\r");
return 0;
}
tmpConf.nummer = i;
if(!(newConf = (struct Mote *)AllocMem(sizeof(struct Mote),
MEMF_CLEAR | MEMF_PUBLIC))) {
LogEvent(SYSTEM_LOG, ERROR, "Could not allocate %d bytes.", sizeof(struct Mote));
DisplayInternalError();
return 0;
}
memcpy(newConf, &tmpConf, sizeof(struct Mote));
ITER_EL(searchConf, Servermem->mot_list, mot_node, struct Mote *) {
if(searchConf->sortpri > newConf->sortpri) {
break;
}
}
searchConf = (struct Mote *)searchConf->mot_node.mln_Pred;
Insert((struct List *)&Servermem->mot_list, (struct Node *)newConf,
(struct Node *)searchConf);
writemeet(newConf);
if((newConf->status & AUTOMEDLEM) && !(newConf->status & SKRIVSTYRT)) {
return 0;
}
if(newConf->status & SUPERHEMLIGT) {
return 0;
}
setPermission = (newConf->status & (SLUTET | SKRIVSTYRT)) ? FALSE : TRUE;
for(i = 0; i < MAXNOD; i++) {
BAMCLEAR(Servermem->inne[i].motmed, newConf->nummer);
if(setPermission) {
BAMSET(Servermem->inne[i].motratt, newConf->nummer);
} else {
BAMCLEAR(Servermem->inne[i].motratt, newConf->nummer);
}
}
SendString("\r\nÄndrar i användardata..\r\n");
ITER_EL(shortUser, Servermem->user_list, user_node, struct ShortUser *) {
if(!(shortUser->nummer % 10)) {
SendString("\r%d", shortUser->nummer);
}
if(readuser(shortUser->nummer, &user)) {
LogEvent(SYSTEM_LOG, ERROR, "Could not read user %d to set "
"membership/permissions for new conference.", shortUser->nummer);
DisplayInternalError();
return 0;
}
changed = FALSE;
if(setPermission != BAMTEST(user.motratt, newConf->nummer)) {
if(setPermission) {
BAMSET(user.motratt, newConf->nummer);
} else {
BAMCLEAR(user.motratt, newConf->nummer);
}
changed = TRUE;
}
if(!(newConf->status & AUTOMEDLEM) && BAMTEST(user.motmed, newConf->nummer)) {
BAMCLEAR(user.motmed, newConf->nummer);
changed = TRUE;
}
if(changed && writeuser(shortUser->nummer, &user)) {
LogEvent(SYSTEM_LOG, ERROR, "Could not write user %d to set "
"membership/permissions for new conference.", shortUser->nummer);
DisplayInternalError();
return 0;
}
}
for(i = 0; i < MAXNOD; i++) {
BAMCLEAR(Servermem->inne[i].motmed, newConf->nummer);
if(setPermission) {
BAMSET(Servermem->inne[i].motratt, newConf->nummer);
} else {
BAMCLEAR(Servermem->inne[i].motratt, newConf->nummer);
}
}
BAMSET(Servermem->inne[nodnr].motratt, newConf->nummer);
BAMSET(Servermem->inne[nodnr].motmed, newConf->nummer);
if(newConf->type == MOTE_FIDO) {
ReScanFidoConf(newConf, 0);
}
return 0;
}
int parse(char *str) {
int argType, timeSinceFirstLogin;
char *arg2 = NULL, *word2;
struct Kommando *cmd, *foundCmd = NULL;
struct LangCommand *langCmd;
timeSinceFirstLogin = time(NULL) - Servermem->inne[nodnr].forst_in;
if(str[0] == 0) {
return -3;
}
if(str[0] >= '0' && str[0] <= '9') {
argument = str;
return 212;
}
arg2 = FindNextWord(str);
if(IzDigit(arg2[0])) {
argType = KOMARGNUM;
} else if(!arg2[0]) {
argType = KOMARGINGET;
} else {
argType = KOMARGCHAR;
}
ITER_EL(cmd, Servermem->kom_list, kom_node, struct Kommando *) {
if(cmd->secret) {
if(cmd->status > Servermem->inne[nodnr].status) continue;
if(cmd->minlogg > Servermem->inne[nodnr].loggin) continue;
if(cmd->mindays * 86400 > timeSinceFirstLogin) continue;
if(cmd->grupper && !(cmd->grupper & Servermem->inne[nodnr].grupper)) continue;
}
langCmd = chooseLangCommand(cmd);
if(langCmd->name[0] && matchar(str, langCmd->name)) {
word2 = FindNextWord(langCmd->name);
if((langCmd->words == 2 && matchar(arg2, word2) && arg2[0]) || langCmd->words == 1) {
if(langCmd->words == 1) {
if(cmd->argument == KOMARGNUM && argType == KOMARGCHAR) continue;
if(cmd->argument == KOMARGINGET && argType != KOMARGINGET) continue;
}
if(foundCmd == NULL) {
foundCmd = cmd;
}
else if(foundCmd == (struct Kommando *)1L) {
SendString("%s\n\r", chooseLangCommand(cmd)->name);
} else {
SendString("\r\n\n%s\r\n\n", CATSTR(MSG_KOM_AMBIGOUS_COMMAND));
SendString("%s\n\r", chooseLangCommand(foundCmd)->name);
SendString("%s\n\r", chooseLangCommand(cmd)->name);
foundCmd = (struct Kommando *)1L;
}
}
}
}
if(foundCmd != NULL && foundCmd != (struct Kommando *)1L) {
argument = FindNextWord(str);
if(chooseLangCommand(foundCmd)->words == 2) {
argument = FindNextWord(argument);
}
memset(argbuf, 0, 1080);
strncpy(argbuf, argument, 1080);
argbuf[strlen(argument)] = 0;
argument = argbuf;
}
if(foundCmd == NULL) {
return -1;
}
else if(foundCmd == (struct Kommando *)1L) {
return -2;
} else {
if(foundCmd->status > Servermem->inne[nodnr].status || foundCmd->minlogg > Servermem->inne[nodnr].loggin) {
return -4;
}
if(foundCmd->mindays * 86400 > timeSinceFirstLogin) {
return -4;
}
if(foundCmd->grupper && !(foundCmd->grupper & Servermem->inne[nodnr].grupper)) {
return -4;
}
}
if(foundCmd->losen[0]) {
SendString("\r\n\n%s: ", CATSTR(MSG_KOM_COMMAND_PASSWORD));
if(Servermem->inne[nodnr].flaggor & STAREKOFLAG) {
getstring(STAREKO,20,NULL);
} else {
getstring(EJEKO,20,NULL);
}
if(strcmp(foundCmd->losen, inmat)) {
return -5;
}
}
return foundCmd->nummer;
}
void printAccel(int* accelData) {
mini_snprintf(str,100,"%d %d %d\n",accelData[0],accelData[1],accelData[2]);
SendString(str);
}
// 发送设置文本内容消息，文本填入当前获得焦点的控件
void CMsgHelper::SM_Text(HWND hMainWnd, char* text)
{
::SetForegroundWindow(hMainWnd);
SendString(text);
}
/**
* @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);
}
}
int main(void) {
int accelData[3];
int analogIn = 0;
/* 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);
/* 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);
/* 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);
// 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);
/* MAIN LOOP */
while (1) {
// Read acceleration data
#ifdef ENABLE_MMA
MMA845X_ReadAcceleration(accelData);
#endif
// Read analog input
analogIn = TM_ADC_Read(CURRENT_ADC, CURRENT_CH);
// Print graphs
printGraphsLCD(accelData, analogIn);
// Toggle Green led
TM_GPIO_TogglePinValue(GPIOG, GPIO_PIN_13);
}
}
//*******************************************************************************************************
// SendHTTP:
// Main entry point for this code.
// url - The URL to GET/POST to/from.
// headerSend - Headers to be sent to the server.
// post - Data to be posted to the server, NULL if GET.
// postLength - Length of data to post.
// req - Contains the message and headerSend sent by the server.
//
// returns 1 on failure, 0 on success.
//*******************************************************************************************************
int Request::SendHTTP(string url,LPCSTR headerReceive,BYTE *post,
DWORD postLength,HTTPRequest *req)
{
WSADATA WsaData;
SOCKADDR_IN sin;
SOCKET sock;
char buffer[512];
char protocol[20],host[256],request[1024];
int l,port,chars,err;
MemBuffer headersBuffer,messageBuffer;
char headerSend[1024];
BOOL done;
ParseURL(url,protocol,sizeof(protocol),host,sizeof(host), // Parse the URL
request,sizeof(request),&port);
if(strcmp(protocol,"HTTP"))
return 1;
err = WSAStartup (0x0101, &WsaData); // Init Winsock
if(err!=0)
return 1;
sock = socket (AF_INET, SOCK_STREAM, 0);
//if (socket == INVALID_SOCKET)
if (sock == INVALID_SOCKET)
{
return 1;
}
sin.sin_family = AF_INET; //Connect to web sever
sin.sin_port = htons( (unsigned short)port );
sin.sin_addr.s_addr = GetHostAddress(host);
if( connect (sock,(LPSOCKADDR)&sin, sizeof(SOCKADDR_IN) ) )
{
return 1;
}
if( !*request )
lstrcpynA(request,"/",sizeof(request));
if( post == NULL )
{
SendString(sock,"GET ");
strcpy(headerSend, "GET ");
}
else
{
SendString(sock,"POST ");
strcpy(headerSend, "POST ");
}
SendString(sock,request);
strcat(headerSend, request);
SendString(sock," HTTP/1.0/r/n");
strcat(headerSend, " HTTP/1.0/r/n");
SendString(sock,"Accept: image/gif, image/x-xbitmap,"
" image/jpeg, image/pjpeg, application/vnd.ms-excel,"
" application/msword, application/vnd.ms-powerpoint,"
" */*/r/n");
strcat(headerSend, "Accept: image/gif, image/x-xbitmap,"
" image/jpeg, image/pjpeg, application/vnd.ms-excel,"
" application/msword, application/vnd.ms-powerpoint,"
" */*/r/n");
SendString(sock,"Accept-Language: en-us/r/n");
strcat(headerSend, "Accept-Language: en-us/r/n");
SendString(sock,"Accept-Encoding: gzip, default/r/n");
strcat(headerSend, "Accept-Encoding: gzip, default/r/n");
SendString(sock,"User-Agent: Neeao/4.0/r/n");
strcat(headerSend, "User-Agent: Neeao/4.0/r/n");
if(postLength)
{
sprintf(buffer,"Content-Length: %ld/r/n",postLength);
SendString(sock,buffer);
strcat(headerSend, buffer);
}
//SendString(sock,"Cookie: mycookie=blablabla/r/n");
// printf("Cookie: mycookie=blablabla/r/n");
SendString(sock,"Host: ");
strcat(headerSend, "Host: ");
SendString(sock,host);
strcat(headerSend, host);
SendString(sock,"/r/n");
strcat(headerSend, "/r/n");
if( (headerReceive!=NULL) && *headerReceive )
{
SendString(sock,headerReceive);
strcat(headerSend, headerReceive);
}
SendString(sock,"/r/n"); // Send a blank line to signal end of HTTP headerReceive
strcat(headerSend, "/r/n");
if( (post!=NULL) && postLength )
{
send(sock,(const char*)post,postLength,0);
post[postLength] = '/0';
strcat(headerSend, (const char*)post);
}
//strcpy(req->headerSend, headerSend);
req->headerSend = (char*) malloc( sizeof(char*) * strlen(headerSend));
strcpy(req->headerSend, (char*) headerSend );
MemBufferCreate(&headersBuffer );
chars = 0;
done = FALSE;
while(!done)
{
l = recv(sock,buffer,1,0);
if(l<0)
done=TRUE;
switch(*buffer)
{
case '/r':
break;
case '/n':
if(chars==0)
done = TRUE;
chars=0;
break;
default:
chars++;
break;
}
MemBufferAddByte(&headersBuffer,*buffer);
}
req->headerReceive = (char*) headersBuffer.buffer;
*(headersBuffer.position) = 0;
MemBufferCreate(&messageBuffer); // Now read the HTTP body
do
{
l = recv(sock,buffer,sizeof(buffer)-1,0);
if(l<0)
break;
*(buffer+l)=0;
MemBufferAddBuffer(&messageBuffer, (unsigned char*)&buffer, l);
} while(l>0);
*messageBuffer.position = 0;
req->message = (char*) messageBuffer.buffer;
req->messageLength = (messageBuffer.position - messageBuffer.buffer);
closesocket(sock); // Cleanup
return 0;
}
void ILowerLayer::Send(const boost::uint8_t* apData, size_t aNumBytes)
{
LOG_BLOCK(LEV_COMM, SendString() << " " << toHex(apData, aNumBytes, true));
this->_Send(apData, aNumBytes);
}
//*****************************************************************************
//
// This is the main loop that runs the application.
//
//*****************************************************************************
int
main(void)
{
uint_fast32_t ui32LastTickCount;
bool bLastSuspend;
//
// Enable lazy stacking for interrupt handlers. This allows floating-point
// instructions to be used within interrupt handlers, but at the expense of
// extra stack usage.
//
ROM_FPULazyStackingEnable();
//
// Set the clocking to run from the PLL at 50MHz.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable the GPIO port that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Enable the GPIO pin for the Blue LED (PF2).
//
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
//
// Enable the UART.
//
ConfigureUART();
UARTprintf("Keyboard device application\n");
// Configure USB0DM & USB0DP (PD4 & PD5)
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlGPIOAHBEnable(SYSCTL_PERIPH_GPIOD);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTD_AHB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
//Configure USB0ID & USB0VBUS (PB0 & PB1)
// ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
// ROM_GPIOPinTypeUSBAnalog(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Erratum workaround for silicon revision A1. VBUS must have pull-down.
//
if(CLASS_IS_TM4C123 && REVISION_IS_A1)
{
HWREG(GPIO_PORTB_BASE + GPIO_O_PDR) |= GPIO_PIN_1;
}
//
// Initialize the buttons driver
//
ButtonsInit();
//
// Not configured initially.
//
g_bConnected = false;
g_bSuspended = false;
bLastSuspend = false;
//
// Initialize the USB stack for device mode.
//
//USBStackModeSet(0, eUSBModeDevice, 0);
USBStackModeSet(0, eUSBModeForceDevice, 0);
//
// Pass our device information to the USB HID device class driver,
// initialize the USB
// controller and connect the device to the bus.
//
USBDHIDKeyboardInit(0, &g_sKeyboardDevice);
//
// Set the system tick to fire 100 times per second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// The main loop starts here. We begin by waiting for a host connection
// then drop into the main keyboard handling section. If the host
// disconnects, we return to the top and wait for a new connection.
//
while(1)
{
uint8_t ui8Buttons;
uint8_t ui8ButtonsChanged;
//
// Tell the user what we are doing and provide some basic instructions.
//
UARTprintf("Waiting for host...\n");
//
// Wait here until USB device is connected to a host.
//
while(!g_bConnected)
{
}
//
// Update the status.
//
UARTprintf("Host connected...\n");
//
// Enter the idle state.
//
g_eKeyboardState = STATE_IDLE;
//
// Assume that the bus is not currently suspended if we have just been
// configured.
//
bLastSuspend = false;
//
// Keep transferring characters from the UART to the USB host for as
// long as we are connected to the host.
//
while(g_bConnected)
{
//
// Remember the current time.
//
ui32LastTickCount = g_ui32SysTickCount;
//
// Has the suspend state changed since last time we checked?
//
if(bLastSuspend != g_bSuspended)
{
//
// Yes - the state changed so update the display.
//
bLastSuspend = g_bSuspended;
UARTprintf(bLastSuspend ? "Bus suspended...\n" :"Host connected...\n");
}
//
// See if the button was just pressed.
//
ui8Buttons = ButtonsPoll(&ui8ButtonsChanged, 0);
if(BUTTON_PRESSED(LEFT_BUTTON, ui8Buttons, ui8ButtonsChanged))
{
//
// If the bus is suspended then resume it. Otherwise, type
// some "random" characters.
//
if(g_bSuspended)
{
USBDHIDKeyboardRemoteWakeupRequest(
(void *)&g_sKeyboardDevice);
}
else
{
SendString("Make the Switch to TI Microcontrollers!");
}
}
//
// Wait for at least 1 system tick to have gone by before we poll
// the buttons again.
//
while(g_ui32SysTickCount == ui32LastTickCount)
{
}
}
//
// Dropping out of the previous loop indicates that the host has
// disconnected so go back and wait for reconnection.
//
if(g_bConnected == false)
{
UARTprintf("Host disconnected...\n");
}
}
}
int main(void)
{
//Calibração do sensor
/*configPWM();
setServoAngle(0);
while(1){
}*/
double dt = 0.0;
double curr_err = 0;
float PID_Input = 0;
float PID_Output = 0;
int i_PID_Input = 0;
int i_Output = 0;
char c_PID_Input[4];
char c_Output[4];
char c_adc_value[4];
float gain = -20.0;
ADC_config();
ADC_Start();
USART_config();
configPWM();
setServoAngle(0);
ConfigSerie_BT();
pid_start();
pid_timer_config();
configMotorPWM(500);
setMotorDirection(1);
duty_cycle = 10;
while(1)
{
if(mode == 1)
{
if(all_read == 1)
{
PID_Input = Centroid_Algorithm();
curr_err = (3.5 - PID_Input);
dt = TCNT5;
dt = (dt*16)/1000000;
pid_update(ptr, curr_err,dt);
PID_Output = PID.control;
itoa(i_Output, c_Output, 10);
SendString((char*)"\n-------------------\n");
SendString((char*)"\nSaída_PID 1: ");
SendString(c_Output);
PID_Output = PID_Output*gain;
if(PID_Output > 75)
PID_Output = 75;
if(PID_Output < -75)
PID_Output = -75;
setServoAngle(PID_Output);
i_PID_Input = (int) PID_Input;
i_Output = (int) PID_Output;
itoa(i_PID_Input, c_PID_Input ,10);
itoa(i_Output, c_Output, 10);
SendString((char*)"\nLeituras: ");
for(int i = 0; i < 8; i++)
{
itoa(adc_value[i], c_adc_value, 10);
SendString(c_adc_value);
UsartSendByte(' ');
}
SendString((char*)"\nEntrada PID: ");
SendString(c_PID_Input);
SendString((char*)"\nSaída_PID 2: ");
SendString(c_Output);
all_read = 0;
ADMUX &= 0XE0; //Limpa ADMUX
ADMUX |= channel; //Selecciona o canal 0
ADCSRA |= (1<<ADSC); //Inicia conversão
}
}
if(mode == 0)
{
//
}
}
}
//*****************************************************************************
//
// This is the main loop that runs the application.
//
//*****************************************************************************
int
main(void)
{
unsigned long ulLastTickCount;
tBoolean bLastSuspend;
tRectangle sRect;
tContext sContext;
long lCenterX;
//
// Enable lazy stacking for interrupt handlers. This allows floating-point
// instructions to be used within interrupt handlers, but at the expense of
// extra stack usage.
//
ROM_FPULazyStackingEnable();
//
// Set the clocking to run from the PLL at 50MHz.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Configure the required pins for USB operation.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
ROM_GPIOPinConfigure(GPIO_PG4_USB0EPEN);
ROM_GPIOPinTypeUSBDigital(GPIO_PORTG_BASE, GPIO_PIN_4);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTL_BASE, GPIO_PIN_6 | GPIO_PIN_7);
ROM_GPIOPinTypeUSBAnalog(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Erratum workaround for silicon revision A1. VBUS must have pull-down.
//
if(CLASS_IS_BLIZZARD && REVISION_IS_A1)
{
HWREG(GPIO_PORTB_BASE + GPIO_O_PDR) |= GPIO_PIN_1;
}
//
// Enable the GPIO that is used for the on-board LED.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTG_BASE, GPIO_PIN_2);
ROM_GPIOPinWrite(GPIO_PORTG_BASE, GPIO_PIN_2, 0);
//
// Initialize the buttons driver
//
ButtonsInit();
//
// Initialize the display driver.
//
CFAL96x64x16Init();
//
// Initialize the graphics context and find the middle X coordinate.
//
GrContextInit(&sContext, &g_sCFAL96x64x16);
lCenterX = GrContextDpyWidthGet(&sContext) / 2;
//
// Fill the top part of the screen with blue to create the banner.
//
sRect.sXMin = 0;
sRect.sYMin = 0;
sRect.sXMax = GrContextDpyWidthGet(&sContext) - 1;
sRect.sYMax = 9;
GrContextForegroundSet(&sContext, ClrDarkBlue);
GrRectFill(&sContext, &sRect);
//
// Change foreground for white text.
//
GrContextForegroundSet(&sContext, ClrWhite);
//
// Put the application name in the middle of the banner.
//
GrContextFontSet(&sContext, g_pFontFixed6x8);
GrStringDrawCentered(&sContext, "usb-dev-keyboard", -1, lCenterX, 4, 0);
//
// Not configured initially.
//
g_bConnected = false;
g_bSuspended = false;
bLastSuspend = false;
//
// Initialize the USB stack for device mode.
//
USBStackModeSet(0, USB_MODE_DEVICE, 0);
//
// Pass our device information to the USB HID device class driver,
// initialize the USB
// controller and connect the device to the bus.
//
USBDHIDKeyboardInit(0, &g_sKeyboardDevice);
//
// Set the system tick to fire 100 times per second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// The main loop starts here. We begin by waiting for a host connection
// then drop into the main keyboard handling section. If the host
// disconnects, we return to the top and wait for a new connection.
//
while(1)
{
unsigned char ucButtons;
unsigned char ucButtonsChanged;
//
// Tell the user what we are doing and provide some basic instructions.
//
GrStringDrawCentered(&sContext, " Waiting ", -1, lCenterX, 22, 1);
GrStringDrawCentered(&sContext, " for host ... ", -1, lCenterX, 32, 1);
//
// Wait here until USB device is connected to a host.
//
while(!g_bConnected)
{
}
//
// Update the status.
//
GrStringDrawCentered(&sContext, " Host ", -1, lCenterX, 22, 1);
GrStringDrawCentered(&sContext, " connected ... ", -1, lCenterX, 32, 1);
//
// Enter the idle state.
//
g_eKeyboardState = STATE_IDLE;
//
// Assume that the bus is not currently suspended if we have just been
// configured.
//
bLastSuspend = false;
//
// Keep transferring characters from the UART to the USB host for as
// long as we are connected to the host.
//
while(g_bConnected)
{
//
// Remember the current time.
//
ulLastTickCount = g_ulSysTickCount;
//
// Has the suspend state changed since last time we checked?
//
if(bLastSuspend != g_bSuspended)
{
//
// Yes - the state changed so update the display.
//
bLastSuspend = g_bSuspended;
if(bLastSuspend)
{
GrStringDrawCentered(&sContext, " Bus ", -1,
lCenterX, 22, 1);
GrStringDrawCentered(&sContext, " suspended ... ", -1,
lCenterX, 32, 1);
}
else
{
GrStringDrawCentered(&sContext, " Host ", -1,
lCenterX, 22, 1);
GrStringDrawCentered(&sContext, " connected ... ",
-1, lCenterX, 32, 1);
}
}
//
// See if the button was just pressed.
//
ucButtons = ButtonsPoll(&ucButtonsChanged, 0);
if(BUTTON_PRESSED(SELECT_BUTTON, ucButtons, ucButtonsChanged))
{
//
// If the bus is suspended then resume it. Otherwise, type
// some "random" characters.
//
if(g_bSuspended)
{
USBDHIDKeyboardRemoteWakeupRequest(
(void *)&g_sKeyboardDevice);
}
else
{
SendString("Make the Switch to TI Microcontrollers!");
}
}
//
// Wait for at least 1 system tick to have gone by before we poll
// the buttons again.
//
while(g_ulSysTickCount == ulLastTickCount)
{
}
}
}
}
void displayPrompt(int defaultCmd) {
int minutesLeft;
char *cmdStr, goMailStr[50];
struct Kommando *cmd;
if(Servermem->say[nodnr]) {
displaysay();
}
if((minutesLeft = isUserOutOfTime()) == -1) {
return;
}
Servermem->idletime[nodnr] = time(NULL);
Servermem->action[nodnr] = LASER;
Servermem->varmote[nodnr] = mote2;
switch(defaultCmd) {
case CMD_NEXTCONF:
if(Servermem->cfg.ar.nextmeet) {
sendautorexx(Servermem->cfg.ar.nextmeet);
}
cmdStr = CATSTR(MSG_PROMPT_GO_TO_NEXT_FORUM);
break;
case CMD_NEXTTEXT:
if(mote2 == MAILBOX_CONFID) {
if(Servermem->cfg.ar.nextletter) {
sendautorexx(Servermem->cfg.ar.nextletter);
}
cmdStr = CATSTR(MSG_PROMPT_READ_NEXT_MAIL);
} else {
if(Servermem->cfg.ar.nexttext) {
sendautorexx(Servermem->cfg.ar.nexttext);
}
cmdStr = CATSTR(MSG_PROMPT_READ_NEXT_TEXT);
}
break;
case CMD_NEXTREPLY:
if(Servermem->cfg.ar.nextkom) {
sendautorexx(Servermem->cfg.ar.nextkom);
}
cmdStr = CATSTR(MSG_PROMPT_READ_NEXT_COMMENT);
break;
case CMD_SEETIME:
Servermem->action[nodnr] = INGET;
if(Servermem->cfg.ar.setid) {
sendautorexx(Servermem->cfg.ar.setid);
}
cmdStr = CATSTR(MSG_PROMPT_SEE_TIME);
break;
case CMD_GOMAIL:
if(Servermem->cfg.ar.nextmeet) {
sendautorexx(Servermem->cfg.ar.nextmeet);
}
sprintf(goMailStr, CATSTR(MSG_PROMPT_GO_TO_MAILBOX), Servermem->cfg.brevnamn);
cmdStr = goMailStr;
break;
default:
cmdStr = "*** Undefined default command ***";
}
if(minutesLeft > 4) {
SendString("\r\n%s %s ", cmdStr, Servermem->inne[nodnr].prompt);
} else {
SendString("\r\n%s (%d) %s ", cmdStr, minutesLeft, Servermem->inne[nodnr].prompt);
}
if((cmd = getCommandToExecute(defaultCmd)) == NULL) {
return;
}
executeCommand(cmd);
}
void Cmd_Reply(void) {
struct Mote *conf;
int isCorrect;
if(argument[0]) {
if(mote2 == -1) {
brev_kommentera();
return;
}
conf = getmotpek(mote2);
if(conf->type == MOTE_ORGINAL) {
org_kommentera();
return;
}
if(conf->type == MOTE_FIDO) {
if(!MayReplyConf(mote2, inloggad, &Servermem->inne[nodnr])) {
SendString("\r\n\nDu får inte kommentera den texten!\r\n\n");
return;
}
if(conf->status & KOMSKYDD) {
if(GetYesOrNo("\r\n\n", "Vill du verkligen kommentera i ett kommentarsskyddat möte?",
NULL, NULL, "Ja", "Nej", "\r\n", FALSE, &isCorrect)) {
return;
}
if(!isCorrect) {
return;
}
}
fido_skriv(TEXTTYPE_REPLY, atoi(argument));
return;
}
}
if(!senast_text_typ) {
SendString("\n\n\rDu har inte läst någon text ännu.\n\r");
return;
}
if(senast_text_typ == BREV) {
brev_kommentera();
return;
}
conf = getmotpek(senast_text_mote);
if(!conf) {
LogEvent(SYSTEM_LOG, ERROR,
"Conference for last read text (confId = %d) does not exist.",
senast_text_mote);
DisplayInternalError();
return;
}
if(!MayReplyConf(senast_text_mote, inloggad, &Servermem->inne[nodnr])) {
SendString("\r\n\nDu får inte kommentera den texten!\r\n\n");
return;
}
if(conf->status & KOMSKYDD) {
if(GetYesOrNo("\r\n\n", "Vill du verkligen kommentera i ett kommentarsskyddat möte?",
NULL, NULL, "Ja", "Nej", "\r\n", FALSE, &isCorrect)) {
return;
}
if(!isCorrect) {
return;
}
}
if(conf->type == MOTE_ORGINAL) {
org_kommentera();
} else if(conf->type == MOTE_FIDO) {
fido_skriv(TEXTTYPE_REPLY, senast_text_nr);
}
}
