int main(void)
{
u8 i=0,m=0;
//char buff[6];
SystemInit();//初始化RCC 设置系统主频为72MHZ
USART1_Config();
delay_init(); //延时初始化
Ultran_Init();
I2c_Init_MI();
TIM5_Cap_Init(0xfffe,8);
TIM2_Cap_Init(0xfffe,8);
TIM3_Cap_Init(0xfffe,8);
TIM1_Cap_Init(0xfffe,8);
TIM4_Cap_Init(0xfffe,8);
TIM8_Cap_Init(0xfffe,8);
USART1_Config();
USART2_Config();
USART3_Config();
delay_ms(1000);
delay_ms(1000);
esp8266_ap_server_init();
for(i=0;i<99;i++)//数组初始化
{
data_pc[i]=0x30;
}
data_pc[0]=0xff;
data_pc[1]=0xff;
while(1)
{
// char *buff[10]={"AT",
// "AT+CIPSTATUS"};
Ultra_Ranging();
if(state_0x0a==1)//字符串解析函数
{
u8 i=0,weizhi=0;
data_exist=bf( data_cu,ESP_Responses[5]);
if(data_exist!=-1)
{
data_exist1=bf( data_cu,ESP_Responses[10]);
if(data_exist1!=-1)
{
data_exist2=data_exist1-data_exist-7;
if(data_exist2==1)
{
data_length1=data_cu[data_exist+7];
data_length1=data_length1-0x30;
data_length=data_length1;
weizhi=9;
}
if(data_exist2==2)
{
data_length1=data_cu[data_exist+7];
data_length1=data_length1-0x30;
data_length1=data_length1*10;
data_length2=data_cu[data_exist+8];
data_length2=data_length2-0x30;
data_length=data_length1+data_length2;
weizhi=10;
}
for(i=0;i<data_length;i++)
{
data_wifi[i]=data_cu[data_exist+weizhi+i];
}
// USART_printf(USART1, data_right);//发送通过校验的数据到电脑上方便调试
// USART_printf(USART1, "\r\n");
}
}
cun=0;
for(i=0;i<100;i++)//清空接收数组
{
data_cu[i]=0;
}
state_0x0a=0;//接收状态变量清零
//data_exist=0;
}
if(state_0x0a1==1)//字符串解析函数
{
u8 i=0,weizhi=0;
data_exist3=bf( data_cu1,ESP_Responses[5]);
if(data_exist3!=-1)
{
data_exist4=bf( data_cu1,ESP_Responses[10]);
if(data_exist4!=-1)
{
data_exist5=data_exist4-data_exist3-7;
if(data_exist5==1)
{
data_length4=data_cu1[data_exist3+7];
data_length4=data_length4-0x30;
data_length3=data_length4;
weizhi=9;
}
if(data_exist5==2)
{
data_length4=data_cu1[data_exist3+7];
data_length4=data_length4-0x30;
data_length4=data_length4*10;
data_length5=data_cu1[data_exist3+8];
data_length5=data_length5-0x30;
data_length3=data_length4+data_length5;
weizhi=10;
}
for(i=0;i<data_length3;i++)
{
data_wifi1[i]=data_cu1[data_exist3+weizhi+i];
}
//USART_printf(USART1, data_right);//发送通过校验的数据到电脑上方便调试
//USART_printf(USART1, "\r\n");
}
}
cun1=0;
for(i=0;i<100;i++)//清空接收数组
{
data_cu1[i]=0;
}
state_0x0a1=0;//接收状态变量清零
//data_exist=0;
}
data_test=0;
for(data_long=0;data_long<9;data_long++)//将接收到的数据进行加和，准备进行校验
{
data_test+=data_wifi[data_long];
}
if(data_test==data_wifi[9])//校验通过就将数据转移并且保存
{
for(data_long=0;data_long<9;data_long++)
{
data_right[data_long]=data_wifi[data_long];
}
}
data_test=0;
for(data_long=0;data_long<9;data_long++)//将接收到的数据进行加和，准备进行校验
{
data_test+=data_wifi1[data_long];
}
if(data_test==data_wifi1[9])//校验通过就将数据转移并且保存
{
for(data_long=0;data_long<9;data_long++)
{
data_right1[data_long]=data_wifi1[data_long];
}
}
for(i=0;i<6;i++)//将转速数据放入data_pc数据包
{
sprintf(revolving,"%d",juli[i]);
for(m=0;m<5;m++)
{
if(revolving[m]==0)
revolving[m]=0xaa;
}
for(m=revolving_long;m>0;m--)
{
data_pc[i*revolving_long+m+1]=revolving[m-1];
}
for(m=0;m<revolving_long;m++) //将revolving在这里清零
{
revolving[m]=0;
}
}
for(i=0;i<8;i++)
{
data_pc[32+i+8*(data_right[8]-1)]=data_right[i];
}
for(i=0;i<8;i++)
{
data_pc[32+i+8*(data_right1[8]-1)]=data_right1[i];
}
crc_code = yb_crc(data_pc,80);//计算CRC校验码
USART_printf(USART1, data_pc);//发送通过校验的数据到电脑上方便调试
USART_printf(USART1, "\r\n");
//printf(data_right);
//printf("\r\n");
// printf("电机1=%d ",juli);
// printf("电机2=%d\r\n",juli1);
// printf("*********\r\n");
//USART_printf(USART1,buff[1] );
//delay_ms(100);
//esp8266_ap_server_init();
}
//printf("电机1=%d\s\n",juli);
//printf("电机2=%s\r\n",juli1);
}
/***
初始化 触发引脚 采样捕捉引脚
硬件配置为TIM4 GPIOB6 GPIOB7
***/
void SupperSonic_Init(void)
{
TIM4_Trig_Config();
TIM4_Cap_Init();
}