void Send(uint8_t user)
{
uint16_t stemp;
uint8_t sn = true;
uint8_t cnt = 1;
uint8_t Temp[17];
sprintf(Temp, "AT+CIPSEND=%c,3\r\n", user);
while(usart_write_buffer_job(&usart_instance, Temp, sizeof(Temp)) != STATUS_OK){}
while(sn)
if(usart_read_wait(&usart_instance, &stemp) == STATUS_OK)
{
if(stemp == '>')
{
while(usart_write_buffer_wait(&usart_instance, num, sizeof(num)) != STATUS_OK){}
while(true)
if(usart_read_wait(&usart_instance, &stemp) == STATUS_OK)
{
if(stemp == 'K')
{
sn = false;
break;
}
else if(cnt == 1000)
{
Send(user);
sn = false;
break;
}
cnt ++;
}
}
}
}
int main(void)
{
system_init();
//! [setup_init]
configure_usart();
//! [setup_init]
//! [main]
//! [main_send_string]
uint8_t string[] = "Hello World!\r\n";
usart_write_buffer_wait(&usart_instance, string, sizeof(string));
//! [main_send_string]
//! [main_rec_var]
uint16_t temp;
//! [main_rec_var]
//! [main_loop]
while (true) {
//! [main_read]
if (usart_read_wait(&usart_instance, &temp) == STATUS_OK) {
//! [main_read]
//! [main_write]
while (usart_write_wait(&usart_instance, temp) != STATUS_OK) {
}
//! [main_write]
}
}
//! [main_loop]
//! [main]
}
uint8_t getchar_timeout(uint32_t timeout)
{
uint16_t temp = NULL;
start_timer(timeout);
while((STATUS_OK != usart_read_wait(&cdc_uart_module, &temp)) && (timer_done()>0));
return ((uint8_t)temp);
}
int main(void)
{
//! [setup_init]
system_init();
//延时、串口初始化
delay_init();
configure_usart();
configure_usart1();
//配置输入输出变量
port_get_config_defaults(&pini);
port_get_config_defaults(&pinc);
pinc.direction = PORT_PIN_DIR_OUTPUT;
//延时20s，使MQ2、MQ7充分初始化
delay_s(20);
//MQ2、MQ7初始化输出模拟电压值
mq2_init_value = mq_run(MQ2);
mq7_init_value = mq_run(MQ7);
//对ESP8266进行WIFI配置初始化
esp_init();
//! [setup_init]
//port_group_set_output_level(LED_0_PIN, LED_0_ACTIVE);
//! [main]
//定义串口接收变量，用户端口号
uint16_t temp='H', user = '******';
//! [main_loop]
while (true) {
if(usart_read_wait(&usart_instance, &temp) == STATUS_OK)
{
delay_us(8);
if(temp == 'D')
{
while(usart_write_wait(&usart_inst1, 'T')!=STATUS_OK){}
if(usart_read_wait(&usart_instance, &temp) == STATUS_OK)
{
if(temp == ',')
{
while(usart_write_wait(&usart_inst1, 'E')!=STATUS_OK){}
if(usart_read_wait(&usart_instance, &temp) == STATUS_OK)
{
user = temp;
while(usart_write_wait(&usart_inst1, 'S')!=STATUS_OK){}
while(true)
{
if(usart_read_wait(&usart_instance, &temp) == STATUS_OK)
{
if(islower(temp))
{
while(usart_write_wait(&usart_inst1, 'T')!=STATUS_OK){}
Do(temp, user);
break;
}
}
}
}
}
}
}
}
}
//! [main]
}
int main (void)
{
system_init();
// Initialize local variables used in main
int failed = 0;
uint8_t debug_string[24] = "y: x: z: c: ";
uint8_t jx, jy;
char z, c, lz, lc;
jx = jy = z = c = lz = lc = 0;
int cycle_index = 0;
uint8_t cycle = 0;
uint8_t light_mode = 0;
int light_modes = 1;
uint16_t head, brake = 0;
uint8_t LIGHTS_ON = 0;
uint8_t FWD = 0;
uint8_t HEADLIGHTS = 0;
uint8_t DEBUG_BLE = 1;
uint16_t BLE_temp = '0';
//uint16_t light_sens;
// Configure Devices
configure_port_pins();
configure_LED_PWM();
configure_usart();
configure_i2c_slave();
initIMU();
failed = !beginIMU();
configure_i2c_slave_callbacks();
//configure_ADC();
// Set the BLE module name to "long-itude"
uint8_t string[17] = "AT+NAMElong-itude";
usart_write_buffer_wait(&usart_instance, string, sizeof(string));
for(int i = 0; i < 50000; ++i);
// Switch LED direction to FWD
setFWD();
while(1)
{
//readAccel();
//readGyro();
//readMag();
//light_sens = getLightSens();
// Read data from BLE
if (usart_read_wait(&usart_instance, &BLE_temp) == STATUS_OK) {
switch(BLE_temp)
{
case '0':
LIGHTS_ON = 0;
break;
case '1':
LIGHTS_ON = 1;
break;
case '2':
DEBUG_BLE = 0;
break;
case '3':
DEBUG_BLE = 1;
break;
case '4':
setFWD();
break;
case '5':
setREV();
break;
}
}
if(DEBUG_BLE)
{
uint8_t temp = I2C_slave_read_buffer[0];
debug_string[4] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[3] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[2] = '0' + temp%10;
temp = (temp - temp%10)/10;
temp = I2C_slave_read_buffer[1];
debug_string[11] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[10] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[9] = '0' + temp%10;
temp = (temp - temp%10)/10;
debug_string[16] = '0' + I2C_slave_read_buffer[2];
debug_string[21] = '0' + I2C_slave_read_buffer[3];
debug_string[22] = '\r';
debug_string[23] = '\n';
usart_write_buffer_wait(&usart_instance, debug_string, sizeof(debug_string));
}
jx = I2C_slave_read_buffer[0];
jy = I2C_slave_read_buffer[1];
z = I2C_slave_read_buffer[2];
c = I2C_slave_read_buffer[3];
if(z == 0 && lz != 0)
{
if(jy > 200)
{
setFWD();
if(HEADLIGHTS && FWD)
HEADLIGHTS = 0;
else if(!HEADLIGHTS && FWD)
HEADLIGHTS = 1;
else if(HEADLIGHTS && !FWD)
{
FWD = 1;
}
else if(!HEADLIGHTS && !FWD)
{
HEADLIGHTS = 1;
FWD = 1;
}
}
else if(jy < 55)
{
setREV();
if(HEADLIGHTS && !FWD)
HEADLIGHTS = 0;
else if(!HEADLIGHTS && !FWD)
HEADLIGHTS = 1;
else if(HEADLIGHTS && FWD)
{
FWD = 0;
}
else if(!HEADLIGHTS && FWD)
{
HEADLIGHTS = 1;
FWD = 0;
}
}
else if(jy > 110 && jy < 150 && jx > 110 && jx < 150)
{
LIGHTS_ON = !LIGHTS_ON;
}
else if(jx > 200)
{
light_mode++;
if(light_mode >= light_modes)
light_mode = 0;
}
else if(jx < 55)
{
light_mode--;
if(light_mode <= -1)
light_mode = light_modes-1;
}
}
if(LIGHTS_ON)
{
if(light_mode == 0)
{
if(cycle == 0)
{
setLeftRGB(cycle_index,0,0xCFFF-cycle_index);
setRightRGB(cycle_index,0,0xCFFF-cycle_index);
}
if(cycle == 1)
{
setLeftRGB(0xCFFF-cycle_index,cycle_index,0);
setRightRGB(0xCFFF-cycle_index,cycle_index,0);
}
if(cycle == 2)
{
setLeftRGB(0,0xCFFF-cycle_index,cycle_index);
setRightRGB(0,0xCFFF-cycle_index,cycle_index);
}
cycle_index += 250;
if(cycle_index >= 0xCFFF)
{
cycle_index = 0;
cycle += 1;
if(cycle == 3)
cycle = 0;
}
}
if(HEADLIGHTS)
{
head = 0xFFFF;
setWhite(head);
if(jy < 120)
{
brake = (0xFFFF/120)*(120-jy);
setRed(brake);
}
else
setRed(0);
}
else
{
setWhite(0);
setRed(0);
}
}
else
{
setWhite(0);
setRed(0);
setLeftRGB(0,0,0);
setRightRGB(0,0,0);
}
lc = c;
lz = z;
}
}
