int main()
{
u8 State=REMOTECONTROL_LOCK;
u8 OldState=REMOTECONTROL_LOCK;
double Receive_data=0; //接收数据 10ms
double RcUpdata=0; //遥控器状态更新时间 20ms
ledBlueGPIO.SetLevel(0);
while(1)
{
if(tskmgr.TimeSlice(Receive_data,0.01) ) //0.01
{
Hi.DataListening_SendPC();//监听飞机发送来的数据转发给PC
Hi.DataListening_SendCopter();//监听PC发送来的数据转发给飞机
}
if(tskmgr.TimeSlice(RcUpdata,0.08) )
{
State=RC.Updata(80,2000);
Hi.SendData2Copter(RC.GetYawVal(),RC.GetThrottleVal(),RC.GetRollVal(),RC.GetPitchVal(),false);
if(State == REMOTECONTROL_LOCK && OldState ==REMOTECONTROL_UNLOCK )
{
OldState = REMOTECONTROL_LOCK;
Hi.SendOrder(0XA0);
ledBlueGPIO.SetLevel(1);//上锁状态为亮
}
else if(State ==REMOTECONTROL_UNLOCK && OldState ==REMOTECONTROL_LOCK)//解锁
{
Hi.SendOrder(0XA1);
OldState = REMOTECONTROL_UNLOCK;
ledBlueGPIO.SetLevel(0);//解锁状态为灭
//tskmgr.DelayS(1);
}
if(State == REMOTECONTROL_UNLOCK) //如果解锁了才向上位机发送
Hi.SendData2Copter(RC.GetYawVal(),RC.GetThrottleVal(),RC.GetRollVal(),RC.GetPitchVal(),true);
}
}
}
int main(){
u8 order=0;
double record_updataSensor=0;
double record_alive=0;
double record_getwifi=0;
bool network=false ; //网络连接标识位
char *ip = (char*)calloc(15, sizeof(char*) );
char *WifiName = (char*)calloc(20, sizeof(char*) );
char *WifiPassword = (char*)calloc(20, sizeof(char*) );
/*开机WIFI模式选择*****************************************************************/
if(wifimemory.getWifiSum()!=0)//判断表中是否已经保存wifi信息
{
while( wifimemory.Load(WifiName,WifiPassword) )
{
if(wifi.ConnectNetwork_client(WifiName,WifiPassword,SERVER_IP,1111)) //每次连接历时20秒
{network=true; break;}
}
if(network ==false) {
wifi.ConnectNetwork_server(MODULE_COM,0);
WIFI.ClearReceiveBuffer();
}
}
else
{
wifi.ConnectNetwork_server(MODULE_COM,0);
WIFI.ClearReceiveBuffer();
}
Led.SetLevel(1);//将指示灯熄灭（模式切换结束）
/*END*********************************************************************************/
while(1)
{
order=CMCT_Tool.GetStateOrder(WIFI);
switch(order)
{
case DELAY:{}break;
/*启动********************************************************************************************/
case START:{//启动
while(1){
if(tskmgr.ClockTool(record_updataSensor,3)) //每三秒执行一次更新
{
co2.Updata();
if(network)
wifi.Send(20,CMCT_Tool.ToServerPack(CO2Number,co2.DATA_H,co2.DATA_L,0));
else
wifi.Send(0,20,CMCT_Tool.ToClientPack(CO2Number,co2.DATA_H,co2.DATA_L,0));
}
if(CMCT_Tool.GetStateOrder(WIFI)==DELAY)
break;
}
}break;
/*END********************************************************************************************/
/*复位******************************************************************************************/
case RESET:{//复位
wifimemory.ClearAllData(); //清空所有保存信息
*((u32 *)0xE000ED0C) = 0x05fa0004;
}break;
/*END******************************************************************************************/
/*获取WIFI信息*********************************************************************************/
case GETWIFI:{//得到wifi账号密码
record_getwifi=tskmgr.Time();
while(1)
{
if(CMCT_Tool.GetWifiNameAndPassword(WifiName,WifiPassword,WIFI) )
{
//保存WIFI账号密码
com<<WifiName<<"\t"<<WifiPassword<<"\n";
break;
}
if(tskmgr.ClockTool(record_getwifi,30)) //超时10秒退出
break;
}
}break;
/*END******************************************************************************************/
/*模式切换*************************************************************************************/
case MODEL:{//模式切换
wifi.ConnectNetwork_server(MODULE_COM,0);
WIFI.ClearReceiveBuffer();
network=false;
}break;
/*END******************************************************************************************/
/*存活确认*************************************************************************************/
case ALIVE:{//存活确认
if(network)
CMCT_Tool.SendAlive(wifi,CO2Number,1); //存活确认，数据位全为0xff
else
CMCT_Tool.SendAlive(wifi,CO2Number,0);
}break;
/*END******************************************************************************************/
/*常态******************************************************************************************/
default:
{
if(tskmgr.ClockTool(record_updataSensor,3)) //每三秒执行一次更新
co2.Updata();//当没有命令时更新传感器
if(tskmgr.ClockTool(record_alive,60)) //每60秒发送一次存活确认
{
if(network)
CMCT_Tool.SendAlive(wifi,CO2Number,1);
else
CMCT_Tool.SendAlive(wifi,CO2Number,0);
}
}
}
}
}
int main()
{
double record_UI_Updata=0; //UI更新时间片
double record_UI_power=0;//电量更新
double record_UI_time_hight=0;//时间更新
double record_UI_YRPT_CLOCK=0;//时间更新
double record_JoystickUpdata=0;
double test=0;
ledRedGPIO.SetLevel(1);
ledGREGPIO.SetLevel(1);
while(1)
{
Rc2Copter.DataListening();
if(tskmgr.TimeSlice(record_UI_Updata,0.1)) //0.1秒更新一次UI
{
//MessageShow.setTextBox("t21",num);
if(tskmgr.TimeSlice(record_UI_power,5))//每5秒更新一次电量值
{
MessageShow.setTextBox(UI_RcPower,pressure.Voltage_I(1,1,2,4.2),1);
MessageShow.setTextBox(UI_CopterPower,Rc2Copter.RcvPower,1);
}
if(tskmgr.TimeSlice(record_UI_time_hight,1))//每秒更新一次高度和时间
{
MessageShow.setTextBox(UI_Hight,Rc2Copter.RcvHight,0);
MessageShow.setTextBox(UI_AliveTime,Rc2Copter.RcvTime,0);
}
if(tskmgr.TimeSlice(record_UI_YRPT_CLOCK,0.5)) //没0.5秒更新一次显示
{
MessageShow.setTextBox(UI_YAW,Rc2Copter.RcvYaw,0);
MessageShow.setTextBox(UI_ROOL,Rc2Copter.RcvRoll,0);
MessageShow.setTextBox(UI_PITCH,Rc2Copter.RcvPitch,0);
MessageShow.setTextBox(UI_THR,Rc2Copter.RcvThr,0);
if(Rc2Copter.ClockState == 1)
MessageShow.vis(UI_FlyClock,1);//显示 为橙色
else
MessageShow.vis(UI_FlyClock,0);//隐藏 为蓝色
}
//更新摇杆状态显示
MessageShow.outputDirection(UI_DirectionL,RC.getLeftState());
MessageShow.outputDirection(UI_DirectionR,RC.getNightState());
}
if(tskmgr.TimeSlice(record_JoystickUpdata,0.1)) //0.1秒更新一次摇杆状态
{
if(RC.Updata())
{
//遥控器状态判断 外八解锁，内八上锁
if(RC.getLeftState() == 7 && RC.getNightState() == 9) //解
{
Rc2Copter.FlightLockControl(false);
}
else if(RC.getLeftState() == 9 && RC.getNightState() == 7)
{
Rc2Copter.FlightLockControl(true);
}
else if(RC.getLeftState() == 1 && RC.getNightState() == 3 && Rc2Copter.ClockState == 1) //外八且上锁
{
}
else//如果处于解锁状态则发送数据
{
if(Rc2Copter.ClockState == 0)
{
//发送数据
Rc2Copter.SendData2Copter(1000,1000,1000,1000);
}
}
}
}
if(tskmgr.TimeSlice(test,0.1))
com1<<pressure[5]<<"\t"<<pressure[6]<<"\t"<<pressure[8]<<"\t"<<pressure[9]<<"\n";
}
}