void sendIRData(uint8 addr1, uint8 addr2, uint8 value) {
initTimer3();
HalTimerStart(HAL_TIMER_0, 26);
end_count = 346; //9ms
flag = 1;
count = 0;
while (count < end_count) {
if (count >= end_count - 1) {
break;
}
}
end_count = 173; //4.5ms
flag = 0;
count = 0;
while (count < end_count) {
if (count >= end_count - 1) {
break;
}
}
for (i = 0; i < 8; i++) {
end_count = 21;
flag = 1;
count = 0;
while (count < end_count) {
if (count == end_count - 1) {
break;
}
}
if (addr1 - (addr1 / 2) * 2) {
end_count = 64;
} else {
end_count = 21;
}
flag = 0;
count = 0;
while (count < end_count) {
if (count == end_count - 1) {
break;
}
}
addr1 = addr1 >> 1;
}
HalTimerStop(HAL_TIMER_0);
}
/*********************************************************************
* @fn SampleApp_MessageMSGCB
*
* @brief Data message processor callback. This function processes
* any incoming data - probably from other devices. So, based
* on cluster ID, perform the intended action.
*
* @param none
*
* @return none
*/
void SampleApp_MessageMSGCB( afIncomingMSGPacket_t *pkt )
{
uint16 flashTime;
switch ( pkt->clusterId )
{
case SAMPLEAPP_POINT_TO_POINT_CLUSTERID:
/*************************************
串口发送给ARM端，包格式如下
@16位地址（不转换字符串）+XXXXX#
**************************************/
break;
case SAMPLEAPP_FLASH_CLUSTERID:
flashTime = BUILD_UINT16(pkt->cmd.Data[1], pkt->cmd.Data[2] );
HalLedBlink( HAL_LED_4, 4, 50, (flashTime / 4) );
break;
//定义广播
case SAMPLEAPP_PERIODIC_CLUSTERID:
HalUARTWrite(0,&pkt->cmd.Data[0],7);
#ifdef MODE_ED
//HalLedBlink( HAL_LED_2, 2,50, 500);
//收到"+REBOT#"广播后重识别
uint8 *broadcast_msg=&pkt->cmd.Data[0];
uint16 i=5;
if(broadcast_msg[1]=='R' && broadcast_msg[3]=='B')
{
HalLedBlink( HAL_LED_2, 2,50, 500);
}
/***************************
收到开门命令
+D01OP#
****************************/
if(broadcast_msg[1]=='D' && broadcast_msg[3]=='2' && broadcast_msg[4]=='O')
{
//正转 电机导通相序 D-C-B-A
//反转 电机导通相序 A-B-C-D
HalLedBlink( HAL_LED_1, 2,50, 500);
for(i=0;i<128;i++)
{
MotorCW();
}
Delay_ms(500);
while(1)
{
trig=1;
Delay_ms(5);
trig=0;
while(echo!=1);
HalTimerStart(HAL_TIMER_0,50);
while(echo==1);
HalTimerStop(HAL_TIMER_0);
dis=((float)stime)/58;
if(dis<=10)
{
inflag++;
//while(inflag>=4)
}
else
{
if(inflag>=4)
break;
inflag=0;
}
stime=0;
Delay_ms(100);
}
inflag=0;
for(i=0;i<128;i++)
{
MotorCCW();
}
HalLedBlink( HAL_LED_2, 2,50, 500);
}
#endif
}
}
