/*************************************************************************
UART0发送 用于串口调试助手命令调试pid等参数
*************************************************************************/
void Debugmessgae()
{
LPLD_UART_PutCharArr(UART0,"Speed_PWM = ", 12);
SendDec(Speed_PWM);
LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"Speed_Out = ", 12);//期待脉冲
SendDec(Speed_Out);
LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"Speed_temp = ", 13);//下次启动时脉冲
SendDec(Speed_temp);
LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"\r\n",2);
LPLD_UART_PutCharArr(UART0,"KP = ",5);
SendDec(Kp);
LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"KD = ",5);
SendDec(Kd);
LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"SP = ",5);
SendDec(Sp);
LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"Sd = ",5);
SendDec(Sd);
LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"Si = ",5);
SendDec(count);
LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"\r\n",2);
}
//向服务器发送数据
uint8 SQC_ME3000_Send(uint8 * msg,uint16 len)
{
uint8 cmd[20];
gprs_pib.Rxflag = 0;
sprintf(cmd,"AT+ZIPSEND=1,%d\r\n",len);
LPLD_UART_PutCharArr(UART5,cmd,strlen(cmd));
while(1)
{
delay();
if(gprs_pib.Rxflag == 3)
{
gprs_pib.Rxflag = 0;
LPLD_UART_PutCharArr(UART5,msg,len);
LPLD_UART_PutChar(UART5,0x0D);
LPLD_UART_PutChar(UART5,0x0A);
}
if(gprs_pib.Rxflag == 2)
{
if(strstr(gprs_pib.Rxbuf,"+ZIPSEND:OK") != 0)
return TRUE;
else
return FALSE;
}
}
}
//nrf24l01接收中断
void portc_handle()
{
printf("Nrf24L01 rev Succeed!!\r\n");
LPLD_Nrf24L01_RecvFrame(rx_buf, NRF24L01_PLOAD_LEN);
LPLD_UART_PutCharArr(UART5, (char*)rx_buf, NRF24L01_PLOAD_LEN);//通过串口5打印输出值
printf("\r\n");
}
void uart4_bluetooth_init(void)
{
uart4_init_struct.UART_Uartx = UART4; //使用UART5
uart4_init_struct.UART_BaudRate = 115200; //设置波特率115200
uart4_init_struct.UART_RxPin = PTE25; //接收引脚为PTE25
uart4_init_struct.UART_TxPin = PTE24; //发送引脚为PTE24
uart4_init_struct.UART_RxIntEnable = TRUE; //使能接收中断
uart4_init_struct.UART_RxIsr = uart4_isr; //设置接收中断函数
//初始化UART
LPLD_UART_Init(uart4_init_struct);
LPLD_UART_EnableIrq(uart4_init_struct);
LPLD_UART_PutCharArr(UART4, "Initial uart4 successful.\r\n", 29);
}
//关闭tcp连接
uint8 SQC_ME3000_Disconnect()
{
uint8 cmd[20];
gprs_pib.Rxflag = 0;
sprintf(cmd,"AT+ZIPCLOSE=1\r\n");
LPLD_UART_PutCharArr(UART5,cmd,strlen(cmd));
while(1)
{
delay();
if(gprs_pib.Rxflag == 2)
{
if(strstr(gprs_pib.Rxbuf,"+ZIPCLOSE:OK") != 0)
return TRUE;
else
return FALSE;
}
}
}
//查询tcp连接状态
uint8 SQC_ME3000_Tcpstat()
{
uint8 cmd[20];
gprs_pib.Rxflag = 0;
sprintf(cmd,"AT+ZIPSTATUS=1\r\n");
LPLD_UART_PutCharArr(UART5,cmd,strlen(cmd));
while(1)
{
delay();
if(gprs_pib.Rxflag == 2)
{
if(strstr(gprs_pib.Rxbuf,"+ZIPSTATUS:ESTABLISHED") != 0)
return TRUE;
else
return FALSE;
}
}
}
//使用tcp连接服务器
uint8 SQC_ME3000_Connect(struct _in_addr addr)
{
uint8 cmd[50];
gprs_pib.Rxflag = 0;
sprintf(cmd,"AT+ZIPSETUP=1,%d.%d.%d.%d,%d\r\n",addr.s_addr[0],addr.s_addr[1],addr.s_addr[2],addr.s_addr[3],addr.s_port);
LPLD_UART_PutCharArr(UART5,cmd,strlen(cmd));
while(1)
{
delay();
if(gprs_pib.Rxflag == 2)
{
if(strstr(gprs_pib.Rxbuf,"+ZIPSETUP:CONNECTED") != 0)
return TRUE;
else
return FALSE;
}
}
}
//关闭gprs网络
uint8 SQC_ME3000_Close()
{
uint8 cmd[20];
gprs_pib.Rxflag = 0;
sprintf(cmd,"AT+ZPPPCLOSE\r\n");
LPLD_UART_PutCharArr(UART5,cmd,strlen(cmd));
while(1)
{
delay();
if(gprs_pib.Rxflag == 2)
{
if(strstr(gprs_pib.Rxbuf,"+ZPPPCLOSE:OK") != 0
|| strstr(gprs_pib.Rxbuf,"+ZPPPCLOSE:DISCONNECTED") != 0)
return TRUE;
else
return FALSE;
}
}
}
//打开gprs网络
uint8 SQC_ME3000_Open()
{
uint8 cmd[20];
gprs_pib.Rxflag = 0;
sprintf(cmd,"AT+ZPPPOPEN\r\n");
LPLD_UART_PutCharArr(UART5,cmd,strlen(cmd));
while(1)
{
delay();delay();
if(gprs_pib.Rxflag == 2)
{
if(strstr(gprs_pib.Rxbuf,"+ZPPPOPEN:CONNECTED") != 0
|| strstr(gprs_pib.Rxbuf,"+ZPPPOPEN:ESTABLISHED") != 0)
return TRUE;
else
return FALSE;
}
}
}
void main (void)
{
char i;
gpio_init ();
uart_init();
LPLD_UART_PutCharArr(UART0, "Input something:\r\n", 20);
while(1)
{
if (flag)
{
for (i = 20; i < 25; i ++)
LPLD_GPIO_Toggle_b(PTB, i);
flag = 0;
}
}
}
void pit_isr1() //100ms中断，系统板闪灯
{
TIME_PASSED ++;
if (__start_beep >= 0) {
yesbeep();
__start_beep --;
}
else nobeep();
//if (!GetCmdAction()) is_enabled = 0;
//unsigned char keyCode=scan_switch();
LPLD_GPIO_Toggle_b(PTA, 15);
// Send cur_point and direction to other car
static char __bluetooth_buf[3] = {0};
extern enum DIRECTION __actor_head_direction;
extern struct Point __actor_cur_point;
__bluetooth_buf[0] = 0xff; // Package header
__bluetooth_buf[1] = (char) graph_get_point_number(point_map_to_standard(__actor_cur_point));
__bluetooth_buf[2] = (char) direction_map_to_standard(__actor_head_direction);
LPLD_UART_PutCharArr(UART4, __bluetooth_buf, sizeof(__bluetooth_buf));
}
//查询是否入网
uint8 SQC_ME3000_Creg()
{
uint8 cmd[20];
gprs_pib.Rxflag = 0;
sprintf(cmd,"AT+CREG?\r\n");
while(1)
{
LPLD_UART_PutCharArr(UART5,cmd,strlen(cmd));
delay();delay();
if(gprs_pib.Rxflag == 2)
{
if(strstr(gprs_pib.Rxbuf,"+CREG: 0, 1") != 0)
{
gprs_pib.Rxflag = 0;
return TRUE;
}
else
gprs_pib.Rxflag = 0;
}
}
}
void uart0_recv_isr(void)
{
char re_data;
re_data = LPLD_UART_GetChar(UART0);//接收一个字节
if(re_data=='w')
{
if(Speed_Out==0)
{
Speed_temp += 5;
if(Speed_temp>=400)
{
Speed_temp = 400;
}
}
else
{
Speed_Out += 5;
if(Speed_Out>=400)
{
Speed_Out = 400;
}
}
Debugmessgae();
}
else if(re_data=='s')
{
if(Speed_Out==0)
{
Speed_temp -= 5;
if(Speed_temp>=400)
{
Speed_temp = 400;
}
}
else
{
Speed_Out -= 5;
if(Speed_Out>=400)
{
Speed_Out = 400;
}
}
Debugmessgae();
}
else if(re_data == 'z')
{
if(Speed_Out)
{
Speed_temp = Speed_Out;
Speed_Out = 0;
Speed_PWM = 0;
//delay();
}
else
{
Speed_Out = Speed_temp;
}
Debugmessgae();
}
else if(re_data == 'm')
{
if(viewflag == 0)
{
viewflag = 1;
}
else
{
viewflag = 0;
}
}
else if(re_data == 'q')
{
if(SpeedMessageflag == 0)
{
SpeedMessageflag = 1;
}
else
{
SpeedMessageflag = 0;
}
}
else if(re_data == 'u')
{
Kp = Kp + 1;
Debugmessgae();
}
else if(re_data == 'i')
{
Kp = Kp-1;
if(Kp<0)
{
Kp = 0;
//Kac = 0;
}
Debugmessgae();
}
else if(re_data == 'o')
{
Kd++;
Debugmessgae();
}
else if(re_data == 'p')
{
Kd--;
if(Kd<0)
{
Kd = 0;
}
Debugmessgae();
}
else if(re_data == 'f')
{
Sp += 1;
//Sp++;
Debugmessgae();
}
else if(re_data == 'g')
{
Sp -= 1;
//Sp--;
if(Sp>=200)
{
Sp = 0;
Sp = 100;
}
Debugmessgae();
}
else if(re_data == 'h')
{
Sd += 1;
Debugmessgae();
}
else if(re_data == 'j')
{
Sd -= 1;
if(Sd<0)
{
Sd = 0;
}
Debugmessgae();
}
else if(re_data == 'k')
{
Si += 0.01;
count++;
Debugmessgae();
}
else if(re_data == 'l')
{
Si -= 0.01;
count--;
if(Si<0)
{
Si = 0;
count = 0;
}
Debugmessgae();
}
else if(re_data == '1')
{
CCDtime++;
SendDec(CCDtime);
//LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"\r\n",2);
}
else if(re_data == '2')
{
CCDtime--;
SendDec(CCDtime);
//LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"\r\n",2);
}
else if(re_data == '3')
{
notch_offset++;
SendDec(notch_offset);
//LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"\r\n",2);
}
else if(re_data == '4')
{
notch_offset--;
SendDec(notch_offset);
//LPLD_UART_PutChar(UART0,' ');
LPLD_UART_PutCharArr(UART0,"\r\n",2);
}
else if(re_data == '5')
{
if(counterflag==0)
{
counterflag = 1;
}
else
{
counterflag = 0;
}
}
else if(re_data == '6')
{
if(scopeflag==0)
{
scopeflag = 1 ;
}
else
{
scopeflag = 0;
}
}
}
