int ModeHandler(int mode, char *textIn, int argc, char **argv)
{
LcdSpi *lcd;
Spi *spiBus0;
ScreenData *screenBg;
int result = 0;
Fonts font;
iconv_t ic;
size_t res;
char text[MAX_ISO8859_LEN] = "";
memset(&font, 0, sizeof(Fonts));
spiBus0 = SpiCreate(0);
if (spiBus0 == NULL) {
printf("SPI-Error\n");
exit(EXITCODE_ERROR);
}
lcd = LcdOpen(spiBus0);
if (!lcd) {
printf("LCD-Error\n");
exit(EXITCODE_ERROR);
}
if (gConfig.mIsInit == 1) {
LcdInit(lcd);
} else if (gConfig.mIsInit == 2) {
LcdUninit(lcd);
exit(EXITCODE_OK);
}
if (gConfig.mIsBgLight) {
LcdSetBgLight(lcd, gConfig.mBgLight & 1, gConfig.mBgLight & 2, gConfig.mBgLight & 4);
}
screenBg = ScreenInit(LCD_X, LCD_Y);
if (!screenBg) {
printf("Screen-Error\n");
exit(EXITCODE_ERROR);
}
ScreenClear(screenBg);
if (gConfig.mBgFilename) {
if (ScreenLoadImage(screenBg, gConfig.mBgFilename, gConfig.mBgOffX, gConfig.mBgOffY) != 0) {
ScreenClear(screenBg);
}
}
if (textIn) {
int testInLen = strlen(textIn);
char **inPtr = &textIn;
char *outPtr = &text[0];
ic = iconv_open("ISO-8859-1", "UTF-8");
if (ic != (iconv_t)(-1)) {
size_t inBytesLeft = testInLen;
size_t outBytesLeft = sizeof(text) - 1;
res = iconv(ic, inPtr, &inBytesLeft, &outPtr, &outBytesLeft);
if ((int)res != -1 && outBytesLeft) {
outPtr[0] = 0;
} else {
strncpy(text, textIn, sizeof(text) - 1);
text[sizeof(text) - 1] = 0;
}
iconv_close(ic);
}
}
//printf("Mode: %i\n", mode);
switch (mode) {
case OPT_YESNO:
LoadFonts(&font);
result = YesNo(lcd, &font, text, screenBg);
break;
case OPT_OK:
LoadFonts(&font);
result = Ok(lcd, &font, text, screenBg);
break;
case OPT_MENU:
LoadFonts(&font);
result = Menu(lcd, &font, screenBg, optind, argc, argv);
break;
case OPT_IPV4:
LoadFonts(&font);
result = Ipv4(lcd, &font, text, screenBg, optind, argc, argv);
break;
case OPT_SUBNETMASK:
LoadFonts(&font);
result = Subnetmask(lcd, &font, text, screenBg, optind, argc, argv);
break;
case OPT_INFO:
LoadFonts(&font);
result = Info(lcd, &font, text, screenBg);
break;
case OPT_BUTTONWAIT:
result = ButtonWait();
break;
case OPT_INTINPUT:
LoadFonts(&font);
result = IntInput(lcd, &font, text, screenBg, optind, argc, argv);
break;
case OPT_PROGRESS:
LoadFonts(&font);
result = Progress(lcd, &font, text, screenBg, optind, argc, argv);
break;
case OPT_PERCENT:
LoadFonts(&font);
result = Percent(lcd, &font, text, screenBg, optind, argc, argv);
break;
default:
break;
}
if (font.mSystem) {
//FontDestroy(font.mSystem);
}
if (font.mInternal) {
//FontDestroy(font.mInternal);
}
if (gConfig.mIsClear) {
LcdCls(lcd);
}
ScreenDestroy(screenBg);
LcdCleanup(lcd);
SpiDestroy(spiBus0);
return result;
}
/********************************************************************
函数功能：在LCD上显示频谱。
入口参数：无。
返 回：无。
备 注：无。
********************************************************************/
void ShowSpectrum(void)
{
int i,x,y,j,p;
//对输入信号进行缩小
for(i=0;i<LENGTH;i++)
{
AudioOutBuf[i]/=32;
}
FftInput(AudioOutBuf); //位倒序
FftExe(AudioOutBuf,Re,Im); //做FFT运算
LcdCls(); //清屏
//显示X、Y轴坐标
LcdSetPoint(0,35);
LcdPrints("0V");
LcdDrawLine(13,39,15,39);
LcdSetPoint(0,23);
LcdPrints("1V");
LcdDrawLine(13,27,15,27);
LcdSetPoint(0,11);
LcdPrints("2V");
LcdDrawLine(13,15,15,15);
LcdSetPoint(0,0);
LcdPrints("3V");
LcdDrawLine(13,3,15,3);
LcdSetPoint(14,40);
LcdPrints("0");
LcdSetPoint(13+26,40);
LcdPrints("3K");
LcdSetPoint(84-20,40);
LcdPrints("16K");
//直流分量直接显示
x=17;
y=MAX_HEIGHT-(Re[0]*MAX_HEIGHT/LENGTH)/1024;
LcdDrawLine(x,y,x,MAX_HEIGHT);
ProcPeak(0,y); //处理峰值
//每1点显示
for(i=1;i<14;i++)
{
x++;
y=sqrt(Re[i]*Re[i]+Im[i]*Im[i]); //计算模值
y/=10;
y=Compress(y); //压缩
y=MAX_HEIGHT-y; //换算为屏幕y轴位置
ProcPeak(i,y); //处理峰值
LcdDrawLine(x,y,x,MAX_HEIGHT); //画线
}
//每2点显示
p=14;
for(i=14;i<24;i++)
{
x++;
y=0;
for(j=0;j<2;j++)
{
y+=sqrt(Re[p]*Re[p]+Im[p]*Im[p]); //计算模值
p++;
}
y/=20; //取平均值
y=Compress(y); //压缩
y=MAX_HEIGHT-y; //换算为屏幕y轴位置
ProcPeak(i,y); //处理峰值
LcdDrawLine(x,y,x,MAX_HEIGHT); //画线
}
//每3点显示
for(i=24;i<34;i++)
{
x++;
y=0;
for(j=0;j<3;j++)
{
y+=sqrt(Re[p]*Re[p]+Im[p]*Im[p]); //计算模值
p++;
}
y/=30; //取平均值
y=Compress(y); //压缩
y=MAX_HEIGHT-y; //换算为屏幕y轴位置
ProcPeak(i,y); //处理峰值
LcdDrawLine(x,y,x,MAX_HEIGHT); //画线
}
//每4点显示
for(i=34;i<44;i++)
{
x++;
y=0;
for(j=0;j<4;j++)
{
y+=sqrt(Re[p]*Re[p]+Im[p]*Im[p]); //计算模值
p++;
}
y/=40; //取平均值
y=Compress(y); //压缩
y=MAX_HEIGHT-y; //换算为屏幕y轴位置
ProcPeak(i,y); //处理峰值
LcdDrawLine(x,y,x,MAX_HEIGHT); //画线
}
//每6点显示
for(i=44;i<54;i++)
{
x++;
y=0;
for(j=0;j<6;j++)
{
y+=sqrt(Re[p]*Re[p]+Im[p]*Im[p]); //计算模值
p++;
}
y/=60; //取平均值
y=Compress(y); //压缩
y=MAX_HEIGHT-y; //换算为屏幕y轴位置
ProcPeak(i,y); //处理峰值
LcdDrawLine(x,y,x,MAX_HEIGHT); //画线
}
//每9点显示
for(i=54;i<64;i++)
{
x++;
y=0;
for(j=0;j<9;j++)
{
y+=sqrt(Re[p]*Re[p]+Im[p]*Im[p]); //计算模值
p++;
}
y/=90; //取平均值
y=Compress(y); //压缩
y=MAX_HEIGHT-y; //换算为屏幕y轴位置
ProcPeak(i,y); //处理峰值
LcdDrawLine(x,y,x,MAX_HEIGHT); //画线
}
for(i=0;i<64;i++)
{
LcdDrawPoint(i+17,Peak[i]);
}
LcdRefresh(); //刷新
}
void main()
{
#if 0
extern void DebugAdc();
DebugAdc();
#endif
//////////////////////////////////////////////////////////////////////////
// 局部变量或结构体 //
//////////////////////////////////////////////////////////////////////////
SpeedForline = FreecaleConfig.Config.Motor.Speed.LineSpeed;
//////////////////////////////////////////////////////////////////////////
// 位置提示 //
//////////////////////////////////////////////////////////////////////////
/************************************************************************/
/* 开中断 */
/************************************************************************/
set_vector_handler(UART0_VECTORn, UartHandler); // 设置中断服务函数到中断向量表里
uart_rx_irq_en(UART0);//串口中断
FLKeyIrqEnable();
//wdog_init (1000);//初始化看门狗
//wdog_enable ();
//////////////////////////////////////////////////////////////////////////
// 用户操作 //
//////////////////////////////////////////////////////////////////////////
#if UseEndLine
switch (FreecaleConfig.Config.CarState)
{
case CarStandby:
#endif//UseEndLine
printf("start");
#if UseAdcNormalizingInit
AdcNormalizingInit();//初始化归一化变量
#else//UseAdcNormalizingInit
LCDPrint(0, 0, "Car Ready!");
AdcInit();
if (FreecaleConfig.Config.Mode.NrfStartCar == On)
{
if (FreecaleConfig.Config.CarThis == MyCar1)
{
uint8 exitfunc = false;
LCDPrint(0, LcdLine2, "Press the");
LCDPrint(LcdLocal2, LcdLine3, "start!");
LCDPrint(LcdLocal1, LcdLine4, "Nrf Mode");
while (!exitfunc)
{
switch (KeyScanWithoutIrq())//按键检测
{
case FLKeyAdcNorExit:
LcdCls();
LCDPrint(LcdLocal1, LcdLine1, "Findind Car2!");
while (NrfSendStr("$", 1) != Nrf_AllGreen)
{
led(LED1, LED_ON);
DELAY_MS(1);
};
led(LED1, LED_OFF);
exitfunc = TRUE;//退出
break;
default:
break;
}
}
}
else
{
LCDPrint(0, LcdLine2, "Wait Command!");
uint8 strTemp[10];
while (true)
{
if (NrfRecStrCheck(strTemp, 5) != 0)
{
if (strTemp)
{
break;
}
}
led(LED1, LED_ON);
DELAY_MS(1);
} led(LED1, LED_OFF);
}
#endif//UseAdcNormalizingInit
}
else
{
uint8 exitfunc = false;
LCDPrint(0, LcdLine2, "Press the");
LCDPrint(LcdLocal2, LcdLine3, "start!");
LCDPrint(LcdLocal1, LcdLine4, "Manual Mode");
while (!exitfunc)
{
switch (KeyScanWithoutIrq())//按键检测
{
case FLKeyAdcNorExit:
exitfunc = TRUE;//退出
break;
default:
break;
}
}
}
#if UsePowerOnDelay
DELAY_MS(2000);
#else
if (FreecaleConfig.Config.CarDelay > 0)
{
LcdCls();
LCDPrint(0, 0, "wait TimeOut!");
DELAY_MS(FreecaleConfig.Config.CarDelay * 10);
}
LcdCls();
#endif//UsePowerOnDelay
//////////////////////////////////////////////////////////////////////////
//终点线
#if UseEndLine
break;
case CarRunning:
break;
case CarFinish:
LCDPrint(0, 0, "Finish!");
break;
default:
break;
}
#endif//UseEndLine
//uint16 spwm = SteerCenterDuty;
Speed.Expect = SpeedForline;
enable_irq(PIT_IRQn); //使能PIT0中断
//程序循环
while (1)
{
//////////////////////////////////////////////////////////////////////////
//舵机控制
SteerCtrl();
#if 1
#else
///lcd show
NumShow16(Speed.Expect, LcdLocal1, LcdLine1);
NumShow16(Speed.Acturally, LcdLocal1, LcdLine2);
NumShow3(MotorPid.P, LcdLocal1, LcdLine3);
NumShow3(MotorPid.I, LcdLocal2, LcdLine3);
NumShow3(MotorPid.D, LcdLocal3, LcdLine3);
#endif
if (FreecaleConfig.Config.Mode.Ultrasonic == On)
{
NumShow4(CarDistance, LcdLocal1, LcdLine2);
}
SpeedCtrl();
//////////////////////////////////////////////////////////////////////////
//nrf
if (FreecaleConfig.Config.Mode.NrfSendDistance)
{
//NrfErrorType_e nrfErr;
if (FreecaleConfig.Config.CarThis)
{
if (NrfRecStrCheck(NrfBuff, 3))
{
if (FreecaleConfig.Config.Mode.NrfSendDistance)
{
if (NrfBuff[0] == '$')//超声波识别符
{
uint8 i = 0;
while (NrfBuff[i + 1] != '#')//求字符串长度
{
if (NrfBuff[i + 1] == '\0')//error
{
goto exitthismainloop;//没辙了，我真不想这么写，实在不能再循环了，变量太多了
//break;
}
i++;
}
uint32 dis = 0;
for (uint8 j = 0; j < i; j++)//求数值
{
dis += POW((uint32)(NrfBuff[j + 1] - '0'), i - j);
}
}
}
}
}
else
{
if (FreecaleConfig.Config.Mode.NrfSendDistance)
{
sprintf(NrfBuff, "$%d#", CarDistance);
NrfSendStrCheck(NrfBuff, sizeof(NrfBuff) / sizeof(uint8), 3);
}
}
}
//////////////////////////////////////////////////////////////////////////
exitthismainloop:
//延迟，控制周期
DELAY_MS(20);
}
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//Don't leave main////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
}
