/* 1/2 cycle delay in .5us goes in 0x26 and 0x27 */
void tone(float frequency, float length)
{
set_beeper_pitch(frequency);
beeper_on();
sleep(length);
beeper_off();
}
void warb()
{ float freq = warb_low;
twitch(); /* Motion accompanies sound */
beeper_on();
for (freq = warb_low; freq < warb_high; freq = freq + 10.0)
{ set_beeper_pitch(freq);
sleep(warb_dur); }
beeper_off();
}
void sos(void)
{
const uint16_t short_s = 120;
const uint16_t long_s = short_s * 3;
const uint16_t pause_s = short_s; /* symbole */
const uint16_t pause_c = long_s - pause_s; /* character */
const uint16_t pause_w = (short_s * 7) - pause_s; /* word */
size_t n = 0;
for(n = 0; n < 3; ++n)
{
beeper_on();
_delay_ms(short_s);
beeper_off();
_delay_ms(pause_s);
}
_delay_ms(pause_c);
for(n = 0; n < 3; ++n)
{
beeper_on();
_delay_ms(long_s);
beeper_off();
_delay_ms(pause_s);
}
_delay_ms(pause_c);
for(n = 0; n < 3; ++n)
{
beeper_on();
_delay_ms(short_s);
beeper_off();
_delay_ms(pause_s);
}
_delay_ms(pause_w);
}
void beeper_on_off(void)
{
if(GPB.GPBDAT&(0x1<<0))
{
beeper_off();
}
else
{
beeper_on();
}
}
/* ARGSUSED */
static void
kb8042_type4_cmd(struct kb8042 *kb8042, int cmd)
{
switch (cmd) {
case KBD_CMD_BELL:
beeper_on(BEEP_TYPE4);
break;
case KBD_CMD_NOBELL:
beeper_off();
break;
}
}
void get_command() {
while (1) {
int foo = usb_peek();
if (foo < 0 || buflen >= BUFSIZE) {
break;
}
serial_char = foo;
if (serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1)) {
if (!serial_count) { //if empty line
comment_mode = false; //for new command
return;
}
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if (!comment_mode) {
comment_mode = false; //for new command
if (strstr(cmdbuffer[bufindw], "N") != NULL) {
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
if (gcode_N != gcode_LastN + 1 && (strstr(cmdbuffer[bufindw], "M110") == NULL)) {
printf("Error: Line Number is not Last Line Number+1, Last Line:%lu\n", gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if (strstr(cmdbuffer[bufindw], "*") != NULL) {
unsigned char checksum = 0;
unsigned char count = 0;
while (cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if ((int) (strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
printf("Error:checksum mismatch, Last Line:%lu\n", gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
//if no errors, continue parsing
}
} else {
printf("Error:No Checksum with line number, Last Line:%lu\n", gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
} else // if we don't receive 'N' but still see '*'
{
if ((strstr(cmdbuffer[bufindw], "*") != NULL)) {
printf("Error:No Line Number with checksum, Last Line:%lu\n", gcode_LastN);
serial_count = 0;
return;
}
}
if ((strstr(cmdbuffer[bufindw], "G") != NULL)) {
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch ((int) ((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))) {
case 0:
case 1:
case 2:
case 3:
printf("ok\n");
break;
default:
break;
}
}
bufindw = (bufindw + 1) % BUFSIZE;
buflen += 1;
}
serial_count = 0; //clear buffer
} else {
bool skipmode = false;
if (serial_char == ';') {
// IN;SP1;PU698,727;PD453,632;PD236,779;PD251,517;PD44,356;PD298,289;PD387,42;PD529,263;PD791,272;PD625,475;PD698,727;PU;
if (serial_count == 2 &&
cmdbuffer[bufindw][0] == 'I' &&
cmdbuffer[bufindw][1] == 'N') {
hgpl_ack();
skipmode = true;
}
else if (serial_count == 3 &&
cmdbuffer[bufindw][0] == 'S' &&
cmdbuffer[bufindw][1] == 'P' &&
cmdbuffer[bufindw][2] == '1') {
hgpl_ack();
skipmode = true;
}
else if (serial_count >= 2 &&
cmdbuffer[bufindw][0] == 'P' &&
(cmdbuffer[bufindw][1] == 'U' ||
cmdbuffer[bufindw][1] == 'D')) {
if (serial_count > 2) {
cmdbuffer[bufindw][serial_count] = '\0';
strchr_pointer = strchr(cmdbuffer[bufindw], ',');
if (strchr_pointer != NULL) {
int y = atoi(strchr_pointer + 1);
*strchr_pointer = '\0';
int x = atoi(&cmdbuffer[bufindw][2]);
if (cmdbuffer[bufindw][1] == 'U') {
stepper_move(x, y);
} else {
stepper_draw(x, y);
}
hgpl_ack();
}
} else {
if (cmdbuffer[bufindw][1] == 'U') {
stepper_move(0, 0);
beeper_on(1360);
msleep(30);
beeper_off();
hgpl_ack();
}
}
skipmode = true;
} else {
comment_mode = true;
}
}
if (skipmode) {
serial_count = 0;
skipmode = false;
} else {
if (!comment_mode) {
cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
}
}
}
void doirq(void)
{
#if RTCDIS==1
char time[7];
char buf[32], *p[9];
int i;
#endif
switch(get_intoffset())
{
case 5:
#if EINT==1
if(get_eintpend(11))
{
beeper_off();
#if TIME==1
timer_stop();
#endif
clear_eintpend(11);
}
clear_srcpnd(5);
#endif
break;
case 14:
beeper_on_off();
clear_srcpnd(14);
break;
case 28:
#if RTCDIS==1
if(get_subsrcpend(0))
{
gets(buf);
buf[strlen(buf)-2] = '\0';
p[0] = strtok(buf, " ");
for(i=1; p[i-1]!=NULL; i++)
{
p[i] = strtok(NULL, " ");
}
#if RTCSET==1
if(strcmp(p[0], "timeset") == 0)
{
time[0] = atoh(p[1]);
time[1] = atoh(p[2]);
time[2] = atoh(p[3]);
time[3] = atoh(p[4]);
time[4] = atoh(p[5]);
time[5] = atoh(p[6]);
time[6] = atoh(p[7]);
rtc_init(time);
}
#endif
if(strcmp(p[0], "alarmset") == 0)
{
time[0] = atoh(p[1]);
time[1] = atoh(p[2]);
time[2] = atoh(p[3]);
time[3] = atoh(p[4]);
time[4] = atoh(p[5]);
time[5] = atoh(p[6]);
#if ALARM==1
alarm_init(time);
#endif
}
clear_subsrcpend(0);
}
clear_srcpnd(28);
#endif
break;
case 30:
#if ALARM==1
beeper_on();
#if TIME==1
timer_update();
#endif
clear_srcpnd(28);
#endif
break;
}
clear_intpnd();
}
/* 充放电结束后放置一小时 */
int delay_hour(void)
{
FRESULT result;
FATFS fs;
FIL file;
DIR DirInf;
uint32_t bw;
char time_buf[TIME_MAX];
char write_buf[WR_MAX];
char tmp_buf[8];
int sec = 0;
int i = 0;
int min_count = 0;
double vol;
result = f_mount(0, &fs);
if (result != FR_OK){
printf("FileSystem Mounted Failed (%d)\r\n", result);
goto ERROR;
}
result = f_opendir(&DirInf, "/");
if (result != FR_OK){
printf("Open Root Directory Error (%d)\r\n", result);
goto ERROR;
}
result = f_open(&file, conf->file_name, FA_OPEN_ALWAYS | FA_READ | FA_WRITE);
if(result !=FR_OK){
printf("open error, errornu:%d\n\r",result);
goto ERROR;
}
if(f_lseek(&file,file.fsize) != FR_OK){
printf("f_lseek error, errornu:%d\n\r",result);
goto ERROR;
}
beeper_on();
delay_ms(200);
beeper_off();
memset(time_buf,0,TIME_MAX);
memset(write_buf,0,WR_MAX);
printf("\n\r静置开始");
Time_Display(RTC_GetCounter());
printf("\n\r");
bsp_LedOn(4);
StartTimer(0, 1000);
// Time_Display(RTC_GetCounter());
do{
if(jump)
goto JMP;
if(CheckTimer(0) ) {
StartTimer(0, 1000);
sec++;
min_count ++;
vol = ADC_SAMPLING();
if(min_count >= 60){
min_count = 0;
record_time(time_buf);
strcat(time_buf,",");
strcat(write_buf, time_buf);
memset(time_buf,0,TIME_MAX);
sprintf(tmp_buf, "%.2f", vol);
strcat(write_buf, tmp_buf);
strcat(write_buf,",静置\n");
if(i >= 9){
result = f_write(&file,write_buf,sizeof(write_buf),&bw);
if(result != FR_OK){
printf("file write faild, errornu:%d\n\r",result);
goto ERROR;
}
memset(write_buf,0,WR_MAX);
i = 0;
}
i++;
}
}
}while(sec < 3600); /* 静置时间（单位：秒） */
JMP:
jump = 0;
if(i != 0){
result = f_write(&file,write_buf,(15 + TIME_MAX)*i, &bw);
if(result != FR_OK){
printf("file write faild, errornu:%d\n\r",result);
goto ERROR;
}
i = 0;
}
memset(write_buf,0,WR_MAX);
printf("静置结束");
Time_Display(RTC_GetCounter());
printf("\n\r");
bsp_LedOff(4);
f_close(&file);
f_mount(0, NULL);
return 0;
ERROR:
bsp_LedOff(4);
f_close(&file);
f_mount(0, NULL);
return 1;
}
/***********************************************
电池放电
***********************************************/
int dis_charge(void)
{
FRESULT result;
FATFS fs;
FIL file;
DIR DirInf;
uint32_t bw;
char time_buf[TIME_MAX];
char write_buf[WR_MAX];
char tmp_buf[8];
int dis_time = 0;
int i = 0;
int min_count = 0;
double vol;
result = f_mount(0, &fs);
if (result != FR_OK){
printf("FileSystem Mounted Failed (%d)\r\n", result);
goto ERROR;
}
result = f_opendir(&DirInf, "/");
if (result != FR_OK){
printf("Open Root Directory Error (%d)\r\n", result);
goto ERROR;
}
result = f_open(&file, conf->file_name, FA_OPEN_ALWAYS | FA_READ | FA_WRITE);
if(result !=FR_OK){
printf("open error, errornu:%d\n\r",result);
goto ERROR;
}
if(f_lseek(&file,file.fsize) != FR_OK){
printf("f_lseek error, errornu:%d\n\r",result);
goto ERROR;
}
load_con_on(); //打开负载通道LOAD_CON
bsp_LedOn(3);
beeper_on();
delay_ms(200);
beeper_off();
memset(time_buf,0,TIME_MAX);
memset(write_buf,0,WR_MAX);
StartTimer(0, 1000);
// Time_Display(RTC_GetCounter());
// vol = ADC_SAMPLING();
do{
if(jump)
goto JMP;
if(CheckTimer(0)) {
dis_time ++;
StartTimer(0, 1000);
min_count ++;
vol = ADC_SAMPLING();
if(min_count >=60){
min_count = 0;
memset(time_buf,0,TIME_MAX);
record_time(time_buf);
strcat(time_buf,",");
strcat(write_buf, time_buf);
memset(time_buf,0,TIME_MAX);
sprintf(tmp_buf, "%.2f", vol);
strcat(write_buf, tmp_buf);
strcat(write_buf,",放电\n");
if(i > 9){
result = f_write(&file,write_buf,sizeof(write_buf),&bw);
if(result != FR_OK){
printf("file write faild, errornu:%d\n\r",result);
goto ERROR;
}
memset(write_buf,0,WR_MAX);
i = 0;
}
i++;
}
}
}while(dis_charge_timeout(vol));
JMP:
record[rec]= dis_time/60;
rec++;
jump = 0;
if(i != 0){
result = f_write(&file,write_buf,35*i, &bw);
if(result != FR_OK){
printf("file write faild, errornu:%d\n\r",result);
goto ERROR;
}
i = 0;
}
memset(write_buf,0,WR_MAX);
bsp_LedOff(3); //放电结束
load_con_off();
f_close(&file);
f_mount(0, NULL);
return 0; //关闭负载通道LOAD_CON
ERROR:
bsp_LedOff(3);
f_close(&file);
f_mount(0, NULL);
return 1;
}
/***********************************************************
电池充电
**************************************************************/
int charge(void)
{
FRESULT result;
FATFS fs;
FIL file;
DIR DirInf;
uint32_t bw;
char time_buf[TIME_MAX];
char write_buf[WR_MAX];
char tmp_buf[8];
int i = 0;
int min_count = 0;
int adc_value = 0;
int adc_tmp = 0;
int flag = 0;
int times = 0;
double charge_time = 0;
double vol;
/* 挂载文件系统，打开文件，定位文件指针 */
result = f_mount(0, &fs);
if (result != FR_OK){
printf("FileSystem Mounted Failed (%d)\r\n", result);
goto ERROR;
}
result = f_opendir(&DirInf, "/");
if (result != FR_OK){
printf("Open Root Directory Error (%d)\r\n", result);
goto ERROR;
}
result = f_open(&file, conf->file_name, FA_OPEN_ALWAYS | FA_READ | FA_WRITE);
if(result !=FR_OK){
printf("open error, errornu:%d\n\r",result);
goto ERROR;
}
if(f_lseek(&file,file.fsize) != FR_OK){
printf("f_lseek error, errornu:%d\n\r",result);
goto ERROR;
}
beeper_on(); /* 蜂鸣器提示 */
delay_ms(200);
beeper_off();
load_con_off(); /*负载通道关闭 */
charge_con_on(); /*打开CHAR_CON充电通道 */
bsp_LedOn(2);
memset(time_buf,0,TIME_MAX); /*清空数组，防止乱码*/
memset(write_buf,0,WR_MAX);
StartTimer(0, 100);
adc_value = GetADC();
do{
if(jump)
goto JMP;
if(CheckTimer(0)) {
vol = ADC_SAMPLING();
charge_time ++;
min_count ++;
StartTimer(0, 1000);
adc_tmp = GetADC();
if((abs(adc_value - adc_tmp) > 3) || (times != 0)){
if(abs(adc_value - adc_tmp) <= 3){
times = 0;
}
else{
times++;
if(times >= 10){
times = 0;
flag = 0;
adc_value = adc_tmp;
}
}
}
else if((abs(adc_value - adc_tmp) <= 3) && (times == 0)){
flag ++;
}
if(min_count >= 60){ /* 每隔一分钟采样一次 */
min_count = 0;
record_time(time_buf);
strcat(time_buf,",");
strcat(write_buf, time_buf);
memset(time_buf,0,TIME_MAX);
sprintf(tmp_buf, "%.2f", vol);
strcat(write_buf, tmp_buf);
strcat(write_buf,",充电\n");
if(i > 9){ /* 10次采样将数据记录到flash中 */
result = f_write(&file,write_buf,sizeof(write_buf),&bw);
if(result != FR_OK){
printf("file write faild, errornu:%d\n\r",result);
goto ERROR;
}
memset(write_buf,0,WR_MAX);
i = 0;
}
i++;
}
}
}while(charge_timeout(charge_time/3600, vol, flag)); /* 充电时间 */
JMP:
jump = 0;
if(i != 0){ /* 最后将不足10次的数据记录到flash中 */
result = f_write(&file,write_buf,(15 + TIME_MAX)*i, &bw);
if(result != FR_OK){
printf("file write faild, errornu:%d\n\r",result);
goto ERROR;
}
i = 0;
}
memset(write_buf,0,WR_MAX);
charge_con_off(); /* 关闭CHAR_CON充电通道 */
bsp_LedOff(2);
/* 关闭文件，卸载文件系统 */
f_close(&file);
f_mount(0, NULL);
return 0;
ERROR: /* 错误处理 */
bsp_LedOff(2);
f_close(&file);
f_mount(0, NULL);
return 1;
}
