// 显示边框
void EntityObjectVisible::showBorder(bool show)
{
delayInit();
m_showBorder = show;
if(m_entityBorder)
{
m_entityBorder->setVisible(show);
}
}
// 显示实体
void EntityObjectVisible::showEntity(bool show)
{
delayInit();
m_showEntity = show;
if(m_alphaController)
{
m_object->getOgreEntity()->setVisible(show);
m_alphaController->setTransparency(1.0f);
}
}
void boardInit(void)
{
SystemCoreClockUpdate();
delayInit();
GPIOInit();
#ifdef CFG_PRINTF_UART
uartInit(CFG_UART_BAUDRATE);
#endif
/* Set user LED pin to output and disable it */
LPC_GPIO->DIR[CFG_LED_PORT] |= (1 << CFG_LED_PIN);
boardLED(CFG_LED_OFF);
/* Start Chibi */
#ifdef CFG_CHIBI
/* You may need to write a new address to EEPROM if it doesn't exist */
// uint16_t nodeaddr = 0xCAFE;
// uint64_t ieeeaddr = 0x123456780000CAFE;
// writeEEPROM((uint8_t*)CFG_EEPROM_CHIBI_NODEADDR, (uint8_t*)&nodeaddr, sizeof(nodeaddr));
// writeEEPROM((uint8_t*)CFG_EEPROM_CHIBI_IEEEADDR, (uint8_t*)&ieeeaddr, sizeof(ieeeaddr));
chb_init();
#endif
/* Initialise USB */
#ifdef CFG_USB
delay(500);
usb_init();
#endif
/* Initialise the LCD if requested */
#ifdef CFG_TFTLCD
lcdInit();
#endif
/* Start the command line interface */
#ifdef CFG_INTERFACE
cliInit();
#endif
/* Initialise the CC3000 WiFi module and connect to an AP */
#ifdef CFG_CC3000
/* Setup the CC3000 pins */
LPC_IOCON ->TRST_PIO0_14 &= ~0x07;
LPC_IOCON ->TRST_PIO0_14 |= 0x01;
LPC_IOCON ->PIO0_17 &= ~0x07;
LPC_IOCON ->PIO0_16 &= ~0x1F;
LPC_IOCON ->PIO0_16 |= (1<<4);
#endif
/* Turn the user LED on after init to indicate that everything is OK */
boardLED(CFG_LED_ON);
}
EntityObjectVisible::EntityObjectVisible(EntityObject *obj)
: m_object(obj)
, m_showBorder(false)
, m_showEntity(false)
, m_showPlacingEntity(false)
, m_scene(0)
, m_alphaController(0)
, m_collisionEntity(0)
, m_entityBorder(0)
{
m_scene = m_object->getScene();
delayInit();
}
void boardInit(void)
{
SystemCoreClockUpdate();
delayInit();
GPIOInit();
#ifdef CFG_PRINTF_UART
uartInit(CFG_UART_BAUDRATE);
#endif
/* Set user LED pin to output and disable it */
LPC_GPIO->DIR[CFG_LED_PORT] |= (1 << CFG_LED_PIN);
boardLED(CFG_LED_OFF);
/* Start Chibi */
#ifdef CFG_CHIBI
/* You may need to write a new address to EEPROM if it doesn't exist */
// uint16_t nodeaddr = 0xCAFE;
// uint64_t ieeeaddr = 0x123456780000CAFE;
// writeEEPROM((uint8_t*)CFG_EEPROM_CHIBI_NODEADDR, (uint8_t*)&nodeaddr, sizeof(nodeaddr));
// writeEEPROM((uint8_t*)CFG_EEPROM_CHIBI_IEEEADDR, (uint8_t*)&ieeeaddr, sizeof(ieeeaddr));
chb_init();
#endif
/* Initialise USB */
#ifdef CFG_USB
delay(500);
usb_init();
#endif
/* Initialise the LCD if requested */
#ifdef CFG_TFTLCD
lcdInit();
#endif
/* Start the command line interface */
#ifdef CFG_INTERFACE
cliInit();
#endif
/* Start CC3000 WiFi Module */
#ifdef CFG_CC3000
// ToDo: Make sure CC3000 pins are multiplexed to the correct function
// since the init code only sets gpio dir, etc.
// ToDo: Init anything else required for the CC3000!
#endif
/* Turn the user LED on after init to indicate that everything is OK */
boardLED(CFG_LED_ON);
}
void userInit(void)
{
delayInit(72);
uartxInit();
rgbLedInit();
ledGpioInit();
rgbKeyGpioInit();
motorInit();
dht11Init();
irInit();
watchdogInit(2); //5,625看门狗复位时间2s
memset((uint8_t*)&reportData, 0, sizeof(gizwitsReport_t));
reportData.devStatus.Motor_Speed = protocolExchangeBytes(Y2X(MOTOR_SPEED_RATIO,MOTOR_SPEED_ADDITION,MOTOR_SPEED_DEFAULT));
motorStatus(MOTOR_SPEED_DEFAULT);
}
// 显示正在摆放的模型
void EntityObjectVisible::showPlacingEntity(bool show)
{
delayInit();
m_showPlacingEntity = show;
if(m_alphaController)
{
if(show)
{
m_object->getOgreEntity()->setVisible(true);
m_alphaController->setTransparency(0.5f);
}
else
{
showEntity(isShowEntity());
}
}
}
int main(void)
{
/* Initialise the Due board */
sysclk_init();
board_init();
delayInit();
daccInit();
analogInit(1);
if (xTaskCreate(task_PID, (const signed char * const) "Task_PID", TASK_STACK_PID_SIZE, NULL, TASK_PID_STACK_PRIORITY, NULL) != pdPASS)
{
printf("Failed to create PID task\r\n");
}
/*
if (xTaskCreate(task_Matlab, (const signed char * const) "Task_Matlab", TASK_STACK_MATLAB_SIZE, NULL, TASK_MATLAB_STACK_PRIORITY, NULL) != pdPASS)
{
printf("Failed to create Matlab task\r\n");
}*/
vTaskStartScheduler();
}
