void oled_update_temp()
{
#define OFFSET1 16
short temp = get_temperature();
OLED_ShowNum(OFFSET1, 0, temp/10, 2, 32);
OLED_ShowChar(OFFSET1+8*2, 0, '.', 32, 1);
OLED_ShowNum(OFFSET1+8*3, 0, temp%10, 1, 32);
OLED_Refresh_Gram();
}
void Loop_50Hz() //20ms执行一次
{
time++;
if(time >= 50)
{
time = 0;
Time++;
OLED_ShowNum(0,0,Time/3600,2,16,0);
// OLED_ShowString(16,0,":");
OLED_ShowNum(24,0,Time%3600/60,2,16,0);
// OLED_ShowString(40,0,":");
OLED_ShowNum(48,0,Time%60,2,16,0);
}
}
void menu_Showsen()
{
OLED_ShowNum(16,0,sen.high,3,16,1);
OLED_ShowFloat(16,2,sen.angle.pitch,3);
OLED_ShowFloat(16,4,sen.angle.roll,3);
OLED_ShowFloat(16,6,sen.angle.yaw,3);
}
void mode3_Display(u8 angle)
{
OLED_ShowStr(0,4," ",2);
OLED_ShowStr(0,4,"angle: du",2);
OLED_ShowNum(angle);
}
void HeartRateCal(void)
{
if(InitFlag == 1)
{
MAX = Dataout;
MIN = Dataout;
heartrate = 0;
beats = 0;
counter = 0;
duration = 0;
InitFlag = 0;
}else if(Dataout > MAX)
{
MAX = Dataout;
}
else if(Dataout < MIN)
{
MIN = Dataout;
}
THR =(((long)(3 * MAX + MIN))>>2);
counter++;
duration++;
if (Dataout > THR) // ãÐÖµ¼ì²â
{
counter = 0;
}
if (counter == 500/8) // ÑÓʱfs/8Ïû¶¶
{
beats = 0;
heartrate = (30000/duration);
OLED_ShowNum(32,0,heartrate,16);
duration = 0;
}
if(duration > 500*3)
{
heartrate = 0;
OLED_ShowNum(32,0,heartrate,16);
duration = 0;
MIN = Dataout;
MAX = Dataout;
}
}
void osd_test(void)
{ u8 t;
OLED_Init(); //3?¨º??¡¥OLED
OLED_Clear() ;
t=' ';
OLED_ShowCHinese(0,0,0);//?D
OLED_ShowCHinese(18,0,1);//?¡ã
OLED_ShowCHinese(36,0,2);//?¡ã
OLED_ShowCHinese(54,0,3);//¦Ì?
OLED_ShowCHinese(72,0,4);//¡Á¨®
OLED_ShowCHinese(90,0,5);//??
OLED_ShowCHinese(108,0,6);//??
while(1)
{
OLED_Clear();
OLED_ShowCHinese(0,0,0);//?D
OLED_ShowCHinese(18,0,1);//?¡ã
OLED_ShowCHinese(36,0,2);//?¡ã
OLED_ShowCHinese(54,0,3);//¦Ì?
OLED_ShowCHinese(72,0,4);//¡Á¨®
OLED_ShowCHinese(90,0,5);//??
OLED_ShowCHinese(108,0,6);//??
OLED_ShowString(6,3,"0.96' OLED TEST",16);
OLED_ShowString(6,4,"0.96' OLED TEST",16);
OLED_ShowString(0,5,"0.96' OLED TEST",16);
OLED_ShowString(0,6,"0.96' OLED TEST",16);
OLED_ShowString(1,7,"0.96' OLED TEST",16);
OLED_ShowString(6,3,"0.96' OLED TEST",16);
//OLED_ShowString(8,2,"ZHONGJINGYUAN");
// OLED_ShowString(20,4,"2014/05/01");
OLED_ShowString(0,6,"ASCII:",16);
OLED_ShowString(63,6,"CODE:",16);
OLED_ShowChar(48,6,t,16);//??¨º?ASCII¡Á?¡¤?
t++;
if(t>'~')t=' ';
OLED_ShowNum(103,6,t,3,16);//??¨º?ASCII¡Á?¡¤?¦Ì????¦Ì
rt_thread_delay(1000*3);
OLED_DrawBMP(0,0,128,8,BMP1); //¨ª?????¨º?(¨ª?????¨º?¨¦¡Â¨®?¡ê?¨¦¨²3¨¦¦Ì?¡Á?¡À¨ª??¡ä¨®¡ê??¨¢??¨®????¨¤????¡ê?FLASH????8K¨°???¨¦¡Â¨®?)
rt_thread_delay(1000*3);
OLED_DrawBMP(0,0,128,8,BMP1);
rt_thread_delay(1000*3);
}
}
void receive_handle( uint8_t* data)
{
uint8_t i = 0;
uint8_t re_data[20];
uint8_t command = data[0];
uint8_t data_len = data[1]&GET_DATA_LEN;
uint8_t last_byte = data[data_len+2];
if(last_byte ==0x55) //表示全部字节接收完成，否则丢弃
{
for(i=0;i<data_len;i++)
re_data[i] = data[i+2];
if(command==SET_DEVICE_TIME)
{
timer.w_year = re_data[0]<<8 | re_data[1];
timer.w_month = re_data[2];
timer.w_date = re_data[3];
timer.hour = re_data[4];
timer.min = re_data[5];
timer.sec = re_data[6];
OLED_ShowNum(0,32,(uint32_t)timer.w_year,4,16);
OLED_ShowNum(40,32,(uint32_t)timer.w_month,2,16);
OLED_ShowNum(64,32,(uint32_t)timer.w_date,2,16);
OLED_ShowNum(88,32,(uint32_t)timer.hour,2,16);
OLED_ShowNum(112,32,(uint32_t)timer.min,2,16);
OLED_Refresh_Gram();
}
if(command==BOND_COMMAND)
{
for(i=0;i<data_len;i++)
{
user_profile.boundphone[i] = re_data[i];
}
user_profile.boundphone[PHONE_LEN -1] = 0 ;
printf("boundphone:%s\r\n",(char*)user_profile.boundphone);
}
}
}
void menu_Run()
{
switch(menu_Mode)
{
case show_time_1:
OLED_Clear(0,0,127,7);
OLED_ShowString(16,0,":");
OLED_ShowString(40,0,":");
menu_Showtime();
menu_Mode = show_time;
break;
case show_time :
menu_Showtime();
break;
case show_sen_1:
OLED_Clear(0,0,127,7);
OLED_ShowString(16+24,0,"cm");
OLED_ShowString(0,0,"H:");
OLED_ShowString(0,2,"P:");
OLED_ShowString(0,4,"R:");
OLED_ShowString(0,6,"Y:");
menu_Showsen();
menu_Mode = show_sen;
break;
case show_sen :
menu_Showsen();
break;
case set_sen_1:
OLED_ShowString(0,0,"S_Height:");
OLED_ShowString(0,2,"P_offset:");
OLED_ShowString(0,4,"R_offset:");
OLED_ShowString(0,6,"Y_offset:");
OLED_ShowNum(72,0,Expect.hight,3,18,0);
OLED_ShowFloat(72,2,sen.angle_test_offset.pitch - 10.00f,2);
OLED_ShowFloat(72,4,sen.angle_test_offset.roll - 10.00f,2);
OLED_ShowFloat(72,6,sen.angle_test_offset.yaw - 10.00f,2);
OLED_ShowChar(120,0,'S');
menu_Mode = set_sen;
break;
case set_sen:
menu_Setsen();
menu_Mode = show_time_1;
break;
default:
break;
}
}
void menu_Showtime()
{
OLED_ShowNum(0,0,Time/3600,2,16,0);
// OLED_ShowString(16,0,":");
OLED_ShowNum(24,0,Time%3600/60,2,16,0);
// OLED_ShowString(40,0,":");
OLED_ShowNum(48,0,Time%60,2,16,0);
OLED_ShowNum(0,2,img.CerPtx,3,16,1);
OLED_ShowNum(56,2,img.CerPty,3,16,1);
OLED_ShowNum(0,4,img.CerR,5,16,1);
OLED_ShowNum(60,4,img.rate,5,16,1);
}
void oled_update_step_count(void)
{
static bool flag = false;
OLED_Clear();
if(flag)
{
OLED_ShowImg(0, 0, PEDO_IMAGE_1, 1);
flag = false;
}
else
{
OLED_ShowImg(0, 0, PEDO_IMAGE_2, 1);
flag = true;
}
OLED_ShowNum(7, 0, get_the_step_count(), 6, 32);
OLED_Refresh_Gram();
}
void oled_test(void)
{
//Reset_IC();
Init_IC();
Clear_Screen();
All_Screen();
OLED_Clear();
OLED_ShowNum(0, 0, 2567890134, 10, 12);
OLED_ShowString(0, 12, "abcdefghijk");
while(1)
{
OLED_Refresh_Gram();
nrf_delay_ms(1500);
Clear_Screen();
}
}
void oled_default_mode()
{
#define OFFSET 0
static bool flag = false;
calendar temp_time = get_standard_time();
OLED_ShowNum(OFFSET, 0, temp_time.hour, 2, 32);
if(temp_time.hour < 10) OLED_ShowNum(OFFSET, 0, 0, 1, 32);
OLED_ShowChar(OFFSET+8*2, 0, ':', 32, 1);
OLED_ShowNum(OFFSET+8*3, 0, temp_time.minute, 2, 32);
if(temp_time.minute < 10) OLED_ShowNum(OFFSET+8*3, 0, 0, 1, 32);
OLED_ShowChar(OFFSET+8*5, 0, ':', 32, 1);
OLED_ShowNum(OFFSET+8*6, 0, temp_time.second, 2, 32);
if(temp_time.second < 10) OLED_ShowNum(OFFSET+8*6, 0, 0, 1, 32);
if(get_time_mode() == MINUTE_MODE)
{
if(flag)
{
OLED_ShowChar(OFFSET+8*5, 0, ' ', 32, 1);
flag = false;
}
else
{
OLED_ShowChar(OFFSET+8*5, 0, ':', 32, 1);
flag = true;
}
}
if(get_time_mode() == HOUR_MODE)
{
if(flag)
{
OLED_ShowChar(OFFSET+8*2, 0, ' ', 32, 1);
flag = false;
}
else
{
OLED_ShowChar(OFFSET+8*2, 0, ':', 32, 1);
flag = true;
}
}
OLED_Refresh_Gram();
}
/**************按键外部中断触发**************/
void EXTI15_10_IRQHandler(void)
{
if(EXTI_GetITStatus(EXTI_Line15)!=RESET)
{
//GetKeynum=GetKey();
printf("/r/nkeyget");
OLED_ShowString(0,0,"getkey");
OLED_ShowNum(50,0,keynum,2,16);
keynum++;
if(keynum%2)
{
IDrive_Down();
GP_Down();
Blooth_Down();
}
else
{
IDrive_ON();
GP_ON();
Blooth_ON();
}
}
EXTI_ClearITPendingBit(EXTI_Line15);
}
void osd_id_disp(u8 data)
{
OLED_ShowString(OSD_ID_START_ADDR,OSD_BAUDRATE_ID_Y_POS,"ID:",16);
if(data<10)
{
OLED_ShowNum(OSD_ID_NUM_START_ADDR,OSD_BAUDRATE_ID_Y_POS,0,1,16);
OLED_ShowNum(OSD_ID_NUM_START_ADDR+8,OSD_BAUDRATE_ID_Y_POS,0,1,16);
OLED_ShowNum(OSD_ID_NUM_START_ADDR+8+8,OSD_BAUDRATE_ID_Y_POS,data,1,16);
}
else if(data < 100)
{
OLED_ShowNum(OSD_ID_NUM_START_ADDR,OSD_BAUDRATE_ID_Y_POS,0,1,16);
OLED_ShowNum(OSD_ID_NUM_START_ADDR+8,OSD_BAUDRATE_ID_Y_POS,data,2,16);
}
else
{
OLED_ShowNum(OSD_ID_NUM_START_ADDR,OSD_BAUDRATE_ID_Y_POS,data,3,16);
}
}
void menu_Showtime()
{
OLED_ShowNum(0,0,Time/3600,2,16,0);
// OLED_ShowString(16,0,":");
OLED_ShowNum(24,0,Time%3600/60,2,16,0);
// OLED_ShowString(40,0,":");
OLED_ShowNum(48,0,Time%60,2,16,0);
OLED_ShowNum(0,2,img.CerPtx,3,16,1);
OLED_ShowNum(32,2,img.CerPty,3,16,1);
OLED_ShowNum(64,2,img.CerR,3,16,1);
OLED_ShowNum(98,2,img.rate,3,16,1);
OLED_ShowNum(0,4,img.Line[0].pt1x,3,16,1);
OLED_ShowNum(32,4,img.Line[0].pt1y,3,16,1);
OLED_ShowNum(64,4,img.Line[0].pt2x,3,16,1);
OLED_ShowNum(98,4,img.Line[0].pt2y,3,16,1);
switch(FLYMODE)
{
case CTRLP:
OLED_ShowString(50,6,"CTRLP");
break;
case _A_B_:
OLED_ShowString(50,6,"_A_B_");
break;
}
}
void mode5_Display(u8 r)
{
OLED_ShowStr(0,4," cm",2);
OLED_ShowStr(0,4,"R:",2);
OLED_ShowNum(r);
}
int main(void)
{
u8 len=0;
u8 temp[100];
u8 t=0;
u8 flag=0;
char mode='O';
long value=0;
u8 counter=0;
//char val2str[]="50";
char SelfCheck='O';
int D_val=0;
u8 SelfCheckCounter=0;
/////////////////////以上变量定义///////////////////////////
delay_init(72);
USART1_Init(19200);//与地面站传递命令
USART2_Init(115200);//与X86板子传递命令
USART3_Init(115200);//调试用
HCSR04_Init();
ResetOLED();
OLED_Init();
Key_Init();
///////////////以上初始化///////////////////////
OLED_ShowString(35,20,"READY",24);
OLED_Refresh_Gram();
delay_ms(1000);
OLED_Clear();
/////////////////////////////欢迎界面，提示准备工作/////////////////////////////////
while(KEY==1)
{
OLED_ShowString(0,0,"Self checking now...",12);
OLED_Refresh_Gram();
if(USART_RX2_STA&0x8000)
{
len=USART_RX2_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
temp[t]=Rx2Buf[t];
while((USART2->SR&0X40)==0);//等待发送结束
}
flag=1;
USART_RX2_STA=0;
}//接受来自X86的命令,用于自检。
if(flag==1)
{
SelfCheck=TempOrPressure(temp);
{
if(SelfCheck=='C')
{
value=ValueOfMea(temp);
if(value==1)
{
OLED_ShowString(0,15,"Environment ok",12);
SelfCheckCounter++;
}
if(value==2)
{
OLED_ShowString(0,30,"The data chain ok",12);
}
if(value==0)
{
OLED_ShowString(0,42,"Checking fail...",12);
}
}
}
memset(temp,0,sizeof(u8)*100);
flag=0;
}//先对开发环境进行自检，在VS下下发ok标志即可。
OLED_Refresh_Gram();
if(SelfCheckCounter==1)//如果已经通过了开发环境自检
{
while(KEY==1)//不按强制退出就一直自检，直到成功
{
if(DataChain_SelfTest()==1)//数据链自检完成
break;
else
continue;
}
SelfCheckCounter=0;
break;//在不按按键强制退出的情况下，只有自检成功了才能退出。
}
}
OLED_Clear();
/////////////////////////以上对上位机的自检，按键强制结束//////////////////
OLED_ShowString(0,0,"Parameters",16);
OLED_ShowString(0,16,"X=",12);
OLED_ShowString(0,28,"Y=",12);
OLED_ShowString(0,40,"S=",12);
OLED_ShowString(0,52,"D=",12);
OLED_Refresh_Gram();
flag=0;//复位flag
///////////显示参数////////////////////////////////
//AutoLaunch();
////////////////////////以上开始起飞/////////////////////////////////
while(1)
{
if(USART_RX2_STA&0x8000)
{
len=USART_RX2_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
temp[t]=Rx2Buf[t];
while((USART2->SR&0X40)==0);//等待发送结束
}
flag=1;
USART_RX2_STA=0;
//printf3("%s\r\n",temp);
}//接受来自X86的命令
if(flag==1)
{
mode=TempOrPressure(temp);
if(mode=='S')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"S\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_S_PARAM,value);
#endif
}
OLED_ShowNum(20,40,value,6,12);
// counter++;
}
if(mode=='X')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"X\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_X_PARAM,value);
#endif
}
OLED_ShowNum(20,16,value,6,12);
// counter++;
}
else if(mode=='Y')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"Y\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_Y_PARAM,value);
#endif
}
OLED_ShowNum(20,28,value,6,12);
// counter++;
}
{
delay_ms(10);//太小在透传情况下可能出问题？
{
D_val=HCSR04_GetDistance_Filter();
#ifdef __TRANSPARENT_MODE
printf1("\"D\":\"%ld\"\r\n",D_val);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_D_PARAM,value);
#endif
}
OLED_ShowNum(20,52,D_val,6,12);
// counter=0;
}//去掉了判断，每个周期都要做判断，同时进行距离的pid调控。
OLED_Refresh_Gram();
memset(temp,0,sizeof(u8)*100);
flag=0;
}
}
}
void mode2_Display(u8 lenth)
{
OLED_ShowStr(0,4," ",2);
OLED_ShowStr(0,4,"lenth: cm",2);
OLED_ShowNum(lenth);
}
void display_step_count()
{
OLED_ShowNum(36, 16, get_the_step_count(), 3, 16);
OLED_ShowString(0, 16, "SP:");
OLED_Refresh_Gram();
}
void menu_Setsen()
{
u8 position = 1;
while(1)
{
switch(Key_Scan())
{
case 1:
OLED_Clear(120,position*2-2,127,position*2-2+1);
position++;
if(position>4)
position = 1;
OLED_ShowChar(120,position*2-2,'S');
break;
case 2:
OLED_Clear(120,position*2-2,127,position*2-2+1);
position--;
if(position<1)
position = 4;
OLED_ShowChar(120,position*2-2,'S');
break;
case 3:
if(position==1)
{
Expect.hight++;
}
else if(position==2)
{
sen.angle_test_offset.pitch+=0.01f;
}
else if(position==3)
{
sen.angle_test_offset.roll+=0.01f;
}
else if(position==4)
{
sen.angle_test_offset.yaw+=0.01f;
}
break;
case 4:
if(position==1)
{
Expect.hight--;
}
else if(position==2)
{
sen.angle_test_offset.pitch-=0.01f;
}
else if(position==3)
{
sen.angle_test_offset.roll-=0.01f;
}
else if(position==4)
{
sen.angle_test_offset.yaw-=0.01f;
}
break;
case 5:
break;
case 6:
goto ret;
break;
default:
break;
}
OLED_ShowNum(72,0,Expect.hight,3,18,0);
OLED_ShowFloat(72,2,sen.angle_test_offset.pitch - 10.00f,2);
OLED_ShowFloat(72,4,sen.angle_test_offset.roll - 10.00f,2);
OLED_ShowFloat(72,6,sen.angle_test_offset.yaw - 10.00f,2);
}
ret: ;
}
/**
* @brief 串口打印输出
* @param None
* @retval None
*/
int main(void)
{
uint8_t data[64],BrailleDots[40],InPacket[2];
uint32_t i=0,ret=0,voltemp;
/************************系统初始化函数*****************************/
Set_System();//系统时钟初始化
power_initial(); //电源控制管脚初始化
USART_Configuration();//串口1初始化
GP_initial(); //MCU串口初始化
blooth_initial(); //蓝牙串口初始化
delay_init(); //延时函数初始化
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
OLED_Init(); //初始化OLED
ADC1_Init(); //初始化ADC1
//USB初始化
USB_Interrupts_Config();
Set_USBClock();
USB_Init();
/*******************************************************************/
Board_ON();//板载自锁供电
Blooth_Down(); //初始化关闭蓝牙
GP_Down(); //初始化关闭51单片机
IDrive_Down(); //初始化关闭恒流源
OLED_Clear(); //刷新
// OLED_ShowString(0,0, "DAISY IS HOT"); //字符串显示
OLED_ShowString(0,0, "Welcome to BD");
OLED_ShowString(0,2, "Starting...");
delay_ms(1000);
EXTI_PD2_Config(); //KEY外部中断检测
EXTI_PD3_Config(); //关机检测
//printf("\x0c\0");printf("\x0c\0");//超级终端清屏
//printf("\033[1;40;32m");//设置超级终端背景为黑色，字符为绿色
//开机测试
printf("\r\n*******************************************************************************");
printf("\r\n************************ Copyright 2009-2012, ViewTool ************************");
printf("\r\n*************************** http://www.viewtool.com ***************************");
printf("\r\n***************************** All Rights Reserved *****************************");
printf("\r\n*******************************************************************************");
printf("\r\n");
/*****************OLED显示*******************/
delay_ms(3000);
OLED_Clear(); //刷新
OLED_ShowString(0,0,"DISCHARGING...");
delay_ms(3000);
//OLED_DrawBMP(0,0,128,8,gImage_daisy);
//delay_ms(3000);
// blooth_printf(USART2,"blooth is OK");
//GP_printf
OLED_Clear();
/***********************************************/
// GPIO_SetBits(GPIOE,GPIO_Pin_3);
while(1)
{
/******************USB消息轮询*********************/
USBDataGet(data,BrailleDots,InPacket);
/****************************************************/
if(GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_12))
OLED_ShowString(0,0,"DISCHARGING");
else
OLED_ShowString(0,0,"CHARGING");
/***************电池电压检测******************/
ADC_ConvertedValueLocal =(float) ADC_ConvertedValue[1]/2048*3.3*1.07; // 读取转换的AD值、
printf("\r\n The PC4 current AD value = 0x%04X \r\n", ADC_ConvertedValue);
printf("\r\n The PC4 current AD value = %f V \r\n",ADC_ConvertedValueLocal);
OLED_ShowString(0,4,"ICPOWER=");
voltemp=ADC_ConvertedValueLocal*1000;
OLED_ShowNum(64,4,voltemp,4,16);
OLED_ShowString(100,4,"mv");
ADC_ConvertedValueLocal =(float) ADC_ConvertedValue[0]/2048*3.3*1.08;// 读取转换的AD值、
printf("\r\n The PC5 current AD value = 0x%04X \r\n", ADC_ConvertedValue);
printf("\r\n The PC5 current AD value = %f V \r\n",ADC_ConvertedValueLocal);
OLED_ShowString(0,6,"SYSPOWER=");
voltemp=ADC_ConvertedValueLocal*1000;
OLED_ShowNum(72,6,voltemp,4,16);
OLED_ShowString(108,6,"mv");
/****************************************************************/
/**********************蓝牙打印测试***********************/
blooth_printf(USART2,"\r\nblooth is ok!\r\n");
GP_printf(USART3,"\r\nMCU Connect\r\n");
/****************************************************************/
// IDrive_ON();
// printf("\r\nIC on");
Delay(0x0FFFEF);
Delay(0x0FFFEF);
Delay(0x0FFFEF);
Delay(0x0FFFEF);
Delay(0x0FFFEF);
Delay(0x0FFFEF);
// IDrive_Down();
// printf("\r\nIC down");
Delay(0x0FFFEF);
Delay(0x0FFFEF);
Delay(0x0FFFEF);
Delay(0x0FFFEF);
Delay(0x0FFFEF);
Delay(0x0FFFEF);
//GPIO_ResetBits(GPIOB,GPIO_Pin_13);
/*****************复位*********************/
}
}
