uint32_t serial_getInt(uint8_t base){
char str[33]; // Lowest base taken is 2, and we're dealing with 32 bit integers.
char* ptr=str;
uint32_t ret=0;
if(base>36) return 0;
if(!serial_initialized) serial_init(); //safety
serial_gets(str, 33, '\r');
while(*ptr){
*ptr = toUpcase(*ptr);
if((*ptr > 47 && *ptr < 58) || (*ptr > 64 && *ptr < 91))
ret=toDec(*ptr, base)+ret*base;
ptr++;
}
return ret;
}
ssize_t serialchar_read(struct file *file, char *buf, size_t count, off_t offset)
{
(void)offset;
size_t retlen;
struct serial_info *serial = file->f_private;
while (serial->rx_count < count) {
set_current_state(TASK_INTERRUPTIBLE);
schedule();
}
if (count == 1)
return serial_getc(serial, buf);
if (serial_gets(serial, count, &retlen, buf) < 0)
return -1;
return retlen;
}
int main(){
int lineCounter=1;
led_init();
USART2_init(9600);
lcd_init();
serial_puts(USART2_Serial,"\nSystem ready\n");
serial_puts(LCD_Serial,"\fSystem ready\n");
while(1){
serial_printf(USART2_Serial,"%d$ ",lineCounter);
serial_gets(USART2_Serial,mybf,80);
serial_printf(USART2_Serial,"%s\n",mybf);
if(sscanf(mybf,"%s",wordBuffer) > 0){
serial_printf(USART2_Serial,"word: %s\n",wordBuffer);
serial_printf(LCD_Serial,"\fword: %s\n",wordBuffer);
serial_printf(USART2_Serial,"characters: %d\n",strlen(wordBuffer));
}
lineCounter++;
}
return 0;
}
int main(void)
{
memset(RX_BUF,0,4);
led_init();
nRF24L01_init();
motor_init(); //电机初始化
QuadCopter_init(&QuadCopter);
Delayms(10);
serial_init(115200);
LED_ON;
serial_printf("\nhhhhhahhahahha终于可以了 \n ");
// Delayms(100);
// serial_flush(&tx_ringbuf);
serial_putc('o');
serial_gets((char*)rxbuf);
while(1)
{
}
}
int main(int argc, char **argv) {
char buf[256];
int serial;
double rawx, rawy;
double velx = 0, vely = 0;
double posx = 0, posy = 0;
double accx, accy;
enum {
STATE_IDLE,
STATE_MEASURING,
} state = STATE_IDLE;
if(argc < 2) {
fprintf(stderr, "Usage: sensys-lab2 /dev/serial-port\n");
return 1;
}
if((serial = open_serial(argv[1], BAUDRATE)) < 0) {
fprintf(stderr, "Error: could not open serial port\n");
return 1;
}
serial_puts(serial, "AT+OSX=3\r\n");
serial_puts(serial, "AT+OSR=" STR(SAMPRATE) "\r\n"); //120 Hz sample rate
buf[255] = 0;
for(;;) {
serial_gets(serial, buf, 255);
if(sscanf(buf, "DATA AXL: %lf,%lf", &rawx, &rawy) < 2)
continue;
accx = ((rawx - BIASX)/SCALE)*G;
accy = ((rawy - BIASY)/SCALE)*G;
switch(state) {
case STATE_IDLE:
velx = vely = posx = posy = 0;
if(accy < STARTTHRESHOLD) {
printf("Starting measurement!\n");
state = STATE_MEASURING;
}
break;
case STATE_MEASURING:
velx += accx*DT;
vely += accy*DT;
posx += velx*DT;
posy += vely*DT;
if(accy > STOPTHRESHOLD) {
printf("Ending measurement!\n");
printf("Distance: %lf m\n", -posy);
state = STATE_IDLE;
}
break;
}
}
return 0;
}
