/*************命令处理函数***********************/
void deal_action(char *cmd)
{
rt_kprintf("处理动作指令:%s\n",cmd);
if(strcmp(cmd,"remot")==0)
{
rt_kprintf("发送接收红外邮件\n");
rt_mb_send(&dfs_mb,(rt_uint32_t)act1);//发送邮件
}
else if(strcmp(cmd,"serem")==0)
{
rt_kprintf("发送发射红外邮件\n");
rt_mb_send(&dfs_mb,(rt_uint32_t)act2);
}
else if(strcmp(cmd,"wakup")==0)
{
rt_kprintf("接收到命令，系统进入唤醒\n");
sys_wake=1;
sys_wake_count=0;
}
else if(strcmp(cmd,"sleep")==0)
{
sys_wake=0;
sys_wake_count=0;
rt_kprintf("接收到命令，系统进入睡眠\n");
}
else return ;
}
/* 线程2入口 */
static void thread2_entry(void* parameter)
{
rt_uint8_t count;
count = 0;
while (count < 10)
{
count ++;
if (count & 0x1)
{
/* 发送mb_str1地址到邮箱中 */
rt_mb_send(&mb, (rt_uint32_t)&mb_str1[0]);
}
else
{
/* 发送mb_str2地址到邮箱中 */
rt_mb_send(&mb, (rt_uint32_t)&mb_str2[0]);
}
/* 延时20个OS Tick */
rt_thread_delay(20);
}
/* 发送邮件告诉线程1，线程2已经运行结束 */
rt_mb_send(&mb, (rt_uint32_t)&mb_str3[0]);
}
err_t sys_mbox_trypost(sys_mbox_t *mbox, void *msg)
{
if (rt_mb_send(*mbox, (rt_uint32_t)msg) == RT_EOK)
return ERR_OK;
return ERR_MEM;
}
static err_t ethernetif_linkoutput(struct netif *netif, struct pbuf *p)
{
#ifndef LWIP_NO_TX_THREAD
struct eth_tx_msg msg;
struct eth_device* enetif;
RT_ASSERT(netif != RT_NULL);
enetif = (struct eth_device*)netif->state;
/* send a message to eth tx thread */
msg.netif = netif;
msg.buf = p;
if (rt_mb_send(ð_tx_thread_mb, (rt_uint32_t) &msg) == RT_EOK)
{
/* waiting for ack */
rt_sem_take(&(enetif->tx_ack), RT_WAITING_FOREVER);
}
#else
struct eth_device* enetif;
RT_ASSERT(netif != RT_NULL);
enetif = (struct eth_device*)netif->state;
if (enetif->eth_tx(&(enetif->parent), p) != RT_EOK)
{
return ERR_IF;
}
#endif
return ERR_OK;
}
static void resp_handler(struct spi_wifi_eth *wifi_device, struct spi_wifi_resp *resp)
{
struct spi_wifi_resp *resp_return;
switch (resp->cmd)
{
case SPI_WIFI_CMD_INIT:
WIFI_DEBUG("resp_handler SPI_WIFI_CMD_INIT\n");
resp_return = (struct spi_wifi_resp *)rt_malloc(sizeof(struct spi_wifi_resp)); //TODO:
memcpy(resp_return, resp, 10);
rt_mb_send(&wifi_device->spi_wifi_cmd_mb, (rt_uint32_t)resp_return);
break;
case SPI_WIFI_CMD_SCAN:
WIFI_DEBUG("resp_handler SPI_WIFI_CMD_SCAN\n");
break;
case SPI_WIFI_CMD_JOIN:
WIFI_DEBUG("resp_handler SPI_WIFI_CMD_JOIN\n");
wifi_device->active = 1;
eth_device_linkchange(&wifi_device->parent, RT_TRUE);
break;
default:
WIFI_DEBUG("resp_handler %d\n", resp->cmd);
break;
}
}
static void led1_thread_entry(void* parameter)
{
/*在LED1线程中初始化LED的GPIO配置*/
LED_GPIO_Config();
while(1)
{
//rt_kprintf ( "\r\n LED1 is going!!!\r\n");
LED1(ON);//点亮LED1
rt_thread_delay(100);//调用RTT的API将当前线程挂起200ticks，也就是1sec
LED1(OFF);//关闭LED1
rt_thread_delay(100);
if(bMp3Play == 0)
sys_wake_count++;
if(sys_wake_count==sys_default_count)
{
sys_wake_count=0;
if(sys_wake)
{
sys_wake=0;
rt_kprintf("系统进入休眠状态,如需使用请唤醒!\r\n");
rt_mb_send(&mb,(rt_uint32_t)sys_down_mp3);//发送邮件
}
}
}
}
Int32 eth_device_ready(struct eth_device* dev)
{
if (dev->netif)
/* post message to Ethernet thread */
return rt_mb_send(ð_rx_thread_mb, (UInt32)dev);
else
return ERR_OK; /* netif is not initialized yet, just return. */
}
rt_err_t rtgui_ack(rtgui_event_t *event, rt_int32_t status)
{
RT_ASSERT(event != RT_NULL);
RT_ASSERT(event->ack != RT_NULL);
rt_mb_send(event->ack, status);
return RT_EOK;
}
void LED2_control(char *cmd,char state)
{
if(state)
LED2(ON);//非0表示LED2开启
else
LED2(OFF);
rt_kprintf("LD2控制线程发送邮件:%s",cmd);
rt_mb_send(&dfs_mb,(rt_uint32_t)cmd);//发送邮件
}
rt_err_t rtgui_thread_ack(rtgui_event_t* event, rt_int32_t status)
{
if (event != RT_NULL &&
event->ack != RT_NULL)
{
rt_mb_send(event->ack, status);
}
return RT_EOK;
}
err_t sys_mbox_trypost(sys_mbox_t mbox, void *msg)
{
#if SYS_DEBUG
{
struct rt_thread *thread;
thread = rt_thread_self();
LWIP_DEBUGF(SYS_DEBUG, ("%s, Post mail: %s ,0x%x\n",thread->name,
mbox->parent.parent.name, (rt_uint32_t)msg));
}
#endif
if (rt_mb_send(mbox, (rt_uint32_t)msg) == RT_EOK) return ERR_OK;
return ERR_MEM;
}
void sys_mbox_post(sys_mbox_t mbox, void *msg)
{
#if SYS_DEBUG
{
struct rt_thread *thread;
thread = rt_thread_self();
LWIP_DEBUGF(SYS_DEBUG, ("%s, Post mail: %s ,0x%x\n",thread->name,
mbox->parent.parent.name, (rt_uint32_t)msg));
}
#endif
rt_mb_send(mbox, (rt_uint32_t)msg);
return;
}
rt_err_t eth_device_linkchange(struct eth_device* dev, rt_bool_t up)
{
rt_uint32_t level;
RT_ASSERT(dev != RT_NULL);
level = rt_hw_interrupt_disable();
dev->link_changed = 0x01;
if (up == RT_TRUE)
dev->link_status = 0x01;
else
dev->link_status = 0x00;
rt_hw_interrupt_enable(level);
/* post message to ethernet thread */
return rt_mb_send(ð_rx_thread_mb, (rt_uint32_t)dev);
}
Int32 eth_device_linkchange(struct eth_device* dev, rt_bool_t up)
{
UInt32 level;
assert(dev != NULL);
level = rt_hw_interrupt_disable();
dev->link_changed = 0x01;
if (up == RT_TRUE)
dev->link_status = 0x01;
else
dev->link_status = 0x00;
rt_hw_interrupt_enable(level);
/* post message to ethernet thread */
return rt_mb_send(ð_rx_thread_mb, (UInt32)dev);
}
err_t ethernetif_linkoutput(struct netif *netif, struct pbuf *p)
{
struct eth_tx_msg msg;
struct eth_device* enetif;
enetif = (struct eth_device*)netif->state;
/* send a message to eth tx thread */
msg.netif = netif;
msg.buf = p;
if (rt_mb_send(ð_tx_thread_mb, (rt_uint32_t) &msg) == RT_EOK) {
/* waiting for ack */
rt_sem_take(&(enetif->tx_ack), RT_WAITING_FOREVER);
}
return ERR_OK;
}
void mmcsd_change(struct rt_mmcsd_host *host)
{
rt_mb_send(&mmcsd_detect_mb, (rt_uint32_t)host);
}
static void msg( void *plcdmsg )
{
LCD_MSG * plcd_msg = (LCD_MSG* )plcdmsg;
char ch,buf[100];
uint32_t i;
void *pmsg;
if( plcd_msg->id == LCD_MSG_ID_GPS )
{
if( ( gps_fixed_sec == 0 ) && ( plcd_msg->info.gps_rmc.gps_av == 'A' ) )
{
gps_fixed_sec = rt_tick_get( ) * 10 / 1000;
test_flag|=TEST_BIT_GPS;
sprintf( buf, "%02d:%02d", gps_fixed_sec / 60, gps_fixed_sec % 60 );
lcd_asc0608( 0, 8, buf, LCD_MODE_SET );
i=sprintf(buf,"AT%%TTS=2,3,5,\"475053D2D1B6A8CEBB\"\r\n",ch+0x30);
buf[i]=0;
pmsg=rt_malloc(i+1);
if(pmsg!=RT_NULL)
{
memcpy(pmsg,buf,i+1);
rt_mb_send(&mb_tts,(rt_uint32_t)pmsg);
}
}
year=plcd_msg->info.gps_rmc.year;
month=plcd_msg->info.gps_rmc.month;
day= plcd_msg->info.gps_rmc.day;
hour= plcd_msg->info.gps_rmc.hour;
minute= plcd_msg->info.gps_rmc.minitue;
sec= plcd_msg->info.gps_rmc.sec;
time_set(hour,minute,sec);
date_set(year,month,day);
sprintf( buf, "%c%02d-%02d %02d:%02d:%02d",
plcd_msg->info.gps_rmc.gps_av,month,day,hour,minute,sec );
lcd_asc0608( 122 - 6 * 15, 8, buf, LCD_MODE_SET );
}
if( plcd_msg->id == LCD_MSG_ID_GSM )
{
if( plcd_msg->info.payload[0] == 1 ) /*通话*/
{
rt_kprintf( "\r\nIncoming Call" );
pscr = &scr_2_call;
pscr->show( &scr_1_idle );
}
}
if(plcd_msg->id == LCD_MSG_ID_GPRS)
{
gprs_ok_past_sec=rt_tick_get()/100;
test_flag|=TEST_BIT_GPRS;
}
if(plcd_msg->id == LCD_MSG_ID_MEMS)
{
mems_status=plcd_msg->info.payload[0];
}
if(plcd_msg->id == LCD_MSG_ID_CAM)
{
ch=plcd_msg->info.payload[0];
switch(ch)
{
case 1: test_flag|=TEST_BIT_CAM1; break;
case 2: test_flag|=TEST_BIT_CAM2; break;
case 3: test_flag|=TEST_BIT_CAM3; break;
case 4: test_flag|=TEST_BIT_CAM4; break;
}
if(plcd_msg->info.payload[1]==SUCCESS)
{
i=sprintf(buf,"AT%%TTS=2,3,5,\"C5C4D5D5%02xD5FDB3A3\"\r\n",ch+0x30);
cam_ch[ch-1]=0x30+ch;
lcd_asc0608( 122 - 6*8-4, 24, cam_ch, LCD_MODE_SET );
}
else
{
i=sprintf(buf,"AT%%TTS=2,3,5,\"C5C4D5D5%02xD2ECB3A3\"\r\n",ch+0x30);
}
buf[i]=0;
pmsg=rt_malloc(i+1);
if(pmsg!=RT_NULL)
{
memcpy(pmsg,buf,i+1);
rt_mb_send(&mb_tts,(rt_uint32_t)pmsg);
}
}
if(plcd_msg->id == LCD_MSG_ID_ICCARD)
{
iccard_beep_timeout=10;
card_status=plcd_msg->info.payload[0];
if(card_status==IC_PLUG_OUT)
{
i=sprintf(buf,"AT%%TTS=2,3,5,\"4943BFA8B0CEB3F6\"\r\n\0");/*IC卡拔出*/
pmsg=rt_malloc(i);
if(pmsg!=RT_NULL)
{
memcpy(pmsg,buf,i);
rt_mb_send(&mb_tts,(rt_uint32_t)pmsg);
}
}
if(card_status==IC_READ_OK)
{
i=sprintf(buf,"AT%%TTS=2,3,5,\"4943BFA8D5FDB3A3\"\r\n\0"); /*IC卡正常*/
pmsg=rt_malloc(i);
if(pmsg!=RT_NULL)
{
memcpy(pmsg,buf,i);
rt_mb_send(&mb_tts,(rt_uint32_t)pmsg);
}
}
if(card_status==IC_READ_ERR)
{
i=sprintf(buf,"AT%%TTS=2,3,5,\"4943BFA8B4EDCEF3\"\r\n\0"); /*IC卡错误*/
pmsg=rt_malloc(i);
if(pmsg!=RT_NULL)
{
memcpy(pmsg,buf,i);
rt_mb_send(&mb_tts,(rt_uint32_t)pmsg);
}
}
test_flag|=TEST_BIT_ICCARD;
}
if(plcd_msg->id == LCD_MSG_ID_RTC)
{
memset(buf,0,32);
if(plcd_msg->info.payload[0]==SUCCESS)
{
i=sprintf(buf,"AT%%TTS=2,3,5,\"525443D5FDB3A3\"\r\n",ch+0x30);
test_flag|=TEST_BIT_RTC;
rtc_ok=1;
}
else
{
i=sprintf(buf,"AT%%TTS=2,3,5,\"525443D2ECB3A3\"\r\n",ch+0x30);
}
rt_kprintf("\r\nRTC len=%d\r\n",i);
buf[i]=0;
pmsg=rt_malloc(i+1);
if(pmsg!=RT_NULL)
{
memcpy(pmsg,buf,i+1);
rt_mb_send(&mb_tts,(rt_uint32_t)pmsg);
}
}
if(plcd_msg->id == LCD_MSG_ID_CSQ)
{
gsm_csq=plcd_msg->info.payload[0];
rt_kprintf("\r\ncsq=%d",gsm_csq);
}
if(test_flag==TEST_BIT_ALL)
{
i=sprintf(buf,"AT%%TTS=2,3,5,\"B2E2CAD4CDEAB3C9\"\r\n");
buf[i]=0;
pmsg=rt_malloc(i+1);
if(pmsg!=RT_NULL)
{
memcpy(pmsg,buf,i+1);
rt_mb_send(&mb_tts,(rt_uint32_t)pmsg);
}
}
showinfo();
}
static void led3_thread_entry(void* parameter)
{
rt_kprintf ( "\r\n led3_thread_entry!!\r\n");
irmp_init(); // initialize irmp
irsnd_init();
timer2_init(); // initialize timer2
rt_kprintf ( "\r\n 红外收发系统初始化完成!\r\n");
for (;;)
{
char *str;
// rt_kprintf ( "IRMP is going!!!\r\n");
rt_thread_delay(1);
if(RT_EOK== (rt_mb_recv(&dfs_mb,(rt_uint32_t*)&str,RT_WAITING_NO)))
{rt_kprintf("接收到控制邮件，数据为 %s",str);
// TIM_Cmd(TIM2, ENABLE);
if(strcmp(str,"getremote")==0)
hot_remote_state=1;
if(strcmp(str,"sendremote")==0)
hot_remote_send=1;
}
if (irmp_get_data (&irmp_data))
{
rt_kprintf("接收红外信号编码方式: %s",irmp_protocol_names[irmp_data.protocol]);
rt_kprintf(" 编码地址: 0x%2X",irmp_data.address);
rt_kprintf(" 命令: 0x%2X",irmp_data.command);
rt_kprintf(" 标志位: 0x%2X\r\n",irmp_data.flags );
if(1==hot_remote_state)
{
hot_remote_state=2;
irmp_data1=irmp_data;
rt_mb_send(&mb,(rt_uint32_t)get_remot1_mp3);//发送邮件
rt_kprintf("红外接收完成第一次\n" );
}
else if(2==hot_remote_state)
{
if(irmp_data1.command==irmp_data.command)
{
rt_kprintf("红外接收完成第二次,验证通过\n" );
rt_mb_send(&mb,(rt_uint32_t)get_remot2_mp3);//发送邮件
hot_remote_state=0;
// TIM_Cmd(TIM2, DISABLE);
}
else {
rt_kprintf("红外接收完成第二次,验证不通过，再次接收红外数据\n" );
rt_mb_send(&mb,(rt_uint32_t)check_fail_mp3);//发送邮件
hot_remote_state=1;
}
}
}
if(hot_remote_send)
{
hot_remote_send=0;
// TIM_Cmd(TIM2, ENABLE);
/* irmp_data.protocol = IRMP_SAMSUNG32_PROTOCOL; // use NEC protocol
irmp_data.address = 0x0e0e; // set address to 0x00FF
irmp_data.command = 0xf30c; // set command to 0x0001
irmp_data.flags = 0; // don't repeat frame*/
irsnd_send_data (&irmp_data, TRUE); // send frame, wait for completion // don't repeat frame
rt_mb_send(&mb,(rt_uint32_t)sen_remot_mp3);
rt_kprintf("发送红外数据完成\n");
rt_kprintf("发射红外信号编码方式: %s",irmp_protocol_names[irmp_data.protocol]);
rt_kprintf(" 编码地址: 0x%2X",irmp_data.address);
rt_kprintf(" 命令: 0x%2X",irmp_data.command);
rt_kprintf(" 标志位: 0x%2X\r\n",irmp_data.flags );
// TIM_Cmd(TIM2, DISABLE);
}
}
}
/*
* 函数名: rt_thread_entry_handle
* 描 述: 手柄线程的入口函数
* 输 入: 无
* 输 出: 无
* 调 用: 内部调用
* 说 明:
*/
static void rt_thread_entry_handle(void* parameter)
{
double Handle_Speed_X;
double Handle_Speed_Y;
double Handle_Speed_Rotation;
struct Point temp_point;
struct Point now_point;
u32 temp,temp2;
u8 delay_flag = 1;
u8 hall_flag = 0;
u8 time_flag = 1,time_flag2 = 1;
u8 handleoff_flag = 1,handleoff_flag2 = 1;
u8 flag[6] = {0}; //对应电机的运行状态
int16_t Speed_M = 500;
float pos_openfan = 4;
extern float Motor2_Aim_Pos[];
extern u8 Motor2_Time_Flag;
u8 x_con_flag = 0; //X方向闭环
u8 XY_Only = 0;
Handle_Speed_X = 0;
Handle_Speed_Y = 0;
HandleData_X.lr= 12288;
HandleData_Y.lr= 12288;
TIM2->CNT = 0;
while(1)
{
temp = *handle_count;
temp2 = *handle_count2;
while(*handle_count == temp)
{
time_flag++;
Delay_ms(5);
if(time_flag > 60)//超时
{
time_flag = 0;
handle_timeout_flag = 1;
if(handleoff_flag)
{
Handle_Off_Count++;
handleoff_flag = 0;
}
break;
}
}
while(*handle_count2 == temp2)
{
time_flag2++;
Delay_ms(5);
if(time_flag2 > 60)//超时
{
time_flag2 = 0;
handle_timeout_flag2 = 1;
if(handleoff_flag2)
{
Handle_Off_Count2++;
handleoff_flag2 = 0;
}
break;
}
}
if(time_flag||time_flag2)//手柄工作正常
{
time_flag = 1;
time_flag2 = 1;
handle_timeout_flag = 0;
handle_timeout_flag2 = 0;
handleoff_flag = 1;
handleoff_flag2 = 1;
Handle_Speed_X = HandleData_X.lr-12288;
Handle_Speed_Y = HandleData_Y.lr-12288;
Handle_Speed_Rotation = 0;
//Handle_Speed_Y = HandleData_Y.ud-12288;
//Handle_Speed_Rotation = (HandleData_X.turn-12288)/10.0;
if(Button10_On && Button7_Off)
{
Handle_Speed_X /= 10.0;
Handle_Speed_Y /= 10.0;
Handle_Speed_Rotation /= 10.0;
Speed_M = 150;
}
else
Speed_M = 500;
if(Button9_On)
{
// HandoverFlag[0]=1;
// HandoverFlag[1]=1;
// HandoverFlag[2]=0;
// PoleFlag = 1;
// SwingFlag = 1;
}
if(Button9_Off)
{
// HandoverFlag[0]=0;
// HandoverFlag[1]=0;
// HandoverFlag[2]=0;
// PoleFlag = 0;
// SwingFlag = 0;
}
if(XY_Only)
{
// Handle_Speed_X=0;
Handle_Speed_Rotation=0;
}
if(GROUND==RED_GROUND)
{
Handle_Speed_X = -Handle_Speed_X;
Handle_Speed_Y = -Handle_Speed_Y;
}
if(x_con_flag)
{
temp_point.x = GPS.position.x + Handle_Speed_X*cos(GPS.radian);
temp_point.y = GPS.position.y + Handle_Speed_X*sin(GPS.radian);
SetSpeed(Speed_X,Speed_Y+Handle_Speed_Y,Speed_Rotation+Handle_Speed_Rotation);
EasyLine(temp_point,GPS.radian,Abs(Handle_Speed_X));
}
else
SetSpeed(Speed_X+Handle_Speed_X,Speed_Y+Handle_Speed_Y,Speed_Rotation+Handle_Speed_Rotation);
//SetSpeed(Speed_X,Speed_Y,Speed_Rotation+Handle_Speed_Rotation); //手柄前后出现问题，先无视之。。。
/*********************************上层动作控制***********************************/
//------------单键控制电机------------//
if(Button1_Up && Button7_Off && flag[1]==0)
{
flag[1]=1;
Moto_Set_GSpeed(W_MOTOR1_OLD_ID, 4*Speed_M);
}
if(Button1_Down && Button7_Off && flag[1]==0)
{
flag[1]=1;
Moto_Set_GSpeed(W_MOTOR1_OLD_ID, -4*Speed_M);
}
if(Button1_Off && (flag[1]==1))
{
flag[1]=0;
Moto_Stop(W_MOTOR1_OLD_ID);
}
if(Button2_Up && Button7_Off && flag[2]==0)
{
flag[2]=1;
Moto_Set_GSpeed(W_MOTOR2_OLD_ID, -3*Speed_M);
}
if(Button2_Down && Button7_Off && flag[2]==0)
{
flag[2]=1;
Moto_Set_GSpeed(W_MOTOR2_OLD_ID, 3*Speed_M);
}
if(Button2_Off && (flag[2]==1))
{
Moto_Stop(W_MOTOR2_OLD_ID);
flag[2]=0;
}
if(Button3_Up && Button7_Off && flag[3]==0)
{
flag[3]=1;
Moto_Set_GSpeed(W_MOTOR3_OLD_ID, -30*Speed_M);
}
if(Button3_Down && Button7_Off && flag[3]==0)
{
flag[3]=1;
Moto_Set_GSpeed(W_MOTOR3_OLD_ID, 30*Speed_M);
}
if(Button3_Off && (flag[3]==1))
{
flag[3]=0;
Moto_Stop(W_MOTOR3_OLD_ID);
}
//------------涵道------------//
if(Button4_Up && Button7_Off && Button10_Off)
{
Fan_Duty(L_CH,60.0);
Fan_Duty(R_CH,60.0);
}
if(Button4_Down && Button7_Off && Button10_Off)
{
Fan_Stop();
}
//------------霍尔------------//
if(Button5_Up && Button7_Off && Button10_Off && hall_flag == 0)
{
hall_flag = 1;
if(Hall_Count > 6) Hall_Count=1;
Hall_Send(Hall_Count);
}
if(Button5_Down && Button7_Off && Button10_Off && hall_flag == 0)
{
hall_flag = 1;
if(Hall_Count > 1) Hall_Count -= 2;
Hall_Send(Hall_Count);
}
if(Button5_Off && hall_flag == 1)
{
hall_flag = 0;
}
//------------双键组合用来控制电磁阀，7键为第二功能键------------//
if(Button6_Up && Button7_Off && Button10_Off){
HandPush();
}
if(Button6_Down && Button7_Off && Button10_Off){
HandPushOff();
}
//缓冲装置
if(Button1_Up && Button7_On && Button10_Off){
BufferOn();
}
if(Button1_Down && Button7_On && Button10_Off){
BufferOff();
}
//旋转调姿
if(Button2_Up && Button7_On && Button10_Off){
HandTurnRight();
}
if(Button2_Down && Button7_On && Button10_Off){
HandTurnLeft();
}
//俯仰调姿
if(Button3_Up && Button7_On && Button10_Off){
HandRaise();
}
if(Button3_Down && Button7_On && Button10_Off){
HandFall();
}
//放置大炮
if(Button4_Up && Button7_On && Button10_Off){
GunOn();
}
if(Button4_Down && Button7_On && Button10_Off){
GunOff();
}
//开炮
if(Button5_Up && Button7_On && Button10_Off){
FireOn();
}
if(Button5_Down && Button7_On && Button10_Off){
FireOff();
}
//交接爪
if(Button6_Up && Button7_On && Button10_Off){
HandOpen();
}
if(Button6_Down && Button7_On && Button10_Off){
HandClose();
}
//------------双键组合用来控制上下电机的位置，10键为第二功能键------------//
if(Button4_Up && Button7_Off && Button10_On){
Moto_Set_GPos(W_MOTOR2_OLD_ID,Motor2_Aim_Pos[0]);
}
if(Button4_Down && Button7_Off && Button10_On){
Moto_Set_GPos(W_MOTOR2_OLD_ID,Motor2_Aim_Pos[2]);
}
if(Button5_Up && Button7_Off && Button10_On){
Moto_Set_GPos(W_MOTOR2_OLD_ID,Motor2_Aim_Pos[4]);
}
if(Button5_Down && Button7_Off && Button10_On){
Moto_Set_GPos(W_MOTOR2_OLD_ID,Motor2_Aim_Pos[6]);
}
if(Button6_Up && Button7_Off && Button10_On){
HandUD(0,NO);
Delay_ms(500);
HandClose();//关爪子
HandFB(0,NO,3500);
FireOn();//开炮
Delay_ms(100);
now_point.x = GPS.position.x-700*cos(GPS.radian);
now_point.y = GPS.position.y-700*sin(GPS.radian);
SetLine(now_point,GPS.radian,100,1200,0);
while(1)
{
GoLine();
SetSpeed(Speed_X+Handle_Speed_X,Speed_Y+Handle_Speed_Y,Speed_Rotation+Handle_Speed_Rotation);
if(delay_flag)
delay_flag++;
if(delay_flag>100)
{
delay_flag = 0;
FireOff();
}
if(GetLength(GPS.position,now_point) < 10)
{
SPEED_STOP;
break;
}
Delay_ms(5);
}
delay_flag = 1;
FireClear();
Delay_ms(50);
BufferOn();//打开缓冲装置
Delay_ms(500);
BufferOff();//重新复位缓冲装置
}
if(Button6_Down && Button7_Off && Button10_On){
now_point.x = GPS.position.x+680*cos(GPS.radian);
now_point.y = GPS.position.y+680*sin(GPS.radian);
SetLine(now_point,GPS.radian,300,1200,0);
HandFB(Motor1_Aim_Pos[4],NO,3500);//抓取自动机器人
while(1)
{
GoLine();
SetSpeed(Speed_X+Handle_Speed_X,Speed_Y+Handle_Speed_Y,Speed_Rotation+Handle_Speed_Rotation);
if(GetLength(GPS.position,now_point) < 10)
{
SPEED_STOP;
break;
}
Delay_ms(5);
}
SetSpeed(Speed_X,Speed_Y,Speed_Rotation);
HandUD(0.5,NO);
HandOpen();//松开爪子
Delay_ms(300);
FireOff();
BufferOn();//打开缓冲装置
}
//三键组合用来重复任务
if(Button1_Up && Button7_On && Button10_On){
Retry = 1;
RouteFinish=0;
Hall_Send(1);//翘翘板初始化
rt_mb_send(&Mb_Emergency, 7);
rt_mb_send (&Mb_Arm, 1);
}
if(Button2_Up && Button7_On && Button10_On){
Retry = 1;
RouteFinish=0;
Hall_Send(2);//梅花桩初始化
rt_mb_send(&Mb_Emergency, 7);
rt_mb_send (&Mb_Arm, 4);
}
if(Button3_Up && Button7_On && Button10_On){
Retry = 1;
RouteFinish=0;
Hall_Send(4);//秋千初始化
rt_mb_send(&Mb_Emergency, 7);
rt_mb_send (&Mb_Arm, 6);
}
if(Button4_Up && Button7_On && Button10_On){
Retry = 1;
RouteFinish=0;
Hall_Send(6);//楼梯初始化
rt_mb_send(&Mb_Emergency, 7);
rt_mb_send (&Mb_Arm, 7);
}
if(Button5_Up && Button7_On && Button10_On){
rt_mb_send(&Mb_Emergency, 6);
}
if(Button6_Up && Button7_On && Button10_On){
Retry = 1;
RouteFinish=0;
rt_mb_send(&Mb_Emergency, 7);
//Motor_Init();
FireOff();
BufferOn();
ChooseGround_Pole(GROUND);
W_MOTOR_OLD_FUNC(W_MOTOR1_OLD_ID, 0.5 , 1000 , CMD_SET_PSG);
Moto_Set_GPos(W_MOTOR2_OLD_ID,2.55);
LCD_Clear();
LCD_SetXY(0,1);
LCD_Printf("Ready to go!");
Wait_Button8_Change();
rt_mb_send (&Mb_Auto, 1);
}
}
else
{
SPEED_STOP;
//Acc_Limit_Enable = 0;
SetSpeed(0,0,0);
//Acc_Limit_Enable = 1;
Moto_Stop(W_MOTOR1_OLD_ID);
Moto_Stop(W_MOTOR2_OLD_ID);
//Moto_Stop(W_MOTOR3_OLD_ID);
//Com_Printf(5,"v0\r");
}
if(Abs(Motor_Pos[0])>pos_openfan && CHILD_ON && !fan_flag)
{
fan_flag = 1;
Fan_Duty(L_CH,60.0);
Fan_Duty(R_CH,60.0);
}
if((Abs(Motor_Pos[0])<pos_openfan || CHILD_OFF) && fan_flag)
{
fan_flag = 0;
Fan_Stop();
}
if(Motor2_Time_Flag>10)
{
//W_MOTOR_OLD_FUNC(W_MOTOR2_OLD_ID, 0 , 0 , CMD_INIT_CAN);
Motor2_Time_Flag = 0;
}
Delay_ms(10);
}
}
rt_err_t eth_device_ready(struct eth_device* dev)
{
/* post message to ethernet thread */
return rt_mb_send(ð_rx_thread_mb, (rt_uint32_t)dev);
}
/***********************************************************
* Function: gsmrx_cb
* Description: gsm收到信息的处理
* Input: char *s 信息
uint16_t len 长度
* Output:
* Return:
* Others:
***********************************************************/
static void gsmrx_cb( uint8_t *pInfo, uint16_t len )
{
static LCD_MSG lcd_msg;
int i, count, newlen;
uint8_t tbl[24] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 0, 0, 0, 0, 0, 0, 0, 0xa, 0xb, 0xc, 0xd, 0xe, 0xf };
char c, *pmsg;
uint8_t *psrc, *pdst;
int32_t infolen, link;
/*网络侧的信息，直接通知上层软件*/
if( fgsm_rawdata_out )
{
rt_kprintf( "\r\n%08d gsm_rx>%s\r\n", rt_tick_get( ), pInfo );
fgsm_rawdata_out--;
}
/*
会返回诸如<0d><0a>OK<0d><0a>之类的数据
去掉前面不必要的0d0a 和空格等不可见字符
*/
count = 0;
while( ( *( pInfo + count ) < 0x21 ) && ( count < len ) )
{
count++;
}
psrc = pInfo + count;
newlen = len - count;
if( strncmp( psrc, "%IPDATA:", 7 ) == 0 )
{
/*解析出净信息,编译器会优化掉pdst*/
i = sscanf( psrc, "%%IPDATA:%d,%d,%s", &link, &infolen, pdst );
if( i != 3 )
{
return;
}
if( infolen < 11 )
{
return;
}
if( *pdst != '"' )
{
return;
}
psrc = pdst;
pmsg = pdst + 1; /*指向下一个位置*/
for( i = 0; i < infolen; i++ )
{
c = tbl[*pmsg++ - '0'] << 4;
c |= tbl[*pmsg++ - '0'];
*pdst++ = c;
}
//gprs_rx( link, psrc, infolen );
return;
}
/*有呼叫进来*/
if( strncmp( psrc, "RING", 4 ) == 0 )
{
lcd_msg.id = LCD_MSG_ID_GSM;
lcd_msg.info.payload[0] = 1; /*接通*/
pscr->msg( (void*)&lcd_msg );
}
if( strncmp( psrc, "NOCARRIER", 9 ) == 0 )
{
lcd_msg.id = LCD_MSG_ID_GSM;
lcd_msg.info.payload[0] = 2; /*挂断*/
pscr->msg( (void*)&lcd_msg );
}
if( strncmp( psrc, "%TTS: 0", 7 ) == 0 )
{
tts_playing = 0;
}
/*直接发送到Mailbox中*/
pmsg = rt_malloc( len );
if( pmsg != RT_NULL )
{
*pmsg = len >> 8;
*( pmsg + 1 ) = len & 0xff;
memcpy( pmsg + 2, pInfo, len );
rt_mb_send( &mb_gsmrx, (rt_uint32_t)pmsg );
}
Int32 eth_device_ready(struct eth_device* dev)
{
/* post message to ethernet thread */
return rt_mb_send(ð_rx_thread_mb, (UInt32)dev);
}
/***********************************************************
* Function: gsmrx_cb
* Description: gsm收到信息的处理
* Input: char *s 信息
uint16_t len 长度
* Output:
* Return:
* Others:
***********************************************************/
static void gsmrx_cb( char *pInfo, uint16_t size )
{
int i, count, len = size;
uint8_t tbl[24] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 0, 0, 0, 0, 0, 0, 0, 0xa, 0xb, 0xc, 0xd, 0xe, 0xf };
char c, *pmsg;
char *psrc = RT_NULL, *pdst = RT_NULL;
int32_t infolen, linkno;
/*网络侧的信息，直接通知上层软件*/
if( fgsm_rawdata_out )
{
rt_kprintf( "\r\n%08d gsm<%s\r\n", rt_tick_get( ), pInfo );
fgsm_rawdata_out--;
}
/*判读并处理*/
psrc = pInfo;
pdst = pInfo;
if( strncmp( psrc, "%IPDATA:", 7 ) == 0 )
{
/*解析出净信息,编译器会优化掉pdst*/
i = sscanf( psrc, "%%IPDATA:%d,%d,%s", &linkno, &infolen, pdst );
if( i != 3 )
{
return;
}
if( infolen < 11 )
{
return;
}
if( *pdst != '"' )
{
return;
}
psrc = pdst; /*指向""内容*/
pmsg = pdst + 1; /*指向下一个位置*/
for( i = 0; i < infolen; i++ )
{
c = tbl[*pmsg++ - '0'] << 4;
c |= tbl[*pmsg++ - '0'];
*pdst++ = c;
}
gprs_rx( linkno, psrc, infolen );
return;
}
if( strncmp( psrc, "%IPCLOSE:", 9 ) == 0 )
{
c=*(psrc+9)-0x30;
cb_socket_state(c,SOCKET_CLOSE);
return;
}
if( SMS_rx_pro( pInfo, size ) )
{
return;
}
/*直接发送到Mailbox中,内部处理*/
pmsg = rt_malloc( len + 2 );
if( pmsg != RT_NULL )
{
*pmsg = len >> 8;
*( pmsg + 1 ) = len;
memcpy( pmsg + 2, pInfo, len );
rt_mb_send( &mb_gsmrx, (rt_uint32_t)pmsg );
}
