bool MHZ14::Updata()
{
//向模块发送获取数据
CO2.SendData(Command_getvalue,9);
//判断是否有数据返回
if(CO2.ReceiveBufferSize()<9)
{
CO2.ClearReceiveBuffer(); //清空接收缓存
return false;
}
else
{
CO2.GetReceivedData(rev_buffer,9); //取出一帧数据
CO2.ClearReceiveBuffer(); //清空接收缓存
if(SumCheck(rev_buffer)==false) //校验和
return false;
else
{
DATA_H=rev_buffer[2];
DATA_L=rev_buffer[3];
CO2_Concentration=rev_buffer[2]*256+rev_buffer[3]; //计算浓度
return true;
}
}
}
int main(int argc, char **argv) {
while (true) {
out.print("Enter some text: ");
char buf[20];
out.getline(buf, sizeof(buf));
out.printf("You typed: %s\n", buf);
Task::sleep(1000);
}
}
static void docalibrate(const char *type, PID::Config *conf) {
out.printf("Old %s: %f %f %f\n", type, conf->p, conf->i, conf->d);
out.printf("New %s PID values:\n", type);
static char buf[100];
out.getline(buf, sizeof(buf));
sscanf(buf, "%f %f %f", &conf->p, &conf->i, &conf->d);
out.printf("Got: %f %f %f\n", conf->p, conf->i, conf->d);
}
void AppInit(void) {
TouchPanelTask.Run();
GUITask.Run();
BlinkTask.Run();
printf("Gib was ein:\r\n");
Serial.ReadLn(buf, 10);
printf("Du hast eingegeben: %s", buf);
}
/* ----------------------------------------------------------------------------
* メイン処理
* ---------------------------------------------------------------------------- */
int main(void)
{
setup();
while(1)
{
loop();
Serial1.getrxd();
}
}
int main(int argc, char **argv) {
out.print("Begin log test!\n");
const uint8_t writedata[] = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 };
unsigned int i;
for (i=0;i<20;i++)
logger.write(writedata, sizeof(writedata));
logger.flush();
out.print("Done!\n");
uint8_t data[128];
eeprom.read(EEPROM::pageAddress(0), data, sizeof(data));
out.printf("EEPROM page 0:\n", data);
for (i=0; i<sizeof(data); i++) {
out.printf("%u ", (unsigned int)data[i]);
}
out.print("\n");
}
int main(int argc, char **argv) {
bool prevsynced=true;
while (true) {
Task::sleep(5);
if (vex.getSynced()) {
VexRC::Channels chans = vex.getChannels();
out.printf("%d %d %d %d ", chans.analogs[0], chans.analogs[1], chans.analogs[2], chans.analogs[3]);
out.printf("%s %s\n", digitalToString(chans.left), digitalToString(chans.right));
prevsynced = true;
} else {
if (prevsynced) {
buzzer.buzz(100);
out.print("Not synced\n");
}
prevsynced = false;
}
}
}
int main(void)
{
char buffer[15];
setup();
for(;;){
ADCSRA |= 1 << ADSC;
loop_until_bit_is_clear(ADCSRA, ADSC);
adch = ADC;
//uart.printstr(str);
itoa(adch, buffer, 10);
uart.printstr( (const char *)buffer );
uart.printstr( "\n" );
_delay_ms(100);
}
return 0;
}
//监听一个端口，返回一个命令
u8 Transmission::GetStateOrder(USART &ListeningCOM)
{
u8 comand[8]={0};
u8 ch=0;
u8 num = ListeningCOM.ReceiveBufferSize();
if(num>7) //一帧命令包含8个字节
{
ListeningCOM.GetReceivedData(&ch,1);
if(ch == 0xFF)
{
ListeningCOM.GetReceivedData(&ch,1);
if(ch == 0xDD)
{
while(ListeningCOM.ReceiveBufferSize()<6);//等待数据
comand[0]=0xff;
comand[1]=0xDD;
ListeningCOM.GetReceivedData(comand+2,6);
ListeningCOM.ClearReceiveBuffer();
return CommandParsing(comand); //解包
}
else return 0;
}
else
return 0;
}
else
return 0;
}
bool Transmission::GetWifiNameAndPassword(char *name,char *password,USART &ListeningCOM)
{
u8 ch=0;
u8 i =0;
ListeningCOM.GetReceivedData(&ch,1);
if(ch == 0xFF)
{
tskmgr.DelayMs(100);
ListeningCOM.GetReceivedData(&ch,1);
if(ch == 0x03)
{
ListeningCOM.GetReceivedData(&ch,1);
while(ch!=0xff){
*(name+i)=ch;
i++;
ListeningCOM.GetReceivedData(&ch,1);
}
*(name+i)='\0';
ListeningCOM.GetReceivedData(&ch,1);
i=0;
while(ch!=0xff){
*(password+i)=ch;
i++;
ListeningCOM.GetReceivedData(&ch,1);
}
*(password+i)='\0';
return 1;
}
else return 0;
}
else
return 0;
}
/* ----------------------------------------------------------------------------
* メインループ
* ---------------------------------------------------------------------------- */
void loop() {
int i;
int j;
// 1秒毎の処理
if(interruptCount > 999) {
// 時計モード
if(userDataTimerCount == 0) {
rtc.get();
// 年月日表示か時刻表示かの判定
if(displayDateIntervalCount <= displayDateIntervalValue) {
// 時分秒表示
// カンマをクリア
for(int i = 0; i < 8; i++) {
IN12Com[i] = 0;
}
// 6桁フォーマット 999999
if(dispTimeFormat == 0) {
IN12Num[0] = 0x0F;
if(hour12_24format == 1) {
IN12Num[1] = rtc.hourHigh;
IN12Num[2] = rtc.hourLow;
} else {
IN12Num[1] = rtc.hourHigh12;
IN12Num[2] = rtc.hourLow12;
}
IN12Num[3] = rtc.minutesHigh;
IN12Num[4] = rtc.minutesLow;
IN12Num[5] = rtc.secondsHigh;
IN12Num[6] = rtc.secondsLow;
IN12Num[7] = 0x0F;
}
// 8桁フォーマット 99, 99, 99
if(dispTimeFormat == 1) {
if(hour12_24format == 1) {
IN12Num[0] = rtc.hourHigh;
IN12Num[1] = rtc.hourLow;
} else {
IN12Num[0] = rtc.hourHigh12;
IN12Num[1] = rtc.hourLow12;
}
IN12Num[2] = 0x0F;
IN12Num[3] = rtc.minutesHigh;
IN12Num[4] = rtc.minutesLow;
IN12Num[5] = 0x0F;
IN12Num[6] = rtc.secondsHigh;
IN12Num[7] = rtc.secondsLow;
IN12Com[2] = 1;
IN12Com[5] = 1;
}
} else {
// 年月日表示
// カンマクリア
for(int i = 0; i < 8; i++) {
IN12Com[i] = 0;
}
IN12Num[0] = 2;
IN12Num[1] = 0;
IN12Num[2] = rtc.yearHigh;
IN12Num[3] = rtc.yearLow;
IN12Num[4] = rtc.monthHigh;
IN12Num[5] = rtc.monthLow;
IN12Num[6] = rtc.dayHigh;
IN12Num[7] = rtc.dayLow;
if(displayDateIntervalCount >= ( displayDateIntervalValue + displayDateSecondsValue)) {
displayDateIntervalCount = 0;
}
}
displayDateIntervalCount++;
}
// ユーザーデータ表示中
if(userDataTimerCount > 0) {
userDataTimerCount--;
}
// LED 点滅
if(led == false) {
led = true;
PORTC |= (1<<LED);
} else {
led = false;
PORTC &= ~(1<<LED);
}
interruptCount = 0;
}
// シリアル1 受信処理
while(Serial1.available()) {
char ch = Serial1.getch();
serial0String[serial0StringIdx] = ch;
Serial1.putch(ch);
if(serial0String[serial0StringIdx] == '\r') {
Serial1.putch('\n');
serial0String[serial0StringIdx] = 0;
serial0StringComplete = true;
}
serial0StringIdx++;
if(serial0StringIdx >= SERIALBUF_LEN) {
serial0StringIdx = SERIALBUF_LEN - 1;
}
// CR コードだけの入力は無視
if(serial0StringComplete == true && serial0StringIdx == 1) {
serial0StringIdx = 0;
serial0StringComplete = false;
}
}
// 受信データ処理
if(serial0StringComplete == true) {
// ニキシー表示データチェック
int isUserData = true;
for(i = 0; i < (serial0StringIdx - 1); i++) {
if(serial0String[i] == ' ') continue;
if(serial0String[i] == '.') continue;
if((serial0String[i] >= '0') && (serial0String[i] <= '9')) continue;
isUserData = false;
}
// ユーザーデータを表示
if(isUserData == true) {
for(i = 0; i < 8; i++) {
IN12Num[i] = 0x0F;
IN12Com[i] = 0;
}
j = 7;
for(i = (serial0StringIdx - 1); i >= 0; i--) {
if(serial0String[i] >= '0' && serial0String[i] <= '9') {
if(j >= 0) {
IN12Num[j--] = serial0String[i] - 0x30;
}
} else if(serial0String[i] == ' ') {
if(j >= 0) {
IN12Num[j--] = 0x0F;
}
}
}
j = 8;
int previusCharValid = false;
for(i = (serial0StringIdx - 1); i >= 0; i--) {
if((serial0String[i] >= '0' && serial0String[i] <= '9') || serial0String[i] == ' ') {
previusCharValid = true;
if(j > 0) {
j--;
}
continue;
}
if(serial0String[i] == '.' && previusCharValid == true) {
IN12Com[j] = 1;
previusCharValid = false;
}
}
userDataTimerCount = userDataTimerValue;
}
if(isUserData == false) {
// コマンド処理
if(strncmp(serial0String, "help", 4) == 0) {
Serial1.putstr("set time YYMMDD hhmmss\r\n");
Serial1.putstr("set timeformat [0 or 1]\r\n");
Serial1.putstr("set dateinterval 99999\r\n");
Serial1.putstr("set datesec 99999\r\n");
Serial1.putstr("set udatasec 99999\r\n");
Serial1.putstr("set bright daytime [1 to 9]\r\n");
Serial1.putstr("set bright night [1 to 9]\r\n");
Serial1.putstr("set hour daytime [0 to 23]\r\n");
Serial1.putstr("set hour night [0 to 23]\r\n");
Serial1.putstr("set 12/24 format [0 or 1]\r\n");
Serial1.putstr("cathod -> Cathod poisoning\r\n");
Serial1.putstr("sekai -> STEINS;GATE like effect\r\n");
Serial1.putstr("save -> write EEPROM\r\n");
Serial1.putstr("show -> show all setting\r\n");
Serial1.putstr("time -> change to clock mode\r\n");
Serial1.putstr("\r\n");
Serial1.putstr("99999: numeric number 0 to 65535\r\n");
Serial1.putstr("---\r\n");
}
if(strncmp(serial0String, "set timeformat ", 15) == 0) {
unsigned int i = atoi(&serial0String[15]);
if(i == 0 || i == 1) {
dispTimeFormat = i;
sprintf(msg, "value = %d\r\n", dispTimeFormat);
Serial1.putstr(msg);
}
}
if(strncmp(serial0String, "set time ", 9) == 0) {
unsigned char year = ((serial0String[9] & 0x0F)<<4);
year |= serial0String[10] & 0x0F;
unsigned char month = ((serial0String[11] & 0x0F)<<4);
month |= serial0String[12] & 0x0F;
unsigned char days = ((serial0String[13] & 0x0F)<<4);
days |= serial0String[14] & 0x0F;
unsigned char hour = ((serial0String[16] & 0x0F)<<4);
hour |= serial0String[17] & 0x0F;
unsigned char minutes = ((serial0String[18] & 0x0F)<<4);
minutes |= serial0String[19] & 0x0F;
unsigned char seconds = ((serial0String[20] & 0x0F)<<4);
seconds |= serial0String[21] & 0x0F;
rtc.set(year, month, 1, days, hour, minutes, seconds);
}
if(strncmp(serial0String, "set dateinterval ", 17) == 0) {
displayDateIntervalValue = atoi(&serial0String[17]);
sprintf(msg, "value = %d\r\n", displayDateIntervalValue);
Serial1.putstr(msg);
}
if(strncmp(serial0String, "set datesec ", 12) == 0) {
displayDateSecondsValue = atoi(&serial0String[12]);
sprintf(msg, "value = %d\r\n", displayDateSecondsValue);
Serial1.putstr(msg);
}
if(strncmp(serial0String, "set udatasec ", 13) == 0) {
userDataTimerValue = atoi(&serial0String[13]);
sprintf(msg, "value = %d\r\n", userDataTimerValue);
Serial1.putstr(msg);
}
if(strncmp(serial0String, "cathod", 6) == 0) {
cathodePoisoning();
Serial1.putstr("Done.");
}
if(strncmp(serial0String, "sekai", 5) == 0) {
steins();
//serialPrintln("Done.");
}
if(strncmp(serial0String, "set bright daytime ", 19) == 0) {
unsigned int i = atoi(&serial0String[19]);
if(i > 0 && i < 10) {
IN12BrightDaytime = i;
sprintf(msg, "value = %d\r\n", IN12BrightDaytime);
Serial1.putstr(msg);
}
}
if(strncmp(serial0String, "set bright night ", 17) == 0) {
unsigned int i = atoi(&serial0String[17]);
if(i > 0 && i < 10) {
IN12BrightNight = i;
sprintf(msg, "value = %d\r\n",IN12BrightNight);
Serial1.putstr(msg);
}
}
if(strncmp(serial0String, "set hour daytime ", 17) == 0) {
unsigned int i = atoi(&serial0String[17]);
if(i >= 0 && i < 24) {
hourDaytime = i;
sprintf(msg, "value = %d\r\n", hourDaytime);
Serial1.putstr(msg);
}
}
if(strncmp(serial0String, "set hour night ", 15) == 0) {
unsigned int i = atoi(&serial0String[15]);
if(i >= 0 && i < 24) {
hourNight = i;
sprintf(msg, "value = %d\r\n", hourNight);
Serial1.putstr(msg);
}
}
if(strncmp(serial0String, "set 12/24 format ", 17) == 0) {
unsigned int i = atoi(&serial0String[17]);
if(i == 0 || i == 1) {
hour12_24format = i;
sprintf(msg, "value = %d\r\n", hour12_24format);
Serial1.putstr(msg);
}
}
if(strncmp(serial0String, "save", 4) == 0) {
// EEPROM 書き込み
eeprom_busy_wait();
eeprom_write_word(&E_displayDateIntervalValue, displayDateIntervalValue);
eeprom_busy_wait();
eeprom_write_word(&E_displayDateSecondsValue, displayDateSecondsValue);
eeprom_busy_wait();
eeprom_write_word(&E_userDataTimerValue, userDataTimerValue);
eeprom_busy_wait();
eeprom_write_byte(&E_dispTimeFormat, dispTimeFormat);
eeprom_busy_wait();
eeprom_write_byte(&E_IN12BrightDaytime, IN12BrightDaytime);
eeprom_busy_wait();
eeprom_write_byte(&E_IN12BrightNight, IN12BrightNight);
eeprom_busy_wait();
eeprom_write_byte(&E_hourDaytime, hourDaytime);
eeprom_busy_wait();
eeprom_write_byte(&E_hourNight, hourNight);
eeprom_busy_wait();
eeprom_write_byte(&E_hour12_24format, hour12_24format);
Serial1.putstr("EEPROM write complete\r\n");
}
if(strncmp(serial0String, "time", 4) == 0) {
userDataTimerCount = 0;
}
if(strncmp(serial0String, "show", 4) == 0) {
sprintf(msg, "set timeformat %d\r\n",dispTimeFormat);
Serial1.putstr(msg);
sprintf(msg, "set dateinterval: %d\r\n",displayDateIntervalValue);
Serial1.putstr(msg);
sprintf(msg, "set datesec: %d\r\n", displayDateSecondsValue);
Serial1.putstr(msg);
sprintf(msg, "set udatasec: %d\r\n", userDataTimerValue);
Serial1.putstr(msg);
sprintf(msg, "set bright daytime: %d\r\n", IN12BrightDaytime);
Serial1.putstr(msg);
sprintf(msg, "set bright night: %d\r\n", IN12BrightNight);
Serial1.putstr(msg);
sprintf(msg, "set hour daytime: %d\r\n", hourDaytime);
Serial1.putstr(msg);
sprintf(msg, "set hour night: %d\r\n", hourNight);
Serial1.putstr(msg);
sprintf(msg, "set 12/24 format: %d\r\n", hour12_24format);
Serial1.putstr(msg);
Serial1.putstr("Release 2013/11/03 Ver 1.0\r\n");
Serial1.putstr("---\r\n");
}
}
serial0StringIdx = 0;
serial0StringComplete = false;
}
wdt_reset();
}
int main()
{
u8 command[6];
u8 datatemp[18];//数据暂存
u8 tagInfo[18];
u8 sensor[16];//保存传感器型号
u8 basic_information[6];//基础信息
u8 version[16];//版本
tskmgr.DelayMs(1000);
tskmgr.DelayMs(1000);
//设置模式
//设置名字密码
//设置IP地址
//复位
WIFI.SendData(CLOSS,6); //关闭回显
tskmgr.DelayMs(1000);
WIFI.SendData(Command1,13); //开启多路连接
tskmgr.DelayMs(1000);
WIFI.SendData(Command2,21); //开启服务器模式
tskmgr.DelayMs(1000);
equipment[0]=2;//测试用 将设备二加入
// DATA_COM.SendData(c,8); //连续发送命令
while(1)
{
//接收从模块数据
if(DATA_COM.ReceiveBufferSize()>=40) //如果接收到了一帧数据
{
u32 check=10,moduleNo;
u8 sum=0;
u8 FFAA=0;
DATA_COM.GetReceivedData(&FFAA,1); //找包头
if(FFAA==0xff)
{
DATA_COM.GetReceivedData(&FFAA,1); //找包头
if(FFAA==0xcc)
{
DATA_COM.GetReceivedData(datatemp,18);
moduleNo=datatemp[0]+datatemp[1]+datatemp[2]+datatemp[3];
for(u8 i=0;i<10;i++) //查询是否有这个设备
{
if(moduleNo==equipment[i])
check=0;//有这个设备
}
for(u8 i=0;i<16;i++)
{
sum+=datatemp[i]; //j校验和
}
sum=sum+0XCB; //加上包头
if(sum==datatemp[17])
check=check+1;
//使用WIFI发送数据给上位机
if(check==1)
{
WIFI.SendData(Command3,17);
tskmgr.DelayMs(100);
WIFI.ClearSendBuffer();
WIFI.SendData(packgroup.MAINToUser(datatemp[5],datatemp[6],datatemp[7],moduleNo,datatemp[4]),20);
tskmgr.DelayMs(100);
WIFI.ClearReceiveBuffer();//清除接收缓存
WIFI.ClearSendBuffer(); //清除发送缓存
}
}
}
}
//从上位机得到命令()
if(WIFI.ReceiveBufferSize()>40)
{
u8 ch=0;
u8 temp_cmd;
u32 temp;
//test
while(WIFI.ReceiveBufferSize()>8)
{
WIFI.GetReceivedData(&ch,1);
if(ch==0xff)//判断包头
{
WIFI.GetReceivedData(&ch,1);
if(ch==0xdd)//判断包头
{
//得到指令
WIFI.GetReceivedData(command,6);
WIFI.ClearReceiveBuffer();
temp_cmd=command[4]; //得到命令位
temp=command[0]+command[1]+command[2]+command[3];//得到设备号
//命令处理
if(temp_cmd==0XAA)//如果命令是注册
{
//读取RFID 将结果给上位机*********************************************
double in_time;
in_time=tskmgr.Time();
rfid.PCDInit();
while(1)
{
tskmgr.DelayMs(500);
if(tskmgr.Time()-in_time>=20) //60秒读取等待
{
//返回结束
break;
}
if(rfid.FindCard(MFRC522_PICC_REQALL,tagInfo))//寻到卡
{
if(rfid.PcdAntiColl(tagInfo))
{
if(rfid.PcdSelect(tagInfo))//选卡，卡号为前一步找到的卡号
{
if(rfid.PcdAuthState(MFRC522_PICC_AUTHENT1A,5,(unsigned char*)DefaultKey,tagInfo))//校验A密匙
{
rfid.PcdRead(5,basic_information);//第五块
rfid.PcdRead(6,sensor);//第六块
}
if(rfid.PcdAuthState(MFRC522_PICC_AUTHENT1A,9,(unsigned char*)DefaultKey,tagInfo))//校验A密匙
{
rfid.PcdRead(9,version);//第9块
}
equipment_confirm(basic_information);//设备号存在判断，没有就存入
WIFI.SendData(Command3,17);
tskmgr.DelayMs(100);
WIFI.ClearSendBuffer();
WIFI.SendData(packgroup.registered(basic_information,sensor,version),20);//打包发送 WIFI.SendData(a,6);
tskmgr.DelayMs(500);//这里必须保证充足的延时才能发送下一半
}
}
}
}
}
else if(temp_cmd==0XDD)//如果命令是删除
{
for(int n=0;n<10;n++)
{
if(temp==equipment[n])
equipment[n]=0; //删除这个设备
}
}
else
{
DATA_COM.SendData(packgroup.CmmandTomodule(temp_cmd,temp),8);
}
}
}
}
WIFI.ClearReceiveBuffer();
}
}
}
void Run(uint32_t i2cClockSpeed)
{
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float eu[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
uint16_t y, p, r;
float yaw_offset;
I2C1* i2c = GPIO_Helper::SetupI2C1_PB_6_9(i2cClockSpeed);
i2c->SetErrorHandler(this);
MPU6050 mpu(i2c);
//Initialized with highest sensitivities
mpu.reset();
RCC_Delay_ms(50);
mpu.initialize();
#ifdef USE_USART
uint32_t clockSpeed = 1200000;
USART* usart = GPIO_Helper::SetupUSART2_PA_2_3(clockSpeed);
#endif
devStatus = mpu.dmpInitialize();
if (devStatus != 0)
{
while (1)
;
}
mpu.setDMPEnabled(true);
packetSize = mpu.dmpGetFIFOPacketSize();
while (1)
{
// wait for MPU interrupt or extra packet(s) available
//while (!mpuInterrupt && fifoCount < packetSize) {
//}
// reset interrupt flag and get INT_STATUS byte
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if (mpuIntStatus & 0x02)
{
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize)
fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(eu, &q);
eu[0] *= 180. / M_PI;
eu[1] *= 180. / M_PI;
eu[2] *= 180. / M_PI;
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//rad to degrees
ypr[0] *= 180. / M_PI;
ypr[1] *= 180. / M_PI;
ypr[2] *= 180. / M_PI;
// display real acceleration, adjusted to remove gravity
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
#ifdef USE_USART
if (usart->IsRXNE())
{
if (usart->Receive() == 23)
{
usart->SendWord((int16_t)(ypr[0]));
usart->SendWord((int16_t) ypr[1]);
usart->SendWord((int16_t) ypr[2]);
}
}
#endif
}
else if ((mpuIntStatus & 0x10) || fifoCount == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
}
}
}
int main(int argc, char **argv) {
imu.start();
out.printf("Battery: %f cell\n", batmon.getCellVoltage());
out.print("Waiting for remote signal\n");
while (!vex.getSynced()) { Task::sleep(100); }
out.print("Arming\n");
motors.arm();
float heading = imu.getYaw();
buzzer.buzz(300);
while (true) {
control.start();
Logger logger(eeprom, 0);
bool logging = false;
while (true) {
bool up = false;
if (!vex.getSynced()) {
control.stop();
motors.off();
while (!vex.getSynced()) { Task::sleep(100); }
control.start();
sensors.centerGyros();
heading = imu.getYaw();
buzzer.buzz(300);
}
VexRC::Channels chans = vex.getChannels();
if (chans.right != VexRC::NONE)
break;
if (chans.left == VexRC::UP)
logging = true;
else if (chans.left == VexRC::DOWN)
logging = false;
float throttle = chans.analogs[1] / 50.0;
if (throttle < 0)
throttle = 0;
float rollsetpoint = (-chans.analogs[3] / 50.0) * 0.3;
float pitchsetpoint = (-chans.analogs[2] / 50.0) * 0.3;
heading += (chans.analogs[0] / 50.0) * (M_PI / 4) * .005;
control.setControlPoints(throttle, rollsetpoint, pitchsetpoint, heading);
if (!up) {
if (throttle > 0.4)
up = true;
else
control.clearIntegrals();
}
if (logging) {
LogEntry entry = { sensors.getReadings(), imu.getState(), throttle };
logger.write((uint8_t *)&entry, sizeof(entry));
}
IMU::State state = imu.getState();
IMU::State velstate = imu.getVelocityState();
out.printf("%f %f\n", control.getRollCorrection(), control.getPitchCorrection());
Task::sleep(25);
}
control.stop();
motors.off();
out.print("Push enter\n");
while (out.getch() != '\r') { }
out.print("Press y to dump log");
if (out.getch() == 'y') {
out.print("\nLog dump:");
LogReader reader(eeprom, 0);
struct LogEntry entry;
while (reader.read((uint8_t *)&entry, sizeof(entry)) == sizeof(entry)) {
int i;
for (i=0;i<6;i++) {
out.printf("%.3f ", entry.analogs.array[i]);
}
out.printf("%.3f %.3f %.3f ", entry.state.roll, entry.state.pitch, entry.state.yaw);
out.printf("%.3f\n", entry.throttle);
}
}
docalibrate("Roll", &controlconfig.roll_config);
docalibrate("Pitch", &controlconfig.pitch_config);
docalibrate("Yaw", &controlconfig.yaw_config);
out.printf("Current stick values: %f %f\n", controlconfig.rollpitch_stickfactor, controlconfig.yaw_stickfactor);
out.printf("Stick: ");
static char buf[50];
out.getline(buf, sizeof(buf));
sscanf(buf, "%f %f", &controlconfig.rollpitch_stickfactor, &controlconfig.yaw_stickfactor);
}
}
int main(int argc, char **argv) {
out.print("Hello World!\n");
}
void spiMaster() {
// TXEPT is 1 after reset
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getU0TCTL(), 1));
m->setByte(v->getP1SEL(), 0x31);
m->setByte(v->getU0CTL(), 0); // UCSWRST
// UCTL0 = CHAR + SYNC + MM + SWRST;
m->setByte(v->getU0CTL(), 23);
// UTCTL0 = SSEL1 + SSEL0 + STC;
m->setByte(v->getU0TCTL(), 51);
m->setByte(v->getUC0IE(), 255);
// ME1 |= USPIE0; // Enable USART0 SPI mode
// UCTL0 &= ~SWRST; // Initialize USART state machine
m->setByte(v->getU0ME(), 255);
m->setByte(v->getU0CTL(), 22);
// Set BR
m->setByte(v->getU0BR0(), 2);
// nothing should happen until we send character
CPPUNIT_ASSERT_EQUAL(-1.0, watcher->sclk);
usart->tickRising(); usart->tickFalling();
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(-1.0, watcher->sclk);
// No transmission, TXEPT is 1
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getU0TCTL(), 1));
// Set TX IFG just to test it gets cleared by write to TXBUF later
m->setBit(v->getU0IFG(), 128, true);
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getU0IFG(), 128));
// start transmitting - we will transfer 8 bits
m->setByte(v->getU0TXBUF(), 55); // 00110111
CPPUNIT_ASSERT_EQUAL(-1.0, watcher->sclk);
// Write to TXBUF should clear TX IFG
CPPUNIT_ASSERT_EQUAL(false, m->isBitSet(v->getU0IFG(), 128));
// We are transmitting now, so TXEPT should be 0
CPPUNIT_ASSERT_EQUAL(false, m->isBitSet(v->getU0TCTL(), 1));
// Disable SWRST
m->setBit(v->getU0CTL(), 1, false);
/// BIT 1
// First (MSB) bit should be sent and rising clock generated
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sdo);
// prepare '1' to be captured
pinManager->handlePinInput(0, 3.0);
// bit captured from SOMI
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 2
// First (MSB) bit should be sent and rising clock generated
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 0.0);
// cnt--, bit captured from SDI
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 3
// First (MSB) bit should be sent and rising clock generated
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 3.0);
// cnt--, bit captured from SDI
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 4
// First (MSB) bit should be sent and rising clock generated
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 0.0);
// cnt--, bit captured from SDI
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 5
// First (MSB) bit should be sent and rising clock generated
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 3.0);
// cnt--, bit captured from SDI
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 6
// First (MSB) bit should be sent and rising clock generated
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 0.0);
// cnt--, bit captured from SDI
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 7
// First (MSB) bit should be sent and rising clock generated
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 3.0);
// cnt--, bit captured from SDI
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(false, intManager->hasQueuedInterrupts());
/// BIT 8
// First (MSB) bit should be sent and rising clock generated
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 0.0);
CPPUNIT_ASSERT_EQUAL(true, intManager->hasQueuedInterrupts());
CPPUNIT_ASSERT_EQUAL(false, m->isBitSet(v->getU0IFG(), 1 << 6));
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getU0IFG(), 1 << 7));
// cnt--, bit captured from SDI
usart->tickRising(); usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
// Transmission stopped, UCBUSY is 0 again
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getU0TCTL(), 1));
// Check RX IFG flag now, because after reading the value, it should be cleared
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getU0IFG(), 1 << 6));
CPPUNIT_ASSERT_EQUAL(170, (int) m->getByte(v->getU0RXBUF()));
/// INTERRUPT
// RX IFG is cleared by reading RX BUF
CPPUNIT_ASSERT_EQUAL(false, m->isBitSet(v->getU0IFG(), 1 << 6));
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getU0IFG(), 1 << 7));
CPPUNIT_ASSERT_EQUAL(true, intManager->hasQueuedInterrupts());
}
void spiSlave() {
m->setByte(v->getP1SEL(), 0x31);
m->setByte(v->getUCA0CTL1(), 0); // UCSWRST
// UCA0CTL0 |= UCSYNC+UCMSB;
m->setByte(v->getUCA0CTL0(), 33);
// UCA0CTL1 &= ~UCSWRST;
m->setByte(v->getUCA0CTL1(), 0);
// UCA0IE |= UCRXIE | UCTXIE;
m->setByte(v->getUC0IE(), 255);
m->setByte(v->getUCA0TXBUF(), 55); // 00110111
// nothing should happen, because we are slave
CPPUNIT_ASSERT_EQUAL(-1.0, watcher->sclk);
usart->tickRising();
usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(-1.0, watcher->sclk);
// Transfer byte
for (int i = 0; i < 8; ++i) {
pinManager->handlePinInput(1, 3.0);
pinManager->handlePinInput(2, 3.0);
pinManager->handlePinInput(2, 0.0);
CPPUNIT_ASSERT_EQUAL((bool)(55 & (1 << (7 - i))), (bool)watcher->sdo); break;
}
/*
/// BIT 2
// First (MSB) bit should be sent and rising clock generated
usart->tickRising();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 0.0);
// cnt--, bit captured from SDI
usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 3
// First (MSB) bit should be sent and rising clock generated
usart->tickRising();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 3.0);
// cnt--, bit captured from SDI
usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 4
// First (MSB) bit should be sent and rising clock generated
usart->tickRising();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 0.0);
// cnt--, bit captured from SDI
usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 5
// First (MSB) bit should be sent and rising clock generated
usart->tickRising();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 3.0);
// cnt--, bit captured from SDI
usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 6
// First (MSB) bit should be sent and rising clock generated
usart->tickRising();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 0.0);
// cnt--, bit captured from SDI
usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
/// BIT 7
// First (MSB) bit should be sent and rising clock generated
usart->tickRising();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 3.0);
// cnt--, bit captured from SDI
usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(false, intManager->hasQueuedInterrupts());
/// BIT 8
// First (MSB) bit should be sent and rising clock generated
usart->tickRising();
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sclk);
CPPUNIT_ASSERT_EQUAL(3.0, watcher->sdo);
// prepare '0' to be captured
pinManager->handlePinInput(0, 0.0);
CPPUNIT_ASSERT_EQUAL(true, intManager->hasQueuedInterrupts());
CPPUNIT_ASSERT_EQUAL(false, m->isBitSet(v->getUC0IFG(), 1));
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getUC0IFG(), 2));
// cnt--, bit captured from SDI
usart->tickFalling();
CPPUNIT_ASSERT_EQUAL(0.0, watcher->sclk);
// Transmission stopped, UCBUSY is 0 again
CPPUNIT_ASSERT_EQUAL(false, m->isBitSet(v->getUCA0STAT(), 1));
// Check RX IFG flag now, because after reading the value, it should be cleared
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getUC0IFG(), 1));
CPPUNIT_ASSERT_EQUAL(170, (int) m->getByte(v->getUCA0RXBUF()));
/// INTERRUPT
// RX IFG is cleared by reading RX BUF
CPPUNIT_ASSERT_EQUAL(false, m->isBitSet(v->getUC0IFG(), 1));
CPPUNIT_ASSERT_EQUAL(true, m->isBitSet(v->getUC0IFG(), 2));
CPPUNIT_ASSERT_EQUAL(true, intManager->hasQueuedInterrupts());*/
}
/* ----------------------------------------------------------------------------
* セットアップ処理
* ---------------------------------------------------------------------------- */
void setup() {
// Watchdog タイマ停止
MCUSR = 0;
wdt_disable();
// SPI 設定
DDRB |= (1<<PORTB1);
DDRB |= (1<<PORTB2);
// Master 設定
SPCR |= (1<<MSTR);
// ClockDivide 000 = 1/4
SPCR &= ~(1<<SPR1);
SPCR &= ~(1<<SPR0);
SPSR &= ~(1<<SPI2X);
// MODE 0
SPCR &= ~(1<<CPOL);
SPCR &= ~(1<<CPHA);
// MSB First
SPCR &= ~(1<<DORD);
// SPI Enable
SPCR |= (1<<SPE);
// LED ポート出力
DDRC |= (1<<LED);
PORTD = 0;
Serial1.begin();
i2c.begin();
// リセット直後の時間待ち(1秒)
for(int i = 0; i < 100; i++) {
_delay_ms(10);
}
rtc.begin();
// 74HC595
DDRB |= (1<<HC595RCLK);
PORTB &= ~(1<<HC595RCLK);
// K155ID1
DDRB |= (1<<K155ID1_A);
DDRB |= (1<<K155ID1_B);
DDRB |= (1<<K155ID1_C);
DDRB |= (1<<K155ID1_D);
// IN12 カンマ
DDRE |= (1<<COMMA);
// EEPROM 読み出し
eeprom_busy_wait();
displayDateIntervalValue = eeprom_read_word(&E_displayDateIntervalValue);
eeprom_busy_wait();
displayDateSecondsValue = eeprom_read_word(&E_displayDateSecondsValue);
eeprom_busy_wait();
userDataTimerValue = eeprom_read_word(&E_userDataTimerValue);
eeprom_busy_wait();
dispTimeFormat = eeprom_read_byte(&E_dispTimeFormat);
eeprom_busy_wait();
IN12BrightDaytime = eeprom_read_byte(&E_IN12BrightDaytime);
eeprom_busy_wait();
IN12BrightNight = eeprom_read_byte(&E_IN12BrightNight);
eeprom_busy_wait();
hourDaytime = eeprom_read_byte(&E_hourDaytime);
eeprom_busy_wait();
hourNight = eeprom_read_byte(&E_hourNight);
eeprom_busy_wait();
hour12_24format = eeprom_read_byte(&E_hour12_24format);
// タイマー、カウンタ 0 初期化
// Disbale interrupt
TIMSK0 &= ~(1<<OCIE0B);
TIMSK0 &= ~(1<<OCIE0A);
TIMSK0 &= ~(1<<TOIE0);
// 比較一致タイマ/カウンタ解除(CTC)動作
TCCR0B &= ~(1<<WGM02);
TCCR0A |= (1<<WGM01);
TCCR0A &= ~(1<<WGM00);
// clkI/O/64 (64分周)
TCCR0B &= ~(1<<CS02);
TCCR0B |= (1<<CS01);
TCCR0B |= (1<<CS00);
TCNT0 = 0;
// 16MHz / 64 = 4us. 4us * 250 = 1.0ms
OCR0A = 249;
// set interrupt mask
TIFR0 |= (1<<OCF0A);
// Enable interrupt
TIMSK0 |= (1<<OCIE0A);
// Watchdog タイマ設定
wdt_enable(WDTO_1S);
// 割り込み処理を有効にする
sei();
}
int main(){
u8 order=0;
double record_updataSensor=0;
double record_alive=0;
double record_getwifi=0;
bool network=false ; //网络连接标识位
char *ip = (char*)calloc(15, sizeof(char*) );
char *WifiName = (char*)calloc(20, sizeof(char*) );
char *WifiPassword = (char*)calloc(20, sizeof(char*) );
/*开机WIFI模式选择*****************************************************************/
if(wifimemory.getWifiSum()!=0)//判断表中是否已经保存wifi信息
{
while( wifimemory.Load(WifiName,WifiPassword) )
{
if(wifi.ConnectNetwork_client(WifiName,WifiPassword,SERVER_IP,1111)) //每次连接历时20秒
{network=true; break;}
}
if(network ==false) {
wifi.ConnectNetwork_server(MODULE_COM,0);
WIFI.ClearReceiveBuffer();
}
}
else
{
wifi.ConnectNetwork_server(MODULE_COM,0);
WIFI.ClearReceiveBuffer();
}
Led.SetLevel(1);//将指示灯熄灭（模式切换结束）
/*END*********************************************************************************/
while(1)
{
order=CMCT_Tool.GetStateOrder(WIFI);
switch(order)
{
case DELAY:{}break;
/*启动********************************************************************************************/
case START:{//启动
while(1){
if(tskmgr.ClockTool(record_updataSensor,3)) //每三秒执行一次更新
{
co2.Updata();
if(network)
wifi.Send(20,CMCT_Tool.ToServerPack(CO2Number,co2.DATA_H,co2.DATA_L,0));
else
wifi.Send(0,20,CMCT_Tool.ToClientPack(CO2Number,co2.DATA_H,co2.DATA_L,0));
}
if(CMCT_Tool.GetStateOrder(WIFI)==DELAY)
break;
}
}break;
/*END********************************************************************************************/
/*复位******************************************************************************************/
case RESET:{//复位
wifimemory.ClearAllData(); //清空所有保存信息
*((u32 *)0xE000ED0C) = 0x05fa0004;
}break;
/*END******************************************************************************************/
/*获取WIFI信息*********************************************************************************/
case GETWIFI:{//得到wifi账号密码
record_getwifi=tskmgr.Time();
while(1)
{
if(CMCT_Tool.GetWifiNameAndPassword(WifiName,WifiPassword,WIFI) )
{
//保存WIFI账号密码
com<<WifiName<<"\t"<<WifiPassword<<"\n";
break;
}
if(tskmgr.ClockTool(record_getwifi,30)) //超时10秒退出
break;
}
}break;
/*END******************************************************************************************/
/*模式切换*************************************************************************************/
case MODEL:{//模式切换
wifi.ConnectNetwork_server(MODULE_COM,0);
WIFI.ClearReceiveBuffer();
network=false;
}break;
/*END******************************************************************************************/
/*存活确认*************************************************************************************/
case ALIVE:{//存活确认
if(network)
CMCT_Tool.SendAlive(wifi,CO2Number,1); //存活确认，数据位全为0xff
else
CMCT_Tool.SendAlive(wifi,CO2Number,0);
}break;
/*END******************************************************************************************/
/*常态******************************************************************************************/
default:
{
if(tskmgr.ClockTool(record_updataSensor,3)) //每三秒执行一次更新
co2.Updata();//当没有命令时更新传感器
if(tskmgr.ClockTool(record_alive,60)) //每60秒发送一次存活确认
{
if(network)
CMCT_Tool.SendAlive(wifi,CO2Number,1);
else
CMCT_Tool.SendAlive(wifi,CO2Number,0);
}
}
}
}
}
