int main( int argc, char **argv )
{
int preferredTurn = 1;
char turnrate = 0;
char speed = 0x3f;
unsigned short IR[8]={0x50,0x50,0x50,0x50,0x50,0x50,0x50,0x50}, IR_old[8];
char left;
char right;
unsigned short Values[8];
unsigned char i;
for ( ; ; )
{
ReadAllIR(1, Values);
for(i=0; i<8; i++){
IR_old[i] = IR[i];
IR[i] = Values[i];
if( (IR[i] < 0x30) | (IR[i] > 0x3FF) )
IR[i] = IR_old[i];
}
// printf("%X, %X, %X, %X, %X, %X, %X, %X \n", IR[0], IR[1], IR[2], IR[3], IR[4], IR[5],IR[6],IR[7] );
if(IR[L16] >= MIN_DIST | IR[R16] >= MIN_DIST | IR[L40] >= MIN_DIST | IR[R40] >= MIN_DIST | IR[L150] >= MIN_DIST | IR[R150] >= MIN_DIST)
SetLedColor(0, 0xff,0x01,0x01);
else
SetLedColor(0, 0x01,0xff,0x01);
// Only react to objects closer than 0.4m off to the sides
left = MAX( MIN_DIST, IR[L16] );
left += MAX( MIN_DIST, IR[L40] );
right = MAX( MIN_DIST, IR[R16] );
right += MAX( MIN_DIST, IR[R40] );
// Turn into the more open area
if( left < right )
{
turnrate = 0x10; // turn 20 degrees per second
preferredTurn = -1;
}
else if ( left > right )
{
turnrate = 0x10;
preferredTurn = 1;
}
else
turnrate = 0;
SetSpeed( 1, (speed - turnrate), (speed + turnrate) );
}
return 0;
}
//////////////////////////////////////////////////////////////////////////////
// Breathing LED
void BreathingLed()
{
#define brightness_step 20
#define brightness_max_val 230
#define brightness_min_val 20
static uint8_t u8Brightness = 0;
static int istep = brightness_step;
static uint16_t u16Color = 0xfff;
static uint8_t u8Loop = 0;
Delay(50);
//SetBrightness(u8Brightness);
SetLedColor(u16Color ,u8Brightness);
if(u8Brightness > brightness_max_val)
istep = -brightness_step;
else if(u8Brightness < brightness_min_val)
{
istep = brightness_step;
u8Loop++;
}
u8Brightness = ((int)u8Brightness + istep);
switch(u8Loop){
case 0:
u16Color = 0xf;
break;
case 1:
u16Color = 0xff0;
break;
case 2:
u16Color = 0xf00;
break;
case 3:
u16Color = 0xf0f;
break;
case 4:
u16Color = 0x0ff;
break;
case 5:
u16Color = 0xf0;
break;
case 6:
u16Color = 0xfff;
break;
default:
u8Loop = 0;
}
}
static void Draw(void)
{
int i;
systime_t current = chVTGetSystemTime();
/* clear buffer */
memset(display.pixels, 0, sizeof(struct Color) * LEDCOUNT);
if (effects.p_next != NULL)
{
EffectUpdate(effects.p_next, 0, 0, current, &display);
}
/* render volume for a 5s */
if (showVolume == true)
{
startVolumeEffect = current;
showVolume = false;
effVolume_cfg.volume = newVolume;
showVolumeEffect = true;
if (chVTTimeElapsedSinceX(startVolumeEffect) > MS2ST(15000))
{
EffectReset(&effVolume, 0, 0, current);
}
}
if (showVolumeEffect == true)
{
if (chVTTimeElapsedSinceX(startVolumeEffect) <= MS2ST(5000))
{
EffectUpdate(&effVolume, 0, 0, current, &display);
}
else
{
showVolumeEffect = false;
}
}
//draw buttons
if (showControls == true)
{
EffectUpdate(&effButtons, 0, 0, current, &display);
}
for (i = 0; i < LEDCOUNT; i++)
{
SetLedColor(i, &display.pixels[i]);
}
SetUpdateLed();
}
/****************************************************************************
* 名 称：void ChangeCarStatus(CAR_STATUS cs)
* 功 能：更改小车的状态
* 参 数：cs 要变更的状态
* 反 回：无
* 说 明：
****************************************************************************/
void ChangeCarStatus(CAR_STATUS cs)
{
switch(cs)
{
case CAR_STATUS_FAULT://目前用于磁传感通信出错
{
CarData->ManualCmd = CAR_ACTION_URGENT_STOP;
SetLedColor(RED_GRN);
Speak(SPEAK_FAULT,0);
break;
}
case CAR_STATUS_OUT_ROUTE://出轨
{
CarData->ManualCmd = CAR_ACTION_URGENT_STOP;
SetLedColor(RED_GRN);
Speak(SPEAK_OUT_ROUTE,1);
break;
}
case CAR_STATUS_ROUTE_BLOCK://红外近
{
CarData->ManualCmd = CAR_ACTION_STOP;
SetLedColor(BLU);
Speak(SPEAK_ROUTE_BLOCK,1);
break;
}
case CAR_STATUS_URGENT_STOP://紧急停车
{
CarData->ManualCmd = CAR_ACTION_URGENT_STOP;
SetLedColor(RED_GRN);
Speak(SPEAK_URGENT_STOP,1);
break;
}
case CAR_STATUS_ROUTE_FBLOCK://红外远
{
CarData->ManualCmd = CAR_ACTION_FORWARD;
SetLedColor(GRN);
Speak(SPEAK_BE_CAREFUL,1);
break;
}
case CAR_STATUS_BATTERY_LOW://电量低
{
Speak(SPEAK_BATTERY_LOW,1);
break;
}
case CAR_STATUS_UP://开机
{
Speak(SPEAK_WELCOME,1);
break;
}
case CAR_STATUS_MANUAL://改为手动
{
SetLedColor(GRN_BLU);
break;
}
case CAR_STATUS_STOP://停车
{
//CarData->ManualCmd = CAR_ACTION_STOP;
CarData->ManualCmd = CAR_ACTION_BREAK;
SetLedColor(LED_COLOR_BLUE);
Speak(SPEAK_MUTE,1);
break;
}
case CAR_STATUS_NORMAL://正常
{
CarData->ManualCmd = CAR_ACTION_FORWARD;
if(Change_Flag.Ext.BITS.BatteryLow) //电量低
{
//CarData->NowStatus=CAR_STATUS_BATTERY_LOW;
Speak(SPEAK_BATTERY_LOW,1);
}
else
{
SetLedColor(GRN);
Speak(SPEAK_MUSIC,1);
}
break;
}
}
}
/****************************************************************************
* 名 称：void RecvDriverReadRFID(uint8_t *data)
* 功 能：收到RFID卡号数据处理
* 参 数：data 为指向数据区域的地址
* 反 回：无
* 说 明：
****************************************************************************/
void RecvDriverReadRFIDProcess(uint8_t *data)
{
uint16_t cardNum = 0;
rf=(RFID *)data;
cardNum = (rf->CardIDMSB << 8) + (rf->CardIDLSB); //卡号
CarData->LastStation=(rf->CardIDMSB<<8) | rf->CardIDLSB; //上一站站点
if((CarData->NowStatus!=CAR_STATUS_FAULT) && (CarData->NowStatus!=CAR_STATUS_OUT_ROUTE) &&
(CarData->NowStatus!=CAR_STATUS_STOP) && (CarData->NowStatus!=CAR_STATUS_URGENT_STOP) &&
(CarData->NowStatus!=CAR_STATUS_UP))
{
SetLedColor(LED_COLOR_RED);
switch(rf->CardType)
{
case CARD_TYPE_LIFT:
{
CarData->NowStatus = CAR_STATUS_STOP;
if(cardNum == LIFTER_UP) //升降杆上升
{
LifterUp();
}
else if(cardNum == LIFTER_DOWN) //升降杆下降
{
LifterDown();
}
break;
}
case CARD_TYPE_MUTE:
{
if(rf->CardIDLSB)
{
SetSpeakSwitch(SPEAK_SWITCH_ON);
}
else
{
SetSpeakSwitch(SPEAK_SWITCH_OFF);
}
break;
}
case CARD_TYPE_SIGNAL:
{
break;
}
case CARD_TYPE_SITE:
{
CarData->NowStatus = CAR_STATUS_STOP;
if(CarData->LastStation==CarData->Destination)
{
CarData->Destination=0;
CarData->NowStatus = CAR_STATUS_STOP;
Speak(SPEAK_AGV_ARRIV,0);
}
else
{
RouteFindProcess(rf);
}
break;
}
case CARD_TYPE_SPEED:
{
if(cardNum == SPEED_UP) //加速
{
//mp.CurrSetSpeed += 1;
}
else if(cardNum == SPEED_DOWN) //减速下降
{
//mp.CurrSetSpeed -= 1;
}
break;
}
case CARD_TYPE_TURN:
{
RouteFindProcess(rf);
break;
}
default:
{
break;
}
}
}
}
int main() {
int i;
HTS221 hts221;
pc.baud(115200);
void hts221_init(void);
// Set LED to RED until init finishes
SetLedColor(0x1);
pc.printf(BLU "Hello World from AT&T Shape!\r\n\n\r");
pc.printf(GRN "Initialize the HTS221\n\r");
i = hts221.begin();
if( i )
pc.printf(BLU "HTS221 Detected! (0x%02X)\n\r",i);
else
pc.printf(RED "HTS221 NOT DETECTED!!\n\r");
printf("Temp is: %0.2f F \n\r",CTOF(hts221.readTemperature()));
printf("Humid is: %02d %%\n\r",hts221.readHumidity());
sensors_init();
read_sensors();
// Initialize the modem
printf(GRN "Modem initializing... will take up to 60 seconds" DEF "\r\n");
do {
i=mdm_init();
if (!i) {
pc.printf(RED "Modem initialization failed!" DEF "\n");
}
} while (!i);
//Software init
software_init_mdm();
// Resolve URL to IP address to connect to
resolve_mdm();
//Create a 1ms timer tick function:
OneMsTicker.attach(OneMsFunction, 0.001f) ;
iTimer1Interval_ms = SENSOR_UPDATE_INTERVAL_MS;
// Open the socket (connect to the server)
sockopen_mdm();
// Set LED BLUE for partial init
SetLedColor(0x4);
// Send and receive data perpetually
while(1) {
static unsigned ledOnce = 0;
if (bTimerExpiredFlag)
{
bTimerExpiredFlag = false;
sprintf(SENSOR_DATA.Temperature, "%0.2f", CTOF(hts221.readTemperature()));
sprintf(SENSOR_DATA.Humidity, "%02d", hts221.readHumidity());
read_sensors(); //read available external sensors from a PMOD and the on-board motion sensor
char modem_string[512];
GenerateModemString(&modem_string[0]);
printf(BLU "Sending to modem : %s" DEF "\n", modem_string);
sockwrite_mdm(modem_string);
sockread_mdm(&MySocketData, 1024, 20);
// If any non-zero response from server, make it GREEN one-time
// then the actual FLOW responses will set the color.
if ((!ledOnce) && (MySocketData.length() > 0))
{
ledOnce = 1;
SetLedColor(0x2);
}
printf(BLU "Read back : %s" DEF "\n", &MySocketData[0]);
char * myJsonResponse;
if (extract_JSON(&MySocketData[0], &myJsonResponse[0]))
{
printf(GRN "JSON : %s" DEF "\n", &myJsonResponse[0]);
parse_JSON(&myJsonResponse[0]);
}
else
{
printf(RED "JSON : %s" DEF "\n", &myJsonResponse[0]); //most likely an incomplete JSON string
parse_JSON(&myJsonResponse[0]); //This is risky, as the string may be corrupted
}
} //bTimerExpiredFlag
} //forever loop
}
// parse end json
bool parse_end_JSON(char* json_string)
{
char* beginquote;
char token[] = "\"progress\":\"";
beginquote = strstr(json_string, token );
if ((beginquote != 0))
{
char cLedColor = beginquote[strlen(token)];
printf(GRN "LED Found : %c" DEF "\r\n", cLedColor);
switch(cLedColor)
{
case 'O':
{ //Off
SetLedColor(0);
break;
}
case 'R':
{ //Red
SetLedColor(1);
break;
}
case 'G':
{ //Green
SetLedColor(2);
break;
}
case 'Y':
{ //Yellow
SetLedColor(3);
break;
}
case 'B':
{ //Blue
SetLedColor(4);
break;
}
case 'M':
{ //Magenta
SetLedColor(5);
break;
}
case 'T':
{ //Turquoise
SetLedColor(6);
break;
}
case 'W':
{ //White
SetLedColor(7);
break;
}
default:
{
break;
}
} //switch(cLedColor)
return true;
}
else
{
return false;
}
} //parse_JSON
int main(void)
{
if (SysTick_Config(SystemCoreClock / 1000)) {
// Capture error
while (1);
}
USART_Config();
USART_ITConfig(EVAL_COM1, USART_IT_RXNE, ENABLE);
/*
// Output a message on Hyperterminal using printf function
printf("\n\rUSART Printf Example: retarget the C library printf function to the USART\n\r");
// Loop until the end of transmission
// The software must wait until TC=1. The TC flag remains cleared during all data
// transfers and it is set by hardware at the last frame’s end of transmission
while (USART_GetFlagStatus(EVAL_COM1, USART_FLAG_TC) == RESET)
{}
//*/
/* Initialize Leds mounted on STM32F030-Discovery */
STM_EVAL_LEDInit(LED3); // LED3 for Stripe 1
STM_EVAL_LEDInit(LED4); // LED3 for Stripe 2
STM_EVAL_LEDInit(LED5); // LED3 for Stripe 3
// Initialize the timer for the LED stripe
// TIM3 for Stripe 1
// TIM16 for Stripe 2
// TIM17 for Stripe 3
TIM_Config();
// Initialize the LED stripe
// Send the 1st packet to the driver IC to assign the address and color
LEDStripe_init();
/* Infinite loop */
extern uint8_t g_Red, g_Blue, g_Green, g_Brightness;
while(1) {
switch(g_CurMode) {
case NONE_MODE:
break;
case GAMING:
break;
case BREATHING:
BreathingLed();
break;
case FLASHING:
//BlinkingLed();
WaveLED();
break;
case SHINING:
MarqueeLed();
break;
case STACK:
StackLED();
break;
case WAVE:
//LoopLED();
WaveLED();
break;
case RAINBOW:
break;
case RANDOM:
break;
case STRIPE:
SetStripeLED(StripeIndex, g_u16Color, g_Brightness);
g_CurMode = NONE_MODE;
break;
case CUSTOM:
SetLedColor(g_u16Color, g_Brightness);
g_CurMode = NONE_MODE;
break;
case CUSTOM_SINGLE:
SetSingleLED(LEDIndex, g_u16Color, g_Brightness);
g_CurMode = NONE_MODE;
break;
}
}
}
void LoopLED()
{
Delay(100);
SetLedColor(0,0);
static uint8_t myindex = 0;
if(myindex > 1){
while(TIM17->CR1 & TIM_CR1_CEN);
Led_data3 = 0x1 << 20 | 0xff << 12 | 0xf0;
next_state3 = INTERVAL;
TIM_Cmd(TIM17, ENABLE);
}
if(myindex > 2){
while(TIM17->CR1 & TIM_CR1_CEN);
Led_data3 = 0x0 << 20 | 0xff << 12 | 0xf0;
next_state3 = INTERVAL;
TIM_Cmd(TIM17, ENABLE);
}
if(myindex > 3) {
while(TIM16->CR1 & TIM_CR1_CEN);
Led_data2 = 0x2 << 20 | 0xff << 12 | 0xf0;
next_state2 = INTERVAL;
TIM_Cmd(TIM16, ENABLE);
}
if(myindex > 4) {
while(TIM16->CR1 & TIM_CR1_CEN);
Led_data2 = 0x1 << 20 | 0xff << 12 | 0xf0;
next_state2 = INTERVAL;
TIM_Cmd(TIM16, ENABLE);
}
if(myindex > 5) {
while(TIM16->CR1 & TIM_CR1_CEN);
Led_data2 = 0x0 << 20 | 0xff << 12 | 0xf0;
next_state2 = INTERVAL;
TIM_Cmd(TIM16, ENABLE);
}
if(myindex > 6) {
while(TIM3->CR1 & TIM_CR1_CEN);
Led_data = 0x2 << 20 | 0xff << 12 | 0xf0;
next_state = INTERVAL;
TIM_Cmd(TIM3, ENABLE);
}
if(myindex > 7){
while(TIM3->CR1 & TIM_CR1_CEN);
Led_data = 0x1 << 20 | 0xff << 12 | 0xf0;
next_state = INTERVAL;
TIM_Cmd(TIM3, ENABLE);
}
if(myindex > 8){
while(TIM3->CR1 & TIM_CR1_CEN);
Led_data = 0x0 << 20 | 0xff << 12 | 0xf0;
next_state = INTERVAL;
TIM_Cmd(TIM3, ENABLE);
}
switch(myindex) {
case 0:
while(TIM3->CR1 & TIM_CR1_CEN);
{
Led_data = 0x0 << 20 | 0xff << 12 | 0xf0;
next_state = INTERVAL;
TIM_Cmd(TIM3, ENABLE);
}
break;
case 1:
while(TIM3->CR1 & TIM_CR1_CEN);
{
Led_data = 0x1 << 20 | 0xff << 12 | 0xf0;
next_state = INTERVAL;
TIM_Cmd(TIM3, ENABLE);
}
break;
case 2:
while(TIM3->CR1 & TIM_CR1_CEN);
{
Led_data = 0x2 << 20 | 0xff << 12 | 0xf0;
next_state = INTERVAL;
TIM_Cmd(TIM3, ENABLE);
}
break;
case 3:
while(TIM16->CR1 & TIM_CR1_CEN);
{
Led_data2 = 0x0 << 20 | 0xff << 12 | 0xf0;
next_state2 = INTERVAL;
TIM_Cmd(TIM16, ENABLE);
}
break;
case 4:
while(TIM16->CR1 & TIM_CR1_CEN);
{
Led_data2 = 0x1 << 20 | 0xff << 12 | 0xf0;
next_state2 = INTERVAL;
TIM_Cmd(TIM16, ENABLE);
}
break;
case 5:
while(TIM16->CR1 & TIM_CR1_CEN);
{
Led_data2 = 0x2 << 20 | 0xff << 12 | 0xf0;
next_state2 = INTERVAL;
TIM_Cmd(TIM16, ENABLE);
}
break;
case 6:
while(TIM17->CR1 & TIM_CR1_CEN);
{
Led_data3 = 0x0 << 20 | 0xff << 12 | 0xf0;
next_state3 = INTERVAL;
TIM_Cmd(TIM17, ENABLE);
}
break;
case 7:
while(TIM17->CR1 & TIM_CR1_CEN);
{
Led_data3 = 0x1 << 20 | 0xff << 12 | 0xf0;
next_state3 = INTERVAL;
TIM_Cmd(TIM17, ENABLE);
}
break;
}
if(++myindex > 9)
{
myindex = 0;
Delay(1000);
}
}
void StackLED()
{
#define StackDealy 30
#define StackLoopDealy 100
#define StackBKColor 0x0
static uint8_t myindex = 0;
static uint8_t u8StackLoop = 0;
static uint16_t u16Color = 0xf;
static uint8_t u8Loop = 0;
switch(myindex) {
case 0:
SetSingleLED(1, u16Color, 0xff);
break;
case 1:
SetSingleLED(2, u16Color, 0xff);
Delay(StackDealy);
SetSingleLED(1, StackBKColor, 0xf);
break;
case 2:
SetSingleLED(3, u16Color, 0xff);
Delay(StackDealy);
SetSingleLED(2, StackBKColor, 0xf);
break;
case 3:
SetSingleLED(4, u16Color, 0xff);
Delay(StackDealy);
SetSingleLED(3, StackBKColor, 0xf);
break;
case 4:
SetSingleLED(5, u16Color, 0xff);
Delay(StackDealy);
SetSingleLED(4, StackBKColor, 0xf);
break;
case 5:
SetSingleLED(6, u16Color, 0xff);
Delay(StackDealy);
SetSingleLED(5, StackBKColor, 0xf);
break;
case 6:
SetSingleLED(7, u16Color, 0xff);
Delay(StackDealy);
SetSingleLED(6, StackBKColor, 0xf);
break;
case 7:
SetSingleLED(8, u16Color, 0xff);
Delay(StackDealy);
SetSingleLED(7, StackBKColor, 0xf);
break;
}
if(++myindex > (6 - u8StackLoop)) {
myindex = 0;
u8StackLoop++;
Delay(StackLoopDealy);
}
if(u8StackLoop > 6) {
u8StackLoop = 0;
//color += 100;
//if(color > 4095) color = 0xf;
//color = color & 0xfff;
u8Loop ++;
SetLedColor(0,0);
}
switch(u8Loop){
case 0:
u16Color = 0xf;
break;
case 1:
u16Color = 0xff0;
break;
case 2:
u16Color = 0xf00;
break;
case 3:
u16Color = 0xf0f;
break;
case 4:
u16Color = 0x0ff;
break;
case 5:
u16Color = 0xf0;
break;
case 6:
u16Color = 0xfff;
break;
default:
SetLedColor(0,0);
u8Loop = 0;
}
}
