static void pw1_pid(void)
{
rt_uint32_t key_value;
// static double coefy2a = 0.8;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0); LCD_WriteString("=====sonic_test=====");
LCD_SetXY(0, 1); LCD_WriteString("1.front pid");
LCD_SetXY(0, 2); LCD_WriteString("2.f->pid");
LCD_SetXY(0, 3); LCD_WriteString("3.side pid");
LCD_SetXY(0, 4); LCD_WriteString("4.s->pid");
LCD_SetXY(10, 1); LCD_WriteString("5.fs pid");
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case key1: pole_sonic(0x01); break;
case key2: _input_pid(&sPos_Pid[eF_sonic]); break;
case key3: pole_sonic(0x02); break;
case key4: _input_pid(&sPos_Pid[eS_sonic]); break;
case key5: pole_sonic(0x03); break;
case keyback: return;
}
}
Delay_ms(10);
}
}
/* ethernet buffer */
void eth_tx_thread_entry(void* parameter)
{
struct eth_tx_msg* msg;
while (1)
{
if (rt_mb_recv(ð_tx_thread_mb, (UInt32*)&msg, RT_WAITING_FOREVER) == RT_EOK)
{
struct eth_device* enetif;
assert(msg->netif != NULL);
assert(msg->buf != NULL);
enetif = (struct eth_device*)msg->netif->state;
if (enetif != NULL)
{
/* call driver's interface */
if (enetif->eth_tx(&(enetif->parent), msg->buf) != RT_EOK)
{
printf("transmit eth packet failed\n");
}
}
/* send ack */
rt_sem_release(&(enetif->tx_ack));
}
}
}
/* Ethernet Tx Thread */
static void eth_tx_thread_entry(void* parameter)
{
struct eth_tx_msg* msg;
while (1)
{
if (rt_mb_recv(ð_tx_thread_mb, (rt_uint32_t*)&msg, RT_WAITING_FOREVER) == RT_EOK)
{
struct eth_device* enetif;
RT_ASSERT(msg->netif != RT_NULL);
RT_ASSERT(msg->buf != RT_NULL);
enetif = (struct eth_device*)msg->netif->state;
if (enetif != RT_NULL)
{
/* call driver's interface */
if (enetif->eth_tx(&(enetif->parent), msg->buf) != RT_EOK)
{
/* transmit eth packet failed */
}
}
/* send ACK */
rt_sem_release(&(enetif->tx_ack));
}
}
}
//打印在显示器上
void sys_Timer(void)
{
rt_uint32_t key_value;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_WriteString("======Timer=======");
LCD_SetXY(0,1);
LCD_WriteString("M_TIME:");
LCD_WriteDouble(M_TIME);
LCD_SetXY(0,2);
LCD_WriteString("S_TIME:");
LCD_WriteDouble(S_TIME);
LCD_SetXY(0,6);
LCD_WriteString("1.Init_Timer");
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case key1:
Init_Timer();
break;
case keyback:
return;
}
}
Delay_ms(1);
}
}
rt_err_t gsm_send_wait_func( char *AT_cmd_string,
uint32_t timeout,
RESP_FUNC respfunc,
uint8_t no_of_attempts )
{
rt_err_t err;
uint8_t i;
char *pmsg;
uint32_t tick_start, tick_end;
uint32_t tm;
__IO uint8_t flag_wait;
char * pinfo;
uint16_t len;
err = rt_sem_take( &sem_at, timeout );
if( err != RT_EOK )
{
return err;
}
for( i = 0; i < no_of_attempts; i++ )
{
tick_start = rt_tick_get( );
tick_end = tick_start + timeout;
tm = timeout;
flag_wait = 1;
rt_kprintf( "%08d gsm>%s\r\n", tick_start, AT_cmd_string );
m66_write( &dev_gsm, 0, AT_cmd_string, strlen( AT_cmd_string ) );
while( flag_wait )
{
err = rt_mb_recv( &mb_gsmrx, (rt_uint32_t*)&pmsg, tm );
if( err == RT_EOK ) /*没有超时,判断信息是否正确*/
{
len = ( *pmsg << 8 ) | ( *( pmsg + 1 ) );
pinfo = pmsg + 2;
if( respfunc( pinfo, len ) == RT_EOK ) /*找到了*/
{
rt_free( pmsg ); /*释放*/
rt_sem_release( &sem_at );
return RT_EOK;
}
rt_free( pmsg ); /*释放*/
/*计算剩下的超时时间,由于其他任务执行的延时，会溢出,要判断*/
if( rt_tick_get( ) < tick_end ) /*还没有超时*/
{
tm = tick_end - rt_tick_get( );
}else
{
flag_wait = 0;
}
}else /*已经超时*/
{
flag_wait = 0;
}
}
}
rt_sem_release( &sem_at );
return ( -RT_ETIMEOUT );
}
static rt_err_t spi_wifi_transfer(struct spi_wifi_eth *dev)
{
struct pbuf *p = RT_NULL;
struct cmd_request cmd;
struct response resp;
rt_err_t result;
const struct spi_data_packet *data_packet = RT_NULL;
struct spi_wifi_eth *wifi_device = (struct spi_wifi_eth *)dev;
struct rt_spi_device *rt_spi_device = wifi_device->rt_spi_device;
spi_wifi_int_cmd(0);
while (spi_wifi_is_busy());
WIFI_DEBUG("sequence start!\n");
memset(&cmd, 0, sizeof(struct cmd_request));
cmd.magic1 = CMD_MAGIC1;
cmd.magic2 = CMD_MAGIC2;
cmd.flag |= CMD_FLAG_MRDY;
result = rt_mb_recv(&wifi_device->spi_tx_mb,
(rt_uint32_t *)&data_packet,
0);
if ((result == RT_EOK) && (data_packet != RT_NULL) && (data_packet->data_len > 0))
{
cmd.M2S_len = data_packet->data_len + member_offset(struct spi_data_packet, buffer);
//WIFI_DEBUG("cmd.M2S_len = %d\n", cmd.M2S_len);
}
struct pbuf *pcap_netif_rx(rt_device_t dev)
{
struct pbuf* p = RT_NULL;
rt_mb_recv(packet_mb, (rt_uint32_t*)&p, 0);
return p;
}
/***********************************************************
* Function:
* Description:
* Input:
* Input:
* Output:
* Return:
* Others:
***********************************************************/
rt_err_t gsm_send_wait_str_ok( char *AT_cmd_string,
uint32_t timeout,
char * respstr,
uint8_t no_of_attempts )
{
rt_err_t err;
uint8_t i = 0;
char *pmsg;
uint32_t tick_start, tick_end;
uint32_t tm;
__IO uint8_t flag_wait = 1;
err = rt_sem_take( &sem_at, timeout );
if( err != RT_EOK )
{
return err;
}
for( i = 0; i < no_of_attempts; i++ )
{
tick_start = rt_tick_get( );
tick_end = tick_start + timeout;
tm = timeout;
flag_wait = 1;
rt_kprintf( "%08d gsm>%s\r\n", tick_start, AT_cmd_string );
m66_write( &dev_gsm, 0, AT_cmd_string, strlen( AT_cmd_string ) );
while( flag_wait )
{
err = rt_mb_recv( &mb_gsmrx, (rt_uint32_t*)&pmsg, tm );
if( err == RT_EOK ) /*没有超时,判断信息是否正确*/
{
if( strstr( pmsg + 2, respstr ) != RT_NULL ) /*找到了*/
{
rt_free( pmsg ); /*释放*/
goto lbl_send_wait_ok;
}
rt_free( pmsg ); /*释放*/
/*计算剩下的超时时间,由于其他任务执行的延时，会溢出,要判断*/
if( rt_tick_get( ) < tick_end ) /*还没有超时*/
{
tm = tick_end - rt_tick_get( );
}else
{
flag_wait = 0;
}
}else /*已经超时*/
{
flag_wait = 0;
}
}
}
rt_sem_release( &sem_at );
return -RT_ETIMEOUT;
lbl_send_wait_ok:
err = gsm_wait_str( "OK", RT_TICK_PER_SECOND * 2 );
rt_sem_release( &sem_at );
return err;
}
/*
* 函数名: HallTest
* 描 述:
* 输 入: 无
* 输 出: 无
* 调 用: 外部调用
*/
void HallTest(void)
{
rt_uint32_t key_value;
extern u8 Hall_Count;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_WriteString("========Hall========");
LCD_SetXY(0,1);
LCD_WriteString("1.SS_init");
LCD_SetXY(0,2);
LCD_WriteString("2.open hand_SS");
LCD_SetXY(0,3);
LCD_WriteString("3.leg_on");
LCD_SetXY(0,4);
LCD_WriteString("4.leg_off");
LCD_SetXY(0,5);
LCD_WriteString("5.open hand_SW");
LCD_SetXY(0,6);
LCD_WriteString("6.PW_init");
LCD_SetXY(0,7);
LCD_WriteInt(Hall_Count-1);
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case key1:
Hall_Send(1);
break;
case key2:
Hall_Send(2);
break;
case key3:
Hall_Send(3);
break;
case key4:
Hall_Send(4);
break;
case key5:
Hall_Send(5);
break;
case key6:
Hall_Send(6);
break;
case keyback:
return;
}
}
Delay_ms(10);
}
}
void sys_ImgSave(void)
{
rt_uint32_t key_value;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_WriteString("======Img Save======");
LCD_SetXY(0,1);
LCD_WriteString("1.b_seesaw");
LCD_SetXY(0,2);
LCD_WriteString("2.b_polewalk");
LCD_SetXY(0,3);
LCD_WriteString("3.b_whitetape");
LCD_SetXY(0,4);
LCD_Printf("4.Handover");
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
u8 res;
case key1:
/* save image from camera1 ,file name is "b_seesaw.txt" */
res = Save_Img("b_seesaw", 1);
_show_res(res);
break;
case key2:
res = Save_Img("b_polewalk", 4);
_show_res(res);
break;
case key3:
res = Save_Img("b_whitetape", 2);
_show_res(res);
res = Save_Img("b_whitetape", 1);
_show_res(res);
break;
case key4:
res = Save_Img("Handover",5);
_show_res(res);
break;
case keyback:
return;
}
}
Delay_ms(10);
}
}
/* Ethernet Rx Thread */
static void eth_rx_thread_entry(void* parameter)
{
struct eth_device* device;
while (1)
{
if (rt_mb_recv(ð_rx_thread_mb, (UInt32*)&device, RT_WAITING_FOREVER) == RT_EOK)
{
struct pbuf *p;
/* check link status */
if (device->link_changed)
{
int status;
UInt32 level;
level = rt_hw_interrupt_disable();
status = device->link_status;
device->link_changed = 0x00;
rt_hw_interrupt_enable(level);
if (status)
netifapi_netif_set_link_up(device->netif);
else
netifapi_netif_set_link_down(device->netif);
}
/* receive all of buffer */
while (1)
{
p = device->eth_rx(&(device->parent));
if (p != NULL)
{
/* notify to upper layer */
if( device->netif->input(p, device->netif) != ERR_OK )
{
LWIP_DEBUGF(NETIF_DEBUG, ("ethernetif_input: Input error\n"));
pbuf_free(p);
p = NULL;
}
}
else break;
}
}
else
{
LWIP_ASSERT("Should not happen!\n",0);
}
}
}
/*
* 函数名: RadarTest
* 描 述: 激光雷达数据显示
* 输 入: 无
* 输 出: 无
* 调 用: 外部调用
*/
void RadarTest(void)
{
rt_uint32_t key_value;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_WriteString("=======Radar========");
LCD_SetXY(0,1);
LCD_Printf("%d",sonic_data[0].data);
LCD_SetXY(10, 1);
LCD_Printf("%d",sonic_data[0].count);
LCD_SetXY(0,2);
LCD_Printf("%d",sonic_data[3].data);
LCD_SetXY(10,2);
LCD_Printf("%d",sonic_data[3].count);
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case key1:
break;
case key2:
break;
case key3:
break;
case key4:
break;
case key5:
break;
case key6:
break;
case keyback:
return;
default:
break;
}
}
Delay_ms(10);
}
}
/*
* 函数名: LBTest
* 描 述: 灯板测试函数
* 输 入: 无
* 输 出: 无
* 调 用: 外部调用
*/
void LBTest(void)
{
rt_uint32_t key_value;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_WriteString("=========LB=========");
LCD_SetXY(0,1);
LCD_WriteString("LB1:");
LCD_WriteInt(LB_Count(1));
LCD_SetXY(10,1);
LCD_WriteString("LB2:");
LCD_WriteInt(LB_Count(2));
LCD_SetXY(0,2);
LCD_WriteString("LB1:");
LCD_Printf("%s",itob(LB_recv[0].v));
LCD_SetXY(0,4);
LCD_WriteString("LB2:");
LCD_Printf("%s",itob(LB_recv[1].v));
LCD_SetXY(0,6);
LCD_WriteString("1.LB_Init");
LCD_SetXY(10,6);
LCD_WriteString("2.LB_State");
LCD_SetXY(0,7);
LCD_WriteString("3.LB_Test");
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case key1:
LB_Init();
break;
case key2:
LB_State();
break;
case key3:
LB_Test();
break;
case keyback:
return;
}
}
Delay_ms(10);
}
}
/** Wait for a new message to arrive in the mbox
* @param mbox mbox to get a message from
* @param msg pointer where the message is stored
* @param timeout maximum time (in milliseconds) to wait for a message
* @return 0 (milliseconds) if a message has been received
* or SYS_MBOX_EMPTY if the mailbox is empty
*/
u32_t sys_arch_mbox_tryfetch(sys_mbox_t *mbox, void **msg)
{
int ret;
ret = rt_mb_recv(*mbox, (rt_uint32_t *)msg, 0);
if(ret == -RT_ETIMEOUT)
return SYS_ARCH_TIMEOUT;
else
{
if (ret == RT_EOK)
ret = 1;
}
return ret;
}
/*
* 函数名: RecKin
* 描 述: 测试 Kinect 接受
* 输 入: 无
* 输 出: 无
* 调 用: 外部调用
*/
void RecKin_Print(void)
{
rt_uint32_t key_value;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_WriteString("========Receiving========");
LCD_SetXY(0,1);
LCD_Printf("x = %d",(int)uart_data.x);
LCD_SetXY(0,2);
LCD_Printf("y = %d",(int)uart_data.y);
LCD_SetXY(0,3);
LCD_Printf("z = %d",(int)uart_data.z);
LCD_SetXY(0,4);
LCD_Printf("Now Angle:%g %g %g",Motor_Pos[W_MOTOR1_OLD_ID-W_MOTOR1_OLD_ID]*360,\
Motor_Pos[W_MOTOR2_OLD_ID-W_MOTOR1_OLD_ID]*360,Motor_Pos[W_MOTOR3_OLD_ID-W_MOTOR1_OLD_ID]*360);
LCD_SetXY(0,5);
LCD_Printf("1.STOP %d %d %d",(int)(Motor_RealAim[W_MOTOR1_OLD_ID-W_MOTOR1_OLD_ID]*360/1000),\
(int)(Motor_RealAim[W_MOTOR2_OLD_ID-W_MOTOR1_OLD_ID]*360/1000),(int)(Motor_RealAim[W_MOTOR3_OLD_ID-W_MOTOR1_OLD_ID]*360/1000));
LCD_SetXY(0,7);
LCD_WriteString("1.Set_XYZ");
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case key1:
Input_DoubleValue(&uart_data.x,"x");
Input_DoubleValue(&uart_data.y,"y");
Input_DoubleValue(&uart_data.z,"z");
Input_IntValue(&pos_speed.v_A,"v_A");
Input_IntValue(&pos_speed.v_B,"v_B");
// Input_IntValue(&pos_speed.v_C,"v_C");
Data_Processing();
W_MOTOR_OLD_FUNC(W_MOTOR2_OLD_ID, (float)pos_speed.pos_A , (int16_t)pos_speed.v_A , CMD_SET_PSG);
W_MOTOR_OLD_FUNC(W_MOTOR2_OLD_ID, (float)pos_speed.pos_B , (int16_t)pos_speed.v_B , CMD_SET_PSG);
// W_MOTOR_OLD_FUNC(W_MOTOR3_OLD_ID, (float)pos_speed.pos_C , (int16_t)pos_speed.v_C , CMD_SET_PSG);
break;
case keyback:
return;
}
}
Delay_ms(10);
}
}
/*
* 函数名: DataBack
* 描 述: 数据回传函数
* 输 入: 无
* 输 出: 无
* 调 用: 外部调用
*/
void DataBackTest(void)
{
// rt_uint32_t key_value;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_WriteString("======DataBack======");
LCD_SetXY(0,1);
#if DataBackEnable
LCD_WriteString("DataNumber:");
LCD_WriteInt(DataBack_GetCount());
LCD_SetXY(0,2);
LCD_WriteString("Press OK to send");
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case keyOK:
LCD_Clear();
LCD_SetXY(5,3);
LCD_WriteString("Waiting...");
DataBack_Write(DataBack_GetCount());
DataBack_Send();
Com_SendByte(2,'$');
LCD_Clear();
LCD_SetXY(7,3);
LCD_WriteString("Done~!");
Delay_ms(500);
break;
case keyback:
return;
}
}
#else
LCD_WriteString("Please Enable the DataBack Function");
#endif
Delay_ms(10);
}
}
void mmcsd_detect(void *param)
{
struct rt_mmcsd_host *host;
rt_uint32_t ocr;
rt_int32_t err;
while (1)
{
if (rt_mb_recv(&mmcsd_detect_mb, (rt_uint32_t*)&host, RT_WAITING_FOREVER) == RT_EOK)
{
if (host->card == RT_NULL)
{
mmcsd_host_lock(host);
mmcsd_power_up(host);
mmcsd_go_idle(host);
mmcsd_send_if_cond(host, host->valid_ocr);
err = sdio_io_send_op_cond(host, 0, &ocr);
if (!err) {
if (init_sdio(host, ocr))
mmcsd_power_off(host);
mmcsd_host_unlock(host);
continue;
}
/*
* detect SD card
*/
err = mmcsd_send_app_op_cond(host, 0, &ocr);
if (!err)
{
if (init_sd(host, ocr))
mmcsd_power_off(host);
mmcsd_host_unlock(host);
continue;
}
mmcsd_host_unlock(host);
}
}
}
}
/* ethernet buffer */
void eth_rx_thread_entry(void* parameter)
{
struct eth_device* device;
err_t err_ret;
while (1) {
if (rt_mb_recv(ð_rx_thread_mb, (rt_uint32_t*)&device, RT_WAITING_FOREVER) == RT_EOK) {
struct pbuf *p;
/* check link status */
if (device->link_changed) {
int status;
rt_uint32_t level;
level = rt_hw_interrupt_disable();
status = device->link_status;
device->link_changed = 0x00;
rt_hw_interrupt_enable(level);
if (status)
netifapi_netif_set_link_up(device->netif);
else
netifapi_netif_set_link_down(device->netif);
}
/* receive all of buffer */
while (1) {
p = device->eth_rx(&(device->parent));
if (p != RT_NULL) {
/* notify to upper layer */
if( (err_ret=device->netif->input(p, device->netif)) != ERR_OK ) {
printf_syn("ethernetif_input: Input error(%d)\n", err_ret);
pbuf_free(p);
p = NULL;
}
} else {
break;
}
}
}
}
}
u32_t sys_arch_mbox_fetch(sys_mbox_t mbox, void **msg, u32_t timeout)
{
rt_err_t ret;
s32_t t;
u32_t tick;
/* get the begin tick */
tick = rt_tick_get();
if(timeout == 0)
t = RT_WAITING_FOREVER;
else
{
/* convirt msecond to os tick */
if (timeout < (1000/RT_TICK_PER_SECOND)) t = 1;
else t = timeout / (1000/RT_TICK_PER_SECOND);
}
ret = rt_mb_recv(mbox, (rt_uint32_t *)msg, t);
if(ret == -RT_ETIMEOUT) return SYS_ARCH_TIMEOUT;
else if (ret == RT_EOK) ret = 1;
#if SYS_DEBUG
{
struct rt_thread *thread;
thread = rt_thread_self();
LWIP_DEBUGF(SYS_DEBUG, ("%s, Fetch mail: %s , 0x%x\n",thread->name,
mbox->parent.parent.name, *(rt_uint32_t **)msg));
}
#endif
/* get elapse msecond */
tick = rt_tick_get() - tick;
/* convert tick to msecond */
tick = tick * (1000/RT_TICK_PER_SECOND);
if (tick == 0) tick = 1;
return tick;
}
/** Wait for a new message to arrive in the mbox
* @param mbox mbox to get a message from
* @param msg pointer where the message is stored
* @param timeout maximum time (in milliseconds) to wait for a message
* @return time (in milliseconds) waited for a message, may be 0 if not waited
or SYS_ARCH_TIMEOUT on timeout
* The returned time has to be accurate to prevent timer jitter!
*/
u32_t sys_arch_mbox_fetch(sys_mbox_t *mbox, void **msg, u32_t timeout)
{
rt_err_t ret;
s32_t t;
u32_t tick;
RT_DEBUG_NOT_IN_INTERRUPT;
/* get the begin tick */
tick = rt_tick_get();
if(timeout == 0)
t = RT_WAITING_FOREVER;
else
{
/* convirt msecond to os tick */
if (timeout < (1000/RT_TICK_PER_SECOND))
t = 1;
else
t = timeout / (1000/RT_TICK_PER_SECOND);
}
ret = rt_mb_recv(*mbox, (rt_uint32_t *)msg, t);
if(ret == -RT_ETIMEOUT)
return SYS_ARCH_TIMEOUT;
else
{
LWIP_ASSERT("rt_mb_recv returned with error!", ret == RT_EOK);
}
/* get elapse msecond */
tick = rt_tick_get() - tick;
/* convert tick to msecond */
tick = tick * (1000 / RT_TICK_PER_SECOND);
if (tick == 0)
tick = 1;
return tick;
}
void sys_sonic(void)
{
rt_uint32_t key_value;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0); LCD_WriteString("====pole_test====");
LCD_SetXY(0, 1); LCD_WriteString("1.step1");
LCD_SetXY(0, 2); LCD_WriteString("2.xypid");
LCD_SetXY(0, 3); LCD_WriteString("3.pw1");
LCD_SetXY(0, 4); LCD_WriteString("4.dis");
LCD_SetXY(10, 1); LCD_WriteString("5.sd save");
LCD_SetXY(10, 2); LCD_WriteString("6.");
LCD_SetXY(10, 3); LCD_WriteString("7.");
LCD_SetXY(10, 4); LCD_WriteString("8.");
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case key1: _step1(); break;
case key2: pw1_pid(); break;
case key3: sonic_pw1(); break;
case key4:
Input_DoubleValue(&std_fdis, "f dis");
Input_DoubleValue(&std_sdis, "s dis");
case key5:
{
int _sonicx = 0 ;
Input_IntValue(&_sonicx, "_sonicx");
sonic_SDsave(_sonicx, "sonic_data", 500);
}
break;
case keyback: return;
}
}
Delay_ms(10);
}
}
u32_t sys_arch_mbox_tryfetch(sys_mbox_t mbox, void **msg)
{
int ret;
ret = rt_mb_recv(mbox, (rt_uint32_t *)msg, 0);
if(ret == -RT_ETIMEOUT) return SYS_ARCH_TIMEOUT;
else if (ret == RT_EOK) ret = 1;
#if SYS_DEBUG
{
struct rt_thread *thread;
thread = rt_thread_self();
LWIP_DEBUGF(SYS_DEBUG, ("%s, Fetch mail: %s , 0x%x\n",thread->name,
mbox->parent.parent.name, *(rt_uint32_t **)msg));
}
#endif
return ret;
}
/*等待固定字符串的返回*/
rt_err_t gsm_wait_str( char *respstr, uint32_t timeout )
{
rt_err_t err;
uint8_t *pmsg;
uint32_t tick_start, tick_end;
uint32_t tm;
__IO uint8_t flag_wait = 1;
tick_start = rt_tick_get( );
tick_end = tick_start + timeout;
tm = timeout;
while( flag_wait )
{
err = rt_mb_recv( &mb_gsmrx, (rt_uint32_t*)&pmsg, tm );
if( err != -RT_ETIMEOUT ) /*没有超时,判断信息是否正确*/
{
if( strstr( pmsg + 2, respstr ) != RT_NULL ) /*前两个字节为长度，找到了*/
{
rt_free( pmsg ); /*释放*/
return RT_EOK;
}
rt_free( pmsg ); /*释放*/
/*计算剩下的超时时间,由于其他任务执行的延时，会溢出,要判断*/
if( rt_tick_get( ) < tick_end ) /*还没有超时*/
{
tm = tick_end - rt_tick_get( );
}else
{
flag_wait = 0;
}
}else /*已经超时*/
{
flag_wait = 0;
}
}
return RT_ETIMEOUT;
}
/* 线程1入口 */
static void thread1_entry(void* parameter)
{
char* str;
while (1)
{
rt_kprintf("thread1: try to recv a mail\n");
/* 从邮箱中收取邮件 */
if (rt_mb_recv(&mb, (rt_uint32_t*)&str, RT_WAITING_FOREVER) == RT_EOK)
{
rt_kprintf("thread1: get a mail from mailbox, the content:%s\n", str);
if (str == mb_str3)
break;
/* 延时10个OS Tick */
rt_thread_delay(10);
}
}
/* 执行邮箱对象脱离 */
rt_mb_detach(&mb);
}
rt_err_t rtgui_send_sync(struct rtgui_app* app, rtgui_event_t *event, rt_size_t event_size)
{
rt_err_t r;
rt_int32_t ack_buffer, ack_status;
struct rt_mailbox ack_mb;
RT_ASSERT(app != RT_NULL);
RT_ASSERT(event != RT_NULL);
RT_ASSERT(event_size != 0);
rtgui_event_dump(app, event);
/* init ack mailbox */
r = rt_mb_init(&ack_mb, "ack", &ack_buffer, 1, 0);
if (r != RT_EOK)
goto __return;
event->ack = &ack_mb;
r = rt_mq_send(app->mq, event, event_size);
if (r != RT_EOK)
{
rt_kprintf("send sync event failed\n");
goto __return;
}
r = rt_mb_recv(&ack_mb, (rt_uint32_t *)&ack_status, RT_WAITING_FOREVER);
if (r != RT_EOK)
goto __return;
if (ack_status != RTGUI_STATUS_OK)
r = -RT_ERROR;
else
r = RT_EOK;
__return:
/* fini ack mailbox */
rt_mb_detach(&ack_mb);
return r;
}
void LookIt(void)
{
rt_uint32_t key_value;
// int i;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0);LCD_Printf("1.AngleSwing %d",AngleSwing);
LCD_SetXY(0,1);LCD_Printf("2.AngleHit %d",AngleHit);
LCD_SetXY(0,2);LCD_Printf("3.pos_A %f",pos_speed.pos_A);
LCD_SetXY(0,3);LCD_Printf("4.pos_B %f",pos_speed.pos_B);
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
if(key_value == keyback)
{
return ;
}
}
Delay_ms(10);
}
}
rt_err_t rtgui_thread_send_sync(rt_thread_t tid, rtgui_event_t* event, rt_size_t event_size)
{
rt_err_t r;
struct rtgui_thread* thread;
rt_int32_t ack_buffer, ack_status;
struct rt_mailbox ack_mb;
rtgui_event_dump(tid, event);
/* init ack mailbox */
r = rt_mb_init(&ack_mb, "ack", &ack_buffer, 1, 0);
if ( r!= RT_EOK) goto __return;
/* find rtgui_thread */
thread = (struct rtgui_thread*) (tid->user_data);
if (thread == RT_NULL){ r = RT_ERROR; goto __return; }
event->ack = &ack_mb;
r = rt_mq_send(thread->mq, event, event_size);
if (r != RT_EOK)
{
rt_kprintf("send sync event failed\n");
goto __return;
}
r = rt_mb_recv(&ack_mb, (rt_uint32_t*)&ack_status, RT_WAITING_FOREVER);
if ( r!= RT_EOK) goto __return;
if (ack_status != RTGUI_STATUS_OK) r = -RT_ERROR;
else r = RT_EOK;
/* fini ack mailbox */
rt_mb_detach(&ack_mb);
__return:
return r;
}
/* ethernet buffer */
void eth_rx_thread_entry(void* parameter)
{
struct eth_device* device;
while (1)
{
if (rt_mb_recv(ð_rx_thread_mb, (UInt32*)&device, RT_WAITING_FOREVER) == RT_EOK)
{
struct pbuf *p;
/* receive all of buffer */
while (1)
{
p = device->eth_rx(&(device->parent));
if (p != NULL)
{
/* notify to upper layer */
eth_input(p, device->netif);
}
else break;
}
}
}
}
void dfs_thread_entry(void* parameter)
{
char *rev_meail;//定义指针，用来保存邮件内容
/******************启动文件系统***************/
/* init the device filesystem */
dfs_init();
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("文件系统初始化成功!\n");
}
else
rt_kprintf("文件系统初始化失败!\n");
/*************************初始化LD3320***********************/
ld3320_gpio_configuration();
ld3320_nvic_cfg();
ld3320_spi_init();
LD_reset();
nAsrStatus = LD_ASR_NONE;
bMp3Play=0;
if(wugege_read_ini(sys_ini_name)!=1)
rt_kprintf("读取系统配置文件失败,语音识别将受到严重影响\n");
rt_kprintf("读取系统配置文件成功\n");
if(PlayDemoSound_mp3(sys_shi_mp3)<0)
rt_kprintf(" 播放初始化音乐失败，请确认是否能使用LD3320!\n");
rt_kprintf("播放初始化音乐成功！\n");
rt_thread_delay(10);//延迟该线程10ms
sys_wake=1;
sys_wake_count=0;
while(1)
{
if(RT_EOK==(rt_mb_recv(&mb,(rt_uint32_t*)&rev_meail,RT_WAITING_NO)))
{
rt_kprintf("接收到邮件,播放音乐%s\r\n",rev_meail);
if(PlayDemoSound_mp3(rev_meail)<0)
rt_kprintf("播放音乐失败%s \r\n",rev_meail);
rt_kprintf("接收到邮件,播放音乐完毕\r\n");
// *rev_meail=NULL;
nAsrStatus = LD_ASR_NONE;
}
rt_thread_delay(5);//延迟该线程5ms
while(bMp3Play != 0)
rt_thread_delay(5);
switch (nAsrStatus)
{
case LD_ASR_RUNING: // LD3320芯片正在语音识别中
break;
case LD_ASR_ERROR: // LD3320芯片发生错误
break;
case LD_ASR_NONE: // LD3320芯片无动作
{
nAsrStatus=LD_ASR_RUNING;
if (RunASR(sys_wake)==0) // 启动一次ASR识别流程：ASR初始化，ASR添加关键词语，启动ASR运算
{
nAsrStatus = LD_ASR_ERROR;
}
break;
}
case LD_ASR_FOUNDOK: // LD3320芯片识别到语音
{
char mp3_name[25]; //mp3文件名缓冲区
char action[15];
char ini_name[20];
int nAsrRes = LD_GetResult(); // 一次ASR识别流程结束，去取ASR识别结果
if(nAsrRes==49)
{
sys_wake=1;
sys_wake_count=0;
PlayDemoSound_mp3(sys_shi_mp3);
rt_kprintf("系统唤醒成功 \n");
}
else if(sys_wake)
{
get_mps_ini_file(mp3_name,ini_name,action,nAsrRes);
rt_kprintf("识别用户的mp3名字 %s 配置文件%s 命令%s 原始码%d\r\n",mp3_name,ini_name,action,nAsrRes);
sys_wake_count=0;
sys_wake=1;
deal_action(action);
if(PlayDemoSound_mp3(mp3_name)<0)
rt_kprintf("播放音乐失败%s \r\n",mp3_name);
if(0!=strcmp(ini_name,sys_ini_name))
{
strcpy(sys_ini_name,ini_name);
rt_kprintf("重新载入配置文件%s \r\n",sys_ini_name);
if(wugege_read_ini(sys_ini_name)!=1)
rt_kprintf("读取系统配置文件失败,语音识别将受到严重影响\r\n");
}
}
rt_kprintf("\r\n识别到用户关键字为:%d \r\n",nAsrRes);
nAsrStatus = LD_ASR_NONE;
break;
}
case LD_ASR_FOUNDZERO: //无识别结果
nAsrStatus = LD_ASR_NONE;
break;
default:
nAsrStatus = LD_ASR_NONE;
break;
}
}
}
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);
}
}
}