unsigned char handleCmd_timer(void ** args)
{
USART_printf("Timer raw val: ");
USART_printf(itoa(getTimerRaw()));
USART_printf("\r\n");
return 0;
}
void ledStringSetProgram(void ** args )
{
unsigned int numArg = atoi(((unsigned char **) args)[1]);
unsigned int numArg2 = atoi(((unsigned char **) args)[2]);
/*get sub command*/
if(strcmp((((unsigned char **) args)[0]), "prog" )==0)
{
USART_printf("Setting ledString program...\r\n");
currentProgram = numArg;
}
else if(strcmp((((unsigned char **) args)[0]), "speed" )==0)
{
USART_printf("Update speed ledString...\r\n");
timer_update(0, 0,numArg, ledStringTimer);
}
else if(strcmp((((unsigned char **) args)[0]), "effect" )==0)
{
setLedEffect(numArg,(unsigned char)numArg2);
}
else
{
USART_printf("prog, speed, effect, are valid.");
}
}
void shellProcess()
{
if(console_process(CONSOLE_NON_BLOCKING,input_str, CONSOLE_MAXLEN)) {
USART_printf("\r\n");
shell_process(input_str);
USART_printf("->");
}
}
unsigned char handleCmd_help(void ** args)
{
unsigned char i;
for(i=0; i< (sizeof(commandList)/sizeof(t_command)); i++)
{
USART_printf(&(commandList[i]).cmd);
USART_printf(": ");
USART_printf(&(commandList[i]).descr);
USART_printf("\r\n");
}
return 0;
}
void Magnetic::HMC5883_Read(void)
{
uint8_t t_cmd;
t_cmd = 0x14;
I2C_Write_NBytes(HMC5883_ADDR, 0x00, 1, &t_cmd);
t_cmd = 0x00;
I2C_Write_NBytes(HMC5883_ADDR, 0x02, 1, &t_cmd);
for (int i = 0; i < 6; i++) {
I2C_Read_NBytes(HMC5883_ADDR, 0x03 + i, 6, &Mag_buf[i]);
}
Mag_X = (Mag_buf[1] << 8) | Mag_buf[0];
Mag_Z = (Mag_buf[3] << 8) | Mag_buf[2];
Mag_Y = (Mag_buf[5] << 8) | Mag_buf[4];
USART_printf("m_x:%10d m_y:%10d m_z:%10d\r\n",
Mag_X, Mag_X, Mag_X);
/*
if(HMC5883.x>0X7FFF)HMC5883.x -= 0XFFFF;
if(HMC5883.y>0X7FFF)HMC5883.y -= 0XFFFF;
angle = atan2((double)HMC5883.y,(double)HMC5883.x) * (180 / 3.14159265) + 180;
// angle in degrees
*/
}
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,*/
USART_printf( &BSP_USART_PRINT, "Wrong parameters value: file %s on line %d\r\n", file, line) ;
/* USER CODE END 6 */
}
unsigned char handleCmd_adc(void ** args)
{
int i, sample, min = 1024, max = 0;
unsigned int average =0;
/*get first argument as string*/
unsigned char * arg1 = (unsigned char *)args[0];
if(!strcmp(arg1, "test")) {
USART_printf("ADC sample: ");
for(i=0;i< 100; i++)
{
sample = adcSampleBlocking();
USART_printf(itoa(sample));
USART_printf("\r\n");
if(min > sample) min = sample;
if(max < sample) max = sample;
average += sample;
}
USART_printf("min:");
USART_printf(itoa(min));
USART_printf("max:");
USART_printf(itoa(max));
USART_printf("avg:");
USART_printf(itoa((unsigned int)(average/100)));
} else if(!strcmp(arg1, "cont")) {
/*install timer which calls adc continuously.*/
/*install timer which handles chunk of samples*/
}
else
USART_printf("arg: 't'||'c'\r\n");
return 0;
}
int main (void)
{
init_main();
/*wait for first character to be received*/
USART_Receive(0);
/*print welcome string*/
USART_printf("Hello there....................\r\n->");
DDRB |= _BV(DDB5);
while(1)
{
/*exec shell*/
shellProcess();
/*exec timer process*/
timing_process();
/*exec led updater*/
ledStringProcess();
/* set pin 5 of PORTB for output*/
//
/* set pin 5 high to turn led on */
//PORTB |= _BV(PORTB5);
//_delay_ms(BLINK_DELAY_MS*4);
/* set pin 5 low to turn led off */
//PORTB &= ~_BV(PORTB5);
//_delay_ms(BLINK_DELAY_MS);
}
return 0;
}
int main(void)
{
char start_char;
uint16_t n_chars;
/* Clock setup */
InitClock();
/* Program Timer 1 to raise interrupts */
T1_program();
/* Init leds */
EE_leds_init();
EE_demoboard_leds_init();
console_init();
USART_printf("Hello From Erika RTOS, press t to run the benchmark \r\n");
//calcRawSpeed();
do{
readChar(&start_char);
}while(start_char != 't');
//USART_printf("T ok \r\n");
stop = 0;
uint8_t i;
calcRawSpeed();
initState(kwips_rawspeed, initAlarms, initFreq, initKWPP);
//for(i=0; i<9999; i++){}
ActivateTask(SuperTask);
//for(i=0; i<9999; i++){}
StartOS(OSDEFAULTAPPMODE);
/* Forever loop: background activities (if any) should go here */
for (;;);
return 0;
}
void setLedEffect(unsigned char effectNr, unsigned char argument)
{
USART_printf("setting effect:");
USART_printf(itoa(effectNr));
switch(effectNr)
{
case 1:
if(globalEffectArgument > 99)
{
USART_printf(itoa(argument));
USART_printf("?, prog needs arg < 100...");
}
else
{
globalEffectArgument = argument;
doLedEffectFunc = ledEffectPostGlow;
}
break;
case 2:
if(globalEffectArgument > 10)
{
USART_printf(itoa(argument));
USART_printf("?, prog needs arg < 10...");
}
else
{
doLedEffectFunc = ledEffectFade;
globalEffectArgument = argument;
}
break;
default:
/*directly forward*/
doLedEffectFunc = showPixel;
break;
}
}
int main(void)
{
char cmd, subcmd, x, y, v, w, r; //variables used for loops, buffering of command bytes, counters etc.
uint16_t color; //counters for long stuff that may go over 256
uint8_t pressureThreshhold = 10;
TouchScreen_init();
USART_set_baud(6);
LCD_init();
//flush any received chars
USART_flush();
LCD_drawString("Ready For Command", 0, 10, 1, WHITE, USART_recv);
/* Replace with your application code */
while (1) {
if(!RX_available()) {
TSPoint p = TouchScreen_getPoint();
if(p.z > pressureThreshhold) {
USART_printf("X = %d\r\n", p.x);
USART_printf("Y = %d\r\n", p.y);
USART_printf("Pressure = %d\r\n", p.z);
}
} else {
cmd = USART_recv();
switch(cmd) {
case 124:
subcmd = USART_recv();
switch(subcmd) {
case 1: //clear screen
LCD_paint_screen_black();
break;
//************************************************************************************************************
case 3: //draw circle
x = USART_recv();
y = USART_recv();
r = USART_recv();
// get integer color
color = USART_recv();
color = color << 8;
color |= USART_recv();
LCD_drawCircle(x, y, r, color);
break;
case 4:
x = USART_recv();
y = USART_recv();
r = USART_recv();
// get integer color
color = USART_recv(); //store it and increment RX_read
color = color << 8;
color |= USART_recv();
LCD_fillCircle(x, y, r, color);
break;
case 12: //line
x = USART_recv();
y = USART_recv();
v = USART_recv();
w = USART_recv();
// get integer color
color = USART_recv();
color = color << 8;
color |= USART_recv();
LCD_drawLine(x, y, v, w, color);
break;
//************************************************************************************************************
case 15:
x = USART_recv();
y = USART_recv();
v = USART_recv();
w = USART_recv();
// get integer color
color = USART_recv();
color = color << 8;
color |= USART_recv();
LCD_drawRectangle(x, y, v, w, color);
break;
//************************************************************************************************************
case 16: //set pixel
x = USART_recv();
y = USART_recv();
color = USART_recv();
color = color << 8;
color |= USART_recv();
LCD_setPixel(x, y, color);
break;
case 18:
x = USART_recv();
y = USART_recv();
v = USART_recv();
w = USART_recv();
// get integer color
color = USART_recv();
color = color << 8;
color |= USART_recv();
LCD_fillRectangle(x, y, v, w, color);
break;
case 20: // draw text
x = USART_recv();
y = USART_recv();
// size
r = USART_recv();
// get integer color
color = USART_recv(); //store it and increment RX_read
color = color << 8;
color |= USART_recv();
// send string end with 0
LCD_drawString(NULL, x, y, r, color, USART_recv);
break;
}
break;
}
}
}
}
int main(void)
{
u8 i=0,m=0;
//char buff[6];
SystemInit();//初始化RCC 设置系统主频为72MHZ
USART1_Config();
delay_init(); //延时初始化
Ultran_Init();
I2c_Init_MI();
TIM5_Cap_Init(0xfffe,8);
TIM2_Cap_Init(0xfffe,8);
TIM3_Cap_Init(0xfffe,8);
TIM1_Cap_Init(0xfffe,8);
TIM4_Cap_Init(0xfffe,8);
TIM8_Cap_Init(0xfffe,8);
USART1_Config();
USART2_Config();
USART3_Config();
delay_ms(1000);
delay_ms(1000);
esp8266_ap_server_init();
for(i=0;i<99;i++)//数组初始化
{
data_pc[i]=0x30;
}
data_pc[0]=0xff;
data_pc[1]=0xff;
while(1)
{
// char *buff[10]={"AT",
// "AT+CIPSTATUS"};
Ultra_Ranging();
if(state_0x0a==1)//字符串解析函数
{
u8 i=0,weizhi=0;
data_exist=bf( data_cu,ESP_Responses[5]);
if(data_exist!=-1)
{
data_exist1=bf( data_cu,ESP_Responses[10]);
if(data_exist1!=-1)
{
data_exist2=data_exist1-data_exist-7;
if(data_exist2==1)
{
data_length1=data_cu[data_exist+7];
data_length1=data_length1-0x30;
data_length=data_length1;
weizhi=9;
}
if(data_exist2==2)
{
data_length1=data_cu[data_exist+7];
data_length1=data_length1-0x30;
data_length1=data_length1*10;
data_length2=data_cu[data_exist+8];
data_length2=data_length2-0x30;
data_length=data_length1+data_length2;
weizhi=10;
}
for(i=0;i<data_length;i++)
{
data_wifi[i]=data_cu[data_exist+weizhi+i];
}
// USART_printf(USART1, data_right);//发送通过校验的数据到电脑上方便调试
// USART_printf(USART1, "\r\n");
}
}
cun=0;
for(i=0;i<100;i++)//清空接收数组
{
data_cu[i]=0;
}
state_0x0a=0;//接收状态变量清零
//data_exist=0;
}
if(state_0x0a1==1)//字符串解析函数
{
u8 i=0,weizhi=0;
data_exist3=bf( data_cu1,ESP_Responses[5]);
if(data_exist3!=-1)
{
data_exist4=bf( data_cu1,ESP_Responses[10]);
if(data_exist4!=-1)
{
data_exist5=data_exist4-data_exist3-7;
if(data_exist5==1)
{
data_length4=data_cu1[data_exist3+7];
data_length4=data_length4-0x30;
data_length3=data_length4;
weizhi=9;
}
if(data_exist5==2)
{
data_length4=data_cu1[data_exist3+7];
data_length4=data_length4-0x30;
data_length4=data_length4*10;
data_length5=data_cu1[data_exist3+8];
data_length5=data_length5-0x30;
data_length3=data_length4+data_length5;
weizhi=10;
}
for(i=0;i<data_length3;i++)
{
data_wifi1[i]=data_cu1[data_exist3+weizhi+i];
}
//USART_printf(USART1, data_right);//发送通过校验的数据到电脑上方便调试
//USART_printf(USART1, "\r\n");
}
}
cun1=0;
for(i=0;i<100;i++)//清空接收数组
{
data_cu1[i]=0;
}
state_0x0a1=0;//接收状态变量清零
//data_exist=0;
}
data_test=0;
for(data_long=0;data_long<9;data_long++)//将接收到的数据进行加和，准备进行校验
{
data_test+=data_wifi[data_long];
}
if(data_test==data_wifi[9])//校验通过就将数据转移并且保存
{
for(data_long=0;data_long<9;data_long++)
{
data_right[data_long]=data_wifi[data_long];
}
}
data_test=0;
for(data_long=0;data_long<9;data_long++)//将接收到的数据进行加和，准备进行校验
{
data_test+=data_wifi1[data_long];
}
if(data_test==data_wifi1[9])//校验通过就将数据转移并且保存
{
for(data_long=0;data_long<9;data_long++)
{
data_right1[data_long]=data_wifi1[data_long];
}
}
for(i=0;i<6;i++)//将转速数据放入data_pc数据包
{
sprintf(revolving,"%d",juli[i]);
for(m=0;m<5;m++)
{
if(revolving[m]==0)
revolving[m]=0xaa;
}
for(m=revolving_long;m>0;m--)
{
data_pc[i*revolving_long+m+1]=revolving[m-1];
}
for(m=0;m<revolving_long;m++) //将revolving在这里清零
{
revolving[m]=0;
}
}
for(i=0;i<8;i++)
{
data_pc[32+i+8*(data_right[8]-1)]=data_right[i];
}
for(i=0;i<8;i++)
{
data_pc[32+i+8*(data_right1[8]-1)]=data_right1[i];
}
crc_code = yb_crc(data_pc,80);//计算CRC校验码
USART_printf(USART1, data_pc);//发送通过校验的数据到电脑上方便调试
USART_printf(USART1, "\r\n");
//printf(data_right);
//printf("\r\n");
// printf("电机1=%d ",juli);
// printf("电机2=%d\r\n",juli1);
// printf("*********\r\n");
//USART_printf(USART1,buff[1] );
//delay_ms(100);
//esp8266_ap_server_init();
}
//printf("电机1=%d\s\n",juli);
//printf("电机2=%s\r\n",juli1);
}
