update item commuation

2023-06-11 15:02:51 +08:00
parent 6884cf2df8
commit 7b44f752ff
31 changed files with 1096 additions and 124 deletions
@@ -1,5 +1,14 @@
-#include <ExtSRAMInterface.h>
+#include "AlarmTowerCommand.h"
+#include "VoiceRepotCommand.h"
+#include "GarageCommand.h"
+#include "LEDDisplayCommand.h"
+#include "CommandDecoder.h"
+#include "ZigBeeOperator.h"
+#include "BarrierCommand.h"
+#include "CommandEncoder.h"
+#include "ZigBeeOperator.h"
 #include "AccurateMotor.h"
+#include "CommandDecoder.h"
 #include <Ultrasonic.h>
 #include <BKRC_Voice.h>
 #include "GlobalDatas.h"
@@ -7,7 +16,6 @@
 #include <DCMotor.h>
 #include <CoreKEY.h>
 #include <CoreLED.h>
-#include <Command.h>
 #include "Handler.h"
 #include <BH1750.h>
 #include <BEEP.h>
@@ -18,7 +26,7 @@ void setup()
 	CoreLED.Initialization();
 	CoreKEY.Initialization();
 	CoreBeep.Initialization();
-	ExtSRAMInterface.Initialization();
+	ZigBeeOperator.Initialization();
 	LED.Initialization();
 	BH1750.Initialization();
 	BEEP.Initialization();
@@ -31,6 +39,8 @@ void setup()
 	sendflag = 0;
 	frisrtime = 0;
 	Tcount = 0;
+
+	OpenMVOpt::Servo_Control(0);
 }

 void loop()
@@ -40,12 +50,11 @@ void loop()

 	CoreKEY.Kwhile(Handler::KEY_Handler);                                  //按键检测

-	if (ExtSRAMInterface.ExMem_Read(0x6100) != 0x00)              //从车接收ZigBee数据
+	if (ExtSRAMInterface.ExMem_Read(ZigBee_Read_Address) != 0x00)              //从车接收ZigBee数据
 	{
 		ExtSRAMInterface.ExMem_Read_Bytes(ZigBee_command, 8);
-		ZigBee_judge = ZigBee_command[6];                          //获取校验和
-		Command.Judgment(ZigBee_command);                          //计算校验和
-		if ((ZigBee_judge == ZigBee_command[6]) && (ZigBee_command[0] == 0x55) && (ZigBee_command[7] == 0xBB))
+		CommandDecoder decoder(ZigBee_command);
+		if(decoder.CommandValidate())
 			Handler::ZigBeeRx_Handler(ZigBee_command);                      //ZigBee接收数据处理              
 	}

@@ -76,7 +76,7 @@
      <PreprocessorDefinitions>__AVR_atmega2560__;__AVR_ATmega2560__;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
      <LanguageStandard>stdcpp17</LanguageStandard>
      <LanguageStandard_C>stdc11</LanguageStandard_C>
-      <AdditionalIncludeDirectories>$(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\BH1750;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src\utility;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;$(ProjectDir)..\..\..\RACECA~1\SUBCAR~1\Arduino;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include-fixed;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>$(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\BH1750;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include-fixed;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
    </ClCompile>
    <Link>
      <GenerateDebugInformation>true</GenerateDebugInformation>
@@ -106,19 +106,33 @@
  </ItemGroup>
  <ItemGroup>
    <ClInclude Include="AccurateMotor.h" />
+    <ClInclude Include="BarrierCommand.h" />
+    <ClInclude Include="CommandDecoder.h" />
+    <ClInclude Include="CommandEncoder.h" />
    <ClInclude Include="DebugOpt.h" />
+    <ClInclude Include="GarageCommand.h" />
    <ClInclude Include="GlobalDatas.h" />
    <ClInclude Include="Handler.h" />
+    <ClInclude Include="LEDDisplayCommand.h" />
    <ClInclude Include="OpenMVOpt.h" />
+    <ClInclude Include="VoiceRepotCommand.h" />
+    <ClInclude Include="ZigBeeOperator.h" />
    <ClInclude Include="__vm\.2021_Arduino_Demo.vsarduino.h" />
    <ClInclude Include="__vm\.Arduino.vsarduino.h" />
  </ItemGroup>
  <ItemGroup>
    <ClCompile Include="AccurateMotor.cpp" />
+    <ClCompile Include="BarrierCommand.cpp" />
+    <ClCompile Include="CommandDecoder.cpp" />
+    <ClCompile Include="CommandEncoder.cpp" />
    <ClCompile Include="DebugOpt.cpp" />
+    <ClCompile Include="GarageCommand.cpp" />
    <ClCompile Include="GlobalDatas.cpp" />
    <ClCompile Include="Handler.cpp" />
+    <ClCompile Include="LEDDisplayCommand.cpp" />
    <ClCompile Include="OpenMVOpt.cpp" />
+    <ClCompile Include="VoiceRepotCommand.cpp" />
+    <ClCompile Include="ZigBeeOperator.cpp" />
  </ItemGroup>
  <PropertyGroup>
    <DebuggerFlavor>VisualMicroDebugger</DebuggerFlavor>
@@ -39,6 +39,27 @@
    <ClInclude Include="AccurateMotor.h">
      <Filter>Header Files</Filter>
    </ClInclude>
+    <ClInclude Include="CommandEncoder.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="BarrierCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="ZigBeeOperator.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="CommandDecoder.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="LEDDisplayCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="GarageCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="VoiceRepotCommand.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
  </ItemGroup>
  <ItemGroup>
    <ClCompile Include="OpenMVOpt.cpp">
@@ -56,5 +77,26 @@
    <ClCompile Include="AccurateMotor.cpp">
      <Filter>Source Files</Filter>
    </ClCompile>
+    <ClCompile Include="CommandEncoder.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="BarrierCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="ZigBeeOperator.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="CommandDecoder.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LEDDisplayCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="GarageCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="VoiceRepotCommand.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
  </ItemGroup>
 </Project>
@@ -21,7 +21,7 @@ void AccurateMotorClass::TurnLeft(uint8_t degree)
 		return;
 	DCMotor.TurnLeft(car_speed, car_speed);
 	SetCarRunning();
-	MsTimer2::set(degree * 50, []()
+	MsTimer2::set(degree * turn_multplyer, []()
 		{
 			{
 				DCMotor.Stop();
@@ -45,7 +45,7 @@ void AccurateMotorClass::TurnRight(uint8_t degree)
 		return;
 	DCMotor.TurnRight(car_speed, car_speed);
 	SetCarRunning();
-	MsTimer2::set(degree * 50, []()
+	MsTimer2::set(degree * turn_multplyer, []()
 		{
 			{
 				DCMotor.Stop();
@@ -62,7 +62,7 @@ void AccurateMotorClass::RunForward(uint8_t distence)
 		return;
 	DCMotor.Go(car_speed);
 	SetCarRunning();
-	MsTimer2::set(distence * 100, []()
+	MsTimer2::set(distence * run_multplyer, []()
 		{
 			{
 				DCMotor.Stop();
@@ -90,7 +90,7 @@ void AccurateMotorClass::RunBackward(uint8_t distence)
 		return;
 	DCMotor.Back(car_speed);
 	SetCarRunning();
-	MsTimer2::set(distence * 100, []()
+	MsTimer2::set(distence * run_multplyer, []()
 		{
 			{
 				DCMotor.Stop();
@@ -19,7 +19,9 @@ class AccurateMotorClass
 {
 private:
 	bool car_running;
-	const uint8_t car_speed = 100;
+	const uint8_t car_speed = 50;
+	const uint8_t turn_multplyer = 13;
+	const uint8_t run_multplyer = 100;

 private:
 	static void SetCarRunning();
@@ -0,0 +1,52 @@
+// 
+// ±êÖ¾ÎïÍ¨ÐÅ - ·é»ðÌ¨ - ZigBee/IR
+// 
+
+#include "AlarmTowerCommand.h"
+
+AlarmTowerCommand::AlarmTowerCommand()
+{
+	SetDevice(CommandData::Devices::AlarmTower);
+}
+
+byte* AlarmTowerCommand::CMD_DefaultIRAlarm()
+{
+	SetCommand(0x03, 0x05, 0x14, 0x45, 0xDE, 0x92);
+	return GetIRCommandArray();
+}
+
+byte* AlarmTowerCommand::CMD_IRAlarm(byte d1, byte d2, byte d3, byte d4, byte d5, byte d6)
+{
+	SetCommand(d1, d2, d3, d4, d5, d6);
+	return GetIRCommandArray();
+}
+
+byte* AlarmTowerCommand::CMD_ChangeOpenCode_1to3(byte d1, byte d2, byte d3)
+{
+	SetCommand(0x10, d1, d2, d3);
+	return GetCommandArray();
+}
+
+byte* AlarmTowerCommand::CMD_ChangeOpenCode_4to6(byte d4, byte d5, byte d6)
+{
+	SetCommand(0x11, d4, d5, d6);
+	return GetCommandArray();
+}
+
+byte* AlarmTowerCommand::CMD_QueryRescuePosition()
+{
+	SetCommand(0x09);
+	return GetCommandArray();
+}
+
+bool AlarmTowerCommand::IsAlarmTowerCommand(byte* cmd)
+{
+	return ((cmd[1] == CommandData::Devices::AlarmTower) && (cmd[2] == 0x01));
+}
+
+byte AlarmTowerCommand::ReadRescuePosition(byte* cmd)
+{
+	if (!IsAlarmTowerCommand(cmd))
+		return 0xFF;
+	return cmd[3];
+}
@@ -0,0 +1,30 @@
+// AlarmTowerCommand.h
+
+#ifndef _ALARMTOWERCOMMAND_h
+#define _ALARMTOWERCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class AlarmTowerCommand : private CommandEncoder
+{
+public:
+	AlarmTowerCommand();
+public:
+	byte* CMD_DefaultIRAlarm();
+	byte* CMD_IRAlarm(byte d1, byte d2, byte d3, byte d4, byte d5, byte d6);
+	byte* CMD_ChangeOpenCode_1to3(byte d1, byte d2, byte d3);
+	byte* CMD_ChangeOpenCode_4to6(byte d4, byte d5, byte d6);
+	byte* CMD_QueryRescuePosition();
+public:
+	bool IsAlarmTowerCommand(byte* cmd);
+	byte ReadRescuePosition(byte* cmd);
+};
+
+#endif
+
@@ -0,0 +1,52 @@
+// 
+// ±êÖ¾ÎïÍ¨ÐÅ - µÀÕ¢ - ZigBee
+// 
+
+#include "BarrierCommand.h"
+
+BarrierCommand::BarrierCommand()
+{
+	SetDevice(CommandData::Devices::Barrier);
+}
+
+byte* BarrierCommand::CMD_GateOn()
+{
+	SetCommand(0x01, 0x01);
+	return GetCommandArray();
+}
+
+byte* BarrierCommand::CMD_GateOff()
+{
+	SetCommand(0x01, 0x02);
+	return GetCommandArray();
+}
+
+byte* BarrierCommand::CMD_GateUp()
+{
+	SetCommand(0x09, 0x01);
+	return GetCommandArray();
+}
+
+byte* BarrierCommand::CMD_GateDown()
+{
+	SetCommand(0x09, 0x02);
+	return GetCommandArray();
+}
+
+byte* BarrierCommand::CMD_RequireStatus()
+{
+	SetCommand(0x20, 0x01);
+	return GetCommandArray();
+}
+
+byte* BarrierCommand::CMD_CarLicense_1to3(byte _1, byte _2, byte _3)
+{
+	SetCommand(0x10, _1, _2, _3);
+	return GetCommandArray();
+}
+
+byte* BarrierCommand::CMD_CarLicense_4to6(byte _4, byte _5, byte _6)
+{
+	SetCommand(0x11, _4, _5, _6);
+	return GetCommandArray();
+}
@@ -0,0 +1,29 @@
+// BarrierCommand.h
+
+#ifndef _BARRIERCOMMAND_h
+#define _BARRIERCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class BarrierCommand : private CommandEncoder
+{
+public:
+	BarrierCommand();
+public:
+	byte* CMD_GateOn();
+	byte* CMD_GateOff();
+	byte* CMD_GateUp();
+	byte* CMD_GateDown();
+	byte* CMD_RequireStatus();
+	byte* CMD_CarLicense_1to3(byte _1, byte _2, byte _3);
+	byte* CMD_CarLicense_4to6(byte _4, byte _5, byte _6);
+};
+
+#endif
+
@@ -0,0 +1,53 @@
+// 
+// 
+// 
+
+#include "CommandDecoder.h"
+
+byte CommandDecoder::_CheckSUM(byte main, byte data1, byte data2, byte data3)
+{
+	return ((byte)((main + data1 + data2 + data3) % 0xFF));
+}
+
+CommandDecoder::CommandDecoder()
+{
+}
+
+CommandDecoder::CommandDecoder(byte* arr)
+{
+	cmd[0] = arr[0];
+	cmd[1] = arr[1];
+	cmd[2] = arr[2];
+	cmd[3] = arr[3];
+	cmd[4] = arr[4];
+	cmd[5] = arr[5];
+	cmd[6] = arr[6];
+	cmd[7] = arr[7];
+}
+
+bool CommandDecoder::CommandValidate()
+{
+	if ((cmd[0] != CommandData::FrameHead) || (cmd[7] != CommandData::FrameEnd))
+		return  false;
+	byte checksum = _CheckSUM(cmd[2], cmd[3], cmd[4], cmd[5]);
+	if (cmd[6] != checksum)
+		return false;
+	return true;
+}
+
+byte CommandDecoder::GetDevice()
+{
+	return cmd[1];
+}
+
+byte CommandDecoder::GetMainCommand()
+{
+	return cmd[2];
+}
+
+byte CommandDecoder::GetDataBit(byte num)
+{
+	if ((num < 1) || (num > 3))
+		return -1;
+	return cmd[2 + num];
+}
@@ -0,0 +1,33 @@
+// CommandDecoder.h
+
+#ifndef _COMMANDDECODER_h
+#define _COMMANDDECODER_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "GlobalDatas.h"
+
+class CommandDecoder
+{
+private:
+	byte cmd[8] = { 0 };
+private:
+	byte _CheckSUM(byte main, byte data1, byte data2, byte data3);
+public:
+	CommandDecoder();
+	CommandDecoder(byte* arr);
+	CommandDecoder(const CommandDecoder& obj) = delete;
+public:
+	bool CommandValidate();
+public:
+	byte GetDevice();
+	byte GetMainCommand();
+	byte GetDataBit(byte num);	//1 - 3
+};
+
+#endif
+
@@ -0,0 +1,75 @@
+#include "CommandEncoder.h"
+
+byte CommandEncoder::CheckSUM(byte main, byte data1, byte data2, byte data3)
+{
+	uint16_t sum = ((uint16_t)main + (uint16_t)data1 + (uint16_t)data2 + (uint16_t)data3);
+	return ((byte)(sum % 256));
+}
+
+CommandEncoder::CommandEncoder()
+{
+	cmd[0] = CommandData::FrameHead;
+	cmd[7] = CommandData::FrameEnd;
+}
+
+CommandEncoder::CommandEncoder(byte ir1, byte ir2, byte ir3, byte ir4, byte ir5, byte ir6)
+{
+	ir_cmd[0] = ir1;
+	ir_cmd[1] = ir2;
+	ir_cmd[2] = ir3;
+	ir_cmd[3] = ir4;
+	ir_cmd[4] = ir5;
+	ir_cmd[5] = ir6;
+}
+
+CommandEncoder::CommandEncoder(byte device, byte main, byte data1, byte data2, byte data3)
+{
+	cmd[0] = CommandData::FrameHead;
+	cmd[1] = device;
+	cmd[2] = main;
+	cmd[3] = data1;
+	cmd[4] = data2;
+	cmd[5] = data3;
+	cmd[6] = CheckSUM(main, data1, data2, data3);
+	cmd[7] = CommandData::FrameEnd;
+}
+
+void CommandEncoder::SetDevice(byte device)
+{
+	cmd[1] = device;
+}
+
+void CommandEncoder::OverrideFrameHead(byte h1, byte h2)
+{
+	cmd[0] = h1;
+	cmd[1] = h2;
+}
+
+void CommandEncoder::SetCommand(byte ir1, byte ir2, byte ir3, byte ir4, byte ir5, byte ir6)
+{
+	ir_cmd[0] = ir1;
+	ir_cmd[1] = ir2;
+	ir_cmd[2] = ir3;
+	ir_cmd[3] = ir4;
+	ir_cmd[4] = ir5;
+	ir_cmd[5] = ir6;
+}
+
+void CommandEncoder::SetCommand(byte main, byte data1, byte data2, byte data3)
+{
+	cmd[2] = main;
+	cmd[3] = data1;
+	cmd[4] = data2;
+	cmd[5] = data3;
+	cmd[6] = CheckSUM(main, data1, data2, data3);
+}
+
+byte* CommandEncoder::GetCommandArray()
+{
+	return cmd;                                   
+}
+
+byte* CommandEncoder::GetIRCommandArray()
+{
+	return ir_cmd;
+}
@@ -0,0 +1,34 @@
+// CommandEncoder.h
+
+#ifndef _COMMANDENCODER_h
+#define _COMMANDENCODER_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+#include "GlobalDatas.h"
+
+class CommandEncoder
+{
+private:
+	byte cmd[8];
+	byte ir_cmd[6];
+private:
+	byte CheckSUM(byte main, byte data1, byte data2, byte data3);
+public:
+	CommandEncoder();
+	CommandEncoder(const CommandEncoder& obj) = delete;
+	CommandEncoder(byte ir1, byte ir2, byte ir3, byte ir4, byte ir5, byte ir6);
+	CommandEncoder(byte device, byte main = 0x00, byte data1 = 0x00, byte data2 = 0x00, byte data3 = 0x00);
+public:
+	void SetDevice(byte device);
+	void OverrideFrameHead(byte h1, byte h2);
+	void SetCommand(byte ir1, byte ir2, byte ir3, byte ir4, byte ir5, byte ir6);
+	void SetCommand(byte main, byte data1 = 0x00, byte data2 = 0x00, byte data3 = 0x00);
+	byte* GetCommandArray();
+	byte* GetIRCommandArray();
+};
+
+#endif
@@ -1,13 +1,12 @@
 #include "DebugOpt.h"

 uint8_t DebugOpt::led_flow_cnt = 0;
-uint8_t DebugOpt::open_road_buf[8] = { 0x55,0x03,0x01,0x01,0x00,0x00,0x00,0xBB };
-uint8_t DebugOpt::voive_test_buf[9] = { 0xFD,0x00,0x06,0x01,0x01,0xC4,0xFA,0xBA,0xC3 };
-uint8_t DebugOpt::voice_trm_buf[8] = { 0xAF,0x06,0x00,0x02,0x00,0x00,0x01,0xBB };
-uint8_t DebugOpt::ir_repo_buf[6] = { 0x03,0x05,0x14,0x45,0xDE,0x92 };
+bool DebugOpt::led_flow_switch = true;

 void DebugOpt::DoLEDFlow()
 {
+	if (!led_flow_switch)
+		return;
 	switch (led_flow_cnt)
 	{
 	case 0:
@@ -16,9 +15,6 @@ void DebugOpt::DoLEDFlow()
 		CoreLED.TurnOff(LED3);
 		CoreLED.TurnOff(LED4);

-		LED.LeftTurnOn();
-		LED.RightTurnOff();
-
 		digitalWrite(LED_BUILTIN, HIGH);
 		break;
 	case 1:
@@ -27,9 +23,6 @@ void DebugOpt::DoLEDFlow()
 		CoreLED.TurnOff(LED3);
 		CoreLED.TurnOff(LED4);

-		LED.LeftTurnOff();
-		LED.RightTurnOn();
-
 		digitalWrite(LED_BUILTIN, LOW);
 		break;
 	case 2:
@@ -38,9 +31,6 @@ void DebugOpt::DoLEDFlow()
 		CoreLED.TurnOn(LED3);
 		CoreLED.TurnOff(LED4);

-		LED.LeftTurnOn();
-		LED.RightTurnOff();
-
 		digitalWrite(LED_BUILTIN, LOW);
 		break;
 	case 3:
@@ -49,41 +39,33 @@ void DebugOpt::DoLEDFlow()
 		CoreLED.TurnOff(LED3);
 		CoreLED.TurnOn(LED4);

-		LED.LeftTurnOff();
-		LED.RightTurnOn();
-
 		digitalWrite(LED_BUILTIN, LOW);
 		break;
 	}
 	led_flow_cnt++;
 	if (led_flow_cnt >= 4)
 		led_flow_cnt = 0;
-	delay(200);
+	delay(10);
 }

 void DebugOpt::DebugRun()
 {
-	Serial.println("Hello Accurate DCMotor.");
 	LED.LeftTurnOn();
 	LED.RightTurnOn();
 	BEEP.TurnOn();
 	delay(100);
 	BEEP.TurnOff();
-	/*DCMotor.Go(100, 100);
-	DCMotor.Stop();
-	DCMotor.Back(100, 100);
-	DCMotor.Stop();
-	DCMotor.TurnLeft_Code(200, 100);
-	DCMotor.Stop();
-	DCMotor.TurnRight_Code(200, 100);
-	DCMotor.Stop();*/
-	AccurateMotor.RunForward(10);
+	/*AccurateMotor.RunForward(10);
 	AccurateMotor.DelayUntilCarStop();
 	AccurateMotor.RunBackward(10);
 	AccurateMotor.DelayUntilCarStop();
 	AccurateMotor.TurnLeft(20);
 	AccurateMotor.DelayUntilCarStop();
 	AccurateMotor.TurnRight(20);
+	AccurateMotor.DelayUntilCarStop();*/
+	AccurateMotor.TurnRight(180);
+	AccurateMotor.DelayUntilCarStop();
+	AccurateMotor.RunForward(10);
 	AccurateMotor.DelayUntilCarStop();
 	BEEP.TurnOn();
 	delay(100);
@@ -94,7 +76,6 @@ void DebugOpt::DebugRun()

 void DebugOpt::DebugServo()
 {
-	Serial.println("Hello Servo.");
 	for (int i = -80; i <= 20; i++)
 	{
 		OpenMVOpt::Servo_Control(i);
@@ -103,15 +84,25 @@ void DebugOpt::DebugServo()
 	OpenMVOpt::Servo_Control(0);
 }

+void DebugOpt::LEDFlowOn()
+{
+	led_flow_switch = true;
+}
+
+void DebugOpt::LEDFlowOff()
+{
+	led_flow_switch = false;
+}
+
 void DebugOpt::Road_Gate_Test()
 {
-	Command.Judgment(open_road_buf);         //计算校验和
-	ExtSRAMInterface.ExMem_Write_Bytes(0x6008, open_road_buf, 8);
+	BarrierCommand b_cmd;
+	ZigBeeOperator.SendCommand(b_cmd.CMD_GateDown());
 }

 void DebugOpt::Speech_Sounds_Ctr()
 {
-	ExtSRAMInterface.ExMem_Write_Bytes(0x6180, voive_test_buf, 13);
+	//ExtSRAMInterface.ExMem_Write_Bytes(0x6180, voive_test_buf, 13);
 }

 void DebugOpt::Speech_Disc()
@@ -123,11 +114,11 @@ void DebugOpt::Speech_Disc()
 	delay(200);
 	Serial.print("识别到的词条ID为：");
 	Serial.println(sph_id, HEX);
-	voice_trm_buf[2] = sph_id;
-	ExtSRAMInterface.ExMem_Write_Bytes(0x6008, voice_trm_buf, 8);//上传识别结果至评分终端
+	//voice_trm_buf[2] = sph_id;
+	//ExtSRAMInterface.ExMem_Write_Bytes(0x6008, voice_trm_buf, 8);//上传识别结果至评分终端
 }

 void DebugOpt::Infrared_Test()
 {
-	Infrare.Transmition(ir_repo_buf, 6);
+	//Infrare.Transmition(ir_repo_buf, 6);
 }
@@ -1,14 +1,18 @@
 #ifndef __DEBUG_OPT__
 #define __DEBUG_OPT_

-#include <ExtSRAMInterface.h>
+#include "VoiceRepotCommand.h"
+#include "LEDDisplayCommand.h"
+#include "AlarmTowerCommand.h"
+#include "BarrierCommand.h"
+#include "ZigBeeOperator.h"
+#include "GarageCommand.h"
 #include "AccurateMotor.h"
 #include "GlobalDatas.h"
 #include <BKRC_Voice.h>
 #include "OpenMVOpt.h"
 #include <Infrare.h>
 #include <CoreLED.h>
-#include <Command.h>
 #include <BEEP.h>
 #include <LED.h>

@@ -16,17 +20,12 @@ namespace DebugOpt
 {
 	//LED流水灯计数器
 	extern uint8_t led_flow_cnt;
-	//道闸测试指令
-	extern uint8_t open_road_buf[8];
-	//语音播报测试指令
-	extern uint8_t voive_test_buf[9];
-	//语音识别测试指令
-	extern uint8_t voice_trm_buf[8];
-	//红外测试指令
-	extern uint8_t ir_repo_buf[6];
+	extern bool led_flow_switch;

 	//LED流水灯
 	void DoLEDFlow();
+	void LEDFlowOn();
+	void LEDFlowOff();

 	//电机运行测试
 	void DebugRun();
@@ -0,0 +1,92 @@
+// 
+// ±êÖ¾ÎïÍ¨ÐÅ - ³µ¿â£¨A/B£© - ZigBee
+// 
+
+#include "GarageCommand.h"
+
+GarageCommand::GarageCommand()
+{
+	SetDevice(CommandData::Devices::Garage_A);
+}
+
+void GarageCommand::UsingA()
+{
+	SetDevice(CommandData::Devices::Garage_A);
+}
+
+void GarageCommand::UsingB()
+{
+	SetDevice(CommandData::Devices::Garage_B);
+}
+
+byte* GarageCommand::CMD_PositionReset()
+{
+	SetCommand(0x01, 0x01);
+	return GetCommandArray();
+}
+
+byte* GarageCommand::CMD_SetToFloor2()
+{
+	SetCommand(0x01, 0x02);
+	return GetCommandArray();
+}
+
+byte* GarageCommand::CMD_SetToFloor3()
+{
+	SetCommand(0x01, 0x03);
+	return GetCommandArray();
+}
+
+byte* GarageCommand::CMD_SetToFloor4()
+{
+	SetCommand(0x01, 0x04);
+	return GetCommandArray();
+}
+
+byte* GarageCommand::CMD_QueryCurrentPos()
+{
+	SetCommand(0x02, 0x01);
+	return GetCommandArray();
+}
+
+byte* GarageCommand::CMD_QueryIRStatus()
+{
+	SetCommand(0x02, 0x02);
+	return GetCommandArray();
+}
+
+bool GarageCommand::IsGarageCommand(byte* data)
+{
+	if ((data[1] == CommandData::Devices::Garage_A) || (data[1] == CommandData::Devices::Garage_B))
+			return (data[2] == ReturnMainCommand);
+	return false;
+}
+
+bool GarageCommand::IsPositionData(byte* data)
+{
+	if (!IsGarageCommand(data))
+		return false;
+	return (data[3] == 0x01);
+}
+
+bool GarageCommand::IsIRData(byte* data)
+{
+	if (!IsGarageCommand(data))
+		return false;
+	return (data[3] == 0x02);
+}
+
+byte GarageCommand::CurrentPos(byte* data)
+{
+	return data[4];
+}
+
+bool GarageCommand::FrontIRTiggered(byte* data)
+{
+	return (data[4] == 0x01);
+}
+
+bool GarageCommand::BackIRTiggered(byte* data)
+{
+	return (data[5] == 0x01);
+}
@@ -0,0 +1,41 @@
+// GarageCommand.h
+
+#ifndef _GARAGECOMMAND_h
+#define _GARAGECOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class GarageCommand : private CommandEncoder
+{
+public:
+	const byte ReturnMainCommand = 0x03;
+public:
+	GarageCommand();
+public:
+	void UsingA();
+	void UsingB();
+public:
+	byte* CMD_PositionReset();
+	byte* CMD_SetToFloor2();
+	byte* CMD_SetToFloor3();
+	byte* CMD_SetToFloor4();
+	byte* CMD_QueryCurrentPos();
+	byte* CMD_QueryIRStatus();
+public:
+	//需要使用CommandDecoder进行指令合法性校验
+	bool IsGarageCommand(byte* data);
+	bool IsPositionData(byte* data);
+	bool IsIRData(byte* data);
+	byte CurrentPos(byte* data);
+	bool FrontIRTiggered(byte* data);
+	bool BackIRTiggered(byte* data);
+};
+
+#endif
+
@@ -1,24 +1,5 @@
 #include "GlobalDatas.h"

-uint8_t GarageB_To1[8] = { 0x55,0x05,0x01,0x01,0x00,0x00,0x02,0xBB };    // 立体车库B 到达第一层
-uint8_t GarageB_To2[8] = { 0x55,0x05,0x01,0x02,0x00,0x00,0x03,0xBB };    // 立体车库B 到达第二层
-uint8_t GarageB_To3[8] = { 0x55,0x05,0x01,0x03,0x00,0x00,0x04,0xBB };    // 立体车库B 到达第三层
-uint8_t GarageB_To4[8] = { 0x55,0x05,0x01,0x04,0x00,0x00,0x05,0xBB };    // 立体车库B 到达第四层
-
-uint8_t TrafficA_Open[8] = { 0x55,0x0E,0x01,0x00,0x00,0x00,0x01,0xBB };    // 智能交通灯A 进入识别模式 进入识别模式
-uint8_t TrafficA_Red[8] = { 0x55,0x0E,0x02,0x01,0x00,0x00,0x03,0xBB };   // 智能交通灯A 识别结果为红色请求确认 
-uint8_t TrafficA_Green[8] = { 0x55,0x0E,0x02,0x02,0x00,0x00,0x04,0xBB };  // 智能交通灯A 识别结果为绿色请求确认
-uint8_t TrafficA_Yellow[8] = { 0x55,0x0E,0x02,0x03,0x00,0x00,0x05,0xBB };  // 智能交通灯A 识别结果为黄色请求确认
-
-uint8_t Gate_Open[8] = { 0x55,0x03,0x01,0x01,0x00,0x00,0x02,0xBB };      // 道闸 开启
-
-uint8_t Light_plus1[4] = { 0x00,0xFF,0x0C,~(0x0C) };        // 智能路灯 光源挡位加1
-uint8_t Light_plus2[4] = { 0x00,0xFF,0x18,~(0x18) };       // 智能路灯 光源挡位加2
-uint8_t Light_plus3[4] = { 0x00,0xFF,0x5E,~(0x5E) };       // 智能路灯 光源挡位加3
-
-uint8_t SEG_TimOpen[8] = { 0x55,0x04,0x03,0x01,0x00,0x00,0x04,0xBB };    // LED显示 计时开启
-uint8_t SMG_TimClose[8] = { 0x55,0x04,0x03,0x00,0x00,0x00,0x03,0xBB };   // LED显示 计时关闭
-
 uint8_t ZigBee_back[16] = { 0x55, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };

 uint8_t qrdi_buf[8] = { 0x55,0x02,0x92,0x00,0x00,0x00,0x00,0xBB };   // 给OpenMV发送识别二维码
@@ -39,3 +20,16 @@ uint8_t Data_Type;
 uint8_t Data_Flag;
 uint8_t Data_Length;
 uint8_t Data_OTABuf[40];
+
+void DataTool::PrintDataArray(uint8_t* arr, uint8_t len)
+{
+	Serial.println("------Data Array------");
+	for (uint8_t i = 0; i < len; i++)
+	{
+		Serial.print("arr[");
+		Serial.print(i);
+		Serial.print("] = 0x");
+		Serial.println(arr[i], HEX);
+	}
+	Serial.println("------Array End------");
+}
@@ -1,28 +1,47 @@
 #ifndef __GLOBAL_DATAS__
 #define __GLOBAL_DATAS__
-#include <Wire.h>
+#include "arduino.h"

 #define TSendCycle  200 
 #define ATM_Data_Length 48
+#define ZigBee_Read_Address 0x6100

-extern uint8_t GarageB_To1[8];    // 立体车库B 到达第一层
-extern uint8_t GarageB_To2[8];    // 立体车库B 到达第二层
-extern uint8_t GarageB_To3[8];    // 立体车库B 到达第三层
-extern uint8_t GarageB_To4[8];    // 立体车库B 到达第四层
+typedef uint8_t byte;

-extern uint8_t TrafficA_Open[8];    // 智能交通灯A 进入识别模式 进入识别模式
-extern uint8_t TrafficA_Red[8];   // 智能交通灯A 识别结果为红色请求确认 
-extern uint8_t TrafficA_Green[8];  // 智能交通灯A 识别结果为绿色请求确认
-extern uint8_t TrafficA_Yellow[8];  // 智能交通灯A 识别结果为黄色请求确认
+namespace CommandData
+{
+	const byte FrameHead = 0x55;
+	const byte FrameEnd = 0xBB;
+	const byte CustomVoiceFrameHead = 0xFD;

-extern uint8_t Gate_Open[8];      // 道闸 开启
+	namespace Devices
+	{
+		const byte Barrier = 0x03;
+		const byte LED_Display = 0x04;
+		const byte Garage_A = 0x0D;
+		const byte Garage_B = 0x05;
+		const byte VoiceReport = 0x06;
+		const byte AlarmTower = 0x07;
+		const byte TFT_A = 0x0B;
+		const byte TFT_B = 0x08;
+		const byte RodeLight_1 = 0x00;
+		const byte RodeLight_2 = 0xFF;
+		const byte WirelessCharger = 0x0A;
+		const byte ETC = 0x0C;
+		const byte TrafficLight_A = 0x0E;
+		const byte TrafficLight_B = 0x0F;
+		const byte SpecTerrain = 0x10;
+		const byte _3D_Display = 0x11;
+		const byte AutoMarkSystem_1 = 0xAF;
+		const byte AutoMarkSystem_2 = 0x06;
+		const byte MainCar = 0x02;
+	};
+};

-extern uint8_t Light_plus1[4];        // 智能路灯 光源挡位加1
-extern uint8_t Light_plus2[4];       // 智能路灯 光源挡位加2
-extern uint8_t Light_plus3[4];       // 智能路灯 光源挡位加3
-
-extern uint8_t SEG_TimOpen[8];    // LED显示 计时开启
-extern uint8_t SMG_TimClose[8];   // LED显示 计时关闭
+namespace DataTool
+{
+	void PrintDataArray(uint8_t* arr, uint8_t len);
+};

 extern uint8_t ZigBee_back[16];

@@ -2,36 +2,84 @@

 void Handler::ZigBeeRx_Handler(uint8_t* mar)
 {
-	switch (mar[1])
+	CommandDecoder decoder(mar);
+	switch (decoder.GetDevice())
 	{
-	case 0x02:        //主车
+	case CommandData::Devices::MainCar:        //主车
 		MainCarRx_Handler(mar);       //主车命令相应函数
 		break;
-	case 0x03:        //道闸标志物
+	case CommandData::Devices::Barrier:        //道闸标志物
+		DataTool::PrintDataArray(mar, 8);
 		break;
-	case 0x04:        //LED显示标志物（暂无返回）
+	case CommandData::Devices::LED_Display:        //LED显示标志物（暂无返回）
 		break;
-	case 0x05:        //立体车库标志物B
+	case CommandData::Devices::Garage_B:        //立体车库标志物B
+	{
+		GarageCommand cmd;
+		if (cmd.IsPositionData(mar))
+		{
+			Serial.print("Garage at: ");
+			Serial.println(cmd.CurrentPos(mar));
+		}
+		if (cmd.IsIRData(mar))
+		{
+			Serial.print("Front IR: ");
+			Serial.println(cmd.FrontIRTiggered(mar) ? "Triggered" : "Not Triggered");
+			Serial.print("Back IR: ");
+			Serial.println(cmd.BackIRTiggered(mar) ? "Triggered" : "Not Triggered");
+		}
 		break;
-	case 0x06:        //语音播报标志物
+	}
+	case CommandData::Devices::VoiceReport:        //语音播报标志物
+	{
+		VoiceReportCommand cmd;
+		uint16_t y;
+		byte m, d, h, mm, s;
+		if (cmd.ReadRTCDate(mar, y, m, d))
+		{
+			Serial.print(y);
+			Serial.print("-");
+			Serial.print(m);
+			Serial.print("-");
+			Serial.println(d);
+		}
+		else
+			Serial.println("Invalidate Date");
+		if (cmd.ReadRTCTime(mar, h, mm, s))
+		{
+			Serial.print(h);
+			Serial.print(":");
+			Serial.print(mm);
+			Serial.print(":");
+			Serial.println(s);
+		}
+		else
+			Serial.println("Invalidate Time");
 		break;
-	case 0x07:        //红外报警标志物
+	}
+	case CommandData::Devices::AlarmTower:        //红外报警标志物
+	{
+		AlarmTowerCommand cmd;
+		if (cmd.IsAlarmTowerCommand(mar))
+		{
+			Serial.print("Rescue Position: ");
+			Serial.println(cmd.ReadRescuePosition(mar), HEX);
+		}
 		break;
-	case 0x08:        //TFT显示标志物B
+	}
+	case CommandData::Devices::TFT_B:        //TFT显示标志物B
 		break;
-	case 0x09:        //调光标志物
+	case CommandData::Devices::WirelessCharger:        //磁悬浮无线充电标志物
 		break;
-	case 0x0A:        //磁悬浮无线充电标志物
+	case CommandData::Devices::TFT_A:        //TFT显示标志物A
 		break;
-	case 0x0B:        //TFT显示标志物A
+	case CommandData::Devices::ETC:        //ETC系统标志物
 		break;
-	case 0x0C:        //ETC系统标志物
+	case CommandData::Devices::Garage_A:        //立体车库标志物A
 		break;
-	case 0x0D:        //立体车库标志物A
+	case CommandData::Devices::TrafficLight_A:        //交通灯标注物A 
 		break;
-	case 0x0E:        //交通灯标注物A 
-		break;
-	case 0x0F:        //交通灯标志物B
+	case CommandData::Devices::TrafficLight_B:        //交通灯标志物B
 		break;
 	default:
 		break;
@@ -159,31 +207,28 @@ void Handler::MainCarRx_Handler(uint8_t* com)

 void Handler::Key_0()
 {
-	BEEP.TurnOn();
-	delay(50);
-	BEEP.TurnOff();
-	OpenMVOpt::Servo_Control(-60);
-	OpenMVOpt::OpenMV_Track(50);
-	DCMotor.TurnLeft_Code(80, 760);
+	AlarmTowerCommand cmd;
+	ZigBeeOperator.SendCommand(cmd.CMD_QueryRescuePosition());
 }

 void Handler::Key_1()
 {
-	BEEP.TurnOn();
-	delay(50);
-	BEEP.TurnOff();
-	delay(50);
-	OpenMVOpt::Servo_Control(0);
+	AlarmTowerCommand cmd;
+	Infrare.Transmition(cmd.CMD_DefaultIRAlarm(), 6);
 }

 void Handler::Key_2()
 {
-	DebugOpt::DebugRun();
+	LEDDisplayCommand cmd;
+	ZigBeeOperator.SendCommand(cmd.CMD_FirstLineDisplay(0x123456));
+	delay(1000);
+	ZigBeeOperator.SendCommand(cmd.CMD_SecondLineDisplay(0x7890AB));
 }

 void Handler::Key_3()
 {
-	DebugOpt::DebugServo();
+	/*OpenMVOpt::Servo_Control(-60);
+	OpenMVOpt::OpenMV_Track(10);*/
 }

 void Handler::KEY_Handler(uint8_t k_value)
@@ -1,6 +1,7 @@
 #ifndef __HANDLER__
 #define __HANDLER__

+#include "CommandDecoder.h"
 #include "GlobalDatas.h"
 #include "DebugOpt.h"

@@ -0,0 +1,72 @@
+// 
+// ±êÖ¾ÎïÍ¨ÐÅ - LEDÏÔÊ¾Æ÷ - ZigBee
+// 
+
+#include "LEDDisplayCommand.h"
+
+LEDDisplayCommand::LEDDisplayCommand()
+{
+	SetDevice(CommandData::Devices::LED_Display);
+}
+
+byte* LEDDisplayCommand::CMD_StartTimer()
+{
+	SetCommand(0x03, 0x01);
+	return GetCommandArray();
+}
+
+byte* LEDDisplayCommand::CMD_StopTimer()
+{
+	SetCommand(0x03, 0x00);
+	return GetCommandArray();
+}
+
+byte* LEDDisplayCommand::CMD_ClearTimer()
+{
+	SetCommand(0x03, 0x02);
+	return GetCommandArray();
+}
+
+byte* LEDDisplayCommand::CMD_FirstLineDisplay(uint32_t num)
+{
+	if (num >= 0xFFFFFF)
+		SetCommand(0x01, 0xFF, 0xFF, 0xFF);
+	else
+	{
+		byte d1 = ((num > 0xFFFF) ? (num / 0x10000) : 0x00);
+		num -= (d1 * 0x10000);
+		byte d2 = ((num > 0xFF) ? (num / 0x100) : 0x00);
+		byte d3 = num % 0x100;
+		SetCommand(0x01, d1, d2, d3);
+	}
+	return GetCommandArray();
+}
+
+byte* LEDDisplayCommand::CMD_SecondLineDisplay(uint32_t num)
+{
+	if (num >= 0xFFFFFF)
+		SetCommand(0x02, 0xFF, 0xFF, 0xFF);
+	else
+	{
+		byte d1 = ((num > 0xFFFF) ? (num / 0x10000) : 0x00);
+		num -= (d1 * 0x10000);
+		byte d2 = ((num > 0xFF) ? (num / 0x100) : 0x00);
+		byte d3 = num % 0x100;
+		SetCommand(0x02, d1, d2, d3);
+	}
+	return GetCommandArray();
+}
+
+byte* LEDDisplayCommand::CMD_DisplayDistence(uint16_t dis)
+{
+	if (dis >= 0xFFF)
+		SetCommand(0x04, 0x00, 0x0F, 0xFF);
+	else
+	{
+		byte d1 = ((dis > 0xFF) ? (dis / 0x100) : 0x00);
+		dis -= (d1 * 0x100);
+		byte d2 = dis % 0x100;
+		SetCommand(0x04, 0x00, d1, d2);
+	}
+	return GetCommandArray();
+}
@@ -0,0 +1,28 @@
+// LEDDisplayCommand.h
+
+#ifndef _LEDDISPLAYCOMMAND_h
+#define _LEDDISPLAYCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class LEDDisplayCommand : private CommandEncoder
+{
+public:
+	LEDDisplayCommand();
+public:
+	byte* CMD_StartTimer();
+	byte* CMD_StopTimer();
+	byte* CMD_ClearTimer();
+	byte* CMD_FirstLineDisplay(uint32_t num);
+	byte* CMD_SecondLineDisplay(uint32_t num);
+	byte* CMD_DisplayDistence(uint16_t dis);
+};
+
+#endif
+
@@ -0,0 +1,7 @@
+// 
+// 标志物通信 - TFT（A/B） - ZigBee
+// 
+
+#include "TFTCommand.h"
+
+
@@ -0,0 +1,26 @@
+// TFTCommand.h
+
+#ifndef _TFTCOMMAND_h
+#define _TFTCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+class TFTCommand : private CommandEncoder
+{
+public:
+	TFTCommand();
+public:
+	void UsingA();
+	void UsingB();
+public:
+
+};
+
+#endif
+
@@ -0,0 +1,110 @@
+// 
+// ±êÖ¾ÎïÍ¨ÐÅ - ÓïÒô²¥±¨ - ZigBee
+// 
+
+#include "VoiceRepotCommand.h"
+
+VoiceReportCommand::VoiceReportCommand()
+{
+	SetDevice(CommandData::Devices::VoiceReport);
+}
+
+byte* VoiceReportCommand::CMD_ReportSpecVoice(VoiceCmd type)
+{
+	SetCommand(0x10, (byte)type);
+	return GetCommandArray();
+}
+
+byte* VoiceReportCommand::CMD_ReportRandomVoice()
+{
+	SetCommand(0x20, 0x01);
+	return GetCommandArray();
+}
+
+byte* VoiceReportCommand::CMD_SetRTCStartDate(uint16_t year, byte month, byte day)
+{
+	byte two_bit_year = year - 2000;
+	SetCommand(0x30, two_bit_year, month, day);
+	return GetCommandArray();
+}
+
+byte* VoiceReportCommand::CMD_ReadRTCDate()
+{
+	SetCommand(0x31, 0x01);
+	return GetCommandArray();
+}
+
+byte* VoiceReportCommand::CMD_SetRTCStartTime(byte hour, byte minute, byte second)
+{
+	SetCommand(0x40, hour, minute, second);
+	return GetCommandArray();
+}
+
+byte* VoiceReportCommand::CMD_ReadRTCTime()
+{
+	SetCommand(0x41, 0x01);
+	return GetCommandArray();
+}
+
+byte* VoiceReportCommand::CMD_SetWeatherAndTemperature(WeatherCmd weather, byte temp)
+{
+	SetCommand(0x42, (byte)weather, temp);
+	return GetCommandArray();
+}
+
+byte* VoiceReportCommand::CMD_QueryWeatherAndTemperator()
+{
+	SetCommand(0x43);
+	return GetCommandArray();
+}
+
+bool VoiceReportCommand::IsVoiceCommand(byte* cmd)
+{
+	return ((cmd[1] == CommandData::Devices::VoiceReport) && (cmd[2] == RT_VoiceCommand));
+}
+
+bool VoiceReportCommand::IsVoiceAvailable(byte* cmd)
+{
+	if (!IsVoiceCommand(cmd))
+		return false;
+	return (cmd[3] == 0x4F);
+}
+
+bool VoiceReportCommand::ReadRTCDate(byte* cmd, uint16_t& year, byte& month, byte& day)
+{
+	if ((cmd[1] == CommandData::Devices::VoiceReport) && (cmd[2] == RT_DateCommand))
+	{
+		year = 2000 + cmd[3];
+		month = cmd[4];
+		day = cmd[5];
+		return true;
+	}
+	else
+		return false;
+}
+
+bool VoiceReportCommand::ReadRTCTime(byte* cmd, byte& hour, byte& minute, byte& second)
+{
+	if ((cmd[1] == CommandData::Devices::VoiceReport) && (cmd[2] == RT_TimeCommand))
+	{
+		hour = cmd[3];
+		minute = cmd[4];
+		second = cmd[5];
+		return true;
+	}
+	else
+		return false;
+}
+
+bool VoiceReportCommand::ReadWeatherAndTemperature(byte* cmd, WeatherCmd& weather, byte& temp)
+{
+	if ((cmd[1] == CommandData::Devices::VoiceReport) && (cmd[2] == RT_WeatherTempCommand))
+	{
+		weather = (WeatherCmd)cmd[3];
+		temp = cmd[4];
+		return true;
+	}
+	else
+		return false;
+}
+
@@ -0,0 +1,76 @@
+// VoiceRepotCommand.h
+
+#ifndef _VOICEREPOTCOMMAND_h
+#define _VOICEREPOTCOMMAND_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include "CommandEncoder.h"
+
+/*
+* 关于语音播报标志物：
+* 1. 数据的查询：数据查询的结果会被返回到主车而不是从车。
+* 2. 语音合成：从车的ZigBee限制了8位带校验和数据导致此功能无法实现。
+*/
+
+class VoiceReportCommand : private CommandEncoder
+{
+private:
+	const byte RT_VoiceCommand = 0x01;
+	const byte RT_DateCommand = 0x02;
+	const byte RT_TimeCommand = 0x03;
+	const byte RT_WeatherTempCommand = 0x04;
+public:
+	enum class VoiceCmd
+	{
+		Fu_Qiang_Lu_Zhan = 0x00,	//富强路站
+		Min_Zhu_Lu_Zhan = 0x01,		//民主路站
+		Wen_Ming_Lu_Zhan = 0x02,	//文明路站
+		He_Xie_Lu_Zhan = 0x03,		//和谐路站
+		Ai_Guo_Lu_Zhan = 0x04,		//爱国路站
+		Jing_Ye_Lu_Zhan = 0x05,		//敬业路站
+		You_Shan_Lu_Zhan = 0x06		//友善路站
+	};
+
+	enum class WeatherCmd
+	{
+		Wind = 0x00,		//大风
+		Cloudy = 0x01,		//多云
+		Sunny = 0x02,		//晴
+		Snow = 0x03,		//小雪
+		Rain = 0x04,		//小雨
+		Overcast = 0x05		//阴天
+	};
+
+	enum class TextEncoding
+	{
+		GB2312 = 0x00,
+		GBK = 0x01,
+		BIG5 = 0x02,
+		Unicode = 0x03
+	};
+public:
+	VoiceReportCommand();
+public:
+	byte* CMD_ReportSpecVoice(VoiceCmd type);
+	byte* CMD_ReportRandomVoice();
+	byte* CMD_SetRTCStartDate(uint16_t year, byte month, byte day);
+	byte* CMD_ReadRTCDate();
+	byte* CMD_SetRTCStartTime(byte hour, byte minute, byte second);
+	byte* CMD_ReadRTCTime();
+	byte* CMD_SetWeatherAndTemperature(WeatherCmd weather, byte temp);
+	byte* CMD_QueryWeatherAndTemperator();
+public:
+	bool IsVoiceCommand(byte* cmd);
+	bool IsVoiceAvailable(byte* cmd);
+	bool ReadRTCDate(byte* cmd, uint16_t& year, byte& month, byte& day);
+	bool ReadRTCTime(byte* cmd, byte& hour, byte& minute, byte& second);
+	bool ReadWeatherAndTemperature(byte* cmd, WeatherCmd& weather, byte& temp);
+};
+
+#endif
+
@@ -0,0 +1,19 @@
+// 
+// 
+// 
+
+#include "ZigBeeOperator.h"
+
+void ZigBeeOperatorClass::Initialization()
+{
+	ExtSRAMInterface.Initialization();
+}
+
+void ZigBeeOperatorClass::SendCommand(uint8_t* cmd, uint16_t siz)
+{
+	ExtSRAMInterface.ExMem_Write_Bytes(zigbee_address, cmd, siz);
+}
+
+
+ZigBeeOperatorClass ZigBeeOperator;
+
@@ -0,0 +1,27 @@
+// ZigBeeOperator.h
+
+#ifndef _ZIGBEEOPERATOR_h
+#define _ZIGBEEOPERATOR_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+#include <ExtSRAMInterface.h>
+
+class ZigBeeOperatorClass
+{
+ private:
+	 const uint16_t zigbee_address = 0x6008;
+ public:
+	void Initialization();
+public:
+	void SendCommand(uint8_t* cmd, uint16_t siz = 8);
+};
+
+extern ZigBeeOperatorClass ZigBeeOperator;
+
+#endif
+