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+#include +#include "GlobalDatas.h" +#include +#include +#include +#include +#include +#include "Handler.h" +#include +#include + +void setup() +{ + Serial.begin(115200); + CoreLED.Initialization(); + CoreKEY.Initialization(); + CoreBeep.Initialization(); + ExtSRAMInterface.Initialization(); + LED.Initialization(); + BH1750.Initialization(); + BEEP.Initialization(); + Infrare.Initialization(); + Ultrasonic.Initialization(); + DCMotor.Initialization(30000); + BKRC_Voice.Initialization(); + + while (!Serial); + sendflag = 0; + frisrtime = 0; + Tcount = 0; +} + +void loop() +{ + uint8_t si = 0; + frisrtime = millis(); + + CoreKEY.Kwhile(Handler::KEY_Handler); //按键检测 + + if (ExtSRAMInterface.ExMem_Read(0x6100) != 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)) + Handler::ZigBeeRx_Handler(ZigBee_command); //ZigBee接收数据处理 + } + + if (ExtSRAMInterface.ExMem_Read(0x6038) != 0x00) //检测OpenMV识别结果 + { + Data_Type = ExtSRAMInterface.ExMem_Read(0x603A); + Data_Flag = ExtSRAMInterface.ExMem_Read(0x603B); + Data_Length = ExtSRAMInterface.ExMem_Read(0x603C); + Data_Length = Data_Length + 6; + ExtSRAMInterface.ExMem_Read_Bytes(0x6038, Data_OTABuf, Data_Length); + if ((Data_OTABuf[0] == 0x55) && (Data_OTABuf[1] == 0x02)) + { + ExtSRAMInterface.ExMem_Write_Bytes(0x6180, Data_OTABuf, Data_Length); //使用自定义数据区上传OpenMV识别结果 + Handler::OpenMVRx_Handler(Data_OTABuf); //接收OpenMV，数据处理函数 + } + } + + if (((millis() - frisrtime >= TSendCycle) || (Tcount >= TSendCycle)) && (sendflag == 1)) //获取、上传任务版数据 + { + uint16_t tp = (uint16_t)(Ultrasonic.Ranging(CM) * 10.0); + ZigBee_back[5] = (tp >> 8) & 0xff; + ZigBee_back[4] = tp & 0xff; + + tp = BH1750.ReadLightLevel(); + ZigBee_back[7] = (tp >> 8) & 0xff; + ZigBee_back[6] = tp & 0xff; + + ZigBee_back[9] = (uint8_t)ExtSRAMInterface.ExMem_Read(0x6003); + if (ZigBee_back[9] >= 0x80) ZigBee_back[9] = 0xff - ZigBee_back[9]; + ZigBee_back[8] = (uint8_t)ExtSRAMInterface.ExMem_Read(0x6002); + + ExtSRAMInterface.ExMem_Write_Bytes(0x6080, ZigBee_back, 16); + Tcount = 0x00; + } + else if (sendflag == 1) + { + Tcount += (millis() - frisrtime); + } + + //空闲时进行流水灯 + DebugOpt::DoLEDFlow(); +} \ No newline at end of file diff --git a/2021_Arduino_Demo.sln b/2021_Arduino_Demo.sln new file mode 100644 index 0000000..93677ab --- /dev/null +++ b/2021_Arduino_Demo.sln @@ -0,0 +1,25 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.4.33122.133 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "2021_Arduino_Demo", "2021_Arduino_Demo.vcxproj", "{C5F80730-F44F-4478-BDAE-6634EFC2CA88}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x86 = Debug|x86 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.ActiveCfg = Debug|Win32 + {C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.Build.0 = Debug|Win32 + {C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.ActiveCfg = Release|Win32 + {C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {B8FFB700-F86B-4323-8C57-B79DE3B46041} + EndGlobalSection +EndGlobal diff --git a/2021_Arduino_Demo.vcxproj b/2021_Arduino_Demo.vcxproj new file mode 100644 index 0000000..a1639d7 --- /dev/null +++ b/2021_Arduino_Demo.vcxproj @@ -0,0 +1,134 @@ + + + + + Release + Win32 + + + Debug + Win32 + + + + {C5F80730-F44F-4478-BDAE-6634EFC2CA88} + + + 2021_Arduino_Demo + + + + Application + true + MultiByte + + + + + Application + false + true + MultiByte + v143 + + + Application + true + MultiByte + + + + + Application + false + true + MultiByte + + + + + + + + + + + + + + + + + + + + + + + + + Level3 + MaxSpeed + true + true + true + $(ProjectDir)__vm\.Arduino.vsarduino.h;%(ForcedIncludeFiles) + __AVR_atmega2560__;__AVR_ATmega2560__;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions) + stdcpp17 + stdc11 + $(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\BH1750;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src\utility;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;$(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) + + + true + true + true + + + + + Level3 + Disabled + true + %(AdditionalIncludeDirectories) + %(ForcedIncludeFiles) + true + %(PreprocessorDefinitions) + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + VisualMicroDebugger + + + + + + + + + + \ No newline at end of file diff --git a/2021_Arduino_Demo.vcxproj.filters b/2021_Arduino_Demo.vcxproj.filters new file mode 100644 index 0000000..e7ff4b8 --- /dev/null +++ b/2021_Arduino_Demo.vcxproj.filters @@ -0,0 +1,60 @@ + + + + + {4FC737F1-C7A5-4376-A066-2A32D752A2FF} + cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx + + + {93995380-89BD-4b04-88EB-625FBE52EBFB} + h;hh;hpp;hxx;hm;inl;inc;xsd + + + {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} + rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms + + + + + + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + \ No newline at end of file diff --git a/AccurateMotor.cpp b/AccurateMotor.cpp new file mode 100644 index 0000000..c920ef3 --- /dev/null +++ b/AccurateMotor.cpp @@ -0,0 +1,93 @@ +#include "AccurateMotor.h" + +void AccurateMotorClass::Init() +{ + car_running = false; +} + +void AccurateMotorClass::SetCarRunning() +{ + AccurateMotor.car_running = true; +} + +void AccurateMotorClass::SetCarNotRunning() +{ + AccurateMotor.car_running = false; +} + +void AccurateMotorClass::TurnLeft(uint8_t degree) +{ + if (car_running) + return; + DCMotor.TurnLeft(car_speed, car_speed); + SetCarRunning(); + MsTimer2::set(degree * 50, []() + { + { + DCMotor.Stop(); + SetCarNotRunning(); + } + }); + MsTimer2::start(); +} + +void AccurateMotorClass::TurnRight(uint8_t degree) +{ + if (car_running) + return; + DCMotor.TurnRight(car_speed, car_speed); + SetCarRunning(); + MsTimer2::set(degree * 50, []() + { + { + DCMotor.Stop(); + SetCarNotRunning(); + } + }); + MsTimer2::start(); +} + +void AccurateMotorClass::RunForward(uint8_t distence) +{ + if (car_running) + return; + DCMotor.Go(car_speed); + SetCarRunning(); + MsTimer2::set(distence * 100, []() + { + { + DCMotor.Stop(); + SetCarNotRunning(); + } + }); + MsTimer2::start(); +} + +bool AccurateMotorClass::IsCarRunning() +{ + return car_running; +} + +void AccurateMotorClass::DelayUntilCarStop() +{ + while (car_running) + delay(10); +} + +void AccurateMotorClass::RunBackward(uint8_t distence) +{ + if (car_running) + return; + DCMotor.Back(car_speed); + SetCarRunning(); + MsTimer2::set(distence * 100, []() + { + { + DCMotor.Stop(); + SetCarNotRunning(); + } + }); + MsTimer2::start(); +} + +AccurateMotorClass AccurateMotor; \ No newline at end of file diff --git a/AccurateMotor.h b/AccurateMotor.h new file mode 100644 index 0000000..fbf2a14 --- /dev/null +++ b/AccurateMotor.h @@ -0,0 +1,42 @@ +// AccurateMotor.h +/* +* ȷĵ࣬ͨʱжϵʽ̲ɿ +*/ + +#ifndef _ACCURATEMOTOR_h +#define _ACCURATEMOTOR_h + +#if defined(ARDUINO) && ARDUINO >= 100 + #include "arduino.h" +#else + #include "WProgram.h" +#endif + +#include +#include + +class AccurateMotorClass +{ +private: + bool car_running; + const uint8_t car_speed = 100; + +private: + static void SetCarRunning(); + static void SetCarNotRunning(); + + public: + void Init(); + bool IsCarRunning(); + void DelayUntilCarStop(); + +public: + void TurnLeft(uint8_t degree); + void TurnRight(uint8_t degree); + void RunForward(uint8_t distence); + void RunBackward(uint8_t distence); +}; + +extern AccurateMotorClass AccurateMotor; + +#endif \ No newline at end of file diff --git a/DebugOpt.cpp b/DebugOpt.cpp new file mode 100644 index 0000000..01185a8 --- /dev/null +++ b/DebugOpt.cpp @@ -0,0 +1,133 @@ +#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 }; + +void DebugOpt::DoLEDFlow() +{ + switch (led_flow_cnt) + { + case 0: + CoreLED.TurnOn(LED1); + CoreLED.TurnOff(LED2); + CoreLED.TurnOff(LED3); + CoreLED.TurnOff(LED4); + + LED.LeftTurnOn(); + LED.RightTurnOff(); + + digitalWrite(LED_BUILTIN, HIGH); + break; + case 1: + CoreLED.TurnOff(LED1); + CoreLED.TurnOn(LED2); + CoreLED.TurnOff(LED3); + CoreLED.TurnOff(LED4); + + LED.LeftTurnOff(); + LED.RightTurnOn(); + + digitalWrite(LED_BUILTIN, LOW); + break; + case 2: + CoreLED.TurnOff(LED1); + CoreLED.TurnOff(LED2); + CoreLED.TurnOn(LED3); + CoreLED.TurnOff(LED4); + + LED.LeftTurnOn(); + LED.RightTurnOff(); + + digitalWrite(LED_BUILTIN, LOW); + break; + case 3: + CoreLED.TurnOff(LED1); + CoreLED.TurnOff(LED2); + 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); +} + +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.DelayUntilCarStop(); + AccurateMotor.RunBackward(10); + AccurateMotor.DelayUntilCarStop(); + AccurateMotor.TurnLeft(20); + AccurateMotor.DelayUntilCarStop(); + AccurateMotor.TurnRight(20); + AccurateMotor.DelayUntilCarStop(); + BEEP.TurnOn(); + delay(100); + BEEP.TurnOff(); + LED.LeftTurnOff(); + LED.RightTurnOff(); +} + +void DebugOpt::DebugServo() +{ + Serial.println("Hello Servo."); + for (int i = -80; i <= 20; i++) + { + OpenMVOpt::Servo_Control(i); + delay(50); + } + OpenMVOpt::Servo_Control(0); +} + +void DebugOpt::Road_Gate_Test() +{ + Command.Judgment(open_road_buf); //У + ExtSRAMInterface.ExMem_Write_Bytes(0x6008, open_road_buf, 8); +} + +void DebugOpt::Speech_Sounds_Ctr() +{ + ExtSRAMInterface.ExMem_Write_Bytes(0x6180, voive_test_buf, 13); +} + +void DebugOpt::Speech_Disc() +{ + uint8_t sph_id = 0; + /*0Ϊ־ʶ + 2-6Ϊָʶ𣬾Ϣɲ鿴ͨЭ*/ + sph_id = BKRC_Voice.BKRC_Voice_Extern(0); + delay(200); + Serial.print("ʶ𵽵ĴIDΪ"); + Serial.println(sph_id, HEX); + voice_trm_buf[2] = sph_id; + ExtSRAMInterface.ExMem_Write_Bytes(0x6008, voice_trm_buf, 8);//ϴʶն +} + +void DebugOpt::Infrared_Test() +{ + Infrare.Transmition(ir_repo_buf, 6); +} diff --git a/DebugOpt.h b/DebugOpt.h new file mode 100644 index 0000000..a7fc883 --- /dev/null +++ b/DebugOpt.h @@ -0,0 +1,50 @@ +#ifndef __DEBUG_OPT__ +#define __DEBUG_OPT_ + +#include +#include "AccurateMotor.h" +#include "GlobalDatas.h" +#include +#include "OpenMVOpt.h" +#include +#include +#include +#include +#include + +namespace DebugOpt +{ + //LEDˮƼ + extern uint8_t led_flow_cnt; + //բָ + extern uint8_t open_road_buf[8]; + //ָ + extern uint8_t voive_test_buf[9]; + //ʶָ + extern uint8_t voice_trm_buf[8]; + //ָ + extern uint8_t ir_repo_buf[6]; + + //LEDˮ + void DoLEDFlow(); + + //в + void DebugRun(); + + //в + void DebugServo(); + + //բ + void Road_Gate_Test(); + + // + void Speech_Sounds_Ctr(); + + //ʶ + void Speech_Disc(); + + //ⷢͲ + void Infrared_Test(); +}; + +#endif \ No newline at end of file diff --git a/GlobalDatas.cpp b/GlobalDatas.cpp new file mode 100644 index 0000000..2324a33 --- /dev/null +++ b/GlobalDatas.cpp @@ -0,0 +1,41 @@ +#include "GlobalDatas.h" + +uint8_t GarageB_To1[8] = { 0x55,0x05,0x01,0x01,0x00,0x00,0x02,0xBB }; // 峵B һ +uint8_t GarageB_To2[8] = { 0x55,0x05,0x01,0x02,0x00,0x00,0x03,0xBB }; // 峵B ڶ +uint8_t GarageB_To3[8] = { 0x55,0x05,0x01,0x03,0x00,0x00,0x04,0xBB }; // 峵B +uint8_t GarageB_To4[8] = { 0x55,0x05,0x01,0x04,0x00,0x00,0x05,0xBB }; // 峵B IJ + +uint8_t TrafficA_Open[8] = { 0x55,0x0E,0x01,0x00,0x00,0x00,0x01,0xBB }; // ܽͨA ʶģʽ ʶģʽ +uint8_t TrafficA_Red[8] = { 0x55,0x0E,0x02,0x01,0x00,0x00,0x03,0xBB }; // ܽͨA ʶΪɫȷ +uint8_t TrafficA_Green[8] = { 0x55,0x0E,0x02,0x02,0x00,0x00,0x04,0xBB }; // ܽͨA ʶΪɫȷ +uint8_t TrafficA_Yellow[8] = { 0x55,0x0E,0x02,0x03,0x00,0x00,0x05,0xBB }; // ܽͨA ʶΪɫȷ + +uint8_t Gate_Open[8] = { 0x55,0x03,0x01,0x01,0x00,0x00,0x02,0xBB }; // բ + +uint8_t Light_plus1[4] = { 0x00,0xFF,0x0C,~(0x0C) }; // · Դλ1 +uint8_t Light_plus2[4] = { 0x00,0xFF,0x18,~(0x18) }; // · Դλ2 +uint8_t Light_plus3[4] = { 0x00,0xFF,0x5E,~(0x5E) }; // · Դλ3 + +uint8_t SEG_TimOpen[8] = { 0x55,0x04,0x03,0x01,0x00,0x00,0x04,0xBB }; // LEDʾ ʱ +uint8_t SMG_TimClose[8] = { 0x55,0x04,0x03,0x00,0x00,0x00,0x03,0xBB }; // LEDʾ ʱر + +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 }; // OpenMVʶά + +uint8_t trackdi_buf[8] = { 0x55,0x02,0x91,0x00,0x00,0x00,0x00,0xBB }; //OpenMVѭָ + +uint8_t servo_buf[8] = { 0x55,0x02,0x91,0x03,0x00,0x00,0x00,0xBB }; // OpenMVͶǶ + +//ȫֱ +uint8_t ATM_Data[ATM_Data_Length]; +uint8_t ZigBee_command[8]; +uint8_t ZigBee_judge; +uint8_t infrare_com[6]; +uint8_t sendflag; +unsigned long frisrtime; +unsigned long Tcount; +uint8_t Data_Type; +uint8_t Data_Flag; +uint8_t Data_Length; +uint8_t Data_OTABuf[40]; \ No newline at end of file diff --git a/GlobalDatas.h b/GlobalDatas.h new file mode 100644 index 0000000..25126b0 --- /dev/null +++ b/GlobalDatas.h @@ -0,0 +1,48 @@ +#ifndef __GLOBAL_DATAS__ +#define __GLOBAL_DATAS__ +#include + +#define TSendCycle 200 +#define ATM_Data_Length 48 + +extern uint8_t GarageB_To1[8]; // 峵B һ +extern uint8_t GarageB_To2[8]; // 峵B ڶ +extern uint8_t GarageB_To3[8]; // 峵B +extern uint8_t GarageB_To4[8]; // 峵B IJ + +extern uint8_t TrafficA_Open[8]; // ܽͨA ʶģʽ ʶģʽ +extern uint8_t TrafficA_Red[8]; // ܽͨA ʶΪɫȷ +extern uint8_t TrafficA_Green[8]; // ܽͨA ʶΪɫȷ +extern uint8_t TrafficA_Yellow[8]; // ܽͨA ʶΪɫȷ + +extern uint8_t Gate_Open[8]; // բ + +extern uint8_t Light_plus1[4]; // · Դλ1 +extern uint8_t Light_plus2[4]; // · Դλ2 +extern uint8_t Light_plus3[4]; // · Դλ3 + +extern uint8_t SEG_TimOpen[8]; // LEDʾ ʱ +extern uint8_t SMG_TimClose[8]; // LEDʾ ʱر + +extern uint8_t ZigBee_back[16]; + +extern uint8_t qrdi_buf[8]; // OpenMVʶά + +extern uint8_t trackdi_buf[8]; //OpenMVѭָ + +extern uint8_t servo_buf[8]; // OpenMVͶǶ + +//ȫֱ +extern uint8_t ATM_Data[ATM_Data_Length]; +extern uint8_t ZigBee_command[8]; +extern uint8_t ZigBee_judge; +extern uint8_t infrare_com[6]; +extern uint8_t sendflag; +extern unsigned long frisrtime; +extern unsigned long Tcount; +extern uint8_t Data_Type; +extern uint8_t Data_Flag; +extern uint8_t Data_Length; +extern uint8_t Data_OTABuf[40]; + +#endif \ No newline at end of file diff --git a/Handler.cpp b/Handler.cpp new file mode 100644 index 0000000..bcb0e45 --- /dev/null +++ b/Handler.cpp @@ -0,0 +1,201 @@ +#include "Handler.h" + +void Handler::ZigBeeRx_Handler(uint8_t* mar) +{ + switch (mar[1]) + { + case 0x02: // + MainCarRx_Handler(mar); //Ӧ + break; + case 0x03: //բ־ + break; + case 0x04: //LEDʾ־޷أ + break; + case 0x05: //峵־B + break; + case 0x06: //־ + break; + case 0x07: //ⱨ־ + break; + case 0x08: //TFTʾ־B + break; + case 0x09: //־ + break; + case 0x0A: //߳־ + break; + case 0x0B: //TFTʾ־A + break; + case 0x0C: //ETCϵͳ־ + break; + case 0x0D: //峵־A + break; + case 0x0E: //ͨƱעA + break; + case 0x0F: //ͨƱ־B + break; + default: + break; + } +} + +void Handler::OpenMVRx_Handler(uint8_t* mac) +{ + switch (mac[2]) + { + case 0x91: // + + break; + case 0x92: //άʶ + + break; + default: + break; + } +} + +void Handler::MainCarRx_Handler(uint8_t* com) +{ + switch (com[2]) + { + case 0x01: //ֹͣ + DCMotor.Stop(); + break; + case 0x02: //ǰ + DCMotor.Go(com[3], (com[4] + (com[5] << 8))); + ZigBee_back[2] = 0x03; + break; + case 0x03: // + DCMotor.Back(com[3], (com[4] + (com[5] << 8))); + ZigBee_back[2] = 0x03; + break; + case 0x04: //ת + DCMotor.TurnLeft(com[3]); + ZigBee_back[2] = 0x02; + break; + case 0x05: //ת + DCMotor.TurnRight(com[3]); + ZigBee_back[2] = 0x02; + break; + case 0x06: //ѭ + DCMotor.CarTrack(com[3]); + ZigBee_back[2] = 0x00; + break; + case 0x07: // + Command.Judgment(Command.command01); //У + ExtSRAMInterface.ExMem_Write_Bytes(Command.command01, 8); // + break; + case 0x10: // + infrare_com[0] = com[3]; + infrare_com[1] = com[4]; + infrare_com[2] = com[5]; + break; + case 0x11: // + infrare_com[3] = com[3]; + infrare_com[4] = com[4]; + infrare_com[5] = com[5]; + break; + case 0x12: //ͺ + Infrare.Transmition(infrare_com, 6); + break; + case 0x20: //ת + if (com[3] == 0x01) + LED.LeftTurnOn(); + else + LED.LeftTurnOff(); + if (com[4] == 0x01) + LED.RightTurnOn(); + else + LED.RightTurnOff(); + break; + case 0x30: // + if (com[3] == 0x01) + BEEP.TurnOn(); + else + BEEP.TurnOff(); + break; + case 0x40: // + break; + case 0x50: //LCDͼƬϷҳ + Command.Judgment(Command.command13); + ExtSRAMInterface.ExMem_Write_Bytes(Command.command13, 8); + break; + case 0x51: //LCDͼƬ·ҳ + Command.Judgment(Command.command14); + ExtSRAMInterface.ExMem_Write_Bytes(Command.command14, 8); + break; + case 0x61: //Դһ + Infrare.Transmition(Command.HW_Dimming1, 4); + break; + case 0x62: //ԴӶ + Infrare.Transmition(Command.HW_Dimming2, 4); + break; + case 0x63: //Դ + Infrare.Transmition(Command.HW_Dimming3, 4); + break; + case 0x80: //ӳл + if (com[3] == 0x01) + { + sendflag = 0x01; //ϴӳ + } + else + { + sendflag = 0x00; //رϴӳ + } + case 0x91: + if (com[3] == 0x03) // + { + //Servoangle_control(com[4]); + } + break; + default: + break; + } +} + +void Handler::Key_0() +{ + BEEP.TurnOn(); + delay(50); + BEEP.TurnOff(); + OpenMVOpt::Servo_Control(-60); + OpenMVOpt::OpenMV_Track(50); + DCMotor.TurnLeft_Code(80, 760); +} + +void Handler::Key_1() +{ + BEEP.TurnOn(); + delay(50); + BEEP.TurnOff(); + delay(50); + OpenMVOpt::Servo_Control(0); +} + +void Handler::Key_2() +{ + DebugOpt::DebugRun(); +} + +void Handler::Key_3() +{ + DebugOpt::DebugServo(); +} + +void Handler::KEY_Handler(uint8_t k_value) +{ + switch (k_value) + { + case 1: + Key_0(); + break; + case 2: + Key_1(); + break; + case 3: + Key_2(); + break; + case 4: + Key_3(); + break; + } +} diff --git a/Handler.h b/Handler.h new file mode 100644 index 0000000..b1daaab --- /dev/null +++ b/Handler.h @@ -0,0 +1,30 @@ +#ifndef __HANDLER__ +#define __HANDLER__ + +#include "GlobalDatas.h" +#include "DebugOpt.h" + +namespace Handler +{ + //ZigBeeϢմ + void ZigBeeRx_Handler(uint8_t* mar); + + //OpenMVϢմ + void OpenMVRx_Handler(uint8_t* mac); + + //ָմ + void MainCarRx_Handler(uint8_t* com); + + //¼ - 0 + void Key_0(); + //¼ - 1 + void Key_1(); + //¼ - 2 + void Key_2(); + //¼ - 3 + void Key_3(); + //մ + void KEY_Handler(uint8_t k_value); +}; + +#endif \ No newline at end of file diff --git a/OpenMVOpt.cpp b/OpenMVOpt.cpp new file mode 100644 index 0000000..1abb4d8 --- /dev/null +++ b/OpenMVOpt.cpp @@ -0,0 +1,167 @@ +#include "OpenMVOpt.h" + +uint8_t OpenMVOpt::Data_OpenMVBuf[8] = { 0 }; + +void OpenMVOpt::AdjustCarPosition(uint8_t Car_Speed) +{ + if (Data_OpenMVBuf[6] <= 5) // У׼ + { + if (Data_OpenMVBuf[5] == 43) // + + { + DCMotor.SpeedCtr(Car_Speed, Car_Speed); + } + else if (Data_OpenMVBuf[5] == 45) // - ҵ + { + DCMotor.SpeedCtr(Car_Speed, Car_Speed); + } + } + else if (Data_OpenMVBuf[6] <= 15) // ΢ƫ + { + if (Data_OpenMVBuf[5] == 43) // + + { + DCMotor.SpeedCtr(20, 50); + } + else if (Data_OpenMVBuf[5] == 45) // - ҵ + { + DCMotor.SpeedCtr(50, 20); + } + } + else if (Data_OpenMVBuf[6] <= 25) + { + + if (Data_OpenMVBuf[5] == 43) // + + { + DCMotor.SpeedCtr(10, 50); + } + else if (Data_OpenMVBuf[5] == 45) // - ҵ + { + DCMotor.SpeedCtr(50, 10); + } + } + else if (Data_OpenMVBuf[6] <= 35) + { + + if (Data_OpenMVBuf[5] == 43) // + + { + DCMotor.SpeedCtr(5, 50); + } + else if (Data_OpenMVBuf[5] == 45) // - ҵ + { + DCMotor.SpeedCtr(50, 5); + } + } + else if (Data_OpenMVBuf[6] <= 50) + { + + if (Data_OpenMVBuf[5] == 43) // + + { + DCMotor.SpeedCtr(0, 40); + } + else if (Data_OpenMVBuf[5] == 45) // - ҵ + { + DCMotor.SpeedCtr(40, 0); + } + } + else if (Data_OpenMVBuf[6] <= 70) + { + + if (Data_OpenMVBuf[5] == 43) // + + { + DCMotor.SpeedCtr(-5, 30); + } + else if (Data_OpenMVBuf[5] == 45) // - ҵ + { + DCMotor.SpeedCtr(30, -5); + } + } + else if (Data_OpenMVBuf[6] > 70) + { + + if (Data_OpenMVBuf[5] == 43) // + + { + DCMotor.SpeedCtr(-10, 20); + } + else if (Data_OpenMVBuf[5] == 45) // - ҵ + { + DCMotor.SpeedCtr(20, -10); + } + } +} + +void OpenMVOpt::OpenMVTrack_Disc_StartUp() +{ + trackdi_buf[3] = 0x01; //ʼʶ + Command.Judgment(trackdi_buf); //У + ExtSRAMInterface.ExMem_Write_Bytes(0x6008, trackdi_buf, 8); +} + +void OpenMVOpt::OpenMVTrack_Disc_CloseUp() +{ + trackdi_buf[3] = 0x02; //رʶ + Command.Judgment(trackdi_buf); //У + ExtSRAMInterface.ExMem_Write_Bytes(0x6008, trackdi_buf, 8); +} + +void OpenMVOpt::OpenMV_Track(uint8_t Car_Speed) +{ + uint32_t num = 0; + Car_Speed = 50; + // մڻ + while (ExtSRAMInterface.ExMem_Read(0x6038) != 0x00) + ExtSRAMInterface.ExMem_Read_Bytes(0x6038, Data_OpenMVBuf, 1); + OpenMVTrack_Disc_StartUp(); + delay(500); + DCMotor.SpeedCtr(Car_Speed, Car_Speed); + Serial.println("Video Track Start."); + while (1) + { + delay(10); //ӳٷֹ + if (ExtSRAMInterface.ExMem_Read(0x6038) != 0x00) //OpenMVʶ + { + ExtSRAMInterface.ExMem_Read_Bytes(0x6038, Data_OpenMVBuf, 8); + if ((Data_OpenMVBuf[0] == 0x55) && (Data_OpenMVBuf[1] == 0x02) && (Data_OpenMVBuf[2] == 0x91)) + { + num++; + Serial.println(num); + if (Data_OpenMVBuf[4] == 1) // · + { + DCMotor.Stop(); + OpenMVTrack_Disc_CloseUp(); + break; + } + else // + AdjustCarPosition(Car_Speed); + } + } + } +} + +void OpenMVOpt::OpenMVQr_Disc_StartUp() +{ + qrdi_buf[3] = 0x01; //ʼʶ + Command.Judgment(qrdi_buf); //У + ExtSRAMInterface.ExMem_Write_Bytes(0x6008, qrdi_buf, 8); +} + +void OpenMVOpt::OpenMVQr_Disc_CloseUp() +{ + qrdi_buf[3] = 0x02; //رʶ + Command.Judgment(qrdi_buf); //У + ExtSRAMInterface.ExMem_Write_Bytes(0x6008, qrdi_buf, 8); +} + +void OpenMVOpt::Servo_Control(int8_t angle) +{ + if (angle >= 0) + { + servo_buf[4] = 0x2B; + } + else + { + servo_buf[4] = 0x2D; + } + servo_buf[5] = abs(angle); //ʼʶ + Command.Judgment(servo_buf); //У + ExtSRAMInterface.ExMem_Write_Bytes(0x6008, servo_buf, 8); + delay(1000); +} diff --git a/OpenMVOpt.h b/OpenMVOpt.h new file mode 100644 index 0000000..046b701 --- /dev/null +++ b/OpenMVOpt.h @@ -0,0 +1,32 @@ +#ifndef __OPENMV_OPT__ +#define __OPENMV_OPT__ + +#include +#include "GlobalDatas.h" +#include +#include + +namespace OpenMVOpt +{ + extern uint8_t Data_OpenMVBuf[8]; + + //̬ + void AdjustCarPosition(uint8_t Car_Speed); + + //Ƶѭ + void OpenMVTrack_Disc_StartUp(); + //ֹͣƵѭ + void OpenMVTrack_Disc_CloseUp(); + //ѭһ·ڣ + void OpenMV_Track(uint8_t Car_Speed); + + //άʶ + void OpenMVQr_Disc_StartUp(); + //ֹͣάʶ + void OpenMVQr_Disc_CloseUp(); + + //Ƕȿ + void Servo_Control(int8_t angle); +}; + +#endif \ No newline at end of file diff --git a/__vm/.2021_Arduino_Demo.vsarduino.h b/__vm/.2021_Arduino_Demo.vsarduino.h new file mode 100644 index 0000000..884e5bd --- /dev/null +++ b/__vm/.2021_Arduino_Demo.vsarduino.h @@ -0,0 +1,93 @@ +/* + Editor: https://www.visualmicro.com/ + This file is for intellisense purpose only. + Visual micro (and the arduino ide) ignore this code during compilation. This code is automatically maintained by visualmicro, manual changes to this file will be overwritten + The contents of the _vm sub folder can be deleted prior to publishing a project + All non-arduino files created by visual micro and all visual studio project or solution files can be freely deleted and are not required to compile a sketch (do not delete your own code!). + Note: debugger breakpoints are stored in '.sln' or '.asln' files, knowledge of last uploaded breakpoints is stored in the upload.vmps.xml file. Both files are required to continue a previous debug session without needing to compile and upload again + + Hardware: ATmega2560 (Mega 2560) (Arduino Mega) (mega_atmega2560), Platform=avr, Package=arduino +*/ + +#if defined(_VMICRO_INTELLISENSE) + +#ifndef _VSARDUINO_H_ +#define _VSARDUINO_H_ +#define __AVR_atmega2560__ 1 +#define __AVR_ATmega2560__ 1 +#define F_CPU 16000000L +#define ARDUINO 108010 +#define ARDUINO_AVR_MEGA2560 1 +#define ARDUINO_ARCH_AVR 1 +#define __cplusplus 201103L +#define _Pragma(x) +#define __AVR__ +#define __inline__ +#define __asm__(...) +#define __extension__ +#define __inline__ +#define __volatile__ +// Redefine __cplusplus to correct version: https://www.visualmicro.com/forums/YaBB.pl?num=1592217268 +#undef __cplusplus +#define __cplusplus 201103L + +//#define GCC_VERSION 40902 +//https://www.visualmicro.com/forums/YaBB.pl?num=1569762585/5#5 +#define __GNUC__ 5 +#define __GNUC_MINOR__ 4 +#define __GNUC_PATCHLEVEL__ 0 +#define GCC_VERSION ((__GNUC__*10000)+(__GNUC_MINOR__*100)+__GNUC_PATCHLEVEL__)) + + +#define volatile(va_arg) +#define _CONST +#define __builtin_va_start +#define __builtin_va_end +#define __attribute__(...) +#define NOINLINE __attribute__((noinline)) +#define prog_void +#define PGM_VOID_P int + + +#ifndef __builtin_constant_p + #define __builtin_constant_p __attribute__((__const__)) +#endif +#ifndef __builtin_strlen + #define __builtin_strlen __attribute__((__const__)) +#endif + + +#define NEW_H +typedef void *__builtin_va_list; +//extern "C" void __cxa_pure_virtual() {;} + +typedef int div_t; +typedef int ldiv_t; + + +typedef void *__builtin_va_list; +//extern "C" void __cxa_pure_virtual() {;} + + + +#include +#include +//#undef F +//#define F(string_literal) ((const PROGMEM char *)(string_literal)) +#undef PSTR +#define PSTR(string_literal) ((const PROGMEM char *)(string_literal)) + +//typedef unsigned char uint8_t; +//typedef unsigned int uint8_t; + +#define pgm_read_byte_near(address_short) uint8_t() +#define pgm_read_byte(address_short) uint8_t() +#define pgm_read_word(address_short) uint16_t() +#define pgm_read_dword(address_short) uint32_t() +#define pgm_read_float(address_short) float() +#define pgm_read_ptr(address_short) short() + +#include "2021_Arduino_Demo.ino" +#include "OpenMV_Track.ino" +#endif +#endif diff --git a/__vm/.Arduino.vsarduino.h b/__vm/.Arduino.vsarduino.h new file mode 100644 index 0000000..fcaa208 --- /dev/null +++ b/__vm/.Arduino.vsarduino.h @@ -0,0 +1,92 @@ +/* + Editor: https://www.visualmicro.com/ + This file is for intellisense purpose only. + Visual micro (and the arduino ide) ignore this code during compilation. This code is automatically maintained by visualmicro, manual changes to this file will be overwritten + The contents of the _vm sub folder can be deleted prior to publishing a project + All non-arduino files created by visual micro and all visual studio project or solution files can be freely deleted and are not required to compile a sketch (do not delete your own code!). + Note: debugger breakpoints are stored in '.sln' or '.asln' files, knowledge of last uploaded breakpoints is stored in the upload.vmps.xml file. Both files are required to continue a previous debug session without needing to compile and upload again + + Hardware: ATmega2560 (Mega 2560) (Arduino Mega) (mega_atmega2560), Platform=avr, Package=arduino +*/ + +#if defined(_VMICRO_INTELLISENSE) + +#ifndef _VSARDUINO_H_ +#define _VSARDUINO_H_ +#define __AVR_atmega2560__ 1 +#define __AVR_ATmega2560__ 1 +#define F_CPU 16000000L +#define ARDUINO 108010 +#define ARDUINO_AVR_MEGA2560 1 +#define ARDUINO_ARCH_AVR 1 +#define __cplusplus 201103L +#define _Pragma(x) +#define __AVR__ +#define __inline__ +#define __asm__(...) +#define __extension__ +#define __inline__ +#define __volatile__ +// Redefine __cplusplus to correct version: https://www.visualmicro.com/forums/YaBB.pl?num=1592217268 +#undef __cplusplus +#define __cplusplus 201103L + +//#define GCC_VERSION 40902 +//https://www.visualmicro.com/forums/YaBB.pl?num=1569762585/5#5 +#define __GNUC__ 5 +#define __GNUC_MINOR__ 4 +#define __GNUC_PATCHLEVEL__ 0 +#define GCC_VERSION ((__GNUC__*10000)+(__GNUC_MINOR__*100)+__GNUC_PATCHLEVEL__)) + + +#define volatile(va_arg) +#define _CONST +#define __builtin_va_start +#define __builtin_va_end +#define __attribute__(...) +#define NOINLINE __attribute__((noinline)) +#define prog_void +#define PGM_VOID_P int + + +#ifndef __builtin_constant_p + #define __builtin_constant_p __attribute__((__const__)) +#endif +#ifndef __builtin_strlen + #define __builtin_strlen __attribute__((__const__)) +#endif + + +#define NEW_H +typedef void *__builtin_va_list; +//extern "C" void __cxa_pure_virtual() {;} + +typedef int div_t; +typedef int ldiv_t; + + +typedef void *__builtin_va_list; +//extern "C" void __cxa_pure_virtual() {;} + + + +#include +#include +//#undef F +//#define F(string_literal) ((const PROGMEM char *)(string_literal)) +#undef PSTR +#define PSTR(string_literal) ((const PROGMEM char *)(string_literal)) + +//typedef unsigned char uint8_t; +//typedef unsigned int uint8_t; + +#define pgm_read_byte_near(address_short) uint8_t() +#define pgm_read_byte(address_short) uint8_t() +#define pgm_read_word(address_short) uint16_t() +#define pgm_read_dword(address_short) uint32_t() +#define pgm_read_float(address_short) float() +#define pgm_read_ptr(address_short) short() + +#include "2021_Arduino_Demo.ino" +#endif +#endif diff --git a/__vm/Compile.vmps.xml b/__vm/Compile.vmps.xml new file mode 100644 index 0000000..0ad473a --- /dev/null +++ b/__vm/Compile.vmps.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/__vm/Configuration.Release.vmps.xml b/__vm/Configuration.Release.vmps.xml new file mode 100644 index 0000000..af566e1 --- /dev/null +++ b/__vm/Configuration.Release.vmps.xml @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file diff --git a/__vm/Upload.vmps.xml b/__vm/Upload.vmps.xml new file mode 100644 index 0000000..0ad473a --- /dev/null +++ b/__vm/Upload.vmps.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file