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#include <ExtSRAMInterface.h>
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#include "AccurateMotor.h"
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#include <Ultrasonic.h>
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#include <BKRC_Voice.h>
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#include "GlobalDatas.h"
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#include <CoreBeep.h>
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#include <DCMotor.h>
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#include <CoreKEY.h>
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#include <CoreLED.h>
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#include <Command.h>
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#include "Handler.h"
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#include <BH1750.h>
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#include <BEEP.h>
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void setup()
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{
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Serial.begin(115200);
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CoreLED.Initialization();
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CoreKEY.Initialization();
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CoreBeep.Initialization();
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ExtSRAMInterface.Initialization();
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LED.Initialization();
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BH1750.Initialization();
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BEEP.Initialization();
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Infrare.Initialization();
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Ultrasonic.Initialization();
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DCMotor.Initialization(30000);
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BKRC_Voice.Initialization();
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while (!Serial);
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sendflag = 0;
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frisrtime = 0;
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Tcount = 0;
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}
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void loop()
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{
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uint8_t si = 0;
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frisrtime = millis();
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CoreKEY.Kwhile(Handler::KEY_Handler); //按键检测
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if (ExtSRAMInterface.ExMem_Read(0x6100) != 0x00) //从车接收ZigBee数据
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{
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ExtSRAMInterface.ExMem_Read_Bytes(ZigBee_command, 8);
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ZigBee_judge = ZigBee_command[6]; //获取校验和
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Command.Judgment(ZigBee_command); //计算校验和
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if ((ZigBee_judge == ZigBee_command[6]) && (ZigBee_command[0] == 0x55) && (ZigBee_command[7] == 0xBB))
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Handler::ZigBeeRx_Handler(ZigBee_command); //ZigBee接收数据处理
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}
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if (ExtSRAMInterface.ExMem_Read(0x6038) != 0x00) //检测OpenMV识别结果
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{
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Data_Type = ExtSRAMInterface.ExMem_Read(0x603A);
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Data_Flag = ExtSRAMInterface.ExMem_Read(0x603B);
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Data_Length = ExtSRAMInterface.ExMem_Read(0x603C);
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Data_Length = Data_Length + 6;
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ExtSRAMInterface.ExMem_Read_Bytes(0x6038, Data_OTABuf, Data_Length);
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if ((Data_OTABuf[0] == 0x55) && (Data_OTABuf[1] == 0x02))
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{
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ExtSRAMInterface.ExMem_Write_Bytes(0x6180, Data_OTABuf, Data_Length); //使用自定义数据区上传OpenMV识别结果
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Handler::OpenMVRx_Handler(Data_OTABuf); //接收OpenMV，数据处理函数
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}
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}
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if (((millis() - frisrtime >= TSendCycle) || (Tcount >= TSendCycle)) && (sendflag == 1)) //获取、上传任务版数据
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{
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uint16_t tp = (uint16_t)(Ultrasonic.Ranging(CM) * 10.0);
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ZigBee_back[5] = (tp >> 8) & 0xff;
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ZigBee_back[4] = tp & 0xff;
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tp = BH1750.ReadLightLevel();
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ZigBee_back[7] = (tp >> 8) & 0xff;
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ZigBee_back[6] = tp & 0xff;
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ZigBee_back[9] = (uint8_t)ExtSRAMInterface.ExMem_Read(0x6003);
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if (ZigBee_back[9] >= 0x80) ZigBee_back[9] = 0xff - ZigBee_back[9];
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ZigBee_back[8] = (uint8_t)ExtSRAMInterface.ExMem_Read(0x6002);
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ExtSRAMInterface.ExMem_Write_Bytes(0x6080, ZigBee_back, 16);
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Tcount = 0x00;
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}
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else if (sendflag == 1)
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{
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Tcount += (millis() - frisrtime);
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}
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//空闲时进行流水灯
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DebugOpt::DoLEDFlow();
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} |