|
|
|
|
|
#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"
|
|
|
|
|
|
#include <CoreBeep.h>
|
|
|
|
|
|
#include <DCMotor.h>
|
|
|
|
|
|
#include <CoreKEY.h>
|
|
|
|
|
|
#include <CoreLED.h>
|
|
|
|
|
|
#include "Handler.h"
|
|
|
|
|
|
#include <BH1750.h>
|
|
|
|
|
|
#include <BEEP.h>
|
|
|
|
|
|
|
|
|
|
|
|
void setup()
|
|
|
|
|
|
{
|
|
|
|
|
|
Serial.begin(115200);
|
|
|
|
|
|
CoreLED.Initialization();
|
|
|
|
|
|
CoreKEY.Initialization();
|
|
|
|
|
|
CoreBeep.Initialization();
|
|
|
|
|
|
ZigBeeOperator.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;
|
|
|
|
|
|
|
|
|
|
|
|
OpenMVOpt::Servo_Control(0);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void loop()
|
|
|
|
|
|
{
|
|
|
|
|
|
uint8_t si = 0;
|
|
|
|
|
|
frisrtime = millis();
|
|
|
|
|
|
|
|
|
|
|
|
CoreKEY.Kwhile(Handler::KEY_Handler); //按键检测
|
|
|
|
|
|
|
|
|
|
|
|
if (ExtSRAMInterface.ExMem_Read(ZigBee_Read_Address) != 0x00) //从车接收ZigBee数据
|
|
|
|
|
|
{
|
|
|
|
|
|
ExtSRAMInterface.ExMem_Read_Bytes(ZigBee_command, 8);
|
|
|
|
|
|
CommandDecoder decoder(ZigBee_command);
|
|
|
|
|
|
if(decoder.CommandValidate())
|
|
|
|
|
|
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();
|
|
|
|
|
|
}
|
