From 78fce3b970990c75d13a0ac0da38d003bac9e21f Mon Sep 17 00:00:00 2001 From: zoumin888 <510111679@qq.com> Date: Fri, 15 Apr 2022 15:09:13 +0800 Subject: [PATCH 1/7] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=8C=87=E5=8D=97?= =?UTF-8?q?=E9=92=88=E3=80=81=E9=87=91=E5=B1=9E=E6=8E=A2=E6=B5=8B=E5=99=A8?= =?UTF-8?q?=E3=80=81=E6=9C=BA=E5=99=A8=E7=8B=97=20=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=92=8C=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: zoumin888 <510111679@qq.com> --- .../.idea/.deveco/module/entry.cache.json | 14 + .../.idea/.deveco/project.cache.json | 12 + FA/electronic_compass/.idea/.gitignore | 3 + FA/electronic_compass/.idea/compass.iml | 24 + .../.idea/configurationModuleSettings.xml | 8 + FA/electronic_compass/.idea/modules.xml | 8 + FA/electronic_compass/build-profile.json5 | 26 + FA/electronic_compass/entry/.gitignore | 3 + .../entry/build-profile.json5 | 10 + FA/electronic_compass/entry/hvigorfile.js | 2 + 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docs/metal_detection/resource/new_project.png create mode 100644 docs/metal_detection/resource/normal.jpg create mode 100644 docs/metal_detection/resource/sign.png create mode 100644 "docs/metal_detection/resource/\346\216\242\346\265\213\345\231\250.gif" create mode 100644 "docs/metal_detection/resource/\351\207\221\345\261\236\346\243\200\346\265\213\346\265\201\347\250\213\345\233\276.png" create mode 100644 docs/robot_dog/quick_develop.md create mode 100644 docs/robot_dog/readme.md create mode 100644 docs/robot_dog/resources/connect.png create mode 100644 docs/robot_dog/resources/disconnect.png create mode 100644 docs/robot_dog/resources/new_project.png diff --git a/FA/electronic_compass/.idea/.deveco/module/entry.cache.json b/FA/electronic_compass/.idea/.deveco/module/entry.cache.json new file mode 100644 index 00000000..1b5bc0c4 --- /dev/null +++ b/FA/electronic_compass/.idea/.deveco/module/entry.cache.json @@ -0,0 +1,14 @@ +{ + "BuildOptions":{ + "SELECT_BUILD_TARGET":"default", + "BUILD_PATH":{ + "OUTPUT_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\compass\\entry\\build\\default\\outputs\\default", + "RES_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\compass\\entry\\build\\default\\intermediates\\res\\default", + "ETS_SUPER_VISUAL_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\compass\\entry\\build\\default\\cache\\default\\CompileETS", + "JS_ASSETS_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\compass\\entry\\build\\default\\intermediates\\assets\\default", + "RES_PROFILE_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\compass\\entry\\build\\default\\intermediates\\res\\default\\resources\\base\\profile", + "WORKER_LOADER":"C:\\Users\\china\\DevEcoStudioProjects\\compass\\entry\\build\\default\\intermediates\\loader\\default\\loader.json", + "MANIFEST_JSON":"C:\\Users\\china\\DevEcoStudioProjects\\compass\\entry\\build\\default\\intermediates\\manifest\\default" + } + } +} \ No newline at end of file diff --git a/FA/electronic_compass/.idea/.deveco/project.cache.json b/FA/electronic_compass/.idea/.deveco/project.cache.json new file mode 100644 index 00000000..11566020 --- /dev/null +++ b/FA/electronic_compass/.idea/.deveco/project.cache.json @@ -0,0 +1,12 @@ +{ + "BuildOptions":{ + "BUNDLE_NAME":"", + "BUILD_PATH":{ + "OUTPUT_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\compass\\build\\outputs\\default" + }, + "SELECT_BUILD_PRODUCT":"default" + }, + "CommonInfo":{ + "project.ide.version":"3.0.0.900" + } +} \ No newline at end of file diff --git a/FA/electronic_compass/.idea/.gitignore b/FA/electronic_compass/.idea/.gitignore new file mode 100644 index 00000000..26d33521 --- /dev/null +++ b/FA/electronic_compass/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/FA/electronic_compass/.idea/compass.iml b/FA/electronic_compass/.idea/compass.iml new file mode 100644 index 00000000..f07b3d69 --- /dev/null +++ b/FA/electronic_compass/.idea/compass.iml 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"default", + "signingConfig": "default" + } + ], + }, + "modules": [ + { + "name": "entry", + "srcPath": "./entry", + "targets": [ + { + "name": "default", + "applyToProducts": [ + "default" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/FA/electronic_compass/entry/.gitignore b/FA/electronic_compass/entry/.gitignore new file mode 100644 index 00000000..4f9a9738 --- /dev/null +++ b/FA/electronic_compass/entry/.gitignore @@ -0,0 +1,3 @@ +/node_modules +/.preview +/build \ No newline at end of file diff --git a/FA/electronic_compass/entry/build-profile.json5 b/FA/electronic_compass/entry/build-profile.json5 new file mode 100644 index 00000000..09fbaf41 --- /dev/null +++ b/FA/electronic_compass/entry/build-profile.json5 @@ -0,0 +1,10 @@ +{ + "apiType": 'faMode', + "buildOption": { + }, + "targets": [ + { + "name": "default", + } + ] +} \ No newline at end of file diff --git a/FA/electronic_compass/entry/hvigorfile.js b/FA/electronic_compass/entry/hvigorfile.js new file mode 100644 index 00000000..bcec4c99 --- /dev/null +++ b/FA/electronic_compass/entry/hvigorfile.js @@ -0,0 +1,2 @@ +// Script for compiling build behavior. It is built in the build plug-in and cannot be modified currently. +module.exports = require('@ohos/hvigor-ohos-plugin').legacyHapTasks diff --git a/FA/electronic_compass/entry/package-lock.json b/FA/electronic_compass/entry/package-lock.json new file mode 100644 index 00000000..15bc7145 --- /dev/null +++ b/FA/electronic_compass/entry/package-lock.json @@ -0,0 +1,5 @@ +{ + "name": "entry", + "version": "1.0.0", + "lockfileVersion": 1 +} diff --git a/FA/electronic_compass/entry/package.json b/FA/electronic_compass/entry/package.json new file mode 100644 index 00000000..992c771b --- /dev/null +++ b/FA/electronic_compass/entry/package.json @@ -0,0 +1,14 @@ +{ + "license":"ISC", + "devDependencies":{}, + "name":"entry", + "ohos":{ + "org":"huawei", + "directoryLevel":"module", + "buildTool":"hvigor" + }, + "description":"example description", + "repository":{}, + "version":"1.0.0", + "dependencies":{} +} \ No newline at end of file diff --git a/FA/electronic_compass/entry/src/main/config.json b/FA/electronic_compass/entry/src/main/config.json new file mode 100644 index 00000000..47631839 --- /dev/null +++ b/FA/electronic_compass/entry/src/main/config.json @@ -0,0 +1,63 @@ +{ + "app": { + "vendor": "example", + "bundleName": "com.example.compass", + "version": { + "code": 1000000, + "name": "1.0.0" + } + }, + "deviceConfig": {}, + "module": { + "mainAbility": ".MainAbility", + "deviceType": [ + "phone" + ], + "abilities": [ + { + "skills": [ + { + "entities": [ + "entity.system.home" + ], + "actions": [ + "action.system.home" + ] + } + ], + "orientation": "unspecified", + "visible": true, + "srcPath": "MainAbility", + "name": ".MainAbility", + "srcLanguage": "js", + "icon": "$media:icon", + "description": "$string:MainAbility_desc", + "formsEnabled": false, + "label": "$string:MainAbility_label", + "type": "page", + "launchType": "standard" + } + ], + "distro": { + "moduleType": "entry", + "installationFree": false, + "deliveryWithInstall": true, + "moduleName": "entry" + }, + "package": "com.example.entry", + "srcPath": "", + "name": ".entry", + "js": [ + { + "pages": [ + "pages/index/index" + ], + "name": ".MainAbility", + "window": { + "designWidth": 720, + "autoDesignWidth": false + } + } + ] + } +} \ No newline at end of file diff --git a/FA/electronic_compass/entry/src/main/js/MainAbility/app.js b/FA/electronic_compass/entry/src/main/js/MainAbility/app.js new file mode 100644 index 00000000..0c00d4cf --- /dev/null +++ b/FA/electronic_compass/entry/src/main/js/MainAbility/app.js @@ -0,0 +1,30 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License,Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +import tcpserverapi from '@ohos.tcpserverapi' + +export default { + onCreate() { + console.info("Application onCreate"); + tcpserverapi.initServer() + }, + onInit(){ + + }, + onDestroy() { + console.info("Application onDestroy"); + } +}; + diff --git a/FA/electronic_compass/entry/src/main/js/MainAbility/i18n/en-US.json b/FA/electronic_compass/entry/src/main/js/MainAbility/i18n/en-US.json new file mode 100644 index 00000000..55561b83 --- /dev/null +++ b/FA/electronic_compass/entry/src/main/js/MainAbility/i18n/en-US.json @@ -0,0 +1,8 @@ +{ + "strings": { + "hello": "Hello", + "world": "World" + }, + "Files": { + } +} \ No newline at end of file diff --git a/FA/electronic_compass/entry/src/main/js/MainAbility/i18n/zh-CN.json b/FA/electronic_compass/entry/src/main/js/MainAbility/i18n/zh-CN.json new file mode 100644 index 00000000..cce1af06 --- /dev/null +++ b/FA/electronic_compass/entry/src/main/js/MainAbility/i18n/zh-CN.json @@ -0,0 +1,8 @@ +{ + "strings": { + "hello": "您好", + "world": "世界" + }, + "Files": { + } +} \ No newline at end of file diff --git a/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.css b/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.css new file mode 100644 index 00000000..f64e8db9 --- /dev/null +++ b/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.css @@ -0,0 +1,44 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License,Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +.container { + width:100%; + height: 100%; + margin-top: 80px; + flex-direction: column; + align-items: center; + justify-content: flex-start; +} + +.text-style{ + font-size: 60px; +} + +.canvas-style { + width:100%; + height: 100%; + margin-top: 50px; +} + +.compass-canvas { + width:100%; + height: 100%; +} + +.line-canvas { + width: 100%; + height:100%; + position: absolute; +} \ No newline at end of file diff --git a/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.hml b/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.hml new file mode 100644 index 00000000..5a912fd0 --- /dev/null +++ b/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.hml @@ -0,0 +1,22 @@ + + +
+ {{ position }}° +
+ + +
+
\ No newline at end of file diff --git a/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.js b/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.js new file mode 100644 index 00000000..d34e00e9 --- /dev/null +++ b/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.js @@ -0,0 +1,195 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License,Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +import tcpserverapi from '@ohos.tcpserverapi' + +var compass_canvas = null; +var compass_context = null; +var line_canvas = null; +var line_context = null; + +export default { + data: { + width: 700, + height: 700, + outsideRadius: 0, + insideRadius: 0, + positionTextSize: '', + angleNumberSize: '', + isFirstShowFlag: true, + positionTexts: ["北", "东", "南", "西"], + angleNumbers: ['0', '30', '60', '90', '120', '150', '180', '210', '240', '270', '300', '330'], + angle: 0, + position: '北 0', + intervalID: 0 + }, + onInit() { + }, + onAttached() { + this.getCompassMsg(); + }, + onShow() { + this.getWindowSize(); + this.initCanvas(); + }, + initCanvas() { + compass_canvas = this.$refs.compassCanvas; + compass_context = compass_canvas.getContext('2d', { + antialias: true + }); + + line_canvas = this.$refs.lineCanvas; + line_context = line_canvas.getContext('2d', { + antialias: true + }); + if (this.isFirstShowFlag) { + compass_context.translate(this.width / 2, this.height / 2); //移动当前坐标系的原点。 + line_context.translate(this.width / 2, this.height / 2); //移动当前坐标系的原点。 + this.drawCircle(this.outsideRadius, '#F9F9F9'); //外圆，传入外圆半径和颜色 + this.drawCircle(this.insideRadius, '#FFFFFF'); //内圆，传入内圆半径和颜色 + this.drawAngleNumber(); // 外围数字角度绘制 + this.drawPositionText(); // 内部东西南北方位文字绘制 + this.drawAngleLine(); // 刻度盘竖线绘制 + this.drawPositionLine(); //指示线绘制 + } + this.isFirstShowFlag = false; + }, + getWindowSize() { + this.outsideRadius = this.width / 2 - this.width / 7; // 计算外圆半径 + this.insideRadius = this.outsideRadius - this.width / 8; // 计算内圆半径 + }, + drawCircle(radius, color) { + compass_context.beginPath(); //创建一个新的绘制路径。 + compass_context.fillStyle = color; // 指定绘制的填充色。 + compass_context.strokeStyle = color;//设置描边的颜色。 + compass_context.arc(0, 0, radius, 0, 6.28); //绘制弧线路径。 + compass_context.fill();//对封闭路径进行填充。 + }, + drawPositionText() { + compass_context.beginPath(); + this.positionTextSize = this.width / 20; + compass_context.font = this.positionTextSize + 'px' + ' sans-serif'; + for (let i = 0; i < this.positionTexts.length; i++) { + if (i == 0) { + compass_context.fillStyle = '#FF00000'; + this.drawTriangle(); + } else { + compass_context.fillStyle = '#0000000'; + } + let positionText = this.positionTexts[i]; + compass_context.fillText(positionText, -this.width / 40, -this.width / 9); + compass_context.stroke(); + compass_context.rotate(90 * Math.PI / 180); + } + }, + drawTriangle() { + compass_context.beginPath(); + compass_context.fillStyle = '#FF00000'; + compass_context.moveTo(0, -this.width / 5); + compass_context.lineTo(this.width / 40, -this.width / 5 + this.width / 35); + compass_context.lineTo(-this.width / 40, -this.width / 5 + this.width / 35); + compass_context.closePath(); + compass_context.fill(); + }, + drawAngleNumber() { + compass_context.beginPath(); // 创建一个新的绘制路径。 + this.angleNumberSize = this.width / 30; // 角度数字文字大小。 + compass_context.font = this.angleNumberSize + 'px' + ' sans-serif'; // 角度数字文字大小转换。 + for (var i = 0; i < this.angleNumbers.length; i++) { + if (i == 0) { // 判断是0 设备颜色为红色，其他为灰黑色。 + compass_context.fillStyle = '#FF00000'; + } else { + compass_context.fillStyle = '#AF000000'; + } + let number = this.angleNumbers[i]; // 获取数组对象里面的数字内容。 + compass_context.fillText(number, -this.width / 85, -this.width / 2.45); // 绘制填充类文本。 + compass_context.rotate(30 * Math.PI / 180); // 设置当前坐标轴进行顺时针旋转，成圆形排列 + } + }, + drawAngleLine() { + compass_context.strokeStyle = '#000000'; //设置描边的颜色。 + // 总共有60 个刻度，按5的倍数进行线条加粗。 + for (var i = 0; i < 60; i++) { + if (i == 0 || i == 5 || i == 10 || i == 15 || i == 20 || i == 25 || i == 30 || i == 35 || i == 40 || i == 45 || i == 50 || i == 55) { + compass_context.lineWidth = 3; + compass_context.beginPath(); // 创建一个新的绘制路径。 + compass_context.moveTo(0, this.insideRadius + (this.outsideRadius - this.insideRadius) / 4); // 当前点移动到指定点。 + compass_context.lineTo(0, this.outsideRadius - this.width / 30); // 从当前点到指定点进行路径连接 + + } else { + compass_context.lineWidth = 0.5; + compass_context.beginPath(); + compass_context.moveTo(0, this.insideRadius + (this.outsideRadius - this.insideRadius) / 4); + compass_context.lineTo(0, this.outsideRadius - this.width / 30); + } + compass_context.stroke(); + compass_context.rotate(15 * Math.PI / 450); + } + }, + drawPositionLine() { + line_context.strokeStyle = '#000000'; + line_context.lineWidth = 6; + line_context.lineCap = 'round'; // 线端点以圆形结束。 + line_context.moveTo(0, -this.outsideRadius + this.width / 15); + line_context.lineTo(0, -this.outsideRadius - this.width / 28); + line_context.stroke(); // 进行边框绘制操作。 + }, + getCompassMsg() { + this.intervalID = setInterval(() => { + //NAPI调用 + tcpserverapi.recvMsg().then((result) => { + var resultAngle = result.message; + if (resultAngle.match("angle:")) { + var info = parseInt(resultAngle.slice(6)); + if (this.angle != info) { + this.angle = info; + console.info("===========" + this.angle) + if (this.angle >= 0 && this.angle < 23) { + this.position = '北 ' + this.angle; + } + else if (this.angle >= 23 && this.angle < 68) { + this.position = '东北 ' + this.angle; + } + else if (this.angle >= 68 && this.angle < 113) { + this.position = '东 ' + this.angle; + } + else if (this.angle >= 113 && this.angle < 158) { + this.position = '东南 ' + this.angle; + } + else if (this.angle >= 158 && this.angle < 203) { + this.position = '南 ' + this.angle; + } + else if (this.angle >= 203 && this.angle < 248) { + this.position = '西南 ' + this.angle; + } + else if (this.angle >= 248 && this.angle < 293) { + this.position = '西 ' + this.angle; + } + else if (this.angle >= 293 && this.angle < 338) { + this.position = '西北 ' + this.angle; + } + else if (this.angle >= 338 && this.angle < 360) { + this.position = '北 ' + this.angle; + } + } + } + }); + + }, 100); + }, + onDestroy() { + clearInterval(this.intervalID); + } +} \ No newline at end of file diff --git a/FA/electronic_compass/entry/src/main/resources/base/element/string.json 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"BUILD_PATH":{ + "OUTPUT_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\metalDetection\\entry\\build\\default\\outputs\\default", + "RES_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\metalDetection\\entry\\build\\default\\intermediates\\res\\default", + "ETS_SUPER_VISUAL_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\metalDetection\\entry\\build\\default\\cache\\default\\CompileETS", + "JS_ASSETS_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\metalDetection\\entry\\build\\default\\intermediates\\assets\\default", + "RES_PROFILE_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\metalDetection\\entry\\build\\default\\intermediates\\res\\default\\resources\\base\\profile", + "WORKER_LOADER":"C:\\Users\\china\\DevEcoStudioProjects\\metalDetection\\entry\\build\\default\\intermediates\\loader\\default\\loader.json", + "MANIFEST_JSON":"C:\\Users\\china\\DevEcoStudioProjects\\metalDetection\\entry\\build\\default\\intermediates\\manifest\\default" + } + } +} \ No newline at end of file diff --git a/FA/metal_detection/.idea/.deveco/project.cache.json b/FA/metal_detection/.idea/.deveco/project.cache.json new file mode 100644 index 00000000..6604fb60 --- /dev/null +++ b/FA/metal_detection/.idea/.deveco/project.cache.json @@ -0,0 +1,12 @@ +{ + "BuildOptions":{ + "BUNDLE_NAME":"", + "BUILD_PATH":{ + "OUTPUT_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\metalDetection\\build\\outputs\\default" + }, + "SELECT_BUILD_PRODUCT":"default" + }, + "CommonInfo":{ + "project.ide.version":"3.0.0.900" + } +} \ No newline at end of file diff --git a/FA/metal_detection/.idea/.gitignore b/FA/metal_detection/.idea/.gitignore new file mode 100644 index 00000000..26d33521 --- /dev/null +++ b/FA/metal_detection/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/FA/metal_detection/.idea/configurationModuleSettings.xml b/FA/metal_detection/.idea/configurationModuleSettings.xml new file mode 100644 index 00000000..d5d70579 --- /dev/null +++ b/FA/metal_detection/.idea/configurationModuleSettings.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/FA/metal_detection/.idea/metalDetection.iml b/FA/metal_detection/.idea/metalDetection.iml new file mode 100644 index 00000000..33f46c74 --- /dev/null +++ b/FA/metal_detection/.idea/metalDetection.iml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/FA/metal_detection/.idea/modules.xml b/FA/metal_detection/.idea/modules.xml new file mode 100644 index 00000000..7fda7c68 --- /dev/null +++ b/FA/metal_detection/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/FA/metal_detection/build-profile.json5 b/FA/metal_detection/build-profile.json5 new file mode 100644 index 00000000..16458969 --- /dev/null +++ b/FA/metal_detection/build-profile.json5 @@ -0,0 +1,27 @@ +{ + "app": { + + "compileSdkVersion": 8, + "compatibleSdkVersion": 8, + "products": [ + { + "name": "default", + "signingConfig": "default", + } + ] + }, + "modules": [ + { + "name": "entry", + "srcPath": "./entry", + "targets": [ + { + "name": "default", + "applyToProducts": [ + "default" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/FA/metal_detection/entry/.gitignore b/FA/metal_detection/entry/.gitignore new file mode 100644 index 00000000..4f9a9738 --- /dev/null +++ b/FA/metal_detection/entry/.gitignore @@ -0,0 +1,3 @@ +/node_modules +/.preview +/build \ No newline at end of file diff --git a/FA/metal_detection/entry/build-profile.json5 b/FA/metal_detection/entry/build-profile.json5 new file mode 100644 index 00000000..ae58d1d0 --- /dev/null +++ b/FA/metal_detection/entry/build-profile.json5 @@ -0,0 +1,13 @@ +{ + "apiType": 'faMode', + "buildOption": { + }, + "targets": [ + { + "name": "default", + }, + { + "name": "ohosTest", + } + ] +} \ No newline at end of file diff --git a/FA/metal_detection/entry/hvigorfile.js b/FA/metal_detection/entry/hvigorfile.js new file mode 100644 index 00000000..bcec4c99 --- /dev/null +++ b/FA/metal_detection/entry/hvigorfile.js @@ -0,0 +1,2 @@ +// Script for compiling build behavior. It is built in the build plug-in and cannot be modified currently. +module.exports = require('@ohos/hvigor-ohos-plugin').legacyHapTasks diff --git a/FA/metal_detection/entry/package-lock.json b/FA/metal_detection/entry/package-lock.json new file mode 100644 index 00000000..15bc7145 --- /dev/null +++ b/FA/metal_detection/entry/package-lock.json @@ -0,0 +1,5 @@ +{ + "name": "entry", + "version": "1.0.0", + "lockfileVersion": 1 +} diff --git a/FA/metal_detection/entry/package.json b/FA/metal_detection/entry/package.json new file mode 100644 index 00000000..c7685ac4 --- /dev/null +++ b/FA/metal_detection/entry/package.json @@ -0,0 +1,14 @@ +{ + "license": "ISC", + "devDependencies": {}, + "name": "entry", + "ohos": { + "org": "huawei", + "directoryLevel": "module", + "buildTool": "hvigor" + }, + "description": "example description", + "repository": {}, + "version": "1.0.0", + "dependencies": {} +} diff --git a/FA/metal_detection/entry/src/main/config.json b/FA/metal_detection/entry/src/main/config.json new file mode 100644 index 00000000..c55aff60 --- /dev/null +++ b/FA/metal_detection/entry/src/main/config.json @@ -0,0 +1,67 @@ +{ + "app": { + "vendor": "example", + "bundleName": "com.example.metaldetection", + "version": { + "code": 1000000, + "name": "1.0.0" + } + }, + "deviceConfig": {}, + "module": { + "mainAbility": ".MainAbility", + "deviceType": [ + "phone" + ], + "abilities": [ + { + "skills": [ + { + "entities": [ + "entity.system.home" + ], + "actions": [ + "action.system.home" + ] + } + ], + "orientation": "unspecified", + "visible": true, + "srcPath": "MainAbility", + "name": ".MainAbility", + "srcLanguage": "ets", + "icon": "$media:icon", + "description": "$string:MainAbility_desc", + "formsEnabled": false, + "label": "$string:MainAbility_label", + "type": "page", + "launchType": "standard" + } + ], + "distro": { + "moduleType": "entry", + "installationFree": false, + "deliveryWithInstall": true, + "moduleName": "entry" + }, + "package": "com.example.entry", + "srcPath": "", + "name": ".entry", + "js": [ + { + "mode": { + "syntax": "ets", + "type": "pageAbility" + }, + "pages": [ + "pages/index" + ], + "name": ".MainAbility", + "window": { + "designWidth": 720, + "autoDesignWidth": false + } + } + ] + } +} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/main/ets/MainAbility/app.ets b/FA/metal_detection/entry/src/main/ets/MainAbility/app.ets new file mode 100644 index 00000000..aa449b20 --- /dev/null +++ b/FA/metal_detection/entry/src/main/ets/MainAbility/app.ets @@ -0,0 +1,27 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on 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return this.currentTimeMs + } + + play(seekTo) { + if (this.player.state == 'playing' && this.player.src == this.getCurrentMusic().url) { + return + } + + if (this.player.state == 'idle' || this.player.src != this.getCurrentMusic().url) { + CommonLog.info('Preload music url = ' + this.getCurrentMusic().url) + this.player.reset() + this.player.src = this.getCurrentMusic().url + this.player.on('dataLoad', () => { + CommonLog.info('dataLoad duration=' + this.player.duration) + this.totalTimeMs = this.player.duration + if (seekTo > this.player.duration) { + seekTo = -1 + } + this.player.on('play', () => { + if (seekTo > 0) { + this.player.seek(seekTo) + } + }) + + this.player.play() + if(this.statusChangeListener){ + this.statusChangeListener() + } + this.setProgressTimer() + this.isPlaying = true + }) + } + else { + if (seekTo > this.player.duration) { + seekTo = -1 + } + this.player.on('play', () => { + if (seekTo > 0) { + this.player.seek(seekTo) + } + }) + + this.player.play() + this.setProgressTimer() + this.isPlaying = true + } + } + + pause() { + CommonLog.info("pause music") + this.player.pause(); + this.cancelProgressTimer() + this.isPlaying = false + } + + changePlayMode() { + this.playMode = 1 - this.playMode + CommonLog.info("changePlayMode:" + this.playMode) + } + + setMusicProgress(progress: number) { + CommonLog.info("setMusicProgress:" + progress) + this.currentTimeMs = progress + } + + setOnPlayingProgressListener(callback) { + this.playingProgressListener = callback; + } + + setOnStatusChangeListener(callback) { + this.statusChangeListener = callback; + } + + /** + * 启动定时器，通过回调，设置进度条和时间信息 + */ + setProgressTimer() { + this.cancelProgressTimer() + + this.progressIntervalID = setInterval(() => { + if (typeof (this.playingProgressListener) != "undefined" && this.playingProgressListener != null) { + var timeMs = this.player.currentTime; + this.currentTimeMs = timeMs; + if (typeof (timeMs) === 'undefined') { + timeMs = 0; + } + this.playingProgressListener(timeMs) + } + }, 500) + } + + /** + * 取消定时器 + */ + cancelProgressTimer() { + if (typeof (this.progressIntervalID) != 'undefined') { + clearInterval(this.progressIntervalID); + this.progressIntervalID = undefined; + } + } + + /** + * 获取音乐总时间 + */ + getTotalTimeMs() { + return this.totalTimeMs + } + + /** + * 设置进度 + * @param ms 进度 + */ + seek(ms) { + this.currentTimeMs = ms; + + if (this.isPlaying) { + CommonLog.info('MusicPlayer[PlayerModel] player.seek ' + ms); + this.player.seek(ms); + } else { + CommonLog.info('MusicPlayer[PlayerModel] stash seekTo=' + ms); + } + } + + /** + * 播放下一首音乐 + */ + playNextMusic() { + if (this.currentMusicIndex + 1 == this.musicList.length) { + this.currentMusicIndex = 0 + } else { + this.currentMusicIndex++ + } + + this.play(-1) + } + + /** + * 播放指定音乐 + * @param index 序号 + */ + playSpecifyMusic(seekTo, index: number) { + this.currentMusicIndex = index + this.play(seekTo) + } + + /** + * 播放前一首音乐 + */ + playPreviousMusic() { + if (this.currentMusicIndex == 0) { + this.currentMusicIndex = this.musicList.length - 1 + } else { + this.currentMusicIndex-- + } + + this.play(-1) + } +} + +/** + * 音乐对象 + */ +export class Music { + name: string + url: string +} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/main/ets/MainAbility/pages/index.ets b/FA/metal_detection/entry/src/main/ets/MainAbility/pages/index.ets new file mode 100644 index 00000000..40c4b927 --- /dev/null +++ b/FA/metal_detection/entry/src/main/ets/MainAbility/pages/index.ets @@ -0,0 +1,177 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +// @ts-ignore +import tcpserverapi from '@ohos.tcpserverapi' +import {PlayerManager} from '../model/PlayerManager'; +import CommonLog from '../model/CommonLog'; + +@Component +struct TitleName { + build() { + Flex() { + Text('金属探测器') + .fontSize('36lpx') + .fontColor('#FFFFFF') + .margin({ left: '40lpx', top: '16lpx' }) + } + } +} + +@Component +struct detectionImage { + @State detectionState: string = '' + detection: Resource = $r("app.media.img_normal"); + metal: string = ''; + @State state: AnimationStatus = AnimationStatus.Initial + @State reverse: boolean = false + @State iterations: number = -1 + private playerManager: PlayerManager = new PlayerManager() + + + onPlayOrPauseMusic(isPause) { + if (isPause) { + CommonLog.info("Start to pause music") + this.playerManager.pause() + } + else { + CommonLog.info("Start to play music") + this.playerManager.play(-1) + } + } + + aboutToAppear() { + this.playerManager.setOnStatusChangeListener(() => { + CommonLog.info('setOnStatusChangeListener ' + this.playerManager.getCurrentMusic().url) + }) + + var intervalID = setInterval(() => { + //NAPI调用 + tcpserverapi.recvMsg().then((result) => { + CommonLog.info('result.clientNumber' + result.clientNumber) + if (result.clientNumber == 0) { + this.detectionState = ''; + this.detection = $r("app.media.img_normal"); + this.state = AnimationStatus.Stopped + // this.onPlayOrPauseMusic(true); + this.metal = '' + } else{ + var resultMetal = result.message; + if (resultMetal.match("metal:")) { + if(this.metal != resultMetal.slice(6)) { + this.metal = resultMetal.slice(6); + CommonLog.info('metal' + this.metal) + if (this.metal === 'Detected') { + this.detectionState = '发现金属'; + this.onPlayOrPauseMusic(false); + this.detection = $r("app.media.img_detected"); + this.state = AnimationStatus.Stopped + } + else if (this.metal === 'UnDetected' || this.metal === 'CalibrateOK') { + this.detectionState = '检测中'; + this.onPlayOrPauseMusic(true); + this.detection = $r("app.media.img_detecting"); + this.state = AnimationStatus.Running + } + } + } + } + }) + }, 200) + } + + build() { + Flex({ direction: FlexDirection.Column, alignItems: ItemAlign.Center, justifyContent: FlexAlign.Center }) { + Stack() { + ImageAnimator() + .images([ + { + src: "/common/img_1.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + }, + { + src: "/common/img_2.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + }, + { + src: "/common/img_3.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + }, + { + src: "/common/img_4.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + }, + { + src: "/common/img_5.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + } + ]) + .state(this.state).reverse(this.reverse).fixedSize(false).preDecode(3) + .fillMode(FillMode.None).iterations(this.iterations).width(500).height(500) + Image(this.detection) + .width('532lpx') + .height('531lpx') + } + + Text(this.detectionState) + .margin({ top: "90lpx" }) + .fontSize('40lpx') + .fontColor('#FFFFFF') + + } + .width('100%') + .height('100%') + } +} + +@Entry +@Component +struct Index { + build() { + Flex({ direction: FlexDirection.Column, alignItems: ItemAlign.Start, justifyContent: FlexAlign.Start }) { + TitleName(); + Flex({ direction: FlexDirection.Column, justifyContent: FlexAlign.Center, alignItems: ItemAlign.Center }) { + detectionImage(); + } + } + .radialGradient({ + center: [360, 500], + radius: 580, + colors: [[0x102E5C, 0], [0x1D1E24, 1.0]] + }) + .width('100%') + .height('100%') + } +} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/main/resources/base/element/string.json 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[安装应用](https://gitee.com/openharmony/docs/blob/update_master_0323/zh-cn/application-dev/quick-start/installing-openharmony-app.md) 识别到设备后点击![img](./media/install.png)，或使用默认快捷键Shift+F10（macOS为Control+R)运行应用。 + + ![运行](./media/run.png) + +- 如果IDE没有识别到设备就需要通过命令安装，如下 + + 打开**OpenHarmony SDK路径 \toolchains** 文件夹下，执行如下hdc_std命令，其中**path**为hap包所在绝对路径。 + + ```text + hdc_std install -r path\entry-debug-standard-ark-signed.hap + ``` + + 应用安装到3568开发板后，需要SMT32开发板发送角度数据，才能看到效果；两个板子连接同一个wifi或使用网线连接并配置同一网段IP地址 + + ``` + hdc_std shell ifconfig eth0 192.168.1.111 netmask 255.255.255.0 + ``` + +### 2.关键代码解读 + +#### 2.1 目录结构 + +``` +├─entry +│ └─src +│ └─main +│ │ config.json 应用配置文件 +│ │ +│ ├─js +│ │ └─MainAbility +│ │ │ app.js // 应用程序主入口 +│ │ │ +│ │ ├─i18n +│ │ │ en-US.json +│ │ │ zh-CN.json +│ │ │ +│ │ └─pages +│ │ └─index // 指南针应用首页面 +│ │ index.css +│ │ index.hml +│ │ index.js +│ │ +│ └─resources +│ ├─base +│ │ ├─element +│ │ │ string.json +│ │ │ +│ │ └─media // 存放媒体资源 +│ │ icon.png // 应用桌面小图标 +│ │ +│ └─rawfile +``` + +#### 2.2 日志查看方法 + +``` +hdc_std shell +hilog | grep "xxx" (xxx表示你添加的日志标记) +``` + +#### 2.3 关键代码 + +- 指南针UI界面：index.hml , index.js , index.css +- NAPI： 导入 tcpserverapi 模块，该模块是要在3568系统代码中编译 + +### 3.从零开发指南针应用 + +#### 3.1 新建OpenHarmony ETS项目 + +在DevEco Studio中点击File -> New Project ->[Standard]Empty Ability->Next，Language 选择JS语言，最后点击Finish即创建成功。 +![image-20211124092813545](./media/new_project.png) + +#### 3.2编写指南针主页面 + +![image-20211124093106260](./media/compass.png) + +效果图如上可以分为三部分。 + +##### 3.2.1 方位角度 + +1）在hml文件添加[text](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-js/js-components-basic-text.md)组件; + +2）在css文件添加样式表； + +3）在js 文件修改text内容，即变量position的值； + +``` +index.hml + {{ position }}° + +index.css + .text-style{ + font-size: 60px; + } +index.js + getCompassMsg() { + this.intervalID = setInterval(() => { + //NAPI调用 + compassapi.recvCompassMsg().then((result) => { + var resultAngle = result.angle; + if (resultAngle.match("angle:")) { + var info = parseInt(resultAngle.slice(6)); + if (this.angle != info) { + this.angle = info; + console.info("=======compassAngle====" + this.angle) + if (this.angle >= 0 && this.angle < 23) { + this.position = '北 ' + this.angle; + } + else if (this.angle >= 23 && this.angle < 68) { + this.position = '东北 ' + this.angle; + } + else if (this.angle >= 68 && this.angle < 113) { + this.position = '东 ' + this.angle; + } + else if (this.angle >= 113 && this.angle < 158) { + this.position = '东南 ' + this.angle; + } + else if (this.angle >= 158 && this.angle < 203) { + this.position = '南 ' + this.angle; + } + else if (this.angle >= 203 && this.angle < 248) { + this.position = '西南 ' + this.angle; + } + else if (this.angle >= 248 && this.angle < 293) { + this.position = '西 ' + this.angle; + } + else if (this.angle >= 293 && this.angle < 338) { + this.position = '西北 ' + this.angle; + } + else if (this.angle >= 338 && this.angle < 360) { + this.position = '北 ' + this.angle; + } + } + } + }); + + }, 100); + }, +``` + + + +##### 3.2.2 指南针盘 + +指南针盘只由一个[Canvas](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-js/js-components-canvas-canvas.md)组件组成，但是却包括刻度盘，角度数字，方位文字 3 个部分； + +如下是指南针盘Canvas组件以及[CanvasRenderingContext2D](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-js/js-components-canvas-canvasrenderingcontext2d.md)的代码： + +``` +index.hml 添加canvas组件，并设置ref，以及配置坐标轴进行顺时针旋转角度 + +``` + +``` +index.css 长宽占用都是100% + .compass-canvas { + width:100%; + height: 100%; + } +``` + +``` +index.js 根据 hml 中的 ref，拿到该组件，并获取CanvasRenderingContext2D对象compass_context，之后所有的绘制都是调用compass_context对象方法 + + compass_canvas = this.$refs.compassCanvas; + compass_context = compass_canvas.getContext('2d', { + antialias: true + }); +``` + +1）刻度盘 + +刻度盘是由内圆、外圆和刻度竖线组成；如下是内外圆绘制： + +``` +compass_context.translate(this.width / 2, this.height / 2); 移动当前坐标系的原点。 + +this.outsideRadius = this.width / 2 - this.width / 7; // 计算外圆半径 +this.insideRadius = this.outsideRadius - this.width / 8; // 计算内圆半径 + +this.drawCircle(this.outsideRadius, '#F9F9F9'); //外圆，传入外圆半径和颜色 + this.drawCircle(this.insideRadius, '#FFFFFF'); //内圆，传入内圆半径和颜色 + + drawCircle(radius, color) { + compass_context.beginPath(); // 创建一个新的绘制路径。 + compass_context.fillStyle = color; // 指定绘制的填充色. + compass_context.strokeStyle = color; //设置描边的颜色。 + compass_context.arc(0, 0, radius, 0, 6.28); //绘制弧线路径。 + compass_context.fill(); //对封闭路径进行填充。 + }, +``` + +如下是圆环内部竖线刻度绘制： + +``` +drawAngleLine() { + compass_context.strokeStyle = '#000000'; //设置描边的颜色。 + // 总共有60 个刻度，按5的倍数进行线条加粗。 + for (var i = 0; i < 60; i++) { + if (i == 0 || i == 5 || i == 10 || i == 15 || i == 20 || i == 25 || i == 30 || i == 35 || i == 40 || i == 45 || i == 50 || i == 55) { + compass_context.lineWidth = 3; // 线条宽度 + compass_context.beginPath(); // 创建一个新的绘制路径。 + compass_context.moveTo(0, this.insideRadius + (this.outsideRadius - this.insideRadius) / 4); // 当前点移动到指定点。 + compass_context.lineTo(0, this.outsideRadius - this.width / 30); // 从当前点到指定点进行路径连接. + + } else { + compass_context.lineWidth = 0.5; + compass_context.beginPath(); + compass_context.moveTo(0, this.insideRadius + (this.outsideRadius - this.insideRadius) / 4); + compass_context.lineTo(0, this.outsideRadius - this.width / 30); + } + compass_context.stroke(); + compass_context.rotate(15 * Math.PI / 450); + } + }, +``` + +2）外围数字角度 + +``` + drawAngleNumber() { + compass_context.beginPath(); // 创建一个新的绘制路径。 + this.angleNumberSize = this.width / 30; // 角度数字文字大小。 + compass_context.font = this.angleNumberSize + 'px' + ' sans-serif'; // 角度数字文字大小转换。 + for (var i = 0; i < this.angleNumbers.length; i++) { + if (i == 0) { // 判断是0 设备颜色为红色，其他为灰黑色. + compass_context.fillStyle = '#FF00000'; + } else { + compass_context.fillStyle = '#AF000000'; + } + let number = this.angleNumbers[i]; // 获取数组对象里面的数字内容. + compass_context.fillText(number, -this.width / 85, -this.width / 2.45); // 绘制填充类文本。 + compass_context.rotate(30 * Math.PI / 180); // 设置当前坐标轴进行顺时针旋转，成圆形排列 + } + } +``` + +3）内部方位文字和三角箭头绘制 + +如下是 + +``` + drawPositionText() { + compass_context.beginPath(); + this.positionTextSize = this.width / 20; + compass_context.font = this.positionTextSize + 'px' + ' sans-serif'; + for (let i = 0; i < this.positionTexts.length; i++) { + if (i == 0) { + compass_context.fillStyle = '#FF00000'; // 获取方位文字为北，改变文字颜色为红色 + this.drawTriangle(); // 指北三角箭头绘制 + } else { + compass_context.fillStyle = '#0000000'; + } + let positionText = this.positionTexts[i]; + compass_context.fillText(positionText, -this.width / 40, -this.width / 9); + compass_context.stroke(); + compass_context.rotate(90 * Math.PI / 180); + } + }, +``` + +4）三角箭头绘制 + +``` + drawTriangle() { + compass_context.beginPath(); + compass_context.fillStyle = '#FF00000'; + compass_context.moveTo(0, -this.width / 5); + compass_context.lineTo(this.width / 40, -this.width / 5 + this.width / 35); + compass_context.lineTo(-this.width / 40, -this.width / 5 + this.width / 35); + compass_context.closePath(); // 结束当前路径形成一个封闭路径。 + compass_context.fill(); + }, +``` + +##### 3.2.3 指示线 + +指南针指示线只由一个[Canvas](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-js/js-components-canvas-canvas.md)组件组成，也只包括一根竖线的绘制； + +1）如下是指南针指示线Canvas组件以及[CanvasRenderingContext2D](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-js/js-components-canvas-canvasrenderingcontext2d.md)的代码： + +``` +index.hml 添加canvas组件，并设置ref + +``` + +``` +index.css 长宽占用都是100%，并设定样式 position： absolute 相对于父元素进行定位。 +.line-canvas { + width: 100%; + height:100%; + position: absolute; +} +``` + +``` +index.js 根据 hml 中的 ref，拿到该组件，并获取CanvasRenderingContext2D对象compass_context，之后所有的绘制都是调用compass_context对象方法 + + line_canvas = this.$refs.lineCanvas; + line_context = line_canvas.getContext('2d', { + antialias: true + }); +``` + +2）指示线获取 + +``` + drawPositionLine() { + line_context.strokeStyle = '#000000'; + line_context.lineWidth = 6; + line_context.lineCap = 'round'; // 线端点以圆形结束。 + line_context.moveTo(0, -this.outsideRadius + this.width / 15); + line_context.lineTo(0, -this.outsideRadius - this.width / 28); + line_context.stroke(); // 进行边框绘制操作。 + }, +``` + +#### 3.3 NAPI + +##### 3.3.1 底层NAPI模块封装 + +1）NAPI接口开发具体请参考文档[OpenharmonyNAPI开源仓库](https://gitee.com/javen678/hello-ohos-napi )。 + +2）本应用封装的模块名为tcpserverapi，[源码路径](https://gitee.com/chenchenfangfang/knowledge_demo_attitude_control/tree/master/common\tcpservermodule)，下载好的tcpservermodule文件夹。 + +3）下载完成后放到3.1Beta版本根目录，并按照参考PPT配置编译脚本；第一次编译完成需要烧写整个镜像，请参考[开发板上新 | RK3568开发板上丝滑体验OpenHarmony标准系统](https://gitee.com/openharmony-sig/knowledge_demo_smart_home/tree/master/dev/docs/rk3568_quick_start)；后面修改模块源码，只需将库send到板子里面。命令如下： + +``` +先挂载，再send +hdc_std shell mount -oremount,rw / +hdc_std file send libtcpserverapi.z.so system/lib/module/libtcpserverapi.z.so +``` + +##### 3.3.2 应用端导入NAPI模块 + +``` +import tcpserverapi from '@ohos.tcpserverapi' +``` + +##### 3.3.3 应用端NAPI接口调用 + +``` +//调用initServer接口 初始化 TCP 服务器 +tcpserverapi.initServer() +``` + +``` +//调用recvMsg 获取并解析SMT32板子发送过来的角度 +tcpserverapi.recvMsg().then((result) => { + var resultAngle = result.angle; + }) +``` + +#### 3.4 项目下载和导入 + +1）git下载 + +``` +git clone git@gitee.com:openharmony-sig/knowledge_demo_temp.git --depth=1 +``` + +2）项目导入 + +打开DevEco Studio,点击File->Open->下载路径/electronic_compass/app-code/compass + +#### 3.5 约束与限制 + +##### 3.5.1 设备编译约束 + +以润和大禹系列HH-SCDAYU200开发板套件为例 + +- [开发板上新 | RK3568开发板上丝滑体验OpenHarmony标准系统](https://gitee.com/openharmony-sig/knowledge_demo_smart_home/tree/master/dev/docs/rk3568_quick_start) + +##### 3.5.2 应用编译约束 + +- [OpenHarmony 基于JS扩展的类Web开发范式](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-js/Readme-CN.md) +- [OpenHarmony应用接口](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/apis/Readme-CN.md) +- 集成开发环境：DevEco Studio 版本[下载](https://developer.harmonyos.com/cn/develop/deveco-studio#download_beta) + diff --git a/docs/metal_detection/quick_develop.md b/docs/metal_detection/quick_develop.md new file mode 100644 index 00000000..4e1b24e3 --- /dev/null +++ b/docs/metal_detection/quick_develop.md @@ -0,0 +1,366 @@ +## OpenHarmony金属探测器应用 + +### 简介 + +金属探测器应用是通过接送消息，判断是否检测到金属；应用是采用方舟开发框架（ArkUI）基于eTS扩展的声明式开发范式编写页面；通过NAPI接口接送设备的消息；页面进行发现中，发现到金属，未发现金属的页面展示。 + +- demo效果（HH-SCDAYU200） +- ![show](resource/探测器.gif) + +### 工程目录 + +完整的项目结构目录如下 + +``` +entry +│ └─src +│ └─main +│ │ config.json // 应用配置文件 +│ │ +│ ├─ets +│ │ └─MainAbility +│ │ │ app.ets // 应用程序主入口 +│ │ │ +│ │ ├─common // 动画源图片目录 +│ │ │ img_1.png +│ │ │ img_2.png +│ │ │ +│ │ ├─model +│ │ │ CommonLog.ets // 日志打印模块 +│ │ │ PlayerManager.ets // 音频播放模块 +│ │ └─pages +│ │ index.ets // 金属探测器首页 +│ │ +│ └─resources +│ ├─base +│ │ ├─element +│ │ │ string.json +│ │ │ +│ │ ├─graphic +│ │ ├─layout +│ │ ├─media // 存放媒体资源 +│ │ │ icon.png +│ │ │ img_background.png +│ │ └─profile +│ └─rawfile +``` + + + +### 开发步骤 + +#### 1. 新建OpenHarmony ETS项目 + +在DevEco Studio中点击File -> New Project ->[Standard]Empty Ability->Next，Language 选择eTS语言，最后点击Finish即创建成功。 +![image-20211124092813545](resource/new_project.png) + +#### 2. 编写金属探测主页面 + +![image-20211124093106260](resource/normal.jpg)![image-20211124093106260](resource/detecting.jpg)![image-20211124093106260](resource/detected.jpg) + +如上效果图是通过接收到的设备消息，改变页面展示图,整体布局分为两个部分。 + +##### 2.1 标题 + +1）主要有[Flex](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/ts-container-flex.md)布局容器一个[text](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/ts-basic-components-text.md)组件； + +``` +@Component +struct TitleName { + build() { + Flex() { + Text('金属探测器') + .fontSize('36lpx') + .fontColor('#FFFFFF') + .margin({ left: '40lpx', top: '16lpx' }) + } + } +} +``` + +##### 2.2 检测状态 + +1）主要分为检测中背景动画，检测状态图，检测结果文字说明组成 + +``` + build() { + Flex({ direction: FlexDirection.Column, alignItems: ItemAlign.Center, justifyContent: FlexAlign.Center }) { + Stack() { + ImageAnimator() + .images([ + { + src: "/common/img_1.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + }, + { + src: "/common/img_2.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + }, + { + src: "/common/img_3.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + }, + { + src: "/common/img_4.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + }, + { + src: "/common/img_5.png", + duration: 500, + width: 500, + height: 500, + top: 0, + left: 0 + } + ]) + .state(this.state).reverse(this.reverse).fixedSize(false).preDecode(3) + .fillMode(FillMode.None).iterations(this.iterations).width(500).height(500) + Image(this.detection) + .width('532lpx') + .height('531lpx') + } + + Text(this.detectionState) + .margin({ top: "90lpx" }) + .fontSize('40lpx') + .fontColor('#FFFFFF') + + } + .width('100%') + .height('100%') + } + + +``` + +2）调用recvMsg接口接送金属探测器的消息，并修改首页展示状态 + +``` +@Component +struct detectionImage { + @State detectionState: string = '' + detection: Resource = $r("app.media.img_normal"); + isDisplay: boolean = false; + metal: string = ''; + + aboutToAppear() { + this.playerManager.setOnStatusChangeListener(() => { + CommonLog.info('setOnStatusChangeListener ' + this.playerManager.getCurrentMusic().url) + }) + + var intervalID = setInterval(() => { + //NAPI调用 + tcpserverapi.recvMsg().then((result) => { + if (result.clientNumber == 0) { + this.detectionState = ''; + this.detection = $r("app.media.img_normal"); + this.state = AnimationStatus.Stopped + this.onPlayOrPauseMusic(true); + this.metal = '' + } else{ + var resultMetal = result.message; + if (resultMetal.match("metal:")) { + if(this.metal != resultMetal.slice(6)) { + this.metal = resultMetal.slice(6); + CommonLog.info('metal' + this.metal) + if (this.metal === 'Detected') { + this.detectionState = '发现金属'; + this.onPlayOrPauseMusic(false); + this.detection = $r("app.media.img_detected"); + this.state = AnimationStatus.Stopped + } + else if (this.metal === 'UnDetected' || this.metal === 'CalibrateOK') { + this.detectionState = '检测中'; + this.onPlayOrPauseMusic(true); + this.detection = $r("app.media.img_detecting"); + this.state = AnimationStatus.Running + } + } + } + } + }) + }, 200) + } + } +``` + +#### 3.NAPI + +##### 3.1 底层NAPI模块封装 + +1）NAPI接口开发具体请参考文档[OpenharmonyNAPI开源仓库](https://gitee.com/javen678/hello-ohos-napi )。 + +2）本应用封装的模块名为tcpserverapi，[源码路径](https://gitee.com/chenchenfangfang/knowledge_demo_attitude_control/tree/master/common\tcpservermodule)，下载好的tcpservermodule文件夹。 + +3）下载完成后放到3.1Beta版本根目录，并按照参考PPT配置编译脚本；第一次编译完成需要烧写整个镜像，请参考[开发板上新 | RK3568开发板上丝滑体验OpenHarmony标准系统](https://gitee.com/openharmony-sig/knowledge_demo_smart_home/tree/master/dev/docs/rk3568_quick_start)；后面修改模块源码，只需将库send到板子里面。命令如下： + +``` +先挂载，再send +hdc_std shell mount -oremount,rw / +hdc_std file send libtcpserverapi.z.so system/lib/module/libtcpserverapi.z.so +``` + +##### 3.2 应用端导入NAPI模块 + +``` +import tcpserverapi from '@ohos.tcpserverapi' +``` + +##### 3.3 应用端NAPI接口调用 + +``` +//调用initRecv接口 初始化 TCP 服务器 +tcpserverapi.initServer() +``` + +``` +//定时调用recvMsg获取金属探测器消息 + var intervalID = setInterval(() => { + //NAPI调用 + tcpserverapi.recvMsg().then((result) => { + if (result.clientNumber == 0) { + this.detectionState = ''; + this.detection = $r("app.media.img_normal"); + this.isDisplay = false; + this.metal = '' + } else{ + var resultMetal = result.message; + if (resultMetal.match("metal:")) { + this.metal = resultMetal.slice(6); + console.info('=======' + this.metal) + if (this.metal === 'Detected') { + this.detectionState = '发现金属'; + this.detection = $r("app.media.img_detected"); + this.isDisplay = false; + } + else if (this.metal === 'UnDetected' || this.metal ==='CalibrateOK') { + this.detectionState = '检测中'; + this.detection = $r("app.media.img_detecting"); + this.isDisplay = true; + + } + } + } + }) + }, 200) +``` + +#### 4.音频播放开发 + +本应用里面音频播放，主要是在探测到金属后，播报已探测到金属，达到通知用户的目的，可以简单分为下面四个小节： + +##### 4.1 导入meida模块 + +``` +import media from '@ohos.multimedia.media'; +``` + +##### 4.2 创建音频播放实例 + +``` +// OH media对象 +private player = media.createAudioPlayer(); +``` + +##### 4.3实现音频播放接口 + +``` +play(seekTo) { + if (this.player.state == 'playing' && this.player.src == this.getCurrentMusic().url) { + return + } + + if (this.player.state == 'idle' || this.player.src != this.getCurrentMusic().url) { + CommonLog.info('Preload music url = ' + this.getCurrentMusic().url) + this.player.reset() + this.player.src = this.getCurrentMusic().url + this.player.on('dataLoad', () => { + CommonLog.info('dataLoad duration=' + this.player.duration) + this.totalTimeMs = this.player.duration + if (seekTo > this.player.duration) { + seekTo = -1 + } + this.player.on('play', () => { + if (seekTo > 0) { + this.player.seek(seekTo) + } + }) + + this.player.play() + if(this.statusChangeListener){ + this.statusChangeListener() + } + this.setProgressTimer() + this.isPlaying = true + }) + } + else { + if (seekTo > this.player.duration) { + seekTo = -1 + } + this.player.on('play', () => { + if (seekTo > 0) { + this.player.seek(seekTo) + } + }) + + this.player.play() + this.setProgressTimer() + this.isPlaying = true + } +} +``` + +##### 4.4 实现暂停播放接口 + +``` +pause() { + CommonLog.info("pause music") + this.player.pause(); + this.cancelProgressTimer() + this.isPlaying = false +} +``` + +详细的参考接口:[音视频开发接口](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/apis/js-apis-media.md) + +### 项目下载和导入 + +1）git下载 + +``` +git clone https://gitee.com/chenchenfangfang/knowledge_demo_attitude_control.git +``` + +2）项目导入 + +打开DevEco Studio,点击File->Open->下载路径/metal_detection/app-code/metalDetection + +#### 1. 设备编译约束 + +以润和大禹系列HH-SCDAYU200开发板套件为例 + +- [开发板上新 | RK3568开发板上丝滑体验OpenHarmony标准系统](https://gitee.com/openharmony-sig/knowledge_demo_smart_home/tree/master/dev/docs/rk3568_quick_start) + +#### 2. 应用编译约束 + +- [OpenHarmony 基于eTS扩展的类Web开发范式](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/Readme-CN.md) +- [OpenHarmony应用接口](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/apis/Readme-CN.md) +- 集成开发环境：DevEco Studio 版本[下载](https://developer.harmonyos.com/cn/develop/deveco-studio#download_beta) + diff --git a/docs/metal_detection/readme.md b/docs/metal_detection/readme.md new file mode 100644 index 00000000..024be8b6 --- /dev/null +++ b/docs/metal_detection/readme.md @@ -0,0 +1,234 @@ +# OpenHarmony金属探测器 + +## 一、简介 + +金属探测器demo是基于OpenHarmony 3.1 release版本，通过磁场强度判断是否检测到金属。当检测到金属物体后，设备端会发出报警并发送信号到应用端。 + +### 1.OpenHarmony技术特性 + +- eTS UI +- UI管理状态@state +- NAPI +- 音频播放 + +### 2.效果展示 + +- demo效果（HH-SCDAYU200) + +![show](resource/探测器.gif) + +## 二、应用端开发 + +应用是使用润和大禹系列HH-SCDAYU200开发板套件，采用方舟开发框架（ArkUI）基于eTS扩展的声明式开发范式编写页面；通过NAPI接口接送设备的消息；页面进行发现中，发现到金属，未发现金属的页面展示。 + +### 1.快速上手 + +#### 1.1 标准设备环境准备 + +以润和大禹系列HH-SCDAYU200开发板套件为例 + +- [ 搭建标准系统环境](https://gitee.com/openharmony/docs/blob/master/zh-cn/device-dev/quick-start/quickstart-standard-env-setup.md) +- [下载OpenHarmony 3.1 release 系统源码](https://blog.csdn.net/openharmony/article/details/123866852?utm_source=app&app_version=5.3.0) + +- [开发板上新 | RK3568开发板上丝滑体验OpenHarmony标准系统](https://gitee.com/openharmony-sig/knowledge_demo_smart_home/tree/master/dev/docs/rk3568_quick_start) + +#### 1.2 应用编译环境准备 + +- 下载DevEco Studio [下载地址](https://developer.harmonyos.com/cn/develop/deveco-studio#download_beta)； +- 配置SDK，参考 [配置OpenHarmony-SDK](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/quick-start/configuring-openharmony-sdk.md) + +#### 1.3 项目下载和导入 + +1）git下载 + +``` +git clone https://gitee.com/chenchenfangfang/knowledge_demo_attitude_control.git +``` + +2）项目导入 + +打开DevEco Studio,点击File->Open->下载路径/metal_detection/app-code/metalDetection + + +#### 1.4 安装应用 + +- 配置应用签名信息，点击**File > Project Structure** > **Project > Signing Configs**界面勾选“**Automatically generate signing**”，等待自动签名完成即可，点击“**OK**”。如下图所示： + +- ![运行](./resource/sign.png) + +- [安装应用](https://gitee.com/openharmony/docs/blob/update_master_0323/zh-cn/application-dev/quick-start/installing-openharmony-app.md) 识别到设备后点击![img](C:/Users/china/Desktop/smt32/knowledge_demo_attitude_control/electronic_compass/doc/resource/install.png)，或使用默认快捷键Shift+F10（macOS为Control+R)运行应用。 + + ![运行](C:/Users/china/Desktop/smt32/knowledge_demo_attitude_control/electronic_compass/doc/resource/run.png) + +- 如果IDE没有识别到设备就需要通过命令安装，如下 + + 打开**OpenHarmony SDK路径 \toolchains** 文件夹下，执行如下hdc_std命令，其中**path**为hap包所在绝对路径。 + + ```text + hdc_std install -r path\entry-debug-standard-ark-signed.hap + ``` + + 应用安装到3568开发板后，需要SMT32开发板发送角度数据，才能看到效果；两个板子连接同一个wifi或使用网线连接并配置同一网段IP地址 + + ``` + hdc_std shell ifconfig eth0 192.168.1.111 netmask 255.255.255.0 + ``` + +### 2.关键代码解读 + +#### 2.1目录结构 + +``` +entry +│ └─src +│ └─main +│ │ config.json // 应用配置文件 +│ │ +│ ├─ets +│ │ └─MainAbility +│ │ │ app.ets // 应用程序主入口 +│ │ │ +│ │ ├─common // 动画源图片目录 +│ │ │ img_1.png +│ │ │ img_2.png +│ │ │ +│ │ ├─model +│ │ │ CommonLog.ets // 日志打印模块 +│ │ │ PlayerManager.ets // 音频播放模块 +│ │ └─pages +│ │ index.ets // 金属探测器首页 +│ │ +│ └─resources +│ ├─base +│ │ ├─element +│ │ │ string.json +│ │ │ +│ │ ├─graphic +│ │ ├─layout +│ │ ├─media // 存放媒体资源 +│ │ │ icon.png +│ │ │ img_background.png +│ │ └─profile +│ └─rawfile +``` + +#### 2.2日志查看方法 + +``` +hdc_std shell +hilog | grep "metalDetected" (metalDetected表示你添加的日志标记) +``` + +#### 2.3关键代码 + +- 金属探测器UI界面：index.ets +- NAPI： 导入 tcpserverapi模块，该模块是要在3568系统代码中编译 + +### 3.从零开发金属探测器应用 + +[从零开发金属探测器应用](quick_develop.md) + +### 4.参考链接 + +- [OpenHarmony基于eTS扩展的声明式开发范式](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/Readme-CN.md) +- [OpenHarmony应用接口](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/apis/Readme-CN.md) + +## 三、设备侧开发 + +金属检测demo设备端基于Geek_Lite_Board开发板，上位机使用RK3568。通过AK8963电子罗盘芯片，对磁场数据对比后来判断附近有无金属物体。当检测到金属物体后，设备端会发出报警并发送信号到应用端。 + +### 1.工作流程 + +设备上电后，首先进行硬件初始化，初始化完成红色指示灯亮起；设备端通过ESP8266与应用端建立连接，连接成功后绿色指示灯亮起；初始化与连接成功后，设备根据周围磁场强度进行自校准，校准完成后蓝色指示灯亮起。三个指示灯都常量表示设备已经正常工作，可以进入工作状态。 + +当有金属物体靠近设备时，设备会检测到磁场强度发生波动。磁场强度波动0.03高斯时，此时认为附近检测到金属物体，蜂鸣器开启并向应用端发送信号。 + +![](./resource/金属检测流程图.png) + +### 2.工作原理 + +AK8963电子罗盘芯片可以在x、y、z轴检测当前位置的位置的磁场强度，当检测到金属物体后，磁场会生较大波动，当我们平行于电子罗盘芯片放置金属物体时，z轴磁场波动尤为明显，所以我们以z轴磁场强度的波动程度来进行判断。 + +![](./resource/AK8963IC.png) + +### 3.功能实现 + +#### 3.1 磁场数据采集 + +AK8963电子IC内置于mpu9250模块中，通过对mpu9250数据寄存器的读取就能获得ak8963的磁场数据。 + +（1）通过Mpu_Read_Bytes()函数得到mpu9250数据寄存器的值。 + +``` +uint8_t Mpu_Read_Bytes(uint8_t const regAddr, uint8_t *pData, uint8_t len) +``` + +（2）通过mpu9250的寄存器手册获取ak8963的磁场原始数据。 + +``` +Mpu_Data.mag_x = (MPU_BUFF[16] << 8) | MPU_BUFF[15]; // x轴磁场数据 + +Mpu_Data.mag_y = (MPU_BUFF[18] << 8) | MPU_BUFF[17]; // y轴磁场数据 + +Mpu_Data.mag_z = (MPU_BUFF[20] << 8) | MPU_BUFF[19]; // z轴磁场数据 +``` + +（3）对原始数据进行转化，得到磁场强度，单位高斯。 + +``` +Gauss_Mag_z = Mpu_Calc.mag_z * 0.15f * 0.01f; +``` + +#### 3.2 磁场数据调零 + +首先采集100组z轴磁场强度基准数据，然后对这些数据做平均处理，由此得到z轴磁场强度的零点数据。 + +``` + if(i<1000){ + i++; + if(i%5 == 0){ + Mag_z_buff[j++] = Gauss_Mag_z; + if(j>=100){ + i = 1000; + Mag_z_Flag = true; + for(k=0;k<100;k++){ + origin_mag_z += Mag_z_buff[k]; + } + origin_mag_z = origin_mag_z / 100.0f; + + // 校准完成，蓝灯亮，发送给应用端 "CalibrateOK" + BLUE_LED_ON(); + memset(buff,0x00,sizeof(buff)); + sprintf(buff,"angle:%s","CalibrateOK"); + ESP8266_send_data(buff,strlen(buff)); + } + } +} +``` + +#### 3.3 检测信息发送 + +当标志位Mag_z_Flag置1，表示已经完成校准。 + +设置磁场强度波动范围大于0.03Gauss，当超过这个范围，就可以认定为有金属靠近对磁场产生影响。蜂鸣器发出报警信息，然后把检测信息"Detected"发送给应用端。金属离开磁场范围时，设备发送"UnDetected"到应用端。 + +``` +if(Mag_z_Flag){ + if(fabs(Gauss_Mag_z - origin_mag_z) > 0.03f) + { + // 检测到金属，开启蜂鸣器， 发送给应用端 + TIM_SetCompare1(TIM12, 50); + memset(buff,0x00,sizeof(buff)); + sprintf(buff,"angle:%s","Detected"); + ESP8266_send_data(buff,strlen(buff)); + } + else + { + // 未检测到金属，关闭蜂鸣器， 发送给应用端 + TIM_SetCompare1(TIM12, 300); + memset(buff,0x00,sizeof(buff)); + sprintf(buff,"angle:%s","UnDetected"); + ESP8266_send_data(buff,strlen(buff)); + } +} +``` diff --git a/docs/metal_detection/resource/AK8963IC.png b/docs/metal_detection/resource/AK8963IC.png new file mode 100644 index 0000000000000000000000000000000000000000..a52d54a28d2ada2fc37cc1ede76ac6a8e96fa5a1 GIT binary patch literal 54471 zcmeFZg;SP&)HRBVqDY7!D6N#VAl-m(hAbu-6dVp-O}CNXY;)0o%!bc z2j9%OXB-f@?(28$Tx;!p>nklOjEanljDUcEDk}0`76IYz3Hxyb@axFi&{Q=si`}>v@EpD9T<_>7|G97Ep-@@p~&<5_&6zP{%%$a zEgjY~LH^^J7}D9`WQNd1(g0HHihM2aFxHMQU#4opWHdD;;qC~1XmaECZ@+23FN=2j zcg+8rzsQkDvS0oUn+?2JA(1j|^22+Z%REH+^IU`OW}s$&c?vsvKH5aNyF&A&I$wWv zHs=ki2_F)L7>Ne01g!>%m{ISYFpqKf1p(i$vYnyZgg1k|)p}x+hE*Kr%aXC*d(=IT z4dM=W_!GDmT#Wy$pUDY(EUcLtbug^ea714msgVj1s-9i_pvzNit(ur{?T#+r;ygRi 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│ └─pages +│ │ index.ets // 机器狗控制首页 +│ │ +│ └─resources +│ ├─base +│ │ ├─element +│ │ │ string.json +│ │ │ +│ │ ├─graphic +│ │ ├─layout +│ │ ├─media // 存放媒体资源 +│ │ │ bg_select.png +│ │ │ +│ │ └─profile +│ └─rawfile +``` + + + +### 开发步骤 + +#### 1. 新建OpenHarmony ETS项目 + +在DevEco Studio中点击File -> New Project ->[Standard]Empty Ability->Next，Language 选择eTS语言，最后点击Finish即创建成功。 +![image-20211124092813545](resources/new_project.png) + +#### 2. 编写机器狗主页面 + +![image-20211124093106260](resources/disconnect.png) + + + +![image-20211124093106260](resources/connect.png) + +效果图如上可以分为四部分。 + +##### 2.1 标题 + +1）主要有[Flex](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/ts-container-flex.md)布局容器一个[text](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/ts-basic-components-text.md)组件； + +``` +@Component +struct TitleName { + build() + Flex() { + Text('机器狗') + .fontSize('36lpx') + .fontColor('#FFFFFF') + .margin({ left: '40lpx', top: '16lpx' }) + } + } +} +``` + +##### 2.2 logo图标 + +1）主要有[Flex](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/ts-container-flex.md)布局容器一个[image](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/ts-basic-components-image.md)组件； + +``` +@Component +struct LogoImage { + build() { + Flex({ direction: FlexDirection.Row, alignItems: ItemAlign.Center, justifyContent: FlexAlign.Center }) { + Image($r("app.media.icon_logo")) + .width('480lpx') + .height('320lpx') + } + .width('100%') + .height('372lpx') + } +} +``` + +##### 2.3 连接状态栏 + +连接状态是通过NAPI接口获取客户端是否连接成功信息，展示对应的状态； + +1）aboutToAppear中定时获取是否已连接成功,并对connectState进行[@State](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/ui/ts-component-states-state.md)修饰，只有数据改变，就重新进行UI渲染 + +``` + @State connectState: boolean = false + aboutToAppear() { + var intervalID = setInterval(() => { + //NAPI调用 + tcpserverapi.recvMsg().then((result) => { + if (result.ip) { + this.connectState = true; + clearInterval(intervalID); + } + }) + }, 1000) + } +``` + +2）根据连接状态connectState进行[条件渲染](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/ui/ts-rending-control-syntax-if-else.md)展示 + +``` + build() { + //连接状态 + Flex({ direction: FlexDirection.Row, alignItems: ItemAlign.Center, justifyContent: FlexAlign.SpaceBetween }) { + if (this.connectState) { + Text('已连接') + .fontSize('36lpx') + .fontColor('#FFFFFF') + Image($r("app.media.icon_switch_on")) + .width('112lpx') + .height('112lpx') + } + else { + Text('未连接') + .fontSize('36lpx') + .fontColor('#FFFFFF') + Image($r("app.media.icon_switch_off")) + .width('112lpx') + .height('112lpx') + } + } + .linearGradient({ + angle: 180, + colors: [[0x363D4D, 0], [0x303644, 0.49], [0x22252F, 1.0]] + }) + .borderRadius('32lpx') + .width('672lpx') + .height('146lpx') + .padding({ left: '32lpx', right: '32lpx' }) + } +``` + +##### 2.4 控制命令栏 + +1）首先通过initializeOnStartup 获取命令数据 + +2）再通过循环渲染[ForEach](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/ui/ts-rending-control-syntax-foreach.md)展示四个命令框图 + +3）并对每一个框图添加点击事件[onClick]()，点击选中后发送命令 + +4）因设计图边框是渐变色，.border属性暂不支持设备，所以用[stack](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/ts-container-stack.md)堆叠方式展示是否点击选中 + +``` + +@Component +struct CommandListItem { +//控制命令 + @State command: any[] = ControlData + @State commandItems: CommandData[] = initializeOnStartup(this.command) + @State name: string = '' + + build() { + Flex({ wrap: FlexWrap.Wrap, alignItems: ItemAlign.Start, justifyContent: FlexAlign.SpaceEvenly }) { + ForEach(this.commandItems, item => { + Stack() { + Image(this.name == item.name ? $r("app.media.bg_select") : $r("app.media.bg_unselect")) + Flex({ + direction: FlexDirection.Column, + alignItems: ItemAlign.Center, + justifyContent: FlexAlign.SpaceEvenly + }) { + + Image(item.imgSrc) + .width('112lpx') + .height('112lpx') + Text(item.name) + .fontSize('36lpx') + .fontColor('#FFFFFF') + } + .onClick(() => { + this.name = item.name; + tcpserverapi.sendRobotDogCommand(item.commandName); + }) + } + .borderRadius('32lpx') + .width('324lpx') + .height('242lpx') + .margin({ bottom: '12lpx' }) + + }, item => item.id.toString()) + } + .width('100%') + .height('600lpx') + .margin({ top: '16lpx' }) + } +} +``` + +#### 3.NAPI + +##### 3.1 底层NAPI模块封装 + +1）NAPI接口开发具体请参考文档[标准设备NAPI](标准设备应用开发——NAPI6.pptx)和[OpenharmonyNAPI开源仓库](https://gitee.com/javen678/hello-ohos-napi )。 + +2）本应用封装的模块名为tcpserverapi，[源码路径](https://gitee.com/chenchenfangfang/knowledge_demo_attitude_control/tree/master/common\tcpservermodule)，下载好的tcpservermodule文件夹。 + +3）下载完成后放到3.1Beta版本根目录，并按照参考PPT配置编译脚本；第一次编译完成需要烧写整个镜像，请参考[开发板上新 | RK3568开发板上丝滑体验OpenHarmony标准系统](https://gitee.com/openharmony-sig/knowledge_demo_smart_home/tree/master/dev/docs/rk3568_quick_start)；后面修改模块源码，只需将库send到板子里面。命令如下： + +``` +先挂载，再send +hdc_std shell mount -oremount,rw / +hdc_std file send libtcpserverapi.z.so system/lib/module/libtcpserverapi.z.so +``` + +##### 3.2 应用端导入NAPI模块 + +``` +import tcpserverapi from '@ohos.tcpserverapi' +``` + +##### 3.3 应用端NAPI接口调用 + +``` +//调用initRecv接口 初始化 TCP 服务器 +tcpserverapi.initServer() +``` + +``` +//定时调用recvMsg获取客户端是否连接，连接后退出检测 +aboutToAppear() { + var intervalID = setInterval(() => { + //NAPI调用 + tcpserverapi.recvMsg().then((result) => { + console.info('===llh=='+result.ip) + if (result.ip) { + console.info('==1=llh=='+result.ip) + this.connectState = true; + clearInterval(intervalID); + } + }) + }, 1000) + } +``` + +``` +// 点击图标，调用sendRobotDogCommand发送控制命令 +.onClick(() => { + this.name = item.name; + tcpserverapi.sendRobotDogCommand(item.commandName); + }) + +``` + + + +### 项目下载和导入 + +1）git下载 + +``` +git clone https://gitee.com/chenchenfangfang/knowledge_demo_attitude_control.git +``` + +2）项目导入 + +打开DevEco Studio,点击File->Open->下载路径/robot_dog/app-code/robotDog + +#### 1. 设备编译约束 + +以润和大禹系列HH-SCDAYU200开发板套件为例 + +- [开发板上新 | RK3568开发板上丝滑体验OpenHarmony标准系统](https://gitee.com/openharmony-sig/knowledge_demo_smart_home/tree/master/dev/docs/rk3568_quick_start) + +#### 2. 应用编译约束 + +- 参考 [应用开发快速入门](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/quick-start/deveco-studio-overview.md#/openharmony/docs/blob/master/zh-cn/application-dev/quick-start/installing-openharmony-app.md) +- 集成开发环境：DevEco Studio 版本[下载地址](https://developer.harmonyos.com/cn/develop/deveco-studio#download_beta)； diff --git a/docs/robot_dog/readme.md b/docs/robot_dog/readme.md new file mode 100644 index 00000000..e3f01bb5 --- /dev/null +++ b/docs/robot_dog/readme.md @@ -0,0 +1,130 @@ +# OpenHarmony机器狗应用 + +## 一、简介 + +#### 1.样例效果 + +机器狗应用是通过发送控制命令，控制机器狗做相应的动作；应用是采用方舟开发框架（ArkUI）基于eTS扩展的声明式开发范式编写页面；通过NAPI接口发送控制命令给机器狗设备；页面暂无做对应动作的动图，待升级完善。 + +- demo效果（HH-SCDAYU200）【需要替换】 + +![show](resources/3568.gif) + +#### 2.涉及OpenHarmony技术特性 + +- eTS UI +- UI管理状态@state +- NAPI + +#### 3.支持OpenHarmony版本 + +OpenHarmony 3.1 release版本 + +#### 4.支持开发板 + +- 润和大禹系列HH-SCDAYU200开发板套件 + +## 二、快速上手 + +#### 1.标准设备环境准备 + +以润和大禹系列HH-SCDAYU200开发板套件为例 + +- [开发板上新 | RK3568开发板上丝滑体验OpenHarmony标准系统](https://gitee.com/openharmony-sig/knowledge_demo_smart_home/tree/master/dev/docs/rk3568_quick_start) + +#### 2.应用编译环境准备 + +- 下载DevEco Studio [下载地址](https://developer.harmonyos.com/cn/develop/deveco-studio#download_beta)； +- 配置SDK，参考 [配置OpenHarmony-SDK](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/quick-start/configuring-openharmony-sdk.md) +- DevEco Studio 点击File -> Open 导入本下面的代码工程compass + +#### 3.项目下载和导入 + +1）git下载 + +``` +git clone https://gitee.com/chenchenfangfang/knowledge_demo_attitude_control.git +``` + +2）项目导入 + +打开DevEco Studio,点击File->Open->下载路径/robot_dog/app-code/robotDog + + +#### 4.安装应用 + +- [配置应用签名信息](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/quick-start/configuring-openharmony-app-signature.md) + +- [安装应用](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/quick-start/installing-openharmony-app.md) 如果IDE没有识别到设备就需要通过命令安装，如下 + + 打开**OpenHarmony SDK路径 \toolchains** 文件夹下，执行如下hdc_std命令，其中**path**为hap包所在绝对路径。 + + ```text + hdc_std install -r path\entry-debug-standard-ark-signed.hap + ``` + + 应用安装到3568开发板后，需要向机器狗开发板发送控制数据，才能看到效果；两个板子连接同一个wifi或使用网线连接并配置同一网段IP地址 + + ``` + hdc shell ifconfig eth0 192.168.1.111 netmask 255.255.255.0 + ``` + +**PS**环境准备，源码下载，编译，烧录设备，应用部署的完整步骤请参考[这里](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/quick-start/deveco-studio-overview.md#/openharmony/docs/blob/master/zh-cn/application-dev/quick-start/configuring-openharmony-app-signature.md) + +## 三、关键代码解读 + +#### 1.目录结构 + +``` +entry +│ └─src +│ └─main +│ │ config.json // 应用配置文件 +│ │ +│ ├─ets +│ │ └─MainAbility +│ │ │ app.ets // 应用程序主入口 +│ │ │ +│ │ ├─model +│ │ │ comtrolData.ets // 控制指令数据 +│ │ │ +│ │ └─pages +│ │ index.ets // 机器狗控制首页 +│ │ +│ └─resources +│ ├─base +│ │ ├─element +│ │ │ string.json +│ │ │ +│ │ ├─graphic +│ │ ├─layout +│ │ ├─media // 存放媒体资源 +│ │ │ bg_select.png +│ │ │ +│ │ └─profile +│ └─rawfile +``` + +#### 2.日志查看方法 + +``` +hdc_std shell +hilog | grep "xxx" (xxx表示你添加的日志标记) +``` + +#### 3.关键代码 + +- 机器狗UI界面：index.ets +- NAPI： 导入 tcpserverapi模块，该模块是要在3568系统代码中编译 + +## 四、如何从零开发机器狗应用 + +[从零开发机器狗应用](quick_develop.md) + +## 五、参考链接 + +- [OpenHarmony基于eTS扩展的声明式开发范式](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/arkui-ts/Readme-CN.md) +- [OpenHarmony应用接口](https://gitee.com/openharmony/docs/blob/master/zh-cn/application-dev/reference/apis/Readme-CN.md) + + + diff --git a/docs/robot_dog/resources/connect.png b/docs/robot_dog/resources/connect.png new file mode 100644 index 0000000000000000000000000000000000000000..ce8dfed5472547b304289d001ee9b8b6e3e90922 GIT binary patch literal 153295 zcmV)>K!d-DP)Px#1ZP1_K>z@;j|==^1poj532;bRa{vGf6951U69E94oEQKA01$LVSaefwb#h~6 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17 00:00:00 2001 From: zoumin888 <510111679@qq.com> Date: Mon, 18 Apr 2022 11:12:19 +0800 Subject: [PATCH 2/7] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=8C=87=E5=8D=97?= =?UTF-8?q?=E9=92=88=E3=80=81=E9=87=91=E5=B1=9E=E6=8E=A2=E6=B5=8B=E5=99=A8?= =?UTF-8?q?=E3=80=81=E6=9C=BA=E5=99=A8=E7=8B=97=20=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=92=8C=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: zoumin888 <510111679@qq.com> --- .../entry/src/ohosTest/config.json | 67 ------ .../src/ohosTest/ets/TestAbility/app.ets | 18 -- .../ohosTest/ets/TestAbility/pages/index.ets | 35 ---- .../ets/TestRunner/OpenHarmonyTestRunner.ts | 63 ------ .../src/ohosTest/ets/test/Ability.test.ets | 13 -- .../entry/src/ohosTest/ets/test/List.test.ets | 5 - .../resources/base/element/string.json | 12 -- .../ohosTest/resources/base/media/icon.png | Bin 6790 -> 0 bytes FA/robot_dog/entry/src/ohosTest/config.json | 67 ------ .../src/ohosTest/ets/TestAbility/app.ets | 18 -- .../ohosTest/ets/TestAbility/pages/index.ets | 35 ---- .../ets/TestRunner/OpenHarmonyTestRunner.ts | 63 ------ .../src/ohosTest/ets/test/Ability.test.ets | 13 -- .../entry/src/ohosTest/ets/test/List.test.ets | 5 - .../resources/base/element/string.json | 12 -- .../ohosTest/resources/base/media/icon.png | Bin 6790 -> 0 bytes dev/team_x/electronic_compass/main.c | 191 ++++++++--------- dev/team_x/electronic_compass/wifi.c | 66 +++--- dev/team_x/electronic_compass/wifi.h | 18 +- dev/team_x/metal_detection/main.c | 193 +++++++++--------- dev/team_x/metal_detection/wifi.c | 75 +++---- dev/team_x/metal_detection/wifi.h | 20 +- dev/team_x/robot_dog/main.c | 191 ++++++++--------- dev/team_x/robot_dog/wifi.c | 92 ++++----- dev/team_x/robot_dog/wifi.h | 16 +- 25 files changed, 419 insertions(+), 869 deletions(-) delete mode 100644 FA/metal_detection/entry/src/ohosTest/config.json delete mode 100644 FA/metal_detection/entry/src/ohosTest/ets/TestAbility/app.ets delete mode 100644 FA/metal_detection/entry/src/ohosTest/ets/TestAbility/pages/index.ets delete mode 100644 FA/metal_detection/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts delete mode 100644 FA/metal_detection/entry/src/ohosTest/ets/test/Ability.test.ets delete mode 100644 FA/metal_detection/entry/src/ohosTest/ets/test/List.test.ets delete mode 100644 FA/metal_detection/entry/src/ohosTest/resources/base/element/string.json delete mode 100644 FA/metal_detection/entry/src/ohosTest/resources/base/media/icon.png delete mode 100644 FA/robot_dog/entry/src/ohosTest/config.json delete mode 100644 FA/robot_dog/entry/src/ohosTest/ets/TestAbility/app.ets delete mode 100644 FA/robot_dog/entry/src/ohosTest/ets/TestAbility/pages/index.ets delete mode 100644 FA/robot_dog/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts delete mode 100644 FA/robot_dog/entry/src/ohosTest/ets/test/Ability.test.ets delete mode 100644 FA/robot_dog/entry/src/ohosTest/ets/test/List.test.ets delete mode 100644 FA/robot_dog/entry/src/ohosTest/resources/base/element/string.json delete mode 100644 FA/robot_dog/entry/src/ohosTest/resources/base/media/icon.png diff --git a/FA/metal_detection/entry/src/ohosTest/config.json b/FA/metal_detection/entry/src/ohosTest/config.json deleted file mode 100644 index 4c911270..00000000 --- a/FA/metal_detection/entry/src/ohosTest/config.json +++ /dev/null @@ -1,67 +0,0 @@ -{ - "app": { - "bundleName": "com.example.metaldetection", - "vendor": "example", - "version": { - "code": 1000000, - "name": "1.0.0" - } - }, - "deviceConfig": {}, - "module": { - "package": "com.example.entry_test", - "name": ".entry_test", - "mainAbility": ".TestAbility", - "srcPath": "", - "deviceType": [ - "phone" - ], - "distro": { - "deliveryWithInstall": true, - "moduleName": "entry_test", - "moduleType": "feature", - "installationFree": false - }, - "abilities": [ - { - "skills": [ - { - "entities": [ - "entity.system.home" - ], - "actions": [ - "action.system.home" - ] - } - ], - "orientation": "unspecified", - "visible": true, - "srcPath": "TestAbility", - "name": ".TestAbility", - "srcLanguage": "ets", - "icon": "$media:icon", - "description": "$string:description_TestAbility", - "formsEnabled": false, - "label": "$string:entry_TestAbility", - "type": "page", - "launchType": "standard" - } - ], - "js": [ - { - "mode": { - "syntax": "ets", - "type": "pageAbility" - }, - "pages": [ - "pages/index" - ], - "name": ".TestAbility", - "window": { - "designWidth": 720, - "autoDesignWidth": false - } - } - ] - } -} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/app.ets b/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/app.ets deleted file mode 100644 index 4db82cf1..00000000 --- a/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/app.ets +++ /dev/null @@ -1,18 +0,0 @@ -import AbilityDelegatorRegistry from '@ohos.application.abilityDelegatorRegistry' -import { Hypium } from 'hypium/index' -import testsuite from '../test/List.test' - -export default { - onCreate() { - console.info('Application onCreate') - var abilityDelegator: any - abilityDelegator = AbilityDelegatorRegistry.getAbilityDelegator() - var abilityDelegatorArguments: any - abilityDelegatorArguments = AbilityDelegatorRegistry.getArguments() - console.info('start run testcase!!!') - Hypium.hypiumTest(abilityDelegator, abilityDelegatorArguments, testsuite) - }, - onDestroy() { - console.info('Application onDestroy') - }, -} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/pages/index.ets b/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/pages/index.ets deleted file mode 100644 index 539eb9ae..00000000 --- a/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/pages/index.ets +++ /dev/null @@ -1,35 +0,0 @@ -import router from '@system.router'; - -@Entry -@Component -struct Index { - aboutToAppear() { - console.info('TestAbility index aboutToAppear') - } - - @State message: string = 'Hello World' - build() { - Row() { - Column() { - Text(this.message) - .fontSize(50) - .fontWeight(FontWeight.Bold) - Button() { - Text('next page') - .fontSize(20) - .fontWeight(FontWeight.Bold) - }.type(ButtonType.Capsule) - .margin({ - top: 20 - }) - .backgroundColor('#0D9FFB') - .width('35%') - .height('5%') - .onClick(()=>{ - }) - } - .width('100%') - } - .height('100%') - } - } \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts b/FA/metal_detection/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts deleted file mode 100644 index ed3ba0df..00000000 --- a/FA/metal_detection/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts +++ /dev/null @@ -1,63 +0,0 @@ -import TestRunner from '@ohos.application.testRunner' -import AbilityDelegatorRegistry from '@ohos.application.abilityDelegatorRegistry' - -var abilityDelegator = undefined -var abilityDelegatorArguments = undefined - -function translateParamsToString(parameters) { - const keySet = new Set([ - '-s class', '-s notClass', '-s suite', '-s itName', - '-s level', '-s testType', '-s size', '-s timeout', - '-s package' - ]) - let targetParams = ''; - for (const key in parameters) { - if (keySet.has(key)) { - targetParams += ' ' + key + ' ' + parameters[key] - } - } - return targetParams.trim() -} - -async function onAbilityCreateCallback() { - console.log('onAbilityCreateCallback'); -} - -async function addAbilityMonitorCallback(err: any) { - console.info('addAbilityMonitorCallback : ' + JSON.stringify(err)) -} - -export default class OpenHarmonyTestRunner implements TestRunner { - constructor() { - } - - onPrepare() { - console.info('OpenHarmonyTestRunner OnPrepare') - } - - onRun() { - console.log('OpenHarmonyTestRunner onRun run') - abilityDelegatorArguments = AbilityDelegatorRegistry.getArguments() - abilityDelegator = AbilityDelegatorRegistry.getAbilityDelegator() - - let lMonitor = { - abilityName: testAbilityName, - onAbilityCreate: onAbilityCreateCallback, - }; - var testAbilityName = abilityDelegatorArguments.parameters['-p'] + '.TestAbility' - abilityDelegator.addAbilityMonitor(lMonitor, addAbilityMonitorCallback) - var cmd = 'aa start -d 0 -a ' + testAbilityName + ' -b ' + abilityDelegatorArguments.bundleName - cmd += ' '+translateParamsToString(abilityDelegatorArguments.parameters) - console.info('cmd : '+cmd) - abilityDelegator.executeShellCommand(cmd, - (err: any, d: any) => { - console.info('executeShellCommand : err : ' + JSON.stringify(err)); - console.info('executeShellCommand : data : ' + d.stdResult); - console.info('executeShellCommand : data : ' + d.exitCode); - }) - console.info('OpenHarmonyTestRunner onRun call abilityDelegator.getAppContext') - var context = abilityDelegator.getAppContext() - console.info('getAppContext : ' + JSON.stringify(context)) - console.info('OpenHarmonyTestRunner onRun end') - } -}; \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/test/Ability.test.ets b/FA/metal_detection/entry/src/ohosTest/ets/test/Ability.test.ets deleted file mode 100644 index 1236e0ce..00000000 --- a/FA/metal_detection/entry/src/ohosTest/ets/test/Ability.test.ets +++ /dev/null @@ -1,13 +0,0 @@ -import { describe, beforeAll, beforeEach, afterEach, afterAll, it, expect } from 'hypium/index' - -export default function abilityTest() { - describe('ActsAbilityTest', function () { - it('assertContain',0, function () { - console.info("it begin") - let a = 'abc' - let b = 'b' - expect(a).assertContain(b) - expect(a).assertEqual(a) - }) - }) -} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/test/List.test.ets b/FA/metal_detection/entry/src/ohosTest/ets/test/List.test.ets deleted file mode 100644 index d766fe24..00000000 --- a/FA/metal_detection/entry/src/ohosTest/ets/test/List.test.ets +++ /dev/null @@ -1,5 +0,0 @@ -import abilityTest from './Ability.test' - -export default function testsuite() { - abilityTest() -} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/resources/base/element/string.json b/FA/metal_detection/entry/src/ohosTest/resources/base/element/string.json deleted file mode 100644 index a0901cfc..00000000 --- a/FA/metal_detection/entry/src/ohosTest/resources/base/element/string.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "string": [ - { - "name": "description_TestAbility", - "value": "eTS_Empty Ability" - }, - { - "name": "entry_TestAbility", - "value": "entry_TestAbility" - } - ] -} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/resources/base/media/icon.png b/FA/metal_detection/entry/src/ohosTest/resources/base/media/icon.png deleted file mode 100644 index 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undefined -var abilityDelegatorArguments = undefined - -function translateParamsToString(parameters) { - const keySet = new Set([ - '-s class', '-s notClass', '-s suite', '-s itName', - '-s level', '-s testType', '-s size', '-s timeout', - '-s package' - ]) - let targetParams = ''; - for (const key in parameters) { - if (keySet.has(key)) { - targetParams += ' ' + key + ' ' + parameters[key] - } - } - return targetParams.trim() -} - -async function onAbilityCreateCallback() { - console.log('onAbilityCreateCallback'); -} - -async function addAbilityMonitorCallback(err: any) { - console.info('addAbilityMonitorCallback : ' + JSON.stringify(err)) -} - -export default class OpenHarmonyTestRunner implements TestRunner { - constructor() { - } - - onPrepare() { - console.info('OpenHarmonyTestRunner OnPrepare') - } - - onRun() { - console.log('OpenHarmonyTestRunner onRun run') - abilityDelegatorArguments = AbilityDelegatorRegistry.getArguments() - abilityDelegator = AbilityDelegatorRegistry.getAbilityDelegator() - - let lMonitor = { - abilityName: testAbilityName, - onAbilityCreate: onAbilityCreateCallback, - }; - var testAbilityName = abilityDelegatorArguments.parameters['-p'] + '.TestAbility' - abilityDelegator.addAbilityMonitor(lMonitor, addAbilityMonitorCallback) - var cmd = 'aa start -d 0 -a ' + testAbilityName + ' -b ' + abilityDelegatorArguments.bundleName - cmd += ' '+translateParamsToString(abilityDelegatorArguments.parameters) - console.info('cmd : '+cmd) - abilityDelegator.executeShellCommand(cmd, - (err: any, d: any) => { - console.info('executeShellCommand : err : ' + JSON.stringify(err)); - console.info('executeShellCommand : data : ' + d.stdResult); - console.info('executeShellCommand : data : ' + d.exitCode); - }) - console.info('OpenHarmonyTestRunner onRun call abilityDelegator.getAppContext') - var context = abilityDelegator.getAppContext() - console.info('getAppContext : ' + JSON.stringify(context)) - console.info('OpenHarmonyTestRunner onRun end') - } -}; \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/ets/test/Ability.test.ets b/FA/robot_dog/entry/src/ohosTest/ets/test/Ability.test.ets deleted file mode 100644 index 1236e0ce..00000000 --- a/FA/robot_dog/entry/src/ohosTest/ets/test/Ability.test.ets +++ /dev/null @@ -1,13 +0,0 @@ -import { describe, beforeAll, beforeEach, afterEach, afterAll, it, expect } from 'hypium/index' - -export default function abilityTest() { - describe('ActsAbilityTest', function () { - it('assertContain',0, function () { - console.info("it begin") - let a = 'abc' - let b = 'b' - expect(a).assertContain(b) - expect(a).assertEqual(a) - }) - }) -} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/ets/test/List.test.ets b/FA/robot_dog/entry/src/ohosTest/ets/test/List.test.ets deleted file mode 100644 index d766fe24..00000000 --- a/FA/robot_dog/entry/src/ohosTest/ets/test/List.test.ets +++ /dev/null @@ -1,5 +0,0 @@ -import abilityTest from './Ability.test' - -export default function testsuite() { - abilityTest() -} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/resources/base/element/string.json b/FA/robot_dog/entry/src/ohosTest/resources/base/element/string.json deleted file mode 100644 index a0901cfc..00000000 --- a/FA/robot_dog/entry/src/ohosTest/resources/base/element/string.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "string": [ - { - "name": "description_TestAbility", - "value": "eTS_Empty Ability" - }, - { - "name": "entry_TestAbility", - "value": "entry_TestAbility" - } - ] -} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/resources/base/media/icon.png b/FA/robot_dog/entry/src/ohosTest/resources/base/media/icon.png deleted file mode 100644 index ce307a8827bd75456441ceb57d530e4c8d45d36c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 6790 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z{-);Au{*tfzOG?KQ~K|ak8-HQ?`Pekhe2WM(8s{xv-p>Zmu_6{G!-oE$7$mY`MOJorI=+mMx?H;`pr!;fVYz?5~yXBACruWB`Ph zZM}90_<^OBxIhyZ9BW$`>6JvO;%VFpqVr8|7t3~AmxYak6?`Pp#c;**_SYmi`&z23 z`p6_~ePvH)C6x-G9$hgL=eVALq`-AiamN>!3~Lxw&{H(b{B(7xSRm6<3<{%{yXiH# zos5Rv1L+8fUKJLo%P>4I&$}y 0){ Wifi_Data.buffer[Wifi_Data.len] = data; Wifi_Data.len++; @@ -128,29 +114,29 @@ void USART2_IRQHandler(void) if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) //如果总线空闲 { ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; - ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR） + ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? } } /****************************************************************** - * @ 函数名 ： Wifi_Parse_Json - * @ 功能说明： 解析JSON数据 - * @ 参数 ： const char *json JSON字符串数据 - * @ 返回值 ： NULL + * @ 函数? ? Wifi_Parse_Json + * @ 功能说明? 解析JSON数据 + * @ 参数 ? const char *json JSON字符串数? + * @ 返回? ? NULL *****************************************************************/ void Wifi_Parse_Json(char* json) { - // 回调USB串口任务的JSON通讯协议解析与处理函数 + // 回调USB串口任务的JSON通讯协议解析与处理函? Serial_Json_Handle(json); } -struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构体 -//对ESP8266模块发送相关指令 +struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构? +//对ESP8266模块发?相关指? // cmd 待发送的指令 void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { - ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据包 + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); delay_ms(time); //延时 @@ -489,7 +475,7 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) for ( ; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} } Data++; break; @@ -501,7 +487,7 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) for (s = buf; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} } Data++; break; @@ -511,9 +497,11 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) } } else USART_SendData(USARTx, *Data++); - while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ); + while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ){;} } } + + diff --git a/dev/team_x/electronic_compass/wifi.h b/dev/team_x/electronic_compass/wifi.h index b2f51ffa..bdb30785 100644 --- a/dev/team_x/electronic_compass/wifi.h +++ b/dev/team_x/electronic_compass/wifi.h @@ -15,22 +15,22 @@ #ifndef MODULAR_WIFI #define MODULAR_WIFI -#include "stm32f4xx.h" + #include #include #include #include #include - +#include "stm32f4xx.h" #include "serial_task.h" #define TCP_SERVICE_IP "\"192.168.1.106\"" //丽红 #define WIFI_SSID "\"YYYYYY\"" -//#define TCP_SERVICE_IP "\"192.168.100.151\"" +// #define TCP_SERVICE_IP "\"192.168.100.151\"" #define TCP_COM 5000 -//#define WIFI_SSID "\"A_zoumin888\"" +// #define WIFI_SSID "\"A_zoumin888\"" #define WIFI_PASSWORD "\"66666666\"" #define WIFI_DATA_LEN 128 @@ -40,7 +40,7 @@ typedef struct{ int len; }Wifi_Struct; -extern Wifi_Struct Wifi_Data; +// extern Wifi_Struct Wifi_Data; void Wifi_Init(int baud_rate); @@ -52,12 +52,12 @@ void Wifi_Parse_Json(char* json); #endif #define ESP8266_USART(fmt, ...) USART_printf (USART2, fmt, ##__VA_ARGS__) -#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) //这是串口打印函数，串口1，执行printf后会自动执行fput函数，重定向了printf。 +#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) // 这是串口打印函数，串?1，执行printf后会自动执行fput函数，重定向了printf? -#define RX_BUF_MAX_LEN 1024 //最大字节数 -extern struct STRUCT_USART_Fram //数据帧结构体 +#define RX_BUF_MAX_LEN 1024 // ?大字节数 +extern struct STRUCT_USART_Fram // 数据帧结构体 { u8 Data_RX_BUF[RX_BUF_MAX_LEN]; union @@ -89,7 +89,7 @@ extern struct STRUCT_USART_Fram //数据帧结构体 }ESP8266_Fram_Record_Struct; -//初始化和TCP功能函数 +// 初始化和TCP功能函数 signed char ESP8266_start_TCP(void); void Wifi_Init(int baud_rate); void ESP8266_AT(void); diff --git a/dev/team_x/metal_detection/main.c b/dev/team_x/metal_detection/main.c index 47d6e646..a926b9f4 100644 --- a/dev/team_x/metal_detection/main.c +++ b/dev/team_x/metal_detection/main.c @@ -22,222 +22,225 @@ #include "main.h" /******************************************************************* - * @ 函数名 ： main - * @ 功能说明： 程序启动入口，主要初始化一些开发板的模块以及任务 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? main + * @ 功能说明? 程序启动入口，主要初始化?些开发板的模块以及任? + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ int main(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 LiteOS_Status = LOS_OK; - + #ifndef NO_HARMONY - - // LiteOS内核初始化 + + // LiteOS内核初始? LiteOS_Status = LOS_KernelInit(); if (LiteOS_Status != LOS_OK) { - // LiteOS内核初始化失败 + // LiteOS内核初始化失? return LOS_NOK; - } else -#endif + } else +#endif { //SystemClock_Config(); - - // 时钟初始化 + + // 时钟初始? Delay_Init(LOSCFG_BASE_CORE_TICK_PER_SECOND); - - // USB虚拟串口初始化 + + // USB虚拟串口初始? Usb_Init(); - - // CPU模块初始化 + + // CPU模块初始? Cpu_Init(); - - // LED模块初始化 + + // LED模块初始? Led_Init(); - - // BUZZER模块初始化 + + // BUZZER模块初始? Buzzer_Init(); - // CAN模块初始化 + // CAN模块初始? Can_Init(); - - // POWER模块初始化 + + // POWER模块初始? Power_Init(); - - // KEY模块初始化 + + // KEY模块初始? Key_Init(); - - // ADC模块初始化 + + // ADC模块初始? Adc_Init(); - - // PWM模块初始化 + + // PWM模块初始? Pwm_Init(); - - // MPU模块初始化 + + // MPU模块初始? Mpu_Init(); #if 0 - // wifi模块初始化 + // wifi模块初始? Wifi_Init(115200); if(ESP8266_start_TCP() == -1){ GREEN_LED_OFF(); - } + } else{ GREEN_LED_ON(); - } + } #endif #ifndef NO_HARMONY - // 任务初始化 + // 任务初始? LiteOS_Status = Task_Init(); - // 开启LiteOS任务调度 + // ?启LiteOS任务调度 LOS_Start(); #endif - } - // 正常情况不会执行到这里 - while(1); + } + // 正常情况不会执行到这? + while(1) + { + ; + } } /******************************************************************* - * @ 函数名 ： Task_Init - * @ 功能说明： 任务初始化，为了方便管理，所有的任务创建函数都可以放在这个函数里面 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? Task_Init + * @ 功能说明? 任务初始化，为了方便管理，所有的任务创建函数都可以放在这个函数里? + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ static UINT32 Task_Init(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 Status = LOS_OK; - + Status = Start_System_Task(); if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } - + Status = Start_Serial_Task(); if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } - + Status = Start_User_Task(); if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } - - // 所有任务启动成功后播放开机音乐 + + // ?有任务启动成功后播放?机音? if(Status == LOS_OK) { //Buzzer_Start_Music(); - RED_LED_ON(); //红色作为电源指示灯 + RED_LED_ON(); //红色作为电源指示? Usb_Write_Data("ALL OK\r\n"); } - + return Status; } /******************************************************************* - * @ 函数名 ： Start_System_Task - * @ 功能说明： 启动系统任务 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? Start_System_Task + * @ 功能说明? 启动系统任务 + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ UINT32 System_Task_Handle; static UINT32 Start_System_Task(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 Task_Status = LOS_OK; - + TSK_INIT_PARAM_S task_init_param; - - // 任务优先级，数值越小，优先级越高 + + // 任务优先级，数?越小，优先级越? task_init_param.usTaskPrio = 3; - + // 任务名称 task_init_param.pcName = "System_Task"; - + // 任务函数入口 task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)System_Task; - + // 任务堆栈大小 task_init_param.uwStackSize = 4096; - + // 创建任务 Task_Status = LOS_TaskCreate(&System_Task_Handle, &task_init_param); - + return Task_Status; } /******************************************************************* - * @ 函数名 ： Start_Serial_Task - * @ 功能说明： 启动串口任务 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? Start_Serial_Task + * @ 功能说明? 启动串口任务 + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ UINT32 Serial_Task_Handle; static UINT32 Start_Serial_Task(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 Task_Status = LOS_OK; - + TSK_INIT_PARAM_S task_init_param; - - // 任务优先级，数值越小，优先级越高 + + // 任务优先级，数?越小，优先级越? task_init_param.usTaskPrio = 4; - + // 任务名称 task_init_param.pcName = "Serial_Task"; - + // 任务函数入口 task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)Serial_Task; - + // 任务堆栈大小 //task_init_param.uwStackSize = 4096; task_init_param.uwStackSize = 5120; // 创建任务 Task_Status = LOS_TaskCreate(&Serial_Task_Handle, &task_init_param); - + return Task_Status; } /******************************************************************* - * @ 函数名 ： Start_User_Task - * @ 功能说明： 启动用户任务 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? Start_User_Task + * @ 功能说明? 启动用户任务 + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ UINT32 User_Task_Handle; static UINT32 Start_User_Task(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 Task_Status = LOS_OK; - + TSK_INIT_PARAM_S task_init_param; - - // 任务优先级，数值越小，优先级越高 + + // 任务优先级，数?越小，优先级越? task_init_param.usTaskPrio = 5; - + // 任务名称 task_init_param.pcName = "User_Task"; - + // 任务函数入口 task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)User_Task; - + // 任务堆栈大小 task_init_param.uwStackSize = 4096; - + // 创建任务 Task_Status = LOS_TaskCreate(&User_Task_Handle, &task_init_param); - + return Task_Status; } diff --git a/dev/team_x/metal_detection/wifi.c b/dev/team_x/metal_detection/wifi.c index b49ba0a2..ced8c603 100644 --- a/dev/team_x/metal_detection/wifi.c +++ b/dev/team_x/metal_detection/wifi.c @@ -1,19 +1,4 @@ -/* - * Copyright (c) 2021 Huawei Device Co., Ltd. - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ -/** - ****************************************************************************** +/******************************************************************************* * @file wifi.c * @author GEEKROS, site:www.geekros.com ****************************************************************************** @@ -21,7 +6,7 @@ #include "wifi.h" #include "led.h" -Wifi_Struct Wifi_Data; +//Wifi_Struct Wifi_Data; //#define TCP_SERVICE_IP "\"172.20.10.5\"" @@ -32,10 +17,10 @@ Wifi_Struct Wifi_Data; extern signed char ESP8266_start_TCP(void); /****************************************************************** - * @ 函数名 ： Wifi_Init - * @ 功能说明： ESP8266WiFi模块初始化，UART2作为WiFi模块专用接口 - * @ 参数 ： int baud_rate 波特率 - * @ 返回值 ： NULL + * @ 函数? ? Wifi_Init + * @ 功能说明? ESP8266WiFi模块初始化，UART2作为WiFi模块专用接口 + * @ 参数 ? int baud_rate 波特? + * @ 返回? ? NULL *****************************************************************/ void Wifi_Init(int baud_rate) { @@ -82,10 +67,10 @@ void Wifi_Init(int baud_rate) } /****************************************************************** - * @ 函数名 ： USART2_IRQHandler - * @ 功能说明： WiFi模块中断函数，接收UART2数据 - * @ 参数 ： NULL - * @ 返回值 ： NULL + * @ 函数? ? USART2_IRQHandler + * @ 功能说明? WiFi模块中断函数，接收UART2数据 + * @ 参数 ? NULL + * @ 返回? ? NULL *****************************************************************/ void USART2_IRQHandler(void) { @@ -96,17 +81,17 @@ void USART2_IRQHandler(void) data = USART_ReceiveData(USART2); if(data == '{') { - // 检测到JSON数据起始符后开始记录数据 + // ?测到JSON数据起始符后?始记录数? Wifi_Data.buffer[0] = data; Wifi_Data.len = 1; }else if(data == '}'){ - // 检测到JSON数据结束符后停止数据记录 + // ?测到JSON数据结束符后停止数据记录 Wifi_Data.buffer[Wifi_Data.len] = data; // 将完整的JSON数据传入JSON解析函数 Wifi_Parse_Json((char*) Wifi_Data.buffer); Wifi_Data.len = 0; }else{ - // 判断是否检测到JSON数据起始符并记录数据 + // 判断是否?测到JSON数据起始符并记录数据 if(Wifi_Data.len > 0){ Wifi_Data.buffer[Wifi_Data.len] = data; Wifi_Data.len++; @@ -128,29 +113,29 @@ void USART2_IRQHandler(void) if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) //如果总线空闲 { ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; - ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR） + ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? } } /****************************************************************** - * @ 函数名 ： Wifi_Parse_Json - * @ 功能说明： 解析JSON数据 - * @ 参数 ： const char *json JSON字符串数据 - * @ 返回值 ： NULL + * @ 函数? ? Wifi_Parse_Json + * @ 功能说明? 解析JSON数据 + * @ 参数 ? const char *json JSON字符串数? + * @ 返回? ? NULL *****************************************************************/ void Wifi_Parse_Json(char* json) { - // 回调USB串口任务的JSON通讯协议解析与处理函数 + // 回调USB串口任务的JSON通讯协议解析与处理函? Serial_Json_Handle(json); } -struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构体 -//对ESP8266模块发送相关指令 +struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构? +//对ESP8266模块发?相关指? // cmd 待发送的指令 void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { - ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据包 + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); delay_ms(time); //延时 @@ -458,18 +443,18 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) va_list ap; va_start(ap, Data); - while ( * Data != 0 ) // 判断数据是否到达结束符 + while ( * Data != 0 ) // 判断数据是否到达结束? { if ( * Data == 0x5c ) //'\' { switch ( *++Data ) { - case 'r': //回车符 + case 'r': //回车? USART_SendData(USARTx, 0x0d); Data ++; break; - case 'n': //换行符 + case 'n': //换行? USART_SendData(USARTx, 0x0a); Data ++; break; @@ -484,24 +469,24 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) { switch ( *++Data ) { - case 's': //字符串 + case 's': //字符? s = va_arg(ap, const char *); for ( ; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} } Data++; break; case 'd': - //十进制 + //十进? d = va_arg(ap, int); itoa(d, buf, 10); for (s = buf; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} } Data++; break; @@ -511,7 +496,7 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) } } else USART_SendData(USARTx, *Data++); - while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ); + while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ){;} } } diff --git a/dev/team_x/metal_detection/wifi.h b/dev/team_x/metal_detection/wifi.h index 40772d58..f5dd11c7 100644 --- a/dev/team_x/metal_detection/wifi.h +++ b/dev/team_x/metal_detection/wifi.h @@ -15,22 +15,22 @@ #ifndef MODULAR_WIFI #define MODULAR_WIFI -#include "stm32f4xx.h" #include #include #include #include #include +#include "stm32f4xx.h" #include "serial_task.h" -#define TCP_SERVICE_IP "\"192.168.1.123\"" //丽红 +#define TCP_SERVICE_IP "\"192.168.1.123\"" // 丽红 #define WIFI_SSID "\"YYYYYY\"" -//#define TCP_SERVICE_IP "\"192.168.100.151\"" +// #define TCP_SERVICE_IP "\"192.168.100.151\"" #define TCP_COM 5000 -//#define WIFI_SSID "\"A_zoumin888\"" +// #define WIFI_SSID "\"A_zoumin888\"" #define WIFI_PASSWORD "\"66666666\"" #define WIFI_DATA_LEN 128 @@ -40,7 +40,7 @@ typedef struct{ int len; }Wifi_Struct; -extern Wifi_Struct Wifi_Data; +//extern Wifi_Struct Wifi_Data; void Wifi_Init(int baud_rate); @@ -52,12 +52,12 @@ void Wifi_Parse_Json(char* json); #endif #define ESP8266_USART(fmt, ...) USART_printf (USART2, fmt, ##__VA_ARGS__) -#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) //这是串口打印函数，串口1，执行printf后会自动执行fput函数，重定向了printf。 +#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) // 这是串口打印函数，串?1，执行printf后会自动执行fput函数，重定向了printf? -#define RX_BUF_MAX_LEN 1024 //最大字节数 -extern struct STRUCT_USART_Fram //数据帧结构体 +#define RX_BUF_MAX_LEN 1024 // ?大字节数 +extern struct STRUCT_USART_Fram // 数据帧结构体 { u8 Data_RX_BUF[RX_BUF_MAX_LEN]; union @@ -89,7 +89,7 @@ extern struct STRUCT_USART_Fram //数据帧结构体 }ESP8266_Fram_Record_Struct; -//初始化和TCP功能函数 +// 初始化和TCP功能函数 signed char ESP8266_start_TCP(void); void Wifi_Init(int baud_rate); void ESP8266_AT(void); @@ -97,4 +97,4 @@ void ESP8266_Send_AT_Cmd(char *cmd,u32 time); void USART_printf( USART_TypeDef * USARTx, char * Data, ... ); -#endif \ No newline at end of file +#endif diff --git a/dev/team_x/robot_dog/main.c b/dev/team_x/robot_dog/main.c index 4cd68095..7701bb68 100644 --- a/dev/team_x/robot_dog/main.c +++ b/dev/team_x/robot_dog/main.c @@ -22,222 +22,225 @@ #include "main.h" /******************************************************************* - * @ 函数名 ： main - * @ 功能说明： 程序启动入口，主要初始化一些开发板的模块以及任务 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? main + * @ 功能说明? 程序启动入口，主要初始化?些开发板的模块以及任? + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ int main(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 LiteOS_Status = LOS_OK; - + #ifndef NO_HARMONY - - // LiteOS内核初始化 + + // LiteOS内核初始? LiteOS_Status = LOS_KernelInit(); if (LiteOS_Status != LOS_OK) { - // LiteOS内核初始化失败 + // LiteOS内核初始化失? return LOS_NOK; - } else -#endif + } else +#endif { //SystemClock_Config(); - - // 时钟初始化 + + // 时钟初始? Delay_Init(LOSCFG_BASE_CORE_TICK_PER_SECOND); - - // USB虚拟串口初始化 + + // USB虚拟串口初始? Usb_Init(); - - // CPU模块初始化 + + // CPU模块初始? Cpu_Init(); - - // LED模块初始化 + + // LED模块初始? Led_Init(); - - // BUZZER模块初始化 + + // BUZZER模块初始? Buzzer_Init(); - // CAN模块初始化 + // CAN模块初始? Can_Init(); - - // POWER模块初始化 + + // POWER模块初始? Power_Init(); - - // KEY模块初始化 + + // KEY模块初始? Key_Init(); - - // ADC模块初始化 + + // ADC模块初始? Adc_Init(); - - // PWM模块初始化 + + // PWM模块初始? Pwm_Init(); - - // MPU模块初始化 + + // MPU模块初始? Mpu_Init(); - // wifi模块初始化 + // wifi模块初始? Wifi_Init(115200); if(ESP8266_start_TCP() == -1){ GREEN_LED_OFF(); - } + } else{ GREEN_LED_ON(); - } + } #ifndef NO_HARMONY - // 任务初始化 + // 任务初始? LiteOS_Status = Task_Init(); - // 开启LiteOS任务调度 + // ?启LiteOS任务调度 LOS_Start(); #endif - } + } - while(1); + while(1) + { + ; + } } /******************************************************************* - * @ 函数名 ： Task_Init - * @ 功能说明： 任务初始化，为了方便管理，所有的任务创建函数都可以放在这个函数里面 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? Task_Init + * @ 功能说明? 任务初始化，为了方便管理，所有的任务创建函数都可以放在这个函数里? + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ static UINT32 Task_Init(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 Status = LOS_OK; - + Status = Start_System_Task(); if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } - + Status = Start_Serial_Task(); if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } - + Status = Start_User_Task(); if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } - - // 所有任务启动成功后播放开机音乐 + + // ?有任务启动成功后播放?机音? if(Status == LOS_OK) { //Buzzer_Start_Music(); - RED_LED_ON(); //红色作为电源指示灯 + RED_LED_ON(); //红色作为电源指示? Usb_Write_Data("ALL OK\r\n"); } - + return Status; } /******************************************************************* - * @ 函数名 ： Start_System_Task - * @ 功能说明： 启动系统任务 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? Start_System_Task + * @ 功能说明? 启动系统任务 + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ UINT32 System_Task_Handle; static UINT32 Start_System_Task(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 Task_Status = LOS_OK; - + TSK_INIT_PARAM_S task_init_param; - - // 任务优先级，数值越小，优先级越高 + + // 任务优先级，数?越小，优先级越? task_init_param.usTaskPrio = 3; - + // 任务名称 task_init_param.pcName = "System_Task"; - + // 任务函数入口 task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)System_Task; - + // 任务堆栈大小 task_init_param.uwStackSize = 4096; - + // 创建任务 Task_Status = LOS_TaskCreate(&System_Task_Handle, &task_init_param); - + return Task_Status; } /******************************************************************* - * @ 函数名 ： Start_Serial_Task - * @ 功能说明： 启动串口任务 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? Start_Serial_Task + * @ 功能说明? 启动串口任务 + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ UINT32 Serial_Task_Handle; static UINT32 Start_Serial_Task(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 Task_Status = LOS_OK; - + TSK_INIT_PARAM_S task_init_param; - - // 任务优先级，数值越小，优先级越高 + + // 任务优先级，数?越小，优先级越? task_init_param.usTaskPrio = 4; - + // 任务名称 task_init_param.pcName = "Serial_Task"; - + // 任务函数入口 task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)Serial_Task; - + // 任务堆栈大小 //task_init_param.uwStackSize = 4096; task_init_param.uwStackSize = 5120; // 创建任务 Task_Status = LOS_TaskCreate(&Serial_Task_Handle, &task_init_param); - + return Task_Status; } /******************************************************************* - * @ 函数名 ： Start_User_Task - * @ 功能说明： 启动用户任务 - * @ 参数 ： 无 - * @ 返回值 ： 无 + * @ 函数? ? Start_User_Task + * @ 功能说明? 启动用户任务 + * @ 参数 ? ? + * @ 返回? ? ? *************************************************************/ UINT32 User_Task_Handle; static UINT32 Start_User_Task(void) { - - // 定义任务创建的返回值，默认为成功 + + // 定义任务创建的返回?，默认为成? UINT32 Task_Status = LOS_OK; - + TSK_INIT_PARAM_S task_init_param; - - // 任务优先级，数值越小，优先级越高 + + // 任务优先级，数?越小，优先级越? task_init_param.usTaskPrio = 5; - + // 任务名称 task_init_param.pcName = "User_Task"; - + // 任务函数入口 task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)User_Task; - + // 任务堆栈大小 task_init_param.uwStackSize = 4096; - + // 创建任务 Task_Status = LOS_TaskCreate(&User_Task_Handle, &task_init_param); - + return Task_Status; } diff --git a/dev/team_x/robot_dog/wifi.c b/dev/team_x/robot_dog/wifi.c index f0fbb486..bfa8fd03 100644 --- a/dev/team_x/robot_dog/wifi.c +++ b/dev/team_x/robot_dog/wifi.c @@ -1,17 +1,3 @@ -/* - * Copyright (c) 2021 Huawei Device Co., Ltd. - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ /** ****************************************************************************** * @file wifi.c @@ -22,21 +8,28 @@ #include "wifi.h" #include "led.h" #include "pwm.h" -Wifi_Struct Wifi_Data; +//Wifi_Struct Wifi_Data; //#define TCP_SERVICE_IP "\"172.20.10.5\"" //#define TCP_COM 50000 +#define PWM_CH 1 +#define PWM_RATE 50 +#define PWM_WITH_1 1000 +#define PWM_WITH_2 1200 +#define PWM_WITH_3 1500 +#define PWM_WITH_4 2000 + extern signed char ESP8266_start_TCP(void); /****************************************************************** - * @ 函数名 ： Wifi_Init - * @ 功能说明： ESP8266WiFi模块初始化，UART2作为WiFi模块专用接口 - * @ 参数 ： int baud_rate 波特率 - * @ 返回值 ： NULL + * @ 函数? ? Wifi_Init + * @ 功能说明? ESP8266WiFi模块初始化，UART2作为WiFi模块专用接口 + * @ 参数 ? int baud_rate 波特? + * @ 返回? ? NULL *****************************************************************/ void Wifi_Init(int baud_rate) { @@ -87,22 +80,22 @@ void ESP8266_wifi_data_deal(char * pdat) if(NULL != strstr(src, "pushUp")) { Usb_Write_Data("cmd:pushUp\r\n"); - Pwm_Motion(1,50,1000); + Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_1); } else if(NULL != strstr(src, "handshake")) { Usb_Write_Data("cmd:handshake\r\n"); - Pwm_Motion(1,50,1200); + Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_2); } else if(NULL != strstr(src, "dance")) { Usb_Write_Data("cmd:dance\r\n"); - Pwm_Motion(1,50,1500); + Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_3); } else if(NULL != strstr(src, "urine")) { Usb_Write_Data("cmd:urine\r\n"); - Pwm_Motion(1,50,2000); + Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_4); } else if(NULL != strstr(src, "LIVE")) { @@ -112,10 +105,10 @@ void ESP8266_wifi_data_deal(char * pdat) } /****************************************************************** - * @ 函数名 ： USART2_IRQHandler - * @ 功能说明： WiFi模块中断函数，接收UART2数据 - * @ 参数 ： NULL - * @ 返回值 ： NULL + * @ 函数? ? USART2_IRQHandler + * @ 功能说明? WiFi模块中断函数，接收UART2数据 + * @ 参数 ? NULL + * @ 返回? ? NULL *****************************************************************/ void USART2_IRQHandler(void) { @@ -126,17 +119,17 @@ void USART2_IRQHandler(void) data = USART_ReceiveData(USART2); if(data == '{') { - // 检测到JSON数据起始符后开始记录数据 + // ?测到JSON数据起始符后?始记录数? Wifi_Data.buffer[0] = data; Wifi_Data.len = 1; }else if(data == '}'){ - // 检测到JSON数据结束符后停止数据记录 + // ?测到JSON数据结束符后停止数据记录 Wifi_Data.buffer[Wifi_Data.len] = data; // 将完整的JSON数据传入JSON解析函数 Wifi_Parse_Json((char*) Wifi_Data.buffer); Wifi_Data.len = 0; }else{ - // 判断是否检测到JSON数据起始符并记录数据 + // 判断是否?测到JSON数据起始符并记录数据 if(Wifi_Data.len > 0){ Wifi_Data.buffer[Wifi_Data.len] = data; Wifi_Data.len++; @@ -154,17 +147,17 @@ void USART2_IRQHandler(void) { if(ucCh == '{') { - // 检测到JSON数据起始符后开始记录数据 + // ?测到JSON数据起始符后?始记录数? ESP8266_Fram_Record_Struct .Data_RX_BUF[0] = ucCh; ESP8266_Fram_Record_Struct .InfBit .FramLength = 1; }else if(ucCh == '}'){ - // 检测到JSON数据结束符后停止数据记录 + // ?测到JSON数据结束符后停止数据记录 ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; // 将完整的JSON数据传入JSON解析函数 ESP8266_wifi_data_deal((char*) ESP8266_Fram_Record_Struct .Data_RX_BUF); ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; }else{ - // 判断是否检测到JSON数据起始符并记录数据 + // 判断是否?测到JSON数据起始符并记录数据 if(ESP8266_Fram_Record_Struct .InfBit .FramLength > 0){ ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; ESP8266_Fram_Record_Struct .InfBit .FramLength++; @@ -182,24 +175,24 @@ void USART2_IRQHandler(void) } /****************************************************************** - * @ 函数名 ： Wifi_Parse_Json - * @ 功能说明： 解析JSON数据 - * @ 参数 ： const char *json JSON字符串数据 - * @ 返回值 ： NULL + * @ 函数? ? Wifi_Parse_Json + * @ 功能说明? 解析JSON数据 + * @ 参数 ? const char *json JSON字符串数? + * @ 返回? ? NULL *****************************************************************/ void Wifi_Parse_Json(char* json) { - // 回调USB串口任务的JSON通讯协议解析与处理函数 + // 回调USB串口任务的JSON通讯协议解析与处理函? Serial_Json_Handle(json); } -struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构体 -//对ESP8266模块发送相关指令 +struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构? +//对ESP8266模块发?相关指? // cmd 待发送的指令 void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { - ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据包 + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); delay_ms(time); //延时 @@ -516,18 +509,18 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) va_list ap; va_start(ap, Data); - while ( * Data != 0 ) // 判断数据是否到达结束符 + while ( * Data != 0 ) // 判断数据是否到达结束? { if ( * Data == 0x5c ) //'\' { switch ( *++Data ) { - case 'r': //回车符 + case 'r': //回车? USART_SendData(USARTx, 0x0d); Data ++; break; - case 'n': //换行符 + case 'n': //换行? USART_SendData(USARTx, 0x0a); Data ++; break; @@ -542,24 +535,24 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) { switch ( *++Data ) { - case 's': //字符串 + case 's': //字符? s = va_arg(ap, const char *); for ( ; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} } Data++; break; case 'd': - //十进制 + //十进? d = va_arg(ap, int); itoa(d, buf, 10); for (s = buf; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} } Data++; break; @@ -569,9 +562,10 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) } } else USART_SendData(USARTx, *Data++); - while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ); + while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ){;} } } + diff --git a/dev/team_x/robot_dog/wifi.h b/dev/team_x/robot_dog/wifi.h index 076f3b2c..8e20a175 100644 --- a/dev/team_x/robot_dog/wifi.h +++ b/dev/team_x/robot_dog/wifi.h @@ -15,18 +15,18 @@ #ifndef MODULAR_WIFI #define MODULAR_WIFI -#include "stm32f4xx.h" #include #include #include #include #include +#include "stm32f4xx.h" #include "serial_task.h" -//#define TCP_SERVICE_IP "\"192.168.1.106\"" // -//#define WIFI_SSID "\"YYYYYY\"" +// #define TCP_SERVICE_IP "\"192.168.1.106\"" // +// #define WIFI_SSID "\"YYYYYY\"" #define TCP_SERVICE_IP "\"192.168.151.151\"" #define TCP_COM 5000 @@ -40,7 +40,7 @@ typedef struct{ int len; }Wifi_Struct; -extern Wifi_Struct Wifi_Data; +// extern Wifi_Struct Wifi_Data; void Wifi_Init(int baud_rate); @@ -52,12 +52,12 @@ void Wifi_Parse_Json(char* json); #endif #define ESP8266_USART(fmt, ...) USART_printf (USART2, fmt, ##__VA_ARGS__) -#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) //Ǵڴӡ1ִprintfԶִfputضprintf +#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) // Ǵڴӡ1ִprintfԶִfputضprintf -#define RX_BUF_MAX_LEN 1024 //ֽ -extern struct STRUCT_USART_Fram //֡ṹ +#define RX_BUF_MAX_LEN 1024 // ֽ +extern struct STRUCT_USART_Fram // ֡ṹ { u8 Data_RX_BUF[RX_BUF_MAX_LEN]; union @@ -89,7 +89,7 @@ extern struct STRUCT_USART_Fram // }ESP8266_Fram_Record_Struct; -//ʼTCPܺ +// ʼTCPܺ signed char ESP8266_start_TCP(void); void Wifi_Init(int baud_rate); void ESP8266_AT(void); -- Gitee From 625d9fa1d2df22b6f15a2531de8f64109afabe8e Mon Sep 17 00:00:00 2001 From: zoumin888 <510111679@qq.com> Date: Mon, 18 Apr 2022 11:24:21 +0800 Subject: [PATCH 3/7] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=8C=87=E5=8D=97?= =?UTF-8?q?=E9=92=88=E3=80=81=E9=87=91=E5=B1=9E=E6=8E=A2=E6=B5=8B=E5=99=A8?= =?UTF-8?q?=E3=80=81=E6=9C=BA=E5=99=A8=E7=8B=97=20=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=92=8C=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: zoumin888 <510111679@qq.com> --- dev/team_x/electronic_compass/wifi.c | 17 ++++++++++++++++- dev/team_x/metal_detection/wifi.c | 16 ++++++++++++++++ dev/team_x/robot_dog/wifi.c | 16 ++++++++++++++++ 3 files changed, 48 insertions(+), 1 deletion(-) diff --git a/dev/team_x/electronic_compass/wifi.c b/dev/team_x/electronic_compass/wifi.c index da776cb9..d0521199 100644 --- a/dev/team_x/electronic_compass/wifi.c +++ b/dev/team_x/electronic_compass/wifi.c @@ -1,4 +1,19 @@ -/** +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/** ****************************************************************************** * @file wifi.c * @author GEEKROS, site:www.geekros.com diff --git a/dev/team_x/metal_detection/wifi.c b/dev/team_x/metal_detection/wifi.c index ced8c603..fe5f8788 100644 --- a/dev/team_x/metal_detection/wifi.c +++ b/dev/team_x/metal_detection/wifi.c @@ -1,3 +1,19 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /******************************************************************************* * @file wifi.c * @author GEEKROS, site:www.geekros.com diff --git a/dev/team_x/robot_dog/wifi.c b/dev/team_x/robot_dog/wifi.c index bfa8fd03..f413fdae 100644 --- a/dev/team_x/robot_dog/wifi.c +++ b/dev/team_x/robot_dog/wifi.c @@ -1,3 +1,19 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** ****************************************************************************** * @file wifi.c -- Gitee From 4917c88cf5f61595172b60092f3081ecb03f0263 Mon Sep 17 00:00:00 2001 From: zoumin888 <510111679@qq.com> Date: Mon, 18 Apr 2022 15:41:52 +0800 Subject: [PATCH 4/7] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=8C=87=E5=8D=97?= =?UTF-8?q?=E9=92=88=E3=80=81=E9=87=91=E5=B1=9E=E6=8E=A2=E6=B5=8B=E5=99=A8?= =?UTF-8?q?=E3=80=81=E6=9C=BA=E5=99=A8=E7=8B=97=20=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=92=8C=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: zoumin888 <510111679@qq.com> --- dev/team_x/electronic_compass/main.c | 15 +- dev/team_x/electronic_compass/serial_task.c | 131 +++++++++------- dev/team_x/electronic_compass/wifi.h | 38 ++--- dev/team_x/metal_detection/main.c | 14 +- dev/team_x/metal_detection/serial_task.c | 159 +++----------------- dev/team_x/robot_dog/main.c | 24 +-- dev/team_x/robot_dog/serial_task.c | 10 +- dev/team_x/robot_dog/wifi.h | 32 ++-- 8 files changed, 172 insertions(+), 251 deletions(-) diff --git a/dev/team_x/electronic_compass/main.c b/dev/team_x/electronic_compass/main.c index 7701bb68..e2e39c62 100644 --- a/dev/team_x/electronic_compass/main.c +++ b/dev/team_x/electronic_compass/main.c @@ -37,7 +37,8 @@ int main(void) // LiteOS内核初始? LiteOS_Status = LOS_KernelInit(); - if (LiteOS_Status != LOS_OK) { + if (LiteOS_Status != LOS_OK) + { // LiteOS内核初始化失? return LOS_NOK; } else @@ -81,7 +82,8 @@ LiteOS_Status = LOS_KernelInit(); // wifi模块初始? Wifi_Init(115200); - if(ESP8266_start_TCP() == -1){ + if(ESP8266_start_TCP() == -1) + { GREEN_LED_OFF(); } else{ @@ -118,19 +120,22 @@ static UINT32 Task_Init(void) UINT32 Status = LOS_OK; Status = Start_System_Task(); - if (Status != LOS_OK) { + if (Status != LOS_OK) + { // 任务启动失败 return LOS_NOK; } Status = Start_Serial_Task(); - if (Status != LOS_OK) { + if (Status != LOS_OK) + { // 任务启动失败 return LOS_NOK; } Status = Start_User_Task(); - if (Status != LOS_OK) { + if (Status != LOS_OK) + { // 任务启动失败 return LOS_NOK; } diff --git a/dev/team_x/electronic_compass/serial_task.c b/dev/team_x/electronic_compass/serial_task.c index a9cd9941..43c8269e 100644 --- a/dev/team_x/electronic_compass/serial_task.c +++ b/dev/team_x/electronic_compass/serial_task.c @@ -1,4 +1,4 @@ -/* + /* * Copyright (c) 2021 Huawei Device Co., Ltd. * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -12,12 +12,12 @@ * See the License for the specific language governing permissions and * limitations under the License. */ -/** + /** ****************************************************************************** * @file serial_task.c * @author GEEKROS, site:www.geekros.com ****************************************************************************** -*/ + */ #include "serial_task.h" @@ -27,16 +27,28 @@ uint32_t Serial_Task_Buffer_Len = 512; uint8_t Serial_Task_Buffer[512]; -/****************************************************************** - * @ 函数名 ： Serial_Task - * @ 功能说明： USB虚拟串口任务函数 - * @ 参数 ： NULL - * @ 返回值 ： NULL + /****************************************************************** + * @ 函数? ? Serial_Task + * @ 功能说明? USB虚拟串口任务函数 + * @ 参数 ? NULL + * @ 返回? ? NULL *****************************************************************/ #define PI 3.1415926535f extern Mpu_Calc_Struct Mpu_Calc; static int angle_buff[3] = {0}; + +#define FLOAT_0_5 0.5 // 用于取整的时候四舍五入 +#define FILTER_TIME 3 //滤波次数 + +#define ADJ_MAG_MAX (500) +#define ADJ_MAG_MIN (-500) + +#define T_TIMER_1000MS 1000 + +#define KEY_SHORT_TIME 3 //按键短按时间 +#define BEEP_FREQ_LOW 100 +#define BEEP_FREQ_HIGH 300 void Serial_Task(void) { bool Calibrate = 0; @@ -53,40 +65,42 @@ void Serial_Task(void) angle_buff[1] = angle_buff[2]; angle_buff[2] = ((uint16_t)(atan2((Mpu_Calc.mag_y - Mag_y_OffSet),(Mpu_Calc.mag_x - Mag_x_OffSet)) *180 / PI + 180 )); - angle = ((uint16_t)((angle_buff[0] + angle_buff[1] + angle_buff[2]) / 3.0 + 0.5)); + angle = ((uint16_t)((angle_buff[0] + angle_buff[1] + angle_buff[2]) / FILTER_TIME + FLOAT_0_5)); - //Usb_Write_Data("-----------------------------------------------------------------------------------\r\n"); - //Usb_Write_Data("send data ---- angle: %d \r\n",angle); + // Usb_Write_Data("-----------------------------------------------------------------------------------\r\n"); + // Usb_Write_Data("send data ---- angle: %d \r\n",angle); - if(Led_GetStatu("green") == LED_ON){ + if(Led_GetStatu("green") == LED_ON) + { BLUE_LED_TOGGLE(); memset(buff,0x00,sizeof(buff)); sprintf(buff,"angle:%d",angle); ESP8266_send_data(buff,strlen(buff)); } - else{ + else + { BLUE_LED_OFF(); RED_LED_TOGGLE(); } - // 按键检测来进行校准 + // 按键?测来进行校准 if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_2) == SET) { key_flag++; - //Usb_Write_Data("-----KEY----------KEY_FLAG: %d\r\n",key_flag); + // Usb_Write_Data("-----KEY----------KEY_FLAG: %d\r\n",key_flag); } else { - if(key_flag>=3) + if(key_flag>=KEY_SHORT_TIME) { - Max_Mag_x = -500; - Max_Mag_y = -500; - Min_Mag_x = 500; - Min_Mag_y = 500; + Max_Mag_x = ADJ_MAG_MIN; + Max_Mag_y = ADJ_MAG_MIN; + Min_Mag_x = ADJ_MAG_MAX; + Min_Mag_y = ADJ_MAG_MAX; - TIM_SetCompare1(TIM12, 100); - delay_ms(1000); - TIM_SetCompare1(TIM12, 300); + TIM_SetCompare1(TIM12, BEEP_FREQ_LOW); + delay_ms(T_TIMER_1000MS); + TIM_SetCompare1(TIM12, BEEP_FREQ_HIGH); Calibrate = !Calibrate; } @@ -95,27 +109,31 @@ void Serial_Task(void) if(Calibrate) { - if(Max_Mag_x < Mpu_Calc.mag_x){ + if(Max_Mag_x < Mpu_Calc.mag_x) + { Max_Mag_x = Mpu_Calc.mag_x; } - if(Max_Mag_y < Mpu_Calc.mag_y){ + if(Max_Mag_y < Mpu_Calc.mag_y) + { Max_Mag_y = Mpu_Calc.mag_y; } - if(Min_Mag_x > Mpu_Calc.mag_x){ + if(Min_Mag_x > Mpu_Calc.mag_x) + { Min_Mag_x = Mpu_Calc.mag_x; } - if(Min_Mag_y > Mpu_Calc.mag_y){ + if(Min_Mag_y > Mpu_Calc.mag_y) + { Min_Mag_y = Mpu_Calc.mag_y; } - Mag_x_OffSet = (Max_Mag_x + Min_Mag_x) / 2; - Mag_y_OffSet = (Max_Mag_y + Min_Mag_y) / 2; + Mag_x_OffSet = (Max_Mag_x + Min_Mag_x) / 2; //取平均 + Mag_y_OffSet = (Max_Mag_y + Min_Mag_y) / 2; //取平均 } #if 0 Usb_Write_Data("Max_Mag_x: %d Min_Mag_x: %d \r\n",Max_Mag_x,Min_Mag_x); - Usb_Write_Data("Max_Mag_y: %d Min_Mag_y: %d \r\n",Max_Mag_y,Min_Mag_y); + Usb_Write_Data("Max_Mag_y: %d Min_Mag_y: %d \r\n",Max_Mag_y,Min_Mag_y); Usb_Write_Data("Mag_x_OffSet: %d Mag_y_OffSet: %d \r\n",Mag_x_OffSet,Mag_y_OffSet); - Usb_Write_Data("Mpu_Calc.mag_x: %d Mpu_Calc.mag_y: %d \r\n",Mpu_Calc.mag_x,Mpu_Calc.mag_y); + Usb_Write_Data("Mpu_Calc.mag_x: %d Mpu_Calc.mag_y: %d \r\n",Mpu_Calc.mag_x,Mpu_Calc.mag_y); Usb_Write_Data("Mpu_Calc.mag_z: %d \r\n",Mpu_Calc.mag_z); Usb_Write_Data("Gauss*** Mag_x: %f Mag_y: %f Mag_z: %f \r\n",Mpu_Calc.mag_x * 0.15f * 0.01f, Mpu_Calc.mag_y * 0.15f * 0.01f, Mpu_Calc.mag_z * 0.15f * 0.01f); Usb_Write_Data("origin_mag_z ::::: %f \r\n", origin_mag_z); @@ -125,21 +143,23 @@ void Serial_Task(void) } } +#if 0 /****************************************************************** - * @ 函数名 ： Serial_Json_Handle - * @ 功能说明： JSON通讯协议解析与处理函数 - * @ 参数 ： NULL - * @ 返回值 ： NULL + * @ 函数? ? Serial_Json_Handle + * @ 功能说明? JSON通讯协议解析与处理函? + * @ 参数 ? NULL + * @ 返回? ? NULL *****************************************************************/ void Serial_Json_Handle(char *json) { // 解析USB虚拟串口数据 cJSON *Serial_Data; Serial_Data = cJSON_Parse(json); - if(Serial_Data){ - + if(Serial_Data) + { + Read_Data.type = cJSON_GetObjectItem(Serial_Data, "type")->valuestring; - + // 版本号 if(memcmp(Read_Data.type, "board-version", 13) == 0) { @@ -147,7 +167,7 @@ void Serial_Json_Handle(char *json) version = Board_Version(); Usb_Write_Data("{\"type\":\"board-version\",\"version\":\"%s\"}\r\n", version); } - + // LED模块 if(memcmp(Read_Data.type, "led", 3) == 0) { @@ -155,7 +175,7 @@ void Serial_Json_Handle(char *json) Read_Data.led.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; Led_Usb_Callback(Read_Data.type, Read_Data.led.channel, Read_Data.led.state); } - + // CAN模块 if(memcmp(Read_Data.type, "can", 3) == 0) { @@ -163,7 +183,7 @@ void Serial_Json_Handle(char *json) Read_Data.can.motor_id = cJSON_GetObjectItem(Serial_Data, "motor_id")->valueint; Can_Usb_Callback(Read_Data.type, Read_Data.can.channel, Read_Data.can.motor_id); } - + // POWER模块 if(memcmp(Read_Data.type, "power", 5) == 0) { @@ -172,20 +192,20 @@ void Serial_Json_Handle(char *json) Read_Data.power.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; Power_Usb_Callback(Read_Data.type, Read_Data.power.channel, Read_Data.power.id, Read_Data.power.state); } - + // KEY模块 if(memcmp(Read_Data.type, "key", 3) == 0) { Key_Usb_Callback(Read_Data.type); } - + // ADC模块 if(memcmp(Read_Data.type, "adc", 3) == 0) { Read_Data.adc.voltage = cJSON_GetObjectItem(Serial_Data, "voltage")->valuedouble; Adc_Usb_Callback(Read_Data.type, Read_Data.adc.voltage); } - + // IO模块 if(memcmp(Read_Data.type, "io", 2) == 0) { @@ -194,7 +214,7 @@ void Serial_Json_Handle(char *json) Read_Data.io.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; Io_Usb_Callback(Read_Data.type, Read_Data.io.channel, Read_Data.io.mode, Read_Data.io.state); } - + // PWM模块 if(memcmp(Read_Data.type, "pwm", 3) == 0) { @@ -203,19 +223,19 @@ void Serial_Json_Handle(char *json) Read_Data.pwm.width = cJSON_GetObjectItem(Serial_Data, "width")->valueint; Pwm_Usb_Callback(Read_Data.type, Read_Data.pwm.channel, Read_Data.pwm.rate, Read_Data.pwm.width); } - + // CPU模块 if(memcmp(Read_Data.type, "cpu", 3) == 0) { Cpu_Usb_Callback(Read_Data.type); } - + // MPU模块 if(memcmp(Read_Data.type, "mpu", 3) == 0) { Mpu_Usb_Callback(Read_Data.type); } - + // 遥控器模块 if(memcmp(Read_Data.type, "rocker-control", 14) == 0) { @@ -230,14 +250,19 @@ void Serial_Json_Handle(char *json) Read_Data.rocker_control.ch1, Read_Data.rocker_control.ch2, Read_Data.rocker_control.ch3); } } - - // 需要清空本次收到的数据 + + // ?要清空本次收到的数据 cJSON_Delete(Serial_Data); - for(int i=0;i=100){ - i = 1000; + if(j>=calibrateAverageCount){ + i = calibrateCount; Mag_z_Flag = true; - for(k=0;k<100;k++){ + for(k=0;k 0.03f) { - // 检测到金属，开启蜂鸣器， 发送给应用端 - TIM_SetCompare1(TIM12, 50); + // ⵽ ͸Ӧö + beepFrequency = 50; + TIM_SetCompare1(TIM12, beepFrequency); memset(buff,0x00,sizeof(buff)); sprintf(buff,"angle:%s","Detected"); ESP8266_send_data(buff,strlen(buff)); } else { - // 未检测到金属，关闭蜂鸣器， 发送给应用端 - TIM_SetCompare1(TIM12, 300); + // δ⵽رշ ͸Ӧö + beepFrequency = 300; + TIM_SetCompare1(TIM12, beepFrequency); memset(buff,0x00,sizeof(buff)); sprintf(buff,"angle:%s","UnDetected"); ESP8266_send_data(buff,strlen(buff)); } } - - Task_Delay(5); - } -} -/****************************************************************** - * @ 函数名 ： Serial_Json_Handle - * @ 功能说明： JSON通讯协议解析与处理函数 - * @ 参数 ： NULL - * @ 返回值 ： NULL - *****************************************************************/ -void Serial_Json_Handle(char *json) -{ - // 解析USB虚拟串口数据 - cJSON *Serial_Data; - Serial_Data = cJSON_Parse(json); - if(Serial_Data){ - - Read_Data.type = cJSON_GetObjectItem(Serial_Data, "type")->valuestring; - - // 版本号 - if(memcmp(Read_Data.type, "board-version", 13) == 0) - { - char* version; - version = Board_Version(); - Usb_Write_Data("{\"type\":\"board-version\",\"version\":\"%s\"}\r\n", version); - } - - // LED模块 - if(memcmp(Read_Data.type, "led", 3) == 0) - { - Read_Data.led.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valuestring; - Read_Data.led.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; - Led_Usb_Callback(Read_Data.type, Read_Data.led.channel, Read_Data.led.state); - } - - // CAN模块 - if(memcmp(Read_Data.type, "can", 3) == 0) - { - Read_Data.can.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; - Read_Data.can.motor_id = cJSON_GetObjectItem(Serial_Data, "motor_id")->valueint; - Can_Usb_Callback(Read_Data.type, Read_Data.can.channel, Read_Data.can.motor_id); - } - - // POWER模块 - if(memcmp(Read_Data.type, "power", 5) == 0) - { - Read_Data.power.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; - Read_Data.power.id = cJSON_GetObjectItem(Serial_Data, "id")->valueint; - Read_Data.power.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; - Power_Usb_Callback(Read_Data.type, Read_Data.power.channel, Read_Data.power.id, Read_Data.power.state); - } - - // KEY模块 - if(memcmp(Read_Data.type, "key", 3) == 0) - { - Key_Usb_Callback(Read_Data.type); - } - - // ADC模块 - if(memcmp(Read_Data.type, "adc", 3) == 0) - { - Read_Data.adc.voltage = cJSON_GetObjectItem(Serial_Data, "voltage")->valuedouble; - Adc_Usb_Callback(Read_Data.type, Read_Data.adc.voltage); - } - - // IO模块 - if(memcmp(Read_Data.type, "io", 2) == 0) - { - Read_Data.io.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; - Read_Data.io.mode = cJSON_GetObjectItem(Serial_Data, "mode")->valuestring; - Read_Data.io.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; - Io_Usb_Callback(Read_Data.type, Read_Data.io.channel, Read_Data.io.mode, Read_Data.io.state); - } - - // PWM模块 - if(memcmp(Read_Data.type, "pwm", 3) == 0) - { - Read_Data.pwm.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; - Read_Data.pwm.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valuedouble; - Read_Data.pwm.width = cJSON_GetObjectItem(Serial_Data, "width")->valueint; - Pwm_Usb_Callback(Read_Data.type, Read_Data.pwm.channel, Read_Data.pwm.rate, Read_Data.pwm.width); - } - - // CPU模块 - if(memcmp(Read_Data.type, "cpu", 3) == 0) - { - Cpu_Usb_Callback(Read_Data.type); - } - - // MPU模块 - if(memcmp(Read_Data.type, "mpu", 3) == 0) - { - Mpu_Usb_Callback(Read_Data.type); - } - - // 遥控器模块 - if(memcmp(Read_Data.type, "rocker-control", 14) == 0) - { - Read_Data.rocker_control.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valueint; - Read_Data.rocker_control.s1 = cJSON_GetObjectItem(Serial_Data, "s1")->valueint; - Read_Data.rocker_control.s2 = cJSON_GetObjectItem(Serial_Data, "s2")->valueint; - Read_Data.rocker_control.ch0 = cJSON_GetObjectItem(Serial_Data, "ch0")->valuedouble; - Read_Data.rocker_control.ch1 = cJSON_GetObjectItem(Serial_Data, "ch1")->valuedouble; - Read_Data.rocker_control.ch2 = cJSON_GetObjectItem(Serial_Data, "ch2")->valuedouble; - Read_Data.rocker_control.ch3 = cJSON_GetObjectItem(Serial_Data, "ch3")->valuedouble; - Rocker_Usb_Callback(Read_Data.type, Read_Data.rocker_control.rate, Read_Data.rocker_control.s1, Read_Data.rocker_control.s2, Read_Data.rocker_control.ch0, \ - Read_Data.rocker_control.ch1, Read_Data.rocker_control.ch2, Read_Data.rocker_control.ch3); - } - } - - // 需要清空本次收到的数据 - cJSON_Delete(Serial_Data); - for(int i=0;i Date: Mon, 18 Apr 2022 16:59:49 +0800 Subject: [PATCH 5/7] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=8C=87=E5=8D=97?= =?UTF-8?q?=E9=92=88=E3=80=81=E9=87=91=E5=B1=9E=E6=8E=A2=E6=B5=8B=E5=99=A8?= =?UTF-8?q?=E3=80=81=E6=9C=BA=E5=99=A8=E7=8B=97=20=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=92=8C=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: zoumin888 <510111679@qq.com> --- dev/team_x/electronic_compass/main.c | 17 +- dev/team_x/electronic_compass/serial_task.c | Bin 9784 -> 20242 bytes dev/team_x/electronic_compass/wifi.c | 547 ++++++++-------- dev/team_x/electronic_compass/wifi.h | 32 +- dev/team_x/metal_detection/main.c | 12 +- dev/team_x/metal_detection/serial_task.c | 23 +- dev/team_x/metal_detection/wifi.c | 544 ++++++++-------- dev/team_x/metal_detection/wifi.h | 35 +- dev/team_x/robot_dog/main.c | 24 +- dev/team_x/robot_dog/wifi.c | 660 ++++++++++---------- dev/team_x/robot_dog/wifi.h | 34 +- 11 files changed, 971 insertions(+), 957 deletions(-) diff --git a/dev/team_x/electronic_compass/main.c b/dev/team_x/electronic_compass/main.c index e2e39c62..35e2fc19 100644 --- a/dev/team_x/electronic_compass/main.c +++ b/dev/team_x/electronic_compass/main.c @@ -38,7 +38,7 @@ int main(void) // LiteOS内核初始? LiteOS_Status = LOS_KernelInit(); if (LiteOS_Status != LOS_OK) - { + { // LiteOS内核初始化失? return LOS_NOK; } else @@ -83,7 +83,7 @@ LiteOS_Status = LOS_KernelInit(); Wifi_Init(115200); if(ESP8266_start_TCP() == -1) - { + { GREEN_LED_OFF(); } else{ @@ -102,9 +102,9 @@ LiteOS_Status = LOS_KernelInit(); } while(1) - { - ; - } + { + ; + } } /******************************************************************* @@ -121,21 +121,21 @@ static UINT32 Task_Init(void) Status = Start_System_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } Status = Start_Serial_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } Status = Start_User_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } @@ -147,7 +147,6 @@ static UINT32 Task_Init(void) RED_LED_ON(); //红色作为电源指示? Usb_Write_Data("ALL OK\r\n"); } - return Status; } diff --git a/dev/team_x/electronic_compass/serial_task.c b/dev/team_x/electronic_compass/serial_task.c index 43c8269e56e521f5a73d277a4feba97e24f26fee..a37692ebbcb0b4c585639335128217d4db1af2c2 100644 GIT binary patch literal 20242 zcmds9>rxa+7S475O~k%KEyftF11;dXG0V;l1E>rN!g5*1P@@Byt6Zf)K-V{z$MiXN z_xtkH>8#4iESjPkb)%xGTb`5Wp66s{@!$U>=DxXS{$##03C@X`GKc2KT$p3CW46q; zIl;4rX`8z^kD6ipMsW43IW?>1%xs`lVjkiA9#?Ig1w+#e;%XMq>!z8(KAW~WFdejA zN1Ib~fb$0WOVE1TVweC0tH36Ac^KmTmu=qxu0ueRt|llWor+-qeG5I((*WrIdxnk+ zK%N3(AN^e5e1Lm$dTQwsN_KFam`&i>vs7)EbIak8ZMkE6ZUb%~)b63xDxQc0&TvOc z97lO-vJ!deQF3V30J{nddKcZ{odkm(NainiA* zAM90R)&>P@seJcveFjQN1-aR>Py%;?r%5W4Gd!n!DWNTEXB{h<6F{$87)Q@KT6NHt z5Nn|1B&8!{b$K1JH|jrzK`f6tPt1UsfLs#DXbIPenY8!38|-Q%F)#3b8J;r_DJ`Sb z3$$9qF#)MAZ`p<(K|d7Rr|f8{M^+M| z2a)Jb*HS6dtPL&!f}X41<4a;Q)rr3E0Q&~)a>sf{8<5l;wZW*cWpQl*<~^>C@mw^O zSg2!ALCLE3QpSW`&q#{i#8&hJ>Y1`;yUVraxVoR>V|3H_#t8TI9%8i;g@4J!9r0hr zOIq6l$;v7Pd%aI4nJw^NNJW*T<&7`Czq>!Cdo8)Z*V7_(7;aezA80KQ|u zbu3oKHAm6cF134zQKXi?+u)9ocn^}`$U^^&NpBnP6pnF1?5zzL`h=7BBl~6*l3zlr zV_@)5Bwft zv>i=Ht}MQ@7NHuq80#F? 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    +=ULvV}OG!(`q1(S+splL(uHU%N?)S zf<=QtIg~S=*AR1P-Ks@F-0q73uV_ozsC$_gLwgN51JRyMF9%0k6fn>NqYdP*gf<)) zy>aT=i>zykuBbfR>jcR?o7e%okNK=12SuAPj76JOY9Qb%`HjqKaLDUQld1sv#PH;H zkues$DcDWs0U?)4gTeOe`#RHR1tAOSN)KGDGi_7*$A%{q9F>E67Y=UwC)9DcejKt5 z42-n&+-z`7gp#iCK#Ncvf{PC%5D2E4)YW_P+I4zrVW1S5W+`PqDM z>m>z@H*aPJ)=$@XNqJNG1)OUNytxSiDH1w(+TDa*lf)bEGvCO z!_#VIV=1^h>&@DW1T&DoDTg9!>!rf}{UH)M9^ETLT#q8(rc{Er(m_JSpmaF*Rlb#G zEvQ2os95*eX8Okr!2>gNc4a-dPsMs;f1l36x%XwZ%B2_4q!vUIJSo47CeJ^--@W`z z=f;EJ$f%0AP1P|`k#$w60!YcXgEkB1Qr=qnl9AdMPi~m{_-n~P;i@GE$Le6-sbIWQ zFTq>fN(5pKbPo67`RfBl+zN&a(7mjHVDN}rE$%cH%2eAs>b@$NsL zz&!!Jl)v^<=ll=&PTzOw!NUa<)hT-cVKIh3wc#LRi8P&bB;}0kB(%yU9P*ka~?e=#&K(OcQxqbx 0){ - Wifi_Data.buffer[Wifi_Data.len] = data; - Wifi_Data.len++; - } - } - } - #endif - u8 ucCh; + #if 0 + volatile static uint8_t data; + if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) + { + data = USART_ReceiveData(USART2); + if(data == '{') + { + // ?测到JSON数据起始符后?始记录数? + Wifi_Data.buffer[0] = data; + Wifi_Data.len = 1; + }else if(data == '}'){ + // ?测到JSON数据结束符后停止数据记录 + Wifi_Data.buffer[Wifi_Data.len] = data; + // 将完整的JSON数据传入JSON解析函数 + Wifi_Parse_Json((char*) Wifi_Data.buffer); + Wifi_Data.len = 0; + }else{ + // 判断是否?测到JSON数据起始符并记录数据 + if(Wifi_Data.len > 0){ + Wifi_Data.buffer[Wifi_Data.len] = data; + Wifi_Data.len++; + } + } + } + #endif + u8 ucCh; if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { @@ -126,10 +126,10 @@ void USART2_IRQHandler(void) } } - if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) //如果总线空闲 + if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) // 如果总线空闲 { ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; - ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? + ucCh = USART_ReceiveData( USART2 ); // 由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? } } @@ -141,8 +141,8 @@ void USART2_IRQHandler(void) *****************************************************************/ void Wifi_Parse_Json(char* json) { - // 回调USB串口任务的JSON通讯协议解析与处理函? - Serial_Json_Handle(json); + // 回调USB串口任务的JSON通讯协议解析与处理函? + Serial_Json_Handle(json); } struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构? @@ -152,249 +152,249 @@ void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? - memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); + memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); delay_ms(time); //延时 } void ESP8266_send_at(void) { - char cStr [20]; - sprintf ( cStr, "AT"); - ESP8266_Send_AT_Cmd( cStr,100); + char cStr [20]; + sprintf ( cStr, "AT"); + ESP8266_Send_AT_Cmd( cStr,100); + ESP8266_Send_AT_Cmd( cStr,100); } void ESP8266_set_sta_mode(void) { - char cStr [20]; - sprintf ( cStr, "AT+CWMODE=1"); - ESP8266_Send_AT_Cmd( cStr,100); + char cStr [20]; + sprintf ( cStr, "AT+CWMODE=1"); + ESP8266_Send_AT_Cmd( cStr,100); } void ESP8266_connect_wifi(void) { - char cStr [64]; - sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); - Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); - ESP8266_Send_AT_Cmd( cStr,5000); + char cStr [64]; + sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); + Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); + ESP8266_Send_AT_Cmd( cStr,5000); } void ESP8266_TCP_connect(void) { - char cStr [64]; - sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); - ESP8266_Send_AT_Cmd( cStr,1000); + char cStr [64]; + sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); + ESP8266_Send_AT_Cmd( cStr,1000); } void ESP8266_start_send(unsigned int len) { - char cStr [20]; - sprintf ( cStr, "AT+CIPSEND=%d",len); - ESP8266_Send_AT_Cmd( cStr,50); + char cStr [20]; + sprintf ( cStr, "AT+CIPSEND=%d",len); + ESP8266_Send_AT_Cmd( cStr,50); } void ESP8266_close_tcp_connect(void) { - char cStr [20]; - sprintf ( cStr, "AT+CIPCLOSE"); - ESP8266_Send_AT_Cmd( cStr,200); + char cStr [20]; + sprintf ( cStr, "AT+CIPCLOSE"); + ESP8266_Send_AT_Cmd( cStr,200); } void ESP8266_send_data(char *dat,unsigned int len) { - ESP8266_start_send(len); //start send - - ESP8266_USART("%s\r\n", dat); + ESP8266_start_send(len); //start send + ESP8266_USART("%s\r\n", dat); } // AT jiexi -static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) +static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 *err) { - //char *p = NULL; - const char * src = (const char *)pdat; - - if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) - { - ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; - } - else - { - //return -1; //ERR - } - - if(NULL != strstr(src, "+CIPSTART")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "+CIPCLOSE")) - { - if(strstr(src, "OK")) - { - return 0; - } - } - else if(NULL != strstr(src, "+CWMODE")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; - } - return 0; - } - else if(NULL != strstr(src, "+CWJAP")) - { - if(strstr(src, "CONNECTED")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "+CIPMODE")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; - } - return 0; - } - else if(NULL != strstr(src, "+CIPSEND")) - { - if(strstr(src, "SEND OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; - return 0; - } - - return -1; + //char *p = NULL; + const char * src = (const char *)pdat; + + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) + { + ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; + } + else + { + //return -1; //ERR + } + + if(NULL != strstr(src, "+CIPSTART")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPCLOSE")) + { + if(strstr(src, "OK")) + { + return 0; + } + } + else if(NULL != strstr(src, "+CWMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CWJAP")) + { + if(strstr(src, "CONNECTED")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CIPSEND")) + { + if(strstr(src, "SEND OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; + return 0; + } + + return -1; } signed char ESP8266_start_TCP(void) { - static unsigned char err = 0; - - char cStr [128]; - - unsigned char reconnect_cnt; - - - // AT - Usb_Write_Data("ESP2866 TEST\r\n"); - err = 0; - do - { - ESP8266_send_at(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); - - reconnect_cnt=0; - RECONNECT: - // AT+CIPCLOSE - Usb_Write_Data("close tcp connect\r\n"); - err = 0; - ESP8266_close_tcp_connect(); - - // AT+CWMODE set sta mode - Usb_Write_Data("set sta mode\r\n"); - err = 0; - do - { - ESP8266_set_sta_mode(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); - - - - // AT+CWJAP - Usb_Write_Data("connecting wifi......\r\n"); - err = 0; - ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; - do - { - ESP8266_connect_wifi(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); - - // AT+CIPSTART - Usb_Write_Data("building tcp connect......\r\n"); - err = 0; - ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; - do - { - ESP8266_TCP_connect(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - //return -1; - reconnect_cnt++; - Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); - if(reconnect_cnt<5) - { - goto RECONNECT; - } - else - { - return -1; - } - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); - - Usb_Write_Data("ESP8266 ok!!!\r\n"); - sprintf (cStr, "ESP8266 init success"); - Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); - ESP8266_send_data(cStr,strlen(cStr)); - - #if 0 - - while(1){ - - sprintf (cStr, "ESP8266 test"); - ESP8266_send_data(cStr,strlen(cStr)); - - delay_ms(2000); - } - - #endif + static unsigned char err = 0; + + char cStr [128]; + + unsigned char reconnect_cnt; + + + // AT + Usb_Write_Data("ESP2866 TEST\r\n"); + err = 0; + do + { + ESP8266_send_at(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); + + reconnect_cnt=0; + RECONNECT: + // AT+CIPCLOSE + Usb_Write_Data("close tcp connect\r\n"); + err = 0; + ESP8266_close_tcp_connect(); + + // AT+CWMODE set sta mode + Usb_Write_Data("set sta mode\r\n"); + err = 0; + do + { + ESP8266_set_sta_mode(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); + + + + // AT+CWJAP + Usb_Write_Data("connecting wifi......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; + do + { + ESP8266_connect_wifi(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); + + // AT+CIPSTART + Usb_Write_Data("building tcp connect......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; + do + { + ESP8266_TCP_connect(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + //return -1; + reconnect_cnt++; + Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); + if(reconnect_cnt<5) + { + goto RECONNECT; + } + else + { + return -1; + } + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); + + Usb_Write_Data("ESP8266 ok!!!\r\n"); + sprintf (cStr, "ESP8266 init success"); + Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); + ESP8266_send_data(cStr,strlen(cStr)); + + #if 0 + + while(1){ + + sprintf (cStr, "ESP8266 test"); + ESP8266_send_data(cStr,strlen(cStr)); + + delay_ms(2000); + } + + #endif return 0; } @@ -513,7 +513,6 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) } else USART_SendData(USARTx, *Data++); while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ){;} - } } diff --git a/dev/team_x/electronic_compass/wifi.h b/dev/team_x/electronic_compass/wifi.h index 387dbdfe..ccf7487a 100644 --- a/dev/team_x/electronic_compass/wifi.h +++ b/dev/team_x/electronic_compass/wifi.h @@ -37,8 +37,8 @@ typedef struct { - char buffer[WIFI_DATA_LEN]; - int len; + char buffer[WIFI_DATA_LEN]; + int len; }Wifi_Struct; // extern Wifi_Struct Wifi_Data; @@ -71,20 +71,20 @@ extern struct STRUCT_USART_Fram // 数据帧结构体 }InfBit; }; - union - { - __IO u16 State; - struct - { - __IO u16 Connect_flag:1; - __IO u16 Get_Ip_flag:1; - __IO u16 ESP8266_Ready_flag:1; - __IO u16 Trans_Mode:1; - __IO u16 Send_OK_flag:1; - __IO u16 Sta_Mode:1; - __IO u16 res:10; - }StateFlagBit; - }; + union + { + __IO u16 State; + struct + { + __IO u16 Connect_flag:1; + __IO u16 Get_Ip_flag:1; + __IO u16 ESP8266_Ready_flag:1; + __IO u16 Trans_Mode:1; + __IO u16 Send_OK_flag:1; + __IO u16 Sta_Mode:1; + __IO u16 res:10; + }StateFlagBit; + }; }ESP8266_Fram_Record_Struct; diff --git a/dev/team_x/metal_detection/main.c b/dev/team_x/metal_detection/main.c index 7b29d4a1..cc5e00a6 100644 --- a/dev/team_x/metal_detection/main.c +++ b/dev/team_x/metal_detection/main.c @@ -38,7 +38,7 @@ int main(void) // LiteOS内核初始? LiteOS_Status = LOS_KernelInit(); if (LiteOS_Status != LOS_OK) - { + { // LiteOS内核初始化失? return LOS_NOK; } else @@ -101,8 +101,8 @@ LiteOS_Status = LOS_KernelInit(); } // 正常情况不会执行到这? while(1) - { - ; + { + ; } } @@ -120,21 +120,21 @@ static UINT32 Task_Init(void) Status = Start_System_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } Status = Start_Serial_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } Status = Start_User_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } diff --git a/dev/team_x/metal_detection/serial_task.c b/dev/team_x/metal_detection/serial_task.c index b2e1878f..12bdc766 100644 --- a/dev/team_x/metal_detection/serial_task.c +++ b/dev/team_x/metal_detection/serial_task.c @@ -41,11 +41,11 @@ void Serial_Task(void) uint32_t i = 0,j = 0,k = 0; bool Mag_z_Flag = 0; float origin_mag_z = 0; - const uint16_t calibrateCount = 1000; - const uint16_t calibrateFrequency = 5; - const uint16_t calibrateAverageCount = 100; - uint16_t beepFrequency = 0; - const uint16_t taskDelayMs = 5; + const uint16_t calibrateCount = 1000; + const uint16_t calibrateFrequency = 5; + const uint16_t calibrateAverageCount = 100; + uint16_t beepFrequency = 0; + const uint16_t taskDelayMs = 5; while(1) { char buff[20] = {0}; @@ -54,12 +54,15 @@ void Serial_Task(void) if(i=calibrateAverageCount){ + if(j>=calibrateAverageCount) + { i = calibrateCount; Mag_z_Flag = true; - for(k=0;k 0){ - Wifi_Data.buffer[Wifi_Data.len] = data; - Wifi_Data.len++; - } - } - } - #endif - u8 ucCh; + #if 0 + volatile static uint8_t data; + if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) + { + data = USART_ReceiveData(USART2); + if(data == '{') + { + // ?测到JSON数据起始符后?始记录数? + Wifi_Data.buffer[0] = data; + Wifi_Data.len = 1; + }else if(data == '}'){ + // ?测到JSON数据结束符后停止数据记录 + Wifi_Data.buffer[Wifi_Data.len] = data; + // 将完整的JSON数据传入JSON解析函数 + Wifi_Parse_Json((char*) Wifi_Data.buffer); + Wifi_Data.len = 0; + }else{ + // 判断是否?测到JSON数据起始符并记录数据 + if(Wifi_Data.len > 0){ + Wifi_Data.buffer[Wifi_Data.len] = data; + Wifi_Data.len++; + } + } + } + #endif + u8 ucCh; if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { @@ -126,7 +126,7 @@ void USART2_IRQHandler(void) } } - if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) //如果总线空闲 + if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) //如果总线空闲 { ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? @@ -141,8 +141,8 @@ void USART2_IRQHandler(void) *****************************************************************/ void Wifi_Parse_Json(char* json) { - // 回调USB串口任务的JSON通讯协议解析与处理函? - Serial_Json_Handle(json); + // 回调USB串口任务的JSON通讯协议解析与处理函? + Serial_Json_Handle(json); } struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构? @@ -152,249 +152,249 @@ void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? - memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); + memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); delay_ms(time); //延时 } void ESP8266_send_at(void) { - char cStr [20]; - sprintf ( cStr, "AT"); - ESP8266_Send_AT_Cmd( cStr,100); + char cStr [20]; + sprintf ( cStr, "AT"); + ESP8266_Send_AT_Cmd( cStr,100); } void ESP8266_set_sta_mode(void) { - char cStr [20]; - sprintf ( cStr, "AT+CWMODE=1"); - ESP8266_Send_AT_Cmd( cStr,100); + char cStr [20]; + sprintf ( cStr, "AT+CWMODE=1"); + ESP8266_Send_AT_Cmd( cStr,100); } void ESP8266_connect_wifi(void) { - char cStr [64]; - sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); - Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); - ESP8266_Send_AT_Cmd( cStr,5000); + char cStr [64]; + sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); + Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); + ESP8266_Send_AT_Cmd( cStr,5000); } void ESP8266_TCP_connect(void) { - char cStr [64]; - sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); - ESP8266_Send_AT_Cmd( cStr,1000); + char cStr [64]; + sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); + ESP8266_Send_AT_Cmd( cStr,1000); } void ESP8266_start_send(unsigned int len) { - char cStr [20]; - sprintf ( cStr, "AT+CIPSEND=%d",len); - ESP8266_Send_AT_Cmd( cStr,50); + char cStr [20]; + sprintf ( cStr, "AT+CIPSEND=%d",len); + ESP8266_Send_AT_Cmd( cStr,50); } void ESP8266_close_tcp_connect(void) { - char cStr [20]; - sprintf ( cStr, "AT+CIPCLOSE"); - ESP8266_Send_AT_Cmd( cStr,200); + char cStr [20]; + sprintf ( cStr, "AT+CIPCLOSE"); + ESP8266_Send_AT_Cmd( cStr,200); } void ESP8266_send_data(char *dat,unsigned int len) { - ESP8266_start_send(len); //start send + ESP8266_start_send(len); //start send - ESP8266_USART("%s\r\n", dat); + ESP8266_USART("%s\r\n", dat); } // AT jiexi static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) { - //char *p = NULL; - const char * src = (const char *)pdat; - - if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) - { - ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; - } - else - { - //return -1; //ERR - } - - if(NULL != strstr(src, "+CIPSTART")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "+CIPCLOSE")) - { - if(strstr(src, "OK")) - { - return 0; - } - } - else if(NULL != strstr(src, "+CWMODE")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; - } - return 0; - } - else if(NULL != strstr(src, "+CWJAP")) - { - if(strstr(src, "CONNECTED")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "+CIPMODE")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; - } - return 0; - } - else if(NULL != strstr(src, "+CIPSEND")) - { - if(strstr(src, "SEND OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; - return 0; - } - - return -1; + //char *p = NULL; + const char * src = (const char *)pdat; + + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) + { + ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; + } + else + { + //return -1; //ERR + } + + if(NULL != strstr(src, "+CIPSTART")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPCLOSE")) + { + if(strstr(src, "OK")) + { + return 0; + } + } + else if(NULL != strstr(src, "+CWMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CWJAP")) + { + if(strstr(src, "CONNECTED")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CIPSEND")) + { + if(strstr(src, "SEND OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; + return 0; + } + + return -1; } signed char ESP8266_start_TCP(void) { - static unsigned char err = 0; - - char cStr [128]; - - unsigned char reconnect_cnt; - - - // AT - Usb_Write_Data("ESP2866 TEST\r\n"); - err = 0; - do - { - ESP8266_send_at(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); - - reconnect_cnt=0; - RECONNECT: - // AT+CIPCLOSE - Usb_Write_Data("close tcp connect\r\n"); - err = 0; - ESP8266_close_tcp_connect(); - - // AT+CWMODE set sta mode - Usb_Write_Data("set sta mode\r\n"); - err = 0; - do - { - ESP8266_set_sta_mode(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); - - - - // AT+CWJAP - Usb_Write_Data("connecting wifi......\r\n"); - err = 0; - ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; - do - { - ESP8266_connect_wifi(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); - - // AT+CIPSTART - Usb_Write_Data("building tcp connect......\r\n"); - err = 0; - ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; - do - { - ESP8266_TCP_connect(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - //return -1; - reconnect_cnt++; - Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); - if(reconnect_cnt<5) - { - goto RECONNECT; - } - else - { - return -1; - } - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); - - Usb_Write_Data("ESP8266 ok!!!\r\n"); - sprintf (cStr, "ESP8266 init success"); - Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); - ESP8266_send_data(cStr,strlen(cStr)); - - #if 0 - - while(1){ - - sprintf (cStr, "ESP8266 test"); - ESP8266_send_data(cStr,strlen(cStr)); - - delay_ms(2000); - } - - #endif + static unsigned char err = 0; + + char cStr [128]; + + unsigned char reconnect_cnt; + + + // AT + Usb_Write_Data("ESP2866 TEST\r\n"); + err = 0; + do + { + ESP8266_send_at(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); + + reconnect_cnt=0; + RECONNECT: + // AT+CIPCLOSE + Usb_Write_Data("close tcp connect\r\n"); + err = 0; + ESP8266_close_tcp_connect(); + + // AT+CWMODE set sta mode + Usb_Write_Data("set sta mode\r\n"); + err = 0; + do + { + ESP8266_set_sta_mode(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); + + + + // AT+CWJAP + Usb_Write_Data("connecting wifi......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; + do + { + ESP8266_connect_wifi(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); + + // AT+CIPSTART + Usb_Write_Data("building tcp connect......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; + do + { + ESP8266_TCP_connect(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + //return -1; + reconnect_cnt++; + Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); + if(reconnect_cnt<5) + { + goto RECONNECT; + } + else + { + return -1; + } + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); + + Usb_Write_Data("ESP8266 ok!!!\r\n"); + sprintf (cStr, "ESP8266 init success"); + Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); + ESP8266_send_data(cStr,strlen(cStr)); + + #if 0 + + while(1){ + + sprintf (cStr, "ESP8266 test"); + ESP8266_send_data(cStr,strlen(cStr)); + + delay_ms(2000); + } + + #endif return 0; } diff --git a/dev/team_x/metal_detection/wifi.h b/dev/team_x/metal_detection/wifi.h index f5dd11c7..66cf3e18 100644 --- a/dev/team_x/metal_detection/wifi.h +++ b/dev/team_x/metal_detection/wifi.h @@ -35,9 +35,10 @@ #define WIFI_DATA_LEN 128 -typedef struct{ - char buffer[WIFI_DATA_LEN]; - int len; +typedef struct +{ + char buffer[WIFI_DATA_LEN]; + int len; }Wifi_Struct; //extern Wifi_Struct Wifi_Data; @@ -70,21 +71,21 @@ extern struct STRUCT_USART_Fram // 数据帧结构体 }InfBit; }; - union - { - __IO u16 State; - struct + union + { + __IO u16 State; + struct { - __IO u16 Connect_flag:1; - __IO u16 Get_Ip_flag:1; - __IO u16 ESP8266_Ready_flag:1; - __IO u16 Trans_Mode:1; - __IO u16 Send_OK_flag:1; - __IO u16 Sta_Mode:1; - __IO u16 res:10; - - }StateFlagBit; - }; + __IO u16 Connect_flag:1; + __IO u16 Get_Ip_flag:1; + __IO u16 ESP8266_Ready_flag:1; + __IO u16 Trans_Mode:1; + __IO u16 Send_OK_flag:1; + __IO u16 Sta_Mode:1; + __IO u16 res:10; + + }StateFlagBit; + }; }ESP8266_Fram_Record_Struct; diff --git a/dev/team_x/robot_dog/main.c b/dev/team_x/robot_dog/main.c index 83e894c9..2d571f19 100644 --- a/dev/team_x/robot_dog/main.c +++ b/dev/team_x/robot_dog/main.c @@ -21,6 +21,8 @@ #include "main.h" +#define BAUD_115200 115200 + /******************************************************************* * @ 函数? ? main * @ 功能说明? 程序启动入口，主要初始化?些开发板的模块以及任? @@ -36,9 +38,9 @@ int main(void) #ifndef NO_HARMONY // LiteOS内核初始? -LiteOS_Status = LOS_KernelInit(); + LiteOS_Status = LOS_KernelInit(); if (LiteOS_Status != LOS_OK) - { + { // LiteOS内核初始化失? return LOS_NOK; } else @@ -79,14 +81,14 @@ LiteOS_Status = LOS_KernelInit(); Mpu_Init(); // wifi模块初始? - Wifi_Init(115200); + Wifi_Init(BAUD_115200); if(ESP8266_start_TCP() == -1) - { + { GREEN_LED_OFF(); } else - { + { GREEN_LED_ON(); } @@ -99,9 +101,9 @@ LiteOS_Status = LOS_KernelInit(); #endif } while(1) - { - ; - } + { + ; + } } /******************************************************************* @@ -118,21 +120,21 @@ static UINT32 Task_Init(void) Status = Start_System_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } Status = Start_Serial_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } Status = Start_User_Task(); if (Status != LOS_OK) - { + { // 任务启动失败 return LOS_NOK; } diff --git a/dev/team_x/robot_dog/wifi.c b/dev/team_x/robot_dog/wifi.c index f413fdae..915a08f9 100644 --- a/dev/team_x/robot_dog/wifi.c +++ b/dev/team_x/robot_dog/wifi.c @@ -49,75 +49,75 @@ extern signed char ESP8266_start_TCP(void); *****************************************************************/ void Wifi_Init(int baud_rate) { - USART_InitTypeDef USART_InitStructure; - GPIO_InitTypeDef GPIO_InitStructure; - NVIC_InitTypeDef NVIC_InitStructure; - - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); - RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); - - GPIO_PinAFConfig(GPIOD, GPIO_PinSource5, GPIO_AF_USART2); - GPIO_PinAFConfig(GPIOD, GPIO_PinSource6, GPIO_AF_USART2); - - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; - GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; - - GPIO_Init(GPIOD, &GPIO_InitStructure); - - USART_DeInit(USART2); - USART_StructInit(&USART_InitStructure); - USART_InitStructure.USART_BaudRate = baud_rate; - USART_InitStructure.USART_WordLength = USART_WordLength_8b; - USART_InitStructure.USART_StopBits = USART_StopBits_1; - USART_InitStructure.USART_Parity = USART_Parity_No; - USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; - USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; - - USART_Init(USART2, &USART_InitStructure); - USART_ITConfig(USART2, USART_IT_RXNE|USART_IT_IDLE, ENABLE); - - USART_Cmd(USART2, ENABLE); - - NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; - NVIC_Init(&NVIC_InitStructure); - - //ESP8266_start_TCP(); + USART_InitTypeDef USART_InitStructure; + GPIO_InitTypeDef GPIO_InitStructure; + NVIC_InitTypeDef NVIC_InitStructure; + + RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); + RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); + + GPIO_PinAFConfig(GPIOD, GPIO_PinSource5, GPIO_AF_USART2); + GPIO_PinAFConfig(GPIOD, GPIO_PinSource6, GPIO_AF_USART2); + + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; + GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; + + GPIO_Init(GPIOD, &GPIO_InitStructure); + + USART_DeInit(USART2); + USART_StructInit(&USART_InitStructure); + USART_InitStructure.USART_BaudRate = baud_rate; + USART_InitStructure.USART_WordLength = USART_WordLength_8b; + USART_InitStructure.USART_StopBits = USART_StopBits_1; + USART_InitStructure.USART_Parity = USART_Parity_No; + USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; + USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; + + USART_Init(USART2, &USART_InitStructure); + USART_ITConfig(USART2, USART_IT_RXNE|USART_IT_IDLE, ENABLE); + + USART_Cmd(USART2, ENABLE); + + NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; + NVIC_Init(&NVIC_InitStructure); + + //ESP8266_start_TCP(); } void ESP8266_wifi_data_deal(char * pdat) { const char * src = (const char *)pdat; - if(NULL != strstr(src, "pushUp")) - { - Usb_Write_Data("cmd:pushUp\r\n"); - Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_1); - } - else if(NULL != strstr(src, "handshake")) - { - Usb_Write_Data("cmd:handshake\r\n"); - Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_2); - } - else if(NULL != strstr(src, "dance")) - { - Usb_Write_Data("cmd:dance\r\n"); - Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_3); - } - else if(NULL != strstr(src, "urine")) - { - Usb_Write_Data("cmd:urine\r\n"); - Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_4); - } - else if(NULL != strstr(src, "LIVE")) - { - Usb_Write_Data("heart beat\r\n"); - ESP8266_send_heart_beat(); - } + if(NULL != strstr(src, "pushUp")) + { + Usb_Write_Data("cmd:pushUp\r\n"); + Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_1); + } + else if(NULL != strstr(src, "handshake")) + { + Usb_Write_Data("cmd:handshake\r\n"); + Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_2); + } + else if(NULL != strstr(src, "dance")) + { + Usb_Write_Data("cmd:dance\r\n"); + Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_3); + } + else if(NULL != strstr(src, "urine")) + { + Usb_Write_Data("cmd:urine\r\n"); + Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_4); + } + else if(NULL != strstr(src, "LIVE")) + { + Usb_Write_Data("heart beat\r\n"); + ESP8266_send_heart_beat(); + } } /****************************************************************** @@ -128,65 +128,75 @@ void ESP8266_wifi_data_deal(char * pdat) *****************************************************************/ void USART2_IRQHandler(void) { - #if 0 - volatile static uint8_t data; - if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) - { - data = USART_ReceiveData(USART2); - if(data == '{') - { - // ?测到JSON数据起始符后?始记录数? - Wifi_Data.buffer[0] = data; - Wifi_Data.len = 1; - }else if(data == '}'){ - // ?测到JSON数据结束符后停止数据记录 - Wifi_Data.buffer[Wifi_Data.len] = data; - // 将完整的JSON数据传入JSON解析函数 - Wifi_Parse_Json((char*) Wifi_Data.buffer); - Wifi_Data.len = 0; - }else{ - // 判断是否?测到JSON数据起始符并记录数据 - if(Wifi_Data.len > 0){ - Wifi_Data.buffer[Wifi_Data.len] = data; - Wifi_Data.len++; - } - } - } - #endif - u8 ucCh; + #if 0 + volatile static uint8_t data; + if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) + { + data = USART_ReceiveData(USART2); + if(data == '{') + { + // ?测到JSON数据起始符后?始记录数? + Wifi_Data.buffer[0] = data; + Wifi_Data.len = 1; + } + else if(data == '}') + { + // ?测到JSON数据结束符后停止数据记录 + Wifi_Data.buffer[Wifi_Data.len] = data; + // 将完整的JSON数据传入JSON解析函数 + Wifi_Parse_Json((char*) Wifi_Data.buffer); + Wifi_Data.len = 0; + } + else + { + // 判断是否?测到JSON数据起始符并记录数据 + if(Wifi_Data.len > 0) + { + Wifi_Data.buffer[Wifi_Data.len] = data; + Wifi_Data.len++; + } + } + } + #endif + u8 ucCh; if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { ucCh = USART_ReceiveData( USART2 ); - if(ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag) // serivce conneted - { - if(ucCh == '{') - { - // ?测到JSON数据起始符后?始记录数? - ESP8266_Fram_Record_Struct .Data_RX_BUF[0] = ucCh; - ESP8266_Fram_Record_Struct .InfBit .FramLength = 1; - }else if(ucCh == '}'){ - // ?测到JSON数据结束符后停止数据记录 - ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; - // 将完整的JSON数据传入JSON解析函数 - ESP8266_wifi_data_deal((char*) ESP8266_Fram_Record_Struct .Data_RX_BUF); - ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; - }else{ - // 判断是否?测到JSON数据起始符并记录数据 - if(ESP8266_Fram_Record_Struct .InfBit .FramLength > 0){ - ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; - ESP8266_Fram_Record_Struct .InfBit .FramLength++; - } - } - } - else // connecting - { - if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 ) ) - { - ESP8266_Fram_Record_Struct .Data_RX_BUF[ ESP8266_Fram_Record_Struct .InfBit .FramLength ++ ] = ucCh; - } - } + if(ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag) // serivce conneted + { + if(ucCh == '{') + { + // ?测到JSON数据起始符后?始记录数? + ESP8266_Fram_Record_Struct .Data_RX_BUF[0] = ucCh; + ESP8266_Fram_Record_Struct .InfBit .FramLength = 1; + } + else if(ucCh == '}') + { + // ?测到JSON数据结束符后停止数据记录 + ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; + // 将完整的JSON数据传入JSON解析函数 + ESP8266_wifi_data_deal((char*) ESP8266_Fram_Record_Struct .Data_RX_BUF); + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; + } + else + { + // 判断是否?测到JSON数据起始符并记录数据 + if(ESP8266_Fram_Record_Struct .InfBit .FramLength > 0) + { + ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; + ESP8266_Fram_Record_Struct .InfBit .FramLength++; + } + } + } + else // connecting + { + if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 ) ) + { + ESP8266_Fram_Record_Struct .Data_RX_BUF[ ESP8266_Fram_Record_Struct .InfBit .FramLength ++ ] = ucCh; + } + } } } @@ -198,8 +208,8 @@ void USART2_IRQHandler(void) *****************************************************************/ void Wifi_Parse_Json(char* json) { - // 回调USB串口任务的JSON通讯协议解析与处理函? - Serial_Json_Handle(json); + // 回调USB串口任务的JSON通讯协议解析与处理函? + Serial_Json_Handle(json); } struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构? @@ -209,149 +219,149 @@ void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? - memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); + memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); delay_ms(time); //延时 } void ESP8266_send_at(void) { - char cStr [20]; - sprintf ( cStr, "AT"); - ESP8266_Send_AT_Cmd( cStr,100); + char cStr [20]; + sprintf ( cStr, "AT"); + ESP8266_Send_AT_Cmd( cStr,100); } void ESP8266_set_sta_mode(void) { - char cStr [20]; - sprintf ( cStr, "AT+CWMODE=1"); - ESP8266_Send_AT_Cmd( cStr,100); + char cStr [20]; + sprintf ( cStr, "AT+CWMODE=1"); + ESP8266_Send_AT_Cmd( cStr,100); } void ESP8266_connect_wifi(void) { - char cStr [64]; - sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); - Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); - ESP8266_Send_AT_Cmd( cStr,5000); + char cStr [64]; + sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); + Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); + ESP8266_Send_AT_Cmd( cStr,5000); } void ESP8266_TCP_connect(void) { - char cStr [64]; - sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); - ESP8266_Send_AT_Cmd( cStr,1000); + char cStr [64]; + sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); + ESP8266_Send_AT_Cmd( cStr,1000); } void ESP8266_start_send(unsigned int len) { - char cStr [20]; - sprintf ( cStr, "AT+CIPSEND=%d",len); - ESP8266_Send_AT_Cmd( cStr,50); + char cStr [20]; + sprintf ( cStr, "AT+CIPSEND=%d",len); + ESP8266_Send_AT_Cmd( cStr,50); } void ESP8266_close_tcp_connect(void) { - char cStr [20]; - sprintf ( cStr, "AT+CIPCLOSE"); - ESP8266_Send_AT_Cmd( cStr,200); + char cStr [20]; + sprintf ( cStr, "AT+CIPCLOSE"); + ESP8266_Send_AT_Cmd( cStr,200); } void ESP8266_send_data(char *dat,unsigned int len) { - ESP8266_start_send(len); //start send + ESP8266_start_send(len); //start send - ESP8266_USART("%s\r\n", dat); + ESP8266_USART("%s\r\n", dat); } // heart beat void ESP8266_send_heart_beat(void) { - char cStr [12]; - sprintf (cStr, "hart beat"); - ESP8266_send_data(cStr,strlen(cStr)); + char cStr [12]; + sprintf (cStr, "hart beat"); + ESP8266_send_data(cStr,strlen(cStr)); } // AT 解析 static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) { - //char *p = NULL; - const char * src = (const char *)pdat; - - if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) - { - ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; - } - else - { - //return -1; //ERR - } - - if(NULL != strstr(src, "+CIPSTART")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "+CIPCLOSE")) - { - if(strstr(src, "OK")) - { - return 0; - } - } - else if(NULL != strstr(src, "+CWMODE")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; - } - return 0; - } - else if(NULL != strstr(src, "+CWJAP")) - { - if(strstr(src, "CONNECTED")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "+CIPMODE")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; - } - return 0; - } - else if(NULL != strstr(src, "+CIPSEND")) - { - if(strstr(src, "SEND OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; - } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; - return 0; - } + //char *p = NULL; + const char * src = (const char *)pdat; + + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) + { + ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; + } + else + { + //return -1; //ERR + } + + if(NULL != strstr(src, "+CIPSTART")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPCLOSE")) + { + if(strstr(src, "OK")) + { + return 0; + } + } + else if(NULL != strstr(src, "+CWMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CWJAP")) + { + if(strstr(src, "CONNECTED")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CIPSEND")) + { + if(strstr(src, "SEND OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; + return 0; + } return -1; } @@ -360,109 +370,109 @@ static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) signed char ESP8266_start_TCP(void) { - static unsigned char err = 0; - - char cStr [128]; - - unsigned char reconnect_cnt; - - - // AT - Usb_Write_Data("ESP2866 TEST\r\n"); - err = 0; - do - { - ESP8266_send_at(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); - - reconnect_cnt=0; - RECONNECT: - // AT+CIPCLOSE - Usb_Write_Data("close tcp connect\r\n"); - err = 0; - ESP8266_close_tcp_connect(); - - // AT+CWMODE set sta mode - Usb_Write_Data("set sta mode\r\n"); - err = 0; - do - { - ESP8266_set_sta_mode(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); - - - - // AT+CWJAP - Usb_Write_Data("connecting wifi......\r\n"); - err = 0; - ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; - do - { - ESP8266_connect_wifi(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - return -1; - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); - - // AT+CIPSTART - Usb_Write_Data("building tcp connect......\r\n"); - err = 0; - ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; - do - { - ESP8266_TCP_connect(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - //return -1; - reconnect_cnt++; - Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); - if(reconnect_cnt<5) - { - goto RECONNECT; - } - else - { - return -1; - } - } - GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); - - Usb_Write_Data("ESP8266 ok!!!\r\n"); - sprintf (cStr, "ESP8266 init success"); - Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); - ESP8266_send_data(cStr,strlen(cStr)); - - #if 0 - - while(1){ - - sprintf (cStr, "ESP8266 test"); - ESP8266_send_data(cStr,strlen(cStr)); - - delay_ms(2000); - } - - #endif - - return 0; + static unsigned char err = 0; + + char cStr [128]; + + unsigned char reconnect_cnt; + + + // AT + Usb_Write_Data("ESP2866 TEST\r\n"); + err = 0; + do + { + ESP8266_send_at(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); + + reconnect_cnt=0; + RECONNECT: + // AT+CIPCLOSE + Usb_Write_Data("close tcp connect\r\n"); + err = 0; + ESP8266_close_tcp_connect(); + + // AT+CWMODE set sta mode + Usb_Write_Data("set sta mode\r\n"); + err = 0; + do + { + ESP8266_set_sta_mode(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); + + + + // AT+CWJAP + Usb_Write_Data("connecting wifi......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; + do + { + ESP8266_connect_wifi(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); + + // AT+CIPSTART + Usb_Write_Data("building tcp connect......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; + do + { + ESP8266_TCP_connect(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + //return -1; + reconnect_cnt++; + Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); + if(reconnect_cnt<5) + { + goto RECONNECT; + } + else + { + return -1; + } + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); + + Usb_Write_Data("ESP8266 ok!!!\r\n"); + sprintf (cStr, "ESP8266 init success"); + Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); + ESP8266_send_data(cStr,strlen(cStr)); + + #if 0 + + while(1){ + + sprintf (cStr, "ESP8266 test"); + ESP8266_send_data(cStr,strlen(cStr)); + + delay_ms(2000); + } + + #endif + + return 0; } diff --git a/dev/team_x/robot_dog/wifi.h b/dev/team_x/robot_dog/wifi.h index 9ab53666..98635209 100644 --- a/dev/team_x/robot_dog/wifi.h +++ b/dev/team_x/robot_dog/wifi.h @@ -37,8 +37,8 @@ typedef struct { - char buffer[WIFI_DATA_LEN]; - int len; + char buffer[WIFI_DATA_LEN]; + int len; }Wifi_Struct; // extern Wifi_Struct Wifi_Data; @@ -71,20 +71,20 @@ extern struct STRUCT_USART_Fram // }InfBit; }; - union - { - __IO u16 State; - struct - { - __IO u16 Connect_flag:1; - __IO u16 Get_Ip_flag:1; - __IO u16 ESP8266_Ready_flag:1; - __IO u16 Trans_Mode:1; - __IO u16 Send_OK_flag:1; - __IO u16 Sta_Mode:1; - __IO u16 res:10; - }StateFlagBit; - }; + union + { + __IO u16 State; + struct + { + __IO u16 Connect_flag:1; + __IO u16 Get_Ip_flag:1; + __IO u16 ESP8266_Ready_flag:1; + __IO u16 Trans_Mode:1; + __IO u16 Send_OK_flag:1; + __IO u16 Sta_Mode:1; + __IO u16 res:10; + }StateFlagBit; + }; }ESP8266_Fram_Record_Struct; @@ -94,7 +94,7 @@ signed char ESP8266_start_TCP(void); void Wifi_Init(int baud_rate); void ESP8266_AT(void); void ESP8266_Send_AT_Cmd(char *cmd,u32 time); -void USART_printf( USART_TypeDef * USARTx, char * Data, ... ); +void USART_printf(USART_TypeDef * USARTx, char * Data, ... ); void ESP8266_send_heart_beat(void); -- Gitee From 4f3eb27a57aedab2f06a506eb9a8070c56e80886 Mon Sep 17 00:00:00 2001 From: zoumin888 <510111679@qq.com> Date: Mon, 18 Apr 2022 18:18:48 +0800 Subject: [PATCH 6/7] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=8C=87=E5=8D=97?= =?UTF-8?q?=E9=92=88=E3=80=81=E9=87=91=E5=B1=9E=E6=8E=A2=E6=B5=8B=E5=99=A8?= =?UTF-8?q?=E3=80=81=E6=9C=BA=E5=99=A8=E7=8B=97=20=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=92=8C=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: zoumin888 <510111679@qq.com> --- dev/team_x/electronic_compass/main.c | 37 ++-- dev/team_x/electronic_compass/serial_task.c | Bin 20242 -> 19976 bytes dev/team_x/electronic_compass/wifi.c | 221 ++++++++------------ dev/team_x/electronic_compass/wifi.h | 17 +- dev/team_x/metal_detection/main.c | 29 ++- dev/team_x/metal_detection/serial_task.c | 25 +-- dev/team_x/metal_detection/wifi.c | 178 +++++----------- dev/team_x/metal_detection/wifi.h | 19 +- dev/team_x/robot_dog/wifi.c | 208 ++++++------------ dev/team_x/robot_dog/wifi.h | 18 +- 10 files changed, 259 insertions(+), 493 deletions(-) diff --git a/dev/team_x/electronic_compass/main.c b/dev/team_x/electronic_compass/main.c index 35e2fc19..dc3c5d3f 100644 --- a/dev/team_x/electronic_compass/main.c +++ b/dev/team_x/electronic_compass/main.c @@ -21,6 +21,8 @@ #include "main.h" +#define BAUD_115200 115200 + /******************************************************************* * @ 函数? ? main * @ 功能说明? 程序启动入口，主要初始化?些开发板的模块以及任? @@ -36,9 +38,8 @@ int main(void) #ifndef NO_HARMONY // LiteOS内核初始? -LiteOS_Status = LOS_KernelInit(); - if (LiteOS_Status != LOS_OK) - { + LiteOS_Status = LOS_KernelInit(); + if (LiteOS_Status != LOS_OK) { // LiteOS内核初始化失? return LOS_NOK; } else @@ -80,29 +81,23 @@ LiteOS_Status = LOS_KernelInit(); Mpu_Init(); // wifi模块初始? - Wifi_Init(115200); + Wifi_Init(BAUD_115200); - if(ESP8266_start_TCP() == -1) - { + if(ESP8266_start_TCP() == -1) { GREEN_LED_OFF(); - } - else{ + } else { GREEN_LED_ON(); } - #ifndef NO_HARMONY + #ifndef NO_HARMONY // 任务初始? LiteOS_Status = Task_Init(); // ?启LiteOS任务调度 LOS_Start(); - - #endif - + #endif } - - while(1) - { + while(1) { ; } } @@ -120,29 +115,25 @@ static UINT32 Task_Init(void) UINT32 Status = LOS_OK; Status = Start_System_Task(); - if (Status != LOS_OK) - { + if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } Status = Start_Serial_Task(); - if (Status != LOS_OK) - { + if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } Status = Start_User_Task(); - if (Status != LOS_OK) - { + if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } // ?有任务启动成功后播放?机音? - if(Status == LOS_OK) - { + if(Status == LOS_OK) { //Buzzer_Start_Music(); RED_LED_ON(); //红色作为电源指示? Usb_Write_Data("ALL OK\r\n"); diff --git a/dev/team_x/electronic_compass/serial_task.c b/dev/team_x/electronic_compass/serial_task.c index a37692ebbcb0b4c585639335128217d4db1af2c2..488234368683f6685eca3d948e58caad5eaf8e45 100644 GIT binary patch delta 168 zcmbO~_EX^4d`jL!9{^*=IC}s9 delta 210 zcmeB}!#HUkh`O^(wR*!+rb3(I5|ZKKWmghLo7E69jU4)e8|yiZtYv!AFA zBS>cQEU{B?2?1HQ$y3CQfZ`&P14K9`FL0Ebyg`m<@&##;$?GJ9Cg(`#O#UFwH+h2$ x$L1)BcT8Xd1Y|iT7f736(X;}K7!OeM929W}If==4q%$VJkwr0MvxD3TeE>34NW}mE diff --git a/dev/team_x/electronic_compass/wifi.c b/dev/team_x/electronic_compass/wifi.c index 765f7cda..444f932c 100644 --- a/dev/team_x/electronic_compass/wifi.c +++ b/dev/team_x/electronic_compass/wifi.c @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) 2021 Huawei Device Co., Ltd. * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -13,8 +13,8 @@ * limitations under the License. */ -/** - ****************************************************************************** + +/******************************************************************************* * @file wifi.c * @author GEEKROS, site:www.geekros.com ****************************************************************************** @@ -25,8 +25,8 @@ //Wifi_Struct Wifi_Data; -//#define TCP_SERVICE_IP "\"172.20.10.5\"" -//#define TCP_COM 50000 +// #define TCP_SERVICE_IP "\"172.20.10.5\"" +// #define TCP_COM 50000 @@ -79,7 +79,7 @@ void Wifi_Init(int baud_rate) NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); - // ESP8266_start_TCP(); + //ESP8266_start_TCP(); } /****************************************************************** @@ -92,23 +92,21 @@ void USART2_IRQHandler(void) { #if 0 volatile static uint8_t data; - if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) - { + if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) { data = USART_ReceiveData(USART2); - if(data == '{') - { + if(data == '{') { // ?测到JSON数据起始符后?始记录数? Wifi_Data.buffer[0] = data; Wifi_Data.len = 1; - }else if(data == '}'){ + } else if(data == '}') { // ?测到JSON数据结束符后停止数据记录 Wifi_Data.buffer[Wifi_Data.len] = data; // 将完整的JSON数据传入JSON解析函数 Wifi_Parse_Json((char*) Wifi_Data.buffer); Wifi_Data.len = 0; - }else{ + } else { // 判断是否?测到JSON数据起始符并记录数据 - if(Wifi_Data.len > 0){ + if(Wifi_Data.len > 0) { Wifi_Data.buffer[Wifi_Data.len] = data; Wifi_Data.len++; } @@ -117,19 +115,16 @@ void USART2_IRQHandler(void) #endif u8 ucCh; - if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) - { + if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { ucCh = USART_ReceiveData( USART2 ); - if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 ) ) - { + if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 )) { ESP8266_Fram_Record_Struct .Data_RX_BUF[ ESP8266_Fram_Record_Struct .InfBit .FramLength ++ ] = ucCh; } } - if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) // 如果总线空闲 - { + if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) { //如果总线空闲 ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; - ucCh = USART_ReceiveData( USART2 ); // 由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? + ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? } } @@ -150,7 +145,6 @@ struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个 // cmd 待发送的指令 void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { - ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); @@ -162,7 +156,6 @@ void ESP8266_send_at(void) char cStr [20]; sprintf ( cStr, "AT"); ESP8266_Send_AT_Cmd( cStr,100); - ESP8266_Send_AT_Cmd( cStr,100); } void ESP8266_set_sta_mode(void) @@ -204,108 +197,74 @@ void ESP8266_close_tcp_connect(void) void ESP8266_send_data(char *dat,unsigned int len) { ESP8266_start_send(len); //start send + ESP8266_USART("%s\r\n", dat); } // AT jiexi -static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 *err) +static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) { //char *p = NULL; const char * src = (const char *)pdat; - if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) - { + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) { ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; - } - else - { + } else { //return -1; //ERR } - if(NULL != strstr(src, "+CIPSTART")) - { - if(strstr(src, "OK")) - { + if(NULL != strstr(src, "+CIPSTART")) { + if(strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; - } - else - { + } else { ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; } return 0; - } - else if(NULL != strstr(src, "+CIPCLOSE")) - { - if(strstr(src, "OK")) - { - return 0; - } - } - else if(NULL != strstr(src, "+CWMODE")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; - } + } else if(NULL != strstr(src, "+CIPCLOSE")) { + if(strstr(src, "OK")) { return 0; + } } - else if(NULL != strstr(src, "+CWJAP")) - { - if(strstr(src, "CONNECTED")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + else if(NULL != strstr(src, "+CWMODE")) { + if(strstr(src, "OK")) { + ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; } - else - { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; - } - return 0; - } - else if(NULL != strstr(src, "+CIPMODE")) - { - if(strstr(src, "OK")) - { + return 0; + } else if(NULL != strstr(src, "+CWJAP")) { + if(strstr(src, "CONNECTED")) { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + } else { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; + } + return 0; + } else if(NULL != strstr(src, "+CIPMODE")) { + if(strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; } return 0; - } - else if(NULL != strstr(src, "+CIPSEND")) - { - if(strstr(src, "SEND OK")) - { + } else if(NULL != strstr(src, "+CIPSEND")) { + if(strstr(src, "SEND OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; - } - else - { + } else { ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; } return 0; - } - else if(NULL != strstr(src, "OK")) - { + } else if(NULL != strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; return 0; } - return -1; } - - signed char ESP8266_start_TCP(void) { static unsigned char err = 0; - char cStr [128]; - unsigned char reconnect_cnt; - - // AT Usb_Write_Data("ESP2866 TEST\r\n"); err = 0; - do - { + do { ESP8266_send_at(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); @@ -326,8 +285,7 @@ signed char ESP8266_start_TCP(void) // AT+CWMODE set sta mode Usb_Write_Data("set sta mode\r\n"); err = 0; - do - { + do { ESP8266_set_sta_mode(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); if(err++ > 5) @@ -343,8 +301,7 @@ signed char ESP8266_start_TCP(void) Usb_Write_Data("connecting wifi......\r\n"); err = 0; ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; - do - { + do { ESP8266_connect_wifi(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); if(err++ > 5) @@ -358,22 +315,17 @@ signed char ESP8266_start_TCP(void) Usb_Write_Data("building tcp connect......\r\n"); err = 0; ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; - do - { + do { ESP8266_TCP_connect(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - //return -1; + if(err++ > 5) { + //return -1; reconnect_cnt++; Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); - if(reconnect_cnt<5) - { + if(reconnect_cnt<5) { goto RECONNECT; - } - else - { - return -1; + } else { + return -1; } } GREEN_LED_TOGGLE(); @@ -388,8 +340,8 @@ signed char ESP8266_start_TCP(void) while(1){ - sprintf (cStr, "ESP8266 test"); - ESP8266_send_data(cStr,strlen(cStr)); + sprintf (cStr, "ESP8266 test"); + ESP8266_send_data(cStr,strlen(cStr)); delay_ms(2000); } @@ -407,22 +359,19 @@ static char *itoa( int value, char *string, int radix ) char *ptr = string; /* This implementation only works for decimal numbers. */ - if (radix != 10) - { + if (radix != 10) { *ptr = 0; return string; } - if (!value) - { + if (!value) { *ptr++ = 0x30; *ptr = 0; return string; } /* if this is a negative value insert the minus sign. */ - if (value < 0) - { + if (value < 0) { *ptr++ = '-'; /* Make the value positive. */ @@ -430,12 +379,10 @@ static char *itoa( int value, char *string, int radix ) } - for (i = 10000; i > 0; i /= 10) - { + for (i = 10000; i > 0; i /= 10) { d = value / i; - if (d || flag) - { + if (d || flag) { *ptr++ = (char)(d + 0x30); value -= (d * i); flag = 1; @@ -454,23 +401,20 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) const char *s; int d; char buf[16]; - - va_list ap; va_start(ap, Data); - while ( * Data != 0 ) // 判断数据是否到达结束符 - { - if ( * Data == 0x5c ) //'\' - { - switch ( *++Data ) - { - case 'r': //回车符 + while ( * Data != 0 ) { // 判断数据是否到达结束? + + if ( * Data == 0x5c ) { //'\' + + switch ( *++Data ) { + case 'r': //回车? USART_SendData(USARTx, 0x0d); Data ++; break; - case 'n': //换行符 + case 'n': //换行? USART_SendData(USARTx, 0x0a); Data ++; break; @@ -479,30 +423,29 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) Data ++; break; } - } - - else if ( * Data == '%') - { - switch ( *++Data ) + } else if ( * Data == '%') { + switch (*++Data) { - case 's': //字符串 + case 's': //字符? s = va_arg(ap, const char *); - for ( ; *s; s++) - { + for ( ; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ) { + ; + } } Data++; break; case 'd': - //十进制 + //十进? d = va_arg(ap, int); itoa(d, buf, 10); - for (s = buf; *s; s++) - { + for (s = buf; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} + while(USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET) { + ; + } } Data++; break; @@ -510,12 +453,14 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) Data++; break; } + } else { + USART_SendData(USARTx, *Data++); + while (USART_GetFlagStatus (USARTx, USART_FLAG_TXE) == RESET ) { + ; + } } - else USART_SendData(USARTx, *Data++); - while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ){;} + } } - - diff --git a/dev/team_x/electronic_compass/wifi.h b/dev/team_x/electronic_compass/wifi.h index ccf7487a..b80860ff 100644 --- a/dev/team_x/electronic_compass/wifi.h +++ b/dev/team_x/electronic_compass/wifi.h @@ -35,8 +35,7 @@ #define WIFI_DATA_LEN 128 -typedef struct -{ +typedef struct { char buffer[WIFI_DATA_LEN]; int len; }Wifi_Struct; @@ -61,21 +60,17 @@ void Wifi_Parse_Json(char* json); extern struct STRUCT_USART_Fram // 数据帧结构体 { u8 Data_RX_BUF[RX_BUF_MAX_LEN]; - union - { + union { __IO u16 InfAll; - struct - { + struct { __IO u16 FramLength :15; // 14:0 __IO u16 FramFinishFlag :1; // 15 }InfBit; }; - union - { + union { __IO u16 State; - struct - { + struct { __IO u16 Connect_flag:1; __IO u16 Get_Ip_flag:1; __IO u16 ESP8266_Ready_flag:1; @@ -94,7 +89,7 @@ signed char ESP8266_start_TCP(void); void Wifi_Init(int baud_rate); void ESP8266_AT(void); void ESP8266_Send_AT_Cmd(char *cmd,u32 time); -void USART_printf( USART_TypeDef * USARTx, char * Data, ... ); +void USART_printf(USART_TypeDef * USARTx, char * Data, ... ); #endif \ No newline at end of file diff --git a/dev/team_x/metal_detection/main.c b/dev/team_x/metal_detection/main.c index cc5e00a6..13587190 100644 --- a/dev/team_x/metal_detection/main.c +++ b/dev/team_x/metal_detection/main.c @@ -37,13 +37,14 @@ int main(void) // LiteOS内核初始? LiteOS_Status = LOS_KernelInit(); - if (LiteOS_Status != LOS_OK) - { + if (LiteOS_Status != LOS_OK) { // LiteOS内核初始化失? return LOS_NOK; - } else -#endif + } else { +#else { +#endif + // SystemClock_Config(); // 时钟初始? @@ -83,10 +84,9 @@ LiteOS_Status = LOS_KernelInit(); // wifi模块初始? Wifi_Init(115200); - if(ESP8266_start_TCP() == -1){ + if(ESP8266_start_TCP() == -1) { GREEN_LED_OFF(); - } - else{ + } else { GREEN_LED_ON(); } #endif @@ -100,8 +100,7 @@ LiteOS_Status = LOS_KernelInit(); #endif } // 正常情况不会执行到这? - while(1) - { + while(1) { ; } } @@ -119,29 +118,25 @@ static UINT32 Task_Init(void) UINT32 Status = LOS_OK; Status = Start_System_Task(); - if (Status != LOS_OK) - { + if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } Status = Start_Serial_Task(); - if (Status != LOS_OK) - { + if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } Status = Start_User_Task(); - if (Status != LOS_OK) - { + if (Status != LOS_OK) { // 任务启动失败 return LOS_NOK; } // ?有任务启动成功后播放?机音? - if(Status == LOS_OK) - { + if(Status == LOS_OK) { //Buzzer_Start_Music(); RED_LED_ON(); //红色作为电源指示? Usb_Write_Data("ALL OK\r\n"); diff --git a/dev/team_x/metal_detection/serial_task.c b/dev/team_x/metal_detection/serial_task.c index 12bdc766..61071c4c 100644 --- a/dev/team_x/metal_detection/serial_task.c +++ b/dev/team_x/metal_detection/serial_task.c @@ -46,23 +46,19 @@ void Serial_Task(void) const uint16_t calibrateAverageCount = 100; uint16_t beepFrequency = 0; const uint16_t taskDelayMs = 5; - while(1) - { + while(1) { char buff[20] = {0}; Gauss_Mag_z = Mpu_Calc.mag_z * 0.15f * 0.01f; - if(i=calibrateAverageCount) - { + if(j>=calibrateAverageCount) { i = calibrateCount; Mag_z_Flag = true; - for(k=0;k 0.03f) - { + if(Mag_z_Flag) { + if(fabs(Gauss_Mag_z - origin_mag_z) > 0.03f) { // ⵽ ͸Ӧö beepFrequency = 50; TIM_SetCompare1(TIM12, beepFrequency); memset(buff,0x00,sizeof(buff)); sprintf(buff,"angle:%s","Detected"); ESP8266_send_data(buff,strlen(buff)); - } - else - { + } else { // δ⵽رշ ͸Ӧö beepFrequency = 300; TIM_SetCompare1(TIM12, beepFrequency); @@ -95,8 +88,6 @@ void Serial_Task(void) ESP8266_send_data(buff,strlen(buff)); } } - - Task_Delay(taskDelayMs); } } diff --git a/dev/team_x/metal_detection/wifi.c b/dev/team_x/metal_detection/wifi.c index 11321548..95ef0fd4 100644 --- a/dev/team_x/metal_detection/wifi.c +++ b/dev/team_x/metal_detection/wifi.c @@ -117,17 +117,14 @@ void USART2_IRQHandler(void) #endif u8 ucCh; - if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) - { + if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { ucCh = USART_ReceiveData( USART2 ); - if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 ) ) - { + if(ESP8266_Fram_Record_Struct .InfBit .FramLength < (RX_BUF_MAX_LEN - 1)) { ESP8266_Fram_Record_Struct .Data_RX_BUF[ ESP8266_Fram_Record_Struct .InfBit .FramLength ++ ] = ucCh; } } - if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) //如果总线空闲 - { + if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) { //如果总线空闲 ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? } @@ -150,7 +147,6 @@ struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个 // cmd 待发送的指令 void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { - ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); @@ -213,104 +209,69 @@ static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) //char *p = NULL; const char * src = (const char *)pdat; - if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) - { + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) { ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; - } - else - { + } else { //return -1; //ERR } - if(NULL != strstr(src, "+CIPSTART")) - { - if(strstr(src, "OK")) - { + if(NULL != strstr(src, "+CIPSTART")) { + if(strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; - } - else - { + } else { ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; } return 0; - } - else if(NULL != strstr(src, "+CIPCLOSE")) - { - if(strstr(src, "OK")) - { + } else if(NULL != strstr(src, "+CIPCLOSE")) { + if(strstr(src, "OK")) { return 0; } - } - else if(NULL != strstr(src, "+CWMODE")) - { - if(strstr(src, "OK")) - { - ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; - } - return 0; - } - else if(NULL != strstr(src, "+CWJAP")) - { - if(strstr(src, "CONNECTED")) + } else if(NULL != strstr(src, "+CWMODE")) { + if(strstr(src, "OK")) { - ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; } - else - { + return 0; + } else if(NULL != strstr(src, "+CWJAP")) { + if(strstr(src, "CONNECTED")) { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + } else { ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; } return 0; - } - else if(NULL != strstr(src, "+CIPMODE")) - { - if(strstr(src, "OK")) - { + } else if(NULL != strstr(src, "+CIPMODE")) { + if(strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; } return 0; - } - else if(NULL != strstr(src, "+CIPSEND")) - { - if(strstr(src, "SEND OK")) - { + } else if(NULL != strstr(src, "+CIPSEND")) { + if(strstr(src, "SEND OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; - } - else - { + } else { ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; } return 0; - } - else if(NULL != strstr(src, "OK")) - { + } else if(NULL != strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; return 0; } - return -1; } - - signed char ESP8266_start_TCP(void) { static unsigned char err = 0; - char cStr [128]; - unsigned char reconnect_cnt; - - + // AT Usb_Write_Data("ESP2866 TEST\r\n"); err = 0; - do - { + do { ESP8266_send_at(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { + if(err++ > 5) { return -1; } GREEN_LED_TOGGLE(); @@ -326,12 +287,10 @@ signed char ESP8266_start_TCP(void) // AT+CWMODE set sta mode Usb_Write_Data("set sta mode\r\n"); err = 0; - do - { + do { ESP8266_set_sta_mode(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { + if(err++ > 5) { return -1; } GREEN_LED_TOGGLE(); @@ -343,12 +302,10 @@ signed char ESP8266_start_TCP(void) Usb_Write_Data("connecting wifi......\r\n"); err = 0; ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; - do - { + do { ESP8266_connect_wifi(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { + if(err++ > 5) { return -1; } GREEN_LED_TOGGLE(); @@ -358,21 +315,16 @@ signed char ESP8266_start_TCP(void) Usb_Write_Data("building tcp connect......\r\n"); err = 0; ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; - do - { + do { ESP8266_TCP_connect(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { + if(err++ > 5) { //return -1; reconnect_cnt++; Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); - if(reconnect_cnt<5) - { + if(reconnect_cnt<5) { goto RECONNECT; - } - else - { + } else { return -1; } } @@ -385,7 +337,6 @@ signed char ESP8266_start_TCP(void) ESP8266_send_data(cStr,strlen(cStr)); #if 0 - while(1){ sprintf (cStr, "ESP8266 test"); @@ -399,7 +350,6 @@ signed char ESP8266_start_TCP(void) return 0; } - static char *itoa( int value, char *string, int radix ) { int i, d; @@ -407,35 +357,28 @@ static char *itoa( int value, char *string, int radix ) char *ptr = string; /* This implementation only works for decimal numbers. */ - if (radix != 10) - { + if (radix != 10) { *ptr = 0; return string; } - if (!value) - { + if (!value) { *ptr++ = 0x30; *ptr = 0; return string; } /* if this is a negative value insert the minus sign. */ - if (value < 0) - { + if (value < 0) { *ptr++ = '-'; /* Make the value positive. */ value *= -1; - } - for (i = 10000; i > 0; i /= 10) - { + for (i = 10000; i > 0; i /= 10) { d = value / i; - - if (d || flag) - { + if (d || flag) { *ptr++ = (char)(d + 0x30); value -= (d * i); flag = 1; @@ -454,17 +397,12 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) const char *s; int d; char buf[16]; - - va_list ap; va_start(ap, Data); - while ( * Data != 0 ) // 判断数据是否到达结束? - { - if ( * Data == 0x5c ) //'\' - { - switch ( *++Data ) - { + while ( * Data != 0 ) { // 判断数据是否到达结束? + if ( * Data == 0x5c ) { //'\' + switch (*++Data) { case 'r': //回车? USART_SendData(USARTx, 0x0d); Data ++; @@ -479,18 +417,15 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) Data ++; break; } - } - - else if ( * Data == '%') - { - switch ( *++Data ) - { + } else if ( * Data == '%') { + switch ( *++Data ) { case 's': //字符? s = va_arg(ap, const char *); - for ( ; *s; s++) - { + for ( ; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} + while (USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET) { + ; + } } Data++; break; @@ -499,10 +434,11 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) //十进? d = va_arg(ap, int); itoa(d, buf, 10); - for (s = buf; *s; s++) - { + for (s = buf; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} + while (USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET) { + ; + } } Data++; break; @@ -510,10 +446,12 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) Data++; break; } + } else { + USART_SendData(USARTx, *Data++); + while (USART_GetFlagStatus (USARTx, USART_FLAG_TXE) == RESET) { + ; + } } - else USART_SendData(USARTx, *Data++); - while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ){;} - } } diff --git a/dev/team_x/metal_detection/wifi.h b/dev/team_x/metal_detection/wifi.h index 66cf3e18..f5c7e2b1 100644 --- a/dev/team_x/metal_detection/wifi.h +++ b/dev/team_x/metal_detection/wifi.h @@ -35,8 +35,7 @@ #define WIFI_DATA_LEN 128 -typedef struct -{ +typedef struct { char buffer[WIFI_DATA_LEN]; int len; }Wifi_Struct; @@ -58,24 +57,19 @@ void Wifi_Parse_Json(char* json); #define RX_BUF_MAX_LEN 1024 // ?大字节数 -extern struct STRUCT_USART_Fram // 数据帧结构体 -{ +extern struct STRUCT_USART_Fram { // 数据帧结构体 u8 Data_RX_BUF[RX_BUF_MAX_LEN]; - union - { + union { __IO u16 InfAll; - struct - { + struct { __IO u16 FramLength :15; // 14:0 __IO u16 FramFinishFlag :1; // 15 }InfBit; }; - union - { + union { __IO u16 State; - struct - { + struct { __IO u16 Connect_flag:1; __IO u16 Get_Ip_flag:1; __IO u16 ESP8266_Ready_flag:1; @@ -86,7 +80,6 @@ extern struct STRUCT_USART_Fram // 数据帧结构体 }StateFlagBit; }; - }ESP8266_Fram_Record_Struct; diff --git a/dev/team_x/robot_dog/wifi.c b/dev/team_x/robot_dog/wifi.c index 915a08f9..aee487d0 100644 --- a/dev/team_x/robot_dog/wifi.c +++ b/dev/team_x/robot_dog/wifi.c @@ -93,28 +93,19 @@ void Wifi_Init(int baud_rate) void ESP8266_wifi_data_deal(char * pdat) { const char * src = (const char *)pdat; - if(NULL != strstr(src, "pushUp")) - { + if(NULL != strstr(src, "pushUp")) { Usb_Write_Data("cmd:pushUp\r\n"); Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_1); - } - else if(NULL != strstr(src, "handshake")) - { + } else if(NULL != strstr(src, "handshake")) { Usb_Write_Data("cmd:handshake\r\n"); Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_2); - } - else if(NULL != strstr(src, "dance")) - { + } else if(NULL != strstr(src, "dance")) { Usb_Write_Data("cmd:dance\r\n"); Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_3); - } - else if(NULL != strstr(src, "urine")) - { + } else if(NULL != strstr(src, "urine")) { Usb_Write_Data("cmd:urine\r\n"); Pwm_Motion(PWM_CH,PWM_RATE,PWM_WITH_4); - } - else if(NULL != strstr(src, "LIVE")) - { + } else if(NULL != strstr(src, "LIVE")) { Usb_Write_Data("heart beat\r\n"); ESP8266_send_heart_beat(); } @@ -160,40 +151,29 @@ void USART2_IRQHandler(void) #endif u8 ucCh; - if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) - { + if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { ucCh = USART_ReceiveData( USART2 ); - if(ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag) // serivce conneted - { - if(ucCh == '{') - { + if(ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag) { // serivce conneted + if(ucCh == '{') { // ?测到JSON数据起始符后?始记录数? ESP8266_Fram_Record_Struct .Data_RX_BUF[0] = ucCh; ESP8266_Fram_Record_Struct .InfBit .FramLength = 1; - } - else if(ucCh == '}') - { + } else if(ucCh == '}') { // ?测到JSON数据结束符后停止数据记录 ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; // 将完整的JSON数据传入JSON解析函数 ESP8266_wifi_data_deal((char*) ESP8266_Fram_Record_Struct .Data_RX_BUF); ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; - } - else - { + } else { // 判断是否?测到JSON数据起始符并记录数据 - if(ESP8266_Fram_Record_Struct .InfBit .FramLength > 0) - { + if(ESP8266_Fram_Record_Struct .InfBit .FramLength > 0) { ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; ESP8266_Fram_Record_Struct .InfBit .FramLength++; } } - } - else // connecting - { - if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 ) ) - { + } else { // connecting + if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1)) { ESP8266_Fram_Record_Struct .Data_RX_BUF[ ESP8266_Fram_Record_Struct .InfBit .FramLength ++ ] = ucCh; } } @@ -289,76 +269,48 @@ static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) //char *p = NULL; const char * src = (const char *)pdat; - if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) - { + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) { ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; - } - else - { + } else { //return -1; //ERR } - if(NULL != strstr(src, "+CIPSTART")) - { - if(strstr(src, "OK")) - { + if(NULL != strstr(src, "+CIPSTART")) { + if(strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; - } - else - { + } else { ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; } return 0; - } - else if(NULL != strstr(src, "+CIPCLOSE")) - { - if(strstr(src, "OK")) - { + } else if(NULL != strstr(src, "+CIPCLOSE")) { + if(strstr(src, "OK")) { return 0; } - } - else if(NULL != strstr(src, "+CWMODE")) - { - if(strstr(src, "OK")) - { + } else if(NULL != strstr(src, "+CWMODE")) { + if(strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; } return 0; - } - else if(NULL != strstr(src, "+CWJAP")) - { - if(strstr(src, "CONNECTED")) - { + } else if(NULL != strstr(src, "+CWJAP")) { + if(strstr(src, "CONNECTED")) { ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; - } - else - { + } else { ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; } return 0; - } - else if(NULL != strstr(src, "+CIPMODE")) - { - if(strstr(src, "OK")) - { + } else if(NULL != strstr(src, "+CIPMODE")) { + if(strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; } return 0; - } - else if(NULL != strstr(src, "+CIPSEND")) - { - if(strstr(src, "SEND OK")) - { + } else if(NULL != strstr(src, "+CIPSEND")) { + if(strstr(src, "SEND OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; - } - else - { + } else { ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; } return 0; - } - else if(NULL != strstr(src, "OK")) - { + } else if(NULL != strstr(src, "OK")) { ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; return 0; } @@ -366,27 +318,20 @@ static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) return -1; } - - signed char ESP8266_start_TCP(void) { static unsigned char err = 0; - char cStr [128]; - unsigned char reconnect_cnt; - - + // AT Usb_Write_Data("ESP2866 TEST\r\n"); err = 0; - do - { + do { ESP8266_send_at(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { + if(err++ > 5) { return -1; } GREEN_LED_TOGGLE(); @@ -402,12 +347,10 @@ signed char ESP8266_start_TCP(void) // AT+CWMODE set sta mode Usb_Write_Data("set sta mode\r\n"); err = 0; - do - { + do { ESP8266_set_sta_mode(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { + if(err++ > 5) { return -1; } GREEN_LED_TOGGLE(); @@ -419,14 +362,12 @@ signed char ESP8266_start_TCP(void) Usb_Write_Data("connecting wifi......\r\n"); err = 0; ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; - do - { - ESP8266_connect_wifi(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { - return -1; - } + do { + ESP8266_connect_wifi(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) { + return -1; + } GREEN_LED_TOGGLE(); }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); @@ -434,21 +375,16 @@ signed char ESP8266_start_TCP(void) Usb_Write_Data("building tcp connect......\r\n"); err = 0; ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; - do - { + do { ESP8266_TCP_connect(); ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); - if(err++ > 5) - { + if(err++ > 5) { //return -1; reconnect_cnt++; Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); - if(reconnect_cnt<5) - { + if(reconnect_cnt<5) { goto RECONNECT; - } - else - { + } else { return -1; } } @@ -483,35 +419,29 @@ static char *itoa( int value, char *string, int radix ) char *ptr = string; /* This implementation only works for decimal numbers. */ - if (radix != 10) - { + if (radix != 10) { *ptr = 0; return string; } - if (!value) - { + if (!value) { *ptr++ = 0x30; *ptr = 0; return string; } /* if this is a negative value insert the minus sign. */ - if (value < 0) - { + if (value < 0) { *ptr++ = '-'; /* Make the value positive. */ value *= -1; - } - for (i = 10000; i > 0; i /= 10) - { + for (i = 10000; i > 0; i /= 10) { d = value / i; - if (d || flag) - { + if (d || flag) { *ptr++ = (char)(d + 0x30); value -= (d * i); flag = 1; @@ -535,12 +465,9 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) va_list ap; va_start(ap, Data); - while ( * Data != 0 ) // 判断数据是否到达结束? - { - if ( * Data == 0x5c ) //'\' - { - switch ( *++Data ) - { + while ( * Data != 0 ) { // 判断数据是否到达结束? + if ( * Data == 0x5c ) { //'\' + switch ( *++Data ) { case 'r': //回车? USART_SendData(USARTx, 0x0d); Data ++; @@ -555,18 +482,15 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) Data ++; break; } - } - - else if ( * Data == '%') - { - switch ( *++Data ) - { + } else if ( * Data == '%') { + switch ( *++Data ) { case 's': //字符? s = va_arg(ap, const char *); - for ( ; *s; s++) - { + for ( ; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET) { + ; + } } Data++; break; @@ -575,10 +499,11 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) //十进? d = va_arg(ap, int); itoa(d, buf, 10); - for (s = buf; *s; s++) - { + for (s = buf; *s; s++) { USART_SendData(USARTx,*s); - while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET) { + ; + } } Data++; break; @@ -586,9 +511,8 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) Data++; break; } - } - else USART_SendData(USARTx, *Data++); - while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ){;} + } else USART_SendData(USARTx, *Data++); + while (USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} } } diff --git a/dev/team_x/robot_dog/wifi.h b/dev/team_x/robot_dog/wifi.h index 98635209..2d50d17a 100644 --- a/dev/team_x/robot_dog/wifi.h +++ b/dev/team_x/robot_dog/wifi.h @@ -35,8 +35,7 @@ #define WIFI_DATA_LEN 128 -typedef struct -{ +typedef struct { char buffer[WIFI_DATA_LEN]; int len; }Wifi_Struct; @@ -58,24 +57,19 @@ void Wifi_Parse_Json(char* json); #define RX_BUF_MAX_LEN 1024 // ֽ -extern struct STRUCT_USART_Fram // ֡ṹ -{ +extern struct STRUCT_USART_Fram { // ֡ṹ u8 Data_RX_BUF[RX_BUF_MAX_LEN]; - union - { + union { __IO u16 InfAll; - struct - { + struct { __IO u16 FramLength :15; // 14:0 __IO u16 FramFinishFlag :1; // 15 }InfBit; }; - union - { + union { __IO u16 State; - struct - { + struct { __IO u16 Connect_flag:1; __IO u16 Get_Ip_flag:1; __IO u16 ESP8266_Ready_flag:1; -- Gitee From 619e194d2df17dc5a134db2dea531a67466cde0c Mon Sep 17 00:00:00 2001 From: zoumin888 <510111679@qq.com> Date: Mon, 18 Apr 2022 20:43:16 +0800 Subject: [PATCH 7/7] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=8C=87=E5=8D=97?= =?UTF-8?q?=E9=92=88=E3=80=81=E9=87=91=E5=B1=9E=E6=8E=A2=E6=B5=8B=E5=99=A8?= =?UTF-8?q?=E3=80=81=E6=9C=BA=E5=99=A8=E7=8B=97=20=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E5=92=8C=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: zoumin888 <510111679@qq.com> --- .../main/js/MainAbility/pages/index/index.css | 2 +- dev/team_x/electronic_compass/main.c | 10 +- dev/team_x/electronic_compass/serial_task.c | Bin 19976 -> 7990 bytes dev/team_x/electronic_compass/wifi.c | 73 ++--------- dev/team_x/electronic_compass/wifi.h | 7 -- dev/team_x/metal_detection/main.c | 24 +--- dev/team_x/metal_detection/serial_task.c | 2 - dev/team_x/metal_detection/wifi.c | 79 +++--------- dev/team_x/metal_detection/wifi.h | 5 +- dev/team_x/robot_dog/main.c | 9 +- dev/team_x/robot_dog/serial_task.c | 119 ------------------ dev/team_x/robot_dog/wifi.c | 54 +------- dev/team_x/robot_dog/wifi.h | 10 -- 13 files changed, 31 insertions(+), 363 deletions(-) diff --git a/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.css b/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.css index f64e8db9..ed15e126 100644 --- a/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.css +++ b/FA/electronic_compass/entry/src/main/js/MainAbility/pages/index/index.css @@ -41,4 +41,4 @@ width: 100%; height:100%; position: absolute; -} \ No newline at end of file +} diff --git a/dev/team_x/electronic_compass/main.c b/dev/team_x/electronic_compass/main.c index dc3c5d3f..7bb4ddfe 100644 --- a/dev/team_x/electronic_compass/main.c +++ b/dev/team_x/electronic_compass/main.c @@ -31,20 +31,15 @@ *************************************************************/ int main(void) { - // 定义任务创建的返回?，默认为成? UINT32 LiteOS_Status = LOS_OK; -#ifndef NO_HARMONY - // LiteOS内核初始? LiteOS_Status = LOS_KernelInit(); if (LiteOS_Status != LOS_OK) { // LiteOS内核初始化失? return LOS_NOK; - } else -#endif - { + } else { //SystemClock_Config(); // 时钟初始? @@ -89,13 +84,10 @@ int main(void) GREEN_LED_ON(); } - #ifndef NO_HARMONY - // 任务初始? LiteOS_Status = Task_Init(); // ?启LiteOS任务调度 LOS_Start(); - #endif } while(1) { ; diff --git a/dev/team_x/electronic_compass/serial_task.c b/dev/team_x/electronic_compass/serial_task.c index 488234368683f6685eca3d948e58caad5eaf8e45..c0333cf7d940614ceb0bec3aad25ee8a0bbd76c5 100644 GIT binary patch delta 58 zcmeB}!??|E!!gmx0I@ncMrXNgEm4iMqkTqhO4 NI(dPdz+@3M6977E5=j66 literal 19976 zcmds9=~5iY5iZOBHp1`FMzM-P3nM_5V~y9#a!4!^2rR%_g`}8(;Sk~wVn706y}>@F zp2PO{Rd!BwS6B56O^*&o$Iw@0R^F9aRn33@lbAc^w)vC!&LlV|X4bqh$L7MEm_4&= zUYS!oYnZkf#(Bbw;Wv(}U(K1>Fz?MaS|w%<=Xbbj<184OW&~G@fZj6A4EDve)sg9- z?H1acnIoLH(O-hruPlaXP_O}Pa+il8-hbKl9pHKcXwuaLWu#Lv454qKM|v6p{eREU zaRJCPKpdi<3!IN|PfpJ)T|&tot`oBZJO`GlZF6opJhm#go_UnKF`Izh00wflfgk&zMiQKNqBz<1w9BE>X95Tw)Z{7fOhVsxpgA5* zz&J@af&Tg3VOE2e^I@N=XH|*|kstcZ#P;DwFqkPWe(oyVlM+Rx+o6-mox^o-MTM zpe-RbLCI-KN66~(I%03se++|I9(A6WAu|oRB#_Z6t`jq3?|C=U)ktEV;{6&tXBkpj zL#wA~^#sQ>q`HQ8_brZPJfROQD7H`8(Nd4C zBt#D)(Y>yvQl?oOTm=L@SG~uV#7?Rcecu80ZP?|W^^P_msXJe%6upV9=m*p@WzBZIwdT0Glj37^)A+^+_w^oPwGxGY$;2J; zU&c#X@djkwvXbeTeQ2?r@~Lne*2-U{8cWPP?CL&jTDbM zP5{@jSQ*zGMPIwrZX-sKTK;Z=J4WIINP;5^{WB)LS9qszj1yvSZNShcoV@4kn+-^Q z6|GKyxs7uIscz%V7M^Ph8D)r*aqkGN?jl-JV?NF`KvIV-#EUcNd&lVJ8yk|$auGml^Jo9Z6z^onogX-s}$9E}@Cbpop$RX_$MCEm8aWUgR!X5j3o9Q9TTM_0< zYbWbb^dn|MM>r>D1tU)ayKcfd|AOB=^Eb%vuQ=buZ^!b@F^DmS@jo$3i2Y}<*;&~9 z0VL-8k^f%2DDRQtO)^^S0?RhAa7?G?JV(zj(GPv*61m{VjIH0aQNU6E0Ge6GD7pst zG5qcUCc#xRy<&bu{k}z1oI*Slt^U#4i?gM?rKmN%vHCqUpVCN_m)ir#Z4v$6N8D)H zF@Fiyl%&`XduDI1@Vg6XOV9i(_D4(ixtT`fc?fJv;AlQQ{|0;wa5IKuI7mqmin#=# zMsskX9w|5GE2N!#jN5+3aL*h??+6)!egvpzfLgVg&=ac##a5KWzPWWnJ!aI(V;_Gh z`&&0&L$9G8X3)cZ*k}vc(i2?$6IayuQ!8bmuV1)d!RI_EC1sQ*;oiX}_Rx1M9yPix zMD~{!N;I6nV&C960JQi5^U@P|1${;AcdT2f2#k&+8uRzj@&Y{V01LCNFqA*`ETQc= zpm^TJ`5d``|Lnr+xrl>Ld>r{_y>V#&E$D>4%aN9&BYk%)rHT}i$50Ec<3u{|;Vn|3 zHDG(JQuFdwxvLb%5vOD{mW)+uJLx-*Ss_`6vaX=+G}^Edj>Q{=)3fU*8?PLE`29HW zhv|v87a4}%Ph1fn+Y7!1qJl5IVLYSFvabnTH(*Qo2;W5hD4J&FI*OlKp0C$o=)4U6 z+=HhTXYFFxYW+5}|0A@*%tlA3A8@5l*-GR|A6DJy*~zS&XL8Lt#~*z}o9r+Ap4v=I z{5_>j+a>L>QG(FLv8$Xf8Ozp@XKq4jPhrK9`MZ3zfed)`n>b#8`WKLXb}mQtC+GgS zWi7yZleN9rFzr*0to|m^;(Oc9^*oZ%Z<#%@GHzhhVfNX=2*L=*%7Oiz;mr_ih;t&O zg#6Iz7=souUd>tier%tHW0`V2gZAry;P@tRYw(PD9K3IIEneIE=R@>=XltWWwASc0 z0xvqpkFl7Q;s>eLXLo2=OL3;zC-B8JyWSFCjZP?k`;J5 z^G!x_)n==!O-Co`XSGIeJ?e}8kI=z3+7oMRBvFcr(&zllgFfWWtb|&=n$|wrJR%gm zG-I7YHL3ZM>`x_{4hWZJxgjIh9f@=BSLe%&IjK zWaEHOU(9Z=Vo@S@AM?+M3`$WbYmVnUDj7Zd`5s4BMxAgqP%iBlPLB51$C=M5<8)4& z-+EYuqce{)PN%~e@(snOXQ^FS&oIVw^@QsIG7mkDSRn5?i^I9Mcx@81AMHoatSFiH zGmB#EW)JattY56x=Rzwb?Xe%(#VVjb2Wq2oYn0fiGV;&9M~Q{{b(TWK?9RnF7JHF#35jq~K!pDGDV0StrNysnW3*5&p+}uiSak!uk*Ar?%`oQW&Gm ztAtjYAEGkkUY=XXC)jE`%_tP&ps?o5)xY8q?w9S_uzEQJ>i=u~Ikwss)(&?n>T1nx zNLDl$T8ER_qQ(s;|K9robWeinf>Li|^;I;iTDWcJ0*ZS_@|gtZ3yN(dXLL9@hsL=C z&PO&f{N!;-)e^=iyen;&(K$q&<8vzmP0VLpU`*C^$t+beqrHqdrobF4PXsFd#`uU8*yzOC5G zOqbr4w=cH${C}@Z`x1GE(;2TP?UT5S*k;7G$V0{<{rI3t z*FTq0ue)~Yj2jN;b*R?$IJJA3$vZ$4<8JeP#I6uu8U^Y7q4!~}^=j=ns%q=An74ln zJ0FCtx2^q2#2bvQOAlYp)>%26Myh+Y_K>!f?nA^~?n*yFeki+vI3Cn7M*5hG7T*u; zv~A|D_1d~}pN}LlTi4b;M^!C;1)20ytlB*pkkubUpZuofB#rW{d9F9ohb+kT^6goF zmiBtBp4h5cdM_EfNL$}X>Tnim<~!N@pqZ@36aT!@wYR$cG^?lnd^HO}UBrAk+s;X$ zsz=MZ_F%>^S@o-H410vQz#0B(@wBRZxH3OGplHYM7TN>NXQhXx-4A;Jui%_#omnC0 z1{~g^CvM^W8L~TOXyujFw3S6w?Z$j1%zsr|;QpGycnZI;5=&g;;;07=&EVIj+kd1GFm<*gjYRlRiund;Jj z{Ph@F>ft~mxAgGs`K;2N|DvLfs!TB!J)r+lCginBF~1q#!WhY~#_Osi9nK=v{nU^v z*3RnoS>?Fjyp*=yL`E&&$i)0su{xfsdhRUd+}8)>xox|~T~|&zo35CD-kfx4fbu!4 zRX)11{dwiXmA+4~pDE;>{LA^dLCn$dTW!u-a=u~|S6r)P<;k2_ER0`g4q^r)+jGn7 z*?DSxaZG)`S`-UK-Es~(SmmjYdSd&0luy)3`NU_VoTCB1-l}Wt6MRLvUvIQ7w;T3Z zr{xH~&(A}hHbfpmRy1fm@SEy7ZRu{n6RyI8i`8}KQ{^_Pu``x8l|wUjRfUu<9qmoWC{!1~hqKO=ztXN`OxiuJP8#`tYM|HI3EU%FGA`UPQD b;`*+ 0) { - Wifi_Data.buffer[Wifi_Data.len] = data; - Wifi_Data.len++; - } - } - } - #endif +{ u8 ucCh; if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { @@ -122,9 +87,9 @@ void USART2_IRQHandler(void) } } - if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) { //如果总线空闲 + if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) { // 如果总线空闲 ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; - ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? + ucCh = USART_ReceiveData( USART2 ); // 由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? } } @@ -140,12 +105,12 @@ void Wifi_Parse_Json(char* json) Serial_Json_Handle(json); } -struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构? +struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; // 定义了一个数据帧结构? //对ESP8266模块发?相关指? // cmd 待发送的指令 void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { - ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; // 重新接收新的数据? memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); delay_ms(time); //延时 @@ -204,13 +169,12 @@ void ESP8266_send_data(char *dat,unsigned int len) // AT jiexi static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) { - //char *p = NULL; const char * src = (const char *)pdat; if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) { ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; } else { - //return -1; //ERR + //ERR } if(NULL != strstr(src, "+CIPSTART")) { @@ -295,8 +259,6 @@ signed char ESP8266_start_TCP(void) GREEN_LED_TOGGLE(); }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); - - // AT+CWJAP Usb_Write_Data("connecting wifi......\r\n"); err = 0; @@ -336,18 +298,6 @@ signed char ESP8266_start_TCP(void) Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); ESP8266_send_data(cStr,strlen(cStr)); - #if 0 - - while(1){ - - sprintf (cStr, "ESP8266 test"); - ESP8266_send_data(cStr,strlen(cStr)); - - delay_ms(2000); - } - - #endif - return 0; } @@ -409,12 +359,12 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) if ( * Data == 0x5c ) { //'\' switch ( *++Data ) { - case 'r': //回车? + case 'r': // 回车? USART_SendData(USARTx, 0x0d); Data ++; break; - case 'n': //换行? + case 'n': // 换行? USART_SendData(USARTx, 0x0a); Data ++; break; @@ -426,7 +376,7 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) } else if ( * Data == '%') { switch (*++Data) { - case 's': //字符? + case 's': // 字符? s = va_arg(ap, const char *); for ( ; *s; s++) { USART_SendData(USARTx,*s); @@ -438,8 +388,7 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) break; case 'd': - //十进? - d = va_arg(ap, int); + d = va_arg(ap, int); // 十进刿 itoa(d, buf, 10); for (s = buf; *s; s++) { USART_SendData(USARTx,*s); @@ -462,5 +411,3 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) } } - - diff --git a/dev/team_x/electronic_compass/wifi.h b/dev/team_x/electronic_compass/wifi.h index b80860ff..dc339e39 100644 --- a/dev/team_x/electronic_compass/wifi.h +++ b/dev/team_x/electronic_compass/wifi.h @@ -15,7 +15,6 @@ #ifndef MODULAR_WIFI #define MODULAR_WIFI - #include #include #include @@ -24,7 +23,6 @@ #include "stm32f4xx.h" #include "serial_task.h" - #define TCP_SERVICE_IP "\"192.168.1.106\"" // 丽红 #define WIFI_SSID "\"YYYYYY\"" @@ -46,7 +44,6 @@ void Wifi_Init(int baud_rate); void Wifi_Parse_Json(char* json); - #if defined ( __CC_ARM ) #pragma anon_unions #endif @@ -54,8 +51,6 @@ void Wifi_Parse_Json(char* json); #define ESP8266_USART(fmt, ...) USART_printf (USART2, fmt, ##__VA_ARGS__) #define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) - - #define RX_BUF_MAX_LEN 1024 // 接收最大字节数 extern struct STRUCT_USART_Fram // 数据帧结构体 { @@ -83,7 +78,6 @@ extern struct STRUCT_USART_Fram // 数据帧结构体 }ESP8266_Fram_Record_Struct; - // 初始化和TCP功能函数 signed char ESP8266_start_TCP(void); void Wifi_Init(int baud_rate); @@ -91,5 +85,4 @@ void ESP8266_AT(void); void ESP8266_Send_AT_Cmd(char *cmd,u32 time); void USART_printf(USART_TypeDef * USARTx, char * Data, ... ); - #endif \ No newline at end of file diff --git a/dev/team_x/metal_detection/main.c b/dev/team_x/metal_detection/main.c index 13587190..f737f236 100644 --- a/dev/team_x/metal_detection/main.c +++ b/dev/team_x/metal_detection/main.c @@ -18,7 +18,6 @@ * @author GEEKROS, site:www.geekros.com ****************************************************************************** */ - #include "main.h" /******************************************************************* @@ -29,22 +28,16 @@ *************************************************************/ int main(void) { - // 定义任务创建的返回?，默认为成? UINT32 LiteOS_Status = LOS_OK; -#ifndef NO_HARMONY // LiteOS内核初始? -LiteOS_Status = LOS_KernelInit(); + LiteOS_Status = LOS_KernelInit(); if (LiteOS_Status != LOS_OK) { // LiteOS内核初始化失? return LOS_NOK; - } else { -#else - { -#endif - + } else { // SystemClock_Config(); // 时钟初始? @@ -80,24 +73,12 @@ LiteOS_Status = LOS_KernelInit(); // MPU模块初始? Mpu_Init(); -#if 0 - // wifi模块初始? - Wifi_Init(115200); - - if(ESP8266_start_TCP() == -1) { - GREEN_LED_OFF(); - } else { - GREEN_LED_ON(); - } -#endif - #ifndef NO_HARMONY // 任务初始? LiteOS_Status = Task_Init(); // ?启LiteOS任务调度 LOS_Start(); - #endif } // 正常情况不会执行到这? while(1) { @@ -113,7 +94,6 @@ LiteOS_Status = LOS_KernelInit(); *************************************************************/ static UINT32 Task_Init(void) { - // 定义任务创建的返回?，默认为成? UINT32 Status = LOS_OK; diff --git a/dev/team_x/metal_detection/serial_task.c b/dev/team_x/metal_detection/serial_task.c index 61071c4c..1371f705 100644 --- a/dev/team_x/metal_detection/serial_task.c +++ b/dev/team_x/metal_detection/serial_task.c @@ -18,7 +18,6 @@ * @author GEEKROS, site:www.geekros.com ****************************************************************************** */ - #include "serial_task.h" static Serial_Data_Struct Read_Data; @@ -50,7 +49,6 @@ void Serial_Task(void) char buff[20] = {0}; Gauss_Mag_z = Mpu_Calc.mag_z * 0.15f * 0.01f; - if(i 0){ - Wifi_Data.buffer[Wifi_Data.len] = data; - Wifi_Data.len++; - } - } - } - #endif +{ u8 ucCh; if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { @@ -124,9 +87,9 @@ void USART2_IRQHandler(void) } } - if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) { //如果总线空闲 + if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) { // 如果总线空闲 ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; - ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? + ucCh = USART_ReceiveData( USART2 ); // 由软件序列清除中断标志位（先读USART_SR,然后读USART_DR? } } @@ -147,7 +110,7 @@ struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个 // cmd 待发送的指令 void ESP8266_Send_AT_Cmd(char *cmd,u32 time) { - ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据? + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; // 重新接收新的数据? memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); ESP8266_USART("%s\r\n", cmd); delay_ms(time); //延时 @@ -204,7 +167,7 @@ void ESP8266_send_data(char *dat,unsigned int len) } // AT jiexi -static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) +static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 *err) { //char *p = NULL; const char * src = (const char *)pdat; @@ -269,7 +232,7 @@ signed char ESP8266_start_TCP(void) err = 0; do { ESP8266_send_at(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF, ESP8266_Fram_Record_Struct.InfBit.FramLength, &err); if(err++ > 5) { return -1; @@ -289,14 +252,12 @@ signed char ESP8266_start_TCP(void) err = 0; do { ESP8266_set_sta_mode(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF, ESP8266_Fram_Record_Struct.InfBit.FramLength, &err); if(err++ > 5) { return -1; } GREEN_LED_TOGGLE(); - }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); - - + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Sta_Mode); // AT+CWJAP Usb_Write_Data("connecting wifi......\r\n"); @@ -304,7 +265,7 @@ signed char ESP8266_start_TCP(void) ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; do { ESP8266_connect_wifi(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF, ESP8266_Fram_Record_Struct.InfBit.FramLength, &err); if(err++ > 5) { return -1; } @@ -317,7 +278,7 @@ signed char ESP8266_start_TCP(void) ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; do { ESP8266_TCP_connect(); - ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF, ESP8266_Fram_Record_Struct.InfBit.FramLength, &err); if(err++ > 5) { //return -1; reconnect_cnt++; @@ -335,18 +296,7 @@ signed char ESP8266_start_TCP(void) sprintf (cStr, "ESP8266 init success"); Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); ESP8266_send_data(cStr,strlen(cStr)); - - #if 0 - while(1){ - - sprintf (cStr, "ESP8266 test"); - ESP8266_send_data(cStr,strlen(cStr)); - - delay_ms(2000); - } - - #endif - + return 0; } @@ -403,12 +353,12 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) while ( * Data != 0 ) { // 判断数据是否到达结束? if ( * Data == 0x5c ) { //'\' switch (*++Data) { - case 'r': //回车? + case 'r': // 回车? USART_SendData(USARTx, 0x0d); Data ++; break; - case 'n': //换行? + case 'n': // 换行? USART_SendData(USARTx, 0x0a); Data ++; break; @@ -431,8 +381,7 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) break; case 'd': - //十进? - d = va_arg(ap, int); + d = va_arg(ap, int); // 十进刿 itoa(d, buf, 10); for (s = buf; *s; s++) { USART_SendData(USARTx,*s); diff --git a/dev/team_x/metal_detection/wifi.h b/dev/team_x/metal_detection/wifi.h index f5c7e2b1..67ab1d29 100644 --- a/dev/team_x/metal_detection/wifi.h +++ b/dev/team_x/metal_detection/wifi.h @@ -12,6 +12,7 @@ * See the License for the specific language governing permissions and * limitations under the License. */ + #ifndef MODULAR_WIFI #define MODULAR_WIFI @@ -54,8 +55,6 @@ void Wifi_Parse_Json(char* json); #define ESP8266_USART(fmt, ...) USART_printf (USART2, fmt, ##__VA_ARGS__) #define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) // 这是串口打印函数，串?1，执行printf后会自动执行fput函数，重定向了printf? - - #define RX_BUF_MAX_LEN 1024 // ?大字节数 extern struct STRUCT_USART_Fram { // 数据帧结构体 u8 Data_RX_BUF[RX_BUF_MAX_LEN]; @@ -82,7 +81,6 @@ extern struct STRUCT_USART_Fram { // 数据帧结构体 }; }ESP8266_Fram_Record_Struct; - // 初始化和TCP功能函数 signed char ESP8266_start_TCP(void); void Wifi_Init(int baud_rate); @@ -90,5 +88,4 @@ void ESP8266_AT(void); void ESP8266_Send_AT_Cmd(char *cmd,u32 time); void USART_printf( USART_TypeDef * USARTx, char * Data, ... ); - #endif diff --git a/dev/team_x/robot_dog/main.c b/dev/team_x/robot_dog/main.c index 2d571f19..fa449d54 100644 --- a/dev/team_x/robot_dog/main.c +++ b/dev/team_x/robot_dog/main.c @@ -35,17 +35,13 @@ int main(void) // 定义任务创建的返回?，默认为成? UINT32 LiteOS_Status = LOS_OK; -#ifndef NO_HARMONY - // LiteOS内核初始? LiteOS_Status = LOS_KernelInit(); if (LiteOS_Status != LOS_OK) { // LiteOS内核初始化失? return LOS_NOK; - } else -#endif - { + } else { // SystemClock_Config(); // 时钟初始? Delay_Init(LOSCFG_BASE_CORE_TICK_PER_SECOND); @@ -92,13 +88,10 @@ int main(void) GREEN_LED_ON(); } - #ifndef NO_HARMONY - // 任务初始? LiteOS_Status = Task_Init(); // ?启LiteOS任务调度 LOS_Start(); - #endif } while(1) { diff --git a/dev/team_x/robot_dog/serial_task.c b/dev/team_x/robot_dog/serial_task.c index 485543eb..89288070 100644 --- a/dev/team_x/robot_dog/serial_task.c +++ b/dev/team_x/robot_dog/serial_task.c @@ -41,122 +41,3 @@ void Serial_Task(void) Task_Delay(5); } } - -#if 0 -/****************************************************************** - * @ 函数名 ： Serial_Json_Handle - * @ 功能说明： JSON通讯协议解析与处理函数 - * @ 参数 ： NULL - * @ 返回值 ： NULL - *****************************************************************/ -void Serial_Json_Handle(char *json) -{ - // 解析USB虚拟串口数据 - cJSON *Serial_Data; - Serial_Data = cJSON_Parse(json); - if(Serial_Data){ - - Read_Data.type = cJSON_GetObjectItem(Serial_Data, "type")->valuestring; - - // 版本号 - if(memcmp(Read_Data.type, "board-version", 13) == 0) - { - char* version; - version = Board_Version(); - Usb_Write_Data("{\"type\":\"board-version\",\"version\":\"%s\"}\r\n", version); - } - - // LED模块 - if(memcmp(Read_Data.type, "led", 3) == 0) - { - Read_Data.led.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valuestring; - Read_Data.led.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; - Led_Usb_Callback(Read_Data.type, Read_Data.led.channel, Read_Data.led.state); - } - - // CAN模块 - if(memcmp(Read_Data.type, "can", 3) == 0) - { - Read_Data.can.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; - Read_Data.can.motor_id = cJSON_GetObjectItem(Serial_Data, "motor_id")->valueint; - Can_Usb_Callback(Read_Data.type, Read_Data.can.channel, Read_Data.can.motor_id); - } - - // POWER模块 - if(memcmp(Read_Data.type, "power", 5) == 0) - { - Read_Data.power.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; - Read_Data.power.id = cJSON_GetObjectItem(Serial_Data, "id")->valueint; - Read_Data.power.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; - Power_Usb_Callback(Read_Data.type, Read_Data.power.channel, Read_Data.power.id, Read_Data.power.state); - } - - // KEY模块 - if(memcmp(Read_Data.type, "key", 3) == 0) - { - Key_Usb_Callback(Read_Data.type); - } - - // ADC模块 - if(memcmp(Read_Data.type, "adc", 3) == 0) - { - Read_Data.adc.voltage = cJSON_GetObjectItem(Serial_Data, "voltage")->valuedouble; - Adc_Usb_Callback(Read_Data.type, Read_Data.adc.voltage); - } - - // IO模块 - if(memcmp(Read_Data.type, "io", 2) == 0) - { - Read_Data.io.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; - Read_Data.io.mode = cJSON_GetObjectItem(Serial_Data, "mode")->valuestring; - Read_Data.io.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; - Io_Usb_Callback(Read_Data.type, Read_Data.io.channel, Read_Data.io.mode, Read_Data.io.state); - } - - // PWM模块 - if(memcmp(Read_Data.type, "pwm", 3) == 0) - { - Read_Data.pwm.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; - Read_Data.pwm.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valuedouble; - Read_Data.pwm.width = cJSON_GetObjectItem(Serial_Data, "width")->valueint; - Pwm_Usb_Callback(Read_Data.type, Read_Data.pwm.channel, Read_Data.pwm.rate, Read_Data.pwm.width); - } - - // CPU模块 - if(memcmp(Read_Data.type, "cpu", 3) == 0) - { - Cpu_Usb_Callback(Read_Data.type); - } - - // MPU模块 - if(memcmp(Read_Data.type, "mpu", 3) == 0) - { - Mpu_Usb_Callback(Read_Data.type); - } - - // 遥控器模块 - if(memcmp(Read_Data.type, "rocker-control", 14) == 0) - { - Read_Data.rocker_control.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valueint; - Read_Data.rocker_control.s1 = cJSON_GetObjectItem(Serial_Data, "s1")->valueint; - Read_Data.rocker_control.s2 = cJSON_GetObjectItem(Serial_Data, "s2")->valueint; - Read_Data.rocker_control.ch0 = cJSON_GetObjectItem(Serial_Data, "ch0")->valuedouble; - Read_Data.rocker_control.ch1 = cJSON_GetObjectItem(Serial_Data, "ch1")->valuedouble; - Read_Data.rocker_control.ch2 = cJSON_GetObjectItem(Serial_Data, "ch2")->valuedouble; - Read_Data.rocker_control.ch3 = cJSON_GetObjectItem(Serial_Data, "ch3")->valuedouble; - Rocker_Usb_Callback(Read_Data.type, Read_Data.rocker_control.rate, Read_Data.rocker_control.s1, Read_Data.rocker_control.s2, Read_Data.rocker_control.ch0, \ - Read_Data.rocker_control.ch1, Read_Data.rocker_control.ch2, Read_Data.rocker_control.ch3); - } - } - - // 需要清空本次收到的数据 - cJSON_Delete(Serial_Data); - for(int i=0;i 0) - { - Wifi_Data.buffer[Wifi_Data.len] = data; - Wifi_Data.len++; - } - } - } - #endif u8 ucCh; if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) { @@ -262,7 +224,6 @@ void ESP8266_send_heart_beat(void) ESP8266_send_data(cStr,strlen(cStr)); } - // AT 解析 static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) { @@ -395,19 +356,7 @@ signed char ESP8266_start_TCP(void) sprintf (cStr, "ESP8266 init success"); Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); ESP8266_send_data(cStr,strlen(cStr)); - - #if 0 - - while(1){ - - sprintf (cStr, "ESP8266 test"); - ESP8266_send_data(cStr,strlen(cStr)); - - delay_ms(2000); - } - - #endif - + return 0; } @@ -513,7 +462,6 @@ void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) } } else USART_SendData(USARTx, *Data++); while (USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ){;} - } } diff --git a/dev/team_x/robot_dog/wifi.h b/dev/team_x/robot_dog/wifi.h index 2d50d17a..b4dddf38 100644 --- a/dev/team_x/robot_dog/wifi.h +++ b/dev/team_x/robot_dog/wifi.h @@ -24,10 +24,6 @@ #include "stm32f4xx.h" #include "serial_task.h" - -// #define TCP_SERVICE_IP "\"192.168.1.106\"" // -// #define WIFI_SSID "\"YYYYYY\"" - #define TCP_SERVICE_IP "\"192.168.151.151\"" #define TCP_COM 5000 #define WIFI_SSID "\"A_zoumin888\"" @@ -40,13 +36,10 @@ typedef struct { int len; }Wifi_Struct; -// extern Wifi_Struct Wifi_Data; - void Wifi_Init(int baud_rate); void Wifi_Parse_Json(char* json); - #if defined ( __CC_ARM ) #pragma anon_unions #endif @@ -82,7 +75,6 @@ extern struct STRUCT_USART_Fram { // }ESP8266_Fram_Record_Struct; - // ʼTCPܺ signed char ESP8266_start_TCP(void); void Wifi_Init(int baud_rate); @@ -92,6 +84,4 @@ void USART_printf(USART_TypeDef * USARTx, char * Data, ... ); void ESP8266_send_heart_beat(void); - - #endif -- Gitee

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z588($GxZ+4_KY%3?VTe|3R>){1t4FyPfdPHziSjM{l1jGe*G?WOe*#?gwg;S%OioT zuaifj4HTU7*5qrEpErO?Z7TGc0toiXmg}Lo*LL=9kw8U>_R=F00000NkvXXu0mjfHv5lV literal 0 HcmV?d00001 diff --git a/FA/metal_detection/entry/src/ohosTest/config.json b/FA/metal_detection/entry/src/ohosTest/config.json new file mode 100644 index 00000000..4c911270 --- /dev/null +++ b/FA/metal_detection/entry/src/ohosTest/config.json @@ -0,0 +1,67 @@ +{ + "app": { + "bundleName": "com.example.metaldetection", + "vendor": "example", + "version": { + "code": 1000000, + "name": "1.0.0" + } + }, + "deviceConfig": {}, + "module": { + "package": "com.example.entry_test", + "name": ".entry_test", + "mainAbility": ".TestAbility", + "srcPath": "", + "deviceType": [ + "phone" + ], + "distro": { + "deliveryWithInstall": true, + "moduleName": "entry_test", + "moduleType": "feature", + "installationFree": false + }, + "abilities": [ + { + "skills": [ + { + "entities": [ + "entity.system.home" + ], + "actions": [ + "action.system.home" + ] + } + ], + "orientation": "unspecified", + "visible": true, + "srcPath": "TestAbility", + "name": ".TestAbility", + "srcLanguage": "ets", + "icon": "$media:icon", + "description": "$string:description_TestAbility", + "formsEnabled": false, + "label": "$string:entry_TestAbility", + "type": "page", + "launchType": "standard" + } + ], + "js": [ + { + "mode": { + "syntax": "ets", + "type": "pageAbility" + }, + "pages": [ + "pages/index" + ], + "name": ".TestAbility", + "window": { + "designWidth": 720, + "autoDesignWidth": false + } + } + ] + } +} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/app.ets b/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/app.ets new file mode 100644 index 00000000..4db82cf1 --- /dev/null +++ b/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/app.ets @@ -0,0 +1,18 @@ +import AbilityDelegatorRegistry from '@ohos.application.abilityDelegatorRegistry' +import { Hypium } from 'hypium/index' +import testsuite from '../test/List.test' + +export default { + onCreate() { + console.info('Application onCreate') + var abilityDelegator: any + abilityDelegator = AbilityDelegatorRegistry.getAbilityDelegator() + var abilityDelegatorArguments: any + abilityDelegatorArguments = AbilityDelegatorRegistry.getArguments() + console.info('start run testcase!!!') + Hypium.hypiumTest(abilityDelegator, abilityDelegatorArguments, testsuite) + }, + onDestroy() { + console.info('Application onDestroy') + }, +} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/pages/index.ets b/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/pages/index.ets new file mode 100644 index 00000000..539eb9ae --- /dev/null +++ b/FA/metal_detection/entry/src/ohosTest/ets/TestAbility/pages/index.ets @@ -0,0 +1,35 @@ +import router from '@system.router'; + +@Entry +@Component +struct Index { + aboutToAppear() { + console.info('TestAbility index aboutToAppear') + } + + @State message: string = 'Hello World' + build() { + Row() { + Column() { + Text(this.message) + .fontSize(50) + .fontWeight(FontWeight.Bold) + Button() { + Text('next page') + .fontSize(20) + .fontWeight(FontWeight.Bold) + }.type(ButtonType.Capsule) + .margin({ + top: 20 + }) + .backgroundColor('#0D9FFB') + .width('35%') + .height('5%') + .onClick(()=>{ + }) + } + .width('100%') + } + .height('100%') + } + } \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts b/FA/metal_detection/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts new file mode 100644 index 00000000..ed3ba0df --- /dev/null +++ b/FA/metal_detection/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts @@ -0,0 +1,63 @@ +import TestRunner from '@ohos.application.testRunner' +import AbilityDelegatorRegistry from '@ohos.application.abilityDelegatorRegistry' + +var abilityDelegator = undefined +var abilityDelegatorArguments = undefined + +function translateParamsToString(parameters) { + const keySet = new Set([ + '-s class', '-s notClass', '-s suite', '-s itName', + '-s level', '-s testType', '-s size', '-s timeout', + '-s package' + ]) + let targetParams = ''; + for (const key in parameters) { + if (keySet.has(key)) { + targetParams += ' ' + key + ' ' + parameters[key] + } + } + return targetParams.trim() +} + +async function onAbilityCreateCallback() { + console.log('onAbilityCreateCallback'); +} + +async function addAbilityMonitorCallback(err: any) { + console.info('addAbilityMonitorCallback : ' + JSON.stringify(err)) +} + +export default class OpenHarmonyTestRunner implements TestRunner { + constructor() { + } + + onPrepare() { + console.info('OpenHarmonyTestRunner OnPrepare') + } + + onRun() { + console.log('OpenHarmonyTestRunner onRun run') + abilityDelegatorArguments = AbilityDelegatorRegistry.getArguments() + abilityDelegator = AbilityDelegatorRegistry.getAbilityDelegator() + + let lMonitor = { + abilityName: testAbilityName, + onAbilityCreate: onAbilityCreateCallback, + }; + var testAbilityName = abilityDelegatorArguments.parameters['-p'] + '.TestAbility' + abilityDelegator.addAbilityMonitor(lMonitor, addAbilityMonitorCallback) + var cmd = 'aa start -d 0 -a ' + testAbilityName + ' -b ' + abilityDelegatorArguments.bundleName + cmd += ' '+translateParamsToString(abilityDelegatorArguments.parameters) + console.info('cmd : '+cmd) + abilityDelegator.executeShellCommand(cmd, + (err: any, d: any) => { + console.info('executeShellCommand : err : ' + JSON.stringify(err)); + console.info('executeShellCommand : data : ' + d.stdResult); + console.info('executeShellCommand : data : ' + d.exitCode); + }) + console.info('OpenHarmonyTestRunner onRun call abilityDelegator.getAppContext') + var context = abilityDelegator.getAppContext() + console.info('getAppContext : ' + JSON.stringify(context)) + console.info('OpenHarmonyTestRunner onRun end') + } +}; \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/test/Ability.test.ets b/FA/metal_detection/entry/src/ohosTest/ets/test/Ability.test.ets new file mode 100644 index 00000000..1236e0ce --- /dev/null +++ b/FA/metal_detection/entry/src/ohosTest/ets/test/Ability.test.ets @@ -0,0 +1,13 @@ +import { describe, beforeAll, beforeEach, afterEach, afterAll, it, expect } from 'hypium/index' + +export default function abilityTest() { + describe('ActsAbilityTest', function () { + it('assertContain',0, function () { + console.info("it begin") + let a = 'abc' + let b = 'b' + expect(a).assertContain(b) + expect(a).assertEqual(a) + }) + }) +} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/ets/test/List.test.ets b/FA/metal_detection/entry/src/ohosTest/ets/test/List.test.ets new file mode 100644 index 00000000..d766fe24 --- /dev/null +++ b/FA/metal_detection/entry/src/ohosTest/ets/test/List.test.ets @@ -0,0 +1,5 @@ +import abilityTest from './Ability.test' + +export default function testsuite() { + abilityTest() +} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/resources/base/element/string.json b/FA/metal_detection/entry/src/ohosTest/resources/base/element/string.json new file mode 100644 index 00000000..a0901cfc --- /dev/null +++ b/FA/metal_detection/entry/src/ohosTest/resources/base/element/string.json @@ -0,0 +1,12 @@ +{ + "string": [ + { + "name": "description_TestAbility", + "value": "eTS_Empty Ability" + }, + { + "name": "entry_TestAbility", + "value": "entry_TestAbility" + } + ] +} \ No newline at end of file diff --git a/FA/metal_detection/entry/src/ohosTest/resources/base/media/icon.png b/FA/metal_detection/entry/src/ohosTest/resources/base/media/icon.png new file mode 100644 index 0000000000000000000000000000000000000000..ce307a8827bd75456441ceb57d530e4c8d45d36c GIT binary patch literal 6790 zcmX|G1ymHk)?T_}Vd;>R?p|tHQo6fg38|$UVM!6BLrPFWk?s;$LOP{GmJpBl$qoSA!PUg~PA65-S00{{S`XKG6NkG0RgjEntPrmV+?0|00mu7;+5 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"WORKER_LOADER":"C:\\Users\\china\\DevEcoStudioProjects\\robotDog\\entry\\build\\default\\intermediates\\loader\\default\\loader.json", + "MANIFEST_JSON":"C:\\Users\\china\\DevEcoStudioProjects\\robotDog\\entry\\build\\default\\intermediates\\manifest\\default" + } + } +} \ No newline at end of file diff --git a/FA/robot_dog/.idea/.deveco/project.cache.json b/FA/robot_dog/.idea/.deveco/project.cache.json new file mode 100644 index 00000000..fabacc26 --- /dev/null +++ b/FA/robot_dog/.idea/.deveco/project.cache.json @@ -0,0 +1,12 @@ +{ + "BuildOptions":{ + "BUNDLE_NAME":"", + "BUILD_PATH":{ + "OUTPUT_PATH":"C:\\Users\\china\\DevEcoStudioProjects\\robotDog\\build\\outputs\\default" + }, + "SELECT_BUILD_PRODUCT":"default" + }, + "CommonInfo":{ + "project.ide.version":"3.0.0.900" + } +} \ No newline at end of file diff --git a/FA/robot_dog/.idea/.gitignore b/FA/robot_dog/.idea/.gitignore new file mode 100644 index 00000000..26d33521 --- /dev/null +++ b/FA/robot_dog/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/FA/robot_dog/.idea/configurationModuleSettings.xml b/FA/robot_dog/.idea/configurationModuleSettings.xml new file mode 100644 index 00000000..d5d70579 --- /dev/null +++ b/FA/robot_dog/.idea/configurationModuleSettings.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/FA/robot_dog/.idea/modules.xml b/FA/robot_dog/.idea/modules.xml new file mode 100644 index 00000000..8ad7e5da --- /dev/null +++ b/FA/robot_dog/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/FA/robot_dog/.idea/robotDog.iml b/FA/robot_dog/.idea/robotDog.iml new file mode 100644 index 00000000..33f46c74 --- /dev/null +++ b/FA/robot_dog/.idea/robotDog.iml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/FA/robot_dog/build-profile.json5 b/FA/robot_dog/build-profile.json5 new file mode 100644 index 00000000..af956a73 --- /dev/null +++ b/FA/robot_dog/build-profile.json5 @@ -0,0 +1,26 @@ +{ + "app": { + "compileSdkVersion": 8, + "compatibleSdkVersion": 8, + "products": [ + { + "name": "default", + "signingConfig": "default", + } + ] + }, + "modules": [ + { + "name": "entry", + "srcPath": "./entry", + "targets": [ + { + "name": "default", + "applyToProducts": [ + "default" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/FA/robot_dog/entry/.gitignore b/FA/robot_dog/entry/.gitignore new file mode 100644 index 00000000..4f9a9738 --- /dev/null +++ b/FA/robot_dog/entry/.gitignore @@ -0,0 +1,3 @@ +/node_modules +/.preview +/build \ No newline at end of file diff --git a/FA/robot_dog/entry/build-profile.json5 b/FA/robot_dog/entry/build-profile.json5 new file mode 100644 index 00000000..ae58d1d0 --- /dev/null +++ b/FA/robot_dog/entry/build-profile.json5 @@ -0,0 +1,13 @@ +{ + "apiType": 'faMode', + "buildOption": { + }, + "targets": [ + { + "name": "default", + }, + { + "name": "ohosTest", + } + ] +} \ No newline at end of file diff --git a/FA/robot_dog/entry/hvigorfile.js b/FA/robot_dog/entry/hvigorfile.js new file mode 100644 index 00000000..bcec4c99 --- /dev/null +++ b/FA/robot_dog/entry/hvigorfile.js @@ -0,0 +1,2 @@ +// Script for compiling build behavior. It is built in the build plug-in and cannot be modified currently. +module.exports = require('@ohos/hvigor-ohos-plugin').legacyHapTasks diff --git a/FA/robot_dog/entry/package-lock.json b/FA/robot_dog/entry/package-lock.json new file mode 100644 index 00000000..15bc7145 --- /dev/null +++ b/FA/robot_dog/entry/package-lock.json @@ -0,0 +1,5 @@ +{ + "name": "entry", + "version": "1.0.0", + "lockfileVersion": 1 +} diff --git a/FA/robot_dog/entry/package.json b/FA/robot_dog/entry/package.json new file mode 100644 index 00000000..992c771b --- /dev/null +++ b/FA/robot_dog/entry/package.json @@ -0,0 +1,14 @@ +{ + "license":"ISC", + "devDependencies":{}, + "name":"entry", + "ohos":{ + "org":"huawei", + "directoryLevel":"module", + "buildTool":"hvigor" + }, + "description":"example description", + "repository":{}, + "version":"1.0.0", + "dependencies":{} +} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/main/config.json b/FA/robot_dog/entry/src/main/config.json new file mode 100644 index 00000000..b6451fd1 --- /dev/null +++ b/FA/robot_dog/entry/src/main/config.json @@ -0,0 +1,67 @@ +{ + "app": { + "vendor": "example", + "bundleName": "com.example.robotdog", + "version": { + "code": 1000000, + "name": "1.0.0" + } + }, + "deviceConfig": {}, + "module": { + "mainAbility": ".MainAbility", + "deviceType": [ + "phone" + ], + "abilities": [ + { + "skills": [ + { + "entities": [ + "entity.system.home" + ], + "actions": [ + "action.system.home" + ] + } + ], + "orientation": "unspecified", + "visible": true, + "srcPath": "MainAbility", + "name": ".MainAbility", + "srcLanguage": "ets", + "icon": "$media:icon", + "description": "$string:MainAbility_desc", + "formsEnabled": false, + "label": "$string:MainAbility_label", + "type": "page", + "launchType": "standard" + } + ], + "distro": { + "moduleType": "entry", + "installationFree": false, + "deliveryWithInstall": true, + "moduleName": "entry" + }, + "package": "com.example.entry", + "srcPath": "", + "name": ".entry", + "js": [ + { + "mode": { + "syntax": "ets", + "type": "pageAbility" + }, + "pages": [ + "pages/index" + ], + "name": ".MainAbility", + "window": { + "designWidth": 720, + "autoDesignWidth": false + } + } + ] + } +} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/main/ets/MainAbility/app.ets b/FA/robot_dog/entry/src/main/ets/MainAbility/app.ets new file mode 100644 index 00000000..aa449b20 --- /dev/null +++ b/FA/robot_dog/entry/src/main/ets/MainAbility/app.ets @@ -0,0 +1,27 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +// @ts-ignore +import tcpserverapi from '@ohos.tcpserverapi' + +export default { + onCreate() { + console.info('Application onCreate') + tcpserverapi.initServer() + }, + onDestroy() { + console.info('Application onDestroy') + }, +} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/main/ets/MainAbility/model/CommonLog.ets b/FA/robot_dog/entry/src/main/ets/MainAbility/model/CommonLog.ets new file mode 100644 index 00000000..f1de2ce6 --- /dev/null +++ b/FA/robot_dog/entry/src/main/ets/MainAbility/model/CommonLog.ets @@ -0,0 +1,34 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License,Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/** + * 日志管理类 + */ + +export default class CommonLog { + static module: string = "robotDog" + + static info(log: string) { + console.info(CommonLog.module + " : " + log) + } + + static error(log: string) { + console.error(CommonLog.module + " : " + log) + } + + static debug(log: string) { + console.debug(CommonLog.module + " : " + log) + } +} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/main/ets/MainAbility/model/comtrolData.ets b/FA/robot_dog/entry/src/main/ets/MainAbility/model/comtrolData.ets new file mode 100644 index 00000000..bce63a6e --- /dev/null +++ b/FA/robot_dog/entry/src/main/ets/MainAbility/model/comtrolData.ets @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License,Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +import CommonLog from './CommonLog.ets'; + +let NextId = 0; +export class CommandData { + id: string; + imgSrc: string; + name: string; + commandName: string + + constructor(imgSrc: string, name: string, commandName: string) { + this.id = `${NextId++}`; + this.imgSrc = imgSrc; + this.name = name; + this.commandName = commandName; + } +} + +export function initializeOnStartup(Control: any[]): Array { + let CommandDataArray: Array = [] + Control.forEach(item => { + CommonLog.info(item.title); + CommandDataArray.push(new CommandData(item.imgSrc, item.name, item.commandName)); + }) + return CommandDataArray; +} + +//控制命令 +export const ControlData: any[] = [ + { + "imgSrc": $r("app.media.icon_pushUp"), + "name":'俯卧撑', + "commandName": '{pushUp}' + }, + { + "imgSrc": $r("app.media.icon_handshake"), + "name":'握手', + "commandName": '{handshake}' + }, + { + "imgSrc": $r("app.media.icon_dance"), + "name":'跳舞', + "commandName": '{dance}' + }, + { + "imgSrc": $r("app.media.icon_urine"), + "name":'小便', + "commandName": '{urine}' + } +] \ No newline at end of file diff --git a/FA/robot_dog/entry/src/main/ets/MainAbility/pages/index.ets b/FA/robot_dog/entry/src/main/ets/MainAbility/pages/index.ets new file mode 100644 index 00000000..f7ae2955 --- /dev/null +++ b/FA/robot_dog/entry/src/main/ets/MainAbility/pages/index.ets @@ -0,0 +1,166 @@ +import CommonLog from '../model/CommonLog.ets'; +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +// @ts-ignore +import tcpserverapi from '@ohos.tcpserverapi' +import {CommandData, initializeOnStartup, ControlData} from '../model/comtrolData'; +import prompt from '@system.prompt'; + +@Component +struct TitleName { + build() { + Flex() { + Text('机器狗') + .fontSize('36lpx') + .fontColor('#FFFFFF') + .margin({ left: '40lpx', top: '16lpx' }) + } + } +} + +@Component +struct LogoImage { + build() { + Flex({ direction: FlexDirection.Row, alignItems: ItemAlign.Center, justifyContent: FlexAlign.Center }) { + Image($r("app.media.icon_logo")) + .width('480lpx') + .height('320lpx') + } + .width('100%') + .height('372lpx') + } +} + + +@Component +struct ConnectState { + @Prop connectState:boolean + build() { + //连接状态 + Flex({ direction: FlexDirection.Row, alignItems: ItemAlign.Center, justifyContent: FlexAlign.SpaceBetween }) { + if (this.connectState) { + Text('已连接') + .fontSize('36lpx') + .fontColor('#FFFFFF') + Image($r("app.media.icon_switch_on")) + .width('112lpx') + .height('112lpx') + } + else { + Text('未连接') + .fontSize('36lpx') + .fontColor('#FFFFFF') + Image($r("app.media.icon_switch_off")) + .width('112lpx') + .height('112lpx') + } + } + .linearGradient({ + angle: 180, + colors: [[0x363D4D, 0], [0x303644, 0.49], [0x22252F, 1.0]] + }) + .borderRadius('32lpx') + .width('672lpx') + .height('146lpx') + .padding({ left: '32lpx', right: '32lpx' }) + } +} + +@Component +struct CommandListItem { + //控制命令 + @State command: any[] = ControlData + @State commandItems: CommandData[] = initializeOnStartup(this.command) + @State name: string = '' + @Prop connectState:boolean + build() { + Flex({ wrap: FlexWrap.Wrap, alignItems: ItemAlign.Start, justifyContent: FlexAlign.SpaceEvenly }) { + ForEach(this.commandItems, item => { + Stack() { + Image(this.name == item.name ? $r("app.media.bg_select") : $r("app.media.bg_unselect")) + Flex({ + direction: FlexDirection.Column, + alignItems: ItemAlign.Center, + justifyContent: FlexAlign.SpaceEvenly + }) { + + Image(item.imgSrc) + .width('112lpx') + .height('112lpx') + Text(item.name) + .fontSize('36lpx') + .fontColor('#FFFFFF') + } + .onClick(() => { + if(this.connectState) + { + this.name = item.name; + tcpserverapi.sendRobotDogCommand(item.commandName); + } + else{ + prompt.showToast({ + message: 'Robot dog not connected', + duration: 2000, + }); + } + }) + } + .borderRadius('32lpx') + .width('324lpx') + .height('242lpx') + .margin({ bottom: '12lpx' }) + + }, item => item.id.toString()) + } + .width('100%') + .height('600lpx') + .margin({ top: '16lpx' }) + } +} + +@Entry +@Component +struct Index { + @State connectState: boolean = false + aboutToAppear() { + var intervalID = setInterval(() => { + //NAPI调用 + tcpserverapi.recvMsg().then((result) => { + CommonLog.info(result.clientNumber) + if (result.clientNumber > 0) { + this.connectState = true; + } + else{ + this.connectState = false; + } + }) + }, 1000) + } + build() { + Flex({ direction: FlexDirection.Column, alignItems: ItemAlign.Start, justifyContent: FlexAlign.Start }) { + TitleName(); + Flex({ direction: FlexDirection.Column, alignItems: ItemAlign.Center }) { + LogoImage(); + ConnectState({connectState:this.connectState}); + CommandListItem({connectState:this.connectState}); + } + .height('90%') + } + .backgroundColor('#000000') + .width('100%') + .height('100%') + } +} \ No newline at end of file diff --git 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"bundleName": "com.example.robotdog", + "vendor": "example", + "version": { + "code": 1000000, + "name": "1.0.0" + } + }, + "deviceConfig": {}, + "module": { + "package": "com.example.entry_test", + "name": ".entry_test", + "mainAbility": ".TestAbility", + "srcPath": "", + "deviceType": [ + "phone" + ], + "distro": { + "deliveryWithInstall": true, + "moduleName": "entry_test", + "moduleType": "feature", + "installationFree": false + }, + "abilities": [ + { + "skills": [ + { + "entities": [ + "entity.system.home" + ], + "actions": [ + "action.system.home" + ] + } + ], + "orientation": "unspecified", + "visible": true, + "srcPath": "TestAbility", + "name": ".TestAbility", + "srcLanguage": "ets", + "icon": "$media:icon", + "description": "$string:description_TestAbility", + "formsEnabled": false, + "label": "$string:entry_TestAbility", + "type": "page", + "launchType": "standard" + } + ], + "js": [ + { + "mode": { + "syntax": "ets", + "type": "pageAbility" + }, + "pages": [ + "pages/index" + ], + "name": ".TestAbility", + "window": { + "designWidth": 720, + "autoDesignWidth": false + } + } + ] + } +} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/ets/TestAbility/app.ets b/FA/robot_dog/entry/src/ohosTest/ets/TestAbility/app.ets new file mode 100644 index 00000000..4db82cf1 --- /dev/null +++ b/FA/robot_dog/entry/src/ohosTest/ets/TestAbility/app.ets @@ -0,0 +1,18 @@ +import AbilityDelegatorRegistry from '@ohos.application.abilityDelegatorRegistry' +import { Hypium } from 'hypium/index' +import testsuite from '../test/List.test' + +export default { + onCreate() { + console.info('Application onCreate') + var abilityDelegator: any + abilityDelegator = AbilityDelegatorRegistry.getAbilityDelegator() + var abilityDelegatorArguments: any + abilityDelegatorArguments = AbilityDelegatorRegistry.getArguments() + console.info('start run testcase!!!') + Hypium.hypiumTest(abilityDelegator, abilityDelegatorArguments, testsuite) + }, + onDestroy() { + console.info('Application onDestroy') + }, +} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/ets/TestAbility/pages/index.ets b/FA/robot_dog/entry/src/ohosTest/ets/TestAbility/pages/index.ets new file mode 100644 index 00000000..539eb9ae --- /dev/null +++ b/FA/robot_dog/entry/src/ohosTest/ets/TestAbility/pages/index.ets @@ -0,0 +1,35 @@ +import router from '@system.router'; + +@Entry +@Component +struct Index { + aboutToAppear() { + console.info('TestAbility index aboutToAppear') + } + + @State message: string = 'Hello World' + build() { + Row() { + Column() { + Text(this.message) + .fontSize(50) + .fontWeight(FontWeight.Bold) + Button() { + Text('next page') + .fontSize(20) + .fontWeight(FontWeight.Bold) + }.type(ButtonType.Capsule) + .margin({ + top: 20 + }) + .backgroundColor('#0D9FFB') + .width('35%') + .height('5%') + .onClick(()=>{ + }) + } + .width('100%') + } + .height('100%') + } + } \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts b/FA/robot_dog/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts new file mode 100644 index 00000000..ed3ba0df --- /dev/null +++ b/FA/robot_dog/entry/src/ohosTest/ets/TestRunner/OpenHarmonyTestRunner.ts @@ -0,0 +1,63 @@ +import TestRunner from '@ohos.application.testRunner' +import AbilityDelegatorRegistry from '@ohos.application.abilityDelegatorRegistry' + +var abilityDelegator = undefined +var abilityDelegatorArguments = undefined + +function translateParamsToString(parameters) { + const keySet = new Set([ + '-s class', '-s notClass', '-s suite', '-s itName', + '-s level', '-s testType', '-s size', '-s timeout', + '-s package' + ]) + let targetParams = ''; + for (const key in parameters) { + if (keySet.has(key)) { + targetParams += ' ' + key + ' ' + parameters[key] + } + } + return targetParams.trim() +} + +async function onAbilityCreateCallback() { + console.log('onAbilityCreateCallback'); +} + +async function addAbilityMonitorCallback(err: any) { + console.info('addAbilityMonitorCallback : ' + JSON.stringify(err)) +} + +export default class OpenHarmonyTestRunner implements TestRunner { + constructor() { + } + + onPrepare() { + console.info('OpenHarmonyTestRunner OnPrepare') + } + + onRun() { + console.log('OpenHarmonyTestRunner onRun run') + abilityDelegatorArguments = AbilityDelegatorRegistry.getArguments() + abilityDelegator = AbilityDelegatorRegistry.getAbilityDelegator() + + let lMonitor = { + abilityName: testAbilityName, + onAbilityCreate: onAbilityCreateCallback, + }; + var testAbilityName = abilityDelegatorArguments.parameters['-p'] + '.TestAbility' + abilityDelegator.addAbilityMonitor(lMonitor, addAbilityMonitorCallback) + var cmd = 'aa start -d 0 -a ' + testAbilityName + ' -b ' + abilityDelegatorArguments.bundleName + cmd += ' '+translateParamsToString(abilityDelegatorArguments.parameters) + console.info('cmd : '+cmd) + abilityDelegator.executeShellCommand(cmd, + (err: any, d: any) => { + console.info('executeShellCommand : err : ' + JSON.stringify(err)); + console.info('executeShellCommand : data : ' + d.stdResult); + console.info('executeShellCommand : data : ' + d.exitCode); + }) + console.info('OpenHarmonyTestRunner onRun call abilityDelegator.getAppContext') + var context = abilityDelegator.getAppContext() + console.info('getAppContext : ' + JSON.stringify(context)) + console.info('OpenHarmonyTestRunner onRun end') + } +}; \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/ets/test/Ability.test.ets b/FA/robot_dog/entry/src/ohosTest/ets/test/Ability.test.ets new file mode 100644 index 00000000..1236e0ce --- /dev/null +++ b/FA/robot_dog/entry/src/ohosTest/ets/test/Ability.test.ets @@ -0,0 +1,13 @@ +import { describe, beforeAll, beforeEach, afterEach, afterAll, it, expect } from 'hypium/index' + +export default function abilityTest() { + describe('ActsAbilityTest', function () { + it('assertContain',0, function () { + console.info("it begin") + let a = 'abc' + let b = 'b' + expect(a).assertContain(b) + expect(a).assertEqual(a) + }) + }) +} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/ets/test/List.test.ets b/FA/robot_dog/entry/src/ohosTest/ets/test/List.test.ets new file mode 100644 index 00000000..d766fe24 --- /dev/null +++ b/FA/robot_dog/entry/src/ohosTest/ets/test/List.test.ets @@ -0,0 +1,5 @@ +import abilityTest from './Ability.test' + +export default function testsuite() { + abilityTest() +} \ No newline at end of file diff --git a/FA/robot_dog/entry/src/ohosTest/resources/base/element/string.json b/FA/robot_dog/entry/src/ohosTest/resources/base/element/string.json new file mode 100644 index 00000000..a0901cfc --- /dev/null +++ b/FA/robot_dog/entry/src/ohosTest/resources/base/element/string.json @@ -0,0 +1,12 @@ +{ + "string": [ + { + "name": "description_TestAbility", + "value": "eTS_Empty Ability" + }, + { + "name": "entry_TestAbility", + "value": 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"zip-stream": { + "version": "4.1.0", + "resolved": "https://repo.huaweicloud.com/repository/npm/zip-stream/-/zip-stream-4.1.0.tgz", + "integrity": "sha512-zshzwQW7gG7hjpBlgeQP9RuyPGNxvJdzR8SUM3QhxCnLjWN2E7j3dOvpeDcQoETfHx0urRS7EtmVToql7YpU4A==", + "requires": { + "archiver-utils": "^2.1.0", + "compress-commons": "^4.1.0", + "readable-stream": "^3.6.0" + } + } + } +} diff --git a/FA/robot_dog/package.json b/FA/robot_dog/package.json new file mode 100644 index 00000000..f45a4949 --- /dev/null +++ b/FA/robot_dog/package.json @@ -0,0 +1,18 @@ +{ + "license":"ISC", + "devDependencies":{}, + "name":"robotdog", + "ohos":{ + "org":"huawei", + "directoryLevel":"project", + "buildTool":"hvigor" + }, + "description":"example description", + "repository":{}, + "version":"1.0.0", + "dependencies":{ + "@ohos/hvigor-ohos-plugin":"1.0.6", + "hypium":"^1.0.0", + "@ohos/hvigor":"1.0.6" + } +} \ No newline at end of file diff --git a/README.md b/README.md index 8174072a..6e8c1079 100644 --- a/README.md +++ b/README.md @@ -44,6 +44,19 @@ - [智能停车场_车牌识别器（OpenCV版本）](docs/GreyWolf_ImageRecognition_LocalAI/README.md) #### 标准系统应用 - [智能停车场_车辆管理中控台](docs/GreyWolf_ParkingManageSys_FA/README.md) + +## 运动控制场景 + +#### 简介 + +基于运动控制场景打造的样例，开发者可以体验OpenHarmony在运动控制、自动化、传感器等领域的应用。 + +### 样例汇总 + ++ [基于OpenHarmony的智能指南针](docs/electronic_compass/README.md) ++ [基于OpenHarmony的智能金属探测器](docs/metal_detection/README.md) ++ [OpenHarmony机器狗应用](docs/robot_dog/README.md) + ## 快速上手场景 #### 简介 diff --git a/dev/team_x/electronic_compass/main.c b/dev/team_x/electronic_compass/main.c new file mode 100644 index 00000000..4cd68095 --- /dev/null +++ b/dev/team_x/electronic_compass/main.c @@ -0,0 +1,243 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/** + ****************************************************************************** + * @file main.c + * @author GEEKROS, site:www.geekros.com + ****************************************************************************** +*/ + +#include "main.h" + +/******************************************************************* + * @ 函数名 ： main + * @ 功能说明： 程序启动入口，主要初始化一些开发板的模块以及任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +int main(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 LiteOS_Status = LOS_OK; + +#ifndef NO_HARMONY + + // LiteOS内核初始化 +LiteOS_Status = LOS_KernelInit(); + if (LiteOS_Status != LOS_OK) { + // LiteOS内核初始化失败 + return LOS_NOK; + } else +#endif + { + //SystemClock_Config(); + + // 时钟初始化 + Delay_Init(LOSCFG_BASE_CORE_TICK_PER_SECOND); + + // USB虚拟串口初始化 + Usb_Init(); + + // CPU模块初始化 + Cpu_Init(); + + // LED模块初始化 + Led_Init(); + + // BUZZER模块初始化 + Buzzer_Init(); + + // CAN模块初始化 + Can_Init(); + + // POWER模块初始化 + Power_Init(); + + // KEY模块初始化 + Key_Init(); + + // ADC模块初始化 + Adc_Init(); + + // PWM模块初始化 + Pwm_Init(); + + // MPU模块初始化 + Mpu_Init(); + + // wifi模块初始化 + Wifi_Init(115200); + + if(ESP8266_start_TCP() == -1){ + GREEN_LED_OFF(); + } + else{ + GREEN_LED_ON(); + } + + #ifndef NO_HARMONY + + // 任务初始化 + LiteOS_Status = Task_Init(); + // 开启LiteOS任务调度 + LOS_Start(); + + #endif + + } + + while(1); +} + +/******************************************************************* + * @ 函数名 ： Task_Init + * @ 功能说明： 任务初始化，为了方便管理，所有的任务创建函数都可以放在这个函数里面 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +static UINT32 Task_Init(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Status = LOS_OK; + + Status = Start_System_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + Status = Start_Serial_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + Status = Start_User_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + // 所有任务启动成功后播放开机音乐 + if(Status == LOS_OK) + { + //Buzzer_Start_Music(); + RED_LED_ON(); //红色作为电源指示灯 + Usb_Write_Data("ALL OK\r\n"); + } + + return Status; +} + +/******************************************************************* + * @ 函数名 ： Start_System_Task + * @ 功能说明： 启动系统任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 System_Task_Handle; +static UINT32 Start_System_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 3; + + // 任务名称 + task_init_param.pcName = "System_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)System_Task; + + // 任务堆栈大小 + task_init_param.uwStackSize = 4096; + + // 创建任务 + Task_Status = LOS_TaskCreate(&System_Task_Handle, &task_init_param); + + return Task_Status; +} + +/******************************************************************* + * @ 函数名 ： Start_Serial_Task + * @ 功能说明： 启动串口任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 Serial_Task_Handle; +static UINT32 Start_Serial_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 4; + + // 任务名称 + task_init_param.pcName = "Serial_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)Serial_Task; + + // 任务堆栈大小 + //task_init_param.uwStackSize = 4096; + task_init_param.uwStackSize = 5120; + // 创建任务 + Task_Status = LOS_TaskCreate(&Serial_Task_Handle, &task_init_param); + + return Task_Status; +} + +/******************************************************************* + * @ 函数名 ： Start_User_Task + * @ 功能说明： 启动用户任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 User_Task_Handle; +static UINT32 Start_User_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 5; + + // 任务名称 + task_init_param.pcName = "User_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)User_Task; + + // 任务堆栈大小 + task_init_param.uwStackSize = 4096; + + // 创建任务 + Task_Status = LOS_TaskCreate(&User_Task_Handle, &task_init_param); + + return Task_Status; +} diff --git a/dev/team_x/electronic_compass/serial_task.c b/dev/team_x/electronic_compass/serial_task.c new file mode 100644 index 00000000..a9cd9941 --- /dev/null +++ b/dev/team_x/electronic_compass/serial_task.c @@ -0,0 +1,243 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/** + ****************************************************************************** + * @file serial_task.c + * @author GEEKROS, site:www.geekros.com + ****************************************************************************** +*/ + +#include "serial_task.h" + +static Serial_Data_Struct Read_Data; + +uint32_t Serial_Task_Buffer_Len = 512; + +uint8_t Serial_Task_Buffer[512]; + +/****************************************************************** + * @ 函数名 ： Serial_Task + * @ 功能说明： USB虚拟串口任务函数 + * @ 参数 ： NULL + * @ 返回值 ： NULL + *****************************************************************/ + +#define PI 3.1415926535f +extern Mpu_Calc_Struct Mpu_Calc; +static int angle_buff[3] = {0}; +void Serial_Task(void) +{ + bool Calibrate = 0; + uint8_t key_flag = 0; + int32_t Max_Mag_x,Max_Mag_y; + int32_t Min_Mag_x,Min_Mag_y; + int32_t Mag_x_OffSet = 0,Mag_y_OffSet = 0; + while(1) + { + uint16_t angle = 0; + char buff[20] = {0}; + + angle_buff[0] = angle_buff[1]; + angle_buff[1] = angle_buff[2]; + angle_buff[2] = ((uint16_t)(atan2((Mpu_Calc.mag_y - Mag_y_OffSet),(Mpu_Calc.mag_x - Mag_x_OffSet)) *180 / PI + 180 )); + + angle = ((uint16_t)((angle_buff[0] + angle_buff[1] + angle_buff[2]) / 3.0 + 0.5)); + + //Usb_Write_Data("-----------------------------------------------------------------------------------\r\n"); + //Usb_Write_Data("send data ---- angle: %d \r\n",angle); + + if(Led_GetStatu("green") == LED_ON){ + BLUE_LED_TOGGLE(); + memset(buff,0x00,sizeof(buff)); + sprintf(buff,"angle:%d",angle); + ESP8266_send_data(buff,strlen(buff)); + } + else{ + BLUE_LED_OFF(); + RED_LED_TOGGLE(); + } + + // 按键检测来进行校准 + if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_2) == SET) + { + key_flag++; + //Usb_Write_Data("-----KEY----------KEY_FLAG: %d\r\n",key_flag); + } + else + { + if(key_flag>=3) + { + Max_Mag_x = -500; + Max_Mag_y = -500; + Min_Mag_x = 500; + Min_Mag_y = 500; + + TIM_SetCompare1(TIM12, 100); + delay_ms(1000); + TIM_SetCompare1(TIM12, 300); + + Calibrate = !Calibrate; + } + key_flag = 0; + } + + if(Calibrate) + { + if(Max_Mag_x < Mpu_Calc.mag_x){ + Max_Mag_x = Mpu_Calc.mag_x; + } + if(Max_Mag_y < Mpu_Calc.mag_y){ + Max_Mag_y = Mpu_Calc.mag_y; + } + if(Min_Mag_x > Mpu_Calc.mag_x){ + Min_Mag_x = Mpu_Calc.mag_x; + } + if(Min_Mag_y > Mpu_Calc.mag_y){ + Min_Mag_y = Mpu_Calc.mag_y; + } + Mag_x_OffSet = (Max_Mag_x + Min_Mag_x) / 2; + Mag_y_OffSet = (Max_Mag_y + Min_Mag_y) / 2; + } + +#if 0 + Usb_Write_Data("Max_Mag_x: %d Min_Mag_x: %d \r\n",Max_Mag_x,Min_Mag_x); + Usb_Write_Data("Max_Mag_y: %d Min_Mag_y: %d \r\n",Max_Mag_y,Min_Mag_y); + Usb_Write_Data("Mag_x_OffSet: %d Mag_y_OffSet: %d \r\n",Mag_x_OffSet,Mag_y_OffSet); + Usb_Write_Data("Mpu_Calc.mag_x: %d Mpu_Calc.mag_y: %d \r\n",Mpu_Calc.mag_x,Mpu_Calc.mag_y); + Usb_Write_Data("Mpu_Calc.mag_z: %d \r\n",Mpu_Calc.mag_z); + Usb_Write_Data("Gauss*** Mag_x: %f Mag_y: %f Mag_z: %f \r\n",Mpu_Calc.mag_x * 0.15f * 0.01f, Mpu_Calc.mag_y * 0.15f * 0.01f, Mpu_Calc.mag_z * 0.15f * 0.01f); + Usb_Write_Data("origin_mag_z ::::: %f \r\n", origin_mag_z); + Usb_Write_Data("--------------------------------------------------------------------------------\r\n"); +#endif + Task_Delay(5); + } +} + +/****************************************************************** + * @ 函数名 ： Serial_Json_Handle + * @ 功能说明： JSON通讯协议解析与处理函数 + * @ 参数 ： NULL + * @ 返回值 ： NULL + *****************************************************************/ +void Serial_Json_Handle(char *json) +{ + // 解析USB虚拟串口数据 + cJSON *Serial_Data; + Serial_Data = cJSON_Parse(json); + if(Serial_Data){ + + Read_Data.type = cJSON_GetObjectItem(Serial_Data, "type")->valuestring; + + // 版本号 + if(memcmp(Read_Data.type, "board-version", 13) == 0) + { + char* version; + version = Board_Version(); + Usb_Write_Data("{\"type\":\"board-version\",\"version\":\"%s\"}\r\n", version); + } + + // LED模块 + if(memcmp(Read_Data.type, "led", 3) == 0) + { + Read_Data.led.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valuestring; + Read_Data.led.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Led_Usb_Callback(Read_Data.type, Read_Data.led.channel, Read_Data.led.state); + } + + // CAN模块 + if(memcmp(Read_Data.type, "can", 3) == 0) + { + Read_Data.can.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.can.motor_id = cJSON_GetObjectItem(Serial_Data, "motor_id")->valueint; + Can_Usb_Callback(Read_Data.type, Read_Data.can.channel, Read_Data.can.motor_id); + } + + // POWER模块 + if(memcmp(Read_Data.type, "power", 5) == 0) + { + Read_Data.power.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.power.id = cJSON_GetObjectItem(Serial_Data, "id")->valueint; + Read_Data.power.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Power_Usb_Callback(Read_Data.type, Read_Data.power.channel, Read_Data.power.id, Read_Data.power.state); + } + + // KEY模块 + if(memcmp(Read_Data.type, "key", 3) == 0) + { + Key_Usb_Callback(Read_Data.type); + } + + // ADC模块 + if(memcmp(Read_Data.type, "adc", 3) == 0) + { + Read_Data.adc.voltage = cJSON_GetObjectItem(Serial_Data, "voltage")->valuedouble; + Adc_Usb_Callback(Read_Data.type, Read_Data.adc.voltage); + } + + // IO模块 + if(memcmp(Read_Data.type, "io", 2) == 0) + { + Read_Data.io.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.io.mode = cJSON_GetObjectItem(Serial_Data, "mode")->valuestring; + Read_Data.io.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Io_Usb_Callback(Read_Data.type, Read_Data.io.channel, Read_Data.io.mode, Read_Data.io.state); + } + + // PWM模块 + if(memcmp(Read_Data.type, "pwm", 3) == 0) + { + Read_Data.pwm.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.pwm.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valuedouble; + Read_Data.pwm.width = cJSON_GetObjectItem(Serial_Data, "width")->valueint; + Pwm_Usb_Callback(Read_Data.type, Read_Data.pwm.channel, Read_Data.pwm.rate, Read_Data.pwm.width); + } + + // CPU模块 + if(memcmp(Read_Data.type, "cpu", 3) == 0) + { + Cpu_Usb_Callback(Read_Data.type); + } + + // MPU模块 + if(memcmp(Read_Data.type, "mpu", 3) == 0) + { + Mpu_Usb_Callback(Read_Data.type); + } + + // 遥控器模块 + if(memcmp(Read_Data.type, "rocker-control", 14) == 0) + { + Read_Data.rocker_control.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valueint; + Read_Data.rocker_control.s1 = cJSON_GetObjectItem(Serial_Data, "s1")->valueint; + Read_Data.rocker_control.s2 = cJSON_GetObjectItem(Serial_Data, "s2")->valueint; + Read_Data.rocker_control.ch0 = cJSON_GetObjectItem(Serial_Data, "ch0")->valuedouble; + Read_Data.rocker_control.ch1 = cJSON_GetObjectItem(Serial_Data, "ch1")->valuedouble; + Read_Data.rocker_control.ch2 = cJSON_GetObjectItem(Serial_Data, "ch2")->valuedouble; + Read_Data.rocker_control.ch3 = cJSON_GetObjectItem(Serial_Data, "ch3")->valuedouble; + Rocker_Usb_Callback(Read_Data.type, Read_Data.rocker_control.rate, Read_Data.rocker_control.s1, Read_Data.rocker_control.s2, Read_Data.rocker_control.ch0, \ + Read_Data.rocker_control.ch1, Read_Data.rocker_control.ch2, Read_Data.rocker_control.ch3); + } + } + + // 需要清空本次收到的数据 + cJSON_Delete(Serial_Data); + for(int i=0;i 0){ + Wifi_Data.buffer[Wifi_Data.len] = data; + Wifi_Data.len++; + } + } + } + #endif + u8 ucCh; + + if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) + { + ucCh = USART_ReceiveData( USART2 ); + if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 ) ) + { + ESP8266_Fram_Record_Struct .Data_RX_BUF[ ESP8266_Fram_Record_Struct .InfBit .FramLength ++ ] = ucCh; + } + } + + if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) //如果总线空闲 + { + ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; + ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR） + } +} + +/****************************************************************** + * @ 函数名 ： Wifi_Parse_Json + * @ 功能说明： 解析JSON数据 + * @ 参数 ： const char *json JSON字符串数据 + * @ 返回值 ： NULL + *****************************************************************/ +void Wifi_Parse_Json(char* json) +{ + // 回调USB串口任务的JSON通讯协议解析与处理函数 + Serial_Json_Handle(json); +} + +struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构体 +//对ESP8266模块发送相关指令 +// cmd 待发送的指令 +void ESP8266_Send_AT_Cmd(char *cmd,u32 time) +{ + + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据包 + memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); + ESP8266_USART("%s\r\n", cmd); + delay_ms(time); //延时 +} + +void ESP8266_send_at(void) +{ + char cStr [20]; + sprintf ( cStr, "AT"); + ESP8266_Send_AT_Cmd( cStr,100); +} + +void ESP8266_set_sta_mode(void) +{ + char cStr [20]; + sprintf ( cStr, "AT+CWMODE=1"); + ESP8266_Send_AT_Cmd( cStr,100); +} + +void ESP8266_connect_wifi(void) +{ + char cStr [64]; + sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); + Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); + ESP8266_Send_AT_Cmd( cStr,5000); +} + +void ESP8266_TCP_connect(void) +{ + char cStr [64]; + sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); + ESP8266_Send_AT_Cmd( cStr,1000); +} + +void ESP8266_start_send(unsigned int len) +{ + char cStr [20]; + sprintf ( cStr, "AT+CIPSEND=%d",len); + ESP8266_Send_AT_Cmd( cStr,50); +} + +void ESP8266_close_tcp_connect(void) +{ + char cStr [20]; + sprintf ( cStr, "AT+CIPCLOSE"); + ESP8266_Send_AT_Cmd( cStr,200); +} + +void ESP8266_send_data(char *dat,unsigned int len) +{ + ESP8266_start_send(len); //start send + + ESP8266_USART("%s\r\n", dat); +} + +// AT jiexi +static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) +{ + //char *p = NULL; + const char * src = (const char *)pdat; + + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) + { + ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; + } + else + { + //return -1; //ERR + } + + if(NULL != strstr(src, "+CIPSTART")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPCLOSE")) + { + if(strstr(src, "OK")) + { + return 0; + } + } + else if(NULL != strstr(src, "+CWMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CWJAP")) + { + if(strstr(src, "CONNECTED")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CIPSEND")) + { + if(strstr(src, "SEND OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; + return 0; + } + + return -1; +} + + + +signed char ESP8266_start_TCP(void) +{ + static unsigned char err = 0; + + char cStr [128]; + + unsigned char reconnect_cnt; + + + // AT + Usb_Write_Data("ESP2866 TEST\r\n"); + err = 0; + do + { + ESP8266_send_at(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); + + reconnect_cnt=0; + RECONNECT: + // AT+CIPCLOSE + Usb_Write_Data("close tcp connect\r\n"); + err = 0; + ESP8266_close_tcp_connect(); + + // AT+CWMODE set sta mode + Usb_Write_Data("set sta mode\r\n"); + err = 0; + do + { + ESP8266_set_sta_mode(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); + + + + // AT+CWJAP + Usb_Write_Data("connecting wifi......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; + do + { + ESP8266_connect_wifi(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); + + // AT+CIPSTART + Usb_Write_Data("building tcp connect......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; + do + { + ESP8266_TCP_connect(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + //return -1; + reconnect_cnt++; + Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); + if(reconnect_cnt<5) + { + goto RECONNECT; + } + else + { + return -1; + } + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); + + Usb_Write_Data("ESP8266 ok!!!\r\n"); + sprintf (cStr, "ESP8266 init success"); + Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); + ESP8266_send_data(cStr,strlen(cStr)); + + #if 0 + + while(1){ + + sprintf (cStr, "ESP8266 test"); + ESP8266_send_data(cStr,strlen(cStr)); + + delay_ms(2000); + } + + #endif + + return 0; +} + + +static char *itoa( int value, char *string, int radix ) +{ + int i, d; + int flag = 0; + char *ptr = string; + + /* This implementation only works for decimal numbers. */ + if (radix != 10) + { + *ptr = 0; + return string; + } + + if (!value) + { + *ptr++ = 0x30; + *ptr = 0; + return string; + } + + /* if this is a negative value insert the minus sign. */ + if (value < 0) + { + *ptr++ = '-'; + + /* Make the value positive. */ + value *= -1; + + } + + for (i = 10000; i > 0; i /= 10) + { + d = value / i; + + if (d || flag) + { + *ptr++ = (char)(d + 0x30); + value -= (d * i); + flag = 1; + } + } + + /* Null terminate the string. */ + *ptr = 0; + + return string; + +} /* NCL_Itoa */ + +void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) +{ + const char *s; + int d; + char buf[16]; + + + va_list ap; + va_start(ap, Data); + + while ( * Data != 0 ) // 判断数据是否到达结束符 + { + if ( * Data == 0x5c ) //'\' + { + switch ( *++Data ) + { + case 'r': //回车符 + USART_SendData(USARTx, 0x0d); + Data ++; + break; + + case 'n': //换行符 + USART_SendData(USARTx, 0x0a); + Data ++; + break; + + default: + Data ++; + break; + } + } + + else if ( * Data == '%') + { + switch ( *++Data ) + { + case 's': //字符串 + s = va_arg(ap, const char *); + for ( ; *s; s++) + { + USART_SendData(USARTx,*s); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + } + Data++; + break; + + case 'd': + //十进制 + d = va_arg(ap, int); + itoa(d, buf, 10); + for (s = buf; *s; s++) + { + USART_SendData(USARTx,*s); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + } + Data++; + break; + default: + Data++; + break; + } + } + else USART_SendData(USARTx, *Data++); + while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ); + + } +} + + diff --git a/dev/team_x/electronic_compass/wifi.h b/dev/team_x/electronic_compass/wifi.h new file mode 100644 index 00000000..b2f51ffa --- /dev/null +++ b/dev/team_x/electronic_compass/wifi.h @@ -0,0 +1,100 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#ifndef MODULAR_WIFI +#define MODULAR_WIFI + +#include "stm32f4xx.h" +#include +#include +#include +#include +#include + +#include "serial_task.h" + + +#define TCP_SERVICE_IP "\"192.168.1.106\"" //丽红 +#define WIFI_SSID "\"YYYYYY\"" + +//#define TCP_SERVICE_IP "\"192.168.100.151\"" +#define TCP_COM 5000 +//#define WIFI_SSID "\"A_zoumin888\"" +#define WIFI_PASSWORD "\"66666666\"" + +#define WIFI_DATA_LEN 128 + +typedef struct{ + char buffer[WIFI_DATA_LEN]; + int len; +}Wifi_Struct; + +extern Wifi_Struct Wifi_Data; + +void Wifi_Init(int baud_rate); + +void Wifi_Parse_Json(char* json); + + +#if defined ( __CC_ARM ) +#pragma anon_unions +#endif + +#define ESP8266_USART(fmt, ...) USART_printf (USART2, fmt, ##__VA_ARGS__) +#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) //这是串口打印函数，串口1，执行printf后会自动执行fput函数，重定向了printf。 + + + +#define RX_BUF_MAX_LEN 1024 //最大字节数 +extern struct STRUCT_USART_Fram //数据帧结构体 +{ + u8 Data_RX_BUF[RX_BUF_MAX_LEN]; + union + { + __IO u16 InfAll; + struct + { + __IO u16 FramLength :15; // 14:0 + __IO u16 FramFinishFlag :1; // 15 + }InfBit; + }; + + union + { + __IO u16 State; + struct + { + __IO u16 Connect_flag:1; + __IO u16 Get_Ip_flag:1; + __IO u16 ESP8266_Ready_flag:1; + __IO u16 Trans_Mode:1; + __IO u16 Send_OK_flag:1; + __IO u16 Sta_Mode:1; + __IO u16 res:10; + + }StateFlagBit; + }; + +}ESP8266_Fram_Record_Struct; + + +//初始化和TCP功能函数 +signed char ESP8266_start_TCP(void); +void Wifi_Init(int baud_rate); +void ESP8266_AT(void); +void ESP8266_Send_AT_Cmd(char *cmd,u32 time); +void USART_printf( USART_TypeDef * USARTx, char * Data, ... ); + + +#endif \ No newline at end of file diff --git a/dev/team_x/metal_detection/main.c b/dev/team_x/metal_detection/main.c new file mode 100644 index 00000000..47d6e646 --- /dev/null +++ b/dev/team_x/metal_detection/main.c @@ -0,0 +1,243 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/** + ****************************************************************************** + * @file main.c + * @author GEEKROS, site:www.geekros.com + ****************************************************************************** +*/ + +#include "main.h" + +/******************************************************************* + * @ 函数名 ： main + * @ 功能说明： 程序启动入口，主要初始化一些开发板的模块以及任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +int main(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 LiteOS_Status = LOS_OK; + +#ifndef NO_HARMONY + + // LiteOS内核初始化 +LiteOS_Status = LOS_KernelInit(); + if (LiteOS_Status != LOS_OK) { + // LiteOS内核初始化失败 + return LOS_NOK; + } else +#endif + { + //SystemClock_Config(); + + // 时钟初始化 + Delay_Init(LOSCFG_BASE_CORE_TICK_PER_SECOND); + + // USB虚拟串口初始化 + Usb_Init(); + + // CPU模块初始化 + Cpu_Init(); + + // LED模块初始化 + Led_Init(); + + // BUZZER模块初始化 + Buzzer_Init(); + + // CAN模块初始化 + Can_Init(); + + // POWER模块初始化 + Power_Init(); + + // KEY模块初始化 + Key_Init(); + + // ADC模块初始化 + Adc_Init(); + + // PWM模块初始化 + Pwm_Init(); + + // MPU模块初始化 + Mpu_Init(); + +#if 0 + // wifi模块初始化 + Wifi_Init(115200); + + if(ESP8266_start_TCP() == -1){ + GREEN_LED_OFF(); + } + else{ + GREEN_LED_ON(); + } +#endif + #ifndef NO_HARMONY + + // 任务初始化 + LiteOS_Status = Task_Init(); + // 开启LiteOS任务调度 + LOS_Start(); + + #endif + } + // 正常情况不会执行到这里 + while(1); +} + +/******************************************************************* + * @ 函数名 ： Task_Init + * @ 功能说明： 任务初始化，为了方便管理，所有的任务创建函数都可以放在这个函数里面 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +static UINT32 Task_Init(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Status = LOS_OK; + + Status = Start_System_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + Status = Start_Serial_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + Status = Start_User_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + // 所有任务启动成功后播放开机音乐 + if(Status == LOS_OK) + { + //Buzzer_Start_Music(); + RED_LED_ON(); //红色作为电源指示灯 + Usb_Write_Data("ALL OK\r\n"); + } + + return Status; +} + +/******************************************************************* + * @ 函数名 ： Start_System_Task + * @ 功能说明： 启动系统任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 System_Task_Handle; +static UINT32 Start_System_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 3; + + // 任务名称 + task_init_param.pcName = "System_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)System_Task; + + // 任务堆栈大小 + task_init_param.uwStackSize = 4096; + + // 创建任务 + Task_Status = LOS_TaskCreate(&System_Task_Handle, &task_init_param); + + return Task_Status; +} + +/******************************************************************* + * @ 函数名 ： Start_Serial_Task + * @ 功能说明： 启动串口任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 Serial_Task_Handle; +static UINT32 Start_Serial_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 4; + + // 任务名称 + task_init_param.pcName = "Serial_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)Serial_Task; + + // 任务堆栈大小 + //task_init_param.uwStackSize = 4096; + task_init_param.uwStackSize = 5120; + // 创建任务 + Task_Status = LOS_TaskCreate(&Serial_Task_Handle, &task_init_param); + + return Task_Status; +} + +/******************************************************************* + * @ 函数名 ： Start_User_Task + * @ 功能说明： 启动用户任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 User_Task_Handle; +static UINT32 Start_User_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 5; + + // 任务名称 + task_init_param.pcName = "User_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)User_Task; + + // 任务堆栈大小 + task_init_param.uwStackSize = 4096; + + // 创建任务 + Task_Status = LOS_TaskCreate(&User_Task_Handle, &task_init_param); + + return Task_Status; +} diff --git a/dev/team_x/metal_detection/serial_task.c b/dev/team_x/metal_detection/serial_task.c new file mode 100644 index 00000000..fdf0caf5 --- /dev/null +++ b/dev/team_x/metal_detection/serial_task.c @@ -0,0 +1,209 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/** + ****************************************************************************** + * @file serial_task.c + * @author GEEKROS, site:www.geekros.com + ****************************************************************************** +*/ + +#include "serial_task.h" + +static Serial_Data_Struct Read_Data; + +uint32_t Serial_Task_Buffer_Len = 512; + +uint8_t Serial_Task_Buffer[512]; + +/****************************************************************** + * @ 函数名 ： Serial_Task + * @ 功能说明： USB虚拟串口任务函数 + * @ 参数 ： NULL + * @ 返回值 ： NULL + *****************************************************************/ + extern Mpu_Calc_Struct Mpu_Calc; +static float Mag_z_buff[100] = {0}; +void Serial_Task(void) +{ + float Gauss_Mag_z; + uint32_t i = 0,j = 0,k = 0; + bool Mag_z_Flag = 0; + float origin_mag_z = 0; + while(1) + { + char buff[20] = {0}; + + Gauss_Mag_z = Mpu_Calc.mag_z * 0.15f * 0.01f; + + if(i<1000){ + i++; + if(i%5 == 0){ + Mag_z_buff[j++] = Gauss_Mag_z; + if(j>=100){ + i = 1000; + Mag_z_Flag = true; + for(k=0;k<100;k++){ + origin_mag_z += Mag_z_buff[k]; + } + origin_mag_z = origin_mag_z / 100.0f; + // 校准完成，蓝灯亮，发送给应用端 "CalibrateOK" + BLUE_LED_ON(); + memset(buff,0x00,sizeof(buff)); + sprintf(buff,"angle:%s","CalibrateOK"); + ESP8266_send_data(buff,strlen(buff)); + } + } + } + + if(Mag_z_Flag){ + if(fabs(Gauss_Mag_z - origin_mag_z) > 0.03f) + { + // 检测到金属，开启蜂鸣器， 发送给应用端 + TIM_SetCompare1(TIM12, 50); + memset(buff,0x00,sizeof(buff)); + sprintf(buff,"angle:%s","Detected"); + ESP8266_send_data(buff,strlen(buff)); + } + else + { + // 未检测到金属，关闭蜂鸣器， 发送给应用端 + TIM_SetCompare1(TIM12, 300); + memset(buff,0x00,sizeof(buff)); + sprintf(buff,"angle:%s","UnDetected"); + ESP8266_send_data(buff,strlen(buff)); + } + } + + + Task_Delay(5); + } +} + +/****************************************************************** + * @ 函数名 ： Serial_Json_Handle + * @ 功能说明： JSON通讯协议解析与处理函数 + * @ 参数 ： NULL + * @ 返回值 ： NULL + *****************************************************************/ +void Serial_Json_Handle(char *json) +{ + // 解析USB虚拟串口数据 + cJSON *Serial_Data; + Serial_Data = cJSON_Parse(json); + if(Serial_Data){ + + Read_Data.type = cJSON_GetObjectItem(Serial_Data, "type")->valuestring; + + // 版本号 + if(memcmp(Read_Data.type, "board-version", 13) == 0) + { + char* version; + version = Board_Version(); + Usb_Write_Data("{\"type\":\"board-version\",\"version\":\"%s\"}\r\n", version); + } + + // LED模块 + if(memcmp(Read_Data.type, "led", 3) == 0) + { + Read_Data.led.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valuestring; + Read_Data.led.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Led_Usb_Callback(Read_Data.type, Read_Data.led.channel, Read_Data.led.state); + } + + // CAN模块 + if(memcmp(Read_Data.type, "can", 3) == 0) + { + Read_Data.can.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.can.motor_id = cJSON_GetObjectItem(Serial_Data, "motor_id")->valueint; + Can_Usb_Callback(Read_Data.type, Read_Data.can.channel, Read_Data.can.motor_id); + } + + // POWER模块 + if(memcmp(Read_Data.type, "power", 5) == 0) + { + Read_Data.power.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.power.id = cJSON_GetObjectItem(Serial_Data, "id")->valueint; + Read_Data.power.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Power_Usb_Callback(Read_Data.type, Read_Data.power.channel, Read_Data.power.id, Read_Data.power.state); + } + + // KEY模块 + if(memcmp(Read_Data.type, "key", 3) == 0) + { + Key_Usb_Callback(Read_Data.type); + } + + // ADC模块 + if(memcmp(Read_Data.type, "adc", 3) == 0) + { + Read_Data.adc.voltage = cJSON_GetObjectItem(Serial_Data, "voltage")->valuedouble; + Adc_Usb_Callback(Read_Data.type, Read_Data.adc.voltage); + } + + // IO模块 + if(memcmp(Read_Data.type, "io", 2) == 0) + { + Read_Data.io.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.io.mode = cJSON_GetObjectItem(Serial_Data, "mode")->valuestring; + Read_Data.io.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Io_Usb_Callback(Read_Data.type, Read_Data.io.channel, Read_Data.io.mode, Read_Data.io.state); + } + + // PWM模块 + if(memcmp(Read_Data.type, "pwm", 3) == 0) + { + Read_Data.pwm.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.pwm.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valuedouble; + Read_Data.pwm.width = cJSON_GetObjectItem(Serial_Data, "width")->valueint; + Pwm_Usb_Callback(Read_Data.type, Read_Data.pwm.channel, Read_Data.pwm.rate, Read_Data.pwm.width); + } + + // CPU模块 + if(memcmp(Read_Data.type, "cpu", 3) == 0) + { + Cpu_Usb_Callback(Read_Data.type); + } + + // MPU模块 + if(memcmp(Read_Data.type, "mpu", 3) == 0) + { + Mpu_Usb_Callback(Read_Data.type); + } + + // 遥控器模块 + if(memcmp(Read_Data.type, "rocker-control", 14) == 0) + { + Read_Data.rocker_control.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valueint; + Read_Data.rocker_control.s1 = cJSON_GetObjectItem(Serial_Data, "s1")->valueint; + Read_Data.rocker_control.s2 = cJSON_GetObjectItem(Serial_Data, "s2")->valueint; + Read_Data.rocker_control.ch0 = cJSON_GetObjectItem(Serial_Data, "ch0")->valuedouble; + Read_Data.rocker_control.ch1 = cJSON_GetObjectItem(Serial_Data, "ch1")->valuedouble; + Read_Data.rocker_control.ch2 = cJSON_GetObjectItem(Serial_Data, "ch2")->valuedouble; + Read_Data.rocker_control.ch3 = cJSON_GetObjectItem(Serial_Data, "ch3")->valuedouble; + Rocker_Usb_Callback(Read_Data.type, Read_Data.rocker_control.rate, Read_Data.rocker_control.s1, Read_Data.rocker_control.s2, Read_Data.rocker_control.ch0, \ + Read_Data.rocker_control.ch1, Read_Data.rocker_control.ch2, Read_Data.rocker_control.ch3); + } + } + + // 需要清空本次收到的数据 + cJSON_Delete(Serial_Data); + for(int i=0;i 0){ + Wifi_Data.buffer[Wifi_Data.len] = data; + Wifi_Data.len++; + } + } + } + #endif + u8 ucCh; + + if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) + { + ucCh = USART_ReceiveData( USART2 ); + if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 ) ) + { + ESP8266_Fram_Record_Struct .Data_RX_BUF[ ESP8266_Fram_Record_Struct .InfBit .FramLength ++ ] = ucCh; + } + } + + if( USART_GetITStatus( USART2, USART_IT_IDLE ) == SET ) //如果总线空闲 + { + ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag = 1; + ucCh = USART_ReceiveData( USART2 ); //由软件序列清除中断标志位（先读USART_SR,然后读USART_DR） + } +} + +/****************************************************************** + * @ 函数名 ： Wifi_Parse_Json + * @ 功能说明： 解析JSON数据 + * @ 参数 ： const char *json JSON字符串数据 + * @ 返回值 ： NULL + *****************************************************************/ +void Wifi_Parse_Json(char* json) +{ + // 回调USB串口任务的JSON通讯协议解析与处理函数 + Serial_Json_Handle(json); +} + +struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构体 +//对ESP8266模块发送相关指令 +// cmd 待发送的指令 +void ESP8266_Send_AT_Cmd(char *cmd,u32 time) +{ + + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据包 + memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); + ESP8266_USART("%s\r\n", cmd); + delay_ms(time); //延时 +} + +void ESP8266_send_at(void) +{ + char cStr [20]; + sprintf ( cStr, "AT"); + ESP8266_Send_AT_Cmd( cStr,100); +} + +void ESP8266_set_sta_mode(void) +{ + char cStr [20]; + sprintf ( cStr, "AT+CWMODE=1"); + ESP8266_Send_AT_Cmd( cStr,100); +} + +void ESP8266_connect_wifi(void) +{ + char cStr [64]; + sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); + Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); + ESP8266_Send_AT_Cmd( cStr,5000); +} + +void ESP8266_TCP_connect(void) +{ + char cStr [64]; + sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); + ESP8266_Send_AT_Cmd( cStr,1000); +} + +void ESP8266_start_send(unsigned int len) +{ + char cStr [20]; + sprintf ( cStr, "AT+CIPSEND=%d",len); + ESP8266_Send_AT_Cmd( cStr,50); +} + +void ESP8266_close_tcp_connect(void) +{ + char cStr [20]; + sprintf ( cStr, "AT+CIPCLOSE"); + ESP8266_Send_AT_Cmd( cStr,200); +} + +void ESP8266_send_data(char *dat,unsigned int len) +{ + ESP8266_start_send(len); //start send + + ESP8266_USART("%s\r\n", dat); +} + +// AT jiexi +static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) +{ + //char *p = NULL; + const char * src = (const char *)pdat; + + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) + { + ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; + } + else + { + //return -1; //ERR + } + + if(NULL != strstr(src, "+CIPSTART")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPCLOSE")) + { + if(strstr(src, "OK")) + { + return 0; + } + } + else if(NULL != strstr(src, "+CWMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CWJAP")) + { + if(strstr(src, "CONNECTED")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CIPSEND")) + { + if(strstr(src, "SEND OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; + return 0; + } + + return -1; +} + + + +signed char ESP8266_start_TCP(void) +{ + static unsigned char err = 0; + + char cStr [128]; + + unsigned char reconnect_cnt; + + + // AT + Usb_Write_Data("ESP2866 TEST\r\n"); + err = 0; + do + { + ESP8266_send_at(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); + + reconnect_cnt=0; + RECONNECT: + // AT+CIPCLOSE + Usb_Write_Data("close tcp connect\r\n"); + err = 0; + ESP8266_close_tcp_connect(); + + // AT+CWMODE set sta mode + Usb_Write_Data("set sta mode\r\n"); + err = 0; + do + { + ESP8266_set_sta_mode(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); + + + + // AT+CWJAP + Usb_Write_Data("connecting wifi......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; + do + { + ESP8266_connect_wifi(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); + + // AT+CIPSTART + Usb_Write_Data("building tcp connect......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; + do + { + ESP8266_TCP_connect(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + //return -1; + reconnect_cnt++; + Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); + if(reconnect_cnt<5) + { + goto RECONNECT; + } + else + { + return -1; + } + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); + + Usb_Write_Data("ESP8266 ok!!!\r\n"); + sprintf (cStr, "ESP8266 init success"); + Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); + ESP8266_send_data(cStr,strlen(cStr)); + + #if 0 + + while(1){ + + sprintf (cStr, "ESP8266 test"); + ESP8266_send_data(cStr,strlen(cStr)); + + delay_ms(2000); + } + + #endif + + return 0; +} + + +static char *itoa( int value, char *string, int radix ) +{ + int i, d; + int flag = 0; + char *ptr = string; + + /* This implementation only works for decimal numbers. */ + if (radix != 10) + { + *ptr = 0; + return string; + } + + if (!value) + { + *ptr++ = 0x30; + *ptr = 0; + return string; + } + + /* if this is a negative value insert the minus sign. */ + if (value < 0) + { + *ptr++ = '-'; + + /* Make the value positive. */ + value *= -1; + + } + + for (i = 10000; i > 0; i /= 10) + { + d = value / i; + + if (d || flag) + { + *ptr++ = (char)(d + 0x30); + value -= (d * i); + flag = 1; + } + } + + /* Null terminate the string. */ + *ptr = 0; + + return string; + +} /* NCL_Itoa */ + +void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) +{ + const char *s; + int d; + char buf[16]; + + + va_list ap; + va_start(ap, Data); + + while ( * Data != 0 ) // 判断数据是否到达结束符 + { + if ( * Data == 0x5c ) //'\' + { + switch ( *++Data ) + { + case 'r': //回车符 + USART_SendData(USARTx, 0x0d); + Data ++; + break; + + case 'n': //换行符 + USART_SendData(USARTx, 0x0a); + Data ++; + break; + + default: + Data ++; + break; + } + } + + else if ( * Data == '%') + { + switch ( *++Data ) + { + case 's': //字符串 + s = va_arg(ap, const char *); + for ( ; *s; s++) + { + USART_SendData(USARTx,*s); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + } + Data++; + break; + + case 'd': + //十进制 + d = va_arg(ap, int); + itoa(d, buf, 10); + for (s = buf; *s; s++) + { + USART_SendData(USARTx,*s); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + } + Data++; + break; + default: + Data++; + break; + } + } + else USART_SendData(USARTx, *Data++); + while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ); + + } +} + + diff --git a/dev/team_x/metal_detection/wifi.h b/dev/team_x/metal_detection/wifi.h new file mode 100644 index 00000000..40772d58 --- /dev/null +++ b/dev/team_x/metal_detection/wifi.h @@ -0,0 +1,100 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#ifndef MODULAR_WIFI +#define MODULAR_WIFI + +#include "stm32f4xx.h" +#include +#include +#include +#include +#include + +#include "serial_task.h" + + +#define TCP_SERVICE_IP "\"192.168.1.123\"" //丽红 +#define WIFI_SSID "\"YYYYYY\"" + +//#define TCP_SERVICE_IP "\"192.168.100.151\"" +#define TCP_COM 5000 +//#define WIFI_SSID "\"A_zoumin888\"" +#define WIFI_PASSWORD "\"66666666\"" + +#define WIFI_DATA_LEN 128 + +typedef struct{ + char buffer[WIFI_DATA_LEN]; + int len; +}Wifi_Struct; + +extern Wifi_Struct Wifi_Data; + +void Wifi_Init(int baud_rate); + +void Wifi_Parse_Json(char* json); + + +#if defined ( __CC_ARM ) +#pragma anon_unions +#endif + +#define ESP8266_USART(fmt, ...) USART_printf (USART2, fmt, ##__VA_ARGS__) +#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) //这是串口打印函数，串口1，执行printf后会自动执行fput函数，重定向了printf。 + + + +#define RX_BUF_MAX_LEN 1024 //最大字节数 +extern struct STRUCT_USART_Fram //数据帧结构体 +{ + u8 Data_RX_BUF[RX_BUF_MAX_LEN]; + union + { + __IO u16 InfAll; + struct + { + __IO u16 FramLength :15; // 14:0 + __IO u16 FramFinishFlag :1; // 15 + }InfBit; + }; + + union + { + __IO u16 State; + struct + { + __IO u16 Connect_flag:1; + __IO u16 Get_Ip_flag:1; + __IO u16 ESP8266_Ready_flag:1; + __IO u16 Trans_Mode:1; + __IO u16 Send_OK_flag:1; + __IO u16 Sta_Mode:1; + __IO u16 res:10; + + }StateFlagBit; + }; + +}ESP8266_Fram_Record_Struct; + + +//初始化和TCP功能函数 +signed char ESP8266_start_TCP(void); +void Wifi_Init(int baud_rate); +void ESP8266_AT(void); +void ESP8266_Send_AT_Cmd(char *cmd,u32 time); +void USART_printf( USART_TypeDef * USARTx, char * Data, ... ); + + +#endif \ No newline at end of file diff --git a/dev/team_x/robot_dog/main.c b/dev/team_x/robot_dog/main.c new file mode 100644 index 00000000..4cd68095 --- /dev/null +++ b/dev/team_x/robot_dog/main.c @@ -0,0 +1,243 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/** + ****************************************************************************** + * @file main.c + * @author GEEKROS, site:www.geekros.com + ****************************************************************************** +*/ + +#include "main.h" + +/******************************************************************* + * @ 函数名 ： main + * @ 功能说明： 程序启动入口，主要初始化一些开发板的模块以及任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +int main(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 LiteOS_Status = LOS_OK; + +#ifndef NO_HARMONY + + // LiteOS内核初始化 +LiteOS_Status = LOS_KernelInit(); + if (LiteOS_Status != LOS_OK) { + // LiteOS内核初始化失败 + return LOS_NOK; + } else +#endif + { + //SystemClock_Config(); + + // 时钟初始化 + Delay_Init(LOSCFG_BASE_CORE_TICK_PER_SECOND); + + // USB虚拟串口初始化 + Usb_Init(); + + // CPU模块初始化 + Cpu_Init(); + + // LED模块初始化 + Led_Init(); + + // BUZZER模块初始化 + Buzzer_Init(); + + // CAN模块初始化 + Can_Init(); + + // POWER模块初始化 + Power_Init(); + + // KEY模块初始化 + Key_Init(); + + // ADC模块初始化 + Adc_Init(); + + // PWM模块初始化 + Pwm_Init(); + + // MPU模块初始化 + Mpu_Init(); + + // wifi模块初始化 + Wifi_Init(115200); + + if(ESP8266_start_TCP() == -1){ + GREEN_LED_OFF(); + } + else{ + GREEN_LED_ON(); + } + + #ifndef NO_HARMONY + + // 任务初始化 + LiteOS_Status = Task_Init(); + // 开启LiteOS任务调度 + LOS_Start(); + + #endif + + } + + while(1); +} + +/******************************************************************* + * @ 函数名 ： Task_Init + * @ 功能说明： 任务初始化，为了方便管理，所有的任务创建函数都可以放在这个函数里面 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +static UINT32 Task_Init(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Status = LOS_OK; + + Status = Start_System_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + Status = Start_Serial_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + Status = Start_User_Task(); + if (Status != LOS_OK) { + // 任务启动失败 + return LOS_NOK; + } + + // 所有任务启动成功后播放开机音乐 + if(Status == LOS_OK) + { + //Buzzer_Start_Music(); + RED_LED_ON(); //红色作为电源指示灯 + Usb_Write_Data("ALL OK\r\n"); + } + + return Status; +} + +/******************************************************************* + * @ 函数名 ： Start_System_Task + * @ 功能说明： 启动系统任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 System_Task_Handle; +static UINT32 Start_System_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 3; + + // 任务名称 + task_init_param.pcName = "System_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)System_Task; + + // 任务堆栈大小 + task_init_param.uwStackSize = 4096; + + // 创建任务 + Task_Status = LOS_TaskCreate(&System_Task_Handle, &task_init_param); + + return Task_Status; +} + +/******************************************************************* + * @ 函数名 ： Start_Serial_Task + * @ 功能说明： 启动串口任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 Serial_Task_Handle; +static UINT32 Start_Serial_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 4; + + // 任务名称 + task_init_param.pcName = "Serial_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)Serial_Task; + + // 任务堆栈大小 + //task_init_param.uwStackSize = 4096; + task_init_param.uwStackSize = 5120; + // 创建任务 + Task_Status = LOS_TaskCreate(&Serial_Task_Handle, &task_init_param); + + return Task_Status; +} + +/******************************************************************* + * @ 函数名 ： Start_User_Task + * @ 功能说明： 启动用户任务 + * @ 参数 ： 无 + * @ 返回值 ： 无 + *************************************************************/ +UINT32 User_Task_Handle; +static UINT32 Start_User_Task(void) +{ + + // 定义任务创建的返回值，默认为成功 + UINT32 Task_Status = LOS_OK; + + TSK_INIT_PARAM_S task_init_param; + + // 任务优先级，数值越小，优先级越高 + task_init_param.usTaskPrio = 5; + + // 任务名称 + task_init_param.pcName = "User_Task"; + + // 任务函数入口 + task_init_param.pfnTaskEntry = (TSK_ENTRY_FUNC)User_Task; + + // 任务堆栈大小 + task_init_param.uwStackSize = 4096; + + // 创建任务 + Task_Status = LOS_TaskCreate(&User_Task_Handle, &task_init_param); + + return Task_Status; +} diff --git a/dev/team_x/robot_dog/serial_task.c b/dev/team_x/robot_dog/serial_task.c new file mode 100644 index 00000000..71416547 --- /dev/null +++ b/dev/team_x/robot_dog/serial_task.c @@ -0,0 +1,168 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/** + ****************************************************************************** + * @file serial_task.c + * @author GEEKROS, site:www.geekros.com + ****************************************************************************** +*/ + +#include "serial_task.h" + +static Serial_Data_Struct Read_Data; + +uint32_t Serial_Task_Buffer_Len = 512; + +uint8_t Serial_Task_Buffer[512]; + +/****************************************************************** + * @ 函数名 ： Serial_Task + * @ 功能说明： USB虚拟串口任务函数 + * @ 参数 ： NULL + * @ 返回值 ： NULL + *****************************************************************/ + +#define PI 3.1415926535f +extern Mpu_Calc_Struct Mpu_Calc; +static int angle_buff[3] = {0}; +void Serial_Task(void) +{ + bool Calibrate = 0; + uint8_t key_flag = 0; + int32_t Max_Mag_x,Max_Mag_y; + int32_t Min_Mag_x,Min_Mag_y; + int32_t Mag_x_OffSet = 0,Mag_y_OffSet = 0; + while(1) + { + Task_Delay(5); + } +} + +/****************************************************************** + * @ 函数名 ： Serial_Json_Handle + * @ 功能说明： JSON通讯协议解析与处理函数 + * @ 参数 ： NULL + * @ 返回值 ： NULL + *****************************************************************/ +void Serial_Json_Handle(char *json) +{ + // 解析USB虚拟串口数据 + cJSON *Serial_Data; + Serial_Data = cJSON_Parse(json); + if(Serial_Data){ + + Read_Data.type = cJSON_GetObjectItem(Serial_Data, "type")->valuestring; + + // 版本号 + if(memcmp(Read_Data.type, "board-version", 13) == 0) + { + char* version; + version = Board_Version(); + Usb_Write_Data("{\"type\":\"board-version\",\"version\":\"%s\"}\r\n", version); + } + + // LED模块 + if(memcmp(Read_Data.type, "led", 3) == 0) + { + Read_Data.led.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valuestring; + Read_Data.led.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Led_Usb_Callback(Read_Data.type, Read_Data.led.channel, Read_Data.led.state); + } + + // CAN模块 + if(memcmp(Read_Data.type, "can", 3) == 0) + { + Read_Data.can.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.can.motor_id = cJSON_GetObjectItem(Serial_Data, "motor_id")->valueint; + Can_Usb_Callback(Read_Data.type, Read_Data.can.channel, Read_Data.can.motor_id); + } + + // POWER模块 + if(memcmp(Read_Data.type, "power", 5) == 0) + { + Read_Data.power.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.power.id = cJSON_GetObjectItem(Serial_Data, "id")->valueint; + Read_Data.power.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Power_Usb_Callback(Read_Data.type, Read_Data.power.channel, Read_Data.power.id, Read_Data.power.state); + } + + // KEY模块 + if(memcmp(Read_Data.type, "key", 3) == 0) + { + Key_Usb_Callback(Read_Data.type); + } + + // ADC模块 + if(memcmp(Read_Data.type, "adc", 3) == 0) + { + Read_Data.adc.voltage = cJSON_GetObjectItem(Serial_Data, "voltage")->valuedouble; + Adc_Usb_Callback(Read_Data.type, Read_Data.adc.voltage); + } + + // IO模块 + if(memcmp(Read_Data.type, "io", 2) == 0) + { + Read_Data.io.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.io.mode = cJSON_GetObjectItem(Serial_Data, "mode")->valuestring; + Read_Data.io.state = cJSON_GetObjectItem(Serial_Data, "state")->valuestring; + Io_Usb_Callback(Read_Data.type, Read_Data.io.channel, Read_Data.io.mode, Read_Data.io.state); + } + + // PWM模块 + if(memcmp(Read_Data.type, "pwm", 3) == 0) + { + Read_Data.pwm.channel = cJSON_GetObjectItem(Serial_Data, "channel")->valueint; + Read_Data.pwm.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valuedouble; + Read_Data.pwm.width = cJSON_GetObjectItem(Serial_Data, "width")->valueint; + Pwm_Usb_Callback(Read_Data.type, Read_Data.pwm.channel, Read_Data.pwm.rate, Read_Data.pwm.width); + } + + // CPU模块 + if(memcmp(Read_Data.type, "cpu", 3) == 0) + { + Cpu_Usb_Callback(Read_Data.type); + } + + // MPU模块 + if(memcmp(Read_Data.type, "mpu", 3) == 0) + { + Mpu_Usb_Callback(Read_Data.type); + } + + // 遥控器模块 + if(memcmp(Read_Data.type, "rocker-control", 14) == 0) + { + Read_Data.rocker_control.rate = cJSON_GetObjectItem(Serial_Data, "rate")->valueint; + Read_Data.rocker_control.s1 = cJSON_GetObjectItem(Serial_Data, "s1")->valueint; + Read_Data.rocker_control.s2 = cJSON_GetObjectItem(Serial_Data, "s2")->valueint; + Read_Data.rocker_control.ch0 = cJSON_GetObjectItem(Serial_Data, "ch0")->valuedouble; + Read_Data.rocker_control.ch1 = cJSON_GetObjectItem(Serial_Data, "ch1")->valuedouble; + Read_Data.rocker_control.ch2 = cJSON_GetObjectItem(Serial_Data, "ch2")->valuedouble; + Read_Data.rocker_control.ch3 = cJSON_GetObjectItem(Serial_Data, "ch3")->valuedouble; + Rocker_Usb_Callback(Read_Data.type, Read_Data.rocker_control.rate, Read_Data.rocker_control.s1, Read_Data.rocker_control.s2, Read_Data.rocker_control.ch0, \ + Read_Data.rocker_control.ch1, Read_Data.rocker_control.ch2, Read_Data.rocker_control.ch3); + } + } + + // 需要清空本次收到的数据 + cJSON_Delete(Serial_Data); + for(int i=0;i 0){ + Wifi_Data.buffer[Wifi_Data.len] = data; + Wifi_Data.len++; + } + } + } + #endif + u8 ucCh; + + if(USART_GetITStatus( USART2, USART_IT_RXNE ) != RESET ) + { + ucCh = USART_ReceiveData( USART2 ); + + if(ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag) // serivce conneted + { + if(ucCh == '{') + { + // 检测到JSON数据起始符后开始记录数据 + ESP8266_Fram_Record_Struct .Data_RX_BUF[0] = ucCh; + ESP8266_Fram_Record_Struct .InfBit .FramLength = 1; + }else if(ucCh == '}'){ + // 检测到JSON数据结束符后停止数据记录 + ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; + // 将完整的JSON数据传入JSON解析函数 + ESP8266_wifi_data_deal((char*) ESP8266_Fram_Record_Struct .Data_RX_BUF); + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; + }else{ + // 判断是否检测到JSON数据起始符并记录数据 + if(ESP8266_Fram_Record_Struct .InfBit .FramLength > 0){ + ESP8266_Fram_Record_Struct .Data_RX_BUF[ESP8266_Fram_Record_Struct .InfBit .FramLength] = ucCh; + ESP8266_Fram_Record_Struct .InfBit .FramLength++; + } + } + } + else // connecting + { + if(ESP8266_Fram_Record_Struct .InfBit .FramLength < ( RX_BUF_MAX_LEN - 1 ) ) + { + ESP8266_Fram_Record_Struct .Data_RX_BUF[ ESP8266_Fram_Record_Struct .InfBit .FramLength ++ ] = ucCh; + } + } + } +} + +/****************************************************************** + * @ 函数名 ： Wifi_Parse_Json + * @ 功能说明： 解析JSON数据 + * @ 参数 ： const char *json JSON字符串数据 + * @ 返回值 ： NULL + *****************************************************************/ +void Wifi_Parse_Json(char* json) +{ + // 回调USB串口任务的JSON通讯协议解析与处理函数 + Serial_Json_Handle(json); +} + +struct STRUCT_USART_Fram ESP8266_Fram_Record_Struct = { 0 }; //定义了一个数据帧结构体 +//对ESP8266模块发送相关指令 +// cmd 待发送的指令 +void ESP8266_Send_AT_Cmd(char *cmd,u32 time) +{ + + ESP8266_Fram_Record_Struct .InfBit .FramLength = 0; //重新接收新的数据包 + memset(ESP8266_Fram_Record_Struct .Data_RX_BUF,0,sizeof(ESP8266_Fram_Record_Struct .Data_RX_BUF)); + ESP8266_USART("%s\r\n", cmd); + delay_ms(time); //延时 +} + +void ESP8266_send_at(void) +{ + char cStr [20]; + sprintf ( cStr, "AT"); + ESP8266_Send_AT_Cmd( cStr,100); +} + +void ESP8266_set_sta_mode(void) +{ + char cStr [20]; + sprintf ( cStr, "AT+CWMODE=1"); + ESP8266_Send_AT_Cmd( cStr,100); +} + +void ESP8266_connect_wifi(void) +{ + char cStr [64]; + sprintf ( cStr, "AT+CWJAP=%s,%s",WIFI_SSID,WIFI_PASSWORD); + Usb_Write_Data("SSID: %s PWD: %s\r\n",WIFI_SSID,WIFI_PASSWORD); + ESP8266_Send_AT_Cmd( cStr,5000); +} + +void ESP8266_TCP_connect(void) +{ + char cStr [64]; + sprintf ( cStr, "AT+CIPSTART=\"TCP\",%s,%d",TCP_SERVICE_IP,TCP_COM); + ESP8266_Send_AT_Cmd( cStr,1000); +} + +void ESP8266_start_send(unsigned int len) +{ + char cStr [20]; + sprintf ( cStr, "AT+CIPSEND=%d",len); + ESP8266_Send_AT_Cmd( cStr,50); +} + +void ESP8266_close_tcp_connect(void) +{ + char cStr [20]; + sprintf ( cStr, "AT+CIPCLOSE"); + ESP8266_Send_AT_Cmd( cStr,200); +} + +void ESP8266_send_data(char *dat,unsigned int len) +{ + ESP8266_start_send(len); //start send + + ESP8266_USART("%s\r\n", dat); +} + +// heart beat +void ESP8266_send_heart_beat(void) +{ + char cStr [12]; + sprintf (cStr, "hart beat"); + ESP8266_send_data(cStr,strlen(cStr)); +} + + +// AT 解析 +static int ESP8266AckDataDeal(u8 *pdat, u16 length, u8 * err) +{ + //char *p = NULL; + const char * src = (const char *)pdat; + + if(ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag==1) + { + ESP8266_Fram_Record_Struct .InfBit .FramFinishFlag=0; + } + else + { + //return -1; //ERR + } + + if(NULL != strstr(src, "+CIPSTART")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit .Connect_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPCLOSE")) + { + if(strstr(src, "OK")) + { + return 0; + } + } + else if(NULL != strstr(src, "+CWMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CWJAP")) + { + if(strstr(src, "CONNECTED")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Get_Ip_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "+CIPMODE")) + { + if(strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Trans_Mode = 1; + } + return 0; + } + else if(NULL != strstr(src, "+CIPSEND")) + { + if(strstr(src, "SEND OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 1; + } + else + { + ESP8266_Fram_Record_Struct .StateFlagBit.Send_OK_flag = 0; + } + return 0; + } + else if(NULL != strstr(src, "OK")) + { + ESP8266_Fram_Record_Struct .StateFlagBit.ESP8266_Ready_flag = 1; + return 0; + } + + return -1; +} + + + +signed char ESP8266_start_TCP(void) +{ + static unsigned char err = 0; + + char cStr [128]; + + unsigned char reconnect_cnt; + + + // AT + Usb_Write_Data("ESP2866 TEST\r\n"); + err = 0; + do + { + ESP8266_send_at(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.ESP8266_Ready_flag); + + reconnect_cnt=0; + RECONNECT: + // AT+CIPCLOSE + Usb_Write_Data("close tcp connect\r\n"); + err = 0; + ESP8266_close_tcp_connect(); + + // AT+CWMODE set sta mode + Usb_Write_Data("set sta mode\r\n"); + err = 0; + do + { + ESP8266_set_sta_mode(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct .StateFlagBit.Sta_Mode); + + + + // AT+CWJAP + Usb_Write_Data("connecting wifi......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag=0; + do + { + ESP8266_connect_wifi(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + return -1; + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit.Get_Ip_flag); + + // AT+CIPSTART + Usb_Write_Data("building tcp connect......\r\n"); + err = 0; + ESP8266_Fram_Record_Struct.StateFlagBit.Connect_flag=0; + do + { + ESP8266_TCP_connect(); + ESP8266AckDataDeal(ESP8266_Fram_Record_Struct.Data_RX_BUF,ESP8266_Fram_Record_Struct .InfBit .FramLength,&err); + if(err++ > 5) + { + //return -1; + reconnect_cnt++; + Usb_Write_Data("reconnect_cnt = %d\r\n",reconnect_cnt); + if(reconnect_cnt<5) + { + goto RECONNECT; + } + else + { + return -1; + } + } + GREEN_LED_TOGGLE(); + }while(!ESP8266_Fram_Record_Struct.StateFlagBit .Connect_flag); + + Usb_Write_Data("ESP8266 ok!!!\r\n"); + sprintf (cStr, "ESP8266 init success"); + Usb_Write_Data("cStr length: %d\r\n",strlen(cStr)); + ESP8266_send_data(cStr,strlen(cStr)); + + #if 0 + + while(1){ + + sprintf (cStr, "ESP8266 test"); + ESP8266_send_data(cStr,strlen(cStr)); + + delay_ms(2000); + } + + #endif + + return 0; +} + + +static char *itoa( int value, char *string, int radix ) +{ + int i, d; + int flag = 0; + char *ptr = string; + + /* This implementation only works for decimal numbers. */ + if (radix != 10) + { + *ptr = 0; + return string; + } + + if (!value) + { + *ptr++ = 0x30; + *ptr = 0; + return string; + } + + /* if this is a negative value insert the minus sign. */ + if (value < 0) + { + *ptr++ = '-'; + + /* Make the value positive. */ + value *= -1; + + } + + for (i = 10000; i > 0; i /= 10) + { + d = value / i; + + if (d || flag) + { + *ptr++ = (char)(d + 0x30); + value -= (d * i); + flag = 1; + } + } + + /* Null terminate the string. */ + *ptr = 0; + + return string; + +} /* NCL_Itoa */ + +void USART_printf ( USART_TypeDef * USARTx, char * Data, ... ) +{ + const char *s; + int d; + char buf[16]; + + + va_list ap; + va_start(ap, Data); + + while ( * Data != 0 ) // 判断数据是否到达结束符 + { + if ( * Data == 0x5c ) //'\' + { + switch ( *++Data ) + { + case 'r': //回车符 + USART_SendData(USARTx, 0x0d); + Data ++; + break; + + case 'n': //换行符 + USART_SendData(USARTx, 0x0a); + Data ++; + break; + + default: + Data ++; + break; + } + } + + else if ( * Data == '%') + { + switch ( *++Data ) + { + case 's': //字符串 + s = va_arg(ap, const char *); + for ( ; *s; s++) + { + USART_SendData(USARTx,*s); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + } + Data++; + break; + + case 'd': + //十进制 + d = va_arg(ap, int); + itoa(d, buf, 10); + for (s = buf; *s; s++) + { + USART_SendData(USARTx,*s); + while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET ); + } + Data++; + break; + default: + Data++; + break; + } + } + else USART_SendData(USARTx, *Data++); + while ( USART_GetFlagStatus ( USARTx, USART_FLAG_TXE ) == RESET ); + + } +} + + diff --git a/dev/team_x/robot_dog/wifi.h b/dev/team_x/robot_dog/wifi.h new file mode 100644 index 00000000..076f3b2c --- /dev/null +++ b/dev/team_x/robot_dog/wifi.h @@ -0,0 +1,103 @@ +/* + * Copyright (c) 2021 Huawei Device Co., Ltd. + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#ifndef MODULAR_WIFI +#define MODULAR_WIFI + +#include "stm32f4xx.h" +#include +#include +#include +#include +#include + +#include "serial_task.h" + + +//#define TCP_SERVICE_IP "\"192.168.1.106\"" // +//#define WIFI_SSID "\"YYYYYY\"" + +#define TCP_SERVICE_IP "\"192.168.151.151\"" +#define TCP_COM 5000 +#define WIFI_SSID "\"A_zoumin888\"" +#define WIFI_PASSWORD "\"zoumin#####\"" + +#define WIFI_DATA_LEN 128 + +typedef struct{ + char buffer[WIFI_DATA_LEN]; + int len; +}Wifi_Struct; + +extern Wifi_Struct Wifi_Data; + +void Wifi_Init(int baud_rate); + +void Wifi_Parse_Json(char* json); + + +#if defined ( __CC_ARM ) +#pragma anon_unions +#endif + +#define ESP8266_USART(fmt, ...) USART_printf (USART2, fmt, ##__VA_ARGS__) +#define PC_USART(fmt, ...) printf(fmt, ##__VA_ARGS__) //Ǵڴӡ1ִprintfԶִfputضprintf + + + +#define RX_BUF_MAX_LEN 1024 //ֽ +extern struct STRUCT_USART_Fram //֡ṹ +{ + u8 Data_RX_BUF[RX_BUF_MAX_LEN]; + union + { + __IO u16 InfAll; + struct + { + __IO u16 FramLength :15; // 14:0 + __IO u16 FramFinishFlag :1; // 15 + }InfBit; + }; + + union + { + __IO u16 State; + struct + { + __IO u16 Connect_flag:1; + __IO u16 Get_Ip_flag:1; + __IO u16 ESP8266_Ready_flag:1; + __IO u16 Trans_Mode:1; + __IO u16 Send_OK_flag:1; + __IO u16 Sta_Mode:1; + __IO u16 res:10; + + }StateFlagBit; + }; + +}ESP8266_Fram_Record_Struct; + + +//ʼTCPܺ +signed char ESP8266_start_TCP(void); +void Wifi_Init(int baud_rate); +void ESP8266_AT(void); +void ESP8266_Send_AT_Cmd(char *cmd,u32 time); +void USART_printf( USART_TypeDef * USARTx, char * Data, ... ); + +void ESP8266_send_heart_beat(void); + + + +#endif diff --git 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