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#include <Arduino.h>
#include <DHT.h>
#include <MsTimer2.h>
#include <ChainableLED.h>
#include <SoftwareSerial.h>
#include "GoKit.h"
DHT dht(DHTPIN, DHTTYPE);
ChainableLED leds(A5, A4, 1);
#if(DEBUG==1)
SoftwareSerial mySerial(8, 9);
#endif
void motortime();
unsigned char uart_buf[MAX_UART_LEN]={0};
m2w_returnMcuInfo m_m2w_returnMcuInfo;
pro_commonCmd m_pro_commonCmd; //通用命令 心跳 ack等待复用
m2w_setModule m_m2w_setModule; //配置模块
w2m_controlMcu m_w2m_controlMcu; //控制MCU
m2w_mcuStatus m_m2w_mcuStatus; //MCU当前状态
m2w_mcuStatus m_m2w_mcuStatus_reported; //上次MCU的状态
w2m_reportModuleStatus m_w2m_reportModuleStatus; //WIFI模组状态
pro_errorCmd m_pro_errorCmd; //错误命令帧
unsigned char SN = 0;
unsigned long last_time=0;
unsigned char hal_UartRxBuffer[UART_RX_BUF_SIZE];
int hal_UartRxLen;
int hal_dmatxhead, hal_dmatxtail;
int hal_UartRxTail;
int hal_UartRxHead;
void GoKit_Init()
{
Serial.begin(9600);
#if(DEBUG==1)
mySerial.begin(9600);
#endif
dht.begin();
leds.init();
pinMode(KEY1,INPUT_PULLUP); //KEY1 上拉输入
pinMode(KEY2,INPUT_PULLUP); //KEY2 上拉输入
attachInterrupt(0, gokit_IR_event, CHANGE);//当引脚电平发生变化,触发中断函数gokit_IR_event pin 2
MsTimer2::set(1000, gokit_timer); // 1s period
MsTimer2::start();
gokit_motor_init();
gokit_setColorRGB(0,0,0);
McuStatusInit();
}
/*******************************************************************************
* Function Name : exchangeBytes
* Description : like htonl
* Input : value
* Output : None
* Return : 转换之后的数据
* Attention : None
*******************************************************************************/
unsigned short exchangeBytes(unsigned short value)
{
short tmp_value;
unsigned char *index_1, *index_2;
index_1 = (unsigned char *)&tmp_value;
index_2 = (unsigned char *)&value;
*index_1 = *(index_2+1);
*(index_1+1) = *index_2;
return tmp_value;
}
/*******************************************************************************
* Function Name : SendToUart
* Description : send data to uart
* *buf : the pointer of data to uart
* packLen : the data length
* Return : None
*******************************************************************************/
void SendToUart(unsigned char *buf, unsigned short packLen, unsigned char tag)
{
unsigned short i=0;
int Send_num;
pro_headPart send_headPart;
pro_commonCmd recv_commonCmd;
unsigned char m_55 = 0x55;
unsigned long last_time=0;
for(i=0;i<packLen;i++)
{
Serial.write(buf[i]);
if(i >=2 && buf[i] == 0xFF) Serial.write(m_55); // add 0x55 while across 0xff except head.
}
if( tag == 0 ) return ;
memcpy(&send_headPart, buf, sizeof(pro_headPart));
memset(&recv_commonCmd, 0, sizeof(pro_commonCmd));
last_time = gokit_time_ms();
Send_num = 1;
#if(DEBUG==1)
Serial.print("restart send timems");
Serial.println(gokit_time_ms());
#endif
while(Send_num <MAX_SEND_NUM )
{
if( (gokit_time_ms()-last_time)<MAX_SEND_TIME )
{
if(get_onepackage( uart_buf )>0)
{
memcpy(&recv_commonCmd, uart_buf, sizeof(pro_commonCmd));
if((send_headPart.cmd == CMD_SEND_MODULE_P0 && recv_commonCmd.head_part.cmd == CMD_SEND_MODULE_P0_ACK) &&
(send_headPart.sn == recv_commonCmd.head_part.sn)) break;
if((send_headPart.cmd == CMD_SET_MODULE_WORKMODE && recv_commonCmd.head_part.cmd == CMD_SET_MODULE_WORKMODE_ACK) &&
(send_headPart.sn == recv_commonCmd.head_part.sn)) break;
if((send_headPart.cmd == CMD_RESET_MODULE && recv_commonCmd.head_part.cmd == CMD_RESET_MODULE_ACK) &&
(send_headPart.sn == recv_commonCmd.head_part.sn)) break;
}
}
else
{
last_time = gokit_time_ms();
Send_num++;
for(i=0;i<packLen;i++)
{
Serial.write(buf[i]);
if(i >=2 && buf[i] == 0xFF) Serial.write(m_55); // add 0x55 while across 0xff except head.
}
#if(DEBUG==1)
Serial.print("restart send timems");
Serial.println(gokit_time_ms());
#endif
}
}
}
/*******************************************************************************
* Function Name : SendCommonCmd
* Description : send common cmd to WiFi
* cmd : CMD_SEND_MCU_P0_ACK CMD_REPORT_MODULE_STATUS_ACK CMD_SEND_HEARTBEAT_ACK
* or CMD_REBOOT_MCU_ACK
* packLen : sn
* Return : None
*******************************************************************************/
void SendCommonCmd(uint8_t cmd, uint8_t sn)
{
memset(&m_pro_commonCmd, 0, sizeof(pro_commonCmd));
m_pro_commonCmd.head_part.head[0] = 0xFF;
m_pro_commonCmd.head_part.head[1] = 0xFF;
m_pro_commonCmd.head_part.len = exchangeBytes(5);
m_pro_commonCmd.head_part.cmd = cmd;
m_pro_commonCmd.head_part.sn = sn;
m_pro_commonCmd.sum = CheckSum((uint8_t *)&m_pro_commonCmd, sizeof(pro_commonCmd));
SendToUart((uint8_t *)&m_pro_commonCmd, sizeof(pro_commonCmd), 0);
}
void SendErrorCmd(uint8_t error_no, uint8_t sn)
{
m_pro_errorCmd.head_part.sn = sn;
m_pro_errorCmd.error = error_no;
m_pro_errorCmd.sum = CheckSum((uint8_t *)&m_pro_errorCmd, sizeof(pro_errorCmd));
SendToUart((uint8_t *)&m_pro_errorCmd, sizeof(pro_errorCmd), 0);
}
int McuStatusInit()
{
//common package init
memset(&m_pro_commonCmd, 0, sizeof(pro_commonCmd));
m_pro_commonCmd.head_part.head[0] = 0xFF;
m_pro_commonCmd.head_part.head[1] = 0xFF;
m_pro_commonCmd.head_part.len = exchangeBytes(sizeof(pro_commonCmd) - 4);
// mcu info package init
memset(&m_m2w_returnMcuInfo, 0, sizeof(m2w_returnMcuInfo));
m_m2w_returnMcuInfo.head_part.head[0] = 0xFF;
m_m2w_returnMcuInfo.head_part.head[1] = 0xFF;
m_m2w_returnMcuInfo.head_part.len = exchangeBytes(sizeof(m2w_returnMcuInfo) - 4); //except FF FF XX XX(XX XX is the len)
m_m2w_returnMcuInfo.head_part.cmd = CMD_GET_MCU_INFO_ACK;
memcpy(m_m2w_returnMcuInfo.pro_ver, PRO_VER, 8);
memcpy(m_m2w_returnMcuInfo.p0_ver, P0_VER, 8);
memcpy(m_m2w_returnMcuInfo.hard_ver, HARD_VER, 8);
memcpy(m_m2w_returnMcuInfo.soft_ver, SOFT_VER, 8);
memcpy(m_m2w_returnMcuInfo.product_key, PRODUCT_KEY, 32);
m_m2w_returnMcuInfo.binable_time = exchangeBytes(PASSCODE_TIME); //can be binded any time
//
memset(&m_m2w_mcuStatus, 0, sizeof(m2w_mcuStatus));
m_m2w_mcuStatus.head_part.head[0] = 0xFF;
m_m2w_mcuStatus.head_part.head[1] = 0xFF;
m_m2w_mcuStatus.head_part.len = exchangeBytes(sizeof(m2w_mcuStatus) - 4);
gokit_DHT11_Read_Data((uint8_t *)&(m_m2w_mcuStatus.status_r.temputure), (uint8_t *)&(m_m2w_mcuStatus.status_r.humidity));
m_m2w_mcuStatus.status_w.motor_speed = 5;
//
memset(&m_m2w_setModule, 0, sizeof(m2w_setModule));
m_m2w_setModule.head_part.head[0] = 0xFF;
m_m2w_setModule.head_part.head[1] = 0xFF;
m_m2w_setModule.head_part.cmd = CMD_SET_MODULE_WORKMODE;
m_m2w_setModule.head_part.len = exchangeBytes(sizeof(m2w_setModule) - 4);
//
memset(&m_pro_errorCmd, 0, sizeof(pro_errorCmd));
m_pro_errorCmd.head_part.head[0] = 0xFF;
m_pro_errorCmd.head_part.head[1] = 0xFF;
m_pro_errorCmd.head_part.cmd = CMD_MODULE_CMD_ERROR_ACK;
m_pro_errorCmd.head_part.len = exchangeBytes(sizeof(pro_errorCmd) - 4);
}
void CmdGetMcuInfo(uint8_t sn)
{
m_m2w_returnMcuInfo.head_part.sn = sn;
m_m2w_returnMcuInfo.sum = CheckSum((uint8_t *)&m_m2w_returnMcuInfo, sizeof(m2w_returnMcuInfo));
SendToUart((uint8_t *)&m_m2w_returnMcuInfo, sizeof(m2w_returnMcuInfo), 0);
}
/******************************************************
* function : serialEvent
* Description : arduino serial uart receive interrupt
* function
*
* return : none.
* Add by Alex.lin --2014-12-24
******************************************************/
void serialEvent()
{
hal_UartRxBuffer[hal_UartRxTail] = (unsigned char)Serial.read();
hal_UartRxTail++;
if (hal_UartRxTail == UART_RX_BUF_SIZE)
{
hal_UartRxTail = 0;
}
hal_UartRxLen++;
#if(DEBUG==1)
Serial.println(hal_UartRxBuffer[hal_UartRxTail-1],HEX);
#endif
}
/******************************************************
* function : get one gagetn uart package
* buf : uart receive buf.
* return : uart data length.
* Add by Alex.lin --2014-12-24
******************************************************/
int get_onepackage(unsigned char *buf)
{
int ret = 0;
int len = 0;
int i, head=0;
unsigned long receive_time=0;
if (hal_UartRxLen<4) // not have enough data yet.
goto done;
for (i=0, head=hal_UartRxHead; i+1<(int)hal_UartRxLen; i++)
{
if ((hal_UartRxBuffer[head] != 0xFF) || (hal_UartRxBuffer[(head+1)%UART_RX_BUF_SIZE] != 0xFF) )
{
head++;
if (head == UART_RX_BUF_SIZE) {
head = 0;
}
} else {
break;
}
}
hal_UartRxLen -= i;
hal_UartRxHead = head; // remove invalid data.
if (hal_UartRxLen<4) // not have enough data yet.
goto done;
// copy first 4 bytes to buf
head = hal_UartRxHead;
for (i = 0; i < 4; i++)
{
buf[i] = hal_UartRxBuffer[head++];
if (head == UART_RX_BUF_SIZE) {
head = 0;
}
}
// total data length
len = (buf[2]<<8 )+ buf[3] + 4;
if (len > UART_RX_BUF_SIZE) { // length to long, must wrong format
goto WRONG;
}
if (len > (int)hal_UartRxLen)//
goto done; // not have enough data yet.
receive_time = gokit_time_s();
// copy data & checksum to buf
for (; i<len; i++)
{
if((gokit_time_s()-receive_time) >1)
{
goto WRONG;//1S内没接收到全数据，跳出。
}
buf[i] = hal_UartRxBuffer[head];
head++;
if (head == UART_RX_BUF_SIZE) {
head = 0;
}
}
ret = len;
hal_UartRxLen -= len;
hal_UartRxHead = head;
goto done;
WRONG: // wrong format, remove one byte
hal_UartRxLen--;
hal_UartRxHead++;
if (hal_UartRxHead == UART_RX_BUF_SIZE) {
hal_UartRxHead = 0;
}
done:
return ret;
}
/*******************************************************
* function : gokit_time_ms
* Description : gokit running time form power on
* return : gokit running time(ms).
* Add by Alex.lin --2014-12-25
******************************************************/
unsigned long gokit_time_ms()
{
return millis();
}
/*******************************************************
* function : gokit_time_m
* Description : gokit running time form power on
* return : gokit running time(m).
* Add by Alex.lin --2014-12-25
******************************************************/
unsigned long gokit_time_s()
{
return millis()/1000;
}
/*******************************************************
* function : gokit_DHT11_Read_Data
* Description : gokit read temperature and hum
* return : none
* Add by Alex.lin --2014-12-25
******************************************************/
void gokit_DHT11_Read_Data( unsigned char *temperature,unsigned char *humidity)
{
*temperature = (unsigned char)dht.readTemperature();
*humidity = (unsigned char)dht.readHumidity();
return ;
}
/*******************************************************
* function : gokit_key1down
* Description : check the gokit key1 event
* return : KEY1_LONG_PRESS KEY1_SHORT_PRESS
* 0-no keydown event.
* Add by Alex.lin --2014-12-25
******************************************************/
char gokit_key1down()
{
int unsigned long keep_time=0;
if( digitalRead(KEY1)==LOW)
{
delay(100);
if(digitalRead(KEY1)==LOW)
{
keep_time = gokit_time_s();
while(digitalRead(KEY1)==LOW)
{
if( (gokit_time_s()-keep_time)> KEY_LONG_TIMER)
{
return KEY1_LONG_PRESS;
}
}//until open the key
return KEY1_SHORT_PRESS ;
}
return 0;
}
return 0;
}
/*******************************************************
* function : gokit_key2down
* Description : check the gokit key2 event
* return : KEY2_LONG_PRESS KEY2_SHORT_PRESS
* 0-no keydown event.
* Add by Alex.lin --2014-12-25
******************************************************/
char gokit_key2down()
{
int unsigned long keep_time=0;
if( digitalRead(KEY2)==LOW)
{
delay(100);
if(digitalRead(KEY2)==LOW)
{
keep_time = gokit_time_s();
while(digitalRead(KEY2)==LOW)//until open the key
{
if( (gokit_time_s()-keep_time)> KEY_LONG_TIMER)
{
return KEY2_LONG_PRESS;
}
}
return KEY2_SHORT_PRESS;
}
return 0;
}
return 0;
}
/*******************************************************
* function : gokit_keydown
* Description : check the gokit key1 or key2 event
* return : KEY1_LONG_PRESS KEY1_SHORT_PRESS
* KEY2_LONG_PRESS KEY2_SHORT_PRESS
* 0-no keydown event.
* Add by Alex.lin --2014-12-25
******************************************************/
char gokit_keydown()
{
char ret=0;
ret |= gokit_key2down();
ret |= gokit_key1down();
return ret;
}
/*******************************************************
* function : gokit_IR_event
* Description : check the gokit infrared event
* return : none
*
* Add by Alex.lin --2014-12-25
******************************************************/
void gokit_IR_event()
{
noInterrupts();
if(digitalRead(2))
{
#if (DEBUG==1)
Serial.println("gokit_IR_event! no happen. ");
#endif
m_m2w_mcuStatus.status_r.ir_status &= ~(1<<0);
}
else
{
#if (DEBUG==1)
Serial.println("gokit_IR_event! happen. ");
#endif
m_m2w_mcuStatus.status_r.ir_status |= (1<<0);
}
interrupts();
}
/*******************************************************
* function : gokit_setColorRGB
* Description : set gokit colorrgb led
* return : none
*
* Add by Alex.lin --2014-12-25
******************************************************/
void gokit_setColorRGB(byte red, byte green, byte blue)
{
leds.setColorRGB(0, red, green, blue);
}
/*******************************************************
* function : gokit_motor_init
* Description : init gokit motor.
* return : none
*
* Add by Alex.lin --2014-12-25
******************************************************/
void gokit_motor_init()
{
pinMode(MOTOR_PINA,OUTPUT);
pinMode(MOTOR_PINB,OUTPUT);
digitalWrite(MOTOR_PINB,LOW);
digitalWrite(MOTOR_PINA,LOW);
gokit_motorstatus(5);
}
/*******************************************************
* function : gokit_motorstatus
* Description : set gokit motor speed.
* return : none
*
* Add by Alex.lin --2014-12-25
******************************************************/
void gokit_motorstatus( char motor_speed )
{
unsigned char Temp_motor_speed=0;
if(motor_speed==5) //停止
{
digitalWrite(MOTOR_PINA,LOW);
digitalWrite(MOTOR_PINB,LOW);
}
if(motor_speed>5)//正转
{
Temp_motor_speed = (motor_speed-5)*51;
if(Temp_motor_speed>255) Temp_motor_speed=255;
digitalWrite(MOTOR_PINA,LOW);
analogWrite( MOTOR_PINB, Temp_motor_speed);
}
if(motor_speed<5)//反转
{
Temp_motor_speed = (255-(5+motor_speed))*51;
if(Temp_motor_speed>255) Temp_motor_speed =255;
digitalWrite(MOTOR_PINA,HIGH);
analogWrite( MOTOR_PINB,Temp_motor_speed );
}
}
void gokit_timer()
{
}
/*******************************************************
* function : gokit_ResetWiFi
* Description : gokit reset the wifi.
* return : None.
* Add by Alex.lin --2014-12-25
******************************************************/
void gokit_ResetWiFi()
{
gokit_setColorRGB(0,0,50);
delay(500);
gokit_setColorRGB(0,0,0);
m_pro_commonCmd.head_part.cmd = CMD_RESET_MODULE;
m_pro_commonCmd.head_part.sn = ++SN;
m_pro_commonCmd.sum = CheckSum((uint8_t *)&m_pro_commonCmd, sizeof(pro_commonCmd));
SendToUart((uint8_t *)&m_pro_commonCmd, sizeof(pro_commonCmd), 1);
}
/*******************************************************
* function : WiFi_Config
* Description : Gonfig wifi into airlink
* return : None.
* Add by Alex.lin --2014-12-25
******************************************************/
void gokit_sendAirlink()
{
gokit_setColorRGB(0,50,0);
m_m2w_setModule.config_info = 0x02; //air link
m_m2w_setModule.head_part.sn = ++SN;
m_m2w_setModule.sum = CheckSum((uint8_t *)&m_m2w_setModule, sizeof(m2w_setModule));
SendToUart((uint8_t *)&m_m2w_setModule, sizeof(m2w_setModule), 1);
}
void gokit_sendApCmd()
{
gokit_setColorRGB(50,0,0);
delay(500);
gokit_setColorRGB(0,0,0);
m_m2w_setModule.config_info = 0x01; //air link
m_m2w_setModule.head_part.sn = ++SN;
m_m2w_setModule.sum = CheckSum((uint8_t *)&m_m2w_setModule, sizeof(m2w_setModule));
SendToUart((uint8_t *)&m_m2w_setModule, sizeof(m2w_setModule), 1);
}
void gokit_ReportStatus(uint8_t tag)
{
if(tag == REPORT_STATUS)
{
m_m2w_mcuStatus.head_part.cmd = CMD_SEND_MODULE_P0;
m_m2w_mcuStatus.head_part.sn = ++SN;
m_m2w_mcuStatus.sub_cmd = SUB_CMD_REPORT_MCU_STATUS;
m_m2w_mcuStatus.status_w.motor_speed = exchangeBytes(m_m2w_mcuStatus.status_w.motor_speed);
m_m2w_mcuStatus.sum = CheckSum((uint8_t *)&m_m2w_mcuStatus, sizeof(m2w_mcuStatus));
SendToUart((uint8_t *)&m_m2w_mcuStatus, sizeof(m2w_mcuStatus), 0);
}
else if(tag == REQUEST_STATUS)
{
m_m2w_mcuStatus.head_part.cmd = CMD_SEND_MCU_P0_ACK;
m_m2w_mcuStatus.head_part.sn = m_w2m_controlMcu.head_part.sn;
m_m2w_mcuStatus.sub_cmd = SUB_CMD_REQUIRE_STATUS_ACK;
m_m2w_mcuStatus.status_w.motor_speed = exchangeBytes(m_m2w_mcuStatus.status_w.motor_speed);
m_m2w_mcuStatus.sum = CheckSum((uint8_t *)&m_m2w_mcuStatus, sizeof(m2w_mcuStatus));
SendToUart((uint8_t *)&m_m2w_mcuStatus, sizeof(m2w_mcuStatus), 0);
}
m_m2w_mcuStatus.status_w.motor_speed = exchangeBytes(m_m2w_mcuStatus.status_w.motor_speed);
memcpy(&m_m2w_mcuStatus_reported, &m_m2w_mcuStatus, sizeof(m2w_mcuStatus));
}
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