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ABTKITS.cpp
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ABTKITS.cpp
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/*
* ABTKITS.cpp
* Author: ANTBOT
* Created: 2016-05-21
* Modified:2017-04-08
*/
#include <Arduino.h>
#include <string.h>
#include "ABTKITS.h"
//#define ABT_32U4
//#define ABT_WIFI
ABTKITS::ABTKITS(){
}
void ABTKITS::ABTINIT()
{
#ifdef ABT_32U4
Serial.begin(9600); //用于和PC串口通讯
delay(200);
Serial1.begin(9600);//用于和蓝牙模块通讯
Serial.println("okey,ready");
#else//328P
Serial.begin(57600); //用于和蓝牙模块通讯
delay(200);
#endif
sprintf( HEADFRAME,"ABT");
frameCnt=0;
rbytes = 0;
speedL= speedR=80;
senCnt = 0;
}
int ABTKITS::ABTGetBleCmd()
{
unsigned char aFlag=0;
char rch;
#ifdef ABT_32U4
while(Serial1.available()>0)
{
rch = Serial1.read();
if(rch=='A'&&aFlag==0)//收到字符'A'开始认为是有效数据
{
aFlag=1;
}
if(aFlag)
{
readcmd[rbytes++]=rch;
}
if(rbytes==4)//接到3个字节后判断帧头
{
if(readcmd[1]!='B'||readcmd[2]!='T')
{
aFlag=0;rbytes=0;//清除标志
}
}
delay(1);
if(rbytes==64)//最多读64个字节
break;
}
#else//328P
while(Serial.available()>0)
{
rch = Serial.read();
if(rch=='A'&&aFlag==0)//收到字符'A'开始认为是有效数据
{
aFlag=1;
}
if(aFlag)
{
readcmd[rbytes++]=rch;
}
if(rbytes==4)//接到3个字节后判断帧头
{
if(readcmd[1]!='B'||readcmd[2]!='T')
{
aFlag=0;rbytes=0;//清除标志
}
}
delay(1);
if(rbytes==64)//最多读64个字节
break;
}
#endif
return rbytes;
}
void ABTKITS::ABTSendCMD(char *p)
{
#ifdef ABT_32U4
Serial1.println(p);//用于和蓝牙模块通讯
#else//328P
Serial.println(p); //用于和蓝牙模块通讯
#endif
}
void ABTKITS::ABTHandleBleCmd()
{
int i,j;
i=0;
char cmdbuff[64];
j=0;
senCnt = 0;//计数清0
for(i=0;i<64;i++)
{
if(readcmd[i]!=' ')//忽略空格
cmdbuff[j++]=readcmd[i];
if(readcmd[i]=='#')//帧结束标志
{
frameCnt++;
ABTExpCmd(cmdbuff);
j=0;
}
}
memset(readcmd,0,64);//清空接收缓存
rbytes=0;
#ifdef ABT_32U4
Serial1.flush();
#else
Serial.flush();
#endif
}
void ABTKITS::ABTExpCmd(char *p)
{
int i,j;
char num[3];
char cmd[32];
char ctype,cRW;
char headbuf[4];
int param[2];//param[0]:管脚号/传感器模块编号 param[1]:值
for(i=0;i<3;i++)//判断帧头
{
if(*p!=HEADFRAME[i])
return;
p++;
}
ctype= *p++;//命令类型:模拟量/数字量/传感器模块
cRW = *p++;//读写操作
for(j=0;j<2;j++)
{
for(i=0;i<3;i++)
{
if(*p==','||*p=='#')
break;
num[i]=*p;p++;
}
p++;
param[j]=atoi(num);
memset(num,0,3);
}
if(ctype=='A')//模拟量读写(PWM)
{
#ifdef ABT_WIFI
return;
#endif
if(param[0]<2)//不控制0和1管脚
return;
if(cRW=='W')
{
sprintf( cmd,"analogWrite(%d,%d);",param[0],param[1]);
pinMode(param[0],OUTPUT);
analogWrite(param[0],param[1]);
}else if(cRW=='R')
{
sprintf( cmd,"analogRead(%d,%d);",param[0],param[1]);
pinMode(param[0],INPUT);
sprintf(sendcmd,"ABTAR%d,%d#",param[0],analogRead(param[0]));
ABTSendCMD(sendcmd);
}
}else if(ctype=='D') //数字量读写
{
#ifdef ABT_WIFI
return;
#endif
if(param[0]<2)//不控制0和1管脚
return;
if(cRW=='W')
{
sprintf( cmd,"digitalWrite(%d,%d);",param[0],param[1]);
pinMode(param[0],OUTPUT);
digitalWrite(param[0],param[1]);
}else if(cRW=='R')
{
sprintf( cmd,"digitalRead(%d,%d);",param[0],param[1]);
pinMode(param[0],INPUT);
sprintf(sendcmd,"ABTDR%d,%d#",param[0],digitalRead(param[0]));
ABTSendCMD(sendcmd); //
}
}else //if(ctype=='S')//传感器操作
{
//SnsrModel(cRW,param[0],param[1]);
sprintf( cmd,"SensorOperate(%d,%d);",param[0],param[1]);
ABTSensorFunc(cRW,param[0],param[1]);
}
#ifdef ABT_32U4
Serial.println(cmd);delay(10);//打印命令
#endif
}
void ABTKITS::ABTSensorFunc(char cRW,int sID,int sVal)//传感器模块处理函数
{
curInfo.cRW = cRW;
curInfo.sID = sID;
curInfo.sVal= sVal;
if(senCnt==8)
senCnt=0;
senInfo[senCnt].cRW = cRW;
senInfo[senCnt].sID = sID;
senInfo[senCnt++].sVal = sVal;
}