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#include "sys.h"
#include "delay.h"
#include "led.h"
#include "usart3.h"
#include "esp8266.h"
#include "l298n.h"
int main(void){
delay_init(); //延時函數初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//設置中斷優先級分組為組2：2位搶占優先級，2位響應優先級
LED_Init(); //初始化與LED連接的硬件接口
usart3_init(115200); //初始化串口3
L298N_Init();
while(atk_8266_send_cmd("AT","OK",20))//檢查WIFI模塊是否在線
{
atk_8266_quit_trans();//退出透傳
atk_8266_send_cmd("AT+CIPMODE=0","OK",200); //關閉透傳模式
delay_ms(200);
}
while(atk_8266_send_cmd("ATE0","OK",20));//關閉回顯
atk_8266_send_cmd("AT+CWMODE=2","OK",20);
atk_8266_send_cmd("AT+RST","OK",20);
delay_ms(1000);//延時2s等待模塊重啟
delay_ms(1000);//
atk_8266_send_cmd("AT+CWSAP=\"WIFI_CAR\",\"20172017\",1,4","OK",1000);
u16 rlen=0;
atk_8266_send_cmd("AT+CIPMUX=1","OK",20); //0：單連接，1：多連接
atk_8266_send_cmd("AT+CIPSERVER=1,8086","OK",20); //開啟Server模式，端口號為8086
delay_ms(200);
USART3_RX_STA=0;
IWDG_Init(4,625); //分頻數為64,重載值為625,溢出時間為1s
while(1){
IWDG_Feed();//喂狗
if(USART3_RX_STA&0X8000) //接收到一次數據了
{
LED1=!LED1;
rlen=USART3_RX_STA&0X7FFF; //得到本次接收到的數據長度
u8 flag=0;
for(u8 i=0;i<rlen-1;i++) {
if(USART3_RX_BUF[i]==0XAA&&USART3_RX_BUF[i+1]==0X55) {
flag = i; //0XAA字節的位置
break;
}
}
u8 revData[6];
for(u8 i=0;i<6;i++) {
revData[i] = USART3_RX_BUF[flag+i]; //將有效數據存放到revData數組中
}
if(crc16_flage(revData, 4)) { //進行CRC校驗
TIM_SetCompare2(TIM3,10000-60*revData[3]); //改變PWM脈沖寬度以調節小車速度
switch(revData[2]){
case 1: forward(); break; //前進
case 2: back(); break; //后退
case 3: right(); break; //右轉
case 4: left(); break; //左轉
case 5: stop(); break; //停止
}
}
USART3_RX_STA=0;
}
}
}

復制代碼