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#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "OLED_Data.h"
#include "SG90.h"
#include "Serial.h"
#include "string.h"

float Angle;
uint8_t SG90_Status;		//舵机状态
uint8_t Face_Status;		//脸模显示状态

int main(void)
{
	/*模块初始化*/
	OLED_Init();		//OLED初始化
	SG90_Init();		//舵机初始化
	Serial_Init();		//串口初始化
	
	OLED_ShowImage(0,0,128,64,FaceDou);		//开机显示表情
	OLED_Update();
	
	Delay_ms(1000);
	
	while (1)
	{
		
		if (Serial_RxFlag == 1)		//串口接受数据包标志为1时，接收到数据
		{
			if (strcmp(Serial_RxPacket, "Advance") == 0){SG90_Status =1;Face_Status =1;}
			if (strcmp(Serial_RxPacket, "Retreat") == 0){SG90_Status =2;Face_Status =2;}
			if (strcmp(Serial_RxPacket, "Right") == 0){SG90_Status =3;Face_Status =3;}
			if (strcmp(Serial_RxPacket, "Left") == 0){SG90_Status =4;Face_Status =4;}
			if (strcmp(Serial_RxPacket, "Down") == 0){SG90_Status =5;Face_Status =5;}
			if (strcmp(Serial_RxPacket, "Up") == 0){SG90_Status =6;Face_Status =6;}
			if (strcmp(Serial_RxPacket, "Hard") == 0){SG90_Status =7;Face_Status =7;}
			if (strcmp(Serial_RxPacket, "Rock") == 0){SG90_Status =8;Face_Status =8;}
			if (strcmp(Serial_RxPacket, "Sit") == 0){SG90_Status =9;Face_Status =9;}
			if (strcmp(Serial_RxPacket, "Sit_Hard") == 0){SG90_Status =10;Face_Status =10;}
			if (strcmp(Serial_RxPacket, "Advance_plus") == 0){SG90_Status =11;Face_Status =11;}
			if (strcmp(Serial_RxPacket, "Retreat_plus") == 0){SG90_Status =12;Face_Status =12;}
			if (strcmp(Serial_RxPacket, "Right_plus") == 0){SG90_Status =13;Face_Status =13;}
			if (strcmp(Serial_RxPacket, "Left_plus") == 0){SG90_Status =14;Face_Status =14;}
			if (strcmp(Serial_RxPacket, "Ass") == 0){SG90_Status =15;Face_Status =15;}
			if (strcmp(Serial_RxPacket, "Dou") == 0){Face_Status =16;}
			if (strcmp(Serial_RxPacket, "Crazy") == 0){Face_Status =17;}
			Serial_RxFlag = 0;
		}
		
		
		switch(SG90_Status)		//舵机状态选择
		{
			case 1: SG90_Advance();break;
			case 2: SG90_Retreat();break;
			case 3: SG90_TrunRight();break;
			case 4: SG90_TrunLeft();break;
			case 5: SG90_Down();break;
			case 6: SG90_Up();break;
			case 7: SG90_Hard();break;
			case 8: SG90_Rock();break;
			case 9: SG90_Sit();break;
			case 10: SG90_SitHard();break;
			case 11: SG90_CrazyAdvance();break;
			case 12: SG90_CrazyRetreat();break;
			case 13: SG90_CrazyTrunRight();break;
			case 14: SG90_CrazyTrunLeft();break;
			case 15: SG90_Ass();break;
		}
			
		switch(Face_Status)		//脸模显示状态选择
		{
			case 1: OLED_ShowImage(0,0,128,64,FaceDou);OLED_Update();break;
			case 2: OLED_ShowImage(0,0,128,64,FaceDou);OLED_Update();break;
			case 3: OLED_ShowImage(0,0,128,64,FaceRight);OLED_Update();break;
			case 4: OLED_ShowImage(0,0,128,64,FaceLeft);OLED_Update();break;
			case 5: OLED_ShowImage(0,0,128,64,FaceSleep);OLED_Update();break;
			case 6: OLED_ShowImage(0,0,128,64,FaceBlock);OLED_Update();break;
			case 7: OLED_ShowImage(0,0,128,64,FaceDou);OLED_Update();break;
			case 8: OLED_ShowImage(0,0,128,64,FaceCry);OLED_Update();break;
			case 9: OLED_ShowImage(0,0,128,64,FaceDou);OLED_Update();break;
			case 10: OLED_ShowImage(0,0,128,64,FaceDou);OLED_Update();break;
			case 11: OLED_ShowImage(0,0,128,64,FaceEvil);OLED_Update();break;
			case 12: OLED_ShowImage(0,0,128,64,FaceEvil);OLED_Update();break;
			case 13: OLED_ShowImage(0,0,128,64,FaceEvil);OLED_Update();break;
			case 14: OLED_ShowImage(0,0,128,64,FaceEvil);OLED_Update();break;
			case 15: OLED_ShowImage(0,0,128,64,FaceAss);OLED_Update();break;
			case 16: OLED_ShowImage(0,0,128,64,FaceDou);OLED_Update();break;
			case 17: OLED_ShowImage(0,0,128,64,FaceEvil);OLED_Update();break;
		}

	}
}

#include "stm32f10x.h"                  // Device header
#include <stdio.h>
#include <stdarg.h>
#include <math.h>


/**
  * º¯    Êý£º´®¿Ú³õʼ»¯
  * ²Î    Êý£ºÎÞ
  * ·µ »Ø Öµ£ºÎÞ
  */
void Serial_Init(void)
{
	/*¿ªÆôʱÖÓ*/
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);	//¿ªÆôUSART1µÄʱÖÓ
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);	//¿ªÆôGPIOAµÄʱÖÓ
	
	/*GPIO³õʼ»¯*/
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);					//½«PA9Òý½Å³õʼ»¯Îª¸´ÓÃÍÆÍìÊä³ö
	
	/*USART³õʼ»¯*/
	USART_InitTypeDef USART_InitStructure;					//¶¨Òå½á¹¹Ìå±äÁ¿
	USART_InitStructure.USART_BaudRate = 9600;				//²¨ÌØÂÊ
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;	//Ó²¼þÁ÷¿ØÖÆ£¬²»ÐèÒª
	USART_InitStructure.USART_Mode = USART_Mode_Tx;			//ģʽ£¬Ñ¡ÔñΪ·¢ËÍģʽ
	USART_InitStructure.USART_Parity = USART_Parity_No;		//ÆæżУÑ飬²»ÐèÒª
	USART_InitStructure.USART_StopBits = USART_StopBits_1;	//ֹͣλ£¬Ñ¡Ôñ1λ
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;		//×Ö³¤£¬Ñ¡Ôñ8λ
	USART_Init(USART1, &USART_InitStructure);				//½«½á¹¹Ìå±äÁ¿½»¸øUSART_Init£¬ÅäÖÃUSART1
	
	/*USARTʹÄÜ*/
	USART_Cmd(USART1, ENABLE);								//ʹÄÜUSART1£¬´®¿Ú¿ªÊ¼ÔËÐÐ
}

/**
  * º¯    Êý£º´®¿Ú·¢ËÍÒ»¸ö×Ö½Ú
  * ²Î    Êý£ºByte Òª·¢Ë͵ÄÒ»¸ö×Ö½Ú
  * ·µ »Ø Öµ£ºÎÞ
  */
void Serial_SendByte(uint8_t Byte)
{
	USART_SendData(USART1, Byte);		//½«×Ö½ÚÊý¾ÝдÈëÊý¾Ý¼Ä´æÆ÷£¬Ð´ÈëºóUSART×Ô¶¯Éú³ÉʱÐò²¨ÐÎ
	while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);	//µÈ´ý·¢ËÍÍê³É
	/*Ï´ÎдÈëÊý¾Ý¼Ä´æÆ÷»á×Ô¶¯Çå³ý·¢ËÍÍê³É±ê־룬¹Ê´ËÑ­»·ºó£¬ÎÞÐèÇå³ý±ê־λ*/
}

/**
  * º¯    Êý£º´®¿Ú·¢ËÍÒ»¸öÊý×é
  * ²Î    Êý£ºArray Òª·¢ËÍÊý×éµÄÊ×µØÖ·
  * ²Î    Êý£ºLength Òª·¢ËÍÊý×éµÄ³¤¶È
  * ·µ »Ø Öµ£ºÎÞ
  */
void Serial_SendArray(uint8_t *Array, uint16_t Length)
{
	uint16_t i;
	for (i = 0; i < Length; i ++)		//±éÀúÊý×é
	{
		Serial_SendByte(Array[i]);		//ÒÀ´Îµ÷ÓÃSerial_SendByte·¢ËÍÿ¸ö×Ö½ÚÊý¾Ý
	}
}

/**
  * º¯    Êý£º´®¿Ú·¢ËÍÒ»¸ö×Ö·û´®
  * ²Î    Êý£ºString Òª·¢ËÍ×Ö·û´®µÄÊ×µØÖ·
  * ·µ »Ø Öµ£ºÎÞ
  */
void Serial_SendString(char *String)
{
	uint8_t i;
	for (i = 0; String[i] != '\0'; i ++)//±éÀú×Ö·ûÊý×飨×Ö·û´®£©£¬Óöµ½×Ö·û´®½áÊø±ê־λºóÍ£Ö¹
	{
		Serial_SendByte(String[i]);		//ÒÀ´Îµ÷ÓÃSerial_SendByte·¢ËÍÿ¸ö×Ö½ÚÊý¾Ý
	}
}

/**
  * º¯    Êý£º´Î·½º¯Êý£¨ÄÚ²¿Ê¹Óã©
  * ·µ »Ø Öµ£º·µ»ØÖµµÈÓÚXµÄY´Î·½
  */
uint32_t Serial_Pow(uint32_t X, uint32_t Y)
{
	uint32_t Result = 1;	//ÉèÖýá¹û³õֵΪ1
	while (Y --)			//Ö´ÐÐY´Î
	{
		Result *= X;		//½«XÀ۳˵½½á¹û
	}
	return Result;
}

/**
  * º¯    Êý£º´®¿Ú·¢ËÍÊý×Ö
  * ²Î    Êý£ºNumber Òª·¢Ë͵ÄÊý×Ö£¬·¶Î§£º0~4294967295
  * ²Î    Êý£ºLength Òª·¢ËÍÊý×ֵij¤¶È£¬·¶Î§£º0~10
  * ·µ »Ø Öµ£ºÎÞ
  */
void Serial_SendNumber(uint32_t Number, uint8_t Length)
{
	uint8_t i;
	for (i = 0; i < Length; i ++)		//¸ù¾ÝÊý×Ö³¤¶È±éÀúÊý×ÖµÄÿһλ
	{
		Serial_SendByte(Number / Serial_Pow(10, Length - i - 1) % 10 + '0');	//ÒÀ´Îµ÷ÓÃSerial_SendByte·¢ËÍÿλÊý×Ö
	}
}

/**
  * º¯    Êý£ºÊ¹ÓÃprintfÐèÒªÖض¨ÏòµÄµ×²ãº¯Êý
  * ²Î    Êý£º±£³Öԭʼ¸ñʽ¼´¿É£¬ÎÞÐè±ä¶¯
  * ·µ »Ø Öµ£º±£³Öԭʼ¸ñʽ¼´¿É£¬ÎÞÐè±ä¶¯
  */
int fputc(int ch, FILE *f)
{
	Serial_SendByte(ch);			//½«printfµÄµ×²ãÖض¨Ïòµ½×Ô¼ºµÄ·¢ËÍ×Ö½Úº¯Êý
	return ch;
}

/**
  * º¯    Êý£º×Ô¼º·â×°µÄprinfº¯Êý
  * ²Î    Êý£ºformat ¸ñʽ»¯×Ö·û´®
  * ²Î    Êý£º... ¿É±äµÄ²ÎÊýÁбí
  * ·µ »Ø Öµ£ºÎÞ
  */
void Serial_Printf(char *format, ...)
{
	char String[100];				//¶¨Òå×Ö·ûÊý×é
	va_list arg;					//¶¨Òå¿É±ä²ÎÊýÁбíÊý¾ÝÀàÐ͵ıäÁ¿arg
	va_start(arg, format);			//´Óformat¿ªÊ¼£¬½ÓÊÕ²ÎÊýÁÐ±íµ½arg±äÁ¿
	vsprintf(String, format, arg);	//ʹÓÃvsprintf´òÓ¡¸ñʽ»¯×Ö·û´®ºÍ²ÎÊýÁÐ±íµ½×Ö·ûÊý×éÖÐ
	va_end(arg);					//½áÊø±äÁ¿arg
	Serial_SendString(String);		//´®¿Ú·¢ËÍ×Ö·ûÊý×飨×Ö·û´®£©
}
/**
  * º¯    Êý£º´®¿Ú·¢Ë͸¡µãÐÍÊý×Ö ¿É×Ô¶¯Ê¶±ðÕûÊýλÊý
  * ²Î    Êý£ºNumber Òª·¢Ë͵ÄÊý×Ö£¬·¶Î§£º
  * ²Î    Êý£ºFraLength ±£ÁôСÊýλÊý£¬·¶Î§£º0~10
  * ·µ »Ø Öµ£ºÎÞ
  */


void Serial_SendFloatNum(double Number,int FraLength)
{
	uint32_t PowNum, IntNum, FraNum,a;
	
	/*ÌáÈ¡ÕûÊý²¿·ÖºÍСÊý²¿·Ö*/
	IntNum = Number;						//Ö±½Ó¸³Öµ¸øÕûÐͱäÁ¿£¬ÌáÈ¡ÕûÊý
	a=IntNum;
	
	Number -= IntNum;						//½«NumberµÄÕûÊý¼õµô£¬·ÀÖ¹Ö®ºó½«Ð¡Êý³Ëµ½ÕûÊýʱÒòÊý¹ý´óÔì³É´íÎó
	PowNum = Serial_Pow(10, FraLength);		//¸ù¾ÝÖ¸¶¨Ð¡ÊýµÄλÊý£¬È·¶¨³ËÊý
	FraNum = round(Number * PowNum);		//½«Ð¡Êý³Ëµ½ÕûÊý£¬Í¬Ê±ËÄÉáÎåÈ룬±ÜÃâÏÔʾÎó²î
	IntNum += FraNum / PowNum;				//ÈôËÄÉáÎåÈëÔì³ÉÁ˽ø룬ÔòÐèÒªÔÙ¼Ó¸øÕûÊý
	int datalength=0;
	
	while(IntNum!=0)   
	{
		datalength++;
		IntNum=IntNum/10;//Ò»¹²Óм¸Î»ÕûÊý 
	} //´ËʱIntNumΪ0 ÐèÒªÖØиøIntNum¸³Öµ
	
	IntNum=a;	
	
	Serial_SendNumber(IntNum,datalength);//·¢ËÍÕûÊý²¿·Ö
	Serial_SendString(".");
	Serial_SendNumber(FraNum,FraLength);//·¢ËÍСÊý²¿·Ö
	
	
}