main

src/i2c_communication.cpp

@@ -0,0 +1,116 @@
+#include "i2c_communication.h"
+#include <TinyGPS++.h>
+#include "main.h"
+
+extern uint16_t receive_cnt;
+
+extern TinyGPSPlus gps;
+extern uint16_t distance;
+// 缓冲区用于发送结构体数据
+uint8_t i2c_tx_buffer[sizeof(hh3_slave_data)];
+
+// 初始化 I2C 从机
+void init_i2c_slave() {
+    Wire.setSDA(I2C_SDA_PIN);
+    Wire.setSCL(I2C_SCL_PIN);
+    //Wire.Pins(16,17);
+    Wire.begin(SLAVE_ADDRESS);                 // 设置从机地址为 0x55
+    Wire.onRequest(onRequestEvent);   // 注册请求回调  ***改用主机命令0x01
+    Wire.onReceive(onReceiveEvent);   // 注册接收回调
+}
+
+// 当主机请求数据时调用
+void onRequestEvent() {
+    update_sensor_data(); // 确保数据是最新的
+    memcpy(i2c_tx_buffer, &sensor_data, sizeof(sensor_data));
+    Wire.write(i2c_tx_buffer, sizeof(sensor_data));
+}
+
+void power_init(){
+    pinMode(RANGING_POWER_PIN, OUTPUT);
+    pinMode(GPS_POWER_PIN, OUTPUT);
+}
+
+// 当主机发送命令时调用
+void onReceiveEvent(int bytes) {
+    while (Wire.available()) {
+        uint8_t cmd = Wire.read();
+        switch (cmd) {
+            case CMD_GPS_POWER_OFF:
+                turn_off_gps();
+                break;
+            case CMD_RANGING_POWER_OFF:
+                turn_off_ranging();
+                break;
+            case CMD_GPS_POWER_ON:
+                turn_on_gps();
+                break;
+            case CMD_RANGING_POWER_ON:
+                turn_on_ranging();
+                break;
+            case CMD_MASTER_GET_SLAVE_DATA: 
+                onRequestEvent();  // 主动调用一次数据发送
+                break;
+            default:
+                Serial.printf("Unknown command received: 0x%02X\n", cmd);
+                break;
+        }
+    }
+}
+
+// 更新传感器状态和数据
+static uint8_t last_receive_cnt = 0;
+void update_sensor_data() {
+    //gps
+    if (millis() > 5000 && gps.charsProcessed() < 10 && digitalRead(GPS_POWER_PIN) == HIGH) {
+        sensor_data.gps_sta = 0x00; // 无设备
+        sensor_data.gps_lat = 0.0f;
+        sensor_data.gps_lon = 0.0f;
+    } else if (digitalRead(GPS_POWER_PIN) == LOW){
+        sensor_data.gps_sta = 0x01; // 关机
+        sensor_data.gps_lat = 0.0f;
+        sensor_data.gps_lon = 0.0f;
+    }else if (!gps.location.isUpdated()) {
+        sensor_data.gps_sta = 0x02; // 未搜到信号
+        sensor_data.gps_lat = 0.0f;
+        sensor_data.gps_lon = 0.0f;
+    } else {
+        sensor_data.gps_sta = 0x03; // 正常工作
+        sensor_data.gps_lat = gps.location.lat();
+        sensor_data.gps_lon = gps.location.lng();
+    }
+
+    //测距
+    if (receive_cnt == last_receive_cnt && digitalRead(RANGING_POWER_PIN) == HIGH) {
+        sensor_data.height_sta = 0x00; // 无设备
+        sensor_data.height = 0.0f;
+    }else if (digitalRead(RANGING_POWER_PIN) == LOW){
+        sensor_data.height_sta = 0x01; // 关机
+        sensor_data.height = 0.0f;
+    }else {
+        last_receive_cnt = receive_cnt;
+        sensor_data.height_sta = 0x02; // 有效高度
+        sensor_data.height = (float)distance / 1000.0f; // mm -> m
+    }
+}
+
+// 电源控制
+void turn_off_gps() {
+    digitalWrite(GPS_POWER_PIN, LOW);
+    //Serial.println("Turning OFF GPS Power");
+}
+
+void turn_on_gps() {
+    digitalWrite(GPS_POWER_PIN, HIGH);
+    //Serial.println("Turning ON GPS Power");
+}
+
+void turn_off_ranging() {
+    digitalWrite(RANGING_POWER_PIN, LOW);
+    //Serial.println("Turning OFF Ranging Module");
+}
+
+void turn_on_ranging() {
+    digitalWrite(RANGING_POWER_PIN, HIGH);
+    //Serial.println("Turning ON Ranging Module");
+}