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