1
This commit is contained in:
@ -8,6 +8,10 @@
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// 外部串口对象声明
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extern HardwareSerial DebugSerial;
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// 全局变量用于CID和RS485模式管理
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static uint8_t currentTargetCID = 0; // 当前目标设备CID
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static bool isCurrentRS485Mode = false; // 当前是否为RS485模式
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void sendJsonResponse(const char* command, const char* status, int value) {
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StaticJsonDocument<JSON_BUFFER_SIZE> responseDoc;
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@ -63,218 +67,244 @@ void processJsonCommand(const char* jsonString) {
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return;
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}
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// 解析命令中的CID
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uint8_t cid = 0;
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char actualCommand[64];
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bool isRS485 = parse_command_with_cid(command, &cid, actualCommand);
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// 设置全局变量供其他函数使用
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currentTargetCID = cid;
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isCurrentRS485Mode = isRS485;
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if (isRS485) {
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DebugSerial.print("RS485 Command - CID: ");
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DebugSerial.print(cid);
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DebugSerial.print(", Command: ");
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DebugSerial.println(actualCommand);
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} else {
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DebugSerial.print("RS232 Command: ");
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DebugSerial.println(actualCommand);
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}
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// 获取 PA 参数对象（可选）
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JsonObject params = doc["PA"];
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// 根据command执行相应操作
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if (strcmp(command, "cfg") == 0) {
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// 根据actualCommand执行相应操作
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if (strcmp(actualCommand, "cfg") == 0) {
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handle_cfg_cmd();
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} else if (strcmp(command, "ena") == 0) {
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} else if (strcmp(actualCommand, "ena") == 0) {
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handle_ena_cmd();
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} else if (strcmp(command, "off") == 0) {
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} else if (strcmp(actualCommand, "off") == 0) {
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handle_off_cmd();
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} else if (strcmp(command, "mov") == 0) {
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} else if (strcmp(actualCommand, "mov") == 0) {
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handle_mov_cmd();
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} else if (strcmp(command, "pos") == 0) {
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} else if (strcmp(actualCommand, "pos") == 0) {
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int value = params.containsKey("value") ? params["value"].as<int>() : 0;
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handle_pos_cmd(value);
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} else if (strcmp(command, "rmv") == 0) {
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} else if (strcmp(actualCommand, "rmv") == 0) {
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int value = params.containsKey("value") ? params["value"].as<int>() : 0;
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handle_rmv_cmd(value);
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} else if (strcmp(command, "pps") == 0) {
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} else if (strcmp(actualCommand, "pps") == 0) {
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if (params.containsKey("value")) {
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int value = params["value"].as<int>();
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handle_pps_cmd(value);
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} else {
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handle_pps_cmd();
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}
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} else if (strcmp(command, "org") == 0) {
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} else if (strcmp(actualCommand, "org") == 0) {
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handle_org_cmd();
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} else if (strcmp(command, "stp") == 0) {
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} else if (strcmp(actualCommand, "stp") == 0) {
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if (params.containsKey("value")) {
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int value = params["value"].as<int>();
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handle_stp_cmd(value);
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} else {
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handle_stp_cmd(); // 无参数，默认为0（减速停止）
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}
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} else if (strcmp(command, "dev") == 0) {
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} else if (strcmp(actualCommand, "dev") == 0) {
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handle_dev_cmd();
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} else if (strcmp(command, "sts") == 0) {
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} else if (strcmp(actualCommand, "sts") == 0) {
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handle_sts_cmd();
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} else if (strcmp(command, "zero_start") == 0) {
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} else if (strcmp(actualCommand, "zero_start") == 0) {
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handle_zero_start_cmd();
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} else if (strcmp(command, "zero_stop") == 0) {
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} else if (strcmp(actualCommand, "zero_stop") == 0) {
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handle_zero_stop_cmd();
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} else if (strcmp(command, "cfg_bdr") == 0) {
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} else if (strcmp(actualCommand, "cfg_bdr") == 0) {
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int baudrate = params["value"].as<int>();
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handle_cfg_bdr_cmd(baudrate);
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} else if (strcmp(command, "cfg_mcs") == 0) {
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} else if (strcmp(actualCommand, "cfg_mcs") == 0) {
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//设置微步细分
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int mcs = params["value"].as<int>();
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handle_cfg_mcs_cmd(mcs);
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} else if (strcmp(command, "cfg_spd") == 0) {
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} else if (strcmp(actualCommand, "cfg_spd") == 0) {
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//设置运行速度
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int spd = params["value"].as<int>();
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handle_cfg_spd_cmd(spd);
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} else if (strcmp(command, "cfg_acc") == 0) {
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} else if (strcmp(actualCommand, "cfg_acc") == 0) {
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//设置加速度
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int acc = params["value"].as<int>();
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handle_cfg_accSpeed_cmd(acc);
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} else if (strcmp(command, "cfg_dec") == 0) {
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} else if (strcmp(actualCommand, "cfg_dec") == 0) {
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//设置减速度
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int dec = params["value"].as<int>();
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handle_cfg_decSpeed_cmd(dec);
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} else if (strcmp(command, "cfg_cra") == 0) {
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} else if (strcmp(actualCommand, "cfg_cra") == 0) {
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//设置加速时电流
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float cra = params["value"].as<float>();
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handle_cfg_cra_cmd(cra);
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} else if (strcmp(command, "cfg_crn") == 0) {
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} else if (strcmp(actualCommand, "cfg_crn") == 0) {
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//设置匀速时电流
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float crn = params["value"].as<float>();
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handle_cfg_crn_cmd(crn);
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} else if (strcmp(command, "cfg_crh") == 0) {
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} else if (strcmp(actualCommand, "cfg_crh") == 0) {
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//设置HOLD电流
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float crh = params["value"].as<float>();
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handle_cfg_crh_cmd(crh);
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// ***************************S3-S6传感器触发事件配置（参数范围0-9）**********************/
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} else if (strcmp(command, "cfg_s3f") == 0) {
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} else if (strcmp(actualCommand, "cfg_s3f") == 0) {
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int s3f = params["value"].as<int>();
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handle_cfg_sensor_cmd("s3f", s3f);
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} else if (strcmp(command, "cfg_s3r") == 0) {
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} else if (strcmp(actualCommand, "cfg_s3r") == 0) {
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int s3r = params["value"].as<int>();
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handle_cfg_sensor_cmd("s3r", s3r);
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} else if (strcmp(command, "cfg_s4f") == 0) {
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} else if (strcmp(actualCommand, "cfg_s4f") == 0) {
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int s4f = params["value"].as<int>();
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handle_cfg_sensor_cmd("s4f", s4f);
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} else if (strcmp(command, "cfg_s4r") == 0) {
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} else if (strcmp(actualCommand, "cfg_s4r") == 0) {
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int s4r = params["value"].as<int>();
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handle_cfg_sensor_cmd("s4r", s4r);
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} else if (strcmp(command, "cfg_s5f") == 0) {
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} else if (strcmp(actualCommand, "cfg_s5f") == 0) {
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int s5f = params["value"].as<int>();
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handle_cfg_sensor_cmd("s5f", s5f);
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} else if (strcmp(command, "cfg_s5r") == 0) {
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} else if (strcmp(actualCommand, "cfg_s5r") == 0) {
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int s5r = params["value"].as<int>();
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handle_cfg_sensor_cmd("s5r", s5r);
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} else if (strcmp(command, "cfg_s6f") == 0) {
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} else if (strcmp(actualCommand, "cfg_s6f") == 0) {
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int s6f = params["value"].as<int>();
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handle_cfg_sensor_cmd("s6f", s6f);
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} else if (strcmp(command, "cfg_s6r") == 0) {
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} else if (strcmp(actualCommand, "cfg_s6r") == 0) {
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int s6r = params["value"].as<int>();
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handle_cfg_sensor_cmd("s6r", s6r);
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// ***************************S3-S6传感器工作模式配置（参数范围0-1）**********************/
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} else if (strcmp(command, "cfg_s3") == 0) {
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} else if (strcmp(actualCommand, "cfg_s3") == 0) {
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int s3 = params["value"].as<int>();
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handle_cfg_sensor_cmd("s3", s3);
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} else if (strcmp(command, "cfg_s4") == 0) {
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} else if (strcmp(actualCommand, "cfg_s4") == 0) {
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int s4 = params["value"].as<int>();
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handle_cfg_sensor_cmd("s4", s4);
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} else if (strcmp(command, "cfg_s5") == 0) {
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} else if (strcmp(actualCommand, "cfg_s5") == 0) {
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int s5 = params["value"].as<int>();
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handle_cfg_sensor_cmd("s5", s5);
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} else if (strcmp(command, "cfg_s6") == 0) {
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} else if (strcmp(actualCommand, "cfg_s6") == 0) {
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int s6 = params["value"].as<int>();
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handle_cfg_sensor_cmd("s6", s6);
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//**************************************************************** */
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} else if (strcmp(command, "cfg_zmd") == 0) {
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} else if (strcmp(actualCommand, "cfg_zmd") == 0) {
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//设置归零功能
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int zmd = params["value"].as<int>();
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handle_cfg_zmd_cmd(zmd);
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} else if (strcmp(command, "cfg_snr") == 0) {
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} else if (strcmp(actualCommand, "cfg_snr") == 0) {
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//设置归零用传感器
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int snr = params["value"].as<int>();
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handle_cfg_snr_cmd(snr);
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} else if (strcmp(command, "cfg_osv") == 0) {
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} else if (strcmp(actualCommand, "cfg_osv") == 0) {
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//设置归零传感器OPEN时电平
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int osv = params["value"].as<int>();
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handle_cfg_osv_cmd(osv);
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} else if (strcmp(command, "cfg_zsd") == 0) {
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} else if (strcmp(actualCommand, "cfg_zsd") == 0) {
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//设置归零速度
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int zsd = params["value"].as<int>();
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handle_cfg_zsd_cmd(zsd);
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} else if (strcmp(command, "cfg_zsp") == 0) {
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} else if (strcmp(actualCommand, "cfg_zsp") == 0) {
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//设置归零后的安全位置
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int zsp = params["value"].as<int>();
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handle_cfg_zsp_cmd(zsp);
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} else if (strcmp(command, "cfg_dmd") == 0) {
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} else if (strcmp(actualCommand, "cfg_dmd") == 0) {
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//设置离线运行模式
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int dmd = params["value"].as<int>();
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handle_cfg_dmd_cmd(dmd);
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} else if (strcmp(command, "cfg_dar") == 0) {
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} else if (strcmp(actualCommand, "cfg_dar") == 0) {
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//设置无握手启动时间
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int dar = params["value"].as<int>();
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handle_cfg_dar_cmd(dar);
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} else if (strcmp(command, "cfg_msr") == 0) {
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} else if (strcmp(actualCommand, "cfg_msr") == 0) {
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//设置负极限传感器
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int msr = params["value"].as<int>();
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handle_cfg_msr_cmd(msr);
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} else if (strcmp(command, "cfg_msv") == 0) {
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} else if (strcmp(actualCommand, "cfg_msv") == 0) {
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//设置负极限触发电平
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int msv = params["value"].as<int>();
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handle_cfg_msv_cmd(msv);
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} else if (strcmp(command, "cfg_psr") == 0) {
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} else if (strcmp(actualCommand, "cfg_psr") == 0) {
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//设置正极限传感器
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int psr = params["value"].as<int>();
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handle_cfg_psr_cmd(psr);
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} else if (strcmp(command, "cfg_psv") == 0) {
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} else if (strcmp(actualCommand, "cfg_psv") == 0) {
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//设置正极限触发电平
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int psv = params["value"].as<int>();
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handle_cfg_psv_cmd(psv);
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} else if (strcmp(command, "cfg_pae") == 0) {
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} else if (strcmp(actualCommand, "cfg_pae") == 0) {
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//设置上电使能
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int pae = params["value"].as<int>();
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handle_cfg_pae_cmd(pae);
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} else if (strcmp(command, "cfg_emod") == 0) {
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} else if (strcmp(actualCommand, "cfg_emod") == 0) {
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//设置编码器模式
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int emod = params["value"].as<int>();
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handle_cfg_emod_cmd(emod);
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} else if (strcmp(command, "cfg_elns") == 0) {
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} else if (strcmp(actualCommand, "cfg_elns") == 0) {
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//设置编码器线数
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int elns = params["value"].as<int>();
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handle_cfg_elns_cmd(elns);
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} else if (strcmp(command, "cfg_estp") == 0) {
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} else if (strcmp(actualCommand, "cfg_estp") == 0) {
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//设置电机每圈整步数
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int estp = params["value"].as<int>();
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handle_cfg_estp_cmd(estp);
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} else if (strcmp(command, "cfg_erty") == 0) {
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} else if (strcmp(actualCommand, "cfg_erty") == 0) {
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//设置堵转后重试次数
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int erty = params["value"].as<int>();
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handle_cfg_erty_cmd(erty);
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} else if (strcmp(command, "cfg_edir") == 0) {
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} else if (strcmp(actualCommand, "cfg_edir") == 0) {
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//设置编码器方向
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int edir = params["value"].as<int>();
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handle_cfg_edir_cmd(edir);
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} else if (strcmp(command, "cfg_ez") == 0) {
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} else if (strcmp(actualCommand, "cfg_ez") == 0) {
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//设置编码器灵敏度
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int ez = params["value"].as<int>();
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handle_cfg_ez_cmd(ez);
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} else if (strcmp(command, "cfg_ewr") == 0) {
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} else if (strcmp(actualCommand, "cfg_ewr") == 0) {
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//设置堵转后动作
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int ewr = params["value"].as<int>();
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handle_cfg_ewr_cmd(ewr);
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} else if (strcmp(command, "sav") == 0) {
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} else if (strcmp(actualCommand, "sav") == 0) {
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handle_sav_cmd();
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// ***************************S3-S6端口输出控制**********************/
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} else if (strcmp(command, "s3_on") == 0) {
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} else if (strcmp(actualCommand, "s3_on") == 0) {
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handle_port_output_cmd("s3", "on");
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} else if (strcmp(command, "s3_off") == 0) {
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} else if (strcmp(actualCommand, "s3_off") == 0) {
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handle_port_output_cmd("s3", "off");
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} else if (strcmp(command, "s4_on") == 0) {
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} else if (strcmp(actualCommand, "s4_on") == 0) {
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handle_port_output_cmd("s4", "on");
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} else if (strcmp(command, "s4_off") == 0) {
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} else if (strcmp(actualCommand, "s4_off") == 0) {
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handle_port_output_cmd("s4", "off");
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} else if (strcmp(command, "s5_on") == 0) {
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} else if (strcmp(actualCommand, "s5_on") == 0) {
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handle_port_output_cmd("s5", "on");
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} else if (strcmp(command, "s5_off") == 0) {
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} else if (strcmp(actualCommand, "s5_off") == 0) {
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handle_port_output_cmd("s5", "off");
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} else if (strcmp(command, "s6_on") == 0) {
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} else if (strcmp(actualCommand, "s6_on") == 0) {
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handle_port_output_cmd("s6", "on");
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} else if (strcmp(command, "s6_off") == 0) {
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} else if (strcmp(actualCommand, "s6_off") == 0) {
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handle_port_output_cmd("s6", "off");
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//************************************************************* */
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}
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else {
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sendJsonResponse(command, "UNKNOWN_COMMAND");
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sendJsonResponse(actualCommand, "UNKNOWN_COMMAND");
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}
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// // 存储当前使用的CID供命令处理函数使用
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// if (isRS485) {
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// // 可以在这里设置全局变量或传递给处理函数
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// DebugSerial.print("Command will be sent to device CID: ");
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// DebugSerial.println(cid);
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// }
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}
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void processStringCommand(const char* stringData) {
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@ -283,21 +313,69 @@ void processStringCommand(const char* stringData) {
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sendStringResponse(response.c_str());
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}
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void send_vsmd_cmd(const char* cmd, int value) {
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// 解析包含CID的命令字符串
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bool parse_command_with_cid(const char* command, uint8_t* cid, char* actualCommand) {
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// 检查命令是否以数字开头（CID）
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if (isdigit(command[0])) {
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// 解析CID
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char* endPtr;
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long parsedCID = strtol(command, &endPtr, 10);
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// 检查CID范围和格式
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if (parsedCID >= 0 && parsedCID <= 32 && *endPtr == ' ') {
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*cid = (uint8_t)parsedCID;
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// 跳过CID和空格，获取实际命令
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strcpy(actualCommand, endPtr + 1);
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return true; // RS485模式
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}
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}
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// 没有CID前缀，直接复制命令
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*cid = 0; // 默认CID
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strcpy(actualCommand, command);
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return false; // RS232模式
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}
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// 带CID的命令发送函数
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void send_vsmd_cmd_with_cid(uint8_t cid, const char* cmd, int value) {
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// 发送CID前缀
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Serial.print(cid);
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Serial.print(" ");
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// 发送命令
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int len = strlen(cmd);
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for (int i = 0; i < len; i++) {
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Serial.print(cmd[i]);
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}
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// 如果有参数值，则添加参数
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if (value != -1) {
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Serial.print(" ");
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Serial.print(value);
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}
|
||||
Serial.println();
|
||||
|
||||
delay(100);
|
||||
}
|
||||
|
||||
void send_vsmd_cmd(const char* cmd, int value) {
|
||||
if (isCurrentRS485Mode) {
|
||||
send_vsmd_cmd_with_cid(currentTargetCID, cmd, value);
|
||||
} else {
|
||||
// 原有RS232模式
|
||||
int len = strlen(cmd);
|
||||
for (int i = 0; i < len; i++) {
|
||||
Serial.print(cmd[i]);
|
||||
}
|
||||
// 如果有参数值，则添加参数
|
||||
if (value != -1) {
|
||||
Serial.print(" ");
|
||||
Serial.print(value);
|
||||
}
|
||||
Serial.println();
|
||||
delay(100);
|
||||
}
|
||||
}
|
||||
|
||||
void printSerialRawData(const uint8_t* buffer, int bytesRead) {
|
||||
// 打印Serial串口收到的原始数据
|
||||
DebugSerial.print("Serial received data (bytes): ");
|
||||
|
||||
@ -16,6 +16,9 @@ void send_vsmd_cmd(const char* cmd, int value = -1);
|
||||
// send_vsmd_cmd("dev"); // 不带参数，使用默认值-1
|
||||
// send_vsmd_cmd("pos", value); // 带参数
|
||||
|
||||
// RS485通信函数
|
||||
void send_vsmd_cmd_with_cid(uint8_t cid, const char* cmd, int value = -1);
|
||||
bool parse_command_with_cid(const char* command, uint8_t* cid, char* actualCommand);
|
||||
// 打印Serial串口收到的原始数据
|
||||
void printSerialRawData(const uint8_t* buffer, int bytesRead);
|
||||
//VSMD串口数据解析
|
||||
|
||||
@ -200,7 +200,7 @@ void initBluetooth() {
|
||||
btAdvertising->setMinPreferred(0x0);
|
||||
BLEDevice::startAdvertising();
|
||||
|
||||
DebugSerial.println("VSMD_Ble_Controller initialized");
|
||||
DebugSerial.println("Ble Initialized");
|
||||
|
||||
// 初始化包接收状态
|
||||
resetPacketReceiving();
|
||||
|
||||
44
src/main.cpp
44
src/main.cpp
@ -6,6 +6,11 @@
|
||||
|
||||
VSMDParser parser;
|
||||
|
||||
#define USE_RS232 // 注释掉这行表示使用 RS-485；取消注释表示使用 RS-232
|
||||
//#define USE_RS485
|
||||
#define PWR_232CTL 5 // 232电源控制引脚
|
||||
#define PWR_485CTL 15 // 485电源控制引脚
|
||||
|
||||
#define DEBUG_TX_PIN 17 // TX
|
||||
#define DEBUG_RX_PIN 16 // RX
|
||||
#define BUFFER_SIZE 1024
|
||||
@ -29,27 +34,48 @@ int32_t pulsePerSecond;
|
||||
void printDeviceStatus();
|
||||
void handleSerialData();
|
||||
|
||||
bool Dev_Mode = false;
|
||||
|
||||
void printDeviceStatus() {
|
||||
DebugSerial.println("\n=== Device Status ===");
|
||||
DebugSerial.print("Enabled: ");
|
||||
DebugSerial.print("Device Enabled: ");
|
||||
DebugSerial.println(deviceEnabled ? "Yes" : "No");
|
||||
DebugSerial.print("Bluetooth: ");
|
||||
DebugSerial.println(isBluetoothConnected() ? "Connected" : "Disconnected");
|
||||
DebugSerial.println("==================\n");
|
||||
DebugSerial.print("Ble Connected: ");
|
||||
DebugSerial.println(isBluetoothConnected() ? "Yes" : "No");
|
||||
DebugSerial.print("Dev Mode: ");
|
||||
DebugSerial.println(Dev_Mode ? "RS232" : "RS485");
|
||||
}
|
||||
|
||||
void Power_Enable()
|
||||
{
|
||||
pinMode(PWR_232CTL, OUTPUT);
|
||||
pinMode(PWR_485CTL, OUTPUT);
|
||||
|
||||
#ifdef USE_RS232
|
||||
digitalWrite(PWR_232CTL, HIGH);
|
||||
digitalWrite(PWR_485CTL, LOW);
|
||||
Dev_Mode = true;
|
||||
#elif defined(USE_RS485)
|
||||
digitalWrite(PWR_485CTL, HIGH);
|
||||
digitalWrite(PWR_232CTL, LOW);
|
||||
Dev_Mode = false;
|
||||
#endif
|
||||
}
|
||||
|
||||
void setup() {
|
||||
// 调试串口
|
||||
DebugSerial.begin(9600, SERIAL_8N1, DEBUG_RX_PIN, DEBUG_TX_PIN);
|
||||
DebugSerial.setTimeout(1);
|
||||
DebugSerial.setTimeout(100);
|
||||
|
||||
// 电机数据通信串口
|
||||
Serial.begin(9600);
|
||||
Serial.setTimeout(100);
|
||||
|
||||
DebugSerial.println("VSMD INIT");
|
||||
DebugSerial.println("CMD: dev, sts, cfg, ena, off, mov, pos, rmv, pps, org, stp, zero, sav");
|
||||
DebugSerial.println("cfg CMD: bdr, mcs, spd, acc, dec, cra, crn, crh, s1f, s1r, s2f, s2r, zmd, snr, osv, zsd, zsp, dmd, dar, msr, msv, psr, psv");
|
||||
// DebugSerial.println("VSMD INIT");
|
||||
// DebugSerial.println("CMD: dev, sts, cfg, ena, off, mov, pos, rmv, pps, org, stp, zero, sav");
|
||||
// DebugSerial.println("cfg CMD: bdr, mcs, spd, acc, dec, cra, crn, crh, s1f, s1r, s2f, s2r, zmd, snr, osv, zsd, zsp, dmd, dar, msr, msv, psr, psv");
|
||||
|
||||
//初始化电源控制引脚
|
||||
Power_Enable();
|
||||
|
||||
// 初始化蓝牙
|
||||
initBluetooth();
|
||||
|
||||
Reference in New Issue
Block a user