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添加蓝牙功能

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chenxin
2025-07-08 21:15:48 +08:00
parent f9e501be2c
commit 4c079e68fa
9 changed files with 2880 additions and 404 deletions
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13
.vscode/settings.json vendored
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@ -56,5 +56,16 @@
"C_Cpp_Runner.useLeakSanitizer": false,
"C_Cpp_Runner.showCompilationTime": false,
"C_Cpp_Runner.useLinkTimeOptimization": false,
"C_Cpp_Runner.msvcSecureNoWarnings": false
"C_Cpp_Runner.msvcSecureNoWarnings": false,
"files.associations": {
"optional": "cpp",
"istream": "cpp",
"ostream": "cpp",
"system_error": "cpp",
"array": "cpp",
"functional": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp"
}
}

BIN
VSMD通信协议整理.pdf Normal file
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138
device_config.json
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{
"cmd": "cfg",
"params": {
"cfg zmd": 1,
"cfg snr": 0,
"cfg osv": 0,
"cfg zsd": 1200,
"cfg zsp": 2400,
"cfg dmd": 2,
"cfg dar": 5,
"cfg msr": 1,
"cfg msv": 1,
"cfg psr": 1,
"cfg psv": 1,
"cfg bdr": 115200,
"cfg cid": 1,
"cfg mcs": 5,
"cfg spd": 1200,
"cfg acc": 12000,
"cfg dec": 12000,
"cfg cra": 0.8,
"cfg crn": 0.4,
"cfg crh": 0.0
},
"actions": [
{
"cmd": "ena"
},
{
"cmd": "off"
},
{
"cmd": "mov"
},
{
"cmd": "pos",
"value": 10000
},
{
"cmd": "rmv",
"value": -6400
},
{
"cmd": "pps"
},
{
"cmd": "pps",
"value": 12800
},
{
"cmd": "org"
},
{
"cmd": "stp"
},
{
"cmd": "zero",
"value": "start"
},
{
"cmd": "zero",
"value": "stop"
}
]
}
{"command": "cfg"}
{"command": "ena"}
{"command": "off"}
{"command": "mov"}
{"command": "org"}
{"command": "dev"}
{"command": "sts"}
{"command": "zero_start"}
{"command": "zero_stop"}
{"command": "sav"}
{"command": "pos", "PA": {"value": 1000}}
{"command": "rmv", "PA": {"value": 500}}
{"command": "pps", "PA": {"value": 1000}}
{"command": "stp", "PA": {"value": 1}}
{"command": "cfg_bdr", "PA": {"value": 115200}}
{"command": "cfg_mcs", "PA": {"value": 5}}
{"command": "cfg_spd", "PA": {"value": 10000}}
{"command": "cfg_acc", "PA": {"value": 100000}}
{"command": "cfg_dec", "PA": {"value": 100000}}
{"command": "cfg_cra", "PA": {"value": 1.5}}
{"command": "cfg_crn", "PA": {"value": 1.0}}
{"command": "cfg_crh", "PA": {"value": 0.5}}
{"command": "cfg_zmd", "PA": {"value": 2}}
{"command": "cfg_snr", "PA": {"value": 1}}
{"command": "cfg_osv", "PA": {"value": 0}}
{"command": "cfg_zsd", "PA": {"value": 5000}}
{"command": "cfg_zsp", "PA": {"value": 100}}
{"command": "cfg_dmd", "PA": {"value": 1}}
{"command": "cfg_dar", "PA": {"value": 30}}
{"command": "cfg_msr", "PA": {"value": 3}}
{"command": "cfg_msv", "PA": {"value": 0}}
{"command": "cfg_psr", "PA": {"value": 4}}
{"command": "cfg_psv", "PA": {"value": 1}}
//编码器配置命令
{"command": "cfg_pae", "PA": {"value": 1}}
{"command": "cfg_emod", "PA": {"value": 2}}
{"command": "cfg_elns", "PA": {"value": 1000}}
{"command": "cfg_estp", "PA": {"value": 200}}
{"command": "cfg_erty", "PA": {"value": 3}}
{"command": "cfg_edir", "PA": {"value": 0}}
{"command": "cfg_ez", "PA": {"value": 5}}
{"command": "cfg_ewr", "PA": {"value": 1}}
//S3-S6传感器触发事件配置命令
{"command": "cfg_s3f", "PA": {"value": 5}}
{"command": "cfg_s3r", "PA": {"value": 6}}
{"command": "cfg_s4f", "PA": {"value": 7}}
{"command": "cfg_s4r", "PA": {"value": 8}}
{"command": "cfg_s5f", "PA": {"value": 9}}
{"command": "cfg_s5r", "PA": {"value": 0}}
{"command": "cfg_s6f", "PA": {"value": 1}}
{"command": "cfg_s6r", "PA": {"value": 2}}
{"command": "cfg_s3", "PA": {"value": 1}}
{"command": "cfg_s4", "PA": {"value": 0}}
{"command": "cfg_s5", "PA": {"value": 1}}
{"command": "cfg_s6", "PA": {"value": 0}}
//S3-S6端口输出控制命令
{"command": "s3_on"}
{"command": "s3_off"}
{"command": "s4_on"}
{"command": "s4_off"}
{"command": "s5_on"}
{"command": "s5_off"}
{"command": "s6_on"}
{"command": "s6_off"}

2278
src/VSMD_command_handler.cpp Normal file
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138
src/VSMD_command_handler.h Normal file
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#ifndef VSMD_COMMAND_HANDLER_H
#define VSMD_COMMAND_HANDLER_H
#include <ArduinoJson.h>
#include "vsmd_parser.h"
// 外部变量声明
extern bool deviceEnabled;
extern int32_t pulsePerSecond;
extern uint8_t sendBuffer[];
extern int32_t packedLength;
extern VSMDParser parser;
// 串口通信函数
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
// 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
String readAndParseSerialData();
// JSON响应函数
void sendJsonResponse(const char* command, const char* status, int value = -1);
// 打包并发送字符串响应
void sendStringResponse(const char* response);
// JSON命令处理函数
void processJsonCommand(const char* jsonString);
// 处理字符串命令
void processStringCommand(const char* stringData);
//获取参数值
void handle_cfg_cmd();
//握手，获取型号和版本号
void handle_dev_cmd();
//获取运行状态（速度、位置、状态）
void handle_sts_cmd();
//电机使能
void handle_ena_cmd();
//电机脱机
void handle_off_cmd();
//以指定速度连续运转
void handle_mov_cmd();
//移动到指定位置
void handle_pos_cmd(int value);
//相对移动
void handle_rmv_cmd(int value);
//移动到预设位置，有value时，预设目标位置
void handle_pps_cmd(int value = -1);
//指定当前位置位原点
void handle_org_cmd();
//停止
void handle_stp_cmd(int value = 0);
//执行归零
void handle_zero_start_cmd();
//停止归零
void handle_zero_stop_cmd();
//设置波特率
void handle_cfg_bdr_cmd(int baudrate);
//设置微步细分
void handle_cfg_mcs_cmd(int value);
//设置速度
void handle_cfg_spd_cmd(int value);
//设置加速速度
void handle_cfg_accSpeed_cmd(int value);
//设置减速度
void handle_cfg_decSpeed_cmd(int value);
//设置加速时电流
void handle_cfg_cra_cmd(float value);
//设置匀速时电流
void handle_cfg_crn_cmd(float value);
//设置HOLD电流
void handle_cfg_crh_cmd(float value);
// ***************************SENSOR事件、工作模式处理**********************/
void handle_cfg_sensor_cmd(const char* sensorType, int value);
// ***************************SENSOR端口输出控制处理**********************/
void handle_port_output_cmd(const char* portType, const char* action);
// //设置S1下降沿触发事件
// void handle_cfg_s1f_cmd(int value);
// //设置S1上升沿触发事件
// void handle_cfg_s1r_cmd(int value);
// //设置S2下降沿触发事件
// void handle_cfg_s2f_cmd(int value);
// //设置S2上升沿触发事件
// void handle_cfg_s2r_cmd(int value);
//设置归零功能
void handle_cfg_zmd_cmd(int value);
//设置归零用传感器
void handle_cfg_snr_cmd(int value);
//设置归零传感器OPEN时电平
void handle_cfg_osv_cmd(int value);
//设置归零速度
void handle_cfg_zsd_cmd(int value);
//设置归零后的安全位置
void handle_cfg_zsp_cmd(int value);
//设置离线运行模式
void handle_cfg_dmd_cmd(int value);
//设置无握手启动时间
void handle_cfg_dar_cmd(int value);
//设置负极限传感器
void handle_cfg_msr_cmd(int value);
//设置负极限触发电平
void handle_cfg_msv_cmd(int value);
//设置正极限传感器
void handle_cfg_psr_cmd(int value);
//设置正极限触发电平
void handle_cfg_psv_cmd(int value);
//设置上电使能
void handle_cfg_pae_cmd(int value);
//***************************编码器相关配置*********************************/
// 编码器模式
void handle_cfg_emod_cmd(int value);
// 编码器线数
void handle_cfg_elns_cmd(int value);
// 电机每圈整步数
void handle_cfg_estp_cmd(int value);
// 堵转后重试次数
void handle_cfg_erty_cmd(int value);
// 编码器方向
void handle_cfg_edir_cmd(int value);
// 编码器灵敏度
void handle_cfg_ez_cmd(int value);
// 堵转后动作
void handle_cfg_ewr_cmd(int value);
//*********************************************************************/
//保存参数到FLASH
void handle_sav_cmd();
#endif

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src/bluetooth_handler.cpp Normal file
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#include "bluetooth_handler.h"
#include "VSMD_command_handler.h"
#include "IRIS_Method.h"
// 添加缺失的常量定义
#define BUFFER_SIZE 1024
#define JSON_BUFFER_SIZE 512
// 蓝牙服务和特征值UUID
#define BT_SERVICE_UUID "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
#define BT_CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
#define BT_CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
// 全局变量
BLEServer* btServer = nullptr;
BLECharacteristic* btCharacteristicTX = nullptr;
BLECharacteristic* btCharacteristicRX = nullptr;
bool bluetoothConnected = false;
bool bluetoothDataReceived = false;
// 蓝牙接收缓冲区和数据包重组
#define BT_BUFFER_SIZE 1024
#define BT_PACKET_TIMEOUT 1000 // 1秒超时
uint8_t btReceiveBuffer[BT_BUFFER_SIZE];
size_t btDataLength = 0;
uint8_t btPacketBuffer[BT_BUFFER_SIZE]; // 数据包重组缓冲区
size_t btPacketLength = 0;
unsigned long lastPacketTime = 0;
bool isReceivingPacket = false;
// 外部变量声明
extern uint8_t receiveBuffer[BUFFER_SIZE];
extern uint8_t sendBuffer[BUFFER_SIZE];
extern uint8_t responseBuffer[BUFFER_SIZE];
extern uint8_t command;
extern int32_t bytesProcessed;
extern int32_t unpackResult;
extern int32_t packedLength;
extern HardwareSerial DebugSerial;
// 数据包是否完整（检查IRIS协议的头部和长度，支持CRC校验）
bool isPacketComplete(const uint8_t* buffer, size_t length) {
if (length < 7) return false; // 最小包长度：头部(2) + 命令(1) + 长度(2) + CRC(2)
// 检查包头 0x55 0xAA
if (buffer[0] != 0x55 || buffer[1] != 0xAA) return false;
// 获取数据长度字段（第3和第4字节）
uint16_t dataLen = (buffer[3] << 8) | buffer[4];
// 计算期望的总包长度：头部(2字节) + 命令(1字节) + 长度(2字节) + 数据长度 + CRC(2字节)
size_t expectedLength = 5 + dataLen + 2;
if (length < expectedLength) {
return false; // 数据包还不完整
}
if (length >= expectedLength &&
buffer[expectedLength-2] == 0xEE &&
buffer[expectedLength-1] == 0xEE) {
return true; // 无校验包，直接返回完整
}
// 对于有校验的包，验证CRC
if (length >= expectedLength) {
// 计算数据部分的CRC（从第5字节开始，长度为dataLen）
uint16_t calculatedCRC = IRIS_calcCRC(buffer + 5, dataLen);
uint16_t packetCRC = (buffer[expectedLength-2] << 8) | buffer[expectedLength-1];
if (calculatedCRC == packetCRC) {
return true;
} else {
DebugSerial.print("CRC err: calculated=0x");
DebugSerial.print(calculatedCRC, HEX);
DebugSerial.print(", packet=0x");
DebugSerial.println(packetCRC, HEX);
return false; // CRC校验失败
}
}
return false; // 默认返回不完整
}
// 重置数据包接收状态
void resetPacketReceiving() {
isReceivingPacket = false;
btPacketLength = 0;
lastPacketTime = 0;
}
// 处理接收到的数据片段
void processBluetoothFragment(const uint8_t* data, size_t length) {
unsigned long currentTime = millis();
// 检查超时
if (isReceivingPacket && (currentTime - lastPacketTime > BT_PACKET_TIMEOUT)) {
DebugSerial.println("Bluetooth packet timeout, resetting...");
resetPacketReceiving();
}
// 如果缓冲区空间不足，重置
if (btPacketLength + length > BT_BUFFER_SIZE) {
DebugSerial.println("Bluetooth packet buffer overflow, resetting...");
resetPacketReceiving();
}
// 将新数据添加到包缓冲区
memcpy(btPacketBuffer + btPacketLength, data, length);
btPacketLength += length;
lastPacketTime = currentTime;
isReceivingPacket = true;
DebugSerial.print("Ble rec: ");
DebugSerial.print(length);
DebugSerial.print(" bytes, total: ");
DebugSerial.println(btPacketLength);
// 检查数据包是否完整
if (isPacketComplete(btPacketBuffer, btPacketLength)) {
//DebugSerial.println("Complete packet received via Bluetooth");
// 复制完整数据包到接收缓冲区
memcpy(btReceiveBuffer, btPacketBuffer, btPacketLength);
btDataLength = btPacketLength;
bluetoothDataReceived = true;
// 重置包接收状态
resetPacketReceiving();
}
}
// 服务器回调类
class BluetoothServerCallbacks : public BLEServerCallbacks {
void onConnect(BLEServer* pServer) {
bluetoothConnected = true;
DebugSerial.println("Bluetooth Client Connected");
resetPacketReceiving(); // 连接时重置状态
}
void onDisconnect(BLEServer* pServer) {
bluetoothConnected = false;
bluetoothDataReceived = false;
DebugSerial.println("Bluetooth Client Disconnected");
resetPacketReceiving(); // 断开时重置状态
// 重新开始广播
delay(500);
pServer->startAdvertising();
DebugSerial.println("Bluetooth advertising restarted");
}
};
// 特征值回调类
class BluetoothCharacteristicCallbacks : public BLECharacteristicCallbacks {
void onWrite(BLECharacteristic* pCharacteristic) {
std::string rxValue = pCharacteristic->getValue();
if (rxValue.length() > 0) {
// 处理接收到的数据片段
processBluetoothFragment((const uint8_t*)rxValue.c_str(), rxValue.length());
}
}
};
void initBluetooth() {
//DebugSerial.println("Initializing Bluetooth...");
// 初始化BLE设备
BLEDevice::init("VSMD_Controller");
// 创建BLE服务器
btServer = BLEDevice::createServer();
btServer->setCallbacks(new BluetoothServerCallbacks());
// 创建BLE服务
BLEService* btService = btServer->createService(BT_SERVICE_UUID);
// 创建TX特征值（用于发送数据到客户端）
btCharacteristicTX = btService->createCharacteristic(
BT_CHARACTERISTIC_UUID_TX,
BLECharacteristic::PROPERTY_NOTIFY
);
btCharacteristicTX->addDescriptor(new BLE2902());
// 创建RX特征值（用于接收来自客户端的数据）
btCharacteristicRX = btService->createCharacteristic(
BT_CHARACTERISTIC_UUID_RX,
BLECharacteristic::PROPERTY_WRITE
);
btCharacteristicRX->setCallbacks(new BluetoothCharacteristicCallbacks());
// 启动服务
btService->start();
// 开始广播
BLEAdvertising* btAdvertising = BLEDevice::getAdvertising();
btAdvertising->addServiceUUID(BT_SERVICE_UUID);
btAdvertising->setScanResponse(false);
btAdvertising->setMinPreferred(0x0);
BLEDevice::startAdvertising();
DebugSerial.println("VSMD_Ble_Controller initialized");
// 初始化包接收状态
resetPacketReceiving();
}
void handleBluetoothData() {
if (!bluetoothDataReceived) {
return;
}
// 复制数据到主接收缓冲区
memcpy(receiveBuffer, btReceiveBuffer, btDataLength);
DebugSerial.print("Total: ");
DebugSerial.print(btDataLength);
DebugSerial.println(" bytes");
// 处理数据（使用与DebugSerial相同的处理逻辑）
bytesProcessed = IRIS_Cut_Befor_Header(receiveBuffer, btDataLength);
if (bytesProcessed > 0) {
unpackResult = IRIS_STM32_Protocol_Unpack(receiveBuffer, bytesProcessed, &command, responseBuffer);
if (unpackResult >= 0) {
// 根据命令类型处理数据
switch (command) {
case 0x00: { // JSON数据
char jsonString[JSON_BUFFER_SIZE];
memcpy(jsonString, responseBuffer, unpackResult);
jsonString[unpackResult] = '\0';
DebugSerial.print("Bluetooth JSON: ");
DebugSerial.println(jsonString);
processJsonCommand(jsonString);
//BLE Notify
sendBluetoothData(sendBuffer, packedLength);
break;
}
case 0x01: { // 字符串数据
char stringData[BUFFER_SIZE];
memcpy(stringData, responseBuffer, unpackResult);
stringData[unpackResult] = '\0';
DebugSerial.print("Bluetooth String: ");
DebugSerial.println(stringData);
processStringCommand(stringData);
break;
}
default: { // 自定义二进制数据
DebugSerial.print("Bluetooth Binary Data, Command: 0x");
DebugSerial.print(command, HEX);
DebugSerial.print(", Length: ");
DebugSerial.println(unpackResult);
break;
}
}
} else {
DebugSerial.print("Bluetooth unpack failed, error code: ");
DebugSerial.println(unpackResult);
}
}
// 重置标志
bluetoothDataReceived = false;
}
void sendBluetoothData(const uint8_t* data, size_t length) {
if (bluetoothConnected && btCharacteristicTX != nullptr) {
// BLE特征值有最大传输长度限制，通常为20字节
const size_t maxChunkSize = 20;
size_t offset = 0;
// DebugSerial.println("Sending ");
// DebugSerial.print(length);
// DebugSerial.println(" bytes via Bluetooth in chunks:");
while (offset < length) {
size_t chunkSize = min(maxChunkSize, length - offset);
btCharacteristicTX->setValue((uint8_t*)(data + offset), chunkSize);
btCharacteristicTX->notify();
// DebugSerial.print(" Chunk ");
// DebugSerial.print(offset/maxChunkSize + 1);
// DebugSerial.print(": ");
// DebugSerial.print(chunkSize);
// DebugSerial.println(" bytes");
offset += chunkSize;
// 短暂延迟以确保数据传输稳定
if (offset < length) {
delay(20); // 增加延迟确保接收端有时间处理
}
}
//DebugSerial.println("Bluetooth transmission complete");
}
}
bool isBluetoothConnected() {
return bluetoothConnected;
}

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src/bluetooth_handler.h Normal file
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#ifndef BLUETOOTH_HANDLER_H
#define BLUETOOTH_HANDLER_H
#include <Arduino.h>
#include <BLEDevice.h>
#include <BLEUtils.h>
#include <BLEServer.h>
#include <BLECharacteristic.h>
#include <BLE2902.h>
// 蓝牙状态
extern bool bluetoothConnected;
extern bool bluetoothDataReceived;
// 蓝牙初始化
void initBluetooth();
// 蓝牙数据处理
void handleBluetoothData();
// 蓝牙发送数据
void sendBluetoothData(const uint8_t* data, size_t length);
// 蓝牙连接状态
bool isBluetoothConnected();
#endif

377
src/main.cpp
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@ -1,19 +1,19 @@
#include <ArduinoJson.h>
#include "IRIS_Method.h"
#include "vsmd_parser.h"
#include "VSMD_command_handler.h"
#include "bluetooth_handler.h" // 添加蓝牙模块
VSMDParser parser;
#define DEBUG_TX_PIN 17 // TX
#define DEBUG_RX_PIN 16 // RX
HardwareSerial DebugSerial(1); // 使用UART1
#define BUFFER_SIZE 1024
#define JSON_BUFFER_SIZE 512
// 全局变量声明
HardwareSerial DebugSerial(1); // 使用UART1
// 全局变量
uint8_t receiveBuffer[BUFFER_SIZE]; // 接收缓冲区
uint8_t sendBuffer[BUFFER_SIZE]; // 发送缓冲区
uint8_t responseBuffer[BUFFER_SIZE]; // 响应缓冲区
@ -24,86 +24,54 @@ int32_t packedLength; // 打包后的数据长度
// 设备状态变量
bool deviceEnabled = false;
int32_t currentPosition = 0;
int32_t targetPosition = 0;
int32_t pulsePerSecond = 1200;
bool isMoving = false;
bool isBackZero = false;
int32_t pulsePerSecond;
// 设备配置参数
struct DeviceConfig {
int zmd = 1; // cfg zmd
int snr = 0; // cfg snr
int osv = 0; // cfg osv
int zsd = 1200; // cfg zsd
int zsp = 2400; // cfg zsp
int dmd = 2; // cfg dmd
int dar = 5; // cfg dar
int msr = 1; // cfg msr
int msv = 1; // cfg msv
int psr = 1; // cfg psr
int psv = 1; // cfg psv
int bdr = 115200; // cfg bdr
int cid = 1; // cfg cid
int mcs = 5; // cfg mcs
int spd = 1200; // cfg spd
int acc = 12000; // cfg acc
int dec = 12000; // cfg dec
float cra = 0.8; // cfg cra
float crn = 0.4; // cfg crn
float crh = 0.0; // cfg crh
} deviceConfig;
void processJsonCommand(const char* jsonString);
void processStringCommand(const char* stringData);
void sendJsonResponse(const char* cmd, const char* status, int value = -1);
void sendStringResponse(const char* response);
void handle_cfg_cmd();
void handle_ena_cmd();
void handle_off_cmd();
void handle_mov_cmd();
void handle_pos_cmd(int value);
void handle_rmv_cmd(int value);
void handle_pps_cmd(int value = -1);
void handle_org_cmd();
void handle_stp_cmd();
void handle_zero_cmd(const char* value);
void handle_dev_cmd();
void printDeviceStatus();
void handleSerialData();
void printDeviceStatus() {
DebugSerial.println("\n=== Device Status ===");
DebugSerial.print("Enabled: ");
DebugSerial.println(deviceEnabled ? "Yes" : "No");
DebugSerial.print("Bluetooth: ");
DebugSerial.println(isBluetoothConnected() ? "Connected" : "Disconnected");
DebugSerial.println("==================\n");
}
void setup() {
// 调试串口
DebugSerial.begin(115200, SERIAL_8N1, DEBUG_RX_PIN, DEBUG_TX_PIN);
DebugSerial.setTimeout(1);
// 主串口（用于数据通信）
// 电机数据通信串口
Serial.begin(115200);
Serial.setTimeout(100);
DebugSerial.println("VSMD INIT");
DebugSerial.println("Commands:dev, cfg, ena, off, mov, pos, rmv, pps, org, stp, zero");
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");
// 初始化蓝牙
initBluetooth();
printDeviceStatus();
}
void loop() {
// 处理串口数据
handleSerialData();
// 处理蓝牙数据
handleBluetoothData();
// 短暂延迟
delay(10);
}
void handleSerialData() {
if (DebugSerial.available() > 0) {
int bytesRead = DebugSerial.readBytes(receiveBuffer, sizeof(receiveBuffer));
// // 添加调试信息
// DebugSerial.print("Bytes read: ");
// DebugSerial.println(bytesRead);
// DebugSerial.print("Raw data: ");
// for(int i = 0; i < bytesRead; i++) {
// DebugSerial.print(receiveBuffer[i], HEX);
// DebugSerial.print(" ");
// }
// DebugSerial.println();
// bytesProcessed = IRIS_Cut_Befor_Header(receiveBuffer, bytesRead);
// // 添加更多调试信息
// DebugSerial.print("Bytes after header cut: ");
// DebugSerial.println(bytesProcessed);
bytesProcessed = IRIS_Cut_Befor_Header(receiveBuffer, bytesRead);
if (bytesProcessed > 0) {
@ -115,12 +83,11 @@ void loop() {
case 0x00: { // JSON数据
char jsonString[JSON_BUFFER_SIZE];
memcpy(jsonString, responseBuffer, unpackResult);
jsonString[unpackResult] = '\0'; // 确保字符串以null结尾
DebugSerial.print("Received JSON: ");
DebugSerial.println(jsonString);
jsonString[unpackResult] = '\0';
processJsonCommand(jsonString);
//BLE Notify
sendBluetoothData(sendBuffer, packedLength);
break;
}
@ -136,7 +103,7 @@ void loop() {
break;
}
default: { // 自定义二进制数据 (0x02-0xff)
default: { // 自定义二进制数据
DebugSerial.print("Received Binary Data, Command: 0x");
DebugSerial.print(command, HEX);
DebugSerial.print(", Length: ");
@ -154,268 +121,4 @@ void loop() {
}
}
}
}
void processJsonCommand(const char* jsonString) {
StaticJsonDocument<JSON_BUFFER_SIZE> doc;
DeserializationError error = deserializeJson(doc, jsonString);
if (error) {
DebugSerial.print("JSON parsing failed: ");
DebugSerial.println(error.c_str());
sendJsonResponse("error", "JSON_PARSE_ERROR");
return;
}
// 使用 command 字段替代 cmd
const char* command = doc["command"];
if (command == nullptr) {
sendJsonResponse("error", "NO_COMMAND_FIELD");
return;
}
// 获取 PA 参数对象（可选）
JsonObject params = doc["PA"];
// 根据command执行相应操作
if (strcmp(command, "cfg") == 0) {
handle_cfg_cmd();
} else if (strcmp(command, "ena") == 0) {
handle_ena_cmd();
} else if (strcmp(command, "off") == 0) {
handle_off_cmd();
} else if (strcmp(command, "mov") == 0) {
handle_mov_cmd();
} else if (strcmp(command, "pos") == 0) {
// 修正：正确的类型转换
int value = params.containsKey("value") ? params["value"].as<int>() : 0;
handle_pos_cmd(value);
} else if (strcmp(command, "rmv") == 0) {
int value = params.containsKey("value") ? params["value"].as<int>() : 0;
handle_rmv_cmd(value);
} else if (strcmp(command, "pps") == 0) {
if (params.containsKey("value")) {
int value = params["value"].as<int>();
handle_pps_cmd(value);
} else {
handle_pps_cmd();
}
} else if (strcmp(command, "org") == 0) {
handle_org_cmd();
} else if (strcmp(command, "stp") == 0) {
handle_stp_cmd();
} else if (strcmp(command, "zero") == 0) {
// 修正：正确的字符串类型转换
const char* value = params.containsKey("value") ? params["value"].as<const char*>() : "";
handle_zero_cmd(value);
} else if (strcmp(command, "dev") == 0) {
handle_dev_cmd();
} else {
sendJsonResponse(command, "UNKNOWN_COMMAND");
}
}
void processStringCommand(const char* stringData) {
// 处理字符串命令
String response = "Echo: " + String(stringData);
sendStringResponse(response.c_str());
}
void sendJsonResponse(const char* command, const char* status, int value) {
StaticJsonDocument<JSON_BUFFER_SIZE> responseDoc;
// 修改：使用新的JSON格式
responseDoc["command"] = command; // 使用 command 替代 cmd
responseDoc["ST"] = status; // 使用 ST 替代 status
// 如果有参数值，添加到 PA 对象中
if (value != -1) {
JsonObject params = responseDoc.createNestedObject("PA");
params["value"] = value;
}
// 可选：添加其他信息
responseDoc["Other"] = "";
char jsonResponse[JSON_BUFFER_SIZE];
serializeJson(responseDoc, jsonResponse, sizeof(jsonResponse));
// 打包并发送JSON响应
DebugSerial.print("JSON Response: ");
packedLength = IRIS_Protocol_Pack(0x00, strlen(jsonResponse), (uint8_t*)jsonResponse, sendBuffer);
DebugSerial.write(sendBuffer, packedLength);
// DebugSerial.println();
// DebugSerial.print("Sent JSON Response: ");
// DebugSerial.println(jsonResponse);
}
void sendStringResponse(const char* response) {
// 打包并发送字符串响应
packedLength = IRIS_Protocol_Pack(0x01, strlen(response), (uint8_t*)response, sendBuffer);
DebugSerial.write(sendBuffer, packedLength);
DebugSerial.print("Sent String Response: ");
DebugSerial.println(response);
}
void handle_cfg_cmd() {
DebugSerial.println("cfg requested");
Serial.println("cfg\n");
// 返回配置相关信息
sendJsonResponse("cfg", "OK");
}
void handle_dev_cmd() {
DebugSerial.println("dev_requested");
Serial.println("dev\n");
// vsmd test data
uint8_t testData[] = {
0xFF, 0x00, 0x01, 0x56, 0x53, 0x4D, 0x44, 0x31, 0x34, 0x32, 0x2D, 0x30, 0x32, 0x35, 0x54, 0x2D,0x31, 0x2E, 0x31, 0x2E, 0x30, 0x32, 0x30, 0x2E, 0x32, 0x31, 0x31, 0x31, 0x31, 0x35, 0x00, 0x42, 0xFE
};
// parseInfo获取解析结果
String deviceInfo = parser.parseInfo(testData, sizeof(testData));
// 创建带有解析数据的JSON响应
StaticJsonDocument<JSON_BUFFER_SIZE> responseDoc;
responseDoc["command"] = "dev";
responseDoc["ST"] = "OK";
responseDoc["Other"] = deviceInfo;
char jsonResponse[JSON_BUFFER_SIZE];
serializeJson(responseDoc, jsonResponse, sizeof(jsonResponse));
// 打包并发送JSON响应
packedLength = IRIS_Protocol_Pack(0x00, strlen(jsonResponse), (uint8_t*)jsonResponse, sendBuffer);
DebugSerial.write(sendBuffer, packedLength);
DebugSerial.println();
DebugSerial.print("Sent JSON Response: ");
DebugSerial.println(jsonResponse);
}
void handle_ena_cmd() {
deviceEnabled = true;
DebugSerial.println("Device enabled");
Serial.print("ena\n");
sendJsonResponse("ena", "OK");
}
void handle_off_cmd() {
deviceEnabled = false;
isMoving = false;
DebugSerial.println("Device disabled");
Serial.print("off\n");
sendJsonResponse("off", "OK");
}
void handle_mov_cmd() {
if (!deviceEnabled) {
sendJsonResponse("mov", "DEVICE_DISABLED");
return;
}
isMoving = true;
DebugSerial.println("Starting movement");
Serial.print("mov\n");
sendJsonResponse("mov", "OK");
}
void handle_pos_cmd(int value) {
if (!deviceEnabled) {
sendJsonResponse("pos", "DEVICE_DISABLED");
return;
}
targetPosition = value;
currentPosition = value; // 模拟立即到达
DebugSerial.print("Position set to: ");
DebugSerial.println(value);
sendJsonResponse("pos", "OK", value);
}
void handle_rmv_cmd(int value) {
if (!deviceEnabled) {
sendJsonResponse("rmv", "DEVICE_DISABLED");
return;
}
currentPosition += value;
DebugSerial.print("Relative move by: ");
DebugSerial.print(value);
DebugSerial.print(", new position: ");
DebugSerial.println(currentPosition);
sendJsonResponse("rmv", "OK", currentPosition);
}
void handle_pps_cmd(int value) {
if (value == -1) {
// SET PPS
Serial.print("pps\n");
sendJsonResponse("pps", "OK", pulsePerSecond);
} else {
// 设置PPS值
pulsePerSecond = value;
DebugSerial.print("Pulse per second set to: ");
DebugSerial.println(value);
sendJsonResponse("pps", "OK", value);
}
}
void handle_org_cmd() {
if (!deviceEnabled) {
sendJsonResponse("org", "DEVICE_DISABLED");
return;
}
currentPosition = 0;
targetPosition = 0;
DebugSerial.println("Returned to origin");
Serial.print("org\n");
sendJsonResponse("org", "OK", 0);
}
void handle_stp_cmd() {
isMoving = false;
DebugSerial.println("Movement stopped");
Serial.print("stp\n");
sendJsonResponse("stp", "OK");
}
void handle_zero_cmd(const char* value) {
if (strcmp(value, "start") == 0) {
Serial.print("zero start\n");
isBackZero = true;
DebugSerial.println("Zero started");
sendJsonResponse("zero", "ZERO_STARTED");
} else if (strcmp(value, "stop") == 0) {
Serial.print("zero stop\n");
isBackZero = false;
currentPosition = 0;
DebugSerial.println("Zero completed");
sendJsonResponse("zero", "ZERO_COMPLETED");
} else {
sendJsonResponse("zero", "INVALID_VALUE");
}
}
void printDeviceStatus() {
DebugSerial.println("\n=== Device Status ===");
DebugSerial.print("Enabled: ");
DebugSerial.println(deviceEnabled ? "Yes" : "No");
DebugSerial.print("Current Position: ");
DebugSerial.println(currentPosition);
DebugSerial.print("Target Position: ");
DebugSerial.println(targetPosition);
DebugSerial.print("Pulse Per Second: ");
DebugSerial.println(pulsePerSecond);
DebugSerial.print("Moving: ");
DebugSerial.println(isMoving ? "Yes" : "No");
DebugSerial.print("Zero Backing: ");
DebugSerial.println(isBackZero ? "Yes" : "No");
DebugSerial.println("==================\n");
}

3
src/vsmd_parser.cpp
View File

@ -185,7 +185,8 @@ String VSMDParser::parseInfo(uint8_t* data, int size) {
result += (char)data[i];
}
} else {
result = "数据长度不足";
result = "Not enough data";
}
break;
}