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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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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");
}