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esp32-car
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fix

This commit is contained in:
玖叁 2025-01-01 19:30:56 +08:00
parent d7436607d5
commit 5953a5d6e6
3 changed files with 36 additions and 37 deletions
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4
include/consts.example.h
View File

@ -20,8 +20,8 @@
// 红外循迹模块引脚 // 红外循迹模块引脚
// 模式选择 // 模式选择
// #define IR_MODE IRMode::IR_MODE_GPIO // 1 GPIO 2 I2C
#define IR_MODE IRMode::IR_MODE_I2C #define IR_MODE 2
#define IR_COUNT 8 #define IR_COUNT 8
// 是否反转电平输出 // 是否反转电平输出
#define IR_OUTPUT_REVERSE 0 #define IR_OUTPUT_REVERSE 0

8
include/ir.h
View File

@ -6,15 +6,9 @@
#include <algorithm> #include <algorithm>
#include "consts.h" #include "consts.h"
enum IRMode
{
IR_MODE_GPIO,
IR_MODE_I2C
};
struct IRData struct IRData
{ {
IRMode mode; uint8_t mode;
uint8_t pins[IR_COUNT]; uint8_t pins[IR_COUNT];
uint8_t count; uint8_t count;
uint8_t data[8]; uint8_t data[8];

61
src/ir.cpp
View File

@ -8,7 +8,7 @@ void IR::init()
Serial.println("IR Init"); Serial.println("IR Init");
data.mode = IR_MODE; data.mode = IR_MODE;
data.count = IR_COUNT; data.count = IR_COUNT;
if (IR_MODE == IRMode::IR_MODE_GPIO) #if IR_MODE == 1
{ {
uint8_t pins[IR_COUNT] = IR_PINS; uint8_t pins[IR_COUNT] = IR_PINS;
for (int i = 0; i < IR_COUNT; i++) for (int i = 0; i < IR_COUNT; i++)
@ -16,7 +16,7 @@ void IR::init()
data.pins[i] = pins[i]; data.pins[i] = pins[i];
}; };
} }
else if (IR_MODE == IRMode::IR_MODE_I2C) #elif IR_MODE == 2
{ {
uint8_t pins[2] = IR_PINS; uint8_t pins[2] = IR_PINS;
data.pins[0] = pins[0]; // SCL data.pins[0] = pins[0]; // SCL
@ -34,11 +34,12 @@ void IR::init()
Serial.println("Invalid I2C pins"); Serial.println("Invalid I2C pins");
} }
} }
#endif
} }
void IR::update() void IR::update()
{ {
if (data.mode == IRMode::IR_MODE_GPIO) #if IR_MODE == 1
{ {
for (int i = 0; i < data.count; i++) for (int i = 0; i < data.count; i++)
{ {
@ -58,36 +59,40 @@ void IR::update()
#endif #endif
} }
} }
else if (data.mode == IRMode::IR_MODE_I2C && i2c != nullptr) #elif IR_MODE == 2
{ {
byte value = 0; if (i2c != nullptr)
{
delay(10); byte value = 0;
i2c->requestFrom(0x12, 1);
if(i2c->available()) {
value = i2c->read();
// 根据 IR_COUNT 读取数据 delay(10);
for(int i = 0; i < std::min<int>(data.count, IR_COUNT); i++) {
// 读取传感器数据 i2c->requestFrom(0x12, 1);
bool sensorValue = !((value >> (7-i)) & 0x01); if(i2c->available()) {
value = i2c->read();
// 根据 IR_REVERSE 判断是否需要反转电平 // 根据 IR_COUNT 读取数据
#if IR_OUTPUT_REVERSE for(int i = 0; i < std::min<int>(data.count, IR_COUNT); i++) {
sensorValue = !sensorValue; // 读取传感器数据
#endif bool sensorValue = !((value >> (7-i)) & 0x01);
// 根据 IR_REVERSE 判断是否需要反转电平
#if IR_OUTPUT_REVERSE
sensorValue = !sensorValue;
#endif
// 根据传感器排列方向存储数据 // 根据传感器排列方向存储数据
#ifdef IR_DIRECTION_REVERSE #ifdef IR_DIRECTION_REVERSE
data.data[std::min<int>(data.count, IR_COUNT) - 1 - i] = sensorValue; data.data[std::min<int>(data.count, IR_COUNT) - 1 - i] = sensorValue;
#else #else
data.data[i] = sensorValue; data.data[i] = sensorValue;
#endif #endif
}
} else {
// 通信失败时清零数据
memset(data.data, 0, IR_COUNT);
} }
} else {
// 通信失败时清零数据
memset(data.data, 0, IR_COUNT);
} }
} }
#endif
} }