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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
// 模式选择
// #define IR_MODE IRMode::IR_MODE_GPIO
#define IR_MODE IRMode::IR_MODE_I2C
// 1 GPIO 2 I2C
#define IR_MODE 2
#define IR_COUNT 8
// 是否反转电平输出
#define IR_OUTPUT_REVERSE 0

8
include/ir.h
View File

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

61
src/ir.cpp
View File

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