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optimize: SPP Bluetooth -> BLE

This commit is contained in:
玖叁 2024-12-16 00:16:06 +08:00
parent 3420bf4a4a
commit 64a4c8ae43
1 changed files with 111 additions and 85 deletions
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196
src/main.cpp
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@ -1,5 +1,8 @@
#include <Arduino.h> #include <Arduino.h>
#include <BluetoothSerial.h> #include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>
#define STATUS_LED 2 #define STATUS_LED 2
@ -38,15 +41,11 @@
#define TURN_RATIO 0.6 // 转向时的速度比例 #define TURN_RATIO 0.6 // 转向时的速度比例
#define SPEED_INCREMENT 10 // 速度增量 #define SPEED_INCREMENT 10 // 速度增量
// 全局变量 // Nordic UART Service UUID
int currentSpeed = 0; // 当前速度 #define SERVICE_UUID "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
int turnOffset = 0; // 转向偏移量 (-100 到 100) #define CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
bool isMoving = false; // 运动状态 #define CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
bool isTurning = false; // 转向状态
BluetoothSerial SerialBT;
// 在全局变量定义区域添加以下内容
#define PACKET_R_HEAD 0x00 #define PACKET_R_HEAD 0x00
#define PACKET_R_TAIL 0xFF #define PACKET_R_TAIL 0xFF
#define PACKET_T_HEAD 0x01 #define PACKET_T_HEAD 0x01
@ -59,6 +58,17 @@ BluetoothSerial SerialBT;
#define CMD_MOTOR_MOVE_CONTROL 0x20 #define CMD_MOTOR_MOVE_CONTROL 0x20
#define CMD_MOTOR_ROTATE_CONTROL 0x21 #define CMD_MOTOR_ROTATE_CONTROL 0x21
// 全局变量
int currentSpeed = 0; // 当前速度
int turnOffset = 0; // 转向偏移量 (-100 到 100)
bool isMoving = false; // 运动状态
bool isTurning = false; // 转向状态
// BLE 相关
BLEServer *pServer = nullptr;
BLECharacteristic *pTxCharacteristic = nullptr;
bool deviceConnected = false;
// 数据包缓冲区 // 数据包缓冲区
uint8_t packetBuffer[PACKET_MAX_LENGTH]; uint8_t packetBuffer[PACKET_MAX_LENGTH];
int packetIndex = 0; int packetIndex = 0;
@ -69,6 +79,38 @@ bool isReceivingPacket = false;
unsigned long lastLedToggle = 0; // 上次LED切换状态的时间 unsigned long lastLedToggle = 0; // 上次LED切换状态的时间
bool ledState = false; // LED当前状态 bool ledState = false; // LED当前状态
void processSerialIncomingByte(uint8_t incomingByte, BLECharacteristic &characteristic);
class CarBLEServerCallbacks : public BLEServerCallbacks
{
void onConnect(BLEServer *pServer)
{
deviceConnected = true;
};
void onDisconnect(BLEServer *pServer)
{
deviceConnected = false;
// 重新开始广播
pServer->getAdvertising()->start();
}
};
class CarBLECharacteristicCallbacks : public BLECharacteristicCallbacks
{
void onWrite(BLECharacteristic *pCharacteristic)
{
std::string rxValue = pCharacteristic->getValue();
if (rxValue.length() > 0)
{
for (int i = 0; i < rxValue.length(); i++)
{
processSerialIncomingByte((uint8_t)rxValue[i], *pTxCharacteristic);
}
}
}
};
void floatToBytes(float val, uint8_t *bytes) void floatToBytes(float val, uint8_t *bytes)
{ {
union union
@ -107,7 +149,6 @@ void motorControl(int pwmPin, int in1Pin, int in2Pin, int speed)
analogWrite(pwmPin, speed); analogWrite(pwmPin, speed);
} }
float getDistance() float getDistance()
{ {
digitalWrite(HC_SR04_TRIG, HIGH); digitalWrite(HC_SR04_TRIG, HIGH);
@ -118,18 +159,32 @@ float getDistance()
return distance; return distance;
} }
u_char getSerialBTStatus()
{
return SerialBT.connected() ? 0x01 : 0x00;
}
void setup() void setup()
{ {
// 初始化串口 // 初始化串口
Serial.begin(115200); Serial.begin(115200);
// 初始化蓝牙 // 初始化 BLE
SerialBT.begin("WhiteTiger"); BLEDevice::init("WhiteTiger");
pServer = BLEDevice::createServer();
pServer->setCallbacks(new CarBLEServerCallbacks());
BLEService *pService = pServer->createService(SERVICE_UUID);
// 创建 RX 特征值 (用于接收数据)
BLECharacteristic *pRxCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID_RX,
BLECharacteristic::PROPERTY_WRITE);
pRxCharacteristic->setCallbacks(new CarBLECharacteristicCallbacks());
// 创建 TX 特征值 (用于发送数据)
pTxCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID_TX,
BLECharacteristic::PROPERTY_NOTIFY);
pTxCharacteristic->addDescriptor(new BLE2902());
pService->start();
pServer->getAdvertising()->start();
// 设置引脚模式 // 设置引脚模式
pinMode(STATUS_LED, OUTPUT); pinMode(STATUS_LED, OUTPUT);
@ -155,50 +210,49 @@ void setup()
pinMode(HC_SR04_ECHO, INPUT); pinMode(HC_SR04_ECHO, INPUT);
} }
void handleSerialPacket(uint8_t *packet, int length, Stream &serial) void handleSerialPacket(uint8_t *packet, int length, BLECharacteristic &characteristic)
{ {
if (length < 4) if (!deviceConnected || length < 4)
return; // 最小包长度：包头(1) + 长度(1) + 指令(1) + 包尾(1) return;
uint8_t packetLength = packet[1]; // 获取长度 uint8_t packetLength = packet[1]; // 获取长度
uint8_t cmd = packet[2]; // 获取指令 uint8_t cmd = packet[2]; // 获取指令
uint8_t direction, speed, time; uint8_t direction, speed, time;
float distance; float distance;
uint8_t buffer[PACKET_MAX_LENGTH]; // 用于存储要发送的数据
uint8_t transmitBuffer[PACKET_MAX_LENGTH]; int bufferIndex = 0;
switch (cmd) switch (cmd)
{ {
case CMD_GET_BT_STATUS: case CMD_GET_BT_STATUS:
Serial.println("CMD_GET_BT_STATUS"); Serial.println("CMD_GET_BT_STATUS");
// 回复状态 // 构建响应数据
serial.write(PACKET_T_HEAD); buffer[0] = PACKET_T_HEAD;
serial.write(0x05); // 包体长度 buffer[1] = 0x05;
serial.write(CMD_GET_BT_STATUS); buffer[2] = CMD_GET_BT_STATUS;
serial.write(getSerialBTStatus()); buffer[3] = (uint8_t)(deviceConnected ? 0x01 : 0x00);
serial.write(PACKET_T_TAIL); buffer[4] = PACKET_T_TAIL;
characteristic.setValue(buffer, 5);
characteristic.notify();
break; break;
case CMD_GET_DISTANCE: case CMD_GET_DISTANCE:
Serial.println("CMD_GET_DISTANCE");
distance = getDistance(); distance = getDistance();
Serial.printf("distance = %f\n", distance); Serial.println("CMD_GET_DISTANCE, distance: " + String(distance));
floatToBytes(distance, transmitBuffer); // 构建响应数据
// 回复距离 buffer[0] = PACKET_T_HEAD;
serial.write(PACKET_T_HEAD); buffer[1] = 0x08;
serial.write(0x08); // 包体长度 buffer[2] = CMD_GET_DISTANCE;
serial.write(CMD_GET_DISTANCE); floatToBytes(distance, &buffer[3]);
serial.write(transmitBuffer, 4); buffer[7] = PACKET_T_TAIL;
serial.write(PACKET_T_TAIL); characteristic.setValue(buffer, 8);
characteristic.notify();
break; break;
case CMD_MOTOR_MOVE_CONTROL: case CMD_MOTOR_MOVE_CONTROL:
// 获取方向和速度
direction = packet[3]; direction = packet[3];
speed = packet[4]; speed = packet[4];
Serial.println("CMD_MOTOR_MOVE_CONTROL, direction: " + String(direction) + ", speed: " + String(speed));
Serial.printf("CMD_MOTOR_MOVE_CONTROL: direction = 0x%02X, speed = %d\n", direction, speed);
// 移动 // 移动
if (direction == 0x00) if (direction == 0x00)
{ {
@ -207,64 +261,52 @@ void handleSerialPacket(uint8_t *packet, int length, Stream &serial)
motorControl(MOTOR_C_PWMA, MOTOR_C_AIN1, MOTOR_C_AIN2, 0); motorControl(MOTOR_C_PWMA, MOTOR_C_AIN1, MOTOR_C_AIN2, 0);
motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, 0); motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, 0);
} }
// 前进 // 前进
if (direction == 0x01) else if (direction == 0x01)
{ {
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, speed); motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, speed);
motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, speed); motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, speed);
motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, speed); motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, speed);
motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, speed); motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, speed);
} }
// 后退 // 后退
if (direction == 0x02) else if (direction == 0x02)
{ {
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, -speed); motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, -speed);
motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, -speed); motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, -speed);
motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, -speed); motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, -speed);
motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, -speed); motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, -speed);
} }
break; break;
case CMD_MOTOR_ROTATE_CONTROL: case CMD_MOTOR_ROTATE_CONTROL:
// 获取方向和时间
direction = packet[3]; direction = packet[3];
time = packet[4]; time = packet[4];
Serial.println("CMD_MOTOR_ROTATE_CONTROL, direction: " + String(direction) + ", time: " + String(time));
// 原地旋转
Serial.printf("CMD_MOTOR_ROTATE_CONTROL: direction = 0x%02X, time = %d\n", direction, time);
// 顺时针 // 顺时针
if (direction == 0x00) if (direction == 0x00)
{ {
// 左侧电机向前转 motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, 255);
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, 255); // 左前 motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, 255);
motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, 255); // 左后 motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, -255);
// 右侧电机向后转 motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, -255);
motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, -255); // 右后
motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, -255); // 右前
} }
// 逆时针 // 逆时针
if (direction == 0x01) else if (direction == 0x01)
{ {
// 左侧电机向后转 motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, -255);
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, -255); // 左前 motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, -255);
motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, -255); // 左后 motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, 255);
// 右侧电机向前转 motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, 255);
motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, 255); // 右后
motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, 255); // 右前
} }
break; break;
default: default:
// 未知指令处理
break; break;
} }
} }
void processSerialIncomingByte(uint8_t incomingByte, Stream &serial) void processSerialIncomingByte(uint8_t incomingByte, BLECharacteristic &characteristic)
{ {
static uint8_t expectedLength = 0; static uint8_t expectedLength = 0;
@ -294,7 +336,7 @@ void processSerialIncomingByte(uint8_t incomingByte, Stream &serial)
isReceivingPacket = false; isReceivingPacket = false;
if (incomingByte == PACKET_R_TAIL) if (incomingByte == PACKET_R_TAIL)
{ {
handleSerialPacket(packetBuffer, packetIndex + 1, serial); handleSerialPacket(packetBuffer, packetIndex + 1, *pTxCharacteristic);
} }
} }
} }
@ -307,14 +349,12 @@ void processSerialIncomingByte(uint8_t incomingByte, Stream &serial)
void updateStatusLED() void updateStatusLED()
{ {
if (SerialBT.connected()) if (deviceConnected)
{ {
// 蓝牙已连接，LED常亮
digitalWrite(STATUS_LED, HIGH); digitalWrite(STATUS_LED, HIGH);
} }
else else
{ {
// 蓝牙未连接，LED慢闪
unsigned long currentMillis = millis(); unsigned long currentMillis = millis();
if (currentMillis - lastLedToggle >= LED_FLASH_INTERVAL) if (currentMillis - lastLedToggle >= LED_FLASH_INTERVAL)
{ {
@ -327,19 +367,5 @@ void updateStatusLED()
void loop() void loop()
{ {
if (SerialBT.available()) updateStatusLED();
{
uint8_t incomingByte = SerialBT.read();
processSerialIncomingByte(incomingByte, SerialBT);
Serial.printf("BT Received: 0x%02X\n", incomingByte);
}
if (Serial.available())
{
uint8_t incomingByte = Serial.read();
processSerialIncomingByte(incomingByte, Serial);
Serial.printf("UART Received: 0x%02X\n", incomingByte);
}
updateStatusLED(); // 更新LED状态
} }