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esp32-car
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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 <BluetoothSerial.h>
#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>
#define STATUS_LED 2
@ -38,15 +41,11 @@
#define TURN_RATIO 0.6 // 转向时的速度比例
#define SPEED_INCREMENT 10 // 速度增量
// 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
// Nordic UART Service UUID
#define SERVICE_UUID "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
#define CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
#define CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
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_TAIL 0xFF
#define PACKET_T_HEAD 0x01
@ -59,6 +58,17 @@ BluetoothSerial SerialBT;
#define CMD_MOTOR_MOVE_CONTROL 0x20
#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
uint8_t packetBuffer[PACKET_MAX_LENGTH];
int packetIndex = 0;
@ -69,6 +79,38 @@ bool isReceivingPacket = false;
unsigned long lastLedToggle = 0; // 上次LED切换状态的时间
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)
{
union
@ -107,7 +149,6 @@ void motorControl(int pwmPin, int in1Pin, int in2Pin, int speed)
analogWrite(pwmPin, speed);
}
float getDistance()
{
digitalWrite(HC_SR04_TRIG, HIGH);
@ -118,18 +159,32 @@ float getDistance()
return distance;
}
u_char getSerialBTStatus()
{
return SerialBT.connected() ? 0x01 : 0x00;
}
void setup()
{
// 初始化串口
Serial.begin(115200);
// 初始化蓝牙
SerialBT.begin("WhiteTiger");
// 初始化 BLE
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
pinMode(STATUS_LED, OUTPUT);
@ -155,50 +210,49 @@ void setup()
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)
return; // 最小包长度：包头(1) + 长度(1) + 指令(1) + 包尾(1)
if (!deviceConnected || length < 4)
return;
uint8_t packetLength = packet[1]; // 获取长度
uint8_t cmd = packet[2]; // 获取指令
uint8_t direction, speed, time;
float distance;
uint8_t transmitBuffer[PACKET_MAX_LENGTH];
uint8_t buffer[PACKET_MAX_LENGTH]; // 用于存储要发送的数据
int bufferIndex = 0;
switch (cmd)
{
case CMD_GET_BT_STATUS:
Serial.println("CMD_GET_BT_STATUS");
// 回复状态
serial.write(PACKET_T_HEAD);
serial.write(0x05); // 包体长度
serial.write(CMD_GET_BT_STATUS);
serial.write(getSerialBTStatus());
serial.write(PACKET_T_TAIL);
// 构建响应数据
buffer[0] = PACKET_T_HEAD;
buffer[1] = 0x05;
buffer[2] = CMD_GET_BT_STATUS;
buffer[3] = (uint8_t)(deviceConnected ? 0x01 : 0x00);
buffer[4] = PACKET_T_TAIL;
characteristic.setValue(buffer, 5);
characteristic.notify();
break;
case CMD_GET_DISTANCE:
Serial.println("CMD_GET_DISTANCE");
distance = getDistance();
Serial.printf("distance = %f\n", distance);
floatToBytes(distance, transmitBuffer);
// 回复距离
serial.write(PACKET_T_HEAD);
serial.write(0x08); // 包体长度
serial.write(CMD_GET_DISTANCE);
serial.write(transmitBuffer, 4);
serial.write(PACKET_T_TAIL);
Serial.println("CMD_GET_DISTANCE, distance: " + String(distance));
// 构建响应数据
buffer[0] = PACKET_T_HEAD;
buffer[1] = 0x08;
buffer[2] = CMD_GET_DISTANCE;
floatToBytes(distance, &buffer[3]);
buffer[7] = PACKET_T_TAIL;
characteristic.setValue(buffer, 8);
characteristic.notify();
break;
case CMD_MOTOR_MOVE_CONTROL:
// 获取方向和速度
direction = packet[3];
speed = packet[4];
Serial.printf("CMD_MOTOR_MOVE_CONTROL: direction = 0x%02X, speed = %d\n", direction, speed);
Serial.println("CMD_MOTOR_MOVE_CONTROL, direction: " + String(direction) + ", speed: " + String(speed));
// 移动
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_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, 0);
}
// 前进
if (direction == 0x01)
else if (direction == 0x01)
{
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, 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_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, speed);
}
// 后退
if (direction == 0x02)
else if (direction == 0x02)
{
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, -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_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, -speed);
}
break;
case CMD_MOTOR_ROTATE_CONTROL:
// 获取方向和时间
direction = packet[3];
time = packet[4];
// 原地旋转
Serial.printf("CMD_MOTOR_ROTATE_CONTROL: direction = 0x%02X, time = %d\n", direction, time);
Serial.println("CMD_MOTOR_ROTATE_CONTROL, direction: " + String(direction) + ", time: " + String(time));
// 顺时针
if (direction == 0x00)
{
// 左侧电机向前转
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, 255); // 左前
motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, 255); // 左后
// 右侧电机向后转
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
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, 255);
motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, 255);
motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, -255);
motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, -255);
}
// 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); // 左前
motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, -255); // 左后
// 右侧电机向前转
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
motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, -255);
motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, -255);
motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, 255);
motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, 255);
}
break;
default:
// 未知指令处理
break;
}
}
void processSerialIncomingByte(uint8_t incomingByte, Stream &serial)
void processSerialIncomingByte(uint8_t incomingByte, BLECharacteristic &characteristic)
{
static uint8_t expectedLength = 0;
@ -294,7 +336,7 @@ void processSerialIncomingByte(uint8_t incomingByte, Stream &serial)
isReceivingPacket = false;
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()
{
if (SerialBT.connected())
if (deviceConnected)
{
// 蓝牙已连接，LED常亮
digitalWrite(STATUS_LED, HIGH);
}
else
{
// 蓝牙未连接，LED慢闪
unsigned long currentMillis = millis();
if (currentMillis - lastLedToggle >= LED_FLASH_INTERVAL)
{
@ -327,19 +367,5 @@ void updateStatusLED()
void loop()
{
if (SerialBT.available())
{
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
updateStatusLED();
}