1

include/ir.h

@@ -1,7 +1,9 @@
 #ifndef IR_H
 #define IR_H
 
+#include <SoftwareSerial.h>
 #include <Arduino.h>
+#include "consts.h"
 
 enum IRMode
 {
@@ -9,24 +11,20 @@ enum IRMode
   IR_MODE_UART
 };
 
-struct IRConfig
-{
-  IRMode mode;
-  uint8_t pins[5];
-};
-
 struct IRData
 {
-  uint8_t length;
+  IRMode mode;
+  uint8_t pins[IR_COUNT];
+  uint8_t count;
   uint8_t data[8];
 };
 
 class IR
 {
 public:
-  static IRConfig config;
+  static SoftwareSerial *uart;
   static IRData data;
-  static void init(IRConfig config);
+  static void init();
   static void update();
 };
 

platformio.ini

@@ -13,9 +13,11 @@ platform = espressif32
 board = esp32dev
 framework = arduino
 monitor_speed = 115200
+lib_deps = plerup/EspSoftwareSerial@^8.2.0
 
 [env:esp32s3]
 platform = espressif32
 board = adafruit_feather_esp32s3_tft
 framework = arduino
 monitor_speed = 115200
+lib_deps = plerup/EspSoftwareSerial@^8.2.0

src/ir.cpp

@@ -1,29 +1,45 @@
 #include "ir.h"
 
-IRConfig IR::config;
 IRData IR::data;
+SoftwareSerial *IR::uart;
 
-void IR::init(IRConfig config)
+void IR::init()
 {
   Serial.println("IR Init");
-  IR::config = config;
+  data.mode = IR_MODE;
-  if (config.mode == IRMode::IR_MODE_GPIO)
+  data.count = IR_COUNT;
+  if (IR_MODE == IRMode::IR_MODE_GPIO)
   {
-    data.length = 5;
+    uint8_t pins[IR_COUNT] = IR_PINS;
-    for (int i = 0; i < 5; i++)
+    for (int i = 0; i < IR_COUNT; i++)
     {
-      pinMode(config.pins[i], INPUT);
+      data.pins[i] = pins[i];
+    };
   }
+  else if (IR_MODE == IRMode::IR_MODE_UART)
+  {
+    uint8_t pins[2] = IR_PINS;
+    data.pins[0] = pins[0];
+    data.pins[1] = pins[1];
+    uart = new SoftwareSerial(pins[0], pins[1]);
+    uart->begin(IR_BAUD);
   }
 }
 
 void IR::update()
 {
-  if (config.mode == IRMode::IR_MODE_GPIO)
+  if (data.mode == IRMode::IR_MODE_GPIO)
   {
-    for (int i = 0; i < 5; i++)
+    for (int i = 0; i < data.count; i++)
     {
-      data.data[i] = digitalRead(config.pins[i]);
+      data.data[i] = digitalRead(data.pins[i]);
+    }
+  }
+  else if (data.mode == IRMode::IR_MODE_UART)
+  {
+    if (uart->available())
+    {
+      data.data[0] = uart->read();
     }
   }
 }

src/main.cpp

@@ -28,7 +28,7 @@ void setup()
       {MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2});
 
   // 初始化红外循迹模块
-  IR::init({IR_MODE, IR_PINS});
+  IR::init();
 
   // 初始化状态灯
   if (STATUS_LED_ENABLE)