feat: basic ir mode

README.md

@@ -46,4 +46,10 @@ git clone https://github.com/colour93/esp32-car.git
 
 同时一些状态信息会主动发送。
 
-[数据包格式](./packet.md)
+[数据包格式](./packet.md)
+
+## Android APP
+
+这是一个配套的 Android APP，基于 Kotlin + Compose，通信协议使用上面的 BLE 串口通信协议。
+
+[colour93/esp32-car-android](https://github.com/colour93/esp32-car-android)

include/consts.example.h

@@ -15,6 +15,14 @@
 #define HC_SR04_TRIG 23
 #define HC_SR04_ECHO 22
 
+// 红外循迹模块引脚
+// 模式选择
+#define IR_MODE IRMode::IR_MODE_GPIO
+// GPIO 模式
+#define IR_PINS {34, 35, 12, 13, 15}
+// 串口模式
+// #define IR_PINS {34, 35}
+
 // TB6612 #1 控制 A B 电机
 // A 电机 左前轮
 #define MOTOR_A_PWMA 21 // 电机 A PWM

include/handlers.h

@@ -7,6 +7,7 @@
 #include "ultrasound.h"
 #include "transmit.h"
 #include "pid.h"
+#include "ir.h"
 #include "utils.h"
 
 // 指令定义

include/ir.h

@@ -0,0 +1,33 @@
+#ifndef IR_H
+#define IR_H
+
+#include <Arduino.h>
+
+enum IRMode
+{
+  IR_MODE_GPIO,
+  IR_MODE_UART
+};
+
+struct IRConfig
+{
+  IRMode mode;
+  uint8_t pins[5];
+};
+
+struct IRData
+{
+  uint8_t length;
+  uint8_t data[8];
+};
+
+class IR
+{
+public:
+  static IRConfig config;
+  static IRData data;
+  static void init(IRConfig config);
+  static void update();
+};
+
+#endif

packet.md

@@ -132,8 +132,15 @@
 
 ## 状态回报
 
-### 电机状态汇报 `0xE0`
+### 设备状态回报 `0xE0`
 
-包体 `01 0C E0 电机A_IN_1_2 电机A_PWM 电机B_IN_1_2 电机B_PWM 电机C_IN_1_2 电机C_PWM 电机D_IN_1_2 电机D_PWM FE`
+包体 `01 0E E0 电机A_IN_1_2 电机A_PWM 电机B_IN_1_2 电机B_PWM 电机C_IN_1_2 电机C_PWM 电机D_IN_1_2 电机D_PWM 红外引脚数量 红外数据 FE`
 
-示例 `01 0C E0 01 FF 02 FF 02 FF 01 FF FE`
+| 数据 | 类型 | 表示 |
+| -------- | ---- | ---- |
+| IN_1_2  | 无符号整数 | 按位表示 IN1 IN2 的值， 0000 00 IN2 IN1 |
+| PWM     | 无符号整数 | - |
+| 红外引脚数量 | 无符号整数 | - |
+| 红外数据 | 无符号整数 | 按位表示红外循迹模块数据， 0001 1111 |
+
+示例 `01 0E E0 01 FF 02 FF 02 FF 01 FF 05 1F FE`

src/handlers.cpp

@@ -18,27 +18,29 @@ void Handlers::getBTStatus(BLECharacteristic &characteristic)
 void Handlers::getSPIFFSStatus(BLECharacteristic &characteristic)
 {
   Serial.println("CMD_GET_SPIFFS_STATUS");
+  uint8_t bufferIndex = 0;
   // 构建响应数据
-  buffer[0] = PACKET_T_HEAD;
+  buffer[bufferIndex++] = PACKET_T_HEAD;
-  buffer[1] = 0x05;
+  buffer[bufferIndex++] = 0x05;
-  buffer[2] = CMD_GET_SPIFFS_STATUS;
+  buffer[bufferIndex++] = CMD_GET_SPIFFS_STATUS;
-  buffer[3] = (uint8_t)(Storage::isMounted ? 0x01 : 0x00);
+  buffer[bufferIndex++] = (uint8_t)(Storage::isMounted ? 0x01 : 0x00);
-  buffer[4] = PACKET_T_TAIL;
+  buffer[bufferIndex++] = PACKET_T_TAIL;
-  characteristic.setValue(buffer, 5);
+  characteristic.setValue(buffer, bufferIndex);
   characteristic.notify();
 }
 
 void Handlers::getDistance(BLECharacteristic &characteristic)
 {
   float distance = Ultrasonic::getDistance();
+  uint8_t bufferIndex = 0;
   Serial.println("CMD_GET_DISTANCE, distance: " + String(distance));
   // 构建响应数据
-  buffer[0] = PACKET_T_HEAD;
+  buffer[bufferIndex++] = PACKET_T_HEAD;
-  buffer[1] = 0x08;
+  buffer[bufferIndex++] = 0x08;
-  buffer[2] = CMD_GET_DISTANCE;
+  buffer[bufferIndex++] = CMD_GET_DISTANCE;
-  floatToBytes(distance, &buffer[3]);
+  floatToBytes(distance, &buffer[bufferIndex]);
-  buffer[7] = PACKET_T_TAIL;
+  buffer[bufferIndex++] = PACKET_T_TAIL;
-  characteristic.setValue(buffer, 8);
+  characteristic.setValue(buffer, bufferIndex);
   characteristic.notify();
 }
 

src/ir.cpp

@@ -0,0 +1,28 @@
+#include "ir.h"
+
+IRConfig IR::config;
+IRData IR::data;
+
+void IR::init(IRConfig config)
+{
+  IR::config = config;
+  if (config.mode == IRMode::IR_MODE_GPIO)
+  {
+    data.length = 5;
+    for (int i = 0; i < 5; i++)
+    {
+      pinMode(config.pins[i], INPUT);
+    }
+  }
+}
+
+void IR::update()
+{
+  if (config.mode == IRMode::IR_MODE_GPIO)
+  {
+    for (int i = 0; i < 5; i++)
+    {
+      data.data[i] = digitalRead(config.pins[i]);
+    }
+  }
+}

src/main.cpp

@@ -4,6 +4,7 @@
 #include "storage.h"
 #include "ble.h"
 #include "led.h"
+#include "ir.h"
 #include "consts.h"
 
 void setup()
@@ -24,6 +25,9 @@ void setup()
       {MOTOR_C_PWMA, MOTOR_C_AIN1, MOTOR_C_AIN2},
       {MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2});
 
+  // 初始化红外循迹模块
+  IR::init({IR_MODE, IR_PINS});
+
   // 初始化状态灯
   if (STATUS_LED_ENABLE)
   {

src/transmit.cpp

@@ -115,19 +115,27 @@ void sendStatus(BLECharacteristic &characteristic)
     lastMotorStatusUpdate = currentMillis;
 
     uint8_t buffer[PACKET_MAX_LENGTH];
-    buffer[0] = PACKET_T_HEAD;
+    uint8_t bufferIndex = 0;
-    buffer[1] = 0x0C;
+    buffer[bufferIndex++] = PACKET_T_HEAD;
-    buffer[2] = CMD_STATUS_MOTOR;
+    buffer[bufferIndex++] = 0x0C;
-    buffer[3] = (MotorController::getMotorStatus('A').in2 << 1) | MotorController::getMotorStatus('A').in1;
+    buffer[bufferIndex++] = CMD_STATUS_MOTOR;
-    buffer[4] = MotorController::getMotorStatus('A').pwm;
+    buffer[bufferIndex++] = (MotorController::getMotorStatus('A').in2 << 1) | MotorController::getMotorStatus('A').in1;
-    buffer[5] = (MotorController::getMotorStatus('B').in2 << 1) | MotorController::getMotorStatus('B').in1;
+    buffer[bufferIndex++] = MotorController::getMotorStatus('A').pwm;
-    buffer[6] = MotorController::getMotorStatus('B').pwm;
+    buffer[bufferIndex++] = (MotorController::getMotorStatus('B').in2 << 1) | MotorController::getMotorStatus('B').in1;
-    buffer[7] = (MotorController::getMotorStatus('C').in2 << 1) | MotorController::getMotorStatus('C').in1;
+    buffer[bufferIndex++] = MotorController::getMotorStatus('B').pwm;
-    buffer[8] = MotorController::getMotorStatus('C').pwm;
+    buffer[bufferIndex++] = (MotorController::getMotorStatus('C').in2 << 1) | MotorController::getMotorStatus('C').in1;
-    buffer[9] = (MotorController::getMotorStatus('D').in2 << 1) | MotorController::getMotorStatus('D').in1;
+    buffer[bufferIndex++] = MotorController::getMotorStatus('C').pwm;
-    buffer[10] = MotorController::getMotorStatus('D').pwm;
+    buffer[bufferIndex++] = (MotorController::getMotorStatus('D').in2 << 1) | MotorController::getMotorStatus('D').in1;
-    buffer[11] = PACKET_T_TAIL;
+    buffer[bufferIndex++] = MotorController::getMotorStatus('D').pwm;
-    characteristic.setValue(buffer, 12);
+    buffer[bufferIndex++] = IR::data.length;
+    uint16_t irData = 0;
+    for (uint8_t i = 0; i < IR::data.length; i++)
+    {
+      irData |= (IR::data.data[i] << (i * 2));
+    }
+    buffer[bufferIndex++] = irData;
+    buffer[bufferIndex++] = PACKET_T_TAIL;
+    characteristic.setValue(buffer, bufferIndex);
     characteristic.notify();
   }
 }