yuanjing/pile_com_stm32
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This commit is contained in:
snow 2024-03-27 16:13:03 +08:00
parent 79a0eb73b7
commit 24e496ead0
21 changed files with 745 additions and 721 deletions
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28
main/CMakeLists.txt
View File

@ -1,22 +1,3 @@
# idf_component_register(SRCS "ble_gatts_server.c" "uart_example.c" "main.c"
# "modbus-tcp.c"
# "can_network.c"
# "./stm32/ads1220.c"
# "./stm32/bl0939.c"
# "./stm32/capture.c"
# "./stm32/comm.c"
# "./stm32/depth.c"
# "./stm32/fram.c"
# "./stm32/flow.c"
# "./stm32/utils.c"
# "./stm32/config.c"
# "./stm32/ModbusS.c"
# "./stm32/ModbusM.c"
# "./stm32/uart0_modbus_slave.c"
# "wifi_softap.c"
# "bt_server.c"
# INCLUDE_DIRS ".")
set(SRCS set(SRCS
"uart_example.c" "uart_example.c"
"main.c" "main.c"
@ -34,13 +15,16 @@ set(SRCS
"./stm32/ModbusS.c" "./stm32/ModbusS.c"
"./stm32/ModbusM.c" "./stm32/ModbusM.c"
"./stm32/uart0_modbus_slave.c" "./stm32/uart0_modbus_slave.c"
"wifi_softap.c"
"ble_gatts_server.c" "./communication_pad/wifi_softap.c"
"./communication_pad/tcp_server.c"
"./communication_pad/ble_gatts_server.c"
"./communication_pad/communication_pad.c"
#"C:\Espressif\frameworks\esp-idf-v4.4.5\components\bt\include" #"C:\Espressif\frameworks\esp-idf-v4.4.5\components\bt\include"
) )
set(INCLUDE_DIRS ".") set(INCLUDE_DIRS "." "./communication_pad/inc")
idf_component_register(SRCS ${SRCS} idf_component_register(SRCS ${SRCS}
INCLUDE_DIRS ${INCLUDE_DIRS}) INCLUDE_DIRS ${INCLUDE_DIRS})

321
main/ble_gatts_server.c → main/communication_pad/ble_gatts_server.c
View File

@ -31,6 +31,7 @@
#include "stm32/config.h" #include "stm32/config.h"
#include "stm32/ModbusS.h" #include "stm32/ModbusS.h"
#include "inc/communication_pad.h"
#define GATTS_TABLE_TAG "BLE_GATTS_SERVER" #define GATTS_TABLE_TAG "BLE_GATTS_SERVER"
@ -280,57 +281,6 @@ static void gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param
} }
} }
/*
* [0]: 标识 F0--写多个modbus内存地址
* [2:1]: 寄存器起始地址，即寄存器下标
* [3]: 写的字节数 0-255
* ...： 数据内容
*/
void gatts_write_data_cb(uint8_t *data, uint32_t len)
{
ESP_LOGI(GATTS_TABLE_TAG, "gatts_write_data_cb");
if (len >= 4 && data[0] == 0xF0) /* 写gWordVar寄存器 */
{
uint16_t addr = data[1] + (data[2] << 8);
uint16_t addr_ = addr;
uint8_t cnt = data[3];
if (cnt > len - 4)
{
ESP_LOGI(GATTS_TABLE_TAG, "write format is fault, cnt > len - 4");
return;
}
ESP_LOGI(GATTS_TABLE_TAG, "write addr:%d cnt:%d", addr, cnt);
uint8_t i;
for (i = 0 + 4; i < cnt + 4; i+=2) /* 发送的数据要求两字节对齐 */
{
gWordVar[addr++] = data[i] + (data[i + 1] << 8);
ESP_LOGI(GATTS_TABLE_TAG, "gwordvar[%d]:0x%x", addr-1, gWordVar[addr-1]);
}
/* 还应该调用 ModBusWordWriteHook 来处理这些写动作带来的影响 */
ModBusWordWriteHook(addr_, cnt);
}
else if (len >= 4 && data[0] == 0xF1) /* 读gWordVar，通过notify上报回去 */
{
uint16_t addr = data[1] + (data[2] << 8);
uint8_t cnt = data[3];
ESP_LOGI(GATTS_TABLE_TAG, "read addr:%d cnt:%d", addr, cnt);
uint8_t buf[500];
buf[0] = data[0];
buf[1] = data[1];
buf[2] = data[2];
buf[3] = data[3];
memcpy(buf + 4, (uint8_t *)(gWordVar + addr), cnt);
notify_data_fun(IDX_DATA_READ_WRITE_VAL, buf, cnt + 4);
}
else if (len == 1 && data[0] == 0xF2) /* 开启notify */
{
ESP_LOGI(GATTS_TABLE_TAG, "enable notify");
data_notify_enable = true;
}
else ESP_LOGI(GATTS_TABLE_TAG, "format err!");
}
void example_prepare_write_event_env(esp_gatt_if_t gatts_if, prepare_type_env_t *prepare_write_env, esp_ble_gatts_cb_param_t *param) void example_prepare_write_event_env(esp_gatt_if_t gatts_if, prepare_type_env_t *prepare_write_env, esp_ble_gatts_cb_param_t *param)
{ {
@ -381,7 +331,7 @@ void example_prepare_write_event_env(esp_gatt_if_t gatts_if, prepare_type_env_t
void example_exec_write_event_env(prepare_type_env_t *prepare_write_env, esp_ble_gatts_cb_param_t *param){ void example_exec_write_event_env(prepare_type_env_t *prepare_write_env, esp_ble_gatts_cb_param_t *param){
if (param->exec_write.exec_write_flag == ESP_GATT_PREP_WRITE_EXEC && prepare_write_env->prepare_buf){ if (param->exec_write.exec_write_flag == ESP_GATT_PREP_WRITE_EXEC && prepare_write_env->prepare_buf){
esp_log_buffer_hex(GATTS_TABLE_TAG, prepare_write_env->prepare_buf, prepare_write_env->prepare_len); esp_log_buffer_hex(GATTS_TABLE_TAG, prepare_write_env->prepare_buf, prepare_write_env->prepare_len);
gatts_write_data_cb(prepare_write_env->prepare_buf); /* 此处有隐患，有可能不是data_write特征的数据 */ ble_read_data(prepare_write_env->prepare_buf, prepare_write_env->prepare_len);
}else{ }else{
ESP_LOGI(GATTS_TABLE_TAG,"ESP_GATT_PREP_WRITE_CANCEL"); ESP_LOGI(GATTS_TABLE_TAG,"ESP_GATT_PREP_WRITE_CANCEL");
} }
@ -453,7 +403,9 @@ static void gatts_profile_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_
ESP_LOGI(GATTS_TABLE_TAG, "GATT_WRITE_EVT, handle = %d, value len = %d, value :", param->write.handle, param->write.len); ESP_LOGI(GATTS_TABLE_TAG, "GATT_WRITE_EVT, handle = %d, value len = %d, value :", param->write.handle, param->write.len);
esp_log_buffer_hex(GATTS_TABLE_TAG, param->write.value, param->write.len); esp_log_buffer_hex(GATTS_TABLE_TAG, param->write.value, param->write.len);
if (ble_gatts_handle_table[IDX_DATA_READ_WRITE_VAL] == param->write.handle) if (ble_gatts_handle_table[IDX_DATA_READ_WRITE_VAL] == param->write.handle)
gatts_write_data_cb(param->write.value, param->write.len); {
ble_read_data(param->write.value, param->write.len);
}
if (ble_gatts_handle_table[IDX_DATA_NOTIFY_CFG] == param->write.handle && param->write.len == 2){ if (ble_gatts_handle_table[IDX_DATA_NOTIFY_CFG] == param->write.handle && param->write.len == 2){
uint16_t descr_value = param->write.value[1]<<8 | param->write.value[0]; uint16_t descr_value = param->write.value[1]<<8 | param->write.value[0];
if (descr_value == 0x0001){ if (descr_value == 0x0001){
@ -571,158 +523,6 @@ static void gatts_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_t gatts_
} }
/*
* 上报长度过长，则分包，这里限制长度最大20，分包协议：
* [1:0] ‘#’， ‘#’，分包标识
* [2] 总包个数
* [3] 当前包号，从0开始
* ... 包数据
*/
static uint16_t gatts_mtu_size = 23;
void notify_data_fun(int id, uint8_t *data, uint32_t len)
{
// ESP_LOGI(GATTS_TABLE_TAG, "notify_data_fun:");
// esp_log_buffer_hex(GATTS_TABLE_TAG, data, len);
if (len <= gatts_mtu_size - 3) /* 包数据可以一次完整发送 */
{
esp_ble_gatts_send_indicate(ble_gatts_if, ble_gatts_conn_id, ble_gatts_handle_table[id], len, data, false);
}
else /* 需要分包发送 */
{
int total_num = 0;
uint8_t buf[gatts_mtu_size - 3];
if ((len % (gatts_mtu_size - 7)) == 0)
total_num = len / (gatts_mtu_size - 7);
else
total_num = len / (gatts_mtu_size - 7) + 1;
// ESP_LOGI(GATTS_TABLE_TAG, "notify packet has %d", total_num);
int i = 0;
buf[0] = '#';
buf[1] = '#';
buf[2] = total_num;
for (i = 0; i < total_num - 1; i++)
{
buf[3] = i;
memcpy(buf + 4, data + i * (gatts_mtu_size - 7), gatts_mtu_size - 7);
esp_ble_gatts_send_indicate(ble_gatts_if, ble_gatts_conn_id, ble_gatts_handle_table[IDX_DATA_NOTIFY_VAL],gatts_mtu_size - 3, buf, false);
}
/* 最后一个包 */
buf[3] = i;
memcpy(buf + 4, data + i * (gatts_mtu_size - 7), len % (gatts_mtu_size - 7));
esp_ble_gatts_send_indicate(ble_gatts_if, ble_gatts_conn_id, ble_gatts_handle_table[IDX_DATA_NOTIFY_VAL], (len % (gatts_mtu_size - 7)) + 4, buf, false);
// ESP_LOGI(GATTS_TABLE_TAG, "notify packet send end!");
}
}
extern flow_t *pflow;
extern depth_t *depth_data;
extern record_t *record;
gps_message_t *gpsMessageP = (gps_message_t *)&gWordVar[REG_GPS_MESSAGE];
gps_write_data_t *gpsWriteDataP = (gps_write_data_t *)&gWordVar[REG_GPS_WRITE_DATA];
void notify_all_data(void)
{
ESP_LOGI(GATTS_TABLE_TAG, "notify_all_data");
uint8_t buf[30];
buf[0] = 1; /* tag:深度：速度 时间 深度 桩号 */
buf[1] = depth_data->speed & 0xff;
buf[2] = (depth_data->speed >> 8) & 0xff;
buf[3] = depth_data->one_pile_work_time & 0xff;
buf[4] = (depth_data->one_pile_work_time >> 8) & 0xff;
buf[5] = depth_data->depth & 0xff;
buf[6] = (depth_data->depth >> 8) & 0xff;
buf[7] = gWordVar[LAST_PILE_ID_ADDR] & 0xff;
buf[8] = (gWordVar[LAST_PILE_ID_ADDR] >> 8) & 0xff;
notify_data_fun(IDX_DATA_NOTIFY_VAL, buf, 9);
buf[0] = 2; /* tag:1号通道流量:瞬时，每10cm，总 */
buf[1] = pflow[0].flow & 0xff;
buf[2] = (pflow[0].flow >> 8) & 0xff;
buf[3] = depth_data->depth_flow[0] & 0xff;
buf[4] = (depth_data->depth_flow[0] >> 8) & 0xff;
buf[5] = pflow[0].total_flow & 0xff;
buf[6] = (pflow[0].total_flow >> 8) & 0xff;
notify_data_fun(IDX_DATA_NOTIFY_VAL, buf, 7);
buf[0] = 3; /* tag:2号通道流量:瞬时，每10cm，总 */
buf[1] = pflow[1].flow & 0xff;
buf[2] = (pflow[1].flow >> 8) & 0xff;
buf[3] = depth_data->depth_flow[1] & 0xff;
buf[4] = (depth_data->depth_flow[1] >> 8) & 0xff;
buf[5] = pflow[1].total_flow & 0xff;
buf[6] = (pflow[1].total_flow >> 8) & 0xff;
notify_data_fun(IDX_DATA_NOTIFY_VAL, buf, 7);
buf[0] = 4; /* tag:电流:三个*/
buf[1] = gWordVar[AC_CURRENT_REG_ADDR + 0] & 0xff;
buf[2] = (gWordVar[AC_CURRENT_REG_ADDR + 0] >> 8) & 0xff;
buf[3] = gWordVar[AC_CURRENT_REG_ADDR + 1] & 0xff;
buf[4] = (gWordVar[AC_CURRENT_REG_ADDR + 1] >> 8) & 0xff;
buf[5] = gWordVar[AC_CURRENT_REG_ADDR + 2] & 0xff;
buf[6] = (gWordVar[AC_CURRENT_REG_ADDR + 2] >> 8) & 0xff;
notify_data_fun(IDX_DATA_NOTIFY_VAL, buf, 7);
int64_t x = (int64_t)(gpsMessageP->x * 1000);
int64_t y = (int64_t)(gpsMessageP->y * 1000);
uint16_t dir = (uint16_t)(gpsMessageP->dir * 100);
uint16_t pitch = (uint16_t)(gpsMessageP->pitch * 100);
uint8_t gps_status = gpsMessageP->gps_status;
uint32_t utc_time = gpsMessageP->utc;
// ESP_LOGI(GATTS_TABLE_TAG, "x:%f, %f, %lld", gpsMessageP->x, gpsMessageP->x * 1000, (long long int)(gpsMessageP->x * 1000));
// ESP_LOGI(GATTS_TABLE_TAG, "gps message x:%lld, y:%lld, dir:%ud, pitch:%ud, gps_status:%d, utc_time:%ud", (long long)x, (long long)y, (unsigned int)dir, (unsigned int)pitch, (int)gps_status, (unsigned int)utc_time);
buf[0] = 5; /* tag:CPS信息1:x, y(int64)*/
buf[1] = x & 0xff;
buf[2] = (x >> 8) & 0xff;
buf[3] = (x >> 16) & 0xff;
buf[4] = (x >> 24) & 0xff;
buf[5] = (x >> 32) & 0xff;
buf[6] = (x >> 40) & 0xff;
buf[7] = (x >> 48) & 0xff;
buf[8] = (x >> 56) & 0xff;
buf[9] = y & 0xff;
buf[10] = (y >> 8) & 0xff;
buf[11] = (y >> 16) & 0xff;
buf[12] = (y >> 24) & 0xff;
buf[13] = (y >> 32) & 0xff;
buf[14] = (y >> 40) & 0xff;
buf[15] = (y >> 48) & 0xff;
buf[16] = (y >> 56) & 0xff;
notify_data_fun(IDX_DATA_NOTIFY_VAL, buf, 17);
buf[0] = 6; /* tag:CPS信息2:方向，俯仰(uint16)， gps定位状态(uint8)， UTC时间(uint32)*/
buf[1] = dir & 0xff;
buf[2] = (dir >> 8) & 0xff;
buf[3] = pitch & 0xff;
buf[4] = (pitch >> 8) & 0xff;
buf[5] = utc_time & 0xff;
buf[6] = (utc_time >> 8) & 0xff;
buf[7] = (utc_time >> 16) & 0xff;
buf[8] = (utc_time >> 24) & 0xff;
buf[9] = gps_status & 0xff;
notify_data_fun(IDX_DATA_NOTIFY_VAL, buf, 10);
/* 需要上报什么数据在此处添加 */
}
void notify_task(void *pvParameters)
{
ESP_LOGI(GATTS_TABLE_TAG, "notify_task");
while (1)
{
if (data_notify_enable && is_connected)
{
notify_all_data();
}
vTaskDelay(pdMS_TO_TICKS(100));
}
vTaskDelete(NULL);
}
void ble_gatts_server_init(void) void ble_gatts_server_init(void)
{ {
esp_err_t ret; esp_err_t ret;
@ -776,7 +576,112 @@ void ble_gatts_server_init(void)
if (local_mtu_ret){ if (local_mtu_ret){
ESP_LOGE(GATTS_TABLE_TAG, "set local MTU failed, error code = %x", local_mtu_ret); ESP_LOGE(GATTS_TABLE_TAG, "set local MTU failed, error code = %x", local_mtu_ret);
} }
}
/* 创建任务用于定期的数据上报notify */
xTaskCreate(notify_task, "notify_Task", 4096, NULL, 8, NULL);
/*
* 上报长度过长，则分包，这里限制长度最大20，分包协议：
* [0] ‘#’，分包标识
* [1] 总包个数
* [2] 当前包号，从0开始
* ... 包数据
*/
static uint16_t gatts_mtu_size = 23;
void ble_write_data(int id, uint8_t *data, int len)
{
ESP_LOGI(GATTS_TABLE_TAG, "ble_write_data %d:", len);
esp_log_buffer_hex(GATTS_TABLE_TAG, data, len);
if (len <= gatts_mtu_size - 3) /* 包数据可以一次完整发送 */
{
esp_ble_gatts_send_indicate(ble_gatts_if, ble_gatts_conn_id, ble_gatts_handle_table[id], len, data, false);
}
else /* 需要分包发送 */
{
int total_num = 0;
uint8_t buf[gatts_mtu_size - 3];
if ((len % (gatts_mtu_size - 6)) == 0){
total_num = len / (gatts_mtu_size - 6);
}
else{
total_num = len / (gatts_mtu_size - 6) + 1;
}
// ESP_LOGI(GATTS_TABLE_TAG, "notify packet has %d", total_num);
int i = 0;
buf[0] = '#';
buf[1] = total_num;
for (i = 0; i < total_num - 1; i++)
{
buf[2] = i;
memcpy(buf + 3, data + i * (gatts_mtu_size - 6), gatts_mtu_size - 6);
esp_ble_gatts_send_indicate(ble_gatts_if, ble_gatts_conn_id, ble_gatts_handle_table[id],gatts_mtu_size - 3, buf, false);
}
/* 最后一个包 */
buf[2] = i;
memcpy(buf + 3, data + i * (gatts_mtu_size - 6), len % (gatts_mtu_size - 6));
esp_ble_gatts_send_indicate(ble_gatts_if, ble_gatts_conn_id, ble_gatts_handle_table[id], (len % (gatts_mtu_size - 6)) + 3, buf, false);
// ESP_LOGI(GATTS_TABLE_TAG, "notify packet send end!");
}
}
// 注意，该函数不是线程安全了，因为假设包是按顺序接受的，无法同时处理多个包的交替发送
void ble_read_data(uint8_t *data, int len)
{
ESP_LOGI(GATTS_TABLE_TAG, "ble_read_data");
static uint8_t buf[1024]; // 注意，这里大小没处理
static int buflen = 0;
static int total_num = 0;
static int next_packet_id = 0;
uint8_t *txbuf = NULL;
int txlen = 0;
if (len <= 0) return;
if (data[0] == '#') // 分包数据
{
if (len < 3) return;
if ((buflen != 0 && data[1] != total_num) || data[2] != next_packet_id) // 包错误，全部丢弃
{
ESP_LOGE(GATTS_TABLE_TAG, "ble packet err!");
buflen = 0;
next_packet_id = 0;
return;
}
if (buflen == 0) total_num = data[1];
memcpy(buf + buflen, data + 3, len - 3);
buflen += len - 3;
next_packet_id++;
if (next_packet_id == data[1]) // 接收完成
{
ESP_LOGI(GATTS_TABLE_TAG, "ble paclet recoved ok, all %d packets!", next_packet_id);
esp_log_buffer_hex(GATTS_TABLE_TAG, buf, buflen);
pad_deal_recived_data(buf, buflen, &data_notify_enable, &txbuf, &txlen);
if (txbuf != NULL)
{
ble_write_data(IDX_DATA_READ_WRITE_VAL, txbuf, txlen);
free(txbuf);
}
buflen = 0;
next_packet_id = 0;
}
}
else // 不分包的数据
{
esp_log_buffer_hex(GATTS_TABLE_TAG, data, len);
pad_deal_recived_data(data, len, &data_notify_enable, &txbuf, &txlen);
if (txbuf != NULL)
{
ble_write_data(IDX_DATA_READ_WRITE_VAL, txbuf, txlen);
free(txbuf);
}
}
}
void ble_server_notify(uint8_t *data, int len)
{
if (data_notify_enable && is_connected)
{
ble_write_data(IDX_DATA_NOTIFY_VAL, data, len);
}
} }

168
main/communication_pad/communication_pad.c Normal file
View File

@ -0,0 +1,168 @@
// 与pad之间进行数据通信，具有蓝牙、wifi两种方式
#include <stdlib.h>
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "inc/communication_pad.h"
#include "inc/wifi_softap.h"
#include "inc/tcp_server.h"
#include "inc/ble_gatts_server.h"
#include "../stm32/ModbusS.h"
#include "../stm32/config.h"
static const char *TAG = "communication_pad";
padDataCtrl_t pad_notify_data;
struct measureData measure_data;
int register_pad_data(padDataCtrl_t *data_ctrl, uint8_t tag, uint8_t *data, int len, padUpdataFun updata_fun)
{
if (data_ctrl->cnt >= MAX_NOTIFY_DATA)
{
ESP_LOGI(TAG, "register_pad_data failed, data_ctrl is full");
return -1;
}
data_ctrl->datas[data_ctrl->cnt].tag = tag;
data_ctrl->datas[data_ctrl->cnt].data = data;
data_ctrl->datas[data_ctrl->cnt].len = len;
data_ctrl->datas[data_ctrl->cnt].updata_fun = updata_fun;
data_ctrl->cnt++;
return 0;
}
extern flow_t *pflow;
extern depth_t *depth_data;
static void measure_data_updata(void)
{
measure_data.speed = depth_data->speed;
measure_data.time = depth_data->one_pile_work_time;
measure_data.depth = depth_data->depth;
measure_data.pile_id = gWordVar[LAST_PILE_ID_ADDR];
measure_data.flow1 = pflow[0].flow;
measure_data.flow_10cm1 = depth_data->depth_flow[0];
measure_data.flow_total1 = pflow[0].total_flow;
measure_data.flow2 = pflow[1].flow;
measure_data.flow_10cm2 = depth_data->depth_flow[1];
measure_data.flow_total2 = pflow[1].total_flow;
measure_data.current[0] = gWordVar[AC_CURRENT_REG_ADDR + 0];
measure_data.current[1] = gWordVar[AC_CURRENT_REG_ADDR + 1];
measure_data.current[2] = gWordVar[AC_CURRENT_REG_ADDR + 2];
}
// 上报data_ctrl中的数据
static void pad_notify_data_fun(const padDataCtrl_t *data_ctrl)
{
uint8_t data[1024]; // 这里的大小并没有控制
int data_len =0;
// data[0] = NOTIFY_TAG;
// data_len = 1;
for (int i = 0; i < data_ctrl->cnt; i++)
{
if (data_ctrl->datas[i].updata_fun) data_ctrl->datas[i].updata_fun(); // 更新数据
data[data_len++] = data_ctrl->datas[i].tag;
data[data_len++] = data_ctrl->datas[i].len;
memcpy(data + data_len, data_ctrl->datas[i].data, data_ctrl->datas[i].len);
data_len += data_ctrl->datas[i].len;
}
// 调用蓝牙和wifi的notify函数
tcp_server_notify(data, data_len);
ble_server_notify(data, data_len);
}
static void pad_notify_task(void *pvParameters)
{
ESP_LOGI(TAG, "pad_notify_task");
while (1)
{
pad_notify_data_fun(&pad_notify_data);
vTaskDelay(pdMS_TO_TICKS(100));
}
vTaskDelete(NULL);
}
// 通信初始化
void pad_communication_init(void)
{
wifi_init_softap();
tcp_server_init();
ble_gatts_server_init();
register_pad_data(&pad_notify_data, 0xA1, &measure_data, sizeof(measure_data), measure_data_updata);
register_pad_data(&pad_notify_data, 0xA2, &gWordVar[REG_GPS_MESSAGE], sizeof(gps_message_t), NULL); // 透传不用更新数据
xTaskCreate(pad_notify_task, "pad_notify_task", 4096, NULL, 8, NULL);
}
/*
* 协议说明:
* 功能码1byte + ...
* 0XF0:写寄存器 2byte寄存器地址 + 1byte数据长度（字节为单位） + 数据 小端
* 0XF1:读寄存器 2byte寄存器地址 + 1byte数据长度（字节为单位）
* 0XF2:开notify
* 0XF3:关notify
* 如果是读寄存器功能，则从参数返回读取结果数组，否则返回NULL，注意，返回的指针需要手动free
*/
void pad_deal_recived_data(uint8_t *data, int len, int *enable_notify, uint8_t **retbuf, int *retlen)
{
ESP_LOGI(TAG, "pad_deal_recived_data");
*retbuf = NULL;
*retlen = 0;
if (len >= 4 && data[0] == 0xF0) /* 写gWordVar寄存器 */
{
uint16_t addr = data[1] + (data[2] << 8);
uint16_t addr_ = addr;
uint8_t cnt = data[3];
if (cnt > len - 4)
{
ESP_LOGI(TAG, "write format is fault, cnt > len - 4");
return;
}
ESP_LOGI(TAG, "write addr:%d cnt:%d", addr, cnt);
uint8_t i;
for (i = 0 + 4; i < cnt + 4; i+=2) /* 发送的数据要求两字节对齐 */
{
gWordVar[addr++] = data[i] + (data[i + 1] << 8);
ESP_LOGI(TAG, "gwordvar[%d]:0x%x", addr-1, gWordVar[addr-1]);
}
ModBusWordWriteHook(addr_, cnt);
}
else if (len >= 4 && data[0] == 0xF1) /* 读gWordVar，返回*/
{
uint16_t addr = data[1] + (data[2] << 8);
uint8_t cnt = data[3];
ESP_LOGI(TAG, "read addr:%d cnt:%d", addr, cnt);
*retbuf = (uint8_t *)malloc(cnt + 4);
(*retbuf)[0] = data[0];
(*retbuf)[1] = data[1];
(*retbuf)[2] = data[2];
(*retbuf)[3] = data[3];
memcpy((*retbuf) + 4, (uint8_t *)(gWordVar + addr), cnt);
*retlen = cnt + 4;
}
else if (len == 1 && data[0] == 0xF2) /* 开启notify */
{
ESP_LOGI(TAG, "enable notify");
*enable_notify = 1;
}
else if (len == 1 && data[0] == 0xF2) /* 关闭notify */
{
ESP_LOGI(TAG, "disable notify");
*enable_notify = 0;
}
else ESP_LOGI(TAG, "format err!");
}

5
main/ble_gatts_server.h → main/communication_pad/inc/ble_gatts_server.h
View File

@ -2,6 +2,7 @@
#define __BLE_GATTS_SERVER_H #define __BLE_GATTS_SERVER_H
#include <stdio.h> #include <stdio.h>
#include <stdint.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@ -24,6 +25,8 @@ enum
}; };
void ble_gatts_server_init(void); void ble_gatts_server_init(void);
void notify_data_fun(int id, uint8_t *data, uint32_t len); void ble_write_data(int id, uint8_t *data, int len);
void ble_read_data(uint8_t *data, int len);
void ble_server_notify(uint8_t *data, int len);
#endif #endif

63
main/communication_pad/inc/communication_pad.h Normal file
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@ -0,0 +1,63 @@
#ifndef __COMMUNICATION_PAD_H
#define __COMMUNICATION_PAD_H
#include <stdint.h>
#define MAX_NOTIFY_DATA 20
#define NOTIFY_TAG 0xF2
struct measureData // 测量数据
{
int16_t speed;
uint16_t time;
int16_t depth;
uint16_t pile_id;
int16_t flow1;
uint16_t flow_10cm1;
int32_t flow_total1;
int16_t flow2;
uint16_t flow_10cm2;
int32_t flow_total2;
uint16_t current[3];
};
typedef struct gps_message
{
uint8_t gps_status; // GPS定位状态
uint8_t gps_view; // GPS可视状态
uint8_t gps_use; // GPS使用状态
uint8_t reg[1]; // 保留
uint32_t utc; // utc时间
double x; // 大地平面坐标
double y;
double dir; // 方向
double pitch; // 俯仰角
} gps_message_t;
typedef void (*padUpdataFun)(void);
typedef struct padDataStruct
{
uint8_t tag;
int len;
uint8_t *data;
padUpdataFun updata_fun;
} padData_t;
typedef struct padDataCtrlStruct
{
int cnt;
padData_t datas[MAX_NOTIFY_DATA]; // 输出数据，即上报数据
} padDataCtrl_t;
void pad_communication_init(void);
int register_pad_data(padDataCtrl_t *data_ctrl, uint8_t tag, uint8_t *data, int len, padUpdataFun updata_fun);
void pad_deal_recived_data(uint8_t *data, int len, int *enable_notify, uint8_t **retbuf, int *ret_len);
#endif

23
main/communication_pad/inc/tcp_server.h Normal file
View File

@ -0,0 +1,23 @@
#ifndef __TCP_SERVER_H
#define __TCP_SERVER_H
#include <stdint.h>
#define TCP_SERVER_PORT 6000
// 链表，记录连接的客户端
struct clientNode
{
struct tcp_pcb *pcb;
int enable_notify; // 是否使能数据上报
struct clientNode *next;
};
void tcp_server_init(void);
void ble_write_data(int id, uint8_t *data, int len);
void ble_read_data(uint8_t *data, int len);
void tcp_server_notify(uint8_t *data, int len);
#endif

6
main/communication_pad/inc/wifi_softap.h Normal file
View File

@ -0,0 +1,6 @@
#ifndef __WIFI_SOFTAP_H
#define __WIFI_SOFTAP_H
void wifi_init_softap(void);
#endif

163
main/communication_pad/tcp_server.c Normal file
View File

@ -0,0 +1,163 @@
#include <stdint.h>
#include <string.h>
#include "lwip/ip_addr.h"
#include "lwip/tcp.h"
#include "lwip/err.h"
#include "lwip/opt.h"
#include "lwip/sockets.h"
#include "esp_log.h"
#include "tcp_server.h"
#include "inc/communication_pad.h"
#define LOG_TAG "[communication_tcp_sr]: "
struct clientNode client_list; // 客户端链表头结点
struct clientNode *client_r_p = &client_list; // 客户端链表尾指针
void client_list_add(struct tcp_pcb *pcb)
{
struct clientNode *client = (struct clientNode *)malloc(sizeof(struct clientNode));
client->pcb = pcb;
client->enable_notify = 0;
client->next = NULL;
client_r_p->next = client;
client_r_p = client;
}
void client_list_delete(struct tcp_pcb *pcb)
{
struct clientNode *p = &client_list;
while (p->next)
{
if (p->next->pcb == pcb)
{
struct clientNode *q = p->next;
p->next = q->next;
free(q);
return;
}
p = p->next;
}
}
void cilent_list_delete_all(void)
{
struct clientNode *p = &client_list;
while (p->next)
{
struct clientNode *q = p->next;
p->next = q->next;
free(q);
}
}
struct clientNode* find_client_by_pcb(struct tcp_pcb *pcb)
{
struct clientNode *p = client_list.next;
struct clientNode *ret = NULL;
while (p)
{
if (p->pcb == pcb)
{
ret = p;
break;
}
p = p->next;
}
return ret;
}
static err_t ModBusSlave_recv(void *arg, struct tcp_pcb *newpcb, struct pbuf *p, err_t err) {
if (p != NULL) {
uint8_t *rxbuf;
uint8_t *txbuf = NULL;
int rxlen, txlen = 0;
tcp_recved(newpcb, p->tot_len);
rxbuf = (uint8_t *)p->payload;
rxlen = p->len;
ESP_LOGI(LOG_TAG, "recive data %d:", rxlen);
esp_log_buffer_hex(LOG_TAG, rxbuf, rxlen);
// 接受到数据，调用pad_deal_recived_data处理，如果需要回复（读操作），则再将数据发送出去
struct clientNode* client = find_client_by_pcb(newpcb);
if (!client)
{
ESP_LOGI(LOG_TAG, "err:not find this client");
return ERR_OK;
}
pad_deal_recived_data(rxbuf, rxlen, &client->enable_notify, &txbuf, &txlen);
if (txbuf)
{
tcp_write(newpcb, txbuf, txlen, 1);
free(txbuf);
}
pbuf_free(p);
}
else if (err == ERR_OK)
{
ESP_LOGI(LOG_TAG, "gps1 remote end is closing the connection\n");
tcp_err(newpcb, NULL);
tcp_recv(newpcb, NULL);
// tcp_poll(newpcb, NULL, 120);
err_t err_p = tcp_close(newpcb);
client_list_delete(newpcb);
if (ERR_OK != err_p)
{
ESP_LOGI(LOG_TAG, "gps1 close error. err:%d\n", err_p);
}
return err_p;
}
return ERR_OK;
}
static void ModBusSlave_conn_err(void *arg, err_t err) {
ESP_LOGI(LOG_TAG, "connect err!");
// log_printf(LERROR, LOG_TAG "connection error, err:%d\n", err);
// cilent_list_delete_all(); // 不知道为什么这个回调函数没有提供newpcb
}
static err_t ModBusSlave_poll(void *arg, struct tcp_pcb *newpcb) {
// if (newpcb) {
// // log_printf(LERROR, LOG_TAG "close pcb\n");
// tcp_close(newpcb);
// newpcb = NULL;
// }
ESP_LOGI(LOG_TAG, "poll!");
return ERR_OK;
}
static err_t ModBusSlave_accept(void *arg, struct tcp_pcb *pcb, err_t err) {
tcp_err(pcb, ModBusSlave_conn_err);
tcp_recv(pcb, ModBusSlave_recv);
// tcp_poll(pcb, ModBusSlave_poll, 120); // 60 second timeout
client_list_add(pcb);
return ERR_OK;
}
void tcp_server_init(void) {
struct tcp_pcb *pcb;
pcb = tcp_new();
tcp_bind(pcb, IP_ADDR_ANY, TCP_SERVER_PORT);
pcb = tcp_listen(pcb);
tcp_accept(pcb, ModBusSlave_accept);
}
// 遍历所有客户端，如果允许上报，则将数据上报
void tcp_server_notify(uint8_t *data, int len)
{
struct clientNode *p = client_list.next;
while (p)
{
if (p->enable_notify == 1) // 开启上报
{
ESP_LOGI(LOG_TAG, "tcp_server_notify");
esp_log_buffer_hex(LOG_TAG, data, len);
tcp_write(p->pcb, data, len, 1);
}
p = p->next;
}
}

99
main/communication_pad/wifi_softap.c Normal file
View File

@ -0,0 +1,99 @@
#include <string.h>
#include "wifi_softap.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_mac.h"
#include "esp_wifi.h"
#include "esp_event.h"
#include "esp_log.h"
#include "nvs_flash.h"
#include "lwip/err.h"
#include "lwip/sys.h"
// #include "esp_system.h"
// #include "../../../components/esp_wifi/include/esp_wifi.h"
// #include "../../../components/esp_hw_support/include/esp_mac.h"
#define ESP_WIFI_SSID "T2N_056455"
#define ESP_WIFI_PASS "01010101"
#define ESP_WIFI_CHANNEL 1
#define MAX_STA_CONN 8
static const char *TAG = "wifi softAP";
static void wifi_event_handler(void *arg, esp_event_base_t event_base,
int32_t event_id, void *event_data)
{
if (event_id == WIFI_EVENT_AP_STACONNECTED) {
wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*) event_data;
ESP_LOGI(TAG, "station "MACSTR" join, AID=%d",
MAC2STR(event->mac), event->aid);
} else if (event_id == WIFI_EVENT_AP_STADISCONNECTED) {
wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*) event_data;
ESP_LOGI(TAG, "station "MACSTR" leave, AID=%d",
MAC2STR(event->mac), event->aid);
}
}
void wifi_init_softap(void)
{
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
esp_netif_create_default_wifi_ap();
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_wifi_init(&cfg));
ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
ESP_EVENT_ANY_ID,
&wifi_event_handler,
NULL,
NULL));
wifi_config_t wifi_config = {
.ap = {
.ssid = ESP_WIFI_SSID,
.ssid_len = strlen(ESP_WIFI_SSID),
.channel = ESP_WIFI_CHANNEL,
.password = ESP_WIFI_PASS,
.max_connection = MAX_STA_CONN,
.authmode = WIFI_AUTH_WPA_WPA2_PSK},
};
nvs_handle_t my_handle;
esp_err_t err = nvs_open("wifi", NVS_READWRITE, &my_handle);
if (err == ESP_OK)
{
size_t len;
char temp_str[64];
uint8_t channel;
if (nvs_get_str(my_handle, "ap_ssid", temp_str, &len) == ESP_OK)
{
strncpy((char*)wifi_config.ap.ssid, temp_str, len);
wifi_config.ap.ssid_len = len;
}
if (nvs_get_str(my_handle, "ap_psk", temp_str, &len) == ESP_OK)
{
strncpy((char*)wifi_config.ap.password, temp_str, len);
}
if (nvs_get_u8(my_handle, "ap_ch", &channel) == ESP_OK)
{
wifi_config.ap.channel = channel;
}
nvs_close(my_handle);
}
if (strlen(ESP_WIFI_PASS) == 0)
{
wifi_config.ap.authmode = WIFI_AUTH_OPEN;
}
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
ESP_ERROR_CHECK(esp_wifi_start());
ESP_LOGI(TAG, "wifi_init_softap finished. SSID:%s password:%s channel:%d",
ESP_WIFI_SSID, ESP_WIFI_PASS, ESP_WIFI_CHANNEL);
}

192
main/communication_tcp.c
View File

@ -1,192 +0,0 @@
#include <stdint.h>
#include <string.h>
#include "lwip/ip_addr.h"
#include "lwip/tcp.h"
#include "lwip/err.h"
#include "lwip/opt.h"
#include "lwip/sockets.h"
#include "stm32/ModbusS.h"
#include "esp_log.h"
#define LOG_TAG "[communication_tcp_sr]: "
bool tcp_is_connected = false;
extern bool data_notify_enable; /* 是否允许数据上报 */
extern void gatts_write_data_cb(uint8_t *data, uint32_t len);
static err_t ModBusSlave_recv(void *arg, struct tcp_pcb *newpcb, struct pbuf *p, err_t err) {
if (p != NULL) {
uint8_t *rxbuf;
int rxlen;
tcp_recved(newpcb, p->tot_len);
rxbuf = (uint8_t *)p->payload;
rxlen = p->len;
ESP_LOGI(LOG_TAG, "recive data %d:", rxlen);
esp_log_buffer_hex(LOG_TAG, rxbuf, rxlen);
gatts_write_data_cb(rxbuf, rxlen);
pbuf_free(p);
}
else if (err == ERR_OK)
{
ESP_LOGI(LOG_TAG, "gps1 remote end is closing the connection\n");
for (uint8_t i = 0; i < 1; i++)
{ // 清空所有客户端
gps1_acce_newpacb[i] = 0;
}
tcp_err(newpcb, NULL);
tcp_recv(newpcb, NULL);
tcp_poll(newpcb, NULL, 120);
err_t err_p = tcp_close(newpcb);
tcp_is_connected = false;
if (ERR_OK != err_p)
{
ESP_LOGI(LOG_TAG, "gps1 close error. err:%d\n", err_p);
}
return err_p;
}
return ERR_OK;
}
static void ModBusSlave_conn_err(void *arg, err_t err) {
// log_printf(LERROR, LOG_TAG "connection error, err:%d\n", err);
tcp_is_connected = false;
}
static err_t ModBusSlave_poll(void *arg, struct tcp_pcb *newpcb) {
// if (newpcb) {
// // log_printf(LERROR, LOG_TAG "close pcb\n");
// tcp_close(newpcb);
// newpcb = NULL;
// }
ESP_LOGI(LOG_TAG, "poll!");
return ERR_OK;
}
static err_t ModBusSlave_accept(void *arg, struct tcp_pcb *pcb, err_t err) {
tcp_err(pcb, ModBusSlave_conn_err);
tcp_recv(pcb, ModBusSlave_recv);
tcp_poll(pcb, ModBusSlave_poll, 120); // 60 second timeout
/* Send out the first message */
// tcp_write(pcb, GREETING, strlen(GREETING), 1);
tcp_is_connected = true;
return ERR_OK;
}
static void notify_all_data(void)
{
ESP_LOGI(GATTS_TABLE_TAG, "notify_all_data");
uint8_t buf[1024];
buf[0] = 1; /* tag:深度：速度 时间 深度 桩号 */
buf[1] = 8;
buf[2] = depth_data->speed & 0xff;
buf[3] = (depth_data->speed >> 8) & 0xff;
buf[4] = depth_data->one_pile_work_time & 0xff;
buf[5] = (depth_data->one_pile_work_time >> 8) & 0xff;
buf[6] = depth_data->depth & 0xff;
buf[7] = (depth_data->depth >> 8) & 0xff;
buf[8] = gWordVar[LAST_PILE_ID_ADDR] & 0xff;
buf[9] = (gWordVar[LAST_PILE_ID_ADDR] >> 8) & 0xff;
buf[10] = 2; /* tag:1号通道流量:瞬时，每10cm，总 */
buf[11] = 6;
buf[12] = pflow[0].flow & 0xff;
buf[13] = (pflow[0].flow >> 8) & 0xff;
buf[14] = depth_data->depth_flow[0] & 0xff;
buf[15] = (depth_data->depth_flow[0] >> 8) & 0xff;
buf[16] = pflow[0].total_flow & 0xff;
buf[17] = (pflow[0].total_flow >> 8) & 0xff;
buf[18] = 3; /* tag:2号通道流量:瞬时，每10cm，总 */
buf[19] = 6;
buf[20] = pflow[1].flow & 0xff;
buf[21] = (pflow[1].flow >> 8) & 0xff;
buf[22] = depth_data->depth_flow[1] & 0xff;
buf[23] = (depth_data->depth_flow[1] >> 8) & 0xff;
buf[24] = pflow[1].total_flow & 0xff;
buf[25] = (pflow[1].total_flow >> 8) & 0xff;
buf[26] = 4; /* tag:电流:三个*/
buf[27] = 6;
buf[28] = gWordVar[AC_CURRENT_REG_ADDR + 0] & 0xff;
buf[29] = (gWordVar[AC_CURRENT_REG_ADDR + 0] >> 8) & 0xff;
buf[30] = gWordVar[AC_CURRENT_REG_ADDR + 1] & 0xff;
buf[31] = (gWordVar[AC_CURRENT_REG_ADDR + 1] >> 8) & 0xff;
buf[32] = gWordVar[AC_CURRENT_REG_ADDR + 2] & 0xff;
buf[33] = (gWordVar[AC_CURRENT_REG_ADDR + 2] >> 8) & 0xff;
int64_t x = (int64_t)(gpsMessageP->x * 1000);
int64_t y = (int64_t)(gpsMessageP->y * 1000);
uint16_t dir = (uint16_t)(gpsMessageP->dir * 100);
uint16_t pitch = (uint16_t)(gpsMessageP->pitch * 100);
uint8_t gps_status = gpsMessageP->gps_status;
uint32_t utc_time = gpsMessageP->utc;
// ESP_LOGI(GATTS_TABLE_TAG, "x:%f, %f, %lld", gpsMessageP->x, gpsMessageP->x * 1000, (long long int)(gpsMessageP->x * 1000));
// ESP_LOGI(GATTS_TABLE_TAG, "gps message x:%lld, y:%lld, dir:%ud, pitch:%ud, gps_status:%d, utc_time:%ud", (long long)x, (long long)y, (unsigned int)dir, (unsigned int)pitch, (int)gps_status, (unsigned int)utc_time);
buf[34] = 5; /* tag:CPS信息1:x, y(int64)*/
buf[35] = 16;
buf[36] = x & 0xff;
buf[37] = (x >> 8) & 0xff;
buf[38] = (x >> 16) & 0xff;
buf[39] = (x >> 24) & 0xff;
buf[40] = (x >> 32) & 0xff;
buf[41] = (x >> 40) & 0xff;
buf[42] = (x >> 48) & 0xff;
buf[43] = (x >> 56) & 0xff;
buf[44] = y & 0xff;
buf[45] = (y >> 8) & 0xff;
buf[56] = (y >> 16) & 0xff;
buf[47] = (y >> 24) & 0xff;
buf[48] = (y >> 32) & 0xff;
buf[49] = (y >> 40) & 0xff;
buf[50] = (y >> 48) & 0xff;
buf[51] = (y >> 56) & 0xff;
buf[52] = 6; /* tag:CPS信息2:方向，俯仰(uint16)， gps定位状态(uint8)， UTC时间(uint32)*/
buf[53] = 9;
buf[54] = dir & 0xff;
buf[55] = (dir >> 8) & 0xff;
buf[56] = pitch & 0xff;
buf[57] = (pitch >> 8) & 0xff;
buf[58] = utc_time & 0xff;
buf[59] = (utc_time >> 8) & 0xff;
buf[60] = (utc_time >> 16) & 0xff;
buf[61] = (utc_time >> 24) & 0xff;
buf[62] = gps_status & 0xff;
/* 需要上报什么数据在此处添加 */
// tcp_write(pcb, GREETING, strlen(GREETING), 1);
}
void notify_tcp_task(void *pvParameters)
{
ESP_LOGI(GATTS_TABLE_TAG, "notify_tcp_task");
while (1)
{
if (data_notify_enable && tcp_is_connected)
{
notify_all_data();
}
vTaskDelay(pdMS_TO_TICKS(100));
}
vTaskDelete(NULL);
}
void communication_tcp_init(void) {
struct tcp_pcb *pcb;
pcb = tcp_new();
tcp_bind(pcb, IP_ADDR_ANY, 6061);
pcb = tcp_listen(pcb);
tcp_accept(pcb, ModBusSlave_accept);
xTaskCreate(notify_tcp_task, "notify_tcp_Task", 4096, NULL, 8, NULL);
}

18
main/main.c
View File

@ -34,7 +34,7 @@
// #include "esp_bt_main.h" // #include "esp_bt_main.h"
//#include "ble_server.h" //#include "ble_server.h"
#include "stm32/config.h" #include "stm32/config.h"
#include "ble_gatts_server.h" #include "communication_pad.h"
/* The examples use WiFi configuration that you can set via project configuration menu /* The examples use WiFi configuration that you can set via project configuration menu
@ -80,7 +80,7 @@ static const char *TAG = "main";
//static int s_retry_num = 0; //static int s_retry_num = 0;
extern void wifi_init_softap(void); // extern void wifi_init_softap(void);
void PWR_4G_Init(void); void PWR_4G_Init(void);
extern void can_init(void); extern void can_init(void);
@ -93,6 +93,7 @@ extern esp_err_t i2c_master_init(void);
extern void config_load(void); extern void config_load(void);
extern void uart0_modbus_slave_init(void); extern void uart0_modbus_slave_init(void);
extern void bt_client_init(void); extern void bt_client_init(void);
// extern void communication_tcp_init(void);
//extern void ESP32_Uart_Receive_Data(void); //extern void ESP32_Uart_Receive_Data(void);
uint32_t rtc_clk_apb_freq; uint32_t rtc_clk_apb_freq;
@ -114,24 +115,25 @@ void app_main(void)
ESP_ERROR_CHECK(i2c_master_init()); ESP_ERROR_CHECK(i2c_master_init());
//restore_default(); //restore_default();
config_load();//读取保存在FRAM里的数据 config_load();//读取保存在FRAM里的数据
ESP_LOGI(TAG, "ESP_WIFI_MODE_STA"); // ESP_LOGI(TAG, "ESP_WIFI_MODE_STA");
// rtc_clk_apb_freq = rtc_clk_apb_freq_get(); // rtc_clk_apb_freq = rtc_clk_apb_freq_get();
// ESP_LOGI(TAG, "rtc_clk_apb_freq=%u", rtc_clk_apb_freq); // ESP_LOGI(TAG, "rtc_clk_apb_freq=%u", rtc_clk_apb_freq);
wifi_init_softap();//ok // wifi_init_softap();//ok
// wifi_init_sta(); // wifi_init_sta();
// can_init(); // can_init();
// PWR_4G_Init(); // PWR_4G_Init();
ModBusTCPSlave_init(); // ModBusTCPSlave_init();
// communication_tcp_init();
ads1220_task_start(); /* 两路电流AD采样获取瞬时流量，计算累计流量 */ ads1220_task_start(); /* 两路电流AD采样获取瞬时流量，计算累计流量，目前配置的是10HZ，取决于SPS */
BL0939_init(); /* 实时采集通道电流，根据depth_config_t中配置的启动与结束电流，以及持续时间进行move_t机器开关状态的判断 */ BL0939_init(); /* 实时采集通道电流，根据depth_config_t中配置的启动与结束电流，以及持续时间进行move_t机器开关状态的判断 */
DEPTH_init(); /* 编码器计算深度，同时进行流量的按深度计数，以及record的记录 */ DEPTH_init(); /* 编码器计算深度，同时进行流量的按深度计数，以及record的记录 */
FLOW_init(); /* 两一种计算流量的方法，计算累计流量 */ FLOW_init(); /* 两一种计算流量的方法，计算累计流量 */
uart0_modbus_slave_init(); uart0_modbus_slave_init();
// ble_server_init(); // ble_gatts_server_init();
ble_gatts_server_init(); pad_communication_init();
// bt_client_init();//ok // bt_client_init();//ok
//ESP32_Uart_Receive_Data(); //ESP32_Uart_Receive_Data();

4
main/stm32/ModbusS.c
View File

@ -284,7 +284,7 @@ int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_cr
out_len = 6; out_len = 6;
break; break;
case 0x06: //Write Single Register case 0x06: //Write Single Register
ESP_LOGI(TAG, "modbus 0x06"); // ESP_LOGI(TAG, "modbus 0x06");
if(add >= gWORD_SIZE) if(add >= gWORD_SIZE)
{ {
txbuf[1] = 0x86; txbuf[1] = 0x86;
@ -293,7 +293,7 @@ int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_cr
break; break;
} }
gWordVar[add] = (rxbuf[4]<<8)+rxbuf[5]; gWordVar[add] = (rxbuf[4]<<8)+rxbuf[5];
ESP_LOGI(TAG, "gWordVar[%d]=0x%04x", add, gWordVar[add]); // ESP_LOGI(TAG, "gWordVar[%d]=0x%04x", add, gWordVar[add]);
// ESP_LOGI(TAG, "%d %d", depth_config->input_type, depth_config->port); // ESP_LOGI(TAG, "%d %d", depth_config->input_type, depth_config->port);
memcpy(txbuf,rxbuf,6); memcpy(txbuf,rxbuf,6);
ModBusWordWriteHook(add,1); ModBusWordWriteHook(add,1);

30
main/stm32/ModbusS.h
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@ -44,33 +44,3 @@ void ModBusWordWriteHook(uint16_t addr, uint16_t length);
#endif #endif
// #ifndef _MODBUS_H
// #define _MODBUS_H
// #include <stdint.h>
// #define uint8_t unsigned char
// #define uint16_t unsigned short
// #define uint32 unsigned int
// #define setBit(Add) gBitVar[(Add) >> 3] |= (1 << ((Add)&0x07))
// #define clrBit(Add) gBitVar[(Add) >> 3] &= ~(1 << ((Add)&0x07))
// //#define ModBusTxData uart1_tx
// extern uint16_t crc16(uint8_t *puchMsg, uint16_t usDataLen);
// extern int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_crc);
// int isBitHI(uint16_t Add);
// void xorBit(uint16_t Add);
// void WriteBit(uint16_t Add, uint8_t bit_value);
// #define gBIT_SIZE 128
// #define gWORD_SIZE 12288
// extern uint8_t gBitVar[(gBIT_SIZE + 7) / 8];
// extern uint16_t gWordVar[gWORD_SIZE];
// void modbus(void);
// void rs485_send(void *buf, uint16_t len);
// #endif

9
main/stm32/ads1220.c
View File

@ -127,6 +127,7 @@ static void IRAM_ATTR ads1220_done_handler(mcpwm_unit_t mcpwm, mcpwm_capture_cha
// { // {
// pflow[1].update_time = xTaskGetTickCount(); // pflow[1].update_time = xTaskGetTickCount();
// } // }
// ESP_LOGI(TAG, "ads done");
ad_update_time[ch] = edata->cap_value; ad_update_time[ch] = edata->cap_value;
xQueueSendFromISR(gpio_evt_queue, &ad_update_time[ch], NULL); xQueueSendFromISR(gpio_evt_queue, &ad_update_time[ch], NULL);
} }
@ -322,7 +323,7 @@ void ADS1220_Config(void)
// ESP_LOGI(TAG, "ADS1220_WriteCommand.\n"); // ESP_LOGI(TAG, "ADS1220_WriteCommand.\n");
ADS1220_WriteReg(ADS1220_REG0, 0xa0); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>0 <20><><EFBFBD><EFBFBD>: <20><><EFBFBD><EFBFBD>: AIN P = AIN0, AIN N = AVSS <20><><EFBFBD><EFBFBD>ģʽ ʹ<><CAB9>PGA1 (100) <20><><EFBFBD><EFBFBD>PGA(0) ADS1220_WriteReg(ADS1220_REG0, 0xa0); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>0 <20><><EFBFBD><EFBFBD>: <20><><EFBFBD><EFBFBD>: AIN P = AIN0, AIN N = AVSS <20><><EFBFBD><EFBFBD>ģʽ ʹ<><CAB9>PGA1 (100) <20><><EFBFBD><EFBFBD>PGA(0)
ADS1220_WriteReg(ADS1220_REG1, 0x00); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>1 <20><><EFBFBD><EFBFBD>: Turboģʽ 40.SPS(00000)<29><>ʹ<EFBFBD><CAB9><EFBFBD>¶ȴ<C2B6><C8B4><EFBFBD><EFBFBD><EFBFBD>(0) <20>رյ<D8B1><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0) ADS1220_WriteReg(ADS1220_REG1, 0x20); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>1 <20><><EFBFBD><EFBFBD>: Turboģʽ 40.SPS(00000)<29><>ʹ<EFBFBD><CAB9><EFBFBD>¶ȴ<C2B6><C8B4><EFBFBD><EFBFBD><EFBFBD>(0) <20>رյ<D8B1><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0)
ADS1220_WriteReg(ADS1220_REG2, 0x20); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>2 <20><><EFBFBD><EFBFBD>: <20><>ѹ<EFBFBD><D1B9>׼ <20>ڲ<EFBFBD>2.048-v<>ο<EFBFBD>(00) ʹ<><CAB9>оƬFIR<49>˲<EFBFBD>50Hz(10) <20><><EFBFBD><EFBFBD>Դ0ma // Low-side<64><65>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD> Ĭ<><C4AC>(0) <20><><EFBFBD><EFBFBD>Դ <20>ر<EFBFBD> ADS1220_WriteReg(ADS1220_REG2, 0x20); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>2 <20><><EFBFBD><EFBFBD>: <20><>ѹ<EFBFBD><D1B9>׼ <20>ڲ<EFBFBD>2.048-v<>ο<EFBFBD>(00) ʹ<><CAB9>оƬFIR<49>˲<EFBFBD>50Hz(10) <20><><EFBFBD><EFBFBD>Դ0ma // Low-side<64><65>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD> Ĭ<><C4AC>(0) <20><><EFBFBD><EFBFBD>Դ <20>ر<EFBFBD>
ADS1220_WriteReg(ADS1220_REG3, 0x00); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>3 <20><><EFBFBD><EFBFBD>: : IDAC1 connect to AIN2 : IDAC2 disabled ADS1220_WriteReg(ADS1220_REG3, 0x00); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>3 <20><><EFBFBD><EFBFBD>: : IDAC1 connect to AIN2 : IDAC2 disabled
@ -414,7 +415,8 @@ void ads1220_task(void)
ADS1220_WriteReg(ADS1220_REG0, ch_cmd[ch]); ADS1220_WriteReg(ADS1220_REG0, ch_cmd[ch]);
ADS1220_WriteCommand(ADS1220_CMD_START); ADS1220_WriteCommand(ADS1220_CMD_START);
ad_watchdog_cnt = 0; ad_watchdog_cnt = 0;
LED2_Toggle(); if (ad_ch == 1)
LED2_Toggle();
if ((ad_ch == 1 || ad_ch == 3) && flow_config->input_type == 1) if ((ad_ch == 1 || ad_ch == 3) && flow_config->input_type == 1)
{ {
int flow_ch = ad_ch / 2; int flow_ch = ad_ch / 2;
@ -445,13 +447,14 @@ void ads1220_task(void)
flow_rem[flow_ch] = flow_rem[flow_ch] - sub_flow * 10000; flow_rem[flow_ch] = flow_rem[flow_ch] - sub_flow * 10000;
pflow[flow_ch].update_time = ad_update_time[ad_ch]; pflow[flow_ch].update_time = ad_update_time[ad_ch];
timeout[flow_ch] = 0; timeout[flow_ch] = 0;
// if (ad_ch == 3) ESP_LOGI(TAG, "flow:%d total_flow:%d", (int)pflow[flow_ch].flow, (int)pflow[flow_ch].total_flow); // if (ad_ch == 3) ESP_LOGI(TAG, "flow:%d total_flow:%d", (int)pflow[flow_ch].flow, (int)pflow[flow_ch].total_flow);
// ESP_LOGI(TAG, "(type1) flow_rem[%d].flow: %u time_diff=%d", flow_ch ,pflow[flow_ch].flow,time_diff); // ESP_LOGI(TAG, "(type1) flow_rem[%d].flow: %u time_diff=%d", flow_ch ,pflow[flow_ch].flow,time_diff);
// ESP_LOGI(TAG, "ads1220 ch:%d time_diff:%d flow:%d total_flow:%d", flow_ch, time_diff, pflow[flow_ch].flow, pflow[flow_ch].total_flow); // ESP_LOGI(TAG, "ads1220 ch:%d time_diff:%d flow:%d total_flow:%d", flow_ch, time_diff, pflow[flow_ch].flow, pflow[flow_ch].total_flow);
} }
} }
else else
{ {
ESP_LOGI(TAG, "wait queue failed");
ADS1220_Init(); ADS1220_Init();
} }
if (zero_totalflow_req) if (zero_totalflow_req)

22
main/stm32/bl0939.c
View File

@ -114,7 +114,7 @@ static int bl0939_write_reg(uint8_t reg, uint32_t val, int check)
void bl0939_spi_reset(void) void bl0939_spi_reset(void)
{ {
uint8_t tx_buf[6] = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff}; uint8_t tx_buf[6] = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff}; // 软复位SPI接口
uint8_t rx_buf[6] = {0}; uint8_t rx_buf[6] = {0};
BL0939_SPI_TransmitReceive(tx_buf, rx_buf, 6); BL0939_SPI_TransmitReceive(tx_buf, rx_buf, 6);
} }
@ -127,13 +127,13 @@ uint32_t comp_threshold(float mA)
void bl0939_reset(void) void bl0939_reset(void)
{ {
bl0939_spi_reset(); bl0939_spi_reset();
bl0939_write_reg(0x19, 0x005a5a5a, 0); // <EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD> bl0939_write_reg(0x19, 0x005a5a5a, 0); // 0x5a5a5a软件复位用户寄存器区
bl0939_write_reg(0x1a, 0x00000055, 1); // <EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD> bl0939_write_reg(0x1a, 0x00000055, 1); // 寄存器写保护，0x55可以写，其他值不能写
bl0939_write_reg(0x10, 0xffff, 0); // Threshold A bl0939_write_reg(0x10, 0xffff, 0); // Threshold A 电流通道快速有效值控制寄存器
bl0939_write_reg(0x1E, 0xffff, 1); // Threshold B bl0939_write_reg(0x1E, 0xffff, 1); // Threshold B
bl0939_write_reg(0x18, 0x00002000, 1); // cf bl0939_write_reg(0x18, 0x00002000, 1); // 用户模式选择寄存器
bl0939_write_reg(0x1B, 0x000047ff, 0); // cf bl0939_write_reg(0x1B, 0x000047ff, 0); // 温度模式控制寄存器
bl0939_write_reg(0x1a, 0x00000000, 1); // д<EFBFBD><EFBFBD><EFBFBD><EFBFBD> bl0939_write_reg(0x1a, 0x00000000, 1); // 开启寄存器写保护
} }
// T = 40ms // T = 40ms
@ -165,11 +165,11 @@ int bl0939_get_voltage()
uint8_t bl0939_cmd[36] = uint8_t bl0939_cmd[36] =
{ {
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x55, 0x00, 0, 0, 0, 0, 0x55, 0x00, 0, 0, 0, 0, // A通道快速有效值，无符号 24bit
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x55, 0x07, 0, 0, 0, 0, 0x55, 0x07, 0, 0, 0, 0, // B通道快速有效值，无符号 24bit
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x55, 0x06, 0, 0, 0, 0}; 0x55, 0x06, 0, 0, 0, 0}; // 电压有效值寄存器，无符号 24bit
int check_sum_ch(uint8_t *buf, int offset) int check_sum_ch(uint8_t *buf, int offset)
{ {
@ -213,7 +213,7 @@ void BL0939_task()
int index = 0; int index = 0;
while (1) while (1)
{ {
vTaskDelay(10); vTaskDelay(pdMS_TO_TICKS(100));
// ESP_LOGI(TAG, "BL0939_SPI_TransmitReceive before\n "); // ESP_LOGI(TAG, "BL0939_SPI_TransmitReceive before\n ");
bl0939_Transfer_done = 1; bl0939_Transfer_done = 1;

26
main/stm32/config.h
View File

@ -33,19 +33,19 @@
#define REG_GPS_WRITE_DATA (REG_GPS_MESSAGE + sizeof(gps_message_t)) #define REG_GPS_WRITE_DATA (REG_GPS_MESSAGE + sizeof(gps_message_t))
// GPS数据 // GPS数据
typedef struct gps_message // typedef struct gps_message
{ // {
uint8_t gps_status; // GPS定位状态 // uint8_t gps_status; // GPS定位状态
uint8_t gps_view; // GPS可视状态 // uint8_t gps_view; // GPS可视状态
uint8_t gps_use; // GPS使用状态 // uint8_t gps_use; // GPS使用状态
uint8_t reg[1]; // 保留 // uint8_t reg[1]; // 保留
uint32_t utc; // utc时间 // uint32_t utc; // utc时间
double x; // 大地平面坐标 // double x; // 大地平面坐标
double y; // double y;
double dir; // 方向 // double dir; // 方向
double pitch; // 俯仰角 // double pitch; // 俯仰角
} gps_message_t; // } gps_message_t;
extern gps_message_t *gpsMessageP; // extern gps_message_t *gpsMessageP;
#define WRITE_DOWN_MAGIC 0x55BB // 控制gps采用参数进行运算 #define WRITE_DOWN_MAGIC 0x55BB // 控制gps采用参数进行运算

111
main/stm32/depth.c
View File

@ -3,6 +3,7 @@
#include "freertos/queue.h" #include "freertos/queue.h"
#include "freertos/semphr.h" #include "freertos/semphr.h"
#include "esp_err.h" #include "esp_err.h"
#include "esp_timer.h"
#include "stdlib.h" #include "stdlib.h"
#include "config.h" #include "config.h"
#include "utils.h" #include "utils.h"
@ -20,7 +21,7 @@
#include "config.h" #include "config.h"
#include "../../../../components/bt/host/bluedroid/api/include/api/esp_gatts_api.h" #include "../../../../components/bt/host/bluedroid/api/include/api/esp_gatts_api.h"
// #include "bt_server.h" // #include "bt_server.h"
#include "../ble_gatts_server.h" // #include "../ble_gatts_server.h"
#include "esp_system.h" #include "esp_system.h"
#include "driver/uart.h" #include "driver/uart.h"
@ -200,7 +201,7 @@ static bool depth_isr_handler(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap
void *arg) void *arg)
{ {
// 双边沿触发中断，只有一个边缘会更新值,所以只有在值发生变化是才更新时间 // 双边沿触发中断，只有一个边缘会更新值,所以只有在值发生变化时才更新时间
int value = encoder->get_counter_value(encoder); int value = encoder->get_counter_value(encoder);
if (value != enc1_value) if (value != enc1_value)
{ {
@ -333,7 +334,7 @@ int abs_sub(uint32_t enc_update_time, uint32_t _enc_update_time)
send_to_bt_t1 send_to_bt1; send_to_bt_t1 send_to_bt1;
send_to_bt_t2 send_to_bt2; send_to_bt_t2 send_to_bt2;
extern bool is_connected; extern bool is_connected;
extern uint16_t spp_handle_table[IDX_NB]; // extern uint16_t spp_handle_table[IDX_NB];
extern uint16_t spp_conn_id; extern uint16_t spp_conn_id;
extern esp_gatt_if_t spp_gatts_if; extern esp_gatt_if_t spp_gatts_if;
extern flow_t *pflow; extern flow_t *pflow;
@ -415,6 +416,28 @@ void send_data_to_bt(void)
// } // }
} }
void calculate_depth_speed(int speed_enc_value)
{
static int speed_last_enc_value = -1;
static int64_t speed_last_time = -1;
int64_t speed_time = esp_timer_get_time();
if (speed_last_enc_value == -1) // 第一次，记录值，并不计算
{
goto exit;
}
depth_data->speed = (speed_enc_value - speed_last_enc_value) * depth_config->N / depth_config->M * 600000ll / (speed_time - speed_last_time);
// ESP_LOGI(TAG, "speed:%d", depth_data->speed);
exit:
speed_last_enc_value = speed_enc_value;
speed_last_time = speed_time;
}
/** /**
* _enc1_update_time 编码器1上一次更新时间 * _enc1_update_time 编码器1上一次更新时间
* enc1_update_time 编码器1当前更新时间 * enc1_update_time 编码器1当前更新时间
@ -428,13 +451,8 @@ void depth_task(void *arg)
ESP_LOGI(TAG, "depth_task start\n"); ESP_LOGI(TAG, "depth_task start\n");
int time_diff = 0; int time_diff = 0;
int speed_timeout = 0;
int last_speed_enc_value = 0; // 上次速度计算的编码器值
int speed_enc_update_time = 0;
int speed_calc_count = 0; int speed_calc_count = 0;
int enc_value = 0; int enc_value = 0;
// int count = 0;
int bt_time_count = 0;
int64_t work_start_time = 0; int64_t work_start_time = 0;
uint16_t last_work_state = 0; uint16_t last_work_state = 0;
@ -446,22 +464,8 @@ void depth_task(void *arg)
gWordVar[LAST_PILE_ID_ADDR] = last_pile_id; gWordVar[LAST_PILE_ID_ADDR] = last_pile_id;
int add_record_time = 0;
while (1) while (1)
{ {
// if (add_record_time++ > 10)
// {
// add_record_time = 0;
// depth_data->sample_count++;
// if (depth_data->sample_count > 20)
// {
// record->pile_id++;
// depth_data->sample_count = 0;
// }
// add_recod_item();
// }
if (_enc1_update_time != enc1_update_time) /* 深度数据更新 */ if (_enc1_update_time != enc1_update_time) /* 深度数据更新 */
{ {
// ESP_LOGI(TAG, "_enc1_update_time != enc1_update_time\n"); // ESP_LOGI(TAG, "_enc1_update_time != enc1_update_time\n");
@ -474,7 +478,7 @@ void depth_task(void *arg)
if (time_diff != 0) if (time_diff != 0)
{ {
// ESP_LOGI(TAG, "time_diff = %d\n",time_diff); // ESP_LOGI(TAG, "time_diff = %d\n",time_diff);
int16_t depth = enc_value * depth_config->N / depth_config->M; // 1mm int16_t depth = enc_value * depth_config->N / depth_config->M; // 1mm
depth_data->depth = depth - depth_data->depth_offset; depth_data->depth = depth - depth_data->depth_offset;
@ -500,35 +504,7 @@ void depth_task(void *arg)
// send_to_bt1.max_depth = depth_data->depth; // send_to_bt1.max_depth = depth_data->depth;
} }
//ESP_LOGI(TAG, "depth_data->depth:0x%x", (unsigned int)depth_data->depth); // ESP_LOGI(TAG, "depth_data->depth:0x%x", (unsigned int)depth_data->depth);
// 500ms计算一次速度
if (speed_calc_count++ > 50)
{
// ESP_LOGI(TAG, "speed_calc_count++ > 50\n");
speed_calc_count = 0;
int speed_time_diff = abs_sub(enc_update_time, speed_enc_update_time);
int time_diff_us = speed_time_diff / (APB_CLK_FREQ / 1000000);
if (time_diff_us > 0 && time_diff_us < 5000000)
{
// ESP_LOGI(TAG, "time_diff_us:%d,dist_diff=%d", time_diff_us, enc_value - last_speed_enc_value);
// speed = dist_diff / speed_time_diff speed 单位mm/min dist_diff 单位mm speed_time_diff 单位us
depth_data->speed = (enc_value - last_speed_enc_value) * depth_config->N / depth_config->M * 600000ll / time_diff_us;
speed_timeout = 0;
speed_enc_update_time = enc_update_time;
last_speed_enc_value = enc_value;
}
else
{
if (++speed_timeout > 10)
{
depth_data->speed = 0;
speed_timeout = 0;
speed_enc_update_time = enc_update_time;
last_speed_enc_value = enc_value;
}
}
}
uint16_t pile_work_state = (depth_data->pile_work_state_and_direction & 0xff00); uint16_t pile_work_state = (depth_data->pile_work_state_and_direction & 0xff00);
if (pile_work_state == PILE_STATE_WORK) if (pile_work_state == PILE_STATE_WORK)
@ -536,13 +512,14 @@ void depth_task(void *arg)
// ESP_LOGI(TAG, "pile_work_state == PILE_STATE_WORK\n"); // ESP_LOGI(TAG, "pile_work_state == PILE_STATE_WORK\n");
/*如果机器从停止状态->工作状态，则重新记录工作开始时间*/ /*如果机器从停止状态->工作状态，则重新记录工作开始时间*/
if(last_work_state == PILE_STATE_STOP){ if(last_work_state == PILE_STATE_STOP){
// work_start_time = esp_timer_get_time(); work_start_time = esp_timer_get_time();
depth_data->one_pile_work_time = 0; depth_data->one_pile_work_time = 0;
} }
// int64_t current_work_time = esp_timer_get_time(); int64_t current_work_time = esp_timer_get_time();
// if(work_start_time != 0){ if(work_start_time != 0){
// depth_data->one_pile_work_time = (uint16_t)((current_work_time - work_start_time)/1000000); depth_data->one_pile_work_time = (uint16_t)((current_work_time - work_start_time)/1000000); // s
// } // ESP_LOGI(TAG, "time : %ud", (int)depth_data->one_pile_work_time);
}
/*下钻，深度增加 计算采样深度流量*/ /*下钻，深度增加 计算采样深度流量*/
if (enc_value > last_enc_value) if (enc_value > last_enc_value)
@ -629,7 +606,6 @@ void depth_task(void *arg)
depth_data->sample_count++; depth_data->sample_count++;
add_recod_item(); add_recod_item();
target_sample_depth -= depth_config->sample_depth; target_sample_depth -= depth_config->sample_depth;
} }
} }
} }
@ -667,18 +643,15 @@ void depth_task(void *arg)
prev_update_time = enc_update_time; prev_update_time = enc_update_time;
last_enc_value = enc_value; last_enc_value = enc_value;
} }
else{
// ESP_LOGI(TAG, "time diff = 0\n");
vTaskDelay(100);
}
//每隔500ms向蓝牙发送一次数据 vTaskDelay(pdMS_TO_TICKS(100));
// if(bt_time_count++ > 50){
// ESP_LOGI(TAG, "bt_time_count++ > 50\n"); // 500ms计算一次速度
// bt_time_count = 0; if (++speed_calc_count >= 5)
// send_data_to_bt(); {
// } calculate_depth_speed(enc1_value);
vTaskDelay(10); speed_calc_count = 0;
}
} }
} }

2
main/stm32/uart0_modbus_slave.c
View File

@ -17,7 +17,7 @@
static const char *TAG = "UART0"; static const char *TAG = "UART0";
#define BAUD_RATE (115200) #define BAUD_RATE (460800)
#define UART_PORT_NUM (0) #define UART_PORT_NUM (0)
#define BUF_SIZE (256) #define BUF_SIZE (256)
#define UART_READ_TOUT (50 / portTICK_PERIOD_MS) #define UART_READ_TOUT (50 / portTICK_PERIOD_MS)

150
main/wifi_softap.c
View File

@ -1,150 +0,0 @@
/* WiFi softAP Example
This example code is in the Public Domain (or CC0 licensed, at your option.)
Unless required by applicable law or agreed to in writing, this
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
CONDITIONS OF ANY KIND, either express or implied.
*/
#include <string.h>
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "../../../components/esp_wifi/include/esp_wifi.h"
#include "esp_event.h"
#include "esp_log.h"
#include "nvs_flash.h"
#include "lwip/err.h"
#include "lwip/sys.h"
#include "driver/ledc.h"
#include "esp_err.h"
#include "../../../components/esp_hw_support/include/esp_mac.h"
/* The examples use WiFi configuration that you can set via project configuration menu.
If you'd rather not, just change the below entries to strings with
the config you want - ie #define EXAMPLE_WIFI_SSID "mywifissid"
*/
#define ESP_WIFI_SSID "T2N_056455"
#define ESP_WIFI_PASS "01010101"
#define ESP_WIFI_CHANNEL 1
#define MAX_STA_CONN 8
static const char *TAG = "wifi softAP";
#define LEDC_TIMER LEDC_TIMER_0
#define LEDC_MODE LEDC_LOW_SPEED_MODE
#define LEDC_OUTPUT_IO (21) // Define the output GPIO
#define LEDC_CHANNEL LEDC_CHANNEL_0
#define LEDC_DUTY_RES LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
#define LEDC_DUTY (4095) // Set duty to 50%. ((2 ** 13) - 1) * 50% = 4095
#define LEDC_FREQUENCY (3840) // Frequency in Hertz. Set frequency at 5 kHz
static void wifi_event_handler(void *arg, esp_event_base_t event_base,
int32_t event_id, void *event_data)
{
// if (event_id == WIFI_EVENT_AP_STACONNECTED) {
// wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*) event_data;
// ESP_LOGI(TAG, "station "MACSTR" join, AID=%d",
// MAC2STR(event->mac), event->aid);
// } else if (event_id == WIFI_EVENT_AP_STADISCONNECTED) {
// wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*) event_data;
// ESP_LOGI(TAG, "station "MACSTR" leave, AID=%d",
// MAC2STR(event->mac), event->aid);
// }
}
void wifi_init_softap(void)
{
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
esp_netif_create_default_wifi_ap();
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_wifi_init(&cfg));
ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
ESP_EVENT_ANY_ID,
&wifi_event_handler,
NULL,
NULL));
wifi_config_t wifi_config = {
.ap = {
.ssid = ESP_WIFI_SSID,
.ssid_len = strlen(ESP_WIFI_SSID),
.channel = ESP_WIFI_CHANNEL,
.password = ESP_WIFI_PASS,
.max_connection = MAX_STA_CONN,
.authmode = WIFI_AUTH_WPA_WPA2_PSK},
};
nvs_handle_t my_handle;
esp_err_t err = nvs_open("wifi", NVS_READWRITE, &my_handle);
if (err == ESP_OK)
{
size_t len;
char temp_str[64];
uint8_t channel;
if (nvs_get_str(my_handle, "ap_ssid", temp_str, &len) == ESP_OK)
{
strncpy((char*)wifi_config.ap.ssid, temp_str, len);
wifi_config.ap.ssid_len = len;
}
if (nvs_get_str(my_handle, "ap_psk", temp_str, &len) == ESP_OK)
{
strncpy((char*)wifi_config.ap.password, temp_str, len);
}
if (nvs_get_u8(my_handle, "ap_ch", &channel) == ESP_OK)
{
wifi_config.ap.channel = channel;
}
nvs_close(my_handle);
}
if (strlen(ESP_WIFI_PASS) == 0)
{
wifi_config.ap.authmode = WIFI_AUTH_OPEN;
}
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
ESP_ERROR_CHECK(esp_wifi_start());
ESP_LOGI(TAG, "wifi_init_softap finished. SSID:%s password:%s channel:%d",
ESP_WIFI_SSID, ESP_WIFI_PASS, ESP_WIFI_CHANNEL);
}
// void app_main2(void)
// {
// // Initialize NVS
// esp_err_t ret = nvs_flash_init();
// if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND)
// {
// ESP_ERROR_CHECK(nvs_flash_erase());
// ret = nvs_flash_init();
// }
// ESP_ERROR_CHECK(ret);
// ESP_LOGI(TAG, "ESP_WIFI_MODE_AP");
// wifi_init_softap();
// // ledc_init();
// // ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY));
// // // Update duty to apply the new value
// // ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
// // gpio_config_t io_conf = {};
// // // disable interrupt
// // io_conf.intr_type = GPIO_INTR_DISABLE;
// // // set as output mode
// // io_conf.mode = GPIO_MODE_OUTPUT;
// // // bit mask of the pins that you want to set,e.g.GPIO18/19
// // io_conf.pin_bit_mask = 1 << 9;
// // // disable pull-down mode
// // io_conf.pull_down_en = 0;
// // // disable pull-up mode
// // io_conf.pull_up_en = 0;
// // // configure GPIO with the given settings
// // gpio_config(&io_conf);
// // gpio_set_level(9, 1);
// }

18
sdkconfig
View File

@ -469,7 +469,6 @@ CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y
# #
# CONFIG_APPTRACE_DEST_JTAG is not set # CONFIG_APPTRACE_DEST_JTAG is not set
CONFIG_APPTRACE_DEST_NONE=y CONFIG_APPTRACE_DEST_NONE=y
# CONFIG_APPTRACE_DEST_UART0 is not set
# CONFIG_APPTRACE_DEST_UART1 is not set # CONFIG_APPTRACE_DEST_UART1 is not set
# CONFIG_APPTRACE_DEST_UART2 is not set # CONFIG_APPTRACE_DEST_UART2 is not set
# CONFIG_APPTRACE_DEST_USB_CDC is not set # CONFIG_APPTRACE_DEST_USB_CDC is not set
@ -1178,14 +1177,17 @@ CONFIG_ESP_MAIN_TASK_AFFINITY_CPU0=y
# CONFIG_ESP_MAIN_TASK_AFFINITY_NO_AFFINITY is not set # CONFIG_ESP_MAIN_TASK_AFFINITY_NO_AFFINITY is not set
CONFIG_ESP_MAIN_TASK_AFFINITY=0x0 CONFIG_ESP_MAIN_TASK_AFFINITY=0x0
CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE=2048 CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE=2048
# CONFIG_ESP_CONSOLE_UART_DEFAULT is not set CONFIG_ESP_CONSOLE_UART_DEFAULT=y
# CONFIG_ESP_CONSOLE_USB_CDC is not set # CONFIG_ESP_CONSOLE_USB_CDC is not set
CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y # CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG is not set
# CONFIG_ESP_CONSOLE_UART_CUSTOM is not set # CONFIG_ESP_CONSOLE_UART_CUSTOM is not set
# CONFIG_ESP_CONSOLE_NONE is not set # CONFIG_ESP_CONSOLE_NONE is not set
CONFIG_ESP_CONSOLE_SECONDARY_NONE=y # CONFIG_ESP_CONSOLE_SECONDARY_NONE is not set
CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y
CONFIG_ESP_CONSOLE_UART=y
CONFIG_ESP_CONSOLE_MULTIPLE_UART=y CONFIG_ESP_CONSOLE_MULTIPLE_UART=y
CONFIG_ESP_CONSOLE_UART_NUM=-1 CONFIG_ESP_CONSOLE_UART_NUM=0
CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
CONFIG_ESP_INT_WDT=y CONFIG_ESP_INT_WDT=y
CONFIG_ESP_INT_WDT_TIMEOUT_MS=300 CONFIG_ESP_INT_WDT_TIMEOUT_MS=300
CONFIG_ESP_INT_WDT_CHECK_CPU1=y CONFIG_ESP_INT_WDT_CHECK_CPU1=y
@ -2201,11 +2203,13 @@ CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ=160
CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32 CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32
CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2304 CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2304
CONFIG_MAIN_TASK_STACK_SIZE=3584 CONFIG_MAIN_TASK_STACK_SIZE=3584
# CONFIG_CONSOLE_UART_DEFAULT is not set CONFIG_CONSOLE_UART_DEFAULT=y
# CONFIG_CONSOLE_UART_CUSTOM is not set # CONFIG_CONSOLE_UART_CUSTOM is not set
# CONFIG_CONSOLE_UART_NONE is not set # CONFIG_CONSOLE_UART_NONE is not set
# CONFIG_ESP_CONSOLE_UART_NONE is not set # CONFIG_ESP_CONSOLE_UART_NONE is not set
CONFIG_CONSOLE_UART_NUM=-1 CONFIG_CONSOLE_UART=y
CONFIG_CONSOLE_UART_NUM=0
CONFIG_CONSOLE_UART_BAUDRATE=115200
CONFIG_INT_WDT=y CONFIG_INT_WDT=y
CONFIG_INT_WDT_TIMEOUT_MS=300 CONFIG_INT_WDT_TIMEOUT_MS=300
CONFIG_INT_WDT_CHECK_CPU1=y CONFIG_INT_WDT_CHECK_CPU1=y

6
sdkconfig.old
View File

@ -410,12 +410,12 @@ CONFIG_ESPTOOLPY_MONITOR_BAUD=115200
# #
# Partition Table # Partition Table
# #
# CONFIG_PARTITION_TABLE_SINGLE_APP is not set CONFIG_PARTITION_TABLE_SINGLE_APP=y
CONFIG_PARTITION_TABLE_SINGLE_APP_LARGE=y # CONFIG_PARTITION_TABLE_SINGLE_APP_LARGE is not set
# CONFIG_PARTITION_TABLE_TWO_OTA is not set # CONFIG_PARTITION_TABLE_TWO_OTA is not set
# CONFIG_PARTITION_TABLE_CUSTOM is not set # CONFIG_PARTITION_TABLE_CUSTOM is not set
CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv" CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
CONFIG_PARTITION_TABLE_FILENAME="partitions_singleapp_large.csv" CONFIG_PARTITION_TABLE_FILENAME="partitions_singleapp.csv"
CONFIG_PARTITION_TABLE_OFFSET=0x8000 CONFIG_PARTITION_TABLE_OFFSET=0x8000
CONFIG_PARTITION_TABLE_MD5=y CONFIG_PARTITION_TABLE_MD5=y
# end of Partition Table # end of Partition Table